diff --git a/objects/objaverse/apple/apple_7/collision/model_normalized_collision_0.obj b/objects/objaverse/apple/apple_7/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..58c69b70c0c0d60cccedcf2a5b13a74735e542d6
--- /dev/null
+++ b/objects/objaverse/apple/apple_7/collision/model_normalized_collision_0.obj
@@ -0,0 +1,153 @@
+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_7/collision/model_normalized_collision_1.obj b/objects/objaverse/apple/apple_7/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..169617197d33e0993fe28eedccd9932964ec36c0
--- /dev/null
+++ b/objects/objaverse/apple/apple_7/collision/model_normalized_collision_1.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_7/collision/model_normalized_collision_10.obj b/objects/objaverse/apple/apple_7/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc1387f745a78f6851bc805c16ad77348447416f
--- /dev/null
+++ b/objects/objaverse/apple/apple_7/collision/model_normalized_collision_10.obj
@@ -0,0 +1,180 @@
+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_7/collision/model_normalized_collision_11.obj b/objects/objaverse/apple/apple_7/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a7943159138d209660511107b2a982bbc4e5a081
--- /dev/null
+++ b/objects/objaverse/apple/apple_7/collision/model_normalized_collision_11.obj
@@ -0,0 +1,144 @@
+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_7/collision/model_normalized_collision_12.obj b/objects/objaverse/apple/apple_7/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0ddc71fb24c386626b3e80106263c483360a2b5f
--- /dev/null
+++ b/objects/objaverse/apple/apple_7/collision/model_normalized_collision_12.obj
@@ -0,0 +1,144 @@
+# https://github.com/mikedh/trimesh
+v 0.00587914 -0.37968506 0.23707142
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\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_7/collision/model_normalized_collision_13.obj b/objects/objaverse/apple/apple_7/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ec29d69297dc7d9a1ac45e29e2a6d984abb56254
--- /dev/null
+++ b/objects/objaverse/apple/apple_7/collision/model_normalized_collision_13.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.06523321 -0.47734190 0.01606672
+v 0.18783136 -0.43186474 0.00245279
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\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_7/collision/model_normalized_collision_14.obj b/objects/objaverse/apple/apple_7/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..00ddddd3e6d1cba47e69ae1ccce059b3279b8985
--- /dev/null
+++ b/objects/objaverse/apple/apple_7/collision/model_normalized_collision_14.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.25794044 -0.37872215 0.01668374
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+v 0.44498604 -0.06685515 0.11570722
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\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_7/collision/model_normalized_collision_15.obj b/objects/objaverse/apple/apple_7/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b70334dd34c5f07ae3f14e91cd1cf38afbd31b8d
--- /dev/null
+++ b/objects/objaverse/apple/apple_7/collision/model_normalized_collision_15.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v 0.14348440 -0.32733468 0.24452048
+v 0.25752635 -0.23005977 0.23711057
+v 0.13796397 -0.24455795 0.30901963
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+v 0.30455139 -0.05236982 0.29725253
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+f 30 14 24
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+f 30 29 2
+f 30 27 22
+f 30 22 29
+f 31 26 23
+f 31 13 26
+f 31 29 13
+f 31 23 29
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_7/collision/model_normalized_collision_16.obj b/objects/objaverse/apple/apple_7/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..73ea91a3cda9ad6b158f9d6eb60b61264905f390
--- /dev/null
+++ b/objects/objaverse/apple/apple_7/collision/model_normalized_collision_16.obj
@@ -0,0 +1,138 @@
+# https://github.com/mikedh/trimesh
+v 0.00757576 0.23267159 0.01786141
+v 0.00757576 0.23267159 -0.33062344
+v 0.00670632 0.48875330 0.01623455
+v -0.10830548 0.47301941 0.01612214
+v -0.21969697 0.23267159 0.01786141
+v -0.02031419 0.42550963 -0.32039703
+v -0.21369040 0.43334698 0.01661144
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+v -0.00547411 0.48849169 -0.16230437
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\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_7/collision/model_normalized_collision_17.obj b/objects/objaverse/apple/apple_7/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dbd83b82ead90ddd951613b8e33b672d9f0a442d
--- /dev/null
+++ b/objects/objaverse/apple/apple_7/collision/model_normalized_collision_17.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.25795778 0.21076658 0.29281300
+v 0.25000000 0.21752007 0.18452808
+v 0.18444915 0.38936291 0.17845257
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+v 0.26328542 0.21576818 0.28723530
+v 0.18187687 0.30815937 0.27430658
+v -0.09952055 0.21936752 0.31424738
+v -0.15296055 0.31150921 0.27378254
+v 0.15613706 0.40286939 0.17803791
+v -0.28566625 0.30703384 0.20046534
+v 0.19721511 0.36925094 0.20087580
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+v -0.25997737 0.21156807 0.29534475
+v -0.16521305 0.38192143 0.18945904
+v -0.07811091 0.35243784 0.26148908
+v -0.09435366 0.29542296 0.30395236
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+v -0.31303914 0.23366593 0.24394509
+v -0.34858290 0.25485263 0.19356899
+v -0.30042088 0.31268856 0.17637678
+v 0.20740356 0.32363621 0.24388531
+v 0.16684728 0.38427044 0.20075245
+v 0.26050212 0.22830673 0.28223370
+v 0.12267159 0.29572671 0.30246890
+v 0.18006675 0.26673640 0.30152047
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+v 0.07918893 0.38311889 0.23127880
+v -0.29030211 0.21159305 0.28023685
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+v -0.21066791 0.35155467 0.19904585
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\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_7/collision/model_normalized_collision_18.obj b/objects/objaverse/apple/apple_7/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..720aed8e09550274ba4efee2b9d080ff9129d6a2
--- /dev/null
+++ b/objects/objaverse/apple/apple_7/collision/model_normalized_collision_18.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v 0.25000000 0.33873220 0.01786141
+v 0.27329505 0.36737612 0.12893797
+v -0.23971673 0.37734846 0.13143132
+v -0.10830548 0.47301941 0.01612214
+v 0.18364916 0.46068140 0.01630044
+v 0.12593510 0.44888323 0.10527764
+v -0.21969697 0.33873220 0.01786141
+v 0.24298338 0.43084126 0.01629451
+v -0.02032265 0.47093855 0.07265544
+v 0.22576758 0.41148746 0.10249314
+v -0.21369040 0.43334698 0.01661144
+v -0.19560367 0.44290529 0.01600063
+v -0.18050963 0.42785413 0.08792704
+v 0.09383326 0.47221172 0.05762069
+v 0.14022242 0.44553250 0.10421955
+v 0.18288655 0.45883986 0.02758448
+v 0.24366557 0.40186734 0.10442096
+v -0.10790448 0.45663965 0.07272929
+v -0.19462847 0.44103677 0.02665937
+v -0.21437434 0.40430407 0.10536788
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+v 0.20976402 0.42493563 0.08675263
+v 0.24021684 0.42529818 0.04144683
+v -0.10765636 0.47094287 0.02699777
+v -0.19649279 0.41423124 0.10362265
+v -0.21057850 0.42740769 0.04232247
+v 0.12455332 0.47374650 0.02778395
+f 6 3 2
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\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_7/collision/model_normalized_collision_19.obj b/objects/objaverse/apple/apple_7/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a6e3652683958e7eaf69655816eee65af02b81bb
--- /dev/null
+++ b/objects/objaverse/apple/apple_7/collision/model_normalized_collision_19.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.28765899 0.21020159 0.27658001
+v 0.43603735 0.22579176 -0.19027847
+v 0.45143493 0.21079510 0.02912120
+v 0.24365962 0.43218586 0.00129401
+v 0.25000000 0.23267159 -0.22456283
+v 0.36959890 0.33881531 -0.06013331
+v 0.31206835 0.33705124 0.12722221
+v 0.24288403 0.25612489 0.27748600
+v 0.24732443 0.40915826 -0.22272565
+v 0.42355617 0.22748902 -0.22154192
+v 0.25000000 0.21752007 0.01786141
+v 0.44448487 0.23678549 -0.10128826
+v 0.41920887 0.20961054 0.11931156
+v 0.33847080 0.35313114 0.04081600
+v 0.24368839 0.41706434 -0.20507744
+v 0.24427336 0.38783122 0.13207937
+v 0.33930993 0.24763930 0.20237382
+v 0.32737833 0.36756071 -0.17249124
+v 0.25109864 0.21855148 0.29256295
+v 0.41308908 0.28155614 -0.01463185
+v 0.45122737 0.22585982 -0.10207185
+v 0.28191448 0.41300400 -0.02974164
+v 0.39730862 0.28109545 0.05626615
+v 0.24176170 0.35890715 0.17739780
+v 0.26604170 0.41210692 0.04118088
+v 0.25228547 0.25117594 0.27485865
+v 0.38385482 0.26704821 0.11746471
+v 0.36149181 0.21122613 0.20480857
+v 0.33871940 0.33820441 -0.21731826
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+v 0.39962590 0.26740223 -0.21835694
+v 0.41208500 0.26570786 -0.18707339
+v 0.32606460 0.35079495 -0.21730332
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+f 19 11 1
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\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_7/collision/model_normalized_collision_2.obj b/objects/objaverse/apple/apple_7/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a941e4ec63e9fe246c7a3c00b8647153f94028b
--- /dev/null
+++ b/objects/objaverse/apple/apple_7/collision/model_normalized_collision_2.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v 0.25000000 0.23267159 0.01786141
+v 0.25000000 0.23267159 -0.22456283
+v 0.24087795 0.44182828 -0.07239594
+v 0.00748812 0.48856949 0.01769742
+v 0.00757576 0.23267159 -0.22456283
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+f 30 26 3
+f 31 19 17
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+f 33 28 15
+f 33 15 22
+f 33 22 28
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_7/collision/model_normalized_collision_20.obj b/objects/objaverse/apple/apple_7/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d800538ea4f9c2f2b7332c1e976ccf1e908b51f9
--- /dev/null
+++ b/objects/objaverse/apple/apple_7/collision/model_normalized_collision_20.obj
@@ -0,0 +1,174 @@
+# https://github.com/mikedh/trimesh
+v 0.48334381 -0.02312015 0.01693150
+v 0.49109177 0.00864735 -0.14710742
+v 0.44627164 0.22276107 0.01600079
+v -0.45231808 0.22668904 0.01670547
+v -0.46517982 -0.02202105 -0.22075268
+v -0.41666667 -0.02490417 0.01786141
+v 0.49075158 0.11060543 -0.02930529
+v 0.46621583 -0.02268593 -0.22104795
+v -0.49076501 -0.00582043 -0.02930950
+v 0.49121973 0.00862214 0.00102524
+v 0.42878637 0.22126561 -0.21791430
+v 0.48986253 -0.02141343 -0.10152627
+v -0.47917210 0.15326713 0.01644143
+v -0.48651105 -0.02352101 -0.02819687
+v 0.47396735 0.15122431 0.01588722
+v 0.47384131 0.15118546 -0.16196909
+v 0.44488683 0.22182583 -0.17283188
+v -0.43434020 0.22492321 -0.21988455
+v 0.47231191 -0.02086923 -0.20301780
+v 0.48999048 -0.02143865 -0.04455592
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+v -0.48918769 -0.00545148 -0.13177633
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+v 0.45991390 0.20666584 -0.01447941
+v 0.45984908 0.19696390 0.01602867
+v 0.49062060 0.11059878 -0.11677674
+v 0.47422121 0.01968782 -0.21877474
+v 0.44333997 0.19657301 -0.21841765
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+v 0.45980494 0.20659771 -0.13160315
+v 0.47341844 0.00921181 -0.21852107
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+v 0.45825953 0.19650143 -0.17288720
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+v -0.47347487 0.00991666 -0.21859240
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+v 0.47224066 0.13553421 -0.18765577
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+v -0.47533699 0.16736325 0.01603050
+v -0.47243570 0.13641783 -0.20272545
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+f 17 4 3
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+f 58 54 45
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\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_7/collision/model_normalized_collision_21.obj b/objects/objaverse/apple/apple_7/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4fe5609d5d0f20046b2655b8ea58dbd127c52cde
--- /dev/null
+++ b/objects/objaverse/apple/apple_7/collision/model_normalized_collision_21.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v -0.09437425 -0.39459236 -0.34033012
+v -0.09203477 -0.38979358 -0.35011628
+v -0.08869828 -0.02198553 -0.35607430
+v -0.13689993 0.02138849 -0.39827740
+v -0.22272332 -0.16701067 -0.44939224
+v -0.09429995 -0.27360014 -0.45407942
+v -0.22395478 -0.31767001 -0.33815535
+v -0.10030272 -0.15155821 -0.44890956
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+v -0.23484848 -0.02490417 -0.34577495
+v -0.17961918 -0.27067361 -0.41740148
+v -0.12936444 0.02060995 -0.39065353
+v -0.23573042 -0.02487130 -0.46438834
+v -0.10494863 -0.38449206 -0.34922708
+v -0.16549628 -0.36174608 -0.33817948
+v -0.10754648 -0.39021079 -0.33770839
+v -0.22242622 -0.24041510 -0.40819302
+v -0.11928542 -0.27075254 -0.44793768
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+v -0.20772513 -0.24148917 -0.41747095
+v -0.22311313 -0.19627006 -0.43300129
+v -0.09408212 -0.31913703 -0.42348067
+v -0.13555879 -0.30266055 -0.42015172
+v -0.15204360 0.02138768 -0.41343675
+v -0.19492498 -0.02472133 -0.45058606
+v -0.10773046 -0.31567624 -0.42123551
+f 1 2 3
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\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_7/collision/model_normalized_collision_22.obj b/objects/objaverse/apple/apple_7/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b2cf1c389e0b11780ee02de12d5e36de93fa2bb2
--- /dev/null
+++ b/objects/objaverse/apple/apple_7/collision/model_normalized_collision_22.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.01120505 -0.04254856 0.43765357
+v 0.02043710 0.03522858 0.19977968
+v 0.00847808 0.04783054 0.35819221
+v -0.00545665 0.06436089 0.28837397
+v -0.01374108 0.01392900 0.19530472
+v 0.00813638 0.07200930 0.18950986
+v -0.02011780 -0.02788050 0.46305924
+v 0.01946764 -0.02744588 0.46381222
+v 0.01458527 0.01521353 0.19468322
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+v -0.01051617 0.04676198 0.35761444
+v -0.01524074 -0.04094663 0.44042951
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+v -0.01401153 -0.04083305 0.43886307
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+v 0.01029876 -0.02308333 0.47136879
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+f 21 13 15
+f 22 20 18
+f 22 18 14
+f 22 14 20
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_7/collision/model_normalized_collision_24.obj b/objects/objaverse/apple/apple_7/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f70121a1896529651ff045489b20f56c0ed6fcc7
--- /dev/null
+++ b/objects/objaverse/apple/apple_7/collision/model_normalized_collision_24.obj
@@ -0,0 +1,174 @@
+# https://github.com/mikedh/trimesh
+v -0.26662135 -0.24678715 0.21496808
+v -0.23164536 -0.21899940 0.27029705
+v -0.40063069 0.00956728 0.21617474
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+v -0.29287528 0.02132126 0.31887189
+v -0.35394375 -0.12303419 0.21512063
+v -0.38944875 0.21007042 0.17639868
+v -0.34036910 0.12243942 0.27613862
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+v -0.34354950 -0.02135618 0.27371594
+v -0.40061184 0.10728990 0.21512678
+v -0.38515446 0.16781653 0.21484376
+v -0.28280771 0.12337192 0.31798132
+v -0.23734166 -0.05443931 0.31981296
+v -0.22919879 -0.20165234 0.28152251
+v -0.33972121 -0.18079347 0.18983707
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+v -0.34479760 -0.18414183 0.17774347
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+v -0.39913388 -0.05064970 0.19973438
+v -0.42092731 0.12371883 0.17806241
+v -0.32636102 0.16316751 0.27549996
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+v -0.23305895 -0.12935450 0.30975179
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+v -0.27926463 -0.19411327 0.24488151
+v -0.39956007 0.18004001 0.18890995
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+f 15 14 9
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+f 20 1 2
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+f 50 13 24
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+f 51 25 3
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+f 52 7 40
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+f 53 26 14
+f 53 14 41
+f 54 8 26
+f 54 53 41
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+f 54 42 8
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+f 55 4 43
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+f 56 31 17
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+f 57 46 32
+f 57 32 19
+f 57 19 11
+f 57 11 46
+f 58 49 11
+f 58 11 34
+f 58 34 1
+f 58 1 49
+f 59 54 41
+f 59 41 15
+f 59 15 28
+f 59 28 54
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_7/collision/model_normalized_collision_25.obj b/objects/objaverse/apple/apple_7/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f5ea1bb208cb7a76187734f875bbd3ca8bb97ee3
--- /dev/null
+++ b/objects/objaverse/apple/apple_7/collision/model_normalized_collision_25.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.25000000 0.21752007 0.18452808
+v 0.25000000 0.21752007 0.01786141
+v 0.25318764 0.34265105 0.18728699
+v -0.22607425 0.34933910 0.19100689
+v -0.32575757 0.21752007 0.01786141
+v 0.25000000 0.33873220 0.01786141
+v -0.35075800 0.23309516 0.21082013
+v -0.34962157 0.34875402 0.02847392
+v -0.21969697 0.33873220 0.01786141
+v -0.31448566 0.31152639 0.16035554
+v -0.30042088 0.31268856 0.17637678
+v -0.31595012 0.29794099 0.17667908
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+f 7 1 3
+f 7 3 4
+f 7 5 1
+f 8 4 3
+f 8 3 6
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+f 9 8 6
+f 9 6 5
+f 9 5 8
+f 10 8 7
+f 11 7 4
+f 11 4 8
+f 11 8 10
+f 12 11 10
+f 12 10 7
+f 12 7 11
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_7/collision/model_normalized_collision_26.obj b/objects/objaverse/apple/apple_7/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bcefa8e8419e1dfffdf274086f541d57ecb61b28
--- /dev/null
+++ b/objects/objaverse/apple/apple_7/collision/model_normalized_collision_26.obj
@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
+v 0.42069222 -0.14574198 -0.23570583
+v 0.46355683 -0.03733410 -0.22023243
+v 0.42355617 0.22748902 -0.22154192
+v 0.38372324 0.26129400 -0.26827033
+v 0.39735921 -0.02730533 -0.35532973
+v 0.40786558 0.24615926 -0.23242477
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+v 0.44499483 -0.06680872 -0.26050044
+v 0.38080356 -0.12856582 -0.32744420
+v 0.45671031 0.12042476 -0.24800018
+v 0.41267332 0.22066246 -0.26301728
+v 0.46133567 0.13696782 -0.21924154
+v 0.44413649 -0.09282037 -0.23377919
+v 0.37828344 0.25783155 -0.27982252
+v 0.42763715 -0.09211257 -0.27390071
+v 0.41209206 -0.06636442 -0.31962775
+v 0.45915943 0.00902988 -0.26329948
+v 0.39045911 0.25595378 -0.26322728
+v 0.41384377 0.10606559 -0.33512244
+v 0.44798572 -0.09449864 -0.21989796
+v 0.43500978 0.21001790 -0.22018982
+v 0.42671983 -0.12224795 -0.24829279
+v 0.37734262 0.19666890 -0.33978006
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+v 0.45916035 0.03485057 -0.26388016
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+v 0.44407081 0.00914491 -0.29016762
+v 0.42778857 0.12085499 -0.30410425
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+f 32 3 21
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+f 33 10 26
+f 33 32 27
+f 33 26 32
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+f 34 23 29
+f 35 30 19
+f 35 19 25
+f 35 25 30
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_7/collision/model_normalized_collision_27.obj b/objects/objaverse/apple/apple_7/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f2213733e088208462771e235cce3971c9caf4d6
--- /dev/null
+++ b/objects/objaverse/apple/apple_7/collision/model_normalized_collision_27.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v 0.38636364 -0.02490417 -0.22456283
+v 0.39735921 -0.02730533 -0.35532973
+v 0.40786558 0.24615926 -0.23242477
+v -0.43434020 0.22492321 -0.21988455
+v -0.46517982 -0.02202105 -0.22075268
+v 0.29301154 0.25858996 -0.37829944
+v -0.46238167 0.15293234 -0.21958200
+v 0.37214221 0.20853468 -0.33632413
+v -0.41205069 -0.02018338 -0.33491193
+v 0.36002112 0.22560088 -0.33833799
+v -0.45980437 0.10678866 -0.26417447
+v -0.37144484 0.22356048 -0.33583486
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+v -0.43063219 0.22264829 -0.23366253
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+f 24 15 21
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+f 25 11 21
+f 25 9 14
+f 25 21 16
+f 25 16 9
+f 26 23 4
+f 26 4 19
+f 26 19 23
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_7/collision/model_normalized_collision_28.obj b/objects/objaverse/apple/apple_7/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db545bc4dc6a532f031283f36770d5702e79116d
--- /dev/null
+++ b/objects/objaverse/apple/apple_7/collision/model_normalized_collision_28.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.42355617 0.22748902 -0.22154192
+v 0.41992855 0.22521350 -0.23536704
+v 0.24177671 0.41325499 -0.21891630
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+v 0.00757576 0.23267159 -0.22456283
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+v 0.35381470 0.30769640 -0.24768300
+v 0.41733276 0.23873674 -0.21926640
+v 0.12460951 0.45889500 -0.21944694
+v 0.00741433 0.23566205 -0.45801981
+v 0.22592266 0.35442794 -0.34645256
+v 0.38904547 0.28189252 -0.21941449
+v 0.21151264 0.42843136 -0.21890524
+v 0.00662830 0.42706236 -0.32122008
+v 0.21282070 0.22605262 -0.45432579
+v 0.26624018 0.38204731 -0.26104104
+v 0.28360242 0.38476602 -0.21875902
+v 0.38369852 0.26693092 -0.26288513
+v 0.16941527 0.42630907 -0.27481850
+v 0.00693195 0.31090689 -0.45098353
+v 0.00678012 0.45883785 -0.26132743
+v 0.14253954 0.23071100 -0.46645271
+v 0.27223049 0.22509307 -0.42217761
+v 0.13849186 0.32737364 -0.42019565
+v 0.31103998 0.35093987 -0.24765887
+v 0.38592404 0.27904258 -0.23327726
+v 0.13941930 0.44216231 -0.26008584
+v 0.23570264 0.36660973 -0.31824902
+v 0.23986502 0.40944563 -0.23275515
+v 0.09391868 0.45739136 -0.24927516
+v 0.05464651 0.25207791 -0.46674529
+v 0.36002112 0.22560088 -0.33833799
+v 0.15280974 0.28018089 -0.44797545
+v 0.23900614 0.26462507 -0.41930594
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+f 53 6 39
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+f 55 24 43
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+f 63 14 62
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\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_7/collision/model_normalized_collision_29.obj b/objects/objaverse/apple/apple_7/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c7513c8096041a3dd681caf74101bd2880fbaa4b
--- /dev/null
+++ b/objects/objaverse/apple/apple_7/collision/model_normalized_collision_29.obj
@@ -0,0 +1,108 @@
+# https://github.com/mikedh/trimesh
+v 0.03549291 -0.46573349 -0.22014855
+v 0.13802610 -0.37540528 -0.33791423
+v 0.14393939 -0.26732841 -0.22456283
+v -0.23484848 -0.26732841 -0.22456283
+v -0.22395478 -0.31767001 -0.33815535
+v -0.19504257 -0.40611226 -0.21980910
+v 0.13777369 -0.43534261 -0.21989390
+v -0.01912179 -0.41453725 -0.33440688
+v 0.14393939 -0.26732841 -0.34577495
+v -0.22877585 -0.38035965 -0.22153905
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+v -0.08988737 -0.40023887 -0.33444335
+v -0.24443861 -0.27608266 -0.35562597
+v -0.22185892 -0.37149144 -0.25871231
+v 0.13531723 -0.41526691 -0.27376323
+v 0.08962079 -0.39958996 -0.33404930
+v 0.00450237 -0.46178109 -0.24917957
+v -0.10722299 -0.45013474 -0.21971110
+v 0.11969639 -0.42879227 -0.26313292
+v -0.17635108 -0.35602625 -0.33444806
+v 0.00429506 -0.41626514 -0.33541639
+v -0.03458283 -0.44651075 -0.27477678
+v -0.03555027 -0.46608309 -0.22026106
+v -0.11998637 -0.42951495 -0.26337823
+v 0.13603155 -0.43144225 -0.23372619
+v 0.10466504 -0.42966000 -0.27330134
+v -0.19075986 -0.38559814 -0.27317102
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+f 28 15 5
+f 28 5 21
+f 29 11 18
+f 29 18 22
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+f 30 8 23
+f 31 23 18
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+f 33 21 13
+f 33 28 21
+f 33 32 28
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+f 34 29 22
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+f 36 31 24
+f 36 24 19
+f 36 23 31
+f 36 25 35
+f 36 32 25
+f 36 19 32
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+f 36 30 23
+f 37 32 6
+f 37 15 32
+f 37 6 10
+f 37 10 15
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_7/collision/model_normalized_collision_3.obj b/objects/objaverse/apple/apple_7/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5afabe3ad961462447c0830ff4301d47d5eb809b
--- /dev/null
+++ b/objects/objaverse/apple/apple_7/collision/model_normalized_collision_3.obj
@@ -0,0 +1,177 @@
+# https://github.com/mikedh/trimesh
+v 0.34277768 -0.02190105 0.27512040
+v 0.48334381 -0.02312015 0.01693150
+v 0.41524071 0.20696844 0.12810483
+v -0.24879856 0.23356734 0.28831293
+v -0.35606060 -0.02490417 0.01786141
+v 0.20250701 0.21505206 0.31775023
+v 0.45877668 0.04997696 0.11804073
+v -0.39080881 -0.03393667 0.21444825
+v -0.35606060 0.21752007 0.01786141
+v 0.32633632 0.15051060 0.27647847
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+v -0.21688484 -0.02554033 0.31321784
+v 0.41319061 -0.02113234 0.18929627
+v 0.26270038 -0.02366532 0.32037088
+v -0.36894747 0.22539027 0.19311433
+v 0.33985721 0.20702829 0.22842694
+v 0.41437987 0.10622646 0.18934481
+v 0.35519850 0.20715117 0.21347110
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+v 0.45984908 0.19696390 0.01602867
+v 0.45923733 0.00897754 0.11822783
+v 0.27760591 -0.02341721 0.31809359
+v 0.27014456 0.20798328 0.28748536
+v 0.45707245 0.12053371 0.10202573
+v 0.38596581 0.09183360 0.23087768
+v 0.38446460 0.17644415 0.20350020
+v -0.11433787 0.21877141 0.31639130
+v 0.26965350 0.13483304 0.31917379
+v 0.44417975 0.20626581 0.05675586
+v 0.45815818 -0.02111136 0.10273561
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+v 0.32859314 0.09261186 0.28821834
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+v 0.24061896 0.20849003 0.30361836
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+v 0.26823571 0.17936506 0.30177642
+v 0.47259548 0.13564370 0.04167650
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+f 18 16 10
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+f 22 2 1
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+f 28 19 14
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+f 30 21 13
+f 30 13 2
+f 31 7 21
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+f 41 36 24
+f 41 29 36
+f 42 29 11
+f 42 11 3
+f 42 36 29
+f 42 3 36
+f 43 21 30
+f 43 31 21
+f 43 2 31
+f 44 24 7
+f 44 7 31
+f 45 32 13
+f 45 13 21
+f 45 21 7
+f 45 7 34
+f 46 17 25
+f 46 25 32
+f 46 34 17
+f 46 45 34
+f 46 32 45
+f 47 13 32
+f 48 28 10
+f 48 10 33
+f 48 33 23
+f 49 34 24
+f 49 17 34
+f 49 24 36
+f 50 35 25
+f 50 10 35
+f 50 38 10
+f 50 25 38
+f 51 35 10
+f 51 10 28
+f 51 39 35
+f 51 28 39
+f 52 36 3
+f 52 3 26
+f 52 26 36
+f 53 36 26
+f 53 26 37
+f 53 49 36
+f 53 37 17
+f 53 17 49
+f 54 39 22
+f 54 22 1
+f 55 1 35
+f 55 35 39
+f 55 54 1
+f 55 39 54
+f 56 43 30
+f 56 30 2
+f 56 2 43
+f 57 20 41
+f 57 2 20
+f 57 44 31
+f 57 31 2
+f 58 1 13
+f 58 13 47
+f 58 47 32
+f 58 32 1
+f 59 40 28
+f 59 28 48
+f 59 48 23
+f 59 23 40
+f 60 57 41
+f 60 44 57
+f 60 41 24
+f 60 24 44
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_7/collision/model_normalized_collision_30.obj b/objects/objaverse/apple/apple_7/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0fd515e2357fea8ea4d2e875df9712d7ab82ae34
--- /dev/null
+++ b/objects/objaverse/apple/apple_7/collision/model_normalized_collision_30.obj
@@ -0,0 +1,120 @@
+# https://github.com/mikedh/trimesh
+v 0.00757576 0.23267159 -0.33062344
+v 0.00741433 0.23566205 -0.45801981
+v 0.00725881 0.42370991 -0.32747773
+v -0.06666015 0.41764574 -0.32428126
+v -0.37018879 0.23204663 -0.32994161
+v -0.02097692 0.31001947 -0.44994569
+v -0.21373104 0.22579371 -0.45497464
+v -0.36050070 0.25533325 -0.32313759
+v 0.00693195 0.31090689 -0.45098353
+v -0.06596097 0.36697636 -0.39241820
+v -0.35976611 0.22562312 -0.35147249
+v -0.30004610 0.31228777 -0.32217219
+v -0.02051778 0.39736738 -0.36218656
+v -0.07791994 0.35183091 -0.40707438
+v -0.31514283 0.22486604 -0.39472332
+v -0.06590653 0.41145926 -0.33613251
+v 0.00671593 0.39860609 -0.36314604
+v -0.07887089 0.33984813 -0.41840836
+v -0.24145361 0.26341732 -0.41876384
+v -0.35398342 0.23730130 -0.34944733
+v 0.00692442 0.41745226 -0.33931049
+v -0.09320860 0.39768420 -0.34679509
+v -0.09416085 0.29481593 -0.44925708
+v -0.28573944 0.30698522 -0.34526303
+v -0.27438056 0.22585878 -0.42478515
+v -0.12440499 0.32494684 -0.41873419
+v -0.16780405 0.38699857 -0.32333598
+v -0.12496529 0.40225274 -0.32392182
+v -0.28249027 0.29450902 -0.36003185
+v -0.35509384 0.25170108 -0.33458185
+v -0.26926268 0.23583013 -0.42162331
+v -0.21278283 0.23543857 -0.44892792
+v -0.15038266 0.36732732 -0.36085361
+v -0.22807174 0.35596353 -0.32295267
+v -0.12311052 0.39631519 -0.33582162
+v -0.31260848 0.23318657 -0.38948714
+v -0.29569074 0.30763010 -0.33383806
+v -0.12311504 0.35096644 -0.39118742
+v -0.21079260 0.33651412 -0.36047760
+v -0.16496715 0.38144713 -0.33527603
+v -0.22487699 0.35063656 -0.33485273
+f 1 2 3
+f 1 3 4
+f 7 2 1
+f 8 5 1
+f 9 3 2
+f 9 2 7
+f 11 1 5
+f 11 5 8
+f 12 8 1
+f 12 1 4
+f 14 10 9
+f 15 7 1
+f 15 1 11
+f 16 13 10
+f 17 3 9
+f 17 9 10
+f 17 10 13
+f 18 14 9
+f 18 9 6
+f 20 15 11
+f 21 13 16
+f 21 17 13
+f 21 3 17
+f 21 16 4
+f 21 4 3
+f 22 16 10
+f 22 10 14
+f 23 18 6
+f 23 9 7
+f 23 6 9
+f 25 7 15
+f 26 14 18
+f 26 18 23
+f 27 12 4
+f 28 4 16
+f 28 27 4
+f 29 24 19
+f 29 20 24
+f 30 24 20
+f 30 20 11
+f 30 11 8
+f 31 19 7
+f 31 7 25
+f 31 25 15
+f 31 29 19
+f 31 15 29
+f 32 26 23
+f 32 23 7
+f 32 7 19
+f 32 19 26
+f 34 24 12
+f 34 12 27
+f 35 28 16
+f 35 16 22
+f 35 22 33
+f 36 29 15
+f 36 15 20
+f 36 20 29
+f 37 30 8
+f 37 8 12
+f 37 12 24
+f 37 24 30
+f 38 33 22
+f 38 22 14
+f 38 14 26
+f 38 26 33
+f 39 33 26
+f 39 26 19
+f 39 19 24
+f 40 35 33
+f 40 27 28
+f 40 28 35
+f 40 33 39
+f 41 40 39
+f 41 39 24
+f 41 24 34
+f 41 34 27
+f 41 27 40
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_7/collision/model_normalized_collision_31.obj b/objects/objaverse/apple/apple_7/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..86dbcc03b06546f225177157797e12c3fbddd6bb
--- /dev/null
+++ b/objects/objaverse/apple/apple_7/collision/model_normalized_collision_31.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v -0.09824859 -0.47806879 -0.10320713
+v -0.09462711 -0.45523462 -0.22147349
+v -0.09848485 -0.28247992 -0.10335071
+v -0.23484848 -0.28247992 -0.10335071
+v -0.22286136 -0.40278404 -0.17311184
+v -0.23484848 -0.28247992 -0.22456283
+v -0.13599605 -0.46165843 -0.10140279
+v -0.09848485 -0.28247992 -0.22456283
+v -0.22771583 -0.40918666 -0.10218460
+v -0.22211149 -0.38653312 -0.21822063
+v -0.19366277 -0.43441251 -0.10157151
+v -0.12016874 -0.46041502 -0.17258789
+v -0.18010904 -0.41763572 -0.21879998
+v -0.19193038 -0.43206704 -0.13159131
+v -0.09597742 -0.46534211 -0.18966985
+v -0.13538460 -0.46028893 -0.11640436
+v -0.20601945 -0.41567089 -0.17226624
+v -0.16567156 -0.44510534 -0.13155074
+v -0.10558927 -0.46167834 -0.18817216
+v -0.16548091 -0.42960417 -0.20280234
+f 1 2 3
+f 6 4 3
+f 7 1 3
+f 8 6 3
+f 8 3 2
+f 8 2 6
+f 9 4 6
+f 10 9 6
+f 10 5 9
+f 11 7 3
+f 11 3 4
+f 11 4 9
+f 13 10 6
+f 13 6 2
+f 14 11 9
+f 15 2 1
+f 15 1 12
+f 16 12 1
+f 16 1 7
+f 17 12 14
+f 17 5 10
+f 17 10 13
+f 17 14 9
+f 17 9 5
+f 18 7 11
+f 18 11 14
+f 18 16 7
+f 18 14 12
+f 18 12 16
+f 19 15 12
+f 19 2 15
+f 19 13 2
+f 19 12 13
+f 20 17 13
+f 20 13 12
+f 20 12 17
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_7/collision/model_normalized_collision_4.obj b/objects/objaverse/apple/apple_7/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0cf7d940b5bbf8a6fd280bd98241a809e90db4d1
--- /dev/null
+++ b/objects/objaverse/apple/apple_7/collision/model_normalized_collision_4.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.22692418 -0.40811484 -0.02888868
+v -0.22495027 -0.30341100 -0.35029738
+v -0.23484848 -0.02490417 0.18452808
+v -0.45530529 -0.02330433 0.10664751
+v -0.42957777 -0.16488728 -0.16201546
+v -0.22854455 -0.23139763 0.26532026
+v -0.26473501 -0.37389958 -0.16194557
+v -0.39754064 -0.20909831 0.02654941
+v -0.23573042 -0.02487130 -0.46438834
+v -0.39080881 -0.03393667 0.21444825
+v -0.22615065 -0.34665886 0.14667152
+v -0.33850394 -0.25357702 -0.24858723
+v -0.22703838 -0.39322861 -0.19035287
+v -0.47510648 -0.07952481 -0.04453269
+v -0.35412470 -0.28427178 -0.05990920
+v -0.29903056 -0.02187434 -0.45173477
+v -0.23164536 -0.21899940 0.27029705
+v -0.46140196 -0.02117898 0.08867563
+v -0.36936327 -0.15005447 0.17428740
+v -0.26482360 -0.37398290 0.01586165
+v -0.36894610 -0.25369797 -0.16189415
+v -0.23668438 -0.34051163 -0.28875664
+v -0.22631260 -0.37704123 -0.23546403
+v -0.22684964 -0.40801392 -0.11719450
+v -0.46028459 -0.09286015 0.02749701
+v -0.42858255 -0.17937988 -0.05994936
+v -0.46104954 -0.02109625 -0.23466123
+v -0.23252685 -0.14402104 -0.45249317
+v -0.24255819 -0.21609851 0.26468720
+v -0.30905952 -0.28460170 0.11348249
+v -0.44324278 -0.07684054 0.10264082
+v -0.22725257 -0.39351557 0.04436463
+v -0.32455525 -0.31256054 0.00060207
+v -0.23679127 -0.40093553 -0.02974023
+v -0.30930794 -0.29745849 -0.23334207
+v -0.38204937 -0.22402287 -0.18768149
+v -0.32446682 -0.31247741 -0.14668604
+v -0.29276619 -0.26850086 -0.30425475
+v -0.22582958 -0.34623146 -0.29248806
+v -0.25164827 -0.37034935 -0.20268757
+v -0.25203103 -0.38590365 -0.14667251
+v -0.47371961 -0.05074775 0.02711958
+v -0.44331461 -0.15271919 -0.08621829
+v -0.42967798 -0.16495372 0.01593127
+v -0.38326308 -0.24007550 -0.01447973
+v -0.39829356 -0.22484373 -0.08614757
+v -0.47354986 -0.06596323 -0.14689717
+v -0.47548418 -0.02086542 -0.18892245
+v -0.36794311 -0.13735529 -0.33534204
+v -0.22806603 -0.23097042 -0.41064766
+v -0.37842635 -0.12733615 0.18006127
+v -0.38201525 -0.19383294 0.10208318
+v -0.30902856 -0.22391677 0.18916090
+v -0.24874560 -0.35626469 0.10183137
+v -0.25210502 -0.38600396 0.00058917
+v -0.22652453 -0.37732673 0.08947417
+v -0.33755771 -0.28317750 0.04158453
+v -0.35363562 -0.26874965 -0.17285784
+v -0.39725827 -0.20890969 -0.17254937
+v -0.41310228 -0.15276523 -0.23372672
+v -0.35403018 -0.28419788 -0.08617504
+v -0.27941193 -0.35830173 -0.16188425
+v -0.23459105 -0.29871704 -0.34509834
+v -0.30869229 -0.28425933 -0.25928724
+f 6 2 3
+f 9 3 2
+f 11 2 6
+f 16 3 9
+f 17 6 3
+f 17 3 10
+f 18 10 3
+f 18 4 10
+f 18 3 16
+f 20 15 7
+f 24 13 23
+f 24 23 2
+f 24 2 1
+f 28 16 9
+f 29 17 10
+f 29 6 17
+f 31 10 4
+f 33 15 20
+f 34 20 7
+f 34 24 1
+f 36 12 21
+f 39 23 22
+f 39 22 2
+f 39 2 23
+f 40 23 13
+f 40 13 7
+f 40 7 35
+f 40 35 22
+f 40 22 23
+f 41 7 13
+f 41 13 24
+f 41 34 7
+f 41 24 34
+f 42 14 25
+f 42 25 31
+f 42 31 4
+f 42 4 18
+f 43 26 14
+f 44 25 14
+f 44 14 26
+f 44 31 25
+f 45 44 26
+f 45 8 44
+f 45 33 8
+f 45 15 33
+f 46 45 26
+f 46 15 45
+f 46 5 21
+f 46 43 5
+f 46 26 43
+f 47 43 14
+f 47 5 43
+f 48 18 16
+f 48 16 27
+f 48 42 18
+f 48 27 47
+f 48 47 14
+f 48 14 42
+f 49 38 12
+f 49 27 16
+f 49 16 28
+f 50 28 9
+f 50 9 2
+f 50 49 28
+f 51 29 10
+f 51 31 19
+f 51 10 31
+f 52 44 8
+f 52 19 31
+f 52 31 44
+f 53 52 30
+f 53 19 52
+f 53 51 19
+f 53 29 51
+f 53 6 29
+f 53 30 11
+f 53 11 6
+f 54 11 30
+f 54 20 32
+f 55 32 20
+f 55 1 32
+f 55 34 1
+f 55 20 34
+f 56 32 1
+f 56 54 32
+f 56 11 54
+f 56 1 2
+f 56 2 11
+f 57 8 33
+f 57 52 8
+f 57 30 52
+f 57 33 20
+f 57 54 30
+f 57 20 54
+f 58 21 12
+f 58 12 35
+f 58 37 21
