diff --git a/objects/objaverse/banana/banana_1/collision/model_normalized_collision_0.obj b/objects/objaverse/banana/banana_1/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..65f61d19de72632bbcd5531ae3496083f667a9f0
--- /dev/null
+++ b/objects/objaverse/banana/banana_1/collision/model_normalized_collision_0.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v -0.35548139 -0.24944565 -0.03431718
+v -0.23850076 0.02893190 -0.06044696
+v -0.28955024 -0.10822790 -0.02668646
+v -0.40798120 0.06535622 -0.05279132
+v -0.36824130 -0.06696023 -0.09322822
+v -0.25282127 -0.01482376 -0.04426947
+v -0.48290424 -0.24778406 -0.02706448
+v -0.34836626 -0.18341092 -0.05906747
+v -0.28538569 0.05733057 -0.09372114
+v -0.45382969 -0.00937047 -0.03272556
+v -0.32029826 -0.18492387 -0.02606551
+v -0.34377788 -0.19694516 -0.04968207
+v -0.41475947 -0.24394008 -0.06140667
+v -0.38302217 0.05219104 -0.08881136
+v -0.26702292 0.05561327 -0.08787839
+v -0.45971658 -0.02745152 -0.03147231
+v -0.27203982 -0.00191441 -0.07607392
+v -0.36303048 -0.24227654 -0.04513530
+v -0.45989687 -0.16020154 -0.06683959
+v -0.39293490 -0.18418601 -0.07528293
+v -0.46386185 -0.24706103 -0.05393985
+v -0.35349717 0.05296097 -0.09345512
+v -0.41681407 -0.01099280 -0.08257172
+v -0.40796713 -0.24277763 -0.06122702
+v -0.47846104 -0.08691815 -0.03191077
+v -0.41362049 -0.18656772 -0.07604207
+v -0.46312343 -0.21498573 -0.06154396
+v -0.36840727 0.03772503 -0.09193418
+v -0.44399155 -0.01161975 -0.04933927
+v -0.43062185 -0.05682745 -0.08150763
+v -0.44351354 -0.12648270 -0.07647979
+v -0.45893968 -0.02697013 -0.03609023
+v -0.47555620 -0.08727763 -0.03564115
+f 6 2 4
+f 10 6 4
+f 10 3 6
+f 11 1 2
+f 11 2 6
+f 11 6 3
+f 11 7 1
+f 11 3 7
+f 12 2 1
+f 15 9 4
+f 15 4 2
+f 15 5 9
+f 16 7 3
+f 16 3 10
+f 17 12 8
+f 17 2 12
+f 17 15 2
+f 18 12 1
+f 18 8 12
+f 20 8 18
+f 20 17 8
+f 20 5 15
+f 20 15 17
+f 21 13 1
+f 21 1 7
+f 22 9 5
+f 22 14 4
+f 22 4 9
+f 23 4 14
+f 24 18 1
+f 24 1 13
+f 24 20 18
+f 24 13 20
+f 25 19 7
+f 25 7 16
+f 25 16 10
+f 26 5 20
+f 26 20 13
+f 26 13 21
+f 27 21 7
+f 27 7 19
+f 27 26 21
+f 28 22 5
+f 28 14 22
+f 29 10 4
+f 29 4 23
+f 30 23 14
+f 30 29 23
+f 30 28 5
+f 30 14 28
+f 31 27 19
+f 31 26 27
+f 31 19 30
+f 31 30 5
+f 31 5 26
+f 32 25 10
+f 32 10 29
+f 32 30 25
+f 32 29 30
+f 33 30 19
+f 33 19 25
+f 33 25 30
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_1/collision/model_normalized_collision_14.obj b/objects/objaverse/banana/banana_1/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..96c7068295d61647462cd1bc7128efe6838654c3
--- /dev/null
+++ b/objects/objaverse/banana/banana_1/collision/model_normalized_collision_14.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v -0.14302216 0.24798987 0.09400988
+v -0.14072621 0.28784949 -0.08761698
+v -0.13885330 0.29716808 0.07466874
+v -0.14066194 0.33262963 0.03385994
+v -0.23899692 0.28161309 0.00627180
+v -0.13891537 0.32790877 -0.03835548
+v -0.19797266 0.27087170 -0.07021984
+v -0.21745663 0.24758617 0.07881137
+v -0.16891107 0.32692274 0.02881491
+v -0.14393939 0.25082713 0.01160736
+v -0.17942231 0.31107395 -0.03823473
+v -0.15500296 0.27561726 0.08348782
+v -0.21420626 0.27256057 -0.05656349
+v -0.21221246 0.29972602 0.02996039
+v -0.17876358 0.28025187 0.07166036
+v -0.15292585 0.29430321 0.07222162
+v -0.16935430 0.27371805 -0.08754905
+v -0.17120464 0.24673046 0.08837616
+v -0.16737556 0.30856438 -0.04954050
+v -0.16757261 0.32362540 -0.00066988
+v -0.14205160 0.27529067 0.08500870
+v -0.20839252 0.29399735 -0.03016217
+v -0.19558234 0.31256139 0.02780159
+v -0.17859367 0.31029869 0.04110631
+v -0.14368428 0.28043984 -0.09021024
+v -0.16499802 0.28185353 -0.08167989
+v -0.15236743 0.32330220 -0.03799034
+v -0.20978211 0.28080712 -0.05045047
+v -0.19349899 0.30896414 -0.00049031
+v -0.15465713 0.28464635 -0.08502007
+f 1 2 3
+f 6 3 2
+f 6 4 3
+f 9 4 6
+f 10 2 1
+f 10 8 7
+f 12 8 1
+f 13 8 5
+f 13 7 8
+f 14 5 8
+f 15 14 8
+f 16 3 4
+f 16 4 9
+f 16 12 3
+f 16 15 8
+f 16 8 12
+f 17 10 7
+f 18 10 1
+f 18 1 8
+f 18 8 10
+f 20 9 6
+f 21 12 1
+f 21 1 3
+f 21 3 12
+f 22 13 5
+f 22 5 11
+f 23 5 14
+f 23 9 20
+f 23 20 11
+f 23 14 15
+f 24 16 9
+f 24 15 16
+f 24 23 15
+f 24 9 23
+f 25 17 2
+f 25 2 10
+f 25 10 17
+f 26 17 7
+f 26 11 19
+f 27 19 11
+f 27 6 2
+f 27 2 19
+f 27 20 6
+f 27 11 20
+f 28 22 11
+f 28 13 22
+f 28 7 13
+f 28 26 7
+f 28 11 26
+f 29 23 11
+f 29 11 5
+f 29 5 23
+f 30 26 19
+f 30 19 2
+f 30 2 17
+f 30 17 26
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_1/collision/model_normalized_collision_15.obj b/objects/objaverse/banana/banana_1/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6b082ece43cca35dc93730de2d1578c239f8977d
--- /dev/null
+++ b/objects/objaverse/banana/banana_1/collision/model_normalized_collision_15.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v 0.26825312 0.23735060 0.04862111
+v 0.26365974 0.23559562 -0.08514540
+v 0.25510075 0.31525006 0.01346681
+v 0.14200530 0.35967523 0.03106831
+v 0.14679214 0.23122845 0.07904242
+v 0.15322922 0.35574966 -0.05102160
+v 0.21898528 0.29551679 0.05470114
+v 0.25401468 0.31185618 -0.04996757
+v 0.22237625 0.23341254 0.06824268
+v 0.22744650 0.34090543 0.01211479
+v 0.14484718 0.24120723 -0.09274987
+v 0.25411572 0.29987530 0.02732228
+v 0.14216797 0.34556365 0.04713175
+v 0.21440850 0.31028565 -0.08052186
+v 0.18310070 0.35804682 0.01582195
+v 0.23774519 0.32552916 -0.04854384
+v 0.14330812 0.32992244 -0.08534655
+v 0.22599269 0.32696390 0.02545441
+v 0.25409694 0.28212752 -0.08128777
+v 0.16690879 0.34105301 0.04255305
+v 0.22811760 0.33826091 -0.01667895
+v 0.21401950 0.32423828 -0.06434562
+v 0.14307579 0.35587761 -0.05169196
+v 0.14409874 0.30979882 -0.09404313
+v 0.23789847 0.29593852 -0.08004089
+v 0.18292910 0.33095223 0.04504883
+v 0.16662274 0.35558689 0.02683561
+v 0.18259995 0.35291177 -0.03164382
+v 0.16846733 0.32568727 -0.08151857
+v 0.20484044 0.24039178 -0.09396245
+v 0.15748231 0.30994949 -0.09294030
+v 0.20408581 0.26533447 -0.09332920
+f 8 1 2
+f 8 3 1
+f 9 5 2
+f 9 2 1
+f 9 7 5
+f 9 1 7
+f 10 3 8
+f 11 2 5
+f 12 7 1
+f 12 1 3
+f 13 5 7
+f 13 11 5
+f 13 4 11
+f 15 6 4
+f 17 11 4
+f 18 7 12
+f 18 12 3
+f 18 3 10
+f 19 8 2
+f 21 10 8
+f 21 8 16
+f 21 15 10
+f 22 16 14
+f 22 6 16
+f 23 17 4
+f 23 4 6
+f 23 6 17
+f 24 11 17
+f 25 16 8
+f 25 8 19
+f 25 19 14
+f 25 14 16
+f 26 18 10
+f 26 10 20
+f 26 7 18
+f 26 20 13
+f 26 13 7
+f 27 15 4
+f 27 4 13
+f 27 13 20
+f 27 20 10
+f 27 10 15
+f 28 21 16
+f 28 16 6
+f 28 6 15
+f 28 15 21
+f 29 17 6
+f 29 6 22
+f 29 22 14
+f 29 14 17
+f 30 2 11
+f 30 11 24
+f 31 24 17
+f 31 17 14
+f 31 14 19
+f 32 19 2
+f 32 2 30
+f 32 31 19
+f 32 30 24
+f 32 24 31
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_1/collision/model_normalized_collision_17.obj b/objects/objaverse/banana/banana_1/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..423dff585fd86c10ae3e208d3926ef29d908c1ba
--- /dev/null
+++ b/objects/objaverse/banana/banana_1/collision/model_normalized_collision_17.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.22640598 -0.00264782 0.03771714
+v -0.10756961 0.11198537 0.01193571
+v -0.09804245 0.24944142 0.09834309
+v -0.23899692 0.28161309 0.00627180
+v -0.22023247 0.00873828 0.01162473
+v -0.09848485 0.25082713 0.01160736
+v -0.21600600 0.23045446 0.08390514
+v -0.10287629 0.16984522 0.08803293
+v -0.22669641 -0.00242039 0.02704151
+v -0.21745663 0.24758617 0.07881137
+v -0.22184962 0.08667558 0.08671796
+v -0.10778068 0.11253756 0.04126724
+v -0.22866330 0.03217984 0.05960385
+v -0.20063351 0.24529340 0.08279092
+v -0.20989551 0.08963527 0.08556031
+f 5 4 2
+f 6 2 4
+f 6 4 3
+f 8 6 3
+f 8 2 6
+f 9 5 2
+f 9 2 1
+f 9 4 5
+f 10 3 4
+f 11 8 3
+f 11 3 7
+f 11 10 4
+f 11 7 10
+f 12 8 1
+f 12 1 2
+f 12 2 8
+f 13 9 1
+f 13 4 9
+f 13 11 4
+f 13 1 8
+f 14 10 7
+f 14 7 3
+f 14 3 10
+f 15 13 8
+f 15 8 11
+f 15 11 13
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_1/collision/model_normalized_collision_18.obj b/objects/objaverse/banana/banana_1/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4d34ec663928efc5c7d4c84bf10e44df1cfc539c
--- /dev/null
+++ b/objects/objaverse/banana/banana_1/collision/model_normalized_collision_18.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v -0.10413391 0.12250066 0.04746351
+v 0.00738967 0.17668171 -0.04776107
+v 0.00713066 0.17732415 0.05482781
+v -0.09990056 0.17770764 0.08928185
+v -0.10011775 0.17891567 -0.08331541
+v -0.10287629 0.16984522 0.08803293
+v 0.00498286 0.15968698 0.03730366
+v -0.10654103 0.12602942 -0.03861774
+v -0.00847361 0.18284813 -0.05817873
+v -0.04191015 0.18438781 0.07719290
+v 0.00559331 0.16036608 -0.02677810
+v -0.10079019 0.16534800 -0.07872881
+v -0.08955189 0.17429185 0.08682563
+v -0.00919532 0.18327336 0.06408420
+v -0.07038570 0.18026054 -0.07942084
+v -0.07537543 0.13020706 0.04045782
+v -0.08491398 0.17801498 0.08773999
+v -0.07426124 0.17447589 -0.07799147
+v -0.07505758 0.13104955 -0.02538966
+f 6 1 3
+f 6 4 5
+f 7 3 1
+f 8 6 5
+f 8 1 6
+f 9 3 2
+f 10 5 4
+f 11 2 3
+f 11 3 7
+f 11 8 2
+f 12 8 5
+f 13 6 3
+f 13 3 10
+f 14 10 3
+f 14 3 9
+f 14 9 10
+f 15 10 9
+f 15 5 10
+f 15 12 5
+f 16 11 7
+f 16 7 1
+f 17 13 10
+f 17 10 4
+f 17 4 6
+f 17 6 13
+f 18 15 9
+f 18 9 2
+f 18 12 15
+f 18 2 8
+f 18 8 12
+f 19 16 1
+f 19 1 8
+f 19 8 11
+f 19 11 16
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_1/collision/model_normalized_collision_21.obj b/objects/objaverse/banana/banana_1/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d662d8ed9b5c54d9e91c835318f072358d766ac2
--- /dev/null
+++ b/objects/objaverse/banana/banana_1/collision/model_normalized_collision_21.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.31869753 -0.15663998 0.06395568
+v -0.26705822 -0.07322019 0.01110142
+v -0.28873248 -0.06402087 0.06280572
+v -0.31290202 -0.06653025 0.08449245
+v -0.31614755 -0.11006382 -0.05985908
+v -0.29779075 -0.15441927 0.04390654
+v -0.31807559 -0.09491963 0.07951377
+v -0.30472985 -0.06395467 0.07761574
+v -0.29739678 -0.13668736 -0.02012295
+v -0.32037493 -0.12409081 -0.05671420
+v -0.28955024 -0.10822790 -0.02668646
+v -0.29863472 -0.15292820 0.01209414
+v -0.32064636 -0.15428631 -0.04135607
+v -0.30920783 -0.10599546 -0.05350015
+v -0.31422090 -0.15082948 -0.03471384
+f 1 3 4
+f 6 2 3
+f 6 3 1
+f 7 1 4
+f 8 3 2
+f 8 2 5
+f 8 5 4
+f 8 4 3
+f 10 7 4
+f 10 4 5
+f 11 2 9
+f 12 9 2
+f 12 2 6
+f 13 1 7
+f 13 7 10
+f 13 10 5
+f 13 12 6
+f 13 6 1
+f 14 5 2
+f 14 2 11
+f 14 13 5
+f 14 11 13
+f 15 9 12
+f 15 12 13
+f 15 13 11
+f 15 11 9
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_1/collision/model_normalized_collision_24.obj b/objects/objaverse/banana/banana_1/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..35a6c8e2a5e18b584bc218f2d0a9cf18e3542940
--- /dev/null
+++ b/objects/objaverse/banana/banana_1/collision/model_normalized_collision_24.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.08351730 0.16795256 0.03416712
+v 0.08497504 0.17329341 -0.03866077
+v 0.08315285 0.23623199 0.08464847
+v 0.00660304 0.23807605 0.09083596
+v 0.00629843 0.17098417 -0.04050341
+v 0.00745021 0.23667741 -0.09162146
+v 0.00567745 0.19983685 0.07783658
+v 0.08359543 0.20520507 0.07305666
+v 0.08344592 0.23711915 -0.09045724
+v 0.00638882 0.22350068 0.08787566
+v 0.00555018 0.16973615 0.04746975
+v 0.00549000 0.19105420 -0.06662026
+v 0.05179659 0.23876950 0.08729868
+v 0.05155827 0.22421562 0.08435909
+v 0.00638968 0.20041496 -0.07827127
+v 0.08371854 0.21031165 -0.08078087
+f 5 2 1
+f 8 1 2
+f 8 2 3
+f 9 3 2
+f 10 3 4
+f 10 4 7
+f 11 5 1
+f 11 8 7
+f 11 1 8
+f 12 7 4
+f 12 4 6
+f 12 11 7
+f 12 5 11
+f 12 2 5
+f 13 9 6
+f 13 6 4
+f 13 4 3
+f 13 3 9
+f 14 8 3
+f 14 3 10
+f 14 10 7
+f 14 7 8
+f 15 12 6
+f 15 2 12
+f 16 15 6
+f 16 6 9
+f 16 9 2
+f 16 2 15
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_1/collision/model_normalized_collision_27.obj b/objects/objaverse/banana/banana_1/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..71bdd2e0a8f4d6396ea3d535b5422cbd408168f1
--- /dev/null
+++ b/objects/objaverse/banana/banana_1/collision/model_normalized_collision_27.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.26749645 0.12800254 0.00523638
+v 0.26725678 0.12770622 -0.03462423
+v 0.28389483 0.24041174 0.03701371
+v 0.24138560 0.24738829 0.05853352
+v 0.22215789 0.14057190 0.01141576
+v 0.21943336 0.23581544 -0.09240748
+v 0.25296597 0.13092786 -0.03549921
+v 0.25528950 0.13215274 0.00956305
+v 0.26365974 0.23559562 -0.08514540
+v 0.22222958 0.13958274 -0.01923176
+v 0.22144227 0.17076373 -0.06752408
+v 0.26735020 0.14344538 -0.04913789
+v 0.25517413 0.13059995 -0.01957605
+v 0.21920565 0.19489833 -0.07946919
+v 0.22303472 0.14121722 -0.03815752
+v 0.26127710 0.19615156 -0.07887324
+f 1 2 3
+f 1 3 4
+f 6 5 4
+f 7 2 1
+f 8 5 1
+f 8 1 4
+f 8 4 5
+f 9 6 4
+f 9 4 3
+f 10 1 5
+f 12 9 3
+f 12 3 2
+f 12 2 7
+f 12 7 11
+f 13 10 7
+f 13 7 1
+f 13 1 10
+f 14 10 5
+f 14 5 6
+f 15 11 7
+f 15 7 10
+f 15 14 11
+f 15 10 14
+f 16 14 6
+f 16 6 9
+f 16 9 12
+f 16 12 11
+f 16 11 14
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_1/collision/model_normalized_collision_3.obj b/objects/objaverse/banana/banana_1/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6fc198a5abd5948f16c138821b98a609b0a121bd
--- /dev/null
+++ b/objects/objaverse/banana/banana_1/collision/model_normalized_collision_3.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v -0.41488756 -0.20311325 0.09737485
+v -0.42307426 -0.21201017 -0.06944573
+v -0.41222315 -0.08477626 0.08759423
+v -0.41319453 -0.00852244 0.07570479
+v -0.49176816 -0.20218252 0.04546492
+v -0.43889735 -0.00077563 -0.05200845
+v -0.45596469 -0.17515203 0.08337581
+v -0.46224201 -0.01192048 0.02943836
+v -0.49198645 -0.20161841 -0.02298420
+v -0.45554107 -0.20148043 0.08349996
+v -0.42616627 -0.08539359 0.08353619
+v -0.44676233 -0.07340716 0.07287090
+v -0.49042268 -0.16008221 -0.02515041
+v -0.42146976 -0.01101910 0.07362042
+v -0.49112441 -0.11548697 0.03240011
+v -0.47417197 -0.07312619 -0.03137814
+v -0.44499585 -0.02864873 0.05605238
+v -0.47647667 -0.08799354 0.04382910
+v -0.46103074 -0.13120354 0.07423016
+v -0.45382969 -0.00937047 -0.03272556
+v -0.47766401 -0.05728196 0.02966280
+v -0.49060074 -0.11485129 0.02897563
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\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_1/collision/model_normalized_collision_30.obj b/objects/objaverse/banana/banana_1/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef66c4e0fc24afd85694c4f6bf7d66cf51147b09
--- /dev/null
+++ b/objects/objaverse/banana/banana_1/collision/model_normalized_collision_30.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
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+f 10 3 5
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+f 11 10 5
+f 11 8 10
+f 12 9 3
+f 12 3 6
+f 12 6 9
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_1/visual/material.mtl b/objects/objaverse/banana/banana_1/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..33616803300962094e8955deb30562079542847b
--- /dev/null
+++ b/objects/objaverse/banana/banana_1/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/banana/banana_1/visual/model_normalized_0.obj b/objects/objaverse/banana/banana_1/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..feae5973bf671bd37681a80a77ae392fe18eed66
--- /dev/null
+++ b/objects/objaverse/banana/banana_1/visual/model_normalized_0.obj
@@ -0,0 +1,1418 @@
+# 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/banana/banana_13/collision/model_normalized_collision_0.obj b/objects/objaverse/banana/banana_13/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9c2daccc280faf8ded50e63fa1989e5ef7b805e4
--- /dev/null
+++ b/objects/objaverse/banana/banana_13/collision/model_normalized_collision_0.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.23262192 0.12869504 0.13401084
+v 0.23484848 0.12887679 0.01324115
+v 0.24014436 0.20576472 -0.00103120
+v 0.00811350 0.18749681 0.14195487
+v 0.00757576 0.12887679 0.05869570
+v 0.23051222 0.18350494 0.11999521
+v 0.12340420 0.12460333 -0.04416958
+v 0.00763146 0.13135185 0.13959251
+v 0.13308390 0.21313499 -0.01917230
+v 0.18543167 0.18244896 0.13172976
+v 0.00757576 0.18948285 0.05869570
+v 0.23027221 0.15448728 0.13086075
+v 0.21604838 0.16849203 0.13005137
+f 1 2 3
+f 6 1 3
+f 7 2 1
+f 7 1 5
+f 7 3 2
+f 8 5 1
+f 8 1 4
+f 9 6 3
+f 9 4 6
+f 9 3 7
+f 10 6 4
+f 10 4 1
+f 11 8 4
+f 11 5 8
+f 11 4 9
+f 11 9 7
+f 11 7 5
+f 12 10 1
+f 12 1 6
+f 13 12 6
+f 13 6 10
+f 13 10 12
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_13/collision/model_normalized_collision_1.obj b/objects/objaverse/banana/banana_13/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0bd88f134456fa6d326eb0000610113db69ea3dd
--- /dev/null
+++ b/objects/objaverse/banana/banana_13/collision/model_normalized_collision_1.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v -0.08560543 0.07035796 -0.03407067
+v -0.09794081 0.10266252 0.12447123
+v -0.15886962 0.20299864 -0.03040536
+v -0.09388076 0.24939684 0.09730342
+v -0.09629529 0.13143403 0.13363723
+v -0.09905595 0.25268090 0.01184180
+v -0.15765681 0.10259716 0.12103452
+v -0.11362785 0.20451702 -0.03205720
+v -0.15484792 0.23677524 0.08487560
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+v -0.12632404 0.24832978 0.01020004
+v -0.11002389 0.17245342 0.13298041
+v -0.14207642 0.23429688 -0.00192088
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+f 24 21 12
+f 24 15 21
+f 24 22 15
+f 24 12 22
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_13/collision/model_normalized_collision_10.obj b/objects/objaverse/banana/banana_13/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9629318f5827158c1f5e94793cd34752fe71fa61
--- /dev/null
+++ b/objects/objaverse/banana/banana_13/collision/model_normalized_collision_10.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v -0.35381037 -0.16315540 -0.06046329
+v -0.23777601 -0.02051322 -0.05961613
+v -0.29246151 -0.10388348 -0.05634203
+v -0.35968119 0.09182247 -0.07298400
+v -0.36324691 -0.12118153 -0.12775943
+v -0.36264380 -0.15355118 -0.10205912
+v -0.23222118 0.08557898 -0.07882615
+v -0.33316922 -0.14951563 -0.06429036
+v -0.32885204 -0.11926454 -0.09343103
+v -0.35779185 -0.01108747 -0.12160705
+v -0.26566031 -0.01463515 -0.09234903
+v -0.29748758 -0.10215363 -0.06637579
+v -0.34076619 -0.14704001 -0.08212913
+v -0.33097764 -0.05395347 -0.12002874
+v -0.29670749 0.07685751 -0.08990736
+v -0.24962279 -0.01269300 -0.07734787
+v -0.32781951 -0.13200757 -0.08058505
+v -0.34450707 -0.01127170 -0.11988793
+v -0.33938288 -0.09102151 -0.12238774
+v -0.25582381 0.02070909 -0.08995637
+v -0.35343926 0.06132353 -0.09472520
+v -0.35471174 -0.14871446 -0.09747271
+v -0.31352012 0.03339803 -0.10484283
+v -0.35531531 -0.11581423 -0.12337202
+v -0.35467630 0.03205719 -0.10793736
+v -0.33908226 0.07238126 -0.09074483
+v -0.35430915 0.07832118 -0.08422392
+f 1 3 4
+f 3 2 4
+f 6 1 4
+f 6 4 5
+f 7 4 2
+f 8 3 1
+f 8 1 6
+f 9 6 5
+f 10 5 4
+f 12 2 3
+f 13 8 6
+f 15 4 7
+f 16 7 2
+f 16 2 9
+f 17 9 2
+f 17 2 12
+f 17 12 3
+f 17 3 8
+f 17 8 13
+f 18 7 14
+f 18 14 5
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+f 19 5 14
+f 19 11 16
+f 19 16 9
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+f 23 18 10
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+f 24 9 5
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+f 25 10 4
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+f 26 4 15
+f 26 25 21
+f 26 15 25
+f 27 26 21
+f 27 21 4
+f 27 4 26
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_13/collision/model_normalized_collision_11.obj b/objects/objaverse/banana/banana_13/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8c23e91f5028a9a3af7e1541a2bcf5dc76fe31d7
--- /dev/null
+++ b/objects/objaverse/banana/banana_13/collision/model_normalized_collision_11.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.43322151 -0.00007629 0.04175101
+v 0.43607683 -0.00960653 -0.03736296
+v 0.36159333 0.14444697 -0.00262587
+v 0.22818173 0.21985137 0.09701305
+v 0.23807944 0.00190910 0.08013463
+v 0.36962430 0.12957626 0.07868364
+v 0.41270263 0.08893043 0.00027885
+v 0.39214131 -0.00082026 0.07119866
+v 0.24374078 0.01741348 -0.05068817
+v 0.31343606 0.18754396 0.04165240
+v 0.42923723 0.04328788 -0.02306274
+v 0.42720173 0.04889482 0.05178109
+v 0.41341328 0.08690088 0.04068609
+v 0.30765335 0.07221971 0.11531612
+v 0.23406829 0.13999023 -0.04878472
+v 0.29838221 -0.00669535 -0.06197427
+v 0.35762678 0.14197191 0.07938054
+v 0.41510656 0.07366107 -0.02006657
+v 0.43324594 0.01732534 -0.03270271
+v 0.40558874 0.02624057 0.07013605
+v 0.40318160 0.10010979 -0.00865431
+v 0.41250366 0.07518923 0.06355082
+v 0.23462313 0.06028618 0.11865908
+v 0.23225059 0.22579132 0.01874925
+v 0.24369859 0.00068702 -0.03666751
+v 0.42330395 -0.00998822 -0.04594460
+v 0.31228363 0.17270058 0.09222320
+v 0.32102169 0.11837791 -0.04295279
+v 0.40566338 0.07314166 -0.02895910
+v 0.34991864 0.05537598 0.10118895
+v 0.38763262 0.10746117 0.07533792
+v 0.40671984 0.06679426 0.07044198
+v 0.23051222 0.18350494 0.11999521
+v 0.35182720 0.01451551 0.08865533
+v 0.31369138 0.18751121 0.01713107
+v 0.23327340 0.16810624 -0.03588021
+v 0.25478898 0.21640617 0.06963404
+v 0.25951971 0.00249788 -0.05076194
+v 0.42171367 0.00335543 -0.04452272
+v 0.32716272 0.17194107 0.06671995
+v 0.30179121 0.12372699 0.11638630
+v 0.34467344 0.14770124 0.08773137
+v 0.36861400 0.03275917 -0.05894129
+v 0.37664146 0.10111370 -0.02906111
+v 0.37837771 0.02787103 0.08554691
+v 0.37465040 0.09518451 0.08658229
+v 0.24218368 0.20684912 0.10504369
+v 0.29248275 0.05952068 0.11493365
+v 0.28993390 0.13369520 -0.04385302
+v 0.28875272 0.17222797 -0.01604757
+v 0.25876448 0.21784547 0.02151444
+v 0.26958535 0.19988394 0.09396074
+v 0.39090695 0.06036554 -0.04360919
+v 0.28423629 0.20034101 0.06788516
+v 0.24530953 0.18091046 0.11676547
+v 0.31675489 0.15374822 0.09927076
+v 0.31157991 0.05169479 -0.06105687
+v 0.39357990 0.00441977 -0.05966506
+v 0.33191495 0.13091780 -0.03076457
+v 0.36114782 0.13017662 -0.01580970
+v 0.36549601 0.01546260 0.08605222
+v 0.34535070 0.10775532 0.09991510
+v 0.23036521 0.21128772 0.10673386
+v 0.27503873 0.16192471 -0.03041025
+f 8 5 2
+f 8 2 1
+f 12 11 7
+f 13 3 6
+f 13 12 7
+f 16 9 15
+f 17 6 3
+f 17 3 10
+f 18 7 11
+f 19 12 1
+f 19 1 2
+f 19 11 12
+f 20 8 1
+f 20 1 12
+f 21 13 7
+f 21 3 13
+f 21 7 18
+f 22 12 13
+f 23 15 5
+f 23 4 15
+f 25 15 9
+f 25 5 15
+f 25 16 5
+f 26 2 5
+f 26 5 16
+f 29 18 11
+f 29 11 19
+f 29 21 18
+f 31 22 13
+f 31 13 6
+f 32 20 12
+f 32 12 22
+f 32 22 31
+f 33 4 23
+f 34 23 5
+f 34 5 8
+f 35 10 3
+f 36 15 4
+f 36 4 24
+f 37 24 4
+f 38 25 9
+f 38 9 16
+f 38 16 25
+f 39 19 2
+f 39 2 26
+f 40 27 17
+f 40 17 10
+f 41 14 30
+f 41 33 23
+f 41 23 14
+f 42 6 17
+f 42 17 27
+f 42 31 6
+f 44 21 29
+f 45 8 20
+f 45 32 30
+f 45 20 32
+f 46 32 31
+f 46 30 32
+f 48 14 23
+f 48 23 34
+f 48 30 14
+f 49 15 36
+f 49 28 43
+f 50 35 3
+f 51 24 37
+f 51 50 24
+f 51 35 50
+f 51 37 10
+f 51 10 35
+f 52 37 4
+f 52 47 27
+f 52 4 47
+f 53 29 19
+f 53 19 39
+f 53 44 29
+f 53 43 28
+f 53 28 44
+f 54 40 10
+f 54 10 37
+f 54 37 52
+f 54 52 27
+f 54 27 40
+f 55 33 41
+f 55 27 47
+f 56 42 27
+f 56 41 42
+f 56 55 41
+f 56 27 55
+f 57 16 15
+f 57 49 43
+f 57 15 49
+f 58 39 26
+f 58 26 16
+f 58 57 43
+f 58 16 57
+f 58 53 39
+f 58 43 53
+f 59 44 28
+f 59 50 3
+f 59 28 49
+f 60 3 21
+f 60 21 44
+f 60 59 3
+f 60 44 59
+f 61 34 8
+f 61 8 45
+f 61 45 30
+f 61 48 34
+f 61 30 48
+f 62 41 30
+f 62 30 46
+f 62 42 41
+f 62 46 31
+f 62 31 42
+f 63 47 4
+f 63 4 33
+f 63 55 47
+f 63 33 55
+f 64 36 24
+f 64 24 50
+f 64 49 36
+f 64 59 49
+f 64 50 59
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_13/collision/model_normalized_collision_12.obj b/objects/objaverse/banana/banana_13/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..56d60806534c10365a002e3dd60352ae2de06f65
--- /dev/null
+++ b/objects/objaverse/banana/banana_13/collision/model_normalized_collision_12.obj
@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
+v -0.43033508 -0.21848757 -0.08373773
+v -0.34927531 -0.15351174 -0.08740943
+v -0.35416463 -0.14694083 -0.03079258
+v -0.44947564 -0.14738574 -0.02785818
+v -0.46432243 -0.14845580 -0.13890844
+v -0.42033945 -0.18961063 -0.04756408
+v -0.40927555 -0.21588520 -0.09697237
+v -0.48857894 -0.18749262 -0.07947665
+v -0.37762027 -0.13808497 -0.12941708
+v -0.43746914 -0.21742112 -0.07321442
+v -0.34451107 -0.15271222 -0.05060781
+v -0.45367871 -0.20642299 -0.13977628
+v -0.47392519 -0.15810938 -0.05170542
+v -0.43329817 -0.21518353 -0.13796415
+v -0.36394426 -0.13792120 -0.11555855
+v -0.42687641 -0.20378316 -0.06072361
+v -0.44118600 -0.20740720 -0.06341877
+v -0.35426924 -0.16479746 -0.08239577
+v -0.48609109 -0.20053660 -0.12166684
+v -0.48473817 -0.18232780 -0.06981696
+v -0.42680373 -0.22337354 -0.11462986
+v -0.40254431 -0.14524995 -0.13699314
+v -0.41591480 -0.19313508 -0.13755807
+v -0.42943557 -0.19181498 -0.04979109
+v -0.46836528 -0.20752872 -0.07635693
+v -0.34877976 -0.15783676 -0.05569232
+v -0.41184390 -0.21725775 -0.10283557
+v -0.45632346 -0.22003719 -0.11900317
+v -0.45538702 -0.22218683 -0.08511633
+v -0.37441417 -0.18007444 -0.09474080
+v -0.48078179 -0.20451895 -0.08500565
+v -0.46685135 -0.19435423 -0.06693331
+v -0.47993208 -0.21013844 -0.11681450
+v -0.44427428 -0.21811019 -0.07466691
+v -0.48035916 -0.19658114 -0.07636721
+f 6 3 4
+f 9 5 4
+f 10 7 3
+f 10 1 7
+f 11 3 7
+f 13 4 5
+f 13 5 8
+f 15 9 4
+f 15 4 3
+f 15 3 11
+f 15 11 2
+f 16 10 3
+f 16 3 6
+f 17 16 6
+f 17 10 16
+f 18 2 11
+f 19 8 5
+f 19 5 12
+f 20 13 8
+f 20 4 13
+f 21 7 1
+f 22 12 5
+f 22 5 9
+f 23 9 15
+f 23 22 9
+f 23 14 12
+f 23 12 22
+f 23 15 2
+f 24 17 6
+f 24 6 4
+f 24 4 17
+f 26 18 11
+f 26 11 7
+f 26 7 18
+f 27 18 7
+f 27 21 14
+f 27 7 21
+f 28 12 14
+f 28 14 21
+f 29 21 1
+f 29 1 10
+f 29 28 21
+f 30 14 23
+f 30 27 14
+f 30 18 27
+f 30 23 2
+f 30 2 18
+f 31 8 19
+f 31 29 25
+f 32 25 17
+f 32 17 4
+f 32 4 20
+f 33 19 12
+f 33 12 28
+f 33 28 29
+f 33 31 19
+f 33 29 31
+f 34 29 10
+f 34 10 17
+f 34 17 25
+f 34 25 29
+f 35 31 25
+f 35 20 8
+f 35 8 31
+f 35 32 20
+f 35 25 32
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_13/collision/model_normalized_collision_13.obj b/objects/objaverse/banana/banana_13/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a9ca0aab77eace0478789d7e3c987c8b8470c05
--- /dev/null
+++ b/objects/objaverse/banana/banana_13/collision/model_normalized_collision_13.obj
@@ -0,0 +1,144 @@
+# https://github.com/mikedh/trimesh
+v -0.35384352 -0.01962067 0.06313242
+v -0.35754918 -0.02526956 -0.12464603
+v -0.34677719 0.13436549 -0.03053621
+v -0.34809541 0.13356194 0.04055994
+v -0.47952072 -0.02918636 -0.04602923
+v -0.34848020 0.10912537 0.06139129
+v -0.45303678 -0.01812584 -0.10722087
+v -0.43008372 0.05551207 -0.03044400
+v -0.43563949 -0.02057036 0.02807487
+v -0.35177591 0.08843154 -0.07828923
+v -0.45524715 -0.02901758 -0.11136375
+v -0.35522121 0.12849511 0.03745160
+v -0.45842575 -0.00170669 -0.08796042
+v -0.47749298 -0.02759576 -0.02129918
+v -0.38036053 -0.01917920 0.05662725
+v -0.35467630 0.03205719 -0.10793736
+v -0.38850107 0.09527254 -0.05363992
+v -0.35895436 0.10832858 0.05461184
+v -0.47480929 -0.01780442 -0.04664503
+v -0.46636992 -0.02809581 -0.10190372
+v -0.41389501 0.06978233 0.02011176
+v -0.37553813 0.07485336 0.05489983
+v -0.39510305 0.02783111 -0.10411433
+v -0.35688019 0.12539368 -0.03270328
+v -0.43219616 0.03950356 -0.07947643
+v -0.35199092 0.11904688 -0.05253630
+v -0.38456306 0.09888619 0.03413968
+v -0.44426978 0.02573966 -0.07324500
+v -0.44476151 0.02880009 0.00569387
+v -0.47313298 -0.01510224 -0.02045023
+v -0.46252804 -0.01655775 -0.09774767
+v -0.43007024 0.05540027 -0.01807075
+v -0.41495483 0.05988028 0.02863501
+v -0.41343576 -0.01481268 -0.12004565
+v -0.41496325 0.06834422 -0.05801293
+v -0.43670411 0.02348242 -0.09032951
+v -0.36220011 0.11486013 -0.05113415
+v -0.46389030 -0.02363188 0.00125065
+v -0.38525728 0.09096072 0.04171517
+v -0.43314780 0.01644774 0.02564896
+v -0.43976982 -0.00363843 -0.10519567
+v -0.41398501 -0.02708445 -0.12454623
+v -0.41934862 0.05363507 -0.07589559
+v -0.44797790 0.00922857 -0.09273295
+v -0.45961856 0.00029172 0.00020618
+v -0.35779185 -0.01108747 -0.12160705
+v -0.37748186 0.09784390 -0.06033765
+v -0.36429638 0.08449693 -0.07692979
+v -0.44526777 0.01768266 0.01302645
+f 1 2 3
+f 5 2 1
+f 6 1 3
+f 6 3 4
+f 11 2 5
+f 12 4 3
+f 14 5 1
+f 15 1 6
+f 15 14 1
+f 15 9 14
+f 16 10 3
+f 16 3 2
+f 17 8 12
+f 18 6 4
+f 20 11 5
+f 20 5 19
+f 20 7 11
+f 22 15 6
+f 22 9 15
+f 22 6 18
+f 23 10 16
+f 24 17 12
+f 24 12 3
+f 24 3 17
+f 26 3 10
+f 27 18 4
+f 27 4 12
+f 28 19 8
+f 28 13 19
+f 28 25 13
+f 30 19 5
+f 30 5 14
+f 30 8 19
+f 31 20 19
+f 31 19 13
+f 31 7 20
+f 32 12 8
+f 32 29 21
+f 32 30 29
+f 32 8 30
+f 32 27 12
+f 32 21 27
+f 33 21 29
+f 34 11 7
+f 34 23 16
+f 35 8 17
+f 35 28 8
+f 35 25 28
+f 37 17 3
+f 37 3 26
+f 38 14 9
+f 39 33 22
+f 39 22 18
+f 39 18 27
+f 39 27 21
+f 39 21 33
+f 40 9 22
+f 40 22 33
+f 40 38 9
+f 41 34 7
+f 41 23 34
+f 41 36 23
+f 41 7 36
+f 42 2 11
+f 42 11 34
+f 42 34 16
+f 43 35 17
+f 43 25 35
+f 43 36 25
+f 44 36 7
+f 44 7 31
+f 44 31 13
+f 44 13 25
+f 44 25 36
+f 45 30 14
+f 45 14 38
+f 45 29 30
+f 46 42 16
+f 46 16 2
+f 46 2 42
+f 47 43 17
+f 47 17 37
+f 47 37 26
+f 48 10 23
+f 48 23 36
+f 48 36 43
+f 48 43 47
+f 48 47 26
+f 48 26 10
+f 49 45 38
+f 49 38 40
+f 49 40 33
+f 49 33 29
+f 49 29 45
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_13/collision/model_normalized_collision_14.obj b/objects/objaverse/banana/banana_13/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c9b183b0e0e5e0b5d5380dee1c2863a2f6fa0f9c
--- /dev/null
+++ b/objects/objaverse/banana/banana_13/collision/model_normalized_collision_14.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.23495100 0.05487995 0.11602199
+v 0.23462313 0.06028618 0.11865908
+v 0.00872168 0.09110967 0.12141675
+v 0.00763146 0.13135185 0.13959251
+v 0.23731098 0.12938524 0.13302741
+v 0.00709991 0.11994813 0.13542735
+v 0.23306667 0.10087370 0.13242880
+v 0.06880795 0.07444570 0.11152061
+v 0.00764563 0.08476078 0.11717735
+v 0.23262192 0.12869504 0.13401084
+v 0.17593640 0.05783594 0.11160069
+f 1 2 3
+f 5 2 1
+f 6 3 2
+f 6 2 4
+f 7 4 2
+f 7 2 5
+f 9 6 4
+f 9 3 6
+f 9 4 5
+f 9 5 8
+f 9 1 3
+f 10 7 5
+f 10 5 4
+f 10 4 7
+f 11 8 5
+f 11 5 1
+f 11 9 8
+f 11 1 9
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_13/collision/model_normalized_collision_15.obj b/objects/objaverse/banana/banana_13/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..29eaf1126172f7d85e832522362aaedcd32b6f74
--- /dev/null
+++ b/objects/objaverse/banana/banana_13/collision/model_normalized_collision_15.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.33988677 -0.00433043 0.08227028
+v 0.35539466 0.00929128 0.08556451
+v 0.30931286 0.05555780 0.11043951
+v 0.14523380 0.06031692 0.10971032
+v 0.14613048 0.04593668 0.09706091
+v 0.23299650 0.02990799 0.10185998
+v 0.32240262 0.03006612 0.09965584
+v 0.25177308 -0.00088960 0.08204390
+v 0.35811829 0.03641652 0.09451061
+v 0.33937198 0.00103595 0.08497296
+v 0.25410222 0.00494780 0.08743894
+v 0.14400041 0.05347167 0.10373418
+v 0.35182720 0.01451551 0.08865533
+v 0.35336924 0.03994980 0.09686523
+v 0.32380681 0.04371294 0.10400514
+f 6 3 4
+f 7 3 6
+f 8 5 2
+f 8 2 1
+f 9 2 5
+f 10 1 2
+f 10 7 6
+f 10 6 1
+f 11 8 1
+f 11 1 6
+f 11 6 4
+f 12 4 5
+f 12 5 8
+f 12 11 4
+f 12 8 11
+f 13 2 9
+f 13 10 2
+f 13 7 10
+f 14 13 9
+f 14 4 3
+f 14 9 5
+f 14 5 4
+f 15 14 3
+f 15 3 7
+f 15 7 13
+f 15 13 14
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_13/collision/model_normalized_collision_16.obj b/objects/objaverse/banana/banana_13/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..24819465581123ff1551c3b9ce74fa9e63031c06
--- /dev/null
+++ b/objects/objaverse/banana/banana_13/collision/model_normalized_collision_16.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v -0.09846404 0.17430923 0.13436104
+v -0.09703382 0.21406074 0.12144456
+v -0.21949495 0.17410544 0.10366710
+v -0.11291089 0.24729070 0.08826708
+v -0.09730634 0.24600263 0.10152723
+v -0.21462309 0.16900818 0.10742936
+v -0.09605819 0.23998725 0.10793565
+v -0.18291490 0.22204924 0.09240791
+v -0.16883122 0.18435878 0.11702656
+v -0.15465799 0.23309667 0.09426837
+v -0.18509506 0.22530181 0.08479736
+v -0.17079297 0.17119526 0.12037148
+v -0.10205769 0.18178000 0.13216326
+v -0.21251472 0.18267264 0.10285687
+v -0.16927942 0.22055204 0.10023859
+v -0.12285781 0.23625439 0.10376403
+v -0.15484792 0.23677524 0.08487560
+v -0.15472674 0.19734128 0.11580707
+v -0.21777176 0.18758182 0.09820114
+v -0.19188250 0.21024379 0.09799211
+v -0.12501428 0.21333726 0.11591646
+f 5 1 4
+f 6 3 4
+f 6 4 1
+f 7 2 1
+f 7 1 5
+f 10 5 4
+f 11 8 10
+f 12 9 6
+f 12 6 1
+f 13 1 2
+f 13 12 1
+f 13 9 12
+f 14 3 6
+f 14 6 9
+f 15 10 8
+f 16 7 5
+f 16 5 10
+f 16 10 15
+f 17 4 3
+f 17 3 11
+f 17 11 10
+f 17 10 4
+f 18 13 2
+f 18 9 13
+f 19 11 3
+f 19 3 14
+f 19 8 11
+f 20 14 9
+f 20 18 15
+f 20 9 18
+f 20 19 14
+f 20 15 8
+f 20 8 19
+f 21 2 7
+f 21 7 16
+f 21 18 2
+f 21 16 15
+f 21 15 18
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_13/collision/model_normalized_collision_17.obj b/objects/objaverse/banana/banana_13/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0f27f990cada31e7eda560701ad4c8c87c2e105b
--- /dev/null
+++ b/objects/objaverse/banana/banana_13/collision/model_normalized_collision_17.obj
@@ -0,0 +1,108 @@
+# https://github.com/mikedh/trimesh
+v 0.48623990 -0.26539813 -0.08712326
+v 0.49496301 -0.25786534 -0.08187519
+v 0.45514041 -0.26395762 -0.07262286
+v 0.37014507 -0.09319957 0.00832016
+v 0.37996161 -0.09495596 -0.06241165
+v 0.49268114 -0.24687594 -0.06331905
+v 0.47208297 -0.19444073 -0.08995079
+v 0.44200295 -0.20178014 -0.09053648
+v 0.39133784 -0.15160922 -0.05371850
+v 0.48393450 -0.26278899 -0.07299933
+v 0.48502792 -0.25562258 -0.09586868
+v 0.49109438 -0.19416108 -0.06519995
+v 0.44616581 -0.18022262 -0.09034844
+v 0.38875247 -0.14627300 -0.04134137
+v 0.37028911 -0.09934376 0.00128334
+v 0.43252868 -0.22714881 -0.08074444
+v 0.49704707 -0.25499568 -0.07083875
+v 0.48579144 -0.25671582 -0.09495000
+v 0.45988130 -0.26505754 -0.08588117
+v 0.49161574 -0.19985167 -0.07981976
+v 0.43936742 -0.09656444 -0.01044228
+v 0.44054347 -0.18846853 -0.09119785
+v 0.43927869 -0.10627899 -0.06155739
+v 0.48285051 -0.24461802 -0.09525627
+v 0.43366051 -0.22826185 -0.07201028
+v 0.49373010 -0.20869632 -0.05998656
+v 0.46972130 -0.24687594 -0.09235203
+v 0.49727492 -0.23265711 -0.06546832
+v 0.39834396 -0.09046072 0.00307116
+v 0.44229913 -0.13617156 -0.07404269
+v 0.47636724 -0.17081201 -0.07678441
+v 0.44884794 -0.10675895 -0.05513208
+v 0.47997952 -0.19687068 -0.04771327
+v 0.44641151 -0.10043678 -0.02220547
+v 0.47189555 -0.21286151 -0.04796852
+v 0.46533142 -0.15413518 -0.07436069
+v 0.45801138 -0.18141739 -0.08897557
+f 6 4 3
+f 10 6 3
+f 10 3 1
+f 15 4 5
+f 15 5 9
+f 15 9 14
+f 15 14 3
+f 15 3 4
+f 16 14 9
+f 16 9 5
+f 16 5 8
+f 17 10 1
+f 17 1 2
+f 17 6 10
+f 18 2 1
+f 19 1 3
+f 19 3 16
+f 19 16 8
+f 19 18 1
+f 19 11 18
+f 20 18 11
+f 20 2 18
+f 22 8 5
+f 22 5 13
+f 22 11 8
+f 24 13 7
+f 24 22 13
+f 24 11 22
+f 24 20 11
+f 24 7 20
+f 25 16 3
+f 25 3 14
+f 25 14 16
+f 26 20 12
+f 27 19 8
+f 27 8 11
+f 27 11 19
+f 28 17 2
+f 28 2 20
+f 28 20 26
+f 28 26 6
+f 28 6 17
+f 29 21 5
+f 29 5 4
+f 30 13 5
+f 30 5 23
+f 31 20 7
+f 32 23 5
+f 32 5 21
+f 32 12 20
+f 32 20 31
+f 33 26 21
+f 33 21 6
+f 33 6 26
+f 34 26 12
+f 34 21 26
+f 34 32 21
+f 34 12 32
+f 35 29 4
+f 35 4 6
+f 35 6 21
+f 35 21 29
+f 36 30 23
+f 36 31 7
+f 36 32 31
+f 36 23 32
+f 37 7 13
+f 37 13 30
+f 37 36 7
+f 37 30 36
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_13/collision/model_normalized_collision_18.obj b/objects/objaverse/banana/banana_13/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e0095242df297ae81f436a209f544bd2bb0f74f1
--- /dev/null
+++ b/objects/objaverse/banana/banana_13/collision/model_normalized_collision_18.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.23807944 0.00190910 0.08013463
+v 0.24369859 0.00068702 -0.03666751
+v 0.23636137 0.05344736 -0.05490848
+v 0.12918098 0.05495124 0.10243486
+v 0.13475815 0.02546910 0.02525240
+v 0.23468517 0.04830456 0.11240644
+v 0.18339710 0.00766914 0.00721225
+v 0.13419285 0.04030860 0.08251430
+v 0.13259049 0.06226218 -0.02111074
+v 0.23699750 0.01660817 0.09300071
+v 0.24374078 0.01741348 -0.05068817
+v 0.13531823 0.02530386 0.01874873
+v 0.18244017 0.00967003 0.03860321
+v 0.13032552 0.04819881 0.09546720
+v 0.19313722 0.05725728 -0.04630978
+v 0.13633753 0.03975887 -0.00095379
+v 0.14928775 0.02633802 0.05335462
+v 0.21218357 0.00908450 0.07757380
+v 0.19805530 0.01143600 0.06707351
+f 7 2 1
+f 9 5 4
+f 9 6 3
+f 9 4 6
+f 10 6 4
+f 10 4 1
+f 10 1 2
+f 11 3 6
+f 11 2 9
+f 11 10 2
+f 11 6 10
+f 12 7 5
+f 12 2 7
+f 12 5 9
+f 13 7 1
+f 13 5 7
+f 14 1 4
+f 14 4 5
+f 14 5 8
+f 15 11 9
+f 15 9 3
+f 15 3 11
+f 16 12 9
+f 16 9 2
+f 16 2 12
+f 17 8 5
+f 17 5 13
+f 18 13 1
+f 18 14 8
+f 18 1 14
+f 19 17 13
+f 19 13 18
+f 19 18 8
+f 19 8 17
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_13/collision/model_normalized_collision_19.obj b/objects/objaverse/banana/banana_13/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d1fa387273cbe22c37c4f7f740164d1980740f9
--- /dev/null
+++ b/objects/objaverse/banana/banana_13/collision/model_normalized_collision_19.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v -0.16323214 0.17905012 0.12005783
+v -0.15952736 0.16937520 -0.05138612
+v -0.15484792 0.23677524 0.08487560
+v -0.15912353 0.18055746 -0.04598755
+v -0.23735948 0.17675188 0.09469867
+v -0.23276219 0.17188691 0.09906693
+v -0.23390646 0.17162374 -0.04352640
+v -0.18291490 0.22204924 0.09240791
+v -0.20313453 0.16714966 -0.05038539
+v -0.15675484 0.23914223 0.00554175
+v -0.16083651 0.20685381 0.10961066
+v -0.20157917 0.17733356 -0.04435282
+v -0.18427452 0.23255509 0.00659340
+v -0.22762606 0.19666627 0.08976677
+v -0.21608819 0.18984464 -0.03160136
+v -0.18228037 0.23013219 0.07081729
+v -0.23072893 0.20669101 -0.00937458
+v -0.16732940 0.23295825 0.08433157
+v -0.22693277 0.20540297 0.08100372
+v -0.23293569 0.17981097 -0.03665959
+v -0.21243868 0.21610163 -0.00433611
+v -0.19450251 0.21770673 0.09023601
+v -0.20923240 0.21524932 0.08107497
+f 1 2 3
+f 3 2 4
+f 6 2 1
+f 7 6 5
+f 9 4 2
+f 9 2 6
+f 9 6 7
+f 10 3 4
+f 11 1 3
+f 11 3 8
+f 11 6 1
+f 12 9 7
+f 12 4 9
+f 12 10 4
+f 13 3 10
+f 14 11 8
+f 14 5 6
+f 14 6 11
+f 15 12 7
+f 15 10 12
+f 16 3 13
+f 17 7 5
+f 18 8 3
+f 18 3 16
+f 19 13 17
+f 19 17 5
+f 19 5 14
+f 20 17 15
+f 20 15 7
+f 20 7 17
+f 21 17 13
+f 21 13 10
+f 21 10 15
+f 21 15 17
+f 22 19 14
+f 22 14 8
+f 23 18 16
+f 23 16 13
+f 23 13 19
+f 23 19 22
+f 23 22 8
+f 23 8 18
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_13/collision/model_normalized_collision_2.obj b/objects/objaverse/banana/banana_13/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..758a1055ee951f1befb5a1bbe41b09b84223e101
--- /dev/null
+++ b/objects/objaverse/banana/banana_13/collision/model_normalized_collision_2.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v -0.24325147 -0.04032039 0.02167118
+v -0.08952325 0.07505790 -0.03998325
+v -0.06912367 0.06007382 0.09668650
+v -0.23210185 0.09866473 0.10946845
+v -0.23611549 0.09585746 -0.07743396
+v -0.09794081 0.10266252 0.12447123
+v -0.10380275 0.02431730 0.00569030
+v -0.24393050 -0.01597537 -0.06963119
+v -0.23843806 -0.01216504 0.06293775
+v -0.17279306 0.10245266 0.11964802
+v -0.16206759 0.09857149 -0.06360066
+v -0.07058446 0.05147648 0.08309806
+v -0.24219729 -0.02264786 0.05059827
+v -0.24209955 -0.04745040 -0.04202599
+v -0.09892481 0.09110071 0.11894388
+v -0.23473013 0.03028659 0.08760941
+v -0.24049294 0.01061450 -0.08371131
+v -0.06830402 0.05414805 0.08847599
+v -0.21698928 -0.03350385 0.00480685
+v -0.07111910 0.05573588 0.09190780
+v -0.10348973 0.03338392 -0.00616369
+v -0.09920553 0.06539143 0.10293946
+v -0.23364914 0.05983844 0.10008496
+v -0.22271827 0.09589672 -0.07572931
+v -0.10339888 0.02757242 0.03697868
+v -0.22006610 -0.03639718 -0.02389908
+v -0.17343015 0.08992821 0.11561896
+f 6 3 2
+f 10 5 4
+f 11 6 2
+f 11 10 6
+f 11 5 10
+f 12 7 2
+f 13 8 1
+f 13 4 5
+f 13 5 8
+f 14 1 8
+f 14 8 2
+f 15 3 6
+f 16 15 6
+f 16 9 15
+f 16 13 9
+f 17 8 5
+f 17 11 2
+f 17 2 8
+f 18 12 2
+f 18 2 3
+f 18 1 12
+f 18 13 1
+f 19 12 1
+f 19 1 14
+f 20 3 9
+f 20 9 13
+f 20 18 3
+f 20 13 18
+f 21 14 2
+f 21 2 7
+f 21 7 14
+f 22 15 9
+f 22 9 3
+f 22 3 15
+f 23 10 4
+f 23 4 13
+f 23 13 16
+f 24 17 5
+f 24 5 11
+f 24 11 17
+f 25 19 7
+f 25 7 12
+f 25 12 19
+f 26 19 14
+f 26 14 7
+f 26 7 19
+f 27 23 16
+f 27 16 6
+f 27 6 10
+f 27 10 23
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_13/collision/model_normalized_collision_20.obj b/objects/objaverse/banana/banana_13/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..503ed9df75c1ed3894024a2e3fecff98f31fcc6e
--- /dev/null
+++ b/objects/objaverse/banana/banana_13/collision/model_normalized_collision_20.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.13184006 0.03648997 0.06967288
+v 0.13295355 0.03352059 0.00748837
+v 0.12898888 0.12910165 -0.04489087
+v 0.00806464 0.12186686 0.13616896
+v 0.00701521 0.04851123 0.00800074
+v 0.12669323 0.12436736 0.14023673
+v 0.06993134 0.03943019 0.01957479
+v 0.00705594 0.06738972 0.10292673
+v 0.13265222 0.07780397 -0.03706397
+v 0.00749430 0.12927319 -0.04365700
+v 0.00658485 0.05529342 0.08130670
+v 0.13024857 0.06193460 0.10890504
+v 0.00664300 0.09360629 -0.03603721
+v 0.06991307 0.04084666 0.04223189
+v 0.13032552 0.04819881 0.09546720
+f 7 5 2
+f 7 2 1
+f 9 2 5
+f 9 3 6
+f 9 1 2
+f 10 3 9
+f 10 6 3
+f 10 4 6
+f 11 8 4
+f 12 6 4
+f 12 4 8
+f 12 9 6
+f 12 1 9
+f 13 10 9
+f 13 9 5
+f 13 5 11
+f 13 11 4
+f 13 4 10
+f 14 7 1
+f 14 1 11
+f 14 11 5
+f 14 5 7
+f 15 11 1
+f 15 8 11
+f 15 12 8
+f 15 1 12
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_13/collision/model_normalized_collision_21.obj b/objects/objaverse/banana/banana_13/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f07763dc58be068696ac6b61f17583c0e5efd6ab
--- /dev/null
+++ b/objects/objaverse/banana/banana_13/collision/model_normalized_collision_21.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v -0.02403478 0.04088109 0.04043838
+v 0.00716975 0.06313371 -0.00682766
+v 0.00719884 0.17363361 0.14359067
+v -0.09651640 0.17228580 0.13505399
+v -0.10424988 0.07723765 -0.04796051
+v -0.09920553 0.06539143 0.10293946
+v 0.00658485 0.05529342 0.08130670
+v -0.10348973 0.03338392 -0.00616369
+v 0.00755667 0.17341115 -0.04279739
+v -0.08251840 0.12132438 0.13196623
+v 0.00701521 0.04851123 0.00800074
+v -0.10201641 0.03889399 0.06719690
+v 0.00664300 0.09360629 -0.03603721
+v 0.00872168 0.09110967 0.12141675
+v -0.09899730 0.16967799 -0.04853268
+v -0.09629529 0.13143403 0.13363723
+v -0.02667221 0.04067606 0.01242908
+v -0.09892481 0.09110071 0.11894388
+v -0.03990316 0.10127735 -0.04462865
+v 0.00709991 0.11994813 0.13542735
+v -0.06978940 0.06688617 0.10259941
+v -0.03857503 0.15775214 -0.04655914
+f 9 4 3
+f 11 7 1
+f 11 8 2
+f 12 7 6
+f 12 1 7
+f 12 8 1
+f 12 4 5
+f 12 5 8
+f 13 8 5
+f 13 2 8
+f 13 9 2
+f 14 9 3
+f 14 2 9
+f 14 11 2
+f 14 7 11
+f 15 5 4
+f 15 4 9
+f 16 3 4
+f 17 11 1
+f 17 1 8
+f 17 8 11
+f 18 12 6
+f 18 4 12
+f 18 16 4
+f 18 10 16
+f 18 6 14
+f 19 13 5
+f 19 9 13
+f 20 14 3
+f 20 18 14
+f 20 10 18
+f 20 16 10
+f 20 3 16
+f 21 14 6
+f 21 6 7
+f 21 7 14
+f 22 15 9
+f 22 5 15
+f 22 19 5
+f 22 9 19
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_13/collision/model_normalized_collision_22.obj b/objects/objaverse/banana/banana_13/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a5555b8c65f3b254fbc5c1c2e0eb04abdd15c6e6
--- /dev/null
+++ b/objects/objaverse/banana/banana_13/collision/model_normalized_collision_22.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v -0.37824354 -0.16181659 -0.03725749
+v -0.35876945 -0.15195204 -0.03576195
+v -0.35452462 -0.03352706 0.05874085
+v -0.43563949 -0.02057036 0.02807487
+v -0.47942604 -0.02725762 -0.03357845
+v -0.43802175 -0.14528394 -0.01952130
+v -0.35779717 -0.11766238 0.01462691
+v -0.35606060 -0.02263836 -0.03221340
+v -0.42349706 -0.07792941 0.02490051
+v -0.48583038 -0.12558834 -0.04146609
+v -0.36531697 -0.14224011 -0.01124238
+v -0.35587529 -0.07453029 0.04036604
+v -0.35384352 -0.01962067 0.06313242
+v -0.46389030 -0.02363188 0.00125065
+v -0.41274125 -0.11787964 0.00991389
+v -0.44306972 -0.16887084 -0.04020256
+v -0.46323860 -0.11932505 -0.01891385
+v -0.37854648 -0.15644431 -0.02570338
+v -0.36776133 -0.01942643 0.06023764
+v -0.47741201 -0.07853110 -0.01599890
+v -0.36994895 -0.07452269 0.04005990
+v -0.43870490 -0.16240514 -0.03332269
+v -0.40805883 -0.04802026 0.04038155
+v -0.36695580 -0.03230916 0.05696976
+v -0.47279624 -0.02527132 -0.00964865
+v -0.46218234 -0.08018550 -0.00259131
+v -0.41043521 -0.09067167 0.02526344
+v -0.40934019 -0.02095111 0.04388994
+v -0.43539621 -0.05005493 0.02521144
+v -0.39526047 -0.06216372 0.04108172
+f 8 2 1
+f 10 8 1
+f 10 5 8
+f 11 2 7
+f 12 7 2
+f 13 2 8
+f 13 12 2
+f 13 3 12
+f 14 8 5
+f 14 4 8
+f 16 10 1
+f 17 15 9
+f 17 6 15
+f 17 16 6
+f 17 10 16
+f 18 1 2
+f 18 2 11
+f 18 16 1
+f 18 11 7
+f 19 13 8
+f 19 8 4
+f 20 5 10
+f 20 4 14
+f 21 15 7
+f 21 7 12
+f 21 12 3
+f 22 15 6
+f 22 6 16
+f 22 7 15
+f 22 18 7
+f 22 16 18
+f 24 3 13
+f 24 13 19
+f 25 20 14
+f 25 14 5
+f 25 5 20
+f 26 20 10
+f 26 10 17
+f 26 17 9
+f 27 9 15
+f 27 15 21
+f 28 23 19
+f 28 19 4
+f 29 9 23
+f 29 26 9
+f 29 4 20
+f 29 20 26
+f 29 28 4
+f 29 23 28
+f 30 24 19
+f 30 19 23
+f 30 23 9
+f 30 9 27
+f 30 27 21
+f 30 21 3
+f 30 3 24
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_13/collision/model_normalized_collision_23.obj b/objects/objaverse/banana/banana_13/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cd4bcecd2b80d325c36940b6c9b8895fa1feaa1a
--- /dev/null
+++ b/objects/objaverse/banana/banana_13/collision/model_normalized_collision_23.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.20834261 0.01854109 -0.02304546
+v 0.23636137 0.05344736 -0.05490848
+v 0.24014436 0.20576472 -0.00103120
+v 0.13308390 0.21313499 -0.01917230
+v 0.13265222 0.07780397 -0.03706397
+v 0.23419407 0.15150107 -0.04417759
+v 0.12358422 0.04156232 0.00232723
+v 0.19313722 0.05725728 -0.04630978
+v 0.23232149 0.17799526 -0.02957118
+v 0.14536275 0.14276191 -0.04601533
+v 0.12741762 0.18435107 -0.03640229
+v 0.16222916 0.08581841 -0.04493139
+v 0.17413579 0.15377727 -0.04562921
+v 0.14518279 0.11510075 -0.04572599
+f 1 2 3
+f 6 3 2
+f 7 1 3
+f 7 3 4
+f 7 5 1
+f 8 2 1
+f 8 1 5
+f 9 4 3
+f 9 3 6
+f 11 7 4
+f 11 5 7
+f 11 9 6
+f 11 4 9
+f 12 8 5
+f 12 2 8
+f 13 6 2
+f 13 2 10
+f 13 11 6
+f 13 10 11
+f 14 11 10
+f 14 5 11
+f 14 12 5
+f 14 10 2
+f 14 2 12
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_13/collision/model_normalized_collision_24.obj b/objects/objaverse/banana/banana_13/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c0770a93a1e8a6af8f567a966304e1edf4b10ddf
--- /dev/null
+++ b/objects/objaverse/banana/banana_13/collision/model_normalized_collision_24.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.23748072 0.08137794 -0.08034907
+v -0.22857069 0.08835322 -0.07768081
+v -0.34825652 0.13033188 -0.04036701
+v -0.34639989 0.12658717 -0.04783128
+v -0.35430915 0.07832118 -0.08422392
+v -0.23583132 0.14843830 -0.05774845
+v -0.36512063 0.09838377 -0.06534659
+v -0.30538817 0.12988721 -0.06002126
+v -0.23644842 0.10799511 -0.07472387
+v -0.33609762 0.10074632 -0.07391743
+v -0.23487322 0.13664192 -0.06378544
+v -0.35177591 0.08843154 -0.07828923
+f 1 2 3
+f 6 3 2
+f 6 4 3
+f 7 5 1
+f 7 1 3
+f 7 3 4
+f 8 4 6
+f 8 7 4
+f 9 2 1
+f 9 1 5
+f 10 8 6
+f 10 6 5
+f 10 7 8
+f 11 6 2
+f 11 2 9
+f 11 9 5
+f 11 5 6
+f 12 10 5
+f 12 5 7
+f 12 7 10
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_13/collision/model_normalized_collision_25.obj b/objects/objaverse/banana/banana_13/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..04808516a07929de870b38f3e76a814b80872b37
--- /dev/null
+++ b/objects/objaverse/banana/banana_13/collision/model_normalized_collision_25.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.15765681 0.10259716 0.12103452
+v -0.14742103 0.09660220 -0.06014679
+v -0.16311613 0.19893834 -0.03308569
+v -0.24247839 0.19367725 -0.02016487
+v -0.23484848 0.09857376 -0.00191037
+v -0.15687634 0.17238968 0.12369300
+v -0.23603851 0.09811082 0.10826352
+v -0.20124353 0.10189530 0.11592834
+v -0.22715720 0.16805907 0.10298365
+v -0.23210185 0.09866473 0.10946845
+v -0.19927788 0.15709391 0.11627527
+v -0.18465677 0.16886711 0.11713977
+f 3 2 4
+f 5 4 2
+f 6 3 4
+f 6 1 2
+f 6 2 3
+f 7 5 2
+f 7 2 1
+f 7 4 5
+f 8 1 6
+f 9 6 4
+f 9 4 7
+f 10 7 1
+f 10 1 8
+f 11 10 8
+f 11 8 6
+f 11 9 7
+f 11 7 10
+f 12 11 6
+f 12 6 9
+f 12 9 11
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_13/collision/model_normalized_collision_26.obj b/objects/objaverse/banana/banana_13/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fdc4860b9f9a26b1232c322c436f71bac52492a8
--- /dev/null
+++ b/objects/objaverse/banana/banana_13/collision/model_normalized_collision_26.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.20834261 0.01854109 -0.02304546
+v 0.23484848 0.12887679 0.01324115
+v 0.23495100 0.05487995 0.11602199
+v 0.12669323 0.12436736 0.14023673
+v 0.12340420 0.12460333 -0.04416958
+v 0.23731098 0.12938524 0.13302741
+v 0.13024857 0.06193460 0.10890504
+v 0.12358422 0.04156232 0.00232723
+f 1 2 3
+f 5 2 1
+f 6 3 2
+f 6 4 3
+f 6 5 4
+f 6 2 5
+f 7 1 3
+f 7 3 4
+f 8 5 1
+f 8 1 7
+f 8 7 4
+f 8 4 5
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_13/collision/model_normalized_collision_27.obj b/objects/objaverse/banana/banana_13/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..77c52cf42c987b1fb95a50ef9e75d97c1d62d1a6
--- /dev/null
+++ b/objects/objaverse/banana/banana_13/collision/model_normalized_collision_27.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.20847722 0.00352039 0.06746643
+v -0.18856269 0.01943710 0.07793492
+v -0.28045318 -0.00635330 0.07148354
+v -0.28016494 0.02436115 0.08494101
+v -0.19146571 0.01262733 0.07109487
+v -0.18987424 0.02664613 0.08334210
+v -0.20797839 0.00760455 0.07180767
+v -0.20373541 0.01888898 0.07960171
+v -0.28097370 -0.00042483 0.07447433
+v -0.28070729 0.01932378 0.08299458
+f 1 3 4
+f 5 2 1
+f 5 1 4
+f 6 5 4
+f 6 2 5
+f 7 1 2
+f 7 2 3
+f 7 3 1
+f 8 6 3
+f 8 3 2
+f 8 2 6
+f 9 3 6
+f 10 9 6
+f 10 6 4
+f 10 4 3
+f 10 3 9
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_13/collision/model_normalized_collision_28.obj b/objects/objaverse/banana/banana_13/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7925aa62e978529d97851178d3f83b924bd5ac73
--- /dev/null
+++ b/objects/objaverse/banana/banana_13/collision/model_normalized_collision_28.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.35416463 -0.14694083 -0.03079258
+v -0.36908745 -0.13254032 -0.12464082
+v -0.35606060 -0.02263836 -0.03221340
+v -0.47188179 -0.01133265 -0.03464571
+v -0.44947564 -0.14738574 -0.02785818
+v -0.35754918 -0.02526956 -0.12464603
+v -0.44694953 -0.14400908 -0.13710611
+v -0.43999781 -0.02910661 -0.11789652
+f 5 1 3
+f 5 3 4
+f 6 4 3
+f 6 1 2
+f 6 3 1
+f 7 2 1
+f 7 1 5
+f 7 5 4
+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/banana/banana_13/collision/model_normalized_collision_29.obj b/objects/objaverse/banana/banana_13/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..772e1898e3b0c99ebd904d02ef1b598699365a4c
--- /dev/null
+++ b/objects/objaverse/banana/banana_13/collision/model_normalized_collision_29.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.00719884 0.17363361 0.14359067
+v 0.00757576 0.17433134 0.05869570
+v 0.00433512 0.26862476 0.06917636
+v -0.04221742 0.26496257 0.06582792
+v -0.03787879 0.17433134 0.05869570
+v -0.00866897 0.26853883 0.06308180
+v -0.03553111 0.21182508 0.13210017
+v 0.00892690 0.21386967 0.13493786
+v -0.03787879 0.18948285 0.05869570
+v -0.03708169 0.17374779 0.14144900
+f 5 2 1
+f 6 3 2
+f 6 4 3
+f 7 3 4
+f 8 1 2
+f 8 2 3
+f 8 3 7
+f 9 5 4
+f 9 4 6
+f 9 6 2
+f 9 2 5
+f 10 5 1
+f 10 8 7
+f 10 1 8
+f 10 7 4
+f 10 4 5
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_13/collision/model_normalized_collision_3.obj b/objects/objaverse/banana/banana_13/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f4804cdeee3c12a570548b2a711a5582a0e333f0
--- /dev/null
+++ b/objects/objaverse/banana/banana_13/collision/model_normalized_collision_3.obj
@@ -0,0 +1,126 @@
+# https://github.com/mikedh/trimesh
+v -0.22632533 -0.03806573 0.00643580
+v -0.22857069 0.08835322 -0.07768081
+v -0.22762606 0.19666627 0.08976677
+v -0.22857805 0.20850005 0.06938949
+v -0.36512063 0.09838377 -0.06534659
+v -0.23072893 0.20669101 -0.00937458
+v -0.35939785 -0.04481800 0.05371642
+v -0.34411440 0.13269797 0.04978130
+v -0.23274601 0.16489635 -0.04856316
+v -0.23246087 0.07237589 0.10452095
+v -0.26898511 0.18592189 0.06801300
+v -0.30102980 0.17060698 -0.01511123
+v -0.34534434 0.12243118 0.05805709
+v -0.23469249 0.14293662 -0.06034063
+v -0.30449617 0.14510045 -0.04709511
+v -0.23843806 -0.01216504 0.06293775
+v -0.24030879 0.19243828 0.08607966
+v -0.34825652 0.13033188 -0.04036701
+v -0.29959630 0.17215504 0.04078779
+v -0.35066751 0.00947661 0.07042087
+v -0.31078152 0.15839887 0.06042605
+v -0.30814845 0.13634356 -0.05362572
+v -0.25929396 0.16010067 -0.04712482
+v -0.30430687 0.15856995 -0.03369967
+v -0.23473013 0.03028659 0.08760941
+v -0.25689706 0.14121686 0.09989589
+v -0.24379956 0.20245410 -0.00815837
+v -0.33843232 -0.00346312 0.07009258
+v -0.32557667 0.14523924 0.05903869
+v -0.26065089 0.18827055 -0.01967215
+v -0.33185640 0.14232683 -0.03652006
+v -0.28097370 -0.00042483 0.07447433
+v -0.23071289 0.15456607 0.10671869
+v -0.26063474 0.08712584 0.10189976
+v -0.34348928 0.09295803 0.07004096
+v -0.35384352 -0.01962067 0.06313242
+v -0.29403096 0.02810380 0.08501489
+v -0.27048211 0.16420369 0.08484764
+v -0.29899328 0.12237988 0.08584693
+v -0.30742475 0.04018551 0.08528350
+v -0.24291522 0.15273909 0.10192487
+v -0.32822510 0.12299987 0.06934705
+v -0.24694092 0.07238926 0.10215348
+f 1 2 3
+f 3 2 4
+f 5 2 1
+f 6 4 2
+f 7 5 1
+f 9 6 2
+f 10 1 3
+f 13 8 5
+f 13 5 7
+f 14 9 2
+f 14 2 5
+f 16 7 1
+f 17 3 4
+f 17 4 11
+f 18 5 8
+f 19 11 4
+f 19 18 8
+f 19 12 18
+f 20 13 7
+f 21 19 8
+f 21 11 19
+f 21 17 11
+f 22 14 5
+f 22 9 14
+f 22 5 15
+f 23 6 9
+f 23 22 15
+f 23 9 22
+f 24 15 5
+f 25 16 1
+f 25 1 10
+f 27 19 4
+f 27 4 6
+f 27 12 19
+f 29 21 8
+f 29 8 13
+f 30 23 15
+f 30 15 24
+f 30 6 23
+f 30 27 6
+f 30 24 12
+f 30 12 27
+f 31 18 12
+f 31 12 24
+f 31 24 5
+f 31 5 18
+f 32 25 10
+f 32 7 16
+f 32 16 25
+f 33 10 3
+f 33 3 17
+f 34 33 26
+f 34 10 33
+f 35 13 20
+f 35 20 34
+f 36 28 20
+f 36 20 7
+f 37 32 10
+f 37 7 32
+f 37 36 7
+f 37 28 36
+f 38 17 21
+f 38 21 29
+f 38 33 17
+f 39 35 34
+f 39 34 26
+f 39 26 38
+f 40 20 28
+f 40 28 37
+f 40 34 20
+f 41 38 26
+f 41 26 33
+f 41 33 38
+f 42 38 29
+f 42 29 13
+f 42 39 38
+f 42 13 35
+f 42 35 39
+f 43 40 37
+f 43 37 10
+f 43 10 34
+f 43 34 40
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_13/collision/model_normalized_collision_30.obj b/objects/objaverse/banana/banana_13/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b076e698c3ef4eaa203a47c0da8c16f8149378a3
--- /dev/null
+++ b/objects/objaverse/banana/banana_13/collision/model_normalized_collision_30.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.12878788 0.12887679 0.05869570
+v 0.12898888 0.12910165 -0.04489087
+v 0.12878788 0.18948285 0.05869570
+v 0.00757576 0.18948285 0.05869570
+v 0.00757576 0.12887679 0.04354418
+v 0.00774778 0.18681335 -0.03933701
+v 0.00757576 0.12887679 0.05869570
+v 0.12741762 0.18435107 -0.03640229
+v 0.00749430 0.12927319 -0.04365700
+v 0.11336434 0.18545472 -0.03657966
+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 3 2
+f 8 2 6
+f 9 4 6
+f 9 7 4
+f 9 5 7
+f 9 6 2
+f 9 2 5
+f 10 8 6
+f 10 6 3
+f 10 3 8
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_13/collision/model_normalized_collision_31.obj b/objects/objaverse/banana/banana_13/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b502be5015bc7bb325b56ef09cc9c9b7d552cb29
--- /dev/null
+++ b/objects/objaverse/banana/banana_13/collision/model_normalized_collision_31.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.22632533 -0.03806573 0.00643580
+v -0.23777601 -0.02051322 -0.05961613
+v -0.23484848 0.08342225 -0.00191037
+v -0.37950325 0.10955107 0.00233712
+v -0.35939785 -0.04481800 0.05371642
+v -0.24723597 0.08824245 -0.08084846
+v -0.34192220 -0.01777897 -0.12006827
+v -0.23222118 0.08557898 -0.07882615
+v -0.35190866 0.00731113 -0.11554461
+v -0.35968119 0.09182247 -0.07298400
+f 5 1 3
+f 5 3 4
+f 7 2 1
+f 7 1 5
+f 8 6 4
+f 8 4 3
+f 8 3 1
+f 8 1 2
+f 8 7 6
+f 8 2 7
+f 9 7 5
+f 9 5 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/banana/banana_13/collision/model_normalized_collision_4.obj b/objects/objaverse/banana/banana_13/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a86dfc048ed352c94ff50fced5fae71f5c49929
--- /dev/null
+++ b/objects/objaverse/banana/banana_13/collision/model_normalized_collision_4.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v -0.35381037 -0.16315540 -0.06046329
+v -0.24393050 -0.01597537 -0.06963119
+v -0.23714200 -0.01737998 0.05557561
+v -0.35384352 -0.01962067 0.06313242
+v -0.34192220 -0.01777897 -0.12006827
+v -0.25251049 -0.01597901 0.06341150
+v -0.24833589 -0.05785821 -0.03955267
+v -0.28638914 -0.03487213 -0.10022608
+v -0.36293966 -0.14744241 -0.02312056
+v -0.24574748 -0.05257502 0.00355845
+v -0.27271716 -0.01835969 -0.09605224
+v -0.31669280 -0.12403027 -0.07332400
+v -0.35779717 -0.11766238 0.01462691
+v -0.32177534 -0.12671853 -0.02823366
+v -0.33316922 -0.14951563 -0.06429036
+v -0.28306473 -0.02231490 -0.10107621
+v -0.27723064 -0.02937660 -0.09488007
+v -0.24934735 -0.02823463 -0.06640068
+v -0.35587529 -0.07453029 0.04036604
+v -0.36167786 -0.13089394 0.00383617
+v -0.34746705 -0.11355056 0.01556160
+v -0.33530229 -0.14268759 -0.04194086
+v -0.31003931 -0.11930976 -0.06822562
+v -0.27933702 -0.05790788 -0.07895040
+v -0.34135226 -0.07423743 0.04027283
+v -0.35452462 -0.03352706 0.05874085
+v -0.35066536 -0.12600559 0.00078666
+v -0.25480310 -0.02421993 0.05787664
+v -0.35040367 -0.14294770 -0.02722821
+f 6 3 2
+f 6 5 4
+f 6 2 5
+f 7 2 3
+f 9 5 1
+f 9 4 5
+f 10 7 3
+f 11 5 2
+f 12 5 8
+f 14 10 3
+f 15 7 10
+f 15 1 5
+f 15 5 12
+f 15 10 14
+f 16 11 8
+f 16 8 5
+f 16 5 11
+f 17 11 2
+f 17 8 11
+f 17 12 8
+f 18 12 2
+f 18 2 7
+f 18 7 12
+f 20 13 19
+f 20 4 9
+f 21 6 13
+f 21 20 3
+f 21 13 20
+f 22 15 14
+f 22 1 15
+f 23 15 12
+f 23 12 7
+f 23 7 15
+f 24 17 2
+f 24 2 12
+f 24 12 17
+f 25 19 13
+f 25 13 6
+f 26 6 4
+f 26 20 19
+f 26 4 20
+f 26 25 6
+f 26 19 25
+f 27 20 14
+f 27 14 3
+f 27 3 20
+f 28 21 3
+f 28 3 6
+f 28 6 21
+f 29 9 1
+f 29 1 22
+f 29 20 9
+f 29 22 14
+f 29 14 20
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_13/collision/model_normalized_collision_5.obj b/objects/objaverse/banana/banana_13/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..240ebc6a2fd3bb3835d78d25df3a635d516b9ba7
--- /dev/null
+++ b/objects/objaverse/banana/banana_13/collision/model_normalized_collision_5.obj
@@ -0,0 +1,126 @@
+# https://github.com/mikedh/trimesh
+v 0.23051222 0.18350494 0.11999521
+v 0.24014436 0.20576472 -0.00103120
+v 0.11034811 0.26225183 0.06934731
+v -0.06683820 0.26296292 0.05751705
+v -0.09774227 0.20368664 -0.03269476
+v -0.05094540 0.24079473 0.11597880
+v 0.22700827 0.23130303 0.05520283
+v 0.00757576 0.17433134 0.05869570
+v 0.09590797 0.26345238 0.02715948
+v 0.12422428 0.23949553 0.11711912
+v 0.00742229 0.26269826 0.09873688
+v -0.10069310 0.17745332 0.13335560
+v 0.22818173 0.21985137 0.09701305
+v 0.00907127 0.19446005 -0.03624289
+v 0.18487306 0.24804207 0.03174822
+v -0.09761873 0.25655918 0.01742558
+v -0.09388076 0.24939684 0.09730342
+v 0.11074714 0.26435642 0.03263304
+v 0.05094327 0.26281764 0.09780686
+v -0.09651640 0.17228580 0.13505399
+v 0.21389571 0.22127616 0.10516335
+v 0.15499361 0.24656684 0.09695354
+v 0.22808602 0.23068706 0.02398266
+v 0.17033022 0.24908523 0.02501153
+v -0.05326401 0.26265518 0.02177879
+v -0.03565388 0.26287913 0.08487198
+v -0.07855318 0.24798146 0.10461091
+v -0.03708169 0.17374779 0.14144900
+v 0.17107404 0.22482697 0.11599409
+v 0.22790348 0.19706157 0.11488931
+v 0.21154277 0.23082912 0.08390876
+v 0.18217732 0.23373523 0.10622139
+v 0.12884113 0.24721020 0.10848553
+v 0.18335646 0.24668614 0.05585110
+v -0.06709179 0.26319211 0.02901814
+v -0.09406969 0.22643858 0.11602604
+v 0.17194686 0.18366302 0.13424420
+v -0.04988137 0.21212831 0.13034856
+v -0.07996721 0.19942054 0.13113655
+v 0.16641286 0.24591075 0.08499141
+v 0.12597937 0.21160382 0.13084909
+v 0.17233173 0.19647173 0.12918426
+v -0.09637175 0.18561785 0.13210554
+f 8 2 1
+f 11 6 10
+f 13 1 2
+f 13 2 7
+f 14 8 5
+f 14 2 8
+f 14 9 2
+f 14 5 9
+f 16 5 12
+f 17 16 12
+f 17 4 16
+f 18 3 15
+f 19 11 10
+f 19 18 11
+f 19 3 18
+f 20 12 5
+f 20 5 8
+f 23 15 7
+f 23 7 2
+f 24 2 9
+f 24 18 15
+f 24 9 18
+f 24 23 2
+f 24 15 23
+f 25 9 5
+f 25 5 16
+f 25 18 9
+f 26 17 11
+f 26 4 17
+f 26 18 4
+f 26 11 18
+f 27 6 11
+f 27 11 17
+f 28 20 8
+f 28 8 1
+f 30 1 13
+f 30 13 21
+f 30 21 29
+f 31 13 7
+f 32 21 13
+f 32 31 22
+f 32 13 31
+f 32 29 21
+f 32 10 29
+f 33 19 10
+f 33 32 22
+f 33 10 32
+f 33 22 3
+f 33 3 19
+f 34 15 3
+f 34 7 15
+f 34 31 7
+f 35 25 16
+f 35 16 4
+f 35 4 18
+f 35 18 25
+f 36 27 17
+f 36 17 12
+f 36 6 27
+f 37 28 1
+f 38 10 6
+f 38 6 36
+f 39 20 28
+f 39 28 38
+f 39 38 36
+f 40 34 3
+f 40 3 22
+f 40 22 31
+f 40 31 34
+f 41 29 10
+f 41 10 38
+f 41 38 28
+f 41 28 37
+f 42 30 29
+f 42 41 37
+f 42 29 41
+f 42 37 1
+f 42 1 30
+f 43 39 36
+f 43 36 12
+f 43 12 20
+f 43 20 39
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_13/collision/model_normalized_collision_6.obj b/objects/objaverse/banana/banana_13/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..239a49e957d0fcb09da16a9c7dbb9714ebec8763
--- /dev/null
+++ b/objects/objaverse/banana/banana_13/collision/model_normalized_collision_6.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v -0.46338008 -0.20734414 -0.07377078
+v -0.45889949 -0.20125980 -0.14194215
+v -0.44103756 -0.04426383 -0.12344426
+v -0.47188179 -0.01133265 -0.03464571
+v -0.49055676 -0.19473911 -0.09631618
+v -0.44244202 -0.18113803 -0.04795702
+v -0.48847954 -0.19876944 -0.11737707
+v -0.49209967 -0.12228269 -0.04600638
+v -0.44291076 -0.02617750 -0.11541364
+v -0.45304352 -0.19767634 -0.06175956
+v -0.44694953 -0.14400908 -0.13710611
+v -0.48518364 -0.19820941 -0.08306748
+v -0.48096356 -0.14957605 -0.13554489
+v -0.49001731 -0.08752410 -0.08746391
+v -0.49125207 -0.07108401 -0.03593843
+v -0.48361192 -0.18118066 -0.06825348
+v -0.48905974 -0.17967877 -0.07340525
+v -0.47886323 -0.18455648 -0.13868296
+v -0.46432243 -0.14845580 -0.13890844
+v -0.47378673 -0.05879344 -0.11174789
+v -0.48900859 -0.09925938 -0.10078731
+v -0.47942604 -0.02725762 -0.03357845
+v -0.45170203 -0.17927741 -0.05116037
+v -0.46519096 -0.19879190 -0.14091093
+v -0.45632346 -0.04461108 -0.11718377
+v -0.46397651 -0.03040732 -0.10658141
+v -0.48771444 -0.12936023 -0.11601933
+v -0.48992935 -0.07232386 -0.07140125
+v -0.48254839 -0.14942759 -0.05133939
+v -0.47699153 -0.08932866 -0.12087251
+v -0.47332688 -0.03111322 -0.08632976
+f 7 2 1
+f 9 6 3
+f 9 4 6
+f 10 1 2
+f 10 2 6
+f 11 6 2
+f 11 3 6
+f 12 7 1
+f 12 5 7
+f 14 5 8
+f 15 8 6
+f 15 14 8
+f 16 1 10
+f 16 12 1
+f 17 8 5
+f 17 5 12
+f 17 16 8
+f 17 12 16
+f 18 7 13
+f 19 11 2
+f 19 18 13
+f 19 2 18
+f 19 13 3
+f 19 3 11
+f 21 7 5
+f 21 5 14
+f 21 14 20
+f 22 15 6
+f 22 6 4
+f 23 16 10
+f 23 10 6
+f 24 18 2
+f 24 2 7
+f 24 7 18
+f 25 9 3
+f 26 4 9
+f 26 25 20
+f 26 9 25
+f 27 13 7
+f 27 7 21
+f 28 14 15
+f 28 15 22
+f 29 23 6
+f 29 6 8
+f 29 8 16
+f 29 16 23
+f 30 25 3
+f 30 3 13
+f 30 20 25
+f 30 13 27
+f 30 27 21
+f 30 21 20
+f 31 22 4
+f 31 4 26
+f 31 28 22
+f 31 26 20
+f 31 20 14
+f 31 14 28
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_13/collision/model_normalized_collision_7.obj b/objects/objaverse/banana/banana_13/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..26bb15b6ac5db77637dcad9e7a4752c898e80a63
--- /dev/null
+++ b/objects/objaverse/banana/banana_13/collision/model_normalized_collision_7.obj
@@ -0,0 +1,114 @@
+# https://github.com/mikedh/trimesh
+v 0.37795513 -0.12148183 -0.02166835
+v 0.44884794 -0.10675895 -0.05513208
+v 0.38097836 -0.00181995 0.07500495
+v 0.20941986 0.00131231 0.05495980
+v 0.24369859 0.00068702 -0.03666751
+v 0.29739278 -0.02584677 0.07182114
+v 0.43690533 -0.09149981 -0.00712232
+v 0.37576890 -0.12646754 -0.04455497
+v 0.43607683 -0.00960653 -0.03736296
+v 0.23807944 0.00190910 0.08013463
+v 0.44641151 -0.10043678 -0.02220547
+v 0.38069137 -0.04184304 0.05577753
+v 0.29838221 -0.00669535 -0.06197427
+v 0.29222158 -0.06453484 0.01023250
+v 0.43829600 -0.00527289 0.03516408
+v 0.21156498 0.00090902 -0.00918576
+v 0.32635584 -0.02641482 0.07143427
+v 0.30572310 -0.06426185 0.03623057
+v 0.39315947 -0.05359785 0.04221894
+v 0.30462754 -0.02944434 -0.05997250
+v 0.39502066 -0.00815966 -0.06082316
+v 0.43462307 -0.02885059 0.02813830
+v 0.24576799 -0.03595927 0.01009526
+v 0.24837226 -0.01010208 -0.03192337
+v 0.38111743 -0.01396285 0.07010538
+v 0.28628608 -0.03822095 0.05877013
+v 0.37028911 -0.09934376 0.00128334
+v 0.24219194 -0.00751093 0.07253817
+v 0.27838381 -0.02569490 -0.04416273
+v 0.42857295 -0.10421863 -0.06388773
+v 0.42330395 -0.00998822 -0.04594460
+v 0.40609757 -0.01509604 0.05803547
+v 0.21716719 -0.00832995 -0.00413255
+v 0.35931140 -0.09640681 0.00429231
+v 0.28987315 -0.04996504 0.04714259
+v 0.37996161 -0.09495596 -0.06241165
+v 0.41711826 -0.02768254 0.04309384
+v 0.40795928 -0.00354358 0.06125746
+v 0.24965528 -0.03627816 -0.00581860
+f 8 2 1
+f 10 3 5
+f 11 7 1
+f 11 1 2
+f 14 8 1
+f 15 5 3
+f 15 11 2
+f 15 2 9
+f 16 10 5
+f 16 4 10
+f 17 10 6
+f 17 3 10
+f 18 17 6
+f 18 12 17
+f 18 14 1
+f 19 1 7
+f 20 5 13
+f 21 13 5
+f 21 15 9
+f 21 5 15
+f 22 7 11
+f 22 11 15
+f 23 18 4
+f 23 14 18
+f 23 8 14
+f 24 16 5
+f 24 5 8
+f 24 8 16
+f 25 17 12
+f 25 3 17
+f 26 18 6
+f 26 6 10
+f 27 12 18
+f 27 19 12
+f 27 1 19
+f 28 10 4
+f 28 26 10
+f 29 20 8
+f 29 8 5
+f 29 5 20
+f 30 2 8
+f 30 21 2
+f 30 13 21
+f 31 21 9
+f 31 9 2
+f 31 2 21
+f 32 19 7
+f 32 22 15
+f 32 3 25
+f 32 25 12
+f 32 12 19
+f 33 23 4
+f 33 4 16
+f 33 16 8
+f 34 27 18
+f 34 18 1
+f 34 1 27
+f 35 28 4
+f 35 4 18
+f 35 18 26
+f 35 26 28
+f 36 20 13
+f 36 13 30
+f 36 30 8
+f 36 8 20
+f 37 32 7
+f 37 7 22
+f 37 22 32
+f 38 32 15
+f 38 15 3
+f 38 3 32
+f 39 33 8
+f 39 8 23
+f 39 23 33
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_13/collision/model_normalized_collision_8.obj b/objects/objaverse/banana/banana_13/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..99bd4553e5d19b36e21114bcd2432992fd168d04
--- /dev/null
+++ b/objects/objaverse/banana/banana_13/collision/model_normalized_collision_8.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v -0.11391414 0.03858973 -0.01645955
+v -0.08560543 0.07035796 -0.03407067
+v -0.09949391 0.22058484 -0.02020812
+v -0.16023287 0.21846847 -0.01540319
+v -0.23493903 0.09843089 -0.07690929
+v -0.23484848 0.09857376 -0.00191037
+v -0.10035090 0.04189502 -0.01352457
+v -0.16558368 0.04545232 -0.05263570
+v -0.09972155 0.18155459 -0.04408441
+v -0.24247839 0.19367725 -0.02016487
+v -0.10424988 0.07723765 -0.04796051
+v -0.15618452 0.03386002 -0.03698254
+v -0.09860171 0.19878371 -0.03560394
+v -0.16327968 0.08386304 -0.06349271
+v -0.15796254 0.19607554 -0.03603921
+v -0.14700629 0.08393767 -0.05984050
+v -0.14636302 0.12842973 -0.06019137
+v -0.23274601 0.16489635 -0.04856316
+v -0.15912353 0.18055746 -0.04598755
+v -0.15992459 0.14068703 -0.06039752
+v -0.23487322 0.13664192 -0.06378544
+f 6 3 4
+f 7 2 3
+f 7 6 1
+f 7 3 6
+f 10 6 4
+f 10 5 6
+f 11 2 8
+f 11 9 2
+f 12 6 5
+f 12 5 8
+f 12 1 6
+f 12 7 1
+f 12 8 2
+f 12 2 7
+f 13 3 2
+f 13 2 9
+f 14 8 5
+f 15 4 3
+f 15 3 13
+f 16 11 8
+f 16 8 14
+f 17 14 5
+f 17 16 14
+f 17 9 11
+f 17 11 16
+f 18 10 4
+f 18 4 15
+f 19 15 13
+f 19 13 9
+f 19 18 15
+f 20 17 5
+f 20 9 17
+f 20 19 9
+f 21 5 10
+f 21 10 18
+f 21 18 19
+f 21 20 5
+f 21 19 20
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_13/collision/model_normalized_collision_9.obj b/objects/objaverse/banana/banana_13/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c7d85e13900ba3560bd6aee6805172c13901ce2
--- /dev/null
+++ b/objects/objaverse/banana/banana_13/collision/model_normalized_collision_9.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v 0.27746246 0.18239687 -0.01086082
+v 0.28420705 0.19703613 0.00714145
+v -0.09852015 0.17419432 -0.04692426
+v -0.09761873 0.25655918 0.01742558
+v 0.11268621 0.25682704 0.02115892
+v 0.27447280 0.20943038 0.01864916
+v 0.18788010 0.24072453 0.02004435
+v 0.15686733 0.19482225 -0.02921175
+v 0.24558014 0.21762839 0.01332595
+v 0.24662858 0.22140985 0.01946894
+v 0.15824403 0.18368738 -0.03514378
+v -0.08392359 0.20824488 -0.02999499
+v 0.18583873 0.20625128 -0.01625750
+v 0.27201774 0.19152428 -0.00400644
+v 0.27404265 0.20469326 0.01109878
+v 0.24727638 0.18191577 -0.02269468
+v -0.11623234 0.22242064 -0.01701781
+v 0.11263401 0.22084192 -0.01593010
+v 0.00907127 0.19446005 -0.03624289
+v 0.24442690 0.18887707 -0.01725153
+v 0.12573647 0.23375278 -0.00183944
+v 0.00755667 0.17341115 -0.04279739
+v -0.11366800 0.19750301 -0.03647541
+v -0.11279874 0.24426218 0.00483637
+v -0.09905595 0.25268090 0.01184180
+v 0.11161387 0.24964191 0.01353991
+v -0.11327999 0.20765625 -0.02996246
+f 1 2 3
+f 6 3 2
+f 6 4 3
+f 6 5 4
+f 10 7 5
+f 10 5 6
+f 10 9 7
+f 14 2 1
+f 15 6 2
+f 15 14 9
+f 15 2 14
+f 15 10 6
+f 15 9 10
+f 16 11 8
+f 16 8 13
+f 18 13 8
+f 18 12 17
+f 19 11 3
+f 19 8 11
+f 19 18 8
+f 19 12 18
+f 20 13 7
+f 20 7 9
+f 20 16 13
+f 20 9 14
+f 20 14 1
+f 20 1 16
+f 21 5 7
+f 21 7 13
+f 21 13 18
+f 22 16 1
+f 22 1 3
+f 22 3 11
+f 22 11 16
+f 23 19 3
+f 23 12 19
+f 24 3 4
+f 24 23 3
+f 24 17 23
+f 25 4 5
+f 25 24 4
+f 25 18 17
+f 25 17 24
+f 26 21 18
+f 26 5 21
+f 26 25 5
+f 26 18 25
+f 27 23 17
+f 27 17 12
+f 27 12 23
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_13/model.xml b/objects/objaverse/banana/banana_13/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..060b219b4ea9827634c5a2f019faf810e1153e8b
--- /dev/null
+++ b/objects/objaverse/banana/banana_13/model.xml
@@ -0,0 +1,81 @@
+<mujoco model="banana_27">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.15 0.15 0.15" refquat="0.0 0.7071067811865472 0.7071067811865472 0.0"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.15 0.15 0.15" refquat="0.0 0.7071067811865472 0.7071067811865472 0.0"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.15 0.15 0.15" refquat="0.0 0.7071067811865472 0.7071067811865472 0.0"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.15 0.15 0.15" refquat="0.0 0.7071067811865472 0.7071067811865472 0.0"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.15 0.15 0.15" refquat="0.0 0.7071067811865472 0.7071067811865472 0.0"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.15 0.15 0.15" refquat="0.0 0.7071067811865472 0.7071067811865472 0.0"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.15 0.15 0.15" refquat="0.0 0.7071067811865472 0.7071067811865472 0.0"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.15 0.15 0.15" refquat="0.0 0.7071067811865472 0.7071067811865472 0.0"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.15 0.15 0.15" refquat="0.0 0.7071067811865472 0.7071067811865472 0.0"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.15 0.15 0.15" refquat="0.0 0.7071067811865472 0.7071067811865472 0.0"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.15 0.15 0.15" refquat="0.0 0.7071067811865472 0.7071067811865472 0.0"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.15 0.15 0.15" refquat="0.0 0.7071067811865472 0.7071067811865472 0.0"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.15 0.15 0.15" refquat="0.0 0.7071067811865472 0.7071067811865472 0.0"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.15 0.15 0.15" refquat="0.0 0.7071067811865472 0.7071067811865472 0.0"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.15 0.15 0.15" refquat="0.0 0.7071067811865472 0.7071067811865472 0.0"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.15 0.15 0.15" refquat="0.0 0.7071067811865472 0.7071067811865472 0.0"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.15 0.15 0.15" refquat="0.0 0.7071067811865472 0.7071067811865472 0.0"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.15 0.15 0.15" refquat="0.0 0.7071067811865472 0.7071067811865472 0.0"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.15 0.15 0.15" refquat="0.0 0.7071067811865472 0.7071067811865472 0.0"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.15 0.15 0.15" refquat="0.0 0.7071067811865472 0.7071067811865472 0.0"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.15 0.15 0.15" refquat="0.0 0.7071067811865472 0.7071067811865472 0.0"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.15 0.15 0.15" refquat="0.0 0.7071067811865472 0.7071067811865472 0.0"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.15 0.15 0.15" refquat="0.0 0.7071067811865472 0.7071067811865472 0.0"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.15 0.15 0.15" refquat="0.0 0.7071067811865472 0.7071067811865472 0.0"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.15 0.15 0.15" refquat="0.0 0.7071067811865472 0.7071067811865472 0.0"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.15 0.15 0.15" refquat="0.0 0.7071067811865472 0.7071067811865472 0.0"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.15 0.15 0.15" refquat="0.0 0.7071067811865472 0.7071067811865472 0.0"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.15 0.15 0.15" refquat="0.0 0.7071067811865472 0.7071067811865472 0.0"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.15 0.15 0.15" refquat="0.0 0.7071067811865472 0.7071067811865472 0.0"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.15 0.15 0.15" refquat="0.0 0.7071067811865472 0.7071067811865472 0.0"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.15 0.15 0.15" refquat="0.0 0.7071067811865472 0.7071067811865472 0.0"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.15 0.15 0.15" refquat="0.0 0.7071067811865472 0.7071067811865472 0.0"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.15 0.15 0.15" refquat="0.0 0.7071067811865472 0.7071067811865472 0.0"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="material_0.003" texture="image0" specular="0.5" shininess="0.316227774"/>
+  </asset>
+  <worldbody>
+    <body>
+      <body name="object">
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_0_vis" conaffinity="0" contype="0" group="1" material="material_0.003"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_22._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_23._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_21._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_20._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_24._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 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="0.0002419972500000006 0.0003881437500000015 -0.021538600500000005" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.0002419972500000006 0.0003881437500000015 0.021291322499999998" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.040293714 0.07459123799999999 -0.00012363900000000107" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/objects/objaverse/banana/banana_13/visual/material.mtl b/objects/objaverse/banana/banana_13/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0a1381533f3d67df822e02332423cb1073df6914
--- /dev/null
+++ b/objects/objaverse/banana/banana_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 316.22777400
+map_Kd material_0.png
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_15/collision/model_normalized_collision_0.obj b/objects/objaverse/banana/banana_15/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b3cd0e885302132e95fda9c03ce72caf1c8e02a1
--- /dev/null
+++ b/objects/objaverse/banana/banana_15/collision/model_normalized_collision_0.obj
@@ -0,0 +1,186 @@
+# https://github.com/mikedh/trimesh
+v 0.20764840 0.21514746 0.07756889
+v 0.21857708 0.21427513 -0.03181656
+v 0.15658338 0.34135599 0.02645843
+v 0.02835604 0.45053972 0.01053197
+v 0.03819188 0.22256333 -0.08227220
+v 0.04928648 0.41722067 -0.07621030
+v 0.10373978 0.36192385 0.07221496
+v 0.21230755 0.24033506 0.03812422
+v 0.21834513 0.21302076 0.05582789
+v 0.18468888 0.29788977 -0.02294819
+v 0.06853765 0.42964813 -0.03899322
+v 0.02912650 0.39691511 -0.09027157
+v 0.16956713 0.28331757 0.07774310
+v 0.08061958 0.41565657 0.01507334
+v 0.04651096 0.22474417 0.08750187
+v 0.18886505 0.21451688 -0.06268653
+v 0.19750748 0.27029139 0.03746032
+v 0.21554496 0.24233249 -0.02135770
+v 0.02690249 0.45066321 -0.05338884
+v 0.12362573 0.37463393 -0.03169579
+v 0.15264776 0.32779030 0.05133778
+v 0.09598526 0.38386659 0.05244762
+v 0.03980681 0.44441206 0.00989457
+v 0.10852746 0.24691338 0.10531342
+v 0.12365433 0.21768201 0.10739656
+v 0.03291929 0.39550791 0.07576186
+v 0.10913452 0.23498172 -0.08944204
+v 0.09979538 0.36423031 -0.07267745
+v 0.21307706 0.22556447 0.05360102
+v 0.20138123 0.22697485 0.07776492
+v 0.18277458 0.28300422 0.05232438
+v 0.18481443 0.29946851 0.02589804
+v 0.14120492 0.31551540 -0.06288812
+v 0.18589617 0.22845398 -0.05983852
+v 0.03795625 0.44476447 -0.05014840
+v 0.03117497 0.42759066 -0.07841921
+v 0.02874207 0.43561520 0.04076023
+v 0.15462159 0.34272539 0.01787297
+v 0.09617268 0.39924413 0.02226089
+v 0.06860786 0.42912229 -0.03037358
+v 0.11805454 0.31849249 0.08727327
+v 0.17998092 0.21583382 0.09442914
+v 0.09902432 0.22073786 0.10408387
+v 0.16558525 0.21759439 -0.07299644
+v 0.03554215 0.26841575 -0.08860500
+v 0.04246587 0.39546175 -0.08557469
+v 0.10334854 0.29214338 -0.08583576
+v 0.18627564 0.28737422 -0.03037920
+v 0.14900493 0.27708378 -0.07122005
+v 0.21515354 0.22718713 -0.02952472
+v 0.04064821 0.43029832 0.03839920
+v 0.06008060 0.40611148 0.05937254
+v 0.09149093 0.33435407 0.08956687
+v 0.17647284 0.24401812 0.08754377
+v 0.12336805 0.23256105 0.10540349
+v 0.09919538 0.25007320 0.10513727
+v 0.07307204 0.35143836 -0.08595673
+v 0.16503216 0.23253973 -0.07133049
+v 0.05332493 0.41601995 0.05265431
+v 0.08463146 0.38591557 0.06447660
+v 0.14651120 0.28789913 0.08708320
+v 0.03791540 0.34013245 0.09092576
+v 0.06734091 0.41450483 0.03665168
+f 14 3 11
+f 16 2 9
+f 18 9 2
+f 18 8 9
+f 19 4 11
+f 20 11 3
+f 21 13 3
+f 21 7 13
+f 22 21 3
+f 22 7 21
+f 23 11 4
+f 25 15 5
+f 25 16 9
+f 25 5 16
+f 26 5 15
+f 28 20 10
+f 28 6 11
+f 28 11 20
+f 29 9 8
+f 29 8 17
+f 29 17 1
+f 29 1 9
+f 30 1 17
+f 31 3 13
+f 31 30 17
+f 31 13 30
+f 32 10 3
+f 32 31 17
+f 32 3 31
+f 32 18 10
+f 32 17 8
+f 32 8 18
+f 34 2 16
+f 35 19 11
+f 35 11 6
+f 35 6 19
+f 36 19 6
+f 36 6 12
+f 36 12 19
+f 37 19 12
+f 37 4 19
+f 37 5 26
+f 38 20 3
+f 38 3 10
+f 38 10 20
+f 39 22 3
+f 39 3 14
+f 39 14 22
+f 40 23 14
+f 40 14 11
+f 40 11 23
+f 41 13 7
+f 42 25 9
+f 42 9 1
+f 42 1 30
+f 43 15 25
+f 44 16 5
+f 44 5 27
+f 45 27 5
+f 45 12 27
+f 45 37 12
+f 45 5 37
+f 46 28 12
+f 46 12 6
+f 46 6 28
+f 47 27 12
+f 47 44 27
+f 48 10 18
+f 48 34 33
+f 48 33 28
+f 48 28 10
+f 49 28 33
+f 49 34 16
+f 49 33 34
+f 50 18 2
+f 50 2 34
+f 50 48 18
+f 50 34 48
+f 51 23 4
+f 51 4 37
+f 53 41 7
+f 53 7 26
+f 54 42 30
+f 54 30 13
+f 55 24 25
+f 55 25 42
+f 55 53 24
+f 55 41 53
+f 56 43 25
+f 56 25 24
+f 57 47 12
+f 57 12 28
+f 57 49 47
+f 57 28 49
+f 58 49 16
+f 58 16 44
+f 58 44 47
+f 58 47 49
+f 59 23 51
+f 59 51 37
+f 59 37 26
+f 59 26 52
+f 60 52 26
+f 60 26 7
+f 60 7 22
+f 60 59 52
+f 61 54 13
+f 61 13 41
+f 61 42 54
+f 61 55 42
+f 61 41 55
+f 62 26 15
+f 62 15 43
+f 62 43 56
+f 62 53 26
+f 62 56 24
+f 62 24 53
+f 63 14 23
+f 63 23 59
+f 63 22 14
+f 63 60 22
+f 63 59 60
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_15/collision/model_normalized_collision_1.obj b/objects/objaverse/banana/banana_15/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8f12a7d86ba3118bf3ba8cbd2b348ac4c7d4df2f
--- /dev/null
+++ b/objects/objaverse/banana/banana_15/collision/model_normalized_collision_1.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.23091095 -0.12836047 0.07513539
+v 0.24378304 -0.13165450 -0.04101880
+v 0.24841665 -0.00721790 -0.04590206
+v 0.09227796 -0.00777552 0.08127238
+v 0.09666481 -0.12945126 -0.08445643
+v 0.23862895 -0.00779095 0.08614707
+v 0.09306818 -0.12896331 0.08425477
+v 0.16639951 -0.12904960 -0.08879734
+v 0.10327699 -0.00799847 -0.07588440
+v 0.11433174 -0.13070601 -0.08846443
+v 0.19838677 -0.12895827 -0.07934814
+v 0.19840554 -0.00788393 -0.07829400
+v 0.16619527 -0.05329080 -0.08774632
+v 0.14445440 -0.05464872 -0.08665573
+f 6 3 4
+f 6 1 2
+f 6 2 3
+f 7 2 1
+f 7 4 5
+f 7 6 4
+f 7 1 6
+f 9 5 4
+f 9 4 3
+f 10 7 5
+f 10 2 7
+f 10 8 2
+f 10 5 9
+f 11 3 2
+f 11 2 8
+f 12 9 3
+f 12 11 8
+f 12 3 11
+f 13 9 12
+f 13 12 8
+f 13 8 10
+f 14 13 10
+f 14 10 9
+f 14 9 13
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_15/collision/model_normalized_collision_10.obj b/objects/objaverse/banana/banana_15/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..735eaf2368d9ea166b6a7feeb2a08f6769252e22
--- /dev/null
+++ b/objects/objaverse/banana/banana_15/collision/model_normalized_collision_10.obj
@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
+v -0.20292694 -0.49310892 -0.08071057
+v -0.07484927 -0.41140523 -0.06759835
+v -0.07306203 -0.41151168 -0.03147332
+v -0.12561948 -0.38000024 -0.03822114
+v -0.24811989 -0.45355748 -0.09918591
+v -0.24376168 -0.47590867 -0.03645529
+v -0.17476964 -0.47633171 -0.07495356
+v -0.20731324 -0.46316845 -0.10860308
+v -0.13182568 -0.39070086 -0.08008778
+v -0.21568681 -0.49074131 -0.05890371
+v -0.26726429 -0.44482990 -0.08201020
+v -0.07728991 -0.41496825 -0.03622195
+v -0.26182437 -0.47353890 -0.10257188
+v -0.12840225 -0.37963195 -0.06803592
+v -0.16208077 -0.40793982 -0.08810226
+v -0.10592988 -0.41257528 -0.07709132
+v -0.20206013 -0.48837879 -0.06502790
+v -0.17018950 -0.45970855 -0.04452196
+v -0.23909043 -0.44771946 -0.04153582
+v -0.22782609 -0.47630625 -0.10545189
+v -0.24741005 -0.47507026 -0.10650746
+v -0.24475661 -0.49346757 -0.08278221
+v -0.26966950 -0.45856422 -0.09325818
+v -0.15692956 -0.38791004 -0.06582200
+v -0.19637807 -0.45119506 -0.10500517
+v -0.26095424 -0.44529742 -0.08766725
+v -0.18672963 -0.40354396 -0.07441314
+v -0.27062831 -0.48106012 -0.04547971
+v -0.19428938 -0.41031591 -0.04417075
+v -0.25405766 -0.49073873 -0.05519496
+v -0.26351610 -0.46837979 -0.10024049
+v -0.18595089 -0.41765931 -0.08897952
+v -0.26826580 -0.46036183 -0.05981913
+v -0.26724195 -0.47533625 -0.04434518
+v -0.26808546 -0.44578502 -0.08211565
+v -0.27103922 -0.47900747 -0.08056146
+v -0.18637221 -0.40604488 -0.04557353
+v -0.26526688 -0.47275094 -0.10119878
+f 3 2 4
+f 6 3 4
+f 7 1 2
+f 8 2 1
+f 12 7 2
+f 12 2 3
+f 12 3 1
+f 12 1 7
+f 14 4 2
+f 14 2 9
+f 16 9 2
+f 16 2 8
+f 17 10 1
+f 17 1 3
+f 17 3 10
+f 18 10 3
+f 18 3 6
+f 18 6 10
+f 19 6 4
+f 20 8 1
+f 21 13 5
+f 21 5 8
+f 21 8 20
+f 22 13 21
+f 22 21 20
+f 22 20 1
+f 24 4 14
+f 25 15 9
+f 25 8 5
+f 25 5 15
+f 25 16 8
+f 25 9 16
+f 26 23 11
+f 26 5 23
+f 27 14 9
+f 27 9 15
+f 27 24 14
+f 27 26 11
+f 27 11 24
+f 29 19 4
+f 29 11 19
+f 29 24 11
+f 30 22 1
+f 30 1 10
+f 30 10 6
+f 30 6 28
+f 31 23 5
+f 31 5 13
+f 32 15 5
+f 32 5 26
+f 32 27 15
+f 32 26 27
+f 33 19 11
+f 34 28 6
+f 34 6 19
+f 34 33 28
+f 34 19 33
+f 35 11 23
+f 35 23 28
+f 35 33 11
+f 35 28 33
+f 36 28 23
+f 36 30 28
+f 36 22 30
+f 37 29 4
+f 37 4 24
+f 37 24 29
+f 38 31 13
+f 38 23 31
+f 38 36 23
+f 38 13 22
+f 38 22 36
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_15/collision/model_normalized_collision_11.obj b/objects/objaverse/banana/banana_15/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd29227fb9e98ad212ef562fc8e2575c148c1f5b
--- /dev/null
+++ b/objects/objaverse/banana/banana_15/collision/model_normalized_collision_11.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v 0.26582123 0.09655023 0.02737263
+v 0.26326823 0.09678289 -0.02212011
+v 0.23030886 0.21186558 -0.02050348
+v 0.22284368 0.21524764 0.04257797
+v 0.22859301 0.09788838 -0.05642662
+v 0.25990794 0.12470507 0.02531191
+v 0.23633509 0.09652385 -0.04897662
+v 0.23410241 0.14438680 0.08004131
+v 0.22382143 0.14192003 -0.05218856
+v 0.22735308 0.20997957 0.03807942
+v 0.24500760 0.16844218 -0.02111752
+v 0.25934984 0.10494980 0.04059034
+v 0.22334891 0.18587353 0.07320134
+v 0.22534499 0.21671716 -0.02354336
+v 0.24331665 0.16746945 0.03969620
+v 0.25861281 0.12429081 0.00236221
+v 0.22380353 0.18661497 -0.03698683
+v 0.24580689 0.13982324 -0.02925503
+v 0.22719691 0.18118260 0.06856550
+v 0.23892715 0.14197582 0.07385539
+v 0.26030997 0.10946745 -0.02193293
+v 0.23139064 0.18399660 -0.02987795
+v 0.24575773 0.13994772 0.05578603
+v 0.24263439 0.15433797 0.05469079
+f 6 1 2
+f 7 5 2
+f 7 2 1
+f 7 1 5
+f 9 2 5
+f 10 3 4
+f 11 3 6
+f 12 8 5
+f 12 5 1
+f 12 1 6
+f 13 5 8
+f 13 9 5
+f 13 4 9
+f 13 10 4
+f 14 4 3
+f 15 6 3
+f 15 3 10
+f 16 11 6
+f 16 6 2
+f 17 11 9
+f 17 14 3
+f 17 9 4
+f 17 4 14
+f 18 9 11
+f 19 15 10
+f 19 10 13
+f 20 8 12
+f 20 19 13
+f 20 13 8
+f 21 16 2
+f 21 11 16
+f 21 18 11
+f 21 2 9
+f 21 9 18
+f 22 17 3
+f 22 3 11
+f 22 11 17
+f 23 20 12
+f 23 12 6
+f 24 15 19
+f 24 19 20
+f 24 20 23
+f 24 23 6
+f 24 6 15
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_15/collision/model_normalized_collision_12.obj b/objects/objaverse/banana/banana_15/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8ea735a4e6a1a02ff9575fc346e2af05970f63df
--- /dev/null
+++ b/objects/objaverse/banana/banana_15/collision/model_normalized_collision_12.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.23144477 -0.00754801 0.09132341
+v 0.22415623 -0.00702559 0.09690010
+v 0.10959387 -0.00763999 0.09330854
+v 0.11424158 0.22030863 0.10778536
+v 0.22741752 0.14280549 0.08454016
+v 0.18320879 -0.00680960 0.10628021
+v 0.18335998 0.14247718 0.10484333
+v 0.10706345 0.21909638 0.10592194
+v 0.14613430 -0.00673497 0.10473581
+v 0.16785750 0.21765156 0.10004667
+v 0.19797252 0.08323295 0.10458604
+v 0.17343388 0.22103055 0.09616574
+v 0.11436027 -0.00714636 0.09500306
+v 0.22082178 0.14111125 0.08879661
+v 0.16793154 0.18709085 0.10404496
+v 0.19792010 0.00844836 0.10407750
+v 0.13850508 0.21739574 0.10530262
+f 5 2 1
+f 5 1 3
+f 6 1 2
+f 6 3 1
+f 7 4 6
+f 9 6 4
+f 9 3 6
+f 9 4 8
+f 11 7 6
+f 12 5 3
+f 12 3 8
+f 12 8 4
+f 12 4 10
+f 13 9 8
+f 13 8 3
+f 13 3 9
+f 14 10 7
+f 14 12 10
+f 14 5 12
+f 14 7 11
+f 14 11 2
+f 14 2 5
+f 15 4 7
+f 15 7 10
+f 16 11 6
+f 16 6 2
+f 16 2 11
+f 17 15 10
+f 17 10 4
+f 17 4 15
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_15/collision/model_normalized_collision_13.obj b/objects/objaverse/banana/banana_15/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f205a6eaf517157dec15873276957471134a1542
--- /dev/null
+++ b/objects/objaverse/banana/banana_15/collision/model_normalized_collision_13.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.03696252 0.19019001 0.07326058
+v 0.04395683 0.21151180 -0.07984948
+v 0.03506299 0.29544075 0.09097720
+v -0.07604611 0.30467947 0.02470690
+v 0.00308709 0.19950861 -0.03421304
+v 0.03535102 0.29685910 -0.09365169
+v -0.06052145 0.30245064 0.04882227
+v 0.04195028 0.20723196 0.08029087
+v 0.04220538 0.19395797 -0.06725893
+v 0.01456344 0.19383591 0.06039554
+v -0.00259639 0.29920586 0.07806119
+v -0.07872806 0.30360564 -0.05034254
+v -0.03907345 0.24797372 0.00743825
+v -0.06293191 0.30499542 -0.06434359
+v -0.07468228 0.29376936 -0.04487564
+v -0.02226393 0.30068232 -0.09246560
+v -0.06988530 0.29504366 0.02080912
+f 6 3 2
+f 8 2 3
+f 8 7 1
+f 9 8 1
+f 9 2 8
+f 10 7 4
+f 10 1 7
+f 10 9 1
+f 10 5 9
+f 11 3 6
+f 11 4 7
+f 11 8 3
+f 11 7 8
+f 12 9 5
+f 13 10 4
+f 13 5 10
+f 14 11 6
+f 14 4 11
+f 14 12 4
+f 14 9 12
+f 15 12 5
+f 15 5 13
+f 15 4 12
+f 16 14 6
+f 16 6 2
+f 16 2 9
+f 16 9 14
+f 17 15 13
+f 17 13 4
+f 17 4 15
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_15/collision/model_normalized_collision_14.obj b/objects/objaverse/banana/banana_15/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c77661d19fd70e859cf06f2d660bce4b6fdbf1d
--- /dev/null
+++ b/objects/objaverse/banana/banana_15/collision/model_normalized_collision_14.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.15063370 -0.32604085 0.01966861
+v 0.22186505 -0.23600138 -0.00484648
+v 0.17943493 -0.21580785 0.07618547
+v -0.00362545 -0.21638882 0.00483666
+v 0.18518475 -0.29458151 0.00114060
+v 0.04256779 -0.27793360 0.05848533
+v -0.01779470 -0.27390631 0.01491419
+v 0.17895652 -0.27081912 0.05653661
+v 0.07197201 -0.21933846 0.07596296
+v -0.00794246 -0.28013592 0.02737835
+v 0.19011741 -0.22179215 0.06995814
+v 0.17148045 -0.28409032 0.05304252
+v 0.09704173 -0.27488702 0.07353633
+v 0.01647824 -0.27955139 0.04422304
+v 0.01767327 -0.22249520 0.04388910
+v 0.17810730 -0.23021563 0.07319332
+v 0.07299299 -0.26274451 0.07334837
+v 0.12267165 -0.29046608 0.06729791
+v 0.00933629 -0.22592819 0.03546635
+v 0.14974720 -0.28736842 0.05950550
+v 0.13402215 -0.27167263 0.07267854
+v 0.00340044 -0.22407219 0.02356475
+f 3 2 4
+f 5 4 2
+f 7 5 1
+f 7 4 5
+f 8 5 2
+f 9 3 4
+f 10 7 1
+f 11 8 2
+f 11 2 3
+f 12 1 5
+f 12 5 8
+f 13 3 9
+f 14 10 1
+f 14 1 6
+f 14 6 9
+f 15 9 4
+f 15 14 9
+f 15 10 14
+f 16 11 3
+f 16 8 11
+f 17 13 9
+f 17 9 6
+f 17 6 13
+f 18 13 6
+f 18 6 1
+f 19 15 4
+f 19 7 10
+f 19 10 15
+f 20 18 1
+f 20 1 12
+f 20 12 8
+f 21 8 16
+f 21 16 3
+f 21 3 13
+f 21 13 18
+f 21 20 8
+f 21 18 20
+f 22 19 4
+f 22 4 7
+f 22 7 19
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_15/collision/model_normalized_collision_15.obj b/objects/objaverse/banana/banana_15/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..48bc195d173440d569178bca5cca7f2e5fb056c2
--- /dev/null
+++ b/objects/objaverse/banana/banana_15/collision/model_normalized_collision_15.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v -0.01430738 0.42728446 -0.09302944
+v -0.01436954 0.43928830 -0.08774234
+v -0.09851361 0.45061039 0.03638594
+v -0.20729618 0.49380888 -0.04738590
+v -0.20078790 0.48220523 -0.08125275
+v -0.05874767 0.48929574 -0.01743864
+v -0.00025175 0.46195714 0.01376997
+v -0.08883825 0.47004010 -0.08584587
+v -0.22214973 0.44037173 -0.05801459
+v -0.08704036 0.48712055 -0.00093417
+v -0.01806684 0.47555077 -0.05323121
+v -0.04501759 0.47695842 -0.07760008
+v -0.14533667 0.45786029 -0.08913160
+v -0.21220638 0.43718552 -0.02451573
+v -0.20586839 0.46971140 -0.08242884
+v -0.20494390 0.49534430 -0.05701962
+v -0.21468054 0.47814033 -0.02370984
+v -0.01790402 0.47374644 -0.00178802
+v -0.01730851 0.46426860 -0.07749752
+v -0.03016177 0.45340065 -0.08503775
+v -0.13307015 0.49001374 -0.07971932
+v -0.06093634 0.49108462 -0.05230412
+v -0.12995116 0.47239609 -0.08681864
+v -0.14447998 0.43186755 -0.08948626
+v -0.22159237 0.44249078 -0.05990592
+v -0.17244131 0.48930160 -0.02625487
+v -0.22150219 0.46024758 -0.02306977
+v -0.20105187 0.49217745 -0.06821683
+v -0.07661436 0.48930884 -0.06666104
+v -0.15921935 0.48945397 -0.08010847
+v -0.22679561 0.44447976 -0.03561137
+v -0.21301325 0.44374234 -0.07614537
+f 7 1 2
+f 7 3 1
+f 10 3 7
+f 14 1 3
+f 15 5 13
+f 16 10 6
+f 16 4 10
+f 16 5 15
+f 17 3 10
+f 18 10 7
+f 18 6 10
+f 18 11 6
+f 18 7 11
+f 19 11 7
+f 19 7 2
+f 19 12 11
+f 19 2 1
+f 20 1 8
+f 20 8 12
+f 20 19 1
+f 20 12 19
+f 21 12 8
+f 22 6 11
+f 22 11 12
+f 22 21 16
+f 22 16 6
+f 23 8 1
+f 23 1 13
+f 23 21 8
+f 23 13 5
+f 24 13 1
+f 24 15 13
+f 24 14 9
+f 24 1 14
+f 25 16 15
+f 26 17 10
+f 26 10 4
+f 26 4 17
+f 27 14 3
+f 27 3 17
+f 28 5 16
+f 28 16 21
+f 29 22 12
+f 29 12 21
+f 29 21 22
+f 30 23 5
+f 30 21 23
+f 30 28 21
+f 30 5 28
+f 31 4 16
+f 31 16 25
+f 31 25 9
+f 31 9 14
+f 31 14 27
+f 31 27 17
+f 31 17 4
+f 32 24 9
+f 32 9 25
+f 32 25 15
+f 32 15 24
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_15/collision/model_normalized_collision_16.obj b/objects/objaverse/banana/banana_15/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f88b4b921cce6c69f1c70b19af99c2b4a4311742
--- /dev/null
+++ b/objects/objaverse/banana/banana_15/collision/model_normalized_collision_16.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.09742900 -0.12864454 0.08564394
+v 0.09666481 -0.12945126 -0.08445643
+v 0.09857094 -0.00769430 -0.07149783
+v 0.06528699 -0.00677431 0.06254976
+v 0.03396978 -0.13291717 -0.02600601
+v 0.09936858 -0.00733152 0.08621792
+v 0.07690828 -0.13311715 -0.07790732
+v 0.04809580 -0.13142523 0.05400855
+v 0.05012172 -0.00743105 0.00494112
+v 0.08914329 -0.00702305 0.07912730
+v 0.09897284 -0.05400428 -0.07726933
+v 0.06155100 -0.00780399 -0.03656370
+v 0.08748036 -0.12977970 0.08194639
+v 0.03518008 -0.13212991 0.02452837
+v 0.04641793 -0.13292125 -0.04794943
+v 0.09044012 -0.00796255 -0.06394720
+v 0.03568236 -0.10220802 0.00935465
+v 0.04902855 -0.00756025 0.01191328
+f 7 2 1
+f 9 4 3
+f 10 6 3
+f 10 3 4
+f 11 6 1
+f 11 1 2
+f 11 3 6
+f 11 7 3
+f 11 2 7
+f 12 9 3
+f 12 5 9
+f 13 1 6
+f 13 6 10
+f 13 10 4
+f 13 4 8
+f 13 8 7
+f 13 7 1
+f 14 5 7
+f 14 7 8
+f 14 8 4
+f 15 12 7
+f 15 7 5
+f 15 5 12
+f 16 12 3
+f 16 3 7
+f 16 7 12
+f 17 5 14
+f 18 9 5
+f 18 5 17
+f 18 4 9
+f 18 17 14
+f 18 14 4
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_15/collision/model_normalized_collision_17.obj b/objects/objaverse/banana/banana_15/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e57e23efe824646d3a5be4e163547a8530217149
--- /dev/null
+++ b/objects/objaverse/banana/banana_15/collision/model_normalized_collision_17.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.04191196 0.10006645 0.02890264
+v 0.04169809 0.10006575 -0.01206230
+v 0.03696252 0.19019001 0.07326058
+v 0.01456344 0.19383591 0.06039554
+v -0.00020116 0.19602676 -0.01156696
+v 0.04181410 0.14615452 0.06605518
+v 0.03927217 0.10452427 0.02473949
+v 0.03582690 0.18999355 -0.05868794
+v 0.03664769 0.15166992 0.06410061
+v 0.04307437 0.16356914 -0.05076519
+v 0.03935950 0.10409135 -0.00790769
+v 0.00161542 0.19645934 0.02704242
+v 0.01086051 0.19437074 -0.03758195
+v 0.02685801 0.19383624 -0.05230946
+v 0.04211758 0.13105563 -0.03697263
+v 0.03718617 0.13452315 -0.03327961
+f 6 3 4
+f 7 2 1
+f 9 6 4
+f 9 4 1
+f 9 1 6
+f 10 6 1
+f 10 1 2
+f 10 8 3
+f 10 3 6
+f 11 7 5
+f 11 5 2
+f 11 2 7
+f 12 7 1
+f 12 1 4
+f 12 5 7
+f 12 4 3
+f 13 2 5
+f 14 12 3
+f 14 3 8
+f 14 13 5
+f 14 5 12
+f 15 10 2
+f 15 8 10
+f 15 14 8
+f 15 13 14
+f 16 15 2
+f 16 2 13
+f 16 13 15
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_15/collision/model_normalized_collision_18.obj b/objects/objaverse/banana/banana_15/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2a4d51c921b4cfbcbbbc88e6335b4643530b8729
--- /dev/null
+++ b/objects/objaverse/banana/banana_15/collision/model_normalized_collision_18.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.00234050 -0.28044293 0.03444722
+v 0.01187397 -0.25358711 -0.08156819
+v 0.01118363 -0.20722301 0.02805808
+v 0.01048575 -0.19141413 0.01328959
+v -0.02924168 -0.28453257 -0.05071017
+v 0.01411138 -0.22532543 -0.06647694
+v 0.00642077 -0.28060582 -0.08134027
+v -0.02445917 -0.28286786 0.00638913
+v 0.01034911 -0.19282834 -0.04029215
+v -0.02303199 -0.25926836 -0.04433466
+v -0.00536051 -0.28239029 -0.07886606
+v -0.01520284 -0.28133710 0.02208029
+v -0.02299551 -0.25725019 -0.00265720
+v 0.00613136 -0.22955110 -0.06020219
+v -0.00684528 -0.22560612 0.00572728
+v 0.00611104 -0.19614531 0.00808689
+v -0.00877931 -0.25485453 0.02060768
+v -0.02302667 -0.27026478 0.00489025
+v 0.00620950 -0.19957744 -0.04010605
+v 0.00691651 -0.21162239 0.02285323
+f 1 2 3
+f 6 3 2
+f 6 4 3
+f 7 2 1
+f 8 5 1
+f 9 4 6
+f 11 2 7
+f 11 10 2
+f 11 5 10
+f 11 7 1
+f 11 1 5
+f 12 8 1
+f 12 1 3
+f 13 10 5
+f 13 5 8
+f 14 6 2
+f 14 2 10
+f 16 4 9
+f 16 10 13
+f 16 15 4
+f 16 13 15
+f 17 12 3
+f 18 13 8
+f 18 8 12
+f 18 12 17
+f 18 17 3
+f 18 3 13
+f 19 14 10
+f 19 9 6
+f 19 6 14
+f 19 16 9
+f 19 10 16
+f 20 15 13
+f 20 13 3
+f 20 3 4
+f 20 4 15
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_15/collision/model_normalized_collision_19.obj b/objects/objaverse/banana/banana_15/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8064ac2474e51f229a9d518866aafcb793b55d0e
--- /dev/null
+++ b/objects/objaverse/banana/banana_15/collision/model_normalized_collision_19.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v -0.09947628 0.31335839 -0.01333854
+v -0.07873521 0.34996208 -0.09669120
+v -0.07928837 0.33540505 -0.08111115
+v -0.10226262 0.45633025 0.03206905
+v -0.21520739 0.44007882 -0.06914116
+v -0.20387783 0.43353614 -0.01794356
+v -0.08534194 0.43166314 -0.10053503
+v -0.20223778 0.43713112 -0.07800165
+v -0.12031951 0.33801293 -0.04701393
+v -0.21764673 0.43935327 -0.03108886
+v -0.08908524 0.33900663 -0.07628970
+v -0.13758603 0.39628215 -0.09036595
+v -0.12096640 0.33599410 -0.01496354
+v -0.20830054 0.42784396 -0.03716326
+v -0.14447998 0.43186755 -0.08948626
+v -0.20922333 0.43151280 -0.06460216
+f 1 3 4
+f 3 2 4
+f 7 5 4
+f 7 4 2
+f 8 5 7
+f 9 3 1
+f 9 5 8
+f 10 6 4
+f 10 4 5
+f 11 8 2
+f 11 2 3
+f 11 9 8
+f 11 3 9
+f 12 7 2
+f 12 2 8
+f 13 6 10
+f 13 1 4
+f 13 4 6
+f 14 13 10
+f 14 9 1
+f 14 1 13
+f 15 12 8
+f 15 8 7
+f 15 7 12
+f 16 14 10
+f 16 10 5
+f 16 5 9
+f 16 9 14
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_15/collision/model_normalized_collision_2.obj b/objects/objaverse/banana/banana_15/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0efba32a512c42ecbce612fe42b8178dc70bda5c
--- /dev/null
+++ b/objects/objaverse/banana/banana_15/collision/model_normalized_collision_2.obj
@@ -0,0 +1,162 @@
+# https://github.com/mikedh/trimesh
+v 0.01633201 -0.39944978 -0.01493538
+v 0.22186505 -0.23600138 -0.00484648
+v 0.12440994 -0.27856323 0.07298510
+v -0.00362545 -0.21638882 0.00483666
+v 0.05355063 -0.22121340 -0.08840629
+v 0.01678525 -0.29468355 0.04377727
+v 0.14256209 -0.33963969 0.00818557
+v 0.00389502 -0.35029780 -0.07477241
+v 0.17801091 -0.21659310 -0.08204515
+v 0.06822737 -0.34683312 0.04336465
+v 0.05487345 -0.27760405 0.06365177
+v 0.00274684 -0.40226571 -0.01858909
+v 0.16738408 -0.29063371 0.05147089
+v 0.02051752 -0.22891432 -0.07622385
+v 0.10974664 -0.34337691 -0.06168783
+v 0.03789993 -0.32126764 -0.08783167
+v 0.07084895 -0.38322988 0.00670959
+v 0.01647824 -0.27955139 0.04422304
+v 0.08169902 -0.32010382 0.05854417
+v 0.00793490 -0.39247278 0.00102757
+v 0.00163784 -0.39091006 -0.05220265
+v 0.16960104 -0.31026606 0.02097841
+v 0.17201791 -0.31256721 -0.03262353
+v 0.15302948 -0.21833291 -0.09026370
+v 0.03876647 -0.23652242 -0.08666851
+v 0.14863423 -0.31309061 0.04540849
+v 0.07159215 -0.38293238 -0.03267227
+v 0.05685436 -0.30680694 0.05834109
+v 0.00124143 -0.40191747 -0.02823452
+v 0.07822321 -0.34596891 -0.07099246
+v 0.17544088 -0.28725519 0.04074508
+v 0.15648388 -0.27039361 -0.07456020
+v 0.17354292 -0.24149905 -0.07673366
+v 0.08579465 -0.36785580 0.02131025
+v 0.10488404 -0.31652664 0.05931847
+v 0.16084069 -0.30108589 0.04896044
+v 0.12703249 -0.35603920 -0.03019982
+v 0.05821569 -0.36773612 -0.06093609
+v 0.02700393 -0.35762692 0.02919666
+v 0.01566738 -0.39869193 -0.02798397
+v 0.10773491 -0.33472350 -0.07130068
+v 0.15276191 -0.24672168 -0.08661375
+v 0.10096968 -0.36772628 0.00652927
+v 0.09195524 -0.33996696 0.04565212
+v 0.13663507 -0.28855399 0.06370156
+v 0.11334308 -0.35439339 -0.04667584
+v 0.04472573 -0.38267561 -0.04671921
+v 0.00303584 -0.38071996 -0.06177019
+v 0.01549870 -0.34677865 0.02938362
+v 0.06078071 -0.31983935 -0.08634264
+v 0.11586750 -0.35226388 0.02107430
+v 0.12592214 -0.35576911 -0.01566120
+v 0.08627301 -0.36677841 -0.04718402
+v 0.02785123 -0.31912737 0.04238622
+v 0.10772069 -0.28923845 -0.08636004
+f 3 2 4
+f 9 5 4
+f 9 4 2
+f 11 3 4
+f 13 2 3
+f 14 8 4
+f 14 4 5
+f 18 11 4
+f 18 4 6
+f 18 6 11
+f 20 6 4
+f 20 4 12
+f 20 12 1
+f 20 1 17
+f 21 4 8
+f 23 22 7
+f 23 2 22
+f 24 16 5
+f 24 5 9
+f 25 14 5
+f 25 5 16
+f 25 16 8
+f 25 8 14
+f 26 7 22
+f 27 17 1
+f 28 19 3
+f 28 3 11
+f 28 11 6
+f 29 12 4
+f 29 4 21
+f 31 22 2
+f 31 2 13
+f 31 13 22
+f 33 9 2
+f 33 2 23
+f 33 23 32
+f 34 20 17
+f 34 10 20
+f 35 19 10
+f 35 3 19
+f 36 26 22
+f 36 22 13
+f 36 35 26
+f 36 13 3
+f 37 23 7
+f 37 17 27
+f 39 10 19
+f 39 19 28
+f 39 20 10
+f 40 29 21
+f 40 21 27
+f 40 27 1
+f 40 1 12
+f 40 12 29
+f 41 32 23
+f 41 23 15
+f 41 38 30
+f 41 15 38
+f 42 33 32
+f 42 24 9
+f 42 9 33
+f 42 32 41
+f 43 34 17
+f 43 17 37
+f 44 34 26
+f 44 26 35
+f 44 35 10
+f 44 10 34
+f 45 36 3
+f 45 3 35
+f 45 35 36
+f 46 37 27
+f 46 15 23
+f 46 23 37
+f 47 38 27
+f 47 27 21
+f 47 21 38
+f 48 38 21
+f 48 21 8
+f 48 8 16
+f 48 30 38
+f 49 39 28
+f 49 6 20
+f 49 20 39
+f 50 41 30
+f 50 48 16
+f 50 30 48
+f 51 43 7
+f 51 7 26
+f 51 26 34
+f 51 34 43
+f 52 43 37
+f 52 37 7
+f 52 7 43
+f 53 38 15
+f 53 15 46
+f 53 46 27
+f 53 27 38
+f 54 49 28
+f 54 28 6
+f 54 6 49
+f 55 42 41
+f 55 41 50
+f 55 24 42
+f 55 50 16
+f 55 16 24
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_15/collision/model_normalized_collision_20.obj b/objects/objaverse/banana/banana_15/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae44f3c24649054088aec1a4391d77264754da87
--- /dev/null
+++ b/objects/objaverse/banana/banana_15/collision/model_normalized_collision_20.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.25559604 -0.00785405 -0.03889948
+v 0.22569485 -0.00770817 -0.06872099
+v 0.21651017 0.14007692 -0.06049958
+v 0.20092822 0.23184668 -0.04272180
+v 0.17122581 -0.00757575 -0.01422867
+v 0.22767783 0.21768735 -0.01410825
+v 0.21162673 0.09693309 -0.07157678
+v 0.17011949 -0.00768491 -0.08584469
+v 0.21669465 0.18415428 -0.04545756
+v 0.17005445 0.21926034 -0.07130651
+v 0.21272564 -0.00780897 -0.07457748
+v 0.18886505 0.21451688 -0.06268653
+v 0.21857708 0.21427513 -0.03181656
+v 0.16669514 0.18809775 -0.07556877
+v 0.20200839 0.18453898 -0.06085087
+f 6 5 1
+f 6 4 5
+f 7 1 2
+f 7 3 1
+f 9 6 1
+f 9 1 3
+f 10 5 4
+f 11 2 1
+f 11 1 5
+f 11 5 8
+f 11 8 7
+f 11 7 2
+f 12 10 4
+f 12 7 10
+f 13 4 6
+f 13 6 9
+f 13 12 4
+f 14 10 7
+f 14 7 8
+f 14 8 5
+f 14 5 10
+f 15 9 3
+f 15 3 7
+f 15 7 12
+f 15 13 9
+f 15 12 13
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_15/collision/model_normalized_collision_21.obj b/objects/objaverse/banana/banana_15/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e8269c3fdb28e235f212c53aca0db424128cfe2
--- /dev/null
+++ b/objects/objaverse/banana/banana_15/collision/model_normalized_collision_21.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.22993172 0.09811043 0.08901929
+v 0.25094300 0.10200438 -0.03344446
+v 0.22767783 0.21768735 -0.01410825
+v 0.16785750 0.21765156 0.10004667
+v 0.17122581 0.09848485 -0.01422867
+v 0.21384658 0.21079388 0.06907782
+v 0.22741752 0.14280549 0.08454016
+v 0.17453553 0.09916779 0.10865181
+v 0.20092822 0.23184668 -0.04272180
+v 0.19020867 0.21400058 0.08876188
+v 0.20966325 0.14213692 0.09539235
+v 0.17120119 0.14392747 0.10684237
+v 0.20462261 0.18487330 0.08807754
+f 5 2 1
+f 7 1 2
+f 7 2 3
+f 7 3 6
+f 8 5 1
+f 9 3 2
+f 9 2 5
+f 9 5 4
+f 9 6 3
+f 10 9 4
+f 10 6 9
+f 11 1 7
+f 11 8 1
+f 12 4 5
+f 12 5 8
+f 12 11 4
+f 12 8 11
+f 13 7 6
+f 13 6 10
+f 13 11 7
+f 13 10 4
+f 13 4 11
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_15/collision/model_normalized_collision_22.obj b/objects/objaverse/banana/banana_15/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..77b9ea575c690cc4ab22e59ba6cea067ecd93db4
--- /dev/null
+++ b/objects/objaverse/banana/banana_15/collision/model_normalized_collision_22.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.24434589 -0.17790349 -0.01549315
+v 0.26056666 -0.11084597 -0.02687163
+v 0.26398436 0.09679606 -0.01318359
+v 0.25094300 0.10200438 -0.03344446
+v 0.22368643 -0.09746204 -0.06703656
+v 0.26130443 0.06586718 -0.02856928
+v 0.22859301 0.09788838 -0.05642662
+v 0.26245682 -0.11115024 -0.01225872
+v 0.22362684 -0.17217901 -0.05155165
+v 0.26180869 -0.08130265 -0.02960244
+v 0.26326823 0.09678289 -0.02212011
+v 0.24699512 -0.16981316 -0.01269889
+v 0.22414944 0.05213973 -0.06686327
+v 0.23137081 -0.17031615 -0.04421043
+v 0.24616210 0.06586851 -0.04372997
+v 0.24516514 -0.17004290 -0.03014438
+v 0.23205178 0.05129937 -0.05934135
+v 0.23633509 0.09652385 -0.04897662
+f 7 3 4
+f 9 1 7
+f 10 2 5
+f 10 8 2
+f 10 3 8
+f 11 4 3
+f 11 10 6
+f 11 3 10
+f 12 7 1
+f 12 3 7
+f 12 8 3
+f 13 9 7
+f 13 5 9
+f 14 9 5
+f 14 5 2
+f 15 11 6
+f 16 12 1
+f 16 2 8
+f 16 8 12
+f 16 14 2
+f 16 1 9
+f 16 9 14
+f 17 10 5
+f 17 5 13
+f 17 6 10
+f 17 15 6
+f 17 13 7
+f 17 7 15
+f 18 15 7
+f 18 11 15
+f 18 7 4
+f 18 4 11
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_15/collision/model_normalized_collision_23.obj b/objects/objaverse/banana/banana_15/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1c19c1329fc50c81cba65c99ca6d21a2396b288f
--- /dev/null
+++ b/objects/objaverse/banana/banana_15/collision/model_normalized_collision_23.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v -0.00882989 0.29628142 0.07364506
+v -0.01039410 0.29755340 -0.09214138
+v -0.01013290 0.42841176 0.06509252
+v -0.08276974 0.43040458 0.05122564
+v -0.07363465 0.30905270 -0.05925204
+v -0.01430738 0.42728446 -0.09302944
+v -0.02132683 0.38544195 0.07465863
+v -0.00429447 0.31356072 0.08098563
+v -0.06052145 0.30245064 0.04882227
+v -0.08534194 0.43166314 -0.10053503
+v -0.06729780 0.42409915 0.05684853
+v -0.00957660 0.38253736 0.07683265
+v -0.07899882 0.38414759 0.05871706
+v -0.03328195 0.29921106 0.06205963
+v -0.07500534 0.34125650 -0.09087968
+v -0.07768835 0.37574791 0.05875050
+v -0.07506708 0.31831419 0.04548762
+v -0.03056053 0.30738261 -0.09202166
+v -0.07169245 0.30857725 0.03710397
+f 8 1 2
+f 8 6 3
+f 8 2 6
+f 9 5 2
+f 9 2 1
+f 10 4 3
+f 10 3 6
+f 10 6 2
+f 11 7 3
+f 11 3 4
+f 12 8 3
+f 12 3 7
+f 12 7 8
+f 13 8 7
+f 13 11 4
+f 13 7 11
+f 14 9 1
+f 14 1 8
+f 14 8 9
+f 15 5 10
+f 16 8 13
+f 17 10 5
+f 17 16 13
+f 17 9 8
+f 17 8 16
+f 17 13 4
+f 17 4 10
+f 18 15 10
+f 18 10 2
+f 18 2 5
+f 18 5 15
+f 19 17 5
+f 19 5 9
+f 19 9 17
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_15/collision/model_normalized_collision_24.obj b/objects/objaverse/banana/banana_15/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e3be335ee271cb925a6eb0959429f60059c584e0
--- /dev/null
+++ b/objects/objaverse/banana/banana_15/collision/model_normalized_collision_24.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.17991986 -0.29080751 0.02767107
+v 0.22330586 -0.21619638 -0.03593364
+v 0.21963261 -0.21331684 0.04181759
+v 0.18477617 -0.21880000 0.07307180
+v 0.18506558 -0.21921032 -0.07358967
+v 0.19023521 -0.25413213 0.06023804
+v 0.21510331 -0.25580219 0.00951953
+v 0.17978865 -0.24563595 -0.06803138
+v 0.19278458 -0.21645292 -0.06653500
+v 0.21033934 -0.21614474 0.06238932
+v 0.17802383 -0.27363815 0.05555298
+v 0.18675058 -0.28481956 0.02309052
+v 0.18726979 -0.24471002 -0.06130057
+v 0.20428880 -0.22817060 0.06208480
+v 0.18089255 -0.25814188 0.06179197
+v 0.17802167 -0.27476861 -0.05105531
+v 0.19913560 -0.26898880 -0.03431512
+v 0.21416955 -0.24230678 -0.03436292
+v 0.18812164 -0.28668834 -0.03362808
+v 0.21437788 -0.25538860 0.00388846
+v 0.18026105 -0.29140339 -0.03821614
+f 7 2 3
+f 8 4 5
+f 9 3 2
+f 9 2 5
+f 9 5 4
+f 9 4 3
+f 10 3 4
+f 10 7 3
+f 11 1 6
+f 11 4 8
+f 12 7 6
+f 12 6 1
+f 13 8 5
+f 13 5 2
+f 14 10 4
+f 14 4 6
+f 14 6 7
+f 14 7 10
+f 15 11 6
+f 15 6 4
+f 15 4 11
+f 16 11 8
+f 16 1 11
+f 17 8 13
+f 18 17 13
+f 18 13 2
+f 18 2 7
+f 19 7 12
+f 19 12 1
+f 19 8 17
+f 20 18 7
+f 20 17 18
+f 20 19 17
+f 20 7 19
+f 21 19 1
+f 21 1 16
+f 21 16 8
+f 21 8 19
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_15/collision/model_normalized_collision_25.obj b/objects/objaverse/banana/banana_15/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e9c94dab5ab1df9bd6940fce80cdad4d52813e59
--- /dev/null
+++ b/objects/objaverse/banana/banana_15/collision/model_normalized_collision_25.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.00448063 -0.40016201 -0.01497960
+v 0.00398698 -0.39388746 -0.00194621
+v -0.05483290 -0.40087051 -0.01869023
+v -0.02742252 -0.26685036 -0.01302982
+v 0.00940937 -0.27999716 0.03933513
+v -0.04004219 -0.30075907 -0.01607317
+v 0.00980222 -0.36144583 0.01887478
+v -0.03390989 -0.28261827 -0.01503373
+v -0.01520284 -0.28133710 0.02208029
+v 0.00985284 -0.32144605 0.03392918
+v -0.03679716 -0.29845842 -0.01042028
+v 0.00067517 -0.32327108 0.02939419
+v -0.00087359 -0.27969015 0.03226626
+v -0.02445917 -0.28286786 0.00638913
+f 1 2 3
+f 5 1 4
+f 6 1 3
+f 7 2 1
+f 7 1 5
+f 7 3 2
+f 8 4 1
+f 8 1 6
+f 10 7 5
+f 10 3 7
+f 11 6 3
+f 11 3 9
+f 12 9 3
+f 12 10 5
+f 12 3 10
+f 13 5 4
+f 13 4 9
+f 13 12 5
+f 13 9 12
+f 14 9 4
+f 14 4 8
+f 14 11 9
+f 14 8 6
+f 14 6 11
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_15/collision/model_normalized_collision_26.obj b/objects/objaverse/banana/banana_15/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7b9a70254a2806cacc638ce57e7178152b78089d
--- /dev/null
+++ b/objects/objaverse/banana/banana_15/collision/model_normalized_collision_26.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v 0.03506299 0.29544075 0.09097720
+v 0.03535102 0.29685910 -0.09365169
+v 0.02605420 0.44577997 0.02314173
+v -0.01566420 0.46249029 0.02492465
+v -0.01039410 0.29755340 -0.09214138
+v 0.00917572 0.44923337 -0.07752189
+v 0.03291929 0.39550791 0.07576186
+v -0.00259639 0.29920586 0.07806119
+v 0.02588236 0.43607696 -0.07700475
+v 0.01172976 0.46192001 -0.05200629
+v -0.01577749 0.46729821 -0.06984710
+v -0.01436954 0.43928830 -0.08774234
+v 0.02745084 0.43157968 0.05032446
+v -0.01580089 0.43460412 0.06190760
+v 0.02878434 0.40937221 -0.08593916
+v 0.03013445 0.41848178 0.06008665
+v 0.01359894 0.45945941 0.00848119
+v 0.02366206 0.44599858 -0.06597787
+v -0.00331918 0.46211733 -0.06725648
+v 0.00067830 0.44671867 0.04595698
+v -0.00933190 0.39676710 0.07321925
+v -0.00197446 0.43947867 -0.08464136
+v -0.01321889 0.44744062 0.04785069
+v -0.00188529 0.45848968 0.02321934
+f 5 2 1
+f 7 1 2
+f 8 5 1
+f 12 2 5
+f 12 11 6
+f 12 5 11
+f 14 5 8
+f 14 11 5
+f 14 4 11
+f 15 7 2
+f 15 2 12
+f 15 6 9
+f 16 9 3
+f 16 15 9
+f 16 7 15
+f 16 3 13
+f 16 14 7
+f 16 13 14
+f 17 3 10
+f 17 13 3
+f 17 11 4
+f 17 10 11
+f 18 9 6
+f 18 6 10
+f 18 10 3
+f 18 3 9
+f 19 11 10
+f 19 10 6
+f 19 6 11
+f 20 14 13
+f 20 13 17
+f 21 14 8
+f 21 8 1
+f 21 1 7
+f 21 7 14
+f 22 15 12
+f 22 12 6
+f 22 6 15
+f 23 20 4
+f 23 4 14
+f 23 14 20
+f 24 20 17
+f 24 17 4
+f 24 4 20
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_15/collision/model_normalized_collision_27.obj b/objects/objaverse/banana/banana_15/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d336b389a56e9c9c079990cff1354ab3b6abb65
--- /dev/null
+++ b/objects/objaverse/banana/banana_15/collision/model_normalized_collision_27.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.21385922 -0.22475952 -0.04181476
+v 0.22660813 -0.21729697 -0.02853095
+v 0.19840554 -0.00788393 -0.07829400
+v 0.19278458 -0.21645292 -0.06653500
+v 0.24841665 -0.00721790 -0.04590206
+v 0.21628562 -0.17033283 -0.05942767
+v 0.21631467 -0.21332597 -0.04403489
+v 0.19402835 -0.17251192 -0.08133306
+v 0.22569485 -0.00770817 -0.06872099
+v 0.21272564 -0.00780897 -0.07457748
+v 0.20120042 -0.17034951 -0.07464491
+v 0.23331916 -0.00688981 -0.06104992
+f 1 2 3
+f 1 3 4
+f 5 3 2
+f 6 5 2
+f 7 6 2
+f 7 2 1
+f 7 1 4
+f 8 4 3
+f 8 7 4
+f 8 6 7
+f 10 9 8
+f 10 8 3
+f 11 6 8
+f 11 8 9
+f 11 9 5
+f 11 5 6
+f 12 10 3
+f 12 3 5
+f 12 5 9
+f 12 9 10
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_15/collision/model_normalized_collision_28.obj b/objects/objaverse/banana/banana_15/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..130428aa501133d64265d8a4648e7955061469a6
--- /dev/null
+++ b/objects/objaverse/banana/banana_15/collision/model_normalized_collision_28.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.01013290 0.42841176 0.06509252
+v -0.00025175 0.46195714 0.01376997
+v -0.04696306 0.47354996 0.02276511
+v -0.08704036 0.48712055 -0.00093417
+v -0.08276974 0.43040458 0.05122564
+v -0.03107832 0.47879727 -0.00105495
+v -0.01700070 0.45733872 0.03744158
+v -0.03784051 0.42618160 0.06200739
+v -0.07946421 0.45221212 0.04241948
+v -0.01285318 0.47149743 0.00008462
+v -0.01580089 0.43460412 0.06190760
+v -0.03173841 0.47495250 0.00862679
+v -0.08523083 0.47722570 0.01894603
+v -0.03682297 0.43945567 0.05712006
+v -0.09851361 0.45061039 0.03638594
+f 6 4 3
+f 7 1 2
+f 8 5 2
+f 8 2 1
+f 10 5 4
+f 10 4 6
+f 10 6 2
+f 10 2 5
+f 11 7 3
+f 11 1 7
+f 12 6 3
+f 12 3 7
+f 12 7 2
+f 12 2 6
+f 13 3 4
+f 14 9 5
+f 14 5 8
+f 14 8 1
+f 14 1 11
+f 14 13 9
+f 14 11 3
+f 14 3 13
+f 15 13 4
+f 15 4 5
+f 15 5 9
+f 15 9 13
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_15/collision/model_normalized_collision_29.obj b/objects/objaverse/banana/banana_15/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..42c7efc64e4e764e248aa17cc97c45ee7b0a4931
--- /dev/null
+++ b/objects/objaverse/banana/banana_15/collision/model_normalized_collision_29.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v -0.07604611 0.30467947 0.02470690
+v -0.07872806 0.30360564 -0.05034254
+v -0.08357141 0.32955360 -0.07134262
+v -0.10726655 0.33317991 0.01127410
+v -0.08972341 0.30805038 -0.04524913
+v -0.08828440 0.32405727 0.03243678
+v -0.07891564 0.32076276 -0.06549117
+v -0.10077613 0.32283486 0.00813063
+v -0.09406626 0.33369150 -0.06663284
+v -0.10486512 0.32318460 -0.04667983
+v -0.09643559 0.33021027 0.02805480
+v -0.10968340 0.33319465 -0.05199495
+v -0.08412961 0.31072367 0.02035167
+f 5 2 1
+f 6 1 3
+f 7 1 2
+f 7 2 3
+f 7 3 1
+f 9 3 2
+f 9 2 5
+f 10 8 4
+f 10 5 8
+f 10 9 5
+f 11 4 8
+f 11 9 4
+f 11 6 3
+f 11 3 9
+f 12 10 4
+f 12 4 9
+f 12 9 10
+f 13 11 8
+f 13 1 6
+f 13 6 11
+f 13 8 5
+f 13 5 1
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_15/collision/model_normalized_collision_3.obj b/objects/objaverse/banana/banana_15/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..62acc2ad21c0bc612f73db45bbf3ba41aa1e5ff2
--- /dev/null
+++ b/objects/objaverse/banana/banana_15/collision/model_normalized_collision_3.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.17444823 -0.00835494 0.10795631
+v 0.17011949 -0.00768491 -0.08584469
+v 0.17343388 0.22103055 0.09616574
+v 0.04015173 0.22198884 0.08298561
+v 0.04902855 -0.00756025 0.01191328
+v 0.16558525 0.21759439 -0.07299644
+v 0.11065251 0.21970251 0.10685365
+v 0.10327699 -0.00799847 -0.07588440
+v 0.06528699 -0.00677431 0.06254976
+v 0.03819188 0.22256333 -0.08227220
+v 0.05786005 0.22309665 0.09386110
+v 0.06155100 -0.00780399 -0.03656370
+v 0.11436027 -0.00714636 0.09500306
+v 0.05012172 -0.00743105 0.00494112
+v 0.10645920 -0.00688752 0.09116346
+f 1 2 3
+f 6 3 2
+f 7 1 3
+f 8 2 1
+f 9 5 1
+f 9 4 5
+f 10 3 6
+f 10 6 2
+f 10 2 8
+f 10 5 4
+f 11 7 3
+f 11 10 4
+f 11 3 10
+f 12 8 1
+f 12 1 5
+f 12 10 8
+f 13 1 7
+f 13 7 11
+f 13 9 1
+f 14 12 5
+f 14 5 10
+f 14 10 12
+f 15 13 11
+f 15 11 4
+f 15 4 9
+f 15 9 13
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_15/collision/model_normalized_collision_30.obj b/objects/objaverse/banana/banana_15/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..145e4cfd265107493c0dbba9103b68d791d73bf5
--- /dev/null
+++ b/objects/objaverse/banana/banana_15/collision/model_normalized_collision_30.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.23144477 -0.00754801 0.09132341
+v 0.26791611 -0.00789429 0.04266529
+v 0.22993172 0.09811043 0.08901929
+v 0.17453553 0.09916779 0.10865181
+v 0.17122581 -0.00757575 0.03122587
+v 0.17444823 -0.00835494 0.10795631
+v 0.25934984 0.10494980 0.04059034
+v 0.17122581 0.09848485 0.03122587
+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 7 4 3
+f 8 6 4
+f 8 5 6
+f 8 7 5
+f 8 4 7
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_15/collision/model_normalized_collision_31.obj b/objects/objaverse/banana/banana_15/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..03ce6ebe050e6fad9c6e10003e9f39b07243caf2
--- /dev/null
+++ b/objects/objaverse/banana/banana_15/collision/model_normalized_collision_31.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.27207010 -0.00752970 0.02957220
+v 0.27155809 -0.00757350 -0.01344744
+v 0.26346374 0.09880487 -0.01433110
+v 0.17122581 0.09848485 0.03122587
+v 0.17122581 -0.00757575 0.03122587
+v 0.26582123 0.09655023 0.02737263
+v 0.17122581 -0.00757575 -0.01422867
+v 0.26398436 0.09679606 -0.01318359
+v 0.17122581 0.09848485 -0.01422867
+f 5 2 1
+f 5 1 4
+f 6 3 4
+f 6 4 1
+f 6 1 2
+f 7 3 2
+f 7 2 5
+f 7 5 4
+f 8 6 2
+f 8 2 3
+f 8 3 6
+f 9 7 4
+f 9 4 3
+f 9 3 7
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_15/collision/model_normalized_collision_4.obj b/objects/objaverse/banana/banana_15/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f2b193c28366d3b29f9d158d2572cd91daf12bfb
--- /dev/null
+++ b/objects/objaverse/banana/banana_15/collision/model_normalized_collision_4.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v 0.22408150 -0.21627359 0.02758758
+v 0.26002787 -0.12589456 -0.01193606
+v 0.24534009 -0.12551100 0.06701496
+v 0.23144477 -0.00754801 0.09132341
+v 0.25559604 -0.00785405 -0.03889948
+v 0.26331531 -0.00759423 0.05694976
+v 0.22460342 -0.12543316 0.07970482
+v 0.25731054 -0.13705246 0.02398041
+v 0.22330586 -0.21619638 -0.03593364
+v 0.25145170 -0.00723752 0.07695288
+v 0.27155809 -0.00757350 -0.01344744
+v 0.22602728 -0.17168480 0.06668424
+v 0.25039654 -0.05082107 0.07415833
+v 0.23191272 -0.16854290 0.06407057
+v 0.25800747 -0.07970620 0.05502001
+v 0.23858990 -0.17222914 -0.03635773
+v 0.23096807 -0.17402519 -0.04367563
+v 0.24294996 -0.18378124 -0.01229015
+v 0.25886806 -0.13809490 0.00348309
+v 0.23543553 -0.12565639 0.07318651
+v 0.24163068 -0.18225702 0.02386446
+v 0.22850748 -0.21172436 -0.03259633
+v 0.22852879 -0.21154549 0.02256265
+f 9 7 4
+f 9 1 7
+f 10 5 4
+f 11 2 5
+f 11 10 6
+f 11 5 10
+f 11 6 8
+f 12 7 1
+f 13 10 4
+f 13 6 10
+f 14 8 3
+f 14 12 1
+f 14 7 12
+f 15 8 6
+f 15 3 8
+f 15 13 3
+f 15 6 13
+f 16 5 2
+f 17 9 4
+f 17 4 5
+f 17 5 16
+f 19 11 8
+f 19 2 11
+f 19 18 2
+f 20 3 13
+f 20 14 3
+f 20 7 14
+f 20 13 4
+f 20 4 7
+f 21 8 14
+f 21 19 8
+f 21 18 19
+f 22 17 16
+f 22 9 17
+f 22 16 2
+f 22 2 18
+f 22 1 9
+f 23 21 14
+f 23 14 1
+f 23 18 21
+f 23 22 18
+f 23 1 22
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_15/collision/model_normalized_collision_5.obj b/objects/objaverse/banana/banana_15/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4dac933dfe45d4b9da9962d968a952404bbdc864
--- /dev/null
+++ b/objects/objaverse/banana/banana_15/collision/model_normalized_collision_5.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v 0.21363932 -0.21003522 0.06244370
+v 0.24378304 -0.13165450 -0.04101880
+v 0.23091095 -0.12836047 0.07513539
+v 0.04809580 -0.13142523 0.05400855
+v 0.02837529 -0.22470154 -0.08251393
+v 0.16639951 -0.12904960 -0.08879734
+v 0.09748466 -0.21930984 0.08683295
+v 0.22660813 -0.21729697 -0.02853095
+v 0.19838677 -0.12895827 -0.07934814
+v 0.09742900 -0.12864454 0.08564394
+v 0.03705446 -0.13503086 -0.03929953
+v 0.01327649 -0.22229620 0.04058879
+v 0.01411138 -0.22532543 -0.06647694
+v 0.16617297 -0.21857929 -0.08699854
+v 0.11433174 -0.13070601 -0.08846443
+v 0.02271299 -0.15057161 0.00792322
+v 0.04446114 -0.22091566 0.06287870
+v 0.18572991 -0.21383570 -0.07499048
+v 0.03518008 -0.13212991 0.02452837
+v 0.07690828 -0.13311715 -0.07790732
+v 0.05355063 -0.22121340 -0.08840629
+v 0.02248788 -0.15251830 -0.00986506
+v 0.07751157 -0.13049726 0.07479442
+v 0.07197201 -0.21933846 0.07596296
+v 0.05376279 -0.20623022 -0.08706992
+v 0.02254443 -0.16770050 -0.03994578
+f 7 1 3
+f 8 2 3
+f 8 3 1
+f 8 1 7
+f 9 6 3
+f 9 3 2
+f 10 3 6
+f 10 7 3
+f 13 8 7
+f 13 5 8
+f 13 7 12
+f 13 11 5
+f 14 8 5
+f 14 6 9
+f 15 10 6
+f 17 4 12
+f 17 12 7
+f 18 14 9
+f 18 9 2
+f 18 2 8
+f 18 8 14
+f 19 4 10
+f 19 10 15
+f 19 11 16
+f 19 16 12
+f 19 12 4
+f 20 5 11
+f 20 19 15
+f 20 11 19
+f 21 14 5
+f 21 15 6
+f 21 6 14
+f 22 13 12
+f 22 12 16
+f 22 16 11
+f 23 17 10
+f 23 10 4
+f 23 4 17
+f 24 17 7
+f 24 7 10
+f 24 10 17
+f 25 20 15
+f 25 5 20
+f 25 21 5
+f 25 15 21
+f 26 22 11
+f 26 11 13
+f 26 13 22
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_15/collision/model_normalized_collision_6.obj b/objects/objaverse/banana/banana_15/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0453629059d8c8d9777db52480ecd66ee7f6f198
--- /dev/null
+++ b/objects/objaverse/banana/banana_15/collision/model_normalized_collision_6.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.25145170 -0.00723752 0.07695288
+v 0.27207010 -0.00752970 0.02957220
+v 0.24568902 0.11001130 0.07678978
+v 0.21461007 0.20346440 0.07571755
+v 0.22415623 -0.00702559 0.09690010
+v 0.25465555 0.14218224 0.02868062
+v 0.26331531 -0.00759423 0.05694976
+v 0.23412783 0.05223975 0.09007203
+v 0.26294776 0.11026771 0.02634637
+v 0.22923980 0.16669312 0.07824601
+v 0.20974641 0.20105625 0.08067067
+v 0.26791611 -0.00789429 0.04266529
+v 0.25854459 0.10923325 0.03999947
+v 0.21865797 0.19907832 0.07127748
+v 0.25007089 0.14838488 0.03762162
+v 0.21625899 0.14383116 0.09113591
+v 0.21662856 0.19799255 0.07732443
+v 0.25821680 0.08128802 0.05519474
+v 0.23427663 -0.00717346 0.08928608
+v 0.22474005 0.05220644 0.09659275
+v 0.22285474 0.14552540 0.08687946
+f 7 3 1
+f 8 5 1
+f 8 1 3
+f 9 2 6
+f 11 4 6
+f 11 6 2
+f 11 2 5
+f 12 5 2
+f 13 9 6
+f 13 6 3
+f 14 6 4
+f 15 10 3
+f 15 3 6
+f 15 14 10
+f 15 6 14
+f 16 10 11
+f 16 11 5
+f 17 11 10
+f 17 4 11
+f 17 14 4
+f 17 10 14
+f 18 7 12
+f 18 9 13
+f 18 13 3
+f 18 3 7
+f 18 12 2
+f 18 2 9
+f 19 12 7
+f 19 7 1
+f 19 1 5
+f 19 5 12
+f 20 8 3
+f 20 16 5
+f 20 5 8
+f 21 3 10
+f 21 10 16
+f 21 20 3
+f 21 16 20
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_15/collision/model_normalized_collision_7.obj b/objects/objaverse/banana/banana_15/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aef9374e1bca972ed47087800df264a07692dccf
--- /dev/null
+++ b/objects/objaverse/banana/banana_15/collision/model_normalized_collision_7.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.00274684 -0.40226571 -0.01858909
+v 0.00026725 -0.38588505 -0.05986177
+v 0.00642077 -0.28060582 -0.08134027
+v -0.02742252 -0.26685036 -0.01302982
+v -0.13291324 -0.41661372 -0.08536371
+v 0.00389502 -0.35029780 -0.07477241
+v 0.00058700 -0.40133686 -0.03760430
+v -0.13105228 -0.41626557 -0.03396473
+v -0.12464345 -0.37345287 -0.06226455
+v -0.09174127 -0.41163645 -0.07284274
+v -0.11396172 -0.41523013 -0.03112317
+v -0.02279837 -0.28741710 -0.06011363
+v -0.12543621 -0.38643752 -0.07805733
+v -0.12561948 -0.38000024 -0.03822114
+v -0.04004219 -0.30075907 -0.01607317
+v -0.00920306 -0.28680535 -0.07653105
+f 1 3 4
+f 6 1 2
+f 6 3 1
+f 6 5 3
+f 6 2 5
+f 7 2 1
+f 7 1 5
+f 10 7 5
+f 10 5 2
+f 10 2 7
+f 11 8 5
+f 11 5 1
+f 11 4 8
+f 12 9 4
+f 13 3 5
+f 13 5 9
+f 14 8 4
+f 14 4 9
+f 14 9 5
+f 14 5 8
+f 15 11 1
+f 15 1 4
+f 15 4 11
+f 16 12 4
+f 16 4 3
+f 16 3 13
+f 16 13 9
+f 16 9 12
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_15/collision/model_normalized_collision_8.obj b/objects/objaverse/banana/banana_15/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..55842504ad7c61ed74a167acff3a92629c86cc00
--- /dev/null
+++ b/objects/objaverse/banana/banana_15/collision/model_normalized_collision_8.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.18477617 -0.21880000 0.07307180
+v 0.22763217 -0.15724043 0.06944804
+v 0.18320879 -0.00680960 0.10628021
+v 0.10645920 -0.00688752 0.09116346
+v 0.09227796 -0.00777552 0.08127238
+v 0.09748466 -0.21930984 0.08683295
+v 0.20515918 -0.13859242 0.08765446
+v 0.21287742 -0.18653920 0.06959711
+v 0.23862895 -0.00779095 0.08614707
+v 0.16021640 -0.05240603 0.10702440
+v 0.09208131 -0.21987534 0.08457648
+v 0.17054936 -0.18744204 0.08922628
+v 0.20726992 -0.18232985 0.07430417
+v 0.22051701 -0.08022912 0.08981579
+v 0.22415623 -0.00702559 0.09690010
+v 0.14613430 -0.00673497 0.10473581
+v 0.14022712 -0.20253813 0.08872200
+v 0.18363587 -0.03605347 0.10501740
+v 0.10990737 -0.20151032 0.09111891
+v 0.17943493 -0.21580785 0.07618547
+v 0.16860959 -0.05128837 0.10579937
+f 8 5 2
+f 8 1 5
+f 9 2 5
+f 9 5 4
+f 11 5 1
+f 11 1 6
+f 11 6 4
+f 11 4 5
+f 13 8 2
+f 13 2 7
+f 13 7 12
+f 13 12 1
+f 13 1 8
+f 14 7 2
+f 14 2 9
+f 15 9 4
+f 15 14 9
+f 15 7 14
+f 16 10 3
+f 16 4 6
+f 16 15 4
+f 16 3 15
+f 18 12 7
+f 18 7 15
+f 18 15 3
+f 18 3 10
+f 19 16 6
+f 19 10 16
+f 19 6 17
+f 19 17 12
+f 19 12 10
+f 20 17 6
+f 20 6 1
+f 20 1 12
+f 20 12 17
+f 21 18 10
+f 21 10 12
+f 21 12 18
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_15/collision/model_normalized_collision_9.obj b/objects/objaverse/banana/banana_15/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d095876078e9758c451626b9676992e162f94c7
--- /dev/null
+++ b/objects/objaverse/banana/banana_15/collision/model_normalized_collision_9.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v -0.08213141 0.31431398 0.02858521
+v -0.07774944 0.31816555 0.04099375
+v -0.19347395 0.42781981 -0.01026905
+v -0.18892331 0.48200924 -0.02273631
+v -0.08830382 0.49321823 -0.01690338
+v -0.08213148 0.44037834 0.04759473
+v -0.10004581 0.34013979 0.03623002
+v -0.09947628 0.31335839 -0.01333854
+v -0.20535310 0.47627478 -0.01888345
+v -0.08523083 0.47722570 0.01894603
+v -0.12959849 0.35583082 0.00520194
+v -0.10566702 0.38916629 0.04366977
+v -0.19659123 0.42488126 -0.02046384
+v -0.11456068 0.47704128 0.01689806
+v -0.11932374 0.36061628 0.03012058
+v -0.09028260 0.32046697 0.02420323
+v -0.10702604 0.41283389 0.04321682
+v -0.08047569 0.34398524 0.04936890
+v -0.12096640 0.33599410 -0.01496354
+v -0.14145964 0.46266096 0.01506531
+v -0.08404921 0.46526204 0.03400038
+v -0.11545483 0.48909649 -0.00466124
+v -0.09290178 0.34541245 0.04372714
+v -0.14526191 0.36768854 -0.00849034
+v -0.11544455 0.33982172 0.00582680
+v -0.09524854 0.43859407 0.04401673
+v -0.11572581 0.49327579 -0.01854985
+v -0.08877121 0.48897590 -0.00558961
+v -0.14730814 0.36727447 -0.01563121
+f 5 2 1
+f 8 5 1
+f 8 4 5
+f 10 6 2
+f 10 2 5
+f 13 3 9
+f 13 11 3
+f 13 9 4
+f 15 11 7
+f 15 3 11
+f 15 12 3
+f 16 7 11
+f 16 1 2
+f 16 2 7
+f 16 8 1
+f 17 9 3
+f 17 3 12
+f 18 2 6
+f 18 17 12
+f 18 6 17
+f 19 8 16
+f 19 13 4
+f 19 4 8
+f 20 14 9
+f 21 6 10
+f 21 10 14
+f 21 14 20
+f 22 4 9
+f 22 9 14
+f 22 14 10
+f 23 7 2
+f 23 2 18
+f 23 15 7
+f 23 18 12
+f 23 12 15
+f 24 19 11
+f 24 11 13
+f 25 19 16
+f 25 16 11
+f 25 11 19
+f 26 17 6
+f 26 21 20
+f 26 6 21
+f 26 20 9
+f 26 9 17
+f 27 22 5
+f 27 5 4
+f 27 4 22
+f 28 22 10
+f 28 10 5
+f 28 5 22
+f 29 24 13
+f 29 13 19
+f 29 19 24
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_15/model.xml b/objects/objaverse/banana/banana_15/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..b211949d0d32775b168f84969533046fc012958e
--- /dev/null
+++ b/objects/objaverse/banana/banana_15/model.xml
@@ -0,0 +1,81 @@
+<mujoco model="banana_1">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.18 0.18 0.18" refquat="-5.551115123125783e-17 -1.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.18 0.18 0.18" refquat="-5.551115123125783e-17 -1.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.18 0.18 0.18" refquat="-5.551115123125783e-17 -1.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.18 0.18 0.18" refquat="-5.551115123125783e-17 -1.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.18 0.18 0.18" refquat="-5.551115123125783e-17 -1.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.18 0.18 0.18" refquat="-5.551115123125783e-17 -1.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.18 0.18 0.18" refquat="-5.551115123125783e-17 -1.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.18 0.18 0.18" refquat="-5.551115123125783e-17 -1.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.18 0.18 0.18" refquat="-5.551115123125783e-17 -1.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.18 0.18 0.18" refquat="-5.551115123125783e-17 -1.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.18 0.18 0.18" refquat="-5.551115123125783e-17 -1.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.18 0.18 0.18" refquat="-5.551115123125783e-17 -1.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.18 0.18 0.18" refquat="-5.551115123125783e-17 -1.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.18 0.18 0.18" refquat="-5.551115123125783e-17 -1.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.18 0.18 0.18" refquat="-5.551115123125783e-17 -1.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.18 0.18 0.18" refquat="-5.551115123125783e-17 -1.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.18 0.18 0.18" refquat="-5.551115123125783e-17 -1.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.18 0.18 0.18" refquat="-5.551115123125783e-17 -1.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.18 0.18 0.18" refquat="-5.551115123125783e-17 -1.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.18 0.18 0.18" refquat="-5.551115123125783e-17 -1.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.18 0.18 0.18" refquat="-5.551115123125783e-17 -1.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.18 0.18 0.18" refquat="-5.551115123125783e-17 -1.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.18 0.18 0.18" refquat="-5.551115123125783e-17 -1.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.18 0.18 0.18" refquat="-5.551115123125783e-17 -1.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.18 0.18 0.18" refquat="-5.551115123125783e-17 -1.0 0.0 0.0"/>
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diff --git a/objects/objaverse/banana/banana_15/visual/material.mtl b/objects/objaverse/banana/banana_15/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9b69ee017d934c5b09e3ee53e590b4276cccd4fc
--- /dev/null
+++ b/objects/objaverse/banana/banana_15/visual/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 159.99998100
+map_Kd material_0.png
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_15/visual/model_normalized_0.obj b/objects/objaverse/banana/banana_15/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..29b44bb7306b9a4503548150d3f768f0428ab9e3
--- /dev/null
+++ b/objects/objaverse/banana/banana_15/visual/model_normalized_0.obj
@@ -0,0 +1,2000 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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+f 369/369/369 377/377/377 378/378/378
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+f 356/356/356 358/358/358 384/384/384
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+f 408/408/408 406/406/406 382/382/382
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+f 410/410/410 408/408/408 383/383/383
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+f 385/385/385 412/412/412 410/410/410
+f 385/385/385 410/410/410 384/384/384
+f 414/414/414 412/412/412 385/385/385
+f 414/414/414 385/385/385 386/386/386
+f 390/390/390 414/414/414 386/386/386
+f 390/390/390 386/386/386 387/387/387
+f 388/388/388 391/391/391 390/390/390
+f 388/388/388 390/390/390 387/387/387
+f 395/395/395 394/394/394 389/389/389
+f 395/395/395 389/389/389 378/378/378
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_18/collision/model_normalized_collision_0.obj b/objects/objaverse/banana/banana_18/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d9b7a98b29bc801afd6035b0869fd1749717c976
--- /dev/null
+++ b/objects/objaverse/banana/banana_18/collision/model_normalized_collision_0.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.21195935 0.03998270 0.00224817
+v 0.22138601 0.08367194 -0.09973973
+v 0.22081508 0.06921535 -0.02416158
+v -0.23503552 0.07832344 -0.06854719
+v 0.11642477 0.02761934 -0.02013659
+v 0.22129333 0.07904644 -0.05491099
+v -0.22947229 0.05904396 -0.00620985
+v 0.14588672 0.02936113 -0.01482528
+v -0.24089894 0.07855594 -0.10254169
+v 0.21976882 0.08380325 -0.09658342
+v -0.23595490 0.06706320 -0.02427741
+v -0.23365724 0.08018055 -0.09575236
+f 1 2 3
+f 6 3 2
+f 7 1 3
+f 8 5 2
+f 8 2 1
+f 8 7 5
+f 8 1 7
+f 9 2 5
+f 9 5 7
+f 10 6 2
+f 10 4 6
+f 11 6 4
+f 11 9 7
+f 11 4 9
+f 11 7 3
+f 11 3 6
+f 12 9 4
+f 12 4 10
+f 12 10 2
+f 12 2 9
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_18/collision/model_normalized_collision_10.obj b/objects/objaverse/banana/banana_18/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6bb8e8055d695898928c6a28c4f13afbe1e5688a
--- /dev/null
+++ b/objects/objaverse/banana/banana_18/collision/model_normalized_collision_10.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v -0.09804364 -0.07722688 -0.08994191
+v -0.10119171 -0.04848325 -0.03825745
+v -0.16232024 -0.05839016 -0.03114356
+v -0.16211209 0.08116564 -0.09177537
+v -0.09391152 0.07586783 -0.08199662
+v -0.15822782 -0.07968895 -0.09277180
+v -0.14505102 -0.06106258 -0.04174305
+v -0.16306354 0.05222678 -0.01952698
+v -0.16045382 -0.06267768 -0.04059471
+v -0.16449482 -0.04887923 -0.02104194
+v -0.14738624 -0.05641670 -0.03291526
+v -0.10232653 0.05313538 -0.03592138
+v -0.15911000 0.06277188 -0.03613629
+v -0.09915767 0.05826164 -0.04049832
+v -0.11857890 -0.01139116 -0.02381170
+v -0.13370155 -0.03563889 -0.02455390
+v -0.11872411 0.01553762 -0.02380176
+v -0.13383438 0.04246335 -0.02432545
+f 5 2 1
+f 5 1 4
+f 6 4 1
+f 7 1 2
+f 9 6 1
+f 9 3 6
+f 9 7 3
+f 9 1 7
+f 10 6 3
+f 10 4 6
+f 10 8 4
+f 11 7 2
+f 11 3 7
+f 11 10 3
+f 11 2 10
+f 13 5 4
+f 13 4 8
+f 14 12 2
+f 14 2 5
+f 14 5 13
+f 14 13 8
+f 14 8 12
+f 15 2 12
+f 15 8 10
+f 16 15 10
+f 16 10 2
+f 16 2 15
+f 17 15 12
+f 17 8 15
+f 18 17 12
+f 18 12 8
+f 18 8 17
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_18/collision/model_normalized_collision_14.obj b/objects/objaverse/banana/banana_18/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9de0343f4b29c1f152764918ae26fda723d94fa5
--- /dev/null
+++ b/objects/objaverse/banana/banana_18/collision/model_normalized_collision_14.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.40696836 -0.06487379 -0.00142164
+v 0.43148472 -0.05751353 -0.00585477
+v 0.40171253 -0.04125331 0.06866071
+v 0.30264711 -0.03741863 0.03924455
+v 0.34093284 -0.07205901 -0.00599753
+v 0.43080371 -0.05338640 0.02279547
+v 0.42564288 -0.06038749 -0.00739866
+v 0.29757021 -0.04131944 0.03533644
+v 0.40136457 -0.04466798 0.06314680
+v 0.34600738 -0.04697025 0.05285969
+v 0.41237627 -0.05414436 0.03174716
+v 0.34581790 -0.03830527 0.05751259
+v 0.34102309 -0.05907151 0.03526025
+v 0.42654493 -0.05503542 0.02036074
+v 0.30423195 -0.04832985 0.03523974
+v 0.30003616 -0.05212986 0.03086097
+v 0.33968388 -0.06872179 0.00448467
+f 3 2 4
+f 6 2 3
+f 7 5 2
+f 7 1 5
+f 7 6 1
+f 7 2 6
+f 8 4 2
+f 8 2 5
+f 9 6 3
+f 11 5 1
+f 11 6 9
+f 12 10 3
+f 12 3 4
+f 13 9 3
+f 13 3 10
+f 13 11 9
+f 13 5 11
+f 14 11 1
+f 14 1 6
+f 14 6 11
+f 15 12 4
+f 15 4 8
+f 15 10 12
+f 16 13 10
+f 16 10 15
+f 16 15 8
+f 16 8 5
+f 17 16 5
+f 17 5 13
+f 17 13 16
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_18/collision/model_normalized_collision_15.obj b/objects/objaverse/banana/banana_18/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c53985257aaeaee91a959ca47a44db4a5208093
--- /dev/null
+++ b/objects/objaverse/banana/banana_18/collision/model_normalized_collision_15.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.14338117 -0.05714453 -0.18603701
+v 0.14045215 -0.05113660 -0.19120126
+v 0.14257856 0.06805891 -0.18044024
+v 0.08291730 0.07319449 -0.18530151
+v 0.08177737 -0.01105443 -0.22569752
+v 0.13921136 0.03948001 -0.20413437
+v 0.09087371 -0.02857432 -0.21753979
+v 0.13900375 -0.03394644 -0.20192689
+v 0.08031972 0.03973808 -0.21691143
+v 0.12609232 -0.05223275 -0.19435571
+v 0.12383823 -0.00964084 -0.21592466
+v 0.12475970 0.02613218 -0.21495769
+v 0.08182042 0.06745218 -0.19499913
+v 0.12897132 -0.05879404 -0.18837320
+v 0.12529509 -0.03590169 -0.20460802
+v 0.09531608 0.03881883 -0.21472079
+v 0.12472096 0.05116719 -0.20118134
+v 0.13997779 0.06229681 -0.18791387
+f 1 3 4
+f 6 3 1
+f 7 4 5
+f 8 6 1
+f 8 1 2
+f 10 2 1
+f 11 6 8
+f 11 8 7
+f 11 7 5
+f 12 5 9
+f 12 11 5
+f 12 6 11
+f 13 9 5
+f 13 5 4
+f 13 4 3
+f 14 10 1
+f 14 1 4
+f 14 4 7
+f 14 7 10
+f 15 8 2
+f 15 2 10
+f 15 10 7
+f 15 7 8
+f 16 12 9
+f 17 6 12
+f 17 12 16
+f 17 16 9
+f 17 9 13
+f 18 17 13
+f 18 13 3
+f 18 3 6
+f 18 6 17
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_18/collision/model_normalized_collision_17.obj b/objects/objaverse/banana/banana_18/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a6985dadec8c0bf1a26bd83451926cf3a4ad3dcd
--- /dev/null
+++ b/objects/objaverse/banana/banana_18/collision/model_normalized_collision_17.obj
@@ -0,0 +1,141 @@
+# https://github.com/mikedh/trimesh
+v -0.23510982 -0.08012787 -0.06815498
+v -0.22913321 -0.03472712 -0.18642635
+v -0.23503552 0.07832344 -0.06854719
+v -0.34958006 0.06154628 -0.06290601
+v -0.40320428 -0.03450968 -0.05868973
+v -0.23042496 0.05086546 -0.17606068
+v -0.30484043 -0.06909690 -0.11850815
+v -0.23298091 0.07862368 -0.10951819
+v -0.35703639 0.01025219 -0.12536006
+v -0.23171204 -0.07170236 -0.14935965
+v -0.35084219 -0.07228534 -0.06263831
+v -0.28834699 0.05915079 -0.13173122
+v -0.26393590 0.07738820 -0.06767151
+v -0.40520716 0.02483640 -0.05988942
+v -0.25798899 0.01294595 -0.18540833
+v -0.35767761 -0.01889286 -0.12515155
+v -0.26990515 -0.05827544 -0.15577008
+v -0.37464995 -0.05730268 -0.07414643
+v -0.23221574 0.06619560 -0.15135597
+v -0.24761965 0.07673231 -0.10905605
+v -0.29980088 0.03477709 -0.15449476
+v -0.37232141 0.03276531 -0.09905339
+v -0.23068233 0.02711895 -0.19110668
+v -0.38536295 -0.01861499 -0.09827091
+v -0.31504851 -0.01943532 -0.15489040
+v -0.24568338 -0.06948685 -0.14812566
+v -0.31690010 -0.05800038 -0.12904928
+v -0.37777765 -0.06092683 -0.06128328
+v -0.34905559 -0.06943016 -0.07614494
+v -0.25927934 0.06081482 -0.14754941
+v -0.34811118 0.05892174 -0.07588931
+v -0.26265039 0.07651222 -0.09466389
+v -0.31495841 0.01218754 -0.15608829
+v -0.30138946 0.04536429 -0.14388477
+v -0.35787324 0.03399833 -0.11094494
+v -0.38471411 0.01135273 -0.09790788
+v -0.27182300 0.03560614 -0.16892251
+v -0.40016247 0.02215086 -0.07101801
+v -0.39844323 -0.03145814 -0.06952806
+v -0.25856149 -0.02031976 -0.18256146
+v -0.31467774 -0.04649087 -0.13827418
+v -0.37481662 0.04564643 -0.07330869
+v -0.24284026 0.04902605 -0.17243612
+v -0.28548817 0.02372945 -0.16892094
+v -0.24201955 -0.03330729 -0.18282022
+v -0.32834750 -0.03132167 -0.13937039
+v -0.37780105 0.04783959 -0.06224305
+v -0.24327652 0.02555841 -0.18682062
+f 1 2 3
+f 5 1 3
+f 5 3 4
+f 8 3 2
+f 8 2 6
+f 10 2 1
+f 11 1 5
+f 11 10 1
+f 11 7 10
+f 13 4 3
+f 13 3 8
+f 14 5 4
+f 17 2 10
+f 19 8 6
+f 20 19 12
+f 20 8 19
+f 23 6 2
+f 23 2 15
+f 24 9 16
+f 24 16 18
+f 26 17 10
+f 26 10 7
+f 26 7 17
+f 27 17 7
+f 27 18 16
+f 28 11 5
+f 28 5 18
+f 29 7 11
+f 29 28 18
+f 29 11 28
+f 29 27 7
+f 29 18 27
+f 30 19 6
+f 30 12 19
+f 31 20 12
+f 32 13 8
+f 32 8 20
+f 32 4 13
+f 32 31 4
+f 32 20 31
+f 33 9 21
+f 33 15 25
+f 33 25 16
+f 33 16 9
+f 34 12 30
+f 35 21 9
+f 35 9 22
+f 35 34 21
+f 35 22 31
+f 35 31 12
+f 35 12 34
+f 36 22 9
+f 36 9 24
+f 38 5 14
+f 38 36 24
+f 38 14 22
+f 38 22 36
+f 39 24 18
+f 39 18 5
+f 39 38 24
+f 39 5 38
+f 40 25 15
+f 40 15 2
+f 40 17 25
+f 41 25 17
+f 41 17 27
+f 42 31 22
+f 42 22 14
+f 43 34 30
+f 43 30 6
+f 43 6 23
+f 43 23 37
+f 43 37 21
+f 43 21 34
+f 44 15 33
+f 44 33 21
+f 44 21 37
+f 45 40 2
+f 45 2 17
+f 45 17 40
+f 46 41 27
+f 46 27 16
+f 46 16 25
+f 46 25 41
+f 47 42 14
+f 47 14 4
+f 47 4 31
+f 47 31 42
+f 48 44 37
+f 48 37 23
+f 48 23 15
+f 48 15 44
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_18/collision/model_normalized_collision_18.obj b/objects/objaverse/banana/banana_18/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..81b3953da21dca78080df2dbeefe278a1eaf2c2b
--- /dev/null
+++ b/objects/objaverse/banana/banana_18/collision/model_normalized_collision_18.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v -0.16048418 -0.06848155 -0.17794076
+v -0.15592091 -0.03705258 -0.20621035
+v -0.15889744 0.07652014 -0.15670132
+v -0.23221574 0.06619560 -0.15135597
+v -0.24576489 -0.02584641 -0.18487548
+v -0.15677382 0.04063654 -0.20553898
+v -0.23459925 -0.05756486 -0.17155773
+v -0.15684753 0.06601866 -0.18001560
+v -0.22930630 0.03805280 -0.18617161
+v -0.15523260 -0.00902155 -0.21799385
+v -0.21343036 -0.04770105 -0.18499116
+v -0.21331881 0.04812354 -0.18483809
+v -0.21389467 -0.02027376 -0.19820546
+v -0.16915971 0.01315334 -0.21410888
+v -0.15569037 0.01314586 -0.21750710
+v -0.23268642 -0.05325432 -0.17582460
+v -0.15766352 -0.05387373 -0.19656442
+v -0.20068004 0.05984367 -0.17617941
+v -0.18451714 0.03874648 -0.19997364
+v -0.23015312 0.06068591 -0.16249847
+v -0.18449294 -0.03480025 -0.20015714
+v -0.21337403 0.02425230 -0.19822726
+v -0.22913321 -0.03472712 -0.18642635
+v -0.16921409 -0.00845709 -0.21451489
+v -0.17044560 -0.03420389 -0.20389004
+f 1 2 3
+f 1 3 4
+f 7 1 4
+f 7 4 5
+f 8 3 2
+f 8 4 3
+f 9 5 4
+f 10 8 2
+f 15 6 8
+f 15 8 10
+f 16 7 5
+f 17 2 1
+f 17 1 7
+f 17 16 11
+f 17 7 16
+f 18 8 6
+f 18 6 12
+f 18 4 8
+f 19 12 6
+f 19 9 12
+f 19 15 14
+f 19 6 15
+f 20 12 9
+f 20 9 4
+f 20 18 12
+f 20 4 18
+f 21 13 10
+f 21 11 13
+f 21 17 11
+f 21 2 17
+f 22 13 5
+f 22 5 9
+f 22 19 14
+f 22 9 19
+f 23 13 11
+f 23 5 13
+f 23 16 5
+f 23 11 16
+f 24 10 13
+f 24 22 14
+f 24 13 22
+f 24 15 10
+f 24 14 15
+f 25 21 10
+f 25 10 2
+f 25 2 21
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_18/collision/model_normalized_collision_19.obj b/objects/objaverse/banana/banana_18/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d070130304f22b74cfeb51cb7f61577cea875a8
--- /dev/null
+++ b/objects/objaverse/banana/banana_18/collision/model_normalized_collision_19.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v 0.21956657 -0.08314485 -0.09676101
+v 0.21515338 -0.06054114 -0.16056700
+v 0.21976882 0.08380325 -0.09658342
+v 0.14401497 0.08295292 -0.09832383
+v 0.14217809 -0.07240189 -0.16434389
+v 0.13921136 0.03948001 -0.20413437
+v 0.14491726 -0.07970896 -0.09771158
+v 0.21542510 -0.01980184 -0.18422722
+v 0.21568168 -0.06938262 -0.14697693
+v 0.14172851 0.07570954 -0.16587537
+v 0.13900375 -0.03394644 -0.20192689
+v 0.21819546 0.07657252 -0.13774985
+v 0.17052064 -0.06960909 -0.16224554
+v 0.18244488 0.01352442 -0.19986851
+v 0.21258707 -0.04909621 -0.16939497
+v 0.20008964 0.06120896 -0.17212981
+v 0.18521503 -0.05944521 -0.17175948
+v 0.18243803 -0.00708254 -0.19893258
+v 0.15293097 -0.03207988 -0.19862734
+v 0.21500896 0.06480989 -0.16204734
+v 0.21314300 0.05304380 -0.17480685
+v 0.15613431 0.07388476 -0.16492518
+v 0.21439969 0.02578810 -0.18617097
+v 0.18487895 0.05148343 -0.18342381
+f 7 1 3
+f 7 3 4
+f 7 5 1
+f 8 1 2
+f 9 2 1
+f 9 1 5
+f 10 6 4
+f 10 4 3
+f 11 5 7
+f 11 7 4
+f 11 4 6
+f 12 3 1
+f 12 1 8
+f 12 10 3
+f 13 9 5
+f 13 2 9
+f 14 11 6
+f 15 8 2
+f 16 6 10
+f 17 2 13
+f 17 15 2
+f 17 11 15
+f 17 13 5
+f 17 5 11
+f 18 14 8
+f 18 11 14
+f 19 15 11
+f 19 8 15
+f 19 18 8
+f 19 11 18
+f 21 16 20
+f 22 20 16
+f 22 16 10
+f 22 10 12
+f 22 12 20
+f 23 20 12
+f 23 12 8
+f 23 21 20
+f 23 8 14
+f 23 14 6
+f 23 6 21
+f 24 21 6
+f 24 6 16
+f 24 16 21
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_18/collision/model_normalized_collision_21.obj b/objects/objaverse/banana/banana_18/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8bd4abcd958c01a718675a5b9b8e0d220f36e58d
--- /dev/null
+++ b/objects/objaverse/banana/banana_18/collision/model_normalized_collision_21.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.16127968 -0.07045277 -0.05883197
+v -0.15792042 -0.07417125 -0.16661999
+v -0.16478080 0.06684087 -0.17615450
+v -0.22947229 0.05904396 -0.00620985
+v -0.23672732 -0.07322672 -0.04158866
+v -0.15732324 0.03410954 -0.01527187
+v -0.24093770 -0.01889930 -0.18964482
+v -0.16232024 -0.05839016 -0.03114356
+v -0.16826766 -0.02819979 -0.20716467
+v -0.23171204 -0.07170236 -0.14935965
+v -0.24252597 0.04681157 -0.17446594
+v -0.23582946 -0.06612854 -0.02397620
+v -0.23236107 -0.06289001 -0.16576915
+v -0.20145791 -0.07006118 -0.16358700
+f 5 2 1
+f 6 3 4
+f 6 1 2
+f 6 2 3
+f 8 1 6
+f 9 3 2
+f 10 2 5
+f 10 5 7
+f 11 7 5
+f 11 4 3
+f 11 9 7
+f 11 3 9
+f 12 5 1
+f 12 1 8
+f 12 11 5
+f 12 4 11
+f 12 8 6
+f 12 6 4
+f 13 9 2
+f 13 10 7
+f 13 7 9
+f 14 13 2
+f 14 2 10
+f 14 10 13
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_18/collision/model_normalized_collision_24.obj b/objects/objaverse/banana/banana_18/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..354495a7cb880845aea03e4e335888ccad6501be
--- /dev/null
+++ b/objects/objaverse/banana/banana_18/collision/model_normalized_collision_24.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.09829416 -0.07031646 -0.18594107
+v -0.09711513 -0.05925867 -0.20254461
+v -0.09753060 -0.05214439 -0.20773766
+v -0.23268642 -0.05325432 -0.17582460
+v -0.16048418 -0.06848155 -0.17794076
+v -0.18547646 -0.05817919 -0.18580747
+v -0.09899927 -0.06676221 -0.19238235
+v -0.23236107 -0.06289001 -0.16576915
+v -0.11245025 -0.05083203 -0.20677185
+v -0.11163200 -0.05846642 -0.20104150
+v -0.15891554 -0.07180168 -0.17166790
+v -0.23113583 -0.05935516 -0.17148926
+v -0.18625198 -0.05114805 -0.19080186
+v -0.23459925 -0.05756486 -0.17155773
+f 1 2 3
+f 1 3 4
+f 7 2 1
+f 7 1 5
+f 9 3 2
+f 9 4 3
+f 10 5 6
+f 10 7 5
+f 10 2 7
+f 10 9 2
+f 10 6 9
+f 11 8 5
+f 11 5 1
+f 11 1 4
+f 11 4 8
+f 12 6 5
+f 12 5 8
+f 12 4 6
+f 13 9 6
+f 13 6 4
+f 13 4 9
+f 14 12 8
+f 14 8 4
+f 14 4 12
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_18/collision/model_normalized_collision_27.obj b/objects/objaverse/banana/banana_18/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..05cb206f38de6e6e62079e999fb8ce180a6b71d8
--- /dev/null
+++ b/objects/objaverse/banana/banana_18/collision/model_normalized_collision_27.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.14115110 -0.07874509 -0.09394103
+v 0.14704863 -0.04805397 -0.02211662
+v 0.08306428 -0.07817218 -0.09116435
+v 0.08228268 0.07706939 -0.08173807
+v 0.14190338 0.07949326 -0.08350998
+v 0.08755300 -0.02434609 -0.02458731
+v 0.08608346 -0.04642680 -0.03223859
+v 0.14588672 0.02936113 -0.01482528
+v 0.10036039 -0.03766330 -0.02509315
+v 0.08805739 0.02720357 -0.02349602
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 5 1 4
+f 7 3 2
+f 7 4 3
+f 8 5 4
+f 8 6 2
+f 8 2 5
+f 9 7 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
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_18/collision/model_normalized_collision_28.obj b/objects/objaverse/banana/banana_18/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c20bb0bcc593c60162bcb970fe0b5778bee8c4e6
--- /dev/null
+++ b/objects/objaverse/banana/banana_18/collision/model_normalized_collision_28.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.24252597 0.04681157 -0.17446594
+v -0.15748399 0.07802973 -0.15272189
+v -0.16211209 0.08116564 -0.09177537
+v -0.23365724 0.08018055 -0.09575236
+v -0.23221574 0.06619560 -0.15135597
+v -0.15917046 0.08237030 -0.09751601
+v -0.16478080 0.06684087 -0.17615450
+v -0.24089894 0.07855594 -0.10254169
+v -0.18678286 0.07492450 -0.15137356
+v -0.23259154 0.07610731 -0.12324444
+v -0.21639537 0.07521788 -0.13676659
+f 1 3 4
+f 6 2 4
+f 6 4 3
+f 7 3 1
+f 7 6 3
+f 7 2 6
+f 7 1 5
+f 8 5 1
+f 8 1 4
+f 8 4 2
+f 9 7 5
+f 9 2 7
+f 10 8 2
+f 10 5 8
+f 11 10 2
+f 11 2 9
+f 11 9 5
+f 11 5 10
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_18/collision/model_normalized_collision_3.obj b/objects/objaverse/banana/banana_18/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac0f5474ba9374fc8e1a75870cdd574d7c153aa3
--- /dev/null
+++ b/objects/objaverse/banana/banana_18/collision/model_normalized_collision_3.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.26585193 -0.07379056 -0.03904652
