diff --git a/objects/objaverse/apple/apple_18/collision/model_normalized_collision_0.obj b/objects/objaverse/apple/apple_18/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d726988921c7201aed3c3805e1d876b36e4465ca
--- /dev/null
+++ b/objects/objaverse/apple/apple_18/collision/model_normalized_collision_0.obj
@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
+v 0.08333333 -0.23255389 -0.35346091
+v 0.08302965 -0.23088567 -0.45369649
+v 0.01086420 0.20627864 -0.42875983
+v -0.23484849 0.20684007 -0.26255182
+v -0.23551647 -0.24847761 -0.41533941
+v 0.00757576 0.20684007 -0.26255182
+v 0.08516151 0.02547745 -0.44022036
+v 0.00923832 -0.26137702 -0.44738173
+v -0.23484849 -0.14164479 -0.26255182
+v -0.23428673 0.08148792 -0.45943745
+v 0.08812682 -0.02493407 -0.44384591
+v 0.08333333 -0.00528115 -0.35346091
+v 0.00757576 -0.23255389 -0.35346091
+v 0.00757576 -0.14164479 -0.26255182
+v -0.22470124 0.19246706 -0.41129635
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+v -0.12440163 -0.24026811 -0.45579021
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\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_18/collision/model_normalized_collision_1.obj b/objects/objaverse/apple/apple_18/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..90934fd127b71ddf7e912b150d6e902144c45ae1
--- /dev/null
+++ b/objects/objaverse/apple/apple_18/collision/model_normalized_collision_1.obj
@@ -0,0 +1,174 @@
+# https://github.com/mikedh/trimesh
+v 0.23443287 0.34927560 0.18252011
+v 0.21969697 0.32805219 -0.09588514
+v 0.16852480 0.43011086 -0.07727548
+v -0.09359515 0.43046258 0.11156279
+v -0.09723997 0.32280721 0.26085412
+v -0.09848485 0.32805219 -0.06558212
+v 0.10933910 0.43005868 0.12616527
+v 0.21633043 0.41017793 -0.09432094
+v 0.00766151 0.32668700 0.26516989
+v -0.09635266 0.43532641 -0.06319712
+v 0.00757576 0.32805219 -0.09588514
+v 0.21110198 0.41461590 0.05310423
+v 0.15233982 0.40089224 0.16667755
+v -0.00728280 0.40194874 0.19502561
+v 0.00820624 0.44300476 -0.09435970
+v -0.20053952 0.39688080 0.10844614
+v 0.18345575 0.43079724 -0.01951660
+v 0.18447338 0.36355994 0.19817695
+v 0.16789181 0.41562829 0.12235478
+v -0.03567002 0.43028771 0.13812264
+v -0.08027164 0.35950750 0.23630485
+v 0.12458035 0.41433736 0.15358401
+v 0.15399200 0.43145710 -0.09253089
+v -0.06536128 0.44655283 0.03895314
+v -0.19686608 0.38797416 0.13694219
+v 0.21203612 0.41504129 -0.07701156
+v 0.16693262 0.43053568 0.06584532
+v 0.18083072 0.37134788 0.19153782
+v 0.21182398 0.38838290 0.13806601
+v 0.06623187 0.43005671 0.13768079
+v -0.06496773 0.34481356 0.24994408
+v -0.09377878 0.40005782 0.17989074
+v 0.00760682 0.40265339 0.19417526
+v 0.15012724 0.41494491 0.13787556
+v 0.19793257 0.41765016 -0.09267224
+v 0.11031190 0.44556509 -0.06233301
+v -0.04982677 0.44601326 -0.04688740
+v -0.02182673 0.44725873 0.08238172
+v -0.15376405 0.41819446 0.09671645
+v -0.09625818 0.33272943 0.25355584
+v 0.18340075 0.43117994 0.00846248
+v 0.19529372 0.41577594 0.08125217
+v 0.21035786 0.40045124 0.11151099
+v 0.21419830 0.37764707 0.15576975
+v -0.06694801 0.38693077 0.20804748
+v -0.05134175 0.41547894 0.16548348
+v -0.07949391 0.37179788 0.22257404
+v -0.13895156 0.41493193 0.12658953
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+v 0.02344384 0.44703999 -0.07781776
+v -0.18061143 0.40122771 0.12428825
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+f 59 55 16
+f 59 16 25
+f 59 25 48
+f 59 48 55
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_18/collision/model_normalized_collision_10.obj b/objects/objaverse/apple/apple_18/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1c21addc39ae504f0a37b95df4fb173f0c536562
--- /dev/null
+++ b/objects/objaverse/apple/apple_18/collision/model_normalized_collision_10.obj
@@ -0,0 +1,123 @@
+# https://github.com/mikedh/trimesh
+v 0.06405374 -0.37192760 -0.33048060
+v 0.14788490 -0.33436807 -0.34467271
+v 0.00757576 -0.24770540 -0.33830940
+v -0.23067794 -0.24288410 -0.42127402
+v 0.00649807 -0.30012282 -0.42825211
+v -0.24276767 -0.32641873 -0.33080817
+v 0.14042275 -0.34415457 -0.33263625
+v 0.06370308 -0.32289220 -0.39895914
+v 0.00688046 -0.24566993 -0.45269399
+v -0.25810997 -0.28101623 -0.37263836
+v -0.10921593 -0.36527233 -0.35504176
+v 0.10768763 -0.35025325 -0.34259554
+v 0.10967816 -0.35636404 -0.33100878
+v 0.14090949 -0.31473913 -0.37712535
+v -0.12468263 -0.26923344 -0.44156845
+v -0.21408821 -0.24093984 -0.43116292
+v -0.24784246 -0.31999925 -0.33580643
+v -0.15341981 -0.37090696 -0.33004844
+v 0.01926822 -0.36594012 -0.35744737
+v 0.00646507 -0.26994359 -0.44344530
+v 0.04775725 -0.35163902 -0.36944487
+v 0.13758178 -0.32158981 -0.37000902
+v -0.03691156 -0.32357129 -0.41390748
+v -0.15638155 -0.24191414 -0.44767296
+v -0.22624672 -0.26531073 -0.40981955
+v -0.19603906 -0.33613531 -0.35368128
+v 0.06188463 -0.36554788 -0.34151848
+v 0.10708596 -0.32107351 -0.38474340
+v -0.13906699 -0.32196256 -0.39846485
+v -0.05196112 -0.33822432 -0.39850864
+v -0.02473963 -0.32374287 -0.41320328
+v -0.15485202 -0.25394318 -0.44211449
+v -0.22457204 -0.32091050 -0.35384438
+v -0.12425991 -0.29458368 -0.42608134
+v -0.12432315 -0.35053746 -0.37115736
+v -0.16612060 -0.33699678 -0.36974534
+v -0.00964311 -0.33848799 -0.39761412
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+v -0.13844356 -0.30800510 -0.41137329
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+v -0.15103564 -0.36494066 -0.34050012
+v -0.24427214 -0.31426743 -0.34681603
+f 7 2 3
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+f 14 3 2
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+f 20 14 8
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+f 22 12 21
+f 23 15 5
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+f 25 10 4
+f 25 4 16
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+f 27 21 12
+f 27 12 1
+f 27 1 21
+f 28 22 21
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+f 31 23 5
+f 31 5 8
+f 32 24 15
+f 32 16 24
+f 33 10 25
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+f 35 30 11
+f 35 29 30
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+f 36 26 33
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+f 38 6 17
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+f 39 30 29
+f 40 25 16
+f 40 16 32
+f 40 32 34
+f 40 39 25
+f 40 34 39
+f 41 35 11
+f 41 11 18
+f 41 36 35
+f 41 18 26
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+f 42 38 17
+f 42 17 10
+f 42 10 33
+f 42 33 38
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_18/collision/model_normalized_collision_11.obj b/objects/objaverse/apple/apple_18/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a6d4b7a5036dece57e408914eb80b969252ed860
--- /dev/null
+++ b/objects/objaverse/apple/apple_18/collision/model_normalized_collision_11.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v 0.27786796 -0.24718614 -0.36615711
+v 0.25515787 -0.20171401 -0.42700719
+v 0.28361596 0.21385658 -0.37399584
+v 0.08333333 0.19168855 -0.33830940
+v 0.08333333 -0.23255389 -0.35346091
+v 0.11431261 0.17261094 -0.45787363
+v 0.14393940 0.19168855 -0.33830940
+v 0.26357361 -0.07891627 -0.47218645
+v 0.08302965 -0.23088567 -0.45369649
+v 0.08616452 0.18971241 -0.44822940
+v 0.14393940 -0.00528115 -0.33830940
+v 0.25526176 -0.14454470 -0.46006424
+v 0.23993534 0.06627638 -0.47388396
+v 0.20005415 -0.21954357 -0.44261444
+v 0.08250997 -0.21287953 -0.45888030
+v 0.22716971 0.18419114 -0.44018249
+v 0.08333333 -0.00528115 -0.33830940
+v 0.25413465 0.03561428 -0.47290074
+v 0.25416583 -0.21790581 -0.41329163
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+v 0.22914253 -0.17675202 -0.45502400
+v 0.17128542 -0.20906009 -0.45500197
+v 0.23173585 -0.12308755 -0.47269465
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+v 0.20509334 0.05429715 -0.47346957
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+v 0.25174632 0.18004415 -0.42606550
+v 0.24584937 -0.10577849 -0.47211065
+v 0.14910010 -0.05611978 -0.47298741
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+f 28 15 22
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+f 30 23 13
+f 30 6 23
+f 30 29 6
+f 30 13 29
+f 31 24 16
+f 31 16 3
+f 31 3 24
+f 32 27 8
+f 32 8 12
+f 32 12 27
+f 33 29 22
+f 33 22 6
+f 33 6 29
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_18/collision/model_normalized_collision_12.obj b/objects/objaverse/apple/apple_18/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..672f099a775b20436fd847eb082726a2f105fe3f
--- /dev/null
+++ b/objects/objaverse/apple/apple_18/collision/model_normalized_collision_12.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.26973716 -0.33208714 -0.23565095
+v 0.44746414 -0.12101016 -0.22728031
+v 0.46838229 -0.00478920 -0.21411374
+v 0.26013177 0.34920398 -0.21247254
+v 0.25887116 -0.00652741 -0.47710080
+v 0.26515153 -0.00528115 -0.21709727
+v 0.32933274 -0.29576716 -0.22671837
+v 0.38365273 -0.04893854 -0.37059359
+v 0.27168267 0.34369677 -0.20993662
+v 0.25691738 -0.28052334 -0.34457241
+v 0.37267836 -0.25056217 -0.22611974
+v 0.30400991 -0.31418437 -0.22811955
+v 0.44207770 -0.07581720 -0.26798302
+v 0.46372014 0.05373261 -0.21246066
+v 0.25746298 0.18500992 -0.41871997
+v 0.25954215 -0.31396748 -0.28786556
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+v 0.43168276 -0.16343797 -0.22672403
+v 0.34031508 -0.23306092 -0.31025972
+v 0.41447353 0.00775712 -0.32665569
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+v 0.31064915 -0.10149852 -0.44283791
+v 0.41261679 -0.14669629 -0.28195470
+v 0.32678563 -0.27580348 -0.26788684
+v 0.39840494 -0.18906235 -0.26760857
+v 0.41337484 -0.04930136 -0.32667916
+v 0.36781897 0.17949553 -0.31071595
+v 0.35725657 0.05009164 -0.39707934
+v 0.45977215 0.00818628 -0.23874285
+v 0.25787561 0.29994469 -0.29711602
+v 0.26893557 0.33902550 -0.22280621
+v 0.25818283 0.06828678 -0.46226436
+v 0.25726539 0.32881160 -0.25430861
+v 0.26033421 -0.13941522 -0.46044944
+v 0.26871711 -0.27537949 -0.34095427
+v 0.27139537 -0.30849221 -0.28491614
+v 0.27035221 -0.06508942 -0.47263813
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+v 0.45895627 -0.01944195 -0.23944039
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+v 0.26373313 -0.06397933 -0.47396960
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+v 0.36704051 -0.14695685 -0.35577339
+v 0.42685172 -0.10566683 -0.28273994
+f 7 3 6
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+f 21 2 13
+f 23 10 16
+f 23 16 6
+f 23 6 4
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+f 25 12 1
+f 25 7 12
+f 29 18 11
+f 30 8 20
+f 33 14 3
+f 33 3 21
+f 35 23 4
+f 35 4 9
+f 36 24 15
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+f 37 24 23
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+f 58 19 28
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+f 59 41 26
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+f 64 43 27
+f 64 13 43
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+f 64 27 48
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_18/collision/model_normalized_collision_13.obj b/objects/objaverse/apple/apple_18/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..446b8f010fe202f14b91f97fd99fecc6760a9d9c
--- /dev/null
+++ b/objects/objaverse/apple/apple_18/collision/model_normalized_collision_13.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.38830588 0.18363084 0.18153416
+v 0.44882783 0.18497328 -0.10905415
+v 0.37089981 0.29841845 0.05027909
+v 0.21404706 0.40636557 0.08231143
+v 0.26515153 0.19168855 -0.21709727
+v 0.26880623 0.35395707 -0.19239575
+v 0.26778068 0.32887235 0.17772815
+v 0.44923677 0.18499545 0.03883835
+v 0.42054680 0.18571013 -0.21284902
+v 0.37020910 0.29678253 -0.12269432
+v 0.21568008 0.39492938 -0.15338824
+v 0.35509729 0.26647548 0.15104697
+v 0.30990953 0.34130396 0.09438678
+v 0.26285199 0.18795811 0.27459295
+v 0.41446256 0.25582972 -0.00737549
+v 0.26013177 0.34920398 -0.21247254
+v 0.38562863 0.25295263 -0.19397409
+v 0.29844462 0.36970660 -0.07677159
+v 0.32578501 0.22511303 0.22157624
+v 0.41275931 0.22591045 0.09451417
+v 0.22716805 0.38876021 0.12312173
+v 0.37012919 0.28254522 0.09546698
+v 0.29659386 0.34135858 0.12082379
+v 0.30223460 0.18643232 0.25539500
+v 0.21969697 0.31290067 -0.15649121
+v 0.42978388 0.22603722 0.02278908
+v 0.42751783 0.22718904 -0.10823374
+v 0.25696183 0.35958062 -0.19514284
+v 0.31195964 0.32485798 -0.19211808
+v 0.39885882 0.22505454 -0.20971422
+v 0.28337812 0.36985760 -0.12224830
+v 0.24047124 0.39992900 -0.09209298
+v 0.29750227 0.37035568 0.02223465
+v 0.41435345 0.25562286 -0.04997252
+v 0.35636157 0.22517362 0.19181155
+v 0.25875703 0.28935928 0.22509629
+v 0.38358451 0.23886096 0.13721275
+v 0.43388786 0.18498560 0.09641686
+v 0.21419830 0.37764707 0.15576975
+v 0.32616365 0.34211737 0.05280719
+v 0.41468451 0.24163908 0.05088685
+v 0.32528429 0.29597485 0.15050666
+v 0.36834579 0.26983555 0.12276913
+v 0.26645588 0.35671029 0.13609974
+v 0.23939843 0.38582790 0.11079890
+v 0.34428422 0.18538473 0.22592705
+v 0.41426864 0.23954378 -0.13561608
+v 0.33959686 0.31156746 -0.16487120
+v 0.27168267 0.34369677 -0.20993662
+v 0.29813928 0.32662789 -0.20821773
+v 0.24067128 0.38460954 -0.15004760
+v 0.31194604 0.34087768 -0.15010366
+v 0.21484603 0.40542788 -0.12234423
+v 0.26991265 0.38479452 -0.09218006
+v 0.23882140 0.39998572 0.06505017
+v 0.33972995 0.32749981 -0.12238426
+v 0.44283617 0.19709805 -0.10816057
+v 0.28279155 0.22616455 0.24987368
+v 0.26681254 0.28389799 0.22402827
+v 0.38368255 0.19596211 0.17787328
+v 0.42830206 0.19727504 0.09442380
+v 0.21454272 0.39371020 0.12584047
+v 0.26137932 0.20072054 0.26927113
+v 0.23443287 0.34927560 0.18252011
+f 8 1 2
+f 9 2 1
+f 9 1 5
+f 16 9 5
+f 16 5 11
+f 18 3 15
+f 23 22 13
+f 24 14 5
+f 24 5 1
+f 25 11 5
+f 25 5 14
+f 26 8 2
+f 28 16 11
+f 30 9 16
+f 33 3 18
+f 34 18 15
+f 34 15 26
+f 35 12 7
+f 37 12 35
+f 38 1 8
+f 38 37 1
+f 39 25 14
+f 40 22 3
+f 40 13 22
+f 40 3 33
+f 41 22 20
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+f 41 20 8
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+f 53 11 25
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+f 56 48 52
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+f 57 27 34
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+f 58 24 19
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+f 59 35 7
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+f 59 36 58
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+f 61 38 8
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+f 62 39 21
+f 62 21 4
+f 62 4 39
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+f 63 58 36
+f 63 14 58
+f 64 36 7
+f 64 44 39
+f 64 7 44
+f 64 63 36
+f 64 39 63
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_18/collision/model_normalized_collision_14.obj b/objects/objaverse/apple/apple_18/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..621da78c89e0c26083eeb9dbec06181db8a0ddcc
--- /dev/null
+++ b/objects/objaverse/apple/apple_18/collision/model_normalized_collision_14.obj
@@ -0,0 +1,129 @@
+# https://github.com/mikedh/trimesh
+v 0.21969697 0.31290067 -0.09588514
+v 0.27557036 0.32675354 -0.23966967
+v 0.21633043 0.41017793 -0.09432094
+v 0.00820624 0.44300476 -0.09435970
+v 0.00714824 0.33168300 -0.34075930
+v 0.19793257 0.41765016 -0.09267224
+v 0.28790143 0.35107573 -0.16942714
+v 0.22348553 0.31947450 -0.29727268
+v 0.00757576 0.32805219 -0.09588514
+v 0.09532426 0.39995779 -0.22300427
+v 0.19670291 0.39877760 -0.16507186
+v 0.14393940 0.31290067 -0.09588514
+v 0.01035625 0.40079431 -0.22286645
+v 0.12616312 0.43115732 -0.12118331
+v 0.09479818 0.34085333 -0.32678664
+v 0.19726274 0.41511206 -0.10765290
+v 0.21056392 0.36847807 -0.22262797
+v 0.25861413 0.37524183 -0.15198413
+v 0.14307106 0.32422362 -0.33554938
+v 0.00952235 0.43226676 -0.13589792
+v 0.14137706 0.43473509 -0.09338089
+v 0.13867417 0.41676276 -0.16522095
+v 0.02278813 0.37067379 -0.28263933
+v 0.21463455 0.33169675 -0.28623379
+v 0.24123795 0.36882578 -0.19272668
+v 0.14040706 0.36954291 -0.26665902
+v 0.09598071 0.43129272 -0.13625684
+v 0.14081854 0.43229771 -0.10809358
+v 0.14075393 0.39980815 -0.20777998
+v 0.09486214 0.36931136 -0.28177615
+v 0.00966177 0.34151650 -0.32681018
+v 0.23987042 0.35504007 -0.22291632
+v 0.25532747 0.37223912 -0.16568963
+v 0.25479140 0.35461981 -0.20755243
+v 0.12499385 0.35514349 -0.29571926
+v 0.15304982 0.33907568 -0.30954325
+v 0.19716476 0.34097138 -0.28296791
+v 0.11085509 0.41540071 -0.17960237
+v 0.16818922 0.38422555 -0.22267018
+v 0.01041538 0.38525641 -0.25296992
+v 0.25743291 0.34428388 -0.22513759
+v 0.14040641 0.34125538 -0.31171613
+v 0.15361621 0.35612320 -0.28278299
+v 0.14088382 0.32973146 -0.32859727
+f 6 1 3
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+f 12 8 1
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+f 16 6 3
+f 18 3 7
+f 18 16 3
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+f 19 8 12
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+f 21 4 6
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+f 33 18 7
+f 34 7 2
+f 34 32 25
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+f 38 27 22
+f 38 10 27
+f 38 29 10
+f 38 22 29
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+f 39 11 17
+f 39 26 29
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+f 40 31 5
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+f 40 13 23
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+f 41 32 34
+f 42 15 35
+f 42 35 26
+f 43 37 36
+f 43 39 37
+f 43 26 39
+f 43 42 26
+f 43 36 42
+f 44 19 15
+f 44 15 42
+f 44 42 36
+f 44 36 19
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_18/collision/model_normalized_collision_15.obj b/objects/objaverse/apple/apple_18/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..346d84fbe4a27d36e1af613ef14b5cd71d4b41fd
--- /dev/null
+++ b/objects/objaverse/apple/apple_18/collision/model_normalized_collision_15.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.37732893 -0.25048929 0.15720610
+v -0.40058954 -0.26465045 -0.16935114
+v -0.35606062 0.17653703 -0.15649121
+v -0.38522324 0.21173108 0.16511631
+v -0.43916791 0.20675723 -0.06779359
+v -0.35606062 0.19168855 -0.06558212
+v -0.40534337 -0.22403533 0.13991045
+v -0.43107502 0.18338261 -0.16094361
+v -0.42319208 -0.23646726 -0.15829943
+v -0.40999489 0.18869810 0.14296121
+f 1 2 3
+f 6 1 3
+f 6 4 1
+f 6 5 4
+f 6 3 5
+f 7 2 1
+f 7 1 4
+f 8 5 3
+f 8 3 2
+f 9 7 5
+f 9 2 7
+f 9 8 2
+f 9 5 8
+f 10 7 4
+f 10 4 5
+f 10 5 7
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_18/collision/model_normalized_collision_16.obj b/objects/objaverse/apple/apple_18/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d40402581c00ce7e7b0ed78e6762f12c878e1ed
--- /dev/null
+++ b/objects/objaverse/apple/apple_18/collision/model_normalized_collision_16.obj
@@ -0,0 +1,126 @@
+# https://github.com/mikedh/trimesh
+v 0.00728364 -0.42828242 -0.23188579
+v 0.29335360 -0.32050764 -0.23093359
+v 0.28813424 -0.32582685 -0.22665448
+v 0.00757576 -0.23255389 -0.23224879
+v 0.00729893 -0.23174350 -0.45680324
+v 0.26515153 -0.23255389 -0.23224879
+v 0.06480139 -0.41581658 -0.22822249
+v 0.00397741 -0.41391559 -0.27175601
+v 0.25866736 -0.22390806 -0.40466636
+v 0.00646507 -0.26994359 -0.44344530
+v 0.06186680 -0.39680525 -0.28385753
+v 0.15652875 -0.22513188 -0.44987653
+v 0.21110533 -0.31896055 -0.32659874
+v 0.06325911 -0.41206980 -0.24120750
+v 0.00593706 -0.31378333 -0.41788866
+v 0.25329480 -0.27513824 -0.35532384
+v 0.25403428 -0.31979532 -0.28296655
+v 0.19799165 -0.36783127 -0.22809766
+v 0.00501094 -0.38538669 -0.32993967
+v 0.03393936 -0.29692184 -0.42720183
+v 0.29053957 -0.31654925 -0.24432349
+v 0.15262971 -0.30485964 -0.38475887
+v 0.25367718 -0.30417851 -0.31293168
+v 0.23973287 -0.33445667 -0.27008597
+v 0.15183843 -0.36443306 -0.28333207
+v 0.03422743 -0.39555070 -0.29887152
+v 0.00649807 -0.30012282 -0.42825211
+v 0.20962755 -0.23550181 -0.42669805
+v 0.21162888 -0.28944592 -0.37044910
+v 0.10867691 -0.30967130 -0.39849630
+v 0.09202968 -0.36507075 -0.32636313
+v 0.28563637 -0.32146342 -0.23989709
+v 0.19643678 -0.36404098 -0.23981532
+v 0.21118558 -0.33386853 -0.29804997
+v 0.21293683 -0.22436097 -0.43250588
+v 0.16616378 -0.32013409 -0.35760102
+v 0.23851722 -0.30494334 -0.32600011
+v 0.23785874 -0.26205769 -0.38520617
+v 0.04920374 -0.31004796 -0.41303130
+v 0.15210304 -0.26277738 -0.42748827
+v 0.03457017 -0.38137486 -0.32751246
+v 0.15206323 -0.33434199 -0.34212668
+v 0.23805483 -0.24876397 -0.39676622
+f 6 3 2
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+f 7 3 4
+f 7 4 1
+f 8 1 4
+f 9 4 6
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+f 10 8 4
+f 10 4 5
+f 11 1 8
+f 12 5 4
+f 12 4 9
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+f 14 7 1
+f 14 1 11
+f 15 8 10
+f 18 3 7
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+f 20 10 12
+f 21 16 9
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+f 21 2 3
+f 23 21 17
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+f 24 3 18
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+f 24 23 17
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+f 26 11 8
+f 26 8 19
+f 27 20 15
+f 27 15 10
+f 27 10 20
+f 31 25 11
+f 32 24 21
+f 32 21 3
+f 32 3 24
+f 33 25 24
+f 33 24 18
+f 33 18 25
+f 34 13 24
+f 34 24 25
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+f 35 9 28
+f 36 29 13
+f 36 22 29
+f 36 31 30
+f 36 30 22
+f 37 23 13
+f 37 13 29
+f 37 29 16
+f 37 16 23
+f 38 29 22
+f 38 22 28
+f 38 9 16
+f 38 16 29
+f 39 19 15
+f 39 15 20
+f 40 28 22
+f 40 22 30
+f 40 12 28
+f 40 20 12
+f 40 39 20
+f 40 30 39
+f 41 30 31
+f 41 39 30
+f 41 19 39
+f 41 26 19
+f 41 31 11
+f 41 11 26
+f 42 34 25
+f 42 25 31
+f 42 31 36
+f 42 36 13
+f 42 13 34
+f 43 38 28
+f 43 28 9
+f 43 9 38
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_18/collision/model_normalized_collision_17.obj b/objects/objaverse/apple/apple_18/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5b85ec71598d4a5bec6d4136f05b2d0d3353fb4e
--- /dev/null
+++ b/objects/objaverse/apple/apple_18/collision/model_normalized_collision_17.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v 0.15221373 -0.09039356 0.46961533
+v 0.16177635 -0.07215239 0.44640106
+v 0.15173032 -0.03424449 0.45685200
+v -0.00875558 0.05305110 0.22789904
+v 0.03903424 -0.00790447 0.24568518
+v 0.10983336 -0.04869077 0.45598915
+v 0.15873731 -0.07349620 0.47479074
+v 0.15210330 -0.08470242 0.44675976
+v 0.02294572 0.05584313 0.23470914
+v 0.00525426 0.03343481 0.27481494
+v -0.02173497 -0.00847673 0.23659628
+v 0.15988125 -0.08529070 0.46064653
+v 0.16196881 -0.04219350 0.44643765
+v 0.13010389 -0.08133339 0.48081261
+v 0.13648828 -0.03557823 0.45357315
+v 0.05280732 -0.03172844 0.36621530
+v -0.02245536 0.00899471 0.23306291
+v 0.15994920 -0.08408798 0.45849324
+v 0.15702048 -0.04426575 0.46339207
+v 0.14927116 -0.03254275 0.44692087
+v 0.13794601 -0.08267852 0.47866592
+v 0.12697646 -0.08301119 0.47271889
+v 0.13356521 -0.05553863 0.47929980
+v 0.00004192 0.03679194 0.26350011
+v 0.00713441 -0.00462016 0.23993628
+v -0.02263510 -0.00557798 0.23596164
+v 0.12015495 -0.07901680 0.44382532
+v 0.12898983 -0.06921291 0.48151055
+v 0.14129822 -0.05399184 0.47780595
+v -0.02155523 0.00609597 0.23369754
+f 8 5 2
+f 9 5 4
+f 10 9 4
+f 10 3 9
+f 11 8 1
+f 11 5 8
+f 12 7 1
+f 12 2 7
+f 12 1 8
+f 13 7 2
+f 13 2 5
+f 13 5 9
+f 15 10 6
+f 15 3 10
+f 16 6 10
+f 16 14 6
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+f 18 2 12
+f 19 13 3
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+f 21 14 1
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+f 22 14 11
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+f 23 3 15
+f 24 17 10
+f 24 10 4
+f 24 4 17
+f 25 17 4
+f 25 4 5
+f 25 5 11
+f 26 16 10
+f 26 10 17
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+f 26 11 16
+f 27 22 11
+f 27 11 1
+f 27 1 22
+f 28 23 6
+f 28 6 14
+f 28 14 7
+f 29 19 3
+f 29 3 23
+f 29 7 19
+f 29 28 7
+f 29 23 28
+f 30 25 11
+f 30 11 17
+f 30 17 25
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_18/collision/model_normalized_collision_18.obj b/objects/objaverse/apple/apple_18/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7795131cf3921a9fec849ff30f7ea612f374ef18
--- /dev/null
+++ b/objects/objaverse/apple/apple_18/collision/model_normalized_collision_18.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.08333333 -0.00528115 -0.33830940
+v 0.08516151 0.02547745 -0.44022036
+v 0.08326222 0.33745941 -0.33440467
+v 0.00839500 0.33659072 -0.33379336
+v 0.00471096 -0.00620332 -0.40427880
+v 0.05425560 0.24825920 -0.42954836
+v 0.08750215 0.07147114 -0.44569147
+v 0.06459592 -0.00875001 -0.42800533
+v 0.00757576 -0.00528115 -0.33830940
+v 0.02483544 0.31187580 -0.36962362
+v 0.08616452 0.18971241 -0.44822940
+v 0.00654373 0.12173904 -0.42660758
+v 0.00918197 0.32956267 -0.34425658
+v 0.08272107 0.30544788 -0.37730588
+v 0.05760353 0.18849647 -0.44128132
+v 0.01065951 0.23292046 -0.42584064
+v 0.06703107 0.31077837 -0.37149843
+v 0.00871977 0.30412251 -0.37609066
+v 0.08267879 0.33074493 -0.34396564
+v 0.02696278 0.24478362 -0.42517502
+f 1 3 4
+f 7 1 2
+f 7 3 1
+f 8 2 1
+f 9 1 4
+f 9 4 5
+f 9 8 1
+f 9 5 8
+f 11 3 7
+f 12 7 2
+f 12 5 4
+f 12 8 5
+f 12 2 8
+f 13 4 3
+f 14 6 10
+f 14 11 6
+f 14 3 11
+f 15 11 7
+f 15 7 12
+f 16 15 12
+f 16 6 11
+f 16 11 15
+f 17 14 10
+f 18 10 6
+f 18 13 10
+f 18 4 13
+f 18 16 12
+f 18 12 4
+f 19 17 10
+f 19 3 14
+f 19 14 17
+f 19 13 3
+f 19 10 13
+f 20 18 6
+f 20 6 16
+f 20 16 18
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_18/collision/model_normalized_collision_19.obj b/objects/objaverse/apple/apple_18/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1748b688ab8b4cec4b6e2dbac71624f91a329d8d
--- /dev/null
+++ b/objects/objaverse/apple/apple_18/collision/model_normalized_collision_19.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v -0.23484849 -0.23255389 0.14653910
+v -0.23484849 -0.23255389 -0.26255182
+v -0.22654392 0.31404632 -0.25470465
+v -0.22889020 0.39160959 0.06896699
+v -0.38522324 0.21173108 0.16511631
+v -0.22752847 0.37561657 0.12607216
+v -0.37732893 -0.25048929 0.15720610
+v -0.37203652 0.19077390 -0.27420369
+v -0.22659457 0.37527649 -0.12159859
+v -0.23484849 0.19168855 0.14653910
+v -0.32591259 0.32523284 0.08131430
+v -0.37404695 -0.24702474 -0.27100966
+v -0.32710974 0.29667320 -0.16383944
+v -0.29743212 0.33950204 0.10798256
+v -0.31382234 0.33947042 -0.04770598
+v -0.23884802 0.33914624 -0.19369936
+v -0.32677041 0.25088337 -0.25232174
+v -0.26883645 0.36930944 0.06711637
+v -0.32595070 0.31076472 0.12213071
+v -0.22824032 0.39044498 -0.06359079
+v -0.32707719 0.32611483 -0.07555701
+v -0.29816859 0.30965887 -0.17763951
+v -0.22705329 0.34492820 -0.19618155
+v -0.29827801 0.27930303 -0.23744642
+v -0.23945732 0.36987494 0.12373202
+v -0.31271722 0.33941317 0.06647388
+v -0.26959315 0.37087412 -0.03227676
+v -0.25348114 0.36973750 -0.08939581
+v -0.23849706 0.30865217 -0.25168244
+v -0.23985223 0.38605580 0.06777933
+v -0.23789827 0.36903816 -0.11945899
+v -0.24001835 0.38483870 -0.06109381
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+f 19 11 5
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+f 26 14 18
+f 26 21 11
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+f 27 26 18
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+f 27 21 15
+f 28 13 21
+f 29 23 3
+f 29 16 23
+f 29 24 16
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+f 29 17 24
+f 30 18 25
+f 30 27 18
+f 30 4 27
+f 30 25 6
+f 30 6 4
+f 31 28 9
+f 31 13 28
+f 31 22 13
+f 31 9 22
+f 32 20 9
+f 32 9 28
+f 32 27 4
+f 32 4 20
+f 32 28 21
+f 32 21 27
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_18/collision/model_normalized_collision_2.obj b/objects/objaverse/apple/apple_18/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf4e5deeb416dc49f1ac7afd9f765e2577289ee7
--- /dev/null
+++ b/objects/objaverse/apple/apple_18/collision/model_normalized_collision_2.obj
@@ -0,0 +1,177 @@
+# https://github.com/mikedh/trimesh
+v -0.41666668 0.07047643 -0.06558212
+v -0.34090910 0.17653703 -0.15649121
+v -0.34090910 0.17653703 -0.06558212
+v -0.33308667 0.31867828 0.08352382
+v -0.44250408 0.18177713 -0.12251821
+v -0.33230596 0.30307574 0.12601489
+v -0.46684756 0.08273437 -0.16981466
+v -0.33679920 0.29265977 -0.15442984
+v -0.38111660 0.22062059 0.16197227
+v -0.47565837 0.06632450 -0.15198540
+v -0.38658211 0.28249471 -0.01806229
+v -0.42849352 0.19371292 -0.14992279
+v -0.33291945 0.30232418 -0.13735306
+v -0.41489658 0.24164455 0.05046699
+v -0.47959908 0.08243674 0.05376362
+v -0.45871386 0.13998946 -0.13580390
+v -0.38397760 0.25208133 -0.14930516
+v -0.41602105 0.23919816 -0.07622586
+v -0.33197087 0.31700929 -0.09253999
+v -0.36992470 0.26697446 0.12233506
+v -0.38549172 0.28246627 0.00866385
+v -0.49031768 0.07010573 -0.06561782
+v -0.43873128 0.13916292 0.12804613
+v -0.47263044 0.09587769 -0.13602012
+v -0.44260036 0.16680128 -0.15004943
+v -0.37106381 0.26670340 -0.14908719
+v -0.42904581 0.21010632 -0.10715173
+v -0.42875199 0.22604859 0.00841038
+v -0.37127249 0.29748474 -0.01804043
+v -0.39965954 0.22636442 0.12414900
+v -0.34241773 0.31147020 0.08160366
+v -0.45839092 0.16727045 -0.07706640
+v -0.45857945 0.15508733 0.05272820
+v -0.34250209 0.29611078 -0.13453925
+v -0.38375817 0.26787639 -0.10596965
+v -0.42883406 0.22499797 -0.04864818
+v -0.37135365 0.29748004 -0.00580905
+v -0.39839819 0.23860715 0.10823877
+v -0.41586353 0.19968883 0.12283157
+v -0.34057193 0.29751489 0.12220765
+v -0.38366385 0.26911716 0.08092435
+v -0.47469404 0.12466667 -0.07749914
+v -0.44345822 0.19768087 -0.07710890
+v -0.44310712 0.14486991 0.11505270
+v -0.44311794 0.19860291 0.02352876
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+v -0.44531250 0.15561210 0.09583261
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+f 13 2 8
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+f 23 15 1
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+f 47 26 34
+f 48 19 13
+f 48 13 34
+f 48 34 26
+f 48 26 35
+f 48 35 11
+f 48 11 29
+f 49 23 9
+f 49 9 39
+f 49 44 23
+f 50 39 30
+f 50 30 38
+f 52 46 15
+f 52 33 46
+f 52 51 33
+f 52 15 51
+f 53 46 33
+f 53 33 45
+f 53 45 32
+f 53 32 42
+f 53 42 46
+f 54 48 29
+f 54 29 19
+f 54 19 48
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+f 55 44 49
+f 55 39 50
+f 56 50 38
+f 56 38 14
+f 56 14 45
+f 57 51 44
+f 57 33 51
+f 58 51 15
+f 58 15 23
+f 58 23 44
+f 58 44 51
+f 59 55 50
+f 59 50 56
+f 59 56 45
+f 59 45 33
+f 60 44 55
+f 60 57 44
+f 60 33 57
+f 60 59 33
+f 60 55 59
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_18/collision/model_normalized_collision_20.obj b/objects/objaverse/apple/apple_18/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..505fbcb1f6d114fc4a251b9b0f8dc25c65c4a955
--- /dev/null
+++ b/objects/objaverse/apple/apple_18/collision/model_normalized_collision_20.obj
@@ -0,0 +1,135 @@
+# https://github.com/mikedh/trimesh
+v -0.40058954 -0.26465045 -0.16935114
+v -0.37404695 -0.24702474 -0.27100966
+v -0.34090910 0.17653703 -0.15649121
+v -0.33679920 0.29265977 -0.15442984
+v -0.47896844 0.05199270 -0.15287497
+v -0.33289967 0.24291198 -0.25675657
+v -0.45825253 -0.12318834 -0.21042630
+v -0.43239925 -0.22381576 -0.15245368
+v -0.33367014 0.28927720 -0.16750746
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+v -0.44408345 0.05262392 -0.25439718
+v -0.34651036 0.28592281 -0.15170116
+v -0.47690602 -0.10860867 -0.15313886
+v -0.42758066 -0.19167683 -0.22492704
+v -0.36339878 0.19657862 -0.27895443
+v -0.44300668 -0.12356361 -0.25341980
+v -0.47481724 -0.07796954 -0.18155896
+v -0.46021233 0.10965342 -0.16684403
+v -0.41609899 0.21127516 -0.15071716
+v -0.35540427 0.23633199 -0.23615320
+v -0.46074461 -0.16590375 -0.15275336
+v -0.39860192 -0.22236812 -0.25383458
+v -0.42806245 0.10995103 -0.25398179
+v -0.42783159 -0.16458970 -0.25344709
+v -0.47398051 0.02330964 -0.18182498
+v -0.47408121 -0.10812263 -0.16621773
+v -0.45821033 -0.09287798 -0.22556301
+v -0.45958287 0.08121079 -0.19569966
+v -0.44816636 0.15442573 -0.15188619
+v -0.35698891 0.26463212 -0.17880595
+v -0.38338599 0.19387849 -0.25211223
+v -0.34281898 0.23678272 -0.25297081
+v -0.44306608 -0.19135700 -0.18076308
+v -0.42947636 -0.22206287 -0.16679525
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+v -0.45804444 0.03781396 -0.22535050
+v -0.47537623 0.05110312 -0.16706109
+v -0.44354782 0.08071276 -0.23955874
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+v -0.38465994 0.22186462 -0.20788875
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+f 16 15 2
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+f 36 17 25
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+f 39 5 29
+f 39 37 5
+f 39 18 37
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+f 40 31 23
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+f 41 12 30
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+f 42 20 15
+f 42 15 31
+f 43 37 28
+f 43 36 37
+f 43 28 38
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+f 43 11 36
+f 44 40 23
+f 44 23 18
+f 44 18 29
+f 44 29 40
+f 45 41 10
+f 45 10 19
+f 45 19 41
+f 46 41 20
+f 46 20 42
+f 46 10 41
+f 46 42 31
+f 46 31 10
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_18/collision/model_normalized_collision_22.obj b/objects/objaverse/apple/apple_18/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c3bab472989315bc6a720a0337715ee216cc53eb
--- /dev/null
+++ b/objects/objaverse/apple/apple_18/collision/model_normalized_collision_22.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.00593618 -0.44361526 0.05237811
+v 0.00501094 -0.38538669 -0.32993967
+v 0.00717681 -0.24585093 0.30726626
+v -0.21575466 -0.24180405 0.28622581
+v -0.22558256 -0.41023977 -0.15237761
+v 0.00757576 -0.24770540 -0.33830940
+v -0.05179857 -0.35301835 0.23746972
+v -0.09716247 -0.44168931 -0.18307253
+v -0.15727219 -0.24270840 0.29952338
+v -0.25810997 -0.28101623 -0.37263836
+v 0.00597105 -0.44290763 -0.16873993
+v 0.00762287 -0.27049226 0.29732289
+v -0.22705623 -0.39446560 0.09534370
+v -0.18184390 -0.29605958 0.26380509
+v -0.13633198 -0.39472048 -0.29778567
+v -0.00869981 -0.42653905 -0.24093569
+v -0.15523991 -0.44140959 -0.10933442
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+v -0.22707647 -0.41020966 0.03737681
+v -0.23338176 -0.24550983 0.27850201
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+v -0.16815142 -0.36612067 0.19578964
+v -0.19620711 -0.40968832 -0.20987076
+v -0.12518535 -0.38009413 -0.32753314
+v -0.00928664 -0.44178815 -0.18369936
+v 0.00518449 -0.42970305 -0.22837947
+v -0.08053303 -0.41035035 -0.28414392
+v 0.00633304 -0.38396532 0.19614353
+v -0.11031046 -0.42472005 0.10850448
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+v -0.19813938 -0.42602670 -0.12424228
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+v -0.22645887 -0.35207213 0.18021924
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+v -0.22382827 -0.37939266 -0.25222264
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+v -0.18224468 -0.42496819 -0.16768668
+v -0.22944035 -0.26590861 0.26628559
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+v -0.12381987 -0.41121747 -0.26973979
+v -0.02352463 -0.33830609 0.25272418
+v -0.00921291 -0.44203764 0.06569591
+v -0.15626174 -0.44123853 -0.00719701
+v -0.21175230 -0.40922775 0.06492838
+v -0.09582242 -0.44189788 0.05158674
+v -0.12453205 -0.39540920 0.16591124
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+f 18 6 12
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+f 25 10 2
+f 26 11 8
+f 26 8 16
+f 27 2 11
+f 27 26 16
+f 27 11 26
+f 32 20 5
+f 33 4 21
+f 33 22 4
+f 33 14 22
+f 34 22 14
+f 34 19 22
+f 34 31 19
+f 36 21 13
+f 40 2 27
+f 41 25 2
+f 41 2 40
+f 41 15 25
+f 42 16 8
+f 42 8 37
+f 43 29 18
+f 43 18 12
+f 43 12 19
+f 43 19 31
+f 44 29 7
+f 44 35 23
+f 44 7 35
+f 45 18 30
+f 47 30 18
+f 47 18 29
+f 47 29 44
+f 47 46 30
+f 47 13 46
+f 47 36 13
+f 47 23 36
+f 48 32 17
+f 48 20 32
+f 49 17 32
+f 49 24 37
+f 49 37 8
+f 49 8 17
+f 49 32 5
+f 49 5 24
+f 50 33 21
+f 50 14 33
+f 50 21 36
+f 51 34 14
+f 51 31 34
+f 51 14 35
+f 51 35 7
+f 51 7 31
+f 52 35 14
+f 52 23 35
+f 52 36 23
+f 52 50 36
+f 52 14 50
+f 53 37 24
+f 53 38 15
+f 53 24 38
+f 54 38 24
+f 54 24 5
+f 54 5 10
+f 54 10 38
+f 55 25 15
+f 55 15 38
+f 55 39 10
+f 55 10 25
+f 56 38 10
+f 56 10 39
+f 56 55 38
+f 56 39 55
+f 57 40 27
+f 57 27 16
+f 57 41 40
+f 57 28 41
+f 57 42 28
+f 57 16 42
+f 58 41 28
+f 58 15 41
+f 58 28 42
+f 58 42 37
+f 58 53 15
+f 58 37 53
+f 59 7 29
+f 59 29 43
+f 59 43 31
+f 59 31 7
+f 60 45 1
+f 60 1 18
+f 60 18 45
+f 61 17 1
+f 61 48 17
+f 61 46 48
+f 62 46 13
+f 62 13 20
+f 62 48 46
+f 62 20 48
+f 63 45 30
+f 63 30 46
+f 63 46 61
+f 63 61 1
+f 63 1 45
+f 64 47 44
+f 64 44 23
+f 64 23 47
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_18/collision/model_normalized_collision_23.obj b/objects/objaverse/apple/apple_18/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9bbc14cc85b10acbaae430a72fc43123e20d8ec3
--- /dev/null
+++ b/objects/objaverse/apple/apple_18/collision/model_normalized_collision_23.obj
@@ -0,0 +1,162 @@
+# https://github.com/mikedh/trimesh
+v 0.00757576 0.20684007 -0.06558212
+v 0.00781179 0.20679976 -0.42809806
+v 0.00764609 0.44830248 -0.06542270
+v -0.09635266 0.43532641 -0.06319712
+v -0.23484849 0.20684007 -0.06558212
+v -0.00533281 0.34024971 -0.32594509
+v 0.01102152 0.28322203 -0.39966326
+v -0.22906977 0.19865483 -0.40386055
+v -0.16750944 0.41635481 -0.06280175
+v -0.00519659 0.41575218 -0.17976770
+v 0.01026462 0.26047443 -0.41530180
+v 0.00952235 0.43226676 -0.13589792
+v -0.17321379 0.19990169 -0.41772005
+v -0.16647133 0.26624415 -0.36904941
+v -0.22824032 0.39044498 -0.06359079
+v -0.12360836 0.39922625 -0.16454613
+v 0.00966177 0.34151650 -0.32681018
+v -0.09553209 0.43045436 -0.09075182
+v -0.14050039 0.23181810 -0.41166735
+v -0.06374174 0.31155476 -0.35223810
+v -0.22352170 0.30894928 -0.26700042
+v -0.04885255 0.36984171 -0.26684234
+v -0.21161550 0.38439402 -0.11930226
+v 0.00973622 0.41743999 -0.18041361
+v -0.00545105 0.43071140 -0.13539998
+v -0.07962341 0.41508768 -0.14935892
+v -0.16651922 0.41438748 -0.07743956
+v -0.16761180 0.23590321 -0.39959394
+v -0.12391498 0.26888422 -0.38114692
+v -0.22421069 0.24871645 -0.35536663
+v -0.03557731 0.35495057 -0.29738835
+v -0.13798020 0.35424340 -0.25278005
+v -0.22355941 0.35502004 -0.17837755
+v -0.03494556 0.39975045 -0.20915383
+v -0.04969699 0.41493263 -0.16501913
+v -0.19655945 0.39858457 -0.09061174
+v -0.10775803 0.30901027 -0.34124424
+v -0.06405538 0.26906309 -0.39593600
+v -0.21161699 0.27972534 -0.32462780
+v -0.22556635 0.20884395 -0.39767279
+v -0.10845834 0.38463554 -0.20883947
+v -0.22518371 0.38544097 -0.09153934
+v -0.18010812 0.33898132 -0.25096911
+v -0.18046318 0.36821657 -0.19258878
+v -0.12422520 0.27947440 -0.36980292
+v -0.06359569 0.34010163 -0.31066204
+v -0.19619842 0.26397811 -0.35447863
+v -0.15426315 0.29496235 -0.33971260
+v -0.04886961 0.38408859 -0.23788305
+v -0.21096333 0.36866775 -0.16249227
+v -0.13818971 0.36931670 -0.22272313
+v -0.07873089 0.35466280 -0.28140129
+v -0.15315300 0.32420538 -0.29572715
+v -0.12278362 0.32399309 -0.31074146
+v -0.16556958 0.30927477 -0.31089533
+f 1 3 4
+f 8 1 5
+f 9 5 1
+f 9 1 4
+f 11 7 1
+f 11 1 2
+f 12 3 1
+f 12 1 7
+f 13 2 1
+f 13 1 8
+f 13 11 2
+f 15 8 5
+f 15 5 9
+f 18 4 3
+f 19 7 11
+f 19 11 13
+f 19 13 8
+f 20 17 7
+f 20 6 17
+f 21 8 15
+f 24 12 7
+f 24 7 17
+f 25 18 3
+f 25 3 12
+f 25 24 10
+f 25 12 24
+f 26 16 18
+f 27 18 16
+f 27 9 4
+f 27 4 18
+f 27 16 23
+f 27 15 9
+f 28 19 8
+f 29 28 14
+f 29 19 28
+f 30 8 21
+f 31 6 20
+f 31 17 6
+f 31 24 17
+f 31 22 24
+f 33 21 15
+f 34 24 22
+f 34 10 24
+f 35 25 10
+f 35 10 34
+f 35 26 18
+f 35 18 25
+f 36 27 23
+f 36 15 27
+f 38 29 20
+f 38 20 7
+f 38 7 19
+f 38 19 29
+f 39 30 21
+f 40 28 8
+f 40 8 30
+f 40 30 14
+f 40 14 28
+f 41 16 26
+f 41 35 34
+f 41 26 35
+f 42 33 15
+f 42 23 33
+f 42 36 23
+f 42 15 36
+f 43 21 33
+f 43 39 21
+f 44 43 33
+f 45 29 14
+f 45 14 37
+f 45 37 20
+f 45 20 29
+f 46 31 20
+f 46 20 37
+f 47 14 30
+f 47 30 39
+f 48 37 14
+f 48 47 39
+f 48 14 47
+f 49 41 34
+f 49 34 22
+f 49 22 41
+f 50 44 33
+f 50 33 23
+f 50 23 16
+f 50 16 44
+f 51 41 32
+f 51 32 43
+f 51 43 44
+f 51 44 16
+f 51 16 41
+f 52 22 31
+f 52 31 46
+f 52 41 22
+f 52 32 41
+f 52 46 37
+f 53 37 48
+f 53 32 52
+f 53 43 32
+f 54 53 52
+f 54 52 37
+f 54 37 53
+f 55 53 48
+f 55 48 39
+f 55 39 43
+f 55 43 53
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_18/collision/model_normalized_collision_24.obj b/objects/objaverse/apple/apple_18/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7e2c9216e31c840d89f4d9f4ee6197684a8b6415
--- /dev/null
+++ b/objects/objaverse/apple/apple_18/collision/model_normalized_collision_24.obj
@@ -0,0 +1,105 @@
+# https://github.com/mikedh/trimesh
+v 0.25746298 0.18500992 -0.41871997
+v 0.28747777 0.21765891 -0.36697762
+v 0.08333333 0.19168855 -0.33830940
+v 0.08326222 0.33745941 -0.33440467
+v 0.13816769 0.26637324 -0.41783551
+v 0.25907632 0.27366802 -0.33071926
+v 0.22581441 0.25216561 -0.38238029
+v 0.05412949 0.19092133 -0.43998595
+v 0.12622838 0.33191870 -0.33017405
+v 0.25382633 0.19700246 -0.41375419
+v 0.25495933 0.26764617 -0.34120877
+v 0.21522974 0.30132268 -0.32998196
+v 0.20159643 0.18489530 -0.44734088
+v 0.00871977 0.30412251 -0.37609066
+v 0.10980482 0.29509958 -0.38703051
+v 0.16491416 0.25494984 -0.41612806
+v 0.24241700 0.28660329 -0.32883545
+v 0.13692545 0.27992653 -0.40018714
+v 0.08489482 0.21684896 -0.44063318
+v 0.24078137 0.18368080 -0.43178217
+v 0.07188403 0.18910444 -0.44475536
+v 0.00230921 0.26594972 -0.41102184
+v 0.08267879 0.33074493 -0.34396564
+v 0.00968887 0.29668637 -0.38474199
+v 0.23760592 0.19483204 -0.42701384
+v 0.21264253 0.29473393 -0.34063413
+v 0.20013750 0.19644137 -0.44115418
+v 0.23826876 0.28053997 -0.33935866
+v 0.12574837 0.25617949 -0.42678213
+v 0.04079371 0.19829533 -0.43535191
+v 0.00964322 0.24862829 -0.41984892
+v 0.16720037 0.27985506 -0.38497997
+v 0.16931319 0.20999713 -0.44077355
+v 0.01140298 0.27267441 -0.40941006
+v 0.07249199 0.20383160 -0.44233051
+v 0.06985455 0.25465851 -0.42686364
+f 1 2 3
+f 6 3 2
+f 9 4 3
+f 10 7 2
+f 10 2 1
+f 11 6 2
+f 11 2 7
+f 14 3 4
+f 15 4 9
+f 17 6 11
+f 17 3 6
+f 17 12 9
+f 17 9 3
+f 18 9 12
+f 18 15 9
+f 18 5 15
+f 20 1 3
+f 20 10 1
+f 21 3 8
+f 21 19 13
+f 21 20 3
+f 21 13 20
+f 22 3 14
+f 23 15 14
+f 23 14 4
+f 23 4 15
+f 24 15 5
+f 24 14 15
+f 24 22 14
+f 25 16 7
+f 25 7 10
+f 25 10 20
+f 25 20 13
+f 26 7 16
+f 26 12 17
+f 27 13 5
+f 27 5 16
+f 27 25 13
+f 27 16 25
+f 28 17 11
+f 28 11 7
+f 28 26 17
+f 28 7 26
+f 29 5 13
+f 30 8 3
+f 31 21 8
+f 31 8 30
+f 31 30 3
+f 31 3 22
+f 32 26 16
+f 32 16 5
+f 32 5 18
+f 32 18 12
+f 32 12 26
+f 33 29 13
+f 33 13 19
+f 33 19 29
+f 34 24 5
+f 34 5 29
+f 34 22 24
+f 35 31 19
+f 35 19 21
+f 35 21 31
+f 36 31 22
+f 36 22 34
+f 36 19 31
+f 36 34 29
+f 36 29 19
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_18/collision/model_normalized_collision_25.obj b/objects/objaverse/apple/apple_18/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd5b8ff63c47f96c900d460a5ecf8ed752d13f38
--- /dev/null
+++ b/objects/objaverse/apple/apple_18/collision/model_normalized_collision_25.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v -0.42301152 -0.19041011 0.14953792
+v -0.44737555 -0.20365100 0.06500119
+v -0.40999489 0.18869810 0.14296121
+v -0.42091241 0.19359158 0.11851293
+v -0.47449558 0.02302585 0.11138995
+v -0.47341102 -0.09257424 0.11152024
+v -0.46306682 0.14144771 0.05342478
+v -0.45818444 0.05147424 0.13815896
+v -0.45966671 -0.13454780 0.12320025
+v -0.45590245 0.15450640 0.06315523
+v -0.48101068 -0.12426921 0.05416393
+v -0.44467773 0.10954287 0.13720248
+v -0.45927295 -0.10794532 0.13868846
+v -0.44661166 -0.17873990 0.11150314
+v -0.47611825 0.09672214 0.05325707
+v -0.45580262 -0.19186816 0.05683474
+v -0.47500792 -0.12318098 0.08161329
+v -0.42878990 0.15431968 0.13719790
+v -0.45674307 0.12383231 0.09479488
+v -0.44556976 -0.15101196 0.13993171
+v -0.46006996 0.14032524 0.06540645
+v -0.47340780 0.09595707 0.06514863
+v -0.45868775 0.08145163 0.12204318
+v -0.44257464 0.13907572 0.12092529
+v -0.44305458 -0.17660508 0.12246434
+v -0.47262629 0.08116249 0.07972472
+v -0.42585018 0.18902287 0.11312390
+v -0.43319920 -0.17952008 0.14009447
+v -0.42996094 0.16891332 0.12226629
+f 1 2 3
+f 3 2 4
+f 8 1 3
+f 10 4 2
+f 10 2 7
+f 11 6 5
+f 12 8 3
+f 13 8 5
+f 13 5 6
+f 13 6 9
+f 13 1 8
+f 14 2 1
+f 15 11 5
+f 15 7 11
+f 16 11 7
+f 16 7 2
+f 16 2 14
+f 17 9 6
+f 17 6 11
+f 17 11 16
+f 17 16 14
+f 17 14 9
+f 18 12 3
+f 18 3 4
+f 20 13 9
+f 20 1 13
+f 21 19 10
+f 21 10 7
+f 22 7 15
+f 22 21 7
+f 22 19 21
+f 23 5 8
+f 23 8 12
+f 24 12 18
+f 24 10 19
+f 24 23 12
+f 24 19 23
+f 25 14 1
+f 25 20 9
+f 25 9 14
+f 26 22 15
+f 26 15 5
+f 26 5 23
+f 26 23 19
+f 26 19 22
+f 27 18 4
+f 27 4 10
+f 27 10 24
+f 28 25 1
+f 28 1 20
+f 28 20 25
+f 29 27 24
+f 29 24 18
+f 29 18 27
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_18/collision/model_normalized_collision_26.obj b/objects/objaverse/apple/apple_18/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..994a842f8c7c7ca8f3034508e48016b3718501fd
--- /dev/null
+++ b/objects/objaverse/apple/apple_18/collision/model_normalized_collision_26.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.26515153 0.22199158 0.16169061
+v 0.26515153 0.22199158 -0.23224879
+v 0.29118786 0.36858570 -0.10437937
+v 0.00757576 0.32805219 0.16169061
+v 0.00757576 0.22199158 -0.23224879
+v 0.27070644 0.33452307 0.16588975
+v 0.00757576 0.22199158 0.16169061
+v 0.00077095 0.38152165 -0.25790493
+v 0.27557036 0.32675354 -0.23966967
+v 0.15760142 0.37027844 -0.25613400
+f 1 2 3
+f 5 2 1
+f 6 1 3
+f 7 5 1
+f 7 6 4
+f 7 1 6
+f 8 6 3
+f 8 4 6
+f 8 7 4
+f 8 5 7
+f 9 3 2
+f 10 8 3
+f 10 3 9
+f 10 9 2
+f 10 2 5
+f 10 5 8
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_18/collision/model_normalized_collision_27.obj b/objects/objaverse/apple/apple_18/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..80a7ea1d5d26907c8c4bd5edad9d74e32897b118
--- /dev/null
+++ b/objects/objaverse/apple/apple_18/collision/model_normalized_collision_27.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v -0.40999047 -0.22753135 0.12747933
+v -0.42319208 -0.23646726 -0.15829943
+v -0.46398264 -0.14431878 -0.17087234
+v -0.46681237 -0.12450388 0.11364159
+v -0.44381163 -0.22266865 0.02282971
+v -0.42301152 -0.19041011 0.14953792
+v -0.45924405 -0.19322171 -0.10808633
+v -0.47115357 -0.13066945 -0.16181621
+v -0.42941626 -0.21985096 0.09488751
+v -0.41131540 -0.21337659 0.14340647
+v -0.44332858 -0.20613214 -0.15128368
+v -0.44449498 -0.22317056 -0.10590081
+v -0.47370428 -0.16498184 0.00767257
+v -0.46088262 -0.13210158 0.12270599
+v -0.45883072 -0.18018485 -0.13742159
+v -0.42726993 -0.20712291 0.12207670
+v -0.43239925 -0.22381576 -0.15245368
+v -0.48448094 -0.12509420 -0.09495972
+v -0.45862820 -0.19184423 0.03767143
+v -0.47390905 -0.16580711 -0.07783688
+v -0.45838059 -0.17057993 -0.15564527
+v -0.41720365 -0.22155931 0.12283225
+v -0.43319920 -0.17952008 0.14009447
+v -0.41852859 -0.20740455 0.13875938
+v -0.47846091 -0.12377794 0.06725355
+v -0.45725351 -0.16395397 0.09544581
+v -0.47687104 -0.15107871 -0.09401914
+v -0.46362174 -0.16682964 -0.13843946
+v -0.47332027 -0.14956223 0.05296003
+v -0.45869240 -0.14937702 0.11100262
+v -0.47594882 -0.13539637 0.06647607
+v -0.47069818 -0.14698511 0.06974981
+f 5 2 1
+f 8 6 3
+f 9 5 1
+f 10 1 2
+f 10 2 3
+f 10 3 6
+f 11 3 2
+f 12 2 5
+f 12 7 11
+f 14 8 4
+f 14 6 8
+f 15 11 7
+f 17 12 11
+f 17 11 2
+f 17 2 12
+f 18 4 8
+f 19 13 5
+f 19 5 9
+f 20 7 12
+f 20 12 5
+f 20 5 13
+f 20 13 18
+f 21 8 3
+f 21 3 11
+f 21 11 15
+f 22 16 9
+f 22 9 1
+f 23 16 6
+f 23 6 14
+f 24 10 6
+f 24 6 16
+f 24 16 22
+f 24 22 1
+f 24 1 10
+f 25 18 13
+f 25 4 18
+f 26 19 9
+f 26 9 16
+f 27 7 20
+f 27 20 18
+f 27 18 8
+f 28 21 15
+f 28 8 21
+f 28 27 8
+f 28 15 7
+f 28 7 27
+f 29 13 19
+f 30 14 4
+f 30 23 14
+f 30 26 16
+f 30 16 23
+f 31 25 13
+f 31 13 29
+f 31 4 25
+f 31 30 4
+f 32 29 19
+f 32 19 26
+f 32 31 29
+f 32 26 30
+f 32 30 31
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_18/collision/model_normalized_collision_28.obj b/objects/objaverse/apple/apple_18/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6933ade4a2976997e3409242fd9eaa7090abcb0b
--- /dev/null
+++ b/objects/objaverse/apple/apple_18/collision/model_normalized_collision_28.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.22982304 -0.40153382 0.06707909
+v -0.22915712 -0.37382897 -0.25721734
+v -0.23833947 -0.23914542 0.28035235
+v -0.30338686 -0.22417279 0.25669050
+v -0.42894124 -0.25031692 -0.07889645
+v -0.22776693 -0.33954707 0.19720656
+v -0.31361649 -0.36680815 -0.09379642
+v -0.23484849 -0.23255389 -0.26255182
+v -0.27029548 -0.27954994 0.23466155
+v -0.22871935 -0.41626856 -0.09450718
+v -0.36972405 -0.29328005 -0.19521797
+v -0.35601874 -0.32273046 0.05275296
+v -0.23025967 -0.28289321 0.25365154
+v -0.41854574 -0.22490653 -0.19745154
+v -0.22900628 -0.41601201 -0.00693885
+v -0.22880304 -0.38718202 -0.22766189
+v -0.38570175 -0.29354241 -0.13710675
+v -0.42979700 -0.25046532 -0.03561549
+v -0.29621091 -0.33629700 0.13670373
+v -0.27066594 -0.30827303 0.20669896
+v -0.28298903 -0.25008380 0.25116094
+v -0.40331660 -0.22502648 -0.24095815
+v -0.22900732 -0.38782064 0.11076497
+v -0.27002627 -0.39629407 -0.02055182
+v -0.26889516 -0.38134229 -0.18059879
+v -0.35432243 -0.32291207 -0.15202921
+v -0.42890832 -0.23697805 -0.13656549
+v -0.31390254 -0.36683115 -0.00769683
+v -0.42022099 -0.22399306 0.11210095
+v -0.29957092 -0.36705560 0.05067562
+v -0.24051114 -0.28025535 0.25074280
+v -0.28120625 -0.32221887 0.17855859
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\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_18/collision/model_normalized_collision_29.obj b/objects/objaverse/apple/apple_18/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..887cba8b1a1aa44a0250440f49cbb91f99dfc219
--- /dev/null
+++ b/objects/objaverse/apple/apple_18/collision/model_normalized_collision_29.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v 0.41022030 -0.20806032 0.10580496
+v 0.46323582 -0.09296757 0.09627806
+v 0.41512402 -0.13440125 0.16756262
+v 0.40914359 0.13407248 0.18267363
+v 0.45518679 0.12844079 0.09821821
+v 0.45897238 -0.00354066 0.13663718
+v 0.39331434 -0.19628300 0.15606256
+v 0.42745287 -0.17925183 0.10764941
+v 0.42197077 -0.19613714 0.09739371
+v 0.44179211 0.14487956 0.11590258
+v 0.44223983 -0.07557396 0.15104243
+v 0.45779571 0.08060478 0.12347236
+v 0.39533273 -0.16888306 0.17244434
+v 0.45938459 -0.09136775 0.10766268
+v 0.39941210 -0.19369740 0.14941679
+v 0.46404280 0.09768242 0.09616363
+v 0.43184458 -0.17957900 0.09603739
+v 0.42923723 -0.09143512 0.16479104
+v 0.44328078 0.08066260 0.15021927
+v 0.43106311 0.12529268 0.15321128
+v 0.42743820 -0.16332959 0.12130772
+v 0.45705599 -0.07571104 0.12129409
+v 0.41416359 -0.19009248 0.12341410
+v 0.40183484 -0.16459537 0.16629170
+v 0.45931945 0.09657672 0.10955828
+v 0.45919825 0.00893359 0.13646440
+v 0.42108856 0.12708119 0.17063256
+v 0.42757704 0.11195442 0.16679435
+v 0.44566861 0.12481482 0.12458690
+v 0.41196732 -0.16333461 0.15065643
+v 0.44414108 0.11119236 0.13559157
+f 7 4 1
+f 9 1 5
+f 10 5 1
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+f 13 4 7
+f 14 8 2
+f 14 11 3
+f 15 7 1
+f 15 13 7
+f 17 2 8
+f 17 8 9
+f 17 16 2
+f 17 9 5
+f 17 5 16
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+f 31 28 12
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+f 31 12 29
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_18/collision/model_normalized_collision_3.obj b/objects/objaverse/apple/apple_18/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7fad2686645f75fbbcc3b1ce6e371455a85e198e
--- /dev/null
+++ b/objects/objaverse/apple/apple_18/collision/model_normalized_collision_3.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.04821033 -0.44004491 0.03626210
+v 0.47398293 -0.09012753 -0.16833531
+v 0.32759055 -0.15339349 0.24996921
+v 0.00741674 0.22279331 0.29300466
+v 0.00757576 0.22199158 -0.23224879
+v 0.42999811 0.18299255 0.11018048
+v 0.00762287 -0.27049226 0.29732289
+v 0.37171536 -0.29227960 0.00634127
+v 0.00518449 -0.42970305 -0.22837947
+v 0.47321375 -0.04885386 0.09419818
+v 0.28692874 0.18591455 0.26319024
+v 0.26515153 0.22199158 -0.23224879
+v 0.18082183 -0.32072362 0.22186198
+v 0.00643407 -0.42735697 0.10909802
+v 0.22661957 -0.38056079 -0.10987587
+v 0.48905817 0.06823625 -0.09314061
+v 0.45893283 -0.17662608 -0.02131728
+v 0.25876925 0.21640548 0.26447576
+v 0.40162542 0.09746262 0.20740222
+v 0.18934006 -0.09702558 0.31284665
+v 0.44294722 -0.13447193 -0.22574916
+v 0.18365107 -0.22312883 0.29513452
+v 0.32783720 -0.27567507 0.15068359
+v 0.00593618 -0.44361526 0.05237811
+v 0.00633304 -0.38396532 0.19614353
+v 0.13782237 -0.37945797 0.15238845
+v 0.06434873 -0.44205003 -0.06495384
+v 0.48995973 -0.07774758 -0.00679146
+v 0.48999052 0.06843161 0.00817574
+v 0.42054680 0.18571013 -0.21284902
+v 0.40187963 0.18266840 0.16513331
+v 0.18653577 0.21939198 0.28071277
+v 0.44402905 0.18224891 0.06620257
+v 0.47367131 0.05340082 0.09326335
+v 0.31672033 0.03815245 0.28007862
+v 0.41624509 -0.06344483 0.19273995
+v 0.00654165 -0.22774691 0.31296146
+v 0.24071022 -0.35074215 -0.22736309
+v 0.38478060 -0.26324028 -0.16675842
+v 0.45859759 -0.17672362 -0.09318761
+v 0.25489983 -0.26420930 0.23483921
+v 0.12553366 -0.27977100 0.28102467
+v 0.27374339 -0.09459710 0.29433029
+v 0.42847141 -0.20591781 0.06384831
+v 0.04864495 -0.42544604 0.09565392
+v 0.04927892 -0.39581460 0.16609985
+v 0.25379707 -0.33447477 0.13738446
+v 0.15153442 -0.40999019 0.02292788
+v 0.09190697 -0.42538238 -0.15261319
+v 0.00597105 -0.44290763 -0.16873993
+v 0.06416979 -0.44190157 -0.02145211
+v 0.49076725 -0.04821535 -0.10888547
+v 0.48945461 -0.00399043 0.05119346
+v 0.46382484 -0.00453701 -0.22773583
+v 0.34326363 0.16889849 0.23437894
+v 0.23392614 0.05246753 0.29601476
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+v 0.45871699 0.12436467 0.09343439
+v 0.42898579 0.06677587 0.17913092
+v 0.35791560 -0.03180935 0.25163914
+v 0.00928967 -0.15950150 0.31152036
+v 0.12768108 -0.21290340 0.31039418
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+f 12 5 4
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+f 64 22 43
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\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_18/collision/model_normalized_collision_30.obj b/objects/objaverse/apple/apple_18/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..47595026d989fceb9ec1ba20aa74c6873050ae69
--- /dev/null
+++ b/objects/objaverse/apple/apple_18/collision/model_normalized_collision_30.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.00741674 0.22279331 0.29300466
+v 0.00757576 0.22199158 -0.06558212
+v 0.00881990 0.35103033 0.24903243
