diff --git a/objects/objaverse/bar/bar_10/collision/model_normalized_collision_0.obj b/objects/objaverse/bar/bar_10/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f59a1c9598044322a3c94ac1784eef0442c3b1ba
--- /dev/null
+++ b/objects/objaverse/bar/bar_10/collision/model_normalized_collision_0.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.03995153 -0.46285063 0.06333526
+v 0.04360309 -0.35526387 -0.11305622
+v 0.03572979 -0.46606057 -0.02483628
+v 0.05745418 -0.34047876 0.04852365
+v 0.03198443 -0.40139750 0.14270739
+v 0.03448147 -0.44836082 0.14031742
+v 0.02185790 -0.34196816 -0.13975473
+v 0.04328322 -0.42419732 0.10693739
+v 0.04419548 -0.39809012 0.12060703
+v 0.03302873 -0.44675627 0.14213212
+v 0.05703060 -0.34151794 0.05063273
+v 0.04544497 -0.33781707 -0.11403561
+v 0.02984776 -0.38638777 -0.13314372
+v 0.03824353 -0.40068639 0.13538874
+v 0.02183501 -0.37222586 -0.14160020
+v 0.03241338 -0.38350660 -0.12860470
+v 0.03405498 -0.46221586 -0.02804936
+v 0.02952268 -0.34291039 -0.13262641
+v 0.02841135 -0.37018652 -0.13488366
+f 1 3 4
+f 3 2 4
+f 8 6 1
+f 8 1 4
+f 9 8 4
+f 9 6 8
+f 10 3 1
+f 10 1 6
+f 11 7 5
+f 11 4 7
+f 11 9 4
+f 12 7 4
+f 12 4 2
+f 14 6 9
+f 14 10 6
+f 14 5 10
+f 14 11 5
+f 14 9 11
+f 15 10 5
+f 15 5 7
+f 16 2 3
+f 16 3 13
+f 16 13 12
+f 16 12 2
+f 17 3 10
+f 17 10 15
+f 17 15 13
+f 17 13 3
+f 18 15 7
+f 18 7 12
+f 19 18 12
+f 19 12 13
+f 19 13 15
+f 19 15 18
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_10/collision/model_normalized_collision_1.obj b/objects/objaverse/bar/bar_10/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f6c25823045a333613447b2090d23e6ba9b28b5f
--- /dev/null
+++ b/objects/objaverse/bar/bar_10/collision/model_normalized_collision_1.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v 0.06011503 -0.14386390 -0.08700082
+v 0.05958052 -0.14218486 -0.11632795
+v 0.03594046 0.23272351 -0.10310964
+v -0.02845500 0.23530877 -0.10254016
+v -0.01891503 -0.14424429 -0.10721040
+v -0.01502653 0.23711461 -0.13941893
+v -0.02805226 0.09955811 -0.08715153
+v 0.05962144 -0.05304283 -0.08788577
+v -0.00470718 -0.14761153 -0.11778480
+v 0.01185822 0.23424587 -0.13648876
+v -0.02320126 -0.09787778 -0.09904512
+v 0.05980172 -0.06953146 -0.10320744
+v 0.05963803 -0.09801509 -0.08736397
+v 0.05368573 -0.14374452 -0.12783451
+v -0.02636092 -0.00823538 -0.08615727
+v 0.06022638 -0.14401781 -0.08882790
+v 0.05867239 -0.07034065 -0.11397972
+v 0.04604217 0.14189419 -0.09910436
+v 0.01784841 -0.02196645 -0.13210135
+v -0.00958889 0.20932478 -0.14030885
+v 0.05158327 -0.05284180 -0.12478275
+v 0.04211701 0.14269954 -0.10965144
+v 0.02774350 -0.02296696 -0.13286593
+v 0.04416365 0.06510438 -0.12032903
+v 0.02824403 0.21468962 -0.12118151
+v 0.03180090 0.23213940 -0.11168325
+f 6 4 3
+f 7 3 4
+f 8 3 7
+f 9 1 5
+f 9 5 6
+f 10 6 3
+f 11 6 5
+f 11 4 6
+f 11 5 1
+f 13 8 7
+f 13 1 8
+f 15 11 1
+f 15 7 4
+f 15 4 11
+f 15 13 7
+f 15 1 13
+f 16 12 8
+f 16 8 1
+f 16 2 12
+f 16 14 2
+f 16 1 9
+f 16 9 14
+f 17 12 2
+f 17 2 14
+f 18 3 8
+f 18 8 12
+f 18 12 17
+f 19 14 9
+f 20 6 10
+f 20 10 14
+f 20 19 9
+f 20 9 6
+f 21 17 14
+f 21 14 10
+f 22 18 17
+f 22 3 18
+f 23 20 14
+f 23 14 19
+f 23 19 20
+f 24 22 17
+f 24 17 21
+f 24 21 10
+f 25 24 10
+f 26 25 10
+f 26 10 3
+f 26 3 22
+f 26 22 24
+f 26 24 25
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_10/collision/model_normalized_collision_10.obj b/objects/objaverse/bar/bar_10/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c378462d7e7dc9026afd104b07440ebcf092ab5c
--- /dev/null
+++ b/objects/objaverse/bar/bar_10/collision/model_normalized_collision_10.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.01518826 -0.48997163 -0.12934421
+v 0.01832730 -0.48448233 -0.11423159
+v 0.00245697 -0.48927544 -0.11717570
+v -0.02396170 -0.30933592 -0.11470129
+v 0.03649931 -0.34103173 -0.12508105
+v 0.00332837 -0.44009667 -0.10172085
+v -0.00263960 -0.49380640 -0.15238284
+v 0.03463253 -0.40277592 -0.10416036
+v 0.01767346 -0.44505166 -0.09978398
+v 0.00184825 -0.44676719 -0.10440259
+v -0.00295552 -0.49286220 -0.14478345
+v 0.00723084 -0.49118609 -0.14886044
+v 0.00327483 -0.32846488 -0.14635102
+v -0.00167778 -0.39621732 -0.10403515
+v -0.00320611 -0.37072464 -0.14709526
+v 0.02037740 -0.31115756 -0.14036944
+v -0.01789137 -0.30963782 -0.12528831
+v 0.01569215 -0.39819912 -0.14938916
+v -0.00631504 -0.30998275 -0.13735891
+v 0.01346672 -0.31059128 -0.14350371
+v 0.01585224 -0.37306222 -0.14802357
+v 0.01183571 -0.33020592 -0.14529718
+f 1 2 3
+f 7 1 3
+f 8 2 1
+f 8 1 5
+f 8 5 4
+f 9 6 3
+f 9 3 2
+f 9 2 8
+f 10 6 4
+f 10 4 3
+f 10 3 6
+f 11 7 3
+f 11 3 4
+f 11 4 7
+f 12 5 1
+f 12 1 7
+f 14 9 8
+f 14 8 4
+f 14 4 6
+f 14 6 9
+f 15 13 7
+f 16 4 5
+f 17 15 7
+f 17 7 4
+f 18 5 12
+f 18 12 7
+f 18 7 13
+f 19 13 15
+f 19 15 17
+f 19 17 4
+f 20 13 19
+f 20 19 4
+f 20 4 16
+f 21 18 13
+f 21 20 16
+f 21 16 5
+f 21 5 18
+f 22 21 13
+f 22 13 20
+f 22 20 21
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_10/collision/model_normalized_collision_11.obj b/objects/objaverse/bar/bar_10/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f864a7a05a140cbccef0b047921db37329f60ec2
--- /dev/null
+++ b/objects/objaverse/bar/bar_10/collision/model_normalized_collision_11.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.03700269 -0.26514275 0.06243997
+v -0.03564188 -0.26531500 -0.08885684
+v -0.03419473 -0.14440304 -0.09090491
+v -0.04109222 -0.14356904 0.06451527
+v -0.04742142 -0.14420056 0.04179464
+v -0.03636142 -0.26350956 0.06423452
+v -0.04372853 -0.18868061 -0.04470042
+v -0.04464602 -0.14438745 -0.06831258
+v -0.04042241 -0.14475732 0.06163641
+v -0.03615731 -0.26485379 -0.08614921
+v -0.04443317 -0.18820868 0.03913414
+v -0.03940025 -0.14423736 -0.08455774
+v -0.04366368 -0.17404188 -0.06931813
+v -0.03897259 -0.18884956 -0.08627709
+f 5 1 4
+f 6 4 1
+f 6 1 2
+f 6 2 3
+f 8 5 4
+f 9 6 3
+f 9 3 4
+f 9 4 6
+f 10 2 1
+f 11 1 5
+f 11 5 7
+f 11 10 1
+f 11 7 10
+f 12 8 4
+f 12 4 3
+f 13 7 5
+f 13 5 8
+f 13 10 7
+f 13 2 10
+f 14 12 3
+f 14 3 2
+f 14 8 12
+f 14 13 8
+f 14 2 13
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_10/collision/model_normalized_collision_12.obj b/objects/objaverse/bar/bar_10/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e3e459b4288935b3b6048bb1e4646bfa2da68e61
--- /dev/null
+++ b/objects/objaverse/bar/bar_10/collision/model_normalized_collision_12.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.04379570 -0.49431889 -0.02252791
+v 0.03578913 -0.49285691 -0.05251482
+v 0.03241338 -0.38350660 -0.12860470
+v 0.04358117 -0.38592436 -0.02683607
+v 0.00390882 -0.44550778 0.00696411
+v 0.01820696 -0.49601602 -0.00987220
+v 0.04433795 -0.48851922 0.00421828
+v 0.00216748 -0.40103133 -0.02651218
+v 0.00245697 -0.48927544 -0.11717570
+v 0.04172128 -0.46291449 0.00341795
+v 0.01432197 -0.48471911 0.00992952
+v 0.01832730 -0.48448233 -0.11423159
+v 0.00026883 -0.40146005 -0.10318587
+v 0.01919331 -0.49135284 -0.00029660
+v 0.02984776 -0.38638777 -0.13314372
+v 0.03301769 -0.48765570 -0.06525512
+v 0.00327162 -0.44622718 -0.11814239
+f 1 2 3
+f 1 3 4
+f 6 2 1
+f 7 1 4
+f 7 6 1
+f 8 5 4
+f 8 4 3
+f 9 2 6
+f 10 7 4
+f 10 4 5
+f 11 9 6
+f 11 5 9
+f 11 10 5
+f 11 7 10
+f 12 2 9
+f 13 8 3
+f 13 9 5
+f 13 5 8
+f 14 11 6
+f 14 6 7
+f 14 7 11
+f 15 12 9
+f 15 3 12
+f 15 13 3
+f 16 12 3
+f 16 3 2
+f 16 2 12
+f 17 15 9
+f 17 9 13
+f 17 13 15
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_10/collision/model_normalized_collision_13.obj b/objects/objaverse/bar/bar_10/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cb01eb5fd355d7eb0e19c9c797abecde0905d0b6
--- /dev/null
+++ b/objects/objaverse/bar/bar_10/collision/model_normalized_collision_13.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v -0.02068756 0.41540761 -0.00754744
+v 0.01429845 0.46816853 -0.07781924
+v 0.01512268 0.48214645 -0.04956552
+v -0.00891337 0.48822587 -0.01134571
+v -0.01895752 0.45070194 -0.14116022
+v 0.00072697 0.48771232 -0.01730999
+v -0.00296262 0.43805001 -0.03099922
+v -0.01482019 0.47701763 -0.02631033
+v 0.00093194 0.49245149 -0.14338115
+v -0.01758715 0.43136574 -0.00832543
+v -0.00234664 0.45621414 -0.02009795
+v -0.01463374 0.41605825 -0.15571944
+v 0.01205922 0.48818624 -0.08949012
+v 0.00219372 0.49243121 -0.04727304
+v -0.01202111 0.47956039 -0.05615067
+v -0.01325685 0.42139462 -0.01683354
+v 0.00183313 0.48280610 -0.14884356
+v -0.00283964 0.49125696 -0.07251162
+v 0.00957065 0.49070109 -0.04867421
+v -0.00341068 0.45122435 -0.14163103
+v 0.00405581 0.49224099 -0.13981685
+v -0.01402818 0.44775897 -0.15163810
+v 0.01463578 0.48423423 -0.05038361
+v -0.01439674 0.41753161 -0.15607899
+v 0.00123840 0.48378933 -0.14873378
+f 7 2 3
+f 8 5 1
+f 8 1 4
+f 10 6 4
+f 10 4 1
+f 10 1 6
+f 11 6 1
+f 11 7 3
+f 11 3 6
+f 12 2 7
+f 12 1 5
+f 13 3 2
+f 14 4 6
+f 15 8 4
+f 15 4 9
+f 15 9 5
+f 15 5 8
+f 16 11 1
+f 16 7 11
+f 16 12 7
+f 16 1 12
+f 18 14 9
+f 18 9 4
+f 18 4 14
+f 19 14 6
+f 20 17 2
+f 20 2 12
+f 20 12 17
+f 21 13 2
+f 21 2 17
+f 21 17 9
+f 21 19 13
+f 21 9 14
+f 21 14 19
+f 22 5 9
+f 23 3 13
+f 23 13 19
+f 23 19 6
+f 23 6 3
+f 24 17 12
+f 24 12 5
+f 24 5 22
+f 25 22 9
+f 25 9 17
+f 25 24 22
+f 25 17 24
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_10/collision/model_normalized_collision_14.obj b/objects/objaverse/bar/bar_10/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7eb0127118b1fcef62de387abfa026cf180279f0
--- /dev/null
+++ b/objects/objaverse/bar/bar_10/collision/model_normalized_collision_14.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.02411975 -0.50000002 0.13676985
+v 0.03503896 -0.48923242 0.13724299
+v 0.00562565 -0.26581771 0.14185965
+v -0.00312900 -0.26432070 0.13170148
+v 0.00474362 -0.44608575 0.08650331
+v 0.01778535 -0.43086567 0.14326825
+v 0.03621571 -0.26479652 0.12799098
+v -0.02895321 -0.35559219 0.08884571
+v 0.03258264 -0.49185653 0.14433766
+v 0.01291459 -0.44699116 0.09422979
+v -0.01303124 -0.41516423 0.08706484
+v 0.02130103 -0.49999972 0.13668006
+v -0.03032725 -0.26498018 0.09332308
+v 0.03933927 -0.31029136 0.13349162
+v 0.02173365 -0.49918253 0.13738618
+v -0.02094818 -0.26202146 0.10101919
+v 0.02130378 -0.26669519 0.13998575
+v 0.03563356 -0.31224037 0.13714346
+f 5 2 1
+f 6 3 4
+f 7 4 3
+f 8 6 4
+f 9 1 2
+f 9 3 6
+f 10 2 5
+f 10 5 7
+f 11 8 5
+f 12 6 8
+f 12 1 9
+f 12 8 11
+f 12 11 5
+f 12 5 1
+f 13 7 5
+f 13 5 8
+f 13 8 4
+f 14 9 2
+f 14 10 7
+f 14 2 10
+f 15 12 9
+f 15 9 6
+f 15 6 12
+f 16 13 4
+f 16 4 7
+f 16 7 13
+f 17 7 3
+f 17 3 9
+f 18 14 7
+f 18 7 17
+f 18 17 9
+f 18 9 14
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_10/collision/model_normalized_collision_15.obj b/objects/objaverse/bar/bar_10/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8245684122fe544bb79d77b0d3577ef153abe031
--- /dev/null
+++ b/objects/objaverse/bar/bar_10/collision/model_normalized_collision_15.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.04448642 0.09846675 0.12315825
+v 0.05502340 0.09778050 0.01888777
+v 0.04909173 0.10125006 0.11703232
+v 0.04229488 0.32532879 0.12399126
+v 0.04606493 0.23506930 0.01768249
+v 0.04307195 0.32127467 0.12350110
+v 0.05399697 0.10094964 0.01612820
+v 0.03798051 0.32303747 0.09645371
+v 0.03980759 0.31024787 0.13580452
+v 0.05135039 0.23043458 0.02321052
+v 0.04248799 0.30810761 0.13073701
+v 0.03902319 0.25052565 0.12969090
+v 0.04270412 0.31684823 0.10127922
+f 1 2 3
+f 6 3 2
+f 7 2 1
+f 7 1 5
+f 8 5 1
+f 9 1 3
+f 9 4 8
+f 10 5 8
+f 10 6 2
+f 10 7 5
+f 10 2 7
+f 11 9 3
+f 11 3 6
+f 11 6 4
+f 11 4 9
+f 12 9 8
+f 12 8 1
+f 12 1 9
+f 13 4 6
+f 13 6 10
+f 13 10 8
+f 13 8 4
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_10/collision/model_normalized_collision_16.obj b/objects/objaverse/bar/bar_10/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..511b6bfb497683fa024f7f8b0bc21f368c365d77
--- /dev/null
+++ b/objects/objaverse/bar/bar_10/collision/model_normalized_collision_16.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.05928046 0.03447714 0.01930781
+v 0.05455794 0.03756677 -0.10189491
+v 0.05135039 0.23043458 0.02321052
+v 0.04568751 0.23706202 0.01730862
+v 0.03445193 0.23555036 -0.10518103
+v 0.06004155 0.03794946 0.01813139
+v 0.04350346 0.13059411 -0.10876571
+v 0.04353127 0.21791613 -0.07001672
+v 0.04272697 0.18765598 -0.09749287
+v 0.05329744 0.03795993 -0.10633443
+v 0.03594046 0.23272351 -0.10310964
+v 0.04889907 0.13182972 -0.09172962
+f 1 3 4
+f 5 1 4
+f 5 4 3
+f 6 1 2
+f 6 2 3
+f 6 3 1
+f 7 1 5
+f 10 2 1
+f 10 1 7
+f 10 9 2
+f 10 7 9
+f 11 5 3
+f 11 3 8
+f 11 8 9
+f 11 9 7
+f 11 7 5
+f 12 8 3
+f 12 3 2
+f 12 9 8
+f 12 2 9
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_10/collision/model_normalized_collision_17.obj b/objects/objaverse/bar/bar_10/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..523444f0de63644a9eeed55f209fe3ca5e2e77d5
--- /dev/null
+++ b/objects/objaverse/bar/bar_10/collision/model_normalized_collision_17.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.03992718 0.23310113 -0.01256252
+v 0.03180090 0.23213940 -0.11168325
+v -0.00142892 0.38476830 -0.12878884
+v -0.00468845 0.38509823 -0.10435017
+v -0.00169183 0.23477313 -0.14460989
+v 0.00087169 0.35104877 -0.00923973
+v 0.01221791 0.33446560 -0.10426580
+v -0.00517226 0.37066382 -0.14530685
+v -0.00337118 0.38354718 -0.10743425
+v 0.01852815 0.28664403 -0.01101941
+v -0.00128710 0.35566555 -0.01191139
+v 0.02646098 0.26262020 -0.11172831
+v 0.00936196 0.23438930 -0.13910867
+v -0.00270207 0.38614521 -0.13241388
+v 0.03840319 0.23753045 -0.01149045
+v -0.00208569 0.36966954 -0.14062897
+v 0.03062602 0.25693241 -0.01109641
+f 5 2 1
+f 7 3 1
+f 8 5 4
+f 9 6 3
+f 9 3 4
+f 11 4 5
+f 11 10 6
+f 11 5 10
+f 11 9 4
+f 11 6 9
+f 12 7 1
+f 12 1 2
+f 12 3 7
+f 13 8 2
+f 13 2 5
+f 13 5 8
+f 14 8 4
+f 14 4 3
+f 14 3 12
+f 15 10 5
+f 15 5 1
+f 15 1 3
+f 15 3 6
+f 16 14 12
+f 16 12 2
+f 16 2 8
+f 16 8 14
+f 17 15 6
+f 17 6 10
+f 17 10 15
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_10/collision/model_normalized_collision_18.obj b/objects/objaverse/bar/bar_10/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a2d9c86716fd8dd8c93e1ed785db9b4a5314d373
--- /dev/null
+++ b/objects/objaverse/bar/bar_10/collision/model_normalized_collision_18.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.00386063 -0.38816680 0.09672979
+v -0.00896306 -0.38823499 0.09104293
+v -0.01891839 -0.38668730 0.04843553
+v -0.03130449 -0.12885177 0.09512743
+v -0.02984332 -0.38095145 0.08577443
+v -0.04086505 -0.12999712 0.06328871
+v -0.01477425 -0.28291100 0.09806735
+v -0.04001797 -0.13171035 0.09037303
+v -0.03527523 -0.31014379 0.05183310
+v -0.04108149 -0.12826237 0.06376109
+v -0.03357866 -0.31126439 0.04743015
+v -0.03069992 -0.32917727 0.04898308
+f 1 2 3
+f 5 2 1
+f 5 3 2
+f 6 1 3
+f 6 4 1
+f 7 5 1
+f 7 1 4
+f 8 7 4
+f 8 5 7
+f 9 5 8
+f 10 8 4
+f 10 4 6
+f 10 9 8
+f 11 6 3
+f 11 10 6
+f 11 9 10
+f 12 11 3
+f 12 9 11
+f 12 3 5
+f 12 5 9
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_10/collision/model_normalized_collision_19.obj b/objects/objaverse/bar/bar_10/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb7fee4f979f95dc61e1e57a1483ecf7f0cbe111
--- /dev/null
+++ b/objects/objaverse/bar/bar_10/collision/model_normalized_collision_19.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v -0.04042241 -0.14475732 0.06163641
+v -0.04908887 -0.14512629 -0.01230534
+v -0.03197341 -0.08291359 0.09590485
+v -0.05242599 -0.00749595 0.06517653
+v -0.04742142 -0.14420056 0.04179464
+v -0.05763239 -0.00880360 -0.01403352
+v -0.04001797 -0.13171035 0.09037303
+v -0.03130449 -0.12885177 0.09512743
+v -0.04651330 -0.14482035 0.03518207
+v -0.04893071 -0.14360121 -0.01209236
+v -0.05100285 -0.09796822 0.03377842
+v -0.04333587 -0.09559446 0.08978697
+v -0.04109222 -0.14356904 0.06451527
+v -0.05317984 -0.00766444 0.06188635
+v -0.05814791 -0.00730935 -0.01172865
+v -0.04524334 -0.08246708 0.08399864
+f 6 4 3
+f 8 1 2
+f 9 5 2
+f 9 2 1
+f 9 1 5
+f 10 6 3
+f 10 2 6
+f 10 8 2
+f 10 3 8
+f 11 2 5
+f 12 3 4
+f 12 5 7
+f 12 8 3
+f 12 7 8
+f 13 7 5
+f 13 5 1
+f 13 8 7
+f 13 1 8
+f 14 11 5
+f 15 6 2
+f 15 2 11
+f 15 11 14
+f 15 14 4
+f 15 4 6
+f 16 12 4
+f 16 4 14
+f 16 14 5
+f 16 5 12
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_10/collision/model_normalized_collision_2.obj b/objects/objaverse/bar/bar_10/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..447532c13a2e2670bded884200c2ee8d086b90f8
--- /dev/null
+++ b/objects/objaverse/bar/bar_10/collision/model_normalized_collision_2.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v -0.04916604 0.31053206 0.06251010
+v 0.03009620 0.35218381 0.09831024
+v 0.01489868 0.41448308 0.15607899
+v -0.00241847 0.49732881 0.12117616
+v -0.00032779 0.48969185 -0.01634617
+v 0.02864034 0.39462251 0.14873094
+v -0.00368737 0.49090531 0.14621030
+v 0.00087169 0.35104877 -0.00923973
+v -0.03060995 0.49493142 0.08208402
+v 0.00611813 0.48889226 0.14719139
+v 0.03458820 0.35889197 0.14285063
+v -0.04140995 0.36933429 0.09038389
+v -0.05472872 0.30772429 0.01796195
+v -0.01862104 0.49387201 0.00493234
+v 0.01648882 0.42893665 0.15429251
+v 0.02443000 0.40081730 0.15333389
+v 0.02272846 0.35586069 0.14402771
+v -0.01491786 0.43691152 0.12764488
+v -0.03670300 0.44409654 0.09137290
+v -0.03768584 0.35423258 -0.00870330
+v -0.02877831 0.49015787 0.05222009
+v -0.04879452 0.31125578 0.06400173
+v -0.04526182 0.35178810 0.00414823
+f 8 5 2
+f 9 7 4
+f 10 6 5
+f 10 5 4
+f 10 4 7
+f 10 7 3
+f 11 2 5
+f 11 5 6
+f 11 1 2
+f 13 8 2
+f 13 2 1
+f 14 9 4
+f 14 4 5
+f 15 10 3
+f 16 11 6
+f 16 15 3
+f 16 6 10
+f 16 10 15
+f 17 1 11
+f 17 3 12
+f 17 16 3
+f 17 11 16
+f 18 12 3
+f 18 3 7
+f 18 7 12
+f 19 12 7
+f 19 7 9
+f 19 9 13
+f 19 13 1
+f 19 1 12
+f 20 5 8
+f 20 8 13
+f 20 14 5
+f 21 13 9
+f 21 9 14
+f 22 17 12
+f 22 12 1
+f 22 1 17
+f 23 20 13
+f 23 14 20
+f 23 21 14
+f 23 13 21
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_10/collision/model_normalized_collision_20.obj b/objects/objaverse/bar/bar_10/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f4a02c6da826add6deecf9303a2856528ea6501
--- /dev/null
+++ b/objects/objaverse/bar/bar_10/collision/model_normalized_collision_20.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.02751219 -0.26627510 0.13592732
+v -0.00559669 -0.26552316 0.12765667
+v 0.01511345 0.09822269 0.13769526
+v 0.02253778 0.09743218 0.13776553
+v 0.00562565 -0.26581771 0.14185965
+v 0.02130378 -0.26669519 0.13998575
+v 0.02737257 0.09842879 0.13462559
+v -0.00333002 0.03840545 0.12753209
+v 0.01610614 0.09592519 0.13812062
+v 0.00251017 0.03859385 0.13328326
+f 6 4 5
+f 6 5 2
+f 6 2 1
+f 7 1 2
+f 7 3 4
+f 7 6 1
+f 7 4 6
+f 8 2 5
+f 8 7 2
+f 8 3 7
+f 9 5 4
+f 9 4 3
+f 9 3 5
+f 10 8 5
+f 10 5 3
+f 10 3 8
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_10/collision/model_normalized_collision_21.obj b/objects/objaverse/bar/bar_10/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b15c4ed1850bfb9bc675d530122e2af1cc44a9c9
--- /dev/null
+++ b/objects/objaverse/bar/bar_10/collision/model_normalized_collision_21.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.02130103 -0.49999972 0.13668006
+v 0.04392821 -0.49219375 0.01249245
+v 0.03448147 -0.44836082 0.14031742
+v 0.01255044 -0.44789894 0.13592077
+v -0.00180660 -0.45746335 0.02074650
+v 0.04789727 -0.49463658 0.05490693
+v 0.01292009 -0.49485543 0.02370404
+v -0.00325040 -0.45957028 0.08394571
+v 0.03809807 -0.44528605 -0.00121726
+v 0.03393227 -0.49706729 0.13084303
+v 0.01584117 -0.47270305 0.13434871
+v 0.00474362 -0.44608575 0.08650331
+v 0.00217756 -0.48456706 0.08222551
+v 0.01919331 -0.49135284 -0.00029660
+v 0.04260156 -0.44920100 0.01823076
+v 0.01068654 -0.49310965 0.08958865
+v 0.00269607 -0.47091527 0.02159332
+v 0.00618584 -0.46007881 0.00632288
+v 0.04775685 -0.49277464 0.04503397
+v 0.04102272 -0.44864300 0.00375694
+v 0.04231678 -0.44659055 0.03176861
+v 0.04523684 -0.49185741 0.02117827
+f 1 3 4
+f 7 6 1
+f 7 2 6
+f 10 6 3
+f 10 3 1
+f 10 1 6
+f 11 8 1
+f 11 1 4
+f 11 4 8
+f 12 8 4
+f 12 5 8
+f 12 9 5
+f 12 4 3
+f 12 3 9
+f 13 1 8
+f 13 8 5
+f 14 9 2
+f 14 2 7
+f 16 13 7
+f 16 7 1
+f 16 1 13
+f 17 13 5
+f 17 7 13
+f 17 14 7
+f 17 5 14
+f 18 14 5
+f 18 5 9
+f 18 9 14
+f 19 6 2
+f 20 2 9
+f 21 9 3
+f 21 3 6
+f 21 19 15
+f 21 6 19
+f 21 20 9
+f 21 15 20
+f 22 19 2
+f 22 2 20
+f 22 20 15
+f 22 15 19
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_10/collision/model_normalized_collision_22.obj b/objects/objaverse/bar/bar_10/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9dc1982f61dcdc7fb81ed61dadb2c4e4a5479b08
--- /dev/null
+++ b/objects/objaverse/bar/bar_10/collision/model_normalized_collision_22.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.05376277 0.23479221 0.09376587
+v 0.04574218 0.23023274 0.00574268
+v 0.03009620 0.35218381 0.09831024
+v 0.00004285 0.35617964 0.09361699
+v -0.00018442 0.34092717 0.09393496
+v -0.00128710 0.35566555 -0.01191139
+v 0.04585589 0.30652129 0.09743446
+v 0.03992718 0.23310113 -0.01256252
+v 0.04831838 0.24260986 0.02853404
+v 0.05376854 0.23489297 0.09404364
+v 0.04215276 0.30424362 0.07877743
+v 0.01388078 0.29931500 -0.01427066
+v 0.03144352 0.25423944 -0.00544582
+f 5 3 4
+f 6 4 3
+f 6 5 4
+f 8 2 1
+f 8 1 5
+f 9 7 1
+f 9 1 2
+f 9 2 8
+f 10 5 1
+f 10 1 7
+f 10 7 3
+f 10 3 5
+f 11 6 3
+f 11 3 7
+f 11 7 9
+f 11 9 8
+f 11 8 6
+f 12 5 6
+f 12 6 8
+f 13 12 8
+f 13 8 5
+f 13 5 12
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_10/collision/model_normalized_collision_24.obj b/objects/objaverse/bar/bar_10/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9cf8f125a13e32e4eadc761925e3e415a11c866f
--- /dev/null
+++ b/objects/objaverse/bar/bar_10/collision/model_normalized_collision_24.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.03198443 -0.40139750 0.14270739
+v 0.04626075 -0.40166961 0.09385109
+v 0.05704654 0.09863251 0.09624298
+v 0.01049870 0.09955217 0.13620606
+v 0.01502302 -0.26516354 0.14210030
+v 0.05761883 0.09844919 0.09336029
+v 0.03746322 0.09861175 0.12822801
+v 0.04202603 -0.39935172 0.12896831
+v 0.01511345 0.09822269 0.13769526
+v 0.04909173 0.10125006 0.11703232
+v 0.04465521 -0.40461596 0.11247245
+v 0.04672129 -0.39930011 0.09492403
+f 5 2 1
+f 5 4 2
+f 6 2 4
+f 8 6 3
+f 9 5 1
+f 9 4 5
+f 9 7 4
+f 9 1 7
+f 10 6 4
+f 10 3 6
+f 10 4 7
+f 10 8 3
+f 10 7 1
+f 10 1 8
+f 11 8 1
+f 11 1 2
+f 11 6 8
+f 12 11 2
+f 12 2 6
+f 12 6 11
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_10/collision/model_normalized_collision_25.obj b/objects/objaverse/bar/bar_10/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a6fa636f732d70813b7bdfe75b1d83023186d3e1
--- /dev/null
+++ b/objects/objaverse/bar/bar_10/collision/model_normalized_collision_25.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.02037740 -0.31115756 -0.14036944
+v 0.03115894 -0.25377900 -0.13222426
+v -0.03615731 -0.26485379 -0.08614921
+v -0.03940025 -0.14423736 -0.08455774
+v 0.01446017 -0.14841641 -0.12908113
+v 0.01529006 -0.14112000 -0.12061062
+v -0.00631504 -0.30998275 -0.13735891
+v -0.02412126 -0.31256354 -0.10349343
+v 0.01774243 -0.17734557 -0.13464410
+v -0.03289892 -0.14236431 -0.09283061
+v -0.02737409 -0.27964116 -0.11185238
+v 0.01346672 -0.31059128 -0.14350371
+v 0.00259493 -0.23563818 -0.13506569
+v -0.00470718 -0.14761153 -0.11778480
+v -0.03560217 -0.25050432 -0.09152659
+v -0.01573812 -0.19468293 -0.11789958
+v -0.03187315 -0.27804752 -0.09822198
+v -0.01789137 -0.30963782 -0.12528831
+v 0.01032855 -0.17964259 -0.13148526
+v -0.02687426 -0.14462854 -0.09969742
+v -0.02514189 -0.30915189 -0.10250652
+v -0.03564188 -0.26531500 -0.08885684
+f 6 3 2
+f 6 4 3
+f 6 2 5
+f 8 1 2
+f 8 2 3
+f 9 5 2
+f 9 2 1
+f 10 4 6
+f 11 4 10
+f 12 8 7
+f 12 1 8
+f 12 9 1
+f 13 12 7
+f 13 9 12
+f 14 10 6
+f 14 6 5
+f 15 3 4
+f 15 4 11
+f 16 11 10
+f 16 14 13
+f 16 13 7
+f 18 7 8
+f 18 16 7
+f 18 11 16
+f 19 5 9
+f 19 9 13
+f 19 14 5
+f 19 13 14
+f 20 16 10
+f 20 10 14
+f 20 14 16
+f 21 17 11
+f 21 8 3
+f 21 3 17
+f 21 18 8
+f 21 11 18
+f 22 17 3
+f 22 3 15
+f 22 15 11
+f 22 11 17
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_10/collision/model_normalized_collision_26.obj b/objects/objaverse/bar/bar_10/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f7c1106490bcaaef7c3154669d81fc9ebd3b64d
--- /dev/null
+++ b/objects/objaverse/bar/bar_10/collision/model_normalized_collision_26.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v -0.05242599 -0.00749595 0.06517653
+v -0.05763239 -0.00880360 -0.01403352
+v -0.05048796 0.28029018 0.06481389
+v -0.05115861 0.28043621 0.06168372
+v -0.06011948 0.20357259 0.04101568
+v -0.05637204 0.28308283 -0.01326077
+v -0.05946905 0.01303706 0.04580659
+v -0.05765770 0.27798176 0.01877558
+v -0.05826343 0.27676813 -0.00940045
+v -0.05866344 -0.00581509 -0.00942378
+v -0.05885406 0.24923833 0.02883735
+v -0.05943184 -0.00626512 0.03085792
+v -0.05317984 -0.00766444 0.06188635
+f 1 2 3
+f 5 1 3
+f 5 3 4
+f 6 3 2
+f 6 4 3
+f 7 1 5
+f 8 4 6
+f 9 6 2
+f 9 8 6
+f 10 9 2
+f 10 5 9
+f 11 5 4
+f 11 4 8
+f 11 9 5
+f 11 8 9
+f 12 7 5
+f 12 5 10
+f 12 10 2
+f 13 1 7
+f 13 7 12
+f 13 12 2
+f 13 2 1
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_10/collision/model_normalized_collision_27.obj b/objects/objaverse/bar/bar_10/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8e10cdcc81e7c9dcfbcfccd4e573e4e697dee83c
--- /dev/null
+++ b/objects/objaverse/bar/bar_10/collision/model_normalized_collision_27.obj
@@ -0,0 +1,18 @@
+# https://github.com/mikedh/trimesh
+v 0.00171361 -0.26496970 0.13794271
+v -0.01680938 -0.27059408 0.10115091
+v -0.01101284 0.03803350 0.12448824
+v -0.04394301 0.03761328 0.09156316
+v 0.00251017 0.03859385 0.13328326
+v -0.04137452 -0.26390357 0.08800728
+v -0.02855585 0.03612469 0.10287568
+f 4 1 3
+f 5 1 2
+f 5 3 1
+f 5 4 3
+f 6 2 1
+f 6 4 2
+f 6 1 4
+f 7 5 2
+f 7 2 4
+f 7 4 5
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_10/collision/model_normalized_collision_28.obj b/objects/objaverse/bar/bar_10/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..107c86a74b17ddbd686916638281f112b2bb9078
--- /dev/null
+++ b/objects/objaverse/bar/bar_10/collision/model_normalized_collision_28.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v -0.01491041 0.28027483 0.10881750
+v 0.00687833 0.35635345 0.10632009
+v -0.04571735 0.35373127 0.08889384
+v -0.01106547 0.36495035 0.09285268
+v -0.05115861 0.28043621 0.06168372
+v -0.00009365 0.31059105 0.12421405
+v -0.01548509 0.30460401 0.08833452
+v -0.04850345 0.28120754 0.09437153
+v -0.04568081 0.35521502 0.06000463
+v -0.00190500 0.30615608 0.12092294
+v 0.00333889 0.32483368 0.12324575
+v -0.02162974 0.28814761 0.08782204
+v -0.05048796 0.28029018 0.06481389
+v -0.04865935 0.29873737 0.09091944
+v -0.04440411 0.35633133 0.06631897
+v -0.00596297 0.35200691 0.08755563
+f 3 2 4
+f 8 6 3
+f 8 1 6
+f 9 5 3
+f 10 6 1
+f 10 7 2
+f 10 1 7
+f 11 2 3
+f 11 3 6
+f 11 10 2
+f 11 6 10
+f 12 7 1
+f 12 1 5
+f 12 5 7
+f 13 8 5
+f 13 5 1
+f 13 1 8
+f 14 8 3
+f 14 3 5
+f 14 5 8
+f 15 9 3
+f 15 3 4
+f 15 4 9
+f 16 7 5
+f 16 5 9
+f 16 2 7
+f 16 9 4
+f 16 4 2
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_10/collision/model_normalized_collision_29.obj b/objects/objaverse/bar/bar_10/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6fab6c5f1b0812dc145f0a5abc8d22aec723f46c
--- /dev/null
+++ b/objects/objaverse/bar/bar_10/collision/model_normalized_collision_29.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.04596768 -0.34416723 -0.10743697
+v 0.04848981 -0.33884351 -0.10064746
+v 0.01336090 -0.34111103 -0.14534039
+v 0.01529006 -0.14112000 -0.12061062
+v 0.05368573 -0.14374452 -0.12783451
+v 0.04975575 -0.28320599 -0.11290030
+v 0.06026876 -0.14392894 -0.10304666
+v 0.01932297 -0.15158523 -0.13178822
+v 0.04544497 -0.33781707 -0.11403561
+v 0.06022140 -0.14472272 -0.10329735
+v 0.04772698 -0.15829563 -0.13275484
+v 0.04377160 -0.14545410 -0.13194596
+v 0.02185790 -0.34196816 -0.13975473
+v 0.02881314 -0.33909780 -0.13282437
+f 1 2 3
+f 3 2 4
+f 7 5 4
+f 7 4 2
+f 8 3 4
+f 9 6 2
+f 9 2 1
+f 9 5 6
+f 10 6 5
+f 10 5 7
+f 10 7 2
+f 10 2 6
+f 12 8 4
+f 12 4 5
+f 12 5 11
+f 12 11 3
+f 12 3 8
+f 13 9 1
+f 13 1 3
+f 13 3 11
+f 14 11 5
+f 14 5 9
+f 14 13 11
+f 14 9 13
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_10/collision/model_normalized_collision_3.obj b/objects/objaverse/bar/bar_10/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe64f87869efa43f1d22a73b3957ed88953277f1
--- /dev/null
+++ b/objects/objaverse/bar/bar_10/collision/model_normalized_collision_3.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v -0.05292081 -0.05323216 -0.01342742
+v -0.01289257 -0.05301697 -0.10054107
+v -0.00856706 0.02622066 -0.09469979
+v -0.05637204 0.28308283 -0.01326077
+v -0.03354082 0.27998975 -0.10416273
+v -0.05356751 -0.05253880 -0.01061014
+v -0.04550914 -0.05266348 -0.06514613
+v -0.02921065 0.24812523 -0.10680785
+v -0.05900853 0.15900117 -0.02007785
+v -0.02847234 -0.05044432 -0.08667674
+v -0.03355148 0.23191844 -0.07636216
+v -0.04400270 0.28293167 -0.06846245
+v -0.03512528 0.28095050 -0.09974856
+v -0.05977474 0.00885452 -0.01100015
+v -0.02173173 -0.05290068 -0.09256770
+v -0.05734900 0.27962024 -0.01161050
+v -0.05723265 0.00778267 -0.02227886
+v -0.06035643 0.15815357 -0.01011517
+f 6 3 4
+f 6 1 2
+f 6 2 3
+f 7 1 6
+f 8 3 2
+f 10 7 5
+f 10 5 8
+f 10 8 2
+f 11 8 5
+f 11 5 4
+f 11 4 3
+f 11 3 8
+f 13 5 7
+f 13 7 9
+f 13 9 12
+f 13 12 4
+f 13 4 5
+f 14 7 6
+f 15 10 2
+f 15 7 10
+f 15 2 1
+f 15 1 7
+f 16 12 9
+f 16 4 12
+f 16 6 4
+f 17 14 9
+f 17 9 7
+f 17 7 14
+f 18 16 9
+f 18 9 14
+f 18 14 6
+f 18 6 16
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_10/collision/model_normalized_collision_30.obj b/objects/objaverse/bar/bar_10/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a109724d6415667c6afb077a3b7327bbe780e3f5
--- /dev/null
+++ b/objects/objaverse/bar/bar_10/collision/model_normalized_collision_30.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v -0.05048796 0.28029018 0.06481389
+v -0.03354082 0.27998975 -0.10416273
+v -0.04879452 0.31125578 0.06400173
+v -0.04916604 0.31053206 0.06251010
+v -0.04977554 0.30023934 -0.04421184
+v -0.04496381 0.27910247 -0.06169719
+v -0.05115861 0.28043621 0.06168372
+v -0.03319907 0.31048083 -0.10369740
+v -0.04366081 0.31679215 -0.04453233
+v -0.04482298 0.30577558 -0.06877606
+v -0.03408043 0.31124373 -0.10022677
+v -0.04400270 0.28293167 -0.06846245
+v -0.03512528 0.28095050 -0.09974856
+f 1 2 3
+f 1 3 4
+f 6 2 1
+f 7 1 4
+f 7 4 5
+f 7 6 1
+f 7 5 6
+f 8 3 2
+f 9 5 4
+f 9 4 3
+f 10 5 9
+f 11 9 3
+f 11 3 8
+f 11 10 9
+f 11 8 10
+f 12 6 5
+f 12 5 10
+f 13 10 8
+f 13 8 2
+f 13 12 10
+f 13 2 6
+f 13 6 12
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_10/collision/model_normalized_collision_31.obj b/objects/objaverse/bar/bar_10/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a70c4873784f6beec29a8adc2bad88455194157a
--- /dev/null
+++ b/objects/objaverse/bar/bar_10/collision/model_normalized_collision_31.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.02710008 0.23224223 -0.10561363
+v 0.00423139 0.23467974 -0.14187849
+v 0.00142698 0.35629715 -0.13381529
+v -0.03107625 0.35718253 -0.10248254
+v -0.01416319 0.35681541 -0.15005845
+v -0.02968756 0.23767218 -0.09936443
+v -0.01502653 0.23711461 -0.13941893
+v -0.00769566 0.35713576 -0.14764933
+v -0.03218660 0.35327883 -0.10058432
+v -0.00169183 0.23477313 -0.14460989
+v -0.02878202 0.28139006 -0.12293093
+v -0.02750952 0.35988870 -0.12984926
+v -0.01203927 0.31125253 -0.14741202
+v -0.00594033 0.31335292 -0.14744452
+v -0.02648847 0.23851484 -0.11361840
+f 6 1 2
+f 6 2 3
+f 8 3 2
+f 9 6 3
+f 9 3 4
+f 10 2 1
+f 10 1 7
+f 11 6 9
+f 11 5 7
+f 12 8 5
+f 12 4 3
+f 12 3 8
+f 12 9 4
+f 12 11 9
+f 12 5 11
+f 13 10 7
+f 13 7 5
+f 13 5 10
+f 14 8 2
+f 14 2 10
+f 14 10 5
+f 14 5 8
+f 15 11 7
+f 15 7 1
+f 15 1 6
+f 15 6 11
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_10/collision/model_normalized_collision_5.obj b/objects/objaverse/bar/bar_10/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d72ab38e510b1afcc3bd2ca5e61a3217791b846
--- /dev/null
+++ b/objects/objaverse/bar/bar_10/collision/model_normalized_collision_5.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v -0.05472872 0.30772429 0.01796195
+v 0.00583500 0.35437883 -0.10534958
+v 0.00443109 0.34165665 0.00328117
+v -0.01325685 0.42139462 -0.01683354
+v -0.01439674 0.41753161 -0.15607899
+v 0.00394361 0.36452713 -0.10523323
+v -0.04788590 0.35397044 0.01907007
+v -0.03319907 0.31048083 -0.10369740
+v -0.05204216 0.31329888 0.01829851
+v -0.02068756 0.41540761 -0.00754744
+v -0.04696954 0.30622623 -0.05571069
+v 0.00486716 0.32691010 -0.05685221
+v -0.00769566 0.35713576 -0.14764933
+v 0.00108226 0.35608471 0.00306652
+v -0.02863058 0.36661025 -0.12000256
+v 0.00570707 0.32798611 -0.01435326
+v -0.01461655 0.35776822 -0.15003639
+v -0.01463374 0.41605825 -0.15571944
+f 6 3 2
+f 6 5 4
+f 6 2 5
+f 9 7 1
+f 9 1 3
+f 9 3 7
+f 10 4 5
+f 10 5 7
+f 11 1 7
+f 13 5 2
+f 13 12 8
+f 13 2 12
+f 14 10 7
+f 14 7 3
+f 14 4 10
+f 14 6 4
+f 14 3 6
+f 15 11 7
+f 15 7 5
+f 15 8 11
+f 16 12 2
+f 16 2 3
+f 16 3 1
+f 16 1 11
+f 16 11 8
+f 16 8 12
+f 17 13 8
+f 17 5 13
+f 17 8 15
+f 18 17 15
+f 18 15 5
+f 18 5 17
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_10/collision/model_normalized_collision_6.obj b/objects/objaverse/bar/bar_10/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..abdce042a7f7706ce34341e3a8259483f2684857
--- /dev/null
+++ b/objects/objaverse/bar/bar_10/collision/model_normalized_collision_6.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v 0.04786320 -0.38659936 0.09353421
+v 0.04749753 -0.34128793 -0.10348906
+v 0.05940869 -0.23389632 -0.09996763
+v 0.05704654 0.09863251 0.09624298
+v 0.05399697 0.10094964 0.01612820
+v 0.05783156 -0.24979171 0.10063530
+v 0.05748206 -0.33830971 0.03366031
+v 0.04647294 -0.38671208 0.04843661
+v 0.05329744 0.03795993 -0.10633443
+v 0.05942416 0.06590233 0.08729483
+v 0.05373537 -0.11424147 0.10472148
+v 0.05738673 -0.30641657 -0.05650882
+v 0.05768680 -0.33876778 0.04785325
+v 0.04741405 -0.38319030 0.04834670
+v 0.06031830 -0.14307971 -0.10288234
+v 0.05936919 0.08183430 0.03421448
+v 0.05542602 -0.24986028 0.10551166
+v 0.04848981 -0.33884351 -0.10064746
+v 0.04832316 -0.38524667 0.09575408
+v 0.05455794 0.03756677 -0.10189491
+v 0.05761883 0.09844919 0.09336029
+v 0.05947202 0.08259916 0.06380340
+v 0.05502340 0.09778050 0.01888777
+v 0.05964048 -0.05253641 -0.08837742
+f 5 1 4
+f 8 1 5
+f 9 8 5
+f 9 2 8
+f 10 4 6
+f 11 4 1
+f 13 12 3
+f 13 7 12
+f 15 3 2
+f 15 2 9
+f 15 10 6
+f 15 13 3
+f 15 6 13
+f 17 6 4
+f 17 4 11
+f 18 12 7
+f 18 2 3
+f 18 3 12
+f 18 7 14
+f 18 14 8
+f 18 8 2
+f 19 13 6
+f 19 7 13
+f 19 14 7
+f 19 1 8
+f 19 8 14
+f 19 6 17
+f 19 17 11
+f 19 11 1
+f 20 9 5
+f 20 15 9
+f 21 5 4
+f 21 4 10
+f 22 10 15
+f 22 15 16
+f 22 21 10
+f 22 16 21
+f 23 20 5
+f 23 16 20
+f 23 21 16
+f 23 5 21
+f 24 20 16
+f 24 16 15
+f 24 15 20
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_10/collision/model_normalized_collision_7.obj b/objects/objaverse/bar/bar_10/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..816a775fea57d8420dc300e34bb2e90d22064074
--- /dev/null
+++ b/objects/objaverse/bar/bar_10/collision/model_normalized_collision_7.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.01529207 0.03769822 0.13843999
+v 0.05105562 0.09771652 0.11160739
+v 0.03746322 0.09861175 0.12822801
+v 0.03458820 0.35889197 0.14285063
+v -0.01323874 0.31005938 0.09368381
+v 0.02054525 0.05254019 0.13918000
+v -0.02184803 0.03745650 0.11371885
+v 0.04776718 0.29624557 0.09383081
+v 0.02272846 0.35586069 0.14402771
+v 0.00004285 0.35617964 0.09361699
+v -0.01101284 0.03803350 0.12448824
+v -0.02186527 0.26755707 0.10394862
+v 0.03009620 0.35218381 0.09831024
+v -0.00508486 0.03770086 0.12619302
+v 0.00089559 0.30590690 0.12942863
+v 0.01135536 0.35259337 0.13412296
+v 0.01397075 0.32548356 0.13845077
+f 3 2 4
+f 6 3 4
+f 6 1 2
+f 6 2 3
+f 7 2 1
+f 8 4 2
+f 8 7 5
+f 8 2 7
+f 9 6 4
+f 9 1 6
+f 10 8 5
+f 10 9 4
+f 11 1 9
+f 12 5 7
+f 13 10 4
+f 13 4 8
+f 13 8 10
+f 14 11 7
+f 14 7 1
+f 14 1 11
+f 15 12 7
+f 15 7 11
+f 16 10 5
+f 16 5 12
+f 16 12 15
+f 16 15 9
+f 16 9 10
+f 17 15 11
+f 17 11 9
+f 17 9 15
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_10/collision/model_normalized_collision_8.obj b/objects/objaverse/bar/bar_10/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4ad2b0866ca9b4f440229a9161617fe45fac8001
--- /dev/null
+++ b/objects/objaverse/bar/bar_10/collision/model_normalized_collision_8.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.02489673 -0.08233101 0.10279009
+v -0.01892048 0.28437907 0.09524613
+v -0.04850345 0.28120754 0.09437153
+v -0.04524334 -0.08246708 0.08399864
+v -0.00950720 0.27924575 0.12039659
+v -0.04818873 -0.08150222 0.05969332
+v -0.01475384 0.03774938 0.12316213
+v -0.04652146 -0.08348392 0.06391499
+v -0.04812937 0.08870369 0.09174576
+v -0.05115861 0.28043621 0.06168372
+f 5 1 2
+f 5 2 3
+f 6 2 1
+f 7 4 1
+f 7 5 3
+f 7 1 5
+f 8 6 1
+f 8 1 4
+f 8 4 6
+f 9 6 4
+f 9 7 3
+f 9 4 7
+f 10 3 2
+f 10 2 6
+f 10 9 3
+f 10 6 9
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_10/collision/model_normalized_collision_9.obj b/objects/objaverse/bar/bar_10/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..13dc4984402b32b9ad32907c2c1230bd72ed238a
--- /dev/null
+++ b/objects/objaverse/bar/bar_10/collision/model_normalized_collision_9.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v -0.01891839 -0.38668730 0.04843553
+v 0.00139987 -0.38964553 -0.08453906
+v 0.00044023 -0.39165209 -0.03167806
+v -0.03636142 -0.26350956 0.06423452
+v -0.03512644 -0.26577621 -0.09156448
+v -0.02862587 -0.26516790 -0.10952635
+v -0.02004862 -0.38541320 0.05302494
+v -0.00659303 -0.38703231 -0.11795425
+v -0.00176736 -0.37632586 -0.08173248
+v -0.03315925 -0.26440232 -0.09843123
+v -0.03556366 -0.30856083 0.06181508
+v -0.01591653 -0.35119441 -0.11893697
+v -0.02021356 -0.31156676 -0.12084660
+v -0.03452349 -0.31143482 0.06434853
+v -0.03700269 -0.26514275 0.06243997
+v -0.02956870 -0.29402854 -0.09969345
+v -0.01725398 -0.34071819 -0.12088241
+v -0.02396170 -0.30933592 -0.11470129
+v -0.02950254 -0.33877018 0.05354596
+f 6 4 3
+f 7 1 3
+f 7 3 4
+f 8 2 3
+f 8 3 1
+f 8 1 7
+f 9 6 3
+f 9 3 2
+f 9 2 6
+f 10 5 4
+f 10 4 6
+f 12 8 7
+f 13 6 2
+f 13 2 8
+f 14 11 7
+f 14 7 4
+f 15 4 5
+f 15 5 11
+f 15 14 4
+f 15 11 14
+f 16 11 5
+f 16 12 7
+f 17 13 8
+f 17 8 12
+f 18 10 6
+f 18 6 13
+f 18 13 17
+f 18 16 5
+f 18 5 10
+f 18 17 12
+f 18 12 16
+f 19 16 7
+f 19 7 11
+f 19 11 16
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_10/visual/material.mtl b/objects/objaverse/bar/bar_10/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..33616803300962094e8955deb30562079542847b
--- /dev/null
+++ b/objects/objaverse/bar/bar_10/visual/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 250.00000000
+map_Kd material_0.jpeg
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_10/visual/model_normalized_0.obj b/objects/objaverse/bar/bar_10/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..38ecced2051dbcc5805c5e0831c785c185c21ebd
--- /dev/null
+++ b/objects/objaverse/bar/bar_10/visual/model_normalized_0.obj
@@ -0,0 +1,24951 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
+v -0.06102509 0.26936091 0.00260450
+v -0.05800815 0.27333612 0.01160795
+v -0.05991765 0.27761144 0.00802588
+v -0.05629170 0.20378320 0.05472093
+v -0.05891727 0.21115795 0.05296236
+v -0.05638472 0.19847591 0.04801836
+v -0.05246919 0.29230302 0.04505407
+v -0.05268331 0.29714873 0.04867300
+v -0.05175313 0.30149777 0.04625102
+v -0.05341341 0.29186250 0.05085103
+v -0.05272894 0.28431225 0.04748834
+v -0.05597755 0.25964843 0.04293923
+v -0.05581608 0.25269314 0.04822020
+v -0.05378022 0.25966422 0.04695305
+v -0.05629697 0.24483574 0.05251307
+v -0.05578274 0.24333868 0.04757785
+v -0.05567568 0.23600781 0.05122661
+v -0.05348010 0.24072891 0.05563005
+v -0.06271346 0.23210807 0.00571798
+v -0.06118129 0.23266793 0.01218361
+v -0.06165340 0.24011289 0.01167289
+v -0.05455069 0.24039896 0.06079167
+v -0.05356435 0.24896539 0.05756763
+v -0.05338884 0.26186155 0.05569674
+v -0.05570727 0.26222836 0.04987522
+v -0.05880846 0.21188279 -0.00825228
+v -0.06072498 0.21056650 -0.00211309
+v -0.06034589 0.21679520 -0.00793110
+v -0.06372262 0.21513491 0.00643755
+v -0.06042837 0.22511066 -0.00132331
+v -0.06422983 0.20027660 0.00761870
+v -0.06292582 0.21598085 0.01804199
+v -0.05499121 0.18839837 0.05769926
+v -0.05478762 0.17889298 0.05630048
+v -0.05398205 0.18440035 0.06326806
+v -0.05798358 0.18760859 0.05256396
+v -0.05868560 0.20561548 -0.01011966
+v -0.06004402 0.19981853 -0.00378566
+v -0.05224630 0.31260026 0.02249983
+v -0.05273771 0.30932708 0.02980965
+v -0.05128628 0.31896585 0.03140675
+v -0.05948942 0.19064309 -0.00175681
+v -0.06419824 0.18427223 0.00703427
+v -0.05488239 0.29287868 0.01152020
+v -0.05823982 0.28458603 0.00513179
+v -0.05604600 0.28291873 0.01204320
+v -0.05595824 0.29702061 0.00529325
+v -0.05689895 0.21471721 0.04552794
+v -0.05680243 0.22048257 0.05097915
+v -0.05605477 0.22723077 0.04727422
+v -0.05834512 0.22701314 0.04062606
+v -0.05496313 0.30860399 0.00487379
+v -0.05372757 0.30299483 0.01170799
+v -0.05179349 0.31414997 0.01318048
+v -0.06142525 0.22433317 0.01075675
+v -0.06094085 0.24379500 0.02026389
+v -0.06175871 0.23143413 0.01992165
+v -0.06203250 0.19474115 0.02642414
+v -0.06263624 0.18192923 0.02497271
+v -0.06191491 0.18703469 0.03230007
+v -0.06089873 0.23806824 0.02293684
+v -0.05937358 0.23942139 0.02852845
+v -0.06078816 0.20657023 0.02921644
+v -0.06298900 0.20390079 0.02062368
+v -0.05923845 0.21482427 0.03892015
+v -0.05629521 0.19208048 -0.01174309
+v -0.05945958 0.23024595 0.02815814
+v -0.06126905 0.24118172 0.00147249
+v -0.05921212 0.22233240 0.03307932
+v -0.05769575 0.23148853 0.03407970
+v -0.05900502 0.18886697 -0.00702549
+v -0.05978076 0.22286594 0.02579583
+v -0.05072466 0.25285285 0.09079086
+v -0.04647742 0.26667568 0.09516622
+v -0.05120204 0.25891481 0.08512027
+v -0.06408065 0.18903721 0.01712585
+v -0.06033887 0.19860578 0.03433594
+v -0.05546858 0.27091765 0.03447634
+v -0.05428216 0.28008782 0.03501339
+v -0.05585119 0.28030018 0.02920942
+v -0.05608285 0.19612589 0.05523516
+v -0.05380479 0.29014079 0.03464132
+v -0.06047401 0.25479394 0.01941093
+v -0.05803097 0.25971336 0.02400392
+v -0.05982112 0.26322348 0.01960574
+v -0.05742372 0.28004219 0.01961276
+v -0.05869087 0.26953993 0.01756812
+v -0.05325721 0.25717731 0.06233437
+v -0.05173909 0.26620708 0.07771920
+v -0.05108269 0.27988599 0.07842473
+v -0.04997174 0.27324661 0.07070774
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\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_11/collision/model_normalized_collision_0.obj b/objects/objaverse/bar/bar_11/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9b973010f2c98fae4881827c97a958fec88a4356
--- /dev/null
+++ b/objects/objaverse/bar/bar_11/collision/model_normalized_collision_0.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.26403820 -0.07988156 -0.11748349
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+v -0.31062433 0.02759163 -0.18350565
+v -0.26358920 -0.07327838 -0.16553263
+v -0.23713183 0.08159960 -0.11628252
+v -0.31042002 -0.05370653 -0.17513293
+v -0.27871134 -0.07491141 -0.15948507
+v -0.27889915 -0.07652375 -0.13268060
+f 6 4 3
+f 7 1 2
+f 7 3 1
+f 7 6 3
+f 8 2 1
+f 8 1 3
+f 8 4 5
+f 9 4 6
+f 9 6 7
+f 11 8 3
+f 11 3 4
+f 11 4 8
+f 12 5 4
+f 12 4 9
+f 12 9 7
+f 12 7 2
+f 12 2 10
+f 13 12 10
+f 13 5 12
+f 13 10 2
+f 13 2 8
+f 14 13 8
+f 14 8 5
+f 14 5 13
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_11/collision/model_normalized_collision_1.obj b/objects/objaverse/bar/bar_11/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..16c29d1d5bd9637c87fd9b318eb6140ec41cc6e2
--- /dev/null
+++ b/objects/objaverse/bar/bar_11/collision/model_normalized_collision_1.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.39502469 -0.03651114 0.17993913
+v 0.44753575 -0.00009892 -0.21382233
+v 0.44548739 -0.00978476 0.18603679
+v 0.39389686 0.03592917 0.17908092
+v 0.39390001 0.03440014 -0.18410859
+v 0.44463404 0.00798084 0.18582016
+v 0.39388139 -0.03723085 -0.17476181
+v 0.44753081 0.00232167 -0.21492115
+v 0.41822405 -0.00453884 0.20786649
+v 0.40665476 -0.00078625 -0.20461494
+v 0.43324378 -0.00964943 0.20622663
+v 0.40207008 -0.01294590 0.19803318
+v 0.40679381 0.00357781 -0.20482668
+v 0.40365465 -0.02014449 -0.19295665
+v 0.40271462 -0.02411110 0.19223658
+v 0.43088833 -0.01278900 0.20350417
+v 0.41840095 -0.01634209 0.19973251
+f 6 5 4
+f 7 2 3
+f 7 3 1
+f 7 1 4
+f 7 4 5
+f 8 6 3
+f 8 3 2
+f 8 5 6
+f 9 6 4
+f 10 7 5
+f 10 8 2
+f 11 3 6
+f 11 6 9
+f 12 9 4
+f 12 4 1
+f 13 10 5
+f 13 5 8
+f 13 8 10
+f 14 10 2
+f 14 2 7
+f 14 7 10
+f 15 12 1
+f 15 9 12
+f 16 1 3
+f 16 3 11
+f 16 15 1
+f 17 11 9
+f 17 9 15
+f 17 16 11
+f 17 15 16
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_11/collision/model_normalized_collision_10.obj b/objects/objaverse/bar/bar_11/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f47c3482280d0de4e73b8444560842dccd170f6d
--- /dev/null
+++ b/objects/objaverse/bar/bar_11/collision/model_normalized_collision_10.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.31062035 0.02784401 -0.18342727
+v 0.31049526 0.03973018 -0.17995036
+v 0.27031605 0.08113057 -0.11626863
+v -0.32148448 0.07137960 -0.13181373
+v -0.31062433 0.02759163 -0.18350565
+v 0.29385328 0.07429769 -0.16574194
+v 0.30828721 0.07680969 -0.14732419
+v -0.23713183 0.08159960 -0.11628252
+v -0.27853940 0.07341396 -0.16588684
+v 0.31050984 0.05535998 -0.17534156
+v 0.26413422 0.08179999 -0.11763340
+v -0.30979928 0.06838499 -0.16750467
+v -0.29298549 0.07485344 -0.15943462
+v 0.30816483 0.07564696 -0.15952041
+v -0.31045908 0.05508925 -0.17508563
+v -0.29313121 0.07610151 -0.13240887
+v -0.23440291 0.08175235 -0.11761933
+v -0.31016879 0.07355015 -0.13252553
+f 5 2 1
+f 5 1 3
+f 7 3 1
+f 8 5 3
+f 8 4 5
+f 10 7 1
+f 10 1 2
+f 10 9 6
+f 10 2 5
+f 11 3 7
+f 11 8 3
+f 13 6 9
+f 13 12 4
+f 13 9 12
+f 14 10 6
+f 14 7 10
+f 14 11 7
+f 14 6 13
+f 15 10 5
+f 15 9 10
+f 15 12 9
+f 15 5 4
+f 15 4 12
+f 16 8 13
+f 17 14 13
+f 17 13 8
+f 17 8 11
+f 17 11 14
+f 18 16 13
+f 18 13 4
+f 18 4 8
+f 18 8 16
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_11/collision/model_normalized_collision_11.obj b/objects/objaverse/bar/bar_11/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8d2a265030aa1e5cd4f00199042468f044925e9e
--- /dev/null
+++ b/objects/objaverse/bar/bar_11/collision/model_normalized_collision_11.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v -0.37746010 -0.04830655 0.07790378
+v -0.28041487 -0.02874139 -0.18239952
+v -0.28030301 -0.01443780 0.07956863
+v -0.28696607 0.07497125 0.08042353
+v -0.35650957 0.02842772 -0.18383789
+v -0.28718402 0.07698645 -0.13297820
+v -0.36957116 0.05153250 0.07948964
+v -0.35664973 -0.00618368 -0.19221552
+v -0.31062433 0.02759163 -0.18350565
+v -0.35659289 0.00846794 -0.19239825
+v -0.32621728 0.00912723 -0.19108085
+v -0.32623756 -0.00712923 -0.19073078
+v -0.31068536 -0.01234437 -0.18816138
+f 1 2 3
+f 6 3 2
+f 6 4 3
+f 7 1 3
+f 7 3 4
+f 7 5 1
+f 7 6 5
+f 7 4 6
+f 8 2 1
+f 9 6 2
+f 9 5 6
+f 10 8 1
+f 10 1 5
+f 10 5 9
+f 11 10 9
+f 11 9 2
+f 11 8 10
+f 12 2 8
+f 12 8 11
+f 13 12 11
+f 13 11 2
+f 13 2 12
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_11/collision/model_normalized_collision_12.obj b/objects/objaverse/bar/bar_11/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5440a0590b2339d2d50e99ef76cffd5a965aaa41
--- /dev/null
+++ b/objects/objaverse/bar/bar_11/collision/model_normalized_collision_12.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v -0.35575042 -0.01615392 0.18928561
+v -0.35664973 -0.00618368 -0.19221552
+v -0.35229275 0.06188283 -0.16083631
+v -0.35314582 0.05146489 0.17339832
+v -0.41750808 -0.01685713 0.18548682
+v -0.35221603 0.06228341 -0.04188597
+v -0.41837346 -0.00976833 -0.19978009
+v -0.40883831 0.01773021 0.18493288
+v -0.35431061 0.05182874 -0.17509532
+v -0.37614479 0.04484018 0.16677062
+v -0.41587614 0.01513425 -0.19636072
+v -0.35659289 0.00846794 -0.19239825
+v -0.36536270 0.04745070 0.17346969
+v -0.36679778 0.04689406 -0.17646243
+v -0.36053268 0.05892597 -0.15883994
+v -0.35959252 0.05884426 -0.04156907
+f 1 2 3
+f 6 1 3
+f 6 4 1
+f 7 2 1
+f 7 1 5
+f 8 5 1
+f 8 1 4
+f 10 4 6
+f 11 7 5
+f 11 5 8
+f 11 8 10
+f 12 9 3
+f 12 3 2
+f 12 11 9
+f 12 2 7
+f 12 7 11
+f 13 10 8
+f 13 8 4
+f 13 4 10
+f 14 11 3
+f 14 3 9
+f 14 9 11
+f 15 11 10
+f 15 6 3
+f 15 3 11
+f 16 15 10
+f 16 10 6
+f 16 6 15
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_11/collision/model_normalized_collision_13.obj b/objects/objaverse/bar/bar_11/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e4b0619f342be6e17e796e236bb33c1ac8e690bd
--- /dev/null
+++ b/objects/objaverse/bar/bar_11/collision/model_normalized_collision_13.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v -0.27913505 -0.07842610 0.12530398
+v -0.27871134 -0.07491141 -0.15948507
+v -0.27972603 -0.03400483 0.18075655
+v -0.27979364 -0.06841960 -0.16844500
+v -0.32566186 -0.07064636 0.12398772
+v -0.28041487 -0.02874139 -0.18239952
+v -0.30807441 -0.07315241 0.01928680
+v -0.30823505 -0.07419589 0.12537250
+v -0.31082224 -0.02794770 -0.18255200
+v -0.28019184 -0.05806395 -0.17387015
+v -0.30969183 -0.06654066 -0.16767728
+v -0.29287701 -0.07297503 -0.15903284
+v -0.31048835 -0.05768522 -0.17327537
+f 1 2 3
+f 6 3 2
+f 7 2 1
+f 8 1 3
+f 8 3 5
+f 8 7 1
+f 8 5 7
+f 9 5 3
+f 9 3 6
+f 10 9 6
+f 10 6 2
+f 10 2 4
+f 11 4 2
+f 12 7 5
+f 12 5 11
+f 12 11 2
+f 12 2 7
+f 13 11 5
+f 13 5 9
+f 13 9 10
+f 13 10 4
+f 13 4 11
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_11/collision/model_normalized_collision_14.obj b/objects/objaverse/bar/bar_11/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c44be5cde5dcd7234635846ab3a1cd8652344acf
--- /dev/null
+++ b/objects/objaverse/bar/bar_11/collision/model_normalized_collision_14.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.41414513 -0.01710110 0.19524838
+v -0.41224203 -0.01554650 -0.19189651
+v -0.41062206 0.01811187 0.10920315
+v -0.44695565 0.00464302 0.20731854
+v -0.44736604 -0.00701376 0.20824780
+v -0.44822988 0.00169759 -0.21395673
+v -0.41989279 0.00818072 0.20136781
+v -0.42671495 -0.01141770 -0.19135608
+v -0.41587614 0.01513425 -0.19636072
+v -0.44832837 0.00026485 -0.21400115
+v -0.41833986 -0.00402547 0.20749365
+v -0.42845148 -0.01284788 0.19892284
+v -0.42936909 0.01114724 -0.20121346
+v -0.42029280 0.00002390 -0.20823250
+v -0.42029390 0.00213904 -0.20822882
+f 1 2 3
+f 7 1 3
+f 7 3 4
+f 8 2 1
+f 9 3 2
+f 10 5 4
+f 10 4 6
+f 10 8 5
+f 10 2 8
+f 11 5 1
+f 11 1 7
+f 11 7 4
+f 11 4 5
+f 12 8 1
+f 12 1 5
+f 12 5 8
+f 13 9 6
+f 13 6 4
+f 13 4 3
+f 13 3 9
+f 14 2 10
+f 15 9 2
+f 15 2 14
+f 15 6 9
+f 15 14 10
+f 15 10 6
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_11/collision/model_normalized_collision_15.obj b/objects/objaverse/bar/bar_11/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..579e4c32f5ddc14dd55dd30a89aeb918f262d9c9
--- /dev/null
+++ b/objects/objaverse/bar/bar_11/collision/model_normalized_collision_15.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.35609181 -0.02895959 0.18403681
+v -0.35642071 -0.02364040 0.18612392
+v -0.41989279 0.00818072 0.20136781
+v -0.35605770 0.02988051 0.18291476
+v -0.35608627 0.02463723 0.18509492
+v -0.41282675 -0.01853097 0.18626320
+v -0.41833986 -0.00402547 0.20749365
+v -0.40883831 0.01773021 0.18493288
+v -0.41414513 -0.01710110 0.19524838
+v -0.38963411 -0.00419131 0.20057625
+v -0.41302316 0.01502022 0.19382438
+v -0.38926775 0.00454993 0.19868201
+f 5 2 1
+f 5 1 4
+f 7 1 2
+f 7 3 6
+f 7 5 4
+f 7 4 3
+f 8 6 3
+f 8 4 1
+f 8 1 6
+f 9 7 6
+f 9 6 1
+f 9 1 7
+f 10 7 2
+f 10 2 5
+f 11 8 3
+f 11 3 4
+f 11 4 8
+f 12 10 5
+f 12 5 7
+f 12 7 10
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_11/collision/model_normalized_collision_16.obj b/objects/objaverse/bar/bar_11/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8e81f5034d4827a13b437b2f050077d294e0c1e0
--- /dev/null
+++ b/objects/objaverse/bar/bar_11/collision/model_normalized_collision_16.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.28025309 0.07598580 0.07955906
+v -0.27893861 0.07815075 -0.13251644
+v -0.31016879 0.07355015 -0.13252553
+v -0.32109456 0.06946435 0.08017852
+v -0.32120315 0.06996277 0.01901500
+v -0.30985852 0.07152059 0.07947716
+v -0.29284269 0.07439310 0.06409140
+v -0.32148448 0.07137960 -0.13181373
+v -0.28696607 0.07497125 0.08042353
+v -0.27874164 0.07644033 0.06412634
+v -0.28718402 0.07698645 -0.13297820
+f 5 2 1
+f 5 1 4
+f 6 3 4
+f 7 3 6
+f 8 2 5
+f 8 5 4
+f 8 4 3
+f 9 6 4
+f 9 4 1
+f 9 7 6
+f 9 1 7
+f 10 7 1
+f 10 1 2
+f 11 3 7
+f 11 8 3
+f 11 2 8
+f 11 10 2
+f 11 7 10
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_11/collision/model_normalized_collision_19.obj b/objects/objaverse/bar/bar_11/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92ac573578fafd538343d087fe015d36b8db070f
--- /dev/null
+++ b/objects/objaverse/bar/bar_11/collision/model_normalized_collision_19.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.23451468 -0.08232295 0.12522076
+v -0.23441049 -0.08053957 -0.13264296
+v -0.23430629 0.08003811 0.12513334
+v -0.27868781 0.07598852 0.12514055
+v -0.27913505 -0.07842610 0.12530398
+v -0.27893861 0.07815075 -0.13251644
+v -0.23443131 0.08210296 -0.13252700
+v -0.27889915 -0.07652375 -0.13268060
+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 2 5
+f 8 5 6
+f 8 7 2
+f 8 6 7
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_11/collision/model_normalized_collision_2.obj b/objects/objaverse/bar/bar_11/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..843de1659e843b1bdb9e8d5cc348f555f1a968c4
--- /dev/null
+++ b/objects/objaverse/bar/bar_11/collision/model_normalized_collision_2.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.26416020 -0.07939730 0.16210431
+v 0.26427212 -0.08182906 0.12522228
+v 0.26486755 -0.01886008 0.18561334
+v -0.15909157 -0.01442433 0.18555947
+v -0.15920085 -0.08276111 0.12510683
+v 0.18939414 -0.01443390 0.18561005
+v -0.15919190 -0.05643647 0.17460540
+v 0.26486670 -0.03172065 0.18156350
+v -0.15885604 -0.02989277 0.18184353
+v -0.15934360 -0.07977783 0.16188730
+v 0.18951198 -0.05644211 0.17468474
+f 5 2 1
+f 5 4 2
+f 6 3 2
+f 6 2 4
+f 6 4 3
+f 8 1 2
+f 8 2 3
+f 9 7 3
+f 9 3 4
+f 9 4 7
+f 10 5 1
+f 10 7 4
+f 10 4 5
+f 11 1 8
+f 11 10 1
+f 11 7 10
+f 11 8 3
+f 11 3 7
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_11/collision/model_normalized_collision_20.obj b/objects/objaverse/bar/bar_11/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f8d4c9e8e163d85028ecfaf2bc2be5871f8f1651
--- /dev/null
+++ b/objects/objaverse/bar/bar_11/collision/model_normalized_collision_20.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.35586106 -0.06620904 0.12407107
+v 0.34098380 -0.01206166 -0.18819798
+v 0.35093999 0.06574836 0.12500078
+v 0.27029644 0.07937359 0.12462401
+v 0.26521822 -0.01277913 -0.18708128
+v 0.34096557 0.02785834 -0.18351595
+v 0.26486670 -0.03172065 0.18156350
+v 0.26514525 0.02801852 -0.18338381
+f 5 2 1
+f 6 4 3
+f 6 1 2
+f 6 3 1
+f 7 1 3
+f 7 3 4
+f 7 5 1
+f 8 4 6
+f 8 7 4
+f 8 5 7
+f 8 6 2
+f 8 2 5
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_11/collision/model_normalized_collision_22.obj b/objects/objaverse/bar/bar_11/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2c99f596b55f77b6245c4f3015579ec837d5d269
--- /dev/null
+++ b/objects/objaverse/bar/bar_11/collision/model_normalized_collision_22.obj
@@ -0,0 +1,18 @@
+# https://github.com/mikedh/trimesh
+v 0.49841585 -0.00137639 0.20692782
+v 0.49717442 0.00131203 -0.20699365
+v 0.49780607 -0.00061690 0.20754465
+v 0.44627788 0.00628634 0.20799447
+v 0.44702301 -0.00839150 0.20817865
+v 0.44753081 0.00232167 -0.21492115
+v 0.44753575 -0.00009892 -0.21382233
+f 1 2 3
+f 3 2 4
+f 5 2 1
+f 5 1 3
+f 5 3 4
+f 6 4 2
+f 7 5 4
+f 7 4 6
+f 7 6 2
+f 7 2 5
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_11/collision/model_normalized_collision_23.obj b/objects/objaverse/bar/bar_11/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0999b53dec3ba2febd763fe6479293d698a48631
--- /dev/null
+++ b/objects/objaverse/bar/bar_11/collision/model_normalized_collision_23.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.31063506 0.03000992 0.18260198
+v -0.32342942 0.06588662 0.16408615
+v 0.30968887 0.06955300 0.16599232
+v -0.32357961 0.06321492 0.16803336
+v -0.35605770 0.02988051 0.18291476
+v -0.35405503 0.05674701 0.16761958
+v 0.30963072 0.06565004 0.16912478
+v -0.35314582 0.05146489 0.17339832
+v 0.31058418 0.03470205 0.18099080
+v -0.35606800 0.03503129 0.18092409
+f 3 2 4
+f 6 2 3
+f 6 3 1
+f 6 1 5
+f 6 4 2
+f 7 3 4
+f 8 4 6
+f 8 7 4
+f 9 7 5
+f 9 5 1
+f 9 1 3
+f 9 3 7
+f 10 8 6
+f 10 6 5
+f 10 5 7
+f 10 7 8
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_11/collision/model_normalized_collision_24.obj b/objects/objaverse/bar/bar_11/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c05daf2f1a064be293858f5f988458cb820b2d2d
--- /dev/null
+++ b/objects/objaverse/bar/bar_11/collision/model_normalized_collision_24.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.31739987 0.07330915 0.12483661
+v 0.31049526 0.03973018 -0.17995036
+v 0.30828721 0.07680969 -0.14732419
+v 0.26392087 0.08005600 0.12511865
+v 0.26533455 0.03942217 -0.18013017
+v 0.30792096 0.07482663 0.12512535
+v 0.26409951 0.08203698 -0.14762358
+v 0.27029644 0.07937359 0.12462401
+f 1 2 3
+f 5 2 1
+f 5 1 4
+f 6 1 3
+f 6 4 1
+f 7 3 2
+f 7 2 5
+f 7 5 4
+f 8 6 3
+f 8 4 6
+f 8 7 4
+f 8 3 7
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_11/collision/model_normalized_collision_25.obj b/objects/objaverse/bar/bar_11/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2a1df617161379e92a3e97d585450fdf365bf9df
--- /dev/null
+++ b/objects/objaverse/bar/bar_11/collision/model_normalized_collision_25.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.36957116 0.05153250 0.07948964
+v -0.31062433 0.02759163 -0.18350565
+v -0.30985852 0.07152059 0.07947716
+v -0.32109456 0.06946435 0.08017852
+v -0.35201977 0.05911681 -0.16969542
+v -0.35650957 0.02842772 -0.18383789
+v -0.35188562 0.06110434 0.07929495
+v -0.30979928 0.06838499 -0.16750467
+v -0.35431061 0.05182874 -0.17509532
+v -0.31045908 0.05508925 -0.17508563
+f 1 2 3
+f 1 3 4
+f 6 2 1
+f 7 5 1
+f 7 1 4
+f 7 4 5
+f 8 3 2
+f 8 5 4
+f 8 4 3
+f 9 6 1
+f 9 1 5
+f 9 5 8
+f 10 9 8
+f 10 8 2
+f 10 2 6
+f 10 6 9
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_11/collision/model_normalized_collision_26.obj b/objects/objaverse/bar/bar_11/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..26fd61a3782f0ac09a7494e9598dc5f84287b42a
--- /dev/null
+++ b/objects/objaverse/bar/bar_11/collision/model_normalized_collision_26.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.35337011 -0.06445633 0.16550604
+v 0.35604432 -0.05978745 0.17035794
+v -0.35256969 -0.05951958 0.16950395
+v -0.35474109 -0.05338674 0.17402318
+v 0.35552846 -0.05419575 0.17415104
+v 0.35398588 -0.06254200 0.16853353
+v -0.35290818 -0.06180430 0.16456546
+v -0.35514067 -0.05808364 0.16992051
+f 5 2 1
+f 6 4 3
+f 6 5 4
+f 6 2 5
+f 6 1 2
+f 6 3 1
+f 7 1 3
+f 7 5 1
+f 7 4 5
+f 8 7 3
+f 8 3 4
+f 8 4 7
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_11/collision/model_normalized_collision_27.obj b/objects/objaverse/bar/bar_11/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0fcb4e706ec052cd0689e06f78e8ffebe544c7d0
--- /dev/null
+++ b/objects/objaverse/bar/bar_11/collision/model_normalized_collision_27.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.23447207 -0.07971350 0.16238422
+v -0.23451468 -0.08232295 0.12522076
+v -0.23465210 -0.01878548 0.18548372
+v -0.31024773 -0.02079657 0.18618207
+v -0.32566186 -0.07064636 0.12398772
+v -0.23460468 -0.03187111 0.18154140
+v -0.30819305 -0.07260820 0.16211756
+v -0.30823505 -0.07419589 0.12537250
+f 5 3 2
+f 5 4 3
+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 8 7 5
+f 8 5 2
+f 8 2 7
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_11/collision/model_normalized_collision_28.obj b/objects/objaverse/bar/bar_11/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2381b4bafa99c183ff051dade91d7c6f9406a35c
--- /dev/null
+++ b/objects/objaverse/bar/bar_11/collision/model_normalized_collision_28.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.44702301 -0.00839150 0.20817865
+v 0.44548739 -0.00978476 0.18603679
+v 0.44463404 0.00798084 0.18582016
+v 0.34093096 0.02994414 0.18283747
+v 0.34083919 -0.01555630 0.18848845
+v 0.42611752 0.01467310 0.18320083
+v 0.37422967 0.00460534 0.19760673
+v 0.44627788 0.00628634 0.20799447
+v 0.37489664 -0.00573820 0.19734456
+v 0.34194772 -0.01041890 0.19074005
+v 0.42560581 0.01379426 0.19800861
+v 0.34106344 0.02504696 0.18470891
+f 1 2 3
+f 5 2 1
+f 6 3 2
+f 6 5 4
+f 6 2 5
+f 8 1 3
+f 8 3 6
+f 8 7 1
+f 8 4 7
+f 9 1 7
+f 10 9 7
+f 10 5 1
+f 10 1 9
+f 11 8 6
+f 11 6 4
+f 11 4 8
+f 12 10 7
+f 12 7 4
+f 12 4 5
+f 12 5 10
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_11/collision/model_normalized_collision_29.obj b/objects/objaverse/bar/bar_11/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af1a58dfea53dc1678eb5e727203e6dddd76b6ad
--- /dev/null
+++ b/objects/objaverse/bar/bar_11/collision/model_normalized_collision_29.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.15906706 -0.06076393 0.17323784
+v -0.15919190 -0.05643647 0.17460540
+v -0.35695829 -0.01053958 0.19203829
+v -0.15919765 -0.02505839 0.18313739
+v -0.15897240 -0.01738357 0.18496124
+v -0.35514067 -0.05808364 0.16992051
+v -0.15925419 -0.01216955 0.18592360
+v -0.35474109 -0.05338674 0.17402318
+f 1 2 3
+f 3 2 4
+f 5 2 1
+f 5 4 2
+f 5 3 4
+f 7 5 1
+f 7 1 6
+f 7 6 3
+f 7 3 5
+f 8 6 1
+f 8 1 3
+f 8 3 6
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_11/collision/model_normalized_collision_30.obj b/objects/objaverse/bar/bar_11/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ebb949d19c442a8ebee798cbc3caafb77cadd791