+v 0.26512416 -0.07650042 -0.05341243
+v 0.26515150 -0.01280903 -0.05121371
+v 0.14504028 -0.01213696 -0.01099022
+v 0.12973506 -0.06733559 -0.05403050
+v 0.24816078 -0.02544183 0.01816241
+v 0.14491726 -0.07970896 -0.09771158
+v 0.26579191 -0.06903649 -0.02246015
+v 0.19271026 -0.01116947 0.00034783
+v 0.13072595 -0.05139484 -0.02843490
+v 0.21956657 -0.08314485 -0.09676101
+v 0.14642041 -0.07085855 -0.05741718
+v 0.14393938 -0.01280903 -0.09666826
+v 0.22198584 -0.05886673 -0.01302061
+v 0.21969696 -0.01280903 -0.09666826
+v 0.17551219 -0.06881490 -0.04350044
+v 0.16175013 -0.01078102 -0.00798854
+v 0.12800070 -0.06418524 -0.04814441
+v 0.17840647 -0.05655120 -0.02037031
+v 0.14704863 -0.04805397 -0.02211662
+v 0.13331005 -0.05570454 -0.03262688
+f 1 2 3
+f 8 1 3
+f 8 3 6
+f 9 6 3
+f 9 4 6
+f 10 6 4
+f 11 2 1
+f 11 1 7
+f 12 7 1
+f 12 5 7
+f 12 1 8
+f 13 7 5
+f 13 10 4
+f 14 8 6
+f 15 3 2
+f 15 2 11
+f 15 11 7
+f 15 7 13
+f 16 12 8
+f 16 5 12
+f 16 8 14
+f 17 13 4
+f 17 4 9
+f 17 15 13
+f 17 9 3
+f 17 3 15
+f 18 13 5
+f 18 10 13
+f 18 5 16
+f 19 14 6
+f 19 18 16
+f 19 16 14
+f 20 19 6
+f 20 6 10
+f 20 10 19
+f 21 19 10
+f 21 10 18
+f 21 18 19
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_18/collision/model_normalized_collision_30.obj b/objects/objaverse/banana/banana_18/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7b44e29b234f08191626c24ba3015ab372516692
--- /dev/null
+++ b/objects/objaverse/banana/banana_18/collision/model_normalized_collision_30.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.08393069 -0.01248616 -0.02348380
+v 0.08333332 -0.01280903 -0.09666826
+v 0.08228268 0.07706939 -0.08173807
+v -0.09391152 0.07586783 -0.08199662
+v -0.10011163 -0.01230510 -0.02833902
+v 0.08440562 0.03122999 -0.02563620
+v -0.09848486 -0.01280903 -0.09666826
+v -0.10080531 0.03110774 -0.03048809
+f 3 2 4
+f 6 3 4
+f 6 1 2
+f 6 2 3
+f 7 2 1
+f 7 1 5
+f 7 4 2
+f 8 6 4
+f 8 5 1
+f 8 1 6
+f 8 7 5
+f 8 4 7
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_18/visual/material.mtl b/objects/objaverse/banana/banana_18/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ac7612074176632fe5be688b8bc892b458617616
--- /dev/null
+++ b/objects/objaverse/banana/banana_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 159.99998100
+map_Kd material_0.jpeg
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_19/collision/model_normalized_collision_0.obj b/objects/objaverse/banana/banana_19/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..62d2c490e9a8955b9880b73530173322349a2b69
--- /dev/null
+++ b/objects/objaverse/banana/banana_19/collision/model_normalized_collision_0.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.04613068 0.00720504 -0.23669115
+v 0.05991876 0.01032617 -0.35539043
+v 0.06994278 0.06703833 -0.23367452
+v -0.07329270 0.07231145 -0.23464561
+v -0.06475696 0.02068316 -0.35792682
+v -0.03350462 -0.00277288 -0.28351632
+v 0.06579202 0.07498590 -0.35717765
+v 0.03670436 -0.00262282 -0.28419998
+v -0.04001701 0.00822234 -0.23756688
+v -0.06691287 0.07211998 -0.35451970
+v 0.04705688 0.00088721 -0.28096466
+v -0.01848926 0.00081264 -0.25438090
+v -0.06629335 0.05203140 -0.23739654
+v 0.02070376 0.00181990 -0.25503973
+v -0.06341085 0.02133427 -0.34292434
+f 1 2 3
+f 1 3 4
+f 6 5 2
+f 7 3 2
+f 7 2 5
+f 7 4 3
+f 8 6 2
+f 9 1 4
+f 9 5 6
+f 10 7 5
+f 10 5 4
+f 10 4 7
+f 11 8 2
+f 11 2 1
+f 11 1 8
+f 12 6 8
+f 12 9 6
+f 12 1 9
+f 13 9 4
+f 13 4 5
+f 14 12 8
+f 14 8 1
+f 14 1 12
+f 15 13 5
+f 15 5 9
+f 15 9 13
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_19/collision/model_normalized_collision_1.obj b/objects/objaverse/banana/banana_19/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8c304d8551e25a108e679343a413a96e1c5c0806
--- /dev/null
+++ b/objects/objaverse/banana/banana_19/collision/model_normalized_collision_1.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.04957577 0.02561237 0.00894735
+v 0.07067972 0.08162515 -0.15796992
+v 0.07368415 0.10230804 0.00740973
+v -0.07219836 0.10325526 0.00753860
+v -0.03921151 0.02004991 -0.16003285
+v 0.07330810 0.10255288 -0.09835463
+v 0.06699846 0.07903380 0.00825038
+v 0.04424578 0.01721362 -0.15995518
+v -0.04314721 0.02574775 0.00893216
+v -0.07245884 0.08761318 -0.15911271
+v -0.04832632 0.03646307 0.00878885
+v -0.06701855 0.06684252 -0.16036567
+v -0.07206391 0.10308254 -0.09848479
+v -0.04960885 0.03762818 -0.16033437
+v -0.06847190 0.07871453 0.00795700
+f 6 3 2
+f 6 4 3
+f 7 3 4
+f 7 1 2
+f 7 2 3
+f 8 2 1
+f 9 1 7
+f 9 8 1
+f 9 5 8
+f 10 6 2
+f 11 9 7
+f 11 7 4
+f 12 5 9
+f 12 9 11
+f 12 10 2
+f 12 2 8
+f 13 10 4
+f 13 4 6
+f 13 6 10
+f 14 12 8
+f 14 8 5
+f 14 5 12
+f 15 12 11
+f 15 11 4
+f 15 4 10
+f 15 10 12
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_19/collision/model_normalized_collision_10.obj b/objects/objaverse/banana/banana_19/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1743aa64c3fa305ebf802c013c59cf1b0c8ffc73
--- /dev/null
+++ b/objects/objaverse/banana/banana_19/collision/model_normalized_collision_10.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.06916414 0.14882320 0.00756369
+v 0.06947509 0.14885325 -0.09848327
+v 0.06130098 0.17681668 0.00645149
+v -0.00849568 0.20645264 0.05119665
+v -0.07120983 0.15067148 0.00847179
+v 0.00135273 0.20913993 -0.09739073
+v 0.05910839 0.17292572 0.08390280
+v 0.06410615 0.16890552 -0.09713235
+v 0.01334743 0.20585282 -0.00967180
+v -0.05059381 0.17707568 -0.10010077
+v -0.04553923 0.17821243 0.08459921
+v 0.05939210 0.17568773 -0.06572942
+v -0.00085414 0.20746149 0.05111363
+v -0.00894951 0.20684297 -0.06556431
+v 0.01363447 0.20545265 -0.03535567
+v 0.00129103 0.20923923 -0.09643096
+v 0.01674994 0.19380967 0.08232716
+v -0.02473024 0.19224311 0.08179137
+f 5 2 1
+f 7 1 3
+f 7 5 1
+f 8 1 2
+f 8 3 1
+f 8 2 6
+f 9 7 3
+f 10 6 2
+f 10 2 5
+f 11 5 7
+f 11 10 5
+f 11 4 10
+f 12 8 6
+f 12 3 8
+f 13 7 9
+f 14 10 4
+f 15 9 3
+f 15 3 12
+f 16 13 9
+f 16 4 13
+f 16 14 4
+f 16 6 10
+f 16 10 14
+f 16 9 15
+f 16 15 12
+f 16 12 6
+f 17 11 7
+f 17 7 13
+f 18 17 13
+f 18 13 4
+f 18 4 11
+f 18 11 17
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_19/collision/model_normalized_collision_11.obj b/objects/objaverse/banana/banana_19/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6146f25ef14d40d3fb12fdd527fff759d3aae657
--- /dev/null
+++ b/objects/objaverse/banana/banana_19/collision/model_normalized_collision_11.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v -0.06618244 0.13156473 0.21742354
+v 0.03438762 0.18488103 0.08661272
+v 0.02275782 0.15708280 0.22931221
+v -0.00840033 0.19118974 0.15436836
+v -0.06867830 0.16303469 0.08297611
+v -0.00001002 0.19148765 0.15464354
+v -0.00889829 0.17595225 0.21295203
+v -0.07019150 0.13316320 0.08304138
+v -0.06714842 0.14825240 0.17057919
+v 0.00425332 0.20095917 0.08238104
+v -0.00050744 0.17733764 0.21271548
+v -0.02411045 0.19130717 0.09685926
+v -0.06587564 0.13748914 0.21383101
+v -0.02473024 0.19224311 0.08179137
+v -0.05423860 0.16013619 0.15474931
+v -0.05446498 0.14609145 0.21164857
+f 7 1 3
+f 8 2 3
+f 8 3 1
+f 9 7 4
+f 9 8 1
+f 9 5 8
+f 10 2 8
+f 10 6 2
+f 10 4 6
+f 11 3 2
+f 11 2 6
+f 11 7 3
+f 11 6 4
+f 11 4 7
+f 12 4 10
+f 13 9 1
+f 13 1 7
+f 14 10 8
+f 14 8 5
+f 14 12 10
+f 14 5 12
+f 15 9 4
+f 15 4 12
+f 15 12 5
+f 15 5 9
+f 16 13 7
+f 16 7 9
+f 16 9 13
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_19/collision/model_normalized_collision_12.obj b/objects/objaverse/banana/banana_19/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..254838e6b530baac215e7abd16851a1ee006167a
--- /dev/null
+++ b/objects/objaverse/banana/banana_19/collision/model_normalized_collision_12.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.05284809 -0.01715309 0.26526075
+v 0.06792029 0.07377598 0.08340216
+v 0.07002909 0.03323812 0.26743910
+v 0.07244925 0.07362261 0.26448269
+v 0.05010757 0.01421011 0.11406483
+v 0.07082858 0.07759624 0.11465509
+v 0.07251526 0.07279177 0.26562539
+v 0.05319876 0.02818887 0.08339134
+v 0.05109343 -0.01240938 0.22155488
+v 0.05434107 -0.01270591 0.26604466
+v 0.06647675 0.06935313 0.08292629
+f 6 3 2
+f 6 2 4
+f 7 4 1
+f 7 6 4
+f 7 3 6
+f 8 5 4
+f 9 1 4
+f 9 4 5
+f 9 5 8
+f 9 8 3
+f 9 3 1
+f 10 7 1
+f 10 1 3
+f 10 3 7
+f 11 2 3
+f 11 3 8
+f 11 8 4
+f 11 4 2
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_19/collision/model_normalized_collision_13.obj b/objects/objaverse/banana/banana_19/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..948b53c98fe63b566e15f8e223fe650ff7f925fc
--- /dev/null
+++ b/objects/objaverse/banana/banana_19/collision/model_normalized_collision_13.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.05777362 0.00700481 -0.34977350
+v 0.06986010 0.02465714 -0.39917929
+v 0.05939783 0.11312481 -0.35268052
+v 0.00509227 0.14035250 -0.35110421
+v 0.00924263 0.02749823 -0.47701080
+v 0.04829497 0.12062637 -0.34844966
+v 0.07063157 0.03401676 -0.35788476
+v 0.04108527 0.02626947 -0.47129024
+v 0.00235141 0.13478446 -0.36302470
+v 0.06935444 0.05535469 -0.35447218
+v 0.01791872 0.13562916 -0.34836335
+v 0.05603013 0.07762870 -0.42054895
+v 0.06787804 0.05510736 -0.36947432
+v 0.00404255 0.09047549 -0.43794799
+v 0.00694201 0.04927740 -0.46350172
+f 7 1 2
+f 8 2 1
+f 8 1 5
+f 9 5 1
+f 9 1 4
+f 10 6 1
+f 10 3 6
+f 10 1 7
+f 10 7 2
+f 11 6 3
+f 11 4 1
+f 11 1 6
+f 12 3 2
+f 12 2 8
+f 12 9 4
+f 12 11 3
+f 12 4 11
+f 13 10 2
+f 13 2 3
+f 13 3 10
+f 14 12 8
+f 14 8 5
+f 14 9 12
+f 15 14 5
+f 15 5 9
+f 15 9 14
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_19/collision/model_normalized_collision_14.obj b/objects/objaverse/banana/banana_19/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..948c6b3a32ba8ea21261a5bd13a6d0a9ea305d2b
--- /dev/null
+++ b/objects/objaverse/banana/banana_19/collision/model_normalized_collision_14.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.07251526 0.07279177 0.26562539
+v 0.07279523 0.07697967 0.14481728
+v 0.06124615 0.16318384 0.13972080
+v 0.00297413 0.18211164 0.18637259
+v 0.00929677 0.07313632 0.25000000
+v 0.00734096 0.19056317 0.14300479
+v 0.07102686 0.11675996 0.25820921
+v 0.06569492 0.05545493 0.13990067
+v 0.03009622 0.17595527 0.15454950
+v 0.02890220 0.16064811 0.21205568
+v 0.02155969 0.13936497 0.27388947
+v 0.06963358 0.11709160 0.14347288
+v 0.00929677 0.07313632 0.26515152
+v 0.03155183 0.17877245 0.14009357
+v 0.01507957 0.17621627 0.18491698
+v 0.06913954 0.13330508 0.22029842
+v 0.00291211 0.16812642 0.23028792
+v 0.05966140 0.16025239 0.15410003
+v 0.01573329 0.14893429 0.25892640
+v 0.00393632 0.15475081 0.26132255
+f 6 5 4
+f 7 1 2
+f 8 2 1
+f 8 5 6
+f 11 1 7
+f 11 7 10
+f 12 7 2
+f 12 8 3
+f 12 2 8
+f 13 8 1
+f 13 5 8
+f 13 1 11
+f 14 8 6
+f 14 3 8
+f 14 9 3
+f 14 6 4
+f 15 3 9
+f 15 4 10
+f 15 14 4
+f 15 9 14
+f 16 10 7
+f 16 12 3
+f 16 7 12
+f 17 10 4
+f 17 4 5
+f 17 5 13
+f 18 15 10
+f 18 3 15
+f 18 16 3
+f 18 10 16
+f 19 11 10
+f 20 17 13
+f 20 13 11
+f 20 11 19
+f 20 19 10
+f 20 10 17
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_19/collision/model_normalized_collision_15.obj b/objects/objaverse/banana/banana_19/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b3472074e8d4ec5d9924857991466c8012e76170
--- /dev/null
+++ b/objects/objaverse/banana/banana_19/collision/model_normalized_collision_15.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.04635311 -0.02262134 -0.35914955
+v 0.05991876 0.01032617 -0.35539043
+v 0.05274164 0.01344662 -0.28047585
+v -0.05361879 0.01957302 -0.28178495
+v -0.06176340 0.01480238 -0.35658070
+v -0.04197937 -0.00139524 -0.28408283
+v 0.04616813 -0.00151134 -0.28334788
+v -0.04730813 0.00790754 -0.28253781
+v -0.04397497 -0.02245912 -0.35928748
+v -0.01797002 -0.01501234 -0.31652644
+v -0.05000185 -0.00981162 -0.35788293
+v 0.02096116 -0.01461451 -0.31606374
+f 1 2 3
+f 3 2 4
+f 5 2 1
+f 5 4 2
+f 7 1 3
+f 7 3 6
+f 8 6 3
+f 8 3 4
+f 9 5 1
+f 9 6 8
+f 9 8 4
+f 10 7 6
+f 10 6 9
+f 10 9 1
+f 11 9 4
+f 11 4 5
+f 11 5 9
+f 12 10 1
+f 12 1 7
+f 12 7 10
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_19/collision/model_normalized_collision_16.obj b/objects/objaverse/banana/banana_19/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e62048ead000d7bce8ba2cfd08edb0b09486227e
--- /dev/null
+++ b/objects/objaverse/banana/banana_19/collision/model_normalized_collision_16.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v -0.00308951 -0.21707573 0.48733124
+v 0.02712700 -0.18553025 0.45124624
+v 0.00987446 -0.16921187 0.49385896
+v -0.01400634 -0.15089258 0.43691637
+v -0.01415622 -0.18697775 0.44965759
+v 0.02321527 -0.14621000 0.42390155
+v -0.02258405 -0.17985362 0.48301594
+v 0.00956092 -0.20590618 0.49575884
+v 0.01800019 -0.18636117 0.44821794
+v 0.02673054 -0.17529980 0.48146482
+v 0.00119433 -0.16713591 0.49002585
+v -0.00148218 -0.14591247 0.42374176
+v -0.02131702 -0.18400306 0.46470257
+v 0.00399717 -0.21566882 0.48696120
+v -0.01845480 -0.19134200 0.49022066
+v -0.01273158 -0.19434942 0.45835966
+v 0.02452164 -0.16461226 0.46957628
+v 0.02020307 -0.19010825 0.48005763
+v 0.02641755 -0.17531563 0.48184103
+v -0.01452446 -0.16548200 0.48068089
+v -0.01920233 -0.18464489 0.45642055
+v -0.00961699 -0.20558278 0.49259441
+v -0.00388365 -0.21618998 0.48613870
+v -0.01155216 -0.17938145 0.49324992
+f 9 6 2
+f 10 2 6
+f 11 3 6
+f 12 5 4
+f 12 11 6
+f 12 4 11
+f 12 9 5
+f 12 6 9
+f 13 7 4
+f 14 8 1
+f 14 2 8
+f 14 9 2
+f 14 1 9
+f 15 7 13
+f 16 5 9
+f 17 10 6
+f 17 6 3
+f 17 3 10
+f 18 10 8
+f 18 8 2
+f 18 2 10
+f 19 10 3
+f 19 3 8
+f 19 8 10
+f 20 11 4
+f 20 4 7
+f 21 13 4
+f 21 4 5
+f 21 5 16
+f 22 1 8
+f 23 15 13
+f 23 22 15
+f 23 1 22
+f 23 13 21
+f 23 21 16
+f 23 16 9
+f 23 9 1
+f 24 7 15
+f 24 20 7
+f 24 11 20
+f 24 3 11
+f 24 15 22
+f 24 22 8
+f 24 8 3
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_19/collision/model_normalized_collision_17.obj b/objects/objaverse/banana/banana_19/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f1c8be7e75718e802da495a3d9f1b5591f27206f
--- /dev/null
+++ b/objects/objaverse/banana/banana_19/collision/model_normalized_collision_17.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.04984415 0.01785989 0.08390214
+v 0.06552062 0.07456765 0.00773949
+v 0.06792029 0.07377598 0.08340216
+v -0.06336495 0.06158665 0.08254398
+v -0.04314721 0.02574775 0.00893216
+v -0.04499101 0.01917559 0.08406964
+v 0.05465176 0.03260249 0.08386278
+v 0.04957577 0.02561237 0.00894735
+v -0.06024722 0.06147145 0.00596431
+v -0.04540407 0.03054127 0.00797078
+v 0.06404278 0.07010150 0.00722860
+v -0.04934973 0.02851362 0.08339019
+v 0.05212216 0.03348937 0.00824009
+f 3 2 4
+f 6 3 4
+f 6 5 1
+f 7 1 2
+f 7 2 3
+f 7 6 1
+f 7 3 6
+f 8 2 1
+f 8 1 5
+f 9 4 2
+f 9 5 6
+f 10 8 5
+f 10 5 9
+f 11 9 2
+f 11 2 8
+f 12 9 6
+f 12 6 4
+f 12 4 9
+f 13 10 9
+f 13 8 10
+f 13 11 8
+f 13 9 11
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_19/collision/model_normalized_collision_18.obj b/objects/objaverse/banana/banana_19/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eb13cf627e27b6000fdbef2b49615400cea746bf
--- /dev/null
+++ b/objects/objaverse/banana/banana_19/collision/model_normalized_collision_18.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v 0.07399524 0.07651924 -0.23542826
+v 0.06635093 0.07254129 -0.35570125
+v 0.06715506 0.14501247 -0.23408737
+v -0.01236145 0.17816896 -0.23136662
+v -0.07329270 0.07231145 -0.23464561
+v 0.00207927 0.14866189 -0.33531466
+v 0.01511901 0.17772765 -0.22998880
+v 0.06990256 0.07069349 -0.32390794
+v 0.05970600 0.11637291 -0.34647017
+v -0.06571152 0.12099832 -0.33374141
+v -0.06812066 0.15307169 -0.23302749
+v -0.00057267 0.17765893 -0.25900034
+v 0.06819294 0.11587240 -0.27824470
+v -0.06691287 0.07211998 -0.35451970
+v 0.05957439 0.13047948 -0.30509344
+v -0.06654258 0.13120620 -0.30441761
+v -0.01251782 0.14437974 -0.33421271
+v -0.01265201 0.17534307 -0.24716117
+v 0.04539177 0.12894476 -0.33365430
+v -0.06485022 0.10228040 -0.35430347
+v 0.00112431 0.17692948 -0.25881686
+v -0.06755520 0.14625123 -0.25895038
+v -0.00029217 0.16117534 -0.30396481
+v 0.03074517 0.13090581 -0.34562248
+v -0.02777970 0.13217673 -0.34562219
+v 0.01334355 0.17456454 -0.24421546
+v -0.06105640 0.11575971 -0.34717575
+v 0.04357713 0.14412314 -0.28949052
+f 7 1 3
+f 7 5 1
+f 8 1 5
+f 11 7 4
+f 11 5 7
+f 12 4 7
+f 13 8 2
+f 13 3 1
+f 13 1 8
+f 13 9 3
+f 13 2 9
+f 14 8 5
+f 14 2 8
+f 14 5 10
+f 15 7 3
+f 15 3 9
+f 16 10 5
+f 16 12 10
+f 18 11 4
+f 18 4 12
+f 19 15 9
+f 20 14 10
+f 20 2 14
+f 21 12 7
+f 21 19 12
+f 21 15 19
+f 22 16 5
+f 22 5 11
+f 22 12 16
+f 22 18 12
+f 22 11 18
+f 23 6 17
+f 23 19 6
+f 23 12 19
+f 23 17 10
+f 23 10 12
+f 24 19 9
+f 24 6 19
+f 24 9 2
+f 24 2 20
+f 25 17 6
+f 25 24 20
+f 25 6 24
+f 25 10 17
+f 26 21 7
+f 26 7 15
+f 27 25 20
+f 27 20 10
+f 27 10 25
+f 28 26 15
+f 28 15 21
+f 28 21 26
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_19/collision/model_normalized_collision_19.obj b/objects/objaverse/banana/banana_19/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..659127fea04d12fd543c694aa8712cdce9a5288b
--- /dev/null
+++ b/objects/objaverse/banana/banana_19/collision/model_normalized_collision_19.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.04812891 0.00039839 -0.29602400
+v 0.07063157 0.03401676 -0.35788476
+v 0.04952555 0.01491308 -0.23529784
+v 0.07399524 0.07651924 -0.23542826
+v 0.06579202 0.07498590 -0.35717765
+v 0.05168558 0.01953252 -0.23694288
+v 0.05452764 -0.00252586 -0.35608962
+v 0.06690983 0.07009668 -0.35422485
+v 0.06994278 0.06703833 -0.23367452
+v 0.05703973 0.00286527 -0.35772887
+f 5 1 3
+f 6 3 2
+f 6 2 4
+f 7 2 3
+f 7 3 1
+f 7 1 5
+f 8 5 4
+f 8 4 2
+f 8 2 5
+f 9 5 3
+f 9 4 5
+f 9 6 4
+f 9 3 6
+f 10 7 5
+f 10 5 2
+f 10 2 7
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_19/collision/model_normalized_collision_2.obj b/objects/objaverse/banana/banana_19/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..69cb3e3f54c363b4ecdf8f434329fedf4b8ceb59
--- /dev/null
+++ b/objects/objaverse/banana/banana_19/collision/model_normalized_collision_2.obj
@@ -0,0 +1,138 @@
+# https://github.com/mikedh/trimesh
+v 0.02051496 -0.05449668 0.41819554
+v 0.06519860 0.01987292 0.26817454
+v 0.06050487 0.06086251 0.35171596
+v -0.01305632 0.15224836 0.25990792
+v -0.03803455 -0.02999096 0.27019350
+v 0.07131078 0.11421164 0.26386928
+v -0.01218571 0.07503773 0.36875656
+v 0.05187318 -0.02716869 0.35327930
+v 0.06245761 0.12112974 0.25984643
+v 0.06879473 0.01760475 0.29730382
+v 0.00617216 0.02308489 0.39911268
+v -0.00143171 0.13341544 0.31286172
+v -0.04880308 -0.03993370 0.35743950
+v 0.03727529 -0.04593781 0.39387516
+v 0.04770610 -0.03400345 0.27126232
+v -0.04130022 0.13391348 0.25843610
+v 0.06980874 0.09256622 0.30149957
+v 0.05188835 -0.00027239 0.36546001
+v 0.04677953 0.01738123 0.38453350
+v 0.00099624 0.07773332 0.36999623
+v 0.01573329 0.14893429 0.25892640
+v -0.03091614 0.02261577 0.39808774
+v -0.06641306 0.02098780 0.26511655
+v -0.03943021 0.11717232 0.29883595
+v 0.07177495 0.10426927 0.28423445
+v 0.06856461 0.05821145 0.30888179
+v 0.01346214 0.08666758 0.35814691
+v 0.01423294 0.04607721 0.38318078
+v -0.00201895 0.14713918 0.28813656
+v -0.01651264 -0.05054073 0.42216403
+v -0.06525030 -0.00449198 0.32227950
+v -0.01061323 0.11649350 0.32643469
+v -0.03800065 0.04226645 0.38048598
+v 0.02828097 0.12971913 0.28738932
+v -0.05849105 0.12181418 0.25980434
+v -0.02270605 -0.04852276 0.40983572
+v -0.02001395 -0.02364228 0.41350197
+v -0.02735444 0.04476056 0.38394244
+v -0.05611284 0.10420991 0.30015445
+v 0.01333714 0.14477955 0.27236634
+v 0.05999135 0.11695175 0.27324060
+v -0.06591153 0.08607195 0.26283817
+v -0.05573629 0.11769117 0.27310760
+v -0.05178702 0.04255968 0.34855790
+v -0.06376833 0.08576948 0.27767391
+v -0.06369395 0.01035159 0.32143811
+v -0.06315247 0.07102575 0.29153053
+f 9 6 2
+f 10 2 6
+f 13 5 1
+f 15 10 8
+f 15 2 10
+f 15 9 2
+f 15 8 14
+f 15 14 1
+f 15 1 5
+f 17 12 3
+f 18 10 3
+f 18 8 10
+f 18 14 8
+f 19 11 1
+f 19 1 14
+f 19 18 3
+f 19 14 18
+f 20 12 7
+f 21 16 4
+f 21 9 16
+f 22 20 7
+f 22 11 20
+f 23 15 5
+f 23 9 15
+f 23 16 9
+f 25 10 6
+f 25 12 17
+f 26 17 3
+f 26 3 10
+f 26 25 17
+f 26 10 25
+f 27 20 3
+f 27 3 12
+f 27 12 20
+f 28 19 3
+f 28 3 20
+f 28 20 11
+f 28 11 19
+f 29 21 4
+f 29 24 12
+f 30 1 11
+f 31 23 5
+f 31 5 13
+f 31 13 22
+f 32 7 12
+f 32 12 24
+f 33 31 22
+f 34 6 9
+f 34 29 12
+f 34 12 25
+f 35 29 4
+f 35 4 16
+f 35 24 29
+f 35 16 23
+f 36 30 22
+f 36 22 13
+f 36 13 1
+f 36 1 30
+f 37 30 11
+f 37 11 22
+f 37 22 30
+f 38 33 22
+f 38 22 7
+f 38 7 33
+f 39 32 24
+f 39 33 7
+f 39 7 32
+f 40 21 29
+f 40 29 34
+f 40 34 9
+f 40 9 21
+f 41 34 25
+f 41 25 6
+f 41 6 34
+f 42 35 23
+f 42 23 31
+f 43 39 24
+f 43 24 35
+f 43 35 39
+f 44 31 33
+f 44 33 39
+f 45 39 35
+f 45 35 42
+f 46 44 39
+f 46 31 44
+f 47 45 42
+f 47 42 31
+f 47 31 46
+f 47 46 39
+f 47 39 45
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_19/collision/model_normalized_collision_20.obj b/objects/objaverse/banana/banana_19/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b13f141bd4b34f820617efb7551c9b3838ca028e
--- /dev/null
+++ b/objects/objaverse/banana/banana_19/collision/model_normalized_collision_20.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.04424578 0.01721362 -0.15995518
+v 0.04613068 0.00720504 -0.23669115
+v 0.06783084 0.13463274 -0.23525491
+v -0.07059388 0.13340663 -0.15881269
+v -0.04001701 0.00822234 -0.23756688
+v 0.07017175 0.13479209 -0.15957007
+v -0.00420467 0.01423841 -0.17630689
+v -0.06930617 0.13283536 -0.23487780
+v 0.04526129 0.01366483 -0.19152963
+v 0.02358652 0.01465903 -0.17635529
+v -0.03921151 0.02004991 -0.16003285
+v -0.06629335 0.05203140 -0.23739654
+v -0.06701855 0.06684252 -0.16036567
+f 5 3 2
+f 6 3 4
+f 6 4 1
+f 6 2 3
+f 7 5 2
+f 8 4 3
+f 9 6 1
+f 9 1 2
+f 9 2 6
+f 10 7 2
+f 10 2 1
+f 10 1 7
+f 11 7 1
+f 11 1 4
+f 11 5 7
+f 12 4 8
+f 12 5 11
+f 12 8 3
+f 12 3 5
+f 13 12 11
+f 13 11 4
+f 13 4 12
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_19/collision/model_normalized_collision_21.obj b/objects/objaverse/banana/banana_19/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d9fd28282662e896450db58be0e95f034d9610e0
--- /dev/null
+++ b/objects/objaverse/banana/banana_19/collision/model_normalized_collision_21.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.06945244 0.13369757 0.08332676
+v 0.07074209 0.13237268 0.00734197
+v 0.06535803 0.16993399 0.08273933
+v 0.05313655 0.17590582 0.08312228
+v 0.04830090 0.18342504 0.00635780
+v 0.06930075 0.13519001 0.08354578
+v 0.07004218 0.13224870 0.05281110
+v 0.04869655 0.18200799 0.02193591
+v 0.06130098 0.17681668 0.00645149
+v 0.06930562 0.14738673 0.00731850
+v 0.06857005 0.14731633 0.05276103
+f 5 4 3
+f 6 3 4
+f 6 4 1
+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 5 3
+f 9 2 5
+f 10 6 1
+f 10 1 2
+f 10 9 3
+f 10 2 9
+f 11 10 3
+f 11 3 6
+f 11 6 10
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_19/collision/model_normalized_collision_22.obj b/objects/objaverse/banana/banana_19/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..623896d12a6fda017e27cd37b6b02359069b8cdc
--- /dev/null
+++ b/objects/objaverse/banana/banana_19/collision/model_normalized_collision_22.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v -0.05740952 0.01868642 0.21793260
+v -0.03633760 0.02536010 0.00736827
+v -0.07137130 0.07612857 0.22132772
+v -0.07179304 0.07230193 0.21924224
+v -0.06847190 0.07871453 0.00795700
+v -0.06632704 0.03530298 0.22248774
+v -0.04832632 0.03646307 0.00878885
+v -0.06024722 0.06147145 0.00596431
+v -0.06309216 0.06695285 0.00881465
+f 1 2 3
+f 5 3 2
+f 5 4 3
+f 6 1 3
+f 6 3 4
+f 6 4 5
+f 7 2 1
+f 7 1 6
+f 8 5 2
+f 8 2 7
+f 8 7 6
+f 9 8 6
+f 9 6 5
+f 9 5 8
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_19/collision/model_normalized_collision_23.obj b/objects/objaverse/banana/banana_19/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eb1dd10c2502e6acd0d9fb08cc235a2d02a92d86
--- /dev/null
+++ b/objects/objaverse/banana/banana_19/collision/model_normalized_collision_23.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.00973917 -0.04597976 -0.41710458
+v 0.00580749 -0.03181888 -0.36050331
+v -0.06477861 0.01399942 -0.39831763
+v -0.01494715 0.13680388 -0.34851145
+v 0.00509227 0.14035250 -0.35110421
+v -0.06475696 0.02068316 -0.35792682
+v 0.00357550 0.10696817 -0.40992226
+v -0.05000185 -0.00981162 -0.35788293
+v -0.06433663 0.11199846 -0.35279313
+v -0.05289200 -0.01077138 -0.41730617
+v 0.00235141 0.13478446 -0.36302470
+v -0.04523939 0.12163083 -0.34849800
+v -0.04397497 -0.02245912 -0.35928748
+v -0.06588155 0.08720019 -0.35441159
+v -0.06035551 0.08593864 -0.40795890
+v -0.01685104 -0.02849622 -0.36012955
+v -0.03382435 -0.03557086 -0.41219883
+v -0.06510839 0.04329291 -0.39683851
+v 0.00201580 0.11794615 -0.39232694
+v -0.04020979 -0.02962212 -0.38926956
+f 5 2 1
+f 5 4 2
+f 7 5 1
+f 8 6 3
+f 10 7 1
+f 11 4 5
+f 12 8 2
+f 12 2 4
+f 12 4 9
+f 12 6 8
+f 13 2 8
+f 13 8 3
+f 13 3 10
+f 14 3 6
+f 14 12 9
+f 14 6 12
+f 15 10 3
+f 15 7 10
+f 15 9 4
+f 16 1 2
+f 16 2 13
+f 17 10 1
+f 18 14 9
+f 18 9 15
+f 18 15 3
+f 18 3 14
+f 19 7 15
+f 19 11 5
+f 19 5 7
+f 19 15 4
+f 19 4 11
+f 20 13 10
+f 20 10 17
+f 20 16 13
+f 20 17 1
+f 20 1 16
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_19/collision/model_normalized_collision_24.obj b/objects/objaverse/banana/banana_19/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..295a6125b3c5ceec0c20a5310902378c940d8ad8
--- /dev/null
+++ b/objects/objaverse/banana/banana_19/collision/model_normalized_collision_24.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.04445328 -0.03943675 -0.41873130
+v 0.06995015 0.02125391 -0.40001754
+v 0.00580749 -0.03181888 -0.36050331
+v 0.02702072 0.05106730 -0.45235810
+v 0.06343113 0.02710469 -0.41386350
+v 0.06801311 0.02851180 -0.35629962
+v 0.00973917 -0.04597976 -0.41710458
+v 0.07149415 0.03184306 -0.37225378
+v 0.04635311 -0.02262134 -0.35914955
+v 0.06986010 0.02465714 -0.39917929
+v 0.05777362 0.00700481 -0.34977350
+v 0.04543764 -0.03155829 -0.39067516
+v 0.02033622 -0.02891723 -0.36129627
+f 5 2 1
+f 5 1 4
+f 6 4 3
+f 7 1 3
+f 7 3 4
+f 7 4 1
+f 8 5 4
+f 8 4 6
+f 9 8 6
+f 9 2 8
+f 10 8 2
+f 10 2 5
+f 10 5 8
+f 11 9 6
+f 11 6 3
+f 11 3 9
+f 12 1 2
+f 12 2 9
+f 13 12 9
+f 13 9 3
+f 13 3 1
+f 13 1 12
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_19/collision/model_normalized_collision_25.obj b/objects/objaverse/banana/banana_19/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..315ba578ec46d104df54a18d73cd0834aaaaf405
--- /dev/null
+++ b/objects/objaverse/banana/banana_19/collision/model_normalized_collision_25.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.06828612 0.13362798 0.14395211
+v 0.06945244 0.13369757 0.08332676
+v 0.06535803 0.16993399 0.08273933
+v 0.00290120 0.19712201 0.12573167
+v 0.00734096 0.19056317 0.14300479
+v 0.00425332 0.20095917 0.08238104
+v 0.06124615 0.16318384 0.13972080
+v 0.04716472 0.17888591 0.08234176
+v 0.01500664 0.19122665 0.12427606
+v 0.03092241 0.17559653 0.15427350
+v 0.01674994 0.19380967 0.08232716
+v 0.04511288 0.17569426 0.12418203
+f 1 2 3
+f 5 2 1
+f 5 4 2
+f 6 2 4
+f 7 1 3
+f 8 6 3
+f 8 3 2
+f 9 6 4
+f 9 3 6
+f 10 5 1
+f 10 1 7
+f 11 8 2
+f 11 2 6
+f 11 6 8
+f 12 7 3
+f 12 3 9
+f 12 10 7
+f 12 5 10
+f 12 9 4
+f 12 4 5
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_19/collision/model_normalized_collision_26.obj b/objects/objaverse/banana/banana_19/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a922772a7848f73a750cb5a92d3fdd3c69d1bd7a
--- /dev/null
+++ b/objects/objaverse/banana/banana_19/collision/model_normalized_collision_26.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.02113547 0.04345982 0.38743125
+v -0.01336780 0.12255565 0.31723267
+v -0.04993022 0.07562050 0.34561348
+v -0.01683264 0.12794214 0.30639064
+v -0.06254880 0.04238601 0.30977449
+v -0.01532891 0.06460789 0.37503084
+v -0.03800065 0.04226645 0.38048598
+v -0.05648164 0.09935997 0.30646261
+v -0.04203629 0.07383461 0.35470783
+v -0.05178702 0.04255968 0.34855790
+v -0.05954638 0.04751930 0.31989669
+v -0.02814978 0.12261338 0.30251786
+v -0.03850613 0.08564632 0.34312921
+v -0.04079149 0.04976693 0.37344342
+f 5 4 2
+f 6 5 2
+f 6 1 5
+f 7 5 1
+f 7 1 6
+f 9 6 2
+f 9 7 6
+f 10 5 7
+f 11 8 5
+f 11 3 8
+f 11 10 3
+f 11 5 10
+f 12 4 5
+f 12 5 8
+f 12 8 3
+f 12 3 2
+f 12 2 4
+f 13 9 2
+f 13 2 3
+f 13 3 9
+f 14 9 3
+f 14 7 9
+f 14 10 7
+f 14 3 10
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_19/collision/model_normalized_collision_27.obj b/objects/objaverse/banana/banana_19/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2a77bbf447c740fb9c184eca720d2703122b8124
--- /dev/null
+++ b/objects/objaverse/banana/banana_19/collision/model_normalized_collision_27.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.07368415 0.10230804 0.00740973
+v 0.07330810 0.10255288 -0.09835463
+v 0.03501011 0.18496312 -0.10056354
+v -0.07130987 0.14869243 0.00753509
+v -0.07206391 0.10308254 -0.09848479
+v 0.06930562 0.14738673 0.00731850
+v -0.07219836 0.10325526 0.00753860
+v -0.07063586 0.14869246 -0.09837198
+v 0.06961089 0.14742633 -0.09842763
+f 5 2 1
+f 5 3 2
+f 6 3 4
+f 6 4 1
+f 7 5 1
+f 7 1 4
+f 7 4 5
+f 8 5 4
+f 8 4 3
+f 8 3 5
+f 9 6 1
+f 9 1 2
+f 9 2 3
+f 9 3 6
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_19/collision/model_normalized_collision_28.obj b/objects/objaverse/banana/banana_19/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..511b6e9f385b668bfe0851cff7af4f1dc08a0c83
--- /dev/null
+++ b/objects/objaverse/banana/banana_19/collision/model_normalized_collision_28.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.06930075 0.13519001 0.08354578
+v 0.07045914 0.13524563 0.00783234
+v 0.02763782 0.19510492 0.01103888
+v -0.06867830 0.16303469 0.08297611
+v -0.07160603 0.13354671 0.00753626
+v 0.05910839 0.17292572 0.08390280
+v -0.07019150 0.13316320 0.08304138
+v -0.07059005 0.16348644 0.00729399
+v 0.06758619 0.16527372 0.00778542
+v 0.05987430 0.17448677 0.05369988
+f 6 3 4
+f 7 5 2
+f 7 2 1
+f 7 6 4
+f 7 1 6
+f 8 2 5
+f 8 4 3
+f 8 7 4
+f 8 5 7
+f 9 6 1
+f 9 1 2
+f 9 8 3
+f 9 2 8
+f 10 9 3
+f 10 3 6
+f 10 6 9
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_19/collision/model_normalized_collision_29.obj b/objects/objaverse/banana/banana_19/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f4084d0a638dd2ee0a15044c17865abe077dab09
--- /dev/null
+++ b/objects/objaverse/banana/banana_19/collision/model_normalized_collision_29.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.01419108 0.02292157 0.00256516
+v 0.00929677 0.13374238 0.00757576
+v 0.03092241 0.17559653 0.15427350
+v 0.02275782 0.15708280 0.22931221
+v -0.07179304 0.07230193 0.21924224
+v 0.00929677 0.07313632 0.21969697
+v -0.07160603 0.13354671 0.00753626
+v -0.06847190 0.07871453 0.00795700
+v -0.06618244 0.13156473 0.21742354
+f 1 2 3
+f 6 1 3
+f 6 3 4
+f 6 5 1
+f 6 4 5
+f 7 2 1
+f 7 3 2
+f 8 7 1
+f 8 1 5
+f 8 5 7
+f 9 7 5
+f 9 5 4
+f 9 4 3
+f 9 3 7
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_19/collision/model_normalized_collision_3.obj b/objects/objaverse/banana/banana_19/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..34637424b7c5f541cb0949b3a301d1b43fc4064b
--- /dev/null
+++ b/objects/objaverse/banana/banana_19/collision/model_normalized_collision_3.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.07076620 0.13526424 -0.09854419
+v 0.06783084 0.13463274 -0.23525491
+v 0.04616169 0.17909846 -0.09648069
+v -0.01384320 0.19891971 -0.09692976
+v -0.07093311 0.13334331 -0.09848478
+v 0.00315692 0.19321189 -0.19999458
+v -0.07030425 0.16711419 -0.09774434
+v 0.04467755 0.16124978 -0.22960099
+v 0.01648351 0.19832742 -0.09784097
+v -0.06930617 0.13283536 -0.23487780
+v -0.06941085 0.16169002 -0.17153288
+v 0.01437308 0.19155024 -0.18414569
+v 0.04250848 0.17717488 -0.14294968
+v -0.01236145 0.17816896 -0.23136662
+v -0.01151537 0.19173697 -0.17041978
+v 0.01511901 0.17772765 -0.22998880
+v -0.06812066 0.15307169 -0.23302749
+v 0.00300456 0.19291903 -0.20097719
+f 1 2 3
+f 5 2 1
+f 5 1 3
+f 7 5 3
+f 7 3 4
+f 9 6 4
+f 9 4 3
+f 10 5 7
+f 10 2 5
+f 11 7 4
+f 11 10 7
+f 12 6 9
+f 13 3 2
+f 13 2 8
+f 13 8 12
+f 13 12 9
+f 13 9 3
+f 14 2 10
+f 15 11 4
+f 15 4 6
+f 16 8 2
+f 16 2 14
+f 16 12 8
+f 16 6 12
+f 17 15 6
+f 17 11 15
+f 17 14 10
+f 17 10 11
+f 18 16 14
+f 18 6 16
+f 18 17 6
+f 18 14 17
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_19/collision/model_normalized_collision_30.obj b/objects/objaverse/banana/banana_19/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8447e779afe88c3eba16db80b21cc45919e81ea7
--- /dev/null
+++ b/objects/objaverse/banana/banana_19/collision/model_normalized_collision_30.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.06569492 0.05545493 0.13990067
+v 0.06699846 0.07903380 0.00825038
+v 0.06836253 0.13256129 0.14407063
+v 0.03092241 0.17559653 0.15427350
+v 0.01419108 0.02292157 0.00256516
+v 0.07074209 0.13237268 0.00734197
+v 0.07279523 0.07697967 0.14481728
+v 0.00929677 0.13374238 0.00757576
+v 0.06960414 0.13220512 0.08310773
+f 5 2 1
+f 5 1 4
+f 6 4 3
+f 6 2 5
+f 7 3 4
+f 7 4 1
+f 7 1 2
+f 7 2 6
+f 8 6 5
+f 8 5 4
+f 8 4 6
+f 9 7 6
+f 9 6 3
+f 9 3 7
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_19/collision/model_normalized_collision_31.obj b/objects/objaverse/banana/banana_19/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ded0e333227a5ae40fd5275cedb67e94cf104c54
--- /dev/null
+++ b/objects/objaverse/banana/banana_19/collision/model_normalized_collision_31.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.07252099 0.09232530 -0.09890121
+v 0.07372336 0.08869520 -0.15919639
+v 0.07034049 0.13274076 -0.15863371
+v -0.07093311 0.13334331 -0.09848478
+v -0.07262931 0.08795215 -0.09848479
+v 0.07103781 0.13241041 -0.09843292
+v -0.07245884 0.08761318 -0.15911271
+v -0.07059388 0.13340663 -0.15881269
+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 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/banana/banana_19/collision/model_normalized_collision_4.obj b/objects/objaverse/banana/banana_19/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7612cf4263832f6d5b769df50a99f41773c80b4a
--- /dev/null
+++ b/objects/objaverse/banana/banana_19/collision/model_normalized_collision_4.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.04929307 0.02987276 -0.15951272
+v 0.06907028 0.06440094 -0.23608372
+v 0.06810341 0.07859686 -0.09904796
+v 0.05255659 0.17530041 -0.09797277
+v 0.04720065 0.15058345 -0.26112148
+v 0.06884664 0.14779059 -0.17373881
+v 0.05339954 0.04344885 -0.09843641
+v 0.05460131 0.02773943 -0.23486574
+v 0.04710035 0.16838938 -0.18727467
+v 0.06961089 0.14742633 -0.09842763
+v 0.06500967 0.14016995 -0.26253988
+v 0.05670200 0.03275585 -0.23636615
+v 0.05601518 0.04915741 -0.09798721
+v 0.06962414 0.11691714 -0.23463619
+v 0.06410615 0.16890552 -0.09713235
+v 0.05895767 0.14453145 -0.25930972
+v 0.05325265 0.14622195 -0.26435164
+v 0.05731987 0.16142258 -0.18590853
+f 7 4 1
+f 8 1 5
+f 8 7 1
+f 9 5 1
+f 9 1 4
+f 10 3 2
+f 12 2 3
+f 12 3 8
+f 12 11 2
+f 13 8 3
+f 13 7 8
+f 13 4 7
+f 14 10 2
+f 14 6 10
+f 14 11 6
+f 14 2 11
+f 15 10 6
+f 15 4 13
+f 15 13 3
+f 15 3 10
+f 15 6 11
+f 15 9 4
+f 16 11 5
+f 16 5 9
+f 16 9 11
+f 17 8 5
+f 17 5 11
+f 17 12 8
+f 17 11 12
+f 18 15 11
+f 18 11 9
+f 18 9 15
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_19/collision/model_normalized_collision_5.obj b/objects/objaverse/banana/banana_19/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..53fd0f477ed912b47b75e639fe64165776f12ed6
--- /dev/null
+++ b/objects/objaverse/banana/banana_19/collision/model_normalized_collision_5.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v 0.02279990 -0.03522354 0.27049534
+v 0.07186147 0.07423748 0.22011368
+v 0.07244925 0.07362261 0.26448269
+v 0.00530826 0.17228116 0.21684798
+v -0.05134867 0.00377535 0.22095162
+v -0.06385863 0.10093374 0.26253570
+v 0.04840091 -0.03085662 0.26551599
+v -0.02622850 0.16433594 0.21303509
+v 0.00393632 0.15475081 0.26132255
+v -0.03993561 -0.02659547 0.26512536
+v 0.05099431 -0.01415050 0.22638595
+v -0.06618244 0.13156473 0.21742354
+v -0.01844683 -0.03362124 0.27115884
+v -0.00962222 0.16230396 0.24249135
+v -0.06641306 0.02098780 0.26511655
+v 0.02212054 -0.02992659 0.25754623
+v -0.03508296 -0.01416631 0.22454231
+v 0.00051595 0.16397167 0.24372787
+v -0.05849105 0.12181418 0.25980434
+v -0.04389356 -0.01731942 0.23870349
+v -0.06632704 0.03530298 0.22248774
+v -0.06419168 0.13048200 0.23197204
+v -0.02404196 0.14606654 0.25716020
+v -0.04262247 -0.02181715 0.25295454
+f 3 2 4
+f 7 2 3
+f 7 3 1
+f 8 4 2
+f 8 2 5
+f 9 3 4
+f 11 5 2
+f 11 2 7
+f 12 8 5
+f 13 9 6
+f 13 1 3
+f 13 3 9
+f 14 4 8
+f 15 6 12
+f 15 13 6
+f 15 10 13
+f 16 11 7
+f 16 7 1
+f 17 5 11
+f 17 11 16
+f 17 16 1
+f 17 1 13
+f 18 14 9
+f 18 9 4
+f 18 4 14
+f 19 6 9
+f 20 15 5
+f 20 5 17
+f 20 17 13
+f 20 13 10
+f 21 15 12
+f 21 12 5
+f 21 5 15
+f 22 19 14
+f 22 14 8
+f 22 8 12
+f 22 12 6
+f 22 6 19
+f 23 19 9
+f 23 9 14
+f 23 14 19
+f 24 20 10
+f 24 10 15
+f 24 15 20
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_19/collision/model_normalized_collision_6.obj b/objects/objaverse/banana/banana_19/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0ce255bbccb1d3be44e18ae22f9f050b218b9c23
--- /dev/null
+++ b/objects/objaverse/banana/banana_19/collision/model_normalized_collision_6.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.01365056 -0.16498464 0.48401437
+v 0.04552154 -0.04507062 0.29598428
+v 0.03727529 -0.04593781 0.39387516
+v -0.02270605 -0.04852276 0.40983572
+v -0.03098175 -0.04255618 0.29669414
+v 0.02698854 -0.05426649 0.41621789
+v 0.02389540 -0.15435018 0.43366391
+v -0.01545992 -0.15861720 0.47353228
+v -0.04144916 -0.04084655 0.32896652
+v -0.01651264 -0.05054073 0.42216403
+v 0.03605340 -0.07353999 0.38447571
+v 0.02425708 -0.13938885 0.44351198
+v 0.00194399 -0.13946853 0.41413400
+v -0.03834509 -0.04797451 0.38052633
+v -0.01664738 -0.13245457 0.41964947
+v 0.01044311 -0.15064039 0.47754353
+v -0.01314636 -0.14129447 0.42687148
+v -0.03429539 -0.08095788 0.39377614
+v -0.00190563 -0.16271044 0.48418599
+f 6 1 3
+f 8 7 1
+f 9 3 2
+f 9 2 5
+f 9 4 3
+f 10 6 3
+f 10 3 4
+f 10 4 8
+f 11 7 2
+f 11 2 3
+f 12 3 1
+f 12 1 7
+f 12 11 3
+f 12 7 11
+f 13 5 2
+f 13 2 7
+f 14 8 4
+f 14 4 9
+f 15 9 5
+f 15 8 9
+f 16 1 6
+f 16 6 10
+f 17 13 7
+f 17 7 8
+f 17 8 15
+f 17 15 5
+f 17 5 13
+f 18 14 9
+f 18 9 8
+f 18 8 14
+f 19 16 10
+f 19 10 8
+f 19 8 1
+f 19 1 16
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_19/collision/model_normalized_collision_7.obj b/objects/objaverse/banana/banana_19/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2a5eae6bc0cf7eb4a0fa8bec1fd4afeae8ee3eea
--- /dev/null
+++ b/objects/objaverse/banana/banana_19/collision/model_normalized_collision_7.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v -0.06239176 0.15769966 0.14249398
+v -0.03219748 0.18661722 -0.09804155
+v -0.07063586 0.14869246 -0.09837198
+v -0.02915427 0.18417578 0.12616416
+v -0.03899646 0.19158878 -0.00938043
+v -0.03417915 0.17632295 0.14319814
+v -0.06835056 0.16190607 0.09803591
+v -0.02867401 0.19861351 -0.00867264
+v -0.07030425 0.16711419 -0.09774434
+v -0.07130987 0.14869243 0.00753509
+v -0.03964396 0.17740445 0.12441771
+v -0.02837716 0.19800754 -0.03618962
+v -0.05059381 0.17707568 -0.10010077
+v -0.06837512 0.16199065 0.09690729
+v -0.04095048 0.17100685 0.14573488
+v -0.03883610 0.19107634 -0.03517087
+v -0.07120983 0.15067148 0.00847179
+f 6 3 2
+f 6 2 4
+f 6 4 1
+f 8 7 4
+f 10 1 7
+f 10 9 3
+f 11 7 1
+f 11 1 4
+f 11 4 7
+f 12 8 4
+f 12 4 2
+f 13 2 3
+f 13 3 9
+f 13 12 2
+f 13 9 12
+f 14 5 9
+f 14 8 5
+f 14 7 8
+f 15 6 1
+f 15 1 10
+f 15 10 3
+f 15 3 6
+f 16 12 9
+f 16 9 5
+f 16 5 8
+f 16 8 12
+f 17 14 9
+f 17 9 10
+f 17 10 7
+f 17 7 14
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_19/collision/model_normalized_collision_8.obj b/objects/objaverse/banana/banana_19/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..994eef5dcc4cdd2053178aca4fe8bf5504aa4a11
--- /dev/null
+++ b/objects/objaverse/banana/banana_19/collision/model_normalized_collision_8.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v 0.01171571 -0.04678613 -0.41896752
+v 0.05361954 0.00019573 -0.44205517
+v 0.06343113 0.02710469 -0.41386350
+v 0.00829885 0.10141208 -0.41549030
+v -0.01044997 -0.00995820 -0.49251414
+v 0.04108527 0.02626947 -0.47129024
+v -0.04701122 0.08913791 -0.40960063
+v 0.04445328 -0.03943675 -0.41873130
+v 0.05112678 0.04174004 -0.44033303
+v -0.03161775 0.03046566 -0.47900179
+v 0.02839726 -0.01533345 -0.49090136
+v -0.03133568 -0.03712313 -0.41759366
+v 0.05840986 0.00418549 -0.41561168
+v 0.00404255 0.09047549 -0.43794799
+v 0.05681179 0.04166595 -0.42614788
+v 0.03790960 -0.02728828 -0.47397860
+v 0.01973319 0.00299762 -0.49200995
+v -0.05421379 -0.00912155 -0.44010911
+v -0.00787913 -0.05175379 -0.46844160
+v -0.05917899 0.07956787 -0.42097980
+v 0.02677294 -0.00688919 -0.49144764
+v -0.01501950 0.00870657 -0.48864677
+v -0.01926793 -0.02791919 -0.47701499
+v 0.01860533 -0.04973717 -0.46485843
+v -0.04532525 0.08352801 -0.42198041
+v -0.05289200 -0.01077138 -0.41730617
+v -0.01688209 -0.03593441 -0.47187420
+v 0.02790717 -0.04460648 -0.45960417
+v 0.02881761 -0.04605639 -0.44464864
+v -0.05993500 0.08318610 -0.41378572
+v -0.01447383 0.08743998 -0.43282875
+v 0.03660581 -0.03660290 -0.45746021
+v 0.02041088 -0.04489969 -0.41917920
+f 6 3 2
+f 7 3 4
+f 12 3 7
+f 12 8 3
+f 12 1 8
+f 13 8 2
+f 13 2 3
+f 13 3 8
+f 14 9 6
+f 14 4 9
+f 14 7 4
+f 15 9 4
+f 15 4 3
+f 15 3 6
+f 15 6 9
+f 16 11 6
+f 16 6 2
+f 16 2 8
+f 17 14 6
+f 17 10 14
+f 19 1 12
+f 19 5 11
+f 19 12 18
+f 20 10 18
+f 21 17 6
+f 21 6 11
+f 21 11 5
+f 21 5 17
+f 22 17 5
+f 22 5 10
+f 22 10 17
+f 23 18 10
+f 23 10 5
+f 23 5 19
+f 24 19 11
+f 24 11 16
+f 24 1 19
+f 26 18 12
+f 26 12 7
+f 27 23 19
+f 27 19 18
+f 27 18 23
+f 28 24 16
+f 29 1 24
+f 29 28 8
+f 29 24 28
+f 30 25 20
+f 30 26 7
+f 30 20 18
+f 30 18 26
+f 31 20 25
+f 31 14 10
+f 31 10 20
+f 31 25 30
+f 31 30 7
+f 31 7 14
+f 32 28 16
+f 32 16 8
+f 32 8 28
+f 33 29 8
+f 33 8 1
+f 33 1 29
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_19/collision/model_normalized_collision_9.obj b/objects/objaverse/banana/banana_19/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..559912780c301966864ee28d746072fd50411afd
--- /dev/null
+++ b/objects/objaverse/banana/banana_19/collision/model_normalized_collision_9.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.05109343 -0.01240938 0.22155488
+v 0.06647675 0.06935313 0.08292629
+v 0.07186147 0.07423748 0.22011368
+v -0.07137130 0.07612857 0.22132772
+v -0.04499101 0.01917559 0.08406964
+v -0.00347046 -0.01844505 0.22451070
+v 0.04984415 0.01785989 0.08390214
+v -0.06336495 0.06158665 0.08254398
+v 0.00755391 -0.01941006 0.22418747
+v -0.04437544 -0.01267607 0.22083438
+v 0.06214613 0.05608460 0.08149867
+v -0.00388037 0.01453110 0.08515687
+v -0.05134867 0.00377535 0.22095162
+v -0.04552291 -0.00161920 0.17828395
+v -0.04934973 0.02851362 0.08339019
+v 0.00767082 0.01406063 0.08499791
+v -0.06299478 0.02940992 0.22032980
+f 1 2 3
+f 3 2 4
+f 6 3 4
+f 8 4 2
+f 9 1 3
+f 9 3 6
+f 9 7 1
+f 10 5 6
+f 11 2 1
+f 11 1 7
+f 11 8 2
+f 12 9 6
+f 12 6 5
+f 13 10 6
+f 13 6 4
+f 14 5 10
+f 15 11 7
+f 15 7 5
+f 15 8 11
+f 15 5 14
+f 16 12 5
+f 16 5 7
+f 16 7 9
+f 16 9 12
+f 17 13 4
+f 17 4 8
+f 17 15 14
+f 17 8 15
+f 17 14 10
+f 17 10 13
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_19/model.xml b/objects/objaverse/banana/banana_19/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..682602de8baaaad062274191d1f420038dae1438
--- /dev/null
+++ b/objects/objaverse/banana/banana_19/model.xml
@@ -0,0 +1,81 @@
+<mujoco model="banana_45">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.18 0.18 0.18" refquat="0.4999999999999998 0.4999999999999998 0.4999999999999998 0.4999999999999998"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.18 0.18 0.18" refquat="0.4999999999999998 0.4999999999999998 0.4999999999999998 0.4999999999999998"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.18 0.18 0.18" refquat="0.4999999999999998 0.4999999999999998 0.4999999999999998 0.4999999999999998"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.18 0.18 0.18" refquat="0.4999999999999998 0.4999999999999998 0.4999999999999998 0.4999999999999998"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.18 0.18 0.18" refquat="0.4999999999999998 0.4999999999999998 0.4999999999999998 0.4999999999999998"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.18 0.18 0.18" refquat="0.4999999999999998 0.4999999999999998 0.4999999999999998 0.4999999999999998"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.18 0.18 0.18" refquat="0.4999999999999998 0.4999999999999998 0.4999999999999998 0.4999999999999998"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.18 0.18 0.18" refquat="0.4999999999999998 0.4999999999999998 0.4999999999999998 0.4999999999999998"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.18 0.18 0.18" refquat="0.4999999999999998 0.4999999999999998 0.4999999999999998 0.4999999999999998"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.18 0.18 0.18" refquat="0.4999999999999998 0.4999999999999998 0.4999999999999998 0.4999999999999998"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.18 0.18 0.18" refquat="0.4999999999999998 0.4999999999999998 0.4999999999999998 0.4999999999999998"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.18 0.18 0.18" refquat="0.4999999999999998 0.4999999999999998 0.4999999999999998 0.4999999999999998"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.18 0.18 0.18" refquat="0.4999999999999998 0.4999999999999998 0.4999999999999998 0.4999999999999998"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.18 0.18 0.18" refquat="0.4999999999999998 0.4999999999999998 0.4999999999999998 0.4999999999999998"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.18 0.18 0.18" refquat="0.4999999999999998 0.4999999999999998 0.4999999999999998 0.4999999999999998"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.18 0.18 0.18" refquat="0.4999999999999998 0.4999999999999998 0.4999999999999998 0.4999999999999998"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.18 0.18 0.18" refquat="0.4999999999999998 0.4999999999999998 0.4999999999999998 0.4999999999999998"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.18 0.18 0.18" refquat="0.4999999999999998 0.4999999999999998 0.4999999999999998 0.4999999999999998"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.18 0.18 0.18" refquat="0.4999999999999998 0.4999999999999998 0.4999999999999998 0.4999999999999998"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.18 0.18 0.18" refquat="0.4999999999999998 0.4999999999999998 0.4999999999999998 0.4999999999999998"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.18 0.18 0.18" refquat="0.4999999999999998 0.4999999999999998 0.4999999999999998 0.4999999999999998"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.18 0.18 0.18" refquat="0.4999999999999998 0.4999999999999998 0.4999999999999998 0.4999999999999998"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.18 0.18 0.18" refquat="0.4999999999999998 0.4999999999999998 0.4999999999999998 0.4999999999999998"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.18 0.18 0.18" refquat="0.4999999999999998 0.4999999999999998 0.4999999999999998 0.4999999999999998"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.18 0.18 0.18" refquat="0.4999999999999998 0.4999999999999998 0.4999999999999998 0.4999999999999998"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.18 0.18 0.18" refquat="0.4999999999999998 0.4999999999999998 0.4999999999999998 0.4999999999999998"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.18 0.18 0.18" refquat="0.4999999999999998 0.4999999999999998 0.4999999999999998 0.4999999999999998"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.18 0.18 0.18" refquat="0.4999999999999998 0.4999999999999998 0.4999999999999998 0.4999999999999998"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.18 0.18 0.18" refquat="0.4999999999999998 0.4999999999999998 0.4999999999999998 0.4999999999999998"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.18 0.18 0.18" refquat="0.4999999999999998 0.4999999999999998 0.4999999999999998 0.4999999999999998"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.18 0.18 0.18" refquat="0.4999999999999998 0.4999999999999998 0.4999999999999998 0.4999999999999998"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.18 0.18 0.18" refquat="0.4999999999999998 0.4999999999999998 0.4999999999999998 0.4999999999999998"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.18 0.18 0.18" refquat="0.4999999999999998 0.4999999999999998 0.4999999999999998 0.4999999999999998"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="wire_087224198" texture="image0" specular="0.5" shininess="0.359999993"/>
+  </asset>
+  <worldbody>
+    <body>
+      <body name="object">
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_0_vis" conaffinity="0" contype="0" group="1" material="wire_087224198"/>
+        <geom solimp="0.998 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"/>
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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_13._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+      </body>
+      <site rgba="0 0 0 0" size="0.005" pos="-0.0007052849676095368 0.00029202182460730085 -0.013192687731128918" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="-0.0007052849676095368 0.00029202182460730085 0.013319139880245997" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.03766305916895785 0.08923658367195102 6.322607455853917e-05" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/objects/objaverse/banana/banana_19/visual/material.mtl b/objects/objaverse/banana/banana_19/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6b5d0f127cc1df2efd6b4835e0300358bb6dde72
--- /dev/null
+++ b/objects/objaverse/banana/banana_19/visual/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 359.99999300
+map_Kd material_0.png
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_19/visual/model_normalized_0.obj b/objects/objaverse/banana/banana_19/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f90d9d6f039f37f3b419843dffd6cc96e6a36260
--- /dev/null
+++ b/objects/objaverse/banana/banana_19/visual/model_normalized_0.obj
@@ -0,0 +1,983 @@
+# 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/banana/banana_2/collision/model_normalized_collision_0.obj b/objects/objaverse/banana/banana_2/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..57da2d6538285a3d7297fe72251bc5b61a43090a
--- /dev/null
+++ b/objects/objaverse/banana/banana_2/collision/model_normalized_collision_0.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v -0.13350606 -0.08123204 0.25056498
+v -0.13175553 -0.08531494 0.14378835
+v -0.13064184 -0.00536257 0.14393939
+v -0.25406459 -0.00531027 0.21286968
+v -0.24217663 -0.05501735 0.14507994
+v -0.13064184 -0.00536257 0.24999999
+v -0.19964388 -0.07908475 0.14175307
+v -0.18755956 -0.06207681 0.24857233
+v -0.26282099 -0.02941948 0.15036350
+v -0.13065775 -0.08444640 0.20441554
+v -0.21695326 -0.07093958 0.14274751
+v -0.21932439 -0.02591937 0.26095999
+v -0.18672117 -0.07795300 0.18540128
+v -0.17157678 -0.07941025 0.20213242
+v -0.20749736 -0.06413141 0.20066451
+v -0.23210573 -0.04510975 0.20254235
+v -0.20120122 -0.07689402 0.15740769
+f 6 3 4
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+f 14 8 13
+f 15 5 11
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+f 16 4 9
+f 16 9 5
+f 16 5 15
+f 16 15 8
+f 16 8 12
+f 17 11 7
+f 17 7 13
+f 17 15 11
+f 17 13 15
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_2/collision/model_normalized_collision_1.obj b/objects/objaverse/banana/banana_2/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bfa8fc9ae8b9c2f51a7d07f159c1e18c7583259a
--- /dev/null
+++ b/objects/objaverse/banana/banana_2/collision/model_normalized_collision_1.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v -0.05593470 -0.07645625 0.25034627
+v -0.00462205 -0.05446718 0.25726172
+v -0.13350606 -0.08123204 0.25056498
+v -0.12949314 0.09245540 0.24937878
+v -0.11159911 0.07069573 0.07985182
+v -0.00449279 0.04634958 0.25754368
+v -0.02978875 -0.06874624 0.25280296
+v -0.12700182 -0.08518979 0.08358475
+v -0.07490120 0.08534848 0.25300724
+v -0.05802190 -0.00865676 0.10192819
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+v -0.01743487 0.05658701 0.25585235
+v -0.01506434 -0.02930555 0.21125179
+v -0.08194766 0.04668521 0.08597963
+v -0.07043610 -0.04951300 0.08629769
+v -0.08748240 0.05298002 0.08345292
+v -0.01338997 0.00386120 0.21715087
+v -0.07392168 0.03020447 0.08641456
+v -0.05781337 -0.03205090 0.10261074
+f 6 3 2
+f 7 2 3
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+f 11 3 4
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+f 11 9 5
+f 11 4 9
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+f 12 5 9
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+f 15 8 5
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+f 16 5 12
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+f 17 10 6
+f 17 6 2
+f 17 2 13
+f 18 14 6
+f 18 6 10
+f 18 10 15
+f 18 16 14
+f 18 15 16
+f 19 13 2
+f 19 2 15
+f 19 15 10
+f 19 10 13
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_2/collision/model_normalized_collision_10.obj b/objects/objaverse/banana/banana_2/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f481cbee400a25d9f1b549537703ae46297d31a6
--- /dev/null
+++ b/objects/objaverse/banana/banana_2/collision/model_normalized_collision_10.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v -0.20492988 -0.07683832 0.14192987
+v -0.21316216 -0.05561290 -0.21826284
+v -0.21335617 -0.05630628 0.21473351
+v -0.22936870 -0.04258503 0.21730819
+v -0.25725380 -0.04249302 -0.12630963
+v -0.22051031 -0.04883293 0.21919438
+v -0.25279092 -0.05071209 0.12606626
+v -0.21456270 -0.07962539 -0.09629930
+v -0.22654178 -0.04447285 -0.21498479
+v -0.22407345 -0.04875702 0.21505821
+v -0.22715178 -0.06443884 0.15417079
+v -0.25854649 -0.04317063 0.12854923
+v -0.22412095 -0.06526813 -0.15583730
+v -0.20203159 -0.08449819 -0.09854311
+v -0.24219511 -0.06314087 -0.09641268
+v -0.21974668 -0.04946067 -0.21907745
+v -0.21932160 -0.07698220 0.09702475
+v -0.25090864 -0.05056818 -0.12457731
+v -0.20270126 -0.08220020 0.09741666
+v -0.21327059 -0.07940329 -0.10127567
+v -0.22045722 -0.05109216 -0.21343601
+v -0.24203159 -0.06169901 0.11326120
+f 6 3 2
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+f 9 4 6
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+f 10 3 6
+f 10 4 7
+f 11 1 3
+f 11 10 7
+f 11 3 10
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+f 12 4 5
+f 14 13 2
+f 15 13 8
+f 15 12 5
+f 15 7 12
+f 16 9 6
+f 16 6 2
+f 17 1 11
+f 17 8 14
+f 17 15 8
+f 18 5 9
+f 18 15 5
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+f 22 17 11
+f 22 11 7
+f 22 7 15
+f 22 15 17
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_2/collision/model_normalized_collision_11.obj b/objects/objaverse/banana/banana_2/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6245cbebcc0d260b4bbb277d254dff9078d2d0f6
--- /dev/null
+++ b/objects/objaverse/banana/banana_2/collision/model_normalized_collision_11.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.07452287 0.01325751 0.00647037
+v -0.11430898 0.07291122 -0.09675655
+v -0.11346026 0.06664438 0.00734799
+v -0.28139669 0.03618224 0.00623030
+v -0.27559776 -0.00543204 -0.10181847
+v -0.28842106 -0.00493017 0.00606635
+v -0.13064184 -0.00536257 -0.09848485
+v -0.26072290 0.04598786 -0.10136117
+v -0.28521132 -0.00271823 -0.03667545
+v -0.27829995 0.03532577 -0.03844437
+f 1 2 3
+f 3 2 4
+f 6 1 3
+f 6 3 4
+f 7 2 1
+f 7 6 5
+f 7 1 6
+f 8 4 2
+f 8 7 5
+f 8 2 7
+f 9 6 4
+f 9 5 6
+f 10 8 5
+f 10 4 8
+f 10 9 4
+f 10 5 9
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_2/collision/model_normalized_collision_12.obj b/objects/objaverse/banana/banana_2/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..72adc628acbf2b376f9336eec4bc681191954e2d
--- /dev/null
+++ b/objects/objaverse/banana/banana_2/collision/model_normalized_collision_12.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.00561407 -0.05192158 0.41049440
+v -0.00462205 -0.05446718 0.25726172
+v -0.00168539 0.06774025 0.31584847
+v -0.15249575 0.08251533 0.30516271
+v -0.24112776 -0.01444463 0.24316858
+v 0.00593085 0.03209601 0.44601009
+v 0.00356018 -0.06307705 0.35383198
+v -0.06342203 0.08192057 0.25496942
+v -0.00068123 0.06805553 0.39440283
+v -0.10417371 -0.02022320 0.41504600
+v -0.00449279 0.04634958 0.25754368
+v -0.18360963 -0.06513771 0.24651337
+v -0.21190420 0.07199795 0.24435890
+v 0.00311952 0.05626666 0.42604293
+v -0.05498262 0.08330926 0.35340727
+v -0.03657921 -0.02252392 0.44866983
+v -0.00312946 -0.06153145 0.27271408
+v -0.00472115 0.05482632 0.27077254
+v -0.16576711 -0.04614609 0.31896657
+v -0.09585041 -0.06035852 0.36719645
+v -0.17179745 0.08595216 0.24962209
+v -0.17232221 0.03193032 0.34642446
+v -0.03601920 0.06794940 0.25527163
+v -0.01786424 -0.06436013 0.25577556
+v -0.09154633 0.06957813 0.38768890
+v -0.04374023 0.08274537 0.32524477
+v 0.00544060 -0.00537328 0.45378413
+v -0.18650848 -0.01442689 0.32983078
+v -0.19323650 -0.04970044 0.27195184
+v -0.02528130 -0.06441911 0.36754372
+v -0.13813795 -0.06281221 0.31870322
+v -0.14379453 -0.03601278 0.36091412
+v -0.06603581 -0.04784641 0.40674560
+v -0.17119409 0.08338331 0.27681041
+v -0.09706875 0.08336565 0.35166992
+v -0.16464932 0.06959485 0.32824566
+v -0.21973872 0.01976681 0.28266949
+v -0.06398660 0.04020215 0.42938581
+v -0.04449410 0.08230983 0.29649470
+v -0.04988531 0.02046764 0.44476170
+v -0.14612732 -0.02040061 0.37371958
+v -0.19110248 -0.03550314 0.30013235
+v -0.18013172 -0.06238302 0.26035925
+v -0.11879835 -0.03426914 0.38712836
+v -0.05026900 -0.02226225 0.44558961
+v -0.03463716 -0.03436305 0.43494257
+v -0.19343998 0.07135695 0.28320214
+v -0.12365931 0.08149014 0.33768801
+v -0.23601057 0.02075207 0.24790251
+v -0.18852441 0.02224622 0.33006704
+v -0.21767092 0.00176805 0.28840384
+v -0.02059475 0.03317065 0.44355245
+v -0.06330829 0.05588362 0.41632325
+v -0.10375652 0.02115760 0.41578683
+v -0.22080684 -0.02015656 0.27060996
+v -0.09238885 -0.04901824 0.38841474
+v -0.07498466 -0.03567400 0.41709759
+v -0.04723071 -0.03676685 0.42833118
+v -0.20520401 0.07306691 0.25457459
+v -0.23214158 0.02428551 0.25471951
+v -0.14991295 0.06795379 0.34540371
+v -0.18831749 0.04623602 0.31542205
+v -0.23434871 -0.01218346 0.25645820
+v -0.09237441 0.04421969 0.41263024
+f 7 6 1
+f 7 3 6
+f 11 3 7
+f 13 12 5
+f 14 6 3
+f 14 3 9
+f 15 14 9
+f 17 11 7
+f 17 2 11
+f 18 3 11
+f 21 8 13
+f 23 13 8
+f 23 18 11
+f 23 8 3
+f 23 3 18
+f 24 12 13
+f 24 2 17
+f 24 17 7
+f 24 13 23
+f 24 23 11
+f 24 11 2
+f 26 15 9
+f 26 9 3
+f 26 21 15
+f 27 16 1
+f 27 1 6
+f 29 5 12
+f 30 7 1
+f 30 1 20
+f 30 24 7
+f 30 12 24
+f 31 30 20
+f 31 12 30
+f 31 19 29
+f 32 31 20
+f 32 19 31
+f 33 20 1
+f 34 21 13
+f 34 4 21
+f 35 21 4
+f 35 15 21
+f 35 25 14
+f 35 14 15
+f 36 4 34
+f 39 26 3
+f 39 3 8
+f 39 8 21
+f 39 21 26
+f 40 27 6
+f 40 16 27
+f 41 28 32
+f 42 5 29
+f 42 29 19
+f 42 32 28
+f 42 19 32
+f 43 31 29
+f 43 29 12
+f 43 12 31
+f 44 32 20
+f 44 41 32
+f 44 10 41
+f 45 16 40
+f 46 33 1
+f 46 1 16
+f 46 16 45
+f 47 36 34
+f 48 35 4
+f 48 4 36
+f 48 25 35
+f 49 13 5
+f 49 5 37
+f 50 41 22
+f 50 28 41
+f 51 37 5
+f 51 50 37
+f 51 28 50
+f 52 6 14
+f 52 40 6
+f 52 38 40
+f 53 14 25
+f 53 52 14
+f 53 38 52
+f 54 40 38
+f 54 45 40
+f 54 10 45
+f 54 41 10
+f 54 22 41
+f 55 42 28
+f 55 5 42
+f 56 10 44
+f 56 44 20
+f 56 20 33
+f 57 45 10
+f 57 33 45
+f 57 56 33
+f 57 10 56
+f 58 46 45
+f 58 45 33
+f 58 33 46
+f 59 47 34
+f 59 34 13
+f 59 13 47
+f 60 47 13
+f 60 37 47
+f 60 49 37
+f 60 13 49
+f 61 48 36
+f 61 25 48
+f 61 36 22
+f 62 47 37
+f 62 37 50
+f 62 36 47
+f 62 50 22
+f 62 22 36
+f 63 51 5
+f 63 28 51
+f 63 55 28
+f 63 5 55
+f 64 53 25
+f 64 38 53
+f 64 54 38
+f 64 25 61
+f 64 61 22
+f 64 22 54
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_2/collision/model_normalized_collision_13.obj b/objects/objaverse/banana/banana_2/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d4d5ad42a68d28b0ab85a4899bd29e10ebc52774
--- /dev/null
+++ b/objects/objaverse/banana/banana_2/collision/model_normalized_collision_13.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.12700182 -0.08518979 0.08358475
+v -0.06777277 -0.04522451 -0.03936813
+v -0.06411291 -0.04313822 0.08518729
+v -0.10409581 0.06513947 0.07775905
+v -0.13148895 -0.08845623 -0.03840084
+v -0.07464855 0.02344850 -0.03915380
+v -0.06971242 0.02028845 0.08359422
+v -0.13222248 -0.08718321 0.00761258
+v -0.10757570 -0.08294457 -0.03913855
+v -0.10361410 0.06066887 -0.03297908
+v -0.06920160 0.00513214 -0.03954743
+v -0.07821428 -0.05614970 0.08480344
+f 7 1 3
+f 7 4 1
+f 7 6 4
+f 8 5 1
+f 8 1 4
+f 9 2 3
+f 9 1 5
+f 10 6 5
+f 10 4 6
+f 10 8 4
+f 10 5 8
+f 11 7 3
+f 11 3 2
+f 11 6 7
+f 11 2 9
+f 11 9 5
+f 11 5 6
+f 12 9 3
+f 12 3 1
+f 12 1 9
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_2/collision/model_normalized_collision_14.obj b/objects/objaverse/banana/banana_2/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..538120fe98f9149bf3eb6b7097e09a6b924b9091
--- /dev/null
+++ b/objects/objaverse/banana/banana_2/collision/model_normalized_collision_14.obj
@@ -0,0 +1,174 @@
+# https://github.com/mikedh/trimesh
+v -0.04564215 -0.08211449 -0.23661594
+v -0.03322614 -0.01801696 -0.46599158
+v -0.04428472 0.06159262 -0.23834498
+v -0.18407190 0.07463843 -0.23077814
+v -0.22461597 -0.03927997 -0.22850196
+v -0.03681436 0.07338901 -0.41017030
+v -0.03807876 -0.08030313 -0.33982307
+v -0.22114271 0.03319485 -0.22881924
+v -0.03229451 0.05879602 -0.43568551
+v -0.06110898 0.06967020 -0.23759500
+v -0.09342070 -0.06302803 -0.37427418
+v -0.15653739 -0.08324426 -0.23174185
+v -0.17614987 -0.01520124 -0.34256835
+v -0.15984970 0.05858622 -0.31418998
+v -0.04785924 0.06820931 -0.25414935
+v -0.04003155 -0.06664691 -0.39693645
+v -0.07999540 -0.07972810 -0.33540124
+v -0.16633838 -0.06181451 -0.28902963
+v -0.21820694 -0.01794671 -0.27184299
+v -0.08595615 -0.02392775 -0.43266821
+v -0.13397833 0.06652727 -0.33028200
+v -0.10388082 0.01213315 -0.41652069
+v -0.20377904 0.01337077 -0.28465449
+v -0.20180006 0.04592651 -0.25664956
+v -0.03619040 -0.03680737 -0.44842582
+v -0.13504325 -0.07748467 -0.29218108
+v -0.06618357 -0.06485612 -0.38923981
+v -0.21199766 -0.05222669 -0.23087798
+v -0.16546724 -0.03106900 -0.34747538
+v -0.22368650 -0.03505652 -0.24202803
+v -0.16206965 0.06906178 -0.28776160
+v -0.06101059 0.06826792 -0.40408510
+v -0.15855709 0.03011990 -0.34134186
+v -0.16268824 -0.02628862 -0.35568634
+v -0.04421243 0.00370351 -0.46235386
+v -0.21754345 -0.01115474 -0.27247803
+v -0.21595588 0.03264920 -0.24234921
+v -0.18785566 0.04308308 -0.28502995
+v -0.04970123 -0.03465973 -0.44479685
+v -0.10918403 -0.07812690 -0.31662556
+v -0.13603693 -0.06088696 -0.33276711
+v -0.15478415 -0.07944891 -0.25692533
+v -0.06515967 -0.05032491 -0.41678192
+v -0.10464634 -0.04758734 -0.39250162
+v -0.17721882 -0.04842660 -0.30053758
+v -0.19468172 -0.02412170 -0.31100478
+v -0.17901542 0.07116134 -0.25450576
+v -0.07235642 0.03250258 -0.42969990
+v -0.16076515 0.00417401 -0.35502140
+v -0.03400048 0.00391195 -0.46700405
+v -0.07234169 -0.01580095 -0.44635699
+v -0.08990011 -0.03636783 -0.41730346
+v -0.13230034 -0.04950145 -0.36000229
+v -0.20579140 -0.05151330 -0.24445295
+v -0.04710172 0.05488580 -0.43078228
+v -0.07106976 0.00486407 -0.44533048
+v -0.13049047 0.01439826 -0.38498243
+v -0.17593647 -0.01180020 -0.34130590
+v -0.04685074 -0.01404921 -0.46122065
+f 1 3 4
+f 7 3 1
+f 8 5 1
+f 8 1 4
+f 9 6 3
+f 9 7 2
+f 9 3 7
+f 10 6 4
+f 10 4 3
+f 12 7 1
+f 12 1 5
+f 15 10 3
+f 15 3 6
+f 15 6 10
+f 17 7 12
+f 17 16 7
+f 24 8 4
+f 25 2 7
+f 25 7 16
+f 27 17 11
+f 27 16 17
+f 28 12 5
+f 30 5 8
+f 30 8 19
+f 30 28 5
+f 31 21 14
+f 31 4 6
+f 31 6 21
+f 32 21 6
+f 32 6 9
+f 32 14 21
+f 33 14 22
+f 34 22 20
+f 34 13 22
+f 36 19 8
+f 36 23 13
+f 36 13 19
+f 37 24 23
+f 37 8 24
+f 37 36 8
+f 37 23 36
+f 38 24 14
+f 38 23 24
+f 38 33 23
+f 38 14 33
+f 39 2 25
+f 40 17 12
+f 40 12 26
+f 40 26 11
+f 40 11 17
+f 41 26 18
+f 41 11 26
+f 42 26 12
+f 42 18 26
+f 42 28 18
+f 42 12 28
+f 43 25 16
+f 43 16 27
+f 43 39 25
+f 43 27 11
+f 44 43 11
+f 44 29 34
+f 45 41 18
+f 46 19 13
+f 46 34 29
+f 46 13 34
+f 46 30 19
+f 46 45 30
+f 46 29 45
+f 47 24 4
+f 47 4 31
+f 47 31 14
+f 47 14 24
+f 48 22 14
+f 48 14 32
+f 49 22 13
+f 49 23 33
+f 50 35 9
+f 50 9 2
+f 51 20 22
+f 51 39 20
+f 51 2 39
+f 52 20 39
+f 52 39 43
+f 52 43 44
+f 52 44 34
+f 52 34 20
+f 53 29 44
+f 53 45 29
+f 53 41 45
+f 53 44 11
+f 53 11 41
+f 54 45 18
+f 54 18 28
+f 54 28 30
+f 54 30 45
+f 55 48 32
+f 55 32 9
+f 55 9 35
+f 55 35 48
+f 56 48 35
+f 56 22 48
+f 56 51 22
+f 56 35 51
+f 57 49 33
+f 57 33 22
+f 57 22 49
+f 58 49 13
+f 58 13 23
+f 58 23 49
+f 59 50 2
+f 59 35 50
+f 59 51 35
+f 59 2 51
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_2/collision/model_normalized_collision_15.obj b/objects/objaverse/banana/banana_2/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ab7bdb3abbb3d96119289cf80958bee34ca36616
--- /dev/null
+++ b/objects/objaverse/banana/banana_2/collision/model_normalized_collision_15.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.26746364 -0.02260600 0.48671466
+v 0.28569466 0.00007625 0.47610786
+v 0.25999007 -0.00309667 0.49129965
+v 0.16173788 0.00172897 0.44790148
+v 0.15229497 -0.02229766 0.39645143
+v 0.28621374 -0.00075093 0.49377652
+v 0.15620527 -0.01983084 0.44724229
+v 0.22608453 -0.01959829 0.41656260
+v 0.28168617 -0.01462564 0.47366115
+v 0.28419303 -0.00968525 0.49718332
+v 0.25307969 -0.01796547 0.49054643
+v 0.24513984 -0.02753755 0.48193042
+v 0.15144456 0.00147785 0.39919321
+v 0.22722676 -0.01675559 0.41529840
+v 0.24255141 -0.02836908 0.44099328
+v 0.18097949 -0.00385596 0.40448112
+v 0.19761145 -0.01532484 0.40273489
+v 0.26546794 -0.02491007 0.47278312
+v 0.17968959 -0.02062879 0.40201571
+v 0.19689231 -0.01281517 0.40285098
+f 6 2 4
+f 6 4 3
+f 10 6 3
+f 10 1 9
+f 10 9 2
+f 10 2 6
+f 11 3 4
+f 11 4 7
+f 11 10 3
+f 11 1 10
+f 12 7 5
+f 12 11 7
+f 12 1 11
+f 13 7 4
+f 13 5 7
+f 13 4 2
+f 14 2 9
+f 15 14 9
+f 15 8 14
+f 15 12 5
+f 16 13 2
+f 16 2 14
+f 17 14 8
+f 18 15 9
+f 18 9 1
+f 18 1 12
+f 18 12 15
+f 19 15 5
+f 19 8 15
+f 19 17 8
+f 19 5 17
+f 20 16 14
+f 20 14 17
+f 20 13 16
+f 20 17 5
+f 20 5 13
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_2/collision/model_normalized_collision_16.obj b/objects/objaverse/banana/banana_2/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb2702bb636b4711f3bb032d0c9ac99d3c9486fc
--- /dev/null
+++ b/objects/objaverse/banana/banana_2/collision/model_normalized_collision_16.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v -0.20639942 -0.00536257 0.08333333
+v -0.20639942 -0.00536257 0.00757575
+v -0.21045500 0.08862387 0.00675883
+v -0.21697271 0.08857720 0.08872923
+v -0.28842106 -0.00493017 0.00606635
+v -0.27901710 -0.00508389 0.13151449
+v -0.28139669 0.03618224 0.00623030
+v -0.26646384 0.04402856 0.13098147
+v -0.27984090 0.00704775 0.12307725
+v -0.27874831 0.03813866 0.06544977
+v -0.28063242 -0.00469184 0.12638207
+v -0.27153228 0.03599588 0.12319579
+v -0.27852000 0.01818090 0.11111992
+f 1 2 3
+f 1 3 4
+f 5 3 2
+f 6 5 2
+f 6 2 1
+f 7 4 3
+f 7 3 5
+f 8 6 1
+f 8 1 4
+f 9 6 8
+f 10 8 4
+f 10 4 7
+f 10 7 5
+f 10 5 9
+f 11 9 5
+f 11 5 6
+f 11 6 9
+f 12 9 8
+f 12 8 10
+f 13 12 10
+f 13 10 9
+f 13 9 12
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_2/collision/model_normalized_collision_17.obj b/objects/objaverse/banana/banana_2/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6a616505cc8000916601a214d4a7509367d248d4
--- /dev/null
+++ b/objects/objaverse/banana/banana_2/collision/model_normalized_collision_17.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v -0.20807316 -0.07392724 0.14646723
+v -0.21206099 -0.08009319 0.08513562
+v -0.21697271 0.08857720 0.08872923
+v -0.21429245 0.08610327 0.14588997
+v -0.28837718 -0.00451612 0.05271280
+v -0.25673649 -0.05750275 0.05418432
+v -0.26193448 0.04549634 0.14632056
+v -0.23469607 -0.06139775 0.14365617
+v -0.24672841 -0.06431161 0.05528102
+v -0.27499467 0.04495682 0.08393287
+v -0.24935975 -0.04895155 0.14322846
+v -0.23830839 -0.06724599 0.08324431
+v -0.28524958 0.00839321 0.06106623
+f 1 2 3
+f 1 3 4
+f 7 1 4
+f 8 2 1
+f 9 6 5
+f 9 5 3
+f 9 3 2
+f 10 7 4
+f 10 4 3
+f 10 3 5
+f 11 5 6
+f 11 6 8
+f 11 7 5
+f 11 8 1
+f 11 1 7
+f 12 8 6
+f 12 6 9
+f 12 9 2
+f 12 2 8
+f 13 10 5
+f 13 5 7
+f 13 7 10
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_2/collision/model_normalized_collision_18.obj b/objects/objaverse/banana/banana_2/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5c5810511a862dd8efd6e148ac3047da43624ed2
--- /dev/null
+++ b/objects/objaverse/banana/banana_2/collision/model_normalized_collision_18.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.08792977 -0.08056471 0.20557296
+v -0.08821165 -0.06288085 0.00763274
+v -0.05325173 -0.06860709 0.20371741
+v -0.06369142 -0.05654522 0.14694769
+v -0.13061699 -0.08444269 0.20474839
+v -0.12561842 -0.08577394 0.00778526
+v -0.05929125 -0.07249630 0.20565582
+v -0.10944718 -0.08018269 0.00708723
+v -0.13222248 -0.08718321 0.00761258
+v -0.09620081 -0.07148554 0.00601247
+f 3 2 4
+f 5 4 2
+f 5 3 4
+f 7 5 1
+f 7 3 5
+f 7 1 6
+f 8 7 6
+f 8 3 7
+f 9 5 2
+f 9 8 6
+f 9 6 1
+f 9 1 5
+f 10 2 3
+f 10 3 8
+f 10 9 2
+f 10 8 9
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_2/collision/model_normalized_collision_19.obj b/objects/objaverse/banana/banana_2/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e7e7136bdb94a33c76a8790138f1f2bcaa4f332c
--- /dev/null
+++ b/objects/objaverse/banana/banana_2/collision/model_normalized_collision_19.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.21206099 -0.08009319 0.08513562
+v -0.21327059 -0.07940329 -0.10127567
+v -0.20639942 -0.00536257 -0.09848485
+v -0.28763748 -0.00484457 0.00984929
+v -0.25797056 -0.05799773 0.00737439
+v -0.27559776 -0.00543204 -0.10181847
+v -0.20639942 -0.00536257 0.08333333
+v -0.27572056 -0.03060503 0.09183180
+v -0.25327953 -0.05323060 -0.09841662
+v -0.23830839 -0.06724599 0.08324431
+v -0.23659124 -0.06559950 -0.09847017
+f 1 2 3
+f 5 2 1
+f 6 3 2
+f 6 4 3
+f 7 1 3
+f 7 3 4
+f 8 4 5
+f 8 7 4
+f 8 1 7
+f 9 5 4
+f 9 4 6
+f 9 6 2
+f 10 8 5
+f 10 5 1
+f 10 1 8
+f 11 9 2
+f 11 2 5
+f 11 5 9
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_2/collision/model_normalized_collision_2.obj b/objects/objaverse/banana/banana_2/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c3f28a51e5240f6ccf18646e87c8b6f9ed83a590
--- /dev/null
+++ b/objects/objaverse/banana/banana_2/collision/model_normalized_collision_2.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.04564215 -0.08211449 -0.23661594
+v 0.13062487 -0.02169954 -0.46570987
+v -0.04382444 -0.00686485 -0.12994921
+v -0.04489778 0.07042115 -0.26843063
+v -0.03093706 -0.02219464 -0.46480839
+v 0.09312166 0.03032613 -0.37849148
+v -0.04870704 0.03487000 -0.16136491
+v -0.04557081 -0.04726165 -0.13164293
+v 0.01713081 -0.06253411 -0.40815383
+v -0.03619040 -0.03680737 -0.44842582
+v -0.03558228 0.06916370 -0.42127161
+v -0.04672081 0.05825408 -0.22517898
+v -0.04750915 0.02091825 -0.14723829
+v 0.05369922 -0.04754204 -0.31732695
+v -0.04900849 -0.05649874 -0.14754872
+v 0.08164142 -0.02788472 -0.33708899
+v -0.03852561 -0.06247147 -0.40710770
+v 0.10855490 -0.01824000 -0.48459340
+v 0.02992627 0.06796157 -0.41330675
+v -0.03133436 0.01977963 -0.46068264
+v 0.05406770 0.05354556 -0.36116282
+v 0.07892724 0.02990393 -0.35520595
+v 0.04709788 -0.06240403 -0.38394876
+v 0.03750769 -0.06233273 -0.32900289
+v 0.07917507 -0.00836088 -0.33535732
+v -0.04172031 -0.04321256 -0.13573617
+v 0.06778595 -0.03811735 -0.32428358
+v 0.12738295 -0.01304513 -0.42213510
+v -0.03807876 -0.08030313 -0.33982307
+v 0.02165036 -0.01003917 -0.48953429
+v 0.10156054 -0.03204807 -0.45358510
+v -0.02405784 -0.04759733 -0.43798253
+v 0.01693648 0.06911951 -0.42781948
+v 0.11892519 0.02607808 -0.48182280
+v 0.01085655 0.06725968 -0.33117198
+v 0.08145951 0.04022797 -0.37394851
+v -0.03591181 -0.07866446 -0.24167636
+v -0.01068481 -0.08007366 -0.33993085
+v 0.06899900 -0.04777591 -0.35892881
+v 0.11055715 -0.02229434 -0.39306505
+v 0.01068213 -0.01735394 -0.47990063
+v -0.01808396 0.00340640 -0.47425457
+v 0.01819950 -0.04868907 -0.43677879
+v 0.02452377 0.06848916 -0.36123838
+v 0.05462037 0.05273636 -0.45660910
+v 0.11744954 0.01739291 -0.49230949
+v 0.12873850 0.01945450 -0.46990016
+v -0.03328166 0.06666614 -0.27063086
+v -0.01879236 -0.07651457 -0.26928577
+v 0.08145519 -0.03662176 -0.35013125
+v 0.12820617 -0.02011887 -0.43818813
+v -0.01860319 -0.01640737 -0.47225662
+v -0.02094072 0.05394105 -0.44649807
+v 0.11218525 -0.00990716 -0.49256485
+v 0.09824101 0.02492808 -0.49298467
+v 0.13027888 -0.01032779 -0.47289839
+v 0.12415907 0.01318894 -0.42867780
+v 0.11272238 0.02629559 -0.42403843
+v -0.03012978 0.04795186 -0.44517218
+v 0.01306145 0.02831706 -0.47385287
+v 0.10656803 0.02342358 -0.49171536
+v 0.04690181 0.01214408 -0.49123278
+v 0.12500079 0.00997320 -0.48116376
+v 0.02784754 0.00603232 -0.48885215
+f 11 10 4
+f 13 8 3
+f 15 14 8
+f 15 12 1
+f 15 7 12
+f 15 13 7
+f 15 8 13
+f 17 4 10
+f 17 12 4
+f 17 1 12
+f 20 5 10
+f 20 10 11
+f 22 13 3
+f 22 3 6
+f 22 7 13
+f 24 14 15
+f 25 6 3
+f 25 3 16
+f 26 16 3
+f 26 3 8
+f 26 8 16
+f 27 16 8
+f 27 8 14
+f 28 25 16
+f 28 6 25
+f 29 17 9
+f 29 1 17
+f 31 18 2
+f 31 9 18
+f 31 23 9
+f 31 2 23
+f 32 17 10
+f 33 11 4
+f 35 12 7
+f 35 7 21
+f 36 21 7
+f 36 34 21
+f 36 22 6
+f 36 7 22
+f 37 24 15
+f 37 15 1
+f 38 23 24
+f 38 1 29
+f 38 29 9
+f 38 9 23
+f 39 24 23
+f 39 23 2
+f 40 28 16
+f 41 10 5
+f 41 5 30
+f 41 32 10
+f 41 30 18
+f 41 18 32
+f 42 5 20
+f 43 32 18
+f 43 18 9
+f 43 9 17
+f 43 17 32
+f 44 33 4
+f 44 19 33
+f 44 4 35
+f 44 35 21
+f 44 34 19
+f 44 21 34
+f 45 33 19
+f 45 19 34
+f 47 28 2
+f 47 46 34
+f 48 35 4
+f 48 4 12
+f 48 12 35
+f 49 37 1
+f 49 24 37
+f 49 38 24
+f 49 1 38
+f 50 14 24
+f 50 24 39
+f 50 27 14
+f 50 40 16
+f 50 16 27
+f 51 2 28
+f 51 28 40
+f 51 40 50
+f 51 50 39
+f 51 39 2
+f 52 42 30
+f 52 30 5
+f 52 5 42
+f 53 11 33
+f 53 33 45
+f 54 2 18
+f 54 18 30
+f 55 45 34
+f 55 53 45
+f 55 46 54
+f 56 47 2
+f 56 54 46
+f 56 2 54
+f 57 6 28
+f 57 28 47
+f 58 36 6
+f 58 57 47
+f 58 6 57
+f 58 47 34
+f 58 34 36
+f 59 53 20
+f 59 20 11
+f 59 11 53
+f 60 42 20
+f 60 20 53
+f 60 53 55
+f 61 55 34
+f 61 34 46
+f 61 46 55
+f 62 55 54
+f 62 54 30
+f 62 60 55
+f 63 56 46
+f 63 46 47
+f 63 47 56
+f 64 62 30
+f 64 30 42
+f 64 42 60
+f 64 60 62
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_2/collision/model_normalized_collision_20.obj b/objects/objaverse/banana/banana_2/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..76d6cc8ac71345caffe21e9d749dd1c48647d74b
--- /dev/null
+++ b/objects/objaverse/banana/banana_2/collision/model_normalized_collision_20.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.06293583 -0.04093912 0.39866088
+v 0.09610597 -0.02847206 0.39730103
+v 0.09642545 -0.00765528 0.44154822
+v 0.05890958 0.02945995 0.43658528
+v 0.05725445 0.01972700 0.31641512
+v 0.06629988 -0.00538951 0.44684253
+v 0.05742586 -0.04094803 0.31935536
+v 0.07995550 0.01347408 0.34921257
+v 0.07945114 -0.03771031 0.34885767
+v 0.05640387 0.03299326 0.32939490
+v 0.09659543 0.01338942 0.43320550
+v 0.07989443 0.00247437 0.33762130
+v 0.06664606 0.02515203 0.33489362
+v 0.07838789 -0.02924234 0.33654620
+v 0.06395553 0.01446451 0.32157456
+v 0.06494668 -0.03606571 0.32356404
+f 1 2 3
+f 6 1 3
+f 6 3 4
+f 6 4 1
+f 7 1 4
+f 9 2 1
+f 9 1 7
+f 10 7 4
+f 10 5 7
+f 11 3 2
+f 11 4 3
+f 11 10 4
+f 12 11 2
+f 12 8 11
+f 13 5 10
+f 13 8 12
+f 13 11 8
+f 13 10 11
+f 14 12 2
+f 14 2 9
+f 15 13 12
+f 15 5 13
+f 15 12 14
+f 16 14 9
+f 16 9 7
+f 16 15 14
+f 16 7 5
+f 16 5 15
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_2/collision/model_normalized_collision_21.obj b/objects/objaverse/banana/banana_2/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2ddc76c05d8d2141b226b0aeea9799ff2c67235f
--- /dev/null
+++ b/objects/objaverse/banana/banana_2/collision/model_normalized_collision_21.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.24672841 -0.06431161 0.05528102
+v -0.24682370 -0.06603250 0.00714383
+v -0.25169372 -0.05067484 0.12869854
+v -0.28524958 0.00839321 0.06106623
+v -0.28024396 -0.02316971 0.10986848
+v -0.26952037 -0.04417334 -0.03802142
+v -0.26403831 -0.03858564 0.12368446
+v -0.28763204 -0.00496778 0.00996292
+v -0.28270253 -0.00615679 -0.04572175
+v -0.27901710 -0.00508389 0.13151449
+v -0.27878320 -0.02896993 -0.03378764
+v -0.27995201 -0.01588854 0.12644057
+v -0.25512807 -0.05756973 -0.03824169
+v -0.28521132 -0.00271823 -0.03667545
+v -0.28063242 -0.00469184 0.12638207
+f 1 2 3
+f 3 2 4
+f 6 2 1
+f 6 1 5
+f 7 5 1
+f 7 1 3
+f 9 4 2
+f 10 3 4
+f 11 6 5
+f 11 5 8
+f 11 9 6
+f 12 8 5
+f 12 5 7
+f 12 7 3
+f 12 3 10
+f 13 9 2
+f 13 2 6
+f 13 6 9
+f 14 8 4
+f 14 4 9
+f 14 11 8
+f 14 9 11
+f 15 4 8
+f 15 8 12
+f 15 12 10
+f 15 10 4
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_2/collision/model_normalized_collision_22.obj b/objects/objaverse/banana/banana_2/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bfa284c6851a7b304b2a804264716fbae0c65bed
--- /dev/null
+++ b/objects/objaverse/banana/banana_2/collision/model_normalized_collision_22.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v -0.03923436 -0.07020578 0.32649917
+v -0.03784900 -0.07117216 0.24915150
+v -0.05325173 -0.06860709 0.20371741
+v -0.15690520 -0.05647453 0.30754403
+v -0.17157678 -0.07941025 0.20213242
+v -0.07188900 -0.07900024 0.27898456
+v -0.19299195 -0.07038796 0.20488779
+v -0.04218141 -0.07302747 0.25091112
+v -0.11290324 -0.07125356 0.32436614
+v -0.18755956 -0.06207681 0.24857233
+v -0.18928236 -0.07380330 0.20131261
+v -0.05929125 -0.07249630 0.20565582
+v -0.04080074 -0.07060748 0.32475029
+v -0.11637790 -0.06855215 0.32703913
+v -0.12607970 -0.07968480 0.27477828
+v -0.16892568 -0.05712356 0.29222361
+v -0.08792977 -0.08056471 0.20557296
+v -0.14143672 -0.07897395 0.26188597
+v -0.15068779 -0.06280722 0.30327490
+v -0.07419138 -0.07866491 0.22092182
+v -0.18360963 -0.06513771 0.24651337
+v -0.16418248 -0.06122223 0.28791071
+f 1 2 3
+f 1 3 4
+f 8 2 1
+f 8 1 6
+f 10 3 7
+f 11 7 3
+f 11 3 5
+f 11 10 7
+f 12 3 2
+f 12 2 8
+f 13 9 6
+f 13 6 1
+f 13 1 9
+f 14 9 1
+f 14 1 4
+f 15 6 9
+f 16 4 3
+f 16 3 10
+f 17 5 3
+f 17 3 12
+f 17 15 5
+f 17 6 15
+f 18 11 5
+f 18 5 15
+f 18 15 9
+f 19 14 4
+f 19 4 16
+f 19 9 14
+f 19 18 9
+f 20 17 12
+f 20 12 8
+f 20 8 6
+f 20 6 17
+f 21 10 11
+f 21 11 18
+f 21 18 19
+f 21 16 10
+f 22 21 19
+f 22 19 16
+f 22 16 21
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_2/collision/model_normalized_collision_23.obj b/objects/objaverse/banana/banana_2/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dfb0ff57cb6708406d5b24df31c2b41508de19e8
--- /dev/null
+++ b/objects/objaverse/banana/banana_2/collision/model_normalized_collision_23.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v -0.18429926 -0.06934673 0.23078130
+v -0.18928236 -0.07380330 0.20131261
+v -0.18860931 0.08725504 0.20429309
+v -0.19134021 0.08111537 0.25039736
+v -0.25275044 -0.02402300 0.20008273
+v -0.24070235 -0.03849061 0.19922182
+v -0.23899274 -0.01800507 0.24297598
+v -0.23714441 0.06446679 0.20243613
+v -0.20014892 -0.06842334 0.20047572
+v -0.18755956 -0.06207681 0.24857233
+v -0.24965379 -0.02129230 0.21393788
+v -0.22926863 0.07435178 0.20257431
+v -0.25336743 0.02091023 0.20017884
+v -0.23282420 0.03729626 0.24300682
+v -0.20388329 0.08458411 0.20228870
+v -0.20679147 -0.05115329 0.24320443
+v -0.19512071 -0.06335653 0.22892567
+v -0.23517661 -0.03857731 0.21309554
+v -0.25038414 0.02044630 0.21231637
+v -0.22053189 0.06011088 0.24553436
+v -0.20304621 0.08306744 0.21820228
+v -0.23536313 0.05887135 0.21371448
+v -0.21190420 0.07199795 0.24435890
+v -0.22121979 0.07052969 0.22789766
+f 1 2 3
+f 1 3 4
+f 9 2 1
+f 10 1 4
+f 10 4 7
+f 11 5 6
+f 13 6 5
+f 13 5 11
+f 13 8 12
+f 15 9 6
+f 15 3 2
+f 15 2 9
+f 15 6 13
+f 15 13 12
+f 16 10 7
+f 16 6 9
+f 17 9 1
+f 17 1 10
+f 17 16 9
+f 17 10 16
+f 18 11 6
+f 18 7 11
+f 18 16 7
+f 18 6 16
+f 19 13 11
+f 19 11 7
+f 19 7 14
+f 19 8 13
+f 20 14 7
+f 20 7 4
+f 21 15 12
+f 21 12 4
+f 21 4 3
+f 21 3 15
+f 22 19 14
+f 22 8 19
+f 22 20 8
+f 22 14 20
+f 23 20 4
+f 23 4 12
+f 24 23 12
+f 24 12 8
+f 24 8 20
+f 24 20 23
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_2/collision/model_normalized_collision_24.obj b/objects/objaverse/banana/banana_2/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ebdd5d60406c3db52dd9fcd5f8dda1e7cbea8876
--- /dev/null
+++ b/objects/objaverse/banana/banana_2/collision/model_normalized_collision_24.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.15620527 -0.01983084 0.44724229
+v 0.15229497 -0.02229766 0.39645143
+v 0.15629316 0.00916788 0.44118512
+v 0.09659543 0.01338942 0.43320550
+v 0.08836747 -0.03188089 0.35805337
+v 0.10521906 -0.00879633 0.44625033
+v 0.16173788 0.00172897 0.44790148
+v 0.08864837 0.00570216 0.35832186
+v 0.09724527 -0.01651950 0.43971352
+v 0.15271460 0.00646876 0.40789240
+v 0.13513019 -0.01879385 0.44938145
+v 0.08710189 0.01623397 0.37258384
+v 0.15144456 0.00147785 0.39919321
+v 0.10658339 -0.01296103 0.44651810
+f 5 2 1
+f 7 1 2
+f 7 3 4
+f 7 4 6
+f 8 2 5
+f 9 6 4
+f 10 3 7
+f 11 7 6
+f 11 1 7
+f 11 9 5
+f 11 5 1
+f 12 8 5
+f 12 4 3
+f 12 3 10
+f 12 9 4
+f 12 5 9
+f 13 10 7
+f 13 7 2
+f 13 2 8
+f 13 12 10
+f 13 8 12
+f 14 11 6
+f 14 6 9
+f 14 9 11
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_2/collision/model_normalized_collision_25.obj b/objects/objaverse/banana/banana_2/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a5aa216a3495c4b81ad2ed4c7dfd19517979f00b
--- /dev/null
+++ b/objects/objaverse/banana/banana_2/collision/model_normalized_collision_25.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.06083588 -0.03651784 0.41206292
+v 0.09746274 -0.02418782 0.41457811
+v 0.04727029 -0.01908561 0.44925467
+v -0.03768640 -0.00269873 0.44942187
+v -0.03890030 -0.04826025 0.41425755
+v 0.09642545 -0.00765528 0.44154822
+v 0.09620690 -0.01518636 0.44189975
+v 0.03444942 -0.03170120 0.43636082
+v -0.03657921 -0.02252392 0.44866983
+v 0.08129226 -0.00568804 0.44437432
+v 0.09779626 -0.02202733 0.42388694
+v 0.06033311 -0.03245503 0.42272943
+v -0.04440631 -0.00869444 0.44626902
+v -0.03463716 -0.03436305 0.43494257
+f 5 2 1
+f 5 4 2
+f 8 5 1
+f 8 7 3
+f 9 3 4
+f 9 8 3
+f 10 6 2
+f 10 2 4
+f 10 4 3
+f 10 7 6
+f 10 3 7
+f 11 1 2
+f 11 2 6
+f 11 6 7
+f 12 8 1
+f 12 7 8
+f 12 11 7
+f 12 1 11
+f 13 9 4
+f 13 4 5
+f 13 5 9
+f 14 9 5
+f 14 5 8
+f 14 8 9
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_2/collision/model_normalized_collision_26.obj b/objects/objaverse/banana/banana_2/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a1315bdbc396427364f7493f8b3e8a961527961f
--- /dev/null
+++ b/objects/objaverse/banana/banana_2/collision/model_normalized_collision_26.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.26719634 0.03580606 0.14026987
+v -0.23253881 0.07548669 -0.09648386
+v -0.25850382 0.04829193 0.15335476
+v -0.23492842 0.08217121 0.14336002
+v -0.26553024 0.05718008 -0.06403981
+v -0.26798473 0.03222804 -0.09386990
+v -0.25335553 0.07014321 -0.06124617
+v -0.26284396 0.06573571 0.10892417
+v -0.25767165 0.04987693 -0.10279635
+v -0.23617191 0.08293449 0.12882148
+v -0.26340465 0.04770707 0.14017529
+v -0.25103365 0.07133217 0.14033033
+v -0.26313358 0.04700759 -0.09454104
+v -0.24389224 0.06976117 -0.09449856
+f 1 2 3
+f 3 2 4
+f 6 2 1
+f 6 1 5
+f 8 5 1
+f 8 7 5
+f 9 2 6
+f 10 4 2
+f 10 2 7
+f 10 7 8
+f 11 8 1
+f 11 1 3
+f 12 3 4
+f 12 10 8
+f 12 4 10
+f 12 11 3
+f 12 8 11
+f 13 9 6
+f 13 6 5
+f 14 7 2
+f 14 2 9
+f 14 5 7
+f 14 13 5
+f 14 9 13
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_2/collision/model_normalized_collision_27.obj b/objects/objaverse/banana/banana_2/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0a211869f115309cb9c5771b7eeab0e11d1c4da7
--- /dev/null
+++ b/objects/objaverse/banana/banana_2/collision/model_normalized_collision_27.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.25512807 -0.05756973 -0.03824169
+v -0.25327953 -0.05323060 -0.09841662
+v -0.26072290 0.04598786 -0.10136117
+v -0.27225033 0.04680083 -0.04317018
+v -0.28352942 -0.01662279 -0.03667912
+v -0.26952037 -0.04417334 -0.03802142
+v -0.28232913 0.02064790 -0.03378950
+v -0.28094283 -0.01571210 -0.06508668
+v -0.27748819 0.03750185 -0.03779805
+v -0.26397366 -0.04205774 -0.09477993
+v -0.27913847 0.02076547 -0.06214267
+v -0.26798473 0.03222804 -0.09386990
+f 1 2 3
+f 1 3 4
+f 6 2 1
+f 6 1 5
+f 7 5 1
+f 8 6 5
+f 8 5 7
+f 9 7 1
+f 9 1 4
+f 9 4 3
+f 10 3 2
+f 10 2 6
+f 10 6 8
+f 11 8 7
+f 11 7 9
+f 12 10 8
+f 12 3 10
+f 12 8 11
+f 12 11 9
+f 12 9 3
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_2/collision/model_normalized_collision_28.obj b/objects/objaverse/banana/banana_2/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4711d4b9f6f690527f013cbc4c9b9b52f2c680b6
--- /dev/null
+++ b/objects/objaverse/banana/banana_2/collision/model_normalized_collision_28.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.13081466 -0.09161506 -0.09844630
+v -0.12871905 -0.08893116 -0.23636727
+v -0.11430898 0.07291122 -0.09675655
+v -0.19334202 0.08646907 -0.09964973
+v -0.18893767 -0.08838222 -0.09843399
+v -0.13259446 0.08323910 -0.23708620
+v -0.20609607 0.04957354 -0.24277798
+v -0.18625972 -0.07000837 -0.23113545
+v -0.18173601 -0.07694031 -0.21543627
+v -0.16714721 -0.07954326 -0.23130669
+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 6 2
+f 7 4 6
+f 8 7 2
+f 8 5 7
+f 9 5 8
+f 10 9 8
+f 10 8 2
+f 10 2 5
+f 10 5 9
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_2/collision/model_normalized_collision_29.obj b/objects/objaverse/banana/banana_2/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e8b4312934eccfde8cf75bd446ad98508cad6167
--- /dev/null
+++ b/objects/objaverse/banana/banana_2/collision/model_normalized_collision_29.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.13175553 -0.08531494 0.14378835
+v -0.13081466 -0.09161506 -0.09844630
+v -0.13064184 -0.00536257 0.14393939
+v -0.13064184 -0.00536257 -0.09848485
+v -0.24641434 -0.04723253 0.15704702
+v -0.20203159 -0.08449819 -0.09854311
+v -0.20639942 -0.00536257 -0.09848485
+v -0.19964388 -0.07908475 0.14175307
+f 1 2 3
+f 3 2 4
+f 5 1 3
+f 6 4 2
+f 7 5 3
+f 7 3 4
+f 7 6 5
+f 7 4 6
+f 8 6 2
+f 8 2 1
+f 8 1 5
+f 8 5 6
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_2/collision/model_normalized_collision_3.obj b/objects/objaverse/banana/banana_2/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..394ce7432c4296714025f0128c71421ed54178a3
--- /dev/null
+++ b/objects/objaverse/banana/banana_2/collision/model_normalized_collision_3.obj
@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
+v 0.02997133 -0.04877200 0.40738627
+v 0.09738836 -0.02801704 0.39913417
+v 0.06375710 -0.00730934 0.44797708
+v 0.00311952 0.05626666 0.42604293
+v -0.00422130 0.02092648 0.23977413
+v 0.10138909 0.01335033 0.39535802
+v 0.00544060 -0.00537328 0.45378413
+v 0.09488105 -0.02168640 0.42376784
+v -0.00033338 -0.05857378 0.26958700
+v 0.04307005 0.03817600 0.43440874
+v -0.00173107 0.05780588 0.28388755
+v 0.04805908 -0.00634152 0.28925224
+v 0.00561407 -0.05192158 0.41049440
+v -0.00380751 -0.04382410 0.24072762
+v 0.05990931 -0.04729622 0.38182364
+v 0.06103085 0.01190867 0.44581686
+v 0.09746274 -0.02418782 0.41457811
+v 0.03842035 0.05269499 0.39713052
+v 0.00593085 0.03209601 0.44601009
+v 0.05066910 -0.01542301 0.29694585
+v 0.03769756 0.04048880 0.30613127
+v 0.00355194 -0.03788603 0.24550176
+v 0.05675378 -0.04912107 0.33266733
+v 0.00149873 -0.06699135 0.31183821
+v 0.05670335 0.03548372 0.42570967
+v 0.01470350 0.05362451 0.42587694
+v 0.03434218 0.03066682 0.44311673
+v 0.05233771 0.01476433 0.30566133
+v 0.03906148 0.05242544 0.34290732
+v 0.00844519 0.05204063 0.28726306
+v 0.05058954 -0.03650634 0.30641723
+v 0.03766460 -0.04934272 0.30517131
+v 0.01814264 -0.06329434 0.33999148
+v 0.01553777 -0.06352043 0.31407731
+v 0.03680890 0.02822255 0.29482226
+v 0.05188945 0.04000043 0.33305624
+v 0.01072783 -0.05241314 0.27412987
+v 0.00430287 -0.06510571 0.33905949
+f 11 5 4
+f 13 3 7
+f 13 8 3
+f 13 1 8
+f 14 7 4
+f 14 4 5
+f 14 13 7
+f 16 8 6
+f 16 3 8
+f 16 7 3
+f 17 2 6
+f 17 6 8
+f 17 15 2
+f 17 8 1
+f 17 1 15
+f 18 11 4
+f 19 4 7
+f 19 7 16
+f 20 12 6
+f 20 6 2
+f 22 14 5
+f 22 5 12
+f 23 2 15
+f 24 14 9
+f 24 13 14
+f 25 16 6
+f 25 10 16
+f 25 6 18
+f 26 18 4
+f 26 4 10
+f 26 25 18
+f 26 10 25
+f 27 10 4
+f 27 4 19
+f 27 19 16
+f 27 16 10
+f 28 21 6
+f 28 6 12
+f 28 12 5
+f 29 18 6
+f 29 21 11
+f 29 11 18
+f 30 21 5
+f 30 5 11
+f 30 11 21
+f 31 22 12
+f 31 12 20
+f 31 20 2
+f 31 2 23
+f 31 14 22
+f 32 23 9
+f 32 31 23
+f 32 14 31
+f 33 23 15
+f 33 15 1
+f 33 1 13
+f 34 24 9
+f 34 9 23
+f 34 33 24
+f 34 23 33
+f 35 28 5
+f 35 5 21
+f 35 21 28
+f 36 29 6
+f 36 6 21
+f 36 21 29
+f 37 32 9
+f 37 9 14
+f 37 14 32
+f 38 33 13
+f 38 13 24
+f 38 24 33
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_2/collision/model_normalized_collision_30.obj b/objects/objaverse/banana/banana_2/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b279d8ecbc9edf31e2553b84d5d05ac1ea124631
--- /dev/null
+++ b/objects/objaverse/banana/banana_2/collision/model_normalized_collision_30.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.19010310 -0.07824730 -0.18968189
+v -0.16992912 -0.07062763 -0.25976800
+v -0.17556818 -0.06478441 -0.26456155
+v -0.21776536 -0.06121486 -0.18652645
+v -0.20770157 -0.06538503 -0.20068440
+v -0.17416135 -0.07577962 -0.23410515
+v -0.19545396 -0.07502160 -0.19085932
+v -0.19858483 -0.05726381 -0.24553569
+v -0.19338250 -0.06244395 -0.24106342
+v -0.21112821 -0.06568212 -0.18613876
+v -0.18036111 -0.06504321 -0.25844553
+v -0.21525206 -0.05793715 -0.20285455
+v -0.18066741 -0.07153644 -0.23558820
+v -0.18514223 -0.06013825 -0.26197351
+f 1 3 4
+f 6 2 3
+f 6 3 1
+f 7 6 1
+f 7 5 6
+f 9 5 8
+f 10 7 1
+f 10 1 4
+f 10 4 5
+f 10 5 7
+f 11 3 2
+f 11 9 8
+f 11 2 6
+f 12 8 5
+f 12 5 4
+f 12 4 3
+f 13 6 5
+f 13 5 9
+f 13 11 6
+f 13 9 11
+f 14 11 8
+f 14 3 11
+f 14 12 3
+f 14 8 12
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_2/collision/model_normalized_collision_31.obj b/objects/objaverse/banana/banana_2/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..56b48c7d8c8a7ed87898a0ef341560d820aa420e
--- /dev/null
+++ b/objects/objaverse/banana/banana_2/collision/model_normalized_collision_31.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v -0.25850382 0.04829193 0.15335476
+v -0.20536480 0.08954560 0.00788784
+v -0.20290454 0.08919313 0.14346862
+v -0.21045500 0.08862387 0.00675883
+v -0.25618305 0.07421358 0.00016798
+v -0.23062972 0.08558368 0.00861905
+v -0.23492842 0.08217121 0.14336002
+v -0.21429245 0.08610327 0.14588997
+v -0.23321685 0.08353711 0.12900870
+f 1 2 3
+f 5 2 1
+f 5 4 2
+f 6 3 2
+f 6 2 4
+f 6 4 5
+f 7 5 1
+f 8 7 1
+f 8 1 3
+f 8 3 7
+f 9 6 5
+f 9 5 7
+f 9 7 3
+f 9 3 6
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_2/collision/model_normalized_collision_4.obj b/objects/objaverse/banana/banana_2/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ff25beef56c16c2f6623d1460aae362e34fc5c0d
--- /dev/null
+++ b/objects/objaverse/banana/banana_2/collision/model_normalized_collision_4.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v -0.11346026 0.06664438 0.00734799
+v -0.13049780 0.08382683 -0.23456715
+v -0.15100616 0.08495769 0.00832137
+v -0.23062972 0.08558368 0.00861905
+v -0.23507455 0.03205529 -0.19761459
+v -0.14658575 0.08510812 -0.17424506
+v -0.13421437 0.07838151 0.00750712
+v -0.21715237 0.03879445 -0.23333118
+v -0.25618305 0.07421358 0.00016798
+v -0.17392254 0.08426631 -0.17425834
+v -0.24533872 0.03387727 -0.16886018
+v -0.21511315 0.08372935 -0.09390684
+v -0.19513619 0.06870808 -0.22921589
+v -0.25767165 0.04987693 -0.10279635
+v -0.23045457 0.05309132 -0.17957278
+v -0.22941201 0.08315640 -0.03740808
+v -0.13259446 0.08323910 -0.23708620
+v -0.20179538 0.08318496 -0.12740274
+v -0.23253881 0.07548669 -0.09648386
+v -0.22641188 0.04290262 -0.20450776
+v -0.20775372 0.05623888 -0.23088016
+v -0.20991039 0.06811331 -0.20012520
+f 1 3 4
+f 6 3 2
+f 6 4 3
+f 7 1 2
+f 7 2 3
+f 7 3 1
+f 8 2 1
+f 8 1 5
+f 9 1 4
+f 10 6 2
+f 10 4 6
+f 11 5 1
+f 12 4 10
+f 14 11 1
+f 14 1 9
+f 15 11 14
+f 16 9 4
+f 16 4 12
+f 17 13 10
+f 17 10 2
+f 17 2 8
+f 18 12 10
+f 18 10 13
+f 19 16 12
+f 19 9 16
+f 19 14 9
+f 20 8 5
+f 20 5 11
+f 20 11 15
+f 21 20 15
+f 21 8 20
+f 21 17 8
+f 21 13 17
+f 22 18 13
+f 22 12 18
+f 22 19 12
+f 22 15 14
+f 22 14 19
+f 22 21 15
+f 22 13 21
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_2/collision/model_normalized_collision_5.obj b/objects/objaverse/banana/banana_2/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd073afd0e8f4e489b5072b093271493916376c8
--- /dev/null
+++ b/objects/objaverse/banana/banana_2/collision/model_normalized_collision_5.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.21932439 -0.02591937 0.26095999
+v -0.07452287 0.01325751 0.00647037
+v -0.13064184 -0.00536257 0.24999999
+v -0.19094941 0.08117837 0.25117264
+v -0.20536480 0.08954560 0.00788784
+v -0.12949314 0.09245540 0.24937878
+v -0.24641434 -0.04723253 0.15704702
+v -0.20290454 0.08919313 0.14346862
+v -0.13421437 0.07838151 0.00750712
+v -0.20639942 -0.00536257 0.00757575
+v -0.15100616 0.08495769 0.00832137
+f 6 3 2
+f 6 1 3
+f 6 4 1
+f 7 2 3
+f 7 3 1
+f 7 1 4
+f 8 6 5
+f 8 4 6
+f 8 7 4
+f 8 5 7
+f 9 6 2
+f 9 2 5
+f 10 7 5
+f 10 5 2
+f 10 2 7
+f 11 9 5
+f 11 5 6
+f 11 6 9
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_2/collision/model_normalized_collision_6.obj b/objects/objaverse/banana/banana_2/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a038d58be844fa0af30340d51db87457449a72d
--- /dev/null
+++ b/objects/objaverse/banana/banana_2/collision/model_normalized_collision_6.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v -0.23210573 -0.04510975 0.20254235
+v -0.19124790 -0.00536257 0.14393939
+v -0.22642726 -0.03576947 0.23031675
+v -0.18860931 0.08725504 0.20429309
+v -0.27153228 0.03599588 0.12319579
+v -0.25169372 -0.05067484 0.12869854
+v -0.19049662 0.09084300 0.14324454
+v -0.23714441 0.06446679 0.20243613
+v -0.24217663 -0.05501735 0.14507994
+v -0.26476909 -0.01557925 0.18121895
+v -0.22926863 0.07435178 0.20257431
+v -0.24953771 -0.03629098 0.18203216
+v -0.27034679 -0.03003233 0.12494539
+v -0.26288755 0.00759955 0.18420100
+v -0.21738595 0.08356762 0.18907687
+v -0.25433091 0.06700224 0.14088291
+v -0.25275044 -0.02402300 0.20008273
+v -0.26578077 -0.02087043 0.17007095
+v -0.25854649 -0.04317063 0.12854923
+v -0.26492303 0.03463696 0.15301041
+v -0.24888421 0.03575030 0.20199654
+v -0.20388329 0.08458411 0.20228870
+v -0.23750040 0.07297889 0.18419129
+v -0.24555315 0.07596255 0.14280255
+v -0.24070235 -0.03849061 0.19922182
+v -0.26646384 0.04402856 0.13098147
+v -0.25019767 0.05897034 0.17023859
+v -0.21862328 0.08567775 0.14357369
+f 1 2 3
+f 3 2 4
+f 7 4 2
+f 7 6 5
+f 7 2 6
+f 9 6 2
+f 9 2 1
+f 11 8 3
+f 11 3 4
+f 12 9 1
+f 12 6 9
+f 13 10 5
+f 13 5 6
+f 14 5 10
+f 15 4 7
+f 17 14 10
+f 18 10 13
+f 18 17 10
+f 18 12 17
+f 19 13 6
+f 19 6 12
+f 19 18 13
+f 19 12 18
+f 20 5 14
+f 21 3 8
+f 21 20 14
+f 21 17 3
+f 21 14 17
+f 22 15 11
+f 22 11 4
+f 22 4 15
+f 23 16 8
+f 23 8 11
+f 24 5 16
+f 24 16 23
+f 24 23 11
+f 24 11 15
+f 25 17 12
+f 25 12 1
+f 25 1 3
+f 25 3 17
+f 26 20 16
+f 26 16 5
+f 26 5 20
+f 27 8 16
+f 27 16 20
+f 27 21 8
+f 27 20 21
+f 28 24 15
+f 28 15 7
+f 28 7 5
+f 28 5 24
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_2/collision/model_normalized_collision_7.obj b/objects/objaverse/banana/banana_2/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..66a557bb49157d55abf982cd4df2ef68c87c28e5
--- /dev/null
+++ b/objects/objaverse/banana/banana_2/collision/model_normalized_collision_7.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.07123381 0.02437225 0.08331629
+v -0.02544892 0.04304385 -0.22421201
+v -0.07557969 0.04830504 0.12491392
+v -0.13080969 0.08510169 0.12883029
+v -0.13259446 0.08323910 -0.23708620
+v -0.10638932 0.07405733 0.13031671
+v -0.05151611 0.01868516 -0.13276562
+v -0.06110898 0.06967020 -0.23759500
+v -0.09013672 0.06312248 0.12990220
+v -0.13049780 0.08382683 -0.23456715
+v -0.04428472 0.06159262 -0.23834498
+f 1 2 3
+f 1 3 4
+f 5 1 4
+f 7 5 2
+f 7 2 1
+f 7 1 5
+f 8 4 6
+f 9 3 2
+f 9 6 4
+f 9 4 3
+f 10 8 5
+f 10 5 4
+f 10 4 8
+f 11 2 5
+f 11 5 8
+f 11 9 2
+f 11 8 6
+f 11 6 9
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_2/collision/model_normalized_collision_8.obj b/objects/objaverse/banana/banana_2/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8401a8c061bbed174d48e5144cdc6d99189b7430
--- /dev/null
+++ b/objects/objaverse/banana/banana_2/collision/model_normalized_collision_8.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.13148895 -0.08845623 -0.03840084
+v -0.04564215 -0.08211449 -0.23661594
+v -0.07148110 -0.05166269 -0.03893749
+v -0.10361410 0.06066887 -0.03297908
+v -0.13259446 0.08323910 -0.23708620
+v -0.02544892 0.04304385 -0.22421201
+v -0.10757570 -0.08294457 -0.03913855
+v -0.12871905 -0.08893116 -0.23636727
+v -0.05613802 -0.05074845 -0.10465600
+v -0.07239384 0.01892073 -0.04201276
+v -0.09633710 -0.07967567 -0.05692241
+v -0.05883258 -0.03549715 -0.07065663
+v -0.08496894 -0.06486755 -0.03948454
+v -0.06029481 -0.00841975 -0.07312311
+f 1 3 4
+f 5 1 4
+f 6 5 4
+f 6 2 5
+f 7 1 2
+f 7 3 1
+f 8 5 2
+f 8 2 1
+f 8 1 5
+f 9 3 2
+f 9 2 6
+f 10 6 4
+f 10 4 3
+f 11 7 2
+f 12 9 6
+f 12 3 9
+f 12 10 3
+f 13 11 2
+f 13 2 3
+f 13 3 7
+f 13 7 11
+f 14 12 6
+f 14 6 10
+f 14 10 12
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_2/collision/model_normalized_collision_9.obj b/objects/objaverse/banana/banana_2/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a5dc52378b6ededfd62ae7c6633c13b6e56e431e
--- /dev/null
+++ b/objects/objaverse/banana/banana_2/collision/model_normalized_collision_9.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v -0.18893767 -0.08838222 -0.09843399
+v -0.19157391 -0.06661413 -0.23488667
+v -0.19334202 0.08646907 -0.09964973
+v -0.22043721 0.08081919 -0.09808579
+v -0.26551300 -0.03690651 -0.10853582
+v -0.20609607 0.04957354 -0.24277798
+v -0.24389224 0.06976117 -0.09449856
+v -0.18777747 -0.08160183 -0.17356613
+v -0.21720619 0.07435729 -0.15627320
+v -0.23626295 -0.02473804 -0.22407764
+v -0.26397366 -0.04205774 -0.09477993
+v -0.21357532 0.06376381 -0.20214541
+v -0.21199766 -0.05222669 -0.23087798
+v -0.24795380 0.01946293 -0.18112942
+v -0.26798473 0.03222804 -0.09386990
+v -0.21456270 -0.07962539 -0.09629930
+v -0.23717710 0.05500868 -0.16461297
+v -0.24959034 -0.03884193 -0.17059168
+v -0.23322048 0.00850299 -0.22576396
+v -0.26592150 0.00220938 -0.13871577
+v -0.25747070 0.05725838 -0.09387464
+v -0.21183832 -0.07866644 -0.12539008
+v -0.23887798 0.06921588 -0.11215849
+v -0.22301152 0.05522037 -0.19843696
+v -0.22114271 0.03319485 -0.22881924
+v -0.26588665 0.03037732 -0.10619565
+v -0.26303347 -0.02981943 -0.13843327
+v -0.19932147 -0.07744361 -0.17048899
+v -0.22341713 0.06921086 -0.15686790
+v -0.24838922 0.05751798 -0.12215827
+v -0.24837489 0.02936588 -0.16820127
+v -0.21112821 -0.06568212 -0.18613876
+f 6 3 2
+f 7 1 3
+f 7 3 4
+f 8 2 3
+f 8 3 1
+f 9 4 3
+f 9 7 4
+f 12 9 3
+f 12 3 6
+f 13 10 6
+f 13 6 2
+f 15 5 11
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\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_2/model.xml b/objects/objaverse/banana/banana_2/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..47ee3c8c4987ee2a32cfdb8c8a7edf3b3e1c21e9
--- /dev/null
+++ b/objects/objaverse/banana/banana_2/model.xml
@@ -0,0 +1,81 @@
+<mujoco model="banana_11">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="-2.7755575615628914e-16 -5.551115123125783e-17 0.7071067811865472 0.7071067811865472"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="-2.7755575615628914e-16 -5.551115123125783e-17 0.7071067811865472 0.7071067811865472"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="-2.7755575615628914e-16 -5.551115123125783e-17 0.7071067811865472 0.7071067811865472"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="-2.7755575615628914e-16 -5.551115123125783e-17 0.7071067811865472 0.7071067811865472"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="-2.7755575615628914e-16 -5.551115123125783e-17 0.7071067811865472 0.7071067811865472"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="-2.7755575615628914e-16 -5.551115123125783e-17 0.7071067811865472 0.7071067811865472"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="-2.7755575615628914e-16 -5.551115123125783e-17 0.7071067811865472 0.7071067811865472"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="-2.7755575615628914e-16 -5.551115123125783e-17 0.7071067811865472 0.7071067811865472"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="-2.7755575615628914e-16 -5.551115123125783e-17 0.7071067811865472 0.7071067811865472"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="-2.7755575615628914e-16 -5.551115123125783e-17 0.7071067811865472 0.7071067811865472"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="-2.7755575615628914e-16 -5.551115123125783e-17 0.7071067811865472 0.7071067811865472"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="-2.7755575615628914e-16 -5.551115123125783e-17 0.7071067811865472 0.7071067811865472"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="-2.7755575615628914e-16 -5.551115123125783e-17 0.7071067811865472 0.7071067811865472"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="-2.7755575615628914e-16 -5.551115123125783e-17 0.7071067811865472 0.7071067811865472"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="-2.7755575615628914e-16 -5.551115123125783e-17 0.7071067811865472 0.7071067811865472"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="-2.7755575615628914e-16 -5.551115123125783e-17 0.7071067811865472 0.7071067811865472"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="-2.7755575615628914e-16 -5.551115123125783e-17 0.7071067811865472 0.7071067811865472"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="-2.7755575615628914e-16 -5.551115123125783e-17 0.7071067811865472 0.7071067811865472"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="-2.7755575615628914e-16 -5.551115123125783e-17 0.7071067811865472 0.7071067811865472"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="-2.7755575615628914e-16 -5.551115123125783e-17 0.7071067811865472 0.7071067811865472"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="-2.7755575615628914e-16 -5.551115123125783e-17 0.7071067811865472 0.7071067811865472"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="-2.7755575615628914e-16 -5.551115123125783e-17 0.7071067811865472 0.7071067811865472"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="-2.7755575615628914e-16 -5.551115123125783e-17 0.7071067811865472 0.7071067811865472"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="-2.7755575615628914e-16 -5.551115123125783e-17 0.7071067811865472 0.7071067811865472"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="-2.7755575615628914e-16 -5.551115123125783e-17 0.7071067811865472 0.7071067811865472"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="-2.7755575615628914e-16 -5.551115123125783e-17 0.7071067811865472 0.7071067811865472"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="-2.7755575615628914e-16 -5.551115123125783e-17 0.7071067811865472 0.7071067811865472"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="-2.7755575615628914e-16 -5.551115123125783e-17 0.7071067811865472 0.7071067811865472"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="-2.7755575615628914e-16 -5.551115123125783e-17 0.7071067811865472 0.7071067811865472"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="-2.7755575615628914e-16 -5.551115123125783e-17 0.7071067811865472 0.7071067811865472"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="-2.7755575615628914e-16 -5.551115123125783e-17 0.7071067811865472 0.7071067811865472"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="-2.7755575615628914e-16 -5.551115123125783e-17 0.7071067811865472 0.7071067811865472"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="-2.7755575615628914e-16 -5.551115123125783e-17 0.7071067811865472 0.7071067811865472"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="banana.002" texture="image0" specular="0.5" shininess="0.15999998099999999"/>
+  </asset>
+  <worldbody>
+    <body>
+      <body name="object">
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_0_vis" conaffinity="0" contype="0" group="1" material="banana.002"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_22._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_23._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_21._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_20._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_24._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_30._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_18._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_19._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_31._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_25._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_27._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_26._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_9._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_8._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_6._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_7._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_5._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_4._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_0._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_1._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_3._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_2._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_17._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_16._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_28._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_14._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_15._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_29._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_11._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_10._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_12._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_13._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+      </body>
+      <site rgba="0 0 0 0" size="0.005" pos="0.00018762220000001522 0.0003568852500000116 -0.015574560199999988" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.00018762220000001522 0.0003568852500000116 0.015717418000000007" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.049031580199999994 0.08452116440000002 7.1428900000009e-05" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/objects/objaverse/banana/banana_2/visual/material.mtl b/objects/objaverse/banana/banana_2/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ac7612074176632fe5be688b8bc892b458617616
--- /dev/null
+++ b/objects/objaverse/banana/banana_2/visual/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 159.99998100
+map_Kd material_0.jpeg
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_2/visual/model_normalized_0.obj b/objects/objaverse/banana/banana_2/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8193d6734fe2af837a6a5fe22f884f1464e5f20b
--- /dev/null
+++ b/objects/objaverse/banana/banana_2/visual/model_normalized_0.obj
@@ -0,0 +1,206171 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
+v -0.09043130 0.06525047 -0.38187016
+v -0.08790847 0.06661060 -0.38033448
+v -0.08786330 0.06558247 -0.38300492
+v -0.08556211 0.06630887 -0.38268968
+v -0.08390025 0.06574591 -0.38575824
+v -0.08786330 0.06558247 -0.38300492
+v -0.08385834 0.06802428 -0.38049186
+v -0.08372610 0.06637546 -0.38298117
+v -0.08183141 0.06782965 -0.38267664
+v -0.08098535 0.06656870 -0.38710394
+v -0.07468944 0.07168933 -0.38058872
+v -0.07148491 0.07247859 -0.38247223
+v -0.07270442 0.07199106 -0.38314275
+v -0.07481237 0.07042000 -0.38278374
+v -0.07158223 0.07174800 -0.38498202
+v -0.07320312 0.07027053 -0.38500996
+v -0.07158223 0.07174800 -0.38498202
+v -0.07320126 0.07026540 -0.38934692
+v -0.07060020 0.07205718 -0.38702012
+v -0.07750190 0.06959954 -0.38157401
+v -0.07580092 0.06986123 -0.38245034
+v -0.07591081 0.06941608 -0.38452663
+v -0.07791911 0.06811043 -0.38672677
+v -0.08331960 0.06462698 -0.38906847
+v -0.07829861 0.06547910 -0.39136593
+v -0.07670007 0.06748135 -0.38937998
+v -0.07481237 0.07042000 -0.38278374
+v -0.07465778 0.06941142 -0.38812648
+v -0.07320312 0.07027053 -0.38500996
+v -0.07175219 0.06887547 -0.39213750
+v -0.07310813 0.06554243 -0.39396327
+v -0.07552713 0.06651748 -0.39125465
+v -0.07775521 0.06268340 -0.39496532
+v -0.07552666 0.06421117 -0.39453321
+v -0.11615134 0.04047056 -0.38311434
+v -0.11804743 0.03796821 -0.38341747
+v -0.11817082 0.04085936 -0.38175049
+v -0.12022615 0.03581742 -0.38246198
+v -0.12120679 0.03628958 -0.38134724
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diff --git a/objects/objaverse/banana/banana_21/model.xml b/objects/objaverse/banana/banana_21/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..9022c0a92a950d3a8e7bb7a6fba2e5d3ee29c96c
--- /dev/null
+++ b/objects/objaverse/banana/banana_21/model.xml
@@ -0,0 +1,81 @@
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+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.14 0.14 0.14" refquat="-0.4198277739624132 0.1945960730653259 -0.7248347269749584 -0.5103838037481812"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.14 0.14 0.14" refquat="-0.4198277739624132 0.1945960730653259 -0.7248347269749584 -0.5103838037481812"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.14 0.14 0.14" refquat="-0.4198277739624132 0.1945960730653259 -0.7248347269749584 -0.5103838037481812"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.14 0.14 0.14" refquat="-0.4198277739624132 0.1945960730653259 -0.7248347269749584 -0.5103838037481812"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.14 0.14 0.14" refquat="-0.4198277739624132 0.1945960730653259 -0.7248347269749584 -0.5103838037481812"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.14 0.14 0.14" refquat="-0.4198277739624132 0.1945960730653259 -0.7248347269749584 -0.5103838037481812"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="material0" 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"/>
+        <geom solimp="0.998 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="0.01647745310170941 -0.004322732545196606 -0.01732788285809561" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.01647745310170941 -0.004322732545196606 0.01791180358122179" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.05578264000813805 0.08650751100575649 0.00029196036156309003" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/objects/objaverse/banana/banana_22/collision/model_normalized_collision_11.obj b/objects/objaverse/banana/banana_22/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d71a225b987e9e7f7a33cbad2fa06cf28e36dbcb
--- /dev/null
+++ b/objects/objaverse/banana/banana_22/collision/model_normalized_collision_11.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v 0.00670545 0.13868879 0.05867242
+v 0.00662030 0.14034765 -0.07593718
+v 0.00950442 0.28665743 -0.00649325
+v -0.03529100 0.28356137 0.01586267
+v -0.08578661 0.14073086 -0.08682733
+v 0.00720655 0.27020863 0.05119071
+v 0.00859355 0.21998737 -0.08661223
+v -0.07662336 0.11359261 -0.07085134
+v 0.00872526 0.28650285 0.02834879
+v -0.08377630 0.24113790 0.06650842
+v 0.00611109 0.15682115 -0.08428842
+v -0.08069982 0.22965477 -0.07194517
+v -0.08266079 0.13149934 0.06844198
+v -0.07978662 0.26817374 0.03829243
+v -0.08196033 0.20320538 -0.08493493
+v -0.06480767 0.26662589 -0.03341343
+v -0.01997570 0.28265226 0.02747851
+v -0.07919782 0.26787932 -0.01945709
+v -0.02136919 0.26797882 0.05139574
+v -0.05118867 0.21729443 -0.08312019
+v -0.02032764 0.25681354 -0.06115179
+v -0.07928842 0.25542543 -0.04573910
+v -0.03525276 0.28157313 -0.00626495
+v 0.00836017 0.27583962 -0.03691160
+v -0.02153893 0.24498086 -0.07165347
+v -0.04951273 0.25381525 -0.05839412
+v -0.04996057 0.24206840 -0.06917076
+f 7 1 2
+f 7 3 1
+f 8 5 2
+f 8 2 1
+f 9 6 1
+f 9 1 3
+f 9 3 4
+f 10 1 6
+f 11 7 2
+f 11 2 5
+f 11 5 7
+f 12 5 10
+f 13 8 1
+f 13 1 10
+f 13 10 5
+f 13 5 8
+f 15 7 5
+f 15 5 12
+f 17 14 9
+f 17 9 4
+f 17 4 14
+f 18 12 10
+f 18 10 14
+f 18 14 4
+f 19 14 10
+f 19 10 6
+f 19 6 9
+f 19 9 14
+f 20 15 12
+f 20 7 15
+f 22 18 16
+f 22 12 18
+f 23 18 4
+f 23 4 3
+f 23 16 18
+f 24 21 16
+f 24 3 7
+f 24 7 21
+f 24 23 3
+f 24 16 23
+f 25 20 12
+f 25 21 7
+f 25 7 20
+f 26 12 22
+f 26 22 16
+f 26 16 21
+f 27 25 12
+f 27 12 26
+f 27 26 21
+f 27 21 25
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_22/collision/model_normalized_collision_23.obj b/objects/objaverse/banana/banana_22/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ab01dfa3c3cbb16bd083c2da53d3312f744a1592
--- /dev/null
+++ b/objects/objaverse/banana/banana_22/collision/model_normalized_collision_23.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v -0.32487250 -0.01254959 0.05061086
+v -0.33474708 -0.01206582 0.04893835
+v -0.36063055 -0.02386296 -0.05661965
+v -0.31995970 0.09934464 0.04297435
+v -0.31736171 0.08340975 0.05273962
+v -0.38581215 0.01075008 -0.01444152
+v -0.37300930 -0.01516503 0.01085720
+v -0.33172825 0.10853507 -0.02943162
+v -0.36847565 0.05262039 0.01023751
+v -0.38729897 -0.01779298 -0.02361180
+v -0.36836802 0.06420254 -0.01659252
+v -0.33996725 0.07959185 0.03451154
+v -0.35535782 0.01176279 0.03498145
+v -0.38573505 -0.01546913 -0.01496888
+v -0.36864346 0.06568784 -0.00107007
+v -0.38547040 0.00887611 -0.02052327
+v -0.32554013 0.08040334 0.04753965
+v -0.35486350 -0.00122347 0.03538671
+v -0.35236076 0.09300630 0.00797107
+v -0.32936313 0.09637150 0.03636521
+v -0.35399883 0.09091107 -0.01351394
+f 5 2 1
+f 7 1 2
+f 7 3 1
+f 8 5 1
+f 8 1 3
+f 8 4 5
+f 9 6 7
+f 10 3 7
+f 11 8 3
+f 13 9 7
+f 13 12 9
+f 13 2 5
+f 14 10 7
+f 14 7 6
+f 14 6 10
+f 15 11 6
+f 15 6 9
+f 16 10 6
+f 16 6 11
+f 16 11 3
+f 16 3 10
+f 17 5 4
+f 17 13 5
+f 17 12 13
+f 18 13 7
+f 18 7 2
+f 18 2 13
+f 19 15 9
+f 19 9 12
+f 19 4 8
+f 20 17 4
+f 20 12 17
+f 20 19 12
+f 20 4 19
+f 21 19 8
+f 21 8 11
+f 21 11 15
+f 21 15 19
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_22/collision/model_normalized_collision_4.obj b/objects/objaverse/banana/banana_22/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a76fa3aa18c1510d30b271c252d67b5c2d617bd
--- /dev/null
+++ b/objects/objaverse/banana/banana_22/collision/model_normalized_collision_4.obj
@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
+v -0.17337783 0.03535545 0.01615292
+v -0.13393776 0.06661004 -0.05820318
+v -0.13328674 0.10009491 0.06099336
+v -0.12310870 0.25552987 0.03839636
+v -0.18692995 0.15932335 -0.08543302
+v -0.12971428 0.05968857 0.00353642
+v -0.19050823 0.12273670 0.08075444
+v -0.19221297 0.06151762 -0.07961219
+v -0.12462832 0.21495084 -0.07219800
+v -0.12582965 0.20223157 0.08375798
+v -0.19097028 0.09134248 0.07081820
+v -0.17993026 0.23621193 0.02594928
+v -0.19444626 0.07948866 -0.08879429
+v -0.12653693 0.18939737 -0.08463724
+v -0.12383204 0.22761777 0.06539666
+v -0.13083298 0.13923176 0.07856947
+v -0.18168777 0.20725266 -0.05736938
+v -0.18148903 0.18120866 0.07685295
+v -0.13353510 0.11149543 -0.08346633
+v -0.18047536 0.23592099 -0.00367730
+v -0.14072830 0.18772460 -0.08311451
+v -0.16503146 0.23793109 0.03710730
+v -0.14675049 0.12501501 0.07586003
+v -0.16939097 0.19676572 -0.07127865
+v -0.15389965 0.19698813 0.07707787
+v -0.13457635 0.08370150 -0.06927311
+v -0.15173321 0.25182615 0.01641158
+v -0.12396940 0.24115148 -0.04648398
+v -0.13705908 0.25056347 0.03751240
+v -0.15154623 0.22232169 -0.05628406
+v -0.17136423 0.17201045 -0.08339438
+v -0.13623196 0.22529390 0.06260402
+v -0.13603541 0.23802537 -0.04433546
+v -0.12369052 0.25513386 -0.01838616
+v -0.13919432 0.21211753 -0.06990350
+v -0.16572348 0.20989902 0.06187855
+v -0.13523779 0.25031909 -0.01882241
+v -0.15043339 0.25003321 -0.00208300
+f 6 1 2
+f 6 3 1
+f 8 2 1
+f 11 1 3
+f 11 8 1
+f 13 11 7
+f 13 8 11
+f 14 9 6
+f 14 6 2
+f 14 13 5
+f 15 9 4
+f 15 6 9
+f 15 10 6
+f 16 3 6
+f 16 6 10
+f 16 10 7
+f 16 7 11
+f 18 12 7
+f 18 7 10
+f 19 8 13
+f 19 14 2
+f 19 13 14
+f 20 5 13
+f 20 17 5
+f 20 13 7
+f 20 7 12
+f 21 14 5
+f 21 9 14
+f 22 12 18
+f 23 16 11
+f 23 11 3
+f 23 3 16
+f 24 5 17
+f 24 9 21
+f 25 18 10
+f 26 19 2
+f 26 2 8
+f 26 8 19
+f 27 20 12
+f 28 4 9
+f 29 12 22
+f 29 27 12
+f 29 4 27
+f 30 24 17
+f 30 28 9
+f 31 24 21
+f 31 21 5
+f 31 5 24
+f 32 25 10
+f 32 10 15
+f 32 29 22
+f 32 15 4
+f 32 4 29
+f 33 17 20
+f 33 30 17
+f 33 28 30
+f 34 27 4
+f 34 4 28
+f 34 28 33
+f 35 30 9
+f 35 9 24
+f 35 24 30
+f 36 32 22
+f 36 22 18
+f 36 18 25
+f 36 25 32
+f 37 34 33
+f 37 33 20
+f 38 20 27
+f 38 27 34
+f 38 37 20
+f 38 34 37
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_22/collision/model_normalized_collision_7.obj b/objects/objaverse/banana/banana_22/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..00cd33da79a3aa655ed06971bf43bf7d14e63e4a
--- /dev/null
+++ b/objects/objaverse/banana/banana_22/collision/model_normalized_collision_7.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v -0.41631500 -0.28852956 -0.02540743
+v -0.30071411 -0.10429952 -0.05115466
+v -0.39580134 -0.28351491 -0.02149486
+v -0.34401874 -0.10563130 -0.00889165
+v -0.39941154 -0.19217728 -0.05669219
+v -0.30077681 -0.10161813 -0.03081912
+v -0.39857518 -0.19215563 -0.03411993
+v -0.36975293 -0.11369441 -0.04687233
+v -0.38493292 -0.24554291 -0.05883835
+v -0.31381081 -0.09825473 -0.01860108
+v -0.41552147 -0.27787967 -0.04929243
+v -0.35118167 -0.10797520 -0.01050194
+v -0.31575469 -0.10467912 -0.06177568
+v -0.37141324 -0.23318679 -0.05030322
+v -0.36848009 -0.11274999 -0.03332610
+v -0.41152704 -0.27151298 -0.05547015
+v -0.40945687 -0.27749952 -0.04768114
+v -0.39541919 -0.20018987 -0.02788452
+v -0.36051298 -0.11453464 -0.05359922
+v -0.36032618 -0.20571722 -0.05980878
+v -0.40764617 -0.26897570 -0.05605070
+v -0.39757987 -0.27748663 -0.03283303
+v -0.38493837 -0.16328441 -0.05581843
+f 1 3 4
+f 6 3 2
+f 8 5 7
+f 10 4 3
+f 10 3 6
+f 10 6 2
+f 11 7 5
+f 11 1 7
+f 12 1 4
+f 13 9 5
+f 13 10 2
+f 13 8 10
+f 14 2 3
+f 14 3 9
+f 15 10 8
+f 15 4 10
+f 15 12 4
+f 15 8 7
+f 15 7 12
+f 16 11 5
+f 17 3 1
+f 17 1 11
+f 17 11 16
+f 18 12 7
+f 18 7 1
+f 18 1 12
+f 19 8 13
+f 20 13 2
+f 20 9 13
+f 20 14 9
+f 20 2 14
+f 21 16 5
+f 21 5 9
+f 21 17 16
+f 21 9 17
+f 22 17 9
+f 22 9 3
+f 22 3 17
+f 23 19 13
+f 23 13 5
+f 23 5 8
+f 23 8 19
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_22/model.xml b/objects/objaverse/banana/banana_22/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..3a9d909b32bc0306b313cc8a592ab2ee03440bc2
--- /dev/null
+++ b/objects/objaverse/banana/banana_22/model.xml
@@ -0,0 +1,81 @@
+<mujoco model="banana_4">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.175 0.175 0.175" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.175 0.175 0.175" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.175 0.175 0.175" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.175 0.175 0.175" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.175 0.175 0.175" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.175 0.175 0.175" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.175 0.175 0.175" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.175 0.175 0.175" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.175 0.175 0.175" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.175 0.175 0.175" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.175 0.175 0.175" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.175 0.175 0.175" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.175 0.175 0.175" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.175 0.175 0.175" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.175 0.175 0.175" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.175 0.175 0.175" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.175 0.175 0.175" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.175 0.175 0.175" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.175 0.175 0.175" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.175 0.175 0.175" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.175 0.175 0.175" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.175 0.175 0.175" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.175 0.175 0.175" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.175 0.175 0.175" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.175 0.175 0.175" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.175 0.175 0.175" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.175 0.175 0.175" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.175 0.175 0.175" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.175 0.175 0.175" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.175 0.175 0.175" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.175 0.175 0.175" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.175 0.175 0.175" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.175 0.175 0.175" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="ripe-banana_u1_v1" texture="image0" specular="0.5" shininess="0.114746881"/>
+  </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="ripe-banana_u1_v1"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_22._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_23._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_21._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_20._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_24._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_30._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_18._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_19._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_31._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_25._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_27._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_26._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_9._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_8._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_6._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_7._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_5._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_4._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_0._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_1._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_3._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_2._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_17._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_16._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_28._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_14._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_15._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_29._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_11._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_10._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_12._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_13._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+      </body>
+      <site rgba="0 0 0 0" size="0.005" pos="-0.00043146599999999976 0.00041811175000000045 -0.0162163645" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="-0.00043146599999999976 0.00041811175000000045 0.015611445500000001" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.050165050249999996 0.08722451675000001 -0.0003024595000000003" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/objects/objaverse/banana/banana_24/collision/model_normalized_collision_0.obj b/objects/objaverse/banana/banana_24/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d9523b4629c9a54cb7dfe1d6b9239731b79e32ed
--- /dev/null
+++ b/objects/objaverse/banana/banana_24/collision/model_normalized_collision_0.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v 0.49509960 -0.02528835 0.10968976
+v 0.49333163 -0.02545611 0.08207911
+v 0.44102291 0.05611217 0.00221412
+v 0.39569011 0.03058605 0.11107996
+v 0.39171172 -0.02843988 0.11228440
+v 0.48497272 0.01567839 0.11523692
+v 0.44300193 -0.02433326 -0.02883709
+v 0.44175297 0.04870791 0.05729715
+v 0.45848903 -0.02530643 0.14188636
+v 0.49320104 0.01197535 0.11236254
+v 0.45986353 0.02998081 0.00886343
+v 0.46356584 -0.02565494 0.00787314
+v 0.44122530 0.02421272 -0.02716544
+v 0.44267959 0.03351657 0.10100916
+v 0.45969812 0.00273277 0.14328777
+v 0.45357767 0.04486472 0.05768685
+v 0.49018254 0.01422657 0.08202902
+v 0.47660917 -0.02539828 0.03780446
+v 0.44854335 0.05136213 0.00557739
+v 0.45655355 0.02997266 0.10005924
+v 0.45163291 0.00278328 0.14139900
+v 0.44642626 0.02079395 0.12725679
+v 0.48080731 0.01260106 0.12490153
+v 0.47984232 -0.02521984 0.12401111
+v 0.47223205 0.02879948 0.03895183
+v 0.47061246 0.01503168 0.12844799
+v 0.45239603 -0.02466386 0.14067024
+f 5 2 1
+f 8 3 4
+f 9 5 1
+f 10 1 2
+f 12 2 5
+f 12 5 7
+f 13 7 5
+f 13 5 4
+f 13 4 3
+f 13 12 7
+f 13 11 12
+f 14 8 4
+f 16 6 10
+f 16 3 8
+f 17 10 2
+f 18 12 11
+f 18 2 12
+f 18 17 2
+f 19 13 3
+f 19 11 13
+f 19 10 17
+f 19 16 10
+f 19 3 16
+f 20 8 14
+f 20 16 8
+f 20 6 16
+f 21 15 4
+f 21 4 5
+f 22 14 4
+f 22 4 15
+f 23 10 6
+f 23 1 10
+f 24 15 9
+f 24 9 1
+f 24 23 15
+f 24 1 23
+f 25 18 11
+f 25 17 18
+f 25 19 17
+f 25 11 19
+f 26 20 14
+f 26 6 20
+f 26 23 6
+f 26 14 22
+f 26 22 15
+f 26 15 23
+f 27 21 5
+f 27 5 9
+f 27 9 15
+f 27 15 21
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_24/collision/model_normalized_collision_1.obj b/objects/objaverse/banana/banana_24/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb07fa2a0caa22156f9bccca22e1135042817c77
--- /dev/null
+++ b/objects/objaverse/banana/banana_24/collision/model_normalized_collision_1.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v -0.09836797 -0.10247838 -0.10372898
+v -0.10014292 -0.08108988 -0.05138443
+v -0.23839128 -0.08961856 -0.00846497
+v -0.23460210 0.09091923 -0.05993657
+v -0.09873185 0.09791485 -0.10181281
+v -0.24078948 0.05560252 0.01684569
+v -0.23605010 -0.09964894 -0.10575602
+v -0.13104577 -0.09077181 -0.05228987
+v -0.09913686 0.07663326 -0.04742534
+v -0.24122451 -0.03911833 0.01950728
+v -0.23475138 -0.10022919 -0.05941813
+v -0.23611777 0.09488002 -0.10243309
+v -0.15941147 -0.09927854 -0.06035891
+v -0.23724426 0.07826025 -0.00857540
+v -0.23988864 -0.07788266 0.00498884
+v -0.11880972 0.05833161 -0.03278307
+v -0.15980615 0.09723240 -0.10269363
+v -0.13009757 0.08458186 -0.05016326
+v -0.15930642 0.09143698 -0.06051604
+v -0.22231802 0.07667445 -0.00949621
+v -0.21183780 -0.08620242 -0.01465228
+v -0.10307414 -0.07758555 -0.04871898
+v -0.10152201 0.07127207 -0.04306454
+v -0.21280276 0.06745758 -0.00261664
+v -0.22704244 -0.07573802 0.00092814
+v -0.11894526 -0.02399732 -0.03250102
+f 7 5 1
+f 8 1 2
+f 8 2 3
+f 9 2 1
+f 9 1 5
+f 11 7 1
+f 11 3 7
+f 12 10 6
+f 12 7 10
+f 13 8 3
+f 13 1 8
+f 13 11 1
+f 13 3 11
+f 14 12 6
+f 14 4 12
+f 15 10 7
+f 15 7 3
+f 16 6 10
+f 17 12 4
+f 17 4 5
+f 17 5 7
+f 17 7 12
+f 18 9 5
+f 19 5 4
+f 19 4 14
+f 19 18 5
+f 19 14 18
+f 20 14 6
+f 20 18 14
+f 20 9 18
+f 21 15 3
+f 21 3 2
+f 21 2 15
+f 23 9 6
+f 23 6 16
+f 23 2 9
+f 24 20 6
+f 24 6 9
+f 24 9 20
+f 25 15 2
+f 25 2 22
+f 25 22 10
+f 25 10 15
+f 26 16 10
+f 26 10 22
+f 26 23 16
+f 26 22 2
+f 26 2 23
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_24/collision/model_normalized_collision_10.obj b/objects/objaverse/banana/banana_24/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..23a915f461e2587fa3686f4042326c8e542f8ccc
--- /dev/null
+++ b/objects/objaverse/banana/banana_24/collision/model_normalized_collision_10.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.08330265 -0.09972992 -0.16533264
+v 0.09179942 -0.00844436 -0.23843689
+v 0.08333334 -0.01093631 -0.16544983
+v -0.09848485 -0.01093631 -0.16544983
+v -0.16232610 -0.08627699 -0.20531052
+v -0.15894515 -0.09845506 -0.16504072
+v 0.08300486 -0.09632181 -0.19413449
+v -0.10772154 -0.00841417 -0.23895719
+v -0.16022695 -0.09796583 -0.16863833
+v -0.15822418 -0.09277990 -0.19319166
+f 1 2 3
+f 6 1 3
+f 6 3 4
+f 7 5 2
+f 7 2 1
+f 7 1 6
+f 8 5 4
+f 8 2 5
+f 8 3 2
+f 8 4 3
+f 9 6 4
+f 9 4 5
+f 9 7 6
+f 10 9 5
+f 10 5 7
+f 10 7 9
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_24/collision/model_normalized_collision_11.obj b/objects/objaverse/banana/banana_24/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8d6be60a10172f11e7853fa3d1e33abde5302b8e
--- /dev/null
+++ b/objects/objaverse/banana/banana_24/collision/model_normalized_collision_11.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v -0.43031282 -0.04473854 0.20630441
+v -0.39711835 -0.03214391 0.14408358
+v -0.43283096 0.00377679 0.21530024
+v -0.48750917 -0.00039541 0.22336136
+v -0.47677705 -0.04513937 0.18102497
+v -0.39577131 -0.00032034 0.14490412
+v -0.47118993 -0.03442483 0.24508375
+v -0.46683116 -0.04342353 0.17076380
+v -0.47529900 0.00546197 0.18073555
+v -0.43267516 -0.03606459 0.21605931
+v -0.46877365 -0.00661983 0.24535720
+v -0.48622956 -0.04034364 0.23628993
+v -0.42953880 -0.03579560 0.15281669
+v -0.46773114 -0.00098282 0.16985248
+v -0.48964808 -0.00270679 0.20360956
+v -0.45465397 -0.04215115 0.22932704
+v -0.48081617 -0.00482903 0.24254715
+v -0.44296846 -0.00247014 0.22758567
+v -0.49540987 -0.00518386 0.23127425
+v -0.44483695 -0.03560859 0.22671163
+v -0.47996247 -0.03860965 0.24184459
+v -0.49075498 -0.03764079 0.20432382
+v -0.49514461 -0.03789223 0.23014976
+f 8 2 1
+f 8 1 5
+f 9 4 3
+f 9 3 6
+f 10 1 2
+f 10 2 6
+f 10 6 3
+f 13 6 2
+f 13 2 8
+f 14 8 5
+f 14 5 9
+f 14 13 8
+f 14 9 6
+f 14 6 13
+f 15 9 5
+f 15 4 9
+f 16 1 10
+f 16 12 5
+f 16 5 1
+f 17 11 3
+f 17 3 4
+f 17 7 11
+f 18 10 3
+f 18 3 11
+f 19 4 15
+f 19 17 4
+f 20 16 10
+f 20 7 16
+f 20 10 18
+f 20 18 11
+f 20 11 7
+f 21 16 7
+f 21 12 16
+f 21 7 17
+f 21 17 19
+f 22 19 15
+f 22 15 5
+f 23 21 19
+f 23 12 21
+f 23 19 22
+f 23 22 5
+f 23 5 12
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_24/collision/model_normalized_collision_12.obj b/objects/objaverse/banana/banana_24/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d9603c5410b514bdb7d5ef6690b34adeab0b0be
--- /dev/null
+++ b/objects/objaverse/banana/banana_24/collision/model_normalized_collision_12.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.00689203 -0.01601623 -0.04710828
+v 0.00760414 -0.01072544 -0.04663433
+v -0.09954674 0.03445825 -0.03367513
+v -0.09873185 0.09791485 -0.10181281
+v 0.00760618 0.09734845 -0.09945014
+v -0.09848485 -0.01093631 -0.10484376
+v -0.10011063 -0.01032160 -0.03606352
+v 0.00749634 0.06940278 -0.05183050
+v 0.00855117 0.00565559 -0.04511786
+v -0.09550433 0.07335976 -0.04567150
+v 0.00847210 0.03435186 -0.04392566
+v -0.03768796 0.09747217 -0.09943832
+f 5 2 1
+f 6 5 1
+f 6 4 5
+f 7 1 2
+f 7 6 1
+f 7 3 4
+f 7 4 6
+f 9 7 2
+f 9 3 7
+f 9 2 5
+f 10 8 5
+f 10 4 3
+f 10 3 8
+f 11 8 3
+f 11 3 9
+f 11 9 5
+f 11 5 8
+f 12 10 5
+f 12 5 4
+f 12 4 10
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_24/collision/model_normalized_collision_13.obj b/objects/objaverse/banana/banana_24/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..68d8968bef77fbc4df0f4b1db169f764d6f47151
--- /dev/null
+++ b/objects/objaverse/banana/banana_24/collision/model_normalized_collision_13.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.14369290 -0.09738390 -0.16493215
+v 0.14286124 -0.09158816 -0.19289680
+v 0.16092846 0.04093247 -0.21525173
+v 0.08333334 0.03451824 -0.16544983
+v 0.08300486 -0.09632181 -0.19413449
+v 0.08330265 -0.09972992 -0.16533264
+v 0.08212321 -0.06827127 -0.23504285
+v 0.13793916 -0.06421049 -0.22350323
+v 0.08260315 0.03405575 -0.23754451
+v 0.13811594 0.03232342 -0.22414276
+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 6 4
+f 7 5 6
+f 8 3 2
+f 8 2 7
+f 9 7 4
+f 9 4 3
+f 9 8 7
+f 10 9 3
+f 10 3 8
+f 10 8 9
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_24/collision/model_normalized_collision_14.obj b/objects/objaverse/banana/banana_24/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..01a875f4131a129762091751fd3a00818c53fd29
--- /dev/null
+++ b/objects/objaverse/banana/banana_24/collision/model_normalized_collision_14.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v 0.13811594 0.03232342 -0.22414276
+v 0.16092846 0.04093247 -0.21525173
+v -0.20669416 0.03985461 -0.20635509
+v -0.18800161 0.09765792 -0.16352099
+v 0.06671650 0.09215871 -0.21660092
+v 0.14332243 0.09887403 -0.16543704
+v 0.10875100 0.07366743 -0.22355734
+v -0.09569679 0.08318327 -0.22376708
+v 0.13752897 0.04725372 -0.22242277
+v 0.13755262 0.08264076 -0.20856841
+v -0.18280500 0.07233957 -0.20761735
+v -0.09672423 0.09122731 -0.21613465
+v 0.05060706 0.05950069 -0.23822227
+v 0.14073142 0.09518545 -0.18831834
+v 0.07962461 0.08300191 -0.22363977
+v -0.08093721 0.03254464 -0.24066935
+v -0.18559440 0.09179692 -0.18664515
+v -0.15420062 0.08347384 -0.20945570
+v 0.06608060 0.03251542 -0.24041180
+v 0.12565640 0.09168536 -0.20153801
+v -0.12503083 0.07392687 -0.22405183
+v -0.06646385 0.05951412 -0.23820138
+v -0.18561119 0.03312046 -0.21519886
+v -0.15579443 0.09059404 -0.20097083
+v 0.06583740 0.04743626 -0.23856995
+v -0.08065710 0.04746544 -0.23883524
+v -0.15461295 0.03247675 -0.22519028
+v -0.15411960 0.04740340 -0.22342571
+f 1 2 3
+f 6 3 2
+f 6 4 3
+f 6 5 4
+f 9 2 1
+f 10 9 7
+f 10 2 9
+f 12 4 5
+f 12 5 8
+f 14 6 2
+f 14 2 10
+f 14 5 6
+f 15 10 7
+f 15 7 13
+f 15 13 8
+f 15 8 5
+f 17 11 3
+f 17 3 4
+f 18 12 8
+f 18 11 17
+f 19 9 1
+f 19 16 13
+f 19 1 16
+f 20 14 10
+f 20 5 14
+f 20 15 5
+f 20 10 15
+f 21 18 8
+f 21 11 18
+f 22 8 13
+f 22 13 16
+f 22 21 8
+f 23 1 3
+f 24 17 4
+f 24 4 12
+f 24 18 17
+f 24 12 18
+f 25 19 13
+f 25 13 7
+f 25 7 9
+f 25 9 19
+f 26 22 16
+f 26 21 22
+f 27 16 1
+f 27 1 23
+f 28 23 3
+f 28 3 11
+f 28 27 23
+f 28 11 21
+f 28 21 26
+f 28 26 16
+f 28 16 27
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_24/collision/model_normalized_collision_15.obj b/objects/objaverse/banana/banana_24/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d5294904d97a29dbdd844848c24a8b0110e59042
--- /dev/null
+++ b/objects/objaverse/banana/banana_24/collision/model_normalized_collision_15.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.45074626 0.03272720 0.09702204
+v 0.45570819 0.02030430 -0.00378778
+v 0.42632333 0.06458369 0.00025993
+v 0.34080252 0.07859711 0.00105462
+v 0.33566222 0.01956544 0.08685706
+v 0.39755018 0.06029334 0.05625747
+v 0.44102291 0.05611217 0.00221412
+v 0.42679066 0.06081113 0.02750058
+v 0.34242642 0.06263423 0.06624394
+v 0.44174025 0.04469156 0.07033917
+v 0.34540854 0.07738168 0.00826971
+v 0.39569011 0.03058605 0.11107996
+v 0.39866183 0.04972855 0.08631056
+v 0.36957639 0.06129135 0.06853584
+v 0.41243002 0.04716203 0.08547114
+v 0.44376112 0.03796196 0.08799831
+f 3 2 4
+f 5 2 1
+f 5 4 2
+f 7 1 2
+f 7 2 3
+f 8 7 3
+f 9 4 5
+f 10 8 6
+f 10 1 7
+f 10 7 8
+f 11 8 3
+f 11 3 4
+f 11 6 8
+f 11 4 9
+f 12 9 5
+f 12 5 1
+f 13 12 1
+f 13 9 12
+f 14 11 9
+f 14 6 11
+f 14 13 6
+f 14 9 13
+f 15 10 6
+f 15 6 13
+f 15 13 1
+f 16 15 1
+f 16 1 10
+f 16 10 15
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_24/collision/model_normalized_collision_16.obj b/objects/objaverse/banana/banana_24/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..62ce6b33d0defcc10ad7056e04ec03edc06d8508
--- /dev/null
+++ b/objects/objaverse/banana/banana_24/collision/model_normalized_collision_16.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v 0.34221564 -0.08785451 0.05492720
+v 0.34050004 -0.09524043 0.00104998
+v 0.34080252 0.07859711 0.00105462
+v 0.26559889 0.08028944 -0.00167277
+v 0.26571003 -0.09478005 0.00010244
+v 0.31027305 0.08015839 -0.00044800
+v 0.34458266 0.05205736 0.07997131
+v 0.27654997 -0.06547453 0.04259789
+v 0.34242642 0.06263423 0.06624394
+v 0.34638217 -0.06606425 0.08045154
+v 0.28692307 -0.08465887 0.03484446
+v 0.27418471 0.05309031 0.04547809
+v 0.31065135 0.07828649 0.01330815
+v 0.27090925 -0.08726516 0.02172127
+v 0.28982388 -0.07508561 0.04550356
+v 0.31672272 -0.08529031 0.04985484
+v 0.26680384 0.07672750 0.01106831
+v 0.27159607 0.06494403 0.03413883
+v 0.31971236 0.04300424 0.07428778
+v 0.33405779 -0.06360095 0.07548775
+v 0.31832252 -0.07430449 0.06164265
+v 0.33287591 0.05343923 0.07471096
+v 0.32985557 0.06208749 0.06425368
+v 0.29080535 -0.02448277 0.05888945
+v 0.32063675 -0.03914006 0.07431479
+v 0.29048065 0.04262104 0.05887601
+f 5 2 1
+f 5 4 2
+f 6 3 2
+f 6 2 4
+f 9 7 3
+f 10 1 2
+f 10 2 3
+f 10 3 7
+f 13 6 4
+f 13 9 3
+f 13 3 6
+f 14 12 5
+f 14 8 12
+f 15 14 11
+f 15 8 14
+f 16 1 10
+f 16 11 14
+f 16 14 5
+f 16 5 1
+f 17 4 5
+f 17 13 4
+f 17 9 13
+f 18 17 5
+f 18 5 12
+f 19 10 7
+f 20 8 15
+f 21 15 11
+f 21 11 16
+f 21 16 10
+f 21 20 15
+f 21 10 20
+f 22 18 12
+f 22 19 7
+f 22 12 19
+f 23 9 17
+f 23 17 18
+f 23 18 22
+f 23 22 7
+f 23 7 9
+f 24 12 8
+f 25 20 10
+f 25 10 19
+f 25 19 24
+f 25 24 8
+f 25 8 20
+f 26 24 19
+f 26 19 12
+f 26 12 24
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_24/collision/model_normalized_collision_17.obj b/objects/objaverse/banana/banana_24/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..64527202eec978f85900b6e8f7e2cbcd186252d3
--- /dev/null
+++ b/objects/objaverse/banana/banana_24/collision/model_normalized_collision_17.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.00847210 0.03435186 -0.04392566
+v -0.15930642 0.09143698 -0.06051604
+v 0.00757716 0.07981885 -0.05953979
+v -0.16017602 0.08771541 -0.04834259
+v -0.09954674 0.03445825 -0.03367513
+v -0.02291487 0.08526208 -0.06508567
+v -0.09289660 0.03484080 -0.03521783
+v -0.15580025 0.07665127 -0.03319785
+v 0.00852476 0.04756541 -0.04494100
+v 0.00768331 0.07376806 -0.05447443
+f 6 2 4
+f 6 4 3
+f 6 1 2
+f 6 3 1
+f 7 5 2
+f 7 2 1
+f 7 1 5
+f 8 4 2
+f 8 2 5
+f 8 3 4
+f 9 8 5
+f 9 5 1
+f 9 1 3
+f 10 9 3
+f 10 3 8
+f 10 8 9
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_24/collision/model_normalized_collision_18.obj b/objects/objaverse/banana/banana_24/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8af1a869104081d4f54ea0a149154bb0c6bf625d
--- /dev/null
+++ b/objects/objaverse/banana/banana_24/collision/model_normalized_collision_18.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v -0.36007718 -0.04331821 0.08631866
+v -0.34897456 -0.03625254 0.08306768
+v -0.39711835 -0.03214391 0.14408358
+v -0.44356371 -0.00206581 0.15743748
+v -0.39783867 0.01902828 0.07384156
+v -0.40775680 -0.04131059 0.07861519
+v -0.34718175 0.01311480 0.08352906
+v -0.44460891 -0.03428741 0.15751892
+v -0.41438211 0.00860764 0.08094245
+v -0.37041406 -0.04714814 0.07553812
+v -0.36976633 0.02316807 0.07306449
+v -0.39575617 0.00210795 0.14234219
+v -0.40077699 -0.04016567 0.12089238
+v -0.41642177 -0.03319306 0.08162771
+v -0.41361307 -0.03997932 0.10684334
+v -0.42924060 0.00137417 0.14974989
+v -0.37072421 0.01863761 0.08711738
+v -0.38026639 -0.03914747 0.11415824
+v -0.42771313 -0.00076739 0.11343238
+f 1 2 3
+f 7 3 2
+f 8 3 4
+f 9 4 5
+f 10 6 5
+f 10 2 1
+f 11 10 5
+f 11 7 2
+f 11 2 10
+f 12 4 3
+f 12 3 7
+f 13 3 8
+f 13 10 1
+f 13 8 10
+f 14 9 5
+f 14 5 6
+f 14 6 8
+f 15 10 8
+f 15 8 6
+f 15 6 10
+f 16 11 5
+f 16 5 4
+f 16 12 11
+f 16 4 12
+f 17 12 7
+f 17 7 11
+f 17 11 12
+f 18 13 1
+f 18 1 3
+f 18 3 13
+f 19 14 8
+f 19 8 4
+f 19 4 9
+f 19 9 14
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_24/collision/model_normalized_collision_19.obj b/objects/objaverse/banana/banana_24/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e9e7b6fc77e179e4853f1c01c3467e69dc3fc756
--- /dev/null
+++ b/objects/objaverse/banana/banana_24/collision/model_normalized_collision_19.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.40145067 -0.07101214 0.09191363
+v 0.49333163 -0.02545611 0.08207911
+v 0.47905718 -0.04411587 0.12319797
+v 0.39171172 -0.02843988 0.11228440
+v 0.44300193 -0.02433326 -0.02883709
+v 0.44679155 -0.02613450 0.13797682
+v 0.40488589 -0.08725184 0.00186074
+v 0.49509960 -0.02528835 0.10968976
+v 0.44881360 -0.04798860 0.12896216
+v 0.47180359 -0.05234939 0.10241343
+v 0.45753751 -0.06050766 0.00924261
+v 0.47984232 -0.02521984 0.12401111
+v 0.44501251 -0.05570184 0.11531977
+v 0.49148985 -0.04322674 0.11015288
+v 0.46356584 -0.02565494 0.00787314
+v 0.45736782 -0.05257062 0.11692700
+v 0.48816133 -0.04626017 0.08209335
+v 0.47660917 -0.02539828 0.03780446
+v 0.47374839 -0.04948335 0.03790987
+f 6 5 4
+f 7 1 4
+f 7 4 5
+f 8 2 5
+f 9 3 6
+f 9 6 4
+f 9 4 1
+f 10 1 7
+f 11 7 5
+f 12 6 3
+f 12 3 8
+f 12 8 5
+f 12 5 6
+f 13 9 1
+f 14 8 3
+f 14 3 10
+f 14 2 8
+f 15 11 5
+f 16 3 9
+f 16 9 13
+f 16 10 3
+f 16 13 1
+f 16 1 10
+f 17 2 14
+f 17 7 11
+f 17 14 10
+f 17 10 7
+f 18 15 5
+f 18 5 2
+f 19 17 11
+f 19 2 17
+f 19 18 2
+f 19 11 15
+f 19 15 18
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_24/collision/model_normalized_collision_2.obj b/objects/objaverse/banana/banana_24/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..75ada5e720cddf5606706c1e525c1713c225f2f9
--- /dev/null
+++ b/objects/objaverse/banana/banana_24/collision/model_normalized_collision_2.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.14436222 -0.10083641 -0.08840110
+v 0.14805238 -0.06730154 -0.02568330
+v 0.00707006 -0.01469353 -0.04698979
+v 0.00756252 0.09611968 -0.09203961
+v 0.14344089 0.09492854 -0.09128874
+v 0.08272234 -0.10058950 -0.08505534
+v 0.14793923 0.07138910 -0.02667597
+v 0.13069017 -0.09247958 -0.05105511
+v 0.00852476 0.04756541 -0.04494100
+v 0.14588432 0.08037833 -0.03733288
+v 0.13282557 -0.08719976 -0.04319948
+v 0.00855117 0.00565559 -0.04511786
+v 0.00771637 0.07965448 -0.05937046
+v 0.14376192 0.09336900 -0.07747632
+v 0.08482817 -0.08117712 -0.05127899
+v 0.02375652 0.05904020 -0.04656127
+v 0.00759213 0.09269216 -0.08000680
+v 0.08829042 -0.07769650 -0.04837135
+v 0.11590058 -0.09050483 -0.05244056
+v 0.11898620 -0.08730187 -0.04733745
+f 5 1 4
+f 6 3 4
+f 6 4 1
+f 7 2 1
+f 7 1 5
+f 8 6 1
+f 9 2 7
+f 11 8 1
+f 11 1 2
+f 12 9 3
+f 12 3 2
+f 12 2 9
+f 13 3 9
+f 13 7 10
+f 14 10 7
+f 14 7 5
+f 14 5 4
+f 15 11 2
+f 15 3 6
+f 16 13 9
+f 16 9 7
+f 16 7 13
+f 17 4 3
+f 17 3 13
+f 17 13 10
+f 17 14 4
+f 17 10 14
+f 18 15 2
+f 18 2 3
+f 18 3 15
+f 19 15 6
+f 19 6 8
+f 19 8 11
+f 20 19 11
+f 20 11 15
+f 20 15 19
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_24/collision/model_normalized_collision_20.obj b/objects/objaverse/banana/banana_24/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..57df29e56944387ce0121e767caf4ec422be5cba
--- /dev/null
+++ b/objects/objaverse/banana/banana_24/collision/model_normalized_collision_20.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.38363951 -0.08429760 0.05801375
+v 0.45263755 -0.06630827 0.00505387
+v 0.43050325 -0.06632853 0.09083189
+v 0.34149941 -0.07053750 0.07566226
+v 0.34050004 -0.09524043 0.00104998
+v 0.40145067 -0.07101214 0.09191363
+v 0.45397640 -0.06855637 0.04539158
+v 0.34221564 -0.08785451 0.05492720
+v 0.39988217 -0.07327027 0.08675081
+v 0.45961518 -0.06596170 0.04627761
+v 0.44191074 -0.06760430 0.07265938
+v 0.41316575 -0.08552906 0.00054808
+v 0.34272081 -0.09507339 0.00131916
+v 0.34334802 -0.07822533 0.07015359
+v 0.42710718 -0.06801453 0.08748979
+v 0.44549163 -0.06596492 0.07571369
+v 0.44904494 -0.06944608 0.00420566
+v 0.41274641 -0.08297234 0.02887752
+f 3 2 4
+f 5 4 2
+f 6 3 4
+f 8 4 5
+f 9 3 6
+f 9 8 1
+f 9 6 8
+f 12 5 2
+f 13 8 5
+f 13 1 8
+f 13 12 1
+f 13 5 12
+f 14 8 6
+f 14 6 4
+f 14 4 8
+f 15 9 1
+f 15 3 9
+f 15 1 11
+f 16 10 2
+f 16 2 3
+f 16 15 11
+f 16 3 15
+f 16 11 7
+f 16 7 10
+f 17 10 7
+f 17 7 12
+f 17 12 2
+f 17 2 10
+f 18 11 1
+f 18 1 12
+f 18 12 7
+f 18 7 11
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_24/collision/model_normalized_collision_21.obj b/objects/objaverse/banana/banana_24/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3dbcb021645f838f9f597244d159506e2acfba83
--- /dev/null
+++ b/objects/objaverse/banana/banana_24/collision/model_normalized_collision_21.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.00762330 -0.08347964 -0.06355872
+v 0.00857454 -0.07928640 -0.06052176
+v -0.15455039 -0.07693082 -0.03307360
+v -0.15435851 -0.09110659 -0.04527933
+v -0.05375290 -0.05526281 -0.04965933
+v -0.03845624 -0.05523456 -0.05106381
+v -0.15941147 -0.09927854 -0.06035891
+v 0.00827450 -0.06847514 -0.05568252
+v -0.16070770 -0.09483976 -0.04831161
+v -0.06918854 -0.09164811 -0.06691490
+f 1 2 3
+f 1 3 4
+f 6 5 3
+f 7 3 5
+f 8 2 1
+f 8 1 6
+f 8 6 3
+f 8 3 2
+f 9 7 1
+f 9 1 4
+f 9 4 3
+f 9 3 7
+f 10 6 1
+f 10 1 7
+f 10 7 5
+f 10 5 6
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_24/collision/model_normalized_collision_22.obj b/objects/objaverse/banana/banana_24/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c6beaf99ee34e236ee2beb14d0efcbc99e440192
--- /dev/null
+++ b/objects/objaverse/banana/banana_24/collision/model_normalized_collision_22.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.15908141 -0.10141418 -0.11997354
+v -0.15617278 -0.08076944 -0.21540656
+v -0.15779489 -0.06898764 -0.22132703
+v -0.22819261 -0.06508949 -0.19747351
+v -0.23473758 -0.09921182 -0.11989887
+v -0.18544610 -0.06516400 -0.21449132
+v -0.15681867 -0.08916765 -0.20252506
+v -0.23475831 -0.09973600 -0.10477530
+v -0.18343414 -0.07707697 -0.20860834
+v -0.18937894 -0.10135294 -0.10482154
+v -0.15974737 -0.10132268 -0.12149698
+v -0.23605010 -0.09964894 -0.10575602
+v -0.22922033 -0.08307480 -0.18428189
+v -0.18563138 -0.08472015 -0.19981731
+v -0.22569690 -0.07587844 -0.19240146
+f 1 2 3
+f 6 3 2
+f 6 1 3
+f 7 2 1
+f 9 6 2
+f 9 4 6
+f 10 6 4
+f 10 1 6
+f 10 4 8
+f 10 8 5
+f 11 7 1
+f 11 5 7
+f 11 10 5
+f 11 1 10
+f 12 8 4
+f 12 5 8
+f 13 7 5
+f 13 12 4
+f 13 5 12
+f 14 13 9
+f 14 9 2
+f 14 2 7
+f 14 7 13
+f 15 13 4
+f 15 4 9
+f 15 9 13
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_24/collision/model_normalized_collision_23.obj b/objects/objaverse/banana/banana_24/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bbb87d83e5e1ad9a1dfb6ef4bc01a6fa03d7b99d
--- /dev/null
+++ b/objects/objaverse/banana/banana_24/collision/model_normalized_collision_23.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v -0.19209312 -0.09533863 -0.17195245
+v -0.18544610 -0.06516400 -0.21449132
+v -0.18800161 0.09765792 -0.16352099
+v -0.21765590 0.09439044 -0.16316810
+v -0.23922375 -0.08613438 -0.17436720
+v -0.18402809 0.06019886 -0.21088324
+v -0.23359896 0.09070945 -0.16341029
+v -0.18448055 0.08557588 -0.19754041
+v -0.22738009 0.05941818 -0.19351404
+v -0.18800129 0.09540787 -0.17824040
+v -0.21175907 0.00311387 -0.20719001
+v -0.19717721 0.08306634 -0.19441985
+v -0.21521626 0.09189042 -0.17180543
+v -0.19741448 0.05886219 -0.20655633
+v -0.22819261 -0.06508949 -0.19747351
+v -0.22669601 0.08363547 -0.18050789
+v -0.21166649 -0.05279641 -0.20680768
+v -0.19798564 -0.06485319 -0.21026560
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 7 5 1
+f 7 1 4
+f 8 3 2
+f 8 2 6
+f 9 5 7
+f 10 4 3
+f 10 3 8
+f 11 6 2
+f 12 8 6
+f 13 10 8