+v 0.00805447 0.32043063 0.26849177
+v -0.09848485 0.32805219 -0.06558212
+v -0.09881647 0.22156640 0.29303651
+v 0.00757576 0.32805219 -0.06558212
+v -0.09848485 0.22199158 -0.06558212
+v 0.00695683 0.29342478 0.28116000
+v -0.09598557 0.31698079 0.26551132
+v -0.09726304 0.27609354 0.28240469
+v -0.06567359 0.28958797 0.27993155
+f 1 2 3
+f 1 3 4
+f 6 2 1
+f 7 5 3
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+f 7 2 5
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+f 8 5 2
+f 8 2 6
+f 9 6 1
+f 9 1 4
+f 10 4 3
+f 10 3 5
+f 11 10 5
+f 11 5 6
+f 11 6 9
+f 12 9 4
+f 12 4 10
+f 12 11 9
+f 12 10 11
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_18/collision/model_normalized_collision_31.obj b/objects/objaverse/apple/apple_18/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f51bcebf8ff8f87753f38a3370a422a25919eb4
--- /dev/null
+++ b/objects/objaverse/apple/apple_18/collision/model_normalized_collision_31.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.00757576 -0.24770540 -0.26255182
+v 0.00923832 -0.26137702 -0.44738173
+v 0.01307334 -0.13101577 -0.46293670
+v -0.23484849 -0.14164479 -0.26255182
+v -0.23484849 -0.24770540 -0.26255182
+v 0.00757576 -0.14164479 -0.26255182
+v -0.24734776 -0.15236753 -0.44862385
+v -0.23551647 -0.24847761 -0.41533941
+f 1 2 3
+f 5 2 1
+f 5 1 4
+f 6 1 3
+f 6 3 4
+f 6 4 1
+f 7 3 2
+f 7 5 4
+f 7 4 3
+f 8 7 2
+f 8 2 5
+f 8 5 7
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_18/collision/model_normalized_collision_4.obj b/objects/objaverse/apple/apple_18/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e27e3551633ce9ce90ba7ef4561a80cbde9d5e90
--- /dev/null
+++ b/objects/objaverse/apple/apple_18/collision/model_normalized_collision_4.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.23448597 -0.36826528 -0.26221203
+v -0.22774156 -0.25464106 -0.41568051
+v -0.22907503 -0.35883700 -0.28813671
+v -0.23193807 0.30799219 -0.25980171
+v -0.44928708 0.00811699 -0.25691281
+v -0.22709080 0.25522115 -0.34393218
+v -0.22905656 0.30280364 -0.27224219
+v -0.28643003 -0.34026496 -0.25594522
+v -0.22869692 -0.34339271 -0.31677760
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+v -0.27309852 0.02301240 -0.45629614
+v -0.22783515 0.28603847 -0.30055522
+v -0.25886553 -0.35760758 -0.25666000
+v -0.38330406 -0.17794498 -0.32740167
+v -0.31783766 0.25614520 -0.25539741
+v -0.43207086 -0.15106808 -0.25546387
+v -0.23031321 0.00462597 -0.47601777
+v -0.31160986 0.10907346 -0.41379946
+v -0.24403250 0.30249754 -0.25692512
+v -0.24101404 -0.35322790 -0.28551140
+v -0.30928167 -0.27796958 -0.32539470
+v -0.34114579 -0.13649803 -0.39753697
+v -0.27067550 0.28143718 -0.26747136
+v -0.43173319 0.09596048 -0.25564561
+v -0.41303870 -0.07753408 -0.32849860
+v -0.22896482 -0.13823128 -0.45983478
+v -0.24285528 0.08275320 -0.45865181
+v -0.25540796 0.20587438 -0.38315841
+v -0.28349102 -0.33586810 -0.26894517
+v -0.38864939 -0.23735429 -0.25650185
+v -0.24153871 -0.30888608 -0.35645291
+v -0.29618775 -0.23383200 -0.38375661
+v -0.26839219 0.23410894 -0.34053933
+v -0.27260067 0.28631908 -0.25632623
+v -0.44857236 -0.07896211 -0.25607882
+v -0.38452615 0.06356557 -0.35578582
+v -0.41388011 -0.12009624 -0.31294493
+v -0.28213915 -0.20749626 -0.41213543
+v -0.27070420 -0.07785356 -0.45682975
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+v -0.24035304 -0.25170468 -0.41084198
+v -0.23261617 -0.08032170 -0.47500776
+v -0.28608502 -0.16597601 -0.42433423
+v -0.25448788 0.12374371 -0.44007184
+v -0.23209743 0.12432337 -0.44489373
+v -0.26695486 0.16677708 -0.41088139
+v -0.36814523 0.10821632 -0.35599001
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+f 45 29 8
+f 45 8 30
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+f 47 45 14
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+f 48 31 44
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+f 49 6 33
+f 50 15 23
+f 50 49 33
+f 50 23 49
+f 50 33 28
+f 50 28 43
+f 50 43 10
+f 50 10 15
+f 51 35 5
+f 51 25 35
+f 51 36 25
+f 51 5 24
+f 51 24 36
+f 52 25 36
+f 52 39 22
+f 52 11 39
+f 52 41 11
+f 52 36 18
+f 52 18 41
+f 53 37 14
+f 53 14 16
+f 54 35 25
+f 54 25 37
+f 54 16 35
+f 54 53 16
+f 54 37 53
+f 55 37 25
+f 55 14 37
+f 55 52 22
+f 55 25 52
+f 56 26 2
+f 57 38 32
+f 57 32 47
+f 57 55 22
+f 57 47 14
+f 57 14 55
+f 58 32 38
+f 58 48 32
+f 58 31 48
+f 58 46 31
+f 58 2 46
+f 58 56 2
+f 58 38 56
+f 59 17 26
+f 59 40 17
+f 59 39 40
+f 60 22 39
+f 60 57 22
+f 60 38 57
+f 60 56 38
+f 60 26 56
+f 60 59 26
+f 60 39 59
+f 61 41 18
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+f 62 42 17
+f 62 17 27
+f 62 61 42
+f 62 27 61
+f 63 28 42
+f 63 43 28
+f 63 18 43
+f 63 61 18
+f 63 42 61
+f 64 43 18
+f 64 18 36
+f 64 36 24
+f 64 24 43
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_18/collision/model_normalized_collision_5.obj b/objects/objaverse/apple/apple_18/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b10094faab6edbbfe699dc9e7620c8259244c083
--- /dev/null
+++ b/objects/objaverse/apple/apple_18/collision/model_normalized_collision_5.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v -0.47069818 -0.14698511 0.06974981
+v -0.35606062 -0.00528115 -0.06558212
+v -0.35606062 0.08562794 0.05563001
+v -0.47959908 0.08243674 0.05376362
+v -0.46165794 -0.08885638 -0.21772559
+v -0.35606062 -0.00528115 0.05563001
+v -0.45601659 -0.17525613 -0.15853717
+v -0.49007476 -0.06495913 -0.12255668
+v -0.45324029 0.07957929 -0.21483163
+v -0.46643161 -0.17840251 -0.09893002
+v -0.49019826 -0.07764171 0.05338708
+v -0.47445431 -0.12339015 -0.15253444
+v -0.35606062 0.08562794 -0.06558212
+v -0.48928391 0.06718950 -0.07828860
+v -0.48973920 0.02324727 -0.12235923
+v -0.49038219 0.00842450 0.05334744
+v -0.49014436 -0.10793420 0.00792556
+v -0.46596393 -0.08434972 -0.20759351
+v -0.46398264 -0.14431878 -0.17087234
+v -0.48937238 -0.10813555 -0.07861286
+v -0.48700259 0.08433523 -0.06549478
+v -0.47565837 0.06632450 -0.15198540
+v -0.47002357 -0.16954358 -0.09475100
+v -0.48101068 -0.12426921 0.05416393
+v -0.45799572 0.07322962 -0.20583892
+v -0.47350071 -0.14970128 -0.12216777
+v -0.48916526 0.06768571 0.00767600
+v -0.47687104 -0.15107871 -0.09401914
+v -0.46074461 -0.16590375 -0.15275336
+v -0.48962558 0.03745246 0.03804153
+f 1 3 4
+f 6 2 3
+f 6 3 1
+f 7 5 2
+f 7 2 6
+f 9 2 5
+f 10 7 6
+f 10 6 1
+f 13 3 2
+f 13 2 9
+f 16 11 1
+f 16 1 4
+f 16 14 15
+f 16 15 8
+f 17 16 8
+f 17 11 16
+f 18 12 8
+f 18 8 15
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+f 19 18 5
+f 19 12 18
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+f 20 17 8
+f 21 13 9
+f 21 4 3
+f 21 3 13
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+f 22 21 9
+f 22 14 21
+f 23 10 1
+f 24 1 11
+f 24 11 17
+f 24 23 1
+f 24 17 23
+f 25 18 15
+f 25 9 5
+f 25 5 18
+f 25 22 9
+f 25 15 22
+f 26 7 10
+f 26 12 19
+f 26 20 12
+f 27 4 21
+f 27 21 14
+f 27 14 16
+f 28 23 17
+f 28 17 20
+f 28 20 26
+f 28 26 10
+f 28 10 23
+f 29 26 19
+f 29 19 7
+f 29 7 26
+f 30 27 16
+f 30 16 4
+f 30 4 27
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_18/collision/model_normalized_collision_6.obj b/objects/objaverse/apple/apple_18/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f4d32d5f9cd508611bee189ce55caacc5b5ab1bb
--- /dev/null
+++ b/objects/objaverse/apple/apple_18/collision/model_normalized_collision_6.obj
@@ -0,0 +1,138 @@
+# https://github.com/mikedh/trimesh
+v -0.09881647 0.22156640 0.29303651
+v -0.09848485 0.22199158 -0.06558212
+v -0.09470072 0.38860955 0.19741325
+v -0.09446234 0.43379705 0.09724007
+v -0.23484849 0.22199158 -0.06558212
+v -0.09553937 0.41716428 -0.13548677
+v -0.09726304 0.27609354 0.28240469
+v -0.21680299 0.21763966 0.28367660
+v -0.22824032 0.39044498 -0.06359079
+v -0.10780723 0.40736018 -0.15404258
+v -0.13730005 0.34356384 0.23658635
+v -0.13936403 0.43116504 -0.00413512
+v -0.23320088 0.22028876 0.27833665
+v -0.16711508 0.39269604 -0.14818077
+v -0.09625818 0.33272943 0.25355584
+v -0.22412696 0.38470783 0.10845063
+v -0.09597589 0.43286349 -0.07792718
+v -0.15455617 0.40168302 -0.13512653
+v -0.13953211 0.30324712 0.26451440
+v -0.19468055 0.35588148 0.19641979
+v -0.21035096 0.40101334 0.06834949
+v -0.15413580 0.41533784 -0.09053089
+v -0.10829665 0.41472210 -0.13406369
+v -0.12353976 0.33084716 0.25001666
+v -0.22579818 0.29823688 0.23479884
+v -0.21554835 0.22958974 0.28031201
+v -0.13664295 0.35666915 0.22231853
+v -0.15123085 0.39928431 0.15392902
+v -0.18233635 0.41549868 -0.03236467
+v -0.13972234 0.43114589 0.03835411
+v -0.12402509 0.43116957 -0.04740564
+v -0.20941008 0.40003365 -0.06246989
+v -0.10861503 0.43018731 -0.07754447
+v -0.22449756 0.34010014 0.19492874
+v -0.16949648 0.25854467 0.27832595
+v -0.22834961 0.25706055 0.26258882
+v -0.15207275 0.38511612 0.17890741
+v -0.09538662 0.42035882 0.14051907
+v -0.19504009 0.39902701 0.10995784
+v -0.18214218 0.41536419 0.05358127
+v -0.12630904 0.27510572 0.27913747
+v -0.19971304 0.24323096 0.27796648
+v -0.10921424 0.38604686 0.19577250
+v -0.12363388 0.41412851 0.13868408
+v -0.12507441 0.40242577 0.16572152
+v -0.16723841 0.41385387 0.09570781
+v -0.10890325 0.43031532 0.09617465
+f 6 3 2
+f 6 4 3
+f 7 1 2
+f 7 2 3
+f 8 5 2
+f 8 2 1
+f 8 1 7
+f 10 6 2
+f 13 9 5
+f 13 5 8
+f 14 10 2
+f 14 2 5
+f 14 5 9
+f 15 7 3
+f 15 3 11
+f 16 9 13
+f 17 12 4
+f 17 4 6
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+f 21 9 16
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+f 25 11 20
+f 26 13 8
+f 27 20 11
+f 27 11 3
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+f 30 4 12
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+f 31 29 12
+f 31 22 29
+f 32 22 14
+f 32 14 9
+f 32 29 22
+f 32 9 29
+f 33 23 22
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+f 33 6 23
+f 33 31 17
+f 33 22 31
+f 34 25 20
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+f 34 13 25
+f 35 26 8
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+f 38 3 4
+f 39 16 20
+f 39 20 28
+f 39 21 16
+f 40 30 29
+f 40 29 21
+f 41 7 19
+f 41 19 35
+f 41 35 8
+f 41 8 7
+f 42 35 19
+f 42 26 35
+f 42 36 26
+f 42 19 36
+f 43 37 27
+f 43 27 3
+f 44 38 4
+f 45 28 37
+f 45 37 43
+f 45 43 3
+f 45 3 38
+f 45 44 28
+f 45 38 44
+f 46 40 21
+f 46 21 39
+f 46 30 40
+f 46 39 28
+f 46 28 44
+f 47 4 30
+f 47 30 46
+f 47 46 44
+f 47 44 4
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_18/collision/model_normalized_collision_7.obj b/objects/objaverse/apple/apple_18/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7283dfc88c1fdc846409ba51a5bfafd0a9eebd42
--- /dev/null
+++ b/objects/objaverse/apple/apple_18/collision/model_normalized_collision_7.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v 0.26515153 -0.23255389 -0.23224879
+v 0.27786796 -0.24718614 -0.36615711
+v 0.25743291 0.34428388 -0.22513759
+v 0.00077095 0.38152165 -0.25790493
+v 0.00757576 -0.23255389 -0.35346091
+v 0.28361596 0.21385658 -0.37399584
+v 0.00757576 -0.23255389 -0.23224879
+v 0.14088382 0.32973146 -0.32859727
+v 0.00241914 -0.00468297 -0.40402710
+v 0.14356373 0.38744282 -0.23165433
+v 0.22434108 0.30981994 -0.31090518
+v 0.00714824 0.33168300 -0.34075930
+v 0.18537686 0.37664182 -0.22683037
+v 0.25435939 0.28188634 -0.32482606
+v 0.14118242 0.37600095 -0.25523358
+v 0.22833661 0.35911823 -0.22538913
+v 0.25434505 0.32348201 -0.26640756
+v 0.19792336 0.31088929 -0.32596505
+v 0.18404882 0.37136496 -0.23894219
+v 0.22605386 0.35407433 -0.23813598
+v 0.15296156 0.32741928 -0.32716467
+v 0.21091483 0.35363510 -0.25073313
+v 0.25473407 0.33936378 -0.23780265
+v 0.16802107 0.36942941 -0.25167506
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+f 10 4 7
+f 12 8 6
+f 12 6 9
+f 12 9 4
+f 13 10 7
+f 15 8 12
+f 15 12 4
+f 15 4 10
+f 16 13 7
+f 16 7 3
+f 17 14 11
+f 17 3 6
+f 17 6 14
+f 18 14 6
+f 18 11 14
+f 19 15 10
+f 19 10 13
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+f 20 13 16
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+f 21 8 15
+f 22 11 18
+f 22 21 19
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+f 22 19 20
+f 22 20 17
+f 22 17 11
+f 23 20 3
+f 23 3 17
+f 23 17 20
+f 24 21 15
+f 24 15 19
+f 24 19 21
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_18/collision/model_normalized_collision_8.obj b/objects/objaverse/apple/apple_18/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5db60213268b3ba6849c46a4891bccc386d0e92b
--- /dev/null
+++ b/objects/objaverse/apple/apple_18/collision/model_normalized_collision_8.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v 0.00717681 -0.24585093 0.30726626
+v 0.00757576 -0.24770540 -0.26255182
+v 0.00757576 0.22199158 -0.06558212
+v -0.23002215 0.21654530 0.28087969
+v -0.23484849 -0.24770540 -0.26255182
+v 0.00741674 0.22279331 0.29300466
+v -0.22966863 -0.23995152 0.28251267
+v -0.23484849 0.20684007 -0.26255182
+v -0.23484849 0.22199158 -0.06558212
+v -0.22123524 0.05416583 0.31219655
+v 0.00897851 -0.17367873 0.31310014
+v 0.00757576 0.20684007 -0.26255182
+v -0.23361684 0.05277705 0.31158138
+v -0.12989470 0.20542098 0.29645855
+v -0.22974516 -0.16726980 0.31242759
+v -0.23064018 -0.20945642 0.29801537
+v -0.20336572 0.18812920 0.29515068
+v 0.00654165 -0.22774691 0.31296146
+v -0.19812757 -0.23809828 0.29394961
+v -0.15791012 0.20327754 0.29513447
+v -0.23046083 0.17215357 0.29379562
+v -0.18598719 -0.20968132 0.30862311
+v -0.05178264 -0.22780033 0.31024926
+f 5 2 1
+f 7 5 1
+f 8 2 5
+f 9 6 3
+f 9 4 6
+f 9 3 8
+f 9 8 5
+f 11 1 2
+f 11 3 6
+f 11 6 10
+f 12 8 3
+f 12 2 8
+f 12 11 2
+f 12 3 11
+f 13 4 9
+f 13 9 5
+f 14 10 6
+f 14 6 4
+f 15 11 10
+f 15 10 13
+f 16 13 5
+f 16 5 7
+f 16 15 13
+f 17 13 10
+f 17 10 14
+f 18 1 11
+f 18 11 15
+f 19 16 7
+f 19 7 1
+f 20 17 14
+f 20 14 4
+f 20 4 17
+f 21 17 4
+f 21 4 13
+f 21 13 17
+f 22 15 16
+f 22 16 19
+f 22 18 15
+f 22 19 1
+f 23 22 1
+f 23 1 18
+f 23 18 22
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_18/collision/model_normalized_collision_9.obj b/objects/objaverse/apple/apple_18/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a50550271f95f8701c56c67381daf75f301be477
--- /dev/null
+++ b/objects/objaverse/apple/apple_18/collision/model_normalized_collision_9.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.23464884 -0.26241024 0.26713779
+v -0.23484849 -0.23255389 0.14653910
+v -0.22744733 0.34513185 0.18394691
+v -0.23327011 0.37069463 0.13024144
+v -0.46407953 0.00863958 0.14059466
+v -0.22868812 0.36234576 0.15481686
+v -0.22966863 -0.23995152 0.28251267
+v -0.40534337 -0.22403533 0.13991045
+v -0.40570091 0.21525644 0.12649518
+v -0.23163494 -0.25566712 0.27302872
+v -0.31649847 0.03750011 0.29402828
+v -0.34189184 -0.19091073 0.25005521
+v -0.33932756 0.28112727 0.15177316
+v -0.46393453 -0.07852377 0.14072420
+v -0.25700401 0.35916757 0.12558491
+v -0.23116265 0.15770320 0.29690035
+v -0.39837651 0.07922559 0.22340623
+v -0.38516345 -0.22090023 0.17930566
+v -0.25982288 -0.14037261 0.31026540
+v -0.31748607 -0.16435744 0.28164531
+v -0.29636929 0.31135770 0.16505361
+v -0.41852859 -0.20740455 0.13875938
+v -0.23484849 0.19168855 0.13138759
+v -0.30097540 0.32942130 0.12535395
+v -0.24109845 0.35737949 0.15175827
+v -0.22887496 0.24510833 0.26827680
+v -0.42662193 0.13939348 0.15138245
+v -0.40079111 0.00738929 0.23847326
+v -0.33930752 0.21141748 0.22262586
+v -0.26095034 -0.25529634 0.25925406
+v -0.39833665 -0.13422411 0.22407192
+v -0.27487841 0.03562159 0.30876844
+v -0.22974516 -0.16726980 0.31242759
+v -0.31691318 -0.10733647 0.29459009
+v -0.40010268 -0.22152510 0.15363649
+v -0.38810620 0.24224810 0.12551761
+v -0.29720744 0.32626587 0.13857608
+v -0.25466052 0.35504314 0.13906738
+v -0.26805741 0.34038312 0.15208240
+v -0.30168375 0.14047179 0.27870767
+v -0.44931653 0.08275054 0.14010098
+v -0.44470430 0.00720732 0.17987941
+v -0.35726503 0.06708315 0.26568193
+v -0.37083570 0.18260584 0.20754475
+v -0.35479650 0.22716865 0.19388257
+v -0.26927261 0.28362064 0.22056270
+v -0.31434446 -0.22174764 0.25137623
+v -0.25697893 -0.24991387 0.26600681
+v -0.38425500 -0.18994976 0.20890379
+v -0.44498183 -0.13565498 0.15484851
+v -0.36989344 -0.13497748 0.25116547
+v -0.27694050 -0.09420244 0.31076779
+v -0.23361684 0.05277705 0.31158138
+v -0.24493055 -0.20783043 0.29490694
+v -0.28737541 -0.16412425 0.29544483
+v -0.37290057 -0.02158013 0.26573466
+v -0.41388149 -0.20390854 0.15119048
+v -0.26926313 0.31255654 0.19233010
+v -0.23994753 0.34014281 0.18077711
+v -0.27289803 0.18403537 0.27753246
+v -0.27400882 0.12691298 0.29320195
+v -0.43222605 0.14127747 0.13906997
+v -0.44192941 0.06442752 0.16753926
+v -0.41330485 0.06520683 0.20863225
+f 6 3 2
+f 6 2 4
+f 7 2 3
+f 8 2 1
+f 10 1 2
+f 10 2 7
+f 14 5 9
+f 22 14 9
+f 22 2 8
+f 23 15 4
+f 23 4 2
+f 23 2 22
+f 25 6 4
+f 25 3 6
+f 30 18 8
+f 30 8 1
+f 33 26 16
+f 33 7 3
+f 33 3 26
+f 35 22 8
+f 35 8 18
+f 36 23 22
+f 36 15 23
+f 36 24 15
+f 36 22 9
+f 36 13 24
+f 37 24 13
+f 37 13 21
+f 38 25 4
+f 38 4 15
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+f 39 37 21
+f 39 25 38
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+f 39 24 37
+f 41 9 5
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+f 46 29 26
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+f 48 30 1
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+f 49 18 47
+f 50 31 14
+f 50 14 22
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+f 52 34 19
+f 52 32 11
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+f 53 33 16
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+f 53 52 33
+f 53 32 52
+f 54 7 33
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+f 54 48 10
+f 54 10 7
+f 55 34 20
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+f 55 54 33
+f 55 33 19
+f 56 34 11
+f 56 51 34
+f 56 28 31
+f 56 31 51
+f 56 43 28
+f 56 11 43
+f 57 35 18
+f 57 22 35
+f 57 18 49
+f 57 50 22
+f 57 49 50
+f 58 39 21
+f 58 46 3
+f 58 21 45
+f 58 45 46
+f 59 3 25
+f 59 25 39
+f 59 58 3
+f 59 39 58
+f 60 16 26
+f 60 26 29
+f 60 29 40
+f 61 32 16
+f 61 60 40
+f 61 16 60
+f 61 40 11
+f 61 11 32
+f 62 27 9
+f 62 9 41
+f 63 17 27
+f 63 62 41
+f 63 27 62
+f 63 41 5
+f 63 5 42
+f 64 42 28
+f 64 28 17
+f 64 63 42
+f 64 17 63
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_18/model.xml b/objects/objaverse/apple/apple_18/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..030764ad7fecfbcc024a8c012aed132fb947532a
--- /dev/null
+++ b/objects/objaverse/apple/apple_18/model.xml
@@ -0,0 +1,81 @@
+<mujoco model="apple_43">
+  <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_A" 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="Apple_A"/>
+        <geom solimp="0.998 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="1.3477099999999743e-05 0.00016405269999999973 -0.033397056" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="1.3477099999999743e-05 0.00016405269999999973 0.0337057385" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.034353707500000004 0.031381173600000006 0.00015434124999999966" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/objects/objaverse/apple/apple_22/collision/model_normalized_collision_0.obj b/objects/objaverse/apple/apple_22/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..11fb93b06e1a5e54963d7e30add4fb06ecd914c0
--- /dev/null
+++ b/objects/objaverse/apple/apple_22/collision/model_normalized_collision_0.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.13245622 -0.44287152 0.15085222
+v 0.41356299 -0.21208914 -0.09608989
+v 0.35722069 -0.21460242 0.25539371
+v -0.08928675 -0.24896496 0.28030300
+v 0.01664056 -0.41476363 -0.22943896
+v 0.25919809 -0.21866193 -0.23484849
+v 0.01673786 -0.36984043 0.29513134
+v 0.34830269 -0.32595853 0.09615889
+v 0.38249478 -0.21167892 -0.19978333
+v 0.25919809 -0.21866193 0.00757574
+v -0.08928675 -0.24896496 -0.14393941
+v 0.24859972 -0.35037547 0.24023582
+v 0.29589742 -0.23327745 0.29359092
+v -0.15159128 -0.43654977 0.08395651
+v 0.42867348 -0.21201163 0.09694859
+v 0.18913229 -0.41308949 -0.12530250
+v 0.27523510 -0.32249257 -0.22749028
+v 0.38276477 -0.21200912 0.22837586
+v 0.01677386 -0.24896496 -0.23484849
+v 0.10174737 -0.41133603 0.24117152
+v 0.27518648 -0.38303777 0.12639532
+v 0.36385013 -0.23540903 0.24067490
+v 0.16339560 -0.38460796 0.24922372
+v 0.01507111 -0.45905493 -0.06515641
+v -0.08724358 -0.36284087 0.28819350
+v -0.08585042 -0.43353458 -0.13960854
+v -0.14880303 -0.42706671 0.15744488
+v 0.40696192 -0.25391429 0.00929147
+v 0.17616484 -0.38288570 -0.22847540
+v 0.37023937 -0.21322660 -0.23114182
+v 0.34752006 -0.29501607 -0.13650560
+v 0.41305120 -0.21177253 0.16790373
+v 0.20351815 -0.41165243 0.16482341
+v 0.33547802 -0.32204703 0.16421958
+v 0.27558871 -0.38353222 -0.03617784
+v 0.24814207 -0.34155541 0.24831286
+v 0.11777418 -0.39921818 0.24868053
+v 0.01532291 -0.45966304 0.15191939
+v 0.11716483 -0.45755105 0.03933882
+v 0.09072840 -0.42787699 -0.16810522
+v -0.07244461 -0.45885990 0.00882335
+v -0.01191483 -0.44323087 -0.13788414
+v 0.40765506 -0.25421991 0.08113431
+v 0.42939026 -0.21232712 0.00868617
+v 0.26070355 -0.36660836 -0.15145416
+v 0.23431746 -0.35197498 -0.22801671
+v 0.39111857 -0.23849411 -0.13679884
+v 0.34708674 -0.24920590 -0.22723302
+v 0.37763756 -0.22423891 0.22594253
+v 0.24845337 -0.38040506 0.17949493
+v 0.18874072 -0.38207428 0.24092408
+v 0.30644707 -0.35390170 0.14993921
+v 0.32116356 -0.30791554 0.21024761
+v 0.39287508 -0.25212318 0.16483303
+v 0.32127748 -0.35351027 0.06589564
+v 0.35208373 -0.23822200 0.24816565
+v -0.09946639 -0.44413075 0.15158133
+v 0.11677716 -0.44113383 0.16521776
+v -0.06891822 -0.41280187 0.24199225
+v 0.09082018 -0.45885336 -0.00629407
+v 0.11712409 -0.45741308 0.06609548
+v 0.20406309 -0.42782827 0.02429160
+v 0.11719896 -0.42734955 -0.15258104
+v 0.09070205 -0.41246158 -0.21347008
+f 10 6 4
+f 10 9 6
+f 11 4 6
+f 13 3 4
+f 13 4 7
+f 15 2 9
+f 18 10 4
+f 18 4 3
+f 18 9 10
+f 19 11 6
+f 19 6 5
+f 19 5 11
+f 22 3 13
+f 22 18 3
+f 23 13 7
+f 25 7 4
+f 26 14 11
+f 26 11 5
+f 27 4 11
+f 27 11 14
+f 27 25 4
+f 29 5 6
+f 30 6 9
+f 30 29 6
+f 32 15 9
+f 32 9 18
+f 36 12 22
+f 36 13 23
+f 37 23 7
+f 37 7 20
+f 37 20 23
+f 41 26 24
+f 41 14 26
+f 41 24 38
+f 42 26 5
+f 42 24 26
+f 42 40 24
+f 42 5 40
+f 43 8 28
+f 44 28 2
+f 44 2 15
+f 44 43 28
+f 44 15 43
+f 45 16 29
+f 45 35 16
+f 45 17 31
+f 45 31 35
+f 46 30 17
+f 46 29 30
+f 46 45 29
+f 46 17 45
+f 47 9 2
+f 47 2 28
+f 47 28 31
+f 47 30 9
+f 48 31 17
+f 48 17 30
+f 48 47 31
+f 48 30 47
+f 49 32 18
+f 49 18 22
+f 50 33 21
+f 51 23 20
+f 51 20 1
+f 51 1 33
+f 51 36 23
+f 51 12 36
+f 51 50 12
+f 51 33 50
+f 52 8 34
+f 52 50 21
+f 52 12 50
+f 53 22 12
+f 53 52 34
+f 53 12 52
+f 54 53 34
+f 54 22 53
+f 54 49 22
+f 54 32 49
+f 54 34 8
+f 54 8 43
+f 54 43 15
+f 54 15 32
+f 55 21 35
+f 55 52 21
+f 55 8 52
+f 55 28 8
+f 55 35 31
+f 55 31 28
+f 56 36 22
+f 56 22 13
+f 56 13 36
+f 57 27 14
+f 57 41 38
+f 57 14 41
+f 58 38 1
+f 58 1 20
+f 58 20 38
+f 59 38 20
+f 59 20 7
+f 59 7 25
+f 59 57 38
+f 59 25 27
+f 59 27 57
+f 60 38 24
+f 60 16 39
+f 61 1 38
+f 61 60 39
+f 61 38 60
+f 62 39 16
+f 62 16 35
+f 62 35 21
+f 62 61 39
+f 62 21 33
+f 62 33 1
+f 62 1 61
+f 63 29 16
+f 63 16 60
+f 63 60 24
+f 63 24 40
+f 64 40 5
+f 64 5 29
+f 64 63 40
+f 64 29 63
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_22/collision/model_normalized_collision_1.obj b/objects/objaverse/apple/apple_22/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9168106509982bc44cb94d30b5231c569f230ea8
--- /dev/null
+++ b/objects/objaverse/apple/apple_22/collision/model_normalized_collision_1.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.21895844 -0.40241010 0.11208755
+v -0.22070309 -0.34455486 -0.24612020
+v -0.22565038 0.19042896 0.18939391
+v -0.41061972 0.18326102 0.18325259
+v -0.46497099 -0.12117629 -0.05209499
+v -0.36603098 0.20243895 -0.25807519
+v -0.22246565 -0.37907628 0.18644479
+v -0.22565038 0.19042896 -0.25000001
+v -0.32993753 -0.32389251 -0.06421095
+v -0.46525442 0.10803842 -0.07968262
+v -0.41826451 -0.10587903 -0.24206477
+v -0.21971429 -0.38882625 0.16874545
+v -0.44995524 -0.09141394 0.18179606
+v -0.21934070 -0.35682292 -0.21474874
+v -0.43539165 0.17930758 -0.09491811
+v -0.35994053 -0.22277098 -0.24268403
+v -0.43376732 0.06714986 -0.22734482
+v -0.33047287 -0.32493488 0.11117968
+v -0.48036990 -0.01961923 0.09602021
+v -0.31599550 -0.30947203 -0.16661881
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diff --git a/objects/objaverse/apple/apple_22/collision/model_normalized_collision_10.obj b/objects/objaverse/apple/apple_22/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..815a2a6af5be45ecae92fd3f3c20d6ceff88fc0d
--- /dev/null
+++ b/objects/objaverse/apple/apple_22/collision/model_normalized_collision_10.obj
@@ -0,0 +1,120 @@
+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_22/collision/model_normalized_collision_12.obj b/objects/objaverse/apple/apple_22/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e469681e3485d5dd8e2b7578df803f15bcda2a25
--- /dev/null
+++ b/objects/objaverse/apple/apple_22/collision/model_normalized_collision_12.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_22/collision/model_normalized_collision_13.obj b/objects/objaverse/apple/apple_22/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd79d3aceb5d3b6aae8048bb6048b81d5259e8db
--- /dev/null
+++ b/objects/objaverse/apple/apple_22/collision/model_normalized_collision_13.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
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+f 58 24 39
+f 58 40 24
+f 59 40 14
+f 59 14 24
+f 59 24 40
+f 60 27 40
+f 60 57 27
+f 60 3 57
+f 60 58 3
+f 60 40 58
+f 61 30 16
+f 61 16 42
+f 62 42 19
+f 62 19 12
+f 62 12 18
+f 62 18 45
+f 62 45 30
+f 62 61 42
+f 62 30 61
+f 63 27 11
+f 63 11 45
+f 63 45 22
+f 63 22 27
+f 64 45 11
+f 64 30 45
+f 64 11 55
+f 64 55 16
+f 64 16 30
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_22/collision/model_normalized_collision_14.obj b/objects/objaverse/apple/apple_22/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2134f8d106914c8eea255815f3645f50deffd97e
--- /dev/null
+++ b/objects/objaverse/apple/apple_22/collision/model_normalized_collision_14.obj
@@ -0,0 +1,108 @@
+# https://github.com/mikedh/trimesh
+v -0.08764711 -0.45550516 0.08272637
+v -0.08568305 -0.41777911 -0.18485214
+v -0.08928675 -0.24896496 0.28030300
+v -0.24262488 -0.27448269 0.30681952
+v -0.21632744 -0.39667183 -0.07971537
+v -0.08722255 -0.37791690 0.27296727
+v -0.11411590 -0.44206751 -0.04959663
+v -0.21696292 -0.39857623 0.15104610
+v -0.22565038 -0.24896496 -0.14393941
+v -0.08460171 -0.41463541 0.22765728
+v -0.15997297 -0.41284584 -0.14003163
+v -0.08535749 -0.44743421 -0.06571706
+v -0.17114704 -0.42786746 -0.02138559
+v -0.08928675 -0.24896496 -0.14393941
+v -0.21782404 -0.38445316 -0.14093313
+v -0.15972717 -0.42788197 0.14198842
+v -0.21794120 -0.35480957 0.24267469
+v -0.12948197 -0.44299293 0.00885456
+v -0.08575344 -0.43375656 0.18397056
+v -0.08462710 -0.42912023 -0.15321829
+v -0.15947133 -0.42634292 -0.06470833
+v -0.20108451 -0.41185657 -0.03653613
+v -0.08918562 -0.41526671 -0.18926650
+v -0.18592790 -0.41162708 -0.07967792
+v -0.17059854 -0.42701715 0.11143902
+v -0.14533197 -0.38451064 0.24943131
+v -0.14419880 -0.41136505 0.19594516
+v -0.10336650 -0.41176413 -0.18804319
+v -0.18675746 -0.41391928 0.15113645
+v -0.12951088 -0.44332797 0.08141419
+v -0.20081298 -0.41169101 0.11141874
+v -0.12897398 -0.39575368 0.24114759
+v -0.14327526 -0.37009441 0.26447485
+v -0.11399752 -0.42686356 0.18094733
+v -0.20324267 -0.34035898 0.26549723
+v -0.21918897 -0.32882164 0.26863277
+v -0.20327409 -0.35557401 0.25040983
+f 6 3 4
+f 8 4 5
+f 9 4 3
+f 10 3 6
+f 12 7 11
+f 14 9 3
+f 14 3 10
+f 15 5 4
+f 15 4 9
+f 17 4 8
+f 18 12 1
+f 18 7 12
+f 18 13 7
+f 19 12 10
+f 19 1 12
+f 19 16 1
+f 20 10 12
+f 20 14 10
+f 20 2 14
+f 20 12 11
+f 21 11 7
+f 21 7 13
+f 22 8 5
+f 22 21 13
+f 23 14 2
+f 23 9 14
+f 23 20 11
+f 23 2 20
+f 24 15 11
+f 24 5 15
+f 24 22 5
+f 24 11 21
+f 24 21 22
+f 27 26 17
+f 28 15 9
+f 28 9 23
+f 28 23 11
+f 28 11 15
+f 29 25 16
+f 29 16 27
+f 29 27 17
+f 29 17 8
+f 30 25 13
+f 30 13 18
+f 30 18 1
+f 30 1 16
+f 30 16 25
+f 31 22 13
+f 31 13 25
+f 31 8 22
+f 31 29 8
+f 31 25 29
+f 32 10 6
+f 32 6 26
+f 32 26 27
+f 32 19 10
+f 33 26 6
+f 33 6 4
+f 34 27 16
+f 34 16 19
+f 34 32 27
+f 34 19 32
+f 35 33 4
+f 35 26 33
+f 36 35 4
+f 36 4 17
+f 37 17 26
+f 37 26 35
+f 37 36 17
+f 37 35 36
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_22/collision/model_normalized_collision_15.obj b/objects/objaverse/apple/apple_22/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ba37e074b66b8ca544c3321855d43e0ab5ac024f
--- /dev/null
+++ b/objects/objaverse/apple/apple_22/collision/model_normalized_collision_15.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.01701570 -0.39710274 -0.26318372
+v 0.01726225 -0.34585040 -0.34781892
+v 0.01677386 -0.00654073 -0.26515152
+v -0.22565038 -0.00654073 -0.26515152
+v -0.22199373 -0.33448431 -0.26125857
+v 0.01734359 -0.00329498 -0.42332032
+v -0.08452567 -0.33641880 -0.34495088
+v -0.14436439 -0.37307228 -0.25727058
+v -0.23375067 -0.22733771 -0.38290362
+v 0.01771349 -0.35650690 -0.33294464
+v -0.08610747 -0.38820659 -0.25778740
+v -0.20579777 -0.34460340 -0.25844996
+v -0.22565038 -0.00654073 -0.37121213
+v -0.17144734 -0.30533891 -0.34359146
+v -0.05447903 -0.35278686 -0.33047494
+v -0.09950891 -0.35091270 -0.31425520
+v -0.21501720 -0.27884201 -0.34473998
+v -0.20186528 -0.32074502 -0.29830069
+v -0.14164654 -0.36704689 -0.26854771
+v -0.01213526 -0.38225650 -0.28483578
+v -0.19821946 -0.29158183 -0.34298733
+v -0.21450150 -0.32344109 -0.28358520
+f 6 4 3
+f 8 3 4
+f 9 5 4
+f 9 6 2
+f 9 2 7
+f 10 2 6
+f 10 6 3
+f 10 3 1
+f 11 1 3
+f 11 3 8
+f 12 8 4
+f 12 4 5
+f 13 9 4
+f 13 4 6
+f 13 6 9
+f 14 9 7
+f 15 7 2
+f 15 2 10
+f 15 11 7
+f 15 10 1
+f 16 11 8
+f 16 7 11
+f 17 5 9
+f 18 14 12
+f 18 12 5
+f 19 14 7
+f 19 8 12
+f 19 12 14
+f 19 16 8
+f 19 7 16
+f 20 15 1
+f 20 1 11
+f 20 11 15
+f 21 17 9
+f 21 9 14
+f 21 14 18
+f 21 5 17
+f 22 21 18
+f 22 18 5
+f 22 5 21
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_22/collision/model_normalized_collision_16.obj b/objects/objaverse/apple/apple_22/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7817d5e30c3c8e4a5634fb96456ada859acc3aea
--- /dev/null
+++ b/objects/objaverse/apple/apple_22/collision/model_normalized_collision_16.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v 0.01754239 -0.37736512 0.28720348
+v 0.09136473 -0.30594935 0.33480638
+v -0.05609054 -0.28306255 0.35228664
+v -0.20737890 -0.24214407 0.34390673
+v 0.01677386 -0.24896496 0.28030300
+v -0.09981461 -0.33842387 0.30932600
+v 0.01512882 -0.35479107 0.31098706
+v 0.01669382 -0.24860545 0.36913058
+v -0.13033744 -0.31333535 0.32151737
+v -0.20655390 -0.33190030 0.27225358
+v 0.00289430 -0.35428806 0.31050282
+v 0.09173220 -0.27686568 0.35197292
+v -0.14723602 -0.24209522 0.35951333
+v -0.07114957 -0.32874989 0.32247299
+v -0.14617697 -0.36162289 0.27141530
+v -0.24262488 -0.27448269 0.30681952
+v -0.09979358 -0.35349989 0.29409977
+v 0.09384040 -0.28333128 0.34775590
+v 0.06198564 -0.26302599 0.36489840
+v -0.20269708 -0.28035617 0.32366348
+v -0.14293586 -0.32385853 0.30911760
+v -0.22462406 -0.24672123 0.33691105
+v -0.22279455 -0.31983756 0.27514496
+v 0.06073662 -0.28318237 0.35292843
+v 0.06362021 -0.27460060 0.35796751
+v -0.20321124 -0.32514395 0.28058462
+v -0.14316213 -0.35468245 0.27935577
+v -0.21921713 -0.26764186 0.32655812
+v 0.08927892 -0.29947459 0.33904762
+f 5 2 1
+f 7 1 2
+f 11 1 7
+f 13 8 5
+f 13 5 4
+f 13 3 8
+f 13 9 3
+f 14 9 6
+f 14 3 9
+f 14 6 11
+f 14 11 7
+f 14 7 3
+f 15 10 5
+f 15 5 1
+f 17 11 6
+f 17 1 11
+f 17 15 1
+f 17 6 15
+f 18 2 5
+f 18 5 12
+f 19 12 5
+f 19 5 8
+f 19 8 3
+f 19 3 7
+f 20 9 13
+f 21 6 9
+f 21 9 20
+f 22 4 5
+f 22 5 16
+f 22 13 4
+f 23 16 5
+f 23 5 10
+f 24 19 7
+f 24 7 2
+f 25 12 19
+f 25 24 2
+f 25 19 24
+f 26 10 15
+f 26 21 20
+f 26 15 21
+f 26 23 10
+f 26 20 23
+f 27 21 15
+f 27 15 6
+f 27 6 21
+f 28 22 16
+f 28 20 13
+f 28 13 22
+f 28 23 20
+f 28 16 23
+f 29 25 2
+f 29 12 25
+f 29 18 12
+f 29 2 18
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_22/collision/model_normalized_collision_17.obj b/objects/objaverse/apple/apple_22/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d6f13a49299ff89dc76abf49d373d87e58b544b
--- /dev/null
+++ b/objects/objaverse/apple/apple_22/collision/model_normalized_collision_17.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.39556172 -0.00654073 0.14393937
+v 0.41732631 -0.01017648 -0.25568702
+v 0.42295998 0.20475747 0.15723491
+v 0.27434960 0.19042896 0.14393937
+v 0.27434960 -0.00654073 -0.23484849
+v 0.27434960 0.19042896 -0.23484849
+v 0.27434960 -0.00654073 0.14393937
+v 0.38087653 0.19067816 -0.23501843
+v 0.41765534 0.20223381 -0.10289163
+f 1 2 3
+f 6 4 3
+f 6 5 4
+f 6 2 5
+f 7 1 3
+f 7 3 4
+f 7 4 5
+f 7 5 2
+f 7 2 1
+f 8 2 6
+f 9 8 6
+f 9 6 3
+f 9 3 2
+f 9 2 8
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_22/collision/model_normalized_collision_18.obj b/objects/objaverse/apple/apple_22/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e7ba7fee3a9515f83b711416b459a322369ac971
--- /dev/null
+++ b/objects/objaverse/apple/apple_22/collision/model_normalized_collision_18.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.15313749 0.22073199 0.26515149
+v 0.15313749 0.22073199 0.14393937
+v 0.15939364 0.43858506 0.13097087
+v 0.01694770 0.46137331 0.14375032
+v 0.01677386 0.22073199 0.26515149
+v 0.01677386 0.22073199 0.14393937
+v 0.15114401 0.39380744 0.25627594
+v 0.15114591 0.44135672 0.12809292
+v 0.01744057 0.40967741 0.25752140
+v 0.13722981 0.44548059 0.12852400
+v 0.10278447 0.41488421 0.24230491
+v 0.13429128 0.40225455 0.25174042
+v 0.01786202 0.42092365 0.24492622
+v 0.11730398 0.44359609 0.16600531
+v 0.01823426 0.44756193 0.18272426
+v 0.13245487 0.44420832 0.15437900
+v 0.06044371 0.44438015 0.18158271
+v 0.13267486 0.44542744 0.14208611
+v 0.14765267 0.42860605 0.18122483
+v 0.09071976 0.42894484 0.21176767
+v 0.14883730 0.40192739 0.24324477
+f 1 2 3
+f 5 2 1
+f 6 5 4
+f 6 2 5
+f 7 1 3
+f 8 3 2
+f 8 2 6
+f 9 5 1
+f 9 1 7
+f 9 4 5
+f 10 8 6
+f 10 6 4
+f 10 3 8
+f 12 11 9
+f 12 9 7
+f 13 4 9
+f 13 9 11
+f 15 13 11
+f 15 4 13
+f 16 4 14
+f 16 3 10
+f 17 14 4
+f 17 4 15
+f 18 16 10
+f 18 10 4
+f 18 4 16
+f 19 3 16
+f 19 16 14
+f 20 11 14
+f 20 14 17
+f 20 17 15
+f 20 15 11
+f 21 7 3
+f 21 3 19
+f 21 12 7
+f 21 19 14
+f 21 14 11
+f 21 11 12
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_22/collision/model_normalized_collision_19.obj b/objects/objaverse/apple/apple_22/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3be3c55120ea5da1b409e5fb61da91532dfaf099
--- /dev/null
+++ b/objects/objaverse/apple/apple_22/collision/model_normalized_collision_19.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v 0.11813672 -0.40020695 -0.22946041
+v 0.27230389 -0.32223007 -0.23379334
+v 0.26559224 -0.32920422 -0.23033157
+v 0.01677386 -0.21866193 -0.23484849
+v 0.25877115 -0.23073711 -0.35819927
+v 0.24404657 -0.21866193 -0.23484849
+v 0.24923773 -0.34289003 -0.22971108
+v 0.01771349 -0.35650690 -0.33294464
+v 0.01677386 -0.21866193 -0.34090910
+v 0.17325959 -0.32088094 -0.32846360
+v 0.01670784 -0.41321204 -0.23403211
+v 0.16275246 -0.38239072 -0.23900250
+v 0.21756850 -0.29572072 -0.33062514
+v 0.13226032 -0.33662908 -0.32977794
+v 0.06023479 -0.39737416 -0.25447240
+v 0.24686341 -0.33994364 -0.23880128
+v 0.16391916 -0.38613208 -0.22983650
+v 0.23373615 -0.28181269 -0.33154820
+v 0.07523485 -0.35154422 -0.33008757
+v 0.11703867 -0.39669521 -0.23848755
+v 0.17309775 -0.35088205 -0.28281122
+v 0.01694983 -0.40093539 -0.25659761
+v 0.26857875 -0.31768949 -0.24478205
+v 0.11683903 -0.35091381 -0.31410196
+v 0.21882156 -0.33617221 -0.26793613
+v 0.26298798 -0.32602743 -0.23972691
+f 6 3 2
+f 6 2 5
+f 7 4 1
+f 7 6 4
+f 7 3 6
+f 7 2 3
+f 9 6 5
+f 9 4 6
+f 9 5 8
+f 11 1 4
+f 11 9 8
+f 11 4 9
+f 13 10 5
+f 14 5 10
+f 16 2 7
+f 17 7 1
+f 17 16 7
+f 17 12 16
+f 18 13 5
+f 18 16 13
+f 19 8 5
+f 19 5 14
+f 19 15 8
+f 20 15 19
+f 20 1 11
+f 20 11 15
+f 20 17 1
+f 20 12 17
+f 21 14 10
+f 21 12 14
+f 21 16 12
+f 22 15 11
+f 22 11 8
+f 22 8 15
+f 23 18 5
+f 23 5 2
+f 23 16 18
+f 24 14 12
+f 24 12 20
+f 24 20 19
+f 24 19 14
+f 25 13 16
+f 25 16 21
+f 25 21 10
+f 25 10 13
+f 26 23 2
+f 26 2 16
+f 26 16 23
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_22/collision/model_normalized_collision_2.obj b/objects/objaverse/apple/apple_22/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..760f51c270d090a9812c8dcb1e58b08f54e911e9
--- /dev/null
+++ b/objects/objaverse/apple/apple_22/collision/model_normalized_collision_2.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.15313749 0.22073199 0.14393937
+v 0.20220376 0.36385524 -0.23927543
+v 0.15896256 0.43714609 0.14597196
+v -0.08339290 0.44303979 0.16530604
+v -0.22565038 0.22073199 -0.23484849
+v 0.00333015 0.46049073 -0.04993940
+v 0.01677386 0.22073199 0.18939391
+v 0.21352132 0.38502636 -0.16957453
+v 0.15313749 0.22073199 -0.23484849
+v 0.04534036 0.46057234 0.12694494
+v -0.21696931 0.38477237 -0.14064665
+v 0.01823426 0.44756193 0.18272426
+v -0.22565038 0.22073199 0.18939391
+v 0.13237652 0.44468819 -0.04964477
+v -0.07251100 0.46180032 0.05418619
+v 0.00322876 0.41395480 -0.22844970
+v 0.00323120 0.46180792 0.12703829
+v 0.13267486 0.44542744 0.14208611
+v -0.21643532 0.39897096 -0.06476197
+v -0.21640986 0.38428613 0.18070605
+v 0.14758641 0.44489704 -0.00613204
+v -0.11401733 0.42842819 -0.12532118
+v -0.21661092 0.35326166 -0.22783059
+v 0.04531841 0.44540327 -0.12565566
+v -0.02688575 0.44398986 0.18119649
+v -0.07244513 0.46086909 0.06634268
+v 0.10606203 0.46186321 0.05424747
+v -0.15625184 0.41486445 0.18083645
+v -0.21617104 0.39901217 0.14164694
+v 0.19081351 0.40314908 -0.15362871
+v -0.07239761 0.44529340 -0.09540845
+v -0.15944871 0.42861123 -0.04965742
+v -0.09932012 0.39894541 -0.22832454
+v -0.02695370 0.46048848 0.11175708
+v 0.04538793 0.46115946 -0.03605600
+v 0.10594733 0.46082388 0.06638708
+v 0.14745313 0.44418153 0.11165285
+v -0.11359143 0.42753162 0.18029912
+v -0.20115806 0.39936372 0.16545311
+v -0.17078321 0.42941563 0.08106761
+v 0.14738349 0.42904216 -0.11016539
+v 0.17622913 0.38307316 -0.22788465
+v -0.02698618 0.46095502 -0.02149922
+v -0.01189720 0.44578069 -0.12574396
+v -0.09876492 0.44349337 -0.06476208
+v -0.17055772 0.41311547 -0.10998060
+v -0.08412359 0.42940266 -0.15267873
+v -0.15549901 0.38234402 -0.22733770
+v 0.03014850 0.46023270 -0.04985372
+v 0.10396032 0.44496613 -0.09521090
+v -0.14470843 0.43034030 0.15345378
+v -0.12926481 0.44459204 0.06611066
+v -0.20123771 0.41423623 0.00883317
+v 0.19151347 0.37415545 -0.22987782
+v 0.11762122 0.40058477 -0.22885033
+v -0.05729828 0.46117828 0.02392672
+v 0.00321066 0.42931927 -0.18306726
+v -0.11427283 0.44489427 -0.02146160
+v -0.18603849 0.41393181 -0.06472716
+v -0.05725789 0.41385233 -0.21334748
+v -0.17072643 0.39765622 -0.16679137
+v -0.14434199 0.41285448 -0.15219729
+v 0.09083758 0.46112484 0.02399925
+v -0.17095215 0.41470591 0.16554450
+f 7 1 3
+f 7 5 1
+f 8 3 1
+f 9 5 2
+f 9 1 5
+f 9 8 1
+f 9 2 8
+f 12 7 3
+f 13 5 7
+f 13 7 12
+f 17 12 10
+f 18 12 3
+f 18 10 12
+f 19 11 5
+f 19 5 13
+f 21 3 8
+f 23 2 5
+f 23 5 11
+f 25 17 4
+f 25 12 17
+f 26 17 15
+f 27 17 10
+f 27 15 17
+f 27 21 14
+f 28 20 13
+f 28 13 12
+f 28 12 25
+f 29 19 13
+f 29 13 20
+f 30 21 8
+f 33 16 2
+f 33 2 23
+f 34 26 4
+f 34 4 17
+f 34 17 26
+f 35 15 27
+f 36 27 10
+f 36 10 18
+f 37 3 21
+f 37 21 27
+f 37 27 36
+f 37 36 18
+f 37 18 3
+f 38 28 25
+f 38 25 4
+f 38 4 28
+f 39 29 20
+f 41 14 21
+f 41 21 30
+f 43 6 31
+f 43 35 6
+f 43 15 35
+f 44 31 6
+f 44 6 24
+f 45 31 22
+f 45 22 32
+f 45 15 31
+f 46 32 22
+f 47 22 31
+f 47 31 44
+f 48 33 23
+f 49 35 24
+f 49 24 6
+f 49 6 35
+f 50 27 14
+f 50 24 35
+f 50 14 41
+f 51 40 29
+f 51 28 4
+f 51 4 26
+f 52 26 15
+f 52 32 40
+f 52 51 26
+f 52 40 51
+f 53 40 32
+f 53 32 19
+f 53 19 29
+f 53 29 40
+f 54 8 2
+f 54 2 42
+f 54 42 30
+f 54 30 8
+f 55 42 2
+f 55 2 16
+f 55 16 24
+f 55 24 50
+f 55 50 41
+f 55 41 30
+f 55 30 42
+f 56 43 31
+f 56 31 15
+f 56 15 43
+f 57 44 24
+f 57 24 16
+f 58 45 32
+f 58 15 45
+f 58 52 15
+f 58 32 52
+f 59 46 11
+f 59 11 19
+f 59 19 32
+f 59 32 46
+f 60 16 33
+f 60 33 47
+f 60 57 16
+f 60 47 44
+f 60 44 57
+f 61 48 23
+f 61 23 11
+f 61 11 46
+f 62 47 33
+f 62 33 48
+f 62 48 61
+f 62 22 47
+f 62 61 46
+f 62 46 22
+f 63 50 35
+f 63 35 27
+f 63 27 50
+f 64 28 51
+f 64 39 20
+f 64 20 28
+f 64 51 29
+f 64 29 39
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_22/collision/model_normalized_collision_20.obj b/objects/objaverse/apple/apple_22/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aa8aff4fc6ed14d33f0b9a9caa2b7b767d1bdd06
--- /dev/null
+++ b/objects/objaverse/apple/apple_22/collision/model_normalized_collision_20.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v 0.38329485 0.18475987 0.25177425
+v 0.43619345 0.18785902 0.14339251
+v 0.33210285 0.31322050 0.19549800
+v 0.27287978 0.38465574 0.14364681
+v 0.27434960 0.19042896 0.14393937
+v 0.34682214 0.32414485 0.12838811
+v 0.30889643 0.21428850 0.30658098
+v 0.39385441 0.25312624 0.16540902
+v 0.42854690 0.18390784 0.16819140
+v 0.30602173 0.35567114 0.15709241
+v 0.42159863 0.21845870 0.12830412
+v 0.34914306 0.25498073 0.24895385
+v 0.26854238 0.33560032 0.25700769
+v 0.34760179 0.31311404 0.16499086
+v 0.42291725 0.21126672 0.15030799
+v 0.30691211 0.35674199 0.14207001
+v 0.37964165 0.28365798 0.12685061
+v 0.38038067 0.19856461 0.24859628
+v 0.33210373 0.28291813 0.24095299
+v 0.26460052 0.34581368 0.24406593
+v 0.27750222 0.32817680 0.25640126
+v 0.32030764 0.33986348 0.16507004
+v 0.40782201 0.24142056 0.14189350
+v 0.28150491 0.37778168 0.14277991
+v 0.40914683 0.24212652 0.12689221
+v 0.35287060 0.31680779 0.12728040
+v 0.37853395 0.28276517 0.14186734
+v 0.26766463 0.37491212 0.18370927
+v 0.31989309 0.32422428 0.19511348
+f 6 5 4
+f 7 5 1
+f 9 5 2
+f 9 1 5
+f 11 2 5
+f 13 5 7
+f 14 3 8
+f 15 9 2
+f 15 8 9
+f 16 10 6
+f 18 12 7
+f 18 7 1
+f 18 1 9
+f 18 9 8
+f 18 8 12
+f 19 12 8
+f 19 8 3
+f 20 5 13
+f 21 13 7
+f 21 7 12
+f 21 12 19
+f 21 19 3
+f 22 3 14
+f 22 20 13
+f 22 14 6
+f 22 6 10
+f 23 8 15
+f 23 15 2
+f 23 2 11
+f 24 16 6
+f 24 6 4
+f 24 4 10
+f 24 10 16
+f 25 11 5
+f 25 5 17
+f 25 23 11
+f 26 17 5
+f 26 5 6
+f 27 14 8
+f 27 8 23
+f 27 25 17
+f 27 23 25
+f 27 6 14
+f 27 26 6
+f 27 17 26
+f 28 4 5
+f 28 5 20
+f 28 10 4
+f 28 22 10
+f 28 20 22
+f 29 21 3
+f 29 3 22
+f 29 22 13
+f 29 13 21
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_22/collision/model_normalized_collision_21.obj b/objects/objaverse/apple/apple_22/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d5a501eaebda1470a3ae475502c41aa747304373
--- /dev/null
+++ b/objects/objaverse/apple/apple_22/collision/model_normalized_collision_21.obj
@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
+v 0.01677386 -0.21866193 -0.37121213
+v 0.01546958 -0.21271806 -0.46864405
+v 0.01677386 0.22073199 -0.37121213
+v -0.23289904 0.22870909 -0.38208039
+v -0.23375067 -0.22733771 -0.38290362
+v 0.01736278 0.18599178 -0.47652096
+v 0.01542006 0.21275782 -0.46456447
+v -0.19070374 0.03807123 -0.49091811
+v -0.21702935 -0.06349078 -0.47396777
+v -0.05702606 0.18592229 -0.47409377
+v 0.01440775 -0.16652510 -0.49056368
+v -0.21684007 0.06531573 -0.47336548
+v -0.18653486 -0.20458418 -0.43109238
+v -0.09039485 0.08293369 -0.49092341
+v -0.07241243 0.21026702 -0.45857208
+v 0.01537629 -0.08729164 -0.49197624
+v -0.17768089 -0.07759933 -0.48922193
+v -0.22098290 0.15337339 -0.44406897
+v -0.06945546 -0.20947569 -0.45858055
+v -0.21622772 -0.16225282 -0.44376995
+v -0.16262367 0.06544221 -0.48923698
+v 0.01510199 -0.19789362 -0.47814566
+v -0.07521847 0.06831246 -0.49109332
+v -0.18747090 -0.04865503 -0.49071331
+v -0.16054439 0.19803716 -0.44208056
+v -0.03912965 -0.19427946 -0.47364107
+v -0.21307276 -0.20519075 -0.41366437
+v -0.21787631 -0.12160322 -0.45716300
+v -0.17554513 0.10715559 -0.47341515
+v -0.20545643 0.16798246 -0.44261880
+v -0.18485049 0.20570957 -0.42953944
+v -0.01220076 -0.16592404 -0.48897870
+v -0.17413744 -0.12077738 -0.47432421
+v -0.15972241 -0.16574544 -0.45808107
+v -0.20333459 -0.09011624 -0.47414533
+v -0.21490478 0.17860351 -0.43085830
+v -0.03981541 -0.15151823 -0.48925385
+v -0.21761529 0.21188944 -0.40461928
+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 9 5 4
+f 10 7 6
+f 12 9 4
+f 12 8 9
+f 14 10 6
+f 15 4 7
+f 15 7 10
+f 16 6 2
+f 18 8 12
+f 18 12 4
+f 19 2 5
+f 19 5 13
+f 21 14 8
+f 21 10 14
+f 22 16 2
+f 22 11 16
+f 23 14 6
+f 23 6 16
+f 23 16 8
+f 23 8 14
+f 24 17 9
+f 24 9 8
+f 24 8 16
+f 24 16 11
+f 24 11 17
+f 25 15 10
+f 26 22 2
+f 26 2 19
+f 27 20 13
+f 27 13 5
+f 27 5 20
+f 28 20 5
+f 28 5 9
+f 28 17 20
+f 29 10 21
+f 29 21 8
+f 29 8 18
+f 30 25 10
+f 30 29 18
+f 30 10 29
+f 31 4 15
+f 31 15 25
+f 31 25 30
+f 31 30 18
+f 32 11 22
+f 32 22 26
+f 33 20 17
+f 34 26 19
+f 34 19 13
+f 34 13 20
+f 34 33 26
+f 34 20 33
+f 35 28 9
+f 35 9 17
+f 35 17 28
+f 36 31 18
+f 36 18 4
+f 37 32 26
+f 37 17 11
+f 37 11 32
+f 37 33 17
+f 37 26 33
+f 38 36 4
+f 38 4 31
+f 38 31 36
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_22/collision/model_normalized_collision_22.obj b/objects/objaverse/apple/apple_22/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c6d31add15e3d5c9d69cf9a040813f7c17f738a0
--- /dev/null
+++ b/objects/objaverse/apple/apple_22/collision/model_normalized_collision_22.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v 0.16087805 -0.03453069 0.48356944
+v 0.17238216 -0.02693963 0.45941134
+v 0.16136425 0.00804682 0.48498213
+v 0.04164882 0.01406912 0.38070167
+v 0.04218213 -0.00776369 0.37849142
+v 0.09236901 0.00791538 0.39627205
+v 0.13503849 -0.01918225 0.49055898
+v 0.16991945 -0.03203687 0.47066703
+v 0.17235886 -0.00241333 0.46069196
+v 0.16597987 0.00780144 0.47819746
+v 0.09821314 -0.01240369 0.39979627
+v 0.14816167 -0.00078858 0.49581678
+v 0.12902754 -0.03475756 0.47105448
+v 0.10884403 -0.02470154 0.46394919
+v 0.16583086 0.00496731 0.48116834
+v 0.12422965 -0.03555271 0.45024262
+v 0.15915673 -0.01361959 0.44907829
+v 0.14663468 -0.02697528 0.49419772
+v 0.15495365 0.00735297 0.48691356
+v 0.12152550 -0.00410868 0.47577124
+v 0.04885128 -0.00683349 0.38966182
+v 0.15636312 0.00232234 0.49331256
+v 0.15986149 -0.03288703 0.45711793
+v 0.08109582 -0.01921737 0.40437709
+v 0.14288377 -0.03416915 0.48300107
+v 0.12084287 -0.02492490 0.47689692
+v 0.13558780 -0.01071560 0.49105861
+v 0.10901622 -0.00463776 0.46294420
+v 0.04645981 0.01246512 0.38693911
+v 0.15499753 -0.02976557 0.49233499
+v 0.11160222 -0.02050837 0.41573236
+f 6 5 4
+f 9 8 2
+f 10 6 4
+f 10 4 3
+f 10 9 6
+f 11 5 6
+f 14 5 13
+f 15 1 8
+f 15 10 3
+f 15 8 9
+f 15 9 10
+f 16 1 13
+f 16 13 5
+f 17 9 2
+f 17 2 11
+f 17 11 6
+f 17 6 9
+f 18 12 7
+f 19 3 4
+f 19 4 12
+f 20 12 4
+f 21 4 5
+f 21 5 14
+f 22 15 3
+f 22 19 12
+f 22 3 19
+f 23 11 2
+f 23 2 8
+f 23 8 1
+f 23 1 16
+f 24 16 5
+f 24 5 11
+f 25 13 1
+f 26 14 13
+f 26 25 18
+f 26 13 25
+f 26 18 7
+f 27 7 12
+f 27 12 20
+f 27 26 7
+f 28 14 26
+f 28 27 20
+f 28 26 27
+f 29 21 14
+f 29 4 21
+f 29 14 28
+f 29 28 20
+f 29 20 4
+f 30 1 15
+f 30 15 22
+f 30 25 1
+f 30 18 25
+f 30 22 12
+f 30 12 18
+f 31 23 16
+f 31 16 24
+f 31 24 11
+f 31 11 23
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_22/collision/model_normalized_collision_24.obj b/objects/objaverse/apple/apple_22/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..23ca57d4bb92ea2ff9402ee88bfa320dd8ed4a45
--- /dev/null
+++ b/objects/objaverse/apple/apple_22/collision/model_normalized_collision_24.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.22560476 -0.33980973 -0.24997322
+v -0.21695439 -0.19403415 -0.41926844
+v -0.21947680 0.27229801 -0.34951703
+v -0.24573809 0.31095763 -0.27146641
+v -0.42233024 -0.09212860 -0.24371866
+v -0.21824762 -0.32896270 -0.27242188
+v -0.30349620 0.28380520 -0.24368690
+v -0.27179280 0.06356576 -0.44583722
+v -0.21761529 0.21188944 -0.40461928
+v -0.34591530 -0.23333043 -0.25734726
+v -0.24681530 -0.32699018 -0.24463320
+v -0.29530647 0.29056506 -0.24705133
+v -0.34573992 -0.07635723 -0.37514672
+v -0.42015357 0.08137372 -0.25818059
+v -0.21738216 -0.29738403 -0.31695504
+v -0.22072296 0.09503568 -0.46357179
+v -0.28915733 0.19399682 -0.36923657
+v -0.37753399 -0.19423492 -0.24360544
+v -0.29273548 0.28774611 -0.25803517
+v -0.24766746 -0.06349137 -0.45961742
+v -0.28853132 -0.19360559 -0.36999487
+v -0.42521451 0.08221108 -0.24503008
+v -0.41937205 -0.03485704 -0.27300674
+v -0.35920206 0.06709989 -0.35935100
+v -0.28882370 -0.29180362 -0.25757606
+v -0.21864410 0.16756709 -0.43646485
+v -0.24366415 0.24923807 -0.35856848
+v -0.37589472 0.17974617 -0.26841147
+v -0.29145066 -0.29553218 -0.24415210
+v -0.34835754 0.23776017 -0.24338904
+v -0.38836422 -0.13606746 -0.28221278
+v -0.27210768 -0.06162031 -0.44622305
+v -0.21942055 -0.10622429 -0.46137796
+v -0.24756404 0.06550212 -0.45912455
+v -0.24338026 -0.24897685 -0.35919454
+v -0.41914448 0.03690388 -0.27300646
+v -0.34531637 0.07826763 -0.37476133
+v -0.37452300 -0.01959676 -0.34439354
+v -0.31353344 -0.20678274 -0.32705614
+v -0.24525932 -0.32411142 -0.25376634
+v -0.24360897 0.23777725 -0.36823473
+v -0.25612448 0.10715264 -0.44462792
+v -0.30151506 0.20546310 -0.34279647
+v -0.39017485 0.15403011 -0.27032619
+v -0.34928743 -0.23660533 -0.24383047
+v -0.40677966 -0.13744562 -0.24355632
+v -0.39433403 0.16683544 -0.24429480
+v -0.33009530 -0.12158317 -0.37389069
+v -0.37600772 -0.16251726 -0.28303740
+v -0.40420915 -0.09086108 -0.28269341
+v -0.25588449 -0.10669331 -0.44499977
+v -0.24404890 -0.23621471 -0.36918137
+v -0.22007862 -0.22680972 -0.39276791
+v -0.38930521 0.06707634 -0.31376449
+v -0.35933479 -0.06515122 -0.35945102
+v -0.37443454 0.02176199 -0.34433554
+v -0.23019955 0.16389066 -0.43139920
+v -0.23283485 0.13832219 -0.44504858
+v -0.32948311 0.12344680 -0.37379188
+v -0.23386739 0.09432486 -0.45889825
+v -0.34499181 0.23448850 -0.25691124
+v -0.29870517 0.19387548 -0.35759325
+v -0.40373645 0.09276612 -0.28245547
+v -0.39022528 0.16419461 -0.25766161
+f 6 3 4
+f 6 4 1
+f 9 3 6
+f 11 1 7
+f 12 7 1
+f 12 1 4
+f 15 9 6
+f 15 2 9
+f 19 12 4
+f 23 5 22
+f 25 15 6
+f 26 9 2
+f 27 3 9
+f 27 19 4
+f 27 4 3
+f 29 11 7
+f 29 25 1
+f 29 1 11
+f 30 7 12
+f 30 12 19
+f 30 29 7
+f 30 18 29
+f 33 20 16
+f 33 26 2
+f 33 16 26
+f 34 16 20
+f 34 32 8
+f 34 20 32
+f 35 15 25
+f 36 23 22
+f 36 22 14
+f 37 32 13
+f 37 8 32
+f 39 25 10
+f 39 35 25
+f 39 21 35
+f 40 25 6
+f 40 6 1
+f 40 1 25
+f 41 9 26
+f 41 27 9
+f 41 17 27
+f 42 34 8
+f 43 27 17
+f 43 19 27
+f 44 14 22
+f 45 29 18
+f 45 18 10
+f 45 10 25
+f 45 25 29
+f 46 30 5
+f 46 18 30
+f 47 22 5
+f 47 5 30
+f 47 44 22
+f 48 31 13
+f 48 13 32
+f 49 10 18
+f 49 46 31
+f 49 18 46
+f 49 39 10
+f 49 31 48
+f 49 48 21
+f 49 21 39
+f 50 13 31
+f 50 5 23
+f 50 46 5
+f 50 31 46
+f 51 32 20
+f 51 20 33
+f 51 48 32
+f 51 21 48
+f 51 33 2
+f 51 2 21
+f 52 35 21
+f 52 21 2
+f 53 2 15
+f 53 15 35
+f 53 52 2
+f 53 35 52
+f 55 38 13
+f 55 23 38
+f 55 50 23
+f 55 13 50
+f 56 24 37
+f 56 37 13
+f 56 13 38
+f 56 54 24
+f 56 36 54
+f 56 38 23
+f 56 23 36
+f 57 41 26
+f 57 17 41
+f 58 26 16
+f 58 57 26
+f 58 42 17
+f 58 17 57
+f 59 17 42
+f 59 37 44
+f 59 44 28
+f 59 42 8
+f 59 8 37
+f 60 16 34
+f 60 34 42
+f 60 58 16
+f 60 42 58
+f 61 30 19
+f 61 19 43
+f 61 43 28
+f 61 47 30
+f 61 28 47
+f 62 43 17
+f 62 28 43
+f 62 59 28
+f 62 17 59
+f 63 44 37
+f 63 37 24
+f 63 24 54
+f 63 14 44
+f 63 54 36
+f 63 36 14
+f 64 47 28
+f 64 28 44
+f 64 44 47
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_22/collision/model_normalized_collision_25.obj b/objects/objaverse/apple/apple_22/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8a9fc5bdd5fa27c9027d10e6ad97ec36edac71c4
--- /dev/null
+++ b/objects/objaverse/apple/apple_22/collision/model_normalized_collision_25.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v 0.01654817 -0.44376976 -0.14321140
+v 0.01694983 -0.40093539 -0.25659761
+v 0.01677386 -0.24896496 -0.14393941
+v -0.22565038 -0.24896496 -0.14393941
+v -0.21903981 -0.34037885 -0.25572954
+v -0.14603534 -0.41691588 -0.13943719
+v 0.01677386 -0.24896496 -0.26515152
+v -0.08585042 -0.43353458 -0.13960854
+v -0.21782404 -0.38445316 -0.14093313
+v -0.25319226 -0.28931352 -0.29447404
+v -0.06905554 -0.41245297 -0.21329496
+v -0.14466461 -0.38132974 -0.24338618
+v -0.08928675 -0.24896496 -0.26515152
+v 0.01664056 -0.41476363 -0.22943896
+v -0.07058629 -0.42783651 -0.16803450
+v -0.21602860 -0.36496454 -0.19699978
+v -0.18738535 -0.39932686 -0.14088102
+v -0.08471222 -0.39835968 -0.24146799
+v -0.15760936 -0.36884552 -0.25455273
+v 0.01597577 -0.43009466 -0.18405480
+v -0.01197434 -0.41252325 -0.22874126
+v -0.21659209 -0.38145186 -0.15197396
+v -0.11498571 -0.38270624 -0.25448718
+v -0.04244898 -0.39754775 -0.25461417
+v -0.18603617 -0.39607214 -0.15177526
+v -0.17077888 -0.38069843 -0.21229822
+f 1 2 3
+f 6 3 4
+f 7 3 2
+f 7 4 3
+f 8 1 3
+f 8 3 6
+f 9 6 4
+f 10 7 2
+f 10 9 4
+f 10 5 9
+f 12 8 6
+f 13 10 4
+f 13 4 7
+f 13 7 10
+f 14 2 1
+f 15 1 8
+f 15 8 12
+f 16 5 12
+f 17 12 6
+f 17 6 9
+f 18 15 12
+f 18 11 15
+f 19 12 5
+f 19 5 10
+f 20 14 1
+f 20 1 15
+f 21 15 11
+f 21 20 15
+f 21 14 20
+f 21 11 18
+f 22 9 5
+f 22 5 16
+f 22 17 9
+f 23 18 12
+f 23 12 19
+f 23 19 10
+f 24 21 18
+f 24 2 14
+f 24 14 21
+f 24 18 23
+f 24 23 10
+f 24 10 2
+f 25 22 16
+f 25 12 17
+f 25 17 22
+f 26 25 16
+f 26 16 12
+f 26 12 25
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_22/collision/model_normalized_collision_26.obj b/objects/objaverse/apple/apple_22/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..917f1169f469c2a17452fb6dd367f82cd92ad45d
--- /dev/null
+++ b/objects/objaverse/apple/apple_22/collision/model_normalized_collision_26.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.01677386 -0.24896496 0.18939391
+v 0.01677386 -0.24896496 -0.26515152
+v 0.01677386 -0.00654073 0.18939391
+v -0.22565038 -0.00654073 0.18939391
+v -0.25319226 -0.28931352 -0.29447404
+v 0.01677386 -0.00654073 -0.26515152
+v -0.22565038 -0.24896496 0.18939391
+v -0.22565038 -0.00654073 -0.26515152
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 6 3 2
+f 6 4 3
+f 6 2 5
+f 7 5 1
+f 7 1 4
+f 7 4 5
+f 8 6 5
+f 8 5 4
+f 8 4 6
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_22/collision/model_normalized_collision_27.obj b/objects/objaverse/apple/apple_22/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..98b0d62a18960e0c20f3921419560a04abb07464
--- /dev/null
+++ b/objects/objaverse/apple/apple_22/collision/model_normalized_collision_27.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.01677386 -0.00654073 0.18939391
+v 0.01734359 -0.00329498 -0.42332032
+v 0.01677386 0.22073199 0.18939391
+v -0.22565038 0.22073199 0.18939391
+v -0.22565038 -0.00654073 -0.37121213
+v -0.23289904 0.22870909 -0.38208039
+v -0.22565038 -0.00654073 0.18939391
+v 0.01677386 0.22073199 -0.37121213