+f 58 35 37
+f 59 36 21
+f 59 21 5
+f 60 12 36
+f 60 49 12
+f 60 27 49
+f 60 47 27
+f 60 5 47
+f 60 59 5
+f 60 36 59
+f 61 37 7
+f 61 7 15
+f 61 15 46
+f 61 46 21
+f 61 21 37
+f 62 37 35
+f 62 35 7
+f 62 7 37
+f 63 2 22
+f 63 22 38
+f 63 38 49
+f 63 50 2
+f 63 49 50
+f 64 35 12
+f 64 12 38
+f 64 38 22
+f 64 22 35
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_7/collision/model_normalized_collision_5.obj b/objects/objaverse/apple/apple_7/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..23ddff05e492e5702ab0fd4bf2a0a52e263c190c
--- /dev/null
+++ b/objects/objaverse/apple/apple_7/collision/model_normalized_collision_5.obj
@@ -0,0 +1,132 @@
+# https://github.com/mikedh/trimesh
+v 0.08021832 -0.47636787 0.00081392
+v 0.13777369 -0.43534261 -0.21989390
+v 0.14393939 -0.28247992 0.00270989
+v -0.23484848 -0.28247992 0.00270989
+v -0.09462711 -0.45523462 -0.22147349
+v 0.14393939 -0.28247992 -0.22456283
+v 0.13948117 -0.45427566 0.00161158
+v 0.00459855 -0.49226291 -0.11669422
+v -0.09848485 -0.28247992 -0.22456283
+v -0.12155502 -0.46325304 0.00093518
+v 0.10538085 -0.47603726 -0.08616687
+v 0.00442217 -0.47647151 -0.20357663
+v -0.23484848 -0.28247992 -0.10335071
+v -0.08027588 -0.47673135 0.00085179
+v 0.10543333 -0.47615527 -0.05991558
+v 0.13569005 -0.46089960 -0.10131991
+v -0.06496197 -0.47611807 -0.17315986
+v 0.06491793 -0.46106030 -0.21857950
+v -0.22771583 -0.40918666 -0.10218460
+v -0.00468106 -0.49277333 -0.02934839
+v 0.12123699 -0.46247460 0.00084968
+v 0.01958422 -0.49128866 -0.10144199
+v 0.12057400 -0.46098414 -0.16193323
+v 0.13574252 -0.46101760 -0.04476254
+v -0.00465896 -0.49264371 -0.11673358
+v -0.00447965 -0.47682837 -0.20369148
+v -0.10509520 -0.47547098 -0.10125619
+v -0.22520952 -0.40577531 0.00114307
+v 0.01960629 -0.49141831 -0.04463998
+v 0.08019604 -0.47623751 -0.14689573
+v 0.13609411 -0.44690453 -0.18830213
+v -0.06497539 -0.46140937 -0.21869334
+v -0.10514782 -0.47558884 -0.04482628
+v -0.19366277 -0.43441251 -0.10157151
+v -0.09520711 -0.46100817 -0.20341129
+v -0.01964375 -0.49166579 -0.10148097
+v 0.00462062 -0.49239255 -0.02938775
+v 0.03466462 -0.47612324 -0.18831303
+v 0.09357549 -0.46094875 -0.20328976
+v -0.01966585 -0.49179542 -0.04460100
+v -0.19200492 -0.43216796 -0.01449187
+v 0.10528446 -0.46093284 -0.18791741
+v 0.11973182 -0.44422016 -0.21768571
+v -0.20817620 -0.41837553 0.00083718
+v -0.16572423 -0.44522327 -0.01453171
+f 6 4 3
+f 6 2 5
+f 7 3 4
+f 7 6 3
+f 7 2 6
+f 9 6 5
+f 9 4 6
+f 10 7 4
+f 13 9 5
+f 13 4 9
+f 14 1 7
+f 14 7 10
+f 16 2 7
+f 16 15 11
+f 18 5 2
+f 19 4 13
+f 19 13 5
+f 20 1 14
+f 21 7 1
+f 21 1 15
+f 22 11 15
+f 23 16 11
+f 24 16 7
+f 24 15 16
+f 24 21 15
+f 24 7 21
+f 26 25 17
+f 26 12 8
+f 26 8 25
+f 26 18 12
+f 28 10 4
+f 28 4 19
+f 29 15 1
+f 29 22 15
+f 29 8 22
+f 30 22 8
+f 30 11 22
+f 30 23 11
+f 31 2 16
+f 31 16 23
+f 32 26 17
+f 32 5 18
+f 32 18 26
+f 33 14 10
+f 34 19 5
+f 34 27 33
+f 35 17 27
+f 35 32 17
+f 35 5 32
+f 35 34 5
+f 35 27 34
+f 36 27 17
+f 36 17 25
+f 37 29 1
+f 37 1 20
+f 37 8 29
+f 37 25 8
+f 37 20 25
+f 38 30 8
+f 38 8 12
+f 38 12 18
+f 39 38 18
+f 39 30 38
+f 40 20 14
+f 40 14 33
+f 40 33 27
+f 40 27 36
+f 40 36 25
+f 40 25 20
+f 41 28 19
+f 41 19 34
+f 42 23 30
+f 42 30 39
+f 42 31 23
+f 42 39 2
+f 42 2 31
+f 43 39 18
+f 43 18 2
+f 43 2 39
+f 44 41 10
+f 44 10 28
+f 44 28 41
+f 45 41 34
+f 45 34 33
+f 45 33 10
+f 45 10 41
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_7/collision/model_normalized_collision_6.obj b/objects/objaverse/apple/apple_7/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2122393cfda5dd4f35d4d7ab35499ca4eefe6a82
--- /dev/null
+++ b/objects/objaverse/apple/apple_7/collision/model_normalized_collision_6.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.25343195 -0.25669966 0.21780457
+v 0.29476724 -0.31070750 -0.23645271
+v 0.26515151 -0.02490417 -0.34577495
+v -0.23484848 -0.02490417 0.24513414
+v -0.23484848 -0.28247992 0.00270989
+v 0.26515151 -0.02490417 0.24513414
+v -0.22885149 -0.26165026 0.23869433
+v -0.24443861 -0.27608266 -0.35562597
+v 0.23811528 -0.25647168 0.23262846
+v 0.26380195 -0.26610248 -0.34438305
+v -0.23484848 -0.28247992 -0.22456283
+v -0.23484848 -0.02490417 -0.34577495
+v 0.25282128 -0.24091319 0.23215968
+f 6 3 4
+f 6 1 2
+f 6 2 3
+f 7 5 2
+f 7 4 5
+f 7 6 4
+f 8 5 4
+f 9 7 2
+f 9 2 1
+f 9 6 7
+f 10 8 3
+f 10 3 2
+f 10 2 8
+f 11 8 2
+f 11 2 5
+f 11 5 8
+f 12 8 4
+f 12 4 3
+f 12 3 8
+f 13 9 1
+f 13 1 6
+f 13 6 9
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_7/collision/model_normalized_collision_7.obj b/objects/objaverse/apple/apple_7/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d9ff27a1b1f8f9d7a6026e9ca9ccb07a14f840fc
--- /dev/null
+++ b/objects/objaverse/apple/apple_7/collision/model_normalized_collision_7.obj
@@ -0,0 +1,183 @@
+# https://github.com/mikedh/trimesh
+v 0.28826828 -0.22772142 -0.35446545
+v 0.41495875 -0.02455834 -0.32967141
+v 0.05570488 -0.02629059 -0.34067417
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+v 0.26912836 0.13449133 -0.46443727
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\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_7/collision/model_normalized_collision_8.obj b/objects/objaverse/apple/apple_7/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..542fe50688b5b64cb66caf2ac1a1c0a371b677f0
--- /dev/null
+++ b/objects/objaverse/apple/apple_7/collision/model_normalized_collision_8.obj
@@ -0,0 +1,108 @@
+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_7/collision/model_normalized_collision_9.obj b/objects/objaverse/apple/apple_7/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d48981e00c0bc7efb8c487ae21420ccaf8df54c3
--- /dev/null
+++ b/objects/objaverse/apple/apple_7/collision/model_normalized_collision_9.obj
@@ -0,0 +1,132 @@
+# https://github.com/mikedh/trimesh
+v -0.07360360 -0.02933648 -0.34900527
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\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_7/visual/material.mtl b/objects/objaverse/apple/apple_7/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fbcf6b4b1af9257e08a0fd6e283841743ce8fad5
--- /dev/null
+++ b/objects/objaverse/apple/apple_7/visual/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 250.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_7/visual/model_normalized_0.obj b/objects/objaverse/apple/apple_7/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..26923164a9fffbad1d0746022e6d331bf0718dcc
--- /dev/null
+++ b/objects/objaverse/apple/apple_7/visual/model_normalized_0.obj
@@ -0,0 +1,3618 @@
+# 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_9/collision/model_normalized_collision_0.obj b/objects/objaverse/apple/apple_9/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..90e6905f7d6aad68fb7952d5ef7574460e55ba2b
--- /dev/null
+++ b/objects/objaverse/apple/apple_9/collision/model_normalized_collision_0.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
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+v -0.22666965 -0.25000000 -0.21874626
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\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_9/collision/model_normalized_collision_1.obj b/objects/objaverse/apple/apple_9/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..727389f673c90256b751bb7e4485ba1abf2b1a4c
--- /dev/null
+++ b/objects/objaverse/apple/apple_9/collision/model_normalized_collision_1.obj
@@ -0,0 +1,123 @@
+# https://github.com/mikedh/trimesh
+v 0.22710126 -0.14357274 0.41502578
+v 0.37081980 0.00908264 0.36470199
+v 0.21295868 0.06650868 0.46272119
+v 0.01184890 0.25723052 0.41835460
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+v 0.25937040 0.23651844 0.37423094
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+v 0.01309458 -0.00151698 0.43563532
+v 0.17769968 0.22434263 0.41621547
+v 0.34841265 -0.00437743 0.38634312
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+v 0.36263478 -0.00726775 0.37074594
+v 0.33468629 0.00961195 0.40209819
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\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_9/collision/model_normalized_collision_10.obj b/objects/objaverse/apple/apple_9/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ae16ce2c00302947012637e6e359d015ca3ba4d
--- /dev/null
+++ b/objects/objaverse/apple/apple_9/collision/model_normalized_collision_10.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v 0.01526303 -0.14812008 0.44101007
+v 0.06062835 -0.01347377 0.35786484
+v 0.01471690 0.22986838 0.43185504
+v -0.22689544 0.23507324 0.35732551
+v -0.22666965 -0.00757576 0.35701132
+v 0.01575459 0.23484849 0.35701132
+v -0.16043944 0.11095094 0.44404563
+v 0.01667837 0.18538755 0.44640443
+v -0.09030601 -0.14393939 0.37216283
+v -0.12962794 0.22431630 0.41365822
+v -0.15279457 -0.14501846 0.44400139
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+v -0.08893346 0.16872978 0.44461423
+v -0.11885239 -0.14538650 0.44764337
+v -0.07768183 -0.14693337 0.44736937
+v -0.16154663 0.06946088 0.44466749
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+v -0.21687614 0.22378802 0.37240229
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\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_9/collision/model_normalized_collision_11.obj b/objects/objaverse/apple/apple_9/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..96880fd6f5a5ecb6e31a9841d0ca26d3e39f2347
--- /dev/null
+++ b/objects/objaverse/apple/apple_9/collision/model_normalized_collision_11.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.23853025 0.22745967 0.39210685
+v 0.24302732 0.23484849 0.23579920
+v 0.21840116 0.38879763 0.22905859
+v -0.05709774 0.44985655 0.21500931
+v -0.19636662 0.23484849 0.22064768
+v 0.01575459 0.23484849 0.22064768
+v 0.11586867 0.36925699 0.32611581
+v 0.23524890 0.37544410 0.23009188
+v 0.01587765 0.45520813 0.21775772
+v -0.18767501 0.38880649 0.21304326
+v 0.20841742 0.22607031 0.40484821
+v 0.20107264 0.35415132 0.29739901
+v 0.13284195 0.43356173 0.22832463
+v -0.02758156 0.41398122 0.28307362
+v -0.14283932 0.41736736 0.21320513
+v -0.14732449 0.22784649 0.40567450
+v 0.14546980 0.31087296 0.36944964
+v 0.23090286 0.35449728 0.26958369
+v 0.05978807 0.41436335 0.28400407
+v 0.17347655 0.38332928 0.28194856
+v 0.00160851 0.44399508 0.24108747
+v -0.11270249 0.39897520 0.26748510
+v -0.19323624 0.23121861 0.38180956
+v -0.02864336 0.32723095 0.37001574
+v 0.17465066 0.29569626 0.36967597
+v 0.23151552 0.37142771 0.24259986
+v 0.23511274 0.23773433 0.38599890
+v 0.02941513 0.44350629 0.24230538
+v 0.11683119 0.41402208 0.26874685
+v 0.21571130 0.38415351 0.24079329
+v 0.14548975 0.38374215 0.29759379
+v -0.05536361 0.42845421 0.25398100
+v -0.08444905 0.42903948 0.23928591
+v -0.14025181 0.38371446 0.26847087
+v -0.17653333 0.22893854 0.39225864
+v -0.05652661 0.35650865 0.34048041
+v 0.10253649 0.32663014 0.36926115
+v -0.02840348 0.25621776 0.41444573
+v 0.14595131 0.26904540 0.39943830
+v 0.20355581 0.29547609 0.35534225
+v 0.03035447 0.44975936 0.22966653
+v 0.08822948 0.39937065 0.29850482
+v 0.08799735 0.42888651 0.25469734
+v 0.13128365 0.42773275 0.23982148
+v 0.11652897 0.35574840 0.33986155
+v -0.05740413 0.44440262 0.22558278
+v -0.08462619 0.39876815 0.28288918
+v -0.13995102 0.41232728 0.22515381
+v -0.18428984 0.35398775 0.26840384
+v -0.15569921 0.30932097 0.34226040
+v -0.07123361 0.29761574 0.38406031
+v 0.14965481 0.22849279 0.42105865
+v 0.10369177 0.28390332 0.39969999
+v 0.13214704 0.29695548 0.38445785
+v 0.20544488 0.23746526 0.39831878
+v -0.05528055 0.38435638 0.31116886
+v -0.18408475 0.38422190 0.22501518
+v -0.17062046 0.26721694 0.36964279
+v -0.15480080 0.33936321 0.31143276
+v -0.02881891 0.28403505 0.39935137
+v -0.08718098 0.24104825 0.41471573
+v -0.09914611 0.32513947 0.35489551
+v -0.08826256 0.22853628 0.42053865
+v 0.14751156 0.24145977 0.41488211
+f 8 1 2
+f 8 2 6
+f 9 6 4
+f 9 8 6
+f 9 3 8
+f 10 6 5
+f 11 6 2
+f 11 2 1
+f 11 5 6
+f 13 3 9
+f 15 4 6
+f 15 6 10
+f 16 5 11
+f 18 1 8
+f 20 12 18
+f 21 9 4
+f 23 10 5
+f 26 18 8
+f 26 8 3
+f 27 18 12
+f 27 1 18
+f 27 25 1
+f 28 21 14
+f 28 14 19
+f 30 3 13
+f 30 13 20
+f 30 20 18
+f 30 26 3
+f 30 18 26
+f 31 12 20
+f 32 14 21
+f 33 4 15
+f 35 23 5
+f 35 5 16
+f 36 24 19
+f 36 19 14
+f 40 27 12
+f 40 25 27
+f 40 12 31
+f 40 17 25
+f 41 13 9
+f 41 9 21
+f 41 21 28
+f 42 31 29
+f 42 7 31
+f 42 19 24
+f 42 24 37
+f 43 28 19
+f 43 42 29
+f 43 19 42
+f 43 41 28
+f 43 13 41
+f 44 20 13
+f 44 43 29
+f 44 13 43
+f 44 31 20
+f 44 29 31
+f 45 31 7
+f 45 40 31
+f 45 17 40
+f 45 37 17
+f 45 42 37
+f 45 7 42
+f 46 32 21
+f 46 21 4
+f 46 33 32
+f 46 4 33
+f 47 14 32
+f 47 33 22
+f 47 32 33
+f 48 33 15
+f 48 22 33
+f 48 34 22
+f 49 10 23
+f 51 24 36
+f 53 37 24
+f 53 38 52
+f 54 39 25
+f 54 25 17
+f 54 17 37
+f 54 53 39
+f 54 37 53
+f 55 39 11
+f 55 11 1
+f 55 1 25
+f 55 25 39
+f 56 47 36
+f 56 36 14
+f 56 14 47
+f 57 34 48
+f 57 49 34
+f 57 10 49
+f 57 48 15
+f 57 15 10
+f 58 23 35
+f 58 35 16
+f 58 50 49
+f 58 49 23
+f 59 34 49
+f 59 49 50
+f 59 22 34
+f 59 47 22
+f 60 24 51
+f 60 53 24
+f 60 38 53
+f 61 51 16
+f 61 60 51
+f 61 38 60
+f 62 51 36
+f 62 50 58
+f 62 58 16
+f 62 16 51
+f 62 59 50
+f 62 36 47
+f 62 47 59
+f 63 16 11
+f 63 11 52
+f 63 61 16
+f 63 52 38
+f 63 38 61
+f 64 52 11
+f 64 11 39
+f 64 53 52
+f 64 39 53
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_9/collision/model_normalized_collision_12.obj b/objects/objaverse/apple/apple_9/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..38de4ffcf6f6c6bc11e42056f18fecb04affe85a
--- /dev/null
+++ b/objects/objaverse/apple/apple_9/collision/model_normalized_collision_12.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.30054019 -0.29323633 0.29243584
+v 0.25377086 -0.26068342 -0.35322210
+v 0.25817883 -0.00757576 0.26610223
+v -0.22666965 -0.00757576 0.25095071
+v -0.24174277 -0.28271038 -0.36067066
+v 0.24302732 -0.00757576 -0.33995838
+v 0.01575459 -0.00757576 0.26610223
+v -0.22666965 -0.26515151 0.25095071
+v -0.22666965 -0.00757576 -0.33995838
+v 0.25817883 -0.00757576 -0.21874626
+f 5 2 1
+f 6 4 3
+f 6 2 5
+f 7 1 3
+f 7 3 4
+f 7 4 1
+f 8 5 1
+f 8 1 4
+f 8 4 5
+f 9 6 5
+f 9 5 4
+f 9 4 6
+f 10 1 2
+f 10 2 6
+f 10 6 3
+f 10 3 1
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_9/collision/model_normalized_collision_13.obj b/objects/objaverse/apple/apple_9/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c8da9ceb8fff07230f77dc897ef458b020f8906
--- /dev/null
+++ b/objects/objaverse/apple/apple_9/collision/model_normalized_collision_13.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.27069303 -0.14824792 0.39503019
+v 0.25817883 -0.14393939 0.26610223
+v 0.25817883 -0.00757576 0.26610223
+v 0.01556177 -0.00711286 0.43193879
+v 0.01526303 -0.14812008 0.44101007
+v 0.01575459 -0.14393939 0.26610223
+v 0.25259825 -0.00463681 0.44643016
+v 0.01575459 -0.00757576 0.26610223
+v 0.07323744 -0.15173748 0.43503927
+v 0.26164924 -0.00941546 0.44224857
+v 0.08029763 -0.09657926 0.48126352
+v 0.21149825 -0.00588821 0.45499198
+v 0.07110296 -0.11768887 0.48082685
+v 0.07218772 -0.09891155 0.48019853
+v 0.07545293 -0.11820942 0.48024321
+v 0.15156984 -0.14468214 0.42932706
+v 0.25521998 -0.08080815 0.42405979
+v 0.25212450 -0.01789127 0.44359718
+f 1 2 3
+f 6 3 2
+f 8 3 6
+f 8 7 3
+f 8 4 7
+f 8 6 5
+f 8 5 4
+f 9 6 2
+f 9 2 1
+f 9 5 6
+f 10 1 3
+f 10 3 7
+f 12 11 7
+f 12 7 4
+f 12 4 11
+f 13 4 5
+f 14 13 11
+f 14 11 4
+f 14 4 13
+f 15 13 5
+f 15 5 9
+f 15 7 11
+f 15 11 13
+f 16 15 9
+f 16 9 1
+f 16 1 15
+f 17 15 1
+f 17 1 10
+f 18 10 7
+f 18 7 15
+f 18 17 10
+f 18 15 17
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_9/collision/model_normalized_collision_14.obj b/objects/objaverse/apple/apple_9/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3feb00d4c7ecd2e81bf2ead1de227dd02ffb973a
--- /dev/null
+++ b/objects/objaverse/apple/apple_9/collision/model_normalized_collision_14.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.42454324 -0.01383146 0.27091474
+v 0.46877802 -0.00761442 -0.09483820
+v 0.46216999 0.09781223 0.14343346
+v 0.25817883 0.09848485 0.25095071
+v 0.25817883 -0.00757576 -0.09753414
+v 0.42316458 0.10696798 0.26993999
+v 0.46973357 -0.00725169 0.09719530
+v 0.25817883 -0.00757576 0.25095071
+v 0.46478639 0.09793775 -0.09660954
+v 0.46203740 -0.00761824 0.14292336
+v 0.46878198 0.09670623 -0.06548172
+v 0.25817883 0.09848485 -0.09753414
+v 0.46896180 0.09704692 0.09758589
+v 0.46808443 0.06627928 -0.09436152
+f 5 2 1
+f 6 1 3
+f 6 4 1
+f 7 1 2
+f 8 5 1
+f 8 1 4
+f 8 4 5
+f 9 2 5
+f 10 7 3
+f 10 3 1
+f 10 1 7
+f 11 7 2
+f 12 9 5
+f 12 5 4
+f 12 4 6
+f 12 6 9
+f 13 9 6
+f 13 6 3
+f 13 11 9
+f 13 3 7
+f 13 7 11
+f 14 11 2
+f 14 2 9
+f 14 9 11
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_9/collision/model_normalized_collision_15.obj b/objects/objaverse/apple/apple_9/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f831226347b6726e9ca72933e00f35e0fc31f0ae
--- /dev/null
+++ b/objects/objaverse/apple/apple_9/collision/model_normalized_collision_15.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.21923795 -0.44852469 0.11124927
+v -0.22101354 -0.40634549 -0.21365255
+v -0.22580194 -0.24940163 0.38612697
+v -0.28912266 -0.24181212 0.33108976
+v -0.41145744 -0.24241750 -0.11153180
+v -0.21689220 -0.37555379 0.28871111
+v -0.27400038 -0.41438608 -0.10788713
+v -0.22666965 -0.25000000 -0.21874626
+v -0.22733703 -0.29904200 0.35541588
+v -0.35891481 -0.29786324 0.12384947
+v -0.21969040 -0.43193915 -0.15279103
+v -0.34537626 -0.29675981 -0.21116933
+v -0.21816536 -0.30131759 0.36160193
+v -0.38235069 -0.24318985 -0.21407783
+v -0.24580324 -0.24301493 0.37349373
+v -0.25534210 -0.32708150 0.29970436
+v -0.27861404 -0.41204464 0.09743622
+v -0.39604478 -0.24295195 0.11142378
+v -0.25989382 -0.39795719 -0.18130702
+v -0.24585404 -0.44358265 -0.04947902
+v -0.35986308 -0.31398976 -0.12424968
+v -0.21917237 -0.27515170 0.37783897
+v -0.26008848 -0.38468410 -0.21077059
+v -0.27538613 -0.24270845 0.34594573
+v -0.25607022 -0.29802430 0.32732486
+v -0.36563261 -0.24246063 0.20099785
+v -0.21863058 -0.42108680 0.20071213
+v -0.30044185 -0.34188585 0.19743025
+v -0.39085424 -0.28274745 0.02141253
+v -0.24604346 -0.42868802 -0.12206762
+v -0.23135882 -0.42758551 -0.14975391
+v -0.30049731 -0.37020112 -0.16661527
+v -0.22048253 -0.44909052 -0.09456752
+v -0.34647218 -0.34265445 -0.08004206
+v -0.24569040 -0.44483968 0.05138493
+v -0.39105188 -0.25393920 -0.16842140
+v -0.22843081 -0.27267153 0.37196426
+v -0.23417908 -0.40074759 -0.21103379
+v -0.31530581 -0.25439778 0.28512218
+v -0.35890152 -0.28335827 0.15327550
+v -0.23036834 -0.44257501 0.10926227
+v -0.29968556 -0.37129051 0.13942889
+v -0.24051721 -0.35631221 0.28425835
+v -0.33041392 -0.35875707 0.06618933
+v -0.41224708 -0.24332039 0.03710157
+v -0.23185452 -0.44358454 -0.09291844
+v -0.28649825 -0.38387802 -0.16588771
+v -0.28711676 -0.36993642 -0.19579667
+v -0.33149699 -0.34112275 -0.15315324
+v -0.39042914 -0.28383472 -0.06565968
+v -0.37737042 -0.25295305 -0.21230196
+v -0.40499226 -0.25343904 -0.10934848
+v -0.39742676 -0.24316998 -0.17008090
+v -0.24226201 -0.25547005 0.36983081
+v -0.28515977 -0.25384823 0.32686900
+v -0.32073209 -0.24230726 0.28821163
+v -0.28535637 -0.32622144 0.25452295
+v -0.38996018 -0.25419247 0.10924519
+v -0.34479159 -0.29758469 0.16827573
+v -0.25560892 -0.41537103 0.13871040
+v -0.25936043 -0.43011942 0.08066579
+v -0.22934188 -0.41458282 0.19733549
+v -0.36012537 -0.31263347 0.08050381
+v -0.34442330 -0.31248363 0.13854874
+f 11 6 1
+f 13 2 8
+f 13 11 2
+f 13 6 11
+f 13 9 6
+f 14 5 4
+f 14 8 2
+f 15 3 8
+f 15 14 4
+f 15 8 14
+f 16 6 9
+f 22 13 8
+f 22 8 3
+f 23 14 2
+f 23 12 14
+f 24 15 4
+f 25 16 9
+f 25 9 24
+f 26 4 5
+f 26 5 18
+f 27 1 6
+f 30 7 19
+f 31 2 11
+f 31 30 19
+f 33 11 1
+f 33 31 11
+f 33 30 31
+f 34 7 20
+f 35 34 20
+f 35 17 34
+f 35 33 1
+f 35 20 33
+f 37 22 3
+f 37 3 15
+f 37 9 13
+f 37 13 22
+f 37 24 9
+f 38 23 2
+f 38 19 23
+f 38 31 19
+f 38 2 31
+f 39 16 25
+f 40 26 18
+f 41 1 27
+f 41 35 1
+f 43 6 16
+f 44 17 42
+f 44 34 17
+f 44 29 34
+f 45 18 5
+f 46 20 7
+f 46 7 30
+f 46 33 20
+f 46 30 33
+f 47 19 7
+f 47 7 32
+f 47 23 19
+f 48 32 12
+f 48 12 23
+f 48 47 32
+f 48 23 47
+f 49 12 32
+f 49 36 12
+f 49 21 36
+f 49 34 21
+f 49 32 7
+f 49 7 34
+f 50 34 29
+f 50 21 34
+f 50 45 5
+f 50 29 45
+f 51 14 12
+f 51 12 36
+f 52 36 21
+f 52 5 36
+f 52 50 5
+f 52 21 50
+f 53 36 5
+f 53 5 14
+f 53 51 36
+f 53 14 51
+f 54 37 15
+f 54 15 24
+f 54 24 37
+f 55 39 25
+f 55 25 24
+f 55 24 4
+f 56 4 26
+f 56 26 39
+f 56 55 4
+f 56 39 55
+f 57 16 39
+f 57 43 16
+f 57 28 43
+f 57 39 26
+f 58 40 18
+f 58 10 40
+f 58 18 45
+f 59 26 40
+f 59 57 26
+f 59 28 57
+f 59 40 10
+f 59 42 28
+f 60 41 27
+f 60 17 41
+f 61 41 17
+f 61 17 35
+f 61 35 41
+f 62 43 28
+f 62 27 6
+f 62 6 43
+f 62 60 27
+f 62 28 42
+f 62 42 17
+f 62 17 60
+f 63 29 44
+f 63 10 58
+f 63 58 45
+f 63 45 29
+f 64 44 42
+f 64 63 44
+f 64 10 63
+f 64 59 10
+f 64 42 59
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_9/collision/model_normalized_collision_16.obj b/objects/objaverse/apple/apple_9/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..800bbd1b83254288606f56b98312768110e6d71d
--- /dev/null
+++ b/objects/objaverse/apple/apple_9/collision/model_normalized_collision_16.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.25817883 -0.00757576 0.37216283
+v 0.24302732 -0.00757576 -0.35510990
+v 0.25922295 0.25021208 -0.37479042
+v -0.22689544 0.23507324 0.35732551
+v -0.22666965 -0.00757576 0.35701132
+v -0.24059154 0.24967430 -0.37176012
+v 0.25937040 0.23651844 0.37423094
+v 0.25817883 -0.00757576 -0.23389777
+v 0.02326264 -0.04117563 0.39911171
+v -0.22666965 -0.00757576 -0.35510990
+v 0.01184890 0.25723052 0.41835460
+f 6 5 4
+f 8 2 3
+f 8 7 1
+f 8 3 7
+f 9 8 1
+f 9 2 8
+f 10 6 3
+f 10 3 2
+f 10 5 6
+f 10 9 5
+f 10 2 9
+f 11 6 4
+f 11 4 5
+f 11 5 9
+f 11 9 1
+f 11 1 7
+f 11 7 3
+f 11 3 6
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_9/collision/model_normalized_collision_17.obj b/objects/objaverse/apple/apple_9/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc5a342beb6f4724ff3710d14152b64e075aba32
--- /dev/null
+++ b/objects/objaverse/apple/apple_9/collision/model_normalized_collision_17.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.09054248 -0.44935653 -0.21381339
+v 0.36144649 -0.24827583 -0.21758796
+v -0.13180326 -0.44710093 -0.19776482
+v -0.22666965 -0.26515151 -0.20359474
+v 0.01634377 -0.24660939 -0.45406212
+v 0.01575459 -0.26515151 -0.20359474
+v 0.24817011 -0.37285342 -0.21252685
+v 0.01575459 -0.25000000 -0.21874626
+v -0.06970198 -0.39930610 -0.31135406
+v -0.17581525 -0.43262929 -0.19741724
+v 0.01566435 -0.45983296 -0.20276838
+v 0.24949926 -0.24073895 -0.37350362
+v -0.20581466 -0.25680801 -0.40420894
+v 0.10328537 -0.36945159 -0.34078944
+v -0.17417970 -0.39735072 -0.26755880
+v 0.14723954 -0.43213026 -0.21259458
+v 0.04467595 -0.42894541 -0.26934837
+v -0.04382547 -0.44370686 -0.24009337
+v 0.34962740 -0.26951380 -0.21222988
+v 0.35328392 -0.24317543 -0.24400587
+v 0.17629520 -0.24173235 -0.41700378
+v -0.24015936 -0.36841111 -0.26250846
+v -0.08845814 -0.29667948 -0.41309049
+v 0.18533442 -0.35414416 -0.31027848
+v -0.10259450 -0.42818554 -0.25296132
+v -0.15847479 -0.42687178 -0.22365809
+v 0.20356347 -0.40567173 -0.21278713
+v 0.10148490 -0.42791540 -0.25405377
+v 0.08806903 -0.44449246 -0.22582406
+v 0.07311487 -0.39890277 -0.31232700
+v -0.10128519 -0.44295628 -0.22462174
+v 0.01503223 -0.44385868 -0.24023692
+v -0.02867806 -0.42862886 -0.27015935
+v 0.33802709 -0.24233453 -0.27224189
+v 0.34784613 -0.25367048 -0.24079900
+v 0.07204869 -0.28349697 -0.42934829
+v -0.22351991 -0.41077394 -0.20113391
+v -0.22210824 -0.25971604 -0.39298852
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\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_9/collision/model_normalized_collision_18.obj b/objects/objaverse/apple/apple_9/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e9c855c00434f46784577d1db7610a4722688140
--- /dev/null
+++ b/objects/objaverse/apple/apple_9/collision/model_normalized_collision_18.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.24302732 0.23484849 0.23579920
+v 0.24302732 0.23484849 -0.21874626
+v 0.24873894 0.36531780 -0.22256455
+v -0.20525879 0.36702852 0.22773211
+v -0.19636662 0.23484849 -0.23389777
+v 0.24730135 0.36217487 0.23875739
+v -0.19636662 0.23484849 0.22064768
+v -0.20658061 0.37532774 -0.24609727
+v 0.01575459 0.23484849 0.23579920
+v 0.01575459 0.23484849 -0.23389777
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+f 10 8 3
+f 10 3 2
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+f 10 5 8
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+f 11 6 4
+f 11 4 9
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_9/collision/model_normalized_collision_19.obj b/objects/objaverse/apple/apple_9/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..86c4244cf3e67858bedc76a3ef55dcdc2b3eb5de
--- /dev/null
+++ b/objects/objaverse/apple/apple_9/collision/model_normalized_collision_19.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.46838903 -0.00764347 -0.09719486
+v 0.45508579 -0.00766694 -0.15427112
+v 0.41473595 0.25539120 -0.10378346
+v 0.25817883 0.23484849 -0.09753414
+v 0.25817883 -0.00757576 -0.09753414
+v 0.25817883 0.23484849 -0.23389777
+v 0.46478639 0.09793775 -0.09660954
+v 0.38090551 0.23573151 -0.23471582
+v 0.25817883 -0.00757576 -0.23389777
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\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_9/collision/model_normalized_collision_2.obj b/objects/objaverse/apple/apple_9/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8d5d564566e6b9296ad1eea100c3aca4022babc5
--- /dev/null
+++ b/objects/objaverse/apple/apple_9/collision/model_normalized_collision_2.obj
@@ -0,0 +1,168 @@
+# https://github.com/mikedh/trimesh
+v 0.32631267 0.09590922 0.40743079
+v 0.45600677 0.09665904 -0.13969428
+v 0.42162280 0.22526564 0.17007287
+v 0.25079844 0.22408152 0.38883301
+v 0.25817883 0.09848485 -0.09753414
+v 0.34832020 0.20737209 0.32761756
+v 0.46216999 0.09781223 0.14343346
+v 0.28194115 0.09584555 0.43523631
+v 0.38090551 0.23573151 -0.23471582
+v 0.37750427 0.22403061 0.27113757
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+v 0.39298676 0.09576857 0.33105803
+v 0.45193729 0.19842989 -0.01938563
+v 0.25737515 0.09805974 0.44588251
+v 0.40434586 0.16736595 -0.24571133
+v 0.25817883 0.23484849 -0.09753414
+v 0.34910888 0.22195957 0.31318694
+v 0.30583980 0.22044289 0.35602304
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+v 0.47026902 0.09700843 0.08374143
+v 0.43834617 0.15528659 0.20039613
+v 0.39164991 0.16725289 0.29985269
+v 0.43616614 0.22595292 -0.06518858
+v 0.25359023 0.13884390 0.43434390
+v 0.37939096 0.09848485 -0.15814020
+v 0.37665276 0.17966555 0.31411041
+v 0.32030211 0.20672269 0.35553995
+v 0.26273430 0.22098948 0.38488626
+v 0.27754541 0.12251214 0.43040652
+v 0.36271390 0.13687563 0.35821880
+v 0.47038025 0.09792303 -0.04996002
+v 0.45239957 0.18352182 0.09686925
+v 0.39093690 0.10976679 0.32989324
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+v 0.45204416 0.18419675 -0.06472916
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+v 0.39129988 0.22541515 -0.22523730
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\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_9/collision/model_normalized_collision_20.obj b/objects/objaverse/apple/apple_9/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a233bdf8ddb1b95b186b12e0250261352e3d9b70
--- /dev/null
+++ b/objects/objaverse/apple/apple_9/collision/model_normalized_collision_20.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.36669481 -0.24209551 -0.21366628
+v 0.42496106 -0.09440692 -0.21318246
+v 0.24302732 -0.00757576 -0.21874626
+v 0.24302732 0.23484849 -0.23389777
+v 0.23807495 -0.06531223 -0.44651806
+v 0.39645125 0.21288955 -0.22729007
+v 0.39499024 -0.18351784 -0.21320666
+v 0.24302732 -0.25000000 -0.21874626
+v 0.23427850 -0.21184928 -0.40242909
+v 0.23637704 0.22929653 -0.40685718
+v 0.36301268 0.08050519 -0.34103097
+v 0.23822312 -0.24464213 -0.37834581
+v 0.33209105 -0.10860139 -0.37059523
+v 0.38685166 0.23006256 -0.22958365
+v 0.23680160 0.11194444 -0.44934690
+v 0.42619849 0.09676079 -0.22839331
+v 0.26276131 -0.10713300 -0.42770271
+v 0.39023872 -0.10768786 -0.28410601
+v 0.27443153 -0.19483622 -0.38411645
+v 0.33080439 0.19860001 -0.34071267
+v 0.23610189 -0.13941717 -0.43196615
+v 0.23624029 0.16983386 -0.43500289
+v 0.31919589 -0.02373257 -0.40023772
+v 0.39071558 0.14011133 -0.28317659
+v 0.43472727 -0.00740241 -0.21701550
+v 0.40482332 -0.12294292 -0.24122771
+v 0.34587845 -0.18101804 -0.31256816
+v 0.25878493 -0.23729995 -0.36900667
+v 0.30413280 -0.10761279 -0.39841137
+v 0.31733163 0.22580500 -0.33959086
+v 0.29065385 0.11079140 -0.41216123
+v 0.35971110 0.22532317 -0.28286752
+v 0.24955327 -0.06569769 -0.44192468
+v 0.27512093 -0.16509470 -0.39946656
+v 0.36315539 -0.07897788 -0.34185838
+v 0.39117914 0.09480816 -0.29755291
+v 0.41195885 0.17006132 -0.22800211
+v 0.36164334 0.13837739 -0.32584086
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+v 0.42035746 -0.09326730 -0.22633381
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+v 0.31773816 -0.19559005 -0.34082139
+v 0.24542053 -0.20843781 -0.39716924
+v 0.33253643 -0.23934687 -0.28402769
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+v 0.39180526 -0.06549145 -0.29979539
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+v 0.39054884 -0.18211462 -0.22520222
+v 0.37443543 -0.15112233 -0.28431221
+v 0.30304699 -0.23734561 -0.32584014
+v 0.33232265 -0.20957515 -0.31227904
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+f 10 9 4
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+f 12 8 9
+f 14 10 4
+f 14 4 6
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+f 33 21 5
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+f 57 37 16
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+f 64 42 27
+f 64 61 44
+f 64 27 61
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+f 64 44 63
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_9/collision/model_normalized_collision_21.obj b/objects/objaverse/apple/apple_9/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..412006c3f4d3248bc1e063a789465d93b14abcc6
--- /dev/null
+++ b/objects/objaverse/apple/apple_9/collision/model_normalized_collision_21.obj
@@ -0,0 +1,114 @@
+# https://github.com/mikedh/trimesh
+v 0.39038653 -0.14812990 0.25647744
+v 0.45634468 -0.06543719 0.14177602
+v 0.40356025 0.11202934 0.30852091
+v 0.38056173 0.23567808 0.25165221
+v 0.37939096 0.15909091 0.14489010
+v 0.45614908 0.14120771 0.14185952
+v 0.40284243 -0.03616787 0.30729708
+v 0.41979524 -0.16093112 0.15634333
+v 0.43680306 0.00877766 0.24534756
+v 0.41990004 0.16787127 0.24319481
+v 0.39525642 0.24447234 0.21270612
+v 0.43926577 -0.12297173 0.14071666
+v 0.43651796 -0.06434668 0.21396522
+v 0.45209322 -0.02193981 0.18579118
+v 0.40666186 -0.03377283 0.30155933
+v 0.40056734 0.15603430 0.29118327
+v 0.43600104 0.08204659 0.24435295
+v 0.45184209 0.15830372 0.14404457
+v 0.39374776 0.22390922 0.24210010
+v 0.43196910 -0.14052137 0.14297427
+v 0.45333202 -0.06476128 0.15584881
+v 0.42223156 -0.13644554 0.18493050
+v 0.43693289 -0.03471292 0.22939705
+v 0.40758097 0.11030733 0.30167863
+v 0.40023191 -0.09533986 0.27664803
+v 0.43585260 0.12510058 0.22907341
+v 0.45142491 0.11129180 0.18594218
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+v 0.45252582 -0.05017990 0.17078372
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\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_9/collision/model_normalized_collision_22.obj b/objects/objaverse/apple/apple_9/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0ff90be1183819c48c0ce8cd12fde198af79ba74
--- /dev/null
+++ b/objects/objaverse/apple/apple_9/collision/model_normalized_collision_22.obj
@@ -0,0 +1,159 @@
+# https://github.com/mikedh/trimesh
+v 0.01454544 -0.39163458 0.36441550
+v 0.25468451 -0.26244009 0.36791905
+v 0.08777269 -0.24674161 0.44563635
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\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_9/collision/model_normalized_collision_23.obj b/objects/objaverse/apple/apple_9/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c4d8651f35aebe24b5b3363a4c222b2500f0d73
--- /dev/null
+++ b/objects/objaverse/apple/apple_9/collision/model_normalized_collision_23.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.19323624 0.23121861 0.38180956
+v -0.19636662 0.23484849 -0.23389777
+v -0.18777562 0.35942621 0.25773185
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+v -0.19987379 0.30776828 0.31219624
+v -0.30461558 0.36938857 0.00683797
+v -0.20203129 0.38149570 -0.24001804
+v -0.24228592 0.33968776 0.22463298
+v -0.36530228 0.22587051 0.19830821
+v -0.21376305 0.25143656 0.35453321
+v -0.18878785 0.31418893 0.31433202
+v -0.24331471 0.38457452 0.13801292
+v -0.34681838 0.31000285 0.09392411
+v -0.37540213 0.29749410 -0.07943402
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+v -0.24222716 0.30842180 0.26865902
+v -0.30679135 0.22624614 0.28719734
+v -0.41024672 0.22738053 -0.12446496
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+v -0.18924728 0.28399659 0.34436888
+v -0.27300599 0.33891000 0.18106652
+v -0.31872450 0.35428939 0.03626710
+v -0.35891437 0.26739654 0.15089371
+v -0.37565837 0.29746853 0.02077376
+v -0.30386610 0.36869540 -0.07978827
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+v -0.22913761 0.23723409 0.35420032
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\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_9/collision/model_normalized_collision_24.obj b/objects/objaverse/apple/apple_9/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b5e03016c375a35f380220e66632fb5877da77fc
--- /dev/null
+++ b/objects/objaverse/apple/apple_9/collision/model_normalized_collision_24.obj
@@ -0,0 +1,138 @@
+# https://github.com/mikedh/trimesh
+v -0.09352587 -0.44608207 0.25748622
+v -0.08737392 -0.41644515 0.31774107
+v -0.21247234 -0.37111815 0.30041121
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\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_9/collision/model_normalized_collision_25.obj b/objects/objaverse/apple/apple_9/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4406e28f8e99fea31988ec3a308d6769680a7802
--- /dev/null
+++ b/objects/objaverse/apple/apple_9/collision/model_normalized_collision_25.obj
@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
+v 0.24730135 0.36217487 0.23875739
+v 0.24873894 0.36531780 -0.22256455
+v 0.21517960 0.44498176 0.05132656
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+v 0.13696671 0.35606061 -0.21874626
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+v 0.18711640 0.41152893 0.22638591
+v 0.13296702 0.43336373 -0.21360584
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+f 23 21 4
+f 23 13 21
+f 23 16 9
+f 23 9 13
+f 24 17 10
+f 24 21 14
+f 24 14 6
+f 25 12 7
+f 25 7 17
+f 25 6 12
+f 25 24 6
+f 25 17 24
+f 26 16 10
+f 26 10 18
+f 27 11 2
+f 28 18 11
+f 28 26 18
+f 28 19 26
+f 29 27 2
+f 30 12 6
+f 30 6 14
+f 30 14 20
+f 31 24 10
+f 31 10 4
+f 31 4 21
+f 31 21 24
+f 32 26 19
+f 32 19 29
+f 33 19 28
+f 33 29 19
+f 33 27 29
+f 33 28 11
+f 33 11 27
+f 34 2 15
+f 34 32 29
+f 35 30 20
+f 35 20 1
+f 35 1 12
+f 35 12 30
+f 36 32 16
+f 36 16 26
+f 36 26 32
+f 37 34 29
+f 37 29 2
+f 37 2 34
+f 38 34 15
+f 38 15 9
+f 38 32 34
+f 38 9 16
+f 38 16 32
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_9/collision/model_normalized_collision_26.obj b/objects/objaverse/apple/apple_9/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b069c3e7c1b7edd70a4c2c171f0750c7bc9f25a
--- /dev/null
+++ b/objects/objaverse/apple/apple_9/collision/model_normalized_collision_26.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v -0.15091207 -0.14393939 -0.33995838
+v -0.14869682 -0.14235473 -0.46718125