+f 13 7 4
+f 13 4 10
+f 14 11 9
+f 14 6 11
+f 14 12 6
+f 14 9 12
+f 15 5 9
+f 15 9 11
+f 16 12 9
+f 16 9 7
+f 16 7 13
+f 16 13 8
+f 16 8 12
+f 17 15 11
+f 17 11 2
+f 18 2 5
+f 18 5 15
+f 18 17 2
+f 18 15 17
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_24/collision/model_normalized_collision_24.obj b/objects/objaverse/banana/banana_24/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7dd1b06fbfd9d5762c255eadfcbce61204602849
--- /dev/null
+++ b/objects/objaverse/banana/banana_24/collision/model_normalized_collision_24.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.21573088 0.06217518 -0.18735112
+v 0.21083077 0.08187157 -0.17796276
+v 0.22083385 0.09134533 -0.08752089
+v 0.18929534 0.09296686 -0.08986164
+v 0.18535935 0.06178251 -0.20110027
+v 0.18722488 0.09406168 -0.16313189
+v 0.19066905 0.09271880 -0.08750194
+v 0.19643928 0.06996611 -0.19400415
+v 0.20211525 0.09210959 -0.16285283
+v 0.20378258 0.09358394 -0.10615438
+v 0.18406709 0.07101031 -0.19859965
+v 0.19772311 0.06026956 -0.19645200
+v 0.18562730 0.08513038 -0.18761468
+v 0.18867117 0.09424751 -0.10605467
+v 0.21954710 0.09159745 -0.08997271
+f 1 2 3
+f 7 4 5
+f 8 2 1
+f 9 3 2
+f 10 9 6
+f 11 5 4
+f 11 8 5
+f 12 1 3
+f 12 3 7
+f 12 7 5
+f 12 8 1
+f 12 5 8
+f 13 9 2
+f 13 6 9
+f 13 2 8
+f 13 8 11
+f 14 10 6
+f 14 4 10
+f 14 6 13
+f 14 13 11
+f 14 11 4
+f 15 3 9
+f 15 9 10
+f 15 10 4
+f 15 7 3
+f 15 4 7
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_24/collision/model_normalized_collision_25.obj b/objects/objaverse/banana/banana_24/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d7b5817734a11b7996540f5d8f31e68f4d440b79
--- /dev/null
+++ b/objects/objaverse/banana/banana_24/collision/model_normalized_collision_25.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.09882294 -0.09990728 -0.16704740
+v -0.09761288 -0.06846782 -0.23535532
+v -0.09848485 0.03451824 -0.16544983
+v -0.20669416 0.03985461 -0.20635509
+v -0.19209312 -0.09533863 -0.17195245
+v -0.09797543 0.03409865 -0.23787178
+v -0.18544610 -0.06516400 -0.21449132
+v -0.15453183 -0.06457543 -0.22460296
+v -0.16793064 -0.05306789 -0.22284947
+v -0.16804343 0.00317126 -0.22332435
+v -0.15461295 0.03247675 -0.22519028
+v -0.18561119 0.03312046 -0.21519886
+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 8 2 5
+f 8 5 7
+f 9 6 2
+f 9 2 8
+f 9 8 7
+f 9 7 4
+f 10 9 4
+f 10 6 9
+f 11 4 6
+f 11 6 10
+f 12 11 10
+f 12 10 4
+f 12 4 11
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_24/collision/model_normalized_collision_26.obj b/objects/objaverse/banana/banana_24/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7e6aeafb577d7796552cb122cd9201977ab8101a
--- /dev/null
+++ b/objects/objaverse/banana/banana_24/collision/model_normalized_collision_26.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.08465906 -0.09383554 -0.20228456
+v 0.08212321 -0.06827127 -0.23504285
+v 0.09179942 -0.00844436 -0.23843689
+v -0.10772154 -0.00841417 -0.23895719
+v -0.09985563 -0.09418946 -0.20239902
+v 0.05154208 -0.01159883 -0.24501005
+v -0.08090281 -0.06420759 -0.24008340
+v 0.08000677 -0.05347687 -0.23948567
+v -0.09761288 -0.06846782 -0.23535532
+v -0.09615917 -0.01182936 -0.24106095
+v 0.08027141 -0.01183754 -0.24092149
+v 0.06604697 -0.06411902 -0.23984329
+v -0.09596702 -0.05353405 -0.23963859
+f 1 2 3
+f 5 1 3
+f 5 3 4
+f 6 4 3
+f 8 3 2
+f 9 5 4
+f 9 2 1
+f 9 1 5
+f 10 4 6
+f 10 6 7
+f 11 8 6
+f 11 6 3
+f 11 3 8
+f 12 7 6
+f 12 6 8
+f 12 8 2
+f 12 9 7
+f 12 2 9
+f 13 9 4
+f 13 7 9
+f 13 10 7
+f 13 4 10
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_24/collision/model_normalized_collision_27.obj b/objects/objaverse/banana/banana_24/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d777d05c580e491bcf34fed75f3f717daf77ad71
--- /dev/null
+++ b/objects/objaverse/banana/banana_24/collision/model_normalized_collision_27.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.08333334 -0.01093631 -0.16544983
+v 0.08027141 -0.01183754 -0.24092149
+v 0.09118643 0.03949222 -0.23514705
+v -0.09848485 0.03451824 -0.16544983
+v -0.09848485 -0.01093631 -0.16544983
+v -0.09797543 0.03409865 -0.23787178
+v 0.08333334 0.03451824 -0.16544983
+v 0.00737870 0.03312518 -0.24521873
+v -0.09615917 -0.01182936 -0.24106095
+v 0.06608060 0.03251542 -0.24041180
+v -0.08093721 0.03254464 -0.24066935
+v 0.07993491 0.01836645 -0.23922494
+v -0.09589725 0.01837307 -0.23933759
+v 0.08260315 0.03405575 -0.23754451
+f 1 2 3
+f 5 2 1
+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 9 2 5
+f 9 5 6
+f 9 8 2
+f 10 8 3
+f 10 2 8
+f 11 6 8
+f 11 8 9
+f 12 3 2
+f 12 2 10
+f 13 11 9
+f 13 9 6
+f 13 6 11
+f 14 12 10
+f 14 10 3
+f 14 3 12
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_24/collision/model_normalized_collision_28.obj b/objects/objaverse/banana/banana_24/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd8225f24f76fe289eb7c6f09d551799ad787c67
--- /dev/null
+++ b/objects/objaverse/banana/banana_24/collision/model_normalized_collision_28.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.40239335 -0.07587028 0.07822137
+v 0.44122530 0.02421272 -0.02716544
+v 0.40747948 0.04700630 0.08836462
+v 0.34540854 0.07738168 0.00826971
+v 0.34272081 -0.09507339 0.00131916
+v 0.40488589 -0.08725184 0.00186074
+v 0.33566222 0.01956544 0.08685706
+v 0.34149941 -0.07053750 0.07566226
+f 1 2 3
+f 3 2 4
+f 5 4 2
+f 6 5 2
+f 6 2 1
+f 6 1 5
+f 7 1 3
+f 7 3 4
+f 7 4 5
+f 8 7 5
+f 8 5 1
+f 8 1 7
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_24/collision/model_normalized_collision_29.obj b/objects/objaverse/banana/banana_24/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b80af4deede921aebfcbdfb024cbac827c441b9
--- /dev/null
+++ b/objects/objaverse/banana/banana_24/collision/model_normalized_collision_29.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.00749634 0.06940278 -0.05183050
+v 0.00755587 0.09846386 -0.10617657
+v 0.00761735 0.08516614 -0.06514585
+v -0.23634223 0.09031409 -0.05607093
+v -0.23421403 0.09525038 -0.10604879
+v 0.00759213 0.09269216 -0.08000680
+v 0.00760618 0.09734845 -0.09945014
+v -0.23611777 0.09488002 -0.10243309
+v -0.20427308 0.09397245 -0.07620532
+v -0.23415110 0.09401305 -0.09106440
+v -0.23460210 0.09091923 -0.05993657
+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 7 4 6
+f 8 5 1
+f 8 1 4
+f 9 7 2
+f 9 4 7
+f 9 2 5
+f 9 5 8
+f 10 9 8
+f 11 4 9
+f 11 9 10
+f 11 10 8
+f 11 8 4
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_24/collision/model_normalized_collision_3.obj b/objects/objaverse/banana/banana_24/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..78e2dcf71b037f0ababb7b811ea2f56ff4ee60fd
--- /dev/null
+++ b/objects/objaverse/banana/banana_24/collision/model_normalized_collision_3.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v 0.39985775 -0.07734526 0.07452090
+v 0.47120045 -0.04066791 0.13086460
+v 0.35054019 -0.05086715 0.08803136
+v 0.34237645 0.05915096 0.07186522
+v 0.44376112 0.03796196 0.08799831
+v 0.43836318 0.01242421 0.13377123
+v 0.34334802 -0.07822533 0.07015359
+v 0.44458375 -0.06290946 0.09006876
+v 0.39911394 0.05450567 0.07355116
+v 0.44013242 -0.03590246 0.13312814
+v 0.34861915 0.04158865 0.08871694
+v 0.47235155 0.01292633 0.13140381
+v 0.46266452 -0.04256382 0.13660588
+v 0.40705196 0.02344246 0.11861188
+v 0.39281005 -0.05876804 0.10411887
+v 0.34458266 0.05205736 0.07997131
+v 0.44267959 0.03351657 0.10100916
+v 0.42906529 0.03162206 0.11252238
+v 0.39988217 -0.07327027 0.08675081
+v 0.46679404 0.01041844 0.13780580
+v 0.46415197 -0.03983683 0.13702994
+v 0.38040322 -0.05084044 0.10253184
+v 0.45245039 -0.04319620 0.13437894
+v 0.38973076 0.03580801 0.10615750
+v 0.39866183 0.04972855 0.08631056
+v 0.44501251 -0.05570184 0.11531977
+v 0.34822783 -0.07423526 0.07585738
+f 8 1 5
+f 9 5 1
+f 9 7 4
+f 9 1 7
+f 11 7 3
+f 12 8 5
+f 12 2 8
+f 13 8 2
+f 14 10 6
+f 14 3 10
+f 14 11 3
+f 16 4 7
+f 16 7 11
+f 17 12 5
+f 17 5 9
+f 18 12 17
+f 19 7 1
+f 19 15 7
+f 20 2 12
+f 20 12 18
+f 21 6 10
+f 21 10 13
+f 21 20 6
+f 21 13 2
+f 21 2 20
+f 22 15 10
+f 22 10 3
+f 23 13 10
+f 23 10 15
+f 23 19 13
+f 23 15 19
+f 24 16 11
+f 24 11 14
+f 24 14 6
+f 24 20 18
+f 24 6 20
+f 24 4 16
+f 25 9 4
+f 25 24 18
+f 25 4 24
+f 25 18 17
+f 25 17 9
+f 26 19 1
+f 26 1 8
+f 26 8 13
+f 26 13 19
+f 27 22 3
+f 27 3 7
+f 27 7 15
+f 27 15 22
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_24/collision/model_normalized_collision_30.obj b/objects/objaverse/banana/banana_24/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a8a0f9b49dc4ad3fad92c3f31f39e0451941a469
--- /dev/null
+++ b/objects/objaverse/banana/banana_24/collision/model_normalized_collision_30.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.09836797 -0.10247838 -0.10372898
+v -0.09882294 -0.09990728 -0.16704740
+v -0.09826780 0.10181386 -0.16536927
+v -0.23421403 0.09525038 -0.10604879
+v -0.23605010 -0.09964894 -0.10575602
+v -0.23922375 -0.08613438 -0.17436720
+v -0.09840310 0.09829695 -0.10594781
+v -0.23101124 0.09320343 -0.15959713
+f 1 2 3
+f 5 2 1
+f 5 1 4
+f 6 3 2
+f 6 5 4
+f 6 2 5
+f 7 1 3
+f 7 3 4
+f 7 4 1
+f 8 6 4
+f 8 4 3
+f 8 3 6
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_24/collision/model_normalized_collision_31.obj b/objects/objaverse/banana/banana_24/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8225e99949f107af698d4111ccfc1f786888914e
--- /dev/null
+++ b/objects/objaverse/banana/banana_24/collision/model_normalized_collision_31.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.14286124 -0.09158816 -0.19289680
+v 0.14694200 -0.08488572 -0.20435802
+v 0.14187564 -0.06819353 -0.21997419
+v -0.15779489 -0.06898764 -0.22132703
+v -0.05196996 -0.08422050 -0.22914713
+v -0.15822418 -0.09277990 -0.19319166
+v 0.03706518 -0.08415992 -0.22908899
+v -0.15617278 -0.08076944 -0.21540656
+v 0.12545784 -0.08336949 -0.21386306
+v -0.14043890 -0.06464236 -0.22842673
+v -0.16232610 -0.08627699 -0.20531052
+v 0.14076976 -0.08789106 -0.20187349
+v 0.12345736 -0.07597648 -0.22132227
+v 0.12505431 -0.06422061 -0.22724464
+v -0.13879936 -0.07656208 -0.22244058
+v -0.14076705 -0.08420628 -0.21438495
+v 0.13987166 -0.08008878 -0.21409763
+v -0.15681867 -0.08916765 -0.20252506
+f 1 2 3
+f 6 1 3
+f 6 3 4
+f 7 6 5
+f 7 1 6
+f 10 7 5
+f 10 4 3
+f 11 6 4
+f 11 4 8
+f 12 2 1
+f 12 1 7
+f 12 7 9
+f 13 9 7
+f 14 10 3
+f 14 7 10
+f 14 13 7
+f 14 3 13
+f 15 10 5
+f 15 5 8
+f 15 8 4
+f 15 4 10
+f 16 8 5
+f 17 12 9
+f 17 2 12
+f 17 9 13
+f 17 13 3
+f 17 3 2
+f 18 11 8
+f 18 8 16
+f 18 6 11
+f 18 16 5
+f 18 5 6
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_24/collision/model_normalized_collision_4.obj b/objects/objaverse/banana/banana_24/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db250281daec572569ced717c1bddcec1e4ae5b0
--- /dev/null
+++ b/objects/objaverse/banana/banana_24/collision/model_normalized_collision_4.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.14393940 -0.01093631 -0.08969225
+v 0.16196429 -0.00783358 -0.21859442
+v 0.14344089 0.09492854 -0.09128874
+v -0.09840310 0.09829695 -0.10594781
+v -0.09848485 -0.01093631 -0.16544983
+v 0.14332243 0.09887403 -0.16543704
+v 0.00707006 -0.01469353 -0.04698979
+v -0.09826780 0.10181386 -0.16536927
+v 0.00756252 0.09611968 -0.09203961
+v -0.09848485 -0.01093631 -0.10484376
+f 1 2 3
+f 6 3 2
+f 7 1 3
+f 7 5 2
+f 7 2 1
+f 8 4 3
+f 8 3 6
+f 8 5 4
+f 8 6 2
+f 8 2 5
+f 9 7 3
+f 9 3 4
+f 9 4 7
+f 10 7 4
+f 10 4 5
+f 10 5 7
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_24/collision/model_normalized_collision_5.obj b/objects/objaverse/banana/banana_24/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f6c381c839b03e0d60a27cf98c9086189f335b17
--- /dev/null
+++ b/objects/objaverse/banana/banana_24/collision/model_normalized_collision_5.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.14724275 -0.08768463 -0.03932593
+v 0.14533998 -0.09689154 -0.16839113
+v 0.12996834 -0.06969277 -0.03302918
+v -0.23656518 -0.10011053 -0.05887814
+v 0.11343716 -0.10135062 -0.09037333
+v -0.16022695 -0.09796583 -0.16863833
+v 0.14395117 -0.07152626 -0.02912003
+v 0.14369290 -0.09738390 -0.16493215
+v -0.23605010 -0.09964894 -0.10575602
+v 0.05290493 -0.10102307 -0.14938475
+v 0.11316193 -0.10136553 -0.11957551
+v -0.09828626 -0.10090271 -0.14940463
+v 0.09807677 -0.10107503 -0.13432421
+v -0.17383883 -0.10109002 -0.11921226
+v -0.20399404 -0.10168214 -0.07440942
+v -0.15894515 -0.09845506 -0.16504072
+v -0.20426670 -0.10151096 -0.08941535
+v -0.23475138 -0.10022919 -0.05941813
+v -0.14359645 -0.10101185 -0.13431433
+f 6 3 2
+f 7 3 4
+f 7 4 1
+f 7 1 2
+f 7 2 3
+f 8 2 1
+f 8 1 5
+f 9 4 3
+f 9 3 6
+f 10 6 2
+f 10 2 8
+f 11 8 5
+f 12 6 10
+f 13 11 10
+f 13 10 8
+f 13 8 11
+f 15 10 11
+f 15 11 5
+f 16 14 9
+f 16 9 6
+f 16 6 12
+f 17 12 10
+f 17 10 15
+f 17 9 14
+f 18 15 5
+f 18 4 9
+f 18 17 15
+f 18 9 17
+f 18 5 1
+f 18 1 4
+f 19 16 12
+f 19 14 16
+f 19 17 14
+f 19 12 17
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_24/collision/model_normalized_collision_6.obj b/objects/objaverse/banana/banana_24/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b88a76fa671f7c0eb0a196fddfcdb704c80f0a8
--- /dev/null
+++ b/objects/objaverse/banana/banana_24/collision/model_normalized_collision_6.obj
@@ -0,0 +1,108 @@
+# https://github.com/mikedh/trimesh
+v 0.27090925 -0.08726516 0.02172127
+v 0.25858954 -0.08314757 -0.15460827
+v 0.26559889 0.08028944 -0.00167277
+v 0.14344089 0.09492854 -0.09128874
+v 0.14724275 -0.08768463 -0.03932593
+v 0.25707987 0.08026859 -0.15353909
+v 0.14076976 -0.08789106 -0.20187349
+v 0.27202024 0.03261194 0.05018895
+v 0.18771935 0.09602515 -0.14885269
+v 0.13987166 -0.08008878 -0.21409763
+v 0.24622208 -0.05294730 0.02799148
+v 0.14588432 0.08037833 -0.03733288
+v 0.26958470 0.05906656 0.03864719
+v 0.27244683 -0.07615213 0.03445674
+v 0.18867117 0.09424751 -0.10605467
+v 0.13987822 0.07263766 -0.21485983
+v 0.16926474 -0.08296564 -0.19897160
+v 0.15088677 -0.03899701 -0.01844802
+v 0.15043131 0.05798778 -0.01825336
+v 0.26761295 0.06991744 0.02612484
+v 0.27199223 0.00483062 0.05027207
+v 0.17348796 0.09377816 -0.09098771
+v 0.14073142 0.09518545 -0.18831834
+v 0.24187101 -0.06377311 -0.18013724
+v 0.14959854 -0.07805140 -0.03025204
+v 0.18503835 0.09265245 -0.17215307
+v 0.23966344 0.05861036 -0.17644677
+v 0.25575800 0.06750659 -0.16445309
+v 0.18199083 -0.06404628 -0.20758766
+v 0.25581088 -0.07697658 -0.16478267
+v 0.18127198 0.08145025 -0.19219508
+v 0.18150604 0.04712637 -0.20649986
+v 0.16660644 -0.07598600 -0.20704204
+v 0.23989180 0.08145555 -0.16271863
+v 0.15538249 0.09267063 -0.18711460
+v 0.21032071 0.05856565 -0.19104184
+v 0.15347915 0.07206148 -0.21030381
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+f 7 1 5
+f 9 3 6
+f 10 7 5
+f 10 5 4
+f 12 3 4
+f 12 4 5
+f 13 8 6
+f 13 6 3
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+f 14 2 6
+f 14 6 8
+f 14 5 1
+f 15 9 4
+f 15 3 9
+f 16 10 4
+f 17 2 7
+f 17 7 10
+f 18 12 5
+f 19 13 12
+f 19 8 13
+f 19 12 18
+f 20 13 3
+f 20 3 12
+f 20 12 13
+f 21 14 8
+f 21 11 14
+f 21 18 11
+f 21 19 18
+f 21 8 19
+f 22 15 4
+f 22 4 3
+f 22 3 15
+f 23 16 4
+f 23 4 9
+f 25 14 11
+f 25 11 18
+f 25 18 5
+f 25 5 14
+f 26 23 9
+f 26 9 6
+f 28 6 2
+f 28 24 27
+f 29 10 16
+f 30 2 17
+f 30 28 2
+f 30 24 28
+f 32 27 24
+f 32 24 29
+f 32 29 16
+f 33 17 10
+f 33 10 29
+f 33 30 17
+f 33 29 24
+f 33 24 30
+f 34 26 6
+f 34 6 28
+f 34 28 31
+f 35 31 16
+f 35 16 23
+f 35 23 26
+f 35 34 31
+f 35 26 34
+f 36 31 28
+f 36 28 27
+f 36 27 32
+f 37 16 31
+f 37 31 36
+f 37 36 32
+f 37 32 16
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_24/collision/model_normalized_collision_7.obj b/objects/objaverse/banana/banana_24/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf37dfd83dec3f0706da8f4307d5e2d98f9b516f
--- /dev/null
+++ b/objects/objaverse/banana/banana_24/collision/model_normalized_collision_7.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.14436222 -0.10083641 -0.08840110
+v 0.16196429 -0.00783358 -0.21859442
+v 0.08164966 -0.01161828 -0.03649215
+v -0.10011063 -0.01032160 -0.03606352
+v -0.09882294 -0.09990728 -0.16704740
+v -0.03925244 -0.00950339 -0.04536175
+v -0.10208443 -0.06734521 -0.04448766
+v 0.14393940 -0.01093631 -0.08969225
+v 0.14533998 -0.09689154 -0.16839113
+v -0.09848485 -0.01093631 -0.16544983
+v 0.08374420 -0.07066105 -0.04614413
+f 6 4 3
+f 7 3 4
+f 7 5 1
+f 8 1 2
+f 8 3 1
+f 8 6 3
+f 8 2 6
+f 9 5 2
+f 9 2 1
+f 9 1 5
+f 10 2 5
+f 10 6 2
+f 10 4 6
+f 10 7 4
+f 10 5 7
+f 11 7 1
+f 11 1 3
+f 11 3 7
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_24/collision/model_normalized_collision_8.obj b/objects/objaverse/banana/banana_24/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e3584951ae4d48d2aa78cc7dee5693695af2db58
--- /dev/null
+++ b/objects/objaverse/banana/banana_24/collision/model_normalized_collision_8.obj
@@ -0,0 +1,144 @@
+# https://github.com/mikedh/trimesh
+v 0.41316575 -0.08552906 0.00054808
+v 0.45263755 -0.06630827 0.00505387
+v 0.26571003 -0.09478005 0.00010244
+v 0.26559889 0.08028944 -0.00167277
+v 0.25869053 0.04731129 -0.16986608
+v 0.44854335 0.05136213 0.00557739
+v 0.43954097 -0.07622121 0.00369795
+v 0.26128545 -0.08836812 -0.14397293
+v 0.26107081 0.08267230 -0.14492995
+v 0.40208661 -0.01189144 -0.07333080
+v 0.40727473 -0.08429221 -0.03705292
+v 0.25899502 -0.06513760 -0.17017510
+v 0.37196125 0.05762133 -0.08670616
+v 0.25984143 0.07343972 -0.15716087
+v 0.36920007 0.07823732 -0.01495235
+v 0.43108987 -0.01180400 -0.04452651
+v 0.43516441 -0.07278715 -0.02231929
+v 0.29945381 -0.05274347 -0.14841059
+v 0.38828263 -0.07534801 -0.07329505
+v 0.29855734 0.03199664 -0.14725664
+v 0.31207351 0.05832304 -0.13151723
+v 0.28526789 0.07806841 -0.13668235
+v 0.35471385 0.07774185 -0.00083306
+v 0.36386664 0.07674424 -0.06759564
+v 0.44223098 0.04408574 -0.01840908
+v 0.41601424 0.00335165 -0.05974906
+v 0.44384851 -0.06086523 -0.01976070
+v 0.27061113 -0.06371945 -0.16418715
+v 0.34832252 -0.08240527 -0.09439704
+v 0.41637033 -0.07555182 -0.04560482
+v 0.40228525 -0.04074562 -0.07351988
+v 0.35782641 0.04350752 -0.10247664
+v 0.34338686 0.00321593 -0.11802941
+v 0.28313026 0.06588725 -0.14810602
+v 0.26991130 0.04665267 -0.16325758
+v 0.42632333 0.06458369 0.00025993
+v 0.35881006 0.06686732 -0.08942563
+v 0.41850715 0.06326311 -0.03485723
+v 0.42855076 0.05175574 -0.03347068
+v 0.35899070 -0.06411180 -0.10342531
+v 0.28425576 -0.07579091 -0.14834848
+v 0.41558762 -0.05225943 -0.05947153
+v 0.43054515 -0.04063909 -0.04541264
+v 0.34322037 -0.05246187 -0.11766532
+v 0.34269109 0.06579668 -0.10326516
+v 0.44296097 0.05248615 -0.00562261
+v 0.30345978 -0.08346292 -0.12505215
+v 0.32851151 -0.07547847 -0.11823216
+v 0.27418628 -0.08548745 -0.14109917
+f 5 3 4
+f 6 3 2
+f 6 4 3
+f 7 2 3
+f 7 3 1
+f 11 1 3
+f 11 3 8
+f 11 7 1
+f 12 8 3
+f 12 3 5
+f 14 5 4
+f 14 4 9
+f 15 9 4
+f 17 2 7
+f 17 7 11
+f 20 18 5
+f 22 14 9
+f 23 15 4
+f 23 4 6
+f 24 22 9
+f 24 9 15
+f 25 6 2
+f 26 25 16
+f 27 2 17
+f 27 25 2
+f 27 16 25
+f 28 12 5
+f 28 5 18
+f 29 19 11
+f 29 11 8
+f 30 17 11
+f 30 11 19
+f 30 27 17
+f 31 10 26
+f 32 26 10
+f 32 13 26
+f 32 21 13
+f 32 20 21
+f 33 18 20
+f 33 10 31
+f 33 32 10
+f 33 20 32
+f 34 5 14
+f 34 14 22
+f 35 21 20
+f 35 20 5
+f 35 34 21
+f 35 5 34
+f 36 23 6
+f 36 15 23
+f 36 24 15
+f 37 22 24
+f 38 36 6
+f 38 24 36
+f 38 37 24
+f 38 13 37
+f 39 26 13
+f 39 25 26
+f 39 13 38
+f 40 28 18
+f 41 8 12
+f 41 12 28
+f 42 30 19
+f 42 40 31
+f 42 19 40
+f 42 27 30
+f 43 31 26
+f 43 26 16
+f 43 42 31
+f 43 16 27
+f 43 27 42
+f 44 33 31
+f 44 18 33
+f 44 40 18
+f 44 31 40
+f 45 13 21
+f 45 21 34
+f 45 37 13
+f 45 34 22
+f 45 22 37
+f 46 39 38
+f 46 38 6
+f 46 6 25
+f 46 25 39
+f 47 29 8
+f 48 40 19
+f 48 19 29
+f 48 47 41
+f 48 29 47
+f 48 41 28
+f 48 28 40
+f 49 47 8
+f 49 8 41
+f 49 41 47
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_24/collision/model_normalized_collision_9.obj b/objects/objaverse/banana/banana_24/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c17fc2becb940e13588ffc01ddc772ecdf93830
--- /dev/null
+++ b/objects/objaverse/banana/banana_24/collision/model_normalized_collision_9.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.23839128 -0.08961856 -0.00846497
+v -0.22819261 -0.06508949 -0.19747351
+v -0.23415110 0.09401305 -0.09106440
+v -0.30741136 0.07751857 -0.03339420
+v -0.40775680 -0.04131059 0.07861519
+v -0.29727388 0.06612689 -0.14907156
+v -0.24078948 0.05560252 0.01684569
+v -0.23724426 0.07826025 -0.00857540
+v -0.33068876 -0.08475940 -0.09847716
+v -0.22998943 0.07312612 -0.18666364
+v -0.32999934 0.07621894 -0.10021623
+v -0.35039300 -0.04282733 0.07946432
+v -0.26458704 0.07706516 -0.00599003
+v -0.23110437 -0.08941774 -0.17299231
+v -0.33724571 -0.08293146 -0.03220978
+v -0.31104007 -0.05246347 -0.14954196
+v -0.26935226 0.01830990 -0.17764953
+v -0.22872023 0.03281171 -0.19795817
+v -0.33429057 0.07692475 -0.06058648
+v -0.28193255 0.08119140 -0.14888655
+v -0.37072421 0.01863761 0.08711738
+v -0.37201086 -0.04453156 0.08903865
+v -0.24311003 -0.06354819 0.01470746
+v -0.24878932 0.09326922 -0.09141901
+v -0.37330345 -0.06964582 -0.04247239
+v -0.30229876 -0.08201914 -0.13981670
+v -0.36893904 0.03253743 -0.07867159
+v -0.31276237 0.00324043 -0.14875202
+v -0.26960307 -0.05274548 -0.17794757
+v -0.25637400 0.05937485 -0.17865254
+v -0.24280062 0.06984829 -0.18228393
+v -0.31312291 0.07749387 -0.12453910
+v -0.23286129 0.09461382 -0.14806420
+v -0.33634704 0.01327513 0.07538687
+v -0.25441683 0.06402027 0.01520444
+v -0.35074645 0.06030211 -0.00492830
+v -0.29401385 -0.08278683 0.00921973
+v -0.41114592 0.01258227 0.07749079
+v -0.25695666 -0.07423149 0.01521281
+v -0.29235939 0.07682969 -0.01898059
+v -0.37791690 -0.06743840 -0.01692642
+v -0.36881631 -0.05252046 -0.07948924
+v -0.25842248 -0.08274354 -0.16954092
+v -0.28385140 0.05864073 -0.16189800
+v -0.33864867 0.03224373 -0.12105217
+v -0.29836274 -0.07581536 -0.14903189
+v -0.24050456 0.03202408 -0.19210900
+v -0.25517546 0.08305922 -0.16531612
+v -0.35290889 0.05602709 -0.09473371
+v -0.24727530 0.09262532 -0.14808587
+v -0.34854249 0.01963458 0.07873463
+v -0.25780415 0.04378855 0.02951788
+v -0.26002757 -0.05091370 0.02718138
+v -0.29406750 0.06180596 0.02211370
+v -0.36293231 0.06030929 -0.01804286
+v -0.25420742 -0.08530918 0.00275021
+v -0.39783867 0.01902828 0.07384156
+v -0.36498332 -0.06679750 0.01053935
+v -0.38229447 -0.06118083 -0.03835427
+v -0.35707658 -0.07313910 -0.08234789
+v -0.25450316 -0.07582070 -0.17801851
+v -0.32573937 0.03210922 -0.13413955
+v -0.33931014 -0.05241193 -0.12157014
+v -0.23208006 0.08529728 -0.17607154
+f 8 1 2
+f 8 7 1
+f 13 8 3
+f 14 2 1
+f 14 1 9
+f 15 9 1
+f 18 8 2
+f 18 10 3
+f 18 3 8
+f 23 1 7
+f 24 13 3
+f 24 19 4
+f 25 9 15
+f 26 14 9
+f 29 28 17
+f 29 16 28
+f 29 18 2
+f 31 10 18
+f 31 18 30
+f 32 20 6
+f 33 3 10
+f 33 24 3
+f 34 22 12
+f 34 21 22
+f 35 21 7
+f 35 7 8
+f 37 15 1
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+f 38 5 22
+f 39 1 23
+f 39 23 12
+f 39 12 22
+f 40 24 4
+f 40 13 24
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+f 41 25 15
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+f 50 11 19
+f 50 19 24
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+f 51 7 21
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+f 52 7 51
+f 53 34 12
+f 53 12 23
+f 53 52 34
+f 53 23 52
+f 54 35 8
+f 54 8 13
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+f 54 13 40
+f 55 36 4
+f 55 4 19
+f 55 49 38
+f 55 19 11
+f 55 11 49
+f 56 37 1
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+f 56 1 39
+f 57 38 21
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+f 57 36 55
+f 57 54 36
+f 57 21 54
+f 58 41 15
+f 58 5 41
+f 58 37 5
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+f 59 25 41
+f 59 5 38
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+f 60 59 42
+f 60 25 59
+f 60 26 9
+f 61 2 14
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+f 61 43 46
+f 61 46 29
+f 61 29 2
+f 62 44 28
+f 62 6 44
+f 62 45 6
+f 62 28 45
+f 63 42 27
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+f 64 10 31
+f 64 31 48
+f 64 50 33
+f 64 48 50
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_24/model.xml b/objects/objaverse/banana/banana_24/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..ff477d8a5c7480f6ba5845c880c6115bfca40070
--- /dev/null
+++ b/objects/objaverse/banana/banana_24/model.xml
@@ -0,0 +1,81 @@
+<mujoco model="banana_44">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.16 0.16 0.16" refquat="0.49999999999999983 -0.49999999999999983 0.49999999999999983 0.49999999999999983"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.16 0.16 0.16" refquat="0.49999999999999983 -0.49999999999999983 0.49999999999999983 0.49999999999999983"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.16 0.16 0.16" refquat="0.49999999999999983 -0.49999999999999983 0.49999999999999983 0.49999999999999983"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.16 0.16 0.16" refquat="0.49999999999999983 -0.49999999999999983 0.49999999999999983 0.49999999999999983"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.16 0.16 0.16" refquat="0.49999999999999983 -0.49999999999999983 0.49999999999999983 0.49999999999999983"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.16 0.16 0.16" refquat="0.49999999999999983 -0.49999999999999983 0.49999999999999983 0.49999999999999983"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.16 0.16 0.16" refquat="0.49999999999999983 -0.49999999999999983 0.49999999999999983 0.49999999999999983"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.16 0.16 0.16" refquat="0.49999999999999983 -0.49999999999999983 0.49999999999999983 0.49999999999999983"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.16 0.16 0.16" refquat="0.49999999999999983 -0.49999999999999983 0.49999999999999983 0.49999999999999983"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.16 0.16 0.16" refquat="0.49999999999999983 -0.49999999999999983 0.49999999999999983 0.49999999999999983"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.16 0.16 0.16" refquat="0.49999999999999983 -0.49999999999999983 0.49999999999999983 0.49999999999999983"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.16 0.16 0.16" refquat="0.49999999999999983 -0.49999999999999983 0.49999999999999983 0.49999999999999983"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.16 0.16 0.16" refquat="0.49999999999999983 -0.49999999999999983 0.49999999999999983 0.49999999999999983"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.16 0.16 0.16" refquat="0.49999999999999983 -0.49999999999999983 0.49999999999999983 0.49999999999999983"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.16 0.16 0.16" refquat="0.49999999999999983 -0.49999999999999983 0.49999999999999983 0.49999999999999983"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.16 0.16 0.16" refquat="0.49999999999999983 -0.49999999999999983 0.49999999999999983 0.49999999999999983"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.16 0.16 0.16" refquat="0.49999999999999983 -0.49999999999999983 0.49999999999999983 0.49999999999999983"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.16 0.16 0.16" refquat="0.49999999999999983 -0.49999999999999983 0.49999999999999983 0.49999999999999983"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.16 0.16 0.16" refquat="0.49999999999999983 -0.49999999999999983 0.49999999999999983 0.49999999999999983"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.16 0.16 0.16" refquat="0.49999999999999983 -0.49999999999999983 0.49999999999999983 0.49999999999999983"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.16 0.16 0.16" refquat="0.49999999999999983 -0.49999999999999983 0.49999999999999983 0.49999999999999983"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.16 0.16 0.16" refquat="0.49999999999999983 -0.49999999999999983 0.49999999999999983 0.49999999999999983"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.16 0.16 0.16" refquat="0.49999999999999983 -0.49999999999999983 0.49999999999999983 0.49999999999999983"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.16 0.16 0.16" refquat="0.49999999999999983 -0.49999999999999983 0.49999999999999983 0.49999999999999983"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.16 0.16 0.16" refquat="0.49999999999999983 -0.49999999999999983 0.49999999999999983 0.49999999999999983"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.16 0.16 0.16" refquat="0.49999999999999983 -0.49999999999999983 0.49999999999999983 0.49999999999999983"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.16 0.16 0.16" refquat="0.49999999999999983 -0.49999999999999983 0.49999999999999983 0.49999999999999983"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.16 0.16 0.16" refquat="0.49999999999999983 -0.49999999999999983 0.49999999999999983 0.49999999999999983"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.16 0.16 0.16" refquat="0.49999999999999983 -0.49999999999999983 0.49999999999999983 0.49999999999999983"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.16 0.16 0.16" refquat="0.49999999999999983 -0.49999999999999983 0.49999999999999983 0.49999999999999983"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.16 0.16 0.16" refquat="0.49999999999999983 -0.49999999999999983 0.49999999999999983 0.49999999999999983"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.16 0.16 0.16" refquat="0.49999999999999983 -0.49999999999999983 0.49999999999999983 0.49999999999999983"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.16 0.16 0.16" refquat="0.49999999999999983 -0.49999999999999983 0.49999999999999983 0.49999999999999983"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="Material.005" texture="image0" specular="0.5" shininess="0.359999993"/>
+  </asset>
+  <worldbody>
+    <body>
+      <body name="object">
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_0_vis" conaffinity="0" contype="0" group="1" material="Material.005"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_22._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_23._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_21._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_20._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_24._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_30._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_18._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_19._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_31._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_25._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_27._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_26._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_9._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_8._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_6._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_7._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_5._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_4._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_0._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_1._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_3._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_2._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_17._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_16._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_28._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_14._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_15._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_29._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_11._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_10._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_12._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_13._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+      </body>
+      <site rgba="0 0 0 0" size="0.005" pos="-1.107979944229065e-05 2.4821453217702684e-05 -0.01639654081192665" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="-1.107979944229065e-05 2.4821453217702684e-05 0.016290215051943113" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.03923499453178072 0.07926557442596617 -5.3162879991768274e-05" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/objects/objaverse/banana/banana_24/visual/material.mtl b/objects/objaverse/banana/banana_24/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..842b70538fc6029daec10eabd1278717f12035ab
--- /dev/null
+++ b/objects/objaverse/banana/banana_24/visual/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 359.99999300
+map_Kd material_0.jpeg
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_24/visual/model_normalized_0.obj b/objects/objaverse/banana/banana_24/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cd50766cf5f3af409cd275f195daa4c44748e15d
--- /dev/null
+++ b/objects/objaverse/banana/banana_24/visual/model_normalized_0.obj
@@ -0,0 +1,16955 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
+v 0.48917581 -0.04410684 0.11224128
+v 0.49345412 -0.04247967 0.10838011
+v 0.49272189 -0.04112354 0.11075753
+v 0.48871091 -0.04272909 0.11438706
+v 0.49090992 -0.03914199 0.11275117
+v 0.48666997 -0.04083716 0.11660129
+v 0.49681888 -0.03958586 0.10543702
+v 0.49587395 -0.03850019 0.10798029
+v 0.49384929 -0.03752400 0.11006424
+v 0.48458835 -0.04368762 0.11812304
+v 0.48450234 -0.04489254 0.11650656
+v 0.48048904 -0.04411359 0.12186915
+v 0.47980214 -0.04519589 0.12082566
+v 0.48299604 -0.04229650 0.11988074
+v 0.48037281 -0.04310323 0.12219237
+v 0.48280427 -0.04636757 0.11361461
+v 0.48786013 -0.04561012 0.10899600
+v 0.47913616 -0.04872709 0.10844148
+v 0.48462903 -0.04790629 0.10343548
+v 0.47770192 -0.04664140 0.11830331
+v 0.47359215 -0.04902381 0.11352477
+v 0.49240691 -0.04391007 0.10490168
+v 0.49598437 -0.04080578 0.10178344
+v 0.48956982 -0.04606038 0.09899795
+v 0.49345644 -0.04269167 0.09561808
+v -0.37975657 0.04043757 0.02382768
+v -0.37034338 0.04087516 0.03003186
+v -0.36358713 0.04883983 0.01647123
+v -0.37403590 0.04836260 0.00903064
+v -0.35495846 0.05717130 0.00145103
+v -0.36633007 0.05666188 -0.00743287
+v -0.36084418 0.04051242 0.03624638
+v -0.35304188 0.04840456 0.02392717
+v -0.34348108 0.05665142 0.01035736
+v -0.38343399 0.04602389 0.00222522
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+v -0.39082832 0.04087679 -0.00332019
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+v -0.37655918 0.05405050 -0.01554990
+v -0.38460671 0.04826555 -0.02215355
+v -0.39191388 0.03136329 0.03284477
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+v -0.38882806 0.02687973 0.05093266
+v -0.39783447 0.02740543 0.02896618
+v -0.40074710 0.02181760 0.04365397
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+v -0.38141280 0.02723504 0.05529837
+v -0.37392781 0.02697992 0.05966802
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+v -0.40154442 -0.02170160 0.00589844
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+v -0.39265308 -0.02311178 -0.03258652
+v -0.39184879 -0.03852099 -0.03285965
+v -0.40154442 -0.00894771 0.00664311
+v -0.39822266 -0.00789365 -0.01141340
+v -0.39265308 -0.00671348 -0.03162916
+v -0.39526469 -0.04800276 -0.01165701
+v -0.39888051 -0.04412161 0.00633836
+v -0.39082832 -0.05727451 -0.00905016
+v -0.39488347 -0.05224550 0.00848832
+v -0.38943477 -0.05195389 -0.03176480
+v -0.38460671 -0.06242149 -0.02861540
+v -0.40138751 -0.04057402 0.02280872
+v -0.40316346 -0.03147626 0.02224549
+v -0.40389568 -0.03762698 0.03833950
+v -0.40547056 -0.02967289 0.03788180
+v -0.39783447 -0.04765152 0.02458432
+v -0.40074710 -0.04381070 0.03982267
+v -0.40375621 -0.02102993 0.02249096
+v -0.40375621 -0.00991076 0.02314008
+v -0.40599474 -0.02053980 0.03810647
+v -0.40599590 -0.01081768 0.03867401
+v -0.32293105 -0.05389080 0.05513902
+v -0.32666657 -0.05748151 0.05264863
+v -0.31510086 -0.06342429 0.04396220
+v -0.31095622 -0.05935252 0.04694632
+v -0.30218808 -0.06958860 0.03474241
+v -0.29767616 -0.06501962 0.03830394
+v -0.33143419 -0.05996899 0.04952992
+v -0.32039382 -0.06623756 0.04022017
+v -0.30794944 -0.07273532 0.03027198
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\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_3/collision/model_normalized_collision_0.obj b/objects/objaverse/banana/banana_3/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..01f61e7796a24d11f871db03a70607fc5de78036
--- /dev/null
+++ b/objects/objaverse/banana/banana_3/collision/model_normalized_collision_0.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.08278210 0.03787298 -0.09136472
+v 0.07349515 0.03726232 -0.13186185
+v 0.07526411 0.11513050 -0.11287563
+v -0.08193084 0.09813938 -0.08969835
+v -0.08280584 0.03786791 -0.09102208
+v -0.02927865 0.09447868 -0.15016067
+v 0.08176189 0.09828291 -0.09055448
+v 0.05310614 0.03599856 -0.15373020
+v 0.05322678 0.11059784 -0.13915208
+v -0.07787866 0.03743101 -0.11784669
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+v 0.06319656 0.10968661 -0.13504649
+v -0.03079408 0.03691145 -0.16041838
+v 0.05203795 0.06486279 -0.14925397
+v 0.07056535 0.09669971 -0.12878753
+v 0.07403274 0.11260239 -0.11698751
+f 5 1 4
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+f 18 17 14
+f 18 14 3
+f 18 3 2
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\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_3/collision/model_normalized_collision_1.obj b/objects/objaverse/banana/banana_3/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..77bfedc027d7d752522b34b63b6a93d7c4add684
--- /dev/null
+++ b/objects/objaverse/banana/banana_3/collision/model_normalized_collision_1.obj
@@ -0,0 +1,138 @@
+# https://github.com/mikedh/trimesh
+v 0.05571360 -0.40108242 0.01324002
+v 0.07001943 -0.38207123 -0.07306611
+v 0.07055291 -0.26600163 -0.02241199
+v -0.06567721 -0.26687914 -0.01088986
+v -0.06001306 -0.39469853 -0.09814385
+v 0.02371616 -0.28397916 0.01102254
+v 0.06997367 -0.36983779 -0.02004076
+v 0.05200005 -0.39267011 -0.10643362
+v -0.05894987 -0.39933714 0.00637929
+v -0.04307098 -0.26239372 -0.15283697
+v 0.05194210 -0.34399304 0.01444521
+v 0.05170743 -0.26821710 -0.00130064
+v 0.07085158 -0.38376181 -0.03335213
+v 0.06334245 -0.26352577 -0.14401734
+v -0.07661519 -0.33996767 -0.04783319
+v -0.05380885 -0.34401691 0.01369277
+v -0.07792354 -0.26537807 -0.04914727
+v -0.02813099 -0.34971230 -0.13408461
+v -0.05597839 -0.26854761 -0.00298147
+v 0.03691918 -0.29949206 0.01053078
+v 0.07053125 -0.26383106 -0.13092275
+v -0.06145015 -0.29803042 -0.00023337
+v -0.06541788 -0.26311153 -0.14190953
+v -0.05321535 -0.39215762 -0.10626152
+v 0.02410857 -0.30597159 -0.14862772
+v -0.02837658 -0.28419120 0.00996657
+v 0.06060995 -0.34941585 -0.12249177
+v 0.03916284 -0.26261736 -0.15400651
+v -0.05497235 -0.32981587 0.01020795
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+v -0.06263966 -0.30559292 -0.13566899
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\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_3/collision/model_normalized_collision_10.obj b/objects/objaverse/banana/banana_3/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..87251495788126144169e107884e398a69a73cb8
--- /dev/null
+++ b/objects/objaverse/banana/banana_3/collision/model_normalized_collision_10.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v -0.04477464 -0.22509680 -0.15828921
+v -0.03153598 -0.21903686 -0.16307765
+v -0.07605651 -0.21960000 -0.12147196
+v -0.07391674 0.09818160 -0.12056370
+v -0.04240600 -0.02447005 -0.16420366
+v -0.03176415 0.09766165 -0.14878992
+v -0.04207120 -0.17299299 -0.16477269
+v -0.06487136 0.02046745 -0.15055727
+v -0.02969385 -0.02414071 -0.16772076
+v -0.07541235 -0.02304675 -0.13230320
+v -0.04282722 0.08006489 -0.14954799
+v -0.06348154 -0.21752737 -0.15182547
+v -0.02989721 0.08070743 -0.15309240
+v -0.02929474 -0.17324899 -0.16834301
+v -0.07892070 -0.02284757 -0.11941985
+v -0.05588656 0.06462494 -0.14791617
+v -0.06555559 0.09504646 -0.13711808
+v -0.07551970 -0.12856252 -0.13233141
+v -0.07869677 -0.12863161 -0.11938870
+v -0.03941876 0.10381347 -0.14517691
+f 1 2 3
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+f 20 17 4
+f 20 4 6
+f 20 6 11
+f 20 11 17
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_3/collision/model_normalized_collision_11.obj b/objects/objaverse/banana/banana_3/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b0346929af416333123c66b1db85b8b9bf29236
--- /dev/null
+++ b/objects/objaverse/banana/banana_3/collision/model_normalized_collision_11.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.03587656 -0.46535846 -0.05361472
+v 0.06643332 -0.40354019 -0.06231949
+v -0.04710633 -0.45239096 -0.05735809
+v -0.06372259 -0.41024618 -0.06714534
+v 0.03872966 -0.39483514 -0.11006533
+v -0.05287590 -0.44145878 -0.05972681
+v 0.05470905 -0.39831970 -0.10153779
+v -0.02984660 -0.39604337 -0.11210006
+v 0.04549032 -0.44891917 -0.06695981
+v -0.05112654 -0.43908998 -0.07084204
+v 0.04854274 -0.43467770 -0.07923869
+v 0.04557177 -0.45436355 -0.05807567
+v -0.02685064 -0.43404048 -0.08910754
+v 0.04902723 -0.42052800 -0.09049759
+v 0.02334379 -0.43468420 -0.08983017
+v -0.02800145 -0.40756595 -0.10630264
+v -0.02896779 -0.46735686 -0.05481196
+v 0.03665329 -0.40654891 -0.10427495
+v 0.03542076 -0.44709723 -0.07488382
+v -0.04614724 -0.44792709 -0.06768140
+v -0.02696822 -0.46116236 -0.06387125
+v 0.03464022 -0.45899422 -0.06259422
+f 1 2 3
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+f 22 9 1
+f 22 1 21
+f 22 21 15
+f 22 15 19
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_3/collision/model_normalized_collision_12.obj b/objects/objaverse/banana/banana_3/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..97e9adfb061e9814da869051d76c1d3f56853dde
--- /dev/null
+++ b/objects/objaverse/banana/banana_3/collision/model_normalized_collision_12.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.02108605 0.40951486 0.07584565
+v 0.01640255 0.45924257 0.16474537
+v -0.02313303 0.49186938 0.14449918
+v -0.02260915 0.40785031 0.07522087
+v 0.01789254 0.49523144 0.13057094
+v 0.01697250 0.42541837 0.13882062
+v 0.02056841 0.47813938 0.16643224
+v -0.01885707 0.49480821 0.13119919
+v 0.00762847 0.46617647 0.10861550
+v -0.01741415 0.42572158 0.13860014
+v 0.02201120 0.49289987 0.14358435
+v -0.02203370 0.47831143 0.16541103
+v 0.02674548 0.46267735 0.13697579
+v 0.02520902 0.46789694 0.15926224
+v -0.01124895 0.43628567 0.09075895
+v -0.01915858 0.46031239 0.16361592
+v 0.02594416 0.48809310 0.14064659
+v -0.01073114 0.46578807 0.10939314
+v 0.02679688 0.48200837 0.15635005
+v -0.01760589 0.48285549 0.12273852
+f 6 4 1
+f 8 4 3
+f 9 5 1
+f 9 8 5
+f 10 6 2
+f 10 4 6
+f 11 3 7
+f 11 8 3
+f 11 5 8
+f 12 7 3
+f 12 2 7
+f 12 3 4
+f 12 4 10
+f 14 7 2
+f 14 2 6
+f 14 6 1
+f 14 1 13
+f 15 9 1
+f 15 1 4
+f 16 12 10
+f 16 10 2
+f 16 2 12
+f 17 13 1
+f 17 1 5
+f 17 5 11
+f 18 15 4
+f 18 8 9
+f 18 9 15
+f 19 14 13
+f 19 13 17
+f 19 7 14
+f 19 17 11
+f 19 11 7
+f 20 18 4
+f 20 4 8
+f 20 8 18
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_3/collision/model_normalized_collision_13.obj b/objects/objaverse/banana/banana_3/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e7b3c629acbd8a6c4631e6dd868a97b539dfc2c7
--- /dev/null
+++ b/objects/objaverse/banana/banana_3/collision/model_normalized_collision_13.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.05170743 -0.26821710 -0.00130064
+v 0.06479385 -0.26425921 -0.01050281
+v 0.05696434 -0.14408664 -0.01884201
+v -0.03446086 -0.14366095 -0.01071891
+v -0.03654875 -0.21791338 -0.00426515
+v 0.01228001 -0.26607744 0.00968433
+v 0.05170332 -0.14476310 -0.01667206
+v -0.02912688 -0.22206820 -0.00125500
+v 0.01795087 -0.26092759 0.00775159
+v -0.03010341 -0.14438856 -0.00929604
+v 0.02376310 -0.19165759 -0.00396894
+v -0.01507881 -0.19142558 -0.00208112
+f 1 2 3
+f 3 2 4
+f 5 4 2
+f 6 5 2
+f 6 2 1
+f 7 1 3
+f 8 4 5
+f 8 5 6
+f 9 7 6
+f 9 6 1
+f 9 1 7
+f 10 7 3
+f 10 3 4
+f 10 4 8
+f 11 10 6
+f 11 6 7
+f 11 7 10
+f 12 10 8
+f 12 8 6
+f 12 6 10
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_3/collision/model_normalized_collision_14.obj b/objects/objaverse/banana/banana_3/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2ccf3874b30748bb3270f0764763a718ff7e99f5
--- /dev/null
+++ b/objects/objaverse/banana/banana_3/collision/model_normalized_collision_14.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.01165559 -0.48782130 -0.02883237
+v 0.02066847 -0.42400733 -0.09796643
+v 0.01117928 -0.34469022 0.02681805
+v -0.07462200 -0.34357338 -0.03448263
+v -0.02870025 -0.42560565 -0.09461745
+v 0.01266622 -0.34090910 -0.04630094
+v -0.01345947 -0.45686287 0.03052802
+v 0.00975895 -0.45735643 0.03118332
+v 0.00913377 -0.47617780 -0.05045510
+v -0.01377481 -0.34468738 0.02654572
+v -0.01612877 -0.48696524 -0.02844699
+v -0.01387835 -0.47545814 -0.04995660
+f 6 3 2
+f 6 5 4
+f 6 2 5
+f 8 1 2
+f 8 2 3
+f 9 5 2
+f 9 2 1
+f 10 6 4
+f 10 3 6
+f 10 4 7
+f 10 8 3
+f 10 7 8
+f 11 8 7
+f 11 1 8
+f 11 9 1
+f 11 7 4
+f 11 4 5
+f 12 11 5
+f 12 5 9
+f 12 9 11
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_3/collision/model_normalized_collision_15.obj b/objects/objaverse/banana/banana_3/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2f1e226c460eba2740bc9894661f418c8c26b64e
--- /dev/null
+++ b/objects/objaverse/banana/banana_3/collision/model_normalized_collision_15.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.06366109 -0.26651590 -0.00874039
+v 0.08079906 -0.26592985 -0.07796272
+v 0.07485667 -0.00664159 -0.03592077
+v 0.06034262 -0.00820485 -0.01240033
+v 0.05241873 -0.17550613 -0.01483052
+v 0.08266003 -0.00746487 -0.07698490
+v 0.06805975 -0.00699194 -0.01915639
+v 0.07055291 -0.26600163 -0.02241199
+v 0.05686445 -0.26575229 -0.00390414
+v 0.08251713 -0.00804519 -0.07499160
+v 0.08094284 -0.26489478 -0.07615575
+f 6 5 4
+f 6 2 5
+f 7 4 1
+f 7 6 4
+f 7 3 6
+f 8 1 2
+f 8 7 1
+f 8 3 7
+f 9 5 2
+f 9 2 1
+f 9 1 4
+f 9 4 5
+f 10 6 3
+f 10 3 8
+f 11 10 8
+f 11 8 2
+f 11 2 6
+f 11 6 10
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_3/collision/model_normalized_collision_16.obj b/objects/objaverse/banana/banana_3/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..802fd71221d6dea211e867cecb805354fd411365
--- /dev/null
+++ b/objects/objaverse/banana/banana_3/collision/model_normalized_collision_16.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v 0.08113479 0.09897416 -0.03239021
+v 0.07880243 0.09798331 -0.10430708
+v 0.08389097 0.23448483 -0.03097546
+v -0.08393454 0.23408683 -0.03078110
+v -0.08130704 0.09928959 -0.03319206
+v 0.03795979 0.22691964 -0.10539338
+v -0.06555559 0.09504646 -0.13711808
+v 0.07118013 0.23105174 -0.08429924
+v 0.01159154 0.09515967 -0.15312468
+v -0.07916589 0.09775877 -0.10311145
+v -0.06665926 0.22821195 -0.09325971
+v -0.07592045 0.23198004 -0.07111732
+v 0.05431170 0.09611991 -0.14208041
+v -0.02917811 0.15407559 -0.13464774
+v -0.07428133 0.17226473 -0.10044910
+v 0.06972225 0.17073747 -0.11119433
+v 0.03727959 0.15350215 -0.13260101
+v -0.01556779 0.09508528 -0.15279131
+v -0.05542931 0.18253617 -0.11693816
+v -0.04255348 0.22635568 -0.10424093
+v -0.06664062 0.19802778 -0.10579714
+v 0.07403274 0.11260239 -0.11698751
+v 0.06175286 0.21205989 -0.10301754
+v 0.01134458 0.10954706 -0.14981820
+v -0.01560195 0.10946757 -0.14946535
+v -0.06570161 0.10940984 -0.13375669
+v -0.02913673 0.19753129 -0.11971890
+v 0.06519672 0.22856698 -0.09388331
+v 0.03724562 0.19676107 -0.11778909
+v 0.06235833 0.16807930 -0.11887077
+v 0.05134831 0.13830358 -0.13240880
+f 1 2 3
+f 1 3 4
+f 5 1 4
+f 7 1 5
+f 8 3 2
+f 9 1 7
+f 10 7 5
+f 10 5 4
+f 11 8 6
+f 12 4 3
+f 12 3 8
+f 12 8 11
+f 12 10 4
+f 13 2 1
+f 13 1 9
+f 15 12 11
+f 15 7 10
+f 15 10 12
+f 18 9 7
+f 20 11 6
+f 21 15 11
+f 21 20 19
+f 21 11 20
+f 22 16 8
+f 22 8 2
+f 22 2 13
+f 22 13 16
+f 24 17 13
+f 24 13 9
+f 24 9 18
+f 25 18 7
+f 25 24 18
+f 25 14 24
+f 26 19 14
+f 26 21 19
+f 26 7 15
+f 26 15 21
+f 26 25 7
+f 26 14 25
+f 27 20 6
+f 27 14 19
+f 27 19 20
+f 27 24 14
+f 28 23 6
+f 28 6 8
+f 28 8 16
+f 29 6 23
+f 29 27 6
+f 29 17 24
+f 29 24 27
+f 30 16 13
+f 30 29 23
+f 30 17 29
+f 30 28 16
+f 30 23 28
+f 31 30 13
+f 31 13 17
+f 31 17 30
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_3/collision/model_normalized_collision_17.obj b/objects/objaverse/banana/banana_3/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f903dd2af3f6c977ccc5fd189825220ff8b4fea4
--- /dev/null
+++ b/objects/objaverse/banana/banana_3/collision/model_normalized_collision_17.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.03844898 -0.31626458 -0.14198968
+v -0.07026209 -0.30964973 -0.11942958
+v -0.04563990 -0.00388647 -0.16120188
+v -0.08268498 -0.00736998 -0.07730936
+v -0.08096352 -0.26473388 -0.07590286
+v -0.07901116 -0.00783059 -0.11813095
+v -0.08240100 -0.00852914 -0.07333612
+v -0.07762324 -0.30938245 -0.08917090
+v -0.07576215 -0.24897255 -0.11738459
+v -0.08067844 -0.26677856 -0.07950188
+v -0.07461656 -0.31478052 -0.10225424
+v -0.07519328 -0.30878961 -0.10233858
+f 1 2 3
+f 6 4 3
+f 7 1 3
+f 7 3 4
+f 7 5 1
+f 7 4 5
+f 8 1 5
+f 9 6 3
+f 9 3 2
+f 10 5 4
+f 10 4 6
+f 10 6 9
+f 10 9 8
+f 10 8 5
+f 11 2 1
+f 11 1 8
+f 12 9 2
+f 12 2 11
+f 12 11 8
+f 12 8 9
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_3/collision/model_normalized_collision_18.obj b/objects/objaverse/banana/banana_3/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cdadbb9f5dc2214b9c3d0886af4a55b66e0d93e9
--- /dev/null
+++ b/objects/objaverse/banana/banana_3/collision/model_normalized_collision_18.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v -0.02136086 -0.46662883 0.02375297
+v -0.01826099 -0.46455195 -0.06340833
+v -0.02378968 -0.40019709 0.03359392
+v -0.05668850 -0.40034940 0.01151579
+v -0.04710633 -0.45239096 -0.05735809
+v -0.02984660 -0.39604337 -0.11210006
+v -0.04281461 -0.45226094 0.00671402
+v -0.04334812 -0.39415844 -0.10883979
+v -0.06017484 -0.42638734 -0.01930236
+v -0.06309915 -0.39949445 -0.00588851
+v -0.02977144 -0.43984905 -0.08363336
+v -0.06051667 -0.41268257 -0.00569833
+v -0.06290803 -0.39736659 -0.08755558
+v -0.02870025 -0.42560565 -0.09461745
+v -0.05044917 -0.43355625 -0.07898110
+v -0.06000420 -0.42550987 -0.05854068
+v -0.04118231 -0.40591908 -0.10301878
+v -0.02800145 -0.40756595 -0.10630264
+v -0.05137270 -0.41978143 -0.08955874
+v -0.05953010 -0.40966186 -0.08511539
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 6 3 2
+f 7 5 1
+f 7 1 4
+f 8 3 6
+f 9 5 7
+f 10 4 3
+f 10 3 8
+f 12 9 7
+f 12 7 4
+f 12 10 9
+f 12 4 10
+f 13 10 8
+f 13 9 10
+f 14 2 11
+f 15 11 2
+f 15 2 5
+f 16 5 9
+f 16 9 13
+f 16 15 5
+f 17 8 6
+f 18 6 2
+f 18 2 14
+f 18 17 6
+f 18 14 17
+f 19 14 11
+f 19 11 15
+f 19 17 14
+f 19 8 17
+f 19 13 8
+f 20 16 13
+f 20 15 16
+f 20 19 15
+f 20 13 19
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_3/collision/model_normalized_collision_19.obj b/objects/objaverse/banana/banana_3/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4088a69f2438afca9d209763b6d7fad841676b6a
--- /dev/null
+++ b/objects/objaverse/banana/banana_3/collision/model_normalized_collision_19.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.02677567 0.25160242 0.08551891
+v 0.05476439 0.28163775 0.08428680
+v 0.01127289 0.29976117 0.10263312
+v -0.03184212 0.36751704 0.10510392
+v -0.04900797 0.35200486 0.08317401
+v 0.03043058 0.36894481 0.10603080
+v 0.05096996 0.28506818 0.08718278
+v -0.05707890 0.28154036 0.08300223
+v -0.03643182 0.36755903 0.09818554
+v 0.04779047 0.35310207 0.08498358
+v 0.02386884 0.25557787 0.08752351
+v 0.03631103 0.32822962 0.10148325
+v -0.03093013 0.25198930 0.08436889
+v -0.04388395 0.35063827 0.09394023
+v 0.04239260 0.35167191 0.09587000
+v 0.03482284 0.36865054 0.10017537
+v -0.02790234 0.25580482 0.08663684
+v -0.03864640 0.34175198 0.10195234
+v -0.01378729 0.29972835 0.10217755
+v -0.05216704 0.28455818 0.08656362
+v -0.02752424 0.31405143 0.10194453
+f 6 4 3
+f 7 1 2
+f 8 5 2
+f 9 4 6
+f 10 2 5
+f 10 5 9
+f 11 7 3
+f 11 1 7
+f 12 6 3
+f 12 3 7
+f 12 7 2
+f 13 8 2
+f 13 2 1
+f 14 5 8
+f 14 9 5
+f 14 4 9
+f 15 2 10
+f 15 12 2
+f 15 6 12
+f 16 10 9
+f 16 9 6
+f 16 15 10
+f 16 6 15
+f 17 13 1
+f 17 1 11
+f 18 14 8
+f 18 4 14
+f 19 17 11
+f 19 11 3
+f 19 3 4
+f 20 8 13
+f 20 13 17
+f 20 18 8
+f 21 19 4
+f 21 4 18
+f 21 18 20
+f 21 20 17
+f 21 17 19
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_3/collision/model_normalized_collision_2.obj b/objects/objaverse/banana/banana_3/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be22d38748894e46508bc4b790a098775a28b909
--- /dev/null
+++ b/objects/objaverse/banana/banana_3/collision/model_normalized_collision_2.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v 0.06945067 0.10139247 0.00570595
+v 0.08113479 0.09897416 -0.03239021
+v 0.07518591 0.23526910 0.04075162
+v -0.07561187 0.23538760 0.03948324
+v -0.08130704 0.09928959 -0.03319206
+v 0.08389097 0.23448483 -0.03097546
+v 0.01106978 0.13635912 0.04154979
+v 0.07002314 0.17811879 0.03529195
+v -0.04763587 0.08357938 0.01352045
+v -0.08393454 0.23408683 -0.03078110
+v 0.03856796 0.16475609 0.04674592
+v -0.06071635 0.08509764 0.00868295
+v 0.03626744 0.10487072 0.02421770
+v -0.04305851 0.16532562 0.04543428
+v 0.06286579 0.10365877 0.01310799
+v -0.07464082 0.10066167 -0.00706325
+v -0.02853282 0.10419633 0.02634215
+v -0.06670286 0.15068104 0.02842583
+v -0.01582817 0.13652897 0.04113994
+v 0.06116249 0.13581045 0.02585315
+v -0.07479356 0.17668493 0.02338834
+v -0.04333390 0.08742575 0.01639309
+v -0.07509362 0.22162217 0.03840976
+v -0.06611322 0.10422837 0.01132921
+f 6 3 2
+f 6 4 3
+f 6 2 5
+f 8 1 2
+f 8 2 3
+f 9 2 1
+f 10 6 5
+f 10 5 4
+f 10 4 6
+f 11 3 4
+f 11 8 3
+f 12 5 2
+f 12 2 9
+f 13 11 7
+f 14 12 9
+f 14 11 4
+f 15 1 8
+f 15 11 13
+f 15 13 9
+f 15 9 1
+f 16 5 12
+f 17 13 7
+f 18 12 14
+f 19 7 11
+f 19 11 14
+f 19 17 7
+f 19 14 17
+f 20 15 8
+f 20 8 11
+f 20 11 15
+f 21 5 16
+f 22 9 13
+f 22 13 17
+f 22 17 14
+f 22 14 9
+f 23 18 14
+f 23 14 4
+f 23 21 18
+f 23 4 5
+f 23 5 21
+f 24 16 12
+f 24 12 18
+f 24 21 16
+f 24 18 21
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_3/collision/model_normalized_collision_20.obj b/objects/objaverse/banana/banana_3/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a27d2c9720fe721c63674ec6cb497b639e60c2d3
--- /dev/null
+++ b/objects/objaverse/banana/banana_3/collision/model_normalized_collision_20.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.00601119 -0.49242217 0.01510802
+v 0.01750237 -0.47964232 -0.04152216
+v 0.00975895 -0.45735643 0.03118332
+v -0.03444680 -0.45461422 0.02024371
+v -0.03925042 -0.46411264 -0.05243268
+v -0.01178696 -0.46905952 0.02602351
+v 0.01668169 -0.46718563 0.02526801
+v -0.01330695 -0.49036159 -0.02293940
+v -0.01826099 -0.46455195 -0.06340833
+v 0.00872396 -0.46961412 0.02659991
+v -0.01345947 -0.45686287 0.03052802
+v -0.01539202 -0.49293038 0.00692951
+v 0.00924154 -0.49114005 -0.02312356
+v -0.01602034 -0.47035022 -0.05670429
+v -0.04272763 -0.45717914 -0.05899126
+v -0.00871756 -0.49178558 0.01437617
+v -0.02956012 -0.46468427 0.01791685
+v -0.01923887 -0.49115325 -0.01445188
+f 7 1 2
+f 7 2 3
+f 9 3 2
+f 10 6 1
+f 10 7 3
+f 10 1 7
+f 11 3 4
+f 11 4 6
+f 11 10 3
+f 11 6 10
+f 13 2 1
+f 13 1 12
+f 14 8 5
+f 14 5 9
+f 14 13 8
+f 14 9 2
+f 14 2 13
+f 15 9 5
+f 15 5 4
+f 15 4 3
+f 15 3 9
+f 16 12 1
+f 16 1 6
+f 17 4 5
+f 17 12 16
+f 17 16 6
+f 17 6 4
+f 18 5 8
+f 18 13 12
+f 18 8 13
+f 18 17 5
+f 18 12 17
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_3/collision/model_normalized_collision_21.obj b/objects/objaverse/banana/banana_3/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..957cb30eb5f8a4787a4d749627278ca13fd72151
--- /dev/null
+++ b/objects/objaverse/banana/banana_3/collision/model_normalized_collision_21.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.04239260 0.35167191 0.09587000
+v 0.05718776 0.35564659 0.04457811
+v 0.01952321 0.41992886 0.13109117
+v -0.01229561 0.42379893 0.14084377
+v -0.05800899 0.35380357 0.04444690
+v 0.00929837 0.42321935 0.14158860
+v -0.03961751 0.35400772 0.09932905
+v 0.01022325 0.40352521 0.05030671
+v -0.04900797 0.35200486 0.08317401
+v 0.02815671 0.40139033 0.06123545
+v 0.04516925 0.37846370 0.04423264
+v -0.02700606 0.39937397 0.05150605
+v -0.02071176 0.42097567 0.12970432
+v 0.02287356 0.40058899 0.05116324
+v -0.04652236 0.37629612 0.04409494
+f 1 2 3
+f 5 2 1
+f 6 1 3
+f 7 6 4
+f 7 1 6
+f 8 6 3
+f 8 4 6
+f 9 5 1
+f 9 1 7
+f 11 10 3
+f 11 3 2
+f 13 9 7
+f 13 7 4
+f 13 5 9
+f 13 4 8
+f 13 8 12
+f 14 8 3
+f 14 3 10
+f 14 11 8
+f 14 10 11
+f 15 11 2
+f 15 2 5
+f 15 8 11
+f 15 12 8
+f 15 13 12
+f 15 5 13
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_3/collision/model_normalized_collision_22.obj b/objects/objaverse/banana/banana_3/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a2c197c77e07e8cd02395a5201e6b49a91e076b1
--- /dev/null
+++ b/objects/objaverse/banana/banana_3/collision/model_normalized_collision_22.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v 0.05561103 0.16149431 0.03882010
+v 0.06639418 0.17648501 0.03932038
+v 0.06094841 0.25521496 0.07316802
+v -0.04900797 0.35200486 0.08317401
+v -0.05800899 0.35380357 0.04444690
+v -0.02813278 0.21221724 0.07043516
+v 0.06181718 0.21183863 0.05730416
+v 0.07354751 0.29400954 0.04080156
+v 0.04779047 0.35310207 0.08498358
+v -0.06846815 0.17733200 0.03731272
+v 0.06278626 0.18113354 0.04378780
+v 0.07008414 0.22183451 0.05098914
+v 0.02347120 0.21183927 0.07143811
+v 0.07448922 0.22120636 0.03979603
+v 0.06994924 0.29374201 0.05494434
+v 0.05951364 0.35048368 0.04349103
+v -0.02857547 0.18189548 0.05736805
+v -0.06430215 0.33642176 0.04334217
+v -0.05533514 0.24115960 0.07164393
+v 0.03633514 0.18276822 0.05534569
+v 0.05402234 0.33620767 0.08114529
+v -0.05989843 0.16214562 0.03724599
+v -0.05889608 0.33635629 0.06831604
+v 0.05132756 0.16649830 0.04270660
+v 0.05478751 0.34972354 0.06988547
+v -0.06469927 0.22468332 0.06042688
+v -0.05440937 0.19782165 0.05497148
+v -0.06639232 0.18194965 0.04188394
+v -0.05510063 0.16705359 0.04141196
+f 9 5 4
+f 11 7 1
+f 11 1 2
+f 11 2 7
+f 12 7 2
+f 12 3 7
+f 13 7 3
+f 13 3 9
+f 13 9 4
+f 13 4 6
+f 14 2 1
+f 14 10 8
+f 14 12 2
+f 15 3 12
+f 15 14 8
+f 15 12 14
+f 16 5 9
+f 17 13 6
+f 18 8 10
+f 18 16 8
+f 18 5 16
+f 19 6 4
+f 20 7 13
+f 20 13 17
+f 21 9 3
+f 21 3 15
+f 22 1 17
+f 22 14 1
+f 22 10 14
+f 23 4 5
+f 23 5 18
+f 24 1 7
+f 24 7 20
+f 24 20 17
+f 24 17 1
+f 25 16 9
+f 25 9 21
+f 25 8 16
+f 25 21 15
+f 25 15 8
+f 26 19 4
+f 26 4 23
+f 26 23 18
+f 26 18 10
+f 27 17 6
+f 27 6 19
+f 27 19 26
+f 28 26 10
+f 28 10 22
+f 28 27 26
+f 28 22 27
+f 29 27 22
+f 29 22 17
+f 29 17 27
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_3/collision/model_normalized_collision_23.obj b/objects/objaverse/banana/banana_3/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4028ed2d4fb2ce24f4d5f5d86e8b24f5e74bf6f2
--- /dev/null
+++ b/objects/objaverse/banana/banana_3/collision/model_normalized_collision_23.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.07452308 -0.26758419 -0.11796718
+v -0.02968782 -0.26309513 -0.15656583
+v -0.07556216 -0.26676160 -0.11422722
+v -0.07816215 -0.22064628 -0.11230790
+v -0.05839878 -0.21789659 -0.15463129
+v -0.07670779 -0.22164014 -0.11870932
+v -0.06541788 -0.26311153 -0.14190953
+v -0.03153598 -0.21903686 -0.16307765
+v -0.07390030 -0.26489848 -0.12090739
+v -0.06703038 -0.21888235 -0.14719519
+v -0.05614515 -0.26157588 -0.14849762
+v -0.07605651 -0.21960000 -0.12147196
+f 1 2 3
+f 3 2 4
+f 6 3 4
+f 7 2 1
+f 8 4 2
+f 9 1 3
+f 9 3 6
+f 9 7 1
+f 10 5 7
+f 10 7 9
+f 11 7 5
+f 11 2 7
+f 11 8 2
+f 11 5 8
+f 12 8 5
+f 12 4 8
+f 12 5 10
+f 12 6 4
+f 12 10 9
+f 12 9 6
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_3/collision/model_normalized_collision_24.obj b/objects/objaverse/banana/banana_3/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..babf2bb347035391fde517dfa8c4c87b166a16f6
--- /dev/null
+++ b/objects/objaverse/banana/banana_3/collision/model_normalized_collision_24.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.01189089 -0.49109267 0.01313045
+v 0.04661223 -0.44174344 0.00902719
+v 0.03341138 -0.44229508 0.02774118
+v 0.01503435 -0.33855601 0.02493610
+v 0.05638479 -0.34145842 0.01149035
+v 0.00975895 -0.45735643 0.03118332
+v 0.02802768 -0.46623059 0.01848933
+v 0.01892796 -0.48601671 0.00971455
+v 0.04192647 -0.43973310 0.02009996
+v 0.03608835 -0.37435269 0.02630474
+v 0.00852220 -0.48631730 0.01869755
+v 0.03157119 -0.46916251 0.00902300
+v 0.01238182 -0.34167159 0.02605587
+v 0.01661558 -0.48238065 0.01684384
+v 0.05194210 -0.34399304 0.01444521
+v 0.01143533 -0.35919135 0.02987887
+v 0.02183246 -0.45566173 0.02824742
+v 0.02398667 -0.35965243 0.02740812
+f 8 4 5
+f 9 5 3
+f 9 2 5
+f 9 3 7
+f 10 3 5
+f 12 8 5
+f 12 5 2
+f 12 7 8
+f 12 9 7
+f 12 2 9
+f 13 8 1
+f 13 4 8
+f 13 1 11
+f 14 8 7
+f 14 1 8
+f 14 11 1
+f 15 10 5
+f 15 5 4
+f 16 6 3
+f 16 3 10
+f 16 4 13
+f 16 13 11
+f 16 11 6
+f 17 3 6
+f 17 6 11
+f 17 11 14
+f 17 14 7
+f 17 7 3
+f 18 15 4
+f 18 10 15
+f 18 16 10
+f 18 4 16
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_3/collision/model_normalized_collision_25.obj b/objects/objaverse/banana/banana_3/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..424d1cac9363d101b75d0207dc96ffc2f5ab6a33
--- /dev/null
+++ b/objects/objaverse/banana/banana_3/collision/model_normalized_collision_25.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.00841569 -0.49602643 0.00896960
+v 0.06643332 -0.40354019 -0.06231949
+v 0.05571360 -0.40108242 0.01324002
+v 0.01727914 -0.39987263 0.03516664
+v 0.02066847 -0.42400733 -0.09796643
+v 0.04194981 -0.45302969 0.00777243
+v 0.04557177 -0.45436355 -0.05807567
+v 0.00913377 -0.47617780 -0.05045510
+v 0.01467672 -0.49351421 0.00737396
+v 0.03931860 -0.46601791 -0.00601310
+v 0.02202579 -0.47377505 -0.04900437
+v 0.04159215 -0.46425776 -0.04343097
+v 0.02555015 -0.47957521 0.00582231
+v 0.02028508 -0.48828339 -0.02336549
+v 0.00924154 -0.49114005 -0.02312356
+v 0.03173776 -0.47585080 -0.03908597
+f 3 2 4
+f 5 4 2
+f 6 3 4
+f 6 2 3
+f 7 5 2
+f 8 1 4
+f 8 4 5
+f 9 6 4
+f 9 4 1
+f 10 2 6
+f 11 8 5
+f 11 5 7
+f 12 7 2
+f 12 2 10
+f 13 10 6
+f 13 6 9
+f 13 9 10
+f 14 9 1
+f 14 8 11
+f 14 10 9
+f 15 14 1
+f 15 1 8
+f 15 8 14
+f 16 14 11
+f 16 11 7
+f 16 7 12
+f 16 12 10
+f 16 10 14
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_3/collision/model_normalized_collision_26.obj b/objects/objaverse/banana/banana_3/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..944276484083bf6e5ffc4681ad9d1fc4d44aa89a
--- /dev/null
+++ b/objects/objaverse/banana/banana_3/collision/model_normalized_collision_26.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.02136086 -0.46662883 0.02375297
+v -0.01345947 -0.45686287 0.03052802
+v -0.03645717 -0.44143069 0.02630065
+v -0.05838912 -0.34148037 0.01034928
+v -0.01668992 -0.34183485 0.02527119
+v -0.03875088 -0.45705864 0.00976662
+v -0.02583810 -0.45495119 0.02702477
+v -0.01421281 -0.35921961 0.02948142
+v -0.03444680 -0.45461422 0.02024371
+v -0.05116031 -0.42851696 0.00965940
+v -0.01980578 -0.33878855 0.02389250
+v -0.04112478 -0.38865527 0.02644116
+v -0.04707452 -0.42634343 0.01972967
+v -0.02700728 -0.35973046 0.02658822
+v -0.05380885 -0.34401691 0.01369277
+f 5 2 1
+f 6 5 1
+f 7 1 2
+f 7 2 3
+f 8 2 5
+f 9 6 1
+f 9 7 3
+f 9 1 7
+f 10 4 6
+f 11 6 4
+f 11 5 6
+f 12 3 2
+f 12 2 8
+f 13 9 3
+f 13 3 12
+f 13 12 4
+f 13 4 10
+f 13 10 6
+f 13 6 9
+f 14 8 5
+f 14 5 11
+f 14 12 8
+f 15 14 11
+f 15 11 4
+f 15 4 12
+f 15 12 14
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_3/collision/model_normalized_collision_27.obj b/objects/objaverse/banana/banana_3/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4e932b3aa3b0925640058ee1ef8ca96a59a70831
--- /dev/null
+++ b/objects/objaverse/banana/banana_3/collision/model_normalized_collision_27.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.01266622 -0.14393941 -0.07660397
+v 0.01198762 -0.14369428 -0.17330768
+v 0.01266622 -0.00757577 -0.07660397
+v -0.08240100 -0.00852914 -0.07333612
+v -0.07967547 -0.14365764 -0.06806838
+v 0.01170597 -0.00882977 -0.16941526
+v -0.02934353 -0.14360723 -0.17023920
+v -0.02957323 -0.00912199 -0.16632341
+f 1 2 3
+f 5 1 3
+f 5 3 4
+f 6 3 2
+f 7 2 1
+f 7 1 5
+f 7 5 4
+f 7 6 2
+f 8 4 3
+f 8 3 6
+f 8 7 4
+f 8 6 7
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_3/collision/model_normalized_collision_28.obj b/objects/objaverse/banana/banana_3/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..668ca7ec0deca459fb31d24b1b98ad44a693696e
--- /dev/null
+++ b/objects/objaverse/banana/banana_3/collision/model_normalized_collision_28.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.02022240 0.30813982 0.10272771
+v -0.02919452 0.34170964 -0.03195008
+v -0.01996324 0.36567295 -0.00855057
+v -0.04110335 0.35840751 0.09494092
+v -0.06779474 0.32306671 -0.00500237
+v -0.02339384 0.35447363 0.10841813
+v -0.03564610 0.30910063 0.09855293
+v -0.03537912 0.36265681 -0.00590627
+f 1 2 3
+f 5 2 1
+f 6 1 3
+f 6 3 4
+f 7 5 1
+f 7 4 5
+f 7 6 4
+f 7 1 6
+f 8 3 2
+f 8 2 5
+f 8 5 4
+f 8 4 3
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_3/collision/model_normalized_collision_29.obj b/objects/objaverse/banana/banana_3/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..460d0e8938b5d98f4cd2cd1c4056f62b6f20b37f
--- /dev/null
+++ b/objects/objaverse/banana/banana_3/collision/model_normalized_collision_29.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.07649838 -0.00724341 -0.12712628
+v 0.07481119 0.03856796 -0.12803784
+v -0.04397848 0.04249945 -0.15587860
+v -0.04563990 -0.00388647 -0.16120188
+v 0.02484019 -0.00903118 -0.16728661
+v 0.05486902 -0.00842358 -0.15851857
+v -0.02957323 -0.00912199 -0.16632341
+v 0.05310614 0.03599856 -0.15373020
+v 0.06726809 0.03888691 -0.14496847
+v -0.02930399 0.00590004 -0.16495498
+v -0.01540938 0.02042222 -0.16579736
+v 0.02419713 0.02019258 -0.16412168
+v -0.03079408 0.03691145 -0.16041838
+f 1 2 3
+f 1 3 4
+f 6 1 5
+f 7 5 1
+f 7 1 4
+f 9 2 1
+f 9 1 6
+f 9 6 8
+f 9 8 3
+f 9 3 2
+f 10 7 4
+f 10 4 3
+f 11 5 7
+f 11 7 10
+f 12 8 6
+f 12 6 5
+f 12 5 11
+f 13 11 10
+f 13 10 3
+f 13 12 11
+f 13 3 8
+f 13 8 12
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_3/collision/model_normalized_collision_3.obj b/objects/objaverse/banana/banana_3/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e8e3128fe34b34b7dda81995ca57d12f57e3ca16
--- /dev/null
+++ b/objects/objaverse/banana/banana_3/collision/model_normalized_collision_3.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.08094284 -0.26489478 -0.07615575
+v 0.07053125 -0.26383106 -0.13092275
+v 0.07016200 -0.17368477 -0.14521954
+v 0.07750536 0.03755951 -0.11906333
+v 0.01266622 -0.00757577 -0.07660397
+v 0.01266622 -0.26515153 -0.07660397
+v 0.08266003 -0.00746487 -0.07698490
+v 0.01170597 -0.00882977 -0.16941526
+v 0.01208967 -0.26368730 -0.15969453
+v 0.05310614 0.03599856 -0.15373020
+v 0.01151345 -0.21797851 -0.16698204
+v 0.06298166 -0.23219238 -0.14981121
+v 0.07076704 -0.00826411 -0.14382542
+v 0.05174009 -0.26186542 -0.15004072
+v 0.03797234 -0.18742419 -0.16479740
+v 0.06297354 0.03545200 -0.14951464
+v 0.02435093 -0.21774553 -0.16489638
+v 0.03780758 -0.00933236 -0.16408385
+v 0.07481119 0.03856796 -0.12803784
+v 0.07349515 0.03726232 -0.13186185
+f 1 2 3
+f 1 3 4
+f 6 1 5
+f 7 5 1
+f 7 1 4
+f 7 4 5
+f 9 2 1
+f 9 1 6
+f 10 8 5
+f 10 5 4
+f 11 6 5
+f 11 5 8
+f 11 9 6
+f 12 3 2
+f 13 4 3
+f 14 12 2
+f 14 2 9
+f 15 11 8
+f 15 12 14
+f 16 13 3
+f 16 3 12
+f 16 12 15
+f 17 14 9
+f 17 9 11
+f 17 15 14
+f 17 11 15
+f 18 15 8
+f 18 8 10
+f 18 16 15
+f 18 10 16
+f 19 16 10
+f 19 10 4
+f 19 4 13
+f 20 19 13
+f 20 13 16
+f 20 16 19
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_3/collision/model_normalized_collision_30.obj b/objects/objaverse/banana/banana_3/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..30ad958263b292ebbfa11a4569443bafa6b9ff90
--- /dev/null
+++ b/objects/objaverse/banana/banana_3/collision/model_normalized_collision_30.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.08272494 -0.00755439 -0.09135885
+v 0.07864855 -0.00775274 -0.11936257
+v 0.08278210 0.03787298 -0.09136472
+v -0.08280584 0.03786791 -0.09102208
+v -0.08274824 -0.00753386 -0.09101422
+v 0.07750536 0.03755951 -0.11906333
+v -0.07901116 -0.00783059 -0.11813095
+v -0.07787866 0.03743101 -0.11784669
+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 5 4
+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/banana/banana_3/collision/model_normalized_collision_31.obj b/objects/objaverse/banana/banana_3/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7e3b3a83b2ed8859ca6d21f9d5aac075807c6030
--- /dev/null
+++ b/objects/objaverse/banana/banana_3/collision/model_normalized_collision_31.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.06479385 -0.26425921 -0.01050281
+v 0.08079906 -0.26592985 -0.07796272
+v 0.08048016 -0.14380600 -0.07249608
+v 0.01351644 -0.14338706 -0.00573565
+v 0.01266622 -0.26515153 -0.07660397
+v 0.05696434 -0.14408664 -0.01884201
+v 0.01795087 -0.26092759 0.00775159
+v 0.01266622 -0.14393941 -0.07660397
+f 1 2 3
+f 5 2 1
+f 6 1 3
+f 6 3 4
+f 7 5 1
+f 7 4 5
+f 7 6 4
+f 7 1 6
+f 8 3 2
+f 8 2 5
+f 8 5 4
+f 8 4 3
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_3/collision/model_normalized_collision_4.obj b/objects/objaverse/banana/banana_3/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0f5362f3e81e0f51e52eb8528167d5e2be3e3c24
--- /dev/null
+++ b/objects/objaverse/banana/banana_3/collision/model_normalized_collision_4.obj
@@ -0,0 +1,156 @@
+# https://github.com/mikedh/trimesh
+v 0.07518591 0.23526910 0.04075162
+v 0.07118013 0.23105174 -0.08429924
+v 0.04516925 0.37846370 0.04423264
+v -0.01395997 0.40280109 0.05042868
+v -0.07928836 0.23301047 -0.05804174
+v 0.03684510 0.32605449 -0.04412045
+v 0.01022325 0.40352521 0.05030671
+v 0.07048668 0.30431590 -0.02717092
+v -0.06665926 0.22821195 -0.09325971
+v -0.07561187 0.23538760 0.03948324
+v 0.05951364 0.35048368 0.04349103
+v -0.02667854 0.36863732 -0.00222682
+v 0.04653846 0.36868950 0.00943534
+v 0.06118487 0.31098029 -0.04551370
+v 0.06519672 0.22856698 -0.09388331
+v -0.06010979 0.34921240 0.04249519
+v 0.03487091 0.39274086 0.04664725
+v 0.07149016 0.30728025 0.04152526
+v 0.00906880 0.39840326 0.03857816
+v -0.02857556 0.31135862 -0.05951379
+v 0.05672091 0.34542260 -0.01054628
+v 0.06970542 0.24454429 -0.08083931
+v 0.02370348 0.26941977 -0.08784163
+v -0.07498862 0.27931329 0.04036554
+v -0.04675640 0.37297477 0.01933476
+v -0.01382867 0.39763377 0.03895920
+v 0.03590498 0.38342103 0.02481345
+v 0.02218528 0.36965183 -0.00289880
+v 0.05846141 0.32722684 -0.03251646
+v 0.06200479 0.26994651 -0.07428161
+v 0.02389179 0.31196919 -0.06018804
+v -0.01584580 0.22900064 -0.10972913
+v -0.07446715 0.29096199 -0.02760224
+v -0.07610482 0.29277927 0.02670732
+v -0.03572045 0.39173272 0.04544075
+v -0.06083804 0.33045563 -0.02429652
+v -0.03780326 0.38245099 0.02439767
+v 0.03589371 0.35382735 -0.01622811
+v 0.05109965 0.25574921 -0.08724149
+v -0.01560789 0.27018338 -0.08914049
+v 0.02491213 0.22826768 -0.10818938
+v -0.07489757 0.26118193 -0.05609683
+v -0.06013629 0.34779315 0.01547377
+v -0.04652236 0.37629612 0.04409494
+v -0.04071125 0.33928943 -0.02980839
+v -0.06459099 0.28506988 -0.06337072
+v 0.06239462 0.24153892 -0.08936429
+v 0.02369861 0.24072259 -0.10253380
+v -0.04222522 0.28503506 -0.07361221
+v -0.05135342 0.35592471 -0.00458350
+v -0.06613604 0.24066397 -0.08757417
+v -0.05554792 0.29802059 -0.05911959
+v -0.01580296 0.24137431 -0.10386652
+f 7 4 1
+f 8 1 2
+f 10 1 4
+f 10 9 1
+f 10 5 9
+f 11 7 1
+f 15 2 1
+f 15 1 9
+f 17 11 3
+f 17 7 11
+f 17 3 13
+f 18 11 1
+f 18 1 8
+f 18 8 11
+f 19 4 7
+f 21 11 8
+f 21 13 3
+f 21 3 11
+f 22 14 8
+f 22 8 2
+f 22 2 15
+f 24 10 4
+f 24 4 16
+f 26 19 12
+f 26 4 19
+f 27 17 13
+f 27 19 7
+f 27 7 17
+f 28 12 19
+f 28 20 12
+f 28 19 27
+f 28 27 13
+f 29 21 8
+f 29 8 14
+f 29 14 6
+f 29 13 21
+f 30 22 15
+f 30 14 22
+f 31 30 23
+f 31 6 14
+f 31 14 30
+f 31 28 6
+f 31 20 28
+f 34 5 10
+f 34 10 24
+f 34 33 5
+f 34 24 16
+f 37 26 12
+f 37 25 35
+f 37 35 4
+f 37 4 26
+f 38 28 13
+f 38 13 29
+f 38 29 6
+f 38 6 28
+f 39 23 30
+f 40 31 23
+f 40 20 31
+f 41 15 9
+f 41 9 32
+f 42 9 5
+f 42 5 33
+f 43 34 16
+f 43 33 34
+f 43 36 33
+f 44 35 25
+f 44 16 4
+f 44 4 35
+f 44 43 16
+f 44 25 43
+f 45 12 20
+f 46 42 33
+f 46 33 36
+f 47 39 30
+f 47 30 15
+f 47 41 39
+f 47 15 41
+f 48 40 23
+f 48 41 32
+f 48 23 39
+f 48 39 41
+f 49 20 40
+f 50 43 25
+f 50 36 43
+f 50 45 36
+f 50 25 37
+f 50 37 12
+f 50 12 45
+f 51 9 42
+f 51 42 46
+f 51 46 49
+f 51 32 9
+f 52 45 20
+f 52 49 46
+f 52 20 49
+f 52 46 36
+f 52 36 45
+f 53 48 32
+f 53 40 48
+f 53 49 40
+f 53 51 49
+f 53 32 51
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_3/collision/model_normalized_collision_5.obj b/objects/objaverse/banana/banana_3/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4cb5e0d31fc8f3d3ea53c8d4877865625557de9d
--- /dev/null
+++ b/objects/objaverse/banana/banana_3/collision/model_normalized_collision_5.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.05290966 -0.44451633 -0.01653942
+v 0.06191239 -0.38316820 -0.10224603
+v 0.06494071 -0.28149180 -0.00770366
+v 0.05770938 -0.28043019 -0.00151280
+v 0.05132372 -0.40954302 -0.09654049
+v 0.05782204 -0.38621383 -0.10668758
+v 0.05041202 -0.42903295 0.01104276
+v 0.05550261 -0.43924205 -0.01759698
+v 0.05272160 -0.28288489 0.00116408
+v 0.05526446 -0.42194426 -0.08275650
+v 0.06165368 -0.28364580 -0.00333562
+v 0.05162142 -0.44344063 -0.06031305
+v 0.05305065 -0.42622642 0.00637795
+v 0.05594337 -0.40679007 -0.09474963
+v 0.05463526 -0.43842527 -0.05758271
+v 0.05180008 -0.42560031 -0.08442493
+f 6 3 2
+f 6 4 3
+f 8 2 3
+f 8 7 1
+f 9 6 5
+f 9 4 6
+f 9 7 4
+f 9 5 7
+f 11 7 3
+f 11 3 4
+f 11 4 7
+f 12 7 5
+f 12 1 7
+f 13 8 3
+f 13 3 7
+f 13 7 8
+f 14 6 2
+f 14 2 10
+f 14 5 6
+f 15 10 2
+f 15 2 8
+f 15 12 10
+f 15 8 1
+f 15 1 12
+f 16 12 5
+f 16 10 12
+f 16 14 10
+f 16 5 14
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_3/collision/model_normalized_collision_6.obj b/objects/objaverse/banana/banana_3/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f9a55faad5647027691f99b7051150af92171a1
--- /dev/null
+++ b/objects/objaverse/banana/banana_3/collision/model_normalized_collision_6.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.03011507 -0.26680157 0.00597938
+v -0.02912688 -0.22206820 -0.00125500
+v -0.03245782 -0.00739680 -0.00187805
+v -0.06484873 -0.00513609 -0.01454056
+v -0.08067844 -0.26677856 -0.07950188
+v -0.05597839 -0.26854761 -0.00298147
+v -0.08268498 -0.00736998 -0.07730936
+v -0.06567721 -0.26687914 -0.01088986
+v -0.07792354 -0.26537807 -0.04914727
+v -0.08096352 -0.26473388 -0.07590286
+v -0.07883487 -0.00678179 -0.05018556
+v -0.08240100 -0.00852914 -0.07333612
+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 5 6
+f 9 5 8
+f 10 7 5
+f 10 5 9
+f 11 9 8
+f 11 8 4
+f 11 4 7
+f 12 10 9
+f 12 7 10
+f 12 11 7
+f 12 9 11
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_3/collision/model_normalized_collision_7.obj b/objects/objaverse/banana/banana_3/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..40b1b7899afa09fdada52c6bbb036bffebb2ca29
--- /dev/null
+++ b/objects/objaverse/banana/banana_3/collision/model_normalized_collision_7.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.05170332 -0.14476310 -0.01667206
+v 0.08048016 -0.14380600 -0.07249608
+v 0.06805975 -0.00699194 -0.01915639
+v -0.02942361 -0.00500806 -0.00053339
+v -0.07967547 -0.14365764 -0.06806838
+v 0.03744280 -0.00458989 -0.00295464
+v 0.06560366 -0.05245068 -0.02237728
+v -0.03010341 -0.14438856 -0.00929604
+v -0.08240100 -0.00852914 -0.07333612
+v 0.06440872 -0.00520878 -0.01438007
+v -0.00101306 -0.05162989 -0.00244738
+v 0.08251713 -0.00804519 -0.07499160
+v 0.01121682 -0.05155857 -0.00330048
+f 5 2 1
+f 7 1 2
+f 7 2 3
+f 7 3 1
+f 8 5 1
+f 8 4 5
+f 9 2 5
+f 9 5 4
+f 9 4 6
+f 10 6 1
+f 10 1 3
+f 11 6 4
+f 11 4 8
+f 12 3 2
+f 12 2 9
+f 12 10 3
+f 12 9 6
+f 12 6 10
+f 13 11 8
+f 13 8 1
+f 13 1 6
+f 13 6 11
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_3/collision/model_normalized_collision_8.obj b/objects/objaverse/banana/banana_3/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d3e203da2df0905327269b926569e769c80b8888
--- /dev/null
+++ b/objects/objaverse/banana/banana_3/collision/model_normalized_collision_8.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.07061835 -0.00599050 -0.02439876
+v 0.08272494 -0.00755439 -0.09135885
+v 0.07402797 0.10018590 -0.00571701
+v -0.06865149 0.10088302 0.00693736
+v -0.08274824 -0.00753386 -0.09101422
+v 0.02347555 0.04203908 0.01017141
+v -0.07543650 -0.00635830 -0.03735333
+v 0.02373899 0.11133394 -0.14742629
+v 0.05327794 0.10232149 0.01722073
+v -0.04193031 -0.00434154 -0.00438728
+v -0.07832778 0.09988206 -0.01984856
+v 0.08176189 0.09828291 -0.09055448
+v 0.03744280 -0.00458989 -0.00295464
+v 0.06440872 -0.00520878 -0.01438007
+v -0.04440866 0.10134332 0.02034108
+v -0.06484873 -0.00513609 -0.01454056
+v -0.08193084 0.09813938 -0.08969835
+v -0.01552929 0.04167413 0.01186749
+f 1 2 3
+f 7 5 2
+f 7 2 1
+f 8 2 5
+f 9 3 8
+f 11 7 4
+f 11 5 7
+f 11 4 8
+f 12 8 3
+f 12 3 2
+f 12 2 8
+f 13 9 6
+f 14 1 3
+f 14 3 9
+f 14 13 1
+f 14 9 13
+f 15 9 8
+f 15 8 4
+f 16 4 7
+f 16 13 10
+f 16 7 1
+f 16 1 13
+f 16 15 4
+f 16 10 15
+f 17 11 8
+f 17 8 5
+f 17 5 11
+f 18 13 6
+f 18 10 13
+f 18 15 10
+f 18 6 9
+f 18 9 15
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_3/collision/model_normalized_collision_9.obj b/objects/objaverse/banana/banana_3/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d225d908eefcab224e3f1b0a5d07597f2e93ef40
--- /dev/null
+++ b/objects/objaverse/banana/banana_3/collision/model_normalized_collision_9.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.01228001 -0.26607744 0.00968433
+v 0.01208967 -0.26368730 -0.15969453
+v 0.01351644 -0.14338706 -0.00573565
+v -0.03446086 -0.14366095 -0.01071891
+v -0.03011507 -0.26680157 0.00597938
+v 0.01198762 -0.14369428 -0.17330768
+v -0.02968782 -0.26309513 -0.15656583
+v -0.02934353 -0.14360723 -0.17023920
+v -0.00115292 -0.23232252 -0.16566287
+v 0.01135770 -0.23221204 -0.16491135
+v -0.02906962 -0.21763636 -0.16393280
+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 8 4 3
+f 8 3 6
+f 8 7 4
+f 9 8 6
+f 9 2 7
+f 10 9 6
+f 10 6 2
+f 10 2 9
+f 11 9 7
+f 11 7 8
+f 11 8 9
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_3/model.xml b/objects/objaverse/banana/banana_3/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..d097ee1df531549c1bf1f368ab690bbec53ef52b
--- /dev/null
+++ b/objects/objaverse/banana/banana_3/model.xml
@@ -0,0 +1,81 @@
+<mujoco model="banana_16">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.18 0.18 0.18" refquat="0.7071067811865475 0.0 0.7071067811865476 0.0"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.18 0.18 0.18" refquat="0.7071067811865475 0.0 0.7071067811865476 0.0"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.18 0.18 0.18" refquat="0.7071067811865475 0.0 0.7071067811865476 0.0"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.18 0.18 0.18" refquat="0.7071067811865475 0.0 0.7071067811865476 0.0"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.18 0.18 0.18" refquat="0.7071067811865475 0.0 0.7071067811865476 0.0"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.18 0.18 0.18" refquat="0.7071067811865475 0.0 0.7071067811865476 0.0"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.18 0.18 0.18" refquat="0.7071067811865475 0.0 0.7071067811865476 0.0"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.18 0.18 0.18" refquat="0.7071067811865475 0.0 0.7071067811865476 0.0"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.18 0.18 0.18" refquat="0.7071067811865475 0.0 0.7071067811865476 0.0"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.18 0.18 0.18" refquat="0.7071067811865475 0.0 0.7071067811865476 0.0"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.18 0.18 0.18" refquat="0.7071067811865475 0.0 0.7071067811865476 0.0"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.18 0.18 0.18" refquat="0.7071067811865475 0.0 0.7071067811865476 0.0"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.18 0.18 0.18" refquat="0.7071067811865475 0.0 0.7071067811865476 0.0"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.18 0.18 0.18" refquat="0.7071067811865475 0.0 0.7071067811865476 0.0"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.18 0.18 0.18" refquat="0.7071067811865475 0.0 0.7071067811865476 0.0"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.18 0.18 0.18" refquat="0.7071067811865475 0.0 0.7071067811865476 0.0"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.18 0.18 0.18" refquat="0.7071067811865475 0.0 0.7071067811865476 0.0"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.18 0.18 0.18" refquat="0.7071067811865475 0.0 0.7071067811865476 0.0"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.18 0.18 0.18" refquat="0.7071067811865475 0.0 0.7071067811865476 0.0"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.18 0.18 0.18" refquat="0.7071067811865475 0.0 0.7071067811865476 0.0"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.18 0.18 0.18" refquat="0.7071067811865475 0.0 0.7071067811865476 0.0"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.18 0.18 0.18" refquat="0.7071067811865475 0.0 0.7071067811865476 0.0"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.18 0.18 0.18" refquat="0.7071067811865475 0.0 0.7071067811865476 0.0"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.18 0.18 0.18" refquat="0.7071067811865475 0.0 0.7071067811865476 0.0"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.18 0.18 0.18" refquat="0.7071067811865475 0.0 0.7071067811865476 0.0"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.18 0.18 0.18" refquat="0.7071067811865475 0.0 0.7071067811865476 0.0"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.18 0.18 0.18" refquat="0.7071067811865475 0.0 0.7071067811865476 0.0"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.18 0.18 0.18" refquat="0.7071067811865475 0.0 0.7071067811865476 0.0"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.18 0.18 0.18" refquat="0.7071067811865475 0.0 0.7071067811865476 0.0"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.18 0.18 0.18" refquat="0.7071067811865475 0.0 0.7071067811865476 0.0"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.18 0.18 0.18" refquat="0.7071067811865475 0.0 0.7071067811865476 0.0"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.18 0.18 0.18" refquat="0.7071067811865475 0.0 0.7071067811865476 0.0"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.18 0.18 0.18" refquat="0.7071067811865475 0.0 0.7071067811865476 0.0"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="Banana.004" texture="image0" specular="0.5" shininess="0.25"/>
+  </asset>
+  <worldbody>
+    <body>
+      <body name="object">
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_0_vis" conaffinity="0" contype="0" group="1" material="Banana.004"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_22._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_23._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_21._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_20._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_24._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
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+      </body>
+      <site rgba="0 0 0 0" size="0.005" pos="0.0006187895999999984 -7.154909999999959e-05 -0.0151082172" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.0006187895999999984 -7.154909999999959e-05 0.0151003746" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.031195382399999992 0.08914165920000001 -3.921300000000599e-06" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/objects/objaverse/banana/banana_3/visual/material.mtl b/objects/objaverse/banana/banana_3/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fbcf6b4b1af9257e08a0fd6e283841743ce8fad5
--- /dev/null
+++ b/objects/objaverse/banana/banana_3/visual/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 250.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_3/visual/model_normalized_0.obj b/objects/objaverse/banana/banana_3/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8f26e636c29974e76b2c4dbeb723146cf61b467b
--- /dev/null
+++ b/objects/objaverse/banana/banana_3/visual/model_normalized_0.obj
@@ -0,0 +1,22274 @@
+# 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/banana/banana_6/collision/model_normalized_collision_0.obj b/objects/objaverse/banana/banana_6/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fad946e9ec6df0d71f8308bcb518539428d94642
--- /dev/null
+++ b/objects/objaverse/banana/banana_6/collision/model_normalized_collision_0.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v -0.08301108 -0.07795843 0.29554037
+v -0.08304639 -0.07781471 0.26523806
+v -0.07317775 -0.05426519 0.37075172
+v -0.07111541 0.05577584 0.27281344
+v -0.17824617 0.02822518 0.27850751
+v -0.14652019 -0.07918211 0.26061850
+v -0.07601663 0.01453528 0.37371784
+v -0.13443113 -0.07645105 0.29130741
+v -0.15806850 -0.01644342 0.33204612
+v -0.07559136 -0.01077228 0.38570802
+v -0.13483372 0.03081661 0.33435420
+v -0.13075594 -0.06247835 0.33118073
+v -0.15867962 -0.04224004 0.31739517
+v -0.11346921 -0.02562100 0.36975893
+v -0.07910393 0.03750063 0.33924726
+v -0.14635900 0.01911669 0.33288301
+v -0.11629700 0.00078486 0.36833691
+v -0.14390035 -0.06256393 0.31683005
+v -0.16510663 -0.01814767 0.32224498
+v -0.08974374 -0.01563806 0.38486825
+v -0.11344228 -0.05246298 0.35319770
+v -0.12540717 -0.03795495 0.35512364
+v -0.10492919 0.02449674 0.35827062
+v -0.12760814 0.01268511 0.35424819
+v -0.14483075 -0.07596475 0.27482950
+v -0.15166163 -0.04145751 0.32727545
+v -0.08707681 -0.05194346 0.36728509
+v -0.07561079 -0.01640855 0.38807780
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+v -0.08023263 0.02630794 0.35896817
+v -0.10075383 0.01536569 0.36691075
+v -0.14184812 0.01445603 0.34138363
+v -0.12866378 0.02847636 0.34066521
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\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_6/collision/model_normalized_collision_1.obj b/objects/objaverse/banana/banana_6/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..436002864f1e2d9aeadbfcf03e2b999071a725a2
--- /dev/null
+++ b/objects/objaverse/banana/banana_6/collision/model_normalized_collision_1.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.15991196 0.01176273 -0.43211584
+v 0.16713336 0.02254252 -0.48145551
+v 0.15319048 0.06725798 -0.41914893
+v 0.11643064 0.08207116 -0.41599116
+v 0.12196698 0.04008092 -0.49655925
+v 0.15547277 0.04327220 -0.40977677
+v 0.16077868 0.02160367 -0.48224604
+v 0.16350276 0.05723441 -0.47886148
+v 0.14317108 0.07320046 -0.41662594
+v 0.16200244 0.06245324 -0.44989320
+v 0.15660545 0.04265802 -0.49342147
+v 0.11780324 0.06995436 -0.47102196
+v 0.16117546 0.01569364 -0.43477858
+v 0.14509360 0.06952479 -0.45986482
+v 0.15642524 0.04896570 -0.49409817
+v 0.15713030 0.04101057 -0.41789692
+v 0.13315014 0.06900068 -0.47352928
+v 0.12486851 0.05681451 -0.49157081
+v 0.14535363 0.05828953 -0.49008088
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+f 16 10 6
+f 16 6 13
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+f 17 4 14
+f 17 14 8
+f 18 15 5
+f 18 5 12
+f 18 12 17
+f 19 17 8
+f 19 8 15
+f 19 18 17
+f 19 15 18
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_6/collision/model_normalized_collision_10.obj b/objects/objaverse/banana/banana_6/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5b589521d811a3136269772cfdc8c64eb4458ebb
--- /dev/null
+++ b/objects/objaverse/banana/banana_6/collision/model_normalized_collision_10.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.02293379 -0.05769027 -0.14546908
+v 0.09357649 -0.02686253 -0.28405559
+v 0.01917737 0.03816422 -0.13198450
+v 0.02343409 0.07303803 -0.22309897
+v 0.02504692 -0.07312698 -0.28054048
+v 0.09253361 0.06269049 -0.28711594
+v 0.02332465 -0.04382604 -0.13615126
+v 0.07613754 -0.05248062 -0.28538571
+v 0.02037550 -0.06661546 -0.19155134
+v 0.08568099 0.03688511 -0.25990839
+v 0.02072037 0.04783920 -0.14740012
+v 0.02708395 0.08459613 -0.28065960
+v 0.02039388 -0.04750683 -0.13143237
+v 0.05388946 -0.05236232 -0.21334742
+v 0.02043781 0.05984070 -0.17804459
+v 0.03204627 -0.06062097 -0.19190113
+v 0.05000428 -0.06483525 -0.28204751
+v 0.08470783 -0.02225597 -0.26029863
+v 0.02276984 0.03377908 -0.13669240
+v 0.02517650 0.04677376 -0.15313451
+v 0.06719002 0.07500284 -0.28462695
+v 0.06474306 0.06674720 -0.25701601
+v 0.02550248 -0.05735083 -0.15114413
+v 0.04807764 -0.06192828 -0.25313356
+v 0.08469657 0.06226243 -0.27445377
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+f 23 1 9
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+f 23 14 2
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+f 25 22 11
+f 25 11 6
+f 25 6 22
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_6/collision/model_normalized_collision_11.obj b/objects/objaverse/banana/banana_6/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc8ec9fd5a256c717ece8b73e6c9c47a46dd927f
--- /dev/null
+++ b/objects/objaverse/banana/banana_6/collision/model_normalized_collision_11.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v -0.02532594 -0.02137556 0.21412565
+v -0.02040182 -0.02178459 0.01463566
+v -0.05400469 0.06081723 0.00659354
+v -0.13583904 0.07056353 0.21759197
+v -0.20138534 -0.03194540 -0.00195282
+v -0.05688733 0.05457939 0.21898769
+v -0.04305002 0.04573052 0.08211253
+v -0.19978319 -0.03453074 0.23153660
+v -0.14971719 0.07241839 0.00827235
+v -0.09574223 0.06969502 0.20398409
+v -0.03580309 0.02552527 0.08296030
+v -0.04563263 0.04463389 0.14364426
+v -0.15252312 0.06567512 0.21854949
+v -0.07214906 0.07006685 0.00605804
+v -0.10941561 0.07065077 0.21703663
+v -0.15070413 0.06926682 0.20227228
+f 5 3 2
+f 7 2 3
+f 7 3 6
+f 8 5 2
+f 8 2 1
+f 8 1 6
+f 11 1 2
+f 11 2 7
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+f 12 6 1
+f 12 11 7
+f 12 1 11
+f 13 8 6
+f 13 6 4
+f 13 9 5
+f 13 5 8
+f 14 3 5
+f 14 5 9
+f 14 10 6
+f 14 6 3
+f 15 4 6
+f 15 6 10
+f 15 9 4
+f 15 14 9
+f 15 10 14
+f 16 13 4
+f 16 4 9
+f 16 9 13
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_6/collision/model_normalized_collision_12.obj b/objects/objaverse/banana/banana_6/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..efe58e27ed895d74b979d9ba89d625bed56462c6
--- /dev/null
+++ b/objects/objaverse/banana/banana_6/collision/model_normalized_collision_12.obj
@@ -0,0 +1,162 @@
+# https://github.com/mikedh/trimesh
+v -0.00669139 -0.08063982 -0.23462458
+v 0.03471005 -0.02205161 -0.43535027
+v 0.02448165 0.07623646 -0.23741012
+v -0.07245207 0.07339106 -0.23287923
+v -0.11142792 -0.05456555 -0.22776098
+v 0.03222099 0.08828959 -0.39935430
+v 0.02348657 -0.07194536 -0.23593255
+v 0.00007767 -0.06136206 -0.35062754
+v -0.09847062 0.06042862 -0.22987118
+v 0.03604257 0.07574463 -0.42348237
+v -0.00105794 0.08513622 -0.28068941
+v -0.09904915 -0.06469955 -0.22832813
+v -0.03293862 -0.03801713 -0.35846843
+v 0.02857366 -0.06508642 -0.35167591
+v -0.06772979 0.06771238 -0.27630187
+v 0.02602481 0.08505907 -0.28304249
+v 0.03455859 -0.03629893 -0.42008965
+v -0.06099989 -0.08047402 -0.23237847
+v -0.04543525 0.03250149 -0.35938551
+v -0.07948672 -0.04922453 -0.28462042
+v -0.00387302 -0.07852086 -0.26353689
+v 0.00526465 0.08385354 -0.36741134
+v 0.03637329 0.06279754 -0.43678413
+v 0.03176186 -0.05178800 -0.39385134
+v 0.02512174 -0.03445588 -0.41596840
+v -0.04586785 -0.07695162 -0.26103780
+v -0.04733327 -0.00137132 -0.35763632
+v -0.04563538 0.05908501 -0.33061563
+v -0.12869257 0.01165962 -0.22798201
+v -0.09647666 -0.06076412 -0.24145974
+v -0.03490887 -0.04666691 -0.34368432
+v -0.01612015 0.07162907 -0.36005804
+v 0.02538322 -0.01911805 -0.43080888
+v 0.01999228 -0.04804259 -0.39208986
+v -0.05760940 -0.07762953 -0.24550627
+v -0.07539069 -0.01440996 -0.31353631
+v -0.09259550 0.06067225 -0.24171813
+v -0.10633466 0.02903468 -0.25677275
+v -0.07675360 0.02115652 -0.31665606
+v -0.10525518 -0.05429334 -0.23850839
+v 0.02256188 0.08582613 -0.39266831
+v -0.01690709 0.05944067 -0.37530616
+v -0.01712695 0.04504685 -0.38993872
+v -0.01537293 -0.02652514 -0.38700574
+v -0.02030927 -0.04706258 -0.35908275
+v -0.06087545 -0.02715151 -0.32750781
+v -0.10711743 -0.02820138 -0.25514800
+v -0.08978582 0.03062882 -0.28558336
+v -0.12549977 0.01966341 -0.22873375
+v -0.12110362 0.01117864 -0.24141404
+v 0.02868356 0.07241889 -0.41909171
+v 0.02755000 0.05833238 -0.43223657
+v -0.07499235 -0.04162369 -0.29829635
+v -0.12099990 0.01817515 -0.23996967
+v -0.09036177 -0.02702260 -0.28390041
+f 9 3 4
+f 10 3 7
+f 11 6 4
+f 11 4 3
+f 12 1 7
+f 12 7 3
+f 12 9 5
+f 12 3 9
+f 15 9 4
+f 16 10 6
+f 16 3 10
+f 16 11 3
+f 16 6 11
+f 17 10 7
+f 18 1 12
+f 21 14 7
+f 21 7 1
+f 21 1 18
+f 22 15 4
+f 22 4 6
+f 23 17 2
+f 23 10 17
+f 24 17 7
+f 24 7 14
+f 24 14 8
+f 25 2 17
+f 26 8 14
+f 26 21 18
+f 26 14 21
+f 29 5 9
+f 30 12 5
+f 30 8 26
+f 31 20 13
+f 31 30 20
+f 31 8 30
+f 32 28 15
+f 32 15 22
+f 33 23 2
+f 33 2 25
+f 34 25 17
+f 34 17 24
+f 34 24 8
+f 35 26 18
+f 35 18 12
+f 35 30 26
+f 35 12 30
+f 37 9 15
+f 37 15 28
+f 38 9 37
+f 39 19 27
+f 39 27 36
+f 40 30 5
+f 40 20 30
+f 41 32 22
+f 41 22 6
+f 41 6 10
+f 42 19 28
+f 42 28 32
+f 43 19 42
+f 43 33 27
+f 43 27 19
+f 44 27 33
+f 44 33 25
+f 44 25 13
+f 45 34 8
+f 45 8 31
+f 45 31 13
+f 45 13 25
+f 45 25 34
+f 46 36 27
+f 46 44 13
+f 46 27 44
+f 47 5 29
+f 47 40 5
+f 48 28 19
+f 48 19 39
+f 48 38 37
+f 48 37 28
+f 49 29 9
+f 49 9 38
+f 50 39 36
+f 50 47 29
+f 50 36 47
+f 51 41 10
+f 51 43 42
+f 51 42 32
+f 51 32 41
+f 52 23 33
+f 52 33 43
+f 52 43 51
+f 52 51 10
+f 52 10 23
+f 53 46 13
+f 53 13 20
+f 53 36 46
+f 53 20 40
+f 54 48 39
+f 54 38 48
+f 54 49 38
+f 54 29 49
+f 54 50 29
+f 54 39 50
+f 55 47 36
+f 55 36 53
+f 55 53 40
+f 55 40 47
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_6/collision/model_normalized_collision_13.obj b/objects/objaverse/banana/banana_6/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..73fac5dfae24307e3bd233686e6ab66afa21af04
--- /dev/null
+++ b/objects/objaverse/banana/banana_6/collision/model_normalized_collision_13.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.02710553 -0.04816952 0.37133777
+v 0.03025613 -0.01825022 0.36820474
+v -0.08176530 -0.02515361 0.38086080
+v 0.01138215 -0.04920168 0.37299427
+v -0.07951233 -0.07406327 0.32482111
+v 0.00202466 -0.04688861 0.32821439
+v -0.07817059 -0.05649146 0.36688091
+v 0.00823398 -0.03134704 0.33324543
+v -0.03865128 -0.06535287 0.32414293
+v -0.08259275 -0.06542132 0.34876086
+v 0.00967394 -0.02226239 0.33317495
+v -0.10684592 -0.06007374 0.35198468
+v -0.10675767 -0.06748142 0.33526334
+v -0.10908090 -0.06450978 0.34081282
+f 1 2 3
+f 1 3 4
+f 5 1 4
+f 7 4 3
+f 8 2 1
+f 8 1 6
+f 9 6 1
+f 9 1 5
+f 10 5 4
+f 10 4 7
+f 11 3 2
+f 11 2 8
+f 11 9 5
+f 11 8 6
+f 11 6 9
+f 12 10 7
+f 12 7 3
+f 13 5 10
+f 13 10 12
+f 13 11 5
+f 13 3 11
+f 14 13 12
+f 14 12 3
+f 14 3 13
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_6/collision/model_normalized_collision_14.obj b/objects/objaverse/banana/banana_6/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8a02c94303ea363946f375b490b420dc68fecd73
--- /dev/null
+++ b/objects/objaverse/banana/banana_6/collision/model_normalized_collision_14.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v -0.06467830 -0.07825327 0.05285824
+v 0.02450911 -0.05938455 -0.16000890
+v -0.03697066 -0.06145194 0.05240504
+v -0.05792477 -0.07391210 0.05400687
+v -0.04929588 -0.08906812 -0.15907571
+v -0.01003757 -0.07757680 -0.16133045
+v -0.06959713 -0.08173058 0.03669466
+v 0.00177029 -0.05779021 -0.08576118
+v 0.01850223 -0.06280826 -0.16202633
+v -0.06881363 -0.08439897 0.00588601
+v -0.02954857 -0.06120589 0.01963390
+v 0.02293379 -0.05769027 -0.14546908
+v -0.04539077 -0.08855604 -0.15915177
+f 1 2 3
+f 1 3 4
+f 7 1 4
+f 7 4 3
+f 7 3 5
+f 9 6 5
+f 9 5 2
+f 9 2 1
+f 9 1 6
+f 10 7 5
+f 10 6 1
+f 10 1 7
+f 11 8 5
+f 11 5 3
+f 11 3 8
+f 12 8 3
+f 12 3 2
+f 12 2 5
+f 12 5 8
+f 13 10 5
+f 13 5 6
+f 13 6 10
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_6/collision/model_normalized_collision_15.obj b/objects/objaverse/banana/banana_6/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..49d40b27245ae3310d8ad1779cf1d05c1c413d35
--- /dev/null
+++ b/objects/objaverse/banana/banana_6/collision/model_normalized_collision_15.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v -0.02066574 0.00312087 0.36760842
+v -0.01282893 0.01267624 0.26374126
+v -0.06624148 0.05668747 0.26259035
+v -0.15084541 0.05682733 0.26112605
+v -0.15060379 0.00838814 0.33743180
+v -0.08023263 0.02630794 0.35896817
+v -0.02961158 0.03901714 0.27866027
+v -0.17824617 0.02822518 0.27850751
+v -0.08189627 0.05397648 0.29158729
+v -0.07955041 0.01301554 0.37387556
+v -0.14460580 0.03931072 0.31387460
+v -0.03145462 0.04070580 0.26733326
+v -0.04006499 0.03691130 0.32024916
+v -0.06640216 0.02474670 0.35835685
+v -0.11789955 0.03885157 0.33095303
+v -0.14168805 0.02957151 0.32845379
+v -0.06666335 0.05423717 0.27732224
+v -0.02926281 0.02542175 0.33529144
+v -0.05508722 0.03766580 0.33276079
+v -0.13435662 0.05319239 0.28770096
+v -0.14719716 0.05406456 0.27363974
+f 3 2 4
+f 5 2 1
+f 7 1 2
+f 8 4 2
+f 8 2 5
+f 9 3 4
+f 10 5 1
+f 11 4 8
+f 12 7 2
+f 12 2 3
+f 12 3 7
+f 13 7 3
+f 14 10 1
+f 14 6 10
+f 15 10 6
+f 16 11 8
+f 16 8 5
+f 16 15 11
+f 16 5 10
+f 16 10 15
+f 17 13 3
+f 17 3 9
+f 18 1 7
+f 18 7 13
+f 19 6 14
+f 19 18 13
+f 19 14 1
+f 19 1 18
+f 19 15 6
+f 19 9 15
+f 19 17 9
+f 19 13 17
+f 20 15 9
+f 20 9 4
+f 20 11 15
+f 21 20 4
+f 21 4 11
+f 21 11 20
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_6/collision/model_normalized_collision_16.obj b/objects/objaverse/banana/banana_6/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0cc169097f70103ee682f191f9af81d8077fa576
--- /dev/null
+++ b/objects/objaverse/banana/banana_6/collision/model_normalized_collision_16.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v -0.19050528 0.02090591 0.26125816
+v -0.14971719 0.07241839 0.00827235
+v -0.16549777 0.04896802 0.26289754
+v -0.15252312 0.06567512 0.21854949
+v -0.19707477 0.04539889 0.17195919
+v -0.17893442 0.03332622 0.26941978
+v -0.20313997 0.02016577 0.01024654
+v -0.16309871 0.06815447 0.17290906
+v -0.18223927 0.04445646 0.24346097
+v -0.18486268 0.05643485 0.02485345
+v -0.20400110 0.01992407 0.21725164
+v -0.15150233 0.07215869 0.17282297
+v -0.18513953 0.03103752 0.25905651
+v -0.17435419 0.04484750 0.26003177
+v -0.18796835 0.05439656 0.17283183
+v -0.16378569 0.05904959 0.23158001
+v -0.19668140 0.04547738 0.05560144
+v -0.18775470 0.04542585 0.00270018
+v -0.16002168 0.06870046 0.00971257
+v -0.19776734 0.03158315 0.21588826
+v -0.17338369 0.05501258 0.22618555
+v -0.17355186 0.05388952 0.23068711
+v -0.19722203 0.03166606 0.01086386
+f 3 2 4
+f 6 1 2
+f 6 2 3
+f 7 2 1
+f 11 7 1
+f 12 8 4
+f 12 4 2
+f 12 2 8
+f 13 9 1
+f 13 1 6
+f 13 6 9
+f 14 9 6
+f 14 6 3
+f 15 5 9
+f 15 8 10
+f 16 3 4
+f 16 4 8
+f 17 15 10
+f 17 5 15
+f 17 11 5
+f 17 7 11
+f 18 2 7
+f 18 17 10
+f 19 10 8
+f 19 8 2
+f 19 18 10
+f 19 2 18
+f 20 9 5
+f 20 5 11
+f 20 11 1
+f 20 1 9
+f 21 15 9
+f 21 16 8
+f 21 8 15
+f 22 14 3
+f 22 3 16
+f 22 16 21
+f 22 21 9
+f 22 9 14
+f 23 18 7
+f 23 7 17
+f 23 17 18
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_6/collision/model_normalized_collision_17.obj b/objects/objaverse/banana/banana_6/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..419561091620bb2b828f9151de1145494dc30eed
--- /dev/null
+++ b/objects/objaverse/banana/banana_6/collision/model_normalized_collision_17.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.13885591 -0.06351399 0.45867274
+v 0.13097309 -0.06512023 0.43810760
+v 0.13366966 0.00249964 0.44280243
+v 0.13599671 0.01757132 0.47875453
+v 0.07523763 -0.00762397 0.44742115
+v 0.13665619 0.01994826 0.46222315
+v 0.09182137 -0.05735600 0.46661656
+v 0.07042693 -0.04796679 0.40444245
+v 0.08409848 -0.00290869 0.46107157
+v 0.06838047 -0.01096909 0.40784089
+v 0.13699065 -0.04770249 0.48207990
+v 0.12285519 -0.04276616 0.43016811
+v 0.07161407 -0.05024129 0.42030414
+v 0.12957609 0.01625124 0.46881697
+v 0.09470327 -0.01910117 0.48064023
+v 0.12713148 -0.06438363 0.43583973
+v 0.12432396 -0.01008529 0.43545542
+v 0.12474394 0.01188583 0.48120463
+v 0.09973096 -0.05239204 0.47219149
+v 0.09293891 -0.01957297 0.47980337
+f 1 2 3
+f 6 1 3
+f 6 4 1
+f 7 2 1
+f 10 6 3
+f 10 9 6
+f 10 5 9
+f 11 7 1
+f 11 1 4
+f 12 3 2
+f 12 8 10
+f 13 7 5
+f 13 10 8
+f 13 5 10
+f 14 9 4
+f 14 4 6
+f 14 6 9
+f 16 12 2
+f 16 8 12
+f 16 13 8
+f 16 2 7
+f 16 7 13
+f 17 12 10
+f 17 10 3
+f 17 3 12
+f 18 4 9
+f 18 15 11
+f 18 11 4
+f 19 7 11
+f 19 11 15
+f 20 9 5
+f 20 5 7
+f 20 19 15
+f 20 7 19
+f 20 18 9
+f 20 15 18
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_6/collision/model_normalized_collision_18.obj b/objects/objaverse/banana/banana_6/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..60da32919bed91c980d720a2e7042cefd568ba9f
--- /dev/null
+++ b/objects/objaverse/banana/banana_6/collision/model_normalized_collision_18.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.01630520 -0.04894070 0.38495756
+v -0.01921979 -0.05075616 0.36942041
+v -0.02066574 0.00312087 0.36760842
+v -0.07962626 0.02022025 0.36637025
+v -0.07817059 -0.05649146 0.36688091
+v -0.01140769 -0.02381799 0.40622485
+v -0.05144236 0.01837745 0.36339458
+v -0.00975169 -0.03008765 0.40508985
+v -0.07559136 -0.01077228 0.38570802
+v -0.01754933 -0.00683666 0.39283148
+v -0.07317775 -0.05426519 0.37075172
+v -0.07601663 0.01453528 0.37371784
+v -0.07169013 -0.02605030 0.38489879
+v -0.05209122 0.00928766 0.37661237
+f 5 2 1
+f 7 3 2
+f 7 2 5
+f 7 5 4
+f 8 1 2
+f 8 2 3
+f 8 3 6
+f 9 4 5
+f 10 6 3
+f 10 3 7
+f 11 5 1
+f 11 1 8
+f 12 9 6
+f 12 4 9
+f 12 6 10
+f 13 8 6
+f 13 6 9
+f 13 11 8
+f 13 9 5
+f 13 5 11
+f 14 10 7
+f 14 7 4
+f 14 12 10
+f 14 4 12
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_6/collision/model_normalized_collision_19.obj b/objects/objaverse/banana/banana_6/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f34d6da3cc1efa18f0ae49fb809b0ae2b89b448a
--- /dev/null
+++ b/objects/objaverse/banana/banana_6/collision/model_normalized_collision_19.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v -0.02040182 -0.02178459 0.01463566
+v -0.00920160 -0.01620831 -0.02780493
+v -0.05400469 0.06081723 0.00659354
+v -0.14971719 0.07241839 0.00827235
+v -0.19798816 -0.01556248 -0.03435981
+v -0.06816638 0.07149222 -0.03923628
+v -0.20762655 -0.01722011 0.00911371
+v -0.05162072 0.06493020 -0.03889939
+v -0.07214906 0.07006685 0.00605804
+v -0.17321293 0.05460685 -0.03442715
+v -0.17763561 0.05902471 0.01022562
+v -0.14780142 0.06825701 -0.03607254
+v -0.19522754 0.01674323 -0.03371294
+v -0.20313997 0.02016577 0.01024654
+v -0.18679185 0.04881512 0.00952112
+v -0.18022776 0.04572694 -0.03378725
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 7 5 1
+f 8 3 2
+f 8 2 5
+f 8 5 6
+f 9 6 4
+f 9 4 3
+f 9 8 6
+f 9 3 8
+f 11 1 4
+f 12 6 5
+f 12 4 6
+f 12 11 4
+f 12 10 11
+f 13 5 7
+f 13 12 5
+f 13 10 12
+f 14 7 1
+f 14 1 11
+f 14 13 7
+f 15 14 11
+f 15 11 10
+f 16 15 10
+f 16 10 13
+f 16 13 14
+f 16 14 15
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_6/collision/model_normalized_collision_2.obj b/objects/objaverse/banana/banana_6/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3717c5f297e7feead9a1d76733453a7b862a4691
--- /dev/null
+++ b/objects/objaverse/banana/banana_6/collision/model_normalized_collision_2.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.02876873 -0.05063972 0.41529063
+v 0.02564958 -0.04843181 0.37267400
+v 0.02575432 -0.00661803 0.37117708
+v -0.02461668 0.03217409 0.30729580
+v -0.02543984 -0.05618256 0.26742595
+v 0.03139717 -0.01273022 0.42638339
+v -0.01240139 -0.04891110 0.39058408
+v -0.00650665 -0.03236750 0.28588639
+v -0.02394117 0.03427626 0.26621814
+v 0.03755970 -0.03674729 0.43647524
+v -0.02395359 0.01483761 0.34877670
+v -0.01636199 -0.04900741 0.26933723
+v -0.00673982 0.00852993 0.28381987
+v -0.01039757 -0.01376807 0.40036364
+v -0.01760173 0.02939396 0.26793759
+v 0.02327496 -0.02592293 0.42947524
+v 0.03396155 -0.02477466 0.43555053
+v -0.00841657 -0.03904021 0.40267204
+v 0.00911566 -0.04029442 0.41400009
+f 5 2 1
+f 7 5 1
+f 8 3 2
+f 9 6 3
+f 9 4 6
+f 9 5 4
+f 10 1 2
+f 10 2 3
+f 10 3 6
+f 10 7 1
+f 11 4 5
+f 11 5 7
+f 11 6 4
+f 12 8 2
+f 12 2 5
+f 12 5 9
+f 13 3 8
+f 13 8 12
+f 14 11 7
+f 14 6 11
+f 15 9 3
+f 15 3 13
+f 15 13 12
+f 15 12 9
+f 16 6 14
+f 17 16 10
+f 17 10 6
+f 17 6 16
+f 18 16 14
+f 18 14 7
+f 18 10 16
+f 19 18 7
+f 19 7 10
+f 19 10 18
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_6/collision/model_normalized_collision_20.obj b/objects/objaverse/banana/banana_6/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c94d4273a46f862da6c62805a65c2fa7b721fe7f
--- /dev/null
+++ b/objects/objaverse/banana/banana_6/collision/model_normalized_collision_20.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v -0.12390224 -0.09168095 -0.03752952
+v -0.12250378 -0.08878349 -0.09761473
+v -0.12093800 0.07206816 -0.09770350
+v -0.12298002 0.07699966 -0.03745913
+v -0.18638243 0.03392093 -0.03505891
+v -0.18562947 -0.05652160 -0.03383577
+v -0.18333223 -0.01492888 -0.09267564
+v -0.16276680 0.06147815 -0.03581936
+v -0.15920254 -0.07945774 -0.03559310
+v -0.13442019 0.07310116 -0.03654455
+v -0.15574744 0.05548703 -0.09187036
+v -0.16798674 -0.05692140 -0.09345957
+v -0.12975212 0.06904376 -0.09479777
+v -0.18305171 0.00651304 -0.09193007
+v -0.18268050 -0.05459694 -0.04855987
+v -0.16864262 -0.06470920 -0.07852187
+v -0.18093583 0.02997469 -0.06268132
+v -0.14338486 -0.07892229 -0.09463388
+v -0.15656181 -0.07700532 -0.06390510
+f 1 2 3
+f 1 3 4
+f 7 3 2
+f 7 6 5
+f 8 5 6
+f 9 2 1
+f 9 1 6
+f 10 6 1
+f 10 1 4
+f 10 8 6
+f 10 4 3
+f 11 5 8
+f 12 7 2
+f 13 10 3
+f 13 8 10
+f 13 11 8
+f 13 3 11
+f 14 7 5
+f 14 11 3
+f 14 3 7
+f 15 6 7
+f 15 7 12
+f 16 9 6
+f 16 15 12
+f 16 6 15
+f 17 14 5
+f 17 5 11
+f 17 11 14
+f 18 16 12
+f 18 12 2
+f 19 18 2
+f 19 2 9
+f 19 9 16
+f 19 16 18
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_6/collision/model_normalized_collision_21.obj b/objects/objaverse/banana/banana_6/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..30009b501c885c24c6d3089eac18c1751ac7a3f7
--- /dev/null
+++ b/objects/objaverse/banana/banana_6/collision/model_normalized_collision_21.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.10933477 -0.08164388 0.26756591
+v -0.01390552 -0.04642625 0.26852186
+v -0.10912121 -0.01926653 0.26515152
+v -0.01043274 -0.01841371 0.26719745
+v -0.03093354 -0.02130768 0.18672539
+v -0.10585194 -0.08504467 0.19038466
+v -0.02986599 -0.01791357 0.19116278
+v -0.03549169 -0.05056778 0.19174114
+v -0.02543984 -0.05618256 0.26742595
+v -0.10912121 -0.01926653 0.18939394
+v -0.01824191 -0.01731881 0.23897983
+f 1 2 3
+f 3 2 4
+f 5 4 2
+f 7 4 5
+f 8 6 5
+f 8 5 2
+f 9 2 1
+f 9 1 6
+f 9 8 2
+f 9 6 8
+f 10 6 1
+f 10 1 3
+f 10 5 6
+f 10 7 5
+f 11 3 4
+f 11 4 7
+f 11 10 3
+f 11 7 10
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_6/collision/model_normalized_collision_22.obj b/objects/objaverse/banana/banana_6/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2962289a77ac7cf9a80ba63c7f6cafcde4e63d6a
--- /dev/null
+++ b/objects/objaverse/banana/banana_6/collision/model_normalized_collision_22.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.08546955 -0.05336753 0.45797374
+v 0.06265919 -0.04838146 0.39864580
+v 0.08005125 -0.01259283 0.46552751
+v 0.03777184 -0.01309767 0.43183914
+v 0.03573001 -0.05094450 0.41989320
+v 0.01927352 -0.00685634 0.36237730
+v 0.06132475 -0.01371888 0.40004680
+v 0.02580244 -0.04979033 0.38780111
+v 0.06970909 -0.03495040 0.46341791
+v 0.03014302 -0.04185501 0.36653524
+v 0.03515515 -0.03748429 0.43427487
+v 0.07843532 -0.03592077 0.46700478
+v 0.07181418 -0.01498191 0.46046798
+v 0.02889341 -0.01165137 0.37024647
+v 0.02212623 -0.04575449 0.36016183
+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 10 7 2
+f 11 8 5
+f 11 4 6
+f 11 6 8
+f 11 9 4
+f 11 5 1
+f 11 1 9
+f 12 9 1
+f 12 1 3
+f 12 3 9
+f 13 9 3
+f 13 3 4
+f 13 4 9
+f 14 10 6
+f 14 6 7
+f 14 7 10
+f 15 8 6
+f 15 6 10
+f 15 10 2
+f 15 2 8
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_6/collision/model_normalized_collision_23.obj b/objects/objaverse/banana/banana_6/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..300b3af0d61b656c0f0034a11ab1ca6d0e3082cc
--- /dev/null
+++ b/objects/objaverse/banana/banana_6/collision/model_normalized_collision_23.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.12418540 -0.09333317 0.00755376
+v -0.12390224 -0.09168095 -0.03752952
+v -0.12427272 -0.01926653 0.00757576
+v -0.20762655 -0.01722011 0.00911371
+v -0.18810632 -0.06474114 0.00932420
+v -0.19144980 -0.03053476 -0.04650116
+v -0.16366468 -0.08304932 0.00840978
+v -0.19979211 -0.04375957 0.01024837
+v -0.12427272 -0.01926653 -0.03787879
+v -0.15920254 -0.07945774 -0.03559310
+v -0.18562947 -0.05652160 -0.03383577
+v -0.19754832 -0.04291249 -0.00451349
+v -0.19798816 -0.01556248 -0.03435981
+v -0.18593911 -0.06261863 -0.02018585
+v -0.19516843 -0.02828471 -0.03333907
+f 1 2 3
+f 7 2 1
+f 8 1 3
+f 8 3 4
+f 8 7 1
+f 8 5 7
+f 9 3 2
+f 9 2 6
+f 10 6 2
+f 10 2 7
+f 11 6 10
+f 12 8 4
+f 12 6 11
+f 13 9 6
+f 13 4 3
+f 13 3 9
+f 14 10 7
+f 14 7 5
+f 14 11 10
+f 14 5 8
+f 14 12 11
+f 14 8 12
+f 15 12 4
+f 15 6 12
+f 15 13 6
+f 15 4 13
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_6/collision/model_normalized_collision_24.obj b/objects/objaverse/banana/banana_6/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ec5be140758ddf9862d9367d673dd5b0925b5dcf
--- /dev/null
+++ b/objects/objaverse/banana/banana_6/collision/model_normalized_collision_24.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.07951233 -0.07406327 0.32482111
+v 0.00345216 -0.01738966 0.32010482
+v -0.08259275 -0.06542132 0.34876086
+v -0.01168125 -0.02000869 0.26334758
+v -0.04001727 -0.06607782 0.26624823
+v -0.07953579 -0.07695182 0.26516620
+v -0.02585051 -0.06056474 0.32336036
+v -0.02543984 -0.05618256 0.26742595
+v -0.06549338 -0.07350027 0.26487877
+v -0.02848323 -0.06213569 0.29827690
+f 3 2 4
+f 6 1 3
+f 6 3 4
+f 7 2 3
+f 7 3 1
+f 8 5 4
+f 8 4 2
+f 8 2 7
+f 9 6 4
+f 9 4 5
+f 9 7 1
+f 9 1 6
+f 10 8 7
+f 10 5 8
+f 10 9 5
+f 10 7 9
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_6/collision/model_normalized_collision_25.obj b/objects/objaverse/banana/banana_6/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..19f45f26b8806ff8b6170fbaf8bf4105fc64769c
--- /dev/null
+++ b/objects/objaverse/banana/banana_6/collision/model_normalized_collision_25.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v -0.06549338 -0.07350027 0.26487877
+v -0.01168125 -0.02000869 0.26334758
+v -0.01205928 -0.00272917 0.37643765
+v -0.07111541 0.05577584 0.27281344
+v -0.01282893 0.01267624 0.26374126
+v -0.08176530 -0.02515361 0.38086080
+v -0.01344043 0.01797627 0.32755553
+v -0.07955041 0.01301554 0.37387556
+v -0.02066574 0.00312087 0.36760842
+f 1 2 3
+f 5 2 1
+f 5 1 4
+f 5 3 2
+f 6 1 3
+f 6 4 1
+f 7 5 4
+f 7 4 3
+f 7 3 5
+f 8 6 3
+f 8 4 6
+f 9 8 3
+f 9 3 4
+f 9 4 8
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_6/collision/model_normalized_collision_26.obj b/objects/objaverse/banana/banana_6/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e548df12750001bac172adf45b22e967fac7476e
--- /dev/null
+++ b/objects/objaverse/banana/banana_6/collision/model_normalized_collision_26.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.10459881 -0.09152033 0.05403439
+v -0.02606978 -0.06104183 0.00597504
+v -0.02816038 -0.01869393 0.05169777
+v -0.10912121 -0.01926653 0.05303030
+v -0.11126899 -0.09402563 0.00698672
+v -0.10912121 -0.01926653 0.00757576
+v -0.03578348 -0.05871096 0.05060002
+v -0.01832073 -0.01925266 0.00754321
+f 1 3 4
+f 5 2 1
+f 5 1 4
+f 6 4 3
+f 6 5 4
+f 6 2 5
+f 7 1 2
+f 7 2 3
+f 7 3 1
+f 8 6 3
+f 8 3 2
+f 8 2 6
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_6/collision/model_normalized_collision_27.obj b/objects/objaverse/banana/banana_6/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e8514fed5e1b1c785ca200bd444115ac8a985823
--- /dev/null
+++ b/objects/objaverse/banana/banana_6/collision/model_normalized_collision_27.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v -0.10585194 -0.08504467 0.19038466
+v -0.02879105 -0.02040182 0.05567227
+v -0.03093354 -0.02130768 0.18672539
+v -0.10912121 -0.01926653 0.18939394
+v -0.10912121 -0.01926653 0.05303030
+v -0.03606081 -0.02070198 0.14457300
+v -0.05029595 -0.06265026 0.18951425
+v -0.10459881 -0.09152033 0.05403439
+v -0.04696385 -0.06731059 0.05337269
+f 5 1 4
+f 5 4 2
+f 6 3 2
+f 6 2 4
+f 6 4 3
+f 7 3 4
+f 7 4 1
+f 8 1 5
+f 8 7 1
+f 9 2 3
+f 9 3 7
+f 9 7 8
+f 9 8 5
+f 9 5 2
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_6/collision/model_normalized_collision_28.obj b/objects/objaverse/banana/banana_6/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b4b13752ed93fadba716c7a33b0e150d92c3acfe
--- /dev/null
+++ b/objects/objaverse/banana/banana_6/collision/model_normalized_collision_28.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.10896004 -0.08225303 0.26332945
+v -0.10906078 -0.09419964 0.00759233
+v -0.10912121 -0.01926653 0.00757576
+v -0.18528024 -0.03229467 0.27738747
+v -0.15256290 -0.08783713 0.00796486
+v -0.10912121 -0.01926653 0.26515152
+v -0.14652019 -0.07918211 0.26061850
+v -0.20138534 -0.03194540 -0.00195282
+f 1 2 3
+f 6 1 3
+f 6 4 1
+f 7 5 2
+f 7 2 1
+f 7 1 4
+f 8 3 2
+f 8 2 5
+f 8 6 3
+f 8 4 6
+f 8 7 4
+f 8 5 7
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_6/collision/model_normalized_collision_29.obj b/objects/objaverse/banana/banana_6/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b224b44d1c948e3477afc00f7cbf290b839b23d3
--- /dev/null
+++ b/objects/objaverse/banana/banana_6/collision/model_normalized_collision_29.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.00527870 -0.02991525 -0.07869289
+v -0.00920160 -0.01620831 -0.02780493
+v -0.16988624 -0.03467503 -0.11415375
+v -0.12298002 0.07699966 -0.03745913
+v -0.05286178 0.07296230 -0.10099441
+v -0.12427272 -0.01926653 -0.03787879
+v -0.05162072 0.06493020 -0.03889939
+v -0.12093800 0.07206816 -0.09770350
+v -0.06816638 0.07149222 -0.03923628
+v -0.05642539 0.06969699 -0.05562988
+f 5 1 3
+f 6 2 4
+f 6 4 3
+f 6 1 2
+f 6 3 1
+f 7 2 1
+f 7 1 5
+f 7 4 2
+f 8 5 3
+f 8 3 4
+f 8 4 5
+f 9 5 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/banana/banana_6/collision/model_normalized_collision_3.obj b/objects/objaverse/banana/banana_6/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..961b96e1b1f0810a97656376389719e038c43751
--- /dev/null
+++ b/objects/objaverse/banana/banana_6/collision/model_normalized_collision_3.obj
@@ -0,0 +1,138 @@
+# https://github.com/mikedh/trimesh
+v -0.15074799 -0.08063022 0.24775723
+v -0.15256290 -0.08783713 0.00796486
+v -0.14635900 0.01911669 0.33288301
+v -0.15384235 0.05474385 0.26448921
+v -0.21283551 0.00661980 0.20284987
+v -0.14698497 0.03303637 0.31869174
+v -0.14686786 -0.05803200 0.31851837
+v -0.19711125 -0.05697432 0.20115290
+v -0.18775470 0.04542585 0.00270018
+v -0.14997773 0.04572979 0.28995766
+v -0.18215218 0.01564924 0.28601048
+v -0.14771072 -0.06528474 0.30502704
+v -0.17358603 -0.07701762 0.18745491
+v -0.21137266 0.01885877 0.18599237
+v -0.21379969 -0.00455733 0.02558677
+v -0.16766684 0.01507247 0.31184736
+v -0.18266451 -0.02910051 0.28735226
+v -0.16905764 0.04395483 0.27294997
+v -0.17101586 -0.06220660 0.27482903
+v -0.19716569 -0.05792558 0.02586301
+v -0.19868029 0.01684336 0.24550107
+v -0.21083670 -0.02850398 0.18677505
+v -0.21084890 0.01629328 0.04117101
+v -0.15564496 0.02725827 0.31615570
+v -0.15204489 -0.01867404 0.33879192
+v -0.15806850 -0.01644342 0.33204612
+v -0.16260612 0.04160283 0.28747364
+v -0.17435419 0.04484750 0.26003177
+v -0.15628870 -0.06193854 0.30314315
+v -0.18720313 -0.06174322 0.23152089
+v -0.17104522 -0.07875412 0.01050989
+v -0.19722653 0.00833641 0.25819750
+v -0.21205195 -0.01487597 0.20146812
+v -0.21164992 -0.02832233 0.05529051
+v -0.20313997 0.02016577 0.01024654
+v -0.15436754 0.01522989 0.32751687
+v -0.16841558 0.02639977 0.29827919
+v -0.18221415 0.02752686 0.27204380
+v -0.16837108 -0.02719149 0.31344592
+v -0.15854201 -0.07663392 0.24568376
+v -0.18184894 -0.05512777 0.25764263
+v -0.18810632 -0.06474114 0.00932420
+v -0.19743577 -0.01529163 0.25873016
+v -0.19761752 -0.04105895 0.23054003
+v -0.19979211 -0.04375957 0.01024837
+v -0.21122246 0.00567748 0.02395860
+v -0.15367037 -0.05404223 0.31366106
+f 6 3 2
+f 7 2 3
+f 9 4 2
+f 10 6 2
+f 10 2 4
+f 12 1 2
+f 12 2 7
+f 13 2 1
+f 15 5 14
+f 20 13 8
+f 21 14 5
+f 23 15 14
+f 23 14 9
+f 24 3 6
+f 25 7 3
+f 26 16 11
+f 26 11 17
+f 27 6 10
+f 27 10 4
+f 27 4 18
+f 27 24 6
+f 28 18 4
+f 28 4 9
+f 28 9 14
+f 28 14 21
+f 29 19 1
+f 29 1 12
+f 29 12 7
+f 29 17 19
+f 30 8 13
+f 31 2 13
+f 31 13 20
+f 32 17 11
+f 32 11 21
+f 32 21 5
+f 33 5 15
+f 34 20 8
+f 34 8 22
+f 34 33 15
+f 34 22 33
+f 35 23 9
+f 36 24 16
+f 36 3 24
+f 36 16 26
+f 36 26 25
+f 36 25 3
+f 37 16 24
+f 37 24 27
+f 37 11 16
+f 37 27 18
+f 38 28 21
+f 38 21 11
+f 38 18 28
+f 38 37 18
+f 38 11 37
+f 39 26 17
+f 39 17 29
+f 39 25 26
+f 40 30 13
+f 40 13 1
+f 40 1 19
+f 40 19 30
+f 41 30 19
+f 41 19 17
+f 42 9 2
+f 42 2 31
+f 42 31 20
+f 43 32 5
+f 43 5 33
+f 43 17 32
+f 44 33 22
+f 44 22 8
+f 44 43 33
+f 44 8 30
+f 44 30 41
+f 44 41 17
+f 44 17 43
+f 45 34 15
+f 45 20 34
+f 45 42 20
+f 45 15 35
+f 45 35 9
+f 45 9 42
+f 46 35 15
+f 46 15 23
+f 46 23 35
+f 47 39 29
+f 47 29 7
+f 47 7 25
+f 47 25 39
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_6/collision/model_normalized_collision_30.obj b/objects/objaverse/banana/banana_6/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b3b2ef79553f6bc92fd8cce8f32359fb65085d18
--- /dev/null
+++ b/objects/objaverse/banana/banana_6/collision/model_normalized_collision_30.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v -0.01043274 -0.01841371 0.26719745
+v -0.02202290 -0.01683372 0.22485725
+v -0.05688733 0.05457939 0.21898769
+v -0.16598247 0.06119869 0.21775274
+v -0.19978319 -0.03453074 0.23153660
+v -0.05687080 0.05299251 0.26406059
+v -0.02076489 0.03000864 0.25389946
+v -0.18528024 -0.03229467 0.27738747
+v -0.02074779 -0.00604380 0.22445595
+v -0.01760173 0.02939396 0.26793759
+v -0.15943857 0.05334200 0.25966848
+v -0.03184257 0.03593275 0.22194692
+v -0.02131007 0.02068893 0.23915449
+v -0.18645020 0.02031021 0.27198703
+v -0.03145462 0.04070580 0.26733326
+v -0.19802212 0.02671530 0.22689050
+v -0.03237275 0.04037060 0.24994027
+f 3 2 4
+f 5 2 1
+f 5 4 2
+f 6 3 4
+f 8 5 1
+f 9 1 2
+f 9 2 3
+f 10 8 1
+f 11 6 4
+f 12 9 3
+f 12 10 7
+f 13 7 10
+f 13 12 7
+f 13 9 12
+f 13 10 1
+f 13 1 9
+f 14 6 11
+f 14 5 8
+f 15 3 6
+f 15 6 14
+f 15 14 8
+f 15 8 10
+f 16 14 11
+f 16 11 4
+f 16 4 5
+f 16 5 14
+f 17 12 3
+f 17 3 15
+f 17 15 10
+f 17 10 12
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_6/collision/model_normalized_collision_31.obj b/objects/objaverse/banana/banana_6/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a429eab244578b270ff49c2ef023dd588a7daf88
--- /dev/null
+++ b/objects/objaverse/banana/banana_6/collision/model_normalized_collision_31.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.12418540 -0.09333317 0.00755376
+v 0.00527870 -0.02991525 -0.07869289
+v -0.02040182 -0.02178459 0.01463566
+v -0.12427272 -0.01926653 0.00757576
+v -0.16988624 -0.03467503 -0.11415375
+v -0.05648399 -0.07857364 0.00495959
+v -0.05134211 -0.08700362 -0.09898512
+v -0.12250378 -0.08878349 -0.09761473
+f 1 3 4
+f 3 2 4
+f 5 1 4
+f 5 4 2
+f 6 2 3
+f 6 3 1
+f 7 5 2
+f 7 6 1
+f 7 2 6
+f 8 7 1
+f 8 1 5
+f 8 5 7
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_6/collision/model_normalized_collision_4.obj b/objects/objaverse/banana/banana_6/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4643c376700629d8da7423f64d1e20d162e43ecb
--- /dev/null
+++ b/objects/objaverse/banana/banana_6/collision/model_normalized_collision_4.obj
@@ -0,0 +1,159 @@
+# https://github.com/mikedh/trimesh
+v 0.02504692 -0.07312698 -0.28054048
+v 0.15509820 0.03267284 -0.49163194
+v 0.13100348 -0.00044603 -0.33622317
+v 0.02602481 0.08505907 -0.28304249
+v 0.03969768 -0.01343327 -0.44412456
+v 0.13468992 0.07115744 -0.36256238
+v 0.10073906 -0.02020251 -0.28791668
+v 0.12215634 -0.03180639 -0.39662846
+v 0.02857366 -0.06508642 -0.35167591
+v 0.03824747 0.08738868 -0.40828405
+v 0.14556198 0.02464248 -0.36259345
+v 0.07989815 0.06977118 -0.28654543
+v 0.11627773 -0.03725226 -0.33762758
+v 0.09501036 -0.02968147 -0.43820630
+v 0.05357126 -0.06220067 -0.35326213
+v 0.05539632 0.05116713 -0.46097739
+v 0.11780324 0.06995436 -0.47102196
+v 0.11164342 0.08408424 -0.41411198
+v 0.03927238 0.07105620 -0.43160885
+v 0.15319048 0.06725798 -0.41914893
+v 0.15474146 -0.00000767 -0.43924534
+v 0.10086302 0.05028098 -0.29081472
+v 0.05000428 -0.06483525 -0.28204751
+v 0.09478154 0.08419959 -0.34680784
+v 0.13044465 -0.02166052 -0.34964470
+v 0.10904195 0.01833932 -0.48879583
+v 0.03389147 -0.04569374 -0.40539155
+v 0.09681492 -0.04457833 -0.39599484
+v 0.06578417 0.08582531 -0.43384582
+v 0.04168372 0.05765335 -0.44601180
+v 0.14330998 0.06706711 -0.37867573
+v 0.15660545 0.04265802 -0.49342147
+v 0.14317108 0.07320046 -0.41662594
+v 0.14363701 0.02211343 -0.49327455
+v 0.14508276 -0.01521384 -0.37818360
+v 0.13087023 0.03830568 -0.33762717
+v 0.11994721 0.06991520 -0.33629401
+v 0.07613754 -0.05248062 -0.28538571
+v 0.03799302 0.08351903 -0.28517721
+v 0.04975353 -0.03342792 -0.43101318
+v 0.05081552 0.01465801 -0.45964151
+v 0.10968745 -0.02972774 -0.42395136
+v 0.08212103 -0.04492861 -0.41118007
+v 0.08559007 0.08342574 -0.44072195
+v 0.09390833 0.05950525 -0.47545160
+v 0.15555815 0.01355132 -0.46811062
+v 0.11007813 0.08272398 -0.37426123
+v 0.08205486 0.00248406 -0.47238304
+v 0.12287135 0.05167096 -0.49478677
+v 0.14495639 0.01342645 -0.36277109
+v 0.08668411 -0.04964488 -0.30285677
+v 0.10970842 0.04787086 -0.49136116
+v 0.09305123 0.07099266 -0.46297452
+v 0.04962043 -0.01841112 -0.44591308
+f 9 1 4
+f 15 1 9
+f 19 4 10
+f 21 20 11
+f 22 7 3
+f 22 12 7
+f 23 12 4
+f 23 4 1
+f 23 7 12
+f 23 1 15
+f 24 18 10
+f 24 10 4
+f 25 3 7
+f 25 7 13
+f 27 19 5
+f 27 9 4
+f 27 4 19
+f 28 8 13
+f 28 23 15
+f 28 13 23
+f 29 10 18
+f 29 19 10
+f 29 16 19
+f 30 19 16
+f 30 5 19
+f 31 20 6
+f 31 11 20
+f 32 17 20
+f 32 20 21
+f 33 6 20
+f 33 20 17
+f 33 17 18
+f 34 32 2
+f 35 13 8
+f 35 8 21
+f 35 25 13
+f 35 3 25
+f 36 22 3
+f 36 3 11
+f 36 6 22
+f 36 31 6
+f 36 11 31
+f 37 22 6
+f 37 12 22
+f 37 24 12
+f 37 6 24
+f 38 13 7
+f 38 7 23
+f 39 24 4
+f 39 4 12
+f 39 12 24
+f 40 27 5
+f 41 30 16
+f 41 5 30
+f 42 21 8
+f 42 8 28
+f 43 28 15
+f 43 15 9
+f 43 9 27
+f 43 42 28
+f 43 14 42
+f 43 40 14
+f 43 27 40
+f 44 29 18
+f 44 18 17
+f 44 17 29
+f 45 16 29
+f 46 32 21
+f 46 2 32
+f 46 34 2
+f 46 14 34
+f 46 42 14
+f 46 21 42
+f 47 24 6
+f 47 6 33
+f 47 33 18
+f 47 18 24
+f 48 34 14
+f 48 26 34
+f 48 14 40
+f 48 41 26
+f 48 5 41
+f 49 34 26
+f 49 32 34
+f 49 17 32
+f 50 35 21
+f 50 21 11
+f 50 11 3
+f 50 3 35
+f 51 38 23
+f 51 23 13
+f 51 13 38
+f 52 41 16
+f 52 26 41
+f 52 49 26
+f 52 16 45
+f 52 45 49
+f 53 45 29
+f 53 29 17
+f 53 49 45
+f 53 17 49
+f 54 48 40
+f 54 40 5
+f 54 5 48
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_6/collision/model_normalized_collision_5.obj b/objects/objaverse/banana/banana_6/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..12f7c83c36b9361bff4843e3fd7916180d3de3a8
--- /dev/null
+++ b/objects/objaverse/banana/banana_6/collision/model_normalized_collision_5.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v -0.04483334 -0.07232161 0.00878449
+v 0.01398362 -0.03179341 -0.10336306
+v -0.02879105 -0.02040182 0.05567227
+v -0.05510615 0.05864459 0.03669982
+v -0.04860351 0.07132044 -0.09851003
+v 0.00315897 0.04504952 -0.10204851
+v -0.04963855 0.05451554 0.05285078
+v -0.02606978 -0.06104183 0.00597504
+v -0.04228312 -0.08377526 -0.09677053
+v 0.01238270 0.02228317 -0.10368000
+v -0.01215704 0.05541423 -0.10144546
+v 0.00627815 -0.05874356 -0.10106114
+v -0.03555177 0.04356490 0.05007265
+f 7 1 3
+f 7 4 1
+f 7 5 4
+f 8 3 1
+f 9 5 2
+f 9 1 4
+f 9 4 5
+f 10 3 2
+f 10 2 5
+f 11 7 6
+f 11 5 7
+f 11 10 5
+f 11 6 10
+f 12 2 3
+f 12 3 8
+f 12 9 2
+f 12 8 1
+f 12 1 9
+f 13 7 3
+f 13 3 10
+f 13 10 6
+f 13 6 7
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_6/collision/model_normalized_collision_6.obj b/objects/objaverse/banana/banana_6/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c504ed93b67eb4e309d8e2de2a3b0cf5d427bbf5
--- /dev/null
+++ b/objects/objaverse/banana/banana_6/collision/model_normalized_collision_6.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v -0.05029595 -0.06265026 0.18951425
+v -0.03219333 -0.04581417 0.05079405
+v -0.02328053 -0.01861627 0.22107626
+v -0.05090393 0.05162251 0.21949460
+v -0.04963855 0.05451554 0.05285078
+v -0.03321478 -0.04490798 0.19228344
+v -0.04696385 -0.06731059 0.05337269
+v -0.03399329 0.03725958 0.05052373
+v -0.03697066 -0.06145194 0.05240504
+v -0.04124680 -0.05518648 0.19035246
+v -0.03184257 0.03593275 0.22194692
+v -0.04062100 0.04735475 0.05170258
+v -0.04173362 0.04572142 0.22052420
+f 1 3 4
+f 5 1 4
+f 7 5 2
+f 7 1 5
+f 8 3 2
+f 8 2 5
+f 9 2 3
+f 9 3 6
+f 9 7 2
+f 9 1 7
+f 10 6 3
+f 10 3 1
+f 10 9 6
+f 10 1 9
+f 11 4 3
+f 11 3 8
+f 12 11 8
+f 12 8 5
+f 13 12 5
+f 13 5 4
+f 13 4 11
+f 13 11 12
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_6/collision/model_normalized_collision_7.obj b/objects/objaverse/banana/banana_6/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a9ad4e01f8916e7abf7423b203e3309a47bf2dc
--- /dev/null
+++ b/objects/objaverse/banana/banana_6/collision/model_normalized_collision_7.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.08304639 -0.07781471 0.26523806
+v -0.03697066 -0.06145194 0.05240504
+v -0.06881363 -0.08439897 0.00588601
+v -0.03447578 -0.06318489 0.26558570
+v -0.10933477 -0.08164388 0.26756591
+v -0.05716298 -0.07814694 0.00971091
+v -0.04001727 -0.06607782 0.26624823
+v -0.11126899 -0.09402563 0.00698672
+v -0.10906078 -0.09419964 0.00759233
+v -0.10896004 -0.08225303 0.26332945
+f 5 4 2
+f 6 2 4
+f 6 4 3
+f 7 1 3
+f 7 3 4
+f 7 5 1
+f 7 4 5
+f 8 5 2
+f 8 6 3
+f 8 2 6
+f 9 8 3
+f 9 3 1
+f 10 9 1
+f 10 1 5
+f 10 5 8
+f 10 8 9
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_6/collision/model_normalized_collision_8.obj b/objects/objaverse/banana/banana_6/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..42a43b2f72f364755ab2dde253e78585cf131834
--- /dev/null
+++ b/objects/objaverse/banana/banana_6/collision/model_normalized_collision_8.obj
@@ -0,0 +1,135 @@
+# https://github.com/mikedh/trimesh
+v -0.05134211 -0.08700362 -0.09898512
+v 0.02348657 -0.07194536 -0.23593255
+v 0.00970751 0.03445078 -0.10607840
+v -0.12093800 0.07206816 -0.09770350
+v -0.11142792 -0.05456555 -0.22776098
+v 0.02448165 0.07623646 -0.23741012
+v -0.01215704 0.05541423 -0.10144546
+v 0.00906325 -0.05795049 -0.10550495
+v -0.07272411 -0.07763278 -0.22886514
+v -0.16798674 -0.05692140 -0.09345957
+v 0.01850223 -0.06280826 -0.16202633
+v -0.08486286 0.06762080 -0.23203142
+v -0.03835007 0.06861679 -0.09990572
+v 0.01209520 0.04364325 -0.11993130
+v -0.00669139 -0.08063982 -0.23462458
+v -0.14338486 -0.07892229 -0.09463388
+v -0.01003757 -0.07757680 -0.16133045
+v -0.16803808 0.00758908 -0.13678108
+v 0.01991384 0.07052063 -0.20942984
+v -0.14754832 0.05942535 -0.09397997
+v -0.09904915 -0.06469955 -0.22832813
+v -0.15397962 -0.06410003 -0.12349308
+v -0.13779317 0.00736144 -0.21183228
+v 0.01411158 0.05422382 -0.15090687
+v -0.16987761 0.03138258 -0.09334581
+v -0.11809356 0.06857139 -0.14228387
+v -0.09875065 -0.07594323 -0.19803031
+v -0.11026334 -0.06378796 -0.21155191
+v -0.16687813 -0.01549562 -0.13741115
+v -0.12060092 0.02937265 -0.22580125
+v -0.00014212 0.05396549 -0.11937568
+v -0.12133803 0.05833409 -0.18183617
+v -0.14218540 -0.07620697 -0.10872520
+v -0.12023535 -0.05606624 -0.20964885
+v -0.16482211 -0.04161547 -0.12175020
+v -0.15179305 -0.00413256 -0.18101086
+v -0.12200366 -0.02886014 -0.22684846
+v -0.15078451 0.00953182 -0.18051072
+v -0.10758245 0.05923906 -0.21246333
+v -0.14079234 0.05411684 -0.13981415
+v -0.16428143 -0.05655256 -0.10640896
+v -0.13597448 -0.05416441 -0.17894067
+v -0.13595794 -0.01359725 -0.20950404
+v -0.13435584 -0.04204842 -0.19397154
+v -0.15069511 0.02988658 -0.15228199
+v -0.16654588 0.02917117 -0.10735595
+f 8 7 1
+f 8 3 7
+f 11 2 6
+f 12 4 6
+f 13 6 4
+f 13 1 7
+f 14 7 3
+f 14 11 6
+f 14 3 8
+f 14 8 11
+f 15 2 1
+f 15 1 9
+f 15 5 12
+f 15 12 6
+f 15 6 2
+f 16 9 1
+f 17 11 8
+f 17 8 1
+f 17 1 2
+f 17 2 11
+f 19 13 7
+f 19 6 13
+f 20 13 4
+f 20 1 13
+f 20 16 1
+f 20 10 16
+f 21 15 9
+f 21 5 15
+f 22 16 10
+f 24 14 6
+f 24 6 19
+f 25 18 10
+f 25 10 20
+f 26 20 4
+f 26 4 12
+f 27 21 9
+f 27 9 16
+f 28 5 21
+f 28 27 22
+f 28 21 27
+f 29 10 18
+f 31 24 19
+f 31 19 7
+f 31 7 14
+f 31 14 24
+f 32 26 12
+f 32 20 26
+f 33 27 16
+f 33 16 22
+f 33 22 27
+f 34 28 22
+f 34 5 28
+f 35 10 29
+f 36 29 18
+f 37 30 12
+f 37 12 5
+f 37 23 30
+f 38 30 23
+f 38 36 18
+f 38 23 36
+f 39 32 12
+f 39 12 30
+f 39 30 32
+f 40 25 20
+f 40 20 32
+f 41 35 22
+f 41 22 10
+f 41 10 35
+f 42 34 22
+f 42 22 35
+f 43 36 23
+f 43 23 37
+f 44 37 5
+f 44 5 34
+f 44 34 42
+f 44 43 37
+f 44 36 43
+f 44 29 36
+f 44 42 35
+f 44 35 29
+f 45 32 30
+f 45 30 38
+f 45 40 32
+f 45 38 18
+f 46 45 18
+f 46 18 25
+f 46 25 40
+f 46 40 45
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_6/collision/model_normalized_collision_9.obj b/objects/objaverse/banana/banana_6/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0a862107a149427417611b1c408acd76d5be0b1a
--- /dev/null
+++ b/objects/objaverse/banana/banana_6/collision/model_normalized_collision_9.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v 0.19731817 -0.07340816 0.44660337
+v 0.21376920 -0.04791950 0.47142137
+v 0.14330954 -0.05394239 0.48170415
+v 0.15551257 0.04557921 0.45649948
+v 0.19280379 0.01688324 0.44560790
+v 0.21740675 0.01751240 0.49355882
+v 0.13097309 -0.06512023 0.43810760
+v 0.16086740 -0.06084625 0.49333535
+v 0.20700192 -0.05822453 0.45308137
+v 0.21227948 0.02634376 0.47423934
+v 0.13599671 0.01757132 0.47875453
+v 0.18471818 -0.04277864 0.43362160
+v 0.19731537 -0.05047436 0.48659811
+v 0.13885591 -0.06351399 0.45867274
+v 0.18135457 0.02625928 0.44533516
+v 0.21491524 0.02337115 0.48763720
+v 0.20725262 0.00638904 0.45919787
+v 0.22198450 -0.02794960 0.49547397
+v 0.14159833 0.03769742 0.46678907
+v 0.18448428 0.02257478 0.49073017
+v 0.18802288 -0.04850769 0.43475446
+v 0.15717605 0.04315235 0.45274904
+v 0.16887267 0.01079210 0.43321412
+v 0.14709021 0.04144040 0.46247559
+v 0.18525223 -0.00705358 0.43526704
+v 0.15566114 0.03640979 0.44293079
+v 0.18583580 -0.02020280 0.43453206
+v 0.17328165 0.00660949 0.43354745
+v 0.15010688 0.02237535 0.44401852
+v 0.15083151 0.04212883 0.45682413
+f 9 2 1
+f 11 7 3
+f 11 3 8
+f 13 8 1
+f 13 1 2
+f 14 7 1
+f 14 1 8
+f 14 8 3
+f 14 3 7
+f 15 10 5
+f 16 10 4
+f 16 6 10
+f 17 5 10
+f 17 10 2
+f 17 2 9
+f 18 10 6
+f 18 2 10
+f 18 13 2
+f 18 6 8
+f 18 8 13
+f 19 7 11
+f 20 11 8
+f 20 8 6
+f 20 19 11
+f 20 6 16
+f 20 16 4
+f 21 1 7
+f 21 7 12
+f 21 9 1
+f 22 4 10
+f 22 10 15
+f 23 15 5
+f 23 12 7
+f 24 20 4
+f 24 19 20
+f 25 5 17
+f 26 22 15
+f 26 15 23
+f 26 23 7
+f 26 4 22
+f 27 21 12
+f 27 9 21
+f 27 25 17
+f 27 17 9
+f 28 23 5
+f 28 5 25
+f 28 25 27
+f 28 27 12
+f 28 12 23
+f 29 26 7
+f 29 7 19
+f 29 19 26
+f 30 26 19
+f 30 19 24
+f 30 24 4
+f 30 4 26
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_6/model.xml b/objects/objaverse/banana/banana_6/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..29c48565a36ea43c1bb68c26feb4130ed8216bb8
--- /dev/null
+++ b/objects/objaverse/banana/banana_6/model.xml
@@ -0,0 +1,81 @@
+<mujoco model="banana_18">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.18 0.18 0.18" refquat="-1.1102230246251565e-16 1.1102230246251565e-16 0.7071067811865475 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.18 0.18 0.18" refquat="-1.1102230246251565e-16 1.1102230246251565e-16 0.7071067811865475 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.18 0.18 0.18" refquat="-1.1102230246251565e-16 1.1102230246251565e-16 0.7071067811865475 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.18 0.18 0.18" refquat="-1.1102230246251565e-16 1.1102230246251565e-16 0.7071067811865475 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.18 0.18 0.18" refquat="-1.1102230246251565e-16 1.1102230246251565e-16 0.7071067811865475 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.18 0.18 0.18" refquat="-1.1102230246251565e-16 1.1102230246251565e-16 0.7071067811865475 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.18 0.18 0.18" refquat="-1.1102230246251565e-16 1.1102230246251565e-16 0.7071067811865475 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.18 0.18 0.18" refquat="-1.1102230246251565e-16 1.1102230246251565e-16 0.7071067811865475 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.18 0.18 0.18" refquat="-1.1102230246251565e-16 1.1102230246251565e-16 0.7071067811865475 0.7071067811865476"/>
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+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.18 0.18 0.18" refquat="-1.1102230246251565e-16 1.1102230246251565e-16 0.7071067811865475 0.7071067811865476"/>
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+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.18 0.18 0.18" refquat="-1.1102230246251565e-16 1.1102230246251565e-16 0.7071067811865475 0.7071067811865476"/>
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+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.18 0.18 0.18" refquat="-1.1102230246251565e-16 1.1102230246251565e-16 0.7071067811865475 0.7071067811865476"/>
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+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.18 0.18 0.18" refquat="-1.1102230246251565e-16 1.1102230246251565e-16 0.7071067811865475 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.18 0.18 0.18" refquat="-1.1102230246251565e-16 1.1102230246251565e-16 0.7071067811865475 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.18 0.18 0.18" refquat="-1.1102230246251565e-16 1.1102230246251565e-16 0.7071067811865475 0.7071067811865476"/>
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+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="banana_u1_v1" texture="image0" specular="0.5" shininess="0.0"/>
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+  <worldbody>
+    <body>
+      <body name="object">
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diff --git a/objects/objaverse/banana/banana_6/visual/material.mtl b/objects/objaverse/banana/banana_6/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..3e963f5e154ef1e7766d3c2c065b16bfeea95307
--- /dev/null
+++ b/objects/objaverse/banana/banana_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 0.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_6/visual/model_normalized_0.obj b/objects/objaverse/banana/banana_6/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0a6b713252e67681a32e5cc4ce2f55947420ca0d
--- /dev/null
+++ b/objects/objaverse/banana/banana_6/visual/model_normalized_0.obj
@@ -0,0 +1,7565 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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+v 0.15189500 0.03545940 -0.38264467
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\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_7/collision/model_normalized_collision_0.obj b/objects/objaverse/banana/banana_7/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..93ddcc59383e4fd1d5c20b5639bfebb3cc6035a2
--- /dev/null
+++ b/objects/objaverse/banana/banana_7/collision/model_normalized_collision_0.obj
@@ -0,0 +1,105 @@
+# https://github.com/mikedh/trimesh
+v 0.09146253 0.10254528 -0.12000246
+v 0.09881867 0.11278840 -0.10434416
+v -0.10659778 0.10524153 -0.11382674
+v -0.05125204 0.24161444 -0.11851705
+v 0.05369869 0.23147177 -0.10090683
+v -0.04627636 0.09790794 -0.17868144
+v 0.07391768 0.19456900 -0.10504057
+v -0.09702791 0.18587857 -0.10205804
+v 0.07576080 0.09913911 -0.13927579
+v 0.00827442 0.18182956 -0.14795457
+v 0.09279543 0.15537051 -0.09863685
+v -0.10110844 0.15816123 -0.10585291
+v -0.07003394 0.15409113 -0.15552423
+v 0.01112283 0.09719416 -0.17358976
+v 0.00857944 0.21009251 -0.13460513
+v 0.04869734 0.18126091 -0.13177674
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+v 0.09398799 0.11128192 -0.11400884
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+v 0.00856998 0.13911773 -0.16350385
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\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_7/collision/model_normalized_collision_1.obj b/objects/objaverse/banana/banana_7/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..926f48ee2b5972ab1ce3a1b35493e049b53fbdfd
--- /dev/null
+++ b/objects/objaverse/banana/banana_7/collision/model_normalized_collision_1.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.09061934 -0.26789303 0.02337331
+v 0.09863776 -0.26372685 -0.04414454
+v 0.10564880 0.11289459 -0.04830528
+v 0.07303247 0.11382396 -0.00163984
+v 0.06619665 -0.19324629 0.01944884
+v 0.09417522 -0.27026295 -0.05257646
+v 0.09995866 0.11298978 -0.03345144
+v 0.10399852 -0.23402499 -0.03139205
+v 0.08107746 -0.26219171 0.03559635
+v 0.10290614 -0.23318662 -0.04453778
+v 0.10256732 0.11405107 -0.03883856
+v 0.08130664 0.11457052 -0.00754084
+f 6 4 3
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+f 8 3 1
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+f 9 6 1
+f 9 5 6
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+f 10 2 6
+f 10 8 2
+f 10 3 8
+f 11 7 1
+f 11 1 3
+f 11 3 4
+f 12 4 9
+f 12 11 4
+f 12 7 11
+f 12 9 1
+f 12 1 7
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_7/collision/model_normalized_collision_10.obj b/objects/objaverse/banana/banana_7/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..42a3a776e05d93ee19a748faff0375b695140e57
--- /dev/null
+++ b/objects/objaverse/banana/banana_7/collision/model_normalized_collision_10.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.10379239 -0.22072340 -0.03880660
+v -0.05106896 -0.22390813 -0.14749018
+v -0.07157252 0.03806898 -0.01496437
+v -0.10428184 -0.22018117 -0.04258788
+v -0.07742014 -0.21959537 -0.13663548
+v -0.11244460 0.03939614 -0.11121063
+v -0.09101092 0.03817825 -0.03547238
+v -0.09064544 -0.14814672 -0.15032108
+v -0.04735682 0.03787878 -0.10657043
+v -0.05812190 -0.15332476 -0.16946620
+f 1 2 3
+f 5 2 1
+f 5 1 4
+f 6 4 1
+f 7 6 1
+f 7 1 3
+f 7 3 6
+f 8 5 4
+f 8 4 6
+f 9 6 3
+f 9 3 2
+f 10 2 5
+f 10 5 8
+f 10 9 2
+f 10 8 6
+f 10 6 9
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_7/collision/model_normalized_collision_11.obj b/objects/objaverse/banana/banana_7/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..537c8832701224538a727e0a49c233a04eb68511
--- /dev/null
+++ b/objects/objaverse/banana/banana_7/collision/model_normalized_collision_11.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v -0.07233687 0.09633856 -0.01399997
+v -0.04627636 0.09790794 -0.17868144
+v -0.05706461 0.20642957 -0.13657892
+v -0.09003037 0.18637063 -0.02706024
+v -0.10685675 0.09663059 -0.11973058
+v -0.04315563 0.14017987 -0.16832654
+v -0.09414699 0.09571371 -0.15227231
+v -0.10409304 0.09842777 -0.06282389
+v -0.09702791 0.18587857 -0.10205804
+v -0.04570747 0.15693436 -0.16185374
+v -0.07325138 0.09663161 -0.17089092
+v -0.10723294 0.09743441 -0.07853831
+v -0.09088421 0.09806964 -0.03547402
+v -0.09701302 0.18879026 -0.04767989
+v -0.10520779 0.11167962 -0.11961945
+v -0.09096162 0.14022645 -0.14162298
+v -0.07177055 0.12386792 -0.16413456
+v -0.10539485 0.12771737 -0.07890574
+v -0.09877163 0.15930614 -0.05003613
+v -0.05713332 0.13912946 -0.16441452
+v -0.07691370 0.15143912 -0.15023634
+v -0.10532803 0.12684428 -0.10448205
+f 1 3 4
+f 6 1 2
+f 7 1 5
+f 10 3 1
+f 10 1 6
+f 11 2 1
+f 11 1 7
+f 12 5 1
+f 13 1 4
+f 13 4 8
+f 13 12 1
+f 13 8 12
+f 14 4 3
+f 14 3 9
+f 14 12 8
+f 15 7 5
+f 16 9 3
+f 16 15 9
+f 16 7 15
+f 17 6 2
+f 17 2 11
+f 17 11 7
+f 17 7 16
+f 18 14 9
+f 18 12 14
+f 19 14 8
+f 19 8 4
+f 19 4 14
+f 20 10 6
+f 20 6 17
+f 20 17 3
+f 20 3 10
+f 21 17 16
+f 21 16 3
+f 21 3 17
+f 22 18 9
+f 22 9 15
+f 22 15 5
+f 22 5 12
+f 22 12 18
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_7/collision/model_normalized_collision_12.obj b/objects/objaverse/banana/banana_7/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..15d64e5bd8787a219dfefb69b2045a67443c0eaf
--- /dev/null
+++ b/objects/objaverse/banana/banana_7/collision/model_normalized_collision_12.obj
@@ -0,0 +1,132 @@
+# https://github.com/mikedh/trimesh
+v 0.02939942 -0.49239584 0.17166861
+v 0.07992818 -0.39786661 0.04660461
+v 0.03456060 -0.40946997 0.16204097
+v -0.05751952 -0.40246947 0.13128907
+v -0.06376854 -0.42896381 0.02892422
+v 0.07215403 -0.40444420 0.12560572
+v -0.00892290 -0.45119552 0.17787328
+v 0.01002735 -0.47438312 0.06921487
+v 0.06977248 -0.44190779 0.11804918
+v 0.04115224 -0.47075707 0.17224779
+v -0.02434236 -0.40818864 0.16076449
+v -0.04830935 -0.46661476 0.10281377
+v 0.03380716 -0.45783051 0.05712664
+v 0.07049778 -0.43057052 0.12943226
+v 0.05794889 -0.42145147 0.15070751
+v 0.05621492 -0.46740175 0.13297118
+v 0.02997220 -0.48139452 0.18181076
+v -0.05024629 -0.40420199 0.13931880
+v -0.00405109 -0.49262375 0.17219370
+v -0.02530597 -0.47386369 0.06741232
+v -0.04447769 -0.45592081 0.04831603
+v 0.05686137 -0.44593688 0.15473171
+v 0.04109862 -0.48293757 0.16026554
+v 0.03501539 -0.48928122 0.12555090
+v 0.07005860 -0.43878373 0.09287710
+v 0.03395470 -0.45203466 0.17799845
+v -0.00312697 -0.48274567 0.18308551
+v -0.01320854 -0.49025960 0.10811580
+v -0.03907214 -0.47350181 0.08239860
+v 0.03470689 -0.47344476 0.08502732
+v 0.05684943 -0.46390220 0.10826328
+v 0.04610840 -0.42350290 0.16186908
+v -0.04371178 -0.45389699 0.13907891
+v 0.01133710 -0.49245511 0.18132194
+v -0.03571194 -0.47843338 0.10601275
+v 0.02172645 -0.49022303 0.11046162
+v -0.04788038 -0.46173439 0.06351420
+v 0.04594890 -0.47648129 0.11114096
+v 0.05821860 -0.44591083 0.06943406
+v -0.02819440 -0.46778206 0.15337453
+v 0.00493776 -0.49203538 0.18065532
+v -0.03982226 -0.46104650 0.05376729
+v -0.05455823 -0.45456018 0.06313402
+v 0.04308589 -0.46004768 0.07031119
+v 0.07000587 -0.41934035 0.05270125
+f 5 4 2
+f 6 2 4
+f 6 4 3
+f 11 7 3
+f 11 3 4
+f 12 4 5
+f 13 5 2
+f 14 9 2
+f 14 2 6
+f 15 6 3
+f 16 9 14
+f 18 11 4
+f 18 7 11
+f 21 13 8
+f 21 5 13
+f 21 8 20
+f 22 14 6
+f 22 6 15
+f 22 16 14
+f 23 17 1
+f 23 10 17
+f 23 22 10
+f 23 16 22
+f 24 23 1
+f 24 16 23
+f 25 2 9
+f 26 3 7
+f 26 17 10
+f 26 22 15
+f 26 10 22
+f 27 18 4
+f 27 7 18
+f 27 26 7
+f 27 17 26
+f 28 20 8
+f 29 20 28
+f 30 8 13
+f 31 25 9
+f 31 9 16
+f 32 26 15
+f 32 15 3
+f 32 3 26
+f 33 27 4
+f 33 4 12
+f 33 12 19
+f 34 19 1
+f 34 1 17
+f 34 17 27
+f 35 28 19
+f 35 19 12
+f 35 29 28
+f 35 12 29
+f 36 28 8
+f 36 24 1
+f 36 1 19
+f 36 19 28
+f 36 30 24
+f 36 8 30
+f 37 20 29
+f 37 5 21
+f 37 29 12
+f 38 31 16
+f 38 16 24
+f 38 24 30
+f 39 25 31
+f 39 31 38
+f 40 33 19
+f 40 19 27
+f 40 27 33
+f 41 34 27
+f 41 27 19
+f 41 19 34
+f 42 37 21
+f 42 21 20
+f 42 20 37
+f 43 37 12
+f 43 12 5
+f 43 5 37
+f 44 30 13
+f 44 13 39
+f 44 39 38
+f 44 38 30
+f 45 39 13
+f 45 13 2
+f 45 2 25
+f 45 25 39
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_7/collision/model_normalized_collision_13.obj b/objects/objaverse/banana/banana_7/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d2e2b91b12983b6c0c6c5771a5b0ed54bd76cd27
--- /dev/null
+++ b/objects/objaverse/banana/banana_7/collision/model_normalized_collision_13.obj
@@ -0,0 +1,129 @@
+# https://github.com/mikedh/trimesh
+v 0.08343030 -0.21803303 -0.10263288
+v 0.09195531 -0.20083513 -0.09788491
+v 0.01721912 0.16512723 -0.15221243
+v 0.01508748 -0.22276501 -0.14483744
+v 0.07568579 -0.06657935 -0.14998399
+v 0.07532989 -0.15414237 -0.13501055
+v 0.09881867 0.11278840 -0.10434416
+v 0.00972977 -0.06690363 -0.18256374
+v 0.10025883 -0.11159265 -0.11384080
+v 0.08574075 -0.15487550 -0.12336481
+v 0.05909729 -0.19749566 -0.13430400
+v 0.04989897 0.06535184 -0.16336332
+v 0.01082437 0.15537496 -0.15767896
+v 0.04964400 -0.11012837 -0.16265883
+v 0.10563803 -0.11206978 -0.10078664
+v 0.08704374 0.03690152 -0.13846298
+v 0.08514713 -0.19887282 -0.10829825
+v 0.08716597 -0.06681326 -0.13886493
+v 0.02792472 -0.23163926 -0.13739028
+v 0.06030942 0.15221786 -0.13559446
+v 0.01002391 -0.15520375 -0.16835421
+v 0.00974036 0.02181296 -0.18289288
+v 0.02374676 0.12399225 -0.16360551
+v 0.06074428 -0.14086352 -0.15057609
+v 0.02408773 -0.06661543 -0.17920059
+v 0.10651810 0.06691260 -0.10106150
+v 0.07592361 0.02162467 -0.15016703
+v 0.07794852 -0.21549711 -0.11146805
+v 0.06704453 0.15563519 -0.12861231
+v 0.05972797 0.10878564 -0.14936560
+v 0.01140103 -0.18715319 -0.15913972
+v 0.00942567 0.12484795 -0.16694623
+v 0.02406614 0.02159780 -0.17946023
+v 0.03516853 0.15225926 -0.15004479
+v 0.02431023 -0.15435092 -0.16529398
+v 0.10106440 0.06639049 -0.11381279
+v 0.06320049 -0.21460725 -0.12407949
+v 0.08695877 0.10966993 -0.12375242
+v 0.03430144 0.10856129 -0.16276730
+v 0.04946003 0.13886605 -0.14770066
+v 0.03508154 -0.14064518 -0.16390919
+v 0.03612772 -0.18491932 -0.15122165
+v 0.08934501 0.11722223 -0.11831769
+v 0.03844111 0.11230527 -0.15983815
+f 1 2 3
+f 1 3 4
+f 7 3 2
+f 10 9 2
+f 13 4 3
+f 15 2 9
+f 17 10 2
+f 18 10 6
+f 18 6 5
+f 18 9 10
+f 19 1 4
+f 23 13 3
+f 24 14 5
+f 24 5 6
+f 24 6 11
+f 25 5 14
+f 25 8 22
+f 26 7 2
+f 26 2 15
+f 26 15 9
+f 27 5 25
+f 27 18 5
+f 27 16 18
+f 28 6 10
+f 28 10 17
+f 28 11 6
+f 28 1 19
+f 28 17 2
+f 28 2 1
+f 29 20 3
+f 29 3 7
+f 30 27 12
+f 30 16 27
+f 30 20 29
+f 31 4 13
+f 31 19 4
+f 32 13 23
+f 32 31 13
+f 32 21 31
+f 32 22 8
+f 32 8 21
+f 33 32 23
+f 33 22 32
+f 33 25 22
+f 33 27 25
+f 33 12 27
+f 34 23 3
+f 34 3 20
+f 35 21 8
+f 35 8 25
+f 35 31 21
+f 36 7 26
+f 36 18 16
+f 36 26 9
+f 36 9 18
+f 37 28 19
+f 37 19 11
+f 37 11 28
+f 38 30 29
+f 38 16 30
+f 38 36 16
+f 39 33 23
+f 39 12 33
+f 40 34 20
+f 40 20 30
+f 40 39 23
+f 40 23 34
+f 41 14 24
+f 41 35 25
+f 41 25 14
+f 42 11 19
+f 42 19 31
+f 42 31 35
+f 42 35 41
+f 42 41 24
+f 42 24 11
+f 43 38 29
+f 43 29 7
+f 43 7 36
+f 43 36 38
+f 44 40 30
+f 44 39 40
+f 44 30 12
+f 44 12 39
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_7/collision/model_normalized_collision_14.obj b/objects/objaverse/banana/banana_7/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..53463fda240e18f5c2500ca6fae5f2f958b9b956
--- /dev/null
+++ b/objects/objaverse/banana/banana_7/collision/model_normalized_collision_14.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v -0.07157252 0.03806898 -0.01496437
+v 0.03844111 0.11230527 -0.15983815
+v -0.07233687 0.09633856 -0.01399997
+v -0.09088421 0.09806964 -0.03547402
+v -0.09708941 0.03709444 -0.15930489
+v -0.09101092 0.03817825 -0.03547238
+v 0.01324924 0.03787878 -0.10657043
+v -0.09414699 0.09571371 -0.15227231
+v -0.10800514 0.03738794 -0.06760173
+v 0.00952520 0.03690841 -0.18199843
+v -0.10409304 0.09842777 -0.06282389
+v -0.10969885 0.03717805 -0.13251914
+v -0.05683663 0.08030493 -0.17833740
+v -0.10685675 0.09663059 -0.11973058
+v -0.10661004 0.08136290 -0.12914756
+v -0.07232837 0.03664913 -0.17957375
+v -0.07847930 0.09555780 -0.16638765
+v -0.00610611 0.08078165 -0.18020685
+v -0.10723294 0.09743441 -0.07853831
+v 0.01112283 0.09719416 -0.17358976
+v -0.07207272 0.05004419 -0.17861405