+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/apple/apple_22/collision/model_normalized_collision_28.obj b/objects/objaverse/apple/apple_22/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..565d7ab6bc6425a80fb3bfb313ce4e067e4bbfc1
--- /dev/null
+++ b/objects/objaverse/apple/apple_22/collision/model_normalized_collision_28.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.29589742 -0.23327745 0.29359092
+v 0.41227846 -0.22764994 0.15220888
+v 0.38202713 -0.18152340 0.24872111
+v 0.30889643 0.21428850 0.30658098
+v 0.27434960 0.19042896 0.14393937
+v 0.42295998 0.20475747 0.15723491
+v 0.37796430 -0.20952777 0.24041727
+v 0.27434960 -0.21866193 0.14393937
+v 0.38329485 0.18475987 0.25177425
+v 0.36681965 -0.21179817 0.24865317
+f 1 3 4
+f 5 1 4
+f 6 3 2
+f 6 5 4
+f 6 2 5
+f 7 1 2
+f 7 2 3
+f 8 5 2
+f 8 2 1
+f 8 1 5
+f 9 6 4
+f 9 4 3
+f 9 3 6
+f 10 7 3
+f 10 3 1
+f 10 1 7
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_22/collision/model_normalized_collision_3.obj b/objects/objaverse/apple/apple_22/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e5515ebbe009c26b3463f4102ff1b95a1b32c5a5
--- /dev/null
+++ b/objects/objaverse/apple/apple_22/collision/model_normalized_collision_3.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.43619345 0.18785902 0.14339251
+v 0.42881159 0.18390788 -0.09605054
+v 0.33610104 0.34005671 0.02446145
+v 0.14908755 0.43368093 0.16821042
+v 0.15313749 0.22073199 0.26515149
+v 0.15958935 0.37817698 -0.24759328
+v 0.26119701 0.34187504 0.25714580
+v 0.40725730 0.25606756 0.02443894
+v 0.27434960 0.19042896 0.14393937
+v 0.29067256 0.30975951 -0.22763797
+v 0.19307820 0.42986804 -0.02129324
+v 0.15313749 0.22073199 -0.23484849
+v 0.33976668 0.32942479 0.14238569
+v 0.30171714 0.23963320 0.29797138
+v 0.15114401 0.39380744 0.25627594
+v 0.44360790 0.18365003 -0.00637637
+v 0.37725267 0.25116346 -0.15141805
+v 0.14887541 0.43397264 -0.08076100
+v 0.26308225 0.37066151 -0.13726810
+v 0.27434960 0.19042896 -0.23484849
+v 0.42374164 0.21152684 0.14198060
+v 0.26483467 0.38440547 0.16602468
+v 0.36351210 0.31300130 0.06598824
+v 0.14883730 0.40192739 0.24324477
+v 0.18872325 0.38349888 0.25555653
+v 0.44397544 0.18381808 0.09700008
+v 0.40729328 0.24100472 -0.04940405
+v 0.14891280 0.44931059 0.05414020
+v 0.14847748 0.41748513 -0.15372351
+v 0.23354190 0.35259405 -0.22747195
+v 0.27536653 0.38535803 -0.02097544
+v 0.33292117 0.31269138 -0.13673702
+v 0.39760094 0.18342171 -0.19976700
+v 0.38534587 0.18496958 -0.23112557
+v 0.27590059 0.38619292 0.11166424
+v 0.34803873 0.32783140 0.00935961
+v 0.33605429 0.34008168 0.08122184
+v 0.40689537 0.25607830 0.08118237
+v 0.24872473 0.35210600 0.25597851
+v 0.20475237 0.41570729 0.16647703
+v 0.17800136 0.41361602 0.19644434
+v 0.43731942 0.19540747 -0.00577585
+v 0.39455094 0.25360896 -0.07979888
+v 0.14864638 0.44838644 0.06669305
+v 0.17780710 0.41427497 -0.13745082
+v 0.25977561 0.35449081 -0.18187699
+v 0.21914274 0.41464698 -0.03629441
+v 0.33248729 0.26688046 -0.22746443
+v 0.30496860 0.32386872 -0.16659068
+v 0.33579784 0.32451373 -0.07943060
+v 0.41374883 0.18395441 -0.15467543
+v 0.29051598 0.37039661 0.14188953
+v 0.20401627 0.42981467 0.06622693
+v 0.36343108 0.31287726 0.03963769
+v 0.34774896 0.32783125 0.09635415
+v 0.37964165 0.28365798 0.12685061
+v 0.21871753 0.41382118 0.14189402
+v 0.16309355 0.39864331 0.24183838
+v 0.17814903 0.43026549 0.15680866
+v 0.40677272 0.22557206 -0.09475695
+v 0.39415415 0.26775734 -0.02101893
+v 0.17745064 0.42826481 -0.06456856
+v 0.20293063 0.39747213 -0.15149791
+v 0.16248138 0.41370044 -0.15240167
+f 9 1 5
+f 12 9 5
+f 14 5 1
+f 15 5 14
+f 20 9 12
+f 20 12 6
+f 21 13 7
+f 21 14 1
+f 21 7 14
+f 22 7 13
+f 24 5 15
+f 24 12 5
+f 25 15 14
+f 25 24 15
+f 26 16 8
+f 26 1 9
+f 26 21 1
+f 27 16 2
+f 28 11 18
+f 29 6 12
+f 29 12 24
+f 30 10 6
+f 33 9 20
+f 33 26 9
+f 33 2 16
+f 33 16 26
+f 34 20 6
+f 34 33 20
+f 35 3 31
+f 36 31 3
+f 37 23 3
+f 37 3 35
+f 38 8 23
+f 38 26 8
+f 38 21 26
+f 39 25 14
+f 39 14 7
+f 39 7 22
+f 40 39 22
+f 40 25 39
+f 41 25 40
+f 42 27 8
+f 42 8 16
+f 42 16 27
+f 43 17 32
+f 44 24 4
+f 44 29 24
+f 44 28 18
+f 44 18 29
+f 45 29 18
+f 46 30 19
+f 46 19 10
+f 46 10 30
+f 47 31 19
+f 47 11 31
+f 47 45 11
+f 47 19 45
+f 48 32 17
+f 48 10 32
+f 48 17 34
+f 48 34 6
+f 48 6 10
+f 49 32 10
+f 49 10 19
+f 49 19 32
+f 50 32 19
+f 50 19 31
+f 50 31 36
+f 50 43 32
+f 51 2 33
+f 51 34 17
+f 51 33 34
+f 52 35 22
+f 52 22 13
+f 52 37 35
+f 52 13 37
+f 53 35 31
+f 53 31 11
+f 53 11 28
+f 53 28 44
+f 54 23 8
+f 54 36 3
+f 54 3 23
+f 55 37 13
+f 55 23 37
+f 56 13 21
+f 56 21 38
+f 56 55 13
+f 56 38 23
+f 56 23 55
+f 57 40 22
+f 57 22 35
+f 57 35 53
+f 58 41 4
+f 58 4 24
+f 58 24 25
+f 58 25 41
+f 59 41 40
+f 59 4 41
+f 59 44 4
+f 59 53 44
+f 59 57 53
+f 59 40 57
+f 60 43 27
+f 60 27 2
+f 60 2 51
+f 60 51 17
+f 60 17 43
+f 61 8 27
+f 61 27 43
+f 61 54 8
+f 61 36 54
+f 61 50 36
+f 61 43 50
+f 62 45 18
+f 62 18 11
+f 62 11 45
+f 63 45 19
+f 63 19 30
+f 63 30 6
+f 63 6 45
+f 64 45 6
+f 64 6 29
+f 64 29 45
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_22/collision/model_normalized_collision_30.obj b/objects/objaverse/apple/apple_22/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..06f9d3d9712ec153fc193458392b7dc85137215e
--- /dev/null
+++ b/objects/objaverse/apple/apple_22/collision/model_normalized_collision_30.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.41227846 -0.22764994 0.15220888
+v 0.41885529 -0.23123387 0.00546148
+v 0.39556172 -0.00654073 0.14393937
+v 0.27434960 -0.00654073 0.14393937
+v 0.27434960 -0.21866193 0.00757574
+v 0.27434960 -0.21866193 0.14393937
+v 0.39556172 -0.00654073 0.00757574
+v 0.27434960 -0.00654073 0.00757574
+f 1 2 3
+f 1 3 4
+f 6 5 2
+f 6 2 1
+f 6 1 4
+f 6 4 5
+f 7 3 2
+f 7 4 3
+f 8 7 2
+f 8 2 5
+f 8 5 4
+f 8 4 7
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_22/collision/model_normalized_collision_31.obj b/objects/objaverse/apple/apple_22/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..09a7c10abda97c1b0fc87b9af1b9cb5a991d4cac
--- /dev/null
+++ b/objects/objaverse/apple/apple_22/collision/model_normalized_collision_31.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.28849881 -0.26050233 0.28339337
+v 0.27434960 -0.24896496 0.00757574
+v 0.27434960 -0.00654073 0.00757574
+v 0.01884155 -0.01338175 0.27941631
+v 0.01677386 -0.24896496 0.26515149
+v 0.27434960 -0.00654073 0.26515149
+v 0.01677386 -0.24896496 0.00757574
+v 0.01677386 -0.00654073 0.00757574
+f 1 2 3
+f 5 1 4
+f 6 1 3
+f 6 4 1
+f 7 2 1
+f 7 1 5
+f 7 3 2
+f 8 6 3
+f 8 4 6
+f 8 3 7
+f 8 7 5
+f 8 5 4
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_22/collision/model_normalized_collision_5.obj b/objects/objaverse/apple/apple_22/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a1301ad35c09cd760be50d621f3a7da6231d7831
--- /dev/null
+++ b/objects/objaverse/apple/apple_22/collision/model_normalized_collision_5.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.11999638 -0.39127457 0.25591369
+v 0.40462218 -0.08069644 0.25765983
+v 0.01661393 0.26369406 0.37105789
+v 0.01744057 0.40967741 0.25752140
+v 0.37153491 0.20147879 0.25547282
+v 0.01667081 -0.39951632 0.26422625
+v 0.13524588 -0.18682032 0.36899563
+v 0.32717537 -0.25777237 0.25512073
+v 0.15114401 0.39380744 0.25627594
+v 0.01586629 -0.39199163 0.27215411
+v 0.26410569 0.12700640 0.35329184
+v 0.37242816 -0.18432766 0.25546165
+v 0.19288979 -0.28402040 0.32184500
+v 0.03138043 0.40933483 0.25709982
+v 0.26782487 -0.31677310 0.25521414
+v 0.01612893 -0.24606795 0.36959058
+v 0.19531434 0.17492859 0.36938469
+v 0.26498434 -0.12530358 0.33762796
+v 0.35545239 0.08312796 0.30701422
+v 0.40295451 0.11240258 0.25643128
+v 0.08888906 -0.32856742 0.32185686
+v 0.01796987 0.35785246 0.31207000
+v 0.16557175 -0.37667918 0.25640643
+v 0.26300111 -0.25123522 0.30853709
+v 0.01569972 -0.33115037 0.32682410
+v 0.11905689 -0.26791335 0.35189164
+v 0.19470886 0.07071567 0.36901818
+v 0.20624144 0.29715888 0.32417157
+v 0.35203292 -0.10912313 0.29433907
+v 0.29549386 0.20005764 0.32188237
+v 0.27028418 0.08597926 0.35334218
+v 0.33488051 0.15359414 0.30993514
+v 0.11764456 -0.33850535 0.30905466
+v 0.01740110 0.31690746 0.34007492
+v 0.06095502 0.35623216 0.31056303
+v 0.22045829 -0.32431067 0.27832725
+v 0.29052444 -0.26774776 0.27723972
+v 0.32060538 -0.19626296 0.29318544
+v 0.20567878 -0.19708662 0.35257780
+v 0.09130796 -0.23084325 0.36840865
+v 0.03125872 -0.24597038 0.36902568
+v 0.16635310 0.21884988 0.36879644
+v 0.25215901 0.34917446 0.25811657
+v 0.38862835 -0.14088562 0.25680135
+v 0.36594691 -0.04985391 0.29381709
+v 0.23446848 0.19981606 0.35134166
+v 0.29463116 0.12632848 0.33680646
+v 0.14945044 -0.14215955 0.36869844
+v 0.36506091 0.09642801 0.29541267
+v 0.30664697 0.21164507 0.30997910
+v 0.27898069 0.17238492 0.33765662
+v 0.11776639 -0.38404141 0.26380670
+v 0.15974532 -0.32411346 0.30841325
+v 0.13552917 0.33084373 0.32229496
+v 0.06154447 0.31617458 0.33807514
+v 0.22441586 -0.34668112 0.25603018
+v 0.24740385 -0.26588078 0.30786070
+v 0.32130408 -0.25298488 0.26270269
+v 0.31024044 -0.16981877 0.30719239
+v 0.14678465 -0.25431166 0.35150212
+v 0.19060510 -0.25548021 0.33647771
+v 0.32697090 0.27594341 0.25577302
+v 0.36568762 -0.18092342 0.26243045
+v 0.38143069 -0.13878993 0.26328445
+f 6 4 1
+f 10 4 6
+f 12 8 5
+f 14 9 1
+f 14 1 4
+f 15 1 9
+f 15 9 5
+f 15 5 8
+f 16 7 3
+f 17 3 7
+f 20 12 5
+f 20 2 12
+f 20 19 2
+f 22 14 4
+f 25 16 3
+f 25 10 21
+f 25 3 4
+f 25 4 10
+f 26 25 21
+f 27 17 7
+f 31 11 17
+f 31 17 27
+f 32 20 5
+f 33 21 10
+f 34 22 4
+f 34 4 3
+f 35 9 14
+f 35 14 22
+f 37 24 15
+f 37 15 8
+f 39 18 31
+f 40 7 16
+f 40 39 7
+f 41 16 25
+f 41 25 26
+f 41 40 16
+f 41 26 40
+f 42 3 17
+f 44 12 2
+f 45 29 2
+f 45 2 19
+f 45 19 31
+f 45 31 18
+f 45 18 29
+f 46 17 11
+f 46 42 17
+f 46 30 28
+f 46 28 42
+f 47 31 19
+f 47 11 31
+f 47 19 32
+f 48 31 27
+f 48 27 7
+f 48 39 31
+f 48 7 39
+f 49 32 19
+f 49 19 20
+f 49 20 32
+f 50 32 5
+f 50 30 32
+f 50 28 30
+f 51 32 30
+f 51 47 32
+f 51 11 47
+f 51 46 11
+f 51 30 46
+f 52 33 10
+f 52 1 23
+f 52 23 33
+f 52 10 6
+f 52 6 1
+f 53 26 21
+f 53 21 33
+f 53 13 26
+f 53 36 13
+f 53 33 23
+f 54 9 35
+f 54 43 9
+f 54 28 43
+f 54 42 28
+f 54 3 42
+f 55 35 22
+f 55 22 34
+f 55 54 35
+f 55 34 3
+f 55 3 54
+f 56 15 36
+f 56 23 1
+f 56 1 15
+f 56 53 23
+f 56 36 53
+f 57 24 13
+f 57 13 36
+f 57 36 15
+f 57 15 24
+f 58 37 8
+f 58 24 37
+f 58 38 24
+f 58 8 12
+f 58 12 38
+f 59 38 29
+f 59 29 18
+f 59 18 39
+f 59 39 24
+f 59 24 38
+f 60 26 13
+f 60 40 26
+f 60 39 40
+f 61 13 24
+f 61 24 39
+f 61 60 13
+f 61 39 60
+f 62 5 9
+f 62 9 43
+f 62 50 5
+f 62 43 28
+f 62 28 50
+f 63 38 12
+f 63 12 44
+f 64 29 38
+f 64 63 44
+f 64 38 63
+f 64 44 2
+f 64 2 29
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_22/collision/model_normalized_collision_6.obj b/objects/objaverse/apple/apple_22/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9c7b3b718d6b5c7fc7a6b493e37c9f985e6fbd49
--- /dev/null
+++ b/objects/objaverse/apple/apple_22/collision/model_normalized_collision_6.obj
@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
+v 0.24404657 -0.21866193 -0.23484849
+v 0.22961768 -0.20682923 -0.39972370
+v 0.24404657 0.19042896 -0.23484849
+v 0.01677386 0.19042896 -0.23484849
+v 0.01677386 -0.21866193 -0.23484849
+v 0.01736278 0.18599178 -0.47652096
+v 0.23663072 0.11130869 -0.42915726
+v 0.02158765 -0.24059943 -0.44851314
+v -0.03680298 -0.02660966 -0.46815405
+v 0.23409683 -0.14997970 -0.42798514
+v 0.23158862 0.18092860 -0.41543358
+v -0.02958574 -0.08554461 -0.49499262
+v 0.23426551 -0.09224097 -0.44388904
+v 0.14612596 -0.17809975 -0.45939985
+v 0.10057563 0.18201818 -0.47571452
+v -0.03466532 -0.04514827 -0.47938444
+v 0.14633402 -0.20668300 -0.44240363
+v 0.16382842 -0.12695245 -0.47414500
+v 0.22076161 0.15433468 -0.42864066
+v -0.03000873 -0.07079259 -0.49144235
+v 0.05826664 -0.19596280 -0.47327540
+v 0.20186381 -0.10891993 -0.45942096
+v 0.18710559 -0.13612440 -0.45944954
+v 0.07456886 -0.11343511 -0.49026522
+v 0.14447024 0.18015642 -0.45754383
+v 0.08732919 -0.20676328 -0.45843078
+v 0.13634654 -0.15449530 -0.47411826
+v 0.01440775 -0.16652510 -0.49056368
+v 0.21866985 -0.13460460 -0.44261106
+v 0.21847506 -0.02310450 -0.46048024
+v 0.16473982 -0.00891156 -0.47384275
+v 0.07455096 -0.12496894 -0.48971759
+v 0.01510199 -0.19789362 -0.47814566
+v 0.02930953 -0.16581981 -0.48876812
+v 0.23501399 0.01936299 -0.44479477
+v 0.21779755 -0.06418107 -0.45840428
+v 0.11925289 0.15760477 -0.47428181
+v 0.01546958 -0.21271806 -0.46864405
+f 1 3 4
+f 5 1 4
+f 6 4 3
+f 7 3 1
+f 8 2 1
+f 8 1 5
+f 9 5 4
+f 9 4 6
+f 10 1 2
+f 11 6 3
+f 11 3 7
+f 12 8 5
+f 12 5 9
+f 13 7 1
+f 13 1 10
+f 14 10 2
+f 15 6 11
+f 15 12 6
+f 16 12 9
+f 16 9 6
+f 17 14 2
+f 17 2 8
+f 19 11 7
+f 20 16 6
+f 20 6 12
+f 20 12 16
+f 21 14 17
+f 23 10 14
+f 23 14 18
+f 23 18 22
+f 24 12 15
+f 25 15 11
+f 25 11 19
+f 26 21 17
+f 26 17 8
+f 26 8 21
+f 27 18 14
+f 27 14 21
+f 28 12 24
+f 29 22 13
+f 29 13 10
+f 29 23 22
+f 29 10 23
+f 31 18 24
+f 31 30 18
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\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_22/collision/model_normalized_collision_8.obj b/objects/objaverse/apple/apple_22/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f885e72e8aec8320ca70321970d001e5fc75319
--- /dev/null
+++ b/objects/objaverse/apple/apple_22/collision/model_normalized_collision_8.obj
@@ -0,0 +1,162 @@
+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_22/collision/model_normalized_collision_9.obj b/objects/objaverse/apple/apple_22/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dfbd3df34abfbadaceefd8304beb2d291e269891
--- /dev/null
+++ b/objects/objaverse/apple/apple_22/collision/model_normalized_collision_9.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.41536298 -0.23752655 0.00440322
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\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_22/visual/material.mtl b/objects/objaverse/apple/apple_22/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6b5d0f127cc1df2efd6b4835e0300358bb6dde72
--- /dev/null
+++ b/objects/objaverse/apple/apple_22/visual/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 359.99999300
+map_Kd material_0.png
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_22/visual/model_normalized_0.obj b/objects/objaverse/apple/apple_22/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f76cf249d993c381ed39eaa085e2cd6c76c0dbad
--- /dev/null
+++ b/objects/objaverse/apple/apple_22/visual/model_normalized_0.obj
@@ -0,0 +1,7140 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_6/collision/model_normalized_collision_0.obj b/objects/objaverse/apple/apple_6/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c18740bfb0f7421c23c00af56e1b823624a1803f
--- /dev/null
+++ b/objects/objaverse/apple/apple_6/collision/model_normalized_collision_0.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v -0.07838148 0.00743485 -0.42044732
+v 0.01136179 0.10621921 -0.44672220
+v 0.01255594 0.09848485 -0.26428020
+v -0.21471679 0.23484849 -0.26428020
+v -0.20566751 0.18110957 -0.45881053
+v 0.01255594 0.23484849 -0.26428020
+v -0.21471679 -0.00757576 -0.37034080
+v -0.21352386 -0.00644430 -0.47660570
+v 0.01200909 0.23038091 -0.47728764
+v -0.21471679 0.09848485 -0.26428020
+v -0.13337968 -0.00351343 -0.46236845
+v -0.20957885 0.22853828 -0.43431188
+v 0.01162416 0.16063964 -0.47466676
+v -0.20995160 0.12463032 -0.47246876
+v -0.10551693 -0.00249967 -0.44364821
+v -0.09173857 0.22990719 -0.47351558
+v -0.17443333 -0.00458061 -0.47549814
+v -0.16102800 0.22473552 -0.45751196
+v -0.13479938 0.19976396 -0.47229088
+v -0.20597221 0.21169154 -0.44425130
+v -0.19190429 0.22543958 -0.44367551
+f 1 2 3
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+f 21 18 20
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_6/collision/model_normalized_collision_1.obj b/objects/objaverse/apple/apple_6/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..759329326d82ce91cff0af4cb671d8457c946495
--- /dev/null
+++ b/objects/objaverse/apple/apple_6/collision/model_normalized_collision_1.obj
@@ -0,0 +1,123 @@
+# https://github.com/mikedh/trimesh
+v 0.14891957 -0.00757576 -0.35518929
+v 0.23964943 0.26346984 -0.39508842
+v 0.20260276 0.34635279 -0.34785079
+v 0.01247353 0.39970977 -0.35354883
+v 0.01121494 0.19024530 -0.47652907
+v 0.09828726 0.31337334 -0.42693289
+v 0.18596100 0.35941457 -0.34627109
+v 0.15105938 -0.00522456 -0.46156500
+v -0.03689487 0.03896380 -0.40802783
+v -0.06117414 0.31904958 -0.43522792
+v 0.14562569 0.23048455 -0.45843405
+v 0.10121848 0.39079401 -0.34878399
+v 0.16939920 0.29635804 -0.41454269
+v 0.01009385 -0.00369728 -0.44327389
+v 0.02583200 0.32907631 -0.42860333
+v -0.06288387 0.35391597 -0.39881409
+v 0.01290647 0.28466497 -0.45963603
+v 0.07279153 0.20561045 -0.47605419
+v 0.20492451 0.22981720 -0.43556640
+v 0.11210232 0.32525352 -0.41517360
+v 0.18237375 0.35437939 -0.35631603
+v 0.11201523 0.25535434 -0.45821574
+v 0.04034365 -0.00514319 -0.40098420
+v 0.04008901 0.35513681 -0.40051262
+v -0.06544982 0.34093039 -0.41358883
+v 0.01200909 0.23038091 -0.47728764
+v -0.05867202 0.32731264 -0.43059559
+v 0.07019211 0.29799141 -0.44299662
+v 0.20321514 0.27113305 -0.41620193
+v 0.11272469 0.28388205 -0.44138565
+v 0.19956741 0.34208366 -0.35636170
+v 0.11227599 0.35502796 -0.38487578
+v 0.05664738 0.23240639 -0.47409438
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+v 0.09992271 0.38538470 -0.35555391
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+v -0.03264276 0.35554581 -0.40111477
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+v 0.15668272 0.28470712 -0.42609675
+v 0.07187018 0.21738258 -0.47500737
+v 0.20269621 0.24253208 -0.43046579
+f 1 2 3
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+f 9 1 4
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+f 41 33 11
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+f 41 18 26
+f 41 26 33
+f 42 39 29
+f 42 29 19
+f 42 19 39
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_6/collision/model_normalized_collision_10.obj b/objects/objaverse/apple/apple_6/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb7f674d99baf95eb228bb6d5eb73c77c9197c76
--- /dev/null
+++ b/objects/objaverse/apple/apple_6/collision/model_normalized_collision_10.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.26526681 -0.27527603 0.27605232
+v 0.25498018 -0.26515152 -0.23397717
+v 0.25498018 -0.00757576 -0.23397717
+v 0.01719942 -0.00617872 0.34038587
+v 0.01363146 -0.27557517 0.37113491
+v 0.01255594 -0.00757576 -0.23397717
+v 0.25498018 -0.00757576 0.26602284
+v 0.01255594 -0.26515152 -0.23397717
+v 0.21099575 -0.00717313 0.35417994
+v 0.20337217 -0.25899218 0.33250027
+f 1 2 3
+f 6 3 2
+f 6 4 3
+f 6 5 4
+f 7 1 3
+f 8 2 1
+f 8 1 5
+f 8 6 2
+f 8 5 6
+f 9 7 3
+f 9 3 4
+f 9 4 5
+f 9 1 7
+f 10 9 5
+f 10 5 1
+f 10 1 9
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_6/collision/model_normalized_collision_11.obj b/objects/objaverse/apple/apple_6/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..03004ce0c1b10b43307a769676b9371621f55f18
--- /dev/null
+++ b/objects/objaverse/apple/apple_6/collision/model_normalized_collision_11.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.36942246 -0.24690344 -0.23156638
+v 0.42147470 -0.09595162 -0.22940612
+v 0.23982867 -0.25000000 -0.23397717
+v 0.25498018 0.23484849 -0.23397717
+v 0.23751738 -0.00752452 -0.46569422
+v 0.40705477 0.18299534 -0.22823955
+v 0.37837343 -0.22896545 -0.22942154
+v 0.23248552 -0.24428269 -0.42120310
+v 0.23982867 -0.00757576 -0.23397717
+v 0.24833911 0.25884168 -0.39184770
+v 0.37338235 0.02222484 -0.35935506
+v 0.39246644 -0.19818232 -0.22904976
+v 0.23372970 -0.08163323 -0.46444739
+v 0.38460856 0.23160767 -0.23104282
+v 0.41808501 0.08194195 -0.25665108
+v 0.28962901 0.12481546 -0.42729541
+v 0.42246547 0.12596812 -0.22832004
+v 0.37403971 -0.12319325 -0.32785184
+v 0.38846243 -0.19636620 -0.24279493
+v 0.30002056 -0.07888938 -0.42882834
+v 0.24678801 0.24221643 -0.40494478
+v 0.25366480 0.26402230 -0.38391927
+v 0.39328695 0.21390511 -0.22878362
+v 0.38684652 0.15450889 -0.29820304
+v 0.40308172 -0.04975467 -0.30211517
+v 0.41790521 -0.06522264 -0.25704990
+v 0.32910889 -0.23840872 -0.32858996
+v 0.40144034 -0.12247088 -0.27034965
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\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_6/collision/model_normalized_collision_12.obj b/objects/objaverse/apple/apple_6/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1cb9ada365f3804d72393d390b77dcf6b12c524c
--- /dev/null
+++ b/objects/objaverse/apple/apple_6/collision/model_normalized_collision_12.obj
@@ -0,0 +1,156 @@
+# https://github.com/mikedh/trimesh
+v -0.22952008 -0.28076690 -0.38688661
+v -0.19216618 -0.22670632 -0.44775927
+v -0.21471679 0.09848485 -0.37034080
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+v -0.27761345 0.09514196 -0.44560568
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\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_6/collision/model_normalized_collision_13.obj b/objects/objaverse/apple/apple_6/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..82cc0a26eeaaa6478eb05c6dd83a8c007c6882b4
--- /dev/null
+++ b/objects/objaverse/apple/apple_6/collision/model_normalized_collision_13.obj
@@ -0,0 +1,138 @@
+# https://github.com/mikedh/trimesh
+v 0.22919375 -0.28622379 0.29754871
+v 0.36449210 -0.03672659 0.25878227
+v 0.26024547 -0.14146669 0.33837138
+v 0.25366421 0.09809972 0.33898761
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+v 0.20922610 -0.00765779 0.35440549
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+v 0.25941694 0.09978332 0.33604475
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\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_6/collision/model_normalized_collision_14.obj b/objects/objaverse/apple/apple_6/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b558e9100bc936e9c13907ad13e272374d839bc3
--- /dev/null
+++ b/objects/objaverse/apple/apple_6/collision/model_normalized_collision_14.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.26182520 0.22833261 0.29709894
+v 0.40654905 0.22886332 -0.16847338
+v 0.40416311 0.24321009 0.07877287
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+v 0.34316163 0.31282829 -0.19768861
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+v 0.38765262 0.25150934 -0.19739193
+v 0.34313927 0.28014498 -0.25491801
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+v 0.23231364 0.28680040 0.28251515
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+v 0.23364120 0.39298733 -0.24485023
+v 0.33891123 0.24584732 -0.30484624
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\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_6/collision/model_normalized_collision_15.obj b/objects/objaverse/apple/apple_6/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..034289da3c554c3f1faf69a34de7c9b217e620b3
--- /dev/null
+++ b/objects/objaverse/apple/apple_6/collision/model_normalized_collision_15.obj
@@ -0,0 +1,162 @@
+# https://github.com/mikedh/trimesh
+v -0.32809183 -0.26070308 0.18583387
+v -0.34210250 -0.26901306 -0.23648429
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\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_6/collision/model_normalized_collision_16.obj b/objects/objaverse/apple/apple_6/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b960182972d0925affe11f0f92b0e3cb13946157
--- /dev/null
+++ b/objects/objaverse/apple/apple_6/collision/model_normalized_collision_16.obj
@@ -0,0 +1,129 @@
+# https://github.com/mikedh/trimesh
+v -0.20879970 -0.26185807 0.31749628
+v -0.21471679 -0.26515152 0.19026526
+v -0.21471679 -0.00757576 0.19026526
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+v -0.33925328 -0.24328675 0.18357774
+v -0.21270349 -0.00771711 0.32830436
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+v -0.32809183 -0.26070308 0.18583387
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+v -0.27758847 -0.19876249 0.29283424
+v -0.33388095 -0.21288423 0.22293122
+v -0.38197086 -0.00620526 0.23734274
+v -0.41214097 -0.04984815 0.18381893
+v -0.28254915 -0.00745367 0.31017357
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+v -0.21984732 -0.25957384 0.31116220
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+v -0.33403541 -0.24032502 0.19577888
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+v -0.35117053 -0.04960447 0.26604747
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\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_6/collision/model_normalized_collision_17.obj b/objects/objaverse/apple/apple_6/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..23983e0688d4236776f8814f2b589ef0833e1fef
--- /dev/null
+++ b/objects/objaverse/apple/apple_6/collision/model_normalized_collision_17.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v 0.07177282 -0.10425216 0.47532376
+v 0.12138266 -0.08458280 0.46047776
+v 0.08518965 -0.03766552 0.45399937
+v 0.00747019 0.01664753 0.30613888
+v 0.03102762 -0.05632458 0.33739471
+v 0.06475096 0.00829249 0.30446262
+v 0.06474128 -0.03878729 0.44859339
+v 0.10836627 -0.06606456 0.47975477
+v 0.08222642 -0.10587438 0.44881315
+v 0.05862044 -0.10272042 0.45690573
+v 0.04196030 0.00817094 0.35324731
+v 0.00717263 -0.00463690 0.30854376
+v 0.06797102 -0.04615849 0.35140368
+v 0.10770611 -0.07879563 0.47955423
+v 0.07456494 -0.07607315 0.48088709
+v 0.12198015 -0.06942144 0.47103790
+v 0.08971546 -0.10063483 0.46633904
+v 0.03043937 -0.01118130 0.37946002
+v 0.05530050 -0.10003085 0.43265704
+v 0.03171923 0.01475595 0.31393730
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+v 0.05783730 -0.00710785 0.31179233
+v 0.07912307 -0.10229151 0.47600028
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+v 0.06883389 -0.05130288 0.46162104
+v 0.05870802 -0.08997027 0.45405673
+v 0.06134385 -0.00919046 0.40035491
+v 0.02400881 0.00685859 0.34847063
+v 0.04517317 -0.01723871 0.40493423
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+f 32 11 4
+f 33 28 18
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\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_6/collision/model_normalized_collision_18.obj b/objects/objaverse/apple/apple_6/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d2eff4b12ef47cc4c950925ed67bd4ca5af59f90
--- /dev/null
+++ b/objects/objaverse/apple/apple_6/collision/model_normalized_collision_18.obj
@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
+v -0.21471679 0.09848485 -0.26428020
+v -0.21446305 0.09836604 -0.47579583
+v -0.23855064 0.26166094 -0.38592117
+v -0.35148774 0.22697956 -0.25859383
+v -0.40528108 0.09662831 -0.26224344
+v -0.21471679 0.23484849 -0.26428020
+v -0.36653121 0.09377331 -0.34736182
+v -0.39781102 0.12369867 -0.25982689
+v -0.20908415 0.16904549 -0.46273445
+v -0.25334427 0.09528826 -0.46010806
+v -0.39712768 0.09441984 -0.28746427
+v -0.31679908 0.20961180 -0.34372162
+v -0.38116055 0.16817575 -0.25888412
+v -0.20957885 0.22853828 -0.43431188
+v -0.23381657 0.15084041 -0.45755792
+v -0.39391561 0.10867451 -0.28589363
+v -0.31853018 0.22191820 -0.32856725
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+v -0.39388155 0.12225743 -0.27371724
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+v -0.21998114 0.22650800 -0.42980685
+v -0.30394398 0.15046008 -0.40179802
+v -0.27606735 0.10989161 -0.44372498
+v -0.33178516 0.16407004 -0.35877396
+v -0.36320245 0.10733174 -0.34551683
+v -0.37700238 0.16653496 -0.27257622
+v -0.27436900 0.22256460 -0.38428406
+v -0.22059102 0.16574932 -0.45836729
+v -0.28898315 0.17946082 -0.40007529
+v -0.25231835 0.10995942 -0.45765961
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+v -0.27761345 0.09514196 -0.44560568
+v -0.33394861 0.10673872 -0.38721324
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+f 38 27 26
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+f 38 33 34
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_6/collision/model_normalized_collision_19.obj b/objects/objaverse/apple/apple_6/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d5436e95102a026479b1389fcba50f87c86481f
--- /dev/null
+++ b/objects/objaverse/apple/apple_6/collision/model_normalized_collision_19.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v 0.16212758 -0.29064604 0.33514002
+v 0.20337217 -0.25899218 0.33250027
+v 0.11795859 -0.18793644 0.38630624
+v 0.19414372 0.09860902 0.35401859
+v 0.01477951 -0.06195485 0.33278650
+v 0.19082705 -0.12924834 0.36948623
+v 0.17410088 -0.21481459 0.36852835
+v 0.18821728 -0.27414031 0.33249517
+v 0.21038989 0.09801908 0.35270862
+v 0.01363146 -0.27557517 0.37113491
+v 0.01396304 -0.15175720 0.38547556
+v 0.18673484 -0.18617427 0.36887317
+v 0.14497211 -0.24023247 0.36927872
+v 0.19929068 -0.25448289 0.33819947
+v 0.20920123 0.09865968 0.35282993
+v 0.20052803 -0.21452340 0.35515060
+v 0.11786780 -0.15974142 0.38610531
+v 0.13339317 -0.29462663 0.34034363
+v 0.01662471 -0.08451224 0.35562610
+v 0.02869444 -0.21890368 0.38603658
+v 0.01187023 -0.20386171 0.38696008
+v 0.18516185 -0.23995953 0.35181718
+v 0.18520522 -0.27030983 0.33676108
+v 0.20749921 -0.02374191 0.35529600
+v 0.10272047 -0.14458626 0.38619639
+v 0.10064061 -0.25706321 0.36865884
+v 0.10199763 -0.20211489 0.38567419
+v 0.01215429 -0.26125886 0.37627269
+v 0.13056962 -0.28839089 0.34467357
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+f 15 5 4
+f 16 6 12
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+f 16 12 7
+f 17 3 6
+f 17 6 9
+f 17 9 15
+f 18 10 5
+f 18 5 1
+f 18 1 13
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+f 22 14 16
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+f 23 14 22
+f 24 9 6
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+f 24 2 9
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+f 28 5 10
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+f 29 18 13
+f 29 13 26
+f 29 26 10
+f 29 10 18
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_6/collision/model_normalized_collision_2.obj b/objects/objaverse/apple/apple_6/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f666f1758c2cc88312f2528835f7a421422732f1
--- /dev/null
+++ b/objects/objaverse/apple/apple_6/collision/model_normalized_collision_2.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.11380307 -0.47330030 0.06385911
+v 0.38009170 -0.26001025 -0.17072998
+v 0.23247875 -0.25727686 0.31484777
+v -0.25049254 -0.25857286 0.28641219
+v -0.34751757 -0.26292296 -0.23253027
+v -0.36963561 -0.25828622 -0.17031024
+v -0.04620173 -0.39828763 0.26907670
+v 0.34242771 -0.31356966 0.10822625
+v 0.10086811 -0.45767641 -0.22767928
+v 0.36461583 -0.25726437 -0.22954748
+v -0.35388229 -0.25713096 0.14092052
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diff --git a/objects/objaverse/apple/apple_6/collision/model_normalized_collision_20.obj b/objects/objaverse/apple/apple_6/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e72d3ff66a03b74add9513937769992076dcbf1c
--- /dev/null
+++ b/objects/objaverse/apple/apple_6/collision/model_normalized_collision_20.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_6/collision/model_normalized_collision_21.obj b/objects/objaverse/apple/apple_6/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa3c6ddb9ef6fca7a751b12e34df93888396bf8c
--- /dev/null
+++ b/objects/objaverse/apple/apple_6/collision/model_normalized_collision_21.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_6/collision/model_normalized_collision_22.obj b/objects/objaverse/apple/apple_6/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc4f1ee4158877e12ab7c840c61a248aa743e3d6
--- /dev/null
+++ b/objects/objaverse/apple/apple_6/collision/model_normalized_collision_22.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.12885102 -0.44950018 -0.23034917
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+v 0.13005754 -0.24493561 -0.46093353
+v 0.18485431 -0.29557419 -0.41292216
+v -0.14581329 -0.36963680 -0.35543514
+v -0.23082995 -0.26552071 -0.40044742
+v -0.13579130 -0.25845063 -0.45738086
+v -0.30954787 -0.24265305 -0.33307785
+v -0.21401337 -0.33972763 -0.34287959
+v -0.30568312 -0.28060704 -0.29917617
+v 0.21342502 -0.32430080 -0.37143750
+v 0.19649248 -0.41298923 -0.25423555
+v 0.24127898 -0.34074328 -0.32777893
+v 0.11515848 -0.44472572 -0.25663053
+f 6 2 4
+f 9 6 4
+f 9 3 6
+f 10 3 7
+f 13 6 3
+f 13 2 6
+f 14 7 3
+f 14 3 9
+f 14 9 4
+f 15 10 7
+f 19 13 8
+f 19 2 13
+f 21 10 15
+f 23 3 10
+f 23 13 3
+f 26 18 5
+f 26 12 18
+f 27 7 14
+f 28 12 8
+f 29 4 2
+f 29 2 19
+f 29 12 20
+f 29 20 14
+f 29 14 4
+f 29 19 8
+f 29 8 12
+f 30 21 1
+f 30 10 21
+f 31 21 15
+f 35 23 10
+f 35 16 23
+f 36 23 16
+f 37 8 13
+f 37 13 23
+f 37 36 8
+f 37 23 36
+f 41 7 27
+f 41 32 7
+f 41 22 32
+f 42 18 12
+f 42 12 28
+f 44 24 43
+f 44 38 24
+f 44 31 11
+f 44 11 38
+f 45 15 7
+f 45 7 32
+f 45 33 15
+f 45 32 22
+f 45 22 33
+f 46 31 15
+f 46 15 33
+f 47 33 22
+f 47 22 41
+f 48 47 34
+f 48 33 47
+f 48 46 33
+f 48 11 31
+f 48 31 46
+f 49 25 11
+f 49 48 34
+f 49 11 48
+f 50 17 34
+f 50 41 27
+f 50 47 41
+f 50 34 47
+f 51 36 28
+f 51 28 8
+f 51 8 36
+f 52 38 11
+f 52 11 25
+f 53 5 18
+f 53 18 38
+f 54 38 18
+f 54 24 38
+f 54 18 42
+f 55 39 25
+f 55 17 39
+f 55 25 49
+f 55 49 34
+f 55 34 17
+f 56 39 17
+f 56 26 39
+f 56 40 26
+f 56 17 40
+f 57 39 26
+f 57 26 5
+f 57 38 52
+f 57 53 38
+f 57 5 53
+f 57 52 25
+f 57 25 39
+f 58 20 12
+f 58 12 26
+f 58 26 40
+f 59 40 17
+f 59 50 27
+f 59 17 50
+f 60 27 14
+f 60 14 20
+f 60 58 40
+f 60 20 58
+f 60 59 27
+f 60 40 59
+f 61 54 42
+f 61 24 54
+f 61 43 24
+f 61 42 28
+f 61 28 36
+f 62 10 30
+f 62 43 35
+f 62 35 10
+f 63 16 35
+f 63 35 43
+f 63 43 61
+f 63 61 36
+f 63 36 16
+f 64 1 21
+f 64 21 31
+f 64 31 44
+f 64 44 43
+f 64 43 62
+f 64 62 30
+f 64 30 1
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_6/collision/model_normalized_collision_23.obj b/objects/objaverse/apple/apple_6/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c5ad0840de044eadf7f8ee29d9c6a8b51d68677d
--- /dev/null
+++ b/objects/objaverse/apple/apple_6/collision/model_normalized_collision_23.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.01255594 -0.00757576 -0.26428020
+v 0.02298665 -0.00917011 -0.41267579
+v 0.01255594 0.09848485 -0.26428020
+v -0.09350467 0.09848485 -0.26428020
+v -0.09884115 -0.00532069 -0.43827878
+v -0.09350467 -0.00757576 -0.26428020
+v -0.01858108 0.10573230 -0.44892421
+v -0.03208565 -0.00852111 -0.43007705
+v 0.01232709 0.09996707 -0.44331429
+v -0.09549683 0.10069910 -0.47131820
+v -0.09871365 0.07205789 -0.46378319
+v -0.06865854 0.10455011 -0.46247753
+f 1 2 3
+f 1 3 4
+f 6 2 1
+f 6 1 4
+f 6 4 5
+f 7 4 3
+f 8 6 5
+f 8 2 6
+f 9 7 3
+f 9 3 2
+f 9 2 8
+f 10 9 8
+f 10 7 9
+f 11 5 4
+f 11 4 10
+f 11 10 8
+f 11 8 5
+f 12 10 4
+f 12 4 7
+f 12 7 10
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_6/collision/model_normalized_collision_24.obj b/objects/objaverse/apple/apple_6/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..534f990a1b15cf3ee785a1d1d4f85de72de67fbc
--- /dev/null
+++ b/objects/objaverse/apple/apple_6/collision/model_normalized_collision_24.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v -0.33592892 -0.00757576 0.15996223
+v -0.33592892 -0.00757576 0.06905314
+v -0.33592892 0.15909091 0.06905314
+v -0.37916060 0.18112552 0.18019429
+v -0.45582246 -0.00765906 0.06875205
+v -0.44271912 -0.00848687 0.12636608
+v -0.44448552 0.09519965 0.06629219
+v -0.43145782 -0.00807336 0.15527874
+v -0.41295414 0.17345131 0.07659019
+v -0.43912935 0.05190548 0.12556103
+v -0.42449247 0.12234038 0.12564126
+v -0.42243965 0.09382771 0.15145029
+v -0.40955437 0.15214909 0.13755158
+v -0.43846214 0.07902268 0.11005255
+v -0.40930309 0.13690066 0.15247487
+v -0.43855630 0.09366050 0.09530169
+v -0.40090244 0.15476206 0.15535747
+f 1 2 3
+f 1 3 4
+f 6 5 2
+f 6 2 1
+f 7 3 2
+f 7 2 5
+f 8 6 1
+f 8 1 4
+f 9 4 3
+f 9 3 7
+f 10 7 5
+f 10 5 6
+f 10 6 8
+f 11 9 7
+f 12 10 8
+f 12 8 4
+f 13 4 9
+f 13 9 11
+f 14 7 10
+f 14 12 11
+f 14 10 12
+f 15 12 4
+f 15 13 11
+f 15 11 12
+f 16 14 11
+f 16 11 7
+f 16 7 14
+f 17 15 4
+f 17 4 13
+f 17 13 15
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_6/collision/model_normalized_collision_25.obj b/objects/objaverse/apple/apple_6/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..de11f5062c6f2df45fcfe704dcb6b33582958578
--- /dev/null
+++ b/objects/objaverse/apple/apple_6/collision/model_normalized_collision_25.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v 0.23982867 -0.25000000 -0.23397717
+v 0.26524116 -0.26912447 -0.37829619
+v 0.23982867 -0.00757576 -0.35518929
+v -0.42798603 -0.00538136 -0.24339485
+v -0.35902274 -0.24549068 -0.23104948
+v -0.38318598 -0.00794390 -0.34814873
+v 0.23982867 -0.00757576 -0.23397717
+v -0.40810324 -0.10739103 -0.27330328
+v -0.30436587 -0.23926272 -0.34501763
+v -0.38160954 -0.21038911 -0.22926993
+v -0.40807194 -0.03443032 -0.29973433
+v -0.33400122 -0.19377315 -0.34517446
+v -0.42505962 -0.08306782 -0.23339948
+v -0.40801305 -0.00890209 -0.30064909
+v -0.37887866 -0.10660848 -0.33002672
+v -0.39300418 -0.13650326 -0.28412729
+v -0.33284373 -0.23849763 -0.29904119
+v -0.41149079 -0.13860631 -0.22981508
+v -0.40828110 -0.08031369 -0.28540566
+v -0.41783700 -0.00812545 -0.27662447
+v -0.37815733 -0.06480472 -0.34539586
+v -0.39244789 -0.18173922 -0.24129437
+v -0.34681414 -0.16639719 -0.34402271
+v -0.34716053 -0.23804383 -0.27164120
+v -0.36411645 -0.12181161 -0.34525957
+v -0.39579830 -0.18387275 -0.22967574
+v -0.37807907 -0.20815289 -0.24163366
+f 5 2 1
+f 6 3 2
+f 6 4 3
+f 7 3 4
+f 7 1 2
+f 7 2 3
+f 9 2 5
+f 10 5 1
+f 10 1 7
+f 12 6 2
+f 12 2 9
+f 13 7 4
+f 14 4 6
+f 14 6 11
+f 16 8 15
+f 17 12 9
+f 17 9 5
+f 18 10 7
+f 18 7 13
+f 18 13 8
+f 19 13 11
+f 19 8 13
+f 19 15 8
+f 20 13 4
+f 20 11 13
+f 20 14 11
+f 20 4 14
+f 21 11 6
+f 21 19 11
+f 21 15 19
+f 22 16 12
+f 22 8 16
+f 23 12 16
+f 24 17 5
+f 24 22 12
+f 24 12 17
+f 25 21 6
+f 25 6 12
+f 25 12 23
+f 25 15 21
+f 25 23 16
+f 25 16 15
+f 26 10 18
+f 26 18 8
+f 26 8 22
+f 27 24 5
+f 27 5 10
+f 27 22 24
+f 27 26 22
+f 27 10 26
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_6/collision/model_normalized_collision_26.obj b/objects/objaverse/apple/apple_6/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bf221320fc605c0c54e5cee64d568a554cd054d2
--- /dev/null
+++ b/objects/objaverse/apple/apple_6/collision/model_normalized_collision_26.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v 0.26526681 -0.27527603 0.27605232
+v 0.42223643 -0.05042252 0.13975704
+v 0.36663485 -0.00663457 0.26010829
+v 0.25498018 -0.00757576 0.26602284
+v 0.25498018 -0.26515152 0.14481072
+v 0.25498018 -0.00757576 0.14481072
+v 0.34412045 -0.23908922 0.21027964
+v 0.42666915 -0.00659745 0.14130461
+v 0.37763954 -0.00622621 0.24239055
+v 0.37602704 -0.22899328 0.13895531
+v 0.32908281 -0.19761337 0.25323372
+v 0.42201519 -0.00648782 0.15455224
+v 0.40267338 -0.04883642 0.19356622
+v 0.40705281 -0.12546376 0.13913004
+v 0.36384986 -0.25743626 0.13939962
+v 0.34193240 -0.15419980 0.25348135
+v 0.29956229 -0.25534177 0.25305968
+v 0.41767397 -0.04960547 0.15332516
+v 0.40580784 -0.00633558 0.19586011
+v 0.37154455 -0.19697671 0.18269626
+v 0.34187834 -0.25237839 0.19632901
+v 0.35796259 -0.07960371 0.25492628
+v 0.35865310 -0.19897784 0.20882834
+v 0.32852873 -0.22768786 0.23766057
+v 0.38692155 -0.13948102 0.18264624
+v 0.37154486 -0.22727986 0.15239335
+v 0.39216685 -0.18578894 0.13946648
+v 0.31328758 -0.25446865 0.23675437
+v 0.35765808 -0.16949828 0.22355516
+v 0.37369962 -0.04913024 0.23985101
+v 0.38746697 -0.18460646 0.15286503
+f 1 3 4
+f 5 1 4
+f 6 5 4
+f 8 2 6
+f 9 6 4
+f 9 4 3
+f 12 8 6
+f 13 9 3
+f 14 10 6
+f 14 6 2
+f 15 5 6
+f 15 6 10
+f 15 1 5
+f 16 3 1
+f 16 1 11
+f 17 11 1
+f 18 2 8
+f 18 8 12
+f 18 12 13
+f 18 14 2
+f 18 13 14
+f 19 13 12
+f 19 9 13
+f 19 12 6
+f 19 6 9
+f 21 15 7
+f 21 1 15
+f 22 3 16
+f 23 11 7
+f 23 7 20
+f 24 17 7
+f 24 7 11
+f 24 11 17
+f 25 14 13
+f 25 23 20
+f 25 13 23
+f 26 20 7
+f 26 10 20
+f 26 15 10
+f 26 7 15
+f 27 20 10
+f 27 10 14
+f 28 17 1
+f 28 1 21
+f 28 21 7
+f 28 7 17
+f 29 22 16
+f 29 13 22
+f 29 23 13
+f 29 16 11
+f 29 11 23
+f 30 22 13
+f 30 13 3
+f 30 3 22
+f 31 25 20
+f 31 20 27
+f 31 27 14
+f 31 14 25
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_6/collision/model_normalized_collision_27.obj b/objects/objaverse/apple/apple_6/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1e4021c33d56f6b735cda4fa9ce5bd73a9a8cc44
--- /dev/null
+++ b/objects/objaverse/apple/apple_6/collision/model_normalized_collision_27.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v 0.36648992 0.24476096 -0.25810376
+v 0.33229192 0.22675661 -0.33051208
+v 0.26827376 0.31092689 -0.32718131
+v 0.20663944 0.41023248 -0.24610131
+v 0.20952564 0.23484849 -0.24912868
+v 0.26015369 0.37370531 -0.24216365
+v 0.32885450 0.26588711 -0.29736888
+v 0.20492451 0.22981720 -0.43556640
+v 0.21314694 0.38689144 -0.28412829
+v 0.33303428 0.29961234 -0.24240574
+v 0.21679298 0.40580038 -0.24367701
+v 0.32740459 0.23899964 -0.32708824
+v 0.21683144 0.22750292 -0.43074954
+v 0.20133492 0.35972644 -0.33135533
+v 0.25655488 0.35399272 -0.28227256
+v 0.32908196 0.29623228 -0.25549026
+v 0.21369120 0.40152538 -0.25668374
+v 0.28519147 0.26711869 -0.35533404
+v 0.20269621 0.24253208 -0.43046579
+v 0.20439153 0.40522124 -0.25889496
+v 0.24397941 0.31032323 -0.35647967
+v 0.22659838 0.38473092 -0.27019647
+v 0.31392852 0.29638101 -0.28238109
+v 0.28887436 0.24007570 -0.37166737
+v 0.21434439 0.24032594 -0.42588405
+v 0.20470440 0.39024104 -0.28731113
+v 0.20321514 0.27113305 -0.41620193
+v 0.25673829 0.36937246 -0.25493109
+v 0.29177301 0.22899744 -0.37575734
+v 0.22635558 0.25235042 -0.41310170
+v 0.25581849 0.28316698 -0.36837526
+v 0.24224866 0.29802881 -0.36833538
+v 0.21141071 0.26769827 -0.41337539
+f 5 2 1
+f 10 6 5
+f 10 5 1
+f 11 4 5
+f 11 5 6
+f 12 7 1
+f 12 1 2
+f 13 2 5
+f 13 5 8
+f 16 10 1
+f 16 1 7
+f 16 6 10
+f 17 4 11
+f 17 11 6
+f 18 7 12
+f 19 8 5
+f 19 5 14
+f 20 14 5
+f 20 5 4
+f 20 4 17
+f 21 14 9
+f 21 3 18
+f 21 15 3
+f 21 9 15
+f 22 15 9
+f 22 17 6
+f 22 9 17
+f 23 16 7
+f 23 3 15
+f 23 15 6
+f 23 6 16
+f 23 18 3
+f 23 7 18
+f 24 18 12
+f 24 12 2
+f 25 13 8
+f 25 8 19
+f 26 9 14
+f 26 14 20
+f 26 20 17
+f 26 17 9
+f 27 19 14
+f 27 14 21
+f 27 25 19
+f 28 22 6
+f 28 6 15
+f 28 15 22
+f 29 24 2
+f 29 2 13
+f 30 25 27
+f 30 24 29
+f 30 29 13
+f 30 13 25
+f 31 18 24
+f 31 24 30
+f 32 21 18
+f 32 18 31
+f 32 27 21
+f 32 31 30
+f 33 32 30
+f 33 30 27
+f 33 27 32
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_6/collision/model_normalized_collision_28.obj b/objects/objaverse/apple/apple_6/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..771efbbaf8c234f1cc45173486dc5ee61b8cc1cf
--- /dev/null
+++ b/objects/objaverse/apple/apple_6/collision/model_normalized_collision_28.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v -0.09350467 -0.00757576 -0.26428020
+v -0.07838148 0.00743485 -0.42044732
+v -0.09350467 0.09848485 -0.26428020
+v -0.40528108 0.09662831 -0.26224344
+v -0.41392038 -0.00848588 -0.28834868
+v -0.09350467 0.09848485 -0.37034080
+v -0.41127230 0.07896157 -0.25917997
+v -0.37323582 -0.00780934 -0.36407721
+v -0.42212897 -0.00786334 -0.26281154
+v -0.35668908 0.09550828 -0.36286702
+v -0.40719931 0.06269844 -0.28498031
+v -0.40708722 0.07778616 -0.27296020
+v -0.39150244 0.09284921 -0.29986516
+v -0.37766459 0.06219561 -0.34524416
+v -0.36571356 0.07844415 -0.35814026
+v -0.38318598 -0.00794390 -0.34814873
+v -0.37648367 0.09212402 -0.32947027
+f 1 2 3
+f 6 3 2
+f 6 4 3
+f 7 1 3
+f 7 3 4
+f 8 2 1
+f 8 1 5
+f 9 5 1
+f 9 1 7
+f 10 6 2
+f 10 2 8
+f 10 4 6
+f 11 9 7
+f 11 5 9
+f 12 11 7
+f 12 7 4
+f 12 4 11
+f 13 11 4
+f 13 4 10
+f 14 5 11
+f 14 11 13
+f 15 10 8
+f 15 8 14
+f 16 14 8
+f 16 8 5
+f 16 5 14
+f 17 15 14
+f 17 14 13
+f 17 13 10
+f 17 10 15
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_6/collision/model_normalized_collision_29.obj b/objects/objaverse/apple/apple_6/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dbc5262869839daf5140ce7e33f023e184997c78
--- /dev/null
+++ b/objects/objaverse/apple/apple_6/collision/model_normalized_collision_29.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.25498018 -0.00757576 -0.24912868
+v 0.24925800 -0.00706829 -0.46316204
+v 0.25498018 0.23484849 -0.24912868
+v 0.14891957 0.23484849 -0.24912868
+v 0.14891957 -0.00757576 -0.24912868
+v 0.14749365 0.23275805 -0.45735484
+v 0.24701847 0.22739433 -0.41537111
+v 0.14624315 0.21615109 -0.46180218
+v 0.15105938 -0.00522456 -0.46156500
+v 0.22957588 0.14015828 -0.45853433
+v 0.24511361 0.09484617 -0.45920737
+v 0.17296567 0.21412881 -0.45658835
+v 0.24507275 0.16733265 -0.44176977
+v 0.18714628 0.22694490 -0.44470534
+v 0.18797607 0.19885171 -0.45614149
+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 8 2
+f 9 2 5
+f 9 5 8
+f 10 2 8
+f 11 2 10
+f 12 10 8
+f 12 8 6
+f 13 11 10
+f 13 7 2
+f 13 2 11
+f 14 12 6
+f 14 6 7
+f 14 7 13
+f 15 13 10
+f 15 10 12
+f 15 14 13
+f 15 12 14
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_6/collision/model_normalized_collision_3.obj b/objects/objaverse/apple/apple_6/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c74da403aee9f948eb1a07a4a93170ec97d9420f
--- /dev/null
+++ b/objects/objaverse/apple/apple_6/collision/model_normalized_collision_3.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v 0.26524116 -0.26912447 -0.37829619
+v 0.22651848 -0.23991091 -0.42821420
+v 0.23751738 -0.00752452 -0.46569422
+v -0.03689487 0.03896380 -0.40802783
+v -0.22952008 -0.28076690 -0.38688661
+v 0.23982867 -0.00757576 -0.35518929
+v 0.23046046 -0.13976014 -0.45670270
+v 0.01277710 -0.24349767 -0.47380691
+v 0.01657022 0.04163065 -0.40548364
+v -0.19956528 -0.00757576 -0.35518929
+v 0.23163863 -0.19871600 -0.44237650
+v 0.14454661 -0.24385824 -0.45782845
+v 0.16195520 -0.15852371 -0.47518645
+v -0.22858002 -0.00635385 -0.47541092
+v 0.18614806 -0.21384188 -0.45744501
+v 0.07218376 -0.22925403 -0.47317592
+v -0.13459697 -0.19966784 -0.47441268
+v 0.16589177 -0.11620088 -0.47614427
+v -0.17443333 -0.00458061 -0.47549814
+v -0.25294507 -0.00992749 -0.46729231
+v 0.11691942 -0.20220085 -0.47365943
+v 0.20065896 -0.19823439 -0.45596877
+v -0.14839444 -0.24450551 -0.45769891
+v -0.02441846 0.03557638 -0.41527788
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+v -0.10578817 -0.22813110 -0.47297860
+v -0.01698120 -0.24338772 -0.47319690
+v -0.22845647 -0.02108071 -0.47415352
+v -0.19237978 -0.19980081 -0.45615829
+v -0.24446554 -0.15008043 -0.44548598
+v -0.20412639 -0.25501917 -0.42411153
+v -0.18915403 -0.23854318 -0.44226728
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+f 7 3 1
+f 8 1 5
+f 9 6 3
+f 10 5 1
+f 10 1 6
+f 10 9 4
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+f 11 7 1
+f 11 1 2
+f 12 2 1
+f 12 1 8
+f 13 3 7
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+f 15 2 12
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+f 16 8 13
+f 18 3 13
+f 18 17 14
+f 18 13 8
+f 18 8 17
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+f 20 4 14
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+f 21 13 15
+f 21 16 13
+f 21 12 16
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+f 22 13 7
+f 22 7 11
+f 22 11 15
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+f 24 14 4
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+f 24 9 3
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+f 26 17 8
+f 27 8 5
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+f 27 26 8
+f 27 23 26
+f 28 25 20
+f 28 20 14
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+f 28 17 25
+f 29 25 17
+f 29 17 23
+f 30 5 20
+f 30 20 25
+f 30 25 29
+f 31 23 5
+f 31 5 30
+f 32 29 23
+f 32 23 31
+f 32 31 30
+f 32 30 29
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_6/collision/model_normalized_collision_30.obj b/objects/objaverse/apple/apple_6/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8c06f6ad2b6ba27eddc859da1e3b4c91434c2bf
--- /dev/null
+++ b/objects/objaverse/apple/apple_6/collision/model_normalized_collision_30.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.25498018 -0.00757576 0.19026526
+v 0.25498018 -0.00757576 -0.24912868
+v 0.25498018 0.23484849 0.19026526
+v 0.01255594 0.23484849 0.19026526
+v -0.01220938 -0.00581289 0.22035646
+v 0.25498018 0.23484849 -0.24912868
+v 0.01255594 -0.00757576 -0.24912868
+v 0.01255594 0.23484849 -0.24912868
+f 1 2 3
+f 5 1 3
+f 5 3 4
+f 6 3 2
+f 6 4 3
+f 7 2 1
+f 7 1 5
+f 7 6 2
+f 8 7 5
+f 8 5 4
+f 8 4 6
+f 8 6 7
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_6/collision/model_normalized_collision_31.obj b/objects/objaverse/apple/apple_6/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a4f176dfe5e175d0ac0124214d2b5096dfd559c
--- /dev/null
+++ b/objects/objaverse/apple/apple_6/collision/model_normalized_collision_31.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.14891957 -0.00757576 -0.24912868
+v 0.14891957 -0.00757576 -0.35518929
+v 0.14891957 0.23484849 -0.24912868
+v 0.01255594 0.23484849 -0.24912868
+v 0.01255594 -0.00757576 -0.24912868
+v 0.01255594 0.23484849 -0.35518929
+v 0.14891957 0.23484849 -0.35518929
+v 0.04034365 -0.00514319 -0.40098420
+v 0.03769154 0.02037405 -0.39899530
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 5 1 4
+f 6 4 3
+f 6 5 4
+f 7 6 3
+f 7 3 2
+f 8 2 5
+f 8 7 2
+f 9 8 5
+f 9 5 6
+f 9 6 7
+f 9 7 8
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_6/collision/model_normalized_collision_4.obj b/objects/objaverse/apple/apple_6/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b18e3157b5b3260f3e1f945e70ff46143415c649
--- /dev/null
+++ b/objects/objaverse/apple/apple_6/collision/model_normalized_collision_4.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.01229981 -0.00848648 0.31133540
+v 0.01255594 -0.00757576 -0.26428020
+v 0.01242542 0.23517771 0.35977365
+v -0.26998960 0.25703465 0.26233510
+v -0.45679790 -0.00898169 -0.11057621
+v 0.01255594 0.23484849 -0.26428020
+v -0.28254915 -0.00745367 0.31017357
+v 0.01412653 0.17953980 0.35562186
+v -0.35148774 0.22697956 -0.25859383
+v -0.20548855 0.19913815 0.32164523
+v -0.42584284 -0.00833866 0.16793325
+v -0.21270349 -0.00771711 0.32830436
+v 0.01255594 0.23484849 0.17511375
+v -0.42212897 -0.00786334 -0.26281154
+v -0.12062769 0.23488323 0.33997069
+v -0.32544877 0.12649216 0.27801303
+v -0.39328624 0.22539928 0.02251988
+v -0.22752424 -0.00774033 0.32609040
+v -0.01679131 0.19057711 0.35543847
+v -0.42776671 -0.00856811 -0.24486981
+v -0.03045072 0.23542279 0.35525321
+v -0.25154006 0.24381581 0.28624801
+v -0.27978490 0.09614328 0.30795029
+v -0.34014843 -0.00570773 0.28128726
+v -0.42297366 0.15117973 -0.11038728
+v -0.45578954 0.06711198 0.00757850
+v -0.39334435 0.22566209 -0.06664865
+v -0.39184818 0.18143059 0.15149133
+v -0.22747919 0.06733223 0.32447143
+v -0.17764411 0.22919350 0.32403682
+v -0.26522671 0.13980996 0.30728393
+v -0.29408556 0.19870636 0.27707002
+v -0.39508059 0.04890234 0.22190546
+v -0.33952829 0.06641381 0.27778460
+v -0.43913655 0.05161761 -0.18425973
+v -0.45662773 -0.00856539 0.06547622
+v -0.43877497 0.12316471 0.05346346
+v -0.37697766 0.22480181 -0.18372880
+v -0.36263315 0.22459898 0.16669537
+v -0.22066491 0.22945573 0.30654790
+v -0.29526693 0.13970247 0.29162887
+v -0.29111698 0.22445305 0.26423379
+v -0.39419316 -0.00552984 0.22294604
+v -0.37834574 0.15336363 0.20644708
+v -0.34967239 0.07949070 0.26749384
+v -0.44007400 -0.00874042 -0.19936015
+v -0.45591748 0.06670528 -0.03583452
+v -0.42390333 0.05176840 -0.24371296
+v -0.40813087 0.19650681 -0.05148203
+v -0.39236539 0.20896963 0.09542571
+v -0.45481507 0.02162313 0.06506231
+v -0.40885892 0.09420190 0.18243724
+v -0.39352611 0.21051064 -0.14073475
+v -0.37763969 0.22435757 0.12581537
+v -0.24992765 0.22956357 0.29183003
+v -0.31017863 0.16903184 0.27627479
+v -0.34952575 0.22343831 0.19724167
+v -0.33475611 0.13879933 0.26850097
+v -0.43758304 0.10782361 -0.10983804
+v -0.43872518 0.12288159 -0.03593940
+v -0.45512361 0.05148218 -0.06608069
+v -0.43910638 0.00634506 -0.19911557
+v -0.40764774 0.09292276 -0.25817818
+v -0.40818214 0.19595852 0.02254828
+f 5 2 1
+f 6 4 3
+f 8 1 2
+f 8 2 6
+f 9 4 6
+f 12 1 8
+f 13 8 6
+f 13 6 3
+f 13 3 8
+f 14 9 6
+f 14 6 2
+f 18 7 11
+f 18 11 1
+f 18 1 12
+f 19 12 8
+f 19 8 3
+f 20 14 2
+f 21 3 4
+f 21 4 15
+f 21 19 3
+f 21 12 19
+f 21 18 12
+f 21 15 18
+f 22 15 4
+f 24 11 7
+f 24 7 23
+f 27 17 4
+f 27 4 9
+f 29 18 15
+f 29 15 10
+f 29 10 23
+f 29 23 7
+f 29 7 18
+f 30 10 15
+f 30 15 22
+f 31 23 10
+f 34 24 23
+f 34 23 16
+f 36 5 1
+f 36 1 11
+f 38 27 9
+f 40 30 22
+f 40 10 30
+f 40 31 10
+f 41 16 23
+f 41 23 31
+f 41 31 32
+f 42 32 22
+f 42 22 4
+f 43 33 11
+f 43 11 24
+f 43 24 33
+f 45 33 24
+f 45 24 34
+f 45 34 16
+f 46 5 35
+f 46 20 2
+f 46 2 5
+f 47 26 37
+f 47 36 26
+f 47 5 36
+f 48 14 20
+f 49 17 27
+f 50 37 28
+f 51 37 26
+f 51 26 36
+f 51 36 11
+f 52 28 37
+f 52 44 28
+f 52 33 44
+f 52 11 33
+f 52 51 11
+f 52 37 51
+f 53 27 38
+f 53 49 27
+f 53 25 49
+f 54 39 4
+f 54 4 17
+f 54 17 50
+f 54 50 28
+f 54 28 39
+f 55 40 22
+f 55 22 32
+f 55 32 31
+f 55 31 40
+f 56 41 32
+f 56 16 41
+f 57 42 4
+f 57 4 39
+f 57 39 28
+f 57 28 44
+f 58 44 33
+f 58 33 45
+f 58 45 16
+f 58 16 56
+f 58 56 32
+f 58 57 44
+f 58 32 42
+f 58 42 57
+f 59 25 35
+f 60 47 37
+f 60 59 47
+f 60 25 59
+f 60 49 25
+f 60 37 49
+f 61 35 5
+f 61 5 47
+f 61 59 35
+f 61 47 59
+f 62 46 35
+f 62 35 48
+f 62 48 20
+f 62 20 46
+f 63 9 14
+f 63 14 48
+f 63 38 9
+f 63 53 38
+f 63 25 53
+f 63 48 35
+f 63 35 25
+f 64 49 37
+f 64 17 49
+f 64 50 17
+f 64 37 50
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_6/collision/model_normalized_collision_5.obj b/objects/objaverse/apple/apple_6/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f18f91c2ceedaa1f69c8bc8604aa27ba5bcf6fcf
--- /dev/null
+++ b/objects/objaverse/apple/apple_6/collision/model_normalized_collision_5.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v 0.01215429 -0.26125886 0.37627269
+v 0.01255594 -0.26515152 0.22056829
+v 0.01334021 -0.00737982 0.32639003
+v -0.21745402 0.03860492 0.32660850
+v -0.21471679 -0.26515152 0.22056829
+v -0.00001485 -0.00305932 0.23022139
+v 0.01396304 -0.15175720 0.38547556
+v -0.10819592 -0.27935737 0.35531433
+v -0.17036035 0.03817523 0.32195040
+v -0.21471679 -0.00757576 0.22056829
+v -0.18808155 0.03886892 0.32615375
+v 0.01439838 -0.08884582 0.35894334
+v -0.20351547 -0.25742982 0.32251690
+v -0.13494910 -0.18947513 0.36969215
+v -0.21215770 0.03719991 0.32763403
+v -0.20993213 -0.10287315 0.33752379
+v -0.13630787 -0.27560643 0.34925364
+v -0.03077085 -0.23047949 0.38641010
+v -0.09071440 -0.13271994 0.37000329
+v -0.18023522 -0.14780399 0.35500397
+v -0.20278628 -0.21343952 0.33862385
+v -0.08907546 -0.26033660 0.36910249
+v 0.01184050 -0.21898358 0.38629115
+v -0.03113844 -0.19037415 0.38511723
+v -0.00110253 -0.15223467 0.38444273
+v -0.14458593 -0.25791451 0.35481190
+v -0.17735244 -0.18799173 0.35389259