+v -0.14517879 0.22742406 -0.44703050
+v -0.24059154 0.24967430 -0.37176012
+v -0.22666965 -0.14393939 -0.33995838
+v -0.22056517 0.06661016 -0.45815435
+v -0.15091207 0.23484849 -0.35510990
+v -0.14638057 0.19946357 -0.46004102
+v -0.22171539 -0.14096220 -0.44865926
+v -0.15091207 -0.00757576 -0.33995838
+v -0.22666965 -0.00757576 -0.33995838
+v -0.15914667 0.19214506 -0.46058929
+v -0.22119970 -0.09637187 -0.45881944
+v -0.21453922 0.16845885 -0.44308558
+v -0.19202338 -0.14040642 -0.45801627
+v -0.20318361 0.12695658 -0.45816086
+v -0.21457810 0.22350354 -0.41380999
+v -0.18843682 0.16840823 -0.45623628
+v -0.15898602 0.22533758 -0.44288580
+f 1 2 3
+f 5 2 1
+f 7 3 4
+f 8 3 2
+f 9 5 4
+f 9 2 5
+f 10 1 3
+f 10 3 7
+f 10 5 1
+f 11 7 4
+f 11 4 5
+f 11 10 7
+f 11 5 10
+f 12 8 2
+f 12 2 6
+f 12 3 8
+f 13 9 4
+f 13 4 6
+f 13 6 2
+f 14 6 4
+f 15 13 2
+f 15 2 9
+f 15 9 13
+f 16 12 6
+f 16 6 14
+f 17 14 4
+f 17 12 14
+f 18 16 14
+f 18 14 12
+f 18 12 16
+f 19 17 4
+f 19 4 3
+f 19 3 12
+f 19 12 17
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_9/collision/model_normalized_collision_27.obj b/objects/objaverse/apple/apple_9/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6966539ac5f2c05294cba37afa4a89c35bb2fe61
--- /dev/null
+++ b/objects/objaverse/apple/apple_9/collision/model_normalized_collision_27.obj
@@ -0,0 +1,135 @@
+# https://github.com/mikedh/trimesh
+v 0.26704570 -0.27190416 0.35122975
+v 0.44208775 -0.13962330 -0.10931685
+v 0.42519694 -0.13791694 0.17125622
+v 0.28648929 -0.15450038 0.38377475
+v 0.25817883 -0.14393939 -0.21874626
+v 0.36767518 -0.13850134 0.30322536
+v 0.39169059 -0.25392410 0.05106950
+v 0.41088898 -0.13950020 -0.21322317
+v 0.34650498 -0.25596638 0.24765199
+v 0.33318417 -0.18181994 0.32928584
+v 0.34252635 -0.14122911 0.33580774
+v 0.43649632 -0.16658345 0.06695892
+v 0.25817883 -0.26515151 -0.21874626
+v 0.37661373 -0.25343679 -0.16703866
+v 0.39350059 -0.13781793 0.25855522
+v 0.37546999 -0.25479722 0.14046876
+v 0.31426889 -0.22663528 0.32909722
+v 0.39162505 -0.25599923 -0.09477486
+v 0.44232984 -0.13871612 0.09710048
+v 0.40482129 -0.19603072 -0.16839012
+v 0.36063610 -0.25464330 -0.21044147
+v 0.37603676 -0.20999058 0.22842265
+v 0.42081797 -0.19501998 0.08025144
+v 0.30076671 -0.25453523 0.32720121
+v 0.36011315 -0.16682781 0.29878727
+v 0.43593096 -0.16538551 -0.09431869
+v 0.42164906 -0.15299018 -0.16820053
+v 0.39142791 -0.24069264 -0.13941041
+v 0.39044648 -0.19653537 -0.21152774
+v 0.38997861 -0.16483256 0.24286203
+v 0.38989769 -0.20920742 0.18503932
+v 0.39082521 -0.23871274 0.11104976
+v 0.40489516 -0.19501343 0.15539633
+v 0.42550836 -0.13966828 -0.16927770
+v 0.42089989 -0.16674292 -0.15339647
+v 0.38967933 -0.21099745 -0.19658229
+v 0.40699100 -0.15269222 -0.21155078
+v 0.38943503 -0.15225923 0.25555570
+v 0.40539917 -0.16646284 0.19800880
+v 0.36023745 -0.24067386 0.22930219
+v 0.43689605 -0.15223381 0.09630560
+v 0.38978623 -0.22387869 0.15484543
+v 0.43786006 -0.15306087 -0.10828254
+v 0.37539972 -0.23841474 -0.19665004
+v 0.42017518 -0.15129742 0.17063146
+v 0.36092994 -0.25490009 0.20073879
+f 5 1 4
+f 8 3 2
+f 11 6 5
+f 11 5 4
+f 11 10 6
+f 11 4 10
+f 13 1 5
+f 13 5 8
+f 15 3 8
+f 15 8 5
+f 15 5 6
+f 16 9 1
+f 16 1 7
+f 17 10 4
+f 17 4 1
+f 18 12 7
+f 18 7 1
+f 18 1 13
+f 19 12 2
+f 19 2 3
+f 21 18 13
+f 21 14 18
+f 23 7 12
+f 24 17 1
+f 24 1 9
+f 24 9 17
+f 25 6 10
+f 25 10 17
+f 25 15 6
+f 25 17 9
+f 26 2 12
+f 26 12 18
+f 28 18 14
+f 28 26 18
+f 28 20 26
+f 29 21 13
+f 29 13 8
+f 29 27 20
+f 30 9 22
+f 30 3 15
+f 32 16 7
+f 32 7 23
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+f 34 2 27
+f 35 20 27
+f 36 28 14
+f 36 20 28
+f 36 29 20
+f 37 29 8
+f 37 8 27
+f 37 27 29
+f 38 25 9
+f 38 9 30
+f 38 30 15
+f 38 15 25
+f 39 30 22
+f 39 3 30
+f 39 22 31
+f 39 31 33
+f 40 31 22
+f 40 22 9
+f 41 33 23
+f 41 23 12
+f 41 12 19
+f 42 32 23
+f 42 23 33
+f 42 16 32
+f 42 33 31
+f 43 26 20
+f 43 20 35
+f 43 2 26
+f 43 35 27
+f 43 27 2
+f 44 36 14
+f 44 14 21
+f 44 21 29
+f 44 29 36
+f 45 39 33
+f 45 3 39
+f 45 33 41
+f 45 41 19
+f 45 19 3
+f 46 42 31
+f 46 31 40
+f 46 40 9
+f 46 9 16
+f 46 16 42
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_9/collision/model_normalized_collision_28.obj b/objects/objaverse/apple/apple_9/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..faa674a7ec37e34c2d2279005db101f198b1b618
--- /dev/null
+++ b/objects/objaverse/apple/apple_9/collision/model_normalized_collision_28.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v -0.37423616 -0.26621827 0.13705871
+v -0.36418653 -0.26166099 -0.22671676
+v -0.34788177 -0.14393939 0.12973859
+v -0.42891152 -0.15036112 0.13676534
+v -0.45071594 -0.16776177 -0.08060971
+v -0.42093600 -0.22543715 -0.11036184
+v -0.43575004 -0.19704472 0.03584859
+v -0.34788177 -0.14393939 -0.21874626
+v -0.42910575 -0.14145651 -0.21532747
+v -0.40475247 -0.23839877 -0.15343799
+v -0.41326699 -0.20009309 0.12670361
+v -0.45369375 -0.14039894 0.03672055
+v -0.42008641 -0.22483151 0.05040593
+v -0.43396418 -0.18115509 -0.15273401
+v -0.42047515 -0.21084918 0.07971749
+v -0.45018316 -0.15497492 0.03630909
+v -0.45340584 -0.14022878 -0.12567345
+v -0.40525458 -0.24007290 0.07984911
+v -0.43590582 -0.19604328 -0.10987180
+v -0.39252611 -0.22660634 -0.21246485
+v -0.45019421 -0.16823446 0.00669670
+v -0.43982119 -0.13997970 -0.18297360
+v -0.40626049 -0.22485938 0.10990533
+v -0.45007463 -0.15315889 -0.12438282
+v -0.42107952 -0.16711814 -0.21266604
+v -0.39126170 -0.23949782 -0.19735050
+v -0.39300191 -0.24110093 0.12470005
+v -0.43558727 -0.15335820 -0.18316964
+v -0.41923815 -0.19500204 -0.18235689
+v -0.38235069 -0.24318985 -0.21407783
+v -0.40793853 -0.21228853 0.12500525
+v -0.40520945 -0.22384403 -0.18235250
+f 1 2 3
+f 1 3 4
+f 7 5 6
+f 8 3 2
+f 9 8 2
+f 10 2 1
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+f 11 1 4
+f 12 4 3
+f 13 7 6
+f 14 10 6
+f 15 11 4
+f 15 4 7
+f 15 7 13
+f 16 7 4
+f 16 4 12
+f 17 5 12
+f 18 13 6
+f 18 6 1
+f 19 14 6
+f 19 6 5
+f 21 16 12
+f 21 12 5
+f 21 5 7
+f 21 7 16
+f 22 8 9
+f 22 3 8
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+f 22 12 3
+f 23 15 13
+f 23 13 18
+f 23 11 15
+f 24 14 19
+f 24 17 22
+f 24 19 5
+f 24 5 17
+f 25 9 2
+f 25 2 20
+f 26 2 10
+f 27 23 18
+f 27 18 1
+f 28 24 22
+f 28 14 24
+f 28 25 14
+f 28 22 9
+f 28 9 25
+f 29 25 20
+f 29 14 25
+f 30 26 20
+f 30 20 2
+f 30 2 26
+f 31 27 1
+f 31 1 11
+f 31 11 23
+f 31 23 27
+f 32 29 20
+f 32 20 26
+f 32 26 10
+f 32 10 14
+f 32 14 29
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_9/collision/model_normalized_collision_29.obj b/objects/objaverse/apple/apple_9/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..544703ee06071e9e3fdf7cc13e1fa67faaf8d00e
--- /dev/null
+++ b/objects/objaverse/apple/apple_9/collision/model_normalized_collision_29.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.22648932 -0.40117239 -0.21858183
+v -0.21906284 -0.34385332 -0.31451521
+v -0.22666965 0.23484849 -0.21874626
+v -0.38022141 0.22715326 -0.21286338
+v -0.42507297 -0.15476125 -0.21611172
+v -0.22025586 0.12714520 -0.44972152
+v -0.24963938 -0.39085406 -0.21291456
+v -0.22120347 -0.39082466 -0.24303031
+v -0.21890392 0.21178089 -0.41844033
+v -0.39102786 0.06468626 -0.31334955
+v -0.31896072 -0.32845208 -0.21179786
+v -0.24477673 -0.35310378 -0.28123315
+v -0.23344850 -0.38604723 -0.24018255
+v -0.21983922 -0.27041239 -0.38644681
+v -0.21987795 0.22832599 -0.40659794
+v -0.44128878 0.08081403 -0.21354988
+v -0.31507699 0.15096428 -0.37042059
+v -0.28687833 -0.35476166 -0.22488708
+v -0.24667806 -0.38615579 -0.22588480
+v -0.21908990 0.18357759 -0.43357336
+v -0.30328380 -0.08156886 -0.41438190
+v -0.22128379 -0.30069173 -0.35935813
+v -0.33066464 -0.23732951 -0.31152665
+v -0.42044192 -0.05142229 -0.26985149
+v -0.40414365 0.12280393 -0.26878209
+v -0.42511875 0.13870327 -0.21256876
+v -0.43925909 -0.09613562 -0.21390210
+v -0.30131129 0.17946682 -0.36879367
+v -0.28983376 -0.35872621 -0.21226661
+v -0.25927704 -0.36958281 -0.23920324
+v -0.22107847 -0.18398451 -0.43415827
+v -0.27330263 0.13767935 -0.41282006
+v -0.23100321 -0.33899000 -0.31141258
+v -0.36460338 -0.27042821 -0.21268237
+v -0.28717817 -0.22293993 -0.36843195
+v -0.31439997 -0.29613059 -0.26888585
+v -0.42054491 0.04980418 -0.26811906
+v -0.36100370 -0.06697367 -0.35704328
+v -0.35969460 0.13710669 -0.32722424
+v -0.41878554 0.12240539 -0.24172607
+v -0.42075801 -0.11057623 -0.25491922
+v -0.43479927 -0.03650937 -0.24151034
+v -0.25778816 0.19446488 -0.39877468
+v -0.34498356 0.22312119 -0.28272351
+v -0.31491727 -0.32525946 -0.22565588
+v -0.27351850 -0.33971812 -0.26843920
+v -0.26204475 -0.08186950 -0.44315843
+v -0.25897534 0.12347081 -0.42781207
+v -0.25837083 0.16599063 -0.41307614
+v -0.30316870 0.03463860 -0.41351522
+v -0.37497021 -0.19432849 -0.28365150
+v -0.22948603 -0.26641181 -0.38315506
+v -0.31633045 -0.22283590 -0.34013793
+v -0.29010787 -0.13624274 -0.41226232
+v -0.34520993 -0.26797112 -0.25345692
+v -0.41972465 0.09355831 -0.25510781
+v -0.37537114 0.09312654 -0.32557278
+v -0.33134336 0.19478857 -0.32543453
+v -0.42040864 0.13649242 -0.22611227
+v -0.43467697 -0.09616209 -0.22735397
+v -0.38961076 -0.09524758 -0.31303261
+v -0.43532262 0.02202356 -0.24041344
+v -0.23043144 0.22464646 -0.40100134
+v -0.22794595 0.18154640 -0.42887203
+f 7 1 3
+f 7 3 4
+f 8 3 1
+f 9 8 2
+f 9 3 8
+f 11 7 4
+f 12 2 8
+f 13 8 1
+f 13 12 8
+f 15 4 3
+f 15 3 9
+f 19 13 1
+f 19 1 7
+f 20 9 2
+f 20 2 14
+f 22 14 2
+f 26 11 4
+f 27 26 16
+f 29 18 7
+f 29 7 11
+f 30 12 13
+f 30 13 19
+f 30 19 7
+f 30 7 18
+f 31 20 14
+f 31 6 20
+f 33 22 2
+f 33 2 12
+f 34 27 5
+f 34 11 26
+f 34 26 27
+f 37 10 24
+f 38 24 10
+f 40 16 26
+f 42 27 16
+f 42 24 41
+f 44 4 15
+f 44 39 25
+f 45 29 11
+f 45 18 29
+f 45 11 34
+f 46 30 18
+f 46 12 30
+f 46 45 36
+f 46 18 45
+f 46 33 12
+f 46 36 23
+f 46 23 22
+f 46 22 33
+f 47 6 31
+f 48 20 6
+f 49 32 17
+f 49 17 28
+f 49 28 43
+f 50 17 32
+f 50 38 10
+f 50 21 38
+f 50 32 48
+f 50 47 21
+f 50 48 6
+f 50 6 47
+f 51 34 5
+f 51 5 41
+f 52 14 22
+f 52 22 35
+f 52 35 31
+f 52 31 14
+f 53 35 22
+f 53 22 23
+f 53 23 51
+f 54 31 35
+f 54 47 31
+f 54 21 47
+f 54 35 53
+f 54 38 21
+f 55 23 36
+f 55 51 23
+f 55 34 51
+f 55 45 34
+f 55 36 45
+f 56 25 10
+f 56 10 37
+f 56 40 25
+f 56 37 16
+f 56 16 40
+f 57 10 25
+f 57 25 39
+f 57 50 10
+f 57 39 17
+f 57 17 50
+f 58 28 17
+f 58 17 39
+f 58 39 44
+f 59 40 26
+f 59 26 4
+f 59 25 40
+f 59 44 25
+f 59 4 44
+f 60 41 5
+f 60 5 27
+f 60 42 41
+f 60 27 42
+f 61 41 24
+f 61 24 38
+f 61 51 41
+f 61 38 54
+f 61 54 53
+f 61 53 51
+f 62 37 24
+f 62 24 42
+f 62 42 16
+f 62 16 37
+f 63 43 28
+f 63 15 9
+f 63 9 43
+f 63 28 58
+f 63 58 44
+f 63 44 15
+f 64 43 9
+f 64 9 20
+f 64 49 43
+f 64 20 48
+f 64 48 32
+f 64 32 49
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_9/collision/model_normalized_collision_3.obj b/objects/objaverse/apple/apple_9/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..27c8efcde184e4684f4a40cfe7f6968275db4e28
--- /dev/null
+++ b/objects/objaverse/apple/apple_9/collision/model_normalized_collision_3.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.07263299 -0.47340100 0.17064173
+v 0.38197927 -0.25774602 -0.13964891
+v 0.24895069 -0.25871292 0.37374697
+v -0.22666965 -0.26515151 0.25095071
+v -0.21870044 -0.41523281 -0.19663009
+v -0.22666965 -0.26515151 -0.20359474
+v -0.08587773 -0.38654889 0.36027526
+v 0.25840955 -0.38331359 0.21557270
+v 0.11526918 -0.44412560 -0.21063068
+v 0.35140590 -0.25693955 0.23240757
+v -0.21885752 -0.45898762 -0.03514650
+v -0.09030601 -0.26515151 0.37216283
+v 0.10086432 -0.39826333 0.33052776
+v 0.18870814 -0.45849597 -0.05026547
+v 0.35576463 -0.25915064 -0.21492161
+v 0.01545016 -0.45482235 -0.21579080
+v 0.37652334 -0.28406799 0.00698535
+v 0.27187198 -0.32602890 0.29893628
+v -0.21542816 -0.40238673 0.24472276
+v 0.19615027 -0.26397064 0.39942601
+v 0.01411087 -0.45912769 0.24458679
+v 0.18836135 -0.41155800 0.25707177
+v 0.36783867 -0.25808982 -0.18418826
+v 0.24322589 -0.38550637 -0.19462300
+v 0.16072789 -0.42761506 -0.21157422
+v 0.01575459 -0.26515151 -0.21874626
+v -0.11600779 -0.47268008 -0.13725069
+v 0.01403782 -0.49014915 -0.09439760
+v 0.34588731 -0.29773495 0.15641315
+v 0.38206005 -0.25789382 0.09719607
+v 0.28900754 -0.38552442 0.00880233
+v 0.30581125 -0.25818819 0.31759420
+v 0.30053254 -0.32789659 0.24361266
+v -0.21764671 -0.45932941 0.05261191
+v 0.22098592 -0.25956903 0.38965246
+v 0.07265838 -0.38472813 0.35875660
+v -0.11618335 -0.45849929 0.21372399
+v 0.18708804 -0.35382092 0.34199724
+v 0.24537767 -0.37032482 0.27068726
+v 0.17424558 -0.45923359 0.09685817
+v 0.13154660 -0.44267770 0.22929885
+v 0.33208859 -0.32611371 -0.13775156
+v 0.27331698 -0.35393571 -0.21004211
+v 0.18687810 -0.44277747 -0.13685096
+v -0.21765637 -0.44321785 -0.12211065
+v -0.08670487 -0.45824450 -0.19632317
+v 0.08919462 -0.47460880 -0.13828135
+v 0.36172693 -0.29799389 0.05137888
+v 0.36024437 -0.26944158 0.17037966
+v 0.30245813 -0.35624891 0.14212951
+v 0.27177511 -0.29769472 0.32679087
+v 0.30133622 -0.29865147 0.28540412
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+v -0.11763104 -0.49000582 0.05245842
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\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_9/collision/model_normalized_collision_30.obj b/objects/objaverse/apple/apple_9/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be5f6212bac0e960c7a260d72bc0113384a7a9a3
--- /dev/null
+++ b/objects/objaverse/apple/apple_9/collision/model_normalized_collision_30.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.31047907 0.22563694 0.34775480
+v 0.42746580 0.22879395 -0.10998132
+v 0.39059091 0.28249881 0.15539000
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+v 0.24302732 0.23484849 -0.21874626
+v 0.33540387 0.35453975 -0.06474883
+v 0.23432285 0.35970715 0.25851949
+v 0.42700552 0.22832181 0.14210965
+v 0.39577223 0.22795262 -0.21270544
+v 0.40667283 0.28329810 -0.03480226
+v 0.32145647 0.36919368 0.05213247
+v 0.23643435 0.37651919 -0.21456926
+v 0.34891362 0.29330297 0.22543010
+v 0.24228510 0.23362835 0.38571643
+v 0.26724803 0.22667802 0.37789904
+v 0.41097217 0.22681569 0.20035188
+v 0.37788791 0.29694290 -0.13804518
+v 0.42125356 0.25446867 0.09632440
+v 0.23496865 0.42072346 -0.08033706
+v 0.33453576 0.33851274 0.15556527
+v 0.23652776 0.25263430 0.37412809
+v 0.31995106 0.27928234 0.28297462
+v 0.35393776 0.22591646 0.30325291
+v 0.40589075 0.25383658 0.16999235
+v 0.36405990 0.32502603 -0.09398796
+v 0.32019146 0.32396325 -0.21073939
+v 0.40591999 0.26862053 -0.10823462
+v 0.42151328 0.25417658 -0.06486983
+v 0.39254424 0.29723019 0.09693096
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+v 0.23450200 0.38984969 -0.18383415
+v 0.23393647 0.40469073 0.17074478
+v 0.34920137 0.33860593 0.11056616
+v 0.36262025 0.30912819 0.16892776
+v 0.29103269 0.26427585 0.32605943
+v 0.32053569 0.30802020 0.24022172
+v 0.34839165 0.23653440 0.29882017
+v 0.37558777 0.25224434 0.24030304
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\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_9/collision/model_normalized_collision_31.obj b/objects/objaverse/apple/apple_9/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..70fedd943ff7ce8da27fe5e9c4a55c9dd839306a
--- /dev/null
+++ b/objects/objaverse/apple/apple_9/collision/model_normalized_collision_31.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.30054019 -0.29323633 0.29243584
+v 0.25817883 -0.14393939 0.26610223
+v 0.27069303 -0.14824792 0.39503019
+v 0.02424405 -0.10195572 0.39236959
+v 0.01575459 -0.26515151 0.26610223
+v 0.01575459 -0.26515151 0.37216283
+v 0.01575459 -0.14393939 0.26610223
+v 0.25468451 -0.26244009 0.36791905
+f 1 2 3
+f 3 2 4
+f 5 2 1
+f 6 3 4
+f 6 5 1
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+f 7 5 6
+f 8 6 1
+f 8 1 3
+f 8 3 6
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_9/collision/model_normalized_collision_4.obj b/objects/objaverse/apple/apple_9/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2cd7e01493a0893345a30d826b00c71fb56f5b8d
--- /dev/null
+++ b/objects/objaverse/apple/apple_9/collision/model_normalized_collision_4.obj
@@ -0,0 +1,117 @@
+# https://github.com/mikedh/trimesh
+v 0.26704570 -0.27190416 0.35122975
+v 0.39869482 -0.13971679 0.24572318
+v 0.36283213 -0.04742846 0.35857037
+v 0.30201174 0.12785734 0.41499920
+v 0.25817883 0.09848485 0.25095071
+v 0.42867978 0.10113338 0.25830987
+v 0.25717919 -0.00682415 0.44450221
+v 0.31660265 -0.19755695 0.34255758
+v 0.25817883 -0.14393939 0.25095071
+v 0.39245164 -0.01919634 0.32942485
+v 0.32026050 0.02519694 0.41606462
+v 0.25817883 0.09848485 0.37216283
+v 0.29315726 -0.25910282 0.33311856
+v 0.25101685 -0.21565882 0.39040968
+v 0.37574607 -0.10757812 0.31346063
+v 0.32167581 0.06655224 0.41546174
+v 0.37731187 0.02436644 0.35870971
+v 0.29599722 0.12463175 0.41974071
+v 0.27433824 -0.22737643 0.36989029
+v 0.25369688 -0.04866163 0.43419852
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+v 0.30660343 -0.03235807 0.41386566
+v 0.39040259 -0.06211888 0.31506150
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+v 0.37656597 -0.07674815 0.32843800
+v 0.28227230 -0.00475134 0.43493290
+v 0.39298676 0.09576857 0.33105803
+v 0.30639530 0.12114113 0.41458214
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+v 0.28890577 -0.19839634 0.36993130
+v 0.25227633 -0.24578379 0.37803778
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+f 40 39 31
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+f 40 21 38
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_9/collision/model_normalized_collision_5.obj b/objects/objaverse/apple/apple_9/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6151b297ed69f36df25384c76fa1fe733f930821
--- /dev/null
+++ b/objects/objaverse/apple/apple_9/collision/model_normalized_collision_5.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.39123799 0.23304436 -0.21709881
+v 0.38149179 0.22785290 -0.24218030
+v 0.17391760 0.41678939 -0.21271521
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+v -0.37050089 0.22989264 -0.23005483
+v 0.11699278 0.22944176 -0.46199634
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+v -0.36613991 0.22703063 -0.24251973
+v 0.38040219 0.25586261 -0.21160829
+v 0.01482149 0.44991783 -0.21357853
+v 0.17124218 0.31095343 -0.38428324
+v -0.26147268 0.22560655 -0.37386203
+v -0.24840937 0.35858327 -0.22661602
+v 0.01575459 0.23484849 -0.21874626
+v 0.29453897 0.34129616 -0.21297270
+v 0.37623027 0.23916864 -0.23989812
+v 0.02994535 0.44895845 -0.21288499
+v 0.18581863 0.33788960 -0.34110038
+v -0.05697394 0.32463070 -0.40099223
+v 0.26438008 0.22739209 -0.38778816
+v -0.33178065 0.26574299 -0.25360241
+v -0.20478728 0.38809924 -0.22559678
+v -0.36444515 0.24120843 -0.22765054
+v 0.34691162 0.28115759 -0.23905971
+v 0.18645265 0.39724666 -0.23977034
+v 0.10300211 0.39774662 -0.29787008
+v 0.07509349 0.29670628 -0.42960334
+v -0.04282491 0.38439715 -0.32818399
+v -0.08786572 0.22929442 -0.46239822
+v 0.15752236 0.26936858 -0.42666012
+v -0.20425860 0.22624878 -0.41890471
+v 0.36554817 0.22742887 -0.27118882
+v 0.24526471 0.30829513 -0.32624884
+v -0.27249693 0.27960897 -0.31125836
+v -0.30719039 0.22631525 -0.32842800
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+v -0.34458070 0.23753540 -0.26857484
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+v 0.29143610 0.33776488 -0.22650074
+v 0.23085996 0.33761500 -0.29842635
+v 0.13296702 0.43336373 -0.21360584
+v 0.15828846 0.39704496 -0.26868489
+v 0.14494078 0.36735442 -0.32784327
+v 0.04538389 0.42830480 -0.25589752
+v -0.05825037 0.42832199 -0.25362800
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+v 0.05990435 0.25514744 -0.45844964
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+v 0.14380642 0.29515813 -0.41368715
+v -0.14180089 0.28159413 -0.41262144
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+v -0.10103686 0.38384825 -0.31266796
+v -0.36068314 0.23812518 -0.23925642
+v 0.37587709 0.25287473 -0.22444225
+v 0.28908842 0.30837469 -0.28209239
+v 0.18707436 0.38223600 -0.26844920
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+f 8 1 5
+f 14 5 1
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+f 15 3 9
+f 16 1 2
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+f 17 14 9
+f 22 13 10
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+f 23 17 10
+f 23 5 14
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+f 23 13 21
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+f 57 12 32
+f 58 12 35
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+f 58 31 12
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+f 59 58 35
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+f 60 19 51
+f 60 51 56
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+f 61 37 8
+f 61 8 5
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+f 62 1 16
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+f 63 40 7
+f 63 33 40
+f 63 7 53
+f 63 54 33
+f 63 53 54
+f 64 39 7
+f 64 7 40
+f 64 25 39
+f 64 42 25
+f 64 40 18
+f 64 43 42
+f 64 18 43
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_9/collision/model_normalized_collision_6.obj b/objects/objaverse/apple/apple_9/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c39cdb05d2e0858ae75521a91b6b3e0b5b2e33a7
--- /dev/null
+++ b/objects/objaverse/apple/apple_9/collision/model_normalized_collision_6.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.01575459 0.35606061 0.23579920
+v 0.19539428 0.44319663 -0.09671535
+v 0.15501899 0.40251860 0.26651150
+v -0.08480991 0.47298283 0.12553277
+v -0.23715769 0.36455931 -0.23009578
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+v -0.29531267 0.36205199 0.08181151
+v 0.13172976 0.45938386 0.16885817
+v 0.16096428 0.47447586 0.00936829
+v 0.19599480 0.42921246 0.17424238
+v -0.01336344 0.48963351 0.11139424
+v -0.08432552 0.44374491 0.21197996
+v 0.01522940 0.44473164 -0.22488106
+v -0.23367904 0.36129655 0.20034824
+v 0.01575459 0.35606061 -0.23389777
+v -0.21653692 0.42861809 -0.08006695
+v 0.14541359 0.47331959 0.09588362
+v 0.10249481 0.44219190 0.22561436
+v 0.18849546 0.45929663 0.06664853
+v 0.04446412 0.48991124 -0.06411863
+v 0.13190336 0.44241804 0.21097501
+v 0.18815610 0.44483193 0.14047724
+v -0.07152089 0.48930205 -0.03572436
+v 0.05892409 0.48969493 0.11054960
+v -0.05658498 0.47254820 0.15508066
+v -0.11430285 0.42952187 -0.22562237
+v 0.13296702 0.43336373 -0.21360584
+v -0.16809936 0.44450989 0.11167515
+v -0.29697572 0.36428382 -0.12586959
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+v 0.10321952 0.48956112 0.05267151
+v 0.18827584 0.45845774 -0.03355179
+v 0.16044283 0.47365314 0.05243206
+v -0.02707414 0.49057267 -0.08009610
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+v 0.13284195 0.43356173 0.22832463
+v 0.17360545 0.45889801 0.11108931
+v -0.07105695 0.48950317 0.03789011
+v -0.14388894 0.45795240 -0.10911506
+v -0.05614146 0.45774447 0.19747793
+v -0.04333423 0.44392022 -0.22537454
+v 0.13205273 0.45950832 -0.13834382
+v -0.22820971 0.38375713 0.16655243
+v -0.24656897 0.41371149 -0.00638003
+v -0.14219661 0.44347794 0.15360077
+v -0.21496341 0.41304898 -0.15177179
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+v -0.05627007 0.49004462 0.06705143
+v -0.10019357 0.47270096 -0.10833227
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+v -0.11439372 0.47467781 0.06628334
+v -0.08627214 0.44359509 -0.21155584
+v -0.20658061 0.37532774 -0.24609727
+v 0.13224537 0.44563872 -0.18241393
+v 0.17363033 0.45799617 -0.07866557
+v -0.25801386 0.38382862 0.10821525
+v -0.19820548 0.39853500 0.18124524
+v -0.24555594 0.41368472 -0.06521214
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+f 15 3 8
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+f 19 1 7
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+f 20 1 12
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+f 30 10 16
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+f 58 44 55
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\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_9/collision/model_normalized_collision_7.obj b/objects/objaverse/apple/apple_9/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dae932a0f2c0d3af2189638c27092826b89bba9a
--- /dev/null
+++ b/objects/objaverse/apple/apple_9/collision/model_normalized_collision_7.obj
@@ -0,0 +1,165 @@
+# https://github.com/mikedh/trimesh
+v 0.25377086 -0.26068342 -0.35322210
+v 0.23386875 -0.23899240 -0.38536710
+v 0.25922295 0.25021208 -0.37479042
+v -0.15091207 0.23484849 -0.35510990
+v -0.24174277 -0.28271038 -0.36067066
+v -0.14754899 0.15523703 -0.47338945
+v 0.24302732 -0.00757576 -0.33995838
+v 0.23549202 -0.09549698 -0.44276958
+v 0.01697089 -0.25885140 -0.44851274
+v -0.11544767 0.22622203 -0.45749006
+v -0.22171539 -0.14096220 -0.44865926
+v 0.01575459 -0.26515151 -0.33995838
+v 0.23441638 -0.15369599 -0.42872351
+v 0.11486272 -0.24113464 -0.44131494
+v 0.13679116 0.12927198 -0.47590989
+v -0.14517879 0.22742406 -0.44703050
+v -0.22666965 -0.14393939 -0.33995838
+v -0.15917869 -0.25334341 -0.42702660
+v -0.14661715 -0.19814020 -0.45839208
+v 0.23227939 -0.19587834 -0.41206222
+v 0.15794075 -0.23891451 -0.42675823
+v 0.10069157 -0.21479428 -0.45623229
+v 0.07484897 0.21431420 -0.47342994
+v 0.21935657 0.11356514 -0.45815796
+v -0.14638057 0.19946357 -0.46004102
+v -0.15091207 -0.00757576 -0.33995838
+v -0.05895915 -0.25541586 -0.44306111
+v -0.21764135 -0.25385790 -0.39964830
+v -0.14906071 0.08411470 -0.47468036
+v 0.23309212 -0.22274409 -0.39682066
+v 0.21684664 -0.23786271 -0.39698417
+v 0.21758289 -0.18060024 -0.42630910
+v 0.20575645 -0.15250569 -0.44119065
+v 0.22303284 0.02343979 -0.45782510
+v 0.07337071 -0.22906514 -0.45823407
+v -0.08678763 0.19975477 -0.47332961
+v 0.13129518 0.22743852 -0.45882640
+v -0.11802788 -0.21351029 -0.45812599
+v -0.21849234 -0.16724893 -0.44184900
+v -0.17724899 -0.15653507 -0.45878637
+v 0.13262184 -0.17157193 -0.45723991
+v 0.23165681 0.15326165 -0.44338628
+v 0.12297562 0.11479200 -0.47560874
+v -0.05747598 0.21409054 -0.47307319
+v -0.13253522 0.16958814 -0.47328219
+v 0.13386124 0.17202411 -0.47340256
+v -0.01365607 -0.22915415 -0.45767287
+v -0.13163676 -0.23953357 -0.44285282
+v -0.16092761 -0.18494880 -0.45793215
+v -0.16042859 -0.22520809 -0.44283787
+v 0.23131939 0.22455583 -0.41277576
+v 0.10323114 0.20068205 -0.47335886
+v 0.18946078 0.16852454 -0.45785896
+v 0.17501957 0.22645099 -0.44319828
+v 0.23202122 0.19653035 -0.42665627
+v 0.21663590 0.18215865 -0.44169641
+f 7 1 3
+f 7 3 4
+f 8 3 1
+f 9 1 5
+f 12 5 1
+f 12 1 7
+f 13 8 1
+f 14 1 9
+f 16 4 3
+f 16 3 10
+f 16 11 4
+f 17 11 5
+f 17 4 11
+f 17 5 12
+f 17 12 7
+f 20 13 1
+f 21 1 14
+f 22 21 14
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+f 25 6 11
+f 25 11 16
+f 26 17 7
+f 26 7 4
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+f 27 9 5
+f 27 5 18
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+f 29 11 6
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+f 41 22 35
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+f 42 8 34
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+f 43 15 35
+f 44 36 10
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+f 44 15 36
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+f 44 10 37
+f 45 36 6
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+f 46 24 15
+f 47 38 35
+f 47 35 9
+f 47 9 38
+f 48 38 27
+f 48 27 18
+f 49 39 11
+f 49 40 19
+f 49 11 40
+f 50 18 28
+f 50 28 39
+f 50 48 18
+f 50 19 38
+f 50 38 48
+f 50 49 19
+f 50 39 49
+f 52 46 15
+f 52 15 23
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+f 53 42 24
+f 53 24 46
+f 53 46 37
+f 54 37 3
+f 54 3 51
+f 54 53 37
+f 55 51 3
+f 55 3 42
+f 55 54 51
+f 56 42 53
+f 56 53 54
+f 56 55 42
+f 56 54 55
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_9/collision/model_normalized_collision_8.obj b/objects/objaverse/apple/apple_9/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ded7199c65658831206a8dde23a23fdc7c7e594
--- /dev/null
+++ b/objects/objaverse/apple/apple_9/collision/model_normalized_collision_8.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.01475689 -0.26211172 0.45316754
+v 0.01575459 -0.26515151 0.25095071
+v 0.01575459 -0.00757576 0.25095071
+v -0.06668503 -0.02101813 0.39377653
+v -0.09030601 -0.26515151 0.25095071
+v 0.02326264 -0.04117563 0.39911171
+v -0.08610942 -0.26086667 0.44500926
+v -0.09030601 -0.00757576 0.25095071
+v -0.09129448 -0.14635557 0.44878973
+v 0.01732308 -0.16481079 0.44759000
+f 5 2 1
+f 5 3 2
+f 6 3 4
+f 6 1 2
+f 6 2 3
+f 7 5 1
+f 8 4 3
+f 8 3 5
+f 9 6 4
+f 9 7 1
+f 9 4 8
+f 9 8 5
+f 9 5 7
+f 10 9 1
+f 10 1 6
+f 10 6 9
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_9/collision/model_normalized_collision_9.obj b/objects/objaverse/apple/apple_9/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f70b63d5732c8eeceec5e57c6787538bfb1e36e
--- /dev/null
+++ b/objects/objaverse/apple/apple_9/collision/model_normalized_collision_9.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v 0.39038653 -0.14812990 0.25647744
+v 0.45196700 -0.07781537 -0.13938670
+v 0.46203740 -0.00761824 0.14292336
+v 0.25817883 -0.00757576 0.25095071
+v 0.25817883 -0.14393939 -0.21874626
+v 0.25817883 -0.00757576 -0.21874626
+v 0.42454324 -0.01383146 0.27091474
+v 0.45236090 -0.13782625 0.02170290
+v 0.25817883 -0.14393939 0.25095071
+v 0.43472727 -0.00740241 -0.21701550
+v 0.45357195 -0.07886604 0.14118384
+v 0.46752959 -0.07872585 -0.04995179
+v 0.41088898 -0.13950020 -0.21322317
+v 0.44116089 -0.00723761 -0.19882134
+v 0.43735132 -0.13665620 0.12567052
+v 0.46695957 -0.07903076 0.05209748
+v 0.45204153 -0.13786430 -0.05003813
+v 0.43703429 -0.06531124 -0.19718318
+v 0.46973357 -0.00725169 0.09719530
+v 0.46877802 -0.00761442 -0.09483820
+v 0.43926577 -0.12297173 0.14071666
+v 0.45102963 -0.12248894 0.08182668
+v 0.43526868 -0.13731035 -0.13745951
+v 0.45038370 -0.12317200 -0.09386754
+v 0.42127615 -0.10755989 -0.21173691
+v 0.45269347 -0.05056853 -0.15327941
+v 0.46681922 -0.04975711 0.09678202
+v 0.46803519 -0.03556906 -0.09402013
+v 0.45125780 -0.10783222 0.11115446
+v 0.43550001 -0.09334359 -0.18249676
+v 0.45508579 -0.00766694 -0.15427112
+v 0.42211998 -0.13761056 -0.18301862
+f 6 5 4
+f 7 3 4
+f 9 5 1
+f 9 4 5
+f 9 7 4
+f 9 1 7
+f 10 5 6
+f 11 7 1
+f 11 3 7
+f 13 5 10
+f 13 1 5
+f 14 10 6
+f 14 6 4
+f 15 1 8
+f 16 8 12
+f 17 12 8
+f 17 8 1
+f 17 1 13
+f 18 10 14
+f 19 14 4
+f 19 4 3
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+f 20 19 12
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+f 21 11 1
+f 21 1 15
+f 22 15 8
+f 22 8 16
+f 23 17 13
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+f 24 23 2
+f 24 17 23
+f 25 13 10
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+f 28 20 12
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+f 28 2 26
+f 29 22 16
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+f 29 21 15
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+f 30 25 18
+f 30 18 2
+f 30 2 23
+f 31 26 14
+f 31 14 20
+f 31 28 26
+f 31 20 28
+f 32 30 23
+f 32 23 13
+f 32 13 25
+f 32 25 30
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_9/model.xml b/objects/objaverse/apple/apple_9/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..56c63ab9b763fb0070284068b30fe65bcc17df96
--- /dev/null
+++ b/objects/objaverse/apple/apple_9/model.xml
@@ -0,0 +1,81 @@
+<mujoco model="apple_19">
+  <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_LOD0_u0_v0" texture="image0" specular="0.5" shininess="0.18734514200000002"/>
+  </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_LOD0_u0_v0"/>
+        <geom solimp="0.998 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="0.00010392970000000002 1.4823200000000372e-05 -0.0333136923" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.00010392970000000002 1.4823200000000372e-05 0.0336884464" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.032926617500000005 0.034340086900000004 0.00018737704999999995" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/objects/objaverse/boxed_food/boxed_food_0/collision/model_normalized_collision_0.obj b/objects/objaverse/boxed_food/boxed_food_0/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b6be84c775e60e4885a0004b1cc8113796e1f8fe
--- /dev/null
+++ b/objects/objaverse/boxed_food/boxed_food_0/collision/model_normalized_collision_0.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.40151515 -0.18453321 0.29703670
+v 0.40151515 -0.18900069 0.17576510
+v 0.40151515 -0.12160536 0.17576510
+v -0.09848484 -0.13214551 0.30150756
+v -0.09848484 -0.18900069 0.17576510
+v 0.40151515 -0.13214551 0.30150756
+v -0.09848484 -0.18453321 0.29703670
+v -0.09848484 -0.12160536 0.17576510
+f 1 2 3
+f 5 2 1
+f 5 3 2
+f 6 1 3
+f 6 3 4
+f 6 4 1
+f 7 5 1
+f 7 1 4
+f 7 4 5
+f 8 5 4
+f 8 4 3
+f 8 3 5
\ No newline at end of file
diff --git a/objects/objaverse/boxed_food/boxed_food_0/collision/model_normalized_collision_1.obj b/objects/objaverse/boxed_food/boxed_food_0/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a50d959bdcce2247dee5767790dd44d939053fc
--- /dev/null
+++ b/objects/objaverse/boxed_food/boxed_food_0/collision/model_normalized_collision_1.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.49553252 -0.18453321 0.25152268
+v 0.49130848 -0.18453321 -0.27335790
+v 0.49999999 -0.13214551 0.25152268
+v 0.40151515 -0.12160536 0.29300381
+v 0.40151515 -0.18900069 0.25152268
+v 0.48689954 -0.13214551 -0.29250931
+v 0.49100316 -0.13214551 -0.28840892
+v 0.40151515 -0.13214551 -0.30150762
+v 0.48950545 -0.17586161 -0.28790840
+v 0.40151515 -0.18453321 -0.29703671
+v 0.47184962 -0.18453321 -0.29281404
+v 0.48640017 -0.17586100 -0.29101121
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 5 1 4
+f 7 3 2
+f 7 6 4
+f 7 4 3
+f 8 5 4
+f 8 4 6
+f 9 7 2
+f 9 6 7
+f 10 5 8
+f 11 2 5
+f 11 5 10
+f 11 9 2
+f 11 10 8
+f 11 8 6
+f 12 11 6
+f 12 6 9
+f 12 9 11
\ No newline at end of file
diff --git a/objects/objaverse/boxed_food/boxed_food_0/collision/model_normalized_collision_10.obj b/objects/objaverse/boxed_food/boxed_food_0/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a476fd2de857c0e9496bd9363a34bffdab29cd86
--- /dev/null
+++ b/objects/objaverse/boxed_food/boxed_food_0/collision/model_normalized_collision_10.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v -0.23484848 -0.18900069 -0.14241671
+v -0.23484848 -0.18453321 -0.29703671
+v -0.23484848 -0.12160536 -0.14241671
+v -0.49999999 -0.13214551 -0.14241671
+v -0.49130542 -0.18453321 -0.27335689
+v -0.47184927 -0.18453321 -0.29281302
+v -0.49552913 -0.18453321 -0.14241671
+v -0.37121211 -0.13214551 -0.30150762
+v -0.23484848 -0.13214551 -0.30150762
+v -0.49100097 -0.13214551 -0.28840632
+v -0.48689867 -0.13214551 -0.29250858
+v -0.48639987 -0.17586068 -0.29101028
+v -0.48950299 -0.17586058 -0.28790694
+f 1 2 3
+f 6 2 1
+f 6 1 5
+f 7 5 1
+f 7 4 5
+f 7 1 3
+f 7 3 4
+f 8 2 6
+f 9 8 3
+f 9 3 2
+f 9 2 8
+f 10 4 3
+f 10 5 4
+f 11 10 3
+f 11 3 8
+f 11 8 6
+f 12 6 5
+f 12 11 6
+f 12 10 11
+f 13 12 5
+f 13 5 10
+f 13 10 12
\ No newline at end of file
diff --git a/objects/objaverse/boxed_food/boxed_food_0/collision/model_normalized_collision_11.obj b/objects/objaverse/boxed_food/boxed_food_0/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..baee1487defa5def05c9515b895ad3057cafa611
--- /dev/null
+++ b/objects/objaverse/boxed_food/boxed_food_0/collision/model_normalized_collision_11.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.23484848 -0.18900069 0.17576510
+v -0.23484848 -0.18900069 -0.14241671
+v -0.23484848 -0.01554476 0.17576510
+v -0.35606059 -0.01554476 0.17576510
+v -0.35606059 -0.18900069 0.17576510
+v -0.35606059 -0.01554476 -0.14241671
+v -0.23484848 -0.01554476 -0.14241671
+v -0.35606059 -0.18900069 -0.14241671
+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 6 3
+f 7 3 2
+f 7 2 6
+f 8 6 2
+f 8 2 5
+f 8 5 6
\ No newline at end of file