--- /dev/null
+++ b/objects/objaverse/bar/bar_11/collision/model_normalized_collision_30.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.31058418 0.03470205 0.18099080
+v 0.31739987 0.07330915 0.12483661
+v 0.29368971 0.07475505 0.16175185
+v -0.15934496 0.07824738 0.16151651
+v -0.15906790 0.03373757 0.18063933
+v -0.15921073 0.08079413 0.12499854
+v 0.30968887 0.06955300 0.16599232
+v 0.30792096 0.07482663 0.12512535
+v 0.30770118 0.07425211 0.15408696
+f 5 2 1
+f 5 1 4
+f 6 4 3
+f 6 5 4
+f 6 2 5
+f 7 3 4
+f 7 4 1
+f 7 1 2
+f 8 6 3
+f 8 2 6
+f 9 7 2
+f 9 3 7
+f 9 8 3
+f 9 2 8
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_11/collision/model_normalized_collision_31.obj b/objects/objaverse/bar/bar_11/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fdfa00556d00f28fecba467bcf781d85bd8c3beb
--- /dev/null
+++ b/objects/objaverse/bar/bar_11/collision/model_normalized_collision_31.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v -0.27972603 -0.03400483 0.18075655
+v -0.28030301 -0.01443780 0.07956863
+v -0.28025309 0.07598580 0.07955906
+v -0.28023652 0.07582768 0.12502801
+v -0.38643147 -0.03982622 0.12773672
+v -0.37746010 -0.04830655 0.07790378
+v -0.35181460 0.06086979 0.12506579
+v -0.37704966 -0.04891993 0.11191377
+v -0.35188562 0.06110434 0.07929495
+f 1 2 3
+f 1 3 4
+f 6 2 1
+f 6 3 2
+f 7 5 1
+f 7 1 4
+f 8 6 1
+f 8 1 5
+f 8 5 6
+f 9 7 4
+f 9 4 3
+f 9 3 6
+f 9 6 5
+f 9 5 7
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_11/collision/model_normalized_collision_4.obj b/objects/objaverse/bar/bar_11/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..01600d60f051bc874dcbfd9e26cceb7126d0aa2c
--- /dev/null
+++ b/objects/objaverse/bar/bar_11/collision/model_normalized_collision_4.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v -0.30991631 -0.06932123 0.16686206
+v -0.30969183 -0.06654066 -0.16767728
+v -0.31068536 -0.01234437 -0.18816138
+v -0.41750808 -0.01685713 0.18548682
+v -0.36005628 -0.05708711 -0.15905221
+v -0.31024773 -0.02079657 0.18618207
+v -0.36089262 -0.05770855 0.16553470
+v -0.41837346 -0.00976833 -0.19978009
+v -0.38855913 -0.00464596 -0.19636073
+v -0.35575042 -0.01615392 0.18928561
+v -0.35474109 -0.05338674 0.17402318
+v -0.31042002 -0.05370653 -0.17513293
+v -0.35172809 -0.05706066 -0.16960037
+v -0.41567206 -0.01313252 -0.19652109
+v -0.37738288 -0.04566085 0.17352425
+v -0.41282675 -0.01853097 0.18626320
+v -0.35434801 -0.05049856 -0.17488076
+f 5 2 1
+f 6 1 2
+f 6 2 3
+f 7 5 1
+f 7 4 5
+f 9 8 4
+f 9 3 8
+f 10 1 6
+f 10 9 4
+f 10 6 3
+f 10 3 9
+f 11 7 1
+f 11 1 10
+f 12 8 3
+f 12 3 2
+f 12 2 8
+f 13 2 5
+f 14 5 4
+f 14 4 8
+f 14 13 5
+f 14 8 13
+f 15 4 7
+f 15 7 11
+f 16 11 10
+f 16 10 4
+f 16 15 11
+f 16 4 15
+f 17 13 8
+f 17 8 2
+f 17 2 13
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_11/collision/model_normalized_collision_5.obj b/objects/objaverse/bar/bar_11/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..847ddd9d47e1c03034a5cc2a305ced571424212f
--- /dev/null
+++ b/objects/objaverse/bar/bar_11/collision/model_normalized_collision_5.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.31065208 -0.06078557 0.17240979
+v 0.31050535 -0.05605725 0.17431573
+v 0.18936336 -0.06078635 0.17331362
+v 0.18933566 0.03379124 0.18070365
+v 0.21965777 0.03390800 0.18079661
+v 0.31107965 -0.01116646 0.18903790
+v 0.18947000 -0.02490898 0.18316864
+v 0.21995827 0.01279957 0.18616823
+v 0.31082077 -0.02344753 0.18475719
+v 0.18951198 -0.05644211 0.17468474
+v 0.21971228 0.02997135 0.18189991
+v 0.18958197 0.01309620 0.18570162
+v 0.18941609 0.02996233 0.18174296
+f 1 2 3
+f 1 3 4
+f 5 1 4
+f 6 3 2
+f 6 2 1
+f 7 4 3
+f 9 6 1
+f 9 1 5
+f 9 5 6
+f 10 7 3
+f 10 3 6
+f 10 6 7
+f 11 8 6
+f 11 6 5
+f 11 5 4
+f 12 7 6
+f 12 6 8
+f 12 4 7
+f 13 11 4
+f 13 8 11
+f 13 12 8
+f 13 4 12
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_11/collision/model_normalized_collision_6.obj b/objects/objaverse/bar/bar_11/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..634e0fcda597be2dd5d6e2c4b9551086688cc8fc
--- /dev/null
+++ b/objects/objaverse/bar/bar_11/collision/model_normalized_collision_6.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v 0.33929679 -0.06758996 0.16564704
+v 0.40365465 -0.02014449 -0.19295665
+v 0.40207008 -0.01294590 0.19803318
+v 0.33874350 0.06659577 0.16392276
+v 0.34135476 0.00879144 -0.19140767
+v 0.38972928 0.04523382 -0.17279928
+v 0.34194772 -0.01041890 0.19074005
+v 0.37427404 -0.05734891 0.16587740
+v 0.33856023 -0.06370234 -0.16832768
+v 0.40376912 0.02227797 -0.19309978
+v 0.38888019 0.04426960 0.16758351
+v 0.33907261 0.06667805 -0.16789278
+v 0.34056172 -0.05472155 0.17443632
+v 0.34055450 0.05570007 0.17316898
+v 0.34123653 -0.02350331 0.18531601
+v 0.39902187 -0.02942396 0.18720258
+v 0.34138640 -0.00670075 -0.19076717
+v 0.37347480 -0.05847930 -0.08739647
+v 0.37318873 0.05952418 -0.05731259
+v 0.39389686 0.03592917 0.17908092
+v 0.34063534 0.05418630 -0.17553068
+v 0.36703498 0.05942504 -0.16982769
+v 0.38877570 -0.04439309 0.17566731
+v 0.35507970 -0.05071746 -0.17550107
+v 0.36644542 -0.05663486 -0.16955754
+v 0.37420667 0.05923901 -0.15924978
+v 0.36656190 0.05900216 0.16490544
+v 0.38184518 0.04673448 -0.17731971
+v 0.38990362 -0.04196668 -0.17276314
+v 0.36970260 -0.04941557 -0.17541647
+v 0.38053686 0.04758189 0.17344770
+f 9 1 4
+f 10 3 2
+f 10 2 5
+f 11 10 6
+f 12 9 4
+f 12 5 9
+f 13 3 7
+f 14 7 3
+f 14 4 7
+f 15 7 4
+f 15 4 1
+f 15 13 7
+f 15 1 13
+f 16 2 3
+f 16 13 1
+f 16 3 13
+f 17 9 5
+f 17 5 2
+f 18 8 1
+f 18 1 9
+f 19 12 4
+f 20 3 10
+f 20 10 11
+f 20 14 3
+f 21 12 10
+f 21 10 5
+f 21 5 12
+f 22 10 12
+f 23 16 1
+f 23 1 8
+f 23 8 18
+f 24 17 2
+f 24 2 9
+f 24 9 17
+f 25 18 9
+f 26 19 11
+f 26 11 6
+f 26 6 22
+f 26 22 12
+f 26 12 19
+f 27 19 4
+f 27 11 19
+f 28 22 6
+f 28 6 10
+f 28 10 22
+f 29 23 18
+f 29 2 16
+f 29 16 23
+f 29 25 2
+f 29 18 25
+f 30 25 9
+f 30 9 2
+f 30 2 25
+f 31 20 11
+f 31 11 27
+f 31 14 20
+f 31 27 4
+f 31 4 14
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_11/collision/model_normalized_collision_7.obj b/objects/objaverse/bar/bar_11/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f1a38636972f3370ca72160e9c4f17fd7ce7786f
--- /dev/null
+++ b/objects/objaverse/bar/bar_11/collision/model_normalized_collision_7.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.34093096 0.02994414 0.18283747
+v 0.34096557 0.02785834 -0.18351595
+v 0.33926871 0.07073214 -0.08710409
+v 0.30963072 0.06565004 0.16912478
+v 0.31062035 0.02784401 -0.18342727
+v 0.33879313 0.06389272 0.16794594
+v 0.34063534 0.05418630 -0.17553068
+v 0.31063506 0.03000992 0.18260198
+v 0.30828721 0.07680969 -0.14732419
+v 0.31050984 0.05535998 -0.17534156
+v 0.33907261 0.06667805 -0.16789278
+v 0.30825781 0.07666723 -0.11773371
+v 0.31000933 0.06960180 -0.16829345
+v 0.32307655 0.07449608 -0.14726486
+v 0.32304494 0.07434657 -0.11778533
+f 5 2 1
+f 6 1 3
+f 6 4 1
+f 7 1 2
+f 7 3 1
+f 8 5 1
+f 8 1 4
+f 10 7 2
+f 10 2 5
+f 11 3 7
+f 12 4 6
+f 12 8 4
+f 12 9 5
+f 12 5 8
+f 13 10 5
+f 13 5 9
+f 13 9 11
+f 13 11 7
+f 13 7 10
+f 14 11 9
+f 14 3 11
+f 14 9 12
+f 15 12 6
+f 15 6 3
+f 15 14 12
+f 15 3 14
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_11/collision/model_normalized_collision_8.obj b/objects/objaverse/bar/bar_11/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..45b01dbf0a26d040e3f99ddf07695552f57684ce
--- /dev/null
+++ b/objects/objaverse/bar/bar_11/collision/model_normalized_collision_8.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.23460468 -0.03187111 0.18154140
+v -0.23522229 -0.01185533 0.18718646
+v -0.35695829 -0.01053958 0.19203829
+v -0.27848422 0.07396209 0.16180026
+v -0.23430629 0.08003811 0.12513334
+v -0.23498409 0.02598743 0.18325162
+v -0.38643147 -0.03982622 0.12773672
+v -0.35608627 0.02463723 0.18509492
+v -0.23423338 0.07811247 0.16147506
+v -0.35181460 0.06086979 0.12506579
+v -0.27868781 0.07598852 0.12514055
+v -0.35158527 0.05869341 0.16491345
+f 1 2 3
+f 6 3 2
+f 6 2 1
+f 7 5 1
+f 7 1 3
+f 8 3 6
+f 8 7 3
+f 9 8 6
+f 9 4 8
+f 9 6 1
+f 9 1 5
+f 10 5 7
+f 11 9 5
+f 11 4 9
+f 11 5 10
+f 12 8 4
+f 12 11 10
+f 12 4 11
+f 12 10 7
+f 12 7 8
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_11/collision/model_normalized_collision_9.obj b/objects/objaverse/bar/bar_11/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..693aca45088a3b085cc7f5d2e971bec10dec297b
--- /dev/null
+++ b/objects/objaverse/bar/bar_11/collision/model_normalized_collision_9.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.32318710 -0.07261268 0.16203567
+v 0.34034480 -0.05170395 -0.17555609
+v 0.34194772 -0.01041890 0.19074005
+v 0.26486755 -0.01886008 0.18561334
+v 0.26361936 -0.07438443 -0.16629874
+v 0.26521822 -0.01277913 -0.18708128
+v 0.26416020 -0.07939730 0.16210431
+v 0.33929679 -0.06758996 0.16564704
+v 0.30789913 -0.07313506 -0.15897963
+v 0.34098380 -0.01206166 -0.18819798
+v 0.31107965 -0.01116646 0.18903790
+v 0.26485451 -0.05444659 -0.17563641
+v 0.34056172 -0.05472155 0.17443632
+v 0.33856023 -0.06370234 -0.16832768
+v 0.32300626 -0.07295873 0.00411886
+v 0.29355613 -0.07203459 -0.16550189
+f 6 5 4
+f 7 4 5
+f 8 7 1
+f 9 7 5
+f 10 6 3
+f 10 3 2
+f 11 6 4
+f 11 4 3
+f 11 3 6
+f 12 2 5
+f 12 5 6
+f 12 10 2
+f 12 6 10
+f 13 3 4
+f 13 4 7
+f 13 7 8
+f 13 8 2
+f 13 2 3
+f 14 5 2
+f 14 2 8
+f 15 1 7
+f 15 7 9
+f 15 9 14
+f 15 14 8
+f 15 8 1
+f 16 14 9
+f 16 9 5
+f 16 5 14
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_11/model.xml b/objects/objaverse/bar/bar_11/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..fd12e3486321aa517f6ab6c0b0028f7c6fd2a809
--- /dev/null
+++ b/objects/objaverse/bar/bar_11/model.xml
@@ -0,0 +1,81 @@
+<mujoco model="bar_8">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.15999999999999998 0.15999999999999998 0.15999999999999998" refquat="0.4999999999999999 0.5 -0.5000000000000001 0.5"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.15999999999999998 0.15999999999999998 0.15999999999999998" refquat="0.4999999999999999 0.5 -0.5000000000000001 0.5"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.15999999999999998 0.15999999999999998 0.15999999999999998" refquat="0.4999999999999999 0.5 -0.5000000000000001 0.5"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.15999999999999998 0.15999999999999998 0.15999999999999998" refquat="0.4999999999999999 0.5 -0.5000000000000001 0.5"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.15999999999999998 0.15999999999999998 0.15999999999999998" refquat="0.4999999999999999 0.5 -0.5000000000000001 0.5"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.15999999999999998 0.15999999999999998 0.15999999999999998" refquat="0.4999999999999999 0.5 -0.5000000000000001 0.5"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.15999999999999998 0.15999999999999998 0.15999999999999998" refquat="0.4999999999999999 0.5 -0.5000000000000001 0.5"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.15999999999999998 0.15999999999999998 0.15999999999999998" refquat="0.4999999999999999 0.5 -0.5000000000000001 0.5"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.15999999999999998 0.15999999999999998 0.15999999999999998" refquat="0.4999999999999999 0.5 -0.5000000000000001 0.5"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.15999999999999998 0.15999999999999998 0.15999999999999998" refquat="0.4999999999999999 0.5 -0.5000000000000001 0.5"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.15999999999999998 0.15999999999999998 0.15999999999999998" refquat="0.4999999999999999 0.5 -0.5000000000000001 0.5"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.15999999999999998 0.15999999999999998 0.15999999999999998" refquat="0.4999999999999999 0.5 -0.5000000000000001 0.5"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.15999999999999998 0.15999999999999998 0.15999999999999998" refquat="0.4999999999999999 0.5 -0.5000000000000001 0.5"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.15999999999999998 0.15999999999999998 0.15999999999999998" refquat="0.4999999999999999 0.5 -0.5000000000000001 0.5"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.15999999999999998 0.15999999999999998 0.15999999999999998" refquat="0.4999999999999999 0.5 -0.5000000000000001 0.5"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.15999999999999998 0.15999999999999998 0.15999999999999998" refquat="0.4999999999999999 0.5 -0.5000000000000001 0.5"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.15999999999999998 0.15999999999999998 0.15999999999999998" refquat="0.4999999999999999 0.5 -0.5000000000000001 0.5"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.15999999999999998 0.15999999999999998 0.15999999999999998" refquat="0.4999999999999999 0.5 -0.5000000000000001 0.5"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.15999999999999998 0.15999999999999998 0.15999999999999998" refquat="0.4999999999999999 0.5 -0.5000000000000001 0.5"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.15999999999999998 0.15999999999999998 0.15999999999999998" refquat="0.4999999999999999 0.5 -0.5000000000000001 0.5"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.15999999999999998 0.15999999999999998 0.15999999999999998" refquat="0.4999999999999999 0.5 -0.5000000000000001 0.5"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.15999999999999998 0.15999999999999998 0.15999999999999998" refquat="0.4999999999999999 0.5 -0.5000000000000001 0.5"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.15999999999999998 0.15999999999999998 0.15999999999999998" refquat="0.4999999999999999 0.5 -0.5000000000000001 0.5"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.15999999999999998 0.15999999999999998 0.15999999999999998" refquat="0.4999999999999999 0.5 -0.5000000000000001 0.5"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.15999999999999998 0.15999999999999998 0.15999999999999998" refquat="0.4999999999999999 0.5 -0.5000000000000001 0.5"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.15999999999999998 0.15999999999999998 0.15999999999999998" refquat="0.4999999999999999 0.5 -0.5000000000000001 0.5"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.15999999999999998 0.15999999999999998 0.15999999999999998" refquat="0.4999999999999999 0.5 -0.5000000000000001 0.5"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.15999999999999998 0.15999999999999998 0.15999999999999998" refquat="0.4999999999999999 0.5 -0.5000000000000001 0.5"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.15999999999999998 0.15999999999999998 0.15999999999999998" refquat="0.4999999999999999 0.5 -0.5000000000000001 0.5"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.15999999999999998 0.15999999999999998 0.15999999999999998" refquat="0.4999999999999999 0.5 -0.5000000000000001 0.5"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.15999999999999998 0.15999999999999998 0.15999999999999998" refquat="0.4999999999999999 0.5 -0.5000000000000001 0.5"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.15999999999999998 0.15999999999999998 0.15999999999999998" refquat="0.4999999999999999 0.5 -0.5000000000000001 0.5"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.15999999999999998 0.15999999999999998 0.15999999999999998" refquat="0.4999999999999999 0.5 -0.5000000000000001 0.5"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="kek05.001" texture="image0" specular="0.5" shininess="0.015474505000000001"/>
+  </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="kek05.001"/>
+        <geom solimp="0.998 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="7.569512358474694e-05 0.00012602557957944513 -0.01313647408088112" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="7.569512358474694e-05 0.00012602557957944513 0.013241778003840252" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.034538767929535294 0.0799985824190212 5.265196147956729e-05" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/objects/objaverse/bar/bar_7/collision/model_normalized_collision_0.obj b/objects/objaverse/bar/bar_7/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f8a2b358390db98a863662672399fa5b3bfdb2e
--- /dev/null
+++ b/objects/objaverse/bar/bar_7/collision/model_normalized_collision_0.obj
@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
+v -0.32733674 -0.17053402 -0.17213921
+v -0.28602287 -0.14729902 -0.19920290
+v -0.28391771 -0.14147321 -0.08350027
+v -0.27992633 -0.06698546 -0.07947292
+v -0.43234693 -0.17855107 -0.22912761
+v -0.27686395 -0.09466516 -0.19443893
+v -0.28640858 -0.15772131 -0.19028795
+v -0.45852319 -0.16077559 -0.09800468
+v -0.27609049 -0.08012895 -0.13677282
+v -0.37897626 -0.09624489 -0.07491163
+v -0.37611639 -0.15944399 -0.22941863
+v -0.28550693 -0.15296338 -0.12887289
+v -0.42345348 -0.18372429 -0.23686066
+v -0.32995161 -0.15345315 -0.08459584
+v -0.30540677 -0.08533719 -0.13225002
+v -0.34685997 -0.11587985 -0.19532076
+v -0.45850947 -0.15253013 -0.09191549
+v -0.33640519 -0.08174804 -0.07462302
+v -0.28054788 -0.10174115 -0.20290778
+v -0.33366158 -0.17005420 -0.20256882
+v -0.42579554 -0.17872921 -0.23736684
+v -0.37717402 -0.16824412 -0.22944043
+v -0.43068570 -0.18421814 -0.22774858
+v -0.39963797 -0.14834621 -0.08070901
+v -0.36116653 -0.10001561 -0.11995086
+v -0.33575020 -0.11530059 -0.20683914
+v -0.45556835 -0.15891370 -0.12099584
+v -0.38930935 -0.10595395 -0.07466149
+v -0.35638268 -0.12749115 -0.20940521
+v -0.30297228 -0.15896101 -0.19838504
+v -0.39320056 -0.17281144 -0.23307337
+v -0.44633520 -0.16709740 -0.16527071
+v -0.38193103 -0.15300765 -0.08207339
+v -0.29042134 -0.09886971 -0.19583724
+f 7 2 6
+f 9 4 3
+f 9 3 6
+f 12 1 7
+f 12 7 6
+f 12 6 3
+f 14 8 1
+f 14 12 3
+f 14 1 12
+f 15 9 6
+f 15 4 9
+f 18 3 4
+f 18 4 15
+f 19 6 2
+f 20 7 1
+f 20 1 13
+f 21 19 11
+f 22 19 2
+f 22 11 19
+f 23 21 13
+f 23 5 21
+f 23 13 1
+f 23 1 8
+f 24 17 8
+f 25 16 5
+f 25 5 10
+f 25 18 15
+f 25 10 18
+f 26 6 19
+f 26 19 21
+f 26 25 15
+f 26 16 25
+f 27 17 10
+f 27 8 17
+f 28 18 10
+f 28 3 18
+f 28 24 3
+f 28 10 17
+f 28 17 24
+f 29 21 5
+f 29 5 16
+f 29 26 21
+f 29 16 26
+f 30 22 2
+f 30 2 7
+f 30 7 20
+f 30 20 22
+f 31 22 20
+f 31 20 13
+f 31 13 21
+f 31 21 11
+f 31 11 22
+f 32 23 8
+f 32 5 23
+f 32 8 27
+f 32 27 10
+f 32 10 5
+f 33 14 3
+f 33 3 24
+f 33 24 8
+f 33 8 14
+f 34 26 15
+f 34 15 6
+f 34 6 26
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_7/collision/model_normalized_collision_1.obj b/objects/objaverse/bar/bar_7/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..03c090048ce9e7a756055ae1a5be8fc8e164f60f
--- /dev/null
+++ b/objects/objaverse/bar/bar_7/collision/model_normalized_collision_1.obj
@@ -0,0 +1,105 @@
+# https://github.com/mikedh/trimesh
+v -0.10216647 -0.06785056 0.03747438
+v 0.00068011 -0.05406055 -0.15188902
+v 0.00230320 -0.03337252 0.05197187
+v 0.00886185 0.05092329 0.05806545
+v -0.09475577 -0.03773351 -0.17250711
+v 0.01226336 0.02452731 -0.06106819
+v -0.09976044 -0.06109140 0.05501334
+v -0.04389349 -0.07742384 -0.11277803
+v 0.00157266 -0.06261310 -0.11201278
+v 0.01182793 0.04092317 0.01482690
+v -0.09697172 0.01980111 0.05833023
+v 0.01007450 -0.00059790 -0.14895575
+v -0.04322441 -0.04695906 0.05100312
+v -0.03317439 0.03937968 0.06065835
+v 0.00213999 -0.04751068 -0.00745686
+v -0.10371251 -0.08755152 -0.17028492
+v -0.09261161 -0.00976299 -0.07535174
+v 0.00726344 -0.01038754 -0.15768983
+v -0.08818925 -0.06407294 0.03666707
+v -0.07909695 0.02582505 0.06026940
+v -0.10046085 -0.08938063 -0.08062504
+v -0.02853963 -0.06180136 -0.03686052
+v -0.04521711 -0.07773969 -0.15032577
+v -0.07752951 -0.02515247 -0.15045826
+v -0.05679759 -0.04802537 -0.16791517
+v -0.01352757 -0.04584494 0.02176747
+v -0.05862985 -0.06271367 0.00719789
+v -0.03364880 0.00599491 -0.08368447
+v -0.08997992 -0.08539805 -0.16673987
+v -0.00036027 -0.06228939 -0.14399933
+v -0.06384957 -0.02414265 -0.16055657
+v -0.05369192 -0.02931613 -0.16765123
+v -0.07353090 -0.07502539 -0.16613044
+v -0.04390296 -0.06138068 -0.00780325
+v -0.01780550 -0.00810848 -0.14940893
+v -0.06088206 -0.07974099 -0.15862959
+f 10 6 4
+f 10 4 3
+f 10 3 6
+f 11 1 7
+f 12 9 2
+f 12 6 9
+f 13 7 1
+f 13 3 7
+f 14 7 3
+f 14 3 4
+f 14 4 6
+f 15 9 6
+f 15 6 3
+f 16 11 5
+f 16 1 11
+f 17 5 11
+f 18 12 2
+f 18 5 12
+f 19 13 1
+f 19 3 13
+f 20 11 7
+f 20 7 14
+f 20 17 11
+f 21 1 16
+f 22 8 9
+f 22 9 15
+f 22 21 8
+f 23 9 8
+f 23 8 21
+f 24 5 17
+f 25 16 5
+f 25 18 2
+f 26 15 3
+f 26 3 19
+f 27 19 1
+f 27 26 19
+f 27 15 26
+f 27 1 21
+f 28 20 14
+f 28 14 6
+f 28 17 20
+f 28 24 17
+f 29 23 21
+f 29 21 16
+f 29 16 2
+f 30 2 9
+f 30 9 23
+f 31 12 5
+f 31 5 24
+f 31 24 28
+f 32 25 5
+f 32 5 18
+f 32 18 25
+f 33 25 2
+f 33 2 16
+f 33 16 25
+f 34 22 15
+f 34 15 27
+f 34 27 21
+f 34 21 22
+f 35 28 6
+f 35 6 12
+f 35 31 28
+f 35 12 31
+f 36 29 2
+f 36 2 30
+f 36 30 23
+f 36 23 29
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_7/collision/model_normalized_collision_10.obj b/objects/objaverse/bar/bar_7/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8aa2f186a5abb1603e3c9663324b26697ed87fac
--- /dev/null
+++ b/objects/objaverse/bar/bar_7/collision/model_normalized_collision_10.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v -0.16379827 -0.11034608 -0.09779942
+v -0.08707324 -0.08818491 -0.16416881
+v -0.08509638 -0.09035359 -0.11100310
+v -0.09572791 -0.01443786 -0.09277503
+v -0.15445125 -0.05415953 -0.17458347
+v -0.09428808 -0.01946915 -0.10648269
+v -0.10372240 -0.09347915 -0.09831804
+v -0.13527359 -0.10797235 -0.16549290
+v -0.15557637 -0.03213466 -0.09222767
+v -0.09468395 -0.03413431 -0.16551888
+v -0.13425514 -0.10771126 -0.12797845
+v -0.09121255 -0.09379383 -0.15940711
+v -0.16490216 -0.11332058 -0.17583053
+v -0.12389298 -0.02462863 -0.10118123
+v -0.12366495 -0.02238631 -0.09106644
+v -0.09847212 -0.04059433 -0.17378662
+v -0.08927364 -0.09206908 -0.11327642
+v -0.11987653 -0.09888750 -0.16918250
+v -0.10843737 -0.03815240 -0.16559967
+v -0.10371251 -0.08755152 -0.17028492
+f 6 3 2
+f 6 4 3
+f 7 3 4
+f 10 4 6
+f 10 6 2
+f 11 7 1
+f 12 2 3
+f 12 11 8
+f 13 12 8
+f 13 9 5
+f 13 1 9
+f 13 11 1
+f 13 8 11
+f 14 9 4
+f 14 5 9
+f 14 4 10
+f 15 7 4
+f 15 4 9
+f 15 9 1
+f 15 1 7
+f 16 10 2
+f 16 5 10
+f 16 13 5
+f 17 3 7
+f 17 7 11
+f 17 12 3
+f 17 11 12
+f 18 2 12
+f 18 12 13
+f 19 14 10
+f 19 10 5
+f 19 5 14
+f 20 16 2
+f 20 2 18
+f 20 18 13
+f 20 13 16
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_7/collision/model_normalized_collision_11.obj b/objects/objaverse/bar/bar_7/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..335595fab942071b78b058ef5a7a45cb566d791c
--- /dev/null
+++ b/objects/objaverse/bar/bar_7/collision/model_normalized_collision_11.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.45815350 0.10878224 -0.09708019
+v 0.50000000 0.12294698 -0.09075014
+v 0.44286159 0.14377031 0.06880930
+v 0.45841147 0.15659694 0.07432202
+v 0.46509501 0.11605263 -0.09703312
+v 0.46215116 0.14843617 0.06360201
+v 0.44377002 0.12508800 -0.00604047
+v 0.48822532 0.12096089 -0.09349132
+v 0.45719181 0.14800605 0.06780397
+v 0.48682744 0.11979271 -0.08387618
+v 0.45025332 0.13551637 -0.00232878
+v 0.44136908 0.13127241 0.02240565
+v 0.47086805 0.11326762 -0.09537865
+v 0.49873352 0.12721003 -0.09168195
+v 0.45794118 0.11509399 -0.06782176
+v 0.49294015 0.12506640 -0.06939466
+v 0.44916205 0.15375734 0.07352851
+v 0.49097415 0.12959296 -0.07508947
+v 0.47189792 0.11882196 -0.06902590
+v 0.47417080 0.13994296 0.01426852
+v 0.47257719 0.14612158 0.01444428
+v 0.46666352 0.14464588 0.01498691
+v 0.46790901 0.12659234 -0.05965343
+v 0.45184130 0.14418964 0.03094371
+v 0.48286851 0.12724762 -0.07496456
+f 6 2 4
+f 8 1 5
+f 9 6 4
+f 9 4 3
+f 9 3 6
+f 10 1 2
+f 11 5 1
+f 11 1 7
+f 12 6 3
+f 12 11 7
+f 13 8 2
+f 13 2 1
+f 13 1 8
+f 14 8 5
+f 14 4 2
+f 14 2 8
+f 15 7 1
+f 15 1 10
+f 16 10 2
+f 16 12 7
+f 16 7 10
+f 17 3 4
+f 17 12 3
+f 17 11 12
+f 18 14 5
+f 19 15 10
+f 19 10 7
+f 19 7 15
+f 20 16 2
+f 20 2 6
+f 20 6 12
+f 20 12 16
+f 21 4 14
+f 21 14 18
+f 22 21 18
+f 22 17 4
+f 22 4 21
+f 23 5 11
+f 24 22 11
+f 24 11 17
+f 24 17 22
+f 25 18 5
+f 25 5 23
+f 25 22 18
+f 25 23 11
+f 25 11 22
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_7/collision/model_normalized_collision_12.obj b/objects/objaverse/bar/bar_7/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0a73f2308aa28d33ef3634387cf98ad46c978b3b
--- /dev/null
+++ b/objects/objaverse/bar/bar_7/collision/model_normalized_collision_12.obj
@@ -0,0 +1,117 @@
+# https://github.com/mikedh/trimesh
+v 0.14151521 -0.01243559 -0.05012958
+v 0.21515329 0.02951402 -0.12205261
+v 0.21514608 0.07083165 0.17160232
+v 0.19481297 0.13186427 0.17193737
+v 0.14692336 0.04240702 -0.13319077
+v 0.22360078 0.13296368 0.13586885
+v 0.14193172 0.05189433 0.16800395
+v 0.21351036 0.01449561 -0.02269768
+v 0.13939345 -0.01176446 -0.12737072
+v 0.22483642 0.13536456 0.18207249
+v 0.14861175 0.06665800 -0.05386111
+v 0.22331525 0.07001709 -0.11518789
+v 0.13968722 0.00841709 0.05291324
+v 0.14967277 0.11186920 0.13746581
+v 0.18104281 -0.00194769 -0.11538435
+v 0.21757043 0.08006696 0.18447540
+v 0.14945740 0.10930500 0.17300906
+v 0.21998171 0.06133339 -0.12300936
+v 0.22459240 0.11448562 0.06081706
+v 0.14930341 0.05227938 -0.10549427
+v 0.13920177 0.02637774 0.11096879
+v 0.21254471 0.04546577 0.09607087
+v 0.18267427 0.01412993 0.02147364
+v 0.19440782 0.12873402 0.15219209
+v 0.18337425 -0.00167780 -0.08069932
+v 0.18259618 0.00594159 -0.12280670
+v 0.21101748 0.01191112 -0.11385715
+v 0.17045502 0.05739370 0.16883023
+v 0.21093701 0.13220398 0.17890805
+v 0.14501295 0.06321830 0.17578566
+v 0.15092355 0.11683969 0.16522704
+v 0.17799550 0.05231591 -0.12798509
+v 0.20935780 0.06636417 -0.11597659
+v 0.18233049 0.03043767 0.08118364
+v 0.16907142 -0.00398571 -0.05123257
+v 0.15283192 -0.00750637 -0.12541029
+v 0.20022884 0.07221729 0.18003753
+v 0.15304780 0.02993133 0.10951108
+v 0.15326781 0.01243842 0.05170658
+v 0.21356500 0.06026858 0.14116386
+f 9 5 2
+f 10 6 4
+f 12 8 2
+f 13 9 1
+f 14 5 9
+f 14 11 5
+f 15 1 9
+f 16 3 8
+f 16 12 10
+f 16 8 12
+f 17 14 7
+f 18 12 2
+f 18 2 5
+f 19 11 6
+f 19 6 10
+f 19 10 12
+f 20 5 11
+f 21 9 13
+f 21 14 9
+f 21 7 14
+f 22 8 3
+f 23 13 1
+f 23 1 8
+f 23 8 22
+f 24 4 6
+f 24 6 11
+f 24 11 14
+f 25 1 15
+f 26 9 2
+f 27 2 8
+f 27 25 15
+f 27 8 25
+f 27 26 2
+f 28 21 3
+f 28 7 21
+f 29 17 10
+f 29 10 4
+f 29 4 17
+f 30 16 10
+f 30 10 17
+f 30 17 7
+f 31 17 4
+f 31 14 17
+f 31 24 14
+f 31 4 24
+f 32 18 5
+f 32 5 12
+f 32 12 18
+f 33 19 12
+f 33 11 19
+f 33 20 11
+f 33 12 5
+f 33 5 20
+f 34 23 22
+f 35 25 8
+f 35 8 1
+f 35 1 25
+f 36 15 9
+f 36 9 26
+f 36 27 15
+f 36 26 27
+f 37 7 28
+f 37 30 7
+f 37 16 30
+f 37 28 3
+f 37 3 16
+f 38 21 13
+f 38 13 34
+f 38 3 21
+f 39 34 13
+f 39 13 23
+f 39 23 34
+f 40 34 22
+f 40 22 3
+f 40 38 34
+f 40 3 38
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_7/collision/model_normalized_collision_13.obj b/objects/objaverse/bar/bar_7/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aa4eb2e730106d69c7658f282a8371f4eb655cf8
--- /dev/null
+++ b/objects/objaverse/bar/bar_7/collision/model_normalized_collision_13.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.30942185 0.05885409 0.02543434
+v 0.45116315 0.14722479 0.04517479
+v 0.30631976 0.06890144 0.06868385
+v 0.31560521 0.14485967 0.07510341
+v 0.31428210 0.13388686 0.02925629
+v 0.44916205 0.15375734 0.07352851
+v 0.37906298 0.08356532 0.02223601
+v 0.34543224 0.14337001 0.03204088
+v 0.35064707 0.07153207 0.02189157
+v 0.44286159 0.14377031 0.06880930
+v 0.38016462 0.14309254 0.02815939
+v 0.36231048 0.08902603 0.06609100
+v 0.32002798 0.07303867 0.06755112
+v 0.44479444 0.13714264 0.04004655
+v 0.37529759 0.09054129 0.04981055
+v 0.34935977 0.07506399 0.03618558
+f 5 1 3
+f 5 3 4
+f 6 4 3
+f 8 5 4
+f 8 4 6
+f 9 1 5
+f 10 2 6
+f 11 5 8
+f 11 9 5
+f 11 7 9
+f 11 8 6
+f 11 6 2
+f 12 10 6
+f 12 6 3
+f 13 3 1
+f 13 1 9
+f 13 12 3
+f 14 10 7
+f 14 2 10
+f 14 11 2
+f 14 7 11
+f 15 12 7
+f 15 7 10
+f 15 10 12
+f 16 13 9
+f 16 12 13
+f 16 9 7
+f 16 7 12
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_7/collision/model_normalized_collision_14.obj b/objects/objaverse/bar/bar_7/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..56b6904b4f7f93f7110006ff8a0083ff1b4644f1
--- /dev/null
+++ b/objects/objaverse/bar/bar_7/collision/model_normalized_collision_14.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v 0.30569100 0.03960493 -0.05096637
+v 0.38183733 0.07730677 -0.09312433
+v 0.37906298 0.08356532 0.02223601
+v 0.31428210 0.13388686 0.02925629
+v 0.31089678 0.09324668 -0.10881651
+v 0.38498733 0.14135536 0.02665337
+v 0.30489864 0.05605233 0.02145840
+v 0.38080856 0.06854770 -0.08655119
+v 0.38627152 0.12101009 -0.09654012
+v 0.34925304 0.05925596 -0.02304661
+v 0.30749696 0.07284771 -0.10977638
+v 0.31452695 0.10078228 -0.10146502
+v 0.38479201 0.12954467 -0.06196028
+v 0.36359883 0.07583616 0.02049881
+v 0.37757200 0.07385254 -0.00871882
+v 0.31912779 0.04413751 -0.05158354
+v 0.30586315 0.03868049 -0.09138601
+v 0.32199494 0.07327389 -0.10685908
+v 0.32505339 0.09572163 -0.10787646
+v 0.36045611 0.11357089 -0.10037652
+v 0.31893000 0.04326792 -0.09044671
+v 0.30768480 0.04595960 -0.10158991
+v 0.33171440 0.12632073 -0.02985724
+v 0.33370981 0.05300502 -0.09599238
+v 0.37320194 0.12840386 -0.06094766
+v 0.31603862 0.12808776 0.00006720
+f 6 4 3
+f 7 3 4
+f 8 6 3
+f 9 8 2
+f 9 6 8
+f 10 7 1
+f 11 7 4
+f 11 4 5
+f 12 5 4
+f 13 6 9
+f 14 3 7
+f 14 7 10
+f 15 10 8
+f 15 8 3
+f 15 14 10
+f 15 3 14
+f 16 10 1
+f 16 8 10
+f 17 1 7
+f 17 7 11
+f 17 16 1
+f 18 9 2
+f 19 11 5
+f 19 18 11
+f 19 9 18
+f 20 5 12
+f 20 19 5
+f 20 9 19
+f 21 8 16
+f 21 16 17
+f 22 17 11
+f 22 11 18
+f 22 18 2
+f 22 21 17
+f 23 20 12
+f 24 22 2
+f 24 2 8
+f 24 8 21
+f 24 21 22
+f 25 13 9
+f 25 9 20
+f 25 20 23
+f 25 23 4
+f 25 4 6
+f 25 6 13
+f 26 23 12
+f 26 12 4
+f 26 4 23
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_7/collision/model_normalized_collision_15.obj b/objects/objaverse/bar/bar_7/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a873691e492a970a13f4fa556dfbc399682c511d
--- /dev/null
+++ b/objects/objaverse/bar/bar_7/collision/model_normalized_collision_15.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v -0.03232221 -0.04016233 0.06309449
+v 0.01023375 -0.02890682 0.05919723
+v 0.00495645 0.00896805 0.14810107
+v -0.03058652 0.05534012 0.13522665
+v -0.05903277 0.02979090 0.05314245
+v 0.01180374 0.05615676 0.07541392
+v -0.05446501 -0.01150158 0.13859471
+v 0.00313286 -0.01944575 0.09554793
+v 0.01274274 0.06037524 0.15033138
+v -0.03209445 0.05091796 0.10686698
+v 0.00886185 0.05092329 0.05806545
+v -0.05573627 -0.03944443 0.08299389
+v -0.04761126 0.04488193 0.13696830
+v 0.00417306 -0.02358601 0.08337067
+v 0.00272088 -0.00097177 0.13654453
+v -0.03713661 0.00083061 0.14493010
+v -0.04718932 0.03550197 0.06160287
+v -0.05626827 -0.02183520 0.12517425
+v -0.00091042 0.05654245 0.14778785
+v -0.04142207 -0.03630150 0.08190483
+v -0.03380346 0.03590897 0.14586926
+v -0.05682346 -0.03475672 0.09561408
+v -0.02792724 -0.01545118 0.12350455
+v -0.04255694 -0.03170092 0.09462562
+f 5 2 1
+f 9 3 2
+f 9 2 6
+f 9 6 4
+f 10 5 4
+f 10 4 6
+f 11 6 2
+f 11 2 5
+f 12 5 1
+f 13 4 5
+f 13 5 7
+f 14 1 2
+f 14 2 8
+f 15 8 2
+f 15 2 3
+f 15 3 7
+f 16 7 3
+f 16 3 9
+f 17 10 6
+f 17 5 10
+f 17 11 5
+f 17 6 11
+f 18 7 5
+f 18 15 7
+f 19 9 4
+f 19 4 13
+f 20 12 1
+f 20 1 14
+f 20 14 8
+f 21 13 7
+f 21 7 16
+f 21 19 13
+f 21 16 9
+f 21 9 19
+f 22 18 5
+f 22 5 12
+f 23 8 15
+f 23 15 18
+f 24 20 8
+f 24 8 23
+f 24 23 18
+f 24 18 22
+f 24 22 12
+f 24 12 20
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_7/collision/model_normalized_collision_16.obj b/objects/objaverse/bar/bar_7/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..60bd5ec3682d649ebb4fb639a5196a05b7dbf071
--- /dev/null
+++ b/objects/objaverse/bar/bar_7/collision/model_normalized_collision_16.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v -0.15968811 -0.09346361 -0.00438423
+v -0.10332139 -0.07948202 -0.00725252
+v -0.09315057 -0.04300882 0.09618351
+v -0.16656103 0.00526977 0.08033488
+v -0.15690305 -0.01264032 -0.00203910
+v -0.16279173 -0.06653406 0.08135661
+v -0.09419909 0.01010727 0.01568281
+v -0.16298517 -0.07894634 0.05043687
+v -0.09696555 0.00479227 -0.00259486
+v -0.09697172 0.01980111 0.05833023
+v -0.10411356 -0.07663135 0.00695182
+v -0.14881700 -0.07592637 0.04957850
+v -0.09612492 0.01685892 0.04400952
+v -0.10310763 -0.06370563 0.05039037
+v -0.10829309 0.00640221 0.01676626
+v -0.11846449 -0.06231122 0.06436050
+f 5 2 1
+f 5 1 4
+f 6 3 4
+f 7 3 2
+f 8 6 4
+f 8 4 1
+f 9 7 2
+f 9 2 5
+f 10 4 3
+f 10 3 7
+f 11 1 2
+f 11 2 3
+f 12 6 8
+f 12 8 1
+f 12 1 11
+f 13 5 4
+f 13 7 9
+f 13 10 7
+f 13 4 10
+f 14 12 11
+f 14 11 3
+f 15 13 9
+f 15 9 5
+f 15 5 13
+f 16 14 3
+f 16 12 14
+f 16 3 6
+f 16 6 12
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_7/collision/model_normalized_collision_17.obj b/objects/objaverse/bar/bar_7/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..08ccf2fa2fd777ba70b32cfad5f3059a0e3493fe
--- /dev/null
+++ b/objects/objaverse/bar/bar_7/collision/model_normalized_collision_17.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.48390896 -0.14282753 0.00623089
+v -0.44025992 -0.12344506 -0.00058467
+v -0.44596658 -0.11135900 0.09632407
+v -0.44565681 -0.10138569 0.09364901
+v -0.49522991 -0.12659113 0.05986887
+v -0.43879346 -0.10452638 0.06000551
+v -0.44811055 -0.13666265 -0.00500671
+v -0.48306744 -0.13680663 0.00329167
+v -0.49587406 -0.12525623 0.09067562
+v -0.49727591 -0.12047445 0.08951304
+v -0.46663262 -0.14117267 -0.00765158
+v -0.48957601 -0.13680373 0.03778130
+v -0.47097316 -0.11191001 0.09340679
+v -0.48211705 -0.14286462 0.00392281
+f 6 3 2
+f 6 4 3
+f 7 2 3
+f 8 1 5
+f 8 6 2
+f 8 5 6
+f 10 6 5
+f 10 4 6
+f 10 5 9
+f 11 8 2
+f 11 2 7
+f 12 9 5
+f 12 5 1
+f 12 1 7
+f 12 7 3
+f 12 3 9
+f 13 10 9
+f 13 9 3
+f 13 3 4
+f 13 4 10
+f 14 11 7
+f 14 7 1
+f 14 1 8
+f 14 8 11
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_7/collision/model_normalized_collision_18.obj b/objects/objaverse/bar/bar_7/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3928c60136d45a59db0b2994d109126df5c9a473
--- /dev/null
+++ b/objects/objaverse/bar/bar_7/collision/model_normalized_collision_18.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v -0.28391771 -0.14147321 -0.08350027
+v -0.41680580 -0.14135387 -0.05159193
+v -0.30975415 -0.05353687 0.01200228
+v -0.27674597 -0.04730567 -0.00154414
+v -0.27613252 -0.11383951 0.01661069
+v -0.35916345 -0.13827339 0.00676928
+v -0.27565835 -0.06545992 -0.07786677
+v -0.28513028 -0.12365693 -0.00873779
+v -0.39963797 -0.14834621 -0.08070901
+v -0.40768808 -0.09113232 0.01549497
+v -0.29026439 -0.06842531 -0.07521694
+v -0.27583363 -0.05072752 -0.01529457
+v -0.38489463 -0.13921686 0.00821744
+v -0.35179889 -0.06517007 0.01483584
+v -0.37897626 -0.09624489 -0.07491163
+v -0.41363472 -0.13808643 -0.02138511
+v -0.41458503 -0.13323635 0.00990969
+v -0.39314897 -0.07960520 0.01607238
+v -0.35023990 -0.08573819 -0.07447779
+v -0.38930935 -0.10595395 -0.07466149
+v -0.37862042 -0.08475642 -0.02852741
+v -0.40288916 -0.10926734 -0.04342929
+f 5 4 3
+f 7 5 1
+f 8 1 5
+f 8 6 1
+f 8 5 6
+f 9 1 6
+f 9 7 1
+f 11 3 4
+f 11 4 7
+f 12 7 4
+f 12 4 5
+f 12 5 7
+f 13 9 6
+f 13 6 5
+f 14 5 3
+f 15 7 9
+f 16 2 9
+f 16 9 13
+f 17 13 5
+f 17 5 10
+f 17 16 13
+f 17 10 2
+f 17 2 16
+f 18 10 5
+f 18 5 14
+f 18 15 10
+f 19 14 3
+f 19 3 11
+f 19 11 7
+f 19 7 15
+f 20 15 9
+f 20 9 2
+f 20 10 15
+f 21 18 14
+f 21 14 19
+f 21 19 15
+f 21 15 18
+f 22 20 2
+f 22 2 10
+f 22 10 20
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_7/collision/model_normalized_collision_19.obj b/objects/objaverse/bar/bar_7/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..36469baad9248764fdc13e41c170ec3dfcd69519
--- /dev/null
+++ b/objects/objaverse/bar/bar_7/collision/model_normalized_collision_19.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v -0.28487284 -0.15715410 -0.15745027
+v -0.23114704 -0.08220945 -0.19120554
+v -0.24063348 -0.13730901 -0.11428594
+v -0.23008047 -0.01481878 0.10760661
+v -0.27491327 -0.03871606 0.03092485
+v -0.28168562 -0.08602112 0.10456904
+v -0.24269919 -0.14043941 -0.18779527
+v -0.28054788 -0.10174115 -0.20290778
+v -0.23087960 -0.01871673 0.06004677
+v -0.28413808 -0.11018282 0.03727178
+v -0.23867548 -0.07815417 0.10375480
+v -0.27413155 -0.03339138 0.10477702
+v -0.27068590 -0.15310991 -0.15791100
+v -0.27441873 -0.07039881 -0.10566806
+v -0.28640858 -0.15772131 -0.19028795
+v -0.25413671 -0.12259881 -0.19805119
+v -0.25985856 -0.02326059 0.07629395
+v -0.23028042 -0.05089173 -0.07615832
+v -0.28391771 -0.14147321 -0.08350027
+v -0.28398876 -0.09732655 0.08305868
+v -0.23976109 -0.09133385 0.06573297
+v -0.27686395 -0.09466516 -0.19443893
+v -0.27246751 -0.15347379 -0.18815828
+v -0.25256359 -0.09655991 -0.19982821
+v -0.28363890 -0.13836728 -0.20146693
+v -0.25709973 -0.02181596 0.10120919
+v -0.26955475 -0.13817260 -0.08403474
+v -0.26961592 -0.10696493 0.03652801
+v -0.26962815 -0.09397049 0.08191256
+v -0.24553674 -0.08482229 -0.19000588
+v -0.26976817 -0.13596842 -0.19866297
+v -0.25930754 -0.08585229 -0.18081898
+f 3 2 4
+f 7 2 3
+f 11 3 4
+f 11 4 6
+f 12 6 4
+f 13 7 3
+f 13 3 1
+f 15 1 10
+f 15 13 1
+f 16 2 7
+f 17 4 9
+f 17 5 12
+f 17 14 5
+f 17 9 14
+f 18 9 4
+f 18 4 2
+f 18 14 9
+f 19 10 1
+f 20 5 8
+f 20 15 10
+f 20 8 15
+f 20 12 5
+f 20 6 12
+f 20 11 6
+f 21 3 11
+f 22 8 5
+f 22 5 14
+f 22 2 8
+f 23 15 7
+f 23 7 13
+f 23 13 15
+f 24 8 2
+f 24 2 16
+f 25 15 8
+f 25 24 16
+f 25 8 24
+f 25 7 15
+f 26 17 12
+f 26 12 4
+f 26 4 17
+f 27 19 1
+f 27 1 3
+f 27 3 21
+f 28 21 20
+f 28 20 10
+f 28 27 21
+f 28 10 19
+f 28 19 27
+f 29 21 11
+f 29 11 20
+f 29 20 21
+f 30 18 2
+f 30 2 22
+f 31 25 16
+f 31 16 7
+f 31 7 25
+f 32 30 22
+f 32 22 14
+f 32 14 18
+f 32 18 30
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_7/collision/model_normalized_collision_2.obj b/objects/objaverse/bar/bar_7/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..667c5ca6e63e7526f355471bdb365a4c7a1d23cd
--- /dev/null
+++ b/objects/objaverse/bar/bar_7/collision/model_normalized_collision_2.obj
@@ -0,0 +1,105 @@
+# https://github.com/mikedh/trimesh
+v 0.26492464 0.05609459 0.07172060
+v 0.45719181 0.14800605 0.06780397
+v 0.34607141 0.11978297 0.20112041
+v 0.41854904 0.18156437 0.23870566
+v 0.26937496 0.13154036 0.07621998
+v 0.42732899 0.17744083 0.22458657
+v 0.35046709 0.08423522 0.06815953
+v 0.32916475 0.15876088 0.12053641
+v 0.26510129 0.09572291 0.19222840
+v 0.44714798 0.16355360 0.14372242
+v 0.42106532 0.17917500 0.23714994
+v 0.31974433 0.10603614 0.18769462
+v 0.37755876 0.09823678 0.06714288
+v 0.30166485 0.14084166 0.07592666
+v 0.25980120 0.07127632 0.12783354
+v 0.28592358 0.16184222 0.18584433
+v 0.43504080 0.17606436 0.18301053
+v 0.42509497 0.17878965 0.23200527
+v 0.35042370 0.12678408 0.20854327
+v 0.34765976 0.09101496 0.09646847
+v 0.30631976 0.06890144 0.06868385
+v 0.29228618 0.10366835 0.19710231
+v 0.45624734 0.15122849 0.08217058
+v 0.45834955 0.15637058 0.07338230
+v 0.27228112 0.14905067 0.19293364
+v 0.26087653 0.08482362 0.17354589
+v 0.28567646 0.15858612 0.16709421
+v 0.31525318 0.15993974 0.13664053
+v 0.43369972 0.17676630 0.18750622
+v 0.36230072 0.14978736 0.22166251
+v 0.45057379 0.15975823 0.12401868
+v 0.44431181 0.16884656 0.14222056
+v 0.27049087 0.14327415 0.12179203
+v 0.39348195 0.17514022 0.23156031
+v 0.45352205 0.16120257 0.09975467
+v 0.41756156 0.18123658 0.23854814
+f 10 6 3
+f 13 5 2
+f 13 10 3
+f 13 3 7
+f 14 2 5
+f 15 5 1
+f 17 6 10
+f 18 4 11
+f 18 6 17
+f 18 11 3
+f 18 3 6
+f 19 3 11
+f 20 12 7
+f 20 7 3
+f 20 3 12
+f 21 12 1
+f 21 7 12
+f 21 13 7
+f 21 1 5
+f 21 5 13
+f 22 12 3
+f 22 3 19
+f 22 19 11
+f 22 11 4
+f 23 13 2
+f 24 14 8
+f 24 2 14
+f 24 23 2
+f 26 9 25
+f 26 5 15
+f 26 22 9
+f 26 12 22
+f 26 15 1
+f 26 1 12
+f 28 16 4
+f 28 27 16
+f 28 8 14
+f 29 18 17
+f 29 4 18
+f 29 28 4
+f 29 17 8
+f 29 8 28
+f 30 9 22
+f 31 10 13
+f 31 13 23
+f 31 24 10
+f 31 23 24
+f 32 8 17
+f 32 17 10
+f 33 25 16
+f 33 26 25
+f 33 5 26
+f 33 16 27
+f 33 27 28
+f 33 28 14
+f 33 14 5
+f 34 25 9
+f 35 32 10
+f 35 10 24
+f 35 24 8
+f 35 8 32
+f 36 25 34
+f 36 4 16
+f 36 16 25
+f 36 30 22
+f 36 22 4
+f 36 34 9
+f 36 9 30
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_7/collision/model_normalized_collision_20.obj b/objects/objaverse/bar/bar_7/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5c2822f744837c2e230ddf0cbbc77d5d5dc95078
--- /dev/null
+++ b/objects/objaverse/bar/bar_7/collision/model_normalized_collision_20.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v 0.21453871 0.02519688 0.02205372
+v 0.25971908 0.03527069 -0.11115156
+v 0.26510129 0.09572291 0.19222840
+v 0.26910333 0.15351687 0.18612114
+v 0.22331525 0.07001709 -0.11518789
+v 0.26926099 0.08667565 -0.10527938
+v 0.21757043 0.08006696 0.18447540
+v 0.25929695 0.02868027 -0.02247281
+v 0.21558520 0.01640655 -0.11585123
+v 0.26897420 0.14228254 0.19396290
+v 0.24046988 0.14200148 0.15232311
+v 0.26554748 0.08005312 -0.11413223
+v 0.21468951 0.05588454 0.12705246
+v 0.25889078 0.02619717 -0.10147398
+v 0.26954635 0.14649659 0.13615862
+v 0.23521969 0.09331745 0.19008814
+v 0.22483642 0.13536456 0.18207249
+v 0.23992723 0.09682059 -0.03999190
+v 0.21514608 0.07083165 0.17160232
+v 0.26100923 0.08836584 0.18328932
+v 0.24259865 0.02449714 -0.10975407
+v 0.24255422 0.14656532 0.17905847
+v 0.25484307 0.14119230 0.19038645
+v 0.23949172 0.12600979 0.19062923
+v 0.22551273 0.12649706 0.10703643
+v 0.25503803 0.08303775 -0.10398745
+v 0.25863117 0.04412671 0.03591254
+v 0.22934540 0.07436657 0.17014293
+v 0.22526441 0.08191221 -0.07503431
+v 0.24362006 0.03012620 0.00586695
+v 0.24287936 0.06064347 0.11135323
+v 0.25866502 0.07508668 0.14153694
+v 0.22826968 0.06012335 0.12631618
+f 8 6 3
+f 9 8 1
+f 10 3 6
+f 12 6 2
+f 12 5 6
+f 12 9 5
+f 12 2 9
+f 13 9 1
+f 14 2 6
+f 14 6 8
+f 14 8 9
+f 15 10 6
+f 15 4 10
+f 16 7 3
+f 16 3 10
+f 18 15 6
+f 18 11 15
+f 19 7 17
+f 19 5 9
+f 19 9 13
+f 20 3 7
+f 20 7 19
+f 21 14 9
+f 21 9 2
+f 21 2 14
+f 22 15 11
+f 22 4 15
+f 22 17 4
+f 22 11 17
+f 23 10 4
+f 23 4 17
+f 24 17 7
+f 24 7 16
+f 24 23 17
+f 24 16 10
+f 24 10 23
+f 25 17 11
+f 25 19 17
+f 25 5 19
+f 25 11 18
+f 26 18 6
+f 26 6 5
+f 26 5 18
+f 27 8 3
+f 27 3 20
+f 28 20 19
+f 28 19 13
+f 28 13 20
+f 29 25 18
+f 29 18 5
+f 29 5 25
+f 30 1 8
+f 30 8 27
+f 31 30 27
+f 32 31 27
+f 32 27 20
+f 32 20 31
+f 33 31 20
+f 33 20 13
+f 33 13 1
+f 33 1 30
+f 33 30 31
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_7/collision/model_normalized_collision_21.obj b/objects/objaverse/bar/bar_7/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e4629426e757e02333d6d3dcdd28cc8b1ec9174d
--- /dev/null
+++ b/objects/objaverse/bar/bar_7/collision/model_normalized_collision_21.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v -0.23509734 -0.11017185 -0.00414436
+v -0.16284823 -0.09474435 -0.00717324
+v -0.16192191 -0.04916839 0.11771063
+v -0.15481379 0.01386897 0.11526577
+v -0.15690305 -0.01264032 -0.00203910
+v -0.15566326 0.00443920 0.12387671
+v -0.23872458 -0.08132981 0.09628039
+v -0.23107940 -0.03353350 -0.00000088
+v -0.15512464 -0.00392132 0.03048428
+v -0.17838724 -0.09146339 0.02118021
+v -0.23480956 -0.05953078 0.11688983
+v -0.23846988 -0.09531288 0.05200392
+v -0.16893975 0.00736680 0.09145982
+v -0.16921300 -0.00763224 0.03155884
+v -0.16343236 -0.09182174 0.00698255
+v -0.16424901 -0.06169044 0.09462892
+v -0.23008047 -0.01481878 0.10760661
+v -0.15496772 0.01118393 0.09044697
+v -0.22481641 -0.07783755 0.09578215
+v -0.17873326 -0.07712482 0.06465357
+v -0.23015743 -0.02588358 0.11393312
+v -0.21326975 -0.00518856 0.10604573
+v -0.21429638 -0.01418929 0.11430412
+v -0.21392081 -0.00965023 0.07676520
+v -0.22874751 -0.02566302 0.03044740
+f 6 3 2
+f 8 5 2
+f 8 2 1
+f 9 2 5
+f 9 6 2
+f 9 4 6
+f 11 7 3
+f 11 3 6
+f 12 8 1
+f 12 7 8
+f 12 10 7
+f 12 1 10
+f 14 9 5
+f 14 5 8
+f 14 8 13
+f 15 10 1
+f 15 1 2
+f 15 2 3
+f 16 15 3
+f 17 6 4
+f 17 8 7
+f 17 7 11
+f 18 13 4
+f 18 4 9
+f 18 14 13
+f 18 9 14
+f 19 16 3
+f 19 3 7
+f 20 10 15
+f 20 15 16
+f 20 16 19
+f 20 19 7
+f 20 7 10
+f 21 17 11
+f 21 11 6
+f 22 17 4
+f 22 4 13
+f 23 21 6
+f 23 6 17
+f 23 17 21
+f 24 22 13
+f 24 13 8
+f 24 17 22
+f 25 24 8
+f 25 8 17
+f 25 17 24
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_7/collision/model_normalized_collision_22.obj b/objects/objaverse/bar/bar_7/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..08b5e74ebd6c8fff67e7df61ef56b7d6c7b98099
--- /dev/null
+++ b/objects/objaverse/bar/bar_7/collision/model_normalized_collision_22.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v -0.15962223 -0.06375013 0.08623207
+v -0.05573627 -0.03944443 0.08299389
+v -0.05446501 -0.01150158 0.13859471
+v -0.04761126 0.04488193 0.13696830
+v -0.04907831 0.04194686 0.09033607
+v -0.15991296 -0.04360013 0.12346756
+v -0.05626827 -0.02183520 0.12517425
+v -0.10200452 -0.05121387 0.08110724
+v -0.14301471 -0.02888700 0.12970582
+v -0.15496772 0.01118393 0.09044697
+v -0.05682346 -0.03475672 0.09561408
+v -0.16198134 -0.05373991 0.11086193
+v -0.15214734 0.01175468 0.11863995
+v -0.07711397 0.03958649 0.12749436
+v -0.13342992 -0.04740306 0.10992271
+v -0.07073954 -0.02050230 0.13246480
+v -0.13870027 0.00448385 0.12851013
+v -0.07795982 0.03728189 0.10640451
+v -0.12206201 0.02505901 0.12056341
+v -0.08808596 -0.03084452 0.12235833
+v -0.12276911 0.01570944 0.12946065
+v -0.12322870 0.02076904 0.09160749
+f 3 2 4
+f 5 4 2
+f 7 2 3
+f 8 5 2
+f 8 2 1
+f 9 6 3
+f 9 3 4
+f 10 8 1
+f 10 5 8
+f 11 1 2
+f 11 2 7
+f 12 10 1
+f 12 6 10
+f 13 10 6
+f 14 4 5
+f 15 11 7
+f 15 12 1
+f 15 1 11
+f 16 7 3
+f 16 3 6
+f 16 6 12
+f 17 13 6
+f 17 6 9
+f 17 9 4
+f 18 14 5
+f 19 4 14
+f 19 10 13
+f 19 18 10
+f 19 14 18
+f 20 15 7
+f 20 12 15
+f 20 16 12
+f 20 7 16
+f 21 17 4
+f 21 13 17
+f 21 19 13
+f 21 4 19
+f 22 18 5
+f 22 5 10
+f 22 10 18
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_7/collision/model_normalized_collision_23.obj b/objects/objaverse/bar/bar_7/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae16661d64fcba082775c132ebef1a1917a6dd6b
--- /dev/null
+++ b/objects/objaverse/bar/bar_7/collision/model_normalized_collision_23.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v -0.19159821 -0.10091220 -0.00620174
+v -0.06861324 -0.07953512 -0.07984816
+v -0.15980880 -0.10870818 -0.09523697
+v -0.09943332 -0.07778201 -0.00450797
+v -0.18570489 -0.09823884 0.00000230
+v -0.08883957 -0.07801487 -0.02206174
+v -0.14857624 -0.09156571 -0.00784510
+v -0.06969316 -0.07607157 -0.04985117
+v -0.19000228 -0.10892268 -0.04969579
+v -0.10332139 -0.07948202 -0.00725252
+v -0.08473621 -0.07637822 -0.01988175
+v -0.09974584 -0.09177623 -0.09561240
+v -0.11753941 -0.09726793 -0.09755267
+f 1 2 3
+f 5 2 1
+f 7 5 1
+f 7 4 5
+f 8 5 4
+f 8 2 5
+f 9 7 1
+f 9 1 3
+f 9 3 7
+f 10 4 7
+f 10 7 3
+f 10 3 6
+f 11 8 4
+f 11 6 8
+f 11 10 6
+f 11 4 10
+f 12 8 6
+f 12 3 2
+f 12 2 8
+f 13 12 6
+f 13 6 3
+f 13 3 12
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_7/collision/model_normalized_collision_24.obj b/objects/objaverse/bar/bar_7/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dddc1dd5a66279b81e98215efaf877d74c3e8426
--- /dev/null
+++ b/objects/objaverse/bar/bar_7/collision/model_normalized_collision_24.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.18570489 -0.09823884 0.00000230
+v -0.09576826 -0.09013236 -0.09311085
+v -0.09943332 -0.07778201 -0.00450797
+v -0.09696555 0.00479227 -0.00259486
+v -0.19872506 -0.04915351 -0.10240385
+v -0.09437892 -0.00387963 -0.04619677
+v -0.13901040 -0.00684117 0.00023878
+v -0.09572791 -0.01443786 -0.09277503
+v -0.18509299 -0.02025047 0.00054982
+v -0.18351331 -0.04008316 -0.09051916
+f 1 2 3
+f 5 2 1
+f 6 3 2
+f 6 4 3
+f 7 1 3
+f 7 3 4
+f 7 4 6
+f 8 6 2
+f 8 2 5
+f 9 5 1
+f 9 1 7
+f 9 7 6
+f 9 6 8
+f 10 9 8
+f 10 8 5
+f 10 5 9
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_7/collision/model_normalized_collision_25.obj b/objects/objaverse/bar/bar_7/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d84fb36a495d9f79875486d8dcd72b4dc0d1f978
--- /dev/null
+++ b/objects/objaverse/bar/bar_7/collision/model_normalized_collision_25.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.12405838 -0.00485054 0.02271052
+v 0.17337557 -0.00243544 -0.04963560
+v 0.17277896 -0.00068063 -0.03483260
+v 0.14185995 0.00122801 0.02484961
+v 0.12873964 -0.02017321 -0.09477977
+v 0.13778667 -0.00085662 0.02162935
+v 0.12807259 -0.00282563 0.02582463
+v 0.14686107 -0.01438442 -0.09397700
+v 0.16848482 -0.00233604 -0.03669670
+v 0.16907142 -0.00398571 -0.05123257
+v 0.14252247 -0.01586141 -0.09514903
+f 3 2 4
+f 6 1 3
+f 6 3 4
+f 7 5 1
+f 7 6 4
+f 7 1 6
+f 8 4 2
+f 9 2 3
+f 9 3 1
+f 9 1 5
+f 10 8 2
+f 10 9 5
+f 10 2 9
+f 11 5 7
+f 11 7 4
+f 11 4 8
+f 11 10 5
+f 11 8 10
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_7/collision/model_normalized_collision_26.obj b/objects/objaverse/bar/bar_7/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d50c102f0b0bcdc88874813d04d1d3d6c864b842
--- /dev/null
+++ b/objects/objaverse/bar/bar_7/collision/model_normalized_collision_26.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.07874159 -0.03597971 -0.09620929
+v 0.13939345 -0.01176446 -0.12737072
+v 0.13821124 -0.01732820 -0.09636539
+v 0.14448783 0.05356223 -0.09431709
+v 0.08774171 0.02232199 -0.14232257
+v 0.14692336 0.04240702 -0.13319077
+v 0.09151051 -0.03152523 -0.09183588
+v 0.07851677 -0.03718615 -0.12380689
+v 0.08456027 0.03610049 -0.09376190
+v 0.11850811 0.03653053 -0.13123345
+v 0.08128198 -0.00369803 -0.14555048
+v 0.13739861 -0.01664672 -0.12047687
+v 0.09255723 -0.03168414 -0.09657211
+v 0.10245875 0.04189638 -0.09151354
+v 0.07770378 -0.02607889 -0.14070729
+v 0.13263933 0.03967286 -0.13192870
+v 0.10431458 0.03550455 -0.12010061
+v 0.12452645 -0.00090941 -0.13661394
+v 0.12877967 0.03233582 -0.13836017
+v 0.12163281 -0.01837152 -0.12848221
+v 0.09198836 -0.03265792 -0.12161922
+f 6 3 2
+f 6 4 3
+f 7 3 4
+f 9 1 7
+f 11 9 5
+f 12 2 3
+f 13 8 3
+f 13 1 8
+f 13 7 1
+f 13 3 7
+f 14 9 7
+f 14 7 4
+f 14 4 9
+f 15 8 1
+f 15 1 9
+f 15 9 11
+f 16 6 5
+f 16 5 10
+f 16 10 4
+f 16 4 6
+f 17 9 4
+f 17 4 10
+f 17 10 5
+f 17 5 9
+f 18 6 2
+f 18 15 11
+f 18 2 15
+f 19 11 5
+f 19 5 6
+f 19 18 11
+f 19 6 18
+f 20 12 8
+f 20 2 12
+f 20 15 2
+f 20 8 15
+f 21 12 3
+f 21 3 8
+f 21 8 12
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_7/collision/model_normalized_collision_27.obj b/objects/objaverse/bar/bar_7/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..538d9b3c5665881abed6ab05c12c2c6470eb6d96
--- /dev/null
+++ b/objects/objaverse/bar/bar_7/collision/model_normalized_collision_27.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v -0.30299009 -0.12416827 0.00536394
+v -0.27498601 -0.11775077 0.00272159
+v -0.28168562 -0.08602112 0.10456904
+v -0.30464017 -0.03455229 0.09114006
+v -0.27674597 -0.04730567 -0.00154414
+v -0.31336169 -0.10007340 0.09564058
+v -0.30462120 -0.05537980 0.00003612
+v -0.27413155 -0.03339138 0.10477702
+v -0.31519018 -0.10973274 0.06765547
+v -0.28512438 -0.09330646 0.09555320
+v -0.30483158 -0.04002718 0.06154431
+v -0.27585779 -0.03549360 0.04529146
+v -0.31092665 -0.08968297 0.10330798
+v -0.31110354 -0.12462586 0.01071099
+v -0.30598829 -0.04306958 0.09989789
+v -0.28495856 -0.10655689 0.05100496
+v -0.28987274 -0.03937134 0.04623593
+f 7 5 2
+f 7 2 1
+f 8 3 2
+f 8 2 5
+f 9 1 2
+f 10 2 3
+f 10 3 6
+f 10 6 9
+f 11 5 7
+f 11 9 4
+f 11 7 9
+f 12 8 5
+f 12 4 8
+f 12 11 4
+f 13 6 3
+f 13 3 8
+f 14 9 7
+f 14 7 1
+f 14 1 9
+f 15 9 6
+f 15 4 9
+f 15 6 13
+f 15 13 8
+f 15 8 4
+f 16 10 9
+f 16 9 2
+f 16 2 10
+f 17 12 5
+f 17 5 11
+f 17 11 12
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_7/collision/model_normalized_collision_28.obj b/objects/objaverse/bar/bar_7/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9cb9f52102ba5b2b2924ed60ea4f94ee6d167302
--- /dev/null
+++ b/objects/objaverse/bar/bar_7/collision/model_normalized_collision_28.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v -0.41540168 -0.12153202 0.08622556
+v -0.41035473 -0.11784838 -0.04629488
+v -0.40768808 -0.09113232 0.01549497
+v -0.41117241 -0.07537489 0.07977933
+v -0.45123980 -0.12638208 0.03754951
+v -0.41279812 -0.12669530 0.05472529
+v -0.44810783 -0.10958040 0.09690660
+v -0.44773899 -0.13914417 -0.04990603
+v -0.40920599 -0.07447503 0.05992531
+v -0.44791712 -0.11479287 0.08457974
+v -0.41735189 -0.11281789 0.09420180
+v -0.41668105 -0.14103156 -0.04938052
+v -0.43934642 -0.09702654 0.09185031
+v -0.42140016 -0.08043508 0.07843339
+v -0.41607190 -0.08600618 0.08702935
+v -0.41840542 -0.08141806 0.06250011
+f 6 2 3
+f 6 1 5
+f 8 3 2
+f 8 6 5
+f 9 6 3
+f 9 4 1
+f 9 1 6
+f 9 3 8
+f 10 7 5
+f 10 5 1
+f 10 1 7
+f 11 7 1
+f 11 1 4
+f 12 8 2
+f 12 2 6
+f 12 6 8
+f 13 8 5
+f 13 5 7
+f 14 8 13
+f 14 13 4
+f 14 4 9
+f 15 11 4
+f 15 4 13
+f 15 13 7
+f 15 7 11
+f 16 14 9
+f 16 9 8
+f 16 8 14
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_7/collision/model_normalized_collision_29.obj b/objects/objaverse/bar/bar_7/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0031bb8ecbce87adf114c0a121fb1b9d85374c90
--- /dev/null
+++ b/objects/objaverse/bar/bar_7/collision/model_normalized_collision_29.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.00437344 -0.03997370 0.02393449
+v 0.06814950 -0.02021617 0.02641741
+v 0.00337581 -0.03680506 0.03801810
+v 0.02064606 -0.01301886 0.09916591
+v 0.00649600 -0.01642349 0.10058648
+v 0.06592095 -0.01292948 0.05461553
+v 0.06427791 -0.02215757 0.02322522
+v 0.00313286 -0.01944575 0.09554793
+v 0.06203146 -0.01525965 0.05073510
+v 0.01831701 -0.03596795 0.02301629
+v 0.01694479 -0.01574683 0.09496499
+f 1 2 3
+f 6 5 4
+f 7 2 1
+f 7 6 2
+f 7 5 6
+f 8 5 1
+f 8 1 3
+f 8 4 5
+f 9 6 3
+f 9 3 2
+f 9 2 6
+f 10 7 1
+f 10 1 5
+f 10 5 7
+f 11 6 4
+f 11 4 8
+f 11 8 3
+f 11 3 6
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_7/collision/model_normalized_collision_3.obj b/objects/objaverse/bar/bar_7/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..072e1d2773bcce9f34a9f62ff50fa5e95a6c0cfc
--- /dev/null
+++ b/objects/objaverse/bar/bar_7/collision/model_normalized_collision_3.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v -0.23946701 -0.14174790 -0.14210752
+v -0.16490216 -0.11332058 -0.17583053
+v -0.19159821 -0.10091220 -0.00620174
+v -0.18881069 -0.02231725 -0.00337249
+v -0.23114704 -0.08220945 -0.19120554
+v -0.15454990 -0.09943261 -0.04681814
+v -0.23839005 -0.11183105 -0.00753901
+v -0.23868409 -0.13519526 -0.18986881
+v -0.15454240 -0.05145617 -0.16564185
+v -0.17979436 -0.12334476 -0.14222902
+v -0.23887457 -0.12654246 -0.06798584
+v -0.23107940 -0.03353350 -0.00000088
+v -0.16122849 -0.06674586 -0.18474681
+v -0.24018852 -0.14320873 -0.18219757
+v -0.15557637 -0.03213466 -0.09222767
+v -0.16305176 -0.09246416 -0.18333052
+v -0.22563422 -0.13753242 -0.14272171
+v -0.21185380 -0.12879681 -0.18349760
+v -0.18061687 -0.12429618 -0.16586923
+v -0.15472193 -0.03500503 -0.10676248
+v -0.22700453 -0.13836212 -0.18072580
+v -0.21459196 -0.05501590 -0.11694932
+v -0.16835068 -0.05548240 -0.16553341
+v -0.22923096 -0.06973666 -0.15077800
+f 6 4 3
+f 9 6 2
+f 10 6 1
+f 10 2 6
+f 11 6 3
+f 11 1 6
+f 11 3 7
+f 12 7 3
+f 12 3 4
+f 13 8 5
+f 13 5 9
+f 14 7 12
+f 14 12 5
+f 14 5 8
+f 14 11 7
+f 14 1 11
+f 15 4 6
+f 16 2 8
+f 16 8 13
+f 16 13 9
+f 16 9 2
+f 17 14 10
+f 17 10 1
+f 17 1 14
+f 18 14 8
+f 18 8 2
+f 19 2 10
+f 19 10 14
+f 20 15 6
+f 20 6 9
+f 20 12 4
+f 20 4 15
+f 21 18 2
+f 21 14 18
+f 21 19 14
+f 21 2 19
+f 22 20 9
+f 22 12 20
+f 23 22 9
+f 23 9 5
+f 23 5 22
+f 24 22 5
+f 24 5 12
+f 24 12 22
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_7/collision/model_normalized_collision_30.obj b/objects/objaverse/bar/bar_7/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c9df90a233355396303cd60dbbad3dfc65c89dda
--- /dev/null
+++ b/objects/objaverse/bar/bar_7/collision/model_normalized_collision_30.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.05019957 -0.04134039 -0.06538758
+v 0.07770378 -0.02607889 -0.14070729
+v 0.07803423 -0.03300164 -0.06614952
+v 0.08608270 0.04619342 -0.06247707
+v 0.05632007 0.01165598 -0.14685322
+v 0.08749729 0.02606850 -0.13576298
+v 0.05814468 0.03824621 -0.06076593
+v 0.07672055 -0.03594457 -0.13137906
+v 0.08751434 0.04119061 -0.07619265
+v 0.08370948 0.01920351 -0.14377983
+v 0.04780391 -0.04196808 -0.14194881
+v 0.05841402 0.02192906 -0.12057690
+v 0.05749323 0.03657446 -0.06763568
+v 0.06096867 -0.03755641 -0.13965187
+v 0.07331294 0.02235669 -0.13449050
+f 7 1 3
+f 7 3 4
+f 8 3 1
+f 8 6 3
+f 8 2 6
+f 9 6 4
+f 9 4 3
+f 9 3 6
+f 10 6 2
+f 10 2 5
+f 10 5 6
+f 11 8 1
+f 11 5 2
+f 13 5 11
+f 13 12 5
+f 13 7 4
+f 13 4 6
+f 13 11 1
+f 13 1 7
+f 14 11 2
+f 14 2 8
+f 14 8 11
+f 15 6 5
+f 15 5 12
+f 15 13 6
+f 15 12 13
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_7/collision/model_normalized_collision_31.obj b/objects/objaverse/bar/bar_7/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5321176c9feb7daf2488f36f6ec018706f1747c3
--- /dev/null
+++ b/objects/objaverse/bar/bar_7/collision/model_normalized_collision_31.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.26007319 0.04011811 0.02162467
+v 0.30661904 0.05935783 -0.10755079
+v 0.30631976 0.06890144 0.06868385
+v 0.31155760 0.14314947 0.07252047
+v 0.26971153 0.08254382 -0.11298943
+v 0.31452695 0.10078228 -0.10146502
+v 0.26937496 0.13154036 0.07621998
+v 0.30423801 0.04350217 -0.02257617
+v 0.26056609 0.02434567 -0.09290195
+v 0.31559598 0.13041834 0.01316758
+v 0.31089678 0.09324668 -0.10881651
+v 0.26060200 0.05369805 0.06827583
+v 0.27101292 0.11149506 -0.01477390
+v 0.28835141 0.04490221 0.00544836
+v 0.30417417 0.04161892 -0.09879940
+v 0.25971908 0.03527069 -0.11115156
+v 0.26083275 0.02375999 -0.06550705
+v 0.28619557 0.09615711 -0.08975987
+v 0.27371854 0.03827142 -0.10800270
+v 0.27453870 0.02806170 -0.06568025
+v 0.30075324 0.09695683 -0.10200118
+v 0.27462450 0.02854278 -0.09200170
+f 7 3 4
+f 8 6 3
+f 10 4 3
+f 10 3 6
+f 11 6 2
+f 11 2 5
+f 11 5 6
+f 12 1 3
+f 12 3 7
+f 13 5 7
+f 13 10 6
+f 13 7 4
+f 13 4 10
+f 14 8 3
+f 14 3 1
+f 14 1 8
+f 15 2 6
+f 15 6 8
+f 16 5 2
+f 16 15 9
+f 16 7 5
+f 16 12 7
+f 16 9 1
+f 16 1 12
+f 17 8 1
+f 17 1 9
+f 18 5 13
+f 19 16 2
+f 19 2 15
+f 19 15 16
+f 20 15 8
+f 20 8 17
+f 21 18 13
+f 21 13 6
+f 21 6 5
+f 21 5 18
+f 22 20 17
+f 22 17 9
+f 22 9 15
+f 22 15 20
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_7/collision/model_normalized_collision_4.obj b/objects/objaverse/bar/bar_7/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bfbb1d2146b122355e539b9c1d4f82d7effda182
--- /dev/null
+++ b/objects/objaverse/bar/bar_7/collision/model_normalized_collision_4.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v 0.04867175 -0.03622449 -0.02145997
+v 0.14686107 -0.01438442 -0.09397700
+v 0.13942741 0.04317860 0.15425631
+v 0.14717891 0.10913919 0.17196822
+v 0.05814468 0.03824621 -0.06076593
+v 0.14680692 0.07068131 0.17848916
+v 0.13869212 0.01209769 0.06689963
+v 0.08302820 -0.03449632 -0.09488049
+v 0.06014764 0.08611460 0.14960382
+v 0.14837617 0.05546954 -0.09113248
+v 0.12309225 -0.01647462 -0.03680473
+v 0.04856906 -0.00562074 0.09670143
+v 0.14193172 0.05189433 0.16800395
+v 0.05019957 -0.04134039 -0.06538758
+v 0.05771243 0.06608593 0.16050846
+v 0.08844883 0.03800752 -0.09057838
+v 0.12443032 -0.02163780 -0.09601992
+v 0.14842236 0.09604107 0.17669541
+v 0.14862703 0.10004306 0.09094735
+v 0.12312160 -0.00150950 0.03624024
+v 0.06261720 -0.00190656 0.09522498
+v 0.05868794 0.08134970 0.12217741
+v 0.05098110 0.02106278 0.15147744
+v 0.07763421 -0.03167605 -0.05131148
+v 0.09048862 0.08758607 0.16344969
+v 0.13219006 0.07070164 0.17564004
+v 0.10455457 0.10160096 0.15702489
+v 0.08919517 0.05087247 -0.04504915
+v 0.10800705 -0.01619202 -0.00760317
+v 0.10384567 0.09800293 0.13677226
+v 0.07902993 0.02798507 0.15338489
+v 0.06879809 0.03257489 0.15986804
+v 0.05545928 0.04048427 0.16225927
+f 11 2 7
+f 12 5 1
+f 13 3 7
+f 13 7 2
+f 13 2 6
+f 14 1 5
+f 16 5 10
+f 16 14 5
+f 16 8 14
+f 17 10 2
+f 17 16 10
+f 17 8 16
+f 17 11 8
+f 17 2 11
+f 18 6 2
+f 18 2 10
+f 19 18 10
+f 19 4 18
+f 20 11 7
+f 20 12 1
+f 20 7 12
+f 21 12 7
+f 21 7 3
+f 21 3 12
+f 22 5 12
+f 23 22 12
+f 23 15 9
+f 23 9 22
+f 24 11 1
+f 24 1 14
+f 24 14 8
+f 24 8 11
+f 25 4 9
+f 25 9 15
+f 25 18 4
+f 25 15 18
+f 26 18 15
+f 26 6 18
+f 27 9 4
+f 27 4 19
+f 27 22 9
+f 28 19 10
+f 28 10 5
+f 29 20 1
+f 29 1 11
+f 29 11 20
+f 30 5 22
+f 30 28 5
+f 30 19 28
+f 30 27 19
+f 30 22 27
+f 31 23 12
+f 31 12 3
+f 31 3 13
+f 31 13 23
+f 32 23 13
+f 32 13 6
+f 33 15 23
+f 33 23 32
+f 33 26 15
+f 33 32 6
+f 33 6 26
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_7/collision/model_normalized_collision_5.obj b/objects/objaverse/bar/bar_7/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cbc68e831ff11ac007080c1dea462622da999b7e
--- /dev/null
+++ b/objects/objaverse/bar/bar_7/collision/model_normalized_collision_5.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v 0.00286964 -0.05003190 -0.02182631
+v 0.04780391 -0.04196808 -0.14194881
+v 0.04717481 -0.00099908 0.10915325
+v 0.05673295 0.07849623 0.15519955
+v 0.00726344 -0.01038754 -0.15768983
+v 0.05098110 0.02106278 0.15147744
+v 0.04719338 -0.03095561 0.00702039
+v 0.00362825 -0.05703693 -0.14892757
+v 0.01394787 0.06985240 0.14217613
+v 0.05632007 0.01165598 -0.14685322
+v 0.00377200 -0.00602926 0.12589342
+v 0.04704472 -0.04763156 -0.11112431
+v 0.03228515 -0.03198711 0.02199817
+v 0.00328613 -0.04515374 -0.15485402
+v 0.00495645 0.00896805 0.14810107
+v 0.05747455 0.02513732 -0.10626532
+v 0.04803589 0.01243655 0.13974461
+v 0.01681702 -0.04601297 -0.02261151
+v 0.04577580 -0.04692868 -0.13564080
+v 0.01747062 -0.04394687 -0.15138727
+v 0.01274274 0.06037524 0.15033138
+v 0.01286909 0.06791292 0.12184847
+v 0.01338947 0.00509959 -0.13495885
+v 0.01784592 -0.00269777 0.12487755
+v 0.01981690 0.01031542 0.14671378
+v 0.03027290 -0.04902983 -0.14334915
+v 0.03429767 -0.01783455 -0.15327628
+v 0.05772632 0.06971137 0.07580287