+v -0.10516568 -0.27313153 0.35981622
+v -0.13200225 -0.21763499 0.36830148
+v -0.00288954 -0.23132729 0.38639880
+v -0.18871116 -0.24175297 0.33724990
+v -0.13374428 -0.26958854 0.35375575
+f 6 3 2
+f 7 1 2
+f 8 5 2
+f 8 2 1
+f 9 3 6
+f 10 5 4
+f 10 9 6
+f 10 4 9
+f 10 6 2
+f 10 2 5
+f 11 7 3
+f 11 9 4
+f 11 3 9
+f 12 7 2
+f 12 2 3
+f 12 3 7
+f 15 11 4
+f 15 7 11
+f 16 4 5
+f 16 5 13
+f 17 13 5
+f 17 5 8
+f 19 15 4
+f 19 4 14
+f 20 14 4
+f 20 4 16
+f 21 20 16
+f 21 16 13
+f 22 1 18
+f 23 1 7
+f 23 7 18
+f 24 18 7
+f 24 14 18
+f 24 19 14
+f 25 7 15
+f 25 15 19
+f 25 24 7
+f 25 19 24
+f 26 13 17
+f 27 14 20
+f 27 20 21
+f 28 8 1
+f 28 1 22
+f 29 22 18
+f 29 18 14
+f 29 26 22
+f 29 14 27
+f 29 27 21
+f 29 21 26
+f 30 23 18
+f 30 18 1
+f 30 1 23
+f 31 26 21
+f 31 21 13
+f 31 13 26
+f 32 17 8
+f 32 8 28
+f 32 26 17
+f 32 28 22
+f 32 22 26
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_6/collision/model_normalized_collision_6.obj b/objects/objaverse/apple/apple_6/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..98657b9a6ebc02934797d3cd4582ab72026309de
--- /dev/null
+++ b/objects/objaverse/apple/apple_6/collision/model_normalized_collision_6.obj
@@ -0,0 +1,159 @@
+# https://github.com/mikedh/trimesh
+v 0.31723676 -0.00782360 0.31209896
+v 0.41529551 -0.00710834 0.17278943
+v 0.34549366 0.22605021 0.22141198
+v 0.01242542 0.23517771 0.35977365
+v -0.01220938 -0.00581289 0.22035646
+v 0.21491675 0.22686454 0.32461799
+v 0.35785495 0.08175194 0.26941955
+v 0.10513849 -0.01668350 0.34390284
+v 0.01255594 0.23484849 0.19026526
+v 0.25498018 0.23484849 0.17511375
+v 0.25405120 -0.00783018 0.34909654
+v 0.36047372 -0.00614247 0.27014251
+v 0.40820058 0.12605814 0.16908879
+v 0.27621129 0.14100230 0.32231561
+v 0.25498018 -0.00757576 0.17511375
+v 0.01229981 -0.00848648 0.31133540
+v -0.00240681 0.09912979 0.31093922
+v 0.37670556 0.22902383 0.16734814
+v 0.15782597 0.20105709 0.35319279
+v 0.15438166 -0.01001101 0.35602913
+v 0.33239596 -0.00671559 0.29779377
+v 0.38871388 0.05208537 0.22488306
+v 0.37455794 0.15245479 0.22273127
+v 0.31648202 0.05158211 0.31020391
+v 0.31420038 0.18140328 0.28082599
+v 0.01412653 0.17953980 0.35562186
+v 0.28667553 0.22531856 0.28300744
+v 0.12931728 0.22836282 0.35189465
+v 0.21890081 0.18499103 0.33685283
+v 0.19251474 -0.00808499 0.35640070
+v 0.40580784 -0.00633558 0.19586011
+v 0.40222126 0.09454125 0.19671263
+v 0.37289689 0.18206469 0.20974961
+v 0.33160714 0.07953829 0.29461146
+v 0.34384174 0.13918711 0.26809067
+v -0.00033016 0.10622482 0.32017030
+v 0.24427204 0.22644868 0.30809323
+v 0.29989993 0.20883228 0.28114206
+v 0.24373938 0.19572782 0.32232271
+v 0.24638110 0.12600387 0.33848167
+v 0.17314715 0.17084883 0.35370601
+v 0.38837034 -0.00615659 0.22478387
+v 0.40273430 0.12494843 0.18179100
+v 0.37279127 0.11052521 0.23892392
+v 0.37112276 0.22680240 0.17953798
+v 0.39246682 0.18462841 0.16871440
+v 0.30142208 0.12415155 0.30852654
+v 0.32827836 0.18077926 0.26542517
+v 0.35780048 0.19727445 0.22148863
+v 0.34623590 0.09454044 0.27884078
+v 0.31332254 0.21108869 0.26556991
+v 0.25824706 0.21100049 0.30702044
+v 0.38724453 0.18285439 0.18148368
+v 0.35794640 0.16702910 0.23675305
+f 8 2 1
+f 10 9 4
+f 11 8 1
+f 12 1 2
+f 15 8 5
+f 15 2 8
+f 15 5 9
+f 15 13 2
+f 16 5 8
+f 17 9 5
+f 17 4 9
+f 17 5 16
+f 18 13 15
+f 18 15 9
+f 18 9 10
+f 18 10 4
+f 20 8 11
+f 21 12 7
+f 21 1 12
+f 22 7 12
+f 24 1 21
+f 24 14 11
+f 24 11 1
+f 26 16 8
+f 26 20 4
+f 26 8 20
+f 27 3 18
+f 28 19 6
+f 28 6 4
+f 28 4 19
+f 29 6 19
+f 30 4 20
+f 30 20 11
+f 31 12 2
+f 32 22 31
+f 32 31 2
+f 32 2 13
+f 32 7 22
+f 34 24 21
+f 34 21 7
+f 35 7 23
+f 36 17 16
+f 36 16 26
+f 36 26 4
+f 36 4 17
+f 37 27 18
+f 37 18 4
+f 37 4 6
+f 38 3 27
+f 38 14 25
+f 39 29 14
+f 39 6 29
+f 39 37 6
+f 39 14 38
+f 40 11 14
+f 40 14 29
+f 41 19 4
+f 41 4 30
+f 41 30 11
+f 41 11 40
+f 41 40 29
+f 41 29 19
+f 42 31 22
+f 42 22 12
+f 42 12 31
+f 43 32 13
+f 43 23 32
+f 44 32 23
+f 44 23 7
+f 44 7 32
+f 45 33 18
+f 45 18 3
+f 45 3 33
+f 46 13 18
+f 47 14 24
+f 47 24 34
+f 47 25 14
+f 47 35 25
+f 48 3 25
+f 48 25 35
+f 49 33 3
+f 49 48 35
+f 49 3 48
+f 49 23 33
+f 50 34 7
+f 50 7 35
+f 50 47 34
+f 50 35 47
+f 51 38 25
+f 51 25 3
+f 51 3 38
+f 52 27 37
+f 52 37 39
+f 52 39 38
+f 52 38 27
+f 53 33 23
+f 53 23 43
+f 53 43 13
+f 53 13 46
+f 53 46 18
+f 53 18 33
+f 54 49 35
+f 54 35 23
+f 54 23 49
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_6/collision/model_normalized_collision_7.obj b/objects/objaverse/apple/apple_6/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f52577b8c69854c96d1e65a89b62077b4a1efc98
--- /dev/null
+++ b/objects/objaverse/apple/apple_6/collision/model_normalized_collision_7.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.36384986 -0.25743626 0.13939962
+v 0.44870517 -0.06433105 -0.13901382
+v 0.41713199 0.15509842 0.13599867
+v 0.25498018 0.23484849 0.17511375
+v 0.25498018 -0.26515152 -0.23397717
+v 0.38835415 0.22689361 -0.22684404
+v 0.41529551 -0.00710834 0.17278943
+v 0.37231340 -0.25583478 -0.21197623
+v 0.25498018 -0.26515152 0.14481072
+v 0.44967555 0.12589811 -0.09677021
+v 0.37051397 0.26117466 0.14217078
+v 0.25498018 0.23484849 -0.23397717
+v 0.43246511 -0.13838242 0.03564314
+v 0.38851329 -0.25684779 -0.14073652
+v 0.43412334 -0.04999003 -0.21334645
+v 0.25498018 -0.00757576 0.17511375
+v 0.44932209 0.05191624 0.06500466
+v 0.41892739 0.22807752 -0.10927865
+v 0.40324735 0.15535561 0.16686936
+v 0.41649668 -0.12261322 -0.22771195
+v 0.40258769 -0.16944720 0.12255052
+v 0.36461583 -0.25726437 -0.22954748
+v 0.38730196 -0.25721017 0.06593331
+v 0.41830823 -0.19889499 -0.09586586
+v 0.44944586 0.03635285 -0.17015825
+v 0.43389572 0.18392089 0.02187200
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+v 0.43336636 -0.04970233 0.10805832
+v 0.44801217 -0.06444226 0.03470354
+v 0.41747453 0.15528927 -0.22635014
+v 0.40265551 0.22731983 -0.18236183
+v 0.38602215 0.22789369 0.15062304
+v 0.36702431 0.24358065 0.16988390
+v 0.43321255 -0.07995229 -0.19968438
+v 0.40289847 -0.21110205 -0.16894389
+v 0.38948600 -0.19749939 0.13788933
+v 0.38729575 -0.21098854 -0.22723364
+v 0.40329057 -0.21217476 0.08116919
+v 0.44934942 -0.09465432 -0.05318189
+v 0.40325088 -0.24209611 -0.03731596
+v 0.44889879 -0.00631508 -0.16958402
+v 0.44868141 0.12568844 0.00664077
+v 0.41754748 0.22845514 0.03623189
+v 0.44923694 0.09564303 0.04968694
+v 0.41804743 0.05169147 0.16760500
+v 0.43246540 -0.09486368 0.07988143
+v 0.41752782 -0.07988232 0.13812292
+v 0.43304671 -0.00575004 0.12311611
+v 0.44881818 -0.00620470 0.06473115
+v 0.43215729 0.18255649 -0.12470264
+v 0.43225799 0.14016874 -0.18304871
+v 0.43405937 0.08140122 -0.21369368
+v 0.40212198 0.19598383 -0.22629998
+v 0.40139243 0.18251346 0.15072283
+v 0.37383100 0.23773767 0.16512362
+v 0.36594160 0.25797406 0.15411476
+v 0.44855175 -0.04914742 -0.15413152
+v 0.43342870 -0.12333196 -0.15457820
+v 0.40273670 -0.22612071 -0.14047200
+v 0.37323329 -0.24171614 -0.22752788
+v 0.40251910 -0.18357633 -0.21292272
+v 0.38870227 -0.24266110 0.09384016
+v 0.44920680 -0.07941124 -0.11145238
+v 0.41867547 -0.19913319 0.00785389
+f 9 4 5
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+f 12 11 6
+f 12 4 11
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+f 16 4 9
+f 20 5 12
+f 22 14 5
+f 22 8 14
+f 22 5 20
+f 23 9 5
+f 23 5 14
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+f 26 10 18
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+f 56 11 4
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\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_6/collision/model_normalized_collision_8.obj b/objects/objaverse/apple/apple_6/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..696fd66063790c8ae04ddff8759f1c779af6996f
--- /dev/null
+++ b/objects/objaverse/apple/apple_6/collision/model_normalized_collision_8.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.01255594 -0.26515152 0.22056829
+v 0.01255594 -0.26515152 -0.23397717
+v 0.01255594 -0.00757576 -0.23397717
+v -0.33592892 -0.00757576 0.19026526
+v -0.34210250 -0.26901306 -0.23648429
+v -0.00001485 -0.00305932 0.23022139
+v -0.32809183 -0.26070308 0.18583387
+v -0.33592892 -0.00757576 -0.23397717
+v -0.21471679 -0.26515152 0.22056829
+v -0.21471679 -0.00757576 0.22056829
+f 1 2 3
+f 5 2 1
+f 5 3 2
+f 6 1 3
+f 7 4 5
+f 8 5 4
+f 8 3 5
+f 8 6 3
+f 8 4 6
+f 9 7 5
+f 9 5 1
+f 9 1 6
+f 9 4 7
+f 10 9 6
+f 10 6 4
+f 10 4 9
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_6/collision/model_normalized_collision_9.obj b/objects/objaverse/apple/apple_6/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..922ac26736beae9403afb945de3e4ec099a216c5
--- /dev/null
+++ b/objects/objaverse/apple/apple_6/collision/model_normalized_collision_9.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.23982867 0.23484849 0.17511375
+v 0.23964943 0.26346984 -0.39508842
+v 0.22718303 0.44358177 0.00476466
+v 0.01347209 0.49226780 0.06742689
+v 0.01255594 0.23484849 -0.35518929
+v 0.06942815 0.44418614 -0.27058608
+v 0.17611755 0.39523173 0.21519190
+v 0.22845750 0.44456699 -0.08050216
+v 0.23982867 0.23484849 -0.24912868
+v 0.01255594 0.23484849 0.17511375
+v 0.01162540 0.41416398 -0.32988539
+v 0.22977830 0.38744778 0.16695410
+v 0.09802323 0.46010958 0.15138246
+v 0.22745872 0.39961790 -0.24057523
+v 0.09971704 0.49069815 -0.06688579
+v 0.13627946 0.40659727 0.22491678
+v 0.01197648 0.49142883 -0.12552661
+v 0.14057465 0.38200113 -0.34260224
+v 0.01187989 0.40384069 -0.34781347
+v 0.17024377 0.45841918 0.07789694
+v 0.22795696 0.42850707 -0.16820027
+v 0.15642829 0.47496400 0.02053323
+v 0.12885039 0.41904873 0.21396904
+v 0.01168645 0.44676909 -0.27306602
+v 0.09943498 0.47314918 -0.16829293
+v 0.01127224 0.47824789 0.12585899
+v 0.19740805 0.35421987 -0.34234422
+v 0.14055477 0.42832207 -0.27065774
+v 0.08427547 0.39739599 -0.34367610
+v 0.05685766 0.42888503 -0.29944997
+v 0.22717139 0.42860415 0.07720987
+v 0.22747980 0.41479846 -0.21028678
+v 0.20093915 0.45792235 0.00475193
+v 0.15683784 0.47404190 -0.09502983
+v 0.09903645 0.49082134 0.00608901
+v 0.11332007 0.47247230 0.09301576
+v 0.16942603 0.44279286 0.12301585
+v 0.01136011 0.47822449 -0.18490038
+v 0.05643691 0.48986887 -0.11011714
+v 0.01160912 0.46266468 0.16818296
+v 0.20169255 0.38433500 -0.29846421
+v 0.17081869 0.44215957 -0.21007806
+v 0.11461450 0.45764258 -0.21115676
+v 0.11465193 0.42754763 -0.28291018
+v 0.02674535 0.41356508 -0.32954099
+v 0.21475042 0.44310897 0.05023172
+v 0.14479360 0.47314819 -0.12509932
+v 0.21679417 0.44333123 -0.13798700
+v 0.20152693 0.45793485 -0.08014250
+v 0.14437603 0.47289225 0.05075024
+v 0.04093736 0.48970400 0.06677326
+v 0.12784949 0.44345438 0.16578229
+v 0.20031154 0.42773149 0.12265938
+v 0.08421471 0.45796491 -0.22655813
+v 0.05651398 0.47465420 -0.18398962
+v 0.07165551 0.45873187 0.16661926
+v 0.18605813 0.38206878 -0.31234285
+v 0.21637864 0.42718925 -0.19832522
+v 0.15558697 0.44196906 -0.22514609
+v 0.18679529 0.45801214 -0.12520942
+v 0.09720420 0.47245770 0.10891025
+v 0.05638170 0.47443699 0.12483742
+v 0.17104298 0.39986611 0.21146107
+v 0.22731683 0.39915401 0.14980418
+f 8 1 2
+f 9 5 2
+f 9 2 1
+f 9 1 5
+f 10 5 1
+f 12 7 1
+f 12 8 3
+f 12 1 8
+f 16 10 1
+f 16 1 7
+f 17 4 15
+f 19 2 5
+f 19 5 11
+f 21 8 2
+f 23 16 7
+f 26 4 17
+f 26 11 5
+f 26 5 10
+f 27 2 18
+f 29 18 2
+f 29 2 19
+f 29 28 18
+f 30 29 19
+f 30 6 29
+f 30 24 6
+f 31 12 3
+f 32 21 2
+f 32 2 14
+f 33 3 8
+f 33 22 20
+f 34 15 22
+f 35 22 15
+f 35 15 4
+f 36 13 20
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+f 38 6 24
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+f 46 3 33
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+f 48 8 21
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+f 50 20 22
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+f 51 35 4
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+f 54 6 38
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+f 57 27 18
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+f 58 41 28
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+f 58 21 32
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+f 58 42 48
+f 59 43 42
+f 59 42 28
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+f 60 47 34
+f 60 49 48
+f 60 34 49
+f 60 48 42
+f 60 42 47
+f 61 36 35
+f 61 35 51
+f 61 13 36
+f 62 51 4
+f 62 4 26
+f 62 61 51
+f 62 13 61
+f 62 56 13
+f 62 26 56
+f 63 52 23
+f 63 23 7
+f 63 53 52
+f 63 7 53
+f 64 12 31
+f 64 31 53
+f 64 53 7
+f 64 7 12
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_6/model.xml b/objects/objaverse/apple/apple_6/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..a55d71f51c54ed10bc00cb00eb763e9026503e8a
--- /dev/null
+++ b/objects/objaverse/apple/apple_6/model.xml
@@ -0,0 +1,81 @@
+<mujoco model="apple_12">
+  <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="Material_35.004" 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="Material_35.004"/>
+        <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"/>
+        <geom solimp="0.998 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"/>
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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="-0.00024928225 2.507294999999882e-05 -0.033476419900000005" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="-0.00024928225 2.507294999999882e-05 0.033662096300000006" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.031477288500000006 0.034458746 9.283819999999971e-05" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/objects/objaverse/apple/apple_6/visual/material.mtl b/objects/objaverse/apple/apple_6/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9b69ee017d934c5b09e3ee53e590b4276cccd4fc
--- /dev/null
+++ b/objects/objaverse/apple/apple_6/visual/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 159.99998100
+map_Kd material_0.png
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_6/visual/model_normalized_0.obj b/objects/objaverse/apple/apple_6/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b5fcb57f970199fa066fc75ddd5e362080ac7836
--- /dev/null
+++ b/objects/objaverse/apple/apple_6/visual/model_normalized_0.obj
@@ -0,0 +1,4255 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_9/collision/model_normalized_collision_0.obj b/objects/objaverse/cake/cake_9/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f79ecbed14c4372220e31d9ce89852d21ae6e96f
--- /dev/null
+++ b/objects/objaverse/cake/cake_9/collision/model_normalized_collision_0.obj
@@ -0,0 +1,117 @@
+# https://github.com/mikedh/trimesh
+v 0.12220715 0.35312736 0.16061726
+v 0.13505840 0.34989552 0.11526633
+v 0.04646659 0.41830865 0.12484337
+v -0.04562657 0.41140889 0.14806344
+v -0.12301912 0.35184386 0.15827257
+v 0.02949553 0.38367649 0.19840979
+v 0.10119674 0.38954230 0.12459358
+v -0.10261364 0.35606060 0.04544154
+v 0.03064055 0.41543534 0.16105099
+v 0.02155393 0.35954828 0.20977813
+v -0.07913557 0.39520521 0.16109452
+v 0.06405302 0.40151514 0.04544154
+v -0.03111604 0.42063527 0.11049427
+v 0.07512672 0.39832585 0.15341544
+v 0.06746158 0.35721376 0.20365645
+v 0.02029174 0.38781368 0.19369187
+v -0.12034204 0.35541667 0.16121891
+v -0.02171634 0.41142697 0.16532909
+v 0.12410180 0.36423420 0.08994784
+v 0.07231965 0.40565919 0.08542910
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+v 0.01859848 0.41666665 0.04544154
+v -0.07797886 0.40580222 0.12282337
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+v 0.06739220 0.35974521 0.20269714
+v 0.07920454 0.35606060 0.04544154
+v 0.08469047 0.39926830 0.10205041
+v 0.03545340 0.42041420 0.11248053
+v -0.08808066 0.38947170 0.15379862
+v -0.10595245 0.37991224 0.08372110
+v 0.11513802 0.35764498 0.07975419
+v 0.07920454 0.38636363 0.04544154
+v 0.01167631 0.42145636 0.08468540
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+v -0.08633938 0.39893748 0.11125764
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+v -0.01170455 0.41666665 0.04544154
+v -0.05715909 0.40151514 0.04544154
+v -0.05038557 0.41453979 0.08537937
+f 5 2 1
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+f 40 38 39
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_9/collision/model_normalized_collision_14.obj b/objects/objaverse/cake/cake_9/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..52b88b44dd23a78c03f7df8815fe39644dfa44f0
--- /dev/null
+++ b/objects/objaverse/cake/cake_9/collision/model_normalized_collision_14.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.01783015 0.10295254 0.09312646
+v -0.01860380 0.11958528 0.08031308
+v -0.03344506 0.15527939 0.12969876
+v -0.08933958 0.16048266 0.12915877
+v -0.07231061 0.12878787 0.04544154
+v -0.04674348 0.11294007 0.12630782
+v -0.04200758 0.12878787 0.04544154
+v -0.03821220 0.10930815 0.11949529
+v -0.09601917 0.13669877 0.12105239
+v -0.02685606 0.14393939 0.04544154
+v -0.07212313 0.11813747 0.08583303
+v -0.09241257 0.16916063 0.06961376
+v -0.02418279 0.16102466 0.06126943
+v -0.04406095 0.10998134 0.12363184
+v -0.07231061 0.15909090 0.04544154
+f 1 2 3
+f 6 3 4
+f 7 1 5
+f 8 1 3
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+f 9 6 4
+f 10 2 1
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+f 10 7 5
+f 11 5 1
+f 11 9 5
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+f 12 5 9
+f 12 4 3
+f 13 3 2
+f 13 2 10
+f 13 12 3
+f 14 8 6
+f 14 6 9
+f 14 9 11
+f 14 11 1
+f 14 1 8
+f 15 10 5
+f 15 5 12
+f 15 13 10
+f 15 12 13
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_9/collision/model_normalized_collision_15.obj b/objects/objaverse/cake/cake_9/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af706626b0f7509328f902b521e220eb71102c5c
--- /dev/null
+++ b/objects/objaverse/cake/cake_9/collision/model_normalized_collision_15.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.06289076 0.23414827 0.20679200
+v 0.08907960 0.25504975 0.20335198
+v 0.02064401 0.35581278 0.23068063
+v 0.02509855 0.38511170 0.19693731
+v 0.08711317 0.33505931 0.20005774
+v 0.01259062 0.23700933 0.22839563
+v 0.06776295 0.28554679 0.22497029
+v 0.03652363 0.37957090 0.20312189
+v 0.00892243 0.37303797 0.21523869
+v 0.02730992 0.23655833 0.21323741
+v 0.07102581 0.31499761 0.22093498
+v 0.04231521 0.24137763 0.22345880
+v 0.03731192 0.37331976 0.20804169
+v 0.01608011 0.35977330 0.22760202
+v 0.08616379 0.32899309 0.20476991
+v 0.05675573 0.25980360 0.22464096
+v 0.05705614 0.23479375 0.21296447
+f 2 1 4
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+f 14 6 3
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+f 15 3 11
+f 15 13 3
+f 15 5 13
+f 15 11 2
+f 15 2 5
+f 16 7 6
+f 16 6 12
+f 16 2 7
+f 17 12 6
+f 17 6 1
+f 17 1 2
+f 17 16 12
+f 17 2 16
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_9/collision/model_normalized_collision_17.obj b/objects/objaverse/cake/cake_9/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a0ef26100deba20de9c9df5687215efaa8e3140d
--- /dev/null
+++ b/objects/objaverse/cake/cake_9/collision/model_normalized_collision_17.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.08746212 0.23484848 0.04544154
+v -0.10261364 0.35606060 0.04544154
+v -0.10203271 0.35391889 0.10261173
+v -0.08772501 0.35702978 0.10106407
+v -0.12226430 0.27871432 0.10479562
+v -0.10261364 0.23484848 0.04544154
+v -0.08746212 0.35606060 0.04544154
+v -0.12220718 0.27936422 0.10545882
+v -0.10198539 0.23447850 0.05727465
+v -0.10781688 0.23791269 0.06144567
+f 4 2 3
+f 6 2 1
+f 6 5 2
+f 7 4 1
+f 7 1 2
+f 7 2 4
+f 8 3 2
+f 8 2 5
+f 8 4 3
+f 8 1 4
+f 9 6 1
+f 9 1 8
+f 10 5 6
+f 10 6 9
+f 10 9 8
+f 10 8 5
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_9/collision/model_normalized_collision_18.obj b/objects/objaverse/cake/cake_9/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4e43f22cedb33ce0814a142196f86f6425c47972
--- /dev/null
+++ b/objects/objaverse/cake/cake_9/collision/model_normalized_collision_18.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.08747411 0.23000886 0.19352763
+v 0.14129890 0.23162129 0.09925990
+v 0.12074903 0.34858236 0.16399187
+v 0.01277999 0.38841315 0.10448930
+v 0.01859848 0.23484848 0.04544154
+v 0.13166771 0.35480466 0.10487919
+v 0.02155393 0.35954828 0.20977813
+v 0.13287537 0.24010402 0.16731442
+v 0.08881219 0.32824626 0.20324004
+v 0.02730992 0.23655833 0.21323741
+v 0.11571677 0.23577925 0.17695162
+v 0.13909818 0.29876905 0.16394236
+v 0.08594061 0.34545696 0.19312563
+v 0.09487038 0.25977065 0.19890976
+v 0.13902985 0.34504352 0.12297885
+f 5 2 1
+f 6 4 3
+f 6 5 4
+f 6 2 5
+f 7 3 4
+f 10 5 1
+f 10 9 7
+f 10 7 4
+f 10 4 5
+f 11 8 1
+f 11 1 2
+f 11 2 8
+f 12 3 9
+f 12 8 2
+f 13 9 3
+f 13 3 7
+f 13 7 9
+f 14 1 8
+f 14 12 9
+f 14 8 12
+f 14 10 1
+f 14 9 10
+f 15 6 3
+f 15 3 12
+f 15 12 2
+f 15 2 6
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_9/collision/model_normalized_collision_19.obj b/objects/objaverse/cake/cake_9/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c23695e0cbe119fd2522fc71cfb329a5d6703b3
--- /dev/null
+++ b/objects/objaverse/cake/cake_9/collision/model_normalized_collision_19.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.01980737 0.21411848 0.19469056
+v 0.04464270 0.34489993 0.21136514
+v -0.07681320 0.30212511 0.21507866
+v -0.11777054 0.31488006 0.17170759
+v -0.13292908 0.30530338 0.16440815
+v 0.04097779 0.32261159 0.23660792
+v -0.11101723 0.23243305 0.17848769
+v 0.01918747 0.23463664 0.22369109
+v -0.12970892 0.26579044 0.17174741
+v -0.06154544 0.23757037 0.21132731
+v -0.08255287 0.25697047 0.20705060
+v -0.09526161 0.28701320 0.20290001
+v -0.09009653 0.29312689 0.20626668
+f 3 2 4
+f 5 2 1
+f 5 4 2
+f 5 3 4
+f 6 1 2
+f 6 2 3
+f 7 5 1
+f 8 1 6
+f 9 5 7
+f 10 8 6
+f 10 6 3
+f 10 7 1
+f 10 1 8
+f 11 9 7
+f 11 10 3
+f 11 7 10
+f 12 5 9
+f 12 11 3
+f 12 9 11
+f 13 12 3
+f 13 3 5
+f 13 5 12
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_9/collision/model_normalized_collision_24.obj b/objects/objaverse/cake/cake_9/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..53a424e4912c679bad055aee998c93b2cadbfc1a
--- /dev/null
+++ b/objects/objaverse/cake/cake_9/collision/model_normalized_collision_24.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.21490050 -0.00757576 0.04315920
+v 0.21538506 -0.00757576 0.01063624
+v 0.21539863 0.23484848 0.02729965
+v 0.20041665 0.23484848 0.04544154
+v 0.20041665 -0.00757576 0.04544154
+v 0.21538506 0.23484848 0.01063624
+v 0.21490050 0.23484848 0.04315920
+v 0.21539863 -0.00757576 0.02729965
+f 5 1 4
+f 6 4 3
+f 6 5 4
+f 6 2 5
+f 7 3 4
+f 7 4 1
+f 8 7 1
+f 8 3 7
+f 8 6 3
+f 8 2 6
+f 8 5 2
+f 8 1 5
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_9/collision/model_normalized_collision_27.obj b/objects/objaverse/cake/cake_9/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b4350a669ea404f7156a9b2cc44969f2e89b4b36
--- /dev/null
+++ b/objects/objaverse/cake/cake_9/collision/model_normalized_collision_27.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.14251946 0.20958109 0.07774461
+v -0.15153836 0.21128200 0.08468257
+v -0.15151373 0.28033239 0.08548833
+v -0.14783927 0.29506868 0.10188003
+v -0.14851475 0.23743416 0.11415607
+v -0.14059213 0.28589576 0.08308376
+v -0.14987081 0.21478275 0.09144376
+v -0.15796795 0.23778800 0.11495810
+v -0.15776692 0.29146984 0.10452817
+v -0.15597484 0.23020380 0.10815978
+v -0.15291638 0.21574628 0.09296357
+f 1 2 3
+f 6 1 3
+f 6 5 1
+f 6 4 5
+f 7 2 1
+f 7 1 5
+f 9 6 3
+f 9 4 6
+f 9 3 2
+f 9 2 8
+f 9 8 5
+f 9 5 4
+f 10 5 8
+f 11 10 8
+f 11 8 2
+f 11 2 7
+f 11 7 5
+f 11 5 10
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_9/collision/model_normalized_collision_3.obj b/objects/objaverse/cake/cake_9/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aade9d37fa75e599a126ea0fcdeaa4957cd01d51
--- /dev/null
+++ b/objects/objaverse/cake/cake_9/collision/model_normalized_collision_3.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v -0.08509922 0.12899586 0.10318059
+v -0.08746212 0.15909090 0.04544154
+v -0.08363907 0.23526185 0.17511395
+v -0.10760119 0.24046661 0.18260340
+v -0.14806818 0.20454545 0.04544154
+v -0.07641505 0.14928270 0.15216700
+v -0.10261364 0.15909090 0.04544154
+v -0.08746212 0.23484848 0.04544154
+v -0.08561930 0.22150575 0.19001394
+v -0.14075177 0.19938660 0.13195520
+v -0.12184701 0.15654229 0.08599503
+v -0.14313171 0.23851703 0.15678674
+v -0.10004353 0.13865672 0.12355722
+v -0.13409870 0.17597766 0.11021282
+v -0.14806818 0.21969697 0.04544154
+v -0.10261364 0.23484848 0.04544154
+v -0.12218517 0.19300246 0.16169435
+v -0.08983383 0.13103262 0.10976657
+v -0.13827052 0.22920971 0.08206769
+v -0.10956854 0.23754794 0.18066610
+v -0.08409277 0.18966034 0.17704621
+v -0.08360187 0.16166002 0.16128532
+v -0.11877229 0.18451170 0.15575451
+v -0.09601917 0.13669877 0.12105239
+f 6 1 2
+f 7 5 2
+f 7 2 1
+f 8 2 5
+f 8 6 2
+f 8 3 6
+f 8 4 3
+f 9 6 3
+f 9 3 4
+f 11 7 1
+f 11 5 7
+f 12 5 10
+f 14 10 5
+f 14 5 11
+f 14 11 13
+f 15 8 5
+f 15 5 12
+f 16 12 4
+f 16 4 8
+f 16 8 15
+f 17 9 4
+f 17 12 10
+f 17 10 14
+f 18 1 6
+f 18 13 11
+f 18 11 1
+f 19 16 15
+f 19 15 12
+f 19 12 16
+f 20 17 4
+f 20 4 12
+f 20 12 17
+f 21 6 9
+f 21 9 17
+f 22 13 6
+f 22 21 17
+f 22 6 21
+f 23 17 14
+f 23 14 13
+f 23 22 17
+f 23 13 22
+f 24 18 6
+f 24 6 13
+f 24 13 18
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_9/collision/model_normalized_collision_30.obj b/objects/objaverse/cake/cake_9/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..81acf5c57a2fea11ab1a89fef9d20e9c35be8a2b
--- /dev/null
+++ b/objects/objaverse/cake/cake_9/collision/model_normalized_collision_30.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.21538506 -0.00757576 0.01063624
+v 0.21307836 -0.00757570 -0.29936252
+v 0.21536691 0.49670398 -0.18415423
+v -0.21305896 0.49732617 0.01046921
+v -0.21538526 -0.00757576 0.01059527
+v -0.21291667 0.49659825 -0.29759328
+v 0.21259394 0.49746335 0.01050746
+v 0.21599502 -0.00757576 -0.18415423
+v 0.21124124 0.49722711 -0.29766837
+v -0.21546044 -0.00757576 -0.00455588
+v 0.21491220 0.49579397 -0.01987367
+v -0.21438254 -0.00757576 -0.29806633
+f 5 1 4
+f 7 4 1
+f 8 2 3
+f 9 3 2
+f 9 2 6
+f 9 7 3
+f 9 6 4
+f 9 4 7
+f 10 5 4
+f 10 4 6
+f 11 7 1
+f 11 3 7
+f 11 8 3
+f 11 1 8
+f 12 10 6
+f 12 6 2
+f 12 2 8
+f 12 5 10
+f 12 8 1
+f 12 1 5
\ No newline at end of file
diff --git a/objects/objaverse/chips/chips_11/visual/model_normalized_0.obj b/objects/objaverse/chips/chips_11/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..59ca5f5d904af191f2eb206692f09b00d5f96827
--- /dev/null
+++ b/objects/objaverse/chips/chips_11/visual/model_normalized_0.obj
@@ -0,0 +1,30948 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
+v -0.34237386 -0.18489890 0.43758892
+v -0.33999855 -0.18496741 0.42521090
+v -0.33238950 -0.18070907 0.42533244
+v -0.33542117 -0.17987889 0.43758633
+v -0.33662533 -0.18734517 0.39524099
+v -0.32836233 -0.18400353 0.39526882
+v -0.33254639 -0.18988228 0.36175489
+v -0.32338872 -0.18862062 0.36135795
+v -0.32894828 -0.19244824 0.33044766
+v -0.31912166 -0.19282994 0.33135023
+v -0.32617786 -0.19388220 0.30953441
+v -0.31666088 -0.19618795 0.31100182
+v -0.32296950 -0.19467904 0.28947051
+v -0.31263615 -0.19747883 0.29107731
+v -0.32004051 -0.19568418 0.26937272
+v -0.30951072 -0.19915651 0.27102709
+v -0.31724523 -0.19677991 0.24926208
+v -0.30636019 -0.20013756 0.25094691
+v -0.31441452 -0.19776433 0.22914943
+v -0.30495846 -0.20292900 0.23084078
+v -0.31127427 -0.19863390 0.20907672
+v -0.30204086 -0.20442912 0.21075489
+v -0.30635041 -0.19762420 0.18937534
+v -0.29696999 -0.20392976 0.19105977
+v -0.30686962 -0.20199717 0.16953100
+v -0.29663443 -0.20816613 0.17115128
+v -0.30449438 -0.20350030 0.14937842
+v -0.29475699 -0.21092259 0.15106797
+v -0.30197049 -0.20487475 0.12923675
+v -0.29192774 -0.21274259 0.13099517
+v -0.29929881 -0.20607493 0.10910950
+v -0.28876824 -0.21420869 0.11095277
+v -0.29619098 -0.20688534 0.08903023
+v -0.28433425 -0.21426139 0.09111578
+v -0.29267926 -0.20761673 0.06902279
+v -0.27905985 -0.21324062 0.07152372
+v -0.28935382 -0.20843134 0.04898585
+v -0.27631991 -0.21574399 0.05150580
+v -0.27928125 -0.20660328 0.03145379
+v -0.27919841 -0.22249918 0.03252467
+v -0.27675242 -0.20809388 0.01133057
+v -0.27697959 -0.22432302 0.01239901
+v -0.28434968 -0.21430684 -0.00644744
+v -0.26867250 -0.21926003 -0.00540379
+v -0.28396175 -0.21756074 -0.02651476
+v -0.26781843 -0.22179599 -0.02556147
+v -0.28335354 -0.21977248 -0.04671484
+v -0.26727427 -0.22467949 -0.04567600
+v -0.28244871 -0.22122472 -0.06696723
+v -0.26770772 -0.22931671 -0.06547180
+v -0.28274831 -0.22535013 -0.08687420
+v -0.26796975 -0.23372863 -0.08531996
+v -0.27689147 -0.22515322 -0.10634460
+v -0.27177784 -0.24135166 -0.10378775
+v -0.27914516 -0.22926177 -0.12613574
+v -0.27171699 -0.24467946 -0.12384156
+v -0.28278921 -0.23401879 -0.14557046
+v -0.27015367 -0.24573280 -0.14408344
+v -0.28244599 -0.23665269 -0.16572563
+v -0.26803140 -0.24597214 -0.16431732
+v -0.28197172 -0.23897799 -0.18591937
+v -0.26751311 -0.24795997 -0.18457401
+v -0.28290395 -0.24326782 -0.20577179
+v -0.26815774 -0.25147108 -0.20461303
+v -0.28296041 -0.24627591 -0.22589123
+v -0.26924766 -0.25562965 -0.22449334
+v -0.28304626 -0.24933059 -0.24600166
+v -0.26953768 -0.25856974 -0.24462652
+v -0.28286821 -0.25204183 -0.26615908
+v -0.26868829 -0.25990266 -0.26492563
+v -0.28294129 -0.25514410 -0.28625986
+v -0.26861295 -0.26234627 -0.28513147
+v -0.28287203 -0.25808413 -0.30638615
+v -0.26845208 -0.26472381 -0.30534259
+v -0.28259760 -0.26076299 -0.32654331
+v -0.26787669 -0.26648384 -0.32561071
+v -0.28252127 -0.26379223 -0.34664919
+v -0.26774328 -0.26908046 -0.34579738
+v -0.28250151 -0.26689701 -0.36674249
+v -0.26788395 -0.27223747 -0.36589814
+v -0.28222927 -0.26953546 -0.38689679
+v -0.26780353 -0.27507363 -0.38604832
+v -0.28240163 -0.27283266 -0.40695417
+v -0.26834395 -0.27894511 -0.40601458
+v -0.28276770 -0.27362304 -0.41709843
+v -0.28313372 -0.27441344 -0.42724272
+v -0.27549287 -0.27350950 -0.42307181
+v -0.27191844 -0.27622733 -0.41454318
+v -0.32612773 -0.17750175 0.42546246
+v -0.32938411 -0.17579893 0.43761212
+v -0.32175002 -0.18215102 0.39516383
+v -0.31572471 -0.18885911 0.36127467
+v -0.31064021 -0.19463524 0.33243486
+v -0.30721379 -0.19860893 0.31246472
+v -0.30341072 -0.20152483 0.29257695
+v -0.30008743 -0.20385739 0.27259244
+v -0.29656712 -0.20473833 0.25257032
+v -0.29540408 -0.20799191 0.23251969
+v -0.29279997 -0.21021515 0.21244752
+v -0.28787165 -0.21052154 0.19270018
+v -0.28692480 -0.21487567 0.17279931
+v -0.28448027 -0.21779349 0.15277059
+v -0.28138164 -0.22009805 0.13275363
+v -0.27814867 -0.22226417 0.11274197
+v -0.27374317 -0.22310826 0.09287597
+v -0.26762660 -0.22192267 0.07352682
+v -0.26830130 -0.22794870 0.05404194
+v -0.26813891 -0.23296785 0.03427675
+v -0.26543283 -0.23488368 0.01418733
+v -0.25926554 -0.23226969 -0.00496914
+v -0.25333901 -0.22961571 -0.02420629
+v -0.25550371 -0.23614323 -0.04338137
+v -0.25679523 -0.24181997 -0.06289931
+v -0.25687899 -0.24633771 -0.08274623
+v -0.25884681 -0.25250355 -0.10204682
+v -0.25819738 -0.25530519 -0.12218791
+v -0.25694446 -0.25676678 -0.14243683
+v -0.25561344 -0.25777114 -0.16271415
+v -0.25471777 -0.25910605 -0.18300422
+v -0.25397934 -0.26053793 -0.20330124
+v -0.25562705 -0.26510081 -0.22304857
+v -0.25578016 -0.26746975 -0.24327879
+v -0.25544826 -0.26909237 -0.26358271
+v -0.25519462 -0.27090259 -0.28386483
+v -0.25489886 -0.27270936 -0.30414463
+v -0.25427426 -0.27404616 -0.32445035
+v -0.25396832 -0.27608180 -0.34469489
+v -0.25397266 -0.27879188 -0.36485620
+v -0.25403060 -0.28169809 -0.38499282
+v -0.25408309 -0.28471854 -0.40511589
+v -0.26477086 -0.26935563 -0.42349496
+v -0.25942699 -0.27703708 -0.41430545
+v -0.31887810 -0.17343088 0.42557693
+v -0.32227457 -0.17087347 0.43763035
+v -0.31374758 -0.17911859 0.39476014
+v -0.30664455 -0.18781978 0.36096894
+v -0.30075333 -0.19489999 0.33364920
+v -0.29661284 -0.19962226 0.31394285
+v -0.29273595 -0.20383277 0.29416691
+v -0.28944941 -0.20709720 0.27425648
+v -0.28684050 -0.20936893 0.25419828
+v -0.28325277 -0.20989328 0.23419805
+v -0.28197372 -0.21424245 0.21434201
+v -0.27923705 -0.21754303 0.19438648
+v -0.27609164 -0.22038765 0.17442461
+v -0.27218565 -0.22221845 0.15450868
+v -0.26963279 -0.22605719 0.13459279
+v -0.26643541 -0.22906685 0.11465000
+v -0.26270404 -0.23147313 0.09473443
+v -0.25643456 -0.23088284 0.07539728
+v -0.25705643 -0.23753345 0.05605526
+v -0.25535402 -0.24150150 0.03610457
+v -0.25254623 -0.24391053 0.01607055
+v -0.24778233 -0.24345842 -0.00367291
+v -0.24075832 -0.23997386 -0.02238209
+v -0.24354768 -0.24743732 -0.04116474
+v -0.24466638 -0.25324877 -0.06067486
+v -0.24482337 -0.25810233 -0.08045842
+v -0.24441284 -0.26171015 -0.10048440
+v -0.24352477 -0.26432238 -0.12063696
+v -0.24265485 -0.26638835 -0.14084942
+v -0.24188570 -0.26802990 -0.16111029
+v -0.24127577 -0.26947014 -0.18139892
+v -0.24069033 -0.27076657 -0.20169767
+v -0.24146232 -0.27383153 -0.22177712
+v -0.24111473 -0.27497365 -0.24211793
+v -0.24079732 -0.27617216 -0.26245508
+v -0.24051632 -0.27749857 -0.28278487
+v -0.24016103 -0.27877729 -0.30311628
+v -0.23976919 -0.28015609 -0.32343378
+v -0.23944295 -0.28183649 -0.34372415
+v -0.23924910 -0.28392946 -0.36397114
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diff --git a/objects/objaverse/chips/chips_4/collision/model_normalized_collision_0.obj b/objects/objaverse/chips/chips_4/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8556f023d7795ae82ded30870b436146a2b313cf
--- /dev/null
+++ b/objects/objaverse/chips/chips_4/collision/model_normalized_collision_0.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.15230903 -0.11620245 0.00499705
+v 0.15474935 -0.12684161 -0.09877443
+v 0.15578828 -0.01102351 -0.09848486
+v -0.19670029 0.09291186 0.01306708
+v -0.17517197 -0.11133622 -0.09895343
+v 0.15578828 -0.01102351 0.00757575
+v -0.10009274 -0.11394667 0.00437429
+v -0.15783151 -0.11757743 -0.09962155
+v -0.20920263 0.09834582 -0.09303294
+v -0.17150179 -0.10036076 0.00506211
+v 0.00427313 0.04958255 -0.09848486
+v -0.15666776 -0.11352320 -0.05525062
+v 0.00427313 0.04958255 0.00757575
+f 6 4 1
+f 6 1 2
+f 6 2 3
+f 7 2 1
+f 8 3 2
+f 8 2 7
+f 9 8 5
+f 10 7 1
+f 10 1 4
+f 10 9 5
+f 10 4 9
+f 11 3 8
+f 11 8 9
+f 11 6 3
+f 12 8 7
+f 12 7 10
+f 12 10 5
+f 12 5 8
+f 13 11 9
+f 13 9 4
+f 13 4 6
+f 13 6 11
\ No newline at end of file
diff --git a/objects/objaverse/chips/chips_4/collision/model_normalized_collision_1.obj b/objects/objaverse/chips/chips_4/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a032a6d9a17566f89a59d80859c4b4c7bf8edb4e
--- /dev/null
+++ b/objects/objaverse/chips/chips_4/collision/model_normalized_collision_1.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.19377778 -0.11508535 -0.23454083
+v 0.31138808 -0.01139092 -0.49857612
+v 0.22008446 0.07886547 -0.23460824
+v -0.16223524 0.12394045 -0.23473596
+v -0.16239440 -0.01134524 -0.44739083
+v 0.12346434 0.09115071 -0.31927054
+v 0.00336077 0.12518208 -0.23245466
+v 0.26087295 -0.03764837 -0.23547817
+v 0.00503792 -0.09943580 -0.34867720
+v 0.20973393 0.07706920 -0.30727189
+v -0.23685633 0.06445368 -0.40673292
+v 0.24525516 -0.07499647 -0.23378692
+v 0.00447605 -0.12507649 -0.23406406
+v 0.25885824 0.02749930 -0.23813686
+v -0.09839606 -0.00313467 -0.48777229
+v 0.21357846 -0.08289492 -0.39354660
+v 0.25324428 0.04427701 -0.38029332
+v 0.13751926 0.10841973 -0.23261177
+v -0.08802967 0.09197168 -0.36286024
+v 0.23653994 -0.08266775 -0.36817405
+v 0.30785934 -0.01422136 -0.46414176
+v -0.14627446 0.12541755 -0.23330199
+v 0.23382354 -0.08843411 -0.23397970
+v -0.26681444 0.06143122 -0.29689963
+v -0.10085864 -0.06150432 -0.40863771
+v 0.25849545 0.03894872 -0.26772766
+v 0.24540884 0.05272191 -0.23697201
+v -0.23838113 0.05504709 -0.41997791
+v 0.15478368 -0.11464780 -0.30646931
+v 0.22083651 0.07725261 -0.26390337
+v 0.21272271 0.06167098 -0.36479284
+v 0.19452597 0.09332730 -0.23338432
+v 0.15304012 0.09178071 -0.30530080
+v 0.01803265 0.10699452 -0.30462975
+v -0.11786903 0.07860152 -0.38742841
+v -0.19119515 0.10735423 -0.32108697
+v 0.31086840 -0.01303656 -0.49943520
+v 0.30902785 -0.00868796 -0.46877041
+v -0.16239353 -0.01102351 -0.23484849
+v 0.00498391 -0.11655930 -0.29229748
+v 0.16004750 -0.07173531 -0.41549282
+v -0.10622235 0.00322333 -0.48187911
+v -0.24875682 0.08031568 -0.36673155
+v 0.19841159 -0.09885125 -0.35130991
+v 0.18252669 -0.11429949 -0.29264320
+v 0.20535540 0.03323530 -0.43772902
+v 0.19414147 0.09206143 -0.24805576
+v 0.09304363 0.10638397 -0.27584927
+v 0.18102252 0.09236458 -0.27715853
+v 0.01802110 0.09147352 -0.34880195
+v -0.20531991 0.09129219 -0.36227932
+v -0.19149075 0.11068414 -0.30734055
+v -0.10262162 0.10717668 -0.32054873
+v 0.02050821 -0.11427081 -0.30631448
+v 0.14207034 -0.08313601 -0.39236395
+v 0.21416773 -0.07016147 -0.41876834
+v -0.22189932 0.10575933 -0.30964563
+v 0.21025803 -0.09918540 -0.33770707
+v 0.18415362 0.06083370 -0.37676563
+v 0.13500829 0.04550436 -0.42322943
+v 0.13766062 0.10634054 -0.24709010
+v 0.00319514 0.12280215 -0.24670005
+v 0.02899918 0.07770396 -0.37683750
+v -0.19130963 0.07742491 -0.38879041
+f 12 8 3
+f 13 12 7
+f 18 7 12
+f 21 8 12
+f 22 13 7
+f 23 13 1
+f 23 12 13
+f 23 1 20
+f 25 5 15
+f 25 24 5
+f 27 3 8
+f 27 8 14
+f 27 14 26
+f 28 15 5
+f 28 5 24
+f 30 17 10
+f 30 3 2
+f 30 2 17
+f 31 17 2
+f 31 10 17
+f 32 18 12
+f 32 12 3
+f 32 3 30
+f 33 31 6
+f 34 33 6
+f 35 2 28
+f 37 20 16
+f 37 23 20
+f 37 2 21
+f 37 21 12
+f 37 12 23
+f 37 15 2
+f 38 14 8
+f 38 8 21
+f 38 26 14
+f 38 21 2
+f 38 27 26
+f 38 2 3
+f 38 3 27
+f 39 22 4
+f 39 13 22
+f 39 4 24
+f 39 25 13
+f 39 24 25
+f 40 25 9
+f 40 13 25
+f 40 29 13
+f 41 9 25
+f 41 25 15
+f 41 15 37
+f 42 28 2
+f 42 2 15
+f 42 15 28
+f 43 28 24
+f 43 11 28
+f 44 29 9
+f 44 9 16
+f 45 1 13
+f 45 13 29
+f 45 29 44
+f 46 31 2
+f 47 32 30
+f 47 30 10
+f 47 18 32
+f 48 33 34
+f 49 10 31
+f 49 31 33
+f 49 47 10
+f 49 18 47
+f 50 34 6
+f 50 19 34
+f 51 36 19
+f 51 11 43
+f 52 4 22
+f 53 34 19
+f 53 19 36
+f 53 36 52
+f 54 40 9
+f 54 9 29
+f 54 29 40
+f 55 41 16
+f 55 16 9
+f 55 9 41
+f 56 41 37
+f 56 37 16
+f 56 16 41
+f 57 43 24
+f 57 24 4
+f 57 4 52
+f 57 52 36
+f 57 51 43
+f 57 36 51
+f 58 44 16
+f 58 16 20
+f 58 45 44
+f 58 20 1
+f 58 1 45
+f 59 6 31
+f 59 31 46
+f 59 50 6
+f 59 46 50
+f 60 35 19
+f 60 46 2
+f 60 2 35
+f 61 7 18
+f 61 33 48
+f 61 49 33
+f 61 18 49
+f 62 48 34
+f 62 61 48
+f 62 7 61
+f 62 34 53
+f 62 53 52
+f 62 52 22
+f 62 22 7
+f 63 50 46
+f 63 19 50
+f 63 60 19
+f 63 46 60
+f 64 11 51
+f 64 35 28
+f 64 28 11
+f 64 51 19
+f 64 19 35
\ No newline at end of file
diff --git a/objects/objaverse/chips/chips_4/collision/model_normalized_collision_10.obj b/objects/objaverse/chips/chips_4/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7b68d129353bbd7d09651fd92526703e08ee5ff1
--- /dev/null
+++ b/objects/objaverse/chips/chips_4/collision/model_normalized_collision_10.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v -0.17209483 -0.10230483 -0.00969485
+v -0.17628939 -0.11240622 -0.23445128
+v -0.17274850 0.11107221 -0.05491433
+v -0.17663103 0.10754728 -0.03823884
+v -0.25749436 -0.00881628 0.08387468
+v -0.17621407 -0.09836627 0.00705424
+v -0.25375665 0.04734845 -0.23664519
+v -0.22570649 -0.05941304 0.08340588
+v -0.17710098 0.12214723 -0.23466060
+v -0.25249136 -0.05204060 -0.23386083
+v -0.23656675 0.06535908 0.00612066
+v -0.19670029 0.09291186 0.01306708
+v -0.22765942 -0.08926926 -0.23496684
+v -0.23731205 0.09801671 -0.23768472
+v -0.23942931 -0.04517753 0.08357774
+v -0.21560753 0.08348050 0.00633541
+v -0.21735664 0.11221512 -0.23574246
+v -0.19705534 -0.09901040 -0.08517711
+v -0.24015971 -0.07650159 -0.23504701
+v -0.25124034 0.04211798 0.00654553
+v -0.25399429 -0.02080100 0.08401476
+v -0.22476369 0.07828663 -0.00921145
+v -0.18502892 0.10666682 -0.05537605
+v -0.20504872 0.08964321 0.00693873
+v -0.20259571 -0.10377355 -0.23434935
+v -0.18395569 -0.09758240 -0.01013162
+v -0.22355205 -0.08588773 -0.14560274
+v -0.25008809 0.05564637 -0.11435729
+v -0.25021585 -0.04657041 -0.09947221
+v -0.21024841 -0.08408475 -0.02440354
+v -0.23649687 -0.07251200 -0.14557879
+v -0.25283249 -0.02343382 0.08197740
+v -0.22242161 -0.07068572 0.00546207
+f 1 2 3
+f 6 1 3
+f 6 3 4
+f 9 3 2
+f 10 5 7
+f 12 8 6
+f 12 6 4
+f 12 5 8
+f 14 9 2
+f 14 2 13
+f 16 11 5
+f 16 5 12
+f 17 3 9
+f 17 9 14
+f 17 14 16
+f 18 2 1
+f 19 10 7
+f 19 14 13
+f 19 7 14
+f 20 7 5
+f 20 5 11
+f 20 11 14
+f 21 15 8
+f 21 8 5
+f 21 5 10
+f 22 16 14
+f 22 14 11
+f 22 11 16
+f 23 12 4
+f 23 4 3
+f 23 3 17
+f 24 17 16
+f 24 16 12
+f 24 23 17
+f 24 12 23
+f 25 18 13
+f 25 13 2
+f 25 2 18
+f 26 18 1
+f 26 1 6
+f 26 6 8
+f 27 13 18
+f 27 19 13
+f 28 20 14
+f 28 14 7
+f 28 7 20
+f 29 19 15
+f 29 21 10
+f 29 10 19
+f 30 26 8
+f 30 18 26
+f 30 27 18
+f 31 15 19
+f 31 19 27
+f 31 27 8
+f 31 8 15
+f 32 29 15
+f 32 15 21
+f 32 21 29
+f 33 30 8
+f 33 8 27
+f 33 27 30
\ No newline at end of file
diff --git a/objects/objaverse/chips/chips_4/collision/model_normalized_collision_11.obj b/objects/objaverse/chips/chips_4/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca3d3660ffad032f7390592aecfbc17b593e4bf6
--- /dev/null
+++ b/objects/objaverse/chips/chips_4/collision/model_normalized_collision_11.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v 0.15225022 -0.11382253 0.01949106
+v 0.24765174 0.02407160 0.00517585
+v 0.24888234 0.03286532 0.08265278
+v -0.13085564 0.09693694 0.08077842
+v -0.13035770 0.11040492 0.00499922
+v -0.13122108 -0.09521228 0.08191541
+v 0.22542451 -0.07723773 0.08269914
+v -0.13100177 -0.11009663 0.00637775
+v 0.16647209 0.09473405 0.00513428
+v 0.21959611 -0.08659303 0.00714139
+v 0.16703049 -0.09859025 0.07931011
+v 0.15230903 -0.11620245 0.00499705
+v 0.03558462 -0.11465039 0.04995562
+v 0.04833096 0.10713819 0.03428330
+v 0.20937155 -0.08556982 0.08142555
+v -0.02598253 -0.11738815 0.00523054
+v 0.19434043 -0.10237702 0.00568471
+v 0.07844950 0.10989124 0.00495304
+v -0.09989833 -0.09923292 0.07963465
+v 0.09419677 -0.11472379 0.04904697
+v -0.10096971 0.10764569 0.03449568
+v 0.16751658 0.08163902 0.08094526
+v 0.18062188 -0.09818517 0.06454734
+v 0.21963091 -0.08470832 0.03638034
+v -0.12971148 -0.09907517 0.06443546
+v 0.13789345 -0.11357457 0.03411455
+v -0.13018631 0.10789076 0.01975040
+v 0.10822562 0.09223793 0.07953193
+v 0.19355557 -0.09853866 0.03511157
+v 0.07823033 0.10737055 0.01948503
+v 0.13726628 0.09111304 0.06449693
+v 0.15171463 0.09105309 0.04958944
+v 0.16586480 0.09253887 0.01986303
+f 6 3 4
+f 7 2 3
+f 7 3 6
+f 8 6 4
+f 8 4 5
+f 9 3 2
+f 10 2 7
+f 15 7 6
+f 15 6 11
+f 16 8 5
+f 16 5 12
+f 16 13 8
+f 17 12 2
+f 17 2 10
+f 17 7 15
+f 18 9 2
+f 18 2 12
+f 18 12 5
+f 19 8 13
+f 19 13 11
+f 19 11 6
+f 20 11 13
+f 20 16 12
+f 20 13 16
+f 21 4 14
+f 21 18 5
+f 21 14 18
+f 22 4 3
+f 22 3 9
+f 23 15 11
+f 23 11 1
+f 23 1 12
+f 24 17 10
+f 24 10 7
+f 24 7 17
+f 25 19 6
+f 25 6 8
+f 25 8 19
+f 26 1 11
+f 26 11 20
+f 26 20 12
+f 26 12 1
+f 27 21 5
+f 27 5 4
+f 27 4 21
+f 28 14 4
+f 28 4 22
+f 29 17 15
+f 29 15 23
+f 29 23 12
+f 29 12 17
+f 30 18 14
+f 30 14 28
+f 31 28 22
+f 31 30 28
+f 31 18 30
+f 32 31 22
+f 32 9 18
+f 32 18 31
+f 33 32 22
+f 33 22 9
+f 33 9 32
\ No newline at end of file
diff --git a/objects/objaverse/chips/chips_4/collision/model_normalized_collision_12.obj b/objects/objaverse/chips/chips_4/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0b38358701215e330f1829e700875c02c87e19f4
--- /dev/null
+++ b/objects/objaverse/chips/chips_4/collision/model_normalized_collision_12.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.09518222 -0.01102351 0.00757575
+v 0.09518222 -0.01102351 -0.23484849
+v 0.10232616 0.10504070 0.01731250
+v 0.00372694 0.12973003 -0.09923736
+v 0.00427313 -0.01102351 -0.23484849
+v 0.09383338 0.11519975 -0.23308693
+v 0.00427313 -0.01102351 0.00757575
+v 0.06327919 0.12394902 -0.09955826
+v 0.00336077 0.12518208 -0.23245466
+v 0.00427313 0.04958255 0.00757575
+v 0.06418471 0.11792171 -0.03886865
+v 0.09386112 0.11474302 -0.03924790
+v 0.06325704 0.12394075 -0.18829075
+v 0.03228789 0.12327549 -0.23209649
+f 1 2 3
+f 5 2 1
+f 6 3 2
+f 6 2 5
+f 7 1 3
+f 7 5 1
+f 9 6 5
+f 9 7 4
+f 9 5 7
+f 10 7 3
+f 10 3 4
+f 10 4 7
+f 11 8 4
+f 11 4 3
+f 12 3 6
+f 12 6 8
+f 12 11 3
+f 12 8 11
+f 13 8 6
+f 13 9 4
+f 13 4 8
+f 14 13 6
+f 14 6 9
+f 14 9 13
\ No newline at end of file
diff --git a/objects/objaverse/chips/chips_4/collision/model_normalized_collision_13.obj b/objects/objaverse/chips/chips_4/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..76d6c4afc3d50bc37748e36946776f496d5ea41a
--- /dev/null
+++ b/objects/objaverse/chips/chips_4/collision/model_normalized_collision_13.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.17093980 -0.01102351 0.14393938
+v 0.19340756 0.08309802 0.01497335
+v 0.17785736 0.06631703 0.14999322
+v -0.03997166 0.08192911 0.15542762
+v -0.04118141 -0.01102351 0.08333332
+v 0.18399033 0.07526280 0.08998920
+v 0.17093980 -0.01102351 0.00757575
+v -0.04118141 -0.01102351 0.14393938
+v -0.04118141 0.03443104 0.08333332
+v 0.11033374 0.03443104 0.00757575
+v 0.11033374 -0.01102351 0.00757575
+f 1 2 3
+f 1 3 4
+f 6 3 2
+f 6 2 4
+f 6 4 3
+f 7 2 1
+f 7 1 5
+f 8 5 1
+f 8 1 4
+f 9 4 2
+f 9 8 4
+f 9 5 8
+f 10 5 9
+f 10 9 2
+f 10 2 7
+f 11 10 7
+f 11 7 5
+f 11 5 10
\ No newline at end of file
diff --git a/objects/objaverse/chips/chips_4/collision/model_normalized_collision_14.obj b/objects/objaverse/chips/chips_4/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..962346409252e9e69290c8469232df406c7bfc27
--- /dev/null
+++ b/objects/objaverse/chips/chips_4/collision/model_normalized_collision_14.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v -0.08651072 -0.02373425 0.40125297
+v -0.08661421 -0.02566311 0.38627925
+v -0.10235735 0.02334348 0.38278217
+v -0.32268797 0.00168973 0.49928970
+v -0.32379259 -0.00103471 0.49745249
+v -0.15296113 0.00237200 0.49733035
+v -0.08727737 -0.02352299 0.40285572
+v -0.30178841 -0.00274776 0.38897193
+v -0.18397256 0.01641462 0.43009567
+v -0.14582669 -0.00248479 0.49630871
+v -0.10065928 0.00525429 0.44351238
+v -0.29015826 -0.01179523 0.38712408
+v -0.30176750 0.01096235 0.38741826
+v -0.10314568 -0.01106853 0.43924301
+v -0.31386064 -0.00395164 0.43762756
+v -0.29083385 0.01958056 0.38517772
+v -0.31325668 -0.00159057 0.43368545
+v -0.29074820 0.01589484 0.42774317
+f 1 2 3
+f 7 5 2
+f 7 2 1
+f 9 6 3
+f 9 4 6
+f 10 6 4
+f 10 4 5
+f 10 5 7
+f 11 7 1
+f 11 1 3
+f 11 3 6
+f 11 6 10
+f 12 3 2
+f 12 2 5
+f 13 5 4
+f 13 12 8
+f 14 11 10
+f 14 10 7
+f 14 7 11
+f 15 12 5
+f 15 8 12
+f 16 13 4
+f 16 3 12
+f 16 12 13
+f 17 13 8
+f 17 8 15
+f 17 15 5
+f 17 5 13
+f 18 16 4
+f 18 4 9
+f 18 9 3
+f 18 3 16
\ No newline at end of file
diff --git a/objects/objaverse/chips/chips_4/collision/model_normalized_collision_15.obj b/objects/objaverse/chips/chips_4/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d28535037384e372c1f16b5498bd2edcc760efe3
--- /dev/null
+++ b/objects/objaverse/chips/chips_4/collision/model_normalized_collision_15.obj
@@ -0,0 +1,120 @@
+# https://github.com/mikedh/trimesh
+v -0.16214729 -0.11604358 -0.23474241
+v -0.16050292 -0.05754929 -0.40812093
+v -0.15972559 -0.10264378 -0.30626679
+v -0.16223524 0.12394045 -0.23473596
+v -0.33261200 0.00977109 -0.45201987
+v -0.16217567 0.11196005 -0.30742864
+v -0.25249136 -0.05204060 -0.23386083
+v -0.24893483 -0.05396877 -0.39259346
+v -0.24484852 0.09154852 -0.33606379
+v -0.16367961 0.03780115 -0.43496094
+v -0.30004418 -0.00894811 -0.44765001
+v -0.16045284 -0.08744951 -0.34999712
+v -0.20175465 -0.09971644 -0.27728168
+v -0.21920669 0.10691446 -0.30705806
+v -0.23731205 0.09801671 -0.23768472
+v -0.16167639 -0.02861273 -0.43252926
+v -0.23685633 0.06445368 -0.40673292
+v -0.32201811 -0.00145910 -0.44602075
+v -0.23650840 -0.04001223 -0.41743128
+v -0.20443681 -0.06824327 -0.37823623
+v -0.23399936 -0.06781556 -0.36549252
+v -0.22765942 -0.08926926 -0.23496684
+v -0.23038435 0.10705491 -0.27951519
+v -0.25144214 0.06093895 -0.23744232
+v -0.22703959 0.10736357 -0.23690632
+v -0.16176951 -0.04767039 -0.41890832
+v -0.16418549 0.04705501 -0.42298605
+v -0.22029336 0.09422825 -0.34993215
+v -0.29179924 0.04745080 -0.42472033
+v -0.27566937 -0.03824387 -0.40684158
+v -0.18881672 -0.08295755 -0.34938339
+v -0.18799550 -0.09701688 -0.30520668
+v -0.20259571 -0.10377355 -0.23434935
+v -0.24015971 -0.07650159 -0.23504701
+v -0.32805468 0.00758611 -0.43842080
+v -0.23315179 0.09157533 -0.34949874
+v -0.30209053 0.03460001 -0.43514429
+v -0.25021032 0.06246095 -0.40684859
+v -0.24506519 -0.06719107 -0.35315650
+v -0.33220847 0.00808272 -0.44987458
+v -0.22748776 -0.08254275 -0.30706570
+f 1 3 4
+f 6 3 2
+f 6 4 3
+f 7 1 4
+f 12 2 3
+f 13 3 1
+f 14 4 6
+f 16 10 6
+f 16 6 2
+f 16 11 5
+f 16 5 10
+f 18 5 11
+f 19 11 2
+f 19 2 8
+f 19 8 11
+f 20 8 2
+f 20 2 12
+f 23 5 15
+f 23 14 9
+f 23 4 14
+f 24 15 5
+f 25 7 4
+f 25 23 15
+f 25 4 23
+f 25 24 7
+f 25 15 24
+f 26 16 2
+f 26 2 11
+f 26 11 16
+f 27 17 6
+f 27 6 10
+f 27 10 17
+f 28 14 6
+f 28 6 17
+f 29 17 10
+f 29 23 9
+f 29 5 23
+f 30 18 11
+f 30 11 8
+f 31 12 3
+f 31 20 12
+f 31 21 8
+f 31 8 20
+f 32 3 13
+f 32 13 21
+f 32 31 3
+f 32 21 31
+f 33 13 1
+f 33 1 7
+f 33 7 22
+f 34 22 7
+f 35 7 24
+f 36 9 14
+f 36 14 28
+f 36 29 9
+f 36 28 29
+f 37 29 10
+f 37 10 5
+f 37 5 29
+f 38 29 28
+f 38 28 17
+f 38 17 29
+f 39 30 8
+f 39 8 21
+f 39 21 13
+f 39 22 18
+f 39 18 30
+f 40 34 7
+f 40 5 18
+f 40 18 22
+f 40 22 34
+f 40 7 35
+f 40 35 24
+f 40 24 5
+f 41 33 22
+f 41 22 39
+f 41 39 13
+f 41 13 33
\ No newline at end of file
diff --git a/objects/objaverse/chips/chips_4/collision/model_normalized_collision_16.obj b/objects/objaverse/chips/chips_4/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ebb37a7f5f1666bc5cb81033c3f8d8789cf23bfa
--- /dev/null
+++ b/objects/objaverse/chips/chips_4/collision/model_normalized_collision_16.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.09518222 0.04958255 -0.03787880
+v 0.09386112 0.11474302 -0.03924790
+v 0.10232616 0.10504070 0.01731250
+v -0.14454550 0.10848206 0.00479009
+v -0.20920263 0.09834582 -0.09303294
+v 0.00353314 0.12367873 -0.04014073
+v -0.22901646 0.07269829 0.00988507
+v 0.06487919 0.04958255 -0.09848486
+v 0.03357321 0.12393931 -0.05495826
+v -0.14423927 0.12358146 -0.10010683
+v -0.19948662 0.09261617 0.00536151
+v 0.06471978 0.12374327 -0.09858839
+v -0.23245033 0.07359340 -0.03584335
+v 0.09316547 0.10830932 0.00473114
+v -0.10056757 0.12358696 -0.05540418
+v -0.17427118 0.11590879 -0.09950689
+v -0.20104910 0.09725891 -0.03941749
+v 0.04837557 0.12533237 -0.09948075
+v -0.12959891 0.12261321 -0.07047846
+v -0.04124287 0.12336137 -0.04027690
+v -0.17208886 0.10717967 -0.02534920
+v -0.14392170 0.12208348 -0.08533414
+f 1 2 3
+f 6 4 3
+f 7 1 3
+f 7 3 4
+f 8 1 7
+f 11 7 4
+f 12 2 1
+f 12 1 8
+f 12 9 2
+f 13 8 7
+f 13 7 5
+f 13 5 8
+f 14 9 6
+f 14 6 3
+f 14 3 2
+f 14 2 9
+f 16 10 8
+f 16 8 5
+f 17 5 7
+f 17 7 11
+f 17 16 5
+f 17 11 16
+f 18 9 12
+f 18 10 15
+f 18 15 6
+f 18 6 9
+f 18 12 8
+f 18 8 10
+f 19 15 10
+f 19 4 15
+f 20 15 4
+f 20 4 6
+f 20 6 15
+f 21 16 11
+f 21 11 4
+f 22 10 16
+f 22 16 21
+f 22 19 10
+f 22 21 4
+f 22 4 19
\ No newline at end of file
diff --git a/objects/objaverse/chips/chips_4/collision/model_normalized_collision_17.obj b/objects/objaverse/chips/chips_4/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ef3d8657cdebbbfb223735be3350090ef2017af
--- /dev/null
+++ b/objects/objaverse/chips/chips_4/collision/model_normalized_collision_17.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v 0.17785736 0.06631703 0.14999322
+v 0.18399033 0.07526280 0.08998920
+v 0.01898067 0.09220016 0.10905813
+v -0.20435693 0.06570071 0.18719131
+v -0.22201595 0.06482112 0.14695784
+v 0.11166320 0.06337767 0.19735134
+v 0.07877591 0.09509714 0.07996549
+v -0.13085564 0.09693694 0.08077842
+v -0.14591176 0.07702863 0.17028115
+v -0.21614863 0.06160645 0.19315804
+v 0.16751658 0.08163902 0.08094526
+v 0.12360502 0.07710024 0.13980209
+v -0.18988284 0.08583506 0.08194493
+v 0.03344247 0.07652339 0.16966118
+v -0.17482353 0.07688141 0.15573196
+v -0.11606042 0.09211043 0.10981416
+v 0.15257336 0.07633883 0.12492724
+v -0.21429117 0.07494176 0.08828540
+v 0.10965669 0.06663085 0.18580702
+v 0.07855980 0.09185706 0.09420682
+v -0.13063837 0.09411380 0.09527569
+v -0.18845160 0.07684746 0.14089412
+v 0.16889377 0.06981092 0.14194989
+v 0.16661866 0.07649452 0.11008964
+f 5 2 1
+f 8 3 7
+f 9 4 6
+f 10 5 1
+f 10 1 6
+f 10 6 4
+f 11 1 2
+f 13 10 4
+f 13 5 10
+f 13 8 7
+f 13 7 11
+f 14 9 6
+f 14 3 9
+f 15 4 9
+f 16 9 3
+f 16 3 8
+f 17 11 7
+f 17 7 12
+f 18 2 5
+f 18 5 13
+f 18 13 11
+f 18 11 2
+f 19 14 6
+f 19 6 12
+f 19 12 14
+f 20 14 12
+f 20 12 7
+f 20 7 3
+f 20 3 14
+f 21 15 9
+f 21 8 15
+f 21 16 8
+f 21 9 16
+f 22 13 4
+f 22 4 15
+f 22 15 8
+f 22 8 13
+f 23 17 12
+f 23 12 6
+f 23 6 1
+f 24 23 1
+f 24 1 11
+f 24 11 17
+f 24 17 23
\ No newline at end of file
diff --git a/objects/objaverse/chips/chips_4/collision/model_normalized_collision_18.obj b/objects/objaverse/chips/chips_4/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..162c92a7240f674a41bd3187f5ff600b4ef1038a
--- /dev/null
+++ b/objects/objaverse/chips/chips_4/collision/model_normalized_collision_18.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.15230903 -0.11620245 0.00499705
+v 0.23174639 -0.08715950 -0.35610875
+v 0.21977001 -0.10269402 -0.15900580
+v 0.22611425 -0.08105976 0.00771054
+v 0.21847397 -0.09276770 -0.35730828
+v 0.19261069 -0.11375629 -0.08569339
+v 0.19377778 -0.11508535 -0.23454083
+v 0.21959611 -0.08659303 0.00714139
+v 0.22580929 -0.09048318 -0.35413744
+v 0.21875123 -0.10014807 -0.26487852
+v 0.15483810 -0.12498439 -0.23437830
+v 0.16236711 -0.11278831 0.01181089
+v 0.21426612 -0.09470242 -0.35443215
+v 0.16179843 -0.12378251 -0.23712088
+v 0.17875965 -0.11294340 -0.02505498
+v 0.16566772 -0.11304922 0.00459658
+v 0.20345364 -0.09960092 -0.02334246
+f 3 2 4
+f 5 4 2
+f 7 3 6
+f 8 6 3
+f 8 3 4
+f 9 5 2
+f 10 2 3
+f 10 3 7
+f 10 9 2
+f 10 7 9
+f 11 6 1
+f 12 8 4
+f 12 4 1
+f 13 9 7
+f 13 5 9
+f 13 11 1
+f 13 1 4
+f 13 4 5
+f 14 7 6
+f 14 6 11
+f 14 13 7
+f 14 11 13
+f 15 1 6
+f 16 12 1
+f 16 1 15
+f 16 15 8
+f 16 8 12
+f 17 15 6
+f 17 6 8
+f 17 8 15
\ No newline at end of file
diff --git a/objects/objaverse/chips/chips_4/collision/model_normalized_collision_19.obj b/objects/objaverse/chips/chips_4/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..acc709de3653bacd124e6179809191b75eec7651
--- /dev/null
+++ b/objects/objaverse/chips/chips_4/collision/model_normalized_collision_19.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v -0.13150662 -0.08217276 0.14294691
+v -0.12984468 -0.06950247 0.20061008
+v -0.28239363 -0.00551423 0.26723555
+v -0.23403772 0.04736127 0.26326026
+v -0.13504188 0.08121612 0.15448510
+v -0.15061036 -0.05134170 0.27390269
+v -0.25458039 0.03968194 0.14530031
+v -0.28258886 0.01295233 0.26736281