+v -0.10670217 0.08277375 -0.06814558
+v 0.00871913 0.06543208 -0.17886625
+f 3 2 4
+f 6 1 3
+f 6 3 4
+f 7 2 3
+f 7 3 1
+f 9 1 6
+f 9 6 4
+f 10 2 7
+f 10 7 1
+f 10 1 9
+f 11 4 2
+f 11 9 4
+f 14 11 2
+f 14 2 8
+f 15 8 5
+f 15 5 12
+f 15 14 8
+f 15 12 14
+f 16 10 9
+f 16 9 12
+f 16 12 5
+f 17 8 2
+f 17 5 8
+f 18 16 13
+f 18 10 16
+f 19 14 12
+f 19 12 9
+f 19 11 14
+f 20 17 2
+f 20 13 17
+f 20 18 13
+f 21 17 13
+f 21 13 16
+f 21 16 5
+f 21 5 17
+f 22 19 9
+f 22 9 11
+f 22 11 19
+f 23 20 2
+f 23 2 10
+f 23 10 18
+f 23 18 20
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_7/collision/model_normalized_collision_15.obj b/objects/objaverse/banana/banana_7/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3cb9f7c841a796348b4095ee41b0ce6eaa10a9eb
--- /dev/null
+++ b/objects/objaverse/banana/banana_7/collision/model_normalized_collision_15.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.09969550 0.09889846 -0.03311432
+v 0.08671993 0.23917877 -0.05019958
+v 0.07563501 0.23433814 0.03121278
+v -0.06922914 0.23315921 0.01980353
+v -0.09282191 0.24098308 -0.04821772
+v -0.02830183 0.10194484 0.01216547
+v 0.03989175 0.10182329 0.01271623
+v -0.04411213 0.22936311 0.04354244
+v -0.08502671 0.09777784 -0.02810147
+v 0.06480635 0.10054170 0.00212891
+v 0.04012809 0.16412726 0.02964935
+v -0.05465450 0.09958173 0.00007166
+v -0.01368684 0.16356129 0.03137506
+f 1 2 3
+f 5 2 1
+f 5 3 2
+f 5 4 3
+f 8 3 4
+f 9 5 1
+f 9 4 5
+f 9 8 4
+f 10 1 3
+f 10 9 1
+f 11 3 8
+f 11 10 3
+f 11 7 10
+f 12 6 8
+f 12 8 9
+f 12 9 10
+f 12 10 7
+f 12 7 6
+f 13 11 8
+f 13 8 6
+f 13 6 7
+f 13 7 11
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_7/collision/model_normalized_collision_16.obj b/objects/objaverse/banana/banana_7/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ccc542ba1ca75276006d3023cbf46d2564fd1e35
--- /dev/null
+++ b/objects/objaverse/banana/banana_7/collision/model_normalized_collision_16.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.04122778 0.35968913 0.11498186
+v 0.05192086 0.34914816 0.03036668
+v 0.04577392 0.42227744 0.15978595
+v -0.02109510 0.42450313 0.16924114
+v -0.04338013 0.35085870 0.02876123
+v 0.03040783 0.38419917 0.14999775
+v -0.04093072 0.34890801 0.04129211
+v 0.00302579 0.40589708 0.09130204
+v 0.04148961 0.40953555 0.15709325
+v -0.01567605 0.35980055 0.11515362
+v 0.04245199 0.41407092 0.11267523
+v -0.03815298 0.35510531 0.02608169
+v 0.03135291 0.36781855 0.13608268
+v 0.03646119 0.42109836 0.17127668
+v -0.00772113 0.36903837 0.13544419
+v 0.03426373 0.40374808 0.09432094
+v -0.01612122 0.41551237 0.11357700
+v 0.04820929 0.35276262 0.03158939
+v 0.03291919 0.41003638 0.16725051
+v -0.01730171 0.39928145 0.15218409
+v -0.01719730 0.41469034 0.16615384
+v -0.00878576 0.38532105 0.14827082
+f 1 2 3
+f 7 5 2
+f 7 2 1
+f 7 4 5
+f 9 1 3
+f 10 7 1
+f 10 4 7
+f 11 3 2
+f 12 2 5
+f 13 9 6
+f 13 1 9
+f 13 10 1
+f 14 9 3
+f 14 3 4
+f 15 13 6
+f 15 10 13
+f 16 8 11
+f 17 11 8
+f 17 4 3
+f 17 3 11
+f 17 8 12
+f 17 12 5
+f 17 5 4
+f 18 12 8
+f 18 2 12
+f 18 8 16
+f 18 16 11
+f 18 11 2
+f 19 6 9
+f 19 9 14
+f 20 4 10
+f 20 10 15
+f 21 19 14
+f 21 14 4
+f 21 20 15
+f 21 4 20
+f 22 21 15
+f 22 15 6
+f 22 6 19
+f 22 19 21
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_7/collision/model_normalized_collision_17.obj b/objects/objaverse/banana/banana_7/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5140b1c3d434a8f16f60d05e61575a7feaf046df
--- /dev/null
+++ b/objects/objaverse/banana/banana_7/collision/model_normalized_collision_17.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v -0.03573691 0.15698467 0.02142642
+v -0.02996888 0.16042470 0.02549673
+v -0.02560934 0.28454459 0.07829029
+v -0.02437461 0.35302987 0.07450581
+v -0.03254581 0.35690639 0.02989444
+v -0.02482203 0.20995329 0.04656955
+v -0.07521491 0.23546302 0.01276389
+v -0.02595904 0.17881746 0.03350113
+v -0.02452061 0.33884137 0.08607790
+v -0.05753499 0.16074597 0.00876782
+v -0.06275494 0.33156725 0.02699617
+v -0.06085777 0.28403228 0.04638555
+v -0.06857474 0.19117144 0.00764908
+v -0.05039319 0.16312267 0.01548437
+v -0.05246804 0.34472213 0.02610501
+v -0.05867809 0.32274408 0.04806720
+v -0.03388678 0.28490472 0.07329666
+v -0.04742203 0.27181221 0.05741357
+v -0.06006283 0.33169432 0.03627334
+f 1 2 3
+f 5 2 1
+f 8 6 3
+f 8 3 2
+f 8 2 5
+f 8 5 4
+f 8 4 6
+f 9 6 4
+f 9 3 6
+f 10 5 1
+f 13 5 10
+f 13 12 7
+f 14 10 1
+f 14 1 3
+f 15 4 5
+f 15 7 11
+f 15 13 7
+f 15 5 13
+f 16 9 4
+f 16 12 9
+f 16 11 7
+f 16 7 12
+f 17 3 9
+f 17 9 12
+f 17 14 3
+f 17 10 14
+f 18 13 10
+f 18 12 13
+f 18 17 12
+f 18 10 17
+f 19 15 11
+f 19 4 15
+f 19 16 4
+f 19 11 16
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_7/collision/model_normalized_collision_18.obj b/objects/objaverse/banana/banana_7/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3e259408e44f4fb80a725525043ef804c65791e7
--- /dev/null
+++ b/objects/objaverse/banana/banana_7/collision/model_normalized_collision_18.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.09969550 0.09889846 -0.03311432
+v 0.10334060 0.09594886 -0.09991237
+v 0.09146619 0.23437493 -0.00313706
+v 0.07563501 0.23433814 0.03121278
+v 0.06596838 0.11542909 0.00373575
+v 0.06704822 0.21510455 -0.09886777
+v 0.08902422 0.23629211 0.00771357
+v 0.10653712 0.09771299 -0.04818547
+v 0.07594453 0.11661452 -0.00329701
+v 0.08563924 0.22635217 -0.06659676
+v 0.06622606 0.17787691 0.02013262
+v 0.09146253 0.10254528 -0.12000246
+v 0.08031059 0.23584953 0.02541662
+v 0.10326879 0.15819275 -0.04891571
+v 0.08757731 0.11550278 -0.01465512
+v 0.06957898 0.23196218 -0.08658053
+v 0.08667064 0.18167745 -0.09466424
+v 0.10171723 0.15672875 -0.07433598
+v 0.10129448 0.11075100 -0.09915805
+v 0.07259270 0.21245420 -0.09539516
+v 0.10168689 0.14001252 -0.08461126
+v 0.07475750 0.22856451 -0.08175668
+f 5 2 1
+f 8 1 2
+f 8 7 1
+f 8 3 7
+f 9 5 1
+f 9 4 5
+f 11 6 5
+f 11 5 4
+f 12 2 5
+f 12 5 6
+f 13 4 1
+f 13 1 7
+f 14 8 2
+f 14 3 8
+f 15 9 1
+f 15 1 4
+f 15 4 9
+f 16 7 3
+f 16 3 10
+f 16 13 7
+f 16 4 13
+f 16 11 4
+f 16 6 11
+f 18 10 3
+f 18 3 14
+f 18 14 2
+f 18 17 10
+f 19 2 12
+f 19 12 17
+f 20 17 12
+f 20 12 6
+f 20 6 16
+f 21 18 2
+f 21 2 19
+f 21 19 17
+f 21 17 18
+f 22 20 16
+f 22 16 10
+f 22 10 17
+f 22 17 20
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_7/collision/model_normalized_collision_19.obj b/objects/objaverse/banana/banana_7/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a7b75de762eb2e6a69a3697387b417d790367c1d
--- /dev/null
+++ b/objects/objaverse/banana/banana_7/collision/model_normalized_collision_19.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.05507233 0.16158587 0.02193570
+v 0.07944133 0.22243992 0.02216337
+v 0.03535817 0.36205127 0.12820225
+v -0.00877216 0.36204297 0.12833610
+v -0.03254581 0.35690639 0.02989444
+v -0.02673358 0.16443693 0.02842633
+v 0.06622606 0.17787691 0.02013262
+v 0.05966587 0.34160022 0.03099288
+v 0.04974490 0.16524604 0.02556005
+v -0.02155814 0.30090950 0.08581586
+v 0.07240859 0.22445660 0.03170528
+v -0.02996888 0.16042470 0.02549673
+v 0.04122778 0.35968913 0.11498186
+v 0.07297855 0.32003578 0.02784887
+v -0.01567605 0.35980055 0.11515362
+v 0.07266274 0.26943223 0.04717110
+v 0.07042143 0.30761754 0.05342608
+v 0.07122492 0.31948721 0.04230453
+f 5 4 3
+f 6 3 4
+f 7 3 1
+f 7 5 2
+f 9 1 3
+f 9 3 6
+f 11 7 2
+f 11 2 3
+f 11 3 7
+f 12 5 7
+f 12 10 5
+f 12 6 4
+f 12 4 10
+f 12 7 1
+f 12 9 6
+f 12 1 9
+f 13 8 5
+f 13 5 3
+f 14 2 5
+f 14 5 8
+f 14 8 13
+f 15 10 4
+f 15 4 5
+f 15 5 10
+f 16 3 2
+f 17 13 3
+f 17 3 16
+f 17 16 2
+f 18 14 13
+f 18 13 17
+f 18 17 2
+f 18 2 14
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_7/collision/model_normalized_collision_2.obj b/objects/objaverse/banana/banana_7/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..098308a0011b1d353f20dc34eefb27f610dd9916
--- /dev/null
+++ b/objects/objaverse/banana/banana_7/collision/model_normalized_collision_2.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.07117751 -0.05311091 -0.00427808
+v 0.09622055 -0.00695866 -0.02648588
+v 0.06480635 0.10054170 0.00212891
+v -0.01383345 0.10133931 0.01525048
+v -0.05265159 -0.00623665 -0.00100452
+v 0.09969550 0.09889846 -0.03311432
+v 0.02534511 0.10125910 0.01572499
+v -0.03618636 -0.05254698 0.00816396
+v -0.06291425 0.09584633 -0.00666928
+v 0.06671076 -0.05342568 -0.00176041
+v -0.03123882 -0.05328531 0.00953113
+v -0.03059640 0.09875534 0.01109703
+f 1 2 3
+f 6 3 2
+f 7 6 4
+f 7 3 6
+f 8 5 2
+f 8 2 1
+f 9 4 6
+f 9 5 8
+f 9 6 2
+f 9 2 5
+f 10 1 3
+f 10 3 7
+f 11 7 4
+f 11 10 7
+f 11 8 1
+f 11 1 10
+f 12 9 8
+f 12 4 9
+f 12 11 4
+f 12 8 11
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_7/collision/model_normalized_collision_20.obj b/objects/objaverse/banana/banana_7/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1317e9f2541c0b70cffd766815a1737afefea5ca
--- /dev/null
+++ b/objects/objaverse/banana/banana_7/collision/model_normalized_collision_20.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v -0.02550208 -0.48410955 0.13406310
+v -0.03148170 -0.46054717 0.04580791
+v -0.04009970 -0.39745339 0.14708224
+v -0.02882723 -0.48408583 0.10741571
+v -0.08268955 -0.39909713 0.04466371
+v -0.06376854 -0.42896381 0.02892422
+v -0.05863225 -0.42770921 0.12800379
+v -0.05175898 -0.45180833 0.04919702
+v -0.07802790 -0.39981577 0.08615501
+v -0.05888358 -0.45171922 0.10338337
+v -0.06130614 -0.40130747 0.12536402
+v -0.03571194 -0.47843338 0.10601275
+v -0.04339368 -0.46564195 0.12672358
+v -0.06226104 -0.44757607 0.06590938
+v -0.07367192 -0.42601828 0.07322915
+v -0.07612739 -0.41242815 0.08772481
+v -0.03136960 -0.47884445 0.13062442
+v -0.07359566 -0.42295213 0.04815124
+f 1 2 3
+f 2 1 4
+f 6 5 3
+f 6 3 2
+f 7 1 3
+f 8 6 2
+f 8 2 4
+f 9 3 5
+f 11 9 7
+f 11 7 3
+f 11 3 9
+f 12 4 1
+f 12 8 4
+f 13 1 7
+f 13 7 10
+f 13 10 12
+f 14 6 8
+f 14 12 10
+f 14 8 12
+f 15 14 10
+f 16 10 7
+f 16 7 9
+f 16 15 10
+f 16 9 5
+f 16 5 15
+f 17 13 12
+f 17 12 1
+f 17 1 13
+f 18 5 6
+f 18 6 14
+f 18 15 5
+f 18 14 15
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_7/collision/model_normalized_collision_21.obj b/objects/objaverse/banana/banana_7/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6fd382cabe60d85cd3dd9ec0d0967c5938f4d35a
--- /dev/null
+++ b/objects/objaverse/banana/banana_7/collision/model_normalized_collision_21.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.03642655 -0.27340891 0.07776944
+v 0.08743730 -0.26546934 0.02904898
+v 0.05448621 -0.17690727 0.02042761
+v -0.03138839 -0.16050345 0.02529678
+v -0.08677677 -0.26700280 0.02595531
+v 0.02728779 -0.16050388 0.02515705
+v 0.07444876 -0.27111778 0.04839857
+v -0.04020004 -0.27306679 0.07775490
+v 0.07853850 -0.22335624 0.02113750
+v -0.07000803 -0.20792155 0.02128725
+v 0.02412633 -0.16451750 0.02713923
+v -0.08039517 -0.26896955 0.03690800
+v 0.07310916 -0.25876493 0.04376532
+v -0.08084687 -0.23812079 0.02198444
+v -0.06319991 -0.21191236 0.02921579
+v -0.07528334 -0.24068461 0.03158318
+v 0.07494708 -0.22805804 0.02696099
+v -0.06279824 -0.24316291 0.04466071
+f 6 1 3
+f 6 3 4
+f 7 3 1
+f 7 5 2
+f 8 7 1
+f 9 2 5
+f 9 7 2
+f 10 4 3
+f 10 3 9
+f 11 6 4
+f 11 1 6
+f 11 8 1
+f 11 4 8
+f 12 5 7
+f 12 7 8
+f 13 3 7
+f 13 7 9
+f 14 10 9
+f 14 9 5
+f 14 5 12
+f 15 8 4
+f 15 4 10
+f 16 12 8
+f 16 14 12
+f 16 10 14
+f 17 13 9
+f 17 9 3
+f 17 3 13
+f 18 15 10
+f 18 10 16
+f 18 16 8
+f 18 8 15
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_7/collision/model_normalized_collision_22.obj b/objects/objaverse/banana/banana_7/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d4a1256b7fd93c30fa01204d8d6893c4d1555b3
--- /dev/null
+++ b/objects/objaverse/banana/banana_7/collision/model_normalized_collision_22.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.06747610 -0.14531753 0.00563446
+v 0.10254163 -0.14304226 -0.03233220
+v 0.09622055 -0.00695866 -0.02648588
+v 0.01361184 -0.00727369 0.01217999
+v 0.01324924 -0.14393940 -0.04596436
+v 0.07069384 -0.00770441 -0.00500735
+v 0.05164319 -0.14674002 0.01352407
+v 0.02609719 -0.00624824 0.01065901
+v 0.01303313 -0.14513762 0.02352118
+v 0.01283137 -0.06891732 0.01414279
+f 1 2 3
+f 5 3 2
+f 5 4 3
+f 6 1 3
+f 7 5 2
+f 7 2 1
+f 7 1 6
+f 8 6 3
+f 8 3 4
+f 8 7 6
+f 9 5 7
+f 9 8 4
+f 9 7 8
+f 10 9 4
+f 10 4 5
+f 10 5 9
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_7/collision/model_normalized_collision_23.obj b/objects/objaverse/banana/banana_7/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..31ede36fbacd9c2ce898282c14a46cc47b5132d6
--- /dev/null
+++ b/objects/objaverse/banana/banana_7/collision/model_normalized_collision_23.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v 0.04179320 0.42270433 0.16821712
+v 0.04245199 0.41407092 0.11267523
+v 0.04112874 0.47648173 0.11613912
+v -0.01752530 0.49273154 0.10267596
+v -0.02934995 0.42448892 0.15410677
+v 0.01954678 0.49537502 0.09682405
+v 0.03612578 0.44881780 0.16735011
+v 0.04562261 0.46195595 0.14282731
+v -0.00658339 0.41066542 0.09929999
+v 0.03415447 0.41075215 0.09901171
+v -0.02109510 0.42450313 0.16924114
+v 0.02263652 0.49068252 0.11153581
+v 0.04315198 0.44319650 0.16877614
+v -0.03187647 0.47171805 0.12319688
+v 0.02941871 0.48829132 0.10262632
+v -0.01374191 0.49173504 0.11102563
+v 0.03966354 0.45931949 0.15346145
+v -0.02778014 0.44786041 0.16531409
+v -0.01612122 0.41551237 0.11357700
+v -0.02159122 0.48245572 0.10661697
+v -0.03250538 0.46468861 0.14379603
+v -0.02709877 0.45990453 0.15249187
+v -0.02918060 0.42619934 0.16126112
+v -0.03089289 0.45268698 0.13059604
+v -0.01997088 0.49105484 0.10390345
+v -0.03383224 0.45221985 0.15743764
+f 8 1 2
+f 8 2 3
+f 9 4 6
+f 10 3 2
+f 10 9 6
+f 10 2 1
+f 10 1 9
+f 11 9 1
+f 11 5 9
+f 12 8 3
+f 13 1 8
+f 13 11 1
+f 15 10 6
+f 15 3 10
+f 15 12 3
+f 15 6 12
+f 16 12 6
+f 16 6 4
+f 17 8 12
+f 17 13 8
+f 17 7 13
+f 17 16 7
+f 17 12 16
+f 18 13 7
+f 18 11 13
+f 19 14 9
+f 19 9 5
+f 20 9 14
+f 22 18 7
+f 22 7 16
+f 22 16 21
+f 23 5 11
+f 23 11 18
+f 24 19 5
+f 24 14 19
+f 25 20 14
+f 25 4 9
+f 25 9 20
+f 25 14 21
+f 25 21 16
+f 25 16 4
+f 26 22 21
+f 26 18 22
+f 26 23 18
+f 26 5 23
+f 26 24 5
+f 26 21 14
+f 26 14 24
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_7/collision/model_normalized_collision_24.obj b/objects/objaverse/banana/banana_7/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..89594315c89b971e4de93c705857f6b2a1439acd
--- /dev/null
+++ b/objects/objaverse/banana/banana_7/collision/model_normalized_collision_24.obj
@@ -0,0 +1,147 @@
+# https://github.com/mikedh/trimesh
+v 0.08031059 0.23584953 0.02541662
+v 0.08813569 0.22945519 -0.05584100
+v 0.05966587 0.34160022 0.03099288
+v -0.03815298 0.35510531 0.02608169
+v -0.09265926 0.23190535 -0.07522942
+v 0.00792746 0.28258512 -0.08852407
+v -0.06817324 0.23721013 0.02249325
+v 0.08708083 0.26438780 0.01065934
+v 0.04318540 0.31131128 -0.04571421
+v -0.05257518 0.32378778 -0.04868326
+v 0.00981379 0.22791016 -0.12439491
+v -0.06275494 0.33156725 0.02699617
+v -0.05838472 0.22761218 -0.12412662
+v -0.07822492 0.23599536 0.00821554
+v 0.08902422 0.23629211 0.00771357
+v 0.07102105 0.31755788 0.00363613
+v 0.07297855 0.32003578 0.02784887
+v 0.02070348 0.35438814 -0.00614812
+v 0.06331155 0.22773510 -0.09463948
+v 0.03679136 0.35909635 0.03119812
+v -0.07523341 0.30243604 -0.04033245
+v -0.04030668 0.35270093 -0.00841549
+v -0.05596156 0.28171902 -0.08776478
+v -0.05639067 0.23937369 -0.11811063
+v -0.09223023 0.23408146 -0.03364101
+v -0.07516090 0.29407161 0.02295304
+v 0.08384014 0.25832159 -0.03933578
+v 0.04626061 0.33990992 -0.00704521
+v 0.01868003 0.33907515 -0.03113511
+v 0.03345816 0.26722244 -0.08865137
+v -0.06248472 0.32368021 -0.03499885
+v -0.07554699 0.28379593 -0.06639428
+v 0.00813912 0.23967945 -0.11831200
+v -0.09151631 0.24919817 -0.03376935
+v -0.07459314 0.26680864 0.02111185
+v -0.07613172 0.30787883 0.01021566
+v 0.07158257 0.30007602 -0.02082810
+v 0.07021319 0.24007046 -0.07948496
+v 0.05742318 0.34238233 0.01980620
+v 0.03697185 0.35350783 0.00555296
+v 0.01920980 0.31142237 -0.06019677
+v -0.04158069 0.33981417 -0.03312107
+v 0.05948351 0.23832796 -0.09118005
+v -0.09066845 0.24322071 -0.06971811
+v -0.08263308 0.23140082 -0.10194439
+v 0.05777720 0.32966426 -0.00751137
+v 0.08396108 0.24320151 -0.05446666
+v 0.07475750 0.22856451 -0.08175668
+v -0.06263380 0.25300171 -0.10648773
+v -0.07688074 0.25288391 -0.09146734
+f 7 1 3
+f 14 2 1
+f 14 1 7
+f 14 13 2
+f 15 8 1
+f 15 1 2
+f 15 2 8
+f 17 3 1
+f 17 1 8
+f 17 16 3
+f 19 13 11
+f 19 2 13
+f 20 12 7
+f 20 7 3
+f 20 4 12
+f 22 12 4
+f 22 20 18
+f 22 4 20
+f 23 10 6
+f 24 11 13
+f 24 23 6
+f 25 5 13
+f 25 13 14
+f 26 7 12
+f 26 25 14
+f 27 8 2
+f 27 17 8
+f 27 16 17
+f 29 28 9
+f 31 12 22
+f 32 10 23
+f 32 31 10
+f 32 21 31
+f 33 24 6
+f 33 11 24
+f 33 30 11
+f 33 6 30
+f 34 5 25
+f 34 25 26
+f 35 26 14
+f 35 14 7
+f 35 7 26
+f 36 26 12
+f 36 34 26
+f 36 21 34
+f 36 31 21
+f 36 12 31
+f 37 16 27
+f 38 9 37
+f 39 3 16
+f 39 20 3
+f 40 18 20
+f 40 39 28
+f 40 20 39
+f 40 29 18
+f 40 28 29
+f 41 29 9
+f 41 30 6
+f 41 9 30
+f 42 22 18
+f 42 18 29
+f 42 31 22
+f 42 10 31
+f 42 29 41
+f 42 41 6
+f 42 6 10
+f 43 19 11
+f 43 11 30
+f 43 38 19
+f 43 30 9
+f 43 9 38
+f 44 21 32
+f 44 34 21
+f 44 5 34
+f 45 13 5
+f 45 44 32
+f 45 5 44
+f 46 16 37
+f 46 39 16
+f 46 28 39
+f 46 37 9
+f 46 9 28
+f 47 27 2
+f 47 38 37
+f 47 37 27
+f 48 2 19
+f 48 19 38
+f 48 47 2
+f 48 38 47
+f 49 24 13
+f 49 13 45
+f 49 23 24
+f 49 32 23
+f 50 49 45
+f 50 45 32
+f 50 32 49
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_7/collision/model_normalized_collision_25.obj b/objects/objaverse/banana/banana_7/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1952899ef1da35ba0ffc46372b5d3d1c9457db2e
--- /dev/null
+++ b/objects/objaverse/banana/banana_7/collision/model_normalized_collision_25.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v -0.06167792 0.18968394 0.01364623
+v -0.04641418 0.18816143 -0.14898291
+v -0.04432846 0.22958826 -0.12758550
+v -0.07822492 0.23599536 0.00821554
+v -0.09172733 0.18539855 -0.11470200
+v -0.06922914 0.23315921 0.01980353
+v -0.04282725 0.21182916 -0.13813282
+v -0.06883163 0.18521836 -0.14271020
+v -0.09003037 0.18637063 -0.02706024
+v -0.09214896 0.24391313 -0.04929397
+v -0.07946044 0.22640491 -0.10819353
+v -0.06723546 0.19660360 -0.13886677
+v -0.07443475 0.19298933 0.00049761
+v -0.09107530 0.22134578 -0.02332139
+v -0.06496834 0.22622705 -0.12278314
+v -0.09042069 0.22935962 -0.08430812
+v -0.08829442 0.19822245 -0.11360564
+v -0.09223023 0.23408146 -0.03364101
+v -0.07708251 0.20974951 -0.12093551
+f 6 1 3
+f 7 1 2
+f 7 3 1
+f 8 2 1
+f 9 8 1
+f 9 5 8
+f 10 6 3
+f 10 4 6
+f 12 7 2
+f 12 2 8
+f 12 3 7
+f 13 6 4
+f 13 4 9
+f 13 9 1
+f 13 1 6
+f 14 9 4
+f 15 11 10
+f 15 10 3
+f 15 3 12
+f 16 5 10
+f 16 10 11
+f 17 8 5
+f 17 16 11
+f 17 5 16
+f 18 14 4
+f 18 4 10
+f 18 10 5
+f 18 5 9
+f 18 9 14
+f 19 15 12
+f 19 11 15
+f 19 17 11
+f 19 12 8
+f 19 8 17
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_7/collision/model_normalized_collision_26.obj b/objects/objaverse/banana/banana_7/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..29cd69756c2c3b5cba832c7f8c310e3bdbab1a0b
--- /dev/null
+++ b/objects/objaverse/banana/banana_7/collision/model_normalized_collision_26.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.09417522 -0.27026295 -0.05257646
+v 0.09863776 -0.26372685 -0.04414454
+v 0.06701359 -0.26113054 -0.09869352
+v 0.10254163 -0.14304226 -0.03233220
+v 0.10242631 -0.14128680 -0.09974182
+v 0.10096081 -0.21556726 -0.06968721
+v 0.09061225 -0.14788295 -0.11898760
+v 0.10200030 -0.23174071 -0.05663813
+v 0.08587576 -0.22810656 -0.09418173
+v 0.10785499 -0.14346634 -0.04764756
+v 0.08527077 -0.25829281 -0.07871056
+v 0.07620696 -0.25785831 -0.09241599
+v 0.10039065 -0.15627462 -0.09908852
+v 0.10290614 -0.23318662 -0.04453778
+f 1 2 3
+f 3 2 4
+f 7 3 4
+f 7 4 5
+f 8 2 1
+f 8 1 6
+f 8 6 5
+f 10 8 5
+f 10 5 4
+f 11 9 6
+f 11 6 1
+f 12 3 7
+f 12 7 9
+f 12 9 11
+f 12 11 1
+f 12 1 3
+f 13 9 7
+f 13 7 5
+f 13 5 6
+f 13 6 9
+f 14 10 4
+f 14 4 2
+f 14 2 8
+f 14 8 10
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_7/collision/model_normalized_collision_27.obj b/objects/objaverse/banana/banana_7/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8abc77e934176c4bd0e55e89e6c1139891795a78
--- /dev/null
+++ b/objects/objaverse/banana/banana_7/collision/model_normalized_collision_27.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v -0.10099999 -0.27249266 -0.05057734
+v -0.04328089 -0.24442931 -0.14097975
+v -0.04527383 -0.26230464 -0.13122883
+v -0.10379239 -0.22072340 -0.03880660
+v -0.09502855 -0.21696009 -0.11634308
+v -0.10254291 -0.26440979 -0.04549828
+v -0.04692766 -0.21920860 -0.15078941
+v -0.09065650 -0.26076230 -0.09979877
+v -0.10477128 -0.21963893 -0.04636916
+v -0.07055326 -0.24034196 -0.13295769
+v -0.07241943 -0.21608117 -0.14312956
+v -0.07047811 -0.25843022 -0.12382356
+v -0.09077479 -0.24352628 -0.11042943
+f 3 2 4
+f 6 1 3
+f 6 3 4
+f 6 5 1
+f 7 4 2
+f 8 3 1
+f 8 1 5
+f 9 6 4
+f 9 5 6
+f 9 4 7
+f 10 2 3
+f 11 9 7
+f 11 5 9
+f 11 7 2
+f 11 2 10
+f 12 10 3
+f 12 3 8
+f 13 11 10
+f 13 8 5
+f 13 5 11
+f 13 12 8
+f 13 10 12
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_7/collision/model_normalized_collision_28.obj b/objects/objaverse/banana/banana_7/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d761cbb4401a0150c0581a07769408238df67a21
--- /dev/null
+++ b/objects/objaverse/banana/banana_7/collision/model_normalized_collision_28.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.01324924 -0.26515153 -0.04596436
+v 0.01670557 -0.27245964 -0.12136442
+v 0.03690705 0.26550577 -0.08796169
+v -0.09214896 0.24391313 -0.04929397
+v -0.10099999 -0.27249266 -0.05057734
+v -0.05125204 0.24161444 -0.11851705
+v 0.01583759 0.24007598 -0.11597206
+v -0.05335719 -0.27330619 -0.12266968
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 5 1 4
+f 6 4 3
+f 6 5 4
+f 7 6 3
+f 7 3 2
+f 7 2 6
+f 8 6 2
+f 8 2 5
+f 8 5 6
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_7/collision/model_normalized_collision_29.obj b/objects/objaverse/banana/banana_7/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9b6cc8c50c557920841b381be29d5f5efbeb6177
--- /dev/null
+++ b/objects/objaverse/banana/banana_7/collision/model_normalized_collision_29.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.10785499 -0.14346634 -0.04764756
+v 0.10242631 -0.14128680 -0.09974182
+v 0.10334060 0.09594886 -0.09991237
+v 0.01324924 0.09848484 -0.04596436
+v 0.01324924 -0.14393940 -0.04596436
+v 0.03844111 0.11230527 -0.15983815
+v 0.10653712 0.09771299 -0.04818547
+v 0.03724237 -0.15840519 -0.15813918
+f 1 2 3
+f 5 1 4
+f 6 3 2
+f 7 1 3
+f 7 4 1
+f 7 6 4
+f 7 3 6
+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/banana/banana_7/collision/model_normalized_collision_3.obj b/objects/objaverse/banana/banana_7/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cda35cdb063cfa8c92fc31df66b519ac34264446
--- /dev/null
+++ b/objects/objaverse/banana/banana_7/collision/model_normalized_collision_3.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.03155692 -0.08369436 0.01115426
+v -0.09701302 0.18879026 -0.04767989
+v -0.06857474 0.19117144 0.00764908
+v -0.06167792 0.18968394 0.01364623
+v -0.10204661 -0.05310279 -0.04839129
+v -0.05630526 -0.08476576 0.00101862
+v -0.03059640 0.09875534 0.01109703
+v -0.08158623 0.19159014 -0.00914957
+v -0.08823384 -0.08174979 -0.02644387
+v -0.09460892 0.19035096 -0.03673738
+v -0.09691363 -0.05339425 -0.03930944
+f 4 2 3
+f 5 2 1
+f 6 1 4
+f 7 4 1
+f 7 1 2
+f 7 2 4
+f 9 5 1
+f 9 1 6
+f 9 3 8
+f 9 6 4
+f 9 4 3
+f 10 8 3
+f 10 3 2
+f 10 2 5
+f 10 5 8
+f 11 9 8
+f 11 8 5
+f 11 5 9
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_7/collision/model_normalized_collision_30.obj b/objects/objaverse/banana/banana_7/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ec8725ead723af7a140fa151344868791f2c687e
--- /dev/null
+++ b/objects/objaverse/banana/banana_7/collision/model_normalized_collision_30.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.08107746 -0.26219171 0.03559635
+v 0.09061225 -0.14788295 -0.11898760
+v 0.06747610 -0.14531753 0.00563446
+v 0.01303313 -0.14513762 0.02352118
+v 0.01670557 -0.27245964 -0.12136442
+v 0.02343853 -0.24402435 0.06416814
+v 0.06701359 -0.26113054 -0.09869352
+v 0.03724237 -0.15840519 -0.15813918
+v 0.05164319 -0.14674002 0.01352407
+f 1 2 3
+f 3 2 4
+f 6 1 3
+f 6 5 1
+f 6 4 5
+f 7 2 1
+f 7 1 5
+f 8 5 4
+f 8 4 2
+f 8 7 5
+f 8 2 7
+f 9 6 3
+f 9 3 4
+f 9 4 6
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_7/collision/model_normalized_collision_31.obj b/objects/objaverse/banana/banana_7/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..52f85916dc518218ac28a0bb242acaa5aee49312
--- /dev/null
+++ b/objects/objaverse/banana/banana_7/collision/model_normalized_collision_31.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.09969550 0.09889846 -0.03311432
+v 0.09146253 0.10254528 -0.12000246
+v 0.08671993 0.23917877 -0.05019958
+v 0.03690705 0.26550577 -0.08796169
+v 0.01324924 0.09848484 -0.04596436
+v 0.06331155 0.22773510 -0.09463948
+v 0.03844111 0.11230527 -0.15983815
+v 0.01583759 0.24007598 -0.11597206
+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 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/banana/banana_7/collision/model_normalized_collision_4.obj b/objects/objaverse/banana/banana_7/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8cb61b8015b92266c2f6ea439ebfdb63a35ea827
--- /dev/null
+++ b/objects/objaverse/banana/banana_7/collision/model_normalized_collision_4.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v 0.02792472 -0.23163926 -0.13739028
+v 0.01508748 -0.22276501 -0.14483744
+v 0.00952520 0.03690841 -0.18199843
+v -0.11332961 0.03743877 -0.10524756
+v -0.10010611 -0.21770823 -0.10343125
+v 0.01324924 0.03787878 -0.10657043
+v 0.00867893 -0.11016858 -0.17786193
+v -0.07241943 -0.21608117 -0.14312956
+v 0.00916350 -0.16931830 -0.16462648
+v -0.10453312 -0.08229653 -0.14343752
+v -0.04475208 -0.18444607 -0.16492049
+v -0.09271376 -0.18292999 -0.13688578
+v -0.10720735 -0.17260536 -0.10474224
+v -0.07232837 0.03664913 -0.17957375
+v -0.00612358 -0.18427607 -0.16397203
+v -0.09252705 -0.21399792 -0.12380882
+v -0.07721856 -0.13889859 -0.16608948
+v -0.10565852 -0.17057534 -0.11435728
+v -0.10463010 0.03680011 -0.14332328
+v -0.05673145 -0.11026777 -0.17924077
+v -0.07761493 -0.18295398 -0.15196266
+v -0.09265672 -0.13899125 -0.15123646
+v -0.07185442 -0.08161337 -0.17867718
+v -0.10434210 -0.14086698 -0.12862081
+f 6 1 3
+f 6 5 1
+f 6 4 5
+f 7 3 1
+f 8 2 1
+f 8 1 5
+f 9 7 1
+f 9 1 2
+f 11 2 8
+f 13 5 4
+f 13 4 10
+f 14 6 3
+f 14 4 6
+f 15 11 7
+f 15 7 9
+f 15 9 2
+f 15 2 11
+f 16 12 8
+f 16 8 5
+f 18 5 13
+f 18 16 5
+f 18 12 16
+f 18 13 10
+f 19 14 10
+f 19 10 4
+f 19 4 14
+f 20 14 3
+f 20 3 7
+f 20 7 11
+f 20 11 17
+f 21 17 11
+f 21 11 8
+f 21 8 12
+f 22 21 12
+f 22 17 21
+f 23 10 14
+f 23 20 17
+f 23 14 20
+f 23 22 10
+f 23 17 22
+f 24 18 10
+f 24 10 22
+f 24 22 12
+f 24 12 18
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_7/collision/model_normalized_collision_5.obj b/objects/objaverse/banana/banana_7/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a1b3859c638b470ddbc63c9ce95c969a6ab01c2
--- /dev/null
+++ b/objects/objaverse/banana/banana_7/collision/model_normalized_collision_5.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v 0.06701359 -0.26113054 -0.09869352
+v 0.08343030 -0.21803303 -0.10263288
+v -0.08331204 -0.19178925 -0.14253212
+v -0.07348081 -0.18465314 -0.15522445
+v 0.03612772 -0.18491932 -0.15122165
+v -0.05335719 -0.27330619 -0.12266968
+v 0.08022268 -0.23160923 -0.10061809
+v 0.05914798 -0.18960827 -0.13740927
+v -0.07241943 -0.21608117 -0.14312956
+v -0.00603501 -0.25656413 -0.13456176
+v -0.07742014 -0.21959537 -0.13663548
+v 0.07794852 -0.21549711 -0.11146805
+v 0.02348462 -0.24159391 -0.13502805
+v 0.05418972 -0.18667342 -0.14232457
+v 0.03578828 -0.25733633 -0.12113836
+v -0.05649249 -0.21287245 -0.14997117
+v 0.07674205 -0.22755354 -0.10751676
+v 0.02374668 -0.21192926 -0.14701309
+v 0.06048976 -0.22846386 -0.12082451
+v -0.04282101 -0.25661853 -0.13500178
+v 0.03434618 -0.19699811 -0.14776539
+v 0.06048248 -0.25729210 -0.10632573
+v -0.05939943 -0.23615599 -0.13920434
+f 7 2 3
+f 7 6 1
+f 8 3 2
+f 9 3 4
+f 11 7 3
+f 11 6 7
+f 11 9 6
+f 11 3 9
+f 12 8 2
+f 14 5 4
+f 14 4 3
+f 14 3 8
+f 15 1 6
+f 15 6 10
+f 15 10 13
+f 16 4 5
+f 16 9 4
+f 17 12 2
+f 17 2 7
+f 17 7 1
+f 18 13 10
+f 18 14 13
+f 18 16 5
+f 18 10 16
+f 19 14 8
+f 19 8 12
+f 19 12 17
+f 19 15 13
+f 19 13 14
+f 20 16 10
+f 20 10 6
+f 21 18 5
+f 21 5 14
+f 21 14 18
+f 22 1 15
+f 22 15 19
+f 22 19 17
+f 22 17 1
+f 23 20 6
+f 23 6 9
+f 23 9 16
+f 23 16 20
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_7/collision/model_normalized_collision_6.obj b/objects/objaverse/banana/banana_7/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..06762ca6b34fff224e2c9aaa1103ea22c4730a97
--- /dev/null
+++ b/objects/objaverse/banana/banana_7/collision/model_normalized_collision_6.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v -0.10428184 -0.22018117 -0.04258788
+v -0.09456627 -0.22397642 -0.11332539
+v -0.09378860 0.15871321 -0.03881925
+v -0.10477128 -0.21963893 -0.04636916
+v -0.10664007 -0.21967336 -0.06128147
+v -0.11332961 0.03743877 -0.10524756
+v -0.10800514 0.03738794 -0.06760173
+v -0.10640357 -0.16019621 -0.05247819
+v -0.11244460 0.03939614 -0.11121063
+v -0.09877163 0.15930614 -0.05003613
+v -0.10714485 -0.20426025 -0.06311493
+v -0.10095451 0.15870197 -0.06221468
+v -0.10568428 -0.18760014 -0.10456720
+v -0.10015606 0.16052010 -0.05774980
+v -0.10010611 -0.21770823 -0.10343125
+v -0.10583651 -0.20274928 -0.08950027
+f 1 2 3
+f 5 2 1
+f 5 1 4
+f 8 7 6
+f 8 1 7
+f 10 7 1
+f 10 1 3
+f 11 8 6
+f 11 5 4
+f 11 4 1
+f 11 1 8
+f 12 3 2
+f 12 2 9
+f 12 9 6
+f 12 6 7
+f 13 9 2
+f 13 6 9
+f 13 11 6
+f 13 5 11
+f 14 10 3
+f 14 3 12
+f 14 12 7
+f 14 7 10
+f 15 13 2
+f 15 2 5
+f 16 15 5
+f 16 5 13
+f 16 13 15
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_7/collision/model_normalized_collision_7.obj b/objects/objaverse/banana/banana_7/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d5ef04b872533339efa655324b04bc3e55a3772c
--- /dev/null
+++ b/objects/objaverse/banana/banana_7/collision/model_normalized_collision_7.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.02343853 -0.24402435 0.06416814
+v 0.01324924 -0.26515153 -0.04596436
+v 0.02609719 -0.00624824 0.01065901
+v -0.05265159 -0.00623665 -0.00100452
+v -0.10254291 -0.26440979 -0.04549828
+v -0.10204661 -0.05310279 -0.04839129
+v -0.03553538 -0.00735766 0.00681277
+v -0.08677677 -0.26700280 0.02595531
+v 0.01361184 -0.00727369 0.01217999
+v -0.09334867 -0.26705752 0.00943726
+v -0.09691363 -0.05339425 -0.03930944
+f 1 2 3
+f 6 3 2
+f 6 4 3
+f 6 2 5
+f 7 3 4
+f 8 2 1
+f 8 7 4
+f 8 1 7
+f 9 7 1
+f 9 1 3
+f 9 3 7
+f 10 5 2
+f 10 2 8
+f 10 8 6
+f 10 6 5
+f 11 8 4
+f 11 4 6
+f 11 6 8
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_7/collision/model_normalized_collision_8.obj b/objects/objaverse/banana/banana_7/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1cff44332221f690493eac0ac26250a1d3e886a8
--- /dev/null
+++ b/objects/objaverse/banana/banana_7/collision/model_normalized_collision_8.obj
@@ -0,0 +1,183 @@
+# https://github.com/mikedh/trimesh
+v 0.01063444 -0.46458426 0.05294515
+v 0.09167749 -0.25975939 -0.06833348
+v 0.08645892 -0.27077919 0.03337978
+v -0.08862749 -0.26767722 0.02266961
+v -0.07047811 -0.25843022 -0.12382356
+v -0.08039517 -0.26896955 0.03690800
+v 0.07627516 -0.40826140 0.05015369
+v 0.00904202 -0.32825365 -0.08976770
+v -0.06652474 -0.43637952 0.04919952
+v 0.08922499 -0.36876385 0.04510470
+v 0.02329678 -0.25979368 -0.12608139
+v 0.03364163 -0.41492698 -0.00077275
+v -0.09542501 -0.26147686 -0.08676197
+v -0.07923012 -0.41040034 0.04721103
+v -0.03906309 -0.40004505 -0.03158039
+v 0.08499292 -0.34792500 -0.00863546
+v -0.04193348 -0.28516110 -0.12029095
+v 0.04869015 -0.32685255 -0.07309522
+v 0.03842715 -0.45189623 0.05135140
+v -0.08175229 -0.25948698 -0.11133124
+v -0.09218822 -0.35450090 0.02834260
+v -0.07737938 -0.38911887 -0.00623455
+v -0.03928137 -0.44547311 0.02625817
+v -0.00610536 -0.41583281 -0.01643125
+v 0.08626863 -0.36466348 0.01860860
+v 0.06954486 -0.38959164 0.00852893
+v 0.00861445 -0.28363168 -0.11755987
+v -0.06462206 -0.35615295 -0.06093305
+v -0.01622984 -0.37169924 -0.06040295
+v 0.05317651 -0.25994054 -0.11131958
+v 0.02317086 -0.27199534 -0.12008329
+v 0.07342315 -0.31320878 -0.06048849
+v 0.03346406 -0.35741273 -0.05810865
+v 0.01918457 -0.44518285 0.02725758
+v -0.07504393 -0.40839335 0.01781833
+v -0.08815438 -0.34869609 -0.02498800
+v -0.01610999 -0.46620241 0.05166033
+v -0.06192365 -0.38769732 -0.03224900
+v -0.01602962 -0.41586494 -0.01654590
+v 0.07240861 -0.40570875 0.03658411
+v 0.04348352 -0.43101100 0.02587231
+v -0.05443383 -0.32684900 -0.08820514
+v -0.07576491 -0.30051779 -0.09167461
+v 0.05105619 -0.27248884 -0.10608564
+v 0.08534329 -0.30153598 -0.04996079
+v 0.07486088 -0.28614080 -0.07694925
+v 0.00874221 -0.39998991 -0.02985049
+v -0.08816817 -0.28965302 -0.08406655
+v -0.05175898 -0.45180833 0.04919702
+v -0.01557522 -0.45952015 0.04059287
+v -0.05365263 -0.42871305 0.01222904
+v -0.03933469 -0.38632326 -0.04504357
+v 0.05906578 -0.41610626 0.02562181
+v 0.03523011 -0.44682596 0.04118528
+v -0.06989238 -0.27063862 -0.11785801
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diff --git a/objects/objaverse/banana/banana_7/collision/model_normalized_collision_9.obj b/objects/objaverse/banana/banana_7/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c20cc862a7a5317ce41894c9e58118a71a53894a
--- /dev/null
+++ b/objects/objaverse/banana/banana_7/collision/model_normalized_collision_9.obj
@@ -0,0 +1,126 @@
+# https://github.com/mikedh/trimesh
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+v 0.02223427 -0.27813329 0.08620863
+v -0.03764814 -0.40599376 0.15190077
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+v -0.00039293 -0.36644365 0.14839072
+v 0.04859711 -0.27642332 0.07286916
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\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_7/model.xml b/objects/objaverse/banana/banana_7/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..9ebbe4dab657ed0cb7be21c04229cc251dbb4c22
--- /dev/null
+++ b/objects/objaverse/banana/banana_7/model.xml
@@ -0,0 +1,81 @@
+<mujoco model="banana_31">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865474 0.0 0.7071067811865476 0.0"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865474 0.0 0.7071067811865476 0.0"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865474 0.0 0.7071067811865476 0.0"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865474 0.0 0.7071067811865476 0.0"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865474 0.0 0.7071067811865476 0.0"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865474 0.0 0.7071067811865476 0.0"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865474 0.0 0.7071067811865476 0.0"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865474 0.0 0.7071067811865476 0.0"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865474 0.0 0.7071067811865476 0.0"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865474 0.0 0.7071067811865476 0.0"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865474 0.0 0.7071067811865476 0.0"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865474 0.0 0.7071067811865476 0.0"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865474 0.0 0.7071067811865476 0.0"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865474 0.0 0.7071067811865476 0.0"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865474 0.0 0.7071067811865476 0.0"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865474 0.0 0.7071067811865476 0.0"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865474 0.0 0.7071067811865476 0.0"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865474 0.0 0.7071067811865476 0.0"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865474 0.0 0.7071067811865476 0.0"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865474 0.0 0.7071067811865476 0.0"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865474 0.0 0.7071067811865476 0.0"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865474 0.0 0.7071067811865476 0.0"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865474 0.0 0.7071067811865476 0.0"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865474 0.0 0.7071067811865476 0.0"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865474 0.0 0.7071067811865476 0.0"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865474 0.0 0.7071067811865476 0.0"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865474 0.0 0.7071067811865476 0.0"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865474 0.0 0.7071067811865476 0.0"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865474 0.0 0.7071067811865476 0.0"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865474 0.0 0.7071067811865476 0.0"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865474 0.0 0.7071067811865476 0.0"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865474 0.0 0.7071067811865476 0.0"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865474 0.0 0.7071067811865476 0.0"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="Material.004" texture="image0" specular="0.5" shininess="0.017575287"/>
+  </asset>
+  <worldbody>
+    <body>
+      <body name="object">
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_0_vis" conaffinity="0" contype="0" group="1" material="Material.004"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_22._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_23._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_21._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_20._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 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"/>
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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_13._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+      </body>
+      <site rgba="0 0 0 0" size="0.005" pos="-1.637354999999993e-05 0.00023385794999999763 -0.019266033699999997" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="-1.637354999999993e-05 0.00023385794999999763 0.018335348300000002" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.031091789599999992 0.0842137534 -0.0004653426999999999" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/objects/objaverse/banana/banana_7/visual/material.mtl b/objects/objaverse/banana/banana_7/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f1f969e02d21afbbeec36a0059489f9be4598f60
--- /dev/null
+++ b/objects/objaverse/banana/banana_7/visual/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 17.57528700
+map_Kd material_0.jpeg
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_7/visual/model_normalized_0.obj b/objects/objaverse/banana/banana_7/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..38209decf5313ba41483464e0d33898b763be775
--- /dev/null
+++ b/objects/objaverse/banana/banana_7/visual/model_normalized_0.obj
@@ -0,0 +1,5639 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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+f 88/88/88 1188/1188/1188 125/125/125
+f 87/87/87 86/86/86 1189/1189/1189
+f 87/87/87 1189/1189/1189 1188/1188/1188
+f 86/86/86 84/84/84 1192/1192/1192
+f 86/86/86 1192/1192/1192 1189/1189/1189
+f 84/84/84 10/10/10 12/12/12
+f 84/84/84 12/12/12 1192/1192/1192
+f 1192/1192/1192 12/12/12 25/25/25
+f 1192/1192/1192 25/25/25 1193/1193/1193
+f 1193/1193/1193 25/25/25 23/23/23
+f 1193/1193/1193 23/23/23 1196/1196/1196
+f 1196/1196/1196 23/23/23 24/24/24
+f 1196/1196/1196 24/24/24 1145/1145/1145
+f 1194/1194/1194 1196/1196/1196 1145/1145/1145
+f 1194/1194/1194 1145/1145/1145 1144/1144/1144
+f 1195/1195/1195 1194/1194/1194 1144/1144/1144
+f 1195/1195/1195 1144/1144/1144 1143/1143/1143
+f 113/113/113 1195/1195/1195 1143/1143/1143
+f 113/113/113 1143/1143/1143 111/111/111
+f 126/126/126 1191/1191/1191 1195/1195/1195
+f 126/126/126 1195/1195/1195 113/113/113
+f 125/125/125 1188/1188/1188 1191/1191/1191
+f 125/125/125 1191/1191/1191 126/126/126
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_9/collision/model_normalized_collision_0.obj b/objects/objaverse/banana/banana_9/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f1f9685822f8385d155743e2945ba55fc5014d81
--- /dev/null
+++ b/objects/objaverse/banana/banana_9/collision/model_normalized_collision_0.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.26738305 -0.09618482 -0.04691904
+v 0.26529038 -0.06149790 0.00690246
+v 0.00454436 -0.08996054 0.02567734
+v 0.00712357 0.11787296 -0.05606281
+v 0.26643023 0.07817819 -0.03319925
+v 0.00969302 -0.11413809 -0.04764842
+v 0.00686739 -0.09432201 0.01895295
+v 0.26709322 0.03057542 0.00888536
+v 0.14257918 0.10442550 -0.05711537
+v 0.00432067 -0.03668088 0.05147413
+v 0.00388736 0.05609603 0.03507851
+v 0.06518736 0.10905079 -0.03545684
+v 0.09659013 0.11297305 -0.05954424
+v 0.00405190 -0.07706798 0.03866079
+v 0.20226970 0.06569880 -0.01003151
+v 0.00392569 0.01826796 0.05123237
+v 0.00610255 0.09534618 -0.00453536
+v 0.00685538 0.11163265 -0.03039782
+v 0.04934793 0.08110783 0.00427158
+v 0.03537374 0.09455045 -0.00855024
+f 6 3 4
+f 7 1 2
+f 7 2 3
+f 7 6 1
+f 7 3 6
+f 8 2 1
+f 8 1 5
+f 9 5 1
+f 10 2 8
+f 11 4 3
+f 13 6 4
+f 13 12 5
+f 13 5 9
+f 13 9 1
+f 13 1 6
+f 14 3 2
+f 14 2 10
+f 14 11 3
+f 15 11 8
+f 15 8 5
+f 16 10 8
+f 16 8 11
+f 16 14 10
+f 16 11 14
+f 18 13 4
+f 18 12 13
+f 18 17 12
+f 18 4 11
+f 18 11 17
+f 19 15 5
+f 19 11 15
+f 19 17 11
+f 20 5 12
+f 20 12 17
+f 20 19 5
+f 20 17 19
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_9/collision/model_normalized_collision_10.obj b/objects/objaverse/banana/banana_9/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da4df54febc12f8183046ab4ea6e63693306182c
--- /dev/null
+++ b/objects/objaverse/banana/banana_9/collision/model_normalized_collision_10.obj
@@ -0,0 +1,132 @@
+# https://github.com/mikedh/trimesh
+v -0.25278125 -0.09269984 0.11975569
+v -0.20644580 -0.05393539 0.12219367
+v -0.46148505 -0.01055320 0.18005714
+v -0.45568496 0.06543582 0.13543528
+v -0.25344262 0.05869469 0.11867205
+v -0.45837854 -0.06206703 0.12445729
+v -0.35993837 -0.06262503 0.16849390
+v -0.20786856 0.03191592 0.11818213
+v -0.35757075 0.04248522 0.15700300
+v -0.46245026 0.04445490 0.15887106
+v -0.39730112 -0.08665083 0.12179327
+v -0.45358502 0.06768143 0.12569880
+v -0.26997631 -0.07250059 0.14068325
+v -0.42842031 -0.05780951 0.17112080
+v -0.22218263 -0.07942678 0.12002367
+v -0.28508434 0.01672577 0.15336764
+v -0.35626450 0.07893781 0.12512998
+v -0.46147328 0.01496647 0.17381254
+v -0.36826203 -0.08171573 0.15127872
+v -0.22352515 0.04459272 0.11761434
+v -0.44086674 -0.07065598 0.12273080
+v -0.30045563 -0.08834891 0.13866851
+v -0.44478298 -0.04689204 0.17572607
+v -0.22610098 -0.07552066 0.12465811
+v -0.24326244 0.00148853 0.13988541
+v -0.27187644 0.03898756 0.14090653
+v -0.34309414 0.00300776 0.16990708
+v -0.44532296 0.06585390 0.14275761
+v -0.40997822 -0.06629494 0.16605092
+v -0.45280647 -0.05050027 0.16458046
+v -0.34367986 -0.04922876 0.16906548
+v -0.28651580 -0.03787389 0.15449463
+v -0.21272145 0.02695597 0.12218672
+v -0.30020113 0.03017859 0.15322153
+v -0.35627073 0.07163195 0.13274430
+v -0.25723514 0.05321543 0.12461022
+v -0.22756121 0.03928361 0.12278546
+v -0.37223458 0.01528239 0.16967773
+v -0.39595887 -0.08194636 0.13516110
+v -0.43961655 -0.06660719 0.13520213
+v -0.30117926 -0.06353159 0.15302960
+v -0.25643496 -0.06548876 0.13792696
+v -0.24170322 -0.03737078 0.13843832
+v -0.43361207 0.06701965 0.14131501
+v -0.21153692 -0.05222941 0.12455320
+f 10 6 3
+f 12 10 4
+f 12 6 10
+f 15 8 2
+f 17 5 12
+f 18 10 3
+f 18 9 10
+f 20 1 11
+f 20 15 1
+f 20 8 15
+f 21 6 12
+f 21 12 5
+f 21 20 11
+f 21 5 20
+f 22 13 7
+f 22 7 19
+f 22 19 11
+f 22 11 1
+f 23 14 7
+f 24 15 2
+f 24 13 22
+f 24 22 1
+f 24 1 15
+f 28 10 9
+f 28 4 10
+f 28 17 12
+f 28 12 4
+f 29 21 11
+f 29 14 21
+f 29 19 7
+f 29 7 14
+f 30 6 21
+f 30 14 23
+f 30 23 3
+f 30 3 6
+f 31 23 7
+f 31 3 23
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+f 32 25 16
+f 32 16 27
+f 32 27 31
+f 33 25 2
+f 33 2 8
+f 33 16 25
+f 33 26 16
+f 33 8 26
+f 34 26 9
+f 34 16 26
+f 34 27 16
+f 35 9 26
+f 35 5 17
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+f 36 20 5
+f 36 35 26
+f 36 5 35
+f 37 26 8
+f 37 8 20
+f 37 20 26
+f 38 18 3
+f 38 3 27
+f 38 9 18
+f 38 34 9
+f 38 27 34
+f 39 29 11
+f 39 11 19
+f 39 19 29
+f 40 30 21
+f 40 21 14
+f 40 14 30
+f 41 31 7
+f 41 7 13
+f 41 32 31
+f 41 13 32
+f 42 32 13
+f 42 13 24
+f 43 25 32
+f 44 28 9
+f 44 9 35
+f 44 35 17
+f 44 17 28
+f 45 42 24
+f 45 24 2
+f 45 2 25
+f 45 25 43
+f 45 43 32
+f 45 32 42
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_9/collision/model_normalized_collision_12.obj b/objects/objaverse/banana/banana_9/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a850928a5d3ba48cbff640fc986e0d48fbfd4274
--- /dev/null
+++ b/objects/objaverse/banana/banana_9/collision/model_normalized_collision_12.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v -0.10057654 -0.11379500 0.00217553
+v -0.09741797 -0.11465044 -0.06606099
+v -0.23239347 -0.08093547 -0.06446987
+v -0.33887302 -0.08284632 -0.00617191
+v -0.33982357 -0.11041782 0.05223690
+v -0.21303676 -0.09950108 -0.05603230
+v -0.09622185 -0.09988276 0.04248905
+v -0.29425292 -0.11560654 0.05132953
+v -0.10117046 -0.11174563 -0.07717042
+v -0.22910590 -0.09091693 -0.05785177
+v -0.33069694 -0.09826591 0.00493845
+v -0.18658179 -0.10733625 0.05949018
+v -0.27820262 -0.11304830 0.00920224
+v -0.34566206 -0.10849362 0.04770713
+v -0.19045067 -0.11222148 0.04743834
+v -0.29297209 -0.11391281 0.02416150
+v -0.20115535 -0.11322409 -0.03376412
+v -0.11590892 -0.11249543 0.01645485
+v -0.23226886 -0.11232050 -0.01874138
+v -0.10039783 -0.10455814 0.03244702
+f 7 3 4
+f 7 1 2
+f 8 2 1
+f 9 6 3
+f 9 7 2
+f 9 3 7
+f 10 4 3
+f 10 3 6
+f 11 10 6
+f 11 4 10
+f 12 7 4
+f 12 5 8
+f 14 4 11
+f 14 12 4
+f 14 5 12
+f 14 11 13
+f 15 12 8
+f 15 8 1
+f 16 8 5
+f 16 14 13
+f 16 5 14
+f 16 2 8
+f 17 9 2
+f 17 16 13
+f 17 2 16
+f 17 6 9
+f 17 11 6
+f 18 15 1
+f 19 17 13
+f 19 13 11
+f 19 11 17
+f 20 18 1
+f 20 1 7
+f 20 7 12
+f 20 12 15
+f 20 15 18
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_9/collision/model_normalized_collision_13.obj b/objects/objaverse/banana/banana_9/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..53f1132cc00ad2325bf1a6b1cd95300a0715967a
--- /dev/null
+++ b/objects/objaverse/banana/banana_9/collision/model_normalized_collision_13.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v -0.44086674 -0.07065598 0.12273080
+v -0.44014186 -0.05150765 0.05678615
+v -0.43775816 0.07217501 0.10238348
+v -0.44332536 0.07370784 0.12707103
+v -0.49406547 0.01134250 0.12160121
+v -0.44478298 -0.04689204 0.17572607
+v -0.43703508 0.02898453 0.05889461
+v -0.48882765 -0.03205774 0.11893931
+v -0.49315915 0.03786047 0.14918618
+v -0.44717038 -0.01049464 0.18007562
+v -0.44000446 -0.07436374 0.08293569
+v -0.44755134 0.06748354 0.10942699
+v -0.47510324 0.01197388 0.09570993
+v -0.49087175 -0.03683140 0.15470092
+v -0.46245026 0.04445490 0.15887106
+v -0.46022744 -0.05674454 0.08980641
+v -0.47563549 0.05231321 0.13506282
+v -0.45358502 0.06768143 0.12569880
+v -0.44473134 0.02389046 0.06444587
+v -0.47488328 -0.03230624 0.09321192
+v -0.48460814 -0.03057734 0.17820073
+v -0.49240993 0.03664433 0.16332261
+v -0.45311581 -0.06572676 0.12066776
+v -0.45935116 0.05769954 0.14944473
+v -0.44784904 -0.06965558 0.08741456
+v -0.45998701 -0.04501764 0.07873784
+v -0.44705632 -0.04772582 0.06308217
+v -0.48761575 -0.03909890 0.15355015
+v -0.48948401 -0.01946521 0.16612270
+v -0.47965186 0.04906308 0.14167602
+v -0.48291545 0.01782183 0.17189906
+v -0.47094356 0.05253031 0.14907469
+v -0.46147328 0.01496647 0.17381254
+f 6 1 3
+f 7 3 1
+f 10 6 3
+f 10 3 4
+f 11 7 1
+f 11 2 7
+f 12 3 7
+f 14 5 8
+f 17 12 5
+f 17 5 9
+f 18 4 3
+f 18 3 12
+f 18 12 17
+f 19 7 2
+f 19 12 7
+f 19 13 5
+f 19 5 12
+f 20 8 5
+f 20 5 13
+f 20 16 8
+f 21 1 6
+f 21 6 10
+f 22 9 5
+f 22 5 14
+f 23 11 1
+f 24 15 10
+f 24 10 4
+f 24 22 15
+f 25 16 2
+f 25 2 11
+f 25 14 8
+f 25 8 16
+f 25 23 14
+f 25 11 23
+f 26 2 16
+f 26 16 20
+f 27 19 2
+f 27 26 20
+f 27 2 26
+f 27 20 13
+f 27 13 19
+f 28 21 14
+f 28 1 21
+f 28 23 1
+f 28 14 23
+f 29 22 14
+f 29 14 21
+f 29 21 22
+f 30 17 9
+f 30 9 22
+f 30 18 17
+f 30 4 18
+f 31 22 21
+f 31 21 10
+f 32 24 4
+f 32 22 24
+f 32 30 22
+f 32 4 30
+f 33 31 10
+f 33 10 15
+f 33 15 22
+f 33 22 31
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_9/collision/model_normalized_collision_14.obj b/objects/objaverse/banana/banana_9/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b2d00c96af1e0ffd90cb1f5093c60a03ff17547
--- /dev/null
+++ b/objects/objaverse/banana/banana_9/collision/model_normalized_collision_14.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v -0.10117046 -0.11174563 -0.07717042
+v -0.10176027 -0.07862472 0.07447482
+v -0.23283415 -0.10352485 0.08848020
+v -0.23720842 0.09990636 0.06004127
+v -0.09765811 0.11197584 -0.05104462
+v -0.10183093 0.04450998 0.07280212
+v -0.23239347 -0.08093547 -0.06446987
+v -0.23662275 0.08913129 0.07697957
+v -0.10072486 0.10872091 -0.00421757
+v -0.09820351 0.10766240 -0.06910321
+v -0.21969858 0.11120880 0.01907754
+v -0.13412827 0.07776322 0.05401011
+v -0.17527487 0.10858431 0.01649151
+v -0.18678075 0.10900675 -0.01976562
+v -0.22850239 0.06725481 -0.05619263
+v -0.13408055 0.06568991 0.06734041
+v -0.21870514 0.11023994 0.00797412
+v -0.12728256 0.10884251 -0.05115677
+v -0.22718505 0.09585786 -0.02641802
+v -0.17860679 0.07904173 0.06904033
+v -0.16833742 0.09552094 -0.05728783
+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 8 4 3
+f 8 3 6
+f 9 6 5
+f 9 4 8
+f 10 5 1
+f 10 1 7
+f 11 9 5
+f 12 9 8
+f 12 6 9
+f 13 11 4
+f 13 4 9
+f 13 9 11
+f 15 7 4
+f 15 10 7
+f 16 8 6
+f 16 6 12
+f 17 11 5
+f 17 5 14
+f 18 14 5
+f 18 5 10
+f 18 10 14
+f 19 14 10
+f 19 17 14
+f 19 15 4
+f 19 4 11
+f 19 11 17
+f 20 16 12
+f 20 12 8
+f 20 8 16
+f 21 19 10
+f 21 10 15
+f 21 15 19
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_9/collision/model_normalized_collision_15.obj b/objects/objaverse/banana/banana_9/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc38af074f92ad5f0871aee5ff7cd752d4d00cfd
--- /dev/null
+++ b/objects/objaverse/banana/banana_9/collision/model_normalized_collision_15.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v -0.23465019 -0.11419211 -0.00887003
+v -0.22874208 -0.07430850 -0.07166789
+v -0.23107796 0.10262095 -0.01640721
+v -0.26110108 0.10289429 -0.00163350
+v -0.33513043 -0.09068067 -0.00120453
+v -0.22876613 0.01710561 -0.08791646
+v -0.23400531 0.10532152 -0.00748224
+v -0.22992428 -0.10372008 -0.04360270
+v -0.30622698 -0.10464503 -0.00245370
+v -0.25656489 0.05446970 -0.05390405
+v -0.33060388 -0.04678269 -0.03591958
+v -0.30243673 -0.09949746 -0.01102808
+v -0.25864997 0.09613288 -0.01064487
+v -0.23014983 0.04370533 -0.07482219
+v -0.25554605 -0.03169389 -0.08210060
+v -0.30068409 -0.07258287 -0.03634720
+v -0.33080639 0.01559596 -0.03565854
+v -0.24297157 -0.10049737 -0.04090249
+v -0.22880059 -0.04890828 -0.08721088
+v -0.33107837 -0.08696452 -0.00767882
+v -0.25537370 -0.01090142 -0.08160006
+v -0.24342047 0.04079627 -0.07076044
+v -0.33705910 0.06026767 -0.00354176
+v -0.24141154 -0.07375102 -0.06630233
+v -0.24165657 -0.04656267 -0.08231094
+v -0.24109571 0.01545213 -0.08225436
+v -0.31701857 0.06644943 -0.00951943
+v -0.33170637 0.03939662 -0.02392163
+v -0.32087660 0.07264904 -0.00096792
+v -0.31605552 0.05321570 -0.02266359
+v -0.33334935 0.05500070 -0.01133907
+f 6 3 2
+f 7 1 3
+f 7 3 4
+f 7 4 1
+f 8 2 3
+f 8 3 1
+f 9 1 4
+f 9 4 5
+f 9 8 1
+f 12 9 5
+f 13 4 3
+f 13 3 10
+f 14 10 3
+f 14 3 6
+f 17 15 11
+f 18 2 8
+f 18 8 9
+f 18 9 12
+f 19 15 6
+f 19 6 2
+f 20 5 11
+f 20 11 16
+f 20 12 5
+f 21 6 15
+f 21 15 17
+f 22 14 6
+f 22 10 14
+f 23 17 11
+f 23 11 5
+f 24 2 18
+f 24 19 2
+f 24 20 16
+f 24 18 12
+f 24 12 20
+f 25 11 15
+f 25 15 19
+f 25 19 24
+f 25 24 16
+f 25 16 11
+f 26 21 17
+f 26 6 21
+f 26 22 6
+f 26 17 22
+f 27 13 10
+f 28 22 17
+f 28 17 23
+f 29 23 5
+f 29 5 4
+f 29 4 13
+f 29 13 27
+f 30 27 10
+f 30 10 22
+f 30 22 28
+f 31 29 27
+f 31 23 29
+f 31 27 30
+f 31 30 28
+f 31 28 23
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_9/collision/model_normalized_collision_17.obj b/objects/objaverse/banana/banana_9/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f871c51413ff9dab5a650cd367a0df947cfe60d
--- /dev/null
+++ b/objects/objaverse/banana/banana_9/collision/model_normalized_collision_17.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v 0.29282294 -0.09785167 -0.05903682
+v 0.36604190 -0.03115538 -0.12409864
+v 0.35542015 0.02460912 0.02680235
+v 0.28131305 0.06103316 -0.14893747
+v 0.26386169 -0.10260604 -0.11428880
+v 0.36210789 0.02419779 -0.12115989
+v 0.37106157 -0.06980490 -0.02453284
+v 0.26623719 0.01773647 0.01426664
+v 0.33057726 -0.08307750 -0.10402479
+v 0.26529038 -0.06149790 0.00690246
+v 0.29024606 -0.09784381 -0.10954766
+v 0.34780997 -0.08573831 -0.06624408
+v 0.26354201 -0.10065521 -0.05955609
+v 0.30954455 -0.08261915 -0.01926803
+v 0.35336915 -0.05806901 0.01372865
+v 0.26761927 -0.03721921 0.01816823
+v 0.33645113 -0.08203038 -0.02991741
+v 0.26545553 -0.08518680 -0.02046419
+v 0.36944876 -0.06515201 -0.01119966
+v 0.26838129 0.00230409 0.01830161
+v 0.31450158 -0.04895389 0.02330576
+v 0.35077588 -0.08180011 -0.04393412
+v 0.36462828 -0.06863072 -0.01572197
+v 0.31336278 0.01500747 0.02382938
+v 0.28303213 -0.04378268 0.01906095
+v 0.36616343 -0.07277032 -0.02781332
+v 0.28305893 0.01279560 0.01909787
+f 5 4 2
+f 6 2 4
+f 6 4 3
+f 7 6 3
+f 7 2 6
+f 8 3 4
+f 8 4 5
+f 11 5 2
+f 11 2 9
+f 11 1 5
+f 12 9 2
+f 12 2 7
+f 12 11 9
+f 12 1 11
+f 13 10 8
+f 13 8 5
+f 13 5 1
+f 14 13 1
+f 16 8 10
+f 17 14 1
+f 17 15 14
+f 18 10 13
+f 18 13 14
+f 18 14 15
+f 19 7 3
+f 19 3 15
+f 20 8 16
+f 21 15 3
+f 21 18 15
+f 21 10 18
+f 22 17 1
+f 22 1 12
+f 23 7 19
+f 23 19 15
+f 23 15 17
+f 24 3 8
+f 24 21 3
+f 24 20 16
+f 24 16 21
+f 25 21 16
+f 25 16 10
+f 25 10 21
+f 26 22 12
+f 26 12 7
+f 26 17 22
+f 26 23 17
+f 26 7 23
+f 27 24 8
+f 27 8 20
+f 27 20 24
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_9/collision/model_normalized_collision_18.obj b/objects/objaverse/banana/banana_9/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc63caaccaceac4e1953e55f8e9130f0280dbfd3
--- /dev/null
+++ b/objects/objaverse/banana/banana_9/collision/model_normalized_collision_18.obj
@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
+v -0.09835042 -0.11383211 -0.06944651
+v -0.09377210 -0.10209677 -0.10076131
+v -0.09820351 0.10766240 -0.06910321
+v -0.14032549 0.10205060 -0.06227745
+v -0.23239347 -0.08093547 -0.06446987
+v -0.09402740 0.00199725 -0.14771087
+v -0.09414260 0.09639523 -0.08957722
+v -0.18560640 -0.10565917 -0.06106742
+v -0.22737236 0.02851329 -0.08389549
+v -0.09435789 -0.03344536 -0.14736521
+v -0.09242042 0.06881203 -0.11546413
+v -0.18178126 -0.08650365 -0.08269440
+v -0.23169333 0.05915318 -0.06304343
+v -0.22607956 -0.02617095 -0.09704319
+v -0.10717886 0.04205855 -0.12868152
+v -0.09351168 -0.06134857 -0.13242289
+v -0.21631390 -0.09237988 -0.06281407
+v -0.18298577 -0.09871588 -0.07016474
+v -0.13836190 0.09418621 -0.07303519
+v -0.15184424 0.00032406 -0.12695101
+v -0.19622204 -0.05838072 -0.09649662
+v -0.09377122 0.04286539 -0.13329554
+v -0.16630197 0.05327068 -0.09641918
+v -0.10778902 -0.09911248 -0.09880967
+v -0.21118545 -0.07294340 -0.08065104
+v -0.10773944 0.09531156 -0.08553794
+v -0.21124343 0.01529393 -0.09686648
+v -0.10753762 0.00079671 -0.14331505
+v -0.15193493 -0.02320696 -0.12707067
+v -0.22580072 -0.03162551 -0.09684986
+v -0.10730920 -0.05892789 -0.12884209
+v -0.10651604 0.06588963 -0.11234600
+v -0.15127588 0.04127778 -0.11140492
+v -0.22874208 -0.07430850 -0.07166789
+v -0.21194008 -0.08754056 -0.06880614
+v -0.22725688 0.05438950 -0.06852003
+v -0.18091624 0.01495186 -0.11065697
+v -0.22657435 -0.05897825 -0.08244170
+f 1 3 4
+f 7 1 2
+f 7 3 1
+f 7 4 3
+f 8 2 1
+f 8 1 4
+f 11 7 2
+f 13 8 4
+f 14 13 9
+f 14 5 13
+f 16 10 6
+f 16 6 11
+f 16 11 2
+f 17 13 5
+f 17 8 13
+f 18 2 8
+f 18 17 12
+f 18 8 17
+f 19 13 4
+f 21 16 12
+f 22 11 6
+f 24 16 2
+f 24 12 16
+f 24 18 12
+f 24 2 18
+f 25 21 12
+f 26 19 4
+f 26 4 7
+f 26 7 11
+f 27 20 14
+f 27 14 9
+f 28 6 10
+f 28 20 15
+f 28 22 6
+f 28 15 22
+f 29 14 20
+f 29 28 10
+f 29 20 28
+f 30 10 21
+f 30 29 10
+f 30 14 29
+f 30 5 14
+f 31 21 10
+f 31 10 16
+f 31 16 21
+f 32 22 15
+f 32 11 22
+f 32 23 13
+f 32 26 11
+f 32 13 19
+f 32 19 26
+f 33 32 15
+f 33 23 32
+f 34 17 5
+f 35 25 12
+f 35 12 17
+f 35 34 25
+f 35 17 34
+f 36 33 9
+f 36 9 13
+f 36 13 23
+f 36 23 33
+f 37 27 9
+f 37 9 33
+f 37 20 27
+f 37 33 15
+f 37 15 20
+f 38 34 5
+f 38 5 30
+f 38 30 21
+f 38 21 25
+f 38 25 34
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_9/collision/model_normalized_collision_19.obj b/objects/objaverse/banana/banana_9/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..75a2824c19058cf8be5f4346ceb835ca3c045f73
--- /dev/null
+++ b/objects/objaverse/banana/banana_9/collision/model_normalized_collision_19.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v 0.47773780 -0.03087221 0.19123371
+v 0.49582042 0.00446435 0.13967364
+v 0.47909416 0.04101551 0.19017219
+v 0.47207642 0.03921684 0.19374005
+v 0.45631237 -0.02034740 0.08514597
+v 0.48227871 -0.02403137 0.14060565
+v 0.44718993 0.02002123 0.18990683
+v 0.45366142 0.01208736 0.08704350
+v 0.48113899 -0.01125438 0.10958023
+v 0.45745785 -0.02593987 0.09834281
+v 0.45214364 0.03004659 0.19397593
+v 0.48429548 0.03888816 0.15193841
+v 0.44859514 -0.01770522 0.12273781
+v 0.48801570 -0.00705929 0.11960962
+v 0.46306067 0.00644734 0.09382686
+v 0.46195638 -0.02498703 0.10410669
+v 0.45928346 -0.01547679 0.19197038
+v 0.46926228 -0.02678171 0.19267524
+v 0.49465356 0.01280855 0.13732999
+v 0.46710546 0.03314826 0.14449735
+v 0.44662972 0.01385858 0.18350828
+v 0.46220617 -0.01671302 0.09067923
+v 0.49416172 0.00949460 0.12757268
+v 0.46098956 0.02919148 0.13689037
+v 0.44834278 0.00081581 0.18193511
+v 0.47933007 0.02488648 0.12810343
+f 1 2 3
+f 1 3 4
+f 6 2 1
+f 10 6 1
+f 11 8 7
+f 13 8 5
+f 13 5 10
+f 14 2 6
+f 14 6 9
+f 15 5 8
+f 16 9 6
+f 16 6 10
+f 16 10 5
+f 16 5 9
+f 17 11 7
+f 18 1 4
+f 18 4 11
+f 18 11 17
+f 18 17 13
+f 18 13 10
+f 18 10 1
+f 19 12 3
+f 19 3 2
+f 20 4 3
+f 20 3 12
+f 20 11 4
+f 20 12 8
+f 21 7 8
+f 21 8 13
+f 22 15 9
+f 22 9 5
+f 22 5 15
+f 23 14 9
+f 23 9 15
+f 23 15 8
+f 23 12 19
+f 23 19 2
+f 23 2 14
+f 24 20 8
+f 24 8 11
+f 24 11 20
+f 25 17 7
+f 25 7 21
+f 25 21 13
+f 25 13 17
+f 26 23 8
+f 26 8 12
+f 26 12 23
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_9/collision/model_normalized_collision_2.obj b/objects/objaverse/banana/banana_9/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0443ca6d7793bc255ce54796ff56e2c2b349e9d5
--- /dev/null
+++ b/objects/objaverse/banana/banana_9/collision/model_normalized_collision_2.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v 0.41417547 0.01948661 0.02238987
+v 0.40271904 0.01644074 -0.03865328
+v 0.34649287 0.06136394 -0.09304471
+v 0.26418440 0.07847641 -0.03358602
+v 0.26623719 0.01773647 0.01426664
+v 0.35497330 0.06381017 -0.01759818
+v 0.39833244 0.02751276 -0.03812636
+v 0.39528929 0.03901115 0.01895880
+v 0.32322911 0.01929539 -0.15650937
+v 0.30338735 0.07893138 -0.09522987
+v 0.40947627 0.02859404 0.02334064
+v 0.26643492 0.04063079 0.00322340
+v 0.27909177 0.07852660 -0.03470451
+v 0.37772554 0.05312662 -0.01058718
+v 0.33309585 0.01727074 -0.15106735
+v 0.26931590 0.06139365 -0.15426207
+v 0.26273930 0.02820706 0.00924319
+v 0.26092289 0.08341912 -0.12532981
+v 0.30686736 0.07752964 -0.04424870
+v 0.37998311 0.04959955 0.00048108
+v 0.34951266 0.01789889 -0.13756644
+v 0.32791768 0.04007195 -0.14258123
+v 0.28651704 0.07761454 -0.12007992
+v 0.26298500 0.07416402 -0.14082733
+v 0.34317557 0.03848737 -0.13069695
+v 0.31819439 0.04019601 -0.14847414
+v 0.34230918 0.05140019 -0.11733726
+v 0.30097763 0.06398787 -0.13371370
+v 0.28131305 0.06103316 -0.14893747
+v 0.32859863 0.05010498 -0.13098830
+f 5 2 1
+f 7 1 2
+f 10 6 3
+f 11 8 5
+f 11 5 1
+f 11 1 7
+f 12 8 4
+f 13 8 6
+f 13 4 8
+f 14 3 6
+f 14 8 11
+f 14 11 7
+f 14 7 3
+f 15 2 5
+f 15 5 9
+f 16 9 5
+f 17 12 4
+f 17 5 8
+f 17 8 12
+f 17 16 5
+f 18 4 13
+f 18 17 4
+f 19 13 6
+f 19 6 10
+f 19 18 13
+f 19 10 18
+f 20 14 6
+f 20 6 8
+f 20 8 14
+f 21 7 2
+f 21 2 15
+f 22 15 9
+f 22 21 15
+f 23 18 10
+f 23 10 3
+f 24 16 17
+f 24 17 18
+f 24 18 23
+f 25 7 21
+f 25 21 22
+f 26 22 9
+f 26 9 16
+f 27 25 22
+f 27 3 7
+f 27 7 25
+f 28 24 23
+f 28 23 3
+f 28 3 27
+f 28 22 26
+f 29 16 24
+f 29 24 28
+f 29 28 26
+f 29 26 16
+f 30 28 27
+f 30 27 22
+f 30 22 28
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_9/collision/model_normalized_collision_21.obj b/objects/objaverse/banana/banana_9/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3bfc769b17e186c1e4512af2d829bba7c6515c49
--- /dev/null
+++ b/objects/objaverse/banana/banana_9/collision/model_normalized_collision_21.obj
@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
+v 0.27664091 -0.10166893 -0.10999882
+v 0.36604190 -0.03115538 -0.12409864
+v 0.32960917 0.05793507 -0.11948023
+v 0.27403716 0.07701440 -0.13067334
+v 0.26136253 -0.04751295 -0.17771131
+v 0.33444563 -0.07744145 -0.10895291
+v 0.26176368 -0.09989995 -0.12315879
+v 0.30217479 0.00048401 -0.17297132
+v 0.36210789 0.02419779 -0.12115989
+v 0.31828231 -0.08835396 -0.10728997
+v 0.31441598 -0.04297942 -0.15860756
+v 0.26386169 -0.10260604 -0.11428880
+v 0.26100141 0.06827744 -0.14955062
+v 0.30123197 0.04022876 -0.15817488
+v 0.33091015 0.00036443 -0.15807242
+v 0.27608677 -0.09660079 -0.12248874
+v 0.33097917 -0.07163864 -0.11879843
+v 0.30262265 -0.02901422 -0.17357297
+v 0.26143633 0.03054822 -0.17772297
+v 0.30631048 0.05702603 -0.13967835
+v 0.26298500 0.07416402 -0.14082733
+v 0.34556771 -0.02395005 -0.14735761
+v 0.34267194 0.01484544 -0.14417469
+v 0.31472515 0.02635757 -0.15787376
+v 0.28856429 -0.08426720 -0.13292113
+v 0.32988190 -0.02895066 -0.15855580
+v 0.31652042 -0.08247163 -0.11792246
+v 0.28808061 -0.04274603 -0.17107597
+v 0.26102721 0.05681729 -0.16224196
+v 0.27395227 0.02919787 -0.17471290
+v 0.27702716 0.07103232 -0.13877888
+v 0.27342224 0.05355126 -0.16053146
+v 0.30283473 0.05291555 -0.14597270
+v 0.27391186 0.06528204 -0.14739430
+f 1 3 4
+f 9 6 2
+f 9 3 6
+f 10 6 3
+f 10 3 1
+f 12 7 1
+f 12 1 4
+f 13 5 7
+f 16 10 1
+f 16 1 7
+f 17 2 6
+f 18 8 15
+f 19 18 5
+f 19 8 18
+f 20 3 9
+f 20 9 14
+f 21 12 4
+f 21 13 7
+f 21 7 12
+f 22 9 2
+f 23 14 9
+f 23 22 15
+f 23 9 22
+f 24 15 8
+f 24 23 15
+f 24 14 23
+f 25 16 7
+f 25 7 5
+f 26 17 11
+f 26 2 17
+f 26 22 2
+f 26 11 18
+f 26 18 15
+f 26 15 22
+f 27 17 6
+f 27 6 10
+f 27 10 16
+f 27 16 25
+f 27 25 11
+f 27 11 17
+f 28 18 11
+f 28 5 18
+f 28 25 5
+f 28 11 25
+f 29 19 5
+f 29 5 13
+f 30 8 19
+f 30 24 8
+f 30 14 24
+f 31 4 3
+f 31 3 20
+f 31 21 4
+f 31 13 21
+f 32 14 30
+f 32 30 19
+f 32 19 29
+f 33 32 20
+f 33 20 14
+f 33 14 32
+f 34 31 20
+f 34 20 32
+f 34 13 31
+f 34 32 29
+f 34 29 13
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_9/collision/model_normalized_collision_24.obj b/objects/objaverse/banana/banana_9/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..56d966fdd8553ff1c07b335a22221e972f40d8dc
--- /dev/null
+++ b/objects/objaverse/banana/banana_9/collision/model_normalized_collision_24.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v -0.35511224 -0.10113276 0.10645270
+v -0.35357079 -0.10726894 0.05237467
+v -0.35232821 0.10079363 0.05509485
+v -0.38376164 0.09333881 0.10677442
+v -0.44086674 -0.07065598 0.12273080
+v -0.35824256 0.08513320 0.11807288
+v -0.42453281 -0.08168487 0.10785776
+v -0.43252668 0.03863395 0.06222357
+v -0.35575413 -0.09398830 0.12433432
+v -0.35796997 0.09746582 0.10226552
+v -0.44332536 0.07370784 0.12707103
+v -0.38120760 -0.09636900 0.10610080
+v -0.43016214 -0.07156422 0.06314256
+v -0.42790084 0.08032149 0.12052673
+v -0.41956639 0.08134029 0.09061970
+v -0.38081015 -0.10009912 0.05567072
+v -0.41080237 -0.08264016 0.12121637
+v -0.42145195 -0.08310709 0.06967382
+v -0.37682392 0.09267724 0.06031845
+v -0.43410946 0.07030920 0.09328318
+f 1 2 3
+f 8 3 2
+f 9 1 3
+f 9 3 6
+f 10 6 3
+f 10 3 4
+f 10 4 6
+f 11 9 6
+f 11 5 9
+f 11 8 5
+f 12 2 1
+f 12 1 9
+f 13 5 8
+f 14 11 6
+f 14 6 4
+f 14 4 3
+f 15 14 3
+f 15 11 14
+f 16 12 7
+f 16 2 12
+f 16 13 8
+f 16 8 2
+f 17 12 9
+f 17 9 5
+f 17 5 7
+f 17 7 12
+f 18 7 5
+f 18 5 13
+f 18 16 7
+f 18 13 16
+f 19 15 3
+f 19 3 8
+f 20 8 11
+f 20 11 15
+f 20 19 8
+f 20 15 19
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_9/collision/model_normalized_collision_27.obj b/objects/objaverse/banana/banana_9/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..868a307cb07cb55dcdd4707f514394e364628d24
--- /dev/null
+++ b/objects/objaverse/banana/banana_9/collision/model_normalized_collision_27.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.01000909 -0.09204827 0.02776186
+v -0.00792529 -0.08416062 0.03500201
+v -0.10176027 -0.07862472 0.07447482
+v -0.23283415 -0.10352485 0.08848020
+v -0.18950304 -0.11462609 0.03597996
+v -0.16290099 -0.09749499 0.07289690
+v -0.18781634 -0.11319549 0.04214971
+v -0.01008658 -0.07727225 0.04243981
+v -0.23490260 -0.11510328 0.05126416
+v -0.08571132 -0.10230345 0.03145847
+v -0.23576478 -0.10749170 0.07867026
+v -0.23227756 -0.11346381 0.05759681
+f 1 2 3
+f 5 2 1
+f 6 1 3
+f 6 3 4
+f 6 4 1
+f 8 3 2
+f 8 2 5
+f 9 4 3
+f 9 8 5
+f 9 3 8
+f 9 5 7
+f 10 7 5
+f 10 5 1
+f 10 1 4
+f 11 4 9
+f 11 10 4
+f 11 7 10
+f 12 11 9
+f 12 9 7
+f 12 7 11
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_9/collision/model_normalized_collision_28.obj b/objects/objaverse/banana/banana_9/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..514f58645b381c0095936ba199f407dae1d00e29
--- /dev/null
+++ b/objects/objaverse/banana/banana_9/collision/model_normalized_collision_28.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.01266931 0.07576498 0.01748905
+v 0.00759681 0.05091534 -0.16063690
+v 0.00945517 0.11109883 -0.09501361
+v -0.03994041 0.11330681 -0.02885645
+v -0.03515335 0.04573326 -0.15213941
+v 0.00711794 0.11553774 -0.04115448
+v 0.01062151 0.07007514 -0.14817054
+v -0.03286386 0.08477756 0.01611585
+v -0.03555690 0.09884401 -0.10694698
+v -0.03659828 0.11147308 -0.08100490
+v 0.01063916 0.09907591 -0.12082641
+v -0.01895674 0.06689392 -0.14386278
+v -0.03874356 0.10561920 -0.01243980
+v -0.02163404 0.10849340 -0.09387413
+v -0.03316144 0.05705564 -0.14586348
+v -0.01850066 0.09678285 -0.11446068
+v 0.00685538 0.11163265 -0.03039782
+v 0.00712047 0.10339978 -0.01543585
+f 5 2 1
+f 6 1 3
+f 7 1 2
+f 8 5 1
+f 9 5 4
+f 10 6 3
+f 10 4 6
+f 10 9 4
+f 11 3 1
+f 11 1 7
+f 12 7 2
+f 12 2 5
+f 12 11 7
+f 13 4 5
+f 13 5 8
+f 14 10 3
+f 14 3 11
+f 14 11 9
+f 14 9 10
+f 15 12 5
+f 15 5 9
+f 15 9 12
+f 16 12 9
+f 16 9 11
+f 16 11 12
+f 17 6 4
+f 17 4 13
+f 17 1 6
+f 18 17 13
+f 18 13 8
+f 18 8 1
+f 18 1 17
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_9/collision/model_normalized_collision_3.obj b/objects/objaverse/banana/banana_9/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b5afb5087d9758599141f998cb962f500eba77e1
--- /dev/null
+++ b/objects/objaverse/banana/banana_9/collision/model_normalized_collision_3.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.46709322 -0.02388394 0.12238309
+v 0.46820673 0.02067838 0.13112818
+v 0.31450158 -0.04895389 0.02330576
+v 0.31168756 0.03179353 0.01466403
+v 0.42880395 -0.00154775 0.03242630
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+v 0.41425085 0.02563550 0.02900220
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+v 0.42792189 -0.01337522 0.03162245
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+f 7 2 1
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+f 12 2 8
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+f 13 10 1
+f 13 1 6
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+f 15 2 11
+f 15 11 5
+f 15 5 8
+f 16 14 7
+f 16 7 1
+f 16 1 14
+f 17 5 7
+f 17 7 14
+f 17 14 8
+f 17 8 5
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_9/collision/model_normalized_collision_30.obj b/objects/objaverse/banana/banana_9/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..04f8bb3dd6b101d2f5bea190d0252ca1548b7f62
--- /dev/null
+++ b/objects/objaverse/banana/banana_9/collision/model_normalized_collision_30.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.23227756 -0.11346381 0.05759681
+v -0.23853962 -0.11189834 -0.01725502
+v -0.22218148 0.07952209 0.08476568
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+v -0.36634805 0.06146621 0.01936537
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+v -0.34499778 0.04012934 -0.01466720
+f 1 2 3
+f 3 2 4
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+f 6 2 1
+f 6 1 3
+f 6 3 5
+f 7 4 2
+f 7 6 5
+f 7 2 6
+f 8 7 5
+f 8 5 4
+f 8 4 7
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_9/collision/model_normalized_collision_8.obj b/objects/objaverse/banana/banana_9/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2ab4860ca420b189474a1f180c36d4bbbd8e0670
--- /dev/null
+++ b/objects/objaverse/banana/banana_9/collision/model_normalized_collision_8.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.26515286 0.03581014 0.00592140
+v 0.27403716 0.07701440 -0.13067334
+v 0.26359902 0.09479106 -0.07444100
+v 0.14254845 0.10996521 -0.07306634
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+f 21 19 8
+f 21 8 12
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_9/visual/material.mtl b/objects/objaverse/banana/banana_9/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..842b70538fc6029daec10eabd1278717f12035ab
--- /dev/null
+++ b/objects/objaverse/banana/banana_9/visual/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 359.99999300
+map_Kd material_0.jpeg
\ No newline at end of file
diff --git a/objects/objaverse/banana/banana_9/visual/model_normalized_0.obj b/objects/objaverse/banana/banana_9/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..44042babf689546baa5b85e08dc88c0f23bcf65b
--- /dev/null
+++ b/objects/objaverse/banana/banana_9/visual/model_normalized_0.obj
@@ -0,0 +1,11983 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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+f 2447/2447/2447 2394/2394/2394 2442/2442/2442
+f 2448/2448/2448 2449/2449/2449 2450/2450/2450
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+f 2448/2448/2448 2451/2451/2451 2409/2409/2409
+f 2448/2448/2448 2409/2409/2409 2408/2408/2408
+f 2448/2448/2448 2408/2408/2408 1125/1125/1125
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+f 2456/2456/2456 2457/2457/2457 2450/2450/2450
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+f 2456/2456/2456 2453/2453/2453 2455/2455/2455
+f 2456/2456/2456 2455/2455/2455 2458/2458/2458
+f 2456/2456/2456 2458/2458/2458 1240/1240/1240
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+f 2459/2459/2459 1236/1236/1236 1235/1235/1235
+f 2459/2459/2459 1235/1235/1235 1234/1234/1234
+f 2459/2459/2459 1234/1234/1234 2412/2412/2412
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+f 2460/2460/2460 2463/2463/2463 2424/2424/2424
+f 2460/2460/2460 2424/2424/2424 2423/2423/2423
+f 2460/2460/2460 2423/2423/2423 1075/1075/1075
+f 2460/2460/2460 1075/1075/1075 1152/1152/1152
+f 2460/2460/2460 1152/1152/1152 1148/1148/1148
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+f 2464/2464/2464 2465/2465/2465 2462/2462/2462
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+f 2466/2466/2466 2462/2462/2462 2465/2465/2465
+f 2466/2466/2466 2465/2465/2465 2374/2374/2374
+f 2466/2466/2466 2374/2374/2374 2384/2384/2384
+f 2466/2466/2466 2384/2384/2384 1215/1215/1215
+f 2466/2466/2466 1215/1215/1215 1214/1214/1214
+f 2466/2466/2466 1214/1214/1214 1211/1211/1211
+f 2466/2466/2466 1211/1211/1211 2467/2467/2467
+f 2468/2468/2468 2463/2463/2463 2462/2462/2462
+f 2468/2468/2468 2462/2462/2462 2467/2467/2467
+f 2468/2468/2468 2467/2467/2467 1211/1211/1211
+f 2468/2468/2468 1211/1211/1211 1210/1210/1210
+f 2468/2468/2468 1210/1210/1210 1209/1209/1209
+f 2468/2468/2468 1209/1209/1209 2427/2427/2427
+f 2468/2468/2468 2427/2427/2427 2424/2424/2424
+f 2468/2468/2468 2424/2424/2424 2463/2463/2463
\ No newline at end of file
diff --git a/objects/objaverse/can/can_0/collision/model_normalized_collision_0.obj b/objects/objaverse/can/can_0/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e4086abc33421a4fb1cabded890b2f30945524a4
--- /dev/null
+++ b/objects/objaverse/can/can_0/collision/model_normalized_collision_0.obj
@@ -0,0 +1,117 @@
+# https://github.com/mikedh/trimesh
+v 0.09982579 -0.28942015 0.37990368
+v 0.21593140 -0.21593111 -0.35606059
+v 0.20047539 -0.20047517 0.41528060
+v -0.13493686 -0.18324473 0.48717442
+v -0.12873534 -0.27713415 -0.41666667
+v 0.10748738 -0.18324473 -0.41666667
+v 0.01540282 -0.25158061 0.47302786
+v 0.16022821 -0.25871742 0.37973175
+v 0.09941096 -0.28860594 -0.43387954
+v 0.11206182 -0.19222254 0.48775082
+v -0.13493686 -0.18324473 -0.41666667
+v -0.10991307 -0.28508148 0.37803901
+v 0.17544175 -0.24368765 0.39180544
+v 0.15986554 -0.25800562 -0.43363403
+v -0.01260219 -0.25191484 0.47321903
+v 0.15140859 -0.24084144 -0.45963601
+v -0.04133897 -0.30263204 -0.41666668
+v -0.12538914 -0.27056689 0.38963475
+v 0.09973794 -0.24379321 0.45247843
+v 0.17696725 -0.24668156 -0.43679488
+v 0.02901263 -0.30245266 0.37971457
+v 0.01549721 -0.29763117 -0.44188461
+v 0.16453419 -0.23686532 -0.45635242
+v -0.11057774 -0.28638589 -0.41666668
+v -0.11011440 -0.24002201 0.45008747
+v 0.16435804 -0.23651966 0.41201862
+v 0.07412491 -0.25483713 0.45107299
+v -0.04104809 -0.30079537 0.37907226
+v -0.01082749 -0.25586139 0.46681033
+v 0.01397847 -0.30319373 -0.43474091
+v 0.17895449 -0.23956032 -0.44250501
+v -0.07132428 -0.25517132 0.45126415
+v -0.12754472 -0.22934299 0.45292304
+v -0.09517463 -0.28589213 0.38974489
+v 0.09803749 -0.25560741 0.43521102
+v 0.08950611 -0.28659034 0.39129636
+v 0.01362814 -0.25552715 0.46661916
+v 0.02888944 -0.30167498 -0.43360945
+v -0.04107912 -0.28583989 0.40601865
+v 0.04387977 -0.28550569 0.40582751
+f 6 3 2
+f 10 6 4
+f 10 3 6
+f 11 5 4
+f 11 4 6
+f 13 8 2
+f 13 2 3
+f 13 1 8
+f 14 8 1
+f 14 1 9
+f 15 10 4
+f 15 7 10
+f 16 11 6
+f 18 4 5
+f 18 5 12
+f 19 10 7
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+f 20 8 14
+f 20 14 9
+f 22 5 11
+f 22 11 16
+f 22 16 9
+f 23 16 6
+f 23 6 2
+f 23 20 9
+f 23 9 16
+f 24 17 12
+f 24 12 5
+f 24 5 22
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+f 26 13 3
+f 26 3 10
+f 26 10 19
+f 27 19 7
+f 28 12 17
+f 28 17 21
+f 29 7 15
+f 29 28 21
+f 30 21 17
+f 30 24 22
+f 30 17 24
+f 31 23 2
+f 31 2 20
+f 31 20 23
+f 32 15 4
+f 32 29 15
+f 33 4 18
+f 33 18 25
+f 33 32 4
+f 33 25 32
+f 34 25 18
+f 34 18 12
+f 34 32 25
+f 34 12 28
+f 35 19 27
+f 35 1 13
+f 35 13 19
+f 36 21 1
+f 36 35 27
+f 36 1 35
+f 37 29 21
+f 37 7 29
+f 37 27 7
+f 38 30 22
+f 38 22 9
+f 38 21 30
+f 38 9 1
+f 38 1 21
+f 39 28 29
+f 39 29 32
+f 39 34 28
+f 39 32 34
+f 40 37 21
+f 40 21 36
+f 40 36 27
+f 40 27 37
\ No newline at end of file
diff --git a/objects/objaverse/can/can_0/collision/model_normalized_collision_1.obj b/objects/objaverse/can/can_0/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1bee00988a917370b75aaddf0f726094eb38be1c
--- /dev/null
+++ b/objects/objaverse/can/can_0/collision/model_normalized_collision_1.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.12533017 -0.27886923 -0.35606059
+v 0.18544520 -0.15514193 -0.49194143
+v 0.18324496 -0.01657806 -0.35606061
+v 0.01657829 -0.01657806 -0.35606061
+v 0.01657829 -0.18324473 -0.48315616
+v 0.18324495 -0.01657804 -0.48315624
+v 0.18562837 -0.24623420 -0.35606061
+v 0.10350640 -0.23603767 -0.49945922
+v 0.01657829 -0.18324473 -0.35606061
+v 0.01657829 -0.01657806 -0.47985637
+v 0.10736319 -0.27391007 -0.44676841
+v 0.16729333 -0.19759616 -0.49815437
+v 0.10079600 -0.26102121 -0.46642742
+v 0.13361437 -0.26595784 -0.44020122
+v 0.16872582 -0.22933168 -0.46216405
+v 0.11561991 -0.23007525 -0.49911766
+f 1 3 4
+f 6 3 2
+f 6 4 3
+f 7 2 3
+f 7 3 1
+f 9 1 4
+f 9 4 5
+f 10 5 4
+f 10 4 6
+f 10 8 5
+f 11 9 5
+f 11 1 9
+f 12 6 2
+f 12 10 6
+f 12 8 10
+f 13 11 5
+f 13 5 8
+f 13 8 11
+f 14 7 1
+f 14 1 11
+f 14 11 8
+f 15 12 2
+f 15 2 7
+f 15 7 14
+f 16 15 14
+f 16 14 8
+f 16 8 12
+f 16 12 15
\ No newline at end of file
diff --git a/objects/objaverse/can/can_0/collision/model_normalized_collision_10.obj b/objects/objaverse/can/can_0/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3543f6bbf4bff94bd4a6543758308590a500850d
--- /dev/null
+++ b/objects/objaverse/can/can_0/collision/model_normalized_collision_10.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v -0.21069443 -0.01657806 0.34090908
+v -0.20332519 -0.01541090 -0.48445851
+v -0.21069443 0.11978557 0.34090908
+v -0.26201141 0.12277264 0.40523199
+v -0.30214604 -0.01426424 -0.43608611
+v -0.30680315 -0.01500185 0.34090908
+v -0.21905544 0.12404573 -0.49851341
+v -0.27611635 0.07749356 0.41293546
+v -0.28399478 0.11081346 -0.43242784
+v -0.21378482 0.09105718 -0.49014864
+v -0.25309809 0.04354478 -0.49965743
+v -0.29987587 0.05650611 -0.42873108
+v -0.28420383 0.11091997 0.37888806
+v -0.24036232 0.09659036 -0.49815448
+v -0.29939456 0.04127837 -0.43403629
+v -0.28365082 0.07148760 -0.44874660
+v -0.28475606 0.09604984 0.39083366
+v -0.30022092 0.05656074 0.34090908
+v -0.23047460 0.11442389 -0.49945933
+v -0.27407703 0.11348020 0.39366927
+v -0.28795596 0.07216944 0.39370941
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 6 5 1
+f 7 4 3
+f 8 6 1
+f 8 1 4
+f 9 4 7
+f 10 7 3
+f 10 3 2
+f 10 2 7
+f 11 7 2
+f 11 2 5
+f 12 5 6
+f 13 4 9
+f 15 11 5
+f 15 5 12
+f 16 12 9
+f 16 15 12
+f 16 11 15
+f 16 14 11
+f 16 9 14
+f 17 8 4
+f 18 12 6
+f 18 17 13
+f 18 13 9
+f 18 9 12
+f 19 14 9
+f 19 9 7
+f 19 7 11
+f 19 11 14
+f 20 17 4
+f 20 4 13
+f 20 13 17
+f 21 6 8
+f 21 8 17
+f 21 18 6
+f 21 17 18
\ No newline at end of file
diff --git a/objects/objaverse/can/can_0/collision/model_normalized_collision_11.obj b/objects/objaverse/can/can_0/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..17b34da0f686d2b07a7c5a1c98576fb9293644d5
--- /dev/null
+++ b/objects/objaverse/can/can_0/collision/model_normalized_collision_11.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.25762646 -0.13708904 0.40064269
+v 0.29191454 -0.04489454 0.39434141
+v 0.23252075 -0.08656261 0.49871447
+v 0.20214947 0.13684931 0.49966107
+v 0.18324496 0.04402800 0.40151514
+v 0.24297733 0.04148984 0.49871446
+v 0.27898446 -0.10222831 0.39497144
+v 0.29224875 0.04209438 0.39453259
+v 0.18324496 -0.09233564 0.40151514
+v 0.24253641 -0.04427310 0.49871446
+v 0.26365927 -0.13244284 0.39486132
+v 0.22331036 0.13219119 0.45870442
+v 0.22754618 0.09632635 0.49871443
+v 0.18324496 -0.09233564 0.49204060
+v 0.18324496 0.13493709 0.48717420
+v 0.21216555 0.12651263 0.49871438
+v 0.25184509 -0.13414329 0.41212875
+v 0.22151465 -0.09639486 0.49873573
+v 0.18007423 0.13176636 0.49007270
+v 0.23398938 0.11476082 0.45586881
+f 8 6 2
+f 10 2 6
+f 10 7 2
+f 10 3 7
+f 10 6 4
+f 10 4 3
+f 11 7 3
+f 11 3 1
+f 11 1 9
+f 11 9 5
+f 11 5 8
+f 11 8 2
+f 11 2 7
+f 12 8 5
+f 13 4 6
+f 13 6 8
+f 15 12 5
+f 15 4 12
+f 16 12 4
+f 16 4 13
+f 17 14 9
+f 17 9 1
+f 17 1 3
+f 18 3 4
+f 18 4 14
+f 18 17 3
+f 18 14 17
+f 19 5 9
+f 19 9 14
+f 19 15 5
+f 19 14 4
+f 19 4 15
+f 20 16 13
+f 20 13 8
+f 20 8 12
+f 20 12 16
\ No newline at end of file
diff --git a/objects/objaverse/can/can_0/collision/model_normalized_collision_12.obj b/objects/objaverse/can/can_0/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9f26a6754916cf50a1de64f63a5d1b2e479b0ec0
--- /dev/null
+++ b/objects/objaverse/can/can_0/collision/model_normalized_collision_12.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v -0.13493686 0.11978557 0.40151514
+v -0.13493686 0.11978557 -0.48315627
+v -0.12796462 0.25761686 0.40799093
+v -0.12869315 0.27419820 0.38109889
+v -0.27664683 0.11478958 -0.43887227
+v -0.12791493 0.27267085 -0.43558862
+v -0.24261765 0.11289099 -0.48124966
+v -0.27407703 0.11348020 0.39366927
+v -0.25339439 0.17126801 -0.43218228
+v -0.13258122 0.22122298 -0.49945936
+v -0.18027759 0.19542933 0.44687876
+v -0.17126782 0.25339460 -0.43218229
+v -0.25350099 0.17132232 0.37871643
+v -0.23047460 0.11442389 -0.49945933
+v -0.13601173 0.22795574 0.44830717
+v -0.14104052 0.26869474 -0.43230503
+v -0.21134079 0.15354839 -0.49815448
+v -0.17132216 0.25350126 0.37871655
+v -0.24108444 0.18047856 0.38948003
+v -0.26885238 0.14112114 0.37880230
+v -0.26869459 0.14104073 -0.43230506
+v -0.13136553 0.23398853 0.44252580
+v -0.15354782 0.21134101 -0.49815460
+v -0.14112095 0.26885260 0.37880240
+v -0.15693388 0.22469614 0.43663432
+v -0.26943082 0.12626435 0.39072352
+v -0.18968608 0.18968630 0.44229065
+v -0.18047830 0.24108455 0.38947998
+v -0.17096334 0.23764548 0.40493509
+f 1 2 3
+f 6 3 2
+f 6 4 3
+f 7 2 1
+f 8 7 1
+f 8 5 7
+f 10 6 2
+f 11 8 1
+f 14 7 5
+f 14 10 2
+f 14 2 7
+f 15 11 1
+f 16 4 6
+f 16 6 10
+f 16 10 12
+f 17 9 12
+f 17 14 9
+f 17 10 14
+f 18 12 9
+f 18 9 13
+f 19 18 13
+f 20 13 9
+f 20 5 8
+f 21 14 5
+f 21 9 14
+f 21 20 9
+f 21 5 20
+f 22 15 1
+f 22 1 3
+f 22 3 15
+f 23 17 12
+f 23 12 10
+f 23 10 17
+f 24 18 4
+f 24 4 16
+f 24 16 12
+f 24 12 18
+f 25 11 15
+f 26 19 13
+f 26 8 19
+f 26 20 8
+f 26 13 20
+f 27 19 8
+f 27 8 11
+f 27 11 19
+f 28 19 11
+f 28 18 19
+f 29 3 4
+f 29 4 18
+f 29 18 28
+f 29 28 11
+f 29 11 25
+f 29 25 15
+f 29 15 3
\ No newline at end of file
diff --git a/objects/objaverse/can/can_0/collision/model_normalized_collision_13.obj b/objects/objaverse/can/can_0/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3818478f39c5144b88c6045a9203f9839396731e
--- /dev/null
+++ b/objects/objaverse/can/can_0/collision/model_normalized_collision_13.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v 0.26360534 -0.15528694 -0.41666667
+v 0.29479714 -0.09080566 -0.41666667
+v 0.18324496 0.04402800 -0.41666667
+v 0.18373712 0.13542926 -0.48892702
+v 0.21474746 -0.14583277 -0.49900921
+v 0.27803074 0.11404078 -0.43765860
+v 0.29003756 -0.09005182 -0.43622724
+v 0.18324496 -0.15294170 -0.41666667
+v 0.30263180 0.04133915 -0.41666667
+v 0.26670669 0.13114248 -0.44081944
+v 0.25708640 0.02617324 -0.49815448
+v 0.24174509 -0.14414856 -0.46302100
+v 0.18544520 -0.15514193 -0.49194143
+v 0.17758400 0.12927606 -0.48719513
+v 0.30167505 -0.02888920 -0.43360931
+v 0.22556986 0.12562237 -0.49815448
+v 0.25664563 -0.02895651 -0.49815444
+v 0.30196099 0.02608140 -0.43382236
+v 0.30453206 -0.02934169 -0.41666667
+v 0.24095054 0.09543611 -0.49815448
+v 0.20115830 0.13634431 -0.49200147
+v 0.23979658 -0.09770123 -0.49815437
+v 0.30230060 0.04128670 -0.42865374
+v 0.28621726 0.05629063 -0.44853267
+f 7 2 1
+f 8 1 3
+f 9 1 2
+f 9 3 1
+f 10 9 6
+f 10 3 9
+f 12 7 1
+f 12 1 5
+f 12 5 7
+f 13 5 1
+f 13 1 8
+f 13 4 5
+f 14 8 3
+f 14 13 8
+f 14 4 13
+f 14 10 4
+f 14 3 10
+f 15 2 7
+f 16 5 4
+f 16 10 6
+f 17 5 11
+f 17 15 7
+f 17 11 15
+f 18 15 11
+f 19 9 2
+f 19 2 15
+f 19 15 18
+f 20 11 5
+f 20 5 16
+f 20 16 6
+f 21 16 4
+f 21 4 10
+f 21 10 16
+f 22 17 7
+f 22 7 5
+f 22 5 17
+f 23 6 9
+f 23 19 18
+f 23 9 19
+f 24 20 6
+f 24 6 23
+f 24 11 20
+f 24 23 18
+f 24 18 11
\ No newline at end of file
diff --git a/objects/objaverse/can/can_0/collision/model_normalized_collision_14.obj b/objects/objaverse/can/can_0/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c95d7b456ea65e211625727f4ad3db8486dcd9cd
--- /dev/null
+++ b/objects/objaverse/can/can_0/collision/model_normalized_collision_14.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.13493686 -0.15294170 0.40151514
+v -0.13493685 -0.09233563 -0.48315618
+v -0.13493686 0.11978557 0.40151514
+v -0.24391298 0.13671128 0.42257606
+v -0.24409508 -0.16996011 -0.44424988
+v -0.13493686 0.11978557 -0.48315627
+v -0.13493686 -0.15294170 -0.41666667
+v -0.23374559 -0.16468681 0.41612985
+v -0.21073330 0.11980538 -0.49220506
+v -0.21115638 -0.09257101 -0.48981922
+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 4 6
+f 9 6 2
+f 10 9 2
+f 10 2 5
+f 10 5 9
\ No newline at end of file
diff --git a/objects/objaverse/can/can_0/collision/model_normalized_collision_15.obj b/objects/objaverse/can/can_0/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..72be15eeae52b06cece5ecd4eb7c230b1238c22f
--- /dev/null
+++ b/objects/objaverse/can/can_0/collision/model_normalized_collision_15.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v -0.13003535 -0.26453408 0.39541611
+v -0.12785872 -0.26026224 -0.45064916
+v -0.13095600 -0.14896083 -0.48340322
+v -0.25787682 -0.14610201 0.39300437
+v -0.18234848 -0.24580786 -0.43323949
+v -0.13493686 -0.15294170 0.40151514
+v -0.15739345 -0.25875438 -0.43425241
+v -0.18278286 -0.24624227 0.37945583
+v -0.14634550 -0.22135346 -0.48635784
+v -0.26059793 -0.14748847 -0.43813119
+v -0.15560366 -0.25524166 0.38952460
+v -0.12924380 -0.23267752 -0.48319701
+v -0.17121154 -0.24098589 -0.44724275
+v -0.24295454 -0.18520180 -0.43323949
+v -0.25323062 -0.15888618 0.39005862
+v -0.13321991 -0.22532957 -0.48964144
+v -0.16709710 -0.22998950 -0.46309690
+v -0.25249428 -0.17366250 0.37828402
+v -0.25364998 -0.17425135 -0.42823992
+v -0.25662181 -0.16061406 -0.43484759
+f 1 2 3
+f 6 1 3
+f 6 3 4
+f 6 4 1
+f 7 2 1
+f 8 7 1
+f 8 5 7
+f 10 4 3
+f 10 3 9
+f 11 8 1
+f 12 3 2
+f 12 2 9
+f 13 7 5
+f 14 10 9
+f 14 5 8
+f 15 11 1
+f 15 1 4
+f 15 8 11
+f 16 12 9
+f 16 9 3
+f 16 3 12
+f 17 13 5
+f 17 9 2
+f 17 2 7
+f 17 7 13
+f 17 14 9
+f 17 5 14
+f 18 8 15
+f 18 15 4
+f 18 4 10
+f 19 14 8
+f 19 8 18
+f 19 18 10
+f 20 19 10
+f 20 10 14
+f 20 14 19
\ No newline at end of file
diff --git a/objects/objaverse/can/can_0/collision/model_normalized_collision_16.obj b/objects/objaverse/can/can_0/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a713e8d2b97a17eab088a49e9faf61beb03eaab0
--- /dev/null
+++ b/objects/objaverse/can/can_0/collision/model_normalized_collision_16.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.10687478 -0.27295151 0.40075286
+v 0.25876163 -0.15281895 0.38621089
+v 0.12877777 -0.21101097 0.49871457
+v 0.18324496 -0.09233564 0.49204060
+v 0.10748738 -0.10748715 0.40151514
+v 0.23252075 -0.08656261 0.49871447
+v 0.18691179 -0.23236610 0.39233999
+v 0.07443981 -0.20816131 0.49146437
+v 0.19725585 -0.15180107 0.49242423
+v 0.18324496 -0.09233564 0.40151514
+v 0.13244308 -0.26365910 0.39486135
+v 0.07874196 -0.23175625 0.49966127
+v 0.10748738 -0.10748715 0.49204058
+v 0.21101121 -0.12877759 0.49871454
+v 0.24883711 -0.17806520 0.38157528
+v 0.15180130 -0.19725562 0.49242423
+v 0.27156505 -0.09873653 0.40947993
+v 0.08346208 -0.24101997 0.46993269
+v 0.07718434 -0.18324470 0.49204064
+v 0.23666632 -0.19121154 0.38157528
+v 0.24843956 -0.08695355 0.45542415
+f 8 5 1
+f 10 4 6
+f 10 2 5
+f 11 7 3
+f 11 3 1
+f 11 1 5
+f 12 1 3
+f 13 10 5
+f 13 4 10
+f 13 12 6
+f 13 6 4
+f 14 12 3
+f 14 6 12
+f 15 14 9
+f 15 2 6
+f 15 6 14
+f 15 5 2
+f 16 3 7
+f 16 14 3
+f 16 9 14
+f 17 6 2
+f 17 2 10
+f 18 12 8
+f 18 8 1
+f 18 1 12
+f 19 13 5
+f 19 5 8
+f 19 8 12
+f 19 12 13
+f 20 7 11
+f 20 11 5
+f 20 5 15
+f 20 16 7
+f 20 15 9
+f 20 9 16
+f 21 17 10
+f 21 10 6
+f 21 6 17
\ No newline at end of file
diff --git a/objects/objaverse/can/can_0/collision/model_normalized_collision_17.obj b/objects/objaverse/can/can_0/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8c820bbab83ee674e50f6afdb677dad1d46302a8
--- /dev/null
+++ b/objects/objaverse/can/can_0/collision/model_normalized_collision_17.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.26453425 0.13003557 0.39541608
+v 0.26026225 0.12785888 -0.45064893
+v 0.24580800 0.18234861 -0.43323934
+v 0.14610224 0.25787704 0.39300438
+v 0.15294193 0.13493709 0.40151514
+v 0.24624248 0.18278309 0.37945586
+v 0.25875447 0.15739366 -0.43425224
+v 0.15401137 0.13600656 -0.48482494
+v 0.17425132 0.25364973 -0.42824071
+v 0.25524184 0.15560389 0.38952458
+v 0.21134102 0.15354805 -0.49815448
+v 0.14687530 0.21393978 -0.49945934
+v 0.18520194 0.24295467 -0.43323933
+v 0.17366274 0.25249453 0.37828401
+v 0.15888640 0.25323083 0.39005864
+v 0.22181102 0.13142723 -0.49945933
+v 0.14748863 0.26059801 -0.43813105
+v 0.17380314 0.23921937 -0.44778283
+v 0.15356820 0.21132098 -0.49815460
+v 0.16061422 0.25662190 -0.43484745
+f 5 2 1
+f 5 1 4
+f 7 1 2
+f 7 6 1
+f 7 3 6
+f 8 2 5
+f 10 1 6
+f 11 3 7
+f 12 8 5
+f 12 5 4
+f 13 9 6
+f 13 6 3
+f 14 6 9
+f 15 10 6
+f 15 4 1
+f 15 1 10
+f 15 14 4
+f 15 6 14
+f 16 11 7
+f 16 7 2
+f 16 2 8
+f 16 12 11
+f 16 8 12
+f 17 12 4
+f 17 14 9
+f 17 4 14
+f 18 9 13
+f 19 11 12
+f 19 18 13
+f 19 13 3
+f 19 3 11
+f 20 17 9
+f 20 9 18
+f 20 12 17
+f 20 19 12
+f 20 18 19
\ No newline at end of file
diff --git a/objects/objaverse/can/can_0/collision/model_normalized_collision_18.obj b/objects/objaverse/can/can_0/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..66378a3f48a6e094250baabdd188f2d4a6e69fd6
--- /dev/null
+++ b/objects/objaverse/can/can_0/collision/model_normalized_collision_18.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v -0.27755689 -0.06542327 0.41375942
+v -0.21069443 -0.01657806 0.34090908
+v -0.21069443 -0.01657806 0.40151514
+v -0.24391298 0.13671128 0.42257606
+v -0.30022092 0.05656074 0.34090908
+v -0.21069443 0.11978557 0.34090908
+v -0.29829695 -0.06870815 0.34090908
+v -0.29900138 0.01091303 0.39136092
+v -0.27642913 0.13011883 0.34090907
+v -0.29794351 -0.05905318 0.37907269
+v -0.29978008 -0.05934405 0.34090908
+v -0.28795596 0.07216944 0.39370941
+v -0.29866710 -0.01371323 0.39116973
+v -0.26201141 0.12277264 0.40523199
+v -0.29832805 0.05626093 0.37922162
+v -0.28939651 -0.06009922 0.39453333
+f 1 2 3
+f 1 3 4
+f 6 3 2
+f 6 4 3
+f 7 2 1
+f 8 1 4
+f 9 4 6
+f 9 6 2
+f 10 7 1
+f 11 8 5
+f 11 7 10
+f 11 5 9
+f 11 9 2
+f 11 2 7
+f 12 8 4
+f 13 1 8
+f 13 11 10
+f 13 8 11
+f 14 12 4
+f 14 4 9
+f 14 9 12
+f 15 12 9
+f 15 9 5
+f 15 5 8
+f 15 8 12
+f 16 13 10
+f 16 10 1
+f 16 1 13
\ No newline at end of file
diff --git a/objects/objaverse/can/can_0/collision/model_normalized_collision_19.obj b/objects/objaverse/can/can_0/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e808a5eeb4333b2ec5c84889ca6ab4c5557beac
--- /dev/null
+++ b/objects/objaverse/can/can_0/collision/model_normalized_collision_19.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.08695380 -0.24843942 0.45542419
+v 0.10903037 -0.23172755 0.46404117
+v -0.04148959 -0.24297699 0.49871457
+v -0.20188913 -0.14668060 0.49871457
+v -0.20491091 -0.16230969 0.45750073
+v 0.07718434 -0.18324470 0.49204064
+v 0.09859150 -0.22639165 0.49871457
+v 0.10438416 -0.23776038 0.45825980
+v -0.08454610 -0.24931443 0.45597898
+v -0.21062011 -0.15290383 0.46207408
+v 0.04427335 -0.24253614 0.49871457
+v 0.10429320 -0.22243032 0.49965562
+v -0.14497508 -0.21866392 0.45575864
+v -0.16119498 -0.14889678 0.49146437
+v -0.15013093 -0.19843880 0.49871457
+v -0.09632605 -0.22754585 0.49871457
+f 8 1 5
+f 8 7 1
+f 8 6 2
+f 10 5 4
+f 10 8 5
+f 10 6 8
+f 11 1 7
+f 11 9 1
+f 11 3 9
+f 12 2 6
+f 12 6 4
+f 12 11 7
+f 12 3 11
+f 12 8 2
+f 12 7 8
+f 13 5 1
+f 13 1 9
+f 14 10 4
+f 14 4 6
+f 14 6 10
+f 15 12 4
+f 15 4 5
+f 15 5 13
+f 16 3 12
+f 16 12 15
+f 16 9 3
+f 16 15 13
+f 16 13 9
\ No newline at end of file
diff --git a/objects/objaverse/can/can_0/collision/model_normalized_collision_2.obj b/objects/objaverse/can/can_0/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3642ff6809ce29fdb9aaf788448d70b7c2626d10
--- /dev/null
+++ b/objects/objaverse/can/can_0/collision/model_normalized_collision_2.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v -0.14307074 -0.24466285 -0.46015288
+v -0.13142722 -0.22181122 -0.49945922
+v -0.13493686 -0.09233564 -0.41666667
+v -0.29383202 0.04279711 -0.44117999
+v -0.27589810 -0.11726119 -0.43825396
+v -0.20316352 0.04283522 -0.48528058
+v -0.13493686 -0.15294170 -0.41666667
+v -0.24529775 -0.17771577 -0.43800844
+v -0.25989438 -0.16257013 -0.41666666
+v -0.13493685 -0.09233563 -0.48315618
+v -0.25423467 -0.04417814 -0.49815442
+v -0.20241475 -0.22041959 -0.43835381
+v -0.29050857 -0.07542687 -0.43870404
+v -0.25458630 0.04138071 -0.49831940
+v -0.21132100 -0.15356829 -0.49815437
+v -0.15354828 -0.21134113 -0.49815437
+v -0.23920834 -0.09885548 -0.49815437
+v -0.26958982 -0.01390737 -0.47986204
+v -0.22921151 0.04456106 -0.49045467
+v -0.27469537 -0.10950556 -0.44449544
+v -0.21175825 0.04419649 -0.48701246
+f 6 4 3
+f 7 1 2
+f 7 2 3
+f 9 3 4
+f 9 7 3
+f 9 5 8
+f 10 6 3
+f 10 3 2
+f 10 2 6
+f 12 9 8
+f 12 1 7
+f 12 7 9
+f 13 9 4
+f 13 5 9
+f 14 6 2
+f 14 2 11
+f 15 12 8
+f 16 2 1
+f 16 1 12
+f 16 15 2
+f 16 12 15
+f 17 13 11
+f 17 11 2
+f 17 2 15
+f 17 15 8
+f 17 8 5
+f 18 13 4
+f 18 11 13
+f 18 14 11
+f 18 4 14
+f 19 14 4
+f 20 17 5
+f 20 5 13
+f 20 13 17
+f 21 19 4
+f 21 4 6
+f 21 6 14
+f 21 14 19
\ No newline at end of file
diff --git a/objects/objaverse/can/can_0/collision/model_normalized_collision_20.obj b/objects/objaverse/can/can_0/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7248f093a92a069261043400c114881d57952e38
--- /dev/null
+++ b/objects/objaverse/can/can_0/collision/model_normalized_collision_20.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.04402777 0.07433103 0.49174307
+v -0.09820525 0.24353237 0.45412200
+v -0.07343319 0.25048196 0.45887982
+v -0.13795992 0.20147625 0.49958131
+v -0.07368581 0.23692547 0.49965541
+v -0.13493688 0.07433105 0.49204052
+v -0.04402777 0.21069466 0.49204044
+v -0.12766669 0.21157764 0.49871435
+v -0.12841979 0.22820716 0.45401186
+v -0.04531578 0.21882688 0.48740061
+v -0.09748041 0.22695828 0.49871435
+v -0.14192996 0.17223325 0.48775060
+f 1 2 3
+f 5 4 1
+f 5 3 2
+f 6 1 4
+f 7 5 1
+f 8 4 5
+f 9 2 1
+f 9 1 6
+f 9 4 8
+f 10 7 1
+f 10 1 3
+f 10 3 5
+f 10 5 7
+f 11 8 5
+f 11 5 2
+f 11 9 8
+f 11 2 9
+f 12 9 6
+f 12 6 4
+f 12 4 9
\ No newline at end of file
diff --git a/objects/objaverse/can/can_0/collision/model_normalized_collision_21.obj b/objects/objaverse/can/can_0/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2be472b3cf3dfe532d43b5ec0ee4469d0f2d9dcb
--- /dev/null
+++ b/objects/objaverse/can/can_0/collision/model_normalized_collision_21.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v 0.07602522 -0.29713833 -0.41666667
+v 0.11920127 -0.28199209 -0.41666666
+v -0.13493686 -0.18324473 -0.41666667
+v 0.11306428 -0.22449307 -0.49832619
+v 0.10338707 -0.28125801 -0.44032397
+v 0.10748738 -0.18324473 -0.41666667
+v -0.12562238 -0.22557008 -0.49815437
+v -0.13542906 -0.18373692 -0.48892680
+v -0.12873534 -0.27713415 -0.41666667
+v -0.02617306 -0.25708665 -0.49815437
+v 0.10802684 -0.18430348 -0.48645377
+v -0.13634409 -0.20115810 -0.49200126
+v 0.01397847 -0.30319373 -0.43474091
+v -0.09693897 -0.28935482 -0.43449797
+v 0.02895681 -0.25664577 -0.49815437
+v -0.12716619 -0.27405459 -0.43437521
+v 0.07514109 -0.29155620 -0.43735880
+v -0.04133897 -0.30263204 -0.41666668
+v -0.09543611 -0.24095075 -0.49815437
+v -0.02608119 -0.30196103 -0.43382256
+v 0.09770157 -0.23979653 -0.49815437
+v -0.11046984 -0.28617416 -0.42811261
+v 0.01456125 -0.30687324 -0.41666667
+v -0.04128652 -0.30230085 -0.42865358
+v 0.07439693 -0.27170623 -0.46416153
+v -0.11057774 -0.28638589 -0.41666668
+f 5 2 1
+f 5 4 2
+f 6 3 2
+f 6 2 4
+f 8 3 6
+f 8 4 7
+f 9 2 3
+f 11 8 6
+f 11 6 4
+f 11 4 8
+f 12 8 7
+f 12 9 3
+f 12 3 8
+f 15 10 4
+f 15 13 10
+f 16 12 7
+f 16 9 12
+f 17 5 1
+f 17 1 13
+f 17 13 15
+f 18 2 9
+f 19 10 14
+f 19 7 4
+f 19 4 10
+f 19 16 7
+f 19 14 16
+f 20 14 10
+f 20 10 13
+f 21 15 4
+f 21 4 5
+f 21 5 17
+f 22 16 14
+f 22 9 16
+f 23 13 1
+f 23 1 2
+f 23 2 18
+f 23 20 13
+f 24 18 14
+f 24 14 20
+f 24 23 18
+f 24 20 23
+f 25 21 17
+f 25 17 15
+f 25 15 21
+f 26 18 9
+f 26 9 22
+f 26 22 14
+f 26 14 18
\ No newline at end of file
diff --git a/objects/objaverse/can/can_0/collision/model_normalized_collision_22.obj b/objects/objaverse/can/can_0/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..10d1ec7d3cd0ee2491d6cb4c1af0bad5fa0a6a04
--- /dev/null
+++ b/objects/objaverse/can/can_0/collision/model_normalized_collision_22.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.25872091 0.04158364 0.45329419
+v 0.29487970 0.04251110 -0.43983462
+v 0.28508156 0.10991328 0.37803916
+v 0.18324496 0.13493709 0.48717420
+v 0.18324496 0.04402800 -0.48315627
+v 0.27405463 0.12716637 -0.43437500
+v 0.22934317 0.12754497 0.45292306
+v 0.29224875 0.04209438 0.39453259
+v 0.18324496 0.04402800 0.49204055
+v 0.28617394 0.11046986 -0.42811292
+v 0.17758400 0.12927606 -0.48719513
+v 0.25517151 0.07132447 0.45126413
+v 0.27056706 0.12538937 0.38963471
+v 0.28935479 0.09693908 -0.43449776
+v 0.28589227 0.09517482 0.38974485
+v 0.24002219 0.11011461 0.45008745
+f 5 2 1
+f 8 1 2
+f 9 5 1
+f 9 1 4
+f 10 6 3
+f 11 4 6
+f 11 9 4
+f 11 5 9
+f 11 2 5
+f 12 1 8
+f 12 7 4
+f 12 4 1
+f 13 6 4
+f 13 4 7
+f 13 3 6
+f 14 8 2
+f 14 3 8
+f 14 10 3
+f 14 6 10
+f 14 11 6
+f 14 2 11
+f 15 3 13
+f 15 12 8
+f 15 8 3
+f 16 7 12
+f 16 12 15
+f 16 15 13
+f 16 13 7
\ No newline at end of file
diff --git a/objects/objaverse/can/can_0/collision/model_normalized_collision_23.obj b/objects/objaverse/can/can_0/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5315becc4d1936f1db2498d0fd54a5bf3c7acba7
--- /dev/null
+++ b/objects/objaverse/can/can_0/collision/model_normalized_collision_23.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.01657829 -0.18324473 0.26515151
+v 0.01657829 -0.18324473 -0.23484849
+v 0.01657829 0.13493709 0.26515151
+v -0.13493686 0.13493709 0.26515151
+v -0.13493686 -0.18324473 -0.23484849
+v -0.13493686 0.13493709 -0.23484849
+v -0.13493686 -0.18324473 0.26515151
+v 0.01657829 0.13493709 -0.23484849
+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/can/can_0/collision/model_normalized_collision_24.obj b/objects/objaverse/can/can_0/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c26714f6da4dcf2881ff91119c55bd975c0bee92
--- /dev/null
+++ b/objects/objaverse/can/can_0/collision/model_normalized_collision_24.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.18324496 -0.01657806 0.40151514
+v 0.18324496 -0.01657806 -0.23484849
+v 0.21878603 0.17047823 0.42990898
+v 0.18324496 0.13493709 -0.23484849
+v 0.01657829 0.13493709 -0.23484849
+v 0.01657829 -0.01657806 0.40151514
+v 0.01657829 -0.01657806 -0.23484849
+v 0.01657829 0.13493709 0.40151514
+f 1 2 3
+f 3 2 4
+f 5 4 2
+f 5 3 4
+f 6 2 1
+f 6 1 3
+f 7 6 5
+f 7 5 2
+f 7 2 6
+f 8 6 3
+f 8 3 5
+f 8 5 6
\ No newline at end of file
diff --git a/objects/objaverse/can/can_0/collision/model_normalized_collision_25.obj b/objects/objaverse/can/can_0/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5b1d9a9b30a887f68e1266b71678407b7b505709
--- /dev/null
+++ b/objects/objaverse/can/can_0/collision/model_normalized_collision_25.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.18324496 -0.01657806 -0.23484849
+v 0.18324495 -0.01657804 -0.48315624
+v 0.18373712 0.13542926 -0.48892702
+v -0.13493686 0.13493709 -0.23484849
+v -0.13493686 -0.01657806 -0.23484849
+v 0.18324496 0.13493709 -0.23484849
+v -0.13493686 -0.01657804 -0.48315624
+v -0.13493686 0.13493709 -0.48315627
+f 1 2 3
+f 5 1 4
+f 6 1 3
+f 6 3 4
+f 6 4 1
+f 7 3 2
+f 7 2 1
+f 7 1 5
+f 8 4 3
+f 8 3 7
+f 8 7 5
+f 8 5 4
\ No newline at end of file
diff --git a/objects/objaverse/can/can_0/collision/model_normalized_collision_26.obj b/objects/objaverse/can/can_0/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d129b7feecede4de879f159fa3850e1c0a9c148
--- /dev/null
+++ b/objects/objaverse/can/can_0/collision/model_normalized_collision_26.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.21593122 -0.21593099 0.26515152
+v 0.21593140 -0.21593111 -0.35606059
+v 0.18324496 -0.01657806 0.26515151
+v 0.01657829 -0.01657806 0.26515151
+v 0.01657829 -0.18324473 -0.35606061
+v 0.01657829 -0.18324473 0.26515151
+v 0.18324496 -0.01657806 -0.35606061
+v 0.01657829 -0.01657806 -0.35606061
+f 1 2 3
+f 1 3 4
+f 6 1 4
+f 6 4 5
+f 6 5 2
+f 6 2 1
+f 7 3 2
+f 7 2 5
+f 7 4 3
+f 8 7 5
+f 8 5 4
+f 8 4 7
\ No newline at end of file
diff --git a/objects/objaverse/can/can_0/collision/model_normalized_collision_27.obj b/objects/objaverse/can/can_0/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f88b412daf46f387b41f051889f2fc010d6f9da
--- /dev/null
+++ b/objects/objaverse/can/can_0/collision/model_normalized_collision_27.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.15294193 0.13493709 0.26515151
+v 0.15294193 0.13493709 -0.35606061
+v 0.17482813 0.25364873 0.26515149
+v -0.16053392 0.26093203 0.26515148
+v -0.13493686 0.13493709 -0.35606061
+v 0.17482802 0.25364851 -0.35606063
+v -0.13493686 0.13493709 0.26515151
+v -0.16053383 0.26093173 -0.35606063
+f 1 2 3
+f 5 2 1
+f 6 3 2
+f 6 4 3
+f 7 5 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 8 2 5
\ No newline at end of file
diff --git a/objects/objaverse/can/can_0/collision/model_normalized_collision_28.obj b/objects/objaverse/can/can_0/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b429bf1d5cd4aa1e9b816bbce4f64973a7b6052
--- /dev/null
+++ b/objects/objaverse/can/can_0/collision/model_normalized_collision_28.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.01657829 -0.01657806 0.40151514
+v 0.01657829 -0.01657806 0.26515151
+v 0.01657829 0.21069466 0.40151514
+v -0.14949514 0.23926706 0.41963035
+v -0.13493686 -0.01657806 0.26515151
+v -0.13493686 -0.01657806 0.40151514
+v -0.16053392 0.26093203 0.26515148
+v 0.01657829 0.21069466 0.26515151
+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/can/can_0/collision/model_normalized_collision_29.obj b/objects/objaverse/can/can_0/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b46c02bd81cb8e150bd8583287c0da4f9218c40a
--- /dev/null
+++ b/objects/objaverse/can/can_0/collision/model_normalized_collision_29.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.20047539 -0.20047517 0.41528060
+v 0.21593122 -0.21593099 0.26515152
+v 0.18324496 -0.01657806 0.26515151
+v -0.13493686 -0.01657806 0.40151514
+v -0.17047797 -0.21878577 0.42990903
+v 0.18324496 -0.01657806 0.40151514
+v -0.13493686 -0.18324473 0.26515151
+v -0.13493686 -0.01657806 0.26515151
+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/can/can_0/collision/model_normalized_collision_3.obj b/objects/objaverse/can/can_0/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..808e3ee7106953e9aadad25c88dce84d27f289a1
--- /dev/null
+++ b/objects/objaverse/can/can_0/collision/model_normalized_collision_3.obj
@@ -0,0 +1,108 @@
+# https://github.com/mikedh/trimesh
+v 0.16468708 0.23374578 0.41612985
+v 0.16996026 0.24409508 -0.44424982
+v 0.11326035 0.28319729 0.37845561
+v -0.05626075 0.29832830 0.37922173
+v -0.04419625 0.21175845 -0.48701262
+v 0.05929177 0.29944883 -0.42865377
+v 0.01371344 0.29866735 0.39116975
+v 0.14346155 0.26784593 0.37836975
+v 0.01677237 0.21192005 -0.48619056
+v -0.14949514 0.23926706 0.41963035
+v 0.11387144 0.28439665 -0.42833045
+v 0.13671899 0.23889492 0.43048499
+v -0.05650585 0.29987581 -0.42873184
+v 0.05905338 0.29794376 0.37907269
+v 0.09845734 0.28388124 0.39027889
+v 0.14887365 0.23301323 -0.47067890
+v 0.04417833 0.25423453 -0.49815460
+v -0.09604960 0.28475621 0.39083362
+v 0.14406137 0.26902318 -0.42828569
+v 0.14950314 0.23424871 0.42753923
+v -0.01091283 0.29900158 0.39136093
+v -0.16053383 0.26093173 -0.35606063
+v 0.10466036 0.23544937 -0.49945941
+v 0.10015964 0.28722223 -0.43509297
+v 0.01390755 0.26958997 -0.47986199
+v -0.11091976 0.28420397 0.37888811
+v -0.13586714 0.25797500 -0.44847749
+v -0.04138051 0.25458648 -0.49831916
+v 0.07429560 0.28336494 -0.44853343
+v 0.09885553 0.23920824 -0.49815460
+v -0.04127813 0.29939472 -0.43403623
+v 0.04408637 0.29910869 -0.43382312
+v -0.11081322 0.28399488 -0.43242777
+v -0.12626416 0.26943102 0.39072350
+v -0.07378068 0.25267592 -0.48983667
+v -0.07148735 0.28365099 -0.44874654
+v -0.12791493 0.27267085 -0.43558862
+f 8 1 2
+f 9 1 5
+f 11 6 3
+f 11 3 8
+f 14 3 6
+f 14 6 7
+f 15 8 3
+f 15 1 8
+f 15 12 1
+f 15 3 14
+f 15 14 7
+f 15 7 12
+f 16 2 1
+f 16 1 9
+f 19 11 8
+f 19 8 2
+f 20 12 10
+f 20 1 12
+f 20 10 5
+f 20 5 1
+f 21 12 7
+f 21 10 12
+f 21 18 10
+f 21 4 18
+f 21 13 4
+f 21 7 6
+f 21 6 13
+f 22 5 10
+f 23 2 16
+f 23 16 9
+f 23 9 5
+f 24 6 11
+f 24 2 23
+f 24 19 2
+f 24 11 19
+f 26 18 4
+f 26 4 13
+f 27 5 22
+f 28 23 5
+f 28 17 23
+f 28 25 17
+f 29 24 17
+f 30 24 23
+f 30 23 17
+f 30 17 24
+f 31 25 28
+f 32 17 25
+f 32 29 17
+f 32 6 24
+f 32 24 29
+f 32 25 31
+f 32 31 13
+f 32 13 6
+f 33 26 13
+f 33 22 26
+f 34 26 22
+f 34 22 10
+f 34 10 18
+f 34 18 26
+f 35 28 5
+f 35 5 27
+f 35 27 33
+f 36 31 28
+f 36 13 31
+f 36 28 35
+f 36 35 33
+f 36 33 13
+f 37 33 27
+f 37 27 22
+f 37 22 33
\ No newline at end of file
diff --git a/objects/objaverse/can/can_0/collision/model_normalized_collision_30.obj b/objects/objaverse/can/can_0/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..48a403faecf1ec52bdd509b5624d6293c8ea1b5d
--- /dev/null
+++ b/objects/objaverse/can/can_0/collision/model_normalized_collision_30.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.15294193 0.13493709 0.40151514
+v 0.15294193 0.13493709 0.26515151
+v 0.17482813 0.25364873 0.26515149
+v 0.01657829 0.21069466 0.40151514
+v 0.01657829 0.13493709 0.26515151
+v 0.16468708 0.23374578 0.41612985
+v 0.01657829 0.13493709 0.40151514
+v 0.01657829 0.21069466 0.26515151
+v 0.16763284 0.23952715 0.40464379
+f 1 2 3
+f 5 2 1
+f 5 3 2
+f 7 5 1
+f 7 4 5
+f 7 6 4
+f 7 1 6
+f 8 5 4
+f 8 4 3
+f 8 3 5
+f 9 6 1
+f 9 1 3
+f 9 3 4
+f 9 4 6
\ No newline at end of file
diff --git a/objects/objaverse/can/can_0/collision/model_normalized_collision_31.obj b/objects/objaverse/can/can_0/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc876c7784fb45d344baec3ced73e9e548cd9392
--- /dev/null
+++ b/objects/objaverse/can/can_0/collision/model_normalized_collision_31.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.01657829 -0.18324473 -0.23484849
+v 0.01657829 -0.18324473 -0.48315616
+v 0.01657829 -0.01657806 -0.23484849
+v -0.13493686 -0.01657806 -0.23484849
+v -0.13542906 -0.18373692 -0.48892680
+v -0.13493686 -0.18324473 -0.23484849
+v 0.01657829 -0.01657806 -0.47985637
+v -0.13493686 -0.01657804 -0.48315624
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 6 5 1
+f 6 1 4
+f 6 4 5
+f 7 3 2
+f 7 2 5
+f 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/can/can_0/collision/model_normalized_collision_4.obj b/objects/objaverse/can/can_0/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6631562eeb1c8d5dd083fb570c4ea962fee8b0bd
--- /dev/null
+++ b/objects/objaverse/can/can_0/collision/model_normalized_collision_4.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v 0.17806541 -0.24883689 0.38157528
+v 0.29003756 -0.09005182 -0.43622724
+v 0.30245285 -0.02901237 0.37971456
+v 0.18324496 0.04402800 0.40151514
+v 0.17436432 -0.18951563 -0.49945922
+v 0.30263180 0.04133915 -0.41666667
+v 0.17750330 -0.23810913 0.39692811
+v 0.24499811 -0.18439182 0.37878221
+v 0.18427648 -0.24488233 -0.43227636
+v 0.30453206 -0.02934169 -0.41666667
+v 0.30079551 0.04104828 0.37907222
+v 0.18324496 0.04402800 -0.41666667
+v 0.26499749 -0.08767015 -0.46971094
+v 0.29224875 0.04209438 0.39453259
+v 0.17696725 -0.24668156 -0.43679488
+v 0.28942040 -0.09982559 0.37990329
+v 0.18439206 -0.24499788 0.37878218
+v 0.24488250 -0.18427624 -0.43227633
+v 0.21081629 -0.15154982 -0.49971710
+v 0.28659043 -0.08950585 0.39129630
+v 0.28860616 -0.09941068 -0.43387953
+v 0.18691179 -0.23236610 0.39233999
+v 0.18544520 -0.15514193 -0.49194143
+v 0.19759634 -0.16729310 -0.49815437
+v 0.25901307 -0.14522701 0.39191558
+v 0.21721482 -0.20206308 0.39233999
+f 7 4 5
+f 11 10 6
+f 11 3 10
+f 12 5 4
+f 13 10 2
+f 13 6 10
+f 14 4 7
+f 14 3 11
+f 14 11 6
+f 14 12 4
+f 14 6 12
+f 15 7 5
+f 15 1 7
+f 15 9 1
+f 15 5 9
+f 16 10 3
+f 17 7 1
+f 17 9 8
+f 17 1 9
+f 18 9 5
+f 18 8 9
+f 18 16 8
+f 19 12 6
+f 19 6 13
+f 20 16 3
+f 20 3 14
+f 20 14 7
+f 21 2 10
+f 21 10 16
+f 21 16 18
+f 21 18 19
+f 21 19 13
+f 21 13 2
+f 22 17 8
+f 22 7 17
+f 23 19 5
+f 23 5 12
+f 23 12 19
+f 24 19 18
+f 24 18 5
+f 24 5 19
+f 25 20 7
+f 25 8 16
+f 25 16 20
+f 26 22 8
+f 26 7 22
+f 26 25 7
+f 26 8 25
\ No newline at end of file
diff --git a/objects/objaverse/can/can_0/collision/model_normalized_collision_5.obj b/objects/objaverse/can/can_0/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8881365c436c4c07a8727d1f88496c0a45b5974d
--- /dev/null
+++ b/objects/objaverse/can/can_0/collision/model_normalized_collision_5.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v -0.21062011 -0.15290383 0.46207408
+v -0.20340303 -0.08862049 -0.48808737
+v -0.21069443 -0.01657806 0.40151514
+v -0.28288095 -0.02081197 0.41680451
+v -0.26902341 -0.14406139 -0.42828491
+v -0.30214604 -0.01426424 -0.43608611
+v -0.22920489 -0.10176714 0.47385706
+v -0.20332519 -0.01541090 -0.48445851
+v -0.24409508 -0.16996011 -0.44424988
+v -0.26784565 -0.14346130 0.37836988
+v -0.30680315 -0.01500185 0.34090908
+v -0.28722216 -0.10015949 -0.43509312
+v -0.28388103 -0.09845713 0.39027886
+v -0.24590206 -0.15544070 -0.45102005
+v -0.27192198 -0.13038677 -0.43497036
+v -0.29944886 -0.05929161 -0.42865379
+v -0.28439671 -0.11387138 -0.42833050
+v -0.24127050 -0.09247475 0.46229431
+v -0.28939651 -0.06009922 0.39453333
+v -0.26855582 -0.12867165 0.39016874
+v -0.29910858 -0.04408619 -0.43382322
+v -0.29978008 -0.05934405 0.34090908
+v -0.28319705 -0.11326012 0.37845561
+f 7 1 3
+f 7 3 4
+f 8 1 2
+f 8 3 1
+f 8 2 6
+f 9 2 1
+f 10 9 1
+f 10 5 9
+f 11 4 3
+f 11 8 6
+f 11 3 8
+f 12 6 2
+f 13 1 7
+f 14 12 2
+f 14 2 9
+f 14 9 12
+f 15 12 9
+f 15 9 5
+f 16 11 6
+f 17 5 10
+f 17 16 12
+f 17 15 5
+f 17 12 15
+f 18 13 7
+f 18 7 4
+f 19 4 11
+f 19 18 4
+f 19 13 18
+f 20 10 1
+f 20 1 13
+f 21 16 6
+f 21 6 12
+f 21 12 16
+f 22 11 16
+f 22 19 11
+f 22 13 19
+f 22 16 17
+f 23 22 17
+f 23 17 10
+f 23 13 22
+f 23 20 13
+f 23 10 20
\ No newline at end of file
diff --git a/objects/objaverse/can/can_0/collision/model_normalized_collision_6.obj b/objects/objaverse/can/can_0/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2ab4888a20e4e2e9664fe6d989f4556eb3ff65f8
--- /dev/null
+++ b/objects/objaverse/can/can_0/collision/model_normalized_collision_6.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.15294193 0.13493709 -0.35606061
+v 0.15401137 0.13600656 -0.48482494
+v 0.17482802 0.25364851 -0.35606063
+v -0.05114389 0.30107885 -0.35606063
+v -0.13493686 0.13493709 -0.48315627
+v 0.08650276 0.24470112 -0.49945943
+v -0.13493686 0.13493709 -0.35606061
+v 0.14687530 0.21393978 -0.49945934
+v 0.10832657 0.28753270 -0.41666668
+v -0.12677634 0.22498172 -0.49815460
+v 0.15519648 0.18264622 -0.49155544
+v 0.16257017 0.25989417 -0.41666668
+v -0.07413755 0.28523215 -0.44606074
+v -0.14214712 0.27030020 -0.35606061
+v -0.09659005 0.24036236 -0.49815460
+v -0.13189103 0.26532292 -0.44203305
+v -0.11478933 0.27664696 -0.43887220
+v -0.07187465 0.27094473 -0.46571975
+v -0.13638804 0.19839127 -0.49151487
+v -0.08678561 0.26942599 -0.46458830
+f 1 2 3
+f 5 2 1
+f 7 5 1
+f 8 2 5
+f 9 4 3
+f 10 8 5
+f 10 6 8
+f 11 3 2
+f 11 2 8
+f 12 9 3
+f 12 8 6
+f 12 6 9
+f 12 11 8
+f 12 3 11
+f 13 9 6
+f 13 4 9
+f 14 7 1
+f 14 1 3
+f 14 3 4
+f 14 5 7
+f 15 6 10
+f 17 14 4
+f 17 4 13
+f 17 16 14
+f 17 15 10
+f 17 10 16
+f 18 13 6
+f 18 6 15
+f 19 16 10
+f 19 10 5
+f 19 5 14
+f 19 14 16
+f 20 17 13
+f 20 15 17
+f 20 18 15
+f 20 13 18
\ No newline at end of file
diff --git a/objects/objaverse/can/can_0/collision/model_normalized_collision_7.obj b/objects/objaverse/can/can_0/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8d4e3eb0f1d97ffa5fcb52ee1c2937876115b1ce
--- /dev/null
+++ b/objects/objaverse/can/can_0/collision/model_normalized_collision_7.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.10748738 -0.18324473 0.49204065
+v 0.18324496 -0.10748715 0.40151514
+v 0.18007423 0.13176636 0.49007270
+v -0.13493688 0.13493711 0.49204047
+v -0.17047797 -0.21878577 0.42990903
+v -0.13493686 0.13493709 0.40151514
+v 0.18324496 -0.10748715 0.49204063
+v 0.10748738 -0.18324473 0.40151514
+v -0.13176602 -0.18007389 0.49007291
+v 0.21878603 0.17047823 0.42990898
+v -0.04402777 0.13493709 0.49204051
+v -0.11978534 -0.03172958 0.49174307
+v -0.13493686 0.07433103 0.49204052
+v 0.09233587 0.04402800 0.49174307
+v -0.08948231 -0.06203261 0.49174307
+f 6 5 4
+f 7 1 2
+f 8 2 1
+f 8 1 5
+f 8 6 2
+f 8 5 6
+f 9 5 1
+f 10 2 6
+f 10 7 2
+f 10 3 7
+f 10 6 4
+f 11 1 7
+f 11 10 4
+f 11 3 10
+f 13 4 5
+f 13 5 9
+f 13 9 12
+f 13 12 1
+f 13 11 4
+f 13 1 11
+f 14 11 7
+f 14 7 3
+f 14 3 11
+f 15 12 9
+f 15 9 1
+f 15 1 12
\ No newline at end of file
diff --git a/objects/objaverse/can/can_0/collision/model_normalized_collision_8.obj b/objects/objaverse/can/can_0/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..11a5b4e12bb86b3179ed7db5610170eeb8ea6dab
--- /dev/null
+++ b/objects/objaverse/can/can_0/collision/model_normalized_collision_8.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v -0.13468156 -0.25850126 0.40119747
+v -0.12879006 -0.24693853 0.42416960
+v -0.28939651 -0.06009922 0.39453333
+v -0.14484894 0.24529985 0.41384898
+v -0.13136553 0.23398853 0.44252580
+v -0.20487942 -0.22288427 0.38171800
+v -0.24012546 -0.05949474 0.49871446
+v -0.20137287 0.21652458 0.39406811
+v -0.18055167 -0.22885956 0.40469010
+v -0.13493686 -0.15294170 0.49204064
+v -0.26362953 -0.14903316 0.38157524
+v -0.27407703 0.11348020 0.39366927
+v -0.15155775 0.19701246 0.49871435
+v -0.16024987 -0.24920884 0.39530597
+v -0.20188913 -0.14668060 0.49871457
+v -0.13133159 0.17678636 0.49191877
+v -0.27320202 -0.11588748 0.39311449
+v -0.28973068 0.05729901 0.39472446
+v -0.24342656 0.17390920 0.39344896
+v -0.13336841 0.20761638 0.49965541
+v -0.22695799 0.09748057 0.49871442
+v -0.18513979 -0.23344768 0.39320405
+v -0.24258855 -0.17625043 0.39288911
+v -0.12754472 -0.22934299 0.45292304
+v -0.14032886 -0.22469677 0.44997727
+v -0.26830439 -0.13626359 0.38446406
+v -0.22580362 -0.09974555 0.49871449
+v -0.19701239 0.15155801 0.49871435
+v -0.12841979 0.22820716 0.45401186
+v -0.18501749 -0.15756778 0.49966127
+v -0.24056630 0.05671143 0.49871446
+v -0.19547094 -0.22862729 0.38630612
+v -0.15730409 -0.24342750 0.40679201
+f 5 2 1
+f 5 1 4
+f 8 4 1
+f 8 1 6
+f 11 8 6
+f 13 4 8
+f 14 6 1
+f 14 1 2
+f 17 7 3
+f 18 12 11
+f 18 11 3
+f 19 8 11
+f 19 11 12
+f 20 5 4
+f 20 4 13
+f 20 10 16
+f 21 19 12
+f 22 14 9
+f 22 9 15
+f 23 15 11
+f 23 11 6
+f 23 6 15
+f 24 16 10
+f 25 15 9
+f 26 17 3
+f 26 3 11
+f 27 7 17
+f 27 17 26
+f 27 26 11
+f 27 11 15
+f 28 13 8
+f 28 8 19
+f 28 19 21
+f 28 21 20
+f 28 20 13
+f 29 20 16
+f 29 5 20
+f 29 16 24
+f 29 24 2
+f 29 2 5
+f 30 10 20
+f 30 24 10
+f 30 25 24
+f 30 15 25
+f 30 27 15
+f 30 7 27
+f 31 7 30
+f 31 30 20
+f 31 20 21
+f 31 18 3
+f 31 3 7
+f 31 21 12
+f 31 12 18
+f 32 6 14
+f 32 14 22
+f 32 22 15
+f 32 15 6
+f 33 25 9
+f 33 9 14
+f 33 24 25
+f 33 14 2
+f 33 2 24
\ No newline at end of file
diff --git a/objects/objaverse/can/can_0/collision/model_normalized_collision_9.obj b/objects/objaverse/can/can_0/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d7425ab18762d28e2e120ba3f3eb73a8284ddeab
--- /dev/null
+++ b/objects/objaverse/can/can_0/collision/model_normalized_collision_9.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v 0.20820421 0.13221428 0.49965543
+v 0.25850144 0.13468177 0.40119744
+v 0.11588771 0.27320224 0.39311451
+v -0.05729882 0.28973097 0.39472451
+v -0.13493686 0.13493709 0.40151514
+v 0.05949497 0.24012587 0.49871435
+v 0.17625081 0.24258868 0.39288912
+v 0.22934317 0.12754497 0.45292306
+v 0.01650318 0.30112950 0.38609238
+v -0.13493688 0.13493711 0.49204047
+v 0.23344788 0.18514001 0.39320405
+v 0.15298460 0.19558582 0.49871435
+v 0.24693871 0.12879028 0.42416956
+v 0.06111447 0.29580541 0.38304726
+v -0.05671128 0.24056681 0.49871435
+v -0.11347999 0.27407722 0.39366924
+v 0.17920018 0.13089231 0.49146415
+v 0.24920903 0.16025009 0.39530595
+v 0.09974583 0.22580405 0.49871435
+v 0.19843915 0.15013128 0.49871435
+v -0.07368581 0.23692547 0.49965541
+v -0.13091036 0.26339823 0.39650487
+v -0.07744935 0.23196670 0.49932812
+v -0.12841979 0.22820716 0.45401186
+f 10 5 8
+f 13 8 5
+f 13 5 2
+f 13 2 1
+f 13 1 8
+f 14 9 6
+f 14 6 3
+f 14 3 7
+f 14 7 11
+f 15 9 4
+f 15 6 9
+f 16 4 9
+f 16 14 5
+f 16 9 14
+f 17 10 8
+f 17 8 1
+f 17 1 10
+f 18 1 2
+f 18 2 5
+f 18 14 11
+f 18 5 14
+f 19 1 12
+f 19 3 6
+f 19 12 7
+f 19 7 3
+f 20 12 1
+f 20 11 7
+f 20 7 12
+f 20 18 11
+f 20 1 18
+f 21 6 15
+f 21 19 6
+f 21 1 19
+f 21 15 4
+f 21 4 16
+f 22 16 5
+f 22 5 10
+f 22 21 16
+f 23 10 1
+f 23 1 21
+f 24 22 10
+f 24 10 23
+f 24 23 21
+f 24 21 22
\ No newline at end of file
diff --git a/objects/objaverse/can/can_0/model.xml b/objects/objaverse/can/can_0/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..c091d1bdbd4c2460997f8800309ac0519fce7ab0
--- /dev/null
+++ b/objects/objaverse/can/can_0/model.xml
@@ -0,0 +1,81 @@
+<mujoco model="can_6">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.11 0.11 0.11" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.11 0.11 0.11" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.11 0.11 0.11" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.11 0.11 0.11" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.11 0.11 0.11" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.11 0.11 0.11" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.11 0.11 0.11" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.11 0.11 0.11" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.11 0.11 0.11" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.11 0.11 0.11" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.11 0.11 0.11" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.11 0.11 0.11" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.11 0.11 0.11" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.11 0.11 0.11" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.11 0.11 0.11" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.11 0.11 0.11" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.11 0.11 0.11" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.11 0.11 0.11" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.11 0.11 0.11" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.11 0.11 0.11" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.11 0.11 0.11" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.11 0.11 0.11" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.11 0.11 0.11" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.11 0.11 0.11" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.11 0.11 0.11" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.11 0.11 0.11" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.11 0.11 0.11" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.11 0.11 0.11" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.11 0.11 0.11" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.11 0.11 0.11" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.11 0.11 0.11" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.11 0.11 0.11" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.11 0.11 0.11" refquat="1.0 0.0 0.0 0.0"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="Cola" texture="image0" specular="0.5" shininess="0.038399988999999995"/>
+  </asset>
+  <worldbody>
+    <body>
+      <body name="object">
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_0_vis" conaffinity="0" contype="0" group="1" material="Cola"/>
+        <geom solimp="0.998 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_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="-0.0001249099500000017 -0.00031590569999999986 -0.054968881000000004" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="-0.0001249099500000017 -0.00031590569999999986 0.054962739700000006" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.0334985266 0.033124245 -3.0706500000018956e-06" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/objects/objaverse/can/can_0/visual/material.mtl b/objects/objaverse/can/can_0/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..46b0a372e9d3056b87fe8f95ea0dc63c64791eb6
--- /dev/null
+++ b/objects/objaverse/can/can_0/visual/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 38.39998900
+map_Kd material_0.png
\ No newline at end of file
diff --git a/objects/objaverse/can/can_0/visual/model_normalized_0.obj b/objects/objaverse/can/can_0/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a0eb4d9c1cc253a2bfd07e19d1080ef57fd9888
--- /dev/null
+++ b/objects/objaverse/can/can_0/visual/model_normalized_0.obj
@@ -0,0 +1,9175 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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+f 2026/2026/2026 1901/1901/1901 1908/1908/1908
+f 1871/1871/1871 1893/1893/1893 2029/2029/2029
+f 1871/1871/1871 2029/2029/2029 2027/2027/2027
+f 2028/2028/2028 2030/2030/2030 1902/1902/1902
+f 2028/2028/2028 1902/1902/1902 1901/1901/1901
+f 1891/1891/1891 1809/1809/1809 1993/1993/1993
+f 1891/1891/1891 1993/1993/1993 2031/2031/2031
+f 2030/2030/2030 2032/2032/2032 1904/1904/1904
+f 2030/2030/2030 1904/1904/1904 1902/1902/1902
+f 1861/1861/1861 1860/1860/1860 1835/1835/1835
+f 1861/1861/1861 1835/1835/1835 1834/1834/1834
+f 1245/1245/1245 1243/1243/1243 1244/1244/1244
+f 1243/1243/1243 1245/1245/1245 1246/1246/1246
+f 1243/1243/1243 1246/1246/1246 1242/1242/1242
+f 1242/1242/1242 1246/1246/1246 1241/1241/1241
+f 1241/1241/1241 1246/1246/1246 1247/1247/1247
+f 1241/1241/1241 1247/1247/1247 1240/1240/1240
+f 1240/1240/1240 1247/1247/1247 1248/1248/1248
+f 1240/1240/1240 1248/1248/1248 1239/1239/1239
+f 1239/1239/1239 1248/1248/1248 1230/1230/1230
+f 1239/1239/1239 1230/1230/1230 1229/1229/1229
+f 1239/1239/1239 1229/1229/1229 1238/1238/1238
+f 1238/1238/1238 1229/1229/1229 1231/1231/1231
+f 1238/1238/1238 1231/1231/1231 1237/1237/1237
+f 1237/1237/1237 1231/1231/1231 1232/1232/1232
+f 1237/1237/1237 1232/1232/1232 1236/1236/1236
+f 1236/1236/1236 1232/1232/1232 1235/1235/1235
+f 1235/1235/1235 1232/1232/1232 1233/1233/1233
+f 1235/1235/1235 1233/1233/1233 1234/1234/1234
+f 1510/1510/1510 1515/1515/1515 2095/2095/2095
+f 1515/1515/1515 1510/1510/1510 1508/1508/1508
+f 1515/1515/1515 1508/1508/1508 1516/1516/1516
+f 1516/1516/1516 1508/1508/1508 1506/1506/1506
+f 1516/1516/1516 1506/1506/1506 1519/1519/1519
+f 1519/1519/1519 1506/1506/1506 1503/1503/1503
+f 1519/1519/1519 1503/1503/1503 2094/2094/2094
+f 2094/2094/2094 1503/1503/1503 1502/1502/1502
+f 2094/2094/2094 1502/1502/1502 2093/2093/2093
+f 2093/2093/2093 1502/1502/1502 1481/1481/1481
+f 1481/1481/1481 1502/1502/1502 2096/2096/2096
+f 1481/1481/1481 2096/2096/2096 1482/1482/1482
+f 1482/1482/1482 2096/2096/2096 1497/1497/1497
+f 1482/1482/1482 1497/1497/1497 1495/1495/1495
+f 1482/1482/1482 1495/1495/1495 1485/1485/1485
+f 1485/1485/1485 1495/1495/1495 1492/1492/1492
+f 1485/1485/1485 1492/1492/1492 1487/1487/1487
+f 1487/1487/1487 1492/1492/1492 1491/1491/1491
\ No newline at end of file
diff --git a/objects/objaverse/can/can_12/collision/model_normalized_collision_0.obj b/objects/objaverse/can/can_12/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be31891e20a09827bfc4131c276058315e2318bd
--- /dev/null
+++ b/objects/objaverse/can/can_12/collision/model_normalized_collision_0.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v -0.25712785 0.06023729 0.18939396
+v -0.18148372 0.10572625 -0.50000000
+v -0.22293331 0.14198728 0.18939396
+v -0.25329764 0.07286386 0.18939396
+v -0.23933305 0.11130554 -0.44026501
+v -0.23984930 0.05499583 -0.47262210
+v -0.21005196 0.15947456 -0.41666667
+v -0.23933313 0.11130558 0.18939396
+v -0.20083085 0.13017325 -0.50000000
+v -0.21178676 0.06027170 -0.50000000
+v -0.22879745 0.13101613 -0.41666667
+v -0.18148372 0.13602928 -0.50000000
+v -0.22345076 0.08492058 -0.50000000
+v -0.22448194 0.12661763 -0.44976508
+v -0.23186858 0.05717110 -0.50000000
+v -0.21049673 0.11208961 -0.50000000
+v -0.23903115 0.09901024 -0.45006054
+f 1 2 3
+f 5 1 4
+f 6 1 5
+f 8 5 4
+f 8 3 5
+f 8 1 3
+f 8 4 1
+f 10 2 1
+f 10 1 6
+f 10 9 2
+f 11 7 5
+f 11 5 3
+f 11 3 7
+f 12 7 3
+f 12 3 2
+f 12 9 7
+f 12 2 9
+f 13 9 10
+f 14 9 5
+f 14 5 7
+f 14 7 9
+f 15 5 13
+f 15 13 10
+f 15 10 6
+f 16 13 5
+f 16 5 9
+f 16 9 13
+f 17 15 6
+f 17 6 5
+f 17 5 15
\ No newline at end of file
diff --git a/objects/objaverse/can/can_12/collision/model_normalized_collision_1.obj b/objects/objaverse/can/can_12/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc4fdd768b7b7d1b5d62666b984a9b37cf2903fa
--- /dev/null
+++ b/objects/objaverse/can/can_12/collision/model_normalized_collision_1.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.26338569 -0.01453287 0.25000002
+v 0.26338571 -0.01453287 -0.41666666
+v 0.24465926 0.10134092 -0.44026501
+v 0.21738236 0.11541245 0.36481798
+v 0.14403808 -0.01471645 -0.46974532
+v 0.25846091 0.05584264 0.33322706
+v 0.15184962 -0.01548587 0.25000002
+v 0.26049500 0.04388247 -0.44026501
+v 0.13571705 0.10763820 -0.48096623
+v 0.23873709 0.09888814 0.34479380
+v 0.23650387 0.04599645 0.37614252
+v 0.25846084 0.05584262 -0.44026501
+v 0.26019292 0.04385272 0.33377747
+v 0.23530873 0.11689564 -0.44174181
+v 0.15184962 0.12087777 0.25000002
+v 0.23875464 0.06961251 0.36017223
+v 0.24379458 0.04372989 0.36338952
+f 7 5 2
+f 7 2 1
+f 8 2 5
+f 8 1 2
+f 9 8 5
+f 9 5 7
+f 10 6 3
+f 11 4 7
+f 11 10 4
+f 11 7 1
+f 12 3 6
+f 12 6 8
+f 12 9 3
+f 12 8 9
+f 13 8 6
+f 13 1 8
+f 13 6 11
+f 14 3 9
+f 14 10 3
+f 14 4 10
+f 15 9 7
+f 15 7 4
+f 15 14 9
+f 15 4 14
+f 16 11 6
+f 16 6 10
+f 16 10 11
+f 17 13 11
+f 17 11 1
+f 17 1 13
\ No newline at end of file
diff --git a/objects/objaverse/can/can_12/collision/model_normalized_collision_10.obj b/objects/objaverse/can/can_12/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..850d6a56fa051d909bf99814f6a9a8ee686fe1d9
--- /dev/null
+++ b/objects/objaverse/can/can_12/collision/model_normalized_collision_10.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.20972406 -0.15987435 -0.41666666
+v -0.18148372 -0.13669800 -0.50000000
+v -0.18148372 0.10572625 -0.50000000
+v -0.22879745 0.13101613 -0.41666667
+v -0.26042354 -0.04461009 -0.44026501
+v -0.20055293 -0.13069342 -0.50000000
+v -0.22265550 -0.14250744 -0.41666666
+v -0.23186858 0.05717110 -0.50000000
+v -0.23553131 0.11841806 -0.41666667
+v -0.21178676 0.10572625 -0.50000000
+v -0.23168279 -0.05778351 -0.50000000
+v -0.26048859 0.04394772 -0.44026501
+v -0.23849361 -0.04394240 -0.48760378
+v -0.23855485 0.04327973 -0.48761953
+f 1 2 3
+f 1 3 4
+f 6 2 1
+f 6 3 2
+f 7 6 1
+f 7 5 6
+f 8 3 6
+f 9 5 7
+f 9 7 1
+f 9 1 4
+f 10 4 3
+f 10 3 8
+f 10 9 4
+f 11 8 6
+f 11 6 5
+f 12 5 9
+f 12 10 8
+f 12 9 10
+f 13 11 5
+f 13 8 11
+f 14 12 8
+f 14 8 13
+f 14 13 5
+f 14 5 12
\ No newline at end of file
diff --git a/objects/objaverse/can/can_12/collision/model_normalized_collision_11.obj b/objects/objaverse/can/can_12/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f452498ed885d0914bcc61f675e9de72b7a8152
--- /dev/null
+++ b/objects/objaverse/can/can_12/collision/model_normalized_collision_11.obj
@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
+v 0.15131294 -0.21180163 -0.44644614
+v 0.25827515 -0.05645501 -0.44026501
+v 0.15184962 0.12087777 -0.41666666
+v 0.19282004 0.16265230 -0.45853124
+v 0.22332137 -0.08534713 -0.50000000
+v 0.26049500 0.04388247 -0.41666666
+v 0.08628183 0.11483184 -0.46955544
+v 0.19989837 -0.17184705 -0.44026501
+v 0.23530873 0.11689564 -0.44174181
+v 0.19036762 -0.18346034 -0.41666666
+v 0.08238157 -0.13526984 -0.47171876
+v 0.09184587 0.12161169 -0.47085246
+v 0.21407712 -0.14304189 -0.45208231
+v 0.15432455 -0.18185762 -0.50000000
+v 0.20142511 0.15727979 -0.45329017
+v 0.22350707 0.08473474 -0.50000000
+v 0.17184718 -0.19989829 -0.44026501
+v 0.22617094 -0.13593031 -0.41666667
+v 0.19538570 -0.13784053 -0.50000000
+v 0.09316980 -0.15545328 -0.48576776
+v 0.19571352 0.13744085 -0.50000000
+v 0.23998913 0.02820359 -0.48781629
+v 0.26049500 0.04388247 -0.44026501
+v 0.14527084 -0.18928781 -0.50000000
+v 0.25827515 -0.05645501 -0.41666666
+v 0.14393165 0.12681420 -0.49233222
+v 0.24465926 0.10134092 -0.44026501
+v 0.18961571 0.14487104 -0.50000000
+v 0.23992790 -0.02886628 -0.48780057
+v 0.14216425 -0.20065393 -0.47336605
+v 0.11176463 0.12742064 -0.47863629
+v 0.11189320 -0.15854899 -0.49345769
+v 0.25526347 -0.02888441 -0.45105311
+v 0.18733393 0.15814998 -0.47397226
+f 9 3 6
+f 10 6 3
+f 11 3 7
+f 11 10 3
+f 11 1 10
+f 12 7 3
+f 12 3 4
+f 13 5 2
+f 15 4 3
+f 15 3 9
+f 16 5 14
+f 17 10 1
+f 17 8 10
+f 17 14 8
+f 18 10 8
+f 18 13 2
+f 18 8 13
+f 19 13 8
+f 19 8 14
+f 19 14 5
+f 19 5 13
+f 20 1 11
+f 20 11 7
+f 21 15 9
+f 21 16 14
+f 22 5 16
+f 23 22 16
+f 23 6 2
+f 24 17 1
+f 24 14 17
+f 24 21 14
+f 25 18 2
+f 25 2 6
+f 25 6 10
+f 25 10 18
+f 26 20 7
+f 27 21 9
+f 27 16 21
+f 27 23 16
+f 27 9 6
+f 27 6 23
+f 28 4 15
+f 28 15 21
+f 28 21 24
+f 29 2 5
+f 29 5 22
+f 29 22 23
+f 30 24 1
+f 30 1 20
+f 30 20 24
+f 31 26 7
+f 31 7 12
+f 31 28 26
+f 32 24 20
+f 32 20 26
+f 32 28 24
+f 32 26 28
+f 33 29 23
+f 33 23 2
+f 33 2 29
+f 34 31 12
+f 34 12 4
+f 34 4 28
+f 34 28 31
\ No newline at end of file
diff --git a/objects/objaverse/can/can_12/collision/model_normalized_collision_12.obj b/objects/objaverse/can/can_12/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..89c3f56d32ee0e624e5858a49159a4fceeaaced7
--- /dev/null
+++ b/objects/objaverse/can/can_12/collision/model_normalized_collision_12.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.01548598 0.18148383 0.32575760
+v 0.01376052 0.16396616 -0.47564378
+v 0.01454996 0.26288967 -0.44105992
+v -0.05602833 0.25840474 0.32575760
+v -0.13917655 0.21571871 0.34716653
+v 0.01459822 0.26337937 0.32575760
+v -0.12045553 0.21099710 0.37071827
+v -0.13531496 0.20849421 -0.46592368
+v -0.04394763 0.26048865 -0.44026505
+v -0.07943648 0.22501739 0.37883728
+v -0.04444704 0.23525643 -0.50000000
+v -0.11130543 0.23933296 -0.44026501
+v -0.07298206 0.23404279 0.36657434
+v -0.09883220 0.23860308 0.34505582
+v -0.11838841 0.20712981 -0.50000000
+v -0.05602827 0.25840454 -0.44026501
+v -0.07161478 0.24468699 0.34882512
+v -0.11130552 0.23933313 0.33322706
+v -0.04512008 0.21178686 -0.50000000
+v -0.08492054 0.22345075 -0.50000000
+v -0.11208940 0.21049672 -0.50000000
+f 1 2 3
+f 6 1 3
+f 7 5 2
+f 7 2 1
+f 8 2 5
+f 9 6 3
+f 9 4 6
+f 10 7 1
+f 10 1 6
+f 11 3 2
+f 11 9 3
+f 12 8 5
+f 13 10 6
+f 14 7 10
+f 15 2 8
+f 15 8 12
+f 16 12 4
+f 16 4 9
+f 16 9 11
+f 17 13 6
+f 17 6 4
+f 17 4 14
+f 17 14 10
+f 17 10 13
+f 18 12 5
+f 18 5 7
+f 18 7 14
+f 18 14 4
+f 18 4 12
+f 19 15 11
+f 19 11 2
+f 19 2 15
+f 20 11 15
+f 20 16 11
+f 20 12 16
+f 21 20 15
+f 21 15 12
+f 21 12 20
\ No newline at end of file
diff --git a/objects/objaverse/can/can_12/collision/model_normalized_collision_13.obj b/objects/objaverse/can/can_12/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9233c7e7a19f1c2d2308371f265de9b7c561c27d
--- /dev/null
+++ b/objects/objaverse/can/can_12/collision/model_normalized_collision_13.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.04831625 -0.26005845 -0.41666666
+v -0.04713708 -0.24808572 -0.45970468
+v -0.04512008 0.18148383 -0.41666666
+v -0.14280044 0.22249859 -0.41666668
+v -0.12362553 -0.23274800 -0.41666666
+v -0.12087766 0.18148383 -0.50000000
+v -0.04581691 -0.15414666 -0.47336231
+v -0.12145025 -0.22867833 -0.44772141
+v -0.06228786 0.18813053 -0.49626113
+v -0.12478047 -0.15660513 -0.49755406
+v -0.04552479 0.18281797 -0.49015314
+v -0.06257999 -0.15945924 -0.47947030
+f 5 1 3
+f 5 3 4
+f 7 1 2
+f 7 3 1
+f 8 2 1
+f 8 1 5
+f 9 6 4
+f 10 8 5
+f 10 5 4
+f 10 4 6
+f 10 2 8
+f 10 6 9
+f 11 9 4
+f 11 4 3
+f 11 3 7
+f 12 7 2
+f 12 2 10
+f 12 10 9
+f 12 11 7
+f 12 9 11
\ No newline at end of file
diff --git a/objects/objaverse/can/can_12/collision/model_normalized_collision_14.obj b/objects/objaverse/can/can_12/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e706d174d9fa2a856bdb45839b7c70d5df568fb9
--- /dev/null
+++ b/objects/objaverse/can/can_12/collision/model_normalized_collision_14.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v -0.11447767 -0.12889978 0.40879508
+v -0.12681411 -0.14393163 -0.49233205
+v -0.11348715 0.21311173 -0.48841244
+v -0.11381612 0.22887863 0.34779892
+v -0.19001862 -0.09580539 0.43740293
+v -0.19072048 -0.14427845 0.37780226
+v -0.18805856 0.06226613 0.44820688
+v -0.14316300 -0.09709818 0.43181825
+v -0.16825938 0.19567282 -0.44922029
+v -0.12087766 0.10572625 0.40879508
+v -0.16791399 0.19525195 0.34426364
+v -0.11390052 0.22903652 -0.45296128
+v -0.16944667 0.16944702 -0.50000000
+v -0.11562562 0.21711247 0.36506748
+v -0.18689639 0.10861939 0.41937429
+v -0.15529145 0.21348507 0.33322706
+v -0.15529135 0.21348494 -0.44026501
+v -0.11838841 0.20712981 -0.50000000
+v -0.18148372 -0.13669800 -0.50000000
+v -0.13920380 0.20833404 0.35895201
+v -0.12661756 0.22448193 -0.44976519
+v -0.13776875 0.19544427 -0.50000000
+v -0.16954649 0.18208964 0.36083439
+v -0.12638601 0.22404872 0.34477852
+f 1 2 3
+f 1 3 4
+f 6 2 1
+f 6 1 5
+f 7 6 5
+f 8 7 5
+f 8 5 1
+f 10 8 1
+f 10 7 8
+f 12 4 3
+f 14 10 1
+f 14 1 4
+f 14 7 10
+f 15 11 9
+f 15 7 14
+f 15 9 13
+f 16 9 11
+f 17 9 16
+f 17 13 9
+f 18 3 2
+f 18 12 3
+f 19 2 6
+f 19 15 13
+f 19 6 7
+f 19 7 15
+f 19 18 2
+f 19 13 18
+f 20 15 14
+f 21 16 4
+f 21 4 12
+f 21 17 16
+f 21 18 17
+f 21 12 18
+f 22 18 13
+f 22 13 17
+f 22 17 18
+f 23 11 15
+f 23 15 20
+f 23 20 16
+f 23 16 11
+f 24 4 16
+f 24 16 20
+f 24 20 14
+f 24 14 4
\ No newline at end of file
diff --git a/objects/objaverse/can/can_12/collision/model_normalized_collision_15.obj b/objects/objaverse/can/can_12/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae54d086672428e4f34e606addd2b6e4af61b659
--- /dev/null
+++ b/objects/objaverse/can/can_12/collision/model_normalized_collision_15.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.01376052 0.16396616 -0.47564378
+v 0.13192003 0.20284768 -0.48983054
+v 0.13173358 0.21765041 -0.45560353
+v -0.04394763 0.26048865 -0.44026505
+v -0.11838841 0.20712981 -0.50000000
+v 0.04461007 0.26042323 -0.44026505
+v -0.12620578 0.22175511 -0.45396471
+v 0.13628816 0.21101991 -0.46158302
+v -0.12087766 0.18148383 -0.50000000
+v 0.08553297 0.22326485 -0.50000000
+v 0.11890870 0.20685169 -0.50000000
+v -0.13531496 0.20849421 -0.46592368
+v 0.06000393 0.25415381 -0.44497289
+v -0.04444704 0.23525643 -0.50000000
+v 0.11260970 0.21021856 -0.50000000
+v 0.04394250 0.23849351 -0.48760373
+f 7 1 3
+f 7 4 5
+f 7 6 4
+f 7 3 6
+f 8 1 2
+f 8 2 3
+f 8 3 1
+f 10 9 5
+f 11 2 1
+f 11 1 9
+f 11 9 10
+f 11 3 2
+f 12 7 5
+f 12 5 9
+f 12 9 1
+f 12 1 7
+f 13 10 6
+f 13 6 3
+f 13 3 10
+f 14 10 5
+f 14 5 4
+f 14 4 6
+f 15 11 10
+f 15 10 3
+f 15 3 11
+f 16 14 6
+f 16 6 10
+f 16 10 14
\ No newline at end of file
diff --git a/objects/objaverse/can/can_12/collision/model_normalized_collision_16.obj b/objects/objaverse/can/can_12/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2cef6c745fd22e8dce2258eb78de9e20bbe44f6e
--- /dev/null
+++ b/objects/objaverse/can/can_12/collision/model_normalized_collision_16.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v 0.12889964 0.11447758 0.43181821
+v 0.12889964 0.11447758 0.40879508
+v 0.13358035 0.20595398 0.36756453
+v -0.02874000 0.24476710 0.36429913
+v -0.22194234 0.10305586 0.36808792
+v 0.04357108 0.20447522 0.44389600
+v -0.18602809 0.10005672 0.44002905
+v -0.20169346 0.14289746 0.36401098
+v 0.11711058 0.17526750 0.44254365
+v 0.02940395 0.24471697 0.36427134
+v -0.21629156 0.10003545 0.37970569
+v -0.08696210 0.18987662 0.44384106
+v -0.21711242 0.11562570 0.36506750
+v 0.12287989 0.17979795 0.43013209
+v 0.09408265 0.15649243 0.44775495
+v 0.08778037 0.23067312 0.36463231
+v -0.14289735 0.20169350 0.36401094
+v -0.04291064 0.20450304 0.44396516
+v -0.18130260 0.11268231 0.43693734
+v -0.17554498 0.10255199 0.44605896
+v 0.08760880 0.18983507 0.44372862
+v 0.05492297 0.20710082 0.43500700
+v 0.11618057 0.21689932 0.36493417
+v -0.08715465 0.23081555 0.36471442
+v -0.13739165 0.16468206 0.43442716
+v -0.17479599 0.11679612 0.44352093
+v 0.11323972 0.18109409 0.43680086
+v -0.11679554 0.17479655 0.44352093
+v -0.05429632 0.20724036 0.43509080
+v -0.16542570 0.16542627 0.38893018
+v -0.16468195 0.13739175 0.43442699
+f 1 2 3
+f 5 3 2
+f 7 2 1
+f 10 4 6
+f 11 7 5
+f 11 5 2
+f 11 2 7
+f 13 3 5
+f 14 9 1
+f 14 1 3
+f 15 1 9
+f 16 8 10
+f 17 10 8
+f 17 4 10
+f 18 6 4
+f 18 15 6
+f 19 13 5
+f 19 5 7
+f 19 8 13
+f 20 7 1
+f 20 1 15
+f 20 18 12
+f 20 15 18
+f 21 15 9
+f 21 6 15
+f 22 16 10
+f 22 10 6
+f 22 21 16
+f 22 6 21
+f 23 13 8
+f 23 8 16
+f 23 3 13
+f 23 14 3
+f 23 16 21
+f 24 4 17
+f 26 19 7
+f 26 7 20
+f 26 8 19
+f 27 21 9
+f 27 9 14
+f 27 23 21
+f 27 14 23
+f 28 24 17
+f 28 12 24
+f 28 17 25
+f 28 25 26
+f 28 26 20
+f 28 20 12
+f 29 18 4
+f 29 4 24
+f 29 24 12
+f 29 12 18
+f 30 25 17
+f 30 17 8
+f 31 26 25
+f 31 8 26
+f 31 30 8
+f 31 25 30
\ No newline at end of file
diff --git a/objects/objaverse/can/can_12/collision/model_normalized_collision_17.obj b/objects/objaverse/can/can_12/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bcb1bfe367c7186ca36eaca31ea446dcb85712b5
--- /dev/null
+++ b/objects/objaverse/can/can_12/collision/model_normalized_collision_17.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.24601106 -0.01431389 0.36461786
+v 0.26338569 -0.01453287 0.25000002
+v 0.23274791 0.12362555 0.25000002
+v 0.01548598 0.12087777 0.40879508
+v 0.01548598 -0.01548587 0.25000002
+v 0.21738236 0.11541245 0.36481798
+v 0.04138569 -0.00762916 0.37548898
+v 0.01548598 0.12087777 0.25000002
+v 0.24379458 0.04372989 0.36338952
+v 0.26019292 0.04385272 0.33377747
+v 0.25494969 0.02818479 0.34602329
+v 0.25603292 -0.01380869 0.34662357
+v 0.26049502 0.04388247 0.25000002
+f 5 2 1
+f 5 3 2
+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 8 3 5
+f 9 6 4
+f 9 4 1
+f 10 3 6
+f 10 6 9
+f 11 10 9
+f 11 9 1
+f 12 1 2
+f 12 2 10
+f 12 11 1
+f 12 10 11
+f 13 10 2
+f 13 2 3
+f 13 3 10
\ No newline at end of file
diff --git a/objects/objaverse/can/can_12/collision/model_normalized_collision_18.obj b/objects/objaverse/can/can_12/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d465e70fd9f67099e811a8303210caeed3875f76
--- /dev/null
+++ b/objects/objaverse/can/can_12/collision/model_normalized_collision_18.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.22914856 0.11360294 0.34754944
+v 0.22932926 0.11369960 -0.45269724
+v 0.21375415 0.15496351 0.33322706
+v 0.13177085 0.21772018 0.35029598
+v 0.12889964 0.11447758 0.40879508
+v 0.15569108 0.21315699 -0.44026501
+v 0.19635855 0.15312185 0.35972749
+v 0.22477464 0.12641654 -0.44950123
+v 0.15569119 0.21315713 0.33322706
+v 0.13069334 0.20055269 -0.50000000
+v 0.21255243 0.12798231 0.36179757
+v 0.13358035 0.20595398 0.36756453
+v 0.21375404 0.15496341 -0.44026501
+v 0.16837646 0.19500048 0.34408420
+v 0.13173358 0.21765041 -0.45560353
+v 0.14393165 0.12681420 -0.49233222
+v 0.18218552 0.15392475 -0.50000000
+v 0.22431864 0.12617280 0.34452901
+v 0.21738236 0.11541245 0.36481798
+v 0.14282164 0.21374763 0.34720293
+v 0.19561426 0.16766255 0.34404496
+v 0.15383578 0.19574478 0.35976675
+v 0.19730417 0.12087777 -0.50000000
+v 0.13816847 0.19511635 -0.50000000
+v 0.18303298 0.18303286 -0.44986437
+f 5 2 1
+f 8 1 2
+f 8 3 1
+f 9 6 4
+f 10 5 4
+f 11 3 7
+f 12 4 5
+f 12 5 7
+f 13 3 8
+f 13 9 3
+f 13 6 9
+f 14 3 9
+f 15 10 4
+f 15 4 6
+f 15 6 10
+f 16 2 5
+f 16 5 10
+f 17 8 2
+f 17 13 8
+f 18 11 1
+f 18 1 3
+f 18 3 11
+f 19 11 7
+f 19 7 5
+f 19 5 1
+f 19 1 11
+f 20 9 4
+f 20 4 12
+f 21 14 7
+f 21 7 3
+f 21 3 14
+f 22 12 7
+f 22 7 14
+f 22 20 12
+f 22 14 9
+f 22 9 20
+f 23 16 10
+f 23 10 17
+f 23 17 2
+f 23 2 16
+f 24 17 10
+f 24 10 6
+f 25 6 13
+f 25 13 17
+f 25 24 6
+f 25 17 24
\ No newline at end of file
diff --git a/objects/objaverse/can/can_12/collision/model_normalized_collision_19.obj b/objects/objaverse/can/can_12/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc6a696231f81d24fe9744e187699d4a9fb5edc9
--- /dev/null
+++ b/objects/objaverse/can/can_12/collision/model_normalized_collision_19.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.12889964 0.11447758 0.40879508
+v 0.14393165 0.12681420 -0.49233222
+v 0.14427850 0.19072060 0.37780222
+v -0.13011534 0.19876634 0.38201984
+v -0.11235684 0.11235696 -0.47171876
+v -0.14280044 0.22249859 -0.41666668
+v -0.12087766 0.12087777 0.40879508
+v 0.13669810 0.18148383 -0.50000000
+v -0.04552479 0.18281797 -0.49015314
+v 0.06294134 0.18807966 -0.49634776
+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 7 6 5
+f 7 4 6
+f 8 6 3
+f 8 3 2
+f 9 8 2
+f 9 2 5
+f 9 5 6
+f 10 9 6
+f 10 6 8
+f 10 8 9
\ No newline at end of file
diff --git a/objects/objaverse/can/can_12/collision/model_normalized_collision_2.obj b/objects/objaverse/can/can_12/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1924711c10624280dba319122e389b60356168b8
--- /dev/null
+++ b/objects/objaverse/can/can_12/collision/model_normalized_collision_2.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v 0.14646316 -0.21919755 0.33537568
+v 0.25827515 -0.05645501 -0.41666666
+v 0.25603292 -0.01380869 0.34662357
+v 0.13616903 -0.00613448 0.37591774
+v 0.13359375 -0.12171576 -0.48544088
+v 0.26338571 -0.01453287 -0.41666666
+v 0.14310843 -0.20180443 0.36361294
+v 0.21342622 -0.15536310 0.33322706
+v 0.14681672 -0.21972671 -0.44115620
+v 0.25827515 -0.05645501 0.33322706
+v 0.14403808 -0.01471645 -0.46974532
+v 0.22412753 -0.09018789 -0.49149376
+v 0.24601106 -0.01431389 0.36461786
+v 0.16812499 -0.19536286 0.34386559
+v 0.15536323 -0.21342628 0.33322723
+v 0.21342634 -0.15536313 -0.44026501
+v 0.24789177 -0.05790139 -0.45564210
+v 0.22625698 -0.08623765 -0.48801161
+v 0.21894332 -0.10176405 -0.48991043
+v 0.22328462 -0.11113730 0.35903391
+v 0.25489966 -0.02884859 0.34599554
+v 0.19610709 -0.15358420 0.35954806
+v 0.15536325 -0.21342626 -0.44026501
+v 0.23925651 -0.09910327 -0.44966869
+v 0.23879267 -0.09891109 0.34468532
+v 0.19536282 -0.16812491 0.34386553
+v 0.15358431 -0.19610717 0.35954814
+v 0.22410547 -0.12672757 0.34439572
+v 0.22457373 -0.12697791 -0.44936009
+v 0.23861219 -0.07023802 0.36009011
+f 6 4 3
+f 7 4 5
+f 9 7 5
+f 9 1 7
+f 10 6 3
+f 10 2 6
+f 11 5 4
+f 11 4 6
+f 12 5 11
+f 13 3 4
+f 13 4 7
+f 15 1 9
+f 15 14 1
+f 15 8 14
+f 16 8 15
+f 17 6 2
+f 18 12 11
+f 18 11 6
+f 18 17 12
+f 18 6 17
+f 19 9 5
+f 19 5 12
+f 21 13 10
+f 21 10 3
+f 21 3 13
+f 22 20 13
+f 22 13 7
+f 23 16 15
+f 23 15 9
+f 23 19 16
+f 23 9 19
+f 24 10 8
+f 24 8 16
+f 24 2 10
+f 24 17 2
+f 24 12 17
+f 24 19 12
+f 25 8 10
+f 26 22 14
+f 26 14 8
+f 26 8 22
+f 27 22 7
+f 27 14 22
+f 27 7 1
+f 27 1 14
+f 28 22 8
+f 28 20 22
+f 28 25 20
+f 28 8 25
+f 29 24 16
+f 29 16 19
+f 29 19 24
+f 30 25 10
+f 30 10 13
+f 30 13 20
+f 30 20 25
\ No newline at end of file
diff --git a/objects/objaverse/can/can_12/collision/model_normalized_collision_20.obj b/objects/objaverse/can/can_12/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc54e0e9b178012f66e46ef2bca90eb2e7b12f79
--- /dev/null
+++ b/objects/objaverse/can/can_12/collision/model_normalized_collision_20.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.24178267 0.05558236 0.36230288
+v -0.22293331 0.14198728 0.18939396
+v -0.25712785 0.06023729 0.18939396
+v -0.19097201 0.14381610 0.37798167
+v -0.23933314 0.11130559 0.33322706
+v -0.22824452 0.06526413 0.38069724
+v -0.21005205 0.15947465 0.26515153
+v -0.23933313 0.11130558 0.18939396
+v -0.23860274 0.09883300 0.34505584
+v -0.22404866 0.12638604 0.34477853
+v -0.22879754 0.13101618 0.26515153
+v -0.25329764 0.07286386 0.18939396
+v -0.20359613 0.11754566 0.38504024
+v -0.21228248 0.12819555 0.36204708
+f 3 2 4
+f 5 3 1
+f 6 1 3
+f 6 3 4
+f 7 4 2
+f 9 5 1
+f 9 1 6
+f 10 7 5
+f 10 4 7
+f 11 7 2
+f 11 5 7
+f 11 8 5
+f 11 2 8
+f 12 3 5
+f 12 5 8
+f 12 8 2
+f 12 2 3
+f 13 9 6
+f 13 6 4
+f 13 5 9
+f 14 13 4
+f 14 4 10
+f 14 10 5
+f 14 5 13
\ No newline at end of file
diff --git a/objects/objaverse/can/can_12/collision/model_normalized_collision_21.obj b/objects/objaverse/can/can_12/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc588ba40e2e9af516d770696dec03fbcf18d08c
--- /dev/null
+++ b/objects/objaverse/can/can_12/collision/model_normalized_collision_21.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v -0.11360299 -0.22914863 0.34754955
+v -0.11811051 -0.20727860 -0.50000000
+v -0.11447767 -0.12889978 0.40879508
+v -0.21772015 -0.13177083 0.35029603
+v -0.15496347 -0.21375430 -0.44026501
+v -0.20055293 -0.13069342 -0.50000000
+v -0.15312172 -0.19635869 0.35972754
+v -0.11369957 -0.22932930 -0.45269745
+v -0.12681411 -0.14393163 -0.49233205
+v -0.21315717 -0.15569112 -0.44026501
+v -0.13744100 -0.19571363 -0.50000000
+v -0.11541249 -0.21738244 0.36481810
+v -0.20595397 -0.13358032 0.36756458
+v -0.15496344 -0.21375432 0.33322723
+v -0.12641661 -0.22477471 -0.44950136
+v -0.21765051 -0.13173361 -0.45560364
+v -0.19511649 -0.13816865 -0.50000000
+v -0.12798238 -0.21255255 0.36179770
+v -0.21315717 -0.15569112 0.33322706
+v -0.19543575 -0.16873356 -0.44903051
+v -0.12617288 -0.22431873 0.34452914
+v -0.21374772 -0.14282148 0.34720297
+v -0.19500046 -0.16837632 0.34408419
+v -0.16802221 -0.19605275 -0.44898899
+v -0.16766238 -0.19561437 0.34404498
+v -0.19574477 -0.15383565 0.35976674
+f 6 4 3
+f 8 3 1
+f 9 6 3
+f 9 2 6
+f 9 8 2
+f 9 3 8
+f 11 6 2
+f 11 2 5
+f 12 1 3
+f 12 3 7
+f 13 7 3
+f 13 3 4
+f 15 5 2
+f 15 2 8
+f 15 14 5
+f 15 8 1
+f 15 1 14
+f 16 10 4
+f 16 4 6
+f 16 6 10
+f 17 10 6
+f 17 6 11
+f 18 12 7
+f 18 7 14
+f 18 1 12
+f 19 4 10
+f 19 10 5
+f 19 5 14
+f 20 17 11
+f 20 5 10
+f 20 10 17
+f 21 18 14
+f 21 14 1
+f 21 1 18
+f 22 13 4
+f 22 4 19
+f 23 19 14
+f 24 20 11
+f 24 11 5
+f 24 5 20
+f 25 23 14
+f 25 14 7
+f 25 7 23
+f 26 23 7
+f 26 7 13
+f 26 13 22
+f 26 22 19
+f 26 19 23
\ No newline at end of file
diff --git a/objects/objaverse/can/can_12/collision/model_normalized_collision_22.obj b/objects/objaverse/can/can_12/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ceb989ce964adbad7b0ebb6fc11fc3b36f6e2f7f
--- /dev/null
+++ b/objects/objaverse/can/can_12/collision/model_normalized_collision_22.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.08627068 -0.24151654 0.34661250
+v 0.15184962 -0.15184952 -0.50000000
+v 0.15410806 -0.15370296 0.41827801
+v 0.08904381 -0.14773397 0.41666669
+v 0.08623785 -0.22625696 -0.48801164
+v 0.08659636 -0.20376130 0.41122967
+v 0.14304177 -0.21407722 -0.45208234
+v 0.09635427 -0.16141102 -0.48991474
+v 0.14289427 -0.21385632 0.34696722
+v 0.13784065 -0.19538562 -0.50000000
+v 0.09910314 -0.23925659 -0.44966874
+v 0.09891103 -0.23879283 0.34468541
+v 0.11173609 -0.19410148 0.40518884
+v 0.08955618 -0.22204463 -0.50000000
+v 0.08635826 -0.24180526 -0.45170577
+v 0.12697804 -0.22457368 -0.44936021
+v 0.08714529 -0.21409672 0.39372874
+v 0.14230855 -0.17052678 0.40837210
+v 0.12672781 -0.22410553 0.34439581
+v 0.11233178 -0.21036734 -0.50000000
+v 0.13904364 -0.19685148 0.37523070
+f 3 2 4
+f 6 3 4
+f 6 5 1
+f 6 4 5
+f 7 2 3
+f 8 5 4
+f 8 4 2
+f 9 7 3
+f 10 2 7
+f 12 1 11
+f 13 3 6
+f 13 6 9
+f 14 8 2
+f 14 2 10
+f 14 5 8
+f 15 11 1
+f 15 1 5
+f 15 14 11
+f 15 5 14
+f 16 7 9
+f 16 12 11
+f 17 12 6
+f 17 6 1
+f 17 1 12
+f 18 9 3
+f 18 3 13
+f 19 16 9
+f 19 12 16
+f 19 9 6
+f 19 6 12
+f 20 16 11
+f 20 11 14
+f 20 14 10
+f 20 10 7
+f 20 7 16
+f 21 18 13
+f 21 13 9
+f 21 9 18
\ No newline at end of file
diff --git a/objects/objaverse/can/can_12/collision/model_normalized_collision_23.obj b/objects/objaverse/can/can_12/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f0f1dade6b87a837d41b71c0071b3cd09009227e
--- /dev/null