+v 0.02740305 0.00593632 -0.14490357
+v 0.01352449 0.03525426 -0.01439152
+v 0.03560724 -0.00651363 -0.15359976
+f 7 6 3
+f 12 10 7
+f 12 2 10
+f 12 1 8
+f 13 7 3
+f 13 1 7
+f 13 11 1
+f 13 3 11
+f 14 8 1
+f 14 1 11
+f 15 6 4
+f 15 14 11
+f 15 5 14
+f 16 6 7
+f 16 7 10
+f 17 3 6
+f 18 12 7
+f 18 7 1
+f 18 1 12
+f 19 12 8
+f 19 2 12
+f 20 2 8
+f 20 8 14
+f 21 15 4
+f 21 4 9
+f 22 5 15
+f 22 9 4
+f 22 21 9
+f 22 15 21
+f 24 17 11
+f 24 11 3
+f 24 3 17
+f 25 15 11
+f 25 11 17
+f 25 17 6
+f 25 6 15
+f 26 19 8
+f 26 8 2
+f 26 2 19
+f 27 10 2
+f 27 2 20
+f 27 20 14
+f 27 14 5
+f 28 22 4
+f 28 4 6
+f 28 6 16
+f 29 23 16
+f 29 16 10
+f 29 10 5
+f 29 5 23
+f 30 16 23
+f 30 28 16
+f 30 22 28
+f 30 23 5
+f 30 5 22
+f 31 27 5
+f 31 5 10
+f 31 10 27
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_7/collision/model_normalized_collision_6.obj b/objects/objaverse/bar/bar_7/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..809041302ad56d22773ce11b3debbdad1d79422e
--- /dev/null
+++ b/objects/objaverse/bar/bar_7/collision/model_normalized_collision_6.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v -0.39832838 -0.14471148 -0.05072620
+v -0.39238271 -0.11866330 -0.09024974
+v -0.39216202 -0.10409439 -0.06181441
+v -0.39486768 -0.10218401 -0.04677383
+v -0.48306744 -0.13680663 0.00329167
+v -0.45861171 -0.16107330 -0.09912041
+v -0.44677853 -0.12688221 -0.00374085
+v -0.40009857 -0.15014920 -0.09555421
+v -0.48211705 -0.14286462 0.00392281
+v -0.45901837 -0.15337099 -0.09451254
+v -0.47803461 -0.14618593 -0.01462172
+v -0.45064975 -0.13797094 -0.00813171
+v -0.47838663 -0.14009446 -0.01584518
+f 1 2 3
+f 1 3 4
+f 5 4 3
+f 7 1 4
+f 7 4 5
+f 8 6 2
+f 8 2 1
+f 8 1 6
+f 9 7 5
+f 10 5 3
+f 10 3 2
+f 10 2 6
+f 11 6 1
+f 11 1 9
+f 11 9 5
+f 11 5 6
+f 12 9 1
+f 12 1 7
+f 12 7 9
+f 13 10 6
+f 13 6 5
+f 13 5 10
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_7/collision/model_normalized_collision_7.obj b/objects/objaverse/bar/bar_7/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..11d1925c9726fce7aaf550719fbd1f2308792bab
--- /dev/null
+++ b/objects/objaverse/bar/bar_7/collision/model_normalized_collision_7.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v -0.09976044 -0.06109140 0.05501334
+v 0.01023375 -0.02890682 0.05919723
+v 0.00781330 -0.02115926 0.08735575
+v -0.05295605 0.04002540 0.08711363
+v -0.16468318 -0.00124907 0.05210065
+v -0.05106706 0.03358050 0.05838039
+v -0.15496772 0.01118393 0.09044697
+v -0.05724997 -0.05056553 0.05204195
+v -0.10200452 -0.05121387 0.08110724
+v -0.10905636 0.02451986 0.09091450
+v -0.01258983 -0.03350597 0.06671931
+v -0.02731823 -0.03311488 0.08073495
+v -0.01144462 -0.03725918 0.05286804
+v -0.16656103 0.00526977 0.08033488
+v 0.00417306 -0.02358601 0.08337067
+v -0.08753818 -0.04823187 0.07990001
+v 0.00626185 -0.03116759 0.05550426
+f 6 3 2
+f 6 4 3
+f 7 4 6
+f 8 1 5
+f 9 3 7
+f 10 7 3
+f 10 3 4
+f 10 4 7
+f 12 1 8
+f 12 3 9
+f 13 11 8
+f 13 8 5
+f 13 5 6
+f 14 9 7
+f 14 5 1
+f 14 1 9
+f 14 7 6
+f 14 6 5
+f 15 2 3
+f 15 3 12
+f 15 12 8
+f 15 8 11
+f 15 13 2
+f 15 11 13
+f 16 12 9
+f 16 9 1
+f 16 1 12
+f 17 13 6
+f 17 6 2
+f 17 2 13
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_7/collision/model_normalized_collision_8.obj b/objects/objaverse/bar/bar_7/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8f2b6b97d753325013e75afd9711b8fd56845dd
--- /dev/null
+++ b/objects/objaverse/bar/bar_7/collision/model_normalized_collision_8.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v -0.31464744 -0.12699046 0.00659075
+v -0.44791712 -0.11479287 0.08457974
+v -0.31030796 -0.03653338 0.08715212
+v -0.31092665 -0.08968297 0.10330798
+v -0.39314897 -0.07960520 0.01607238
+v -0.37569530 -0.12348637 0.08154319
+v -0.31608879 -0.10649238 0.08133256
+v -0.30587643 -0.05161543 0.01522470
+v -0.44810783 -0.10958040 0.09690660
+v -0.41458503 -0.13323635 0.00990969
+v -0.33125130 -0.10703888 0.09166980
+v -0.30726462 -0.05484163 0.10314427
+v -0.39461435 -0.07053622 0.04692371
+v -0.41157846 -0.12300397 0.08361241
+v -0.40768808 -0.09113232 0.01549497
+v -0.36580757 -0.06904980 0.01578797
+v -0.44596658 -0.11135900 0.09632407
+v -0.30822797 -0.04143604 0.09700265
+v -0.39464348 -0.06455293 0.07691716
+v -0.40370105 -0.08055501 0.03254264
+v -0.35075481 -0.05358142 0.06115789
+v -0.33909164 -0.09549287 0.10203021
+v -0.34860204 -0.05233947 0.08975488
+v -0.41146581 -0.07943020 0.08501149
+f 7 1 4
+f 7 6 1
+f 8 4 1
+f 10 1 6
+f 10 8 1
+f 11 7 4
+f 11 6 7
+f 12 4 8
+f 14 10 6
+f 14 2 10
+f 15 2 9
+f 15 10 2
+f 15 5 10
+f 16 10 5
+f 16 8 10
+f 16 5 13
+f 17 14 6
+f 17 9 2
+f 17 2 14
+f 18 12 8
+f 18 8 3
+f 18 9 12
+f 20 13 5
+f 20 5 15
+f 20 15 9
+f 20 19 13
+f 20 9 19
+f 21 16 13
+f 21 3 8
+f 21 8 16
+f 21 19 3
+f 21 13 19
+f 22 17 6
+f 22 6 11
+f 22 11 4
+f 22 9 17
+f 22 12 9
+f 22 4 12
+f 23 18 3
+f 23 3 19
+f 23 9 18
+f 24 23 19
+f 24 19 9
+f 24 9 23
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_7/collision/model_normalized_collision_9.obj b/objects/objaverse/bar/bar_7/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8060b9eefc90b5f79c8af6194dcc2068d199853c
--- /dev/null
+++ b/objects/objaverse/bar/bar_7/collision/model_normalized_collision_9.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v 0.38000091 0.06899903 -0.03675908
+v 0.46509501 0.11605263 -0.09703312
+v 0.44728211 0.14530012 0.04181664
+v 0.38562405 0.14350164 0.04193466
+v 0.38627152 0.12101009 -0.09654012
+v 0.37755876 0.09823678 0.06714288
+v 0.38080856 0.06854770 -0.08655119
+v 0.46392564 0.13958438 -0.00262846
+v 0.39321579 0.11078977 0.06803334
+v 0.38430873 0.13158666 -0.04741487
+v 0.38183733 0.07730677 -0.09312433
+v 0.42347017 0.08790740 -0.08796093
+v 0.46602075 0.13303710 -0.03092017
+v 0.45784325 0.12963344 -0.00730564
+v 0.38406098 0.10415395 0.07065578
+v 0.45815350 0.10878224 -0.09708019
+v 0.39432474 0.07275522 -0.08417427
+v 0.38849000 0.08867000 0.02039479
+v 0.44018700 0.13460410 0.03676172
+v 0.44134007 0.10027523 -0.09593008
+v 0.39073286 0.07406046 -0.03828304
+v 0.37906298 0.08356532 0.02223601
+v 0.38627443 0.10346424 0.06450314
+v 0.41660112 0.08826964 -0.05480892
+f 7 1 6
+f 9 3 4
+f 10 6 4
+f 10 7 6
+f 10 8 5
+f 10 4 3
+f 10 3 8
+f 11 10 5
+f 11 7 10
+f 13 2 5
+f 13 5 8
+f 14 13 8
+f 14 2 13
+f 14 8 3
+f 15 9 4
+f 15 4 6
+f 16 11 5
+f 16 5 2
+f 16 2 14
+f 17 1 7
+f 18 15 6
+f 19 14 3
+f 19 3 9
+f 19 15 14
+f 19 9 15
+f 20 7 11
+f 20 11 16
+f 20 17 7
+f 20 16 12
+f 20 12 17
+f 21 12 16
+f 21 17 12
+f 21 1 17
+f 21 14 18
+f 22 18 6
+f 22 6 1
+f 22 21 18
+f 22 1 21
+f 23 18 14
+f 23 14 15
+f 23 15 18
+f 24 21 16
+f 24 16 14
+f 24 14 21
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_7/model.xml b/objects/objaverse/bar/bar_7/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..83f6a87e4323bd3ff612d84787e8cafa172a64be
--- /dev/null
+++ b/objects/objaverse/bar/bar_7/model.xml
@@ -0,0 +1,81 @@
+<mujoco model="bar_5">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.18 0.18 0.18" refquat="-0.42392063347203535 -0.4386739310073286 0.389642673983286 -0.6899529443247538"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.18 0.18 0.18" refquat="-0.42392063347203535 -0.4386739310073286 0.389642673983286 -0.6899529443247538"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.18 0.18 0.18" refquat="-0.42392063347203535 -0.4386739310073286 0.389642673983286 -0.6899529443247538"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.18 0.18 0.18" refquat="-0.42392063347203535 -0.4386739310073286 0.389642673983286 -0.6899529443247538"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.18 0.18 0.18" refquat="-0.42392063347203535 -0.4386739310073286 0.389642673983286 -0.6899529443247538"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.18 0.18 0.18" refquat="-0.42392063347203535 -0.4386739310073286 0.389642673983286 -0.6899529443247538"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.18 0.18 0.18" refquat="-0.42392063347203535 -0.4386739310073286 0.389642673983286 -0.6899529443247538"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.18 0.18 0.18" refquat="-0.42392063347203535 -0.4386739310073286 0.389642673983286 -0.6899529443247538"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.18 0.18 0.18" refquat="-0.42392063347203535 -0.4386739310073286 0.389642673983286 -0.6899529443247538"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.18 0.18 0.18" refquat="-0.42392063347203535 -0.4386739310073286 0.389642673983286 -0.6899529443247538"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.18 0.18 0.18" refquat="-0.42392063347203535 -0.4386739310073286 0.389642673983286 -0.6899529443247538"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.18 0.18 0.18" refquat="-0.42392063347203535 -0.4386739310073286 0.389642673983286 -0.6899529443247538"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.18 0.18 0.18" refquat="-0.42392063347203535 -0.4386739310073286 0.389642673983286 -0.6899529443247538"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.18 0.18 0.18" refquat="-0.42392063347203535 -0.4386739310073286 0.389642673983286 -0.6899529443247538"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.18 0.18 0.18" refquat="-0.42392063347203535 -0.4386739310073286 0.389642673983286 -0.6899529443247538"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.18 0.18 0.18" refquat="-0.42392063347203535 -0.4386739310073286 0.389642673983286 -0.6899529443247538"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.18 0.18 0.18" refquat="-0.42392063347203535 -0.4386739310073286 0.389642673983286 -0.6899529443247538"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.18 0.18 0.18" refquat="-0.42392063347203535 -0.4386739310073286 0.389642673983286 -0.6899529443247538"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.18 0.18 0.18" refquat="-0.42392063347203535 -0.4386739310073286 0.389642673983286 -0.6899529443247538"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.18 0.18 0.18" refquat="-0.42392063347203535 -0.4386739310073286 0.389642673983286 -0.6899529443247538"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.18 0.18 0.18" refquat="-0.42392063347203535 -0.4386739310073286 0.389642673983286 -0.6899529443247538"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.18 0.18 0.18" refquat="-0.42392063347203535 -0.4386739310073286 0.389642673983286 -0.6899529443247538"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.18 0.18 0.18" refquat="-0.42392063347203535 -0.4386739310073286 0.389642673983286 -0.6899529443247538"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.18 0.18 0.18" refquat="-0.42392063347203535 -0.4386739310073286 0.389642673983286 -0.6899529443247538"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.18 0.18 0.18" refquat="-0.42392063347203535 -0.4386739310073286 0.389642673983286 -0.6899529443247538"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.18 0.18 0.18" refquat="-0.42392063347203535 -0.4386739310073286 0.389642673983286 -0.6899529443247538"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.18 0.18 0.18" refquat="-0.42392063347203535 -0.4386739310073286 0.389642673983286 -0.6899529443247538"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.18 0.18 0.18" refquat="-0.42392063347203535 -0.4386739310073286 0.389642673983286 -0.6899529443247538"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.18 0.18 0.18" refquat="-0.42392063347203535 -0.4386739310073286 0.389642673983286 -0.6899529443247538"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.18 0.18 0.18" refquat="-0.42392063347203535 -0.4386739310073286 0.389642673983286 -0.6899529443247538"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.18 0.18 0.18" refquat="-0.42392063347203535 -0.4386739310073286 0.389642673983286 -0.6899529443247538"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.18 0.18 0.18" refquat="-0.42392063347203535 -0.4386739310073286 0.389642673983286 -0.6899529443247538"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.18 0.18 0.18" refquat="-0.42392063347203535 -0.4386739310073286 0.389642673983286 -0.6899529443247538"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="Barra" 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="Barra"/>
+        <geom solimp="0.998 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"/>
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+      </body>
+      <site rgba="0 0 0 0" size="0.005" pos="-0.00011608165237822681 0.0005068759545771356 -0.009337191871752873" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="-0.00011608165237822681 0.0005068759545771356 0.008988430455528601" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.03269272832028883 0.08981780296479809 -0.0001743807081121356" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/objects/objaverse/bar/bar_7/visual/material.mtl b/objects/objaverse/bar/bar_7/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4d853355886d00ed2438549d0ac4a6d611a5765b
--- /dev/null
+++ b/objects/objaverse/bar/bar_7/visual/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.14117647 0.14117647 0.14117647
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 1000.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_7/visual/model_normalized_0.obj b/objects/objaverse/bar/bar_7/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c1e635cc096d855987644c9475e883972a1d469
--- /dev/null
+++ b/objects/objaverse/bar/bar_7/visual/model_normalized_0.obj
@@ -0,0 +1,42747 @@
+# 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/canned_food/canned_food_1/collision/model_normalized_collision_1.obj b/objects/objaverse/canned_food/canned_food_1/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..844e5fbac810333ecc7c0b43907aec156a9db7cc
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_1/collision/model_normalized_collision_1.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.29593483 -0.18240515 0.00757574
+v 0.33565866 -0.08886564 -0.49909423
+v 0.34892303 -0.00182638 0.00757574
+v 0.29767346 0.17972791 -0.23484850
+v 0.27484868 -0.16871150 -0.47458482
+v 0.33282244 0.09945089 -0.49909423
+v 0.27463051 -0.00190316 0.00757574
+v 0.33314500 -0.10334334 0.00757574
+v 0.30716049 -0.16198484 -0.49909423
+v 0.33409661 0.09979200 -0.23484850
+v 0.27486482 0.16491565 -0.47438604
+v 0.29262519 -0.17041614 -0.49819751
+v 0.31758753 -0.14442580 0.00757574
+v 0.31884456 0.14195871 -0.23484850
+v 0.30870012 0.15896295 -0.49909423
+v 0.30833590 -0.16258341 0.00757574
+v 0.31717889 -0.14421759 -0.47461792
+v 0.30987558 0.15956158 -0.23484850
+v 0.29444435 0.16713915 -0.49819751
+v 0.31763744 0.14142137 -0.49909423
+v 0.32095333 -0.13278366 -0.49909423
+v 0.33267014 -0.10321628 -0.47487144
+f 6 3 2
+f 7 3 4
+f 7 5 1
+f 8 2 3
+f 8 3 7
+f 9 6 2
+f 10 3 6
+f 11 7 4
+f 11 5 7
+f 12 9 1
+f 12 1 5
+f 12 5 11
+f 14 10 6
+f 14 3 10
+f 15 6 9
+f 15 9 12
+f 16 1 9
+f 16 7 1
+f 16 13 8
+f 16 8 7
+f 17 8 13
+f 17 16 9
+f 17 13 16
+f 18 4 3
+f 18 3 14
+f 18 15 4
+f 18 14 15
+f 19 11 4
+f 19 4 15
+f 19 15 12
+f 19 12 11
+f 20 15 14
+f 20 14 6
+f 20 6 15
+f 21 17 9
+f 21 9 2
+f 22 21 2
+f 22 2 8
+f 22 8 17
+f 22 17 21
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_1/collision/model_normalized_collision_11.obj b/objects/objaverse/canned_food/canned_food_1/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b3539c9f72ded3688501e9ecc3cb728d2b17b496
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_1/collision/model_normalized_collision_11.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v 0.05972832 -0.34798256 0.49755498
+v 0.07859843 -0.33873588 0.46212117
+v 0.07755392 -0.19859436 0.47517708
+v -0.32081379 -0.14800916 0.49755498
+v -0.19840416 -0.28674198 0.46212117
+v 0.06326654 -0.34001779 0.49989830
+v -0.02745854 -0.34757979 0.46212117
+v -0.20085540 -0.29051691 0.49755498
+v -0.31368023 -0.15209442 0.46212117
+v 0.07772372 -0.33547121 0.49240663
+v 0.03125462 -0.34738085 0.46212117
+v -0.30407405 -0.16264005 0.49860207
+v -0.05601498 -0.34857075 0.49755498
+v 0.07831151 -0.20056793 0.47487615
+v -0.32034910 -0.14777227 0.48014041
+v 0.05980817 -0.34848605 0.49373361
+v -0.25531079 -0.24396569 0.49755498
+v -0.11327754 -0.33467566 0.49755498
+v 0.07844443 -0.23121725 0.47706287
+v 0.06136555 -0.34316606 0.46212117
+v -0.29906464 -0.18769356 0.49755498
+v -0.24015928 -0.25911721 0.49755498
+v -0.28387412 -0.20282011 0.46212117
+v -0.11166441 -0.33047356 0.46212117
+v -0.31468495 -0.16003794 0.49755498
+v -0.24053657 -0.25949449 0.49404793
+v -0.29862696 -0.18740953 0.48014041
+v -0.05593389 -0.34805557 0.48014041
+v -0.25568809 -0.24434298 0.49404792
+v -0.30221023 -0.17458519 0.46212117
+v -0.31422017 -0.15980093 0.48014041
+f 6 3 4
+f 10 6 1
+f 10 3 6
+f 12 8 6
+f 12 6 4
+f 13 1 6
+f 14 9 3
+f 14 2 9
+f 14 3 10
+f 15 4 3
+f 15 3 9
+f 16 10 1
+f 16 2 10
+f 16 1 13
+f 16 13 7
+f 16 7 11
+f 18 13 6
+f 18 6 8
+f 18 8 5
+f 19 14 10
+f 19 10 2
+f 19 2 14
+f 20 16 11
+f 20 2 16
+f 21 17 12
+f 22 8 12
+f 22 12 17
+f 23 11 7
+f 23 20 11
+f 23 2 20
+f 24 18 5
+f 24 23 7
+f 24 5 23
+f 25 21 12
+f 25 12 4
+f 25 4 15
+f 26 5 8
+f 26 8 22
+f 26 23 5
+f 27 21 25
+f 28 24 7
+f 28 7 13
+f 28 13 18
+f 28 18 24
+f 29 23 26
+f 29 27 23
+f 29 17 21
+f 29 21 27
+f 29 26 22
+f 29 22 17
+f 30 23 27
+f 30 9 2
+f 30 2 23
+f 31 27 25
+f 31 25 15
+f 31 30 27
+f 31 15 9
+f 31 9 30
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_1/collision/model_normalized_collision_16.obj b/objects/objaverse/canned_food/canned_food_1/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3e70b59ff17165514b3baada3730179a36fea6e1
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_1/collision/model_normalized_collision_16.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.18494767 0.25756095 0.47764602
+v 0.20172179 0.28339042 0.00757574
+v 0.10546015 0.33723771 0.49755498
+v -0.04111860 0.34637262 0.46212117
+v -0.10415735 0.25567258 0.00757574
+v 0.04483197 0.34578453 0.00757574
+v -0.10479348 0.25732981 0.47459145
+v 0.17458526 0.30221030 0.46212117
+v 0.11625552 0.32871119 0.00757574
+v 0.04483197 0.34578453 0.46212117
+v -0.10074358 0.33384171 0.00757574
+v 0.11192468 0.32659696 0.49915802
+v -0.10074358 0.33384171 0.46212117
+v 0.17458526 0.30221030 0.00757574
+v 0.07669199 0.34296592 0.49886673
+v -0.04111860 0.34637262 0.00757574
+v 0.08267088 0.33497651 0.49903232
+f 5 2 1
+f 7 5 1
+f 8 1 2
+f 9 6 3
+f 9 2 6
+f 10 6 4
+f 11 5 7
+f 11 6 2
+f 11 2 5
+f 12 7 1
+f 12 8 3
+f 12 1 8
+f 13 11 7
+f 14 8 2
+f 14 2 9
+f 14 9 3
+f 14 3 8
+f 15 10 4
+f 15 3 6
+f 15 6 10
+f 15 4 13
+f 15 13 7
+f 15 12 3
+f 16 4 6
+f 16 6 11
+f 16 13 4
+f 16 11 13
+f 17 15 7
+f 17 7 12
+f 17 12 15
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_1/collision/model_normalized_collision_20.obj b/objects/objaverse/canned_food/canned_food_1/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..277f473e91a308562e379ab00c0e05e64e0b9209
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_1/collision/model_normalized_collision_20.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.01697875 0.16331344 0.47514012
+v 0.01705477 0.16476350 0.40151511
+v 0.01945846 0.34699374 0.40151511
+v -0.06510642 0.34155670 0.40151511
+v -0.16476341 0.16476350 0.40151511
+v -0.05836999 0.29902600 0.47706600
+v 0.01694862 0.29910180 0.47636891
+v -0.16344325 0.16344334 0.47523680
+v -0.16363121 0.25392910 0.47672542
+v -0.18838740 0.29204996 0.40151511
+f 1 2 3
+f 3 2 4
+f 5 2 1
+f 5 4 2
+f 6 3 4
+f 7 6 1
+f 7 1 3
+f 7 3 6
+f 8 5 1
+f 9 8 1
+f 9 1 6
+f 10 9 6
+f 10 6 4
+f 10 4 5
+f 10 5 8
+f 10 8 9
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_1/collision/model_normalized_collision_22.obj b/objects/objaverse/canned_food/canned_food_1/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b3e53e55da40294477a1fa2ad5a5a56e08ee392
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_1/collision/model_normalized_collision_22.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.30042931 -0.17548432 0.46212117
+v 0.30042931 -0.17548432 0.40151511
+v 0.30273567 0.17136340 0.40151511
+v 0.19724111 0.16344207 0.47767330
+v 0.19720414 -0.16721846 0.47733909
+v 0.19887294 0.16476350 0.40151511
+v 0.29967305 0.16980337 0.49162232
+v 0.19887294 -0.16856982 0.40151511
+v 0.28770767 -0.15236137 0.47637232
+f 1 2 3
+f 6 5 4
+f 7 1 3
+f 7 4 5
+f 7 6 4
+f 7 3 6
+f 8 2 1
+f 8 1 5
+f 8 5 6
+f 8 6 3
+f 8 3 2
+f 9 7 5
+f 9 5 1
+f 9 1 7
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_1/collision/model_normalized_collision_23.obj b/objects/objaverse/canned_food/canned_food_1/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d8c3cf649d6025f9538dac45dd971c33426ef482
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_1/collision/model_normalized_collision_23.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.16454441 0.13428313 0.47529306
+v -0.16476341 0.13446047 0.00757574
+v -0.16476341 0.21021804 0.00757574
+v -0.27312779 0.21208359 0.49989830
+v -0.32570438 0.13226263 0.49863298
+v -0.16333179 0.20845013 0.47644318
+v -0.32296955 0.13121277 0.00757574
+v -0.31508445 0.14157219 0.49915810
+v -0.28938771 0.20259413 0.49755498
+v -0.27453284 0.21322140 0.00757574
+v -0.31622462 0.15701610 0.49755498
+v -0.28561275 0.20014287 0.00757574
+v -0.30080329 0.18501637 0.49755498
+v -0.31834268 0.14294372 0.00757574
+f 6 3 4
+f 6 4 1
+f 6 1 2
+f 6 2 3
+f 7 2 1
+f 7 1 5
+f 8 5 1
+f 8 1 4
+f 8 4 5
+f 10 4 3
+f 10 3 2
+f 10 9 4
+f 11 7 5
+f 12 9 10
+f 13 11 5
+f 13 5 4
+f 13 4 9
+f 13 9 12
+f 14 7 11
+f 14 13 12
+f 14 11 13
+f 14 12 10
+f 14 10 2
+f 14 2 7
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_1/collision/model_normalized_collision_25.obj b/objects/objaverse/canned_food/canned_food_1/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aea5a3c2dadc012d4e04b161571dd3c532633d0d
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_1/collision/model_normalized_collision_25.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.01693649 -0.34813123 0.26515148
+v 0.01693649 -0.34813123 0.00757574
+v 0.01705477 0.16476350 0.26515148
+v -0.16476341 0.16476350 0.26515148
+v -0.15956159 -0.30987567 0.26515148
+v -0.16476341 0.16476350 0.00757574
+v -0.09979197 -0.33409671 0.26515148
+v 0.01705477 0.16476350 0.00757574
+v -0.15956159 -0.30987567 0.00757574
+v -0.14195871 -0.31884465 0.26515148
+v -0.09979197 -0.33409671 0.00757574
+v -0.14195871 -0.31884465 0.00757574
+f 1 2 3
+f 5 3 4
+f 6 4 3
+f 6 5 4
+f 7 1 3
+f 7 3 5
+f 8 6 3
+f 8 3 2
+f 8 2 6
+f 9 6 2
+f 9 5 6
+f 10 7 5
+f 11 7 10
+f 11 2 1
+f 11 1 7
+f 12 11 10
+f 12 9 2
+f 12 2 11
+f 12 10 5
+f 12 5 9
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_1/collision/model_normalized_collision_26.obj b/objects/objaverse/canned_food/canned_food_1/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d110cbde4ac96f581fac94d7a507b0cdbcccbded
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_1/collision/model_normalized_collision_26.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.16476341 -0.18372134 0.40151511
+v -0.16476341 -0.18372134 0.00757574
+v -0.16476341 0.13446047 0.40151511
+v -0.30796345 0.16110283 0.40151511
+v -0.28339037 -0.20172172 0.40151511
+v -0.16476341 0.13446047 0.00757574
+v -0.28339037 -0.20172172 0.00757574
+v -0.30796345 0.16110283 0.00757574
+f 1 2 3
+f 1 3 4
+f 5 1 4
+f 6 3 2
+f 6 4 3
+f 7 2 1
+f 7 1 5
+f 7 6 2
+f 8 4 6
+f 8 6 7
+f 8 7 5
+f 8 5 4
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_1/collision/model_normalized_collision_29.obj b/objects/objaverse/canned_food/canned_food_1/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..24f300d748c302c6389836fc1fc296c13ca07642
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_1/collision/model_normalized_collision_29.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.34892303 -0.00182638 0.00757574
+v 0.34892303 -0.00182638 -0.23484850
+v 0.30987558 0.15956158 0.00757574
+v -0.16476341 0.16476350 0.00757574
+v -0.16476341 -0.00190316 -0.23484850
+v 0.30987558 0.15956158 -0.23484850
+v 0.33409661 0.09979200 0.00757574
+v -0.16476341 -0.00190316 0.00757574
+v -0.16476341 0.16476350 -0.23484850
+v 0.31884456 0.14195871 -0.23484850
+v 0.31884456 0.14195871 0.00757574
+v 0.33409661 0.09979200 -0.23484850
+f 5 2 1
+f 6 2 5
+f 7 1 2
+f 7 3 4
+f 8 5 1
+f 8 4 5
+f 8 7 4
+f 8 1 7
+f 9 6 5
+f 9 5 4
+f 9 4 3
+f 9 3 6
+f 10 6 3
+f 11 10 3
+f 11 3 7
+f 11 7 10
+f 12 10 7
+f 12 7 2
+f 12 2 6
+f 12 6 10
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_1/collision/model_normalized_collision_31.obj b/objects/objaverse/canned_food/canned_food_1/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..626bf77546dcdd4130d83e2d3ae49999426b1e29
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_1/collision/model_normalized_collision_31.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.34813115 -0.01693640 0.26515148
+v 0.34813115 -0.01693640 0.00757574
+v 0.30987558 0.15956158 0.24999997
+v 0.01705477 0.16476350 0.26515148
+v 0.01705477 -0.01705468 0.00757574
+v 0.30987558 0.15956158 0.26515148
+v 0.01705477 -0.01705468 0.26515148
+v 0.01705477 0.16476350 0.00757574
+v 0.33409661 0.09979200 0.26515148
+v 0.30987558 0.15956158 0.00757574
+v 0.33409661 0.09979200 0.00757574
+v 0.31884456 0.14195871 0.26515148
+v 0.31884456 0.14195871 0.00757574
+f 5 2 1
+f 6 3 4
+f 7 5 1
+f 7 1 4
+f 7 4 5
+f 8 5 4
+f 8 4 3
+f 9 1 2
+f 10 8 3
+f 10 5 8
+f 11 9 2
+f 12 9 11
+f 12 1 9
+f 12 6 4
+f 12 4 1
+f 12 10 3
+f 12 3 6
+f 13 12 11
+f 13 10 12
+f 13 11 2
+f 13 2 5
+f 13 5 10
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_1/collision/model_normalized_collision_4.obj b/objects/objaverse/canned_food/canned_food_1/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..24c348f0bad82ef67a311b27a514e3a67c9543c7
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_1/collision/model_normalized_collision_4.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v -0.10479348 0.25732981 0.47459145
+v -0.07391121 0.25588487 -0.47500933
+v -0.07385432 0.25567258 0.00757574
+v -0.10074358 0.33384171 0.46212117
+v -0.16867887 0.29365988 -0.49819751
+v -0.07256512 0.34139236 0.00757574
+v -0.16363121 0.25392910 0.47672542
+v -0.07215263 0.33945159 -0.49987048
+v -0.16459595 0.25541472 -0.47409593
+v -0.16110127 0.30909118 0.46212117
+v -0.07737833 0.32943001 -0.49819751
+v -0.11246490 0.32875347 -0.49909423
+v -0.14294365 0.31834280 0.46212117
+v -0.16039533 0.30770536 -0.49937114
+v -0.11293788 0.32998472 0.46212117
+v -0.14234486 0.31716703 -0.49909423
+f 1 3 4
+f 6 4 3
+f 7 2 3
+f 7 3 1
+f 7 1 4
+f 8 6 3
+f 8 3 2
+f 9 7 5
+f 9 5 2
+f 9 2 7
+f 10 5 7
+f 11 8 2
+f 11 2 5
+f 11 5 8
+f 12 4 6
+f 12 6 8
+f 13 10 7
+f 14 8 5
+f 14 5 10
+f 15 13 7
+f 15 7 4
+f 15 4 12
+f 16 12 8
+f 16 8 14
+f 16 15 12
+f 16 13 15
+f 16 14 10
+f 16 10 13
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_1/collision/model_normalized_collision_5.obj b/objects/objaverse/canned_food/canned_food_1/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d6fea2b78d52dcda72965215252a6f48c45cdb6
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_1/collision/model_normalized_collision_5.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.19771470 -0.28799845 0.49936120
+v 0.33314500 -0.10334334 0.00757574
+v 0.34813115 -0.01693640 0.46212117
+v 0.19887294 -0.01705468 0.40151511
+v 0.19734531 -0.28742961 0.00757574
+v 0.34813115 -0.01693640 0.00757574
+v 0.28798145 -0.01696036 0.47478828
+v 0.32159831 -0.14646941 0.49755498
+v 0.33315754 -0.10740669 0.49926140
+v 0.19887294 -0.01705468 0.00757574
+v 0.19884700 -0.16854882 0.47703818
+v 0.27354943 -0.21603152 0.00757574
+v 0.32763905 -0.11086349 0.49977247
+v 0.30225916 -0.17450984 0.00757574
+v 0.28877825 -0.20353258 0.49755498
+v 0.31758753 -0.14442580 0.00757574
+v 0.21886378 -0.27704730 0.49755498
+v 0.21603161 -0.27354941 0.00757574
+f 5 1 4
+f 7 3 6
+f 9 6 3
+f 9 2 6
+f 9 8 2
+f 9 3 7
+f 10 5 4
+f 10 7 6
+f 10 4 7
+f 11 7 4
+f 11 4 1
+f 11 1 7
+f 12 10 6
+f 12 5 10
+f 13 9 7
+f 13 7 1
+f 14 12 6
+f 14 6 2
+f 15 13 1
+f 15 8 9
+f 15 9 13
+f 15 14 8
+f 15 12 14
+f 16 14 2
+f 16 2 8
+f 16 8 14
+f 17 15 1
+f 17 1 5
+f 17 12 15
+f 18 17 5
+f 18 5 12
+f 18 12 17
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_1/collision/model_normalized_collision_6.obj b/objects/objaverse/canned_food/canned_food_1/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..27513032ec8a8f6e655ecd66dc3f10799f0f819d
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_1/collision/model_normalized_collision_6.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v -0.16466214 0.21009298 0.47614226
+v -0.16476885 0.22537627 -0.47611940
+v -0.16039533 0.30770536 -0.49937114
+v -0.16227650 0.31139770 0.49886673
+v -0.28332514 0.20807183 0.49886673
+v -0.16476341 0.21021804 0.00757574
+v -0.17175835 0.29970387 0.49915827
+v -0.26636312 0.22175729 -0.49987052
+v -0.28131366 0.20644309 0.00757574
+v -0.26657213 0.21904433 0.49915819
+v -0.16867887 0.29365988 -0.49819751
+v -0.22757730 0.26999132 0.49755498
+v -0.26999123 0.22757739 0.49755498
+v -0.18501629 0.30080332 0.49755498
+v -0.19942406 0.28450653 -0.49909431
+v -0.25946747 0.23132485 -0.49909424
+v -0.17253146 0.30178701 -0.49909423
+f 1 3 4
+f 6 2 3
+f 6 3 1
+f 7 1 4
+f 8 2 6
+f 9 6 1
+f 9 1 5
+f 9 8 6
+f 10 5 1
+f 10 1 7
+f 10 7 4
+f 10 4 5
+f 11 8 3
+f 11 3 2
+f 11 2 8
+f 12 5 4
+f 13 9 5
+f 13 8 9
+f 13 5 12
+f 14 12 4
+f 14 4 3
+f 15 3 8
+f 15 12 14
+f 16 13 12
+f 16 8 13
+f 16 15 8
+f 16 12 15
+f 17 15 14
+f 17 14 3
+f 17 3 15
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_1/collision/model_normalized_collision_7.obj b/objects/objaverse/canned_food/canned_food_1/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b01652ff2faf13b69e674215df3043432a0bcb9
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_1/collision/model_normalized_collision_7.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.18206281 0.16342038 0.47711429
+v 0.16840486 0.16459844 -0.47486091
+v 0.20172179 0.28339042 0.00757574
+v -0.18838740 0.29204996 0.40151511
+v -0.16476341 0.16476350 0.40151511
+v -0.16459595 0.25541472 -0.47409593
+v 0.18494767 0.25756095 0.47764602
+v 0.18372143 0.16476350 0.00757574
+v -0.16461559 0.16461568 -0.47511973
+v 0.01697875 0.16331344 0.47514012
+v 0.16839197 0.25539858 -0.47389715
+v 0.01716819 0.25783802 0.47735434
+f 6 4 3
+f 7 1 3
+f 7 3 4
+f 8 1 2
+f 8 2 3
+f 8 3 1
+f 9 5 4
+f 9 4 6
+f 10 4 5
+f 10 5 9
+f 10 9 2
+f 10 2 1
+f 11 6 3
+f 11 3 2
+f 11 9 6
+f 11 2 9
+f 12 7 4
+f 12 4 10
+f 12 10 1
+f 12 1 7
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_1/collision/model_normalized_collision_9.obj b/objects/objaverse/canned_food/canned_food_1/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac0d98c3f5047a586f66a1320e1ba62f53f771c6
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_1/collision/model_normalized_collision_9.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v -0.16476341 -0.16856982 0.00757574
+v -0.16459836 -0.16840477 -0.47486092
+v -0.16476341 0.22536955 0.00757574
+v -0.27390352 0.21559424 0.00757574
+v -0.32871113 -0.11625545 0.00757574
+v -0.24674155 0.23159012 -0.49819751
+v -0.29149610 -0.17215483 -0.49819751
+v -0.16476885 0.22537627 -0.47611940
+v -0.34587622 0.04103974 -0.47495813
+v -0.30755136 -0.16412316 0.00757574
+v -0.34637252 0.04111869 0.00757574
+v -0.28450647 0.19942412 -0.49909431
+v -0.33161592 -0.10395386 -0.49909423
+v -0.27287820 0.21476370 -0.49909429
+v -0.32998460 0.11293796 0.00757574
+v -0.34578445 -0.04483188 0.00757574
+v -0.31562723 -0.14536687 -0.49909423
+v -0.34625213 0.02758867 -0.49909419
+v -0.30637602 -0.16352455 -0.49909423
+v -0.28561275 0.20014287 0.00757574
+v -0.32875339 0.11246496 -0.49909423
+v -0.31680300 -0.14596555 0.00757574
+v -0.32827255 -0.11608691 -0.47470535
+v -0.34528807 -0.04475291 -0.47495813
+v -0.34605324 -0.03138457 -0.49909417
+f 1 2 3
+f 1 3 4
+f 6 4 3
+f 7 2 1
+f 7 6 2
+f 8 6 3
+f 8 3 2
+f 8 2 6
+f 10 7 1
+f 10 1 4
+f 14 12 4
+f 14 4 6
+f 15 9 11
+f 16 13 5
+f 16 5 11
+f 17 13 12
+f 18 11 9
+f 19 14 6
+f 19 6 7
+f 19 7 10
+f 19 17 12
+f 19 12 14
+f 20 4 12
+f 20 15 11
+f 20 11 5
+f 20 10 4
+f 20 5 10
+f 21 9 15
+f 21 18 9
+f 21 12 13
+f 21 13 18
+f 21 20 12
+f 21 15 20
+f 22 10 5
+f 22 19 10
+f 22 17 19
+f 23 5 13
+f 23 13 17
+f 23 22 5
+f 23 17 22
+f 24 13 16
+f 25 16 11
+f 25 11 18
+f 25 24 16
+f 25 18 13
+f 25 13 24
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_1/model.xml b/objects/objaverse/canned_food/canned_food_1/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..84bd4b6902e80c5b423f218e655f2e1ce46385d2
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_1/model.xml
@@ -0,0 +1,84 @@
+<mujoco model="more_canned_food_22">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.09499999999999995 0.09499999999999995 0.09499999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="visual/model_normalized_1.obj" name="model_normalized_1_vis" scale="0.09499999999999995 0.09499999999999995 0.09499999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.09499999999999995 0.09499999999999995 0.09499999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.09499999999999995 0.09499999999999995 0.09499999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.09499999999999995 0.09499999999999995 0.09499999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.09499999999999995 0.09499999999999995 0.09499999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.09499999999999995 0.09499999999999995 0.09499999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.09499999999999995 0.09499999999999995 0.09499999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.09499999999999995 0.09499999999999995 0.09499999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.09499999999999995 0.09499999999999995 0.09499999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.09499999999999995 0.09499999999999995 0.09499999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.09499999999999995 0.09499999999999995 0.09499999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.09499999999999995 0.09499999999999995 0.09499999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.09499999999999995 0.09499999999999995 0.09499999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.09499999999999995 0.09499999999999995 0.09499999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.09499999999999995 0.09499999999999995 0.09499999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.09499999999999995 0.09499999999999995 0.09499999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.09499999999999995 0.09499999999999995 0.09499999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.09499999999999995 0.09499999999999995 0.09499999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.09499999999999995 0.09499999999999995 0.09499999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.09499999999999995 0.09499999999999995 0.09499999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.09499999999999995 0.09499999999999995 0.09499999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.09499999999999995 0.09499999999999995 0.09499999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.09499999999999995 0.09499999999999995 0.09499999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.09499999999999995 0.09499999999999995 0.09499999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.09499999999999995 0.09499999999999995 0.09499999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.09499999999999995 0.09499999999999995 0.09499999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.09499999999999995 0.09499999999999995 0.09499999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.09499999999999995 0.09499999999999995 0.09499999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.09499999999999995 0.09499999999999995 0.09499999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.09499999999999995 0.09499999999999995 0.09499999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.09499999999999995 0.09499999999999995 0.09499999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.09499999999999995 0.09499999999999995 0.09499999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.09499999999999995 0.09499999999999995 0.09499999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="Blik" texture="image0" specular="0.5" shininess="0.472394272"/>
+    <material name="Label" texture="image0" specular="0.5" shininess="0.37716637"/>
+  </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="Blik"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_1_vis" conaffinity="0" contype="0" group="1" material="Label"/>
+        <geom solimp="0.998 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="0.00012114922500000021 -7.490797499999947e-05 -0.04748769939999997" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.00012114922500000021 -7.490797499999947e-05 0.04749033849999997" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.03314768784999998 0.03296440529999998 1.3195500000015561e-06" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/objects/objaverse/canned_food/canned_food_13/collision/model_normalized_collision_0.obj b/objects/objaverse/canned_food/canned_food_13/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a727902682981ca06fd4dc88dd922a63fcc17405
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_13/collision/model_normalized_collision_0.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v -0.30611627 -0.06727227 0.45864874
+v -0.21737127 -0.00250813 0.00757575
+v -0.23298152 -0.00288061 0.42486052
+v -0.30112632 0.14650673 0.44169209
+v -0.30999422 -0.00213555 0.00700816
+v -0.21737127 0.13385551 0.24999999
+v -0.31019574 0.10360965 0.46682364
+v -0.27827618 -0.06330547 0.42957414
+v -0.21737127 -0.00250813 0.24999999
+v -0.23288910 0.14879497 0.41726561
+v -0.26308516 0.15962970 0.00432714
+v -0.31126058 -0.06416441 0.47416758
+v -0.32398658 0.08418929 0.46558256
+v -0.30952420 -0.07018798 0.38171611
+v -0.27009035 0.17170696 0.24785909
+v -0.31929394 0.10206716 0.46500103
+v -0.32044802 -0.05842639 0.47120384
+v -0.29285172 0.09865074 0.00809099
+v -0.32186681 -0.01572882 0.41728040
+v -0.32014887 -0.05764165 0.45105130
+v -0.28087766 0.12764793 0.00844899
+v -0.30429137 0.05734778 0.00773890
+v -0.31172265 -0.00210002 0.05341358
+v -0.29002167 0.11059499 0.03906501
+f 9 6 3
+f 9 2 6
+f 9 8 2
+f 9 3 8
+f 10 3 6
+f 10 7 3
+f 10 4 7
+f 11 6 2
+f 11 2 5
+f 12 3 7
+f 12 8 3
+f 12 1 8
+f 13 12 7
+f 14 5 2
+f 14 2 8
+f 14 8 1
+f 14 1 12
+f 15 10 6
+f 15 6 11
+f 15 11 4
+f 15 4 10
+f 16 13 7
+f 16 7 4
+f 17 14 12
+f 17 12 13
+f 18 16 4
+f 19 17 13
+f 20 5 14
+f 20 14 17
+f 20 17 19
+f 21 4 11
+f 21 11 18
+f 22 18 11
+f 22 11 5
+f 22 5 13
+f 22 13 16
+f 22 16 18
+f 23 19 13
+f 23 13 5
+f 23 20 19
+f 23 5 20
+f 24 21 18
+f 24 18 4
+f 24 4 21
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_13/collision/model_normalized_collision_17.obj b/objects/objaverse/canned_food/canned_food_13/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aff8c2e175ba372b7cce7f52fc0df0c9af830eb4
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_13/collision/model_normalized_collision_17.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v -0.11182126 -0.06924292 0.42052022
+v 0.00990145 -0.00250813 0.24999999
+v 0.00980835 -0.00224471 0.42163903
+v -0.10876048 0.32022439 0.44021398
+v -0.28555788 0.14572896 0.25046199
+v 0.00988220 0.32942746 0.43151458
+v -0.10836014 -0.06182093 0.42694960
+v -0.09509997 -0.06260376 0.42438434
+v -0.23252279 -0.00250813 0.24999999
+v 0.00996407 0.19796872 0.42044149
+v -0.06240815 0.31459648 0.25066159
+v -0.29305843 0.14897477 0.43181705
+v -0.17689006 0.26918321 0.25089388
+v 0.00924965 0.31997081 0.25000051
+v -0.23298152 -0.00288061 0.42486052
+v -0.28629344 0.17559743 0.44063524
+v -0.11926239 0.29876563 0.25071629
+v -0.15681374 -0.06368854 0.42339463
+v -0.17886311 0.28571264 0.43885461
+v -0.21829433 0.23815988 0.26650784
+v -0.26827835 0.20333920 0.44063506
+v -0.16313607 0.28216198 0.31226120
+v -0.26225462 0.18496123 0.25089599
+v -0.20309261 0.25329075 0.29713591
+v -0.24565043 0.21113906 0.29666809
+v -0.27955651 0.15618585 0.25053357
+f 6 4 3
+f 7 3 4
+f 8 1 2
+f 8 2 3
+f 8 7 1
+f 8 3 7
+f 9 2 1
+f 10 6 3
+f 10 3 2
+f 10 2 6
+f 11 4 6
+f 12 5 9
+f 14 11 6
+f 14 6 2
+f 14 2 9
+f 14 9 5
+f 15 12 9
+f 16 7 4
+f 16 5 12
+f 16 15 7
+f 16 12 15
+f 17 4 11
+f 17 11 14
+f 17 14 5
+f 17 5 13
+f 18 1 7
+f 18 7 15
+f 18 15 9
+f 18 9 1
+f 19 4 17
+f 21 16 4
+f 21 4 19
+f 21 19 20
+f 22 19 17
+f 22 17 13
+f 22 13 19
+f 23 20 13
+f 23 16 21
+f 24 20 19
+f 24 19 13
+f 24 13 20
+f 25 23 21
+f 25 21 20
+f 25 20 23
+f 26 5 16
+f 26 16 23
+f 26 23 13
+f 26 13 5
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_13/collision/model_normalized_collision_18.obj b/objects/objaverse/canned_food/canned_food_13/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5fef7e11886557c4b21448e5aac13c7a16b25468
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_13/collision/model_normalized_collision_18.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.09524211 -0.27851076 0.49851620
+v 0.27975274 -0.15245048 0.00746867
+v 0.20807932 -0.21347928 0.48978922
+v 0.27578043 -0.12076216 0.49455044
+v 0.10081054 -0.16917479 0.00757575
+v 0.25307162 -0.15965027 0.49577394
+v 0.16656606 -0.27256840 0.00597141
+v 0.10111687 -0.16885383 0.45975673
+v 0.28118529 -0.12303479 0.26506256
+v 0.26719192 -0.17484441 0.00651309
+v 0.16652683 -0.24405719 0.49817842
+v 0.09998702 -0.30306497 0.00744840
+v 0.26128114 -0.12912692 0.49727958
+v 0.17656812 -0.13887176 0.26515150
+v 0.17656812 -0.15402328 0.00757575
+v 0.26987889 -0.13218018 0.49490091
+v 0.22194098 -0.21455200 0.20339351
+v 0.17883050 -0.25833316 0.09680686
+v 0.13868922 -0.28798273 0.00619534
+v 0.09593501 -0.29131344 0.21865520
+v 0.10755502 -0.27260147 0.49869457
+v 0.17663476 -0.13941417 0.44626371
+v 0.23604395 -0.19985118 0.18786334
+v 0.20758684 -0.22906335 0.18765934
+v 0.19285338 -0.24377558 0.15807400
+f 8 5 1
+f 9 4 2
+f 10 6 3
+f 10 7 5
+f 11 3 6
+f 13 8 1
+f 13 4 8
+f 13 11 6
+f 14 5 8
+f 14 4 9
+f 15 9 2
+f 15 14 9
+f 15 5 14
+f 15 10 5
+f 15 2 10
+f 16 10 2
+f 16 2 4
+f 16 6 10
+f 16 13 6
+f 16 4 13
+f 18 11 7
+f 18 3 11
+f 19 7 11
+f 19 1 12
+f 19 12 5
+f 19 5 7
+f 20 12 1
+f 20 1 5
+f 20 5 12
+f 21 13 1
+f 21 11 13
+f 21 19 11
+f 21 1 19
+f 22 14 8
+f 22 8 4
+f 22 4 14
+f 23 17 10
+f 23 10 3
+f 23 3 17
+f 24 7 10
+f 24 10 17
+f 24 17 3
+f 25 18 7
+f 25 7 24
+f 25 24 3
+f 25 3 18
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_13/collision/model_normalized_collision_21.obj b/objects/objaverse/canned_food/canned_food_13/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8a4561a38184ddde41d2d451be474a66c63dad9c
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_13/collision/model_normalized_collision_21.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v -0.21737127 0.02779490 -0.09848485
+v -0.20263555 0.02802116 -0.47133032
+v -0.20221976 0.10355248 -0.23484849
+v -0.28067422 0.12774764 0.00630355
+v -0.29399733 0.02618010 -0.41656622
+v -0.20221976 0.02779490 -0.23484849
+v -0.30463572 0.02733782 -0.09836413
+v -0.23906101 0.10728822 -0.49796858
+v -0.20199359 0.10362271 -0.46759800
+v -0.30429137 0.05734778 0.00773890
+v -0.25482554 0.04518972 -0.48701386
+v -0.26759864 0.09833227 -0.44535101
+v -0.25680577 0.14535299 -0.23795565
+v -0.28969894 0.09719527 -0.06733975
+v -0.25077767 0.07487034 -0.49582989
+v -0.25191860 0.02894714 -0.47517021
+v -0.26464993 0.14648581 -0.10059148
+v -0.27472340 0.11102014 -0.23395372
+v -0.29285172 0.09865074 0.00809099
+v -0.27544683 0.08227023 -0.44351326
+v -0.28407992 0.05522378 -0.44502658
+v -0.28623493 0.11593660 0.00794333
+v -0.29151284 0.03842203 -0.41670327
+v -0.24340989 0.10153702 -0.49729233
+v -0.27471627 0.09560799 -0.35474846
+v -0.29053185 0.05388476 -0.34022915
+v -0.30266795 0.06559050 0.00594621
+f 1 3 4
+f 6 3 1
+f 6 5 2
+f 6 1 5
+f 7 5 1
+f 9 6 2
+f 9 3 6
+f 9 2 8
+f 10 7 1
+f 10 1 4
+f 10 5 7
+f 13 9 8
+f 13 3 9
+f 13 8 12
+f 15 8 2
+f 15 2 11
+f 16 11 2
+f 16 2 5
+f 16 5 11
+f 17 4 3
+f 17 3 13
+f 18 13 12
+f 18 17 13
+f 18 4 17
+f 21 15 11
+f 21 11 5
+f 22 4 18
+f 22 14 19
+f 22 19 10
+f 22 10 4
+f 22 20 14
+f 23 21 5
+f 23 20 21
+f 24 20 12
+f 24 12 8
+f 24 21 20
+f 24 8 15
+f 24 15 21
+f 25 18 12
+f 25 12 20
+f 25 22 18
+f 25 20 22
+f 26 19 14
+f 26 14 20
+f 26 20 23
+f 27 23 5
+f 27 5 10
+f 27 26 23
+f 27 10 19
+f 27 19 26
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_13/collision/model_normalized_collision_3.obj b/objects/objaverse/canned_food/canned_food_13/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fbd6aacab1f776ba98e769f9ccd85dec4f2b6422
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_13/collision/model_normalized_collision_3.obj
@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
+v 0.27572122 0.15969282 0.48115955
+v 0.28618488 0.11288711 -0.47445515
+v 0.25165946 0.18056442 -0.44257503
+v 0.16051068 0.28437734 0.44992689
+v 0.16141660 0.14900702 0.26515150
+v 0.21430017 0.24412408 0.47628720
+v 0.29543563 0.11746718 -0.23481155
+v 0.16182211 0.16424323 0.42802111
+v 0.17927985 0.12144107 -0.45710869
+v 0.25298360 0.19782421 0.47900562
+v 0.20851514 0.22326411 -0.41583549
+v 0.27877230 0.13651080 -0.45560740
+v 0.28860881 0.12875839 0.00733866
+v 0.15483046 0.27331576 0.08379144
+v 0.18369393 0.26186791 0.47240472
+v 0.17043617 0.22972773 -0.48736624
+v 0.17656812 0.11870399 -0.23484849
+v 0.26337053 0.16957539 0.48303965
+v 0.26534704 0.16662670 -0.34069999
+v 0.18035633 0.27147906 0.45169023
+v 0.23861321 0.17889182 -0.48038132
+v 0.19397556 0.23801297 -0.31039383
+v 0.19403700 0.25591477 0.47700025
+v 0.27771685 0.11689478 -0.48067936
+v 0.16141660 0.14900702 0.00757575
+v 0.19061088 0.11906882 -0.46055975
+v 0.20145344 0.24967802 0.47777198
+v 0.26981550 0.17090991 0.48020704
+v 0.26837242 0.14166149 -0.47788919
+v 0.22360525 0.20756656 -0.44435777
+v 0.17014730 0.24329221 -0.45688516
+v 0.18199906 0.22343845 -0.48600152
+v 0.17611525 0.13496542 -0.46194666
+v 0.28032538 0.12509158 -0.47328187
+v 0.26417576 0.15083538 -0.47182751
+v 0.23595103 0.19308791 -0.45529340
+v 0.18053201 0.23696435 -0.45710384
+v 0.20796598 0.20746477 -0.48170811
+f 8 5 1
+f 11 6 3
+f 12 7 2
+f 13 7 1
+f 13 1 5
+f 14 8 4
+f 14 5 8
+f 15 4 8
+f 17 13 5
+f 17 7 13
+f 17 2 7
+f 18 1 10
+f 18 8 1
+f 19 3 6
+f 19 6 10
+f 19 12 3
+f 19 7 12
+f 20 4 6
+f 20 6 11
+f 22 14 4
+f 22 20 11
+f 22 4 20
+f 23 6 4
+f 23 4 15
+f 23 15 8
+f 23 8 18
+f 25 5 14
+f 25 14 16
+f 25 17 5
+f 25 9 17
+f 26 17 9
+f 26 2 17
+f 26 24 2
+f 27 18 10
+f 27 10 6
+f 27 23 18
+f 27 6 23
+f 28 19 10
+f 28 10 1
+f 28 1 7
+f 28 7 19
+f 29 24 21
+f 29 2 24
+f 30 11 3
+f 31 16 14
+f 31 14 22
+f 31 22 11
+f 32 24 16
+f 32 21 24
+f 32 16 31
+f 33 25 16
+f 33 9 25
+f 33 26 9
+f 33 16 24
+f 33 24 26
+f 34 29 12
+f 34 12 2
+f 34 2 29
+f 35 29 21
+f 35 21 3
+f 35 3 12
+f 35 12 29
+f 36 30 3
+f 36 3 21
+f 37 31 11
+f 37 11 30
+f 37 32 31
+f 38 36 21
+f 38 21 32
+f 38 32 37
+f 38 37 30
+f 38 30 36
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_13/collision/model_normalized_collision_30.obj b/objects/objaverse/canned_food/canned_food_13/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..919650ec8d1f7787186d97c53f02ef8085a3c0eb
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_13/collision/model_normalized_collision_30.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.02273143 -0.30439932 0.26449260
+v 0.09545661 -0.30460942 0.00674780
+v 0.10081054 -0.16917479 0.26515150
+v -0.14161370 -0.16917479 0.26515150
+v -0.13823950 -0.28356453 0.00745662
+v -0.13540399 -0.27627650 0.26475943
+v 0.09469891 -0.28896228 0.26427900
+v -0.09062456 -0.30331714 0.00705796
+v 0.10081054 -0.16917479 0.00757575
+v 0.05172106 -0.30286002 0.21769029
+v -0.03405141 -0.30432034 0.26432709
+v -0.12039070 -0.29225022 0.00711243
+v -0.14161370 -0.16917479 0.00757575
+v 0.06576804 -0.30248466 0.17253146
+v -0.10498416 -0.28876655 0.26453183
+v 0.09457149 -0.30216546 0.05190457
+v -0.06246770 -0.30308479 0.18869216
+v -0.08950728 -0.30250815 0.03718679
+v -0.04865493 -0.30390272 0.23405722
+f 6 1 3
+f 6 3 4
+f 6 4 5
+f 7 2 3
+f 7 3 1
+f 9 3 2
+f 9 4 3
+f 10 7 1
+f 10 1 2
+f 11 8 2
+f 11 2 1
+f 12 6 5
+f 12 2 8
+f 13 5 4
+f 13 4 9
+f 13 12 5
+f 13 9 2
+f 13 2 12
+f 14 10 2
+f 14 7 10
+f 15 12 8
+f 15 6 12
+f 15 11 1
+f 15 1 6
+f 16 14 2
+f 16 2 7
+f 16 7 14
+f 18 17 15
+f 18 15 8
+f 18 8 17
+f 19 17 8
+f 19 8 11
+f 19 11 15
+f 19 15 17
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_13/visual/material.mtl b/objects/objaverse/canned_food/canned_food_13/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f68742fe8420aadeab267568817d347d5678c9d5
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_13/visual/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 0.00000000
+map_Kd material_0.jpeg
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_13/visual/model_normalized_0.obj b/objects/objaverse/canned_food/canned_food_13/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..30d2bf9ab054ee6f6525deb8eceb84460f97f337
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_13/visual/model_normalized_0.obj
@@ -0,0 +1,33289 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
+v 0.04607198 -0.32982004 -0.26379159
+v 0.02267118 -0.32906438 -0.21603560
+v 0.02179651 -0.33083320 -0.25883641
+v 0.04821151 -0.32596002 -0.19009389
+v 0.03316097 -0.32626346 -0.18054258
+v -0.06356384 -0.32283306 -0.28613558
+v -0.03214676 -0.32839906 -0.26193605
+v -0.07852470 -0.31823582 -0.26840275
+v -0.06654888 -0.31944333 -0.23347591
+v 0.02814056 -0.33297138 -0.30268595
+v 0.04366757 -0.33297745 -0.31565103
+v 0.07611227 -0.32553640 -0.26282680
+v 0.00670632 -0.33293567 -0.28631373
+v 0.00111411 -0.32946143 -0.22865114
+v -0.06262126 -0.31954786 -0.20219624
+v -0.06643495 -0.31748170 -0.17143438
+v -0.07507205 -0.31566253 -0.18688868
+v -0.04550478 -0.32180562 -0.17145062
+v -0.02755565 -0.32580722 -0.19067083
+v -0.05294201 -0.32822317 -0.35203562
+v -0.04200295 -0.33163175 -0.37924905
+v -0.02082032 -0.33415324 -0.36833404
+v 0.05991110 -0.32607549 -0.22451528
+v 0.05152095 -0.32582475 -0.20905104
+v 0.01444429 -0.33420303 -0.32173878
+v -0.01723592 -0.33235536 -0.31962594
+v -0.01206811 -0.33433764 -0.35177141
+v 0.10594099 -0.31882737 -0.27504555
+v 0.08066315 -0.32700039 -0.30837084
+v 0.07439772 -0.33130366 -0.35732463
+v 0.09645408 -0.32620187 -0.34845461
+v 0.05440874 -0.33256750 -0.32818564
+v -0.08930709 -0.31228429 -0.21688758
+v -0.02875589 -0.32982545 -0.28724079
+v -0.10258219 -0.30894022 -0.24554901
+v 0.09478188 -0.32032464 -0.24378753
+v -0.07015878 -0.32345452 -0.34107810
+v -0.04521348 -0.32761446 -0.30728208
+v 0.04669154 -0.33446327 -0.35401700
+v -0.02551259 -0.32744151 -0.22493178
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+f 7469/7469/7469 7075/7075/7075 7074/7074/7074
+f 7132/7132/7132 7133/7133/7133 7461/7461/7461
+f 7461/7461/7461 5621/5621/5621 7132/7132/7132
+f 5580/5580/5580 5566/5566/5566 5636/5636/5636
+f 7468/7468/7468 5636/5636/5636 7473/7473/7473
+f 5606/5606/5606 5691/5691/5691 5607/5607/5607
+f 5636/5636/5636 5607/5607/5607 7473/7473/7473
+f 3073/3073/3073 7469/7469/7469 3101/3101/3101
+f 3574/3574/3574 7474/7474/7474 3572/3572/3572
+f 3112/3112/3112 5692/5692/5692 5691/5691/5691
+f 5346/5346/5346 5564/5564/5564 5339/5339/5339
+f 7472/7472/7472 7468/7468/7468 7473/7473/7473
+f 7475/7475/7475 4320/4320/4320 5542/5542/5542
+f 4268/4268/4268 5493/5493/5493 4286/4286/4286
+f 6248/6248/6248 5163/5163/5163 3112/3112/3112
+f 6152/6152/6152 7463/7463/7463 4077/4077/4077
+f 7469/7469/7469 7074/7074/7074 7472/7472/7472
+f 5568/5568/5568 5643/5643/5643 5566/5566/5566
+f 5566/5566/5566 5644/5644/5644 5605/5605/5605
+f 3896/3896/3896 6972/6972/6972 5603/5603/5603
+f 5535/5535/5535 5527/5527/5527 5542/5542/5542
+f 5607/5607/5607 5636/5636/5636 5605/5605/5605
+f 6248/6248/6248 3112/3112/3112 5691/5691/5691
+f 7472/7472/7472 7473/7473/7473 7465/7465/7465
+f 5650/5650/5650 6248/6248/6248 5691/5691/5691
+f 5650/5650/5650 5605/5605/5605 5644/5644/5644
+f 5535/5535/5535 5542/5542/5542 4320/4320/4320
+f 7417/7417/7417 1052/1052/1052 7666/7666/7666
+f 7099/7099/7099 1375/1375/1375 1336/1336/1336
+f 4096/4096/4096 113/113/113 138/138/138
+f 3043/3043/3043 1084/1084/1084 2570/2570/2570
+f 3044/3044/3044 2191/2191/2191 1084/1084/1084
+f 7042/7042/7042 1403/1403/1403 2353/2353/2353
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_4/collision/model_normalized_collision_0.obj b/objects/objaverse/canned_food/canned_food_4/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9b1e70fea1b62c9c9ef045c43d0302363db705ad
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_4/collision/model_normalized_collision_0.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v -0.16162366 -0.28913635 -0.46546319
+v -0.16252967 -0.29091449 -0.50000001
+v -0.14774558 0.13259406 -0.44899736
+v -0.17311497 0.27442232 -0.44696971
+v -0.32968082 -0.04683800 -0.46710627
+v -0.17760452 0.28323348 -0.50000001
+v -0.14774558 -0.17042762 -0.44898494
+v -0.26954425 -0.20131710 -0.46710627
+v -0.28344053 0.15541587 -0.35606061
+v -0.32972441 -0.04684483 -0.50000001
+v -0.20893798 -0.26192296 -0.46710627
+v -0.19814180 0.27271906 -0.46710627
+v -0.26813647 -0.18545157 -0.35606061
+v -0.14774989 0.13259837 -0.35606061
+v -0.31711721 0.11110293 -0.50000001
+v -0.31407108 -0.11708140 -0.50000001
+v -0.20896964 -0.26195471 -0.50000001
+v -0.18656673 -0.27861688 -0.46710627
+v -0.18514361 0.26829338 -0.44696971
+v -0.31490498 -0.07720044 -0.41666668
+v -0.14774989 -0.17043194 -0.35606061
+v -0.32854692 0.05427932 -0.50000001
+v -0.27271906 0.19814231 -0.46710627
+v -0.31403202 -0.11706135 -0.46710627
+v -0.26957570 -0.20134865 -0.50000001
+v -0.18658712 -0.27865672 -0.50000001
+v -0.31372748 0.08463493 -0.41666668
+v -0.19816865 0.27275570 -0.50000001
+v -0.32580342 0.00839023 -0.44696971
+v -0.32850331 0.05427247 -0.46710627
+v -0.27275570 0.19816865 -0.50000001
+f 6 3 2
+f 6 4 3
+f 7 1 2
+f 7 2 3
+f 10 6 2
+f 12 4 6
+f 13 8 11
+f 14 3 4
+f 14 4 9
+f 14 7 3
+f 15 6 10
+f 16 10 2
+f 17 11 8
+f 17 16 2
+f 18 2 1
+f 18 13 11
+f 18 1 13
+f 18 11 17
+f 19 12 9
+f 19 9 4
+f 19 4 12
+f 20 13 9
+f 21 13 1
+f 21 1 7
+f 21 7 14
+f 21 14 9
+f 21 9 13
+f 22 15 10
+f 22 10 5
+f 23 15 9
+f 23 9 12
+f 24 16 8
+f 24 8 13
+f 24 13 20
+f 24 20 5
+f 24 5 10
+f 24 10 16
+f 25 17 8
+f 25 8 16
+f 25 16 17
+f 26 18 17
+f 26 17 2
+f 26 2 18
+f 27 20 9
+f 27 9 15
+f 28 23 12
+f 28 12 6
+f 28 6 15
+f 29 5 20
+f 29 20 27
+f 30 27 15
+f 30 15 22
+f 30 29 27
+f 30 22 5
+f 30 5 29
+f 31 28 15
+f 31 15 23
+f 31 23 28
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_4/collision/model_normalized_collision_1.obj b/objects/objaverse/canned_food/canned_food_4/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da5ab87932e5a0b16e201b31b1730155a5014a1d
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_4/collision/model_normalized_collision_1.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.30045010 -0.12203294 0.40151516
+v 0.33656097 -0.00368011 -0.50000001
+v 0.32679443 -0.00213325 0.44696971
+v 0.31242864 0.09283553 0.26515152
+v 0.26149233 0.16297850 -0.46205738
+v 0.32129393 0.09979221 -0.46710627
+v 0.29331559 -0.00642994 0.43672832
+v 0.31836584 -0.10800113 -0.46689422
+v 0.29403738 0.15640081 -0.50000001
+v 0.32174158 -0.03403575 0.44696971
+v 0.27898080 0.16416923 -0.23484849
+v 0.28491527 -0.11411745 -0.45856719
+v 0.32133785 0.09979919 -0.50000001
+v 0.30981871 -0.10364612 0.40151516
+v 0.27420266 0.16945486 -0.50000001
+v 0.32421840 -0.00652488 -0.50000001
+f 6 3 2
+f 6 4 3
+f 7 3 4
+f 7 5 1
+f 9 4 6
+f 10 7 1
+f 10 3 7
+f 10 8 2
+f 10 2 3
+f 11 7 4
+f 11 5 7
+f 11 4 9
+f 12 8 1
+f 12 1 5
+f 13 9 6
+f 13 6 2
+f 13 2 9
+f 14 10 1
+f 14 1 8
+f 14 8 10
+f 15 11 9
+f 15 5 11
+f 15 12 5
+f 15 9 2
+f 16 2 8
+f 16 8 12
+f 16 15 2
+f 16 12 15
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_4/collision/model_normalized_collision_10.obj b/objects/objaverse/canned_food/canned_food_4/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..984a75d767abe807286f68901ee56532a0680949
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_4/collision/model_normalized_collision_10.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v -0.14776548 0.13261396 0.44899734
+v -0.14774989 0.13259837 -0.35606061
+v -0.14292874 0.28980308 0.40151516
+v -0.14741815 0.29861397 -0.50000001
+v -0.29593202 0.13090010 -0.35606061
+v -0.18452978 0.26652194 -0.50000001
+v -0.29593202 0.13090010 0.40151516
+v -0.15434356 0.28190272 -0.50000001
+v -0.18514361 0.26829338 0.40151516
+v -0.17145531 0.28631656 -0.46710627
+v -0.25119668 0.20574213 0.44696971
+v -0.17147566 0.28635625 -0.50000001
+v -0.22089365 0.23604516 0.44696971
+v -0.26829338 0.18514361 -0.35606061
+v -0.22100664 0.20585515 0.44750122
+v -0.26829338 0.18514361 0.40151516
+v -0.21331789 0.24362092 -0.44696971
+f 1 2 3
+f 3 2 4
+f 6 2 5
+f 7 5 2
+f 7 2 1
+f 8 6 4
+f 8 4 2
+f 8 2 6
+f 10 9 3
+f 10 3 4
+f 11 7 1
+f 12 10 4
+f 12 4 6
+f 13 1 3
+f 13 3 9
+f 13 9 10
+f 13 12 11
+f 13 10 12
+f 15 13 11
+f 15 11 1
+f 15 1 13
+f 16 7 11
+f 16 11 14
+f 16 14 5
+f 16 5 7
+f 17 14 11
+f 17 11 12
+f 17 12 6
+f 17 6 5
+f 17 5 14
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_4/collision/model_normalized_collision_11.obj b/objects/objaverse/canned_food/canned_food_4/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c54f26ec5bc78e787706b7ea67cdfcb3960f0481
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_4/collision/model_normalized_collision_11.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.28823252 0.14601163 0.26515152
+v 0.28823252 0.14601163 -0.23484849
+v 0.16706493 0.27750537 0.44696971
+v 0.17043194 0.14774989 0.26515152
+v 0.17909363 0.27137647 -0.23484849
+v 0.21708342 0.23985592 0.44696971
+v 0.27597472 0.17006903 0.26515152
+v 0.26253797 0.19440137 -0.23484849
+v 0.16706493 0.27750537 -0.23484849
+v 0.16845961 0.23478807 0.44393546
+v 0.20193190 0.25500743 0.44696971
+v 0.26253797 0.19440137 0.26515152
+v 0.27597472 0.17006903 -0.23484849
+v 0.17043194 0.14774989 -0.23484849
+v 0.17909363 0.27137647 0.44696971
+v 0.20193190 0.25500743 -0.23484849
+f 4 2 1
+f 7 1 2
+f 7 6 1
+f 9 4 3
+f 9 3 5
+f 10 4 1
+f 10 1 6
+f 10 6 3
+f 10 3 4
+f 11 3 6
+f 12 6 7
+f 13 7 2
+f 13 5 8
+f 13 12 7
+f 13 8 12
+f 14 2 4
+f 14 4 9
+f 14 13 2
+f 14 9 5
+f 14 5 13
+f 15 5 3
+f 15 3 11
+f 16 8 5
+f 16 15 11
+f 16 5 15
+f 16 11 6
+f 16 12 8
+f 16 6 12
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_4/collision/model_normalized_collision_12.obj b/objects/objaverse/canned_food/canned_food_4/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..de3befb75085aa82029a9a21903f88d3da59e95c
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_4/collision/model_normalized_collision_12.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.15198993 -0.28518615 0.26515152
+v 0.25119668 -0.20574213 -0.23484849
+v 0.25119668 -0.20574213 0.26515152
+v -0.05684080 -0.18558345 0.26515152
+v -0.06327428 -0.31711085 -0.23484849
+v 0.19228331 -0.26465550 0.26515152
+v 0.15198993 -0.28518615 -0.23484849
+v -0.06327428 -0.31711085 0.26515152
+v -0.05684080 -0.18558345 -0.23484849
+v 0.19228331 -0.26465550 -0.23484849
+f 1 3 4
+f 6 2 3
+f 6 3 1
+f 7 1 5
+f 8 5 1
+f 8 1 4
+f 8 4 5
+f 9 5 4
+f 9 2 5
+f 9 3 2
+f 9 4 3
+f 10 2 6
+f 10 6 1
+f 10 1 7
+f 10 7 5
+f 10 5 2
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_4/collision/model_normalized_collision_13.obj b/objects/objaverse/canned_food/canned_food_4/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8a27cc5cb237c903aa696151a8041d7cf19cd813
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_4/collision/model_normalized_collision_13.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.02627839 -0.32297059 -0.23484849
+v 0.02121037 -0.29097426 -0.43672832
+v 0.01891678 0.22350747 -0.23484849
+v -0.17357345 0.27418872 -0.23484849
+v -0.13988273 -0.29135534 -0.44696971
+v 0.01891583 0.14774388 -0.44902027
+v -0.05685080 -0.32201026 -0.46204529
+v -0.13988273 -0.29135534 -0.23484849
+v -0.17357345 0.27418872 -0.35606061
+v 0.01891678 0.22350747 -0.35606061
+v 0.01891583 -0.20072895 -0.44899597
+v -0.14774558 0.14774558 -0.44899238
+v -0.14774557 -0.20073065 -0.44897499
+v -0.05625098 -0.31822326 -0.23484849
+v -0.10184384 -0.31909632 -0.46554867
+v -0.10969643 -0.30673595 -0.23484849
+f 6 1 2
+f 7 2 1
+f 8 1 3
+f 8 3 4
+f 9 4 3
+f 10 3 1
+f 10 1 6
+f 10 9 3
+f 10 6 9
+f 11 7 6
+f 11 6 2
+f 11 2 7
+f 12 9 6
+f 13 8 4
+f 13 5 8
+f 13 4 9
+f 13 9 12
+f 14 7 1
+f 14 1 8
+f 15 8 5
+f 15 7 14
+f 15 5 13
+f 15 13 12
+f 15 12 6
+f 15 6 7
+f 16 15 14
+f 16 14 8
+f 16 8 15
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_4/collision/model_normalized_collision_14.obj b/objects/objaverse/canned_food/canned_food_4/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..779b73f7cf456acfbecd6d87cf87fac64009b0eb
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_4/collision/model_normalized_collision_14.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v 0.10416959 -0.32060073 -0.46710627
+v 0.22788642 -0.24303793 -0.50000001
+v 0.22089365 -0.23604516 -0.44696971
+v -0.14774557 -0.20073065 -0.44897499
+v -0.15640079 -0.29403727 -0.50000001
+v 0.01891583 -0.20072895 -0.44899597
+v -0.03912917 -0.32093517 -0.41666668
+v 0.19254513 -0.27557074 -0.46710627
+v 0.00133910 -0.33693174 -0.50000001
+v -0.16945497 -0.27420301 -0.50000001
+v 0.01691399 -0.32445380 -0.41666668
+v -0.15214053 -0.28510970 -0.41666668
+v 0.19256561 -0.27561055 -0.50000001
+v -0.09979221 -0.32129393 -0.46710627
+v 0.19816638 -0.25877244 -0.44696971
+v 0.00133223 -0.33688795 -0.46710627
+v -0.16834847 -0.25688002 -0.45761029
+v 0.22031066 -0.25061369 -0.50000001
+v 0.10418301 -0.32064303 -0.50000001
+v -0.09979906 -0.32133745 -0.50000001
+v 0.11567476 -0.30368977 -0.44696971
+v -0.00876671 -0.33571048 -0.46710627
+v -0.15992485 -0.24034773 -0.44239044
+v -0.00877360 -0.33575425 -0.50000001
+f 6 3 2
+f 6 2 4
+f 8 2 3
+f 9 5 2
+f 10 4 2
+f 10 2 5
+f 12 6 4
+f 12 10 5
+f 12 7 11
+f 12 11 3
+f 12 3 6
+f 13 8 1
+f 13 9 2
+f 14 12 5
+f 14 7 12
+f 15 8 3
+f 15 3 11
+f 16 9 1
+f 16 1 11
+f 16 11 7