+v -0.13220035 0.06381188 0.22715648
+v -0.24531281 -0.03826300 0.26391978
+v -0.20524743 0.07186387 0.14285278
+v -0.24107524 -0.04413527 0.14394151
+v -0.20658900 0.05205239 0.26300614
+v -0.26685564 0.01627700 0.16163351
+v -0.26088950 0.03686794 0.26498163
+v -0.13131008 -0.06532711 0.21829955
+v -0.20486450 -0.05378553 0.23220602
+v -0.18886502 -0.07250135 0.14141245
+v -0.21756634 0.06726938 0.14255897
+v -0.20435693 0.06570071 0.18719131
+v -0.26570990 0.02628775 0.17629485
+v -0.28056161 -0.00538224 0.25239930
+v -0.25275786 -0.03030229 0.14499283
+v -0.14553597 -0.05443360 0.26149680
+v -0.16068613 -0.05301266 0.26157583
+v -0.21754176 -0.05295077 0.21745099
+v -0.24276770 0.05218971 0.14403264
+v -0.28053466 0.01306026 0.25243816
+v -0.26594838 -0.00658915 0.16185858
+v -0.26461259 -0.01695702 0.17735543
+f 5 2 1
+f 6 1 2
+f 8 3 6
+f 9 2 5
+f 10 6 3
+f 11 5 1
+f 12 10 3
+f 13 6 9
+f 13 9 5
+f 15 7 8
+f 15 13 4
+f 15 8 6
+f 15 6 13
+f 16 6 2
+f 16 2 9
+f 17 6 10
+f 18 11 1
+f 18 1 17
+f 18 10 12
+f 19 18 12
+f 19 11 18
+f 19 15 4
+f 19 4 11
+f 20 11 4
+f 20 4 13
+f 20 13 5
+f 20 5 11
+f 21 8 7
+f 21 7 14
+f 22 3 8
+f 23 14 7
+f 23 12 3
+f 24 16 9
+f 24 9 6
+f 24 6 16
+f 25 17 1
+f 25 1 6
+f 25 6 17
+f 26 18 17
+f 26 17 10
+f 26 10 18
+f 27 19 12
+f 27 7 15
+f 27 15 19
+f 27 23 7
+f 27 12 23
+f 28 21 14
+f 28 8 21
+f 28 22 8
+f 28 14 22
+f 29 22 14
+f 29 14 23
+f 30 23 3
+f 30 3 22
+f 30 29 23
+f 30 22 29
\ No newline at end of file
diff --git a/objects/objaverse/chips/chips_4/collision/model_normalized_collision_2.obj b/objects/objaverse/chips/chips_4/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b5c247d704cf732a7efa62634337b9211cb85d4e
--- /dev/null
+++ b/objects/objaverse/chips/chips_4/collision/model_normalized_collision_2.obj
@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
+v 0.26481224 -0.04315735 0.34280999
+v 0.26161391 -0.03554172 0.08497060
+v 0.19048449 0.07272408 0.09173975
+v 0.02174110 0.07935429 0.15486362
+v 0.01742629 -0.10567864 0.09066651
+v 0.26073272 0.01437788 0.34032020
+v 0.20937155 -0.08556982 0.08142555
+v 0.01946789 -0.05947613 0.26595488
+v 0.01942465 -0.01102351 0.08333332
+v 0.11014088 0.07753193 0.14335857
+v 0.29717552 -0.00346682 0.31206551
+v 0.29569602 -0.03009115 0.31245655
+v 0.15546363 -0.09990341 0.08285266
+v 0.23212058 -0.04568068 0.34471031
+v 0.01897358 0.05221109 0.26138658
+v 0.26104056 0.01241762 0.08497577
+v 0.16796605 0.06111543 0.18553403
+v 0.28439669 0.00739397 0.31056556
+v 0.24710016 -0.05909506 0.08380311
+v 0.28310806 -0.03899379 0.31099496
+v 0.29044120 -0.02112711 0.25295461
+v 0.19709500 -0.08425675 0.12657535
+v 0.01943498 -0.07198700 0.21979528
+v 0.01941414 0.06452872 0.21963968
+v 0.22990701 0.01965745 0.33820772
+v 0.19559171 0.06068476 0.15586142
+v 0.26873977 0.01648956 0.29407995
+v 0.24862221 0.03434915 0.14380152
+v 0.25861664 -0.04479835 0.10007373
+v 0.28900991 -0.00352459 0.25273132
+v 0.27533987 -0.02247450 0.16153856
+v 0.18423355 0.04603638 0.24582811
+v 0.26084615 0.02164557 0.14501105
+v 0.27467204 -0.00112871 0.16139664
+v 0.24406114 0.01776607 0.33822293
+f 9 4 3
+f 10 3 4
+f 11 6 1
+f 12 11 1
+f 13 9 7
+f 13 5 9
+f 14 1 6
+f 14 13 1
+f 14 5 13
+f 15 5 8
+f 15 8 14
+f 16 9 3
+f 16 7 9
+f 17 3 10
+f 18 6 11
+f 19 16 2
+f 19 7 16
+f 20 12 1
+f 20 1 7
+f 20 19 12
+f 20 7 19
+f 21 12 2
+f 21 11 12
+f 22 13 7
+f 22 7 1
+f 22 1 13
+f 23 14 8
+f 23 8 5
+f 23 5 14
+f 24 9 5
+f 24 5 15
+f 24 4 9
+f 24 10 4
+f 25 15 14
+f 25 14 6
+f 25 24 15
+f 25 10 24
+f 26 17 6
+f 26 6 3
+f 26 3 17
+f 27 18 3
+f 27 3 6
+f 27 6 18
+f 28 16 3
+f 28 3 18
+f 28 18 11
+f 29 19 2
+f 29 2 12
+f 29 12 19
+f 30 16 11
+f 30 11 21
+f 31 21 2
+f 31 2 16
+f 32 17 10
+f 32 10 25
+f 33 28 11
+f 33 11 16
+f 33 16 28
+f 34 30 21
+f 34 16 30
+f 34 31 16
+f 34 21 31
+f 35 32 25
+f 35 25 6
+f 35 6 17
+f 35 17 32
\ No newline at end of file
diff --git a/objects/objaverse/chips/chips_4/collision/model_normalized_collision_20.obj b/objects/objaverse/chips/chips_4/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..63cd9e2797e544a7f57f2e4f25012b114a1ac19d
--- /dev/null
+++ b/objects/objaverse/chips/chips_4/collision/model_normalized_collision_20.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v -0.13209050 -0.01102351 0.14393938
+v -0.13209050 -0.01102351 0.00757575
+v -0.13203813 0.10976743 0.00750304
+v -0.19163331 0.07569681 0.14326141
+v -0.26273937 -0.00928809 0.14468631
+v -0.13504188 0.08121612 0.15448510
+v -0.13063837 0.09411380 0.09527569
+v -0.25782818 -0.00849281 0.00700262
+v -0.25458039 0.03968194 0.14530031
+v -0.13153239 0.08744618 0.12716954
+v -0.14516516 0.09263730 0.09513386
+v -0.19948662 0.09261617 0.00536151
+v -0.22801558 0.06215628 0.14262553
+v -0.25124034 0.04211798 0.00654553
+v -0.18685743 0.09155248 0.05025012
+v -0.20134917 0.07552738 0.12603226
+v -0.19899686 0.09096806 0.02027116
+f 5 2 1
+f 6 5 1
+f 7 1 2
+f 7 2 3
+f 8 2 5
+f 9 5 6
+f 10 6 1
+f 10 1 7
+f 11 7 3
+f 11 3 4
+f 11 10 7
+f 11 4 6
+f 11 6 10
+f 12 3 2
+f 12 2 8
+f 13 9 6
+f 13 6 4
+f 13 12 9
+f 14 8 5
+f 14 5 9
+f 14 12 8
+f 14 9 12
+f 15 4 3
+f 15 3 12
+f 16 13 4
+f 16 4 15
+f 17 16 15
+f 17 15 12
+f 17 12 13
+f 17 13 16
\ No newline at end of file
diff --git a/objects/objaverse/chips/chips_4/collision/model_normalized_collision_21.obj b/objects/objaverse/chips/chips_4/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3782e0f978add5513df68045b820c61c78ef00e1
--- /dev/null
+++ b/objects/objaverse/chips/chips_4/collision/model_normalized_collision_21.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.04350038 -0.06788335 0.23422322
+v 0.11166320 0.06337767 0.19735134
+v 0.02029878 0.04709688 0.27338328
+v -0.20658900 0.05205239 0.26300614
+v -0.20435693 0.06570071 0.18719131
+v 0.01859321 0.06172822 0.22955561
+v -0.04227472 -0.05662554 0.27741262
+v 0.10965669 0.06663085 0.18580702
+v -0.21999498 -0.05136616 0.22441186
+v 0.11126623 0.05543575 0.22570131
+v 0.01897358 0.05221109 0.26138658
+v -0.17612884 0.06155730 0.23069500
+v -0.21414663 -0.04647709 0.27054261
+v -0.21614863 0.06160645 0.19315804
+v -0.20416099 0.06094633 0.21632997
+f 8 2 1
+f 8 6 2
+f 9 8 1
+f 9 5 8
+f 10 2 6
+f 10 3 7
+f 10 7 1
+f 10 1 2
+f 11 6 4
+f 11 4 3
+f 11 10 6
+f 11 3 10
+f 12 4 6
+f 12 8 5
+f 12 6 8
+f 13 7 3
+f 13 3 4
+f 13 9 1
+f 13 1 7
+f 14 5 9
+f 14 13 4
+f 14 9 13
+f 15 12 5
+f 15 4 12
+f 15 14 4
+f 15 5 14
\ No newline at end of file
diff --git a/objects/objaverse/chips/chips_4/collision/model_normalized_collision_22.obj b/objects/objaverse/chips/chips_4/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..522df053d48b6418cff2c5132e35fe6fdf82c1ea
--- /dev/null
+++ b/objects/objaverse/chips/chips_4/collision/model_normalized_collision_22.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.25974435 -0.04756856 0.30973894
+v 0.27330029 -0.04373411 0.26468504
+v 0.23000893 0.02522373 0.30878252
+v 0.07981481 0.04621453 0.26416365
+v 0.07879297 -0.05737081 0.27591034
+v 0.22776768 0.03480721 0.26241506
+v 0.26726706 -0.04535160 0.31183528
+v 0.24263443 -0.05632050 0.26357959
+v 0.07834718 -0.04676492 0.31970694
+v 0.18477055 0.03103334 0.30578948
+v 0.20096086 -0.05396388 0.30693535
+v 0.25953599 -0.05073417 0.26483360
+v 0.11085294 -0.06154726 0.26291498
+v 0.07914544 0.03411649 0.30653035
+v 0.21369947 0.03162517 0.29129553
+v 0.24330667 -0.05282491 0.29298393
+v 0.17133467 -0.05389289 0.30639368
+v 0.22753061 0.03216662 0.27678909
+v 0.11059579 -0.05083129 0.30924224
+v 0.11115960 -0.05504955 0.29160084
+f 6 3 2
+f 7 2 3
+f 8 7 1
+f 8 6 2
+f 9 7 3
+f 11 1 7
+f 11 7 9
+f 12 8 2
+f 12 2 7
+f 12 7 8
+f 13 5 4
+f 13 4 6
+f 13 6 8
+f 13 8 11
+f 14 4 5
+f 14 5 9
+f 14 10 4
+f 14 9 3
+f 14 3 10
+f 15 6 4
+f 15 4 10
+f 15 10 3
+f 16 11 8
+f 16 8 1
+f 16 1 11
+f 17 11 9
+f 17 13 11
+f 18 15 3
+f 18 3 6
+f 18 6 15
+f 19 17 9
+f 19 9 5
+f 20 5 13
+f 20 13 17
+f 20 19 5
+f 20 17 19
\ No newline at end of file
diff --git a/objects/objaverse/chips/chips_4/collision/model_normalized_collision_23.obj b/objects/objaverse/chips/chips_4/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2ff77570849c74a60cc65d3e5800e94e467507e6
--- /dev/null
+++ b/objects/objaverse/chips/chips_4/collision/model_normalized_collision_23.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.09519795 -0.13095222 -0.09849717
+v 0.09513619 -0.12920989 -0.23453401
+v 0.09518222 -0.01102351 -0.09848486
+v -0.11693899 -0.01102351 -0.09848486
+v -0.11614079 -0.12582161 -0.09900662
+v 0.09518222 -0.01102351 -0.23484849
+v -0.05569881 -0.13117921 -0.14313507
+v 0.07996340 -0.13162042 -0.20378649
+v -0.05551528 -0.13131453 -0.09946818
+v -0.11693899 -0.01102351 -0.23484849
+v -0.11632957 -0.12235165 -0.23367565
+v 0.09454341 -0.13163535 -0.18922767
+v 0.07953138 -0.13183752 -0.14444761
+v 0.05065345 -0.13087814 -0.20302416
+v 0.09456483 -0.13154627 -0.15917787
+f 1 3 4
+f 5 1 4
+f 6 4 3
+f 6 1 2
+f 6 3 1
+f 9 1 5
+f 9 5 7
+f 10 6 2
+f 10 4 6
+f 11 10 2
+f 11 7 5
+f 11 5 4
+f 11 4 10
+f 12 8 2
+f 12 2 1
+f 13 9 7
+f 13 7 8
+f 13 8 12
+f 13 1 9
+f 14 8 7
+f 14 7 11
+f 14 11 2
+f 14 2 8
+f 15 13 12
+f 15 12 1
+f 15 1 13
\ No newline at end of file
diff --git a/objects/objaverse/chips/chips_4/collision/model_normalized_collision_24.obj b/objects/objaverse/chips/chips_4/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8570510d4a2856e6bb83029f687efcb23ba063aa
--- /dev/null
+++ b/objects/objaverse/chips/chips_4/collision/model_normalized_collision_24.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v 0.16534746 -0.12586750 -0.15968066
+v 0.26087295 -0.03764837 -0.23547817
+v 0.24464444 0.03049477 -0.16265359
+v 0.15576430 0.11009957 -0.15908770
+v 0.16179843 -0.12378251 -0.23712088
+v 0.22008446 0.07886547 -0.23460824
+v 0.22619547 -0.09685618 -0.15927614
+v 0.26223950 0.01572112 -0.23750760
+v 0.21763754 0.08070140 -0.15939767
+v 0.15468356 0.10482630 -0.23424933
+v 0.19481005 0.09670059 -0.15879443
+v 0.24391259 -0.06666712 -0.16317952
+v 0.22604336 -0.09523557 -0.23458462
+v 0.24540884 0.05272191 -0.23697201
+v 0.19452597 0.09332730 -0.23338432
+v 0.24525516 -0.07499647 -0.23378692
+v 0.26003895 -0.02515352 -0.20704429
+v 0.24346507 0.04226638 -0.17679090
+v 0.24445000 -0.07584466 -0.19083501
+v 0.23382354 -0.08843411 -0.23397970
+v 0.25934524 0.00167692 -0.20767884
+v 0.26000051 -0.03820080 -0.22096870
+v 0.22947494 0.06770344 -0.17525365
+v 0.23164332 -0.09070602 -0.16065732
+v 0.25972593 0.01512933 -0.22287403
+v 0.24350818 0.05274297 -0.22174606
+f 5 1 4
+f 8 2 5
+f 9 7 3
+f 10 5 4
+f 11 4 1
+f 11 1 7
+f 11 7 9
+f 11 9 6
+f 12 3 7
+f 13 5 2
+f 13 7 1
+f 13 1 5
+f 14 6 9
+f 14 10 6
+f 14 8 5
+f 14 5 10
+f 15 10 4
+f 15 4 11
+f 15 11 6
+f 15 6 10
+f 16 13 2
+f 17 3 12
+f 17 2 8
+f 18 9 3
+f 18 3 8
+f 18 8 14
+f 19 16 2
+f 20 7 13
+f 20 13 16
+f 20 16 19
+f 21 17 8
+f 21 3 17
+f 22 17 12
+f 22 2 17
+f 22 19 2
+f 22 12 19
+f 23 14 9
+f 23 9 18
+f 24 19 12
+f 24 12 7
+f 24 20 19
+f 24 7 20
+f 25 21 8
+f 25 8 3
+f 25 3 21
+f 26 23 18
+f 26 18 14
+f 26 14 23
\ No newline at end of file
diff --git a/objects/objaverse/chips/chips_4/collision/model_normalized_collision_25.obj b/objects/objaverse/chips/chips_4/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df2c0f05d8caffa70b83eeb66d95d64d7b668408
--- /dev/null
+++ b/objects/objaverse/chips/chips_4/collision/model_normalized_collision_25.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v 0.00447605 -0.12507649 -0.23406406
+v 0.00669525 -0.04150948 -0.43266411
+v 0.00427313 -0.01102351 -0.23484849
+v -0.16239353 -0.01102351 -0.23484849
+v -0.15907395 -0.09863516 -0.31962917
+v 0.00414329 -0.00554181 -0.46172475
+v -0.15903332 -0.11691579 -0.23321431
+v 0.00503792 -0.09943580 -0.34867720
+v -0.16253629 -0.00518096 -0.45141501
+v -0.10034922 -0.11401458 -0.29149115
+v -0.16050292 -0.05754929 -0.40812093
+v 0.00498391 -0.11655930 -0.29229748
+v -0.06699472 -0.02894427 -0.44382087
+v -0.13027715 -0.11434422 -0.27664042
+v -0.12954834 -0.09834830 -0.33347855
+v 0.00486086 -0.08553053 -0.37738292
+v -0.16226987 -0.01368797 -0.44560268
+v -0.01421253 -0.02814626 -0.44475155
+v -0.08270282 -0.04252434 -0.42942193
+v -0.15889539 -0.11525522 -0.24758204
+v -0.02553869 -0.09858536 -0.34816319
+v -0.14537742 -0.08371399 -0.36252635
+v -0.05521002 -0.08345430 -0.37588440
+v -0.14612226 -0.06864961 -0.39106755
+f 1 2 3
+f 6 3 2
+f 7 1 3
+f 7 3 4
+f 9 4 3
+f 9 3 6
+f 11 5 7
+f 12 8 2
+f 12 2 1
+f 12 10 8
+f 12 1 10
+f 13 9 6
+f 14 5 10
+f 14 10 1
+f 14 1 7
+f 15 10 5
+f 16 2 8
+f 17 11 7
+f 17 13 11
+f 17 9 13
+f 17 7 4
+f 17 4 9
+f 18 13 6
+f 18 6 2
+f 18 2 13
+f 19 13 2
+f 19 11 13
+f 19 16 11
+f 19 2 16
+f 20 14 7
+f 20 7 5
+f 20 5 14
+f 21 8 10
+f 21 10 15
+f 21 16 8
+f 22 15 5
+f 22 5 11
+f 22 21 15
+f 23 11 16
+f 23 16 21
+f 23 21 22
+f 24 23 22
+f 24 22 11
+f 24 11 23
\ No newline at end of file
diff --git a/objects/objaverse/chips/chips_4/collision/model_normalized_collision_26.obj b/objects/objaverse/chips/chips_4/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..28b7e7f5de6289dc7a4a4ed4657503cb5d014f51
--- /dev/null
+++ b/objects/objaverse/chips/chips_4/collision/model_normalized_collision_26.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.26664152 0.01311977 0.14493570
+v 0.25590724 0.01674471 0.05366092
+v 0.20561759 0.07793550 0.00510699
+v 0.16704618 0.07910968 0.09557634
+v 0.17093980 0.01927952 0.00757575
+v 0.20824139 0.06060580 0.12619636
+v 0.22014939 0.06706075 0.00618990
+v 0.26514213 0.01327820 0.12992171
+v 0.16889377 0.06981092 0.14194989
+v 0.17037472 0.09320716 0.00728314
+v 0.24454397 0.03744987 0.05344829
+v 0.24862221 0.03434915 0.14380152
+v 0.24765174 0.02407160 0.00517585
+v 0.18153346 0.06501366 0.15239124
+v 0.19305998 0.07569448 0.06535901
+v 0.26084615 0.02164557 0.14501105
+v 0.23383233 0.04725665 0.11264363
+v 0.19578096 0.06302658 0.14125448
+v 0.18039921 0.07553933 0.09517734
+f 8 5 2
+f 8 1 5
+f 9 4 5
+f 10 5 4
+f 10 3 5
+f 12 7 3
+f 13 5 3
+f 13 3 7
+f 13 2 5
+f 13 7 11
+f 13 8 2
+f 13 11 1
+f 13 1 8
+f 14 9 5
+f 14 5 1
+f 14 4 9
+f 15 6 3
+f 15 3 10
+f 16 11 7
+f 16 1 11
+f 16 7 12
+f 16 14 1
+f 16 12 14
+f 17 12 3
+f 17 3 6
+f 17 6 12
+f 18 14 12
+f 18 12 6
+f 18 15 10
+f 18 6 15
+f 19 18 10
+f 19 10 4
+f 19 4 14
+f 19 14 18
\ No newline at end of file
diff --git a/objects/objaverse/chips/chips_4/collision/model_normalized_collision_27.obj b/objects/objaverse/chips/chips_4/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..60e8cd62747f52533a4811e921d7f4873db95523
--- /dev/null
+++ b/objects/objaverse/chips/chips_4/collision/model_normalized_collision_27.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v -0.10185365 -0.01145808 -0.44778169
+v -0.09839606 -0.00313467 -0.48777229
+v -0.10352206 0.02654294 -0.43893992
+v -0.30772190 0.02638432 -0.43972948
+v -0.32396050 -0.00047453 -0.49307714
+v -0.20722695 -0.01837219 -0.43917691
+v -0.10622235 0.00322333 -0.48187911
+v -0.33642329 0.00361642 -0.48995081
+v -0.16224567 -0.02009628 -0.44011552
+v -0.26621400 -0.00011135 -0.49200765
+v -0.32201811 -0.00145910 -0.44602075
+v -0.32630149 0.00183229 -0.49211128
+v -0.33261200 0.00977109 -0.45201987
+v -0.33563597 0.00182331 -0.49192296
+v -0.33220847 0.00808272 -0.44987458
+v -0.33488223 0.00572109 -0.46983139
+f 1 2 3
+f 6 3 4
+f 7 3 2
+f 8 4 3
+f 8 3 7
+f 9 1 3
+f 9 3 6
+f 9 2 1
+f 9 6 5
+f 9 5 2
+f 10 7 2
+f 10 2 5
+f 11 6 4
+f 11 5 6
+f 12 8 7
+f 12 7 10
+f 12 10 5
+f 13 4 8
+f 14 5 11
+f 14 12 5
+f 14 8 12
+f 15 11 4
+f 15 4 13
+f 16 14 11
+f 16 11 15
+f 16 8 14
+f 16 15 13
+f 16 13 8
\ No newline at end of file
diff --git a/objects/objaverse/chips/chips_4/collision/model_normalized_collision_28.obj b/objects/objaverse/chips/chips_4/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..846f8dd05a28fb11cd202b482091c503adab7425
--- /dev/null
+++ b/objects/objaverse/chips/chips_4/collision/model_normalized_collision_28.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.16236711 -0.11278831 0.01181089
+v 0.22657306 -0.09643859 -0.15873853
+v 0.21743699 -0.08822905 0.00763136
+v 0.15293141 0.09822781 0.00567597
+v 0.16534746 -0.12586750 -0.15968066
+v 0.20960236 0.08655564 -0.09892055
+v 0.20561759 0.07793550 0.00510699
+v 0.15210122 0.11109995 -0.15858278
+v 0.19257796 0.09180893 -0.04042937
+v 0.21013479 0.08721524 -0.15905460
+v 0.17910484 0.09069525 0.00451171
+v 0.15234875 0.11053207 -0.09929898
+v 0.16591997 0.10706649 -0.09942566
+v 0.19481005 0.09670059 -0.15879443
+v 0.16557523 0.10733048 -0.15843824
+f 5 2 3
+f 5 3 1
+f 7 1 3
+f 7 4 1
+f 7 3 2
+f 7 2 6
+f 8 5 1
+f 8 1 4
+f 9 7 6
+f 10 6 2
+f 10 2 5
+f 10 5 8
+f 11 4 7
+f 11 7 9
+f 12 8 4
+f 13 11 9
+f 13 8 12
+f 13 12 4
+f 13 4 11
+f 14 13 9
+f 14 9 6
+f 14 6 10
+f 14 10 8
+f 15 14 8
+f 15 8 13
+f 15 13 14
\ No newline at end of file
diff --git a/objects/objaverse/chips/chips_4/collision/model_normalized_collision_29.obj b/objects/objaverse/chips/chips_4/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f378d10ff334d8b62898d21ec971325c7769d954
--- /dev/null
+++ b/objects/objaverse/chips/chips_4/collision/model_normalized_collision_29.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v -0.21733518 -0.05826829 0.17272651
+v -0.23185867 -0.08337726 -0.28152577
+v -0.25224675 -0.05609556 -0.28044334
+v -0.23374347 -0.04950007 0.17397633
+v -0.22803226 -0.05299612 0.17296965
+v -0.24331472 -0.07206105 -0.28031306
+v -0.24282055 -0.04960229 -0.02368130
+v -0.22261718 -0.05570108 0.17416825
+v -0.24666960 -0.06736873 -0.28060067
+f 1 2 3
+f 5 4 2
+f 6 2 4
+f 7 1 3
+f 7 3 4
+f 7 4 1
+f 8 5 2
+f 8 2 1
+f 8 1 4
+f 8 4 5
+f 9 3 2
+f 9 2 6
+f 9 6 4
+f 9 4 3
\ No newline at end of file
diff --git a/objects/objaverse/chips/chips_4/collision/model_normalized_collision_3.obj b/objects/objaverse/chips/chips_4/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f1f1c7119a053d89a2ef7031ec732b856eef4eb7
--- /dev/null
+++ b/objects/objaverse/chips/chips_4/collision/model_normalized_collision_3.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v 0.33641563 -0.02634122 0.49695914
+v 0.33641921 -0.02396511 0.48135712
+v 0.11026917 0.03197140 0.30998701
+v -0.14823206 0.00088728 0.49729100
+v 0.11059579 -0.05083129 0.30924224
+v 0.25824278 -0.01062598 0.49736474
+v 0.28310806 -0.03899379 0.31099496
+v -0.11273207 -0.01028893 0.49544919
+v -0.10184055 0.01644307 0.40022504
+v 0.26073050 0.00205350 0.44207786
+v 0.33211896 -0.02419702 0.49766189
+v 0.29569602 -0.03009115 0.31245655
+v 0.27415286 -0.03845003 0.36895314
+v 0.23000893 0.02522373 0.30878252
+v -0.10173416 -0.02321122 0.40123821
+v 0.31272735 -0.01378581 0.49196372
+v 0.33142769 -0.01382237 0.45830172
+v 0.28509536 -0.03799918 0.34035205
+v 0.28439669 0.00739397 0.31056556
+v -0.14534967 -0.01432672 0.44032800
+v 0.28916994 0.00202456 0.41491669
+v 0.30546510 -0.01432947 0.32909704
+v 0.29717552 -0.00346682 0.31206551
+v -0.14582669 -0.00248479 0.49630871
+v -0.14760248 0.00259033 0.44664688
+v 0.32068835 -0.01641025 0.40353995
+v 0.30489865 -0.02077743 0.32922839
+v 0.31973171 -0.01035117 0.40553444
+f 8 5 1
+f 9 4 3
+f 9 3 5
+f 10 3 4
+f 10 4 6
+f 11 6 4
+f 11 8 1
+f 11 4 8
+f 12 2 1
+f 12 1 7
+f 13 1 5
+f 13 5 7
+f 14 7 5
+f 14 5 3
+f 14 3 10
+f 15 5 8
+f 15 9 5
+f 16 10 6
+f 16 6 11
+f 17 11 1
+f 17 1 2
+f 17 16 11
+f 18 13 7
+f 18 7 1
+f 18 1 13
+f 19 7 14
+f 20 15 8
+f 20 9 15
+f 21 14 10
+f 21 10 16
+f 21 16 17
+f 21 19 14
+f 21 17 19
+f 23 12 7
+f 23 7 19
+f 23 22 12
+f 24 20 8
+f 24 8 4
+f 24 4 20
+f 25 20 4
+f 25 4 9
+f 25 9 20
+f 26 22 17
+f 26 17 2
+f 26 2 22
+f 27 22 2
+f 27 2 12
+f 27 12 22
+f 28 23 19
+f 28 19 17
+f 28 17 22
+f 28 22 23
\ No newline at end of file
diff --git a/objects/objaverse/chips/chips_4/collision/model_normalized_collision_30.obj b/objects/objaverse/chips/chips_4/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9fa222a6cf0896b25e4c73a5eca3750d8f2a0c93
--- /dev/null
+++ b/objects/objaverse/chips/chips_4/collision/model_normalized_collision_30.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v -0.11614079 -0.12582161 -0.09900662
+v -0.11632957 -0.12235165 -0.23367565
+v -0.11580088 0.12734631 -0.09960960
+v -0.14423927 0.12358146 -0.10010683
+v -0.17236003 -0.11360720 -0.23316423
+v -0.17427118 0.11590879 -0.09950689
+v -0.11664091 0.12665857 -0.23314064
+v -0.17026250 -0.11337377 -0.09999495
+v -0.17710098 0.12214723 -0.23466060
+v -0.17301858 0.12279237 -0.17521473
+v -0.15788907 0.12220651 -0.11532713
+v -0.16088956 0.12417868 -0.23352582
+v -0.17469987 0.12316897 -0.21921121
+f 1 2 3
+f 5 2 1
+f 6 1 3
+f 6 3 4
+f 7 3 2
+f 8 5 1
+f 8 1 6
+f 9 7 2
+f 9 2 5
+f 9 8 6
+f 9 5 8
+f 10 9 6
+f 10 4 3
+f 11 10 6
+f 11 6 4
+f 11 4 10
+f 12 3 7
+f 12 7 9
+f 13 10 3
+f 13 3 12
+f 13 12 9
+f 13 9 10
\ No newline at end of file
diff --git a/objects/objaverse/chips/chips_4/collision/model_normalized_collision_31.obj b/objects/objaverse/chips/chips_4/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..18fc7d6741579ec853c37afe41779c33b6cef5ec
--- /dev/null
+++ b/objects/objaverse/chips/chips_4/collision/model_normalized_collision_31.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.00427313 -0.01102351 -0.09848486
+v 0.00427313 -0.01102351 -0.23484849
+v 0.00372694 0.12973003 -0.09923736
+v -0.11580088 0.12734631 -0.09960960
+v -0.11693899 -0.01102351 -0.09848486
+v -0.11664091 0.12665857 -0.23314064
+v 0.00336077 0.12518208 -0.23245466
+v -0.11693899 -0.01102351 -0.23484849
+v -0.01166046 0.12601143 -0.23260331
+f 1 2 3
+f 5 2 1
+f 5 1 3
+f 5 3 4
+f 6 4 3
+f 6 5 4
+f 7 3 2
+f 8 6 2
+f 8 2 5
+f 8 5 6
+f 9 6 3
+f 9 3 7
+f 9 7 2
+f 9 2 6
\ No newline at end of file
diff --git a/objects/objaverse/chips/chips_4/collision/model_normalized_collision_4.obj b/objects/objaverse/chips/chips_4/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9acef398f431811011df0e39713c4e3699d028d6
--- /dev/null
+++ b/objects/objaverse/chips/chips_4/collision/model_normalized_collision_4.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.17096170 -0.07263310 0.21989073
+v 0.16000252 -0.09767236 0.08931792
+v 0.08016082 -0.05300768 0.29462525
+v -0.11668158 -0.05266736 0.27936267
+v -0.02473999 -0.09886188 0.10967364
+v 0.17204423 -0.08528042 0.14615640
+v 0.13888179 -0.10298565 0.07978603
+v -0.13330722 -0.08128232 0.14602205
+v 0.11044335 -0.05423516 0.29492668
+v 0.15546363 -0.09990341 0.08285266
+v 0.10906395 -0.09821290 0.10863958
+v -0.07003283 -0.09892046 0.09467215
+v -0.13168764 -0.06853015 0.20384346
+v -0.05537483 -0.06832347 0.23022654
+v -0.07028764 -0.10190535 0.08022926
+v -0.04013597 -0.08394576 0.16993601
+v -0.11691235 -0.05612350 0.26506662
+v -0.12984468 -0.06950247 0.20061008
+v -0.13150662 -0.08217276 0.14294691
+v -0.07224942 -0.06920729 0.22280639
+v -0.07389368 -0.09975094 0.08924380
+f 6 4 3
+f 9 5 1
+f 9 3 4
+f 9 6 3
+f 9 1 6
+f 10 6 1
+f 10 2 6
+f 10 1 7
+f 11 7 1
+f 11 1 5
+f 11 5 7
+f 13 4 6
+f 13 6 2
+f 13 2 8
+f 14 9 4
+f 15 2 10
+f 15 10 7
+f 15 7 5
+f 15 5 12
+f 16 12 5
+f 16 5 9
+f 16 9 14
+f 17 4 13
+f 17 12 16
+f 18 13 8
+f 18 17 13
+f 18 12 17
+f 19 8 2
+f 19 2 15
+f 19 18 8
+f 19 12 18
+f 20 16 14
+f 20 14 4
+f 20 17 16
+f 20 4 17
+f 21 19 15
+f 21 15 12
+f 21 12 19
\ No newline at end of file
diff --git a/objects/objaverse/chips/chips_4/collision/model_normalized_collision_5.obj b/objects/objaverse/chips/chips_4/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f64dbb69b7d33180251fd69919183297f0c31301
--- /dev/null
+++ b/objects/objaverse/chips/chips_4/collision/model_normalized_collision_5.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.15474935 -0.12684161 -0.09877443
+v 0.15483810 -0.12498439 -0.23437830
+v 0.15468356 0.10482630 -0.23424933
+v 0.09488387 0.10769688 0.00716118
+v 0.09513619 -0.12920989 -0.23453401
+v 0.15293141 0.09822781 0.00567597
+v 0.15578828 -0.01102351 0.00757575
+v 0.09519795 -0.13095222 -0.09849717
+v 0.09383338 0.11519975 -0.23308693
+v 0.09518222 -0.01102351 0.00757575
+v 0.15234875 0.11053207 -0.09929898
+v 0.09339433 0.11063135 -0.00987130
+v 0.15162508 0.10720390 -0.21789961
+v 0.12242355 0.10668507 -0.01041649
+v 0.13751926 0.10841973 -0.23261177
+v 0.15155823 0.10698433 -0.05504141
+f 5 2 1
+f 5 3 2
+f 7 1 2
+f 7 2 3
+f 7 3 6
+f 7 6 4
+f 8 5 1
+f 8 1 7
+f 9 3 5
+f 10 8 7
+f 10 7 4
+f 11 6 3
+f 12 9 5
+f 12 5 8
+f 12 8 10
+f 12 10 4
+f 12 11 9
+f 13 11 3
+f 13 9 11
+f 14 12 4
+f 14 4 6
+f 15 13 3
+f 15 3 9
+f 15 9 13
+f 16 14 6
+f 16 6 11
+f 16 11 12
+f 16 12 14
\ No newline at end of file
diff --git a/objects/objaverse/chips/chips_4/collision/model_normalized_collision_6.obj b/objects/objaverse/chips/chips_4/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..91838232014c9a9d14f43b7d71cb44c84e39c0ec
--- /dev/null
+++ b/objects/objaverse/chips/chips_4/collision/model_normalized_collision_6.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v 0.22532951 -0.07437739 0.12801205
+v 0.24679560 -0.05386431 -0.16294733
+v 0.26104056 0.01241762 0.08497577
+v 0.21184599 0.07356752 0.00673802
+v 0.21144893 -0.10839052 -0.15889878
+v 0.23424627 0.05812469 -0.16036583
+v 0.22561529 0.05777005 0.05243888
+v 0.26161391 -0.03554172 0.08497060
+v 0.20993086 -0.10749283 -0.11488061
+v 0.24748445 0.01665479 -0.16287233
+v 0.21013479 0.08721524 -0.15905460
+v 0.24888234 0.03286532 0.08265278
+v 0.24158561 -0.06468231 0.12872964
+v 0.23164332 -0.09070602 -0.16065732
+v 0.21743699 -0.08822905 0.00763136
+v 0.26066531 0.00093666 0.05530267
+v 0.20960236 0.08655564 -0.09892055
+v 0.21763754 0.08070140 -0.15939767
+v 0.23524282 -0.06894646 0.12823492
+v 0.23131926 -0.07121464 0.12876613
+v 0.24710016 -0.05909506 0.08380311
+v 0.21977001 -0.10269402 -0.15900580
+v 0.23289253 0.05115057 0.05233077
+v 0.21551942 0.08089729 -0.09922364
+f 7 4 1
+f 10 6 3
+f 11 5 9
+f 11 10 2
+f 11 2 5
+f 12 7 1
+f 12 3 6
+f 13 8 3
+f 13 3 12
+f 14 5 2
+f 14 2 8
+f 15 9 1
+f 15 1 4
+f 15 4 9
+f 16 8 2
+f 16 2 10
+f 16 10 3
+f 16 3 8
+f 17 4 7
+f 17 11 9
+f 17 9 4
+f 18 6 10
+f 18 10 11
+f 18 11 17
+f 18 12 6
+f 19 9 13
+f 20 13 12
+f 20 12 1
+f 20 19 13
+f 20 1 9
+f 20 9 19
+f 21 14 8
+f 21 8 13
+f 21 13 14
+f 22 14 13
+f 22 13 9
+f 22 9 5
+f 22 5 14
+f 23 17 7
+f 23 7 12
+f 24 18 17
+f 24 12 18
+f 24 23 12
+f 24 17 23
\ No newline at end of file
diff --git a/objects/objaverse/chips/chips_4/collision/model_normalized_collision_7.obj b/objects/objaverse/chips/chips_4/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..326682b9d49ef79094cf74ee0aed35cded74d7cf
--- /dev/null
+++ b/objects/objaverse/chips/chips_4/collision/model_normalized_collision_7.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v 0.01742629 -0.10567864 0.09066651
+v 0.01926653 -0.09154552 0.14929893
+v -0.20137829 -0.06871401 0.14118593
+v -0.26273937 -0.00928809 0.14468631
+v 0.01942465 -0.01102351 0.08333332
+v -0.25275786 -0.03030229 0.14499283
+v -0.12976207 -0.08304469 0.13989276
+v -0.25369500 -0.02213426 0.00938816
+v 0.01942465 -0.01102351 0.14393938
+v -0.24107524 -0.04413527 0.14394151
+v -0.07048471 -0.08871486 0.14093464
+v -0.13100177 -0.11009663 0.00637775
+v -0.13209050 -0.01102351 0.00757575
+v -0.25749436 -0.00881628 0.08387468
+v -0.21509499 -0.07708258 0.00640263
+v -0.14410322 -0.09988304 0.04961060
+v -0.07142681 -0.10120678 0.08318277
+v -0.17150179 -0.10036076 0.00506211
+v -0.21187842 -0.06919318 0.09666361
+v -0.13007163 -0.10199425 0.04996510
+v -0.17103171 -0.09826829 0.01977721
+v -0.19989266 -0.08766312 0.00588747
+v -0.19788430 -0.08292038 0.05047282
+f 5 2 1
+f 6 2 4
+f 7 2 3
+f 8 6 4
+f 9 4 2
+f 9 2 5
+f 10 3 2
+f 10 2 6
+f 11 1 2
+f 11 2 7
+f 12 5 1
+f 13 5 12
+f 14 9 5
+f 14 4 9
+f 14 5 13
+f 14 13 8
+f 14 8 4
+f 15 10 6
+f 15 6 8
+f 15 8 13
+f 16 7 3
+f 17 11 7
+f 17 12 1
+f 17 1 11
+f 18 15 13
+f 18 13 12
+f 19 3 10
+f 20 16 12
+f 20 12 17
+f 20 17 7
+f 20 7 16
+f 21 16 3
+f 21 3 18
+f 21 18 12
+f 21 12 16
+f 22 19 10
+f 22 10 15
+f 22 15 18
+f 23 22 18
+f 23 18 3
+f 23 3 19
+f 23 19 22
\ No newline at end of file
diff --git a/objects/objaverse/chips/chips_4/collision/model_normalized_collision_8.obj b/objects/objaverse/chips/chips_4/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb6b692c4c71224c70af918744f822cc6dc6d66e
--- /dev/null
+++ b/objects/objaverse/chips/chips_4/collision/model_normalized_collision_8.obj
@@ -0,0 +1,108 @@
+# https://github.com/mikedh/trimesh
+v 0.11011101 -0.06080015 0.26611036
+v 0.10799405 -0.05849413 0.27592142
+v -0.25054365 -0.02274854 0.38266399
+v -0.25125074 0.03191483 0.36828407
+v 0.07981481 0.04621453 0.26416365
+v -0.26094121 -0.02998272 0.26497251
+v -0.19237126 -0.03880733 0.32200941
+v 0.11007599 0.02520340 0.33886848
+v -0.30178841 -0.00274776 0.38897193
+v 0.04855084 0.04951692 0.26069015
+v -0.10183461 -0.02308025 0.40264388
+v -0.23369903 -0.04261246 0.26364715
+v 0.11093190 -0.04376861 0.33765031
+v 0.11026917 0.03197140 0.30998701
+v -0.26088950 0.03686794 0.26498163
+v 0.03364457 0.01708791 0.39863767
+v -0.29015826 -0.01179523 0.38712408
+v -0.22059950 -0.03950523 0.30788810
+v -0.29083385 0.01958056 0.38517772
+v -0.28258886 0.01295233 0.26736281
+v -0.22057792 0.05015803 0.26304175
+v -0.17841832 0.03158882 0.36660095
+v 0.06614509 -0.02606953 0.39855916
+v -0.26336265 -0.02260146 0.36865942
+v -0.10223545 0.01881171 0.39485670
+v -0.28239363 -0.00551423 0.26723555
+v -0.28167918 0.02139385 0.29741531
+v -0.20679968 0.04729259 0.29268520
+v -0.26391269 0.03142804 0.35415974
+v 0.07986343 -0.02929291 0.38710303
+v 0.06439305 0.01254685 0.39923395
+v -0.23393847 -0.03907725 0.29330357
+v -0.30176750 0.01096235 0.38741826
+v -0.28172780 -0.01281362 0.29707074
+v -0.22044863 0.04809148 0.27803858
+v -0.08755327 0.04627127 0.29061434
+v 0.07940886 0.01678076 0.38219899
+f 7 1 2
+f 10 5 1
+f 11 7 2
+f 11 3 7
+f 12 10 1
+f 13 2 1
+f 13 11 2
+f 14 1 5
+f 14 5 8
+f 14 13 1
+f 14 8 13
+f 15 12 6
+f 16 8 5
+f 16 5 10
+f 17 11 9
+f 17 3 11
+f 17 9 6
+f 17 6 12
+f 18 12 1
+f 18 1 7
+f 18 7 3
+f 21 10 12
+f 21 12 15
+f 22 16 10
+f 22 4 16
+f 23 11 13
+f 24 17 12
+f 24 3 17
+f 24 18 3
+f 25 16 4
+f 25 4 19
+f 25 11 16
+f 26 20 15
+f 26 15 6
+f 27 15 20
+f 28 10 21
+f 28 4 22
+f 29 19 4
+f 29 4 21
+f 29 21 15
+f 29 15 19
+f 30 23 13
+f 30 13 8
+f 31 16 11
+f 31 11 23
+f 31 23 30
+f 32 24 12
+f 32 12 18
+f 32 18 24
+f 33 25 19
+f 33 9 11
+f 33 11 25
+f 33 19 15
+f 33 15 27
+f 33 27 20
+f 33 26 9
+f 33 20 26
+f 34 26 6
+f 34 6 9
+f 34 9 26
+f 35 28 21
+f 35 21 4
+f 35 4 28
+f 36 28 22
+f 36 22 10
+f 36 10 28
+f 37 8 16
+f 37 16 31
+f 37 31 30
+f 37 30 8
\ No newline at end of file
diff --git a/objects/objaverse/chips/chips_4/collision/model_normalized_collision_9.obj b/objects/objaverse/chips/chips_4/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2ae42bcc0eb630f566141f80e5ebc08aed2c510b
--- /dev/null
+++ b/objects/objaverse/chips/chips_4/collision/model_normalized_collision_9.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.01926653 -0.09154552 0.14929893
+v 0.01943498 -0.07198700 0.21979528
+v -0.15404750 -0.05985951 0.22926515
+v -0.13866103 0.09342772 0.09488676
+v 0.02174110 0.07935429 0.15486362
+v -0.13209050 -0.01102351 0.08333332
+v -0.07092754 -0.05948700 0.26207394
+v -0.13330722 -0.08128232 0.14602205
+v -0.04118141 0.03443104 0.08333332
+v 0.01946789 -0.05947613 0.26595488
+v -0.04002243 0.04878680 0.27373436
+v -0.15061036 -0.05134170 0.27390269
+v -0.04118141 -0.01102351 0.08333332
+v -0.13220035 0.06381188 0.22715648
+v 0.02029878 0.04709688 0.27338328
+v 0.02067188 0.06078468 0.22732464
+f 5 2 1
+f 6 3 4
+f 8 6 1
+f 8 3 6
+f 9 5 1
+f 9 6 4
+f 9 4 5
+f 10 7 1
+f 10 1 2
+f 10 2 5
+f 12 3 8
+f 12 7 10
+f 12 4 3
+f 12 8 1
+f 12 1 7
+f 13 9 1
+f 13 1 6
+f 13 6 9
+f 14 5 4
+f 14 12 11
+f 14 4 12
+f 15 10 5
+f 15 12 10
+f 15 11 12
+f 16 14 11
+f 16 5 14
+f 16 15 5
+f 16 11 15
\ No newline at end of file
diff --git a/objects/objaverse/chips/chips_4/model.xml b/objects/objaverse/chips/chips_4/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..f06a3776755ab6bce9d158d08742622f28e17ce9
--- /dev/null
+++ b/objects/objaverse/chips/chips_4/model.xml
@@ -0,0 +1,81 @@
+<mujoco model="chips_6">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.15499999999999997 0.15499999999999997 0.15499999999999997" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.15499999999999997 0.15499999999999997 0.15499999999999997" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.15499999999999997 0.15499999999999997 0.15499999999999997" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.15499999999999997 0.15499999999999997 0.15499999999999997" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.15499999999999997 0.15499999999999997 0.15499999999999997" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.15499999999999997 0.15499999999999997 0.15499999999999997" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.15499999999999997 0.15499999999999997 0.15499999999999997" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.15499999999999997 0.15499999999999997 0.15499999999999997" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.15499999999999997 0.15499999999999997 0.15499999999999997" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.15499999999999997 0.15499999999999997 0.15499999999999997" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.15499999999999997 0.15499999999999997 0.15499999999999997" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.15499999999999997 0.15499999999999997 0.15499999999999997" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.15499999999999997 0.15499999999999997 0.15499999999999997" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.15499999999999997 0.15499999999999997 0.15499999999999997" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.15499999999999997 0.15499999999999997 0.15499999999999997" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.15499999999999997 0.15499999999999997 0.15499999999999997" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.15499999999999997 0.15499999999999997 0.15499999999999997" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.15499999999999997 0.15499999999999997 0.15499999999999997" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.15499999999999997 0.15499999999999997 0.15499999999999997" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.15499999999999997 0.15499999999999997 0.15499999999999997" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.15499999999999997 0.15499999999999997 0.15499999999999997" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.15499999999999997 0.15499999999999997 0.15499999999999997" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.15499999999999997 0.15499999999999997 0.15499999999999997" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.15499999999999997 0.15499999999999997 0.15499999999999997" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.15499999999999997 0.15499999999999997 0.15499999999999997" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.15499999999999997 0.15499999999999997 0.15499999999999997" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.15499999999999997 0.15499999999999997 0.15499999999999997" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.15499999999999997 0.15499999999999997 0.15499999999999997" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.15499999999999997 0.15499999999999997 0.15499999999999997" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.15499999999999997 0.15499999999999997 0.15499999999999997" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.15499999999999997 0.15499999999999997 0.15499999999999997" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.15499999999999997 0.15499999999999997 0.15499999999999997" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.15499999999999997 0.15499999999999997 0.15499999999999997" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="Artwork_Guide" texture="image0" specular="0.5" shininess="0.7056000060000001"/>
+  </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="Artwork_Guide"/>
+        <geom solimp="0.998 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="-3.1619999999704654e-07 -1.1276250000001595e-05 -0.020108154649999994" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="-3.1619999999704654e-07 -1.1276250000001595e-05 0.020434815599999993" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.05214497754999999 0.07738990349999998 0.00016333047500000132" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/objects/objaverse/chips/chips_4/visual/material.mtl b/objects/objaverse/chips/chips_4/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b84bdf90ab990e5c4868ad4f82650ba04d5278b7
--- /dev/null
+++ b/objects/objaverse/chips/chips_4/visual/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.07843137 0.07843137 0.07843137
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 705.60000600
+map_Kd material_0.jpeg
\ No newline at end of file
diff --git a/objects/objaverse/chips/chips_6/collision/model_normalized_collision_1.obj b/objects/objaverse/chips/chips_6/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..44792092575a25b58c6b2d2a182db00a2c5324a2
--- /dev/null
+++ b/objects/objaverse/chips/chips_6/collision/model_normalized_collision_1.obj
@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
+v 0.41909240 0.24224252 0.03600510
+v 0.45005143 0.23877523 -0.03105576
+v 0.40215740 0.33142520 -0.02091727
+v -0.35548327 0.32197547 -0.01723051
+v -0.35370584 0.23882483 -0.06226388
+v 0.08185149 0.29096463 0.09187653
+v 0.44509787 0.32471277 -0.02336219
+v 0.26515151 0.23876839 0.03241707
+v -0.33742862 0.30034926 -0.05660911
+v -0.09809742 0.31355723 0.03742259
+v -0.35960151 0.24096952 0.02712088
+v 0.30442404 0.29114326 0.07319100
+v 0.42222657 0.23768298 -0.06182841
+v -0.10480596 0.25247102 0.08451818
+v -0.35370094 0.28976301 -0.06209463
+v -0.32495514 0.32915435 -0.02621366
+v 0.41007005 0.30154884 -0.05989532
+v 0.37232694 0.32619733 0.00918652
+v -0.09634845 0.29089931 0.07543761
+v 0.32055587 0.26403932 0.07633570
+v 0.39671013 0.30271625 0.03332555
+v 0.43742239 0.30041815 -0.04351943
+v -0.35433250 0.31202637 -0.04690391
+v 0.42298270 0.31686502 -0.03864474
+v -0.17325464 0.32649472 -0.00455674
+v 0.29223764 0.29656498 0.06755295
+v 0.40032788 0.32706308 0.00547621
+v 0.01039639 0.29105294 0.08957836
+v -0.35650771 0.28450087 0.01850996
+v 0.09707361 0.26787615 0.09226080
+v 0.39507738 0.27897951 0.04530016
+v 0.43687818 0.23817704 -0.04866995
+v 0.41975586 0.29655352 -0.05842596
+v 0.36548406 0.30044762 0.04574101
+v -0.00546089 0.26526938 0.09419018
+v 0.39415879 0.26637046 0.04850375
+v 0.34899587 0.29180472 0.05846978
+v 0.31935714 0.27803119 0.07249010
+f 7 1 2
+f 8 2 1
+f 11 5 8
+f 13 8 5
+f 13 2 8
+f 14 8 1
+f 14 11 8
+f 15 5 11
+f 15 13 5
+f 16 4 10
+f 17 15 9
+f 17 13 15
+f 17 16 3
+f 18 10 6
+f 19 10 4
+f 20 12 6
+f 20 14 1
+f 22 7 2
+f 23 15 11
+f 23 11 4
+f 23 4 16
+f 23 9 15
+f 23 17 9
+f 23 16 17
+f 24 17 3
+f 24 3 7
+f 24 7 17
+f 25 16 10
+f 25 10 18
+f 25 3 16
+f 26 18 6
+f 26 6 12
+f 27 7 3
+f 27 25 18
+f 27 3 25
+f 27 21 7
+f 27 26 12
+f 27 18 26
+f 28 6 10
+f 28 10 19
+f 28 19 14
+f 29 19 4
+f 29 4 11
+f 29 11 14
+f 29 14 19
+f 30 20 6
+f 30 14 20
+f 31 1 7
+f 31 7 21
+f 32 22 2
+f 32 2 13
+f 32 13 22
+f 33 17 7
+f 33 7 22
+f 33 22 13
+f 33 13 17
+f 34 27 12
+f 34 21 27
+f 35 28 14
+f 35 14 30
+f 35 30 6
+f 35 6 28
+f 36 31 20
+f 36 20 1
+f 36 1 31
+f 37 31 21
+f 37 20 31
+f 37 34 12
+f 37 21 34
+f 38 37 12
+f 38 12 20
+f 38 20 37
\ No newline at end of file
diff --git a/objects/objaverse/chips/chips_6/collision/model_normalized_collision_11.obj b/objects/objaverse/chips/chips_6/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eab0425a006992f6c4f4adfa861db6ac76fcef7e
--- /dev/null
+++ b/objects/objaverse/chips/chips_6/collision/model_normalized_collision_11.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.44184983 -0.32798702 -0.02025976
+v 0.44004929 -0.32298784 -0.02709455
+v 0.40106765 -0.12486972 0.06168162
+v 0.26680038 -0.12508212 0.09344577
+v 0.26487825 -0.31738526 0.01372967
+v 0.40223966 -0.29515387 0.03325541
+v 0.44494767 -0.20052484 -0.04192752
+v 0.31147033 -0.31083988 -0.04676752
+v 0.40177918 -0.24201168 0.04700850
+v 0.40268097 -0.31126687 0.01965412
+v 0.26318462 -0.28293051 0.04685550
+v 0.45031773 -0.26128406 -0.03131108
+v 0.26509877 -0.12401937 -0.08284792
+v 0.40218584 -0.32328609 -0.03590678
+v 0.26381601 -0.31007283 0.02164655
+v 0.41032331 -0.22938023 -0.07265720
+v 0.40139119 -0.12426149 -0.08262431
+v 0.26512661 -0.27463826 -0.06138627
+v 0.40187559 -0.32962492 -0.02419398
+v 0.43663590 -0.30001051 -0.04440504
+v 0.41047415 -0.19934320 -0.07547981
+v 0.42062048 -0.29673059 -0.05770778
+v 0.32750255 -0.22932771 -0.07187209
+v 0.43936481 -0.19997381 -0.04917567
+v 0.31195357 -0.29573838 -0.06057243
+f 9 6 1
+f 9 1 3
+f 9 3 4
+f 9 4 6
+f 10 5 1
+f 10 1 6
+f 11 6 4
+f 11 10 6
+f 12 1 2
+f 12 7 3
+f 12 3 1
+f 13 4 3
+f 13 11 4
+f 14 2 1
+f 15 5 10
+f 15 10 11
+f 17 13 3
+f 17 3 7
+f 17 16 13
+f 18 8 5
+f 18 5 15
+f 18 15 11
+f 18 11 13
+f 19 14 1
+f 19 1 5
+f 19 5 8
+f 19 8 14
+f 20 12 2
+f 21 16 17
+f 21 20 16
+f 22 16 20
+f 22 20 2
+f 22 2 14
+f 23 18 13
+f 23 13 16
+f 24 7 12
+f 24 12 20
+f 24 20 21
+f 24 21 17
+f 24 17 7
+f 25 16 22
+f 25 23 16
+f 25 18 23
+f 25 8 18
+f 25 22 14
+f 25 14 8
\ No newline at end of file
diff --git a/objects/objaverse/chips/chips_6/collision/model_normalized_collision_16.obj b/objects/objaverse/chips/chips_6/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2eb103dae63d728d5f1af7d0c77013923f87115f
--- /dev/null
+++ b/objects/objaverse/chips/chips_6/collision/model_normalized_collision_16.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.23399303 -0.31367395 -0.00600694
+v -0.23563811 -0.31290850 -0.04805552
+v -0.23463551 -0.10954441 -0.07754719
+v -0.27878863 -0.11313918 0.06598538
+v -0.28085902 -0.31337399 -0.05107862
+v -0.23362925 -0.11247209 0.06239592
+v -0.23573338 -0.29667957 -0.06194773
+v -0.27901599 -0.31289388 -0.01010536
+v -0.28007376 -0.10953125 -0.07668699
+v -0.27989516 -0.18638674 0.05249420
+v -0.28137701 -0.26030574 -0.07322378
+v -0.23473997 -0.18571688 0.04887915
+v -0.28099683 -0.29841125 -0.06371431
+v -0.23601367 -0.22992409 -0.07190149
+v -0.26629698 -0.26024412 -0.07218735
+f 5 2 1
+f 6 1 3
+f 7 1 2
+f 7 3 1
+f 7 2 5
+f 8 5 1
+f 9 6 3
+f 9 4 6
+f 10 6 4
+f 10 8 1
+f 10 5 8
+f 10 4 9
+f 11 10 9
+f 11 5 10
+f 11 9 3
+f 12 10 1
+f 12 1 6
+f 12 6 10
+f 13 11 7
+f 13 7 5
+f 13 5 11
+f 14 11 3
+f 14 3 7
+f 15 14 7
+f 15 7 11
+f 15 11 14
\ No newline at end of file
diff --git a/objects/objaverse/chips/chips_6/collision/model_normalized_collision_20.obj b/objects/objaverse/chips/chips_6/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e8ab6821899e08616b24a1829ad9ae2b3582798f
--- /dev/null
+++ b/objects/objaverse/chips/chips_6/collision/model_normalized_collision_20.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v -0.41479152 -0.27310600 -0.00693577
+v -0.41381072 -0.27638312 -0.04889879
+v -0.41243886 0.30365630 -0.01215510
+v -0.46075484 0.32615840 -0.03006676
+v -0.45970814 -0.27638312 -0.03523490
+v -0.41520718 0.30635206 -0.04312864
+v -0.40846822 -0.08092874 0.02264177
+v -0.43025287 0.30575937 -0.04201465
+v -0.40936563 0.23616863 0.00588945
+v -0.41619492 0.31967716 -0.03318522
+v -0.45327176 -0.27421620 -0.01531105
+v -0.40894307 -0.15357092 0.02055047
+v -0.44186433 -0.01916282 -0.04038979
+v -0.44000997 0.29718373 -0.01539362
+v -0.41568505 0.31834047 -0.02266101
+v -0.46323976 0.32161898 -0.02815946
+v -0.41308583 -0.25497353 -0.00001620
+v -0.41964279 -0.15264865 0.01371071
+v -0.42768328 -0.25400521 -0.00269020
+v -0.41745010 -0.08206906 0.01528551
+f 5 2 1
+f 8 6 2
+f 8 4 6
+f 9 6 3
+f 9 2 6
+f 9 7 2
+f 10 6 4
+f 10 3 6
+f 11 5 1
+f 12 2 7
+f 13 5 4
+f 13 4 8
+f 13 8 2
+f 13 2 5
+f 14 9 3
+f 15 10 4
+f 15 4 3
+f 15 3 10
+f 16 4 5
+f 16 5 11
+f 16 7 9
+f 16 9 14
+f 16 14 3
+f 16 3 4
+f 17 1 2
+f 17 2 12
+f 18 12 7
+f 18 11 12
+f 19 17 12
+f 19 12 11
+f 19 11 1
+f 19 1 17
+f 20 16 11
+f 20 11 18
+f 20 18 7
+f 20 7 16
\ No newline at end of file
diff --git a/objects/objaverse/chips/chips_6/collision/model_normalized_collision_23.obj b/objects/objaverse/chips/chips_6/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f9a8b603056c18c81cad5a52b344403e70bebc51
--- /dev/null
+++ b/objects/objaverse/chips/chips_6/collision/model_normalized_collision_23.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.40278684 -0.32341117 0.00782134
+v 0.42424602 -0.27833116 -0.05603543
+v 0.40118704 -0.28143864 0.03678919
+v 0.00523987 -0.27829507 0.02626456
+v 0.00732415 -0.33019056 -0.02382121
+v 0.19016428 -0.27379415 -0.05847040
+v 0.03992407 -0.31844745 0.00609756
+v 0.40161006 -0.31982794 -0.04225835
+v 0.31141158 -0.27564412 -0.06583147
+v 0.00858346 -0.30125964 -0.05748067
+v 0.00959534 -0.31465644 0.00578996
+v 0.40218584 -0.32328609 -0.03590678
+v 0.31195357 -0.29573838 -0.06057243
+v 0.00915706 -0.32265368 -0.00652048
+f 1 2 3
+f 6 4 3
+f 7 1 3
+f 7 3 4
+f 7 5 1
+f 9 6 3
+f 9 3 2
+f 10 5 4
+f 10 4 6
+f 10 6 9
+f 10 8 5
+f 11 7 4
+f 11 4 5
+f 12 8 2
+f 12 2 1
+f 12 1 5
+f 12 5 8
+f 13 9 2
+f 13 2 8
+f 13 10 9
+f 13 8 10
+f 14 11 5
+f 14 5 7
+f 14 7 11
\ No newline at end of file
diff --git a/objects/objaverse/chips/chips_6/collision/model_normalized_collision_25.obj b/objects/objaverse/chips/chips_6/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..978bf69f175bf180187c8800f23af3c290f8364f
--- /dev/null
+++ b/objects/objaverse/chips/chips_6/collision/model_normalized_collision_25.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.43660479 -0.12486797 -0.00755186
+v 0.42561540 -0.12726178 -0.06752648
+v 0.39900754 0.05590849 -0.08853773
+v 0.26515151 0.05695021 0.00211404
+v 0.26515151 -0.12486797 0.00211404
+v 0.42211586 0.05699910 0.02965163
+v 0.26496418 -0.07652968 -0.09185063
+v 0.26514943 0.06213018 -0.09474306
+v 0.38624572 -0.12429111 -0.08292564
+v 0.26491126 -0.09086652 -0.08843345
+v 0.40121840 -0.01800918 -0.08955268
+v 0.26509877 -0.12401937 -0.08284792
+v 0.33949317 0.05499546 -0.09237286
+v 0.38602152 -0.06334170 -0.08735214
+f 5 2 1
+f 6 5 1
+f 6 4 5
+f 6 1 2
+f 6 2 3
+f 8 6 3
+f 8 4 6
+f 10 5 4
+f 10 8 7
+f 10 4 8
+f 11 7 8
+f 11 3 2
+f 11 2 9
+f 12 9 2
+f 12 2 5
+f 12 5 10
+f 12 10 7
+f 12 7 9
+f 13 11 8
+f 13 8 3
+f 13 3 11
+f 14 11 9
+f 14 9 7
+f 14 7 11
\ No newline at end of file
diff --git a/objects/objaverse/chips/chips_6/collision/model_normalized_collision_29.obj b/objects/objaverse/chips/chips_6/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4d09e9f2fbb7a0f00175f6ba047009b1a0d4d4c4
--- /dev/null
+++ b/objects/objaverse/chips/chips_6/collision/model_normalized_collision_29.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v -0.28053166 -0.33012591 -0.02491237
+v -0.28099683 -0.29841125 -0.06371431
+v -0.27911412 0.07136716 -0.07420749
+v -0.36301210 0.07256428 -0.05917198
+v -0.35621779 -0.32353011 -0.02546508
+v -0.30873213 -0.28911776 -0.07339735
+v -0.28143864 -0.27540413 -0.07233029
+v -0.32096566 0.04087164 -0.07088140
+v -0.35391198 -0.27619113 -0.06379376
+v -0.30786783 -0.30817248 -0.05745698
+v -0.29657603 -0.28910359 -0.07255977
+v -0.29416590 0.07130554 -0.07298384
+v -0.35450755 -0.31201679 -0.04762775
+v -0.32189252 -0.26088625 -0.07107682
+v -0.28092972 -0.32371425 -0.03487297
+v -0.35330455 0.07191834 -0.06135966
+v -0.28400873 0.07439126 -0.07365629
+v -0.35296116 -0.29452718 -0.05927706
+v -0.31024729 -0.32997300 -0.02681553
+v -0.29662399 -0.30788967 -0.05690703
+v -0.31009532 -0.32451481 -0.03539995
+f 1 2 3
+f 5 1 4
+f 7 6 3
+f 7 3 2
+f 9 4 8
+f 11 7 2
+f 11 6 7
+f 11 10 6
+f 11 2 10
+f 12 3 6
+f 12 6 8
+f 13 5 4
+f 13 4 9
+f 13 6 10
+f 14 9 8
+f 14 8 6
+f 14 6 9
+f 15 2 1
+f 16 12 8
+f 16 8 4
+f 17 3 12
+f 17 1 3
+f 17 4 1
+f 17 16 4
+f 17 12 16
+f 18 13 9
+f 18 9 6
+f 18 6 13
+f 19 1 5
+f 19 5 13
+f 20 15 10
+f 20 10 2
+f 20 2 15
+f 21 19 13
+f 21 13 10
+f 21 10 15
+f 21 15 1
+f 21 1 19
\ No newline at end of file
diff --git a/objects/objaverse/chips/chips_6/collision/model_normalized_collision_31.obj b/objects/objaverse/chips/chips_6/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..89cb1d07606514877d9cbf9eae23e42da5502e99
--- /dev/null
+++ b/objects/objaverse/chips/chips_6/collision/model_normalized_collision_31.obj
@@ -0,0 +1,18 @@
+# https://github.com/mikedh/trimesh
+v -0.45739749 -0.32773843 -0.02999347
+v -0.50000001 0.32307903 -0.02621843
+v -0.47033821 -0.32164828 -0.03027596
+v -0.46075484 0.32615840 -0.03006676
+v -0.46323976 0.32161898 -0.02815946
+v -0.47315421 0.32032302 -0.03033744
+v -0.50000001 -0.32307903 -0.02694898
+f 5 1 4
+f 5 4 2
+f 6 2 4
+f 6 1 3
+f 6 4 1
+f 7 3 1
+f 7 6 3
+f 7 2 6
+f 7 5 2
+f 7 1 5
\ No newline at end of file
diff --git a/objects/objaverse/chips/chips_6/collision/model_normalized_collision_4.obj b/objects/objaverse/chips/chips_6/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ab2090cdd952878b186bf7296c454c510882b74
--- /dev/null
+++ b/objects/objaverse/chips/chips_6/collision/model_normalized_collision_4.obj
@@ -0,0 +1,105 @@
+# https://github.com/mikedh/trimesh
+v -0.16945028 0.09947651 0.06895959
+v -0.09848486 0.23876839 0.01726555
+v -0.09668397 0.28031906 0.07817952
+v -0.35548327 0.32197547 -0.01723051
+v -0.38014841 0.09972097 0.02624811
+v -0.09857789 0.32220772 0.01454195
+v -0.09802209 0.23776523 0.08920886
+v -0.18934807 0.32882603 -0.01334727
+v -0.14196660 0.31169816 0.03547235
+v -0.15791252 0.10346552 0.07199132
+v -0.30733688 0.21739689 0.05923435
+v -0.18642964 0.28998942 0.06122141
+v -0.09809742 0.31355723 0.03742259
+v -0.33397315 0.10478309 0.04399111
+v -0.38373138 0.16227689 0.02802396
+v -0.24696334 0.19710513 0.07568738
+v -0.31972831 0.28920161 0.03067446
+v -0.12585279 0.27938225 0.07464860
+v -0.19217080 0.32268205 0.00217997
+v -0.23974580 0.09947651 0.05813230
+v -0.31884726 0.18053188 0.05921182
+v -0.15610319 0.13539725 0.07811415
+v -0.24681316 0.20240204 0.07485528
+v -0.26123463 0.28936683 0.04574046
+v -0.35137749 0.28940229 0.01925848
+v -0.34768052 0.20250093 0.04528346
+v -0.31716792 0.20235177 0.05999891
+v -0.34917638 0.15021990 0.04413075
+v -0.21540710 0.27898478 0.05913669
+v -0.15575499 0.26373914 0.07387648
+v -0.35341860 0.31667366 -0.00916846
+v -0.30722111 0.26284915 0.04408547
+v -0.36025665 0.29836310 0.00507532
+v -0.36593712 0.16332005 0.03665140
+v -0.27690739 0.29667632 0.03307047
+v -0.32232407 0.31277792 0.00260300
+f 5 2 1
+f 6 3 2
+f 7 2 3
+f 8 5 4
+f 8 2 5
+f 8 6 2
+f 10 1 2
+f 10 2 7
+f 12 9 4
+f 13 3 6
+f 13 6 8
+f 13 4 9
+f 13 12 3
+f 13 9 12
+f 15 4 5
+f 18 7 3
+f 18 3 12
+f 19 13 8
+f 19 8 4
+f 19 4 13
+f 20 14 5
+f 20 5 1
+f 20 1 10
+f 20 16 14
+f 20 10 16
+f 21 14 16
+f 22 16 10
+f 22 10 7
+f 22 7 16
+f 23 16 7
+f 26 25 15
+f 27 21 16
+f 27 11 25
+f 27 25 26
+f 27 23 11
+f 27 16 23
+f 28 15 5
+f 28 5 14
+f 28 14 21
+f 29 23 12
+f 29 11 23
+f 29 24 11
+f 29 12 24
+f 30 18 12
+f 30 12 23
+f 30 23 7
+f 30 7 18
+f 31 17 24
+f 31 25 17
+f 32 24 17
+f 32 11 24
+f 32 25 11
+f 32 17 25
+f 33 4 15
+f 33 15 25
+f 33 31 4
+f 33 25 31
+f 34 27 26
+f 34 26 15
+f 34 21 27
+f 34 28 21
+f 34 15 28
+f 35 31 24
+f 35 24 12
+f 36 12 4
+f 36 4 31
+f 36 35 12
+f 36 31 35
\ No newline at end of file
diff --git a/objects/objaverse/chips/chips_6/collision/model_normalized_collision_5.obj b/objects/objaverse/chips/chips_6/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0fc89a9ac256e0bdacfb2365e5bf8d07ab7026ff
--- /dev/null
+++ b/objects/objaverse/chips/chips_6/collision/model_normalized_collision_5.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v 0.49999999 -0.32978057 -0.01156991
+v 0.38444769 -0.01707429 -0.09217344
+v 0.40079293 0.33402202 -0.00505739
+v 0.39530122 0.25163840 0.05071153
+v 0.49999999 0.32978057 -0.01156991
+v 0.40140371 -0.19938058 -0.07555262
+v 0.40948007 -0.24208078 0.04712002
+v 0.39671013 0.30271625 0.03332555
+v 0.41106661 -0.03309558 -0.08851306
+v 0.40143465 0.14704848 -0.07956487
+v 0.40187559 -0.32962492 -0.02419398
+v 0.41051286 -0.29577581 0.03283505
+v 0.41793482 -0.10073409 0.04900337
+v 0.39925804 0.31646749 0.02106404
+v 0.40984212 0.30055388 0.03068830
+v 0.41047415 -0.19934320 -0.07547981
+v 0.40215740 0.33142520 -0.02091727
+v 0.41103320 0.05577277 -0.08658987
+v 0.40235914 -0.33675892 -0.01108702
+v 0.38624572 -0.12429111 -0.08292564
+v 0.40734120 0.25049597 0.04469841
+v 0.40177918 -0.24201168 0.04700850
+v 0.41814062 -0.22823299 0.04616665
+v 0.44019555 -0.31472237 -0.03236523
+v 0.44010653 0.32029099 -0.02881002
+v 0.39900754 0.05590849 -0.08853773
+v 0.41780138 0.14674714 -0.07377472
+v 0.44264378 -0.33659980 -0.01036513
+v 0.40223966 -0.29515387 0.03325541
+v 0.44232655 -0.32431358 0.00180752
+v 0.40259537 -0.33622494 -0.01038675
+f 8 3 2
+f 8 2 4
+f 9 5 1
+f 12 1 7
+f 13 1 5
+f 14 8 5
+f 14 5 3
+f 14 3 8
+f 15 8 4
+f 15 4 5
+f 15 5 8
+f 16 2 9
+f 16 9 1
+f 17 10 2
+f 17 2 3
+f 17 3 5
+f 18 5 9
+f 20 6 11
+f 20 16 6
+f 20 2 16
+f 20 11 19
+f 20 4 2
+f 21 13 5
+f 21 5 4
+f 21 4 13
+f 22 13 4
+f 22 7 13
+f 22 4 20
+f 23 13 7
+f 23 7 1
+f 23 1 13
+f 24 11 6
+f 24 6 16
+f 24 16 1
+f 24 1 11
+f 25 17 5
+f 25 5 10
+f 25 10 17
+f 26 18 9
+f 26 9 2
+f 26 2 10
+f 26 10 18
+f 27 18 10
+f 27 10 5
+f 27 5 18
+f 28 19 11
+f 28 11 1
+f 29 22 20
+f 29 20 19
+f 29 12 7
+f 29 7 22
+f 30 28 1
+f 30 1 12
+f 30 12 28
+f 31 28 12
+f 31 19 28
+f 31 29 19
+f 31 12 29
\ No newline at end of file
diff --git a/objects/objaverse/chips/chips_6/collision/model_normalized_collision_6.obj b/objects/objaverse/chips/chips_6/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd3e691305e28d7b449e3d807f9d153aaa61d620
--- /dev/null
+++ b/objects/objaverse/chips/chips_6/collision/model_normalized_collision_6.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.45294926 0.14810938 -0.03227953
+v 0.43204937 0.14698498 -0.05912157
+v 0.43687818 0.23817704 -0.04866995
+v -0.10480596 0.25247102 0.08451818
+v -0.10599217 0.15254644 0.09018783
+v -0.09901527 0.23786838 -0.06177033
+v 0.26515151 0.23876839 0.03241707
+v 0.26515151 0.14785930 0.03241707
+v 0.41035845 0.22218850 -0.07288645
+v 0.32541633 0.23734752 -0.07243237
+v -0.09876070 0.16254276 -0.06746880
+v 0.45005143 0.23877523 -0.03105576
+v 0.00772668 0.14755920 -0.06681320
+v 0.41780138 0.14674714 -0.07377472
+v 0.42222657 0.23768298 -0.06182841
+v 0.13118407 0.19176281 -0.07156434
+v 0.00757575 0.14785930 0.03241707
+v 0.11617833 0.14650944 -0.07339609
+f 1 2 3
+f 6 5 4
+f 7 4 5
+f 8 2 1
+f 8 7 5
+f 10 6 4
+f 11 5 6
+f 12 1 3
+f 12 3 4
+f 12 4 7
+f 12 8 1
+f 12 7 8
+f 13 5 11
+f 14 3 2
+f 14 2 8
+f 15 10 4
+f 15 4 3
+f 15 9 10
+f 15 14 9
+f 15 3 14
+f 16 11 6
+f 16 6 10
+f 17 8 5
+f 17 5 13
+f 18 13 11
+f 18 11 16
+f 18 16 10
+f 18 10 9
+f 18 9 14
+f 18 17 13
+f 18 14 8
+f 18 8 17
\ No newline at end of file
diff --git a/objects/objaverse/chips/chips_6/collision/model_normalized_collision_7.obj b/objects/objaverse/chips/chips_6/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..713f273d7e28124e2065c053229522328695d119
--- /dev/null