+++ b/objects/objaverse/can/can_12/collision/model_normalized_collision_23.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.10553054 0.20821295 0.38792738
+v 0.11459191 0.22516528 0.35307404
+v 0.04393863 0.25360558 0.34564903
+v -0.05602833 0.25840474 0.33322706
+v -0.13917655 0.21571871 0.34716653
+v 0.05664093 0.25821885 0.32575760
+v -0.06975482 0.23855552 0.36044287
+v 0.10493206 0.23739610 0.34177249
+v -0.13011534 0.19876634 0.38201984
+v 0.05664093 0.25821885 0.33322706
+v -0.13020252 0.22923251 0.32575759
+v 0.05620796 0.24164025 0.36222074
+v -0.04327470 0.25365572 0.34567684
+v -0.12045553 0.21099710 0.37071827
+v -0.05602833 0.25840474 0.32575760
+v 0.09587074 0.22044373 0.37662578
+f 7 4 5
+f 8 1 2
+f 9 5 2
+f 9 2 1
+f 9 1 7
+f 10 4 3
+f 10 8 6
+f 11 5 4
+f 11 6 8
+f 11 8 2
+f 11 2 5
+f 12 7 1
+f 12 10 3
+f 13 3 4
+f 13 4 7
+f 13 12 3
+f 13 7 12
+f 14 9 7
+f 14 7 5
+f 14 5 9
+f 15 11 4
+f 15 6 11
+f 15 10 6
+f 15 4 10
+f 16 12 1
+f 16 1 8
+f 16 8 10
+f 16 10 12
\ No newline at end of file
diff --git a/objects/objaverse/can/can_12/collision/model_normalized_collision_24.obj b/objects/objaverse/can/can_12/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d09675da2eeb9a339302d20a1b5480bb2139801d
--- /dev/null
+++ b/objects/objaverse/can/can_12/collision/model_normalized_collision_24.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.02953894 -0.26190784 -0.44026501
+v 0.09441286 -0.23805501 -0.45372664
+v 0.08361639 -0.13758003 -0.47332680
+v -0.11192361 -0.14093913 -0.48511310
+v -0.04438184 -0.23526312 -0.50000000
+v -0.12145025 -0.22867833 -0.44772141
+v 0.05986965 -0.25437987 -0.44468659
+v 0.08534727 -0.22332141 -0.50000000
+v -0.07007670 -0.14184703 -0.47171876
+v -0.02887645 -0.26197310 -0.44026501
+v -0.11181149 -0.21064550 -0.50000000
+v 0.09463025 -0.17333706 -0.49587246
+v 0.02886641 -0.23992800 -0.48780060
+v -0.12478047 -0.15660513 -0.49755406
+v 0.09316980 -0.15545328 -0.48576776
+v -0.13055943 -0.21541727 -0.45968045
+f 6 1 3
+f 7 2 3
+f 7 3 1
+f 8 2 7
+f 9 6 3
+f 9 3 4
+f 9 4 6
+f 10 6 5
+f 10 5 1
+f 10 1 6
+f 11 5 6
+f 11 8 5
+f 12 2 8
+f 13 8 7
+f 13 7 1
+f 13 1 5
+f 13 5 8
+f 14 4 3
+f 14 12 8
+f 14 8 11
+f 15 3 2
+f 15 2 12
+f 15 14 3
+f 15 12 14
+f 16 14 11
+f 16 11 6
+f 16 6 4
+f 16 4 14
\ No newline at end of file
diff --git a/objects/objaverse/can/can_12/collision/model_normalized_collision_25.obj b/objects/objaverse/can/can_12/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f6484e510e562cf46356b747ace635534e350ea7
--- /dev/null
+++ b/objects/objaverse/can/can_12/collision/model_normalized_collision_25.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.01548598 -0.06094042 0.40879508
+v 0.04578901 -0.03063739 0.40879508
+v -0.01625810 -0.03640732 0.49095202
+v -0.02583253 0.03686002 0.48224756
+v -0.04512008 0.04512019 0.40879508
+v 0.04213609 0.04989098 0.40879508
+v 0.01455276 -0.03203055 0.45447487
+v -0.04512008 -0.06094042 0.40879508
+v -0.03268325 0.02325838 0.49374933
+v 0.02919811 -0.02524692 0.43587325
+v -0.03216009 0.02590430 0.49243942
+v -0.03027260 -0.02365948 0.49459146
+v -0.03355780 0.03135391 0.48358312
+v -0.02066818 -0.03142099 0.49306230
+f 5 2 1
+f 6 5 4
+f 6 2 5
+f 7 1 2
+f 7 3 1
+f 7 6 3
+f 8 5 1
+f 8 1 3
+f 9 3 6
+f 9 5 8
+f 10 7 2
+f 10 2 6
+f 10 6 7
+f 11 9 6
+f 11 6 4
+f 12 9 8
+f 12 8 3
+f 13 11 4
+f 13 4 5
+f 13 5 9
+f 13 9 11
+f 14 12 3
+f 14 3 9
+f 14 9 12
\ No newline at end of file
diff --git a/objects/objaverse/can/can_12/collision/model_normalized_collision_26.obj b/objects/objaverse/can/can_12/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7b3b3fadd41d8c17cef08a3f579c6981ba579656
--- /dev/null
+++ b/objects/objaverse/can/can_12/collision/model_normalized_collision_26.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.01548598 -0.15184952 0.40879508
+v 0.01548598 -0.15184952 0.00757577
+v 0.01548598 0.12087777 0.00757577
+v -0.12253241 0.12223583 0.41666669
+v -0.12087766 -0.15184952 0.00757577
+v 0.01548598 0.12087777 0.40879508
+v -0.07673875 -0.15431097 0.41666671
+v -0.12087766 0.12087777 0.00757577
+v -0.12087766 -0.09124345 0.40879508
+v -0.10704744 -0.13499775 0.40879508
+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 5 4
+f 8 4 3
+f 8 3 5
+f 9 7 4
+f 9 4 5
+f 10 9 5
+f 10 5 7
+f 10 7 9
\ No newline at end of file
diff --git a/objects/objaverse/can/can_12/collision/model_normalized_collision_27.obj b/objects/objaverse/can/can_12/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ab0dd9f111ce88b62ae99d087d6b4d2a2b4e4880
--- /dev/null
+++ b/objects/objaverse/can/can_12/collision/model_normalized_collision_27.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.17025516 0.02886241 0.40879508
+v -0.18148372 0.02996867 -0.41666666
+v -0.21005196 0.15947456 -0.41666667
+v -0.21005205 0.15947465 0.26515153
+v -0.26138429 0.03485361 -0.41666667
+v -0.23383085 0.03213983 0.38342857
+v -0.22293324 0.14198724 -0.41666667
+v -0.20359613 0.11754566 0.38504024
+v -0.22293332 0.14198728 0.26515154
+v -0.21582694 0.10788578 0.37373870
+f 1 2 3
+f 1 3 4
+f 5 3 2
+f 6 5 2
+f 6 2 1
+f 7 4 3
+f 7 3 5
+f 8 6 1
+f 8 1 4
+f 9 5 6
+f 9 7 5
+f 9 4 7
+f 10 8 4
+f 10 4 9
+f 10 9 6
+f 10 6 8
\ No newline at end of file
diff --git a/objects/objaverse/can/can_12/collision/model_normalized_collision_28.obj b/objects/objaverse/can/can_12/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..add2a0f083b9123168f0d3dbba5370c7dd0239f9
--- /dev/null
+++ b/objects/objaverse/can/can_12/collision/model_normalized_collision_28.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.21228248 0.12819555 0.36204708
+v -0.17581852 0.16168296 -0.50000000
+v -0.19097201 0.14381610 0.37798167
+v -0.17361125 0.18704262 0.34921661
+v -0.21348492 0.15529146 -0.44026501
+v -0.18148372 0.13602928 -0.50000000
+v -0.21348504 0.15529155 0.33322706
+v -0.17363187 0.18706775 -0.45446138
+v -0.17451036 0.17451093 0.36574708
+v -0.20083085 0.13017325 -0.50000000
+v -0.20833353 0.13920452 0.35895203
+v -0.21785138 0.13117223 -0.45574463
+v -0.18293947 0.18293982 -0.45007648
+v -0.18261266 0.18261323 0.34507088
+v -0.19544445 0.13776890 -0.50000000
+f 6 3 1
+f 9 6 2
+f 9 3 6
+f 9 8 4
+f 9 2 8
+f 10 2 6
+f 10 6 1
+f 11 7 1
+f 11 1 3
+f 11 3 9
+f 12 7 5
+f 12 1 7
+f 12 10 1
+f 12 5 10
+f 13 8 2
+f 13 2 5
+f 13 5 7
+f 13 4 8
+f 14 9 4
+f 14 11 9
+f 14 7 11
+f 14 13 7
+f 14 4 13
+f 15 10 5
+f 15 5 2
+f 15 2 10
\ No newline at end of file
diff --git a/objects/objaverse/can/can_12/collision/model_normalized_collision_29.obj b/objects/objaverse/can/can_12/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a90c743b8c49eab0955a907373fcd532f831bb0
--- /dev/null
+++ b/objects/objaverse/can/can_12/collision/model_normalized_collision_29.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.19036762 -0.18346034 0.25000002
+v 0.19036762 -0.18346034 0.00757577
+v 0.15184962 0.12087777 0.25000002
+v 0.01548598 0.12087777 0.25000002
+v 0.01548598 -0.15184952 0.00757577
+v 0.01548598 -0.15184952 0.25000002
+v 0.15184962 0.12087777 0.00757577
+v 0.01548598 0.12087777 0.00757577
+f 1 2 3
+f 5 2 1
+f 6 5 1
+f 6 4 5
+f 6 1 3
+f 6 3 4
+f 7 3 2
+f 7 4 3
+f 8 5 4
+f 8 4 7
+f 8 7 2
+f 8 2 5
\ No newline at end of file
diff --git a/objects/objaverse/can/can_12/collision/model_normalized_collision_3.obj b/objects/objaverse/can/can_12/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..00bc50a101d662439740604599ce9a442ad1d66f
--- /dev/null
+++ b/objects/objaverse/can/can_12/collision/model_normalized_collision_3.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.19036762 -0.18346034 0.00757577
+v 0.19036762 -0.18346034 -0.41666666
+v 0.15184962 0.12087777 -0.41666666
+v -0.12087766 0.12087777 0.00757577
+v -0.12087766 -0.15184952 0.00757577
+v 0.15184962 0.12087777 0.00757577
+v -0.12087766 -0.15184952 -0.41666666
+v -0.04553580 0.12224820 -0.46758859
+v 0.09184587 0.12161169 -0.47085246
+v -0.11235684 0.11235696 -0.47171876
+v 0.09316980 -0.15545328 -0.48576776
+v -0.04581691 -0.15414666 -0.47336231
+v 0.06323345 -0.15940835 -0.47955686
+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 7 5 4
+f 8 4 6
+f 9 8 6
+f 9 6 3
+f 9 3 2
+f 10 7 4
+f 10 4 8
+f 10 8 9
+f 11 10 9
+f 11 9 2
+f 12 2 7
+f 12 7 10
+f 12 10 11
+f 13 12 11
+f 13 11 2
+f 13 2 12
\ No newline at end of file
diff --git a/objects/objaverse/can/can_12/collision/model_normalized_collision_30.obj b/objects/objaverse/can/can_12/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a18b427370414fcc7502dc94de652e31bdbdc7ca
--- /dev/null
+++ b/objects/objaverse/can/can_12/collision/model_normalized_collision_30.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.23383085 0.03213983 0.38342857
+v -0.24479653 0.03321989 -0.46719795
+v -0.22824452 0.06526413 0.38069724
+v -0.23893056 0.06850580 -0.46452435
+v -0.25840460 0.05602844 0.33322706
+v -0.25478877 0.02823482 0.34630479
+v -0.25840454 0.05602842 -0.44026501
+v -0.24178267 0.05558236 0.36230288
+v -0.24476691 0.02874005 0.36429907
+v -0.25365551 0.04327472 0.34567676
+v -0.26186815 0.02893208 -0.44042478
+f 1 2 3
+f 3 2 4
+f 5 3 4
+f 7 5 4
+f 7 4 2
+f 8 1 3
+f 8 3 5
+f 9 2 1
+f 9 1 6
+f 10 6 1
+f 10 5 6
+f 10 8 5
+f 10 1 8
+f 11 6 5
+f 11 5 7
+f 11 7 2
+f 11 9 6
+f 11 2 9
\ No newline at end of file
diff --git a/objects/objaverse/can/can_12/collision/model_normalized_collision_31.obj b/objects/objaverse/can/can_12/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dbef4e35bdf1752065057c2ed2af0bc7a77d14e3
--- /dev/null
+++ b/objects/objaverse/can/can_12/collision/model_normalized_collision_31.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.16896700 -0.16589727 0.38342474
+v 0.19036762 -0.18346034 0.25000002
+v 0.15184962 -0.01548587 0.25000002
+v 0.04138569 -0.00762916 0.37548898
+v 0.01548598 -0.15184952 0.25000002
+v 0.13616903 -0.00613448 0.37591774
+v 0.01548598 -0.15184952 0.40879508
+v 0.01548598 -0.01548587 0.25000002
+f 6 1 2
+f 6 2 3
+f 7 5 2
+f 7 2 1
+f 7 6 4
+f 7 1 6
+f 8 3 2
+f 8 2 5
+f 8 6 3
+f 8 4 6
+f 8 7 4
+f 8 5 7
\ No newline at end of file
diff --git a/objects/objaverse/can/can_12/collision/model_normalized_collision_4.obj b/objects/objaverse/can/can_12/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa51c05b30e77a65ef7bfe2c57b1c610eae86a61
--- /dev/null
+++ b/objects/objaverse/can/can_12/collision/model_normalized_collision_4.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v -0.20557934 -0.15647286 0.34294899
+v -0.20284787 -0.13192008 -0.48983066
+v -0.18148372 0.02996867 0.32575760
+v -0.26196657 0.02894178 0.32575760
+v -0.25821894 -0.05664083 -0.44026501
+v -0.20970766 -0.06030974 0.41546845
+v -0.18148372 0.02996867 -0.41666666
+v -0.20972406 -0.15987435 -0.41666666
+v -0.25821894 -0.05664083 0.32575760
+v -0.20349128 -0.08680944 0.41147907
+v -0.24479653 0.03321989 -0.46719795
+v -0.22428102 -0.12717905 -0.44962412
+v -0.24164026 -0.05620790 0.36222075
+v -0.24465926 -0.10134115 0.32575760
+v -0.21178676 -0.06094042 -0.50000000
+v -0.26186815 0.02893208 -0.44042478
+v -0.23909728 -0.09903731 -0.44994583
+v -0.21422035 -0.05708254 0.40933698
+v -0.24131726 -0.08641295 0.34688309
+v -0.22938924 -0.12990944 0.32575760
+v -0.20685193 -0.11890878 -0.50000000
+v -0.23168279 -0.05778351 -0.50000000
+v -0.20776595 -0.08542768 0.40561712
+v -0.22326509 -0.08553307 -0.50000000
+v -0.21021880 -0.11260978 -0.50000000
+f 6 3 4
+f 7 1 2
+f 7 3 1
+f 8 2 1
+f 9 4 5
+f 10 1 3
+f 10 3 6
+f 11 4 3
+f 11 3 7
+f 12 2 8
+f 13 4 9
+f 14 9 5
+f 15 11 7
+f 16 5 4
+f 16 4 11
+f 17 12 8
+f 17 14 5
+f 17 8 14
+f 18 13 6
+f 18 6 4
+f 18 4 13
+f 19 13 9
+f 19 9 14
+f 20 14 8
+f 20 8 1
+f 20 19 14
+f 20 1 19
+f 21 15 7
+f 21 7 2
+f 21 2 12
+f 22 11 15
+f 22 16 11
+f 22 5 16
+f 22 15 21
+f 23 10 6
+f 23 6 13
+f 23 13 19
+f 23 19 1
+f 23 1 10
+f 24 22 21
+f 24 17 5
+f 24 5 22
+f 25 24 21
+f 25 17 24
+f 25 21 12
+f 25 12 17
\ No newline at end of file
diff --git a/objects/objaverse/can/can_12/collision/model_normalized_collision_5.obj b/objects/objaverse/can/can_12/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c781d53387300e43052df66a2879951798a8c59
--- /dev/null
+++ b/objects/objaverse/can/can_12/collision/model_normalized_collision_5.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v -0.20557934 -0.15647286 0.34294899
+v -0.14316300 -0.09709818 0.43181825
+v -0.20447511 -0.04357098 0.44389597
+v -0.20359613 0.11754566 0.38504024
+v -0.18148372 0.02996867 0.32575760
+v -0.14116064 0.10993762 0.44628681
+v -0.26196657 0.02894178 0.32575760
+v -0.18983496 -0.08760871 0.44372858
+v -0.18987647 0.08696216 0.44384105
+v -0.13606071 0.10575213 0.41666669
+v -0.25821894 -0.05664083 0.33322706
+v -0.22194234 0.10305586 0.36808792
+v -0.19072048 -0.14427845 0.37780226
+v -0.15649240 -0.09408259 0.44775498
+v -0.17554498 0.10255199 0.44605896
+v -0.20450298 0.04291067 0.44396522
+v -0.14316297 -0.09709815 0.44352093
+v -0.13602918 0.07542322 0.40879508
+v -0.25478877 0.02823482 0.34630479
+v -0.19685569 -0.08326273 0.43719973
+v -0.22938924 -0.12990944 0.32575760
+v -0.19443180 0.09644984 0.43013211
+v -0.25360561 -0.04393862 0.34564913
+v -0.23081547 0.08715472 0.36471442
+v -0.20710090 -0.05492287 0.43500676
+v -0.25821894 -0.05664083 0.32575760
+v -0.23865851 -0.09885552 0.34494734
+v -0.19706430 0.08270557 0.43733625
+v -0.20724014 0.05429633 0.43509106
+v -0.24465926 -0.10134115 0.32575760
+v -0.22383553 -0.12694093 0.34464523
+f 5 2 1
+f 10 5 4
+f 10 4 6
+f 12 4 5
+f 12 5 7
+f 13 8 1
+f 13 1 2
+f 14 3 8
+f 14 8 13
+f 15 6 4
+f 15 14 6
+f 16 15 9
+f 16 3 14
+f 16 14 15
+f 17 10 6
+f 17 6 14
+f 17 14 13
+f 17 13 2
+f 18 2 5
+f 18 5 10
+f 18 17 2
+f 18 10 17
+f 19 7 11
+f 19 3 16
+f 20 8 3
+f 20 1 8
+f 21 5 1
+f 22 4 12
+f 22 15 4
+f 22 9 15
+f 23 19 11
+f 23 11 3
+f 23 3 19
+f 24 12 7
+f 24 7 19
+f 24 22 12
+f 25 20 3
+f 25 3 11
+f 25 11 20
+f 26 11 7
+f 26 7 5
+f 27 20 11
+f 28 16 9
+f 28 9 22
+f 28 22 24
+f 29 24 19
+f 29 19 16
+f 29 28 24
+f 29 16 28
+f 30 11 26
+f 30 27 11
+f 30 26 5
+f 30 5 21
+f 31 21 1
+f 31 1 20
+f 31 20 27
+f 31 30 21
+f 31 27 30
\ No newline at end of file
diff --git a/objects/objaverse/can/can_12/collision/model_normalized_collision_6.obj b/objects/objaverse/can/can_12/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..840c1842e37ba3e23ee3a8290e60e12ff13683af
--- /dev/null
+++ b/objects/objaverse/can/can_12/collision/model_normalized_collision_6.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v 0.01431404 -0.24601120 0.36461798
+v 0.08763796 -0.23087236 0.36436174
+v 0.04354338 -0.20505242 0.44366770
+v -0.20045267 -0.08518534 0.43013211
+v -0.22616036 -0.09100748 0.37076381
+v 0.09124356 -0.13669800 0.40879508
+v -0.11679600 -0.17479610 0.44352093
+v 0.04179881 -0.21013335 0.43657998
+v -0.20144204 -0.14335978 0.36383155
+v 0.08756427 -0.19042056 0.44352093
+v -0.07542312 -0.09124345 0.40879508
+v -0.04179249 -0.21010090 0.43663682
+v -0.21689925 -0.11618053 0.36493419
+v -0.14264585 -0.20205599 0.36379238
+v -0.16443588 -0.13785849 0.43424338
+v 0.09534268 -0.14436701 0.44352093
+v 0.08305423 -0.19713424 0.43694463
+v -0.21389742 -0.08728762 0.39399935
+v -0.01365001 -0.24606122 0.36464570
+v -0.04288283 -0.20508007 0.44373702
+v -0.18109400 -0.11323972 0.43680076
+v -0.08701217 -0.23101478 0.36444381
+v -0.13714556 -0.16505119 0.43420297
+v 0.09404108 -0.15708337 0.44796530
+v -0.17644500 -0.08855023 0.44849318
+v -0.08249682 -0.19734286 0.43708113
+v -0.19415371 -0.09697003 0.43013211
+v -0.17479620 -0.11679565 0.44352093
+v -0.08692052 -0.19046762 0.44363076
+f 6 2 5
+f 8 1 2
+f 11 6 5
+f 13 5 2
+f 13 2 9
+f 13 4 5
+f 14 9 2
+f 14 2 1
+f 15 9 14
+f 16 2 6
+f 16 6 11
+f 17 8 2
+f 17 2 10
+f 17 10 3
+f 17 3 8
+f 18 11 5
+f 18 5 4
+f 18 4 11
+f 19 1 8
+f 19 8 12
+f 19 14 1
+f 20 12 8
+f 20 8 3
+f 21 13 9
+f 22 19 12
+f 22 14 19
+f 23 15 14
+f 23 14 7
+f 23 7 15
+f 24 10 2
+f 24 2 16
+f 24 3 10
+f 24 20 3
+f 25 16 11
+f 25 11 4
+f 25 24 16
+f 25 20 24
+f 26 12 20
+f 26 22 12
+f 26 7 14
+f 26 14 22
+f 27 4 13
+f 27 13 21
+f 28 21 9
+f 28 9 15
+f 28 15 7
+f 28 7 25
+f 28 25 4
+f 28 27 21
+f 28 4 27
+f 29 25 7
+f 29 20 25
+f 29 26 20
+f 29 7 26
\ No newline at end of file
diff --git a/objects/objaverse/can/can_12/collision/model_normalized_collision_7.obj b/objects/objaverse/can/can_12/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c7998e471670f7069bacb596bfb54a9d39bc8153
--- /dev/null
+++ b/objects/objaverse/can/can_12/collision/model_normalized_collision_7.obj
@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
+v 0.08490739 -0.20060130 0.43013211
+v 0.24601106 -0.01431389 0.36461786
+v 0.20505246 -0.04354321 0.44366773
+v 0.09580552 0.19001883 0.43740285
+v 0.01548598 0.12087777 0.40879508
+v 0.19734284 0.08249685 0.43708105
+v 0.08850880 -0.17703612 0.44828287
+v 0.20180437 -0.14310824 0.36361285
+v 0.14335988 0.20144205 0.36383152
+v 0.21010101 0.04179261 0.43663682
+v 0.08855038 0.17644515 0.44849317
+v 0.01548598 -0.15184952 0.40879508
+v 0.23087229 -0.08763779 0.36436165
+v 0.17479620 -0.11679565 0.44352093
+v 0.13358035 0.20595398 0.36756453
+v 0.20205581 0.14264592 0.36379226
+v 0.20508033 0.04288294 0.44373695
+v 0.21013324 -0.04179868 0.43658014
+v 0.17479620 0.11679589 0.44352093
+v 0.14880570 -0.19359504 0.36856589
+v 0.11679577 -0.17479610 0.44352093
+v 0.19042050 -0.08756412 0.44352093
+v 0.11679577 0.17479632 0.44352093
+v 0.23101474 0.08701223 0.36444372
+v 0.24606111 0.01365012 0.36464560
+v 0.13785862 0.16443599 0.43424330
+v 0.19046767 0.08692062 0.44363071
+v 0.08659636 -0.20376130 0.41122967
+v 0.16480495 -0.13761242 0.43401945
+v 0.15928158 -0.18789778 0.36450110
+v 0.11303115 -0.18137269 0.43654532
+v 0.19713419 -0.08305409 0.43694454
+v 0.16505101 0.13714564 0.43420329
+v 0.13761251 -0.16480497 0.43401938
+v 0.09669208 -0.19430233 0.43013211
+f 11 4 5
+f 12 1 7
+f 12 5 9
+f 12 11 5
+f 12 7 11
+f 13 8 2
+f 15 9 5
+f 15 5 4
+f 16 2 8
+f 16 8 9
+f 17 10 6
+f 17 11 7
+f 17 7 3
+f 18 13 2
+f 18 17 3
+f 18 10 17
+f 19 6 16
+f 21 14 7
+f 21 7 1
+f 22 3 7
+f 22 7 14
+f 23 15 4
+f 23 9 15
+f 23 4 11
+f 23 11 19
+f 24 16 6
+f 24 6 10
+f 25 18 2
+f 25 10 18
+f 25 24 10
+f 25 2 16
+f 25 16 24
+f 26 16 9
+f 26 23 19
+f 26 9 23
+f 27 17 6
+f 27 6 19
+f 27 19 11
+f 27 11 17
+f 28 20 1
+f 28 1 12
+f 28 12 20
+f 29 8 14
+f 30 20 12
+f 30 12 9
+f 30 9 8
+f 30 8 29
+f 31 21 1
+f 31 20 21
+f 32 18 3
+f 32 3 22
+f 32 13 18
+f 32 8 13
+f 32 22 14
+f 32 14 8
+f 33 26 19
+f 33 19 16
+f 33 16 26
+f 34 30 29
+f 34 21 20
+f 34 20 30
+f 34 29 14
+f 34 14 21
+f 35 31 1
+f 35 1 20
+f 35 20 31
\ No newline at end of file
diff --git a/objects/objaverse/can/can_12/collision/model_normalized_collision_8.obj b/objects/objaverse/can/can_12/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..314d3a18d83afbb99b8b727d63861742defa37c0
--- /dev/null
+++ b/objects/objaverse/can/can_12/collision/model_normalized_collision_8.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.14427850 0.19072060 0.37780222
+v 0.13669810 0.18148383 -0.50000000
+v 0.12717897 0.22428096 -0.44962397
+v 0.01459822 0.26337937 0.32575760
+v 0.01548598 0.18148383 0.32575760
+v 0.12990943 0.22938925 0.25000003
+v 0.06588971 0.22810211 0.38061510
+v 0.01548598 0.21178686 -0.50000000
+v 0.05664087 0.25821863 -0.44026501
+v 0.10553054 0.20821295 0.38792738
+v 0.09885567 0.23865860 0.34494731
+v 0.01640924 0.19085775 -0.49223183
+v 0.01454996 0.26288967 -0.44105992
+v 0.10134126 0.24465934 0.25000003
+v 0.13069334 0.20055269 -0.50000000
+v 0.05620796 0.24164025 0.36222074
+v 0.12694092 0.22383559 0.34464520
+v 0.09903745 0.23909721 -0.44994575
+v 0.05664093 0.25821885 0.32575760
+v 0.12875042 0.21206940 0.36191375
+f 1 2 3
+f 5 2 1
+f 6 1 3
+f 7 4 5
+f 10 7 5
+f 10 5 1
+f 11 7 10
+f 12 8 2
+f 12 2 5
+f 12 5 8
+f 13 8 5
+f 13 5 4
+f 13 4 9
+f 14 6 3
+f 15 3 2
+f 15 2 8
+f 15 13 9
+f 15 8 13
+f 16 4 7
+f 16 7 11
+f 17 1 6
+f 17 14 11
+f 17 6 14
+f 18 14 3
+f 18 9 14
+f 18 15 9
+f 18 3 15
+f 19 14 9
+f 19 9 4
+f 19 11 14
+f 19 16 11
+f 19 4 16
+f 20 10 1
+f 20 1 17
+f 20 17 11
+f 20 11 10
\ No newline at end of file
diff --git a/objects/objaverse/can/can_12/collision/model_normalized_collision_9.obj b/objects/objaverse/can/can_12/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..18eb2970971bca93a28fab0fa1c41ae5861549b4
--- /dev/null
+++ b/objects/objaverse/can/can_12/collision/model_normalized_collision_9.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v 0.05645516 -0.25827518 0.33322728
+v 0.09244472 -0.23156685 -0.46468209
+v 0.08904381 -0.14773397 0.40879508
+v -0.14448335 -0.18061272 0.39173375
+v -0.05584255 -0.25846106 -0.44026501
+v -0.12087766 -0.15184952 -0.41666666
+v 0.07023818 -0.23861227 0.36009020
+v 0.05645516 -0.25827518 -0.44026501
+v -0.05584255 -0.25846106 0.33322728
+v 0.08361639 -0.13758003 -0.47332680
+v -0.11825413 -0.22269885 -0.45867690
+v 0.08763796 -0.23087236 0.36436174
+v -0.04438184 -0.23526312 -0.50000000
+v 0.08635826 -0.24180526 -0.45170577
+v -0.04388240 -0.26049515 -0.44026501
+v -0.06961239 -0.23875476 0.36017230
+v 0.02884871 -0.25489981 0.34599567
+v -0.09888825 -0.23873707 0.34479389
+v -0.08894364 -0.22223052 -0.50000000
+v 0.08627068 -0.24151654 0.34661250
+v -0.02818472 -0.25494985 0.34602338
+v -0.11369957 -0.22932930 -0.45269745
+v -0.11058259 -0.22349783 0.35916731
+v -0.09907603 -0.23919044 -0.44978363
+v -0.10123477 -0.21920437 -0.48998619
+v -0.04407869 -0.14841647 -0.47122917
+v -0.04512008 -0.22760709 -0.50000000
+f 6 4 3
+f 10 6 3
+f 10 3 2
+f 11 4 6
+f 12 3 4
+f 12 2 3
+f 12 7 1
+f 13 2 8
+f 13 10 2
+f 14 8 2
+f 14 1 8
+f 15 8 1
+f 15 13 8
+f 15 5 13
+f 15 9 5
+f 15 1 9
+f 16 12 4
+f 16 7 12
+f 17 9 1
+f 17 1 7
+f 17 7 16
+f 18 9 16
+f 19 13 5
+f 20 12 1
+f 20 1 14
+f 20 14 2
+f 20 2 12
+f 21 17 16
+f 21 16 9
+f 21 9 17
+f 22 18 4
+f 22 4 11
+f 23 18 16
+f 23 16 4
+f 23 4 18
+f 24 5 9
+f 24 9 18
+f 24 18 22
+f 24 22 19
+f 24 19 5
+f 25 11 6
+f 25 22 11
+f 25 19 22
+f 26 6 10
+f 26 10 19
+f 26 25 6
+f 26 19 25
+f 27 19 10
+f 27 10 13
+f 27 13 19
\ No newline at end of file
diff --git a/objects/objaverse/can/can_12/model.xml b/objects/objaverse/can/can_12/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..85bf144086323fc64f86f156851221094985ce2d
--- /dev/null
+++ b/objects/objaverse/can/can_12/model.xml
@@ -0,0 +1,81 @@
+<mujoco model="can_30">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.11 0.11 0.11" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.11 0.11 0.11" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.11 0.11 0.11" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.11 0.11 0.11" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.11 0.11 0.11" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.11 0.11 0.11" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.11 0.11 0.11" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.11 0.11 0.11" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.11 0.11 0.11" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.11 0.11 0.11" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.11 0.11 0.11" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.11 0.11 0.11" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.11 0.11 0.11" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.11 0.11 0.11" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.11 0.11 0.11" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.11 0.11 0.11" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.11 0.11 0.11" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.11 0.11 0.11" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.11 0.11 0.11" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.11 0.11 0.11" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.11 0.11 0.11" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.11 0.11 0.11" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.11 0.11 0.11" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.11 0.11 0.11" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.11 0.11 0.11" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.11 0.11 0.11" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.11 0.11 0.11" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.11 0.11 0.11" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.11 0.11 0.11" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.11 0.11 0.11" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.11 0.11 0.11" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.11 0.11 0.11" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.11 0.11 0.11" refquat="1.0 0.0 0.0 0.0"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="None.002" 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="None.002"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_22._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_23._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_21._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_20._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_24._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_30._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_18._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_19._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_31._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_25._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_27._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_26._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_9._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_8._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_6._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_7._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_5._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_4._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_0._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_1._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_3._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_2._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_17._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_16._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_28._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_14._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_15._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_29._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_11._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_10._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_12._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_13._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+      </body>
+      <site rgba="0 0 0 0" size="0.005" pos="7.80526999999992e-05 7.73448499999993e-05 -0.055" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="7.80526999999992e-05 7.73448499999993e-05 0.0544050606" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.0289724281 0.0289717307 -0.00029746970000000096" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/objects/objaverse/can/can_12/visual/material.mtl b/objects/objaverse/can/can_12/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fbcf6b4b1af9257e08a0fd6e283841743ce8fad5
--- /dev/null
+++ b/objects/objaverse/can/can_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/can/can_12/visual/model_normalized_0.obj b/objects/objaverse/can/can_12/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ddf165e13c4f0db012af5eb88a934615a4f8bf2
--- /dev/null
+++ b/objects/objaverse/can/can_12/visual/model_normalized_0.obj
@@ -0,0 +1,9709 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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+f 2739/2739/2739 2741/2741/2741 2743/2743/2743
\ No newline at end of file
diff --git a/objects/objaverse/can/can_13/collision/model_normalized_collision_1.obj b/objects/objaverse/can/can_13/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cfaa02e804716d9de76c4ea7507b222317dd4ced
--- /dev/null
+++ b/objects/objaverse/can/can_13/collision/model_normalized_collision_1.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v -0.14525681 -0.15025248 0.45704394
+v -0.12593939 -0.13484738 -0.46637422
+v -0.14525681 0.12247479 0.45704394
+v -0.26604789 0.11892046 0.39456552
+v -0.26686556 -0.13848587 -0.43845428
+v -0.13624965 0.11529182 -0.46432045
+v -0.29371559 0.00000000 0.39338942
+v -0.25117054 -0.15013535 -0.44683250
+v -0.26769358 0.11929607 -0.44969080
+v -0.26515846 -0.13712450 0.37844176
+v -0.25342269 0.11949707 -0.46562832
+v -0.29370652 0.04255932 0.36833440
+v -0.29424171 -0.04015614 0.36841890
+v -0.26469230 -0.12746908 0.39323093
+v -0.25384801 -0.14018763 0.39449168
+v -0.24596006 0.07579746 -0.49864670
+v -0.27679735 0.10276419 0.37865531
+v -0.27955223 -0.10086766 -0.43845426
+v -0.27727723 -0.10034838 0.37884058
+v -0.24716941 0.11916686 -0.47265603
+v -0.24377199 -0.08792423 -0.49829887
+v -0.29374915 0.02741752 0.37929173
+v -0.27900435 0.10326792 -0.43845419
+v -0.22681052 -0.09096935 -0.49561516
+v -0.28400244 0.04380266 -0.45072379
+v -0.24821639 0.07285421 -0.49662418
+v -0.29513578 -0.04036021 -0.41666667
+v -0.28026126 0.07325179 -0.44738461
+v -0.25383532 0.04383367 -0.49829887
+v -0.29458793 0.04276049 -0.41666667
+f 1 2 3
+f 6 3 2
+f 7 1 3
+f 7 3 4
+f 8 2 1
+f 9 4 3
+f 10 5 8
+f 11 9 3
+f 11 3 6
+f 14 1 7
+f 15 10 8
+f 15 8 1
+f 15 14 10
+f 15 1 14
+f 16 6 2
+f 16 9 11
+f 18 5 10
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+f 19 14 7
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+f 23 4 9
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+f 24 16 2
+f 24 2 21
+f 25 21 18
+f 26 23 9
+f 26 9 16
+f 27 25 18
+f 27 18 13
+f 27 13 12
+f 28 25 23
+f 28 23 26
+f 29 26 16
+f 29 16 21
+f 29 21 25
+f 29 28 26
+f 29 25 28
+f 30 27 12
+f 30 12 23
+f 30 23 25
+f 30 25 27
\ No newline at end of file
diff --git a/objects/objaverse/can/can_13/collision/model_normalized_collision_11.obj b/objects/objaverse/can/can_13/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d6edc6c40c7c53163d0246573499e171203ee5a
--- /dev/null
+++ b/objects/objaverse/can/can_13/collision/model_normalized_collision_11.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v 0.26944030 0.13001418 0.38105173
+v 0.27071005 0.13102678 -0.44186492
+v 0.17947686 0.24098105 -0.43845419
+v 0.15089857 0.24456249 0.39462120
+v 0.15777348 0.13762630 0.45704394
+v 0.17858047 0.23911965 0.37812945
+v 0.21739707 0.20051747 -0.43845419
+v 0.22480154 0.13066474 -0.49829885
+v 0.15556168 0.20879101 -0.49929287
+v 0.20098808 0.18129455 0.43057165
+v 0.26461027 0.14131389 -0.43845419
+v 0.21586098 0.19929247 0.37786040
+v 0.18690624 0.23067072 -0.44687477
+v 0.15161302 0.24604608 -0.44976617
+v 0.16176772 0.14081160 -0.48214628
+v 0.25774255 0.13276846 0.39812523
+v 0.19477785 0.19149358 0.42711569
+v 0.26285612 0.13991500 0.37860177
+v 0.17117502 0.19990539 -0.49617235
+v 0.16492753 0.24223149 -0.44707689
+v 0.17980593 0.14311366 -0.48986975
+v 0.16365173 0.23958229 0.39221620
+v 0.20026538 0.19893833 0.40658623
+v 0.16502603 0.15856153 -0.48891350
+f 6 3 4
+f 7 3 6
+f 8 2 1
+f 8 1 5
+f 11 1 2
+f 11 2 7
+f 12 7 6
+f 12 11 7
+f 13 7 2
+f 13 9 3
+f 13 3 7
+f 14 5 4
+f 14 4 3
+f 15 8 5
+f 15 14 9
+f 15 5 14
+f 16 10 5
+f 16 5 1
+f 17 4 5
+f 17 5 10
+f 18 12 1
+f 18 1 11
+f 18 11 12
+f 19 8 9
+f 19 9 13
+f 19 13 2
+f 19 2 8
+f 20 14 3
+f 20 3 9
+f 20 9 14
+f 21 9 8
+f 21 8 15
+f 22 17 6
+f 22 6 4
+f 22 4 17
+f 23 12 6
+f 23 6 17
+f 23 1 12
+f 23 16 1
+f 23 17 10
+f 23 10 16
+f 24 21 15
+f 24 15 9
+f 24 9 21
\ No newline at end of file
diff --git a/objects/objaverse/can/can_13/collision/model_normalized_collision_20.obj b/objects/objaverse/can/can_13/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b0a96e065c25d7e787f85496a8aa396da3e5c894
--- /dev/null
+++ b/objects/objaverse/can/can_13/collision/model_normalized_collision_20.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v -0.25969106 0.04517021 0.49999998
+v -0.08465075 0.21338388 0.45704394
+v -0.24971302 0.04980925 0.49999998
+v -0.08174265 0.25279967 0.49999998
+v -0.22029391 0.14012033 0.45899489
+v -0.08981569 0.23926048 0.49999998
+v -0.16738359 0.21155721 0.49999998
+v -0.23616590 0.04671721 0.45704394
+v -0.23641172 0.12573943 0.49999998
+v -0.09243054 0.24353089 0.45950454
+v -0.22101439 0.06186873 0.45704394
+v -0.25592766 0.04431124 0.46045615
+v -0.17592275 0.20159038 0.48260870
+v -0.10634099 0.24095375 0.48260870
+v -0.08006529 0.24931662 0.46049355
+v -0.15346300 0.21411329 0.45965586
+v -0.24950597 0.07314857 0.45944182
+v -0.17592275 0.20159038 0.49999998
+v -0.23641172 0.12573943 0.48260870
+v -0.16738359 0.21155721 0.48260870
+v -0.23976057 0.11546264 0.45999592
+v -0.24983005 0.08837404 0.48260870
+v -0.24983006 0.08837404 0.49999998
+f 1 3 4
+f 6 3 2
+f 6 2 4
+f 6 4 3
+f 7 1 4
+f 8 5 2
+f 8 3 1
+f 9 1 7
+f 11 8 2
+f 11 2 3
+f 11 3 8
+f 12 8 1
+f 14 7 4
+f 15 4 2
+f 15 2 10
+f 15 14 4
+f 15 10 14
+f 16 10 2
+f 16 2 5
+f 17 8 12
+f 18 13 9
+f 18 9 7
+f 18 7 13
+f 19 13 5
+f 19 9 13
+f 20 16 5
+f 20 5 13
+f 20 13 7
+f 20 7 14
+f 20 14 10
+f 20 10 16
+f 21 5 8
+f 21 8 17
+f 21 19 5
+f 22 17 12
+f 22 12 1
+f 22 21 17
+f 22 19 21
+f 23 22 1
+f 23 1 9
+f 23 9 19
+f 23 19 22
\ No newline at end of file
diff --git a/objects/objaverse/can/can_13/collision/model_normalized_collision_23.obj b/objects/objaverse/can/can_13/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..988e4d4ca47bd4c241551d2481d0507dd693a026
--- /dev/null
+++ b/objects/objaverse/can/can_13/collision/model_normalized_collision_23.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.09075553 -0.27330168 0.39508549
+v 0.19586995 -0.18370197 -0.47250727
+v 0.20217239 -0.18872801 0.41779114
+v 0.09716742 -0.16540400 0.45704394
+v 0.09306857 -0.15689262 -0.46597508
+v 0.14994274 -0.25520390 -0.43845428
+v 0.16570311 -0.24131667 -0.44763741
+v 0.14895102 -0.25314457 0.37871351
+v 0.09132035 -0.27447453 -0.45039465
+v 0.16448179 -0.23878060 0.39304856
+v 0.11845679 -0.26789906 0.37854772
+v 0.09100375 -0.24351408 -0.49242424
+v 0.10484862 -0.27110384 -0.44713918
+v 0.11942145 -0.26990219 -0.43845428
+v 0.10922588 -0.23473877 -0.49242424
+v 0.16907379 -0.23316446 -0.45439745
+f 1 3 4
+f 5 1 4
+f 5 3 2
+f 5 4 3
+f 7 2 3
+f 8 6 7
+f 10 3 1
+f 10 1 8
+f 10 8 7
+f 10 7 3
+f 11 8 1
+f 11 6 8
+f 12 9 1
+f 12 1 5
+f 13 7 6
+f 13 9 12
+f 14 11 1
+f 14 1 9
+f 14 9 13
+f 14 13 6
+f 14 6 11
+f 15 12 5
+f 15 5 2
+f 15 13 12
+f 15 7 13
+f 16 15 2
+f 16 2 7
+f 16 7 15
\ No newline at end of file
diff --git a/objects/objaverse/can/can_13/collision/model_normalized_collision_25.obj b/objects/objaverse/can/can_13/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..88da8e353e467cbb1af10287e75e603b79eefa65
--- /dev/null
+++ b/objects/objaverse/can/can_13/collision/model_normalized_collision_25.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v -0.05434772 -0.24995411 0.48882064
+v -0.05434772 -0.24584026 0.46212120
+v -0.05434772 -0.22601006 0.45704394
+v -0.23175284 -0.13158167 0.49999998
+v -0.16834281 -0.21109532 0.48260870
+v -0.20697926 -0.14807417 0.49904794
+v -0.12391109 -0.22829916 0.45992279
+v -0.16834281 -0.21109532 0.49999998
+v -0.07258079 -0.24756048 0.49999998
+v -0.22871115 -0.12915601 0.46065269
+v -0.13784950 -0.22578013 0.48260870
+v -0.15442734 -0.21359039 0.45999846
+v -0.19042958 -0.18339939 0.48260870
+v -0.19071136 -0.13510097 0.45704394
+v -0.13784950 -0.22578013 0.49999998
+v -0.22149647 -0.13855401 0.45923147
+f 1 2 3
+f 6 1 3
+f 6 3 4
+f 7 3 2
+f 8 4 5
+f 9 7 2
+f 9 2 1
+f 9 1 6
+f 9 6 4
+f 9 4 8
+f 11 8 5
+f 11 5 7
+f 11 7 9
+f 12 7 5
+f 12 3 7
+f 13 5 4
+f 14 10 4
+f 14 4 3
+f 14 3 12
+f 15 11 9
+f 15 9 8
+f 15 8 11
+f 16 12 5
+f 16 14 12
+f 16 10 14
+f 16 5 13
+f 16 13 4
+f 16 4 10
\ No newline at end of file
diff --git a/objects/objaverse/can/can_13/collision/model_normalized_collision_29.obj b/objects/objaverse/can/can_13/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c82319b0814f9a86c97462961314ee924194777
--- /dev/null
+++ b/objects/objaverse/can/can_13/collision/model_normalized_collision_29.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.09716742 0.21338388 0.26515150
+v 0.09716742 0.21338388 -0.23484849
+v 0.08866300 0.28663335 -0.23484849
+v 0.00625834 0.29671712 0.26515150
+v 0.00625834 0.21338388 -0.23484849
+v 0.08866298 0.28663330 0.26515150
+v 0.00625834 0.21338388 0.26515150
+v 0.00625834 0.29671718 -0.23484849
+f 1 2 3
+f 5 2 1
+f 5 3 2
+f 6 1 3
+f 7 5 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/can/can_13/collision/model_normalized_collision_31.obj b/objects/objaverse/can/can_13/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..72d8360bbeac5bfd32265d84f01bc20c31fc61fc
--- /dev/null
+++ b/objects/objaverse/can/can_13/collision/model_normalized_collision_31.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.00625834 -0.16540400 0.45704394
+v 0.00625834 -0.16540400 0.26515150
+v 0.00625834 0.13762630 0.45704394
+v -0.14525681 0.13762630 0.45704394
+v -0.14525681 -0.16540400 0.45704394
+v 0.00625834 0.13762630 0.26515150
+v -0.14525681 0.13762630 0.26515150
+v -0.14525681 -0.16540400 0.26515150
+f 1 3 4
+f 5 2 1
+f 5 1 4
+f 6 1 2
+f 6 3 1
+f 7 5 4
+f 7 4 3
+f 7 3 6
+f 7 6 2
+f 8 7 2
+f 8 2 5
+f 8 5 7
\ No newline at end of file
diff --git a/objects/objaverse/can/can_13/collision/model_normalized_collision_4.obj b/objects/objaverse/can/can_13/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b4816821a5f5ceaabc6bc91e0dc4335fdc2930e
--- /dev/null
+++ b/objects/objaverse/can/can_13/collision/model_normalized_collision_4.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.23737753 0.12861083 0.44067850
+v 0.25774255 0.13276846 0.39812523
+v 0.13472345 0.22728548 0.49999998
+v -0.06352052 0.26157498 0.49999998
+v -0.14525681 0.13762630 0.45704394
+v 0.08992545 0.27410331 0.39425312
+v 0.14871945 0.21089391 0.49999998
+v 0.25340892 0.12931251 0.41086511
+v 0.18138511 0.22979208 0.39480521
+v 0.07368087 0.25668205 0.49999998
+v -0.15032359 0.23905667 0.40659594
+v 0.20412046 0.13833799 0.46212120
+v -0.08981569 0.23926048 0.49999998
+v 0.25153231 0.14296748 0.39466928
+v 0.19102466 0.21880354 0.39472404
+v -0.07939004 0.27821746 0.39623987
+v -0.14109775 0.21989902 0.46064488
+v -0.08174265 0.25279967 0.49999998
+f 7 3 4
+f 8 5 2
+f 8 1 5
+f 8 7 1
+f 8 2 7
+f 9 6 3
+f 10 6 4
+f 10 4 3
+f 10 3 6
+f 11 2 5
+f 12 7 5
+f 12 5 1
+f 12 1 7
+f 13 7 4
+f 13 5 7
+f 14 2 11
+f 14 7 2
+f 15 9 3
+f 15 3 7
+f 15 7 14
+f 15 14 6
+f 15 6 9
+f 16 4 6
+f 16 14 11
+f 16 6 14
+f 17 11 5
+f 17 5 13
+f 18 16 11
+f 18 4 16
+f 18 11 17
+f 18 17 13
+f 18 13 4
\ No newline at end of file
diff --git a/objects/objaverse/can/can_13/collision/model_normalized_collision_5.obj b/objects/objaverse/can/can_13/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f949703d67c2b3da61fefe9b7d8cb31ef5171625
--- /dev/null
+++ b/objects/objaverse/can/can_13/collision/model_normalized_collision_5.obj
@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
+v 0.16688678 -0.24377460 0.38030869
+v 0.28161708 -0.08678881 -0.44077594
+v 0.29141109 -0.00980842 0.39353684
+v 0.17292500 0.04671721 0.45704394
+v 0.16275136 0.04439515 -0.46205397
+v 0.25500002 -0.06078531 0.44940764
+v 0.27691515 -0.11601866 0.36849158
+v 0.16761750 -0.24529196 -0.44107001
+v 0.29445745 0.04333209 -0.41666667
+v 0.26911426 -0.01163579 0.44256437
+v 0.16946201 -0.23397061 0.39804256
+v 0.29171833 -0.05533309 -0.41666667
+v 0.27454957 -0.08517569 0.39277371
+v 0.21275680 -0.14576850 -0.49829887
+v 0.16554357 -0.20497205 -0.49829887
+v 0.23190388 -0.18232649 -0.43845428
+v 0.29040996 0.04240827 0.37907832
+v 0.24868257 -0.01388885 0.45704394
+v 0.26393444 -0.13824959 0.37912089
+v 0.27613478 -0.11584055 -0.43845427
+v 0.29084237 -0.05513317 0.36829818
+v 0.29088985 -0.03999248 0.37926366
+v 0.24600866 -0.08557789 -0.49242424
+v 0.18045494 -0.24048673 -0.43849774
+v 0.18802188 -0.22903509 -0.44707689
+v 0.28238035 0.04403380 0.39626840
+v 0.18584952 -0.22730267 0.39184409
+v 0.26571679 -0.13967097 -0.43878445
+v 0.26616574 -0.12817858 -0.44913119
+v 0.29095044 0.01222862 0.39333127
+v 0.17944521 -0.23839003 0.37887946
+v 0.23044766 -0.18116518 0.37758885
+v 0.24851090 -0.15318417 -0.44707689
+v 0.24272167 -0.09997918 -0.49242424
+v 0.27756070 -0.01010539 0.42442053
+f 5 1 4
+f 9 5 4
+f 11 6 4
+f 11 4 1
+f 12 2 9
+f 13 6 7
+f 15 8 1
+f 15 1 5
+f 15 5 14
+f 17 3 9
+f 18 4 6
+f 18 6 10
+f 19 7 6
+f 20 12 7
+f 20 2 12
+f 21 7 12
+f 21 12 9
+f 21 9 3
+f 22 13 7
+f 22 3 6
+f 22 6 13
+f 22 21 3
+f 22 7 21
+f 23 9 2
+f 23 14 5
+f 23 5 9
+f 24 1 8
+f 24 8 15
+f 25 15 14
+f 25 24 15
+f 25 16 24
+f 26 17 9
+f 26 9 4
+f 26 18 10
+f 26 4 18
+f 27 19 6
+f 27 6 11
+f 28 16 25
+f 28 20 7
+f 28 7 19
+f 29 2 20
+f 29 20 28
+f 29 28 14
+f 30 26 10
+f 30 3 17
+f 30 17 26
+f 31 27 11
+f 31 11 1
+f 31 1 24
+f 32 28 19
+f 32 16 28
+f 32 19 27
+f 32 27 31
+f 32 31 24
+f 32 24 16
+f 33 28 25
+f 33 25 14
+f 33 14 28
+f 34 29 14
+f 34 14 23
+f 34 23 2
+f 34 2 29
+f 35 30 10
+f 35 3 30
+f 35 10 6
+f 35 6 3
\ No newline at end of file
diff --git a/objects/objaverse/can/can_13/collision/model_normalized_collision_6.obj b/objects/objaverse/can/can_13/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c97516a6eb7238dd7a98bc0faaa0b8e7fadcb594
--- /dev/null
+++ b/objects/objaverse/can/can_13/collision/model_normalized_collision_6.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.09716742 0.21338388 -0.23484849
+v 0.09716742 0.21338388 -0.41666667
+v 0.08866301 0.28663337 -0.41666667
+v -0.07850267 0.29152632 -0.23484849
+v -0.15380484 0.23113406 -0.46411309
+v 0.08866300 0.28663335 -0.23484849
+v -0.07730273 0.19812556 -0.48104064
+v -0.16323712 0.25072034 -0.23484849
+v -0.07850266 0.29152634 -0.41666667
+v -0.07913661 0.24738818 -0.49829878
+v -0.13654505 0.25589977 -0.44707689
+v -0.09733429 0.23856209 -0.49833346
+v -0.08414242 0.24263134 -0.49958066
+v -0.07958282 0.27861778 -0.45195727
+v -0.10808883 0.27488623 -0.43933866
+v -0.09311110 0.27524709 -0.44870180
+f 1 2 3
+f 6 1 3
+f 6 3 4
+f 6 4 1
+f 7 2 1
+f 8 1 4
+f 8 7 1
+f 8 5 7
+f 9 4 3
+f 9 8 4
+f 10 3 2
+f 11 5 8
+f 12 7 5
+f 12 11 10
+f 12 5 11
+f 13 10 2
+f 13 2 7
+f 13 12 10
+f 13 7 12
+f 14 9 3
+f 14 3 10
+f 15 11 8
+f 15 8 9
+f 15 9 14
+f 15 10 11
+f 16 15 14
+f 16 14 10
+f 16 10 15
\ No newline at end of file
diff --git a/objects/objaverse/can/can_13/collision/model_normalized_collision_7.obj b/objects/objaverse/can/can_13/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd59662ba410bcf0907c30d67a695d0906aa37f0
--- /dev/null
+++ b/objects/objaverse/can/can_13/collision/model_normalized_collision_7.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v -0.18153866 -0.18839204 0.46031451
+v -0.14525681 -0.15025248 0.45704394
+v -0.24971302 0.04980925 0.49999998
+v -0.23976057 0.11546264 0.45999592
+v -0.25384801 -0.14018763 0.39449168
+v -0.14525681 0.12247479 0.45704394
+v -0.21317431 -0.14093163 0.49999998
+v -0.19839668 -0.20183586 0.40579197
+v -0.28290943 0.04355318 0.39532864
+v -0.26427614 -0.02508165 0.49999998
+v -0.23764283 -0.12419585 0.49999998
+v -0.25969106 0.04517021 0.49999998
+v -0.26300543 0.12168427 0.39996947
+v -0.28337008 -0.04113298 0.39553424
+v -0.21312494 -0.18941541 0.39712470
+v -0.26701530 0.01308065 0.49999998
+v -0.24679358 0.11798403 0.43818910
+v -0.26881170 0.10439976 0.39579893
+v -0.25037797 -0.08597378 0.49999998
+v -0.26927235 -0.10197956 0.39600451
+f 6 4 3
+f 7 1 2
+f 7 6 3
+f 7 2 6
+f 8 2 1
+f 8 6 2
+f 10 7 3
+f 11 7 10
+f 11 8 1
+f 11 1 7
+f 12 3 4
+f 12 10 3
+f 13 12 4
+f 14 9 5
+f 15 11 5
+f 15 8 11
+f 15 13 6
+f 15 6 8
+f 16 12 9
+f 16 10 12
+f 16 14 10
+f 16 9 14
+f 17 13 4
+f 17 4 6
+f 17 6 13
+f 18 9 12
+f 18 12 13
+f 18 13 15
+f 18 15 5
+f 18 5 9
+f 19 11 10
+f 19 10 14
+f 20 19 14
+f 20 14 5
+f 20 5 11
+f 20 11 19
\ No newline at end of file
diff --git a/objects/objaverse/can/can_13/model.xml b/objects/objaverse/can/can_13/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..c78a2313217ff55d09a1c5e9e3a9244203090b97
--- /dev/null
+++ b/objects/objaverse/can/can_13/model.xml
@@ -0,0 +1,81 @@
+<mujoco model="can_13">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.1 0.1 0.1" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.1 0.1 0.1" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.1 0.1 0.1" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.1 0.1 0.1" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.1 0.1 0.1" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.1 0.1 0.1" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.1 0.1 0.1" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.1 0.1 0.1" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.1 0.1 0.1" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.1 0.1 0.1" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.1 0.1 0.1" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.1 0.1 0.1" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.1 0.1 0.1" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.1 0.1 0.1" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.1 0.1 0.1" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.1 0.1 0.1" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.1 0.1 0.1" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.1 0.1 0.1" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.1 0.1 0.1" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.1 0.1 0.1" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.1 0.1 0.1" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.1 0.1 0.1" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.1 0.1 0.1" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.1 0.1 0.1" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.1 0.1 0.1" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.1 0.1 0.1" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.1 0.1 0.1" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.1 0.1 0.1" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.1 0.1 0.1" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.1 0.1 0.1" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.1 0.1 0.1" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.1 0.1 0.1" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.1 0.1 0.1" refquat="1.0 0.0 0.0 0.0"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="Scene_-_Root.043" 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="Scene_-_Root.043"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_22._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_23._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_21._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_20._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_24._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_30._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_18._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_19._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_31._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_25._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_27._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_26._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_9._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_8._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_6._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_7._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_5._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_4._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_0._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_1._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_3._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_2._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_17._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_16._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_28._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_14._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_15._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_29._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_11._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_10._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_12._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_13._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+      </body>
+      <site rgba="0 0 0 0" size="0.005" pos="-3.391650000000024e-05 -1.4999999992104662e-09 -0.05" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="-3.391650000000024e-05 -1.4999999992104662e-09 0.049999998000000004" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.029445745000000002 0.029671718000000003 -9.999999994736442e-10" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/objects/objaverse/can/can_3/collision/model_normalized_collision_0.obj b/objects/objaverse/can/can_3/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..53ae17f36fe34be4c98ebc4a53c9e3ba29a85ec6
--- /dev/null
+++ b/objects/objaverse/can/can_3/collision/model_normalized_collision_0.obj
@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
+v 0.14134047 -0.20652432 0.38003690
+v 0.25101492 -0.08826683 -0.42135967
+v 0.25652688 -0.00398980 0.37986599
+v 0.14761072 -0.00499692 0.40151514
+v 0.14761072 -0.00499692 -0.41666667
+v 0.14644036 -0.17024778 0.43084659
+v 0.22201030 -0.14606029 0.34944934
+v 0.14156037 -0.20689587 -0.43732737
+v 0.14062617 -0.17836617 0.42602027
+v 0.25703845 -0.00403176 -0.43713393
+v 0.24019312 -0.00637486 0.41040590
+v 0.25217807 -0.08876581 0.34975882
+v 0.20717150 -0.15734273 0.36375999
+v 0.22112876 -0.14550222 -0.42075666
+v 0.16325291 -0.18423120 0.38963017
+v 0.14031906 -0.18964710 0.40930932
+v 0.22269794 -0.00494201 -0.47667322
+v 0.25014910 -0.06097647 0.37624830
+v 0.16567929 -0.20231789 -0.42160467
+v 0.23524292 -0.10315208 0.37585381
+v 0.19136040 -0.15675946 0.38983265
+v 0.16355798 -0.19975173 0.36348616
+v 0.15192023 -0.20218233 0.37682204
+v 0.16922388 -0.14531900 -0.47232008
+v 0.22946220 -0.00425507 -0.46917245
+v 0.22067189 -0.13006155 0.37534004
+v 0.23521065 -0.11588083 0.36385172
+v 0.20877098 -0.13211932 0.39249917
+v 0.15678581 -0.16443380 0.42685679
+v 0.15307523 -0.20371950 -0.43346945
+v 0.22293974 -0.07407095 -0.46223540
+v 0.19314953 -0.13182188 -0.46152319
+v 0.18792163 -0.12295274 -0.47189618
+v 0.25228047 -0.06150441 -0.43281643
+v 0.23742816 -0.10408960 -0.43233833
+v 0.18478328 -0.13403777 -0.46755867
+v 0.22288103 -0.13146002 -0.43171344
+v 0.23681587 -0.07440055 -0.44715696
+f 5 4 3
+f 9 4 5
+f 9 6 4
+f 11 3 4
+f 11 4 6
+f 12 10 3
+f 12 2 10
+f 14 12 7
+f 14 2 12
+f 16 8 1
+f 16 9 5
+f 16 5 8
+f 18 12 3
+f 18 3 11
+f 19 14 7
+f 19 1 8
+f 20 12 18
+f 20 18 11
+f 21 15 13
+f 22 13 15
+f 22 1 19
+f 22 19 7
+f 22 7 13
+f 23 15 9
+f 23 9 16
+f 23 16 1
+f 23 22 15
+f 23 1 22
+f 24 8 5
+f 24 5 17
+f 25 17 5
+f 25 5 3
+f 25 3 10
+f 26 13 7
+f 27 7 12
+f 27 12 20
+f 27 26 7
+f 27 20 26
+f 28 20 11
+f 28 26 20
+f 28 21 13
+f 28 13 26
+f 29 15 21
+f 29 6 9
+f 29 9 15
+f 29 21 28
+f 29 28 11
+f 29 11 6
+f 30 19 8
+f 30 8 24
+f 30 14 19
+f 32 30 24
+f 32 14 30
+f 33 24 17
+f 33 17 31
+f 34 17 25
+f 34 25 10
+f 34 10 2
+f 35 2 14
+f 35 34 2
+f 35 33 31
+f 36 33 32
+f 36 32 24
+f 36 24 33
+f 37 35 14
+f 37 14 32
+f 37 32 33
+f 37 33 35
+f 38 35 31
+f 38 34 35
+f 38 31 17
+f 38 17 34
\ No newline at end of file
diff --git a/objects/objaverse/can/can_3/collision/model_normalized_collision_14.obj b/objects/objaverse/can/can_3/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b460c4a6f774bef9b169e567963be9fd93c8acb
--- /dev/null
+++ b/objects/objaverse/can/can_3/collision/model_normalized_collision_14.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.16276223 0.04045763 -0.41666667
+v 0.15153744 0.03767646 -0.48788999
+v 0.17474940 0.19132226 -0.42667363
+v 0.01060484 0.25934253 -0.41666667
+v 0.00995766 0.09937345 -0.47181580
+v 0.01066841 0.24502143 -0.44087065
+v 0.09773993 0.24156751 -0.41666667
+v 0.08792605 0.03435222 -0.47024261
+v 0.16411898 0.17846254 -0.44870690
+v 0.01033503 0.25581904 -0.42555080
+v 0.01060540 0.10783391 -0.47441465
+v 0.09514698 0.23510232 -0.43174814
+v 0.06759677 0.24935514 -0.42190711
+v 0.06796340 0.25093796 -0.41666671
+f 1 2 3
+f 5 1 4
+f 7 1 3
+f 7 4 1
+f 8 5 2
+f 8 2 1
+f 8 1 5
+f 9 3 2
+f 9 2 6
+f 10 6 5
+f 10 5 4
+f 11 6 2
+f 11 2 5
+f 11 5 6
+f 12 7 3
+f 12 3 9
+f 12 9 6
+f 13 10 4
+f 13 7 12
+f 13 12 6
+f 13 6 10
+f 14 13 4
+f 14 4 7
+f 14 7 13
\ No newline at end of file
diff --git a/objects/objaverse/can/can_3/collision/model_normalized_collision_15.obj b/objects/objaverse/can/can_3/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e4263d9ef200ee8dc1dc1202ef220f4c927b63ca
--- /dev/null
+++ b/objects/objaverse/can/can_3/collision/model_normalized_collision_15.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.14948345 0.11787104 -0.49779077
+v 0.17202242 0.13779953 -0.47560258
+v -0.11581098 0.10798744 -0.48856436
+v 0.07090538 0.23333573 -0.44358483
+v 0.06853380 0.18369637 -0.49985170
+v 0.14420103 0.20136351 -0.44153570
+v 0.10551249 0.12027548 -0.48958142
+v 0.13764159 0.14960991 -0.49389840
+v -0.08041550 0.17870002 -0.49997710
+v -0.13292369 0.19001172 -0.46030135
+v 0.09555548 0.22096932 -0.44778675
+v 0.14042476 0.19498339 -0.45066902
+v -0.11892314 0.11073914 -0.48980492
+v 0.06923485 0.22612389 -0.45277018
+v 0.09831286 0.22784451 -0.43862334
+v 0.09428788 0.17867893 -0.49413968
+v 0.12363936 0.20737447 -0.44806521
+v -0.12910226 0.18355528 -0.46892729
+v 0.12741566 0.21375458 -0.43893185
+v 0.12262249 0.16319154 -0.49287007
+f 6 3 2
+f 7 1 2
+f 7 2 3
+f 7 3 1
+f 8 2 1
+f 8 1 5
+f 9 5 1
+f 10 3 6
+f 10 4 9
+f 12 6 2
+f 12 2 8
+f 13 9 1
+f 13 1 3
+f 13 3 10
+f 14 9 4
+f 14 5 9
+f 14 11 5
+f 15 4 10
+f 15 14 4
+f 15 11 14
+f 16 5 11
+f 17 6 12
+f 17 16 11
+f 17 12 16
+f 18 13 10
+f 18 10 9
+f 18 9 13
+f 19 15 10
+f 19 10 6
+f 19 6 17
+f 19 17 11
+f 19 11 15
+f 20 16 12
+f 20 12 8
+f 20 8 5
+f 20 5 16
\ No newline at end of file
diff --git a/objects/objaverse/can/can_3/collision/model_normalized_collision_17.obj b/objects/objaverse/can/can_3/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..10d599e5ac6de5505c83d127efc1fc736622fc5e
--- /dev/null
+++ b/objects/objaverse/can/can_3/collision/model_normalized_collision_17.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v 0.14166832 0.19708441 0.39551921
+v 0.14480585 0.20238538 0.38353349
+v 0.05241204 0.24921185 0.36477286
+v -0.04661468 0.25588300 0.34090913
+v -0.14843461 0.21621809 0.34090908
+v 0.09773990 0.24156740 0.34090908
+v 0.09418953 0.23271511 0.37541004
+v -0.13429784 0.19233337 0.41077910
+v 0.06796336 0.25093787 0.34090908
+v 0.12970794 0.22337088 0.35936478
+v 0.10953813 0.21805484 0.39083252
+v 0.06791041 0.25070926 0.35014203
+v -0.06027636 0.23429938 0.39194091
+v 0.11597531 0.20016920 0.41579027
+v 0.13955224 0.20866062 0.37823255
+v -0.00251476 0.24958157 0.37709049
+v -0.10528909 0.22576848 0.37993454
+v 0.06732227 0.23301871 0.39127013
+v -0.04540487 0.25065989 0.36527638
+v -0.13515211 0.22407970 0.34090897
+v -0.12167442 0.21646020 0.38289050
+v -0.10300166 0.22006510 0.39194101
+v 0.00982337 0.24913778 0.37686373
+v -0.11853690 0.21115925 0.39487624
+f 5 2 1
+f 8 5 1
+f 10 2 5
+f 10 5 6
+f 11 10 7
+f 12 3 7
+f 12 6 9
+f 12 9 4
+f 12 10 6
+f 12 7 10
+f 14 8 1
+f 14 13 8
+f 15 2 10
+f 15 10 11
+f 15 11 14
+f 15 14 1
+f 15 1 2
+f 16 12 4
+f 18 14 11
+f 18 11 7
+f 18 7 3
+f 18 16 13
+f 18 13 14
+f 19 16 4
+f 19 13 16
+f 19 17 13
+f 19 4 17
+f 20 17 4
+f 20 4 9
+f 20 9 6
+f 20 6 5
+f 21 5 8
+f 21 20 5
+f 21 17 20
+f 22 8 13
+f 22 13 17
+f 22 17 21
+f 23 18 3
+f 23 16 18
+f 23 3 12
+f 23 12 16
+f 24 22 21
+f 24 21 8
+f 24 8 22
\ No newline at end of file
diff --git a/objects/objaverse/can/can_3/collision/model_normalized_collision_18.obj b/objects/objaverse/can/can_3/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7596e8cad675acbbeb15938d4abb1c2a5f77402f
--- /dev/null
+++ b/objects/objaverse/can/can_3/collision/model_normalized_collision_18.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.13744180 0.03793786 -0.48404124
+v 0.17202242 0.13779953 -0.47560258
+v 0.10215617 0.11621520 -0.41666667
+v -0.12511655 0.11621520 -0.41666667
+v -0.11581098 0.10798744 -0.48856436
+v -0.12511655 0.04045763 -0.41666667
+v 0.14898809 0.04079893 -0.48740292
+v -0.08088886 0.11828822 -0.48443823
+v 0.08792605 0.03435222 -0.47024261
+v 0.14948345 0.11787104 -0.49779077
+v -0.11646454 0.03779205 -0.47739109
+v 0.15103711 0.08808139 -0.49345308
+f 3 2 4
+f 6 3 4
+f 6 4 5
+f 7 2 3
+f 7 3 1
+f 8 5 4
+f 8 4 2
+f 9 1 3
+f 9 3 6
+f 10 7 5
+f 10 8 2
+f 10 5 8
+f 11 7 1
+f 11 5 7
+f 11 1 9
+f 11 9 6
+f 11 6 5
+f 12 10 2
+f 12 2 7
+f 12 7 10
\ No newline at end of file
diff --git a/objects/objaverse/can/can_3/collision/model_normalized_collision_21.obj b/objects/objaverse/can/can_3/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d265b86cc59bda23c6120bd59bdc20bf9fb78b38
--- /dev/null
+++ b/objects/objaverse/can/can_3/collision/model_normalized_collision_21.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.24452580 -0.00548881 -0.45198256
+v 0.22946220 -0.00425507 -0.46917245
+v 0.21685973 0.12724630 -0.44062032
+v 0.14420103 0.20136351 -0.44153570
+v 0.15169473 -0.00409031 -0.48660957
+v 0.14185933 0.13956072 -0.49968490
+v 0.15518426 0.19795712 -0.43726675
+v 0.23527573 0.08452054 -0.44404753
+v 0.16738470 -0.00537551 -0.49101962
+v 0.13744180 0.03793786 -0.48404124
+v 0.13877277 0.18128141 -0.46514755
+v 0.15043771 0.17706363 -0.46036410
+v 0.20746249 0.00885194 -0.49335112
+v 0.19208988 0.07899411 -0.49201063
+v 0.20769631 -0.00371336 -0.49356023
+v 0.14042476 0.19498339 -0.45066902
+v 0.15137655 0.13645127 -0.49422117
+v 0.15045581 0.19223704 -0.44636388
+v 0.20860889 0.10687138 -0.46184489
+v 0.22189404 0.07878010 -0.46122599
+v 0.17775550 0.10652293 -0.49157258
+v 0.21057656 0.12326858 -0.44964234
+f 7 1 3
+f 7 5 1
+f 7 4 5
+f 8 3 1
+f 9 1 5
+f 9 5 6
+f 10 6 5
+f 10 5 4
+f 11 6 10
+f 12 7 3
+f 12 6 11
+f 13 8 1
+f 13 1 2
+f 14 13 6
+f 15 2 1
+f 15 1 9
+f 15 13 2
+f 15 9 6
+f 15 6 13
+f 16 4 7
+f 16 11 10
+f 16 10 4
+f 17 12 3
+f 17 6 12
+f 18 12 11
+f 18 7 12
+f 18 16 7
+f 18 11 16
+f 19 3 8
+f 20 8 13
+f 20 13 14
+f 20 19 8
+f 20 14 19
+f 21 14 6
+f 21 6 17
+f 21 19 14
+f 22 21 17
+f 22 17 3
+f 22 3 19
+f 22 19 21
\ No newline at end of file
diff --git a/objects/objaverse/can/can_3/collision/model_normalized_collision_24.obj b/objects/objaverse/can/can_3/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..39871338143d93b895f8c2880484a33347477e44
--- /dev/null
+++ b/objects/objaverse/can/can_3/collision/model_normalized_collision_24.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v -0.23054048 -0.08048137 0.40115204
+v -0.18572261 -0.00499692 0.34090908
+v -0.19456085 0.13918133 0.40764057
+v -0.21434632 0.15667504 0.34090907
+v -0.26407620 -0.04734070 0.34090908
+v -0.26057103 -0.06148807 0.34090908
+v -0.23145494 -0.00874249 0.42628464
+v -0.23626576 -0.08293737 0.38926568
+v -0.26023555 0.03911472 0.36546010
+v -0.25886709 -0.04605014 0.36482364
+v -0.22988051 0.09400785 0.39213475
+v -0.26581489 0.03957170 0.34090912
+v -0.24137829 -0.07863090 0.38354040
+v -0.24399580 0.05127724 0.39204405
+v -0.20909807 0.12698105 0.39723636
+v -0.22693873 0.13827552 0.34090907
+v -0.24216813 -0.06081828 0.39105396
+v -0.23560584 0.09646381 0.38024833
+v -0.23565300 -0.07617490 0.39542676
+f 1 2 3
+f 3 2 4
+f 7 1 3
+f 8 6 2
+f 8 2 1
+f 10 5 6
+f 10 7 9
+f 11 7 3
+f 12 10 9
+f 12 5 10
+f 13 10 6
+f 13 6 8
+f 13 8 1
+f 14 9 7
+f 14 7 11
+f 15 11 3
+f 15 3 4
+f 16 5 12
+f 16 6 5
+f 16 4 2
+f 16 2 6
+f 16 15 4
+f 17 7 10
+f 17 10 13
+f 18 14 11
+f 18 9 14
+f 18 11 15
+f 18 15 16
+f 18 16 12
+f 18 12 9
+f 19 17 13
+f 19 13 1
+f 19 1 7
+f 19 7 17
\ No newline at end of file
diff --git a/objects/objaverse/can/can_3/collision/model_normalized_collision_27.obj b/objects/objaverse/can/can_3/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d2da7a8efdc5bb3d5c21affbc2664750d18ca6f
--- /dev/null
+++ b/objects/objaverse/can/can_3/collision/model_normalized_collision_27.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.12511655 -0.12620904 -0.41666667
+v -0.12708599 -0.12859161 -0.49549755
+v -0.11631803 -0.07518375 -0.48287108
+v -0.25612625 -0.07942799 -0.41666667
+v -0.23793984 -0.12089827 -0.41666667
+v -0.18926381 -0.07577391 -0.49636980
+v -0.12511655 -0.08075449 -0.41666667
+v -0.14433061 -0.08332640 -0.49099984
+v -0.24693884 -0.07715174 -0.43452851
+v -0.17082023 -0.11677467 -0.49199831
+v -0.24422364 -0.10365487 -0.42168347
+v -0.23144790 -0.11678838 -0.43245290
+v -0.24564641 -0.10426521 -0.41666667
+v -0.24458087 -0.08865661 -0.43174736
+v -0.18619152 -0.08960748 -0.49340451
+f 1 2 3
+f 5 2 1
+f 5 1 4
+f 7 1 3
+f 7 4 1
+f 8 6 3
+f 8 3 2
+f 8 2 6
+f 9 3 6
+f 9 7 3
+f 9 4 7
+f 10 6 2
+f 10 2 5
+f 12 10 5
+f 12 5 11
+f 13 11 5
+f 13 5 4
+f 13 4 11
+f 14 11 4
+f 14 4 9
+f 14 12 11
+f 15 6 10
+f 15 10 12
+f 15 12 14
+f 15 14 9
+f 15 9 6
\ No newline at end of file
diff --git a/objects/objaverse/can/can_3/collision/model_normalized_collision_3.obj b/objects/objaverse/can/can_3/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9c7ed1cf3a48df5c1d8b8d81bc86813e5816a10e
--- /dev/null
+++ b/objects/objaverse/can/can_3/collision/model_normalized_collision_3.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.16276223 -0.00499692 0.38636363
+v 0.16276223 -0.00499692 -0.41666667
+v 0.17474940 0.19132226 -0.42667363
+v -0.13429784 0.19233337 0.41077910
+v -0.12511655 -0.00499692 0.38636363
+v -0.13292369 0.19001172 -0.46030135
+v 0.16270462 0.17675157 0.40146844
+v 0.18751232 0.13809857 0.41908454
+v 0.01022768 0.16350834 -0.49123210
+v -0.10840597 -0.00362806 -0.47340407
+v -0.11581098 0.10798744 -0.48856436
+f 5 2 1
+f 6 4 3
+f 6 5 4
+f 7 3 4
+f 8 1 2
+f 8 2 3
+f 8 3 7
+f 8 7 4
+f 8 5 1
+f 8 4 5
+f 9 6 3
+f 9 3 2
+f 10 2 5
+f 10 5 6
+f 10 9 2
+f 11 10 6
+f 11 6 9
+f 11 9 10
\ No newline at end of file
diff --git a/objects/objaverse/can/can_3/collision/model_normalized_collision_30.obj b/objects/objaverse/can/can_3/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..331bb7c90aa5851aabc4e1dde33bd1d285fcb161
--- /dev/null
+++ b/objects/objaverse/can/can_3/collision/model_normalized_collision_30.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.18582538 -0.18758943 -0.35606061
+v 0.17257270 -0.17155747 -0.44862829
+v 0.14761072 -0.00499692 -0.35606061
+v -0.12511655 -0.00499692 -0.35606061
+v -0.12511655 -0.14136055 -0.41666667
+v -0.10840597 -0.00362806 -0.47340407
+v 0.14761072 -0.00499692 -0.41666667
+v -0.12511655 -0.14136055 -0.35606061
+v 0.00442745 -0.00067454 -0.44521944
+f 1 3 4
+f 5 2 1
+f 6 5 4
+f 6 2 5
+f 7 1 2
+f 7 3 1
+f 7 2 6
+f 8 5 1
+f 8 1 4
+f 8 4 5
+f 9 6 4
+f 9 4 3
+f 9 7 6
+f 9 3 7
\ No newline at end of file
diff --git a/objects/objaverse/can/can_3/visual/material.mtl b/objects/objaverse/can/can_3/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..29d3aef8c0c6b4cd68412e4065925968249728fb
--- /dev/null
+++ b/objects/objaverse/can/can_3/visual/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.63137255 0.63137255 0.63137255
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 630.87552300
+map_Kd material_0.png
\ No newline at end of file
diff --git a/objects/objaverse/can/can_3/visual/model_normalized_0.obj b/objects/objaverse/can/can_3/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ac5320dcf8126bb2ddaa2fdfa1ec3a8ebeab7a3
--- /dev/null
+++ b/objects/objaverse/can/can_3/visual/model_normalized_0.obj
@@ -0,0 +1,18181 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
+v -0.05505823 0.05370742 0.47679934
+v 0.00131407 0.05508015 0.47722137
+v 0.00131407 0.05956046 0.47734771
+v -0.04171476 0.06883344 0.47732324
+v 0.05768651 0.05370686 0.47679941
+v 0.04434290 0.06883344 0.47732324
+v 0.03873233 0.06981576 0.47692884
+v 0.00131407 0.06218593 0.47691678
+v -0.03610419 0.06981576 0.47692891
+v 0.07074714 0.10062528 0.47628329
+v 0.06347546 0.09665226 0.47724997
+v 0.05685123 0.13324764 0.47611838
+v 0.05152736 0.12447115 0.47717656
+v 0.04608534 0.11559480 0.47700190
+v 0.05610709 0.09270525 0.47696537
+v 0.00131407 0.14412179 0.47606348
+v 0.00131414 0.13374413 0.47715223
+v -0.05422302 0.13324764 0.47611838
+v -0.04889915 0.12447115 0.47717663
+v -0.04345713 0.11559480 0.47700190
+v 0.00131414 0.12322463 0.47701403
+v -0.06811893 0.10062528 0.47628322
+v -0.06084725 0.09665226 0.47724997
+v -0.05347888 0.09270525 0.47696537
+v -0.04830653 -0.05442036 0.47622545
+v -0.02684348 -0.07005773 0.47632340
+v -0.01932240 -0.05853046 0.47743746
+v -0.03608540 -0.04538598 0.47735578
+v 0.00082950 -0.07013696 0.47642289
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+v 0.00112427 -0.03919681 0.47779884
+v -0.01156622 -0.03998526 0.47778509
+v -0.02212463 -0.03485996 0.47731315
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+v 0.04877392 -0.00538746 0.47738698
+v 0.03858572 -0.04541395 0.47735851
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+v 0.03325729 0.03055655 0.47691075
+v 0.03725030 -0.00285812 0.47695458
+v 0.02494159 -0.03490672 0.47731497
+v 0.00131407 0.04808451 0.47747021
+v -0.03763278 0.03472120 0.47744896
+v -0.03062635 0.03056370 0.47691012
+v 0.00131407 0.04169482 0.47689617
+v -0.05767305 -0.00782082 0.47632908
+v -0.04614410 -0.00536888 0.47738516
+v -0.03461122 -0.00282944 0.47695184
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+v -0.01547782 -0.01784089 0.47656999
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+v 0.00179324 0.01020734 0.47599855
+v -0.00751656 0.00665873 0.47604420
+v -0.01293817 -0.00200033 0.47560808
+v 0.02143091 -0.05854904 0.47743936
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+v 0.01165491 -0.01480790 0.47736307
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+v -0.04171469 0.06883344 0.46578707
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+v -0.03610419 0.06981583 0.46622915
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+f 3728/3728/3728 3725/3725/3725 3727/3727/3727
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+f 3729/3729/3729 3728/3728/3728 3730/3730/3730
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+f 3766/3766/3766 3770/3770/3770 3767/3767/3767
\ No newline at end of file
diff --git a/objects/objaverse/can/can_4/collision/model_normalized_collision_0.obj b/objects/objaverse/can/can_4/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..66225c955845d58d3cbaa9fb54c63e0abf4fc687
--- /dev/null
+++ b/objects/objaverse/can/can_4/collision/model_normalized_collision_0.obj
@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
+v 0.12833015 0.20837408 0.39697067
+v 0.13648166 0.19092719 -0.45357440
+v 0.05356134 0.26211179 -0.42001665
+v -0.05876454 0.25944066 0.35108690
+v -0.13284491 0.19704516 0.40839571
+v 0.05356134 0.26211179 0.33963342
+v 0.15870416 0.21649991 0.21969697
+v -0.06228053 0.22271537 0.42155542
+v -0.12877109 0.19100736 -0.45609273
+v -0.05976948 0.26235753 -0.42001665
+v 0.12690181 0.23574727 -0.42001665
+v 0.12422071 0.23024808 0.36234883
+v -0.11452293 0.22961179 0.37593243
+v 0.03779410 0.25894323 0.36234883
+v 0.00943187 0.20805091 -0.47686104
+v 0.10869174 0.24462522 -0.42001665
+v 0.10744846 0.24207526 0.35016651
+v -0.07362898 0.24345426 0.37638243
+v -0.11620006 0.21783108 0.39304308
+v -0.10407352 0.24386506 0.35096771
+v -0.11596442 0.23250167 -0.42984561
+v -0.03327174 0.25970909 0.36234883
+v 0.03772425 0.24343243 0.39189103
+v -0.08327439 0.19569419 -0.46896231
+v 0.01167821 0.23660757 -0.45201315
+v 0.06872516 0.24702147 -0.43182640
+v 0.12662150 0.22002120 -0.43414045
+v 0.08131704 0.24315983 0.37629770
+v -0.10506735 0.24675127 -0.42001665
+v -0.04833615 0.24332554 0.39198855
+v 0.09319523 0.22876771 0.39128375
+v -0.07441911 0.23059509 -0.44503497
+v 0.10995532 0.23206550 -0.43065112
+v 0.05296917 0.25906257 0.35116765
+f 5 2 1
+f 7 1 2
+f 8 5 1
+f 9 2 5
+f 10 6 3
+f 10 4 6
+f 11 7 2
+f 12 1 7
+f 16 3 6
+f 17 12 7
+f 17 16 6
+f 17 7 11
+f 17 11 16
+f 18 13 8
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+f 19 5 8
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+f 20 4 10
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+f 21 5 13
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+f 22 6 4
+f 23 14 22
+f 24 15 2
+f 24 2 9
+f 24 9 21
+f 25 15 10
+f 25 10 3
+f 26 3 16
+f 26 25 3
+f 26 15 25
+f 26 2 15
+f 27 11 2
+f 28 12 17
+f 28 14 23
+f 28 1 12
+f 28 17 6
+f 29 21 20
+f 29 20 10
+f 29 10 21
+f 30 18 8
+f 30 23 22
+f 30 8 23
+f 30 22 4
+f 30 4 18
+f 31 23 8
+f 31 8 1
+f 31 28 23
+f 31 1 28
+f 32 24 21
+f 32 21 10
+f 32 10 15
+f 32 15 24
+f 33 26 16
+f 33 16 11
+f 33 11 27
+f 33 27 2
+f 33 2 26
+f 34 28 6
+f 34 6 14
+f 34 14 28
\ No newline at end of file
diff --git a/objects/objaverse/can/can_4/collision/model_normalized_collision_10.obj b/objects/objaverse/can/can_4/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d0a4d681970721b263c3b30d29ae2c9387bad98e
--- /dev/null
+++ b/objects/objaverse/can/can_4/collision/model_normalized_collision_10.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.16174410 -0.19168785 0.38567235
+v 0.24149280 -0.08093108 0.37952847
+v 0.18850407 -0.10756059 0.49820837
+v 0.15870443 0.13304954 0.50000000
+v 0.18630401 0.14144668 0.41633269
+v 0.20363446 0.07322242 0.49865953
+v 0.15549700 -0.15641523 0.49036626
+v 0.21233740 -0.14049747 0.37972755
+v 0.21401580 0.11925453 0.39586184
+v 0.14613455 0.12456844 0.46538218
+v 0.20339946 -0.07713268 0.49808498
+v 0.15985072 -0.14504746 0.50000000
+v 0.17076359 -0.18681867 0.38166039
+v 0.16201639 -0.14891348 0.49036626
+v 0.24769633 0.04922557 0.38341260
+v 0.18106770 0.11746975 0.50000000
+v 0.14734206 0.07992864 0.48216878
+v 0.15483821 -0.18145274 0.40960564
+v 0.16636964 -0.13754578 0.50000000
+v 0.19292936 0.10009859 0.49972929
+v 0.23537887 -0.03778272 0.40719445
+v 0.22702453 0.09121235 0.39538914
+f 8 2 3
+f 9 1 5
+f 10 5 1
+f 10 4 5
+f 11 3 2
+f 13 8 7
+f 13 7 1
+f 13 1 9
+f 14 7 8
+f 14 12 7
+f 15 13 9
+f 15 2 8
+f 15 8 13
+f 15 6 11
+f 16 9 5
+f 16 5 4
+f 16 4 12
+f 17 4 10
+f 17 12 4
+f 17 7 12
+f 18 10 1
+f 18 1 7
+f 18 17 10
+f 18 7 17
+f 19 3 11
+f 19 16 12
+f 19 12 14
+f 19 14 8
+f 19 8 3
+f 20 6 15
+f 20 9 16
+f 20 16 19
+f 20 19 11
+f 20 11 6
+f 21 15 11
+f 21 11 2
+f 21 2 15
+f 22 20 15
+f 22 15 9
+f 22 9 20
\ No newline at end of file
diff --git a/objects/objaverse/can/can_4/collision/model_normalized_collision_14.obj b/objects/objaverse/can/can_4/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3be3dbb3544e6813f14cce9a3e922253ae28c9cf
--- /dev/null
+++ b/objects/objaverse/can/can_4/collision/model_normalized_collision_14.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v -0.22996878 -0.06114578 0.40897613
+v -0.18599127 -0.01098045 0.34090909
+v -0.20423994 0.11912973 0.41198895
+v -0.22930685 0.13135067 0.35388451
+v -0.26439963 -0.05383432 0.33963342
+v -0.22923895 -0.01401246 0.42387956
+v -0.25533687 -0.06988616 0.35203240
+v -0.26055025 0.06160089 0.33963342
+v -0.25923312 -0.04004456 0.36234883
+v -0.23678187 0.12022062 0.34704626
+v -0.24220052 0.04582881 0.39124148
+v -0.24333105 -0.05009016 0.39146616
+v -0.26118711 -0.05317968 0.35170095
+v -0.26018106 0.03122676 0.36242525
+v -0.24602119 0.06172240 0.37809792
+v -0.25760773 0.06102926 0.35077133
+v -0.21520683 0.10970142 0.40089100
+f 3 2 4
+f 6 1 2
+f 6 2 3
+f 7 5 2
+f 7 2 1
+f 8 2 5
+f 10 4 2
+f 10 2 8
+f 11 6 3
+f 12 1 6
+f 12 6 9
+f 12 7 1
+f 13 9 5
+f 13 5 7
+f 13 12 9
+f 13 7 12
+f 14 8 5
+f 14 5 9
+f 14 9 6
+f 14 6 11
+f 15 14 11
+f 15 4 10
+f 16 15 10
+f 16 10 8
+f 16 8 14
+f 16 14 15
+f 17 15 11
+f 17 11 3
+f 17 3 4
+f 17 4 15
\ No newline at end of file
diff --git a/objects/objaverse/can/can_4/collision/model_normalized_collision_15.obj b/objects/objaverse/can/can_4/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f08a8254d5e4c4bb7b775101bdd9080c5c809ea
--- /dev/null
+++ b/objects/objaverse/can/can_4/collision/model_normalized_collision_15.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.13949346 0.19439388 0.40725920
+v 0.15870416 0.21649991 0.21969697
+v 0.00730940 0.26868374 0.21969697
+v -0.06375359 0.25729347 0.35259036
+v 0.01097842 0.18598925 0.21969697
+v 0.12833015 0.20837408 0.39697067
+v -0.04962764 0.18598925 0.34090909
+v -0.06228053 0.22271537 0.42155542
+v 0.13883830 0.22992788 0.21969697
+v -0.05490956 0.23162466 0.40988116
+f 5 2 1
+f 5 4 3
+f 6 3 4
+f 6 1 2
+f 7 5 1
+f 7 4 5
+f 8 1 6
+f 8 7 1
+f 8 4 7
+f 9 6 2
+f 9 3 6
+f 9 5 3
+f 9 2 5
+f 10 8 6
+f 10 6 4
+f 10 4 8
\ No newline at end of file
diff --git a/objects/objaverse/can/can_4/collision/model_normalized_collision_17.obj b/objects/objaverse/can/can_4/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d0907fa091fcefbcc44c056bc8644bec36e3a484
--- /dev/null
+++ b/objects/objaverse/can/can_4/collision/model_normalized_collision_17.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v -0.04717832 -0.25594558 0.36458457
+v -0.04797628 -0.26005302 -0.42307315
+v -0.04962764 -0.16249560 -0.41666667
+v -0.14418858 -0.18413364 0.41630326
+v -0.11871957 -0.23973423 -0.42001665
+v -0.04962764 -0.16249560 0.40151515
+v -0.04789601 -0.22933850 -0.45295226
+v -0.08692225 -0.25181908 0.35104572
+v -0.14682385 -0.18716583 -0.44966411
+v -0.04706386 -0.24020475 0.39457789
+v -0.08826845 -0.25458203 -0.42001665
+v -0.11604003 -0.23423645 0.36234883
+v -0.04920798 -0.22094122 -0.45880433
+v -0.07649687 -0.23572532 0.39222371
+v -0.09134941 -0.21544543 -0.45352213
+v -0.07659968 -0.25140618 0.36234883
+v -0.11572481 -0.21843837 0.39014291
+v -0.12209006 -0.21634302 -0.43937875
+v -0.07801569 -0.21917388 -0.45553618
+v -0.10086301 -0.23418413 0.37533245
+f 6 3 4
+f 8 2 1
+f 9 5 4
+f 9 4 3
+f 10 3 6
+f 10 7 3
+f 10 1 2
+f 10 2 7
+f 10 6 4
+f 11 7 2
+f 11 8 5
+f 11 2 8
+f 12 4 5
+f 12 5 8
+f 13 9 3
+f 13 3 7
+f 14 1 10
+f 14 10 4
+f 16 8 1
+f 16 1 14
+f 16 12 8
+f 17 14 4
+f 17 4 12
+f 18 5 9
+f 18 9 15
+f 18 15 11
+f 18 11 5
+f 19 15 9
+f 19 9 13
+f 19 13 7
+f 19 7 11
+f 19 11 15
+f 20 16 14
+f 20 12 16
+f 20 17 12
+f 20 14 17
\ No newline at end of file
diff --git a/objects/objaverse/can/can_4/collision/model_normalized_collision_18.obj b/objects/objaverse/can/can_4/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..98c303155ea3976c8a0c9709dc7e1f6cbc463910
--- /dev/null
+++ b/objects/objaverse/can/can_4/collision/model_normalized_collision_18.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v -0.12515238 -0.20747258 0.40124106
+v -0.11974165 -0.19637443 0.42517457
+v -0.21179150 -0.04966340 0.49856879
+v -0.17452882 0.11203035 0.50000000
+v -0.12538521 0.11023167 0.40151515
+v -0.11992946 -0.18160911 0.50000000
+v -0.23519175 -0.06765735 0.39529212
+v -0.18918203 0.10439988 0.50000000
+v -0.12538521 0.11023167 0.48216878
+v -0.14641927 -0.19728384 0.39422546
+v -0.23410103 0.07750153 0.39494769
+v -0.16918629 -0.13600684 0.49880119
+v -0.21148858 0.04574950 0.49877432
+v -0.20286140 -0.13828123 0.39315567
+v -0.22069028 0.10498727 0.39534203
+v -0.12662187 -0.17678603 0.49838963
+v -0.22870020 0.03099727 0.42241283
+v -0.19845687 0.08638304 0.49898237
+v -0.19625665 -0.09498610 0.49839438
+v -0.22076372 -0.11010872 0.39493131
+f 5 2 1
+f 6 2 5
+f 6 1 2
+f 8 6 4
+f 8 3 6
+f 9 6 5
+f 9 5 4
+f 9 4 6
+f 10 5 1
+f 10 1 6
+f 12 6 3
+f 13 7 3
+f 13 3 8
+f 14 7 11
+f 14 10 12
+f 15 5 10
+f 15 14 11
+f 15 10 14
+f 15 4 5
+f 15 8 4
+f 16 12 10
+f 16 10 6
+f 16 6 12
+f 17 13 11
+f 17 11 7
+f 17 7 13
+f 18 13 8
+f 18 11 13
+f 18 15 11
+f 18 8 15
+f 19 14 12
+f 19 12 3
+f 20 19 3
+f 20 3 7
+f 20 7 14
+f 20 14 19
\ No newline at end of file
diff --git a/objects/objaverse/can/can_4/collision/model_normalized_collision_19.obj b/objects/objaverse/can/can_4/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0658f91a2df94c7662ec22e9fe477f4bd991fc6e
--- /dev/null
+++ b/objects/objaverse/can/can_4/collision/model_normalized_collision_19.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v -0.00545280 -0.26544941 0.35113264
+v 0.00992288 -0.19289271 -0.49751762
+v 0.01097842 -0.16249560 0.40151515
+v -0.04962764 -0.16249560 0.40151515
+v -0.04653208 -0.25261654 -0.43057669
+v -0.05122081 -0.17069829 -0.49228200
+v 0.01078933 -0.22040445 0.44634417
+v 0.00999633 -0.25454415 -0.43278947
+v -0.04600123 -0.24988520 0.37655104
+v 0.01166133 -0.17223169 -0.48971075
+v -0.04603776 -0.18947051 -0.49502914
+v -0.03355175 -0.21834247 0.44584789
+v -0.00523633 -0.26853791 -0.42001665
+v 0.00989334 -0.25306954 0.37835441
+v -0.04918911 -0.22084390 0.43063162
+v -0.01623956 -0.26617204 0.35125639
+v -0.03112817 -0.26646843 -0.42001665
+v -0.03112817 -0.26646843 0.33963342
+f 6 4 3
+f 10 6 3
+f 10 2 6
+f 10 8 2
+f 10 3 7
+f 10 7 8
+f 11 6 2
+f 11 5 6
+f 12 7 3
+f 12 3 4
+f 13 2 8
+f 14 8 7
+f 14 13 8
+f 14 1 13
+f 15 6 5
+f 15 5 9
+f 15 4 6
+f 15 12 4
+f 15 9 12
+f 16 12 9
+f 16 7 12
+f 16 14 7
+f 16 1 14
+f 16 13 1
+f 17 11 2
+f 17 2 13
+f 17 5 11
+f 18 17 13
+f 18 13 16
+f 18 16 9
+f 18 9 5
+f 18 5 17
\ No newline at end of file
diff --git a/objects/objaverse/can/can_4/collision/model_normalized_collision_21.obj b/objects/objaverse/can/can_4/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..038c233a4a43ed3a7b6d71d8783811d8d60e1279
--- /dev/null
+++ b/objects/objaverse/can/can_4/collision/model_normalized_collision_21.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.01146583 -0.00580840 0.47864335
+v 0.01097842 -0.01098045 0.26515152
+v 0.01097842 0.12538319 0.26515152
+v -0.12138217 0.12190418 0.48216878
+v -0.12538521 -0.01098045 0.48216878
+v 0.01097842 0.12538319 0.48216878
+v -0.12538521 0.12538319 0.26515152
+v -0.12538521 -0.01098045 0.26515152
+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 5 4
+f 7 6 3
+f 7 4 6
+f 8 7 2
+f 8 2 5
+f 8 5 7
\ No newline at end of file
diff --git a/objects/objaverse/can/can_4/collision/model_normalized_collision_24.obj b/objects/objaverse/can/can_4/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..23affad3c5d26b5198d7939c5e935491a21bd45c
--- /dev/null
+++ b/objects/objaverse/can/can_4/collision/model_normalized_collision_24.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.01097842 -0.16249560 0.26515152
+v 0.01097842 -0.16249560 -0.23484848
+v 0.01097842 0.12538319 0.26515152
+v -0.12538521 0.12538319 0.26515152
+v -0.12538521 -0.16249560 -0.23484848
+v -0.12538521 0.12538319 -0.23484848
+v -0.12538521 -0.16249560 0.26515152
+v 0.01097842 0.12538319 -0.23484848
+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/can/can_4/collision/model_normalized_collision_27.obj b/objects/objaverse/can/can_4/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eaf1dfa0bf06955805f48ef66d23b22a2f7a97a5
--- /dev/null
+++ b/objects/objaverse/can/can_4/collision/model_normalized_collision_27.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.01097842 -0.16249560 -0.23484848
+v 0.01097842 -0.16249560 -0.41666667
+v 0.01097842 -0.01098045 -0.23484848
+v -0.12538521 -0.01098045 -0.23484848
+v -0.14682385 -0.18716583 -0.44966411
+v -0.12538521 -0.16249560 -0.23484848
+v 0.01097842 -0.01098045 -0.41666667
+v -0.12538521 -0.01098045 -0.41666667
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 6 5 1
+f 6 1 4
+f 6 4 5
+f 7 3 2
+f 7 2 5
+f 7 4 3
+f 8 7 5
+f 8 5 4
+f 8 4 7
\ No newline at end of file
diff --git a/objects/objaverse/can/can_4/collision/model_normalized_collision_28.obj b/objects/objaverse/can/can_4/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..91d9c7f762a7d983faa90a2e0de98e10080bdd66
--- /dev/null
+++ b/objects/objaverse/can/can_4/collision/model_normalized_collision_28.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.19888608 -0.17896898 -0.23484848
+v 0.19888608 -0.17896898 -0.35606061
+v 0.16249358 0.12538319 -0.23484848
+v 0.01097842 0.12538319 -0.23484848
+v 0.01097842 -0.14734409 -0.35606061
+v 0.01097842 -0.14734409 -0.23484848
+v 0.16249358 0.12538319 -0.35606061
+v 0.01097842 0.12538319 -0.35606061
+f 1 2 3
+f 5 2 1
+f 6 5 1
+f 6 4 5
+f 6 1 3
+f 6 3 4
+f 7 3 2
+f 7 2 5
+f 7 4 3
+f 8 7 5
+f 8 5 4
+f 8 4 7
\ No newline at end of file
diff --git a/objects/objaverse/can/can_4/collision/model_normalized_collision_3.obj b/objects/objaverse/can/can_4/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5955d96cf151ec03295d08217c01dde32d934776
--- /dev/null
+++ b/objects/objaverse/can/can_4/collision/model_normalized_collision_3.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v -0.19455395 -0.13796931 0.40684353
+v -0.20355387 -0.14404211 -0.43805631
+v -0.20840701 0.10638653 -0.45326324
+v -0.22930685 0.13135067 0.35388451
+v -0.26118711 -0.05317968 0.35170095
+v -0.21520683 0.10970142 0.40089100
+v -0.23250083 -0.12268200 0.36243967
+v -0.26025886 -0.06585309 -0.41666667
+v -0.21065831 0.12225710 -0.44436943
+v -0.22923895 -0.01401246 0.42387956
+v -0.21297730 -0.08559527 -0.45683368
+v -0.24190853 -0.11020617 0.35040989
+v -0.26055025 0.06160089 -0.41666667
+v -0.22782153 -0.09542089 0.39127036
+v -0.24378148 0.07643890 0.37692084
+v -0.20818528 -0.11156921 -0.45224583
+v -0.25748408 -0.06489711 0.35052887
+v -0.23725556 -0.12588965 -0.42044074
+v -0.24730596 0.10318988 -0.42001665
+v -0.23229658 0.06199909 -0.44741386
+v -0.21533761 -0.12132475 0.39149079
+v -0.24179729 -0.07986482 0.37547781
+v -0.23088763 0.08742051 0.39249837
+v -0.26055025 0.06160089 0.33963342
+v -0.24465258 -0.11115096 -0.42001665
+v -0.24765368 0.06203903 -0.43247378
+v -0.23089194 0.07687774 -0.44596928
+v -0.23172270 0.10297879 0.37782636
+v -0.24457552 0.10185795 0.35091801
+v -0.21784990 -0.10865764 -0.44592315
+v -0.24624904 0.07691768 -0.43102920
+f 1 2 3
+f 6 1 3
+f 7 2 1
+f 9 6 3
+f 9 4 6
+f 10 1 6
+f 12 7 5
+f 13 8 5
+f 14 1 10
+f 16 11 3
+f 16 3 2
+f 17 12 5
+f 17 5 8
+f 17 8 12
+f 18 2 7
+f 18 7 12
+f 18 16 2
+f 19 4 9
+f 19 9 3
+f 20 11 8
+f 20 3 11
+f 21 14 7
+f 21 7 1
+f 21 1 14
+f 22 14 10
+f 22 10 5
+f 22 5 7
+f 22 7 14
+f 23 15 10
+f 23 10 6
+f 24 5 10
+f 24 10 15
+f 24 13 5
+f 24 19 13
+f 25 18 12
+f 25 12 8
+f 25 8 11
+f 26 20 8
+f 26 8 13
+f 27 19 3
+f 27 3 20
+f 28 23 6
+f 28 6 4
+f 28 15 23
+f 29 24 15
+f 29 4 19
+f 29 19 24
+f 29 28 4
+f 29 15 28
+f 30 25 11
+f 30 11 16
+f 30 16 18
+f 30 18 25
+f 31 26 13
+f 31 13 19
+f 31 19 27
+f 31 27 20
+f 31 20 26
\ No newline at end of file
diff --git a/objects/objaverse/can/can_4/collision/model_normalized_collision_30.obj b/objects/objaverse/can/can_4/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dee7536f53d9a41bb183587c0e6efd470e06bb9a
--- /dev/null
+++ b/objects/objaverse/can/can_4/collision/model_normalized_collision_30.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.01097842 -0.16249560 0.40151515
+v 0.01097842 -0.16249560 0.26515152
+v 0.01097842 -0.01098045 0.40151515
+v -0.12538521 -0.01098045 0.40151515
+v -0.14418858 -0.18413364 0.41630326
+v 0.01097842 -0.01098045 0.26515152
+v -0.12538521 -0.01098045 0.26515152
+v -0.12538521 -0.16249560 0.26515152
+f 1 2 3
+f 5 2 1
+f 5 1 3
+f 5 3 4
+f 6 3 2
+f 6 4 3
+f 7 5 4
+f 7 4 6
+f 7 6 2
+f 8 7 2
+f 8 2 5
+f 8 5 7
\ No newline at end of file
diff --git a/objects/objaverse/can/can_4/visual/material.mtl b/objects/objaverse/can/can_4/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..33616803300962094e8955deb30562079542847b
--- /dev/null
+++ b/objects/objaverse/can/can_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/can/can_4/visual/model_normalized_0.obj b/objects/objaverse/can/can_4/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b3ac5b638a95a91f82afec409cf5636ba40607c0
--- /dev/null
+++ b/objects/objaverse/can/can_4/visual/model_normalized_0.obj
@@ -0,0 +1,4559 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
+v 0.26932462 -0.01642960 -0.42001665
+v 0.26932462 -0.01642960 0.33963342
+v 0.25589205 -0.08557549 0.33963342
+v 0.25589205 -0.08557549 -0.42001665
+v -0.08557754 -0.25589409 -0.42001665
+v -0.08557754 -0.25589409 0.33963342
+v -0.14889259 -0.22502203 0.33963342
+v -0.14889259 -0.22502203 -0.42001665
+v -0.22502407 0.14889055 -0.42001665
+v -0.22502407 0.14889055 0.33963342
+v -0.17882208 0.20205773 0.33963342
+v -0.17882208 0.20205773 -0.42001665
+v 0.26439961 0.05383432 -0.42001665
+v 0.26439961 0.05383432 0.33963342
+v 0.20205977 0.17882412 -0.42001665
+v 0.20205977 0.17882412 0.33963342
+v 0.24145571 0.12043407 0.33963342
+v 0.24145571 0.12043407 -0.42001665
+v -0.01643164 -0.26932258 -0.42001665
+v -0.01643164 -0.26932258 0.33963342
+v -0.25589205 0.08557958 -0.42001665
+v -0.25589205 0.08557958 0.33963342
+v 0.24145571 0.12043407 -0.42001665
+v 0.24145571 0.12043407 0.33963342
+v 0.14889259 0.22502611 -0.42001665
+v 0.14889259 0.22502611 0.33963342
+v 0.05383636 -0.26439757 -0.42001665
+v 0.05383636 -0.26439757 0.33963342
+v -0.26932462 0.01643368 -0.42001665
+v -0.26932462 0.01643368 0.33963342
+v 0.08557754 0.25589409 -0.42001665
+v 0.08557754 0.25589409 0.33963342
+v 0.12043203 -0.24145367 -0.42001665
+v 0.12043203 -0.24145367 0.33963342
+v -0.26439961 -0.05383432 -0.42001665
+v -0.26439961 -0.05383432 0.33963342
+v 0.01643164 0.26932258 -0.42001665
+v 0.01643164 0.26932258 0.33963342
+v 0.17882208 -0.20205773 -0.42001665
+v 0.17882208 -0.20205773 0.33963342
+v -0.24145571 -0.12042999 -0.42001665
+v -0.24145571 -0.12042999 0.33963342
+v -0.05383636 0.26440165 -0.42001665
+v -0.05383636 0.26440165 0.33963342
+v 0.22502407 -0.14889055 -0.42001665
+v 0.22502407 -0.14889055 0.33963342
+v -0.20205977 -0.17882004 -0.42001665
+v -0.20205977 -0.17882004 0.33963342
+v -0.12043203 0.24145775 -0.42001665
+v -0.12043203 0.24145775 0.33963342
+v -0.19744079 -0.17473151 0.36234882
+v -0.23593498 -0.11767574 0.36234882
+v -0.11767778 0.23593702 0.36234882
+v -0.05260409 0.25835455 0.36234882
+v 0.25004080 -0.08362100 0.36234882
+v 0.21987873 -0.14548752 0.36234882
+v -0.14548548 -0.21988077 0.36234882
+v -0.17473355 0.19743875 0.36234882
+v 0.26316734 -0.01605420 0.36234882
+v -0.08361896 -0.25004284 0.36234882
+v -0.21987873 0.14548752 0.36234882
+v 0.25835251 0.05260613 0.36234882
+v 0.19744079 0.17473559 0.36234882
+v 0.23593498 0.11767982 0.36234882
+v -0.01605624 -0.26316530 0.36234882
+v -0.25004488 0.08362100 0.36234882
+v 0.23593498 0.11767982 0.36234882
+v 0.14548548 0.21988077 0.36234882
+v 0.05260409 -0.25835455 0.36234882
+v -0.26316734 0.01605828 0.36234882
+v 0.08361896 0.25004284 0.36234882
+v 0.11767778 -0.23593294 0.36234882
+v -0.25835251 -0.05260205 0.36234882
+v 0.01605624 0.26316530 0.36234882
+v 0.17473355 -0.19743875 0.36234882
+v 0.20100295 0.10025666 0.43736637
+v 0.22010315 0.04481671 0.43736637
+v 0.12394523 0.18732760 0.43736637
+v 0.16820905 0.14886607 0.43736637
+v 0.04481467 -0.22010111 0.43736637
+v -0.01367739 -0.22420188 0.43736637
+v -0.22420392 0.01367943 0.43737045
+v -0.21302372 0.07124117 0.43736637
+v 0.07123913 0.21302576 0.43736637
+v 0.10025461 -0.20100499 0.43736637
+v -0.22010315 -0.04481263 0.43737045
+v 0.01367739 0.22420596 0.43736637
+v 0.14886403 -0.16820701 0.43736637
+v -0.20100295 -0.10025257 0.43737045
+v -0.04481467 0.22010519 0.43736637
+v 0.18732556 -0.12394727 0.43736637
+v -0.16820905 -0.14886199 0.43737045
+v -0.10025461 0.20100499 0.43736637
+v 0.21302372 -0.07124117 0.43736637
+v -0.12394931 -0.18732352 0.43737045
+v -0.14886403 0.16820701 0.43736637
+v 0.22420392 -0.01367943 0.43736637
+v -0.07123913 -0.21302167 0.43736637
+v -0.18732556 0.12394727 0.43736637
+v 0.20100295 0.10025666 0.43736637
+v -0.20100295 -0.10025257 0.43737045
+v -0.16820905 -0.14886199 0.43737045
+v -0.16075013 -0.14225995 0.48004293
+v -0.19209143 -0.09580906 0.48004293
+v -0.04481467 0.22010519 0.43736637
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\ No newline at end of file
diff --git a/objects/objaverse/can/can_6/collision/model_normalized_collision_0.obj b/objects/objaverse/can/can_6/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5dba76c98f7fdfdb7592b33f7a4140a51388a319
--- /dev/null
+++ b/objects/objaverse/can/can_6/collision/model_normalized_collision_0.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.14615356 0.17747118 0.41184203
+v 0.15929287 0.19062111 -0.41666668
+v 0.09650906 0.22518565 0.38961209
+v 0.01245485 0.24425639 0.39158496
+v 0.01464420 0.16717395 -0.41666668
+v 0.05745399 0.24139941 -0.45150179
+v 0.02179691 0.21234575 0.43395716
+v 0.12672489 0.20986302 0.38949733
+v 0.08582793 0.23395453 -0.45150179
+v 0.05745399 0.24139941 0.38464142
+v 0.01311373 0.24842844 -0.45150179
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+v 0.12804324 0.21244545 -0.41666668
+v 0.04211030 0.24016676 0.39070518
+v 0.01276698 0.21591951 -0.47762133
+v 0.04277392 0.21406060 -0.47530369
+v 0.01462399 0.19734926 -0.49226484
+v 0.05800862 0.22973722 -0.46080744
+v 0.08436702 0.20078847 -0.47604316
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+f 19 18 9
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+f 19 16 18
\ No newline at end of file
diff --git a/objects/objaverse/can/can_6/collision/model_normalized_collision_1.obj b/objects/objaverse/can/can_6/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..913bb977481982b0a030fa70b0e5ceb676ad8f01
--- /dev/null
+++ b/objects/objaverse/can/can_6/collision/model_normalized_collision_1.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.01723262 -0.22796067 0.41325564
+v 0.17495511 -0.17496596 -0.41666668
+v 0.15100784 -0.01464423 0.40151514
+v 0.01464420 -0.01464423 0.40151514
+v 0.01188532 -0.13357106 -0.47250590
+v 0.14468581 -0.19920935 0.39163807
+v 0.02028941 -0.24729748 -0.41666668
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+v 0.01464420 -0.01464423 -0.35606062
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+f 9 5 2
+f 9 2 6
+f 9 6 7
+f 10 8 5
+f 10 5 4
+f 10 4 8
\ No newline at end of file
diff --git a/objects/objaverse/can/can_6/collision/model_normalized_collision_10.obj b/objects/objaverse/can/can_6/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d1fe3c590f22c79a035fef420b5c85717c146271
--- /dev/null
+++ b/objects/objaverse/can/can_6/collision/model_normalized_collision_10.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v -0.10633798 -0.21116278 0.40115594
+v -0.09984456 -0.19842193 0.42131494
+v -0.23271001 -0.07363178 0.39417388
+v -0.19425522 0.10521847 0.42307681
+v -0.10656790 -0.12070483 0.40151514
+v -0.18271274 -0.05775971 0.49463917
+v -0.15730878 -0.18659726 0.39161873
+v -0.23260345 0.07462837 0.39409710
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+v -0.18255595 0.05874944 0.49463917
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+v -0.11277840 -0.15523936 0.49463917
+v -0.22470931 0.01277246 0.41873111
+v -0.10343087 -0.16000065 0.49463917
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+f 19 16 9
+f 19 9 17
\ No newline at end of file
diff --git a/objects/objaverse/can/can_6/collision/model_normalized_collision_11.obj b/objects/objaverse/can/can_6/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b51f4d74cace6da019a515bef18b3a502b84ac0e
--- /dev/null
+++ b/objects/objaverse/can/can_6/collision/model_normalized_collision_11.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v -0.17746817 -0.14615055 0.41184195
+v -0.15869513 -0.11532017 -0.49506478
+v -0.16717398 0.03081032 -0.41666668
+v -0.21068296 0.03770200 0.43276300
+v -0.24139663 -0.05745269 -0.44696971
+v -0.21244152 -0.12804406 -0.45150179
+v -0.24139663 -0.05745269 0.38464142
+v -0.21831306 0.03410526 -0.47297858
+v -0.20384393 -0.05870463 -0.48145685
+v -0.16232924 -0.13100942 -0.48397753
+v -0.22515749 -0.09649470 0.38965808
+v -0.22781741 -0.09785531 -0.45150179
+v -0.16509612 -0.08934372 -0.50000000
+v -0.24221742 0.02829725 0.39092913
+v -0.17447491 -0.12800218 -0.47873684
+v -0.20009381 -0.12947050 -0.45992833
+v -0.24018442 -0.04211310 0.39067614
+v -0.20983436 -0.12671026 0.38954360
+v -0.20078429 -0.08436772 -0.47603525
+v -0.24592718 0.02888266 -0.44696971
+v -0.17342228 -0.08586813 -0.49526028
+f 1 2 3
+f 1 3 4
+f 8 4 3
+f 9 5 8
+f 10 2 1
+f 11 1 4
+f 12 7 5
+f 12 11 7
+f 12 5 9
+f 13 8 3
+f 13 3 2
+f 13 9 8
+f 15 2 10
+f 16 10 1
+f 16 1 6
+f 16 15 10
+f 16 2 15
+f 16 6 12
+f 17 11 4
+f 17 7 11
+f 17 14 7
+f 17 4 14
+f 18 6 1
+f 18 1 11
+f 18 12 6
+f 18 11 12
+f 19 12 9
+f 19 16 12
+f 19 13 2
+f 19 2 16
+f 20 14 4
+f 20 4 8
+f 20 8 5
+f 20 5 7
+f 20 7 14
+f 21 19 9
+f 21 9 13
+f 21 13 19
\ No newline at end of file
diff --git a/objects/objaverse/can/can_6/collision/model_normalized_collision_12.obj b/objects/objaverse/can/can_6/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4863f640f9f27eb425441bf5e69d3f7a8562e68f
--- /dev/null
+++ b/objects/objaverse/can/can_6/collision/model_normalized_collision_12.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.01256169 -0.24391666 0.39206932
+v 0.01327400 -0.24840732 -0.41666668
+v 0.01188532 -0.13357106 -0.47250590
+v -0.12265107 -0.18255851 0.42663854
+v -0.09766044 -0.22443944 0.38986172
+v -0.10273789 -0.20409878 -0.46687906
+v 0.01464420 -0.15100787 0.40151514
+v -0.05810183 -0.23805586 0.39004351
+v -0.06093422 -0.21048345 -0.47586200
+v -0.10656790 -0.15100787 -0.41666668
+v -0.09907029 -0.22721195 -0.45150179
+v -0.05860728 -0.24123255 -0.41666668
+v -0.05907475 -0.22905223 -0.46121844
+v -0.07407893 -0.22812250 -0.46005822
+f 7 4 1
+f 7 1 2
+f 7 2 3
+f 8 2 1
+f 8 1 4
+f 8 4 5
+f 9 6 3
+f 9 3 2
+f 10 6 4
+f 10 3 6
+f 10 7 3
+f 10 4 7
+f 11 5 4
+f 11 4 6
+f 12 8 5
+f 12 5 11
+f 12 2 8
+f 13 9 2
+f 14 11 6
+f 14 6 9
+f 14 9 13
+f 14 12 11
+f 14 13 2
+f 14 2 12
\ No newline at end of file
diff --git a/objects/objaverse/can/can_6/collision/model_normalized_collision_13.obj b/objects/objaverse/can/can_6/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a3dfd812ace8996a879909431a0c9f9e60163f63
--- /dev/null
+++ b/objects/objaverse/can/can_6/collision/model_normalized_collision_13.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.05710439 -0.23815799 0.39013868
+v 0.13299739 -0.20600418 -0.45436008
+v 0.13161249 -0.20328698 0.39488487
+v 0.01723262 -0.22796067 0.41325564
+v 0.01327400 -0.24840732 -0.44696971
+v 0.05992983 -0.21054663 -0.47594088
+v 0.09681305 -0.22476753 0.39003968
+v 0.01256169 -0.24391666 0.39206932
+v 0.10180819 -0.20426539 -0.46710591
+v 0.01723630 -0.22797685 -0.46739199
+v 0.09827020 -0.22763266 -0.45150179
+v 0.07307693 -0.22818558 -0.46013793
+v 0.12845224 -0.21224382 -0.45150179
+v 0.05761870 -0.24139192 -0.44696971
+v 0.05807094 -0.22911614 -0.46129625
+v 0.12702876 -0.20944470 0.38992505
+f 6 4 3
+f 7 3 4
+f 7 4 1
+f 8 5 1
+f 8 1 4
+f 9 6 3
+f 9 3 2
+f 10 4 6
+f 10 8 4
+f 10 5 8
+f 11 9 2
+f 12 10 6
+f 12 6 9
+f 12 9 11
+f 13 11 2
+f 13 2 3
+f 14 1 5
+f 14 12 11
+f 14 5 12
+f 14 11 7
+f 14 7 1
+f 15 12 5
+f 15 5 10
+f 15 10 12
+f 16 13 3
+f 16 3 7
+f 16 7 11
+f 16 11 13
\ No newline at end of file
diff --git a/objects/objaverse/can/can_6/collision/model_normalized_collision_14.obj b/objects/objaverse/can/can_6/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a54355e072f65fbc487c62ab248c647e7a388bf
--- /dev/null
+++ b/objects/objaverse/can/can_6/collision/model_normalized_collision_14.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.02179691 0.21234575 0.43395716
+v 0.01301511 0.15690636 -0.47985040
+v 0.01311373 0.24842844 -0.45150179
+v -0.05844242 0.24123971 0.38464142
+v -0.11829457 0.19018307 0.41982940
+v 0.01245485 0.24425639 0.39158496
+v 0.01346514 0.19002751 -0.49827819
+v -0.04310824 0.24006749 0.39060528
+v -0.09865711 0.22740520 -0.45150179
+v -0.09735920 0.22486295 0.38942463
+v -0.05844242 0.24123971 -0.45150179
+v -0.11660615 0.18686863 -0.47421957
+v -0.01353874 0.19924963 -0.49087780
+v -0.01446920 0.18996410 -0.49820058
+v -0.08773015 0.19024392 -0.48241722
+v -0.05901260 0.22967452 -0.46072687
+v -0.08529720 0.20062158 -0.47581250
+v -0.04377923 0.21399594 -0.47522335
+f 5 2 1
+f 6 1 3
+f 6 3 4
+f 7 1 2
+f 7 3 1
+f 8 5 1
+f 8 4 5
+f 8 6 4
+f 8 1 6
+f 10 9 5
+f 10 5 4
+f 10 4 9
+f 11 9 4
+f 11 4 3
+f 12 2 5
+f 12 5 9
+f 13 11 3
+f 13 3 7
+f 14 7 2
+f 14 2 12
+f 14 13 7
+f 15 14 12
+f 16 9 11
+f 16 11 13
+f 16 13 14
+f 17 9 16
+f 17 15 12
+f 17 12 9
+f 17 14 15
+f 18 17 16
+f 18 16 14
+f 18 14 17
\ No newline at end of file
diff --git a/objects/objaverse/can/can_6/collision/model_normalized_collision_15.obj b/objects/objaverse/can/can_6/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..75d13ecaab068b760e3b28cbb620f53df4c9ec65
--- /dev/null
+++ b/objects/objaverse/can/can_6/collision/model_normalized_collision_15.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.09175255 -0.09175257 -0.47123024
+v 0.07943543 -0.07943546 -0.46572339
+v -0.11219404 0.14249357 -0.50000000
+v 0.02248576 0.24694273 -0.41666668
+v 0.10421433 0.22458649 -0.41666668
+v -0.10718340 -0.09101729 -0.47451970
+v 0.09203908 0.15523838 -0.50000000
+v -0.12930108 0.21179180 -0.41666668
+v -0.07045254 0.18607217 -0.49179704
+v 0.08343383 0.18380606 -0.48866159
+v -0.09486528 -0.07869919 -0.46901187
+v -0.09896573 0.15169917 -0.50000000
+v -0.11173980 0.20762512 -0.46100979
+v -0.10070813 0.17082878 -0.49166878
+f 5 2 1
+f 6 1 2
+f 7 5 1
+f 7 6 3
+f 7 1 6
+f 8 3 6
+f 8 5 4
+f 8 2 5
+f 10 4 5
+f 10 5 7
+f 10 9 4
+f 10 7 9
+f 11 8 6
+f 11 6 2
+f 11 2 8
+f 12 9 7
+f 12 7 3
+f 13 8 4
+f 13 4 9
+f 13 3 8
+f 14 12 3
+f 14 9 12
+f 14 13 9
+f 14 3 13
\ No newline at end of file
diff --git a/objects/objaverse/can/can_6/collision/model_normalized_collision_16.obj b/objects/objaverse/can/can_6/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5c4bb584117f8eba273e7206d403fc555b06b644
--- /dev/null
+++ b/objects/objaverse/can/can_6/collision/model_normalized_collision_16.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.07040950 -0.18696616 0.45456023
+v 0.08756041 -0.17573689 0.45768313
+v -0.10343087 -0.16000065 0.49463917
+v -0.06608287 0.17693209 0.46988965
+v 0.06521073 0.17721178 0.47010927
+v -0.10150557 -0.17138004 0.45421338
+v 0.06631038 -0.17891954 0.49463917
+v -0.06112205 0.16719101 0.49242246
+v -0.12171943 -0.01464423 0.49173323
+v 0.08446777 -0.16966650 0.49463917
+v -0.07128252 -0.18668644 0.45433776
+v 0.06031937 0.16760695 0.49237882
+v -0.13195145 -0.13094318 0.47238536
+v -0.10656790 0.12171941 0.48602169
+v -0.11047161 -0.13976006 0.49463917
+v 0.09540151 0.11156760 0.48602169
+v -0.06711483 -0.17849868 0.49463917
+v 0.09102209 -0.15222526 0.49463917
+v -0.12544638 -0.12443180 0.49193672
+v 0.09040179 0.10656790 0.49173323
+f 5 2 1
+f 6 5 1
+f 6 4 5
+f 10 7 1
+f 10 1 2
+f 10 3 7
+f 11 6 1
+f 11 1 7
+f 12 5 4
+f 12 4 8
+f 13 6 3
+f 13 4 6
+f 14 9 8
+f 14 8 4
+f 14 13 9
+f 14 4 13
+f 15 8 9
+f 15 12 8
+f 15 3 10
+f 16 2 5
+f 16 5 12
+f 17 11 7
+f 17 7 3
+f 17 3 6
+f 17 6 11
+f 18 15 10
+f 18 12 15
+f 18 10 2
+f 18 2 16
+f 19 13 3
+f 19 3 15
+f 19 15 9
+f 19 9 13
+f 20 18 16
+f 20 16 12
+f 20 12 18
\ No newline at end of file
diff --git a/objects/objaverse/can/can_6/collision/model_normalized_collision_17.obj b/objects/objaverse/can/can_6/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..130768398d353c7779ebb83a7a4d2758e5aed9f7
--- /dev/null
+++ b/objects/objaverse/can/can_6/collision/model_normalized_collision_17.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v -0.21834046 -0.11646219 -0.41666668
+v -0.16509612 -0.08934372 -0.50000000
+v -0.16468010 0.09014585 -0.50000000
+v -0.21793016 0.11726779 -0.41666668
+v -0.24592718 0.02888266 -0.45150179
+v -0.24139663 -0.05745269 -0.45150179
+v -0.22458225 -0.10420719 -0.41666668
+v -0.19930775 -0.01253774 -0.49095764
+v -0.19024324 0.08773106 -0.48241479
+v -0.18379827 -0.08343633 -0.48865443
+v -0.22417195 0.10501278 -0.41666668
+v -0.24592718 0.02888266 -0.44696971
+v -0.18607014 0.07045352 -0.49179195
+v -0.21406223 -0.04277021 -0.47529783
+v -0.24139663 -0.05745269 -0.44696971
+v -0.19924309 0.01353448 -0.49087698
+v -0.22973206 -0.05801145 -0.46080591
+v -0.21492014 0.02877670 -0.47637173
+f 1 2 3
+f 1 3 4
+f 7 6 1
+f 8 3 2
+f 8 6 5
+f 9 5 4
+f 9 4 3
+f 10 2 1
+f 10 1 6
+f 10 8 2
+f 11 4 5
+f 11 7 1
+f 11 1 4
+f 12 5 6
+f 12 11 5
+f 12 7 11
+f 13 5 9
+f 13 9 3
+f 14 8 10
+f 15 12 6
+f 15 6 7
+f 15 7 12
+f 16 8 5
+f 16 13 3
+f 16 3 8
+f 17 14 10
+f 17 10 6
+f 17 6 8
+f 17 8 14
+f 18 16 5
+f 18 5 13
+f 18 13 16
\ No newline at end of file
diff --git a/objects/objaverse/can/can_6/collision/model_normalized_collision_18.obj b/objects/objaverse/can/can_6/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8cbbd8e8ad62b465bb3de6c7befb6028b182e7d4
--- /dev/null
+++ b/objects/objaverse/can/can_6/collision/model_normalized_collision_18.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.15100784 -0.01464423 0.40151514
+v 0.15100784 -0.01464423 0.00757577
+v 0.15929287 0.19062111 0.00757577
+v 0.01732451 0.18409695 0.47427571
+v 0.01464420 -0.01464423 0.40151514
+v 0.14615356 0.17747118 0.41184203
+v 0.15708953 0.10966745 0.46696197
+v 0.01464420 0.16717395 0.00757577
+v 0.11709685 0.16114379 0.45709584
+v 0.15100784 0.03081032 0.48602169
+v 0.01464420 -0.01464423 0.00757577
+v 0.01464420 0.03081032 0.47707863
+f 5 2 1
+f 6 3 4
+f 7 1 2
+f 7 2 3
+f 7 3 6
+f 8 4 3
+f 9 7 6
+f 9 6 4
+f 9 4 7
+f 10 5 1
+f 10 1 7
+f 10 7 4
+f 11 2 5
+f 11 5 8
+f 11 8 3
+f 11 3 2
+f 12 8 5
+f 12 4 8
+f 12 10 4
+f 12 5 10
\ No newline at end of file
diff --git a/objects/objaverse/can/can_6/collision/model_normalized_collision_19.obj b/objects/objaverse/can/can_6/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f10319a59efc996614d1c8c25a8d56f99e54f43
--- /dev/null
+++ b/objects/objaverse/can/can_6/collision/model_normalized_collision_19.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.08446777 -0.16966650 0.49463917
+v 0.18692946 -0.10869551 0.43010133
+v 0.15222523 -0.09102209 0.49463917
+v 0.09040179 0.03081032 0.49173323
+v 0.09040179 0.03081032 0.40151514
+v 0.15045595 0.03072304 0.49173323
+v 0.14158461 -0.12643310 0.49463917
+v 0.09040179 -0.09040181 0.40151514
+v 0.15100784 0.03081032 0.40151514
+v 0.12627774 -0.15657489 0.45250886
+v 0.09649570 -0.16353704 0.49463917
+v 0.10063391 -0.17165846 0.45443551
+v 0.08756041 -0.17573689 0.45768313
+f 1 3 4
+f 5 1 4
+f 6 3 2
+f 6 4 3
+f 7 2 3
+f 7 3 1
+f 8 1 5
+f 9 5 4
+f 9 4 6
+f 9 6 2
+f 9 8 5
+f 9 2 8
+f 10 2 7
+f 11 10 7
+f 11 7 1
+f 12 8 2
+f 12 2 10
+f 12 11 1
+f 12 10 11
+f 13 12 1
+f 13 1 8
+f 13 8 12
\ No newline at end of file
diff --git a/objects/objaverse/can/can_6/collision/model_normalized_collision_2.obj b/objects/objaverse/can/can_6/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..050ab02a96184c2c19ccb21d14f0331dbcaed49d
--- /dev/null
+++ b/objects/objaverse/can/can_6/collision/model_normalized_collision_2.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.19060505 -0.15929805 0.14393940
+v -0.11270114 -0.14198960 -0.50000000
+v -0.10656790 -0.13585636 0.14393940
+v -0.18252201 0.16737744 0.14393940
+v -0.16737050 0.18252208 -0.44696971
+v -0.15708858 -0.12576635 -0.48999198
+v -0.10407440 0.17743328 -0.48565535
+v -0.10314109 0.16045064 -0.49827328
+v -0.11417275 0.19724748 -0.46761452
+v -0.10656790 0.15202245 0.14393940
+v -0.15688384 0.12658080 -0.48963286
+v -0.15834708 0.17349453 -0.46188199
+v -0.14096055 0.17125850 -0.47313650
+v -0.12658098 0.15687928 -0.48963401
+f 1 2 3
+f 1 3 4
+f 5 1 4
+f 6 2 1
+f 6 1 5
+f 8 3 2
+f 9 5 4
+f 9 7 8
+f 10 4 3
+f 10 8 7
+f 10 3 8
+f 10 9 4
+f 10 7 9
+f 11 8 2
+f 11 2 6
+f 11 6 5
+f 12 5 9
+f 12 11 5
+f 13 12 9
+f 13 9 8
+f 14 13 8
+f 14 8 11
+f 14 11 12
+f 14 12 13
\ No newline at end of file
diff --git a/objects/objaverse/can/can_6/collision/model_normalized_collision_20.obj b/objects/objaverse/can/can_6/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..13427ab6beae32e568c0dd6c09274dd0d2f95cd5
--- /dev/null
+++ b/objects/objaverse/can/can_6/collision/model_normalized_collision_20.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.01327400 -0.24840732 -0.41666668
+v 0.09850753 -0.22751166 -0.41666668
+v -0.11133297 -0.22095959 -0.41666668
+v -0.09486528 -0.07869919 -0.46901187
+v 0.09245382 -0.15503449 -0.50000000
+v 0.07943543 -0.07943546 -0.46572339
+v 0.05761870 -0.24139192 -0.45150179
+v -0.11270114 -0.14198960 -0.50000000
+v 0.09175255 -0.09175257 -0.47123024
+v 0.08453057 -0.20009364 -0.47648573
+v 0.05761870 -0.24139192 -0.44696971
+v -0.05860728 -0.24123255 -0.45150179
+v -0.11026291 -0.09409682 -0.47589667
+v 0.09414349 -0.10929502 -0.47568621
+v -0.05860728 -0.24123255 -0.41666668
+v -0.10273789 -0.20409878 -0.46687906
+v 0.02760297 -0.19775999 -0.49028806
+v 0.05807094 -0.22911614 -0.46129625
+v 0.08360059 -0.18310632 -0.48910799
+v -0.09938360 -0.15149024 -0.50000000
+v -0.02860705 -0.19769952 -0.49020940
+v -0.10087810 -0.17013735 -0.49211879
+v -0.08453320 -0.18294529 -0.48887683
+v -0.05907475 -0.22905223 -0.46121844
+v -0.08546537 -0.19992738 -0.47625765
+f 6 3 2
+f 6 4 3
+f 8 4 6
+f 9 6 2
+f 9 8 6
+f 9 5 8
+f 10 5 2
+f 10 2 7
+f 11 7 2
+f 11 2 1
+f 11 1 7
+f 12 7 1
+f 13 8 3
+f 13 3 4
+f 13 4 8
+f 14 9 2
+f 14 2 5
+f 14 5 9
+f 15 12 1
+f 15 3 12
+f 15 1 2
+f 15 2 3
+f 16 12 3
+f 16 3 8
+f 17 7 12
+f 18 10 7
+f 18 7 17
+f 19 17 5
+f 19 5 10
+f 19 18 17
+f 19 10 18
+f 20 8 5
+f 21 20 5
+f 21 5 17
+f 21 17 12
+f 22 16 8
+f 22 8 20
+f 22 20 21
+f 23 22 21
+f 24 23 21
+f 24 21 12
+f 25 24 12
+f 25 12 16
+f 25 23 24
+f 25 16 22
+f 25 22 23
\ No newline at end of file
diff --git a/objects/objaverse/can/can_6/collision/model_normalized_collision_21.obj b/objects/objaverse/can/can_6/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..31c9626ed45a53a83dd07b6a9e26104a0b8d9402
--- /dev/null
+++ b/objects/objaverse/can/can_6/collision/model_normalized_collision_21.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v -0.10656790 0.15202245 0.14393940
+v -0.10117385 0.14142757 -0.48457156
+v -0.10478589 0.22428252 0.31060605
+v -0.10164145 0.18781142 -0.47905085
+v -0.18252201 0.16737744 0.14393940
+v -0.17484218 0.15969416 -0.46034014
+v -0.16737050 0.18252208 0.31060605
+v -0.11798585 0.17500033 -0.48228909
+v -0.12884358 0.21202493 -0.45150179
+v -0.10407440 0.17743328 -0.48565535
+v -0.10348972 0.22174010 -0.45384273
+v -0.15221899 0.19766675 -0.45150179
+v -0.13039798 0.19992743 -0.45970064
+v -0.14620113 0.17650149 -0.46712257
+v -0.15221899 0.19766675 0.31060605
+v -0.14319417 0.18864468 -0.46187958
+v -0.12884358 0.21202493 0.31060605
+f 1 2 3
+f 3 2 4
+f 5 2 1
+f 6 2 5
+f 7 5 1
+f 7 1 3
+f 8 2 6
+f 10 8 4
+f 10 4 2
+f 10 2 8
+f 11 9 3
+f 11 3 4
+f 12 6 5
+f 13 12 9
+f 13 9 11
+f 13 11 4
+f 13 4 8
+f 14 8 6
+f 15 7 3
+f 15 9 12
+f 15 12 5
+f 15 5 7
+f 16 13 8
+f 16 12 13
+f 16 8 14
+f 16 14 6
+f 16 6 12
+f 17 15 3
+f 17 3 9
+f 17 9 15
\ No newline at end of file
diff --git a/objects/objaverse/can/can_6/collision/model_normalized_collision_22.obj b/objects/objaverse/can/can_6/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8ca2d6c823959cc791a909f3919e1601bb9ae019
--- /dev/null
+++ b/objects/objaverse/can/can_6/collision/model_normalized_collision_22.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.21831276 0.10225995 0.39478719
+v 0.22109058 0.10367682 -0.45426887
+v 0.19718881 0.15274230 0.38464142
+v 0.13417205 0.20932278 0.38464142
+v 0.14199321 0.11270094 -0.50000000
+v 0.15172399 0.19818658 -0.45150179
+v 0.16631682 0.13702841 0.43206333
+v 0.20913430 0.12788514 0.38971760
+v 0.17014131 0.10087743 -0.49212017
+v 0.19718881 0.15274230 -0.45150179
+v 0.15172399 0.19818658 0.38464142
+v 0.12800421 0.17447336 -0.47873679
+v 0.15119439 0.16736048 0.41689734
+v 0.21184213 0.12927010 -0.45150179
+v 0.19935752 0.14481437 0.39135384
+v 0.12877657 0.14494268 -0.49523465
+v 0.13281217 0.20665533 -0.45395411
+v 0.16770951 0.11479005 -0.48875525
+v 0.19924389 0.13056895 -0.46015622
+v 0.17045793 0.14116451 -0.47349628
+f 7 5 1
+f 8 1 2
+f 9 2 1
+f 9 1 5
+f 10 6 3
+f 11 6 4
+f 11 3 6
+f 13 5 7
+f 13 11 4
+f 14 8 2
+f 14 3 8
+f 14 10 3
+f 15 7 1
+f 15 1 8
+f 15 8 3
+f 15 13 7
+f 15 3 11
+f 15 11 13
+f 16 4 12
+f 16 13 4
+f 16 5 13
+f 17 12 4
+f 17 4 6
+f 17 6 12
+f 18 9 5
+f 18 5 16
+f 19 18 10
+f 19 10 14
+f 19 14 2
+f 19 2 9
+f 19 9 18
+f 20 18 16
+f 20 10 18
+f 20 16 12
+f 20 12 6
+f 20 6 10
\ No newline at end of file
diff --git a/objects/objaverse/can/can_6/collision/model_normalized_collision_23.obj b/objects/objaverse/can/can_6/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..18225bf38b8ce482d54f389c3e208c74430933b0
--- /dev/null
+++ b/objects/objaverse/can/can_6/collision/model_normalized_collision_23.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v -0.10226013 -0.21831308 0.39478552
+v -0.10087810 -0.17013735 -0.49211879
+v -0.13702154 -0.16630995 0.43206521
+v -0.20375202 -0.13133240 0.39444986
+v -0.15272627 -0.19715970 -0.45150179
+v -0.11270114 -0.14198960 -0.50000000
+v -0.15272627 -0.19715970 0.38464142
+v -0.10367018 -0.22107959 -0.45425752
+v -0.20666309 -0.13281725 -0.45394554
+v -0.14494083 -0.12877472 -0.49523525
+v -0.12787600 -0.20911629 0.38974729
+v -0.19967339 -0.14440522 0.39120344
+v -0.13056001 -0.19923082 -0.46014652
+v -0.12925231 -0.21182312 -0.45150179
+v -0.11478439 -0.16770317 -0.48875588
+v -0.19819111 -0.15171545 -0.45150179
+v -0.17447491 -0.12800218 -0.47873684
+v -0.19819111 -0.15171545 0.38464142
+v -0.14115830 -0.17044675 -0.47349227
+f 6 4 3
+f 6 1 2
+f 6 3 1
+f 8 2 1
+f 10 4 6
+f 11 1 3
+f 11 3 7
+f 11 8 1
+f 12 7 3
+f 12 3 4
+f 14 7 5
+f 14 13 8
+f 14 5 13
+f 14 11 7
+f 14 8 11
+f 15 13 5
+f 15 2 8
+f 15 8 13
+f 15 10 6
+f 15 6 2
+f 16 5 7
+f 17 9 4
+f 17 4 10
+f 17 16 9
+f 18 12 4
+f 18 4 9
+f 18 9 16
+f 18 16 7
+f 18 7 12
+f 19 15 5
+f 19 10 15
+f 19 17 10
+f 19 5 16
+f 19 16 17
\ No newline at end of file
diff --git a/objects/objaverse/can/can_6/collision/model_normalized_collision_24.obj b/objects/objaverse/can/can_6/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6447e986f2da2dc220b21be48cd9ad1b1922aecd
--- /dev/null
+++ b/objects/objaverse/can/can_6/collision/model_normalized_collision_24.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.01786290 0.04256818 0.49646549
+v 0.01464420 0.03081032 0.40151514
+v 0.02179691 0.21234575 0.43395716
+v -0.03770175 0.21068128 0.43276332
+v -0.03519928 0.03463965 0.49537954
+v -0.03081034 0.16717395 0.48602169
+v -0.03081034 0.03081032 0.40151514
+v 0.01464420 0.16717395 0.48602169
+v 0.01032113 0.06167241 0.49770337
+v -0.04215737 0.08020389 0.49173323
+f 1 2 3
+f 3 2 4
+f 5 2 1
+f 6 3 4
+f 7 4 2
+f 7 2 5
+f 8 1 3
+f 8 3 6
+f 9 5 1
+f 9 8 6
+f 9 1 8
+f 10 6 4
+f 10 9 6
+f 10 5 9
+f 10 7 5
+f 10 4 7
\ No newline at end of file
diff --git a/objects/objaverse/can/can_6/collision/model_normalized_collision_25.obj b/objects/objaverse/can/can_6/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac02ababeaf66adcd596bde5a49114ea3f8e46b5
--- /dev/null
+++ b/objects/objaverse/can/can_6/collision/model_normalized_collision_25.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.22663862 0.03302946 0.41157712
+v -0.20563366 0.02970022 -0.48369794
+v -0.21570618 0.09298492 0.40396556
+v -0.20470656 0.04470909 -0.48253556
+v -0.24592718 0.02888266 -0.45150179
+v -0.24221742 0.02829725 0.39092913
+v -0.23353461 0.08663028 -0.45150179
+v -0.21492014 0.02877670 -0.47637173
+v -0.23000684 0.08482923 0.39122471
+v -0.20722633 0.08866422 -0.46979764
+v -0.24123969 0.05844237 -0.45150179
+v -0.24123969 0.05844237 0.38464142
+v -0.21760455 0.08623242 -0.46319274
+v -0.22967276 0.05901663 -0.46072226
+v -0.24004960 0.04310539 0.39063453
+f 1 2 3
+f 3 2 4
+f 6 2 1
+f 8 6 5
+f 8 2 6
+f 9 1 3
+f 9 3 7
+f 10 7 3
+f 10 3 4
+f 12 1 9
+f 12 9 7
+f 12 7 11
+f 12 11 5
+f 12 5 6
+f 13 10 4
+f 13 4 7
+f 13 7 10
+f 14 11 7
+f 14 7 4
+f 14 5 11
+f 14 8 5
+f 14 4 2
+f 14 2 8
+f 15 12 6
+f 15 6 1
+f 15 1 12
\ No newline at end of file
diff --git a/objects/objaverse/can/can_6/collision/model_normalized_collision_26.obj b/objects/objaverse/can/can_6/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2f0bb9a992ccc2dd8be81a65522f86889e904806
--- /dev/null
+++ b/objects/objaverse/can/can_6/collision/model_normalized_collision_26.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.15100784 -0.01464423 0.00757577
+v 0.15100784 -0.01464423 -0.35606062
+v 0.15100784 0.10656790 0.00757577
+v -0.10656790 0.10656790 0.00757577
+v -0.10656790 -0.01464423 -0.35606062
+v -0.10656790 0.10656790 -0.35606062
+v -0.10656790 -0.01464423 0.00757577
+v 0.15100784 0.10656790 -0.35606062
+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/can/can_6/collision/model_normalized_collision_27.obj b/objects/objaverse/can/can_6/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..396496218703da69f7c51c64b0c02437e2da622f
--- /dev/null
+++ b/objects/objaverse/can/can_6/collision/model_normalized_collision_27.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.01464420 -0.01464423 0.26515151
+v 0.01464420 -0.01464423 0.00757577
+v 0.01464420 0.16717395 0.26515151
+v -0.12930108 0.21179180 0.26515151
+v -0.10656790 -0.01464423 0.00757577
+v -0.12930108 0.21179180 0.00757577
+v -0.10656790 -0.01464423 0.26515151
+v 0.01464420 0.16717395 0.00757577
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 6 2 5
+f 7 5 1
+f 7 1 4
+f 7 6 5
+f 7 4 6
+f 8 3 2
+f 8 2 6
+f 8 6 4
+f 8 4 3
\ No newline at end of file
diff --git a/objects/objaverse/can/can_6/collision/model_normalized_collision_28.obj b/objects/objaverse/can/can_6/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b3bfd076f9602ac2c4f4f86925568664aebf84c
--- /dev/null
+++ b/objects/objaverse/can/can_6/collision/model_normalized_collision_28.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.13585633 0.10656790 0.00757577
+v 0.15929287 0.19062111 -0.41666668
+v 0.15929287 0.19062111 0.00757577
+v -0.12930108 0.21179180 0.00757577
+v -0.09412585 0.09413357 -0.47229923
+v 0.13585633 0.10656790 -0.41666668
+v -0.10656790 0.10656790 0.00757577
+v -0.12930108 0.21179180 -0.41666668
+f 1 3 4
+f 6 5 2
+f 6 1 5
+f 6 2 3
+f 6 3 1
+f 7 5 1
+f 7 1 4
+f 8 2 5
+f 8 3 2
+f 8 4 3
+f 8 7 4
+f 8 5 7
\ No newline at end of file
diff --git a/objects/objaverse/can/can_6/collision/model_normalized_collision_29.obj b/objects/objaverse/can/can_6/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..23f81f78c5994f06ba0522587be84585da9b694d
--- /dev/null
+++ b/objects/objaverse/can/can_6/collision/model_normalized_collision_29.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.17495511 -0.17496596 -0.35606062
+v 0.17495511 -0.17496596 -0.41666668
+v 0.15100784 0.10656790 -0.41666668
+v -0.10656790 0.10656790 -0.35606062
+v -0.10656790 -0.15100787 -0.41666668
+v 0.15100784 0.10656790 -0.35606062
+v -0.10656790 -0.15100787 -0.35606062
+v -0.09412585 0.09413357 -0.47229923
+f 1 2 3
+f 6 1 3
+f 6 3 4
+f 6 4 1
+f 7 1 4
+f 7 4 5
+f 7 5 2
+f 7 2 1
+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/can/can_6/collision/model_normalized_collision_3.obj b/objects/objaverse/can/can_6/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..655e098d88aa2b45e86f0b926e560699f45c8176
--- /dev/null
+++ b/objects/objaverse/can/can_6/collision/model_normalized_collision_3.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v 0.07373857 -0.23237007 0.39465843
+v 0.18692946 -0.10869551 0.43010133
+v -0.09742749 -0.17853150 0.44784303
+v -0.06439645 0.21820411 0.41640194
+v 0.09040179 0.03081032 0.40151514
+v 0.09040179 0.03081032 0.49173323
+v -0.10226013 -0.21831308 0.39478552
+v 0.06633112 -0.19411706 0.44819011
+v 0.14652850 -0.19198307 0.39702290
+v -0.10123034 0.17185255 0.45378522
+v -0.03770175 0.21068128 0.43276332
+v 0.13161249 -0.20328698 0.39488487
+v -0.11013733 0.20448062 0.40708976
+v -0.01287936 -0.22436940 0.41921566
+v -0.06720469 -0.19383677 0.44796733
+v 0.16144660 -0.09571793 0.47042829
+v -0.03322826 0.18243388 0.47308076
+v -0.07473529 -0.23226351 0.39458165
+v 0.12123806 -0.16668361 0.44745139
+v 0.07262033 -0.22530797 0.40473782
+v -0.05992204 0.18995581 0.45671931
+v 0.01188156 -0.22447381 0.41929064
+v 0.13639267 -0.15153521 0.44745452
+v -0.07318903 -0.22529259 0.40462835
+v 0.08181973 -0.20992988 0.41841359
+v -0.08408264 0.18307645 0.45065698
+f 6 2 5
+f 9 5 2
+f 11 6 5
+f 11 5 4
+f 12 7 5
+f 12 5 9
+f 13 4 5
+f 13 5 7
+f 13 7 3
+f 13 3 10
+f 15 6 3
+f 15 3 7
+f 16 2 6
+f 16 15 8
+f 16 6 15
+f 17 10 3
+f 17 3 6
+f 17 6 11
+f 17 11 4
+f 18 12 1
+f 18 7 12
+f 19 12 9
+f 19 8 12
+f 19 16 8
+f 20 1 12
+f 21 4 13
+f 21 17 4
+f 21 10 17
+f 22 15 14
+f 22 8 15
+f 22 20 8
+f 22 1 20
+f 22 18 1
+f 22 14 18
+f 23 9 2
+f 23 2 16
+f 23 19 9
+f 23 16 19
+f 24 15 7
+f 24 7 18
+f 24 18 14
+f 24 14 15
+f 25 20 12
+f 25 12 8
+f 25 8 20
+f 26 21 13
+f 26 13 10
+f 26 10 21
\ No newline at end of file
diff --git a/objects/objaverse/can/can_6/collision/model_normalized_collision_30.obj b/objects/objaverse/can/can_6/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c4fbba2d761077dfa87ab45969b6efd3a977c7ad
--- /dev/null
+++ b/objects/objaverse/can/can_6/collision/model_normalized_collision_30.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.01464420 -0.15100787 0.26515151
+v 0.01464420 -0.15100787 -0.35606062
+v 0.01464420 -0.01464423 0.26515151
+v -0.10656790 -0.01464423 0.26515151
+v -0.10656790 -0.15100787 -0.35606062
+v -0.10656790 -0.01464423 -0.35606062
+v -0.10656790 -0.15100787 0.26515151
+v 0.01464420 -0.01464423 -0.35606062
+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/can/can_6/collision/model_normalized_collision_31.obj b/objects/objaverse/can/can_6/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..02984362e505e5a897660c5077fa9f03898d7ea0
--- /dev/null
+++ b/objects/objaverse/can/can_6/collision/model_normalized_collision_31.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.12265107 -0.18255851 0.42663854
+v 0.01464420 -0.15100787 0.26515151
+v 0.02179691 0.21234575 0.43395716
+v -0.11829457 0.19018307 0.41982940
+v -0.12930108 0.21179180 0.26515151
+v 0.01464420 -0.15100787 0.40151514
+v -0.10656790 -0.15100787 0.26515151
+v 0.01464420 0.16717395 0.26515151
+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 5 2
+f 7 2 1
+f 7 1 5
+f 8 5 3
+f 8 3 2
+f 8 2 5
\ No newline at end of file
diff --git a/objects/objaverse/can/can_6/collision/model_normalized_collision_4.obj b/objects/objaverse/can/can_6/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a3634580e00ffb9b5edb387614ed2fed9c8389b
--- /dev/null
+++ b/objects/objaverse/can/can_6/collision/model_normalized_collision_4.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v -0.10656790 0.09141637 0.49173323
+v 0.09127323 0.19861289 0.42654631
+v -0.05874786 0.18255224 0.49463917
+v -0.07462892 0.23260327 0.39409712
+v -0.10656790 0.09141637 0.40151514
+v 0.07363140 0.23271009 0.39417388
+v -0.20347266 0.13220459 0.39422541
+v 0.06041532 0.16779524 0.49463917
+v 0.01177540 0.22481387 0.41880623
+v -0.16632173 0.09098206 0.49463917
+v -0.13220439 0.20347218 0.39422713
+v -0.21877868 0.10198031 0.39434841
+v 0.05775969 0.18271277 0.49463917
+v 0.07828598 0.17313485 0.46686485
+v -0.01277144 0.22470894 0.41873085
+v -0.21648608 0.08566036 0.40767462
+v -0.10198011 0.21877820 0.39435011
+v -0.11277840 0.15521431 0.49463917
+v -0.22285651 0.08890709 0.39759513
+v -0.15521428 0.11277838 0.49463917
+f 6 2 5
+f 7 4 6
+f 9 6 4
+f 10 8 3
+f 10 1 8
+f 11 4 7
+f 12 7 6
+f 12 6 5
+f 12 10 7
+f 13 2 6
+f 13 6 9
+f 13 9 3
+f 13 3 8
+f 14 5 2
+f 14 13 8
+f 14 2 13
+f 14 8 1
+f 14 1 5
+f 15 9 4
+f 15 4 3
+f 15 3 9
+f 16 5 1
+f 16 1 10
+f 17 3 4
+f 17 4 11
+f 18 10 3
+f 18 17 11
+f 18 3 17
+f 19 12 5
+f 19 5 16
+f 19 16 10
+f 19 10 12
+f 20 7 10
+f 20 10 18
+f 20 18 11
+f 20 11 7
\ No newline at end of file
diff --git a/objects/objaverse/can/can_6/collision/model_normalized_collision_5.obj b/objects/objaverse/can/can_6/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..85fe9f36f05babc076dbd3e59ca91dd1d563926c
--- /dev/null
+++ b/objects/objaverse/can/can_6/collision/model_normalized_collision_5.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v -0.21068296 0.03770200 0.43276300
+v -0.16045011 0.10314236 -0.49827188
+v -0.16717398 0.03081032 -0.41666668
+v -0.15979476 0.19009442 0.38464142
+v -0.23353461 0.08663028 -0.45150179
+v -0.16200286 0.17715436 0.39632917
+v -0.23000684 0.08482923 0.39122471
+v -0.15979476 0.19009442 -0.45150179
+v -0.19635134 0.03063168 -0.49101997
+v -0.22663862 0.03302946 0.41157712
+v -0.19768381 0.15222250 0.38464142
+v -0.15911939 0.14396783 -0.47837944
+v -0.17326013 0.08679794 -0.49503191
+v -0.16468010 0.09014585 -0.50000000
+v -0.20563366 0.02970022 -0.48369794
+v -0.22489208 0.09737398 0.38937829
+v -0.19768381 0.15222250 -0.45150179
+v -0.17211353 0.17211353 0.39127383
+v -0.20956970 0.12758994 0.38926333
+v -0.20062143 0.08529923 -0.47580989
+v -0.22740710 0.09866091 -0.45150179
+v -0.17126494 0.14096190 -0.47313795
+v -0.19993101 0.13040211 -0.45970295
+f 3 2 4
+f 6 1 3
+f 6 3 4
+f 10 7 5
+f 10 1 7
+f 10 3 1
+f 11 4 8
+f 12 8 4
+f 12 4 2
+f 14 2 3
+f 14 3 9
+f 14 9 13
+f 15 10 5
+f 15 5 9
+f 15 9 3
+f 15 3 10
+f 16 11 5
+f 16 5 7
+f 17 11 8
+f 18 11 6
+f 18 6 4
+f 18 4 11
+f 19 1 6
+f 19 6 11
+f 19 11 16
+f 19 16 7
+f 19 7 1
+f 20 13 9
+f 20 9 5
+f 21 5 11
+f 21 11 17
+f 22 12 2
+f 22 2 17
+f 22 17 8
+f 22 8 12
+f 23 21 17
+f 23 17 2
+f 23 20 5
+f 23 5 21
+f 23 13 20
+f 23 14 13
+f 23 2 14
\ No newline at end of file
diff --git a/objects/objaverse/can/can_6/collision/model_normalized_collision_6.obj b/objects/objaverse/can/can_6/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a689ac3377c84f147f5b1be602bafeb8a5cca43
--- /dev/null
+++ b/objects/objaverse/can/can_6/collision/model_normalized_collision_6.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.15045595 0.03072304 0.49173323
+v 0.21116398 0.10633859 0.40115702
+v 0.11277835 0.15521431 0.49463917
+v 0.07496187 0.22721413 0.40106461
+v 0.12070483 0.10656790 0.40151514
+v 0.14620088 0.20319397 0.38464142
+v 0.06009875 0.10656790 0.49173323
+v 0.18255552 0.05891012 0.49463917
+v 0.15100784 0.03081032 0.48602169
+v 0.19645773 0.15201776 0.38635968
+v 0.05999136 0.18211471 0.49463917
+v 0.13417205 0.20932278 0.38464142
+v 0.09040179 0.03081032 0.49173323
+v 0.18961590 0.06002888 0.45720386
+v 0.18960961 0.16031807 0.38464142
+v 0.20300674 0.13248423 0.39466419
+v 0.15523933 0.11277838 0.49463917
+v 0.05892447 0.19006263 0.45679604
+v 0.10110834 0.21905847 0.39457121
+v 0.17850908 0.06711581 0.49463917
+v 0.05586119 0.14369659 0.49173323
+v 0.05780598 0.18300055 0.46687540
+f 7 4 5
+f 9 5 2
+f 10 2 5
+f 11 3 6
+f 11 8 3
+f 12 5 4
+f 12 11 6
+f 13 1 8
+f 13 9 1
+f 13 7 5
+f 13 5 9
+f 13 11 7
+f 13 8 11
+f 14 8 1
+f 14 1 9
+f 14 9 2
+f 14 2 8
+f 15 6 3
+f 15 12 6
+f 15 10 5
+f 15 5 12
+f 16 8 2
+f 16 2 10
+f 17 3 8
+f 17 16 10
+f 17 15 3
+f 17 10 15
+f 18 11 4
+f 18 4 7
+f 19 12 4
+f 19 4 11
+f 19 11 12
+f 20 17 8
+f 20 8 16
+f 20 16 17
+f 21 18 7
+f 21 7 11
+f 22 21 11
+f 22 11 18
+f 22 18 21
\ No newline at end of file
diff --git a/objects/objaverse/can/can_6/collision/model_normalized_collision_7.obj b/objects/objaverse/can/can_6/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b330680254321c5653a61a4a5ec848ee681ff0a9
--- /dev/null
+++ b/objects/objaverse/can/can_6/collision/model_normalized_collision_7.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v 0.09850753 -0.22751166 -0.41666668
+v 0.24840667 -0.01327348 -0.45150179
+v 0.24840667 -0.01327348 -0.41666668
+v 0.08582793 0.23395453 -0.41666668
+v 0.08603357 -0.17273261 -0.49571440
+v 0.24123250 0.05860725 -0.45150179
+v 0.18254115 -0.16738335 -0.45150179
+v 0.08789662 -0.20669834 -0.47047196
+v 0.24123250 0.05860725 -0.41666668
+v 0.08586696 0.17342824 -0.49526616
+v 0.14660891 -0.20298632 -0.41666668
+v 0.18311461 -0.08360485 -0.48910749
+v 0.14660891 -0.20298632 -0.45150179
+v 0.12804324 0.21244545 -0.45150179
+v 0.08530078 0.21777099 -0.46342448
+v 0.18254115 -0.16738335 -0.44696971
+v 0.16787372 -0.11385921 -0.48898627
+v 0.20183820 -0.11572454 -0.46374862
+v 0.19776214 -0.02759743 -0.49029517
+v 0.12804324 0.21244545 -0.41666668
+v 0.18295135 0.08453303 -0.48888021
+v 0.08582793 0.23395453 -0.45150179
+v 0.11385876 -0.16786668 -0.48898620
+v 0.20009757 -0.08453746 -0.47648999
+v 0.17065798 -0.14035499 -0.47385461
+v 0.19770971 0.02860367 -0.49021661
+v 0.19993437 0.08546617 -0.47626313
+v 0.12576948 0.15708710 -0.48999281
+v 0.14035364 -0.17065182 -0.47385323
+v 0.22905807 0.05907989 -0.46123082
+v 0.11369057 0.16856231 -0.48853341
+v 0.12946857 0.20009459 -0.45993116
+f 6 3 2
+f 7 2 3
+f 8 1 4
+f 8 4 5
+f 9 3 6
+f 9 1 3
+f 9 4 1
+f 11 3 1
+f 13 7 11
+f 13 11 1
+f 13 1 8
+f 14 9 6
+f 15 10 5
+f 15 5 4
+f 16 11 7
+f 16 7 3
+f 16 3 11
+f 17 5 12
+f 18 2 7
+f 19 12 5
+f 19 5 10
+f 20 14 4
+f 20 4 9
+f 20 9 14
+f 22 15 4
+f 22 4 14
+f 23 5 17
+f 23 13 8
+f 23 8 5
+f 24 2 18
+f 24 19 2
+f 24 12 19
+f 24 18 17
+f 24 17 12
+f 25 18 7
+f 25 17 18
+f 25 23 17
+f 26 6 2
+f 26 2 19
+f 26 19 10
+f 26 10 21
+f 27 14 6
+f 28 21 10
+f 28 27 21
+f 29 25 7
+f 29 7 13
+f 29 13 23
+f 29 23 25
+f 30 26 21
+f 30 21 27
+f 30 27 6
+f 30 6 26
+f 31 28 10
+f 32 14 27
+f 32 27 28
+f 32 28 31
+f 32 22 14
+f 32 15 22
+f 32 31 10
+f 32 10 15
\ No newline at end of file
diff --git a/objects/objaverse/can/can_6/collision/model_normalized_collision_8.obj b/objects/objaverse/can/can_6/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..430287b5fd9d8bcccaf0bc1d383d9f8faf605cdd
--- /dev/null
+++ b/objects/objaverse/can/can_6/collision/model_normalized_collision_8.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v -0.13702154 -0.16630995 0.43206521
+v -0.10656790 -0.13585636 0.14393940
+v -0.10656790 -0.12070483 0.48602169
+v -0.10198011 0.21877820 0.39435011
+v -0.16737050 0.18252208 0.14393940
+v -0.16632173 0.09098206 0.49463917
+v -0.19060505 -0.15929805 0.14393940
+v -0.12317230 0.21491448 0.14393940
+v -0.16760783 -0.06031975 0.49237872
+v -0.10656790 0.09141637 0.49173323
+v -0.15221899 0.19766675 0.38464142
+v -0.10478589 0.22428252 0.31060605
+v -0.16114382 -0.11709685 0.45709584
+v -0.17746817 -0.14615055 0.41184195
+v -0.10656790 -0.01464423 0.49173323
+v -0.14887139 0.09753403 0.49463917
+v -0.12758281 0.20955044 0.38928858
+v -0.15221899 0.19766675 0.31060605
+v -0.12884358 0.21202493 0.31060605
+v -0.16738365 0.06122022 0.49463917
+v -0.12171943 -0.06009878 0.49173323
+f 1 2 3
+f 3 2 4
+f 7 5 2
+f 7 2 1
+f 7 6 5
+f 8 2 5
+f 11 5 6
+f 12 4 2
+f 12 2 8
+f 13 1 3
+f 13 3 9
+f 14 13 9
+f 14 7 1
+f 14 1 13
+f 15 3 4
+f 15 4 10
+f 16 10 4
+f 16 4 6
+f 16 15 10
+f 17 11 6
+f 17 6 4
+f 17 12 11
+f 17 4 12
+f 18 8 5
+f 18 5 11
+f 19 12 8
+f 19 11 12
+f 19 18 11
+f 19 8 18
+f 20 14 9
+f 20 6 7
+f 20 7 14
+f 20 16 6
+f 21 9 3
+f 21 3 15
+f 21 20 9
+f 21 15 16
+f 21 16 20
\ No newline at end of file
diff --git a/objects/objaverse/can/can_6/collision/model_normalized_collision_9.obj b/objects/objaverse/can/can_6/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f853982bdb719a75612923d6693ee83881f7cddf
--- /dev/null
+++ b/objects/objaverse/can/can_6/collision/model_normalized_collision_9.obj
@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
+v 0.14468581 -0.19920935 0.39163807
+v 0.24138914 -0.05761748 -0.45150179
+v 0.23816784 -0.05710596 0.39012342
+v 0.15708953 0.10966745 0.46696197
+v 0.14048892 0.10120732 -0.48431181
+v 0.22721802 0.09908134 -0.45150179
+v 0.15523933 -0.11277838 0.49463917
+v 0.19610389 -0.15064235 0.38841264
+v 0.14660891 -0.20298632 -0.45150179
+v 0.14350570 -0.05627611 0.49173323
+v 0.24840667 -0.01327348 -0.45150179
+v 0.22445713 0.09766943 0.38983226
+v 0.20410749 0.10274371 -0.46688602
+v 0.22762832 -0.09827576 -0.45150179
+v 0.15062386 -0.19607841 0.38845552
+v 0.22477918 -0.09681898 0.39002002
+v 0.15100784 0.06111335 0.48602169
+v 0.14916035 -0.11885734 0.49463917
+v 0.20601563 -0.01375576 -0.48544019
+v 0.24123250 0.05860725 -0.41666668
+v 0.23804001 0.05809930 0.39006791
+v 0.19769608 -0.15223525 -0.45150179
+v 0.17891951 -0.06631040 0.49463917
+v 0.22813502 0.07407763 -0.46006626
+v 0.20415654 -0.04376798 -0.48311548
+v 0.18255552 0.05891012 0.49463917
+v 0.15223127 -0.19767953 -0.45150179
+v 0.21529795 -0.01282432 -0.47811814
+v 0.22819520 -0.07308039 -0.46014437
+v 0.15083552 -0.18113848 -0.46182081
+v 0.16719424 0.06164090 0.49463917
+v 0.22447401 -0.01188224 0.41929079
+v 0.18902876 -0.13206927 -0.46698875
+v 0.22436907 0.01287833 0.41921541
+v 0.19940582 -0.12963689 -0.46038358
+f 9 1 5
+f 10 5 1
+f 11 3 2
+f 12 6 4
+f 13 5 4
+f 13 4 6
+f 15 1 9
+f 16 7 8
+f 16 8 14
+f 16 14 2
+f 16 2 3
+f 17 4 5
+f 17 5 10
+f 18 10 1
+f 18 1 15
+f 18 15 8
+f 18 8 7
+f 19 5 13
+f 20 11 6
+f 20 6 12
+f 21 3 11
+f 21 20 12
+f 21 11 20
+f 22 14 8
+f 23 16 3
+f 23 7 16
+f 23 18 7
+f 24 19 13
+f 24 13 6
+f 24 6 11
+f 25 5 19
+f 26 21 12
+f 26 12 4
+f 26 18 23
+f 27 15 9
+f 27 22 8
+f 27 8 15
+f 28 24 11
+f 28 19 24
+f 29 2 14
+f 29 25 19
+f 29 19 28
+f 29 28 11
+f 29 11 2
+f 30 9 5
+f 30 5 25
+f 30 27 9
+f 30 22 27
+f 31 26 4
+f 31 4 17
+f 31 17 10
+f 31 10 18
+f 31 18 26
+f 32 26 23
+f 32 23 3
+f 32 3 21
+f 33 29 14
+f 33 25 29
+f 33 30 25
+f 33 22 30
+f 34 32 21
+f 34 21 26
+f 34 26 32
+f 35 33 14
+f 35 14 22
+f 35 22 33
\ No newline at end of file
diff --git a/objects/objaverse/can/can_6/model.xml b/objects/objaverse/can/can_6/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..5147702330888aa12bd99a80bb398553d4dc00c7
--- /dev/null
+++ b/objects/objaverse/can/can_6/model.xml
@@ -0,0 +1,85 @@
+<mujoco model="can_18">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.11 0.11 0.11" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="visual/model_normalized_1.obj" name="model_normalized_1_vis" scale="0.11 0.11 0.11" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.11 0.11 0.11" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.11 0.11 0.11" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.11 0.11 0.11" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.11 0.11 0.11" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.11 0.11 0.11" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.11 0.11 0.11" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.11 0.11 0.11" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.11 0.11 0.11" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.11 0.11 0.11" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.11 0.11 0.11" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.11 0.11 0.11" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.11 0.11 0.11" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.11 0.11 0.11" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.11 0.11 0.11" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.11 0.11 0.11" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.11 0.11 0.11" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.11 0.11 0.11" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.11 0.11 0.11" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.11 0.11 0.11" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.11 0.11 0.11" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.11 0.11 0.11" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.11 0.11 0.11" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.11 0.11 0.11" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.11 0.11 0.11" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.11 0.11 0.11" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.11 0.11 0.11" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.11 0.11 0.11" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.11 0.11 0.11" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.11 0.11 0.11" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.11 0.11 0.11" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.11 0.11 0.11" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.11 0.11 0.11" refquat="1.0 0.0 0.0 0.0"/>
+    <texture type="2d" name="image1" file="visual/image1.png"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="lambert3.008" texture="image1" specular="0.5" shininess="0.15999998099999999"/>
+    <material name="latinha" texture="image0" specular="0.5" shininess="0.386037554"/>
+  </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="lambert3.008"/>
+        <geom solimp="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="latinha"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_22._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_23._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_21._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_20._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
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+      </body>
+      <site rgba="0 0 0 0" size="0.005" pos="0.00013637195000000004 1.1616000000007342e-06 -0.055" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.00013637195000000004 1.1616000000007342e-06 0.0547473707" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.0273247337 0.027327128399999998 -0.0001263146500000012" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/objects/objaverse/can/can_6/visual/material.mtl b/objects/objaverse/can/can_6/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c87f888c088bd7eca24dc85ca28c420cce3782ee
--- /dev/null
+++ b/objects/objaverse/can/can_6/visual/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.08627451 0.08627451 0.08627451
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 386.03755400
+map_Kd material_0.jpeg
\ No newline at end of file
diff --git a/objects/objaverse/can/can_6/visual/model_normalized_1.obj b/objects/objaverse/can/can_6/visual/model_normalized_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..988109ccd4dcc757d15be2901e1bd6b901dc5017
--- /dev/null
+++ b/objects/objaverse/can/can_6/visual/model_normalized_1.obj
@@ -0,0 +1,4656 @@
+# 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/eggplant/.DS_Store b/objects/objaverse/eggplant/.DS_Store
new file mode 100644
index 0000000000000000000000000000000000000000..eb2603eb1a07345b6c867eeac4a6a9496b0b9f2a
Binary files /dev/null and b/objects/objaverse/eggplant/.DS_Store differ
diff --git a/objects/objaverse/eggplant/eggplant_0/collision/model_normalized_collision_0.obj b/objects/objaverse/eggplant/eggplant_0/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..220f3469ab6d091ed7a75495e3ddfce20a278a4c
--- /dev/null
+++ b/objects/objaverse/eggplant/eggplant_0/collision/model_normalized_collision_0.obj
@@ -0,0 +1,150 @@
+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/objects/objaverse/eggplant/eggplant_0/collision/model_normalized_collision_1.obj b/objects/objaverse/eggplant/eggplant_0/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f6d983bb1384ba7cd86a890e861048a72cab1d2
--- /dev/null
+++ b/objects/objaverse/eggplant/eggplant_0/collision/model_normalized_collision_1.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/objects/objaverse/eggplant/eggplant_0/collision/model_normalized_collision_10.obj b/objects/objaverse/eggplant/eggplant_0/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..85a4409017a67cd8508d0ec97951f7359e60ac41
--- /dev/null
+++ b/objects/objaverse/eggplant/eggplant_0/collision/model_normalized_collision_10.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.01240747 -0.31777549 0.01309686
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\ No newline at end of file
diff --git a/objects/objaverse/eggplant/eggplant_0/collision/model_normalized_collision_11.obj b/objects/objaverse/eggplant/eggplant_0/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e365f660db6362475ef6c30db3ec416ef03fb38a
--- /dev/null
+++ b/objects/objaverse/eggplant/eggplant_0/collision/model_normalized_collision_11.obj
@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
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+f 28 19 11
+f 28 11 5
+f 28 5 13
+f 28 13 19
+f 29 8 12
+f 29 12 21
+f 30 29 21
+f 30 8 29
+f 31 17 22
+f 31 23 17
+f 31 2 23
+f 31 21 2
+f 32 16 15
+f 32 15 24
+f 32 24 9
+f 32 9 16
+f 33 20 8
+f 33 8 30
+f 33 13 20
+f 34 22 13
+f 34 33 30
+f 34 13 33
+f 34 31 22
+f 34 30 21
+f 34 21 31
\ No newline at end of file
diff --git a/objects/objaverse/eggplant/eggplant_0/collision/model_normalized_collision_12.obj b/objects/objaverse/eggplant/eggplant_0/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ece7b4ab03561c35f9842be109e4ce88cb166825
--- /dev/null
+++ b/objects/objaverse/eggplant/eggplant_0/collision/model_normalized_collision_12.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v -0.16494537 -0.37763690 0.14267161
+v -0.12134022 -0.30772951 0.00281900
+v -0.11814562 -0.30043113 0.14393940
+v -0.15256473 -0.08670772 0.16827623
+v -0.21050614 -0.11947483 0.00707941
+v -0.11814562 -0.11861295 0.00757577
+v -0.20119997 -0.37124073 0.14944936
+v -0.23066939 -0.30034566 0.14899007
+v -0.20976909 -0.31195369 0.03419008
+v -0.21338306 -0.35421930 0.15153166
+v -0.20576693 -0.15494796 0.14098461
+v -0.20581267 -0.19109078 0.01096574
+v -0.16040852 -0.36603080 0.09491013
+v -0.22883739 -0.31180430 0.14983168
+v -0.19539896 -0.12638039 0.13863434
+v -0.20652075 -0.12403616 0.08022511
+v -0.19217639 -0.23335509 0.01264026
+f 1 2 3
+f 6 3 2
+f 6 4 3
+f 6 5 4
+f 6 2 5
+f 7 1 3
+f 7 3 4
+f 9 8 5
+f 10 7 4
+f 10 9 7
+f 11 8 4
+f 12 9 5
+f 12 5 2
+f 13 9 2
+f 13 2 1
+f 13 1 7
+f 13 7 9
+f 14 10 4
+f 14 4 8
+f 14 8 9
+f 14 9 10
+f 15 11 4
+f 16 5 8
+f 16 8 11
+f 16 11 15
+f 16 15 4
+f 16 4 5
+f 17 12 2
+f 17 2 9
+f 17 9 12
\ No newline at end of file
diff --git a/objects/objaverse/eggplant/eggplant_0/collision/model_normalized_collision_13.obj b/objects/objaverse/eggplant/eggplant_0/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..66e471d3a9ae40ddb8f480c870366178b0636ae3
--- /dev/null
+++ b/objects/objaverse/eggplant/eggplant_0/collision/model_normalized_collision_13.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v -0.03045796 -0.42293311 0.24550617
+v 0.07337756 -0.27812423 0.00978239
+v 0.07782963 -0.28327377 0.26083740
+v -0.02723653 -0.28527961 0.26515152
+v -0.02205359 -0.31727180 -0.00856391
+v 0.08479805 -0.27782125 0.06977784
+v -0.02690882 -0.37713999 0.31144340
+v -0.01337947 -0.40134816 0.09712932
+v -0.02975112 -0.33107103 0.01551893
+v 0.04708088 -0.37837953 0.24385900
+v -0.02966552 -0.38428941 0.30439990
+v 0.04970624 -0.29751536 0.01345622
+v -0.03057998 -0.42385803 0.15099608
+v -0.01922521 -0.40093098 0.09982792
+v 0.07715108 -0.32538246 0.22243228
+v 0.03263623 -0.39013173 0.16512725
+v 0.01139798 -0.36791283 0.30097450
+v -0.03071490 -0.40942848 0.27219528
+v 0.05950318 -0.35052455 0.25733764
+v 0.04686635 -0.35978121 0.12121582
+v 0.04663151 -0.37715582 0.17848937
+v -0.00500727 -0.41756406 0.16358099
+v 0.00941691 -0.37675484 0.29462504
+v 0.07601621 -0.29810484 0.26072173
+v 0.02645434 -0.35989601 0.08143218
+v 0.02180693 -0.40503304 0.17924355
+v -0.02056551 -0.42085355 0.15248439
+v -0.00432587 -0.41875112 0.22938140
+v -0.00671042 -0.40263924 0.26930343
+v 0.07564562 -0.32549145 0.23197582
+v 0.02035099 -0.40371218 0.24258746
+v -0.01835004 -0.41977709 0.24488616
+f 5 4 2
+f 6 2 4
+f 6 4 3
+f 7 3 4
+f 9 4 5
+f 11 7 4
+f 12 8 5
+f 12 5 2
+f 12 2 8
+f 14 9 5
+f 14 5 8
+f 14 13 9
+f 14 8 13
+f 15 6 3
+f 17 3 7
+f 18 13 1
+f 18 9 13
+f 18 11 4
+f 18 4 9
+f 19 10 15
+f 20 16 8
+f 20 2 6
+f 21 15 10
+f 21 16 20
+f 21 20 6
+f 21 6 15
+f 23 17 7
+f 23 7 11
+f 23 19 17
+f 23 10 19
+f 24 15 3
+f 24 3 17
+f 24 17 19
+f 25 20 8
+f 25 8 2
+f 25 2 20
+f 26 21 10
+f 26 16 21
+f 26 22 8
+f 26 8 16
+f 27 22 13
+f 27 13 8
+f 27 8 22
+f 28 1 13
+f 28 13 22
+f 28 22 26
+f 29 23 11
+f 29 11 18
+f 30 24 19
+f 30 19 15
+f 30 15 24
+f 31 28 26
+f 31 26 10
+f 31 10 23
+f 31 23 29
+f 32 29 18
+f 32 18 1
+f 32 31 29
+f 32 1 28
+f 32 28 31
\ No newline at end of file
diff --git a/objects/objaverse/eggplant/eggplant_0/collision/model_normalized_collision_14.obj b/objects/objaverse/eggplant/eggplant_0/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e351cdb71bd9da46f410d7ea4c125f21a8b3e38
--- /dev/null
+++ b/objects/objaverse/eggplant/eggplant_0/collision/model_normalized_collision_14.obj
@@ -0,0 +1,174 @@
+# https://github.com/mikedh/trimesh
+v -0.09962465 0.24162100 -0.02839019
+v -0.10299411 0.24502341 -0.35606059
+v -0.09493228 0.28128822 -0.05080012
+v -0.09578021 0.43120671 -0.23725362
+v -0.22385905 0.24100538 -0.19274743
+v -0.09620932 0.41384932 -0.33543188
+v -0.09646636 0.25358333 -0.03369823
+v -0.13782794 0.23701714 -0.05120073
+v -0.19132616 0.34104339 -0.30903487
+v -0.22400380 0.24253186 -0.32215566
+v -0.11164845 0.23846272 -0.03364682
+v -0.13514465 0.35022790 -0.14149921
+v -0.16334874 0.38179787 -0.27835626
+v -0.21087756 0.23924041 -0.14986600
+v -0.22120534 0.26926455 -0.22251365
+v -0.19010092 0.32413216 -0.34820798
+v -0.10697152 0.27774050 -0.05578842
+v -0.09559658 0.39862767 -0.16817627
+v -0.10769307 0.42364135 -0.29060308
+v -0.16234950 0.36714898 -0.21131831
+v -0.17612152 0.26495034 -0.10986032
+v -0.22117589 0.26941136 -0.30713306
+v -0.19038010 0.33979587 -0.23749713
+v -0.20663244 0.28096151 -0.18147556
+v -0.09981823 0.40418320 -0.35151336
+v -0.21420632 0.24340398 -0.35197703
+v -0.14918925 0.37945804 -0.33364311
+v -0.10849018 0.25042504 -0.03895485
+v -0.14648549 0.29274807 -0.09801840
+v -0.12001346 0.32221372 -0.09951490
+v -0.10640464 0.42443770 -0.23876298
+v -0.09661874 0.42879372 -0.29133026
+v -0.11988242 0.39397340 -0.18561413
+v -0.16689587 0.23822423 -0.07962482
+v -0.20653246 0.31178417 -0.23864932
+v -0.20630999 0.31173119 -0.30782281
+v -0.16099195 0.38200283 -0.25330828
+v -0.22101745 0.25401714 -0.19520473
+v -0.19062084 0.31079879 -0.18182956
+v -0.19259816 0.25234227 -0.12422962
+v -0.20589640 0.28443648 -0.34952950
+v -0.17572916 0.35266283 -0.33525048
+v -0.12187308 0.39364461 -0.34677217
+v -0.12238476 0.40715278 -0.31695733
+v -0.13419232 0.24942800 -0.05576101
+v -0.14718807 0.33715781 -0.14140428
+v -0.11962765 0.35144294 -0.12778324
+v -0.16155050 0.35299961 -0.18288426
+v -0.11801471 0.40922862 -0.21243331
+v -0.16269051 0.24961006 -0.08271090
+v -0.20628854 0.25196519 -0.15247258
+v -0.17631995 0.32405686 -0.16915841
+v -0.19567550 0.23976477 -0.12068971
+v -0.20531193 0.29795148 -0.33604580
+v -0.22209948 0.25625762 -0.32077871
+v -0.10771368 0.40820958 -0.33343413
+v -0.10745325 0.39403027 -0.17122036
+v -0.09695333 0.41504879 -0.19613896
+v -0.10684363 0.41018260 -0.19821541
+f 6 3 2
+f 6 4 3
+f 7 1 2
+f 7 2 3
+f 10 2 8
+f 11 8 2
+f 11 2 1
+f 14 10 8
+f 14 5 10
+f 15 10 5
+f 17 7 3
+f 18 3 4
+f 22 10 15
+f 23 13 9
+f 25 6 2
+f 26 2 10
+f 26 25 2
+f 26 16 25
+f 28 7 17
+f 28 11 1
+f 28 1 7
+f 30 17 3
+f 30 29 17
+f 30 12 29
+f 31 19 13
+f 31 4 19
+f 32 19 4
+f 32 4 6
+f 32 6 19
+f 34 14 8
+f 35 22 15
+f 35 23 9
+f 35 15 24
+f 36 9 16
+f 36 35 9
+f 36 22 35
+f 37 23 20
+f 37 13 23
+f 37 31 13
+f 38 24 15
+f 38 15 5
+f 38 5 14
+f 38 14 24
+f 39 20 23
+f 39 35 24
+f 39 23 35
+f 40 39 24
+f 40 34 21
+f 41 16 26
+f 42 16 9
+f 42 9 13
+f 42 13 27
+f 43 25 16
+f 43 42 27
+f 43 16 42
+f 44 27 13
+f 44 13 19
+f 44 43 27
+f 44 19 6
+f 45 28 17
+f 45 8 11
+f 45 11 28
+f 45 17 29
+f 46 29 12
+f 46 21 29
+f 47 12 30
+f 47 30 3
+f 47 3 18
+f 48 33 20
+f 48 12 33
+f 48 46 12
+f 48 20 39
+f 49 20 33
+f 49 37 20
+f 49 31 37
+f 49 4 31
+f 50 29 21
+f 50 21 34
+f 50 45 29
+f 50 34 8
+f 50 8 45
+f 51 40 24
+f 51 24 14
+f 51 14 40
+f 52 40 21
+f 52 39 40
+f 52 21 46
+f 52 48 39
+f 52 46 48
+f 53 40 14
+f 53 14 34
+f 53 34 40
+f 54 36 16
+f 54 16 41
+f 54 22 36
+f 55 41 26
+f 55 26 10
+f 55 10 22
+f 55 54 41
+f 55 22 54
+f 56 6 25
+f 56 25 43
+f 56 44 6
+f 56 43 44
+f 57 33 12
+f 57 12 47
+f 57 47 18
+f 58 18 4
+f 58 4 49
+f 58 57 18
+f 59 58 49
+f 59 49 33
+f 59 33 57
+f 59 57 58
\ No newline at end of file
diff --git a/objects/objaverse/eggplant/eggplant_0/collision/model_normalized_collision_15.obj b/objects/objaverse/eggplant/eggplant_0/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f37839f7d935b75f0170fedf44b00eacced1e1e7
--- /dev/null
+++ b/objects/objaverse/eggplant/eggplant_0/collision/model_normalized_collision_15.obj
@@ -0,0 +1,117 @@
+# https://github.com/mikedh/trimesh
+v 0.15998714 -0.12253097 0.01357752
+v 0.21475429 0.00497698 -0.10222710
+v 0.19672043 0.07627667 -0.04876809
+v 0.16819985 0.25434328 -0.08566994
+v 0.13943013 0.04805372 -0.09848484
+v 0.21711815 0.15187933 -0.10547883
+v 0.14769302 -0.05881059 0.04877251
+v 0.19630611 0.00420313 -0.04492994
+v 0.16892392 -0.13244649 -0.09927817
+v 0.18282447 0.19287147 -0.06793441
+v 0.19076742 0.24021225 -0.10523316
+v 0.14856711 -0.10288151 0.05065871
+v 0.14656266 0.22553624 -0.04674957
+v 0.19584700 -0.03930768 -0.05841780
+v 0.21138535 0.00548951 -0.08789097
+v 0.18150649 0.11959317 -0.03645691
+v 0.20317223 0.21075449 -0.10593648
+v 0.18226502 0.22179073 -0.08234042
+v 0.15465068 -0.11715427 0.03187033
+v 0.15198912 -0.06008386 0.04206285
+v 0.14922269 0.24174115 -0.05850420
+v 0.14603207 0.16490960 -0.01734376
+v 0.20059287 -0.05430363 -0.10076528
+v 0.21099229 0.15084376 -0.09356792
+v 0.18159315 0.04636377 -0.01922175
+v 0.18463777 0.23702974 -0.09454729
+v 0.19688085 0.20867793 -0.09468669
+v 0.15568441 0.22227918 -0.05340818
+v 0.15247074 -0.11840879 0.03703786
+v 0.15059080 0.05116163 0.01910669
+v 0.16813469 0.16319942 -0.03781443
+v 0.19601436 -0.05285875 -0.07148400
+v 0.17714601 -0.11498001 -0.09827662
+v 0.19684832 0.17944386 -0.08068509
+v 0.15538529 0.16175430 -0.02406841
+v 0.15810936 0.23790404 -0.06490344
+v 0.14810392 0.12062658 -0.00011261
+v 0.16774659 0.07512411 -0.00588979
+v 0.16491387 -0.11480665 0.00174516
+v 0.15500056 0.11879906 -0.00650326
+f 8 6 3
+f 9 6 2
+f 11 5 4
+f 11 9 5
+f 12 7 5
+f 12 8 3
+f 15 2 6
+f 15 6 8
+f 15 14 2
+f 15 8 14
+f 17 6 9
+f 17 9 11
+f 19 8 12
+f 19 14 8
+f 19 1 14
+f 20 12 3
+f 20 7 12
+f 21 4 5
+f 21 5 13
+f 22 13 5
+f 22 5 7
+f 23 9 2
+f 24 16 3
+f 24 3 6
+f 24 6 17
+f 25 3 16
+f 25 20 3
+f 25 7 20
+f 26 11 4
+f 26 4 18
+f 27 18 10
+f 27 26 18
+f 27 17 11
+f 27 11 26
+f 28 10 18
+f 28 21 13
+f 29 19 12
+f 29 9 1
+f 29 1 19
+f 29 12 5
+f 29 5 9
+f 31 16 10
+f 31 10 28
+f 32 23 2
+f 32 2 14
+f 33 1 9
+f 33 9 23
+f 34 24 17
+f 34 17 27
+f 34 16 24
+f 34 27 10
+f 34 10 16
+f 35 28 13
+f 35 13 22
+f 35 31 28
+f 36 28 18
+f 36 18 4
+f 36 4 21
+f 36 21 28
+f 37 22 7
+f 37 7 30
+f 37 35 22
+f 38 25 16
+f 38 30 7
+f 38 7 25
+f 39 32 14
+f 39 14 1
+f 39 23 32
+f 39 33 23
+f 39 1 33
+f 40 16 31
+f 40 31 35
+f 40 35 37
+f 40 38 16
+f 40 37 30
+f 40 30 38
\ No newline at end of file
diff --git a/objects/objaverse/eggplant/eggplant_0/collision/model_normalized_collision_16.obj b/objects/objaverse/eggplant/eggplant_0/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0822ccc5218cecb2efabae60aaaeda84c75a96f3
--- /dev/null
+++ b/objects/objaverse/eggplant/eggplant_0/collision/model_normalized_collision_16.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.15233923 -0.15283519 0.01037443
+v 0.12804173 -0.13709666 -0.21256303
+v 0.15059080 0.05116163 0.01910669
+v -0.17006025 0.05069195 0.01266873
+v -0.14844865 -0.14891598 0.00757577
+v 0.13943013 0.04805372 -0.21969696
+v -0.14184349 -0.14128683 -0.21385073
+v -0.19966396 -0.04965842 0.01674819
+v -0.16360017 0.04805372 -0.21969696
+v -0.18542840 -0.07304919 -0.23096794
+f 6 1 2
+f 6 3 1
+f 7 2 1
+f 7 1 5
+f 8 5 1
+f 8 1 3
+f 8 3 4
+f 9 4 3
+f 9 3 6
+f 9 8 4
+f 10 6 2
+f 10 2 7
+f 10 9 6
+f 10 8 9
+f 10 7 5
+f 10 5 8
\ No newline at end of file
diff --git a/objects/objaverse/eggplant/eggplant_0/collision/model_normalized_collision_17.obj b/objects/objaverse/eggplant/eggplant_0/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d4ebea026af4727af646adb69ecaac12ace7e99e
--- /dev/null
+++ b/objects/objaverse/eggplant/eggplant_0/collision/model_normalized_collision_17.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v 0.10876986 -0.23951555 0.00763096
+v 0.17325298 -0.11061491 -0.15575507
+v 0.16701822 -0.12858617 -0.02632995
+v 0.16327163 -0.11738142 0.00568928
+v 0.10296704 -0.18577762 -0.16919338
+v 0.17074824 -0.11466414 -0.02541815
+v 0.14869059 -0.16091220 0.01597753
+v 0.12448891 -0.21660639 0.00694131
+v 0.10966843 -0.22511673 -0.06386584
+v 0.15998714 -0.12253097 0.01357752
+v 0.14077909 -0.11999997 -0.22055165
+v 0.15970204 -0.11024507 -0.20007437
+v 0.15200338 -0.15868471 0.00373199
+v 0.11431296 -0.23260656 0.00824724
+v 0.10173022 -0.23237558 -0.06599207
+v 0.13440878 -0.12855374 -0.21655161
+v 0.14895160 -0.11397124 -0.21713984
+v 0.15210779 -0.13606224 -0.16847334
+v 0.12197866 -0.21049190 -0.06519558
+v 0.14090024 -0.13471860 -0.19597546