diff --git a/objects/objaverse/boxed_food/boxed_food_0/collision/model_normalized_collision_12.obj b/objects/objaverse/boxed_food/boxed_food_0/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..51ae8c3d082850cb006e178a2423682cb8007ed1
--- /dev/null
+++ b/objects/objaverse/boxed_food/boxed_food_0/collision/model_normalized_collision_12.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.00757576 -0.18900069 0.17576510
+v 0.00757576 -0.18900069 -0.14241671
+v 0.00757576 -0.01554476 0.17576510
+v -0.23484848 -0.01554476 0.17576510
+v -0.23484848 -0.18900069 0.17576510
+v 0.00757576 -0.01554476 -0.14241671
+v -0.23484848 -0.01554476 -0.14241671
+v -0.23484848 -0.18900069 -0.14241671
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 5 1 4
+f 6 3 2
+f 6 4 3
+f 7 5 4
+f 7 4 6
+f 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/boxed_food/boxed_food_0/collision/model_normalized_collision_13.obj b/objects/objaverse/boxed_food/boxed_food_0/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7e6c28bc3c1de3cb6b019689bb6288948b0faba1
--- /dev/null
+++ b/objects/objaverse/boxed_food/boxed_food_0/collision/model_normalized_collision_13.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.26515151 -0.01554476 0.29300381
+v 0.26515151 -0.01554476 -0.29300038
+v 0.26515151 0.18900069 -0.29300038
+v 0.00757576 0.18826064 0.29300381
+v 0.00757576 -0.01554476 -0.29300038
+v 0.26515151 0.18826064 0.29300381
+v 0.00757576 -0.01554476 0.29300381
+v 0.00757576 0.18900069 -0.29300038
+f 1 2 3
+f 5 2 1
+f 5 3 2
+f 6 1 3
+f 6 3 4
+f 6 4 1
+f 7 5 1
+f 7 1 4
+f 7 4 5
+f 8 5 4
+f 8 4 3
+f 8 3 5
\ No newline at end of file
diff --git a/objects/objaverse/boxed_food/boxed_food_0/collision/model_normalized_collision_14.obj b/objects/objaverse/boxed_food/boxed_food_0/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..abbd16fc592658afcfcfb02df30319330cfa597d
--- /dev/null
+++ b/objects/objaverse/boxed_food/boxed_food_0/collision/model_normalized_collision_14.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.00757576 -0.01554476 0.29300381
+v 0.00757576 -0.01554476 0.00909844
+v 0.00757530 0.18861795 0.00908768
+v -0.47293332 0.18826064 0.28395914
+v -0.48589484 -0.01554476 0.00909844
+v 0.00757576 0.18826064 0.29300381
+v -0.47293332 -0.01554476 0.28395914
+v -0.48589484 0.18900069 0.00909844
+v -0.47793417 0.18841281 0.27679587
+v -0.47787390 -0.01554476 0.27697670
+f 5 2 1
+f 5 3 2
+f 6 1 2
+f 6 2 3
+f 7 5 1
+f 7 6 4
+f 7 1 6
+f 8 3 5
+f 8 6 3
+f 9 8 5
+f 9 4 6
+f 9 6 8
+f 10 9 5
+f 10 5 7
+f 10 7 4
+f 10 4 9
\ No newline at end of file
diff --git a/objects/objaverse/boxed_food/boxed_food_0/collision/model_normalized_collision_15.obj b/objects/objaverse/boxed_food/boxed_food_0/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..584f5ce951b736c74ba9e0cae54e46cde8b65070
--- /dev/null
+++ b/objects/objaverse/boxed_food/boxed_food_0/collision/model_normalized_collision_15.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.00757576 -0.01554476 0.00909844
+v 0.00757576 -0.01554476 -0.29300038
+v 0.00757576 0.18900069 -0.29300038
+v -0.48589484 0.18900069 0.00909844
+v -0.48589484 -0.01554476 0.00909844
+v -0.47384796 -0.01554476 -0.28365409
+v 0.00757530 0.18861795 0.00908768
+v -0.23484848 0.18900069 -0.29300038
+v -0.47884666 0.18848020 -0.27405680
+v -0.47878691 -0.01554476 -0.27423612
+v -0.47366498 0.18831499 -0.28371506
+f 1 2 3
+f 5 1 4
+f 7 1 3
+f 7 3 4
+f 7 4 1
+f 8 3 2
+f 8 2 6
+f 8 4 3
+f 9 5 4
+f 9 4 8
+f 10 9 6
+f 10 5 9
+f 10 6 2
+f 10 2 1
+f 10 1 5
+f 11 9 8
+f 11 8 6
+f 11 6 9
\ No newline at end of file
diff --git a/objects/objaverse/boxed_food/boxed_food_0/collision/model_normalized_collision_16.obj b/objects/objaverse/boxed_food/boxed_food_0/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..89a897b763d7132fc8986f9dd905c2aff2bde2a0
--- /dev/null
+++ b/objects/objaverse/boxed_food/boxed_food_0/collision/model_normalized_collision_16.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.45918159 -0.18453321 0.29703670
+v 0.48393580 -0.12160536 0.25879505
+v 0.45990466 -0.13214551 0.30150756
+v 0.40151515 -0.12160536 0.29300381
+v 0.40151515 -0.18900069 0.25152268
+v 0.46384278 -0.12160536 0.28698979
+v 0.40151515 -0.13214551 0.30150756
+v 0.46212121 -0.18900069 0.25152268
+v 0.40151515 -0.18453321 0.29703670
+f 1 2 3
+f 5 4 2
+f 6 3 2
+f 6 2 4
+f 6 4 3
+f 7 1 3
+f 7 3 4
+f 7 4 5
+f 8 5 2
+f 8 2 1
+f 8 1 5
+f 9 7 5
+f 9 5 1
+f 9 1 7
\ No newline at end of file
diff --git a/objects/objaverse/boxed_food/boxed_food_0/collision/model_normalized_collision_17.obj b/objects/objaverse/boxed_food/boxed_food_0/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0cb3fcbb1da19d97f462786e1fa924b0159ac967
--- /dev/null
+++ b/objects/objaverse/boxed_food/boxed_food_0/collision/model_normalized_collision_17.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.41666665 -0.18900069 0.25152268
+v -0.41666665 -0.18900069 0.17576510
+v -0.41666665 -0.12160536 0.29300381
+v -0.49999999 -0.13214551 0.17576510
+v -0.49552913 -0.18453321 0.17576510
+v -0.41666665 -0.12160536 0.17576510
+v -0.49552913 -0.18453321 0.25152268
+v -0.48589484 -0.12160536 0.17576510
+v -0.49999999 -0.13214551 0.25152268
+v -0.49999999 -0.16705991 0.17576510
+f 1 2 3
+f 5 2 1
+f 5 4 2
+f 6 3 2
+f 7 5 1
+f 7 1 3
+f 8 3 6
+f 8 6 2
+f 8 2 4
+f 9 7 3
+f 9 8 4
+f 9 3 8
+f 10 4 5
+f 10 5 7
+f 10 9 4
+f 10 7 9
\ No newline at end of file
diff --git a/objects/objaverse/boxed_food/boxed_food_0/collision/model_normalized_collision_18.obj b/objects/objaverse/boxed_food/boxed_food_0/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8deb955a9609c4880ec477d6c6e9015633339a69
--- /dev/null
+++ b/objects/objaverse/boxed_food/boxed_food_0/collision/model_normalized_collision_18.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.40151515 -0.12160536 -0.14241671
+v 0.40151515 -0.12160536 -0.29300038
+v 0.40151515 -0.01554476 -0.14241671
+v 0.26515151 -0.01554476 -0.14241671
+v 0.26515151 -0.12160536 -0.14241671
+v 0.26515151 -0.01554476 -0.29300038
+v 0.40151515 -0.01554476 -0.29300038
+v 0.26515151 -0.12160536 -0.29300038
+f 1 2 3
+f 1 3 4
+f 5 1 4
+f 6 4 3
+f 6 5 4
+f 7 6 3
+f 7 3 2
+f 7 2 6
+f 8 6 2
+f 8 5 6
+f 8 2 1
+f 8 1 5
\ No newline at end of file
diff --git a/objects/objaverse/boxed_food/boxed_food_0/collision/model_normalized_collision_19.obj b/objects/objaverse/boxed_food/boxed_food_0/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b15d44925d407f4152e4689fc99b8a9c7d5e99d
--- /dev/null
+++ b/objects/objaverse/boxed_food/boxed_food_0/collision/model_normalized_collision_19.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.00757576 -0.12160536 -0.14241671
+v 0.00757576 -0.12160536 -0.29300038
+v 0.00757576 -0.01554476 -0.29300038
+v -0.48589484 -0.01554476 -0.14241671
+v -0.49403138 -0.13214551 -0.27931612
+v 0.00757576 -0.01554476 -0.14241671
+v -0.47780849 -0.13214551 -0.29553899
+v -0.48589484 -0.12160536 -0.14241671
+v -0.47384796 -0.01554476 -0.28365409
+v -0.47878691 -0.01554476 -0.27423612
+f 1 2 3
+f 6 1 3
+f 6 4 1
+f 7 2 1
+f 7 1 5
+f 7 3 2
+f 8 5 1
+f 8 1 4
+f 8 4 5
+f 9 7 5
+f 9 3 7
+f 9 6 3
+f 9 4 6
+f 10 9 5
+f 10 5 4
+f 10 4 9
\ No newline at end of file
diff --git a/objects/objaverse/boxed_food/boxed_food_0/collision/model_normalized_collision_2.obj b/objects/objaverse/boxed_food/boxed_food_0/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..108545123988dfe686cba82a2ae5826c6239a89e
--- /dev/null
+++ b/objects/objaverse/boxed_food/boxed_food_0/collision/model_normalized_collision_2.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.40151515 -0.12160536 0.29300381
+v 0.40151515 -0.12160536 0.17576510
+v 0.40151515 -0.01554476 0.17576510
+v -0.09848484 -0.01554476 0.29300381
+v -0.09848484 -0.12160536 0.17576510
+v 0.40151515 -0.01554476 0.29300381
+v -0.09848484 -0.12160536 0.29300381
+v -0.09848484 -0.01554476 0.17576510
+f 1 2 3
+f 5 2 1
+f 5 3 2
+f 6 1 3
+f 6 3 4
+f 6 4 1
+f 7 5 1
+f 7 1 4
+f 7 4 5
+f 8 5 4
+f 8 4 3
+f 8 3 5
\ No newline at end of file
diff --git a/objects/objaverse/boxed_food/boxed_food_0/collision/model_normalized_collision_20.obj b/objects/objaverse/boxed_food/boxed_food_0/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..10fc505338e1cddaab8ac4258d58d1b869dfb7c6
--- /dev/null
+++ b/objects/objaverse/boxed_food/boxed_food_0/collision/model_normalized_collision_20.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.09848484 -0.18900069 -0.14241671
+v -0.09848484 -0.18453321 -0.29703671
+v -0.09848484 -0.12160536 -0.14241671
+v -0.23484848 -0.12160536 -0.14241671
+v -0.23484848 -0.18900069 -0.14241671
+v -0.11363635 -0.13214551 -0.30150762
+v -0.09848484 -0.13214551 -0.30150762
+v -0.23484848 -0.13214551 -0.30150762
+v -0.23484848 -0.17882896 -0.29893862
+v -0.23484848 -0.18453321 -0.29703671
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 5 1 4
+f 6 4 3
+f 7 6 3
+f 7 3 2
+f 8 5 4
+f 8 4 6
+f 9 7 2
+f 9 6 7
+f 9 8 6
+f 9 5 8
+f 10 9 2
+f 10 2 5
+f 10 5 9
\ No newline at end of file
diff --git a/objects/objaverse/boxed_food/boxed_food_0/collision/model_normalized_collision_21.obj b/objects/objaverse/boxed_food/boxed_food_0/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4d97f3c71637ae7c11d3b4985006142b236c3609
--- /dev/null
+++ b/objects/objaverse/boxed_food/boxed_food_0/collision/model_normalized_collision_21.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.09848484 -0.18453321 0.29703670
+v -0.09848484 -0.18900069 0.17576510
+v -0.09848484 -0.12160536 0.17576510
+v -0.41666665 -0.13214551 0.30150756
+v -0.41666665 -0.18453321 0.29703670
+v -0.09848484 -0.13214551 0.30150756
+v -0.41666665 -0.12160536 0.17576510
+v -0.41666665 -0.18900069 0.17576510
+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 5 4
+f 7 4 3
+f 8 2 5
+f 8 5 7
+f 8 7 3
+f 8 3 2
\ No newline at end of file
diff --git a/objects/objaverse/boxed_food/boxed_food_0/collision/model_normalized_collision_22.obj b/objects/objaverse/boxed_food/boxed_food_0/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..49c2c0c51a3d84c0c7eaf5671e524afc24a28482
--- /dev/null
+++ b/objects/objaverse/boxed_food/boxed_food_0/collision/model_normalized_collision_22.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.49311981 -0.13214551 0.28205751
+v 0.48997873 -0.13214551 -0.29148291
+v 0.47587353 -0.01554476 -0.28297911
+v 0.40151515 -0.01554476 0.29300381
+v 0.40151515 -0.12160536 0.29300381
+v 0.47787499 -0.01554476 0.27697539
+v 0.47689502 -0.13214551 0.29584412
+v 0.40151515 -0.12160536 -0.29300038
+v 0.47293292 -0.01554476 0.28395938
+v 0.40151515 -0.01554476 -0.29300038
+f 1 2 3
+f 6 1 3
+f 7 2 1
+f 7 4 5
+f 8 7 5
+f 8 2 7
+f 8 5 4
+f 9 4 7
+f 9 6 3
+f 9 7 1
+f 9 1 6
+f 10 3 2
+f 10 2 8
+f 10 8 4
+f 10 9 3
+f 10 4 9
\ No newline at end of file
diff --git a/objects/objaverse/boxed_food/boxed_food_0/collision/model_normalized_collision_23.obj b/objects/objaverse/boxed_food/boxed_food_0/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f84aa0130cf80f649d056101365e4a228bbf7c0e
--- /dev/null
+++ b/objects/objaverse/boxed_food/boxed_food_0/collision/model_normalized_collision_23.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.40151515 -0.18900069 0.17576510
+v 0.40151515 -0.18900069 0.00909844
+v 0.40151515 -0.01554476 0.17576510
+v 0.26515151 -0.01554476 0.17576510
+v 0.26515151 -0.18900069 0.17576510
+v 0.26515151 -0.01554476 0.00909844
+v 0.40151515 -0.01554476 0.00909844
+v 0.26515151 -0.18900069 0.00909844
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 5 1 4
+f 6 4 3
+f 6 5 4
+f 7 6 3
+f 7 3 2
+f 7 2 6
+f 8 6 2
+f 8 2 5
+f 8 5 6
\ No newline at end of file
diff --git a/objects/objaverse/boxed_food/boxed_food_0/collision/model_normalized_collision_24.obj b/objects/objaverse/boxed_food/boxed_food_0/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..36a93f4dcd336059222783cfd74153e0b712cbff
--- /dev/null
+++ b/objects/objaverse/boxed_food/boxed_food_0/collision/model_normalized_collision_24.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.40151515 -0.18900069 0.00909844
+v 0.40151515 -0.18900069 -0.14241671
+v 0.40151515 -0.01554476 0.00909844
+v 0.26515151 -0.01554476 0.00909844
+v 0.26515151 -0.18900069 0.00909844
+v 0.26515151 -0.01554476 -0.14241671
+v 0.40151515 -0.01554476 -0.14241671
+v 0.26515151 -0.18900069 -0.14241671
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 5 1 4
+f 6 4 3
+f 6 5 4
+f 7 6 3
+f 7 3 2
+f 7 2 6
+f 8 6 2
+f 8 2 5
+f 8 5 6
\ No newline at end of file
diff --git a/objects/objaverse/boxed_food/boxed_food_0/collision/model_normalized_collision_25.obj b/objects/objaverse/boxed_food/boxed_food_0/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d24b64fb9a6f6dad788c8fcb3bdd5e50efc0826
--- /dev/null
+++ b/objects/objaverse/boxed_food/boxed_food_0/collision/model_normalized_collision_25.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.48644477 -0.18453321 0.28794899
+v 0.49553252 -0.18453321 0.25152268
+v 0.49999999 -0.13214551 0.25152268
+v 0.45929688 -0.12160536 0.28850527
+v 0.46212121 -0.18900069 0.25152268
+v 0.49008972 -0.13214551 0.29114986
+v 0.48882129 -0.17551572 0.29032548
+v 0.46212121 -0.18900069 0.28182570
+v 0.48393580 -0.12160536 0.25879505
+v 0.49039486 -0.18453321 0.27609873
+v 0.46087673 -0.18555368 0.29324379
+f 5 3 2
+f 7 2 3
+f 7 3 6
+f 8 5 2
+f 9 5 4
+f 9 3 5
+f 9 6 3
+f 9 4 6
+f 10 7 1
+f 10 2 7
+f 10 8 2
+f 10 1 8
+f 11 7 6
+f 11 6 4
+f 11 4 5
+f 11 5 8
+f 11 8 1
+f 11 1 7
\ No newline at end of file
diff --git a/objects/objaverse/boxed_food/boxed_food_0/collision/model_normalized_collision_26.obj b/objects/objaverse/boxed_food/boxed_food_0/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9ebd40618f015a6b915fdcd94ede47888ae04b77
--- /dev/null
+++ b/objects/objaverse/boxed_food/boxed_food_0/collision/model_normalized_collision_26.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.26515151 -0.18900069 0.17576510
+v 0.26515151 -0.18900069 0.00909844
+v 0.26515151 -0.01554476 0.00909844
+v 0.00757576 -0.01554476 0.17576510
+v 0.00757576 -0.18900069 0.17576510
+v 0.26515151 -0.01554476 0.17576510
+v 0.00757576 -0.18900069 0.00909844
+v 0.00757576 -0.01554476 0.00909844
+f 1 2 3
+f 5 2 1
+f 5 1 4
+f 6 1 3
+f 6 3 4
+f 6 4 1
+f 7 3 2
+f 7 2 5
+f 8 4 3
+f 8 3 7
+f 8 7 5
+f 8 5 4
\ No newline at end of file
diff --git a/objects/objaverse/boxed_food/boxed_food_0/collision/model_normalized_collision_27.obj b/objects/objaverse/boxed_food/boxed_food_0/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3911c88a6c3e225c286de540b49024dffe2e8e67
--- /dev/null
+++ b/objects/objaverse/boxed_food/boxed_food_0/collision/model_normalized_collision_27.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.26515151 -0.18900069 0.00909844
+v 0.26515151 -0.18900069 -0.14241671
+v 0.26515151 -0.01554476 -0.14241671
+v 0.00757576 -0.01554476 0.00909844
+v 0.00757576 -0.18900069 0.00909844
+v 0.00757576 -0.18900069 -0.14241671
+v 0.26515151 -0.01554476 0.00909844
+v 0.00757576 -0.01554476 -0.14241671
+f 1 2 3
+f 5 2 1
+f 5 1 4
+f 6 3 2
+f 6 2 5
+f 7 1 3
+f 7 3 4
+f 7 4 1
+f 8 4 3
+f 8 3 6
+f 8 6 5
+f 8 5 4
\ No newline at end of file
diff --git a/objects/objaverse/boxed_food/boxed_food_0/collision/model_normalized_collision_28.obj b/objects/objaverse/boxed_food/boxed_food_0/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f43d6a0a463300090eedc4514d523b999e234efb
--- /dev/null
+++ b/objects/objaverse/boxed_food/boxed_food_0/collision/model_normalized_collision_28.obj
@@ -0,0 +1,18 @@
+# https://github.com/mikedh/trimesh
+v 0.47588089 -0.18074418 0.29280171
+v 0.47179006 -0.17643173 0.29568068
+v 0.46209298 -0.18218167 0.29689255
+v 0.45929688 -0.12160536 0.28850527
+v 0.47689502 -0.13214551 0.29584412
+v 0.45990466 -0.13214551 0.30150756
+v 0.45954520 -0.17779018 0.29928493
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 5 1 4
+f 6 2 5
+f 6 5 4
+f 7 3 2
+f 7 2 6
+f 7 6 4
+f 7 4 3
\ No newline at end of file
diff --git a/objects/objaverse/boxed_food/boxed_food_0/collision/model_normalized_collision_29.obj b/objects/objaverse/boxed_food/boxed_food_0/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..21a5620b72a1c98fc9df45a8a0604b746bac44c4
--- /dev/null
+++ b/objects/objaverse/boxed_food/boxed_food_0/collision/model_normalized_collision_29.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.47293292 -0.01554476 0.28395938
+v 0.48589824 -0.01554476 0.00909844
+v 0.47787499 0.18826064 0.27697539
+v 0.26515151 0.18826064 0.29300381
+v 0.26515151 -0.01554476 0.00909844
+v 0.47293292 0.18826064 0.28395938
+v 0.47787499 -0.01554476 0.27697539
+v 0.26515151 -0.01554476 0.29300381
+v 0.26515105 0.18860297 0.00908766
+v 0.48589824 0.18826064 0.00909844
+f 6 1 3
+f 6 4 1
+f 7 2 3
+f 7 3 1
+f 8 1 4
+f 8 5 2
+f 8 7 1
+f 8 2 7
+f 9 2 5
+f 9 6 3
+f 9 4 6
+f 9 8 4
+f 9 5 8
+f 10 9 3
+f 10 3 2
+f 10 2 9
\ No newline at end of file
diff --git a/objects/objaverse/boxed_food/boxed_food_0/collision/model_normalized_collision_3.obj b/objects/objaverse/boxed_food/boxed_food_0/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..91f589471b8af74d4a42453377106647b7182a4a
--- /dev/null
+++ b/objects/objaverse/boxed_food/boxed_food_0/collision/model_normalized_collision_3.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.35606059 -0.18900069 0.17576510
+v -0.35606059 -0.18900069 -0.14241671
+v -0.35606059 -0.12160536 0.17576510
+v -0.49999999 -0.13214551 0.17576510
+v -0.49552913 -0.18453321 -0.14241671
+v -0.49552913 -0.18453321 0.17576510
+v -0.35606059 -0.12160536 -0.14241671
+v -0.49999999 -0.13214551 -0.14241671
+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/boxed_food/boxed_food_0/collision/model_normalized_collision_30.obj b/objects/objaverse/boxed_food/boxed_food_0/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed75ef25ca52f384ee9ba01bc8da0639924b0b21
--- /dev/null
+++ b/objects/objaverse/boxed_food/boxed_food_0/collision/model_normalized_collision_30.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.40151515 -0.18900069 -0.14241671
+v 0.40151515 -0.18453321 -0.29703671
+v 0.40151515 -0.12160536 -0.14241671
+v -0.09848484 -0.12160536 -0.14241671
+v -0.09848484 -0.18900069 -0.14241671
+v 0.26515151 -0.13214551 -0.30150762
+v 0.40151515 -0.13214551 -0.30150762
+v -0.09848484 -0.13214551 -0.30150762
+v -0.09848484 -0.18453321 -0.29703671
+f 1 2 3
+f 5 1 3
+f 5 3 4
+f 6 4 3
+f 7 6 3
+f 7 3 2
+f 7 2 6
+f 8 5 4
+f 8 4 6
+f 8 6 2
+f 9 8 2
+f 9 5 8
+f 9 2 1
+f 9 1 5
\ No newline at end of file
diff --git a/objects/objaverse/boxed_food/boxed_food_0/collision/model_normalized_collision_31.obj b/objects/objaverse/boxed_food/boxed_food_0/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f79d37f2207b133f3340a9c632a1ed8a4b379502
--- /dev/null
+++ b/objects/objaverse/boxed_food/boxed_food_0/collision/model_normalized_collision_31.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.48589824 -0.01554476 0.00909844
+v 0.47587353 -0.01554476 -0.28297911
+v 0.47587353 0.18826064 -0.28297911
+v 0.26515105 0.18860297 0.00908766
+v 0.26515151 -0.01554476 0.00909844
+v 0.26515151 -0.01554476 -0.29300038
+v 0.48589824 0.18826064 0.00909844
+v 0.26515151 0.18900069 -0.29300038
+f 1 2 3
+f 6 3 2
+f 6 5 4
+f 6 2 1
+f 6 1 5
+f 7 1 3
+f 7 5 1
+f 7 4 5
+f 8 6 4
+f 8 3 6
+f 8 7 3
+f 8 4 7
\ No newline at end of file
diff --git a/objects/objaverse/boxed_food/boxed_food_0/collision/model_normalized_collision_4.obj b/objects/objaverse/boxed_food/boxed_food_0/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d1c0c56c97cba3a208180948a1aa8545c4b7bd21
--- /dev/null
+++ b/objects/objaverse/boxed_food/boxed_food_0/collision/model_normalized_collision_4.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.41666665 -0.18453321 0.29703670
+v -0.41666665 -0.18900069 0.25152268
+v -0.41666665 -0.12160536 0.29300381
+v -0.48393410 -0.12160536 0.25879199
+v -0.46212120 -0.18900069 0.25152268
+v -0.45990465 -0.13214551 0.30150756
+v -0.41666665 -0.13214551 0.30150756
+v -0.45917819 -0.18453321 0.29703670
+f 1 2 3
+f 3 2 4
+f 5 4 2
+f 6 3 4
+f 7 6 1
+f 7 1 3
+f 7 3 6
+f 8 1 6
+f 8 5 2
+f 8 2 1
+f 8 6 4
+f 8 4 5
\ No newline at end of file
diff --git a/objects/objaverse/boxed_food/boxed_food_0/collision/model_normalized_collision_5.obj b/objects/objaverse/boxed_food/boxed_food_0/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8a1936dc8fb1d8a4f6d2d567e91d68b943869a10
--- /dev/null
+++ b/objects/objaverse/boxed_food/boxed_food_0/collision/model_normalized_collision_5.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.35606059 -0.12160536 0.29300381
+v -0.35606059 -0.12160536 -0.14241671
+v -0.35606059 -0.01554476 0.29300381
+v -0.47293332 -0.01554476 0.28395914
+v -0.49311769 -0.13214551 0.28205688
+v -0.35606059 -0.01554476 -0.14241671
+v -0.47689479 -0.13214551 0.29584356
+v -0.48589484 -0.01554476 -0.14241671
+v -0.47787390 -0.01554476 0.27697670
+v -0.48589484 -0.12160536 -0.14241671
+f 1 2 3
+f 6 3 2
+f 6 4 3
+f 7 1 3
+f 7 3 4
+f 7 4 5
+f 7 5 2
+f 7 2 1
+f 8 4 6
+f 8 6 2
+f 9 8 5
+f 9 5 4
+f 9 4 8
+f 10 8 2
+f 10 2 5
+f 10 5 8
\ No newline at end of file
diff --git a/objects/objaverse/boxed_food/boxed_food_0/collision/model_normalized_collision_6.obj b/objects/objaverse/boxed_food/boxed_food_0/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6cf4d0a4b8965191a8f1aca3176cbbc0eacdecc5
--- /dev/null
+++ b/objects/objaverse/boxed_food/boxed_food_0/collision/model_normalized_collision_6.obj
@@ -0,0 +1,18 @@
+# https://github.com/mikedh/trimesh
+v -0.46209272 -0.18218139 0.29689179
+v -0.45954354 -0.17778952 0.29928516
+v -0.47689479 -0.13214551 0.29584356
+v -0.45929698 -0.12160536 0.28850462
+v -0.45990465 -0.13214551 0.30150756
+v -0.47588069 -0.18074364 0.29280115
+v -0.47178936 -0.17643148 0.29568049
+f 2 1 4
+f 5 2 4
+f 5 4 3
+f 6 3 4
+f 6 4 1
+f 6 1 2
+f 7 5 3
+f 7 2 5
+f 7 6 2
+f 7 3 6
\ No newline at end of file
diff --git a/objects/objaverse/boxed_food/boxed_food_0/collision/model_normalized_collision_7.obj b/objects/objaverse/boxed_food/boxed_food_0/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6bef34fac4e87a9476160cfea022debe0ba696e5
--- /dev/null
+++ b/objects/objaverse/boxed_food/boxed_food_0/collision/model_normalized_collision_7.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.46087669 -0.18555336 0.29324369
+v -0.46212120 -0.18900069 0.25152268
+v -0.45929698 -0.12160536 0.28850462
+v -0.48393410 -0.12160536 0.25879199
+v -0.49552913 -0.18453321 0.25152268
+v -0.48644137 -0.18453321 0.28794899
+v -0.49999999 -0.13214551 0.25152268
+v -0.49039180 -0.18453321 0.27609771
+v -0.49008728 -0.13214551 0.29114708
+v -0.48881810 -0.17551494 0.29032569
+f 1 2 3
+f 3 2 4
+f 6 2 1
+f 7 4 2
+f 7 2 5
+f 8 5 2
+f 8 2 6
+f 9 1 3
+f 9 3 4
+f 9 4 7
+f 10 7 5
+f 10 5 8
+f 10 9 7
+f 10 8 6
+f 10 6 1
+f 10 1 9
\ No newline at end of file
diff --git a/objects/objaverse/boxed_food/boxed_food_0/collision/model_normalized_collision_8.obj b/objects/objaverse/boxed_food/boxed_food_0/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c556f07d321bc83d8e450675f786cebe11094d25
--- /dev/null
+++ b/objects/objaverse/boxed_food/boxed_food_0/collision/model_normalized_collision_8.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.26515151 -0.12160536 -0.14241671
+v 0.26515151 -0.12160536 -0.29300038
+v 0.26515151 -0.01554476 -0.14241671
+v 0.00757576 -0.01554476 -0.14241671
+v 0.00757576 -0.12160536 -0.29300038
+v 0.00757576 -0.12160536 -0.14241671
+v 0.26515151 -0.01554476 -0.29300038
+v 0.00757576 -0.01554476 -0.29300038
+f 1 2 3
+f 1 3 4
+f 6 1 4
+f 6 4 5
+f 6 5 2
+f 6 2 1
+f 7 3 2
+f 7 2 5
+f 7 4 3
+f 8 7 5
+f 8 5 4
+f 8 4 7
\ No newline at end of file
diff --git a/objects/objaverse/boxed_food/boxed_food_0/collision/model_normalized_collision_9.obj b/objects/objaverse/boxed_food/boxed_food_0/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9374b0817cf52a463d49d41dd8a71f06731ce8c7
--- /dev/null
+++ b/objects/objaverse/boxed_food/boxed_food_0/collision/model_normalized_collision_9.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.09848484 -0.12160536 0.29300381
+v -0.09848484 -0.12160536 0.17576510
+v -0.09848484 -0.01554476 0.29300381
+v -0.35606059 -0.01554476 0.29300381
+v -0.35606059 -0.12160536 0.29300381
+v -0.35606059 -0.01554476 0.17576510
+v -0.09848484 -0.01554476 0.17576510
+v -0.35606059 -0.12160536 0.17576510
+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 2 6
+f 7 1 2
+f 7 3 1
+f 8 6 2
+f 8 2 5
+f 8 5 6
\ No newline at end of file
diff --git a/objects/objaverse/boxed_food/boxed_food_0/model.xml b/objects/objaverse/boxed_food/boxed_food_0/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..4c7e5b7933935774e87f9eebb0d01c6e96d48d06
--- /dev/null
+++ b/objects/objaverse/boxed_food/boxed_food_0/model.xml
@@ -0,0 +1,81 @@
+<mujoco model="boxed_food_19">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.11999999999999995 0.11999999999999995 0.11999999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.11999999999999995 0.11999999999999995 0.11999999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.11999999999999995 0.11999999999999995 0.11999999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.11999999999999995 0.11999999999999995 0.11999999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.11999999999999995 0.11999999999999995 0.11999999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.11999999999999995 0.11999999999999995 0.11999999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.11999999999999995 0.11999999999999995 0.11999999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.11999999999999995 0.11999999999999995 0.11999999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.11999999999999995 0.11999999999999995 0.11999999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.11999999999999995 0.11999999999999995 0.11999999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.11999999999999995 0.11999999999999995 0.11999999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.11999999999999995 0.11999999999999995 0.11999999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.11999999999999995 0.11999999999999995 0.11999999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.11999999999999995 0.11999999999999995 0.11999999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.11999999999999995 0.11999999999999995 0.11999999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.11999999999999995 0.11999999999999995 0.11999999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.11999999999999995 0.11999999999999995 0.11999999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.11999999999999995 0.11999999999999995 0.11999999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.11999999999999995 0.11999999999999995 0.11999999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.11999999999999995 0.11999999999999995 0.11999999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.11999999999999995 0.11999999999999995 0.11999999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.11999999999999995 0.11999999999999995 0.11999999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.11999999999999995 0.11999999999999995 0.11999999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.11999999999999995 0.11999999999999995 0.11999999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.11999999999999995 0.11999999999999995 0.11999999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.11999999999999995 0.11999999999999995 0.11999999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.11999999999999995 0.11999999999999995 0.11999999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.11999999999999995 0.11999999999999995 0.11999999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.11999999999999995 0.11999999999999995 0.11999999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.11999999999999995 0.11999999999999995 0.11999999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.11999999999999995 0.11999999999999995 0.11999999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.11999999999999995 0.11999999999999995 0.11999999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.11999999999999995 0.11999999999999995 0.11999999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="auto" texture="image0" specular="0.5" shininess="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="auto"/>
+        <geom solimp="0.998 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"/>
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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="0.0 0.0 -0.036180914399999986" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.0 0.0 0.03618090719999999" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.02268008279999999 0.059999998799999975 -3.5999999981051174e-09" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/objects/objaverse/boxed_food/boxed_food_0/visual/material.mtl b/objects/objaverse/boxed_food/boxed_food_0/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..427d89a0978ac8386623d514566658cda383bc98
--- /dev/null
+++ b/objects/objaverse/boxed_food/boxed_food_0/visual/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 1000.00000000
+map_Kd material_0.jpeg
\ No newline at end of file
diff --git a/objects/objaverse/boxed_food/boxed_food_0/visual/model_normalized_0.obj b/objects/objaverse/boxed_food/boxed_food_0/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..49a38a41fc49b6e51df830458a0da06890ed63b4
--- /dev/null
+++ b/objects/objaverse/boxed_food/boxed_food_0/visual/model_normalized_0.obj
@@ -0,0 +1,635 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/objects/objaverse/boxed_food/boxed_food_11/collision/model_normalized_collision_0.obj b/objects/objaverse/boxed_food/boxed_food_11/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d35cbb5862ed0f3b8437107315b3934184730532
--- /dev/null
+++ b/objects/objaverse/boxed_food/boxed_food_11/collision/model_normalized_collision_0.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/objects/objaverse/boxed_food/boxed_food_11/model.xml b/objects/objaverse/boxed_food/boxed_food_11/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..4c4d6096c635e45c8a7472bb3c0e843b4e2afda9
--- /dev/null
+++ b/objects/objaverse/boxed_food/boxed_food_11/model.xml
@@ -0,0 +1,18 @@
+<mujoco model="boxed_food_16">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.10999999999999996 0.10999999999999996 0.10999999999999996" refquat="-2.220446049250313e-16 0.0 0.0 1.0" />
+    <texture type="2d" name="image0" file="visual/image0.png" />
+    <material name="Material.178" 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.178" />
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" group="0" rgba="0.8 0.8 0.8 0.0" size="0.018333328214496722 0.045833330436240584 0.05499999999999998" pos="0.0 0.0 0.0" />
+      </body>
+      <site rgba="0 0 0 0" size="0.005" pos="0.0 0.0 -0.05499999999999998" name="bottom_site" />
+      <site rgba="0 0 0 0" size="0.005" pos="0.0 0.0 0.05499999999999998" name="top_site" />
+      <site rgba="0 0 0 0" size="0.005" pos="0.018333328214496722 0.045833330436240584 0.0" name="horizontal_radius_site" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/objects/objaverse/boxed_food/boxed_food_11/visual/material.mtl b/objects/objaverse/boxed_food/boxed_food_11/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..33616803300962094e8955deb30562079542847b
--- /dev/null
+++ b/objects/objaverse/boxed_food/boxed_food_11/visual/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 250.00000000
+map_Kd material_0.jpeg
\ No newline at end of file
diff --git a/objects/objaverse/boxed_food/boxed_food_11/visual/model_normalized_0.obj b/objects/objaverse/boxed_food/boxed_food_11/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..280e1f029bddea7bc8b8dd6067d1b67cc5e9a240
--- /dev/null
+++ b/objects/objaverse/boxed_food/boxed_food_11/visual/model_normalized_0.obj
@@ -0,0 +1,3567 @@
+# 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/boxed_food/boxed_food_2/collision/model_normalized_collision_0.obj b/objects/objaverse/boxed_food/boxed_food_2/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e1cc861b796f4859c8ca3c03bc104e76b66f6c4b
--- /dev/null
+++ b/objects/objaverse/boxed_food/boxed_food_2/collision/model_normalized_collision_0.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.29497896 -0.10542603 0.50000000
+v 0.29497896 -0.10542617 -0.50000000
+v 0.29497896 0.10542617 0.50000000
+v -0.29497896 0.10542617 0.50000000
+v -0.29497896 -0.10542603 0.50000000
+v -0.29497896 0.10542603 -0.50000000
+v 0.29497896 0.10542603 -0.50000000
+v -0.29497896 -0.10542617 -0.50000000
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 5 1 4
+f 6 4 3
+f 6 5 4
+f 7 6 3
+f 7 3 2
+f 7 2 6
+f 8 6 2
+f 8 2 5
+f 8 5 6
\ No newline at end of file
diff --git a/objects/objaverse/boxed_food/boxed_food_2/model.xml b/objects/objaverse/boxed_food/boxed_food_2/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..b597b1e4ab9ab2558f2edbfb4c8c44f46922fde8
--- /dev/null
+++ b/objects/objaverse/boxed_food/boxed_food_2/model.xml
@@ -0,0 +1,18 @@
+<mujoco model="boxed_food_8">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476" />
+    <texture type="2d" name="image0" file="visual/image0.png" />
+    <material name="Box003_mtl" texture="image0" specular="0.5" shininess="0.359999993" />
+  </asset>
+  <worldbody>
+    <body>
+      <body name="object">
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_0_vis" conaffinity="0" contype="0" group="1" material="Box003_mtl" />
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" group="0" rgba="0.8 0.8 0.8 0.0" size="0.015813925499999996 0.044246843999999994 0.07499999999999998" pos="0.0 0.0 0.0" />
+      </body>
+      <site rgba="0 0 0 0" size="0.005" pos="0.0 0.0 -0.07499999999999998" name="bottom_site" />
+      <site rgba="0 0 0 0" size="0.005" pos="0.0 0.0 0.07499999999999998" name="top_site" />
+      <site rgba="0 0 0 0" size="0.005" pos="0.015813925499999996 0.044246843999999994 0.0" name="horizontal_radius_site" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/objects/objaverse/boxed_food/boxed_food_2/visual/material.mtl b/objects/objaverse/boxed_food/boxed_food_2/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..842b70538fc6029daec10eabd1278717f12035ab
--- /dev/null
+++ b/objects/objaverse/boxed_food/boxed_food_2/visual/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 359.99999300
+map_Kd material_0.jpeg
\ No newline at end of file
diff --git a/objects/objaverse/boxed_food/boxed_food_2/visual/model_normalized_0.obj b/objects/objaverse/boxed_food/boxed_food_2/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4ff448ca9d504f07f8a9ccad6af55743402d1d5b
--- /dev/null
+++ b/objects/objaverse/boxed_food/boxed_food_2/visual/model_normalized_0.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
+v -0.29497896 -0.10542617 -0.50000000
+v -0.29497896 0.10542603 -0.50000000
+v 0.29497896 0.10542603 -0.50000000
+v 0.29497896 -0.10542617 -0.50000000
+v -0.29497896 -0.10542603 0.50000000
+v 0.29497896 -0.10542603 0.50000000
+v 0.29497896 0.10542617 0.50000000
+v -0.29497896 0.10542617 0.50000000
+v -0.29497896 -0.10542617 -0.50000000
+v 0.29497896 -0.10542617 -0.50000000
+v 0.29497896 -0.10542603 0.50000000
+v -0.29497896 -0.10542603 0.50000000
+v 0.29497896 -0.10542617 -0.50000000
+v 0.29497896 0.10542603 -0.50000000
+v 0.29497896 0.10542617 0.50000000
+v 0.29497896 -0.10542603 0.50000000
+v 0.29497896 0.10542603 -0.50000000
+v -0.29497896 0.10542603 -0.50000000
+v -0.29497896 0.10542617 0.50000000
+v 0.29497896 0.10542617 0.50000000
+v -0.29497896 0.10542603 -0.50000000
+v -0.29497896 -0.10542617 -0.50000000
+v -0.29497896 -0.10542603 0.50000000
+v -0.29497896 0.10542617 0.50000000
+vn 0.00000000 0.00000000 -1.00000000
+vn 0.00000000 0.00000000 -1.00000000
+vn 0.00000000 0.00000000 -1.00000000
+vn 0.00000000 0.00000000 -1.00000000
+vn 0.00000000 0.00000000 1.00000000
+vn 0.00000000 0.00000000 1.00000000
+vn 0.00000000 0.00000000 1.00000000
+vn 0.00000000 0.00000000 1.00000000
+vn 0.00000000 -1.00000000 0.00000000
+vn 0.00000000 -1.00000000 0.00000000