+++ b/objects/objaverse/chips/chips_6/collision/model_normalized_collision_7.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.14561783 -0.19062338 -0.07250652
+v 0.08333333 -0.01880737 0.00211404
+v -0.28149136 -0.00205838 0.05560858
+v -0.23582879 -0.18462893 -0.07458198
+v -0.23112491 -0.19380629 0.04708085
+v 0.14691518 -0.11734998 -0.08559302
+v -0.03596949 -0.15269151 -0.08681534
+v 0.08333333 -0.18547403 0.00211404
+v -0.28030304 -0.10971646 0.00211404
+v 0.06661758 -0.15224464 -0.08660497
+v -0.27935457 -0.00304608 -0.07776675
+v -0.28007376 -0.10953125 -0.07668699
+v 0.08335124 -0.01875896 -0.10369274
+v 0.12772236 -0.10698320 -0.08881765
+v 0.00811545 -0.00366831 -0.09940432
+v 0.14382988 -0.10943554 -0.08724016
+v 0.00757575 -0.00365585 0.00211404
+f 5 4 1
+f 6 2 1
+f 7 1 4
+f 8 5 1
+f 8 1 2
+f 8 2 3
+f 8 3 5
+f 9 5 3
+f 10 6 1
+f 10 1 7
+f 12 4 5
+f 12 5 9
+f 12 9 3
+f 12 3 11
+f 13 10 7
+f 13 7 4
+f 13 4 12
+f 14 10 13
+f 15 13 12
+f 15 12 11
+f 15 11 3
+f 15 2 13
+f 16 13 2
+f 16 2 6
+f 16 14 13
+f 16 6 10
+f 16 10 14
+f 17 15 3
+f 17 3 2
+f 17 2 15
\ No newline at end of file
diff --git a/objects/objaverse/chips/chips_6/model.xml b/objects/objaverse/chips/chips_6/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..6466c80e319f30957a9e21e46a7f27470b057fda
--- /dev/null
+++ b/objects/objaverse/chips/chips_6/model.xml
@@ -0,0 +1,85 @@
+<mujoco model="chips_3">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.15499999999999997 0.15499999999999997 0.15499999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="visual/model_normalized_1.obj" name="model_normalized_1_vis" scale="0.15499999999999997 0.15499999999999997 0.15499999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.15499999999999997 0.15499999999999997 0.15499999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.15499999999999997 0.15499999999999997 0.15499999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.15499999999999997 0.15499999999999997 0.15499999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.15499999999999997 0.15499999999999997 0.15499999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.15499999999999997 0.15499999999999997 0.15499999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.15499999999999997 0.15499999999999997 0.15499999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.15499999999999997 0.15499999999999997 0.15499999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.15499999999999997 0.15499999999999997 0.15499999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.15499999999999997 0.15499999999999997 0.15499999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.15499999999999997 0.15499999999999997 0.15499999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.15499999999999997 0.15499999999999997 0.15499999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.15499999999999997 0.15499999999999997 0.15499999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.15499999999999997 0.15499999999999997 0.15499999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.15499999999999997 0.15499999999999997 0.15499999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.15499999999999997 0.15499999999999997 0.15499999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.15499999999999997 0.15499999999999997 0.15499999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.15499999999999997 0.15499999999999997 0.15499999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.15499999999999997 0.15499999999999997 0.15499999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.15499999999999997 0.15499999999999997 0.15499999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.15499999999999997 0.15499999999999997 0.15499999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.15499999999999997 0.15499999999999997 0.15499999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.15499999999999997 0.15499999999999997 0.15499999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.15499999999999997 0.15499999999999997 0.15499999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.15499999999999997 0.15499999999999997 0.15499999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.15499999999999997 0.15499999999999997 0.15499999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.15499999999999997 0.15499999999999997 0.15499999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.15499999999999997 0.15499999999999997 0.15499999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.15499999999999997 0.15499999999999997 0.15499999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.15499999999999997 0.15499999999999997 0.15499999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.15499999999999997 0.15499999999999997 0.15499999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.15499999999999997 0.15499999999999997 0.15499999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.15499999999999997 0.15499999999999997 0.15499999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <texture type="2d" name="image1" file="visual/image1.png"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="phong1" texture="image1" specular="0.5" shininess="0.021881282"/>
+    <material name="phong2" texture="image0" specular="0.5" shininess="0.021881282"/>
+  </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="phong1"/>
+        <geom solimp="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="phong2"/>
+        <geom solimp="0.998 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="-0.00021210975000000322 1.5500000034862623e-09 -0.0160723747" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="-0.00021210975000000322 1.5500000034862623e-09 0.016678638599999997" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.051773413099999985 0.07750000154999999 0.00030313194999999934" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/objects/objaverse/donut/donut_1/collision/model_normalized_collision_0.obj b/objects/objaverse/donut/donut_1/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d540a3ca9d42421ca1d9856a38665059c462a75
--- /dev/null
+++ b/objects/objaverse/donut/donut_1/collision/model_normalized_collision_0.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.15183408 0.07005655 0.08272268
+v 0.15259879 0.08822346 -0.09030150
+v 0.13868319 0.35154162 0.16342729
+v 0.00487077 0.35141168 0.16848068
+v 0.00680151 0.14375293 -0.06038560
+v 0.15003000 0.23701642 0.17031446
+v 0.15226862 0.07178483 -0.06264615
+v 0.00671719 0.15703424 0.09030646
+v 0.14228183 0.35070200 -0.18617028
+v 0.10051075 0.29283296 0.17606602
+v 0.15297630 0.08289768 0.10073099
+v 0.00684624 0.16039756 -0.10074292
+v 0.00697763 0.14403303 0.00615565
+v 0.00153495 0.24834132 0.16375885
+v 0.15098434 0.16651664 -0.15679541
+v 0.00760613 0.35319235 -0.19104305
+v 0.13117591 0.28702808 0.17282576
+v 0.00736439 0.21341672 -0.15671866
+v 0.14629865 0.23769067 -0.18514259
+v 0.15013410 0.14958699 -0.14553016
+v 0.00753444 0.26969561 -0.18407599
+v 0.14868191 0.19505680 -0.17071504
+f 7 1 5
+f 9 3 6
+f 10 3 4
+f 11 7 2
+f 11 1 7
+f 11 8 1
+f 12 7 5
+f 12 2 7
+f 13 5 1
+f 13 1 8
+f 14 13 8
+f 14 5 13
+f 14 12 5
+f 14 10 4
+f 14 6 10
+f 14 11 6
+f 14 8 11
+f 15 9 6
+f 15 11 2
+f 15 6 11
+f 16 4 3
+f 16 3 9
+f 16 14 4
+f 17 10 6
+f 17 6 3
+f 17 3 10
+f 18 2 12
+f 18 12 14
+f 19 16 9
+f 19 9 15
+f 20 18 15
+f 20 15 2
+f 20 2 18
+f 21 18 14
+f 21 14 16
+f 21 16 19
+f 22 21 19
+f 22 19 15
+f 22 15 18
+f 22 18 21
\ No newline at end of file
diff --git a/objects/objaverse/donut/donut_1/collision/model_normalized_collision_1.obj b/objects/objaverse/donut/donut_1/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d5d95987cab224ad81b4b45e55b627464e7c048e
--- /dev/null
+++ b/objects/objaverse/donut/donut_1/collision/model_normalized_collision_1.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v 0.26778178 -0.27872964 0.16963536
+v 0.26297684 -0.27926763 -0.18820386
+v 0.30997915 -0.20512468 0.15929928
+v 0.24029753 -0.06655556 0.16827758
+v 0.00703800 -0.26526896 0.12369143
+v 0.26582866 -0.09988308 -0.18428508
+v 0.27099795 -0.08164645 0.18145648
+v 0.31223861 -0.23767232 0.16850722
+v 0.00766721 -0.28316114 -0.18170322
+v 0.08378852 -0.28285464 0.15797460
+v 0.26724837 -0.07023081 0.15695857
+v 0.30790904 -0.20299818 0.17713508
+v 0.26919263 -0.11642728 -0.18709662
+v 0.00822663 -0.18992547 -0.08907382
+v 0.08462683 -0.28563732 -0.18708409
+v 0.24882191 -0.09674025 0.17816167
+v 0.26611439 -0.06985951 0.17446933
+v 0.30713947 -0.21723631 0.17453359
+v 0.22346572 -0.26114969 0.17457791
+v 0.00889746 -0.18901729 0.07691457
+v 0.15068651 -0.08808108 -0.04859802
+v 0.00820028 -0.20446873 -0.11705713
+v 0.11543445 -0.28457173 0.16166937
+v 0.30892116 -0.23423187 0.17024378
+v 0.25155940 -0.27074096 0.17304597
+v 0.00862824 -0.20131837 0.09171122
+v 0.16218599 -0.09855250 0.10608909
+v 0.00801532 -0.26040878 -0.17081543
+v 0.20348669 -0.10664717 -0.15213284
+v 0.14705788 -0.09549856 0.00748185
+v 0.23401516 -0.06906157 0.16358066
+v 0.22968359 -0.10392154 -0.16892487
+v 0.17595108 -0.10917210 -0.12707974
+f 8 1 2
+f 10 5 9
+f 10 4 5
+f 11 6 4
+f 11 7 3
+f 11 3 6
+f 12 8 3
+f 12 3 7
+f 13 6 3
+f 13 3 8
+f 13 8 2
+f 13 9 6
+f 14 9 5
+f 15 13 2
+f 15 9 13
+f 16 10 7
+f 16 7 4
+f 16 4 10
+f 17 11 4
+f 17 4 7
+f 17 7 11
+f 18 12 1
+f 18 8 12
+f 19 12 7
+f 19 7 10
+f 20 14 5
+f 21 4 6
+f 21 14 20
+f 22 9 14
+f 23 10 9
+f 23 9 15
+f 23 19 10
+f 23 15 2
+f 23 2 1
+f 24 18 1
+f 24 1 8
+f 24 8 18
+f 25 1 12
+f 25 12 19
+f 25 23 1
+f 25 19 23
+f 26 20 5
+f 26 5 4
+f 26 4 20
+f 28 6 9
+f 28 9 22
+f 30 21 20
+f 30 20 27
+f 31 27 20
+f 31 20 4
+f 31 30 27
+f 31 4 21
+f 31 21 30
+f 32 29 21
+f 32 21 6
+f 32 6 28
+f 32 28 22
+f 32 22 29
+f 33 29 22
+f 33 22 14
+f 33 14 21
+f 33 21 29
\ No newline at end of file
diff --git a/objects/objaverse/donut/donut_1/collision/model_normalized_collision_10.obj b/objects/objaverse/donut/donut_1/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8aecdd3ab08f7583e4c7113a11674ea9644693f
--- /dev/null
+++ b/objects/objaverse/donut/donut_1/collision/model_normalized_collision_10.obj
@@ -0,0 +1,123 @@
+# https://github.com/mikedh/trimesh
+v 0.25199087 0.41848233 0.01046123
+v 0.25403961 0.42173240 -0.08296154
+v 0.16757163 0.47294299 -0.03620687
+v 0.00934199 0.48835868 0.07526828
+v -0.08266736 0.41227543 -0.16572701
+v 0.12449711 0.47343130 0.07694448
+v 0.22410812 0.44287635 -0.02660378
+v 0.12716379 0.41003128 -0.16283930
+v 0.00662288 0.42606444 0.11393034
+v 0.00804416 0.48845191 -0.08848279
+v 0.11003959 0.48898531 -0.03647201
+v 0.24187315 0.43240485 -0.07538448
+v 0.21061414 0.44294718 0.01220781
+v -0.08275468 0.45820835 -0.12355077
+v 0.00055118 0.47624935 0.09461379
+v 0.14449137 0.41709682 0.10361642
+v 0.05093168 0.48770549 0.07646797
+v 0.22507312 0.44243200 -0.07375570
+v 0.24527173 0.42296878 0.01165081
+v 0.19577621 0.45811222 -0.02576550
+v -0.08748364 0.43547059 -0.14737965
+v -0.06647606 0.46546662 -0.11778104
+v 0.13928954 0.46081916 0.08815975
+v 0.13832785 0.47238193 -0.08752751
+v 0.08120360 0.43269307 -0.15436307
+v -0.06548783 0.45920870 -0.12655534
+v 0.08025141 0.47488633 0.08733080
+v 0.11011976 0.48807435 -0.06079270
+v 0.16716389 0.47210799 -0.06042014
+v 0.13857574 0.45793823 -0.11326982
+v -0.06565178 0.43205768 -0.15395306
+v -0.07990439 0.44456323 -0.14013819
+v -0.02132029 0.47331263 -0.11421356
+v 0.05180621 0.48748682 -0.08794501
+v 0.19595437 0.45681971 -0.07354156
+v 0.12552485 0.41966396 -0.15659445
+v -0.08160622 0.42229002 -0.15912126
+v 0.09544830 0.48725427 -0.07406257
+v 0.10958513 0.47333265 -0.10019132
+v 0.05184489 0.47344610 -0.11410890
+v 0.09551443 0.44562122 -0.14071622
+v 0.09512377 0.45865170 -0.12657814
+f 8 2 1
+f 11 6 3
+f 11 10 4
+f 12 7 1
+f 12 1 2
+f 15 14 9
+f 15 4 14
+f 16 8 1
+f 16 9 5
+f 16 5 8
+f 17 11 4
+f 17 6 11
+f 17 4 15
+f 18 7 12
+f 18 12 2
+f 19 13 6
+f 19 1 7
+f 19 7 13
+f 20 13 7
+f 20 3 6
+f 20 6 13
+f 20 18 3
+f 20 7 18
+f 21 5 9
+f 21 9 14
+f 22 14 4
+f 22 4 10
+f 23 16 1
+f 23 15 9
+f 23 9 16
+f 23 19 6
+f 23 1 19
+f 25 8 5
+f 26 14 22
+f 27 17 15
+f 27 15 23
+f 27 23 6
+f 27 6 17
+f 28 11 3
+f 28 10 11
+f 29 3 18
+f 29 28 3
+f 29 24 28
+f 30 18 2
+f 31 25 5
+f 32 21 14
+f 32 14 26
+f 32 31 21
+f 32 26 31
+f 33 26 22
+f 33 22 10
+f 33 31 26
+f 33 25 31
+f 34 10 28
+f 35 29 18
+f 35 24 29
+f 35 30 24
+f 35 18 30
+f 36 30 2
+f 36 2 8
+f 36 8 25
+f 37 31 5
+f 37 5 21
+f 37 21 31
+f 38 34 28
+f 38 28 24
+f 39 24 30
+f 39 38 24
+f 39 34 38
+f 40 33 10
+f 40 10 34
+f 40 34 39
+f 40 25 33
+f 41 36 25
+f 41 30 36
+f 41 25 40
+f 42 41 40
+f 42 40 39
+f 42 39 30
+f 42 30 41
\ No newline at end of file
diff --git a/objects/objaverse/donut/donut_1/collision/model_normalized_collision_11.obj b/objects/objaverse/donut/donut_1/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2f2ae23a33cad45d04cb86076269b780b66db95a
--- /dev/null
+++ b/objects/objaverse/donut/donut_1/collision/model_normalized_collision_11.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v -0.22335507 -0.13429922 0.11753343
+v -0.23484848 -0.14511377 -0.00435075
+v -0.23484848 0.23367412 -0.00435075
+v -0.33804409 0.24762278 0.11107732
+v -0.47237344 -0.15247287 -0.00498448
+v -0.23401175 0.23369404 0.12726379
+v -0.41821340 -0.14532228 0.08837065
+v -0.43004670 0.24082056 -0.00400937
+v -0.32561425 0.24876814 0.11652953
+v -0.45220939 0.16033687 -0.00443125
+v -0.35249041 -0.02556555 0.13165020
+v -0.44631639 0.09717964 0.07066407
+v -0.33398400 0.18360810 0.12732748
+v -0.27248058 -0.02677182 0.13379430
+v -0.44695929 0.15791375 0.05624521
+v -0.44295571 -0.14435526 0.06784356
+v -0.40658905 0.09522783 0.09951789
+v -0.32258736 0.24804568 0.12248768
+v -0.26305734 0.00924317 0.13185468
+v -0.27985162 0.22880467 0.13929285
+v -0.40621468 0.22946751 0.07287207
+v -0.34448159 0.03180535 0.13191277
+v -0.38761301 0.18810465 0.10171032
+v -0.30038376 0.22576858 0.13406298
+v -0.38991037 0.22893908 0.08500425
+f 1 2 3
+f 5 3 2
+f 6 1 3
+f 7 5 2
+f 7 2 1
+f 9 6 3
+f 9 8 4
+f 9 3 8
+f 10 8 3
+f 10 3 5
+f 11 7 1
+f 14 11 1
+f 15 10 5
+f 15 5 12
+f 15 8 10
+f 16 12 5
+f 16 5 7
+f 16 7 12
+f 17 12 7
+f 17 7 11
+f 18 9 4
+f 18 6 9
+f 19 14 1
+f 19 1 6
+f 20 11 14
+f 20 6 18
+f 20 19 6
+f 20 14 19
+f 21 4 8
+f 21 8 15
+f 21 18 4
+f 22 17 11
+f 22 13 17
+f 22 20 13
+f 22 11 20
+f 23 17 13
+f 23 13 18
+f 23 12 17
+f 23 21 15
+f 23 15 12
+f 24 20 18
+f 24 18 13
+f 24 13 20
+f 25 23 18
+f 25 18 21
+f 25 21 23
\ No newline at end of file
diff --git a/objects/objaverse/donut/donut_1/collision/model_normalized_collision_12.obj b/objects/objaverse/donut/donut_1/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4290aa8436fb711240a05004d8a85c4255c88823
--- /dev/null
+++ b/objects/objaverse/donut/donut_1/collision/model_normalized_collision_12.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v -0.08910136 -0.17070823 0.07804596
+v -0.07120155 -0.16735742 -0.06318980
+v -0.17774445 -0.02574869 0.01976884
+v -0.23332064 -0.02350455 0.08889805
+v -0.23586352 -0.16093355 -0.18295945
+v -0.18899138 -0.02606107 0.07316171
+v -0.07077120 -0.16639390 0.00927070
+v -0.15109973 -0.16816219 -0.14459982
+v -0.22181942 -0.14773572 0.12171054
+v -0.20887230 -0.02299549 -0.13199743
+v -0.17712494 -0.02498077 -0.07444572
+v -0.08796124 -0.16906876 -0.09082870
+v -0.13578450 -0.16859836 0.10579928
+v -0.24148049 -0.10237846 -0.17293524
+v -0.18881959 -0.02478844 -0.10245890
+v -0.20962988 -0.16404842 -0.17437751
+v -0.14793969 -0.16456278 0.11073684
+f 6 3 4
+f 7 1 2
+f 7 6 1
+f 7 3 6
+f 11 7 2
+f 11 3 7
+f 11 10 4
+f 11 4 3
+f 12 2 1
+f 12 1 8
+f 12 10 2
+f 12 8 10
+f 13 8 1
+f 13 9 5
+f 13 1 6
+f 14 9 4
+f 14 5 9
+f 14 4 10
+f 14 10 8
+f 15 11 2
+f 15 2 10
+f 15 10 11
+f 16 13 5
+f 16 8 13
+f 16 14 8
+f 16 5 14
+f 17 13 6
+f 17 6 4
+f 17 4 9
+f 17 9 13
\ No newline at end of file
diff --git a/objects/objaverse/donut/donut_1/collision/model_normalized_collision_13.obj b/objects/objaverse/donut/donut_1/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8d2d5de838c334f25956691be59512302b724860
--- /dev/null
+++ b/objects/objaverse/donut/donut_1/collision/model_normalized_collision_13.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.38679642 0.22428072 0.12393083
+v 0.45279332 0.23333965 -0.02599243
+v 0.28184092 0.39770823 0.07525142
+v 0.14114226 0.46689747 0.08018814
+v 0.14629865 0.23769067 -0.18514259
+v 0.18201842 0.44275241 -0.11279530
+v 0.23082791 0.36974631 0.13516614
+v 0.35508153 0.32716477 0.07428466
+v 0.38969234 0.22646319 -0.14302126
+v 0.29724305 0.39834274 -0.06094630
+v 0.12559635 0.44876363 -0.12993810
+v 0.21043540 0.44207592 0.07553982
+v 0.15003000 0.23701642 0.17031446
+v 0.42848147 0.23940585 0.04673585
+v 0.35233763 0.31023818 0.09974722
+v 0.43519594 0.22734487 -0.07621870
+v 0.34779838 0.22796278 -0.17014044
+v 0.28412636 0.35612325 -0.13883945
+v 0.44810107 0.24803630 -0.02220312
+v 0.29658618 0.39791623 -0.03942208
+v 0.18348204 0.46158807 -0.07521157
+v 0.28734668 0.36829597 0.10485968
+v 0.18284225 0.44554121 0.08749457
+v 0.26620388 0.25525516 0.16569694
+v 0.14228070 0.33443031 0.16588998
+v 0.12552485 0.41966396 -0.15659445
+v 0.43317874 0.22720743 0.04945245
+v 0.30611107 0.27441332 0.14759609
+v 0.41245680 0.26635969 0.04759040
+v 0.40402518 0.22642533 -0.12885228
+v 0.23954622 0.41328837 -0.11253446
+v 0.35883536 0.25495220 -0.15253933
+v 0.36893409 0.30989241 -0.09895735
+v 0.44455882 0.24945655 -0.00030251
+v 0.25389443 0.42869735 -0.03824580
+v 0.14026309 0.46375478 -0.10322707
+v 0.16786930 0.45980964 0.07737827
+v 0.23890652 0.42696303 0.07526704
+v 0.14176662 0.45386268 0.09452969
+v 0.25013713 0.23633624 0.17072527
+v 0.21595733 0.31907402 0.15923474
+v 0.14228183 0.35070200 -0.18617028
+v 0.15345085 0.43045361 -0.13995657
+v 0.41789193 0.22645118 0.07728278
+v 0.45033738 0.23131863 0.00448738
+v 0.30730355 0.26427863 0.15036128
+v 0.26087045 0.35838650 0.12851412
+v 0.35355615 0.31033218 0.09817697
+v 0.25267150 0.42654467 -0.07324010
+v 0.18177828 0.45740739 -0.08733142
+v 0.34597427 0.24145940 -0.16626711
+v 0.36993436 0.28178459 -0.12596482
+v 0.39790994 0.28072519 -0.08670033
+v 0.36897037 0.32509137 -0.07353026
+v 0.29609671 0.38266548 -0.09879630
+v 0.12732876 0.45537944 -0.12126545
+v 0.26848050 0.39942630 0.08526005
+v 0.16680233 0.32796421 0.16535814
+v 0.30656150 0.23053094 -0.18455838
+v 0.12716379 0.41003128 -0.16283930
+v 0.13367303 0.43200366 -0.14462176
+v 0.21270340 0.38761882 -0.15291019
+v 0.41309487 0.23857076 0.07467448
+v 0.16725649 0.45713943 -0.09918489
+f 13 5 1
+f 17 9 1
+f 17 1 5
+f 19 2 16
+f 20 3 8
+f 20 19 10
+f 22 15 3
+f 25 4 11
+f 26 5 13
+f 26 25 11
+f 26 13 25
+f 27 1 16
+f 28 1 15
+f 30 16 1
+f 30 1 9
+f 34 20 8
+f 34 19 20
+f 34 8 29
+f 34 29 14
+f 34 14 27
+f 35 3 20
+f 35 20 10
+f 35 21 12
+f 36 4 21
+f 37 21 4
+f 37 12 21
+f 37 23 12
+f 37 4 23
+f 38 7 22
+f 38 23 7
+f 38 12 23
+f 38 35 12
+f 38 3 35
+f 39 23 4
+f 39 7 23
+f 39 25 7
+f 39 4 25
+f 40 13 1
+f 40 1 24
+f 40 25 13
+f 41 28 7
+f 41 24 28
+f 44 27 14
+f 44 1 27
+f 45 27 16
+f 45 16 2
+f 45 34 27
+f 45 2 19
+f 45 19 34
+f 46 28 24
+f 46 24 1
+f 46 1 28
+f 47 22 7
+f 47 7 28
+f 47 28 15
+f 47 15 22
+f 48 29 8
+f 48 15 1
+f 48 8 3
+f 48 3 15
+f 49 35 10
+f 49 21 35
+f 50 31 6
+f 50 49 31
+f 50 21 49
+f 50 36 21
+f 51 32 9
+f 51 9 17
+f 51 18 32
+f 52 30 9
+f 52 9 32
+f 52 32 18
+f 52 18 33
+f 53 19 16
+f 53 16 30
+f 53 52 33
+f 53 30 52
+f 54 10 19
+f 54 53 33
+f 54 19 53
+f 55 54 33
+f 55 10 54
+f 55 49 10
+f 55 31 49
+f 55 33 18
+f 55 18 31
+f 56 11 4
+f 56 4 36
+f 56 36 6
+f 56 43 11
+f 56 6 43
+f 57 38 22
+f 57 22 3
+f 57 3 38
+f 58 40 24
+f 58 25 40
+f 58 24 41
+f 58 41 7
+f 58 7 25
+f 59 17 5
+f 59 5 42
+f 59 51 17
+f 60 42 5
+f 60 5 26
+f 61 43 26
+f 61 26 11
+f 61 11 43
+f 62 43 6
+f 62 6 31
+f 62 31 18
+f 62 42 60
+f 62 59 42
+f 62 18 51
+f 62 51 59
+f 62 60 26
+f 62 26 43
+f 63 44 14
+f 63 14 29
+f 63 29 48
+f 63 48 1
+f 63 1 44
+f 64 50 6
+f 64 6 36
+f 64 36 50
\ No newline at end of file
diff --git a/objects/objaverse/donut/donut_1/collision/model_normalized_collision_14.obj b/objects/objaverse/donut/donut_1/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa4dbb3c2066a5c03215b8fbbf8271ee24c6a724
--- /dev/null
+++ b/objects/objaverse/donut/donut_1/collision/model_normalized_collision_14.obj
@@ -0,0 +1,126 @@
+# https://github.com/mikedh/trimesh
+v 0.14050377 -0.47861685 0.07790017
+v 0.15150401 -0.42481744 -0.15340582
+v 0.13964470 -0.40269652 0.14941716
+v -0.18579949 -0.39548941 0.13606195
+v -0.16398014 -0.47864033 0.01103148
+v -0.12370357 -0.39357004 0.15599358
+v 0.14475764 -0.40964700 0.14719730
+v 0.06639416 -0.47559734 -0.11517779
+v -0.04178807 -0.42807979 -0.16284356
+v 0.02799075 -0.39745244 0.16471740
+v -0.02317588 -0.47139179 0.11514590
+v 0.13920643 -0.47598481 -0.07828247
+v -0.21228468 -0.44670338 -0.01224087
+v -0.03811122 -0.46516862 -0.12697432
+v -0.05073947 -0.49099448 0.03501141
+v -0.05816528 -0.42352627 0.15226216
+v 0.07532923 -0.46407810 0.11700229
+v -0.14529866 -0.45107972 0.10589295
+v 0.13956671 -0.46227211 -0.11557794
+v 0.00834171 -0.47707963 -0.11515177
+v -0.07949405 -0.47679624 0.09008378
+v 0.03867300 -0.47620788 0.10939254
+v 0.09588539 -0.49185676 0.02240621
+v 0.12463209 -0.43591434 0.13151264
+v 0.04313202 -0.41290366 0.15915017
+v -0.18129521 -0.45924095 0.06316943
+v -0.15031190 -0.42055528 0.13315596
+v 0.12422769 -0.47400084 -0.10109894
+v -0.06597477 -0.49163142 -0.00029947
+v -0.16588280 -0.47352686 0.04521504
+v -0.00512125 -0.47561590 0.10849405
+v 0.11047677 -0.47711139 0.08845507
+v 0.08125763 -0.49102274 0.03505066
+v 0.05174333 -0.48934186 -0.01273453
+v 0.01772017 -0.41277941 0.15948858
+v 0.06081125 -0.44894254 0.13234474
+v -0.18143696 -0.44473628 0.08869891
+v -0.18339841 -0.40514734 0.13010990
+v 0.09536038 -0.48936528 0.00101880
+v -0.06556327 -0.49180451 0.02354505
+v -0.16681641 -0.45909759 0.07536742
+v -0.03714709 -0.49059873 -0.01399077
+v -0.01625633 -0.45393783 0.13143985
+f 6 2 4
+f 7 1 2
+f 7 2 3
+f 9 4 2
+f 9 2 8
+f 10 3 2
+f 10 2 6
+f 10 7 3
+f 12 2 1
+f 13 4 9
+f 14 13 9
+f 14 5 13
+f 16 10 6
+f 18 11 16
+f 19 8 2
+f 19 2 12
+f 20 14 9
+f 20 9 8
+f 20 5 14
+f 21 11 18
+f 23 12 1
+f 24 17 1
+f 24 1 7
+f 25 7 10
+f 27 18 16
+f 27 16 6
+f 27 6 4
+f 28 19 12
+f 28 8 19
+f 29 5 20
+f 30 21 18
+f 30 26 13
+f 30 13 5
+f 31 21 15
+f 31 15 22
+f 31 22 11
+f 31 11 21
+f 32 22 1
+f 32 1 17
+f 32 17 22
+f 33 22 15
+f 33 23 1
+f 33 1 22
+f 34 20 8
+f 35 25 10
+f 35 10 16
+f 36 22 17
+f 36 17 24
+f 36 24 7
+f 36 7 25
+f 37 4 13
+f 37 13 26
+f 38 27 4
+f 38 18 27
+f 38 37 18
+f 38 4 37
+f 39 8 28
+f 39 34 8
+f 39 23 34
+f 39 28 12
+f 39 12 23
+f 40 5 29
+f 40 30 5
+f 40 15 21
+f 40 21 30
+f 40 29 23
+f 40 33 15
+f 40 23 33
+f 41 30 18
+f 41 26 30
+f 41 37 26
+f 41 18 37
+f 42 29 20
+f 42 20 34
+f 42 34 23
+f 42 23 29
+f 43 11 22
+f 43 22 36
+f 43 16 11
+f 43 35 16
+f 43 36 25
+f 43 25 35
\ No newline at end of file
diff --git a/objects/objaverse/donut/donut_1/collision/model_normalized_collision_15.obj b/objects/objaverse/donut/donut_1/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aca67ebc392f5db45e09322ef61e601800771894
--- /dev/null
+++ b/objects/objaverse/donut/donut_1/collision/model_normalized_collision_15.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v -0.23648344 0.09869495 0.12629899
+v 0.00727369 0.18317693 -0.13081288
+v 0.00748354 0.23276966 0.13367345
+v -0.23401175 0.23369404 0.12726379
+v -0.23461733 0.23343756 -0.19289908
+v 0.00488607 0.14462150 0.06935989
+v -0.23922678 0.09952405 -0.17596716
+v 0.00756195 0.23448223 -0.16952065
+v 0.00671719 0.15703424 0.09030646
+v -0.23799365 0.16030915 -0.18718156
+v -0.09319724 0.11436171 0.00502331
+v 0.00736439 0.21341672 -0.15671866
+v -0.02354978 0.23959638 -0.17327121
+v 0.00680151 0.14375293 -0.06038560
+v 0.00640777 0.18628761 0.12763403
+v -0.10619927 0.11466360 0.07484005
+v -0.14585815 0.23712538 -0.18657417
+v -0.09444495 0.11595214 -0.07262798
+v 0.00684624 0.16039756 -0.10074292
+v -0.17107500 0.10712762 -0.13935616
+v -0.22703527 0.10132968 -0.17098562
+f 1 3 4
+f 7 1 4
+f 8 3 2
+f 9 1 6
+f 10 7 4
+f 10 4 5
+f 10 8 7
+f 11 1 7
+f 12 8 2
+f 12 2 7
+f 12 7 8
+f 13 4 3
+f 13 3 8
+f 14 9 6
+f 14 2 3
+f 14 3 9
+f 14 6 11
+f 15 9 3
+f 15 3 1
+f 15 1 9
+f 16 11 6
+f 16 6 1
+f 16 1 11
+f 17 5 4
+f 17 4 13
+f 17 10 5
+f 17 13 8
+f 17 8 10
+f 18 14 11
+f 19 2 14
+f 20 18 11
+f 20 11 7
+f 20 14 18
+f 20 19 14
+f 21 7 2
+f 21 2 19
+f 21 20 7
+f 21 19 20
\ No newline at end of file
diff --git a/objects/objaverse/donut/donut_1/collision/model_normalized_collision_16.obj b/objects/objaverse/donut/donut_1/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3060b498dc77cd5074fed6122cfb0e716f60e187
--- /dev/null
+++ b/objects/objaverse/donut/donut_1/collision/model_normalized_collision_16.obj
@@ -0,0 +1,156 @@
+# https://github.com/mikedh/trimesh
+v 0.46226924 0.09294952 0.09115712
+v 0.47919627 0.09441148 -0.08924288
+v 0.45279332 0.23333965 -0.02599243
+v 0.13760083 0.22309560 0.12971263
+v 0.14701068 0.09973831 0.09856742
+v 0.14433439 0.23434485 -0.18399390
+v 0.39128712 0.22426618 0.12286078
+v 0.47800842 0.09301019 0.06467341
+v 0.40703739 0.09490836 -0.17037657
+v 0.38633500 0.18820485 0.13197115
+v 0.16127532 0.23709879 -0.18728068
+v 0.40303025 0.22849852 0.10845917
+v 0.47503971 0.13684862 -0.02444191
+v 0.46413253 0.09443713 -0.11727708
+v 0.15597584 0.10679622 -0.11566375
+v 0.38679642 0.22428072 0.12393083
+v 0.40520519 0.18261214 0.11962621
+v 0.25649408 0.09988903 -0.18280793
+v 0.34779838 0.22796278 -0.17014044
+v 0.44554990 0.22724370 0.01988571
+v 0.41883833 0.20235661 0.10628108
+v 0.47356272 0.13695362 -0.07426607
+v 0.47501626 0.12242424 0.05030521
+v 0.36692665 0.09610356 -0.18679674
+v 0.20088119 0.10361315 -0.15501666
+v 0.30656150 0.23053094 -0.18455838
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+f 53 35 50
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\ No newline at end of file
diff --git a/objects/objaverse/donut/donut_1/collision/model_normalized_collision_17.obj b/objects/objaverse/donut/donut_1/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9b2d248077bc64a1ea0c3c2df2e92a5a0b24b873
--- /dev/null
+++ b/objects/objaverse/donut/donut_1/collision/model_normalized_collision_17.obj
@@ -0,0 +1,150 @@
+# https://github.com/mikedh/trimesh
+v 0.14050377 -0.47861685 0.07790017
+v 0.25534672 -0.38833221 -0.13983432
+v 0.26808388 -0.30604054 0.16177679
+v 0.14527771 -0.28274715 0.16470242
+v 0.14470806 -0.28290657 -0.19166766
+v 0.14475764 -0.40964700 0.14719730
+v 0.25498373 -0.43144101 0.07513917
+v 0.12642518 -0.45322594 -0.13247341
+v 0.26297684 -0.27926763 -0.18820386
+v 0.15582557 -0.36658213 0.16343537
+v 0.12655503 -0.45489528 0.10859027
+v 0.25632530 -0.41862833 -0.10204845
+v 0.18112317 -0.44941144 0.10108242
+v 0.12716224 -0.39738657 -0.17599372
+v 0.26778178 -0.27872964 0.16963536
+v 0.26011450 -0.35035619 0.14700410
+v 0.14165472 -0.36748962 0.15968771
+v 0.13993568 -0.47925079 -0.00031931
+v 0.25761141 -0.34763120 -0.16679826
+v 0.19613413 -0.44403821 -0.11288861
+v 0.19721289 -0.46143839 0.07500616
+v 0.17598579 -0.42203386 0.12963464
+v 0.14222438 -0.36782822 -0.18551165
+v 0.12617442 -0.40814528 -0.17044886
+v 0.12850921 -0.44715559 0.11587533
+v 0.16890046 -0.41892518 -0.15306504
+v 0.25453583 -0.40165563 -0.12707650
+v 0.18269197 -0.46055630 -0.08931039
+v 0.15411699 -0.47572256 0.07700958
+v 0.21142006 -0.44630591 0.08552524
+v 0.22796872 -0.38870387 0.13574257
+v 0.20086629 -0.35084190 -0.18187680
+v 0.16770856 -0.44515342 -0.12723012
+v 0.13616638 -0.42692048 -0.15561508
+v 0.22708551 -0.39003781 -0.15321023
+v 0.22507849 -0.42989235 -0.11301641
+v 0.13956671 -0.46227211 -0.11557794
+v 0.19689696 -0.46013929 0.00065136
+v 0.15345920 -0.47567502 0.00077083
+v 0.24049621 -0.43126895 0.08525868
+v 0.25605347 -0.38880546 0.11591480
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+v 0.21108026 -0.44443183 -0.10032667
+v 0.15325856 -0.45945510 -0.11368219
+v 0.25402080 -0.43040374 0.00069890
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+v 0.18439407 -0.39176974 -0.16717907
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+f 51 36 12
+f 51 12 48
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+f 51 28 46
\ No newline at end of file
diff --git a/objects/objaverse/donut/donut_1/collision/model_normalized_collision_18.obj b/objects/objaverse/donut/donut_1/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..537788fe3e90093c13e84bd34ef408635c86a702
--- /dev/null
+++ b/objects/objaverse/donut/donut_1/collision/model_normalized_collision_18.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v -0.26654175 0.05234116 0.12685206
+v 0.00735759 0.18854413 0.13026174
+v 0.00798361 0.23688135 0.15489021
+v -0.28098957 0.23402632 0.13105393
+v 0.00748354 0.23276966 0.13367345
+v -0.25413873 0.21573530 0.14635238
+v -0.28472597 0.05090774 0.13237165
+v 0.00830595 0.22557183 0.14924108
+v -0.21755091 0.23426850 0.14667700
+v -0.23002046 0.18977358 0.14512400
+v -0.27985162 0.22880467 0.13929285
+v -0.28062041 0.05197197 0.12982532
+v -0.26599697 0.20267446 0.14255273
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+f 5 4 3
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+f 9 3 4
+f 10 7 3
+f 10 3 6
+f 10 6 7
+f 11 4 7
+f 11 9 4
+f 11 6 9
+f 12 7 4
+f 12 4 1
+f 12 1 7
+f 13 11 7
+f 13 7 6
+f 13 6 11
\ No newline at end of file
diff --git a/objects/objaverse/donut/donut_1/collision/model_normalized_collision_19.obj b/objects/objaverse/donut/donut_1/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8fe023c4839ca9448627ef8de3691f62fbf471db
--- /dev/null
+++ b/objects/objaverse/donut/donut_1/collision/model_normalized_collision_19.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.41387475 -0.14484615 0.11300563
+v -0.41134730 -0.14318356 -0.16301421
+v -0.40691209 0.19833406 -0.14501348
+v -0.41271027 0.23210235 0.06673498
+v -0.48973744 0.02048337 -0.10143476
+v -0.41021418 0.02034217 0.10502226
+v -0.47505151 -0.13992014 -0.08854967
+v -0.42170296 0.06507329 -0.16833023
+v -0.47492412 0.18038574 -0.02689174
+v -0.41013681 0.15720541 0.09223517
+v -0.41025678 -0.08313715 -0.17338240
+v -0.46182842 -0.03755864 -0.14014358
+v -0.46117468 -0.14258661 0.07145982
+v -0.46017052 0.10814372 -0.12678799
+v -0.42985211 0.22416269 -0.10100006
+v -0.41214167 0.21408624 0.07798558
+v -0.41078072 0.06587152 -0.17412662
+v -0.48906640 -0.03732357 -0.10123153
+v -0.44596903 -0.12504213 -0.13945426
+v -0.42098302 -0.08215867 -0.16757058
+v -0.49068608 0.00536309 0.00733552
+v -0.45047204 0.00253423 0.08689122
+v -0.43274539 0.10835808 -0.15389444
+v -0.48794932 0.07855701 -0.08960899
+v -0.46221688 0.02064982 -0.14065099
+v -0.43294235 0.22751437 0.04718263
+v -0.41184570 0.23082617 -0.12134938
+v -0.40851826 0.15453425 -0.15963996
+v -0.46129641 -0.14027629 -0.11477297
+v -0.43388990 -0.11118998 -0.15386761
+v -0.48973604 -0.09598785 -0.07695367
+v -0.44688412 -0.14306143 0.08558380
+v -0.42332746 0.02668987 0.09975889
+v -0.47729243 0.00474813 0.05626730
+v -0.44632456 0.10603575 0.07323910
+v -0.44578636 0.15168210 -0.12705444
+v -0.47306787 0.09309009 -0.11375370
+v -0.47371528 0.13698551 -0.08884741
+v -0.48845569 0.07778115 -0.05599133
+v -0.41474596 0.21258435 0.07725119
+v -0.42089293 -0.14153975 -0.15677014
+v -0.47374901 -0.09565083 -0.11375778
+v -0.49083289 -0.03815861 0.00703252
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+v -0.42316865 -0.14405293 0.10610355
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+v -0.41598451 0.19512054 -0.13833421
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+v -0.47499063 0.17994555 -0.01176495
+v -0.42097699 0.22948868 0.06024377
+v -0.41882172 0.15325867 0.08625086
+v -0.47370395 -0.12487008 -0.10128876
+v -0.48920639 -0.08115184 -0.08797510
+v -0.48862173 -0.09594571 -0.03831516
+v -0.46004654 0.15339521 0.04268670
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+v -0.45841108 0.16528705 -0.10033744
+v -0.44437017 0.20946844 -0.08746222
+v -0.43069114 0.21297345 0.05653566
+v -0.45894640 0.18215802 0.03161672
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+f 13 7 2
+f 13 2 1
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+f 25 12 5
+f 25 14 23
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+f 25 20 12
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+f 28 3 11
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+f 31 5 18
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+f 51 36 14
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+f 52 38 9
+f 53 39 21
+f 53 9 39
+f 53 21 47
+f 53 26 9
+f 54 40 4
+f 54 4 26
+f 54 26 40
+f 55 40 35
+f 55 35 10
+f 55 10 40
+f 56 42 29
+f 56 29 7
+f 57 31 18
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+f 57 56 7
+f 57 7 31
+f 58 46 43
+f 58 43 31
+f 58 31 44
+f 58 44 46
+f 59 47 35
+f 59 35 40
+f 60 50 15
+f 60 15 27
+f 60 27 49
+f 60 49 50
+f 61 50 36
+f 61 36 51
+f 61 51 38
+f 61 38 52
+f 62 52 9
+f 62 9 15
+f 62 61 52
+f 62 15 50
+f 62 50 61
+f 63 59 40
+f 63 40 26
+f 63 26 59
+f 64 53 47
+f 64 47 59
+f 64 59 26
+f 64 26 53
\ No newline at end of file
diff --git a/objects/objaverse/donut/donut_1/collision/model_normalized_collision_2.obj b/objects/objaverse/donut/donut_1/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f947af98c5ac4e0060693e04474c084303b14d5
--- /dev/null
+++ b/objects/objaverse/donut/donut_1/collision/model_normalized_collision_2.obj
@@ -0,0 +1,144 @@
+# https://github.com/mikedh/trimesh
+v 0.39067322 -0.23683416 0.13461077
+v 0.47556379 -0.12603332 0.01346558
+v 0.45369181 -0.01467347 0.13139043
+v 0.38031761 0.18510659 0.13673182
+v 0.26515153 -0.23602287 0.01080077
+v 0.48129184 0.09515477 0.01085295
+v 0.30233837 -0.12397765 0.19345064
+v 0.47514784 -0.12572820 0.07930466
+v 0.43784164 -0.23178287 0.01203001
+v 0.47274560 0.09138681 0.07544542
+v 0.26515153 0.09731048 0.01080077
+v 0.40545234 -0.13386658 0.16290899
+v 0.26499060 -0.23551932 0.15940673
+v 0.44348941 -0.22832970 0.07252044
+v 0.44596815 -0.20532694 -0.00429202
+v 0.42415906 0.18788535 0.09788707
+v 0.47475279 0.04839425 0.08921831
+v 0.26713536 0.09780289 0.16661206
+v 0.35755094 -0.22168596 0.16471640
+v 0.41113797 0.01731379 0.15954223
+v 0.44679131 -0.09166005 0.13252384
+v 0.44479371 -0.23194625 0.05184738
+v 0.44802782 -0.20019122 -0.00352437
+v 0.44072906 -0.21836373 -0.00390369
+v 0.43521196 0.16804578 0.09318084
+v 0.39041904 0.19029672 0.10607535
+v 0.47541140 -0.09659395 0.09013645
+v 0.26541789 -0.20441049 0.18019791
+v 0.35204311 -0.18111880 0.17842913
+v 0.30892116 -0.23423187 0.17024378
+v 0.36746250 -0.09116074 0.17891476
+v 0.33754396 0.04304302 0.17648253
+v 0.40801930 0.16404604 0.13329181
+v 0.41800702 -0.18876170 0.13185790
+v 0.45768404 -0.18334370 0.07691327
+v 0.45799894 -0.18331792 0.01450458
+v 0.41546391 0.19051426 0.11158433
+v 0.45971828 -0.12535839 0.10290101
+v 0.27081214 -0.04065323 0.17664426
+v 0.32066232 -0.19778890 0.17944333
+v 0.30369242 -0.12409341 0.19322559
+v 0.29890022 0.06168329 0.17729349
+v 0.38048232 0.08851119 0.16234457
+v 0.42834608 0.08968243 0.13650812
+v 0.44547164 -0.16922788 0.10340237
+v 0.44459292 0.12197400 0.10312634
+v 0.30205199 -0.12096060 0.19332521
+v 0.41818245 0.06684570 0.14786968
+v 0.28875333 0.05416387 0.17670605
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+f 13 5 1
+f 13 11 5
+f 15 11 6
+f 16 6 11
+f 17 6 10
+f 18 4 11
+f 19 1 12
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+f 21 3 12
+f 22 14 1
+f 22 1 9
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+f 23 6 2
+f 24 9 5
+f 24 5 11
+f 24 11 15
+f 24 22 9
+f 24 15 22
+f 25 10 6
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+f 26 11 4
+f 27 8 6
+f 27 6 17
+f 27 17 3
+f 27 3 21
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+f 28 11 13
+f 29 19 12
+f 30 13 1
+f 30 1 19
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+f 34 1 14
+f 34 21 12
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+f 35 22 8
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+f 36 22 15
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+f 38 8 27
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+f 41 7 29
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+f 48 44 33
+f 48 20 3
+f 48 3 44
+f 49 47 42
+f 49 42 18
+f 49 18 47
\ No newline at end of file
diff --git a/objects/objaverse/donut/donut_1/collision/model_normalized_collision_20.obj b/objects/objaverse/donut/donut_1/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..19c633d4edcf11faa80933b302798a8abb57e1c1
--- /dev/null
+++ b/objects/objaverse/donut/donut_1/collision/model_normalized_collision_20.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v -0.10173395 -0.41540188 0.12226824
+v -0.09732522 -0.39872070 0.15303975
+v -0.32181688 -0.35288737 0.09606644
+v -0.22774498 -0.15279787 0.12524032
+v -0.10177002 -0.18090627 0.09557244
+v -0.31500378 -0.24449039 0.15032971
+v -0.22800058 -0.40039334 0.12085049
+v -0.10324050 -0.27602067 0.16009236
+v -0.23652127 -0.40563870 0.10458220
+v -0.11876780 -0.16703651 0.09367422
+v -0.33368081 -0.25665756 0.11795630
+v -0.29708147 -0.32868570 0.13162889
+v -0.09991920 -0.38057699 0.16486109
+v -0.23194092 -0.19625312 0.16416866
+v -0.23685691 -0.16249106 0.15376622
+v -0.32197594 -0.25108009 0.14495132
+v -0.28107216 -0.34296640 0.13243309
+v -0.17154290 -0.38656369 0.15138044
+v -0.26638634 -0.26320135 0.16139472
+v -0.18936613 -0.16370802 0.14206346
+v -0.20659117 -0.19657620 0.15917478
+v -0.29128902 -0.31002400 0.14257410
+v -0.30933165 -0.30093049 0.13629315
+v -0.22681948 -0.35703242 0.14787088
+v -0.23716023 -0.30459083 0.16071752
+v -0.11937442 -0.22861429 0.14484497
+v -0.30858829 -0.27028557 0.14640553
+v -0.31541090 -0.33191341 0.11417704
+v -0.10472062 -0.21926417 0.12788152
+f 5 2 1
+f 7 1 2
+f 8 2 5
+f 9 5 1
+f 9 3 5
+f 9 7 3
+f 9 1 7
+f 10 5 3
+f 11 10 3
+f 11 4 10
+f 13 2 8
+f 14 13 8
+f 15 11 6
+f 15 4 11
+f 15 6 14
+f 16 11 3
+f 16 6 11
+f 17 12 3
+f 17 3 7
+f 18 7 2
+f 18 2 13
+f 19 14 6
+f 19 13 14
+f 20 10 4
+f 20 4 15
+f 20 5 10
+f 21 15 14
+f 21 14 8
+f 21 20 15
+f 21 8 20
+f 22 12 17
+f 23 12 22
+f 24 17 7
+f 24 7 18
+f 24 22 17
+f 25 18 13
+f 25 13 19
+f 25 24 18
+f 25 19 22
+f 25 22 24
+f 26 20 8
+f 27 6 16
+f 27 23 22
+f 27 16 23
+f 27 22 19
+f 27 19 6
+f 28 23 16
+f 28 16 3
+f 28 3 12
+f 28 12 23
+f 29 26 8
+f 29 8 5
+f 29 5 20
+f 29 20 26
\ No newline at end of file
diff --git a/objects/objaverse/donut/donut_1/collision/model_normalized_collision_21.obj b/objects/objaverse/donut/donut_1/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8f2a242ae466de85d7ccb978645d62defabee4a2
--- /dev/null
+++ b/objects/objaverse/donut/donut_1/collision/model_normalized_collision_21.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v -0.34954761 -0.32715410 0.09823678
+v -0.35733543 -0.32808639 0.08812474
+v -0.35937329 0.09777997 0.09890965
+v -0.38311596 0.11173793 0.10986438
+v -0.44631332 -0.14501800 0.08586133
+v -0.34777833 -0.14727254 0.14989298
+v -0.42240944 -0.24663561 0.07861573
+v -0.41943782 0.10073273 0.08811749
+v -0.35326508 0.09672082 0.12275253
+v -0.40716447 -0.27572530 0.07811156
+v -0.40404961 -0.20422869 0.11706419
+v -0.43942141 -0.20324626 0.07933950
+v -0.40711013 -0.00461513 0.11871112
+v -0.37057122 0.11231379 0.11527596
+v -0.37637794 -0.31873243 0.07815116
+v -0.35322824 -0.25700366 0.13471241
+v -0.40177700 -0.27259134 0.08565798
+v -0.37903901 0.10425547 0.11712071
+v -0.35789943 -0.16739706 0.14939274
+v -0.39478303 -0.13723344 0.12800423
+v -0.36675173 0.11020753 0.12160861
+v -0.41644588 -0.24398358 0.08611102
+v -0.35786715 -0.25408018 0.13304618
+v -0.37177117 -0.31488747 0.08564021
+v -0.40658905 0.09522783 0.09951789
+v -0.35546561 -0.16899353 0.14947139
+v -0.43892679 -0.14405994 0.09274624
+v -0.36447525 -0.00055461 0.13349672
+v -0.35450551 -0.30579222 0.10664149
+v -0.38696975 -0.27249166 0.09831014
+v -0.35228080 -0.30500822 0.10885340
+f 1 2 3
+f 8 4 3
+f 9 6 1
+f 9 1 3
+f 12 5 8
+f 12 11 5
+f 12 7 11
+f 12 10 7
+f 12 8 10
+f 13 8 5
+f 14 3 4
+f 15 2 1
+f 15 3 2
+f 15 10 8
+f 15 8 3
+f 16 1 6
+f 17 7 10
+f 18 4 8
+f 20 19 13
+f 20 11 19
+f 21 9 3
+f 21 3 14
+f 21 14 4
+f 21 4 18
+f 21 6 9
+f 21 18 13
+f 22 17 11
+f 22 11 7
+f 22 7 17
+f 23 11 17
+f 23 19 11
+f 23 16 19
+f 24 15 1
+f 24 1 17
+f 24 17 10
+f 24 10 15
+f 25 18 8
+f 25 8 13
+f 25 13 18
+f 26 19 16
+f 26 16 6
+f 26 6 19
+f 27 20 13
+f 27 13 5
+f 27 5 11
+f 27 11 20
+f 28 19 6
+f 28 6 21
+f 28 21 13
+f 28 13 19
+f 29 17 1
+f 30 29 23
+f 30 23 17
+f 30 17 29
+f 31 29 1
+f 31 1 16
+f 31 16 23
+f 31 23 29
\ No newline at end of file
diff --git a/objects/objaverse/donut/donut_1/collision/model_normalized_collision_22.obj b/objects/objaverse/donut/donut_1/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c67ba139c969a347dd357c7b7a0a5ff784dd54dc
--- /dev/null
+++ b/objects/objaverse/donut/donut_1/collision/model_normalized_collision_22.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v -0.18899138 -0.02606107 0.07316171
+v -0.10444378 0.10594830 -0.06232104
+v -0.11797616 0.10515695 0.06804470
+v -0.23648344 0.09869495 0.12629899
+v -0.21450364 0.08670379 -0.15984660
+v -0.15004467 0.10630941 0.09054573
+v -0.17401385 -0.02520823 0.00700697
+v -0.23565797 -0.02387760 0.11673280
+v -0.18211880 0.10339206 -0.14530442
+v -0.10352312 0.10470940 -0.00621295
+v -0.21801353 0.01845553 -0.14444650
+v -0.21034422 0.10271290 0.11855736
+v -0.20887230 -0.02299549 -0.13199743
+v -0.19287680 0.09968334 -0.15085594
+v -0.12090295 0.10624684 -0.09000422
+v -0.17361104 -0.02478404 -0.06142071
+v -0.18028013 0.10426360 0.10509228
+v -0.18881959 -0.02478844 -0.10245890
+f 6 3 2
+f 7 3 1
+f 8 1 3
+f 8 3 6
+f 10 2 3
+f 10 3 7
+f 11 8 4
+f 11 4 5
+f 12 4 8
+f 12 9 4
+f 12 6 9
+f 13 8 11
+f 13 11 5
+f 14 5 4
+f 14 4 9
+f 14 13 5
+f 14 9 13
+f 15 9 6
+f 15 6 2
+f 15 13 9
+f 16 10 7
+f 16 2 10
+f 16 7 1
+f 17 12 8
+f 17 8 6
+f 17 6 12
+f 18 1 8
+f 18 8 13
+f 18 16 1
+f 18 2 16
+f 18 15 2
+f 18 13 15
\ No newline at end of file
diff --git a/objects/objaverse/donut/donut_1/collision/model_normalized_collision_23.obj b/objects/objaverse/donut/donut_1/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a54bfa04bbebd0d715340896d94781d2d1c7a7f3
--- /dev/null
+++ b/objects/objaverse/donut/donut_1/collision/model_normalized_collision_23.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v -0.35606061 -0.25117438 -0.00435075
+v -0.35003742 -0.23199844 -0.17283804
+v -0.35606061 0.23367412 -0.00435075
+v -0.43004670 0.24082056 -0.00400937
+v -0.42700417 -0.25754661 -0.00538768
+v -0.35058065 0.21490313 -0.17368494
+v -0.35321891 -0.24914104 -0.16550926
+v -0.40659789 0.12402939 -0.16804347
+v -0.35384429 0.23211706 -0.16661569
+v -0.40563229 -0.14112100 -0.16701273
+v -0.39522486 0.00618186 -0.18338977
+v -0.40606355 0.22740510 -0.13015370
+v -0.39099512 0.16797497 -0.16670550
+v -0.40412115 -0.24377334 -0.12883235
+v -0.36143776 -0.22991466 -0.16792953
+v -0.35219928 0.14106485 -0.18691159
+v -0.35189816 -0.15844532 -0.18647990
+v -0.37597978 0.19750402 -0.16650095
+v -0.40434325 0.18223671 -0.15358951
+v -0.36470656 -0.15760957 -0.18276849
+v -0.38790936 -0.22800459 -0.15198461
+v -0.38034143 0.09555803 -0.18361393
+v -0.36520128 0.14026359 -0.18333636
+v -0.36223042 0.21291336 -0.16884522
+v -0.37603576 0.22684494 -0.15558745
+v -0.37986095 -0.11290894 -0.18305418
+v -0.40197816 -0.22790874 -0.14022428
+v -0.37468348 -0.24386466 -0.15449449
+v -0.40376658 0.21131374 -0.14141344
+v -0.38921627 0.21126372 -0.15313119
+v -0.39515035 -0.02348194 -0.18325197
+f 1 2 3
+f 1 3 4
+f 5 1 4
+f 6 3 2
+f 7 2 1
+f 7 1 5
+f 9 4 3
+f 9 3 6
+f 10 5 4
+f 10 4 8
+f 12 8 4
+f 12 4 9
+f 14 7 5
+f 14 5 10
+f 15 2 7
+f 16 6 2
+f 17 16 2
+f 17 11 16
+f 18 6 13
+f 19 13 8
+f 19 8 12
+f 19 18 13
+f 20 15 10
+f 20 2 15
+f 20 17 2
+f 21 10 15
+f 22 16 11
+f 22 11 8
+f 23 13 6
+f 23 6 16
+f 23 16 22
+f 23 22 8
+f 23 8 13
+f 24 9 6
+f 24 6 18
+f 25 12 9
+f 25 24 18
+f 25 9 24
+f 26 20 10
+f 26 17 20
+f 27 14 10
+f 27 10 21
+f 28 21 15
+f 28 15 7
+f 28 7 14
+f 28 27 21
+f 28 14 27
+f 29 19 12
+f 29 12 25
+f 30 25 18
+f 30 18 19
+f 30 29 25
+f 30 19 29
+f 31 26 10
+f 31 11 17
+f 31 17 26
+f 31 10 8
+f 31 8 11
\ No newline at end of file
diff --git a/objects/objaverse/donut/donut_1/collision/model_normalized_collision_24.obj b/objects/objaverse/donut/donut_1/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1bb943a49d0ae0d1e6ef27e0d5bc89c53ac24677
--- /dev/null
+++ b/objects/objaverse/donut/donut_1/collision/model_normalized_collision_24.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v 0.20127017 0.34942410 0.14829775
+v 0.25083781 0.38772797 0.10201259
+v 0.11199232 0.42498397 0.13608058
+v -0.03638574 0.46689197 0.09336304
+v -0.16380969 0.36258721 0.12359720
+v 0.15580760 0.45150401 0.09229374
+v 0.17839170 0.38157570 0.14700165
+v 0.21000466 0.36407474 0.11923602
+v -0.15513859 0.43505820 0.09261914
+v 0.07683769 0.45285043 0.11690542
+v 0.24875053 0.39432051 0.10876128
+v -0.09155413 0.34921282 0.16162088
+v 0.24761663 0.38188458 0.11229871
+v -0.17030275 0.34965621 0.14450427
+v 0.24493425 0.40755618 0.09279757
+v 0.09662203 0.46673958 0.09272405
+v 0.15710170 0.44243911 0.10747753
+v 0.13232375 0.35416439 0.16199531
+v -0.04852457 0.41025894 0.14439475
+v -0.17358764 0.35350667 0.14276734
+v 0.19389655 0.41914226 0.11430694
+v 0.09247041 0.39804134 0.15019311
+v 0.02954743 0.43846498 0.13248345
+v -0.14306155 0.43094708 0.11092324
+v -0.16656659 0.36415766 0.14559001
+v 0.13155479 0.38002821 0.15332984
+v -0.04360158 0.38369723 0.15642927
+v -0.04140003 0.45114649 0.11589815
+v -0.14418610 0.39945595 0.13377745
+v -0.17190448 0.36534717 0.14261324
+v -0.09417353 0.41576178 0.13257547
+f 8 5 2
+f 11 7 1
+f 13 8 2
+f 13 1 8
+f 13 11 1
+f 13 2 11
+f 14 8 1
+f 14 5 8
+f 14 1 12
+f 15 2 5
+f 15 5 9
+f 15 9 6
+f 15 11 2
+f 16 9 4
+f 16 6 9
+f 16 4 10
+f 17 10 3
+f 17 16 10
+f 17 6 16
+f 17 15 6
+f 18 12 1
+f 18 1 7
+f 20 9 5
+f 20 5 14
+f 21 17 3
+f 21 3 7
+f 21 7 11
+f 21 11 15
+f 21 15 17
+f 22 7 3
+f 23 3 10
+f 23 22 3
+f 24 4 9
+f 25 20 14
+f 25 14 12
+f 26 22 18
+f 26 18 7
+f 26 7 22
+f 27 12 18
+f 27 18 22
+f 27 25 12
+f 27 19 25
+f 27 23 19
+f 27 22 23
+f 28 23 10
+f 28 10 4
+f 28 4 24
+f 28 19 23
+f 29 25 19
+f 30 24 9
+f 30 9 20
+f 30 20 25
+f 30 29 24
+f 30 25 29
+f 31 28 24
+f 31 24 29
+f 31 29 19
+f 31 19 28
\ No newline at end of file
diff --git a/objects/objaverse/donut/donut_1/collision/model_normalized_collision_25.obj b/objects/objaverse/donut/donut_1/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa2d1ca3c08f09378dd783dcd0de18de11966f22
--- /dev/null
+++ b/objects/objaverse/donut/donut_1/collision/model_normalized_collision_25.obj
@@ -0,0 +1,108 @@
+# https://github.com/mikedh/trimesh
+v -0.20454545 0.33973473 -0.00435075
+v -0.20332574 0.33761276 -0.17973873
+v -0.20020717 0.36201373 -0.16994679
+v -0.19807345 0.43094278 0.07558692
+v -0.33076657 0.36279332 -0.00489243
+v -0.30330273 0.33127722 -0.14396410
+v -0.30639359 0.36511938 0.08047289
+v -0.19812414 0.44624929 -0.07624245
+v -0.23133091 0.33431060 -0.17412113
+v -0.21013769 0.37926922 0.09888761
+v -0.25458756 0.41170520 0.06508018
+v -0.19791795 0.41666900 -0.12811442
+v -0.29808416 0.38358554 -0.08763737
+v -0.25623700 0.35705329 -0.15199437
+v -0.26975403 0.39806247 0.07377432
+v -0.22609228 0.42686084 0.06262909
+v -0.19839609 0.40250644 -0.14252834
+v -0.29762692 0.36840852 -0.11228766
+v -0.24075714 0.42761044 -0.03732362
+v -0.26891604 0.39783102 -0.09927552
+v -0.27490682 0.33276075 -0.15878178
+v -0.22914726 0.34607500 -0.16937020
+v -0.21140698 0.42680472 0.07328313
+v -0.30148744 0.37402896 0.07600865
+v -0.19889892 0.44652007 -0.03749945
+v -0.28301317 0.36820146 -0.12562122
+v -0.21374769 0.35968185 -0.16709248
+v -0.23955354 0.42641881 -0.07447671
+v -0.28404855 0.39891518 -0.07479320
+v -0.28309599 0.39798914 0.02216088
+v -0.25445429 0.39803026 -0.11286437
+v -0.27152113 0.34351778 -0.15360619
+v -0.21147839 0.44150510 -0.03817211
+v -0.21156834 0.39942651 -0.13914170
+v -0.29886618 0.34130322 -0.13903235
+v -0.21033927 0.44114880 -0.07471170
+v -0.21043576 0.41234260 -0.12613125
+f 1 2 3
+f 1 3 4
+f 7 6 1
+f 7 5 6
+f 9 2 1
+f 9 1 6
+f 9 3 2
+f 10 7 1
+f 10 1 4
+f 12 8 4
+f 15 10 4
+f 15 7 10
+f 17 12 4
+f 17 4 3
+f 18 6 5
+f 18 5 13
+f 19 11 16
+f 20 18 13
+f 21 9 6
+f 22 3 9
+f 22 21 14
+f 22 9 21
+f 23 15 4
+f 23 11 15
+f 23 16 11
+f 23 4 16
+f 24 15 11
+f 24 5 7
+f 24 7 15
+f 25 16 4
+f 25 4 8
+f 27 17 3
+f 27 14 17
+f 27 22 14
+f 27 3 22
+f 29 13 5
+f 29 19 28
+f 29 28 20
+f 29 20 13
+f 30 11 19
+f 30 24 11
+f 30 5 24
+f 30 29 5
+f 30 19 29
+f 31 26 18
+f 31 18 20
+f 31 20 28
+f 32 21 6
+f 32 14 21
+f 33 19 16
+f 33 16 25
+f 33 25 8
+f 34 17 14
+f 34 14 26
+f 34 26 31
+f 34 12 17
+f 35 26 14
+f 35 6 18
+f 35 18 26
+f 35 32 6
+f 35 14 32
+f 36 28 19
+f 36 31 28
+f 36 33 8
+f 36 19 33
+f 37 8 12
+f 37 34 31
+f 37 12 34
+f 37 36 8
+f 37 31 36
\ No newline at end of file
diff --git a/objects/objaverse/donut/donut_1/collision/model_normalized_collision_26.obj b/objects/objaverse/donut/donut_1/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb8aedb6733b0e48f34b2b4731a8363dfd82985f
--- /dev/null
+++ b/objects/objaverse/donut/donut_1/collision/model_normalized_collision_26.obj
@@ -0,0 +1,183 @@
+# https://github.com/mikedh/trimesh
+v 0.26010102 -0.42498364 0.07943919
+v 0.43587745 -0.23049664 -0.08989778
+v 0.43732354 -0.23130544 0.07734908
+v 0.26507725 -0.23578746 0.17607491
+v 0.26451537 -0.23548814 -0.19307312
+v 0.40340158 -0.22859722 0.11950388
+v 0.41722899 -0.28573468 0.06296655
+v 0.25809532 -0.40707532 -0.11777779
+v 0.30167261 -0.29323785 0.15722706
+v 0.33776164 -0.23154216 0.16568069
+v 0.37723082 -0.23051390 -0.15820025
+v 0.43019033 -0.25657916 0.07118564
+v 0.25905166 -0.36330579 0.13362170
+v 0.31135796 -0.38517343 -0.08908469
+v 0.35734609 -0.30001234 0.11589516
+v 0.27353116 -0.30236235 0.16217863
+v 0.42011534 -0.22983386 -0.11744640
+v 0.30710463 -0.23349961 -0.18722949
+v 0.42771644 -0.25483400 -0.07515031
+v 0.39029892 -0.23790062 0.13450105
+v 0.25840835 -0.36324122 -0.15739472
+v 0.28248114 -0.41629958 0.06838811
+v 0.29914120 -0.35849132 0.11487555
+v 0.26808388 -0.30604054 0.16177679
+v 0.35576625 -0.31366399 -0.12632252
+v 0.39978660 -0.29897565 -0.06338221
+v 0.39881549 -0.28440872 -0.09935973
+v 0.39067322 -0.23683416 0.13461077
+v 0.35973668 -0.25336223 0.14779144
+v 0.40004073 -0.29716077 0.07308894
+v 0.26184356 -0.29306601 -0.18546974
+v 0.28214236 -0.41676767 0.06226427
+v 0.28397128 -0.38738290 0.09994191
+v 0.27149828 -0.36015978 0.12986579
+v 0.38583598 -0.25625430 -0.13865507
+v 0.35846554 -0.27224949 -0.15210277
+v 0.31140439 -0.37118952 -0.11236083
+v 0.41570378 -0.24204018 -0.11423598
+v 0.43018444 -0.24228858 -0.08871317
+v 0.38345289 -0.31210402 -0.08881190
+v 0.33831804 -0.24473034 0.16092094
+v 0.30123990 -0.31615782 0.14247622
+v 0.29639603 -0.40103901 0.07571182
+v 0.25864314 -0.42226139 -0.09093586
+v 0.39869875 -0.25548709 -0.12592017
+v 0.31309510 -0.34355773 -0.13868771
+v 0.34211776 -0.31421266 -0.13843798
+v 0.37467815 -0.24366306 -0.15432884
+v 0.27291826 -0.33317009 -0.16785392
+v 0.34576003 -0.25887029 -0.16600719
+v 0.28339256 -0.40144817 -0.10026095
+v 0.35551719 -0.32774583 -0.11263371
+v 0.28359903 -0.40236006 0.08611498
+v 0.27127808 -0.42007005 0.07631889
+v 0.26933260 -0.41616142 -0.08906325
+v 0.29722156 -0.37137911 -0.12593996
+v 0.26027043 -0.33584525 -0.17154038
+v 0.27099387 -0.36050121 -0.15291812
+v 0.35003624 -0.23216859 -0.17291044
+v 0.30489332 -0.26169447 -0.18195080
+v 0.26942106 -0.40221715 -0.11404802
+v 0.27530028 -0.29153718 -0.18255107
+f 6 3 2
+f 10 5 4
+f 12 2 3
+f 16 10 4
+f 16 9 10
+f 16 13 9
+f 17 11 6
+f 17 6 2
+f 18 6 11
+f 18 10 6
+f 18 5 10
+f 19 12 7
+f 19 2 12
+f 20 12 3
+f 20 7 12
+f 21 13 4
+f 21 4 5
+f 21 8 13
+f 24 16 4
+f 24 4 13
+f 24 13 16
+f 26 19 7
+f 26 7 14
+f 28 20 3
+f 28 3 6
+f 28 6 10
+f 29 15 20
+f 29 23 15
+f 29 28 10
+f 29 20 28
+f 30 20 15
+f 30 7 20
+f 31 21 5
+f 31 5 18
+f 32 14 7
+f 32 7 22
+f 32 22 1
+f 33 13 1
+f 34 9 13
+f 34 33 23
+f 34 13 33
+f 35 11 17
+f 38 17 2
+f 39 2 19
+f 39 19 27
+f 39 38 2
+f 39 27 38
+f 40 27 19
+f 40 19 26
+f 40 26 14
+f 41 29 10
+f 41 10 9
+f 41 9 29
+f 42 29 9
+f 42 23 29
+f 42 34 23
+f 42 9 34
+f 43 22 7
+f 43 7 30
+f 43 30 15
+f 43 15 23
+f 44 32 1
+f 44 13 8
+f 44 1 13
+f 45 27 25
+f 45 25 35
+f 45 38 27
+f 45 35 17
+f 45 17 38
+f 47 36 35
+f 47 35 25
+f 47 25 46
+f 48 11 35
+f 48 35 36
+f 49 47 46
+f 49 36 47
+f 50 48 36
+f 50 11 48
+f 50 36 49
+f 51 37 14
+f 52 40 14
+f 52 14 37
+f 52 25 27
+f 52 27 40
+f 52 46 25
+f 52 37 46
+f 53 43 23
+f 53 23 33
+f 53 33 1
+f 54 1 22
+f 54 22 43
+f 54 53 1
+f 54 43 53
+f 55 14 32
+f 55 32 44
+f 55 51 14
+f 55 44 51
+f 56 46 37
+f 57 49 21
+f 57 21 31
+f 58 49 46
+f 58 21 49
+f 58 46 56
+f 58 56 8
+f 58 8 21
+f 59 18 11
+f 59 11 50
+f 60 50 49
+f 60 59 50
+f 60 31 18
+f 60 18 59
+f 61 37 51
+f 61 56 37
+f 61 8 56
+f 61 51 44
+f 61 44 8
+f 62 57 31
+f 62 31 60
+f 62 60 49
+f 62 49 57
\ No newline at end of file
diff --git a/objects/objaverse/donut/donut_1/collision/model_normalized_collision_27.obj b/objects/objaverse/donut/donut_1/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bfc761da414835354c4da0f8535ae9ca503050e3
--- /dev/null
+++ b/objects/objaverse/donut/donut_1/collision/model_normalized_collision_27.obj
@@ -0,0 +1,165 @@
+# https://github.com/mikedh/trimesh
+v 0.43784164 -0.23178287 0.01203001
+v 0.49001439 -0.09637339 -0.06158935
+v 0.48129184 0.09515477 0.01085295
+v 0.26515153 0.09731048 0.01080077
+v 0.26451537 -0.23548814 -0.19307312
+v 0.47556379 -0.12603332 0.01346558
+v 0.41437497 -0.22683234 -0.12675367
+v 0.26515153 -0.23602287 0.01080077
+v 0.37960384 0.09541322 -0.18283308
+v 0.47416318 -0.15400003 -0.03979799
+v 0.48910920 -0.03746143 -0.00763785
+v 0.36135572 -0.23006924 -0.16789034
+v 0.46252946 -0.17017008 0.01357380
+v 0.47416680 0.09332164 -0.10052800
+v 0.26932028 0.09895678 -0.18662575
+v 0.48995075 -0.09603724 -0.03783625
+v 0.45794568 -0.18295179 -0.08781830
+v 0.49084022 0.07903600 -0.06131120
+v 0.40135679 -0.22797322 -0.13988045
+v 0.32032639 -0.23232890 -0.18402327
+v 0.45777959 -0.19703151 -0.04085791
+v 0.40703739 0.09490836 -0.17037657
+v 0.48901059 -0.08132028 -0.02586773
+v 0.47259917 -0.15429732 -0.07444074
+v 0.45964118 -0.09647392 -0.12744475
+v 0.48857884 0.04995454 -0.00782180
+v 0.48923639 -0.03780257 -0.08848580
+v 0.44332294 -0.22654243 -0.07485153
+v 0.37958345 -0.11299161 -0.18281694
+v 0.45923804 -0.19789747 -0.06240701
+v 0.47367724 -0.11087426 -0.10039822
+v 0.46010353 0.07892046 -0.12734973
+v 0.44453383 -0.15444677 -0.12747841
+v 0.48908885 0.07894874 -0.02442858
+v 0.48846629 0.03530705 -0.08815357
+v 0.36470482 -0.15756243 -0.18274225
+v 0.42072122 0.03554191 -0.16843690
+v 0.44352749 -0.22681170 -0.03983731
+v 0.47228982 -0.13967122 -0.08763885
+v 0.48926484 -0.08170449 -0.07474679
+v 0.47471049 -0.05251545 -0.11461502
+v 0.44574452 0.09371936 -0.14031142