+v 0.15303064 -0.11983136 -0.19710079
+v 0.12370341 -0.17709304 -0.14997081
+v 0.16655148 -0.12115906 -0.15384045
+v 0.14342415 -0.12218618 -0.21270794
+v 0.12138656 -0.16176483 -0.18182366
+v 0.10148565 -0.21549031 -0.10984087
+v 0.11100662 -0.20872371 -0.10704420
+v 0.11105335 -0.17984423 -0.16657345
+f 6 3 2
+f 6 4 3
+f 8 2 3
+f 10 5 1
+f 10 7 4
+f 10 1 7
+f 12 6 2
+f 12 4 6
+f 13 3 4
+f 13 4 7
+f 13 8 3
+f 13 7 8
+f 14 8 7
+f 14 7 1
+f 15 9 1
+f 15 1 5
+f 16 10 4
+f 16 4 11
+f 16 5 10
+f 17 11 4
+f 17 4 12
+f 18 12 2
+f 19 14 1
+f 19 1 9
+f 19 2 8
+f 19 8 14
+f 21 17 12
+f 21 12 18
+f 21 20 17
+f 21 18 20
+f 22 20 18
+f 23 19 18
+f 23 18 2
+f 23 2 19
+f 24 11 17
+f 24 17 20
+f 24 20 16
+f 24 16 11
+f 25 5 16
+f 25 16 20
+f 25 20 22
+f 26 15 5
+f 27 19 9
+f 27 9 15
+f 27 15 26
+f 27 26 5
+f 27 5 22
+f 27 22 18
+f 27 18 19
+f 28 25 22
+f 28 22 5
+f 28 5 25
\ No newline at end of file
diff --git a/objects/objaverse/eggplant/eggplant_0/collision/model_normalized_collision_18.obj b/objects/objaverse/eggplant/eggplant_0/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7cff3561ac6b0dea51ed3635332f595f1a9663b9
--- /dev/null
+++ b/objects/objaverse/eggplant/eggplant_0/collision/model_normalized_collision_18.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.08480574 -0.28063162 0.14374605
+v 0.16327163 -0.11738142 0.00568928
+v 0.10600429 -0.12127669 0.13355808
+v -0.15256473 -0.08670772 0.16827623
+v -0.12134022 -0.30772951 0.00281900
+v 0.15465068 -0.11715427 0.03187033
+v 0.08092926 -0.27150923 0.01092701
+v -0.11814562 -0.30043113 0.14393940
+v -0.11814562 -0.11861295 0.00757577
+v 0.13733251 -0.11889628 0.07515630
+v 0.10616960 -0.20831537 0.13731065
+v -0.02397015 -0.32059316 -0.00259574
+v 0.14057591 -0.18680846 0.00698104
+v -0.02723653 -0.30043113 0.14393940
+v 0.09127436 -0.26545610 0.14086764
+v 0.10798553 -0.24085979 0.01009293
+v 0.15604140 -0.14475915 0.00460742
+v 0.15006513 -0.14501010 0.03196061
+v 0.13640172 -0.18887055 0.03402565
+v 0.11924267 -0.20314665 0.09423454
+f 1 3 4
+f 6 2 4
+f 8 4 5
+f 9 5 4
+f 9 4 2
+f 10 6 4
+f 10 4 3
+f 11 2 6
+f 11 6 10
+f 11 10 3
+f 11 3 1
+f 12 9 2
+f 12 5 9
+f 12 7 1
+f 12 8 5
+f 14 1 4
+f 14 4 8
+f 14 12 1
+f 14 8 12
+f 15 11 1
+f 16 13 1
+f 16 1 7
+f 16 7 12
+f 16 12 13
+f 17 13 12
+f 17 12 2
+f 18 2 11
+f 18 17 2
+f 18 15 17
+f 19 15 1
+f 19 1 13
+f 19 17 15
+f 19 13 17
+f 20 18 11
+f 20 11 15
+f 20 15 18
\ No newline at end of file
diff --git a/objects/objaverse/eggplant/eggplant_0/collision/model_normalized_collision_19.obj b/objects/objaverse/eggplant/eggplant_0/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3deeb18a12cbba175a23287d47bbe195faa13e11
--- /dev/null
+++ b/objects/objaverse/eggplant/eggplant_0/collision/model_normalized_collision_19.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v -0.10299411 0.04805372 -0.09848484
+v -0.09675493 0.05443253 -0.43478582
+v -0.10215495 0.24444013 -0.47479628
+v -0.13064280 0.26864730 -0.06566040
+v -0.21893981 0.05322510 -0.07770046
+v -0.09587783 0.11462378 -0.46194725
+v -0.20959478 0.25244328 -0.35969506
+v -0.17087521 0.24980891 -0.09190207
+v -0.13456418 0.12952101 -0.44470411
+v -0.14141990 0.24391613 -0.45263810
+v -0.12313248 0.15825253 -0.45949580
+v -0.13534325 0.08779678 -0.42807085
+v -0.15593314 0.08236990 -0.40812478
+v -0.12559613 0.24391012 -0.46359679
+v -0.10623566 0.11585166 -0.45761550
+v -0.13455221 0.05994765 -0.41387174
+v -0.10932028 0.05707658 -0.42973557
+v -0.14804804 0.05797805 -0.40123724
+f 1 3 4
+f 5 2 1
+f 5 1 4
+f 6 1 2
+f 6 3 1
+f 7 4 3
+f 8 7 5
+f 8 5 4
+f 8 4 7
+f 11 3 6
+f 11 9 10
+f 13 10 9
+f 13 7 10
+f 13 9 12
+f 13 5 7
+f 14 10 7
+f 14 7 3
+f 14 11 10
+f 14 3 11
+f 15 11 6
+f 15 9 11
+f 15 12 9
+f 15 6 2
+f 16 13 12
+f 17 15 2
+f 17 12 15
+f 17 16 12
+f 18 2 5
+f 18 5 13
+f 18 13 16
+f 18 17 2
+f 18 16 17
\ No newline at end of file
diff --git a/objects/objaverse/eggplant/eggplant_0/collision/model_normalized_collision_2.obj b/objects/objaverse/eggplant/eggplant_0/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ba5b16b657d23579895b56233a26c82f73ecf52e
--- /dev/null
+++ b/objects/objaverse/eggplant/eggplant_0/collision/model_normalized_collision_2.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.13310060 0.31596857 -0.42409441
+v 0.16118741 0.34018616 -0.37634093
+v -0.17610484 0.35616507 -0.22730373
+v -0.06632347 0.44095106 -0.22311551
+v 0.04571935 0.40778679 -0.37472988
+v 0.14059387 0.38305684 -0.18850707
+v 0.09975422 0.37992148 -0.38704444
+v -0.11017920 0.31452754 -0.44823287
+v -0.11359677 0.39538987 -0.18040601
+v 0.04424799 0.43985377 -0.26342540
+v 0.17296521 0.36595927 -0.22104553
+v 0.13057590 0.32476364 -0.41939574
+v -0.19071626 0.31879685 -0.35474024
+v -0.07976278 0.40774319 -0.35964340
+v 0.07293460 0.42374763 -0.19430213
+v -0.15305811 0.38587792 -0.23330071
+v 0.11725478 0.40805936 -0.32018093
+v 0.04596117 0.32407244 -0.45969822
+v -0.18121790 0.31437243 -0.37956900
+v -0.05479321 0.43834551 -0.30573768
+v -0.08025754 0.42322815 -0.19553152
+v 0.03013615 0.43983233 -0.20998429
+v -0.13565833 0.37800726 -0.36002854
+v -0.17861680 0.34156694 -0.34972739
+v 0.07182914 0.40639175 -0.36229135
+v 0.12911442 0.40921434 -0.23932825
+v 0.13144541 0.40778844 -0.29254925
+v 0.12743815 0.38091470 -0.36148007
+v 0.07402268 0.38028772 -0.40236094
+v -0.02498528 0.38118069 -0.41623720
+v 0.08892618 0.31479598 -0.45290358
+v 0.01550729 0.43828916 -0.30610817
+v -0.06958233 0.43943881 -0.29200666
+v -0.09405179 0.42198949 -0.20946623
+v -0.05470305 0.43889046 -0.21144386
+v -0.10898164 0.36646012 -0.40244706
+v -0.14957548 0.34898702 -0.38803924
+v -0.17612857 0.32661196 -0.37745415
+v 0.11168550 0.40877229 -0.19899093
+v 0.08632684 0.42343570 -0.20927048
+v 0.08835573 0.42245669 -0.30504563
+v 0.12994097 0.39584598 -0.33344207
+v 0.09856318 0.33794877 -0.42977558
+v 0.01759676 0.36690921 -0.43092148
+v -0.05454733 0.42369495 -0.34534437
+v 0.11802114 0.31302465 -0.43684055
+v -0.04052888 0.31419773 -0.46481056
+v 0.07167124 0.35369816 -0.42983381
+v 0.05838201 0.42262882 -0.33559360
+v 0.03085040 0.43962187 -0.29127457
+v -0.09309796 0.42172321 -0.31938941
+v -0.09695333 0.41504879 -0.19613896
+v -0.12124678 0.37898032 -0.37481264
+v -0.08126969 0.33720938 -0.44318766
+v -0.08122278 0.37907484 -0.40330240
+v -0.17458663 0.33902118 -0.36294691
+v -0.13483999 0.33655017 -0.41729341
+v 0.12864731 0.39621829 -0.19761134
+v 0.04469651 0.43932044 -0.23579279
+v 0.01655784 0.38018844 -0.41821910
+v -0.05233352 0.40826370 -0.37400346
+v 0.02977671 0.42294519 -0.34862299
+v 0.11437913 0.32366179 -0.43094514
+v 0.08600941 0.32449335 -0.44773164
+f 9 3 6
+f 11 1 2
+f 11 6 3
+f 12 7 2
+f 12 2 1
+f 13 11 3
+f 13 1 11
+f 15 9 6
+f 16 3 9
+f 21 9 15
+f 22 10 4
+f 22 21 15
+f 24 13 3
+f 24 3 16
+f 24 16 23
+f 27 11 2
+f 27 26 11
+f 27 10 26
+f 28 2 7
+f 29 25 7
+f 29 5 25
+f 33 16 4
+f 34 21 4
+f 34 4 16
+f 35 22 4
+f 35 4 21
+f 35 21 22
+f 38 19 13
+f 39 15 6
+f 40 22 15
+f 40 39 26
+f 40 15 39
+f 41 27 17
+f 41 10 27
+f 42 25 17
+f 42 17 27
+f 42 27 2
+f 42 2 28
+f 42 28 7
+f 42 7 25
+f 43 29 7
+f 43 7 12
+f 45 33 20
+f 46 12 1
+f 46 1 13
+f 46 13 19
+f 47 18 31
+f 47 44 18
+f 47 30 44
+f 47 31 46
+f 47 46 19
+f 47 19 8
+f 48 29 43
+f 48 18 44
+f 49 25 5
+f 49 41 17
+f 49 17 25
+f 50 33 4
+f 50 4 10
+f 50 32 20
+f 50 20 33
+f 50 10 41
+f 50 49 32
+f 50 41 49
+f 51 23 16
+f 51 16 33
+f 51 45 14
+f 51 33 45
+f 52 34 16
+f 52 16 9
+f 52 9 21
+f 52 21 34
+f 53 51 14
+f 53 23 51
+f 53 37 23
+f 53 36 37
+f 54 47 8
+f 54 30 47
+f 55 54 36
+f 55 30 54
+f 55 53 14
+f 55 36 53
+f 56 24 23
+f 56 23 37
+f 56 37 38
+f 56 38 13
+f 56 13 24
+f 57 37 36
+f 57 38 37
+f 57 8 19
+f 57 19 38
+f 57 54 8
+f 57 36 54
+f 58 39 6
+f 58 26 39
+f 58 6 11
+f 58 11 26
+f 59 40 26
+f 59 26 10
+f 59 10 22
+f 59 22 40
+f 60 44 30
+f 60 5 29
+f 60 48 44
+f 60 29 48
+f 61 30 55
+f 61 55 14
+f 61 14 45
+f 61 60 30
+f 61 5 60
+f 62 61 45
+f 62 5 61
+f 62 49 5
+f 62 32 49
+f 62 45 20
+f 62 20 32
+f 63 46 43
+f 63 43 12
+f 63 12 46
+f 64 46 31
+f 64 43 46
+f 64 48 43
+f 64 31 18
+f 64 18 48
\ No newline at end of file
diff --git a/objects/objaverse/eggplant/eggplant_0/collision/model_normalized_collision_20.obj b/objects/objaverse/eggplant/eggplant_0/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..37c90faea6c6899dbc5927229c967eaac46e0dfa
--- /dev/null
+++ b/objects/objaverse/eggplant/eggplant_0/collision/model_normalized_collision_20.obj
@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
+v -0.13193871 -0.43908192 0.47312713
+v -0.08550514 -0.39131094 0.34127311
+v -0.06914930 -0.29899119 0.36253700
+v -0.16236450 -0.30055877 0.33955412
+v -0.14925724 -0.39415344 0.34937678
+v -0.16795960 -0.41514896 0.49635645
+v -0.09008753 -0.38777774 0.38087523
+v -0.13804744 -0.43498732 0.42106732
+v -0.10822206 -0.40411772 0.34418418
+v -0.14054522 -0.41267122 0.49037540
+v -0.13995050 -0.30186804 0.35619660
+v -0.17595380 -0.43245897 0.45242332
+v -0.11972120 -0.42527532 0.44570640
+v -0.12817030 -0.43409709 0.43568878
+v -0.13677970 -0.40446444 0.34889470
+v -0.14472975 -0.42819309 0.49267648
+v -0.13069183 -0.42802771 0.48166972
+v -0.15579659 -0.39198657 0.47063674
+v -0.17179133 -0.40469906 0.48403838
+v -0.16161485 -0.39897798 0.37790326
+v -0.16532587 -0.43679801 0.44098967
+v -0.12326238 -0.41795547 0.37730162
+v -0.16985324 -0.43703394 0.48646924
+v -0.10732021 -0.40331347 0.42536888
+v -0.15485717 -0.30133423 0.34647348
+v -0.17834062 -0.41266900 0.48110116
+v -0.17761927 -0.41181068 0.44710315
+v -0.16226846 -0.42166606 0.41156575
+v -0.15637397 -0.43417362 0.42551824
+v -0.14201367 -0.41753204 0.38038099
+v -0.14006219 -0.43724254 0.48053889
+v -0.16844547 -0.42973259 0.49657931
+v -0.17698476 -0.42885135 0.48650415
+v -0.14886494 -0.40584181 0.36585058
+f 3 2 4
+f 7 2 3
+f 9 5 4
+f 9 4 2
+f 11 3 4
+f 13 1 2
+f 13 2 7
+f 14 2 1
+f 14 1 8
+f 14 9 2
+f 14 8 9
+f 15 5 9
+f 16 10 6
+f 17 3 10
+f 17 1 13
+f 17 16 1
+f 17 10 16
+f 18 3 11
+f 18 10 3
+f 18 6 10
+f 19 18 11
+f 19 6 18
+f 20 4 5
+f 21 8 1
+f 22 15 9
+f 22 9 8
+f 23 21 1
+f 23 12 21
+f 24 7 3
+f 24 3 17
+f 24 17 13
+f 24 13 7
+f 25 19 11
+f 25 11 4
+f 25 4 19
+f 26 19 4
+f 26 6 19
+f 27 20 12
+f 27 4 20
+f 27 26 4
+f 27 12 26
+f 28 20 5
+f 28 12 20
+f 28 21 12
+f 29 8 21
+f 30 22 8
+f 30 15 22
+f 30 29 15
+f 30 8 29
+f 31 23 1
+f 31 1 16
+f 32 16 6
+f 32 31 16
+f 32 23 31
+f 33 26 12
+f 33 12 23
+f 33 23 32
+f 33 32 6
+f 33 6 26
+f 34 28 5
+f 34 5 15
+f 34 21 28
+f 34 29 21
+f 34 15 29
\ No newline at end of file
diff --git a/objects/objaverse/eggplant/eggplant_0/collision/model_normalized_collision_21.obj b/objects/objaverse/eggplant/eggplant_0/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c64d68d4f3809be2381c4aa967278d1629da2d0e
--- /dev/null
+++ b/objects/objaverse/eggplant/eggplant_0/collision/model_normalized_collision_21.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v 0.08710849 0.04339086 0.07235456
+v 0.12118825 0.05955108 0.04310579
+v 0.06061623 0.22499806 -0.00119515
+v -0.05539167 0.22502798 -0.00086281
+v -0.17616397 0.04728607 0.00596513
+v 0.01593753 0.04074687 0.10263476
+v 0.09138328 0.19694235 0.00240395
+v -0.14060473 0.14897177 -0.00281818
+v 0.00248768 0.17462768 0.03469368
+v -0.15088051 0.03999723 0.04107829
+v 0.08626470 0.13172219 0.03633765
+v -0.08398167 0.20932587 -0.00174257
+v -0.17039110 0.07559036 0.00045417
+v 0.05698515 0.21942657 0.00316611
+v -0.05441761 0.03950547 0.10208254
+v -0.17005976 0.04450403 0.01587479
+v -0.09555951 0.03908686 0.08686342
+v 0.05941175 0.04230923 0.08817255
+v -0.15467130 0.11940462 -0.00168688
+v 0.08635099 0.19184363 0.00751572
+v -0.02520368 0.17396173 0.03401854
+v -0.07979103 0.20349323 0.00338320
+v -0.13610896 0.04031741 0.05660601
+v -0.13430244 0.14483993 0.00398221
+v 0.05745637 0.12965314 0.04786399
+v -0.05262570 0.21879017 0.00342185
+f 5 2 1
+f 7 2 5
+f 11 1 2
+f 11 2 7
+f 12 4 3
+f 12 3 8
+f 13 7 5
+f 13 3 7
+f 14 9 6
+f 14 3 4
+f 14 4 9
+f 15 6 9
+f 16 5 1
+f 16 1 10
+f 16 13 5
+f 17 10 1
+f 17 1 6
+f 17 6 15
+f 18 6 1
+f 18 1 11
+f 19 8 3
+f 19 3 13
+f 19 16 10
+f 19 13 16
+f 20 11 7
+f 20 7 3
+f 20 3 14
+f 21 15 9
+f 22 15 4
+f 22 4 12
+f 22 17 15
+f 22 12 17
+f 23 10 17
+f 23 19 10
+f 23 8 19
+f 24 17 12
+f 24 12 8
+f 24 23 17
+f 24 8 23
+f 25 18 11
+f 25 11 20
+f 25 6 18
+f 25 20 14
+f 25 14 6
+f 26 21 9
+f 26 9 4
+f 26 4 15
+f 26 15 21
\ No newline at end of file
diff --git a/objects/objaverse/eggplant/eggplant_0/collision/model_normalized_collision_22.obj b/objects/objaverse/eggplant/eggplant_0/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e5cd616ca77f8e52640583fd41e4447835adbf88
--- /dev/null
+++ b/objects/objaverse/eggplant/eggplant_0/collision/model_normalized_collision_22.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v -0.17006025 0.05069195 0.01266873
+v -0.10299411 0.04805372 -0.09848484
+v -0.09529323 0.20716717 -0.00550039
+v -0.13064280 0.26864730 -0.06566040
+v -0.22415468 0.07835017 -0.09850259
+v -0.09962465 0.24162100 -0.02839019
+v -0.14822757 0.14652765 -0.00837796
+v -0.13095639 0.06795736 0.04368167
+v -0.21893981 0.05322510 -0.07770046
+v -0.18505960 0.24049745 -0.10463431
+v -0.12240914 0.18888967 -0.01091197
+v -0.20532376 0.10475194 -0.06182487
+v -0.21137863 0.16624971 -0.10407409
+v -0.14695432 0.20523885 -0.03943046
+v -0.17543225 0.14652909 -0.03714227
+v -0.12367225 0.23530443 -0.03890346
+v -0.20965074 0.07578926 -0.06020798
+v -0.19778156 0.21102622 -0.10500968
+v -0.17902346 0.23740828 -0.09368008
+v -0.18967200 0.13325679 -0.04967103
+v -0.10731765 0.20410005 -0.01081021
+v -0.17657756 0.22225132 -0.08117106
+v -0.19221048 0.20859337 -0.09400697
+v -0.20671596 0.16378807 -0.09370609
+v -0.19069576 0.19148920 -0.08194884
+f 6 3 2
+f 6 2 4
+f 8 1 2
+f 8 2 3
+f 8 7 1
+f 9 5 2
+f 9 2 1
+f 10 4 2
+f 11 8 3
+f 11 7 8
+f 13 2 5
+f 14 7 11
+f 15 1 7
+f 15 7 14
+f 16 6 4
+f 16 14 11
+f 16 4 14
+f 17 9 1
+f 17 1 12
+f 17 5 9
+f 17 13 5
+f 17 12 13
+f 18 10 2
+f 18 2 13
+f 19 14 4
+f 19 4 10
+f 20 12 1
+f 20 1 15
+f 21 16 11
+f 21 11 3
+f 21 3 6
+f 21 6 16
+f 22 15 14
+f 22 14 19
+f 23 19 10
+f 23 10 18
+f 23 22 19
+f 24 13 12
+f 24 12 20
+f 24 23 18
+f 24 18 13
+f 25 20 15
+f 25 15 22
+f 25 22 23
+f 25 24 20
+f 25 23 24
\ No newline at end of file
diff --git a/objects/objaverse/eggplant/eggplant_0/collision/model_normalized_collision_23.obj b/objects/objaverse/eggplant/eggplant_0/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..096a4d1433aa8fd1faa3a4c32b16d1bad9291519
--- /dev/null
+++ b/objects/objaverse/eggplant/eggplant_0/collision/model_normalized_collision_23.obj
@@ -0,0 +1,138 @@
+# https://github.com/mikedh/trimesh
+v -0.15177400 -0.01513414 -0.34369088
+v -0.13996278 0.01056860 -0.37621794
+v -0.14844865 0.24502341 -0.34090908
+v -0.16953237 0.34012487 -0.36990971
+v -0.20598798 0.17064041 -0.37517018
+v -0.14058095 0.25893548 -0.45150620
+v -0.14114275 -0.00568918 -0.36246906
+v -0.19099735 0.07048194 -0.35907783
+v -0.21939291 0.24424693 -0.33894313
+v -0.14109167 0.29983851 -0.43686092
+v -0.14789453 0.01371981 -0.37201078
+v -0.14137392 0.12665067 -0.43824675
+v -0.19432892 0.31451609 -0.35229799
+v -0.19057481 0.27097276 -0.39280123
+v -0.20951667 0.08193557 -0.33421600
+v -0.14360408 0.31705610 -0.42523821
+v -0.14922908 -0.00237665 -0.35807886
+v -0.19050224 0.12861889 -0.38886448
+v -0.14915796 0.08590201 -0.41587375
+v -0.17659786 0.24349406 -0.41892689
+v -0.20545614 0.22837324 -0.37633595
+v -0.20926195 0.27170481 -0.35181004
+v -0.17592018 0.31257531 -0.39115465
+v -0.16892036 -0.00491611 -0.33268300
+v -0.20525873 0.11447224 -0.36095858
+v -0.16314568 0.05800734 -0.38603584
+v -0.16253379 0.11363772 -0.41652162
+v -0.14141523 0.08342304 -0.42167552
+v -0.17750603 0.18576762 -0.41788850
+v -0.16470263 0.29515866 -0.41824310
+v -0.19136942 0.29853507 -0.37536677
+v -0.20508370 0.27060990 -0.36221300
+v -0.19147470 0.31181322 -0.36221643
+v -0.15576674 0.32635297 -0.40682656
+v -0.16341651 -0.00064113 -0.34322933
+v -0.17639260 0.08669611 -0.38799567
+v -0.20487353 0.08511869 -0.34447258
+v -0.16331066 0.17181949 -0.43057332
+v -0.14888290 0.18685887 -0.44655001
+v -0.15192352 0.29643833 -0.43092553
+v -0.15418567 0.31366528 -0.41941045
+v -0.16248516 0.01411609 -0.35635092
+v -0.17636312 0.11525106 -0.40136460
+v -0.15086991 0.12891356 -0.43127975
+v -0.15038224 0.25811394 -0.44433701
+v -0.14182279 0.18540232 -0.45212372
+v -0.16360103 0.25527190 -0.43037607
+f 7 2 3
+f 7 3 1
+f 10 3 2
+f 10 2 6
+f 11 2 7
+f 12 6 2
+f 13 9 3
+f 13 3 4
+f 15 9 5
+f 15 3 9
+f 16 4 3
+f 16 3 10
+f 17 11 7
+f 17 7 1
+f 21 5 9
+f 21 14 20
+f 22 9 13
+f 24 15 8
+f 24 1 3
+f 24 3 15
+f 25 15 5
+f 25 5 18
+f 28 12 2
+f 28 2 11
+f 28 26 19
+f 28 11 26
+f 28 27 12
+f 28 19 27
+f 29 18 5
+f 29 21 20
+f 29 5 21
+f 30 20 14
+f 30 14 23
+f 31 22 13
+f 31 23 14
+f 32 21 9
+f 32 9 22
+f 32 14 21
+f 32 31 14
+f 32 22 31
+f 33 13 4
+f 33 4 23
+f 33 31 13
+f 33 23 31
+f 34 23 4
+f 34 4 16
+f 35 17 1
+f 35 1 24
+f 36 25 18
+f 36 8 25
+f 36 26 8
+f 36 27 19
+f 36 19 26
+f 37 25 8
+f 37 8 15
+f 37 15 25
+f 38 18 29
+f 39 29 20
+f 39 38 29
+f 40 10 6
+f 40 16 10
+f 41 30 23
+f 41 23 34
+f 41 40 30
+f 41 34 16
+f 41 16 40
+f 42 11 17
+f 42 17 35
+f 42 26 11
+f 42 8 26
+f 42 35 24
+f 42 24 8
+f 43 36 18
+f 43 27 36
+f 43 38 27
+f 43 18 38
+f 44 12 27
+f 44 27 38
+f 44 38 39
+f 45 39 20
+f 45 40 6
+f 45 30 40
+f 46 6 12
+f 46 44 39
+f 46 12 44
+f 46 45 6
+f 46 39 45
+f 47 45 20
+f 47 20 30
+f 47 30 45
\ No newline at end of file
diff --git a/objects/objaverse/eggplant/eggplant_0/collision/model_normalized_collision_24.obj b/objects/objaverse/eggplant/eggplant_0/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..93bd3f95bc0efe9124d99a81a626b38bbe3ce4ac
--- /dev/null
+++ b/objects/objaverse/eggplant/eggplant_0/collision/model_normalized_collision_24.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.07782963 -0.28327377 0.26083740
+v 0.11013905 -0.24250429 0.19436438
+v 0.03941745 -0.14453739 0.26272265
+v -0.03000564 -0.12531530 0.25835383
+v -0.02723653 -0.28527961 0.14393940
+v 0.10244993 -0.12029407 0.13956271
+v -0.02723653 -0.28527961 0.26515152
+v 0.08228653 -0.26028653 0.25872535
+v 0.08480574 -0.28063162 0.14374605
+v -0.02723653 -0.11861295 0.14393940
+v 0.04583225 -0.15763260 0.26260635
+v 0.08974656 -0.28078903 0.21370411
+v 0.09488527 -0.25124954 0.14148894
+v 0.10761069 -0.25013170 0.19287294
+v 0.09649846 -0.26936570 0.20217462
+f 6 4 3
+f 7 3 4
+f 7 5 1
+f 7 4 5
+f 8 1 2
+f 8 2 6
+f 9 1 5
+f 10 6 5
+f 10 5 4
+f 10 4 6
+f 11 7 1
+f 11 3 7
+f 11 1 8
+f 11 8 6
+f 11 6 3
+f 12 1 9
+f 13 6 2
+f 13 9 5
+f 13 5 6
+f 14 2 1
+f 14 1 12
+f 14 13 2
+f 14 9 13
+f 15 14 12
+f 15 12 9
+f 15 9 14
\ No newline at end of file
diff --git a/objects/objaverse/eggplant/eggplant_0/collision/model_normalized_collision_25.obj b/objects/objaverse/eggplant/eggplant_0/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af89fa19d248ebfbf8015490eb80e4832bdd30c5
--- /dev/null
+++ b/objects/objaverse/eggplant/eggplant_0/collision/model_normalized_collision_25.obj
@@ -0,0 +1,126 @@
+# https://github.com/mikedh/trimesh
+v -0.04520157 -0.43407151 0.21783595
+v -0.03057998 -0.42385803 0.15099608
+v -0.03000564 -0.12531530 0.25835383
+v -0.13744923 -0.12400169 0.27080862
+v -0.23469743 -0.32577961 0.17986902
+v -0.03101526 -0.41936047 0.25609706
+v -0.15400161 -0.41748208 0.16514251
+v -0.02723653 -0.11861295 0.14393940
+v -0.23528185 -0.29553014 0.25451148
+v -0.09968650 -0.43463995 0.16271374
+v -0.15398284 -0.40201473 0.25600461
+v -0.19539896 -0.12638039 0.13863434
+v -0.14211190 -0.41821169 0.15249031
+v -0.04555109 -0.43549893 0.17463948
+v -0.11402582 -0.41712711 0.25695579
+v -0.22478178 -0.21537000 0.26197988
+v -0.22164976 -0.34980832 0.22901783
+v -0.11440604 -0.43458612 0.17643884
+v -0.20798259 -0.36507139 0.15362681
+v -0.05853271 -0.43441502 0.16415102
+v -0.08538111 -0.43503407 0.21677673
+v -0.23695947 -0.25888946 0.25804989
+v -0.22303136 -0.14072936 0.18605663
+v -0.19223051 -0.37532861 0.25374224
+v -0.23680740 -0.32291126 0.22752182
+v -0.14241088 -0.42003969 0.22820767
+v -0.16720111 -0.40586240 0.15270461
+v -0.23066939 -0.30034566 0.14899007
+v -0.20936460 -0.37633886 0.20096965
+v -0.19950810 -0.17528645 0.25762292
+v -0.23522074 -0.23293459 0.24639152
+v -0.24108046 -0.29207478 0.18096943
+v -0.15559081 -0.41779363 0.20294898
+v -0.16893142 -0.40522821 0.22979368
+v -0.11363262 -0.43302109 0.20267970
+v -0.22138976 -0.35296315 0.16522101
+v -0.21014094 -0.16866688 0.14168545
+v -0.19535935 -0.39152971 0.17945203
+v -0.21010930 -0.18988110 0.25855793
+v -0.23760593 -0.22922161 0.20487556
+v -0.19437836 -0.39104070 0.20093307
+v -0.22127334 -0.33926181 0.15420865
+v -0.20638636 -0.37818971 0.17863097
+f 6 3 4
+f 6 1 2
+f 8 6 2
+f 8 3 6
+f 8 4 3
+f 12 4 8
+f 12 8 2
+f 13 2 10
+f 13 12 2
+f 14 2 1
+f 15 6 4
+f 15 4 11
+f 16 11 4
+f 18 13 10
+f 18 7 13
+f 18 10 14
+f 20 14 10
+f 20 10 2
+f 20 2 14
+f 21 1 6
+f 21 6 15
+f 21 18 14
+f 21 14 1
+f 22 11 16
+f 23 4 12
+f 24 9 17
+f 24 22 9
+f 24 11 22
+f 25 17 9
+f 25 9 22
+f 26 15 11
+f 26 21 15
+f 27 13 7
+f 28 27 19
+f 28 12 13
+f 28 13 27
+f 29 17 25
+f 29 24 17
+f 30 4 23
+f 31 22 16
+f 31 16 23
+f 32 25 22
+f 32 5 25
+f 32 28 5
+f 32 23 28
+f 33 7 18
+f 34 26 11
+f 34 11 24
+f 34 33 26
+f 35 18 21
+f 35 21 26
+f 35 33 18
+f 35 26 33
+f 36 5 28
+f 36 29 25
+f 36 25 5
+f 37 28 23
+f 37 23 12
+f 37 12 28
+f 38 19 27
+f 38 27 7
+f 38 7 33
+f 39 30 23
+f 39 23 16
+f 39 16 4
+f 39 4 30
+f 40 32 22
+f 40 22 31
+f 40 31 23
+f 40 23 32
+f 41 34 24
+f 41 24 29
+f 41 29 38
+f 41 38 33
+f 41 33 34
+f 42 36 28
+f 42 28 19
+f 42 19 36
+f 43 36 19
+f 43 19 38
+f 43 38 29
+f 43 29 36
\ No newline at end of file
diff --git a/objects/objaverse/eggplant/eggplant_0/collision/model_normalized_collision_26.obj b/objects/objaverse/eggplant/eggplant_0/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c3e639d45392e7a54c99e784c56ed5ce02b7751
--- /dev/null
+++ b/objects/objaverse/eggplant/eggplant_0/collision/model_normalized_collision_26.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v -0.14813563 -0.39106633 0.34098562
+v -0.14642187 -0.40235517 0.26322388
+v -0.13998832 -0.17639363 0.32935090
+v -0.14465059 -0.13219364 0.27531013
+v -0.22788474 -0.31178902 0.25888550
+v -0.14225191 -0.39432819 0.29141236
+v -0.20971771 -0.35283629 0.25813538
+v -0.18039185 -0.21563121 0.32316850
+v -0.14287307 -0.14198880 0.28869596
+v -0.14124891 -0.20113201 0.34083518
+v -0.16853053 -0.39281921 0.25808948
+v -0.15452512 -0.38460304 0.34374766
+v -0.22478178 -0.21537000 0.26197988
+v -0.17819665 -0.19036217 0.31209482
+v -0.22188925 -0.28314492 0.28285050
+v -0.14634926 -0.30075435 0.35241403
+v -0.21010930 -0.18988110 0.25855793
+v -0.16679563 -0.16546757 0.29690252
+v -0.15377192 -0.20350029 0.33596507
+v -0.20761622 -0.21820344 0.29655274
+v -0.16643782 -0.28237099 0.33796613
+v -0.20772233 -0.30787178 0.29602976
+v -0.22133191 -0.24249675 0.28564666
+v -0.15113955 -0.17869374 0.32349794
+v -0.15476486 -0.14680365 0.28474514
+v -0.19119356 -0.19120845 0.29643242
+v -0.16637065 -0.24243625 0.33765809
+v -0.16221082 -0.35923968 0.34015698
+v -0.22200597 -0.30984516 0.27082630
+v -0.22123113 -0.21548115 0.27223982
+v -0.15053592 -0.13883579 0.27853759
+v -0.20610607 -0.19290639 0.27221411
+v -0.15485717 -0.30133423 0.34647348
+f 6 2 4
+f 6 1 2
+f 9 6 4
+f 9 3 6
+f 10 6 3
+f 10 1 6
+f 11 2 1
+f 11 4 2
+f 12 5 7
+f 12 11 1
+f 12 7 11
+f 16 12 1
+f 16 1 10
+f 17 4 11
+f 17 11 7
+f 17 7 5
+f 17 5 13
+f 18 3 9
+f 19 10 3
+f 19 14 8
+f 20 8 14
+f 23 13 5
+f 23 5 15
+f 23 8 20
+f 24 18 14
+f 24 3 18
+f 24 19 3
+f 24 14 19
+f 25 18 9
+f 25 9 4
+f 26 14 18
+f 26 20 14
+f 27 16 10
+f 27 10 19
+f 27 19 8
+f 27 23 21
+f 27 8 23
+f 28 12 16
+f 28 22 12
+f 28 21 23
+f 28 23 15
+f 28 15 22
+f 29 22 15
+f 29 15 5
+f 29 5 12
+f 29 12 22
+f 30 23 20
+f 30 13 23
+f 30 20 26
+f 30 17 13
+f 31 25 4
+f 31 4 17
+f 31 18 25
+f 32 26 18
+f 32 30 26
+f 32 17 30
+f 32 31 17
+f 32 18 31
+f 33 27 21
+f 33 16 27
+f 33 28 16
+f 33 21 28
\ No newline at end of file
diff --git a/objects/objaverse/eggplant/eggplant_0/collision/model_normalized_collision_27.obj b/objects/objaverse/eggplant/eggplant_0/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4e198b2e879dd851f8cf1fe834fedcbfad01bc30
--- /dev/null
+++ b/objects/objaverse/eggplant/eggplant_0/collision/model_normalized_collision_27.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.10074735 -0.04616480 0.10608472
+v 0.16685471 -0.04276759 0.01368202
+v 0.14810392 0.12062658 -0.00011261
+v 0.09394855 0.18438924 0.00752126
+v 0.09397559 -0.04285537 0.00757577
+v 0.12795163 0.14620667 0.00539462
+v 0.16234446 0.07605882 0.00024167
+v 0.13971626 -0.04458973 0.05899366
+v 0.08719854 -0.01813903 0.10411572
+v 0.10663474 0.18182552 0.00255105
+v 0.09314906 -0.04333515 0.11271766
+v 0.13383750 0.15050693 -0.00046518
+v 0.16899928 -0.01261688 0.00710625
+v 0.08897834 0.17922067 0.01265264
+v 0.14130479 0.11729122 0.00700238
+v 0.08774490 0.08787344 0.05382968
+v 0.10166453 0.17665695 0.00768243
+f 7 3 1
+f 8 5 2
+f 8 1 5
+f 8 7 1
+f 10 5 4
+f 11 1 3
+f 11 6 10
+f 11 9 5
+f 11 5 1
+f 12 7 5
+f 12 3 7
+f 12 5 10
+f 12 10 6
+f 12 6 11
+f 13 2 5
+f 13 5 7
+f 13 8 2
+f 13 7 8
+f 14 4 5
+f 14 10 4
+f 15 12 11
+f 15 11 3
+f 15 3 12
+f 16 14 5
+f 16 5 9
+f 16 9 14
+f 17 11 10
+f 17 10 14
+f 17 14 9
+f 17 9 11
\ No newline at end of file
diff --git a/objects/objaverse/eggplant/eggplant_0/collision/model_normalized_collision_28.obj b/objects/objaverse/eggplant/eggplant_0/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d2789488ac8c0e3c61005b685f0061c24222bdfd
--- /dev/null
+++ b/objects/objaverse/eggplant/eggplant_0/collision/model_normalized_collision_28.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.15892116 0.04877947 0.01116187
+v 0.16842956 0.03842793 -0.36822038
+v 0.19727692 0.25911667 -0.38480606
+v 0.01778457 0.23948416 -0.00196472
+v 0.01821801 0.04805372 -0.35606059
+v 0.14441682 0.23662425 -0.05139674
+v 0.01821801 0.04805372 0.00757577
+v 0.01821801 0.24502341 -0.35606059
+v 0.13928310 0.16147081 -0.00990304
+v 0.07243003 0.23482702 -0.01077358
+v 0.12788565 0.23647049 -0.03926956
+v 0.14194718 0.22051144 -0.04083141
+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 1 4
+f 7 4 5
+f 8 5 4
+f 8 4 3
+f 8 3 5
+f 9 1 6
+f 10 4 1
+f 10 1 9
+f 11 10 9
+f 11 6 4
+f 11 4 10
+f 12 11 9
+f 12 9 6
+f 12 6 11
\ No newline at end of file
diff --git a/objects/objaverse/eggplant/eggplant_0/collision/model_normalized_collision_29.obj b/objects/objaverse/eggplant/eggplant_0/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..183bb672d1fc1a32d4f87ac57d78433f4999b844
--- /dev/null
+++ b/objects/objaverse/eggplant/eggplant_0/collision/model_normalized_collision_29.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.01821801 0.04805372 -0.23484847
+v 0.01821801 0.04805372 -0.35606059
+v 0.01821801 0.33593250 -0.23484847
+v -0.12747553 0.37160373 -0.37952750
+v -0.13119998 0.02385038 -0.39253172
+v 0.01821801 0.33593250 -0.35606059
+v -0.10299411 0.04805372 -0.23484847
+v -0.10299411 0.33593250 -0.23484847
+f 1 2 3
+f 5 2 1
+f 6 3 2
+f 6 4 3
+f 6 5 4
+f 6 2 5
+f 7 1 3
+f 7 5 1
+f 8 7 3
+f 8 3 4
+f 8 4 5
+f 8 5 7
\ No newline at end of file
diff --git a/objects/objaverse/eggplant/eggplant_0/collision/model_normalized_collision_3.obj b/objects/objaverse/eggplant/eggplant_0/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a8d7f64b31df8dc66be8f334459eddce270450f
--- /dev/null
+++ b/objects/objaverse/eggplant/eggplant_0/collision/model_normalized_collision_3.obj
@@ -0,0 +1,171 @@
+# https://github.com/mikedh/trimesh
+v 0.16001059 0.03375360 -0.37411356
+v 0.12858479 0.05609362 -0.41814553
+v 0.16118741 0.34018616 -0.37634093
+v -0.16953237 0.34012487 -0.36990971
+v -0.13119998 0.02385038 -0.39253172
+v -0.02451225 0.25655620 -0.48979218
+v 0.12763318 0.15777454 -0.45898758
+v 0.01631418 0.05633351 -0.45862527
+v -0.08357615 0.31076124 -0.45915093
+v 0.12739511 0.07145324 -0.42783437
+v 0.09868090 0.27015225 -0.47182926
+v 0.08616864 0.05915362 -0.44328636
+v -0.09570422 0.15865954 -0.47491372
+v 0.04432197 0.14332827 -0.48825353
+v 0.12682143 0.25634094 -0.46124993
+v 0.07428367 0.31055145 -0.46046794
+v 0.11353679 0.05873805 -0.42881899
+v 0.09813930 0.10218151 -0.45735607
+v -0.08139146 0.05806162 -0.44365510
+v -0.09673456 0.25582404 -0.47395174
+v -0.19975684 0.25711110 -0.38025417
+v 0.04425430 0.10135527 -0.47472965
+v 0.07488786 0.18613992 -0.48972217
+v -0.02486428 0.14217821 -0.49034387
+v 0.12707251 0.31138534 -0.43189002
+v 0.06051089 0.25553572 -0.48962490
+v -0.04039158 0.29630759 -0.47428168
+v -0.01124568 0.05802581 -0.45951751
+v -0.09430219 0.07205313 -0.44531868
+v -0.05495021 0.22657122 -0.49099746
+v -0.13515628 0.29516654 -0.44385699
+v -0.14860125 0.24504721 -0.44717500
+v 0.05898317 0.07177134 -0.45803000
+v 0.07157177 0.11523354 -0.47302761
+v 0.11679528 0.20506884 -0.47355317
+v 0.11218318 0.28144876 -0.46001791
+v 0.04523250 0.29832943 -0.47374963
+v -0.06954778 0.28349059 -0.47374785
+v -0.05143281 0.10154952 -0.47285086
+v -0.09675493 0.05443253 -0.43478582
+v -0.09388235 0.10115840 -0.45763254
+v -0.12559613 0.24391012 -0.46359679
+v -0.05261037 0.15738884 -0.48812505
+v 0.07221779 0.24136043 -0.49001023
+v -0.13761470 0.31245101 -0.43225488
+v -0.10706009 0.29692761 -0.45794666
+v 0.05934050 0.15859093 -0.48842742
+v 0.09995805 0.15821178 -0.47388366
+v 0.11442429 0.24295029 -0.47329078
+v 0.09974614 0.29451032 -0.46014792
+v -0.05298201 0.07055466 -0.45963401
+v -0.07998384 0.12876532 -0.47360871
+v -0.14141990 0.24391613 -0.45263810
+v -0.12580987 0.30990709 -0.44216318
+v -0.12467283 0.27100085 -0.45921476
+v 0.08652950 0.13050484 -0.47259459
+v 0.11332519 0.30713833 -0.44424009
+v -0.08149173 0.08648259 -0.45724174
+f 1 3 4
+f 5 1 4
+f 7 3 1
+f 8 1 5
+f 9 4 3
+f 10 7 1
+f 10 1 2
+f 12 2 1
+f 12 1 8
+f 15 3 7
+f 16 9 3
+f 17 12 10
+f 17 10 2
+f 17 2 12
+f 18 7 10
+f 18 10 12
+f 21 5 4
+f 24 23 14
+f 24 22 8
+f 24 14 22
+f 25 3 15
+f 25 16 3
+f 26 16 11
+f 28 8 5
+f 28 5 19
+f 28 24 8
+f 30 6 26
+f 32 13 5
+f 32 5 21
+f 32 21 31
+f 33 12 8
+f 33 8 22
+f 34 22 14
+f 34 33 22
+f 34 18 12
+f 34 12 33
+f 35 15 7
+f 36 25 15
+f 37 27 9
+f 37 9 16
+f 37 16 26
+f 37 26 6
+f 37 6 27
+f 38 9 27
+f 38 27 6
+f 38 30 20
+f 38 6 30
+f 39 24 28
+f 40 29 19
+f 40 19 5
+f 40 5 29
+f 41 29 5
+f 41 5 13
+f 42 30 13
+f 42 20 30
+f 43 30 24
+f 43 13 30
+f 43 24 39
+f 44 30 26
+f 44 23 24
+f 44 24 30
+f 44 35 23
+f 44 26 11
+f 45 31 21
+f 45 21 4
+f 46 38 20
+f 46 9 38
+f 47 34 14
+f 47 14 23
+f 48 35 7
+f 48 23 35
+f 49 36 15
+f 49 11 36
+f 49 44 11
+f 49 15 35
+f 49 35 44
+f 50 36 11
+f 50 11 16
+f 51 39 28
+f 51 28 19
+f 52 41 13
+f 52 43 39
+f 52 13 43
+f 53 42 13
+f 53 13 32
+f 54 45 4
+f 54 4 9
+f 54 9 46
+f 54 46 31
+f 54 31 45
+f 55 31 46
+f 55 42 53
+f 55 53 32
+f 55 32 31
+f 55 46 20
+f 55 20 42
+f 56 48 7
+f 56 7 18
+f 56 18 34
+f 56 34 47
+f 56 47 23
+f 56 23 48
+f 57 50 16
+f 57 16 25
+f 57 25 36
+f 57 36 50
+f 58 51 19
+f 58 19 29
+f 58 29 41
+f 58 39 51
+f 58 52 39
+f 58 41 52
\ No newline at end of file
diff --git a/objects/objaverse/eggplant/eggplant_0/collision/model_normalized_collision_30.obj b/objects/objaverse/eggplant/eggplant_0/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..791f26e0cb2bf190ed59e46237e78dbb30d182fa
--- /dev/null
+++ b/objects/objaverse/eggplant/eggplant_0/collision/model_normalized_collision_30.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.13943013 0.24502341 -0.23484847
+v 0.13943013 0.24502341 -0.35606059
+v 0.17296521 0.36595927 -0.22104553
+v 0.15664937 0.35164048 -0.36952101
+v 0.01821801 0.33593250 -0.35606059
+v 0.01821801 0.24502341 -0.23484847
+v 0.01821801 0.24502341 -0.35606059
+v 0.14187775 0.35876597 -0.37773893
+v 0.01821801 0.33593250 -0.23484847
+f 1 2 3
+f 3 2 4
+f 6 2 1
+f 6 1 3
+f 7 6 5
+f 7 2 6
+f 8 5 3
+f 8 3 4
+f 8 7 5
+f 8 4 2
+f 8 2 7
+f 9 6 3
+f 9 3 5
+f 9 5 6
\ No newline at end of file
diff --git a/objects/objaverse/eggplant/eggplant_0/collision/model_normalized_collision_31.obj b/objects/objaverse/eggplant/eggplant_0/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b51f567a080ae5674821982a7d0e0f461a3e1786
--- /dev/null
+++ b/objects/objaverse/eggplant/eggplant_0/collision/model_normalized_collision_31.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.01821801 0.04805372 0.00757577
+v 0.01821801 0.04805372 -0.23484847
+v 0.01830158 0.24605213 -0.00580739
+v -0.09436803 0.23631296 -0.02207331
+v -0.13095639 0.06795736 0.04368167
+v 0.01821801 0.24502341 -0.23484847
+v -0.10299411 0.04805372 -0.23484847
+v 0.01778457 0.23948416 -0.00196472
+v -0.10299411 0.24502341 -0.23484847
+v -0.06681066 0.23480085 -0.00951221
+v 0.00265641 0.23978261 -0.00145069
+v -0.09354272 0.21896543 -0.01128453
+f 1 2 3
+f 6 3 2
+f 7 2 1
+f 7 1 5
+f 7 6 2
+f 8 5 1
+f 8 1 3
+f 9 4 3
+f 9 3 6
+f 9 6 7
+f 9 7 5
+f 9 5 4
+f 10 3 4
+f 11 8 3
+f 11 3 10
+f 11 10 5
+f 11 5 8
+f 12 10 4
+f 12 4 5
+f 12 5 10
\ No newline at end of file
diff --git a/objects/objaverse/eggplant/eggplant_0/collision/model_normalized_collision_4.obj b/objects/objaverse/eggplant/eggplant_0/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b9c4c45710833a8fc0c6bd55d0f6c7a7222205cb
--- /dev/null
+++ b/objects/objaverse/eggplant/eggplant_0/collision/model_normalized_collision_4.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.22013442 0.04875304 -0.10199411
+v 0.22767371 0.05305646 -0.26160179
+v 0.22689382 0.26893211 -0.22258363
+v 0.13193371 0.40030018 -0.20960916
+v 0.13467016 0.05158240 -0.41066579
+v 0.15948520 0.25874847 -0.07961277
+v 0.24492713 0.12352907 -0.20576919
+v 0.16001059 0.03375360 -0.37411356
+v 0.13099804 0.29859978 -0.43678028
+v 0.21248591 0.18040430 -0.10694416
+v 0.18247213 0.32356169 -0.16881708
+v 0.15458165 0.04805372 -0.09848484
+v 0.22795341 0.05015618 -0.13237240
+v 0.22650998 0.22774467 -0.33451119
+v 0.13119302 0.32749586 -0.10756103
+v 0.22719626 0.22474280 -0.16677405
+v 0.19630402 0.33996124 -0.23762712
+v 0.19535856 0.23731575 -0.10959482
+v 0.22586602 0.18167011 -0.13578323
+v 0.24443364 0.14126167 -0.26299751
+v 0.21229663 0.12765602 -0.35922814
+v 0.13150506 0.09810627 -0.43615263
+v 0.13054690 0.35609830 -0.13756733
+v 0.13215698 0.06858602 -0.42265594
+v 0.16789535 0.29318712 -0.11359799
+v 0.24404618 0.19662987 -0.22160195
+v 0.21146430 0.28209112 -0.17923796
+v 0.16828977 0.36667144 -0.21087242
+v 0.21210394 0.31343205 -0.29397398
+v 0.21175760 0.23780050 -0.13919946
+v 0.24438638 0.15382239 -0.20581130
+v 0.24428043 0.12481541 -0.23440552
+v 0.19608643 0.05719409 -0.34491049
+v 0.19724548 0.24247038 -0.39203616
+v 0.22798772 0.11255305 -0.31808631
+v 0.13068976 0.35495169 -0.39084729
+v 0.16852095 0.08755664 -0.40078811
+v 0.14168981 0.32275329 -0.11268197
+v 0.22664651 0.25515377 -0.19366452
+v 0.24447133 0.19872573 -0.26316429
+v 0.16820820 0.32119484 -0.14105184
+v 0.19691753 0.31056843 -0.18152973
+v 0.21229266 0.31148733 -0.23868955
+v 0.17035769 0.38001210 -0.29068908
+v 0.14236027 0.37914610 -0.18346177
+v 0.21050095 0.05639360 -0.31572030
+v 0.22692747 0.13986813 -0.33369793
+v 0.19725990 0.29882803 -0.36202690
+v 0.14251052 0.14407368 -0.44526769
+v 0.21220121 0.09927092 -0.34548483
+v 0.13134921 0.38516206 -0.17999523
+v 0.14499467 0.05516077 -0.40458042
+v 0.14192388 0.10085302 -0.42968773
+v 0.22749366 0.27089042 -0.29327026
+v 0.14107768 0.35082529 -0.14213408
+v 0.16761782 0.35260464 -0.18240769
+v 0.16901140 0.37986120 -0.25345465
+v 0.19614614 0.34078738 -0.30722641
+v 0.13264630 0.40036307 -0.32041937
+v 0.14006683 0.39553801 -0.21244954
+v 0.19814123 0.15774311 -0.39031502
+v 0.21039896 0.25610290 -0.36304129
+v 0.18111431 0.26908053 -0.40392711
+v 0.15407021 0.33711471 -0.38691534
+f 10 6 1
+f 12 1 6
+f 12 8 1
+f 12 5 8
+f 13 2 7
+f 13 8 2
+f 13 1 8
+f 15 12 6
+f 18 6 10
+f 19 1 13
+f 19 10 1
+f 23 22 15
+f 24 5 12
+f 24 12 15
+f 24 15 22
+f 25 6 18
+f 26 16 19
+f 27 25 18
+f 30 18 10
+f 30 27 18
+f 30 16 27
+f 30 19 16
+f 30 10 19
+f 31 19 13
+f 31 13 7
+f 31 26 19
+f 31 7 26
+f 32 20 7
+f 32 7 2
+f 32 2 20
+f 35 20 2
+f 36 9 22
+f 36 22 23
+f 37 33 8
+f 38 15 6
+f 38 6 25
+f 39 26 3
+f 39 16 26
+f 39 27 16
+f 40 26 7
+f 40 7 20
+f 40 3 26
+f 41 25 27
+f 41 38 25
+f 42 41 27
+f 42 11 41
+f 42 17 28
+f 43 42 27
+f 43 17 42
+f 43 29 17
+f 43 39 3
+f 43 27 39
+f 46 2 8
+f 46 8 33
+f 46 35 2
+f 47 35 21
+f 47 20 35
+f 47 40 20
+f 47 14 40
+f 49 22 9
+f 50 21 35
+f 50 37 21
+f 50 33 37
+f 50 46 33
+f 50 35 46
+f 51 36 23
+f 51 4 36
+f 51 45 4
+f 51 23 45
+f 52 37 8
+f 52 8 5
+f 52 5 24
+f 52 24 37
+f 53 37 24
+f 53 24 22
+f 53 49 37
+f 53 22 49
+f 54 40 14
+f 54 3 40
+f 54 43 3
+f 54 29 43
+f 54 48 29
+f 55 38 41
+f 55 23 15
+f 55 15 38
+f 55 45 23
+f 56 42 28
+f 56 11 42
+f 56 28 45
+f 56 41 11
+f 56 55 41
+f 56 45 55
+f 57 28 17
+f 57 17 44
+f 57 44 4
+f 58 44 17
+f 58 17 29
+f 58 29 48
+f 59 36 4
+f 59 4 44
+f 60 45 28
+f 60 4 45
+f 60 57 4
+f 60 28 57
+f 61 47 21
+f 61 34 14
+f 61 14 47
+f 61 49 34
+f 61 21 37
+f 61 37 49
+f 62 14 34
+f 62 34 48
+f 62 54 14
+f 62 48 54
+f 63 48 34
+f 63 49 9
+f 63 34 49
+f 64 9 36
+f 64 58 48
+f 64 44 58
+f 64 59 44
+f 64 36 59
+f 64 63 9
+f 64 48 63
\ No newline at end of file
diff --git a/objects/objaverse/eggplant/eggplant_0/collision/model_normalized_collision_5.obj b/objects/objaverse/eggplant/eggplant_0/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9fffa268e66dee62af3a1069e2846f8bafe26ce5
--- /dev/null
+++ b/objects/objaverse/eggplant/eggplant_0/collision/model_normalized_collision_5.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v -0.18973134 -0.22493198 -0.00532951
+v -0.14184349 -0.14128683 -0.21385073
+v -0.15467130 0.11940462 -0.00168688
+v -0.17232724 0.14254664 -0.03106803
+v -0.23375616 0.04910842 -0.21914766
+v -0.16360017 0.04805372 -0.21969696
+v -0.19806143 -0.04652194 0.02019423
+v -0.15206623 -0.21280743 -0.10075624
+v -0.20417087 -0.05005957 -0.21401113
+v -0.15822579 0.13631045 -0.01315329
+v -0.17897713 -0.07904471 -0.23546031
+v -0.20134800 -0.20664303 0.00998468
+v -0.16329445 0.11618285 -0.00846579
+v -0.22595569 0.07664596 -0.10310043
+v -0.22034770 -0.00688194 -0.21633069
+v -0.16166241 -0.12167118 -0.21131885
+v -0.19035353 -0.07814251 -0.21250638
+v -0.17891308 0.13283171 -0.03441362
+v -0.16684816 0.13308819 -0.01992926
+v -0.18556757 0.13555346 -0.04437727
+v -0.20926057 -0.16230051 0.00990226
+v -0.22108938 -0.02186956 -0.18658608
+v -0.14940438 -0.13621958 -0.21028146
+v -0.17638187 -0.19743983 -0.07451997
+v -0.22140771 0.07668026 -0.09008624
+v -0.20614664 -0.06159140 0.00239298
+v -0.16570850 -0.20038466 -0.09212734
+v -0.17485202 -0.13554770 -0.16478018
+v -0.20573167 0.06051131 -0.04768327
+v -0.19190282 0.08893884 -0.03379669
+f 6 3 2
+f 6 5 4
+f 8 2 3
+f 8 3 1
+f 10 6 4
+f 10 3 6
+f 11 6 2
+f 11 5 6
+f 12 1 3
+f 12 3 7
+f 12 9 1
+f 13 7 3
+f 15 11 9
+f 15 5 11
+f 15 9 12
+f 16 11 2
+f 17 1 9
+f 17 9 11
+f 19 10 4
+f 19 4 18
+f 19 18 7
+f 19 7 13
+f 19 13 3
+f 19 3 10
+f 20 4 5
+f 20 5 14
+f 20 18 4
+f 20 7 18
+f 21 12 7
+f 21 14 5
+f 21 5 12
+f 22 15 12
+f 22 12 5
+f 22 5 15
+f 23 16 2
+f 23 2 8
+f 23 8 16
+f 24 17 11
+f 24 1 17
+f 25 20 14
+f 26 21 7
+f 26 14 21
+f 26 25 14
+f 26 7 25
+f 27 24 16
+f 27 16 8
+f 27 8 1
+f 27 1 24
+f 28 24 11
+f 28 11 16
+f 28 16 24
+f 29 25 7
+f 29 20 25
+f 30 29 7
+f 30 7 20
+f 30 20 29
\ No newline at end of file
diff --git a/objects/objaverse/eggplant/eggplant_0/collision/model_normalized_collision_6.obj b/objects/objaverse/eggplant/eggplant_0/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d958bc351ad712b0931bc0d75b22bead2d6edb34
--- /dev/null
+++ b/objects/objaverse/eggplant/eggplant_0/collision/model_normalized_collision_6.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v -0.21893981 0.05322510 -0.07770046
+v -0.18034891 0.03900198 -0.35272190
+v -0.17087521 0.24980891 -0.09190207
+v -0.22656328 0.04786866 -0.10174886
+v -0.22076328 0.24223099 -0.33617788
+v -0.22137999 0.23869145 -0.18032691
+v -0.20959478 0.25244328 -0.35969506
+v -0.23626535 0.09564523 -0.26208997
+v -0.20589385 0.19353068 -0.10910318
+v -0.23647065 0.16706054 -0.17697310
+v -0.22111191 0.12776505 -0.33325606
+v -0.22002935 0.05488369 -0.28873457
+v -0.20583063 0.23780128 -0.13848100
+v -0.22092359 0.12134804 -0.10448766
+v -0.23850963 0.07876310 -0.17595177
+v -0.23825116 0.19853128 -0.27785371
+v -0.20732522 0.06968713 -0.33137688
+v -0.21926285 0.06920309 -0.30252735
+v -0.19151637 0.23604855 -0.11065606
+v -0.21924349 0.19484520 -0.13754892
+v -0.23590312 0.08149484 -0.24777467
+v -0.23675240 0.19646692 -0.20640502
+v -0.23714871 0.12494657 -0.27656004
+v -0.20865898 0.05438857 -0.31736365
+v -0.20440687 0.22208985 -0.12407432
+v -0.19828985 0.05244064 -0.33508932
+f 1 2 3
+f 2 1 4
+f 7 3 2
+f 7 6 3
+f 7 5 6
+f 9 1 3
+f 11 7 2
+f 11 5 7
+f 12 2 4
+f 13 3 6
+f 14 10 4
+f 14 4 1
+f 14 1 9
+f 15 4 10
+f 15 12 4
+f 16 6 5
+f 16 5 11
+f 17 11 2
+f 18 12 8
+f 18 8 11
+f 18 11 17
+f 19 9 3
+f 19 3 13
+f 20 13 6
+f 20 14 9
+f 20 6 10
+f 20 10 14
+f 21 15 8
+f 21 8 12
+f 21 12 15
+f 22 10 6
+f 22 6 16
+f 22 16 15
+f 22 15 10
+f 23 8 15
+f 23 15 16
+f 23 16 11
+f 23 11 8
+f 24 2 12
+f 24 18 17
+f 24 12 18
+f 25 19 13
+f 25 9 19
+f 25 20 9
+f 25 13 20
+f 26 24 17
+f 26 17 2
+f 26 2 24
\ No newline at end of file
diff --git a/objects/objaverse/eggplant/eggplant_0/collision/model_normalized_collision_7.obj b/objects/objaverse/eggplant/eggplant_0/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9bf55b372178036daea403436260a87c215777c7
--- /dev/null
+++ b/objects/objaverse/eggplant/eggplant_0/collision/model_normalized_collision_7.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.14441682 0.23662425 -0.05139674
+v 0.18403512 0.24458239 -0.09910353
+v 0.09814035 0.39295132 -0.15696010
+v -0.06817011 0.42852300 -0.19537149
+v -0.10299411 0.24502341 -0.23484847
+v -0.01035571 0.27859320 -0.02486421
+v 0.15323657 0.29433972 -0.09885683
+v 0.13943013 0.24502341 -0.23484847
+v -0.02314410 0.39549151 -0.12756439
+v -0.08325436 0.23842600 -0.01855890
+v 0.17159632 0.23898124 -0.07875812
+v 0.14872434 0.39393623 -0.23196709
+v 0.07119946 0.30668293 -0.05640043
+v 0.03130238 0.42315206 -0.17003867
+v 0.04607165 0.23786323 -0.00495336
+v -0.12279616 0.41115811 -0.22821843
+v -0.08010430 0.36553816 -0.11468255
+v 0.16910961 0.24937897 -0.08302634
+v 0.17529492 0.27034818 -0.10546862
+v 0.12527388 0.36523244 -0.14277875
+v 0.11378227 0.27735550 -0.05535892
+v 0.03216347 0.33770152 -0.07013981
+v -0.02408392 0.42434653 -0.16966006
+v 0.05911453 0.42791216 -0.19319095
+v -0.03934707 0.23792223 -0.00434379
+v -0.09962465 0.24162100 -0.02839019
+v -0.05365978 0.40979333 -0.15645581
+v -0.09228923 0.39278754 -0.15708674
+v -0.06472299 0.30635085 -0.05551507
+v 0.14078934 0.24877840 -0.05622083
+v 0.17076039 0.26566085 -0.09662274
+v 0.13462059 0.38963756 -0.19305920
+v 0.08618698 0.33542121 -0.08515754
+v 0.08994801 0.23863608 -0.01904165
+v 0.05956547 0.29297001 -0.04173459
+v 0.03172500 0.39395003 -0.12661967
+v 0.05914258 0.40817115 -0.15465710
+v -0.06583780 0.39425844 -0.14141631
+v -0.06619948 0.42391371 -0.18543200
+v -0.09695333 0.41504879 -0.19613896
+v -0.09246804 0.30739411 -0.06907043
+v -0.03786731 0.35064926 -0.08442162
+v -0.06582172 0.26393432 -0.02660045
+v 0.12525231 0.30787361 -0.08562914
+v 0.11382225 0.39226014 -0.16955310
+v 0.10184584 0.41331162 -0.19667925
+v 0.08592416 0.37890427 -0.12949997
+v 0.08671670 0.27799627 -0.04182768
+v 0.04420093 0.35121678 -0.08442268
+v 0.07168800 0.26305592 -0.02635302
+v 0.01719308 0.27854773 -0.02520867
+v 0.05721959 0.42523889 -0.18358877
+v -0.03801639 0.37936621 -0.11351708
+v -0.09416060 0.40959682 -0.18410576
+v -0.07955219 0.33607018 -0.08653149
+v -0.02556815 0.33738750 -0.07031164
+v -0.03772885 0.24928332 -0.01070147
+v -0.09355044 0.26548217 -0.03911234
+v 0.11293502 0.34904345 -0.11374251
+v 0.12761174 0.38151392 -0.16918126
+v 0.08622697 0.40668798 -0.17035347
+v 0.04401944 0.38001385 -0.11345059
+v 0.08788006 0.25050804 -0.02492878
+v 0.04482549 0.24938685 -0.01129647
+f 8 1 5
+f 10 5 1
+f 11 8 2
+f 11 1 8
+f 12 2 8
+f 12 8 5
+f 16 12 5
+f 18 1 11
+f 19 2 12
+f 19 18 11
+f 19 11 2
+f 20 7 19
+f 24 23 14
+f 24 4 23
+f 24 16 4
+f 24 12 16
+f 25 10 1
+f 25 1 15
+f 25 15 6
+f 26 16 5
+f 26 5 10
+f 27 9 23
+f 30 18 7
+f 30 1 18
+f 30 21 1
+f 31 19 7
+f 31 7 18
+f 31 18 19
+f 32 19 12
+f 34 15 1
+f 34 1 21
+f 36 9 22
+f 36 23 9
+f 36 14 23
+f 37 14 36
+f 38 9 27
+f 38 28 17
+f 39 27 23
+f 39 23 4
+f 39 38 27
+f 39 28 38
+f 40 4 16
+f 40 39 4
+f 41 17 28
+f 41 28 16
+f 41 16 26
+f 43 6 29
+f 43 10 25
+f 44 30 7
+f 44 21 30
+f 44 33 21
+f 45 3 20
+f 46 32 12
+f 46 12 24
+f 46 45 32
+f 47 20 3
+f 47 3 37
+f 48 33 13
+f 48 21 33
+f 48 13 35
+f 49 13 33
+f 49 35 13
+f 49 22 35
+f 49 36 22
+f 50 15 34
+f 50 48 35
+f 51 35 22
+f 51 22 6
+f 51 6 15
+f 52 24 14
+f 52 14 37
+f 52 46 24
+f 53 38 17
+f 53 9 38
+f 53 42 9
+f 53 17 42
+f 54 28 39
+f 54 39 40
+f 54 40 16
+f 54 16 28
+f 55 41 29
+f 55 17 41
+f 55 42 17
+f 55 29 42
+f 56 22 9
+f 56 9 42
+f 56 6 22
+f 56 42 29
+f 56 29 6
+f 57 43 25
+f 57 25 6
+f 57 6 43
+f 58 43 29
+f 58 29 41
+f 58 41 26
+f 58 26 10
+f 58 10 43
+f 59 44 7
+f 59 7 20
+f 59 33 44
+f 59 47 33
+f 59 20 47
+f 60 45 20
+f 60 32 45
+f 60 20 19
+f 60 19 32
+f 61 3 45
+f 61 45 46
+f 61 46 52
+f 61 52 37
+f 61 37 3
+f 62 47 37
+f 62 37 36
+f 62 36 49
+f 62 49 33
+f 62 33 47
+f 63 34 21
+f 63 21 48
+f 63 50 34
+f 63 48 50
+f 64 50 35
+f 64 15 50
+f 64 51 15
+f 64 35 51
\ No newline at end of file
diff --git a/objects/objaverse/eggplant/eggplant_0/collision/model_normalized_collision_8.obj b/objects/objaverse/eggplant/eggplant_0/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..17cb4f61b39a253e46ab87b9117eddf2ba5c1c98
--- /dev/null
+++ b/objects/objaverse/eggplant/eggplant_0/collision/model_normalized_collision_8.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v 0.01154539 -0.12768369 0.23980137
+v 0.16162938 -0.11995620 0.00963340
+v 0.12118825 0.05955108 0.04310579
+v -0.18104611 0.04423963 -0.00042672
+v -0.21050614 -0.11947483 0.00707941
+v 0.16685471 -0.04276759 0.01368202
+v -0.09918471 -0.12418587 0.29085586
+v -0.19539896 -0.12638039 0.13863434
+v -0.19389990 -0.00130217 0.00103238
+v 0.09588564 -0.12243455 0.14998337
+v 0.07143505 0.03999785 0.08345877
+v -0.11430597 -0.12794232 0.28861699
+v -0.20942303 -0.12157651 0.05176638
+v 0.12255998 -0.12123007 0.10408292
+v 0.13971626 -0.04458973 0.05899366
+v 0.07013225 -0.12245408 0.18204124
+v -0.01687388 -0.12833349 0.25503705
+v -0.08051031 0.03554324 0.09719306
+v -0.13064972 -0.12497098 0.27541371
+v -0.20890342 -0.08883348 0.00652230
+v 0.13733251 -0.11889628 0.07515630
+v -0.16996959 -0.12721132 0.19867620
+v 0.04271335 0.03818062 0.09617006
+v -0.15088051 0.03999723 0.04107829
+v -0.11928478 -0.10231159 0.25695532
+v -0.17465426 0.04234346 0.01074639
+v -0.10761771 0.03535601 0.08202806
+f 6 2 4
+f 6 4 3
+f 8 5 2
+f 8 2 1
+f 9 4 2
+f 9 2 5
+f 9 8 4
+f 13 5 8
+f 13 8 9
+f 14 10 1
+f 14 1 2
+f 14 6 10
+f 15 10 6
+f 15 6 3
+f 15 3 10
+f 16 10 3
+f 16 3 1
+f 16 1 10
+f 17 11 7
+f 17 1 3
+f 17 3 11
+f 17 7 12
+f 17 8 1
+f 20 13 9
+f 20 9 5
+f 20 5 13
+f 21 14 2
+f 21 2 6
+f 21 6 14
+f 22 17 12
+f 22 8 17
+f 22 12 19
+f 22 19 4
+f 22 4 8
+f 23 11 3
+f 23 3 18
+f 23 18 7
+f 23 7 11
+f 24 18 3
+f 24 3 4
+f 25 12 7
+f 25 7 18
+f 25 19 12
+f 25 24 19
+f 26 24 4
+f 26 4 19
+f 26 19 24
+f 27 25 18
+f 27 18 24
+f 27 24 25
\ No newline at end of file
diff --git a/objects/objaverse/eggplant/eggplant_0/collision/model_normalized_collision_9.obj b/objects/objaverse/eggplant/eggplant_0/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..93afd231de45de2b1f2ae612149a2eadda54ecd4
--- /dev/null
+++ b/objects/objaverse/eggplant/eggplant_0/collision/model_normalized_collision_9.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v -0.03057998 -0.42385803 0.15099608
+v -0.02397015 -0.32059316 -0.00259574
+v -0.02723653 -0.30043113 0.14393940
+v -0.15480725 -0.29017778 0.01487611
+v -0.10417124 -0.41359575 0.07780820
+v -0.10278560 -0.41443370 0.07851573
+v -0.09567651 -0.32916238 0.01847259
+v -0.20119997 -0.37124073 0.14944936
+v -0.03235577 -0.41786305 0.13995036
+v -0.19723763 -0.32204613 0.12600242
+v -0.19033882 -0.37973413 0.14157164
+v -0.19557313 -0.36769618 0.13824498
+v -0.12838769 -0.42199207 0.15083420
+v -0.18231714 -0.39294180 0.14958029
+v -0.10011824 -0.42114741 0.11621030
+v -0.18078660 -0.38961787 0.14185797
+v -0.19486149 -0.37977715 0.14894852
+f 1 2 3
+f 3 2 4
+f 6 5 2
+f 7 5 4
+f 7 4 2
+f 7 2 5
+f 8 1 3
+f 9 6 2
+f 9 2 1
+f 9 1 6
+f 10 8 3
+f 10 3 4
+f 10 4 8
+f 11 4 5
+f 12 11 8
+f 12 8 4
+f 12 4 11
+f 13 5 6
+f 13 1 8
+f 14 5 13
+f 14 13 8
+f 15 13 6
+f 15 6 1
+f 15 1 13
+f 16 14 11
+f 16 11 5
+f 16 5 14
+f 17 14 8
+f 17 8 11
+f 17 11 14
\ No newline at end of file
diff --git a/objects/objaverse/eggplant/eggplant_0/model.xml b/objects/objaverse/eggplant/eggplant_0/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..5a3b9aa2f3d6624c87fb540bf18bb1650d032253
--- /dev/null
+++ b/objects/objaverse/eggplant/eggplant_0/model.xml
@@ -0,0 +1,83 @@
+<mujoco model="eggplant_6">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.11999999999999994 0.11999999999999994 0.11999999999999994" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="visual/model_normalized_1.obj" name="model_normalized_1_vis" scale="0.11999999999999994 0.11999999999999994 0.11999999999999994" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.11999999999999994 0.11999999999999994 0.11999999999999994" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.11999999999999994 0.11999999999999994 0.11999999999999994" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.11999999999999994 0.11999999999999994 0.11999999999999994" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.11999999999999994 0.11999999999999994 0.11999999999999994" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.11999999999999994 0.11999999999999994 0.11999999999999994" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.11999999999999994 0.11999999999999994 0.11999999999999994" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.11999999999999994 0.11999999999999994 0.11999999999999994" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.11999999999999994 0.11999999999999994 0.11999999999999994" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.11999999999999994 0.11999999999999994 0.11999999999999994" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.11999999999999994 0.11999999999999994 0.11999999999999994" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.11999999999999994 0.11999999999999994 0.11999999999999994" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.11999999999999994 0.11999999999999994 0.11999999999999994" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.11999999999999994 0.11999999999999994 0.11999999999999994" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.11999999999999994 0.11999999999999994 0.11999999999999994" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.11999999999999994 0.11999999999999994 0.11999999999999994" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.11999999999999994 0.11999999999999994 0.11999999999999994" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.11999999999999994 0.11999999999999994 0.11999999999999994" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.11999999999999994 0.11999999999999994 0.11999999999999994" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.11999999999999994 0.11999999999999994 0.11999999999999994" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.11999999999999994 0.11999999999999994 0.11999999999999994" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.11999999999999994 0.11999999999999994 0.11999999999999994" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.11999999999999994 0.11999999999999994 0.11999999999999994" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.11999999999999994 0.11999999999999994 0.11999999999999994" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.11999999999999994 0.11999999999999994 0.11999999999999994" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.11999999999999994 0.11999999999999994 0.11999999999999994" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.11999999999999994 0.11999999999999994 0.11999999999999994" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.11999999999999994 0.11999999999999994 0.11999999999999994" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.11999999999999994 0.11999999999999994 0.11999999999999994" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.11999999999999994 0.11999999999999994 0.11999999999999994" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.11999999999999994 0.11999999999999994 0.11999999999999994" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.11999999999999994 0.11999999999999994 0.11999999999999994" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.11999999999999994 0.11999999999999994 0.11999999999999994" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <material name="bodyColor" specular="0.5" shininess="1.4690999999999999e-05" rgba="0.065967 0.002710 0.040519 1.0"/>
+    <material name="material" specular="0.5" shininess="0.0" rgba="0.189218 0.478575 0.000000 1.0"/>
+  </asset>
+  <worldbody>
+    <body>
+      <body name="object">
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_0_vis" conaffinity="0" contype="0" group="1" material="material"/>
+        <geom solimp="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="bodyColor"/>
+        <geom solimp="0.998 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="-0.00023080017248646988 -0.00011214838663087029 -0.05891969519999997" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="-0.00023080017248646988 -0.00011214838663087029 0.05958951719999997" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.028929651751316347 0.05268982411888272 0.0003349109999999998" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/objects/objaverse/eggplant/eggplant_0/visual/material.mtl b/objects/objaverse/eggplant/eggplant_0/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d5bfaea8c2773bfdc2d513b8be94e6c39497ef34
--- /dev/null
+++ b/objects/objaverse/eggplant/eggplant_0/visual/material.mtl
@@ -0,0 +1,7 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.06666667 0.00392157 0.03921569
+Ks 0.50196078 0.50196078 0.50196078
+Ns 0.01469100
\ No newline at end of file
diff --git a/objects/objaverse/eggplant/eggplant_0/visual/model_normalized_0.obj b/objects/objaverse/eggplant/eggplant_0/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d958f629875274fef359da415f102d8638ee7a0
--- /dev/null
+++ b/objects/objaverse/eggplant/eggplant_0/visual/model_normalized_0.obj
@@ -0,0 +1,13474 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/objects/objaverse/eggplant/eggplant_0/visual/model_normalized_1.obj b/objects/objaverse/eggplant/eggplant_0/visual/model_normalized_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d2113e259f397685ecfb3f45e89d1be7f22b1c5c
--- /dev/null
+++ b/objects/objaverse/eggplant/eggplant_0/visual/model_normalized_1.obj
@@ -0,0 +1,7771 @@
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+f 1446/1446/1446 1445/1445/1445 1486/1486/1486
+f 1446/1446/1446 1486/1486/1486 1489/1489/1489
+f 1495/1495/1495 1500/1500/1500 1499/1499/1499
+f 1495/1495/1495 1499/1499/1499 1494/1494/1494
\ No newline at end of file
diff --git a/objects/objaverse/eggplant/eggplant_1/collision/model_normalized_collision_0.obj b/objects/objaverse/eggplant/eggplant_1/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3cea7c0ea044bc201b0c95ad08c564417b6e0f2e
--- /dev/null
+++ b/objects/objaverse/eggplant/eggplant_1/collision/model_normalized_collision_0.obj
@@ -0,0 +1,168 @@
+# https://github.com/mikedh/trimesh
+v 0.26392493 -0.06145754 0.10113698
+v 0.32864717 0.03310968 0.01538325
+v 0.35396378 0.09549751 0.13582465
+v 0.28296652 0.15602207 0.12364458
+v 0.25705403 0.10892347 -0.01859142
+v 0.26796978 0.04713489 0.18776897
+v 0.32643883 -0.02833572 0.08621162
+v 0.25469024 -0.01638195 0.01340442
+v 0.32716502 0.11643504 0.03240712
+v 0.30202937 0.08932947 0.18192585
+v 0.26485611 0.14281031 0.15930070
+v 0.32723886 -0.02475190 0.07322343
+v 0.31433053 -0.00890414 0.15533431
+v 0.26333394 0.05949931 -0.02955151
+v 0.25866076 0.08734351 0.18835386
+v 0.32588187 0.08849586 0.01671956
+v 0.30279059 0.13826008 0.04285097
+v 0.26199395 0.13972220 0.05524608
+v 0.34358630 0.11198192 0.13709296
+v 0.31581927 -0.02463007 0.06141538
+v 0.28868108 -0.05427808 0.09767810
+v 0.26223606 -0.04566555 0.14531143
+v 0.31368126 0.05978895 0.18062482
+v 0.32538870 0.00084726 0.15431123
+v 0.25933524 0.07141653 -0.03179537
+v 0.30155117 0.04250550 -0.00633240
+v 0.31169536 0.07289484 0.18258126
+v 0.31049660 0.11754143 0.02013286
+v 0.28304433 0.15660682 0.11255744
+v 0.28597211 0.13797143 0.03713838
+v 0.30094290 0.11422046 0.16680736
+v 0.28357027 0.14554514 0.15043749
+v 0.33418090 0.13905296 0.08253096
+v 0.31681932 0.03481659 0.00537752
+v 0.31530203 -0.03732274 0.08353077
+v 0.25685697 -0.04303349 0.05226049
+v 0.30997282 -0.04074959 0.09473136
+v 0.28978404 -0.02407497 0.15317125
+v 0.28332402 -0.05505646 0.10764412
+v 0.30100381 0.04117005 0.18092981
+v 0.32592498 -0.00831132 0.13204657
+v 0.32700958 0.05940371 0.16923968
+v 0.26957895 0.06901914 -0.02792888
+v 0.27639645 0.06032430 -0.02681041
+v 0.31197439 0.09975879 0.16904741
+v 0.32818129 0.07548108 0.16776253
+v 0.31503607 0.12498939 0.03037042
+v 0.26197354 0.11479018 -0.00878197
+v 0.29264016 0.15606237 0.10748145
+v 0.29373843 0.15612871 0.12257644
+v 0.34879764 0.11384724 0.13047570
+v 0.25569083 -0.02927107 0.02671561
+v 0.30448672 -0.03698445 0.07347584
+v 0.27068425 -0.04095804 0.14568777
+v 0.26470053 -0.05873507 0.11051998
+v 0.29476964 0.05608939 -0.01189674
+v 0.32734510 0.14025279 0.11652816
+f 12 2 3
+f 12 3 7
+f 15 10 11
+f 15 5 8
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+f 16 3 2
+f 18 15 11
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+f 20 2 12
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+f 25 14 8
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+f 28 9 16
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+f 37 24 13
+f 37 7 24
+f 37 35 7
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+f 39 37 13
+f 39 21 37
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+f 40 24 23
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+f 48 5 18
+f 48 18 30
+f 48 47 5
+f 48 17 47
+f 49 30 29
+f 49 17 30
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+f 50 33 49
+f 50 49 29
+f 50 29 4
+f 51 19 3
+f 51 3 33
+f 51 32 19
+f 52 36 8
+f 52 8 20
+f 53 35 21
+f 53 21 36
+f 53 36 52
+f 53 52 20
+f 53 20 35
+f 54 38 22
+f 54 13 38
+f 54 39 13
+f 54 22 39
+f 55 39 22
+f 55 22 1
+f 55 1 39
+f 56 44 16
+f 56 16 34
+f 56 34 44
+f 57 51 33
+f 57 33 50
+f 57 50 32
+f 57 32 51
\ No newline at end of file
diff --git a/objects/objaverse/eggplant/eggplant_1/collision/model_normalized_collision_1.obj b/objects/objaverse/eggplant/eggplant_1/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..66b660cbd24ab565b394efb04e2fe0c101d963e4
--- /dev/null
+++ b/objects/objaverse/eggplant/eggplant_1/collision/model_normalized_collision_1.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.16179433 -0.14919343 -0.08158335
+v -0.10284435 -0.13313846 -0.07967917
+v -0.39622141 -0.13626966 -0.08443700
+v -0.36865851 0.15902736 -0.08404816
+v -0.22236744 -0.00841354 -0.19217635
+v -0.39729326 0.14856451 -0.08441659
+v -0.35380572 -0.15201611 -0.08463294
+v -0.19456412 -0.08843021 -0.16093670
+v -0.09313174 0.11655873 -0.10531395
+v -0.23649260 0.15874429 -0.08217856
+v -0.41099192 -0.00802530 -0.17092877
+v -0.17940479 -0.12855299 -0.11998547
+v -0.10460391 -0.02116269 -0.15991222
+v -0.11481151 0.13581780 -0.08466735
+v -0.25308001 0.08544329 -0.17600525
+v -0.46232719 -0.01351069 -0.11003722
+v -0.32367341 -0.04962272 -0.19060595
+v -0.10444644 -0.08770289 -0.13149687
+v -0.16367536 -0.14325717 -0.09266626
+v -0.32337533 -0.12870054 -0.13484071
+v -0.19458095 -0.06203690 -0.17530938
+v -0.14641766 0.14417930 -0.08166842
+v -0.22370549 0.12519137 -0.13445105
+v -0.36524949 0.07187884 -0.17628420
+v -0.11914941 0.04497371 -0.15962774
+v -0.39260655 -0.08954829 -0.14819236
+v -0.17973776 -0.10179334 -0.14669928
+v -0.13474859 -0.11518048 -0.11857094
+v -0.10436007 -0.06188734 -0.14666489
+v -0.10517109 -0.12683682 -0.09011768
+v -0.25205761 -0.10244498 -0.16249765
+v -0.39194611 -0.12739528 -0.10829456
+v -0.23760299 -0.12875270 -0.13504592
+v -0.16431731 -0.03510508 -0.17540306
+v -0.26696429 -0.04988551 -0.19166259
+v -0.11844831 0.09750390 -0.13142399
+v -0.25300164 0.13940059 -0.12280099
+v -0.19296553 0.13910398 -0.10673764
+v -0.36575155 0.13809715 -0.12147466
+v -0.44820347 0.08322280 -0.10880590
+v -0.36593040 0.03199230 -0.19174669
+v -0.10478033 0.01821982 -0.16059890
+v -0.23828620 0.04602207 -0.19064388
+v -0.39164354 -0.03413961 -0.17643793
+v -0.32335664 -0.10171115 -0.16219905
+v -0.13491013 -0.10152499 -0.13144308
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+v -0.23758108 -0.11599730 -0.14840976
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+v -0.37919861 -0.11439982 -0.13361967
+v -0.20747895 -0.14241012 -0.10778415
+v -0.23739499 -0.03698446 -0.19119975
+v -0.16346777 0.11117532 -0.13160172
+v -0.10442530 0.07113571 -0.14470982
+v -0.36735264 0.15481022 -0.09483648
+v -0.11835897 0.12342827 -0.10466944
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+v -0.33787956 0.08597043 -0.17538463
+v -0.39313664 0.09898822 -0.14738463
+v -0.40733075 0.05955808 -0.16337949
+v -0.36559414 -0.01997939 -0.19063596
+v -0.26728446 0.05936956 -0.19079657
+f 6 3 2
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+f 29 9 18
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+f 52 1 7
+f 52 7 50
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+f 53 49 35
+f 53 21 49
+f 53 35 5
+f 53 5 34
+f 54 23 9
+f 54 9 36
+f 54 36 15
+f 54 15 23
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+f 55 43 15
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+f 55 36 9
+f 55 42 25
+f 55 9 42
+f 56 4 10
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+f 56 39 6
+f 56 6 4
+f 57 14 9
+f 57 9 23
+f 57 23 38
+f 58 38 22
+f 58 22 14
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+f 58 14 57
+f 59 38 37
+f 59 10 22
+f 59 22 38
+f 59 56 10
+f 59 37 56
+f 60 39 37
+f 60 37 15
+f 60 41 24
+f 61 60 24
+f 61 39 60
+f 61 40 6
+f 61 6 39
+f 62 11 16
+f 62 16 40
+f 62 40 61
+f 62 41 11
+f 62 61 24
+f 62 24 41
+f 63 41 35
+f 63 35 17
+f 63 17 44
+f 63 44 11
+f 63 11 41
+f 64 43 5
+f 64 5 41
+f 64 41 60
+f 64 60 15
+f 64 15 43
\ No newline at end of file
diff --git a/objects/objaverse/eggplant/eggplant_1/collision/model_normalized_collision_10.obj b/objects/objaverse/eggplant/eggplant_1/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..229c29d5985bf24645966f32255e51ab5e7a07ef
--- /dev/null
+++ b/objects/objaverse/eggplant/eggplant_1/collision/model_normalized_collision_10.obj
@@ -0,0 +1,129 @@
+# https://github.com/mikedh/trimesh
+v -0.39622141 -0.13626966 -0.08443700
+v -0.39425647 -0.13197618 -0.09691912
+v -0.39517333 0.14358161 -0.09582582
+v -0.39729326 0.14856451 -0.08441659
+v -0.48915743 -0.00580536 -0.08361186
+v -0.44825688 -0.09134845 -0.08185039
+v -0.40048292 -0.00930216 -0.17746509
+v -0.45010252 0.10357195 -0.08308467
+v -0.40766912 -0.13045603 -0.08237539
+v -0.39516224 -0.05034070 -0.16832605
+v -0.43056238 0.11177507 -0.10585094
+v -0.48345593 0.02865638 -0.08290333
+v -0.41606580 -0.10091193 -0.11981092
+v -0.40460252 -0.12757352 -0.09380954
+v -0.40885606 0.14361387 -0.08167710
+v -0.39576466 0.08880414 -0.15344751
+v -0.43082004 -0.03363538 -0.14781627
+v -0.46349114 -0.06418444 -0.08232405
+v -0.44531559 0.07279473 -0.12117856
+v -0.39724217 -0.10964518 -0.12800273
+v -0.46523776 0.07506637 -0.08312379
+v -0.40643733 0.13892223 -0.09359827
+v -0.44470454 0.04641509 -0.13500555
+v -0.41825914 -0.02069550 -0.16265766
+v -0.41758234 -0.06113173 -0.14735526
+v -0.44409179 -0.07444625 -0.10730745
+v -0.44616990 0.10114184 -0.09468986
+v -0.41770656 0.09774158 -0.13238257
+v -0.39528347 -0.07901440 -0.15337571
+v -0.45936773 0.05976423 -0.10852107
+v -0.47847319 0.02749081 -0.09082801
+v -0.40913293 0.04682894 -0.16700884
+v -0.40577877 -0.04791170 -0.16281781
+v -0.44560651 -0.02090791 -0.13563671
+v -0.45894931 -0.06213984 -0.09351018
+v -0.43024063 -0.06240198 -0.13408943
+v -0.44428255 -0.08834778 -0.09335250
+v -0.43062667 0.09887455 -0.11868852
+v -0.41829009 0.11225368 -0.11877781
+v -0.40546076 -0.07592165 -0.14859007
+v -0.46009598 0.07348522 -0.09573103
+v -0.41970427 0.04436317 -0.16075850
+v -0.45971477 -0.03562961 -0.10857167
+v -0.40728237 0.08635032 -0.14875504
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+f 16 10 7
+f 16 3 10
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+f 31 5 12
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+f 39 11 22
+f 39 22 3
+f 39 3 16
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+f 39 38 11
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+f 40 29 20
+f 40 20 13
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+f 40 33 10
+f 40 10 29
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+f 40 13 36
+f 41 30 12
+f 41 12 21
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+f 42 23 19
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+f 42 7 24
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+f 43 34 36
+f 43 35 5
+f 43 36 26
+f 43 26 35
+f 44 42 19
+f 44 19 28
+f 44 28 16
+f 44 16 32
+f 44 32 42
\ No newline at end of file
diff --git a/objects/objaverse/eggplant/eggplant_1/collision/model_normalized_collision_11.obj b/objects/objaverse/eggplant/eggplant_1/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..350fbe665038031d5d84680389da80e36934e6f6
--- /dev/null
+++ b/objects/objaverse/eggplant/eggplant_1/collision/model_normalized_collision_11.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.01232235 -0.12019270 0.11844008
+v 0.00623902 -0.09792779 -0.07084132
+v 0.00744032 0.15575879 0.10259053
+v -0.09780484 0.15772769 0.08815308
+v -0.09303826 -0.13470798 0.12976052
+v -0.08887146 0.08447824 -0.13184389
+v 0.00874654 0.06782928 -0.10674363
+v -0.09098639 -0.12265364 -0.08895730
+v -0.09798110 0.15041751 0.10535054
+v -0.10050400 0.15642602 -0.03700686
+v -0.09273747 -0.09908764 -0.11754860
+v -0.08194969 0.15380661 0.10068741
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+v -0.09848485 -0.00963171 0.10869252
+v 0.00250364 -0.07721327 -0.09356364
+v -0.10017504 0.13373828 -0.08334457
+v 0.00256965 0.11275364 -0.07569357
+v 0.00366225 0.15238852 -0.00586013
+v -0.10088192 0.14326519 -0.06626919
+v -0.02809801 0.12353757 -0.07444550
+v -0.07100341 0.15341136 -0.03510153
+v -0.05678642 0.13773011 -0.06234806
+f 5 1 3
+f 7 1 2
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+f 8 2 1
+f 8 1 5
+f 9 5 3
+f 10 4 3
+f 10 9 4
+f 11 2 8
+f 11 6 7
+f 11 8 5
+f 12 9 3
+f 12 3 4
+f 12 4 9
+f 14 5 9
+f 14 9 10
+f 14 11 5
+f 15 11 7
+f 15 7 2
+f 15 2 11
+f 16 6 11
+f 17 13 7
+f 17 7 6
+f 18 10 3
+f 18 3 7
+f 18 7 13
+f 19 14 10
+f 19 16 11
+f 19 11 14
+f 20 13 17
+f 20 17 6
+f 20 6 16
+f 21 19 10
+f 21 10 18
+f 22 13 20
+f 22 19 21
+f 22 21 18
+f 22 18 13
+f 22 20 16
+f 22 16 19
\ No newline at end of file
diff --git a/objects/objaverse/eggplant/eggplant_1/collision/model_normalized_collision_12.obj b/objects/objaverse/eggplant/eggplant_1/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b303d5239eeeed85f6022c102930795e14937346
--- /dev/null
+++ b/objects/objaverse/eggplant/eggplant_1/collision/model_normalized_collision_12.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v 0.39587603 0.07671474 0.11741062
+v 0.49403484 0.13607833 0.09323784
+v 0.49310318 0.13474396 0.12797656
+v 0.46997205 0.17277225 0.11613589
+v 0.40549987 0.12887513 0.07403881
+v 0.48582113 0.17373525 0.10210391
+v 0.46287336 0.15730993 0.13717239
+v 0.42352238 0.08397733 0.11059697
+v 0.49036111 0.16387804 0.11763308
+v 0.40504175 0.14516364 0.08828813
+v 0.49117824 0.16283379 0.09338870
+v 0.47827832 0.14585403 0.13820075
+v 0.49374759 0.12780488 0.11299998
+v 0.42490271 0.09613925 0.12401412
+v 0.39502496 0.07240715 0.07109662
+v 0.49488965 0.12879097 0.11871335
+v 0.47978894 0.16399321 0.13295329
+v 0.43672160 0.15655844 0.09111346
+v 0.41145346 0.13948902 0.12649305
+v 0.45930702 0.13800349 0.08031229
+v 0.40145518 0.08740348 0.12352212
+v 0.48578008 0.12556588 0.12325059
+v 0.41892181 0.08198827 0.08792996
+v 0.47965636 0.17237038 0.11645890
+v 0.47600930 0.15565997 0.13899174
+v 0.49083375 0.15107058 0.12343933
+v 0.46564874 0.17155454 0.10060939
+v 0.44123630 0.15278082 0.13052773
+v 0.42561551 0.15362716 0.11333928
+v 0.45571764 0.11538415 0.08258344
+v 0.48142522 0.12719376 0.09106063
+v 0.46413523 0.14256276 0.13656889
+v 0.42315799 0.15521827 0.09694794
+f 11 6 9
+f 14 1 8
+f 14 3 12
+f 15 8 1
+f 15 10 5
+f 15 1 10
+f 16 9 3
+f 16 11 9
+f 16 2 11
+f 16 13 2
+f 16 8 13
+f 17 4 7
+f 18 5 10
+f 18 11 5
+f 19 10 1
+f 20 11 2
+f 20 5 11
+f 20 15 5
+f 21 14 12
+f 21 1 14
+f 21 19 1
+f 21 7 19
+f 22 14 8
+f 22 3 14
+f 22 16 3
+f 22 8 16
+f 23 13 8
+f 23 8 15
+f 24 17 9
+f 24 9 6
+f 24 6 4
+f 24 4 17
+f 25 17 7
+f 25 12 3
+f 25 3 17
+f 26 17 3
+f 26 3 9
+f 26 9 17
+f 27 6 11
+f 27 11 18
+f 27 4 6
+f 27 18 10
+f 28 19 7
+f 28 7 4
+f 29 10 19
+f 29 28 4
+f 29 19 28
+f 30 20 2
+f 30 2 15
+f 30 15 20
+f 31 23 15
+f 31 15 2
+f 31 2 13
+f 31 13 23
+f 32 21 12
+f 32 12 25
+f 32 25 7
+f 32 7 21
+f 33 27 10
+f 33 10 29
+f 33 29 4
+f 33 4 27
\ No newline at end of file
diff --git a/objects/objaverse/eggplant/eggplant_1/collision/model_normalized_collision_13.obj b/objects/objaverse/eggplant/eggplant_1/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..112d39a6f6b39e36e90b40324f067822053f71ca
--- /dev/null
+++ b/objects/objaverse/eggplant/eggplant_1/collision/model_normalized_collision_13.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v -0.07198053 -0.15726983 0.06003509
+v 0.00623902 -0.09792779 -0.07084132
+v 0.00713631 -0.09864749 0.15245354
+v -0.09797083 -0.10723448 0.16241686
+v -0.09098639 -0.12265364 -0.08895730
+v -0.10015132 -0.13455645 0.13170948
+v -0.01338907 -0.14251825 -0.00706170
+v 0.00404999 -0.12937115 0.10241289
+v -0.09948802 -0.12284265 0.14724835
+v -0.10133143 -0.16060969 -0.02337104
+v -0.04441817 -0.12675787 -0.06051689
+v -0.10103788 -0.15975158 0.07358691
+v 0.00412932 -0.11580972 0.13000465
+v -0.01184736 -0.14184707 0.07422952
+v 0.00071055 -0.12678239 -0.03240987
+v -0.01163979 -0.11225610 0.14094706
+v -0.07239868 -0.15785333 -0.00924323
+v -0.10123048 -0.14941684 -0.05171909
+v -0.01396274 -0.11462414 -0.06135031
+v -0.05677187 -0.14210600 0.10156469
+v -0.08694086 -0.15731449 0.07310098
+v 0.00502495 -0.10491498 0.14565235
+v -0.04163648 -0.12679539 0.12783867
+v -0.04365616 -0.14220872 -0.03372355
+v -0.10045031 -0.13937411 -0.06899164
+v 0.00253751 -0.10488995 -0.06463726
+v -0.02701812 -0.14141646 0.08666252
+v -0.01165129 -0.12728183 0.11510155
+v -0.08744749 -0.15821083 -0.02190056
+v -0.07416946 -0.14394480 -0.04817226
+f 3 2 4
+f 5 4 2
+f 8 2 3
+f 9 3 4
+f 12 10 1
+f 13 8 3
+f 14 7 8
+f 15 8 7
+f 15 2 8
+f 16 9 6
+f 16 3 9
+f 17 1 10
+f 17 14 1
+f 17 7 14
+f 18 6 9
+f 18 12 6
+f 18 10 12
+f 19 11 5
+f 19 15 11
+f 20 6 12
+f 21 12 1
+f 21 1 14
+f 21 20 12
+f 22 16 13
+f 22 13 3
+f 22 3 16
+f 23 16 6
+f 23 13 16
+f 23 6 20
+f 24 15 7
+f 24 11 15
+f 25 18 9
+f 25 9 4
+f 25 4 5
+f 25 5 11
+f 26 2 15
+f 26 15 19
+f 26 19 5
+f 26 5 2
+f 27 14 8
+f 27 8 20
+f 27 21 14
+f 27 20 21
+f 28 23 20
+f 28 20 8
+f 28 8 13
+f 28 13 23
+f 29 17 10
+f 29 10 18
+f 29 18 24
+f 29 24 7
+f 29 7 17
+f 30 24 18
+f 30 18 25
+f 30 25 11
+f 30 11 24
\ No newline at end of file
diff --git a/objects/objaverse/eggplant/eggplant_1/collision/model_normalized_collision_14.obj b/objects/objaverse/eggplant/eggplant_1/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6636344a1c90e68ec18e63065e335a8264d16c9a
--- /dev/null
+++ b/objects/objaverse/eggplant/eggplant_1/collision/model_normalized_collision_14.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v -0.08551615 -0.14699895 0.10273801
+v -0.08357464 -0.14446433 0.10802706
+v -0.24832223 -0.14421064 0.12570881
+v -0.29090711 -0.09411458 0.15579029
+v -0.09797083 -0.10723448 0.16241686
+v -0.30634903 -0.14818838 0.10077064
+v -0.14614651 -0.14298068 0.12805771
+v -0.30824505 -0.09736534 0.14785679
+v -0.26104052 -0.11791728 0.15078415
+v -0.10105508 -0.12820350 0.14089159
+v -0.15901837 -0.10016556 0.16867820
+v -0.15881996 -0.12010914 0.15534510
+v -0.28926328 -0.10546099 0.15053674
+v -0.26225063 -0.13048296 0.13919958
+v -0.09303826 -0.13470798 0.12976052
+v -0.32032869 -0.11718870 0.13002679
+v -0.30413680 -0.14266570 0.11005076
+v -0.08446682 -0.13886097 0.12007353
+v -0.30299801 -0.11760894 0.13731530
+v -0.08645113 -0.14205776 0.11423898
+f 5 2 1
+f 6 1 3
+f 7 1 2
+f 7 3 1
+f 8 5 1
+f 8 4 5
+f 8 1 6
+f 11 5 4
+f 11 4 9
+f 12 3 7
+f 12 11 9
+f 12 5 11
+f 12 10 5
+f 12 7 10
+f 13 9 4
+f 13 4 8
+f 14 12 9
+f 14 3 12
+f 15 10 7
+f 15 5 10
+f 16 8 6
+f 17 6 3
+f 17 3 14
+f 17 16 6
+f 18 15 7
+f 18 2 5
+f 18 5 15
+f 19 13 8
+f 19 8 16
+f 19 9 13
+f 19 14 9
+f 19 17 14
+f 19 16 17
+f 20 18 7
+f 20 7 2
+f 20 2 18
\ No newline at end of file
diff --git a/objects/objaverse/eggplant/eggplant_1/collision/model_normalized_collision_15.obj b/objects/objaverse/eggplant/eggplant_1/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ffcccbc7225957ad8309048f74df829df9e56576
--- /dev/null
+++ b/objects/objaverse/eggplant/eggplant_1/collision/model_normalized_collision_15.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v 0.33313875 -0.01809571 0.09120036
+v 0.40000465 0.10781929 0.06614264
+v 0.40145518 0.08740348 0.12352212
+v 0.33251862 0.13452756 0.11846798
+v 0.33211150 0.10367674 0.02968738
+v 0.40803357 0.14357591 0.11405020
+v 0.33308484 0.05169674 0.16083659
+v 0.36974250 0.03086061 0.07141693
+v 0.40549987 0.12887513 0.07403881
+v 0.33591105 0.13353372 0.06967055
+v 0.33413668 0.00868103 0.14870199
+v 0.33208490 -0.01717405 0.06825386
+v 0.33373202 0.07816776 0.16201485
+v 0.38517445 0.06073854 0.06827598
+v 0.36932185 0.03173507 0.10154632
+v 0.33419131 0.11781820 0.04048133
+v 0.40504175 0.14516364 0.08828813
+v 0.33274116 -0.00116819 0.13475084
+v 0.34036735 -0.00932571 0.06975654
+v 0.40668173 0.13471331 0.12812760
+v 0.33218437 0.02579813 0.02530457
+v 0.33845844 0.00373597 0.13236439
+v 0.33572988 0.11990039 0.13339120
+v 0.35600233 0.02804730 0.04468548
+v 0.33960860 0.01191164 0.14322415
+v 0.34203322 0.03056953 0.03151294
+v 0.38786684 0.07066771 0.06536797
+v 0.35486317 0.01859031 0.05423642
+f 9 6 3
+f 9 3 2
+f 9 2 5
+f 11 3 7
+f 12 4 5
+f 13 4 7
+f 14 2 3
+f 14 3 8
+f 15 8 3
+f 16 5 4
+f 16 4 10
+f 16 9 5
+f 17 10 4
+f 17 4 6
+f 17 6 9
+f 17 16 10
+f 17 9 16
+f 18 11 7
+f 18 7 4
+f 18 4 12
+f 18 12 1
+f 19 1 12
+f 19 15 1
+f 19 8 15
+f 20 6 4
+f 20 3 6
+f 20 13 7
+f 20 7 3
+f 21 5 2
+f 21 12 5
+f 22 18 1
+f 22 1 15
+f 22 15 3
+f 22 11 18
+f 23 20 4
+f 23 4 13
+f 23 13 20
+f 24 14 8
+f 24 12 21
+f 25 22 3
+f 25 3 11
+f 25 11 22
+f 26 24 21
+f 26 21 2
+f 26 2 24
+f 27 24 2
+f 27 2 14
+f 27 14 24
+f 28 24 8
+f 28 8 19
+f 28 19 12
+f 28 12 24
\ No newline at end of file
diff --git a/objects/objaverse/eggplant/eggplant_1/collision/model_normalized_collision_16.obj b/objects/objaverse/eggplant/eggplant_1/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4abb9e265caeabb3b195e86d4be4a143eb61ac93
--- /dev/null
+++ b/objects/objaverse/eggplant/eggplant_1/collision/model_normalized_collision_16.obj
@@ -0,0 +1,162 @@
+# https://github.com/mikedh/trimesh
+v -0.34909912 -0.13197187 0.09863494
+v -0.35690970 -0.14921438 -0.08961939
+v -0.35606061 0.08127738 -0.08827718
+v -0.36616137 0.09608851 0.11341468
+v -0.49803534 0.00000000 -0.05753465
+v -0.35021503 0.06075942 0.14131512
+v -0.41931154 -0.12841162 0.01365051
+v -0.49149829 -0.00627264 -0.08025196
+v -0.47471044 0.07413626 -0.05474027
+v -0.35280332 0.07722985 0.13202665
+v -0.44520411 0.03324722 0.07969450
+v -0.40552479 -0.12869235 0.04080424
+v -0.46523776 0.07506637 -0.08312379
+v -0.45916845 -0.08850696 -0.05406577
+v -0.40321716 0.07192697 0.10596685
+v -0.45963107 -0.05078778 0.05575830
+v -0.47433789 0.04695361 0.02544794
+v -0.49816152 0.02243422 -0.06517174
+v -0.47320830 -0.06241878 -0.05385533
+v -0.45888966 -0.07518007 -0.08025486
+v -0.41798617 -0.12815203 -0.06718711
+v -0.37685076 0.07256017 0.12237440
+v -0.40341660 0.03112462 0.12076924
+v -0.45891933 0.07487640 0.03959690
+v -0.44365340 -0.08676548 0.05446551
+v -0.47415268 -0.03661995 0.02718698
+v -0.49281150 0.02249071 -0.07748844
+v -0.47362009 0.07429173 -0.00099244
+v -0.49801925 0.01618960 -0.05832500
+v -0.44530203 -0.10234743 -0.06894810
+v -0.40766912 -0.13045603 -0.08237539
+v -0.36215197 0.05864654 0.13647446
+v -0.43052595 0.04606622 0.09322929
+v -0.37543257 0.04455279 0.13455075
+v -0.40395798 -0.05076707 0.12102808
+v -0.44544788 0.07161396 0.06365615
+v -0.41841253 -0.11327816 0.05460853
+v -0.45999057 -0.08774335 -0.00087559
+v -0.41677171 0.04543271 0.10628037
+v -0.44661128 -0.05140059 0.07868115
+v -0.37697936 -0.05028755 0.13718537
+v -0.45704291 0.06208572 0.05224755
+v -0.43046104 -0.11423126 0.02724660
+v -0.37532868 -0.12723592 0.08320555
+v -0.47369215 -0.06330525 -0.00010041
+v -0.44427724 -0.07478695 0.06806471
+v -0.36140553 -0.10257487 0.12126231
+v -0.45746606 -0.07465366 0.04084276
+v -0.42997144 -0.06399178 0.09354543
+v -0.39020217 -0.07591710 0.12078548
+v -0.34989170 -0.07922272 0.13994772
+v -0.36078173 -0.12783199 0.09594111
+v -0.41676473 -0.06258784 0.10680364
+v -0.34952320 -0.10555723 0.12512540
+v -0.36217018 -0.07728161 0.13523004
+f 1 2 3
+f 6 1 3
+f 10 6 3
+f 10 3 4
+f 12 7 2
+f 12 2 1
+f 13 3 2
+f 13 2 8
+f 13 9 4
+f 13 4 3
+f 17 16 11
+f 18 8 5
+f 18 9 13
+f 19 5 8
+f 20 8 2
+f 20 19 8
+f 20 14 19
+f 21 2 7
+f 22 10 4
+f 22 4 15
+f 26 17 5
+f 26 16 17
+f 27 18 13
+f 27 13 8
+f 27 8 18
+f 28 18 17
+f 28 9 18
+f 28 17 24
+f 28 24 4
+f 28 4 9
+f 29 18 5
+f 29 5 17
+f 29 17 18
+f 30 21 7
+f 30 7 14
+f 30 14 20
+f 31 20 2
+f 31 2 21
+f 31 30 20
+f 31 21 30
+f 32 6 10
+f 32 10 22
+f 33 11 23
+f 34 22 15
+f 34 15 23
+f 34 32 22
+f 34 6 32
+f 35 23 11
+f 36 15 4
+f 36 4 24
+f 36 33 15
+f 36 11 33
+f 37 7 12
+f 38 14 7
+f 39 33 23
+f 39 23 15
+f 39 15 33
+f 40 35 11
+f 40 11 16
+f 41 34 23
+f 41 23 35
+f 41 6 34
+f 42 36 24
+f 42 24 17
+f 42 17 11
+f 42 11 36
+f 43 37 25
+f 43 7 37
+f 43 38 7
+f 44 37 12
+f 44 12 1
+f 45 19 14
+f 45 14 38
+f 45 5 19
+f 45 26 5
+f 46 40 16
+f 46 25 37
+f 48 43 25
+f 48 38 43
+f 48 45 38
+f 48 16 26
+f 48 26 45
+f 48 46 16
+f 48 25 46
+f 49 35 40
+f 49 40 46
+f 49 46 37
+f 49 37 44
+f 50 41 35
+f 50 49 44
+f 50 44 47
+f 51 6 41
+f 52 47 44
+f 52 44 1
+f 52 1 47
+f 53 50 35
+f 53 35 49
+f 53 49 50
+f 54 51 47
+f 54 47 1
+f 54 1 6
+f 54 6 51
+f 55 50 47
+f 55 47 51
+f 55 51 41
+f 55 41 50
\ No newline at end of file
diff --git a/objects/objaverse/eggplant/eggplant_1/collision/model_normalized_collision_17.obj b/objects/objaverse/eggplant/eggplant_1/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b03efae368f8f15dc87aafda269107cd8c4b5d1
--- /dev/null
+++ b/objects/objaverse/eggplant/eggplant_1/collision/model_normalized_collision_17.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.00250364 -0.07721327 -0.09356364
+v -0.00173965 -0.07204504 -0.09954589
+v 0.00874654 0.06782928 -0.10674363
+v -0.08887146 0.08447824 -0.13184389
+v -0.09273747 -0.09908764 -0.11754860
+v -0.11389427 0.02055124 -0.16325417
+v 0.00029181 -0.03424609 -0.11677093
+v -0.07523368 -0.07399445 -0.13019180
+v -0.08951004 0.05853200 -0.14579069
+v -0.11685711 0.06149548 -0.15299972
+v -0.05935032 0.01858363 -0.14584087
+v -0.10289125 -0.05016085 -0.15120121
+v -0.10244476 -0.07814265 -0.13722993
+v -0.10661526 0.07945465 -0.14066466
+v -0.07425482 0.04503178 -0.14535802
+v 0.00074978 0.05784424 -0.11399166
+v -0.08952478 -0.04897173 -0.14712934
+v -0.06105973 -0.01993121 -0.14449333
+v -0.10078511 0.02761869 -0.15780590
+v -0.02972471 0.04483411 -0.12995495
+v -0.03036580 -0.03449984 -0.12906359
+f 1 3 4
+f 5 1 4
+f 7 1 2
+f 7 3 1
+f 8 2 1
+f 8 1 5
+f 8 7 2
+f 13 10 6
+f 13 5 10
+f 13 6 12
+f 13 12 8
+f 13 8 5
+f 14 10 5
+f 14 5 4
+f 14 9 10
+f 14 4 3
+f 14 3 9
+f 15 10 9
+f 16 3 7
+f 16 9 3
+f 17 7 8
+f 17 8 12
+f 18 12 6
+f 18 6 11
+f 18 17 12
+f 18 11 7
+f 19 6 10
+f 19 10 15
+f 19 15 11
+f 19 11 6
+f 20 11 15
+f 20 15 9
+f 20 9 16
+f 20 16 7
+f 20 7 11
+f 21 18 7
+f 21 7 17
+f 21 17 18
\ No newline at end of file
diff --git a/objects/objaverse/eggplant/eggplant_1/collision/model_normalized_collision_18.obj b/objects/objaverse/eggplant/eggplant_1/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f24cc8cc351f28ed2602f435fe157dc021f2c2d3
--- /dev/null
+++ b/objects/objaverse/eggplant/eggplant_1/collision/model_normalized_collision_18.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v 0.14368589 0.00675144 0.19510033
+v 0.15748775 -0.00302131 -0.05486042
+v 0.14307332 0.15548189 0.09172712
+v 0.00744032 0.15575879 0.10259053
+v 0.00757576 0.00551981 -0.02767112
+v 0.00540113 0.14541024 -0.02232608
+v 0.14663666 0.12408192 0.17996381
+v 0.00763658 0.00551931 0.19804994
+v 0.14016677 0.12532286 -0.01570265
+v 0.00279411 0.15674402 0.00750536
+v 0.14356169 0.14381843 0.13271054
+v 0.00919149 0.10255173 0.17092153
+v 0.14411073 0.07824846 0.19152880
+v 0.14101315 0.14080297 0.01067915
+v 0.08177334 0.15449383 0.10370682
+v 0.00855719 0.07511800 0.18536491
+v 0.00806748 0.14229058 0.12967156
+v 0.14212451 0.15524081 0.06504372
+v 0.06568444 0.13928822 -0.01700606
+v 0.09601671 0.15363543 0.02361102
+v 0.02461938 0.08741269 0.18134433
+v 0.03940265 0.12594579 0.15439621
+v 0.12482815 0.13767532 -0.00165722
+v 0.05209573 0.15369753 0.00942789
+f 6 2 5
+f 7 1 2
+f 7 2 3
+f 8 5 2
+f 8 2 1
+f 9 2 6
+f 10 4 3
+f 10 6 5
+f 10 5 8
+f 11 7 3
+f 11 4 7
+f 13 8 1
+f 13 1 7
+f 14 2 9
+f 15 11 3
+f 15 3 4
+f 15 4 11
+f 16 13 7
+f 16 8 13
+f 16 10 8
+f 17 7 4
+f 17 16 12
+f 17 4 10
+f 17 10 16
+f 18 3 2
+f 18 2 14
+f 18 10 3
+f 19 9 6
+f 20 18 14
+f 20 10 18
+f 21 16 7
+f 21 7 12
+f 21 12 16
+f 22 17 12
+f 22 12 7
+f 22 7 17
+f 23 14 9
+f 23 9 19
+f 23 20 14
+f 24 6 10
+f 24 10 20
+f 24 19 6
+f 24 23 19
+f 24 20 23
\ No newline at end of file
diff --git a/objects/objaverse/eggplant/eggplant_1/collision/model_normalized_collision_19.obj b/objects/objaverse/eggplant/eggplant_1/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..86649c1d647588d371aecf2a102de178d7fc95d7
--- /dev/null
+++ b/objects/objaverse/eggplant/eggplant_1/collision/model_normalized_collision_19.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.16321587 -0.09199043 0.13036424
+v 0.22005322 -0.05582113 0.13959759
+v 0.14112507 -0.02886644 0.18111298
+v 0.00575646 0.00562696 0.19797860
+v 0.04938237 -0.10356658 0.13186488
+v 0.21545137 0.01094055 0.18500659
+v 0.22141774 -0.04813139 0.14764302
+v 0.00563355 -0.07691694 0.17060094
+v 0.00763658 0.00551931 0.19804994
+v 0.16924941 -0.04063827 0.16701631
+v 0.23021530 -0.01563496 0.16609296
+v 0.00502495 -0.10491498 0.14565235
+v 0.04985813 -0.07249983 0.16694576
+v 0.00645779 -0.04864642 0.18553294
+v 0.18504274 -0.01418937 0.18085184
+v 0.00655435 -0.11140030 0.13623827
+v 0.06647852 -0.04564706 0.18144871
+v 0.21457350 0.00001586 0.18075405
+f 5 2 1
+f 5 4 2
+f 6 2 4
+f 7 1 2
+f 9 6 4
+f 9 3 6
+f 10 1 7
+f 11 7 2
+f 11 2 6
+f 12 1 8
+f 12 8 4
+f 13 8 1
+f 13 10 3
+f 13 1 10
+f 14 3 9
+f 14 9 4
+f 14 4 8
+f 15 10 7
+f 15 7 11
+f 15 3 10
+f 15 6 3
+f 16 5 1
+f 16 1 12
+f 16 12 4
+f 16 4 5
+f 17 14 8
+f 17 3 14
+f 17 13 3
+f 17 8 13
+f 18 15 11
+f 18 11 6
+f 18 6 15
\ No newline at end of file
diff --git a/objects/objaverse/eggplant/eggplant_1/collision/model_normalized_collision_2.obj b/objects/objaverse/eggplant/eggplant_1/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0756ebe92cc8eeac32ea5d6d869daf81319f974b
--- /dev/null
+++ b/objects/objaverse/eggplant/eggplant_1/collision/model_normalized_collision_2.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.26742962 -0.04298020 0.13789310
+v 0.26541713 -0.03823889 0.14857673
+v 0.08398788 0.07765522 0.18982377
+v 0.14391482 0.14090258 0.13847344
+v 0.26715284 0.15037057 0.13772932
+v 0.22026848 -0.04412108 0.14149361
+v 0.26796978 0.04713489 0.18776897
+v 0.23380166 0.14032347 0.13173317
+v 0.11647734 0.11601202 0.19202348
+v 0.08352554 0.09515756 0.18208355
+v 0.15124116 -0.01776421 0.18556012
+v 0.26485611 0.14281031 0.15930070
+v 0.08312242 0.08263313 0.18785691
+v 0.23153066 0.01185636 0.18108122
+v 0.14368589 0.00675144 0.19510033
+v 0.24402987 0.08526189 0.19895159
+v 0.21519907 -0.01587085 0.17145468
+v 0.21650322 0.12287394 0.18318372
+v 0.24706163 0.08133888 0.19912503
+v 0.19346445 0.09381326 0.19699410
+v 0.25792902 0.13598258 0.16672511
+v 0.25381888 0.13980115 0.16313686
+f 6 1 2
+f 7 2 1
+f 7 1 5
+f 8 5 1
+f 8 4 5
+f 8 6 4
+f 8 1 6
+f 10 4 6
+f 10 9 4
+f 11 6 2
+f 11 3 6
+f 12 5 4
+f 12 4 9
+f 12 7 5
+f 13 10 6
+f 13 6 3
+f 13 3 9
+f 13 9 10
+f 14 2 7
+f 14 7 11
+f 15 9 3
+f 15 3 11
+f 15 11 7
+f 17 14 11
+f 17 11 2
+f 17 2 14
+f 18 9 16
+f 19 7 12
+f 19 15 7
+f 20 16 9
+f 20 9 15
+f 20 19 16
+f 20 15 19
+f 21 18 16
+f 21 12 18
+f 21 19 12
+f 21 16 19
+f 22 18 12
+f 22 12 9
+f 22 9 18
\ No newline at end of file
diff --git a/objects/objaverse/eggplant/eggplant_1/collision/model_normalized_collision_20.obj b/objects/objaverse/eggplant/eggplant_1/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0f183579f287850c45a0d2645e03406b966f443b
--- /dev/null
+++ b/objects/objaverse/eggplant/eggplant_1/collision/model_normalized_collision_20.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.16175814 -0.09379603 0.13024600
+v 0.15748775 -0.00302131 -0.05486042
+v 0.15124116 -0.01776421 0.18556012
+v 0.00575646 0.00562696 0.19797860
+v 0.00255404 -0.13196092 -0.02099309
+v 0.00412932 -0.11580972 0.13000465
+v 0.13694774 -0.08536289 -0.00308361
+v 0.00757576 0.00551981 -0.02767112
+v 0.04761853 -0.12651129 0.07469279
+v 0.13807211 -0.07391741 -0.01822225
+v 0.13686475 -0.09799478 0.02360967
+v 0.00404999 -0.12937115 0.10241289
+v 0.06008655 -0.11170545 -0.01662141
+v 0.04607730 -0.12727131 0.00725382
+v 0.12079805 -0.08435806 -0.01606170
+v 0.09085482 -0.11081723 0.00974067
+v 0.01645529 -0.12804835 -0.01885273
+f 1 2 3
+f 3 2 4
+f 6 1 3
+f 6 3 4
+f 6 4 5
+f 7 2 1
+f 8 5 4
+f 8 4 2
+f 8 2 5
+f 10 5 2
+f 10 2 7
+f 11 7 1
+f 12 6 5
+f 12 5 9
+f 12 9 1
+f 12 1 6
+f 13 5 10
+f 13 7 11
+f 14 9 5
+f 14 11 1
+f 14 1 9
+f 15 13 10
+f 15 10 7
+f 15 7 13
+f 16 13 11
+f 16 11 14
+f 17 14 5
+f 17 5 13
+f 17 16 14
+f 17 13 16
\ No newline at end of file
diff --git a/objects/objaverse/eggplant/eggplant_1/collision/model_normalized_collision_21.obj b/objects/objaverse/eggplant/eggplant_1/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4e7b446deb9c488a5fc0a25f51238b28bf8c1718
--- /dev/null
+++ b/objects/objaverse/eggplant/eggplant_1/collision/model_normalized_collision_21.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v 0.00480079 0.06259971 -0.11055371
+v 0.01241417 0.07382555 -0.10230454
+v 0.00506710 0.10557802 -0.08196816
+v -0.11481151 0.13581780 -0.08466735
+v -0.11412049 0.09514567 -0.13210539
+v -0.09935689 0.06493063 -0.14623179
+v -0.02894877 0.09784068 -0.10148671
+v -0.10792670 0.11941620 -0.10650960
+v -0.05982823 0.07102942 -0.12965161
+v -0.01321292 0.05933072 -0.11847957
+v 0.00198245 0.09920979 -0.08882865
+v -0.11608784 0.10393796 -0.12531449
+v -0.02552325 0.11774269 -0.08082201
+v -0.08905486 0.08513417 -0.13148113
+v -0.05831861 0.05983618 -0.13442910
+v 0.00089560 0.08446223 -0.10007931
+v -0.11625864 0.12955342 -0.09525363
+v -0.07385261 0.09834105 -0.11690829
+v -0.07086945 0.12966213 -0.08043479
+v -0.02828465 0.11167524 -0.08855338
+v -0.10291913 0.08672292 -0.13480478
+v -0.08649732 0.09322179 -0.12501477
+v -0.07265468 0.12351556 -0.08992225
+f 1 2 3
+f 1 3 4
+f 6 4 5
+f 9 2 1
+f 10 1 4
+f 11 7 3
+f 11 3 2
+f 12 5 4
+f 14 9 6
+f 15 10 4
+f 15 4 6
+f 15 6 9
+f 15 9 1
+f 15 1 10
+f 16 11 2
+f 16 7 11
+f 16 14 7
+f 16 2 9
+f 16 9 14
+f 17 12 4
+f 17 8 12
+f 18 5 12
+f 19 4 3
+f 19 3 13
+f 19 17 4
+f 20 12 8
+f 20 8 13
+f 20 18 12
+f 20 13 3
+f 20 3 7
+f 20 7 18
+f 21 14 6
+f 21 6 5
+f 22 18 7
+f 22 7 14
+f 22 14 21
+f 22 21 5
+f 22 5 18
+f 23 19 13
+f 23 13 8
+f 23 8 17
+f 23 17 19
\ No newline at end of file
diff --git a/objects/objaverse/eggplant/eggplant_1/collision/model_normalized_collision_22.obj b/objects/objaverse/eggplant/eggplant_1/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b1e4d776f6d822d0fdf56a13ae6ec5f67708d655
--- /dev/null
+++ b/objects/objaverse/eggplant/eggplant_1/collision/model_normalized_collision_22.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.07249661 -0.13311207 -0.06486168
+v 0.01005526 -0.08999785 -0.07747591
+v 0.00250364 -0.07721327 -0.09356364
+v -0.05824074 -0.07748381 -0.12124391
+v -0.06028607 -0.09976060 -0.10320131
+v -0.10045031 -0.13937411 -0.06899164
+v 0.00253751 -0.10488995 -0.06463726
+v -0.00092652 -0.08563975 -0.08796568
+v -0.09908912 -0.08422803 -0.13206547
+v -0.08744043 -0.11603220 -0.09635148
+v -0.00062797 -0.09893536 -0.07361545
+v -0.06035435 -0.08619992 -0.11587448
+v -0.10284435 -0.13313846 -0.07967917
+v -0.07444045 -0.12705621 -0.07485047
+v -0.10146759 -0.09388000 -0.12564355
+f 7 6 1
+f 7 2 3
+f 7 3 6
+f 8 3 2
+f 9 6 3
+f 9 3 4
+f 10 5 7
+f 11 7 5
+f 11 2 7
+f 11 8 2
+f 11 5 8
+f 12 8 5
+f 12 4 3
+f 12 3 8
+f 12 9 4
+f 13 1 6
+f 13 6 9
+f 14 10 7
+f 14 7 1
+f 14 13 10
+f 14 1 13
+f 15 5 10
+f 15 12 5
+f 15 9 12
+f 15 13 9
+f 15 10 13
\ No newline at end of file
diff --git a/objects/objaverse/eggplant/eggplant_1/collision/model_normalized_collision_23.obj b/objects/objaverse/eggplant/eggplant_1/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dbac5cbb00a7ee0006cdaac506ddca477bca2a8c
--- /dev/null
+++ b/objects/objaverse/eggplant/eggplant_1/collision/model_normalized_collision_23.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v -0.35203654 -0.16176760 0.01520991
+v -0.35269237 -0.14713449 -0.09664571
+v -0.34954648 -0.14584651 0.07238324
+v -0.36627868 -0.13695644 0.07411167
+v -0.39814266 -0.13992319 -0.07130799
+v -0.35545070 -0.14364064 -0.10219254
+v -0.39166793 -0.14222832 0.02682177
+v -0.35239806 -0.16100554 -0.05473860
+v -0.35410600 -0.14200548 0.07648919
+v -0.36947094 -0.14037176 -0.10062156
+v -0.36429947 -0.15793351 0.01451688
+v -0.36147584 -0.14161866 0.06942609
+v -0.39682647 -0.13822005 0.03042926
+v -0.36587812 -0.14404224 -0.09528638
+v -0.39314170 -0.14346772 -0.06804097
+v -0.36527674 -0.15760995 -0.05421579
+f 6 3 2
+f 8 2 3
+f 8 3 1
+f 9 6 4
+f 9 3 6
+f 10 5 4
+f 10 4 6
+f 11 1 3
+f 11 3 7
+f 12 7 3
+f 12 9 4
+f 12 3 9
+f 13 4 5
+f 13 5 7
+f 13 12 4
+f 13 7 12
+f 14 10 6
+f 14 6 2
+f 14 2 8
+f 15 11 7
+f 15 7 5
+f 15 5 10
+f 15 10 14
+f 16 8 1
+f 16 1 11
+f 16 11 15
+f 16 15 14
+f 16 14 8
\ No newline at end of file
diff --git a/objects/objaverse/eggplant/eggplant_1/collision/model_normalized_collision_24.obj b/objects/objaverse/eggplant/eggplant_1/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9bcaefc6065aa0cf13012cee10f0cc67a6469628
--- /dev/null
+++ b/objects/objaverse/eggplant/eggplant_1/collision/model_normalized_collision_24.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.09830243 0.09451465 0.16602784
+v -0.09698160 0.16583169 -0.00390831
+v -0.09780484 0.15772769 0.08815308
+v -0.11277493 0.15695657 0.08765896
+v -0.11327320 0.09397885 0.16533807
+v -0.11397225 0.16754456 0.00288656
+v -0.09683574 0.12670980 0.14001141
+v -0.09854801 0.16670905 0.00286042
+v -0.11723433 0.12866580 0.13560135
+v -0.11064439 0.16669923 -0.00289433
+v -0.09802109 0.10453525 0.15950300
+v -0.10228702 0.12873622 0.13711546
+v -0.11265345 0.10393583 0.15879959
+v -0.11216691 0.12582495 0.13944844
+f 5 2 1
+f 6 4 3
+f 7 1 2
+f 7 2 3
+f 8 6 3
+f 8 3 2
+f 9 6 5
+f 9 4 6
+f 9 3 4
+f 10 2 5
+f 10 5 6
+f 10 8 2
+f 10 6 8
+f 11 5 1
+f 11 1 7
+f 12 7 3
+f 12 3 9
+f 13 9 5
+f 13 5 11
+f 13 11 7
+f 14 12 9
+f 14 7 12
+f 14 13 7
+f 14 9 13
\ No newline at end of file
diff --git a/objects/objaverse/eggplant/eggplant_1/collision/model_normalized_collision_25.obj b/objects/objaverse/eggplant/eggplant_1/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..53a52652ef66c37dda470c510f7ed0bed34b1ae9
--- /dev/null
+++ b/objects/objaverse/eggplant/eggplant_1/collision/model_normalized_collision_25.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.08960883 -0.15722096 0.07522349
+v -0.08956960 -0.15003263 -0.04449443
+v -0.09433861 -0.13969651 0.12149816
+v -0.15625051 -0.14498206 0.12666496
+v -0.16009394 -0.17015324 -0.02615100
+v -0.15960660 -0.15573530 0.10637344
+v -0.10133143 -0.16060969 -0.02337104
+v -0.14993231 -0.16340029 -0.04331779
+v -0.10006421 -0.14881478 0.10383756
+v -0.16035574 -0.16254207 0.08903385
+v -0.10103788 -0.15975158 0.07358691
+v -0.11635365 -0.15778988 0.08666873
+f 1 2 3
+f 3 2 4
+f 6 3 4
+f 6 4 5
+f 7 2 1
+f 8 5 4
+f 8 4 2
+f 8 7 5
+f 8 2 7
+f 9 1 3
+f 9 3 6
+f 10 6 5
+f 11 7 1
+f 11 5 7
+f 11 10 5
+f 12 9 6
+f 12 6 10
+f 12 10 11
+f 12 11 1
+f 12 1 9
\ No newline at end of file
diff --git a/objects/objaverse/eggplant/eggplant_1/collision/model_normalized_collision_26.obj b/objects/objaverse/eggplant/eggplant_1/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..858eb0cba8007feb7e01f21172f5152c47ad1289
--- /dev/null
+++ b/objects/objaverse/eggplant/eggplant_1/collision/model_normalized_collision_26.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.26687541 -0.00485090 0.16210407
+v 0.26328848 0.00683068 0.00525640
+v 0.26715284 0.15037057 0.13772932
+v 0.14356169 0.14381843 0.13271054
+v 0.15124116 -0.01776421 0.18556012
+v 0.14101315 0.14080297 0.01067915
+v 0.27209229 0.12678320 0.02315419
+v 0.17003745 -0.01454283 -0.04401837
+v 0.26199395 0.13972220 0.05524608
+v 0.26535466 0.11858893 0.00512505
+f 5 1 3
+f 5 3 4
+f 6 4 3
+f 6 5 4
+f 7 1 2
+f 7 3 1
+f 8 2 1
+f 8 1 5
+f 8 5 6
+f 9 7 6
+f 9 6 3
+f 9 3 7
+f 10 7 2
+f 10 2 8
+f 10 8 6
+f 10 6 7
\ No newline at end of file
diff --git a/objects/objaverse/eggplant/eggplant_1/collision/model_normalized_collision_27.obj b/objects/objaverse/eggplant/eggplant_1/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..471718ec21a6ff63be0dff73d4321d7fdc249551
--- /dev/null
+++ b/objects/objaverse/eggplant/eggplant_1/collision/model_normalized_collision_27.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v -0.23484849 -0.00963171 0.10869252
+v -0.23484849 -0.00963171 -0.08827718
+v -0.24011507 0.10739450 0.14089754
+v -0.36153241 0.08932573 0.12054464
+v -0.37278146 -0.00968091 0.14490300
+v -0.35606061 0.08127738 -0.08827718
+v -0.23484849 0.08127738 0.00263191
+v -0.35606061 -0.00963171 -0.08827718
+v -0.23484849 0.08127738 -0.08827718
+f 5 2 1
+f 5 1 3
+f 5 3 4
+f 6 4 3
+f 6 5 4
+f 7 1 2
+f 7 3 1
+f 8 6 2
+f 8 2 5
+f 8 5 6
+f 9 6 3
+f 9 3 7
+f 9 7 2
+f 9 2 6
\ No newline at end of file
diff --git a/objects/objaverse/eggplant/eggplant_1/collision/model_normalized_collision_28.obj b/objects/objaverse/eggplant/eggplant_1/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4ed02cc0c992c1b17739c7b6229b4b534989b7e4
--- /dev/null
+++ b/objects/objaverse/eggplant/eggplant_1/collision/model_normalized_collision_28.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.09433861 -0.13969651 0.12149816
+v -0.08910209 -0.16191354 -0.00610533
+v -0.09848485 -0.00963171 0.00263191
+v -0.37278146 -0.00968091 0.14490300
+v -0.37145831 -0.15595466 0.01097424
+v -0.09848485 -0.00963171 0.10869252
+v -0.35723221 -0.11761261 0.11052401
+v -0.35606061 -0.00963171 0.00263191
+f 5 2 1
+f 6 4 1
+f 6 1 2
+f 6 2 3
+f 7 5 1
+f 7 1 4
+f 7 4 5
+f 8 3 2
+f 8 2 5
+f 8 5 4
+f 8 6 3
+f 8 4 6
\ No newline at end of file
diff --git a/objects/objaverse/eggplant/eggplant_1/collision/model_normalized_collision_29.obj b/objects/objaverse/eggplant/eggplant_1/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8e21455bec6d66858f9e0ba14e24892bbb1e3c3a
--- /dev/null
+++ b/objects/objaverse/eggplant/eggplant_1/collision/model_normalized_collision_29.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.08910209 -0.16191354 -0.00610533
+v -0.09632047 -0.12190249 -0.09264056
+v -0.09003191 0.10693357 -0.11460137
+v -0.23484849 0.08127738 0.00263191
+v -0.23109908 -0.14726576 -0.10455198
+v -0.09848485 0.08127738 0.00263191
+v -0.23484849 -0.11569231 0.00263191
+v -0.23484849 0.08127738 -0.08827718
+f 1 2 3
+f 5 2 1
+f 5 3 2
+f 6 1 3
+f 6 3 4
+f 7 5 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/eggplant/eggplant_1/collision/model_normalized_collision_3.obj b/objects/objaverse/eggplant/eggplant_1/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c61ab2fa0ebbb08a88df27f677cb0688a0492230
--- /dev/null
+++ b/objects/objaverse/eggplant/eggplant_1/collision/model_normalized_collision_3.obj
@@ -0,0 +1,126 @@
+# https://github.com/mikedh/trimesh
+v 0.01232235 -0.12019270 0.11844008
+v 0.00549579 -0.09200568 0.15961270
+v -0.35327243 -0.12553527 0.10428613
+v -0.24055553 0.09440224 0.15040547
+v 0.00757576 0.06612587 0.10869252
+v -0.24687934 -0.05153659 0.18150249
+v -0.15881996 -0.12010914 0.15534510
+v 0.00845946 0.06319718 0.18957630
+v -0.33641132 -0.13578329 0.10149733
+v -0.36831660 0.06054481 0.13248779
+v -0.08500952 -0.12133650 0.14632867
+v -0.11390604 -0.07721667 0.18157653
+v 0.00645779 -0.04864642 0.18553294
+v -0.24640520 0.01731248 0.18120047
+v -0.26082015 -0.09174042 0.16529372
+v -0.34796027 -0.05026809 0.15052850
+v -0.00942341 -0.10709433 0.14712022
+v -0.11493474 -0.10330961 0.16685177
+v -0.30957415 -0.14317049 0.10670772
+v 0.00563355 -0.07691694 0.17060094
+v -0.21782508 -0.06501612 0.18197428
+v -0.23290928 0.06001269 0.17013294
+v -0.15711494 -0.10447340 0.16625206
+v -0.34774180 -0.09051044 0.13539395
+v -0.31969615 0.00418690 0.16584146
+v -0.30450960 -0.05058658 0.16699742
+v -0.01111267 -0.10076517 0.15479077
+v -0.08593785 -0.11505135 0.15369168
+v -0.30718610 -0.13671867 0.11628611
+v -0.02542954 -0.08861871 0.16748709
+v -0.12870057 -0.07761778 0.18146040
+v -0.11292792 0.05936113 0.18078132
+v -0.33366043 0.05796519 0.14907819
+v -0.34840243 0.03156226 0.15149427
+v -0.31900368 -0.02342832 0.16618763
+v -0.33261229 -0.10321373 0.13441922
+v -0.33343431 -0.13016958 0.11054056
+v -0.00982935 -0.06106086 0.18136239
+v -0.33788229 0.06215856 0.14574630
+v -0.30579584 0.03171439 0.16569637
+v -0.34984449 -0.11983930 0.11272039
+v -0.35203840 0.04798819 0.14530226
+v -0.29127233 0.04465250 0.16525097
+f 8 1 5
+f 8 5 4
+f 9 5 1
+f 10 4 5
+f 10 9 3
+f 10 5 9
+f 13 1 8
+f 14 6 8
+f 17 11 1
+f 17 1 2
+f 19 9 1
+f 19 1 11
+f 19 11 7
+f 20 2 1
+f 20 1 13
+f 21 13 8
+f 21 8 6
+f 21 6 15
+f 22 8 4
+f 23 15 7
+f 23 21 15
+f 23 7 18
+f 24 16 10
+f 24 10 3
+f 26 15 6
+f 26 24 15
+f 26 16 24
+f 27 17 2
+f 27 11 17
+f 28 18 7
+f 28 7 11
+f 28 11 27
+f 29 19 7
+f 29 7 15
+f 30 2 20
+f 30 18 28
+f 30 28 27
+f 30 27 2
+f 30 12 18
+f 31 12 13
+f 31 13 21
+f 31 21 23
+f 31 23 18
+f 31 18 12
+f 32 22 14
+f 32 14 8
+f 32 8 22
+f 33 22 4
+f 34 10 16
+f 35 16 26
+f 35 34 16
+f 35 25 34
+f 35 26 6
+f 35 6 14
+f 35 14 25
+f 36 29 15
+f 36 15 24
+f 37 3 9
+f 37 9 19
+f 37 19 29
+f 38 30 20
+f 38 20 13
+f 38 13 12
+f 38 12 30
+f 39 33 4
+f 39 4 10
+f 40 25 14
+f 40 34 25
+f 40 33 34
+f 41 36 24
+f 41 24 3
+f 41 3 37
+f 41 37 29
+f 41 29 36
+f 42 34 33
+f 42 33 39
+f 42 39 10
+f 42 10 34
+f 43 40 14
+f 43 14 22
+f 43 22 33
+f 43 33 40
\ No newline at end of file
diff --git a/objects/objaverse/eggplant/eggplant_1/collision/model_normalized_collision_30.obj b/objects/objaverse/eggplant/eggplant_1/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d13155580c7a2eb9294b618a0dc53b234f90f2e4
--- /dev/null
+++ b/objects/objaverse/eggplant/eggplant_1/collision/model_normalized_collision_30.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.09848485 -0.00963171 0.10869252
+v -0.09848485 -0.00963171 0.00263191
+v -0.10177495 0.11801076 0.14838804
+v -0.24011507 0.10739450 0.14089754
+v -0.23484849 -0.00963171 0.10869252
+v -0.23484849 0.08127738 0.00263191
+v -0.09848485 0.08127738 0.00263191
+v -0.23484849 -0.00963171 0.00263191
+f 5 2 1
+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 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/eggplant/eggplant_1/collision/model_normalized_collision_31.obj b/objects/objaverse/eggplant/eggplant_1/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..56d637499eeba5067ba74c1300de0c86838ff1d0
--- /dev/null
+++ b/objects/objaverse/eggplant/eggplant_1/collision/model_normalized_collision_31.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v -0.37145831 -0.15595466 0.01097424
+v -0.23109908 -0.14726576 -0.10455198
+v -0.23484849 -0.11569231 0.00263191
+v -0.35606061 -0.00963171 0.00263191
+v -0.36740004 -0.13654089 -0.10887044
+v -0.23484849 -0.00963171 -0.08827718
+v -0.23484849 -0.00963171 0.00263191
+v -0.36387003 -0.14154558 -0.10170407
+v -0.35606061 -0.00963171 -0.08827718
+f 1 2 3
+f 6 2 5
+f 7 1 3
+f 7 4 1
+f 7 6 4
+f 7 3 2
+f 7 2 6
+f 8 5 2
+f 8 2 1
+f 8 1 5
+f 9 5 1
+f 9 1 4
+f 9 6 5
+f 9 4 6
\ No newline at end of file
diff --git a/objects/objaverse/eggplant/eggplant_1/collision/model_normalized_collision_4.obj b/objects/objaverse/eggplant/eggplant_1/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a6878168f81eb0839d31dec76f28cdf0550ac08
--- /dev/null
+++ b/objects/objaverse/eggplant/eggplant_1/collision/model_normalized_collision_4.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v 0.16175814 -0.09379603 0.13024600
+v 0.26392493 -0.06145754 0.10113698
+v 0.26223606 -0.04566555 0.14531143
+v 0.15124116 -0.01776421 0.18556012
+v 0.17003745 -0.01454283 -0.04401837
+v 0.26470053 -0.05873507 0.11051998
+v 0.13694774 -0.08536289 -0.00308361
+v 0.25680800 0.01065647 -0.00135562
+v 0.18113353 -0.08217598 0.03671398
+v 0.13954879 -0.08653369 0.11765079
+v 0.14128954 -0.05145607 -0.03829626
+v 0.21812532 0.00640075 -0.02507622
+v 0.26687541 -0.00485090 0.16210407
+v 0.19733264 -0.08464699 0.10900708
+v 0.23602270 -0.03855499 0.01707648
+v 0.14170565 -0.07745599 0.13415168
+v 0.13771898 -0.06069656 -0.03246982
+v 0.24041653 0.01099905 -0.01279005
+v 0.26541713 -0.03823889 0.14857673
+v 0.25363883 -0.04042592 0.04070348
+v 0.19358656 -0.06681536 0.01433673
+v 0.23757432 -0.00094892 -0.00957766
+v 0.17928618 -0.05507734 -0.01184112
+v 0.25105106 -0.02501274 0.01740000
+v 0.16465846 -0.08117955 0.01253192
+v 0.23740966 -0.05218487 0.04038973
+v 0.15034121 -0.05733886 -0.02796439
+v 0.14992821 -0.08096690 -0.00024297
+v 0.15376547 -0.04806527 -0.03361502
+v 0.25383095 -0.00089367 0.00238973
+f 1 3 4
+f 6 1 2
+f 6 3 1
+f 8 6 2
+f 9 1 7
+f 10 7 1
+f 11 4 5
+f 12 5 4
+f 13 6 8
+f 14 9 2
+f 14 2 1
+f 14 1 9
+f 16 10 1
+f 16 1 4
+f 16 4 10
+f 17 10 4
+f 17 7 10
+f 17 4 11
+f 18 12 4
+f 18 13 8
+f 18 4 13
+f 19 13 4
+f 19 4 3
+f 19 3 6
+f 19 6 13
+f 20 8 2
+f 21 2 9
+f 22 5 12
+f 22 18 8
+f 22 12 18
+f 23 15 21
+f 24 20 15
+f 24 8 20
+f 24 23 22
+f 24 15 23
+f 25 21 9
+f 25 9 7
+f 26 21 15
+f 26 15 20
+f 26 20 2
+f 26 2 21
+f 27 23 17
+f 27 17 11
+f 28 23 21
+f 28 7 17
+f 28 17 23
+f 28 25 7
+f 28 21 25
+f 29 11 5
+f 29 5 22
+f 29 22 23
+f 29 27 11
+f 29 23 27
+f 30 24 22
+f 30 22 8
+f 30 8 24
\ No newline at end of file
diff --git a/objects/objaverse/eggplant/eggplant_1/collision/model_normalized_collision_5.obj b/objects/objaverse/eggplant/eggplant_1/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe1839f4eb4665305d251b8e5209d53b101995e3
--- /dev/null
+++ b/objects/objaverse/eggplant/eggplant_1/collision/model_normalized_collision_5.obj
@@ -0,0 +1,156 @@
+# https://github.com/mikedh/trimesh
+v -0.10177495 0.11801076 0.14838804
+v -0.09003191 0.10693357 -0.11460137
+v -0.09854801 0.16670905 0.00286042
+v -0.36620835 0.16856972 0.01310444
+v -0.46454776 0.07568270 0.02707358
+v -0.36799870 0.16840332 -0.05307010
+v -0.11277493 0.15695657 0.08765896
+v -0.10101366 0.13693454 0.12693638
+v -0.36545269 0.07508803 0.12716391
+v -0.19263693 0.15359859 -0.07944980
+v -0.14571341 0.17075904 0.00392459
+v -0.40679335 0.15431536 -0.05371382
+v -0.30855524 0.15395626 0.06837178
+v -0.46523776 0.07506637 -0.08312379
+v -0.35280332 0.07722985 0.13202665
+v -0.40402183 0.12429062 0.06410935
+v -0.10210926 0.13760284 -0.07743867
+v -0.39269462 0.15269743 -0.07993340
+v -0.22191003 0.16886764 -0.05174983
+v -0.14527915 0.17016759 0.03158846
+v -0.20329894 0.15383536 0.08518644
+v -0.29258229 0.13892541 0.09609529
+v -0.39325783 0.07453080 0.11145564
+v -0.45828499 0.10040912 0.01157545
+v -0.36579103 0.15270170 0.05206618
+v -0.37645629 0.09832860 0.10627130
+v -0.10050400 0.15642602 -0.03700686
+v -0.41829788 0.13834454 -0.07980276
+v -0.19163825 0.16897082 -0.03812401
+v -0.35201605 0.16805622 0.02614513
+v -0.11305919 0.14944208 0.10489333
+v -0.35069969 0.08793757 0.12632165
+v -0.42994219 0.09858751 0.06381495
+v -0.41856487 0.13956614 0.02458652
+v -0.35046441 0.13876935 0.07929547
+v -0.39024991 0.08513447 0.10700282
+v -0.14745512 0.15241736 -0.06464331
+v -0.45856065 0.09965276 -0.06782737
+v -0.36295848 0.08581707 0.12215533
+v -0.42421755 0.07651604 0.08560931
+v -0.46089910 0.08668417 0.02625548
+v -0.40561538 0.15307711 0.01157514
+v -0.37900578 0.13886216 0.06499193
+v -0.41715259 0.12500778 0.04994531
+v -0.35020294 0.12607537 0.09418117
+v -0.40359583 0.11200921 0.07727163
+v -0.11654252 0.15356221 -0.04982291
+v -0.44436312 0.11308993 -0.08027318
+v -0.44999939 0.07558085 0.05440321
+v -0.41696769 0.09885137 0.07723321
+v -0.44402257 0.11378819 0.02497954
+v -0.45990370 0.08782780 -0.08105806
+v -0.44528946 0.08731639 0.05231470
+f 8 1 2
+f 8 2 3
+f 8 3 7
+f 11 6 4
+f 12 4 6
+f 14 2 9
+f 15 9 2
+f 15 2 1
+f 17 2 10
+f 18 10 2
+f 18 6 10
+f 18 12 6
+f 19 10 6
+f 19 6 11
+f 20 7 3
+f 20 3 11
+f 20 11 4
+f 22 1 8
+f 22 21 13
+f 22 8 21
+f 23 14 9
+f 23 5 14
+f 24 14 5
+f 27 3 2
+f 27 2 17
+f 27 10 19
+f 28 18 2
+f 28 2 14
+f 28 12 18
+f 29 19 11
+f 29 11 3
+f 29 27 19
+f 29 3 27
+f 30 20 4
+f 30 7 20
+f 30 21 7
+f 30 13 21
+f 30 25 13
+f 30 4 25
+f 31 21 8
+f 31 8 7
+f 31 7 21
+f 32 15 1
+f 32 1 22
+f 35 22 13
+f 35 13 25
+f 36 23 9
+f 37 17 10
+f 37 10 27
+f 38 24 12
+f 38 14 24
+f 39 32 26
+f 39 9 15
+f 39 15 32
+f 39 36 9
+f 39 26 36
+f 41 24 5
+f 42 4 12
+f 42 12 24
+f 42 24 34
+f 42 34 25
+f 42 25 4
+f 43 25 34
+f 43 35 25
+f 44 43 34
+f 44 16 43
+f 45 32 22
+f 45 22 35
+f 45 26 32
+f 45 35 43
+f 46 36 26
+f 46 16 44
+f 46 43 16
+f 46 45 43
+f 46 26 45
+f 47 37 27
+f 47 27 17
+f 47 17 37
+f 48 38 12
+f 48 12 28
+f 48 28 14
+f 49 5 23
+f 49 23 40
+f 49 41 5
+f 49 40 33
+f 50 40 23
+f 50 23 36
+f 50 36 46
+f 50 33 40
+f 50 46 44
+f 50 44 33
+f 51 44 34
+f 51 34 24
+f 51 24 41
+f 51 33 44
+f 52 48 14
+f 52 14 38
+f 52 38 48
+f 53 49 33
+f 53 41 49
+f 53 51 41
+f 53 33 51
\ No newline at end of file
diff --git a/objects/objaverse/eggplant/eggplant_1/collision/model_normalized_collision_6.obj b/objects/objaverse/eggplant/eggplant_1/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2511b4266eea7fffc3d45b53f24fcc4d5190db66
--- /dev/null
+++ b/objects/objaverse/eggplant/eggplant_1/collision/model_normalized_collision_6.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v 0.18658861 -0.06547004 0.00599602
+v 0.26328848 0.00683068 0.00525640
+v 0.18702326 0.13123348 0.00898715
+v 0.14310031 0.13747876 0.00498770
+v 0.18013645 0.06851100 -0.06126132
+v 0.19844777 -0.06061322 0.00951832
+v 0.13708857 -0.01907768 -0.05892865
+v 0.25811602 0.11219047 -0.01590286
+v 0.26535466 0.11858893 0.00512505
+v 0.26333394 0.05949931 -0.02955151
+v 0.15307079 -0.07184994 -0.01082427
+v 0.13919089 0.07486218 -0.05938913
+v 0.20931870 -0.02934182 -0.01246412
+v 0.18552180 0.05442067 -0.05943343
+v 0.24423409 0.10417394 -0.02907302
+v 0.13681232 -0.04598302 -0.04485200
+v 0.21461467 -0.04836185 0.00827596
+v 0.25933524 0.07141653 -0.03179537
+v 0.13943941 0.10013631 -0.04333079
+v 0.14180142 0.13154045 -0.00593062
+v 0.18280440 -0.06011193 -0.00397118
+v 0.17879188 -0.01570390 -0.03871859
+v 0.21029913 -0.04360353 -0.00029223
+v 0.14019639 0.11316617 -0.03076132
+v 0.19478321 -0.05567220 0.00010499
+v 0.14936133 -0.01701092 -0.05384869
+v 0.19299584 -0.02807662 -0.02389016
+v 0.14914537 -0.04301637 -0.03995785
+f 6 3 4
+f 6 4 1
+f 9 6 2
+f 9 3 6
+f 9 8 4
+f 9 4 3
+f 10 9 2
+f 10 8 9
+f 11 1 4
+f 12 5 7
+f 13 10 2
+f 14 10 7
+f 14 7 5
+f 16 11 4
+f 17 2 6
+f 18 14 5
+f 18 10 14
+f 18 5 15
+f 18 15 8
+f 18 8 10
+f 19 15 5
+f 19 5 12
+f 19 12 7
+f 19 7 16
+f 20 4 8
+f 20 8 15
+f 20 16 4
+f 21 11 16
+f 21 1 11
+f 23 13 2
+f 23 2 17
+f 24 20 15
+f 24 15 19
+f 24 19 16
+f 24 16 20
+f 25 17 6
+f 25 6 1
+f 25 1 21
+f 25 23 17
+f 25 21 23
+f 26 16 7
+f 26 7 10
+f 26 10 22
+f 27 22 10
+f 27 10 13
+f 28 23 21
+f 28 21 16
+f 28 22 27
+f 28 26 22
+f 28 16 26
+f 28 27 13
+f 28 13 23
\ No newline at end of file
diff --git a/objects/objaverse/eggplant/eggplant_1/collision/model_normalized_collision_7.obj b/objects/objaverse/eggplant/eggplant_1/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b72a0032c678608dffdd9fc50917fadbdd424607
--- /dev/null
+++ b/objects/objaverse/eggplant/eggplant_1/collision/model_normalized_collision_7.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v 0.00845946 0.06319718 0.18957630
+v 0.00757576 0.06612587 0.10869252
+v 0.00755784 0.15385596 0.10731653
+v -0.30839587 0.13224144 0.10068018
+v -0.35203840 0.04798819 0.14530226
+v -0.18829975 0.14599542 0.10243206
+v 0.00919149 0.10255173 0.17092153
+v -0.26245345 0.04583162 0.17088594
+v -0.35239107 0.11888072 0.10056044
+v 0.00806748 0.14229058 0.12967156
+v -0.23223787 0.11233880 0.13792429
+v -0.21756585 0.07262149 0.16644245
+v -0.36831660 0.06054481 0.13248779
+v -0.23233271 0.12553471 0.12471626
+v -0.30486156 0.09777922 0.13561641
+v -0.23335353 0.04759540 0.17489004
+v 0.00855719 0.07511800 0.18536491
+v -0.21704858 0.09890378 0.15097426
+v -0.30625010 0.12563198 0.10910102
+v -0.08114793 0.13917344 0.12600402
+v -0.30483295 0.07247870 0.15044631
+v -0.34842971 0.09751687 0.12046833
+v -0.26173849 0.05849891 0.16598880
+v -0.14217517 0.08679143 0.16614752
+v -0.09728705 0.11332417 0.15281384
+v -0.27663367 0.08530218 0.15003096
+v -0.34948210 0.11242171 0.10771817
+v -0.18671106 0.14050630 0.11090577
+v -0.34868777 0.07208451 0.13654399
+v -0.09683574 0.12670980 0.14001141
+v -0.24389001 0.07806446 0.15965564
+v -0.33429552 0.08462601 0.13460876
+f 6 3 2
+f 6 2 4
+f 7 1 2
+f 7 2 3
+f 8 5 2
+f 9 4 2
+f 10 7 3
+f 10 3 6
+f 13 9 2
+f 13 2 5
+f 16 8 2
+f 16 2 1
+f 17 1 7
+f 17 16 1
+f 17 12 16
+f 18 11 15
+f 19 14 4
+f 19 11 14
+f 19 15 11
+f 19 4 9
+f 20 10 6
+f 21 5 8
+f 22 9 13
+f 23 16 12
+f 23 8 16
+f 23 21 8
+f 24 17 7
+f 24 12 17
+f 24 18 12
+f 24 7 18
+f 25 18 7
+f 25 11 18
+f 26 18 15
+f 26 15 21
+f 26 21 23
+f 27 19 9
+f 27 15 19
+f 27 22 15
+f 27 9 22
+f 28 20 6
+f 28 14 20
+f 28 6 4
+f 28 4 14
+f 29 13 5
+f 29 5 21
+f 29 22 13
+f 30 25 7
+f 30 7 10
+f 30 10 20
+f 30 20 14
+f 30 14 11
+f 30 11 25
+f 31 12 18
+f 31 18 26
+f 31 26 23
+f 31 23 12
+f 32 29 21
+f 32 21 15
+f 32 15 22
+f 32 22 29
\ No newline at end of file
diff --git a/objects/objaverse/eggplant/eggplant_1/collision/model_normalized_collision_8.obj b/objects/objaverse/eggplant/eggplant_1/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e041c5ff308eae6d5e0ea22eb51c86ddee8dc3e2
--- /dev/null
+++ b/objects/objaverse/eggplant/eggplant_1/collision/model_normalized_collision_8.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v -0.16122641 -0.17456315 0.03133284
+v -0.08956960 -0.15003263 -0.04449443
+v -0.15625051 -0.14498206 0.12666496
+v -0.35723221 -0.11761261 0.11052401
+v -0.36387003 -0.14154558 -0.10170407
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\ No newline at end of file
diff --git a/objects/objaverse/eggplant/eggplant_1/collision/model_normalized_collision_9.obj b/objects/objaverse/eggplant/eggplant_1/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..69b6658c27e0e1ef0b98d2bf8bc954ca532188fb
--- /dev/null
+++ b/objects/objaverse/eggplant/eggplant_1/collision/model_normalized_collision_9.obj
@@ -0,0 +1,108 @@
+# https://github.com/mikedh/trimesh
+v 0.00654105 -0.12798071 -0.02618675
+v 0.13807211 -0.07391741 -0.01822225
+v 0.03357683 -0.11987393 -0.02184024
+v 0.00540113 0.14541024 -0.02232608
+v 0.00272203 0.03327784 -0.12096166
+v 0.07733550 -0.10232508 -0.01965664
+v 0.00091484 -0.06248388 -0.10418660
+v 0.14229501 0.11985533 -0.02226392
+v 0.02056638 0.14328322 -0.02128572
+v 0.11922602 -0.01755673 -0.06790385
+v 0.00190006 -0.11672269 -0.04855147
+v 0.00198245 0.09920979 -0.08882865
+v 0.00256965 0.11275364 -0.07569357
+v 0.09657143 0.13169670 -0.02066166
+v 0.00170694 -0.02143286 -0.11986636
+v 0.10384979 -0.05657448 -0.05482377
+v 0.13496027 -0.03066671 -0.05483885
+v 0.12263093 0.06090113 -0.07046442
+v 0.03092965 -0.11458470 -0.03278305
+v 0.02871810 -0.09764535 -0.05791330
+v 0.14019639 0.11316617 -0.03076132
+v 0.00420275 0.13985582 -0.03418382
+v 0.09495475 0.12526383 -0.02992219
+v 0.02826578 -0.04632646 -0.09915227
+v 0.13420359 -0.06840434 -0.02692104
+v 0.01342907 -0.05978513 -0.09963627
+v 0.00306196 0.07407508 -0.10542757
+v 0.09014205 -0.00495444 -0.08493295
+v 0.07436113 -0.09705197 -0.02974535
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+v 0.13758659 0.08511105 -0.05444203
+v 0.01420554 -0.02025506 -0.11470095
+v 0.01670845 0.07230426 -0.10165395
+v 0.01579363 0.03266533 -0.11605426
+v 0.01522125 -0.11279628 -0.04591360
+v 0.10800825 0.09735068 -0.05521321
+v 0.09183853 0.04647007 -0.08471551
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+f 34 28 15
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+f 35 11 20
+f 35 20 29
+f 36 31 12
+f 36 12 21
+f 36 21 31
+f 37 34 5
+f 37 5 18
+f 37 18 28
+f 37 28 34
\ No newline at end of file
diff --git a/objects/objaverse/eggplant/eggplant_1/model.xml b/objects/objaverse/eggplant/eggplant_1/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..5333356c6bd4c7909dcc509a1d8bf62cec122848
--- /dev/null
+++ b/objects/objaverse/eggplant/eggplant_1/model.xml
@@ -0,0 +1,81 @@
+<mujoco model="eggplant_7">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865471 0.0 0.0 -0.7071067811865472"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865471 0.0 0.0 -0.7071067811865472"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865471 0.0 0.0 -0.7071067811865472"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865471 0.0 0.0 -0.7071067811865472"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865471 0.0 0.0 -0.7071067811865472"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865471 0.0 0.0 -0.7071067811865472"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865471 0.0 0.0 -0.7071067811865472"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865471 0.0 0.0 -0.7071067811865472"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865471 0.0 0.0 -0.7071067811865472"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865471 0.0 0.0 -0.7071067811865472"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865471 0.0 0.0 -0.7071067811865472"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865471 0.0 0.0 -0.7071067811865472"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865471 0.0 0.0 -0.7071067811865472"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865471 0.0 0.0 -0.7071067811865472"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865471 0.0 0.0 -0.7071067811865472"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865471 0.0 0.0 -0.7071067811865472"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865471 0.0 0.0 -0.7071067811865472"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865471 0.0 0.0 -0.7071067811865472"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865471 0.0 0.0 -0.7071067811865472"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865471 0.0 0.0 -0.7071067811865472"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865471 0.0 0.0 -0.7071067811865472"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865471 0.0 0.0 -0.7071067811865472"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865471 0.0 0.0 -0.7071067811865472"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865471 0.0 0.0 -0.7071067811865472"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865471 0.0 0.0 -0.7071067811865472"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865471 0.0 0.0 -0.7071067811865472"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865471 0.0 0.0 -0.7071067811865472"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865471 0.0 0.0 -0.7071067811865472"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865471 0.0 0.0 -0.7071067811865472"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865471 0.0 0.0 -0.7071067811865472"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865471 0.0 0.0 -0.7071067811865472"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865471 0.0 0.0 -0.7071067811865472"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865471 0.0 0.0 -0.7071067811865472"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="texture" texture="image0" specular="0.5" shininess="0.359999993"/>
+  </asset>
+  <worldbody>
+    <body>
+      <body name="object">
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_0_vis" conaffinity="0" contype="0" group="1" material="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"/>
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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_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"/>
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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_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_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="8.288474999999863e-05 -0.0002453902500000007 -0.028826452499999992" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="8.288474999999863e-05 -0.0002453902500000007 0.029868754499999997" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.026226056999999997 0.07423344749999998 0.0005211510000000008" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/objects/objaverse/eggplant/eggplant_1/visual/material.mtl b/objects/objaverse/eggplant/eggplant_1/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..842b70538fc6029daec10eabd1278717f12035ab
--- /dev/null
+++ b/objects/objaverse/eggplant/eggplant_1/visual/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 359.99999300
+map_Kd material_0.jpeg
\ No newline at end of file
diff --git a/objects/objaverse/eggplant/eggplant_2/collision/model_normalized_collision_0.obj b/objects/objaverse/eggplant/eggplant_2/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..81b887035bde330d8a46f5ee0138349497765bdc
--- /dev/null
+++ b/objects/objaverse/eggplant/eggplant_2/collision/model_normalized_collision_0.obj
@@ -0,0 +1,114 @@
+# https://github.com/mikedh/trimesh
+v 0.11994485 -0.13805738 0.01030140
+v 0.13204674 -0.14751204 -0.09485762
+v 0.09787144 0.12818718 -0.10473188
+v -0.06633521 0.14342749 -0.10410719
+v -0.15290615 -0.12174077 -0.10016412
+v 0.04161960 0.11055532 0.00226947
+v 0.13863774 0.05117880 -0.03819696
+v -0.13528356 -0.11981065 0.00495986
+v -0.17776698 -0.05184356 -0.10207062
+v 0.05892375 0.14622341 -0.10310364
+v 0.13006319 0.04461419 0.00446619
+v -0.14333849 -0.12151471 -0.04162732
+v -0.13353005 0.04069900 0.00290775
+v 0.08019916 0.09436194 0.00128216
+v 0.00093417 0.12504908 -0.02796082
+v 0.12557118 0.07171118 -0.04454901
+v -0.16592178 -0.09422507 -0.10083886
+v -0.14676625 -0.09264192 0.00446819
+v -0.07881091 0.09515671 0.00207223
+v -0.15134673 0.07320862 -0.10285404
+v 0.09528691 0.12497139 -0.09285057
+v 0.12320843 0.05452573 0.00224169
+v -0.04918816 0.13878193 -0.07755163
+v 0.04578519 0.13981932 -0.07672438
+v -0.14554843 0.01429298 0.00309685
+v -0.16010565 -0.08173127 -0.04143077
+v -0.04902677 0.10771046 0.00145721
+v -0.09342798 0.13111469 -0.10350350
+v 0.12217369 0.06888627 -0.02839713
+v -0.16128098 -0.05169563 -0.02613093
+v -0.17907992 -0.01044113 -0.10149429
+v -0.16489652 0.04646229 -0.10213245
+v -0.06463026 0.13946830 -0.09236850
+v -0.11647952 0.06971939 -0.01292653
+v -0.15952092 -0.01099139 -0.02687058
+v -0.09086007 0.12768986 -0.09142807
+v -0.13099995 0.08455072 -0.07632920
+v -0.10482308 0.08035923 -0.01336885
+v -0.10400676 0.10998864 -0.07763814
+f 5 3 2
+f 7 1 2
+f 7 2 3
+f 8 2 1
+f 9 4 3
+f 9 3 5
+f 10 3 4
+f 11 6 1
+f 11 1 7
+f 12 5 2
+f 12 2 8
+f 14 10 6
+f 14 6 11
+f 16 11 7
+f 16 7 3
+f 17 9 5
+f 17 5 12
+f 18 8 1
+f 19 13 1
+f 19 1 6
+f 20 4 9
+f 21 3 10
+f 21 10 14
+f 22 14 11
+f 22 21 14
+f 22 3 21
+f 22 11 16
+f 23 10 4
+f 24 15 6
+f 24 6 10
+f 24 23 15
+f 24 10 23
+f 25 18 1
+f 25 1 13
+f 26 9 17
+f 26 17 12
+f 26 12 8
+f 26 8 18
+f 27 19 6
+f 27 6 15
+f 27 15 23
+f 28 4 20
+f 29 22 16
+f 29 16 3
+f 29 3 22
+f 30 18 25
+f 30 26 18
+f 30 9 26
+f 31 9 30
+f 32 25 13
+f 32 13 20
+f 32 31 25
+f 32 20 9
+f 32 9 31
+f 33 27 23
+f 33 23 4
+f 33 19 27
+f 34 13 19
+f 35 31 30
+f 35 30 25
+f 35 25 31
+f 36 28 19
+f 36 19 33
+f 36 33 4
+f 36 4 28
+f 37 28 20
+f 37 20 13
+f 37 13 34
+f 38 34 19
+f 38 19 28
+f 38 28 34
+f 39 37 34
+f 39 34 28
+f 39 28 37
\ No newline at end of file
diff --git a/objects/objaverse/eggplant/eggplant_2/collision/model_normalized_collision_17.obj b/objects/objaverse/eggplant/eggplant_2/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8d93a718b2a0e0a47b366a6e838bbe47e812db92
--- /dev/null
+++ b/objects/objaverse/eggplant/eggplant_2/collision/model_normalized_collision_17.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.01843317 0.02163599 0.08333333
+v 0.11211245 0.06564416 0.01153464
+v 0.07595616 0.08272129 0.08449782
+v -0.05006730 0.09507014 0.08244730
+v -0.05732440 0.02163599 0.00757576
+v 0.01659264 0.11374141 0.00347244
+v -0.09375643 0.06882157 0.08692135
+v 0.10600486 0.06095403 0.05562567
+v 0.01843317 0.02163599 0.00757576
+v 0.07276414 0.09743069 0.00289692
+v 0.04272780 0.09810581 0.08260082
+v -0.05399518 0.10452615 0.00512084
+v 0.08700960 0.08806111 0.00434559
+v -0.02504423 0.11270556 0.00318606
+v 0.06101663 0.09048009 0.08297854
+v 0.01616762 0.11051354 0.01982013
+v -0.02461325 0.10943217 0.01963967
+f 7 1 3
+f 7 5 1
+f 8 2 3
+f 8 3 1
+f 9 1 5
+f 9 8 1
+f 9 2 8
+f 10 9 5
+f 11 10 6
+f 11 7 3
+f 11 4 7
+f 12 5 7
+f 12 7 4
+f 13 10 3
+f 13 3 2
+f 13 2 9
+f 13 9 10
+f 14 10 5
+f 14 6 10
+f 14 5 12
+f 14 12 4
+f 15 11 3
+f 15 3 10
+f 15 10 11
+f 16 11 6
+f 16 6 14
+f 17 14 4
+f 17 4 11
+f 17 16 14
+f 17 11 16
\ No newline at end of file
diff --git a/objects/objaverse/eggplant/eggplant_2/collision/model_normalized_collision_18.obj b/objects/objaverse/eggplant/eggplant_2/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b26301d27deb773d3461621897b07494bf6c4817
--- /dev/null
+++ b/objects/objaverse/eggplant/eggplant_2/collision/model_normalized_collision_18.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.01653056 -0.17679361 -0.34949988
+v 0.01784463 -0.10896934 -0.45664662
+v 0.01843317 -0.00866704 -0.35606060
+v -0.07247592 -0.00866704 -0.35606060
+v -0.06758899 -0.16417300 -0.35052311
+v 0.02783982 -0.01823202 -0.49382905
+v -0.00931548 -0.15710319 -0.39277829
+v -0.08160686 -0.01183075 -0.47635711
+v -0.06437200 -0.11351506 -0.43361259
+v 0.01577440 -0.15635535 -0.39243763
+v -0.01006972 -0.17752956 -0.34986379
+v -0.03860532 -0.10820456 -0.45226127
+v -0.04978429 -0.14383800 -0.40390393
+v 0.01604797 -0.12775029 -0.43456140
+v -0.00926292 -0.17172298 -0.36223797
+v -0.06400692 -0.12667299 -0.41748316
+v -0.04987928 -0.15833064 -0.37792740
+v -0.03745730 -0.11489685 -0.44824920
+v 0.01703569 -0.11620608 -0.44912181
+v 0.01570063 -0.17098034 -0.36188276
+v -0.06529974 -0.15894485 -0.36308063
+v -0.02446661 -0.12686988 -0.43402044
+f 1 3 4
+f 5 1 4
+f 6 1 2
+f 6 3 1
+f 8 4 3
+f 8 3 6
+f 8 5 4
+f 9 5 8
+f 10 2 1
+f 11 1 5
+f 12 8 6
+f 12 6 2
+f 12 9 8
+f 14 10 7
+f 15 7 10
+f 15 11 7
+f 15 1 11
+f 16 5 9
+f 17 11 5
+f 17 13 7
+f 17 7 11
+f 18 12 2
+f 18 9 12
+f 18 16 9
+f 18 13 16
+f 19 2 10
+f 19 10 14
+f 19 18 2
+f 20 15 10
+f 20 10 1
+f 20 1 15
+f 21 16 13
+f 21 5 16
+f 21 17 5
+f 21 13 17
+f 22 7 13
+f 22 13 18
+f 22 14 7
+f 22 19 14
+f 22 18 19
\ No newline at end of file
diff --git a/objects/objaverse/eggplant/eggplant_2/collision/model_normalized_collision_21.obj b/objects/objaverse/eggplant/eggplant_2/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f1d7a5fdfe7e8666cf946846e905a719c8b9f8d4
--- /dev/null
+++ b/objects/objaverse/eggplant/eggplant_2/collision/model_normalized_collision_21.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.12449378 -0.00866704 -0.23484848
+v 0.14358454 -0.01352709 -0.43778695
+v 0.15613535 0.12133724 -0.23056775
+v -0.08762743 0.09739357 -0.23484848
+v -0.10093785 -0.02584302 -0.46407039
+v -0.08762743 -0.00866704 -0.23484848
+v -0.08546216 0.11496261 -0.45467277
+v 0.13427951 0.10303497 -0.42569252
+v -0.08762743 0.09739357 -0.35606060
+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 2 5
+f 7 4 3
+f 8 7 3
+f 8 3 2
+f 8 2 7
+f 9 7 5
+f 9 5 4
+f 9 4 7
\ No newline at end of file
diff --git a/objects/objaverse/eggplant/eggplant_2/collision/model_normalized_collision_3.obj b/objects/objaverse/eggplant/eggplant_2/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..88882f56ad470b97417b8c34a864da692067e911
--- /dev/null
+++ b/objects/objaverse/eggplant/eggplant_2/collision/model_normalized_collision_3.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v 0.01599336 -0.14308035 0.26316405
+v 0.12456380 -0.07815545 0.14060582
+v 0.12173550 0.01595162 0.26310572
+v -0.09059303 0.06250523 0.26629241
+v -0.11809260 -0.09334384 0.14076540
+v -0.08423003 0.07183455 0.14640447
+v -0.08084318 -0.11165925 0.27459142
+v 0.10962531 -0.07599584 0.26343720
+v 0.03161360 -0.16042965 0.14024216
+v 0.12475750 0.01547354 0.14211323
+v -0.14462927 -0.06911188 0.18538230
+v 0.12217558 -0.04829550 0.26273986
+v 0.05630917 -0.13024813 0.26323209
+v 0.06853587 -0.14549787 0.13987943
+v -0.06674711 -0.14662345 0.14043598
+v -0.11837364 0.03080203 0.14212896
+v -0.11735827 0.02834856 0.26862320
+v 0.12330236 -0.07215560 0.21366914
+v 0.04259371 -0.14221314 0.23094247
+v 0.09188786 -0.11640432 0.18592108
+v -0.02515592 -0.16122834 0.14044533
+v -0.13339556 -0.03685451 0.14127648
+v -0.11638263 -0.06384555 0.26439476
+v 0.11132291 -0.10456796 0.14018043
+v 0.00096276 -0.15778320 0.17083272
+v -0.02272195 -0.14133888 0.26326449
+v -0.13342490 -0.02576545 0.14185488
+v -0.10266171 -0.09008945 0.26462589
+f 6 4 3
+f 7 3 4
+f 8 3 7
+f 10 6 3
+f 12 3 8
+f 12 10 3
+f 13 8 7
+f 13 7 1
+f 15 5 14
+f 15 11 5
+f 15 7 11
+f 16 10 2
+f 16 6 10
+f 16 4 6
+f 17 7 4
+f 17 16 11
+f 17 4 16
+f 18 12 8
+f 18 2 10
+f 18 10 12
+f 19 13 1
+f 19 1 9
+f 19 14 13
+f 19 9 14
+f 20 8 13
+f 20 13 14
+f 20 18 8
+f 21 15 14
+f 21 14 9
+f 22 5 11
+f 22 14 5
+f 23 17 11
+f 23 7 17
+f 24 20 14
+f 24 2 18
+f 24 18 20
+f 24 14 22
+f 24 22 16
+f 24 16 2
+f 25 21 9
+f 25 9 1
+f 26 1 7
+f 26 7 15
+f 26 15 21
+f 26 25 1
+f 26 21 25
+f 27 22 11
+f 27 11 16
+f 27 16 22
+f 28 23 11
+f 28 11 7
+f 28 7 23
\ No newline at end of file
diff --git a/objects/objaverse/eggplant/eggplant_2/visual/material.mtl b/objects/objaverse/eggplant/eggplant_2/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fbcf6b4b1af9257e08a0fd6e283841743ce8fad5
--- /dev/null
+++ b/objects/objaverse/eggplant/eggplant_2/visual/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 250.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/objects/objaverse/eggplant/eggplant_2/visual/model_normalized_0.obj b/objects/objaverse/eggplant/eggplant_2/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea5daad0bd2031c408a3c9ffb27f9af6589d79fe
--- /dev/null
+++ b/objects/objaverse/eggplant/eggplant_2/visual/model_normalized_0.obj
@@ -0,0 +1,3063 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
+v 0.11790046 -0.07323274 0.22612262
+v 0.11577510 -0.06913132 0.24385007
+v 0.11163855 -0.07772938 0.24428480
+v -0.12570370 -0.03878345 0.21998806
+v -0.12401746 -0.03359300 0.23961252
+v -0.12560270 -0.01607195 0.23974425
+v -0.04432520 -0.13395923 0.27396081
+v -0.04778989 -0.13047698 0.28808305
+v -0.06123148 -0.12319191 0.28758684
+v 0.07257406 0.07824315 0.28460957
+v 0.05898756 0.08009186 0.29858251
+v 0.06781395 0.07360600 0.30021605
+v 0.09039372 -0.08869431 0.30207354
+v 0.08316134 -0.09885564 0.30193742
+v 0.08491345 -0.10382214 0.28828944
+v 0.05078471 0.09682250 0.26989013
+v 0.05009529 0.09367398 0.28310777
+v 0.05867139 0.08895339 0.28356446
+v -0.02385762 -0.14133652 0.25852121
+v -0.03040496 -0.13882034 0.27090890
+v 0.10777865 -0.07900284 0.26466894
+v 0.10033110 -0.09181648 0.26621905
+v 0.04163776 0.10300537 0.25082336
+v 0.03993835 0.10228959 0.26669770
+v 0.12641947 -0.00048304 0.24125045
+v 0.12575639 -0.00060160 0.25805573
+v 0.12639312 -0.01446475 0.26116473
+v -0.12876439 -0.05696319 0.19723703
+v -0.12347734 -0.05583025 0.21564073
+v -0.00779006 -0.15220484 0.24314747
+v -0.01072780 -0.15208189 0.24385885
+v -0.01099567 -0.15545436 0.24478540
+v -0.06216681 0.09176818 0.20914169
+v -0.05915003 0.09126758 0.22823920
+v -0.05251486 0.09459175 0.22859489
+v 0.00577448 0.10903454 0.21755970
+v -0.00787789 0.10832755 0.23586240
+v 0.00695134 0.10926289 0.23404003
+v 0.01698972 0.10797625 0.19856758
+v 0.01991867 0.10733074 0.21229899
+v -0.02338336 0.10510438 0.24538700
+v -0.03287284 0.10264089 0.25460861
+v -0.02479295 0.10508242 0.25419144
+v -0.09703767 0.06060353 0.23527836
+v -0.10784451 0.04859349 0.25622459
+v -0.09907520 0.06027419 0.25251399
+v -0.08634938 0.07227545 0.21272055
+v -0.08610787 0.07112934 0.23053582
+v -0.11500224 0.03419899 0.27217358
+v -0.10832755 0.04701703 0.27219992
+v -0.11943739 0.02318576 0.26549011
+v -0.12002582 0.01960250 0.27484345
+v 0.09338855 0.06983831 0.25261498
+v 0.08349069 0.07748786 0.26589410
+v 0.09020929 0.07159042 0.26786138
+v 0.11399665 0.04046530 0.22333857
+v 0.10415587 0.05493005 0.23951591
+v 0.11171320 0.04303856 0.23799654
+v 0.10161334 0.05968576 0.25282137
+v 0.12102702 0.02857381 0.20738080
+v 0.11952083 0.03664052 0.20039433
+v 0.11758868 0.03705769 0.20694607
+v 0.12462345 0.01407832 0.22178407
+v 0.12123341 0.02575903 0.21892977
+v 0.12368812 -0.02774387 0.27674047
+v 0.12450489 -0.01505318 0.27728498
+v 0.12408333 0.01280925 0.23775502
+v 0.12523383 -0.07177046 0.20921634
+v 0.12981390 -0.06870098 0.20359994
+v 0.12814962 -0.06295724 0.20849178
+v 0.02995705 -0.14900802 0.21770461
+v 0.04603339 -0.14088422 0.23164680
+v 0.03258741 -0.14607906 0.22889349
+v 0.05936959 -0.13014324 0.25195630
+v 0.04792602 -0.13654567 0.24845648
+v 0.07357087 -0.11754038 0.27187936
+v 0.07530102 -0.11404495 0.28642316
+v 0.06224586 -0.12655560 0.26823024
+v 0.01081563 -0.15162520 0.21820521
+v 0.01882965 -0.15198089 0.21061715
+v 0.01811826 -0.15164276 0.21600520
+v -0.01342403 -0.15116851 0.24403450
+v -0.11069004 -0.08416694 0.23016696
+v -0.10156504 -0.09193504 0.24958064
+v -0.10822216 -0.08150145 0.24331873
+v -0.07475651 -0.11618348 0.27894926
+v -0.07501120 -0.11377269 0.28787227
+v -0.09081967 -0.10424370 0.26744860
+v -0.10057701 -0.09341489 0.26516515
+v -0.08126872 0.09085480 0.18501620
+v -0.07773377 0.09463566 0.18439704
+v -0.08020604 0.09526800 0.18538507
+v -0.14331258 -0.06971097 0.18427848
+v -0.14469143 -0.06679957 0.18405891
+v -0.14594732 -0.06851216 0.18648727
+v 0.02256659 0.11021579 0.18665853
+v 0.02812591 0.10721657 0.19538393
+v -0.08003478 0.08551944 0.19039548
+v -0.08318769 0.07888866 0.20154484
+v -0.07758447 0.08392542 0.19903305
+v -0.12430289 0.00253814 0.25659345
+v -0.12612965 -0.01205396 0.24202770
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\ No newline at end of file
diff --git a/objects/objaverse/eggplant/eggplant_2/visual/model_normalized_1.obj b/objects/objaverse/eggplant/eggplant_2/visual/model_normalized_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d3347c6cd1003d3f5350e34f6f55ac6721cc41b7
--- /dev/null
+++ b/objects/objaverse/eggplant/eggplant_2/visual/model_normalized_1.obj
@@ -0,0 +1,1998 @@
+# 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/eggplant/eggplant_4/collision/model_normalized_collision_1.obj b/objects/objaverse/eggplant/eggplant_4/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f0a04a7859fc8ab471aa44d9419d6434a6d8ab52
--- /dev/null
+++ b/objects/objaverse/eggplant/eggplant_4/collision/model_normalized_collision_1.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v 0.44427052 -0.07868907 0.07655079
+v 0.43619257 -0.07153010 0.09075142
+v 0.26797365 -0.09400681 0.11273714
+v 0.26470094 0.12490514 0.07620911
+v 0.43960076 0.09373970 0.07688043
+v 0.43831396 -0.04561966 0.10120673
+v 0.42892089 0.10221539 0.07439279
+v 0.33954612 -0.02639539 0.13584264
+v 0.35307634 0.11683355 0.07422340
+v 0.35112319 -0.05635502 0.12058895
+v 0.26370443 0.03488943 0.13665226
+v 0.42642391 0.00364988 0.11955434
+v 0.38151520 -0.07165498 0.10577324
+v 0.36608198 -0.01140483 0.13625168
+v 0.26373104 -0.07256549 0.12205104
+v 0.30923390 0.11046840 0.10547962
+v 0.42623875 -0.01072755 0.11951288
+v 0.26413377 -0.02839496 0.14053692
+v 0.38076988 -0.04100900 0.11946230
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+v 0.26416898 0.11608390 0.10366799
+v 0.43397269 0.09611468 0.08307085
+v 0.39611978 0.10383382 0.09097209
+v 0.27876768 0.03448821 0.13557129
+v 0.35093476 0.09493293 0.10538164
+v 0.35233986 0.11299764 0.08829034
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\ No newline at end of file
diff --git a/objects/objaverse/eggplant/eggplant_4/collision/model_normalized_collision_11.obj b/objects/objaverse/eggplant/eggplant_4/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c1554cfabcf43d8d16b4e23f52d8dc41013aaa62
--- /dev/null
+++ b/objects/objaverse/eggplant/eggplant_4/collision/model_normalized_collision_11.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.24955401 -0.04718733 0.13383235
+v 0.26507263 -0.03383283 0.13815157
+v -0.05293146 -0.00225996 0.15433595
+v 0.00758465 0.05601845 0.13732004
+v 0.26478539 0.03980345 0.13474007
+v 0.00781910 -0.06278846 0.13445538
+v 0.21899900 -0.00462274 0.15396902
+v -0.05301933 0.01001347 0.15059548
+v 0.18913074 0.05471767 0.13406717
+v 0.26413377 -0.02839496 0.14053692
+v 0.00849388 -0.05778509 0.13638286
+v 0.17372994 -0.06218399 0.13328374
+v 0.00764895 0.05167022 0.13869250
+v -0.05302479 -0.00377208 0.15378536
+v 0.26370443 0.03488943 0.13665226
+v 0.18845158 0.04981056 0.13591133
+v -0.03694851 -0.01224039 0.15129611
+v 0.17261451 -0.05694129 0.13550580
+v 0.20405480 0.00480401 0.15111122
+f 5 2 1
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+f 16 7 15
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+f 17 7 3
+f 17 14 11
+f 17 3 14
+f 18 11 6
+f 18 6 12
+f 18 12 7
+f 18 7 11
+f 19 16 4
+f 19 4 7
+f 19 7 16
\ No newline at end of file
diff --git a/objects/objaverse/eggplant/eggplant_4/collision/model_normalized_collision_20.obj b/objects/objaverse/eggplant/eggplant_4/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..760f9750ca3e76e021b21d2747b26c508b2994cf
--- /dev/null
+++ b/objects/objaverse/eggplant/eggplant_4/collision/model_normalized_collision_20.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.40620399 0.07854099 0.09752726
+v 0.40896215 0.11035155 0.05917577
+v 0.26470094 0.12490514 0.07620911
+v 0.26457994 0.13943961 0.03065634
+v 0.39922179 0.12049572 0.02981902
+v 0.33729311 0.12869484 0.04299009
+v 0.26801768 0.08588488 0.11745538
+v 0.39963534 0.10743453 0.07584988
+v 0.40446066 0.11733372 0.03745933
+v 0.29414276 0.12896415 0.05771231
+v 0.33802959 0.13253076 0.02892315
+v 0.26414198 0.13078758 0.05806905
+v 0.36772775 0.11422877 0.07348692
+v 0.26749700 0.13526709 0.04345247
+f 7 5 1
+f 7 4 5
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+f 12 3 10
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+f 13 10 3
+f 13 8 6
+f 13 6 10
+f 14 12 10
+f 14 10 4
+f 14 4 12
\ No newline at end of file
diff --git a/objects/objaverse/eggplant/eggplant_4/collision/model_normalized_collision_23.obj b/objects/objaverse/eggplant/eggplant_4/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f4c1247d3a4b19762542e6f5942fce03f58c3e5b
--- /dev/null
+++ b/objects/objaverse/eggplant/eggplant_4/collision/model_normalized_collision_23.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.39324227 0.05227129 -0.15124757
+v 0.42677107 0.08686275 -0.10728999
+v 0.14575214 0.05333490 -0.14097542
+v 0.14492635 0.12541583 -0.08620250
+v 0.30840537 0.11482091 -0.13880990
+v 0.39414290 0.11988558 -0.08289569
+v 0.38737736 0.10029572 -0.13788353
+v 0.17757944 0.05057314 -0.14966986
+v 0.14616960 0.11838713 -0.11337183
+v 0.25226443 0.11934141 -0.13199186
+v 0.38879430 0.08023656 -0.14449541
+v 0.39171366 0.11576955 -0.09634931
+v 0.26796403 0.09412059 -0.14498982
+v 0.13432334 0.07416951 -0.12938820
+v 0.16347088 0.11994870 -0.11673335
+v 0.37899343 0.09544347 -0.14568671
+v 0.20739011 0.10917240 -0.12959138
+v 0.17881448 0.06348695 -0.14443803
+f 1 2 3
+f 6 3 2
+f 6 4 3
+f 8 1 3
+f 9 8 3
+f 10 6 5
+f 10 4 6
+f 11 7 2
+f 11 2 1
+f 12 6 2
+f 12 2 7
+f 12 7 5
+f 12 5 6
+f 13 1 8
+f 13 10 5
+f 14 9 3
+f 14 3 4
+f 14 4 9
+f 15 9 4
+f 15 4 10
+f 15 8 9
+f 16 11 1
+f 16 5 7
+f 16 7 11
+f 16 13 5
+f 16 1 13
+f 17 13 8
+f 17 10 13
+f 17 15 10
+f 18 17 8
+f 18 8 15
+f 18 15 17
\ No newline at end of file
diff --git a/objects/objaverse/eggplant/eggplant_4/collision/model_normalized_collision_29.obj b/objects/objaverse/eggplant/eggplant_4/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e8c0df8bca6c798a0028bb7a8d56fe240a4016f
--- /dev/null
+++ b/objects/objaverse/eggplant/eggplant_4/collision/model_normalized_collision_29.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.40393989 -0.09894132 0.08776986
+v 0.41030542 -0.10609425 -0.09378556
+v 0.42075206 0.09480664 -0.10270435
+v 0.26801768 0.08588488 0.11745538
+v 0.26434199 -0.12977075 -0.09945963
+v 0.40620399 0.07854099 0.09752726
+v 0.26623580 -0.12491000 0.08672043
+v 0.26464713 0.12739182 -0.10359918
+f 1 2 3
+f 5 3 2
+f 6 1 3
+f 6 4 1
+f 7 5 2
+f 7 2 1
+f 7 1 4
+f 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/eggplant/eggplant_4/collision/model_normalized_collision_31.obj b/objects/objaverse/eggplant/eggplant_4/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7957e7db73cf86e4ec7dff73248eac508f7e85fc
--- /dev/null
+++ b/objects/objaverse/eggplant/eggplant_4/collision/model_normalized_collision_31.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.05328566 0.05620328 -0.11737579
+v 0.05463801 0.06915137 -0.11220846
+v -0.03587621 0.05344911 -0.09560881
+v -0.04059291 0.07636205 -0.08504212
+v 0.04537679 0.08446874 -0.10338519
+v -0.00419336 0.05100764 -0.10487755
+v 0.04409564 0.07144276 -0.10848871
+v -0.04230228 0.06362208 -0.08966514
+f 5 2 1
+f 5 1 4
+f 6 1 3
+f 6 3 4
+f 6 4 1
+f 7 1 2
+f 7 3 1
+f 7 2 5
+f 8 5 4
+f 8 4 3
+f 8 7 5
+f 8 3 7
\ No newline at end of file
diff --git a/objects/objaverse/eggplant/eggplant_4/collision/model_normalized_collision_4.obj b/objects/objaverse/eggplant/eggplant_4/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..061b8d19de30e688bd106851cd043552c1770ef2
--- /dev/null
+++ b/objects/objaverse/eggplant/eggplant_4/collision/model_normalized_collision_4.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v -0.23481050 -0.09446113 0.07842683
+v -0.23139417 -0.08115111 0.12026555
+v -0.34474051 -0.01594858 0.07249739
+v -0.27964213 0.07083983 0.13849344
+v -0.21307922 0.09216968 0.08538246
+v -0.29148671 -0.01146392 0.16622034
+v -0.30397814 -0.07138282 0.11712609
+v -0.32941713 0.05059991 0.07731887
+v -0.23948944 0.03601778 0.16899947
+v -0.23362044 -0.07372380 0.14505985
+v -0.27853160 -0.08846093 0.07967002
+v -0.31752221 -0.03028997 0.13106098
+v -0.31509873 0.03486867 0.13073570
+v -0.27566001 0.06523001 0.14924170
+v -0.27610746 -0.06260740 0.14664319
+v -0.23336172 -0.02641049 0.16925531
+v -0.29470105 -0.05474556 0.14170923
+v -0.29119239 0.06576654 0.13451132
+v -0.28645197 0.01785148 0.16541188
+v -0.26122151 -0.02668861 0.16639633
+v -0.23333674 -0.05658116 0.15384470
+v -0.29566054 -0.02703095 0.15471264
+v -0.27845878 -0.05481901 0.15039532
+v -0.29823163 -0.06731746 0.12750232
+v -0.28721027 0.06015673 0.14525958
+v -0.26122546 0.03604391 0.16641470
+v -0.31075224 -0.02700190 0.13950183
+v -0.28706047 0.04872666 0.15156265
+v -0.29385999 0.03333456 0.15292788
+v -0.30895168 0.03330550 0.13771706
+f 5 2 1
+f 5 1 3
+f 8 5 3
+f 8 4 5
+f 10 1 2
+f 10 2 5
+f 11 7 3
+f 11 3 1
+f 11 10 7
+f 11 1 10
+f 12 3 7
+f 13 12 6
+f 13 8 3
+f 13 3 12
+f 14 9 5
+f 14 5 4
+f 15 7 10
+f 16 9 6
+f 16 5 9
+f 17 12 7
+f 18 4 8
+f 18 8 13
+f 18 14 4
+f 19 6 9
+f 19 13 6
+f 20 16 6
+f 21 10 5
+f 21 5 16
+f 21 15 10
+f 22 17 6
+f 22 12 17
+f 23 17 15
+f 23 6 17
+f 23 20 6
+f 23 16 20
+f 23 21 16
+f 23 15 21
+f 24 17 7
+f 24 7 15
+f 24 15 17
+f 25 18 13
+f 25 14 18
+f 26 19 9
+f 26 9 14
+f 26 14 19
+f 27 22 6
+f 27 6 12
+f 27 12 22
+f 28 19 14
+f 28 14 25
+f 28 25 13
+f 29 28 13
+f 29 19 28
+f 30 29 13
+f 30 13 19
+f 30 19 29
\ No newline at end of file
diff --git a/objects/objaverse/eggplant/eggplant_4/collision/model_normalized_collision_5.obj b/objects/objaverse/eggplant/eggplant_4/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..04ea7e5a6b07930752e62c352ae33f5828a62a0a
--- /dev/null
+++ b/objects/objaverse/eggplant/eggplant_4/collision/model_normalized_collision_5.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v 0.41663629 -0.09900799 -0.09791746
+v 0.39318559 -0.07540655 -0.14868610
+v 0.42677107 0.08686275 -0.10728999
+v 0.21154689 0.07969162 -0.14266546
+v 0.21851778 -0.12727307 -0.10364598
+v 0.37392313 0.01977785 -0.17522402
+v 0.39061835 -0.04376659 -0.15917751
+v 0.37589870 0.05111920 -0.16307149
+v 0.23844233 -0.01394763 -0.17505222
+v 0.38904271 0.03491258 -0.16002402
+v 0.25288052 0.01817073 -0.17483792
+v 0.22073818 -0.07654393 -0.15431965
+v 0.37621777 -0.01385462 -0.17569215
+v 0.39324227 0.05227129 -0.15124757
+v 0.23771927 0.04850129 -0.15975153
+v 0.23721381 0.00447609 -0.17828465
+v 0.32472672 -0.07350556 -0.16019536
+v 0.22205256 0.03480665 -0.16319827
+v 0.22330551 -0.05938095 -0.15982279
+v 0.26716560 -0.02809908 -0.17575890
+v 0.26718345 -0.07349875 -0.16044473
+v 0.37738940 -0.05966199 -0.16190511
+v 0.30971234 -0.02828860 -0.17581470
+f 5 2 1
+f 5 1 3
+f 5 3 4
+f 7 1 2
+f 7 3 1
+f 8 4 3
+f 10 3 7
+f 11 8 6
+f 12 5 4
+f 13 10 7
+f 13 6 10
+f 14 8 3
+f 14 3 10
+f 14 10 6
+f 14 6 8
+f 15 11 4
+f 15 4 8
+f 15 8 11
+f 16 4 11
+f 16 11 6
+f 16 6 13
+f 17 2 5
+f 18 12 4
+f 18 4 16
+f 19 16 9
+f 19 18 16
+f 19 12 18
+f 20 9 16
+f 20 19 9
+f 20 12 19
+f 21 17 5
+f 21 5 12
+f 21 12 20
+f 22 2 17
+f 22 13 7
+f 22 7 2
+f 23 20 16
+f 23 16 13
+f 23 21 20
+f 23 17 21
+f 23 22 17
+f 23 13 22
\ No newline at end of file
diff --git a/objects/objaverse/eggplant/eggplant_4/collision/model_normalized_collision_6.obj b/objects/objaverse/eggplant/eggplant_4/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9afe7272e422b2e7fb68ab9a2bdd639af1607650
--- /dev/null
+++ b/objects/objaverse/eggplant/eggplant_4/collision/model_normalized_collision_6.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v -0.35759392 -0.01956814 0.12693294
+v -0.34599124 0.00763612 0.06527223
+v -0.35813836 0.01847658 0.12705504
+v -0.49275711 0.03022429 0.17206701
+v -0.44942230 -0.01025964 0.12687163
+v -0.35515680 0.02657490 0.10622789
+v -0.48840099 0.01963930 0.18390529
+v -0.35245010 0.02487116 0.09913114
+v -0.35271429 -0.02098423 0.08403793
+v -0.49587514 0.02667708 0.15499744
+v -0.48400547 0.02590650 0.17885762
+v -0.37448968 -0.00052310 0.13738399
+v -0.49330168 -0.00461514 0.17108367
+v -0.34848665 -0.00133254 0.06482477
+v -0.43220505 -0.01765462 0.13292095
+v -0.37913361 0.01762864 0.09468071
+v -0.48828740 0.02085463 0.18342443
+v -0.48810704 0.00321018 0.18266096
+v -0.49704613 0.00320087 0.15393839
+v -0.42757269 -0.01477425 0.11522559
+v -0.48209522 0.01775471 0.14404748
+v -0.49547626 -0.00208250 0.15906218
+v -0.46838857 -0.00467291 0.16940205
+v -0.48017547 0.00444093 0.14143328
+v -0.37861606 -0.01872020 0.09447222
+v -0.48694789 0.00227520 0.18171850
+f 8 1 2
+f 8 3 1
+f 8 6 3
+f 9 2 1
+f 10 4 6
+f 10 6 8
+f 11 6 4
+f 11 3 6
+f 12 1 3
+f 12 3 7
+f 13 7 4
+f 14 2 9
+f 15 9 1
+f 15 1 13
+f 16 10 8
+f 16 8 2
+f 16 2 10
+f 17 7 3
+f 17 3 11
+f 17 11 4
+f 17 4 7
+f 18 12 7
+f 18 1 12
+f 18 7 13
+f 19 13 4
+f 19 4 10
+f 20 5 14
+f 20 15 5
+f 20 9 15
+f 21 10 2
+f 21 2 14
+f 22 15 13
+f 22 5 15
+f 22 19 5
+f 22 13 19
+f 23 13 1
+f 24 14 5
+f 24 5 19
+f 24 21 14
+f 24 19 10
+f 24 10 21
+f 25 20 14
+f 25 14 9
+f 25 9 20
+f 26 18 13
+f 26 13 23
+f 26 23 1
+f 26 1 18
\ No newline at end of file
diff --git a/objects/objaverse/eggplant/eggplant_4/collision/model_normalized_collision_7.obj b/objects/objaverse/eggplant/eggplant_4/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..563138c6d76b455d03be744c055db04fc1337442
--- /dev/null
+++ b/objects/objaverse/eggplant/eggplant_4/collision/model_normalized_collision_7.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.36924850 -0.12624502 -0.08297182
+v 0.41663629 -0.09900799 -0.09791746
+v 0.14534679 -0.12756685 -0.08409012
+v 0.13736685 -0.08839761 -0.13484415
+v 0.32341708 -0.10906078 -0.14844466
+v 0.39764369 -0.12026675 -0.08552175
+v 0.39318559 -0.07540655 -0.14868610
+v 0.26697280 -0.11436792 -0.14663391
+v 0.38121264 -0.10121948 -0.14787655
+v 0.22073818 -0.07654393 -0.15431965
+v 0.32323918 -0.12225983 -0.11184052
+v 0.13932477 -0.12165928 -0.10102737
+v 0.39021725 -0.08866383 -0.14651799
+v 0.22173482 -0.10378363 -0.14523940
+v 0.17630405 -0.12214273 -0.11267980
+f 3 2 4
+f 6 2 3
+f 6 3 1
+f 9 6 1
+f 9 2 6
+f 10 4 2
+f 10 2 7
+f 10 5 8
+f 10 9 5
+f 10 7 9
+f 11 8 5
+f 11 1 3
+f 11 9 1
+f 11 5 9
+f 12 3 4
+f 13 9 7
+f 13 7 2
+f 13 2 9
+f 14 10 8
+f 14 4 10
+f 15 11 3
+f 15 8 11
+f 15 3 12
+f 15 14 8
+f 15 12 4
+f 15 4 14
\ No newline at end of file
diff --git a/objects/objaverse/eggplant/eggplant_4/model.xml b/objects/objaverse/eggplant/eggplant_4/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..eb3f12a704b996d2900621b5abc64dea53ac71c3
--- /dev/null
+++ b/objects/objaverse/eggplant/eggplant_4/model.xml
@@ -0,0 +1,81 @@
+<mujoco model="eggplant_2">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="initialShadingGroup" 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="initialShadingGroup"/>
+        <geom solimp="0.998 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="0.0008585654500000006 0.00036291345 -0.030308390499999994" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.0008585654500000006 0.00036291345 0.031263899299999995" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.025391403999999992 0.08449784209999998 0.00047775440000000083" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/objects/objaverse/hot_dog/.DS_Store b/objects/objaverse/hot_dog/.DS_Store
new file mode 100644
index 0000000000000000000000000000000000000000..9c159c77e04aad95626793469aeacd9b14b5b0fd
Binary files /dev/null and b/objects/objaverse/hot_dog/.DS_Store differ
diff --git a/objects/objaverse/hot_dog/hot_dog_1/collision/model_normalized_collision_0.obj b/objects/objaverse/hot_dog/hot_dog_1/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f1e73af2b0475ec67ecfe84f496c7f3d10dfb673
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_1/collision/model_normalized_collision_0.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.04174268 0.03787879 0.03870355
+v 0.05696707 0.03787879 0.01727918
+v 0.04174268 0.09848485 0.03870355
+v -0.04612948 0.09848485 0.03320267
+v -0.04612948 0.03787879 0.03320267
+v 0.05696707 0.09848485 0.01727918
+v -0.01559965 0.03884366 0.06519924