+vn 0.00000000 -1.00000000 0.00000000
+vn 0.00000000 -1.00000000 0.00000000
+vn 1.00000000 0.00000000 0.00000000
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+vn 0.00000000 1.00000000 0.00000000
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+vn 0.00000000 1.00000000 0.00000000
+vn -1.00000000 0.00000000 0.00000000
+vn -1.00000000 0.00000000 0.00000000
+vn -1.00000000 0.00000000 0.00000000
+vn -1.00000000 0.00000000 0.00000000
+vt 0.50223700 0.85138800
+vt 0.50223700 0.99442100
+vt 0.86433500 0.99442100
+vt 0.86433500 0.85138800
+vt 0.86720900 0.00206800
+vt 0.49838100 0.00206800
+vt 0.49838100 0.14235100
+vt 0.86720900 0.14235100
+vt 0.50381100 0.84583000
+vt 0.86800200 0.84583000
+vt 0.86800200 0.14440700
+vt 0.50381100 0.14440700
+vt 0.87265400 0.84604400
+vt 0.99608900 0.84604400
+vt 0.99608900 0.14536100
+vt 0.87265400 0.14536100
+vt 0.00515300 0.84449000
+vt 0.36791700 0.84449000
+vt 0.36791700 0.14301100
+vt 0.00515300 0.14301100
+vt 0.36958500 0.84606700
+vt 0.49680900 0.84606700
+vt 0.49680900 0.14543400
+vt 0.36958500 0.14543400
+f 1/1/1 2/2/2 3/3/3
+f 1/1/1 3/3/3 4/4/4
+f 5/5/5 6/6/6 7/7/7
+f 5/5/5 7/7/7 8/8/8
+f 9/9/9 10/10/10 11/11/11
+f 9/9/9 11/11/11 12/12/12
+f 13/13/13 14/14/14 15/15/15
+f 13/13/13 15/15/15 16/16/16
+f 17/17/17 18/18/18 19/19/19
+f 17/17/17 19/19/19 20/20/20
+f 21/21/21 22/22/22 23/23/23
+f 21/21/21 23/23/23 24/24/24
\ No newline at end of file
diff --git a/objects/objaverse/boxed_food/boxed_food_4/collision/model_normalized_collision_0.obj b/objects/objaverse/boxed_food/boxed_food_4/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6cb8ecfa8b704a09cc9ebb6bf0a0c07aa9486356
--- /dev/null
+++ b/objects/objaverse/boxed_food/boxed_food_4/collision/model_normalized_collision_0.obj
@@ -0,0 +1,105 @@
+# https://github.com/mikedh/trimesh
+v -0.11383679 -0.07248843 0.48128951
+v -0.11251491 -0.07604955 0.26538422
+v -0.11978413 0.14335341 0.34071947
+v -0.16367808 0.15085467 0.48918038
+v -0.25791563 -0.00080081 0.48567845
+v -0.11684874 0.12278734 0.49103476
+v -0.24518225 -0.02207147 0.46292247
+v -0.25344677 -0.00826525 0.26511490
+v -0.12207998 0.13965424 0.48457986
+v -0.24421437 -0.00007077 0.49171209
+v -0.11671244 0.07952218 0.26515151
+v -0.17059047 -0.05382311 0.48106998
+v -0.25183513 -0.01395169 0.32512217
+v -0.21821159 0.10839776 0.34132066
+v -0.14801227 0.13923435 0.49138108
+v -0.11690888 0.04974934 0.49212201
+v -0.21770389 0.10781650 0.49277510
+v -0.19986131 -0.03962343 0.26508836
+v -0.12606332 -0.06981549 0.48057153
+v -0.24372584 -0.02221444 0.48738196
+v -0.22582308 0.08525365 0.26537273
+v -0.16245636 0.15380207 0.34093758
+v -0.13212275 0.03493493 0.49169719
+v -0.16258330 0.13814953 0.49242056
+v -0.24786359 0.02109972 0.49015827
+v -0.25075158 0.02798770 0.48671650
+v -0.12556525 -0.07096571 0.26529378
+v -0.24256309 0.03104673 0.26496232
+v -0.23017672 -0.02546397 0.26544555
+v -0.16912947 -0.05340259 0.32548787
+v -0.22254069 0.00431833 0.49164467
+v -0.22409235 0.09022826 0.49242693
+v -0.22191613 0.10373099 0.48948366
+v -0.25252077 -0.00226781 0.26569784
+v -0.25145239 0.02596491 0.48264870
+v -0.25174105 -0.01384248 0.31082820
+f 6 1 2
+f 9 6 3
+f 9 3 4
+f 11 6 2
+f 11 3 6
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+f 13 5 8
+f 15 9 4
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+f 16 1 6
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+f 26 14 21
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+f 27 11 2
+f 27 2 12
+f 28 18 8
+f 28 11 18
+f 28 21 11
+f 29 8 18
+f 29 18 7
+f 30 12 7
+f 30 7 18
+f 30 27 12
+f 30 18 27
+f 31 23 16
+f 31 16 10
+f 31 10 1
+f 31 1 23
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+f 32 10 17
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+f 32 17 26
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+f 33 14 26
+f 34 8 5
+f 34 28 8
+f 35 26 21
+f 35 21 28
+f 35 28 34
+f 35 34 5
+f 35 5 26
+f 36 13 8
+f 36 8 29
+f 36 29 7
+f 36 7 13
\ No newline at end of file
diff --git a/objects/objaverse/boxed_food/boxed_food_4/collision/model_normalized_collision_10.obj b/objects/objaverse/boxed_food/boxed_food_4/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ff71042f328b7917e19ee726eb2c55dc56a3979d
--- /dev/null
+++ b/objects/objaverse/boxed_food/boxed_food_4/collision/model_normalized_collision_10.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.00847301 -0.11914201 0.47507616
+v 0.00915320 -0.11887683 0.26535015
+v -0.00022192 0.11048571 0.26460491
+v -0.07314731 0.12072420 0.48562412
+v -0.11251491 -0.07604955 0.26538422
+v -0.00059550 0.09618384 0.48467001
+v -0.04904021 -0.09948970 0.28096066
+v -0.11383679 -0.07248843 0.48128951
+v -0.08105542 -0.08780396 0.26532676
+v -0.10441731 0.14107359 0.26661318
+v -0.01690632 0.10675736 0.44553240
+v -0.04976959 -0.09912070 0.44632428
+v -0.11706912 0.09544789 0.49364585
+v -0.00460298 -0.11432102 0.26547427
+v -0.04141617 0.12339994 0.26510460
+v -0.00181431 0.10628864 0.37021196
+v -0.07154397 0.12414097 0.46205759
+v -0.08143233 -0.08643528 0.47853876
+v -0.02687420 0.07774189 0.49193940
+v -0.11690888 0.04974934 0.49212201
+v -0.03246613 0.10789422 0.48343085
+v -0.00372055 -0.11495314 0.47610173
+v -0.02642687 0.09409285 0.48864032
+v 0.00668766 -0.11116484 0.48471547
+v -0.03263835 -0.10351640 0.47890388
+f 1 2 3
+f 6 1 3
+f 9 5 3
+f 9 3 2
+f 12 5 9
+f 12 9 7
+f 13 4 10
+f 13 10 5
+f 14 9 2
+f 14 7 9
+f 14 2 1
+f 14 1 7
+f 15 3 5
+f 15 5 10
+f 16 11 6
+f 16 6 3
+f 17 11 16
+f 17 16 3
+f 17 3 15
+f 17 15 10
+f 17 10 4
+f 18 8 5
+f 18 5 12
+f 20 13 5
+f 20 5 8
+f 20 19 13
+f 21 17 4
+f 21 4 6
+f 21 6 11
+f 21 11 17
+f 22 18 12
+f 22 12 7
+f 22 7 1
+f 23 19 6
+f 23 6 4
+f 23 4 13
+f 23 13 19
+f 24 1 6
+f 24 6 19
+f 24 22 1
+f 24 19 20
+f 24 20 8
+f 25 24 8
+f 25 8 18
+f 25 18 22
+f 25 22 24
\ No newline at end of file
diff --git a/objects/objaverse/boxed_food/boxed_food_4/collision/model_normalized_collision_12.obj b/objects/objaverse/boxed_food/boxed_food_4/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef95bd64c5d16f1000359ad6f911e2a28932f920
--- /dev/null
+++ b/objects/objaverse/boxed_food/boxed_food_4/collision/model_normalized_collision_12.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v -0.16263792 0.10986850 0.49535241
+v -0.15330529 0.16117914 -0.23615727
+v -0.16656123 0.15471304 0.48452971
+v -0.19984857 0.15925520 0.49259632
+v -0.22544531 0.10523242 -0.35573733
+v -0.17769868 0.16684405 -0.35636581
+v -0.16576037 0.14878257 0.49167333
+v -0.21770389 0.10781650 0.49277510
+v -0.20142726 0.16694578 -0.35600669
+v -0.18449940 0.15701768 0.49154911
+v -0.22420363 0.10464180 -0.20475160
+v -0.20829156 0.13591269 0.49240489
+v -0.21695088 0.12644319 -0.35928337
+v -0.22070717 0.11972142 -0.35704589
+v -0.20918731 0.14900737 -0.35503762
+v -0.20449137 0.14893534 0.40249264
+f 5 2 1
+f 6 3 2
+f 6 4 3
+f 6 2 5
+f 7 4 1
+f 7 1 2
+f 7 2 3
+f 8 1 4
+f 9 4 6
+f 10 7 3
+f 10 3 4
+f 10 4 7
+f 11 8 5
+f 11 5 1
+f 11 1 8
+f 12 8 4
+f 13 9 6
+f 13 6 5
+f 14 5 8
+f 14 8 12
+f 14 13 5
+f 14 9 13
+f 15 4 9
+f 15 9 14
+f 16 14 12
+f 16 12 4
+f 16 15 14
+f 16 4 15
\ No newline at end of file
diff --git a/objects/objaverse/boxed_food/boxed_food_4/collision/model_normalized_collision_13.obj b/objects/objaverse/boxed_food/boxed_food_4/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d00469bdeb8f6330559340613b1e00cd80635850
--- /dev/null
+++ b/objects/objaverse/boxed_food/boxed_food_4/collision/model_normalized_collision_13.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v 0.19406383 -0.17234673 0.48496895
+v 0.23899750 -0.03899674 0.00749500
+v 0.24157121 -0.03944068 0.49855215
+v 0.08105769 -0.04074580 0.49213404
+v 0.08343412 -0.13585167 0.00794697
+v 0.21583870 -0.11009220 0.49541991
+v 0.22989646 -0.06595382 0.00721919
+v 0.08662441 -0.14497899 0.47544675
+v 0.08025725 -0.04168993 0.00757575
+v 0.20057931 -0.15515067 0.48826155
+v 0.19545122 -0.15738940 0.00754337
+v 0.13141952 -0.15985349 0.44739614
+v 0.08320627 -0.13900351 0.48364705
+v 0.23219003 -0.06628927 0.49692531
+v 0.21377827 -0.11076243 0.00690378
+v 0.08562441 -0.14474439 0.37162660
+v 0.14525818 -0.16382145 0.47976122
+v 0.08110284 -0.05594749 0.49128032
+v 0.18754380 -0.14640125 0.48956959
+v 0.20184335 -0.14222390 0.00753350
+v 0.13184622 -0.16036875 0.47521157
+v 0.10142583 -0.14537945 0.48341455
+v 0.18768482 -0.16273463 0.02453371
+v 0.12673748 -0.10102808 0.49077044
+v 0.19171449 -0.16126505 0.02349175
+v 0.12921999 -0.14764228 0.00801707
+v 0.11488132 -0.14481669 0.03847472
+f 3 2 4
+f 6 3 4
+f 7 2 3
+f 9 4 2
+f 9 2 7
+f 13 9 5
+f 14 3 6
+f 14 6 10
+f 14 10 7
+f 14 7 3
+f 15 9 7
+f 15 7 10
+f 15 10 1
+f 15 11 5
+f 15 5 9
+f 16 5 12
+f 16 13 5
+f 16 8 13
+f 17 13 8
+f 18 4 9
+f 18 9 13
+f 18 6 4
+f 19 13 1
+f 19 1 10
+f 19 10 6
+f 20 15 1
+f 20 1 11
+f 20 11 15
+f 21 16 12
+f 21 8 16
+f 21 17 8
+f 21 12 17
+f 22 17 1
+f 22 1 13
+f 22 13 17
+f 23 1 17
+f 23 17 12
+f 24 18 13
+f 24 6 18
+f 24 19 6
+f 24 13 19
+f 25 23 11
+f 25 11 1
+f 25 1 23
+f 26 5 11
+f 26 11 23
+f 26 23 12
+f 27 26 12
+f 27 12 5
+f 27 5 26
\ No newline at end of file
diff --git a/objects/objaverse/boxed_food/boxed_food_4/collision/model_normalized_collision_14.obj b/objects/objaverse/boxed_food/boxed_food_4/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..68e686c2cfd13d91cdcb61d7d8dc32817ee0fe27
--- /dev/null
+++ b/objects/objaverse/boxed_food/boxed_food_4/collision/model_normalized_collision_14.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.08610625 0.07957451 0.26582224
+v 0.08010050 0.06399583 -0.49369499
+v 0.04507122 0.10670394 -0.45878462
+v 0.00423534 0.10901394 0.26512091
+v 0.00444523 0.06401609 -0.49416144
+v 0.04275661 0.10645968 -0.05321497
+v 0.07825139 0.08848110 -0.49291913
+v 0.00074730 0.11334547 -0.49287253
+v 0.07324792 0.09214604 0.07881044
+v -0.00005380 0.11100170 0.24947286
+v 0.01599911 0.10954312 -0.49287240
+v 0.04467612 0.09515497 0.26458778
+v 0.02849319 0.10659497 0.11288464
+v 0.06019055 0.09395096 -0.49307980
+v 0.01804328 0.10427465 0.26681941
+v 0.02768197 0.10555958 -0.49298280
+f 5 2 1
+f 5 1 4
+f 7 1 2
+f 8 6 3
+f 9 1 7
+f 9 7 3
+f 9 3 6
+f 10 8 5
+f 10 5 4
+f 10 6 8
+f 11 8 3
+f 11 3 7
+f 12 1 9
+f 13 9 6
+f 13 6 10
+f 13 10 4
+f 13 12 9
+f 14 7 2
+f 14 2 5
+f 15 4 1
+f 15 1 12
+f 15 13 4
+f 15 12 13
+f 16 11 7
+f 16 7 14
+f 16 8 11
+f 16 14 5
+f 16 5 8
\ No newline at end of file
diff --git a/objects/objaverse/boxed_food/boxed_food_4/collision/model_normalized_collision_15.obj b/objects/objaverse/boxed_food/boxed_food_4/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0361162b6d8d1cba5a41efc63cdac2d898ddcb97
--- /dev/null
+++ b/objects/objaverse/boxed_food/boxed_food_4/collision/model_normalized_collision_15.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.19545122 -0.15738940 0.00754337
+v 0.23939607 -0.03948123 -0.09766928
+v 0.23890410 -0.03925777 0.00795714
+v 0.00449968 -0.02653842 0.00757575
+v 0.00233966 -0.10912147 -0.09861008
+v 0.00449968 -0.02653842 -0.09848485
+v 0.06957064 -0.13205270 0.00802761
+v 0.21495514 -0.10739953 -0.09834464
+v 0.00154689 -0.11143964 0.00736989
+v 0.12921999 -0.14764228 0.00801707
+v 0.14103690 -0.14699071 -0.09845864
+v 0.05219061 -0.12427532 -0.09818115
+v 0.19494806 -0.15658236 -0.03773239
+v 0.08414880 -0.13298921 -0.09796764
+v 0.14420955 -0.14825466 -0.08282810
+v 0.07001383 -0.12967988 -0.08278287
+f 6 3 2
+f 6 4 3
+f 7 3 4
+f 8 2 3
+f 8 3 1
+f 8 6 2
+f 8 5 6
+f 9 6 5
+f 9 4 6
+f 9 7 4
+f 10 1 3
+f 10 3 7
+f 11 5 8
+f 12 9 5
+f 12 7 9
+f 12 5 11
+f 13 11 8
+f 13 8 1
+f 13 1 10
+f 14 12 11
+f 14 11 10
+f 14 10 7
+f 15 13 10
+f 15 10 11
+f 15 11 13
+f 16 14 7
+f 16 7 12
+f 16 12 14
\ No newline at end of file
diff --git a/objects/objaverse/boxed_food/boxed_food_4/collision/model_normalized_collision_16.obj b/objects/objaverse/boxed_food/boxed_food_4/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e3febe7e5b78788b2c387f6921846a27ed16075
--- /dev/null
+++ b/objects/objaverse/boxed_food/boxed_food_4/collision/model_normalized_collision_16.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v -0.17469411 -0.05072740 0.26515685
+v -0.17147187 -0.04336522 -0.30966136
+v -0.17731850 0.01891612 0.26515151
+v -0.24683821 0.01693032 0.26517103
+v -0.25474062 -0.00044644 -0.35568727
+v -0.25252077 -0.00226781 0.26569784
+v -0.22859035 -0.02346255 0.00704839
+v -0.25040942 0.02844990 -0.35924783
+v -0.21989135 -0.02076869 -0.35604367
+v -0.19942604 -0.03823752 0.08445344
+v -0.25344677 -0.00826525 0.26511490
+v -0.25528796 0.01362400 -0.35585312
+v -0.24149780 -0.00951192 -0.35631083
+v -0.18332069 -0.03915485 -0.30950123
+v -0.23017672 -0.02546397 0.26544555
+v -0.19986131 -0.03962343 0.26508836
+f 1 2 3
+f 6 1 3
+f 6 3 4
+f 8 3 2
+f 8 4 3
+f 9 8 2
+f 12 6 4
+f 12 4 8
+f 12 11 6
+f 12 8 5
+f 12 5 11
+f 13 9 7
+f 13 7 5
+f 13 5 8
+f 13 8 9
+f 14 2 1
+f 14 1 10
+f 14 9 2
+f 14 10 7
+f 14 7 9
+f 15 7 10
+f 15 1 6
+f 15 6 11
+f 15 11 5
+f 15 5 7
+f 16 15 10
+f 16 10 1
+f 16 1 15
\ No newline at end of file
diff --git a/objects/objaverse/boxed_food/boxed_food_4/collision/model_normalized_collision_17.obj b/objects/objaverse/boxed_food/boxed_food_4/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c8b13a32e28851b0973a358cb924793cebf0cdbf
--- /dev/null
+++ b/objects/objaverse/boxed_food/boxed_food_4/collision/model_normalized_collision_17.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.14032577 0.01659795 0.49539008
+v 0.15406589 0.06401218 -0.09551181
+v 0.15505070 0.05106938 0.26616482
+v 0.07459568 0.06713039 0.48491588
+v 0.08113421 0.01876628 0.49125993
+v 0.08023508 0.09461390 -0.09848695
+v 0.13300759 0.04557487 0.48362976
+v 0.07766373 0.04024512 0.49192818
+v 0.11807752 0.07638805 0.00669976
+v 0.07509376 0.08106540 0.32499473
+v 0.14124571 0.02998364 0.49074605
+v 0.11105025 0.04635021 0.48912149
+v 0.13742375 0.07157277 -0.09859142
+v 0.10345976 0.07600752 0.18853281
+v 0.11833346 0.06100255 0.38518152
+v 0.11937387 0.07913112 -0.09857392
+v 0.13298890 0.06121295 0.24937359
+v 0.10176138 0.07338162 0.26757344
+v 0.10346421 0.06042089 0.45970310
+v 0.08824155 0.07607657 0.32483876
+v 0.08782569 0.06311755 0.48409239
+f 1 2 3
+f 5 2 1
+f 6 2 5
+f 8 5 1
+f 8 6 5
+f 10 8 4
+f 10 6 8
+f 11 1 3
+f 11 3 7
+f 12 8 1
+f 12 4 8
+f 12 1 11
+f 12 11 7
+f 13 9 3
+f 13 3 2
+f 13 2 6
+f 14 9 6
+f 14 6 10
+f 15 7 3
+f 16 13 6
+f 16 6 9
+f 16 9 13
+f 17 3 9
+f 17 9 14
+f 17 15 3
+f 18 14 10
+f 18 17 14
+f 18 15 17
+f 19 15 10
+f 19 7 15
+f 20 18 10
+f 20 10 15
+f 20 15 18
+f 21 7 19
+f 21 12 7
+f 21 4 12
+f 21 19 10
+f 21 10 4
\ No newline at end of file
diff --git a/objects/objaverse/boxed_food/boxed_food_4/collision/model_normalized_collision_18.obj b/objects/objaverse/boxed_food/boxed_food_4/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..772b0abbd5429c60935e198837598ee0488cfc63
--- /dev/null
+++ b/objects/objaverse/boxed_food/boxed_food_4/collision/model_normalized_collision_18.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.11251491 -0.07604955 0.26538422
+v -0.11524470 -0.06708638 -0.28038793
+v -0.11671244 0.07952218 0.26515151
+v -0.22282941 0.09468704 0.26575594
+v -0.19754441 -0.03269471 -0.27915885
+v -0.11671244 0.07952218 -0.23484848
+v -0.17259033 -0.04433060 -0.28023349
+v -0.17469411 -0.05072740 0.26515685
+v -0.11150864 -0.07373631 0.05301685
+v -0.22717921 0.09801427 -0.22865650
+v -0.11671244 0.01891612 -0.28030303
+v -0.15649070 -0.05845626 0.26534593
+v -0.14225993 -0.05662992 -0.27985957
+v -0.12569140 -0.06831924 0.05436223
+v -0.12556525 -0.07096571 0.26529378
+f 1 3 4
+f 8 4 5
+f 8 5 7
+f 9 2 6
+f 9 6 3
+f 9 3 1
+f 10 5 4
+f 10 4 3
+f 10 3 6
+f 11 6 2
+f 11 2 7
+f 11 7 5
+f 11 10 6
+f 11 5 10
+f 12 1 4
+f 12 4 8
+f 12 8 7
+f 13 7 2
+f 14 9 1
+f 14 12 7
+f 14 7 13
+f 14 13 2
+f 14 2 9
+f 15 14 1
+f 15 1 12
+f 15 12 14
\ No newline at end of file
diff --git a/objects/objaverse/boxed_food/boxed_food_4/collision/model_normalized_collision_19.obj b/objects/objaverse/boxed_food/boxed_food_4/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..965e098444b376811badc5e28eadbc9220f9731c
--- /dev/null
+++ b/objects/objaverse/boxed_food/boxed_food_4/collision/model_normalized_collision_19.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v -0.00980185 -0.09494907 -0.41896913
+v 0.00446241 -0.05711357 -0.49738291
+v 0.00449968 0.01891612 -0.41666666
+v -0.11671244 0.01891612 -0.41666666
+v -0.11409168 -0.04939065 -0.49800357
+v -0.08146321 -0.07267888 -0.41550261
+v -0.03994066 -0.06735013 -0.49932745
+v 0.00445011 0.01859328 -0.49536209
+v -0.04053755 -0.08574575 -0.41644691
+v -0.11356770 -0.06207440 -0.41599674
+v -0.03702341 -0.07384872 -0.48637532
+v -0.11683076 0.01859555 -0.49613035
+v -0.08021124 -0.06812213 -0.45831963
+v -0.09677616 -0.05477045 -0.49797522
+v -0.06535851 -0.06714454 -0.48760809
+v -0.11105022 -0.05316891 -0.48847482
+f 1 2 3
+f 6 3 4
+f 8 3 2
+f 8 2 7
+f 9 1 3
+f 9 3 6
+f 10 6 4
+f 11 7 2
+f 11 2 1
+f 12 8 7
+f 12 7 5
+f 12 4 3
+f 12 3 8
+f 12 10 4
+f 12 5 10
+f 13 9 6
+f 13 1 9
+f 13 6 10
+f 14 5 7
+f 15 11 1
+f 15 1 13
+f 15 14 7
+f 15 7 11
+f 16 13 10
+f 16 10 5
+f 16 15 13
+f 16 5 14
+f 16 14 15
\ No newline at end of file
diff --git a/objects/objaverse/boxed_food/boxed_food_4/collision/model_normalized_collision_2.obj b/objects/objaverse/boxed_food/boxed_food_4/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b94a3b06296aa0b758fd2b1fcc5830a9625f230
--- /dev/null
+++ b/objects/objaverse/boxed_food/boxed_food_4/collision/model_normalized_collision_2.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v 0.24214428 -0.03722022 0.49838918
+v 0.25504835 0.03533937 -0.49228631
+v 0.24536530 -0.00015641 0.48571992
+v 0.13824531 0.04166280 0.48531697
+v 0.14080546 -0.02689651 -0.49571985
+v 0.13522175 0.06652488 0.08057745
+v 0.24711463 -0.01819445 0.49860126
+v 0.23902259 -0.02462293 -0.49510961
+v 0.14142009 -0.04165498 0.49458634
+v 0.16294104 0.04592960 0.30983273
+v 0.13733712 0.06960200 -0.49298359
+v 0.24382685 -0.00249507 0.49124674
+v 0.24397569 -0.01957246 -0.46132858
+v 0.14086331 -0.04168993 0.00757575
+v 0.13553121 0.05092981 0.43071262
+v 0.14124571 0.02998364 0.49074605
+v 0.19300838 0.03088720 0.34020775
+v 0.17874127 0.06142229 -0.45867525
+v 0.21097343 0.04697755 -0.49297382
+v 0.23986854 0.00212813 0.48731716
+v 0.24468592 -0.03347319 0.49583726
+v 0.24459136 -0.00655004 -0.49435701
+v 0.23599024 -0.04805888 0.00756905
+v 0.14871989 0.04573428 0.43056035
+v 0.15254856 0.02925467 0.49048987
+v 0.17796020 0.06088314 -0.35660588
+v 0.16482822 0.03327833 0.48328799
+v 0.20960721 0.01560221 0.48346706
+f 7 2 3
+f 9 1 7
+f 10 2 6
+f 11 5 6
+f 11 8 5
+f 12 7 3
+f 15 9 4
+f 15 14 9
+f 15 6 5
+f 15 5 14
+f 15 10 6
+f 16 9 7
+f 16 4 9
+f 17 10 3
+f 17 3 2
+f 17 2 10
+f 18 11 6
+f 18 2 11
+f 19 11 2
+f 19 8 11
+f 20 12 3
+f 20 4 12
+f 21 7 1
+f 21 13 2
+f 21 2 7
+f 22 13 8
+f 22 2 13
+f 22 19 2
+f 22 8 19
+f 23 8 13
+f 23 1 9
+f 23 9 14
+f 23 14 5
+f 23 5 8
+f 23 21 1
+f 23 13 21
+f 24 3 10
+f 24 10 15
+f 25 12 4
+f 25 4 16
+f 25 16 7
+f 25 7 12
+f 26 18 6
+f 26 6 2
+f 26 2 18
+f 27 15 4
+f 27 4 20
+f 28 27 20
+f 28 24 15
+f 28 15 27
+f 28 20 3
+f 28 3 24
\ No newline at end of file
diff --git a/objects/objaverse/boxed_food/boxed_food_4/collision/model_normalized_collision_20.obj b/objects/objaverse/boxed_food/boxed_food_4/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..42cdef377566359f7d4c503d43f435ecc8ca3111
--- /dev/null
+++ b/objects/objaverse/boxed_food/boxed_food_4/collision/model_normalized_collision_20.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v -0.12360698 -0.06101462 -0.35618150
+v -0.11681323 -0.04196301 -0.49782636
+v -0.11991559 0.15673739 -0.35529400
+v -0.19719307 0.16969051 -0.35706604
+v -0.25707156 -0.00376133 -0.49774927
+v -0.25106421 0.02834567 -0.35415099
+v -0.20193189 -0.02243033 -0.49619190
+v -0.19780773 0.17763688 -0.49275551
+v -0.18147033 0.16762482 -0.35577003
+v -0.25474062 -0.00044644 -0.35568727
+v -0.24574139 -0.00800101 -0.49823201
+v -0.12207716 0.15359199 -0.49230591
+v -0.22070717 0.11972142 -0.35704589
+v -0.25369219 0.01381640 -0.49745735
+v -0.21395724 -0.02371683 -0.35591875
+v -0.18180889 0.17337530 -0.49221447
+v -0.20921506 0.14877731 -0.49320465
+f 1 2 3
+f 6 1 3
+f 7 2 1
+f 9 6 3
+f 9 4 6
+f 9 8 4
+f 9 3 8
+f 10 6 5
+f 11 2 7
+f 11 8 2
+f 11 7 1
+f 11 1 5
+f 12 3 2
+f 12 2 8
+f 13 6 4
+f 13 4 8
+f 14 5 6
+f 14 11 5
+f 14 8 11
+f 15 10 5
+f 15 5 1
+f 15 1 6
+f 15 6 10
+f 16 12 8
+f 16 8 3
+f 16 3 12
+f 17 13 8
+f 17 8 14
+f 17 14 6
+f 17 6 13
\ No newline at end of file
diff --git a/objects/objaverse/boxed_food/boxed_food_4/collision/model_normalized_collision_21.obj b/objects/objaverse/boxed_food/boxed_food_4/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..54beaadc9bc0c41bb1de50359dda4bb39a251a0a
--- /dev/null
+++ b/objects/objaverse/boxed_food/boxed_food_4/collision/model_normalized_collision_21.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.14294490 0.06918158 -0.09842035
+v 0.14069884 0.06397736 -0.49301119
+v 0.13454750 0.07807673 -0.45569941
+v 0.07530217 0.09645895 -0.09895317
+v 0.08010050 0.06399583 -0.49369499
+v 0.13334851 0.07632744 -0.23543307
+v 0.07825139 0.08848110 -0.49291913
+v 0.11937387 0.07913112 -0.09857392
+v 0.13733712 0.06960200 -0.49298359
+v 0.07326392 0.09380280 -0.47212628
+v 0.08824893 0.09148218 -0.09902180
+v 0.09048423 0.09057151 -0.09771788
+v 0.13742375 0.07157277 -0.09859142
+v 0.10596640 0.07992610 -0.49288049
+f 1 2 3
+f 5 2 1
+f 5 1 4
+f 6 1 3
+f 6 3 4
+f 9 3 2
+f 9 2 5
+f 9 5 7
+f 10 7 5
+f 10 5 4
+f 10 4 3
+f 10 3 7
+f 11 6 4
+f 12 4 1
+f 12 1 8
+f 12 11 4
+f 12 8 6
+f 12 6 11
+f 13 8 1
+f 13 1 6
+f 13 6 8
+f 14 9 7
+f 14 7 3
+f 14 3 9
\ No newline at end of file
diff --git a/objects/objaverse/boxed_food/boxed_food_4/collision/model_normalized_collision_22.obj b/objects/objaverse/boxed_food/boxed_food_4/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9ad1d40f4162ff53015cbda7af76976d11c8324c
--- /dev/null
+++ b/objects/objaverse/boxed_food/boxed_food_4/collision/model_normalized_collision_22.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.08032225 0.01890502 0.49121502
+v 0.10176138 0.07338162 0.26757344
+v 0.07459568 0.06713039 0.48491588
+v -0.00059550 0.09618384 0.48467001
+v 0.00449968 0.01891612 0.26515151
+v 0.07331948 0.07607653 0.41512962
+v 0.01242434 0.09105589 0.48495877
+v 0.00449245 0.01886929 0.49005623
+v 0.00423534 0.10901394 0.26512091
+v 0.05772602 0.07583150 0.47481296
+v 0.07599504 0.08349030 0.26472992
+v 0.02812743 0.09157807 0.43030357
+v 0.04467612 0.09515497 0.26458778
+v 0.04319174 0.09113997 0.35504278
+f 1 2 3
+f 5 2 1
+f 6 3 2
+f 7 1 3
+f 7 3 4
+f 7 4 1
+f 8 5 1
+f 8 1 4
+f 8 4 5
+f 9 5 4
+f 10 4 3
+f 10 3 6
+f 11 2 5
+f 12 9 4
+f 12 10 6
+f 12 4 10
+f 13 11 5
+f 13 5 9
+f 14 6 2
+f 14 2 11
+f 14 11 13
+f 14 12 6
+f 14 13 9
+f 14 9 12
\ No newline at end of file
diff --git a/objects/objaverse/boxed_food/boxed_food_4/collision/model_normalized_collision_24.obj b/objects/objaverse/boxed_food/boxed_food_4/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..057ffb7f93670707a8f4affbb63117ad7100f686
--- /dev/null
+++ b/objects/objaverse/boxed_food/boxed_food_4/collision/model_normalized_collision_24.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v -0.11524470 -0.06708638 -0.28038793
+v -0.11409168 -0.04939065 -0.49800357
+v -0.11681323 -0.04196301 -0.49782636
+v -0.17754675 -0.04228268 -0.28028126
+v -0.17548582 -0.03626048 -0.46177289
+v -0.11223589 -0.05787341 -0.46017838
+v -0.14052185 -0.05330512 -0.40103699
+v -0.16089685 -0.03758649 -0.49152504
+v -0.14579646 -0.03821633 -0.49802100
+v -0.14225993 -0.05662992 -0.27985957
+v -0.12303983 -0.05427495 -0.46112056
+v -0.15668769 -0.03920585 -0.48958774
+v -0.17259033 -0.04433060 -0.28023349
+f 1 3 4
+f 6 2 3
+f 6 3 1
+f 7 4 5
+f 7 6 1
+f 9 5 4
+f 9 4 3
+f 9 8 5
+f 9 3 2
+f 9 2 8
+f 10 7 1
+f 10 1 4
+f 11 7 5
+f 11 6 7
+f 11 8 6
+f 11 5 8
+f 12 8 2
+f 12 2 6
+f 12 6 8
+f 13 10 4
+f 13 4 7
+f 13 7 10
\ No newline at end of file
diff --git a/objects/objaverse/boxed_food/boxed_food_4/collision/model_normalized_collision_25.obj b/objects/objaverse/boxed_food/boxed_food_4/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e7e3ed081fe73503d0d9b623d1ea49ce58829080
--- /dev/null
+++ b/objects/objaverse/boxed_food/boxed_food_4/collision/model_normalized_collision_25.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.01343920 0.10586100 0.26625241
+v 0.00444361 0.07915702 -0.49376123
+v -0.00203727 0.12235278 -0.45837134
+v -0.04141617 0.12339994 0.26510460
+v -0.04101019 0.07916190 -0.49394558
+v -0.00131914 0.12184623 -0.06862458
+v 0.00074730 0.11334547 -0.49287253
+v -0.04307137 0.12770244 -0.49286765
+v -0.02854170 0.11945521 0.26661453
+v -0.04532379 0.12560114 0.23438810
+v -0.03310930 0.12469070 -0.49294777
+v -0.00022192 0.11048571 0.26460491
+f 5 2 1
+f 5 1 4
+f 6 1 3
+f 7 1 2
+f 7 3 1
+f 8 6 3
+f 9 4 1
+f 10 8 5
+f 10 5 4
+f 10 6 8
+f 10 9 6
+f 10 4 9
+f 11 8 3
+f 11 3 7
+f 11 7 2
+f 11 2 5
+f 11 5 8
+f 12 9 1
+f 12 1 6
+f 12 6 9
\ No newline at end of file
diff --git a/objects/objaverse/boxed_food/boxed_food_4/collision/model_normalized_collision_26.obj b/objects/objaverse/boxed_food/boxed_food_4/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..61eaa8421061786cb4f3749c3d10c57e4ee492a7
--- /dev/null
+++ b/objects/objaverse/boxed_food/boxed_food_4/collision/model_normalized_collision_26.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.01320427 -0.11147012 0.26474632
+v -0.01050130 -0.10364197 -0.16041610
+v 0.01343920 0.10586100 0.26625241
+v 0.01200280 0.11927459 -0.15899050
+v -0.11671244 0.07952218 -0.15909091
+v -0.12022141 -0.06638659 -0.15929039
+v -0.11671244 0.07952218 0.26515151
+v -0.12265192 -0.07209750 0.26501735
+f 1 2 3
+f 3 2 4
+f 5 4 2
+f 6 5 2
+f 6 2 1
+f 7 3 4
+f 7 4 5
+f 8 1 3
+f 8 3 7
+f 8 6 1
+f 8 7 5
+f 8 5 6
\ No newline at end of file
diff --git a/objects/objaverse/boxed_food/boxed_food_4/collision/model_normalized_collision_27.obj b/objects/objaverse/boxed_food/boxed_food_4/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f2d2423e719d31567d4da2aafe2ef1b387eb7c97
--- /dev/null
+++ b/objects/objaverse/boxed_food/boxed_food_4/collision/model_normalized_collision_27.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.01050130 -0.10364197 -0.16041610
+v -0.00980185 -0.09494907 -0.41896913
+v 0.00449968 0.01891612 -0.15909091
+v -0.11671244 0.01891612 -0.15909091
+v -0.11802149 -0.06059428 -0.41632446
+v -0.12022141 -0.06638659 -0.15929039
+v 0.00449968 0.01891612 -0.41666666
+v -0.11671244 0.01891612 -0.41666666
+f 5 2 1
+f 6 1 3
+f 6 3 4
+f 6 5 1
+f 7 1 2
+f 7 3 1
+f 7 4 3
+f 8 6 4
+f 8 5 6
+f 8 4 7
+f 8 7 2
+f 8 2 5
\ No newline at end of file
diff --git a/objects/objaverse/boxed_food/boxed_food_4/collision/model_normalized_collision_28.obj b/objects/objaverse/boxed_food/boxed_food_4/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6b700599400a4809aecd5480351f0786133efddf
--- /dev/null
+++ b/objects/objaverse/boxed_food/boxed_food_4/collision/model_normalized_collision_28.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.18476249 -0.04195832 -0.09884468
+v -0.18372409 -0.04128248 -0.15959179
+v -0.22539985 0.09575163 -0.09671409
+v -0.22710699 0.09466891 -0.15675547
+v -0.20925126 -0.02980071 -0.15918305
+v -0.20958707 -0.03082131 -0.09859612
+v -0.22971320 0.08743978 -0.15859907
+v -0.22872694 0.08634166 -0.09827447
+f 1 2 3
+f 3 2 4
+f 6 5 2
+f 6 2 1
+f 6 1 3
+f 7 4 2
+f 7 2 5
+f 7 5 6
+f 7 3 4
+f 8 7 6
+f 8 6 3
+f 8 3 7
\ No newline at end of file
diff --git a/objects/objaverse/boxed_food/boxed_food_4/collision/model_normalized_collision_3.obj b/objects/objaverse/boxed_food/boxed_food_4/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..155ddd4b1cbc5861940895632b67485b50933c50
--- /dev/null
+++ b/objects/objaverse/boxed_food/boxed_food_4/collision/model_normalized_collision_3.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.10793201 0.13978097 0.34315826
+v -0.11671244 0.07952218 -0.23484848
+v -0.11996761 0.15485330 -0.23467339
+v -0.16245636 0.15380207 0.34093758
+v -0.16216699 0.07952218 -0.03787879
+v -0.12058535 0.15267616 -0.03842830
+v -0.11671244 0.07952218 -0.03787879
+v -0.15251946 0.15104898 0.34335525
+v -0.16216699 0.07952218 -0.23484848
+v -0.16292326 0.16282678 -0.23490762
+v -0.11978413 0.14335341 0.34071947
+v -0.16561359 0.15587605 0.28004924
+f 1 2 3
+f 6 1 3
+f 7 5 2
+f 7 2 1
+f 7 1 5
+f 8 5 1
+f 8 4 5
+f 9 2 5
+f 10 6 3
+f 10 3 2
+f 10 2 9
+f 11 6 4
+f 11 1 6
+f 11 8 1
+f 11 4 8
+f 12 4 6
+f 12 6 10
+f 12 5 4
+f 12 10 9
+f 12 9 5
\ No newline at end of file
diff --git a/objects/objaverse/boxed_food/boxed_food_4/collision/model_normalized_collision_30.obj b/objects/objaverse/boxed_food/boxed_food_4/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..638b48a21ef1c739fbe9cf292b097b96712a176b
--- /dev/null
+++ b/objects/objaverse/boxed_food/boxed_food_4/collision/model_normalized_collision_30.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.00449968 0.01891612 -0.15909091
+v 0.00445011 0.01859328 -0.49536209
+v 0.01200280 0.11927459 -0.15899050
+v 0.00444361 0.07915702 -0.49376123
+v -0.11684829 0.07915411 -0.49443434
+v -0.11683076 0.01859555 -0.49613035
+v -0.11671244 0.07952218 -0.15909091
+v -0.11671244 0.01891612 -0.15909091
+f 1 2 3
+f 3 2 4
+f 5 3 4
+f 6 5 4
+f 6 4 2
+f 7 3 5
+f 8 1 3
+f 8 3 7
+f 8 6 2
+f 8 2 1
+f 8 7 5
+f 8 5 6
\ No newline at end of file
diff --git a/objects/objaverse/boxed_food/boxed_food_4/collision/model_normalized_collision_6.obj b/objects/objaverse/boxed_food/boxed_food_4/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e100c83d1df326cf36213177e3d80b637411df14
--- /dev/null
+++ b/objects/objaverse/boxed_food/boxed_food_4/collision/model_normalized_collision_6.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.22845230 0.07654187 0.34089411
+v -0.05665851 0.13075887 0.15131769
+v -0.05752257 0.12976632 0.22158027
+v -0.10793201 0.13978097 0.34315826
+v -0.21695088 0.12644319 -0.35928337
+v -0.06394539 0.13321594 0.15058213
+v -0.09965338 0.13729261 0.34398111
+v -0.23506415 0.07857663 -0.35598378
+v -0.21960921 0.10425003 0.34242493
+v -0.06522047 0.13191027 0.22052478
+v -0.22544531 0.10523242 -0.35573733
+v -0.22800036 0.09817484 -0.35737350
+f 6 3 2
+f 6 5 4
+f 6 2 5
+f 7 1 3
+f 7 3 4
+f 8 2 3
+f 8 3 1
+f 8 5 2
+f 9 4 5
+f 9 7 4
+f 9 1 7
+f 9 8 1
+f 10 6 4
+f 10 4 3
+f 10 3 6
+f 11 9 5
+f 11 8 9
+f 12 11 5
+f 12 5 8
+f 12 8 11
\ No newline at end of file
diff --git a/objects/objaverse/boxed_food/boxed_food_4/collision/model_normalized_collision_8.obj b/objects/objaverse/boxed_food/boxed_food_4/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e2f788970f7a429c227dc0599de0833211b9eff2
--- /dev/null
+++ b/objects/objaverse/boxed_food/boxed_food_4/collision/model_normalized_collision_8.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.00453540 -0.11733957 0.26515341
+v 0.00896319 -0.08896202 -0.48871124
+v 0.00446241 -0.05711357 -0.49738291
+v -0.12265192 -0.07209750 0.26501735
+v -0.11084558 -0.06853959 -0.29308035
+v 0.00935832 -0.10369664 -0.36915053
+v -0.03633113 -0.10372992 0.26533872
+v -0.11802149 -0.06059428 -0.41632446
+v -0.02000420 -0.09915445 -0.21922308
+v -0.11251491 -0.07604955 0.26538422
+v -0.03628195 -0.07207330 -0.49793945
+v -0.00495046 -0.09933495 -0.37056862
+v -0.04099152 -0.05710914 -0.49754895
+v -0.03481912 -0.09915729 -0.00714180
+v -0.08105542 -0.08780396 0.26532676
+v 0.00524806 -0.08473893 -0.49814173
+v -0.03485719 -0.08469358 -0.44774726
+v -0.01897187 -0.08480315 -0.47209005
+v -0.04938451 -0.08369526 -0.39939949
+f 1 2 3
+f 1 3 4
+f 6 2 1
+f 7 5 1
+f 8 5 4
+f 9 6 1
+f 10 7 1
+f 10 1 4
+f 10 4 5
+f 12 9 5
+f 12 6 9
+f 13 8 4
+f 13 4 3
+f 13 11 8
+f 14 9 1
+f 14 1 5
+f 14 5 9
+f 15 10 5
+f 15 5 7
+f 15 7 10
+f 16 3 2
+f 16 2 11
+f 16 13 3
+f 16 11 13
+f 17 8 11
+f 17 2 6
+f 17 6 12
+f 18 17 11
+f 18 11 2
+f 18 2 17
+f 19 17 12
+f 19 8 17
+f 19 12 5
+f 19 5 8
\ No newline at end of file
diff --git a/objects/objaverse/boxed_food/boxed_food_4/collision/model_normalized_collision_9.obj b/objects/objaverse/boxed_food/boxed_food_4/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..943059ebdd9e9d62fd1ab2ba46f2cdfe1450afea
--- /dev/null
+++ b/objects/objaverse/boxed_food/boxed_food_4/collision/model_normalized_collision_9.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v -0.07156440 0.09385412 0.49320221
+v -0.04101019 0.07916190 -0.49394558
+v -0.02854170 0.11945521 0.26661453
+v -0.11863395 0.13522635 0.48740199
+v -0.11684829 0.07915411 -0.49443434
+v -0.12109232 0.15492651 -0.47616146
+v -0.03508652 0.11138672 0.46364579
+v -0.11671244 0.07952218 0.26515151
+v -0.04637441 0.13631026 -0.45992552
+v -0.06085268 0.13729259 0.00683744
+v -0.11800846 0.15174151 -0.49263935
+v -0.10704993 0.13671003 0.44607235
+v -0.07702762 0.12428734 0.48348264
+v -0.11706912 0.09544789 0.49364585
+v -0.12110144 0.14087387 0.44654978
+v -0.04307137 0.12770244 -0.49286765
+v -0.04583623 0.13727226 -0.22006302
+v -0.04680735 0.12185451 0.35487862
+v -0.10266472 0.12469717 0.49016924
+v -0.07256051 0.10769942 0.48944298
+v -0.06246005 0.12121608 0.46046215
+v -0.11937332 0.15545063 -0.31126938
+v -0.07661566 0.13875581 -0.49251484
+v -0.11684874 0.12278734 0.49103476
+v -0.10622063 0.15251990 -0.31356523
+f 7 1 2
+f 7 2 3
+f 8 5 2
+f 8 2 1
+f 11 5 6
+f 11 6 9
+f 14 8 1
+f 15 6 5
+f 15 5 8
+f 15 8 14
+f 15 14 4
+f 15 13 12
+f 15 4 13
+f 15 12 3
+f 15 3 10
+f 16 9 3
+f 16 3 2
+f 16 2 5
+f 16 5 11
+f 17 10 3
+f 17 3 9
+f 18 7 3
+f 18 3 12
+f 19 13 4
+f 20 1 7
+f 20 7 13
+f 20 19 1
+f 20 13 19
+f 21 13 7
+f 21 12 13
+f 21 18 12
+f 21 7 18
+f 22 15 10
+f 22 6 15
+f 23 16 11
+f 23 11 9
+f 23 9 16
+f 24 14 1
+f 24 1 19
+f 24 19 4
+f 24 4 14
+f 25 17 9
+f 25 9 6
+f 25 6 22
+f 25 22 10
+f 25 10 17
\ No newline at end of file
diff --git a/objects/objaverse/boxed_food/boxed_food_4/visual/material.mtl b/objects/objaverse/boxed_food/boxed_food_4/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f68742fe8420aadeab267568817d347d5678c9d5
--- /dev/null
+++ b/objects/objaverse/boxed_food/boxed_food_4/visual/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 0.00000000
+map_Kd material_0.jpeg
\ No newline at end of file
diff --git a/objects/objaverse/boxed_food/boxed_food_4/visual/model_normalized_0.obj b/objects/objaverse/boxed_food/boxed_food_4/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ffdfaeb5f77a5c12b852828a92b8ba277ad26b09
--- /dev/null
+++ b/objects/objaverse/boxed_food/boxed_food_4/visual/model_normalized_0.obj
@@ -0,0 +1,62063 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
+v -0.23929175 0.06414206 -0.41675625
+v -0.23995210 0.05964432 -0.42098927
+v -0.24152635 0.05899043 -0.40509765
+v -0.20133973 0.15734824 -0.20292344
+v -0.20196796 0.16377378 -0.18751561
+v -0.20212559 0.16432582 -0.19703178
+v -0.20140545 0.16312652 -0.21973350
+v -0.20139576 0.15678922 -0.21727207
+v -0.20138511 0.16431352 -0.20627303
+v -0.23717271 0.07001330 -0.28708004
+v -0.23420462 0.07770360 -0.29068570
+v -0.23805283 0.06640860 -0.30225397
+v 0.10914703 0.08647407 -0.06369790
+v 0.10730868 0.08297497 -0.06091004
+v 0.11226951 0.08608053 -0.06357623
+v -0.19240317 0.16872162 -0.21761202
+v -0.18402223 0.16666384 -0.20305890
+v -0.18050752 0.16579298 -0.20964155
+v -0.17062451 0.16367978 -0.21043631
+v -0.17605176 0.16515689 -0.21295971
+v -0.17825782 0.16558944 -0.19656091
+v -0.19291925 0.16884433 -0.20458741
+v -0.21674242 0.11762734 -0.46264898
+v -0.21333977 0.12965670 -0.46181704
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diff --git a/objects/objaverse/boxed_food/boxed_food_6/collision/model_normalized_collision_0.obj b/objects/objaverse/boxed_food/boxed_food_6/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a90445b11d93a1d5d6a529b32b033b5f222a79d
--- /dev/null
+++ b/objects/objaverse/boxed_food/boxed_food_6/collision/model_normalized_collision_0.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.50000000 -0.14285661 0.49892756