+f 17 4 10
+f 17 10 12
+f 18 13 2
+f 18 2 8
+f 18 8 13
+f 19 13 1
+f 19 1 9
+f 19 9 13
+f 20 14 5
+f 20 5 9
+f 21 15 11
+f 21 11 1
+f 21 1 8
+f 21 8 15
+f 22 16 7
+f 22 7 14
+f 23 17 12
+f 23 12 4
+f 23 4 17
+f 24 20 9
+f 24 9 16
+f 24 16 22
+f 24 22 14
+f 24 14 20
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_4/collision/model_normalized_collision_15.obj b/objects/objaverse/canned_food/canned_food_4/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf1cdb7597fe1e4e2608ae34204aeb69d4f39ef9
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_4/collision/model_normalized_collision_15.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.10977506 -0.30669584 -0.23484849
+v 0.28173941 -0.18053686 -0.50000001
+v 0.25119668 -0.20574213 -0.23484849
+v 0.01891678 -0.18558345 -0.23484849
+v 0.01891583 -0.27648651 -0.44896123
+v 0.28169984 -0.18051660 -0.46710627
+v 0.16848786 -0.28782863 -0.46710627
+v 0.02627839 -0.32297059 -0.23484849
+v 0.01891583 -0.18557744 -0.44900292
+v 0.19228331 -0.26465550 -0.23484849
+v 0.23546217 -0.23546217 -0.50000001
+v 0.10977506 -0.30669584 -0.44696971
+v 0.27561055 -0.19256561 -0.50000001
+v 0.20442898 -0.24988350 -0.50000001
+v 0.27557091 -0.19254526 -0.46710627
+v 0.25745912 -0.19685297 -0.50000001
+f 1 3 4
+f 6 4 3
+f 8 1 4
+f 8 4 5
+f 9 5 4
+f 9 6 2
+f 9 4 6
+f 10 3 1
+f 10 1 7
+f 11 10 7
+f 11 3 10
+f 12 7 1
+f 12 1 8
+f 12 8 5
+f 13 11 2
+f 13 2 6
+f 14 11 7
+f 14 5 9
+f 14 2 11
+f 14 12 5
+f 14 7 12
+f 15 13 6
+f 15 6 3
+f 15 3 11
+f 15 11 13
+f 16 14 9
+f 16 9 2
+f 16 2 14
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_4/collision/model_normalized_collision_16.obj b/objects/objaverse/canned_food/canned_food_4/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..95c3ed95c94eb9132353cbd4838c077cf8428730
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_4/collision/model_normalized_collision_16.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.17043194 0.14774989 0.26515152
+v 0.17043194 0.14774989 -0.23484849
+v 0.16706493 0.27750537 0.26515152
+v 0.01807755 0.32426951 0.26515152
+v 0.01891678 0.14774989 0.26515152
+v 0.11872103 0.30213771 -0.23484849
+v 0.16706493 0.27750537 -0.23484849
+v 0.11872103 0.30213771 0.26515152
+v 0.01807755 0.32426951 -0.23484849
+v 0.07720039 0.31490511 -0.23484849
+v 0.01891678 0.14774989 -0.23484849
+v 0.07720039 0.31490511 0.26515152
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 5 1 4
+f 7 6 3
+f 7 3 2
+f 7 2 6
+f 8 4 3
+f 8 3 6
+f 10 8 6
+f 10 6 9
+f 10 9 4
+f 11 2 5
+f 11 5 4
+f 11 4 9
+f 11 9 6
+f 11 6 2
+f 12 10 4
+f 12 4 8
+f 12 8 10
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_4/collision/model_normalized_collision_17.obj b/objects/objaverse/canned_food/canned_food_4/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5c65215e88b3effec4512a6f3e007f65b9cf7528
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_4/collision/model_normalized_collision_17.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.10800100 -0.31836558 0.46689415
+v 0.10800110 -0.31836581 -0.46689420
+v 0.15811887 -0.28206327 -0.23484849
+v -0.05820639 -0.28511489 0.43672832
+v -0.01088642 -0.33394268 0.46591494
+v -0.05820639 -0.28511494 -0.43672832
+v 0.11411763 -0.28491562 0.45856705
+v 0.01834050 -0.33346001 0.46649558
+v 0.11411764 -0.28491564 -0.45856699
+v 0.06421646 -0.27551476 -0.44895838
+v -0.05625098 -0.31822326 0.40151516
+v -0.05625098 -0.31822326 -0.41666668
+v 0.15811887 -0.28206327 0.26515152
+v -0.01018698 -0.28407220 0.44895838
+v 0.01691399 -0.32445380 -0.44696971
+v 0.01891693 -0.27649346 -0.44896122
+v 0.01891693 -0.27649346 0.44896122
+v 0.06430489 -0.32152765 -0.46262552
+v -0.03912917 -0.32093517 -0.41666668
+v 0.06421646 -0.27551476 0.44895838
+f 7 5 1
+f 8 2 1
+f 8 1 5
+f 9 3 2
+f 10 3 9
+f 11 5 4
+f 11 4 6
+f 12 11 6
+f 12 5 11
+f 13 7 1
+f 13 3 10
+f 13 1 2
+f 13 2 3
+f 14 4 5
+f 15 8 5
+f 15 12 6
+f 16 9 2
+f 16 10 9
+f 16 6 4
+f 17 14 5
+f 17 5 7
+f 17 10 16
+f 17 16 4
+f 17 4 14
+f 18 2 8
+f 18 8 15
+f 18 15 6
+f 18 16 2
+f 18 6 16
+f 19 15 5
+f 19 5 12
+f 19 12 15
+f 20 17 7
+f 20 7 13
+f 20 13 10
+f 20 10 17
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_4/collision/model_normalized_collision_18.obj b/objects/objaverse/canned_food/canned_food_4/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5fdce1ddb076c4f36c03fedf61a10f4aeab18341
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_4/collision/model_normalized_collision_18.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.32421840 -0.00652488 0.50000001
+v 0.32679443 -0.00213325 0.26515152
+v 0.32133785 0.09979919 0.50000001
+v 0.24469427 0.22201221 0.46463202
+v 0.20073497 -0.00376527 0.26515152
+v 0.26253797 0.19440137 0.26515152
+v 0.26807366 0.18148341 0.50000001
+v 0.33693174 -0.00133911 0.50000001
+v 0.30673595 0.10969643 0.26515152
+v 0.26949900 0.20136235 0.46710627
+v 0.20073497 0.16290140 0.26515152
+v 0.20072895 -0.00376431 0.44899707
+v 0.33688795 -0.00133223 0.46710627
+v 0.32129400 0.09979223 0.46710627
+v 0.23981069 0.21712864 0.26515152
+v 0.28478566 0.17455841 0.50000001
+v 0.20073065 0.16289709 0.44897001
+v 0.33575428 0.00877367 0.50000001
+v 0.32093486 0.03912920 0.26515152
+v 0.25434743 0.21651382 0.46710627
+v 0.29403738 0.15640081 0.50000001
+v 0.33571048 0.00876673 0.46710627
+f 5 2 1
+f 6 2 5
+f 7 1 3
+f 8 3 1
+f 10 9 6
+f 11 6 5
+f 12 5 1
+f 12 1 7
+f 12 11 5
+f 13 8 1
+f 13 1 2
+f 15 10 6
+f 15 6 11
+f 16 7 3
+f 16 9 10
+f 17 12 7
+f 17 7 4
+f 17 11 12
+f 17 15 11
+f 17 4 15
+f 18 3 8
+f 18 8 13
+f 19 9 14
+f 19 2 6
+f 19 6 9
+f 20 15 4
+f 20 10 15
+f 20 16 10
+f 20 4 7
+f 20 7 16
+f 21 16 3
+f 21 3 14
+f 21 14 9
+f 21 9 16
+f 22 18 13
+f 22 14 3
+f 22 3 18
+f 22 19 14
+f 22 13 2
+f 22 2 19
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_4/collision/model_normalized_collision_19.obj b/objects/objaverse/canned_food/canned_food_4/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..deed17a3fa295d77b4f34dfbaf085cc93d04ac76
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_4/collision/model_normalized_collision_19.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v -0.16162367 -0.28913639 0.46546313
+v -0.14601163 -0.28823252 -0.44696971
+v -0.14774558 -0.17042762 0.44898493
+v -0.27750509 -0.16706475 0.44696971
+v -0.23166530 -0.23919579 -0.46710627
+v -0.25381050 -0.21588648 0.50000001
+v -0.14601163 -0.28823252 0.44696971
+v -0.20136217 -0.26949872 -0.46710627
+v -0.14774558 -0.17042762 -0.44898494
+v -0.23865898 -0.21588648 0.50000001
+v -0.27750509 -0.16706475 -0.44696971
+v -0.14581356 -0.24238925 0.44895838
+v -0.16162366 -0.28913635 -0.46546319
+v -0.24684842 -0.22407593 0.50000001
+v -0.23166169 -0.16686665 -0.44895838
+v -0.23166189 -0.16686677 0.44895838
+v -0.27137615 -0.17909339 -0.44696971
+v -0.14581358 -0.24238931 -0.44895838
+v -0.17453808 -0.28474587 0.46710627
+v -0.17453807 -0.28474581 -0.46710627
+v -0.23865898 -0.23103800 0.50000001
+v -0.20136217 -0.26949872 0.46710627
+f 7 1 2
+f 10 1 3
+f 11 6 4
+f 12 3 1
+f 12 1 7
+f 12 9 3
+f 12 7 2
+f 13 2 1
+f 14 6 5
+f 14 5 8
+f 14 10 6
+f 15 3 9
+f 15 11 4
+f 15 9 5
+f 15 5 11
+f 16 10 3
+f 16 4 6
+f 16 6 10
+f 16 15 4
+f 16 3 15
+f 17 11 5
+f 17 5 6
+f 17 6 11
+f 18 12 2
+f 18 9 12
+f 18 13 9
+f 18 2 13
+f 19 13 1
+f 20 8 5
+f 20 5 9
+f 20 9 13
+f 20 19 8
+f 20 13 19
+f 21 1 10
+f 21 10 14
+f 21 19 1
+f 22 21 14
+f 22 14 8
+f 22 8 19
+f 22 19 21
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_4/collision/model_normalized_collision_2.obj b/objects/objaverse/canned_food/canned_food_4/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..54c9bccf4976b752001815e2e43b33a391e4e887
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_4/collision/model_normalized_collision_2.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v 0.20556319 -0.20556304 0.43672832
+v 0.30981871 -0.10364612 0.40151516
+v 0.32642364 -0.00447428 0.45881560
+v -0.08617496 0.32345069 0.46710627
+v -0.14774989 -0.20073497 0.38636365
+v 0.01807755 0.32426951 0.40151516
+v -0.08149621 -0.04941279 0.46572140
+v 0.31836568 -0.10800105 0.46689406
+v 0.01891678 -0.20073497 0.38636365
+v 0.32642364 -0.00447428 0.40151516
+v 0.01727648 0.33436272 0.46710627
+v -0.15518663 0.28355733 0.40151516
+v -0.14774557 -0.20073065 0.44897499
+v 0.01891678 0.16290140 0.38636365
+v 0.20073497 -0.00376527 0.38636365
+v -0.00993022 0.33552621 0.46710627
+v 0.22447991 0.18664616 0.43672832
+v -0.08463487 0.31372757 0.40151516
+v -0.03912833 -0.06160765 0.46572140
+v 0.01891583 -0.20072895 0.44899597
+v -0.14786220 0.26918243 0.46202822
+v -0.14774989 0.14774989 0.38636365
+v 0.18557913 -0.18557913 0.44896754
+v -0.08971332 -0.03983816 0.46572140
+f 8 1 2
+f 8 4 7
+f 9 2 1
+f 9 1 5
+f 10 8 2
+f 10 3 8
+f 11 8 3
+f 11 4 8
+f 13 5 1
+f 13 12 5
+f 14 9 5
+f 15 10 2
+f 15 2 9
+f 15 9 14
+f 15 14 6
+f 15 6 10
+f 16 11 6
+f 16 4 11
+f 17 10 6
+f 17 6 11
+f 17 11 3
+f 17 3 10
+f 18 12 4
+f 18 16 6
+f 18 4 16
+f 19 13 8
+f 19 8 7
+f 19 7 13
+f 20 13 1
+f 20 8 13
+f 21 4 12
+f 21 12 13
+f 22 14 5
+f 22 5 12
+f 22 12 18
+f 22 18 6
+f 22 6 14
+f 23 20 1
+f 23 1 8
+f 23 8 20
+f 24 21 13
+f 24 13 7
+f 24 7 4
+f 24 4 21
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_4/collision/model_normalized_collision_20.obj b/objects/objaverse/canned_food/canned_food_4/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..65edff8becb2cf06eb8cd990ced48fcacb2c6e61
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_4/collision/model_normalized_collision_20.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.23872653 -0.19327192 -0.45803325
+v 0.32064303 -0.10418301 -0.50000001
+v 0.30368977 -0.11567476 -0.44696971
+v 0.33394282 0.01088644 -0.46591520
+v 0.32421840 -0.00652488 -0.50000001
+v 0.32060073 -0.10416959 -0.46710627
+v 0.23103256 -0.10982310 -0.44897067
+v 0.26502746 -0.18746178 -0.50000001
+v 0.33693174 -0.00133910 -0.50000001
+v 0.32679443 -0.00213325 -0.44696971
+v 0.23598981 -0.19053522 -0.44591728
+v 0.30973645 -0.00423107 -0.46100174
+v 0.25429883 -0.19369271 -0.48811255
+v 0.28173941 -0.18053686 -0.50000001
+v 0.33538352 0.01111462 -0.50000001
+v 0.33688795 -0.00133223 -0.46710627
+v 0.31743030 -0.06125618 -0.44696971
+v 0.27292826 -0.17604721 -0.44696971
+v 0.33571048 0.00876671 -0.46710627
+v 0.29095163 -0.16235901 -0.46710627
+v 0.33575428 0.00877367 -0.50000001
+f 8 5 2
+f 8 7 5
+f 9 2 5
+f 9 6 2
+f 11 7 1
+f 11 10 7
+f 12 10 4
+f 12 7 10
+f 13 1 7
+f 13 7 8
+f 14 8 2
+f 14 2 6
+f 14 13 8
+f 15 9 5
+f 15 12 4
+f 15 5 7
+f 15 7 12
+f 16 6 9
+f 16 10 6
+f 17 3 6
+f 17 6 10
+f 17 11 3
+f 17 10 11
+f 18 3 11
+f 18 11 1
+f 18 1 13
+f 18 13 14
+f 19 4 10
+f 19 10 16
+f 19 15 4
+f 20 18 14
+f 20 14 6
+f 20 6 3
+f 20 3 18
+f 21 9 15
+f 21 15 19
+f 21 19 16
+f 21 16 9
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_4/collision/model_normalized_collision_21.obj b/objects/objaverse/canned_food/canned_food_4/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e7c5296e066939d6c9f2aa7c65af4390a8d281a4
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_4/collision/model_normalized_collision_21.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.01891678 0.14774989 -0.35606061
+v 0.01891583 0.14774388 -0.44902027
+v 0.01891678 0.23865898 -0.35606061
+v -0.22846941 0.22846941 -0.35606061
+v -0.29593202 0.13090010 -0.35606061
+v -0.18570201 0.24630801 -0.45805423
+v -0.14774989 0.13259837 -0.35606061
+v 0.01891583 0.23865296 -0.44897858
+v -0.26829338 0.18514361 -0.44696971
+v -0.25008849 0.13070192 -0.44895838
+v -0.22451887 0.20936734 -0.46158347
+v -0.26829338 0.18514361 -0.35606061
+v -0.22846941 0.22846941 -0.44696971
+v -0.14774558 0.13259406 -0.44899736
+v -0.29593202 0.13090010 -0.44696971
+v -0.25382981 0.17806276 -0.46211307
+f 1 2 3
+f 1 3 4
+f 5 1 4
+f 6 4 3
+f 7 2 1
+f 7 1 5
+f 8 6 3
+f 8 3 2
+f 10 7 5
+f 11 8 2
+f 11 6 8
+f 12 5 4
+f 12 4 9
+f 13 9 4
+f 13 4 6
+f 13 6 11
+f 14 2 7
+f 14 7 10
+f 15 10 5
+f 15 12 9
+f 15 5 12
+f 16 13 11
+f 16 9 13
+f 16 15 9
+f 16 10 15
+f 16 14 10
+f 16 11 2
+f 16 2 14
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_4/collision/model_normalized_collision_22.obj b/objects/objaverse/canned_food/canned_food_4/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9ee6d73750618437b3980fb5fb738984d37b29fe
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_4/collision/model_normalized_collision_22.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.32531130 -0.01149738 -0.23484849
+v 0.32568208 -0.00915634 -0.35606061
+v 0.27898080 0.16416923 -0.23484849
+v 0.01891678 0.16290140 -0.23484849
+v 0.01891678 -0.00376527 -0.44905489
+v 0.31514045 0.07571376 -0.35606061
+v 0.01891678 -0.00376527 -0.23484849
+v 0.29829976 0.07304639 -0.45958763
+v 0.28524970 -0.00275247 -0.44895838
+v 0.01891583 0.16289539 -0.44901332
+v 0.27898080 0.16416923 -0.45881612
+f 5 2 1
+f 6 1 2
+f 6 3 1
+f 7 5 1
+f 7 1 3
+f 7 3 4
+f 8 6 2
+f 9 8 2
+f 9 2 5
+f 9 5 8
+f 10 8 5
+f 10 7 4
+f 10 5 7
+f 11 3 6
+f 11 6 8
+f 11 8 10
+f 11 10 4
+f 11 4 3
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_4/collision/model_normalized_collision_23.obj b/objects/objaverse/canned_food/canned_food_4/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db1ec77a086cd2bccc43c0bb8bfa9cf652a19758
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_4/collision/model_normalized_collision_23.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.05625098 -0.31822326 0.26515152
+v -0.05625098 -0.31822326 -0.23484849
+v -0.05684080 -0.18558345 -0.23484849
+v -0.14774989 -0.18558345 0.26515152
+v -0.13988273 -0.29135534 0.26515152
+v -0.14774989 -0.18558345 -0.23484849
+v -0.05684080 -0.18558345 0.26515152
+v -0.10969643 -0.30673595 0.26515152
+v -0.13988273 -0.29135534 -0.23484849
+v -0.10969643 -0.30673595 -0.23484849
+f 1 2 3
+f 5 1 4
+f 6 4 3
+f 6 5 4
+f 7 1 3
+f 7 3 4
+f 7 4 1
+f 8 2 1
+f 8 1 5
+f 9 5 6
+f 9 8 5
+f 10 2 8
+f 10 8 9
+f 10 9 6
+f 10 6 3
+f 10 3 2
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_4/collision/model_normalized_collision_24.obj b/objects/objaverse/canned_food/canned_food_4/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dedf53bd19da81c5081f077de30d39212952483b
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_4/collision/model_normalized_collision_24.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.25429883 -0.19369271 0.48811255
+v 0.32060073 -0.10416959 0.46710627
+v 0.32064303 -0.10418353 0.50000001
+v 0.33656097 -0.00368011 0.50000001
+v 0.23934290 -0.15179191 0.44895838
+v 0.26502746 -0.18746178 0.50000001
+v 0.26668252 -0.18830510 0.44696971
+v 0.32679443 -0.00213325 0.44696971
+v 0.32421840 -0.00652488 0.50000001
+v 0.24724047 -0.18663440 0.46156244
+v 0.28173946 -0.18053686 0.50000001
+v 0.26184443 -0.11008237 0.44736429
+v 0.30368977 -0.11567476 0.44696971
+v 0.30973648 -0.00423106 0.46100173
+v 0.29095163 -0.16235901 0.46710627
+v 0.31743030 -0.06125618 0.44696971
+f 3 2 4
+f 6 3 4
+f 6 5 1
+f 8 4 2
+f 9 6 4
+f 9 5 6
+f 10 7 1
+f 10 1 5
+f 10 5 7
+f 11 6 1
+f 11 1 7
+f 11 3 6
+f 11 2 3
+f 12 8 7
+f 12 7 5
+f 13 7 8
+f 14 9 4
+f 14 4 8
+f 14 8 12
+f 14 12 5
+f 14 5 9
+f 15 11 7
+f 15 2 11
+f 15 13 2
+f 15 7 13
+f 16 13 8
+f 16 8 2
+f 16 2 13
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_4/collision/model_normalized_collision_25.obj b/objects/objaverse/canned_food/canned_food_4/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2959ba1b7c1692d9ac48eb8d062dc076560f575c
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_4/collision/model_normalized_collision_25.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.10801049 0.26539911 0.44417689
+v 0.11037235 0.27003452 -0.43672832
+v 0.10669233 0.30826661 0.44696971
+v 0.07720039 0.31490511 0.44696971
+v 0.07852416 0.27780807 -0.44251083
+v 0.07952299 0.26896293 0.44896027
+v 0.09198110 0.31256401 -0.44696971
+v 0.10669233 0.30826661 -0.44696971
+v 0.07720039 0.31490511 -0.44696971
+v 0.09198110 0.31256401 0.44696971
+v 0.10927104 0.28302460 -0.44715338
+f 1 2 3
+f 6 1 3
+f 6 4 5
+f 6 5 2
+f 6 2 1
+f 9 5 4
+f 10 8 7
+f 10 3 8
+f 10 6 3
+f 10 4 6
+f 10 9 4
+f 10 7 9
+f 11 8 3
+f 11 3 2
+f 11 2 5
+f 11 5 9
+f 11 9 7
+f 11 7 8
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_4/collision/model_normalized_collision_26.obj b/objects/objaverse/canned_food/canned_food_4/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a6eecdda673947d202acec443d78394e1eff0d96
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_4/collision/model_normalized_collision_26.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.01891678 -0.18558345 0.26515152
+v 0.01891678 -0.18558345 -0.23484849
+v 0.01807755 0.32426951 -0.23484849
+v -0.08463487 0.31372757 0.26515152
+v -0.14774989 -0.18558345 0.26515152
+v 0.01807755 0.32426951 0.26515152
+v -0.14774989 -0.18558345 -0.23484849
+v -0.14292874 0.28980308 0.26515152
+v -0.12477116 0.29905489 -0.23484849
+v -0.12477116 0.29905489 0.26515152
+v -0.08463487 0.31372757 -0.23484849
+v -0.14292874 0.28980308 -0.23484849
+f 1 2 3
+f 5 2 1
+f 5 1 4
+f 6 1 3
+f 6 4 1
+f 7 2 5
+f 10 4 9
+f 10 8 5
+f 10 5 4
+f 11 9 4
+f 11 3 9
+f 11 6 3
+f 11 4 6
+f 12 10 9
+f 12 8 10
+f 12 7 5
+f 12 5 8
+f 12 2 7
+f 12 9 3
+f 12 3 2
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_4/collision/model_normalized_collision_27.obj b/objects/objaverse/canned_food/canned_food_4/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9cdaced5f55ab3a4658d1e613468323ff9e51183
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_4/collision/model_normalized_collision_27.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.20556319 -0.20556304 0.43672832
+v 0.18557913 -0.18557913 -0.44896754
+v 0.18557744 -0.00376431 -0.44900402
+v 0.01891678 -0.00376527 0.38636365
+v 0.01891678 -0.18558345 0.38636365
+v 0.18558345 -0.00376527 0.38636365
+v 0.01891583 -0.18557744 -0.44900292
+v 0.01891678 -0.00376527 -0.44905489
+f 1 2 3
+f 5 1 4
+f 6 1 3
+f 6 3 4
+f 6 4 1
+f 7 2 1
+f 7 1 5
+f 7 5 4
+f 8 7 4
+f 8 4 3
+f 8 3 2
+f 8 2 7
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_4/collision/model_normalized_collision_28.obj b/objects/objaverse/canned_food/canned_food_4/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8065f8d9596a4cc1d87286e3f1cc1e4b9d065ec4
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_4/collision/model_normalized_collision_28.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.14776547 -0.17044752 0.44898492
+v -0.14774989 -0.17043194 -0.35606061
+v -0.14776548 0.13261396 0.44899734
+v -0.25145377 0.14683752 0.43672832
+v -0.25500732 -0.20193156 -0.35606061
+v -0.14774989 0.13259837 -0.35606061
+v -0.23210081 -0.17902521 0.43672832
+v -0.22350747 0.13259837 -0.35606061
+f 1 3 4
+f 5 2 1
+f 6 4 3
+f 6 2 5
+f 6 1 2
+f 6 3 1
+f 7 5 1
+f 7 1 4
+f 7 4 5
+f 8 6 5
+f 8 5 4
+f 8 4 6
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_4/collision/model_normalized_collision_29.obj b/objects/objaverse/canned_food/canned_food_4/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..167babe3de158540a6661a9fa171b08b59c38339
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_4/collision/model_normalized_collision_29.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.01891678 -0.20073497 0.38636365
+v 0.01891678 -0.20073497 0.26515152
+v 0.01891678 0.14774989 0.38636365
+v -0.14774989 0.14774989 0.38636365
+v -0.14774989 -0.20073497 0.26515152
+v -0.14774989 0.14774989 0.26515152
+v -0.14774989 -0.20073497 0.38636365
+v 0.01891678 0.14774989 0.26515152
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 6 4 3
+f 6 5 4
+f 6 2 5
+f 7 5 1
+f 7 1 4
+f 7 4 5
+f 8 6 3
+f 8 3 2
+f 8 2 6
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_4/collision/model_normalized_collision_3.obj b/objects/objaverse/canned_food/canned_food_4/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7bacc2bbae6f7fe9db425cc1218a62ea93824f03
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_4/collision/model_normalized_collision_3.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v -0.14437202 -0.30016603 0.50000001
+v -0.13277788 -0.27684484 0.46197257
+v -0.13730964 -0.28573890 0.48852268
+v -0.14741815 0.29861397 0.50000001
+v -0.32075057 0.04029273 0.40151516
+v -0.27438222 -0.17319369 0.40151516
+v -0.32972441 -0.04684483 0.50000001
+v -0.13988273 -0.29135534 0.44696971
+v -0.27275570 0.19816865 0.50000001
+v -0.26957570 -0.20134865 0.50000001
+v -0.31256395 -0.09198118 0.40151516
+v -0.14292874 0.28980308 0.40151516
+v -0.31711721 0.11110293 0.50000001
+v -0.20893798 -0.26192296 0.46710627
+v -0.32968082 -0.04683800 0.46710627
+v -0.31407108 -0.11708140 0.50000001
+v -0.19814180 0.27271906 0.46710627
+v -0.28367414 0.15495739 0.40151516
+v -0.20896964 -0.26195471 0.50000001
+v -0.26954425 -0.20131710 0.46710627
+v -0.15191143 -0.28522643 0.44696971
+v -0.32850331 0.05427247 0.46710627
+v -0.31403202 -0.11706135 0.46710627
+v -0.19816865 0.27275570 0.50000001
+v -0.17145531 0.28631663 0.46710627
+v -0.27271906 0.19814231 0.46710627
+v -0.30830671 0.10661358 0.44696971
+v -0.18514361 0.26829338 0.40151516
+v -0.15640077 -0.29403717 0.50000001
+v -0.32854692 0.05427932 0.50000001
+v -0.26829338 0.18514361 0.40151516
+f 1 2 3
+f 1 3 4
+f 3 2 4
+f 7 1 4
+f 8 2 1
+f 9 7 4
+f 10 1 7
+f 11 5 6
+f 12 4 2
+f 12 2 8
+f 12 8 6
+f 12 6 5
+f 13 7 9
+f 14 8 1
+f 15 5 11
+f 16 10 7
+f 18 12 5
+f 19 1 10
+f 20 6 14
+f 20 10 16
+f 20 19 10
+f 20 14 19
+f 21 14 6
+f 21 6 8
+f 21 8 14
+f 22 13 5
+f 22 5 15
+f 23 15 11
+f 23 11 6
+f 23 20 16
+f 23 6 20
+f 23 16 7
+f 23 7 15
+f 24 9 4
+f 25 4 12
+f 25 24 4
+f 25 17 24
+f 26 18 13
+f 26 13 9
+f 26 24 17
+f 26 9 24
+f 27 18 5
+f 27 5 13
+f 27 13 18
+f 28 12 18
+f 28 25 12
+f 28 17 25
+f 28 26 17
+f 29 19 14
+f 29 14 1
+f 29 1 19
+f 30 7 13
+f 30 13 22
+f 30 22 15
+f 30 15 7
+f 31 28 18
+f 31 18 26
+f 31 26 28
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_4/collision/model_normalized_collision_30.obj b/objects/objaverse/canned_food/canned_food_4/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f70e7d529d40015f2f410817cd55bbedd4c1170b
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_4/collision/model_normalized_collision_30.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.30045010 -0.12203294 0.40151516
+v 0.28491527 -0.11411745 -0.45856719
+v 0.29331559 -0.00642994 0.43672832
+v 0.18560523 -0.00376872 0.44900401
+v 0.18560309 -0.10983588 0.44898946
+v 0.27648651 -0.00376431 -0.44896233
+v 0.18557802 -0.10982311 -0.44898947
+v 0.18557744 -0.00376431 -0.44900402
+f 1 2 3
+f 5 1 3
+f 5 3 4
+f 6 3 2
+f 6 4 3
+f 7 2 1
+f 7 1 5
+f 8 6 2
+f 8 2 7
+f 8 4 6
+f 8 7 5
+f 8 5 4
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_4/collision/model_normalized_collision_31.obj b/objects/objaverse/canned_food/canned_food_4/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9667688f73eb635a8282ff3428f6fccb96941ac3
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_4/collision/model_normalized_collision_31.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.20073497 -0.00376527 0.38636365
+v 0.20073497 -0.00376527 0.26515152
+v 0.22447991 0.18664616 0.43672832
+v 0.01891678 0.16290140 0.38636365
+v 0.01891678 -0.00376527 0.26515152
+v 0.20073497 0.16290140 0.26515152
+v 0.01891678 -0.00376527 0.38636365
+v 0.01891678 0.16290140 0.26515152
+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/canned_food/canned_food_4/collision/model_normalized_collision_4.obj b/objects/objaverse/canned_food/canned_food_4/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..21a4d13a0e2de85a7b8fe7796dee6fe171c61092
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_4/collision/model_normalized_collision_4.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v 0.28478566 0.17455841 0.50000001
+v 0.27273517 0.17642703 0.26515152
+v 0.11706130 0.31403201 0.46710627
+v -0.05427932 0.32854692 0.50000001
+v -0.14776548 0.14776548 0.44899237
+v -0.08463487 0.31372757 0.26515152
+v 0.11708146 0.31407127 0.50000001
+v 0.20131697 0.26954392 0.46710627
+v 0.01891678 0.14774989 0.26515152
+v -0.15434356 0.28190272 0.50000001
+v 0.11872103 0.30213771 0.26515152
+v 0.04684485 0.32972445 0.50000001
+v 0.26192324 0.20893806 0.46710627
+v 0.20134865 0.26957570 0.50000001
+v 0.25687971 0.16834844 0.45761039
+v -0.14774989 0.14774989 0.26515152
+v -0.11110293 0.31711721 0.50000001
+v 0.21708342 0.23985592 0.26515152
+v 0.14890733 0.28675709 0.26515152
+v 0.07720039 0.31490511 0.26515152
+v 0.04683800 0.32968082 0.46710627
+v 0.27861708 0.18656683 0.46710627
+v 0.26195471 0.20896964 0.50000001
+v 0.28474601 0.17453818 0.46710627
+v 0.01892023 0.14777167 0.44902026
+v -0.14292874 0.28980308 0.26515152
+v -0.05427249 0.32850335 0.46710627
+v 0.23223493 0.22470440 0.26515152
+v 0.27865676 0.18658711 0.50000001
+v -0.12477116 0.29905489 0.26515152
+v -0.14128929 0.30173673 0.50000001
+f 7 4 1
+f 8 3 7
+f 10 5 1
+f 10 1 4
+f 12 7 3
+f 12 4 7
+f 14 8 7
+f 14 7 1
+f 14 13 8
+f 15 9 2
+f 16 9 5
+f 16 5 10
+f 17 10 4
+f 18 8 13
+f 19 11 3
+f 19 3 8
+f 19 8 18
+f 20 3 11
+f 21 4 12
+f 21 20 6
+f 21 12 3
+f 21 3 20
+f 22 2 13
+f 23 14 1
+f 23 13 14
+f 23 22 13
+f 24 15 2
+f 24 1 15
+f 24 2 22
+f 25 15 1
+f 25 1 5
+f 25 5 9
+f 25 9 15
+f 26 16 10
+f 26 9 16
+f 26 2 9
+f 26 20 11
+f 26 6 20
+f 26 19 18
+f 26 11 19
+f 27 17 4
+f 27 6 17
+f 27 21 6
+f 27 4 21
+f 28 18 13
+f 28 13 2
+f 28 26 18
+f 28 2 26
+f 29 23 1
+f 29 22 23
+f 29 24 22
+f 29 1 24
+f 30 17 6
+f 30 6 26
+f 31 26 10
+f 31 10 17
+f 31 30 26
+f 31 17 30
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_4/collision/model_normalized_collision_5.obj b/objects/objaverse/canned_food/canned_food_4/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..88901dbe8bda6338c179c7451028783823caf228
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_4/collision/model_normalized_collision_5.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.22846941 -0.22846941 0.40151516
+v 0.30669584 -0.10977506 -0.44696971
+v 0.30669584 -0.10977506 0.44696971
+v 0.18557802 -0.10982311 0.44898947
+v 0.18557913 -0.18557913 -0.44896754
+v 0.26085245 -0.10957693 0.44895838
+v 0.26465550 -0.19228331 0.40151516
+v 0.22846941 -0.22846941 -0.41666668
+v 0.18557913 -0.18557913 0.44896754
+v 0.18557802 -0.10982311 -0.44898947
+v 0.26668252 -0.18830510 0.45881560
+v 0.23872653 -0.19327192 -0.45803325
+v 0.26465550 -0.19228331 -0.41666668
+v 0.23103256 -0.10982310 -0.44897067
+v 0.26980539 -0.18217615 -0.44696971
+f 6 3 2
+f 8 1 5
+f 8 7 1
+f 9 5 1
+f 9 4 5
+f 10 5 4
+f 10 6 2
+f 10 4 6
+f 11 1 7
+f 11 9 1
+f 11 3 6
+f 11 6 4
+f 11 4 9
+f 11 2 3
+f 12 8 5
+f 12 5 10
+f 13 7 8
+f 13 11 7
+f 13 2 11
+f 14 12 10
+f 14 10 2
+f 14 2 12
+f 15 12 2
+f 15 2 13
+f 15 13 8
+f 15 8 12
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_4/collision/model_normalized_collision_6.obj b/objects/objaverse/canned_food/canned_food_4/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..abe7ee1bb134a01f08e3ded676a86cc35afef0a4
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_4/collision/model_normalized_collision_6.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v 0.10418301 -0.32064303 0.50000001
+v 0.25119668 -0.20574213 0.26515152
+v 0.28173946 -0.18053686 0.50000001
+v -0.14774557 -0.20073065 0.44897499
+v -0.10969643 -0.30673595 0.26515152
+v 0.01891678 -0.18558345 0.26515152
+v -0.15129732 -0.28345475 0.50000001
+v 0.19256561 -0.27561055 0.50000001
+v 0.13383234 -0.29443796 0.26515152
+v 0.26980539 -0.18217615 0.40151516
+v 0.01891583 -0.18557744 0.44900292
+v -0.14774989 -0.20073497 0.26515152
+v -0.00877359 -0.33575425 0.50000001
+v 0.27557091 -0.19254526 0.46710627
+v 0.10416907 -0.32060073 0.46710627
+v 0.19228331 -0.26465550 0.26515152
+v 0.28169984 -0.18051660 0.46710627
+v -0.13988273 -0.29135534 0.26515152
+v -0.09979903 -0.32133738 0.50000001
+v -0.05625098 -0.31822326 0.26515152
+v 0.27561058 -0.19256558 0.50000001
+v 0.00133910 -0.33693174 0.50000001
+v 0.19254516 -0.27557071 0.46710627
+v -0.14437202 -0.30016603 0.50000001
+v 0.00133222 -0.33688795 0.46710627
+v -0.09979223 -0.32129400 0.46710627
+v -0.12621440 -0.30941765 0.50000001
+v -0.00876673 -0.33571048 0.46710627
+f 7 1 3
+f 7 3 4
+f 8 3 1
+f 10 2 6
+f 11 4 3
+f 12 11 6
+f 12 4 11
+f 12 7 4
+f 13 1 7
+f 15 8 1
+f 16 2 14
+f 16 9 5
+f 16 6 2
+f 16 12 6
+f 16 5 12
+f 17 10 6
+f 17 2 10
+f 17 14 2
+f 17 11 3
+f 17 6 11
+f 18 12 5
+f 18 7 12
+f 19 13 7
+f 20 5 9
+f 21 3 8
+f 21 8 14
+f 21 17 3
+f 21 14 17
+f 22 15 1
+f 22 1 13
+f 23 8 15
+f 23 15 9
+f 23 9 16
+f 23 16 14
+f 23 14 8
+f 24 18 5
+f 24 19 7
+f 24 7 18
+f 25 20 9
+f 25 9 15
+f 25 15 22
+f 25 22 13
+f 26 5 20
+f 26 13 19
+f 27 26 19
+f 27 19 24
+f 27 24 5
+f 27 5 26
+f 28 26 20
+f 28 20 25
+f 28 25 13
+f 28 13 26
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_4/collision/model_normalized_collision_7.obj b/objects/objaverse/canned_food/canned_food_4/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5dc2f7ecffa4442c8d5b4d30104566b42a07eac3
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_4/collision/model_normalized_collision_7.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.32531130 -0.01149738 0.26515152
+v 0.32531130 -0.01149738 -0.23484849
+v 0.29135534 0.13988273 0.26515152
+v 0.01891678 0.14774989 0.26515152
+v 0.01891678 -0.00376527 -0.23484849
+v 0.01891678 0.14774989 -0.23484849
+v 0.31354098 0.08581243 0.26515152
+v 0.01891678 -0.00376527 0.26515152
+v 0.29135534 0.13988273 -0.23484849
+v 0.31354098 0.08581243 -0.23484849
+v 0.30673595 0.10969643 0.26515152
+v 0.30673595 0.10969643 -0.23484849
+f 5 2 1
+f 6 4 3
+f 6 5 4
+f 7 1 2
+f 8 5 1
+f 8 4 5
+f 9 6 3
+f 10 7 2
+f 10 2 5
+f 10 5 6
+f 11 9 3
+f 11 7 10
+f 11 3 4
+f 11 1 7
+f 11 8 1
+f 11 4 8
+f 12 11 10
+f 12 9 11
+f 12 10 6
+f 12 6 9
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_4/collision/model_normalized_collision_8.obj b/objects/objaverse/canned_food/canned_food_4/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..074167da592218c53332dc7f2566c5cb456ab7d9
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_4/collision/model_normalized_collision_8.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v -0.23210081 -0.17902521 0.43672832
+v -0.23166169 -0.16686665 -0.44895838
+v -0.22350747 0.13259837 -0.35606061
+v -0.29280915 0.13702904 0.44696971
+v -0.31256395 -0.09198118 -0.44696971
+v -0.25145377 0.14683752 0.43672832
+v -0.25500732 -0.20193156 -0.35606061
+v -0.31256395 -0.09198118 0.40151516
+v -0.25457653 0.14070865 -0.43672832
+v -0.31115085 0.08902644 0.50000001
+v -0.27003731 -0.17097983 -0.49197053
+v -0.27438222 -0.17319369 0.44696971
+v -0.29280915 0.13702904 -0.44696971
+v -0.32583513 0.07140108 0.50000001
+v -0.27750509 -0.16706475 -0.44696971
+v -0.26542478 -0.17634970 -0.48752352
+v -0.31349199 0.07424574 0.50000001
+v -0.29905489 0.12477116 -0.44696971
+v -0.31490498 -0.07720044 -0.44696971
+v -0.30213766 -0.11872094 0.44696971
+v -0.32349411 0.08618181 0.50000001
+v -0.28675690 -0.14890716 -0.44696971
+v -0.27540718 -0.15856439 -0.48970467
+v -0.31372748 0.08463493 -0.41666668
+f 1 2 3
+f 6 1 3
+f 7 2 1
+f 9 3 2
+f 9 6 3
+f 10 6 4
+f 10 1 6
+f 12 7 1
+f 13 4 6
+f 13 6 9
+f 13 9 11
+f 15 11 7
+f 15 7 12
+f 16 2 7
+f 16 7 11
+f 16 11 9
+f 16 9 2
+f 17 12 1
+f 17 1 10
+f 17 14 12
+f 17 10 14
+f 19 5 8
+f 19 8 14
+f 20 14 8
+f 20 12 14
+f 20 15 12
+f 20 8 5
+f 21 14 10
+f 21 10 4
+f 21 4 13
+f 21 13 18
+f 22 5 11
+f 22 11 15
+f 22 20 5
+f 22 15 20
+f 23 18 13
+f 23 13 11
+f 23 19 18
+f 23 11 5
+f 23 5 19
+f 24 19 14
+f 24 18 19
+f 24 21 18
+f 24 14 21
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_4/collision/model_normalized_collision_9.obj b/objects/objaverse/canned_food/canned_food_4/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b73b7d8970a45c827e24d8ce3e39f56a880f36ac
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_4/collision/model_normalized_collision_9.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v 0.28210362 0.15804033 -0.23484849
+v 0.29091456 0.16252971 -0.50000001
+v 0.11706130 0.31403201 -0.46710627
+v -0.08463487 0.31372757 -0.23484849
+v 0.01891583 0.16289539 -0.44901332
+v 0.11872103 0.30213771 -0.23484849
+v 0.01891678 0.16290140 -0.23484849
+v -0.15434356 0.28190272 -0.50000001
+v 0.04683800 0.32968082 -0.46710627
+v 0.20131697 0.26954392 -0.46710627
+v 0.11708146 0.31407127 -0.50000001
+v -0.17357345 0.27418872 -0.23484849
+v 0.07720039 0.31490511 -0.23484849
+v -0.11110293 0.31711721 -0.50000001
+v 0.20193190 0.25500743 -0.23484849
+v 0.26192324 0.20893806 -0.46710627
+v 0.20134865 0.26957570 -0.50000001
+v -0.14774711 0.23865354 -0.44895952
+v -0.05427247 0.32850331 -0.46710627
+v -0.12477116 0.29905489 -0.23484849
+v -0.14128929 0.30173673 -0.50000001
+v 0.04684485 0.32972445 -0.50000001
+v 0.27861704 0.18656685 -0.46710627
+v 0.26253797 0.19440137 -0.23484849
+v 0.26195471 0.20896964 -0.50000001
+v -0.17357345 0.27418872 -0.35606061
+v -0.05427932 0.32854692 -0.50000001
+v 0.27597472 0.17006903 -0.23484849
+v 0.27865676 0.18658711 -0.50000001
+f 5 2 1
+f 7 5 1
+f 8 2 5
+f 10 3 6
+f 11 2 8
+f 11 3 10
+f 13 6 3
+f 13 3 9
+f 13 9 4
+f 14 11 8
+f 15 10 6
+f 15 6 13
+f 15 7 1
+f 15 12 7
+f 15 13 4
+f 16 10 15
+f 17 11 10
+f 17 2 11
+f 17 10 16
+f 18 8 5
+f 18 5 7
+f 18 7 12
+f 19 14 4
+f 19 4 9
+f 20 4 14
+f 20 15 4
+f 20 12 15
+f 21 14 8
+f 21 20 14
+f 21 12 20
+f 22 11 14
+f 22 9 3
+f 22 3 11
+f 23 1 2
+f 24 16 15
+f 24 15 1
+f 24 23 16
+f 25 17 16
+f 25 2 17
+f 25 16 23
+f 26 18 12
+f 26 8 18
+f 26 21 8
+f 26 12 21
+f 27 22 14
+f 27 14 19
+f 27 19 9
+f 27 9 22
+f 28 24 1
+f 28 1 23
+f 28 23 24
+f 29 25 23
+f 29 23 2
+f 29 2 25
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_4/model.xml b/objects/objaverse/canned_food/canned_food_4/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..675e7bc6266ded8aaff3e5fc43e08c1641a57487
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_4/model.xml
@@ -0,0 +1,81 @@
+<mujoco model="canned_food_6">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.09499999999999995 0.09499999999999995 0.09499999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.09499999999999995 0.09499999999999995 0.09499999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.09499999999999995 0.09499999999999995 0.09499999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.09499999999999995 0.09499999999999995 0.09499999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.09499999999999995 0.09499999999999995 0.09499999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.09499999999999995 0.09499999999999995 0.09499999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.09499999999999995 0.09499999999999995 0.09499999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.09499999999999995 0.09499999999999995 0.09499999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.09499999999999995 0.09499999999999995 0.09499999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.09499999999999995 0.09499999999999995 0.09499999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.09499999999999995 0.09499999999999995 0.09499999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.09499999999999995 0.09499999999999995 0.09499999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.09499999999999995 0.09499999999999995 0.09499999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.09499999999999995 0.09499999999999995 0.09499999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.09499999999999995 0.09499999999999995 0.09499999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.09499999999999995 0.09499999999999995 0.09499999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.09499999999999995 0.09499999999999995 0.09499999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.09499999999999995 0.09499999999999995 0.09499999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.09499999999999995 0.09499999999999995 0.09499999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.09499999999999995 0.09499999999999995 0.09499999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.09499999999999995 0.09499999999999995 0.09499999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.09499999999999995 0.09499999999999995 0.09499999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.09499999999999995 0.09499999999999995 0.09499999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.09499999999999995 0.09499999999999995 0.09499999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.09499999999999995 0.09499999999999995 0.09499999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.09499999999999995 0.09499999999999995 0.09499999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.09499999999999995 0.09499999999999995 0.09499999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.09499999999999995 0.09499999999999995 0.09499999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.09499999999999995 0.09499999999999995 0.09499999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.09499999999999995 0.09499999999999995 0.09499999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.09499999999999995 0.09499999999999995 0.09499999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.09499999999999995 0.09499999999999995 0.09499999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.09499999999999995 0.09499999999999995 0.09499999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="lambert4SG" 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="lambert4SG"/>
+        <geom solimp="0.998 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="0.00034234817499999775 -6.67626749999994e-05 -0.047500000949999975" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.00034234817499999775 -6.67626749999994e-05 0.047500000949999975" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.03200851529999998 0.03187498994999998 0.0" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/objects/objaverse/canned_food/canned_food_4/visual/material.mtl b/objects/objaverse/canned_food/canned_food_4/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..33616803300962094e8955deb30562079542847b
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_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 250.00000000
+map_Kd material_0.jpeg
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_4/visual/model_normalized_0.obj b/objects/objaverse/canned_food/canned_food_4/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1c2c408de242d31bcebaf8ce6c43aee47206498e
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_4/visual/model_normalized_0.obj
@@ -0,0 +1,3574 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
+v 0.02745953 0.12475224 0.45814304
+v 0.00000000 0.12403683 0.45814304
+v 0.00000000 0.11184653 0.46452440
+v 0.02867975 0.11296610 0.46452440
+v 0.31112132 0.10108963 -0.45881612
+v 0.26465603 0.19228331 -0.45881612
+v 0.26465603 0.19228331 0.45881560
+v 0.31112132 0.10108963 0.45881560
+v 0.19228331 0.26465603 -0.45881612
+v 0.19228331 0.26465603 0.45881560
+v 0.10108963 0.31112132 -0.45881612
+v 0.10108963 0.31112132 0.45881560
+v 0.00000000 0.32713280 -0.45881612
+v 0.00000000 0.32713280 0.45881560
+v -0.10108963 0.31112132 -0.45881612
+v -0.10108963 0.31112132 0.45881560
+v -0.19228331 0.26465551 -0.45881612
+v -0.19228331 0.26465551 0.45881560
+v -0.26465551 0.19228331 -0.45881612
+v -0.26465551 0.19228331 0.45881560
+v -0.31112132 0.10108963 -0.45881612
+v -0.31112132 0.10108963 0.45881560
+v -0.32713228 0.00000000 -0.45881612
+v -0.32713228 0.00000000 0.45881560
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+f 509/509/509 771/771/771 785/785/785
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_9/collision/model_normalized_collision_0.obj b/objects/objaverse/canned_food/canned_food_9/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cb8a420d39f8db4bbfb010aab495b9d4655f6796
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_9/collision/model_normalized_collision_0.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.24237712 0.35373678 0.15721122
+v 0.23150806 0.35416286 0.01789551
+v 0.12631463 0.46083541 0.15560622
+v -0.12562147 0.45830723 0.15432689
+v -0.12618015 0.35606055 0.15404491
+v -0.08002965 0.46175138 0.01759902
+v 0.22791456 0.41278806 0.16651175
+v 0.23874270 0.35192636 0.14211173
+v 0.15403213 0.44757040 0.01787178
+v -0.07985577 0.46167401 0.15506357
+v -0.12618015 0.35606055 0.01768127
+v 0.23970753 0.36726908 0.15927520
+v 0.09946401 0.46127250 0.01745219
+v 0.20900410 0.40478772 0.01851419
+v 0.20130451 0.43500150 0.16248089
+v -0.12533893 0.45713081 0.01775129
+v 0.22314195 0.38118523 0.01805110
+v 0.16999265 0.44664238 0.15498871
+v 0.17974242 0.43181703 0.01857736
+f 7 5 1
+f 7 4 5
+f 8 2 1
+f 8 1 5
+f 10 6 4
+f 10 4 7
+f 11 5 4
+f 11 8 5
+f 11 2 8
+f 12 7 1
+f 12 1 2
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+f 13 6 10
+f 13 9 2
+f 13 11 6
+f 13 2 11
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+f 15 3 10
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+f 16 4 6
+f 16 6 11
+f 17 14 7
+f 17 7 2
+f 17 2 9
+f 17 9 14
+f 18 15 9
+f 18 9 3
+f 18 3 15
+f 19 14 9
+f 19 9 15
+f 19 15 7
+f 19 7 14
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_9/collision/model_normalized_collision_1.obj b/objects/objaverse/canned_food/canned_food_9/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0a21c1a3e75351f3f87f460e3398138f15d9822a
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_9/collision/model_normalized_collision_1.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.14312543 -0.45104638 -0.11874637
+v 0.14797485 -0.44262463 -0.25914140
+v 0.14654713 -0.00757582 -0.11868237
+v 0.01018349 -0.00757582 -0.11868237
+v -0.11100953 -0.37120383 -0.25432730
+v 0.01012504 -0.45781489 -0.11849134
+v 0.14655206 -0.00757768 -0.25464644
+v -0.11102863 -0.14393945 -0.11868237
+v 0.01037668 -0.45325815 -0.25695183
+v -0.09565324 -0.23509004 -0.25478846
+v -0.11102863 -0.37121218 -0.11868237
+v -0.03352260 -0.45985440 -0.17790103
+v 0.12605046 -0.44677844 -0.25946334
+v -0.11099277 -0.14395325 -0.25212692
+v -0.09546642 -0.37103371 -0.25474397
+v -0.03488532 -0.43165315 -0.25566051
+v 0.01020892 -0.00758512 -0.25297130
+f 1 2 3
+f 6 1 3
+f 6 3 4
+f 7 3 2
+f 7 4 3
+f 8 6 4
+f 11 8 5
+f 11 6 8
+f 12 11 5
+f 12 6 11
+f 12 1 6
+f 13 2 1
+f 13 12 9
+f 13 1 12
+f 13 10 7
+f 13 7 2
+f 14 10 5
+f 14 5 8
+f 15 9 5
+f 15 5 10
+f 15 13 9
+f 15 10 13
+f 16 12 5
+f 16 5 9
+f 16 9 12
+f 17 4 7
+f 17 7 10
+f 17 10 14
+f 17 14 8
+f 17 8 4
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_9/collision/model_normalized_collision_10.obj b/objects/objaverse/canned_food/canned_food_9/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9c2c85b391ab86f4199c5a4196600bdadeeb5552
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_9/collision/model_normalized_collision_10.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.27650478 0.23459519 0.24955672
+v 0.27439717 0.23493825 0.20397450
+v 0.26624359 0.38119853 0.20091772
+v 0.21403263 0.45413494 0.24728522
+v 0.23871197 0.23450988 0.24876438
+v 0.21860494 0.41281188 0.15813617
+v 0.26726392 0.36774848 0.24626259
+v 0.22228528 0.41644566 0.25525105
+v 0.26282142 0.23532674 0.18203430
+v 0.23618639 0.43515532 0.17763718
+v 0.21349075 0.42386237 0.16322887
+v 0.26664327 0.38089743 0.24001173
+v 0.25183118 0.40688812 0.24625893
+v 0.23323922 0.42974465 0.17257966
+v 0.21790680 0.44920336 0.17908130
+v 0.23724254 0.43476427 0.24002765
+v 0.22243856 0.44973257 0.24410960
+v 0.22348228 0.44585547 0.17943690
+f 1 2 3
+f 5 2 1
+f 8 5 1
+f 8 4 5
+f 8 1 7
+f 9 3 2
+f 9 2 5
+f 9 5 6
+f 11 6 5
+f 11 5 4
+f 12 7 1
+f 12 1 3
+f 13 8 7
+f 13 4 8
+f 13 7 12
+f 14 9 6
+f 14 3 9
+f 14 10 3
+f 15 11 4
+f 15 10 14
+f 15 14 6
+f 15 6 11
+f 16 12 3
+f 16 3 10
+f 16 13 12
+f 17 15 4
+f 17 16 10
+f 17 4 13
+f 17 13 16
+f 18 17 10
+f 18 10 15
+f 18 15 17
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_9/collision/model_normalized_collision_11.obj b/objects/objaverse/canned_food/canned_food_9/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..97c30767d7bbb455b9fdcd70308083fbb5a427ce
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_9/collision/model_normalized_collision_11.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.25567140 -0.00818553 0.15876710
+v 0.24182874 -0.00777339 0.01837766
+v 0.23587999 0.33835366 0.01836083
+v 0.16169864 0.35606055 0.15404491
+v 0.16169864 -0.00757582 0.15404491
+v 0.24237712 0.35373678 0.15721122
+v 0.16169864 -0.00757582 0.01768127
+v 0.25448882 0.05216651 0.15921033
+v 0.23150806 0.35416286 0.01789551
+v 0.16169864 0.35606055 0.01768127
+f 1 2 3
+f 7 2 1
+f 7 1 5
+f 7 5 4
+f 8 5 1
+f 8 4 5
+f 8 6 4
+f 8 1 3
+f 8 3 6
+f 9 6 3
+f 9 4 6
+f 9 3 2
+f 9 2 7
+f 10 9 7
+f 10 7 4
+f 10 4 9
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_9/collision/model_normalized_collision_12.obj b/objects/objaverse/canned_food/canned_food_9/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0a41c0f541ac347229433633471f969920142772
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_9/collision/model_normalized_collision_12.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.12643666 -0.26482893 0.24626951
+v -0.12618015 -0.26515158 0.13889339
+v -0.12629729 0.35586763 0.25162864
+v -0.23743440 0.37695535 0.14786437
+v -0.25398604 -0.26749542 0.13631570
+v -0.12618015 0.35606055 0.15404491
+v -0.25675269 -0.00795374 0.13026046
+v -0.20227541 0.35604466 0.25376564
+v -0.12618015 -0.00757582 0.13889339
+v -0.20219850 -0.26518115 0.24818516
+f 1 2 3
+f 5 2 1
+f 6 3 2
+f 6 4 3
+f 7 2 5
+f 7 4 6
+f 8 1 3
+f 8 3 4
+f 8 7 5
+f 8 4 7
+f 9 7 6
+f 9 6 2
+f 9 2 7
+f 10 8 5
+f 10 5 1
+f 10 1 8
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_9/collision/model_normalized_collision_13.obj b/objects/objaverse/canned_food/canned_food_9/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a37c557f51adf1933d45134c7ca2739030ed148
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_9/collision/model_normalized_collision_13.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.15885303 -0.45563112 0.13918201
+v 0.23550690 -0.36531978 0.00301183
+v 0.25320933 -0.29379352 0.14174054
+v 0.16169864 -0.00757582 0.13889339
+v 0.15674147 -0.44937465 0.00297635
+v 0.24100867 -0.00802140 0.00280236
+v 0.25307538 -0.23618443 0.14257211
+v 0.24019666 -0.36502697 0.14139915
+v 0.19862777 -0.42281974 0.00302647
+v 0.16169864 -0.00757582 0.00252975
+v 0.17079295 -0.45015386 0.14030769
+v 0.24960233 -0.00766576 0.13957410
+v 0.20540462 -0.41829986 0.06370078
+v 0.16822066 -0.44416139 0.00298188
+v 0.19465462 -0.43372508 0.14013589
+v 0.20671022 -0.41990596 0.13832073
+f 5 1 4
+f 6 3 2
+f 7 3 6
+f 8 2 3
+f 8 3 7
+f 10 5 4
+f 10 6 2
+f 11 7 4
+f 11 4 1
+f 11 8 7
+f 12 7 6
+f 12 4 7
+f 12 10 4
+f 12 6 10
+f 13 9 2
+f 13 2 8
+f 14 11 1
+f 14 1 5
+f 14 2 9
+f 14 10 2
+f 14 5 10
+f 15 9 13
+f 15 14 9
+f 15 11 14
+f 15 8 11
+f 16 15 13
+f 16 13 8
+f 16 8 15
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_9/collision/model_normalized_collision_14.obj b/objects/objaverse/canned_food/canned_food_9/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0f64f85c83f0d325a09119530a85b305eb4b4c7a
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_9/collision/model_normalized_collision_14.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.24436825 -0.25031259 -0.11834339
+v 0.23899435 -0.25059838 -0.25706411
+v 0.23169786 0.34008203 -0.11861533
+v 0.14654713 0.34090904 -0.11868237
+v 0.14654713 -0.25000006 -0.11868237
+v 0.14658532 0.34089736 -0.25270870
+v 0.23741797 0.14368558 -0.11841399
+v 0.22760698 0.31937680 -0.25535556
+v 0.14672391 -0.25006704 -0.25579587
+v 0.23740448 0.08200932 -0.25751361
+v 0.22604865 0.34007056 -0.25021935
+v 0.23570480 0.23321168 -0.22169344
+v 0.14673629 -0.03795073 -0.25479236
+v 0.22314561 0.32549813 -0.25468487
+v 0.23588531 0.23421314 -0.19547313
+f 5 2 1
+f 5 1 4
+f 6 4 3
+f 6 5 4
+f 7 3 4
+f 7 4 1
+f 9 2 5
+f 9 5 6
+f 10 1 2
+f 10 2 9
+f 10 6 8
+f 11 6 3
+f 11 3 8
+f 12 1 10
+f 12 10 8
+f 12 8 3
+f 13 10 9
+f 13 9 6
+f 13 6 10
+f 14 11 8
+f 14 8 6
+f 14 6 11
+f 15 7 1
+f 15 1 12
+f 15 12 3
+f 15 3 7
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_9/collision/model_normalized_collision_15.obj b/objects/objaverse/canned_food/canned_food_9/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..80032cf7d71d6b2302ce4d5abdcb14701fec7f7b
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_9/collision/model_normalized_collision_15.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.12618015 -0.00757582 0.15404491
+v -0.12618015 -0.00757582 0.01768127
+v -0.12533893 0.45713081 0.01775129
+v -0.12562147 0.45830723 0.15432689
+v -0.26222747 0.03783859 0.15414142
+v -0.26005857 -0.00869881 0.14921254
+v -0.24842660 0.35220689 0.15658715
+v -0.24830265 0.35164137 0.01720178
+v -0.19437313 0.43308569 0.15646632
+v -0.25430160 -0.00743989 0.01768464
+v -0.23673858 0.38050587 0.01734817
+v -0.16513154 0.44699395 0.01787206
+v -0.23692775 0.38085495 0.15639078
+v -0.16418516 0.44790474 0.15439411
+v -0.19148315 0.43247601 0.01790505
+f 1 2 3
+f 1 3 4
+f 6 2 1
+f 6 1 5
+f 7 5 1
+f 8 3 2
+f 8 5 7
+f 9 7 1
+f 9 1 4
+f 10 6 5
+f 10 5 8
+f 10 8 2
+f 10 2 6
+f 11 8 7
+f 11 3 8
+f 12 4 3
+f 12 3 11
+f 13 11 7
+f 13 7 9
+f 13 9 11
+f 14 12 9
+f 14 9 4
+f 14 4 12
+f 15 12 11
+f 15 11 9
+f 15 9 12
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_9/collision/model_normalized_collision_16.obj b/objects/objaverse/canned_food/canned_food_9/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f91695ba5fcb2417d7ecba818d69f2ec522da0c8
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_9/collision/model_normalized_collision_16.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v -0.17032700 -0.44476554 0.00256479
+v -0.16688171 -0.43826178 -0.25489510
+v -0.17163470 -0.25000006 0.00252975
+v -0.25238159 -0.24967420 0.00265219
+v -0.23003818 -0.37700061 -0.22108422
+v -0.18995411 -0.43188075 0.00331770
+v -0.17161000 -0.24998959 -0.25410833
+v -0.23075897 -0.37854935 0.00207161
+v -0.21491998 -0.40384850 -0.20821629
+v -0.18912439 -0.43006358 -0.17896496
+v -0.24239847 -0.25004549 -0.25285301
+v -0.24529848 -0.32357159 -0.13294743
+v -0.21760220 -0.39287931 -0.24468603
+v -0.21470663 -0.40361551 -0.01291728
+v -0.20186418 -0.41579802 -0.21924584
+v -0.24716709 -0.24979386 -0.20822477
+v -0.24599391 -0.32270967 0.00107004
+v -0.17686569 -0.43155194 -0.25338758
+v -0.23188640 -0.36568397 -0.24248798
+v -0.20222185 -0.41942039 0.00251575
+v -0.24695201 -0.28009008 -0.20872010
+f 1 2 3
+f 6 1 3
+f 6 3 4
+f 7 3 2
+f 7 4 3
+f 8 6 4
+f 9 8 5
+f 10 2 1
+f 10 1 6
+f 10 6 9
+f 11 7 2
+f 12 5 8
+f 13 9 5
+f 14 8 9
+f 15 10 9
+f 15 9 13
+f 16 4 7
+f 16 7 11
+f 17 12 8
+f 17 8 4
+f 17 4 12
+f 18 13 11
+f 18 11 2
+f 18 15 13
+f 18 2 10
+f 18 10 15
+f 19 13 5
+f 19 11 13
+f 19 5 12
+f 20 14 9
+f 20 9 6
+f 20 6 8
+f 20 8 14
+f 21 12 4
+f 21 4 16
+f 21 19 12
+f 21 16 11
+f 21 11 19
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_9/collision/model_normalized_collision_17.obj b/objects/objaverse/canned_food/canned_food_9/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9937e2fb79d3928a1c95483f406018a8a5495671
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_9/collision/model_normalized_collision_17.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.00968399 -0.45813539 0.00257751
+v 0.01020866 -0.45841636 -0.17953764
+v 0.01018349 -0.37121218 0.00252975
+v -0.03527106 -0.37121218 0.00252975
+v -0.06624736 -0.46243077 -0.18023116
+v -0.03527106 -0.37121218 -0.17928843
+v -0.03512542 -0.46291364 0.00289464
+v 0.01018349 -0.37121218 -0.17928843
+v -0.06622722 -0.46202554 -0.10349891
+v -0.00764571 -0.46094830 0.00288555
+v -0.05187747 -0.46142951 -0.18026424
+v -0.06559637 -0.46184826 -0.04291187
+f 1 2 3
+f 6 4 3
+f 7 3 4
+f 7 5 2
+f 8 6 3
+f 8 3 2
+f 9 6 5
+f 9 4 6
+f 10 1 3
+f 10 3 7
+f 10 7 2
+f 10 2 1
+f 11 8 2
+f 11 2 5
+f 11 5 6
+f 11 6 8
+f 12 7 4
+f 12 4 9
+f 12 9 5
+f 12 5 7
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_9/collision/model_normalized_collision_18.obj b/objects/objaverse/canned_food/canned_food_9/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..06c3e346741396dcc55fe2844705dc388230b4c4
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_9/collision/model_normalized_collision_18.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.23551347 0.34041638 0.01775095
+v 0.22604865 0.34007056 -0.25021935
+v 0.15319301 0.44504205 -0.22059112
+v 0.01024071 0.46349590 0.01778994
+v 0.01018349 0.34090904 0.01768127
+v 0.15403213 0.44757040 0.01787178
+v 0.20493663 0.40418311 -0.13296504
+v 0.01025870 0.34088572 -0.25047101
+v 0.09858089 0.46038928 -0.22235413
+v 0.17974242 0.43181703 0.01857736
+v 0.21908483 0.37841967 -0.22125250
+v 0.00951833 0.46077116 -0.22257692
+v 0.09946401 0.46127250 0.01745219
+v 0.14046187 0.44792345 -0.24774392
+v 0.20900410 0.40478772 0.01851419
+v 0.17895655 0.43008972 -0.19403436
+v 0.22189303 0.36712271 -0.25166762
+v 0.01031287 0.45734389 -0.25177421
+v 0.22314195 0.38118523 0.01805110
+v 0.20868220 0.39234218 -0.25243356
+v 0.19070891 0.41534603 -0.23826443
+v 0.16807136 0.43300019 -0.24877597
+f 5 2 1
+f 8 2 5
+f 9 6 3
+f 10 4 5
+f 12 8 5
+f 12 5 4
+f 12 4 9
+f 13 9 4
+f 13 6 9
+f 13 10 6
+f 13 4 10
+f 14 9 3
+f 15 10 5
+f 15 5 1
+f 15 11 7
+f 16 3 6
+f 16 6 10
+f 16 15 7
+f 16 10 15
+f 17 1 2
+f 17 2 8
+f 18 12 9
+f 18 9 14
+f 18 8 12
+f 19 15 1
+f 19 11 15
+f 19 17 11
+f 19 1 17
+f 20 7 11
+f 20 11 17
+f 20 17 8
+f 20 8 18
+f 21 16 7
+f 21 7 20
+f 22 20 18
+f 22 18 14
+f 22 21 20
+f 22 14 3
+f 22 3 16
+f 22 16 21
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_9/collision/model_normalized_collision_19.obj b/objects/objaverse/canned_food/canned_food_9/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d245ad7cd40c29f47d82adfe30d6806973d14c93
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_9/collision/model_normalized_collision_19.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.14230249 -0.46174938 0.13979507
+v 0.15674147 -0.44937465 0.00297635
+v 0.16169864 -0.26515158 0.13889339
+v -0.12618015 -0.26515158 0.13889339
+v -0.12516816 -0.46605001 0.00272200
+v 0.16169864 -0.26515158 0.00252975
+v -0.12476354 -0.47077506 0.14086304
+v 0.15885303 -0.45563112 0.13918201
+v 0.11423536 -0.46076477 0.04853333
+v -0.12618015 -0.26515158 0.00252975
+v -0.00764571 -0.46094830 0.00288555
+f 6 4 3
+f 6 2 5
+f 7 1 3
+f 7 3 4
+f 7 4 5
+f 8 1 2
+f 8 3 1
+f 8 6 3
+f 8 2 6
+f 9 2 1
+f 9 7 5
+f 9 1 7
+f 10 6 5
+f 10 5 4
+f 10 4 6
+f 11 9 5
+f 11 5 2
+f 11 2 9
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_9/collision/model_normalized_collision_2.obj b/objects/objaverse/canned_food/canned_food_9/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb80a7a1250f8b318e3b679659dd547d31632893
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_9/collision/model_normalized_collision_2.obj
@@ -0,0 +1,105 @@
+# https://github.com/mikedh/trimesh
+v 0.16184196 0.35558514 0.25129494
+v 0.21994199 0.44372514 0.17585557
+v 0.18414738 0.47735805 0.24705009
+v -0.15175386 0.48857781 0.25100921
+v -0.23743440 0.37695535 0.14786437
+v 0.12464695 0.49030363 0.19541646
+v 0.02516126 0.46588472 0.25894400
+v 0.21803642 0.44304743 0.25013249
+v 0.16169864 0.35606055 0.15404491
+v -0.20227541 0.35604466 0.25376564
+v 0.18474701 0.47777834 0.19231131
+v 0.14278179 0.49223287 0.24527457
+v -0.12388545 0.45859959 0.15526798
+v 0.20923993 0.46198878 0.24525281
+v 0.02513810 0.48633069 0.25751899
+v -0.19889067 0.45689817 0.25876254
+v -0.20446273 0.41902326 0.26089642
+v -0.13492610 0.49021483 0.19492621
+v 0.15581178 0.48828877 0.21667506
+v 0.17528428 0.44399874 0.15437325
+v 0.21790680 0.44920336 0.17908130
+v 0.19603738 0.47451078 0.24097600
+v -0.15254969 0.48239815 0.25667940
+v -0.15196963 0.48982771 0.21553277
+v 0.12631463 0.46083541 0.15560622
+v -0.19437313 0.43308569 0.15646632
+v 0.15691091 0.49046668 0.24120601
+v 0.20798972 0.46188127 0.19097073
+v -0.19297509 0.47586881 0.25001125
+v 0.16999265 0.44664238 0.15498871
+v -0.16418516 0.44790474 0.15439411
+v -0.18063115 0.47587703 0.19446485
+v 0.19543133 0.47478169 0.23306068
+v -0.18303308 0.47012713 0.25698254
+v -0.19356194 0.47579193 0.23552075
+v -0.19194759 0.46633221 0.19190079
+f 8 1 2
+f 8 7 1
+f 9 2 1
+f 10 9 1
+f 10 5 9
+f 14 3 8
+f 15 8 3
+f 15 7 8
+f 15 3 12
+f 15 12 4
+f 16 7 15
+f 17 10 1
+f 17 1 7
+f 17 7 16
+f 17 16 5
+f 17 5 10
+f 18 12 6
+f 19 11 6
+f 20 9 5
+f 20 2 9
+f 21 14 8
+f 21 8 2
+f 21 20 11
+f 21 2 20
+f 22 3 14
+f 23 16 15
+f 23 15 4
+f 24 4 12
+f 24 12 18
+f 25 18 6
+f 25 13 18
+f 25 6 11
+f 25 20 5
+f 25 5 13
+f 27 19 6
+f 27 6 12
+f 27 12 3
+f 27 3 22
+f 27 11 19
+f 28 21 11
+f 28 22 14
+f 28 14 21
+f 29 23 4
+f 29 4 24
+f 29 5 16
+f 30 25 11
+f 30 11 20
+f 30 20 25
+f 31 18 13
+f 31 13 5
+f 31 5 26
+f 32 24 18
+f 32 31 26
+f 32 18 31
+f 33 27 22
+f 33 11 27
+f 33 28 11
+f 33 22 28
+f 34 29 16
+f 34 16 23
+f 34 23 29
+f 35 29 24
+f 35 24 32
+f 35 5 29
+f 36 32 26
+f 36 26 5
+f 36 35 32
+f 36 5 35
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_9/collision/model_normalized_collision_20.obj b/objects/objaverse/canned_food/canned_food_9/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a716310be082206db751a66d51e0bb64b3b18ec0
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_9/collision/model_normalized_collision_20.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.10103709 -0.49597173 0.23956887
+v 0.10042700 -0.49587190 0.21547937
+v 0.10160834 -0.34089647 0.24473965
+v 0.00964546 -0.31015480 0.24472538
+v 0.01013172 -0.49902611 0.21500077
+v 0.07102381 -0.31036328 0.24444078
+v 0.10056462 -0.48635128 0.24902329
+v 0.01044777 -0.49414597 0.24637688
+v 0.04052034 -0.31087684 0.24478694
+v 0.06970160 -0.49255889 0.24470912
+f 1 2 3
+f 5 2 1
+f 6 3 2
+f 6 5 4
+f 6 2 5
+f 7 1 3
+f 7 3 6
+f 8 5 1
+f 8 7 4
+f 8 4 5
+f 9 7 6
+f 9 6 4
+f 9 4 7
+f 10 8 1
+f 10 1 7
+f 10 7 8
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_9/collision/model_normalized_collision_21.obj b/objects/objaverse/canned_food/canned_food_9/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e72382abf079b4ef70967d981ad9d3b8872da2a
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_9/collision/model_normalized_collision_21.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.12476354 -0.47077506 0.14086304
+v -0.12516816 -0.46605001 0.00272200
+v -0.12618015 -0.00757582 0.13889339
+v -0.25839231 -0.00756154 0.13968527
+v -0.24538977 -0.35145644 0.14260606
+v -0.25415218 -0.00744888 0.00285383
+v -0.12618015 -0.00757582 0.00252975
+v -0.17884895 -0.45043553 0.14534565
+v -0.24599391 -0.32270967 0.00107004
+v -0.13414342 -0.46370313 0.00242913
+v -0.14860854 -0.46268705 0.14294238
+v -0.23075897 -0.37854935 0.00207161
+v -0.21682045 -0.40607925 0.14323550
+v -0.18995411 -0.43188075 0.00331770
+v -0.20222185 -0.41942039 0.00251575
+f 6 4 3
+f 7 1 2
+f 7 3 1
+f 7 6 3
+f 8 3 4
+f 8 4 5
+f 9 5 4
+f 9 4 6
+f 9 6 7
+f 10 2 1
+f 10 9 7
+f 10 7 2
+f 11 1 3
+f 11 3 8
+f 11 10 1
+f 11 8 10
+f 12 5 9
+f 13 8 5
+f 13 5 12
+f 14 10 8
+f 15 10 14
+f 15 12 9
+f 15 9 10
+f 15 13 12
+f 15 14 8
+f 15 8 13
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_9/collision/model_normalized_collision_22.obj b/objects/objaverse/canned_food/canned_food_9/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4652bcab138a5078e0bb54a1604a41d70a7efdd0
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_9/collision/model_normalized_collision_22.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.23550690 -0.36531978 0.00301183
+v 0.23660010 -0.34703559 -0.25832437
+v 0.24837329 -0.25020250 0.00241731
+v 0.14654713 -0.25000006 0.00252975
+v 0.14671773 -0.37127698 -0.25636960
+v 0.23899435 -0.25059838 -0.25706411
+v 0.22825688 -0.36717280 -0.25677687
+v 0.14654713 -0.37121218 0.00252975
+v 0.14672391 -0.25006704 -0.25579587
+f 1 2 3
+f 1 3 4
+f 6 3 2
+f 7 5 2
+f 7 2 1
+f 8 1 4
+f 8 4 5
+f 8 7 1
+f 8 5 7
+f 9 4 3
+f 9 3 6
+f 9 5 4
+f 9 6 2
+f 9 2 5
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_9/collision/model_normalized_collision_23.obj b/objects/objaverse/canned_food/canned_food_9/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..678b83c22acfd4af58ebdd140cd4a53234eccf85
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_9/collision/model_normalized_collision_23.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.16163218 -0.26510666 0.24483474
+v 0.16169864 -0.26515158 0.00252975
+v 0.16168064 -0.00713810 0.24686078
+v -0.12639379 -0.00736548 0.24907384
+v -0.12618015 -0.26515158 0.00252975
+v -0.12643666 -0.26482893 0.24626951
+v -0.12618015 -0.00757582 0.00252975
+v 0.16169864 -0.00757582 0.00252975
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 6 5 1
+f 6 1 4
+f 7 2 5
+f 7 4 3
+f 7 6 4
+f 7 5 6
+f 8 7 3
+f 8 3 2
+f 8 2 7
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_9/collision/model_normalized_collision_24.obj b/objects/objaverse/canned_food/canned_food_9/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..30c422bf27420c0290963caaaba4058132e1349b
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_9/collision/model_normalized_collision_24.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.16168064 -0.00713810 0.24686078
+v 0.16169864 -0.00757582 0.01768127
+v 0.16169864 0.35606055 0.01768127
+v -0.12629729 0.35586763 0.25162864
+v -0.12639379 -0.00736548 0.24907384
+v 0.16184196 0.35558514 0.25129494
+v -0.12618015 -0.00757582 0.01768127
+v -0.12618015 0.35606055 0.01768127
+f 5 2 1
+f 6 3 4
+f 6 5 1
+f 6 4 5
+f 6 1 2
+f 6 2 3
+f 7 3 2
+f 7 2 5
+f 8 7 5
+f 8 5 4
+f 8 4 3
+f 8 3 7
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_9/collision/model_normalized_collision_25.obj b/objects/objaverse/canned_food/canned_food_9/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e4765d6a35cf54b94c1b25e515c719c706bcab7a
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_9/collision/model_normalized_collision_25.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.01018349 -0.37121218 0.00252975
+v 0.01018349 -0.37121218 -0.11868237
+v 0.01018349 -0.00757582 0.00252975
+v -0.11102863 -0.00757582 0.00252975
+v -0.11102863 -0.37121218 -0.11868237
+v -0.11102863 -0.00757582 -0.11868237
+v -0.11102863 -0.37121218 0.00252975
+v 0.01018349 -0.00757582 -0.11868237