+v -0.00233606 0.03608879 0.06385904
+v 0.00847912 0.09693765 0.06061836
+v -0.01973769 0.09848485 0.05149145
+v -0.00609547 0.07398589 0.06401071
+v 0.02912364 0.03787879 0.04697144
+v 0.00035148 0.09349926 0.06110601
+v 0.00554908 0.05793745 0.06078326
+f 1 2 3
+f 6 3 2
+f 6 5 4
+f 6 2 5
+f 7 4 5
+f 8 5 2
+f 8 2 1
+f 8 7 5
+f 9 1 3
+f 10 9 3
+f 10 4 7
+f 10 6 4
+f 10 3 6
+f 11 7 8
+f 11 8 9
+f 11 10 7
+f 12 8 1
+f 12 1 9
+f 13 11 9
+f 13 9 10
+f 13 10 11
+f 14 12 9
+f 14 9 8
+f 14 8 12
\ No newline at end of file
diff --git a/objects/objaverse/hot_dog/hot_dog_1/collision/model_normalized_collision_1.obj b/objects/objaverse/hot_dog/hot_dog_1/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f649407ad5d69a6e4095b7b8bd8d857fb998a2b1
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_1/collision/model_normalized_collision_1.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.01682445 -0.21969697 0.05289439
+v 0.00541691 -0.21960332 0.06137152
+v -0.01973769 -0.12878788 0.05149145
+v -0.00154269 -0.08024575 0.06497602
+v 0.00619529 -0.21578477 0.06273848
+v 0.01682445 -0.11363636 0.05289439
+v -0.00603309 -0.19083142 0.05957553
+v -0.01813376 -0.08349131 0.05759630
+v -0.00024625 -0.21820911 0.06591894
+v 0.00460222 -0.08281401 0.06046209
+v -0.01381235 -0.08417510 0.06483334
+v -0.00326849 -0.19221197 0.06564878
+f 5 2 1
+f 6 1 3
+f 6 5 1
+f 6 4 5
+f 7 1 2
+f 7 3 1
+f 8 6 3
+f 9 7 2
+f 9 2 5
+f 9 5 4
+f 9 3 7
+f 10 8 4
+f 10 4 6
+f 10 6 8
+f 11 9 4
+f 11 4 8
+f 11 8 3
+f 12 11 3
+f 12 3 9
+f 12 9 11
\ No newline at end of file
diff --git a/objects/objaverse/hot_dog/hot_dog_1/collision/model_normalized_collision_10.obj b/objects/objaverse/hot_dog/hot_dog_1/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3595989a7b3b68642dc9754e17b224fe19d9c881
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_1/collision/model_normalized_collision_10.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v -0.02566063 0.09848485 0.04863913
+v -0.01955787 0.09848485 -0.06463054
+v -0.01981151 0.14823506 0.03649335
+v -0.01860543 0.12513425 -0.06265280
+v -0.05618937 0.09848485 -0.03364034
+v -0.03109565 0.12349075 -0.05712658
+v -0.05456809 0.12361666 0.01975244
+v -0.03185702 0.09848485 -0.05870757
+v -0.01972166 0.14802787 -0.04981905
+v -0.05622090 0.09848485 0.02054840
+v -0.03864384 0.13839389 0.03337025
+v -0.03259267 0.14462635 -0.04739612
+v -0.05458072 0.12356566 -0.03281093
+v -0.03247770 0.14480608 0.03419949
+v -0.04313780 0.11363637 0.03695412
+v -0.04316061 0.14417191 0.02182074
+v -0.03843462 0.13832224 -0.04671588
+v -0.04313780 0.09848485 0.03695412
+v -0.04304848 0.14402851 -0.03524378
+v -0.05212417 0.13903299 0.01189650
+v -0.05203108 0.13900737 -0.02538763
+f 1 2 3
+f 3 2 4
+f 6 4 2
+f 8 6 2
+f 8 2 5
+f 8 5 6
+f 9 3 4
+f 10 5 2
+f 10 2 1
+f 12 9 4
+f 12 4 6
+f 13 10 7
+f 13 5 10
+f 13 6 5
+f 14 11 1
+f 14 1 3
+f 15 1 11
+f 15 11 7
+f 15 7 10
+f 16 3 9
+f 16 14 3
+f 16 11 14
+f 17 12 6
+f 17 6 13
+f 18 15 10
+f 18 10 1
+f 18 1 15
+f 19 16 9
+f 19 9 12
+f 19 12 17
+f 20 13 7
+f 20 7 11
+f 20 11 16
+f 21 19 17
+f 21 17 13
+f 21 13 20
+f 21 20 16
+f 21 16 19
\ No newline at end of file
diff --git a/objects/objaverse/hot_dog/hot_dog_1/collision/model_normalized_collision_11.obj b/objects/objaverse/hot_dog/hot_dog_1/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d5d0ad9a1df82e31f92813003c59429ef1cb2416
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_1/collision/model_normalized_collision_11.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.00996677 -0.49812026 -0.02302271
+v 0.00578133 -0.45950482 -0.06517344
+v 0.02803739 0.09848485 -0.06054701
+v -0.06108222 0.09848485 -0.01230195
+v -0.05904931 -0.45911807 -0.01183795
+v -0.03185702 0.09848485 -0.05870757
+v -0.03121072 -0.45689522 -0.05736551
+v 0.00578133 0.09848485 -0.06736226
+v -0.05482494 -0.45697349 -0.03292854
+v -0.01955787 0.09848485 -0.06463054
+v -0.05618937 0.09848485 -0.03364034
+f 1 2 3
+f 1 3 4
+f 5 1 4
+f 6 4 3
+f 7 2 1
+f 8 3 2
+f 9 7 1
+f 9 1 5
+f 9 5 4
+f 10 7 6
+f 10 6 3
+f 10 3 8
+f 10 8 2
+f 10 2 7
+f 11 9 4
+f 11 4 6
+f 11 6 7
+f 11 7 9
\ No newline at end of file
diff --git a/objects/objaverse/hot_dog/hot_dog_1/collision/model_normalized_collision_12.obj b/objects/objaverse/hot_dog/hot_dog_1/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0b4c51bad32c1f5b2358b19b27593f39e03fcbaf
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_1/collision/model_normalized_collision_12.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.05566939 -0.45917550 0.01352478
+v 0.05864311 -0.45999279 -0.01256438
+v 0.06090452 0.09848485 -0.01308052
+v -0.05789501 0.09848485 0.01321362
+v -0.05904931 -0.45911807 -0.01183795
+v 0.05771730 0.09848485 0.01399219
+v -0.05607560 -0.45830081 0.01279836
+v -0.06108222 0.09848485 -0.01230195
+f 1 2 3
+f 5 2 1
+f 5 3 2
+f 6 1 3
+f 7 5 1
+f 7 6 4
+f 7 1 6
+f 8 3 5
+f 8 6 3
+f 8 4 6
+f 8 7 4
+f 8 5 7
\ No newline at end of file
diff --git a/objects/objaverse/hot_dog/hot_dog_1/collision/model_normalized_collision_13.obj b/objects/objaverse/hot_dog/hot_dog_1/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..31ae151955598d5da4d7880c85552d0bdf887191
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_1/collision/model_normalized_collision_13.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.01547222 -0.48445677 -0.04960693
+v 0.05386138 -0.46284280 -0.03008272
+v 0.00616773 0.16241441 -0.03028579
+v 0.00578133 -0.45950482 -0.06517344
+v 0.04006134 -0.45829154 -0.05087513
+v 0.02825223 -0.45728443 -0.05867447
+v 0.03689255 0.13902372 -0.04834812
+v 0.04236131 0.14975159 -0.02692638
+v 0.00578133 0.14023699 -0.06112038
+v 0.03019598 0.14551941 -0.04755907
+v 0.04055647 0.14543149 -0.03611848
+v 0.02649377 0.13801661 -0.05502281
+v 0.00578133 0.15071045 -0.05140604
+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 5 6
+f 8 3 2
+f 9 6 4
+f 10 3 8
+f 11 8 2
+f 11 2 7
+f 11 10 8
+f 11 7 10
+f 12 7 6
+f 12 6 9
+f 12 10 7
+f 12 9 10
+f 13 9 4
+f 13 4 3
+f 13 10 9
+f 13 3 10
\ No newline at end of file
diff --git a/objects/objaverse/hot_dog/hot_dog_1/collision/model_normalized_collision_14.obj b/objects/objaverse/hot_dog/hot_dog_1/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c751b9b71fdc024957bcd4d1bbd443383396095
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_1/collision/model_normalized_collision_14.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.04174268 0.09848485 0.03870355
+v 0.05686728 0.09848485 -0.03076880
+v 0.04066858 0.14557480 0.02269548
+v -0.01981151 0.14823506 0.03649335
+v -0.04590525 0.09848485 -0.04653624
+v 0.03710172 0.13909534 0.03500254
+v -0.02566063 0.09848485 0.04863913
+v -0.02467886 0.15984113 -0.02960880
+v 0.03028585 0.14572662 0.03423330
+v 0.04236131 0.14975159 -0.02692638
+f 1 2 3
+f 5 2 1
+f 6 1 3
+f 7 5 1
+f 7 4 5
+f 7 1 6
+f 8 5 4
+f 9 6 3
+f 9 7 6
+f 9 4 7
+f 9 8 4
+f 9 3 8
+f 10 8 3
+f 10 3 2
+f 10 2 5
+f 10 5 8
\ No newline at end of file
diff --git a/objects/objaverse/hot_dog/hot_dog_1/collision/model_normalized_collision_15.obj b/objects/objaverse/hot_dog/hot_dog_1/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3050490166ba82f4a94ed738c63ea349c55bd52b
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_1/collision/model_normalized_collision_15.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.04257396 -0.46830802 0.03036731
+v -0.01888828 -0.45864229 0.04972764
+v -0.03137854 -0.45699883 0.04420144
+v -0.04612948 0.09848485 0.03320267
+v -0.05789501 0.09848485 0.01321362
+v -0.01973769 0.09848485 0.05149145
+v -0.05481231 -0.45702449 0.01987005
+v -0.03203688 0.09848485 0.04556851
+v -0.05622090 0.09848485 0.02054840
+v -0.05607560 -0.45830081 0.01279836
+f 1 2 3
+f 6 3 2
+f 6 2 5
+f 7 1 3
+f 7 3 4
+f 8 4 3
+f 8 3 6
+f 8 6 5
+f 9 7 4
+f 9 5 7
+f 9 8 5
+f 9 4 8
+f 10 7 5
+f 10 5 2
+f 10 2 1
+f 10 1 7
\ No newline at end of file
diff --git a/objects/objaverse/hot_dog/hot_dog_1/collision/model_normalized_collision_16.obj b/objects/objaverse/hot_dog/hot_dog_1/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8f312bdb083060341bb287be07ef82ecd50b0e1b
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_1/collision/model_normalized_collision_16.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.02091331 -0.26932724 0.05901021
+v 0.05696707 -0.26515152 0.01727918
+v 0.04174268 0.03787879 0.03870355
+v 0.00164772 0.03710750 0.06100105
+v 0.00556973 -0.26550739 0.04262408
+v 0.02912364 0.03787879 0.04697144
+v 0.04174268 -0.26515152 0.03870355
+v 0.00516204 -0.26552874 0.06598704
+v -0.00214295 0.03746448 0.04335978
+v 0.05696707 0.03787879 0.01727918
+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 9 2 5
+f 9 4 6
+f 9 8 4
+f 9 5 8
+f 10 2 9
+f 10 7 2
+f 10 3 7
+f 10 9 6
+f 10 6 3
\ No newline at end of file
diff --git a/objects/objaverse/hot_dog/hot_dog_1/collision/model_normalized_collision_17.obj b/objects/objaverse/hot_dog/hot_dog_1/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..62f12ff7b09abc49b53d87db3b12ecb8b831ee7b
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_1/collision/model_normalized_collision_17.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.01556209 -0.48466403 0.03628115
+v 0.05395447 -0.46286839 0.01659157
+v 0.02842004 -0.45738802 0.04551040
+v 0.00665714 -0.34146236 0.06329868
+v 0.00207389 -0.33953010 0.04281838
+v 0.04174268 -0.34090909 0.03870355
+v 0.00578133 -0.45961984 0.05209014
+v 0.04027053 -0.45836319 0.03752957
+v 0.02912364 -0.34090909 0.04697144
+v 0.05696707 -0.34090909 0.01727918
+f 5 2 1
+f 7 1 3
+f 7 3 4
+f 7 5 1
+f 7 4 5
+f 8 1 2
+f 8 3 1
+f 8 6 4
+f 8 4 3
+f 9 6 5
+f 9 5 4
+f 9 4 6
+f 10 2 5
+f 10 5 6
+f 10 8 2
+f 10 6 8
\ No newline at end of file
diff --git a/objects/objaverse/hot_dog/hot_dog_1/collision/model_normalized_collision_18.obj b/objects/objaverse/hot_dog/hot_dog_1/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..66ed44de7d2560a8594fc8d08a99e30dd6256c7f
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_1/collision/model_normalized_collision_18.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.05692819 -0.46368568 -0.01563118
+v 0.06090452 0.09848485 -0.01308052
+v 0.04890426 0.09848485 -0.04277559
+v 0.06015428 0.09848485 -0.01636752
+v 0.05864311 -0.45999279 -0.01256438
+v 0.05346277 -0.45769174 -0.03432798
+v 0.04695241 -0.46065321 -0.04121904
+v 0.05479424 0.09848485 -0.03538978
+f 1 2 3
+f 5 2 1
+f 5 4 2
+f 6 5 1
+f 6 4 5
+f 7 6 1
+f 7 1 3
+f 7 3 6
+f 8 6 3
+f 8 4 6
+f 8 3 2
+f 8 2 4
\ No newline at end of file
diff --git a/objects/objaverse/hot_dog/hot_dog_1/collision/model_normalized_collision_19.obj b/objects/objaverse/hot_dog/hot_dog_1/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a8d2bad6ce9fee1e47eea25cb7664d02c6404cd5
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_1/collision/model_normalized_collision_19.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.00908892 0.35592017 -0.00378372
+v 0.00681114 0.35584293 -0.01536213
+v 0.00856487 0.44683633 -0.01101774
+v -0.00640758 0.44692404 -0.00214305
+v -0.00908917 0.35589003 -0.00378346
+v -0.00543364 0.44674323 -0.01479205
+v 0.00832548 0.44681565 -0.00459268
+v 0.00617994 0.44674015 -0.01459213
+v -0.00861275 0.43165694 -0.01122724
+v -0.00578391 0.35585429 -0.01609928
+v -0.00845298 0.43163626 -0.00445759
+v -0.00959664 0.35588937 -0.01033252
+f 1 2 3
+f 5 2 1
+f 5 1 4
+f 6 4 3
+f 7 1 3
+f 7 3 4
+f 7 4 1
+f 8 6 3
+f 8 3 2
+f 9 4 6
+f 10 8 2
+f 10 6 8
+f 10 9 6
+f 10 2 5
+f 11 5 4
+f 11 4 9
+f 12 10 5
+f 12 9 10
+f 12 11 9
+f 12 5 11
\ No newline at end of file
diff --git a/objects/objaverse/hot_dog/hot_dog_1/collision/model_normalized_collision_2.obj b/objects/objaverse/hot_dog/hot_dog_1/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3918559a8be6db835c467e74b7203144f56353c2
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_1/collision/model_normalized_collision_2.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.03014782 0.15149778 0.02638838
+v 0.04383183 0.15149647 -0.01264204
+v 0.00617994 0.18917947 0.00205781
+v -0.00617994 0.18917947 0.00205781
+v -0.03252773 0.14995148 -0.03893667
+v 0.02422487 0.15907356 0.02166487
+v 0.04388172 0.15154764 -0.00085896
+v -0.03263987 0.15009485 0.02551363
+v 0.03003580 0.15135438 -0.03981133
+v 0.00809559 0.18919606 -0.01664655
+v -0.01064896 0.18924434 -0.00289789
+v -0.00986637 0.18914043 -0.01482852
+f 6 1 3
+f 6 3 4
+f 7 3 1
+f 8 6 4
+f 8 1 6
+f 8 7 1
+f 8 5 2
+f 8 2 7
+f 9 2 5
+f 10 7 2
+f 10 3 7
+f 10 2 9
+f 10 9 5
+f 11 8 4
+f 11 5 8
+f 11 4 3
+f 11 3 10
+f 12 11 10
+f 12 10 5
+f 12 5 11
\ No newline at end of file
diff --git a/objects/objaverse/hot_dog/hot_dog_1/collision/model_normalized_collision_20.obj b/objects/objaverse/hot_dog/hot_dog_1/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..85a5cc8949fa4f1c34bfdcf50eb1228c7ba11558
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_1/collision/model_normalized_collision_20.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.04174268 -0.34090909 0.03870355
+v 0.05696707 -0.34090909 0.01727918
+v 0.05696707 -0.26515152 0.01727918
+v -0.04612948 -0.26515152 0.03320267
+v -0.04612948 -0.34090909 0.03320267
+v 0.02091331 -0.26932724 0.05901021
+v -0.01578262 -0.34417667 0.05655509
+v 0.04174268 -0.26515152 0.03870355
+v 0.02912364 -0.34090909 0.04697144
+v -0.01973769 -0.26515152 0.05149145
+f 5 3 2
+f 5 4 3
+f 7 5 2
+f 7 2 1
+f 7 4 5
+f 8 6 1
+f 8 1 2
+f 8 2 3
+f 9 7 1
+f 9 1 6
+f 9 6 7
+f 10 7 6
+f 10 4 7
+f 10 6 8
+f 10 8 3
+f 10 3 4
\ No newline at end of file
diff --git a/objects/objaverse/hot_dog/hot_dog_1/collision/model_normalized_collision_21.obj b/objects/objaverse/hot_dog/hot_dog_1/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..103d5753d1cfb832363b87648e64d1bb3afc01fb
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_1/collision/model_normalized_collision_21.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.00515712 -0.18886700 0.06639031
+v 0.00459439 -0.18747244 0.04274720
+v 0.00460222 -0.08281401 0.06046209
+v -0.04612948 -0.08333333 0.03320267
+v -0.04612948 -0.18939394 0.03320267
+v 0.00067022 -0.08152427 0.04273208
+v -0.01813376 -0.08349131 0.05759630
+v -0.01973769 -0.18939394 0.05149145
+f 1 2 3
+f 5 4 2
+f 6 3 2
+f 6 2 4
+f 7 1 3
+f 7 4 5
+f 7 6 4
+f 7 3 6
+f 8 5 2
+f 8 2 1
+f 8 7 5
+f 8 1 7
\ No newline at end of file
diff --git a/objects/objaverse/hot_dog/hot_dog_1/collision/model_normalized_collision_22.obj b/objects/objaverse/hot_dog/hot_dog_1/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c745dde28119b5691bb123ced552c42c7bd6020f
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_1/collision/model_normalized_collision_22.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.00972511 0.28017393 -0.00310959
+v 0.00739498 0.28009435 -0.01594596
+v 0.00908892 0.35592017 -0.00378372
+v -0.00908917 0.35589003 -0.00378346
+v -0.00973438 0.28014357 -0.00314297
+v -0.00578391 0.35585429 -0.01609928
+v 0.00213949 0.28008050 0.00173918
+v 0.00681114 0.35584293 -0.01536213
+v -0.00959664 0.35588937 -0.01033252
+v -0.00607580 0.28011351 -0.01718864
+v 0.00353029 0.35578121 0.00019956
+v -0.00617994 0.28006696 0.00065675
+v -0.01040752 0.28014110 -0.01054981
+v -0.00617994 0.35580654 -0.00051080
+f 1 2 3
+f 7 2 1
+f 8 6 3
+f 8 3 2
+f 9 4 3
+f 9 3 6
+f 10 9 6
+f 10 8 2
+f 10 6 8
+f 11 7 1
+f 11 1 3
+f 12 10 2
+f 12 2 7
+f 13 5 4
+f 13 4 9
+f 13 9 10
+f 13 12 5
+f 13 10 12
+f 14 11 3
+f 14 3 4
+f 14 4 5
+f 14 5 12
+f 14 12 7
+f 14 7 11
\ No newline at end of file
diff --git a/objects/objaverse/hot_dog/hot_dog_1/collision/model_normalized_collision_23.obj b/objects/objaverse/hot_dog/hot_dog_1/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b3ad1b01128466a5321902d7e52a2d617c919a5b
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_1/collision/model_normalized_collision_23.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.00832548 0.44681565 -0.00459268
+v 0.00617994 0.44674015 -0.01459213
+v 0.00787879 0.50000001 -0.01143856
+v -0.00617994 0.50000001 -0.00273359
+v -0.00640758 0.44692404 -0.00214305
+v -0.00617994 0.50000001 -0.01377111
+v 0.00787879 0.50000001 -0.00506602
+v -0.00543364 0.44674323 -0.01479205
+v 0.00365888 0.50000001 -0.01411938
+v 0.00617994 0.47703598 -0.01412511
+f 1 2 3
+f 6 4 3
+f 6 5 4
+f 7 1 3
+f 7 3 4
+f 7 5 1
+f 7 4 5
+f 8 2 1
+f 8 1 5
+f 8 5 6
+f 9 6 3
+f 9 8 6
+f 9 2 8
+f 10 9 3
+f 10 3 2
+f 10 2 9
\ No newline at end of file
diff --git a/objects/objaverse/hot_dog/hot_dog_1/collision/model_normalized_collision_24.obj b/objects/objaverse/hot_dog/hot_dog_1/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..03b0a773ebe2fcdb11ddc25e595d8c2fdb9fc008
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_1/collision/model_normalized_collision_24.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.05014114 -0.47614983 0.01572121
+v 0.04912849 0.09848485 0.02944201
+v 0.05771730 0.09848485 0.01399219
+v 0.05501847 0.09848485 0.02205620
+v 0.05071049 -0.47189995 0.01862071
+v 0.04420011 -0.47486144 0.02551178
+v 0.05197650 -0.47331207 0.01268190
+v 0.05696707 0.09848485 0.01727918
+f 5 4 2
+f 6 2 3
+f 6 5 2
+f 6 1 5
+f 7 5 1
+f 7 3 5
+f 7 6 3
+f 7 1 6
+f 8 5 3
+f 8 4 5
+f 8 3 2
+f 8 2 4
\ No newline at end of file
diff --git a/objects/objaverse/hot_dog/hot_dog_1/collision/model_normalized_collision_25.obj b/objects/objaverse/hot_dog/hot_dog_1/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5deac6b68b576bd750cbd57750f911a10cdc06a5
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_1/collision/model_normalized_collision_25.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.04275531 -0.48372554 0.01403547
+v 0.05346277 -0.45769174 -0.03432798
+v 0.05065635 -0.47628856 -0.02589299
+v 0.05566939 -0.45917550 0.01352478
+v 0.04695241 -0.46065321 -0.04121904
+v 0.05070624 -0.47633971 0.01239198
+v 0.05395447 -0.46286839 0.01659157
+v 0.04399095 -0.47478978 -0.03885737
+v 0.04283902 -0.48362870 -0.02715643
+v 0.05050131 -0.47182832 -0.03196631
+f 3 2 4
+f 5 4 2
+f 6 3 4
+f 7 5 1
+f 7 4 5
+f 7 6 4
+f 7 1 6
+f 8 5 2
+f 8 1 5
+f 9 6 1
+f 9 3 6
+f 9 8 3
+f 9 1 8
+f 10 8 2
+f 10 2 3
+f 10 3 8
\ No newline at end of file
diff --git a/objects/objaverse/hot_dog/hot_dog_1/collision/model_normalized_collision_26.obj b/objects/objaverse/hot_dog/hot_dog_1/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9eef91615b1349284e1f460955549f9bc4e0c8da
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_1/collision/model_normalized_collision_26.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.00996677 -0.49812026 -0.02302271
+v 0.05692819 -0.46368568 -0.01563118
+v 0.06015428 0.09848485 -0.01636752
+v 0.05686728 0.09848485 -0.03076880
+v 0.01547222 -0.48445677 -0.04960693
+v 0.05386138 -0.46284280 -0.03008272
+v 0.02211442 0.09848485 -0.06339937
+v 0.02803739 0.09848485 -0.06054701
+f 1 2 3
+f 6 3 2
+f 6 4 3
+f 6 2 1
+f 6 1 5
+f 7 1 3
+f 7 3 4
+f 7 5 1
+f 8 6 5
+f 8 5 7
+f 8 7 4
+f 8 4 6
\ No newline at end of file
diff --git a/objects/objaverse/hot_dog/hot_dog_1/collision/model_normalized_collision_27.obj b/objects/objaverse/hot_dog/hot_dog_1/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..76f9c9ede215ddfc82fe9cad73850dfea3d0b74d
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_1/collision/model_normalized_collision_27.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.02211442 0.09848485 -0.06339937
+v 0.00578133 0.09848485 -0.06736226
+v 0.00578133 0.14023699 -0.06112038
+v -0.02467886 0.15984113 -0.02960880
+v -0.04590525 0.09848485 -0.04653624
+v 0.00616773 0.16241441 -0.03028579
+v -0.01955787 0.09848485 -0.06463054
+v -0.01696199 0.13927088 -0.05924001
+v 0.00578133 0.15071045 -0.05140604
+v -0.01972166 0.14802787 -0.04981905
+f 1 2 3
+f 5 2 1
+f 6 5 1
+f 6 4 5
+f 7 2 5
+f 8 7 5
+f 8 3 2
+f 8 2 7
+f 9 6 1
+f 9 1 3
+f 9 4 6
+f 9 3 8
+f 10 8 5
+f 10 5 4
+f 10 9 8
+f 10 4 9
\ No newline at end of file
diff --git a/objects/objaverse/hot_dog/hot_dog_1/collision/model_normalized_collision_28.obj b/objects/objaverse/hot_dog/hot_dog_1/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0f8dce3b63d51e5b9497323701dd97c4f317d581
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_1/collision/model_normalized_collision_28.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.00716356 -0.26431383 0.06635805
+v 0.00556973 -0.26550739 0.04262408
+v 0.00459439 -0.18747244 0.04274720
+v -0.04612948 -0.18939394 0.03320267
+v -0.04612948 -0.26515152 0.03320267
+v 0.00701190 -0.19043275 0.06678969
+v -0.00560168 -0.19767971 0.06575600
+v -0.00530339 -0.25688489 0.06527207
+f 3 2 4
+f 5 2 1
+f 5 4 2
+f 6 3 4
+f 6 1 2
+f 6 2 3
+f 7 1 6
+f 7 6 4
+f 7 4 5
+f 8 7 5
+f 8 5 1
+f 8 1 7
\ No newline at end of file
diff --git a/objects/objaverse/hot_dog/hot_dog_1/collision/model_normalized_collision_29.obj b/objects/objaverse/hot_dog/hot_dog_1/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..259dbac5b5db535273952200e36a49ed617b54a6
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_1/collision/model_normalized_collision_29.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.00546593 -0.05303767 0.06568270
+v 0.00383485 -0.05304449 0.04233893
+v 0.00599151 -0.00748069 0.04362447
+v -0.04612948 -0.00757575 0.03320267
+v -0.04612948 -0.05303030 0.03320267
+v 0.00535324 -0.00776309 0.06680492
+v -0.01973769 -0.00757575 0.05149145
+v -0.02566063 -0.05303030 0.04863913
+f 1 2 3
+f 3 2 4
+f 5 2 1
+f 5 4 2
+f 6 1 3
+f 7 6 3
+f 7 3 4
+f 8 7 4
+f 8 4 5
+f 8 5 1
+f 8 1 6
+f 8 6 7
\ No newline at end of file
diff --git a/objects/objaverse/hot_dog/hot_dog_1/collision/model_normalized_collision_3.obj b/objects/objaverse/hot_dog/hot_dog_1/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..465030e3e83ca57541c3ee93d7a2840216906349
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_1/collision/model_normalized_collision_3.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.01682445 -0.08333333 0.05289439
+v 0.02912364 -0.00757575 0.04697144
+v 0.02131395 -0.03683625 0.06121434
+v 0.00496778 0.02240975 0.06133910
+v -0.00641522 -0.00622488 0.05949315
+v 0.01841216 -0.01225696 0.06182703
+v -0.00565234 -0.05481299 0.05887032
+v 0.01682445 0.02272728 0.05289439
+v -0.00154269 -0.08024575 0.06497602
+v 0.00704239 0.01695651 0.06184501
+v 0.00460222 -0.08281401 0.06046209
+v 0.00704103 -0.07716467 0.06052246
+v -0.00279417 -0.00462855 0.06626569
+v -0.00075608 0.02002535 0.06566513
+v -0.00211890 -0.05647117 0.06517747
+f 1 2 3
+f 6 3 2
+f 7 5 2
+f 7 2 1
+f 8 5 4
+f 8 2 5
+f 8 6 2
+f 10 8 4
+f 10 6 8
+f 11 9 7
+f 11 7 1
+f 11 1 9
+f 12 9 1
+f 12 1 3
+f 12 3 9
+f 13 9 3
+f 13 3 6
+f 13 5 7
+f 14 13 6
+f 14 6 10
+f 14 10 4
+f 14 4 5
+f 14 5 13
+f 15 13 7
+f 15 7 9
+f 15 9 13
\ No newline at end of file
diff --git a/objects/objaverse/hot_dog/hot_dog_1/collision/model_normalized_collision_30.obj b/objects/objaverse/hot_dog/hot_dog_1/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d6b97dedd0cf7bf8e2c82b323fbc6d56b1de703
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_1/collision/model_normalized_collision_30.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v -0.01381235 -0.08417510 0.06483334
+v 0.00067022 -0.08152427 0.04273208
+v 0.00658237 -0.05301158 0.06576546
+v -0.04612948 -0.05303030 0.03320267
+v -0.04612948 -0.08333333 0.03320267
+v 0.00383485 -0.05304449 0.04233893
+v -0.00577512 -0.06207561 0.06378254
+v -0.00154269 -0.08024575 0.06497602
+v 0.00546593 -0.05303767 0.06568270
+f 5 2 1
+f 5 1 4
+f 6 3 2
+f 6 4 3
+f 6 5 4
+f 6 2 5
+f 7 4 1
+f 8 1 2
+f 8 2 3
+f 8 3 1
+f 9 7 1
+f 9 1 3
+f 9 3 4
+f 9 4 7
\ No newline at end of file
diff --git a/objects/objaverse/hot_dog/hot_dog_1/collision/model_normalized_collision_31.obj b/objects/objaverse/hot_dog/hot_dog_1/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ffbee6f4fd4ec1cfdfccb53f654eda6365ca073
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_1/collision/model_normalized_collision_31.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.00654999 -0.00723940 0.06691840
+v 0.00360584 -0.00855974 0.04339651
+v 0.00105506 0.03715661 0.04894195
+v -0.01559965 0.03884366 0.06519924
+v -0.04612948 -0.00757575 0.03320267
+v -0.00233606 0.03608879 0.06385904
+v -0.01973769 -0.00757575 0.05149145
+v -0.04612948 0.03787879 0.03320267
+v -0.00609591 0.00069873 0.06483825
+v -0.00214295 0.03746448 0.04335978
+f 1 2 3
+f 6 1 3
+f 6 3 4
+f 6 4 1
+f 7 5 2
+f 7 2 1
+f 8 2 5
+f 8 5 4
+f 9 7 1
+f 9 1 4
+f 9 4 5
+f 9 5 7
+f 10 3 2
+f 10 2 8
+f 10 8 4
+f 10 4 3
\ No newline at end of file
diff --git a/objects/objaverse/hot_dog/hot_dog_1/collision/model_normalized_collision_4.obj b/objects/objaverse/hot_dog/hot_dog_1/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6848b53cde78de6f4b14e16a7199be6fe7e13c57
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_1/collision/model_normalized_collision_4.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.01556209 -0.48466403 0.03628115
+v 0.00578133 -0.45961984 0.05209014
+v -0.04257396 -0.46830802 0.03036731
+v -0.04612948 -0.34090909 0.03320267
+v 0.00207389 -0.33953010 0.04281838
+v -0.01194047 -0.34561725 0.06449802
+v -0.01888828 -0.45864229 0.04972764
+v 0.00222932 -0.33862397 0.06617811
+v 0.00451958 -0.42938519 0.06146386
+f 1 3 4
+f 5 1 4
+f 6 4 3
+f 7 1 2
+f 7 3 1
+f 7 6 3
+f 8 1 5
+f 8 5 4
+f 8 4 6
+f 9 7 2
+f 9 6 7
+f 9 8 6
+f 9 2 1
+f 9 1 8
\ No newline at end of file
diff --git a/objects/objaverse/hot_dog/hot_dog_1/collision/model_normalized_collision_5.obj b/objects/objaverse/hot_dog/hot_dog_1/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..06f101437490c1eece60a2c36cbeeda303420241
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_1/collision/model_normalized_collision_5.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.01682445 -0.35606061 0.05289439
+v 0.02145058 -0.32074405 0.05918944
+v -0.01194047 -0.34561725 0.06449802
+v -0.00052640 -0.23496789 0.06542648
+v 0.01682445 -0.23484849 0.05289439
+v 0.02112733 -0.32063098 0.06155835
+v -0.01973769 -0.32575758 0.05149145
+v -0.00676072 -0.33537838 0.06477801
+v 0.02045418 -0.26929550 0.06196828
+v -0.00056809 -0.35286595 0.06361152
+v -0.01578262 -0.34417667 0.05655509
+v -0.00554041 -0.26303486 0.05918064
+v 0.00696744 -0.24142519 0.06228417
+v 0.02091331 -0.26932724 0.05901021
+v 0.00682059 -0.34753448 0.06142867
+v 0.00325010 -0.35488320 0.06098818
+v 0.00501149 -0.23489352 0.06131025
+f 5 2 1
+f 6 1 2
+f 7 5 1
+f 7 3 4
+f 8 6 4
+f 8 4 3
+f 9 4 6
+f 10 8 3
+f 10 6 8
+f 11 7 1
+f 11 3 7
+f 11 10 3
+f 12 7 4
+f 12 5 7
+f 13 9 5
+f 13 5 4
+f 13 4 9
+f 14 9 6
+f 14 6 2
+f 14 2 5
+f 14 5 9
+f 15 1 6
+f 15 6 10
+f 16 11 1
+f 16 10 11
+f 16 15 10
+f 16 1 15
+f 17 12 4
+f 17 4 5
+f 17 5 12
\ No newline at end of file
diff --git a/objects/objaverse/hot_dog/hot_dog_1/collision/model_normalized_collision_6.obj b/objects/objaverse/hot_dog/hot_dog_1/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..61a5d04c5dd6a0763f50cf0fc129c34ff01f3fb3
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_1/collision/model_normalized_collision_6.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v 0.02463958 -0.49293709 0.02199560
+v 0.04006134 -0.45829154 -0.05087513
+v 0.04027053 -0.45836319 0.03752957
+v -0.04181262 -0.45766172 0.03589732
+v -0.02701944 -0.49139081 -0.03454396
+v 0.02825223 -0.45728443 -0.05867447
+v -0.01724476 -0.47277880 0.04631497
+v 0.03601570 -0.49101209 -0.02387050
+v 0.02842004 -0.45738802 0.04551040
+v -0.04160340 -0.45759007 -0.04924289
+v -0.02713156 -0.49153418 0.02112087
+v 0.03592353 -0.49111182 0.01077359
+v 0.02452745 -0.49279376 -0.03541850
+v -0.01888828 -0.45864229 0.04972764
+v 0.02677647 -0.47152468 0.04209767
+v -0.01707706 -0.47267521 -0.05947896
+v -0.03280832 -0.47868320 0.03461407
+v 0.03642115 -0.47566808 -0.04797219
+v -0.03885116 -0.47179833 0.03353558
+v 0.03664532 -0.47566808 0.03463857
+v -0.01872055 -0.45853865 -0.06289172
+v -0.03292328 -0.47850347 -0.04781071
+v 0.02660881 -0.47142109 -0.05526170
+v -0.05598249 -0.45827522 -0.02628951
+v -0.05238272 -0.47243735 0.01195551
+v -0.03864195 -0.47172666 -0.04688122
+v -0.04357534 -0.47803553 0.02215148
+v -0.05607560 -0.45830081 0.01279836
+v -0.05228961 -0.47241179 -0.02544664
+v -0.04346320 -0.47789216 -0.03557450
+f 6 3 2
+f 8 2 3
+f 9 6 4
+f 9 3 6
+f 10 4 6
+f 11 1 7
+f 12 8 3
+f 12 1 8
+f 13 8 1
+f 13 11 5
+f 13 1 11
+f 14 9 4
+f 14 7 9
+f 15 9 7
+f 15 7 1
+f 16 13 5
+f 17 11 7
+f 18 6 2
+f 18 2 8
+f 18 8 13
+f 19 14 4
+f 19 7 14
+f 19 17 7
+f 20 3 9
+f 20 9 15
+f 20 12 3
+f 20 15 1
+f 20 1 12
+f 21 10 6
+f 21 6 16
+f 22 16 5
+f 23 16 6
+f 23 6 18
+f 23 18 13
+f 23 13 16
+f 25 19 4
+f 26 21 16
+f 26 10 21
+f 26 16 22
+f 27 25 11
+f 27 11 17
+f 27 17 19
+f 27 19 25
+f 28 25 4
+f 28 24 25
+f 28 4 10
+f 28 10 24
+f 29 25 24
+f 29 5 11
+f 29 11 25
+f 29 24 10
+f 29 10 26
+f 30 29 26
+f 30 26 22
+f 30 22 5
+f 30 5 29
\ No newline at end of file
diff --git a/objects/objaverse/hot_dog/hot_dog_1/collision/model_normalized_collision_7.obj b/objects/objaverse/hot_dog/hot_dog_1/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f395b37171423209ddd50e5c8318ce972b47aee3
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_1/collision/model_normalized_collision_7.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.00617994 0.18917947 0.00205781
+v 0.00809559 0.18919606 -0.01664655
+v 0.00617994 0.28006696 0.00065675
+v -0.00973438 0.28014357 -0.00314297
+v -0.00986637 0.18914043 -0.01482852
+v 0.00739498 0.28009435 -0.01594596
+v -0.00617994 0.18917947 0.00205781
+v -0.00607580 0.28011351 -0.01718864
+v -0.00617994 0.28006696 0.00065675
+v -0.01064896 0.18924434 -0.00289789
+v -0.01040752 0.28014110 -0.01054981
+v -0.00934223 0.24973742 -0.01430440
+f 1 2 3
+f 5 2 1
+f 6 3 2
+f 6 4 3
+f 7 1 3
+f 7 5 1
+f 8 6 2
+f 8 2 5
+f 9 7 3
+f 9 3 4
+f 9 4 7
+f 10 7 4
+f 10 5 7
+f 11 4 6
+f 11 6 8
+f 11 10 4
+f 11 5 10
+f 12 11 8
+f 12 8 5
+f 12 5 11
\ No newline at end of file
diff --git a/objects/objaverse/hot_dog/hot_dog_1/collision/model_normalized_collision_8.obj b/objects/objaverse/hot_dog/hot_dog_1/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eeb1293d0f429a8a1858adbfaf2f3962654715d9
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_1/collision/model_normalized_collision_8.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.04912849 0.09848485 0.02944201
+v 0.05479424 0.09848485 -0.03538978
+v 0.05183257 0.14416183 -0.00250246
+v 0.04226914 0.14985132 0.01382947
+v 0.04890426 0.09848485 -0.04277559
+v 0.05050315 0.13849555 0.01845538
+v 0.04380696 0.14127396 -0.03871064
+v 0.05018908 0.14247607 0.01227394
+v 0.04403113 0.14127396 0.02537702
+v 0.05501847 0.09848485 0.02205620
+v 0.05029398 0.13842393 -0.03180095
+v 0.04383183 0.15149647 -0.01264204
+v 0.05178269 0.14411065 -0.01099855
+f 5 1 4
+f 7 5 4
+f 8 6 3
+f 8 3 4
+f 9 4 1
+f 9 1 6
+f 9 8 4
+f 9 6 8
+f 10 6 1
+f 10 2 3
+f 10 3 6
+f 10 5 2
+f 10 1 5
+f 11 2 5
+f 11 5 7
+f 12 7 4
+f 12 4 3
+f 12 11 7
+f 13 3 2
+f 13 2 11
+f 13 12 3
+f 13 11 12
\ No newline at end of file
diff --git a/objects/objaverse/hot_dog/hot_dog_1/collision/model_normalized_collision_9.obj b/objects/objaverse/hot_dog/hot_dog_1/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d0df3991c0d334423493c8174a2883ac00a6a41
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_1/collision/model_normalized_collision_9.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.03504658 0.09848485 0.04411912
+v 0.02912364 0.09848485 0.04697144
+v -0.03795982 0.09848485 0.04271619
+v -0.02283184 0.14127396 0.04276509
+v 0.03221775 0.14127396 0.03824505
+v -0.01712968 0.13937449 0.04607601
+v 0.02666143 0.13812019 0.04185878
+v -0.03678966 0.12700711 0.04028631
+v -0.03203688 0.09848485 0.04556851
+v -0.03126348 0.12359435 0.04396251
+f 1 2 3
+f 5 1 3
+f 6 5 4
+f 7 2 1
+f 7 1 5
+f 7 6 2
+f 7 5 6
+f 8 5 3
+f 8 4 5
+f 8 6 4
+f 9 3 2
+f 9 2 6
+f 10 8 3
+f 10 3 9
+f 10 9 6
+f 10 6 8
\ No newline at end of file
diff --git a/objects/objaverse/hot_dog/hot_dog_1/model.xml b/objects/objaverse/hot_dog/hot_dog_1/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..764efa91ac494b9e10c73db68f576d318aa9c83f
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_1/model.xml
@@ -0,0 +1,81 @@
+<mujoco model="hot_dog_8">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="lambert3.002" 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="lambert3.002"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_22._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_23._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_21._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_20._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_24._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_30._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_18._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_19._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_31._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_25._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_27._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_26._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_9._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_8._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_6._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_7._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_5._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_4._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_0._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_1._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_3._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_2._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_17._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_16._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_28._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_14._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_15._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_29._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_11._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_10._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_12._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_13._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+      </body>
+      <site rgba="0 0 0 0" size="0.005" pos="1.9546997669811567e-05 -0.00020677247535080714 -0.0148196972" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="1.9546997669811567e-05 -0.00020677247535080714 0.014722048000000003" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.013438086798055028 0.1095864441362763 -4.882459999999895e-05" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/objects/objaverse/hot_dog/hot_dog_2/collision/model_normalized_collision_0.obj b/objects/objaverse/hot_dog/hot_dog_2/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc9062872035ac2b50725c266f87b3c401cf387b
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_2/collision/model_normalized_collision_0.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.21927767 -0.17810873 0.04397700
+v 0.21964917 -0.18848953 -0.01057658
+v 0.22049649 -0.08059815 0.00681400
+v -0.09933862 -0.07831180 0.00797821
+v -0.09856343 -0.18508380 -0.01115488
+v -0.09747811 -0.12448480 0.10664375
+v 0.22018547 -0.09144978 0.04766181
+v -0.09935448 -0.17317998 0.04115845
+v 0.00688474 -0.12126198 0.10346774
+v -0.09956179 -0.14872996 0.08406315
+f 5 2 1
+f 5 3 2
+f 5 4 3
+f 7 1 2
+f 7 2 3
+f 7 3 4
+f 7 4 6
+f 8 5 1
+f 8 4 5
+f 9 7 6
+f 9 6 1
+f 9 1 7
+f 10 8 1
+f 10 1 6
+f 10 6 4
+f 10 4 8
\ No newline at end of file
diff --git a/objects/objaverse/hot_dog/hot_dog_2/collision/model_normalized_collision_1.obj b/objects/objaverse/hot_dog/hot_dog_2/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f6b857707d5775b87c1e258b8fec8d06f7cae4d0
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_2/collision/model_normalized_collision_1.obj
@@ -0,0 +1,108 @@
+# https://github.com/mikedh/trimesh
+v -0.11363779 0.08267249 0.08055179
+v -0.09866558 0.16941634 0.04798650
+v -0.23909867 0.12815257 0.12512647
+v -0.34934824 0.17093737 0.05568372
+v -0.23484849 0.08273234 -0.08608438
+v -0.23881589 0.15726225 0.09752967
+v -0.11481110 0.11741537 0.11493131
+v -0.15909091 0.08273234 -0.08608438
+v -0.15889471 0.17508751 -0.07885414
+v -0.35714926 0.08695804 0.13398576
+v -0.26339948 0.18670106 0.04709805
+v -0.09737810 0.13945225 0.09257597
+v -0.34952636 0.06777101 0.01932333
+v -0.34628560 0.14006009 -0.09448600
+v -0.32507886 0.15559215 0.10066107
+v -0.14557494 0.10993596 0.12543995
+v -0.25271609 0.18617517 0.04750749
+v -0.11510728 0.09769936 0.11073647
+v -0.09716568 0.15902656 0.06701452
+v -0.27718874 0.18700989 -0.05321887
+v -0.35154527 0.17849535 0.00351535
+v -0.35143360 0.11635267 0.12857745
+v -0.32390208 0.16981699 0.07149038
+v -0.20628034 0.18740816 -0.02266923
+v -0.09920820 0.15673099 0.07140578
+v -0.30460207 0.16925445 -0.07592865
+v -0.30758483 0.18665670 0.01837896
+v -0.34879237 0.15501602 0.08583303
+v -0.33470554 0.12747197 0.12428059
+v -0.20724076 0.18631113 0.00207415
+v -0.25158955 0.18662691 -0.05260630
+v -0.33604527 0.17152938 -0.05104072
+v -0.29367491 0.18642940 0.03189641
+v -0.30731993 0.18607546 -0.02277444
+v -0.33487544 0.14305802 0.10959213
+v -0.22153116 0.18646163 -0.03765995
+v -0.33421887 0.15886704 -0.07562986
+f 8 2 1
+f 9 2 8
+f 12 6 3
+f 12 3 7
+f 13 8 1
+f 13 5 8
+f 13 1 10
+f 14 5 13
+f 14 13 10
+f 14 9 8
+f 14 8 5
+f 15 6 11
+f 15 3 6
+f 16 7 3
+f 16 3 10
+f 17 11 6
+f 18 12 7
+f 18 1 12
+f 18 7 16
+f 18 16 10
+f 18 10 1
+f 19 12 1
+f 19 1 2
+f 19 17 6
+f 19 2 17
+f 21 14 10
+f 21 10 4
+f 22 10 3
+f 23 15 11
+f 23 11 4
+f 23 4 15
+f 24 2 9
+f 25 19 6
+f 25 6 12
+f 25 12 19
+f 26 20 9
+f 26 9 14
+f 27 21 4
+f 27 24 20
+f 27 11 24
+f 28 15 4
+f 28 4 10
+f 28 10 22
+f 29 22 3
+f 29 3 15
+f 30 17 2
+f 30 2 24
+f 30 24 11
+f 30 11 17
+f 31 9 20
+f 31 20 24
+f 32 20 26
+f 32 14 21
+f 33 27 4
+f 33 4 11
+f 33 11 27
+f 34 27 20
+f 34 21 27
+f 34 32 21
+f 34 20 32
+f 35 28 22
+f 35 15 28
+f 35 29 15
+f 35 22 29
+f 36 31 24
+f 36 24 9
+f 36 9 31
+f 37 32 26
+f 37 26 14
+f 37 14 32
\ No newline at end of file
diff --git a/objects/objaverse/hot_dog/hot_dog_2/collision/model_normalized_collision_10.obj b/objects/objaverse/hot_dog/hot_dog_2/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3030d920d9fb4ff6732e14b8473df8840ed2f2a7
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_2/collision/model_normalized_collision_10.obj
@@ -0,0 +1,132 @@
+# https://github.com/mikedh/trimesh
+v 0.36898442 -0.14092664 0.01935446
+v 0.42934275 -0.06141946 -0.03336443
+v 0.43062230 0.07304988 0.01678079
+v 0.26533009 0.08421135 0.01922266
+v 0.26267091 -0.06178776 -0.17804379
+v 0.26352239 -0.08643581 0.02437880
+v 0.43011186 -0.07448443 0.01711767
+v 0.36328554 -0.13488749 -0.04576047
+v 0.34267201 0.06220392 -0.13078624
+v 0.26274637 0.06103384 -0.17845735
+v 0.42980935 -0.03695271 -0.04346934
+v 0.34136176 -0.09164393 -0.11535833
+v 0.26396085 -0.11037917 -0.15457198
+v 0.40365013 -0.11052768 -0.03700747
+v 0.26384899 0.07918676 -0.16958081
+v 0.31441926 -0.00542882 -0.15902787
+v 0.41374834 0.06396948 -0.05947392
+v 0.41378825 -0.06506588 -0.05924965
+v 0.26292080 -0.09252827 -0.16327232
+v 0.28495868 -0.10645306 -0.14549465
+v 0.39189595 -0.12772784 0.01830759
+v 0.42831907 -0.07578479 -0.01931924
+v 0.37444265 -0.12974741 -0.04188644
+v 0.40131490 0.07680176 -0.07005082
+v 0.27144674 0.06017616 -0.17705548
+v 0.33941037 -0.06147557 -0.13070486
+v 0.32973995 0.04648793 -0.14449761
+v 0.42957925 0.05950241 -0.03429105
+v 0.41140028 -0.09055662 -0.04736558
+v 0.31361196 -0.09951289 -0.13040245
+v 0.27072395 -0.06129687 -0.17692974
+v 0.41378035 -0.10420497 -0.00825863
+v 0.38944082 -0.12517770 -0.01884667
+v 0.42875981 0.07507346 -0.01892583
+v 0.31504621 0.07499296 -0.14419535
+v 0.42998226 0.03628155 -0.04328772
+v 0.28448337 0.03448982 -0.17388336
+v 0.27027269 -0.09178222 -0.16219244
+v 0.28382241 -0.03566064 -0.17371381
+v 0.41325740 -0.10347550 0.01744762
+v 0.37041108 0.07656967 -0.09972639
+v 0.28616277 0.07496356 -0.16116197
+v 0.29908903 0.06145439 -0.15910890
+v 0.31412056 0.00561010 -0.15898171
+v 0.29835389 -0.05986136 -0.15891386
+f 6 3 4
+f 7 6 1
+f 7 3 6
+f 10 6 4
+f 10 5 6
+f 11 7 2
+f 11 3 7
+f 13 8 1
+f 13 1 6
+f 15 10 4
+f 18 11 2
+f 19 13 6
+f 19 6 5
+f 19 5 13
+f 20 8 13
+f 21 7 1
+f 22 2 7
+f 23 8 12
+f 23 12 14
+f 23 1 8
+f 24 15 4
+f 24 17 9
+f 25 10 15
+f 26 18 12
+f 26 16 18
+f 27 18 16
+f 27 11 18
+f 27 9 17
+f 28 17 24
+f 29 14 12
+f 29 12 18
+f 29 18 2
+f 29 22 14
+f 29 2 22
+f 30 12 8
+f 30 8 20
+f 30 26 12
+f 31 13 5
+f 31 5 10
+f 31 10 25
+f 31 30 20
+f 31 26 30
+f 32 21 14
+f 32 22 7
+f 32 14 22
+f 33 23 14
+f 33 14 21
+f 33 21 1
+f 33 1 23
+f 34 24 4
+f 34 4 3
+f 34 28 24
+f 34 3 28
+f 36 27 17
+f 36 11 27
+f 36 17 28
+f 36 28 3
+f 36 3 11
+f 37 25 27
+f 37 31 25
+f 38 31 20
+f 38 20 13
+f 38 13 31
+f 39 16 26
+f 39 37 16
+f 39 31 37
+f 40 32 7
+f 40 7 21
+f 40 21 32
+f 41 24 9
+f 41 9 35
+f 41 35 15
+f 41 15 24
+f 42 35 25
+f 42 25 15
+f 42 15 35
+f 43 27 25
+f 43 25 35
+f 43 35 9
+f 43 9 27
+f 44 37 27
+f 44 27 16
+f 44 16 37
+f 45 39 26
+f 45 26 31
+f 45 31 39
\ No newline at end of file
diff --git a/objects/objaverse/hot_dog/hot_dog_2/collision/model_normalized_collision_11.obj b/objects/objaverse/hot_dog/hot_dog_2/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..61fe3840c3a5d4ed107c454e4603b550c28353ad
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_2/collision/model_normalized_collision_11.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.26374035 -0.14986766 0.09028746
+v 0.26366699 -0.14491084 0.09486871
+v -0.09965160 -0.11751279 0.11339294
+v -0.09813928 -0.08290107 0.09777934
+v 0.26462145 -0.07704058 0.09981114
+v -0.09886723 -0.14064824 0.09159002
+v 0.14600964 -0.11416960 0.12551961
+v 0.26704840 -0.10779917 0.12867359
+v 0.12976314 -0.15187991 0.08745659
+v -0.09960670 -0.13312138 0.09872805
+v 0.23350294 -0.11476259 0.12534733
+v 0.10892710 -0.08411977 0.13576811
+v 0.14382032 -0.07379342 0.09828706
+v -0.09892150 -0.09190341 0.10381517
+v 0.26474545 -0.10815837 0.12857462
+v 0.26624921 -0.06177619 0.11903022
+v -0.09932253 -0.10662282 0.11775034
+v 0.25128138 -0.06060373 0.11785775
+v 0.14403580 -0.06556342 0.10766592
+f 8 2 1
+f 8 1 5
+f 9 5 1
+f 9 6 4
+f 9 7 6
+f 9 1 7
+f 10 4 6
+f 10 7 3
+f 10 6 7
+f 11 7 1
+f 11 1 2
+f 13 9 4
+f 13 5 9
+f 14 10 3
+f 14 4 10
+f 15 7 11
+f 15 12 7
+f 15 8 12
+f 15 11 2
+f 15 2 8
+f 16 12 8
+f 16 8 5
+f 17 12 4
+f 17 4 14
+f 17 14 3
+f 17 3 7
+f 17 7 12
+f 18 16 5
+f 18 5 13
+f 18 4 12
+f 18 12 16
+f 19 18 13
+f 19 13 4
+f 19 4 18
\ No newline at end of file
diff --git a/objects/objaverse/hot_dog/hot_dog_2/collision/model_normalized_collision_12.obj b/objects/objaverse/hot_dog/hot_dog_2/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b27fe66fee80235393b9d3c45e32cdda033d660d
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_2/collision/model_normalized_collision_12.obj
@@ -0,0 +1,135 @@
+# https://github.com/mikedh/trimesh
+v -0.41720383 0.07270356 0.13624973
+v -0.33777990 0.08068324 -0.14102823
+v -0.35714926 0.08695804 0.13398576
+v -0.35016410 0.17506057 0.03326838
+v -0.44853206 0.07654342 -0.03604592
+v -0.33573178 0.07087796 0.01631247
+v -0.35093089 0.14512797 0.10286461
+v -0.41493683 0.14572162 0.01591457
+v -0.33421887 0.15886704 -0.07562986
+v -0.37573828 0.07774442 -0.11781881
+v -0.44023066 0.07338137 0.11098983
+v -0.35143360 0.11635267 0.12857745
+v -0.39957049 0.14400934 0.07042718
+v -0.33408592 0.11931512 -0.11949362
+v -0.33978093 0.18233748 0.00422827
+v -0.42045991 0.13020830 -0.04315563
+v -0.34970976 0.07857360 -0.13519871
+v -0.44585613 0.10049352 0.03094154
+v -0.38876435 0.10326649 0.12825604
+v -0.35098283 0.16062924 0.07366536
+v -0.39316835 0.15460588 0.04785885
+v -0.39393399 0.13832323 0.08472516
+v -0.33577534 0.09277463 -0.13635501
+v -0.33706037 0.17513235 -0.03687859
+v -0.37358537 0.12856680 -0.08703173
+v -0.42656617 0.10416723 -0.06404832
+v -0.44869288 0.07826047 0.07579487
+v -0.44469722 0.10125499 -0.00979784
+v -0.44578324 0.08496676 0.07149396
+v -0.38135006 0.12828480 0.10868906
+v -0.36299290 0.16965121 0.03253595
+v -0.36480919 0.15660897 0.07128456
+v -0.34841980 0.09027956 -0.13130773
+v -0.37586113 0.15505004 -0.04861553
+v -0.34754901 0.15484480 -0.07278367
+v -0.43314057 0.07993899 -0.06353473
+v -0.42935979 0.12053295 -0.03468791
+v -0.41890460 0.14001983 -0.02046205
+v -0.36426610 0.14069021 0.10142347
+v -0.37309162 0.09082042 -0.11492878
+v -0.35043045 0.17159891 -0.03602853
+v -0.38979214 0.13979818 -0.05811715
+v -0.40524177 0.14027351 -0.04329154
+v -0.36189322 0.16969720 -0.02083714
+v -0.40431741 0.10083650 -0.08492505
+v -0.34662830 0.11592261 -0.11488757
+f 6 3 1
+f 10 6 5
+f 11 6 1
+f 11 5 6
+f 12 1 3
+f 12 3 6
+f 14 9 6
+f 15 12 6
+f 15 7 12
+f 17 2 6
+f 17 6 10
+f 19 1 12
+f 20 13 7
+f 20 15 4
+f 20 7 15
+f 21 8 13
+f 21 15 8
+f 22 13 11
+f 22 11 1
+f 22 7 13
+f 23 14 6
+f 23 6 2
+f 24 15 6
+f 24 6 9
+f 26 16 25
+f 27 18 5
+f 27 5 11
+f 28 5 18
+f 29 13 8
+f 29 8 18
+f 29 18 27
+f 29 27 11
+f 29 11 13
+f 30 19 12
+f 30 12 7
+f 30 22 1
+f 30 1 19
+f 31 21 4
+f 31 4 15
+f 31 15 21
+f 32 20 4
+f 32 4 21
+f 32 21 13
+f 32 13 20
+f 33 23 2
+f 33 2 17
+f 33 14 23
+f 35 9 14
+f 35 14 25
+f 36 26 10
+f 36 10 5
+f 36 5 26
+f 37 26 5
+f 37 16 26
+f 37 5 28
+f 38 28 18
+f 38 18 8
+f 38 37 28
+f 38 16 37
+f 39 30 7
+f 39 7 22
+f 39 22 30
+f 40 33 17
+f 40 17 10
+f 41 24 9
+f 41 35 34
+f 41 9 35
+f 41 15 24
+f 42 25 16
+f 42 35 25
+f 42 34 35
+f 43 38 34
+f 43 16 38
+f 43 42 16
+f 43 34 42
+f 44 38 8
+f 44 8 15
+f 44 15 41
+f 44 41 34
+f 44 34 38
+f 45 40 10
+f 45 10 26
+f 45 26 25
+f 45 25 40
+f 46 40 25
+f 46 25 14
+f 46 14 33
+f 46 33 40
\ No newline at end of file
diff --git a/objects/objaverse/hot_dog/hot_dog_2/collision/model_normalized_collision_13.obj b/objects/objaverse/hot_dog/hot_dog_2/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5de35da943d0b67e40dbe4127c0e46330efe1d26
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_2/collision/model_normalized_collision_13.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.26480635 -0.17262611 0.04904025
+v 0.29357372 -0.16276149 0.05867956
+v -0.09880153 -0.15356863 0.07726089
+v 0.00816168 -0.08690468 0.04766181
+v 0.26395233 -0.09085488 0.05278180
+v -0.09875027 -0.16971137 0.04749552
+v 0.20361648 -0.15643902 0.08557314
+v 0.21927767 -0.17810873 0.04397700
+v -0.09940574 -0.15703724 0.07092383
+v 0.26374035 -0.14986766 0.09028746
+v 0.15986277 -0.17773465 0.04366031
+v 0.21905667 -0.17184411 0.05580692
+v 0.17554478 -0.15643533 0.08607865
+v 0.29444157 -0.15269772 0.07680692
+v 0.26651196 -0.12778294 0.11041165
+v 0.29533857 -0.15894689 0.06501447
+v 0.00688474 -0.12126198 0.10346774
+f 5 2 1
+f 8 5 1
+f 8 4 5
+f 9 3 4
+f 9 4 6
+f 10 7 1
+f 11 6 4
+f 11 4 8
+f 12 8 1
+f 12 1 7
+f 12 7 8
+f 13 3 9
+f 13 9 6
+f 13 6 11
+f 13 11 8
+f 13 8 7
+f 14 10 1
+f 14 1 2
+f 15 3 13
+f 15 13 7
+f 15 7 10
+f 15 14 5
+f 15 10 14
+f 16 14 2
+f 16 2 5
+f 16 5 14
+f 17 15 5
+f 17 5 4
+f 17 4 3
+f 17 3 15
\ No newline at end of file
diff --git a/objects/objaverse/hot_dog/hot_dog_2/collision/model_normalized_collision_14.obj b/objects/objaverse/hot_dog/hot_dog_2/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7cc6a30e450bd108bd0012cee4f75e2144b2838b
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_2/collision/model_normalized_collision_14.obj
@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
+v 0.39683740 -0.12123363 0.04602569
+v 0.48978186 -0.02892635 0.10672494
+v 0.40160147 -0.05403576 0.19933646
+v 0.39973767 0.09697195 0.07998694
+v 0.43062230 0.07304988 0.01678079
+v 0.46468176 0.03951604 0.17272878
+v 0.39527421 0.09388555 0.09092061
+v 0.44561709 -0.05576365 0.19094829
+v 0.43011186 -0.07448443 0.01711767
+v 0.39837879 -0.12390710 0.01943216
+v 0.45416466 0.06244684 0.13342940
+v 0.40693523 0.04413880 0.17166482
+v 0.44118698 -0.05817975 0.19094829
+v 0.45844820 0.02791308 0.18440525
+v 0.47575825 -0.01853389 0.07690633
+v 0.41842214 0.09208425 0.02226536
+v 0.40280522 -0.12135177 0.01808783
+v 0.44133764 0.06557953 0.14537580
+v 0.48993315 0.02956910 0.10711920
+v 0.40242909 0.06605779 0.14810680
+v 0.39963765 -0.12037485 0.04444578
+v 0.46485404 0.00541932 0.18443800
+v 0.42240956 0.02849352 0.18592427
+v 0.47425591 0.04117311 0.15984218
+v 0.47586981 0.01907180 0.07705971
+v 0.46895881 -0.05080965 0.14878889
+v 0.49151477 0.01219156 0.16092869
+v 0.40875657 0.01902631 0.18392067
+v 0.47892386 0.01513734 0.17179845
+v 0.48929597 0.02680402 0.14839147
+v 0.48863068 -0.02762522 0.14810293
+v 0.49081811 -0.01294611 0.16074591
+v 0.47364842 -0.04199879 0.15945180
+v 0.46477976 -0.00661211 0.18433419
+v 0.47855582 -0.01614894 0.17139392
+f 7 1 3
+f 10 1 7
+f 13 8 3
+f 13 3 1
+f 14 6 12
+f 15 9 5
+f 15 2 9
+f 16 5 10
+f 16 4 11
+f 16 10 7
+f 16 7 4
+f 17 10 5
+f 17 5 9
+f 17 9 2
+f 18 11 4
+f 18 4 7
+f 19 16 11
+f 19 5 16
+f 20 7 3
+f 20 3 12
+f 20 18 7
+f 20 12 6
+f 20 6 18
+f 21 13 1
+f 21 8 13
+f 21 1 10
+f 21 10 17
+f 22 14 3
+f 22 3 8
+f 23 14 12
+f 23 3 14
+f 24 18 6
+f 24 11 18
+f 24 19 11
+f 25 15 5
+f 25 5 19
+f 25 19 2
+f 25 2 15
+f 26 21 17
+f 26 17 2
+f 26 8 21
+f 27 24 6
+f 27 2 19
+f 28 23 12
+f 28 12 3
+f 28 3 23
+f 29 27 6
+f 29 6 14
+f 29 14 22
+f 29 22 27
+f 30 27 19
+f 30 19 24
+f 30 24 27
+f 31 26 2
+f 32 31 2
+f 32 2 27
+f 33 8 26
+f 33 26 31
+f 33 32 8
+f 33 31 32
+f 34 32 27
+f 34 27 22
+f 34 22 8
+f 35 34 8
+f 35 8 32
+f 35 32 34
\ No newline at end of file
diff --git a/objects/objaverse/hot_dog/hot_dog_2/collision/model_normalized_collision_15.obj b/objects/objaverse/hot_dog/hot_dog_2/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7bfe8a27fe7aba2b4706abc1650db6f1cddadbc6
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_2/collision/model_normalized_collision_15.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v -0.29703703 -0.07479768 0.16447155
+v -0.30029682 -0.07178168 0.16883795
+v -0.46993208 -0.04443279 0.16289577
+v -0.41720668 0.05034516 0.16954191
+v -0.38934948 0.04786219 0.16324018
+v -0.45781814 -0.00132235 0.19370092
+v -0.33685035 -0.06880558 0.17457895
+v -0.29943044 -0.04965188 0.16380310
+v -0.48862471 -0.00683975 0.16659402
+v -0.42182558 0.01991781 0.18906086
+v -0.41695228 -0.06350855 0.15374321
+v -0.40603645 -0.03639416 0.19094829
+v -0.42030666 0.04502249 0.17601436
+v -0.45844820 -0.02735499 0.18440525
+v -0.35190633 -0.03538692 0.18435915
+v -0.41961866 -0.05793392 0.16137201
+v -0.33607951 -0.07172798 0.16836382
+v -0.35854457 -0.05733151 0.15319611
+v -0.48433538 -0.01842840 0.16444409
+v -0.46500948 -0.03929952 0.17211502
+v -0.39316410 0.04202737 0.16785020
+v -0.30299088 -0.05273163 0.16951358
+v -0.34361589 -0.05071745 0.18567144
+v -0.47855582 -0.01614894 0.17139392
+v -0.36846635 -0.02362841 0.18598077
+f 7 1 2
+f 8 2 1
+f 9 4 5
+f 12 10 6
+f 13 9 6
+f 13 4 9
+f 13 6 10
+f 13 5 4
+f 14 6 9
+f 14 12 6
+f 16 11 7
+f 16 3 11
+f 17 11 1
+f 17 1 7
+f 17 7 11
+f 18 8 1
+f 18 1 11
+f 18 11 5
+f 18 5 8
+f 19 9 5
+f 19 5 11
+f 19 11 3
+f 20 7 12
+f 20 16 7
+f 20 3 16
+f 20 12 14
+f 20 19 3
+f 20 9 19
+f 21 13 10
+f 21 5 13
+f 21 10 15
+f 22 8 5
+f 22 21 15
+f 22 5 21
+f 22 2 8
+f 23 10 12
+f 23 12 7
+f 23 7 2
+f 23 22 15
+f 23 2 22
+f 24 20 14
+f 24 14 9
+f 24 9 20
+f 25 23 15
+f 25 15 10
+f 25 10 23
\ No newline at end of file
diff --git a/objects/objaverse/hot_dog/hot_dog_2/collision/model_normalized_collision_16.obj b/objects/objaverse/hot_dog/hot_dog_2/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..de7244f2d5d909de8a534cb1b07aebdb7f530f69
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_2/collision/model_normalized_collision_16.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.00757576 0.06758082 -0.10123590
+v 0.00753846 0.06478400 -0.18610158
+v 0.00747813 0.16840700 -0.09829959
+v -0.23489344 0.17260357 -0.08553364
+v -0.23484849 0.08273234 -0.08608438
+v -0.23332689 0.10545500 -0.16165009
+v -0.09837702 0.06413918 -0.18493795
+v -0.09848485 0.08273234 -0.08608438
+v -0.03727806 0.12945119 -0.14655246
+v -0.23451093 0.08105066 -0.17358959
+v -0.09848485 0.06758082 -0.10123590
+v 0.00746717 0.08974192 -0.17455179
+v -0.09844874 0.17236625 -0.08539188
+v -0.23512693 0.15987937 -0.10871045
+v -0.09911529 0.08770225 -0.17367462
+v 0.00735758 0.16194370 -0.10982546
+v -0.12855199 0.14357259 -0.13123564
+v -0.08290209 0.12852777 -0.14604497
+v -0.03730796 0.14529374 -0.13216175
+f 1 2 3
+f 7 2 1
+f 8 5 1
+f 8 1 3
+f 10 7 5
+f 11 7 1
+f 11 1 5
+f 11 5 7
+f 12 2 7
+f 12 6 9
+f 12 3 2
+f 13 8 3
+f 13 3 4
+f 13 4 5
+f 13 5 8
+f 14 4 3
+f 14 6 10
+f 14 10 5
+f 14 5 4
+f 15 10 6
+f 15 7 10
+f 15 12 7
+f 15 6 12
+f 16 12 9
+f 16 3 12
+f 16 14 3
+f 17 6 14
+f 18 17 9
+f 18 9 6
+f 18 6 17
+f 19 16 9
+f 19 9 17
+f 19 17 14
+f 19 14 16
\ No newline at end of file
diff --git a/objects/objaverse/hot_dog/hot_dog_2/collision/model_normalized_collision_17.obj b/objects/objaverse/hot_dog/hot_dog_2/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c7f8e5ca37a6968f9524f302f0b5bb9efcf6f6b0
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_2/collision/model_normalized_collision_17.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.08359035 0.07212189 -0.00453488
+v 0.08356610 0.10018434 -0.16924944
+v 0.08335362 0.18668055 -0.01068197
+v 0.00761364 0.18591659 -0.01082838
+v 0.00786758 0.07080855 -0.00358066
+v 0.00738378 0.17849996 -0.08031043
+v 0.08312131 0.17742546 -0.07970768
+v 0.00781090 0.10036256 -0.16963455
+v 0.08338550 0.13640188 -0.14027381
+v 0.00774794 0.13682177 -0.14104574
+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 8 2 5
+f 8 5 6
+f 9 7 3
+f 9 3 2
+f 9 6 7
+f 10 8 6
+f 10 6 9
+f 10 9 2
+f 10 2 8
\ No newline at end of file
diff --git a/objects/objaverse/hot_dog/hot_dog_2/collision/model_normalized_collision_18.obj b/objects/objaverse/hot_dog/hot_dog_2/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d1a39ca0520b0d5446070a6119a039aab1e87bd1
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_2/collision/model_normalized_collision_18.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.26957610 -0.17866270 0.02349516
+v 0.39189595 -0.12772784 0.01830759
+v 0.40094910 -0.07703672 0.12454715
+v 0.26206655 -0.01084099 0.14285714
+v 0.26337109 -0.02109458 0.00484949
+v 0.26474545 -0.10815837 0.12857462
+v 0.32987449 -0.15661550 0.05503714
+v 0.33359860 -0.16298447 0.01793583
+v 0.40469965 -0.00907567 0.01447593
+v 0.37171640 -0.03299412 0.15113541
+v 0.26374035 -0.14986766 0.09028746
+v 0.39117501 -0.11136178 0.07117983
+v 0.30970687 -0.17049268 0.01936699
+v 0.39125253 -0.12660326 0.03334749
+v 0.33090149 -0.09942564 0.12439429
+v 0.30845050 -0.16099664 0.05769338
+v 0.32911317 -0.14020637 0.08462306
+v 0.26704840 -0.10779917 0.12867359
+f 8 5 2
+f 9 3 2
+f 9 2 5
+f 9 5 4
+f 10 4 6
+f 10 9 4
+f 10 3 9
+f 11 5 1
+f 11 6 4
+f 11 4 5
+f 12 3 7
+f 13 1 5
+f 13 5 8
+f 13 8 7
+f 14 8 2
+f 14 7 8
+f 14 12 7
+f 14 2 3
+f 14 3 12
+f 15 3 10
+f 16 11 1
+f 16 13 7
+f 16 1 13
+f 17 7 3
+f 17 15 11
+f 17 3 15
+f 17 16 7
+f 17 11 16
+f 18 15 10
+f 18 10 6
+f 18 6 11
+f 18 11 15
\ No newline at end of file
diff --git a/objects/objaverse/hot_dog/hot_dog_2/collision/model_normalized_collision_19.obj b/objects/objaverse/hot_dog/hot_dog_2/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..654cd55e5eaf2893b65bafc39fefc1956c15cc6a
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_2/collision/model_normalized_collision_19.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.00793366 0.07078043 0.09893342
+v 0.00786758 0.07080855 -0.00358066
+v 0.00761364 0.18591659 -0.01082838
+v -0.09853344 0.18504668 -0.01095879
+v -0.11363779 0.08267249 0.08055179
+v -0.09873491 0.07238456 -0.00472573
+v -0.11458997 0.14878339 0.08539974
+v 0.00918975 0.11400726 0.11042541
+v -0.11387188 0.15380033 0.07811739
+v 0.00903322 0.14568545 0.08163640
+v -0.11444278 0.10547002 0.11805245
+v -0.09916555 0.17287960 0.04164382
+v 0.00843082 0.17183523 0.04076645
+v -0.03839036 0.15564237 0.07048532
+v -0.11481110 0.11741537 0.11493131
+v -0.11379665 0.09239880 0.10401409
+v 0.00888060 0.11079880 0.11330764
+f 6 3 2
+f 6 4 3
+f 6 2 1
+f 6 1 5
+f 8 1 2
+f 9 6 5
+f 9 4 6
+f 9 5 7
+f 10 8 2
+f 12 3 4
+f 12 4 9
+f 13 10 2
+f 13 2 3
+f 13 3 12
+f 13 12 9
+f 14 9 7
+f 14 7 10
+f 14 13 9
+f 14 10 13
+f 15 10 7
+f 15 8 10
+f 15 7 5
+f 15 5 11
+f 16 11 5
+f 16 5 1
+f 16 1 11
+f 17 11 1
+f 17 1 8
+f 17 15 11
+f 17 8 15
\ No newline at end of file
diff --git a/objects/objaverse/hot_dog/hot_dog_2/collision/model_normalized_collision_2.obj b/objects/objaverse/hot_dog/hot_dog_2/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..10ec22912978122eea6e98676b9e666198081f49
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_2/collision/model_normalized_collision_2.obj
@@ -0,0 +1,162 @@
+# https://github.com/mikedh/trimesh
+v -0.33748444 -0.18144347 0.00545456
+v -0.33376692 -0.13331717 -0.10321061
+v -0.33573178 0.07087796 0.01631247
+v -0.45170592 0.08109906 0.06294166
+v -0.45926098 -0.07567320 -0.00479935
+v -0.33777990 0.08068324 -0.14102823
+v -0.40913742 -0.13857803 0.06115480
+v -0.42314240 -0.12984057 -0.04112484
+v -0.33406002 0.06309583 -0.14944871
+v -0.44298237 0.07886648 -0.04554269
+v -0.41249107 0.07293842 0.07026653
+v -0.46627035 -0.03354984 0.07276865
+v -0.33596672 -0.16176046 -0.06286914
+v -0.41446315 -0.14643077 0.01579616
+v -0.33344091 -0.06229532 -0.14882873
+v -0.41873352 0.07576862 -0.08486022
+v -0.45896682 -0.08089346 0.03205262
+v -0.45967986 0.07438552 -0.00465319
+v -0.46631646 0.03249060 0.07250124
+v -0.34745606 -0.14164402 -0.08869841
+v -0.33451833 -0.14481984 -0.09300603
+v -0.36335926 -0.16022522 -0.04370536
+v -0.39495301 -0.15845404 0.00579848
+v -0.37287480 0.04913823 -0.13043612
+v -0.42924815 -0.06515059 -0.07648991
+v -0.44759182 -0.08807050 0.06169727
+v -0.44408110 -0.10246878 -0.00923442
+v -0.45952984 -0.03728431 -0.02988540
+v -0.45915592 0.07972292 0.03208437
+v -0.35734387 -0.10097741 -0.11685805
+v -0.34535330 -0.15877838 -0.06180726
+v -0.33769005 -0.17607595 -0.02251006
+v -0.41616103 -0.14541322 -0.00766552
+v -0.36088876 0.07659042 -0.12973837
+v -0.36060228 0.02056374 -0.14338264
+v -0.44280351 -0.07966063 -0.04573689
+v -0.44524115 -0.10133915 0.03106208
+v -0.42912376 -0.12138166 -0.03469022
+v -0.45768754 0.04798626 -0.03022636
+v -0.46064646 -0.06290075 -0.01855193
+v -0.33405407 -0.09330991 -0.13392275
+v -0.34671396 -0.12985305 -0.09914350
+v -0.42187244 -0.10370027 -0.06898678
+v -0.40719033 -0.14010900 -0.03729021
+v -0.40232264 0.07599875 -0.09786553
+v -0.34598988 0.06098619 -0.14361918
+v -0.35940384 -0.02018386 -0.14362962
+v -0.42942918 0.06389164 -0.07663177
+v -0.41477783 -0.13160924 0.06094020
+v -0.44300457 -0.09061075 -0.03400106
+v -0.35638023 -0.07588336 -0.12981928
+v -0.40467447 -0.11259311 -0.07351034
+v -0.34627999 -0.09084485 -0.12847376
+v -0.42209000 -0.07521894 -0.08138417
+v -0.34542985 -0.05954804 -0.14331798
+f 1 2 3
+f 6 4 3
+f 7 1 3
+f 9 6 3
+f 10 4 6
+f 11 7 3
+f 11 3 4
+f 12 7 11
+f 15 9 3
+f 15 3 2
+f 16 10 6
+f 17 12 5
+f 19 12 11
+f 19 11 4
+f 21 2 1
+f 21 1 13
+f 22 8 20
+f 23 1 7
+f 23 7 14
+f 26 7 12
+f 26 12 17
+f 27 17 5
+f 28 19 18
+f 29 4 10
+f 29 10 18
+f 29 19 4
+f 29 18 19
+f 31 21 13
+f 31 20 21
+f 31 22 20
+f 31 13 22
+f 32 22 13
+f 32 13 1
+f 32 23 22
+f 32 1 23
+f 33 23 14
+f 33 22 23
+f 33 27 8
+f 33 17 27
+f 34 6 9
+f 37 26 17
+f 37 33 14
+f 37 17 33
+f 38 27 5
+f 38 8 27
+f 39 28 18
+f 39 18 10
+f 40 5 12
+f 40 12 19
+f 40 19 28
+f 40 28 25
+f 40 25 36
+f 40 38 5
+f 40 8 38
+f 41 15 2
+f 41 2 30
+f 42 30 2
+f 42 20 30
+f 42 21 20
+f 42 2 21
+f 43 36 25
+f 43 8 36
+f 44 33 8
+f 44 8 22
+f 44 22 33
+f 45 34 24
+f 45 24 16
+f 45 16 6
+f 45 6 34
+f 46 34 9
+f 46 24 34
+f 46 35 24
+f 46 9 35
+f 47 35 9
+f 47 9 15
+f 47 25 35
+f 48 35 25
+f 48 16 24
+f 48 24 35
+f 48 25 28
+f 48 28 39
+f 48 39 10
+f 48 10 16
+f 49 37 14
+f 49 14 7
+f 49 7 26
+f 49 26 37
+f 50 40 36
+f 50 36 8
+f 50 8 40
+f 51 30 43
+f 52 43 30
+f 52 30 20
+f 52 20 8
+f 52 8 43
+f 53 41 30
+f 53 30 51
+f 53 51 15
+f 53 15 41
+f 54 51 43
+f 54 43 25
+f 54 25 47
+f 55 47 15
+f 55 15 51
+f 55 54 47
+f 55 51 54
\ No newline at end of file
diff --git a/objects/objaverse/hot_dog/hot_dog_2/collision/model_normalized_collision_20.obj b/objects/objaverse/hot_dog/hot_dog_2/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bf85265f5a8207e0476c62e95636d2085520eba8
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_2/collision/model_normalized_collision_20.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.42314002 -0.06802224 0.19094829
+v 0.45313164 -0.06403961 0.12752519
+v 0.40288656 -0.00759766 0.18330773
+v 0.28972630 -0.00084756 0.16077970
+v 0.33959473 -0.09239319 0.12541633
+v 0.26733118 -0.00625404 0.14457651
+v 0.38360068 -0.07341951 0.18972239
+v 0.44405382 -0.05132192 0.19565604
+v 0.44083322 -0.07159225 0.12286932
+v 0.31386856 -0.00730368 0.17009030
+v 0.26806223 -0.02996562 0.14014724
+v 0.44118698 -0.05817975 0.19094829
+v 0.40547142 -0.03826858 0.19094829
+v 0.26206655 -0.01084099 0.14285714
+v 0.26505644 -0.05422746 0.12661455
+v 0.38845561 -0.04051225 0.18859362
+v 0.34250048 -0.09063856 0.12303669
+f 6 3 2
+f 6 4 3
+f 7 5 1
+f 8 2 3
+f 8 7 1
+f 9 2 1
+f 9 1 5
+f 9 6 2
+f 10 3 4
+f 10 4 7
+f 12 8 1
+f 12 1 2
+f 12 2 8
+f 13 8 3
+f 13 3 10
+f 13 7 8
+f 14 11 7
+f 14 7 4
+f 14 4 6
+f 15 5 7
+f 15 7 11
+f 15 11 14
+f 15 14 6
+f 15 6 9
+f 16 13 10
+f 16 10 7
+f 16 7 13
+f 17 15 9
+f 17 9 5
+f 17 5 15
\ No newline at end of file
diff --git a/objects/objaverse/hot_dog/hot_dog_2/collision/model_normalized_collision_21.obj b/objects/objaverse/hot_dog/hot_dog_2/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c8ec11b31c0b4bf472b3471b652947ffb3529fe1
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_2/collision/model_normalized_collision_21.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.21756364 0.07624379 -0.17905610
+v 0.22532750 0.09985764 -0.16608461
+v 0.21847950 0.15078333 -0.12361386
+v -0.03764251 0.15200861 -0.12604960
+v -0.03761902 0.10771548 -0.16549819
+v 0.00750281 0.07726296 -0.18032668
+v 0.21684614 0.11272752 -0.16052267
+v 0.00781090 0.10036256 -0.16963455
+v 0.21660145 0.08846879 -0.17315264
+v -0.03745182 0.11352330 -0.16135333
+v 0.21729749 0.14330129 -0.13107122
+v -0.03852197 0.12790396 -0.14790891
+f 1 2 3
+f 6 1 3
+f 6 3 4
+f 6 4 5
+f 7 3 2
+f 8 6 5
+f 8 1 6
+f 8 5 7
+f 9 7 2
+f 9 2 1
+f 9 8 7
+f 9 1 8
+f 10 7 5
+f 10 4 7
+f 11 7 4
+f 11 4 3
+f 11 3 7
+f 12 10 5
+f 12 5 4
+f 12 4 10
\ No newline at end of file
diff --git a/objects/objaverse/hot_dog/hot_dog_2/collision/model_normalized_collision_22.obj b/objects/objaverse/hot_dog/hot_dog_2/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c2f1e12d1988eec2386c6abb70386039534880c2
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_2/collision/model_normalized_collision_22.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.40288656 -0.00759766 0.18330773
+v 0.40469965 -0.00907567 0.01447593
+v 0.41842214 0.09208425 0.02226536
+v 0.26002611 0.07135639 0.15054264
+v 0.26337109 -0.02109458 0.00484949
+v 0.40242909 0.06605779 0.14810680
+v 0.28188476 0.00562401 0.15830935
+v 0.26533009 0.08421135 0.01922266
+v 0.40693523 0.04413880 0.17166482
+v 0.36162100 -0.00522445 0.16858220
+v 0.26417680 0.06051462 0.15951378
+f 1 2 3
+f 5 2 1
+f 5 3 2
+f 6 3 4
+f 8 5 4
+f 8 4 3
+f 8 3 5
+f 9 1 3
+f 9 3 6
+f 9 6 4
+f 10 7 5
+f 10 5 1
+f 10 1 7
+f 11 7 1
+f 11 4 5
+f 11 5 7
+f 11 9 4
+f 11 1 9
\ No newline at end of file
diff --git a/objects/objaverse/hot_dog/hot_dog_2/collision/model_normalized_collision_23.obj b/objects/objaverse/hot_dog/hot_dog_2/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..384a052e6df132af5b5bc9dc91e80ca81b3b5518
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_2/collision/model_normalized_collision_23.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.09849307 0.08238673 0.08040619
+v -0.09848485 0.08273234 -0.08608438
+v -0.09811759 0.17582422 -0.07904158
+v -0.15968606 0.17487947 0.04272906
+v -0.15909091 0.08273234 -0.08608438
+v -0.09916555 0.17287960 0.04164382
+v -0.09737810 0.13945225 0.09257597
+v -0.15907196 0.08352977 0.08098860
+v -0.15889471 0.17508751 -0.07885414
+v -0.15771122 0.14223049 0.09553383
+f 5 2 1
+f 5 3 2
+f 6 3 4
+f 7 1 2
+f 7 2 3
+f 7 3 6
+f 8 5 1
+f 8 4 5
+f 9 5 4
+f 9 4 3
+f 9 3 5
+f 10 7 6
+f 10 6 4
+f 10 4 8
+f 10 8 1
+f 10 1 7
\ No newline at end of file
diff --git a/objects/objaverse/hot_dog/hot_dog_2/collision/model_normalized_collision_24.obj b/objects/objaverse/hot_dog/hot_dog_2/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..de7ba9c6c5c0ee54aacd4aaf0746a6c84fb431fe
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_2/collision/model_normalized_collision_24.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v -0.23773289 -0.18625811 0.03220152
+v -0.23703700 -0.19075054 0.00257851
+v -0.23489087 0.08094919 0.00573324
+v -0.37410688 0.09101397 0.13866291
+v -0.41323877 -0.15113909 0.00590792
+v -0.22689909 -0.03543807 0.16056848
+v -0.33490833 -0.17279292 0.05886928
+v -0.44478512 0.10174323 0.00397108
+v -0.23669571 0.08801708 0.11475667
+v -0.29302802 -0.19024282 0.00196944
+v -0.23887009 -0.12889553 0.12459948
+v -0.41749799 -0.05057611 0.16864163
+v -0.23110617 0.03437414 0.15432622
+v -0.35054538 -0.17621864 0.00553272
+v -0.27736524 -0.18710268 0.03167087
+v -0.23894969 -0.15727770 0.09755047
+v -0.39965759 -0.14422280 0.06997616
+v -0.41761112 -0.06649327 0.14775318
+v -0.41922811 0.05769490 0.16224433
+v -0.34855043 -0.06630725 0.16918417
+v -0.38013192 -0.15698139 0.05896285
+v -0.23851953 -0.17147744 0.07072237
+v -0.32127796 -0.14600485 0.11033318
+v -0.39347165 -0.12906325 0.10200686
+v -0.41752473 0.06671234 0.14845090
+v -0.24251330 -0.06805296 0.15469749
+v -0.30933421 -0.17109221 0.07027529
+v -0.32097649 -0.12993220 0.12442784
+v -0.27906567 -0.15645323 0.10085779
+v -0.36676962 -0.13096671 0.11046325
+v -0.33477878 -0.15724848 0.08539170
+f 6 1 2
+f 6 2 3
+f 9 8 4
+f 9 3 8
+f 10 5 8
+f 10 8 3
+f 10 3 2
+f 13 6 3
+f 13 3 9
+f 13 9 4
+f 14 10 7
+f 14 5 10
+f 15 10 2
+f 15 2 1
+f 15 7 10
+f 16 6 11
+f 18 12 8
+f 18 8 5
+f 18 5 17
+f 19 8 12
+f 19 13 4
+f 19 6 13
+f 20 19 12
+f 20 6 19
+f 21 14 7
+f 21 5 14
+f 21 17 5
+f 21 7 17
+f 22 1 6
+f 22 6 16
+f 22 15 1
+f 24 18 17
+f 24 12 18
+f 24 17 7
+f 25 19 4
+f 25 4 8
+f 25 8 19
+f 26 20 11
+f 26 11 6
+f 26 6 20
+f 27 7 15
+f 27 15 22
+f 27 23 7
+f 28 20 12
+f 28 12 23
+f 28 11 20
+f 29 16 11
+f 29 28 23
+f 29 11 28
+f 29 23 27
+f 29 27 22
+f 29 22 16
+f 30 24 23
+f 30 23 12
+f 30 12 24
+f 31 24 7
+f 31 7 23
+f 31 23 24
\ No newline at end of file
diff --git a/objects/objaverse/hot_dog/hot_dog_2/collision/model_normalized_collision_25.obj b/objects/objaverse/hot_dog/hot_dog_2/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a321d641fe0da2b4a8e9bb7ecca911362b7b0b4a
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_2/collision/model_normalized_collision_25.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v -0.09935448 -0.17317998 0.04115845
+v -0.09970507 -0.14306564 -0.13197334
+v -0.09905462 -0.10982018 0.12063141
+v -0.23542998 -0.11431947 0.13751209
+v -0.23636749 -0.19036792 -0.02275017
+v -0.23622183 -0.14110810 -0.13037098
+v -0.23745789 -0.16168105 0.08872530
+v -0.09796984 -0.17611157 -0.07854803
+v -0.17556045 -0.11001150 0.12853938
+v -0.09940574 -0.15703724 0.07092383
+v -0.23709197 -0.12066126 0.13193410
+v -0.23739063 -0.18849936 0.01739722
+v -0.09816810 -0.16630460 -0.09660074
+v -0.20637092 -0.18738636 -0.02219976
+v -0.23539257 -0.17612061 -0.07831391
+v -0.09965160 -0.11751279 0.11339294
+v -0.23743854 -0.17748519 0.05896119
+v -0.20740257 -0.18635250 0.00189228
+v -0.23506009 -0.16604773 -0.09657759
+f 6 3 2
+f 8 3 1
+f 9 6 4
+f 9 4 3
+f 9 3 6
+f 10 7 1
+f 10 1 3
+f 11 3 4
+f 11 4 6
+f 11 6 7
+f 12 7 6
+f 12 6 5
+f 13 2 3
+f 13 3 8
+f 14 8 1
+f 14 5 8
+f 15 8 5
+f 15 5 6
+f 15 13 8
+f 16 10 3
+f 16 3 11
+f 16 11 7
+f 16 7 10
+f 17 12 1
+f 17 1 7
+f 17 7 12
+f 18 12 5
+f 18 5 14
+f 18 14 1
+f 18 1 12
+f 19 15 6
+f 19 6 2
+f 19 2 13
+f 19 13 15
\ No newline at end of file
diff --git a/objects/objaverse/hot_dog/hot_dog_2/collision/model_normalized_collision_26.obj b/objects/objaverse/hot_dog/hot_dog_2/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7ce24eed068499e8e2814e89fa7f68b95e9acc79
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_2/collision/model_normalized_collision_26.obj
@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
+v -0.23484849 -0.09908585 -0.08608438
+v -0.23381880 -0.09424653 -0.16675870
+v -0.23489344 0.17260357 -0.08553364
+v -0.32088873 0.16288928 -0.07847604
+v -0.35765480 -0.11509703 -0.10381131
+v -0.28676755 0.06146978 -0.17617313
+v -0.23300080 -0.07588417 -0.17586318
+v -0.27810897 0.10393704 -0.15778122
+v -0.33195038 0.07686589 -0.14563135
+v -0.28645259 -0.06096295 -0.17645917
+v -0.28853608 0.15836301 -0.10557623
+v -0.23305962 0.07531425 -0.17648079
+v -0.33824111 0.15259806 -0.08191524
+v -0.26322184 -0.07486525 -0.17296462
+v -0.33120919 -0.02053329 -0.15888325
+v -0.23512693 0.15987937 -0.10871045
+v -0.26304324 0.07398972 -0.17368388
+v -0.23292331 0.00479138 -0.19249232
+v -0.23332689 0.10545500 -0.16165009
+v -0.33187319 0.12796510 -0.11437605
+v -0.28646878 -0.09128004 -0.16133587
+v -0.33118588 0.03434435 -0.15793263
+v -0.30100463 0.03438109 -0.17332287
+v -0.33069363 -0.07506031 -0.14404163
+v -0.23289823 -0.00586996 -0.19229949
+v -0.33253673 0.14230841 -0.10010706
+v -0.30220089 0.12725087 -0.13012826
+v -0.31630064 0.06138812 -0.15988135
+v -0.30039149 -0.03553650 -0.17307386
+v -0.24782813 0.00451160 -0.19059531
+v -0.31594122 -0.06025549 -0.15988858
+v -0.33405407 -0.09330991 -0.13392275
+v -0.30230101 0.14259401 -0.11517403
+v -0.24780351 -0.00557870 -0.19040596
+f 1 3 4
+f 5 2 1
+f 5 1 4
+f 7 1 2
+f 7 3 1
+f 9 8 6
+f 11 4 3
+f 13 9 5
+f 13 5 4
+f 14 10 7
+f 14 7 2
+f 16 11 3
+f 17 12 6
+f 17 6 8
+f 17 8 12
+f 18 6 12
+f 19 3 7
+f 19 7 12
+f 19 16 3
+f 19 12 8
+f 19 8 11
+f 19 11 16
+f 20 8 9
+f 20 9 13
+f 21 14 2
+f 21 2 5
+f 21 10 14
+f 22 15 5
+f 22 5 9
+f 23 22 6
+f 23 15 22
+f 24 5 15
+f 25 7 10
+f 25 18 12
+f 25 12 7
+f 26 20 13
+f 26 13 4
+f 26 4 11
+f 27 11 8
+f 27 8 20
+f 27 20 26
+f 28 22 9
+f 28 9 6
+f 28 6 22
+f 29 10 15
+f 29 15 23
+f 30 23 6
+f 30 6 18
+f 30 29 23
+f 30 18 25
+f 31 24 15
+f 31 15 10
+f 32 21 5
+f 32 5 24
+f 32 24 31
+f 32 31 10
+f 32 10 21
+f 33 27 26
+f 33 26 11
+f 33 11 27
+f 34 10 29
+f 34 29 30
+f 34 30 25
+f 34 25 10
\ No newline at end of file
diff --git a/objects/objaverse/hot_dog/hot_dog_2/collision/model_normalized_collision_27.obj b/objects/objaverse/hot_dog/hot_dog_2/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c6aa6ef873c35d01ad90aaedf02a9663bf992891
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_2/collision/model_normalized_collision_27.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.23703700 -0.19075054 0.00257851
+v -0.23539257 -0.17612061 -0.07831391
+v -0.23416500 0.16196915 -0.10492932
+v -0.36079556 0.17353950 0.01059137
+v -0.33748444 -0.18144347 0.00545456
+v -0.23533559 0.08782891 0.01921512
+v -0.27542519 -0.18692189 -0.05320131
+v -0.23664269 -0.18769045 -0.03740741
+v -0.30780176 -0.18792259 0.00152492
+v -0.34628560 0.14006009 -0.09448600
+v -0.25175108 -0.18647141 -0.05262016
+v -0.28806762 -0.17216905 -0.07704030
+v -0.33364970 -0.15562709 -0.07424033
+v -0.33467043 -0.17191628 -0.04718637
+f 6 3 4
+f 6 5 1
+f 6 4 5
+f 6 1 2
+f 6 2 3
+f 8 2 1
+f 8 1 7
+f 9 7 1
+f 9 1 5
+f 9 5 7
+f 10 4 3
+f 11 8 7
+f 11 7 2
+f 11 2 8
+f 12 10 3
+f 12 3 2
+f 12 2 7
+f 13 4 10
+f 13 10 12
+f 14 5 4
+f 14 4 13
+f 14 7 5
+f 14 13 12
+f 14 12 7
\ No newline at end of file
diff --git a/objects/objaverse/hot_dog/hot_dog_2/collision/model_normalized_collision_28.obj b/objects/objaverse/hot_dog/hot_dog_2/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..25cef636aa5af1960b6d1fd01e7873a6746ab862
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_2/collision/model_normalized_collision_28.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.14399780 -0.18807083 -0.01064906
+v 0.14401719 -0.16785725 -0.09744796
+v 0.14416857 0.07317256 -0.00529826
+v 0.00786758 0.07080855 -0.00358066
+v 0.00740210 -0.17238777 -0.09135898
+v 0.00757576 0.08273234 -0.10123590
+v 0.14398506 -0.17740186 -0.07942868
+v 0.00761622 -0.18592067 -0.01103726
+v 0.14393940 0.08273234 -0.10123590
+f 1 2 3
+f 1 3 4
+f 6 4 3
+f 6 2 5
+f 7 5 2
+f 7 2 1
+f 8 1 4
+f 8 6 5
+f 8 4 6
+f 8 7 1
+f 8 5 7
+f 9 6 3
+f 9 3 2
+f 9 2 6
\ No newline at end of file
diff --git a/objects/objaverse/hot_dog/hot_dog_2/collision/model_normalized_collision_29.obj b/objects/objaverse/hot_dog/hot_dog_2/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4cde19b13c993c762b3a9559b7eda14efcd01949
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_2/collision/model_normalized_collision_29.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.00761622 -0.18592067 -0.01103726
+v 0.00740210 -0.17238777 -0.09135898
+v 0.00761364 0.18591659 -0.01082838
+v -0.09853344 0.18504668 -0.01095879
+v -0.09856343 -0.18508380 -0.01115488
+v -0.09826891 0.16601594 -0.09709480
+v -0.09796984 -0.17611157 -0.07854803
+v 0.00726323 0.17203666 -0.09183630
+v -0.09816810 -0.16630460 -0.09660074
+v -0.09811759 0.17582422 -0.07904158
+v -0.02220982 -0.17202670 -0.09115644
+v -0.05234785 0.17073681 -0.09110713
+f 1 2 3
+f 5 1 3
+f 5 3 4
+f 6 5 4
+f 7 2 1
+f 7 1 5
+f 8 3 2
+f 8 2 6
+f 9 6 2
+f 9 7 5
+f 9 5 6
+f 10 6 4
+f 10 4 3
+f 10 3 8
+f 11 9 2
+f 11 2 7
+f 11 7 9
+f 12 10 8
+f 12 8 6
+f 12 6 10
\ No newline at end of file
diff --git a/objects/objaverse/hot_dog/hot_dog_2/collision/model_normalized_collision_3.obj b/objects/objaverse/hot_dog/hot_dog_2/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..58124db8649881ed27f0614fbd0712feddaac64a
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_2/collision/model_normalized_collision_3.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.42646369 0.06813000 0.07170016
+v 0.41634852 0.07554619 -0.05014269
+v 0.32133114 0.17034907 0.01845982
+v 0.00843082 0.17183523 0.04076645
+v 0.00786758 0.07080855 -0.00358066
+v 0.00774794 0.13682177 -0.14104574
+v 0.24784841 0.07623185 0.15007429
+v 0.39994913 0.11961034 0.04467996
+v 0.27430360 0.07771626 -0.16677153
+v 0.17449976 0.18657443 -0.03776333
+v 0.00726323 0.17203666 -0.09183630
+v 0.21878567 0.15533328 0.08601259
+v 0.00793366 0.07078043 0.09893342
+v 0.41375802 0.10347592 -0.00845745
+v 0.38665634 0.07739222 0.12340015
+v 0.08356610 0.10018434 -0.16924944
+v 0.33359123 0.15458360 -0.06093943
+v 0.21914321 0.18634320 0.00178661
+v 0.00749110 0.15250030 -0.12680984
+v 0.11382525 0.18831899 -0.02284041
+v 0.00888060 0.11079880 0.11330764
+v 0.16535286 0.07566766 0.14803257
+v 0.41318564 0.10272898 0.01745345
+v 0.40117764 0.07973778 0.11042564
+v 0.30985508 0.10756767 0.12606067
+v 0.21950461 0.08214726 -0.17581323
+v 0.35503152 0.10135652 -0.09983558
+v 0.40356592 0.11163476 -0.03528344
+v 0.23406628 0.18720819 -0.02277189
+v 0.29255613 0.17172445 0.04221962
+v 0.20302505 0.17037250 -0.09158614
+v 0.21758022 0.10659725 -0.16400630
+v 0.15961507 0.18652391 0.00199200
+v 0.00850154 0.15528105 0.07028263
+v 0.13093474 0.11280363 0.12489614
+v 0.33174540 0.07785775 -0.13246032
+v 0.27182570 0.11473232 -0.14788944
+v 0.41149751 0.08972894 -0.04776103
+v 0.34230451 0.14102388 -0.07338870
+v 0.37285690 0.14021386 -0.02064074
+v 0.23436000 0.18841789 -0.01300680
+v 0.32127104 0.17082833 -0.02269964
+v 0.33083202 0.14335394 0.08751613
+v 0.20371626 0.18620280 -0.03776083
+v 0.27283304 0.15418740 -0.10618622
+v 0.26182710 0.10398605 -0.15807426
+v 0.11418688 0.18760119 -0.01306228
+v 0.24936246 0.17066530 0.05544059
+v 0.16040304 0.15548979 0.08593927
+v 0.17080401 0.08400327 0.14505282
+v 0.13059816 0.14363924 0.09558440
+v 0.24899517 0.11341949 0.12521706
+v 0.38503707 0.09907601 -0.07175687
+v 0.33020669 0.08893567 -0.12845549
+v 0.34219839 0.15488438 -0.05081646
+v 0.33085150 0.12737578 -0.09983402
+v 0.37436671 0.14091778 0.01800300
+v 0.27831451 0.14281794 0.09533846
+v 0.33177486 0.11578183 0.11293753
+v 0.39073327 0.11176241 0.07188622
+v 0.34544306 0.15746729 0.04171573
+v 0.27303243 0.16985819 -0.07615548
+v 0.27155090 0.09056627 -0.16208143
+v 0.30747293 0.15519070 0.07186997
+f 9 2 1
+f 9 1 5
+f 13 5 1
+f 13 11 5
+f 14 1 2
+f 15 7 1
+f 16 5 6
+f 19 6 5
+f 19 5 11
+f 20 11 4
+f 20 10 11
+f 22 13 1
+f 22 1 7
+f 22 21 13
+f 23 14 8
+f 23 8 1
+f 23 1 14
+f 24 15 1
+f 24 1 8
+f 25 7 15
+f 26 9 5
+f 26 5 16
+f 28 8 14
+f 31 19 11
+f 31 11 10
+f 32 16 6
+f 32 6 19
+f 32 26 16
+f 34 13 21
+f 34 4 11
+f 34 11 13
+f 36 2 9
+f 38 28 14
+f 38 14 2
+f 40 8 28
+f 41 18 30
+f 41 30 3
+f 41 33 18
+f 41 10 20
+f 42 41 3
+f 42 29 41
+f 43 15 24
+f 44 31 10
+f 44 41 29
+f 44 10 41
+f 45 32 19
+f 45 19 31
+f 45 37 32
+f 45 17 39
+f 46 26 32
+f 46 32 37
+f 47 20 4
+f 47 4 33
+f 47 41 20
+f 47 33 41
+f 48 30 18
+f 48 18 33
+f 48 33 4
+f 49 4 34
+f 49 48 4
+f 49 12 48
+f 50 22 7
+f 50 35 21
+f 50 21 22
+f 51 34 21
+f 51 21 35
+f 51 49 34
+f 51 35 49
+f 52 49 35
+f 52 12 49
+f 52 7 25
+f 52 50 7
+f 52 35 50
+f 53 36 27
+f 53 2 36
+f 53 38 2
+f 53 28 38
+f 53 39 28
+f 54 36 9
+f 54 27 36
+f 55 39 17
+f 55 28 39
+f 55 40 28
+f 55 42 40
+f 55 17 42
+f 56 45 39
+f 56 37 45
+f 56 54 37
+f 56 27 54
+f 56 53 27
+f 56 39 53
+f 57 8 40
+f 57 40 42
+f 58 43 12
+f 58 25 43
+f 58 52 25
+f 58 12 52
+f 59 43 25
+f 59 25 15
+f 59 15 43
+f 60 43 24
+f 60 24 8
+f 61 3 30
+f 61 30 43
+f 61 8 57
+f 61 57 42
+f 61 42 3
+f 61 60 8
+f 61 43 60
+f 62 44 29
+f 62 31 44
+f 62 45 31
+f 62 29 42
+f 62 42 17
+f 62 17 45
+f 63 9 26
+f 63 26 46
+f 63 46 37
+f 63 54 9
+f 63 37 54
+f 64 43 30
+f 64 30 48
+f 64 48 12
+f 64 12 43
\ No newline at end of file
diff --git a/objects/objaverse/hot_dog/hot_dog_2/collision/model_normalized_collision_30.obj b/objects/objaverse/hot_dog/hot_dog_2/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6bd9e1ca21431f4a097eaf64fe61a64a62a552a3
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_2/collision/model_normalized_collision_30.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.26651196 -0.12778294 0.11041165
+v 0.28076416 -0.13416978 -0.12171130
+v 0.29058910 0.11001273 -0.13990397
+v 0.14407282 0.07711777 0.09287316
+v 0.14375501 -0.14464132 -0.13277051
+v 0.26530557 0.08043563 0.09456356
+v 0.14300366 -0.09805639 0.10533185
+v 0.14393940 0.08273234 -0.10123590
+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/hot_dog/hot_dog_2/collision/model_normalized_collision_31.obj b/objects/objaverse/hot_dog/hot_dog_2/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8d66437e30494c280124f7a20fe21ff12a46522
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_2/collision/model_normalized_collision_31.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.09970507 -0.14306564 -0.13197334
+v -0.09933862 -0.07831180 0.00797821
+v -0.23533559 -0.08087814 0.00667133
+v -0.23503645 0.07482314 -0.00629699
+v -0.09848485 0.08273234 -0.10123590
+v -0.23622183 -0.14110810 -0.13037098
+v -0.09873491 0.07238456 -0.00472573
+v -0.23484849 0.08273234 -0.10123590
+f 1 2 3
+f 3 2 4
+f 5 2 1
+f 6 1 3
+f 6 3 4
+f 7 5 4
+f 7 4 2
+f 7 2 5
+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/hot_dog/hot_dog_2/collision/model_normalized_collision_4.obj b/objects/objaverse/hot_dog/hot_dog_2/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..13cdd4c9ef02627f07ff98a5d40eb292e55590c8
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_2/collision/model_normalized_collision_4.obj
@@ -0,0 +1,108 @@
+# https://github.com/mikedh/trimesh
+v 0.27750691 -0.17377614 0.04344389
+v 0.38197685 -0.13305205 0.02184357
+v 0.26395233 -0.09085488 0.05278180
+v 0.14477287 -0.07916937 0.00754203
+v 0.26396085 -0.11037917 -0.15457198
+v 0.26558502 -0.16247660 0.06698682
+v 0.27030003 -0.17029247 -0.07590835
+v 0.36543783 -0.11066242 -0.07709615
+v 0.22018547 -0.09144978 0.04766181
+v 0.14399780 -0.18807083 -0.01064906
+v 0.31025350 -0.15725761 0.06411677
+v 0.34532408 -0.15762607 -0.00442992
+v 0.26995531 -0.14648112 -0.11796826
+v 0.31830112 -0.10471780 -0.12176005
+v 0.21927767 -0.17810873 0.04397700
+v 0.20404475 -0.18937769 -0.01294317
+v 0.14375501 -0.14464132 -0.13277051
+v 0.30675912 -0.17138158 0.01736978
+v 0.35868186 -0.14153533 -0.03714280
+v 0.27361856 -0.10919978 -0.15146770
+v 0.31555479 -0.13959592 -0.09085662
+v 0.26382017 -0.16629120 0.06065191
+v 0.14398506 -0.17740186 -0.07942868
+v 0.15958269 -0.18894438 -0.01304035
+v 0.26326850 -0.14811891 -0.11919274
+v 0.30845050 -0.16099664 0.05769338
+v 0.30508857 -0.17195650 -0.02143515
+v 0.26971303 -0.11586877 -0.14795355
+v 0.35926016 -0.11591289 -0.07799929
+v 0.31479380 -0.11528358 -0.11454912
+v 0.33227749 -0.15759235 -0.04841696
+v 0.20376755 -0.18859275 -0.02270354
+v 0.15929084 -0.18889548 -0.02279897
+v 0.14401719 -0.16785725 -0.09744796
+v 0.34466545 -0.15635841 0.01679578
+v 0.28532950 -0.15490056 -0.09093570
+v 0.34089633 -0.14259400 -0.06067476
+f 8 3 2
+f 9 6 3
+f 9 3 4
+f 11 2 3
+f 11 3 6
+f 14 4 3
+f 14 3 8
+f 15 9 4
+f 15 6 9
+f 15 4 10
+f 16 1 15
+f 17 10 4
+f 17 4 5
+f 18 1 16
+f 19 8 2
+f 19 2 12
+f 20 5 4
+f 20 4 14
+f 22 15 1
+f 22 6 15
+f 22 11 6
+f 22 1 11
+f 23 10 17
+f 24 16 15
+f 24 15 10
+f 25 17 5
+f 25 13 7
+f 25 7 23
+f 26 11 1
+f 26 1 18
+f 26 2 11
+f 27 18 16
+f 27 12 18
+f 28 5 20
+f 28 25 5
+f 28 13 25
+f 28 21 13
+f 28 20 21
+f 29 21 14
+f 29 14 8
+f 29 8 19
+f 30 21 20
+f 30 20 14
+f 30 14 21
+f 31 13 21
+f 31 27 7
+f 31 19 12
+f 31 12 27
+f 32 23 7
+f 32 27 16
+f 32 7 27
+f 33 24 10
+f 33 10 23
+f 33 23 32
+f 33 32 16
+f 33 16 24
+f 34 25 23
+f 34 23 17
+f 34 17 25
+f 35 26 18
+f 35 18 12
+f 35 12 2
+f 35 2 26
+f 36 31 7
+f 36 7 13
+f 36 13 31
+f 37 31 21
+f 37 21 29
+f 37 29 19
+f 37 19 31
\ No newline at end of file
diff --git a/objects/objaverse/hot_dog/hot_dog_2/collision/model_normalized_collision_5.obj b/objects/objaverse/hot_dog/hot_dog_2/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c898a8379973830f9e2d85dda47c47167c2209ac
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_2/collision/model_normalized_collision_5.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.13040668 -0.11123028 0.12631308
+v 0.14477287 -0.07916937 0.00754203
+v 0.14423619 0.07282123 0.10097421
+v -0.23669571 0.08801708 0.11475667
+v -0.23533559 -0.08087814 0.00667133
+v -0.08248008 0.03406198 0.16218159
+v 0.14300366 -0.09805639 0.10533185
+v -0.23503645 0.07482314 -0.00629699
+v 0.13331647 -0.02388948 0.15444042
+v 0.14469509 0.05226367 0.14113932
+v -0.23542998 -0.11431947 0.13751209
+v 0.14416857 0.07317256 -0.00529826
+v -0.23819805 -0.06171771 0.15761977
+v 0.13867163 -0.06194321 0.14992959
+v -0.20713897 0.07131820 0.14559591
+v 0.00530888 -0.05125538 0.15583562
+v 0.09561625 -0.08425713 0.14119662
+v -0.10427561 0.04854460 0.16044671
+v -0.22393529 0.04090587 0.15784291
+v -0.13523515 0.06398830 0.14868789
+v -0.21140682 0.05618342 0.15519096
+f 5 2 1
+f 7 1 2
+f 10 6 9
+f 10 7 2
+f 11 5 1
+f 12 2 5
+f 12 5 8
+f 12 10 2
+f 12 3 10
+f 12 8 4
+f 12 4 3
+f 13 8 5
+f 13 4 8
+f 13 5 11
+f 14 1 7
+f 14 10 9
+f 14 7 10
+f 14 13 11
+f 15 10 3
+f 15 3 4
+f 16 9 6
+f 16 6 13
+f 16 14 9
+f 16 13 14
+f 17 14 11
+f 17 11 1
+f 17 1 14
+f 18 6 10
+f 19 4 13
+f 19 13 6
+f 19 6 18
+f 20 18 10
+f 20 10 15
+f 20 15 18
+f 21 15 4
+f 21 4 19
+f 21 19 18
+f 21 18 15
\ No newline at end of file
diff --git a/objects/objaverse/hot_dog/hot_dog_2/collision/model_normalized_collision_6.obj b/objects/objaverse/hot_dog/hot_dog_2/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7ea354420e0b1ae21b38cd4f74ef6575a570a5cc
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_2/collision/model_normalized_collision_6.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.28521113 -0.12469565 -0.12754334
+v 0.26292080 -0.09252827 -0.16327232
+v 0.29058910 0.11001273 -0.13990397
+v -0.23484849 0.08273234 -0.10123590
+v -0.23725958 -0.13380996 -0.13711000
+v 0.26267091 -0.06178776 -0.17804379
+v 0.21624712 -0.08935766 -0.17253410
+v -0.21752224 0.03460929 -0.18994358
+v -0.23305962 0.07531425 -0.17648079
+v 0.21657245 0.04962627 -0.18911339
+v -0.21741044 -0.03577524 -0.18971363
+v 0.24668753 0.01933206 -0.18850441
+v 0.26173543 0.07343349 -0.17270407
+v -0.00735089 0.04998575 -0.19031063
+v -0.23381880 -0.09424653 -0.16675870
+v -0.23264353 0.01962559 -0.19034089
+v 0.21653404 -0.05089386 -0.18888132
+v -0.03760431 -0.09055505 -0.17371188
+v -0.23260697 -0.02067697 -0.19005979
+v 0.24672271 -0.02049185 -0.18821551
+v 0.02275121 -0.05109813 -0.19028828
+v -0.23300080 -0.07588417 -0.17586318
+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 7 6 2
+f 9 5 4
+f 9 4 3
+f 13 10 9
+f 13 9 3
+f 13 12 10
+f 13 3 6
+f 13 6 12
+f 14 8 9
+f 14 9 10
+f 16 9 8
+f 16 8 14
+f 16 5 9
+f 17 6 7
+f 17 10 12
+f 18 7 5
+f 18 5 15
+f 19 5 16
+f 20 17 12
+f 20 12 6
+f 20 6 17
+f 21 14 10
+f 21 10 17
+f 21 11 19
+f 21 17 7
+f 21 7 18
+f 21 19 16
+f 21 16 14
+f 22 18 15
+f 22 21 18
+f 22 11 21
+f 22 19 11
+f 22 15 5
+f 22 5 19
\ No newline at end of file
diff --git a/objects/objaverse/hot_dog/hot_dog_2/collision/model_normalized_collision_7.obj b/objects/objaverse/hot_dog/hot_dog_2/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c94a046b0a07c342139d64d3fb56222949286f31
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_2/collision/model_normalized_collision_7.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.26415962 -0.16307030 -0.09483736
+v 0.28521113 -0.12469565 -0.12754334
+v -0.23484849 -0.09908585 -0.08608438
+v -0.33405407 -0.09330991 -0.13392275
+v -0.05260140 -0.13011716 -0.14596230
+v 0.26292080 -0.09252827 -0.16327232
+v -0.30579191 -0.16322607 -0.08019024
+v -0.26387321 -0.09307807 -0.16428750
+v 0.26319240 -0.13249974 -0.13384536
+v -0.35765480 -0.11509703 -0.10381131
+v -0.23494081 -0.17248935 -0.08476596
+v 0.20185573 -0.11433017 -0.16152460
+v 0.26198265 -0.10492191 -0.15750171
+v 0.26362696 -0.15674800 -0.10655279
+v -0.33740894 -0.15042663 -0.08037370
+v -0.28800297 -0.15686154 -0.10726419
+v -0.26328898 -0.10548383 -0.15848045
+v 0.21715487 -0.14406822 -0.13002295
+v -0.33451833 -0.14481984 -0.09300603
+v 0.15935589 -0.11470522 -0.16136928
+v -0.28672930 -0.11599720 -0.14825600
+v -0.08270742 -0.14490437 -0.13092360
+v -0.30396847 -0.09331987 -0.15027602
+v -0.33159211 -0.10561454 -0.12967813
+v -0.30168817 -0.10672328 -0.14523211
+f 1 2 3
+f 6 3 2
+f 6 4 3
+f 7 1 3
+f 8 4 6
+f 10 3 4
+f 11 1 7
+f 12 8 6
+f 13 6 2
+f 13 2 9
+f 13 12 6
+f 13 9 12
+f 14 9 2
+f 14 2 1
+f 14 1 11
+f 15 7 3
+f 15 3 10
+f 16 11 7
+f 16 7 15
+f 18 12 9
+f 18 9 14
+f 18 14 11
+f 19 16 15
+f 19 15 10
+f 20 5 17
+f 20 17 8
+f 20 8 12
+f 21 17 5
+f 21 8 17
+f 21 16 19
+f 22 5 20
+f 22 20 12
+f 22 12 18
+f 22 21 5
+f 22 16 21
+f 22 18 11
+f 22 11 16
+f 23 4 8
+f 23 8 21
+f 24 21 19
+f 24 19 10
+f 24 10 4
+f 24 4 23
+f 25 24 23
+f 25 23 21
+f 25 21 24
\ No newline at end of file
diff --git a/objects/objaverse/hot_dog/hot_dog_2/collision/model_normalized_collision_8.obj b/objects/objaverse/hot_dog/hot_dog_2/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b36b115a93dbc3df17165b76425a419fe22943f
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_2/collision/model_normalized_collision_8.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.31151159 -0.06549536 0.12285107
+v 0.31351876 -0.05820846 0.13094110
+v 0.12801014 -0.06596875 0.15104630
+v 0.15826250 0.06914711 0.14758859
+v 0.26530557 0.08043563 0.09456356
+v 0.27017210 0.02544033 0.16120727
+v 0.13151367 -0.07240703 0.14482074
+v 0.31186813 -0.05142972 0.13700128
+v 0.14404510 0.03074358 0.15944461
+v 0.25970355 0.06653278 0.15607475
+v 0.14382032 -0.07379342 0.09828706
+v 0.13290898 -0.05085443 0.15704964
+v 0.23471650 0.07442450 0.15369388
+v 0.26462145 -0.07704058 0.09981114
+v 0.14407282 0.07711777 0.09287316
+v 0.15374982 0.05583916 0.15633527
+v 0.14415039 0.04955039 0.14191035
+v 0.14460877 0.04717845 0.14905579
+f 5 2 1
+f 7 1 2
+f 7 2 3
+f 8 3 2
+f 8 2 5
+f 10 9 6
+f 10 8 5
+f 10 6 8
+f 11 7 3
+f 12 8 6
+f 12 3 8
+f 12 9 3
+f 12 6 9
+f 13 10 5
+f 14 5 1
+f 14 1 7
+f 14 7 11
+f 15 14 11
+f 15 5 14
+f 15 13 5
+f 15 4 13
+f 15 11 3
+f 16 13 4
+f 16 9 10
+f 16 10 13
+f 17 15 3
+f 18 17 3
+f 18 3 9
+f 18 9 16
+f 18 16 4
+f 18 4 15
+f 18 15 17
\ No newline at end of file
diff --git a/objects/objaverse/hot_dog/hot_dog_2/collision/model_normalized_collision_9.obj b/objects/objaverse/hot_dog/hot_dog_2/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..97ef98d31690e046ea294355fa51e0e54fd0e1c9
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_2/collision/model_normalized_collision_9.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v -0.40175743 -0.14473224 0.06556836
+v -0.39579160 -0.13474864 0.08999418
+v -0.49081811 -0.01294611 0.16074591
+v -0.41370834 0.09574478 0.10815355
+v -0.39648529 -0.07837447 0.06860921
+v -0.41691562 -0.00855463 0.19931309
+v -0.47364842 -0.04199879 0.15945180
+v -0.47586981 0.01907180 0.07705971
+v -0.46662888 0.02545022 0.19114030
+v -0.40785621 0.09146699 0.11746534
+v -0.48978186 -0.02892635 0.10672494
+v -0.41961866 -0.05793392 0.16137201
+v -0.45170592 0.08109906 0.06294166
+v -0.46796874 0.00179980 0.19094829
+v -0.41249107 0.07293842 0.07026653
+v -0.42240956 0.02849352 0.18592427
+v -0.44133764 0.06557953 0.14537580
+v -0.39489001 -0.12430522 0.10616876
+v -0.48863068 -0.02762522 0.14810293
+v -0.44759182 -0.08807050 0.06169727
+v -0.48993315 0.02956910 0.10711920
+v -0.45551655 -0.05075729 0.16108918
+v -0.40913742 -0.13857803 0.06115480
+v -0.49151477 0.01219156 0.16092869
+v -0.41752473 0.06671234 0.14845090
+v -0.47425591 0.04117311 0.15984218
+v -0.47575825 -0.01853389 0.07690633
+v -0.45416466 0.06244684 0.13342940
+v -0.48929597 0.02680402 0.14839147
+v -0.46468176 0.03951604 0.17272878
+f 5 2 1
+f 7 1 2
+f 14 6 9
+f 14 3 7
+f 15 10 5
+f 15 4 10
+f 15 13 4
+f 16 9 6
+f 16 6 10
+f 17 10 4
+f 18 10 6
+f 18 2 5
+f 18 5 10
+f 18 6 12
+f 18 7 2
+f 19 7 3
+f 19 3 11
+f 20 19 11
+f 21 8 11
+f 21 13 8
+f 22 12 6
+f 22 18 12
+f 22 7 18
+f 22 14 7
+f 22 6 14
+f 23 5 1
+f 23 20 13
+f 23 19 20
+f 23 1 7
+f 23 7 19
+f 23 15 5
+f 23 13 15
+f 24 14 9
+f 24 3 14
+f 24 21 11
+f 24 11 3
+f 25 16 10
+f 25 9 16
+f 25 17 9
+f 25 10 17
+f 26 17 4
+f 26 24 9
+f 27 20 11
+f 27 11 8
+f 27 8 13
+f 27 13 20
+f 28 26 4
+f 28 4 13
+f 28 13 26
+f 29 26 13
+f 29 13 21
+f 29 21 24
+f 29 24 26
+f 30 26 9
+f 30 9 17
+f 30 17 26
\ No newline at end of file
diff --git a/objects/objaverse/hot_dog/hot_dog_2/model.xml b/objects/objaverse/hot_dog/hot_dog_2/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..1e78b651118af2c949d8d3b35c457ed59bf66002
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_2/model.xml
@@ -0,0 +1,81 @@
+<mujoco model="hot_dog_6">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="aiStandardSurface1.001" 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="aiStandardSurface1.001"/>
+        <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="-0.00016911712499999935 0.0 -0.02791138639999999" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="-0.00016911712499999935 0.0 0.028903786699999993" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.027320594049999994 0.07126964164999998 0.0004962001499999998" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/objects/objaverse/hot_dog/hot_dog_2/visual/material.mtl b/objects/objaverse/hot_dog/hot_dog_2/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fbcf6b4b1af9257e08a0fd6e283841743ce8fad5
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_2/visual/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 250.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/objects/objaverse/hot_dog/hot_dog_2/visual/model_normalized_0.obj b/objects/objaverse/hot_dog/hot_dog_2/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..05771ba2ba2152eac40f19e992b66037f815a576
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_2/visual/model_normalized_0.obj
@@ -0,0 +1,7319 @@
+# 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/hot_dog/hot_dog_4/collision/model_normalized_collision_0.obj b/objects/objaverse/hot_dog/hot_dog_4/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3bd6f19cf7c8108c9b301933be52c817e0abab15
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_4/collision/model_normalized_collision_0.obj
@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
+v 0.40446887 -0.13011032 0.09667032
+v 0.49670170 -0.00443442 0.07198009
+v 0.43010221 0.02134123 0.14212736
+v 0.26496791 0.08500356 0.11371216
+v 0.26429595 -0.01762683 0.03746318
+v 0.48009467 0.07840425 0.06277862
+v 0.25974422 -0.00132745 0.17119786
+v 0.47829928 -0.01689109 0.12931037
+v 0.40177335 0.08709997 0.11779324
+v 0.26522658 0.06654074 0.07104463
+v 0.26535582 -0.13044429 0.10055147
+v 0.46737589 -0.04472792 0.12253616
+v 0.42945200 -0.03029739 0.14442813
+v 0.48148715 0.03101720 0.12873974
+v 0.34258790 0.08731379 0.11528972
+v 0.30245764 0.03954408 0.16109457
+v 0.23733504 0.02156224 0.16147047
+v 0.30961318 -0.11475553 0.11398910
+v 0.49018245 -0.00398552 0.12030364
+v 0.30913684 0.03037198 0.16332592
+v 0.46488921 -0.03965920 0.12952666
+v 0.48319033 0.05259310 0.10744962
+v 0.46936474 0.04510002 0.12628844
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+v 0.49181764 0.01804935 0.11901961
+v 0.46734215 0.05315062 0.11819077
+v 0.48499874 0.04727338 0.11100535
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+v 0.24506837 0.02727051 0.16765625
+v 0.31036323 -0.12249039 0.10815578
+v 0.49245342 0.04278705 0.07301550
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\ No newline at end of file
diff --git a/objects/objaverse/hot_dog/hot_dog_4/collision/model_normalized_collision_10.obj b/objects/objaverse/hot_dog/hot_dog_4/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e67c4c4f13bb23a73283bac033d59f4dd7a501fb
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_4/collision/model_normalized_collision_10.obj
@@ -0,0 +1,117 @@
+# https://github.com/mikedh/trimesh
+v 0.39821981 -0.15711059 -0.00390607
+v 0.47527052 -0.09066755 -0.03053762
+v 0.26478995 -0.05541422 0.00971008
+v -0.35723147 -0.04516713 0.00898583
+v -0.36927327 -0.13565494 -0.09316852
+v 0.43013394 -0.01980614 -0.08583983
+v -0.36850371 -0.15747816 0.01601780
+v 0.48270414 -0.04912348 -0.00996042
+v -0.35590125 -0.02625838 -0.08522428
+v 0.40529495 -0.14078349 -0.06904712
+v 0.26414755 -0.17506035 0.00757201
+v 0.46402137 -0.11744628 -0.00352119
+v 0.46138464 -0.03375524 -0.07872654
+v 0.45916927 -0.03919285 -0.01022129
+v 0.40273501 -0.02081449 -0.08635979
+v -0.35764180 -0.03714903 -0.03843131
+v 0.26021718 -0.17010091 -0.07497417
+v 0.47919130 -0.09241276 -0.00309880
+v 0.46067779 -0.11103950 -0.04047862
+v 0.43704537 -0.13919022 -0.01892246
+v 0.43755970 -0.14016255 -0.00385123
+v 0.47276723 -0.07412712 -0.05962770
+v 0.47128754 -0.03943773 -0.02586758
+v 0.46100333 -0.08657643 -0.07121409
+v 0.23326528 -0.05216425 0.00930001
+v 0.21866978 -0.18641604 -0.05969653
+v 0.39780688 -0.15403219 -0.03249938
+v 0.41963497 -0.13848468 -0.05840271
+v 0.47273622 -0.04578425 -0.05920717
+v 0.21932771 -0.18793872 -0.05199461
+v -0.14267860 -0.18690816 -0.06209771
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+v -0.14345174 -0.18780399 -0.02335399
+v 0.09638339 -0.18620971 0.00602840
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+f 40 39 30
+f 40 30 11
+f 40 11 39
\ No newline at end of file
diff --git a/objects/objaverse/hot_dog/hot_dog_4/collision/model_normalized_collision_12.obj b/objects/objaverse/hot_dog/hot_dog_4/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..58eacbf54bde8bbbc750481d958c8f5cf83235b8
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_4/collision/model_normalized_collision_12.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.49670170 -0.00443442 0.07198009
+v 0.49350694 -0.00621054 0.06007481
+v 0.40227569 0.04466804 0.02342779
+v -0.49697376 0.02359177 0.07336942
+v -0.49815491 -0.00721630 0.07288878
+v 0.49642803 0.02192427 0.06948560
+v -0.30881756 -0.00347778 0.02762769
+v -0.35602434 0.04974061 0.04646584
+v 0.47028129 0.01782391 0.03775401
+v -0.46950409 -0.00745640 0.03965001
+v 0.40353586 0.04644419 0.04574362
+v -0.35543371 0.03354048 0.03173844
+v 0.49138969 0.01714312 0.05244505
+v 0.47040999 -0.00429006 0.03729353
+v -0.49434961 -0.00739410 0.06309161
+v -0.32475999 0.01117821 0.02565681
+v -0.46611619 0.01634640 0.04110129
+v -0.26603894 -0.00368288 0.02741808
+v 0.48974724 0.01057971 0.04951552
+v -0.32469906 0.02156359 0.02763745
+v -0.49320038 0.02066231 0.06673205
+v -0.26631753 0.00646554 0.02581472
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+f 15 2 5
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+f 20 12 3
+f 20 3 16
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+f 22 16 3
+f 22 3 18
+f 22 18 7
+f 22 7 16
\ No newline at end of file
diff --git a/objects/objaverse/hot_dog/hot_dog_4/collision/model_normalized_collision_13.obj b/objects/objaverse/hot_dog/hot_dog_4/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..71aceca2086fe05510aaa6541cca63fac473200c
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_4/collision/model_normalized_collision_13.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v 0.34119303 0.02311814 -0.06033753
+v 0.34059764 0.06751603 -0.16564393
+v 0.33999623 0.16743456 0.00843556
+v 0.21694361 0.19309341 0.00343411
+v 0.21928736 0.10669362 -0.14907615
+v 0.26538845 0.06928032 0.09073257
+v 0.34078815 0.13102869 0.08634470
+v 0.26243367 0.02392032 -0.06153220
+v 0.33883707 0.14397905 -0.09922828
+v 0.21916096 0.05587521 0.01791337
+v 0.34049664 0.08774593 -0.15586032
+v 0.33966177 0.06782929 0.08845200
+v 0.31083033 0.15863817 0.04854157
+v 0.22186156 0.15039252 0.07153332
+v 0.26505439 0.06821290 -0.16734959
+v 0.21909614 0.18390270 -0.06234030
+v 0.22241076 0.13994086 -0.12412418
+v 0.30827069 0.17127855 0.01869751
+v 0.26541103 0.13282788 0.08787925
+v 0.21715234 0.17693316 0.03046113
+v 0.26307665 0.08907632 -0.15970081
+v 0.21946951 0.19362921 -0.04427826
+v 0.26257237 0.16231064 -0.08957473
+v 0.21856228 0.16500851 0.04890061
+v 0.24605121 0.18774927 0.00142431
+v 0.33753253 0.15565825 -0.07426538
+v 0.30745540 0.17100869 -0.04424243
+f 8 1 6
+f 10 4 5
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+f 10 5 8
+f 11 3 7
+f 11 9 3
+f 11 7 1
+f 11 1 2
+f 12 7 6
+f 12 6 1
+f 12 1 7
+f 13 7 3
+f 14 10 6
+f 14 7 13
+f 15 8 5
+f 15 2 1
+f 15 1 8
+f 16 5 4
+f 17 9 11
+f 17 5 16
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+f 18 3 4
+f 18 4 13
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+f 24 20 10
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+f 24 14 20
+f 25 22 4
+f 25 4 3
+f 25 3 22
+f 26 3 9
+f 26 9 22
+f 27 26 22
+f 27 22 3
+f 27 3 26
\ No newline at end of file
diff --git a/objects/objaverse/hot_dog/hot_dog_4/collision/model_normalized_collision_14.obj b/objects/objaverse/hot_dog/hot_dog_4/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..619d5fd34b470725a4ae6e369781c5c4aec138d8
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_4/collision/model_normalized_collision_14.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.26518201 -0.11198691 0.11523860
+v -0.35611040 -0.04911929 0.12824096
+v -0.35604708 -0.11141978 0.11421978
+v -0.35624031 -0.05615624 0.11716675
+v 0.26453579 -0.04778409 0.12755789
+v -0.35667946 -0.10584106 0.11775099
+v -0.09839335 -0.06538568 0.09996031
+v -0.13097761 -0.11942867 0.11251332
+v 0.26541041 -0.10878440 0.11775243
+v 0.26553046 -0.05534698 0.11794800
+v -0.24938072 -0.11506584 0.11361510
+v -0.12942898 -0.12119542 0.11029769
+v 0.00756934 -0.06729382 0.10082346
+v -0.24994543 -0.11923755 0.10874771
+f 6 2 4
+f 6 4 3
+f 7 3 4
+f 7 4 2
+f 7 2 5
+f 9 5 2
+f 9 2 6
+f 9 8 1
+f 9 6 8
+f 10 7 5
+f 10 9 1
+f 10 5 9
+f 11 8 6
+f 11 6 3
+f 12 1 8
+f 13 10 1
+f 13 7 10
+f 13 1 12
+f 14 3 7
+f 14 13 12
+f 14 7 13
+f 14 11 3
+f 14 12 8
+f 14 8 11
\ No newline at end of file
diff --git a/objects/objaverse/hot_dog/hot_dog_4/collision/model_normalized_collision_15.obj b/objects/objaverse/hot_dog/hot_dog_4/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..27e3c64be3a847f7884e766a8189ab7289faef8c
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_4/collision/model_normalized_collision_15.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.26495804 -0.06295742 0.07085283
+v 0.26632715 -0.05558979 0.01022607
+v 0.26517434 -0.00448536 0.03266637
+v -0.44562821 -0.00737128 0.03411182
+v -0.44913032 -0.06176388 0.07202490
+v -0.44594973 -0.04241695 0.00875004
+v 0.23326528 -0.05216425 0.00930001
+v -0.45104502 -0.04436152 0.01415218
+v 0.26478995 -0.05541422 0.00971008
+v -0.45011658 -0.01369807 0.03670487
+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 8 4 6
+f 9 7 3
+f 9 3 2
+f 9 6 7
+f 9 8 6
+f 9 2 5
+f 9 5 8
+f 10 8 5
+f 10 5 4
+f 10 4 8
\ No newline at end of file
diff --git a/objects/objaverse/hot_dog/hot_dog_4/collision/model_normalized_collision_17.obj b/objects/objaverse/hot_dog/hot_dog_4/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d1585f336bf9689c7d594a317111154ffdda8001
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_4/collision/model_normalized_collision_17.obj
@@ -0,0 +1,144 @@
+# https://github.com/mikedh/trimesh
+v 0.24600872 -0.17357058 -0.07614067
+v 0.40136443 -0.12093075 -0.10014955
+v 0.33683500 -0.03482644 -0.06828159
+v -0.27184287 -0.03047875 -0.06641136
+v -0.35544420 -0.06474556 -0.16460448
+v 0.38311059 -0.14494180 -0.07487633
+v -0.00659858 -0.10745950 -0.17020175
+v -0.35449430 -0.14962645 -0.07727193
+v -0.15692645 -0.06148457 -0.17284221
+v 0.32047980 -0.11357340 -0.14247946
+v 0.12688230 -0.18865761 -0.07670320
+v -0.36927327 -0.13565494 -0.09316852
+v 0.36347103 -0.12562999 -0.11543244
+v 0.34025375 -0.06555104 -0.16299711
+v -0.24748579 -0.17304322 -0.07788851
+v 0.20177168 -0.17053838 -0.09838564
+v 0.38004299 -0.13978226 -0.08463196
+v 0.38508181 -0.09485471 -0.13868449
+v 0.20344232 -0.06515440 -0.17226161
+v 0.18854810 -0.09432791 -0.16929694
+v 0.05390976 -0.18529320 -0.10144498
+v -0.33389812 -0.14145558 -0.11285434
+v 0.12635672 -0.18458958 -0.09064818
+v 0.26271968 -0.12743767 -0.14057061
+v 0.24495271 -0.17108571 -0.08423682
+v 0.38044654 -0.11173726 -0.12508479
+v 0.36872296 -0.08983132 -0.14877142
+v 0.20330270 -0.08006687 -0.17037869
+v -0.03735786 -0.18874905 -0.07805633
+v -0.30681794 -0.15988274 -0.07837942
+v -0.36163023 -0.08699639 -0.15191829
+v -0.18755373 -0.17027093 -0.09984479
+v 0.08057428 -0.18711515 -0.09697635
+v 0.22976953 -0.15462025 -0.11283698
+v 0.23091301 -0.11365440 -0.15522696
+v 0.29198692 -0.10239920 -0.15439334
+v -0.30808388 -0.10181414 -0.15277061
+v -0.24644557 -0.17031653 -0.08604575
+v -0.03725112 -0.18575973 -0.09257727
+v -0.11274098 -0.14269529 -0.14130040
+v 0.15748650 -0.14162646 -0.14271738
+v 0.33854493 -0.08763871 -0.15486529
+v -0.35006521 -0.08510621 -0.15633336
+v -0.33426918 -0.11396214 -0.13981992
+v -0.23176760 -0.15643391 -0.11368025
+v -0.06597237 -0.17044055 -0.11315092
+v -0.26282111 -0.12914702 -0.13949349
+v -0.02159515 -0.13162119 -0.15412691
+v 0.00579542 -0.13144093 -0.15391261
+f 6 2 3
+f 6 3 1
+f 9 5 4
+f 9 4 3
+f 9 7 5
+f 11 1 3
+f 11 3 4
+f 12 8 4
+f 12 4 5
+f 15 11 4
+f 15 4 8
+f 17 13 2
+f 17 2 6
+f 17 6 13
+f 18 14 3
+f 18 3 2
+f 19 9 3
+f 19 3 14
+f 19 7 9
+f 20 7 19
+f 22 8 12
+f 23 1 11
+f 24 10 13
+f 25 16 13
+f 25 13 6
+f 25 6 1
+f 25 23 16
+f 25 1 23
+f 26 18 2
+f 26 2 13
+f 26 13 10
+f 27 14 18
+f 27 26 10
+f 27 18 26
+f 28 20 19
+f 28 19 14
+f 28 14 20
+f 29 11 15
+f 30 15 8
+f 30 8 22
+f 31 22 12
+f 31 12 5
+f 33 16 23
+f 33 23 11
+f 33 11 29
+f 34 24 13
+f 34 13 16
+f 34 16 24
+f 35 10 24
+f 36 35 20
+f 36 27 10
+f 36 10 35
+f 37 5 7
+f 38 30 22
+f 38 15 30
+f 39 29 15
+f 39 38 32
+f 39 15 38
+f 39 33 29
+f 39 21 33
+f 41 24 16
+f 41 16 33
+f 41 33 21
+f 41 35 24
+f 41 7 20
+f 41 20 35
+f 42 36 20
+f 42 20 14
+f 42 14 27
+f 42 27 36
+f 43 31 5
+f 43 5 37
+f 44 22 31
+f 44 43 37
+f 44 31 43
+f 45 38 22
+f 45 32 38
+f 46 39 32
+f 46 21 39
+f 46 32 45
+f 46 45 40
+f 46 40 21
+f 47 37 7
+f 47 7 40
+f 47 44 37
+f 47 40 45
+f 47 45 22
+f 47 22 44
+f 48 40 7
+f 48 41 21
+f 48 21 40
+f 49 48 7
+f 49 7 41
+f 49 41 48
\ No newline at end of file
diff --git a/objects/objaverse/hot_dog/hot_dog_4/collision/model_normalized_collision_18.obj b/objects/objaverse/hot_dog/hot_dog_4/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ce5da566e90ebff3feb09f431a00606ad1a62aa
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_4/collision/model_normalized_collision_18.obj
@@ -0,0 +1,135 @@
+# https://github.com/mikedh/trimesh
+v -0.35539100 -0.01094295 -0.10133029
+v -0.35517904 -0.00864176 -0.16415992
+v -0.34993505 0.16077072 -0.07478527
+v -0.41079241 0.15722911 0.03667987
+v -0.49697376 0.02359177 0.07336942
+v -0.35596861 0.05105967 0.04806971
+v -0.44240601 -0.01523346 -0.09707527
+v -0.35532319 0.15200292 0.06649109
+v -0.49320038 0.02066231 0.06673205
+v -0.39459364 -0.01112364 -0.15770899
+v -0.45763107 0.08884704 -0.08774826
+v -0.35450870 0.16090804 0.04827006
+v -0.43614620 0.14245799 0.06509906
+v -0.49500474 0.03042429 0.07505459
+v -0.35239265 0.09306184 -0.15546544
+v -0.47593914 0.04253095 -0.07472683
+v -0.42128501 0.14247363 -0.05919318
+v -0.40786543 0.15794597 -0.03115239
+v -0.38485885 0.15859371 0.04723291
+v -0.47635549 0.10100250 -0.00311125
+v -0.40804150 0.06327730 -0.15511462
+v -0.43612007 -0.01376181 -0.13290013
+v -0.42407526 0.11273870 -0.11161039
+v -0.39751545 0.14235999 -0.08508115
+v -0.43617031 0.14157025 -0.03114413
+v -0.47707510 0.10247599 0.06536629
+v -0.47548386 0.06422762 -0.07301903
+v -0.40979662 0.01576046 -0.15514815
+v -0.39895003 0.07637227 -0.15346895
+v -0.44618310 0.06149322 -0.12757410
+v -0.43353070 0.12895295 -0.07311059
+v -0.35146013 0.14610013 -0.10102907
+v -0.47484278 0.09069475 -0.04353580
+v -0.42146273 -0.01027538 -0.14458554
+v -0.38126956 0.10162609 -0.13948342
+v -0.43216717 0.08546161 -0.12586295
+v -0.45854947 0.07417658 -0.10196849
+v -0.44403744 0.02013420 -0.12939835
+v -0.43604862 0.04875747 -0.14050778
+v -0.42987966 0.11540885 -0.10005130
+v -0.38170082 0.12799564 -0.11391413
+v -0.44524548 0.11536405 -0.07313489
+v -0.46156683 0.11533587 -0.03100851
+v -0.41859811 0.10161360 -0.12523398
+v -0.36653038 0.09095454 -0.15316361
+v -0.44592469 0.08745122 -0.11120984
+f 1 2 3
+f 6 1 3
+f 9 6 5
+f 9 1 6
+f 9 7 1
+f 9 5 7
+f 10 2 1
+f 10 1 7
+f 12 8 6
+f 12 6 3
+f 14 5 6
+f 14 6 8
+f 14 8 13
+f 15 3 2
+f 18 12 3
+f 18 4 12
+f 19 12 4
+f 19 4 13
+f 19 13 8
+f 19 8 12
+f 21 15 2
+f 22 7 5
+f 22 5 16
+f 22 10 7
+f 24 18 3
+f 24 17 18
+f 25 13 4
+f 25 4 18
+f 25 18 17
+f 26 14 13
+f 26 25 20
+f 26 13 25
+f 26 20 5
+f 26 5 14
+f 27 16 5
+f 28 21 2
+f 28 2 10
+f 29 15 21
+f 30 16 27
+f 31 24 23
+f 31 17 24
+f 31 25 17
+f 32 24 3
+f 32 3 15
+f 33 11 27
+f 33 27 5
+f 33 5 20
+f 34 28 10
+f 34 10 22
+f 36 29 21
+f 36 21 30
+f 37 30 27
+f 37 27 11
+f 38 22 16
+f 38 16 30
+f 39 30 21
+f 39 21 28
+f 39 38 30
+f 39 28 34
+f 39 34 22
+f 39 22 38
+f 40 31 23
+f 41 23 24
+f 41 24 32
+f 41 32 15
+f 41 15 35
+f 42 11 33
+f 42 31 40
+f 43 33 20
+f 43 20 25
+f 43 42 33
+f 43 25 31
+f 43 31 42
+f 44 35 29
+f 44 41 35
+f 44 23 41
+f 44 36 23
+f 44 29 36
+f 45 35 15
+f 45 15 29
+f 45 29 35
+f 46 36 30
+f 46 30 37
+f 46 23 36
+f 46 37 11
+f 46 40 23
+f 46 42 40
+f 46 11 42
\ No newline at end of file
diff --git a/objects/objaverse/hot_dog/hot_dog_4/collision/model_normalized_collision_19.obj b/objects/objaverse/hot_dog/hot_dog_4/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f8d6286d315b9f0686903129da999a4544e786fa
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_4/collision/model_normalized_collision_19.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.00901850 0.00605650 -0.10456162
+v 0.00729254 -0.00653461 -0.17316935
+v 0.00728826 0.02376694 -0.17295782
+v -0.05304527 0.03814764 -0.02018491
+v -0.03779148 -0.00596066 -0.17350875
+v 0.00735058 0.02161015 -0.07986774
+v -0.03453244 0.01087081 -0.10795056
+v -0.03818928 0.02377806 -0.17399813
+v 0.00851612 0.01813489 -0.08613029
+v -0.03789780 0.03791252 -0.02010742
+v -0.05281015 0.03665954 -0.02468794
+v -0.05303283 0.02390175 -0.08108081
+f 1 2 3
+f 5 2 1
+f 7 5 1
+f 8 3 2
+f 8 2 5
+f 8 4 3
+f 9 6 1
+f 9 1 3
+f 9 3 6
+f 10 6 3
+f 10 3 4
+f 10 4 1
+f 10 1 6
+f 11 7 1
+f 11 1 4
+f 11 5 7
+f 12 8 5
+f 12 5 11
+f 12 11 4
+f 12 4 8
\ No newline at end of file
diff --git a/objects/objaverse/hot_dog/hot_dog_4/collision/model_normalized_collision_2.obj b/objects/objaverse/hot_dog/hot_dog_4/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1cfa7cc7bd5e9f759b7613c416501e43183b056a
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_4/collision/model_normalized_collision_2.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.26691436 -0.13955617 0.08634669
+v 0.26518201 -0.11198691 0.11523860
+v 0.00805408 -0.13623652 0.09543991
+v -0.09904556 0.08699510 0.12117052
+v 0.26522658 0.06654074 0.07104463
+v 0.02359169 -0.01787317 0.17483934
+v 0.26822599 0.04419063 0.15653406
+v -0.09848880 -0.06451934 0.07089692
+v 0.00754054 -0.11170495 0.11447689
+v 0.22979041 -0.02358661 0.17452819
+v 0.24874957 0.08920976 0.11660859
+v -0.10204036 0.04210961 0.16105469
+v -0.09836822 0.06608119 0.06980450
+v 0.26523510 0.02334993 0.17409253
+v 0.18984344 -0.02658823 0.17390363
+v 0.26496791 0.08500356 0.11371216
+v -0.08282786 -0.00816455 0.16300433
+v 0.24158780 -0.01328851 0.17488565
+v 0.05349476 0.01643411 0.17412945
+v -0.03207264 -0.03560185 0.16438094
+v -0.09839335 -0.06538568 0.09996031
+v 0.25499024 -0.01057910 0.16784375
+v 0.24781974 0.00733704 0.17612996
+v 0.02837213 0.01186746 0.17401551
+v -0.09537391 -0.04258019 0.12676208
+f 1 2 3
+f 7 2 1
+f 7 1 5
+f 8 5 1
+f 8 1 3
+f 9 3 2
+f 11 4 7
+f 12 7 4
+f 13 5 8
+f 13 11 5
+f 13 4 11
+f 13 12 4
+f 13 8 12
+f 14 2 7
+f 14 7 12
+f 15 9 2
+f 15 2 10
+f 15 10 6
+f 16 11 7
+f 16 7 5
+f 16 5 11
+f 17 6 12
+f 18 10 2
+f 19 14 12
+f 20 15 6
+f 20 9 15
+f 20 6 17
+f 20 3 9
+f 21 12 8
+f 21 8 3
+f 22 18 2
+f 22 2 14
+f 22 14 18
+f 23 6 10
+f 23 10 18
+f 23 19 6
+f 23 18 14
+f 23 14 19
+f 24 19 12
+f 24 12 6
+f 24 6 19
+f 25 20 17
+f 25 3 20
+f 25 21 3
+f 25 17 12
+f 25 12 21
\ No newline at end of file
diff --git a/objects/objaverse/hot_dog/hot_dog_4/collision/model_normalized_collision_21.obj b/objects/objaverse/hot_dog/hot_dog_4/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4d039ef8ac2a9a3f494c5559526c2c7beab4dfc9
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_4/collision/model_normalized_collision_21.obj
@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
+v 0.38569255 -0.14087149 -0.07984630
+v 0.46544811 -0.07653118 -0.07485079
+v 0.41049550 -0.13348363 -0.07454895
+v 0.34117430 0.01488332 -0.07645087
+v 0.34226196 -0.02229939 -0.17096319
+v 0.44952101 -0.10187310 -0.07327546
+v 0.34538907 -0.13756134 -0.10282203
+v 0.43148546 0.01058218 -0.11185231
+v 0.43591040 -0.11775871 -0.07362394
+v 0.40442090 -0.05765800 -0.15588788
+v 0.33854493 -0.08763871 -0.15486529
+v 0.34072908 -0.00715725 -0.16817479
+v 0.40217027 0.01693579 -0.07912850
+v 0.42448673 -0.07091942 -0.13775068
+v 0.36959161 -0.04570166 -0.16828859
+v 0.34041684 0.00437887 -0.10905725
+v 0.34192649 -0.04631757 -0.16865647
+v 0.40995340 -0.00883318 -0.15465819
+v 0.46540425 -0.04213420 -0.07792933
+v 0.44401072 -0.07232546 -0.11421551
+v 0.40560747 -0.09565889 -0.12768085
+v 0.39423989 -0.06903806 -0.15618546
+v 0.36305892 -0.02369262 -0.16866505
+v 0.42854956 -0.02852131 -0.14620284
+v 0.43029454 0.01398167 -0.09686990
+v 0.44504149 -0.09809595 -0.08565321
+v 0.42030895 -0.11010613 -0.09863485
+v 0.39563670 -0.12504536 -0.09842862
+v 0.35439888 -0.08617054 -0.15329491
+v 0.40807281 -0.08241898 -0.13867516
+v 0.43232523 -0.04866083 -0.13949249
+v 0.42931148 -0.00944807 -0.13370373
+v 0.46147068 -0.07173428 -0.08664894
+v 0.43342065 -0.11194831 -0.08325713
+v 0.40685135 -0.12798179 -0.08584520
+v 0.38149681 -0.12810087 -0.10065754
+v 0.45991872 -0.03913483 -0.10082389
+v 0.45864955 -0.06346407 -0.09852905
+f 1 3 4
+f 6 2 4
+f 7 1 4
+f 9 6 4
+f 9 4 3
+f 11 7 4
+f 12 4 8
+f 13 8 4
+f 13 4 2
+f 16 12 11
+f 16 11 4
+f 16 4 12
+f 17 12 5
+f 17 11 12
+f 17 15 11
+f 17 5 15
+f 18 12 8
+f 18 10 15
+f 19 13 2
+f 22 15 10
+f 22 11 15
+f 22 10 14
+f 23 18 15
+f 23 15 5
+f 23 5 12
+f 23 12 18
+f 24 10 18
+f 25 19 8
+f 25 8 13
+f 25 13 19
+f 26 2 6
+f 26 6 9
+f 26 14 20
+f 27 21 14
+f 28 3 1
+f 28 21 27
+f 29 21 7
+f 29 7 11
+f 29 22 21
+f 29 11 22
+f 30 22 14
+f 30 14 21
+f 30 21 22
+f 31 14 10
+f 31 10 24
+f 31 20 14
+f 32 24 18
+f 32 18 8
+f 33 26 20
+f 33 2 26
+f 34 26 9
+f 34 14 26
+f 34 27 14
+f 34 9 27
+f 35 27 9
+f 35 9 3
+f 35 28 27
+f 35 3 28
+f 36 28 1
+f 36 1 7
+f 36 7 21
+f 36 21 28
+f 37 32 8
+f 37 8 19
+f 37 24 32
+f 37 19 2
+f 37 31 24
+f 38 37 2
+f 38 2 33
+f 38 33 20
+f 38 20 31
+f 38 31 37
\ No newline at end of file
diff --git a/objects/objaverse/hot_dog/hot_dog_4/collision/model_normalized_collision_22.obj b/objects/objaverse/hot_dog/hot_dog_4/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9fa1ca435cd1bbdce32bc94e48fd3194bbd35725
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_4/collision/model_normalized_collision_22.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v -0.09889156 -0.05368146 0.11802915
+v -0.09723214 -0.04637870 0.12446113
+v -0.37181444 -0.00103418 0.16666797
+v -0.35605927 0.08667945 0.11764902
+v -0.09832386 0.08284847 0.11818919
+v -0.35624031 -0.05615624 0.11716675
+v -0.22083703 -0.01576537 0.17542417
+v -0.38657123 0.02153568 0.15117213
+v -0.35605406 0.08422005 0.11638072
+v -0.16843693 -0.02189154 0.16566913
+v -0.22899507 -0.03700467 0.15607640
+v -0.34540297 0.03814368 0.16588755
+v -0.38587610 -0.00468743 0.15200360
+v -0.09210188 0.01062795 0.16573348
+v -0.19401554 -0.03534682 0.15703634
+v -0.25115235 -0.02279004 0.16706446
+v -0.09904556 0.08699510 0.12117052
+v -0.34651251 0.02137716 0.17468163
+v -0.36149411 0.01844911 0.17354075
+v -0.35566417 -0.04155739 0.13571317
+v -0.36615955 0.00996734 0.17327355
+v -0.09570100 -0.02866998 0.13431271
+v -0.25577736 -0.00982520 0.17605859
+v -0.10204036 0.04210961 0.16105469
+f 5 2 1
+f 9 5 1
+f 9 1 6
+f 9 4 5
+f 9 8 4
+f 9 6 8
+f 10 1 2
+f 11 6 1
+f 13 8 6
+f 14 10 2
+f 14 7 10
+f 15 10 7
+f 15 7 11
+f 15 11 1
+f 15 1 10
+f 16 11 7
+f 17 5 4
+f 17 4 12
+f 17 14 5
+f 19 12 4
+f 19 4 8
+f 19 18 12
+f 20 13 6
+f 20 3 13
+f 20 16 3
+f 20 6 11
+f 20 11 16
+f 21 13 3
+f 21 8 13
+f 21 19 8
+f 21 18 19
+f 22 14 2
+f 22 2 5
+f 22 5 14
+f 23 16 7
+f 23 3 16
+f 23 21 3
+f 23 18 21
+f 23 7 14
+f 24 17 12
+f 24 14 17
+f 24 12 18
+f 24 23 14
+f 24 18 23
\ No newline at end of file
diff --git a/objects/objaverse/hot_dog/hot_dog_4/collision/model_normalized_collision_24.obj b/objects/objaverse/hot_dog/hot_dog_4/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3fb519093b7f47e704071276cb222305b09fbba0
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_4/collision/model_normalized_collision_24.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v -0.23404724 -0.01933004 -0.10257748
+v -0.23477038 -0.00645204 -0.16946042
+v -0.23434463 0.18590956 -0.08061802
+v -0.30649460 0.17329315 -0.07842578
+v -0.35517904 -0.00864176 -0.16415992
+v -0.23532593 0.01664184 -0.08337327
+v -0.23248127 0.10796943 -0.15401746
+v -0.23231230 0.17541997 -0.09793399
+v -0.34993505 0.16077072 -0.07478527
+v -0.35610024 0.01633743 -0.08329483
+v -0.35369414 0.02475541 -0.17181343
+v -0.35239265 0.09306184 -0.15546544
+v -0.30585639 0.17262231 -0.08377631
+v -0.35539100 -0.01094295 -0.10133029
+v -0.29706686 0.03584301 -0.17075106
+v -0.33865847 0.11523173 -0.14057342
+v -0.24732740 0.17384900 -0.09688765
+v -0.35336890 0.03661601 -0.17018498
+v -0.34792301 0.15641197 -0.08549203
+v -0.33548171 0.14185495 -0.11287375
+f 5 2 1
+f 7 1 2
+f 8 6 1
+f 8 3 6
+f 8 1 7
+f 9 6 3
+f 9 3 4
+f 10 1 6
+f 10 6 9
+f 11 2 5
+f 12 10 9
+f 12 11 5
+f 12 5 10
+f 13 4 3
+f 13 9 4
+f 14 10 5
+f 14 5 1
+f 14 1 10
+f 15 7 2
+f 15 2 11
+f 16 8 7
+f 16 7 12
+f 17 13 3
+f 17 3 8
+f 17 8 16
+f 18 12 7
+f 18 7 15
+f 18 15 11
+f 18 11 12
+f 19 12 9
+f 19 9 13
+f 20 17 16
+f 20 13 17
+f 20 19 13
+f 20 16 12
+f 20 12 19
\ No newline at end of file
diff --git a/objects/objaverse/hot_dog/hot_dog_4/collision/model_normalized_collision_26.obj b/objects/objaverse/hot_dog/hot_dog_4/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..98159df34c29ac3757e87ecae54f6d4a1f6c1dce
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_4/collision/model_normalized_collision_26.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.27746678 -0.17357293 -0.00706397
+v -0.27934375 -0.16739667 -0.07970642
+v -0.28151250 -0.13489004 0.08641321
+v -0.35776122 -0.13414996 0.08368227
+v -0.35385406 -0.15698815 -0.03089872
+v -0.36927327 -0.13565494 -0.09316852
+v -0.27896539 -0.15859791 0.04914971
+v -0.27956707 -0.14902841 0.06471181
+v -0.27751162 -0.17353412 -0.01636995
+v -0.35352660 -0.15638576 0.03247822
+v -0.29079166 -0.15137535 -0.10164664
+v -0.35449430 -0.14962645 -0.07727193
+v -0.29208054 -0.17078918 -0.00739461
+v -0.30905142 -0.15624464 0.04815423
+f 6 4 3
+f 8 2 3
+f 8 7 1
+f 8 3 4
+f 8 4 7
+f 9 5 2
+f 9 8 1
+f 9 2 8
+f 10 6 5
+f 10 4 6
+f 11 6 3
+f 11 3 2
+f 12 2 5
+f 12 5 6
+f 12 11 2
+f 12 6 11
+f 13 9 1
+f 13 5 9
+f 13 10 5
+f 13 1 10
+f 14 7 4
+f 14 4 10
+f 14 10 1
+f 14 1 7
\ No newline at end of file
diff --git a/objects/objaverse/hot_dog/hot_dog_4/collision/model_normalized_collision_27.obj b/objects/objaverse/hot_dog/hot_dog_4/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d54d654457143f240562456db8ca889a00e700c
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_4/collision/model_normalized_collision_27.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.40328491 0.01964569 -0.07281995
+v 0.42283142 0.11648994 -0.09637137
+v -0.35566987 0.06164141 0.06279133
+v -0.36865920 0.13062739 -0.11517059
+v 0.38683660 0.06355014 0.06468049
+v -0.35396628 0.02045779 -0.07279172
+v 0.40157749 0.03399375 -0.01928366
+v -0.35602434 0.04974061 0.04646584
+v 0.38552478 0.04747167 0.04396919
+f 2 1 4
+f 5 2 4
+f 5 4 3
+f 6 4 1
+f 7 1 2
+f 7 2 5
+f 8 3 4
+f 8 4 6
+f 9 8 6
+f 9 6 1
+f 9 1 7
+f 9 7 5
+f 9 5 3
+f 9 3 8
\ No newline at end of file
diff --git a/objects/objaverse/hot_dog/hot_dog_4/collision/model_normalized_collision_28.obj b/objects/objaverse/hot_dog/hot_dog_4/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e560257b7cb42a24743a16908cf06c31e839ddbf
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_4/collision/model_normalized_collision_28.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.39970131 -0.14580449 0.06637551
+v 0.40379071 -0.13779417 0.08122650
+v 0.08328016 -0.15736349 0.06997627
+v 0.08331024 -0.11116104 0.11389092
+v 0.40135063 -0.11232953 0.11156217
+v 0.39867391 -0.12661545 0.10376973
+v 0.08298961 -0.12888645 0.10061922
+v 0.08273017 -0.14283737 0.08652717
+v 0.21896952 -0.13953642 0.09007421
+v 0.08429499 -0.13659571 0.09309830
+f 1 3 4
+f 5 2 1
+f 5 1 4
+f 6 1 2
+f 6 3 1
+f 6 2 5
+f 6 5 4
+f 7 6 4
+f 8 7 4
+f 8 4 3
+f 9 8 3
+f 9 3 6
+f 10 6 7
+f 10 7 8
+f 10 9 6
+f 10 8 9
\ No newline at end of file
diff --git a/objects/objaverse/hot_dog/hot_dog_4/collision/model_normalized_collision_3.obj b/objects/objaverse/hot_dog/hot_dog_4/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..36056eaf70f5a8e57165ef351f01f59344b85836
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_4/collision/model_normalized_collision_3.obj
@@ -0,0 +1,108 @@
+# https://github.com/mikedh/trimesh
+v 0.40001342 -0.15611918 0.02425599
+v 0.47488451 -0.10325288 -0.00162986
+v 0.40553072 -0.00505354 0.15076063
+v 0.26517434 -0.00448536 0.03266637
+v 0.26433826 -0.17756682 -0.00715031
+v 0.47040999 -0.00429006 0.03729353
+v 0.45221680 -0.10460059 0.10333203
+v 0.39821981 -0.15711059 -0.00390607
+v 0.38905365 -0.03555670 -0.00902046
+v 0.26535582 -0.13044429 0.10055147
+v 0.49528656 -0.00463265 0.10980576
+v 0.43322901 -0.14097898 0.03568338
+v 0.26484291 -0.05489823 -0.00542366
+v 0.48270414 -0.04912348 -0.00996042
+v 0.26444738 -0.03218509 0.04370581
+v 0.39867391 -0.12661545 0.10376973
+v 0.44277768 -0.04409705 0.13520536
+v 0.47390736 -0.10431397 0.03892491
+v 0.43755970 -0.14016255 -0.00385123
+v 0.29119300 -0.17328357 -0.00827761
+v 0.41598527 -0.03653986 -0.00853002
+v 0.49389288 -0.01169051 0.06277101
+v 0.26435493 -0.15942569 0.04872379
+v 0.41784883 -0.04428747 0.13695964
+v 0.42173770 -0.14228957 0.06646238
+v 0.48571351 -0.00557271 0.12520612
+v 0.41352409 -0.12473666 0.10279759
+v 0.48744505 -0.03000987 0.10956398
+v 0.49350694 -0.00621054 0.06007481
+v 0.26413749 -0.17199601 0.01848351
+v 0.26468778 -0.15066561 0.06693112
+v 0.44962499 -0.11503809 0.09456836
+v 0.41491469 -0.13847573 0.07728229
+v 0.47583169 -0.03988132 0.11678045
+v 0.27726274 -0.17130496 0.01775339
+v 0.43840404 -0.12332385 0.08900636
+v 0.44949491 -0.12491915 0.05245137
+f 8 1 5
+f 9 4 6
+f 10 3 4
+f 11 6 4
+f 11 4 3
+f 13 4 9
+f 15 10 4
+f 15 13 5
+f 15 4 13
+f 18 2 11
+f 19 18 12
+f 19 2 18
+f 19 14 2
+f 19 12 1
+f 19 1 8
+f 20 13 9
+f 20 5 13
+f 20 9 14
+f 20 8 5
+f 20 19 8
+f 20 14 19
+f 21 14 9
+f 21 9 6
+f 21 6 14
+f 22 11 2
+f 22 2 14
+f 24 3 10
+f 24 10 16
+f 24 17 3
+f 24 16 17
+f 25 1 12
+f 26 11 3
+f 26 3 17
+f 27 17 16
+f 27 7 17
+f 28 18 11
+f 28 7 18
+f 28 11 26
+f 29 22 14
+f 29 14 6
+f 29 6 11
+f 29 11 22
+f 30 23 15
+f 30 15 5
+f 31 23 16
+f 31 16 10
+f 31 10 15
+f 31 15 23
+f 32 18 7
+f 32 7 27
+f 32 25 12
+f 33 16 23
+f 33 30 25
+f 33 23 30
+f 33 27 16
+f 33 25 27
+f 34 26 17
+f 34 17 7
+f 34 28 26
+f 34 7 28
+f 35 30 5
+f 35 5 1
+f 35 1 25
+f 35 25 30
+f 36 32 27
+f 36 27 25
+f 36 25 32
+f 37 32 12
+f 37 12 18
+f 37 18 32
\ No newline at end of file
diff --git a/objects/objaverse/hot_dog/hot_dog_4/collision/model_normalized_collision_30.obj b/objects/objaverse/hot_dog/hot_dog_4/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7e6a0dd27518bfd6970361395bd3ab37936e199b
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_4/collision/model_normalized_collision_30.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.40317261 0.02880267 0.03562611
+v 0.40699260 0.04399732 0.04457126
+v 0.39956865 0.06500712 0.07274107
+v -0.23513493 0.06637763 0.07452638
+v -0.23254882 0.03424646 0.03818544
+v -0.23574170 0.06339776 0.05736012
+v 0.38683660 0.06355014 0.06468049
+v 0.39804267 0.06189862 0.06485118
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 5 1 4
+f 6 4 3
+f 6 5 4
+f 6 2 5
+f 7 6 3
+f 7 2 6
+f 8 7 3
+f 8 3 2
+f 8 2 7
\ No newline at end of file
diff --git a/objects/objaverse/hot_dog/hot_dog_4/collision/model_normalized_collision_8.obj b/objects/objaverse/hot_dog/hot_dog_4/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..38b618158006d48bb3691b091af28a0bdfa09f5f
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_4/collision/model_normalized_collision_8.obj
@@ -0,0 +1,114 @@
+# https://github.com/mikedh/trimesh
+v -0.35536422 -0.13973665 0.06920050
+v -0.35574114 -0.12856852 0.09361554
+v -0.49815491 -0.00721630 0.07288878
+v -0.39996406 0.14844988 0.06417811
+v -0.35532319 0.15200292 0.06649109
+v -0.36786178 -0.00301849 0.17018025
+v -0.46477817 -0.11539200 0.06735213
+v -0.34105568 -0.00638196 0.16139132
+v -0.48187500 0.02914160 0.13279883
+v -0.42881444 0.11068262 0.11392383
+v -0.47707510 0.10247599 0.06536629
+v -0.42812448 -0.12416179 0.09384949
+v -0.35667946 -0.10584106 0.11775099
+v -0.35374438 0.03559046 0.16034735
+v -0.49247669 -0.00442246 0.12077529
+v -0.43627835 0.12884861 0.09048854
+v -0.44391786 -0.12822183 0.06993529
+v -0.34816786 -0.01208634 0.16730320
+v -0.45039459 -0.11239467 0.10366709
+v -0.35559304 0.11970488 0.10543369
+v -0.45935615 0.02883312 0.14417328
+v -0.49500474 0.03042429 0.07505459
+v -0.35435632 0.14631388 0.07606207
+v -0.40006058 0.14329383 0.07360324
+v -0.45307490 0.13114157 0.06616962
+v -0.45317412 0.10441047 0.10250194
+v -0.44374080 -0.12634864 0.07955690
+v -0.34419123 -0.00323710 0.17040337
+v -0.36379788 -0.01205442 0.16657995
+v -0.41423362 -0.10665012 0.11261517
+v -0.46323802 -0.10310892 0.09947677
+v -0.47091598 0.01904607 0.14390295
+v -0.48922520 0.02999318 0.11707038
+v -0.47421656 0.10018549 0.07957338
+v -0.43728955 0.11782905 0.10189014
+v -0.45057731 0.12820804 0.07649412
+v -0.46279660 -0.11376933 0.08182305
+v -0.45985508 -0.01309679 0.14518589
+v -0.46791154 -0.00408267 0.14457866
+f 5 1 4
+f 7 4 1
+f 8 2 1
+f 8 1 5
+f 11 7 3
+f 11 4 7
+f 12 1 2
+f 13 2 8
+f 13 12 2
+f 15 3 7
+f 17 7 1
+f 20 10 14
+f 21 14 10
+f 21 6 14
+f 22 11 3
+f 22 3 15
+f 23 16 10
+f 23 10 20
+f 23 20 8
+f 23 8 5
+f 24 5 4
+f 24 4 16
+f 24 23 5
+f 24 16 23
+f 25 16 4
+f 25 4 11
+f 26 9 10
+f 27 17 1
+f 27 1 12
+f 27 12 19
+f 28 18 13
+f 28 13 8
+f 28 14 6
+f 28 6 18
+f 28 20 14
+f 28 8 20
+f 29 18 6
+f 29 13 18
+f 29 6 19
+f 30 19 12
+f 30 12 13
+f 30 29 19
+f 30 13 29
+f 32 21 10
+f 32 10 9
+f 32 9 15
+f 32 6 21
+f 33 22 15
+f 33 15 9
+f 33 11 22
+f 34 9 26
+f 34 33 9
+f 34 11 33
+f 34 25 11
+f 35 26 10
+f 35 10 16
+f 35 16 26
+f 36 26 16
+f 36 16 25
+f 36 34 26
+f 36 25 34
+f 37 27 19
+f 37 7 17
+f 37 17 27
+f 37 19 31
+f 37 31 15
+f 37 15 7
+f 38 19 6
+f 39 38 6
+f 39 6 32
+f 39 32 15
+f 39 15 31
+f 39 31 19
+f 39 19 38
\ No newline at end of file
diff --git a/objects/objaverse/hot_dog/hot_dog_4/collision/model_normalized_collision_9.obj b/objects/objaverse/hot_dog/hot_dog_4/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af962bf840d7e921784fe26373391567bca5d3f5
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_4/collision/model_normalized_collision_9.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.34025375 -0.06555104 -0.16299711
+v 0.39847560 -0.00596413 -0.15709148
+v 0.33683500 -0.03482644 -0.06828159
+v -0.23484850 0.08447204 -0.08107765
+v -0.23630105 0.09269917 -0.15946451
+v 0.26515153 0.08447204 -0.08107765
+v -0.23771113 -0.03259709 -0.07485874
+v 0.40139752 -0.00342812 -0.12316797
+v 0.21943056 0.02541043 -0.17202174
+v 0.34119303 0.02311814 -0.06033753
+v 0.26866890 0.10235191 -0.14735955
+v -0.23533136 -0.06170323 -0.17211372
+v 0.39786223 0.02717604 -0.16465711
+v 0.40424173 0.00533521 -0.11230154
+v 0.34044804 0.09137929 -0.15280938
+v 0.27825936 -0.06403101 -0.16934795
+v -0.18866345 0.02450164 -0.17196045
+v -0.09772742 0.09343729 -0.15990921
+v 0.29410551 -0.03735847 -0.17078759
+v -0.23472662 0.02391711 -0.16986503
+v 0.14336722 0.02357221 -0.17216504
+v 0.29345433 -0.04906191 -0.17008166
+f 7 1 3
+f 7 4 5
+f 8 1 2
+f 8 3 1
+f 10 6 4
+f 10 7 3
+f 10 4 7
+f 11 5 4
+f 11 4 6
+f 12 7 5
+f 12 1 7
+f 13 2 1
+f 14 10 3
+f 14 3 8
+f 14 8 2
+f 14 2 13
+f 15 13 9
+f 15 11 6
+f 15 14 13
+f 15 6 10
+f 15 10 14
+f 16 1 12
+f 18 15 9
+f 18 5 11
+f 18 11 15
+f 18 17 5
+f 18 9 17
+f 19 16 12
+f 19 12 9
+f 19 9 13
+f 20 17 12
+f 20 12 5
+f 20 5 17
+f 21 17 9
+f 21 9 12
+f 21 12 17
+f 22 19 13
+f 22 13 1
+f 22 1 16
+f 22 16 19
\ No newline at end of file
diff --git a/objects/objaverse/hot_dog/hot_dog_4/visual/material.mtl b/objects/objaverse/hot_dog/hot_dog_4/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6b5d0f127cc1df2efd6b4835e0300358bb6dde72
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_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
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diff --git a/objects/objaverse/hot_dog/hot_dog_4/visual/model_normalized_0.obj b/objects/objaverse/hot_dog/hot_dog_4/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..15aef141861a3c6d5a6ed723f9735b84b243deec
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_4/visual/model_normalized_0.obj
@@ -0,0 +1,14412 @@
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+f 2955/2955/2955 2266/2266/2266 2264/2264/2264
+f 2264/2264/2264 2265/2265/2265 2956/2956/2956
+f 2956/2956/2956 2954/2954/2954 2264/2264/2264
+f 2957/2957/2957 2956/2956/2956 2265/2265/2265
+f 2265/2265/2265 2939/2939/2939 2957/2957/2957
+f 2939/2939/2939 1474/1474/1474 1477/1477/1477
+f 1477/1477/1477 2957/2957/2957 2939/2939/2939
+f 2958/2958/2958 1474/1474/1474 2939/2939/2939
+f 2939/2939/2939 2029/2029/2029 2958/2958/2958
+f 2959/2959/2959 2958/2958/2958 2029/2029/2029
+f 2029/2029/2029 2028/2028/2028 2959/2959/2959
+f 1764/1764/1764 2941/2941/2941 2942/2942/2942
+f 2942/2942/2942 1767/1767/1767 1764/1764/1764
+f 1764/1764/1764 1763/1763/1763 2943/2943/2943
+f 2943/2943/2943 2941/2941/2941 1764/1764/1764
+f 2944/2944/2944 2943/2943/2943 1763/1763/1763
+f 1763/1763/1763 1496/1496/1496 2944/2944/2944
+f 2945/2945/2945 2944/2944/2944 1496/1496/1496
+f 1496/1496/1496 1495/1495/1495 2945/2945/2945
+f 2946/2946/2946 2945/2945/2945 1495/1495/1495
+f 1495/1495/1495 1499/1499/1499 2946/2946/2946
+f 2947/2947/2947 2946/2946/2946 1499/1499/1499
+f 1499/1499/1499 2036/2036/2036 2947/2947/2947
+f 2948/2948/2948 2947/2947/2947 2036/2036/2036
+f 2036/2036/2036 2270/2270/2270 2948/2948/2948
+f 2949/2949/2949 2948/2948/2948 2270/2270/2270
+f 2270/2270/2270 1504/1504/1504 2949/2949/2949
+f 1477/1477/1477 1476/1476/1476 1513/1513/1513
+f 1513/1513/1513 1479/1479/1479 1477/1477/1477
+f 1479/1479/1479 1482/1482/1482 1480/1480/1480
+f 1475/1475/1475 1474/1474/1474 2958/2958/2958
+f 2940/2940/2940 1475/1475/1475 2958/2958/2958
+f 2958/2958/2958 2959/2959/2959 2940/2940/2940
+f 1479/1479/1479 1513/1513/1513 1482/1482/1482
\ No newline at end of file
diff --git a/objects/objaverse/hot_dog/hot_dog_5/collision/model_normalized_collision_0.obj b/objects/objaverse/hot_dog/hot_dog_5/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b408d147a0320111f120af37641b929e046ba834
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_5/collision/model_normalized_collision_0.obj
@@ -0,0 +1,126 @@
+# https://github.com/mikedh/trimesh
+v 0.45120890 -0.18857691 0.01868452
+v 0.48907645 -0.12265201 -0.03592109
+v 0.45001727 -0.00694594 0.02057880
+v 0.33939565 0.02857792 -0.12737276
+v 0.26542936 -0.08790677 -0.15668435
+v 0.47593758 -0.06293044 -0.09364266
+v 0.49152115 -0.13607112 0.01984780
+v 0.43869434 -0.12169390 -0.11330772
+v 0.26551153 -0.19569420 0.02044014
+v 0.40008389 0.02824544 -0.11256552
+v 0.47324764 -0.16491335 -0.01039858
+v 0.49069044 -0.07853224 -0.06932853
+v 0.26515151 -0.04549781 -0.00393498
+v 0.46180968 -0.08392864 0.04787180
+v 0.45577373 -0.17148281 -0.03449813
+v 0.35411327 0.03033338 -0.12555500
+v 0.45353478 -0.02532275 -0.06773090
+v 0.38455328 -0.07930824 -0.14717819
+v 0.47679517 -0.16296181 0.01435131
+v 0.48841565 -0.13461858 -0.01040039
+v 0.48813158 -0.09058258 -0.00402193
+v 0.46057993 -0.09566759 -0.10595014
+v 0.26340317 -0.01481502 -0.14124500
+v 0.47087746 -0.08963556 0.04366217
+v 0.45120999 -0.18660367 -0.00488272
+v 0.47586039 -0.14784640 -0.04778669
+v 0.26515151 -0.17187952 -0.03372161
+v 0.46005961 -0.03506182 -0.07040280
+v 0.40787442 -0.04150726 -0.13064453
+v 0.36925713 -0.09436069 -0.14521804
+v 0.26293200 -0.02716147 -0.15138239
+v 0.48822547 -0.07793873 -0.04552617
+v 0.47487573 -0.08041184 -0.09071288
+v 0.48832186 -0.10566582 0.01119489
+v 0.46247591 -0.17140775 -0.02061033
+v 0.45337859 -0.14558039 -0.07779806
+v 0.47225028 -0.12194061 -0.08036047
+v 0.26515381 -0.11399892 -0.12218721
+v 0.26515151 -0.18728643 -0.00354900
+v 0.46655258 -0.07119587 -0.10044800
+v 0.40897272 -0.10770096 -0.13035683
+v 0.46350484 -0.15987252 -0.04812187
+v 0.48855584 -0.09204486 -0.06566077
+f 12 7 2
+f 13 3 4
+f 14 13 9
+f 14 3 13
+f 14 9 1
+f 16 4 3
+f 16 3 10
+f 17 10 3
+f 17 6 10
+f 17 3 12
+f 19 11 7
+f 19 7 1
+f 19 1 11
+f 20 2 7
+f 20 7 11
+f 21 7 12
+f 22 8 18
+f 23 13 4
+f 24 3 14
+f 24 14 1
+f 24 1 7
+f 25 1 9
+f 25 11 1
+f 26 20 11
+f 26 2 20
+f 28 17 12
+f 28 12 6
+f 28 6 17
+f 29 10 6
+f 29 18 16
+f 29 16 10
+f 30 5 18
+f 31 18 5
+f 31 4 16
+f 31 16 18
+f 31 23 4
+f 31 9 13
+f 31 13 23
+f 32 21 12
+f 32 12 3
+f 32 3 21
+f 33 22 6
+f 33 6 12
+f 33 12 22
+f 34 21 3
+f 34 3 24
+f 34 24 7
+f 34 7 21
+f 35 25 15
+f 35 11 25
+f 36 15 27
+f 37 22 12
+f 37 26 36
+f 37 36 8
+f 37 8 22
+f 38 5 8
+f 38 36 27
+f 38 8 36
+f 38 31 5
+f 38 27 31
+f 39 25 9
+f 39 31 27
+f 39 9 31
+f 39 27 15
+f 39 15 25
+f 40 22 18
+f 40 18 29
+f 40 29 6
+f 40 6 22
+f 41 30 18
+f 41 18 8
+f 41 8 5
+f 41 5 30
+f 42 26 11
+f 42 11 35
+f 42 35 15
+f 42 36 26
+f 42 15 36
+f 43 37 12
+f 43 12 2
+f 43 2 26
+f 43 26 37
\ No newline at end of file
diff --git a/objects/objaverse/hot_dog/hot_dog_5/collision/model_normalized_collision_1.obj b/objects/objaverse/hot_dog/hot_dog_5/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c5444dd8e3c907d6e6862066dc1c4466b547bd56
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_5/collision/model_normalized_collision_1.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.26551153 -0.19569420 0.02044014
+v 0.26514976 -0.11011945 -0.12725667
+v 0.26515151 -0.04549781 -0.00393498
+v 0.00770509 -0.01087052 -0.12183496
+v 0.00757576 -0.17187951 -0.03372161
+v 0.26408255 -0.00337802 -0.11402059
+v 0.26515151 -0.17187952 -0.03372161
+v 0.00747014 -0.10958061 -0.12742701
+v 0.00757576 -0.19356805 0.02052204
+v 0.00757575 -0.04549781 -0.00393496
+v 0.26515151 -0.15149269 -0.06772944
+v 0.23484848 -0.18728643 -0.00354900
+v 0.00757582 -0.15149250 -0.06772907
+v 0.26515151 -0.18728643 -0.00354900
+v 0.00757576 -0.19010701 0.00620734
+f 1 2 3
+f 6 3 2
+f 6 2 4
+f 8 4 2
+f 9 1 3
+f 10 6 4
+f 10 3 6
+f 10 9 3
+f 10 4 8
+f 10 8 9
+f 11 7 5
+f 11 2 1
+f 11 1 7
+f 12 5 7
+f 13 8 2
+f 13 2 11
+f 13 11 5
+f 13 5 8
+f 14 12 7
+f 14 7 1
+f 14 1 12
+f 15 5 12
+f 15 9 8
+f 15 8 5
+f 15 12 1
+f 15 1 9
\ No newline at end of file
diff --git a/objects/objaverse/hot_dog/hot_dog_5/collision/model_normalized_collision_10.obj b/objects/objaverse/hot_dog/hot_dog_5/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9692851a3ccc3c39b2043dcc8930760022b580c7
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_5/collision/model_normalized_collision_10.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v -0.40973460 -0.19590885 0.07199769
+v -0.41666665 -0.19210351 0.00783365
+v -0.41452361 0.03392962 0.11312638
+v -0.45677540 0.04963869 0.01168136
+v -0.49267077 -0.13656345 0.03082892
+v -0.42650132 0.04476902 0.01259808
+v -0.45055816 -0.18867504 0.03790546
+v -0.49240066 -0.10410920 -0.00272111
+v -0.41855335 -0.17229956 0.09734770
+v -0.44340961 0.02455741 0.09838952
+v -0.45082339 -0.18805002 0.00354531
+v -0.42891511 -0.01125554 -0.00783627
+v -0.40779617 -0.17805278 0.10111215
+v -0.47726746 -0.15047325 0.05941542
+v -0.44839764 -0.00567325 0.10201744
+v -0.47477553 -0.16543824 0.00470801
+v -0.46410702 -0.15727782 0.06712958
+v -0.44864908 -0.16046079 0.08030946
+v -0.49003533 -0.13554149 0.00476400
+v -0.47475744 -0.16182585 0.02960841
+v -0.46070241 -0.17644864 0.04392761
+f 1 2 3
+f 6 3 2
+f 6 4 3
+f 8 5 4
+f 10 3 4
+f 10 4 5
+f 11 2 1
+f 11 1 7
+f 12 6 2
+f 12 11 8
+f 12 2 11
+f 12 8 4
+f 12 4 6
+f 13 1 3
+f 13 9 7
+f 13 7 1
+f 15 3 10
+f 15 13 3
+f 15 9 13
+f 15 10 5
+f 15 5 14
+f 16 11 7
+f 16 8 11
+f 18 15 14
+f 18 9 15
+f 18 14 17
+f 19 16 5
+f 19 5 8
+f 19 8 16
+f 20 14 5
+f 20 5 16
+f 21 17 14
+f 21 18 17
+f 21 7 9
+f 21 9 18
+f 21 14 20
+f 21 20 16
+f 21 16 7
\ No newline at end of file
diff --git a/objects/objaverse/hot_dog/hot_dog_5/collision/model_normalized_collision_11.obj b/objects/objaverse/hot_dog/hot_dog_5/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..02757a47be017349c85e3e975defd42580843185
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_5/collision/model_normalized_collision_11.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.00847737 -0.19284249 0.06883646
+v 0.00757576 -0.19010701 0.00620734
+v 0.00887336 0.19061483 0.07768805
+v -0.09943174 0.19424947 0.08200817
+v -0.09901445 -0.19556046 0.07396416
+v -0.09848485 0.18834914 0.00725493
+v 0.01365787 0.02679957 0.15927124
+v 0.00757576 0.18816332 0.00661238
+v -0.09848485 -0.19064438 0.00674878
+v -0.09911308 -0.06374043 0.13748621
+v 0.00033306 0.07383120 0.15385981
+v -0.09969944 0.16531286 0.10698672
+v 0.00757576 -0.03284333 0.13782974
+v -0.07610162 0.01958204 0.15860777
+v -0.02408092 0.17504525 0.09235375
+v -0.06640311 -0.02963885 0.14919132
+v -0.08827064 0.01842407 0.15059805
+v -0.05804518 0.07132588 0.15072086
+v -0.08460986 0.16484471 0.10614085
+v -0.06006961 0.01012012 0.15892566
+v -0.07243606 0.04782153 0.15285440
+f 5 2 1
+f 7 1 2
+f 8 7 2
+f 8 3 7
+f 8 6 4
+f 8 4 3
+f 9 4 6
+f 9 2 5
+f 9 8 2
+f 9 6 8
+f 10 5 1
+f 11 7 3
+f 12 9 5
+f 12 4 9
+f 12 5 10
+f 12 3 4
+f 13 1 7
+f 14 7 11
+f 15 11 3
+f 16 10 1
+f 16 1 13
+f 16 13 7
+f 17 14 12
+f 17 12 10
+f 17 10 14
+f 18 14 11
+f 18 11 12
+f 19 12 11
+f 19 11 15
+f 19 15 3
+f 19 3 12
+f 20 14 10
+f 20 10 16
+f 20 16 7
+f 20 7 14
+f 21 18 12
+f 21 12 14
+f 21 14 18
\ No newline at end of file
diff --git a/objects/objaverse/hot_dog/hot_dog_5/collision/model_normalized_collision_12.obj b/objects/objaverse/hot_dog/hot_dog_5/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cfc9d8d099598703d355099644779592c749c5e3
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_5/collision/model_normalized_collision_12.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.26515151 -0.15149269 -0.06772944
+v 0.26515200 -0.09549446 -0.14636773
+v -0.23488391 -0.09547654 -0.14635506
+v 0.26515381 -0.11399892 -0.12218721
+v -0.23484819 -0.13220427 -0.09595976
+v -0.23484854 -0.15149267 -0.06772943
+v -0.23501141 -0.11397524 -0.12217386
+v 0.26515151 -0.13220428 -0.09595977
+v -0.23498714 -0.10107031 -0.13904389
+f 1 2 3
+f 3 2 4
+f 2 1 4
+f 6 1 3
+f 7 4 5
+f 7 5 6
+f 8 5 4
+f 8 4 1
+f 8 6 5
+f 8 1 6
+f 9 7 6
+f 9 6 3
+f 9 3 4
+f 9 4 7
\ No newline at end of file
diff --git a/objects/objaverse/hot_dog/hot_dog_5/collision/model_normalized_collision_13.obj b/objects/objaverse/hot_dog/hot_dog_5/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..748999441e487a6c28b13f6c55c1bfefd42efd5a
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_5/collision/model_normalized_collision_13.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v -0.09848484 0.07317257 0.02084307
+v -0.09848485 0.18834914 0.00725493
+v -0.12937014 0.12248649 0.12325218
+v -0.38926736 0.20590140 0.08661444
+v -0.40752977 0.07226552 0.03242182
+v -0.09943174 0.19424947 0.08200817
+v -0.23484848 0.18834916 0.00725492
+v -0.09867935 0.10884061 0.11422209
+v -0.39363959 0.12320719 0.12430999
+v -0.14425165 0.20405518 0.06481481
+v -0.20590137 0.17498289 0.10745393
+v -0.23484848 0.07317257 0.02084307
+v -0.41666578 0.19398450 0.02175808
+v -0.09969944 0.16531286 0.10698672
+v -0.40825189 0.11004839 0.10739033
+v -0.20563233 0.20357107 0.08262495
+v -0.39943403 0.15421254 0.12194731
+v -0.41752628 0.20140700 0.04077606
+v -0.14463524 0.20261228 0.07496936
+v -0.40773305 0.17507426 0.11407475
+v -0.23608916 0.15253767 0.12035764
+v -0.40182556 0.20627709 0.06732465
+v -0.12983625 0.12317207 0.12320279
+f 7 2 1
+f 8 5 1
+f 8 1 2
+f 8 2 6
+f 9 8 3
+f 10 6 2
+f 12 7 1
+f 12 1 5
+f 12 5 7
+f 13 7 5
+f 14 8 6
+f 14 3 8
+f 14 6 11
+f 15 5 8
+f 15 8 9
+f 16 10 4
+f 16 11 6
+f 17 15 9
+f 18 10 2
+f 18 2 7
+f 18 7 13
+f 18 13 5
+f 18 5 15
+f 19 16 6
+f 19 6 10
+f 19 10 16
+f 20 16 4
+f 20 11 16
+f 20 18 15
+f 20 15 17
+f 21 14 11
+f 21 20 17
+f 21 11 20
+f 22 4 10
+f 22 10 18
+f 22 20 4
+f 22 18 20
+f 23 21 17
+f 23 3 14
+f 23 14 21
+f 23 17 9
+f 23 9 3
\ No newline at end of file
diff --git a/objects/objaverse/hot_dog/hot_dog_5/collision/model_normalized_collision_14.obj b/objects/objaverse/hot_dog/hot_dog_5/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..00fbf8bab6e1bad40932128c8cf7c1251b851e8c
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_5/collision/model_normalized_collision_14.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v -0.23484848 -0.19064441 0.00674877
+v -0.23490817 -0.10838148 -0.12948503
+v -0.23484848 -0.08527927 0.02345105
+v -0.49322420 -0.10875717 -0.03735392
+v -0.45561989 -0.17144620 -0.03457103
+v -0.44024510 -0.10848635 -0.11695125
+v -0.23484848 -0.17187952 -0.03372161
+v -0.47477553 -0.16543824 0.00470801
+v -0.25007538 -0.10850958 -0.12958353
+v -0.47586039 -0.14784640 -0.04778669
+v -0.23484848 -0.18728643 -0.00354900
+v -0.45082339 -0.18805002 0.00354531
+v -0.49689917 -0.11787251 -0.00108544
+v -0.43869434 -0.12169390 -0.11330772
+v -0.23501141 -0.11397524 -0.12217386
+v -0.47339349 -0.16472747 -0.01028238
+v -0.45075649 -0.18652849 -0.00503341
+v -0.49003533 -0.13554149 0.00476400
+v -0.48902186 -0.12275314 -0.03569660
+v -0.46350484 -0.15987252 -0.04812187
+v -0.48858509 -0.13482464 -0.01021278
+v -0.46255659 -0.17109482 -0.02031885
+f 6 4 3
+f 7 2 3
+f 9 6 3
+f 9 3 2
+f 10 4 6
+f 11 5 7
+f 11 7 3
+f 11 3 1
+f 12 1 3
+f 12 3 8
+f 13 3 4
+f 14 6 9
+f 14 10 6
+f 14 7 5
+f 15 9 2
+f 15 2 7
+f 15 14 9
+f 15 7 14
+f 16 12 8
+f 17 11 1
+f 17 1 12
+f 17 5 11
+f 17 12 16
+f 18 8 3
+f 18 3 13
+f 18 16 8
+f 19 13 4
+f 19 4 10
+f 20 14 5
+f 20 10 14
+f 20 16 10
+f 21 10 16
+f 21 16 18
+f 21 19 10
+f 21 18 13
+f 21 13 19
+f 22 17 16
+f 22 16 20
+f 22 20 5
+f 22 5 17
\ No newline at end of file
diff --git a/objects/objaverse/hot_dog/hot_dog_5/collision/model_normalized_collision_15.obj b/objects/objaverse/hot_dog/hot_dog_5/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3410dc60d5caa8f60c67d6f4e227754afbd32cab
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_5/collision/model_normalized_collision_15.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v 0.33884295 -0.01583928 -0.12480244
+v 0.40148079 0.02249300 -0.10338795
+v -0.35682496 -0.00132837 -0.10473572
+v -0.28030302 0.12419744 -0.10012359
+v 0.30920261 0.08890253 -0.14515696
+v 0.33952827 -0.00207392 -0.09754430
+v 0.39448267 0.07059879 -0.13301035
+v -0.27807874 -0.01656313 -0.13934952
+v 0.40151513 0.12449917 -0.10054260
+v -0.33884759 -0.01594553 -0.12466098
+v 0.39826612 0.03559978 -0.12010171
+v 0.27813232 -0.01649808 -0.13940424
+v -0.32386440 0.08039855 -0.14779317
+v 0.39227751 0.10391692 -0.12937083
+v -0.35543791 -0.01029401 -0.11582736
+v 0.40151513 0.11733397 -0.11057843
+v 0.32386440 0.08039855 -0.14779317
+v -0.29396041 0.09023075 -0.14562061
+v -0.00735222 0.06493169 -0.16395672
+v -0.35524937 0.08390488 -0.14355523
+v -0.35567926 0.10156312 -0.13177145
+v 0.00735222 0.06493169 -0.16395672
+v -0.35769289 0.01572545 -0.11039991
+f 6 4 3
+f 6 1 2
+f 9 6 2
+f 9 4 6
+f 10 1 6
+f 11 2 1
+f 11 1 7
+f 12 7 1
+f 12 10 8
+f 12 1 10
+f 15 10 6
+f 15 6 3
+f 16 9 2
+f 16 2 11
+f 16 11 7
+f 16 14 9
+f 16 7 14
+f 17 7 12
+f 17 14 7
+f 17 5 14
+f 18 14 5
+f 19 12 8
+f 19 8 13
+f 19 13 18
+f 20 13 8
+f 20 8 10
+f 20 10 15
+f 20 18 13
+f 21 14 18
+f 21 4 9
+f 21 9 14
+f 21 18 20
+f 21 3 4
+f 22 17 12
+f 22 12 19
+f 22 5 17
+f 22 19 18
+f 22 18 5
+f 23 20 15
+f 23 15 3
+f 23 21 20
+f 23 3 21
\ No newline at end of file
diff --git a/objects/objaverse/hot_dog/hot_dog_5/collision/model_normalized_collision_16.obj b/objects/objaverse/hot_dog/hot_dog_5/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..24cf116150d579d631be3798621b2d725fce7279
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_5/collision/model_normalized_collision_16.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v -0.03810368 -0.18741614 0.07562999
+v -0.03750614 -0.17824335 0.08301136
+v -0.40842967 -0.17252455 0.10749481
+v -0.40738929 -0.12799947 0.11011046
+v -0.09848484 -0.09001708 0.02997208
+v -0.09912264 -0.12924137 0.11226149
+v -0.20582703 -0.16732679 0.10497851
+v -0.41666665 -0.17775537 -0.02221445
+v -0.03824387 -0.17086199 0.08904980
+v -0.35653822 -0.20397871 0.08103246
+v -0.09848485 -0.19064438 0.00674878
+v -0.41572881 -0.20368002 0.03776499
+v -0.13003250 -0.15238254 0.10552304
+v -0.13013290 -0.17622602 0.09215556
+v -0.15978640 -0.20419182 0.05802317
+v -0.41666665 -0.19210351 0.00783365
+v -0.39055318 -0.20376846 0.08193893
+v -0.09950669 -0.13844765 0.10877118
+v -0.08392493 -0.19510747 0.07310955
+v -0.15930210 -0.20322530 0.05215348
+v -0.39866491 -0.19022410 0.09316981
+v -0.20536075 -0.20147407 0.07227321
+v -0.38672291 -0.19124285 0.09208027
+v -0.40899725 -0.20152936 0.05946676
+v -0.40580740 -0.19060052 0.08425693
+f 5 2 1
+f 6 4 3
+f 6 5 4
+f 7 6 3
+f 8 4 5
+f 9 2 5
+f 9 5 6
+f 11 8 5
+f 11 5 1
+f 12 3 4
+f 13 7 9
+f 14 9 7
+f 14 1 2
+f 14 2 9
+f 15 10 12
+f 16 12 4
+f 16 4 8
+f 16 8 11
+f 16 11 12
+f 17 12 10
+f 18 13 9
+f 18 9 6
+f 18 6 7
+f 18 7 13
+f 19 1 14
+f 19 15 11
+f 19 11 1
+f 19 14 7
+f 19 7 10
+f 20 15 12
+f 20 12 11
+f 20 11 15
+f 22 19 10
+f 22 10 15
+f 22 15 19
+f 23 3 21
+f 23 10 7
+f 23 7 3
+f 23 21 17
+f 23 17 10
+f 24 3 12
+f 24 12 17
+f 25 21 3
+f 25 3 24
+f 25 24 17
+f 25 17 21
\ No newline at end of file
diff --git a/objects/objaverse/hot_dog/hot_dog_5/collision/model_normalized_collision_17.obj b/objects/objaverse/hot_dog/hot_dog_5/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d2083881757659f441e874a9752359c8f2e940e6
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_5/collision/model_normalized_collision_17.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v 0.40995033 -0.19577618 0.07235491
+v 0.45334572 -0.16350430 0.07066224
+v 0.40750082 -0.12846106 0.11001665
+v -0.09848485 -0.09825608 0.08744516
+v -0.03810368 -0.18741614 0.07562999
+v 0.45962479 -0.12881453 0.07482815
+v 0.40842967 -0.17252455 0.10749481
+v 0.08392493 -0.19510747 0.07310955
+v 0.40115618 -0.10734916 0.10319489
+v 0.41843387 -0.17287317 0.09689721
+v -0.09950669 -0.13844765 0.10877118
+v 0.43554744 -0.12831355 0.09145660
+v 0.44864908 -0.16046079 0.08030946
+v 0.43704342 -0.17721195 0.06964649
+v -0.09787332 -0.18063351 0.08596226
+v 0.40618287 -0.19070433 0.08411094
+v 0.14393939 -0.09825611 0.08744515
+v -0.09916299 -0.11864816 0.10890823
+v 0.43475566 -0.14300943 0.09119573
+v 0.45253844 -0.12811694 0.07981756
+v -0.09935000 -0.16586972 0.09806223
+v 0.14443209 -0.11030670 0.10831746
+v 0.20582703 -0.16732679 0.10497851
+v 0.39486765 -0.10969434 0.10725688
+f 5 4 2
+f 6 2 4
+f 8 5 2
+f 11 7 3
+f 12 3 7
+f 12 9 3
+f 13 2 6
+f 13 7 10
+f 14 8 2
+f 14 1 8
+f 14 13 10
+f 14 2 13
+f 15 8 7
+f 15 5 8
+f 15 4 5
+f 16 8 1
+f 16 7 8
+f 16 10 7
+f 16 14 10
+f 16 1 14
+f 17 9 6
+f 17 6 4
+f 17 4 9
+f 18 4 11
+f 18 11 3
+f 19 12 7
+f 19 7 13
+f 20 6 9
+f 20 9 12
+f 20 12 19
+f 20 19 13
+f 20 13 6
+f 21 15 7
+f 21 11 4
+f 21 4 15
+f 22 4 18
+f 22 18 3
+f 23 21 7
+f 23 7 11
+f 23 11 21
+f 24 22 3
+f 24 3 9
+f 24 9 4
+f 24 4 22
\ No newline at end of file
diff --git a/objects/objaverse/hot_dog/hot_dog_5/collision/model_normalized_collision_18.obj b/objects/objaverse/hot_dog/hot_dog_5/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3aca2edd637e8d214fac6004a9a1f5d3c61d8736
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_5/collision/model_normalized_collision_18.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.42929801 -0.01557708 -0.00598495
+v 0.40155013 -0.00775525 -0.08826834
+v 0.40151514 0.19398670 0.02175724
+v 0.00757576 0.19160912 0.02086396
+v 0.00757575 -0.04549781 -0.00393496
+v 0.40151513 0.12961485 -0.09337740
+v 0.00757575 0.15918172 -0.04837022
+v 0.40148079 0.02249300 -0.10338795
+v 0.40151514 0.15918167 -0.04837021
+v 0.00757576 0.18816332 0.00661238
+v 0.00771545 0.12992978 -0.09245092
+v 0.40151513 0.18891120 0.00855730
+v 0.00757576 -0.01456913 -0.09952972
+v 0.33952827 -0.00207392 -0.09754430
+f 5 2 1
+f 5 1 3
+f 5 3 4
+f 7 5 4
+f 8 6 1
+f 8 1 2
+f 9 1 6
+f 9 6 7
+f 10 7 4
+f 10 4 3
+f 10 9 7
+f 11 7 6
+f 11 6 8
+f 12 3 1
+f 12 1 9
+f 12 10 3
+f 12 9 10
+f 13 5 7
+f 13 7 11
+f 13 2 5
+f 13 11 8
+f 14 13 8
+f 14 8 2
+f 14 2 13
\ No newline at end of file
diff --git a/objects/objaverse/hot_dog/hot_dog_5/collision/model_normalized_collision_19.obj b/objects/objaverse/hot_dog/hot_dog_5/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f253f8ab43e3effa47c7e15ff67d6b29c229d4e9
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_5/collision/model_normalized_collision_19.obj
@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