+v 0.50000000 -0.14285679 -0.49892885
+v 0.50000000 0.14285697 -0.49892885
+v -0.49999926 0.14285697 0.49892773
+v -0.49999965 -0.14285716 0.49892773
+v 0.49999982 0.14285697 0.49892756
+v -0.49999926 -0.14285697 -0.49892885
+v -0.49999909 0.14285697 -0.49892885
+f 1 2 3
+f 5 2 1
+f 5 1 4
+f 6 1 3
+f 6 3 4
+f 6 4 1
+f 7 3 2
+f 7 2 5
+f 8 4 3
+f 8 3 7
+f 8 7 5
+f 8 5 4
\ No newline at end of file
diff --git a/objects/objaverse/boxed_food/boxed_food_6/model.xml b/objects/objaverse/boxed_food/boxed_food_6/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..64938e0c4e9ea69a89ed43ab5f4a0a332a348f9a
--- /dev/null
+++ b/objects/objaverse/boxed_food/boxed_food_6/model.xml
@@ -0,0 +1,18 @@
+<mujoco model="boxed_food_21">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.12999999999999995 0.12999999999999995 0.12999999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476" />
+    <texture type="2d" name="image0" file="visual/image0.png" />
+    <material name="Tikka_Macroni_mtl" texture="image0" specular="0.5" shininess="0.359999993" />
+  </asset>
+  <worldbody>
+    <body>
+      <body name="object">
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_0_vis" conaffinity="0" contype="0" group="1" material="Tikka_Macroni_mtl" />
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" group="0" rgba="0.8 0.8 0.8 0.0" size="0.018571406099999993 0.06499995449999997 0.06486067769999998" pos="-1.235000000071595e-08 -2.274999999885007e-08 -7.27999999936002e-08" />
+      </body>
+      <site rgba="0 0 0 0" size="0.005" pos="-1.235000000071595e-08 -2.274999999885007e-08 -0.06486075049999997" name="bottom_site" />
+      <site rgba="0 0 0 0" size="0.005" pos="-1.235000000071595e-08 -2.274999999885007e-08 0.06486060489999998" name="top_site" />
+      <site rgba="0 0 0 0" size="0.005" pos="0.018571406099999993 0.06499995449999997 -7.279999999776352e-08" name="horizontal_radius_site" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/objects/objaverse/boxed_food/boxed_food_6/visual/material.mtl b/objects/objaverse/boxed_food/boxed_food_6/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..842b70538fc6029daec10eabd1278717f12035ab
--- /dev/null
+++ b/objects/objaverse/boxed_food/boxed_food_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 359.99999300
+map_Kd material_0.jpeg
\ No newline at end of file
diff --git a/objects/objaverse/boxed_food/boxed_food_6/visual/model_normalized_0.obj b/objects/objaverse/boxed_food/boxed_food_6/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b753027c7672bb7309e2d0ec05a5e0e82d21dd20
--- /dev/null
+++ b/objects/objaverse/boxed_food/boxed_food_6/visual/model_normalized_0.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
+v 0.50000000 -0.14285679 -0.49892885
+v -0.49999927 -0.14285697 -0.49892885
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+v 0.50000000 0.14285697 -0.49892885
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+v 0.50000000 0.14285697 -0.49892885
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+v -0.49999927 -0.14285697 -0.49892885
+v 0.50000000 -0.14285679 -0.49892885
+v 0.50000000 -0.14285661 0.49892758
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+vn 0.00000000 -0.96977671 -0.24399414
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+vn 0.00000000 -0.96977671 -0.24399414
+vn 0.00000000 -0.96977671 -0.24399414
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+vn 0.00000000 0.99926250 -0.03839856
+vn 0.00000000 0.99926250 -0.03839856
+vn 0.00000000 0.99916739 -0.04079867
+vt 0.88475300 0.81921300
+vt 0.50726600 0.81921300
+vt 0.50726700 0.98454200
+vt 0.88475300 0.98454200
+vt 0.89371000 0.80846500
+vt 0.99664400 0.80846500
+vt 0.99664400 0.18470300
+vt 0.89371000 0.18470300
+vt 0.00485900 0.81221500
+vt 0.38658800 0.81221500
+vt 0.38658800 0.18332200
+vt 0.00485900 0.18332200
+vt 0.39314500 0.80903000
+vt 0.49859300 0.80903000
+vt 0.49859300 0.18371700
+vt 0.39314400 0.18371700
+vt 0.50250900 0.81892000
+vt 0.88750000 0.81892000
+vt 0.88750000 0.18656800
+vt 0.50250900 0.18656800
+vt 0.50465100 0.00717400
+vt 0.50465100 0.17247700
+vt 0.88403700 0.17247700
+vt 0.88403800 0.00717400
+vt 0.68384700 1.52626000
+vt 0.68384700 1.92896300
+vt 0.69389700 1.92436300
+vt 0.69389700 1.53057500
+vt 0.38658800 0.18332200
+vt 0.00485900 0.18332200
+vt 0.00485900 0.18332200
+vt 0.38658800 0.18332200
+f 1/1/1 2/2/2 3/3/3
+f 1/1/1 3/3/3 4/4/4
+f 5/5/5 6/6/6 7/7/7
+f 5/5/5 7/7/7 8/8/8
+f 9/9/9 10/10/10 11/11/11
+f 9/9/9 11/11/11 12/12/12
+f 13/13/13 14/14/14 15/15/15
+f 13/13/13 15/15/15 16/16/16
+f 17/17/17 18/18/18 19/19/19
+f 17/17/17 19/19/19 20/20/20
+f 21/21/21 22/22/22 23/23/23
+f 21/21/21 23/23/23 24/24/24
+f 25/25/25 26/26/26 27/27/27
+f 25/25/25 27/27/27 28/28/28
+f 29/29/29 30/30/30 31/31/31
+f 29/29/29 31/31/31 32/32/32
\ No newline at end of file
diff --git a/objects/objaverse/boxed_food/boxed_food_7/collision/model_normalized_collision_0.obj b/objects/objaverse/boxed_food/boxed_food_7/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..21d809f8884086bb1e1dc1646c7f910c21e12d04
--- /dev/null
+++ b/objects/objaverse/boxed_food/boxed_food_7/collision/model_normalized_collision_0.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.49399592 -0.06184437 0.23707159
+v 0.49254626 -0.06184443 -0.23848684
+v 0.49223638 0.06145647 -0.23825341
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+v -0.49145167 -0.06184437 0.23958397
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+v -0.48097333 -0.06184444 -0.24931533
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+v 0.48147841 -0.06184437 0.24956893
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+v -0.49246854 0.06145384 -0.23788257
+v -0.48150285 -0.06184437 0.24961176
+v -0.49277762 -0.06184443 -0.23811535
+v -0.49118674 0.06128685 0.23940868
+v -0.48076155 0.06138600 -0.24902532
+v 0.48059446 0.06145646 -0.24998553
+f 8 6 1
+f 8 4 6
+f 8 1 2
+f 8 2 3
+f 9 1 6
+f 10 3 2
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+f 10 2 1
+f 10 1 9
+f 11 8 3
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+f 12 6 4
+f 13 7 5
+f 14 4 11
+f 14 12 4
+f 14 5 12
+f 14 13 5
+f 14 11 13
+f 15 10 7
+f 15 13 11
+f 15 7 13
+f 16 3 10
+f 16 10 15
+f 16 15 11
+f 16 11 3
\ No newline at end of file
diff --git a/objects/objaverse/boxed_food/boxed_food_7/model.xml b/objects/objaverse/boxed_food/boxed_food_7/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..8b4af16bd11a8c7df5ec87b0647853a65ff54ec2
--- /dev/null
+++ b/objects/objaverse/boxed_food/boxed_food_7/model.xml
@@ -0,0 +1,18 @@
+<mujoco model="boxed_food_17">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476" />
+    <texture type="2d" name="image0" file="visual/image0.png" />
+    <material name="Bevel_1" texture="image0" specular="0.5" shininess="0.809999997" />
+  </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="Bevel_1" />
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" group="0" rgba="0.8 0.8 0.8 0.0" size="0.009218470499999997 0.07391664299999999 0.037492574249999994" pos="-2.9097750000000096e-05 -9.137249999999623e-05 -5.0810249999994755e-05" />
+      </body>
+      <site rgba="0 0 0 0" size="0.005" pos="-2.9097750000000096e-05 -9.137249999999623e-05 -0.037543384499999985" name="bottom_site" />
+      <site rgba="0 0 0 0" size="0.005" pos="-2.9097750000000096e-05 -9.137249999999623e-05 0.037441763999999995" name="top_site" />
+      <site rgba="0 0 0 0" size="0.005" pos="0.009218470499999997 0.07391664299999999 -5.081024999999891e-05" name="horizontal_radius_site" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/objects/objaverse/boxed_food/boxed_food_7/visual/material.mtl b/objects/objaverse/boxed_food/boxed_food_7/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6a7ebafbe391ff923dfbafd64eaeb5635861e0ba
--- /dev/null
+++ b/objects/objaverse/boxed_food/boxed_food_7/visual/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 809.99999700
+map_Kd material_0.png
\ No newline at end of file
diff --git a/objects/objaverse/boxed_food/boxed_food_8/collision/model_normalized_collision_0.obj b/objects/objaverse/boxed_food/boxed_food_8/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bdd9b35f8bb5a24df30f2f1f9c9af89d4d5572fd
--- /dev/null
+++ b/objects/objaverse/boxed_food/boxed_food_8/collision/model_normalized_collision_0.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.50000000 -0.14285661 0.49377352
+v 0.50000000 -0.14285679 -0.49377483
+v 0.50000000 0.14285697 -0.49377483
+v -0.49999926 0.14285697 0.49377378
+v -0.49999965 -0.14285716 0.49377378
+v 0.49999982 0.14285697 0.49377352
+v -0.49999926 -0.14285697 -0.49377483
+v -0.49999909 0.14285697 -0.49377483
+f 1 2 3
+f 5 2 1
+f 5 1 4
+f 6 1 3
+f 6 3 4
+f 6 4 1
+f 7 3 2
+f 7 2 5
+f 8 4 3
+f 8 3 7
+f 8 7 5
+f 8 5 4
\ No newline at end of file
diff --git a/objects/objaverse/boxed_food/boxed_food_8/model.xml b/objects/objaverse/boxed_food/boxed_food_8/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..6b8de7ee3d2b5420a40368b6bf256118e9c728fd
--- /dev/null
+++ b/objects/objaverse/boxed_food/boxed_food_8/model.xml
@@ -0,0 +1,18 @@
+<mujoco model="boxed_food_2">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.12999999999999995 0.12999999999999995 0.12999999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476" />
+    <texture type="2d" name="image0" file="visual/image0.png" />
+    <material name="Achari_Macroni_mtl" texture="image0" specular="0.5" shininess="0.359999993" />
+  </asset>
+  <worldbody>
+    <body>
+      <body name="object">
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_0_vis" conaffinity="0" contype="0" group="1" material="Achari_Macroni_mtl" />
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" group="0" rgba="0.8 0.8 0.8 0.0" size="0.018571406099999993 0.06499995449999997 0.06419065964999998" pos="-1.235000000071595e-08 -2.274999999885007e-08 -6.825000000570958e-08" />
+      </body>
+      <site rgba="0 0 0 0" size="0.005" pos="-1.235000000071595e-08 -2.274999999885007e-08 -0.06419072789999998" name="bottom_site" />
+      <site rgba="0 0 0 0" size="0.005" pos="-1.235000000071595e-08 -2.274999999885007e-08 0.06419059139999997" name="top_site" />
+      <site rgba="0 0 0 0" size="0.005" pos="0.018571406099999993 0.06499995449999997 -6.825000000015844e-08" name="horizontal_radius_site" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/objects/objaverse/boxed_food/boxed_food_8/visual/material.mtl b/objects/objaverse/boxed_food/boxed_food_8/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..842b70538fc6029daec10eabd1278717f12035ab
--- /dev/null
+++ b/objects/objaverse/boxed_food/boxed_food_8/visual/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 359.99999300
+map_Kd material_0.jpeg
\ No newline at end of file
diff --git a/objects/objaverse/boxed_food/boxed_food_8/visual/model_normalized_0.obj b/objects/objaverse/boxed_food/boxed_food_8/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9aecad655511da12f7c7f35f0d3c08c80748b143
--- /dev/null
+++ b/objects/objaverse/boxed_food/boxed_food_8/visual/model_normalized_0.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
+v 0.50000000 -0.14285679 -0.49377483
+v -0.49999927 -0.14285697 -0.49377483
+v -0.49999909 0.14285697 -0.49377483
+v 0.50000000 0.14285697 -0.49377483
+v 0.50000000 -0.14285679 -0.49377483
+v 0.50000000 0.14285697 -0.49377483
+v 0.49999982 0.14285697 0.49377356
+v 0.50000000 -0.14285661 0.49377356
+v 0.50000000 0.14285697 -0.49377483
+v -0.49999909 0.14285697 -0.49377483
+v -0.49999927 0.14285697 0.49377374
+v 0.49999982 0.14285697 0.49377356
+v -0.49999909 0.14285697 -0.49377483
+v -0.49999927 -0.14285697 -0.49377483
+v -0.49999964 -0.14285716 0.49377374
+v -0.49999927 0.14285697 0.49377374
+v -0.49999927 -0.14285697 -0.49377483
+v 0.50000000 -0.14285679 -0.49377483
+v 0.50000000 -0.14285661 0.49377356
+v -0.49999964 -0.14285716 0.49377374
+v 0.50000000 -0.14264561 0.49377356
+v 0.49999982 0.14285697 0.49377465
+v -0.49999927 0.14285716 0.49377483
+v -0.50000000 -0.14264597 0.49377374
+v 0.50000000 -0.14264561 0.49377356
+v 0.50000000 -0.14264561 0.49377356
+v -0.50000000 -0.14264597 0.49377374
+v -0.48857582 -0.13838948 0.47685319
+v -0.48857582 -0.13838948 0.47685319
+v 0.48928339 -0.13838912 0.47685301
+v -0.49999927 0.14285716 0.49377483
+v 0.49999982 0.14285697 0.49377465
+v 0.49999982 0.14285697 0.49377356
+v -0.49999927 0.14285697 0.49377374
+vn 0.00000000 0.00000000 -1.00000000
+vn 0.00000000 0.00000000 -1.00000000
+vn 0.00000000 0.00000000 -1.00000000
+vn 0.00000000 0.00000000 -1.00000000
+vn 1.00000000 0.00000000 0.00000000
+vn 1.00000000 0.00000000 0.00000000
+vn 1.00000000 0.00000000 0.00000000
+vn 1.00000000 0.00000000 0.00000000
+vn 0.00000000 1.00000000 0.00000000
+vn 0.00000000 1.00000000 0.00000000
+vn 0.00000000 1.00000000 0.00000000
+vn 0.00000000 1.00000000 0.00000000
+vn -1.00000000 0.00000000 0.00000000
+vn -1.00000000 0.00000000 0.00000000
+vn -1.00000000 0.00000000 0.00000000
+vn -1.00000000 0.00000000 0.00000000
+vn 0.00000000 -1.00000000 0.00000000
+vn 0.00000000 -1.00000000 0.00000000
+vn 0.00000000 -1.00000000 0.00000000
+vn 0.00000000 -1.00000000 0.00000000
+vn 0.00000000 0.00000000 1.00000000
+vn 0.00000000 0.00000000 1.00000000
+vn 0.00000000 0.00000000 1.00000000
+vn 0.00000000 0.00000000 1.00000000
+vn 0.00000000 -0.96980036 -0.24390009
+vn 0.00000000 -0.96977671 -0.24399414
+vn 0.00000000 -0.96980036 -0.24390009
+vn 0.00000000 -0.96977671 -0.24399414
+vn 0.00000000 -0.96980036 -0.24390009
+vn 0.00000000 -0.96977671 -0.24399414
+vn 0.00000000 0.99916739 -0.04079867
+vn 0.00000000 0.99926250 -0.03839856
+vn 0.00000000 0.99926250 -0.03839856
+vn 0.00000000 0.99916739 -0.04079867
+vt 0.50149300 0.98827100
+vt 0.88733200 0.98827100
+vt 0.88733200 0.81537400
+vt 0.50149300 0.81537400
+vt 0.88994500 0.81225900
+vt 0.99847100 0.81225900
+vt 0.99847100 0.18178800
+vt 0.88994500 0.18178800
+vt 0.00172000 0.81590300
+vt 0.38797500 0.81590300
+vt 0.38797500 0.18372100
+vt 0.00172000 0.18372100
+vt 0.38979800 0.81582000
+vt 0.49968000 0.81582000
+vt 0.49968000 0.18508600
+vt 0.38979800 0.18508600
+vt 0.50129200 0.81529200
+vt 0.88819300 0.81529200
+vt 0.88819300 0.18418400
+vt 0.50129200 0.18418400
+vt 0.50160400 0.00383000
+vt 0.50160400 0.17695500
+vt 0.88678700 0.17695500
+vt 0.88678700 0.00383000
+vt -0.09955900 1.50885300
+vt -0.09955900 1.50885300
+vt 0.30500100 1.50885300
+vt 0.30037900 1.49875700
+vt 0.30037900 1.49875700
+vt -0.09522400 1.49875700
+vt 0.38821700 0.18372100
+vt 0.00172000 0.18372100
+vt 0.00172000 0.18372100
+vt 0.38797500 0.18372100
+f 1/1/1 2/2/2 3/3/3
+f 1/1/1 3/3/3 4/4/4
+f 5/5/5 6/6/6 7/7/7
+f 5/5/5 7/7/7 8/8/8
+f 9/9/9 10/10/10 11/11/11
+f 9/9/9 11/11/11 12/12/12
+f 13/13/13 14/14/14 15/15/15
+f 13/13/13 15/15/15 16/16/16
+f 17/17/17 18/18/18 19/19/19
+f 17/17/17 19/19/19 20/20/20
+f 21/21/21 22/22/22 23/23/23
+f 21/21/21 23/23/23 24/24/24
+f 25/25/25 27/27/27 29/29/29
+f 26/26/26 28/28/28 30/30/30
+f 31/31/31 32/32/32 33/33/33
+f 31/31/31 33/33/33 34/34/34
\ No newline at end of file
diff --git a/objects/objaverse/boxed_food/boxed_food_9/collision/model_normalized_collision_0.obj b/objects/objaverse/boxed_food/boxed_food_9/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e06a15c234d1b59c08faf7830d956f80ad578ca4
--- /dev/null
+++ b/objects/objaverse/boxed_food/boxed_food_9/collision/model_normalized_collision_0.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.49999981 -0.14285676 0.49892747
+v 0.49999981 -0.14285713 -0.49892876
+v 0.49999998 0.14285641 -0.49892876
+v -0.49999910 0.14285695 0.49892747
+v -0.49999966 -0.14285695 0.49892747
+v 0.49999964 0.14285677 0.49892747
+v -0.49999927 -0.14285695 -0.49892876
+v -0.49999892 0.14285677 -0.49892876
+f 1 2 3
+f 5 2 1
+f 5 1 4
+f 6 1 3
+f 6 4 1
+f 7 3 2
+f 7 2 5
+f 8 3 7
+f 8 6 3
+f 8 4 6
+f 8 7 5
+f 8 5 4
\ No newline at end of file
diff --git a/objects/objaverse/boxed_food/boxed_food_9/model.xml b/objects/objaverse/boxed_food/boxed_food_9/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..8381eeaa88fc05b1fecda654df08e610070a8961
--- /dev/null
+++ b/objects/objaverse/boxed_food/boxed_food_9/model.xml
@@ -0,0 +1,18 @@
+<mujoco model="boxed_food_12">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.12999999999999995 0.12999999999999995 0.12999999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476" />
+    <texture type="2d" name="image0" file="visual/image0.png" />
+    <material name="Qeema_Macroni_mtl" texture="image0" specular="0.5" shininess="0.359999993" />
+  </asset>
+  <worldbody>
+    <body>
+      <body name="object">
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_0_vis" conaffinity="0" contype="0" group="1" material="Qeema_Macroni_mtl" />
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" group="0" rgba="0.8 0.8 0.8 0.0" size="0.01857140349999999 0.06499995579999997 0.06486065494999999" pos="-1.169999999925397e-08 -2.0799999999876463e-08 -8.38500000058251e-08" />
+      </body>
+      <site rgba="0 0 0 0" size="0.005" pos="-1.169999999925397e-08 -2.0799999999876463e-08 -0.06486073879999998" name="bottom_site" />
+      <site rgba="0 0 0 0" size="0.005" pos="-1.169999999925397e-08 -2.0799999999876463e-08 0.06486057109999997" name="top_site" />
+      <site rgba="0 0 0 0" size="0.005" pos="0.01857140349999999 0.06499995579999997 -8.385000000277195e-08" name="horizontal_radius_site" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/objects/objaverse/boxed_food/boxed_food_9/visual/material.mtl b/objects/objaverse/boxed_food/boxed_food_9/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..842b70538fc6029daec10eabd1278717f12035ab
--- /dev/null
+++ b/objects/objaverse/boxed_food/boxed_food_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.jpeg
\ No newline at end of file
diff --git a/objects/objaverse/boxed_food/boxed_food_9/visual/model_normalized_0.obj b/objects/objaverse/boxed_food/boxed_food_9/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..94b0229759d110d1a572a30b7f70009a0022d6a8
--- /dev/null
+++ b/objects/objaverse/boxed_food/boxed_food_9/visual/model_normalized_0.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
+v 0.49999982 -0.14285713 -0.49892876
+v -0.49999927 -0.14285695 -0.49892876
+v -0.49999891 0.14285677 -0.49892876
+v 0.50000000 0.14285640 -0.49892876
+v 0.49999982 -0.14285713 -0.49892876
+v 0.50000000 0.14285640 -0.49892876
+v 0.49999964 0.14285677 0.49892749
+v 0.49999982 -0.14285677 0.49892749
+v 0.50000000 0.14285640 -0.49892876
+v -0.49999891 0.14285677 -0.49892876
+v -0.49999909 0.14285695 0.49892749
+v 0.49999964 0.14285677 0.49892749
+v -0.49999891 0.14285677 -0.49892876
+v -0.49999927 -0.14285695 -0.49892876
+v -0.49999964 -0.14285695 0.49892749
+v -0.49999909 0.14285695 0.49892749
+v -0.49999927 -0.14285695 -0.49892876
+v 0.49999982 -0.14285713 -0.49892876
+v 0.49999982 -0.14285677 0.49892749
+v -0.49999964 -0.14285695 0.49892749
+v 0.49999982 -0.14264595 0.49892749
+v 0.49999964 0.14285677 0.49892876
+v -0.49999909 0.14285713 0.49892876
+v -0.50000000 -0.14264577 0.49892749
+v 0.49999982 -0.14264595 0.49892749
+v -0.50000000 -0.14264577 0.49892749
+v -0.48857582 -0.13838946 0.48200712
+v 0.48928321 -0.13838928 0.48200712
+v -0.49999909 0.14285713 0.49892876
+v 0.49999964 0.14285677 0.49892876
+v 0.49999964 0.14285677 0.49892749
+v -0.49999909 0.14285695 0.49892749
+vn 0.00000000 0.00000000 -1.00000000
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+vn 0.00000000 0.00000000 -1.00000000
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+vn 1.00000000 0.00000000 0.00000000
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+vn 0.00000000 0.99926250 -0.03839856
+vn 0.00000000 0.99926250 -0.03839856
+vn 0.00000000 0.99971435 -0.02390034
+vt 0.88475300 0.81734500
+vt 0.50726600 0.81734500
+vt 0.50726700 0.98454200
+vt 0.88475300 0.98454200
+vt 0.89371000 0.80846500
+vt 0.99664400 0.80846500
+vt 0.99664400 0.18166800
+vt 0.89371000 0.18166800
+vt 0.00485900 0.81221500
+vt 0.38737700 0.81221500
+vt 0.38737700 0.17591700
+vt 0.00485900 0.17591700
+vt 0.39314500 0.80903000
+vt 0.49859300 0.80903000
+vt 0.49859300 0.18126500
+vt 0.39314400 0.18126500
+vt 0.50250900 0.81705200
+vt 0.88915800 0.81705200
+vt 0.88915800 0.18131800
+vt 0.50250900 0.18131800
+vt 0.50465100 0.00717400
+vt 0.50465100 0.17247700
+vt 0.88403700 0.17247700
+vt 0.88403800 0.00717400
+vt 0.68384700 1.52626000
+vt 0.68384700 1.92896300
+vt 0.69389700 1.92436300
+vt 0.69389700 1.53057500
+vt 0.38737700 0.17591600
+vt 0.00485900 0.17591600
+vt 0.00485900 0.17591700
+vt 0.38737700 0.17591700
+f 1/1/1 2/2/2 3/3/3
+f 1/1/1 3/3/3 4/4/4
+f 5/5/5 6/6/6 7/7/7
+f 5/5/5 7/7/7 8/8/8
+f 9/9/9 10/10/10 11/11/11
+f 9/9/9 11/11/11 12/12/12
+f 13/13/13 14/14/14 15/15/15
+f 13/13/13 15/15/15 16/16/16
+f 17/17/17 18/18/18 19/19/19
+f 17/17/17 19/19/19 20/20/20
+f 21/21/21 22/22/22 23/23/23
+f 21/21/21 23/23/23 24/24/24
+f 25/25/25 27/27/27 28/28/28
+f 25/25/25 26/26/26 27/27/27
+f 29/29/29 30/30/30 31/31/31
+f 29/29/29 31/31/31 32/32/32
\ No newline at end of file
diff --git a/objects/objaverse/donut/donut_0/collision/model_normalized_collision_0.obj b/objects/objaverse/donut/donut_0/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b1b9afa4499f8625461444d0b90ea39e9786e13e
--- /dev/null
+++ b/objects/objaverse/donut/donut_0/collision/model_normalized_collision_0.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v -0.20874298 -0.26515151 -0.00640563
+v -0.20613093 -0.26246275 -0.19370149
+v -0.20874298 0.23484848 0.00874589
+v -0.34136235 0.25736416 0.03757244
+v -0.41837165 -0.09742584 -0.11840814
+v -0.20874298 -0.00757576 0.00874589
+v -0.33105282 -0.26606838 -0.00619033
+v -0.25116918 0.23134340 -0.19179350
+v -0.31574827 -0.25334449 -0.13120229
+v -0.21483879 0.10055738 -0.19145551
+v -0.31309323 -0.05260766 -0.20187269
+v -0.32266966 0.22827976 -0.16346519
+v -0.20874298 0.23484848 -0.09731472
+v -0.23433168 -0.26056928 -0.18639584
+v -0.25574359 0.14399809 -0.20228499
+v -0.39637816 -0.00943679 -0.16803472
+v -0.32070884 -0.15291937 -0.18571300
+v -0.27078665 -0.09874038 -0.20283514
+v -0.31317607 0.08292339 -0.20196085
+v -0.29801976 -0.08231115 -0.20200052
+v -0.30481521 -0.18185218 -0.18405196
+v -0.38971739 -0.08812112 -0.15997190
+v -0.28285184 -0.09754690 -0.20262807
+v -0.28303324 0.14248208 -0.20154396
+v -0.32043007 0.18298688 -0.18469309
+v -0.28681815 -0.23952488 -0.16994937
+v -0.31591934 -0.22462417 -0.15625416
+v -0.32193755 0.21299266 -0.17214912
+v -0.29804472 0.12758924 -0.20126983
+v -0.27358821 -0.25538488 -0.16958245
+v -0.31855659 -0.19612705 -0.17137758
+v -0.27954078 0.22943238 -0.18489534
+v -0.30736029 0.22751789 -0.17297008
+f 6 3 4
+f 6 4 1
+f 6 1 2
+f 6 2 3
+f 7 2 1
+f 7 1 4
+f 7 4 5
+f 9 7 5
+f 12 4 8
+f 13 8 4
+f 13 4 3
+f 13 10 8
+f 13 3 2
+f 13 2 10
+f 14 2 7
+f 14 7 9
+f 15 10 2
+f 15 8 10
+f 16 5 4
+f 16 4 12
+f 17 16 11
+f 18 15 2
+f 19 11 16
+f 19 15 18
+f 20 17 11
+f 20 2 17
+f 21 17 2
+f 21 2 14
+f 22 5 16
+f 22 16 17
+f 23 19 18
+f 23 11 19
+f 23 20 11
+f 23 18 2
+f 23 2 20
+f 24 8 15
+f 24 15 19
+f 25 19 16
+f 26 21 14
+f 27 9 5
+f 27 5 22
+f 28 25 16
+f 28 16 12
+f 29 24 19
+f 29 19 25
+f 29 25 8
+f 29 8 24
+f 30 26 14
+f 30 14 9
+f 30 27 26
+f 30 9 27
+f 31 27 22
+f 31 22 17
+f 31 17 21
+f 31 21 26
+f 31 26 27
+f 32 12 8
+f 32 8 25
+f 32 25 28
+f 33 32 28
+f 33 28 12
+f 33 12 32
\ No newline at end of file
diff --git a/objects/objaverse/donut/donut_0/collision/model_normalized_collision_1.obj b/objects/objaverse/donut/donut_0/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f8b9464fb90fcc42ae2f4ae2d12479fbe4595d08
--- /dev/null
+++ b/objects/objaverse/donut/donut_0/collision/model_normalized_collision_1.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v 0.26501198 -0.00739506 0.13528445
+v 0.26361587 -0.00750489 -0.19558151
+v 0.26079272 0.23474601 0.14384934
+v 0.02116521 0.23121918 0.09571564
+v 0.17042880 -0.00712615 -0.07789217
+v 0.25974544 0.23397392 -0.20379403
+v 0.14591700 0.23374267 0.14556598
+v 0.21436365 -0.00692463 0.10371978
+v 0.01862323 0.23717168 -0.17021039
+v 0.30614242 0.14384890 0.14337813
+v 0.14821125 0.22802032 0.14533020
+v 0.17280239 -0.00705457 0.00381504
+v 0.22649681 -0.00708650 0.11387829
+v 0.01598160 0.17455608 0.02003526
+v 0.20125488 -0.00711876 -0.14602941
+v 0.20153825 0.23585323 -0.20299487
+v 0.11044257 0.24127514 0.13217591
+v 0.30634135 0.12877108 0.14383726
+v 0.26252688 0.12933964 -0.20320111
+v 0.25327854 -0.00724615 0.13044711
+v 0.01561631 0.20002171 0.07714557
+v 0.01864872 0.17441253 -0.07733191
+v 0.22812635 -0.00722636 -0.17438128
+v 0.18537145 -0.00713539 -0.12019329
+v 0.24515048 0.23443944 0.14478413
+v 0.12829414 0.24068165 -0.19015097
+v 0.28200726 0.12414112 0.16039333
+v 0.01478599 0.19039000 0.06220426
+v 0.01892301 0.19138624 -0.11828668
+v 0.01886525 0.22803472 -0.16280120
+v 0.25330933 -0.00737281 -0.19082650
+v 0.06515884 0.24044656 -0.17729356
+v 0.28895951 0.13302489 0.15870951
+f 5 2 1
+f 10 6 3
+f 11 7 4
+f 11 4 1
+f 12 5 1
+f 13 12 1
+f 13 8 12
+f 14 5 12
+f 16 2 9
+f 17 9 4
+f 17 4 7
+f 18 1 2
+f 19 6 10
+f 19 16 6
+f 19 2 16
+f 19 18 2
+f 19 10 18
+f 20 13 1
+f 20 1 4
+f 20 4 13
+f 21 13 4
+f 21 8 13
+f 21 4 9
+f 22 5 14
+f 24 2 5
+f 24 23 2
+f 24 15 23
+f 25 17 7
+f 25 3 17
+f 26 16 9
+f 26 6 16
+f 26 17 3
+f 26 3 6
+f 27 11 1
+f 27 7 11
+f 27 25 7
+f 28 21 9
+f 28 9 14
+f 28 14 12
+f 28 12 8
+f 28 8 21
+f 29 22 14
+f 29 14 9
+f 29 15 24
+f 29 24 5
+f 29 5 22
+f 30 23 15
+f 30 9 23
+f 30 29 9
+f 30 15 29
+f 31 23 9
+f 31 9 2
+f 31 2 23
+f 32 26 9
+f 32 9 17
+f 32 17 26
+f 33 27 1
+f 33 1 18
+f 33 18 10
+f 33 10 3
+f 33 3 25
+f 33 25 27
\ No newline at end of file
diff --git a/objects/objaverse/donut/donut_0/collision/model_normalized_collision_10.obj b/objects/objaverse/donut/donut_0/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..448b0c2514bacdd49ad3d869ca6c8bcefdc5fe3a
--- /dev/null
+++ b/objects/objaverse/donut/donut_0/collision/model_normalized_collision_10.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.32222323 -0.25875484 0.03582917
+v -0.32018530 -0.25711625 -0.12190259
+v -0.31411398 0.09874495 0.15802061
+v -0.34136235 0.25736416 0.03757244
+v -0.44744310 -0.04879637 -0.07678306
+v -0.32266966 0.22827976 -0.16346519
+v -0.31264413 -0.00700715 0.14687529
+v -0.38838590 -0.19299027 -0.06393404
+v -0.41928236 0.07161807 0.07752803
+v -0.41801482 0.18069947 -0.06281724
+v -0.36516111 -0.05107469 -0.18476004
+v -0.31480358 0.09848485 0.00874589
+v -0.40350452 -0.12085006 -0.12890682
+v -0.34318890 -0.25085652 -0.07803469
+v -0.41840243 -0.10775390 0.02901830
+v -0.36805402 0.21712898 0.09486101
+v -0.38220796 0.03086110 0.14421138
+v -0.38917755 0.22287181 -0.07789190
+v -0.44856927 0.09445376 -0.02352943
+v -0.32604983 -0.12647161 -0.19026044
+v -0.40719852 0.06646516 -0.15646521
+v -0.31480358 -0.00757576 0.00874589
+v -0.32222000 -0.18443729 -0.17393207
+v -0.43260578 -0.10735349 -0.06594687
+v -0.38634400 -0.17865276 -0.10318833
+v -0.34390124 -0.25148948 -0.00961374
+v -0.32463629 -0.15377515 0.14101660
+v -0.39286579 0.09638235 0.11389977
+v -0.35055535 0.09862678 0.14344974
+v -0.43211566 -0.02062192 0.04393190
+v -0.37243781 0.22145814 -0.11820055
+v -0.38861144 0.22405120 0.01729437
+v -0.43228361 0.10989789 0.02914654
+v -0.32621303 0.15635262 -0.19016758
+v -0.44878502 0.08049267 -0.07697576
+v -0.41902662 -0.02129773 -0.14441696
+v -0.37315193 -0.17781577 -0.12879544
+v -0.37548475 -0.09371243 -0.17057322
+v -0.43295746 -0.07707785 -0.10316046
+v -0.44805961 -0.04883350 -0.00853680
+v -0.41795210 -0.13557393 -0.00896955
+v -0.41737089 -0.13556156 -0.07749007
+v -0.37176948 -0.20739581 -0.09290005
+v -0.32377941 -0.18566903 0.12102369
+v -0.36432518 -0.12148648 0.12942500
+v -0.37243472 0.18524888 0.10223681
+v -0.37296184 0.21285057 0.08955043
+v -0.40361161 0.07990680 0.10257576
+v -0.40434293 -0.01919454 0.09945382
+v -0.44721294 0.07980723 0.00275410
+v -0.37593775 0.16693383 -0.15500126
+v -0.40305230 0.19391401 -0.09249413
+v -0.37004162 0.23248180 0.08167857
+v -0.40208354 0.20922302 -0.00934771
+v -0.32420267 0.19999256 -0.17643845
+v -0.36535565 0.08114822 -0.18434294
+v -0.44785525 0.09422547 -0.06535266
+v -0.43315263 0.07925108 -0.11796268
+v -0.39199327 -0.00648278 -0.17190328
+v -0.32175672 -0.22873664 -0.14888990
+v -0.35071923 -0.09412657 -0.18553295
+v -0.33604801 -0.12364178 -0.18626546
+v -0.40291758 -0.09271206 -0.14402033
+v -0.33034422 -0.17995693 -0.17075339
+f 6 4 3
+f 7 1 2
+f 12 6 3
+f 12 3 7
+f 14 2 1
+f 16 3 4
+f 22 12 7
+f 22 7 2
+f 23 6 12
+f 23 22 2
+f 23 12 22
+f 26 14 1
+f 26 8 14
+f 27 7 3
+f 27 3 17
+f 29 17 3
+f 29 3 16
+f 31 18 4
+f 31 4 6
+f 32 4 18
+f 34 20 11
+f 34 23 20
+f 37 25 13
+f 39 24 5
+f 39 5 36
+f 40 5 24
+f 40 15 30
+f 40 35 5
+f 40 19 35
+f 41 24 8
+f 41 40 24
+f 41 15 40
+f 41 8 26
+f 41 26 1
+f 41 1 15
+f 42 25 8
+f 42 8 24
+f 42 24 39
+f 42 39 13
+f 42 13 25
+f 43 14 8
+f 43 8 25
+f 43 2 14
+f 43 37 2
+f 43 25 37
+f 44 1 7
+f 44 7 27
+f 45 27 17
+f 45 44 27
+f 45 15 1
+f 45 1 44
+f 45 30 15
+f 46 28 17
+f 46 16 28
+f 46 29 16
+f 46 17 29
+f 47 28 16
+f 47 33 9
+f 48 9 17
+f 48 17 28
+f 48 47 9
+f 48 28 47
+f 49 17 9
+f 49 9 30
+f 49 45 17
+f 49 30 45
+f 50 30 9
+f 50 40 30
+f 50 19 40
+f 50 33 19
+f 50 9 33
+f 51 31 6
+f 52 10 18
+f 52 18 31
+f 52 31 51
+f 52 35 10
+f 53 16 4
+f 53 4 32
+f 53 47 16
+f 53 33 47
+f 54 32 18
+f 54 18 10
+f 54 10 19
+f 54 19 33
+f 54 53 32
+f 54 33 53
+f 55 6 23
+f 55 23 34
+f 55 51 6
+f 55 34 51
+f 56 34 11
+f 56 51 34
+f 56 21 51
+f 57 35 19
+f 57 19 10
+f 57 10 35
+f 58 21 36
+f 58 51 21
+f 58 52 51
+f 58 35 52
+f 58 36 5
+f 58 5 35
+f 59 36 21
+f 59 38 36
+f 59 11 38
+f 59 56 11
+f 59 21 56
+f 60 23 2
+f 60 2 37
+f 61 38 11
+f 61 11 20
+f 62 20 23
+f 62 61 20
+f 62 38 61
+f 63 36 38
+f 63 39 36
+f 63 13 39
+f 64 37 13
+f 64 63 38
+f 64 13 63
+f 64 60 37
+f 64 23 60
+f 64 62 23
+f 64 38 62
\ No newline at end of file
diff --git a/objects/objaverse/donut/donut_0/collision/model_normalized_collision_11.obj b/objects/objaverse/donut/donut_0/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a275668160d816d2a44617d67cc631a3b641a28c
--- /dev/null
+++ b/objects/objaverse/donut/donut_0/collision/model_normalized_collision_11.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v -0.14828103 0.09173727 -0.14076884
+v 0.01886525 0.22803472 -0.16280120
+v 0.01877713 0.18502682 -0.10659648
+v -0.25419752 0.23484848 -0.09731472
+v -0.25116918 0.23134340 -0.19179350
+v -0.20874298 0.23484848 -0.09731472
+v -0.25419752 0.09848485 -0.09731472
+v 0.01753326 0.20431888 -0.13779253
+v -0.25435913 0.09851140 -0.20169822
+v 0.01862323 0.23717168 -0.17021039
+v -0.20874298 0.09848485 -0.09731472
+v 0.01892301 0.19138624 -0.11828668
+v -0.20275486 0.10160034 -0.18545712
+v -0.02818358 0.24104738 -0.17629916
+v -0.17636809 0.10419980 -0.17113077
+v -0.10494972 0.23838669 -0.18819187
+f 7 6 4
+f 8 1 2
+f 9 1 7
+f 9 7 4
+f 9 4 5
+f 10 6 3
+f 10 3 2
+f 11 7 1
+f 11 1 3
+f 11 3 6
+f 11 6 7
+f 12 8 2
+f 12 2 3
+f 12 3 1
+f 12 1 8
+f 13 1 9
+f 13 10 2
+f 13 9 10
+f 14 4 6
+f 14 6 10
+f 15 13 2
+f 15 2 1
+f 15 1 13
+f 16 5 4
+f 16 4 14
+f 16 9 5
+f 16 14 10
+f 16 10 9
\ No newline at end of file
diff --git a/objects/objaverse/donut/donut_0/collision/model_normalized_collision_12.obj b/objects/objaverse/donut/donut_0/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd509ef98273b6fdf89af3d55c01bf39f7ba5dfa
--- /dev/null
+++ b/objects/objaverse/donut/donut_0/collision/model_normalized_collision_12.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v -0.25453840 -0.00753806 0.14377600
+v -0.08927350 0.16131205 0.12899089
+v -0.21072829 0.19342901 0.20699569
+v -0.35296238 0.23260815 0.13109668
+v -0.39422262 0.10951160 0.10657516
+v -0.08904759 0.23669851 0.18615059
+v -0.39682267 0.09629560 0.10854875
+v -0.31856904 0.23709203 0.11828218
+v -0.24854233 0.23404352 0.18813276
+v -0.09650028 0.18661778 0.16011602
+v -0.15441383 0.18759046 0.19242496
+v -0.31501304 -0.00761977 0.14646777
+v -0.37185665 0.22813695 0.11487802
+v -0.08314926 0.22875959 0.13864050
+v -0.10620568 0.23911626 0.19222029
+v -0.31645845 0.17727274 0.17540646
+v -0.09342981 0.21267633 0.17602600
+v -0.09658460 0.17123019 0.14762267
+v -0.27736333 0.01933861 0.16170609
+v -0.21046981 0.20729067 0.20541005
+v -0.19694247 0.19422153 0.20459989
+v -0.35055535 0.09862678 0.14344974
+v -0.30412677 0.23029021 0.16043199
+v -0.36832012 0.22776865 0.12235649
+v -0.25817114 -0.00713627 0.14471595
+v -0.29087228 0.01983118 0.16121104
+v -0.19336417 0.22393706 0.19877360
+v -0.39286579 0.09638235 0.11389977
+v -0.31264413 -0.00700715 0.14687529
+v -0.29847706 0.13622506 0.17685002
+f 7 5 2
+f 7 2 1
+f 8 2 5
+f 9 8 4
+f 11 1 6
+f 12 7 1
+f 13 5 7
+f 13 8 5
+f 13 4 8
+f 14 6 2
+f 14 2 8
+f 15 8 9
+f 15 14 8
+f 15 6 14
+f 15 11 6
+f 17 6 1
+f 17 1 10
+f 17 10 2
+f 17 2 6
+f 18 10 1
+f 18 1 2
+f 18 2 10
+f 19 1 11
+f 20 3 15
+f 20 16 3
+f 20 9 16
+f 21 15 3
+f 21 11 15
+f 21 19 11
+f 21 3 19
+f 22 12 16
+f 23 16 9
+f 23 9 4
+f 23 4 16
+f 24 13 7
+f 24 16 4
+f 24 4 13
+f 25 12 1
+f 25 1 19
+f 26 12 19
+f 26 19 3
+f 27 20 15
+f 27 15 9
+f 27 9 20
+f 28 22 16
+f 28 7 12
+f 28 12 22
+f 28 24 7
+f 28 16 24
+f 29 25 19
+f 29 19 12
+f 29 12 25
+f 30 16 12
+f 30 12 26
+f 30 26 3
+f 30 3 16
\ No newline at end of file
diff --git a/objects/objaverse/donut/donut_0/collision/model_normalized_collision_13.obj b/objects/objaverse/donut/donut_0/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed7a1a4251ac10f03976720aefd06be031658205
--- /dev/null
+++ b/objects/objaverse/donut/donut_0/collision/model_normalized_collision_13.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v -0.28187794 -0.22474391 0.14265928
+v -0.20874298 -0.14393939 -0.00640563
+v -0.20569229 0.09461565 0.15396057
+v -0.31161996 0.09927428 0.13626878
+v -0.36675467 -0.16413697 0.03293242
+v -0.20874298 0.09848485 0.00874589
+v -0.32753300 -0.00706682 0.14455494
+v -0.21025511 -0.14538529 0.15070390
+v -0.28750627 -0.22199649 0.10395554
+v -0.20874298 -0.00757576 -0.00640563
+v -0.31480358 0.09848485 0.00874589
+v -0.32004989 -0.15256502 0.14624730
+v -0.31936574 -0.21155916 0.10497717
+v -0.32995510 -0.00757576 -0.00640563
+v -0.28056387 -0.22132318 0.14392504
+v -0.31489072 -0.20915097 0.11664699
+f 6 4 3
+f 7 3 4
+f 7 4 5
+f 8 1 2
+f 8 2 3
+f 9 5 2
+f 9 2 1
+f 10 6 3
+f 10 3 2
+f 11 5 4
+f 11 4 6
+f 11 6 10
+f 12 7 5
+f 12 8 3
+f 12 3 7
+f 13 9 1
+f 13 5 9
+f 13 12 5
+f 14 11 10
+f 14 10 2
+f 14 2 5
+f 14 5 11
+f 15 12 1
+f 15 1 8
+f 15 8 12
+f 16 13 1
+f 16 1 12
+f 16 12 13
\ No newline at end of file
diff --git a/objects/objaverse/donut/donut_0/collision/model_normalized_collision_14.obj b/objects/objaverse/donut/donut_0/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eacac19c74ec27d2b66b1565329b2ca2b5797f28
--- /dev/null
+++ b/objects/objaverse/donut/donut_0/collision/model_normalized_collision_14.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v 0.13862398 0.18806488 0.08663864
+v 0.13974187 0.23484848 -0.00640563
+v 0.13834250 0.44191759 0.09795722
+v 0.03692529 0.46280257 0.11138451
+v 0.01852975 0.23484848 -0.00640563
+v 0.04776921 0.34540437 0.18184950
+v 0.14459094 0.19565240 0.11697212
+v 0.01852975 0.41666666 -0.00640563
+v 0.08399781 0.43661465 0.13377664
+v 0.13974187 0.41666666 -0.00640563
+v 0.13618888 0.36750926 0.14338601
+v 0.01450869 0.22678925 0.15131064
+v 0.01620695 0.39442083 0.16185493
+v 0.03917908 0.46250728 0.10602319
+v 0.14045473 0.26921286 0.14338860
+v 0.13497504 0.40694847 0.12830221
+v 0.01828832 0.20542614 0.08389374
+v 0.01717660 0.41821726 0.14569423
+v 0.01445350 0.32439049 0.18225878
+v 0.01814247 0.45823111 0.09663748
+v 0.12234802 0.44546414 0.09923401
+v 0.05031655 0.33469752 0.18102103
+v 0.13447713 0.43314447 0.11142115
+v 0.01521193 0.21591386 0.12462494
+v 0.02116909 0.34190624 0.18090416
+v 0.02943317 0.45415536 0.11763570
+f 5 2 1
+f 7 1 2
+f 8 2 5
+f 9 3 4
+f 10 7 2
+f 10 3 7
+f 10 2 8
+f 12 8 5
+f 13 6 9
+f 14 10 8
+f 15 7 3
+f 15 3 11