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 6 4 3
+f 6 5 4
+f 6 2 5
+f 7 5 1
+f 7 1 4
+f 7 4 5
+f 8 6 3
+f 8 3 2
+f 8 2 6
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_9/collision/model_normalized_collision_26.obj b/objects/objaverse/canned_food/canned_food_9/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..43921552810c87146ff9fc042d1f9ae0a84dbb3b
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_9/collision/model_normalized_collision_26.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.14654713 -0.00757582 -0.11868237
+v 0.14655206 -0.00757768 -0.25464644
+v 0.14658532 0.34089736 -0.25270870
+v 0.01018349 0.34090904 -0.11868237
+v 0.01018349 -0.00757582 -0.11868237
+v 0.01020892 -0.00758512 -0.25297130
+v 0.14654713 0.34090904 -0.11868237
+v 0.01025870 0.34088572 -0.25047101
+f 1 2 3
+f 5 1 4
+f 6 3 2
+f 6 5 4
+f 6 2 1
+f 6 1 5
+f 7 1 3
+f 7 3 4
+f 7 4 1
+f 8 6 4
+f 8 4 3
+f 8 3 6
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_9/collision/model_normalized_collision_27.obj b/objects/objaverse/canned_food/canned_food_9/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1c81da946199cc4d19ad9243da6a631e833937ad
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_9/collision/model_normalized_collision_27.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.21444740 -0.40372929 0.00348594
+v -0.11100953 -0.37120383 -0.25432730
+v -0.11102863 -0.37121218 0.00252975
+v -0.17163470 -0.25000006 0.00252975
+v -0.17161000 -0.24998959 -0.25410833
+v -0.11102863 -0.25000006 0.00252975
+v -0.17157235 -0.37118485 -0.25271206
+v -0.11098748 -0.24999027 -0.25402675
+f 1 2 3
+f 5 1 4
+f 6 1 3
+f 6 4 1
+f 6 5 4
+f 7 5 2
+f 7 2 1
+f 7 1 5
+f 8 2 5
+f 8 5 6
+f 8 6 3
+f 8 3 2
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_9/collision/model_normalized_collision_28.obj b/objects/objaverse/canned_food/canned_food_9/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..106ab37961d4fdf9df9038df7bb8f6bcc1b160d6
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_9/collision/model_normalized_collision_28.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.01018349 -0.14393945 -0.11868237
+v 0.01020111 -0.14394596 -0.25361612
+v 0.01020892 -0.00758512 -0.25297130
+v -0.11102863 -0.00757582 -0.11868237
+v -0.11102863 -0.14393945 -0.11868237
+v -0.11099277 -0.14395325 -0.25212692
+v 0.01018349 -0.00757582 -0.11868237
+v -0.11098455 -0.00759258 -0.25148189
+f 1 2 3
+f 5 1 4
+f 6 3 2
+f 6 5 4
+f 6 2 1
+f 6 1 5
+f 7 1 3
+f 7 3 4
+f 7 4 1
+f 8 6 4
+f 8 4 3
+f 8 3 6
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_9/collision/model_normalized_collision_29.obj b/objects/objaverse/canned_food/canned_food_9/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b6bf30d90c5b976f7e1f85c321d581f9480becd0
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_9/collision/model_normalized_collision_29.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.23692775 0.38085495 0.15639078
+v -0.20192864 0.37153140 -0.24745166
+v -0.20047304 0.42927857 0.15455484
+v -0.23064060 0.38930528 -0.25018297
+v -0.24126349 0.40077574 0.17029139
+v -0.24084763 0.36864749 -0.24684156
+v -0.19620787 0.42446371 -0.24997940
+v -0.20971844 0.42451442 0.15970417
+v -0.24224597 0.36920846 0.01757012
+v -0.20675059 0.41603209 -0.25031655
+f 1 2 3
+f 6 4 2
+f 6 5 4
+f 7 3 2
+f 8 5 1
+f 8 1 3
+f 8 7 5
+f 8 3 7
+f 9 6 2
+f 9 2 1
+f 9 1 5
+f 9 5 6
+f 10 7 2
+f 10 2 4
+f 10 4 5
+f 10 5 7
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_9/collision/model_normalized_collision_3.obj b/objects/objaverse/canned_food/canned_food_9/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..38488cdcda887ccd24a65eb8c22826a03959669b
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_9/collision/model_normalized_collision_3.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.24837329 -0.25020250 0.00241731
+v 0.24436825 -0.25031259 -0.11834339
+v 0.23169786 0.34008203 -0.11861533
+v 0.01018349 0.34090904 0.01768127
+v 0.01018349 -0.25000006 0.00252975
+v 0.23551347 0.34041638 0.01775095
+v 0.23673979 0.29498573 -0.08807624
+v 0.01018349 -0.25000006 -0.11868237
+v 0.01018349 0.34090904 -0.11868237
+v 0.24182874 -0.00777339 0.01837766
+v 0.23717122 0.15886554 -0.11854153
+v 0.23716477 0.32474122 0.01813797
+v 0.01018349 -0.00757582 0.01768127
+v 0.23627849 0.30940801 -0.07260676
+v 0.23579551 0.32398754 -0.04248441
+f 5 2 1
+f 7 1 2
+f 8 2 5
+f 8 5 4
+f 9 6 3
+f 9 4 6
+f 9 8 4
+f 9 3 8
+f 10 5 1
+f 11 7 2
+f 11 3 7
+f 11 8 3
+f 11 2 8
+f 12 1 7
+f 12 10 1
+f 12 6 4
+f 12 4 10
+f 13 10 4
+f 13 4 5
+f 13 5 10
+f 14 12 7
+f 14 7 3
+f 15 14 3
+f 15 3 6
+f 15 6 12
+f 15 12 14
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_9/collision/model_normalized_collision_30.obj b/objects/objaverse/canned_food/canned_food_9/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d3ab326fc29e17a803b15389d0940cc9461e3de
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_9/collision/model_normalized_collision_30.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.14406482 -0.45362616 0.00281065
+v 0.14312543 -0.45104638 -0.11874637
+v 0.14654713 -0.25000006 0.00252975
+v 0.01018349 -0.25000006 0.00252975
+v 0.01012504 -0.45781489 -0.11849134
+v 0.01018349 -0.25000006 -0.11868237
+v 0.14654713 -0.25000006 -0.11868237
+v 0.00968399 -0.45813539 0.00257751
+v 0.01033826 -0.45778145 -0.11917071
+f 1 3 4
+f 5 2 1
+f 6 4 3
+f 7 1 2
+f 7 3 1
+f 7 6 3
+f 8 5 1
+f 8 1 4
+f 8 6 5
+f 8 4 6
+f 9 2 5
+f 9 5 6
+f 9 7 2
+f 9 6 7
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_9/collision/model_normalized_collision_31.obj b/objects/objaverse/canned_food/canned_food_9/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fba83c3b2955d2317b5dd0cd2fb61de93eb906e1
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_9/collision/model_normalized_collision_31.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.11102863 -0.25000006 0.00252975
+v -0.11098748 -0.24999027 -0.25402675
+v -0.11102863 -0.00757582 0.00252975
+v -0.25415218 -0.00744888 0.00285383
+v -0.25238159 -0.24967420 0.00265219
+v -0.24895224 -0.00671214 -0.25363398
+v -0.24239847 -0.25004549 -0.25285301
+v -0.11098455 -0.00759258 -0.25148189
+v -0.25220340 -0.24961854 -0.01254446
+v -0.24716709 -0.24979386 -0.20822477
+f 1 3 4
+f 5 1 4
+f 6 4 3
+f 7 2 1
+f 7 1 5
+f 7 6 2
+f 8 6 3
+f 8 2 6
+f 8 1 2
+f 8 3 1
+f 9 5 4
+f 9 4 6
+f 10 7 5
+f 10 5 9
+f 10 9 6
+f 10 6 7
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_9/collision/model_normalized_collision_4.obj b/objects/objaverse/canned_food/canned_food_9/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..25deabbbf0c1d25ffd016f5d54be1fdfb2a2ebaa
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_9/collision/model_normalized_collision_4.obj
@@ -0,0 +1,120 @@
+# https://github.com/mikedh/trimesh
+v 0.18777628 -0.47785792 0.23576484
+v 0.26722670 -0.39239825 0.18383496
+v 0.28064424 0.18832645 0.24816288
+v 0.16210505 0.44792404 0.25575986
+v 0.15885303 -0.45563112 0.13918201
+v 0.15699474 -0.48177519 0.24347776
+v 0.26973800 -0.39310266 0.24231578
+v 0.21026999 -0.46168122 0.18310864
+v 0.24941352 0.32424828 0.16049830
+v 0.15825747 -0.48450219 0.17545550
+v 0.16290872 0.44970442 0.15382447
+v 0.28149668 -0.27990304 0.21740025
+v 0.20098586 -0.46580946 0.24097402
+v 0.23517415 0.41542655 0.25293756
+v 0.20671022 -0.41990596 0.13832073
+v 0.25306256 -0.41925035 0.19070956
+v 0.19538266 -0.47488617 0.18725438
+v 0.28114510 -0.27978995 0.23959573
+v 0.26450740 0.38158143 0.19179252
+v 0.17143985 -0.47863296 0.24169965
+v 0.21803642 0.44304743 0.25013249
+v 0.18151721 -0.44479358 0.14193308
+v 0.24894506 -0.32396923 0.14138329
+v 0.16169864 -0.00757582 0.13889339
+v 0.26556496 -0.40663477 0.23858292
+v 0.23727979 -0.43530216 0.18330828
+v 0.21241874 -0.46450403 0.23582372
+v 0.18751040 -0.47604012 0.17993818
+v 0.28205348 0.20457755 0.24187650
+v 0.21804636 0.43946947 0.17318069
+v 0.25661551 0.41000667 0.19999646
+v 0.23470290 -0.37926083 0.14340722
+v 0.25055721 -0.00810666 0.14328316
+v 0.26344842 -0.40750589 0.21978634
+v 0.22390418 -0.45065187 0.18355890
+v 0.19643170 -0.47401076 0.21340804
+v 0.28101442 0.20372982 0.23285941
+v 0.25140887 0.40845019 0.18492602
+v 0.23928774 0.40127799 0.17298470
+v 0.26624359 0.38119853 0.20091772
+v 0.28039513 -0.08494105 0.21946176
+f 7 4 6
+f 10 6 5
+f 10 1 6
+f 11 6 4
+f 11 5 6
+f 12 7 2
+f 13 7 6
+f 14 7 3
+f 14 4 7
+f 17 1 10
+f 18 3 7
+f 18 7 12
+f 20 13 6
+f 20 6 1
+f 20 1 13
+f 21 11 4
+f 21 4 14
+f 22 5 15
+f 24 15 5
+f 24 5 11
+f 25 2 7
+f 25 7 13
+f 26 15 2
+f 26 2 16
+f 27 13 1
+f 27 25 13
+f 27 16 25
+f 28 17 10
+f 28 10 5
+f 28 5 22
+f 28 22 8
+f 28 8 17
+f 29 18 12
+f 29 3 18
+f 29 14 3
+f 30 11 21
+f 31 21 14
+f 31 30 21
+f 32 23 2
+f 32 2 15
+f 32 15 23
+f 33 9 19
+f 33 12 2
+f 33 2 23
+f 33 23 15
+f 33 15 24
+f 33 24 11
+f 33 11 9
+f 34 25 16
+f 34 16 2
+f 34 2 25
+f 35 15 26
+f 35 22 15
+f 35 8 22
+f 35 26 16
+f 35 16 27
+f 35 27 17
+f 35 17 8
+f 36 27 1
+f 36 1 17
+f 36 17 27
+f 37 29 12
+f 38 19 9
+f 38 31 19
+f 38 30 31
+f 39 9 11
+f 39 11 30
+f 39 38 9
+f 39 30 38
+f 40 19 31
+f 40 37 19
+f 40 29 37
+f 40 31 14
+f 40 14 29
+f 41 33 19
+f 41 12 33
+f 41 37 12
+f 41 19 37
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_9/collision/model_normalized_collision_5.obj b/objects/objaverse/canned_food/canned_food_9/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..84dc22ee64b9db16c9f4a2d67fe5d6470e021139
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_9/collision/model_normalized_collision_5.obj
@@ -0,0 +1,114 @@
+# https://github.com/mikedh/trimesh
+v -0.24061905 -0.40125307 0.17223626
+v -0.22778440 -0.39940692 0.15689526
+v -0.20219850 -0.26518115 0.24818516
+v -0.19881050 0.47095429 0.25217535
+v -0.27733111 0.36747841 0.19084357
+v -0.19437313 0.43308569 0.15646632
+v -0.25675269 -0.00795374 0.13026046
+v -0.27611619 -0.26491451 0.24769511
+v -0.23002833 -0.38534763 0.13914555
+v -0.19194759 0.46633221 0.19190079
+v -0.24492325 0.36447767 0.15599416
+v -0.26302157 -0.39456356 0.18907713
+v -0.26143764 0.12928367 0.25961019
+v -0.19889067 0.45689817 0.25876254
+v -0.24677377 0.43298089 0.18816527
+v -0.25781646 0.03873577 0.13595388
+v -0.26033407 -0.39453248 0.18438450
+v -0.27541524 -0.24831521 0.18662579
+v -0.27562303 0.36599200 0.24892544
+v -0.22715872 0.44543871 0.18154161
+v -0.26155117 0.40946083 0.18129795
+v -0.27771350 -0.26462665 0.20401244
+v -0.27554768 0.00990992 0.17629472
+v -0.25398604 -0.26749542 0.13631570
+v -0.27004615 0.14432562 0.25803824
+v -0.23879919 0.42596160 0.25717528
+v -0.22085215 0.45879395 0.23453821
+v -0.26101225 0.40825608 0.24812854
+v -0.22155172 0.43642606 0.17144053
+v -0.24334065 0.41266717 0.17148972
+v -0.24538977 -0.35145644 0.14260606
+v -0.26320586 -0.33720099 0.17151012
+v -0.21260921 0.45329080 0.25694501
+v -0.26663674 0.36753984 0.25659169
+v -0.23437581 0.44479094 0.18767125
+v -0.21632761 0.45719348 0.19206210
+v -0.23332395 0.44771628 0.24760170
+v -0.24538654 0.43602721 0.24163397
+v -0.21952559 0.45949691 0.24912665
+f 1 2 3
+f 9 6 3
+f 9 3 2
+f 9 7 6
+f 9 2 1
+f 10 3 6
+f 11 6 7
+f 12 1 3
+f 12 3 8
+f 13 8 3
+f 14 10 4
+f 14 3 10
+f 14 13 3
+f 16 11 7
+f 16 7 5
+f 16 5 11
+f 17 9 1
+f 17 1 12
+f 20 10 6
+f 21 11 5
+f 21 15 20
+f 22 18 12
+f 22 12 8
+f 22 19 5
+f 22 8 19
+f 23 5 7
+f 23 7 18
+f 23 22 5
+f 23 18 22
+f 24 18 7
+f 24 7 9
+f 25 19 8
+f 25 8 13
+f 28 21 5
+f 28 5 19
+f 29 21 20
+f 29 20 6
+f 30 6 11
+f 30 11 21
+f 30 29 6
+f 30 21 29
+f 31 17 12
+f 31 24 9
+f 31 9 17
+f 32 12 18
+f 32 18 24
+f 32 31 12
+f 32 24 31
+f 33 26 14
+f 33 14 4
+f 34 19 25
+f 34 25 13
+f 34 13 14
+f 34 14 26
+f 34 28 19
+f 34 26 28
+f 35 20 15
+f 36 27 4
+f 36 4 10
+f 36 35 27
+f 36 10 20
+f 36 20 35
+f 37 28 26
+f 37 27 35
+f 38 15 21
+f 38 21 28
+f 38 28 37
+f 38 37 35
+f 38 35 15
+f 39 4 27
+f 39 27 37
+f 39 33 4
+f 39 37 26
+f 39 26 33
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_9/collision/model_normalized_collision_6.obj b/objects/objaverse/canned_food/canned_food_9/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..921721da7bdcc5379f63dfa75ca8d835cb646c53
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_9/collision/model_normalized_collision_6.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.20837584 -0.41758334 0.13902474
+v 0.22825688 -0.36717280 -0.25677687
+v 0.21786616 -0.39098417 -0.23494646
+v 0.23696733 -0.37100046 0.13897308
+v 0.14654713 -0.37121218 0.00252975
+v 0.22661073 -0.39371106 0.14062894
+v 0.14671773 -0.37127698 -0.25636960
+v 0.14797485 -0.44262463 -0.25914140
+v 0.16411476 -0.43503810 -0.26194316
+v 0.14406482 -0.45362616 0.00281065
+v 0.22215932 -0.37920670 -0.25733358
+v 0.17939995 -0.42896304 -0.23306081
+v 0.14207852 -0.44618905 -0.23445546
+v 0.16822066 -0.44416139 0.00298188
+v 0.15340206 -0.44264999 -0.23299167
+f 5 1 4
+f 5 4 2
+f 6 3 2
+f 6 2 4
+f 6 1 3
+f 6 4 1
+f 7 5 2
+f 9 8 7
+f 9 7 2
+f 10 1 5
+f 11 9 2
+f 11 2 3
+f 11 3 9
+f 12 9 3
+f 12 3 1
+f 13 10 5
+f 13 5 7
+f 13 7 8
+f 14 12 1
+f 14 1 10
+f 15 8 9
+f 15 9 12
+f 15 12 14
+f 15 13 8
+f 15 14 10
+f 15 10 13
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_9/collision/model_normalized_collision_7.obj b/objects/objaverse/canned_food/canned_food_9/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..66cb05f018aa9f782dec1e19a758782c76b47413
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_9/collision/model_normalized_collision_7.obj
@@ -0,0 +1,105 @@
+# https://github.com/mikedh/trimesh
+v 0.14208983 -0.49186678 0.23681084
+v 0.15885303 -0.45563112 0.13918201
+v 0.16163218 -0.26510666 0.24483474
+v -0.27611619 -0.26491451 0.24769511
+v -0.19054579 -0.47383453 0.17588339
+v -0.25412121 -0.26613690 0.13780976
+v 0.01044777 -0.49414597 0.24637688
+v 0.15699474 -0.48177519 0.24347776
+v -0.03827740 -0.49102502 0.16722713
+v 0.16169864 -0.26515158 0.13889339
+v -0.26302157 -0.39456356 0.18907713
+v -0.12314245 -0.47323662 0.14746484
+v 0.15825747 -0.48450219 0.17545550
+v -0.15237730 -0.49063014 0.23797874
+v 0.13130940 -0.49099111 0.18003189
+v 0.15911451 -0.47663507 0.17330452
+v -0.27771350 -0.26462665 0.20401244
+v -0.21682045 -0.40607925 0.14323550
+v -0.15238495 -0.49062438 0.17685851
+v 0.14230249 -0.46174938 0.13979507
+v -0.24631403 -0.42077528 0.24599113
+v -0.12015711 -0.49227246 0.17030100
+v 0.14269016 -0.49084669 0.18617901
+v -0.27611250 -0.35308358 0.24129300
+v -0.27601898 -0.32594010 0.20224427
+v -0.24589246 -0.42237520 0.17919423
+v -0.19047183 -0.44886137 0.15415386
+v -0.17934969 -0.47543194 0.16841204
+v -0.19161393 -0.47437780 0.23961413
+v -0.26161478 -0.39494091 0.24636122
+v -0.12419005 -0.49153359 0.24534628
+v -0.27543362 -0.35320101 0.21671089
+v -0.16742457 -0.46199148 0.15446347
+v -0.20542480 -0.46284105 0.24516295
+v -0.27591672 -0.32437976 0.24707010
+v -0.18018162 -0.47769133 0.24440325
+f 7 3 4
+f 8 7 1
+f 8 3 7
+f 10 2 6
+f 13 8 1
+f 15 1 7
+f 16 10 3
+f 16 2 10
+f 16 13 2
+f 16 3 8
+f 16 8 13
+f 17 10 6
+f 17 4 3
+f 17 3 10
+f 18 6 2
+f 20 9 12
+f 20 15 9
+f 20 2 13
+f 20 13 15
+f 20 18 2
+f 20 12 18
+f 22 15 7
+f 22 9 15
+f 22 14 19
+f 22 19 12
+f 22 12 9
+f 23 15 13
+f 23 13 1
+f 23 1 15
+f 24 4 17
+f 25 17 6
+f 25 6 11
+f 25 24 17
+f 26 11 6
+f 26 6 18
+f 26 21 11
+f 27 18 12
+f 27 26 18
+f 27 5 26
+f 28 19 5
+f 28 12 19
+f 28 5 27
+f 29 19 14
+f 29 5 19
+f 30 21 7
+f 30 24 11
+f 30 11 21
+f 31 22 7
+f 31 14 22
+f 31 7 21
+f 32 25 11
+f 32 11 24
+f 32 24 25
+f 33 28 27
+f 33 27 12
+f 33 12 28
+f 34 26 5
+f 34 5 29
+f 34 21 26
+f 34 31 21
+f 35 4 24
+f 35 24 30
+f 35 30 7
+f 35 7 4
+f 36 34 29
+f 36 29 14
+f 36 14 31
+f 36 31 34
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_9/collision/model_normalized_collision_8.obj b/objects/objaverse/canned_food/canned_food_9/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0313b50f50cbc3479f5b414bb6594b79c89fdef2
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_9/collision/model_normalized_collision_8.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.01018349 -0.00757582 0.01768127
+v 0.01020892 -0.00758512 -0.25297130
+v 0.01024071 0.46349590 0.01778994
+v -0.16513154 0.44699395 0.01787206
+v -0.25430160 -0.00743989 0.01768464
+v -0.15252738 0.44791167 -0.25072566
+v 0.01031287 0.45734389 -0.25177421
+v -0.08002965 0.46175138 0.01759902
+v -0.24866208 0.35149267 -0.24577740
+v -0.24895224 -0.00671214 -0.25363398
+v -0.06478172 0.46156940 -0.20815545
+v -0.24830265 0.35164137 0.01720178
+v -0.19620787 0.42446371 -0.24997940
+v -0.17921966 0.43575466 -0.25104810
+v -0.05029496 0.46013721 -0.22111912
+v -0.07967557 0.46137612 -0.04264578
+v 0.00951833 0.46077116 -0.22257692
+v -0.19148315 0.43247601 0.01790505
+v -0.16337179 0.44347572 -0.23527038
+v -0.18955367 0.42954272 -0.23445755
+v -0.24430391 0.36469805 0.00192991
+v -0.24429484 0.36319432 -0.24178901
+f 5 2 1
+f 7 1 2
+f 7 3 1
+f 8 6 4
+f 8 4 3
+f 10 7 2
+f 10 2 5
+f 10 5 9
+f 11 8 3
+f 12 9 5
+f 13 10 9
+f 14 6 7
+f 14 7 10
+f 14 10 13
+f 15 11 7
+f 15 7 6
+f 15 6 11
+f 16 11 6
+f 16 6 8
+f 16 8 11
+f 17 11 3
+f 17 3 7
+f 17 7 11
+f 18 12 5
+f 18 4 14
+f 18 5 1
+f 18 1 3
+f 18 3 4
+f 19 14 4
+f 19 4 6
+f 19 6 14
+f 20 18 14
+f 20 14 13
+f 20 13 18
+f 21 9 12
+f 21 12 18
+f 22 21 18
+f 22 18 13
+f 22 13 9
+f 22 9 21
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_9/collision/model_normalized_collision_9.obj b/objects/objaverse/canned_food/canned_food_9/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..16ffcdf7782d2e2d5037d583b1ecb940f15b134c
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_9/collision/model_normalized_collision_9.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v -0.03512542 -0.46291364 0.00289464
+v 0.01037668 -0.45325815 -0.25695183
+v -0.03527106 -0.37121218 0.00252975
+v -0.21444740 -0.40372929 0.00348594
+v -0.13418500 -0.45812323 -0.21843311
+v 0.01000373 -0.45827848 -0.17750856
+v -0.13414342 -0.46370313 0.00242913
+v -0.17157235 -0.37118485 -0.25271206
+v 0.01070789 -0.43169225 -0.25717376
+v -0.01987710 -0.46092501 -0.22168796
+v -0.16380589 -0.44854809 0.00302569
+v -0.14926640 -0.44768908 -0.25532753
+v 0.01020866 -0.45841636 -0.17953764
+v -0.03469452 -0.37106999 -0.25592924
+v -0.16193638 -0.44429373 -0.22101881
+v -0.09546642 -0.37103371 -0.25474397
+v -0.16688171 -0.43826178 -0.25489510
+f 1 3 4
+f 6 3 1
+f 8 4 3
+f 9 3 6
+f 10 5 2
+f 10 7 5
+f 10 1 7
+f 11 7 1
+f 11 1 4
+f 12 2 5
+f 12 9 2
+f 13 9 6
+f 13 2 9
+f 13 10 2
+f 13 6 1
+f 13 1 10
+f 14 3 9
+f 14 9 12
+f 15 5 7
+f 15 7 11
+f 15 12 5
+f 15 11 4
+f 16 8 3
+f 16 3 14
+f 17 15 4
+f 17 4 8
+f 17 12 15
+f 17 8 16
+f 17 16 14
+f 17 14 12
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_9/model.xml b/objects/objaverse/canned_food/canned_food_9/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..096f9a1c038093755e64fc94843b18cca46105d2
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_9/model.xml
@@ -0,0 +1,81 @@
+<mujoco model="more_canned_food_14">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.11499999999999996 0.11499999999999996 0.11499999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.11499999999999996 0.11499999999999996 0.11499999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.11499999999999996 0.11499999999999996 0.11499999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.11499999999999996 0.11499999999999996 0.11499999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.11499999999999996 0.11499999999999996 0.11499999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.11499999999999996 0.11499999999999996 0.11499999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.11499999999999996 0.11499999999999996 0.11499999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.11499999999999996 0.11499999999999996 0.11499999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.11499999999999996 0.11499999999999996 0.11499999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.11499999999999996 0.11499999999999996 0.11499999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.11499999999999996 0.11499999999999996 0.11499999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.11499999999999996 0.11499999999999996 0.11499999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.11499999999999996 0.11499999999999996 0.11499999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.11499999999999996 0.11499999999999996 0.11499999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.11499999999999996 0.11499999999999996 0.11499999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.11499999999999996 0.11499999999999996 0.11499999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.11499999999999996 0.11499999999999996 0.11499999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.11499999999999996 0.11499999999999996 0.11499999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.11499999999999996 0.11499999999999996 0.11499999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.11499999999999996 0.11499999999999996 0.11499999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.11499999999999996 0.11499999999999996 0.11499999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.11499999999999996 0.11499999999999996 0.11499999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.11499999999999996 0.11499999999999996 0.11499999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.11499999999999996 0.11499999999999996 0.11499999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.11499999999999996 0.11499999999999996 0.11499999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.11499999999999996 0.11499999999999996 0.11499999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.11499999999999996 0.11499999999999996 0.11499999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.11499999999999996 0.11499999999999996 0.11499999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.11499999999999996 0.11499999999999996 0.11499999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.11499999999999996 0.11499999999999996 0.11499999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.11499999999999996 0.11499999999999996 0.11499999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.11499999999999996 0.11499999999999996 0.11499999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.11499999999999996 0.11499999999999996 0.11499999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="material0.001" texture="image0" specular="0.5" shininess="0.001788855"/>
+  </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="material0.001"/>
+        <geom solimp="0.998 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="0.00024954885000000115 -0.0003906113000000018 -0.030123463399999998" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.00024954885000000115 -0.0003906113000000018 0.03000308829999999" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.03243615019999999 0.05660678004999998 -6.0187549999999434e-05" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/objects/objaverse/canned_food/canned_food_9/visual/material.mtl b/objects/objaverse/canned_food/canned_food_9/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..44a1209f7a0262e4a54c8d272a61b54e5cc2b200
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_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 1.78885500
+map_Kd material_0.jpeg
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_12/collision/model_normalized_collision_0.obj b/objects/objaverse/knife/knife_12/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..89af34aabbe7622142325745d25aa812e522805c
--- /dev/null
+++ b/objects/objaverse/knife/knife_12/collision/model_normalized_collision_0.obj
@@ -0,0 +1,18 @@
+# https://github.com/mikedh/trimesh
+v 0.00369572 0.44605422 0.04111241
+v 0.00000000 0.44216932 -0.00570249
+v 0.00000000 0.48192748 0.01492880
+v 0.00000000 0.50000000 0.03345598
+v -0.00366666 0.44647845 0.04105220
+v 0.00000000 0.49444625 0.02459172
+v 0.00000000 0.45480005 -0.00005985
+f 5 2 1
+f 5 1 4
+f 6 1 3
+f 6 4 1
+f 6 5 4
+f 6 3 5
+f 7 1 2
+f 7 3 1
+f 7 5 3
+f 7 2 5
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_12/collision/model_normalized_collision_1.obj b/objects/objaverse/knife/knife_12/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d3ea2bfa05034ee7765a651a9f260317505e47e7
--- /dev/null
+++ b/objects/objaverse/knife/knife_12/collision/model_normalized_collision_1.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.00932860 0.30992421 0.06139293
+v 0.00000000 0.30969549 -0.03976951
+v 0.00985587 0.35524735 0.05401071
+v -0.00995686 0.35466139 0.05408362
+v -0.01006137 0.30992007 0.06131351
+v 0.00000000 0.35330917 -0.03179629
+v 0.00783192 0.33806457 0.05715273
+v -0.00705526 0.30980265 -0.02543963
+v -0.00469049 0.35452196 -0.02323655
+v -0.01006137 0.33800444 0.05678689
+v -0.01006137 0.31060606 0.05930969
+f 1 2 3
+f 5 2 1
+f 6 3 2
+f 7 1 3
+f 7 3 4
+f 7 5 1
+f 8 2 5
+f 9 4 3
+f 9 3 6
+f 9 8 4
+f 9 6 2
+f 9 2 8
+f 10 7 4
+f 10 5 7
+f 10 4 8
+f 11 10 8
+f 11 8 5
+f 11 5 10
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_12/collision/model_normalized_collision_10.obj b/objects/objaverse/knife/knife_12/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..03efdae561592a913d160e7c72030d8d045aa93b
--- /dev/null
+++ b/objects/objaverse/knife/knife_12/collision/model_normalized_collision_10.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.01489545 -0.19010398 0.06375767
+v 0.01927174 -0.19093878 0.00627946
+v 0.01962639 -0.14332477 0.06413505
+v -0.01971137 -0.14246915 0.06413505
+v -0.01622322 -0.19051944 0.00465162
+v -0.01267374 -0.18968388 0.06543833
+v 0.01623401 -0.14425870 0.01077016
+v -0.01814896 -0.15770472 0.06430718
+v -0.01956117 -0.14400101 0.01344153
+v -0.01850899 -0.16042676 0.01177962
+f 1 2 3
+f 5 2 1
+f 6 1 3
+f 6 3 4
+f 6 5 1
+f 7 3 2
+f 7 2 5
+f 7 4 3
+f 8 6 4
+f 8 4 5
+f 8 5 6
+f 9 7 5
+f 9 4 7
+f 10 9 5
+f 10 5 4
+f 10 4 9
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_12/collision/model_normalized_collision_11.obj b/objects/objaverse/knife/knife_12/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3723405d19be0a4aea2e2a5899eaaef80f8e0fb3
--- /dev/null
+++ b/objects/objaverse/knife/knife_12/collision/model_normalized_collision_11.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.01974768 -0.34193942 0.02900524
+v 0.02441591 -0.33900003 -0.00065297
+v 0.01994374 -0.34022706 0.02900760
+v 0.02136896 -0.26423983 0.02900666
+v 0.00975147 -0.26525404 -0.00717066
+v 0.02589506 -0.26646206 -0.00051817
+v 0.00980630 -0.34083490 -0.00729515
+v 0.02147980 -0.26553100 0.02900666
+v 0.02033329 -0.26575880 -0.00274692
+v 0.01948802 -0.34017323 -0.00292607
+f 1 2 3
+f 1 3 4
+f 5 1 4
+f 6 3 2
+f 7 1 5
+f 7 5 6
+f 8 6 4
+f 8 4 3
+f 8 3 6
+f 9 6 5
+f 9 5 4
+f 9 4 6
+f 10 2 1
+f 10 1 7
+f 10 7 6
+f 10 6 2
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_12/collision/model_normalized_collision_12.obj b/objects/objaverse/knife/knife_12/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0ab72777fccdfe8e0c3752ed28fe9e48595b8499
--- /dev/null
+++ b/objects/objaverse/knife/knife_12/collision/model_normalized_collision_12.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.00985587 0.35524735 0.05401071
+v 0.00978091 0.35598543 0.02900666
+v 0.00369572 0.44605422 0.04111241
+v -0.00373604 0.44546561 0.04119595
+v -0.00995686 0.35466139 0.05408362
+v -0.00344503 0.44583776 0.02911161
+v 0.00485232 0.42917159 0.04350853
+v -0.00983370 0.35530570 0.02900666
+v 0.00340140 0.44645341 0.02905453
+f 1 3 4
+f 5 1 4
+f 7 1 2
+f 7 2 3
+f 7 3 1
+f 8 2 1
+f 8 1 5
+f 8 5 4
+f 8 4 6
+f 9 3 2
+f 9 8 6
+f 9 2 8
+f 9 6 4
+f 9 4 3
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_12/collision/model_normalized_collision_13.obj b/objects/objaverse/knife/knife_12/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b0cfbd947ede86705c305f2c288228fd8f284047
--- /dev/null
+++ b/objects/objaverse/knife/knife_12/collision/model_normalized_collision_13.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.00949798 0.27970249 0.06295138
+v 0.00088514 0.27966900 -0.04188979
+v 0.00932860 0.30992421 0.06139293
+v -0.01006137 0.30992007 0.06131351
+v -0.01006137 0.27969931 0.06289031
+v 0.00000000 0.30969549 -0.03976951
+v -0.00262929 0.27921513 -0.03840991
+v -0.00106728 0.30941775 -0.03764011
+f 1 2 3
+f 5 1 3
+f 5 3 4
+f 6 3 2
+f 6 4 3
+f 7 2 1
+f 7 1 5
+f 7 6 2
+f 7 5 4
+f 8 7 4
+f 8 4 6
+f 8 6 7
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_12/collision/model_normalized_collision_14.obj b/objects/objaverse/knife/knife_12/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..050daa8f0ae5e944ffcfb5fdf2c1ab708d242167
--- /dev/null
+++ b/objects/objaverse/knife/knife_12/collision/model_normalized_collision_14.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.01629689 -0.22014498 0.06375767
+v 0.01629689 -0.22014498 0.02900666
+v 0.01489545 -0.19010398 0.06375767
+v -0.01267374 -0.18968388 0.06543833
+v -0.01628311 -0.21984956 0.02900666
+v -0.01319195 -0.21999405 0.06612035
+v -0.01486856 -0.18975581 0.02900666
+v 0.01489545 -0.19010398 0.02900666
+f 1 2 3
+f 6 1 3
+f 6 3 4
+f 6 4 5
+f 6 5 2
+f 6 2 1
+f 7 2 5
+f 7 5 4
+f 8 3 2
+f 8 2 7
+f 8 7 4
+f 8 4 3
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_12/collision/model_normalized_collision_15.obj b/objects/objaverse/knife/knife_12/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8d5a14cd95b8c47bd596764c46a9e4c2c7322e7e
--- /dev/null
+++ b/objects/objaverse/knife/knife_12/collision/model_normalized_collision_15.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.01006312 -0.09560074 -0.03072427
+v 0.00843118 -0.08509858 -0.06566788
+v 0.01006312 -0.05303030 -0.03159940
+v -0.01006312 -0.05303030 -0.03159940
+v -0.02034390 -0.09331207 -0.03002989
+v 0.00000000 -0.05348291 -0.06854955
+v -0.01012621 -0.08509858 -0.06528514
+v -0.02034390 -0.07100881 -0.05919390
+v -0.02034390 -0.08509858 -0.05709982
+v -0.02034390 -0.07100881 -0.03159940
+v -0.00506875 -0.05333401 -0.05603562
+v -0.01247674 -0.07147122 -0.06337573
+f 1 2 3
+f 5 1 3
+f 5 3 4
+f 6 3 2
+f 6 4 3
+f 7 2 1
+f 7 1 5
+f 7 6 2
+f 9 8 7
+f 9 7 5
+f 9 5 8
+f 10 8 5
+f 10 5 4
+f 10 4 8
+f 11 8 4
+f 11 4 6
+f 11 6 8
+f 12 8 6
+f 12 6 7
+f 12 7 8
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_12/collision/model_normalized_collision_16.obj b/objects/objaverse/knife/knife_12/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9c297e9cfc1115592a3303ec6f6fb905fef426c8
--- /dev/null
+++ b/objects/objaverse/knife/knife_12/collision/model_normalized_collision_16.obj
@@ -0,0 +1,18 @@
+# https://github.com/mikedh/trimesh
+v 0.01489545 -0.40205705 0.06615393
+v 0.01489545 -0.40151514 0.02900666
+v 0.01994374 -0.34022706 0.02900760
+v 0.01123800 -0.34093192 0.06814759
+v 0.00892839 -0.40151514 0.06831402
+v 0.01974768 -0.34193942 0.02900524
+v 0.01855992 -0.34006412 0.06482195
+f 1 2 3
+f 5 2 1
+f 5 1 4
+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 1
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_12/collision/model_normalized_collision_17.obj b/objects/objaverse/knife/knife_12/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..badad6f668e40f4d2905cd94a4591cef09b27e29
--- /dev/null
+++ b/objects/objaverse/knife/knife_12/collision/model_normalized_collision_17.obj
@@ -0,0 +1,15 @@
+# https://github.com/mikedh/trimesh
+v 0.01489545 -0.40151514 0.02900666
+v 0.01578755 -0.39928604 0.00542605
+v 0.01726213 -0.38474981 0.00282421
+v 0.01489545 -0.38636363 0.02900666
+v 0.00897022 -0.40082037 0.00157720
+v 0.01050400 -0.38626586 -0.00085916
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 5 1 4
+f 5 3 2
+f 6 5 4
+f 6 4 3
+f 6 3 5
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_12/collision/model_normalized_collision_18.obj b/objects/objaverse/knife/knife_12/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6339ee867586763167e043da646d0a35464dff85
--- /dev/null
+++ b/objects/objaverse/knife/knife_12/collision/model_normalized_collision_18.obj
@@ -0,0 +1,18 @@
+# https://github.com/mikedh/trimesh
+v 0.01006312 -0.09560074 -0.03072427
+v 0.02034390 -0.09331207 -0.03002989
+v 0.02034390 -0.08333333 -0.03159940
+v 0.01477335 -0.08360066 -0.06316704
+v 0.00843118 -0.08509858 -0.06566788
+v 0.01501262 -0.08314318 -0.06346565
+v 0.00884235 -0.08314318 -0.06767979
+f 1 2 3
+f 5 2 1
+f 5 4 2
+f 6 3 2
+f 6 2 4
+f 7 5 1
+f 7 1 3
+f 7 3 6
+f 7 6 4
+f 7 4 5
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_12/collision/model_normalized_collision_19.obj b/objects/objaverse/knife/knife_12/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e8aca1332c2947fdcdf82fae3443e18d2be88138
--- /dev/null
+++ b/objects/objaverse/knife/knife_12/collision/model_normalized_collision_19.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.01006266 0.15909090 0.01385515
+v 0.00000000 0.15863418 -0.05654162
+v 0.01006137 0.28030303 0.01385515
+v -0.01006137 0.28030303 0.01385515
+v -0.01006266 0.15909072 0.01385515
+v 0.00088514 0.27966900 -0.04188979
+v -0.00635754 0.15870853 -0.04134424
+v -0.00262929 0.27921513 -0.03840991
+v 0.00000000 0.26305813 -0.04585236
+f 1 2 3
+f 1 3 4
+f 5 1 4
+f 6 3 2
+f 6 4 3
+f 7 2 1
+f 7 1 5
+f 7 5 4
+f 8 2 7
+f 8 7 4
+f 8 4 6
+f 9 8 6
+f 9 6 2
+f 9 2 8
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_12/collision/model_normalized_collision_2.obj b/objects/objaverse/knife/knife_12/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4933e238c48a03c58f73e91eb120b9567bcbf99f
--- /dev/null
+++ b/objects/objaverse/knife/knife_12/collision/model_normalized_collision_2.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.01974606 -0.34193999 0.04415988
+v 0.00980630 -0.34083490 -0.00729515
+v 0.01626399 -0.21943968 0.04415818
+v -0.01628311 -0.21984956 0.04415818
+v -0.02005650 -0.33923057 0.04415539
+v 0.00586681 -0.22135462 -0.00566873
+v -0.02433342 -0.33971883 -0.00065297
+v -0.01866838 -0.22010281 0.01057305
+v -0.01317551 -0.22185239 -0.00242153
+v -0.02243817 -0.23728853 -0.00014097
+v -0.02066448 -0.22079343 0.00141018
+v -0.01817625 -0.23772073 0.04415898
+f 1 2 3
+f 6 3 2
+f 7 2 1
+f 7 1 5
+f 8 4 3
+f 8 3 6
+f 9 6 2
+f 9 2 7
+f 10 7 5
+f 10 9 7
+f 11 8 6
+f 11 6 9
+f 11 9 10
+f 11 4 8
+f 12 10 5
+f 12 11 10
+f 12 4 11
+f 12 5 1
+f 12 1 3
+f 12 3 4
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_12/collision/model_normalized_collision_20.obj b/objects/objaverse/knife/knife_12/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..016eebaacf866a7ac9d78a5fb673edcac6e3a68f
--- /dev/null
+++ b/objects/objaverse/knife/knife_12/collision/model_normalized_collision_20.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.02147875 -0.26553140 0.04415818
+v 0.02033329 -0.26575880 -0.00274692
+v 0.01845515 -0.22221284 -0.00007596
+v 0.01626399 -0.21943968 0.04415818
+v 0.00975147 -0.26525404 -0.00717066
+v 0.02136773 -0.26423919 0.04415818
+v 0.01629689 -0.22014498 0.04415818
+v 0.00586681 -0.22135462 -0.00566873
+f 1 2 3
+f 5 2 1
+f 6 1 3
+f 6 3 4
+f 6 4 1
+f 7 5 1
+f 7 1 4
+f 8 3 2
+f 8 2 5
+f 8 4 3
+f 8 7 4
+f 8 5 7
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_12/collision/model_normalized_collision_21.obj b/objects/objaverse/knife/knife_12/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b9703d37f6ee4bba2803776c6937ebac2412219d
--- /dev/null
+++ b/objects/objaverse/knife/knife_12/collision/model_normalized_collision_21.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.00892839 -0.40151514 0.06831402
+v 0.00644557 -0.39813491 -0.00047831
+v 0.00892839 -0.38636363 0.06831402
+v -0.01335872 -0.38689362 0.06633661
+v -0.01190498 -0.41597592 -0.00409029
+v -0.01106002 -0.38297264 -0.00128414
+v -0.01404068 -0.40196894 0.06679999
+v 0.00704375 -0.38359306 -0.00339515
+f 5 2 1
+f 6 4 3
+f 7 1 3
+f 7 3 4
+f 7 5 1
+f 7 6 5
+f 7 4 6
+f 8 1 2
+f 8 3 1
+f 8 6 3
+f 8 2 5
+f 8 5 6
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_12/collision/model_normalized_collision_22.obj b/objects/objaverse/knife/knife_12/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cda0075450977394f53a86d8df9461adc8b23fed
--- /dev/null
+++ b/objects/objaverse/knife/knife_12/collision/model_normalized_collision_22.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.01986748 -0.10318593 -0.00891859
+v 0.02034390 -0.09458936 -0.02582021
+v 0.02034390 -0.08333333 -0.01644789
+v -0.02034390 -0.08333333 -0.01644789
+v -0.02034390 -0.09331207 -0.03002989
+v -0.01466346 -0.10516384 -0.01034316
+v 0.02034390 -0.08333333 -0.03159940
+v -0.01520177 -0.09573411 -0.02616754
+v -0.02034396 -0.09782812 -0.01597334
+v -0.02034390 -0.08333333 -0.03159940
+f 1 2 3
+f 1 3 4
+f 6 2 1
+f 6 1 4
+f 7 3 2
+f 7 2 5
+f 7 4 3
+f 8 6 5
+f 8 5 2
+f 8 2 6
+f 9 6 4
+f 9 5 6
+f 10 7 5
+f 10 4 7
+f 10 9 4
+f 10 5 9
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_12/collision/model_normalized_collision_23.obj b/objects/objaverse/knife/knife_12/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a65f8aa28b68c25dcf0db499bbe47560b5041d6f
--- /dev/null
+++ b/objects/objaverse/knife/knife_12/collision/model_normalized_collision_23.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.00892839 -0.38636363 0.06831402
+v 0.01489545 -0.38636363 0.02900666
+v 0.01974768 -0.34193942 0.02900524
+v -0.02005143 -0.33922677 0.06375767
+v -0.01489545 -0.38636363 0.02900666
+v 0.01123800 -0.34093192 0.06814759
+v -0.01335872 -0.38689362 0.06633661
+v -0.02005768 -0.33923193 0.02900897
+f 1 2 3
+f 5 3 2
+f 6 1 3
+f 7 5 2
+f 7 2 1
+f 7 4 5
+f 7 6 4
+f 7 1 6
+f 8 5 4
+f 8 3 5
+f 8 6 3
+f 8 4 6
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_12/collision/model_normalized_collision_24.obj b/objects/objaverse/knife/knife_12/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c22d9e30526390c1382b42062fa72438a6cce9e7
--- /dev/null
+++ b/objects/objaverse/knife/knife_12/collision/model_normalized_collision_24.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.01974606 -0.34193999 0.04415988
+v 0.01974768 -0.34193942 0.02900524
+v 0.01994240 -0.34022641 0.04415704
+v 0.02136773 -0.26423919 0.04415818
+v 0.02147980 -0.26553100 0.02900666
+v 0.01994374 -0.34022706 0.02900760
+v 0.02136896 -0.26423983 0.02900666
+v 0.02147875 -0.26553140 0.04415818
+f 1 2 3
+f 6 3 2
+f 6 2 5
+f 7 5 2
+f 7 2 1
+f 7 1 4
+f 8 6 5
+f 8 3 6
+f 8 1 3
+f 8 4 1
+f 8 7 4
+f 8 5 7
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_12/collision/model_normalized_collision_25.obj b/objects/objaverse/knife/knife_12/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..164b22a1f95fecda4a6965f57ef06f909049261c
--- /dev/null
+++ b/objects/objaverse/knife/knife_12/collision/model_normalized_collision_25.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.01962639 -0.14332477 0.01385515
+v 0.02034390 -0.12878787 0.01385515
+v -0.02034565 -0.12878787 0.01385515
+v -0.02034565 -0.12250117 0.00893853
+v 0.01854126 -0.12314520 0.00789004
+v -0.01956117 -0.14400101 0.01344153
+v -0.01971137 -0.14246915 0.01385515
+v 0.01623401 -0.14425870 0.01077016
+f 1 2 3
+f 3 2 4
+f 5 2 1
+f 5 4 2
+f 7 6 1
+f 7 1 3
+f 7 3 4
+f 7 4 6
+f 8 5 1
+f 8 1 6
+f 8 6 4
+f 8 4 5
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_12/collision/model_normalized_collision_26.obj b/objects/objaverse/knife/knife_12/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..720bb7d52efaae20ce411d60afd1cd1e09e74f48
--- /dev/null
+++ b/objects/objaverse/knife/knife_12/collision/model_normalized_collision_26.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.00538736 0.41632450 0.02944996
+v 0.00190956 0.41531889 -0.01201004
+v 0.00340140 0.44645341 0.02905453
+v -0.00336995 0.44689714 0.02901339
+v -0.00548238 0.41576862 0.03017013
+v 0.00000000 0.44216932 -0.00570249
+v -0.00252069 0.41411184 -0.01072904
+v -0.00450490 0.43083455 0.02997686
+v -0.00051882 0.42896309 -0.01005692
+v -0.00476362 0.41562109 0.01558190
+f 1 2 3
+f 6 3 2
+f 6 4 3
+f 7 2 1
+f 7 1 5
+f 7 4 6
+f 8 5 1
+f 8 1 3
+f 8 3 4
+f 9 7 6
+f 9 6 2
+f 9 2 7
+f 10 7 5
+f 10 5 8
+f 10 8 4
+f 10 4 7
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_12/collision/model_normalized_collision_27.obj b/objects/objaverse/knife/knife_12/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a372487d989c1f7b24610af99063e1d52b4b5b56
--- /dev/null
+++ b/objects/objaverse/knife/knife_12/collision/model_normalized_collision_27.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.02034390 -0.12878787 0.01385515
+v 0.02034390 -0.08333333 -0.01644789
+v 0.02034390 -0.08333333 0.01385515
+v -0.02034390 -0.08333333 0.01385515
+v -0.02034465 -0.10300554 -0.00878723
+v 0.01252828 -0.11853513 0.00024093
+v -0.02034565 -0.12878787 0.01385515
+v -0.02034390 -0.08333333 -0.01644789
+v -0.01006312 -0.11941612 -0.00119309
+f 1 2 3
+f 1 3 4
+f 3 2 4
+f 6 2 1
+f 7 1 4
+f 8 4 2
+f 8 2 5
+f 8 7 4
+f 8 5 7
+f 9 5 2
+f 9 2 6
+f 9 7 5
+f 9 6 1
+f 9 1 7
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_12/collision/model_normalized_collision_28.obj b/objects/objaverse/knife/knife_12/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e01a89a402f738054a898bdd8b0c3b57908f7b16
--- /dev/null
+++ b/objects/objaverse/knife/knife_12/collision/model_normalized_collision_28.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.02034390 -0.08333333 0.06376118
+v 0.01501262 -0.08314318 -0.06346565
+v 0.01754127 -0.07206695 -0.06089850
+v 0.01006312 -0.06818181 0.06771235
+v 0.01006312 -0.08333333 0.06771235
+v 0.00548566 -0.07100881 -0.06688185
+v 0.02034390 -0.07100881 0.06376118
+v 0.00884235 -0.08314318 -0.06767979
+f 1 2 3
+f 5 1 4
+f 6 4 3
+f 6 5 4
+f 7 1 3
+f 7 3 4
+f 7 4 1
+f 8 6 3
+f 8 3 2
+f 8 5 6
+f 8 2 1
+f 8 1 5
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_12/collision/model_normalized_collision_29.obj b/objects/objaverse/knife/knife_12/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd8bee0b61bd77b748e931ebf545fff29709f815
--- /dev/null
+++ b/objects/objaverse/knife/knife_12/collision/model_normalized_collision_29.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.01006312 -0.05303030 0.01385515
+v 0.00000000 -0.05348291 -0.06854955
+v 0.01006312 0.09848485 0.01385515
+v -0.01006312 0.09848485 0.01385515
+v -0.01006312 -0.05303030 0.01385515
+v 0.00104344 0.09827323 -0.05792607
+v -0.00506875 -0.05333401 -0.05603562
+v -0.00231208 0.09810889 -0.05483831
+v 0.00000000 0.08249556 -0.06131259
+f 1 2 3
+f 5 2 1
+f 5 1 3
+f 5 3 4
+f 6 3 2
+f 6 4 3
+f 7 5 4
+f 7 2 5
+f 8 2 7
+f 8 7 4
+f 8 4 6
+f 9 8 6
+f 9 6 2
+f 9 2 8
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_12/collision/model_normalized_collision_3.obj b/objects/objaverse/knife/knife_12/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9fe6768ff16384daf3a7b64d2a269a2a9482bba3
--- /dev/null
+++ b/objects/objaverse/knife/knife_12/collision/model_normalized_collision_3.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.01629689 -0.22014498 0.02900666
+v 0.01845515 -0.22221284 -0.00007596
+v 0.01927174 -0.19093878 0.00627946
+v -0.01486856 -0.18975581 0.02900666
+v -0.02066448 -0.22079343 0.00141018
+v 0.01489545 -0.19010398 0.02900666
+v -0.01628311 -0.21984956 0.02900666
+v 0.00767037 -0.19212814 -0.00035732
+v -0.01838504 -0.19010398 0.01010648
+v -0.01317551 -0.22185239 -0.00242153
+v 0.01599657 -0.20789193 0.00123740
+v -0.01929036 -0.19133806 0.00621433
+v -0.00993534 -0.19264409 0.00072834
+f 1 2 3
+f 6 1 3
+f 6 4 1
+f 7 2 1
+f 7 1 4
+f 9 6 3
+f 9 4 6
+f 9 3 8
+f 10 7 5
+f 10 2 7
+f 10 8 2
+f 11 8 3
+f 11 3 2
+f 11 2 8
+f 12 7 4
+f 12 4 9
+f 12 5 7
+f 12 9 8
+f 13 10 5
+f 13 5 12
+f 13 12 8
+f 13 8 10
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_12/collision/model_normalized_collision_30.obj b/objects/objaverse/knife/knife_12/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c7d8a732cabead69da188e0d0f505c578c5dc632
--- /dev/null
+++ b/objects/objaverse/knife/knife_12/collision/model_normalized_collision_30.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.01962639 -0.14332477 0.06413505
+v 0.01962639 -0.14332477 0.01385515
+v 0.02034390 -0.08333333 0.01385515
+v -0.02034390 -0.08333333 0.06376118
+v -0.01971137 -0.14246915 0.06413505
+v -0.02034390 -0.08333333 0.01385515
+v 0.02034390 -0.08333333 0.06376118
+v -0.01971137 -0.14246915 0.01385515
+f 1 2 3
+f 5 2 1
+f 6 3 2
+f 6 4 3
+f 6 5 4
+f 7 1 3
+f 7 3 4
+f 7 5 1
+f 7 4 5
+f 8 6 2
+f 8 2 5
+f 8 5 6
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_12/collision/model_normalized_collision_31.obj b/objects/objaverse/knife/knife_12/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..295d96ad2afe894a0049df7569b7e174c0b9ab05
--- /dev/null
+++ b/objects/objaverse/knife/knife_12/collision/model_normalized_collision_31.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.01006312 0.09848485 0.01385515
+v 0.00104344 0.09827323 -0.05792607
+v 0.01006266 0.15909090 0.01385515
+v -0.01006266 0.15909072 0.01385515
+v -0.01006312 0.09848485 0.01385515
+v 0.00000000 0.15863418 -0.05654162
+v -0.00231208 0.09810889 -0.05483831
+v -0.01006312 0.09848485 -0.01644789
+v -0.00112989 0.15841291 -0.05394453
+f 1 2 3
+f 1 3 4
+f 5 1 4
+f 6 3 2
+f 6 4 3
+f 7 2 1
+f 7 1 5
+f 7 6 2
+f 8 7 5
+f 8 5 4
+f 9 8 4
+f 9 4 6
+f 9 6 7
+f 9 7 8
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_12/collision/model_normalized_collision_4.obj b/objects/objaverse/knife/knife_12/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6466e3ec42abfeb10b80bb6dd0d4123717c15e16
--- /dev/null
+++ b/objects/objaverse/knife/knife_12/collision/model_normalized_collision_4.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.01489545 -0.49493421 0.04682432
+v 0.01489545 -0.47024098 -0.01576820
+v 0.01489545 -0.40205705 0.06615393
+v -0.01404068 -0.40196894 0.06679999
+v -0.01489545 -0.49287521 0.00836191
+v -0.01190498 -0.41597592 -0.00409029
+v -0.01375846 -0.48035877 0.06140238
+v 0.01489545 -0.49287521 0.00836191
+v 0.01489545 -0.43088465 -0.02113114
+v -0.01489545 -0.43088465 -0.02113114
+v 0.01395540 -0.48112212 0.06060968
+v -0.01489545 -0.49493421 0.04682432
+v 0.01489545 -0.41689013 -0.00330905
+v -0.01489545 -0.47024098 -0.01576820
+f 1 2 3
+f 6 4 3
+f 7 3 4
+f 8 5 2
+f 8 2 1
+f 8 1 5
+f 9 3 2
+f 10 4 6
+f 10 6 9
+f 10 9 2
+f 11 7 1
+f 11 1 3
+f 11 3 7
+f 12 5 1
+f 12 1 7
+f 12 7 4
+f 12 10 5
+f 12 4 10
+f 13 9 6
+f 13 6 3
+f 13 3 9
+f 14 10 2
+f 14 2 5
+f 14 5 10
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_12/collision/model_normalized_collision_5.obj b/objects/objaverse/knife/knife_12/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..79623b89fd55143a207df977096d42b55599534e
--- /dev/null
+++ b/objects/objaverse/knife/knife_12/collision/model_normalized_collision_5.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.01006312 -0.05303030 0.06771235
+v 0.01006312 -0.05303030 0.01385515
+v 0.01006137 0.28030303 0.01385515
+v -0.01006137 0.27969931 0.06289031
+v -0.01006312 -0.05303030 0.01385515
+v 0.00949798 0.27970249 0.06295138
+v -0.01006312 -0.05303030 0.06771235
+v -0.01006137 0.28030303 0.01385515
+f 1 2 3
+f 5 3 2
+f 6 1 3
+f 7 6 4
+f 7 1 6
+f 7 5 2
+f 7 2 1
+f 8 3 5
+f 8 6 3
+f 8 4 6
+f 8 7 4
+f 8 5 7
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_12/collision/model_normalized_collision_6.obj b/objects/objaverse/knife/knife_12/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..47a3578b5faa479d659bb563164c22ba6556bfff
--- /dev/null
+++ b/objects/objaverse/knife/knife_12/collision/model_normalized_collision_6.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.01855992 -0.34006412 0.06482195
+v 0.01994240 -0.34022641 0.04415704
+v 0.01629689 -0.22014498 0.06375767
+v -0.01319195 -0.21999405 0.06612035
+v -0.02005650 -0.33923057 0.04415539
+v -0.02005143 -0.33922677 0.06375767
+v 0.01629689 -0.22014498 0.04415818
+v -0.01817614 -0.23772048 0.06375767
+v -0.01628311 -0.21984956 0.04415818
+v -0.01817625 -0.23772073 0.04415898
+f 1 2 3
+f 1 3 4
+f 6 5 2
+f 6 2 1
+f 6 1 4
+f 7 3 2
+f 7 2 5
+f 8 6 4
+f 8 5 6
+f 9 4 3
+f 9 3 7
+f 9 8 4
+f 9 7 5
+f 10 9 5
+f 10 5 8
+f 10 8 9
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_12/collision/model_normalized_collision_7.obj b/objects/objaverse/knife/knife_12/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..52cd9f7384e378f3d606b02937b4fc932695b97b
--- /dev/null
+++ b/objects/objaverse/knife/knife_12/collision/model_normalized_collision_7.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.01489545 -0.38636363 0.02900666
+v 0.01516213 -0.38216916 0.00090040
+v 0.01994374 -0.34022706 0.02900760
+v -0.02005768 -0.33923193 0.02900897
+v -0.01489545 -0.38636363 0.02900666
+v 0.00980630 -0.34083490 -0.00729515
+v -0.01106002 -0.38297264 -0.00128414
+v 0.01948802 -0.34017323 -0.00292607
+v -0.02433342 -0.33971883 -0.00065297
+v -0.01908756 -0.36675481 -0.00039671
+f 1 2 3
+f 1 3 4
+f 5 1 4
+f 7 2 1
+f 7 1 5
+f 7 6 2
+f 8 3 2
+f 8 2 6
+f 8 4 3
+f 9 5 4
+f 9 6 7
+f 9 8 6
+f 9 4 8
+f 10 9 7
+f 10 7 5
+f 10 5 9
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_12/collision/model_normalized_collision_8.obj b/objects/objaverse/knife/knife_12/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..80af246e177d20d40a9031a2f19ac4112290cab3
--- /dev/null
+++ b/objects/objaverse/knife/knife_12/collision/model_normalized_collision_8.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.00978091 0.35598543 0.02900666
+v 0.00251932 0.35520870 -0.02696912
+v 0.00538736 0.41632450 0.02944996
+v -0.00548238 0.41576862 0.03017013
+v -0.00983370 0.35530570 0.02900666
+v 0.00000000 0.41187651 -0.01742980
+v -0.00469049 0.35452196 -0.02323655
+v -0.00252069 0.41411184 -0.01072904
+v 0.00000000 0.38509035 -0.02539009
+f 1 3 4
+f 5 1 4
+f 6 1 2
+f 6 3 1
+f 7 2 1
+f 7 1 5
+f 8 4 3
+f 8 3 6
+f 8 7 5
+f 8 5 4
+f 9 6 2
+f 9 2 7
+f 9 8 6
+f 9 7 8
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_12/collision/model_normalized_collision_9.obj b/objects/objaverse/knife/knife_12/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6b592fbd5b5fde0b01414c6fc8204d32a9859973
--- /dev/null
+++ b/objects/objaverse/knife/knife_12/collision/model_normalized_collision_9.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.01006312 -0.08333333 0.06771235
+v 0.02034390 -0.08333333 -0.03159940
+v 0.01006312 -0.05303030 0.06771235
+v -0.01006312 -0.05303030 0.06771235
+v -0.02034390 -0.08333333 -0.03159940
+v -0.01006312 -0.05303030 -0.03159940
+v -0.02034390 -0.08333333 0.06376118
+v 0.01006312 -0.05303030 -0.03159940
+v -0.02034390 -0.07100881 -0.03159940
+v -0.02034390 -0.07100881 0.06376118
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 6 4 3
+f 7 5 1
+f 7 1 4
+f 8 6 3
+f 8 3 2
+f 8 2 5
+f 9 5 7
+f 9 8 5
+f 9 6 8
+f 10 9 7
+f 10 7 4
+f 10 4 6
+f 10 6 9
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_12/model.xml b/objects/objaverse/knife/knife_12/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..9e46a96dc6a497adc03fb99023c40408576c9144
--- /dev/null
+++ b/objects/objaverse/knife/knife_12/model.xml
@@ -0,0 +1,81 @@
+<mujoco model="kitchen_knife_19">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.20500000000000002 0.20500000000000002 0.20500000000000002" refquat="0.7071067811865474 -5.551115123125783e-17 -0.7071067811865476 5.551115123125782e-17"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.20500000000000002 0.20500000000000002 0.20500000000000002" refquat="0.7071067811865474 -5.551115123125783e-17 -0.7071067811865476 5.551115123125782e-17"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.20500000000000002 0.20500000000000002 0.20500000000000002" refquat="0.7071067811865474 -5.551115123125783e-17 -0.7071067811865476 5.551115123125782e-17"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.20500000000000002 0.20500000000000002 0.20500000000000002" refquat="0.7071067811865474 -5.551115123125783e-17 -0.7071067811865476 5.551115123125782e-17"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.20500000000000002 0.20500000000000002 0.20500000000000002" refquat="0.7071067811865474 -5.551115123125783e-17 -0.7071067811865476 5.551115123125782e-17"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.20500000000000002 0.20500000000000002 0.20500000000000002" refquat="0.7071067811865474 -5.551115123125783e-17 -0.7071067811865476 5.551115123125782e-17"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.20500000000000002 0.20500000000000002 0.20500000000000002" refquat="0.7071067811865474 -5.551115123125783e-17 -0.7071067811865476 5.551115123125782e-17"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.20500000000000002 0.20500000000000002 0.20500000000000002" refquat="0.7071067811865474 -5.551115123125783e-17 -0.7071067811865476 5.551115123125782e-17"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.20500000000000002 0.20500000000000002 0.20500000000000002" refquat="0.7071067811865474 -5.551115123125783e-17 -0.7071067811865476 5.551115123125782e-17"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.20500000000000002 0.20500000000000002 0.20500000000000002" refquat="0.7071067811865474 -5.551115123125783e-17 -0.7071067811865476 5.551115123125782e-17"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.20500000000000002 0.20500000000000002 0.20500000000000002" refquat="0.7071067811865474 -5.551115123125783e-17 -0.7071067811865476 5.551115123125782e-17"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.20500000000000002 0.20500000000000002 0.20500000000000002" refquat="0.7071067811865474 -5.551115123125783e-17 -0.7071067811865476 5.551115123125782e-17"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.20500000000000002 0.20500000000000002 0.20500000000000002" refquat="0.7071067811865474 -5.551115123125783e-17 -0.7071067811865476 5.551115123125782e-17"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.20500000000000002 0.20500000000000002 0.20500000000000002" refquat="0.7071067811865474 -5.551115123125783e-17 -0.7071067811865476 5.551115123125782e-17"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.20500000000000002 0.20500000000000002 0.20500000000000002" refquat="0.7071067811865474 -5.551115123125783e-17 -0.7071067811865476 5.551115123125782e-17"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.20500000000000002 0.20500000000000002 0.20500000000000002" refquat="0.7071067811865474 -5.551115123125783e-17 -0.7071067811865476 5.551115123125782e-17"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.20500000000000002 0.20500000000000002 0.20500000000000002" refquat="0.7071067811865474 -5.551115123125783e-17 -0.7071067811865476 5.551115123125782e-17"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.20500000000000002 0.20500000000000002 0.20500000000000002" refquat="0.7071067811865474 -5.551115123125783e-17 -0.7071067811865476 5.551115123125782e-17"/>
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diff --git a/objects/objaverse/knife/knife_12/visual/material.mtl b/objects/objaverse/knife/knife_12/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fbcf6b4b1af9257e08a0fd6e283841743ce8fad5
--- /dev/null
+++ b/objects/objaverse/knife/knife_12/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/knife/knife_12/visual/model_normalized_0.obj b/objects/objaverse/knife/knife_12/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..778f23333dff95f550b98cfef4e833d106ce046a
--- /dev/null
+++ b/objects/objaverse/knife/knife_12/visual/model_normalized_0.obj
@@ -0,0 +1,3090 @@
+# 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/knife/knife_13/collision/model_normalized_collision_1.obj b/objects/objaverse/knife/knife_13/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..03ea11730c603a49afba5a779fea9ed4a9ec3ac1
--- /dev/null
+++ b/objects/objaverse/knife/knife_13/collision/model_normalized_collision_1.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.14294207 0.00080497 0.05440857
+v 0.14114812 0.02292836 0.01559746
+v 0.14894298 0.03492344 0.06563119
+v 0.10391662 0.03349341 0.04307817
+v 0.08301089 -0.00923872 -0.00216899
+v 0.14488864 0.03344762 0.03520491
+v 0.09014121 0.00391417 0.05426211
+v 0.12652574 -0.01134492 -0.01605978
+v 0.08444620 0.00157229 0.00528351
+v 0.14497869 0.00636290 0.06824851
+v 0.08769294 0.02123701 0.05152624
+v 0.11535540 0.00083859 0.05990702
+v 0.13385936 0.00382275 0.00165215
+v 0.12819949 -0.00053623 -0.00865882
+v 0.10485453 0.03150132 0.04756814
+v 0.08961521 0.02337227 0.04338534
+v 0.10497811 0.02319523 0.05788606
+v 0.12896494 0.00331440 0.06376135
+v 0.13977216 0.02201063 0.01485075
+v 0.13509715 0.03159683 0.06277628
+v 0.10285511 0.00497828 0.05761899
+f 1 2 3
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+f 9 8 5
+f 10 1 3
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+f 11 5 7
+f 12 7 5
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+f 13 2 1
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+f 19 9 2
+f 19 2 14
+f 20 17 3
+f 20 3 15
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+f 21 17 7
+f 21 10 17
+f 21 18 10
+f 21 7 18
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_13/collision/model_normalized_collision_11.obj b/objects/objaverse/knife/knife_13/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0adb252bc22fd19f0a102fb16cedb417c6e7ee11
--- /dev/null
+++ b/objects/objaverse/knife/knife_13/collision/model_normalized_collision_11.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.05339479 -0.05412302 -0.09329596
+v -0.03868506 -0.04812402 -0.08043791
+v -0.09914810 -0.03491430 -0.03424108
+v -0.09771269 -0.02410348 -0.02678899
+v -0.03724963 -0.03731301 -0.07298584
+v -0.03739202 -0.02022792 -0.02827065
+v -0.09719985 -0.04621879 -0.08473252
+v -0.03882733 -0.03103881 -0.03572301
+v -0.09863526 -0.05702981 -0.09218470
+v -0.09974653 -0.04193897 -0.05249977
+v -0.05195937 -0.04331211 -0.08584377
+v -0.03665119 -0.03028824 -0.05472724
+f 5 2 1
+f 6 4 3
+f 8 6 3
+f 8 3 2
+f 9 7 1
+f 9 1 2
+f 9 2 3
+f 10 3 4
+f 10 4 7
+f 10 9 3
+f 10 7 9
+f 11 5 1
+f 11 1 7
+f 12 8 2
+f 12 2 5
+f 12 6 8
+f 12 4 6
+f 12 5 11
+f 12 11 7
+f 12 7 4
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_13/collision/model_normalized_collision_16.obj b/objects/objaverse/knife/knife_13/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f518b2f3503058c5be8e021c45d8585f2c056ab
--- /dev/null
+++ b/objects/objaverse/knife/knife_13/collision/model_normalized_collision_16.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.12578371 -0.02357767 -0.04791245
+v 0.12536530 -0.01288064 -0.04040106
+v 0.12968701 0.00447901 0.00417236
+v 0.05331702 -0.00235999 0.00099399
+v 0.05299290 -0.02826142 -0.04614343
+v 0.05442824 -0.01745039 -0.03869116
+v 0.12825134 -0.00633203 -0.00328015
+v 0.11460658 0.00350989 0.00454238
+v 0.05188166 -0.01317082 -0.00645823
+f 1 2 3
+f 6 2 1
+f 6 1 5
+f 6 3 2
+f 6 4 3
+f 7 1 3
+f 8 7 3
+f 8 3 4
+f 9 5 1
+f 9 1 7
+f 9 6 5
+f 9 4 6
+f 9 8 4
+f 9 7 8
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_13/collision/model_normalized_collision_20.obj b/objects/objaverse/knife/knife_13/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e79901fc7cf384790d7b24b73657a36420527834
--- /dev/null
+++ b/objects/objaverse/knife/knife_13/collision/model_normalized_collision_20.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.00364325 -0.04803664 -0.09863580
+v 0.00647365 -0.04250434 -0.09291934
+v 0.00618496 -0.04018711 -0.06832073
+v -0.03762006 -0.03228278 -0.05975749
+v -0.05524681 -0.05793614 -0.11318650
+v 0.00762045 -0.02937621 -0.06086874
+v -0.02498588 -0.05295226 -0.10597896
+v -0.03650878 -0.04737344 -0.09944255
+v -0.05376522 -0.04909296 -0.08006748
+v 0.00799086 -0.03440642 -0.07409710
+v -0.05385018 -0.05527727 -0.11041181
+v -0.03905550 -0.04309396 -0.06720942
+v -0.05195937 -0.04331211 -0.08584377
+v -0.05232979 -0.03828190 -0.07261544
+f 1 2 3
+f 7 2 1
+f 7 1 3
+f 7 3 5
+f 9 5 3
+f 10 6 3
+f 10 3 2
+f 10 2 8
+f 10 8 4
+f 10 4 6
+f 11 7 5
+f 11 2 7
+f 11 8 2
+f 12 9 3
+f 12 6 4
+f 12 3 6
+f 13 4 8
+f 13 8 11
+f 14 4 13
+f 14 12 4
+f 14 9 12
+f 14 5 9
+f 14 13 11
+f 14 11 5
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_13/collision/model_normalized_collision_23.obj b/objects/objaverse/knife/knife_13/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d326ed5891190248a2beecf64256d2217b9a8617
--- /dev/null
+++ b/objects/objaverse/knife/knife_13/collision/model_normalized_collision_23.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.05436373 -0.05611740 -0.09832603
+v -0.05385018 -0.05527727 -0.11041181
+v -0.05292826 -0.04530662 -0.09087399
+v -0.11324892 -0.04918218 -0.08939229
+v -0.11679588 -0.06807308 -0.12784623
+v -0.05754915 -0.05831533 -0.11373487
+v -0.11468428 -0.05999314 -0.09684447
+v -0.11250807 -0.05924257 -0.11584899
+f 1 2 3
+f 1 3 4
+f 6 5 2
+f 6 2 1
+f 6 1 5
+f 7 5 1
+f 7 1 4
+f 7 4 5
+f 8 3 2
+f 8 2 5
+f 8 5 4
+f 8 4 3
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_13/collision/model_normalized_collision_25.obj b/objects/objaverse/knife/knife_13/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9c22777eed441d5f9bb4164cb8b3ab44f53456b5
--- /dev/null
+++ b/objects/objaverse/knife/knife_13/collision/model_normalized_collision_25.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.31029216 0.02053651 0.07388215
+v 0.31155065 0.06353157 0.08076595
+v 0.30936610 0.03540503 0.11307137
+v 0.27119562 0.06257583 0.09367653
+v 0.26652507 0.06031500 0.08131735
+v 0.31520072 0.06610475 0.11167928
+v 0.26509604 0.01739130 0.07500522
+v 0.27119511 0.05346998 0.10494648
+v 0.26796553 0.02860104 0.10312724
+f 5 2 1
+f 5 4 2
+f 6 2 4
+f 6 1 2
+f 6 3 1
+f 7 5 1
+f 7 1 3
+f 8 6 4
+f 8 3 6
+f 8 4 5
+f 9 7 3
+f 9 3 8
+f 9 8 5
+f 9 5 7
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_13/collision/model_normalized_collision_29.obj b/objects/objaverse/knife/knife_13/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d2f189a1809162cb2a0ce74b4c0be08ceca3629c
--- /dev/null
+++ b/objects/objaverse/knife/knife_13/collision/model_normalized_collision_29.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.49408519 0.05478320 0.12367180
+v 0.49777396 0.06066470 0.14273069
+v 0.40044167 0.04804541 0.12924893
+v 0.42379213 0.09024601 0.13700386
+v 0.49696902 0.09354763 0.12445125
+v 0.43418507 0.05883857 0.15020220
+v 0.43093608 0.04518219 0.11578609
+v 0.47943913 0.09412655 0.14985231
+v 0.43042706 0.05007937 0.12906386
+v 0.40662752 0.07999608 0.14096415
+v 0.40202598 0.08613296 0.12296767