+v 0.42856609 -0.19787671 -0.12657437
+v 0.43339784 -0.09682792 -0.15433808
+v 0.45880862 -0.13959611 -0.11375846
+v 0.48976750 0.06419772 -0.07477081
+v 0.47383252 0.04941851 -0.11400093
+v 0.33491714 -0.21705349 -0.18258296
+v 0.43349284 0.07960393 -0.15449709
+v 0.41607482 -0.19849314 -0.13985424
+v 0.44557401 -0.11085336 -0.14014144
+v 0.42069585 -0.05315140 -0.16838993
+v 0.40597829 -0.12678959 -0.16847985
+v 0.45785413 -0.16838691 -0.09961665
+v 0.39104671 -0.17095919 -0.16812524
+v 0.41819027 -0.15534085 -0.15357816
+f 6 3 4
+f 8 5 1
+f 8 4 5
+f 11 3 6
+f 13 6 4
+f 13 4 8
+f 13 8 1
+f 13 10 6
+f 15 9 5
+f 15 5 4
+f 15 4 3
+f 16 10 2
+f 16 6 10
+f 18 14 3
+f 18 16 2
+f 18 11 16
+f 19 1 12
+f 20 12 1
+f 20 1 5
+f 21 13 1
+f 21 10 13
+f 22 3 14
+f 22 15 3
+f 22 9 15
+f 23 16 11
+f 23 11 6
+f 23 6 16
+f 24 2 10
+f 26 3 11
+f 26 11 18
+f 27 18 2
+f 28 19 7
+f 28 1 19
+f 28 7 17
+f 29 5 9
+f 30 24 10
+f 30 10 21
+f 30 21 1
+f 30 28 17
+f 30 17 24
+f 34 26 18
+f 34 18 3
+f 34 3 26
+f 36 20 5
+f 36 5 29
+f 37 29 9
+f 37 9 22
+f 38 30 1
+f 38 1 28
+f 38 28 30
+f 39 24 17
+f 39 2 24
+f 40 31 27
+f 40 27 2
+f 40 39 31
+f 40 2 39
+f 41 31 25
+f 41 27 31
+f 42 22 14
+f 42 14 32
+f 43 17 7
+f 44 41 25
+f 45 33 25
+f 45 25 31
+f 45 31 39
+f 46 35 14
+f 46 14 18
+f 46 18 27
+f 46 27 35
+f 47 32 14
+f 47 14 35
+f 47 35 27
+f 47 27 41
+f 47 41 37
+f 48 12 20
+f 48 20 36
+f 49 37 22
+f 49 22 42
+f 49 42 32
+f 49 47 37
+f 49 32 47
+f 50 43 7
+f 50 7 19
+f 50 33 43
+f 51 44 25
+f 51 25 33
+f 52 29 37
+f 52 37 41
+f 52 41 44
+f 53 36 29
+f 53 52 44
+f 53 29 52
+f 54 45 39
+f 54 39 17
+f 54 17 43
+f 54 43 33
+f 54 33 45
+f 55 48 36
+f 55 12 48
+f 55 36 53
+f 55 50 19
+f 55 19 12
+f 56 44 51
+f 56 53 44
+f 56 55 53
+f 56 50 55
+f 56 51 33
+f 56 33 50
\ No newline at end of file
diff --git a/objects/objaverse/donut/donut_1/collision/model_normalized_collision_28.obj b/objects/objaverse/donut/donut_1/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ba502bb0d094845b3ecfb420df7931c279df8d4
--- /dev/null
+++ b/objects/objaverse/donut/donut_1/collision/model_normalized_collision_28.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v -0.16496469 -0.16606131 0.12273746
+v -0.14476683 -0.16114735 0.08556884
+v -0.21673948 -0.01792622 0.10217598
+v -0.36092401 -0.02134744 0.10779120
+v -0.36872260 -0.14468904 0.11757570
+v -0.19575331 -0.02485291 0.07991486
+v -0.30067738 -0.06962626 0.15020185
+v -0.15073580 -0.12065408 0.07967963
+v -0.18620396 -0.16263216 0.13924958
+v -0.27248058 -0.02677182 0.13379430
+v -0.35546400 -0.11150285 0.14703476
+v -0.14793969 -0.16456278 0.11073684
+v -0.23685691 -0.16249106 0.15376622
+v -0.35249041 -0.02556555 0.13165020
+v -0.21048181 -0.16581087 0.14652323
+v -0.34777833 -0.14727254 0.14989298
+f 5 2 1
+f 6 4 3
+f 6 5 4
+f 8 2 5
+f 8 5 6
+f 10 9 3
+f 11 4 5
+f 12 1 2
+f 12 2 8
+f 12 9 1
+f 12 3 9
+f 12 8 6
+f 12 6 3
+f 13 10 7
+f 13 9 10
+f 14 10 3
+f 14 3 4
+f 14 7 10
+f 14 11 7
+f 14 4 11
+f 15 13 5
+f 15 5 1
+f 15 1 9
+f 15 9 13
+f 16 11 5
+f 16 5 13
+f 16 13 7
+f 16 7 11
\ No newline at end of file
diff --git a/objects/objaverse/donut/donut_1/collision/model_normalized_collision_29.obj b/objects/objaverse/donut/donut_1/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..976fd1f1560bdf23b5028e2355586b84e663f952
--- /dev/null
+++ b/objects/objaverse/donut/donut_1/collision/model_normalized_collision_29.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v -0.10173395 -0.41540188 0.12226824
+v -0.09697571 -0.39704035 -0.17466699
+v -0.10591294 -0.17141890 0.08944410
+v -0.22774498 -0.15279787 0.12524032
+v -0.24236157 -0.41709304 -0.10464087
+v -0.23586352 -0.16093355 -0.18295945
+v -0.09728705 -0.36829143 -0.18563888
+v -0.23652127 -0.40563870 0.10458220
+v -0.10683052 -0.17335134 -0.11602167
+v -0.23840826 -0.17803603 -0.18675432
+v -0.23116010 -0.32119034 -0.18227417
+v -0.10038926 -0.27167550 -0.18358530
+v -0.17161717 -0.35139544 -0.18267170
+v -0.10357328 -0.23205406 -0.16652108
+v -0.12680187 -0.36648025 -0.18340468
+v -0.21261956 -0.38830894 -0.15316887
+v -0.19721125 -0.16677103 -0.16996061
+v -0.15513213 -0.39219968 -0.16735561
+v -0.22899802 -0.37687832 -0.15537038
+v -0.13926212 -0.17323187 -0.14040473
+v -0.22905035 -0.39151377 -0.14348633
+v -0.21503139 -0.36325186 -0.16860399
+f 1 3 4
+f 5 2 1
+f 7 1 2
+f 7 3 1
+f 8 5 1
+f 8 1 4
+f 9 6 4
+f 9 4 3
+f 10 4 6
+f 10 8 4
+f 10 5 8
+f 11 10 7
+f 11 5 10
+f 12 10 6
+f 12 7 10
+f 12 9 3
+f 12 3 7
+f 13 11 7
+f 14 12 6
+f 14 9 12
+f 15 13 7
+f 15 7 2
+f 17 14 6
+f 17 6 9
+f 18 15 2
+f 18 13 15
+f 18 2 5
+f 19 5 11
+f 20 17 9
+f 20 9 14
+f 20 14 17
+f 21 18 5
+f 21 16 18
+f 21 19 16
+f 21 5 19
+f 22 11 13
+f 22 13 18
+f 22 19 11
+f 22 18 16
+f 22 16 19
\ No newline at end of file
diff --git a/objects/objaverse/donut/donut_1/collision/model_normalized_collision_3.obj b/objects/objaverse/donut/donut_1/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c8809e2e3ec36beffea866fd039d285035c0f249
--- /dev/null
+++ b/objects/objaverse/donut/donut_1/collision/model_normalized_collision_3.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v -0.23484848 -0.14511377 -0.00435075
+v -0.17273159 -0.09882510 -0.11146364
+v -0.23484848 0.23367412 -0.00435075
+v -0.35606061 0.23367412 -0.00435075
+v -0.35310211 -0.14389222 -0.18768157
+v -0.23677092 -0.14623754 -0.18028999
+v -0.35606061 -0.14511377 -0.00435075
+v -0.23461733 0.23343756 -0.19289908
+v -0.25416048 -0.14739628 -0.18578232
+v -0.34858309 0.22844415 -0.17055301
+v -0.17981261 0.09070622 -0.13636996
+v -0.35026667 0.17008436 -0.18360072
+v -0.30663927 0.23056476 -0.18469235
+v -0.18468706 -0.10541032 -0.13108570
+v -0.19853724 0.10356599 -0.15616079
+v -0.33510936 0.19976175 -0.18292201
+f 1 2 3
+f 1 3 4
+f 6 2 1
+f 7 1 4
+f 7 4 5
+f 8 4 3
+f 9 6 1
+f 9 1 7
+f 9 7 5
+f 9 8 6
+f 9 5 8
+f 11 8 3
+f 11 3 2
+f 12 8 5
+f 12 5 4
+f 12 4 10
+f 13 10 4
+f 13 4 8
+f 13 8 12
+f 14 11 2
+f 14 2 6
+f 15 6 8
+f 15 8 11
+f 15 14 6
+f 15 11 14
+f 16 13 12
+f 16 12 10
+f 16 10 13
\ No newline at end of file
diff --git a/objects/objaverse/donut/donut_1/collision/model_normalized_collision_30.obj b/objects/objaverse/donut/donut_1/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eb99d81fbfb008d584923b477bbec34069f2f463
--- /dev/null
+++ b/objects/objaverse/donut/donut_1/collision/model_normalized_collision_30.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.14809764 0.36522450 0.13219294
+v 0.14228183 0.35070200 -0.18617028
+v 0.14169190 0.40864206 -0.16066000
+v 0.00662288 0.42606444 0.11393034
+v 0.00697359 0.36068962 0.14056012
+v 0.00768032 0.40881849 -0.17349852
+v 0.14449137 0.41709682 0.10361642
+v 0.08206874 0.37868410 -0.18325316
+v 0.00760613 0.35319235 -0.19104305
+v 0.11094143 0.40517269 -0.16851140
+v 0.00765320 0.38030253 -0.18499573
+v 0.14113484 0.39261013 -0.17031567
+v 0.14137804 0.36360653 -0.18246911
+f 1 2 3
+f 5 2 1
+f 5 1 4
+f 6 4 3
+f 7 1 3
+f 7 3 4
+f 7 4 1
+f 9 5 4
+f 9 4 6
+f 9 2 5
+f 9 8 2
+f 10 8 6
+f 10 6 3
+f 11 9 6
+f 11 6 8
+f 11 8 9
+f 12 10 3
+f 12 3 2
+f 12 8 10
+f 13 12 2
+f 13 2 8
+f 13 8 12
\ No newline at end of file
diff --git a/objects/objaverse/donut/donut_1/collision/model_normalized_collision_31.obj b/objects/objaverse/donut/donut_1/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be1b65ba0f26d7af2540eb6a47fe8aee62549202
--- /dev/null
+++ b/objects/objaverse/donut/donut_1/collision/model_normalized_collision_31.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.13964470 -0.40269652 0.14941716
+v 0.14180073 -0.39645898 -0.17405181
+v 0.14527771 -0.28274715 0.16470242
+v -0.10343900 -0.27927766 0.16075436
+v -0.09697571 -0.39704035 -0.17466699
+v 0.14470806 -0.28290657 -0.19166766
+v -0.09991920 -0.38057699 0.16486109
+v 0.14165472 -0.36748962 0.15968771
+v -0.09955801 -0.28450416 -0.18697143
+v 0.14222438 -0.36782822 -0.18551165
+v -0.09732522 -0.39872070 0.15303975
+v 0.08996188 -0.39127065 0.16267443
+v 0.12672564 -0.38079984 -0.18293498
+v -0.09728705 -0.36829143 -0.18563888
+v -0.06786665 -0.40043005 0.15865405
+v -0.08177944 -0.38133479 -0.18286332
+f 5 2 1
+f 6 3 2
+f 6 4 3
+f 7 3 4
+f 7 4 5
+f 8 1 2
+f 8 2 3
+f 9 5 4
+f 9 4 6
+f 10 6 2
+f 11 7 5
+f 12 1 8
+f 12 8 3
+f 12 3 7
+f 13 10 2
+f 13 2 5
+f 14 9 6
+f 14 6 10
+f 14 5 9
+f 14 10 13
+f 15 11 5
+f 15 5 1
+f 15 1 12
+f 15 12 7
+f 15 7 11
+f 16 14 13
+f 16 13 5
+f 16 5 14
\ No newline at end of file
diff --git a/objects/objaverse/donut/donut_1/collision/model_normalized_collision_4.obj b/objects/objaverse/donut/donut_1/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..78107ac8cb707c94bf92619b35348b267affb7cf
--- /dev/null
+++ b/objects/objaverse/donut/donut_1/collision/model_normalized_collision_4.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.22974876 -0.43700169 0.06582182
+v -0.22835141 -0.40539325 -0.13004837
+v -0.23819507 -0.14857780 0.15027583
+v -0.46753417 -0.14342205 0.06375746
+v -0.38367467 -0.31261415 -0.08819074
+v -0.24110387 -0.14877037 -0.18219104
+v -0.34298878 -0.24544608 0.14315413
+v -0.22800058 -0.40039334 0.12085049
+v -0.27079631 -0.43706705 -0.00975653
+v -0.23214690 -0.30781291 -0.18579748
+v -0.46129641 -0.14027629 -0.11477297
+v -0.34777833 -0.14727254 0.14989298
+v -0.22927009 -0.43633868 -0.07659395
+v -0.38374929 -0.31284871 0.07499588
+v -0.23501927 -0.25288943 0.16686619
+v -0.35851227 -0.27189822 -0.15202877
+v -0.22899802 -0.37687832 -0.15537038
+v -0.47783830 -0.14104043 -0.03749961
+v -0.35310211 -0.14389222 -0.18768157
+v -0.45417924 -0.14398288 0.07846746
+v -0.22850372 -0.42041519 0.09225322
+v -0.32689798 -0.37057319 -0.08668760
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\ No newline at end of file
diff --git a/objects/objaverse/donut/donut_1/collision/model_normalized_collision_5.obj b/objects/objaverse/donut/donut_1/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed4e829562d76e54fa729c925382a62eecd94658
--- /dev/null
+++ b/objects/objaverse/donut/donut_1/collision/model_normalized_collision_5.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.00557257 0.24299118 0.16048458
+v 0.00746544 0.24008504 -0.17238018
+v 0.00831800 0.49271152 0.06688763
+v -0.12134717 0.48777920 0.04663561
+v -0.43425051 0.22664293 -0.08960405
+v 0.00768032 0.40881849 -0.17349852
+v -0.19453868 0.37309059 0.13500243
+v 0.00167330 0.24646858 0.16324700
+v -0.30038376 0.22576858 0.13406298
+v 0.00804416 0.48845191 -0.08848279
+v -0.30663927 0.23056476 -0.18469235
+v -0.16481583 0.41912413 0.11660200
+v 0.00487077 0.35141168 0.16848068
+v -0.37048700 0.31193567 0.06492031
+v -0.23176116 0.23376270 0.14451228
+v 0.00753444 0.26969561 -0.18407599
+v -0.05052443 0.48816257 -0.07560045
+v -0.41895967 0.22611961 -0.11573101
+v -0.34858309 0.22844415 -0.17055301
+v 0.00055118 0.47624935 0.09461379
+v -0.09155413 0.34921282 0.16162088
+v -0.29841364 0.31696292 0.11872180
+v -0.43294235 0.22751437 0.04718263
+v -0.31214423 0.36931867 0.06873930
+v 0.00765320 0.38030253 -0.18499573
+v -0.11614812 0.23909105 -0.18318207
+v -0.09414450 0.49007191 0.05672640
+v -0.13865960 0.42937589 -0.13980119
+v -0.17168004 0.38390560 0.13370525
+v -0.24171488 0.28394180 0.14753208
+v -0.15439866 0.29914077 0.16217706
+v -0.23494991 0.37553369 0.12192219
+v -0.41482047 0.26761536 -0.05349832
+v -0.38480441 0.25152438 0.08905231
+v -0.27064526 0.38586276 0.08581730
+v -0.32642444 0.35442189 0.07359533
+v -0.12154965 0.48816227 0.03200174
+v -0.13692742 0.47436475 0.05736701
+v -0.07993331 0.47323659 -0.10061941
+v -0.25789715 0.33034887 -0.16720202
+v -0.29999317 0.24591887 0.13131588
+v -0.09713694 0.25241436 0.16228944
+v -0.18290106 0.34720681 0.14554945
+v -0.24547742 0.24867698 0.14594044
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+v -0.42790635 0.23860714 0.04681872
+v -0.38991037 0.22893908 0.08500425
+v -0.27913768 0.35983773 0.10532999
+v -0.19459441 0.44400372 0.05959463
+v -0.00658139 0.48793496 -0.08845644
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+v -0.15476861 0.30189051 0.16173135
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+v -0.32577127 0.36906751 -0.03684801
+v -0.31291261 0.35518510 -0.11326853
+v -0.37068644 0.32541364 -0.06276976
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\ No newline at end of file
diff --git a/objects/objaverse/donut/donut_1/collision/model_normalized_collision_6.obj b/objects/objaverse/donut/donut_1/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..744c4b7b687a4028f25cfb2273a3378caacb2ac2
--- /dev/null
+++ b/objects/objaverse/donut/donut_1/collision/model_normalized_collision_6.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.08378852 -0.28285464 0.15797460
+v 0.08592127 -0.25721531 0.14847433
+v -0.10488505 -0.25592779 0.15284996
+v -0.10591294 -0.17141890 0.08944410
+v 0.00766721 -0.28316114 -0.18170322
+v 0.08718519 -0.21202814 0.12320024
+v 0.08451026 -0.20814518 0.09931254
+v -0.09890348 -0.28259245 0.15857652
+v -0.09848832 -0.28148718 -0.18613394
+v 0.08800542 -0.22859352 0.13428923
+v -0.09903398 -0.23546406 0.14026138
+v -0.10683052 -0.17335134 -0.11602167
+v 0.00889746 -0.18901729 0.07691457
+v -0.10555947 -0.18717535 0.10298779
+v 0.00822663 -0.18992547 -0.08907382
+v -0.10378161 -0.21653931 -0.15649290
+v 0.00820028 -0.20446873 -0.11705713
+v -0.02532947 -0.17733054 -0.04701530
+v -0.10143526 -0.24300074 -0.17199158
+v 0.00801532 -0.26040878 -0.17081543
+v -0.02547043 -0.17885544 0.00773677
+f 1 2 3
+f 7 1 5
+f 8 5 1
+f 8 1 3
+f 9 8 3
+f 9 5 8
+f 10 3 2
+f 10 7 6
+f 10 2 1
+f 10 1 7
+f 11 10 6
+f 11 3 10
+f 12 3 4
+f 13 4 6
+f 13 6 7
+f 14 11 6
+f 14 6 4
+f 14 4 3
+f 14 3 11
+f 16 9 3
+f 16 3 12
+f 17 15 7
+f 17 12 15
+f 18 13 7
+f 18 7 15
+f 18 15 12
+f 18 12 4
+f 19 5 9
+f 19 9 16
+f 20 17 7
+f 20 7 5
+f 20 16 12
+f 20 12 17
+f 20 19 16
+f 20 5 19
+f 21 18 4
+f 21 4 13
+f 21 13 18
\ No newline at end of file
diff --git a/objects/objaverse/donut/donut_1/collision/model_normalized_collision_7.obj b/objects/objaverse/donut/donut_1/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..311597a4eeb1f576fae1ed7c9112a04060c64b5b
--- /dev/null
+++ b/objects/objaverse/donut/donut_1/collision/model_normalized_collision_7.obj
@@ -0,0 +1,135 @@
+# https://github.com/mikedh/trimesh
+v -0.03786789 -0.49340843 -0.00429347
+v 0.13616638 -0.42692048 -0.15561508
+v -0.18891381 -0.40170457 0.13068043
+v -0.22800058 -0.40039334 0.12085049
+v -0.23228766 -0.39775794 -0.13589905
+v -0.18398486 -0.45015248 0.07894017
+v 0.12801970 -0.46002869 -0.12323367
+v 0.12716224 -0.39738657 -0.17599372
+v -0.18673104 -0.41511077 0.12386553
+v -0.21158222 -0.44503437 -0.07465911
+v -0.06559181 -0.43494535 -0.15456600
+v -0.21566481 -0.39451614 -0.14695286
+v -0.22742706 -0.40131926 0.12061985
+v -0.12539261 -0.47969205 -0.00190123
+v -0.22718238 -0.43204681 0.07643488
+v 0.11048547 -0.43463084 -0.15467081
+v -0.16760009 -0.44444215 -0.11256488
+v -0.11176607 -0.39624781 -0.17303995
+v -0.22561253 -0.42823782 -0.09977038
+v -0.21155749 -0.43098834 0.08905698
+v -0.21228866 -0.44552158 0.06460959
+v 0.12486847 -0.44662923 -0.14030472
+v -0.02161320 -0.42254100 -0.16828471
+v 0.12617442 -0.40814528 -0.17044886
+v -0.13901908 -0.43224970 -0.13990555
+v -0.12421136 -0.47432356 -0.07467670
+v -0.21191543 -0.41610458 -0.12672646
+v -0.19695769 -0.44595683 0.07661080
+v -0.18305257 -0.46151804 -0.00198170
+v 0.00834171 -0.47707963 -0.11515177
+v -0.11048982 -0.40693620 -0.16722815
+v 0.08178831 -0.42133333 -0.16812655
+v -0.22835141 -0.40539325 -0.13004837
+v -0.18301082 -0.41717631 -0.13934183
+v 0.11023305 -0.46132554 -0.12691292
+v 0.00769537 -0.48976379 -0.07959464
+v -0.07961113 -0.47394701 -0.10175885
+v -0.17160070 -0.39614344 -0.16080524
+v -0.21259205 -0.40343899 -0.14016054
+v 0.11145099 -0.46748695 -0.11785841
+v -0.10929102 -0.47360728 -0.08779273
+v -0.10946169 -0.46079408 -0.11396806
+v -0.02097306 -0.47564274 -0.11436925
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+v -0.08020481 -0.44726812 -0.14014704
+v -0.06515544 -0.46077447 -0.12742162
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+f 46 42 45
+f 46 45 11
+f 46 11 30
+f 46 30 43
\ No newline at end of file
diff --git a/objects/objaverse/donut/donut_1/collision/model_normalized_collision_8.obj b/objects/objaverse/donut/donut_1/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e69ad80a994dafc4307a06c98de53001deb7a43
--- /dev/null
+++ b/objects/objaverse/donut/donut_1/collision/model_normalized_collision_8.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v 0.22372526 0.02186966 0.14149379
+v 0.40101499 0.10323425 0.12534775
+v 0.36809553 0.08844265 0.16616588
+v 0.00798361 0.23688135 0.15489021
+v 0.00750002 0.16294489 0.09708229
+v 0.35456152 0.25690584 0.13187805
+v 0.22401500 0.09656528 0.15590572
+v 0.40089771 0.09710115 0.14601294
+v 0.21812412 0.02147491 0.10326639
+v 0.20038356 0.01613235 0.12639905
+v 0.24324866 0.26651049 0.16653987
+v 0.37410765 0.26523201 0.10076003
+v 0.08500347 0.23731296 0.16487132
+v 0.39510317 0.09506193 0.14933501
+v 0.39155896 0.12764412 0.15055907
+v 0.02175258 0.21496219 0.15020964
+v 0.18682098 0.02351490 0.10643799
+v 0.00720162 0.22643965 0.11277249
+v 0.25594215 0.27021604 0.13869103
+v 0.38266965 0.23141899 0.09714186
+v 0.32718313 0.21102057 0.16134965
+v 0.38679642 0.22428072 0.12393083
+v 0.00759174 0.17027141 0.10482427
+v 0.27389802 0.25965737 0.16216245
+v 0.35720487 0.25709806 0.12930269
+v 0.36929985 0.21243141 0.13986688
+v 0.39663390 0.14072545 0.13914532
+v 0.35095897 0.22228211 0.14593724
+f 7 1 3
+f 7 4 1
+f 9 8 1
+f 9 2 8
+f 10 9 1
+f 12 11 6
+f 13 7 3
+f 13 4 7
+f 13 11 4
+f 13 3 11
+f 14 8 3
+f 14 3 1
+f 14 1 8
+f 15 3 8
+f 16 10 1
+f 16 1 4
+f 17 10 5
+f 17 5 9
+f 17 9 10
+f 18 12 5
+f 18 5 4
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+f 24 6 11
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+f 27 2 22
+f 28 26 6
+f 28 6 21
+f 28 21 26
\ No newline at end of file
diff --git a/objects/objaverse/donut/donut_1/collision/model_normalized_collision_9.obj b/objects/objaverse/donut/donut_1/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..189d2b74fed120c7dddc08ba28f1dc0d5b2abd38
--- /dev/null
+++ b/objects/objaverse/donut/donut_1/collision/model_normalized_collision_9.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.26555232 -0.09984982 0.16092102
+v 0.26582866 -0.09988308 -0.18428508
+v 0.26713536 0.09780289 0.16661206
+v 0.18339655 0.10811229 0.13871404
+v 0.15354239 -0.10583254 -0.09024092
+v 0.26538779 0.09740378 -0.18533614
+v 0.24088520 -0.10084877 0.17163022
+v 0.26611439 -0.06985951 0.17446933
+v 0.20020937 -0.10500246 0.15262962
+v 0.15597584 0.10679622 -0.11566375
+v 0.23745135 0.10115060 0.16271814
+v 0.21347004 -0.10375760 -0.15865469
+v 0.24076585 -0.10199788 -0.17436910
+v 0.22717936 -0.10295148 0.16379157
+v 0.15601124 -0.10720669 0.09477685
+v 0.22754522 0.10098550 -0.17069970
+v 0.17026538 -0.10598395 -0.11775160
+v 0.15248689 0.10400929 0.10675022
+v 0.18538337 0.10432143 -0.14338404
+v 0.18956739 -0.10108312 0.14007334
+f 6 3 2
+f 6 4 3
+f 8 1 2
+f 8 2 3
+f 8 7 1
+f 9 7 4
+f 11 3 4
+f 11 4 7
+f 11 8 3
+f 11 7 8
+f 13 2 1
+f 13 9 12
+f 14 1 7
+f 14 7 9
+f 14 13 1
+f 14 9 13
+f 15 12 9
+f 16 10 4
+f 16 4 6
+f 16 13 12
+f 16 6 2
+f 16 2 13
+f 17 5 10
+f 17 15 5
+f 17 12 15
+f 18 9 4
+f 18 4 10
+f 18 10 5
+f 18 5 15
+f 19 16 12
+f 19 10 16
+f 19 17 10
+f 19 12 17
+f 20 18 15
+f 20 15 9
+f 20 9 18
\ No newline at end of file
diff --git a/objects/objaverse/donut/donut_1/model.xml b/objects/objaverse/donut/donut_1/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..763944662937a557bb46932dd0e3e1c4c17ee959
--- /dev/null
+++ b/objects/objaverse/donut/donut_1/model.xml
@@ -0,0 +1,86 @@
+<mujoco model="donut_24">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.10499999999999997 0.10499999999999997 0.10499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="visual/model_normalized_1.obj" name="model_normalized_1_vis" scale="0.10499999999999997 0.10499999999999997 0.10499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="visual/model_normalized_2.obj" name="model_normalized_2_vis" scale="0.10499999999999997 0.10499999999999997 0.10499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.10499999999999997 0.10499999999999997 0.10499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.10499999999999997 0.10499999999999997 0.10499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.10499999999999997 0.10499999999999997 0.10499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.10499999999999997 0.10499999999999997 0.10499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.10499999999999997 0.10499999999999997 0.10499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.10499999999999997 0.10499999999999997 0.10499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.10499999999999997 0.10499999999999997 0.10499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.10499999999999997 0.10499999999999997 0.10499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.10499999999999997 0.10499999999999997 0.10499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.10499999999999997 0.10499999999999997 0.10499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.10499999999999997 0.10499999999999997 0.10499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.10499999999999997 0.10499999999999997 0.10499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.10499999999999997 0.10499999999999997 0.10499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.10499999999999997 0.10499999999999997 0.10499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.10499999999999997 0.10499999999999997 0.10499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.10499999999999997 0.10499999999999997 0.10499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.10499999999999997 0.10499999999999997 0.10499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.10499999999999997 0.10499999999999997 0.10499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.10499999999999997 0.10499999999999997 0.10499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.10499999999999997 0.10499999999999997 0.10499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.10499999999999997 0.10499999999999997 0.10499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.10499999999999997 0.10499999999999997 0.10499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.10499999999999997 0.10499999999999997 0.10499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.10499999999999997 0.10499999999999997 0.10499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.10499999999999997 0.10499999999999997 0.10499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.10499999999999997 0.10499999999999997 0.10499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.10499999999999997 0.10499999999999997 0.10499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.10499999999999997 0.10499999999999997 0.10499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.10499999999999997 0.10499999999999997 0.10499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.10499999999999997 0.10499999999999997 0.10499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.10499999999999997 0.10499999999999997 0.10499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.10499999999999997 0.10499999999999997 0.10499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <material name="Material.091" specular="0.5" shininess="0.359999993" rgba="0.838799 0.558340 0.270498 1.0"/>
+    <material name="Material.092" specular="0.5" shininess="0.359999993" rgba="0.413440 0.837339 0.624581 1.0"/>
+    <material name="Material.093" specular="0.5" shininess="0.359999993" rgba="0.092507 0.058958 0.058958 1.0"/>
+  </asset>
+  <worldbody>
+    <body>
+      <body name="object">
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_0_vis" conaffinity="0" contype="0" group="1" material="Material.093"/>
+        <geom solimp="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.092"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_2_vis" conaffinity="0" contype="0" group="1" material="Material.091"/>
+        <geom solimp="0.998 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="3.8482499999853416e-07 -3.658777499999973e-05 -0.020272677599999993" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="3.8482499999853416e-07 -3.658777499999973e-05 0.020312317199999996" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.05153822309999998 0.05173470959999998 1.9819800000001046e-05" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/objects/objaverse/donut/donut_1/visual/material.mtl b/objects/objaverse/donut/donut_1/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..603c129713f6da7f693596dfae34869bd70e3fef
--- /dev/null
+++ b/objects/objaverse/donut/donut_1/visual/material.mtl
@@ -0,0 +1,7 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.83921569 0.55686275 0.27058824
+Ks 0.50196078 0.50196078 0.50196078
+Ns 359.99999300
\ No newline at end of file
diff --git a/objects/objaverse/donut/donut_1/visual/model_normalized_2.obj b/objects/objaverse/donut/donut_1/visual/model_normalized_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0ee9e0d9740a4a2c1625f8ab12846e3f4b123231
--- /dev/null
+++ b/objects/objaverse/donut/donut_1/visual/model_normalized_2.obj
@@ -0,0 +1,108486 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
+v -0.14477378 -0.47377883 -0.00622974
+v -0.13112159 -0.47751586 -0.00631525
+v -0.13145435 -0.47920832 0.00446831
+v -0.14507104 -0.47532971 0.00455422
+v -0.11730524 -0.48086327 -0.00646167
+v -0.11765091 -0.48267955 0.00432875
+v -0.10336103 -0.48387387 -0.00665527
+v -0.10371397 -0.48582649 0.00414160
+v -0.08931074 -0.48654889 -0.00690293
+v -0.08965641 -0.48865437 0.00390725
+v -0.07516446 -0.48881249 -0.00720464
+v -0.07549641 -0.49110432 0.00363257
+v -0.06092096 -0.49056625 -0.00755353
+v -0.06123799 -0.49309646 0.00331070
+v -0.13134303 -0.47934465 0.01517201
+v -0.14493148 -0.47544628 0.01525792
+v -0.11757589 -0.48286912 0.01503890
+v -0.10367363 -0.48609028 0.01485860
+v -0.08964794 -0.48899843 0.01463797
+v -0.07550972 -0.49156898 0.01438346
+v -0.06127026 -0.49373981 0.01408861
+v -0.13078237 -0.47787081 0.02575470
+v -0.14432525 -0.47402689 0.02582690
+v -0.11707614 -0.48139206 0.02562885
+v -0.10323438 -0.48460998 0.02546227
+v -0.08926678 -0.48752096 0.02525495
+v -0.07518704 -0.49010966 0.02500729
+v -0.06101171 -0.49233817 0.02473947
+v -0.12989460 -0.47530672 0.03614862
+v -0.14336044 -0.47150353 0.03620711
+v -0.11627146 -0.47879005 0.03602923
+v -0.10251642 -0.48197853 0.03587636
+v -0.08863271 -0.48486692 0.03568275
+v -0.07464938 -0.48743827 0.03545567
+v -0.06056521 -0.48966154 0.03520156
+v -0.12877651 -0.47197585 0.04629166
+v -0.14213506 -0.46821502 0.04634289
+v -0.11525784 -0.47542288 0.04618598
+v -0.10161090 -0.47858434 0.04603957
+v -0.08783811 -0.48143925 0.04586008
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\ No newline at end of file
diff --git a/objects/objaverse/donut/donut_9/collision/model_normalized_collision_0.obj b/objects/objaverse/donut/donut_9/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..741cee1427179dc4db191cd5fe17f476438a11cc
--- /dev/null
+++ b/objects/objaverse/donut/donut_9/collision/model_normalized_collision_0.obj
@@ -0,0 +1,132 @@
+# https://github.com/mikedh/trimesh
+v 0.41046747 -0.30836874 0.03518153
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+v 0.43797380 0.00180653 0.00979427
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+v 0.42422547 -0.30336850 0.02361947
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+v 0.34101329 -0.30244998 -0.11838006
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+v 0.38706647 -0.00864756 -0.18768050
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+f 33 26 11
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+f 34 16 2
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+f 43 42 33
+f 43 36 42
+f 44 38 17
+f 44 32 38
+f 44 39 32
+f 44 17 39
+f 45 40 11
+f 45 11 24
+f 45 24 40
\ No newline at end of file
diff --git a/objects/objaverse/donut/donut_9/collision/model_normalized_collision_1.obj b/objects/objaverse/donut/donut_9/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..84b62fbd573e64690bb7b6635b7fabfb832b9090
--- /dev/null
+++ b/objects/objaverse/donut/donut_9/collision/model_normalized_collision_1.obj
@@ -0,0 +1,150 @@
+# https://github.com/mikedh/trimesh
+v -0.37798311 -0.14419073 0.10662376
+v -0.32706182 -0.14238638 -0.18958877
+v -0.33161535 -0.14393940 0.01388148
+v -0.34443923 0.32745142 -0.00148261
+v -0.44811583 0.04926799 -0.15956978
+v -0.33161535 0.23484849 0.01388148
+v -0.43305415 -0.14060015 -0.03123750
+v -0.33115587 0.23466389 -0.19578961
+v -0.32527053 -0.08137171 -0.20104573
+v -0.38226290 -0.00815718 0.12680971
+v -0.38818953 -0.13797109 -0.13949602
+v -0.42215331 -0.14230219 -0.06141696
+v -0.44984987 0.25703389 -0.05659237
+v -0.32823640 0.20338233 -0.19839405
+v -0.42903658 0.00055017 -0.17892139
+v -0.38554816 0.23634151 0.12314927
+v -0.43495463 -0.03324788 0.05277165
+v -0.40634245 -0.14323058 0.08425841
+v -0.33900714 -0.14129289 -0.18349752
+v -0.40600762 0.22820773 -0.13893662
+v -0.36269431 0.33454798 -0.10427391
+v -0.36751353 0.12258691 -0.19601987
+v -0.44902316 0.01124993 -0.16090165
+v -0.40486007 0.30811918 -0.00883308
+v -0.45364986 0.24688571 -0.02585119
+v -0.40525821 0.02335717 0.10742796
+v -0.45039320 -0.05173184 -0.00424407
+v -0.40156575 -0.14330929 0.09461343
+v -0.43480541 -0.00963764 -0.17092545
+v -0.36476157 0.22829835 -0.18081381
+v -0.43809400 0.25821626 -0.08052781
+v -0.35016049 -0.02750024 -0.19839299
+v -0.44962003 -0.00021353 -0.14840705
+v -0.43206914 0.03603449 -0.18007114
+v -0.43558759 0.28135143 -0.05798704
+v -0.43481122 0.07897818 0.05204556
+v -0.43508614 0.28367167 -0.03414673
+v -0.43348869 -0.13751876 -0.01810503
+v -0.39855646 -0.00683592 0.11252423
+v -0.41770074 -0.04797508 0.08122494
+v -0.36091592 -0.13859613 -0.16595026
+v -0.43695318 0.06299553 -0.16817207
+v -0.45003034 -0.04534427 -0.04291270
+v -0.36622961 0.10254523 -0.19618915
+v -0.38003972 0.18598963 -0.18062773
+v -0.34313327 0.20322291 -0.19522873
+v -0.41902675 0.09397669 0.08209246
+v -0.45165044 0.08044209 0.00776570
+v -0.39063701 0.19932765 -0.16676463
+v -0.40490634 0.08062905 0.10725682
+v -0.44932051 -0.00648087 0.00859150
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+f 50 47 26
+f 50 26 16
+f 50 16 47
+f 51 48 27
+f 51 27 17
+f 51 17 48
\ No newline at end of file
diff --git a/objects/objaverse/donut/donut_9/collision/model_normalized_collision_10.obj b/objects/objaverse/donut/donut_9/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0dc321f82cab6a2c977c4285e8813c03ea296315
--- /dev/null
+++ b/objects/objaverse/donut/donut_9/collision/model_normalized_collision_10.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.28312082 -0.29658714 0.11909499
+v 0.34153093 -0.25932606 -0.17255466
+v 0.35858025 -0.00737156 0.10899227
+v 0.23837082 0.00676194 0.13573524
+v 0.24431711 -0.26523839 -0.20309527
+v 0.31030291 -0.12475452 0.16512947
+v 0.36601672 -0.26482713 0.08269225
+v 0.35520326 -0.30461048 -0.00652684
+v 0.24404747 -0.26546333 0.15010567
+v 0.36232494 -0.00820193 -0.19740087
+v 0.26812840 -0.27460044 0.14630947
+v 0.37629569 -0.15919993 0.11239666
+v 0.31007538 -0.25793942 -0.19590768
+v 0.32617090 -0.29058367 0.10409509
+v 0.27551845 -0.13409861 0.16370963
+v 0.35704519 -0.14187422 -0.19769772
+v 0.24401210 -0.00773205 -0.20045439
+v 0.30498774 -0.18465899 0.15481689
+v 0.33074202 -0.28847647 0.10218119
+v 0.24377688 -0.14413088 0.14904829
+v 0.33767904 -0.24394536 -0.18331556
+v 0.33867951 -0.20191709 -0.19537721
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+f 13 2 8
+f 14 1 8
+f 14 11 1
+f 15 9 6
+f 15 6 4
+f 16 8 2
+f 16 13 5
+f 16 5 10
+f 16 7 8
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+f 16 10 12
+f 17 10 5
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+f 18 6 11
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+f 19 8 7
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+f 19 18 11
+f 19 11 14
+f 20 15 4
+f 20 4 9
+f 20 9 15
+f 21 16 2
+f 21 2 13
+f 22 21 13
+f 22 13 16
+f 22 16 21
\ No newline at end of file
diff --git a/objects/objaverse/donut/donut_9/collision/model_normalized_collision_11.obj b/objects/objaverse/donut/donut_9/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0943dfc603c4de208d88c59561470ff0fd0cc710
--- /dev/null
+++ b/objects/objaverse/donut/donut_9/collision/model_normalized_collision_11.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.00536665 -0.01582386 -0.14912521
+v 0.01838908 -0.01101089 -0.15126090
+v 0.01735230 0.07357450 -0.09147495
+v -0.21040323 0.23484849 -0.09217913
+v -0.21038469 0.23481318 -0.19672574
+v -0.21040323 0.09848485 -0.09217913
+v 0.00323096 -0.01099596 -0.13611601
+v -0.21029932 0.09834797 -0.20073010
+v 0.01684354 0.23479911 -0.19297447
+v -0.06501701 0.03239631 -0.09114904
+v 0.01625340 -0.00618299 -0.13825169
+v -0.00177731 0.01284973 -0.18496771
+v 0.01686950 0.23484849 -0.09217913
+v -0.16525395 0.20401952 -0.19768965
+v -0.03929987 0.01395165 -0.18280255
+v 0.01470743 0.03106392 -0.18460007
+v -0.05990772 0.05672623 -0.19738478
+v -0.10542529 0.17358070 -0.19695801
+v -0.17990948 0.20418213 -0.19781327
+v -0.05996708 0.09782536 -0.19701361
+v -0.08927063 0.04379147 -0.19543224
+v -0.07437464 0.04375494 -0.19515782
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+f 10 7 3
+f 10 6 1
+f 10 1 7
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+f 11 1 2
+f 12 2 1
+f 13 3 2
+f 13 2 9
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+f 13 4 10
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+f 13 5 4
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+f 15 1 8
+f 16 9 2
+f 16 2 12
+f 17 16 12
+f 17 9 16
+f 18 14 9
+f 18 9 8
+f 18 8 14
+f 19 14 8
+f 19 8 5
+f 19 5 14
+f 20 17 8
+f 20 8 9
+f 20 9 17
+f 21 15 8
+f 21 8 17
+f 21 12 15
+f 22 21 17
+f 22 17 12
+f 22 12 21
\ No newline at end of file
diff --git a/objects/objaverse/donut/donut_9/collision/model_normalized_collision_12.obj b/objects/objaverse/donut/donut_9/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2c9b103a4842908779bd3a4917157051bbcef6c7
--- /dev/null
+++ b/objects/objaverse/donut/donut_9/collision/model_normalized_collision_12.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v -0.10811714 -0.14998278 0.18532419
+v -0.07477759 -0.14511339 0.14782072
+v -0.09831142 0.16778277 0.15347537
+v -0.26956882 0.16479610 0.16120983
+v -0.39016689 -0.14337394 0.10066632
+v -0.19950232 0.09261417 0.19266652
+v -0.34691978 -0.15222226 0.12066094
+v -0.08489827 -0.00052055 0.11854682
+v -0.39642259 0.11170484 0.11224254
+v -0.14255340 0.15158749 0.18314640
+v -0.07825287 -0.15064178 0.15155571
+v -0.24802193 -0.14345754 0.19331180
+v -0.08641989 0.15467582 0.12769503
+v -0.07633412 -0.13314759 0.14208431
+v -0.39781792 -0.08060497 0.09766035
+v -0.14598298 -0.01112990 0.19321338
+v -0.13189239 0.14022323 0.17897261
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+v -0.18805444 0.08120575 0.19273404
+v -0.17148086 -0.14158957 0.19650898
+v -0.29153857 -0.06486886 0.18591442
+v -0.40598995 -0.00745970 0.10362698
+v -0.23477077 0.07826871 0.19321849
+v -0.39377815 -0.00612126 0.11827474
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+f 11 7 5
+f 11 5 2
+f 11 2 1
+f 11 1 7
+f 12 7 1
+f 12 5 7
+f 13 3 2
+f 13 9 4
+f 13 4 3
+f 14 2 5
+f 14 5 8
+f 14 13 2
+f 14 8 13
+f 15 8 5
+f 15 13 8
+f 15 9 13
+f 16 1 10
+f 17 10 1
+f 17 1 3
+f 17 3 10
+f 18 10 3
+f 18 3 4
+f 19 4 9
+f 19 18 4
+f 19 6 10
+f 19 10 18
+f 20 16 10
+f 20 10 6
+f 21 12 1
+f 21 1 16
+f 21 19 12
+f 21 20 6
+f 21 16 20
+f 22 19 5
+f 22 5 12
+f 22 12 19
+f 23 15 5
+f 23 19 9
+f 23 9 15
+f 24 21 6
+f 24 6 19
+f 24 19 21
+f 25 23 5
+f 25 5 19
+f 25 19 23
\ No newline at end of file
diff --git a/objects/objaverse/donut/donut_9/collision/model_normalized_collision_13.obj b/objects/objaverse/donut/donut_9/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..415c31bb3f97b2ca0498702cd8d05b4cac124b60
--- /dev/null
+++ b/objects/objaverse/donut/donut_9/collision/model_normalized_collision_13.obj
@@ -0,0 +1,138 @@
+# https://github.com/mikedh/trimesh
+v 0.25199243 0.37057723 0.03350777
+v 0.22503103 0.34957011 -0.17424013
+v 0.17915338 0.47523945 -0.07389227
+v -0.07965710 0.47525420 -0.01085431
+v -0.08919111 0.35606062 0.01388148
+v -0.08850009 0.40968163 -0.18455540
+v 0.13293189 0.43665396 0.07599615
+v 0.21671304 0.43417251 -0.10172246
+v 0.04188456 0.43272348 -0.16490675
+v -0.08728687 0.46562686 0.01087325
+v -0.08915719 0.35602271 -0.19234163
+v 0.18559487 0.46520638 -0.02543075
+v 0.03504340 0.42653858 0.09654152
+v 0.05816749 0.40537064 -0.18036702
+v 0.19794266 0.43516207 -0.12209561
+v -0.03875722 0.47622523 -0.11354349
+v -0.08853072 0.43444928 -0.16637410
+v 0.07898443 0.49100819 0.01956330
+v 0.22065735 0.41304644 0.00926265
+v 0.20011036 0.46248777 -0.07276710
+v 0.15594519 0.41599525 0.07537608
+v 0.16559401 0.35195276 -0.18325774
+v 0.20295153 0.44622897 -0.10617693
+v 0.08653889 0.41742331 -0.16625618
+v 0.19078673 0.46022759 -0.09673637
+v -0.08158522 0.47551891 -0.07306511
+v 0.01434361 0.44530688 -0.15627201
+v -0.05645909 0.47436620 0.00250480
+v 0.12421596 0.48771304 0.01198966
+v 0.07431496 0.49017194 -0.04396629
+v 0.02146962 0.45244431 0.07147830
+v 0.18179435 0.47530663 -0.04758342
+v 0.19860747 0.46259853 -0.04985650
+v 0.15824035 0.41349578 0.07385053
+v 0.16487656 0.36546045 -0.17968776
+v 0.22212603 0.35879742 -0.16877149
+v -0.08627629 0.45806474 -0.12994606
+v 0.06475612 0.49124866 -0.03178319
+v -0.08775471 0.44470559 -0.15557253
+v 0.02852259 0.44345810 -0.15564197
+v -0.00419635 0.47711610 -0.11428111
+v 0.10232489 0.49068973 0.01864164
+v 0.12577809 0.49128525 -0.01305635
+v 0.16433545 0.38935500 -0.16432161
+v 0.10216352 0.39095734 -0.17895119
+v 0.10500945 0.48921652 -0.04207385
+v 0.12599884 0.49157342 -0.00592168
+f 5 2 1
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+f 11 2 5
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+f 14 11 6
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+f 19 12 7
+f 19 7 1
+f 19 1 12
+f 20 1 8
+f 21 1 7
+f 21 7 13
+f 22 2 11
+f 22 11 14
+f 23 20 8
+f 24 14 9
+f 24 9 15
+f 25 15 9
+f 25 23 15
+f 25 3 20
+f 25 20 23
+f 26 10 4
+f 27 9 6
+f 27 6 17
+f 28 18 4
+f 28 4 10
+f 28 10 18
+f 29 7 12
+f 31 13 7
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+f 31 10 13
+f 32 20 3
+f 32 29 12
+f 33 12 1
+f 33 1 20
+f 33 32 12
+f 33 20 32
+f 34 21 13
+f 34 13 1
+f 34 1 21
+f 35 22 14
+f 35 2 22
+f 36 23 8
+f 36 8 2
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+f 37 26 16
+f 38 26 4
+f 38 4 18
+f 38 30 16
+f 38 16 26
+f 39 27 17
+f 39 37 16
+f 39 17 10
+f 39 10 37
+f 40 27 25
+f 40 25 9
+f 40 9 27
+f 41 3 25
+f 41 25 27
+f 41 16 30
+f 41 39 16
+f 41 27 39
+f 42 7 29
+f 42 31 7
+f 42 18 31
+f 43 30 38
+f 44 35 24
+f 44 2 35
+f 44 36 2
+f 44 24 15
+f 44 15 36
+f 45 35 14
+f 45 14 24
+f 45 24 35
+f 46 41 30
+f 46 3 41
+f 46 43 3
+f 46 30 43
+f 47 32 3
+f 47 3 43
+f 47 29 32
+f 47 42 29
+f 47 18 42
+f 47 43 38
+f 47 38 18
\ No newline at end of file
diff --git a/objects/objaverse/donut/donut_9/collision/model_normalized_collision_14.obj b/objects/objaverse/donut/donut_9/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..21466363f0c80900be11383c64e6c374c0e9ac99
--- /dev/null
+++ b/objects/objaverse/donut/donut_9/collision/model_normalized_collision_14.obj
@@ -0,0 +1,105 @@
+# https://github.com/mikedh/trimesh
+v 0.37378876 -0.22869176 0.06547178
+v 0.44043618 -0.05306378 -0.03190123
+v 0.44179882 -0.13550422 0.10056678
+v 0.35895621 0.22165592 0.09331892
+v 0.36607189 0.23515926 -0.00109826
+v 0.44157911 0.18384251 0.04582989
+v 0.37340804 -0.15368487 0.11991632
+v 0.39519311 -0.22019305 0.01344287
+v 0.36398161 -0.22488840 0.06758266
+v 0.44147304 -0.13150561 0.05444808
+v 0.42518434 -0.10822236 0.11940847
+v 0.43866401 0.19709488 0.04355217
+v 0.42170894 -0.16642269 0.11329152
+v 0.36535436 -0.00757576 -0.00127003
+v 0.35720678 0.14747363 0.10852268
+v 0.38516254 -0.15629712 0.12260907
+v 0.42675689 -0.14167713 0.01471717
+v 0.43956459 -0.14634018 0.06966921
+v 0.41934617 0.17312390 0.07247087
+v 0.43912337 -0.01060423 0.09247445
+v 0.38121559 0.22158639 0.06883229
+v 0.44048684 0.17791168 -0.01046493
+v 0.42510159 -0.15297623 0.11920381
+v 0.39022063 -0.22556478 0.04269989
+v 0.36905241 0.22988799 -0.00401196
+v 0.39794523 -0.19903524 0.00783879
+v 0.38461299 -0.21610315 0.02145024
+v 0.43722354 -0.14807682 0.08602715
+v 0.36903818 0.14251578 0.10495324
+v 0.37042617 0.21781883 0.08993720
+v 0.42783165 0.18296192 0.06113856
+v 0.44099496 0.19285333 0.02772900
+v 0.41986231 -0.16393184 0.11514327
+v 0.41966295 0.18253066 -0.02186633
+v 0.38235167 0.19978568 0.08738222
+v 0.43105936 0.17983454 -0.01612039
+f 9 8 1
+f 10 6 3
+f 10 2 6
+f 15 9 7
+f 15 14 9
+f 15 4 5
+f 15 5 14
+f 16 9 1
+f 16 7 9
+f 16 1 13
+f 16 15 7
+f 16 11 15
+f 17 10 8
+f 17 8 2
+f 17 2 10
+f 18 10 3
+f 18 8 10
+f 20 11 3
+f 20 3 6
+f 20 19 11
+f 21 12 5
+f 21 5 4
+f 22 6 2
+f 23 13 3
+f 23 3 11
+f 23 11 16
+f 24 13 1
+f 24 1 8
+f 24 8 18
+f 25 14 5
+f 25 2 14
+f 26 14 2
+f 26 2 8
+f 26 8 14
+f 27 14 8
+f 27 8 9
+f 27 9 14
+f 28 18 3
+f 28 3 13
+f 28 24 18
+f 28 13 24
+f 29 15 11
+f 29 11 19
+f 30 4 15
+f 30 15 29
+f 30 21 4
+f 30 12 21
+f 31 6 12
+f 31 30 19
+f 31 12 30
+f 31 20 6
+f 31 19 20
+f 32 12 6
+f 32 6 22
+f 32 22 5
+f 32 5 12
+f 33 23 16
+f 33 16 13
+f 33 13 23
+f 34 2 25
+f 34 25 5
+f 35 30 29
+f 35 29 19
+f 35 19 30
+f 36 22 2
+f 36 2 34
+f 36 34 5
+f 36 5 22
\ No newline at end of file
diff --git a/objects/objaverse/donut/donut_9/collision/model_normalized_collision_15.obj b/objects/objaverse/donut/donut_9/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ebc9d10080714a4b842410ae5b187c9e3eb695bc
--- /dev/null
+++ b/objects/objaverse/donut/donut_9/collision/model_normalized_collision_15.obj
@@ -0,0 +1,132 @@
+# https://github.com/mikedh/trimesh
+v -0.28064466 0.10183727 0.18639693
+v -0.07406149 0.17362925 0.13671415
+v -0.08921063 0.33479061 0.17988800
+v -0.10168200 0.43265985 0.10183076
+v -0.39103429 0.11341653 0.11880339
+v -0.08829757 0.43527644 0.10101953
+v -0.14255340 0.15158749 0.18314640
+v -0.34255325 0.08912840 0.16456180
+v -0.33063793 0.28162516 0.15524623
+v -0.07919655 0.32128427 0.14245789
+v -0.11568561 0.41682585 0.13517614
+v -0.29165976 0.34412153 0.08062031
+v -0.12755600 0.15444729 0.17042209
+v -0.09490598 0.18380479 0.16156979
+v -0.34005419 0.16836726 0.19505658
+v -0.37290842 0.09950098 0.13562725
+v -0.25499560 0.11081436 0.16532887
+v -0.08961436 0.41757350 0.13631243
+v -0.10292104 0.42980436 0.11452239
+v -0.20788950 0.36468924 0.15586688
+v -0.22019848 0.39300662 0.08435524
+v -0.38246916 0.26562330 0.10321423
+v -0.09334825 0.18034253 0.15906749
+v -0.12793815 0.31448215 0.18852766
+v -0.29225606 0.10190150 0.19351905
+v -0.34691191 0.11911484 0.19571247
+v -0.08796114 0.43087373 0.11475119
+v -0.08927541 0.39388256 0.15218890
+v -0.30871137 0.25646444 0.17736054
+v -0.14357468 0.41960589 0.09602724
+v -0.24885693 0.37597565 0.08281584
+v -0.20862247 0.39822721 0.08726168
+v -0.39112358 0.23471879 0.10468114
+v -0.36200091 0.16610992 0.18288905
+v -0.34600281 0.09974227 0.18748231
+v -0.31173778 0.28444169 0.16147923
+v -0.33482911 0.25794690 0.16544038
+v -0.30716294 0.32979621 0.08299157
+v -0.37733169 0.22939185 0.13673226
+v -0.35399168 0.15814649 0.19253963
+v -0.35909352 0.12211588 0.18179443
+v -0.34218094 0.09699496 0.18713763
+v -0.37847578 0.25652699 0.12087941
+v -0.34269235 0.10330620 0.19263465
+v -0.37877715 0.26448182 0.11007506
+f 10 3 2
+f 10 2 6
+f 12 2 5
+f 13 7 1
+f 13 2 7
+f 14 2 3
+f 14 3 7
+f 16 5 2
+f 16 2 8
+f 17 8 2
+f 17 1 8
+f 17 13 1
+f 17 2 13
+f 19 6 4
+f 21 6 2
+f 21 2 12
+f 23 14 7
+f 23 7 2
+f 23 2 14
+f 24 7 3
+f 25 1 7
+f 25 7 24
+f 25 8 1
+f 26 25 24
+f 26 24 15
+f 27 18 10
+f 27 10 6
+f 27 6 19
+f 27 19 11
+f 27 11 18
+f 28 3 10
+f 28 10 18
+f 28 24 3
+f 28 18 11
+f 28 11 20
+f 28 20 24
+f 29 24 20
+f 29 15 24
+f 30 4 6
+f 30 19 4
+f 31 21 12
+f 31 9 20
+f 31 20 21
+f 31 22 9
+f 31 12 22
+f 32 21 20
+f 32 20 11
+f 32 11 19
+f 32 19 30
+f 32 30 6
+f 32 6 21
+f 34 33 5
+f 35 5 16
+f 36 29 20
+f 36 20 9
+f 36 9 29
+f 37 29 9
+f 37 15 29
+f 38 33 22
+f 38 22 12
+f 38 12 5
+f 38 5 33
+f 39 33 34
+f 39 34 37
+f 40 26 15
+f 40 37 34
+f 40 15 37
+f 41 34 5
+f 41 40 34
+f 41 26 40
+f 41 35 26
+f 41 5 35
+f 42 8 25
+f 42 35 16
+f 42 16 8
+f 43 22 33
+f 43 33 39
+f 43 39 37
+f 43 37 9
+f 44 42 25
+f 44 25 26
+f 44 26 35
+f 44 35 42
+f 45 43 9
+f 45 9 22
+f 45 22 43
\ No newline at end of file
diff --git a/objects/objaverse/donut/donut_9/collision/model_normalized_collision_16.obj b/objects/objaverse/donut/donut_9/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ff25f1a202e58b19cedd9b6ceee80f8f5b1e52ed
--- /dev/null
+++ b/objects/objaverse/donut/donut_9/collision/model_normalized_collision_16.obj
@@ -0,0 +1,150 @@
+# https://github.com/mikedh/trimesh
+v -0.08919111 0.35606062 0.01388148
+v -0.08915719 0.35602271 -0.19234163
+v -0.08728687 0.46562686 0.01087325
+v -0.11540369 0.46020036 0.01123580
+v -0.30894192 0.36116750 -0.08537419
+v -0.14668937 0.44265560 -0.14447180
+v -0.13934078 0.41072987 0.11140289
+v -0.08705403 0.46318985 -0.11684576
+v -0.28112671 0.34883117 -0.17500299
+v -0.29052130 0.40670679 -0.00020252
+v -0.09408917 0.43572676 0.08844634
+v -0.25418788 0.36880679 0.08804340
+v -0.08850009 0.40968163 -0.18455540
+v -0.13027112 0.45901469 -0.00409946
+v -0.27385430 0.39843965 -0.11750249
+v -0.08969308 0.44043723 0.07781152
+v -0.13041584 0.44569882 0.05332452
+v -0.21721244 0.38408217 0.10022594
+v -0.21040323 0.35606062 0.01388148
+v -0.28648421 0.39747822 0.01320127
+v -0.08853072 0.43444928 -0.16637410
+v -0.20876772 0.37876066 -0.18359858
+v -0.17570039 0.44442471 -0.10531599
+v -0.27616803 0.38550856 -0.13907605
+v -0.13183867 0.42237580 0.10050044
+v -0.19048200 0.44445652 -0.00568056
+v -0.24885693 0.37597565 0.08281584
+v -0.10366710 0.43416231 -0.16599102
+v -0.21019602 0.35485088 -0.19267138
+v -0.11515499 0.45901837 -0.10430060
+v -0.15955403 0.44484420 -0.13088554
+v -0.26108312 0.41356566 -0.08901092
+v -0.26100275 0.37160267 -0.16666841
+v -0.13079060 0.43278206 0.08091515
+v -0.20083699 0.39900381 0.09201929
+v -0.15893707 0.44216717 0.03831809
+v -0.19143156 0.44347870 -0.04089657
+v -0.15954269 0.41840963 -0.16669735
+v -0.14582451 0.40450287 -0.18170852
+v -0.10152281 0.46080737 -0.11731261
+v -0.20289379 0.41322087 -0.15337344
+v -0.27738096 0.35826070 -0.16868131
+v -0.20556587 0.39243129 0.09756704
+v -0.14259580 0.42963048 0.08010577
+v -0.23467503 0.43030350 -0.04017854
+v -0.15733074 0.43150870 -0.15425846
+v -0.25925002 0.38383439 -0.15395459
+v -0.20361016 0.40075994 -0.16708541
+v -0.18665804 0.41178021 0.08032946
+v -0.14464415 0.44223387 0.05268380
+v -0.23374477 0.42970558 -0.01000849
+f 8 1 2
+f 8 3 1
+f 9 2 1
+f 11 7 1
+f 12 5 9
+f 13 8 2
+f 14 4 3
+f 14 3 8
+f 15 5 10
+f 16 11 1
+f 16 1 3
+f 17 3 4
+f 17 16 3
+f 17 11 16
+f 18 12 1
+f 18 1 7
+f 19 12 9
+f 19 9 1
+f 19 1 12
+f 20 12 10
+f 20 10 5
+f 20 5 12
+f 21 8 13
+f 24 9 5
+f 24 5 15
+f 25 7 11
+f 26 4 14
+f 27 18 10
+f 27 10 12
+f 27 12 18
+f 28 6 8
+f 28 8 21
+f 28 21 13
+f 29 13 2
+f 29 2 9
+f 29 9 22
+f 30 14 8
+f 32 15 10
+f 32 31 15
+f 32 23 31
+f 33 22 9
+f 34 25 11
+f 34 11 17
+f 35 7 25
+f 35 10 18
+f 36 26 10
+f 36 4 26
+f 37 26 14
+f 37 30 23
+f 37 14 30
+f 39 29 22
+f 39 13 29
+f 39 22 38
+f 39 38 28
+f 39 28 13
+f 40 8 6
+f 40 6 31
+f 40 30 8
+f 40 31 23
+f 40 23 30
+f 41 24 15
+f 41 15 31
+f 41 31 6
+f 42 33 9
+f 42 9 24
+f 42 24 33
+f 43 35 18
+f 43 18 7
+f 43 7 35
+f 44 25 34
+f 45 37 23
+f 45 23 32
+f 45 32 10
+f 45 26 37
+f 46 6 28
+f 46 28 38
+f 46 41 6
+f 47 33 24
+f 47 24 41
+f 48 38 22
+f 48 22 33
+f 48 47 41
+f 48 33 47
+f 48 46 38
+f 48 41 46
+f 49 35 25
+f 49 25 44
+f 49 10 35
+f 50 44 34
+f 50 34 17
+f 50 49 44
+f 50 36 10
+f 50 10 49
+f 50 17 4
+f 50 4 36
+f 51 45 10
+f 51 10 26
+f 51 26 45
\ No newline at end of file
diff --git a/objects/objaverse/donut/donut_9/collision/model_normalized_collision_17.obj b/objects/objaverse/donut/donut_9/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc33aebeaa3264f69e7b63fd836120f600cf2d68
--- /dev/null
+++ b/objects/objaverse/donut/donut_9/collision/model_normalized_collision_17.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.19879578 0.23520424 0.14075018
+v 0.19868769 0.23484849 0.01388148
+v 0.19907848 0.41738893 0.01424235
+v -0.10214762 0.46331631 0.01041000
+v -0.21423321 0.23497359 0.16425971
+v 0.11758299 0.45375598 0.12280586
+v -0.21040323 0.23484849 0.01388148
+v 0.15976062 0.41155233 0.12078177
+v 0.01690283 0.47672218 0.01366920
+v -0.22009447 0.35301347 0.13195478
+v 0.19100444 0.34412676 0.10863782
+v -0.01029433 0.45366053 0.10130269
+v -0.22001939 0.42123454 0.02271128
+v -0.08796114 0.43087373 0.11475119
+v -0.13286838 0.45553908 0.01223805
+v -0.20556587 0.39243129 0.09756704
+v -0.13041584 0.44569882 0.05332452
+v -0.10222099 0.46000380 0.02445457
+v -0.11214701 0.43025289 0.10104118
+f 1 2 3
+f 3 2 4
+f 5 2 1
+f 6 5 1
+f 7 4 2
+f 7 2 5
+f 8 6 1
+f 8 3 6
+f 9 6 3
+f 9 3 4
+f 10 5 6
+f 10 7 5
+f 11 8 1
+f 11 1 3
+f 11 3 8
+f 12 9 4
+f 12 6 9
+f 13 7 10
+f 14 10 6
+f 14 6 12
+f 15 4 7
+f 15 7 13
+f 16 13 10
+f 16 10 14
+f 17 15 13
+f 17 14 12
+f 17 13 16
+f 18 17 12
+f 18 12 4
+f 18 4 15
+f 18 15 17
+f 19 17 16
+f 19 16 14
+f 19 14 17
\ No newline at end of file
diff --git a/objects/objaverse/donut/donut_9/collision/model_normalized_collision_18.obj b/objects/objaverse/donut/donut_9/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..420a9c0d062e8c8f656ab7e2d992522d7a8612c0
--- /dev/null
+++ b/objects/objaverse/donut/donut_9/collision/model_normalized_collision_18.obj
@@ -0,0 +1,138 @@
+# https://github.com/mikedh/trimesh
+v 0.00378582 -0.46804765 0.01823321
+v -0.24605118 -0.38712418 0.06552517
+v -0.38420945 -0.14173431 0.10385886
+v 0.00171799 -0.14393940 0.01388148
+v -0.04535778 -0.27137468 0.19817206
+v -0.17159991 -0.43959823 0.04386796
+v 0.00448041 -0.18567447 0.16690841
+v -0.23854122 -0.16731762 0.19364350
+v -0.06643207 -0.47163349 0.02598699
+v -0.41072154 -0.16815967 0.00836524
+v -0.12290744 -0.31630695 0.16667557
+v 0.00340643 -0.37607965 0.13609790
+v 0.00392634 -0.12377450 0.12527901
+v -0.36883361 -0.21004542 0.08588763
+v -0.02842050 -0.19644856 0.19697211
+v 0.00252043 -0.41601290 0.09368193
+v -0.26032412 -0.38859173 0.01565288
+v -0.41964843 -0.14296752 0.01265726
+v -0.07225758 -0.47075866 0.00893482
+v -0.12572147 -0.36864998 0.12149985
+v -0.20300691 -0.31582549 0.13132386
+v -0.06665062 -0.28703285 0.19507242
+v -0.07052021 -0.39894386 0.10577705
+v -0.24802193 -0.14345754 0.19331180
+v -0.26219771 -0.16534291 0.18421674
+v 0.00126700 -0.35139900 0.14884843
+v -0.25412793 -0.38944290 0.05108508
+v -0.39864282 -0.16733154 0.08834240
+v -0.16285020 -0.44670232 0.00956007
+v -0.06992610 -0.47423936 0.01225875
+v -0.05714694 -0.37147047 0.13397289
+v -0.06194184 -0.45971846 0.04210683
+v -0.07213143 -0.38585785 0.11913330
+v -0.13604539 -0.15209296 0.19230107
+v -0.24771747 -0.15637038 0.19161240
+v -0.02941804 -0.24577519 0.19518350
+v -0.05069948 -0.28825429 0.19335215
+v -0.38032869 -0.21259489 0.07530854
+v -0.40634245 -0.14323058 0.08425841
+v -0.38353153 -0.15060120 0.10295515
+v -0.38934750 -0.21383322 0.05534389
+v -0.39080616 -0.21374779 0.01043527
+v -0.03816276 -0.18866657 0.19572037
+v -0.40402279 -0.16680390 0.06954642
+v -0.37494411 -0.23528918 0.05306416
+v -0.40493889 -0.15306670 0.08397020
+v -0.37882918 -0.23461091 0.01696257
+f 12 1 7
+f 13 7 1
+f 13 1 4
+f 15 7 13
+f 16 9 1
+f 16 1 12
+f 18 4 10
+f 18 13 4
+f 18 3 13
+f 19 10 4
+f 19 4 1
+f 20 11 2
+f 20 2 6
+f 21 2 11
+f 22 5 8
+f 22 8 11
+f 24 13 3
+f 24 8 5
+f 24 5 15
+f 25 24 3
+f 25 14 2
+f 25 2 21
+f 25 21 11
+f 25 11 8
+f 26 12 7
+f 27 17 6
+f 27 6 2
+f 28 14 25
+f 29 10 19
+f 29 6 17
+f 30 19 1
+f 30 1 9
+f 30 29 19
+f 30 9 6
+f 30 6 29
+f 31 22 11
+f 31 12 22
+f 32 23 6
+f 32 6 9
+f 32 9 16
+f 32 16 12
+f 32 12 23
+f 33 20 6
+f 33 6 23
+f 33 23 12
+f 33 12 31
+f 33 31 11
+f 33 11 20
+f 34 24 15
+f 34 13 24
+f 35 25 8
+f 35 8 24
+f 35 24 25
+f 36 26 7
+f 36 7 15
+f 36 15 5
+f 36 5 26
+f 37 22 12
+f 37 12 26
+f 37 26 5
+f 37 5 22
+f 38 27 2
+f 38 2 14
+f 38 14 28
+f 39 28 3
+f 39 3 18
+f 40 28 25
+f 40 25 3
+f 40 3 28
+f 41 18 10
+f 41 38 28
+f 42 29 17
+f 42 10 29
+f 42 41 10
+f 43 34 15
+f 43 15 13
+f 43 13 34
+f 44 41 28
+f 44 18 41
+f 45 17 27
+f 45 27 38
+f 45 38 41
+f 46 39 18
+f 46 18 44
+f 46 44 28
+f 46 28 39
+f 47 42 17
+f 47 17 45
+f 47 45 41
+f 47 41 42
\ No newline at end of file
diff --git a/objects/objaverse/donut/donut_9/collision/model_normalized_collision_19.obj b/objects/objaverse/donut/donut_9/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..36223a6293e6155e01c568513c409c0dd64a6290
--- /dev/null
+++ b/objects/objaverse/donut/donut_9/collision/model_normalized_collision_19.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.22555474 -0.14393940 0.01388148
+v -0.22559520 -0.14402716 -0.20408646
+v -0.21038469 0.23481318 -0.19672574
+v -0.33161535 0.23484849 0.01388148
+v -0.33161535 -0.14393940 0.01388148
+v -0.32842592 0.23356708 -0.19638421
+v -0.21040323 0.23484849 0.01388148
+v -0.21027639 -0.00781607 -0.20340713
+v -0.25564707 0.23444707 -0.19618015
+v -0.32706182 -0.14238638 -0.18958877
+v -0.21040323 -0.00757576 0.01388148
+v -0.21021230 0.18903020 -0.19779568
+v -0.30965433 -0.14064658 -0.19782218
+v -0.32206407 -0.12553035 -0.19524538
+f 5 2 1
+f 5 1 4
+f 6 5 4
+f 7 3 4
+f 7 4 1
+f 8 1 2
+f 8 6 3
+f 8 2 6
+f 9 6 4
+f 9 4 3
+f 9 3 6
+f 10 2 5
+f 10 5 6
+f 11 7 1
+f 11 1 8
+f 12 8 3
+f 12 3 7
+f 12 11 8
+f 12 7 11
+f 13 6 2
+f 13 2 10
+f 14 13 10
+f 14 10 6
+f 14 6 13
\ No newline at end of file
diff --git a/objects/objaverse/donut/donut_9/collision/model_normalized_collision_2.obj b/objects/objaverse/donut/donut_9/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a710411be05edfdc4af0c77a0bde06f3d5fff09
--- /dev/null
+++ b/objects/objaverse/donut/donut_9/collision/model_normalized_collision_2.obj
@@ -0,0 +1,147 @@
+# https://github.com/mikedh/trimesh
+v -0.02231568 -0.49142434 0.01900594
+v 0.00294752 -0.43206057 -0.15647812
+v 0.00171799 -0.26515152 0.01388148
+v -0.36573806 -0.25618951 -0.00436580
+v -0.14492853 -0.49011173 -0.07014432
+v 0.00192818 -0.26537993 -0.20081989
+v -0.16423459 -0.38499804 0.07345055
+v -0.00027915 -0.45449842 0.03591344
+v -0.01978591 -0.49112546 -0.01968017
+v 0.00462090 -0.38066216 -0.19791801
+v -0.33416101 -0.25649033 -0.14291455
+v -0.35598504 -0.26100371 0.01181039
+v -0.22337345 -0.46020376 0.04217737
+v -0.01665858 -0.45855379 0.04790953
+v -0.09757099 -0.49038789 -0.07186404
+v 0.00113186 -0.47459197 -0.04145411
+v -0.01928189 -0.41811570 -0.16959200