+f 15 12 7
+f 16 11 3
+f 16 9 6
+f 16 6 11
+f 17 5 1
+f 18 13 9
+f 18 9 4
+f 19 8 12
+f 20 14 8
+f 20 4 14
+f 20 13 18
+f 20 19 13
+f 20 8 19
+f 21 14 4
+f 21 4 3
+f 21 3 10
+f 21 10 14
+f 22 15 11
+f 22 11 6
+f 22 6 19
+f 22 19 12
+f 22 12 15
+f 23 16 3
+f 23 3 9
+f 23 9 16
+f 24 12 5
+f 24 5 17
+f 24 7 12
+f 24 17 1
+f 24 1 7
+f 25 19 6
+f 25 6 13
+f 25 13 19
+f 26 20 18
+f 26 18 4
+f 26 4 20
\ No newline at end of file
diff --git a/objects/objaverse/donut/donut_0/collision/model_normalized_collision_15.obj b/objects/objaverse/donut/donut_0/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f68bac5b04d40117e7f02e125a37b008dd965cc6
--- /dev/null
+++ b/objects/objaverse/donut/donut_0/collision/model_normalized_collision_15.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v -0.19128768 -0.00835819 0.11359584
+v -0.07274085 0.20785475 -0.16471902
+v -0.08314926 0.22875959 0.13864050
+v -0.21542918 0.23372150 0.16286010
+v -0.21254357 -0.00774057 -0.18115438
+v -0.20874298 0.23484848 -0.12761775
+v -0.20810434 0.15698287 0.18099029
+v -0.13351950 -0.00850688 -0.02286412
+v -0.20884039 0.09851797 -0.18803332
+v -0.10815942 0.16661206 0.15088283
+v -0.13755294 0.16554293 0.16597543
+v -0.21509629 0.02538058 0.13261599
+v -0.09215905 0.16524871 0.13870055
+v -0.14599257 -0.00824894 -0.10562476
+v -0.20361785 -0.00803035 -0.17608649
+v -0.16589381 0.16092507 -0.18226383
+v -0.21052198 -0.00766757 0.12652135
+v -0.21225689 0.10451813 0.16068879
+v -0.10598308 0.09751444 0.01905679
+v -0.14734895 -0.00822341 0.03190989
+v -0.13319060 -0.00849208 -0.05030380
+v -0.16057307 -0.00817338 -0.13268993
+f 6 3 2
+f 6 4 3
+f 6 5 4
+f 9 2 5
+f 9 5 6
+f 11 3 4
+f 11 4 7
+f 11 10 3
+f 12 4 5
+f 13 2 3
+f 13 3 10
+f 13 10 1
+f 15 1 5
+f 15 5 2
+f 16 9 6
+f 16 6 2
+f 16 2 9
+f 17 11 7
+f 17 1 10
+f 17 10 11
+f 17 12 5
+f 17 5 1
+f 18 7 4
+f 18 4 12
+f 18 17 7
+f 18 12 17
+f 19 13 8
+f 19 8 2
+f 19 2 13
+f 20 13 1
+f 20 1 8
+f 20 8 13
+f 21 14 2
+f 21 2 8
+f 21 8 1
+f 21 1 15
+f 22 15 2
+f 22 2 14
+f 22 21 15
+f 22 14 21
\ No newline at end of file
diff --git a/objects/objaverse/donut/donut_0/collision/model_normalized_collision_16.obj b/objects/objaverse/donut/donut_0/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e99108f4cb57fdb77e4d2a52fe43ab066e2a57fb
--- /dev/null
+++ b/objects/objaverse/donut/donut_0/collision/model_normalized_collision_16.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.24719032 -0.14088758 0.09595771
+v 0.26144720 -0.14413053 -0.20176063
+v 0.26361587 -0.00750489 -0.19558151
+v 0.17825415 0.03954982 0.03495621
+v 0.11677363 -0.15215149 -0.07885502
+v 0.24804023 -0.00814929 0.08780714
+v 0.15114080 -0.15213831 0.04633650
+v 0.19618402 -0.14994466 -0.17353908
+v 0.18537145 -0.00713539 -0.12019329
+v 0.18506618 0.03476812 0.04666760
+v 0.16496444 -0.15091265 0.05874826
+v 0.11674764 -0.15197965 -0.00994492
+v 0.22325994 -0.14749711 -0.18828023
+v 0.14968460 -0.15170091 -0.13394009
+v 0.17042880 -0.00712615 -0.07789217
+v 0.17240122 0.03836163 0.02272394
+v 0.25330933 -0.00737281 -0.19082650
+v 0.22812635 -0.00722636 -0.17438128
+v 0.20125488 -0.00711876 -0.14602941
+f 1 2 3
+f 6 1 3
+f 10 6 3
+f 10 3 4
+f 10 4 7
+f 11 2 1
+f 11 1 6
+f 11 10 7
+f 11 6 10
+f 11 8 2
+f 11 7 8
+f 12 7 4
+f 12 5 7
+f 13 3 2
+f 13 2 8
+f 14 8 7
+f 14 7 5
+f 14 5 9
+f 15 9 5
+f 16 4 3
+f 16 9 15
+f 16 15 5
+f 16 12 4
+f 16 5 12
+f 17 13 8
+f 17 3 13
+f 17 16 3
+f 18 17 8
+f 18 8 14
+f 18 16 17
+f 19 18 14
+f 19 14 9
+f 19 9 16
+f 19 16 18
\ No newline at end of file
diff --git a/objects/objaverse/donut/donut_0/collision/model_normalized_collision_17.obj b/objects/objaverse/donut/donut_0/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5471433cb1442f775f8f64a0f387b073d8ce2136
--- /dev/null
+++ b/objects/objaverse/donut/donut_0/collision/model_normalized_collision_17.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v 0.27442194 0.23365727 -0.20260725
+v 0.28651545 0.24188218 -0.19802975
+v 0.13974187 0.23484848 -0.09731472
+v -0.19734022 0.38313551 -0.11523153
+v 0.01912636 0.35420054 -0.20184025
+v -0.17881939 0.23500318 -0.19637832
+v 0.16751804 0.33660055 -0.20181195
+v -0.17843995 0.23484848 -0.09731472
+v 0.00434045 0.33905885 -0.20279834
+v -0.17058765 0.34491054 -0.17012484
+v 0.21218360 0.30680500 -0.20184665
+v 0.24259853 0.37261775 -0.16797422
+v 0.13974187 0.35606060 -0.09731472
+v -0.17425794 0.30468463 -0.18696053
+v 0.18860470 0.23849517 -0.20199182
+v 0.12408530 0.35451382 -0.20184225
+v -0.11363612 0.34989665 -0.18568303
+v 0.27157071 0.24692812 -0.20101744
+v 0.22550704 0.34893037 -0.18673545
+v 0.28018055 0.34475306 -0.16469263
+v -0.14335503 0.33410076 -0.18415020
+v 0.26837782 0.31842578 -0.18360544
+v 0.25399084 0.33296391 -0.18354841
+v 0.26935417 0.33454058 -0.17700454
+f 1 2 3
+f 8 6 1
+f 8 1 3
+f 8 4 6
+f 11 1 7
+f 12 5 4
+f 13 8 3
+f 13 4 8
+f 13 12 4
+f 14 9 6
+f 14 5 9
+f 14 6 4
+f 14 4 10
+f 15 9 1
+f 15 1 6
+f 15 6 9
+f 16 9 5
+f 16 7 1
+f 16 1 9
+f 16 5 12
+f 17 10 4
+f 17 4 5
+f 17 5 14
+f 18 2 1
+f 18 1 11
+f 19 11 7
+f 19 16 12
+f 19 7 16
+f 20 13 3
+f 20 3 2
+f 20 12 13
+f 21 17 14
+f 21 14 10
+f 21 10 17
+f 22 18 11
+f 22 2 18
+f 23 22 11
+f 23 11 19
+f 24 20 2
+f 24 2 22
+f 24 22 23
+f 24 12 20
+f 24 23 19
+f 24 19 12
\ No newline at end of file
diff --git a/objects/objaverse/donut/donut_0/collision/model_normalized_collision_18.obj b/objects/objaverse/donut/donut_0/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e9d9ba28ad078f39aca7585b47d7dd4f5e1d2d75
--- /dev/null
+++ b/objects/objaverse/donut/donut_0/collision/model_normalized_collision_18.obj
@@ -0,0 +1,183 @@
+# https://github.com/mikedh/trimesh
+v -0.17849321 0.23570810 0.20094078
+v -0.17881939 0.23500318 -0.19637832
+v -0.17029587 0.38872664 -0.13389412
+v -0.17182329 0.42094921 0.03686454
+v -0.38106352 0.22757369 -0.09261781
+v -0.17460793 0.31994653 0.19268161
+v -0.17425794 0.30468463 -0.18696053
+v -0.30736029 0.22751789 -0.17297008
+v -0.25615352 0.36888310 -0.03375961
+v -0.17168479 0.40567162 0.11005862
+v -0.35296238 0.23260815 0.13109668
+v -0.36982842 0.22651264 0.10643281
+v -0.26542766 0.23030977 -0.18837810
+v -0.31629998 0.26591536 -0.14130379
+v -0.22727349 0.32516395 -0.15635746
+v -0.17018092 0.41892267 -0.07711709
+v -0.17219742 0.39088617 0.13808425
+v -0.27011596 0.33767060 0.10758402
+v -0.24209058 0.29834397 0.18741621
+v -0.30412677 0.23029021 0.16043199
+v -0.34417891 0.28349401 0.07384298
+v -0.36643616 0.22782375 -0.12030161
+v -0.29974619 0.32392356 -0.07470612
+v -0.17229733 0.36199666 -0.15881179
+v -0.24905979 0.25870604 -0.18362510
+v -0.22540072 0.35305626 -0.13045309
+v -0.29005188 0.25447929 -0.16814487
+v -0.21149941 0.39880754 -0.04886536
+v -0.21213172 0.38494400 0.09620488
+v -0.17415677 0.34853080 0.17827766
+v -0.24987346 0.32733365 0.16195190
+v -0.24854233 0.23404352 0.18813276
+v -0.37357426 0.25354575 -0.00960478
+v -0.27036510 0.35477537 0.02011315
+v -0.30494167 0.24028741 -0.16801355
+v -0.34336357 0.28074383 -0.07833484
+v -0.26434652 0.24388642 -0.18440233
+v -0.21536247 0.31425413 -0.16919659
+v -0.18304575 0.35604172 -0.15745103
+v -0.28449781 0.32419219 -0.10473563
+v -0.19560636 0.39779875 -0.08996342
+v -0.21180758 0.39901153 0.02010329
+v -0.22594249 0.38258158 -0.07486618
+v -0.18293141 0.39969888 0.10760175
+v -0.25538018 0.32018302 0.16333543
+v -0.32764200 0.28351414 0.10327995
+v -0.19811873 0.35582483 0.16044621
+v -0.37946961 0.22784556 0.03476631
+v -0.25639740 0.36937373 -0.02203687
+v -0.35808837 0.25013910 -0.10355927
+v -0.37203586 0.25133774 -0.06261584
+v -0.18851572 0.30355044 -0.18369593
+v -0.19622036 0.38357632 -0.11574673
+v -0.18299525 0.41441213 0.03555075
+v -0.18135693 0.41271538 -0.07468814
+v -0.21109610 0.36818001 0.13325540
+v -0.18351320 0.38592968 0.13491253
+v -0.34808491 0.23856394 0.13117313
+v -0.19626843 0.36855335 0.14862782
+v -0.36001594 0.23839017 -0.11803067
+v -0.37472610 0.23787102 -0.08948374
+v -0.18198474 0.38320936 -0.13095854
+f 6 1 3
+f 7 1 2
+f 7 3 1
+f 8 2 1
+f 12 8 1
+f 12 5 8
+f 13 7 2
+f 13 2 8
+f 16 10 3
+f 16 4 10
+f 17 6 3
+f 17 3 10
+f 19 1 6
+f 20 12 1
+f 20 11 12
+f 20 19 11
+f 21 12 11
+f 22 8 5
+f 24 3 7
+f 25 7 13
+f 26 15 14
+f 27 14 15
+f 28 4 16
+f 30 19 6
+f 30 6 17
+f 31 29 18
+f 31 19 30
+f 32 20 1
+f 32 1 19
+f 32 19 20
+f 33 12 21
+f 34 21 18
+f 34 18 29
+f 35 22 14
+f 35 8 22
+f 35 27 8
+f 35 14 27
+f 37 25 13
+f 37 13 8
+f 37 27 25
+f 37 8 27
+f 38 15 24
+f 38 27 15
+f 38 25 27
+f 39 24 15
+f 39 15 26
+f 39 26 3
+f 39 3 24
+f 40 26 14
+f 40 36 23
+f 41 16 3
+f 42 4 28
+f 42 34 29
+f 43 23 9
+f 43 9 28
+f 43 41 40
+f 43 40 23
+f 44 10 4
+f 44 4 29
+f 45 11 19
+f 45 19 31
+f 46 31 18
+f 46 18 21
+f 46 45 31
+f 46 21 11
+f 47 31 30
+f 47 30 17
+f 48 33 5
+f 48 5 12
+f 48 12 33
+f 49 33 21
+f 49 36 33
+f 49 9 23
+f 49 23 36
+f 49 21 34
+f 49 34 42
+f 49 42 28
+f 49 28 9
+f 50 36 40
+f 51 5 33
+f 51 33 36
+f 52 38 24
+f 52 24 7
+f 52 7 25
+f 52 25 38
+f 53 41 3
+f 53 26 40
+f 53 40 41
+f 54 42 29
+f 54 29 4
+f 54 4 42
+f 55 43 28
+f 55 28 16
+f 55 16 41
+f 55 41 43
+f 56 44 29
+f 56 29 31
+f 57 17 10
+f 57 10 44
+f 57 44 56
+f 57 56 31
+f 57 31 17
+f 58 46 11
+f 58 11 45
+f 58 45 46
+f 59 47 17
+f 59 17 31
+f 59 31 47
+f 60 22 5
+f 60 14 22
+f 60 50 40
+f 60 40 14
+f 61 36 50
+f 61 51 36
+f 61 5 51
+f 61 60 5
+f 61 50 60
+f 62 53 3
+f 62 3 26
+f 62 26 53
\ No newline at end of file
diff --git a/objects/objaverse/donut/donut_0/collision/model_normalized_collision_19.obj b/objects/objaverse/donut/donut_0/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..70b0afc5dd5f1cd887c37ae12ab8254a6642c438
--- /dev/null
+++ b/objects/objaverse/donut/donut_0/collision/model_normalized_collision_19.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v 0.01866352 -0.45333653 0.08074916
+v 0.02008147 -0.45017952 0.08773977
+v -0.15091568 -0.38916484 0.10270120
+v -0.09337074 -0.16531166 0.10938174
+v 0.01619214 -0.21987121 0.08946496
+v -0.13005281 -0.30016110 0.16288542
+v -0.02470913 -0.45081098 0.08010054
+v -0.08057860 -0.16839108 0.07612490
+v -0.01671082 -0.41723326 0.13708733
+v -0.14938358 -0.26710395 0.12174274
+v 0.02128465 -0.27424415 0.14607204
+v -0.09101349 -0.16303160 0.08038748
+v -0.08222089 -0.43319072 0.07722229
+v -0.14948196 -0.32002484 0.15824990
+v 0.01316826 -0.22427481 0.10359540
+v -0.09404396 -0.19682028 0.12940005
+v 0.00176308 -0.33973990 0.14315008
+v 0.01774694 -0.39522770 0.12934219
+v -0.08037167 -0.42749332 0.08981854
+v -0.14322720 -0.37875247 0.11846237
+v -0.14821419 -0.26511032 0.15534852
+v 0.01850849 -0.42011221 0.11584692
+v -0.12741284 -0.37593736 0.12637703
+v -0.13744223 -0.29454029 0.16305095
+f 5 2 1
+f 7 1 2
+f 8 5 1
+f 9 7 2
+f 11 2 5
+f 12 4 5
+f 12 5 8
+f 12 10 4
+f 12 8 3
+f 12 3 10
+f 13 3 8
+f 13 8 1
+f 13 1 7
+f 14 9 6
+f 14 10 3
+f 15 11 5
+f 15 5 4
+f 15 4 11
+f 16 11 4
+f 17 11 6
+f 17 6 9
+f 18 17 9
+f 18 11 17
+f 19 9 3
+f 19 3 13
+f 19 13 7
+f 19 7 9
+f 20 14 3
+f 20 3 9
+f 21 4 10
+f 21 10 14
+f 21 16 4
+f 21 11 16
+f 22 18 9
+f 22 9 2
+f 22 2 11
+f 22 11 18
+f 23 20 9
+f 23 9 14
+f 23 14 20
+f 24 21 14
+f 24 14 6
+f 24 6 11
+f 24 11 21
\ No newline at end of file
diff --git a/objects/objaverse/donut/donut_0/collision/model_normalized_collision_2.obj b/objects/objaverse/donut/donut_0/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..46432d5b40736c76b5c61c36a785232b80013ef5
--- /dev/null
+++ b/objects/objaverse/donut/donut_0/collision/model_normalized_collision_2.obj
@@ -0,0 +1,141 @@
+# https://github.com/mikedh/trimesh
+v 0.41727892 -0.14208844 0.06168049
+v 0.44060203 -0.14207037 -0.10592099
+v 0.44615955 0.09651245 -0.00956857
+v 0.26233329 0.09891168 0.13986716
+v 0.26562680 -0.14575027 -0.20322906
+v 0.38949557 0.05708066 0.13364062
+v 0.45012185 -0.14311899 -0.02220177
+v 0.25535897 -0.14291902 0.09944532
+v 0.37186993 0.09656368 -0.18588498
+v 0.41225611 -0.00898181 0.10118513
+v 0.37109584 0.09660447 0.12637217
+v 0.45659499 -0.02309690 -0.06562319
+v 0.26620403 0.10009688 -0.20204805
+v 0.32096091 0.03205592 0.16136258
+v 0.36835808 -0.14425130 0.08597106
+v 0.37251209 -0.14239432 -0.18648396
+v 0.36509180 0.00489559 0.14444668
+v 0.39837159 0.05004252 0.12656978
+v 0.45665664 -0.05268316 -0.02293471
+v 0.45646762 -0.08229064 -0.05040164
+v 0.42471373 0.09534608 -0.13352606
+v 0.33156285 0.09717556 -0.20259431
+v 0.44143797 0.09569564 -0.09290461
+v 0.26501198 -0.00739506 0.13528445
+v 0.32436588 0.03578404 0.15935792
+v 0.31477399 0.02639708 0.16008797
+v 0.39975181 -0.00821025 0.11417080
+v 0.40727550 0.09391116 0.09071336
+v 0.45658265 -0.00794858 -0.02294085
+v 0.45664473 -0.03752183 -0.06562298
+v 0.45679241 -0.08229160 -0.03808416
+v 0.43889110 0.03652353 -0.11879198
+v 0.42553973 0.00715691 -0.14565580
+v 0.33177913 -0.14292944 -0.20292136
+v 0.34569446 0.06701053 -0.19993486
+v 0.45718686 0.00721822 -0.05052008
+v 0.31063066 0.03493454 0.15859096
+v 0.27333323 0.06146929 0.14458518
+v 0.43900269 -0.09724891 -0.11872247
+v 0.44038740 0.08125542 -0.10516106
+v 0.39778008 0.05120368 -0.17240015
+v 0.34589310 -0.11259420 -0.20011534
+v 0.45751418 0.00722843 -0.03801966
+v 0.41040589 -0.12677285 -0.15882437
+v 0.41092490 0.06611239 -0.15847684
+v 0.42685147 -0.14144616 -0.13420632
+v 0.39763242 -0.11181451 -0.17196165
+v 0.42554602 -0.06695367 -0.14552715
+f 7 5 2
+f 10 1 7
+f 11 3 4
+f 13 8 4
+f 13 5 8
+f 13 4 3
+f 15 7 1
+f 15 8 5
+f 15 5 7
+f 16 2 5
+f 17 6 14
+f 17 15 1
+f 18 10 3
+f 18 6 17
+f 19 10 7
+f 20 7 2
+f 22 13 9
+f 22 5 13
+f 23 13 3
+f 23 9 13
+f 23 21 9
+f 24 4 8
+f 25 11 4
+f 25 4 14
+f 25 14 6
+f 25 6 11
+f 26 8 15
+f 26 24 8
+f 26 17 14
+f 26 15 17
+f 27 17 1
+f 27 1 10
+f 27 18 17
+f 27 10 18
+f 28 11 6
+f 28 6 18
+f 28 18 3
+f 28 3 11
+f 29 3 10
+f 29 10 19
+f 30 20 2
+f 31 19 7
+f 31 7 20
+f 31 20 30
+f 32 12 30
+f 33 21 32
+f 34 16 5
+f 34 5 22
+f 35 22 9
+f 35 34 22
+f 36 23 3
+f 36 30 12
+f 37 26 14
+f 37 14 4
+f 38 4 24
+f 38 24 26
+f 38 37 4
+f 38 26 37
+f 39 32 30
+f 39 30 2
+f 39 33 32
+f 40 12 32
+f 40 36 12
+f 40 23 36
+f 40 32 21
+f 40 21 23
+f 41 35 9
+f 41 16 35
+f 42 35 16
+f 42 16 34
+f 42 34 35
+f 43 36 3
+f 43 3 29
+f 43 29 19
+f 43 19 31
+f 43 31 30
+f 43 30 36
+f 45 41 9
+f 45 9 21
+f 45 21 33
+f 45 33 41
+f 46 39 2
+f 46 2 16
+f 46 16 44
+f 47 44 16
+f 47 16 41
+f 48 46 44
+f 48 33 39
+f 48 39 46
+f 48 44 47
+f 48 47 41
+f 48 41 33
\ No newline at end of file
diff --git a/objects/objaverse/donut/donut_0/collision/model_normalized_collision_20.obj b/objects/objaverse/donut/donut_0/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea85d632402afc4036d7278862e1b14a94f5c3f1
--- /dev/null
+++ b/objects/objaverse/donut/donut_0/collision/model_normalized_collision_20.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v -0.08905455 -0.26663574 0.15064866
+v -0.08753086 -0.26515151 -0.00640563
+v -0.07307338 -0.12960406 -0.00153889
+v -0.28308984 -0.12857463 0.14954431
+v -0.33105282 -0.26606838 -0.00619033
+v -0.11300444 -0.15379631 0.11462784
+v -0.24323253 -0.24917719 0.14937520
+v -0.36675467 -0.16413697 0.03293242
+v -0.09728414 -0.16946457 0.11470325
+v -0.25443807 -0.12857585 0.15213524
+v -0.28524649 -0.25303884 0.10660766
+v -0.11887329 -0.22512992 0.16698950
+v -0.09310455 -0.22639716 0.14178722
+v -0.10034867 -0.15696170 0.10660813
+v -0.31936574 -0.21155916 0.10497717
+v -0.16997487 -0.14969557 0.14169998
+v -0.11956702 -0.24252963 0.16748663
+v -0.31334580 -0.25164521 0.05827810
+v -0.33283200 -0.14524579 0.10534562
+v -0.27650211 -0.22808881 0.14397226
+v -0.26417945 -0.14139195 0.16518413
+v -0.29945905 -0.23673555 0.10597915
+v -0.30745599 -0.21349159 0.11943409
+v -0.27076660 -0.14972843 0.16539461
+v -0.30325766 -0.22527029 0.11542002
+v -0.27342108 -0.15264979 0.16285400
+v -0.28543464 -0.12910803 0.14914957
+f 1 2 3
+f 5 2 1
+f 5 3 2
+f 8 4 3
+f 8 3 5
+f 10 6 3
+f 10 3 4
+f 11 5 1
+f 11 1 7
+f 12 9 6
+f 13 1 3
+f 13 3 9
+f 13 12 1
+f 13 9 12
+f 14 9 3
+f 14 3 6
+f 14 6 9
+f 15 8 5
+f 16 12 6
+f 16 6 10
+f 17 7 1
+f 17 1 12
+f 18 15 5
+f 18 5 11
+f 19 4 8
+f 19 8 15
+f 20 11 7
+f 21 16 10
+f 21 12 16
+f 21 17 12
+f 21 10 4
+f 22 18 11
+f 22 15 18
+f 23 19 15
+f 24 7 17
+f 24 17 21
+f 24 20 7
+f 25 22 11
+f 25 11 20
+f 25 20 23
+f 25 23 15
+f 25 15 22
+f 26 23 20
+f 26 20 24
+f 26 24 19
+f 26 19 23
+f 27 24 21
+f 27 21 4
+f 27 4 19
+f 27 19 24
\ No newline at end of file
diff --git a/objects/objaverse/donut/donut_0/collision/model_normalized_collision_21.obj b/objects/objaverse/donut/donut_0/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..75ed56f01c5e72d63c05b2894be3bf5244a8f69c
--- /dev/null
+++ b/objects/objaverse/donut/donut_0/collision/model_normalized_collision_21.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v -0.10901726 -0.14995118 0.10947088
+v -0.04821206 -0.15311813 -0.07901040
+v -0.14734895 -0.00822341 0.03190989
+v -0.21052198 -0.00766757 0.12652135
+v -0.21035756 -0.14483302 -0.19729081
+v -0.18149667 -0.00938788 0.10436683
+v -0.04814537 -0.15275803 0.00610237
+v -0.14228341 -0.15137817 -0.17420910
+v -0.21025511 -0.14538529 0.15070390
+v -0.21254357 -0.00774057 -0.18115438
+v -0.19128768 -0.00835819 0.11359584
+v -0.13470523 -0.00858245 -0.06530181
+v -0.08110840 -0.15375218 0.06044798
+v -0.14050685 -0.15074437 0.12940235
+v -0.18178790 -0.14614961 -0.19011804
+v -0.06404694 -0.15289631 -0.10685793
+v -0.21554030 -0.04020448 0.13204179
+v -0.13476889 -0.00858104 -0.00781671
+v -0.18229735 -0.14734236 0.14508989
+v -0.20361785 -0.00803035 -0.17608649
+v -0.15222188 -0.00857133 -0.11749979
+v -0.21237365 -0.11641557 0.14620010
+v -0.21496211 -0.08579323 -0.19104852
+f 7 6 1
+f 7 3 6
+f 9 5 8
+f 10 4 3
+f 11 6 3
+f 11 3 4
+f 11 4 1
+f 11 1 6
+f 12 7 2
+f 12 10 3
+f 13 7 1
+f 13 2 7
+f 14 1 4
+f 14 13 1
+f 14 9 8
+f 14 8 13
+f 15 10 8
+f 15 8 5
+f 15 5 10
+f 16 13 8
+f 16 2 13
+f 17 4 10
+f 18 12 3
+f 18 3 7
+f 18 7 12
+f 19 14 4
+f 19 9 14
+f 20 16 8
+f 20 8 10
+f 21 12 2
+f 21 2 16
+f 21 16 20
+f 21 20 10
+f 21 10 12
+f 22 4 17
+f 22 19 4
+f 22 9 19
+f 23 17 10
+f 23 10 5
+f 23 22 17
+f 23 5 9
+f 23 9 22
\ No newline at end of file
diff --git a/objects/objaverse/donut/donut_0/collision/model_normalized_collision_22.obj b/objects/objaverse/donut/donut_0/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd07b30aeba8d75a9d890701d292c727dc2a38c7
--- /dev/null
+++ b/objects/objaverse/donut/donut_0/collision/model_normalized_collision_22.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.22983067 0.41537387 0.08361551
+v 0.22570145 0.40814914 -0.14969931
+v 0.13552740 0.48893359 -0.06526845
+v -0.03482800 0.47462602 0.07053759
+v -0.07331556 0.42114497 0.11841373
+v -0.06977718 0.41074191 -0.16665972
+v 0.12013382 0.48878899 0.00284246
+v 0.22052036 0.45981102 -0.04984192
+v 0.03020153 0.45541991 0.11744870
+v 0.10730617 0.44839975 -0.15630109
+v -0.00783664 0.49050055 -0.06288372
+v -0.06494067 0.47426309 -0.06323399
+v 0.13930401 0.41569212 0.09836040
+v 0.17863768 0.45787005 -0.11647388
+v 0.17827092 0.47233290 0.00219370
+v -0.07034551 0.45192558 0.10858334
+v 0.04084501 0.47566943 0.06824623
+v 0.20856783 0.43411884 0.07632252
+v 0.15231091 0.40924469 -0.17717810
+v 0.00606098 0.47446990 -0.11930095
+v 0.13571208 0.48976087 -0.02343943
+v 0.00613081 0.48892138 0.01794985
+v -0.02322895 0.49008091 -0.02068870
+v -0.03909338 0.40927586 -0.17557073
+v 0.01927361 0.42185688 0.12076213
+v 0.22120047 0.44582924 -0.10339979
+v 0.12035380 0.47399119 -0.11756567
+v 0.16482384 0.43180881 -0.15670063
+v -0.06603608 0.47498794 0.00597263
+v -0.06962926 0.45986564 0.09172816
+v 0.14917907 0.47298634 0.02817755
+v 0.02275358 0.47273348 0.07677763
+v 0.13834250 0.44191759 0.09795722
+v 0.22015286 0.45918861 -0.02365093
+v -0.05047677 0.47279240 -0.08860708
+v 0.03562479 0.48962774 -0.09294704
+v 0.17903663 0.47409099 -0.07621465
+v 0.09166531 0.48840586 0.01796386
+v -0.02334510 0.48942604 -0.03602025
+v -0.00838726 0.48919606 0.00629944
+v 0.03573305 0.43295695 -0.17201780
+v 0.22011310 0.42887667 -0.13142615
+v 0.03603357 0.46058605 -0.14515600
+v 0.14877718 0.45937889 -0.13162296
+v 0.15022838 0.41843542 -0.17070995
+v 0.19695175 0.40925632 -0.16293348
+v 0.10957875 0.44706531 0.10007669
+v 0.21982022 0.44362655 0.02744910
+v -0.06496757 0.44560351 -0.13127482
+v 0.09218398 0.48915159 -0.09207059
+v 0.00617279 0.49009508 -0.07792105
+v 0.20655905 0.45752902 -0.09062542
+v 0.14918002 0.47552765 -0.10306744
+v 0.07737919 0.43323343 -0.17158833
+v -0.03744803 0.41990407 -0.16975056
+v 0.19169443 0.44319204 -0.13148844
+v 0.09218822 0.46010321 -0.14407773
+v 0.19438664 0.41882181 -0.15680140
+v 0.22523830 0.42202345 0.07808108
+v -0.05137499 0.46005080 -0.11773155
+v -0.06518261 0.46064313 -0.10538437
+v -0.03648475 0.44514397 -0.14633387
+v 0.12060392 0.49000834 -0.07681730
+v 0.16407647 0.44460239 -0.14246106
+f 8 1 2
+f 13 2 1
+f 16 9 4
+f 16 5 9
+f 21 7 15
+f 22 4 17
+f 23 22 21
+f 23 21 11
+f 24 2 13
+f 24 19 2
+f 24 13 5
+f 24 5 6
+f 25 9 5
+f 25 5 13
+f 25 13 1
+f 25 1 9
+f 26 8 2
+f 29 23 12
+f 29 4 23
+f 30 12 6
+f 30 6 5
+f 30 5 16
+f 30 29 12
+f 30 16 4
+f 30 4 29
+f 31 17 9
+f 31 18 15
+f 31 15 7
+f 32 17 4
+f 32 4 9
+f 32 9 17
+f 33 9 1
+f 33 1 18
+f 33 18 31
+f 34 1 8
+f 34 21 15
+f 34 8 21
+f 35 12 11
+f 37 21 8
+f 37 3 21
+f 38 7 21
+f 38 21 22
+f 38 22 17
+f 38 31 7
+f 38 17 31
+f 39 23 11
+f 39 11 12
+f 39 12 23
+f 40 23 4
+f 40 4 22
+f 40 22 23
+f 41 19 24
+f 42 26 2
+f 43 20 36
+f 44 28 10
+f 45 28 19
+f 45 19 10
+f 45 10 28
+f 46 2 19
+f 47 33 31
+f 47 31 9
+f 47 9 33
+f 48 1 34
+f 48 34 15
+f 48 15 18
+f 50 43 36
+f 51 35 11
+f 51 36 20
+f 51 20 35
+f 52 37 8
+f 52 8 26
+f 52 26 14
+f 53 3 37
+f 53 27 50
+f 53 44 27
+f 53 14 44
+f 53 52 14
+f 53 37 52
+f 54 10 19
+f 54 19 41
+f 54 43 10
+f 54 41 43
+f 55 41 24
+f 55 24 6
+f 56 14 26
+f 56 26 42
+f 56 44 14
+f 57 10 43
+f 57 44 10
+f 57 27 44
+f 57 50 27
+f 57 43 50
+f 58 2 46
+f 58 28 56
+f 58 56 42
+f 58 42 2
+f 58 46 19
+f 58 19 28
+f 59 48 18
+f 59 18 1
+f 59 1 48
+f 60 35 20
+f 61 49 6
+f 61 6 12
+f 61 60 49
+f 61 12 35
+f 61 35 60
+f 62 20 43
+f 62 43 41
+f 62 41 55
+f 62 55 6
+f 62 6 49
+f 62 60 20
+f 62 49 60
+f 63 21 3
+f 63 53 50
+f 63 3 53
+f 63 11 21
+f 63 50 36
+f 63 51 11
+f 63 36 51
+f 64 56 28
+f 64 28 44
+f 64 44 56
\ No newline at end of file
diff --git a/objects/objaverse/donut/donut_0/collision/model_normalized_collision_24.obj b/objects/objaverse/donut/donut_0/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f67f31588ffd9052e8e9c2a7ab936b66444014e
--- /dev/null
+++ b/objects/objaverse/donut/donut_0/collision/model_normalized_collision_24.obj
@@ -0,0 +1,123 @@
+# https://github.com/mikedh/trimesh
+v -0.07443827 0.35980312 0.19748883
+v -0.07068999 0.35277898 -0.19407957
+v -0.06722287 0.46535759 -0.09224055
+v -0.12309481 0.44971251 0.11834757
+v -0.17415677 0.34853080 0.17827766
+v -0.07003548 0.46287211 0.08133330
+v -0.06681539 0.41899602 -0.15988419
+v -0.13343197 0.35415464 0.20043726
+v -0.16823238 0.40090438 -0.11719906
+v -0.14851249 0.44970759 0.05953429
+v -0.07034551 0.45192558 0.10858334
+v -0.07754884 0.37002809 0.19526108
+v -0.17041911 0.35777053 0.17363390
+v -0.09483751 0.44344064 -0.11521575
+v -0.17478060 0.35086442 -0.16463776
+v -0.10955413 0.45847583 0.00538301
+v -0.15325384 0.42967935 -0.07526599
+v -0.16763119 0.42943575 0.00737223
+v -0.11601979 0.45024263 0.12002904
+v -0.06676697 0.43496875 -0.14502721
+v -0.16987086 0.38639890 0.14694068
+v -0.09844863 0.36457710 -0.18398871
+v -0.14399750 0.34971101 -0.17813741
+v -0.10861068 0.45864710 -0.04825564
+v -0.13707902 0.42731413 -0.10495868
+v -0.16757882 0.42979748 -0.03375034
+v -0.13855874 0.40086550 -0.14144542
+v -0.16735077 0.41346711 0.09469585
+v -0.06985031 0.36629938 -0.18945915
+v -0.09958166 0.35079237 -0.18867862
+v -0.09649153 0.39069354 -0.17029417
+v -0.09542405 0.45892219 -0.07864357
+v -0.16775197 0.41513014 -0.09078456
+v -0.13784242 0.44397893 -0.04857133
+v -0.08041766 0.43151523 -0.14229970
+v -0.12365511 0.42831182 -0.11547666
+v -0.17229733 0.36199666 -0.15881179
+v -0.13867995 0.38526003 -0.15667953
+v -0.10807537 0.44218483 -0.10469131
+v -0.08069676 0.41606897 -0.15687360
+v -0.12578277 0.37490834 -0.16947158
+v -0.14144735 0.36123144 -0.17201572
+f 5 2 1
+f 8 5 1
+f 10 4 6
+f 11 1 7
+f 11 3 6
+f 12 8 1
+f 12 1 11
+f 13 8 4
+f 13 5 8
+f 16 10 6
+f 16 6 3
+f 18 15 5
+f 19 11 6
+f 19 6 4
+f 19 12 11
+f 19 4 8
+f 19 8 12
+f 20 11 7
+f 20 3 11
+f 20 14 3
+f 21 5 13
+f 21 18 5
+f 21 13 4
+f 23 5 15
+f 24 16 3
+f 24 10 16
+f 26 15 18
+f 26 18 10
+f 28 10 18
+f 28 18 21
+f 28 21 4
+f 28 4 10
+f 29 7 1
+f 29 1 2
+f 30 2 5
+f 30 5 23
+f 30 23 22
+f 30 29 2
+f 30 22 29
+f 31 22 23
+f 31 29 22
+f 31 7 29
+f 32 24 3
+f 32 25 17
+f 32 3 14
+f 33 25 9
+f 33 17 25
+f 33 26 17
+f 33 9 15
+f 33 15 26
+f 34 17 26
+f 34 32 17
+f 34 24 32
+f 34 26 10
+f 34 10 24
+f 35 14 20
+f 36 25 14
+f 36 35 27
+f 36 14 35
+f 36 27 9
+f 36 9 25
+f 37 15 9
+f 37 9 27
+f 37 23 15
+f 38 27 35
+f 38 37 27
+f 39 32 14
+f 39 14 25
+f 39 25 32
+f 40 35 20
+f 40 20 7
+f 40 38 35
+f 40 7 31
+f 40 31 38
+f 41 31 23
+f 41 38 31
+f 41 37 38
+f 42 41 23
+f 42 23 37
+f 42 37 41
\ No newline at end of file
diff --git a/objects/objaverse/donut/donut_0/collision/model_normalized_collision_25.obj b/objects/objaverse/donut/donut_0/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..95d218d9b42a3c0b1467d0ad49085cc85de85979
--- /dev/null
+++ b/objects/objaverse/donut/donut_0/collision/model_normalized_collision_25.obj
@@ -0,0 +1,144 @@
+# https://github.com/mikedh/trimesh
+v -0.14055026 -0.43376066 0.01905747
+v -0.14147959 -0.42076365 -0.12185027
+v -0.14821419 -0.26511032 0.15534852
+v -0.23222314 -0.25413220 0.15316861
+v -0.33496755 -0.25669486 -0.09238766
+v -0.16856759 -0.34283383 0.15190706
+v -0.14311148 -0.36432975 -0.17496204
+v -0.18003839 -0.41298682 -0.07738596
+v -0.14818432 -0.26524838 -0.20101313
+v -0.14178568 -0.40197078 0.09153233
+v -0.33589342 -0.25752881 0.00549595
+v -0.14093463 -0.43498483 -0.09402021
+v -0.25331554 -0.31033028 -0.14449856
+v -0.26214741 -0.25866379 -0.17382816
+v -0.15975414 -0.34388094 0.14831779
+v -0.28947271 -0.25656121 0.09390143
+v -0.31814333 -0.25553063 0.04633700
+v -0.20877116 -0.38446077 0.01660117
+v -0.32755723 -0.26579928 -0.09201032
+v -0.19484088 -0.38413369 -0.11869811
+v -0.18016306 -0.41509108 -0.00948394
+v -0.32018530 -0.25711625 -0.12190259
+v -0.21933339 -0.27560797 -0.18648307
+v -0.19901448 -0.32996551 -0.16958145
+v -0.26247640 -0.25901979 0.12256110
+v -0.15222355 -0.39893682 0.08885998
+v -0.31276443 -0.27999181 0.01646003
+v -0.16564192 -0.41406366 -0.10353307
+v -0.23787770 -0.35426060 -0.10375188
+v -0.15208323 -0.42869818 -0.09250993
+v -0.16519750 -0.41268103 0.03162701
+v -0.32847588 -0.26641226 0.00548407
+v -0.25991933 -0.27118789 -0.16927350
+v -0.31337463 -0.26673278 -0.11968667
+v -0.22017395 -0.26155797 -0.19006449
+v -0.14473216 -0.33642724 -0.18811623
+v -0.16841976 -0.37249248 -0.15589113
+v -0.20898419 -0.32761990 0.11638204
+v -0.31228509 -0.26591050 0.04243700
+v -0.15190557 -0.41567281 -0.11927026
+v -0.15056626 -0.42853326 0.01678788
+v -0.24497470 -0.28653666 -0.16932393
+v -0.28277196 -0.30941966 -0.10384965
+v -0.15641562 -0.33230750 -0.18640225
+v -0.15672312 -0.36222090 -0.17089843
+v -0.14322784 -0.40875000 -0.13637373
+v -0.19502601 -0.38396154 0.04261976
+v -0.28313165 -0.26643167 0.09045917
+v -0.16593000 -0.39931054 -0.12870699
+f 6 3 4
+f 9 4 3
+f 9 3 7
+f 10 7 3
+f 10 1 7
+f 12 7 1
+f 12 2 7
+f 14 4 9
+f 15 10 3
+f 15 3 6
+f 15 6 10
+f 17 4 5
+f 17 5 11
+f 17 16 4
+f 19 11 5
+f 21 12 1
+f 21 19 8
+f 22 5 4
+f 22 4 14
+f 25 16 6
+f 25 6 4
+f 25 4 16
+f 26 1 10
+f 26 10 6
+f 28 8 20
+f 29 20 8
+f 29 8 19
+f 29 13 20
+f 30 21 8
+f 30 12 21
+f 30 8 28
+f 31 18 21
+f 31 26 18
+f 32 11 19
+f 32 19 21
+f 32 27 11
+f 32 21 18
+f 32 18 27
+f 33 22 14
+f 33 13 22
+f 33 14 23
+f 34 19 5
+f 34 5 22
+f 34 22 13
+f 35 23 14
+f 35 14 9
+f 36 9 7
+f 36 35 9
+f 36 23 35
+f 37 20 13
+f 37 13 24
+f 38 26 6
+f 38 6 16
+f 39 17 11
+f 39 11 27
+f 39 16 17
+f 40 28 20
+f 40 30 28
+f 40 2 12
+f 40 12 30
+f 41 31 21
+f 41 21 1
+f 41 1 26
+f 41 26 31
+f 42 24 13
+f 42 13 33
+f 42 33 23
+f 42 23 24
+f 43 29 19
+f 43 19 34
+f 43 34 13
+f 43 13 29
+f 44 24 23
+f 44 23 36
+f 44 36 7
+f 45 37 24
+f 45 44 7
+f 45 24 44
+f 46 7 2
+f 46 45 7
+f 46 37 45
+f 47 18 26
+f 47 26 38
+f 47 38 39
+f 47 39 27
+f 47 27 18
+f 48 39 38
+f 48 38 16
+f 48 16 39
+f 49 46 2
+f 49 2 40
+f 49 40 20
+f 49 20 37
+f 49 37 46
\ No newline at end of file
diff --git a/objects/objaverse/donut/donut_0/collision/model_normalized_collision_26.obj b/objects/objaverse/donut/donut_0/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dcf0d8cb78d5046a34673f692cc706734030f717
--- /dev/null
+++ b/objects/objaverse/donut/donut_0/collision/model_normalized_collision_26.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v 0.42714583 -0.20443663 0.02366219
+v 0.45012185 -0.14311899 -0.02220177
+v 0.43965223 0.06092996 0.03417774
+v 0.42479546 0.15845237 0.02252185
+v 0.43402518 0.15712179 -0.00881490
+v 0.42146634 0.08076557 0.06705357
+v 0.43951721 -0.11153869 0.03039463
+v 0.42136312 -0.20311129 0.03594920
+v 0.45646911 -0.00760864 -0.02167918
+v 0.43878906 0.09524635 0.01878880
+v 0.42486844 0.07721361 0.06191214
+v 0.44120306 -0.14211331 0.01939823
+v 0.43232320 0.16014954 -0.00511036
+v 0.42172701 0.14260734 0.03617938
+v 0.41982643 -0.11268709 0.06369672
+v 0.45624204 -0.00692875 -0.01915584
+v 0.42662068 0.15542863 0.01947862
+v 0.43059737 -0.20177622 0.01789429
+v 0.42514748 -0.11148982 0.05656406
+v 0.44379973 0.11126771 -0.00999286
+v 0.44939545 -0.14729462 -0.01972968
+v 0.42400309 -0.17108296 0.04515343
+v 0.44014898 0.11065622 0.00396693
+v 0.42105270 -0.17263800 0.04918194
+f 5 2 1
+f 8 5 1
+f 9 2 5
+f 11 3 4
+f 11 4 6
+f 11 7 3
+f 13 8 4
+f 13 5 8
+f 14 6 4
+f 14 4 8
+f 15 14 8
+f 15 6 14
+f 16 3 7
+f 16 7 12
+f 16 2 9
+f 17 4 3
+f 17 3 10
+f 17 13 4
+f 17 5 13
+f 18 1 2
+f 19 11 6
+f 19 6 15
+f 19 7 11
+f 20 10 3
+f 20 3 16
+f 20 16 9
+f 20 9 5
+f 21 18 2
+f 21 12 18
+f 21 16 12
+f 21 2 16
+f 22 18 12
+f 22 8 1
+f 22 1 18
+f 22 12 7
+f 22 7 19
+f 23 17 10
+f 23 10 20
+f 23 20 5
+f 23 5 17
+f 24 22 19
+f 24 19 15
+f 24 15 8
+f 24 8 22
\ No newline at end of file
diff --git a/objects/objaverse/donut/donut_0/collision/model_normalized_collision_27.obj b/objects/objaverse/donut/donut_0/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe836e15ef078e577d393453402822d21ea88a44
--- /dev/null
+++ b/objects/objaverse/donut/donut_0/collision/model_normalized_collision_27.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.20791697 0.09734028 0.13294748
+v -0.20874298 0.09848485 0.00874589
+v -0.20874298 0.23484848 0.00874589
+v -0.37185665 0.22813695 0.11487802
+v -0.37540964 0.09848485 0.00874589
+v -0.21542918 0.23372150 0.16286010
+v -0.37063241 0.09823947 0.10816242
+v -0.38039078 0.23825169 0.00968399
+v -0.31641596 0.09808503 0.13443550
+v -0.31502108 0.23521305 0.13001041
+f 1 2 3
+f 5 2 1
+f 5 3 2
+f 6 1 3
+f 7 5 1
+f 8 3 5
+f 8 6 3
+f 8 7 4
+f 8 5 7
+f 9 6 4
+f 9 4 7
+f 9 7 1
+f 9 1 6
+f 10 8 4
+f 10 4 6
+f 10 6 8
\ No newline at end of file
diff --git a/objects/objaverse/donut/donut_0/collision/model_normalized_collision_28.obj b/objects/objaverse/donut/donut_0/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac49ef169c154951db490b9b44727d4cfcab17b7
--- /dev/null
+++ b/objects/objaverse/donut/donut_0/collision/model_normalized_collision_28.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.01611457 0.23534028 0.15391671
+v 0.01755918 0.19253725 -0.12034394
+v 0.01852975 0.35606060 -0.09731472
+v -0.13343197 0.35415464 0.20043726
+v -0.17849321 0.23570810 0.20094078
+v 0.02116909 0.34190624 0.18090416
+v 0.01333436 0.23507361 0.15495441
+v -0.19734022 0.38313551 -0.11523153
+v -0.08511615 0.28115627 0.20699743
+v -0.17843995 0.23484848 -0.09731472
+v -0.17415677 0.34853080 0.17827766
+v -0.05931585 0.35185986 0.18855912
+v -0.13905141 0.25906691 0.20916928
+v -0.07973771 0.26627999 0.20395495
+v -0.17306264 0.33275470 0.18742556
+v -0.12391818 0.24819978 0.20577080
+v -0.15014163 0.23902828 0.20044701
+f 6 1 2
+f 6 2 3
+f 7 5 2
+f 7 2 1
+f 8 3 2
+f 9 6 4
+f 10 8 2
+f 10 2 5
+f 10 5 8
+f 11 8 5
+f 11 4 8
+f 12 6 3
+f 12 3 8
+f 12 8 4
+f 12 4 6
+f 13 9 4
+f 13 4 5
+f 14 7 1
+f 14 1 6
+f 14 6 9
+f 15 11 5
+f 15 5 4
+f 15 4 11
+f 16 13 5
+f 16 7 14
+f 16 14 9
+f 16 9 13
+f 17 16 5
+f 17 5 7
+f 17 7 16
\ No newline at end of file
diff --git a/objects/objaverse/donut/donut_0/collision/model_normalized_collision_29.obj b/objects/objaverse/donut/donut_0/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cbbf6ea94fed42d73d236cf62d926690d6b5cade
--- /dev/null
+++ b/objects/objaverse/donut/donut_0/collision/model_normalized_collision_29.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.00177834 0.39488281 0.16378749
+v 0.01857664 0.40207653 0.11537365
+v 0.01844440 0.44529726 0.11351443
+v -0.11817747 0.45404437 0.11333215
+v -0.13363957 0.40310608 0.11617820
+v -0.01361580 0.45339281 0.10704902
+v -0.07450753 0.43416790 0.14684471
+v 0.01819029 0.40031855 0.15816565
+v -0.11493142 0.39247842 0.16530786
+v 0.01845506 0.43093535 0.13338072
+v 0.00068402 0.40650133 0.15735793
+v -0.11601979 0.45024263 0.12002904
+v -0.13104914 0.39699597 0.15618502
+v 0.01717660 0.41821726 0.14569423
+v -0.08170847 0.43503880 0.14409557
+v -0.13659930 0.42295900 0.11827884
+f 6 3 2
+f 6 5 4
+f 6 2 5
+f 7 6 4
+f 7 3 6
+f 8 1 2
+f 9 5 2
+f 9 2 1
+f 9 1 7
+f 10 8 2
+f 10 2 3
+f 10 3 7
+f 11 7 1
+f 11 1 8
+f 12 7 4
+f 13 5 9
+f 13 12 4
+f 14 10 7
+f 14 7 11
+f 14 11 8
+f 14 8 10
+f 15 9 7
+f 15 7 12
+f 15 13 9
+f 15 12 13
+f 16 13 4
+f 16 4 5
+f 16 5 13
\ No newline at end of file
diff --git a/objects/objaverse/donut/donut_0/collision/model_normalized_collision_3.obj b/objects/objaverse/donut/donut_0/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ffa2615a719cf2e6bc5a4e84dac38502180b4004
--- /dev/null
+++ b/objects/objaverse/donut/donut_0/collision/model_normalized_collision_3.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.20348616 -0.47669523 0.01233079
+v 0.22451738 -0.41796350 -0.17012919
+v 0.23057671 -0.26526323 0.13324798
+v -0.14938358 -0.26710395 0.12174274
+v -0.12280121 -0.44214140 -0.10221929
+v 0.14223046 -0.20224790 -0.16882236
+v 0.09959925 -0.41637398 0.12795896
+v 0.24685868 -0.38596624 0.10689710
+v 0.13735004 -0.49028110 -0.09144534
+v 0.23129700 -0.26600540 -0.21024015
+v 0.09631321 -0.19493156 -0.13798000
+v 0.01705897 -0.28952922 0.14765067
+v -0.05259555 -0.47245670 0.01752592
+v 0.22452287 -0.47426506 -0.06451070
+v 0.13302967 -0.44571204 0.08281747
+v 0.23489994 -0.37272463 0.11727296
+v -0.00842278 -0.44606780 -0.15882277
+v 0.22845218 -0.35237920 -0.20170098
+v 0.24660580 -0.38239603 0.11051800
+v -0.14818432 -0.26524838 -0.20101313
+v 0.12357575 -0.39243913 0.12909757
+v 0.02886964 -0.27412920 0.14736566
+v -0.14322720 -0.37875247 0.11846237
+v 0.01943123 -0.48903463 0.00311329
+v 0.22517045 -0.46219329 0.00022305
+v 0.22471039 -0.45943184 -0.12086794
+v 0.16720564 -0.49021189 -0.05340331
+v 0.20932243 -0.42971418 0.07162127
+v 0.00674121 -0.48898467 -0.09158538
+v 0.10917578 -0.42296670 -0.18516007
+v 0.11442321 -0.40990213 0.12780935
+v -0.07612234 -0.20090736 -0.16838647
+v -0.13917860 -0.37365477 -0.17161303
+v -0.01024417 -0.36619616 -0.20109720
+v 0.03155802 -0.28716687 0.14706931
+v 0.01774694 -0.39522770 0.12934219
+v 0.02008147 -0.45017952 0.08773977
+v -0.13723333 -0.44373371 -0.00926897
+v 0.22432133 -0.47412229 -0.05345769
+v 0.22601978 -0.39101504 -0.18688724
+v 0.20989194 -0.47550406 -0.09127002
+v -0.00947413 -0.49028141 -0.01172945
+v 0.09242948 -0.48916482 0.00321194
+v 0.03567653 -0.47386778 -0.13244471
+v -0.05145020 -0.45755148 -0.13111208
+v 0.16631507 -0.46005392 -0.14529262
+v 0.15953020 -0.22615146 -0.18890459
+v -0.07202648 -0.31095282 -0.20300070
+v 0.16836402 -0.38038876 -0.20101979
+v -0.14137219 -0.34651118 -0.18477127
+v -0.02358124 -0.40669403 -0.18413324