+v 0.49215813 0.09847741 0.13827166
+v 0.48864923 0.06456078 0.15467909
+v 0.40061307 0.04322791 0.11658518
+v 0.40311204 0.05318588 0.14140204
+v 0.45404929 0.09035864 0.15224586
+v 0.41817099 0.08900140 0.12734822
+v 0.49369490 0.07213133 0.14976901
+v 0.49471194 0.06380252 0.15152833
+v 0.42109678 0.06563161 0.14828658
+v 0.42380547 0.08123218 0.14816715
+f 5 2 1
+f 7 1 2
+f 7 5 1
+f 9 6 3
+f 9 7 2
+f 11 5 7
+f 11 10 4
+f 12 4 8
+f 13 6 9
+f 14 9 3
+f 14 7 9
+f 14 11 7
+f 14 3 11
+f 15 3 6
+f 15 11 3
+f 15 10 11
+f 16 8 4
+f 16 13 8
+f 16 6 13
+f 17 11 4
+f 17 4 12
+f 17 12 5
+f 17 5 11
+f 18 12 8
+f 18 8 13
+f 19 13 9
+f 19 9 2
+f 19 18 13
+f 19 2 5
+f 19 5 12
+f 19 12 18
+f 20 15 6
+f 20 10 15
+f 20 6 16
+f 21 20 16
+f 21 10 20
+f 21 16 4
+f 21 4 10
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_13/collision/model_normalized_collision_31.obj b/objects/objaverse/knife/knife_13/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ddb910d2217bca4b50cdcc6f05cf8b4e9ef926b6
--- /dev/null
+++ b/objects/objaverse/knife/knife_13/collision/model_normalized_collision_31.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.46129504 -0.09687144 -0.13593039
+v -0.46091934 -0.09054550 -0.13061833
+v -0.45830362 -0.07927377 -0.10164001
+v -0.46275272 -0.08699647 -0.10043422
+v -0.50000000 -0.09031586 -0.11221621
+v -0.48209968 -0.09501574 -0.12795738
+v -0.48552278 -0.08422535 -0.10934860
+v -0.48997184 -0.09194796 -0.10814291
+v -0.48383448 -0.09075576 -0.12215439
+v -0.49766273 -0.08883522 -0.11193056
+f 1 2 3
+f 1 3 4
+f 6 2 1
+f 7 3 2
+f 7 4 3
+f 8 6 1
+f 8 1 4
+f 8 5 6
+f 8 4 7
+f 9 7 2
+f 9 2 6
+f 10 9 6
+f 10 6 5
+f 10 7 9
+f 10 8 7
+f 10 5 8
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_13/collision/model_normalized_collision_4.obj b/objects/objaverse/knife/knife_13/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dffb8f30335cacddf16e8b9139d4f6a605c01701
--- /dev/null
+++ b/objects/objaverse/knife/knife_13/collision/model_normalized_collision_4.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.08301089 -0.00923872 -0.00216899
+v 0.08444620 0.00157229 0.00528351
+v 0.08961521 0.02337227 0.04338534
+v 0.08769294 0.02123701 0.05152624
+v 0.00627072 -0.01104721 0.00788137
+v 0.08579825 0.00533418 0.05346362
+v 0.00807650 -0.00526648 0.00210525
+v 0.00664115 -0.01607740 -0.00534701
+v 0.00868718 -0.00123477 0.03308123
+v 0.02172132 -0.01510854 -0.00571742
+v 0.04223642 0.00486835 0.04258258
+v 0.00867502 0.00175814 0.02036362
+v 0.07394573 0.01782268 0.04876081
+v 0.01313639 0.00648784 0.03187555
+v 0.04436452 0.01003973 0.04147893
+f 1 2 3
+f 6 1 3
+f 6 3 4
+f 7 3 2
+f 8 6 5
+f 8 5 7
+f 9 5 6
+f 10 7 2
+f 10 2 1
+f 10 8 7
+f 10 1 6
+f 10 6 8
+f 11 9 6
+f 12 7 5
+f 12 5 9
+f 12 3 7
+f 13 11 6
+f 13 6 4
+f 14 12 9
+f 14 3 12
+f 14 13 4
+f 14 4 3
+f 15 11 13
+f 15 13 14
+f 15 14 9
+f 15 9 11
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_13/collision/model_normalized_collision_5.obj b/objects/objaverse/knife/knife_13/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e69f6882c53bd8863b010fdf954f06110520648
--- /dev/null
+++ b/objects/objaverse/knife/knife_13/collision/model_normalized_collision_5.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.03649262 -0.04302349 -0.08157721
+v 0.05106286 -0.03988517 -0.08644809
+v 0.05188166 -0.01317082 -0.00645823
+v 0.00807650 -0.00526648 0.00210525
+v 0.00647365 -0.04250434 -0.09291934
+v 0.05331702 -0.00235999 0.00099399
+v 0.00664115 -0.01607740 -0.00534701
+v 0.05165354 -0.02522577 -0.03794510
+v 0.00364325 -0.04803664 -0.09863580
+v 0.00895972 -0.03241192 -0.06906689
+v 0.05420015 -0.02950540 -0.07017795
+v 0.05227169 -0.03655234 -0.08322255
+v 0.00655555 -0.04521727 -0.08154946
+v 0.05405785 -0.01242023 -0.02546298
+v 0.00641324 -0.02813251 -0.03683419
+f 7 6 4
+f 7 3 6
+f 8 1 2
+f 9 2 1
+f 9 7 4
+f 9 4 5
+f 10 5 4
+f 11 5 10
+f 11 8 2
+f 11 3 8
+f 12 9 5
+f 12 2 9
+f 12 11 2
+f 12 5 11
+f 13 9 1
+f 14 6 3
+f 14 3 11
+f 14 11 10
+f 14 10 4
+f 14 4 6
+f 15 7 9
+f 15 9 13
+f 15 13 1
+f 15 1 8
+f 15 8 3
+f 15 3 7
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_13/collision/model_normalized_collision_6.obj b/objects/objaverse/knife/knife_13/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bdc61d3e4f8549d3986a4bf35085172c763e7b2e
--- /dev/null
+++ b/objects/objaverse/knife/knife_13/collision/model_normalized_collision_6.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v 0.36978234 0.03445743 0.09913773
+v 0.39943917 0.05298192 0.07896947
+v 0.40662752 0.07999608 0.14096415
+v 0.34583880 0.07790624 0.11264824
+v 0.33519542 0.03686483 0.05920949
+v 0.40261887 0.07621866 0.09693915
+v 0.34234342 0.04213147 0.12419177
+v 0.40311204 0.05318588 0.14140204
+v 0.39690792 0.04562147 0.08086447
+v 0.34029800 0.06172172 0.07138357
+v 0.34557304 0.06700045 0.12601078
+v 0.33968058 0.03232116 0.09986029
+v 0.37936657 0.04211390 0.07506860
+v 0.40044167 0.04804541 0.12924893
+v 0.34215522 0.07704131 0.11105874
+v 0.36698233 0.06612737 0.07966935
+v 0.33758681 0.04071940 0.05880839
+v 0.37672068 0.07164617 0.13519603
+v 0.33610704 0.03176018 0.06552177
+v 0.35735717 0.07355596 0.09796801
+v 0.39287863 0.07657914 0.13820418
+v 0.37543166 0.05031423 0.13398512
+v 0.35000889 0.03568321 0.06692974
+v 0.36531872 0.03518624 0.08190289
+f 6 3 2
+f 6 4 3
+f 8 2 3
+f 9 2 8
+f 12 7 5
+f 13 5 2
+f 13 2 9
+f 14 9 8
+f 14 1 9
+f 14 12 1
+f 14 8 7
+f 14 7 12
+f 15 10 5
+f 15 11 4
+f 15 5 7
+f 15 7 11
+f 16 10 6
+f 16 6 2
+f 16 2 10
+f 17 10 2
+f 17 2 5
+f 17 5 10
+f 18 8 3
+f 18 11 7
+f 19 12 5
+f 19 1 12
+f 20 15 4
+f 20 4 6
+f 20 6 10
+f 20 10 15
+f 21 18 3
+f 21 11 18
+f 21 3 4
+f 21 4 11
+f 22 18 7
+f 22 7 8
+f 22 8 18
+f 23 19 5
+f 23 5 13
+f 24 9 1
+f 24 1 19
+f 24 13 9
+f 24 23 13
+f 24 19 23
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_13/collision/model_normalized_collision_7.obj b/objects/objaverse/knife/knife_13/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af6146d27a5afc9142a33e11a07b44893c9b0803
--- /dev/null
+++ b/objects/objaverse/knife/knife_13/collision/model_normalized_collision_7.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.23555369 -0.07979889 -0.12536811
+v -0.23411831 -0.06898812 -0.11791579
+v -0.23532566 -0.06774400 -0.09388122
+v -0.35550053 -0.06667816 -0.08849591
+v -0.35475974 -0.07673877 -0.11495230
+v -0.23389034 -0.05693289 -0.08642881
+v -0.35693584 -0.07748935 -0.09594813
+v -0.23351989 -0.06196324 -0.09965713
+v -0.35619504 -0.08754977 -0.12240479
+v -0.24897051 -0.05790170 -0.08605839
+f 5 4 2
+f 8 1 2
+f 8 3 1
+f 8 6 3
+f 8 2 6
+f 9 1 3
+f 9 3 7
+f 9 5 2
+f 9 2 1
+f 9 7 4
+f 9 4 5
+f 10 4 7
+f 10 6 2
+f 10 2 4
+f 10 7 3
+f 10 3 6
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_13/collision/model_normalized_collision_9.obj b/objects/objaverse/knife/knife_13/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9558a8c1415ed297b6b963abf4b47a3dad1c983f
--- /dev/null
+++ b/objects/objaverse/knife/knife_13/collision/model_normalized_collision_9.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v -0.25123233 -0.08779234 -0.14325615
+v -0.23576971 -0.08555803 -0.15066468
+v -0.23411831 -0.06898812 -0.11791579
+v -0.35572854 -0.07873341 -0.11998276
+v -0.35650231 -0.09773382 -0.15925702
+v -0.35716387 -0.08954422 -0.12743494
+v -0.23555369 -0.07979889 -0.12536811
+v -0.25413756 -0.08792438 -0.15331621
+v -0.33960774 -0.09064587 -0.15424593
+v -0.29443900 -0.07286352 -0.11643413
+v -0.23374788 -0.07401833 -0.13114421
+v -0.35498775 -0.08879382 -0.14643938
+v -0.35542602 -0.09693558 -0.15865691
+f 6 5 1
+f 6 4 5
+f 7 1 2
+f 7 6 1
+f 8 2 1
+f 8 1 5
+f 9 8 5
+f 9 2 8
+f 10 3 4
+f 10 4 6
+f 10 7 3
+f 10 6 7
+f 11 7 2
+f 11 3 7
+f 11 2 9
+f 11 9 4
+f 11 4 3
+f 12 5 4
+f 12 4 9
+f 13 12 9
+f 13 9 5
+f 13 5 12
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_13/model.xml b/objects/objaverse/knife/knife_13/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..6f4e30a5de3633e7b50c3146d2ef6dc65ab395a8
--- /dev/null
+++ b/objects/objaverse/knife/knife_13/model.xml
@@ -0,0 +1,81 @@
+<mujoco model="kitchen_knife_8">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.21500000000000002 0.21500000000000002 0.21500000000000002" refquat="0.4610363689508641 0.39005953579941294 -0.3230214549860447 0.7286673895922938"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.21500000000000002 0.21500000000000002 0.21500000000000002" refquat="0.4610363689508641 0.39005953579941294 -0.3230214549860447 0.7286673895922938"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.21500000000000002 0.21500000000000002 0.21500000000000002" refquat="0.4610363689508641 0.39005953579941294 -0.3230214549860447 0.7286673895922938"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.21500000000000002 0.21500000000000002 0.21500000000000002" refquat="0.4610363689508641 0.39005953579941294 -0.3230214549860447 0.7286673895922938"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.21500000000000002 0.21500000000000002 0.21500000000000002" refquat="0.4610363689508641 0.39005953579941294 -0.3230214549860447 0.7286673895922938"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.21500000000000002 0.21500000000000002 0.21500000000000002" refquat="0.4610363689508641 0.39005953579941294 -0.3230214549860447 0.7286673895922938"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.21500000000000002 0.21500000000000002 0.21500000000000002" refquat="0.4610363689508641 0.39005953579941294 -0.3230214549860447 0.7286673895922938"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.21500000000000002 0.21500000000000002 0.21500000000000002" refquat="0.4610363689508641 0.39005953579941294 -0.3230214549860447 0.7286673895922938"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.21500000000000002 0.21500000000000002 0.21500000000000002" refquat="0.4610363689508641 0.39005953579941294 -0.3230214549860447 0.7286673895922938"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.21500000000000002 0.21500000000000002 0.21500000000000002" refquat="0.4610363689508641 0.39005953579941294 -0.3230214549860447 0.7286673895922938"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.21500000000000002 0.21500000000000002 0.21500000000000002" refquat="0.4610363689508641 0.39005953579941294 -0.3230214549860447 0.7286673895922938"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.21500000000000002 0.21500000000000002 0.21500000000000002" refquat="0.4610363689508641 0.39005953579941294 -0.3230214549860447 0.7286673895922938"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.21500000000000002 0.21500000000000002 0.21500000000000002" refquat="0.4610363689508641 0.39005953579941294 -0.3230214549860447 0.7286673895922938"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.21500000000000002 0.21500000000000002 0.21500000000000002" refquat="0.4610363689508641 0.39005953579941294 -0.3230214549860447 0.7286673895922938"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.21500000000000002 0.21500000000000002 0.21500000000000002" refquat="0.4610363689508641 0.39005953579941294 -0.3230214549860447 0.7286673895922938"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.21500000000000002 0.21500000000000002 0.21500000000000002" refquat="0.4610363689508641 0.39005953579941294 -0.3230214549860447 0.7286673895922938"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.21500000000000002 0.21500000000000002 0.21500000000000002" refquat="0.4610363689508641 0.39005953579941294 -0.3230214549860447 0.7286673895922938"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.21500000000000002 0.21500000000000002 0.21500000000000002" refquat="0.4610363689508641 0.39005953579941294 -0.3230214549860447 0.7286673895922938"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.21500000000000002 0.21500000000000002 0.21500000000000002" refquat="0.4610363689508641 0.39005953579941294 -0.3230214549860447 0.7286673895922938"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.21500000000000002 0.21500000000000002 0.21500000000000002" refquat="0.4610363689508641 0.39005953579941294 -0.3230214549860447 0.7286673895922938"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.21500000000000002 0.21500000000000002 0.21500000000000002" refquat="0.4610363689508641 0.39005953579941294 -0.3230214549860447 0.7286673895922938"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.21500000000000002 0.21500000000000002 0.21500000000000002" refquat="0.4610363689508641 0.39005953579941294 -0.3230214549860447 0.7286673895922938"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.21500000000000002 0.21500000000000002 0.21500000000000002" refquat="0.4610363689508641 0.39005953579941294 -0.3230214549860447 0.7286673895922938"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.21500000000000002 0.21500000000000002 0.21500000000000002" refquat="0.4610363689508641 0.39005953579941294 -0.3230214549860447 0.7286673895922938"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.21500000000000002 0.21500000000000002 0.21500000000000002" refquat="0.4610363689508641 0.39005953579941294 -0.3230214549860447 0.7286673895922938"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.21500000000000002 0.21500000000000002 0.21500000000000002" refquat="0.4610363689508641 0.39005953579941294 -0.3230214549860447 0.7286673895922938"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.21500000000000002 0.21500000000000002 0.21500000000000002" refquat="0.4610363689508641 0.39005953579941294 -0.3230214549860447 0.7286673895922938"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.21500000000000002 0.21500000000000002 0.21500000000000002" refquat="0.4610363689508641 0.39005953579941294 -0.3230214549860447 0.7286673895922938"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.21500000000000002 0.21500000000000002 0.21500000000000002" refquat="0.4610363689508641 0.39005953579941294 -0.3230214549860447 0.7286673895922938"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.21500000000000002 0.21500000000000002 0.21500000000000002" refquat="0.4610363689508641 0.39005953579941294 -0.3230214549860447 0.7286673895922938"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.21500000000000002 0.21500000000000002 0.21500000000000002" refquat="0.4610363689508641 0.39005953579941294 -0.3230214549860447 0.7286673895922938"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.21500000000000002 0.21500000000000002 0.21500000000000002" refquat="0.4610363689508641 0.39005953579941294 -0.3230214549860447 0.7286673895922938"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.21500000000000002 0.21500000000000002 0.21500000000000002" refquat="0.4610363689508641 0.39005953579941294 -0.3230214549860447 0.7286673895922938"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="Standardmaterial" 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="Standardmaterial"/>
+        <geom solimp="0.998 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="-0.006469294306383534 2.769360544912392e-05 -0.024812963358790314" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="-0.006469294306383534 2.769360544912392e-05 0.03325686894433451" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.010273632451531853 0.10910812398636936 0.004221952792772096" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/objects/objaverse/knife/knife_18/collision/model_normalized_collision_0.obj b/objects/objaverse/knife/knife_18/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6844b29b9e0f3ff3b0ac7d9a1d00b8a839be7652
--- /dev/null
+++ b/objects/objaverse/knife/knife_18/collision/model_normalized_collision_0.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.21969696 -0.00715065 -0.23188690
+v 0.22620365 0.00000000 -0.28286104
+v 0.21969696 0.00715065 -0.23188690
+v 0.14682736 0.00000000 -0.22783277
+v 0.16271952 -0.00392621 -0.22682867
+v 0.17119834 0.00000000 -0.24519355
+v 0.22348300 -0.00315273 -0.27173692
+v 0.21579985 0.00000000 -0.27583293
+v 0.20901391 -0.00017725 -0.27072673
+f 1 2 3
+f 5 1 3
+f 5 3 4
+f 6 4 3
+f 6 5 4
+f 7 2 1
+f 7 1 5
+f 7 5 6
+f 8 6 3
+f 8 3 2
+f 8 2 7
+f 9 8 7
+f 9 7 6
+f 9 6 8
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_18/collision/model_normalized_collision_14.obj b/objects/objaverse/knife/knife_18/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..235c149a71792c461f37e9fc03a2f55ab648dd5a
--- /dev/null
+++ b/objects/objaverse/knife/knife_18/collision/model_normalized_collision_14.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v -0.43181818 -0.03336972 0.32871917
+v -0.42678070 -0.02844272 0.29539212
+v -0.43181818 0.03336972 0.32871917
+v -0.47136943 0.03336972 0.33187627
+v -0.47902924 -0.02546413 0.33588286
+v -0.42556359 0.03336972 0.29744564
+v -0.46363564 0.00389501 0.29901221
+v -0.48282428 0.01883309 0.33412998
+v -0.46341309 -0.02302475 0.31366677
+v -0.46731745 0.03247872 0.32452207
+v -0.47980024 0.00385245 0.31299220
+v -0.46212271 -0.00677580 0.29993514
+v -0.43845848 0.03086368 0.30195086
+v -0.47852658 -0.00712566 0.31444739
+v -0.47800861 0.01573374 0.32127718
+v -0.43946428 -0.02592170 0.29974263
+v -0.47445907 -0.02227475 0.32317549
+f 5 2 1
+f 5 1 3
+f 6 4 3
+f 6 1 2
+f 6 3 1
+f 7 6 2
+f 8 5 3
+f 8 3 4
+f 10 4 6
+f 11 5 8
+f 11 10 7
+f 12 7 2
+f 12 11 7
+f 13 10 6
+f 13 6 7
+f 13 7 10
+f 14 5 11
+f 14 12 9
+f 14 11 12
+f 15 11 8
+f 15 8 4
+f 15 4 10
+f 15 10 11
+f 16 12 2
+f 16 9 12
+f 16 2 5
+f 16 5 9
+f 17 14 9
+f 17 9 5
+f 17 5 14
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_18/collision/model_normalized_collision_15.obj b/objects/objaverse/knife/knife_18/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4fd64e9a666e55e69ca9ce7bb567d6697764cb37
--- /dev/null
+++ b/objects/objaverse/knife/knife_18/collision/model_normalized_collision_15.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.33033819 -0.00715065 -0.21299612
+v 0.34562022 0.00000000 -0.36062205
+v 0.33033819 0.00715065 -0.21299612
+v 0.25797637 0.00715065 -0.14941197
+v 0.26888896 -0.00325286 -0.30210145
+v 0.27147125 0.00000000 -0.31344081
+v 0.31469297 -0.00715065 -0.19884457
+v 0.34376535 -0.00397230 -0.34814231
+v 0.30594171 0.00000000 -0.33611772
+v 0.26676633 0.00715065 -0.15688979
+v 0.25797637 -0.00715065 -0.14941197
+v 0.29967638 -0.00040367 -0.33111132
+v 0.26676633 -0.00715065 -0.15688979
+f 1 2 3
+f 6 4 3
+f 6 5 4
+f 7 1 3
+f 8 2 1
+f 9 6 3
+f 9 3 2
+f 10 7 3
+f 10 3 4
+f 11 4 5
+f 11 5 8
+f 11 8 1
+f 11 1 7
+f 11 10 4
+f 12 8 5
+f 12 5 6
+f 12 6 9
+f 12 9 2
+f 12 2 8
+f 13 11 7
+f 13 7 10
+f 13 10 11
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_18/collision/model_normalized_collision_17.obj b/objects/objaverse/knife/knife_18/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..846d3b52748b8a93df278ba4147c0aa05c16ae46
--- /dev/null
+++ b/objects/objaverse/knife/knife_18/collision/model_normalized_collision_17.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.06818182 -0.00715065 0.02568886
+v -0.06076801 0.00000000 -0.07152372
+v -0.06818182 0.00715065 0.02568886
+v -0.14530871 0.00559253 0.02031322
+v -0.14402007 -0.00652633 0.02273985
+v -0.06518015 -0.00556811 -0.04644825
+v -0.15147247 0.00000000 0.00447807
+v -0.14964636 -0.00244930 0.01214502
+f 1 2 3
+f 3 2 4
+f 5 1 3
+f 5 3 4
+f 6 5 2
+f 6 2 1
+f 6 1 5
+f 7 4 2
+f 7 2 5
+f 8 7 5
+f 8 5 4
+f 8 4 7
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_18/collision/model_normalized_collision_18.obj b/objects/objaverse/knife/knife_18/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7dce273966d9faf2d709dab8c6d1031f341bc44b
--- /dev/null
+++ b/objects/objaverse/knife/knife_18/collision/model_normalized_collision_18.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v -0.20320818 -0.02172898 0.23622447
+v -0.18939394 -0.03336972 0.16205250
+v -0.18939394 0.03336972 0.16205250
+v -0.29545455 0.03336972 0.25296159
+v -0.29545455 -0.03336972 0.25296159
+v -0.26594941 -0.01144556 0.17412514
+v -0.19948034 0.03139369 0.22559278
+v -0.20066995 0.01511473 0.23929975
+v -0.25421713 -0.02911289 0.17210742
+v -0.25301495 0.03336972 0.17321290
+v -0.28133438 -0.01163544 0.19161774
+v -0.21558408 0.03049374 0.23958946
+v -0.28439558 -0.02876916 0.20412518
+v -0.27900847 0.01722196 0.19232730
+v -0.26422442 0.01659168 0.17557600
+v -0.28321683 0.03336972 0.20537969
+f 5 2 1
+f 7 3 4
+f 8 5 1
+f 8 4 5
+f 8 1 2
+f 8 2 3
+f 8 3 7
+f 9 6 3
+f 9 3 2
+f 9 2 5
+f 10 4 3
+f 10 3 6
+f 12 8 7
+f 12 7 4
+f 12 4 8
+f 13 5 4
+f 13 4 11
+f 13 9 5
+f 13 11 6
+f 13 6 9
+f 14 6 11
+f 15 10 6
+f 15 6 14
+f 16 14 11
+f 16 11 4
+f 16 4 10
+f 16 15 14
+f 16 10 15
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_18/collision/model_normalized_collision_21.obj b/objects/objaverse/knife/knife_18/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..456cdd7adec9f7d6e036d1f1cc778f320e1be1e2
--- /dev/null
+++ b/objects/objaverse/knife/knife_18/collision/model_normalized_collision_21.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.00362026 -0.00715065 0.07313414
+v 0.00757576 -0.00715065 0.02568886
+v 0.00385754 0.00715065 0.06677269
+v -0.11366953 0.00772205 0.10146017
+v -0.12136941 -0.01420239 0.10783028
+v -0.11363637 0.00715065 0.02568886
+v -0.01988814 0.00715065 0.08697339
+v 0.00757576 0.00715065 0.02568886
+v -0.11363637 -0.00715065 0.02568886
+v -0.01988814 -0.00715065 0.08697339
+f 1 2 3
+f 5 2 1
+f 6 5 4
+f 7 1 3
+f 7 3 4
+f 7 4 5
+f 8 3 2
+f 8 6 4
+f 8 4 3
+f 9 2 5
+f 9 5 6
+f 9 8 2
+f 9 6 8
+f 10 7 5
+f 10 5 1
+f 10 1 7
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_18/collision/model_normalized_collision_24.obj b/objects/objaverse/knife/knife_18/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e9a32f5f0fe3b8a9962fb73911521d728058f6db
--- /dev/null
+++ b/objects/objaverse/knife/knife_18/collision/model_normalized_collision_24.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.34090909 -0.03336972 0.26811310
+v -0.33413289 -0.03029028 0.24667814
+v -0.34090909 0.03336972 0.26811310
+v -0.38065422 0.03336972 0.27740574
+v -0.38137166 -0.03040458 0.27623805
+v -0.33337538 0.03336972 0.24766951
+v -0.36313742 -0.00414978 0.25204465
+v -0.37882390 -0.01300361 0.26523325
+v -0.36055666 0.01717097 0.25656516
+v -0.37458041 0.03054185 0.27213995
+f 1 3 4
+f 5 2 1
+f 5 1 4
+f 6 4 3
+f 6 1 2
+f 6 3 1
+f 7 6 2
+f 8 5 4
+f 8 4 7
+f 8 7 2
+f 8 2 5
+f 9 7 4
+f 9 6 7
+f 10 9 4
+f 10 4 6
+f 10 6 9
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_18/collision/model_normalized_collision_27.obj b/objects/objaverse/knife/knife_18/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c3db7013f79f44503383fb86f381e30a6ead9e44
--- /dev/null
+++ b/objects/objaverse/knife/knife_18/collision/model_normalized_collision_27.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.11363637 -0.00715065 0.07114341
+v -0.11363637 -0.00715065 0.02568886
+v -0.11363637 0.00715065 0.02568886
+v -0.13591539 0.00767268 0.07696442
+v -0.14278077 -0.00715065 0.02507366
+v -0.11363637 0.00715065 0.07114341
+v -0.13615560 -0.00769201 0.07730541
+v -0.14278077 0.00715065 0.02507366
+f 1 2 3
+f 5 3 2
+f 6 1 3
+f 6 3 4
+f 7 5 2
+f 7 2 1
+f 7 6 4
+f 7 1 6
+f 8 4 3
+f 8 3 5
+f 8 7 4
+f 8 5 7
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_18/collision/model_normalized_collision_3.obj b/objects/objaverse/knife/knife_18/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b5d4b00099bc659a05edb475a05c8810c7b9840
--- /dev/null
+++ b/objects/objaverse/knife/knife_18/collision/model_normalized_collision_3.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v -0.29545455 -0.03336972 0.26811310
+v -0.28787406 -0.01535224 0.20009362
+v -0.29545455 0.03336972 0.26811310
+v -0.34090909 0.03336972 0.26811310
+v -0.34090909 -0.03336972 0.26811310
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+v -0.33337538 0.03336972 0.24766951
+v -0.29514516 0.01700683 0.20813786
+f 5 1 3
+f 5 3 4
+f 6 4 3
+f 7 1 2
+f 7 3 1
+f 7 6 3
+f 8 2 1
+f 8 1 5
+f 9 5 4
+f 10 8 5
+f 10 2 8
+f 10 5 9
+f 11 7 2
+f 11 10 9
+f 11 2 10
+f 12 9 4
+f 12 4 6
+f 12 6 7
+f 12 7 9
+f 13 11 9
+f 13 9 7
+f 13 7 11
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_18/collision/model_normalized_collision_30.obj b/objects/objaverse/knife/knife_18/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b12b13adbdd176a24f4c2523af25a8a76b22cc2a
--- /dev/null
+++ b/objects/objaverse/knife/knife_18/collision/model_normalized_collision_30.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v -0.39054719 -0.03056121 0.38372365
+v -0.39585068 -0.02517235 0.39177403
+v -0.44696970 -0.03336972 0.38932523
+v -0.44696970 0.03336972 0.38932523
+v -0.39156900 0.03336972 0.38235549
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+v -0.39747989 0.02965032 0.38959260
+f 5 1 3
+f 5 3 4
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+f 7 1 2
+f 7 3 1
+f 8 2 1
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+f 9 5 4
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+f 11 2 8
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+f 13 6 9
+f 14 8 5
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+f 16 12 15
+f 17 9 6
+f 17 6 12
+f 17 14 9
+f 17 12 8
+f 17 8 14
+f 18 14 5
+f 18 5 9
+f 18 9 14
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_18/visual/material.mtl b/objects/objaverse/knife/knife_18/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..33616803300962094e8955deb30562079542847b
--- /dev/null
+++ b/objects/objaverse/knife/knife_18/visual/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 250.00000000
+map_Kd material_0.jpeg
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_18/visual/model_normalized_0.obj b/objects/objaverse/knife/knife_18/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b5d92ddf228d3b902ddcf9358ef95eabfc78e00
--- /dev/null
+++ b/objects/objaverse/knife/knife_18/visual/model_normalized_0.obj
@@ -0,0 +1,1750 @@
+# 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/knife/knife_20/collision/model_normalized_collision_18.obj b/objects/objaverse/knife/knife_20/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..67bc86f54240d6dc83e102fa9d365465bc1cae46
--- /dev/null
+++ b/objects/objaverse/knife/knife_20/collision/model_normalized_collision_18.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.46208503 -0.00342980 0.08892423
+v -0.46198582 -0.00127801 0.06230449
+v -0.46214768 0.00336452 0.08893266
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+f 9 4 8
+f 10 6 2
+f 10 2 5
+f 10 9 8
+f 10 8 6
+f 11 5 4
+f 11 4 9
+f 11 10 5
+f 11 9 10
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_20/collision/model_normalized_collision_21.obj b/objects/objaverse/knife/knife_20/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1626062f08b33021aeb1a067c26ec183cede4c55
--- /dev/null
+++ b/objects/objaverse/knife/knife_20/collision/model_normalized_collision_21.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.46212122 -0.02171332 0.01579997
+v 0.49796191 -0.01429093 0.00957482
+v 0.45896486 -0.01429084 0.04019798
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+f 9 4 3
+f 10 3 1
+f 10 1 7
+f 10 9 3
+f 10 7 6
+f 10 6 9
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_20/visual/material.mtl b/objects/objaverse/knife/knife_20/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fbcf6b4b1af9257e08a0fd6e283841743ce8fad5
--- /dev/null
+++ b/objects/objaverse/knife/knife_20/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/knife/knife_20/visual/model_normalized_0.obj b/objects/objaverse/knife/knife_20/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..346f77ca069ffe136092039835797a6487c7de03
--- /dev/null
+++ b/objects/objaverse/knife/knife_20/visual/model_normalized_0.obj
@@ -0,0 +1,2584 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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+v 0.03012256 -0.00526073 0.09436611
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diff --git a/objects/objaverse/knife/knife_20/visual/model_normalized_1.obj b/objects/objaverse/knife/knife_20/visual/model_normalized_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eaef78f7225424a9fa9fcc15cda32448b7d8a4ce
--- /dev/null
+++ b/objects/objaverse/knife/knife_20/visual/model_normalized_1.obj
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diff --git a/objects/objaverse/knife/knife_20/visual/model_normalized_2.obj b/objects/objaverse/knife/knife_20/visual/model_normalized_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e5fd0dc09682fa3c9b48f35ed2234c2d0ecab287
--- /dev/null
+++ b/objects/objaverse/knife/knife_20/visual/model_normalized_2.obj
@@ -0,0 +1,3120 @@
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diff --git a/objects/objaverse/knife/knife_20/visual/model_normalized_3.obj b/objects/objaverse/knife/knife_20/visual/model_normalized_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e325e25c7568050fb9ce0ccf6d8dd3161972ff18
--- /dev/null
+++ b/objects/objaverse/knife/knife_20/visual/model_normalized_3.obj
@@ -0,0 +1,3651 @@
+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_25/collision/model_normalized_collision_0.obj b/objects/objaverse/knife/knife_25/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6e9794486053e2b20597a26649c9f0554672e0ef
--- /dev/null
+++ b/objects/objaverse/knife/knife_25/collision/model_normalized_collision_0.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.40175813 -0.01360308 0.05488349
+v 0.40161895 -0.01145242 0.00644302
+v 0.40160311 -0.00959404 0.05953179
+v 0.31071170 -0.00879960 0.05854408
+v 0.31106571 -0.01338215 0.01354162
+v 0.31079749 -0.00968423 0.00864135
+v 0.31086584 -0.01255907 0.05422214
+v 0.40191642 -0.01532786 0.01230908
+f 6 3 2
+f 6 4 3
+f 6 2 5
+f 7 1 3
+f 7 3 4
+f 7 6 5
+f 7 4 6
+f 8 2 3
+f 8 3 1
+f 8 5 2
+f 8 7 5
+f 8 1 7
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_25/collision/model_normalized_collision_1.obj b/objects/objaverse/knife/knife_25/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6557de5e00d8a8c5563660d147ad7991f2815b62
--- /dev/null
+++ b/objects/objaverse/knife/knife_25/collision/model_normalized_collision_1.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.18939400 -0.01354266 0.04929291
+v 0.18952314 -0.00774034 0.05722714
+v 0.05295292 -0.00757599 0.06165901
+v 0.05289682 0.00757697 0.06165847
+v 0.18943688 0.01384612 0.04835472
+v 0.18955119 0.00968977 0.05565965
+v 0.05292593 -0.00757647 0.04929413
+v 0.05286983 0.00757745 0.04929413
+f 1 2 3
+f 3 2 4
+f 6 2 1
+f 6 1 5
+f 6 5 4
+f 6 4 2
+f 7 5 1
+f 7 1 3
+f 8 4 5
+f 8 5 7
+f 8 7 3
+f 8 3 4
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_25/collision/model_normalized_collision_10.obj b/objects/objaverse/knife/knife_25/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d53761390d5264b23ec442e76fd721e9a1f3dfef
--- /dev/null
+++ b/objects/objaverse/knife/knife_25/collision/model_normalized_collision_10.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v -0.41583174 -0.00722101 0.04780736
+v -0.41348694 0.00094804 -0.00392786
+v -0.41557114 0.00725142 0.04785837
+v -0.44455105 0.00476810 0.04218590
+v -0.44481023 -0.00472915 0.04213517
+v -0.44394691 0.00172826 0.01085922
+v -0.41399491 -0.00028305 -0.00511669
+v -0.43977681 0.00000762 0.00537976
+v -0.42700029 0.00000571 -0.00012617
+f 1 2 3
+f 1 3 4
+f 5 1 4
+f 6 3 2
+f 6 4 3
+f 6 5 4
+f 7 2 1
+f 7 1 5
+f 8 6 2
+f 8 7 5
+f 8 5 6
+f 9 8 2
+f 9 2 7
+f 9 7 8
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_25/collision/model_normalized_collision_11.obj b/objects/objaverse/knife/knife_25/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..00549db7d23558d44be4bfcf76868eab8b9f9a01
--- /dev/null
+++ b/objects/objaverse/knife/knife_25/collision/model_normalized_collision_11.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.48368626 -0.01084188 0.05256235
+v 0.48575983 -0.00986536 0.00794152
+v 0.48368626 -0.00668047 0.05590955
+v 0.46121813 -0.00985597 0.05985743
+v 0.45973963 -0.01546539 -0.00292951
+v 0.47289089 -0.00774578 -0.00410021
+v 0.48368626 -0.01492256 0.01189068
+v 0.46126100 -0.01052197 -0.00755173
+v 0.45990184 -0.01480465 0.05564463
+v 0.47018438 -0.01309152 -0.00142564
+f 1 2 3
+f 1 3 4
+f 6 3 2
+f 6 4 3
+f 7 2 1
+f 8 5 4
+f 8 4 6
+f 9 7 1
+f 9 1 4
+f 9 4 5
+f 9 5 7
+f 10 6 2
+f 10 2 7
+f 10 7 5
+f 10 8 6
+f 10 5 8
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_25/collision/model_normalized_collision_12.obj b/objects/objaverse/knife/knife_25/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..53d134b793a2062e492ae3c393581376ecfe34b9
--- /dev/null
+++ b/objects/objaverse/knife/knife_25/collision/model_normalized_collision_12.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.34100884 -0.00906441 0.05887332
+v 0.34150846 -0.00587570 0.00435376
+v 0.34110843 0.01900757 0.03290481
+v 0.31082749 0.01689729 0.04444898
+v 0.31053187 -0.01836393 0.03462596
+v 0.31092232 0.01742837 0.02366474
+v 0.34103689 0.01101385 0.05730584
+v 0.31071170 -0.00879960 0.05854408
+v 0.34152482 0.00587578 0.00435317
+v 0.31124492 -0.00572135 0.00543604
+v 0.34112455 0.01730201 0.04457961
+v 0.31073975 0.01074904 0.05697661
+v 0.34121227 0.01802750 0.02347136
+v 0.31117349 0.00000000 0.00400820
+v 0.32639305 0.00579861 0.00489431
+f 5 2 1
+f 6 4 3
+f 6 5 4
+f 8 5 1
+f 8 1 7
+f 9 7 1
+f 9 1 2
+f 10 2 5
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+f 11 7 9
+f 12 4 5
+f 12 5 8
+f 12 8 7
+f 12 11 4
+f 12 7 11
+f 13 9 6
+f 13 6 3
+f 13 11 9
+f 13 3 11
+f 14 10 5
+f 14 5 6
+f 14 9 2
+f 14 2 10
+f 15 14 6
+f 15 6 9
+f 15 9 14
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_25/collision/model_normalized_collision_13.obj b/objects/objaverse/knife/knife_25/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b0adacb99ad477b17aa3f5fde936dd85634f1fe
--- /dev/null
+++ b/objects/objaverse/knife/knife_25/collision/model_normalized_collision_13.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.46145386 -0.02328144 0.01953456
+v 0.46126100 -0.01052197 -0.00755173
+v 0.44980484 -0.01003349 -0.00694443
+v 0.46327475 -0.02290832 0.01805180
+v 0.45110744 -0.01507968 -0.00268512
+v 0.45973963 -0.01546539 -0.00292951
+v 0.44428516 -0.02120626 0.01651871
+v 0.44845993 -0.02278812 0.01958405
+f 1 2 3
+f 2 1 4
+f 5 3 2
+f 6 5 2
+f 6 2 4
+f 7 3 5
+f 8 6 4
+f 8 5 6
+f 8 7 5
+f 8 4 1
+f 8 1 3
+f 8 3 7
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_25/collision/model_normalized_collision_14.obj b/objects/objaverse/knife/knife_25/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..81f0b7e8bbbbe76e964b0211a405ffb656b78110
--- /dev/null
+++ b/objects/objaverse/knife/knife_25/collision/model_normalized_collision_14.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.46327475 -0.02290832 0.01805180
+v 0.45873720 -0.00749330 -0.01056518
+v 0.46106804 0.02336049 0.01984872
+v 0.44921390 0.02300833 0.01988404
+v 0.44428516 -0.02120626 0.01651871
+v 0.45358703 0.00750796 -0.01058300
+v 0.45933663 0.01643650 -0.00151105
+v 0.44579033 -0.01582471 0.00239635
+v 0.45862130 0.00749765 -0.01058819
+v 0.45176047 0.01614059 -0.00132360
+v 0.45348403 -0.00750413 -0.01054231
+f 1 3 4
+f 5 1 4
+f 7 3 1
+f 7 4 3
+f 8 2 1
+f 8 1 5
+f 8 5 4
+f 9 7 1
+f 9 1 2
+f 9 2 6
+f 9 6 7
+f 10 7 6
+f 10 4 7
+f 10 8 4
+f 10 6 8
+f 11 8 6
+f 11 6 2
+f 11 2 8
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_25/collision/model_normalized_collision_15.obj b/objects/objaverse/knife/knife_25/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b3535c9bc6a6af6e75e8025c32ad46478f114a6
--- /dev/null
+++ b/objects/objaverse/knife/knife_25/collision/model_normalized_collision_15.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.46145493 -0.02314561 0.03358554
+v 0.46145386 -0.02328144 0.01953456
+v 0.46106804 0.02336049 0.01984872
+v 0.44862256 0.02296707 0.03324553
+v 0.44805429 -0.02283106 0.03355397
+v 0.46107889 0.02322230 0.03327112
+v 0.44845993 -0.02278812 0.01958405
+v 0.44921390 0.02300833 0.01988404
+f 5 2 1
+f 5 1 4
+f 6 3 4
+f 6 4 1
+f 6 1 2
+f 6 2 3
+f 7 2 5
+f 7 5 4
+f 8 7 4
+f 8 4 3
+f 8 3 2
+f 8 2 7
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_25/collision/model_normalized_collision_16.obj b/objects/objaverse/knife/knife_25/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c445ba90a0d4cf7fd99daeb1ccb29d55e1aa7a00
--- /dev/null
+++ b/objects/objaverse/knife/knife_25/collision/model_normalized_collision_16.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.44805429 -0.02283106 0.03355397
+v 0.45110744 -0.01507968 -0.00268512
+v 0.43653245 -0.00653238 -0.00088330
+v 0.40161895 -0.01145242 0.00644302
+v 0.44428516 -0.02120626 0.01651871
+v 0.44980484 -0.01003349 -0.00694443
+v 0.40141962 -0.01974986 0.03476504
+v 0.40191642 -0.01532786 0.01230908
+v 0.44537200 -0.02218914 0.03500976
+v 0.40165061 -0.01990440 0.03326031
+f 5 2 1
+f 6 2 4
+f 6 4 3
+f 6 1 2
+f 7 3 4
+f 8 4 2
+f 8 2 5
+f 8 7 4
+f 9 6 3
+f 9 1 6
+f 9 7 1
+f 9 3 7
+f 10 5 1
+f 10 1 7
+f 10 8 5
+f 10 7 8
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_25/collision/model_normalized_collision_17.obj b/objects/objaverse/knife/knife_25/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a7749be8128d7aeef061d9cdcd558e81a63fe55
--- /dev/null
+++ b/objects/objaverse/knife/knife_25/collision/model_normalized_collision_17.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.44537200 -0.02218914 0.03500976
+v 0.44980484 -0.01003349 -0.00694443
+v 0.44862256 0.02296707 0.03324553
+v 0.40169955 0.01993713 0.03294156
+v 0.40142913 -0.01748608 0.01771949
+v 0.45176047 0.01614059 -0.00132360
+v 0.40141962 -0.01974986 0.03476504
+v 0.40198348 0.01619025 0.01366728
+v 0.40205189 0.00618448 0.00218861
+v 0.40203554 -0.00618440 0.00218919
+f 5 2 1
+f 6 1 2
+f 6 3 1
+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 5 4
+f 9 8 6
+f 9 6 2
+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/knife/knife_25/collision/model_normalized_collision_18.obj b/objects/objaverse/knife/knife_25/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..36a76b00ab063cb7af4b4909ceb6ac587e3d2681
--- /dev/null
+++ b/objects/objaverse/knife/knife_25/collision/model_normalized_collision_18.obj
@@ -0,0 +1,18 @@
+# https://github.com/mikedh/trimesh
+v -0.15913047 -0.01128389 0.01899110
+v -0.15837337 -0.00000009 -0.04685702
+v -0.15918658 0.01128487 0.01899110
+v -0.18948035 0.01181450 0.01899110
+v -0.18942424 -0.01181352 0.01899110
+v -0.15918658 0.01128487 0.00383958
+v -0.18851836 -0.00000011 -0.04467425
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 5 1 4
+f 6 3 2
+f 6 4 3
+f 7 5 4
+f 7 2 5
+f 7 6 2
+f 7 4 6
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_25/collision/model_normalized_collision_19.obj b/objects/objaverse/knife/knife_25/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..564bc3e3592ed82b76b89f0eba6a45590d69e5a9
--- /dev/null
+++ b/objects/objaverse/knife/knife_25/collision/model_normalized_collision_19.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.28028764 -0.01307266 0.01899110
+v -0.27917217 -0.00083459 -0.03567741
+v -0.28018337 0.01307605 0.01899110
+v -0.31045441 0.01209185 0.01899110
+v -0.31055867 -0.01208846 0.00383958
+v -0.27893922 0.00142642 -0.03445418
+v -0.31055867 -0.01208846 0.01899110
+v -0.30874282 -0.00000011 -0.03183189
+f 1 3 4
+f 5 2 1
+f 6 4 3
+f 6 1 2
+f 6 3 1
+f 7 5 1
+f 7 1 4
+f 7 4 5
+f 8 5 4
+f 8 2 5
+f 8 6 2
+f 8 4 6
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_25/collision/model_normalized_collision_2.obj b/objects/objaverse/knife/knife_25/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..855567efe20ccd74b3dba63bfc7777e8abe02af8
--- /dev/null
+++ b/objects/objaverse/knife/knife_25/collision/model_normalized_collision_2.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.48368626 -0.00668047 0.05590955
+v 0.49173278 -0.00548564 0.01386123
+v 0.49470794 0.00610209 0.04254475
+v 0.45954243 0.01576497 0.05421937
+v 0.45873720 -0.00749330 -0.01056518
+v 0.48368626 0.00862968 0.05434175
+v 0.49470794 -0.00565140 0.04325620
+v 0.46121813 -0.00985597 0.05985743
+v 0.45933663 0.01643650 -0.00151105
+v 0.48368626 0.01559752 0.04402950
+v 0.46683559 -0.00711826 -0.00828415
+v 0.48368626 0.01492256 0.01189068
+v 0.45862130 0.00749765 -0.01058819
+v 0.47334785 0.01384458 0.05300297
+v 0.49087449 0.00745670 0.01408979
+v 0.46665297 0.00713182 -0.00838420
+v 0.46927739 0.01430483 -0.00016064
+f 6 1 3
+f 7 2 3
+f 7 3 1
+f 8 4 5
+f 8 6 4
+f 8 1 6
+f 8 7 1
+f 8 2 7
+f 10 6 3
+f 10 9 4
+f 11 8 5
+f 11 2 8
+f 12 10 3
+f 12 9 10
+f 13 5 4
+f 13 4 9
+f 14 10 4
+f 14 4 6
+f 14 6 10
+f 15 12 3
+f 15 3 2
+f 16 11 5
+f 16 5 13
+f 16 12 15
+f 16 13 9
+f 16 15 2
+f 16 2 11
+f 17 16 9
+f 17 9 12
+f 17 12 16
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_25/collision/model_normalized_collision_20.obj b/objects/objaverse/knife/knife_25/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ec741811900beb4d61a8b87112a3eafd426fa1aa
--- /dev/null
+++ b/objects/objaverse/knife/knife_25/collision/model_normalized_collision_20.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.46145493 -0.02314561 0.03358554
+v 0.45990184 -0.01480465 0.05564463
+v 0.40175813 -0.01360308 0.05488349
+v 0.40169955 0.01993713 0.03294156
+v 0.46107889 0.02322230 0.03327112
+v 0.40165061 -0.01990440 0.03326031
+v 0.45954243 0.01576497 0.05421937
+v 0.40179499 0.01452277 0.05343262
+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 7 5
+f 8 5 4
+f 8 4 3
+f 8 3 7
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_25/collision/model_normalized_collision_21.obj b/objects/objaverse/knife/knife_25/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b31b8097e3278504a09322c445aa36f23dd331e
--- /dev/null
+++ b/objects/objaverse/knife/knife_25/collision/model_normalized_collision_21.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.05292593 -0.00757647 0.00383958
+v 0.05373286 0.00000003 -0.06221548
+v 0.05286983 0.00757745 0.00383958
+v -0.03801149 0.00916634 0.00383958
+v -0.03795538 -0.00916536 0.00383958
+v 0.05296801 0.00181310 -0.05426438
+v -0.03771672 -0.00017844 -0.05452812
+v -0.03739862 0.00256035 -0.05013536
+v 0.03781675 0.00187454 -0.05427467
+v -0.02162959 -0.00000001 -0.05675854
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 5 1 4
+f 6 3 2
+f 6 4 3
+f 7 5 4
+f 7 2 5
+f 8 7 4
+f 9 6 2
+f 9 2 8
+f 9 8 4
+f 9 4 6
+f 10 8 2
+f 10 2 7
+f 10 7 8
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_25/collision/model_normalized_collision_22.obj b/objects/objaverse/knife/knife_25/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df25540a097d69b3dd295d0bbc384dd1584d26d4
--- /dev/null
+++ b/objects/objaverse/knife/knife_25/collision/model_normalized_collision_22.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.03795538 -0.00916536 0.00383958
+v -0.03771672 -0.00017844 -0.05452812
+v -0.03801149 0.00916634 0.00383958
+v -0.09859903 0.01022561 0.00383958
+v -0.09854293 -0.01022463 0.00383958
+v -0.03739862 0.00256035 -0.05013536
+v -0.09808343 -0.00000005 -0.05122258
+v -0.09794782 0.00087918 -0.04935008
+f 5 2 1
+f 5 1 3
+f 5 3 4
+f 6 4 3
+f 6 1 2
+f 6 3 1
+f 7 5 4
+f 7 2 5
+f 7 6 2
+f 8 7 4
+f 8 4 6
+f 8 6 7
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_25/collision/model_normalized_collision_23.obj b/objects/objaverse/knife/knife_25/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc3409c0ac0e9a3fb87e15190aae42611d01b6f3
--- /dev/null
+++ b/objects/objaverse/knife/knife_25/collision/model_normalized_collision_23.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.05295292 -0.00757599 0.06165901
+v 0.05292593 -0.00757647 0.00383958
+v 0.05286983 0.00757745 0.00383958
+v -0.09855782 0.01022489 0.06019105
+v -0.09854293 -0.01022463 0.00383958
+v 0.05289682 0.00757697 0.06165847
+v -0.09850172 -0.01022390 0.06019160
+v -0.09859903 0.01022561 0.00383958
+f 6 3 4
+f 6 4 1
+f 6 1 2
+f 6 2 3
+f 7 1 4
+f 7 5 2
+f 7 2 1
+f 8 4 3
+f 8 3 2
+f 8 2 5
+f 8 7 4
+f 8 5 7
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_25/collision/model_normalized_collision_24.obj b/objects/objaverse/knife/knife_25/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8dfbbdaf5e8677df7e2e940d0c45643500696052
--- /dev/null
+++ b/objects/objaverse/knife/knife_25/collision/model_normalized_collision_24.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v -0.15908358 -0.01128307 0.05960463
+v -0.15913047 -0.01128389 0.01899110
+v -0.15918658 0.01128487 0.01899110
+v -0.23486700 0.01260801 0.05887038
+v -0.23486490 -0.01260797 0.04929413
+v -0.15913968 0.01128405 0.05960409
+v -0.23481090 -0.01260702 0.05887092
+v -0.23486490 -0.01260797 0.01899110
+v -0.23492101 0.01260895 0.01899110
+f 6 3 4
+f 6 4 1
+f 6 1 2
+f 6 2 3
+f 7 5 1
+f 7 1 4
+f 7 4 5
+f 8 2 1
+f 8 1 5
+f 9 8 5
+f 9 5 4
+f 9 4 3
+f 9 3 2
+f 9 2 8
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_25/collision/model_normalized_collision_25.obj b/objects/objaverse/knife/knife_25/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5bedfb18835a0886a63ce7a7a0225872ea32f84d
--- /dev/null
+++ b/objects/objaverse/knife/knife_25/collision/model_normalized_collision_25.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.35550665 -0.01062706 0.05465745
+v -0.35495422 -0.00110990 -0.02065442
+v -0.35540261 0.01063044 0.05466233
+v -0.41273490 0.00749446 0.04841353
+v -0.41299564 -0.00746489 0.04836250
+v -0.35586095 0.01061554 0.03414261
+v -0.35472131 0.00170187 -0.01943133
+v -0.41399491 -0.00028305 -0.00511669
+v -0.39593286 0.00000106 -0.01351440
+v -0.41348694 0.00094804 -0.00392786
+f 1 3 4
+f 5 2 1
+f 5 1 4
+f 6 4 3
+f 7 1 2
+f 7 3 1
+f 7 6 3
+f 8 5 4
+f 8 2 5
+f 9 7 2
+f 9 2 8
+f 10 8 4
+f 10 4 6
+f 10 9 8
+f 10 6 7
+f 10 7 9
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_25/collision/model_normalized_collision_26.obj b/objects/objaverse/knife/knife_25/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ec4a3f35b61e9bae61aa82eca7627d34f0edc2e1
--- /dev/null
+++ b/objects/objaverse/knife/knife_25/collision/model_normalized_collision_26.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v -0.27999498 -0.01308218 0.05819885
+v -0.28028764 -0.01307266 0.01899110
+v -0.27989095 0.01308556 0.05820373
+v -0.35540261 0.01063044 0.05466233
+v -0.35596522 -0.01061215 0.04929413
+v -0.28018337 0.01307605 0.01899110
+v -0.35550665 -0.01062706 0.05465745
+v -0.35586095 0.01061554 0.01899110
+v -0.35596522 -0.01061215 0.01899110
+f 1 3 4
+f 6 4 3
+f 6 1 2
+f 6 3 1
+f 7 5 1
+f 7 1 4
+f 7 4 5
+f 8 5 4
+f 8 4 6
+f 8 6 2
+f 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/knife/knife_25/collision/model_normalized_collision_27.obj b/objects/objaverse/knife/knife_25/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac0d083871cd3b3702894451528878ee0ef12a5d
--- /dev/null
+++ b/objects/objaverse/knife/knife_25/collision/model_normalized_collision_27.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.31078461 -0.01659380 0.04538725
+v 0.31106571 -0.01338215 0.01354162
+v 0.31082749 0.01689729 0.04444898
+v 0.21993630 0.01568309 0.04405719
+v 0.21989342 -0.01537965 0.04499536
+v 0.31084779 0.01087882 0.00960019
+v 0.31092232 0.01742837 0.02366474
+v 0.22003847 0.00986639 0.01240591
+v 0.22005248 0.01563099 0.02424488
+v 0.22021502 -0.01143646 0.01477426
+f 1 2 3
+f 5 2 1
+f 5 1 3
+f 5 3 4
+f 7 3 2
+f 7 2 6
+f 7 4 3
+f 8 5 4
+f 9 7 6
+f 9 6 8
+f 9 8 4
+f 9 4 7
+f 10 8 6
+f 10 6 2
+f 10 2 5
+f 10 5 8
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_25/collision/model_normalized_collision_28.obj b/objects/objaverse/knife/knife_25/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..85b8e6eb6800ac568b43755a5da024c788d0a329
--- /dev/null
+++ b/objects/objaverse/knife/knife_25/collision/model_normalized_collision_28.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.31078461 -0.01659380 0.04538725
+v 0.31086584 -0.01255907 0.05422214
+v 0.18967612 -0.01116707 0.05334032
+v 0.18943688 0.01384612 0.04835472
+v 0.31062513 0.01546498 0.04887723
+v 0.18959636 -0.01497493 0.04486473
+v 0.31073975 0.01074904 0.05697661
+v 0.18955119 0.00968977 0.05565965
+f 1 2 3
+f 5 2 1
+f 6 1 3
+f 6 5 1
+f 6 4 5
+f 7 3 2
+f 7 2 5
+f 8 7 5
+f 8 5 4
+f 8 3 7
+f 8 6 3
+f 8 4 6
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_25/collision/model_normalized_collision_29.obj b/objects/objaverse/knife/knife_25/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e4eda6477d8532d9df92875e1d53c10082d0e18
--- /dev/null
+++ b/objects/objaverse/knife/knife_25/collision/model_normalized_collision_29.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v -0.09850172 -0.01022390 0.06019160
+v -0.09808343 -0.00000005 -0.05122258
+v -0.09855782 0.01022489 0.06019105
+v -0.15913968 0.01128405 0.05960409
+v -0.15913047 -0.01128389 0.04929413
+v -0.09859903 0.01022561 0.04929413
+v -0.09794782 0.00087918 -0.04935008
+v -0.15908358 -0.01128307 0.05960463
+v -0.15837338 -0.00000009 -0.04685702
+f 5 2 1
+f 6 4 3
+f 7 1 2
+f 7 3 1
+f 7 6 3
+f 7 4 6
+f 8 5 1
+f 8 4 5
+f 8 1 3
+f 8 3 4
+f 9 5 4
+f 9 2 5
+f 9 7 2
+f 9 4 7
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_25/collision/model_normalized_collision_3.obj b/objects/objaverse/knife/knife_25/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..734f742e5cf7e01f850546eddd02c5a5640e2f07
--- /dev/null
+++ b/objects/objaverse/knife/knife_25/collision/model_normalized_collision_3.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.40141962 -0.01974986 0.03476504
+v 0.40160311 -0.00959404 0.05953179
+v 0.34087931 -0.01556624 0.04994606
+v 0.34112455 0.01730201 0.04457961
+v 0.40169955 0.01993713 0.03294156
+v 0.34103689 0.01101385 0.05730584
+v 0.34082779 -0.01882591 0.03467231
+v 0.34100884 -0.00906441 0.05887332
+v 0.40171867 0.01811145 0.04484088
+v 0.34110843 0.01900757 0.03290481
+v 0.34064574 0.01870413 0.03585816
+v 0.40163117 0.01154348 0.05796432
+v 0.38655159 0.01970614 0.03291839
+f 1 2 3
+f 5 2 1
+f 7 1 3
+f 8 3 2
+f 9 4 6
+f 9 2 5
+f 10 1 7
+f 11 7 3
+f 11 10 7
+f 11 6 4
+f 11 5 10
+f 11 9 5
+f 11 4 9
+f 11 8 6
+f 11 3 8
+f 12 8 2
+f 12 6 8
+f 12 9 6
+f 12 2 9
+f 13 10 5
+f 13 5 1
+f 13 1 10
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_25/collision/model_normalized_collision_30.obj b/objects/objaverse/knife/knife_25/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ec2c8239ec5a69d8cf4e4dc7265d31ae9347cc5
--- /dev/null
+++ b/objects/objaverse/knife/knife_25/collision/model_normalized_collision_30.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.18959636 -0.01497493 0.04486473
+v 0.18970221 -0.00732663 0.01157243
+v 0.18943688 0.01384612 0.04835472
+v 0.05286983 0.00757745 0.04929413
+v 0.05292593 -0.00757647 0.00383958
+v 0.05292593 -0.00757647 0.04929413
+v 0.18976465 0.00927700 0.01313868
+v 0.18969906 -0.01472772 0.02350029
+v 0.07149808 -0.01319834 0.04545632
+v 0.05286983 0.00757745 0.00383958
+v 0.07149808 -0.01122721 0.02580998
+f 6 1 3
+f 6 3 4
+f 6 4 5
+f 7 3 1
+f 8 5 2
+f 8 7 1
+f 8 2 7
+f 9 6 5
+f 9 1 6
+f 9 8 1
+f 10 7 2
+f 10 2 5
+f 10 5 4
+f 10 4 3
+f 10 3 7
+f 11 9 5
+f 11 5 8
+f 11 8 9
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_25/collision/model_normalized_collision_31.obj b/objects/objaverse/knife/knife_25/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c1ee05042a4332e575a7f3ec05498469524a8757
--- /dev/null
+++ b/objects/objaverse/knife/knife_25/collision/model_normalized_collision_31.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v -0.23481090 -0.01260702 0.05887092
+v -0.23469835 -0.00163800 -0.03605268
+v -0.23486700 0.01260801 0.05887038
+v -0.27989095 0.01308556 0.05820373
+v -0.28028764 -0.01307266 0.04929413
+v -0.23437985 0.00290085 -0.03514289
+v -0.27999498 -0.01308218 0.05819885
+v -0.27917217 -0.00083459 -0.03567741
+v -0.27893922 0.00142642 -0.03445418
+f 1 3 4
+f 5 2 1
+f 6 4 3
+f 6 1 2
+f 6 3 1
+f 7 5 1
+f 7 1 4
+f 7 4 5
+f 8 5 4
+f 8 6 2
+f 8 2 5
+f 9 8 4
+f 9 4 6
+f 9 6 8
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_25/collision/model_normalized_collision_4.obj b/objects/objaverse/knife/knife_25/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..de02ee1196e90056f3a5a4b29684b3b7a7e5c2e1
--- /dev/null
+++ b/objects/objaverse/knife/knife_25/collision/model_normalized_collision_4.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.40141962 -0.01974986 0.03476504
+v 0.40203554 -0.00618440 0.00218919
+v 0.40169955 0.01993713 0.03294156
+v 0.34110843 0.01900757 0.03290481
+v 0.34082779 -0.01882591 0.03467231
+v 0.40198348 0.01619025 0.01366728
+v 0.34150846 -0.00587570 0.00435376
+v 0.34152482 0.00587578 0.00435317
+v 0.34141799 0.01495152 0.01458112
+v 0.40205189 0.00618448 0.00218861
+f 1 2 3
+f 5 2 1
+f 5 1 3
+f 5 3 4
+f 6 3 2
+f 6 4 3
+f 7 2 5
+f 8 7 5
+f 8 5 4
+f 9 8 4
+f 9 4 6
+f 10 6 2
+f 10 2 7
+f 10 7 8
+f 10 9 6
+f 10 8 9
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_25/collision/model_normalized_collision_5.obj b/objects/objaverse/knife/knife_25/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ba833cbedc5ea634893d588d0b2459f1280200fc
--- /dev/null
+++ b/objects/objaverse/knife/knife_25/collision/model_normalized_collision_5.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.21989342 -0.01537965 0.04499536
+v 0.22021502 -0.01143646 0.01477426
+v 0.21993630 0.01568309 0.04405719
+v 0.18943688 0.01384612 0.04835472
+v 0.18959636 -0.01497493 0.04486473
+v 0.18976465 0.00927700 0.01313868
+v 0.22003847 0.00986639 0.01240591
+v 0.20490751 0.01533142 0.02434157
+v 0.18993145 -0.01078789 0.01518511
+v 0.22005248 0.01563099 0.02424488
+v 0.20478777 0.01548074 0.04399188
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 5 1 4
+f 6 5 4
+f 8 6 4
+f 8 7 6
+f 9 2 5
+f 9 5 6
+f 9 7 2
+f 9 6 7
+f 10 3 2
+f 10 2 7
+f 10 7 8
+f 11 8 4
+f 11 4 3
+f 11 10 8
+f 11 3 10
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_25/collision/model_normalized_collision_6.obj b/objects/objaverse/knife/knife_25/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..35bf0366e181dc556a8a55999cf5e99df097c516
--- /dev/null
+++ b/objects/objaverse/knife/knife_25/collision/model_normalized_collision_6.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.08310419 -0.00704885 0.00383958
+v 0.08310419 0.00000005 -0.06434224
+v 0.08310419 0.00704885 0.00383958
+v 0.05286983 0.00757745 0.00383958
+v 0.05297492 -0.00595242 -0.02561576
+v 0.08310419 0.00169089 -0.05424392
+v 0.05292593 -0.00757647 0.00383958
+v 0.05373285 0.00000003 -0.06221548
+v 0.05296801 0.00181310 -0.05426438
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 6 3 2
+f 6 4 3
+f 7 5 1
+f 7 1 4
+f 8 2 5
+f 9 7 4
+f 9 5 7
+f 9 8 5
+f 9 4 6
+f 9 6 2
+f 9 2 8
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_25/collision/model_normalized_collision_7.obj b/objects/objaverse/knife/knife_25/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..146c9e768cfe376760b49e94ccafe602afdef1c4
--- /dev/null
+++ b/objects/objaverse/knife/knife_25/collision/model_normalized_collision_7.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v -0.18942424 -0.01181352 0.01899110
+v -0.18851835 -0.00000011 -0.04467425
+v -0.18948035 0.01181450 0.01899110
+v -0.23492101 0.01260895 0.01899110
+v -0.23486490 -0.01260797 0.01899110
+v -0.18940182 0.01092225 -0.01004126
+v -0.23373583 -0.00000013 -0.04140008
+v -0.23437985 0.00290085 -0.03514289
+v -0.18896795 0.00416172 -0.03573185
+f 1 2 3
+f 5 2 1
+f 5 1 3
+f 5 3 4
+f 6 3 2
+f 6 4 3
+f 7 2 5
+f 8 7 5
+f 8 5 4
+f 8 4 6
+f 8 2 7
+f 9 8 6
+f 9 6 2
+f 9 2 8
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_25/collision/model_normalized_collision_8.obj b/objects/objaverse/knife/knife_25/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..09c2f278dab384fb3a0aa15ea1404d773444de8b
--- /dev/null
+++ b/objects/objaverse/knife/knife_25/collision/model_normalized_collision_8.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v -0.31055867 -0.01208846 0.01899110
+v -0.30874278 -0.00000011 -0.03183189
+v -0.31045441 0.01209185 0.01899110
+v -0.35586095 0.01061554 0.01899110
+v -0.35495422 -0.00110990 -0.02065442
+v -0.31045441 0.01209185 0.00383958
+v -0.35596522 -0.01061215 0.01899110
+v -0.35472131 0.00170187 -0.01943133
+v -0.33798508 -0.00000007 -0.02626243
+f 1 2 3
+f 6 3 2
+f 6 4 3
+f 7 5 2
+f 7 2 1
+f 7 4 5
+f 7 1 3
+f 7 3 4
+f 8 5 4
+f 8 4 6
+f 8 6 2
+f 9 8 2
+f 9 2 5
+f 9 5 8
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_25/collision/model_normalized_collision_9.obj b/objects/objaverse/knife/knife_25/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c678f867a1b57a7a4360ef3a841bae1c7b7d9a52
--- /dev/null
+++ b/objects/objaverse/knife/knife_25/collision/model_normalized_collision_9.obj
@@ -0,0 +1,15 @@
+# https://github.com/mikedh/trimesh
+v -0.44481023 -0.00472915 0.04213517
+v -0.44445365 -0.00105599 0.00967379
+v -0.44455105 0.00476810 0.04218590
+v -0.50000002 0.00001662 0.03133243
+v -0.44394691 0.00172826 0.01085922
+v -0.45806390 0.00001035 0.01326042
+f 1 3 4
+f 2 1 4
+f 5 4 3
+f 5 1 2
+f 5 3 1
+f 6 5 2
+f 6 2 4
+f 6 4 5
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_25/model.xml b/objects/objaverse/knife/knife_25/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..5499b45d28fbad3412cea6bbcc692448d504eaf6
--- /dev/null
+++ b/objects/objaverse/knife/knife_25/model.xml
@@ -0,0 +1,85 @@
+<mujoco model="kitchen_knife_12">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="0.49999999999999983 0.4999999999999999 -0.49999999999999994 0.5"/>
+    <mesh file="visual/model_normalized_1.obj" name="model_normalized_1_vis" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="0.49999999999999983 0.4999999999999999 -0.49999999999999994 0.5"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="0.49999999999999983 0.4999999999999999 -0.49999999999999994 0.5"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="0.49999999999999983 0.4999999999999999 -0.49999999999999994 0.5"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="0.49999999999999983 0.4999999999999999 -0.49999999999999994 0.5"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="0.49999999999999983 0.4999999999999999 -0.49999999999999994 0.5"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="0.49999999999999983 0.4999999999999999 -0.49999999999999994 0.5"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="0.49999999999999983 0.4999999999999999 -0.49999999999999994 0.5"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="0.49999999999999983 0.4999999999999999 -0.49999999999999994 0.5"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="0.49999999999999983 0.4999999999999999 -0.49999999999999994 0.5"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="0.49999999999999983 0.4999999999999999 -0.49999999999999994 0.5"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="0.49999999999999983 0.4999999999999999 -0.49999999999999994 0.5"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="0.49999999999999983 0.4999999999999999 -0.49999999999999994 0.5"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="0.49999999999999983 0.4999999999999999 -0.49999999999999994 0.5"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="0.49999999999999983 0.4999999999999999 -0.49999999999999994 0.5"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="0.49999999999999983 0.4999999999999999 -0.49999999999999994 0.5"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="0.49999999999999983 0.4999999999999999 -0.49999999999999994 0.5"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="0.49999999999999983 0.4999999999999999 -0.49999999999999994 0.5"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="0.49999999999999983 0.4999999999999999 -0.49999999999999994 0.5"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="0.49999999999999983 0.4999999999999999 -0.49999999999999994 0.5"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="0.49999999999999983 0.4999999999999999 -0.49999999999999994 0.5"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="0.49999999999999983 0.4999999999999999 -0.49999999999999994 0.5"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="0.49999999999999983 0.4999999999999999 -0.49999999999999994 0.5"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="0.49999999999999983 0.4999999999999999 -0.49999999999999994 0.5"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="0.49999999999999983 0.4999999999999999 -0.49999999999999994 0.5"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="0.49999999999999983 0.4999999999999999 -0.49999999999999994 0.5"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="0.49999999999999983 0.4999999999999999 -0.49999999999999994 0.5"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="0.49999999999999983 0.4999999999999999 -0.49999999999999994 0.5"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="0.49999999999999983 0.4999999999999999 -0.49999999999999994 0.5"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="0.49999999999999983 0.4999999999999999 -0.49999999999999994 0.5"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="0.49999999999999983 0.4999999999999999 -0.49999999999999994 0.5"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="0.49999999999999983 0.4999999999999999 -0.49999999999999994 0.5"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="0.49999999999999983 0.4999999999999999 -0.49999999999999994 0.5"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="0.49999999999999983 0.4999999999999999 -0.49999999999999994 0.5"/>
+    <texture type="2d" name="image3" file="visual/image3.png"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="MetalM" texture="image3" specular="0.5" shininess="0.25"/>
+    <material name="WoodM" 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="MetalM"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_1_vis" conaffinity="0" contype="0" group="1" material="WoodM"/>
+        <geom solimp="0.998 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"/>
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+      </body>
+      <site rgba="0 0 0 0" size="0.005" pos="-0.00030857049899960095 0.0006085891251014662 -0.0053729121076419905" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="-0.00030857049899960095 0.0006085891251014662 0.005354731148633766" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.01418157218064762 0.11499999774569343 -9.090479504111923e-06" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/objects/objaverse/knife/knife_25/visual/material.mtl b/objects/objaverse/knife/knife_25/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fbcf6b4b1af9257e08a0fd6e283841743ce8fad5