+v -0.23405695 -0.26326391 -0.20355009
+v -0.16339386 -0.49217390 -0.00651553
+v -0.24605118 -0.38712418 0.06552517
+v -0.35062628 -0.33338008 -0.03521571
+v -0.20160733 -0.44811056 0.05787779
+v -0.01954635 -0.47153158 0.04467284
+v 0.00194821 -0.45970465 -0.08812615
+v -0.01303413 -0.47964702 0.02384468
+v 0.00266870 -0.40546610 -0.18261336
+v -0.00978427 -0.42939940 -0.15854841
+v -0.30674670 -0.25806494 -0.17074607
+v -0.19399369 -0.35369974 -0.16980722
+v -0.24148171 -0.44602659 0.00420869
+v -0.16548414 -0.49362093 -0.02677107
+v -0.24336051 -0.41933005 0.06138721
+v -0.36486090 -0.31572519 -0.09358254
+v -0.18154413 -0.43819087 0.06004035
+v -0.21770067 -0.44863320 0.05707220
+v -0.20578266 -0.33296609 -0.17818339
+v -0.02122027 -0.40460612 -0.17968810
+v -0.24071890 -0.44752745 0.03926229
+v -0.35826836 -0.32021054 -0.04050960
+v -0.36746406 -0.27662065 -0.09729692
+v -0.35830608 -0.33279848 -0.06281358
+v -0.34884691 -0.33864550 -0.08117967
+v -0.21616632 -0.34311919 -0.16934297
+v -0.04918428 -0.36348725 -0.19597877
+v -0.34902234 -0.33743924 -0.03964882
+v -0.34957522 -0.32775563 -0.09577168
+v -0.28577351 -0.38713159 -0.07788365
+v -0.35914428 -0.33063911 -0.07566198
+v -0.24505967 -0.29764416 -0.18180753
+v -0.30278834 -0.26836492 -0.16790587
+f 10 6 3
+f 11 4 3
+f 11 3 6
+f 12 7 3
+f 12 3 4
+f 14 8 3
+f 14 3 7
+f 15 5 2
+f 16 1 9
+f 16 10 3
+f 16 3 8
+f 18 6 10
+f 19 1 13
+f 20 7 12
+f 21 12 4
+f 23 8 14
+f 23 14 7
+f 23 13 1
+f 24 15 2
+f 24 9 15
+f 24 16 9
+f 24 2 10
+f 24 10 16
+f 25 16 8
+f 25 1 16
+f 25 23 1
+f 25 8 23
+f 26 10 2
+f 26 2 17
+f 27 17 2
+f 27 2 5
+f 27 5 17
+f 28 11 6
+f 28 6 18
+f 29 17 5
+f 31 5 15
+f 31 15 9
+f 31 9 1
+f 31 1 19
+f 31 19 13
+f 31 13 30
+f 32 20 12
+f 32 7 20
+f 32 12 21
+f 33 11 28
+f 34 23 7
+f 34 7 22
+f 34 22 23
+f 35 23 22
+f 35 13 23
+f 35 22 7
+f 35 7 32
+f 37 26 17
+f 37 17 29
+f 37 10 26
+f 38 30 13
+f 38 32 21
+f 38 35 32
+f 38 13 35
+f 39 21 4
+f 39 4 33
+f 40 33 4
+f 40 4 11
+f 40 11 33
+f 41 39 33
+f 41 21 39
+f 41 30 38
+f 42 31 30
+f 43 29 5
+f 43 36 29
+f 43 18 36
+f 44 36 18
+f 44 18 10
+f 44 29 36
+f 44 37 29
+f 44 10 37
+f 45 41 38
+f 45 38 21
+f 45 21 41
+f 46 42 33
+f 46 43 5
+f 47 5 31
+f 47 31 42
+f 47 46 5
+f 47 42 46
+f 48 41 33
+f 48 33 42
+f 48 42 30
+f 48 30 41
+f 49 18 43
+f 50 46 33
+f 50 33 28
+f 50 43 46
+f 50 49 43
+f 50 28 18
+f 50 18 49
\ No newline at end of file
diff --git a/objects/objaverse/donut/donut_9/collision/model_normalized_collision_20.obj b/objects/objaverse/donut/donut_9/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4db45c1fb26ae3d69d6a09e244325d42c7c5de38
--- /dev/null
+++ b/objects/objaverse/donut/donut_9/collision/model_normalized_collision_20.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.10083841 -0.13124162 0.14795147
+v -0.05554610 0.07111662 0.02232277
+v -0.08949711 0.09858995 0.11992283
+v -0.38308488 0.09904099 0.12852677
+v -0.40788819 -0.15831058 0.02543272
+v -0.37706990 0.09848485 0.01388148
+v -0.08489827 -0.00052055 0.11854682
+v -0.10434262 -0.14393940 0.01388148
+v -0.33857813 -0.14788308 0.12947631
+v -0.07539430 -0.00311596 0.01659317
+v -0.37798311 -0.14419073 0.10662376
+v -0.38226290 -0.00815718 0.12680971
+f 1 3 4
+f 6 3 2
+f 6 4 3
+f 6 5 4
+f 7 1 2
+f 7 2 3
+f 7 3 1
+f 8 2 1
+f 8 5 6
+f 9 1 4
+f 9 8 1
+f 9 5 8
+f 10 8 6
+f 10 6 2
+f 10 2 8
+f 11 5 9
+f 12 11 9
+f 12 9 4
+f 12 4 5
+f 12 5 11
\ No newline at end of file
diff --git a/objects/objaverse/donut/donut_9/collision/model_normalized_collision_21.obj b/objects/objaverse/donut/donut_9/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7bf667db0b112dd9ee5ea5dbb760ad10003d2ba6
--- /dev/null
+++ b/objects/objaverse/donut/donut_9/collision/model_normalized_collision_21.obj
@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
+v 0.44077057 -0.00783814 0.00174444
+v 0.44047938 -0.00698349 -0.10105933
+v 0.42164603 0.19663558 0.00341547
+v 0.25929375 0.23484849 -0.00127003
+v 0.25916208 -0.00773389 -0.20030201
+v 0.25929375 -0.00757576 -0.00127003
+v 0.45648474 0.11608931 -0.05213258
+v 0.38706647 -0.00864756 -0.18768050
+v 0.45511952 0.07746374 -0.08516523
+v 0.44321867 0.15921067 -0.00167193
+v 0.44231182 -0.00784839 -0.03613411
+v 0.35001540 0.24041848 -0.17423250
+v 0.45326158 0.07310305 -0.03798889
+v 0.43971351 0.02524298 -0.12825191
+v 0.43780294 0.13673890 -0.11296161
+v 0.36905241 0.22988799 -0.00401196
+v 0.28828174 0.21871005 -0.19741235
+v 0.45496944 0.10887787 -0.03733691
+v 0.42209625 -0.00545871 -0.14264276
+v 0.45260562 0.11041996 -0.09862243
+v 0.43900597 0.05964060 -0.12799456
+v 0.39426056 0.23275669 -0.11565586
+v 0.35800049 0.07981216 -0.19475193
+v 0.25949977 0.23481339 -0.19644338
+v 0.45231921 0.08845222 -0.09846134
+v 0.38122777 0.07914037 -0.18108099
+v 0.45249072 0.12427113 -0.08694217
+v 0.39313083 0.23220387 -0.06609830
+v 0.33002211 0.23709361 -0.18462198
+v 0.36232494 -0.00820193 -0.19740087
+v 0.26118077 0.21937545 -0.19693786
+v 0.40836479 0.07713382 -0.15482245
+v 0.43740953 0.14673330 -0.10275692
+v 0.31186524 0.18133466 -0.19739642
+f 6 1 3
+f 6 3 4
+f 6 4 5
+f 8 6 5
+f 8 1 6
+f 10 3 1
+f 11 8 2
+f 11 1 8
+f 11 2 9
+f 13 9 7
+f 13 11 9
+f 13 1 11
+f 14 9 2
+f 16 12 4
+f 16 4 3
+f 18 10 1
+f 18 1 13
+f 18 13 7
+f 18 7 10
+f 19 14 2
+f 19 2 8
+f 19 8 14
+f 20 7 9
+f 21 14 8
+f 21 20 14
+f 21 15 20
+f 22 15 12
+f 22 3 10
+f 24 5 4
+f 24 4 12
+f 25 20 9
+f 25 9 14
+f 25 14 20
+f 26 21 8
+f 26 12 15
+f 26 23 12
+f 26 8 23
+f 27 20 15
+f 27 7 20
+f 27 22 10
+f 27 10 7
+f 28 16 3
+f 28 3 22
+f 28 22 12
+f 28 12 16
+f 29 12 23
+f 29 24 12
+f 29 17 24
+f 30 23 8
+f 30 8 5
+f 31 24 17
+f 31 17 5
+f 31 5 24
+f 32 26 15
+f 32 15 21
+f 32 21 26
+f 33 27 15
+f 33 15 22
+f 33 22 27
+f 34 29 23
+f 34 17 29
+f 34 23 30
+f 34 30 5
+f 34 5 17
\ No newline at end of file
diff --git a/objects/objaverse/donut/donut_9/collision/model_normalized_collision_22.obj b/objects/objaverse/donut/donut_9/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..73276880c7a36d3c050396632a8b7d28619d4a77
--- /dev/null
+++ b/objects/objaverse/donut/donut_9/collision/model_normalized_collision_22.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.11991313 0.36186942 0.16002147
+v 0.15824035 0.41349578 0.07385053
+v 0.15099759 0.40797100 0.15931603
+v 0.11866646 0.45076722 0.17599788
+v 0.12136228 0.43884594 0.07547776
+v 0.15016192 0.42625371 0.15728540
+v 0.11702069 0.38968627 0.18404568
+v 0.15959795 0.40165844 0.12034799
+v 0.12647708 0.41649186 0.07075304
+v 0.11877117 0.44995955 0.11799224
+v 0.12311135 0.44024774 0.18110012
+v 0.13945062 0.39467836 0.16745508
+v 0.11638206 0.36737334 0.16795132
+v 0.12375309 0.36506863 0.15830882
+v 0.13563014 0.43357509 0.07962973
+v 0.12387146 0.44827279 0.17292258
+v 0.13896528 0.43626890 0.16712831
+v 0.12586052 0.39501253 0.18010135
+v 0.11991758 0.44315452 0.18272188
+v 0.12215983 0.36868524 0.16612610
+v 0.15594519 0.41599525 0.07537608
+f 8 6 3
+f 8 2 6
+f 9 5 2
+f 9 2 1
+f 13 9 1
+f 13 5 9
+f 13 10 5
+f 13 7 4
+f 13 4 10
+f 14 1 2
+f 14 2 8
+f 14 8 3
+f 14 3 12
+f 15 2 5
+f 15 5 10
+f 16 10 4
+f 17 11 3
+f 17 3 6
+f 17 10 16
+f 17 15 10
+f 17 6 15
+f 18 3 11
+f 18 12 3
+f 19 4 7
+f 19 18 11
+f 19 7 18
+f 19 16 4
+f 19 17 16
+f 19 11 17
+f 20 13 1
+f 20 12 18
+f 20 18 7
+f 20 7 13
+f 20 14 12
+f 20 1 14
+f 21 15 6
+f 21 6 2
+f 21 2 15
\ No newline at end of file
diff --git a/objects/objaverse/donut/donut_9/collision/model_normalized_collision_24.obj b/objects/objaverse/donut/donut_9/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..05bf52e370ed6d5ed3015f227d610fa9ed88f56d
--- /dev/null
+++ b/objects/objaverse/donut/donut_9/collision/model_normalized_collision_24.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.24414224 -0.26515152 0.01388148
+v 0.24431711 -0.26523839 -0.20309527
+v 0.24414224 -0.00757576 0.01388148
+v -0.22555474 -0.00757576 0.01388148
+v -0.22555474 -0.26515152 0.01388148
+v -0.22542546 -0.00782070 -0.20321478
+v 0.24401210 -0.00773205 -0.20045439
+v -0.22477942 -0.26300824 -0.20450082
+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/donut/donut_9/collision/model_normalized_collision_25.obj b/objects/objaverse/donut/donut_9/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d8e5962d857fab24ef1ac5c745119a595837e31d
--- /dev/null
+++ b/objects/objaverse/donut/donut_9/collision/model_normalized_collision_25.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v -0.22555474 -0.26515152 0.01388148
+v -0.22477942 -0.26300824 -0.20450082
+v -0.22555474 -0.14393940 0.01388148
+v -0.42310340 -0.13901499 0.00767844
+v -0.37731593 -0.25124221 -0.04169642
+v -0.22559520 -0.14402716 -0.20408646
+v -0.37882918 -0.23461091 0.01696257
+v -0.34646519 -0.25518341 -0.12762598
+v -0.40665943 -0.13801460 -0.10040007
+v -0.36172883 -0.25442706 0.00852653
+v -0.42031857 -0.17895593 -0.03566074
+v -0.30965433 -0.14064658 -0.19782218
+v -0.37380626 -0.25226527 -0.02142941
+v -0.42015138 -0.16610395 -0.00954458
+v -0.42573829 -0.14294460 -0.05555082
+v -0.38990167 -0.22946709 -0.05710368
+v -0.30639572 -0.24073165 -0.17933659
+v -0.42127549 -0.16566886 -0.05613630
+v -0.41896776 -0.18126835 -0.03995688
+v -0.29266372 -0.20091410 -0.19534054
+v -0.29162611 -0.25628538 -0.17964849
+v -0.36070996 -0.18384811 -0.15330910
+v -0.39296749 -0.13845302 -0.13129102
+v -0.35836358 -0.24210251 -0.11698392
+v -0.33311099 -0.17015693 -0.18132404
+v -0.27838608 -0.23031914 -0.19440046
+v -0.34530313 -0.22666705 -0.15294252
+v -0.37189284 -0.19680324 -0.12868308
+v -0.32205545 -0.21568297 -0.17828701
+v -0.33900714 -0.14129289 -0.18349752
+v -0.37205991 -0.21087839 -0.11654939
+v -0.33188848 -0.22555692 -0.16663329
+v -0.34639237 -0.18540557 -0.16586480
+f 1 2 3
+f 6 3 2
+f 7 1 3
+f 7 3 4
+f 8 2 1
+f 9 4 3
+f 10 1 7
+f 10 8 1
+f 12 9 3
+f 12 3 6
+f 12 6 2
+f 13 10 7
+f 13 5 8
+f 13 8 10
+f 13 11 5
+f 13 7 11
+f 14 11 7
+f 14 7 4
+f 14 4 11
+f 15 11 4
+f 15 4 9
+f 16 8 5
+f 18 11 15
+f 19 16 5
+f 19 5 11
+f 19 18 16
+f 19 11 18
+f 20 12 2
+f 21 17 2
+f 21 2 8
+f 21 8 17
+f 23 18 15
+f 23 15 9
+f 23 9 12
+f 24 8 16
+f 24 16 18
+f 25 12 20
+f 26 20 2
+f 26 2 17
+f 26 17 20
+f 27 17 8
+f 27 8 24
+f 27 23 22
+f 28 18 23
+f 28 27 24
+f 28 23 27
+f 29 25 20
+f 29 20 17
+f 30 23 12
+f 30 12 25
+f 30 22 23
+f 31 28 24
+f 31 24 18
+f 31 18 28
+f 32 29 17
+f 32 17 27
+f 32 27 22
+f 33 25 29
+f 33 30 25
+f 33 22 30
+f 33 32 22
+f 33 29 32
\ No newline at end of file
diff --git a/objects/objaverse/donut/donut_9/collision/model_normalized_collision_26.obj b/objects/objaverse/donut/donut_9/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0637b9d411d61c6d9a08afc8e4eb49d476bb42e7
--- /dev/null
+++ b/objects/objaverse/donut/donut_9/collision/model_normalized_collision_26.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.16131459 0.06952865 0.13304350
+v 0.15323314 0.09848485 -0.09217913
+v 0.17486994 0.22765990 0.14022162
+v -0.21423321 0.23497359 0.16425971
+v -0.21040323 0.09848485 -0.09217913
+v -0.20374323 0.11292743 0.14863391
+v 0.15323314 0.23484849 -0.09217913
+v -0.21040323 0.23484849 -0.09217913
+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/donut/donut_9/collision/model_normalized_collision_27.obj b/objects/objaverse/donut/donut_9/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9f010a3b02bb32d546975dd4ef5236093dbefd82
--- /dev/null
+++ b/objects/objaverse/donut/donut_9/collision/model_normalized_collision_27.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.26304651 -0.00555579 0.13740754
+v 0.25916208 -0.00773389 -0.20030201
+v 0.25949977 0.23481339 -0.19644338
+v 0.17486994 0.22765990 0.14022162
+v 0.15478564 -0.00198540 0.12488423
+v 0.26791570 0.21178845 0.12776843
+v 0.15311220 -0.00772100 -0.20136868
+v 0.25967423 0.20369692 -0.19751794
+v 0.15316823 0.23479935 -0.19460488
+v 0.15431742 0.15783469 -0.19747281
+f 5 1 4
+f 6 3 4
+f 6 4 1
+f 6 1 2
+f 7 2 1
+f 7 1 5
+f 8 6 2
+f 8 3 6
+f 8 2 7
+f 9 7 5
+f 9 5 4
+f 9 4 3
+f 10 8 7
+f 10 7 9
+f 10 9 3
+f 10 3 8
\ No newline at end of file
diff --git a/objects/objaverse/donut/donut_9/collision/model_normalized_collision_28.obj b/objects/objaverse/donut/donut_9/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aded87f76bea0a79c2788420ae457f9c094e88f9
--- /dev/null
+++ b/objects/objaverse/donut/donut_9/collision/model_normalized_collision_28.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.36535753 -0.00757585 0.10479570
+v 0.36535436 -0.00757576 -0.00127003
+v 0.36607189 0.23515926 -0.00109826
+v 0.28840844 0.23235961 0.11046889
+v 0.25929375 -0.00757576 -0.00127003
+v 0.35895621 0.22165592 0.09331892
+v 0.26421094 -0.00351693 0.13692153
+v 0.25929375 0.23484849 -0.00127003
+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 4 3
+f 8 7 4
+f 8 5 7
\ No newline at end of file
diff --git a/objects/objaverse/donut/donut_9/collision/model_normalized_collision_29.obj b/objects/objaverse/donut/donut_9/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..685a0c5a4c63101c03f6690edbdd61a9a0f6c257
--- /dev/null
+++ b/objects/objaverse/donut/donut_9/collision/model_normalized_collision_29.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.20374323 0.11292743 0.14863391
+v -0.21040323 0.09848485 0.01388148
+v -0.21040323 0.23484849 0.01388148
+v -0.38554816 0.23634151 0.12314927
+v -0.38308488 0.09904099 0.12852677
+v -0.39757028 0.24464158 0.02085567
+v -0.21423321 0.23497359 0.16425971
+v -0.37706990 0.09848485 0.01388148
+f 1 2 3
+f 5 2 1
+f 6 5 4
+f 7 1 3
+f 7 5 1
+f 7 4 5
+f 7 6 4
+f 7 3 6
+f 8 6 3
+f 8 3 2
+f 8 2 5
+f 8 5 6
\ No newline at end of file
diff --git a/objects/objaverse/donut/donut_9/collision/model_normalized_collision_3.obj b/objects/objaverse/donut/donut_9/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..53bc9a1bb44556a4a560b3ac8026d39c642cfadc
--- /dev/null
+++ b/objects/objaverse/donut/donut_9/collision/model_normalized_collision_3.obj
@@ -0,0 +1,138 @@
+# https://github.com/mikedh/trimesh
+v -0.21553290 0.23501604 0.16414727
+v -0.21038469 0.23481318 -0.19672574
+v -0.20547562 0.43430803 -0.09081686
+v -0.36247815 0.40365050 0.02427397
+v -0.44015348 0.23583801 -0.08710110
+v -0.21721244 0.38408217 0.10022594
+v -0.20468025 0.43337701 -0.10623099
+v -0.35561480 0.23060853 -0.18561868
+v -0.39147717 0.23297051 0.10320603
+v -0.25307050 0.40595314 0.02236394
+v -0.36763479 0.40022432 -0.01990921
+v -0.20876772 0.37876066 -0.18359858
+v -0.43137157 0.25869674 -0.00482483
+v -0.22598687 0.34963428 0.13153826
+v -0.43288424 0.23389848 -0.00078278
+v -0.34724320 0.32910837 -0.13759290
+v -0.20464427 0.41758723 -0.14542043
+v -0.32842592 0.23356708 -0.19638421
+v -0.38812279 0.38028773 0.00795568
+v -0.38246916 0.26562330 0.10321423
+v -0.44162000 0.24551594 -0.08532676
+v -0.38982848 0.24694308 0.10318521
+v -0.30820339 0.31741254 -0.17982134
+v -0.24763816 0.41247633 -0.11603474
+v -0.27232697 0.23334364 -0.19731606
+v -0.37784787 0.37769336 0.02847177
+v -0.38833107 0.37685104 -0.02645173
+v -0.39174159 0.25787381 -0.13946951
+v -0.43869875 0.24255670 -0.09204113
+v -0.32478663 0.24453422 -0.19544703
+v -0.30455075 0.35518176 -0.15303469
+v -0.36603264 0.39168628 0.02976847
+v -0.37546693 0.38867518 0.02108578
+v -0.38203488 0.38313881 -0.03392517
+v -0.35214342 0.25934461 -0.17872493
+v -0.43827880 0.23741673 -0.09159062
+v -0.37599100 0.28585969 -0.13929342
+v -0.27244147 0.24836440 -0.19591930
+v -0.23379080 0.39998243 -0.15429974
+v -0.23466937 0.37390472 -0.17930276
+v -0.33357114 0.32829297 -0.15075877
+v -0.33264820 0.35531770 -0.12628857
+v -0.34707809 0.28319293 -0.16899538
+v -0.21803071 0.41299556 -0.14382525
+v -0.29042440 0.38374111 -0.12685015
+v -0.27742272 0.34616463 -0.17803598
+v -0.34621976 0.34140461 -0.12637597
+f 6 1 3
+f 7 3 1
+f 8 2 1
+f 9 8 1
+f 10 6 3
+f 10 3 4
+f 10 4 6
+f 11 4 3
+f 11 3 7
+f 14 6 4
+f 14 1 6
+f 15 5 8
+f 15 8 9
+f 17 2 12
+f 17 7 1
+f 17 1 2
+f 19 4 11
+f 20 14 4
+f 20 1 14
+f 21 15 13
+f 21 5 15
+f 21 13 19
+f 22 15 9
+f 22 13 15
+f 22 9 1
+f 22 1 20
+f 22 20 19
+f 22 19 13
+f 24 11 7
+f 25 12 2
+f 25 2 8
+f 25 8 18
+f 26 19 20
+f 27 21 19
+f 29 5 21
+f 29 28 8
+f 30 18 8
+f 30 23 12
+f 30 25 18
+f 32 26 20
+f 32 20 4
+f 32 4 26
+f 33 26 4
+f 33 4 19
+f 33 19 26
+f 34 16 21
+f 34 21 27
+f 34 27 19
+f 34 19 11
+f 35 8 28
+f 35 30 8
+f 35 23 30
+f 36 29 8
+f 36 8 5
+f 36 5 29
+f 37 29 21
+f 37 21 16
+f 37 28 29
+f 37 35 28
+f 38 30 12
+f 38 12 25
+f 38 25 30
+f 39 17 12
+f 39 11 24
+f 40 12 23
+f 40 39 12
+f 40 31 39
+f 41 31 23
+f 41 16 31
+f 42 31 16
+f 43 37 16
+f 43 35 37
+f 43 16 41
+f 43 41 23
+f 43 23 35
+f 44 39 24
+f 44 17 39
+f 44 24 7
+f 44 7 17
+f 45 34 11
+f 45 11 39
+f 45 42 34
+f 45 39 31
+f 45 31 42
+f 46 40 23
+f 46 23 31
+f 46 31 40
+f 47 42 16
+f 47 16 34
+f 47 34 42
\ No newline at end of file
diff --git a/objects/objaverse/donut/donut_9/collision/model_normalized_collision_30.obj b/objects/objaverse/donut/donut_9/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a88f9d72223e7cd936deab25225d53f6237fc63
--- /dev/null
+++ b/objects/objaverse/donut/donut_9/collision/model_normalized_collision_30.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.22899072 0.23484849 0.01388148
+v 0.22906531 0.23468214 -0.19512788
+v 0.25199243 0.37057723 0.03350777
+v -0.21040323 0.35606062 0.01388148
+v -0.21040323 0.23484849 0.01388148
+v -0.21019602 0.35485088 -0.19267138
+v 0.22503103 0.34957011 -0.17424013
+v -0.21038469 0.23481318 -0.19672574
+v 0.18169863 0.35014610 -0.18125400
+v 0.22450929 0.33567466 -0.18027416
+v 0.19669363 0.34964232 -0.17980723
+f 1 2 3
+f 5 2 1
+f 5 1 3
+f 5 3 4
+f 6 4 3
+f 7 3 2
+f 8 5 4
+f 8 4 6
+f 8 6 2
+f 8 2 5
+f 9 6 3
+f 9 3 7
+f 9 2 6
+f 10 7 2
+f 10 2 9
+f 11 10 9
+f 11 9 7
+f 11 7 10
\ No newline at end of file
diff --git a/objects/objaverse/donut/donut_9/collision/model_normalized_collision_31.obj b/objects/objaverse/donut/donut_9/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6be60903584c4d162dacb3ac28f17fd2b1021854
--- /dev/null
+++ b/objects/objaverse/donut/donut_9/collision/model_normalized_collision_31.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v -0.07539430 -0.00311596 0.01659317
+v -0.09420269 -0.00926602 -0.19903496
+v -0.09013936 0.09790527 -0.19899823
+v -0.21040323 0.09848485 0.01388148
+v -0.21040323 -0.00757576 0.01388148
+v -0.21029932 0.09834797 -0.20073010
+v -0.05554610 0.07111662 0.02232277
+v -0.21027639 -0.00781607 -0.20340713
+v -0.10522550 0.09794523 -0.19999054
+f 5 2 1
+f 6 4 3
+f 6 5 4
+f 7 3 4
+f 7 5 1
+f 7 4 5
+f 7 1 2
+f 7 2 3
+f 8 2 5
+f 8 5 6
+f 9 8 6
+f 9 6 3
+f 9 3 2
+f 9 2 8
\ No newline at end of file
diff --git a/objects/objaverse/donut/donut_9/collision/model_normalized_collision_5.obj b/objects/objaverse/donut/donut_9/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f547be678e977c44b4f2cb7470a408ce1869af2
--- /dev/null
+++ b/objects/objaverse/donut/donut_9/collision/model_normalized_collision_5.obj
@@ -0,0 +1,135 @@
+# https://github.com/mikedh/trimesh
+v 0.34663783 0.22713736 0.09019204
+v 0.39632102 0.23176404 -0.10595995
+v 0.30170880 0.35795348 -0.04193902
+v 0.19421124 0.42106820 0.01132852
+v 0.22906531 0.23468214 -0.19512788
+v 0.23213400 0.40146987 0.02812331
+v 0.36283877 0.22992340 0.07224653
+v 0.38706980 0.22927421 -0.13259517
+v 0.19830955 0.23530268 0.17743053
+v 0.21682244 0.41401238 -0.11174979
+v 0.39315054 0.24528879 -0.07921666
+v 0.28865697 0.28232056 0.11547969
+v 0.24576440 0.39912521 0.00879561
+v 0.24491739 0.22511716 0.17555386
+v 0.19868769 0.23484849 0.01388148
+v 0.19989039 0.29677401 0.15543645
+v 0.22546926 0.32164441 -0.18412255
+v 0.36523832 0.28251886 -0.14322166
+v 0.39648332 0.23270540 -0.08044911
+v 0.35341007 0.24427674 0.06909360
+v 0.22152561 0.42965657 -0.09152090
+v 0.25648880 0.25928865 0.15264063
+v 0.19001137 0.38976385 0.06280015
+v 0.19110770 0.41780896 0.02203349
+v 0.19551579 0.25913309 0.18133536
+v 0.21815584 0.29463749 0.14854222
+v 0.30921247 0.31401444 -0.16737528
+v 0.39332830 0.24241736 -0.10372307
+v 0.36109230 0.28563722 -0.08326000
+v 0.25646522 0.38736401 0.00768566
+v 0.24365200 0.38730143 0.03122762
+v 0.25945984 0.39967866 -0.03570142
+v 0.23432723 0.41302175 -0.02056286
+v 0.26046641 0.39956768 -0.07204399
+v 0.22211779 0.37362355 -0.15455068
+v 0.20573497 0.25718319 0.17989576
+v 0.22909641 0.28482038 0.15074278
+v 0.32489432 0.32232747 -0.14335570
+v 0.34547232 0.25040849 -0.18082784
+v 0.30405998 0.35399076 -0.08768087
+v 0.30294214 0.29414483 -0.18186250
+v 0.31296940 0.32092881 -0.15846267
+v 0.34371575 0.24257899 -0.18112140
+v 0.34981621 0.27229010 -0.16917566
+v 0.23481787 0.37029009 -0.15121775
+v 0.35001540 0.24041848 -0.17423250
+f 7 1 2
+f 8 2 1
+f 12 1 7
+f 14 8 1
+f 14 5 8
+f 15 14 9
+f 15 5 14
+f 18 2 8
+f 19 11 7
+f 19 7 2
+f 19 2 11
+f 20 11 3
+f 20 7 11
+f 20 12 7
+f 21 10 4
+f 22 14 1
+f 22 1 12
+f 24 5 15
+f 24 17 5
+f 24 4 10
+f 24 15 23
+f 24 23 6
+f 24 6 4
+f 25 9 14
+f 25 16 23
+f 25 23 15
+f 25 15 9
+f 26 12 6
+f 26 23 16
+f 26 6 23
+f 28 18 11
+f 28 11 2
+f 28 2 18
+f 29 18 3
+f 29 3 11
+f 29 11 18
+f 30 20 3
+f 30 3 13
+f 30 13 20
+f 31 20 13
+f 31 13 6
+f 31 6 12
+f 31 12 20
+f 32 13 3
+f 33 21 4
+f 33 4 6
+f 33 6 13
+f 33 32 21
+f 33 13 32
+f 34 32 3
+f 34 21 32
+f 35 24 10
+f 35 17 24
+f 35 10 21
+f 36 25 14
+f 36 14 22
+f 36 16 25
+f 37 22 12
+f 37 12 26
+f 37 36 22
+f 37 26 16
+f 37 16 36
+f 38 21 34
+f 40 34 3
+f 40 3 18
+f 40 38 34
+f 40 18 38
+f 41 35 27
+f 41 17 35
+f 41 39 5
+f 41 5 17
+f 42 21 38
+f 42 38 18
+f 43 5 39
+f 44 18 8
+f 44 8 39
+f 44 42 18
+f 44 27 42
+f 44 41 27
+f 44 39 41
+f 45 35 21
+f 45 21 42
+f 45 42 27
+f 45 27 35
+f 46 43 39
+f 46 39 8
+f 46 8 5
+f 46 5 43
\ No newline at end of file
diff --git a/objects/objaverse/donut/donut_9/collision/model_normalized_collision_6.obj b/objects/objaverse/donut/donut_9/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..839c8ef944af816e33acb873a8bdd57e4415e740
--- /dev/null
+++ b/objects/objaverse/donut/donut_9/collision/model_normalized_collision_6.obj
@@ -0,0 +1,105 @@
+# https://github.com/mikedh/trimesh
+v 0.19285781 0.10820831 0.17242822
+v 0.21842455 0.18994731 0.13355476
+v 0.11854533 0.44849970 0.18146905
+v 0.06620484 0.45805349 0.16831729
+v -0.08949711 0.09858995 0.11992283
+v 0.11758299 0.45375598 0.12280586
+v 0.21439375 0.23439795 0.16291969
+v 0.19650019 0.12493206 0.13616034
+v -0.12671635 0.29322146 0.19369005
+v 0.10360128 0.46219153 0.16160777
+v 0.19574585 0.33622113 0.11316584
+v 0.21075570 0.18875405 0.16351122
+v 0.19653555 0.23743345 0.17795612
+v 0.12614310 0.09535429 0.15159993
+v -0.13168276 0.16187199 0.17003441
+v 0.06676172 0.44705769 0.18396469
+v -0.08900434 0.42937416 0.11915390
+v 0.09015814 0.45908532 0.17109094
+v 0.15985532 0.40298732 0.14319933
+v 0.19177477 0.26748267 0.17789932
+v 0.04218449 0.24124894 0.19216086
+v -0.09442865 0.10005476 0.14565421
+v -0.14099626 0.19017146 0.15008289
+v 0.06445945 0.45855840 0.12728583
+v -0.08961436 0.41757350 0.13631243
+v 0.15959795 0.40165844 0.12034799
+v 0.01095107 0.23891147 0.19328298
+v 0.04194960 0.29153520 0.19361520
+v -0.12882791 0.28552049 0.19226056
+v 0.10375663 0.45855921 0.12682835
+v 0.05506671 0.46040045 0.13957972
+v -0.13010617 0.31956454 0.17687128
+v -0.08821941 0.31631261 0.19448341
+v -0.11461751 0.27058018 0.19187254
+v -0.12793815 0.31448215 0.18852766
+v -0.11653878 0.30625817 0.19272308
+f 8 2 1
+f 10 3 6
+f 11 8 5
+f 11 2 8
+f 11 7 2
+f 12 1 2
+f 12 2 7
+f 13 12 7
+f 13 1 12
+f 14 8 1
+f 14 5 8
+f 17 11 5
+f 17 6 11
+f 18 10 4
+f 18 3 10
+f 18 16 3
+f 18 4 16
+f 19 6 3
+f 19 3 7
+f 19 7 11
+f 20 13 7
+f 20 7 3
+f 21 1 13
+f 22 14 1
+f 22 1 15
+f 22 15 5
+f 22 5 14
+f 23 17 5
+f 23 5 15
+f 24 6 17
+f 25 16 4
+f 25 4 17
+f 26 19 11
+f 26 11 6
+f 26 6 19
+f 27 15 1
+f 27 1 21
+f 28 3 16
+f 28 27 21
+f 28 20 3
+f 28 21 13
+f 28 13 20
+f 29 23 15
+f 30 10 6
+f 30 6 24
+f 31 24 17
+f 31 17 4
+f 31 4 10
+f 31 30 24
+f 31 10 30
+f 32 25 17
+f 32 17 23
+f 32 23 29
+f 33 28 16
+f 33 9 27
+f 33 27 28
+f 34 27 9
+f 34 9 29
+f 34 29 15
+f 34 15 27
+f 35 16 25
+f 35 25 32
+f 35 32 29
+f 35 29 9
+f 36 33 16
+f 36 16 35
+f 36 35 9
+f 36 9 33
\ No newline at end of file
diff --git a/objects/objaverse/donut/donut_9/collision/model_normalized_collision_7.obj b/objects/objaverse/donut/donut_9/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..04fcb6e780c30a160218bbcf490f71e447a3d0c7
--- /dev/null
+++ b/objects/objaverse/donut/donut_9/collision/model_normalized_collision_7.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.24273477 -0.26952510 0.15665192
+v 0.24414224 -0.26515152 0.01388148
+v 0.23837082 0.00676194 0.13573524
+v -0.10459021 -0.00954884 0.15465016
+v 0.00171799 -0.26515152 0.01388148
+v 0.19217994 -0.18365096 0.18129827
+v 0.24613941 -0.12432646 0.16496255
+v 0.09653397 -0.27316716 0.17674285
+v 0.24414224 -0.00757576 0.01388148
+v 0.13914874 -0.00601814 0.16477728
+v 0.13423138 -0.27282898 0.17423049
+v -0.06411809 -0.18183117 0.19042054
+v -0.07728608 0.00108674 0.01931146
+v 0.18902105 -0.15318494 0.17806100
+v 0.00142666 -0.26457991 0.16186935
+v 0.16230111 -0.15256852 0.18038113
+v -0.10434262 -0.14393940 0.01388148
+v -0.10394295 -0.14249115 0.15343973
+v -0.10421617 -0.11236102 0.14958239
+f 7 1 2
+f 7 6 1
+f 8 5 2
+f 9 2 5
+f 9 7 2
+f 9 3 7
+f 10 3 4
+f 10 7 3
+f 11 8 2
+f 11 2 1
+f 11 1 6
+f 11 6 8
+f 12 8 6
+f 12 10 4
+f 13 4 3
+f 13 3 9
+f 14 6 7
+f 14 7 10
+f 15 5 8
+f 15 8 12
+f 16 12 6
+f 16 10 12
+f 16 14 10
+f 16 6 14
+f 17 13 9
+f 17 9 5
+f 17 4 13
+f 17 5 15
+f 18 12 4
+f 18 17 15
+f 18 15 12
+f 19 18 4
+f 19 4 17
+f 19 17 18
\ No newline at end of file
diff --git a/objects/objaverse/donut/donut_9/collision/model_normalized_collision_8.obj b/objects/objaverse/donut/donut_9/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..97230ea96efb9d03e8ac50e101763a65a3ec4729
--- /dev/null
+++ b/objects/objaverse/donut/donut_9/collision/model_normalized_collision_8.obj
@@ -0,0 +1,123 @@
+# https://github.com/mikedh/trimesh
+v 0.34116522 -0.14360548 0.12224213
+v 0.34500755 -0.14365758 0.11699587
+v 0.35700204 0.21650500 0.09890097
+v 0.11522828 0.27736813 0.16960986
+v 0.07752449 -0.00760716 0.11973523
+v 0.28500734 -0.08811854 0.19426159
+v 0.33680285 0.05773557 0.15545766
+v 0.19903831 -0.13074931 0.14656521
+v 0.36535753 -0.00757585 0.10479570
+v 0.25921302 0.28621650 0.11862332
+v 0.13085579 0.00826297 0.17710752
+v 0.30648685 -0.11698181 0.18744897
+v 0.26950038 0.24143531 0.16188409
+v 0.19464189 -0.12261437 0.14267402
+v 0.25369563 -0.14965248 0.14434356
+v 0.07935448 0.00433199 0.11444429
+v 0.35287672 0.21065152 0.10792368
+v 0.18662105 0.05545221 0.19638733
+v 0.09053568 -0.01412549 0.13993418
+v 0.22839044 -0.09911456 0.18792776
+v 0.30162899 0.10937989 0.17758792
+v 0.20586930 0.28322645 0.16657195
+v 0.29387096 0.26280358 0.14010140
+v 0.32262954 -0.14414072 0.13679554
+v 0.34604574 0.22377450 0.09741444
+v 0.09428416 0.09590362 0.12151976
+v 0.13157094 0.02040088 0.17786103
+v 0.12646437 0.01924866 0.17347459
+v 0.23246995 -0.08139827 0.19323909
+v 0.24546027 -0.11817763 0.18536335
+v 0.11857801 -0.01292996 0.16206853
+v 0.32402894 0.04352201 0.17111224
+v 0.18485126 0.07300632 0.19572895
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+v 0.28626251 0.28272842 0.11623276
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\ No newline at end of file
diff --git a/objects/objaverse/donut/donut_9/collision/model_normalized_collision_9.obj b/objects/objaverse/donut/donut_9/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..efa39df011a9d31226b7cadfe28a7abecde77724
--- /dev/null
+++ b/objects/objaverse/donut/donut_9/collision/model_normalized_collision_9.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/objects/objaverse/donut/donut_9/visual/material.mtl b/objects/objaverse/donut/donut_9/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6b5d0f127cc1df2efd6b4835e0300358bb6dde72
--- /dev/null
+++ b/objects/objaverse/donut/donut_9/visual/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 359.99999300
+map_Kd material_0.png
\ No newline at end of file
diff --git a/objects/objaverse/donut/donut_9/visual/model_normalized_0.obj b/objects/objaverse/donut/donut_9/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af2076249cb2d1f4218627fc950e1765e55cd51b
--- /dev/null
+++ b/objects/objaverse/donut/donut_9/visual/model_normalized_0.obj
@@ -0,0 +1,59378 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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\ No newline at end of file
diff --git a/objects/objaverse/rolling_pin/.DS_Store b/objects/objaverse/rolling_pin/.DS_Store
new file mode 100644
index 0000000000000000000000000000000000000000..9d7c6a990bd4f69c151a77189eb4b3a88f04f7c5
Binary files /dev/null and b/objects/objaverse/rolling_pin/.DS_Store differ
diff --git a/objects/objaverse/rolling_pin/rolling_pin_1/collision/model_normalized_collision_1.obj b/objects/objaverse/rolling_pin/rolling_pin_1/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ff9deb36fae291b1eca563e60caf73d6099df9fa
--- /dev/null
+++ b/objects/objaverse/rolling_pin/rolling_pin_1/collision/model_normalized_collision_1.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.08094749 -0.27385790 0.01399852
+v 0.07835580 -0.27385790 -0.02465681
+v 0.07835584 0.27480435 -0.02465680
+v 0.01618552 0.27480436 0.01618548
+v 0.01618552 -0.27385790 0.01618548
+v 0.01618552 -0.27385791 -0.02926907
+v 0.08094746 0.27480435 0.01399852
+v 0.06164007 -0.27385790 -0.02926907
+v 0.01544605 0.28030303 -0.02748389
+v 0.06164007 -0.27385789 0.01618548
+f 1 2 3
+f 6 2 1
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+f 8 2 6
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+f 9 3 8
+f 9 7 3
+f 9 4 7
+f 9 6 5
+f 9 5 4
+f 10 5 1
+f 10 1 7
+f 10 7 4
+f 10 4 5
\ No newline at end of file
diff --git a/objects/objaverse/rolling_pin/rolling_pin_1/collision/model_normalized_collision_10.obj b/objects/objaverse/rolling_pin/rolling_pin_1/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..554e7122d73eea6724f1adc1a2d93a2820cf79d1
--- /dev/null
+++ b/objects/objaverse/rolling_pin/rolling_pin_1/collision/model_normalized_collision_10.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.01720380 -0.40120266 0.01696683
+v 0.01232114 -0.40306786 -0.02134063
+v 0.00998501 -0.30347453 -0.01729449
+v -0.01729457 -0.30347466 0.00998517
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+v -0.01758706 -0.40438825 -0.01758687
+v -0.00920079 -0.30386229 -0.01739903
+v -0.01739907 -0.30386235 -0.00920089
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+f 9 7 5
+f 9 5 4
+f 9 8 7
+f 9 4 8
\ No newline at end of file
diff --git a/objects/objaverse/rolling_pin/rolling_pin_1/collision/model_normalized_collision_11.obj b/objects/objaverse/rolling_pin/rolling_pin_1/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c2d7b1bfcf8a2371567bab2018168b82ad574820
--- /dev/null
+++ b/objects/objaverse/rolling_pin/rolling_pin_1/collision/model_normalized_collision_11.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.06164007 -0.27385790 -0.02926907
+v 0.05194822 -0.27385790 -0.06367205
+v 0.05194826 0.27480435 -0.06367209
+v 0.01544605 0.28030303 -0.02748389
+v 0.01544604 -0.28030303 -0.02748373
+v 0.01439396 -0.27385792 -0.08086869
+v 0.06164007 0.27480435 -0.02926907
+v 0.03806494 0.27480435 -0.07279447
+v 0.03806527 -0.27385790 -0.07279414
+v 0.01439422 0.27480432 -0.08086881
+f 1 2 3
+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 3 2
+f 8 4 3
+f 9 2 5
+f 9 5 6
+f 9 8 2
+f 9 6 8
+f 10 8 6
+f 10 6 4
+f 10 4 8
\ No newline at end of file
diff --git a/objects/objaverse/rolling_pin/rolling_pin_1/collision/model_normalized_collision_12.obj b/objects/objaverse/rolling_pin/rolling_pin_1/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..395f5db52c8e8226fc46872a645bf1dd7d1fa983
--- /dev/null
+++ b/objects/objaverse/rolling_pin/rolling_pin_1/collision/model_normalized_collision_12.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.01399833 -0.08333334 0.08094771
+v 0.01439397 -0.08333333 -0.08086872
+v 0.01439422 0.27480432 -0.08086881
+v -0.02465667 0.27480436 0.07835578
+v -0.02528643 -0.08333333 -0.07814193
+v 0.01399832 0.27480437 0.08094766
+v -0.02465670 -0.08333334 0.07835582
+v -0.02528622 0.27480433 -0.07814222
+f 1 2 3
+f 6 1 3
+f 6 4 1
+f 7 1 4
+f 7 4 5
+f 7 5 2
+f 7 2 1
+f 8 5 4
+f 8 3 2
+f 8 2 5
+f 8 6 3
+f 8 4 6
\ No newline at end of file
diff --git a/objects/objaverse/rolling_pin/rolling_pin_1/collision/model_normalized_collision_13.obj b/objects/objaverse/rolling_pin/rolling_pin_1/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b43c9f9012a421c66b3edb2485f89c52b4704bb8
--- /dev/null
+++ b/objects/objaverse/rolling_pin/rolling_pin_1/collision/model_normalized_collision_13.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.04442054 -0.27385790 -0.02926907
+v -0.04181706 -0.26515151 -0.07082718
+v -0.04442054 0.27480435 -0.02926907
+v -0.07814217 0.27480435 -0.02528625
+v -0.07814212 -0.26515151 -0.02528627
+v -0.04181713 0.27480435 -0.07082746
+v -0.07361467 -0.26515151 -0.03640196
+v -0.05077924 -0.26515151 -0.06469721
+v -0.07361470 0.27480435 -0.03640197
+v -0.05077927 0.27480435 -0.06469726
+f 1 2 3
+f 1 3 4
+f 5 1 4
+f 6 3 2
+f 7 1 5
+f 7 5 4
+f 8 2 1
+f 8 1 7
+f 8 6 2
+f 9 7 4
+f 9 4 3
+f 10 6 8
+f 10 8 7
+f 10 7 9
+f 10 9 3
+f 10 3 6
\ No newline at end of file
diff --git a/objects/objaverse/rolling_pin/rolling_pin_1/collision/model_normalized_collision_14.obj b/objects/objaverse/rolling_pin/rolling_pin_1/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3fcaa11f406cef5c33de5418f590d492854522cb
--- /dev/null
+++ b/objects/objaverse/rolling_pin/rolling_pin_1/collision/model_normalized_collision_14.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.02926902 -0.27385789 0.01618548
+v -0.02926902 -0.27385790 -0.02926907
+v -0.02748386 0.28030303 0.01544602
+v -0.08086877 0.27480435 0.01439418
+v -0.08086880 -0.26515152 0.01439419
+v -0.02926902 0.27480435 -0.02926907
+v -0.07814217 0.27480435 -0.02528625
+v -0.07814212 -0.26515151 -0.02528627
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 5 1 4
+f 6 3 2
+f 7 4 3
+f 7 3 6
+f 7 5 4
+f 8 2 5
+f 8 5 7
+f 8 7 6
+f 8 6 2
\ No newline at end of file
diff --git a/objects/objaverse/rolling_pin/rolling_pin_1/collision/model_normalized_collision_15.obj b/objects/objaverse/rolling_pin/rolling_pin_1/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..90cf53e8d4937b9652a61a127301c0cf35583bb7
--- /dev/null
+++ b/objects/objaverse/rolling_pin/rolling_pin_1/collision/model_normalized_collision_15.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.04786092 -0.26515151 0.06678915
+v -0.04442054 -0.27385789 0.01618548
+v -0.04442053 0.27480435 0.06164002
+v -0.06367219 0.27480435 0.05194835
+v -0.08086880 -0.26515152 0.01439419
+v -0.04442054 0.27480436 0.01618548
+v -0.07279456 -0.26515152 0.03806496
+v -0.08086877 0.27480435 0.01439418
+v -0.06367223 -0.26515152 0.05194838
+v -0.07279442 0.27480435 0.03806489
+f 1 2 3
+f 1 3 4
+f 6 3 2
+f 7 5 2
+f 8 3 6
+f 8 5 7
+f 8 6 2
+f 8 2 5
+f 9 7 2
+f 9 2 1
+f 9 1 4
+f 9 4 7
+f 10 8 7
+f 10 7 4
+f 10 4 3
+f 10 3 8
\ No newline at end of file
diff --git a/objects/objaverse/rolling_pin/rolling_pin_1/collision/model_normalized_collision_16.obj b/objects/objaverse/rolling_pin/rolling_pin_1/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5915094ede4d2c36f13c37affcbbb4aa4e4d4ed5
--- /dev/null
+++ b/objects/objaverse/rolling_pin/rolling_pin_1/collision/model_normalized_collision_16.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.02926861 -0.27385790 0.07679028
+v -0.02748395 -0.28030303 0.01544606
+v -0.02748386 0.28030303 0.01544602
+v -0.04114939 0.27480435 0.07127339
+v -0.04442054 -0.27385789 0.01618548
+v -0.02926856 0.27480435 0.07679022
+v -0.04114939 -0.27385790 0.07127346
+v -0.04442054 0.27480436 0.01618548
+f 1 2 3
+f 5 3 2
+f 6 1 3
+f 6 3 4
+f 6 4 1
+f 7 5 2
+f 7 2 1
+f 7 1 4
+f 8 4 3
+f 8 3 5
+f 8 7 4
+f 8 5 7
\ No newline at end of file
diff --git a/objects/objaverse/rolling_pin/rolling_pin_1/collision/model_normalized_collision_19.obj b/objects/objaverse/rolling_pin/rolling_pin_1/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4d8b6a88f3fca92703379de700893d745fee488e
--- /dev/null
+++ b/objects/objaverse/rolling_pin/rolling_pin_1/collision/model_normalized_collision_19.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.01580465 -0.29897696 0.01580483
+v 0.06164007 -0.27385790 -0.02926907
+v 0.05819440 -0.27385790 0.05819444
+v -0.02926902 -0.27385789 0.06164002
+v -0.02926902 -0.27385790 -0.02926907
+v 0.05819440 -0.26515152 0.05819444
+v -0.01535203 -0.30018621 -0.01535184
+v 0.01557833 -0.29958151 -0.01557823
+v -0.01557833 -0.29958166 0.01557846
+f 1 2 3
+f 1 3 4
+f 6 3 2
+f 6 4 3
+f 6 5 4
+f 6 2 5
+f 7 5 2
+f 7 4 5
+f 8 7 2
+f 8 2 1
+f 8 1 7
+f 9 7 1
+f 9 1 4
+f 9 4 7
\ No newline at end of file
diff --git a/objects/objaverse/rolling_pin/rolling_pin_1/collision/model_normalized_collision_2.obj b/objects/objaverse/rolling_pin/rolling_pin_1/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f7ae33b9a8e67cfec7b9d4b69fd78b06f70664c
--- /dev/null
+++ b/objects/objaverse/rolling_pin/rolling_pin_1/collision/model_normalized_collision_2.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.01342377 0.29050080 0.02466957
+v 0.01731236 0.29620006 0.01705012
+v 0.01307522 0.41806806 0.02382782
+v -0.01942593 0.41934179 0.01942587
+v -0.01775894 0.30406682 -0.00934989
+v -0.02164435 0.28697664 0.02164431
+v 0.01018072 0.30368181 -0.01763355
+v -0.01939558 0.41909496 -0.01939564
+v -0.00934992 0.30406683 -0.01775895
+v 0.01359803 0.41775262 -0.02355249
+v -0.02386699 0.29138269 0.01377957
+f 1 2 3
+f 6 1 3
+f 6 3 4
+f 7 2 1
+f 7 1 6
+f 9 7 6
+f 9 5 8
+f 10 3 2
+f 10 2 7
+f 10 9 8
+f 10 7 9
+f 10 8 4
+f 10 4 3
+f 11 6 4
+f 11 4 8
+f 11 8 5
+f 11 9 6
+f 11 5 9
\ No newline at end of file
diff --git a/objects/objaverse/rolling_pin/rolling_pin_1/collision/model_normalized_collision_20.obj b/objects/objaverse/rolling_pin/rolling_pin_1/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bdf50884b0b13a5b371e3f77df3603c38cd05803
--- /dev/null
+++ b/objects/objaverse/rolling_pin/rolling_pin_1/collision/model_normalized_collision_20.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.02926902 -0.27385790 -0.02926907
+v -0.02528641 -0.27385791 -0.07814191
+v -0.02528622 0.27480433 -0.07814222
+v -0.04442054 0.27480435 -0.02926907
+v -0.04442054 -0.27385790 -0.02926907
+v -0.03640192 0.27480435 -0.07361475
+v -0.02926902 0.27480435 -0.02926907
+v -0.03640146 -0.27385790 -0.07361476
+f 1 2 3
+f 5 2 1
+f 6 5 4
+f 7 1 3
+f 7 5 1
+f 7 4 5
+f 7 6 4
+f 7 3 6
+f 8 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/rolling_pin/rolling_pin_1/collision/model_normalized_collision_22.obj b/objects/objaverse/rolling_pin/rolling_pin_1/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..153ad8753410c2ab4997560b671301c174328413
--- /dev/null
+++ b/objects/objaverse/rolling_pin/rolling_pin_1/collision/model_normalized_collision_22.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.04114939 -0.27385790 0.07127346
+v -0.04442054 -0.27385790 0.06164002
+v -0.04114939 0.27480435 0.07127339
+v -0.05726523 0.27480435 0.05900946
+v -0.05726523 -0.27385790 0.05900957
+v -0.04442053 0.27480435 0.06164002
+v -0.05010054 -0.27385790 0.06529276
+v -0.05010054 0.27480435 0.06529241
+f 1 2 3
+f 5 2 1
+f 5 4 2
+f 6 3 2
+f 6 2 4
+f 7 5 1
+f 7 1 3
+f 7 4 5
+f 8 7 3
+f 8 4 7
+f 8 6 4
+f 8 3 6
\ No newline at end of file
diff --git a/objects/objaverse/rolling_pin/rolling_pin_1/collision/model_normalized_collision_23.obj b/objects/objaverse/rolling_pin/rolling_pin_1/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..28cf75f0d5710576045a71af2844eb3a6eb543ae
--- /dev/null
+++ b/objects/objaverse/rolling_pin/rolling_pin_1/collision/model_normalized_collision_23.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.01987151 -0.46009441 0.01987170
+v 0.01985561 -0.46027434 -0.01985538
+v 0.01761744 -0.40463509 -0.01761725
+v -0.01761740 -0.40463503 0.01761762
+v -0.02717825 -0.45981827 -0.00728217
+v 0.01764779 -0.40488189 0.01764795
+v -0.01985554 -0.46027438 0.01985581
+v -0.00713854 -0.41996741 -0.02664123
+v 0.00040552 -0.40268743 -0.02449526
+v -0.02606636 -0.42009197 0.00858303
+v -0.00728238 -0.45981818 -0.02717812
+v 0.00858292 -0.42009208 -0.02606622
+v -0.02656623 -0.45972625 0.00878997
+v -0.01758706 -0.40438825 -0.01758687
+v 0.00878984 -0.45972615 -0.02656607
+v -0.02664134 -0.41996733 -0.00713832
+f 1 2 3
+f 6 1 3
+f 6 4 1
+f 7 5 2
+f 7 2 1
+f 7 1 4
+f 9 6 3
+f 9 4 6
+f 10 7 4
+f 11 2 5
+f 12 9 3
+f 12 3 2
+f 12 11 8
+f 12 8 9
+f 13 10 5
+f 13 5 7
+f 13 7 10
+f 14 11 5
+f 14 8 11
+f 14 9 8
+f 14 4 9
+f 15 12 2
+f 15 2 11
+f 15 11 12
+f 16 14 5
+f 16 5 10
+f 16 10 4
+f 16 4 14
\ No newline at end of file
diff --git a/objects/objaverse/rolling_pin/rolling_pin_1/collision/model_normalized_collision_24.obj b/objects/objaverse/rolling_pin/rolling_pin_1/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c3b523ed969c783ca8bb7fd185801b1d9db91aaf
--- /dev/null
+++ b/objects/objaverse/rolling_pin/rolling_pin_1/collision/model_normalized_collision_24.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.04442054 -0.27385790 0.06164002
+v -0.04181706 -0.27385790 -0.07082718
+v -0.04181706 -0.26515151 -0.07082718
+v -0.06367223 -0.26515152 0.05194838
+v -0.07361467 -0.27385790 -0.03640196
+v -0.04786092 -0.26515151 0.06678915
+v -0.07279456 -0.27385790 0.03806496
+v -0.05077924 -0.27385790 -0.06469721
+v -0.07361467 -0.26515151 -0.03640196
+v -0.06367223 -0.27385790 0.05194838
+v -0.05077924 -0.26515151 -0.06469721
+v -0.07279456 -0.26515152 0.03806496
+f 1 2 3
+f 6 1 3
+f 7 5 2
+f 8 3 2
+f 8 2 5
+f 9 4 6
+f 9 5 7
+f 10 6 4
+f 10 4 7
+f 10 1 6
+f 10 7 2
+f 10 2 1
+f 11 3 8
+f 11 8 5
+f 11 5 9
+f 11 9 6
+f 11 6 3
+f 12 9 7
+f 12 7 4
+f 12 4 9
\ No newline at end of file
diff --git a/objects/objaverse/rolling_pin/rolling_pin_1/collision/model_normalized_collision_25.obj b/objects/objaverse/rolling_pin/rolling_pin_1/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5b44f11d82703bf3d0d7d920a0cd8c71018aed10
--- /dev/null
+++ b/objects/objaverse/rolling_pin/rolling_pin_1/collision/model_normalized_collision_25.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.05819440 -0.27385790 0.05819444
+v 0.05819440 -0.26515152 0.05819444
+v 0.02651110 -0.26515152 0.07772643
+v -0.02465670 -0.26515152 0.07835584
+v -0.02926902 -0.27385789 0.06164002
+v 0.05092315 -0.26515152 0.06457108
+v 0.02651111 -0.27385789 0.07772642
+v -0.02465672 -0.27385789 0.07835584
+v 0.05092315 -0.27385790 0.06457109
+f 3 2 4
+f 5 2 1
+f 5 4 2
+f 6 2 3
+f 7 3 4
+f 7 6 3
+f 8 7 4
+f 8 4 5
+f 9 6 7
+f 9 1 2
+f 9 2 6
+f 9 7 8
+f 9 8 5
+f 9 5 1
\ No newline at end of file
diff --git a/objects/objaverse/rolling_pin/rolling_pin_1/collision/model_normalized_collision_26.obj b/objects/objaverse/rolling_pin/rolling_pin_1/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d19d67025eef7c5b2bfb692bdad1739f683061c8
--- /dev/null
+++ b/objects/objaverse/rolling_pin/rolling_pin_1/collision/model_normalized_collision_26.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.06164007 -0.27385789 0.01618548
+v 0.07979435 -0.21969697 0.01979625
+v 0.02651110 -0.26515152 0.07772643
+v -0.07295883 -0.21969696 0.03773184
+v -0.02926902 -0.27385789 0.01618548
+v 0.02651110 -0.21969697 0.07772642
+v 0.05092315 -0.26515152 0.06457108
+v -0.02465670 -0.26515152 0.07835584
+v 0.05092314 -0.21969697 0.06457108
+v -0.02465670 -0.21969697 0.07835583
+f 5 2 1
+f 5 4 2
+f 7 1 2
+f 7 3 1
+f 8 5 1
+f 8 1 3
+f 8 4 5
+f 9 7 2
+f 9 6 3
+f 9 3 7
+f 9 2 4
+f 9 4 6
+f 10 6 4
+f 10 4 8
+f 10 8 3
+f 10 3 6
\ No newline at end of file
diff --git a/objects/objaverse/rolling_pin/rolling_pin_1/collision/model_normalized_collision_27.obj b/objects/objaverse/rolling_pin/rolling_pin_1/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b664ebe0bf6a662af4c1a398f3e1ef1fc9b8299
--- /dev/null
+++ b/objects/objaverse/rolling_pin/rolling_pin_1/collision/model_normalized_collision_27.obj
@@ -0,0 +1,18 @@
+# https://github.com/mikedh/trimesh
+v -0.02348338 -0.29107608 0.01355827
+v -0.02389041 -0.29145836 -0.01188967
+v -0.02926902 -0.27385790 -0.02926907
+v -0.04442054 -0.27385789 0.01618548
+v -0.03067397 -0.28593732 0.00000015
+v -0.04442054 -0.27385790 -0.02926907
+v -0.02926902 -0.27385789 0.01618548
+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 4 1
+f 7 6 4
+f 7 3 6
\ No newline at end of file
diff --git a/objects/objaverse/rolling_pin/rolling_pin_1/collision/model_normalized_collision_28.obj b/objects/objaverse/rolling_pin/rolling_pin_1/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2194b022595c81b52db5d2294faf2c970280c19d
--- /dev/null
+++ b/objects/objaverse/rolling_pin/rolling_pin_1/collision/model_normalized_collision_28.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.05819440 -0.27385790 0.05819444
+v 0.08094749 -0.27385790 0.01399852
+v 0.07772641 0.27480435 0.02651101
+v 0.05819440 0.27480435 0.05819437
+v 0.06164007 -0.27385789 0.01618548
+v 0.06457143 -0.27385790 0.05092300
+v 0.08094746 0.27480435 0.01399852
+v 0.06457139 0.27480435 0.05092296
+v 0.07772645 -0.27385790 0.02651099
+v 0.06164007 0.27480435 0.01618548
+f 5 2 1
+f 5 1 4
+f 6 1 2
+f 7 2 5
+f 8 6 3
+f 8 4 1
+f 8 1 6
+f 9 6 2
+f 9 3 6
+f 9 7 3
+f 9 2 7
+f 10 7 5
+f 10 5 4
+f 10 3 7
+f 10 8 3
+f 10 4 8
\ No newline at end of file
diff --git a/objects/objaverse/rolling_pin/rolling_pin_1/collision/model_normalized_collision_29.obj b/objects/objaverse/rolling_pin/rolling_pin_1/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..87f0be713196486baa76351fd56bd8f2fbd25b32
--- /dev/null
+++ b/objects/objaverse/rolling_pin/rolling_pin_1/collision/model_normalized_collision_29.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.01618552 -0.27385790 0.01618549
+v 0.05527283 -0.08333333 0.06075653
+v -0.02465670 -0.21969697 0.07835583
+v -0.07295880 -0.08333332 0.03773182
+v -0.02465670 -0.08333334 0.07835582
+v -0.07295883 -0.21969696 0.03773184
+v 0.01399833 -0.21969697 0.08094773
+v 0.01399833 -0.08333334 0.08094771
+f 2 1 4
+f 6 1 3
+f 6 4 1
+f 6 5 4
+f 6 3 5
+f 7 1 2
+f 7 3 1
+f 7 5 3
+f 8 7 2
+f 8 5 7
+f 8 2 4
+f 8 4 5
\ No newline at end of file
diff --git a/objects/objaverse/rolling_pin/rolling_pin_1/collision/model_normalized_collision_30.obj b/objects/objaverse/rolling_pin/rolling_pin_1/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9ad762b42d42925dfe36c7e7fa5199e3d4863e0a
--- /dev/null
+++ b/objects/objaverse/rolling_pin/rolling_pin_1/collision/model_normalized_collision_30.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.01945626 0.41958864 0.01945623
+v 0.01942593 0.41934180 -0.01942596
+v 0.02782864 0.46168267 0.00057208
+v -0.01985559 0.46027436 0.01985552
+v -0.02664134 0.41996732 -0.00713861
+v 0.01987147 0.46009437 0.01987144
+v -0.01942593 0.41934179 0.01942587
+v -0.00728240 0.45981829 -0.02717833
+v -0.02656607 0.45972625 0.00879015
+v 0.01985559 0.46027436 -0.01985563
+v -0.00713854 0.41996732 -0.02664139
+v -0.02717826 0.45981829 -0.00728247
+v -0.02606630 0.42009198 0.00858290
+v 0.00879005 0.45972624 -0.02656619
+v 0.00858311 0.42009200 -0.02606631
+f 1 2 3
+f 6 1 3
+f 6 3 4
+f 6 4 1
+f 7 2 1
+f 7 1 4
+f 10 8 3
+f 10 3 2
+f 11 5 8
+f 11 7 5
+f 11 2 7
+f 12 4 3
+f 12 3 8
+f 12 9 4
+f 12 8 5
+f 13 7 4
+f 13 4 9
+f 13 5 7
+f 13 12 5
+f 13 9 12
+f 14 8 10
+f 15 14 10
+f 15 10 2
+f 15 2 11
+f 15 11 8
+f 15 8 14
\ No newline at end of file
diff --git a/objects/objaverse/rolling_pin/rolling_pin_1/collision/model_normalized_collision_31.obj b/objects/objaverse/rolling_pin/rolling_pin_1/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d4f30d4680979ddca8bb475b2859542013fc41a
--- /dev/null
+++ b/objects/objaverse/rolling_pin/rolling_pin_1/collision/model_normalized_collision_31.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.02148411 -0.40335394 0.01210427
+v 0.02355290 -0.39970598 0.00200391
+v 0.01350021 -0.35546542 0.00779452
+v 0.01101488 -0.35583904 0.01101504
+v 0.01232114 -0.40306786 -0.02134063
+v 0.01720380 -0.40120266 0.01696683
+v 0.01761744 -0.40463509 -0.01761725
+v 0.01143152 -0.35588059 -0.01046967
+v 0.01063699 -0.38935135 -0.01842361
+v 0.01387595 -0.35549283 -0.00688494
+f 1 2 3
+f 6 1 3
+f 6 3 4
+f 6 5 1
+f 7 2 1
+f 7 1 5
+f 8 4 3
+f 8 7 5
+f 9 6 4
+f 9 5 6
+f 9 8 5
+f 9 4 8
+f 10 8 3
+f 10 3 2
+f 10 2 7
+f 10 7 8
\ No newline at end of file
diff --git a/objects/objaverse/rolling_pin/rolling_pin_1/collision/model_normalized_collision_4.obj b/objects/objaverse/rolling_pin/rolling_pin_1/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..99bec8fc3e668e0c2ebc4d3dc3eed25978bcc22c
--- /dev/null
+++ b/objects/objaverse/rolling_pin/rolling_pin_1/collision/model_normalized_collision_4.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.01618552 -0.27385790 0.01618549
+v 0.07979435 -0.21969697 0.01979625
+v 0.01399832 0.27480437 0.08094766
+v 0.01246154 0.31032138 0.01246150
+v 0.01797306 0.30294122 0.01037672
+v 0.01399833 -0.21969697 0.08094773
+v 0.06164007 0.27480435 0.01618548
+v 0.01037674 0.30294123 0.01797303
+v 0.05092314 -0.21969697 0.06457108
+v 0.05092311 0.27480435 0.06457104
+v 0.02651110 -0.21969697 0.07772642
+v 0.02651107 0.27480436 0.07772636
+f 5 2 1
+f 5 1 4
+f 7 2 5
+f 7 5 4
+f 8 6 3
+f 8 3 4
+f 8 4 1
+f 8 1 6
+f 9 1 2
+f 10 7 4
+f 10 9 2
+f 10 2 7
+f 11 6 1
+f 11 1 9
+f 11 9 10
+f 12 10 4
+f 12 4 3
+f 12 11 10
+f 12 3 6
+f 12 6 11
\ No newline at end of file
diff --git a/objects/objaverse/rolling_pin/rolling_pin_1/collision/model_normalized_collision_5.obj b/objects/objaverse/rolling_pin/rolling_pin_1/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa50ba8be1fdf8fc13a160d355da4d967c6108ff
--- /dev/null
+++ b/objects/objaverse/rolling_pin/rolling_pin_1/collision/model_normalized_collision_5.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.04648855 0.27480435 0.01618548
+v 0.04648855 0.27480435 -0.01411755
+v 0.01432242 0.34035584 -0.00706992
+v 0.01135948 0.34070228 0.01135944
+v 0.01618552 0.27480436 0.01618548
+v 0.01392228 0.34032867 0.00803798
+v 0.01544605 0.28030303 -0.02748389
+v 0.03133704 0.27480435 -0.02926907
+v 0.01018072 0.30368181 -0.01763355
+v 0.01181496 0.34074359 -0.01076389
+f 1 2 3
+f 5 1 4
+f 6 1 3
+f 6 3 4
+f 6 4 1
+f 8 5 7
+f 8 2 1
+f 8 1 5
+f 9 7 5
+f 9 5 4
+f 10 8 7
+f 10 3 2
+f 10 2 8
+f 10 7 9
+f 10 9 4
+f 10 4 3
\ No newline at end of file
diff --git a/objects/objaverse/rolling_pin/rolling_pin_1/collision/model_normalized_collision_6.obj b/objects/objaverse/rolling_pin/rolling_pin_1/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f6ccc61f7f204baf9f00403f3a38480080ffcccf
--- /dev/null
+++ b/objects/objaverse/rolling_pin/rolling_pin_1/collision/model_normalized_collision_6.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.01618552 0.27480436 0.04648851
+v 0.01618553 0.27480434 -0.04442058
+v 0.01246154 0.31032138 0.01246150
+v 0.01018072 0.30368181 -0.01763355
+v -0.04442054 0.27480435 -0.01411755
+v -0.01411751 0.27480433 -0.04442058
+v -0.01411752 0.27480436 0.04648851
+v -0.01562870 0.30039348 -0.01562874
+v 0.00000000 0.30540679 -0.01944826
+v -0.01763351 0.30368184 0.01018067
+v -0.04442054 0.27480436 0.01618548
+f 1 2 3
+f 3 2 4
+f 6 2 1
+f 7 1 3
+f 7 6 1
+f 8 6 5
+f 9 4 2
+f 9 2 6
+f 9 6 8
+f 9 3 4
+f 10 7 3
+f 10 9 8
+f 10 3 9
+f 10 8 5
+f 11 10 5
+f 11 7 10
+f 11 5 6
+f 11 6 7
\ No newline at end of file
diff --git a/objects/objaverse/rolling_pin/rolling_pin_1/collision/model_normalized_collision_7.obj b/objects/objaverse/rolling_pin/rolling_pin_1/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2a05aabfa5751c5681401d8822a1fe326c0b8d1f
--- /dev/null
+++ b/objects/objaverse/rolling_pin/rolling_pin_1/collision/model_normalized_collision_7.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.00917627 -0.49473713 0.00917645
+v 0.01985561 -0.46027434 -0.01985538
+v 0.01987151 -0.46009441 0.01987170
+v -0.01985554 -0.46027438 0.01985581
+v -0.01619657 -0.48056329 -0.01619635
+v 0.01679955 -0.47923429 0.01679973
+v 0.00731572 -0.49345994 -0.01267093
+v -0.01267111 -0.49345994 0.00731593
+v -0.01983966 -0.46045430 -0.01983944
+v 0.01649812 -0.47989872 -0.01649787
+v -0.01649798 -0.47989886 0.01649826
+v -0.01269693 -0.49345994 -0.00725310
+v -0.00725305 -0.49345994 -0.01269684
+f 3 2 4
+f 6 3 4
+f 6 2 3
+f 9 4 2
+f 10 2 6
+f 10 6 1
+f 10 1 7
+f 10 9 2
+f 10 5 9
+f 11 9 5
+f 11 4 9
+f 11 6 4
+f 11 8 1
+f 11 1 6
+f 12 1 8
+f 12 11 5
+f 12 8 11
+f 13 10 7
+f 13 5 10
+f 13 12 5
+f 13 7 1
+f 13 1 12
\ No newline at end of file
diff --git a/objects/objaverse/rolling_pin/rolling_pin_1/collision/model_normalized_collision_8.obj b/objects/objaverse/rolling_pin/rolling_pin_1/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cdd2f2e1a85e698532cabdbd2f50292ebbb59979
--- /dev/null
+++ b/objects/objaverse/rolling_pin/rolling_pin_1/collision/model_normalized_collision_8.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.01352505 0.35546628 0.00780865
+v 0.01390230 0.35549368 -0.00689581
+v 0.01945626 0.41958864 0.01945623
+v 0.01307522 0.41806806 0.02382782
+v 0.01063880 0.38934607 -0.01842695
+v 0.01103514 0.35583990 0.01103510
+v 0.01942593 0.41934180 -0.01942596
+v 0.01068957 0.38976031 0.01851484
+v 0.01145416 0.35588145 -0.01048706
+v 0.01359803 0.41775262 -0.02355249
+f 1 2 3
+f 6 1 3
+f 6 3 4
+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 10 5 4
+f 10 4 7
+f 10 9 5
+f 10 7 9
\ No newline at end of file
diff --git a/objects/objaverse/rolling_pin/rolling_pin_1/collision/model_normalized_collision_9.obj b/objects/objaverse/rolling_pin/rolling_pin_1/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e68192917e5b2255484c219bceb8e31f8e3f7b31
--- /dev/null
+++ b/objects/objaverse/rolling_pin/rolling_pin_1/collision/model_normalized_collision_9.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.01764779 -0.40488189 0.01764795
+v 0.02148411 -0.40335394 0.01210427
+v 0.01101488 -0.35583904 0.01101504
+v -0.00688498 -0.35549283 0.01387619
+v -0.02134079 -0.40306786 0.01232131
+v 0.00779434 -0.35546543 0.01350039
+v -0.01761740 -0.40463503 0.01761762
+v -0.01842377 -0.38935127 0.01063716
+v -0.01046986 -0.35588060 0.01143171
+v 0.01851199 -0.38976606 0.01068807
+f 1 2 3
+f 6 1 3
+f 6 4 1
+f 7 5 2
+f 7 2 1
+f 7 1 4
+f 8 2 5
+f 9 6 3
+f 9 4 6
+f 9 3 8
+f 9 8 5
+f 9 7 4
+f 9 5 7
+f 10 8 3
+f 10 3 2
+f 10 2 8
\ No newline at end of file
diff --git a/objects/objaverse/rolling_pin/rolling_pin_1/model.xml b/objects/objaverse/rolling_pin/rolling_pin_1/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..95511187435a2ab6312619bd661b14eaf042282b
--- /dev/null
+++ b/objects/objaverse/rolling_pin/rolling_pin_1/model.xml
@@ -0,0 +1,81 @@
+<mujoco model="rolling_pin_1">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="Material.032" 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.032"/>
+        <geom solimp="0.998 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"/>
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