+v -0.11275224 -0.40142953 0.11317054
+v -0.02309217 -0.47373662 0.02880899
+v -0.13861582 -0.41646391 -0.13036521
+v 0.19668017 -0.40488169 -0.18592466
+v 0.18079175 -0.47298974 -0.11920709
+v 0.16732740 -0.48985659 -0.06484606
+v 0.15187300 -0.49028516 -0.02620710
+v -0.02379910 -0.48935174 -0.06531287
+v 0.00666371 -0.46130840 -0.14444544
+v -0.02303366 -0.47298747 -0.11716216
+v -0.06616875 -0.43233403 -0.15516080
+v 0.22272804 -0.44402837 -0.14548941
+v 0.12231868 -0.47449153 -0.13216879
+f 10 6 3
+f 11 4 3
+f 11 3 6
+f 15 8 7
+f 18 10 8
+f 19 10 3
+f 19 8 10
+f 19 3 16
+f 19 7 8
+f 22 3 4
+f 22 4 12
+f 23 12 4
+f 23 4 20
+f 25 8 1
+f 26 8 14
+f 26 18 8
+f 28 15 1
+f 28 1 8
+f 28 8 15
+f 31 19 16
+f 31 7 19
+f 31 16 3
+f 31 3 21
+f 32 11 6
+f 32 20 4
+f 32 4 11
+f 35 21 3
+f 35 31 21
+f 35 12 7
+f 35 7 31
+f 35 22 12
+f 35 3 22
+f 36 7 12
+f 36 12 23
+f 37 15 7
+f 39 14 8
+f 39 8 25
+f 39 25 1
+f 39 27 14
+f 39 1 27
+f 40 26 2
+f 40 18 26
+f 41 26 14
+f 43 24 42
+f 43 37 24
+f 43 1 15
+f 43 15 37
+f 44 9 29
+f 47 32 6
+f 47 6 10
+f 47 10 20
+f 47 20 32
+f 48 34 20
+f 48 20 10
+f 48 10 34
+f 49 34 10
+f 49 10 18
+f 49 30 34
+f 49 18 40
+f 50 20 34
+f 51 34 30
+f 51 30 17
+f 51 50 34
+f 51 33 50
+f 52 36 23
+f 52 7 36
+f 52 37 7
+f 52 38 13
+f 52 23 38
+f 53 24 37
+f 53 42 24
+f 53 13 42
+f 53 52 13
+f 53 37 52
+f 54 5 38
+f 54 45 5
+f 54 50 33
+f 54 20 50
+f 54 38 23
+f 54 23 20
+f 55 40 2
+f 55 49 40
+f 55 30 49
+f 55 46 30
+f 55 2 46
+f 56 41 9
+f 56 26 41
+f 57 27 9
+f 57 9 41
+f 57 41 14
+f 57 14 27
+f 58 42 9
+f 58 9 27
+f 58 43 42
+f 58 27 1
+f 58 1 43
+f 59 29 9
+f 59 9 42
+f 59 38 5
+f 59 42 13
+f 59 13 38
+f 60 17 30
+f 60 30 44
+f 60 45 17
+f 61 44 29
+f 61 29 59
+f 61 59 5
+f 61 5 45
+f 61 60 44
+f 61 45 60
+f 62 17 45
+f 62 51 17
+f 62 33 51
+f 62 54 33
+f 62 45 54
+f 63 46 2
+f 63 2 26
+f 63 56 46
+f 63 26 56
+f 64 44 30
+f 64 30 46
+f 64 9 44
+f 64 56 9
+f 64 46 56
\ No newline at end of file
diff --git a/objects/objaverse/donut/donut_0/collision/model_normalized_collision_30.obj b/objects/objaverse/donut/donut_0/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5326e92c7f3aa63e91a4b4117a043fa21bfd6c8a
--- /dev/null
+++ b/objects/objaverse/donut/donut_0/collision/model_normalized_collision_30.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v -0.08753086 -0.26515151 -0.00640563
+v -0.08807407 -0.26641329 -0.19881985
+v -0.07307338 -0.12960406 -0.00153889
+v -0.20874298 -0.14393939 -0.00640563
+v -0.20874298 -0.26515151 -0.00640563
+v -0.21035756 -0.14483302 -0.19729081
+v -0.08007068 -0.13644708 -0.10260599
+v -0.20613093 -0.26246275 -0.19370149
+v -0.11231085 -0.15410720 -0.15667945
+v -0.09799427 -0.18672554 -0.16933616
+v -0.17104370 -0.14922650 -0.18626366
+v -0.09836704 -0.15499065 -0.14598458
+v -0.09185037 -0.22712745 -0.18773328
+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 6 3
+f 7 3 2
+f 8 6 2
+f 8 2 5
+f 8 5 6
+f 11 6 7
+f 11 7 9
+f 11 9 10
+f 12 10 9
+f 12 9 7
+f 12 7 10
+f 13 10 7
+f 13 7 2
+f 13 11 10
+f 13 2 6
+f 13 6 11
\ No newline at end of file
diff --git a/objects/objaverse/donut/donut_0/collision/model_normalized_collision_31.obj b/objects/objaverse/donut/donut_0/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fc768726df9e2b9a7dad3b7aa2fd4fb840a9da1a
--- /dev/null
+++ b/objects/objaverse/donut/donut_0/collision/model_normalized_collision_31.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.23065096 0.23484848 -0.00640563
+v 0.23065096 0.23484848 -0.09731472
+v 0.23065096 0.35606060 -0.09731472
+v 0.01852975 0.35606060 -0.00640563
+v 0.01755918 0.19253725 -0.12034394
+v 0.23065096 0.35606060 -0.00640563
+v 0.01852975 0.23484848 -0.00640563
+v 0.01852975 0.35606060 -0.09731472
+f 1 2 3
+f 5 2 1
+f 5 3 2
+f 6 1 3
+f 6 3 4
+f 6 4 1
+f 7 5 1
+f 7 1 4
+f 7 4 5
+f 8 5 4
+f 8 4 3
+f 8 3 5
\ No newline at end of file
diff --git a/objects/objaverse/donut/donut_0/collision/model_normalized_collision_5.obj b/objects/objaverse/donut/donut_0/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..473ea4b3289a77a56f382a8b45ac34e4cf76e068
--- /dev/null
+++ b/objects/objaverse/donut/donut_0/collision/model_normalized_collision_5.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.22517045 -0.46219329 0.00022305
+v 0.41383723 -0.26052126 -0.10792852
+v 0.37326589 -0.27236884 0.09481998
+v 0.23091808 -0.26474957 0.13327313
+v 0.23129700 -0.26600540 -0.21024015
+v 0.38284608 -0.25877989 0.08846121
+v 0.25412317 -0.37963730 0.11135775
+v 0.36637219 -0.37256185 -0.02671709
+v 0.22559174 -0.35156057 0.13198899
+v 0.28923426 -0.26265509 0.13021058
+v 0.34441108 -0.26016797 0.11348876
+v 0.35780005 -0.26141857 -0.17573595
+v 0.27767554 -0.40119340 0.06917453
+v 0.40811147 -0.28648213 0.00271558
+v 0.22706818 -0.40851042 -0.17544942
+v 0.22670134 -0.42024135 0.07674632
+v 0.37198854 -0.26122416 0.09853670
+v 0.34071219 -0.27253530 0.11122016
+v 0.39891071 -0.26065217 -0.13507588
+v 0.30205920 -0.26338050 -0.20139465
+v 0.28112354 -0.44493743 -0.02749665
+v 0.35000908 -0.34242613 0.05498886
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\ No newline at end of file
diff --git a/objects/objaverse/donut/donut_0/collision/model_normalized_collision_6.obj b/objects/objaverse/donut/donut_0/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1e36ff28b29ed36781ce0716df35ebbe901ea1ba
--- /dev/null
+++ b/objects/objaverse/donut/donut_0/collision/model_normalized_collision_6.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.02116909 0.34190624 0.18090416
+v 0.13943633 0.35517851 -0.20023229
+v 0.13974187 0.41666666 -0.00640563
+v -0.07331556 0.42114497 0.11841373
+v -0.07068999 0.35277898 -0.19407957
+v 0.01927361 0.42185688 0.12076213
+v 0.13974187 0.35606060 -0.00640563
+v -0.07388260 0.35563346 0.19070336
+v 0.13805138 0.41178203 -0.17836617
+v 0.01620695 0.39442083 0.16185493
+v 0.00631961 0.40648198 -0.18556936
+v -0.00029015 0.37898945 0.17080542
+v -0.07214888 0.39720031 0.16814021
+v 0.10711882 0.40710176 -0.18483266
+v -0.06706762 0.40599935 -0.17028148
+v -0.07267916 0.38048451 0.17807074
+v 0.13697539 0.39365085 -0.18756143
+v -0.03841502 0.39153011 -0.18646683
+v -0.06883544 0.38014434 -0.18486433
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+f 17 9 2
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+f 18 11 5
+f 19 5 4
+f 19 4 15
+f 19 18 5
+f 19 15 18
\ No newline at end of file
diff --git a/objects/objaverse/donut/donut_0/collision/model_normalized_collision_7.obj b/objects/objaverse/donut/donut_0/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..95150c4926c1210e17158cd9795b80d5476efe52
--- /dev/null
+++ b/objects/objaverse/donut/donut_0/collision/model_normalized_collision_7.obj
@@ -0,0 +1,138 @@
+# https://github.com/mikedh/trimesh
+v 0.36193712 -0.26235719 0.07777140
+v 0.44020708 -0.20092606 -0.06521364
+v 0.41727892 -0.14208844 0.06168049
+v -0.09661439 -0.15323219 0.07576175
+v -0.08144957 -0.25102587 -0.19376790
+v 0.15504081 -0.26549814 0.12787762
+v 0.42345459 -0.25811612 -0.01208460
+v 0.33177913 -0.14292944 -0.20292136
+v 0.36835808 -0.14425130 0.08597106
+v -0.07970206 -0.25533814 0.11137143
+v 0.44120306 -0.14211331 0.01939823
+v 0.40792990 -0.20026981 0.06761397
+v 0.15740866 -0.26938308 -0.20345883
+v -0.09323718 -0.14975897 -0.13648367
+v 0.01830974 -0.26576251 0.12873796
+v -0.09390571 -0.19836598 -0.17519975
+v 0.44044901 -0.20095083 -0.02296068
+v 0.42685147 -0.14144616 -0.13420632
+v 0.40797429 -0.25761250 0.02851852
+v 0.42458595 -0.22944532 0.01499251
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+v 0.25175197 -0.14624503 -0.19904946
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+v 0.44397179 -0.14248703 -0.09348323
+v 0.38508309 -0.26013936 0.05913375
+v 0.43916143 -0.15611872 0.01885962
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\ No newline at end of file
diff --git a/objects/objaverse/donut/donut_0/collision/model_normalized_collision_8.obj b/objects/objaverse/donut/donut_0/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae13eee555679833d7230e80f3674119f3000b8c
--- /dev/null
+++ b/objects/objaverse/donut/donut_0/collision/model_normalized_collision_8.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.39735706 0.09592762 0.10365224
+v 0.44143797 0.09569564 -0.09290461
+v 0.37865954 0.30056863 -0.00919299
+v 0.22395298 0.45061620 0.00466075
+v 0.26620403 0.10009688 -0.20204805
+v 0.28957211 0.34324298 0.10017136
+v 0.44131821 0.12600115 -0.00995090
+v 0.33156285 0.09717556 -0.20259431
+v 0.38007795 0.19842942 0.09932739
+v 0.30472642 0.38577869 0.01698031
+v 0.26233329 0.09891168 0.13986716
+v 0.44615955 0.09651245 -0.00956857
+v 0.40953991 0.24196456 -0.05004731
+v 0.37186993 0.09656368 -0.18588498
+v 0.22386587 0.37701043 -0.17400792
+v 0.33495603 0.29930422 0.08430135
+v 0.40868405 0.22801065 0.00316375
+v 0.39614706 0.12771699 0.10030170
+v 0.24957459 0.40136717 0.08563354
+v 0.29539837 0.25207439 0.15205429
+v 0.44032116 0.13996444 -0.05029068
+v 0.38008400 0.22706689 -0.14348870
+v 0.22676155 0.23208152 -0.20475535
+v 0.31273132 0.25928179 -0.18424618
+v 0.27685957 0.41409571 -0.09034865
+v 0.37819125 0.28516459 0.01768441
+v 0.33544390 0.34332537 0.02818323
+v 0.42349619 0.16864073 0.01845661
+v 0.39380777 0.27202541 -0.00934157
+v 0.42390211 0.19908674 -0.02330423
+v 0.27795696 0.41583528 0.00240962
+v 0.22556491 0.34965276 0.12891569
+v 0.23757505 0.37616605 0.11210077
+v 0.32039387 0.29976652 0.09937710
+v 0.34422637 0.13235870 0.15312281
+v 0.44046973 0.12580754 -0.07745794
+v 0.41402269 0.09610652 -0.14796949
+v 0.34225111 0.20010246 -0.18486096
+v 0.22707604 0.33595372 -0.19181095
+v 0.35035846 0.34304312 -0.07589946
+v 0.30644396 0.32902981 -0.15737807
+v 0.22286139 0.44871079 -0.09255740
+v 0.36669144 0.22558291 0.09912525
+v 0.39244584 0.25625995 0.01774490
+v 0.31938733 0.37017851 0.01677260
+v 0.36513842 0.29959147 0.02862152
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+v 0.42477454 0.19931609 -0.05019224
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+v 0.26343270 0.42937257 -0.07551241
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+v 0.33094841 0.12696285 -0.20027695
+v 0.33783973 0.25740441 -0.16964545
+v 0.39709507 0.14030299 -0.15827150
+v 0.22550704 0.34893037 -0.18673545
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+f 18 1 12
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+f 63 22 60
+f 63 62 22
+f 63 38 62
+f 64 39 23
+f 64 23 15
+f 64 41 39
+f 64 15 41
\ No newline at end of file
diff --git a/objects/objaverse/donut/donut_0/collision/model_normalized_collision_9.obj b/objects/objaverse/donut/donut_0/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ebc9e742dc5bf180ef4e42e12c5027c71ed3dd88
--- /dev/null
+++ b/objects/objaverse/donut/donut_0/collision/model_normalized_collision_9.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v 0.23122609 0.23540226 0.14496173
+v 0.23065096 0.23484848 -0.14276926
+v 0.22523830 0.42202345 0.07808108
+v 0.13632566 0.43621726 0.10787951
+v 0.12917811 0.21821142 -0.18048708
+v 0.20978864 0.39199321 0.13430262
+v 0.22916863 0.35400587 -0.18342867
+v 0.14591700 0.23374267 0.14556598
+v 0.22556491 0.34965276 0.12891569
+v 0.20856783 0.43411884 0.07632252
+v 0.21146770 0.35050525 -0.19042554
+v 0.13622100 0.42325513 0.11808547
+v 0.15187442 0.34108841 0.16707739
+v 0.22883935 0.27867540 0.14365610
+v 0.21340842 0.39443294 0.12552026
+v 0.22171881 0.41651919 0.08944173
+v 0.16413224 0.43190219 0.10149693
+v 0.22266015 0.40297718 -0.15691103
+v 0.14523719 0.33607155 0.16394840
+v 0.15618807 0.34625068 0.16386280
+v 0.17969417 0.40477697 -0.17200667
+v 0.22386587 0.37701043 -0.17400792
+v 0.13943633 0.35517851 -0.20023229
+v 0.13805138 0.41178203 -0.17836617
+v 0.20988791 0.36347997 -0.18535133
+v 0.13777845 0.44056574 0.07905051
+v 0.13697539 0.39365085 -0.18756143
+v 0.19492617 0.37715284 -0.18311652
+v 0.15182526 0.39264988 -0.18548440
+f 5 2 1
+f 7 1 2
+f 7 3 1
+f 8 5 1
+f 11 7 2
+f 11 2 5
+f 12 4 5
+f 12 5 8
+f 12 6 4
+f 13 8 1
+f 14 9 6
+f 14 1 3
+f 14 3 9
+f 14 13 1
+f 14 6 13
+f 15 9 3
+f 15 3 6
+f 15 6 9
+f 16 10 6
+f 16 6 3
+f 16 3 10
+f 17 10 4
+f 17 4 6
+f 17 6 10
+f 18 10 3
+f 18 3 7
+f 19 13 12
+f 19 12 8
+f 19 8 13
+f 20 13 6
+f 20 6 12
+f 20 12 13
+f 22 21 18
+f 22 18 7
+f 23 11 5
+f 24 10 18
+f 24 18 21
+f 25 22 7
+f 25 7 11
+f 26 24 4
+f 26 4 10
+f 26 10 24
+f 27 11 23
+f 27 23 5
+f 27 5 4
+f 27 4 24
+f 28 21 22
+f 28 22 25
+f 28 25 11
+f 29 24 21
+f 29 21 28
+f 29 27 24
+f 29 28 11
+f 29 11 27
\ No newline at end of file
diff --git a/objects/objaverse/donut/donut_0/visual/material.mtl b/objects/objaverse/donut/donut_0/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..30b66473e5fb409f84c67ab3115732cca9804a5d
--- /dev/null
+++ b/objects/objaverse/donut/donut_0/visual/material.mtl
@@ -0,0 +1,7 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
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\ No newline at end of file
diff --git a/objects/objaverse/donut/donut_0/visual/model_normalized_0.obj b/objects/objaverse/donut/donut_0/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..81275673674b757b5f44bf18ba79553700b60110
--- /dev/null
+++ b/objects/objaverse/donut/donut_0/visual/model_normalized_0.obj
@@ -0,0 +1,1853 @@
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diff --git a/objects/objaverse/donut/donut_0/visual/model_normalized_1.obj b/objects/objaverse/donut/donut_0/visual/model_normalized_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b5446a27cb6b31ffdae838bbad9539e4e805799
--- /dev/null
+++ b/objects/objaverse/donut/donut_0/visual/model_normalized_1.obj
@@ -0,0 +1,4376 @@
+# https://github.com/mikedh/trimesh
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diff --git a/objects/objaverse/donut/donut_0/visual/model_normalized_2.obj b/objects/objaverse/donut/donut_0/visual/model_normalized_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..046fd74370cdb7136419eaefef4d53739f8d3fea
--- /dev/null
+++ b/objects/objaverse/donut/donut_0/visual/model_normalized_2.obj
@@ -0,0 +1,3580 @@
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\ No newline at end of file
diff --git a/objects/objaverse/donut/donut_0/visual/model_normalized_3.obj b/objects/objaverse/donut/donut_0/visual/model_normalized_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4fbf2102678e61983a00e13e1b94be7e3e189c65
--- /dev/null
+++ b/objects/objaverse/donut/donut_0/visual/model_normalized_3.obj
@@ -0,0 +1,952 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/objects/objaverse/donut/donut_0/visual/model_normalized_4.obj b/objects/objaverse/donut/donut_0/visual/model_normalized_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..56ad3088d71e044d61bfac1cc2bcc160e4dc80d6
--- /dev/null
+++ b/objects/objaverse/donut/donut_0/visual/model_normalized_4.obj
@@ -0,0 +1,5166 @@
+# https://github.com/mikedh/trimesh
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diff --git a/objects/objaverse/donut/donut_0/visual/model_normalized_5.obj b/objects/objaverse/donut/donut_0/visual/model_normalized_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eaf76bdd07a11e5a5ba81369be599286a1c6f42c
--- /dev/null
+++ b/objects/objaverse/donut/donut_0/visual/model_normalized_5.obj
@@ -0,0 +1,5487 @@
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diff --git a/objects/objaverse/donut/donut_0/visual/model_normalized_6.obj b/objects/objaverse/donut/donut_0/visual/model_normalized_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..22970de387c9a2c853e6f20a229d072163408cf6
--- /dev/null
+++ b/objects/objaverse/donut/donut_0/visual/model_normalized_6.obj
@@ -0,0 +1,3424 @@
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diff --git a/objects/objaverse/donut/donut_0/visual/model_normalized_7.obj b/objects/objaverse/donut/donut_0/visual/model_normalized_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e57e30675bf6c62f91e0ac766ad614f9575d5a9f
--- /dev/null
+++ b/objects/objaverse/donut/donut_0/visual/model_normalized_7.obj
@@ -0,0 +1,4343 @@
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diff --git a/objects/objaverse/donut/donut_0/visual/model_normalized_8.obj b/objects/objaverse/donut/donut_0/visual/model_normalized_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..25d013dfcadac1437e8ad696d2aab44b221dd31e
--- /dev/null
+++ b/objects/objaverse/donut/donut_0/visual/model_normalized_8.obj
@@ -0,0 +1,33724 @@
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diff --git a/objects/objaverse/donut/donut_0/visual/model_normalized_9.obj b/objects/objaverse/donut/donut_0/visual/model_normalized_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0f220f4cf06737ca98a3a230ed6d53b96546e711
--- /dev/null
+++ b/objects/objaverse/donut/donut_0/visual/model_normalized_9.obj
@@ -0,0 +1,13947 @@
+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/objects/objaverse/donut/donut_4/collision/model_normalized_collision_1.obj b/objects/objaverse/donut/donut_4/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b4646126d6b5656033b41f4a8836ca593af0a9b7
--- /dev/null
+++ b/objects/objaverse/donut/donut_4/collision/model_normalized_collision_1.obj
@@ -0,0 +1,105 @@
+# https://github.com/mikedh/trimesh
+v 0.13155820 0.22640345 0.15214921
+v 0.13895008 0.23639467 -0.19058905
+v 0.13440029 0.46188836 0.08064853
+v 0.02195168 0.49102509 0.04087902
+v 0.01690768 0.24138149 -0.18387650
+v 0.13409529 0.38906383 -0.16447255
+v 0.01669687 0.45391090 0.11316674
+v 0.13524532 0.43729044 0.11151193
+v 0.01601140 0.22810513 0.13266151
+v 0.13508800 0.46214160 -0.07219924
+v 0.01688271 0.35448100 -0.19152483
+v 0.06037330 0.48940349 0.05272580
+v 0.10459709 0.46041492 0.09254758
+v 0.13505377 0.36287114 -0.17843860
+v 0.01701406 0.47309468 -0.07557432
+v -0.02897553 0.45575547 0.06646779
+v 0.01668213 0.29694030 -0.19755981
+v 0.01767035 0.47679807 0.08152865
+v 0.06339217 0.49521929 0.00939525
+v 0.11916512 0.44603735 0.10669890
+v 0.07470730 0.47353221 0.07964736
+v 0.09102724 0.39327362 -0.16940400
+v -0.02851445 0.44825834 0.07592368
+v -0.02815071 0.47005270 0.05697947
+v 0.03166051 0.32395467 -0.19673001
+v 0.03314505 0.48911376 0.05407779
+v 0.07158358 0.49194614 0.03967448
+v 0.05520252 0.49461706 0.00241799
+v 0.10443450 0.47426988 0.06779486
+v 0.09132289 0.36572942 -0.18313501
+v -0.02761048 0.47203450 0.07662445
+v 0.01664654 0.32399212 -0.19716555
+v 0.02678657 0.49488256 0.00825152
+v 0.03186253 0.29695899 -0.19723046
+v -0.00945256 0.47567470 0.07519511
+v 0.03683524 0.49371292 0.00061970
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+f 8 7 1
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+f 35 18 26
+f 36 33 28
+f 36 28 15
+f 36 15 33
\ No newline at end of file
diff --git a/objects/objaverse/donut/donut_4/collision/model_normalized_collision_11.obj b/objects/objaverse/donut/donut_4/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..868feb9be8c00661deb9f11fa024f0a270c96eec
--- /dev/null
+++ b/objects/objaverse/donut/donut_4/collision/model_normalized_collision_11.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.07528597 -0.49068985 0.04044593
+v 0.22485929 -0.39409558 -0.14354519
+v 0.23143929 -0.39716712 0.11874079
+v -0.22644467 -0.39236956 0.13312030
+v -0.21820494 -0.40213148 -0.15142537
+v 0.18132155 -0.39284574 0.14015147
+v 0.20468781 -0.46028319 0.03372369
+v 0.01582685 -0.47449186 -0.11087343
+v -0.21515335 -0.47500432 0.01387672
+v -0.22113356 -0.39345872 -0.15724180
+v 0.21061486 -0.39428205 0.12833323
+v 0.16288582 -0.43582099 0.12225046
+v 0.22064300 -0.42995951 -0.09881306
+v 0.11906784 -0.47488244 -0.07261656
+v -0.11598005 -0.47390216 0.08173458
+v -0.07270427 -0.49048344 -0.05929372
+v -0.11682068 -0.41857673 -0.16501747
+v 0.19483581 -0.39327710 -0.15676131
+v -0.21813365 -0.44457402 -0.09838257
+v 0.17373274 -0.40763829 0.13648520
+v 0.20459311 -0.45970611 0.03977019
+v 0.21191463 -0.45293448 0.03367453
+v 0.07269338 -0.49077147 0.02363896
+v 0.17653350 -0.45922390 -0.06034994
+v 0.14820849 -0.44438792 -0.12334731
+v -0.05635653 -0.48839797 0.06794720
+v -0.21813395 -0.44623174 0.07888207
+v -0.08203202 -0.42135547 0.15028916
+v 0.04583742 -0.49014987 -0.05900620
+v -0.17519130 -0.40329999 -0.16482769
+v -0.21809281 -0.46156976 0.05203325
+v -0.21721321 -0.42892334 -0.12396752
+v -0.16009678 -0.47417621 -0.07178122
+v 0.19354921 -0.45960351 0.05130431
+v 0.21184547 -0.44811590 0.05018164
+v -0.08771860 -0.49124778 -0.01576656
+v 0.16234484 -0.45924304 -0.08568982
+v 0.20501193 -0.44278633 -0.08495006
+v 0.08900855 -0.47268088 -0.09837301
+v 0.04587170 -0.41985005 -0.16541930
+v 0.19267914 -0.40272021 -0.15020367
+v 0.19118882 -0.42839876 -0.12424972
+v -0.20358949 -0.47339755 0.03780137
+v 0.01501495 -0.48938193 0.06635591
+v -0.15524854 -0.40490060 0.15308299
+v 0.09301575 -0.43294840 0.13832206
+v -0.08712811 -0.46092295 0.10559900
+v 0.00133046 -0.49031636 -0.07290844
+v -0.18865738 -0.41593869 -0.15069111
+v -0.17693133 -0.39388867 -0.17085733
+v -0.21713315 -0.45780887 -0.05795983
+v -0.18880047 -0.45846951 0.07796617
+v -0.21407394 -0.47494327 0.00566972
+v -0.11637763 -0.47391081 -0.09894164
+v 0.10310281 -0.47520401 0.06654968
+v -0.08748445 -0.49107465 0.01366191
+v 0.17648064 -0.44290743 -0.11114202
+v 0.07492970 -0.45958506 -0.12405283
+v 0.14778362 -0.45879134 -0.09875412
+v -0.04310364 -0.47482996 -0.11128513
+v 0.13495547 -0.40484164 -0.16430241
+v 0.21995248 -0.41464452 -0.12454080
+v 0.22140212 -0.40212710 -0.13762337
+v 0.14902633 -0.41816091 -0.15109177
+f 11 3 2
+f 11 2 6
+f 13 2 3
+f 18 6 2
+f 18 10 4
+f 18 4 6
+f 19 4 10
+f 20 11 6
+f 20 12 3
+f 20 3 11
+f 21 1 7
+f 22 13 3
+f 22 7 13
+f 22 21 7
+f 23 14 7
+f 23 7 1
+f 24 7 14
+f 29 14 23
+f 31 4 19
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+f 32 10 5
+f 34 21 3
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+f 53 36 9
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+f 54 33 19
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+f 55 34 12
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+f 55 44 1
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+f 56 26 9
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+f 57 38 37
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+f 59 37 14
+f 59 14 39
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+f 59 25 57
+f 60 40 8
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+f 60 48 16
+f 60 16 54
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+f 62 2 13
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+f 63 42 41
+f 63 41 2
+f 63 62 42
+f 63 2 62
+f 64 42 25
+f 64 41 42
+f 64 25 58
+f 64 58 40
+f 64 40 61
+f 64 61 18
+f 64 18 41
\ No newline at end of file
diff --git a/objects/objaverse/donut/donut_4/collision/model_normalized_collision_23.obj b/objects/objaverse/donut/donut_4/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..40b167c78893b9907d15b130d495f22a56b5623b
--- /dev/null
+++ b/objects/objaverse/donut/donut_4/collision/model_normalized_collision_23.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v 0.00752655 -0.38826466 0.16571957
+v 0.01703063 -0.40151515 -0.09177948
+v 0.01721136 -0.16168328 -0.09063804
+v -0.17407885 -0.13948377 0.16275266
+v -0.23909645 -0.42891603 -0.10867275
+v 0.01950687 -0.17054456 0.11010081
+v -0.22564301 -0.39024496 0.13606488
+v -0.22539360 -0.15909092 -0.09177948
+v 0.01742096 -0.26955533 0.17807899
+v -0.11545339 -0.39082905 0.16186686
+v -0.22819724 -0.16079488 0.18028702
+v -0.00987081 -0.20030925 0.15874783
+v 0.01688465 -0.33747584 0.18125651
+v -0.18365624 -0.39206075 0.14609878
+v -0.22690959 -0.36344562 0.15097246
+v 0.01622261 -0.23124612 0.16695611
+v -0.07630098 -0.35292667 0.19055377
+v -0.20077477 -0.37585965 0.15759054
+v -0.19092962 -0.16680157 0.17779625
+v -0.02213386 -0.34896525 0.19127618
+v -0.22336295 -0.31535003 0.16981774
+v -0.18592272 -0.15148059 0.17156620
+v -0.22585924 -0.23196479 0.17980941
+v -0.21701459 -0.26295459 0.17765711
+f 5 2 1
+f 5 3 2
+f 6 3 4
+f 6 2 3
+f 8 4 3
+f 8 3 5
+f 10 5 1
+f 11 4 8
+f 11 8 5
+f 12 6 4
+f 13 1 2
+f 13 2 6
+f 13 6 9
+f 14 7 5
+f 14 5 10
+f 15 11 5
+f 15 5 7
+f 16 9 6
+f 16 6 12
+f 17 10 1
+f 18 15 7
+f 18 7 14
+f 18 14 10
+f 18 10 17
+f 19 11 9
+f 19 9 16
+f 20 17 1
+f 20 1 13
+f 20 13 9
+f 20 9 11
+f 20 11 17
+f 21 18 17
+f 21 15 18
+f 22 4 11
+f 22 11 19
+f 22 12 4
+f 22 19 16
+f 22 16 12
+f 23 17 11
+f 23 11 15
+f 23 15 21
+f 24 23 21
+f 24 21 17
+f 24 17 23
\ No newline at end of file
diff --git a/objects/objaverse/donut/donut_4/collision/model_normalized_collision_29.obj b/objects/objaverse/donut/donut_4/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7cd72801daf153b8991bae78224d482c6da7744c
--- /dev/null
+++ b/objects/objaverse/donut/donut_4/collision/model_normalized_collision_29.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.22539360 -0.26515152 -0.00087039
+v -0.22539360 -0.26515152 -0.09177948
+v -0.22539360 0.18939392 -0.00087039
+v -0.34660572 0.18939392 -0.00087039
+v -0.38206554 -0.28579297 -0.11816483
+v -0.34660572 -0.26515152 -0.00087039
+v -0.22539360 0.18939392 -0.09177948
+v -0.34660572 0.18939392 -0.09177948
+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_4/collision/model_normalized_collision_31.obj b/objects/objaverse/donut/donut_4/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..127e22af4b1837e0ea85ec1502aef726382c179c
--- /dev/null
+++ b/objects/objaverse/donut/donut_4/collision/model_normalized_collision_31.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.21319074 -0.02184497 0.12094678
+v -0.22539360 -0.02272728 -0.00087039
+v -0.22539360 0.18939392 -0.00087039
+v -0.34795998 0.19027084 0.10775282
+v -0.35564680 -0.02241063 0.13680904
+v -0.34660572 -0.02272728 -0.00087039
+v -0.22325470 0.18892182 0.14220151
+v -0.34660572 0.18939392 -0.00087039
+f 1 2 3
+f 5 2 1
+f 6 3 2
+f 6 2 5
+f 7 1 3
+f 7 3 4
+f 7 5 1
+f 7 4 5
+f 8 4 3
+f 8 3 6
+f 8 6 5
+f 8 5 4
\ No newline at end of file
diff --git a/objects/objaverse/donut/donut_4/collision/model_normalized_collision_4.obj b/objects/objaverse/donut/donut_4/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d2657e9fed869d876d3c37bb409c6fef683a8575
--- /dev/null
+++ b/objects/objaverse/donut/donut_4/collision/model_normalized_collision_4.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.27784513 -0.26814298 0.12877730
+v 0.27173751 -0.26281276 -0.18687322
+v 0.27460638 0.23484847 -0.07662796
+v 0.15339426 0.23484847 0.01428112
+v 0.15194834 -0.26266416 0.15453510
+v 0.16177905 0.10447648 -0.14280804
+v 0.26926133 0.09435879 0.15669342
+v 0.27541437 0.09879727 -0.19277615
+v 0.15358886 -0.26548024 -0.19481786
+v 0.15339426 0.23484847 -0.07662796
+v 0.27460638 0.23484847 0.01428112
+v 0.16040126 0.10291071 0.11198319
+v 0.23432882 0.10087179 -0.18294527
+v 0.17762235 0.10419655 -0.15461472
+f 7 5 1
+f 8 1 2
+f 8 3 1
+f 9 2 1
+f 9 1 5
+f 9 8 2
+f 10 4 3
+f 10 3 8
+f 10 6 9
+f 10 9 5
+f 10 5 4
+f 11 7 1
+f 11 1 3
+f 11 3 4
+f 11 4 7
+f 12 7 4
+f 12 4 5
+f 12 5 7
+f 13 8 9
+f 13 10 8
+f 14 13 9
+f 14 9 6
+f 14 6 10
+f 14 10 13
\ No newline at end of file
diff --git a/objects/objaverse/donut/donut_4/collision/model_normalized_collision_5.obj b/objects/objaverse/donut/donut_4/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..42d68df4bacb67ed58f142b0cb9a2ddc6627a1a9
--- /dev/null
+++ b/objects/objaverse/donut/donut_4/collision/model_normalized_collision_5.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.39822573 -0.26054829 0.09858754
+v -0.34086880 -0.24686480 -0.17193914
+v -0.34795998 0.19027084 0.10775282
+v -0.42567892 0.19580212 0.09293950
+v -0.48038620 -0.03699841 -0.07222910
+v -0.35778776 -0.16262720 0.12755926
+v -0.41719267 -0.25520205 -0.08461092
+v -0.46917432 0.01114203 0.09975649
+v -0.34425450 0.18806866 -0.17760133
+v -0.34660572 -0.26515152 -0.00087039
+v -0.43774837 -0.09579125 -0.13738545
+v -0.48126395 -0.15320552 0.01126031
+v -0.48087786 0.09554532 -0.01498934
+v -0.44978805 -0.13977353 0.09166593
+v -0.45066799 0.11058428 0.09778900
+v -0.34068597 0.17117975 -0.18295368
+v -0.34427615 -0.26373614 -0.16407949
+v -0.46499693 -0.12430720 -0.08548836
+v -0.43568409 0.09472028 -0.13771768
+v -0.41852031 -0.25688751 0.05170480
+v -0.48026990 0.03608380 0.06672207
+v -0.48245615 -0.15435618 -0.01235760
+v -0.44862839 0.18056927 -0.05724890
+v -0.46412326 -0.16753975 0.05238970
+v -0.46514205 0.13761290 0.03858503
+v -0.38395894 -0.06688573 -0.17929484
+v -0.39301237 -0.19907424 -0.15081786
+v -0.46501406 -0.09536601 -0.09894613
+v -0.39542671 0.12493074 -0.16491016
+v -0.46498845 0.08001635 -0.09897462
+v -0.48001634 -0.09604122 0.05257905
+v -0.46370410 0.09340941 0.07948186
+v -0.48038542 0.02217965 -0.07210922
+v -0.44781350 -0.18214915 -0.08488283
+v -0.43451113 0.18122423 -0.09826531
+v -0.45049012 -0.16898795 0.07878570
+v -0.41782512 -0.24051518 0.08205222
+v -0.46766404 -0.17428876 0.02823025
+v -0.47975918 0.09536039 0.02620264
+v -0.46470418 0.15234093 -0.01521539
+v -0.34105383 -0.18738591 -0.18492795
+v -0.40992735 0.06631054 -0.16467233
+v -0.35148682 -0.24469720 -0.16615689
+v -0.39490459 -0.14059219 -0.16430137
+v -0.40406718 -0.25579068 -0.11030538
+v -0.36862046 0.12580411 -0.17964590
+v -0.46474742 0.13841429 -0.05741809
+v -0.45108262 -0.08085920 -0.12457664
+v -0.47945597 -0.02077928 0.06740321
+v -0.47997979 -0.12586935 0.03905291
+v -0.46465754 -0.11024557 0.07890938
+v -0.46939419 0.01398765 0.09869866
+v -0.44968333 0.16874764 0.05756388
+v -0.48056178 0.08097599 -0.04367013
+v -0.43529532 -0.15391355 -0.12368153
+v -0.39241969 0.18217149 -0.14960254
+v -0.44911573 0.12326783 -0.11028560
+v -0.41841278 -0.22611370 0.09273962
+v -0.40398361 -0.25625626 0.09359818
+v -0.43339591 -0.21046610 0.08010028
+v -0.46449117 0.15195999 0.01316549
+v -0.38414564 0.06677732 -0.17945261
+v -0.41005392 -0.06651109 -0.16464995
+v -0.42238661 0.09514747 -0.15055955
+f 9 4 3
+f 10 6 1
+f 10 2 3
+f 10 3 6
+f 14 1 6
+f 14 6 8
+f 15 8 6
+f 15 6 3
+f 15 3 4
+f 16 9 3
+f 16 3 2
+f 17 2 10
+f 17 10 1
+f 17 1 7
+f 20 7 1
+f 22 21 13
+f 22 20 12
+f 22 7 20
+f 28 22 5
+f 28 18 22
+f 31 22 12
+f 31 21 22
+f 33 5 22
+f 34 22 18
+f 34 7 22
+f 35 23 4
+f 35 4 9
+f 37 24 20
+f 38 24 12
+f 38 12 20
+f 38 20 24
+f 39 13 21
+f 39 32 25
+f 39 21 32
+f 41 16 2
+f 43 2 17
+f 43 17 27
+f 44 27 11
+f 44 26 41
+f 44 43 27
+f 44 41 2
+f 44 2 43
+f 45 27 17
+f 45 17 7
+f 45 7 34
+f 46 29 9
+f 46 9 16
+f 47 23 35
+f 47 40 23
+f 47 13 40
+f 48 28 5
+f 48 33 30
+f 48 5 33
+f 48 30 19
+f 48 19 42
+f 49 31 8
+f 49 8 21
+f 49 21 31
+f 50 31 12
+f 50 12 24
+f 51 14 8
+f 51 8 31
+f 51 36 14
+f 51 24 36
+f 51 50 24
+f 51 31 50
+f 52 32 21
+f 52 21 8
+f 52 8 15
+f 52 15 32
+f 53 32 15
+f 53 15 4
+f 53 25 32
+f 53 4 23
+f 54 33 22
+f 54 22 13
+f 54 13 47
+f 54 47 30
+f 54 30 33
+f 55 11 27
+f 55 45 34
+f 55 27 45
+f 55 48 11
+f 55 28 48
+f 55 34 18
+f 55 18 28
+f 56 35 9
+f 56 9 29
+f 57 19 30
+f 57 47 35
+f 57 30 47
+f 57 56 19
+f 57 35 56
+f 58 1 14
+f 58 14 36
+f 59 37 20
+f 59 20 1
+f 59 1 58
+f 60 36 24
+f 60 24 37
+f 60 58 36
+f 60 59 58
+f 60 37 59
+f 61 39 25
+f 61 25 53
+f 61 53 23
+f 61 23 40
+f 61 40 13
+f 61 13 39
+f 62 41 26
+f 62 16 41
+f 62 46 16
+f 62 42 29
+f 62 29 46
+f 63 48 42
+f 63 11 48
+f 63 44 11
+f 63 26 44
+f 63 62 26
+f 63 42 62
+f 64 42 19
+f 64 29 42
+f 64 56 29
+f 64 19 56
\ No newline at end of file
diff --git a/objects/objaverse/donut/donut_4/collision/model_normalized_collision_7.obj b/objects/objaverse/donut/donut_4/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6acfa6014613bb5c1fca641e066c702465d3d0fc
--- /dev/null
+++ b/objects/objaverse/donut/donut_4/collision/model_normalized_collision_7.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.21321823 0.07936145 0.13021536
+v 0.01772594 0.17130154 -0.12771759
+v 0.01400873 0.33323725 0.20234441
+v -0.15821861 0.45910119 0.05388587
+v -0.22643441 0.17553914 -0.19705213
+v 0.01684114 0.46444801 -0.10117670
+v -0.22873531 0.27016290 0.16703801
+v 0.01877530 0.14258355 0.08511047
+v -0.23035411 0.08566478 -0.18368371
+v 0.01767035 0.47679807 0.08152865
+v -0.21664466 0.40126333 -0.11145589
+v 0.01664654 0.32399212 -0.19716555
+v -0.22837483 0.14427284 0.17595747
+v -0.13164312 0.39304593 0.15732362
+v -0.11931064 0.09617043 -0.09860006
+v -0.02782283 0.47638967 -0.01572871
+v 0.01917681 0.15819916 0.10939589
+v -0.21639454 0.41798095 0.07990779
+v -0.21678873 0.41596020 -0.08510854
+v 0.01809826 0.16091431 -0.11189120
+v -0.08725411 0.40862791 -0.15800500
+v 0.01668213 0.29694030 -0.19755981
+v -0.01889259 0.33429909 0.19887585
+v -0.10978739 0.45348644 0.10361997
+v 0.01669687 0.45391090 0.11316674
+v -0.09975656 0.09662371 0.07090920
+v -0.19104698 0.08958763 -0.16522456
+v 0.01727254 0.47724857 -0.03077136
+v -0.02775352 0.47659222 0.02839006
+v 0.01631242 0.22199328 0.18368765
+v -0.10592260 0.09641130 0.09118082
+v -0.20482184 0.38434559 0.13447222
+v -0.22245504 0.26188703 -0.19525885
+v -0.20038074 0.44424734 0.02905970
+v -0.11532283 0.46033657 -0.07237576
+v 0.01691787 0.45548997 -0.11759550
+v 0.01808071 0.14425570 -0.07314972
+v 0.01704807 0.21367537 -0.16853815
+v -0.19891437 0.31985991 0.16537653
+v -0.01175385 0.47419880 0.08348817
+v -0.17178899 0.44285775 0.07919845
+v -0.08059232 0.40678375 0.15323776
+v -0.21806988 0.08726232 -0.17896116
+v -0.16120356 0.46052387 0.03451967
+v 0.01449506 0.30159014 0.20229678
+v -0.21548523 0.38735640 0.12079300
+v -0.16251236 0.41654824 0.12379491
+v -0.21942290 0.31713846 -0.17945959
+v -0.21500301 0.42925185 -0.04313312
+v -0.18535420 0.44259339 0.06709670
+v -0.11408421 0.44348540 -0.11059720
+v -0.02758737 0.46354612 -0.10068888
+v -0.15083001 0.09506613 -0.13654569
+v 0.01690768 0.24138149 -0.18387650
+v -0.13381004 0.36185635 0.16912862
+v -0.22141498 0.32897967 0.15236900
+v -0.14429694 0.45865487 0.06701535
+v -0.14469434 0.45886524 -0.04350813
+v -0.19982875 0.42890050 0.07874120
+v -0.14350357 0.40070179 -0.15024688
+v -0.13266867 0.32137971 -0.19463952
+v -0.21410615 0.43024657 0.05534940
+v -0.15793119 0.42910514 -0.11054715
+v -0.01288463 0.47663580 -0.03094637
+f 9 7 5
+f 13 9 1
+f 13 7 9
+f 19 7 18
+f 22 9 5
+f 22 5 12
+f 22 12 20
+f 23 7 13
+f 23 3 14
+f 26 1 15
+f 27 15 1
+f 27 1 9
+f 27 2 20
+f 28 10 17
+f 28 17 20
+f 29 10 28
+f 30 13 1
+f 30 1 17
+f 30 17 10
+f 30 10 25
+f 31 17 1
+f 31 8 17
+f 31 26 8
+f 31 1 26
+f 33 5 7
+f 33 7 19
+f 33 12 5
+f 36 20 12
+f 36 28 20
+f 36 6 28
+f 36 12 21
+f 37 20 17
+f 37 17 8
+f 37 26 15
+f 37 8 26
+f 38 20 2
+f 39 7 23
+f 39 14 32
+f 40 10 29
+f 40 25 10
+f 40 24 25
+f 42 14 3
+f 42 3 25
+f 42 25 24
+f 42 24 14
+f 43 27 9
+f 43 2 27
+f 43 38 2
+f 43 9 38
+f 44 29 16
+f 44 40 29
+f 44 4 40
+f 44 34 4
+f 45 13 30
+f 45 23 13
+f 45 3 23
+f 45 30 25
+f 45 25 3
+f 46 32 18
+f 47 32 14
+f 47 14 24
+f 47 24 41
+f 48 33 19
+f 48 19 11
+f 49 19 18
+f 50 4 34
+f 50 41 4
+f 52 51 35
+f 52 6 36
+f 52 36 21
+f 52 21 51
+f 53 27 20
+f 53 20 37
+f 53 37 15
+f 53 15 27
+f 54 38 9
+f 54 9 22
+f 54 22 20
+f 54 20 38
+f 55 39 23
+f 55 23 14
+f 55 14 39
+f 56 39 32
+f 56 7 39
+f 56 32 46
+f 56 46 18
+f 56 18 7
+f 57 40 4
+f 57 24 40
+f 57 41 24
+f 57 4 41
+f 58 44 16
+f 58 16 35
+f 58 35 19
+f 58 19 49
+f 58 49 34
+f 58 34 44
+f 59 47 41
+f 59 18 32
+f 59 32 47
+f 59 41 50
+f 60 48 11
+f 60 21 48
+f 60 51 21
+f 61 48 21
+f 61 21 12
+f 61 12 33
+f 61 33 48
+f 62 49 18
+f 62 34 49
+f 62 50 34
+f 62 59 50
+f 62 18 59
+f 63 11 19
+f 63 19 35
+f 63 35 51
+f 63 60 11
+f 63 51 60
+f 64 28 6
+f 64 6 52
+f 64 29 28
+f 64 16 29
+f 64 52 35
+f 64 35 16
\ No newline at end of file
diff --git a/objects/objaverse/donut/donut_4/model.xml b/objects/objaverse/donut/donut_4/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..665678dbfb8f32bc1920fa2e2abf9482fe6704f2
--- /dev/null
+++ b/objects/objaverse/donut/donut_4/model.xml
@@ -0,0 +1,89 @@
+<mujoco model="donut_25">
+  <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="visual/model_normalized_3.obj" name="model_normalized_3_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"/>
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