--- /dev/null
+++ b/objects/objaverse/knife/knife_25/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/knife/knife_25/visual/model_normalized_0.obj b/objects/objaverse/knife/knife_25/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..97bc51329fdf671888d7d05c16a4f9050293866e
--- /dev/null
+++ b/objects/objaverse/knife/knife_25/visual/model_normalized_0.obj
@@ -0,0 +1,814 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/objects/objaverse/knife/knife_25/visual/model_normalized_1.obj b/objects/objaverse/knife/knife_25/visual/model_normalized_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1237c16df61d32911e371c637b92781f7cf92447
--- /dev/null
+++ b/objects/objaverse/knife/knife_25/visual/model_normalized_1.obj
@@ -0,0 +1,1595 @@
+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_26/collision/model_normalized_collision_0.obj b/objects/objaverse/knife/knife_26/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4096ea600fc030dba5a4cc278898b326be5f0902
--- /dev/null
+++ b/objects/objaverse/knife/knife_26/collision/model_normalized_collision_0.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.04276671 -0.02323350 0.04640110
+v -0.03800652 -0.01148671 -0.02069824
+v -0.04269480 0.02246241 0.04534126
+v -0.09848656 0.02274351 0.04558817
+v -0.09858456 -0.02184737 0.00504568
+v -0.03812388 0.00999244 -0.02069842
+v -0.04848874 -0.02246828 0.00685512
+v -0.09834313 -0.02364632 0.04559723
+v -0.04700416 0.02557818 0.01549624
+v -0.09808533 0.01017442 -0.01526046
+v -0.09875435 0.02208097 0.00651487
+v -0.09796962 -0.01108114 -0.01528555
+f 1 2 3
+f 1 3 4
+f 6 3 2
+f 7 5 2
+f 7 2 1
+f 8 1 4
+f 8 7 1
+f 8 5 7
+f 9 4 3
+f 9 3 6
+f 11 8 4
+f 11 5 8
+f 11 10 5
+f 11 4 9
+f 11 9 6
+f 11 6 10
+f 12 10 6
+f 12 6 2
+f 12 2 5
+f 12 5 10
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_26/collision/model_normalized_collision_1.obj b/objects/objaverse/knife/knife_26/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fccb697fdbcd775943f5bcf6b01b015b128d7ada
--- /dev/null
+++ b/objects/objaverse/knife/knife_26/collision/model_normalized_collision_1.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.49911860 -0.00336394 0.01727196
+v 0.49961653 -0.00336117 0.01601560
+v 0.40015027 -0.00278048 0.03422539
+v 0.42711361 -0.00338348 -0.02197751
+v 0.46899937 -0.00354867 -0.00479648
+v 0.39896254 -0.00240138 -0.02968403
+v 0.45707630 -0.00313054 0.02467409
+v 0.40067357 -0.00292515 -0.02927512
+f 5 2 1
+f 5 3 4
+f 6 5 4
+f 6 2 5
+f 6 1 2
+f 6 3 1
+f 7 5 1
+f 7 1 3
+f 7 3 5
+f 8 6 4
+f 8 4 3
+f 8 3 6
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_26/collision/model_normalized_collision_10.obj b/objects/objaverse/knife/knife_26/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..86648ea3fda02391114efeb614a74f704f7e0033
--- /dev/null
+++ b/objects/objaverse/knife/knife_26/collision/model_normalized_collision_10.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v -0.18881940 -0.02042804 0.04671197
+v -0.19133118 -0.00990068 -0.02034312
+v -0.18905851 0.02609759 0.03456363
+v -0.23431062 0.02457967 0.03360164
+v -0.23546856 -0.02454908 -0.00088846
+v -0.23665468 0.01038092 -0.02696449
+v -0.23489303 0.01084464 0.06666730
+v -0.19032437 -0.02377257 0.00257817
+v -0.19145354 0.00990890 -0.02036965
+v -0.23575540 0.02568905 0.00043672
+v -0.23646823 -0.00967953 -0.02729189
+v -0.18952715 0.01062245 0.06797919
+v -0.23477477 -0.01041076 0.06667496
+v -0.19049943 0.02402113 0.00293396
+v -0.23420809 -0.01864807 0.04620298
+v -0.18940885 -0.01063312 0.06798432
+f 7 3 4
+f 8 2 3
+f 8 3 1
+f 8 1 5
+f 9 3 2
+f 10 4 3
+f 10 7 4
+f 10 6 7
+f 11 8 5
+f 11 2 8
+f 11 9 2
+f 11 6 9
+f 12 1 3
+f 12 3 7
+f 13 12 7
+f 13 11 5
+f 13 7 6
+f 13 6 11
+f 14 9 6
+f 14 6 10
+f 14 10 3
+f 14 3 9
+f 15 13 5
+f 15 5 1
+f 15 1 13
+f 16 13 1
+f 16 1 12
+f 16 12 13
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_26/collision/model_normalized_collision_11.obj b/objects/objaverse/knife/knife_26/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ff0573eb9be2ee0590776b3d37ddf0f2b6a2cf9a
--- /dev/null
+++ b/objects/objaverse/knife/knife_26/collision/model_normalized_collision_11.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v -0.31046187 -0.02806481 0.00872686
+v -0.30977079 -0.02033031 0.03428117
+v -0.35580644 -0.02713972 0.00681509
+v -0.35589191 0.02873734 0.00681441
+v -0.31053115 0.02921110 0.00894643
+v -0.35617600 0.01155079 0.05503001
+v -0.35605864 -0.00992849 0.05503041
+v -0.30989020 0.02158920 0.03396810
+v -0.35514284 -0.01826472 0.03271774
+v -0.31069688 -0.01015063 0.05503033
+v -0.32489798 0.02097644 0.03361417
+v -0.30960807 -0.01426270 0.04712391
+v -0.30968129 0.01542969 0.04709529
+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 8 5 4
+f 8 2 5
+f 9 7 3
+f 9 3 2
+f 9 2 7
+f 10 6 7
+f 11 8 4
+f 11 4 6
+f 11 6 8
+f 12 10 7
+f 12 7 2
+f 13 8 6
+f 13 6 10
+f 13 10 12
+f 13 12 2
+f 13 2 8
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_26/collision/model_normalized_collision_12.obj b/objects/objaverse/knife/knife_26/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6479baa2db47b987f239bb421886d93606268ae9
--- /dev/null
+++ b/objects/objaverse/knife/knife_26/collision/model_normalized_collision_12.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.35580644 -0.02713972 0.00681509
+v -0.35552994 -0.02238218 0.02020020
+v -0.41534015 -0.01985677 0.01947842
+v -0.41564423 0.02586104 0.00572487
+v -0.35589191 0.02873734 0.00681441
+v -0.41552343 -0.02369062 0.00578655
+v -0.35617600 0.01155079 0.05503001
+v -0.41550793 0.02201253 0.01945719
+v -0.35605864 -0.00992849 0.05503041
+v -0.35564068 0.02404597 0.01998930
+v -0.41453755 -0.00953003 0.04813993
+v -0.41463701 0.01172526 0.04807780
+f 1 2 3
+f 5 2 1
+f 5 1 4
+f 6 1 3
+f 6 4 1
+f 8 6 3
+f 8 4 6
+f 8 7 5
+f 8 5 4
+f 9 3 2
+f 10 2 5
+f 10 5 7
+f 10 9 2
+f 10 7 9
+f 11 9 7
+f 11 3 9
+f 12 8 3
+f 12 3 11
+f 12 11 7
+f 12 7 8
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_26/collision/model_normalized_collision_13.obj b/objects/objaverse/knife/knife_26/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..32cff8123fc0b9d73c5261d57b34c682f6b10742
--- /dev/null
+++ b/objects/objaverse/knife/knife_26/collision/model_normalized_collision_13.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.00725584 -0.01153390 0.06404518
+v 0.00748608 -0.00299733 -0.02020508
+v 0.00710325 0.00959848 0.06404912
+v -0.03831138 0.00988156 0.06577104
+v -0.03800652 -0.01148671 -0.02069824
+v -0.03812388 0.00999244 -0.02069842
+v -0.03819332 -0.01137401 0.06576160
+v 0.00728829 0.00106060 -0.02009331
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 6 4 3
+f 6 5 4
+f 6 2 5
+f 7 5 1
+f 7 1 4
+f 7 4 5
+f 8 6 3
+f 8 3 2
+f 8 2 6
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_26/collision/model_normalized_collision_14.obj b/objects/objaverse/knife/knife_26/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..24d6cdd9d8ea55bf1e9ad707562775207cb987ac
--- /dev/null
+++ b/objects/objaverse/knife/knife_26/collision/model_normalized_collision_14.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.01202957 -0.01150214 -0.01926733
+v 0.00747426 -0.00157479 -0.03338812
+v -0.01194770 0.00975245 -0.01933404
+v -0.08293994 0.01010016 -0.01736579
+v -0.04864881 -0.01132279 -0.06160889
+v 0.00734992 0.00104969 -0.02049488
+v -0.02457224 -0.01071752 -0.06054368
+v -0.08282903 -0.01115528 -0.01740583
+v -0.04854482 0.00993169 -0.06160889
+v 0.00740060 -0.00298619 -0.02060671
+v -0.02449716 0.00909088 -0.06061026
+v 0.00740568 -0.00036546 -0.03338603
+f 1 3 4
+f 6 3 1
+f 7 2 1
+f 7 1 5
+f 8 5 1
+f 8 1 4
+f 8 4 5
+f 9 5 4
+f 9 4 3
+f 10 6 1
+f 10 1 2
+f 10 2 6
+f 11 9 3
+f 11 2 7
+f 11 7 5
+f 11 5 9
+f 12 6 2
+f 12 2 11
+f 12 11 3
+f 12 3 6
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_26/collision/model_normalized_collision_15.obj b/objects/objaverse/knife/knife_26/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db61bfd5c39090155a487124c493ed87bb46b4a0
--- /dev/null
+++ b/objects/objaverse/knife/knife_26/collision/model_normalized_collision_15.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.31199752 -0.02423971 -0.01463978
+v -0.31259825 -0.01002948 -0.04424818
+v -0.31212121 0.02544188 -0.01469459
+v -0.37173840 0.03013864 -0.01865089
+v -0.37217929 -0.00973768 -0.06325049
+v -0.37163185 -0.02834660 -0.01876522
+v -0.33042928 0.01058961 -0.05063633
+v -0.37241207 -0.02445389 -0.03033676
+v -0.31269899 0.01122593 -0.04430826
+v -0.33032130 -0.00921969 -0.05057631
+v -0.37227481 0.01151778 -0.06331802
+v -0.37252737 0.02632103 -0.03015886
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 6 1 4
+f 8 5 1
+f 8 1 6
+f 9 3 2
+f 10 2 5
+f 10 9 2
+f 10 7 9
+f 11 9 7
+f 11 3 9
+f 11 5 8
+f 11 10 5
+f 11 7 10
+f 12 8 6
+f 12 6 4
+f 12 11 8
+f 12 4 3
+f 12 3 11
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_26/collision/model_normalized_collision_16.obj b/objects/objaverse/knife/knife_26/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..989564fa5892cafe2bcab2d3bb05a2b7f3758c1f
--- /dev/null
+++ b/objects/objaverse/knife/knife_26/collision/model_normalized_collision_16.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v -0.37241207 -0.02445389 -0.03033676
+v -0.37642041 -0.00899383 -0.06584331
+v -0.37252737 0.02632103 -0.03015886
+v -0.44747105 0.02943748 -0.03432278
+v -0.44753888 -0.02395203 -0.04574982
+v -0.39011423 0.01088203 -0.07050702
+v -0.44738667 -0.02691065 -0.03428222
+v -0.37652318 0.01081544 -0.06591091
+v -0.44758956 0.02647000 -0.04577851
+v -0.42518662 -0.00875493 -0.06398285
+v -0.44158849 -0.01733004 -0.05449858
+v -0.42528403 0.01105449 -0.06390874
+v -0.44155104 0.01964081 -0.05444340
+f 1 2 3
+f 5 2 1
+f 7 1 3
+f 7 3 4
+f 7 5 1
+f 7 4 5
+f 8 6 3
+f 8 3 2
+f 8 2 6
+f 9 4 3
+f 9 3 6
+f 9 5 4
+f 10 6 2
+f 11 10 2
+f 11 2 5
+f 11 5 9
+f 12 6 10
+f 12 10 11
+f 13 9 6
+f 13 6 12
+f 13 12 11
+f 13 11 9
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_26/collision/model_normalized_collision_17.obj b/objects/objaverse/knife/knife_26/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..798ceaa1b5b7007ed532e665f61ab5352cf82457
--- /dev/null
+++ b/objects/objaverse/knife/knife_26/collision/model_normalized_collision_17.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.11362439 -0.03077096 0.02409594
+v -0.11350926 -0.01100494 -0.01387221
+v -0.11380749 -0.01111534 0.02473885
+v -0.18953415 -0.01074432 0.02473885
+v -0.19032437 -0.02377257 0.00257817
+v -0.11359611 -0.00643453 -0.01496374
+v -0.11387941 -0.02177251 0.00494162
+v -0.18940265 -0.02874405 0.02404458
+v -0.18958136 -0.00643327 -0.02013348
+v -0.12872548 -0.00643461 -0.01446667
+v -0.18965839 -0.01063196 -0.01905527
+f 1 2 3
+f 1 3 4
+f 6 3 2
+f 6 4 3
+f 7 5 2
+f 7 2 1
+f 7 1 5
+f 8 5 1
+f 8 1 4
+f 8 4 5
+f 9 5 4
+f 9 6 2
+f 10 9 4
+f 10 4 6
+f 10 6 9
+f 11 9 2
+f 11 2 5
+f 11 5 9
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_26/collision/model_normalized_collision_18.obj b/objects/objaverse/knife/knife_26/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..33ed4d6dcd0013dc48fee87d586c32b7dd35fb31
--- /dev/null
+++ b/objects/objaverse/knife/knife_26/collision/model_normalized_collision_18.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.23459593 -0.01612275 0.05029875
+v -0.23477477 -0.01041076 0.06667496
+v -0.38610586 -0.00966943 0.05338189
+v -0.38621952 0.01158611 0.05334977
+v -0.23471615 0.01678907 0.04997799
+v -0.38406564 -0.00895625 0.05476242
+v -0.23489303 0.01084464 0.06666730
+v -0.38418641 0.01085311 0.05473021
+f 1 2 3
+f 5 2 1
+f 5 1 3
+f 5 3 4
+f 6 3 2
+f 7 5 4
+f 7 2 5
+f 7 6 2
+f 8 7 4
+f 8 6 7
+f 8 4 3
+f 8 3 6
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_26/collision/model_normalized_collision_19.obj b/objects/objaverse/knife/knife_26/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..42a7dd5d5641623505be913e4bbcf376ce27710f
--- /dev/null
+++ b/objects/objaverse/knife/knife_26/collision/model_normalized_collision_19.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.37163185 -0.02834660 -0.01876522
+v -0.37241207 -0.02445389 -0.03033676
+v -0.37173840 0.03013864 -0.01865089
+v -0.41660665 0.03042401 -0.02034596
+v -0.41712999 -0.02558044 -0.03310148
+v -0.41651187 -0.02826317 -0.01995186
+v -0.41724927 0.02781828 -0.03308033
+v -0.37252737 0.02632103 -0.03015886
+f 1 2 3
+f 5 2 1
+f 6 1 3
+f 6 3 4
+f 6 5 1
+f 7 2 5
+f 7 4 3
+f 7 6 4
+f 7 5 6
+f 8 7 3
+f 8 3 2
+f 8 2 7
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_26/collision/model_normalized_collision_2.obj b/objects/objaverse/knife/knife_26/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dcef9cba6e047811460337f52be780357370b455
--- /dev/null
+++ b/objects/objaverse/knife/knife_26/collision/model_normalized_collision_2.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.40023796 -0.00278100 0.03421066
+v 0.40067357 -0.00292515 -0.02927512
+v 0.33940446 -0.00199189 -0.04129839
+v 0.33877345 -0.00251891 0.04487250
+v 0.36783607 -0.00333418 -0.03608033
+v 0.36819098 -0.00259448 0.03962328
+v 0.39896254 -0.00240138 -0.02968403
+v 0.33947187 -0.00320121 -0.04128984
+v 0.36776047 -0.00213689 -0.03609702
+f 5 2 1
+f 5 1 4
+f 6 3 4
+f 6 4 1
+f 7 1 2
+f 7 2 5
+f 8 5 4
+f 8 4 3
+f 9 6 1
+f 9 1 7
+f 9 3 6
+f 9 7 5
+f 9 8 3
+f 9 5 8
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_26/collision/model_normalized_collision_20.obj b/objects/objaverse/knife/knife_26/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e89b58d3e7c003a7037e1f5f71b481f98b1335ba
--- /dev/null
+++ b/objects/objaverse/knife/knife_26/collision/model_normalized_collision_20.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.04116782 -0.01844057 0.05162541
+v -0.03819332 -0.01137401 0.06576160
+v -0.09862988 -0.01107783 0.06755307
+v -0.09863046 0.01894253 0.05130552
+v -0.04120098 0.01844246 0.05016783
+v -0.09861391 -0.01877006 0.05261000
+v -0.03831138 0.00988156 0.06577104
+v -0.09874829 0.01017774 0.06755668
+f 5 2 1
+f 6 5 1
+f 6 4 5
+f 6 1 2
+f 6 2 3
+f 7 3 2
+f 7 2 5
+f 8 6 3
+f 8 4 6
+f 8 3 7
+f 8 7 5
+f 8 5 4
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_26/collision/model_normalized_collision_21.obj b/objects/objaverse/knife/knife_26/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e0a2dc91d422c0f2b88e088250e95bfdb57053f4
--- /dev/null
+++ b/objects/objaverse/knife/knife_26/collision/model_normalized_collision_21.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.41516215 -0.01402467 0.03190105
+v -0.41453755 -0.00953003 0.04813993
+v -0.44652958 -0.00937345 0.03849283
+v -0.44663102 0.01188204 0.03843363
+v -0.41522153 0.01674039 0.03130536
+v -0.44291152 0.01114071 0.04065664
+v -0.44280293 -0.00866859 0.04071590
+v -0.41463701 0.01172526 0.04807780
+f 1 2 3
+f 5 2 1
+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 8 2 5
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_26/collision/model_normalized_collision_22.obj b/objects/objaverse/knife/knife_26/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..11dba7873051e88d711932bd36e7dd7bb7568889
--- /dev/null
+++ b/objects/objaverse/knife/knife_26/collision/model_normalized_collision_22.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.09862745 -0.03085494 0.02401310
+v -0.09796962 -0.01108114 -0.01528555
+v -0.09869488 0.02839723 0.02497692
+v -0.11384272 0.02847840 0.02497674
+v -0.11387941 -0.02177251 0.00494162
+v -0.09808533 0.01017442 -0.01526046
+v -0.11362439 -0.03077096 0.02409594
+v -0.09858456 -0.02184737 0.00504568
+v -0.11406872 0.02224464 0.00651309
+v -0.11362756 0.01025063 -0.01386493
+v -0.09875435 0.02208097 0.00651487
+v -0.11350926 -0.01100494 -0.01387221
+f 1 2 3
+f 6 3 2
+f 7 1 3
+f 7 3 4
+f 7 5 1
+f 8 5 2
+f 8 2 1
+f 8 1 5
+f 9 4 3
+f 9 7 4
+f 9 5 7
+f 10 6 2
+f 10 9 6
+f 10 5 9
+f 11 9 3
+f 11 3 6
+f 11 6 9
+f 12 10 2
+f 12 2 5
+f 12 5 10
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_26/collision/model_normalized_collision_23.obj b/objects/objaverse/knife/knife_26/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c2a22470921ab2319a672f4d0c661a4d63287d5
--- /dev/null
+++ b/objects/objaverse/knife/knife_26/collision/model_normalized_collision_23.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.15921346 -0.00643365 0.06948409
+v -0.15972693 -0.00643113 -0.01652160
+v -0.16022778 0.02304603 0.00466494
+v -0.18889548 0.02086347 0.04581453
+v -0.18948705 -0.00643374 0.06905601
+v -0.18977364 0.01062360 -0.01908184
+v -0.15882888 0.02167978 0.04585150
+v -0.15992066 0.01047736 -0.01546648
+v -0.19049943 0.02402113 0.00293396
+v -0.18958136 -0.00643327 -0.02013348
+v -0.18952715 0.01062245 0.06797919
+v -0.15926645 0.01047424 0.06840718
+f 7 1 2
+f 8 6 3
+f 8 2 6
+f 8 7 2
+f 8 3 7
+f 9 3 6
+f 9 7 3
+f 9 4 7
+f 10 6 2
+f 10 9 6
+f 10 5 9
+f 10 2 1
+f 10 1 5
+f 11 5 1
+f 11 7 4
+f 11 9 5
+f 11 4 9
+f 12 11 1
+f 12 1 7
+f 12 7 11
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_26/collision/model_normalized_collision_24.obj b/objects/objaverse/knife/knife_26/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..049bbaf7aa0594df1ec1fd9e570bd0eb8b2ce56b
--- /dev/null
+++ b/objects/objaverse/knife/knife_26/collision/model_normalized_collision_24.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v -0.31046187 -0.02806481 0.00872686
+v -0.31199752 -0.02423971 -0.01463978
+v -0.31053115 0.02921110 0.00894643
+v -0.41564423 0.02586104 0.00572487
+v -0.41651187 -0.02826317 -0.01995186
+v -0.41552343 -0.02369062 0.00578655
+v -0.41660665 0.03042401 -0.02034596
+v -0.31212121 0.02544188 -0.01469459
+v -0.35705107 0.02917946 -0.01805137
+f 1 2 3
+f 5 2 1
+f 6 1 3
+f 6 3 4
+f 6 5 1
+f 6 4 5
+f 7 5 4
+f 7 4 3
+f 8 3 2
+f 9 2 5
+f 9 5 7
+f 9 8 2
+f 9 7 3
+f 9 3 8
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_26/collision/model_normalized_collision_25.obj b/objects/objaverse/knife/knife_26/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..29b157509287c467d8cad78e321be262423e992c
--- /dev/null
+++ b/objects/objaverse/knife/knife_26/collision/model_normalized_collision_25.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.11380749 -0.01111534 0.02473885
+v -0.11359611 -0.00643453 -0.01496374
+v -0.11384272 0.02847840 0.02497674
+v -0.15925417 0.02870456 0.02450678
+v -0.15924348 -0.01089268 0.00959327
+v -0.15992066 0.01047736 -0.01546648
+v -0.15924347 -0.01089271 0.02473898
+v -0.11362756 0.01025063 -0.01386493
+v -0.16022778 0.02304603 0.00466494
+v -0.15972693 -0.00643113 -0.01652160
+v -0.11394345 0.02634027 0.01409889
+v -0.11406872 0.02224464 0.00651309
+f 1 2 3
+f 5 2 1
+f 7 1 3
+f 7 3 4
+f 7 5 1
+f 8 3 2
+f 8 2 6
+f 9 8 6
+f 9 7 4
+f 10 6 2
+f 10 2 5
+f 10 5 7
+f 10 9 6
+f 10 7 9
+f 11 9 4
+f 11 4 3
+f 11 3 8
+f 12 11 8
+f 12 8 9
+f 12 9 11
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_26/collision/model_normalized_collision_26.obj b/objects/objaverse/knife/knife_26/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..12a4b4f1d0503db1e777e3fc665948441df95e0b
--- /dev/null
+++ b/objects/objaverse/knife/knife_26/collision/model_normalized_collision_26.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.20174282 -0.00177635 0.06860840
+v 0.20436309 -0.00180426 0.06823482
+v 0.20167051 -0.00177600 0.06861945
+v 0.18702047 -0.00170416 0.07077943
+v 0.18919479 -0.00171481 0.07046896
+v 0.18898684 -0.00164674 0.06949226
+v 0.18709320 -0.00170452 0.07076914
+v 0.20393312 -0.00178706 0.06827353
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 6 4 3
+f 6 5 4
+f 6 2 5
+f 7 5 1
+f 7 1 4
+f 7 4 5
+f 8 6 3
+f 8 3 2
+f 8 2 6
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_26/collision/model_normalized_collision_27.obj b/objects/objaverse/knife/knife_26/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4783c60d35692fab47dee90063bf67236a83ac19
--- /dev/null
+++ b/objects/objaverse/knife/knife_26/collision/model_normalized_collision_27.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.15917054 -0.02901099 0.02456503
+v -0.15924347 -0.01089271 0.02473898
+v -0.15921346 -0.00643365 0.06948409
+v -0.18948705 -0.00643374 0.06905601
+v -0.18940265 -0.02874405 0.02404458
+v -0.18953415 -0.01074432 0.02473885
+v -0.15914804 -0.01078134 0.06840979
+v -0.15875960 -0.02155261 0.04669078
+v -0.18940885 -0.01063312 0.06798432
+v -0.18881940 -0.02042804 0.04671197
+f 5 2 1
+f 6 3 2
+f 6 4 3
+f 6 5 4
+f 6 2 5
+f 7 3 4
+f 8 5 1
+f 8 1 2
+f 8 2 3
+f 8 3 7
+f 9 7 4
+f 9 4 5
+f 9 8 7
+f 10 9 5
+f 10 5 8
+f 10 8 9
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_26/collision/model_normalized_collision_28.obj b/objects/objaverse/knife/knife_26/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..95104ecd658cce115cfddb0aebbe07e95fa829bc
--- /dev/null
+++ b/objects/objaverse/knife/knife_26/collision/model_normalized_collision_28.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v -0.41595382 -0.02777183 -0.00743124
+v -0.41712999 -0.02558044 -0.03310148
+v -0.41591137 0.03003505 -0.00787362
+v -0.44564374 0.02760534 -0.00931396
+v -0.44738667 -0.02691065 -0.03428222
+v -0.44538620 -0.02532429 -0.00975217
+v -0.44747105 0.02943748 -0.03432278
+v -0.44654343 -0.02748948 -0.02144778
+v -0.41724927 0.02781828 -0.03308033
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 6 1 4
+f 7 2 5
+f 7 4 3
+f 8 5 1
+f 8 1 6
+f 8 6 4
+f 8 7 5
+f 8 4 7
+f 9 7 3
+f 9 3 2
+f 9 2 7
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_26/collision/model_normalized_collision_29.obj b/objects/objaverse/knife/knife_26/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..05eb90299095b7401c47603c4068426acb9b1592
--- /dev/null
+++ b/objects/objaverse/knife/knife_26/collision/model_normalized_collision_29.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.18898684 -0.00164674 0.06949226
+v 0.18914122 -0.00325360 0.02464611
+v 0.14363709 -0.00016300 0.02448889
+v 0.14516066 -0.00179040 0.06610005
+v 0.18709320 -0.00170452 0.07076914
+v 0.14370418 -0.00310764 0.02463674
+v 0.18907012 -0.00046133 0.02447108
+v 0.15018759 -0.00181497 0.06791330
+f 5 2 1
+f 5 1 3
+f 6 4 3
+f 7 1 2
+f 7 3 1
+f 7 6 3
+f 7 2 6
+f 8 2 5
+f 8 6 2
+f 8 4 6
+f 8 5 3
+f 8 3 4
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_26/collision/model_normalized_collision_3.obj b/objects/objaverse/knife/knife_26/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b99a18f31247098e3a87b54ffbfd4c42f03fe272
--- /dev/null
+++ b/objects/objaverse/knife/knife_26/collision/model_normalized_collision_3.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.33884422 -0.00251925 0.04486024
+v 0.34059027 -0.00356926 0.02463209
+v 0.18907012 -0.00046133 0.02447108
+v 0.18919479 -0.00171481 0.07046896
+v 0.18914122 -0.00325360 0.02464611
+v 0.34049707 -0.00162346 0.02434060
+v 0.18898684 -0.00164674 0.06949226
+v 0.29196234 -0.00221836 0.05308658
+f 2 1 4
+f 5 2 4
+f 6 1 2
+f 6 5 3
+f 6 2 5
+f 7 5 4
+f 7 3 5
+f 7 6 3
+f 8 7 4
+f 8 4 1
+f 8 1 6
+f 8 6 7
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_26/collision/model_normalized_collision_30.obj b/objects/objaverse/knife/knife_26/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0ad228cacaf7406b20fcf583a55978743589027d
--- /dev/null
+++ b/objects/objaverse/knife/knife_26/collision/model_normalized_collision_30.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.01689926 -0.01092073 0.06450895
+v 0.05283307 -0.00275927 0.02463174
+v 0.05304508 -0.00088961 0.06134366
+v 0.00710325 0.00959848 0.06404912
+v 0.00304625 -0.01157601 0.02619256
+v 0.05277018 0.00037871 0.02449586
+v 0.01656661 0.00918304 0.06421146
+v 0.00725584 -0.01153390 0.06404518
+v 0.00312850 0.00967858 0.02612637
+v 0.02260172 -0.00265105 0.02418874
+f 1 2 3
+f 5 2 1
+f 6 3 2
+f 7 1 3
+f 7 4 1
+f 7 3 6
+f 8 5 1
+f 8 1 4
+f 8 4 5
+f 9 5 4
+f 9 7 6
+f 9 4 7
+f 10 6 2
+f 10 2 5
+f 10 9 6
+f 10 5 9
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_26/collision/model_normalized_collision_31.obj b/objects/objaverse/knife/knife_26/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9cf813f772c5e407a93bfca3e2db2d094c21feb2
--- /dev/null
+++ b/objects/objaverse/knife/knife_26/collision/model_normalized_collision_31.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.05283307 -0.00275927 0.02463174
+v 0.05288164 -0.00179722 -0.03470831
+v 0.05277486 0.00077169 0.00944887
+v 0.00416042 0.00872786 0.02580705
+v 0.00409364 -0.00641752 0.02582920
+v 0.05285215 -0.00033123 -0.03364842
+v 0.05277018 0.00037871 0.02449586
+v 0.00740568 -0.00036546 -0.03338603
+v 0.00747426 -0.00157479 -0.03338812
+f 5 2 1
+f 5 1 4
+f 6 4 3
+f 6 1 2
+f 7 3 4
+f 7 4 1
+f 7 6 3
+f 7 1 6
+f 8 5 4
+f 8 6 2
+f 8 4 6
+f 9 8 2
+f 9 2 5
+f 9 5 8
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_26/collision/model_normalized_collision_4.obj b/objects/objaverse/knife/knife_26/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb4dda4de0e53c44947db8a8eca825d3badd1355
--- /dev/null
+++ b/objects/objaverse/knife/knife_26/collision/model_normalized_collision_4.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v -0.41595382 -0.02777183 -0.00743124
+v -0.41534015 -0.01985677 0.01947842
+v -0.49919330 -0.00839219 0.02089395
+v -0.49374413 0.01946265 -0.00038865
+v -0.41591137 0.03003505 -0.00787362
+v -0.47558878 -0.02140106 -0.00900199
+v -0.41522153 0.01674039 0.03130536
+v -0.49379036 -0.01658177 -0.00066836
+v -0.47577762 0.02412659 -0.00889164
+v -0.47521243 -0.01823344 0.00471795
+v -0.41516215 -0.01402467 0.03190105
+v -0.43033552 0.02102139 0.01903746
+v -0.48658843 0.01135481 0.02634378
+v -0.45952227 -0.01621942 0.01693169
+v -0.41550793 0.02201253 0.01945719
+v -0.47545436 0.02094809 0.00483096
+v -0.49909617 0.01141610 0.02089395
+v -0.48649840 -0.00845440 0.02642528
+f 5 2 1
+f 6 5 1
+f 7 2 5
+f 8 3 4
+f 9 5 6
+f 9 8 4
+f 9 6 8
+f 10 6 1
+f 10 8 6
+f 10 3 8
+f 11 2 7
+f 13 11 7
+f 13 7 12
+f 14 10 1
+f 14 1 2
+f 14 2 11
+f 15 12 7
+f 15 7 5
+f 15 5 12
+f 16 9 4
+f 16 13 12
+f 16 12 5
+f 16 5 9
+f 17 4 3
+f 17 3 13
+f 17 16 4
+f 17 13 16
+f 18 13 3
+f 18 11 13
+f 18 14 11
+f 18 3 10
+f 18 10 14
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_26/collision/model_normalized_collision_5.obj b/objects/objaverse/knife/knife_26/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8b2873882b37de6a4971621a6adf2757cb24491
--- /dev/null
+++ b/objects/objaverse/knife/knife_26/collision/model_normalized_collision_5.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v -0.23426553 -0.02386962 0.03427785
+v -0.23646823 -0.00967953 -0.02729189
+v -0.23431062 0.02457967 0.03360164
+v -0.30989020 0.02158920 0.03396810
+v -0.31199752 -0.02423971 -0.01463978
+v -0.31269899 0.01122593 -0.04430826
+v -0.23498733 -0.00679888 0.05579684
+v -0.23662506 -0.02039503 -0.00715967
+v -0.23665468 0.01038092 -0.02696449
+v -0.31212121 0.02544188 -0.01469459
+v -0.31259825 -0.01002948 -0.04424818
+v -0.23459593 -0.01612275 0.05029875
+v -0.23471615 0.01678907 0.04997799
+v -0.23575540 0.02568905 0.00043672
+v -0.30960807 -0.01426270 0.04712391
+v -0.30968129 0.01542969 0.04709529
+v -0.30977079 -0.02033031 0.03428117
+f 1 2 3
+f 8 2 1
+f 8 1 5
+f 9 3 2
+f 9 2 6
+f 10 4 3
+f 10 6 5
+f 11 6 2
+f 11 5 6
+f 11 8 5
+f 11 2 8
+f 12 1 3
+f 13 12 3
+f 13 7 12
+f 14 9 6
+f 14 6 10
+f 14 10 3
+f 14 3 9
+f 15 10 5
+f 15 1 12
+f 15 12 7
+f 16 13 3
+f 16 3 4
+f 16 4 10
+f 16 10 15
+f 16 15 7
+f 16 7 13
+f 17 15 5
+f 17 5 1
+f 17 1 15
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_26/collision/model_normalized_collision_6.obj b/objects/objaverse/knife/knife_26/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2a8927b7509e098acff30add36b8afd3b98b01f0
--- /dev/null
+++ b/objects/objaverse/knife/knife_26/collision/model_normalized_collision_6.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.34059027 -0.00356926 0.02463209
+v 0.33947187 -0.00320121 -0.04128984
+v 0.34049707 -0.00162346 0.02434060
+v 0.14363709 -0.00016300 0.02448889
+v 0.14370418 -0.00310764 0.02463674
+v 0.33940446 -0.00199189 -0.04129839
+v 0.14560145 -0.00225150 -0.03967627
+v 0.14553584 -0.00104211 -0.03966432
+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 2 5
+f 7 6 2
+f 8 7 5
+f 8 5 4
+f 8 4 6
+f 8 6 7
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_26/collision/model_normalized_collision_7.obj b/objects/objaverse/knife/knife_26/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a145f0300ca685e142861379112384f394f899d1
--- /dev/null
+++ b/objects/objaverse/knife/knife_26/collision/model_normalized_collision_7.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.44538620 -0.02532429 -0.00975217
+v -0.44158849 -0.01733004 -0.05449858
+v -0.44564374 0.02760534 -0.00931396
+v -0.48790304 0.02223652 -0.00734497
+v -0.48792217 -0.01940486 -0.00763323
+v -0.44905498 0.02411216 -0.04929759
+v -0.44155104 0.01964081 -0.05444340
+v -0.46449287 -0.02617906 -0.03668267
+v -0.46463729 0.02880868 -0.03635991
+v -0.44758956 0.02647000 -0.04577851
+v -0.44851816 -0.02119971 -0.04985468
+v -0.47680161 -0.02462568 -0.02462760
+v -0.47654432 0.02742924 -0.02462760
+v -0.44753888 -0.02395203 -0.04574982
+f 5 1 3
+f 5 3 4
+f 7 1 2
+f 7 3 1
+f 9 6 8
+f 10 7 6
+f 10 3 7
+f 10 9 3
+f 10 6 9
+f 11 7 2
+f 11 6 7
+f 11 8 6
+f 12 8 1
+f 12 1 5
+f 12 9 8
+f 13 4 3
+f 13 3 9
+f 13 9 12
+f 13 12 5
+f 13 5 4
+f 14 11 2
+f 14 2 1
+f 14 1 8
+f 14 8 11
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_26/collision/model_normalized_collision_8.obj b/objects/objaverse/knife/knife_26/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c97eae405660a7796bf1bdedefe8cf5955f4264
--- /dev/null
+++ b/objects/objaverse/knife/knife_26/collision/model_normalized_collision_8.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v -0.09862745 -0.03085494 0.02401310
+v -0.09834313 -0.02364632 0.04559723
+v -0.15917054 -0.02901099 0.02456503
+v -0.15925417 0.02870456 0.02450678
+v -0.09869488 0.02839723 0.02497692
+v -0.15926645 0.01047424 0.06840718
+v -0.15914804 -0.01078134 0.06840979
+v -0.09848656 0.02274351 0.04558817
+v -0.15875960 -0.02155261 0.04669078
+v -0.15882888 0.02167978 0.04585150
+v -0.09862988 -0.01107783 0.06755307
+v -0.11377124 -0.01100364 0.06779852
+v -0.09874829 0.01017774 0.06755668
+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 8 5 4
+f 8 2 5
+f 9 7 3
+f 9 3 2
+f 9 2 7
+f 10 8 4
+f 10 4 6
+f 10 6 8
+f 11 2 8
+f 12 7 2
+f 12 2 11
+f 12 6 7
+f 13 11 8
+f 13 8 6
+f 13 12 11
+f 13 6 12
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_26/collision/model_normalized_collision_9.obj b/objects/objaverse/knife/knife_26/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5cbe8e7533001638d0dc3d2ee34f794a10380f4b
--- /dev/null
+++ b/objects/objaverse/knife/knife_26/collision/model_normalized_collision_9.obj
@@ -0,0 +1,18 @@
+# https://github.com/mikedh/trimesh
+v 0.14516066 -0.00179040 0.06610005
+v 0.14560145 -0.00225150 -0.03967627
+v 0.14553584 -0.00104211 -0.03966432
+v 0.05280026 -0.00088565 0.06133986
+v 0.05288164 -0.00179722 -0.03470831
+v 0.05285215 -0.00033123 -0.03364842
+v 0.06858179 -0.00066504 -0.03532087
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 5 1 4
+f 5 3 2
+f 6 5 4
+f 6 4 3
+f 7 6 3
+f 7 3 5
+f 7 5 6
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_26/model.xml b/objects/objaverse/knife/knife_26/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..18a1da14f2f35a5aa342aa12112ae197e5a18e19
--- /dev/null
+++ b/objects/objaverse/knife/knife_26/model.xml
@@ -0,0 +1,91 @@
+<mujoco model="knife_1">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.20500000000000002 0.20500000000000002 0.20500000000000002" refquat="0.4999999999999999 -0.49999999999999994 -0.4999999999999999 -0.5"/>
+    <mesh file="visual/model_normalized_1.obj" name="model_normalized_1_vis" scale="0.20500000000000002 0.20500000000000002 0.20500000000000002" refquat="0.4999999999999999 -0.49999999999999994 -0.4999999999999999 -0.5"/>
+    <mesh file="visual/model_normalized_2.obj" name="model_normalized_2_vis" scale="0.20500000000000002 0.20500000000000002 0.20500000000000002" refquat="0.4999999999999999 -0.49999999999999994 -0.4999999999999999 -0.5"/>
+    <mesh file="visual/model_normalized_3.obj" name="model_normalized_3_vis" scale="0.20500000000000002 0.20500000000000002 0.20500000000000002" refquat="0.4999999999999999 -0.49999999999999994 -0.4999999999999999 -0.5"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.20500000000000002 0.20500000000000002 0.20500000000000002" refquat="0.4999999999999999 -0.49999999999999994 -0.4999999999999999 -0.5"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.20500000000000002 0.20500000000000002 0.20500000000000002" refquat="0.4999999999999999 -0.49999999999999994 -0.4999999999999999 -0.5"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.20500000000000002 0.20500000000000002 0.20500000000000002" refquat="0.4999999999999999 -0.49999999999999994 -0.4999999999999999 -0.5"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.20500000000000002 0.20500000000000002 0.20500000000000002" refquat="0.4999999999999999 -0.49999999999999994 -0.4999999999999999 -0.5"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.20500000000000002 0.20500000000000002 0.20500000000000002" refquat="0.4999999999999999 -0.49999999999999994 -0.4999999999999999 -0.5"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.20500000000000002 0.20500000000000002 0.20500000000000002" refquat="0.4999999999999999 -0.49999999999999994 -0.4999999999999999 -0.5"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.20500000000000002 0.20500000000000002 0.20500000000000002" refquat="0.4999999999999999 -0.49999999999999994 -0.4999999999999999 -0.5"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.20500000000000002 0.20500000000000002 0.20500000000000002" refquat="0.4999999999999999 -0.49999999999999994 -0.4999999999999999 -0.5"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.20500000000000002 0.20500000000000002 0.20500000000000002" refquat="0.4999999999999999 -0.49999999999999994 -0.4999999999999999 -0.5"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.20500000000000002 0.20500000000000002 0.20500000000000002" refquat="0.4999999999999999 -0.49999999999999994 -0.4999999999999999 -0.5"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.20500000000000002 0.20500000000000002 0.20500000000000002" refquat="0.4999999999999999 -0.49999999999999994 -0.4999999999999999 -0.5"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.20500000000000002 0.20500000000000002 0.20500000000000002" refquat="0.4999999999999999 -0.49999999999999994 -0.4999999999999999 -0.5"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.20500000000000002 0.20500000000000002 0.20500000000000002" refquat="0.4999999999999999 -0.49999999999999994 -0.4999999999999999 -0.5"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.20500000000000002 0.20500000000000002 0.20500000000000002" refquat="0.4999999999999999 -0.49999999999999994 -0.4999999999999999 -0.5"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.20500000000000002 0.20500000000000002 0.20500000000000002" refquat="0.4999999999999999 -0.49999999999999994 -0.4999999999999999 -0.5"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.20500000000000002 0.20500000000000002 0.20500000000000002" refquat="0.4999999999999999 -0.49999999999999994 -0.4999999999999999 -0.5"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.20500000000000002 0.20500000000000002 0.20500000000000002" refquat="0.4999999999999999 -0.49999999999999994 -0.4999999999999999 -0.5"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.20500000000000002 0.20500000000000002 0.20500000000000002" refquat="0.4999999999999999 -0.49999999999999994 -0.4999999999999999 -0.5"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.20500000000000002 0.20500000000000002 0.20500000000000002" refquat="0.4999999999999999 -0.49999999999999994 -0.4999999999999999 -0.5"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.20500000000000002 0.20500000000000002 0.20500000000000002" refquat="0.4999999999999999 -0.49999999999999994 -0.4999999999999999 -0.5"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.20500000000000002 0.20500000000000002 0.20500000000000002" refquat="0.4999999999999999 -0.49999999999999994 -0.4999999999999999 -0.5"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.20500000000000002 0.20500000000000002 0.20500000000000002" refquat="0.4999999999999999 -0.49999999999999994 -0.4999999999999999 -0.5"/>
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+    <material name="steel" texture="image0" specular="0.5" shininess="0.032000008"/>
+    <material name="wood" texture="image2" specular="0.5" shininess="0.032000008"/>
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diff --git a/objects/objaverse/knife/knife_26/visual/material.mtl b/objects/objaverse/knife/knife_26/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..338c07688fbccdecb1b87a127b2401a6c1f23629
--- /dev/null
+++ b/objects/objaverse/knife/knife_26/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 1.95994700
+map_Kd material_0.jpeg
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_26/visual/model_normalized_0.obj b/objects/objaverse/knife/knife_26/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af9dd534f5d6aba312d5f55b95ca23241af175be
--- /dev/null
+++ b/objects/objaverse/knife/knife_26/visual/model_normalized_0.obj
@@ -0,0 +1,2253 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/objects/objaverse/knife/knife_26/visual/model_normalized_1.obj b/objects/objaverse/knife/knife_26/visual/model_normalized_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c94a2e525b9598cc2243d168159228a4c07a669
--- /dev/null
+++ b/objects/objaverse/knife/knife_26/visual/model_normalized_1.obj
@@ -0,0 +1,219504 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/objects/objaverse/knife/knife_26/visual/model_normalized_2.obj b/objects/objaverse/knife/knife_26/visual/model_normalized_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c162e335c6bf79d09d3e10bcb757707b1ed3c0ee
--- /dev/null
+++ b/objects/objaverse/knife/knife_26/visual/model_normalized_2.obj
@@ -0,0 +1,11089 @@
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diff --git a/objects/objaverse/knife/knife_26/visual/model_normalized_3.obj b/objects/objaverse/knife/knife_26/visual/model_normalized_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..804d8a197833ee6954fcc93ffe725beee7b1d44d
--- /dev/null
+++ b/objects/objaverse/knife/knife_26/visual/model_normalized_3.obj
@@ -0,0 +1,43535 @@
+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_6/collision/model_normalized_collision_0.obj b/objects/objaverse/knife/knife_6/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..936cd748e10a1d14be6abc3d13b53a481dd2d72f
--- /dev/null
+++ b/objects/objaverse/knife/knife_6/collision/model_normalized_collision_0.obj
@@ -0,0 +1,18 @@
+# https://github.com/mikedh/trimesh
+v -0.01701170 0.03783823 0.00471341
+v -0.01701182 0.03783823 -0.00471237
+v -0.01701167 0.09843974 0.00471328
+v -0.06185243 0.09841296 0.00000000
+v -0.06445073 0.03730368 0.00000000
+v -0.01701179 0.09843974 -0.00471230
+v -0.05653580 0.03761383 -0.00150809
+f 1 2 3
+f 5 2 1
+f 5 1 3
+f 5 3 4
+f 6 3 2
+f 6 4 3
+f 7 5 4
+f 7 4 6
+f 7 6 2
+f 7 2 5
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_6/collision/model_normalized_collision_1.obj b/objects/objaverse/knife/knife_6/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e3659fcc08b4fe3039f6c9aa14a69851d22dd644
--- /dev/null
+++ b/objects/objaverse/knife/knife_6/collision/model_normalized_collision_1.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.01819543 -0.49611509 0.02127509
+v 0.01819543 -0.49611509 -0.02127509
+v 0.01518105 -0.40171244 -0.02286359
+v 0.01422096 -0.40161613 0.02268332
+v -0.01554970 -0.46927976 -0.01175584
+v 0.00836912 -0.49174074 -0.01898507
+v -0.01445784 -0.46901289 0.01512283
+v 0.00047722 -0.40359602 -0.01233960
+v 0.00850209 -0.49183096 0.01898254
+v -0.00314216 -0.48136157 -0.01903598
+v 0.00496788 -0.40227973 -0.01903598
+v -0.01457571 -0.44261474 0.01512283
+v 0.00134712 -0.40366252 0.01512283
+v -0.01561759 -0.44214922 -0.01163664
+v -0.00088748 -0.42274108 -0.01759546
+f 1 2 3
+f 1 3 4
+f 7 1 4
+f 9 6 2
+f 9 2 1
+f 9 1 7
+f 9 7 5
+f 10 3 2
+f 10 2 6
+f 10 9 5
+f 10 6 9
+f 11 4 3
+f 11 3 10
+f 12 7 4
+f 12 5 7
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+f 13 4 11
+f 13 12 4
+f 14 8 11
+f 14 5 12
+f 14 13 8
+f 14 12 13
+f 14 10 5
+f 15 14 11
+f 15 11 10
+f 15 10 14
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_6/collision/model_normalized_collision_10.obj b/objects/objaverse/knife/knife_6/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..731c230dc8855ac8b68c15752890114d88e5152d
--- /dev/null
+++ b/objects/objaverse/knife/knife_6/collision/model_normalized_collision_10.obj
@@ -0,0 +1,18 @@
+# https://github.com/mikedh/trimesh
+v 0.05795218 0.28019762 0.00461714
+v 0.05795218 0.28019762 -0.00461714
+v 0.05597234 0.31031865 0.00461714
+v -0.04069076 0.30934038 0.00021190
+v -0.04459233 0.27981054 0.00043254
+v 0.05597234 0.31031865 -0.00461714
+v -0.04043359 0.27914962 -0.00121474
+f 1 2 3
+f 5 1 3
+f 5 3 4
+f 6 3 2
+f 6 4 3
+f 7 2 1
+f 7 1 5
+f 7 6 2
+f 7 5 4
+f 7 4 6
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_6/collision/model_normalized_collision_11.obj b/objects/objaverse/knife/knife_6/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1e793d0f1f874e02c899964291b4c00aa12d32bc
--- /dev/null
+++ b/objects/objaverse/knife/knife_6/collision/model_normalized_collision_11.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.03644944 0.46080413 0.00460163
+v 0.03643485 0.46088058 -0.00460278
+v 0.03054955 0.48572004 -0.00390613
+v 0.02624846 0.49964220 -0.00000703
+v 0.00196440 0.46044411 0.00020820
+v 0.02703946 0.49767814 0.00072635
+v 0.00358702 0.45991655 -0.00077382
+v 0.01326640 0.48219709 0.00000000
+v 0.02537424 0.49924891 0.00000000
+v 0.02049197 0.48747447 -0.00130219
+f 1 2 3
+f 6 1 3
+f 6 3 4
+f 6 5 1
+f 7 2 1
+f 7 1 5
+f 7 3 2
+f 8 5 6
+f 8 7 5
+f 9 8 6
+f 9 6 4
+f 9 4 3
+f 10 3 7
+f 10 7 8
+f 10 9 3
+f 10 8 9
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_6/collision/model_normalized_collision_12.obj b/objects/objaverse/knife/knife_6/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..11cbc68ddd1df4d804587cdc971e0d29ce604d61
--- /dev/null
+++ b/objects/objaverse/knife/knife_6/collision/model_normalized_collision_12.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.06400088 -0.26523682 0.01903834
+v 0.06400088 -0.26523682 -0.01903598
+v 0.06542400 -0.20139478 0.01664430
+v 0.01872913 -0.20214259 0.01828634
+v 0.01693156 -0.26559641 0.02112010
+v 0.01914900 -0.20243359 -0.01892532
+v 0.01888521 -0.26582548 -0.02222159
+v 0.06357335 -0.20212045 -0.01854860
+f 1 2 3
+f 5 1 3
+f 5 3 4
+f 6 4 3
+f 6 5 4
+f 7 2 1
+f 7 1 5
+f 7 5 6
+f 8 6 3
+f 8 3 2
+f 8 7 6
+f 8 2 7
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_6/collision/model_normalized_collision_13.obj b/objects/objaverse/knife/knife_6/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0bd2ba01679769351057af3f7c339d0d660cc868
--- /dev/null
+++ b/objects/objaverse/knife/knife_6/collision/model_normalized_collision_13.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.06719630 -0.19945696 -0.01193084
+v 0.06735360 -0.18930717 0.00409730
+v -0.01608555 -0.17364733 0.00404134
+v -0.01701177 -0.14396624 0.00471355
+v 0.06714849 -0.14456894 -0.00416709
+v -0.01701188 -0.14396623 -0.00471244
+v 0.06715173 -0.14430374 0.00415375
+v -0.01606270 -0.17364861 -0.00404144
+f 1 2 3
+f 3 2 4
+f 5 2 1
+f 6 3 4
+f 6 5 1
+f 7 4 2
+f 7 2 5
+f 7 6 4
+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/knife/knife_6/collision/model_normalized_collision_14.obj b/objects/objaverse/knife/knife_6/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..83f8718073c6e7f3cd05282f0a0b30b15e661f85
--- /dev/null
+++ b/objects/objaverse/knife/knife_6/collision/model_normalized_collision_14.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.01693156 -0.26559641 0.02112010
+v 0.01888521 -0.26582548 -0.02222159
+v 0.01971590 -0.25069574 -0.02172123
+v 0.01836797 -0.22007566 0.01934596
+v 0.01299890 -0.26720608 -0.01903598
+v 0.01178452 -0.26714947 0.01741423
+v 0.01466476 -0.22090045 -0.01352435
+v 0.01579544 -0.21989746 -0.01604943
+v 0.01542364 -0.22095475 0.01562626
+v 0.01494481 -0.25199635 -0.01903598
+f 1 2 3
+f 1 3 4
+f 5 3 2
+f 6 5 2
+f 6 2 1
+f 6 1 4
+f 7 5 6
+f 8 4 3
+f 8 5 7
+f 9 7 6
+f 9 6 4
+f 9 8 7
+f 9 4 8
+f 10 8 3
+f 10 3 5
+f 10 5 8
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_6/collision/model_normalized_collision_15.obj b/objects/objaverse/knife/knife_6/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92b44473fa8d61c317cd35dec7558e69167c4d90
--- /dev/null
+++ b/objects/objaverse/knife/knife_6/collision/model_normalized_collision_15.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.01328830 -0.00761287 0.00471603
+v 0.01328830 -0.00761287 -0.00471367
+v 0.01328830 0.23479310 -0.00471367
+v -0.01701160 0.23479302 0.00471268
+v -0.01701184 -0.00761288 -0.00471239
+v 0.01328830 0.23479310 0.00471603
+v -0.01701172 -0.00761289 0.00471347
+v -0.01701173 0.23479303 -0.00471200
+f 1 2 3
+f 5 3 2
+f 6 1 3
+f 7 6 4
+f 7 1 6
+f 7 5 2
+f 7 2 1
+f 8 3 5
+f 8 6 3
+f 8 4 6
+f 8 7 4
+f 8 5 7
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_6/collision/model_normalized_collision_16.obj b/objects/objaverse/knife/knife_6/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a7478b313be91d466971ea2c5209e0ec5a388674
--- /dev/null
+++ b/objects/objaverse/knife/knife_6/collision/model_normalized_collision_16.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.01328830 -0.14396623 0.00471603
+v 0.01328830 -0.14396623 -0.00471367
+v 0.01328830 -0.00761287 0.00471603
+v -0.01701172 -0.00761289 0.00471347
+v -0.01701188 -0.14396623 -0.00471244
+v 0.01328830 -0.00761287 -0.00471367
+v -0.01701177 -0.14396624 0.00471355
+v -0.01701184 -0.00761288 -0.00471239
+f 1 2 3
+f 6 3 2
+f 6 2 5
+f 7 1 3
+f 7 3 4
+f 7 5 2
+f 7 2 1
+f 8 6 5
+f 8 4 3
+f 8 3 6
+f 8 7 4
+f 8 5 7
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_6/collision/model_normalized_collision_17.obj b/objects/objaverse/knife/knife_6/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..57acb23228eb2915160487c7f507fb4636d3ce78
--- /dev/null
+++ b/objects/objaverse/knife/knife_6/collision/model_normalized_collision_17.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.06065715 0.23441596 0.00425131
+v 0.06065880 0.23431919 -0.00425309
+v 0.05914007 0.27932342 -0.00392963
+v -0.01701153 0.28024409 0.00471216
+v -0.01701160 0.23479302 0.00471268
+v -0.01701168 0.28024411 -0.00471174
+v 0.05914007 0.27932342 0.00392963
+v -0.01701173 0.23479303 -0.00471200
+f 1 2 3
+f 5 2 1
+f 5 1 4
+f 6 3 2
+f 6 5 4
+f 7 1 3
+f 7 4 1
+f 7 6 4
+f 7 3 6
+f 8 6 2
+f 8 2 5
+f 8 5 6
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_6/collision/model_normalized_collision_18.obj b/objects/objaverse/knife/knife_6/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4d42632de7632416437165316b6d141087069423
--- /dev/null
+++ b/objects/objaverse/knife/knife_6/collision/model_normalized_collision_18.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.05218204 0.35523148 0.00421986
+v 0.05168674 0.35517373 -0.00461714
+v 0.04422563 0.41434801 -0.00423584
+v 0.01329035 0.41659704 0.00471389
+v 0.01328947 0.35599603 0.00471506
+v 0.04420672 0.41449516 0.00423168
+v 0.01328928 0.35599604 -0.00471319
+v 0.01329002 0.41659713 -0.00471260
+f 1 2 3
+f 5 2 1
+f 5 1 4
+f 6 1 3
+f 6 4 1
+f 7 2 5
+f 8 6 3
+f 8 4 6
+f 8 3 2
+f 8 2 7
+f 8 7 5
+f 8 5 4
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_6/collision/model_normalized_collision_19.obj b/objects/objaverse/knife/knife_6/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a58f27613a20089e13a8f1ec53c2665cc3b4cb8
--- /dev/null
+++ b/objects/objaverse/knife/knife_6/collision/model_normalized_collision_19.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.04420672 0.41449516 0.00423168
+v 0.04422563 0.41434801 -0.00423584
+v 0.03915865 0.44628720 -0.00440466
+v 0.00268025 0.44533325 -0.00223506
+v -0.01379289 0.41556040 0.00046178
+v 0.02843867 0.44689833 -0.00471367
+v 0.03922095 0.44628720 0.00438404
+v -0.00977315 0.41435947 -0.00160340
+v -0.00552197 0.44297173 0.00010075
+v 0.04216278 0.42909428 0.00401416
+v -0.01014466 0.42950305 0.00018482
+v 0.04208195 0.42864244 -0.00405677
+f 6 3 2
+f 7 5 1
+f 7 6 4
+f 7 3 6
+f 8 2 1
+f 8 1 5
+f 8 6 2
+f 8 4 6
+f 9 7 4
+f 9 5 7
+f 9 4 8
+f 10 7 1
+f 10 1 2
+f 10 3 7
+f 11 9 8
+f 11 8 5
+f 11 5 9
+f 12 10 2
+f 12 2 3
+f 12 3 10
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_6/collision/model_normalized_collision_2.obj b/objects/objaverse/knife/knife_6/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..14538bf5b287b34948481e23224b217acc195573
--- /dev/null
+++ b/objects/objaverse/knife/knife_6/collision/model_normalized_collision_2.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v -0.06226988 -0.15293489 -0.00447775
+v -0.03216225 -0.14396623 -0.00471178
+v -0.03216214 -0.14396624 0.00471224
+v -0.06888246 -0.08364831 0.00000000
+v -0.03216223 -0.08336475 -0.00471175
+v -0.06999829 -0.14402973 0.00000000
+v -0.05946001 -0.08345023 -0.00175615
+v -0.03216212 -0.08336475 0.00471218
+v -0.06984347 -0.12890100 0.00000000
+f 1 2 3
+f 5 2 1
+f 6 1 3
+f 7 5 1
+f 7 1 4
+f 8 3 2
+f 8 2 5
+f 8 6 3
+f 8 7 4
+f 8 5 7
+f 9 4 1
+f 9 1 6
+f 9 8 4
+f 9 6 8
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_6/collision/model_normalized_collision_20.obj b/objects/objaverse/knife/knife_6/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b42dd69e8da1a57bb8aed13729219e6ae3d88cf
--- /dev/null
+++ b/objects/objaverse/knife/knife_6/collision/model_normalized_collision_20.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.01701177 -0.14396624 0.00471355
+v -0.01701188 -0.14396623 -0.00471244
+v -0.01701175 -0.08336475 0.00471355
+v -0.03216212 -0.08336475 0.00471218
+v -0.03216291 -0.14396623 -0.00471178
+v -0.01701186 -0.08336475 -0.00471243
+v -0.03216214 -0.14396624 0.00471224
+v -0.03216223 -0.08336475 -0.00471175
+f 1 2 3
+f 6 3 2
+f 6 2 5
+f 7 4 5
+f 7 1 3
+f 7 3 4
+f 7 5 2
+f 7 2 1
+f 8 6 5
+f 8 5 4
+f 8 4 3
+f 8 3 6
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_6/collision/model_normalized_collision_21.obj b/objects/objaverse/knife/knife_6/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..267e8b504b272fb85154367c641485e818157290
--- /dev/null
+++ b/objects/objaverse/knife/knife_6/collision/model_normalized_collision_21.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v -0.01701165 0.15904122 0.00471314
+v -0.01701177 0.15904123 -0.00471223
+v -0.01701177 0.18934194 -0.00471215
+v -0.05678130 0.18889344 0.00000000
+v -0.05886800 0.15881268 0.00000000
+v -0.01701163 0.18934194 0.00471299
+v -0.04426495 0.15888015 -0.00303039
+v -0.03216214 0.18934194 -0.00471136
+v -0.04413879 0.18912695 -0.00268197
+f 6 5 1
+f 6 4 5
+f 6 1 2
+f 6 2 3
+f 7 2 1
+f 7 1 5
+f 8 6 3
+f 8 4 6
+f 8 3 2
+f 8 2 7
+f 9 7 5
+f 9 5 4
+f 9 8 7
+f 9 4 8
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_6/collision/model_normalized_collision_22.obj b/objects/objaverse/knife/knife_6/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..600af500ddc2a809f1195ab9ad21d15ecad35adc
--- /dev/null
+++ b/objects/objaverse/knife/knife_6/collision/model_normalized_collision_22.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.05914007 0.27932342 0.00392963
+v 0.05914007 0.27932342 -0.00392963
+v 0.05819792 0.29441497 0.00392963
+v 0.05705836 0.29529508 0.00461714
+v 0.05795218 0.28019762 -0.00461714
+v 0.05795218 0.28019762 0.00461714
+v 0.05705836 0.29529508 -0.00461714
+v 0.05819792 0.29441497 -0.00392963
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 6 5 1
+f 6 1 4
+f 6 4 5
+f 7 2 5
+f 7 5 4
+f 7 4 3
+f 8 7 3
+f 8 3 2
+f 8 2 7
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_6/collision/model_normalized_collision_23.obj b/objects/objaverse/knife/knife_6/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b9e5f730cf3399e7fadd52ad49e11662add78d7a
--- /dev/null
+++ b/objects/objaverse/knife/knife_6/collision/model_normalized_collision_23.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v -0.00186110 0.31054492 0.00471364
+v -0.00186126 0.31054493 -0.00471248
+v -0.00186090 0.35599603 0.00471278
+v -0.02563881 0.35447589 -0.00160340
+v -0.04069076 0.30934038 0.00021190
+v -0.00186109 0.35599604 -0.00471205
+v -0.03214889 0.35236328 0.00021190
+v -0.02878728 0.30994090 -0.00289111
+v -0.03802323 0.32400554 0.00021190
+f 1 2 3
+f 5 2 1
+f 5 1 3
+f 6 3 2
+f 6 4 3
+f 7 3 4
+f 8 5 4
+f 8 4 6
+f 8 6 2
+f 8 2 5
+f 9 5 3
+f 9 3 7
+f 9 7 4
+f 9 4 5
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_6/collision/model_normalized_collision_24.obj b/objects/objaverse/knife/knife_6/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..49d08f3d3c93048f1c62575362a6b90d6436a2ae
--- /dev/null
+++ b/objects/objaverse/knife/knife_6/collision/model_normalized_collision_24.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.02825378 -0.49809993 0.02162356
+v 0.06639771 -0.46088643 0.01105900
+v 0.06347337 -0.46048833 0.01645113
+v 0.02831190 -0.46213073 0.02466233
+v 0.02858276 -0.49991347 0.01210258
+v 0.04544275 -0.49213168 0.01896626
+v 0.02895217 -0.46209710 0.02463515
+v 0.05708675 -0.48192699 0.01512283
+v 0.04753949 -0.49272564 0.01105414
+v 0.05828754 -0.48192699 0.01105900
+f 3 2 4
+f 5 1 4
+f 5 4 2
+f 6 1 5
+f 7 6 3
+f 7 3 4
+f 7 4 1
+f 7 1 6
+f 8 2 3
+f 8 3 6
+f 9 8 6
+f 9 6 5
+f 9 5 2
+f 10 9 2
+f 10 2 8
+f 10 8 9
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_6/collision/model_normalized_collision_25.obj b/objects/objaverse/knife/knife_6/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..25ea54561c93a6e4c69a98503e99bdd3c1c1ded5
--- /dev/null
+++ b/objects/objaverse/knife/knife_6/collision/model_normalized_collision_25.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.02858276 -0.49991347 0.01210258
+v 0.05896176 -0.47221476 -0.01818724
+v 0.06639771 -0.46088643 0.01105900
+v 0.02895217 -0.46209710 0.02463515
+v 0.02808842 -0.46214246 -0.02467182
+v 0.05828754 -0.48192699 0.01105900
+v 0.02804277 -0.49693703 -0.02285835
+v 0.06094832 -0.46035574 -0.01878926
+v 0.04753949 -0.49272564 0.01105414
+v 0.05771046 -0.48192699 -0.01301090
+v 0.04558479 -0.49200554 -0.01897074
+f 5 1 4
+f 6 3 4
+f 7 1 5
+f 8 3 2
+f 8 7 5
+f 8 2 7
+f 8 5 4
+f 8 4 3
+f 9 6 4
+f 9 4 1
+f 10 2 3
+f 10 3 6
+f 10 6 9
+f 11 9 1
+f 11 1 7
+f 11 10 9
+f 11 7 2
+f 11 2 10
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_6/collision/model_normalized_collision_26.obj b/objects/objaverse/knife/knife_6/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da843819b8cf8d4241914a502778da16539e73ac
--- /dev/null
+++ b/objects/objaverse/knife/knife_6/collision/model_normalized_collision_26.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.01688775 -0.17182331 0.00470628
+v -0.01688684 -0.17182336 -0.00470628
+v -0.01701177 -0.14396624 0.00471355
+v -0.06999829 -0.14402973 0.00000000
+v -0.06882384 -0.17016778 -0.00386135
+v -0.01701188 -0.14396623 -0.00471244
+v -0.06856721 -0.17018427 0.00429693
+v -0.04515439 -0.14399323 -0.00457167
+v -0.06852247 -0.15338976 -0.00452531
+v -0.06880404 -0.15861297 -0.00443893
+f 1 2 3
+f 6 3 2
+f 7 1 3
+f 7 3 4
+f 7 4 5
+f 7 5 2
+f 7 2 1
+f 8 4 3
+f 8 3 6
+f 9 4 8
+f 9 8 6
+f 9 6 2
+f 10 5 4
+f 10 4 9
+f 10 9 2
+f 10 2 5
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_6/collision/model_normalized_collision_27.obj b/objects/objaverse/knife/knife_6/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f72e59b757a8d1f120f26ead693920331fbfaf2
--- /dev/null
+++ b/objects/objaverse/knife/knife_6/collision/model_normalized_collision_27.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.06347337 -0.46048833 0.01645113
+v 0.06094832 -0.46035574 -0.01878926
+v 0.06507132 -0.40138435 -0.01903598
+v 0.02860144 -0.40153616 0.02451756
+v 0.02831190 -0.46213073 0.02466233
+v 0.02887487 -0.40155900 -0.02453183
+v 0.06507132 -0.40138435 0.01903834
+v 0.02808842 -0.46214246 -0.02467182
+v 0.02895217 -0.46209710 0.02463515
+v 0.05680515 -0.40147131 -0.02250613
+f 1 2 3
+f 6 4 3
+f 7 1 3
+f 7 3 4
+f 8 2 1
+f 8 1 5
+f 8 5 4
+f 8 4 6
+f 9 5 1
+f 9 1 7
+f 9 7 4
+f 9 4 5
+f 10 8 6
+f 10 6 3
+f 10 3 2
+f 10 2 8
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_6/collision/model_normalized_collision_28.obj b/objects/objaverse/knife/knife_6/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d8e733447850f5591accb700b3e3398dc6079129
--- /dev/null
+++ b/objects/objaverse/knife/knife_6/collision/model_normalized_collision_28.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.06715173 -0.14430374 0.00415375
+v 0.06714849 -0.14456894 -0.00416709
+v 0.06524231 -0.00772363 -0.00438404
+v 0.01328830 -0.00761287 0.00471603
+v 0.01328830 -0.14396623 0.00471603
+v 0.06524231 -0.00772363 0.00438404
+v 0.01328830 -0.14396623 -0.00471367
+v 0.05870820 -0.00761326 -0.00470843
+v 0.01328830 -0.00761287 -0.00471367
+f 1 2 3
+f 5 2 1
+f 6 1 3
+f 6 5 1
+f 6 4 5
+f 7 2 5
+f 8 6 3
+f 8 4 6
+f 8 3 2
+f 8 2 7
+f 9 8 7
+f 9 4 8
+f 9 7 5
+f 9 5 4
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_6/collision/model_normalized_collision_29.obj b/objects/objaverse/knife/knife_6/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4d98ad47d6ee81c8ad3d57bc538278349d9a3dea
--- /dev/null
+++ b/objects/objaverse/knife/knife_6/collision/model_normalized_collision_29.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.06524231 -0.00772363 0.00438404
+v 0.06524231 -0.00772363 -0.00438404
+v 0.06363079 0.09827720 0.00438404
+v 0.01328830 0.09843975 0.00471603
+v 0.01328830 -0.00761287 0.00471603
+v 0.01328830 0.09843975 -0.00471367
+v 0.06363079 0.09827720 -0.00438404
+v 0.05870699 0.09843938 -0.00470499
+v 0.01328830 -0.00761287 -0.00471367
+f 1 2 3
+f 1 3 4
+f 5 1 4
+f 7 3 2
+f 8 6 4
+f 8 4 3
+f 8 3 7
+f 8 7 2
+f 9 5 4
+f 9 4 6
+f 9 2 1
+f 9 1 5
+f 9 8 2
+f 9 6 8
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_6/collision/model_normalized_collision_3.obj b/objects/objaverse/knife/knife_6/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e94929c171cac5c879cd1f28462459f9ddad24dd
--- /dev/null
+++ b/objects/objaverse/knife/knife_6/collision/model_normalized_collision_3.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.01701167 0.09843974 0.00471328
+v -0.01701179 0.09843974 -0.00471230
+v -0.01701165 0.15904122 0.00471314
+v -0.05886800 0.15881268 0.00000000
+v -0.06185243 0.09841296 0.00000000
+v -0.01701177 0.15904123 -0.00471223
+v -0.06002686 0.09833525 0.00036639
+v -0.03216214 0.15904121 -0.00471144
+v -0.05971657 0.14374961 0.00000000
+v -0.04426495 0.15888015 -0.00303039
+f 1 2 3
+f 6 3 2
+f 7 5 2
+f 7 2 1
+f 7 1 3
+f 7 3 4
+f 8 4 3
+f 8 3 6
+f 8 6 2
+f 8 2 5
+f 9 7 4
+f 9 5 7
+f 10 8 5
+f 10 5 9
+f 10 9 4
+f 10 4 8
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_6/collision/model_normalized_collision_30.obj b/objects/objaverse/knife/knife_6/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d2a35ca0bc460ced3085146512633bce3f12be60
--- /dev/null
+++ b/objects/objaverse/knife/knife_6/collision/model_normalized_collision_30.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.06363079 0.09827720 0.00438404
+v 0.06363079 0.09827720 -0.00438404
+v 0.06065715 0.23441596 0.00425131
+v 0.01328830 0.23479310 0.00471603
+v 0.01328830 0.09843975 -0.00471367
+v 0.01328830 0.09843975 0.00471603
+v 0.01328830 0.23479310 -0.00471367
+v 0.06065880 0.23431919 -0.00425309
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 6 5 1
+f 6 1 4
+f 6 4 5
+f 7 2 5
+f 7 5 4
+f 7 4 3
+f 8 7 3
+f 8 3 2
+f 8 2 7
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_6/collision/model_normalized_collision_31.obj b/objects/objaverse/knife/knife_6/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..60a70b96ae6c82d58c957c86d6c7f1972efcb4b6
--- /dev/null
+++ b/objects/objaverse/knife/knife_6/collision/model_normalized_collision_31.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.06507132 -0.40138435 0.01903834
+v 0.06507132 -0.40138435 -0.01903598
+v 0.06800097 -0.26527216 0.01105900
+v 0.01178452 -0.26714947 0.01741423
+v 0.00496788 -0.40227973 0.01903834
+v 0.01299890 -0.26720608 -0.01903598
+v 0.06400088 -0.26523682 0.01903834
+v 0.06400088 -0.26523682 -0.01903598
+v 0.00496788 -0.40227973 -0.01903598
+f 1 2 3
+f 5 2 1
+f 7 1 3
+f 7 5 1
+f 7 4 5
+f 8 3 2
+f 8 2 6
+f 8 7 3
+f 8 6 4
+f 8 4 7
+f 9 5 4
+f 9 4 6
+f 9 6 2
+f 9 2 5
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_6/collision/model_normalized_collision_4.obj b/objects/objaverse/knife/knife_6/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8bd99bcd37e86f5bd5408d7d5076e521b5275877
--- /dev/null
+++ b/objects/objaverse/knife/knife_6/collision/model_normalized_collision_4.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.05597234 0.31031865 0.00461714
+v 0.05597234 0.31031865 -0.00461714
+v 0.05218204 0.35523148 0.00421986
+v -0.00186090 0.35599603 0.00471278
+v -0.00186126 0.31054493 -0.00471248
+v -0.00186110 0.31054492 0.00471364
+v -0.00186109 0.35599604 -0.00471205
+v 0.05168674 0.35517373 -0.00461714
+f 1 2 3
+f 1 3 4
+f 6 1 4
+f 6 5 2
+f 6 2 1
+f 7 2 5
+f 7 4 3
+f 7 6 4
+f 7 5 6
+f 8 7 3
+f 8 3 2
+f 8 2 7
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_6/collision/model_normalized_collision_5.obj b/objects/objaverse/knife/knife_6/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a1cf44544e23f61f08c443559cb7705c96928e06
--- /dev/null
+++ b/objects/objaverse/knife/knife_6/collision/model_normalized_collision_5.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.01328947 0.35599603 0.00471506
+v 0.01328928 0.35599604 -0.00471319
+v 0.01329035 0.41659704 0.00471389
+v -0.00977315 0.41435947 -0.00160340
+v -0.02943051 0.35534490 0.00067589
+v 0.01329002 0.41659713 -0.00471260
+v -0.02563881 0.35447589 -0.00160340
+v -0.01611590 0.41137981 0.00021190
+v -0.02422953 0.38407793 0.00021190
+v -0.02789411 0.37012384 0.00021190
+f 1 2 3
+f 5 1 3
+f 6 3 2
+f 6 4 3
+f 7 2 1
+f 7 1 5
+f 7 6 2
+f 7 4 6
+f 8 3 4
+f 9 5 3
+f 9 3 8
+f 9 8 4
+f 9 4 7
+f 10 9 7
+f 10 7 5
+f 10 5 9
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_6/collision/model_normalized_collision_6.obj b/objects/objaverse/knife/knife_6/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5414906ab0f37d724a360353d9ad6efc27b39c68
--- /dev/null
+++ b/objects/objaverse/knife/knife_6/collision/model_normalized_collision_6.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.02825378 -0.49809993 0.02162356
+v 0.02804277 -0.49693703 -0.02285835
+v 0.02887487 -0.40155900 -0.02453183
+v 0.01422096 -0.40161613 0.02268332
+v 0.01819543 -0.49611509 0.02127509
+v 0.01518105 -0.40171244 -0.02286359
+v 0.02860144 -0.40153616 0.02451756
+v 0.01819543 -0.49611509 -0.02127509
+f 1 2 3
+f 6 3 2
+f 6 4 3
+f 7 1 3
+f 7 3 4
+f 7 5 1
+f 7 4 5
+f 8 2 1
+f 8 1 5
+f 8 6 2
+f 8 5 4
+f 8 4 6
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_6/collision/model_normalized_collision_7.obj b/objects/objaverse/knife/knife_6/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..318c826a285a1ec1d5c22e9e85990b127fd6c52f
--- /dev/null
+++ b/objects/objaverse/knife/knife_6/collision/model_normalized_collision_7.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.01701175 -0.08336475 0.00471355
+v -0.01701186 -0.08336475 -0.00471243
+v -0.01701170 0.03783823 0.00471341
+v -0.06445073 0.03730368 0.00000000
+v -0.06888246 -0.08364831 0.00000000
+v -0.01701182 0.03783823 -0.00471237
+v -0.05653580 0.03761383 -0.00150809
+v -0.05946001 -0.08345023 -0.00175615
+f 1 2 3
+f 5 2 1
+f 5 1 3
+f 5 3 4
+f 6 3 2
+f 7 4 3
+f 7 3 6
+f 7 5 4
+f 8 7 6
+f 8 6 2
+f 8 2 5
+f 8 5 7
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_6/collision/model_normalized_collision_8.obj b/objects/objaverse/knife/knife_6/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..03b78988c13e4b9f3e6826f23b3a811ceb2f153b
--- /dev/null
+++ b/objects/objaverse/knife/knife_6/collision/model_normalized_collision_8.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.03922095 0.44628720 0.00438404
+v 0.03915865 0.44628720 -0.00440466
+v 0.03643485 0.46088058 -0.00460278
+v 0.00358702 0.45991655 -0.00077382
+v -0.00555101 0.44288713 0.00010128
+v 0.03644944 0.46080413 0.00460163
+v 0.00268025 0.44533325 -0.00223506
+v 0.02843867 0.46204870 -0.00471367
+v -0.00057199 0.45478803 0.00015700
+f 1 2 3
+f 5 2 1
+f 6 1 3
+f 6 5 1
+f 7 2 5
+f 7 5 4
+f 8 6 3
+f 8 4 6
+f 8 7 4
+f 8 3 2
+f 8 2 7
+f 9 6 4
+f 9 4 5
+f 9 5 6
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_6/collision/model_normalized_collision_9.obj b/objects/objaverse/knife/knife_6/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5eee07eae1ab45058a4dee1c72f19534d7ba9bc8
--- /dev/null
+++ b/objects/objaverse/knife/knife_6/collision/model_normalized_collision_9.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v -0.01701163 0.18934194 0.00471299
+v -0.01701177 0.18934194 -0.00471215
+v -0.01701153 0.28024409 0.00471216
+v -0.04043359 0.27914962 -0.00121474
+v -0.05678130 0.18889344 0.00000000
+v -0.01701168 0.28024411 -0.00471174
+v -0.04592254 0.27760770 0.00021190
+v -0.04413879 0.18912695 -0.00268197
+v -0.05555874 0.20353149 0.00001006
+f 1 2 3
+f 5 2 1
+f 5 1 3
+f 6 3 2
+f 6 4 3
+f 7 3 4
+f 8 4 6
+f 8 6 2
+f 8 2 5
+f 9 5 3
+f 9 3 7
+f 9 7 4
+f 9 8 5
+f 9 4 8
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_6/model.xml b/objects/objaverse/knife/knife_6/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..56e58ba04977051407287632906f5e8aae1eaa32
--- /dev/null
+++ b/objects/objaverse/knife/knife_6/model.xml
@@ -0,0 +1,81 @@
+<mujoco model="kitchen_knife_2">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="1.0 0.0 0.0 0.0"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="knife_texture" 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="knife_texture"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_22._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_23._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_21._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_20._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_24._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_30._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_18._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_19._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_31._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_25._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_27._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_26._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_9._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_8._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_6._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_7._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_5._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_4._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_0._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_1._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_3._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_2._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_17._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_16._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_28._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
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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_15._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="-0.00022969180000000127 -3.119605000000525e-05 -0.005674518600000001" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="-0.00022969180000000127 -3.119605000000525e-05 0.0056723359000000004" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.0156402231 0.11491770600000001 -1.0913500000001022e-06" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/objects/objaverse/knife/knife_6/visual/material.mtl b/objects/objaverse/knife/knife_6/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fbcf6b4b1af9257e08a0fd6e283841743ce8fad5
--- /dev/null
+++ b/objects/objaverse/knife/knife_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 250.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_6/visual/model_normalized_0.obj b/objects/objaverse/knife/knife_6/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..30b95692878ffbcd270ed350f6a39c2fefd82157
--- /dev/null
+++ b/objects/objaverse/knife/knife_6/visual/model_normalized_0.obj
@@ -0,0 +1,28132 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/objects/objaverse/knife/knife_9/visual/model_normalized_0.obj b/objects/objaverse/knife/knife_9/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3317f27802b4c27f0d094e9c3262c881930e3141
--- /dev/null
+++ b/objects/objaverse/knife/knife_9/visual/model_normalized_0.obj
@@ -0,0 +1,119853 @@
+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/objects/objaverse/tomato/.DS_Store b/objects/objaverse/tomato/.DS_Store
new file mode 100644
index 0000000000000000000000000000000000000000..0a391ad2dce2391fd7df7910bfe924c688282dc6
Binary files /dev/null and b/objects/objaverse/tomato/.DS_Store differ
diff --git a/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_0.obj b/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d24136ed474effed7d6438d485b74e1623d6744
--- /dev/null
+++ b/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_0.obj
@@ -0,0 +1,189 @@
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+f 57 41 56
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\ No newline at end of file
diff --git a/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_1.obj b/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b4fc78038f371df15ae11898f36899760cd440ca
--- /dev/null
+++ b/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_1.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.08152442 -0.46374851 -0.17554984
+v 0.23225999 -0.26183486 -0.34284591
+v 0.15887004 -0.14373951 -0.21201846
+v -0.23452232 -0.14373951 -0.21201846
+v -0.18177840 -0.24007089 -0.37620790
+v 0.23452241 -0.26478331 -0.18175751
+v 0.08164611 -0.35875953 -0.33087067
+v -0.23243250 -0.41104280 -0.17914430
+v 0.15518653 -0.14091306 -0.41055465
+v 0.23243259 -0.41104278 -0.17914428
+v -0.24434649 -0.15127787 -0.38363934
+v -0.23452232 -0.26478331 -0.18175751
+v -0.09578660 -0.42689298 -0.24801930
+v 0.05132774 -0.29780146 -0.37562917
+v 0.15273684 -0.44667263 -0.17408824
+v 0.22269660 -0.37041542 -0.25734603
+v -0.22295230 -0.31022688 -0.31819658
+v -0.05199055 -0.14140722 -0.42361114
+v 0.02043327 -0.42916375 -0.25898269
+v -0.08152432 -0.46374852 -0.17554985
+v -0.08164601 -0.35875953 -0.33087067
+v 0.16609416 -0.25447955 -0.37489894
+v 0.21475235 -0.42001759 -0.17595593
+v 0.18185125 -0.33799132 -0.31818327
+v 0.16575177 -0.41130429 -0.23196474
+v -0.22749911 -0.28589144 -0.33159467
+v -0.22269653 -0.37041544 -0.25734606
+v -0.09795132 -0.14322250 -0.41987880
+v 0.06567754 -0.21357449 -0.40582081
+v -0.12157269 -0.44449237 -0.20321990
+v -0.15273675 -0.44667266 -0.17408825
+v -0.02030348 -0.45843952 -0.20324838
+v -0.03621877 -0.34335700 -0.34560637
+v -0.16905363 -0.32849309 -0.32959533
+v -0.02043318 -0.42916376 -0.25898269
+v 0.20155176 -0.21586054 -0.38084269
+v 0.10850595 -0.28303920 -0.37488947
+v 0.22295237 -0.31022685 -0.31819656
+v 0.22792358 -0.40015706 -0.20376694
+v 0.09578669 -0.42689296 -0.24801930
+v -0.18703108 -0.21665536 -0.38371049
+v -0.08062413 -0.25852222 -0.38931561
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+v -0.19613045 -0.31470880 -0.32897680
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+v -0.03527946 -0.44213561 -0.23294296
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+v 0.19688952 -0.38316014 -0.25747290
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+v -0.06567745 -0.21357449 -0.40582082
+v -0.13980671 -0.22939710 -0.39022216
+v -0.05132764 -0.29780147 -0.37562918
+v -0.16575168 -0.41130431 -0.23196476
+v 0.03527956 -0.44213559 -0.23294296
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+f 62 34 5
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+f 63 30 31
+f 64 46 19
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+f 64 40 1
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\ No newline at end of file
diff --git a/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_10.obj b/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..97a39a95795263df25f47dddddd9713c87ce371a
--- /dev/null
+++ b/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_10.obj
@@ -0,0 +1,132 @@
+# https://github.com/mikedh/trimesh
+v 0.40792936 -0.13149682 0.18582566
+v 0.47310221 -0.12615526 -0.11676730
+v 0.46056583 0.11136630 0.11130521
+v 0.39319402 0.22856513 0.14533989
+v 0.43253694 -0.15682009 -0.19811416
+v 0.40520677 0.23778284 -0.18432047
+v 0.42756353 0.09587492 0.17019592
+v 0.46056583 -0.11136630 0.11130520
+v 0.45946609 0.12311356 -0.17307833
+v 0.44317385 0.21180943 -0.00138517
+v 0.40095764 -0.14373951 0.01493866
+v 0.42672878 0.13561252 0.15371495
+v 0.39205603 0.18544377 0.17568979
+v 0.47547705 -0.08107649 0.05707075
+v 0.44258355 -0.05046896 0.15499972
+v 0.47351041 -0.13618837 0.01375022
+v 0.45102536 -0.13940925 -0.17634273
+v 0.46215532 0.09644509 -0.17478085
+v 0.42788329 0.22687359 0.05635874
+v 0.45819741 0.18150419 -0.08623763
+v 0.44333842 0.11109024 0.14031842
+v 0.42852097 0.19687678 0.11116724
+v 0.45835845 0.06568427 0.12512222
+v 0.42756353 -0.09587492 0.17019592
+v 0.47314903 -0.13603868 -0.10132209
+v 0.47269347 -0.12610145 0.04138242
+v 0.44848224 -0.12322538 0.12768308
+v 0.47866218 -0.08149582 -0.11810024
+v 0.42775977 0.22682243 -0.13158360
+v 0.41560631 0.22805554 0.11116723
+v 0.45655294 0.16569256 0.04088604
+v 0.44451392 0.13671212 0.12514912
+v 0.45835844 -0.06568427 0.12512222
+v 0.44258355 0.05046896 0.15499972
+v 0.41902949 -0.12356015 0.17359058
+v 0.44333842 -0.11109024 0.14031842
+v 0.45777427 0.18132892 -0.03168068
+v 0.44201935 0.21133122 -0.10109859
+v 0.45766303 0.13589142 -0.16175252
+v 0.39793616 0.22700358 0.13952207
+v 0.44315861 0.16641169 0.10178132
+v 0.43069710 -0.12212578 0.15624890
+v 0.41566491 0.22807982 -0.17370141
+v 0.44231996 0.16606431 -0.17183372
+v 0.42653334 0.21118395 -0.16152902
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+f 42 1 27
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+f 44 9 43
+f 45 44 43
+f 45 43 29
+f 45 29 39
+f 45 39 44
\ No newline at end of file
diff --git a/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_11.obj b/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ee9ed3479e2c3975d57b0726f6a13aaca7f6fcef
--- /dev/null
+++ b/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_11.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.40339565 -0.27826409 0.01627240
+v 0.43253694 -0.15682009 -0.19811416
+v 0.38794078 0.22453418 0.15656403
+v 0.30238607 0.25176592 0.21902081
+v 0.27991384 -0.26478331 -0.18175751
+v 0.27991384 0.23452237 -0.18175751
+v 0.30502753 -0.23866231 0.22344599
+v 0.43328505 -0.23278233 0.01704612
+v 0.38593333 -0.26486478 -0.18182155
+v 0.40520677 0.23778284 -0.18432047
+v 0.27991384 -0.26478331 0.01493866
+v 0.38411935 0.21241724 0.17062186
+v 0.38411937 -0.21241725 0.17062187
+v 0.37462164 0.22592407 0.17304143
+f 6 2 5
+f 9 5 2
+f 9 1 5
+f 9 8 1
+f 9 2 8
+f 10 2 6
+f 10 8 2
+f 10 3 8
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+f 10 4 3
+f 11 6 5
+f 11 4 6
+f 11 7 4
+f 11 5 1
+f 11 1 7
+f 12 4 7
+f 12 8 3
+f 13 7 1
+f 13 1 8
+f 13 12 7
+f 13 8 12
+f 14 12 3
+f 14 3 4
+f 14 4 12
\ No newline at end of file
diff --git a/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_12.obj b/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d469b475c1084e3e128232c176655079c5a6223d
--- /dev/null
+++ b/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_12.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.23207616 0.20238440 0.27690321
+v -0.23128781 0.20177949 -0.37258811
+v -0.22592406 0.37462166 0.17304147
+v -0.22908714 0.43322734 0.02724713
+v -0.42869029 0.20321420 -0.16597660
+v -0.22579674 0.37445573 -0.25055100
+v -0.22741776 0.22741775 -0.36387379
+v -0.33135328 0.19729226 0.22668043
+v -0.34260562 0.35380620 -0.10104479
+v -0.22785645 0.25609619 0.25760350
+v -0.37041540 0.22269658 -0.25734606
+v -0.38791179 0.19885769 -0.25065278
+v -0.25561211 0.19722413 0.27192310
+v -0.25115573 0.42858926 -0.08565386
+v -0.35412869 0.31259222 0.11116722
+v -0.22968448 0.22968455 0.27253185
+v -0.26703741 0.32365494 0.19915661
+v -0.31022683 0.22295236 -0.31819659
+v -0.33803867 0.31185594 -0.20144641
+v -0.38808765 0.19893053 0.17315587
+v -0.41566488 0.22807985 -0.17370144
+v -0.24331609 0.19939909 -0.36696247
+v -0.34198431 0.35299649 0.02563616
+v -0.22942774 0.43404962 -0.10294085
+v -0.23943629 0.41471586 -0.16197611
+v -0.25257675 0.40018022 0.11116722
+v -0.22792459 0.33183737 0.21236084
+v -0.32365488 0.26703746 0.19915661
+v -0.22827465 0.30203263 -0.32236569
+v -0.32258129 0.29647462 -0.24664065
+v -0.41892744 0.19917029 -0.19052178
+v -0.38351485 0.31192097 -0.06203790
+v -0.38355908 0.21218522 -0.24839828
+v -0.35476805 0.31308283 -0.17214988
+v -0.30268048 0.19851091 -0.33460246
+v -0.31192092 0.38351490 -0.06203789
+v -0.25190366 0.42956398 -0.06198797
+v -0.31308278 0.35476811 -0.17214988
+v -0.22928047 0.41856360 -0.16337129
+v -0.24246089 0.42898624 -0.10163819
+v -0.22869950 0.41716103 0.10269824
+v -0.33964973 0.33964981 0.08608001
+v -0.24208597 0.42808108 0.02614035
+v -0.32481730 0.32481737 0.13797010
+v -0.25584736 0.26826829 0.23751696
+v -0.26826824 0.25584741 0.23751696
+v -0.36633418 0.21131767 0.19918772
+v -0.26910233 0.25648743 -0.32858693
+v -0.32461448 0.28290426 -0.25694234
+v -0.28290421 0.32461453 -0.25694233
+v -0.37153051 0.19833958 0.19946863
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+v -0.35380614 0.34260568 -0.10104479
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+v -0.31119824 0.38257309 -0.08546670
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+v -0.26590050 0.38269517 -0.18587262
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+v -0.31185589 0.33803871 -0.20144641
+v -0.22953753 0.40405374 0.12829798
+v -0.28194965 0.39902289 0.02579519
+v -0.23862273 0.41330678 0.10150751
+v -0.31259218 0.35412875 0.11116722
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+f 7 1 2
+f 7 6 3
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+f 13 2 1
+f 16 1 7
+f 16 7 10
+f 16 13 1
+f 18 12 11
+f 22 2 13
+f 24 4 6
+f 27 10 3
+f 27 3 17
+f 27 16 10
+f 29 6 7
+f 31 12 8
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+f 31 5 21
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+f 33 11 12
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+f 33 12 31
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+f 35 7 2
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+f 35 13 8
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+f 53 34 21
+f 54 32 23
+f 54 23 9
+f 54 53 32
+f 54 34 53
+f 55 11 33
+f 55 49 11
+f 55 30 49
+f 55 33 21
+f 55 21 34
+f 55 34 19
+f 55 19 30
+f 56 9 36
+f 56 37 14
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+f 57 37 36
+f 57 36 23
+f 57 43 37
+f 58 38 25
+f 58 25 6
+f 58 6 38
+f 59 38 34
+f 59 25 38
+f 59 14 25
+f 59 56 14
+f 59 9 56
+f 59 54 9
+f 59 34 54
+f 60 30 19
+f 60 19 38
+f 60 50 30
+f 60 38 6
+f 60 6 50
+f 61 26 3
+f 61 3 41
+f 62 57 23
+f 62 43 57
+f 63 41 43
+f 63 61 41
+f 63 26 61
+f 63 43 62
+f 63 62 23
+f 63 23 26
+f 64 42 15
+f 64 15 44
+f 64 26 42
+f 64 44 3
+f 64 3 26
\ No newline at end of file
diff --git a/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_13.obj b/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d23ef17b493fa4f8a4dee62503f2ee5e9886d73f
--- /dev/null
+++ b/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_13.obj
@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
+v 0.40339565 -0.27826409 0.01627240
+v 0.46395282 -0.13849673 -0.13310976
+v 0.47657802 -0.12859578 0.01493658
+v 0.41902949 -0.12356015 0.17359058
+v 0.37936132 -0.18645270 -0.26706633
+v 0.40095764 -0.12860904 0.01493866
+v 0.42852095 -0.19687677 0.11116730
+v 0.42956396 -0.25190365 -0.06198798
+v 0.45102536 -0.13940925 -0.17634273
+v 0.46362740 -0.12422858 0.08785065
+v 0.39205603 -0.18544377 0.17568980
+v 0.45819740 -0.18150418 -0.08623763
+v 0.42941231 -0.24263741 0.01383454
+v 0.37658555 -0.25769198 -0.20644420
+v 0.43069710 -0.12212578 0.15624890
+v 0.38582717 -0.14373951 0.01493866
+v 0.39635444 -0.21748518 0.14817358
+v 0.45777428 -0.18132893 -0.03168069
+v 0.41471580 -0.23943631 -0.16197609
+v 0.42768553 -0.21166121 0.08657716
+v 0.42032054 -0.25642095 0.01411132
+v 0.40069654 -0.25297295 -0.17247377
+v 0.44848224 -0.12322538 0.12768308
+v 0.37604236 -0.20020842 -0.26425647
+v 0.40792936 -0.13149682 0.18582566
+v 0.44231994 -0.16606430 -0.17183371
+v 0.42858923 -0.25115571 -0.08565384
+v 0.41357211 -0.21208249 0.12471437
+v 0.45655293 -0.16569255 0.04088603
+v 0.38316016 -0.19688946 -0.25747288
+v 0.42653333 -0.21118394 -0.16152902
+v 0.38396716 -0.25174607 -0.20177031
+v 0.42791484 -0.16117280 -0.20355702
+v 0.38647912 -0.18313374 -0.26028274
+f 9 3 2
+f 9 5 6
+f 10 9 6
+f 10 3 9
+f 12 2 3
+f 15 10 6
+f 15 6 4
+f 15 4 7
+f 16 6 5
+f 16 14 11
+f 17 14 1
+f 17 11 14
+f 18 12 3
+f 18 8 12
+f 18 13 8
+f 18 3 13
+f 21 1 8
+f 21 8 13
+f 21 20 1
+f 21 13 20
+f 22 1 14
+f 23 15 7
+f 23 7 10
+f 23 10 15
+f 24 16 5
+f 24 14 16
+f 25 16 11
+f 25 4 6
+f 25 6 16
+f 25 11 17
+f 25 7 4
+f 26 9 2
+f 27 19 12
+f 27 12 8
+f 27 22 19
+f 27 8 1
+f 27 1 22
+f 28 17 1
+f 28 1 20
+f 28 20 7
+f 28 25 17
+f 28 7 25
+f 29 20 13
+f 29 13 3
+f 29 3 10
+f 29 10 7
+f 29 7 20
+f 30 14 24
+f 30 19 22
+f 31 26 2
+f 31 19 26
+f 31 2 12
+f 31 12 19
+f 32 30 22
+f 32 22 14
+f 32 14 30
+f 33 26 19
+f 33 19 30
+f 33 9 26
+f 34 33 30
+f 34 5 9
+f 34 9 33
+f 34 30 24
+f 34 24 5
\ No newline at end of file
diff --git a/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_14.obj b/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..082c915a4ba94b7c4b1545b5b2c45e3d1f96f748
--- /dev/null
+++ b/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_14.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v -0.25526512 -0.26155490 0.24179104
+v -0.22968448 -0.22968446 0.27253194
+v -0.41575260 -0.09018372 0.23374611
+v -0.36105063 0.20653318 0.20439429
+v -0.23452232 0.20426142 0.19650437
+v -0.23336897 0.03403868 0.33245952
+v -0.37245173 -0.21385165 0.18796359
+v -0.28604786 -0.03365610 0.31440065
+v -0.23207616 0.20238440 0.27690321
+v -0.36130246 -0.22731399 0.18951885
+v -0.41980605 0.06658466 0.18971361
+v -0.23362436 -0.07698325 0.31543859
+v -0.28617684 0.01645593 0.31971465
+v -0.35664560 -0.22374066 0.19946872
+v -0.41980604 -0.06658466 0.18971361
+v -0.24225782 -0.07487702 0.31541732
+v -0.27105109 0.02253124 0.32713654
+v -0.34552451 -0.03327823 0.28365615
+v -0.36633419 -0.21131768 0.19918773
+v -0.40339352 -0.13848128 0.18839834
+v -0.41770561 -0.08112066 0.23180720
+v -0.28427115 0.16573399 0.26923948
+v -0.34085721 -0.01293741 0.28798563
+v -0.25561211 0.19722413 0.27192310
+v -0.34772710 0.20076042 0.21531802
+v -0.41410038 0.06583349 0.19946867
+f 1 2 3
+f 5 2 1
+f 8 3 2
+f 9 5 4
+f 9 6 2
+f 9 2 5
+f 10 7 5
+f 10 5 1
+f 11 4 5
+f 11 5 7
+f 12 2 6
+f 14 10 1
+f 14 1 3
+f 16 8 2
+f 16 2 12
+f 16 12 6
+f 17 13 8
+f 17 6 9
+f 17 16 6
+f 17 8 16
+f 18 3 8
+f 18 8 13
+f 19 14 3
+f 19 3 7
+f 19 7 10
+f 19 10 14
+f 20 15 11
+f 20 11 7
+f 20 7 3
+f 20 3 15
+f 21 15 3
+f 21 11 15
+f 22 13 17
+f 23 18 13
+f 23 13 4
+f 23 21 3
+f 23 3 18
+f 24 22 17
+f 24 17 9
+f 24 9 4
+f 25 4 13
+f 25 13 22
+f 25 24 4
+f 25 22 24
+f 26 23 4
+f 26 4 11
+f 26 11 21
+f 26 21 23
\ No newline at end of file
diff --git a/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_15.obj b/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..692529603a0c4afdd369725f434ab07c4221e5b7
--- /dev/null
+++ b/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_15.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v 0.30502753 -0.23866231 0.22344599
+v 0.41902949 -0.12356015 0.17359058
+v 0.30226334 -0.00999463 0.31182135
+v 0.30238607 0.25176592 0.21902081
+v 0.37462164 0.22592407 0.17304143
+v 0.27306721 -0.19900781 0.26068681
+v 0.36633423 -0.21131766 0.19918769
+v 0.37856930 -0.21638559 0.17673940
+v 0.41575260 0.09018381 0.23374611
+v 0.27370895 0.07667597 0.30199462
+v 0.27619271 -0.21653657 0.25079239
+v 0.32871191 -0.21039589 0.22225526
+v 0.28427121 -0.16573398 0.26923941
+v 0.38808770 -0.19893051 0.17315583
+v 0.43482609 0.02117868 0.17451737
+v 0.39735982 -0.13598201 0.19946869
+v 0.35664568 0.22374065 0.19946862
+v 0.27874168 -0.01812052 0.31890441
+v 0.27931821 0.23406532 0.24089795
+v 0.31568773 0.03347030 0.29957896
+v 0.31738909 -0.00391933 0.30439947
+v 0.38808769 0.19893051 0.17315583
+v 0.43482609 -0.02117868 0.17451736
+v 0.41410037 -0.06583348 0.19946867
+v 0.36633421 0.21131764 0.19918768
+v 0.27519231 -0.17037751 0.27253190
+v 0.30121367 0.05940572 0.29817693
+v 0.41770563 0.08112077 0.23180719
+v 0.34552459 0.03327822 0.28365613
+v 0.41902951 0.12356015 0.17359059
+v 0.41291196 -0.12102619 0.18481473
+v 0.35990488 0.06428667 0.26871606
+v 0.34085722 0.01293752 0.28798562
+f 5 1 4
+f 8 1 5
+f 8 7 1
+f 12 1 7
+f 12 11 1
+f 12 6 11
+f 13 12 7
+f 14 8 5
+f 14 2 8
+f 16 7 8
+f 17 5 4
+f 17 4 9
+f 18 10 6
+f 18 3 10
+f 19 6 10
+f 19 11 6
+f 19 4 1
+f 19 1 11
+f 19 9 4
+f 20 10 3
+f 21 13 7
+f 21 3 13
+f 21 7 16
+f 21 20 3
+f 22 14 5
+f 22 2 14
+f 22 5 9
+f 24 2 23
+f 25 17 9
+f 25 9 5
+f 25 5 17
+f 26 13 3
+f 26 3 18
+f 26 18 6
+f 26 6 12
+f 26 12 13
+f 27 19 10
+f 27 10 20
+f 27 9 19
+f 28 16 24
+f 28 24 23
+f 28 23 15
+f 29 9 20
+f 29 20 21
+f 30 2 22
+f 30 23 2
+f 30 15 23
+f 30 22 9
+f 30 28 15
+f 30 9 28
+f 31 24 16
+f 31 2 24
+f 31 16 8
+f 31 8 2
+f 32 27 20
+f 32 20 9
+f 32 9 27
+f 33 21 16
+f 33 16 28
+f 33 28 9
+f 33 29 21
+f 33 9 29
\ No newline at end of file
diff --git a/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_16.obj b/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d8b8e00213dd7b4375d3782698e6317591af0ae2
--- /dev/null
+++ b/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_16.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v 0.45859737 -0.12741520 0.10510166
+v 0.48831836 -0.06564464 -0.08652690
+v 0.48956919 0.02041789 0.02660171
+v 0.45632089 0.15673321 0.05922064
+v 0.45537808 -0.12608173 -0.17859723
+v 0.47310222 0.12615527 -0.11676730
+v 0.47440947 0.02041404 0.10224823
+v 0.48956919 -0.02041789 0.02660171
+v 0.46709772 -0.13979939 -0.11878838
+v 0.45475662 -0.14095479 -0.16489742
+v 0.48831837 0.06564465 -0.08652689
+v 0.45912641 0.09803829 -0.18062176
+v 0.47269348 0.12610145 0.04138243
+v 0.45859739 0.12741521 0.10510166
+v 0.48972830 -0.06583027 -0.06175510
+v 0.47440947 -0.02041404 0.10224822
+v 0.45946607 -0.12311358 -0.17307832
+v 0.45612313 0.14152082 0.08943906
+v 0.46419131 -0.14486277 -0.12193327
+v 0.45912795 0.15789593 -0.12063062
+v 0.47315023 0.02024826 -0.17278479
+v 0.48972830 0.06583027 -0.06175509
+v 0.46081154 0.12347412 0.10239690
+v 0.47547705 -0.08107649 0.05707075
+v 0.46081154 -0.12347407 0.10239690
+v 0.45766303 -0.13589141 -0.16175252
+v 0.46215532 0.09644509 -0.17478085
+v 0.47351041 0.13618837 0.01375023
+v 0.48898187 0.00521009 -0.11694691
+v 0.47315022 -0.02024826 -0.17278480
+v 0.47314904 0.13603868 -0.10132209
+v 0.48898187 -0.00521010 -0.11694691
+f 8 3 7
+f 12 5 10
+f 14 1 7
+f 15 3 8
+f 15 9 2
+f 16 8 7
+f 16 7 1
+f 17 2 9
+f 17 10 5
+f 18 10 1
+f 18 4 10
+f 18 1 14
+f 19 9 1
+f 19 1 10
+f 20 12 10
+f 20 10 4
+f 22 3 15
+f 23 14 7
+f 23 13 4
+f 23 18 14
+f 23 4 18
+f 23 7 3
+f 23 3 13
+f 24 15 8
+f 25 1 9
+f 25 9 15
+f 25 15 24
+f 25 16 1
+f 25 24 8
+f 25 8 16
+f 26 17 9
+f 26 10 17
+f 26 19 10
+f 26 9 19
+f 27 20 6
+f 27 12 20
+f 27 21 12
+f 27 6 21
+f 28 13 3
+f 28 3 22
+f 28 20 4
+f 28 4 13
+f 29 21 6
+f 29 6 11
+f 29 11 22
+f 30 17 5
+f 30 5 12
+f 30 12 21
+f 31 22 11
+f 31 11 6
+f 31 28 22
+f 31 6 20
+f 31 20 28
+f 32 15 2
+f 32 2 17
+f 32 17 30
+f 32 30 21
+f 32 21 29
+f 32 29 22
+f 32 22 15
\ No newline at end of file
diff --git a/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_17.obj b/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c1e2b620f73cfc8c4767d3c8755e0f7e386a2462
--- /dev/null
+++ b/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_17.obj
@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
+v -0.09633644 -0.47646085 0.04213744
+v -0.09644505 -0.46215532 -0.17478088
+v -0.09834804 -0.26478331 0.18137389
+v -0.25440735 -0.29069798 0.22478784
+v -0.22682241 -0.42775979 -0.13158361
+v -0.09732739 -0.42346598 0.17676088
+v -0.13603866 -0.47314906 -0.10132211
+v -0.22805552 -0.41560630 0.11116732
+v -0.09834804 -0.26478331 -0.18175751
+v -0.09673917 -0.43412846 0.15897181
+v -0.12311355 -0.45946608 -0.17307835
+v -0.09638226 -0.47680889 -0.11765594
+v -0.22687358 -0.42788332 0.05635875
+v -0.22592405 -0.37462164 0.17304146
+v -0.23452232 -0.26478331 -0.18175751
+v -0.12347409 -0.46081155 0.10239690
+v -0.13589140 -0.45766305 -0.16175254
+v -0.13618836 -0.47351046 0.01375023
+v -0.12615522 -0.47310224 -0.11676732
+v -0.13704687 -0.41506118 0.17105666
+v -0.22700356 -0.39793618 0.13952211
+v -0.22807979 -0.41566491 -0.17370144
+v -0.09671009 -0.46416852 0.10322813
+v -0.12610141 -0.47269352 0.04138243
+v -0.21180943 -0.44317391 -0.00138517
+v -0.21241722 -0.38411937 0.17062190
+v -0.13561250 -0.42672878 0.15371498
+v -0.21118393 -0.42653336 -0.16152904
+v -0.16569254 -0.45655297 0.04088604
+v -0.18150417 -0.45819743 -0.08623765
+v -0.19687675 -0.42852097 0.11116732
+v -0.16606428 -0.44231995 -0.17183374
+v -0.21133120 -0.44201938 -0.10109861
+v -0.18132892 -0.45777433 -0.03168068
+f 6 3 4
+f 9 3 2
+f 10 3 6
+f 10 1 2
+f 10 2 3
+f 12 2 1
+f 12 11 2
+f 13 8 4
+f 13 4 5
+f 15 4 3
+f 15 3 9
+f 15 9 2
+f 16 10 6
+f 18 12 1
+f 18 7 12
+f 19 12 7
+f 19 11 12
+f 19 17 11
+f 19 7 17
+f 20 6 4
+f 21 14 4
+f 21 4 8
+f 21 8 20
+f 22 5 4
+f 22 4 15
+f 22 15 2
+f 22 2 11
+f 23 16 1
+f 23 1 10
+f 23 10 16
+f 24 18 1
+f 24 1 16
+f 25 18 13
+f 25 13 5
+f 26 20 4
+f 26 4 14
+f 26 21 20
+f 26 14 21
+f 27 16 6
+f 27 6 20
+f 28 17 5
+f 28 5 22
+f 29 24 16
+f 29 16 13
+f 29 13 18
+f 29 18 24
+f 30 7 18
+f 31 16 27
+f 31 8 13
+f 31 13 16
+f 31 27 20
+f 31 20 8
+f 32 28 22
+f 32 22 11
+f 32 11 17
+f 32 17 28
+f 33 30 25
+f 33 25 5
+f 33 5 17
+f 33 17 7
+f 33 7 30
+f 34 30 18
+f 34 18 25
+f 34 25 30
\ No newline at end of file
diff --git a/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_18.obj b/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..17dc0c657f529080e0759de0d5d48358a0b9af7b
--- /dev/null
+++ b/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_18.obj
@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
+v 0.12610151 -0.47269351 0.04138243
+v 0.27324559 -0.40739785 0.01427893
+v 0.10414821 -0.40922921 0.23013057
+v 0.02384622 -0.27352193 0.28671018
+v 0.02269576 -0.26478331 0.01493866
+v 0.27403530 -0.26027255 0.23204767
+v 0.02079160 -0.47727690 0.08769241
+v 0.23862275 -0.41330671 0.10150747
+v 0.02256781 -0.49076856 0.01487962
+v 0.14454485 -0.29321424 0.28880265
+v 0.15717184 -0.26257018 0.27789238
+v 0.27991384 -0.26478331 0.01493866
+v 0.11136636 -0.46056583 0.11130523
+v 0.02121545 -0.41997446 0.19946872
+v 0.22971481 -0.43474241 0.01418202
+v 0.26703748 -0.32365490 0.19915657
+v 0.07275628 -0.34773907 0.26254652
+v 0.25748967 -0.25748964 0.24319876
+v 0.25642102 -0.42032053 0.01411132
+v 0.19687683 -0.42852093 0.11116732
+v 0.02138243 -0.36072093 0.24365337
+v 0.22687366 -0.42788329 0.05635874
+v 0.12668320 -0.47711188 0.01405000
+v 0.21131771 -0.36633420 0.19918771
+v 0.27233836 -0.27233833 0.22753408
+v 0.26940749 -0.38726545 0.11116732
+v 0.18652416 -0.26138602 0.27286563
+v 0.25192606 -0.41446259 0.05613357
+v 0.13637462 -0.45882942 0.08676706
+v 0.02115672 -0.40439787 0.21109407
+v 0.09238785 -0.40768643 0.22878381
+v 0.22700364 -0.39793615 0.13952209
+v 0.26693156 -0.39916925 0.07122325
+v 0.25257677 -0.40018012 0.11116732
+f 9 7 5
+f 9 1 7
+f 11 5 4
+f 11 4 10
+f 12 6 2
+f 13 7 1
+f 13 3 7
+f 14 7 3
+f 16 10 3
+f 17 10 4
+f 17 3 10
+f 18 5 11
+f 18 12 5
+f 18 6 12
+f 19 12 2
+f 19 5 12
+f 19 8 15
+f 20 8 3
+f 20 3 13
+f 21 4 5
+f 21 5 7
+f 21 17 4
+f 22 15 8
+f 22 1 15
+f 22 8 20
+f 23 15 1
+f 23 1 9
+f 23 9 5
+f 23 19 15
+f 23 5 19
+f 24 16 3
+f 25 16 6
+f 25 10 16
+f 25 18 10
+f 25 6 18
+f 26 2 6
+f 26 6 16
+f 27 18 11
+f 27 11 10
+f 27 10 18
+f 28 19 2
+f 28 8 19
+f 28 26 8
+f 29 20 13
+f 29 13 1
+f 29 22 20
+f 29 1 22
+f 30 21 7
+f 30 7 14
+f 31 3 17
+f 31 17 21
+f 31 21 30
+f 31 30 14
+f 31 14 3
+f 32 24 3
+f 32 3 8
+f 33 28 2
+f 33 2 26
+f 33 26 28
+f 34 24 32
+f 34 26 16
+f 34 16 24
+f 34 32 8
+f 34 8 26
\ No newline at end of file
diff --git a/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_19.obj b/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7e7a6761aec8f2267299e3c3db10848f04b9b02f
--- /dev/null
+++ b/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_19.obj
@@ -0,0 +1,105 @@
+# https://github.com/mikedh/trimesh
+v 0.24440816 0.23049794 0.26337043
+v 0.24965289 0.23452237 0.18137389
+v 0.19893058 0.38808770 0.17315586
+v -0.12356014 0.41902953 0.17359064
+v -0.23452232 0.23452237 0.18137389
+v 0.15606010 0.27025437 0.30106189
+v 0.24231589 0.36113488 0.17426373
+v -0.22592406 0.37462166 0.17304147
+v -0.10414821 0.40922931 0.23013047
+v -0.14346798 0.22971633 0.32081856
+v 0.21327474 0.37237831 0.23237839
+v 0.22592413 0.37462162 0.17304144
+v 0.02117874 0.43482612 0.17451741
+v -0.19893049 0.38808773 0.17315588
+v 0.15482343 0.22963359 0.31941613
+v -0.11017304 0.31492028 0.28477237
+v -0.22374066 0.35664572 0.19946862
+v 0.22034295 0.36660578 0.23059032
+v 0.14264637 0.29781409 0.28517504
+v 0.12356022 0.41902951 0.17359062
+v -0.02117865 0.43482613 0.17451742
+v 0.06583355 0.41410046 0.19946862
+v 0.19383218 0.24579443 0.30113164
+v -0.06082489 0.31193836 0.28630339
+v -0.14376974 0.29721712 0.28630930
+v -0.21131763 0.36633425 0.19918774
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\ No newline at end of file
diff --git a/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_2.obj b/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..434d084b2c88fc311c16e226858cc177b1566689
--- /dev/null
+++ b/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_2.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.38593333 -0.26486478 -0.18182155
+v 0.46374851 -0.08152436 -0.17554982
+v 0.27991384 0.23452237 -0.18175751
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+v 0.26910239 -0.25648740 -0.32858686
+v 0.44667267 0.15273678 -0.17408823
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+v 0.19810323 0.11092774 -0.40476478
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+v 0.15591703 -0.20041297 -0.39482909
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+v 0.42916377 0.02043322 -0.25898266
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+v 0.34335704 0.03621882 -0.34560634
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\ No newline at end of file
diff --git a/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_20.obj b/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7001f36215a2cce63e162f70860e626a042125f6
--- /dev/null
+++ b/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_20.obj
@@ -0,0 +1,126 @@
+# https://github.com/mikedh/trimesh
+v 0.27221348 -0.40605277 0.02755580
+v 0.44007249 -0.21679205 0.01452949
+v 0.35412870 -0.31259215 0.11116732
+v 0.27619271 -0.21653657 0.25079239
+v 0.27991384 -0.21939189 0.01493866
+v 0.37245176 -0.21385162 0.18796355
+v 0.27106844 -0.32890815 0.18793243
+v 0.35550845 -0.34391182 -0.01647533
+v 0.41560629 -0.22805554 0.11116731
+v 0.31702385 -0.21303734 0.22802222
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+v 0.27355126 -0.22964018 0.24636725
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+v 0.33964975 -0.33964977 0.08607999
+v 0.37007054 -0.32482476 -0.01536982
+v 0.27324559 -0.40739785 0.01427893
+v 0.40018016 -0.25257671 0.11116732
+v 0.41968965 -0.21461645 0.11349022
+v 0.28788077 -0.21389512 0.24502543
+v 0.43302954 -0.21387477 0.05746552
+v 0.32481735 -0.32481736 0.13797007
+v 0.36362195 -0.21396325 0.19978277
+v 0.28375609 -0.31059413 0.19946872
+v 0.34198436 -0.35299644 0.02563613
+v 0.27220085 -0.39090582 0.08807359
+v 0.33436835 -0.36278947 -0.01592257
+v 0.39793618 -0.22700359 0.13952208
+v 0.42808105 -0.24208599 0.02614032
+v 0.40190451 -0.21351685 0.14205605
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\ No newline at end of file
diff --git a/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_22.obj b/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..13e591fc867af36118da309675e1ce93151ac302
--- /dev/null
+++ b/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_22.obj
@@ -0,0 +1,141 @@
+# https://github.com/mikedh/trimesh
+v 0.22908723 -0.43322732 0.02724711
+v 0.41977218 -0.25600018 -0.10267581
+v 0.41467891 -0.26370199 0.01483168
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\ No newline at end of file
diff --git a/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_23.obj b/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..50058850b9f8379f3a291be19eb94f8a2846d9ee
--- /dev/null
+++ b/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_23.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.22908715 -0.43322735 0.02724712
+v -0.22579674 -0.37445572 -0.25055100
+v -0.23291988 -0.23291986 0.26911875
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+v -0.42858919 -0.25115576 -0.08565386
+v -0.22592405 -0.37462164 0.17304146
+v -0.31119823 -0.38257307 -0.08546669
+v -0.23241662 -0.23241669 -0.35900197
+v -0.32365488 -0.26703746 0.19915660
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+v -0.22942773 -0.43404959 -0.10294085
+v -0.33964975 -0.33964977 0.08608001
+v -0.22785646 -0.25609621 0.25760353
+v -0.37445567 -0.22579678 -0.25055100
+v -0.25609615 -0.22785651 0.25760353
+v -0.35380613 -0.34260566 -0.10104479
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+v -0.22794320 -0.25620924 -0.34777468
+v -0.26703740 -0.32365493 0.19915661
+v -0.41471580 -0.23943631 -0.16197610
+v -0.29647456 -0.32258133 -0.24664066
+v -0.26826825 -0.25584743 0.23751699
+v -0.33183734 -0.22792465 0.21236086
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+v -0.35299643 -0.34198435 0.02563615
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+v -0.22928046 -0.41856358 -0.16337128
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+v -0.22869949 -0.41716097 0.10269821
+v -0.35412867 -0.31259220 0.11116732
+v -0.25257671 -0.40018016 0.11116732
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+v -0.40018012 -0.25257676 0.11116732
+v -0.38290349 -0.28119091 -0.16121807
+v -0.28290421 -0.32461451 -0.25694233
+v -0.30203260 -0.22827472 -0.32236561
+v -0.38257302 -0.31119828 -0.08546669
+v -0.34260561 -0.35380617 -0.10104479
+v -0.24208598 -0.42808110 0.02614033
+v -0.34198430 -0.35299648 0.02563616
+v -0.33803864 -0.31185592 -0.20144641
+v -0.28119086 -0.38290354 -0.16121808
+f 6 1 2
+f 11 2 1
+f 13 6 2
+f 13 8 3
+f 15 3 8
+f 15 14 4
+f 18 11 1
+f 21 9 4
+f 22 13 2
+f 22 8 13
+f 23 21 6
+f 23 9 21
+f 26 9 23
+f 27 15 4
+f 27 4 9
+f 27 9 26
+f 27 26 3
+f 27 3 15
+f 28 15 8
+f 28 14 15
+f 29 12 19
+f 31 17 2
+f 31 2 11
+f 31 11 17
+f 32 11 18
+f 32 18 7
+f 33 4 14
+f 34 20 1
+f 34 1 6
+f 35 19 12
+f 35 21 4
+f 37 23 6
+f 37 6 13
+f 37 13 3
+f 38 24 14
+f 38 14 10
+f 38 10 24
+f 39 10 30
+f 41 22 2
+f 41 8 22
+f 42 26 23
+f 42 3 26
+f 42 37 3
+f 42 23 37
+f 43 16 29
+f 44 7 18
+f 46 30 10
+f 46 25 2
+f 46 2 30
+f 47 30 2
+f 47 2 17
+f 47 17 30
+f 48 39 30
+f 49 32 17
+f 49 17 11
+f 49 11 32
+f 50 19 4
+f 50 4 33
+f 51 33 14
+f 51 14 24
+f 51 24 5
+f 51 5 33
+f 52 29 19
+f 52 50 33
+f 52 19 50
+f 52 43 29
+f 52 33 5
+f 52 5 43
+f 53 34 6
+f 53 20 34
+f 53 36 20
+f 53 6 36
+f 54 35 12
+f 54 21 35
+f 54 12 45
+f 54 45 20
+f 54 20 36
+f 54 36 6
+f 54 6 21
+f 55 35 4
+f 55 4 19
+f 55 19 35
+f 56 24 10
+f 56 10 39
+f 56 39 5
+f 56 5 24
+f 57 41 2
+f 57 2 25
+f 57 25 40
+f 58 40 14
+f 58 14 28
+f 58 28 8
+f 58 8 41
+f 58 57 40
+f 58 41 57
+f 59 43 5
+f 59 16 43
+f 59 39 16
+f 59 5 39
+f 60 29 16
+f 60 7 44
+f 60 16 39
+f 60 39 48
+f 60 48 32
+f 60 32 7
+f 61 45 18
+f 61 18 1
+f 61 1 20
+f 61 20 45
+f 62 45 12
+f 62 12 29
+f 62 44 18
+f 62 18 45
+f 62 60 44
+f 62 29 60
+f 63 46 10
+f 63 40 25
+f 63 25 46
+f 63 10 14
+f 63 14 40
+f 64 48 30
+f 64 30 17
+f 64 17 32
+f 64 32 48
\ No newline at end of file
diff --git a/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_24.obj b/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8f5acd1c8b1170930b49215baa667a72637e3679
--- /dev/null
+++ b/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_24.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.02117874 -0.43482609 0.17451740
+v 0.02031445 -0.42826117 0.18574154
+v -0.21327474 -0.37237821 0.23237848
+v -0.23228161 -0.26186317 0.25213425
+v 0.02269576 -0.26478331 0.18137389
+v 0.02384622 -0.27352193 0.28671018
+v -0.02117864 -0.43482610 0.17451740
+v -0.22592405 -0.37462164 0.17304146
+v 0.02138243 -0.36072093 0.24365337
+v -0.21057413 -0.34870006 0.24282291
+v -0.06583344 -0.41410038 0.19946872
+v -0.25440735 -0.29069798 0.22478784
+v -0.12356013 -0.41902951 0.17359063
+v -0.20222052 -0.36259242 0.23800927
+v 0.02115672 -0.40439787 0.21109407
+v -0.02031435 -0.42826118 0.18574155
+v -0.22034295 -0.36660568 0.23059042
+v -0.19893048 -0.38808770 0.17315587
+v -0.00587830 -0.38814437 0.22471908
+v 0.00587839 -0.38814437 0.22471907
+f 6 5 4
+f 6 1 5
+f 8 5 1
+f 10 6 4
+f 12 4 5
+f 12 5 8
+f 13 11 3
+f 13 7 11
+f 13 1 7
+f 14 9 6
+f 14 3 9
+f 14 10 3
+f 14 6 10
+f 15 2 1
+f 15 1 6
+f 15 6 9
+f 15 3 11
+f 16 11 7
+f 16 15 11
+f 16 2 15
+f 16 7 1
+f 16 1 2
+f 17 12 8
+f 17 8 3
+f 17 3 10
+f 17 10 4
+f 17 4 12
+f 18 13 3
+f 18 3 8
+f 18 8 1
+f 18 1 13
+f 19 9 3
+f 19 3 15
+f 20 19 15
+f 20 15 9
+f 20 9 19
\ No newline at end of file
diff --git a/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_25.obj b/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d49cbf4a25404a2ad70358f60e4ed92a7c696115
--- /dev/null
+++ b/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_25.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v 0.04731928 -0.02888291 0.43605419
+v 0.08293591 -0.00238419 0.41613048
+v 0.07186810 0.02505319 0.42407336
+v 0.02911114 0.02629356 0.44209431
+v -0.00599397 -0.01760771 0.31432929
+v 0.04731924 0.02888304 0.43605421
+v 0.07186806 -0.02505306 0.42407337
+v 0.02911114 -0.02629342 0.44209431
+v 0.03241189 0.01908327 0.31926291
+v 0.01182618 -0.02364142 0.31699808
+v 0.01082545 0.00187420 0.40330175
+v 0.02640034 0.01626118 0.44340196
+v 0.06758917 0.02423599 0.40403620
+v -0.00599812 0.01759586 0.31433035
+v 0.06758917 -0.02423586 0.40403621
+v 0.03245749 -0.01906627 0.31925226
+v -0.00491182 -0.00214757 0.34438168
+v 0.02640037 -0.01626116 0.44340194
+v 0.02232900 0.02387306 0.42047352
+v 0.08244707 0.00419346 0.41636628
+v 0.01179082 0.02363580 0.31700599
+v 0.08244704 -0.00419345 0.41636629
+v 0.03470562 0.01705567 0.32207920
+v -0.00341327 -0.01682153 0.32896239
+v -0.00491310 0.00214760 0.34437735
+v 0.01082074 -0.00187161 0.40326543
+v 0.08293594 0.00238421 0.41613046
+v 0.03470004 -0.01706956 0.32208024
+v 0.02232901 -0.02387293 0.42047353
+v -0.00341871 0.01680805 0.32896375
+f 7 6 1
+f 7 3 6
+f 10 8 5
+f 10 1 8
+f 12 6 4
+f 12 1 6
+f 13 6 3
+f 15 7 1
+f 15 1 10
+f 16 10 5
+f 16 15 10
+f 16 14 9
+f 16 5 14
+f 18 12 11
+f 18 8 1
+f 18 1 12
+f 19 12 4
+f 19 11 12
+f 19 4 14
+f 20 13 3
+f 21 13 9
+f 21 6 13
+f 21 9 14
+f 21 14 4
+f 21 4 6
+f 22 2 7
+f 22 7 15
+f 23 16 9
+f 23 9 13
+f 23 13 20
+f 24 17 5
+f 25 17 11
+f 25 14 5
+f 25 5 17
+f 25 11 19
+f 26 18 11
+f 26 11 17
+f 27 20 3
+f 27 23 20
+f 27 2 23
+f 27 7 2
+f 27 3 7
+f 28 2 22
+f 28 23 2
+f 28 16 23
+f 28 22 15
+f 28 15 16
+f 29 24 5
+f 29 5 8
+f 29 17 24
+f 29 26 17
+f 29 8 18
+f 29 18 26
+f 30 25 19
+f 30 19 14
+f 30 14 25
\ No newline at end of file
diff --git a/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_26.obj b/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d5796ba6f4e750dae500f9c647029a2ea00befa2
--- /dev/null
+++ b/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_26.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.27403530 -0.26027255 0.23204767
+v 0.27991384 -0.26478331 -0.21201846
+v 0.27931821 0.23406532 0.24089795
+v -0.24425395 0.24198971 0.25819886
+v -0.23670676 -0.26763013 0.24666496
+v -0.23452232 0.23452237 -0.21201846
+v 0.27991384 0.23452237 -0.21201846
+v -0.23452232 -0.26478331 -0.21201846
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 5 1 4
+f 7 3 2
+f 7 2 6
+f 7 6 4
+f 7 4 3
+f 8 5 4
+f 8 4 6
+f 8 6 2
+f 8 2 5
\ No newline at end of file
diff --git a/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_27.obj b/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..43ca83d751d3b025ebad017e283fba8d5208087c
--- /dev/null
+++ b/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_27.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.25526512 -0.26155490 0.24179104
+v -0.23452232 -0.23452236 -0.18175751
+v -0.23452232 0.20426142 0.19650437
+v -0.36105063 0.20653318 0.20439429
+v -0.38306189 -0.25562060 -0.19834215
+v -0.35323656 -0.23273483 0.19477210
+v -0.40125977 0.22318834 -0.20542475
+v -0.23452232 0.20426142 -0.18175751
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 6 5 1
+f 6 1 4
+f 7 2 5
+f 7 4 3
+f 7 6 4
+f 7 5 6
+f 8 7 3
+f 8 3 2
+f 8 2 7
\ No newline at end of file
diff --git a/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_28.obj b/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..778a8a52d020c5e451477d131c3a5c7278dad951
--- /dev/null
+++ b/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_28.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.15887004 -0.14373951 -0.21201846
+v 0.15887004 -0.14373951 -0.31793179
+v 0.17913454 0.26093155 -0.36582325
+v -0.23452232 0.23452237 -0.21201846
+v -0.23452232 -0.14373951 -0.31793179
+v 0.15887004 0.23452237 -0.21201846
+v -0.23452232 -0.14373951 -0.21201846
+v -0.24565412 0.24902960 -0.34423976
+f 1 2 3
+f 5 2 1
+f 5 3 2
+f 6 1 3
+f 6 3 4
+f 6 4 1
+f 7 5 1
+f 7 1 4
+f 8 4 3
+f 8 3 5
+f 8 7 4
+f 8 5 7
\ No newline at end of file
diff --git a/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_29.obj b/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a0bbacb1e96a3a909aa7b5a62f7ff850a7350bd
--- /dev/null
+++ b/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_29.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.24965289 0.23452237 0.18137389
+v 0.24965289 0.23452237 -0.18175751
+v 0.26618866 0.37711601 -0.19475575
+v -0.23676575 0.35848987 0.18354796
+v -0.23452232 0.23452237 -0.18175751
+v 0.24773673 0.35306898 0.17951698
+v -0.23452232 0.23452237 0.18137389
+v -0.25562057 0.38306195 -0.19834217
+f 1 2 3
+f 5 2 1
+f 6 1 3
+f 6 3 4
+f 6 4 1
+f 7 5 1
+f 7 1 4
+f 8 3 2
+f 8 2 5
+f 8 4 3
+f 8 7 4
+f 8 5 7
\ No newline at end of file
diff --git a/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_3.obj b/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e03260f178d6c80b93b0a3605e6e21078c68047
--- /dev/null
+++ b/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_3.obj
@@ -0,0 +1,180 @@
+# https://github.com/mikedh/trimesh
+v -0.19234811 -0.26897607 -0.35579605
+v 0.15518653 -0.14091306 -0.41055465
+v 0.15887004 -0.14373951 -0.31793179
+v -0.24565412 0.24902960 -0.34423976
+v -0.15619817 0.05184998 -0.42137475
+v 0.17913454 0.26093155 -0.36582325
+v -0.23452232 -0.14373951 -0.31793179
+v -0.08164210 -0.14140833 -0.42174657
+v -0.22939705 -0.13980676 -0.39022217
+v -0.06567745 0.21357451 -0.40582084
+v -0.23225990 -0.26183488 -0.34284594
+v 0.05160602 0.03678977 -0.43770855
+v -0.09725914 -0.21676305 -0.40056959
+v -0.22939706 0.13980677 -0.39022219
+v -0.15619817 -0.05184998 -0.42137475
+v -0.13980672 0.22939711 -0.39022219
+v -0.22566216 -0.19746278 -0.37751684
+v 0.03678982 -0.05160596 -0.43770854
+v -0.03678972 0.05160597 -0.43770855
+v 0.11092779 0.19810319 -0.40476479
+v 0.08164212 -0.14140837 -0.42174657
+v -0.16848627 -0.15463884 -0.40394954
+v -0.21357445 -0.06567749 -0.40582083
+v -0.22566217 0.19746279 -0.37751685
+v -0.08164214 0.14140831 -0.42174659
+v -0.19746273 -0.22566221 -0.37751684
+v 0.15619826 -0.05184997 -0.42137473
+v -0.05160592 -0.03678976 -0.43770855
+v 0.06567755 0.21357450 -0.40582083
+v -0.09603823 -0.19868503 -0.40656755
+v -0.14140828 -0.08164216 -0.42174658
+v -0.19882330 -0.18495816 -0.38909356
+v -0.21357445 0.06567750 -0.40582083
+v -0.19810314 -0.11092774 -0.40476479
+v -0.16848628 0.15463885 -0.40394955
+v -0.19746274 0.22566222 -0.37751684
+v -0.11092770 0.19810319 -0.40476480
+v -0.14140832 0.08164210 -0.42174659
+v -0.22600690 -0.23855533 -0.35832906
+v -0.18371470 -0.25772480 -0.36565353
+v 0.05160602 -0.03678976 -0.43770854
+v 0.14140835 -0.08164220 -0.42174657
+v 0.15619826 0.05184998 -0.42137473
+v -0.03678972 -0.05160596 -0.43770855
+v -0.05160592 0.03678977 -0.43770855
+v 0.13980681 0.22939711 -0.39022218
+v 0.05185003 0.15619822 -0.42137475
+v -0.15463879 -0.16848632 -0.40394954
+v -0.11092769 -0.19810318 -0.40476479
+v -0.19882331 0.18495818 -0.38909358
+v -0.19810314 0.11092775 -0.40476480
+v -0.22741776 0.22741775 -0.36387379
+v -0.15463880 0.16848633 -0.40394955
+v 0.15463889 0.16848633 -0.40394953
+v -0.05184993 0.15619822 -0.42137476
+v 0.03678981 0.05160597 -0.43770855
+v -0.18495812 -0.19882335 -0.38909356
+v -0.18495812 0.19882336 -0.38909358
+v 0.08164217 0.14140835 -0.42174659
+v 0.15719518 0.23233965 -0.38570869
+v 0.14140839 0.08164214 -0.42174658
+f 1 2 3
+f 6 3 2
+f 6 4 3
+f 7 3 4
+f 11 1 3
+f 11 3 7
+f 11 7 4
+f 11 4 9
+f 13 2 1
+f 14 9 4
+f 16 4 6
+f 16 6 10
+f 17 11 9
+f 21 2 13
+f 23 5 15
+f 23 9 14
+f 24 14 4
+f 27 6 2
+f 29 10 6
+f 30 21 13
+f 30 8 21
+f 31 28 8
+f 31 15 28
+f 32 17 9
+f 32 9 22
+f 33 23 14
+f 33 5 23
+f 34 22 9
+f 34 9 23
+f 34 31 22
+f 34 23 15
+f 34 15 31
+f 36 4 16
+f 37 16 10
+f 38 35 25
+f 39 11 17
+f 39 17 26
+f 39 26 1
+f 39 1 11
+f 40 26 13
+f 40 13 1
+f 40 1 26
+f 41 28 19
+f 42 27 2
+f 42 2 21
+f 42 41 27
+f 42 21 18
+f 42 18 41
+f 43 6 27
+f 43 41 12
+f 43 27 41
+f 44 8 28
+f 44 21 8
+f 44 18 21
+f 44 41 18
+f 44 28 41
+f 45 19 28
+f 45 5 38
+f 45 38 25
+f 45 25 19
+f 45 28 15
+f 45 15 5
+f 46 29 6
+f 46 20 29
+f 47 10 29
+f 47 29 20
+f 48 31 8
+f 48 22 31
+f 49 30 13
+f 49 13 26
+f 49 48 8
+f 49 8 30
+f 50 35 14
+f 50 14 24
+f 50 24 36
+f 51 33 14
+f 51 14 35
+f 51 35 38
+f 51 38 5
+f 51 5 33
+f 52 36 24
+f 52 24 4
+f 52 4 36
+f 53 16 37
+f 53 37 25
+f 53 25 35
+f 54 20 46
+f 54 6 43
+f 55 10 47
+f 55 37 10
+f 55 25 37
+f 55 47 19
+f 55 19 25
+f 56 19 47
+f 56 41 19
+f 56 12 41
+f 57 32 22
+f 57 22 48
+f 57 26 17
+f 57 17 32
+f 57 49 26
+f 57 48 49
+f 58 50 36
+f 58 36 16
+f 58 16 53
+f 58 53 35
+f 58 35 50
+f 59 47 20
+f 59 20 54
+f 59 56 47
+f 60 54 46
+f 60 46 6
+f 60 6 54
+f 61 59 54
+f 61 54 43
+f 61 43 12
+f 61 12 56
+f 61 56 59
\ No newline at end of file
diff --git a/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_30.obj b/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be19b84a62f391851c7eceb83542395f7d732e6e
--- /dev/null
+++ b/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_30.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.02553628 -0.42253342 0.19421217
+v 0.02269576 -0.40095759 0.01493866
+v 0.02269576 -0.26478331 0.18137389
+v -0.09834804 -0.26478331 0.18137389
+v -0.09834804 -0.40095759 0.01493866
+v 0.02269576 -0.26478331 0.01493866
+v -0.10023242 -0.41527086 0.18989073
+v -0.09834804 -0.26478331 0.01493866
+f 1 3 4
+f 5 2 1
+f 6 4 3
+f 6 2 5
+f 6 1 2
+f 6 3 1
+f 7 5 1
+f 7 1 4
+f 8 6 5
+f 8 4 6
+f 8 7 4
+f 8 5 7
\ No newline at end of file
diff --git a/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_31.obj b/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df6dd26f57b8e9ae1c3ee8ad866aaaa323b4014f
--- /dev/null
+++ b/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_31.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.25189606 -0.42359935 0.01665755
+v 0.23778289 -0.40520672 -0.18432047
+v 0.23452241 -0.26478331 0.01493866
+v -0.09834804 -0.26478331 0.01493866
+v -0.10441107 -0.44701080 -0.20398542
+v -0.09834804 -0.26478331 -0.18175751
+v 0.23452241 -0.26478331 -0.18175751
+v -0.09834804 -0.40095759 0.01493866
+f 1 3 4
+f 5 2 1
+f 6 4 3
+f 6 5 4
+f 7 1 2
+f 7 3 1
+f 7 6 3
+f 7 2 5
+f 7 5 6
+f 8 5 1
+f 8 1 4
+f 8 4 5
\ No newline at end of file
diff --git a/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_4.obj b/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2a5795d1bff1eda5310adce81d95a573fc6279c7
--- /dev/null
+++ b/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_4.obj
@@ -0,0 +1,144 @@
+# https://github.com/mikedh/trimesh
+v 0.13618844 -0.47351042 0.01375023
+v 0.23778289 -0.40520672 -0.18432047
+v 0.25189606 -0.42359935 0.01665755
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\ No newline at end of file
diff --git a/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_5.obj b/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ff12ad9a2c102406efe99a6908ab13226a9fe255
--- /dev/null
+++ b/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_5.obj
@@ -0,0 +1,150 @@
+# https://github.com/mikedh/trimesh
+v 0.13009994 -0.34921327 0.25578865
+v 0.35443919 0.09788126 0.24027447
+v 0.24946320 0.03137108 0.33149251
+v -0.14454486 0.29321424 0.28880261
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+v -0.24425395 0.24198971 0.25819886
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+v -0.24946314 -0.03137095 0.33149252
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\ No newline at end of file
diff --git a/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_6.obj b/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aa3d466bf17f1989c847eeddc01a4754d4b601b3
--- /dev/null
+++ b/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_6.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.35323656 -0.23273483 0.19477210
+v -0.38306189 -0.25562060 -0.19834215
+v -0.37678704 0.28810762 -0.16391866
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+v -0.48972829 0.06583028 -0.06175510
+v -0.46056580 0.11136631 0.11130525
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+v -0.48831835 -0.06564466 -0.08652691
+v -0.47314902 0.13603872 -0.10132211
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\ No newline at end of file
diff --git a/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_7.obj b/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6be7fb729b79d3bf88d60ebc5b5aa75c0845eaaa
--- /dev/null
+++ b/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_7.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.41565715 0.23434385 -0.16651616
+v 0.40559994 0.23017802 -0.19145559
+v 0.24480491 0.40977006 -0.16473417
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\ No newline at end of file
diff --git a/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_8.obj b/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8a56d996f95b53a49e5baa8a56d8e82c0e65915
--- /dev/null
+++ b/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_8.obj
@@ -0,0 +1,168 @@
+# https://github.com/mikedh/trimesh
+v 0.37462164 0.22592407 0.17304143
+v 0.43404957 0.22942775 -0.10294083
+v 0.35299648 0.34198432 0.02563614
+v 0.24299553 0.42088067 0.05786876
+v 0.24965289 0.23452237 -0.16662704
+v 0.24480491 0.40977006 -0.16473417
+v 0.31259224 0.35412871 0.11116722
+v 0.41330669 0.23862279 0.10150748
+v 0.41856356 0.22928048 -0.16337126
+v 0.24440816 0.23049794 0.26337043
+v 0.35380618 0.34260563 -0.10104477
+v 0.34198438 0.35299645 0.02563615
+v 0.43322731 0.22908716 0.02724711
+v 0.35412873 0.31259217 0.11116722
+v 0.25609623 0.22785648 0.25760347
+v 0.24264091 0.24264098 0.25886342
+v 0.34380409 0.33141030 -0.16310313
+v 0.42858923 0.25115573 -0.08565384
+v 0.25190372 0.42956394 -0.06198797
+v 0.41716096 0.22869951 0.10269821
+v 0.42808105 0.24208598 0.02614032
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+v 0.40018018 0.25257673 0.11116722
+v 0.33964974 0.33964981 0.08608000
+v 0.24286650 0.42065716 -0.13335986
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+v 0.34260569 0.35380615 -0.10104478
+v 0.42898620 0.24246091 -0.10163817
+v 0.41471581 0.23943632 -0.16197609
+v 0.42956396 0.25190365 -0.06198797
+v 0.26651730 0.41375983 -0.00151721
+v 0.40405369 0.22953754 0.12829793
+v 0.39902288 0.28194965 0.02579517
+v 0.32481731 0.32481738 0.13797007
+v 0.32919593 0.24102823 0.20793566
+v 0.24437484 0.43360669 -0.06154439
+v 0.24217719 0.40634555 0.11360742
+v 0.26703748 0.32365491 0.19915659
+v 0.32656589 0.35262109 -0.14608116
+v 0.25115579 0.42858922 -0.08565385
+v 0.31192098 0.38351486 -0.06203790
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+v 0.25584744 0.26826828 0.23751693
+v 0.24274383 0.27090974 0.24194208
+v 0.25677336 0.31486638 0.20927748
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\ No newline at end of file
diff --git a/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_9.obj b/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f124e73575ad95da89b5e17e968eaa5ba95a4b13
--- /dev/null
+++ b/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_9.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.23452232 -0.23452236 -0.18175751
+v -0.22741771 -0.22741777 -0.36387378
+v -0.23452232 0.20426142 -0.18175751
+v -0.42437030 0.20142480 -0.17821046
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+v -0.41104276 -0.23243255 -0.17914430
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+v -0.36882169 0.10643471 -0.31866537
+v -0.41399051 -0.12147297 -0.25795502
+v -0.31022683 -0.22295234 -0.31819659
+v -0.25852218 -0.08062418 -0.38931562
+v -0.41399051 0.12147298 -0.25795502
+v -0.31470876 0.19613051 -0.32897682
+v -0.39688660 -0.18117745 -0.24746443
+v -0.46374849 -0.08152437 -0.17554986
+v -0.22990694 -0.11156681 -0.39441459
+v -0.28416172 -0.16565003 -0.35871896
+v -0.29780143 0.05132770 -0.37562919
+v -0.41130427 0.16575173 -0.23196475
+v -0.42916374 -0.02043323 -0.25898271
+v -0.38316013 0.19688949 -0.25747293
+v -0.44449233 -0.12157275 -0.20321991
+v -0.37041540 -0.22269657 -0.25734606
+v -0.22990694 0.11156681 -0.39441460
+v -0.33799130 -0.18185121 -0.31818328
+v -0.31318000 -0.09332568 -0.35957196
+v -0.31470876 -0.19613050 -0.32897681
+v -0.22957597 -0.18533548 -0.38049008
+v -0.28303917 0.10850591 -0.37488950
+v -0.34335697 0.03621883 -0.34560639
+v -0.44449233 0.12157275 -0.20321991
+v -0.42916374 0.02043323 -0.25898270
+v -0.38354159 -0.09605523 -0.30419211
+v -0.41348458 0.19691579 -0.20283310
+v -0.33799130 0.18185122 -0.31818328
+v -0.42689295 -0.09578665 -0.24801931
+v -0.40015704 -0.22792354 -0.20376695
+v -0.25852218 0.08062419 -0.38931563
+v -0.38316012 -0.19688948 -0.25747292
+v -0.28303917 -0.10850591 -0.37488949
+v -0.32849305 -0.16905368 -0.32959533
+v -0.23855528 -0.22600694 -0.35832906
+v -0.28416172 0.16565004 -0.35871897
+v -0.24363272 0.11098497 -0.39006236
+v -0.31318000 0.09332568 -0.35957197
+v -0.34335697 -0.03621882 -0.34560638
+v -0.46374850 0.08152438 -0.17554986
+v -0.38354159 0.09605524 -0.30419212
+v -0.35875950 0.08164607 -0.33087069
+v -0.42689295 0.09578665 -0.24801931
+v -0.45843949 -0.02030352 -0.20324839
+v -0.25447952 -0.16609412 -0.37489897
+v -0.24363271 -0.11098496 -0.39006235
+v -0.29780143 -0.05132769 -0.37562919
+v -0.25447952 0.16609413 -0.37489897
+v -0.32849306 0.16905369 -0.32959535
+v -0.35875949 -0.08164606 -0.33087068
+v -0.45843949 0.02030353 -0.20324839
+v -0.44213558 -0.03527951 -0.23294297
+v -0.44213559 0.03527952 -0.23294296
+f 1 2 3
+f 6 3 2
+f 7 2 1
+f 7 1 5
+f 8 5 1
+f 8 1 3
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+f 9 3 6
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+f 11 3 4
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+f 62 19 51
+f 63 55 24
+f 63 24 40
+f 63 40 19
+f 63 19 55
+f 64 54 36
+f 64 36 62
+f 64 62 51
+f 64 51 54
\ No newline at end of file
diff --git a/objects/objaverse/tomato/tomato_2/model.xml b/objects/objaverse/tomato/tomato_2/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..fcfaa9b60122e975bb49826e53f7b7fcfaf27bf2
--- /dev/null
+++ b/objects/objaverse/tomato/tomato_2/model.xml
@@ -0,0 +1,89 @@
+<mujoco model="tomato_13">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.06000000000000003 0.06000000000000003 0.06000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="visual/model_normalized_1.obj" name="model_normalized_1_vis" scale="0.06000000000000003 0.06000000000000003 0.06000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="visual/model_normalized_2.obj" name="model_normalized_2_vis" scale="0.06000000000000003 0.06000000000000003 0.06000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="visual/model_normalized_3.obj" name="model_normalized_3_vis" scale="0.06000000000000003 0.06000000000000003 0.06000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.06000000000000003 0.06000000000000003 0.06000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.06000000000000003 0.06000000000000003 0.06000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.06000000000000003 0.06000000000000003 0.06000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.06000000000000003 0.06000000000000003 0.06000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.06000000000000003 0.06000000000000003 0.06000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.06000000000000003 0.06000000000000003 0.06000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.06000000000000003 0.06000000000000003 0.06000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.06000000000000003 0.06000000000000003 0.06000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.06000000000000003 0.06000000000000003 0.06000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.06000000000000003 0.06000000000000003 0.06000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.06000000000000003 0.06000000000000003 0.06000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.06000000000000003 0.06000000000000003 0.06000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.06000000000000003 0.06000000000000003 0.06000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.06000000000000003 0.06000000000000003 0.06000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.06000000000000003 0.06000000000000003 0.06000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.06000000000000003 0.06000000000000003 0.06000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.06000000000000003 0.06000000000000003 0.06000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.06000000000000003 0.06000000000000003 0.06000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.06000000000000003 0.06000000000000003 0.06000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.06000000000000003 0.06000000000000003 0.06000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.06000000000000003 0.06000000000000003 0.06000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.06000000000000003 0.06000000000000003 0.06000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.06000000000000003 0.06000000000000003 0.06000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.06000000000000003 0.06000000000000003 0.06000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.06000000000000003 0.06000000000000003 0.06000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.06000000000000003 0.06000000000000003 0.06000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.06000000000000003 0.06000000000000003 0.06000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.06000000000000003 0.06000000000000003 0.06000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.06000000000000003 0.06000000000000003 0.06000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.06000000000000003 0.06000000000000003 0.06000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.06000000000000003 0.06000000000000003 0.06000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.06000000000000003 0.06000000000000003 0.06000000000000003" refquat="1.0 0.0 0.0 0.0"/>
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