+v -0.23484847 -0.04549781 -0.00393498
+v -0.23492106 -0.01272921 -0.10340952
+v -0.23484848 0.19239220 0.02123739
+v -0.45259274 0.18845123 0.01822578
+v -0.41055957 -0.01587272 -0.09704350
+v -0.31052124 0.08253598 -0.14780222
+v -0.45001727 -0.00694594 0.02057880
+v -0.23460120 0.01033570 -0.11595941
+v -0.39591128 -0.01611876 -0.11182056
+v -0.45190086 0.13315839 -0.08681829
+v -0.47479223 0.16440166 0.02039002
+v -0.23466193 0.10020813 -0.13160888
+v -0.35543791 -0.01029401 -0.11582736
+v -0.45243934 0.18727779 0.00696389
+v -0.39448267 0.07059879 -0.13301035
+v -0.49133952 0.07869109 -0.05712517
+v -0.23484847 0.15918168 -0.04837019
+v -0.39227751 0.10391692 -0.12937083
+v -0.46630597 0.17337075 -0.00607883
+v -0.49028844 0.10503230 0.01153444
+v -0.46446089 0.13111403 -0.07800621
+v -0.40813781 0.03837613 -0.12042655
+v -0.23484848 0.18834916 0.00725492
+v -0.31094633 0.09685341 -0.13707672
+v -0.23500005 0.12973463 -0.09280896
+v -0.43712401 0.12077291 -0.09944556
+v -0.46471434 0.15657814 -0.04460228
+v -0.49094649 0.12218437 -0.02111561
+v -0.48952457 0.09221868 -0.00030136
+v -0.49092626 0.13463181 0.02024581
+v -0.43054566 0.05013815 -0.10493542
+v -0.47399311 0.15180139 -0.03555882
+v -0.49065789 0.09177147 -0.05130519
+v -0.48923641 0.13371478 0.00534232
+f 7 1 3
+f 7 5 1
+f 8 1 2
+f 8 3 1
+f 9 2 1
+f 9 1 5
+f 11 7 3
+f 11 3 4
+f 12 8 6
+f 12 3 8
+f 13 8 2
+f 13 2 9
+f 13 9 6
+f 13 6 8
+f 14 4 3
+f 15 6 9
+f 16 5 7
+f 16 9 5
+f 17 10 14
+f 18 6 15
+f 19 11 4
+f 19 4 14
+f 22 15 9
+f 23 17 14
+f 23 14 3
+f 23 3 12
+f 23 12 17
+f 24 18 12
+f 24 12 6
+f 24 6 18
+f 25 17 12
+f 25 12 18
+f 25 18 10
+f 25 10 17
+f 26 18 15
+f 26 10 18
+f 26 21 10
+f 27 19 14
+f 27 14 10
+f 27 10 21
+f 29 20 16
+f 29 16 7
+f 29 7 20
+f 30 20 7
+f 30 7 11
+f 30 28 16
+f 30 16 20
+f 31 16 21
+f 31 15 22
+f 31 22 9
+f 31 9 16
+f 31 26 15
+f 31 21 26
+f 32 19 27
+f 32 27 21
+f 32 30 11
+f 32 11 19
+f 33 21 16
+f 33 16 28
+f 33 32 21
+f 33 28 32
+f 34 32 28
+f 34 28 30
+f 34 30 32
\ No newline at end of file
diff --git a/objects/objaverse/hot_dog/hot_dog_5/collision/model_normalized_collision_2.obj b/objects/objaverse/hot_dog/hot_dog_5/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aed6e53489dfab672a4d1872b0d71331c0bab015
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_5/collision/model_normalized_collision_2.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v -0.09738263 -0.13527780 0.10983808
+v -0.09848484 -0.09001708 0.02997208
+v -0.09848484 0.09723645 0.09412310
+v -0.41263177 0.10396550 0.10077859
+v -0.41666665 -0.17775537 -0.02221445
+v -0.24200609 -0.00512724 0.11925047
+v -0.09848484 0.07317257 0.02084307
+v -0.23484848 0.10379726 0.10548673
+v -0.42137594 -0.12962008 0.10052806
+v -0.42891511 -0.01125554 -0.00783627
+v -0.40789394 -0.00091539 0.12124767
+v -0.40752977 0.07226552 0.03242182
+v -0.23484848 0.07317257 0.02084307
+f 5 2 1
+f 6 1 3
+f 7 1 2
+f 7 3 1
+f 7 2 5
+f 8 6 3
+f 8 7 4
+f 8 3 7
+f 9 5 1
+f 10 7 5
+f 10 9 4
+f 10 5 9
+f 11 8 4
+f 11 6 8
+f 11 4 9
+f 11 9 1
+f 11 1 6
+f 12 10 4
+f 13 12 4
+f 13 4 7
+f 13 7 10
+f 13 10 12
\ No newline at end of file
diff --git a/objects/objaverse/hot_dog/hot_dog_5/collision/model_normalized_collision_20.obj b/objects/objaverse/hot_dog/hot_dog_5/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..91d8f96d0a482d22fc251e997b74280708dfcee2
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_5/collision/model_normalized_collision_20.obj
@@ -0,0 +1,105 @@
+# https://github.com/mikedh/trimesh
+v 0.44839764 -0.00567326 0.10201743
+v 0.49133952 0.07869109 -0.05712517
+v 0.49267077 0.13656345 0.03927298
+v 0.39480462 0.20800120 0.07468071
+v 0.39942456 -0.01065087 -0.10126286
+v 0.46470877 0.15661807 -0.04451429
+v 0.40773305 0.17507426 0.11407475
+v 0.48952457 0.09221868 -0.00030136
+v 0.44839764 -0.00510599 0.01292098
+v 0.49094649 0.12218437 -0.02111561
+v 0.44673363 0.19209904 0.02267802
+v 0.39840171 0.10708510 -0.12493337
+v 0.43066884 0.16371566 0.09574426
+v 0.39334729 -0.00298171 0.11699085
+v 0.41064291 -0.01592384 -0.09722312
+v 0.46630597 0.17337075 -0.00607883
+v 0.46446089 0.13111403 -0.07800621
+v 0.40182556 0.20627709 0.06732465
+v 0.40151514 0.15918167 -0.04837021
+v 0.39716861 0.19263016 0.09852147
+v 0.39826612 0.03559978 -0.12010171
+v 0.47399311 0.15180139 -0.03555882
+v 0.47814290 0.15915108 0.02439871
+v 0.45261134 0.18698452 0.00712071
+v 0.49065789 0.09177147 -0.05130519
+v 0.45190086 0.13315839 -0.08681829
+v 0.43054566 0.05013815 -0.10493542
+v 0.40151513 0.20101378 0.04003267
+v 0.40175650 0.17812812 0.11128980
+v 0.39577341 0.10751683 0.11192919
+v 0.40813781 0.03837613 -0.12042655
+v 0.48923641 0.13371478 0.00534232
+v 0.40151513 0.12961485 -0.09337740
+v 0.43713860 0.12071900 -0.09955991
+v 0.41749754 0.20139921 0.04074107
+v 0.40949068 0.10713823 -0.11936453
+f 8 1 2
+f 8 2 3
+f 8 3 1
+f 9 2 1
+f 10 3 2
+f 13 7 1
+f 13 1 3
+f 13 11 7
+f 13 3 11
+f 14 1 7
+f 14 4 12
+f 15 2 9
+f 15 9 1
+f 15 14 5
+f 15 1 14
+f 18 4 7
+f 18 7 11
+f 19 12 4
+f 20 7 4
+f 21 14 12
+f 21 5 14
+f 22 6 16
+f 22 17 6
+f 22 16 3
+f 23 11 3
+f 23 3 16
+f 24 16 6
+f 24 23 16
+f 24 11 23
+f 24 6 19
+f 25 10 2
+f 25 2 17
+f 25 22 10
+f 25 17 22
+f 26 6 17
+f 26 19 6
+f 27 2 15
+f 28 19 4
+f 28 24 19
+f 29 14 7
+f 29 7 20
+f 30 20 4
+f 30 4 14
+f 30 29 20
+f 30 14 29
+f 31 15 5
+f 31 5 21
+f 31 27 15
+f 31 21 12
+f 32 22 3
+f 32 3 10
+f 32 10 22
+f 33 26 12
+f 33 12 19
+f 33 19 26
+f 34 17 2
+f 34 2 27
+f 34 26 17
+f 35 28 4
+f 35 4 18
+f 35 18 11
+f 35 11 24
+f 35 24 28
+f 36 12 26
+f 36 26 34
+f 36 31 12
+f 36 34 27
+f 36 27 31
\ No newline at end of file
diff --git a/objects/objaverse/hot_dog/hot_dog_5/collision/model_normalized_collision_21.obj b/objects/objaverse/hot_dog/hot_dog_5/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e218e56b9d5bf9fe65fe8ba46d25cf484135f97f
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_5/collision/model_normalized_collision_21.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v -0.44696968 -0.15871449 -0.05753499
+v -0.41380280 -0.11180357 -0.12697283
+v -0.40418573 -0.07998486 0.02729772
+v -0.44248002 -0.00659919 0.00649445
+v -0.49069044 -0.07853224 -0.06932853
+v -0.41055957 -0.01587272 -0.09704350
+v -0.47207938 -0.12214432 -0.08046507
+v -0.49689917 -0.11787251 -0.00108544
+v -0.40770254 -0.03483895 -0.12473804
+v -0.42891511 -0.01125554 -0.00783627
+v -0.45353478 -0.02532275 -0.06773090
+v -0.46037796 -0.09544678 -0.10618626
+v -0.45337859 -0.14558039 -0.07779806
+v -0.47568178 -0.06393430 -0.00085367
+v -0.47719513 -0.13903487 -0.05212173
+v -0.47593758 -0.06293044 -0.09364266
+v -0.43647114 -0.05572339 -0.11580307
+v -0.44696968 -0.14488367 -0.07887333
+v -0.45069221 -0.11976200 -0.10482934
+v -0.48826910 -0.07768064 -0.04537496
+v -0.48870449 -0.10713478 -0.05078904
+v -0.47306048 -0.13663592 -0.06504405
+v -0.46929769 -0.15138803 -0.05139335
+v -0.46026538 -0.03515859 -0.07008723
+v -0.44024510 -0.10848635 -0.11695125
+v -0.41881021 -0.04017983 -0.12068924
+v -0.46667291 -0.07130864 -0.10034713
+v -0.48812467 -0.09046574 -0.00423472
+v -0.48845694 -0.09189441 -0.06584654
+f 1 2 3
+f 8 1 3
+f 8 3 4
+f 9 6 3
+f 9 3 2
+f 10 6 4
+f 10 4 3
+f 10 3 6
+f 11 5 4
+f 11 4 6
+f 11 6 9
+f 12 7 5
+f 14 8 4
+f 16 12 5
+f 17 9 2
+f 18 13 2
+f 18 2 1
+f 18 1 13
+f 19 2 13
+f 19 13 7
+f 19 7 12
+f 20 14 4
+f 20 4 5
+f 20 5 8
+f 21 15 8
+f 21 8 5
+f 22 7 13
+f 23 1 8
+f 23 8 15
+f 23 15 22
+f 23 22 13
+f 23 13 1
+f 24 16 5
+f 24 5 11
+f 24 11 16
+f 25 17 2
+f 25 12 17
+f 25 19 12
+f 25 2 19
+f 26 17 16
+f 26 9 17
+f 26 16 11
+f 26 11 9
+f 27 17 12
+f 27 12 16
+f 27 16 17
+f 28 20 8
+f 28 8 14
+f 28 14 20
+f 29 21 5
+f 29 5 7
+f 29 7 22
+f 29 22 15
+f 29 15 21
\ No newline at end of file
diff --git a/objects/objaverse/hot_dog/hot_dog_5/collision/model_normalized_collision_22.obj b/objects/objaverse/hot_dog/hot_dog_5/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..02a6723d87152b26fb436fbe209677f14d335a17
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_5/collision/model_normalized_collision_22.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.26514976 -0.11011945 -0.12725667
+v 0.26542936 -0.08790677 -0.15668435
+v 0.26408255 -0.00337802 -0.11402059
+v -0.27994924 -0.00923429 -0.13219972
+v -0.28037468 -0.10877649 -0.12978767
+v 0.03735036 -0.02952164 -0.16075507
+v -0.23472598 -0.11009888 -0.12723733
+v 0.26156241 -0.02215016 -0.14837411
+v -0.26208473 -0.05889076 -0.16159874
+v -0.23478464 -0.00636973 -0.11693828
+v 0.26214836 -0.05888979 -0.16165279
+v -0.28034042 -0.08892978 -0.15573546
+v -0.26149397 -0.02217875 -0.14836983
+v 0.21914673 -0.04477497 -0.16083647
+v -0.26328206 -0.07841112 -0.16032858
+v -0.28047675 -0.10146592 -0.13934768
+v -0.27767870 -0.02778152 -0.14898195
+v -0.03735036 -0.02952164 -0.16075507
+v 0.26315772 -0.07835980 -0.16020326
+v -0.21914673 -0.04477497 -0.16083647
+v -0.27807874 -0.01656313 -0.13934952
+f 1 2 3
+f 5 2 1
+f 7 5 1
+f 7 1 3
+f 8 3 2
+f 8 6 4
+f 8 4 3
+f 10 7 3
+f 10 3 4
+f 10 4 5
+f 10 5 7
+f 11 8 2
+f 14 11 6
+f 14 6 8
+f 14 8 11
+f 15 9 11
+f 15 12 9
+f 15 2 12
+f 16 5 4
+f 16 4 12
+f 16 12 2
+f 16 2 5
+f 17 12 4
+f 17 9 12
+f 18 13 4
+f 18 4 6
+f 18 11 9
+f 18 6 11
+f 19 15 11
+f 19 11 2
+f 19 2 15
+f 20 17 13
+f 20 9 17
+f 20 18 9
+f 20 13 18
+f 21 17 4
+f 21 4 13
+f 21 13 17
\ No newline at end of file
diff --git a/objects/objaverse/hot_dog/hot_dog_5/collision/model_normalized_collision_23.obj b/objects/objaverse/hot_dog/hot_dog_5/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2c34fc220345cf80ac3473b196a6798a0e2981eb
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_5/collision/model_normalized_collision_23.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v -0.23484828 -0.13702637 -0.08890218
+v -0.23490817 -0.10838148 -0.12948503
+v -0.23484848 -0.00613301 -0.07211681
+v -0.41535824 -0.01132202 -0.07274148
+v -0.41606192 -0.13754514 -0.08925220
+v -0.23498017 -0.00504916 -0.13702586
+v -0.40849418 -0.10865851 -0.13017819
+v -0.28034042 -0.08892978 -0.15573546
+v -0.40787442 -0.04150726 -0.13064453
+v -0.28047675 -0.10146592 -0.13934768
+v -0.39775648 -0.02261187 -0.11720860
+v -0.38450688 -0.07963691 -0.14710614
+v -0.40641046 -0.02139395 -0.10829285
+v -0.30715530 -0.02946944 -0.14437349
+v -0.36916065 -0.09437221 -0.14533277
+v -0.27807874 -0.01656313 -0.13934952
+v -0.38279068 -0.03695993 -0.13355329
+v -0.38321811 -0.07447649 -0.14581057
+v -0.27767870 -0.02778152 -0.14898195
+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 8 6 2
+f 9 7 5
+f 9 5 4
+f 10 8 2
+f 10 2 7
+f 10 7 8
+f 11 4 6
+f 12 7 9
+f 13 11 9
+f 13 9 4
+f 13 4 11
+f 15 12 8
+f 15 8 7
+f 15 7 12
+f 16 14 11
+f 16 11 6
+f 17 14 9
+f 17 9 11
+f 17 11 14
+f 18 12 9
+f 18 9 14
+f 19 6 8
+f 19 8 12
+f 19 18 14
+f 19 12 18
+f 19 16 6
+f 19 14 16
\ No newline at end of file
diff --git a/objects/objaverse/hot_dog/hot_dog_5/collision/model_normalized_collision_24.obj b/objects/objaverse/hot_dog/hot_dog_5/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..13cdd662675f7ee1d6046991952a73cf8fcbd236
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_5/collision/model_normalized_collision_24.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.39372989 0.07637299 0.03108722
+v 0.40151514 0.19398670 0.02175724
+v 0.39943403 0.15421254 0.12194731
+v 0.14463524 0.20261228 0.07496936
+v 0.14393939 0.19160915 0.02086396
+v 0.38956421 0.20580899 0.08630850
+v 0.14394795 0.11029123 0.11673464
+v 0.40175650 0.17812812 0.11128980
+v 0.40151513 0.20608929 0.05323261
+v 0.39577341 0.10751683 0.11192919
+v 0.14496816 0.16671732 0.10952432
+v 0.14393939 0.07980515 0.02997204
+v 0.14425165 0.20405518 0.06481481
+v 0.39363959 0.12320719 0.12430999
+v 0.14492795 0.12349398 0.12409513
+v 0.23608459 0.15253953 0.12035910
+v 0.20563233 0.20357107 0.08262495
+v 0.14450619 0.12224408 0.12367103
+v 0.20590501 0.17490833 0.10747557
+v 0.17562576 0.18981128 0.09203748
+f 5 2 1
+f 8 1 2
+f 9 2 5
+f 9 8 2
+f 9 6 8
+f 10 7 1
+f 10 8 3
+f 10 1 8
+f 12 7 5
+f 12 5 1
+f 12 1 7
+f 13 5 7
+f 13 9 5
+f 13 6 9
+f 13 11 4
+f 13 7 11
+f 14 10 3
+f 14 7 10
+f 15 14 3
+f 16 3 8
+f 16 15 3
+f 16 11 15
+f 17 8 6
+f 17 13 4
+f 17 6 13
+f 18 15 11
+f 18 11 7
+f 18 7 14
+f 18 14 15
+f 19 16 8
+f 19 11 16
+f 19 17 11
+f 19 8 17
+f 20 17 4
+f 20 4 11
+f 20 11 17
\ No newline at end of file
diff --git a/objects/objaverse/hot_dog/hot_dog_5/collision/model_normalized_collision_25.obj b/objects/objaverse/hot_dog/hot_dog_5/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0b32c95f6058ce82a15834a27898a265d75ec23a
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_5/collision/model_normalized_collision_25.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.00757576 -0.18927020 0.00274630
+v 0.00757556 -0.13702533 -0.08890216
+v 0.00757576 -0.08527927 0.02345105
+v -0.23484848 -0.08527927 0.02345105
+v -0.23484848 -0.17187952 -0.03372161
+v 0.00757576 -0.17187951 -0.03372161
+v -0.23484848 -0.18947537 0.00270574
+v -0.23484828 -0.13702637 -0.08890218
+v -0.23484854 -0.15149267 -0.06772943
+v 0.00757582 -0.15149250 -0.06772907
+f 3 2 4
+f 7 1 3
+f 7 3 4
+f 7 6 1
+f 7 5 6
+f 8 4 2
+f 9 6 5
+f 9 4 8
+f 9 7 4
+f 9 5 7
+f 10 6 9
+f 10 2 3
+f 10 3 1
+f 10 1 6
+f 10 9 8
+f 10 8 2
\ No newline at end of file
diff --git a/objects/objaverse/hot_dog/hot_dog_5/collision/model_normalized_collision_26.obj b/objects/objaverse/hot_dog/hot_dog_5/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c298b12540b6e85cf06a606031989d8c5cd3a56
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_5/collision/model_normalized_collision_26.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v -0.41452361 0.03392962 0.11312638
+v -0.42650132 0.04476902 0.01259808
+v -0.40843732 0.19552873 0.07316935
+v -0.41666578 0.19398450 0.02175808
+v -0.49267077 0.13656345 0.03927298
+v -0.47061986 0.05992780 0.01470686
+v -0.43066884 0.16371566 0.09574426
+v -0.45259274 0.18845123 0.01822578
+v -0.44839764 0.03229633 0.03681153
+v -0.43673708 0.03015394 0.10329661
+v -0.40824279 0.17982048 0.10393433
+v -0.44673363 0.19209904 0.02267802
+v -0.49493252 0.11835172 0.01321818
+v -0.44006624 0.03257858 0.02145496
+v -0.44839764 0.03408481 0.07584953
+v -0.47479223 0.16440166 0.02039002
+v -0.47762079 0.07374939 0.01243498
+v -0.49092626 0.13463181 0.02024581
+v -0.47822412 0.15913341 0.02429373
+f 1 2 3
+f 3 2 4
+f 8 4 2
+f 10 7 5
+f 10 1 7
+f 11 7 1
+f 11 1 3
+f 12 3 4
+f 12 4 8
+f 12 11 3
+f 12 7 11
+f 12 8 5
+f 12 5 7
+f 13 8 2
+f 14 9 6
+f 14 6 2
+f 14 2 1
+f 14 10 9
+f 14 1 10
+f 15 6 9
+f 15 9 10
+f 15 10 5
+f 15 5 13
+f 16 8 13
+f 17 13 2
+f 17 2 6
+f 17 15 13
+f 17 6 15
+f 18 16 13
+f 18 13 5
+f 18 5 16
+f 19 16 5
+f 19 5 8
+f 19 8 16
\ No newline at end of file
diff --git a/objects/objaverse/hot_dog/hot_dog_5/collision/model_normalized_collision_27.obj b/objects/objaverse/hot_dog/hot_dog_5/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e52a5f8685de37227f9055af1d2d97e03eac87e3
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_5/collision/model_normalized_collision_27.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.09738263 -0.13527780 0.10983808
+v -0.09912264 -0.12924137 0.11226149
+v -0.40738929 -0.12799947 0.11011046
+v -0.38365641 -0.07624733 0.10336493
+v -0.09848484 -0.08380329 0.09370314
+v -0.09848484 -0.07659831 0.10361993
+v -0.44222024 -0.12849571 0.08653176
+v -0.38609145 -0.08286595 0.09302213
+v -0.44306937 -0.11469507 0.08706657
+v -0.42896351 -0.10166132 0.08746293
+f 1 2 3
+f 3 2 4
+f 6 2 1
+f 6 1 5
+f 6 4 2
+f 7 5 1
+f 7 1 3
+f 8 6 5
+f 8 4 6
+f 9 7 3
+f 9 3 4
+f 10 9 4
+f 10 4 8
+f 10 8 5
+f 10 5 7
+f 10 7 9
\ No newline at end of file
diff --git a/objects/objaverse/hot_dog/hot_dog_5/collision/model_normalized_collision_28.obj b/objects/objaverse/hot_dog/hot_dog_5/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1cf72e1b9b92cce2d999e5585b1b14246f50922b
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_5/collision/model_normalized_collision_28.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.00757556 -0.13702533 -0.08890216
+v 0.00757576 -0.00613300 -0.07211680
+v 0.00757576 -0.08527927 0.02345105
+v -0.42891511 -0.01125554 -0.00783627
+v -0.41606192 -0.13754514 -0.08925220
+v 0.00757576 -0.01768738 -0.02763152
+v -0.41535824 -0.01132202 -0.07274148
+v -0.40418573 -0.07998486 0.02729772
+f 1 2 3
+f 5 2 1
+f 5 1 3
+f 6 3 2
+f 6 2 4
+f 6 4 3
+f 7 5 4
+f 7 4 2
+f 7 2 5
+f 8 5 3
+f 8 3 4
+f 8 4 5
\ No newline at end of file
diff --git a/objects/objaverse/hot_dog/hot_dog_5/collision/model_normalized_collision_29.obj b/objects/objaverse/hot_dog/hot_dog_5/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d45fb1c587d180504800056be35eed05c447c3c5
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_5/collision/model_normalized_collision_29.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.14431415 -0.19714313 0.07585911
+v 0.14404952 -0.19382043 0.02098194
+v 0.14393939 -0.09001708 0.02997208
+v 0.00757576 -0.09825607 0.08744514
+v 0.00757576 -0.19356805 0.02052204
+v 0.14393939 -0.09825611 0.08744515
+v 0.00847737 -0.19284249 0.06883646
+v 0.00757576 -0.09001708 0.02997208
+f 1 2 3
+f 5 2 1
+f 5 3 2
+f 6 1 3
+f 6 3 4
+f 6 4 1
+f 7 5 1
+f 7 1 4
+f 7 4 5
+f 8 5 4
+f 8 4 3
+f 8 3 5
\ No newline at end of file
diff --git a/objects/objaverse/hot_dog/hot_dog_5/collision/model_normalized_collision_3.obj b/objects/objaverse/hot_dog/hot_dog_5/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f468bda60d093e643ab17067d164b27b4672294e
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_5/collision/model_normalized_collision_3.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v 0.34094156 -0.13035470 0.11979060
+v 0.44425869 -0.00709399 0.10639005
+v 0.25239384 -0.00802726 0.16798213
+v 0.14393939 0.10379726 0.10548673
+v 0.14393939 -0.07659831 0.10361993
+v 0.40344493 0.03978121 0.15748641
+v 0.39757482 -0.07289577 0.10092987
+v 0.12593418 -0.06115952 0.15915463
+v 0.41270644 0.05714539 0.10089058
+v 0.16683242 0.08786621 0.15175886
+v 0.37126418 -0.04531862 0.15607361
+v 0.39584378 -0.05507381 0.12633624
+v 0.26518836 -0.13052916 0.11924178
+v 0.12878787 0.06972633 0.09902298
+v 0.43673709 0.03015390 0.10329661
+v 0.20952659 0.08358450 0.15349284
+v 0.15102431 0.07359363 0.15319295
+v 0.40329125 0.01568527 0.15690414
+v 0.31224390 -0.07489131 0.16829679
+v 0.43709248 -0.00510594 0.11540604
+v 0.26507860 -0.12615506 0.11785046
+v 0.12878787 -0.07136359 0.11082490
+v 0.21969696 0.10379726 0.10548673
+v 0.41683247 0.03031438 0.14789531
+v 0.13979401 0.04892774 0.15223024
+v 0.14574759 0.07452078 0.14711521
+v 0.33521684 -0.08252814 0.15458999
+v 0.26412364 -0.04569706 0.16716737
+v 0.32553841 -0.05938645 0.16921643
+v 0.32282449 -0.06581405 0.16864697
+f 12 7 2
+f 12 1 7
+f 12 11 1
+f 13 7 1
+f 14 9 7
+f 14 7 5
+f 15 2 7
+f 15 7 9
+f 16 10 3
+f 16 3 6
+f 17 8 3
+f 17 3 10
+f 19 13 1
+f 19 8 13
+f 20 12 2
+f 20 11 12
+f 20 18 11
+f 21 13 5
+f 21 5 7
+f 21 7 13
+f 22 13 8
+f 22 5 13
+f 22 14 5
+f 22 8 14
+f 23 14 4
+f 23 9 14
+f 23 4 10
+f 23 10 16
+f 23 16 6
+f 23 6 9
+f 24 15 9
+f 24 9 6
+f 24 2 15
+f 24 20 2
+f 24 6 18
+f 24 18 20
+f 25 14 8
+f 25 8 17
+f 26 17 10
+f 26 10 4
+f 26 25 17
+f 26 4 14
+f 26 14 25
+f 27 19 1
+f 27 1 11
+f 28 19 3
+f 28 3 8
+f 28 8 19
+f 29 11 18
+f 29 18 6
+f 29 6 3
+f 29 3 19
+f 30 27 11
+f 30 19 27
+f 30 29 19
+f 30 11 29
\ No newline at end of file
diff --git a/objects/objaverse/hot_dog/hot_dog_5/collision/model_normalized_collision_30.obj b/objects/objaverse/hot_dog/hot_dog_5/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be3d1140e19aaad40b02e4fbeba719de60ee8b26
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_5/collision/model_normalized_collision_30.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.40302271 -0.12752731 0.11193045
+v 0.38813568 -0.08825001 0.03054624
+v 0.40151513 0.10379727 0.10548672
+v 0.14393939 0.10379726 0.10548673
+v 0.14371227 -0.12747226 0.11372189
+v 0.14393939 0.07980515 0.02997204
+v 0.39372989 0.07637299 0.03108722
+v 0.14393939 -0.09001708 0.02997208
+f 5 1 3
+f 5 3 4
+f 6 4 3
+f 6 5 4
+f 7 1 2
+f 7 3 1
+f 7 6 3
+f 7 2 6
+f 8 2 1
+f 8 1 5
+f 8 6 2
+f 8 5 6
\ No newline at end of file
diff --git a/objects/objaverse/hot_dog/hot_dog_5/collision/model_normalized_collision_31.obj b/objects/objaverse/hot_dog/hot_dog_5/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..918c4eacd41a48458c26e8141f2cd2b34d50d6d4
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_5/collision/model_normalized_collision_31.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.03787879 -0.13220290 -0.09595982
+v -0.03787856 -0.10953746 -0.12739167
+v -0.03787879 -0.00613301 -0.07211680
+v -0.23484848 -0.00613301 -0.07211681
+v -0.23472598 -0.11009888 -0.12723733
+v -0.03798131 -0.01022252 -0.12116864
+v -0.23484819 -0.13220427 -0.09595976
+v -0.23478464 -0.00636973 -0.11693828
+f 1 2 3
+f 5 2 1
+f 6 3 2
+f 6 2 5
+f 7 5 1
+f 7 1 3
+f 7 3 4
+f 8 4 3
+f 8 3 6
+f 8 6 5
+f 8 7 4
+f 8 5 7
\ No newline at end of file
diff --git a/objects/objaverse/hot_dog/hot_dog_5/collision/model_normalized_collision_4.obj b/objects/objaverse/hot_dog/hot_dog_5/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..97391dfa6298ed23bd005f909d2fad90df27ce30
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_5/collision/model_normalized_collision_4.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v 0.14453298 -0.11805319 0.11077512
+v 0.14393939 -0.09001708 0.02997208
+v 0.14471532 0.19610577 0.08406882
+v 0.00887336 0.19061483 0.07768805
+v 0.00780016 -0.11547781 0.10376024
+v 0.14393939 0.19160915 0.02086396
+v 0.14496816 0.16671732 0.10952432
+v 0.11428650 -0.11844802 0.10952831
+v 0.00757576 -0.09001708 0.02997208
+v 0.00757576 0.19160912 0.02086396
+v 0.00302880 0.06232555 0.15936437
+v 0.00881370 0.15253131 0.10525855
+v 0.12593418 -0.06115952 0.15915463
+v 0.08460986 0.16484471 0.10614085
+v 0.06399484 -0.05683037 0.15122715
+v 0.08996943 -0.07088114 0.15087894
+v 0.14060235 -0.06397299 0.14982673
+v 0.13601066 -0.02565519 0.15786462
+v 0.02406578 0.17503275 0.09233923
+v 0.00757576 -0.05758386 0.12979106
+v 0.11296247 -0.07061331 0.15240774
+v 0.14492795 0.12349398 0.12409513
+v 0.00757576 -0.00510594 0.14684216
+v 0.05064950 -0.04187772 0.15124953
+f 6 3 2
+f 7 1 2
+f 7 2 3
+f 7 3 4
+f 8 2 1
+f 9 8 5
+f 9 2 8
+f 9 6 2
+f 10 4 3
+f 10 3 6
+f 10 6 9
+f 11 4 10
+f 11 10 9
+f 11 9 5
+f 12 4 11
+f 14 12 11
+f 14 11 7
+f 14 7 4
+f 15 13 11
+f 16 5 8
+f 16 15 5
+f 16 13 15
+f 17 13 1
+f 18 11 13
+f 18 13 17
+f 19 14 4
+f 19 4 12
+f 19 12 14
+f 20 11 5
+f 20 5 15
+f 21 16 8
+f 21 8 1
+f 21 1 13
+f 21 13 16
+f 22 17 1
+f 22 1 7
+f 22 18 17
+f 22 7 11
+f 22 11 18
+f 23 11 20
+f 24 23 20
+f 24 20 15
+f 24 15 11
+f 24 11 23
\ No newline at end of file
diff --git a/objects/objaverse/hot_dog/hot_dog_5/collision/model_normalized_collision_5.obj b/objects/objaverse/hot_dog/hot_dog_5/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..42038aef5bd2ff8aa5f53b77ac5bcd2b65f714d2
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_5/collision/model_normalized_collision_5.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.00757547 -0.13220294 -0.09595985
+v 0.00747014 -0.10958061 -0.12742701
+v 0.00757577 0.17422274 -0.02068870
+v -0.03787878 0.17422275 -0.02068870
+v -0.03787879 -0.13220290 -0.09595982
+v 0.00741397 0.09897070 -0.13125397
+v 0.00757576 0.03893223 -0.00686273
+v 0.00757576 0.13881923 -0.07978563
+v -0.03787879 0.09892462 -0.13121721
+v -0.03787879 0.03893223 -0.00686273
+v -0.03787879 0.13881922 -0.07978562
+v -0.03787856 -0.10953746 -0.12739167
+f 5 2 1
+f 7 5 1
+f 8 4 3
+f 8 1 2
+f 8 2 6
+f 8 7 1
+f 8 3 7
+f 9 6 2
+f 10 5 7
+f 10 9 5
+f 10 7 3
+f 10 3 4
+f 11 8 6
+f 11 6 9
+f 11 4 8
+f 11 10 4
+f 11 9 10
+f 12 9 2
+f 12 2 5
+f 12 5 9
\ No newline at end of file
diff --git a/objects/objaverse/hot_dog/hot_dog_5/collision/model_normalized_collision_6.obj b/objects/objaverse/hot_dog/hot_dog_5/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..43e6fd7506f7e87a73224a2448d87ae2e0f95d40
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_5/collision/model_normalized_collision_6.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.44090733 -0.19129136 0.04470554
+v 0.49152115 -0.13607112 0.01984780
+v 0.47726746 -0.15047325 0.05941542
+v 0.40435575 -0.00009064 0.14510427
+v 0.42929801 -0.01557708 -0.00598495
+v 0.44839764 -0.00567326 0.10201743
+v 0.39765280 -0.13163001 0.11639874
+v 0.47679517 -0.16296181 0.01435131
+v 0.49267077 -0.13656345 0.03082892
+v 0.45001727 -0.00694594 0.02057880
+v 0.46397892 -0.15783521 0.06667407
+v 0.38813568 -0.08825001 0.03054624
+v 0.45055816 -0.18867504 0.03790546
+v 0.49268332 -0.11925238 0.01269156
+v 0.39690495 -0.00554226 0.15012767
+v 0.44069630 -0.19563869 0.01808935
+v 0.46070241 -0.17644864 0.04392761
+v 0.39314833 -0.01881481 0.14683731
+v 0.45120890 -0.18857691 0.01868452
+f 6 4 3
+f 9 6 3
+f 9 8 2
+f 9 3 8
+f 10 5 4
+f 10 4 6
+f 11 7 1
+f 13 11 1
+f 14 8 5
+f 14 2 8
+f 14 5 10
+f 14 9 2
+f 14 10 6
+f 14 6 9
+f 15 11 3
+f 15 3 4
+f 15 7 11
+f 15 4 5
+f 15 5 12
+f 16 1 7
+f 16 7 12
+f 16 13 1
+f 16 12 5
+f 16 5 8
+f 17 13 8
+f 17 8 3
+f 17 3 11
+f 17 11 13
+f 18 15 12
+f 18 12 7
+f 18 7 15
+f 19 16 8
+f 19 8 13
+f 19 13 16
\ No newline at end of file
diff --git a/objects/objaverse/hot_dog/hot_dog_5/collision/model_normalized_collision_7.obj b/objects/objaverse/hot_dog/hot_dog_5/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8f6d5ed6f83dce92d21e0ead3c67627b957880c
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_5/collision/model_normalized_collision_7.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v -0.09848484 -0.08380329 0.09370314
+v -0.05303030 -0.05100092 0.13192998
+v -0.41925332 0.01495962 0.15051403
+v -0.23484848 0.10379726 0.10548673
+v -0.09848484 0.09723645 0.09412310
+v -0.43054646 -0.09638864 0.08421064
+v -0.05565974 0.02360517 0.15982593
+v -0.41270646 0.05714538 0.10089060
+v -0.10112962 -0.05677486 0.15286372
+v -0.05303030 0.02212365 0.13799476
+v -0.09848484 0.10379725 0.10548674
+v -0.21904346 0.06453513 0.14825768
+v -0.45083265 -0.00700672 0.09096991
+v -0.41794141 0.03828905 0.15357504
+v -0.23484848 0.09723646 0.09412309
+v -0.33711828 -0.05589444 0.15132394
+v -0.07572939 -0.04232056 0.15115403
+v -0.05303030 -0.04654800 0.13337682
+v -0.20709812 0.06496557 0.14822925
+v -0.44621679 -0.03284213 0.09573695
+v -0.24200791 0.05689821 0.15184308
+v -0.44839764 -0.00567325 0.10201744
+v -0.43673708 0.03015394 0.10329661
+v -0.43286399 -0.05818102 0.08609567
+v -0.36437060 -0.04213216 0.15133140
+v -0.06290379 -0.01671480 0.15327945
+v -0.44839764 -0.03375187 0.09036333
+v -0.42041872 -0.04748556 0.12111085
+v -0.19537773 0.05616957 0.15204989
+v -0.42935253 -0.04441986 0.11167237
+f 5 2 1
+f 6 5 1
+f 9 6 1
+f 9 1 2
+f 10 2 5
+f 11 5 4
+f 11 10 5
+f 11 7 10
+f 14 4 8
+f 14 12 4
+f 15 8 4
+f 15 4 5
+f 15 13 8
+f 16 6 9
+f 16 9 7
+f 16 7 14
+f 17 9 2
+f 17 7 9
+f 18 10 7
+f 18 7 2
+f 18 2 10
+f 19 11 4
+f 19 4 12
+f 19 7 11
+f 21 14 7
+f 21 12 14
+f 21 19 12
+f 22 3 14
+f 22 20 3
+f 23 14 8
+f 23 8 13
+f 23 22 14
+f 23 13 22
+f 24 15 5
+f 24 5 6
+f 24 6 13
+f 24 13 15
+f 25 6 16
+f 25 16 14
+f 25 14 3
+f 26 17 2
+f 26 2 7
+f 26 7 17
+f 27 13 6
+f 27 6 20
+f 27 22 13
+f 27 20 22
+f 28 25 3
+f 28 6 25
+f 29 21 7
+f 29 7 19
+f 29 19 21
+f 30 20 6
+f 30 6 28
+f 30 28 3
+f 30 3 20
\ No newline at end of file
diff --git a/objects/objaverse/hot_dog/hot_dog_5/collision/model_normalized_collision_8.obj b/objects/objaverse/hot_dog/hot_dog_5/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3723115165e074db893ecfdeac2fba3433cbb5cc
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_5/collision/model_normalized_collision_8.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.39055318 -0.20376846 0.08193893
+v 0.48467265 -0.11527741 0.03142851
+v 0.44941480 -0.12930098 0.08191449
+v 0.14393940 -0.10204395 0.09400590
+v 0.14404952 -0.19382043 0.02098194
+v 0.40167747 -0.18229952 0.09970956
+v 0.44069630 -0.19563869 0.01808935
+v 0.14431415 -0.19714313 0.07585911
+v 0.14393939 -0.09001708 0.02997208
+v 0.15982316 -0.20445695 0.05722821
+v 0.43566044 -0.18959308 0.05306395
+v 0.38652891 -0.18216563 0.09954595
+v 0.41572881 -0.20368002 0.03776499
+v 0.35653822 -0.20397871 0.08103246
+v 0.39866491 -0.19022410 0.09316981
+v 0.43704342 -0.17721195 0.06964649
+v 0.40899725 -0.20152936 0.05946676
+v 0.28103295 -0.20147150 0.03830221
+v 0.20545527 -0.20133740 0.07221991
+f 3 2 4
+f 6 3 4
+f 8 4 5
+f 9 5 4
+f 9 4 2
+f 9 7 5
+f 9 2 7
+f 10 8 5
+f 11 7 2
+f 12 6 4
+f 12 4 8
+f 12 1 6
+f 13 7 11
+f 13 5 7
+f 14 12 8
+f 14 1 12
+f 14 13 1
+f 14 10 13
+f 15 6 1
+f 15 1 11
+f 16 3 6
+f 16 15 11
+f 16 6 15
+f 16 11 2
+f 16 2 3
+f 17 13 11
+f 17 11 1
+f 17 1 13
+f 18 13 10
+f 18 10 5
+f 18 5 13
+f 19 14 8
+f 19 8 10
+f 19 10 14
\ No newline at end of file
diff --git a/objects/objaverse/hot_dog/hot_dog_5/collision/model_normalized_collision_9.obj b/objects/objaverse/hot_dog/hot_dog_5/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a9780da190af9cceeaf5ecebe2a4d6273875b7e9
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_5/collision/model_normalized_collision_9.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.00757576 -0.01768738 -0.02763152
+v 0.00757576 -0.00613300 -0.07211680
+v 0.00757576 0.18675686 0.00385798
+v -0.23484848 0.18675687 0.00385798
+v -0.23492106 -0.01272921 -0.10340952
+v 0.00771545 0.12992978 -0.09245092
+v -0.03787879 -0.01456913 -0.09952973
+v -0.23484848 -0.01768741 -0.02763151
+v -0.23500005 0.12973463 -0.09280896
+v 0.00733886 0.10635667 -0.12199478
+v 0.00757575 0.15918172 -0.04837022
+v -0.23484847 0.15918168 -0.04837019
+v 0.00757575 0.17448352 -0.02017799
+v -0.23484847 0.17448351 -0.02017797
+f 6 1 2
+f 6 3 1
+f 7 2 1
+f 8 1 3
+f 8 3 4
+f 8 7 1
+f 8 5 7
+f 9 8 4
+f 9 5 8
+f 10 6 2
+f 10 2 7
+f 10 7 5
+f 10 9 6
+f 10 5 9
+f 11 6 9
+f 12 11 9
+f 13 4 3
+f 13 3 6
+f 13 6 11
+f 14 4 13
+f 14 12 9
+f 14 9 4
+f 14 13 11
+f 14 11 12
\ No newline at end of file
diff --git a/objects/objaverse/hot_dog/hot_dog_5/model.xml b/objects/objaverse/hot_dog/hot_dog_5/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..8d170eb2d0cef40e5e02a45723cc33b792d38088
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_5/model.xml
@@ -0,0 +1,81 @@
+<mujoco model="hot_dog_2">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.13499999999999995 0.13499999999999995 0.13499999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.13499999999999995 0.13499999999999995 0.13499999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.13499999999999995 0.13499999999999995 0.13499999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.13499999999999995 0.13499999999999995 0.13499999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.13499999999999995 0.13499999999999995 0.13499999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.13499999999999995 0.13499999999999995 0.13499999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.13499999999999995 0.13499999999999995 0.13499999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.13499999999999995 0.13499999999999995 0.13499999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.13499999999999995 0.13499999999999995 0.13499999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.13499999999999995 0.13499999999999995 0.13499999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.13499999999999995 0.13499999999999995 0.13499999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.13499999999999995 0.13499999999999995 0.13499999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.13499999999999995 0.13499999999999995 0.13499999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.13499999999999995 0.13499999999999995 0.13499999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.13499999999999995 0.13499999999999995 0.13499999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.13499999999999995 0.13499999999999995 0.13499999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.13499999999999995 0.13499999999999995 0.13499999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.13499999999999995 0.13499999999999995 0.13499999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.13499999999999995 0.13499999999999995 0.13499999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.13499999999999995 0.13499999999999995 0.13499999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.13499999999999995 0.13499999999999995 0.13499999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.13499999999999995 0.13499999999999995 0.13499999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.13499999999999995 0.13499999999999995 0.13499999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.13499999999999995 0.13499999999999995 0.13499999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.13499999999999995 0.13499999999999995 0.13499999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.13499999999999995 0.13499999999999995 0.13499999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.13499999999999995 0.13499999999999995 0.13499999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.13499999999999995 0.13499999999999995 0.13499999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.13499999999999995 0.13499999999999995 0.13499999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.13499999999999995 0.13499999999999995 0.13499999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.13499999999999995 0.13499999999999995 0.13499999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.13499999999999995 0.13499999999999995 0.13499999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.13499999999999995 0.13499999999999995 0.13499999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="initialShadingGroup.006" 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="initialShadingGroup.006"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_22._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_23._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_21._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_20._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_24._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_30._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_18._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_19._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_31._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_25._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_27._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
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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_13._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+      </body>
+      <site rgba="0 0 0 0" size="0.005" pos="0.00023923687499999985 0.0002845698750000013 -0.022134157199999994" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.00023923687499999985 0.0002845698750000013 0.022844218049999997" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.02808016199999999 0.06708138794999997 0.0003550304249999999" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/objects/objaverse/hot_dog/hot_dog_5/visual/material.mtl b/objects/objaverse/hot_dog/hot_dog_5/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fbcf6b4b1af9257e08a0fd6e283841743ce8fad5
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_5/visual/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 250.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/objects/objaverse/hot_dog/hot_dog_5/visual/model_normalized_0.obj b/objects/objaverse/hot_dog/hot_dog_5/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9fe0fbd0f5ddde74ccd704caa5e00a8109ae97b0
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_5/visual/model_normalized_0.obj
@@ -0,0 +1,4813 @@
+# 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/hot_dog/hot_dog_6/collision/model_normalized_collision_0.obj b/objects/objaverse/hot_dog/hot_dog_6/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..494201389d72b86ea1bc42a45876b8d2511b458c
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_6/collision/model_normalized_collision_0.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v -0.23346447 -0.15136269 0.01371564
+v -0.23263858 -0.15304555 0.00012837
+v -0.23511111 0.00022241 0.02478541
+v -0.47158102 0.00086645 0.12552159
+v -0.40200512 -0.10640432 0.05952768
+v -0.23666248 -0.00245792 0.13342967
+v -0.33646338 -0.13447736 0.01499289
+v -0.23454257 -0.10051953 0.09919425
+v -0.24775787 -0.14893100 0.01700672
+v -0.33965311 -0.13202755 -0.02732755
+v -0.23342966 -0.13497631 0.05133008
+v -0.37070751 -0.03476654 0.11972618
+v -0.39102126 -0.09970278 0.09283844
+v -0.23748306 -0.04649597 0.00168132
+v -0.32272864 -0.13646670 -0.02387943
+v -0.41619733 -0.00098786 0.02636892
+v -0.37729134 -0.12132363 0.00040006
+v -0.46675184 -0.02201590 0.12038558
+v -0.39172131 -0.10495829 0.08298488
+v -0.24678258 -0.15067712 -0.00021479
+v -0.33626159 -0.13367201 -0.02405503
+v -0.32532437 -0.13478211 -0.02787298
+v -0.41251317 -0.04170886 -0.00053785
+v -0.37804543 -0.11998737 0.01730979
+v -0.47290505 -0.03842215 0.05336078
+v -0.24850854 -0.13409547 0.05076489
+v -0.30767046 -0.13281784 0.03835123
+v -0.47272403 -0.04445401 0.08662089
+v -0.41410724 -0.08082594 0.00089209
+v -0.49904459 -0.00213015 0.07417724
+v -0.40147393 -0.10599598 0.03407060
+v -0.42197445 -0.05256601 0.00039623
+v -0.47719480 -0.00064497 0.12280313
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+f 8 3 6
+f 9 7 2
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+f 11 9 1
+f 12 8 6
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+f 13 8 12
+f 14 3 2
+f 16 4 3
+f 18 12 6
+f 18 6 4
+f 18 13 12
+f 19 5 7
+f 20 15 2
+f 20 2 7
+f 20 7 15
+f 21 15 7
+f 21 17 10
+f 21 7 17
+f 22 14 2
+f 22 2 15
+f 22 10 14
+f 22 21 10
+f 22 15 21
+f 23 14 10
+f 23 16 3
+f 23 3 14
+f 24 17 7
+f 24 7 5
+f 24 5 17
+f 26 19 9
+f 26 9 11
+f 26 11 13
+f 26 13 19
+f 27 19 7
+f 27 7 9
+f 27 9 19
+f 28 5 19
+f 28 19 13
+f 28 13 18
+f 29 10 17
+f 29 17 25
+f 30 4 16
+f 30 16 23
+f 30 25 28
+f 31 28 25
+f 31 25 17
+f 31 17 5
+f 31 5 28
+f 32 23 10
+f 32 10 29
+f 32 30 23
+f 32 29 25
+f 32 25 30
+f 33 30 28
+f 33 28 18
+f 33 18 4
+f 33 4 30
\ No newline at end of file
diff --git a/objects/objaverse/hot_dog/hot_dog_6/collision/model_normalized_collision_1.obj b/objects/objaverse/hot_dog/hot_dog_6/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0dce32a6cc772d7123ca165158c44c0a48bbeb30
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_6/collision/model_normalized_collision_1.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.26434863 0.05087898 0.10332164
+v 0.31292633 0.12359585 -0.08760545
+v 0.30979818 0.13765842 0.04281994
+v 0.21589011 0.16697600 -0.01482616
+v 0.21687444 0.02804039 -0.03898003
+v 0.29329205 0.14830117 -0.02822797
+v 0.21921475 0.09653620 0.09897505
+v 0.30869572 0.12631827 0.05892332
+v 0.25898520 0.02979318 -0.03304223
+v 0.21730594 0.15585230 -0.05331323
+v 0.30695016 0.13315039 -0.06878171
+v 0.29327013 0.14781691 0.00069765
+v 0.21801498 0.13547335 0.05290406
+v 0.21932846 0.05350616 0.10406216
+v 0.26366054 0.09502924 0.09533115
+v 0.21514483 0.16623397 -0.02579972
+v 0.26794902 0.12727684 -0.09035945
+v 0.21722859 0.15281052 0.02268397
+v 0.26537149 0.13364084 0.05262213
+f 8 2 3
+f 9 5 2
+f 9 1 5
+f 9 8 1
+f 9 2 8
+f 11 6 3
+f 11 3 2
+f 11 2 10
+f 12 6 4
+f 12 4 3
+f 12 3 6
+f 14 5 1
+f 14 1 7
+f 15 8 7
+f 15 7 1
+f 15 1 8
+f 16 10 5
+f 16 4 6
+f 16 11 10
+f 16 6 11
+f 16 5 14
+f 16 14 7
+f 16 7 13
+f 17 10 2
+f 17 2 5
+f 17 5 10
+f 18 13 3
+f 18 3 4
+f 18 16 13
+f 18 4 16
+f 19 8 3
+f 19 3 13
+f 19 13 7
+f 19 7 8
\ No newline at end of file
diff --git a/objects/objaverse/hot_dog/hot_dog_6/collision/model_normalized_collision_10.obj b/objects/objaverse/hot_dog/hot_dog_6/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..33e1fb87205036159b57e1addfb96cdfbd932543
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_6/collision/model_normalized_collision_10.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v 0.21932846 0.05350616 0.10406216
+v 0.21893476 0.04950272 0.02245497
+v 0.21808719 0.15808161 0.01339396
+v -0.35493871 0.14133779 0.01607213
+v -0.35720617 0.06156603 0.08242859
+v -0.23513165 0.04977409 0.02018840
+v -0.35645470 0.09851126 0.09797054
+v 0.21921475 0.09653620 0.09897505
+v -0.29247566 0.15141624 0.01212563
+v -0.37053471 0.13494602 0.01646540
+v 0.09795632 0.04580162 0.11039924
+v -0.11152142 0.13247368 0.06722601
+v -0.35194162 0.13217871 0.05190470
+v -0.23464710 0.05016460 0.10391280
+v -0.02207248 0.08708859 0.10756116
+v 0.18763608 0.08500246 0.10697468
+v 0.15766712 0.13428360 0.06361850
+v 0.18758071 0.10741894 0.09119147
+v -0.17464428 0.14617795 0.03792055
+v -0.32351433 0.11737745 0.08012889
+v -0.35505335 0.07284817 0.09998203
+v 0.21801498 0.13547335 0.05290406
+v -0.30898433 0.10713024 0.09053363
+v -0.29330300 0.14600632 0.02974775
+v 0.20160574 0.14663068 0.03682150
+v 0.20240643 0.11805166 0.07924587
+f 6 3 2
+f 8 1 2
+f 8 2 3
+f 9 3 6
+f 10 6 5
+f 10 9 6
+f 10 4 9
+f 11 6 2
+f 11 2 1
+f 13 9 4
+f 13 10 7
+f 13 4 10
+f 14 5 6
+f 14 6 11
+f 15 14 11
+f 16 11 1
+f 16 1 8
+f 16 15 11
+f 16 8 15
+f 17 3 12
+f 18 17 12
+f 18 15 8
+f 18 7 15
+f 19 12 3
+f 19 3 9
+f 19 13 12
+f 20 13 7
+f 20 12 13
+f 21 5 14
+f 21 10 5
+f 21 7 10
+f 21 15 7
+f 21 14 15
+f 22 8 3
+f 23 18 12
+f 23 7 18
+f 23 20 7
+f 23 12 20
+f 24 19 9
+f 24 9 13
+f 24 13 19
+f 25 22 3
+f 25 3 17
+f 25 17 22
+f 26 18 8
+f 26 8 22
+f 26 22 17
+f 26 17 18
\ No newline at end of file
diff --git a/objects/objaverse/hot_dog/hot_dog_6/collision/model_normalized_collision_11.obj b/objects/objaverse/hot_dog/hot_dog_6/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..425c9351984926bfefdeb524877d0d8399f5daa5
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_6/collision/model_normalized_collision_11.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.26515675 -0.12145622 0.07735252
+v 0.26482366 -0.10926648 0.09368689
+v 0.00775778 -0.11575817 0.08703319
+v 0.00775181 -0.02334542 0.12643277
+v 0.26481233 -0.02995789 0.03936880
+v 0.06851234 -0.08464851 0.10652882
+v 0.23500145 -0.11896748 0.08264180
+v 0.26671971 -0.02410921 0.12344763
+v 0.00746162 -0.03025878 0.03561258
+v 0.00733901 -0.10139617 0.09830763
+v 0.21950818 -0.10817284 0.09561437
+v 0.21925149 -0.12576339 0.07099500
+v 0.26536697 -0.05510230 0.06874586
+v 0.23399273 -0.08224283 0.10758411
+v 0.06936650 -0.08270041 0.10736642
+v 0.21899195 -0.11919941 0.08234422
+v 0.23407982 -0.12523572 0.07058606
+v 0.23393620 -0.08409985 0.10673267
+f 7 1 2
+f 8 2 1
+f 8 5 4
+f 9 4 5
+f 10 9 3
+f 10 4 9
+f 11 7 2
+f 11 3 7
+f 11 10 3
+f 11 6 10
+f 12 1 7
+f 12 3 9
+f 13 8 1
+f 13 1 5
+f 13 5 8
+f 14 8 4
+f 14 2 8
+f 15 10 6
+f 15 4 10
+f 15 14 4
+f 15 6 14
+f 16 12 7
+f 16 7 3
+f 16 3 12
+f 17 12 9
+f 17 9 5
+f 17 5 1
+f 17 1 12
+f 18 11 2
+f 18 2 14
+f 18 14 6
+f 18 6 11
\ No newline at end of file
diff --git a/objects/objaverse/hot_dog/hot_dog_6/collision/model_normalized_collision_12.obj b/objects/objaverse/hot_dog/hot_dog_6/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..13feb72f1fc66d6a8354249100ea3350ebccecf3
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_6/collision/model_normalized_collision_12.obj
@@ -0,0 +1,120 @@
+# https://github.com/mikedh/trimesh
+v 0.33698472 -0.12574808 -0.06679315
+v 0.39371432 -0.07197121 -0.08517808
+v 0.35008141 0.12053751 -0.06912569
+v 0.26358108 0.13996431 -0.06980719
+v 0.26534386 0.01683537 -0.14884210
+v 0.29284418 0.13559965 -0.06872646
+v 0.35308348 -0.11738344 -0.07084438
+v 0.26478720 -0.13575886 -0.07310789
+v 0.36040155 0.06422299 -0.13143774
+v 0.39378982 0.08452768 -0.08306060
+v 0.34854262 -0.06282725 -0.13342246
+v 0.26168520 -0.10540748 -0.12338605
+v 0.34790334 0.10124697 -0.10685775
+v 0.38710500 0.06545583 -0.10510894
+v 0.37491739 -0.06196535 -0.11961184
+v 0.33800195 0.02959918 -0.14785932
+v 0.26268270 -0.12216937 -0.09710153
+v 0.26422139 0.07860025 -0.13570064
+v 0.27896797 -0.04307987 -0.14658580
+v 0.31912625 -0.10608615 -0.10678507
+v 0.33376431 0.11711427 -0.09169664
+v 0.38958360 0.07931231 -0.09326442
+v 0.36081996 0.10391539 -0.09233628
+v 0.38283700 -0.06624517 -0.10674612
+v 0.36394597 -0.05009786 -0.13083827
+v 0.26331528 0.13657456 -0.07871959
+v 0.26256623 -0.08432984 -0.13694713
+v 0.33860666 0.07961701 -0.13057642
+v 0.26470489 0.05526748 -0.14737383
+v 0.32418899 -0.04040499 -0.14729264
+v 0.30897345 -0.08059907 -0.13139351
+v 0.33478366 -0.11942060 -0.07790591
+v 0.29345761 -0.11909826 -0.09460246
+v 0.34783769 -0.10530364 -0.09149640
+v 0.34787657 0.09155718 -0.11711526
+v 0.34745951 0.11688545 -0.08110237
+v 0.29241445 0.13167673 -0.08029630
+v 0.33702971 0.04122344 -0.14587915
+v 0.27970789 0.05517020 -0.14699303
+v 0.27639166 -0.10329274 -0.12194623
+v 0.32068026 -0.09240107 -0.11839835
+f 6 1 3
+f 6 4 1
+f 7 3 1
+f 8 1 4
+f 10 7 2
+f 10 3 7
+f 14 10 2
+f 17 8 4
+f 17 4 12
+f 20 11 15
+f 21 6 3
+f 22 14 9
+f 22 10 14
+f 23 3 10
+f 23 22 13
+f 23 10 22
+f 23 13 21
+f 24 2 7
+f 24 15 14
+f 24 14 2
+f 25 9 14
+f 25 14 15
+f 25 16 9
+f 25 15 11
+f 26 18 12
+f 26 12 4
+f 27 12 18
+f 27 5 19
+f 28 18 26
+f 29 16 5
+f 29 27 18
+f 29 5 27
+f 30 27 19
+f 30 11 27
+f 30 25 11
+f 30 16 25
+f 30 19 5
+f 30 5 16
+f 31 27 11
+f 31 12 27
+f 32 20 7
+f 32 7 1
+f 32 1 20
+f 33 17 12
+f 33 12 20
+f 33 8 17
+f 33 20 1
+f 33 1 8
+f 34 20 15
+f 34 7 20
+f 34 24 7
+f 34 15 24
+f 35 22 9
+f 35 13 22
+f 35 9 28
+f 35 21 13
+f 35 28 26
+f 35 26 21
+f 36 23 21
+f 36 21 3
+f 36 3 23
+f 37 26 4
+f 37 4 6
+f 37 6 21
+f 37 21 26
+f 38 28 9
+f 38 9 16
+f 39 29 18
+f 39 18 28
+f 39 28 38
+f 39 38 16
+f 39 16 29
+f 40 20 12
+f 40 12 31
+f 41 31 11
+f 41 11 20
+f 41 40 31
+f 41 20 40
\ No newline at end of file
diff --git a/objects/objaverse/hot_dog/hot_dog_6/collision/model_normalized_collision_13.obj b/objects/objaverse/hot_dog/hot_dog_6/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f46457b32cbbceab0f7967887df657d92f9bfce
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_6/collision/model_normalized_collision_13.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v -0.12980083 -0.07509467 0.10422093
+v 0.00775181 -0.02334542 0.12643277
+v -0.22510410 -0.00774093 0.15412496
+v -0.23464710 0.05016460 0.10391280
+v 0.00758972 0.04240842 0.10653500
+v -0.23499355 -0.04384945 0.10606119
+v 0.00833362 -0.01606494 0.15093294
+v -0.08388492 0.06595092 0.09886154
+v -0.20447307 -0.07346481 0.10486313
+v -0.25055920 -0.01466459 0.13018623
+v 0.01204529 -0.00303941 0.14988521
+v -0.12991023 -0.05132678 0.10019237
+v -0.23852170 0.03328859 0.14269423
+v -0.18976555 -0.01944922 0.15137296
+v -0.20554929 -0.07034404 0.10047027
+v -0.21654853 -0.01587116 0.15307465
+v -0.06055701 0.02921516 0.13958860
+v -0.23213939 0.01037750 0.15231588
+v -0.24678148 0.00148440 0.13862840
+v 0.00751659 0.03572639 0.11396371
+v -0.08753359 0.04294700 0.13068235
+v -0.24532814 0.00291374 0.14648810
+v -0.12264030 0.04449331 0.13039127
+f 5 2 1
+f 7 1 2
+f 10 4 6
+f 10 6 9
+f 11 7 2
+f 11 2 5
+f 11 3 7
+f 12 8 5
+f 12 5 1
+f 13 8 4
+f 14 9 1
+f 14 1 7
+f 15 9 6
+f 15 6 4
+f 15 4 8
+f 15 8 12
+f 15 12 1
+f 15 1 9
+f 16 10 9
+f 16 3 10
+f 16 9 14
+f 16 14 7
+f 16 7 3
+f 18 3 11
+f 18 17 13
+f 18 11 17
+f 19 13 4
+f 19 4 10
+f 20 17 11
+f 20 11 5
+f 20 5 17
+f 21 17 5
+f 21 5 8
+f 21 13 17
+f 22 18 13
+f 22 13 19
+f 22 3 18
+f 22 19 10
+f 22 10 3
+f 23 21 8
+f 23 8 13
+f 23 13 21
\ No newline at end of file
diff --git a/objects/objaverse/hot_dog/hot_dog_6/collision/model_normalized_collision_14.obj b/objects/objaverse/hot_dog/hot_dog_6/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f687408e45623429b97ebe1809ddcd7d97f0f94e
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_6/collision/model_normalized_collision_14.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.26309702 -0.14496045 0.01502921
+v 0.27435139 -0.13906008 0.02535991
+v -0.03581225 -0.13713283 0.06246931
+v -0.21940367 -0.10080215 0.09952761
+v 0.21943334 -0.10198830 0.09890036
+v -0.23478596 -0.15058618 0.01649996
+v 0.26531893 -0.12354545 0.07213105
+v 0.21950818 -0.10817284 0.09561437
+v 0.20372804 -0.15422705 0.01167602
+v -0.23342966 -0.13497631 0.05133008
+v 0.26227851 -0.13585069 0.04225931
+v 0.26514875 -0.11618449 0.08582255
+v -0.14290742 -0.11925817 0.08075528
+v -0.11219164 -0.15471303 0.01115660
+v 0.11179287 -0.14885382 0.03671061
+v -0.06659793 -0.14915021 0.03618936
+v -0.23484795 -0.10664484 0.09260326
+v 0.24880860 -0.13346788 0.05336540
+v 0.08177654 -0.13495023 0.06402250
+v -0.23826295 -0.14394270 0.03262461
+v -0.23477418 -0.11168003 0.08653668
+v 0.20398865 -0.14909843 0.02378480
+f 2 1 4
+f 5 2 4
+f 6 4 1
+f 8 5 4
+f 11 1 2
+f 11 2 7
+f 11 9 1
+f 12 7 2
+f 12 2 5
+f 12 5 8
+f 12 8 3
+f 13 8 4
+f 13 3 8
+f 14 6 1
+f 14 1 9
+f 15 14 9
+f 15 7 12
+f 16 3 10
+f 16 6 14
+f 16 15 3
+f 16 14 15
+f 17 4 6
+f 17 13 4
+f 18 11 7
+f 18 9 11
+f 18 7 15
+f 19 15 12
+f 19 12 3
+f 19 3 15
+f 20 16 10
+f 20 6 16
+f 20 17 6
+f 21 10 3
+f 21 3 13
+f 21 13 17
+f 21 20 10
+f 21 17 20
+f 22 18 15
+f 22 15 9
+f 22 9 18
\ No newline at end of file
diff --git a/objects/objaverse/hot_dog/hot_dog_6/collision/model_normalized_collision_15.obj b/objects/objaverse/hot_dog/hot_dog_6/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0ff4517dc9b9751bf09a8158a14b73d826d40594
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_6/collision/model_normalized_collision_15.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v 0.39000983 0.01446262 -0.08792005
+v 0.41557759 0.03964629 -0.05840118
+v 0.26515314 0.04406419 0.00037923
+v 0.27432120 0.15037675 0.00935320
+v 0.35243667 0.11261992 -0.08575666
+v 0.42407852 0.08136024 0.00313468
+v 0.39462928 0.05881971 -0.10009808
+v 0.26631907 0.01047477 -0.07794772
+v 0.39510161 0.12060918 0.00238530
+v 0.42102796 0.04411623 -0.00007370
+v 0.39379428 0.01537491 -0.09928559
+v 0.41418030 0.07014733 -0.05168672
+v 0.26794902 0.12727684 -0.09035945
+v 0.34736169 0.13179930 -0.04921483
+v 0.40286819 0.11150597 0.00351506
+v 0.40884195 0.03249319 -0.01615425
+v 0.39970061 0.05652396 -0.09292157
+v 0.35489777 0.00723561 -0.09521379
+v 0.40148174 0.09380365 -0.06343402
+v 0.36295681 0.13379584 0.00173629
+v 0.30794388 0.13744732 -0.05412449
+v 0.39530790 0.01850145 -0.07720821
+v 0.39728807 0.01974027 -0.09467757
+v 0.37796978 0.10206094 -0.07791548
+v 0.40303623 0.10472653 -0.04028916
+v 0.41274386 0.08258357 -0.04130171
+v 0.39792094 0.08256340 -0.07764066
+v 0.30996188 0.14573286 0.00136160
+v 0.36278648 0.13174800 -0.02444725
+v 0.30986718 0.13138121 -0.07250299
+v 0.39015001 0.10254267 -0.06569033
+v 0.37643236 0.11706663 -0.04955699
+v 0.39178607 0.11687018 -0.02326774
+f 6 4 3
+f 10 2 6
+f 10 6 3
+f 11 2 10
+f 12 6 2
+f 13 8 3
+f 13 3 4
+f 13 5 7
+f 13 7 11
+f 15 9 4
+f 15 4 6
+f 16 11 10
+f 16 10 3
+f 16 3 8
+f 17 12 2
+f 18 11 1
+f 18 13 11
+f 18 8 13
+f 18 16 8
+f 18 1 16
+f 19 12 17
+f 20 4 9
+f 21 13 4
+f 22 16 1
+f 22 1 11
+f 22 11 16
+f 23 11 7
+f 23 7 17
+f 23 17 2
+f 23 2 11
+f 24 7 5
+f 25 9 15
+f 25 15 6
+f 26 6 12
+f 26 12 19
+f 26 25 6
+f 26 19 25
+f 27 19 17
+f 27 17 7
+f 27 24 19
+f 27 7 24
+f 28 4 20
+f 28 21 4
+f 28 14 21
+f 29 20 9
+f 29 28 20
+f 29 14 28
+f 30 21 14
+f 30 14 5
+f 30 5 13
+f 30 13 21
+f 31 24 5
+f 31 25 19
+f 31 19 24
+f 32 14 29
+f 32 25 31
+f 32 31 5
+f 32 5 14
+f 33 29 9
+f 33 9 25
+f 33 32 29
+f 33 25 32
\ No newline at end of file
diff --git a/objects/objaverse/hot_dog/hot_dog_6/collision/model_normalized_collision_16.obj b/objects/objaverse/hot_dog/hot_dog_6/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4fe3a34813d8c96260f0a4524853848a2f6929a8
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_6/collision/model_normalized_collision_16.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v -0.23412208 0.00006896 0.15237630
+v -0.23511111 0.00022241 0.02478541
+v -0.23467471 0.14750824 0.03838438
+v -0.37053471 0.13494602 0.01646540
+v -0.35604208 -0.00096346 0.13511463
+v -0.29537821 -0.01511141 0.13283723
+v -0.35542806 0.00211418 0.02666081
+v -0.35623497 0.11353497 0.08213869
+v -0.30229813 -0.00896789 0.14586936
+v -0.34095644 -0.01464345 0.13225700
+v -0.31600191 0.01878288 0.15170617
+v -0.35738191 0.03347332 0.12325047
+v -0.32068018 0.00254981 0.15139079
+v -0.23612825 0.11412039 0.08983496
+v -0.30284725 0.00106937 0.15191849
+v -0.23852170 0.03328859 0.14269423
+v -0.27903636 0.04328223 0.14010921
+v -0.29971384 0.02397797 0.15079694
+v -0.26813822 0.04408046 0.13995865
+f 1 2 3
+f 3 2 4
+f 6 2 1
+f 7 5 4
+f 7 4 2
+f 8 3 4
+f 9 6 1
+f 10 5 7
+f 10 6 9
+f 10 7 2
+f 10 2 6
+f 12 8 4
+f 12 4 5
+f 12 11 8
+f 12 5 11
+f 13 10 9
+f 13 5 10
+f 13 11 5
+f 14 1 3
+f 14 3 8
+f 15 13 9
+f 15 9 1
+f 15 1 11
+f 15 11 13
+f 16 1 14
+f 17 14 8
+f 18 11 1
+f 18 1 16
+f 18 17 8
+f 18 8 11
+f 19 16 14
+f 19 14 17
+f 19 18 16
+f 19 17 18
\ No newline at end of file
diff --git a/objects/objaverse/hot_dog/hot_dog_6/collision/model_normalized_collision_17.obj b/objects/objaverse/hot_dog/hot_dog_6/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..44219c22e3adb593ffa686c2915eec150b27f7bc
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_6/collision/model_normalized_collision_17.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.27225742 -0.13151236 -0.07612632
+v 0.26282407 -0.09400259 -0.13140611
+v 0.26592607 -0.03124626 -0.06284825
+v -0.23702358 -0.02521808 -0.06261314
+v -0.24563877 -0.14598538 -0.05715150
+v 0.26379926 -0.01643709 -0.14851178
+v -0.00649685 -0.09607346 -0.14788420
+v 0.26319711 -0.04335508 -0.14823611
+v 0.15827200 -0.08865485 -0.14764116
+v -0.23529745 -0.05630786 -0.15093590
+v 0.24800156 -0.05832701 -0.14750843
+v -0.23294548 -0.09587190 -0.13337808
+v -0.23503990 -0.01868106 -0.14936163
+f 5 1 3
+f 5 3 4
+f 6 4 3
+f 6 3 1
+f 7 1 5
+f 8 6 1
+f 8 1 2
+f 9 2 1
+f 9 1 7
+f 10 6 8
+f 10 9 7
+f 10 8 9
+f 11 9 8
+f 11 8 2
+f 11 2 9
+f 12 10 7
+f 12 7 5
+f 12 5 10
+f 13 10 5
+f 13 5 4
+f 13 4 6
+f 13 6 10
\ No newline at end of file
diff --git a/objects/objaverse/hot_dog/hot_dog_6/collision/model_normalized_collision_18.obj b/objects/objaverse/hot_dog/hot_dog_6/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c7608aa1a3e4c4c476c37eb62cc3fd6ebf429b19
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_6/collision/model_normalized_collision_18.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v 0.35598093 -0.13664292 0.00179776
+v 0.41485064 -0.05349288 -0.06255999
+v 0.43033791 -0.03776144 0.05370741
+v 0.35435665 0.01288366 -0.07700473
+v 0.35155428 -0.08471360 -0.11374307
+v 0.38385467 0.01168067 -0.09292369
+v 0.35528658 -0.03280059 -0.00188256
+v 0.40189302 -0.10655644 -0.01053510
+v 0.41352333 -0.03937230 -0.05259882
+v 0.38189338 0.01478208 -0.07587219
+v 0.35489777 0.00723561 -0.09521379
+v 0.39430007 -0.03122784 -0.10147819
+v 0.39804515 -0.10413812 0.04644987
+v 0.35093669 -0.12229969 -0.06459209
+v 0.41198427 -0.08134129 -0.03664829
+v 0.41372956 -0.04851920 -0.06760746
+v 0.35586530 -0.07607033 -0.11902436
+v 0.39960399 -0.05133492 0.04529863
+v 0.41781920 -0.08321167 0.04113180
+v 0.38002232 -0.12504145 0.00275350
+v 0.37401402 -0.11729591 -0.05121701
+v 0.42276394 -0.04495629 -0.00344839
+v 0.40027756 -0.03075802 -0.09181651
+v 0.37826753 -0.06665222 -0.11099048
+v 0.40191513 -0.10557844 0.03001745
+v 0.40799372 -0.09600331 0.04351763
+v 0.39381894 -0.11237110 0.02957360
+v 0.40002024 -0.09223270 -0.04930611
+v 0.37239534 -0.09035292 -0.08970231
+v 0.39679226 -0.04683356 -0.09653234
+v 0.38845599 -0.07581376 -0.09065403
+v 0.36094616 -0.11927048 -0.06093094
+v 0.37311356 -0.07558333 -0.10560609
+f 7 3 4
+f 9 6 3
+f 10 6 4
+f 10 4 3
+f 10 3 6
+f 11 5 4
+f 11 4 6
+f 13 7 1
+f 14 1 7
+f 14 7 4
+f 14 4 5
+f 15 2 3
+f 16 9 3
+f 16 6 9
+f 17 11 6
+f 17 6 12
+f 17 5 11
+f 18 13 3
+f 18 3 7
+f 18 7 13
+f 19 15 3
+f 19 8 15
+f 21 8 20
+f 21 20 1
+f 21 1 14
+f 22 16 3
+f 22 3 2
+f 22 2 16
+f 23 12 6
+f 23 6 16
+f 24 17 12
+f 24 5 17
+f 25 8 19
+f 25 20 8
+f 26 19 3
+f 26 3 13
+f 26 25 19
+f 26 13 25
+f 27 13 1
+f 27 1 20
+f 27 25 13
+f 27 20 25
+f 28 15 8
+f 28 8 21
+f 28 2 15
+f 30 23 16
+f 30 12 23
+f 30 24 12
+f 30 16 2
+f 31 2 28
+f 31 30 2
+f 31 24 30
+f 31 29 24
+f 31 28 21
+f 31 21 29
+f 32 29 21
+f 32 21 14
+f 32 14 5
+f 32 5 29
+f 33 29 5
+f 33 5 24
+f 33 24 29
\ No newline at end of file
diff --git a/objects/objaverse/hot_dog/hot_dog_6/collision/model_normalized_collision_19.obj b/objects/objaverse/hot_dog/hot_dog_6/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..235d796dd6e07022fa963c0fd5d74fdcfb868b08
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_6/collision/model_normalized_collision_19.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.00741536 -0.07855426 0.10440564
+v 0.00812689 -0.06096419 0.06799451
+v 0.00833362 -0.01606494 0.15093294
+v -0.06707771 -0.00026044 0.15054417
+v -0.09982417 -0.07810078 0.10093299
+v 0.00746162 -0.03025878 0.03561258
+v 0.00661334 -0.03314638 0.14452558
+v 0.00750546 -0.01281144 0.13069653
+v -0.09902740 -0.03019093 0.03678260
+v -0.02606319 -0.01729621 0.15164448
+v -0.02619374 -0.00509933 0.14748811
+v -0.11458923 -0.00904148 0.12571123
+v -0.09844849 -0.05721429 0.06587231
+v -0.06365670 -0.00072700 0.15185280
+v -0.03255904 -0.03027185 0.14316973
+v -0.11626652 -0.03850151 0.10866847
+v -0.06047161 -0.00989752 0.15078675
+v -0.11521474 -0.01825310 0.11948195
+v -0.11430851 -0.04321472 0.10444669
+f 1 2 3
+f 5 2 1
+f 6 3 2
+f 7 5 1
+f 7 1 3
+f 8 3 6
+f 9 4 6
+f 9 6 2
+f 10 7 3
+f 11 8 6
+f 11 6 4
+f 11 3 8
+f 12 4 9
+f 13 9 2
+f 13 2 5
+f 14 10 3
+f 14 11 4
+f 14 3 11
+f 15 5 7
+f 15 7 10
+f 16 5 12
+f 17 12 5
+f 17 5 15
+f 17 15 10
+f 17 10 14
+f 17 14 4
+f 17 4 12
+f 18 16 12
+f 18 12 9
+f 18 9 16
+f 19 13 5
+f 19 5 16
+f 19 16 9
+f 19 9 13
\ No newline at end of file
diff --git a/objects/objaverse/hot_dog/hot_dog_6/collision/model_normalized_collision_2.obj b/objects/objaverse/hot_dog/hot_dog_6/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..008a13cb67f07a917ae6f7baf5a1b940cd5abcab
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_6/collision/model_normalized_collision_2.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.27435139 -0.13906008 0.02535991
+v 0.26514875 -0.11618449 0.08582255
+v 0.00775778 -0.11575817 0.08703319
+v 0.00732807 -0.06360744 0.08007300
+v 0.26338151 -0.04942499 0.01923109
+v 0.26538005 -0.05797993 0.08155259
+v 0.01140822 -0.10087589 -0.14320265
+v 0.00904671 -0.12113584 -0.13070180
+v 0.08196500 -0.09944994 -0.13924034
+v 0.08432352 -0.11895629 -0.12979152
+f 1 2 3
+f 6 3 2
+f 6 4 3
+f 6 5 4
+f 6 2 1
+f 6 1 5
+f 7 4 5
+f 8 1 3
+f 8 3 4
+f 8 4 7
+f 9 7 5
+f 9 5 1
+f 10 8 7
+f 10 7 9
+f 10 9 1
+f 10 1 8
\ No newline at end of file
diff --git a/objects/objaverse/hot_dog/hot_dog_6/collision/model_normalized_collision_20.obj b/objects/objaverse/hot_dog/hot_dog_6/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..96893c938ce7dec0664eb38762250aa53239bff8
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_6/collision/model_normalized_collision_20.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.22083553 -0.14401247 0.03385002
+v 0.22942731 -0.13982634 -0.08196021
+v 0.22063805 -0.03652778 -0.05989842
+v 0.02336364 -0.02304142 0.03162271
+v 0.09029591 -0.16393020 -0.00289316
+v 0.00794171 -0.03792426 -0.06031723
+v 0.21797065 -0.04752404 0.01573130
+v 0.14718331 -0.14917325 0.02952861
+v 0.08998589 -0.15108275 -0.09578507
+v 0.05026270 -0.03222587 -0.05749174
+v 0.00787911 -0.05216795 0.02418650
+v 0.00565906 -0.03999481 -0.05111843
+v 0.00753143 -0.04966519 0.01585245
+f 5 2 1
+f 7 3 4
+f 7 4 1
+f 7 1 2
+f 7 2 3
+f 8 5 1
+f 8 1 4
+f 9 6 3
+f 9 3 2
+f 9 2 5
+f 10 6 4
+f 10 4 3
+f 10 3 6
+f 11 8 4
+f 11 5 8
+f 12 4 6
+f 12 6 9
+f 12 9 5
+f 12 5 11
+f 13 12 11
+f 13 11 4
+f 13 4 12
\ No newline at end of file
diff --git a/objects/objaverse/hot_dog/hot_dog_6/collision/model_normalized_collision_21.obj b/objects/objaverse/hot_dog/hot_dog_6/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..73a5bc5d4e2391685f878e51850a9d6c3b006388
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_6/collision/model_normalized_collision_21.obj
@@ -0,0 +1,129 @@
+# https://github.com/mikedh/trimesh
+v -0.23489852 -0.15250459 0.00180060
+v -0.23188369 -0.13536761 -0.09406545
+v -0.23380604 0.01185724 -0.07811600
+v -0.32584822 0.01687148 -0.06394260
+v -0.41429852 -0.07865899 -0.02570276
+v -0.33817130 -0.03278207 -0.14944813
+v -0.23748306 -0.04649597 0.00168132
+v -0.37868017 -0.11922113 -0.02227810
+v -0.23468962 -0.00067253 -0.14754457
+v -0.38206014 -0.00923964 -0.11427024
+v -0.41410670 -0.04388226 0.00183028
+v -0.32240157 -0.14004956 0.00009474
+v -0.37339636 -0.08995675 -0.09129271
+v -0.23294548 -0.09587190 -0.13337808
+v -0.36127667 0.00665629 -0.13207087
+v -0.41410724 -0.08082594 0.00089209
+v -0.38376430 -0.03388754 -0.00237583
+v -0.41480321 -0.04069067 -0.07034473
+v -0.27896149 -0.13230037 -0.08402948
+v -0.39925493 -0.09407613 -0.04907286
+v -0.23529745 -0.05630786 -0.15093590
+v -0.34675085 -0.06490836 -0.13275848
+v -0.32469108 -0.02176101 -0.14664747
+v -0.36258127 -0.05092821 -0.13355919
+v -0.39272662 -0.01842699 -0.06139791
+v -0.37729134 -0.12132363 0.00040006
+v -0.35787456 -0.03406656 -0.00306057
+v -0.41583729 -0.06721815 -0.05072613
+v -0.32157073 -0.13237147 -0.04115140
+v -0.33577379 -0.11884390 -0.07519226
+v -0.37515200 -0.10509256 -0.06820240
+v -0.29356067 -0.05550846 -0.14638581
+v -0.23503990 -0.01868106 -0.14936163
+v -0.28843895 -0.12116672 -0.10347887
+v -0.33787920 -0.04054756 -0.14707089
+v -0.39876058 -0.06196457 -0.09407974
+v -0.37396045 -0.06429252 -0.11673732
+v -0.40818914 -0.03572498 -0.01948147
+v -0.36186141 -0.11656429 -0.05226536
+v -0.26354210 -0.09512898 -0.13141132
+v -0.24862207 -0.13079271 -0.09784382
+v -0.39890070 -0.02616941 -0.09786975
+v -0.41386457 -0.05593412 -0.06698881
+v -0.28826660 -0.10612701 -0.11847045
+f 1 2 3
+f 7 1 3
+f 7 3 4
+f 11 1 7
+f 14 9 3
+f 14 3 2
+f 15 4 3
+f 15 3 9
+f 16 1 11
+f 17 11 7
+f 17 4 11
+f 19 2 1
+f 19 1 12
+f 20 16 5
+f 20 8 16
+f 21 9 14
+f 23 15 9
+f 23 9 6
+f 23 6 15
+f 24 15 6
+f 24 10 15
+f 25 4 15
+f 25 15 10
+f 25 10 18
+f 26 16 8
+f 26 8 12
+f 26 12 1
+f 26 1 16
+f 27 17 7
+f 27 7 4
+f 27 4 17
+f 28 16 11
+f 28 11 18
+f 28 5 16
+f 28 20 5
+f 29 19 12
+f 29 12 8
+f 30 29 8
+f 30 19 29
+f 31 8 20
+f 31 13 30
+f 32 6 21
+f 33 21 6
+f 33 6 9
+f 33 9 21
+f 34 19 30
+f 34 30 13
+f 34 13 22
+f 35 24 6
+f 35 22 24
+f 35 6 32
+f 36 20 28
+f 36 31 20
+f 36 13 31
+f 37 24 22
+f 37 22 13
+f 37 36 24
+f 37 13 36
+f 38 11 4
+f 38 4 25
+f 38 25 18
+f 38 18 11
+f 39 31 30
+f 39 30 8
+f 39 8 31
+f 40 32 21
+f 40 21 14
+f 40 35 32
+f 40 22 35
+f 41 14 2
+f 41 2 19
+f 41 19 34
+f 41 40 14
+f 42 36 18
+f 42 18 10
+f 42 10 24
+f 42 24 36
+f 43 36 28
+f 43 28 18
+f 43 18 36
+f 44 34 22
+f 44 22 40
+f 44 41 34
+f 44 40 41
\ No newline at end of file
diff --git a/objects/objaverse/hot_dog/hot_dog_6/collision/model_normalized_collision_22.obj b/objects/objaverse/hot_dog/hot_dog_6/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aa5d74395c3e06947e4135a62a7fae942327f3b2
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_6/collision/model_normalized_collision_22.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.26416755 -0.06913166 0.10152143
+v 0.01223173 -0.01652831 0.15224120
+v 0.03806554 0.07464732 0.11029870
+v 0.26434863 0.05087898 0.10332164
+v 0.00787952 -0.05413087 0.10338710
+v 0.20970739 -0.01739239 0.15089816
+v 0.27562602 0.00427009 0.13686496
+v 0.00661334 -0.03314638 0.14452558
+v 0.03770019 0.06813139 0.10100558
+v 0.22000751 0.02241083 0.15062495
+v 0.27371720 0.00624537 0.14313149
+v 0.00758972 0.04240842 0.10653500
+v 0.13228559 -0.02101198 0.15140929
+v 0.01953780 0.00509443 0.15220270
+v 0.26912448 0.03231554 0.14000318
+v 0.23283275 0.01459245 0.15292999
+v 0.00751659 0.03572639 0.11396371
+v 0.19701676 -0.02767968 0.14550845
+v 0.04560468 0.02932158 0.14241475
+v 0.26936234 0.03371540 0.13616252
+f 7 1 4
+f 8 5 1
+f 9 4 1
+f 9 1 5
+f 9 3 4
+f 11 6 1
+f 11 1 7
+f 12 3 9
+f 12 9 5
+f 12 5 8
+f 13 2 8
+f 15 4 3
+f 15 3 10
+f 15 11 7
+f 16 6 11
+f 16 10 14
+f 16 14 2
+f 16 13 6
+f 16 2 13
+f 16 15 10
+f 16 11 15
+f 17 12 8
+f 17 8 2
+f 17 2 14
+f 17 14 3
+f 17 3 12
+f 18 13 8
+f 18 8 1
+f 18 1 6
+f 18 6 13
+f 19 14 10
+f 19 10 3
+f 19 3 14
+f 20 15 7
+f 20 7 4
+f 20 4 15
\ No newline at end of file
diff --git a/objects/objaverse/hot_dog/hot_dog_6/collision/model_normalized_collision_23.obj b/objects/objaverse/hot_dog/hot_dog_6/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..68d54fbb99d32efbb9e8a5057027ffd33ace00d1
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_6/collision/model_normalized_collision_23.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v -0.41939036 -0.06040823 0.04808148
+v -0.41104766 -0.04424360 0.01476986
+v -0.41978919 -0.00774954 0.13089498
+v -0.41630671 0.08995471 0.06225071
+v -0.49447354 -0.00174800 0.05604339
+v -0.41344818 0.08766411 0.07645776
+v -0.41641000 -0.05238796 0.07727200
+v -0.48073198 -0.02973841 0.04784680
+v -0.43047132 0.06005226 0.01695793
+v -0.48482411 0.00049956 0.11839453
+v -0.46067407 -0.04513134 0.05474343
+v -0.49189144 0.03245014 0.06911739
+v -0.42735273 0.05307088 0.01753078
+v -0.46896683 -0.00191012 0.03481240
+v -0.46253714 -0.00163774 0.12868600
+v -0.48907884 -0.03812211 0.08808156
+v -0.49316430 0.02387979 0.06004498
+v -0.48064317 0.04219111 0.06904899
+v -0.49490600 -0.00159631 0.10313728
+v -0.46848961 -0.01459290 0.03487003
+v -0.47826628 0.04474534 0.08753787
+v -0.49328685 -0.02299176 0.05834239
+v -0.49060887 -0.03615416 0.06984136
+v -0.46758198 -0.03296560 0.11117263
+v -0.46073529 -0.04762761 0.07599861
+v -0.48279567 0.02372821 0.04974654
+v -0.49082446 -0.02619460 0.09973515
+v -0.49361713 0.03092987 0.08609405
+v -0.48319512 -0.02010566 0.11159861
+v -0.46024145 -0.03327938 0.11206826
+f 6 3 2
+f 6 2 4
+f 7 1 2
+f 7 2 3
+f 11 8 2
+f 11 2 1
+f 13 9 4
+f 13 4 2
+f 13 2 9
+f 15 3 6
+f 17 12 9
+f 18 4 9
+f 18 9 12
+f 20 8 5
+f 20 5 14
+f 20 2 8
+f 20 14 9
+f 20 9 2
+f 21 15 6
+f 21 10 15
+f 21 6 4
+f 21 4 18
+f 21 18 12
+f 22 5 8
+f 22 19 5
+f 23 8 11
+f 23 11 1
+f 23 22 8
+f 23 19 22
+f 25 1 7
+f 25 24 16
+f 25 7 24
+f 25 23 1
+f 25 16 23
+f 26 14 5
+f 26 5 17
+f 26 17 9
+f 26 9 14
+f 27 10 19
+f 27 16 24
+f 27 23 16
+f 27 19 23
+f 28 17 5
+f 28 5 19
+f 28 12 17
+f 28 21 12
+f 28 19 10
+f 28 10 21
+f 29 24 15
+f 29 15 10
+f 29 27 24
+f 29 10 27
+f 30 3 15
+f 30 15 24
+f 30 24 7
+f 30 7 3
\ No newline at end of file
diff --git a/objects/objaverse/hot_dog/hot_dog_6/collision/model_normalized_collision_24.obj b/objects/objaverse/hot_dog/hot_dog_6/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b3c9924a9c003671b75ba0863e747d82115ce568
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_6/collision/model_normalized_collision_24.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v -0.09778560 -0.11480407 0.08547851
+v -0.09978704 -0.10414966 0.09690182
+v -0.23454257 -0.10051953 0.09919425
+v -0.23325535 -0.02367706 0.12471046
+v -0.09902740 -0.03019093 0.03678260
+v -0.11714314 -0.09083926 0.10726651
+v -0.10061576 -0.02278433 0.11823875
+v -0.23561284 -0.02490635 0.02940399
+v -0.14410099 -0.09424298 0.10583940
+v -0.09844849 -0.05721429 0.06587231
+v -0.23490398 -0.11434539 0.08210528
+v -0.21872605 -0.08723411 0.10728987
+v -0.18871199 -0.09418437 0.10545123
+f 1 2 3
+f 7 2 1
+f 7 6 2
+f 7 4 6
+f 8 5 1
+f 8 3 4
+f 8 7 5
+f 8 4 7
+f 9 3 2
+f 9 2 6
+f 10 7 1
+f 10 1 5
+f 10 5 7
+f 11 8 1
+f 11 1 3
+f 11 3 8
+f 12 6 4
+f 12 4 3
+f 13 9 6
+f 13 6 12
+f 13 12 3
+f 13 3 9
\ No newline at end of file
diff --git a/objects/objaverse/hot_dog/hot_dog_6/collision/model_normalized_collision_25.obj b/objects/objaverse/hot_dog/hot_dog_6/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..58d08e8b10492b5a677303b8fb47ed83c7f9ff08
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_6/collision/model_normalized_collision_25.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v -0.35777454 -0.00888608 0.13346401
+v -0.35542806 0.00211418 0.02666081
+v -0.35595331 0.05020645 0.10103512
+v -0.35487270 0.13761740 0.04088500
+v -0.43047132 0.06005226 0.01695793
+v -0.35493128 0.12254335 0.06821242
+v -0.41619733 -0.00098786 0.02636892
+v -0.35493871 0.14133779 0.01607213
+v -0.40546584 0.10417830 0.06869655
+v -0.35645470 0.09851126 0.09797054
+v -0.41978919 -0.00774954 0.13089498
+v -0.38076173 0.12074365 0.06850420
+v -0.39012868 0.12334586 0.01699806
+v -0.43094973 0.05399245 0.06400852
+v -0.39118974 0.09301405 0.09260181
+v -0.36590553 0.13408870 0.04139997
+v -0.41672998 0.09242980 0.01872557
+v -0.39078987 0.11917538 0.05730990
+v -0.40687855 0.09294376 0.08134249
+v -0.39068563 0.10677057 0.08013702
+v -0.36480274 0.13776339 0.01711422
+v -0.41369520 0.09654828 0.05832961
+f 1 2 3
+f 6 3 2
+f 6 2 4
+f 7 5 2
+f 7 2 1
+f 8 4 2
+f 8 2 5
+f 10 1 3
+f 10 3 6
+f 11 7 1
+f 11 5 7
+f 11 1 10
+f 12 6 4
+f 12 10 6
+f 13 8 5
+f 14 5 11
+f 15 11 10
+f 16 12 4
+f 16 4 8
+f 17 13 5
+f 18 13 9
+f 18 9 12
+f 18 12 16
+f 19 14 11
+f 19 11 15
+f 20 15 10
+f 20 10 12
+f 20 19 15
+f 20 12 9
+f 20 9 19
+f 21 16 8
+f 21 8 13
+f 21 18 16
+f 21 13 18
+f 22 9 13
+f 22 13 17
+f 22 19 9
+f 22 14 19
+f 22 17 5
+f 22 5 14
\ No newline at end of file
diff --git a/objects/objaverse/hot_dog/hot_dog_6/collision/model_normalized_collision_26.obj b/objects/objaverse/hot_dog/hot_dog_6/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2eb38458d0e4bbc202d79a2150d9cfd824a9c903
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_6/collision/model_normalized_collision_26.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v -0.39272662 -0.01842699 -0.06139791
+v -0.32381739 0.00287808 -0.14198222
+v -0.32536419 0.02721541 0.02532640
+v -0.36480274 0.13776339 0.01711422
+v -0.39894264 0.06502297 -0.09494373
+v -0.32184480 0.13452348 -0.06726158
+v -0.42880789 0.02471515 0.03122715
+v -0.38206014 -0.00923964 -0.11427024
+v -0.32057822 0.07996569 -0.13423293
+v -0.32514021 0.14421350 0.01589397
+v -0.38484140 0.10615778 -0.06614648
+v -0.41537107 0.03314088 -0.06765758
+v -0.35866095 0.06436364 -0.13140799
+v -0.36102125 0.13323569 -0.03908450
+v -0.41672998 0.09242980 0.01872557
+v -0.34868145 0.10372954 -0.10304740
+v -0.38585736 0.03177550 -0.11930173
+v -0.39012868 0.12334586 0.01699806
+v -0.41574843 0.08118464 -0.03677704
+v -0.32163363 0.12059190 -0.09313824
+v -0.33552719 0.07635229 -0.13142023
+v -0.37131005 0.09298488 -0.10276257
+v -0.39948284 0.02187050 -0.09733134
+v -0.38771176 0.05311440 -0.11593601
+v -0.36127667 0.00665629 -0.13207087
+v -0.38607737 0.12135093 -0.02515030
+v -0.41180493 0.06542988 -0.06640515
+v -0.39827616 0.08013071 -0.07989997
+v -0.36128016 0.11766372 -0.07634492
+v -0.40066881 0.10567892 -0.02502734
+v -0.33529758 0.11634553 -0.09374945
+v -0.33617513 0.13161862 -0.06581616
+v -0.41569270 0.09153850 0.00369852
+f 1 2 3
+f 7 1 3
+f 8 2 1
+f 9 6 3
+f 9 3 2
+f 10 3 6
+f 10 7 3
+f 10 4 7
+f 12 8 1
+f 12 1 7
+f 13 9 2
+f 14 10 6
+f 14 4 10
+f 18 15 7
+f 18 7 4
+f 19 12 7
+f 19 7 15
+f 20 6 9
+f 20 9 16
+f 21 16 9
+f 21 9 13
+f 22 21 13
+f 22 16 21
+f 23 12 5
+f 23 17 8
+f 23 8 12
+f 24 13 17
+f 24 22 13
+f 24 5 22
+f 24 23 5
+f 24 17 23
+f 25 17 13
+f 25 13 2
+f 25 2 8
+f 25 8 17
+f 26 18 4
+f 26 4 14
+f 26 14 11
+f 27 5 12
+f 27 12 19
+f 28 19 11
+f 28 27 19
+f 28 5 27
+f 28 22 5
+f 28 11 22
+f 29 16 22
+f 29 22 11
+f 29 11 14
+f 30 26 11
+f 30 11 19
+f 30 15 18
+f 30 18 26
+f 31 20 16
+f 31 16 29
+f 32 29 14
+f 32 14 6
+f 32 31 29
+f 32 6 20
+f 32 20 31
+f 33 30 19
+f 33 19 15
+f 33 15 30
\ No newline at end of file
diff --git a/objects/objaverse/hot_dog/hot_dog_6/collision/model_normalized_collision_27.obj b/objects/objaverse/hot_dog/hot_dog_6/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..74150e5f7740ee9052712a549f235928cb7272b1
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_6/collision/model_normalized_collision_27.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.03750838 -0.05147653 0.02056021
+v -0.03011193 -0.03662396 -0.05266171
+v -0.05299846 -0.02316514 0.03264623
+v -0.23702358 -0.02521808 -0.06261314
+v -0.21780342 -0.05036397 -0.00069140
+v -0.05440413 -0.03230279 -0.05800956
+v -0.03794881 -0.05083670 0.01622598
+v -0.23330472 -0.03081868 -0.05069307
+v -0.22760339 -0.05416558 0.02178363
+v -0.03846291 -0.03396222 -0.05930733
+v -0.23615550 -0.05008739 0.01604396
+v -0.23818148 -0.03022242 -0.04946890
+f 1 2 3
+f 6 4 3
+f 7 5 2
+f 7 2 1
+f 9 1 3
+f 9 7 1
+f 9 5 7
+f 10 6 3
+f 10 3 2
+f 10 4 6
+f 10 8 4
+f 10 2 5
+f 10 5 8
+f 11 9 3
+f 11 3 4
+f 11 5 9
+f 12 11 4
+f 12 4 8
+f 12 8 5
+f 12 5 11
\ No newline at end of file
diff --git a/objects/objaverse/hot_dog/hot_dog_6/collision/model_normalized_collision_28.obj b/objects/objaverse/hot_dog/hot_dog_6/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..263172e1b1bb170d39ceeb03155510860ccdc44e
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_6/collision/model_normalized_collision_28.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v -0.09720272 -0.15613327 0.01180468
+v -0.09773806 -0.15774667 -0.08300623
+v -0.11359678 -0.10662240 -0.13434074
+v -0.23415744 -0.10278488 -0.12865432
+v -0.24956631 -0.14993606 0.00149691
+v -0.11291821 -0.12454954 -0.12343218
+v -0.10315668 -0.14304190 0.03902141
+v -0.09963750 -0.13464571 -0.11279533
+v -0.23346447 -0.15136269 0.01371564
+v -0.23178008 -0.14877075 -0.07010333
+v -0.24678258 -0.15067712 -0.00021479
+v -0.23826295 -0.14394270 0.03262461
+v -0.24908498 -0.14735534 -0.02719490
+v -0.17244550 -0.13588011 -0.10535268
+v -0.23188369 -0.13536761 -0.09406545
+v -0.24650512 -0.14890074 -0.02340397
+v -0.11306605 -0.13836744 -0.10774725
+v -0.18784319 -0.12116004 -0.12037223
+v -0.23327123 -0.11273036 -0.12216406
+v -0.21581887 -0.14776356 -0.07803752
+v -0.10026572 -0.15114545 -0.09209850
+f 6 4 3
+f 7 3 4
+f 8 1 2
+f 8 7 1
+f 8 3 7
+f 8 6 3
+f 9 2 1
+f 11 9 5
+f 11 2 9
+f 11 10 2
+f 12 9 1
+f 12 1 7
+f 12 7 4
+f 12 4 5
+f 12 5 9
+f 13 5 4
+f 15 10 13
+f 16 11 5
+f 16 5 13
+f 16 13 10
+f 16 10 11
+f 17 14 6
+f 17 6 8
+f 18 4 6
+f 18 6 14
+f 19 15 13
+f 19 13 4
+f 19 4 18
+f 19 18 14
+f 19 14 15
+f 20 15 14
+f 20 14 2
+f 20 2 10
+f 20 10 15
+f 21 17 8
+f 21 8 2
+f 21 2 14
+f 21 14 17
\ No newline at end of file
diff --git a/objects/objaverse/hot_dog/hot_dog_6/collision/model_normalized_collision_29.obj b/objects/objaverse/hot_dog/hot_dog_6/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e228c8ef81bd2560df935912e26255cacbf3efed
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_6/collision/model_normalized_collision_29.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.26536697 -0.05510230 0.06874586
+v 0.26534526 -0.04907583 0.01666157
+v 0.20323469 -0.01054780 0.02988994
+v -0.23516740 -0.01473870 0.02647227
+v -0.23468463 -0.05884438 0.06182563
+v 0.18807827 -0.01068591 0.02830798
+v 0.26516915 -0.01555451 0.03284158
+v -0.22760339 -0.05416558 0.02178363
+v -0.23561284 -0.02490635 0.02940399
+f 1 3 4
+f 5 1 4
+f 6 2 4
+f 6 4 3
+f 7 1 2
+f 7 3 1
+f 7 6 3
+f 7 2 6
+f 8 4 2
+f 8 2 1
+f 8 1 5
+f 9 8 5
+f 9 5 4
+f 9 4 8
\ No newline at end of file
diff --git a/objects/objaverse/hot_dog/hot_dog_6/collision/model_normalized_collision_3.obj b/objects/objaverse/hot_dog/hot_dog_6/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c5d25b43f96f10b6d634a45b169a8ef1261774e7
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_6/collision/model_normalized_collision_3.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.00778937 -0.16644356 -0.00109258
+v 0.00843212 -0.16986692 -0.05622463
+v 0.00794171 -0.03792426 -0.06031723
+v -0.10060173 -0.03115488 -0.06140638
+v -0.09830000 -0.16491282 -0.05828116
+v -0.09841820 -0.05106310 0.02348811
+v 0.00853745 -0.04681991 -0.00043655
+v -0.08258760 -0.16670922 -0.02817690
+v -0.04040347 -0.13518912 -0.11834916
+v -0.09720272 -0.15613327 0.01180468
+v 0.00759677 -0.16187111 0.01508225
+v -0.03846291 -0.03396222 -0.05930733
+v 0.00753143 -0.04966519 0.01585245
+v -0.08213969 -0.16685791 -0.05521764
+v -0.03809525 -0.15672868 -0.09163997
+v -0.09963750 -0.13464571 -0.11279533
+v -0.06726202 -0.16578581 -0.01643507
+v -0.00677343 -0.16567014 0.00007702
+v -0.09851684 -0.15297912 -0.08974299
+f 7 1 2
+f 7 2 3
+f 8 2 1
+f 9 3 2
+f 9 4 3
+f 10 6 4
+f 10 4 5
+f 10 5 8
+f 11 1 7
+f 11 6 10
+f 12 7 3
+f 12 3 4
+f 13 4 6
+f 13 11 7
+f 13 6 11
+f 13 12 4
+f 13 7 12
+f 14 8 5
+f 14 2 8
+f 15 9 2
+f 15 14 5
+f 15 2 14
+f 16 5 4
+f 16 4 9
+f 16 9 15
+f 17 10 8
+f 17 8 1
+f 18 11 10
+f 18 1 11
+f 18 17 1
+f 18 10 17
+f 19 16 15
+f 19 15 5
+f 19 5 16
\ No newline at end of file
diff --git a/objects/objaverse/hot_dog/hot_dog_6/collision/model_normalized_collision_30.obj b/objects/objaverse/hot_dog/hot_dog_6/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..19c741eb25ffde9f1d36b0c3772438badf26b7af
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_6/collision/model_normalized_collision_30.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.26671971 -0.02410921 0.12344763
+v 0.26547818 -0.01094650 0.03127106
+v 0.26434863 0.05087898 0.10332164
+v -0.23464710 0.05016460 0.10391280
+v -0.23516740 -0.01473870 0.02647227
+v -0.23325535 -0.02367706 0.12471046
+v 0.26553125 0.04790108 0.02310841
+v -0.23513165 0.04977409 0.02018840
+f 5 2 1
+f 6 1 3
+f 6 3 4
+f 6 5 1
+f 6 4 5
+f 7 1 2
+f 7 3 1
+f 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/hot_dog/hot_dog_6/collision/model_normalized_collision_31.obj b/objects/objaverse/hot_dog/hot_dog_6/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2509dd6c81d8509f1e33783a957672efc4b41c22
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_6/collision/model_normalized_collision_31.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v -0.35777454 -0.00888608 0.13346401
+v -0.35604208 -0.00096346 0.13511463
+v -0.48296824 0.00099339 0.12039547
+v -0.47023619 0.04998662 0.08885771
+v -0.35617686 0.05563983 0.09227838
+v -0.45912734 0.03280409 0.12106343
+v -0.49790125 -0.00026711 0.09111415
+v -0.48012579 0.02049197 0.12010665
+v -0.46587223 0.04507911 0.10736428
+v -0.35738191 0.03347332 0.12325047
+v -0.49145165 0.01078764 0.11001693
+v -0.49442277 0.02705212 0.09101500
+v -0.35591882 0.04370037 0.11018675
+v -0.48903830 0.00219511 0.11182419
+v -0.48166906 0.03024927 0.11087202
+v -0.49435863 0.02196816 0.09945186
+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 9 5 4
+f 9 8 6
+f 10 6 2
+f 10 9 6
+f 11 3 8
+f 12 4 7
+f 13 10 2
+f 13 2 5
+f 13 5 9
+f 13 9 10
+f 14 11 7
+f 14 7 3
+f 14 3 11
+f 15 9 4
+f 15 4 12
+f 15 8 9
+f 16 12 7
+f 16 7 11
+f 16 15 12
+f 16 11 8
+f 16 8 15
\ No newline at end of file
diff --git a/objects/objaverse/hot_dog/hot_dog_6/collision/model_normalized_collision_4.obj b/objects/objaverse/hot_dog/hot_dog_6/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b5e9f180a63f4140719f489ab6e74fc52ace5cbb
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_6/collision/model_normalized_collision_4.obj
@@ -0,0 +1,123 @@
+# https://github.com/mikedh/trimesh
+v 0.26584801 -0.02013602 -0.09203111
+v 0.26503902 -0.01586901 -0.14838803
+v 0.26410871 0.14457332 -0.05667138
+v -0.29013668 0.15224812 -0.05359643
+v -0.32381739 0.00287808 -0.14198222
+v -0.32584822 0.01687148 -0.06394260
+v 0.26714510 0.01536512 -0.06796132
+v -0.22079704 -0.02287565 -0.07751488
+v 0.09570867 0.12254496 -0.11633392
+v 0.23183553 0.15321263 -0.05187503
+v -0.32306475 0.13961366 -0.05420916
+v 0.26470489 0.05526748 -0.14737383
+v -0.23482043 -0.01598707 -0.14885747
+v 0.17330763 -0.01712366 -0.14920379
+v -0.23592593 -0.02052302 -0.07569438
+v -0.32057822 0.07996569 -0.13423293
+v 0.06756377 0.16358647 -0.06784603
+v 0.20087028 0.14738788 -0.07959456
+v 0.26534386 0.01683537 -0.14884210
+v -0.17375085 -0.01631336 -0.14972897
+v -0.32163363 0.12059190 -0.09313824
+v -0.21731476 0.09854612 -0.13166795
+v -0.30791211 0.04238506 -0.14793453
+v 0.06794657 0.16696648 -0.05512374
+v 0.26331528 0.13657456 -0.07871959
+v 0.14184090 0.13496570 -0.10520537
+v -0.28841094 0.14778515 -0.06704551
+v -0.32302424 0.02719840 -0.14768645
+v 0.09613501 0.09638124 -0.13111408
+v -0.21516957 0.13357302 -0.10504201
+v -0.32322512 0.01955887 -0.14792496
+v -0.17412432 0.05717809 -0.14671945
+v -0.20197431 0.14994804 -0.09035365
+v 0.05393844 0.16659359 -0.05496290
+v 0.26422139 0.07860025 -0.13570064
+v 0.23104527 0.12159129 -0.10183386
+v -0.32184480 0.13452348 -0.06726158
+v -0.21571945 0.12129421 -0.11702862
+v -0.29327259 0.10629926 -0.11883347
+v -0.27556257 0.14871657 -0.07394185
+v 0.00798175 0.14902344 -0.09238362
+v -0.29269207 0.11960658 -0.10510539
+f 7 1 2
+f 8 1 7
+f 10 7 3
+f 10 6 7
+f 11 10 4
+f 11 6 10
+f 12 3 7
+f 14 2 1
+f 14 1 8
+f 15 6 5
+f 15 13 8
+f 15 5 13
+f 15 8 7
+f 15 7 6
+f 18 17 10
+f 19 12 7
+f 19 7 2
+f 19 2 14
+f 20 14 8
+f 20 8 13
+f 20 19 14
+f 23 12 19
+f 23 19 20
+f 23 16 22
+f 24 10 17
+f 25 18 10
+f 25 10 3
+f 26 17 18
+f 27 11 4
+f 28 21 16
+f 28 11 21
+f 28 16 23
+f 29 22 9
+f 29 12 22
+f 31 23 20
+f 31 20 13
+f 31 28 23
+f 31 13 5
+f 31 11 28
+f 31 5 6
+f 31 6 11
+f 32 23 22
+f 32 22 12
+f 32 12 23
+f 33 24 17
+f 34 4 10
+f 34 10 24
+f 34 33 4
+f 34 24 33
+f 35 25 3
+f 35 3 12
+f 35 9 26
+f 35 29 9
+f 35 12 29
+f 36 26 18
+f 36 18 25
+f 36 35 26
+f 36 25 35
+f 37 27 21
+f 37 21 11
+f 37 11 27
+f 38 22 16
+f 38 9 22
+f 38 30 33
+f 39 16 21
+f 39 38 16
+f 39 30 38
+f 40 27 4
+f 40 4 33
+f 40 21 27
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+f 41 17 26
+f 41 38 33
+f 41 26 9
+f 41 9 38
+f 42 33 30
+f 42 30 39
+f 42 40 33
+f 42 39 21
+f 42 21 40
\ No newline at end of file
diff --git a/objects/objaverse/hot_dog/hot_dog_6/collision/model_normalized_collision_5.obj b/objects/objaverse/hot_dog/hot_dog_6/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6814d97661b42cda15777549fc16f3050b7fb3a3
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_6/collision/model_normalized_collision_5.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v 0.21882890 -0.15341496 0.01135138
+v 0.27225742 -0.13151236 -0.07612632
+v 0.26410800 -0.10102177 -0.12637488
+v -0.11164476 -0.10148555 -0.13670167
+v 0.02354734 -0.16473037 -0.08245441
+v 0.22083553 -0.14401247 0.03385002
+v 0.12627436 -0.16303215 -0.06822453
+v -0.00632631 -0.13725351 -0.11928316
+v 0.00846227 -0.15116087 0.04139472
+v 0.26277549 -0.14307517 -0.05578508
+v 0.14207397 -0.14903318 -0.09293160
+v -0.12791123 -0.15607976 -0.08193866
+v 0.18806435 -0.09845959 -0.13994856
+v 0.00778937 -0.16644356 -0.00109258
+v 0.08091915 -0.16480653 -0.08200151
+v 0.21415745 -0.14848880 -0.07598452
+v -0.12849755 -0.14493970 -0.09887547
+v -0.11292708 -0.11072636 -0.13243789
+v 0.18691999 -0.12034446 -0.12077615
+v 0.12649415 -0.16428010 -0.03130256
+v 0.00759677 -0.16187111 0.01508225
+v -0.05263704 -0.16776173 -0.05541014
+v 0.26168520 -0.10540748 -0.12338605
+v -0.12737745 -0.14922800 -0.09270199
+v -0.12874468 -0.15162665 -0.08879042
+v -0.11518217 -0.13358971 -0.11318426
+v 0.18706236 -0.10738105 -0.13256092
+v 0.00650385 -0.13682778 -0.11882569
+v 0.17152207 -0.13569740 -0.10519826
+v 0.08117864 -0.16478143 -0.00148422
+v -0.09830000 -0.16491282 -0.05828116
+v -0.05254761 -0.16441371 -0.06978111
+v -0.09939224 -0.16405996 -0.06159805
+f 6 3 4
+f 6 2 3
+f 9 1 6
+f 9 6 4
+f 10 6 1
+f 10 2 6
+f 10 1 7
+f 12 9 4
+f 13 4 3
+f 15 5 8
+f 16 2 10
+f 16 10 7
+f 16 15 11
+f 16 7 15
+f 17 8 5
+f 18 13 8
+f 18 4 13
+f 18 17 4
+f 20 7 1
+f 20 15 7
+f 21 1 9
+f 22 5 15
+f 22 20 14
+f 22 15 20
+f 23 3 2
+f 23 2 16
+f 23 13 3
+f 24 17 5
+f 24 5 12
+f 25 12 4
+f 25 4 17
+f 25 24 12
+f 25 17 24
+f 26 18 8
+f 26 8 17
+f 26 17 18
+f 27 8 13
+f 27 23 19
+f 27 13 23
+f 28 19 15
+f 28 15 8
+f 28 27 19
+f 28 8 27
+f 29 11 15
+f 29 15 19
+f 29 19 23
+f 29 23 16
+f 29 16 11
+f 30 20 1
+f 30 14 20
+f 30 21 14
+f 30 1 21
+f 31 21 9
+f 31 9 12
+f 31 22 14
+f 31 14 21
+f 32 12 5
+f 32 5 22
+f 32 22 31
+f 33 32 31
+f 33 31 12
+f 33 12 32
\ No newline at end of file
diff --git a/objects/objaverse/hot_dog/hot_dog_6/collision/model_normalized_collision_6.obj b/objects/objaverse/hot_dog/hot_dog_6/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a9430513e2f33e06c2fea6719b6be9963359c9f7
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_6/collision/model_normalized_collision_6.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.35300829 -0.13736824 0.00307329
+v 0.35093669 -0.12229969 -0.06459209
+v 0.35626535 -0.01823018 -0.07488041
+v 0.21952575 -0.04776246 0.01679768
+v 0.21537912 -0.15144648 -0.06865290
+v 0.35528658 -0.03280059 -0.00188256
+v 0.35264325 -0.13460672 -0.02566064
+v 0.21882890 -0.15341496 0.01135138
+v 0.21884878 -0.14906044 -0.07294480
+v 0.32937397 -0.03459542 -0.00321078
+v 0.26632714 -0.04890125 0.01537682
+v 0.32342138 -0.13463727 -0.05223083
+v 0.26035239 -0.14834207 -0.04055713
+v 0.22063805 -0.03652778 -0.05989842
+v 0.26309702 -0.14496045 0.01502921
+v 0.26002689 -0.14933009 -0.00179237
+v 0.21950406 -0.04399613 -0.03412742
+v 0.26679507 -0.02635352 -0.07875111
+v 0.24526145 -0.15067869 0.01256545
+f 6 1 3
+f 7 2 3
+f 7 3 1
+f 8 4 5
+f 9 3 2
+f 10 6 3
+f 10 3 4
+f 10 4 6
+f 11 6 4
+f 11 1 6
+f 12 7 5
+f 12 2 7
+f 12 9 2
+f 12 5 9
+f 13 7 1
+f 13 5 7
+f 13 8 5
+f 14 9 5
+f 15 1 11
+f 15 11 4
+f 15 4 8
+f 16 13 1
+f 16 8 13
+f 17 14 5
+f 17 5 4
+f 17 4 14
+f 18 14 4
+f 18 4 3
+f 18 3 9
+f 18 9 14
+f 19 15 8
+f 19 1 15
+f 19 16 1
+f 19 8 16
\ No newline at end of file
diff --git a/objects/objaverse/hot_dog/hot_dog_6/collision/model_normalized_collision_7.obj b/objects/objaverse/hot_dog/hot_dog_6/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..21509b1a43270d9c95ad6739a0a85b616a93c9b3
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_6/collision/model_normalized_collision_7.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.00846227 -0.15116087 0.04139472
+v 0.00787911 -0.05216795 0.02418650
+v -0.23463597 -0.05844853 0.07463222
+v -0.23330472 -0.03081868 -0.05069307
+v -0.10026572 -0.15114545 -0.09209850
+v 0.00741536 -0.07855426 0.10440564
+v -0.10060173 -0.03115488 -0.06140638
+v -0.23490398 -0.11434539 0.08210528
+v -0.24563877 -0.14598538 -0.05715150
+v -0.09982417 -0.07810078 0.10093299
+v 0.00733901 -0.10139617 0.09830763
+v -0.09978704 -0.10414966 0.09690182
+f 3 2 4
+f 5 2 1
+f 6 1 2
+f 6 2 3
+f 7 5 4
+f 7 4 2
+f 7 2 5
+f 9 5 1
+f 9 1 8
+f 9 4 5
+f 9 8 3
+f 9 3 4
+f 10 6 3
+f 10 3 8
+f 11 1 6
+f 12 8 1
+f 12 1 11
+f 12 10 8
+f 12 11 6
+f 12 6 10
\ No newline at end of file
diff --git a/objects/objaverse/hot_dog/hot_dog_6/collision/model_normalized_collision_8.obj b/objects/objaverse/hot_dog/hot_dog_6/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa7e8ddb67c1e2457e7dfff94df7f62320616a6e
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_6/collision/model_normalized_collision_8.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.26458048 0.02575140 0.03177072
+v 0.26517328 0.01842629 -0.05993831
+v 0.21432888 0.16354287 -0.03771836
+v -0.32514021 0.14421350 0.01589397
+v -0.32577601 0.01805331 -0.05988003
+v 0.21542189 0.16160296 0.00698310
+v 0.26590885 0.05108116 0.02926694
+v -0.32536419 0.02721541 0.02532640
+v -0.11325306 0.16288677 -0.05680113
+v 0.26687804 0.02716889 -0.03576339
+v -0.32824915 0.03050909 -0.01706151
+v 0.21730594 0.15585230 -0.05331323
+v -0.32306475 0.13961366 -0.05420916
+v -0.15670247 0.16385430 0.00907525
+v 0.20013667 0.16243973 -0.04864717
+v -0.20281625 0.16478760 -0.04384143
+v -0.30353884 0.14772407 -0.05187070
+v -0.24642450 0.16299851 -0.00550973
+v -0.32055060 0.14774954 -0.01523897
+v -0.30671356 0.14817172 0.01315010
+v -0.24613348 0.16413321 -0.02743344
+v -0.32010762 0.14615163 -0.03745646
+f 5 2 1
+f 7 3 6
+f 7 6 4
+f 7 4 1
+f 8 5 1
+f 8 1 4
+f 9 2 5
+f 10 7 1
+f 10 1 2
+f 11 8 4
+f 11 5 8
+f 12 2 9
+f 12 10 2
+f 12 3 7
+f 12 7 10
+f 13 9 5
+f 13 11 4
+f 13 5 11
+f 14 6 3
+f 14 4 6
+f 15 12 9
+f 15 3 12
+f 16 14 3
+f 16 15 9
+f 16 3 15
+f 17 16 9
+f 17 9 13
+f 19 4 18
+f 20 18 4
+f 20 4 14
+f 20 14 18
+f 21 18 14
+f 21 14 16
+f 21 16 17
+f 21 19 18
+f 22 17 13
+f 22 13 4
+f 22 4 19
+f 22 21 17
+f 22 19 21
\ No newline at end of file
diff --git a/objects/objaverse/hot_dog/hot_dog_6/collision/model_normalized_collision_9.obj b/objects/objaverse/hot_dog/hot_dog_6/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aa3b2e8091e01fa406ab18103bfa9aa341f2a365
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_6/collision/model_normalized_collision_9.obj
@@ -0,0 +1,147 @@
+# https://github.com/mikedh/trimesh
+v 0.35305135 -0.13613696 0.03095750
+v 0.49219030 -0.01586085 0.05969970
+v 0.26310312 0.03849344 0.13621480
+v 0.27432120 0.15037675 0.00935320
+v 0.42268941 -0.04671727 0.00140701
+v 0.48511109 0.03357248 0.10787724
+v 0.26387766 -0.14770613 0.00087966
+v 0.39519899 -0.11389941 0.00233210
+v 0.39510161 0.12060918 0.00238530
+v 0.37744339 0.11735209 0.06846196
+v 0.45870498 -0.04284702 0.10901129
+v 0.26482366 -0.10926648 0.09368689
+v 0.26548998 0.13934261 0.04143941
+v 0.48155342 -0.01883138 0.04511386
+v 0.35300829 -0.13736824 0.00307329
+v 0.49354720 0.03347480 0.06132871
+v 0.30996188 0.14573286 0.00136160
+v 0.37863571 0.09647869 0.09153711
+v 0.48440127 0.04470029 0.09504869
+v 0.48704878 -0.02313489 0.10046079
+v 0.37476288 -0.12066725 0.05948708
+v 0.46661734 -0.02468195 0.11913623
+v 0.26227851 -0.13585069 0.04225931
+v 0.32563861 0.13420923 0.05025493
+v 0.43093950 0.05859301 0.00526425
+v 0.38002232 -0.12504145 0.00275350
+v 0.36295681 0.13379584 0.00173629
+v 0.47215328 0.02294978 0.11831784
+v 0.39328064 0.10395282 0.08049682
+v 0.26366054 0.09502924 0.09533115
+v 0.39421482 0.11800245 0.04292200
+v 0.49111569 0.03084040 0.10005781
+v 0.46754245 -0.04359465 0.08276617
+v 0.35348231 -0.11039785 0.09064102
+v 0.38863791 -0.02935651 0.12369552
+v 0.26374017 -0.02350662 0.12406651
+v 0.47091766 -0.00617953 0.03405815
+v 0.41223854 0.09500899 0.00286476
+v 0.35172023 0.13055733 0.04533762
+v 0.41513722 0.03131957 0.12112745
+v 0.46770789 0.04216567 0.10884836
+v 0.26537149 0.13364084 0.05262213
+v 0.40582680 0.10305310 0.07127383
+v 0.46447945 -0.04467525 0.10049928
+v 0.39272342 -0.10237804 0.08105876
+v 0.36544534 -0.12054691 0.06912453
+v 0.44138463 -0.03550391 0.12100887
+v 0.47089089 0.02044229 0.03565527
+v 0.36578100 0.13124889 0.01427689
+v 0.39473482 -0.09191662 0.09086132
+f 8 7 5
+f 13 4 7
+f 14 8 5
+f 14 2 8
+f 15 1 7
+f 16 2 14
+f 17 7 4
+f 17 5 7
+f 19 16 9
+f 22 20 6
+f 22 11 20
+f 23 7 1
+f 23 13 7
+f 24 4 13
+f 24 17 4
+f 26 1 15
+f 26 21 1
+f 26 8 21
+f 26 15 7
+f 26 7 8
+f 27 9 5
+f 27 5 17
+f 28 22 6
+f 28 3 22
+f 29 10 18
+f 30 3 18
+f 30 23 3
+f 30 13 23
+f 31 19 9
+f 31 9 27
+f 32 19 6
+f 32 16 19
+f 32 6 20
+f 32 20 2
+f 32 2 16
+f 33 8 2
+f 33 2 20
+f 34 12 23
+f 36 23 12
+f 36 3 23
+f 36 35 3
+f 36 12 35
+f 37 14 5
+f 37 5 25
+f 37 16 14
+f 38 25 5
+f 38 5 9
+f 38 9 16
+f 38 16 25
+f 39 27 17
+f 39 17 24
+f 39 24 10
+f 39 10 31
+f 40 18 3
+f 40 3 28
+f 41 28 6
+f 41 40 28
+f 41 18 40
+f 41 29 18
+f 41 6 19
+f 41 19 29
+f 42 24 13
+f 42 13 30
+f 42 10 24
+f 42 30 18
+f 42 18 10
+f 43 29 19
+f 43 19 31
+f 43 31 10
+f 43 10 29
+f 44 21 8
+f 44 8 33
+f 44 33 20
+f 44 20 11
+f 45 44 11
+f 45 21 44
+f 46 34 23
+f 46 23 1
+f 46 1 21
+f 46 45 34
+f 46 21 45
+f 47 34 11
+f 47 11 22
+f 47 22 3
+f 47 3 35
+f 47 35 12
+f 47 12 34
+f 48 37 25
+f 48 25 16
+f 48 16 37
+f 49 39 31
+f 49 31 27
+f 49 27 39
+f 50 45 11
+f 50 11 34
+f 50 34 45
\ No newline at end of file
diff --git a/objects/objaverse/hot_dog/hot_dog_6/model.xml b/objects/objaverse/hot_dog/hot_dog_6/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..27f6c6dcf66f17c2e0872789f83231ae64ddbbd4
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_6/model.xml
@@ -0,0 +1,86 @@
+<mujoco model="hot_dog_7">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="visual/model_normalized_1.obj" name="model_normalized_1_vis" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="visual/model_normalized_2.obj" name="model_normalized_2_vis" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
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+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <material name="Material.205" specular="0.5" shininess="0.25" rgba="0.800000 0.496009 0.138600 1.0"/>
+    <material name="Material.206" specular="0.5" shininess="0.25" rgba="0.336390 0.007057 0.010205 1.0"/>
+    <material name="Material.207" specular="0.5" shininess="0.25" rgba="0.800000 0.798185 0.011715 1.0"/>
+  </asset>
+  <worldbody>
+    <body>
+      <body name="object">
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+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_1_vis" conaffinity="0" contype="0" group="1" material="Material.206"/>
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+      </body>
+      <site rgba="0 0 0 0" size="0.005" pos="-0.0002168189999999993 0.0004123042499999992 -0.022640384999999996" name="bottom_site"/>
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+      <site rgba="0 0 0 0" size="0.005" pos="0.025046399999999996 0.07485668849999999 0.00023917949999999947" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/objects/objaverse/hot_dog/hot_dog_6/visual/material.mtl b/objects/objaverse/hot_dog/hot_dog_6/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7617f9723fa7d3e0b1c776b0518bdf88bcda9713
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_6/visual/material.mtl
@@ -0,0 +1,7 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.80000000 0.49411765 0.13725490
+Ks 0.50196078 0.50196078 0.50196078
+Ns 250.00000000
\ No newline at end of file
diff --git a/objects/objaverse/hot_dog/hot_dog_6/visual/model_normalized_0.obj b/objects/objaverse/hot_dog/hot_dog_6/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..39b7e596ee0233b601a993fd2dc7d20c17b738d1
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_6/visual/model_normalized_0.obj
@@ -0,0 +1,7219 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/objects/objaverse/hot_dog/hot_dog_6/visual/model_normalized_1.obj b/objects/objaverse/hot_dog/hot_dog_6/visual/model_normalized_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d103d8790b014e4629ad7ffbfb7c494696d1a2a
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_6/visual/model_normalized_1.obj
@@ -0,0 +1,1988 @@
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diff --git a/objects/objaverse/hot_dog/hot_dog_6/visual/model_normalized_2.obj b/objects/objaverse/hot_dog/hot_dog_6/visual/model_normalized_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..126ef00864fccac9dcf1a529432282a71216a64a
--- /dev/null
+++ b/objects/objaverse/hot_dog/hot_dog_6/visual/model_normalized_2.obj
@@ -0,0 +1,5211 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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\ No newline at end of file
diff --git a/objects/objaverse/plate/.DS_Store b/objects/objaverse/plate/.DS_Store
new file mode 100644
index 0000000000000000000000000000000000000000..856bc5f00dc8e902c11086209abc3d140923110f
Binary files /dev/null and b/objects/objaverse/plate/.DS_Store differ
diff --git a/objects/objaverse/plate/plate_0/.DS_Store b/objects/objaverse/plate/plate_0/.DS_Store
new file mode 100644
index 0000000000000000000000000000000000000000..5119705b4acfdeb4f905f3ad00faa7c9e5ea030e
Binary files /dev/null and b/objects/objaverse/plate/plate_0/.DS_Store differ
diff --git a/objects/objaverse/plate/plate_0/collision/model_normalized_collision_0.obj b/objects/objaverse/plate/plate_0/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d5e924c6712ac57000e166a79044a4e529f8d1c0
--- /dev/null
+++ b/objects/objaverse/plate/plate_0/collision/model_normalized_collision_0.obj
@@ -0,0 +1,132 @@
+# https://github.com/mikedh/trimesh
+v 0.44091411 -0.23177354 0.06054929
+v 0.48986281 -0.08054827 0.03852381
+v 0.48538357 0.09736778 0.06498883
+v 0.34123119 0.09856423 -0.01134914
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+v 0.42234146 0.09593092 -0.02729878
+v 0.43809307 -0.20774651 0.06493621
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+v 0.34282975 -0.20579798 -0.00402964
+v 0.47523155 -0.15439569 0.05758137
+v 0.46074473 -0.18304844 0.06434695
+v 0.44235277 -0.21735428 0.06597707
+v 0.43852009 -0.23055508 0.03562151
+v 0.39565872 -0.09691822 -0.04007228
+v 0.47511502 0.09574906 0.01657606
+v 0.49232090 -0.08093571 0.05790773
+v 0.49232131 0.08092142 0.05791336
+v 0.39565907 0.09690395 -0.04007338
+v 0.47587680 -0.13949966 0.06434695
+v 0.45869741 -0.19741302 0.05758137
+v 0.44807549 -0.21255518 0.06434695
+v 0.38982529 -0.19860303 -0.02418173
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\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_0/collision/model_normalized_collision_1.obj b/objects/objaverse/plate/plate_0/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5cca9f2a4a8c9722f5caa664989d60e00f69a21e
--- /dev/null
+++ b/objects/objaverse/plate/plate_0/collision/model_normalized_collision_1.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.00754932 0.27978417 -0.02083690
+v 0.12801908 0.35404786 -0.04826998
+v 0.12909110 0.41778917 0.01564347
+v -0.08401795 0.42099506 0.01031936
+v -0.08323751 0.31024019 -0.05684216
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+v -0.02270306 0.27977759 -0.02078472
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+v 0.13156359 0.39359759 0.00219686
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+v -0.08347362 0.31112398 -0.01609787
+v -0.08244268 0.39586870 -0.04115726
+v 0.05223513 0.30560115 -0.05992525
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+v -0.08445240 0.40859338 0.00332086
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+v -0.08416403 0.32885970 -0.01263121
+v 0.12683978 0.38127466 -0.04197102
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\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_0/collision/model_normalized_collision_10.obj b/objects/objaverse/plate/plate_0/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9bd339a9b8cf9780aab9065e129345db8fa9cfa0
--- /dev/null
+++ b/objects/objaverse/plate/plate_0/collision/model_normalized_collision_10.obj
@@ -0,0 +1,150 @@
+# https://github.com/mikedh/trimesh
+v 0.43883846 0.23070281 0.06434695
+v 0.43401522 0.22824776 0.02563286
+v 0.36906668 0.32687408 0.02938638
+v 0.23072265 0.43885024 0.06434695
+v 0.23719155 0.23718626 -0.01350572
+v 0.34296902 0.35810160 0.06434695
+v 0.39933755 0.29654467 0.04004402
+v 0.41376324 0.24278254 0.06152866
+v 0.32245106 0.23269750 -0.04337790
+v 0.29653377 0.39929769 0.04005699
+v 0.42823403 0.25299692 0.04005196
+v 0.41313322 0.26818147 0.02938638
+v 0.40093970 0.29784410 0.05758137
+v 0.24281260 0.41375256 0.06151497
+v 0.23446933 0.23446180 -0.05509017
+v 0.32686831 0.36903304 0.02938638
+v 0.29782992 0.40089675 0.05758137
+v 0.34465022 0.30134475 -0.00950457
+v 0.42944078 0.24107098 0.02862128
+v 0.38565497 0.31288802 0.06316279
+v 0.42996161 0.25411736 0.05758137
+v 0.39158721 0.22840450 -0.01316101
+v 0.22826669 0.43402195 0.02562537
+v 0.25411249 0.42999047 0.05758137
+v 0.26996786 0.41592146 0.06421679
+v 0.38793637 0.27149142 0.00427543
+v 0.31267977 0.37022099 0.01694767
+v 0.41591775 0.26998649 0.06421897
+v 0.36373586 0.22999376 -0.02878337
+v 0.22999048 0.36373633 -0.02878353
+v 0.25298716 0.42826046 0.04004034
+v 0.24276042 0.43272794 0.06434695
+v 0.31288503 0.38562639 0.06314676
+v 0.37025577 0.31268740 0.01694767
+v 0.38896095 0.24185314 -0.00916106
+v 0.26815700 0.41313813 0.02938638
+v 0.43271353 0.24273696 0.06434695
+v 0.30480797 0.27449265 -0.03911456
+v 0.22840238 0.39159768 -0.01317312
+v 0.36104963 0.24340355 -0.02565528
+v 0.24109293 0.42945019 0.02861260
+v 0.32126096 0.24634611 -0.04091093
+v 0.28714288 0.33064725 -0.02405976
+v 0.23269850 0.32244501 -0.04336925
+v 0.27147144 0.38793003 0.00429059
+v 0.33066389 0.28713885 -0.02407107
+v 0.24339238 0.36104665 -0.02564778
+v 0.27450318 0.30479380 -0.03910755
+v 0.30134900 0.34463233 -0.00949187
+v 0.24184366 0.38896835 -0.00916384
+v 0.24635235 0.32124989 -0.04090150
+f 5 2 1
+f 6 4 1
+f 8 5 1
+f 8 1 4
+f 11 1 2
+f 12 3 7
+f 12 7 11
+f 13 7 3
+f 13 3 6
+f 14 8 4
+f 14 4 5
+f 14 5 8
+f 15 2 5
+f 16 6 3
+f 17 16 10
+f 17 6 16
+f 19 12 11
+f 19 11 2
+f 20 13 6
+f 21 1 11
+f 21 11 7
+f 21 7 13
+f 22 2 15
+f 23 15 5
+f 23 5 4
+f 24 17 10
+f 25 17 24
+f 26 12 19
+f 26 19 2
+f 27 16 3
+f 28 20 6
+f 28 21 13
+f 28 13 20
+f 29 22 15
+f 29 15 9
+f 31 23 4
+f 31 4 24
+f 31 24 10
+f 32 4 6
+f 32 6 25
+f 32 25 24
+f 32 24 4
+f 33 25 6
+f 33 6 17
+f 33 17 25
+f 34 26 18
+f 34 3 12
+f 34 12 26
+f 34 27 3
+f 35 18 26
+f 35 26 2
+f 35 2 22
+f 36 10 16
+f 36 16 27
+f 36 31 10
+f 37 28 6
+f 37 6 1
+f 37 1 21
+f 37 21 28
+f 39 30 15
+f 39 15 23
+f 40 18 35
+f 40 29 38
+f 40 35 22
+f 40 22 29
+f 41 23 31
+f 41 31 36
+f 42 38 29
+f 42 29 9
+f 42 9 38
+f 44 38 9
+f 44 9 15
+f 44 15 30
+f 45 36 27
+f 45 41 36
+f 45 23 41
+f 46 40 38
+f 46 18 40
+f 46 43 18
+f 47 30 39
+f 48 38 44
+f 48 46 38
+f 48 43 46
+f 48 47 43
+f 48 30 47
+f 49 45 27
+f 49 18 43
+f 49 43 47
+f 49 34 18
+f 49 27 34
+f 50 39 23
+f 50 23 45
+f 50 45 49
+f 50 49 47
+f 50 47 39
+f 51 48 44
+f 51 44 30
+f 51 30 48
\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_0/collision/model_normalized_collision_11.obj b/objects/objaverse/plate/plate_0/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d554c5d06a4daa401a4aab09f5bba005087851f
--- /dev/null
+++ b/objects/objaverse/plate/plate_0/collision/model_normalized_collision_11.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v -0.15645827 -0.47043670 0.06462079
+v -0.15448360 -0.46530383 0.02463930
+v -0.16055260 -0.28317609 -0.01552849
+v -0.23578702 -0.28147096 -0.01068839
+v -0.23067710 -0.43879900 0.06434695
+v -0.15725072 -0.36643594 -0.04293880
+v -0.19739622 -0.45869658 0.04934877
+v -0.23790922 -0.42267424 0.06493621
+v -0.15891366 -0.27996270 -0.05675405
+v -0.23151756 -0.33578205 -0.03990340
+v -0.19739350 -0.45868928 0.05758137
+v -0.16200223 -0.45454492 0.06364302
+v -0.15560666 -0.42276853 -0.01497680
+v -0.23398093 -0.27923730 -0.05044128
+v -0.22557064 -0.42878778 0.01694767
+v -0.18303104 -0.46074036 0.06434695
+v -0.22601764 -0.44481563 0.05758137
+v -0.19857975 -0.38982649 -0.02416026
+v -0.22504080 -0.44290052 0.03979256
+v -0.22747190 -0.37500103 -0.02354035
+v -0.15580776 -0.45359428 0.01068100
+v -0.21252099 -0.44806010 0.06434695
+v -0.18573773 -0.36405153 -0.03948826
+v -0.18427161 -0.41851058 -0.01004929
+v -0.21082854 -0.44474219 0.02853163
+v -0.21321427 -0.40396453 -0.01004914
+v -0.18361058 -0.44709541 0.01539715
+v -0.16817613 -0.46151141 0.02700462
+f 1 2 3
+f 7 2 1
+f 8 3 4
+f 9 3 2
+f 9 4 3
+f 11 7 1
+f 12 8 1
+f 12 1 3
+f 12 3 8
+f 13 9 2
+f 13 6 9
+f 14 9 6
+f 14 6 10
+f 14 4 9
+f 14 10 8
+f 14 8 4
+f 16 11 1
+f 17 7 11
+f 19 5 8
+f 19 8 15
+f 19 17 5
+f 19 7 17
+f 20 15 8
+f 20 8 10
+f 21 13 2
+f 22 16 1
+f 22 11 16
+f 22 17 11
+f 22 5 17
+f 22 8 5
+f 22 1 8
+f 23 10 6
+f 23 6 13
+f 23 13 18
+f 23 20 10
+f 23 18 20
+f 24 18 13
+f 24 13 21
+f 25 19 15
+f 25 7 19
+f 26 20 18
+f 26 18 24
+f 26 24 15
+f 26 15 20
+f 27 24 21
+f 27 15 24
+f 27 25 15
+f 27 21 2
+f 28 2 7
+f 28 7 25
+f 28 27 2
+f 28 25 27
\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_0/collision/model_normalized_collision_12.obj b/objects/objaverse/plate/plate_0/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1cc6ba6a28d8dcaf3ea00c3e6f97acd6f0985eb0
--- /dev/null
+++ b/objects/objaverse/plate/plate_0/collision/model_normalized_collision_12.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.17469520 0.23539995 -0.01984693
+v 0.17537069 0.23625092 -0.06560887
+v 0.17439054 0.28052357 -0.01461493
+v -0.31006931 0.27975988 0.00348298
+v -0.30812104 0.23283080 -0.04625176
+v -0.17274083 0.27798132 -0.05575378
+v -0.21725769 0.23240552 -0.05753270
+v -0.31236407 0.23626360 -0.00635078
+v 0.17273918 0.27798494 -0.05576308
+v -0.17609625 0.28315311 -0.01393554
+v -0.30479668 0.27449528 -0.03909880
+v -0.20274166 0.26291351 -0.05503590
+v -0.21792585 0.24780236 -0.05537389
+f 1 2 3
+f 1 3 4
+f 7 2 1
+f 7 1 5
+f 7 6 2
+f 8 5 1
+f 8 1 4
+f 8 4 5
+f 9 3 2
+f 9 2 6
+f 10 6 4
+f 10 4 3
+f 10 9 6
+f 10 3 9
+f 11 5 4
+f 11 4 6
+f 12 6 7
+f 12 11 6
+f 12 5 11
+f 13 12 7
+f 13 7 5
+f 13 5 12
\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_0/collision/model_normalized_collision_13.obj b/objects/objaverse/plate/plate_0/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..80e8b1bbc087ca1ff50325d551db77283af46a65
--- /dev/null
+++ b/objects/objaverse/plate/plate_0/collision/model_normalized_collision_13.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.26576901 0.15948413 -0.01799805
+v 0.25995358 0.15571357 -0.06338653
+v 0.23398006 0.27922438 -0.05044459
+v 0.17610086 0.28315312 -0.01394836
+v 0.14405863 0.15920306 -0.02350365
+v 0.23578867 0.28145584 -0.01069067
+v 0.26445014 0.23427252 -0.05212705
+v 0.14471902 0.23611112 -0.06291773
+v 0.26770328 0.20660784 -0.01294114
+v 0.26292447 0.20273224 -0.05504396
+v 0.17134223 0.26068543 -0.05921984
+v 0.14407589 0.15918361 -0.06019019
+v 0.14423849 0.23530113 -0.02110688
+v 0.26541096 0.23505170 -0.01137200
+v 0.17397706 0.27988784 -0.05541485
+f 5 2 1
+f 6 3 4
+f 7 2 3
+f 7 3 6
+f 9 5 1
+f 9 1 7
+f 9 4 5
+f 10 7 1
+f 10 1 2
+f 10 2 7
+f 11 3 2
+f 11 2 8
+f 12 8 2
+f 12 2 5
+f 13 5 4
+f 13 4 8
+f 13 12 5
+f 13 8 12
+f 14 9 7
+f 14 7 6
+f 14 6 4
+f 14 4 9
+f 15 11 8
+f 15 8 4
+f 15 4 3
+f 15 3 11
\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_0/collision/model_normalized_collision_14.obj b/objects/objaverse/plate/plate_0/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a8e737c8e5b95252627cba0701816711678ebc0
--- /dev/null
+++ b/objects/objaverse/plate/plate_0/collision/model_normalized_collision_14.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.23530814 -0.14424537 -0.02110191
+v -0.23552140 -0.14435895 -0.06278223
+v -0.23446849 0.23446188 -0.05508668
+v -0.31236407 0.23626360 -0.00635078
+v -0.31100653 -0.09859915 -0.01539442
+v -0.23719315 0.23718260 -0.01350112
+v -0.23240869 0.21725344 -0.05752963
+v -0.28083634 -0.14421877 -0.01709122
+v -0.30801463 0.11263667 -0.05564671
+v -0.30710219 -0.09755473 -0.05669103
+v -0.31361517 0.12993321 -0.01264805
+v -0.30812104 0.23283080 -0.04625176
+v -0.27578835 -0.14164182 -0.05990530
+v -0.26292069 0.20273353 -0.05503230
+f 6 3 4
+f 6 4 1
+f 7 1 2
+f 7 6 1
+f 7 3 6
+f 8 2 1
+f 8 1 4
+f 8 4 5
+f 9 7 2
+f 10 8 5
+f 11 5 4
+f 11 10 5
+f 11 9 10
+f 12 4 3
+f 12 3 7
+f 12 11 4
+f 12 9 11
+f 13 2 8
+f 13 8 10
+f 13 10 9
+f 13 9 2
+f 14 12 7
+f 14 7 9
+f 14 9 12
\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_0/collision/model_normalized_collision_15.obj b/objects/objaverse/plate/plate_0/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c18acff2aea2a117cf9fdf9d6e2ebd4b2d0dfff5
--- /dev/null
+++ b/objects/objaverse/plate/plate_0/collision/model_normalized_collision_15.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.34099686 -0.23491257 0.00181641
+v 0.33578033 -0.23153021 -0.03992483
+v 0.34099821 0.23489909 0.00181330
+v 0.26541096 0.23505170 -0.01137200
+v 0.26541095 -0.23506606 -0.01137178
+v 0.26068944 0.17134217 -0.05922289
+v 0.26444997 -0.23428674 -0.05212589
+v 0.33578095 0.23151646 -0.03992741
+v 0.32303281 -0.05260789 -0.05575421
+v 0.26068864 -0.17135616 -0.05922050
+v 0.26445014 0.23427252 -0.05212705
+v 0.32303286 0.05259355 -0.05575455
+v 0.30801660 -0.11264818 -0.05565236
+v 0.30801656 0.11263396 -0.05565322
+f 1 2 3
+f 1 3 4
+f 5 1 4
+f 7 2 1
+f 7 1 5
+f 8 3 2
+f 9 8 2
+f 10 7 5
+f 10 6 9
+f 10 2 7
+f 10 5 4
+f 10 4 6
+f 11 8 6
+f 11 6 4
+f 11 4 3
+f 11 3 8
+f 12 9 6
+f 12 8 9
+f 13 10 9
+f 13 9 2
+f 13 2 10
+f 14 12 6
+f 14 6 8
+f 14 8 12
\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_0/collision/model_normalized_collision_16.obj b/objects/objaverse/plate/plate_0/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..048dcd5ee967ca1a6445970d56f9dfc28edb61dc
--- /dev/null
+++ b/objects/objaverse/plate/plate_0/collision/model_normalized_collision_16.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.26408033 -0.35474616 0.01938995
+v 0.25879706 -0.34822803 -0.02684111
+v 0.26576886 -0.15949836 -0.01799674
+v 0.14412666 -0.15924587 -0.02385378
+v 0.14405858 -0.32607568 -0.01132524
+v 0.25995185 -0.15572680 -0.06338309
+v 0.26984869 -0.31640846 0.00276739
+v 0.20775239 -0.36237308 0.00351164
+v 0.14164390 -0.27579685 -0.05991814
+v 0.26292431 -0.20274646 -0.05504261
+v 0.14407589 -0.15919797 -0.06019030
+v 0.18708678 -0.35153149 -0.04305025
+v 0.26770360 -0.20662234 -0.01293906
+v 0.26163924 -0.30627977 -0.04155804
+v 0.19009534 -0.35744679 -0.00206944
+v 0.14360326 -0.32488793 -0.05187010
+v 0.20193659 -0.35093827 -0.04101839
+v 0.20273944 -0.26293056 -0.05503834
+v 0.23151415 -0.33578993 -0.03991675
+f 1 3 4
+f 5 1 4
+f 6 4 3
+f 7 1 2
+f 8 2 1
+f 8 1 5
+f 9 5 4
+f 10 6 3
+f 11 9 4
+f 11 4 6
+f 11 6 9
+f 13 10 3
+f 13 7 10
+f 13 3 1
+f 13 1 7
+f 14 10 7
+f 14 7 2
+f 14 6 10
+f 15 12 8
+f 15 8 5
+f 16 5 9
+f 16 9 12
+f 16 15 5
+f 16 12 15
+f 17 2 8
+f 17 8 12
+f 18 14 12
+f 18 12 9
+f 18 9 6
+f 18 6 14
+f 19 14 2
+f 19 2 17
+f 19 17 12
+f 19 12 14
\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_0/collision/model_normalized_collision_17.obj b/objects/objaverse/plate/plate_0/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aa9a40ecf51993bed683a7ca596f72c848f42645
--- /dev/null
+++ b/objects/objaverse/plate/plate_0/collision/model_normalized_collision_17.obj
@@ -0,0 +1,105 @@
+# https://github.com/mikedh/trimesh
+v 0.48538357 0.09736778 0.06498883
+v 0.48038715 0.09658014 0.02426305
+v 0.44484540 0.22604825 0.05758137
+v 0.36607516 0.24133446 0.01674498
+v 0.34123119 0.09856423 -0.01134914
+v 0.37501213 0.22748118 -0.02357563
+v 0.47523155 0.15439569 0.05758137
+v 0.42234146 0.09593092 -0.02729878
+v 0.42273201 0.23792823 0.06493621
+v 0.42882337 0.22560491 0.01694767
+v 0.33908587 0.23365916 -0.03827851
+v 0.46074930 0.18303565 0.06434695
+v 0.47054772 0.10074198 0.06256845
+v 0.34619008 0.23826536 0.00501815
+v 0.41851164 0.18427213 -0.01006292
+v 0.45772445 0.18187289 0.02936216
+v 0.44292554 0.22507146 0.03977807
+v 0.34001996 0.09823872 -0.05200139
+v 0.38079479 0.14179185 -0.04037169
+v 0.45870186 0.19740017 0.05758137
+v 0.47588040 0.13948627 0.06434695
+v 0.44808076 0.21254372 0.06434695
+v 0.40397115 0.21322798 -0.01007712
+v 0.44741748 0.15343206 0.00381081
+v 0.47302108 0.15367728 0.03929742
+v 0.43883846 0.23070281 0.06434695
+v 0.33780168 0.20252356 -0.04429375
+v 0.36404762 0.18574020 -0.03950681
+v 0.38270417 0.09749418 -0.04396399
+v 0.38982713 0.19858961 -0.02418476
+v 0.45870941 0.19740319 0.04934701
+v 0.43394924 0.14043333 -0.01105165
+v 0.46040785 0.15260166 0.01694767
+v 0.35093121 0.20192769 -0.04101607
+v 0.42041837 0.11056600 -0.02610472
+v 0.47544686 0.12421860 0.02740406
+f 7 1 2
+f 8 2 1
+f 8 1 5
+f 10 4 9
+f 11 10 6
+f 11 4 10
+f 13 9 5
+f 13 5 1
+f 13 1 9
+f 14 9 4
+f 14 5 9
+f 14 11 5
+f 14 4 11
+f 17 10 9
+f 17 16 10
+f 18 8 5
+f 20 12 7
+f 21 12 1
+f 21 1 7
+f 21 7 12
+f 22 9 1
+f 22 1 12
+f 22 20 3
+f 22 12 20
+f 23 6 10
+f 23 10 15
+f 24 15 10
+f 25 7 2
+f 26 17 9
+f 26 3 17
+f 26 22 3
+f 26 9 22
+f 27 18 5
+f 27 5 11
+f 28 11 6
+f 29 19 8
+f 29 8 18
+f 29 27 19
+f 29 18 27
+f 30 19 28
+f 30 28 6
+f 30 23 15
+f 30 6 23
+f 31 17 3
+f 31 3 20
+f 31 20 7
+f 31 7 25
+f 31 25 16
+f 31 16 17
+f 32 24 2
+f 32 2 8
+f 32 15 24
+f 32 30 15
+f 33 2 24
+f 33 16 25
+f 33 24 10
+f 33 10 16
+f 34 27 11
+f 34 11 28
+f 34 28 19
+f 34 19 27
+f 35 8 19
+f 35 19 30
+f 35 32 8
+f 35 30 32
+f 36 33 25
+f 36 25 2
+f 36 2 33
\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_0/collision/model_normalized_collision_18.obj b/objects/objaverse/plate/plate_0/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..81bddc344ed94c6ba5da758451094492cd16d596
--- /dev/null
+++ b/objects/objaverse/plate/plate_0/collision/model_normalized_collision_18.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.26629653 -0.40328259 0.01542551
+v 0.26273602 -0.35308761 -0.02265283
+v 0.26408033 -0.35474616 0.01938995
+v -0.16010943 -0.35806469 -0.00627942
+v -0.09691826 -0.39565850 -0.04005609
+v 0.24579404 -0.34960137 -0.03074867
+v -0.15990499 -0.40363839 0.01363129
+v -0.15763034 -0.35320444 -0.04618298
+v 0.19860150 -0.38983506 -0.02418616
+v 0.08243604 -0.39588418 -0.04115635
+v -0.16212376 -0.37910341 0.00086014
+v -0.15687695 -0.39576774 -0.03152777
+v 0.22747234 -0.37503102 -0.02357583
+v 0.09691138 -0.39566024 -0.04005614
+v 0.18708678 -0.35153149 -0.04305025
+v -0.14179653 -0.38080073 -0.04036523
+v 0.24339101 -0.36105889 -0.02564139
+v 0.25840545 -0.39115062 0.00017744
+v 0.18574980 -0.36405453 -0.03950729
+v -0.15725072 -0.36643594 -0.04293880
+v 0.25791179 -0.37524044 -0.01131257
+v 0.24184117 -0.38897888 -0.00915799
+f 1 2 3
+f 6 3 2
+f 7 1 3
+f 7 3 4
+f 8 4 3
+f 8 3 6
+f 10 7 5
+f 10 1 7
+f 10 5 8
+f 11 7 4
+f 11 4 8
+f 12 5 7
+f 12 7 11
+f 13 9 6
+f 14 9 1
+f 14 1 10
+f 15 10 8
+f 15 8 6
+f 15 14 10
+f 16 5 12
+f 17 13 6
+f 17 6 2
+f 18 2 1
+f 19 15 6
+f 19 6 9
+f 19 9 14
+f 19 14 15
+f 20 16 12
+f 20 8 5
+f 20 5 16
+f 20 12 11
+f 20 11 8
+f 21 17 2
+f 21 13 17
+f 21 2 18
+f 22 18 1
+f 22 1 9
+f 22 9 13
+f 22 21 18
+f 22 13 21
\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_0/collision/model_normalized_collision_19.obj b/objects/objaverse/plate/plate_0/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b2ba482ffd70d6df27b240fe6e47b68d232de9d0
--- /dev/null
+++ b/objects/objaverse/plate/plate_0/collision/model_normalized_collision_19.obj
@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
+v -0.37748069 -0.30053331 0.06371883
+v -0.36433427 -0.28989716 -0.00268031
+v -0.37793315 -0.14652070 -0.00184329
+v -0.47871882 -0.14028067 0.05829449
+v -0.42819805 -0.25295694 0.04007218
+v -0.40799122 -0.14062370 -0.02815600
+v -0.45766645 -0.14680789 0.06232688
+v -0.36372364 -0.22998803 -0.02874725
+v -0.40099638 -0.28527594 0.02805275
+v -0.41588450 -0.26995219 0.06416835
+v -0.46034545 -0.15261461 0.01694767
+v -0.47196067 -0.14252577 0.06597707
+v -0.37110218 -0.14390446 -0.04307674
+v -0.45868551 -0.19743326 0.05758137
+v -0.40435273 -0.28745679 0.06434695
+v -0.46228709 -0.13993840 0.01490106
+v -0.42879989 -0.22558096 0.01694767
+v -0.40587855 -0.15496602 -0.02623656
+v -0.42991968 -0.25407518 0.05758137
+v -0.44475394 -0.21083880 0.02852118
+v -0.46071835 -0.18306053 0.06434695
+v -0.47628757 -0.13963033 0.03810258
+v -0.38790428 -0.27146275 0.00432930
+v -0.41850335 -0.18430138 -0.01005788
+v -0.45869285 -0.19743629 0.04934216
+v -0.47516558 -0.15440717 0.05758137
+v -0.47296119 -0.15369128 0.03931579
+v -0.37489973 -0.28618670 0.00272911
+v -0.40174992 -0.27061365 0.01679787
+v -0.38894557 -0.24183679 -0.00912353
+v -0.44738840 -0.15345505 0.00383827
+v -0.44903080 -0.14044504 0.00144296
+v -0.38982511 -0.19858550 -0.02416874
+v -0.44291334 -0.22505099 0.03978810
+v -0.37500126 -0.22746973 -0.02354291
+f 6 4 3
+f 7 1 3
+f 8 1 2
+f 8 3 1
+f 9 2 1
+f 12 7 3
+f 12 3 4
+f 12 1 7
+f 13 6 3
+f 13 3 8
+f 15 9 1
+f 15 12 10
+f 15 1 12
+f 17 9 5
+f 18 6 13
+f 19 15 10
+f 19 5 9
+f 19 9 15
+f 20 17 5
+f 20 11 17
+f 21 10 12
+f 21 19 10
+f 21 14 19
+f 22 16 11
+f 22 4 6
+f 22 6 16
+f 25 19 14
+f 26 21 12
+f 26 12 4
+f 26 14 21
+f 26 25 14
+f 26 4 22
+f 27 22 11
+f 27 11 20
+f 27 20 25
+f 27 26 22
+f 27 25 26
+f 28 23 2
+f 28 2 9
+f 29 9 17
+f 29 17 23
+f 29 28 9
+f 29 23 28
+f 30 2 23
+f 30 23 17
+f 30 17 24
+f 31 24 17
+f 31 17 11
+f 31 11 16
+f 32 6 18
+f 32 18 24
+f 32 24 31
+f 32 31 16
+f 32 16 6
+f 33 24 18
+f 33 30 24
+f 33 18 13
+f 33 13 8
+f 34 5 19
+f 34 19 25
+f 34 25 20
+f 34 20 5
+f 35 8 2
+f 35 2 30
+f 35 33 8
+f 35 30 33
\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_0/collision/model_normalized_collision_2.obj b/objects/objaverse/plate/plate_0/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a740bfee80e729c65cbcde0113fa4a53a6248fe7
--- /dev/null
+++ b/objects/objaverse/plate/plate_0/collision/model_normalized_collision_2.obj
@@ -0,0 +1,147 @@
+# https://github.com/mikedh/trimesh
+v -0.16055273 0.28316186 -0.01553074
+v -0.08323751 0.31024019 -0.05684216
+v -0.08230630 0.48591408 0.06596656
+v -0.15438279 0.47523582 0.05758137
+v -0.30863251 0.27832529 -0.03681544
+v -0.08192881 0.42291655 -0.02862782
+v -0.31603459 0.36276708 0.06272696
+v -0.08416729 0.31372029 -0.01560519
+v -0.15891392 0.27994883 -0.05675664
+v -0.08081198 0.47645168 0.01544664
+v -0.26996490 0.41587590 0.06418192
+v -0.31131504 0.26571795 -0.00039094
+v -0.08499122 0.47261176 0.06232688
+v -0.18573839 0.36403847 -0.03949301
+v -0.15366421 0.47302485 0.03929585
+v -0.30319777 0.39234596 0.06434695
+v -0.18303557 0.46073827 0.06434695
+v -0.31640137 0.26983303 0.00277718
+v -0.29731137 0.26664657 -0.00429102
+v -0.29158410 0.27643128 -0.04188946
+v -0.08244268 0.39586870 -0.04115726
+v -0.18427410 0.41850269 -0.01005513
+v -0.19740104 0.45869474 0.04934751
+v -0.30136415 0.34462388 -0.00949678
+v -0.13951370 0.47585215 0.06434695
+v -0.27449681 0.30480127 -0.03911061
+v -0.09691860 0.39564544 -0.04006019
+v -0.15260404 0.46040388 0.01694767
+v -0.11058635 0.42039483 -0.02608867
+v -0.19739796 0.45868707 0.05758137
+v -0.29653671 0.39925893 0.04006727
+v -0.22747365 0.37498896 -0.02354645
+v -0.28964690 0.28964853 -0.03910462
+v -0.30146692 0.31662467 -0.02447463
+v -0.09574535 0.47507043 0.01660838
+v -0.21083288 0.44473635 0.02852607
+v -0.19858159 0.38981574 -0.02416621
+v -0.14045992 0.43393830 -0.01105171
+v -0.25408372 0.42990265 0.05758137
+v -0.27147612 0.38790248 0.00431234
+v -0.28715684 0.33064011 -0.02406139
+v -0.22557603 0.42878457 0.01694767
+v -0.24184350 0.38893610 -0.00912824
+v -0.15343480 0.44741117 0.00381181
+v -0.09614371 0.46244317 0.00300834
+v -0.25296469 0.42817907 0.04006593
+v -0.29782832 0.40085709 0.05758137
+v -0.27062749 0.40174569 0.01678345
+v -0.08116316 0.46352561 0.00182957
+v -0.22504562 0.44289620 0.03978870
+f 8 7 1
+f 9 8 1
+f 9 2 8
+f 10 2 6
+f 10 8 2
+f 10 3 8
+f 12 1 7
+f 13 8 3
+f 13 3 7
+f 13 7 8
+f 14 2 9
+f 15 4 3
+f 16 7 3
+f 16 3 11
+f 17 11 3
+f 18 12 7
+f 18 7 5
+f 18 5 12
+f 19 9 1
+f 19 1 12
+f 20 12 5
+f 20 19 12
+f 20 9 19
+f 21 6 2
+f 21 2 14
+f 23 4 15
+f 24 5 7
+f 25 17 3
+f 25 3 4
+f 25 4 17
+f 26 14 9
+f 26 9 20
+f 27 21 14
+f 27 6 21
+f 29 27 14
+f 29 6 27
+f 30 17 4
+f 30 4 23
+f 31 24 7
+f 31 7 16
+f 32 14 26
+f 33 26 20
+f 33 20 5
+f 33 5 26
+f 34 26 5
+f 34 5 24
+f 35 28 15
+f 35 15 3
+f 35 3 10
+f 36 23 15
+f 36 15 28
+f 37 29 14
+f 37 14 32
+f 38 37 22
+f 38 29 37
+f 39 30 23
+f 39 11 17
+f 39 17 30
+f 41 32 26
+f 41 26 34
+f 41 34 24
+f 42 36 28
+f 43 37 32
+f 43 22 37
+f 43 24 40
+f 43 41 24
+f 43 32 41
+f 43 42 22
+f 43 40 42
+f 44 38 22
+f 44 42 28
+f 44 22 42
+f 45 6 29
+f 45 29 38
+f 45 35 10
+f 45 38 44
+f 45 44 28
+f 45 28 35
+f 46 31 39
+f 46 36 42
+f 47 39 31
+f 47 31 16
+f 47 16 11
+f 47 11 39
+f 48 40 24
+f 48 24 31
+f 48 42 40
+f 48 46 42
+f 48 31 46
+f 49 45 10
+f 49 10 6
+f 49 6 45
+f 50 23 36
+f 50 36 46
+f 50 46 39
+f 50 39 23
\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_0/collision/model_normalized_collision_20.obj b/objects/objaverse/plate/plate_0/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5984cd10da69e4b88dd0455c6bc107d69db9883a
--- /dev/null
+++ b/objects/objaverse/plate/plate_0/collision/model_normalized_collision_20.obj
@@ -0,0 +1,129 @@
+# https://github.com/mikedh/trimesh
+v -0.23067710 -0.43879900 0.06434695
+v -0.22822416 -0.43399015 0.02565661
+v -0.23283938 -0.30812844 -0.04625529
+v -0.37153320 -0.26536740 0.03199541
+v -0.39924342 -0.29651759 0.04008217
+v -0.23627080 -0.31237231 -0.00635463
+v -0.22839289 -0.39157208 -0.01312507
+v -0.29653045 -0.39926553 0.04007072
+v -0.39745726 -0.29217870 0.06597707
+v -0.31943340 -0.28914712 -0.02873872
+v -0.26386418 -0.29386964 -0.00555452
+v -0.25295959 -0.42818557 0.04007203
+v -0.27147308 -0.38791215 0.00431835
+v -0.40455293 -0.28758748 0.03732456
+v -0.37814877 -0.26966764 0.04166025
+v -0.24277474 -0.41373957 0.06156668
+v -0.31289910 -0.38561925 0.06313240
+v -0.27960466 -0.29476441 -0.04042320
+v -0.27062347 -0.40175435 0.01678925
+v -0.22990287 -0.40697798 -0.00142506
+v -0.28715446 -0.33065059 -0.02405700
+v -0.40670780 -0.28898788 0.05900126
+v -0.34743233 -0.28848063 -0.01409817
+v -0.36807852 -0.30518482 0.06056864
+v -0.26995997 -0.41588348 0.06417595
+v -0.32689247 -0.36903593 0.02938638
+v -0.24103918 -0.42940956 0.02864999
+v -0.24184115 -0.38894614 -0.00912200
+v -0.22998720 -0.36372664 -0.02874858
+v -0.38559778 -0.31288704 0.06311576
+v -0.30136149 -0.34463494 -0.00949136
+v -0.24270036 -0.43266615 0.06434695
+v -0.29782102 -0.40086173 0.05758137
+v -0.31269350 -0.37021392 0.01694767
+v -0.36900140 -0.32686906 0.02938638
+v -0.24635586 -0.32125789 -0.04089023
+v -0.24339366 -0.36103699 -0.02561696
+v -0.40083560 -0.29780572 0.05758137
+v -0.31661224 -0.30148149 -0.02446287
+v -0.25407685 -0.42990781 0.05758137
+v -0.37018182 -0.31267250 0.01694767
+v -0.24761407 -0.30766240 -0.04394221
+v -0.23267610 -0.32241649 -0.04336918
+v -0.34462047 -0.30135759 -0.00947238
+f 6 1 3
+f 7 1 2
+f 7 3 1
+f 11 6 3
+f 12 2 1
+f 15 4 14
+f 15 11 4
+f 15 6 11
+f 16 9 1
+f 16 1 6
+f 18 10 4
+f 18 11 3
+f 18 4 11
+f 20 7 2
+f 20 19 13
+f 20 2 19
+f 21 10 18
+f 22 14 5
+f 22 15 14
+f 22 9 15
+f 23 14 4
+f 23 4 10
+f 24 15 9
+f 24 9 16
+f 24 16 6
+f 24 6 15
+f 25 9 17
+f 26 19 8
+f 27 12 8
+f 27 8 19
+f 27 19 2
+f 27 2 12
+f 28 20 13
+f 28 7 20
+f 29 3 7
+f 30 17 9
+f 30 9 22
+f 31 28 13
+f 32 1 9
+f 32 9 25
+f 33 25 17
+f 33 26 8
+f 34 13 19
+f 34 19 26
+f 34 31 13
+f 35 5 14
+f 36 21 18
+f 37 36 29
+f 37 21 36
+f 37 31 21
+f 37 28 31
+f 37 29 7
+f 37 7 28
+f 38 30 22
+f 38 22 5
+f 38 5 35
+f 38 33 17
+f 38 17 30
+f 38 35 26
+f 38 26 33
+f 39 23 10
+f 39 10 21
+f 39 21 31
+f 40 12 1
+f 40 1 32
+f 40 32 25
+f 40 25 33
+f 40 33 8
+f 40 8 12
+f 41 31 34
+f 41 34 26
+f 41 26 35
+f 41 35 14
+f 41 14 23
+f 42 36 18
+f 42 18 3
+f 43 3 29
+f 43 29 36
+f 43 42 3
+f 43 36 42
+f 44 39 31
+f 44 23 39
+f 44 41 23
+f 44 31 41
\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_0/collision/model_normalized_collision_21.obj b/objects/objaverse/plate/plate_0/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d54de9ee026816040d14f93afe5cefe9ccc2053
--- /dev/null
+++ b/objects/objaverse/plate/plate_0/collision/model_normalized_collision_21.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v -0.44704530 -0.14977861 0.05199846
+v -0.43273763 -0.14429876 0.03148331
+v -0.45816406 0.05480142 0.03782285
+v -0.49365733 0.05188244 0.06434695
+v -0.47504620 -0.09573178 0.01663067
+v -0.48213694 0.05379577 0.06493621
+v -0.44061559 -0.14224690 -0.00536046
+v -0.47579684 -0.13949886 0.06434695
+v -0.45038073 0.05115841 -0.01309234
+v -0.49223664 -0.08090411 0.05788377
+v -0.49147347 -0.06563131 0.06434695
+v -0.45766645 -0.14680789 0.06232688
+v -0.47628757 -0.13963033 0.03810258
+v -0.48949431 0.05144443 0.02775024
+v -0.43930415 -0.08212300 -0.01764077
+v -0.44093504 0.05206453 -0.01990465
+v -0.46228709 -0.13993840 0.01490106
+v -0.48978275 -0.08051429 0.03855749
+v -0.48949469 -0.05144446 0.02775090
+v -0.46242831 -0.09613452 0.00303481
+v -0.47537033 -0.12423389 0.02744557
+v -0.44859808 -0.08119246 -0.01078347
+v -0.44903080 -0.14044504 0.00144296
+f 1 2 3
+f 6 1 3
+f 7 2 1
+f 11 8 6
+f 11 6 4
+f 11 10 8
+f 11 4 10
+f 12 1 6
+f 12 6 8
+f 13 12 8
+f 13 1 12
+f 13 8 10
+f 14 4 6
+f 14 6 3
+f 15 2 7
+f 16 3 2
+f 16 15 9
+f 16 2 15
+f 16 14 3
+f 16 9 14
+f 17 7 1
+f 17 1 13
+f 18 13 10
+f 19 14 9
+f 19 5 18
+f 19 18 10
+f 19 10 4
+f 19 4 14
+f 20 5 19
+f 20 17 5
+f 21 17 13
+f 21 5 17
+f 21 18 5
+f 21 13 18
+f 22 15 7
+f 22 7 20
+f 22 9 15
+f 22 20 19
+f 22 19 9
+f 23 20 7
+f 23 7 17
+f 23 17 20
\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_0/collision/model_normalized_collision_22.obj b/objects/objaverse/plate/plate_0/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..24656b6edf826d6732c88ffef3a5f4f25c092589
--- /dev/null
+++ b/objects/objaverse/plate/plate_0/collision/model_normalized_collision_22.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v 0.13098744 0.42485414 0.02124887
+v 0.12844124 0.41536819 -0.02623656
+v 0.12422070 0.47540362 0.02742509
+v -0.08091596 0.49226158 0.05789129
+v -0.08261199 0.41209144 -0.03450543
+v 0.13006912 0.46688699 0.06493621
+v 0.11203702 0.41070071 -0.03152368
+v -0.08530499 0.42914572 0.01582726
+v -0.05141690 0.48949880 0.02774560
+v 0.08090286 0.49229727 0.05790353
+v -0.08081198 0.47645168 0.01544664
+v -0.08499122 0.47261176 0.06232688
+v 0.08118567 0.44861751 -0.01081698
+v 0.12535378 0.47962255 0.06434695
+v 0.05148390 0.48954317 0.02771579
+v -0.08052814 0.48980548 0.03854597
+v 0.12567535 0.43536738 -0.01293943
+v 0.11057165 0.42039424 -0.02608578
+v -0.08192881 0.42291655 -0.02862782
+v 0.06563171 0.49154339 0.06434695
+v 0.08051230 0.48984038 0.03853104
+v 0.09572586 0.47507948 0.01659710
+v -0.08119946 0.44860460 -0.01080449
+v -0.08230630 0.48591408 0.06596656
+v 0.09612749 0.46245241 0.00300224
+v -0.06564218 0.49148721 0.06434695
+f 6 1 2
+f 6 2 3
+f 7 2 1
+f 7 1 5
+f 8 5 1
+f 12 11 8
+f 12 8 1
+f 12 1 6
+f 14 6 3
+f 14 3 10
+f 15 9 4
+f 15 4 10
+f 15 11 9
+f 16 4 9
+f 16 9 11
+f 16 12 4
+f 16 11 12
+f 17 3 2
+f 18 2 7
+f 18 7 13
+f 18 17 2
+f 18 13 17
+f 19 13 7
+f 19 7 5
+f 20 14 10
+f 20 10 4
+f 20 6 14
+f 21 15 10
+f 21 10 3
+f 22 21 3
+f 22 15 21
+f 23 15 13
+f 23 11 15
+f 23 13 19
+f 23 19 5
+f 23 5 8
+f 23 8 11
+f 24 4 12
+f 24 12 6
+f 24 6 20
+f 25 13 15
+f 25 15 22
+f 25 17 13
+f 25 22 3
+f 25 3 17
+f 26 24 20
+f 26 20 4
+f 26 4 24
\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_0/collision/model_normalized_collision_23.obj b/objects/objaverse/plate/plate_0/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..84afb798cfbfa556b91973a136cbbfcab2506794
--- /dev/null
+++ b/objects/objaverse/plate/plate_0/collision/model_normalized_collision_23.obj
@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
+v 0.23210646 0.35183795 -0.03372318
+v 0.24135427 0.36605556 0.01675079
+v 0.12950250 0.35791761 -0.00879031
+v 0.12535378 0.47962255 0.06434695
+v 0.22509139 0.44293067 0.03976760
+v 0.23794536 0.42274853 0.06493621
+v 0.12567535 0.43536738 -0.01293943
+v 0.13251906 0.46086338 0.06175722
+v 0.21256258 0.44808628 0.06434695
+v 0.22562714 0.42883280 0.01694767
+v 0.12801908 0.35404786 -0.04826998
+v 0.12537514 0.47970343 0.03687539
+v 0.23072265 0.43885024 0.06434695
+v 0.18305411 0.46072871 0.06434695
+v 0.18429183 0.41850202 -0.01006541
+v 0.14180322 0.38078404 -0.04036679
+v 0.18708735 0.35151824 -0.04305403
+v 0.12683978 0.38127466 -0.04197102
+v 0.12537427 0.46454858 0.01295615
+v 0.15261164 0.46036379 0.01694767
+v 0.22606982 0.44485400 0.05758137
+v 0.13948712 0.47582911 0.06434695
+v 0.22747356 0.37501854 -0.02358210
+v 0.15496344 0.40589307 -0.02623656
+v 0.18575037 0.36404157 -0.03951216
+v 0.15370823 0.47296831 0.03930526
+v 0.21086804 0.44475424 0.02850865
+v 0.15344682 0.44739183 0.00382443
+v 0.19742505 0.45869164 0.05758137
+v 0.21324283 0.40396942 -0.01008656
+v 0.14044019 0.43392691 -0.01103307
+v 0.19860262 0.38982290 -0.02419287
+v 0.15442581 0.47517562 0.05758137
+v 0.19742784 0.45869924 0.04934122
+f 1 2 3
+f 6 3 2
+f 8 6 4
+f 8 4 3
+f 8 3 6
+f 10 6 2
+f 10 2 1
+f 10 5 6
+f 11 3 4
+f 13 9 6
+f 13 6 5
+f 14 6 9
+f 17 1 3
+f 17 3 11
+f 18 11 4
+f 18 4 7
+f 18 17 11
+f 18 16 17
+f 19 7 4
+f 19 4 12
+f 20 19 12
+f 21 13 5
+f 21 9 13
+f 22 4 6
+f 22 6 14
+f 23 10 1
+f 24 18 7
+f 24 16 18
+f 25 17 16
+f 25 1 17
+f 25 16 24
+f 26 20 12
+f 27 5 10
+f 27 10 20
+f 27 20 26
+f 28 20 10
+f 28 10 15
+f 28 19 20
+f 29 14 9
+f 29 9 21
+f 30 15 10
+f 30 10 23
+f 31 24 7
+f 31 15 24
+f 31 28 15
+f 31 7 19
+f 31 19 28
+f 32 24 15
+f 32 25 24
+f 32 23 1
+f 32 1 25
+f 32 30 23
+f 32 15 30
+f 33 26 12
+f 33 12 4
+f 33 4 22
+f 33 22 14
+f 33 14 29
+f 34 27 26
+f 34 5 27
+f 34 33 29
+f 34 26 33
+f 34 29 21
+f 34 21 5
\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_0/collision/model_normalized_collision_24.obj b/objects/objaverse/plate/plate_0/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9c4fe16e5b0d5c55abb711fd68c3e6435a622c39
--- /dev/null
+++ b/objects/objaverse/plate/plate_0/collision/model_normalized_collision_24.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.28083634 -0.14421877 -0.01709122
+v -0.27578835 -0.14164182 -0.05990530
+v -0.28092298 -0.09872947 -0.01933193
+v -0.41994177 -0.09936811 0.01187894
+v -0.42355762 -0.14658588 0.02431631
+v -0.38269709 -0.09751134 -0.04394119
+v -0.41266968 -0.14821896 0.01673283
+v -0.42485191 -0.13098448 0.02126465
+v -0.28057149 -0.09859486 -0.06616344
+v -0.41149728 -0.09710928 -0.03310369
+v -0.29854172 -0.14552239 -0.01421938
+v -0.38078843 -0.14181111 -0.04035934
+v -0.30710219 -0.09755473 -0.05669103
+v -0.40799122 -0.14062370 -0.02815600
+v -0.29302614 -0.14270698 -0.05596197
+f 1 2 3
+f 5 1 3
+f 8 5 3
+f 8 3 4
+f 9 3 2
+f 10 4 3
+f 10 8 4
+f 11 2 1
+f 11 1 5
+f 11 5 7
+f 12 9 2
+f 12 6 9
+f 12 10 6
+f 13 9 6
+f 13 6 10
+f 13 10 3
+f 13 3 9
+f 14 5 8
+f 14 8 10
+f 14 10 12
+f 14 12 7
+f 14 7 5
+f 15 11 7
+f 15 2 11
+f 15 12 2
+f 15 7 12
\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_0/collision/model_normalized_collision_25.obj b/objects/objaverse/plate/plate_0/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1275f5122a97755db3ece51d4aad3a94baba8718
--- /dev/null
+++ b/objects/objaverse/plate/plate_0/collision/model_normalized_collision_25.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.23578867 0.28145584 -0.01069067
+v 0.23398006 0.27922438 -0.05044459
+v 0.23627481 0.31235863 -0.00636476
+v -0.15915681 0.31072808 -0.01143510
+v -0.14163644 0.27578092 -0.05990664
+v -0.16056840 0.29834407 -0.01278204
+v 0.14164458 0.27578384 -0.05992228
+v -0.15933167 0.28076787 -0.01602343
+v -0.15872262 0.30987686 -0.05278947
+v -0.15891392 0.27994883 -0.05675664
+v -0.11264016 0.30800938 -0.05565125
+v 0.11264313 0.30800808 -0.05565050
+v 0.23283802 0.30811838 -0.04626536
+f 1 2 3
+f 6 1 3
+f 6 3 4
+f 7 2 1
+f 8 1 6
+f 8 7 1
+f 8 5 7
+f 9 6 4
+f 9 4 3
+f 10 8 6
+f 10 6 9
+f 10 9 5
+f 10 5 8
+f 11 7 5
+f 11 5 9
+f 12 7 11
+f 12 11 9
+f 12 9 3
+f 13 2 7
+f 13 7 12
+f 13 12 3
+f 13 3 2
\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_0/collision/model_normalized_collision_26.obj b/objects/objaverse/plate/plate_0/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6290e0e33ac45362540c7c4f747824ac9b73753e
--- /dev/null
+++ b/objects/objaverse/plate/plate_0/collision/model_normalized_collision_26.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.31360265 -0.09929361 -0.01490174
+v -0.31023350 -0.09839237 -0.05607342
+v -0.31073522 0.15914966 -0.01143515
+v -0.37261457 0.15962092 -0.00194959
+v -0.37296424 -0.09896064 -0.00780173
+v -0.30988428 0.15871530 -0.05279010
+v -0.30560084 -0.05224242 -0.05990496
+v -0.36891500 -0.09787754 -0.04716560
+v -0.30560111 0.05222811 -0.05990568
+v -0.36642752 0.15725103 -0.04294279
+v -0.32303104 0.05259013 -0.05574212
+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 8 5 4
+f 8 7 2
+f 8 2 5
+f 9 6 3
+f 9 3 7
+f 9 7 8
+f 10 8 4
+f 10 4 6
+f 10 6 9
+f 11 10 9
+f 11 9 8
+f 11 8 10
\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_0/collision/model_normalized_collision_27.obj b/objects/objaverse/plate/plate_0/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be14fa62da1e689e343144a1e5a2fac989faa1b5
--- /dev/null
+++ b/objects/objaverse/plate/plate_0/collision/model_normalized_collision_27.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.25461305 -0.40861475 0.06302865
+v 0.26629653 -0.40328259 0.01542551
+v 0.27151852 -0.39615990 0.06232688
+v 0.26659201 -0.34269354 0.01359943
+v 0.17446476 -0.40210228 0.01635928
+v 0.27142832 -0.34866052 0.01931256
+v 0.26712381 -0.40455448 0.06496220
+v 0.17708321 -0.40893249 0.02196423
+v 0.22309553 -0.36129261 0.00744165
+v 0.17639415 -0.39060142 0.00976254
+v 0.25318892 -0.34485072 0.00926575
+v 0.25904211 -0.40027234 0.05931290
+f 6 3 2
+f 6 2 4
+f 6 4 3
+f 7 1 2
+f 7 2 3
+f 7 3 1
+f 8 5 2
+f 8 2 1
+f 8 1 5
+f 10 5 1
+f 10 9 2
+f 10 2 5
+f 11 4 2
+f 11 2 9
+f 11 9 10
+f 11 10 3
+f 11 3 4
+f 12 10 1
+f 12 1 3
+f 12 3 10
\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_0/collision/model_normalized_collision_28.obj b/objects/objaverse/plate/plate_0/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e1174da769b0b123ae285c97ae56a7ca4d788756
--- /dev/null
+++ b/objects/objaverse/plate/plate_0/collision/model_normalized_collision_28.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.26576886 -0.15949836 -0.01799674
+v 0.25995185 -0.15572680 -0.06338309
+v 0.26576901 0.15948413 -0.01799805
+v 0.14405863 0.15920306 -0.02350365
+v 0.14412666 -0.15924587 -0.02385378
+v 0.25995358 0.15571357 -0.06338653
+v 0.14407589 -0.15919797 -0.06019030
+v 0.14407589 0.15918361 -0.06019019
+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 7 6 2
+f 7 5 4
+f 8 4 3
+f 8 3 6
+f 8 7 4
+f 8 6 7
\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_0/collision/model_normalized_collision_29.obj b/objects/objaverse/plate/plate_0/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..462cb155ce4a8a351ebe7226fa53c3c0155de020
--- /dev/null
+++ b/objects/objaverse/plate/plate_0/collision/model_normalized_collision_29.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.14399827 -0.02274375 -0.02422526
+v 0.14398504 -0.02275596 -0.05970098
+v 0.14471902 0.23611112 -0.06291773
+v -0.23500386 0.23499645 -0.01416166
+v -0.23523227 -0.02275483 -0.02299146
+v 0.14423849 0.23530113 -0.02110688
+v -0.23521302 -0.02272929 -0.06075062
+v -0.23286163 0.23285730 -0.05543499
+v -0.00753570 0.23520507 -0.06068923
+f 1 2 3
+f 5 2 1
+f 5 1 4
+f 6 1 3
+f 6 3 4
+f 6 4 1
+f 7 3 2
+f 7 2 5
+f 7 5 4
+f 8 7 4
+f 9 8 4
+f 9 4 3
+f 9 3 7
+f 9 7 8
\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_0/collision/model_normalized_collision_3.obj b/objects/objaverse/plate/plate_0/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4fdbc03e08d46103676848b7e8a349a9988fc856
--- /dev/null
+++ b/objects/objaverse/plate/plate_0/collision/model_normalized_collision_3.obj
@@ -0,0 +1,132 @@
+# https://github.com/mikedh/trimesh
+v 0.25926347 -0.42277294 0.06434695
+v 0.43693704 -0.19944651 0.01136871
+v 0.44645968 -0.20429305 0.06608794
+v 0.34703911 -0.20852707 -0.00213076
+v 0.26163924 -0.30627977 -0.04155804
+v 0.40629547 -0.19927398 -0.01340865
+v 0.26541095 -0.23506606 -0.01137178
+v 0.39932955 -0.29655314 0.04004346
+v 0.27151852 -0.39615990 0.06232688
+v 0.25654346 -0.41859147 0.02636147
+v 0.26444997 -0.23428674 -0.05212589
+v 0.42822636 -0.25300630 0.04005066
+v 0.38565033 -0.31289861 0.06315851
+v 0.38793333 -0.27150381 0.00427933
+v 0.42987816 -0.21127704 0.06127433
+v 0.34088085 -0.20453432 -0.04333342
+v 0.41591342 -0.26999804 0.06421528
+v 0.29652687 -0.39930353 0.04005665
+v 0.40396975 -0.21324162 -0.01007363
+v 0.41312667 -0.26819157 0.02938638
+v 0.30134550 -0.34464238 -0.00948689
+v 0.32245044 -0.23271132 -0.04337578
+v 0.37892659 -0.20076728 -0.02971178
+v 0.26996352 -0.41592915 0.06421109
+v 0.42995521 -0.25412701 0.05758137
+v 0.36905966 -0.32688274 0.02938638
+v 0.26815044 -0.41314240 0.02938638
+v 0.42881692 -0.22561654 0.01694767
+v 0.25840545 -0.39115062 0.00017744
+v 0.33066168 -0.28715174 -0.02406722
+v 0.32126019 -0.24635985 -0.04090793
+v 0.37501006 -0.22749419 -0.02357200
+v 0.29782289 -0.40090244 0.05758137
+v 0.43270788 -0.24274822 0.06434695
+v 0.40093162 -0.29785247 0.05758137
+v 0.37024919 -0.31269595 0.01694767
+v 0.31267275 -0.37022669 0.01694767
+v 0.38895944 -0.24186652 -0.00915690
+v 0.28714117 -0.33065950 -0.02405363
+v 0.34464657 -0.30135651 -0.00950100
+v 0.30480688 -0.27450592 -0.03911093
+v 0.31288039 -0.38563502 0.06314148
+v 0.32686128 -0.36903873 0.02938638
+v 0.27146831 -0.38793981 0.00429656
+v 0.27450152 -0.30480677 -0.03910452
+f 6 3 2
+f 6 4 3
+f 7 3 4
+f 9 7 1
+f 9 1 3
+f 10 1 7
+f 11 10 7
+f 11 5 10
+f 12 2 3
+f 15 9 3
+f 15 3 7
+f 15 7 9
+f 16 11 7
+f 16 7 4
+f 19 6 2
+f 20 12 8
+f 22 5 11
+f 22 11 16
+f 23 16 4
+f 23 4 6
+f 24 17 3
+f 24 3 1
+f 24 13 17
+f 25 12 3
+f 25 8 12
+f 26 20 8
+f 27 18 1
+f 27 1 10
+f 28 19 2
+f 28 20 14
+f 28 2 12
+f 28 12 20
+f 29 10 5
+f 31 22 16
+f 31 16 23
+f 32 23 6
+f 32 6 19
+f 32 31 23
+f 32 30 31
+f 33 24 1
+f 33 1 18
+f 34 25 3
+f 34 3 17
+f 34 17 25
+f 35 25 17
+f 35 17 13
+f 35 8 25
+f 35 26 8
+f 35 33 26
+f 36 14 20
+f 36 20 26
+f 37 36 26
+f 38 28 14
+f 38 19 28
+f 38 32 19
+f 38 30 32
+f 39 29 5
+f 39 21 29
+f 40 39 30
+f 40 21 39
+f 40 14 36
+f 40 37 21
+f 40 36 37
+f 40 38 14
+f 40 30 38
+f 41 31 30
+f 41 5 22
+f 41 22 31
+f 42 13 24
+f 42 24 33
+f 42 35 13
+f 42 33 35
+f 43 33 18
+f 43 26 33
+f 43 37 26
+f 43 18 27
+f 43 27 37
+f 44 29 21
+f 44 21 37
+f 44 10 29
+f 44 37 27
+f 44 27 10
+f 45 39 5
+f 45 5 41
+f 45 41 30
+f 45 30 39
\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_0/collision/model_normalized_collision_30.obj b/objects/objaverse/plate/plate_0/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..76063d39793c36bb7bc83d7a94ed602840b4004a
--- /dev/null
+++ b/objects/objaverse/plate/plate_0/collision/model_normalized_collision_30.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v -0.49365733 0.05188244 0.06434695
+v -0.44093504 0.05206453 -0.01990465
+v -0.45816406 0.05480142 0.03782285
+v -0.45453458 0.16198121 0.06365311
+v -0.46035025 0.15260209 0.01694767
+v -0.42123483 0.16083354 0.02701406
+v -0.47647292 0.05530241 0.06160044
+v -0.45038073 0.05115841 -0.01309234
+v -0.47516558 0.15440717 0.05758137
+v -0.43956676 0.08455706 0.02381065
+v -0.43876795 0.15594211 -0.00275370
+v -0.49381861 0.05189885 0.03710419
+v -0.47041437 0.15645676 0.06460395
+v -0.47296073 0.15369113 0.03931442
+v -0.42355998 0.14657251 0.02431354
+v -0.42929827 0.16392175 0.03595577
+v -0.43930495 0.08210873 -0.01764186
+v -0.47921550 0.05092506 0.01312492
+v -0.49223911 0.08089015 0.05788363
+v -0.47504754 0.09571756 0.01662955
+v -0.48978474 0.08050025 0.03855680
+v -0.47580042 0.13948546 0.06434695
+v -0.46242934 0.09612033 0.00303368
+v -0.49147569 0.06561731 0.06434695
+v -0.44739063 0.15344155 0.00383571
+v -0.44859896 0.08117817 -0.01078459
+f 7 1 3
+f 7 4 1
+f 7 6 4
+f 7 3 6
+f 8 2 3
+f 8 3 1
+f 10 6 3
+f 10 3 2
+f 13 1 4
+f 13 4 9
+f 14 9 4
+f 14 11 5
+f 14 4 11
+f 15 10 2
+f 15 2 6
+f 15 6 10
+f 16 11 4
+f 16 4 6
+f 16 6 11
+f 17 11 6
+f 17 6 2
+f 17 2 8
+f 18 8 1
+f 18 1 12
+f 19 12 1
+f 19 9 14
+f 20 14 5
+f 20 18 12
+f 21 19 14
+f 21 12 19
+f 21 20 12
+f 21 14 20
+f 22 13 9
+f 22 9 19
+f 23 20 5
+f 23 8 18
+f 23 18 20
+f 24 22 19
+f 24 19 1
+f 24 1 13
+f 24 13 22
+f 25 23 5
+f 25 5 11
+f 25 11 23
+f 26 23 11
+f 26 11 17
+f 26 17 8
+f 26 8 23
\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_0/collision/model_normalized_collision_31.obj b/objects/objaverse/plate/plate_0/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3fa0240de9d12fec9f84c15bd4d179a00af3dca2
--- /dev/null
+++ b/objects/objaverse/plate/plate_0/collision/model_normalized_collision_31.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.23627481 0.31235863 -0.00636476
+v 0.23283802 0.30811838 -0.04626536
+v 0.23955223 0.36328478 -0.02579612
+v 0.05316890 0.35692426 -0.01114031
+v 0.05312463 0.31119161 -0.01710038
+v 0.05286996 0.35504575 -0.05128806
+v 0.23693798 0.35926587 0.01118901
+v 0.18708735 0.35151824 -0.04305403
+v 0.05301632 0.31051105 -0.05816959
+v 0.23827732 0.34617313 0.00502726
+v 0.20775362 0.36236114 0.00350642
+v 0.05356537 0.32911356 -0.01393214
+v 0.23151478 0.33577655 -0.03992031
+v 0.23210646 0.35183795 -0.03372318
+v 0.20193715 0.35092502 -0.04102218
+f 1 2 3
+f 5 2 1
+f 6 4 3
+f 6 5 4
+f 7 5 1
+f 8 6 3
+f 9 2 5
+f 9 5 6
+f 9 8 2
+f 9 6 8
+f 10 7 1
+f 10 1 3
+f 10 3 7
+f 11 7 3
+f 11 3 4
+f 11 4 7
+f 12 7 4
+f 12 4 5
+f 12 5 7
+f 13 3 2
+f 14 3 13
+f 15 13 2
+f 15 2 8
+f 15 14 13
+f 15 8 3
+f 15 3 14
\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_0/collision/model_normalized_collision_4.obj b/objects/objaverse/plate/plate_0/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..76b3cca509dbd326d8d53f03763c5b8655c5f1f5
--- /dev/null
+++ b/objects/objaverse/plate/plate_0/collision/model_normalized_collision_4.obj
@@ -0,0 +1,156 @@
+# https://github.com/mikedh/trimesh
+v 0.08090087 -0.49229872 0.05789954
+v 0.26226716 -0.39708792 0.00706837
+v -0.16200223 -0.45454492 0.06364302
+v -0.15687695 -0.39576774 -0.03152777
+v 0.08118488 -0.44862652 -0.01081007
+v 0.26712381 -0.40455448 0.06496220
+v -0.09574309 -0.47507403 0.01661363
+v 0.15260685 -0.46036563 0.01694767
+v 0.15688349 -0.39576452 -0.03152860
+v 0.24554073 -0.39466644 -0.00346857
+v -0.16266076 -0.41080155 0.01934579
+v 0.06562921 -0.49154486 0.06434695
+v -0.15259923 -0.46040573 0.01694767
+v 0.05148428 -0.48954677 0.02772200
+v -0.08119856 -0.44861367 -0.01079764
+v 0.19741999 -0.45869369 0.05758137
+v -0.11058514 -0.42040503 -0.02608230
+v 0.14043882 -0.43393618 -0.01102634
+v 0.21572100 -0.39370454 -0.01625678
+v 0.22562214 -0.42883623 0.01694767
+v -0.15343249 -0.44741998 0.00381828
+v -0.15645827 -0.47043670 0.06462079
+v -0.08091394 -0.49226312 0.05788733
+v 0.15370812 -0.47297152 0.03931232
+v 0.09572454 -0.47508555 0.01660407
+v -0.05141835 -0.48950253 0.02775204
+v 0.13948353 -0.47583007 0.06434695
+v 0.11057041 -0.42040432 -0.02607925
+v 0.18429001 -0.41851162 -0.01005890
+v 0.24213180 -0.40457691 0.00239151
+v 0.25298130 -0.42826581 0.04004406
+v -0.15366466 -0.47302625 0.03930007
+v -0.14045856 -0.43394757 -0.01104498
+v -0.09614268 -0.46245103 0.00301541
+v -0.06563997 -0.49148756 0.06434695
+v 0.08051026 -0.48984243 0.03853603
+v 0.21086434 -0.44476241 0.02851688
+v 0.09612645 -0.46246028 0.00300931
+v 0.15442438 -0.47517707 0.05758137
+v 0.24275435 -0.43273120 0.06434695
+v 0.15495867 -0.40589461 -0.02623656
+v 0.15344504 -0.44740033 0.00383102
+v 0.25813782 -0.40589116 0.01270239
+v 0.21324063 -0.40397944 -0.01008035
+v 0.25926347 -0.42277294 0.06434695
+v -0.15438279 -0.47523582 0.05758137
+v -0.08052621 -0.48980762 0.03855090
+v -0.15494813 -0.40590532 -0.02623656
+v -0.13951012 -0.47585311 0.06434695
+v 0.19742336 -0.45870191 0.04934730
+v 0.18305002 -0.46073114 0.06434695
+v 0.25410593 -0.42999474 0.05758137
+v 0.22508631 -0.44293445 0.03977165
+f 10 6 2
+f 10 4 6
+f 11 6 4
+f 11 3 6
+f 15 5 14
+f 17 4 9
+f 17 5 15
+f 19 9 4
+f 19 4 10
+f 21 11 4
+f 21 3 11
+f 22 12 6
+f 22 6 3
+f 23 14 1
+f 23 1 12
+f 25 8 24
+f 26 15 14
+f 26 14 23
+f 27 12 1
+f 27 6 12
+f 28 17 9
+f 28 5 17
+f 28 18 5
+f 30 10 2
+f 30 20 29
+f 32 21 13
+f 32 3 21
+f 32 13 7
+f 33 17 15
+f 34 7 13
+f 34 13 21
+f 34 26 7
+f 34 15 26
+f 34 33 15
+f 34 21 33
+f 35 23 12
+f 35 12 22
+f 36 24 1
+f 36 1 14
+f 36 25 24
+f 36 14 25
+f 37 24 8
+f 37 8 20
+f 37 20 31
+f 38 25 14
+f 38 14 5
+f 38 5 18
+f 38 8 25
+f 39 27 1
+f 39 1 24
+f 41 28 9
+f 41 18 28
+f 41 29 18
+f 41 9 19
+f 41 19 29
+f 42 29 20
+f 42 20 8
+f 42 18 29
+f 42 38 18
+f 42 8 38
+f 43 30 2
+f 43 20 30
+f 43 31 20
+f 43 2 31
+f 44 30 29
+f 44 29 19
+f 44 19 10
+f 44 10 30
+f 45 31 2
+f 45 2 6
+f 45 6 40
+f 46 22 3
+f 46 3 32
+f 46 32 23
+f 47 26 23
+f 47 23 32
+f 47 32 7
+f 47 7 26
+f 48 33 21
+f 48 21 4
+f 48 4 17
+f 48 17 33
+f 49 35 22
+f 49 23 35
+f 49 46 23
+f 49 22 46
+f 50 24 37
+f 50 39 24
+f 50 16 39
+f 51 39 16
+f 51 27 39
+f 51 16 40
+f 51 40 6
+f 51 6 27
+f 52 40 16
+f 52 45 40
+f 52 31 45
+f 52 16 50
+f 53 50 37
+f 53 37 31
+f 53 52 50
+f 53 31 52
\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_0/collision/model_normalized_collision_5.obj b/objects/objaverse/plate/plate_0/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8e1c5d3614933ef1855a56d6a4358a01e6eb4e67
--- /dev/null
+++ b/objects/objaverse/plate/plate_0/collision/model_normalized_collision_5.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.14421125 -0.28084473 -0.01709722
+v 0.14164390 -0.27579685 -0.05991814
+v 0.14399827 -0.02274375 -0.02422526
+v -0.23523227 -0.02275483 -0.02299146
+v -0.23578702 -0.28147096 -0.01068839
+v -0.23521302 -0.02272929 -0.06075062
+v 0.14398504 -0.02275596 -0.05970098
+v -0.23398093 -0.27923730 -0.05044128
+v -0.23719283 -0.23719664 -0.01349905
+v -0.17609591 -0.28316707 -0.01393313
+v -0.17274079 -0.27799561 -0.05575198
+v -0.23286147 -0.23287149 -0.05543347
+v -0.20274149 -0.26292767 -0.05503423
+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 7 2 6
+f 8 2 1
+f 9 5 4
+f 9 4 6
+f 9 8 5
+f 9 6 8
+f 10 8 1
+f 10 1 5
+f 10 5 8
+f 11 6 2
+f 11 2 8
+f 12 8 6
+f 12 6 11
+f 13 12 11
+f 13 11 8
+f 13 8 12
\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_0/collision/model_normalized_collision_6.obj b/objects/objaverse/plate/plate_0/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5809da04b6791db3dbb4a1f57c55d24fcc1e5278
--- /dev/null
+++ b/objects/objaverse/plate/plate_0/collision/model_normalized_collision_6.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v -0.23627080 -0.31237231 -0.00635463
+v -0.23283938 -0.30812844 -0.04625529
+v -0.23530814 -0.14424537 -0.02110191
+v -0.37324812 -0.14472644 -0.00374212
+v -0.36433427 -0.28989716 -0.00268031
+v -0.27578835 -0.14164182 -0.05990530
+v -0.36238208 -0.28831754 0.04030155
+v -0.26572674 -0.31132465 -0.00039864
+v -0.23552140 -0.14435895 -0.06278223
+v -0.36770225 -0.14260223 -0.04408114
+v -0.37981245 -0.22529444 0.01893543
+v -0.27449573 -0.30481454 -0.03910698
+v -0.33140528 -0.30110104 0.02366247
+v -0.23240838 -0.21726749 -0.05752756
+v -0.30479559 -0.27450856 -0.03909517
+v -0.37755278 -0.17748630 0.00342446
+v -0.26292053 -0.20274776 -0.05503094
+v -0.33063745 -0.28715116 -0.02404018
+v -0.24780903 -0.21793151 -0.05536808
+v -0.36103127 -0.24338928 -0.02561153
+v -0.36192011 -0.27279209 -0.01300688
+v -0.36404743 -0.18574402 -0.03949358
+f 1 2 3
+f 6 4 3
+f 7 1 3
+f 7 3 4
+f 8 2 1
+f 9 6 3
+f 10 4 6
+f 11 7 4
+f 11 5 7
+f 11 10 5
+f 12 2 8
+f 13 7 5
+f 13 12 8
+f 13 5 12
+f 13 8 1
+f 13 1 7
+f 14 9 3
+f 14 3 2
+f 14 6 9
+f 15 2 12
+f 16 11 4
+f 16 4 10
+f 16 10 11
+f 17 15 10
+f 17 10 6
+f 17 6 14
+f 17 2 15
+f 18 15 12
+f 18 12 5
+f 19 17 14
+f 19 14 2
+f 19 2 17
+f 20 15 18
+f 21 20 18
+f 21 18 5
+f 21 5 20
+f 22 20 5
+f 22 5 10
+f 22 10 15
+f 22 15 20
\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_0/collision/model_normalized_collision_7.obj b/objects/objaverse/plate/plate_0/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1f0406e210071642ce559f862fc3691f5bd3059f
--- /dev/null
+++ b/objects/objaverse/plate/plate_0/collision/model_normalized_collision_7.obj
@@ -0,0 +1,132 @@
+# https://github.com/mikedh/trimesh
+v -0.31073522 0.15914966 -0.01143515
+v -0.30988428 0.15871530 -0.05279010
+v -0.30181018 0.37547839 0.01363796
+v -0.30319777 0.39234596 0.06434695
+v -0.47041437 0.15645676 0.06460395
+v -0.46526162 0.15448307 0.02465851
+v -0.45453458 0.16198121 0.06365311
+v -0.37500334 0.22745673 -0.02354655
+v -0.39924816 0.29650707 0.04007603
+v -0.30428650 0.30428860 -0.02875091
+v -0.42275041 0.15561045 -0.01496853
+v -0.45869764 0.19742321 0.04934725
+v -0.41588826 0.26994079 0.06417178
+v -0.31295353 0.38567299 0.03936678
+v -0.42880523 0.22556876 0.01694767
+v -0.38790732 0.27145037 0.00432540
+v -0.33577749 0.23150557 -0.03990048
+v -0.38560243 0.31287690 0.06312025
+v -0.45869031 0.19742075 0.05758137
+v -0.42992625 0.25406509 0.05758137
+v -0.30315193 0.39228891 0.03642527
+v -0.36900842 0.32686038 0.02938638
+v -0.42820351 0.25294553 0.04006716
+v -0.44475828 0.21082666 0.02851834
+v -0.44708519 0.18362767 0.01539457
+v -0.41850577 0.18428812 -0.01006011
+v -0.34462211 0.30134499 -0.00947757
+v -0.37018884 0.31266383 0.01694767
+v -0.30765472 0.24760510 -0.04393774
+v -0.33063967 0.28713860 -0.02404438
+v -0.36404841 0.18573002 -0.03949603
+v -0.31289896 0.38560542 0.06314713
+v -0.46072314 0.18304801 0.06434695
+v -0.40084280 0.29779664 0.05758137
+v -0.32689949 0.36903025 0.02938638
+v -0.44291853 0.22503929 0.03978608
+v -0.46148188 0.16818681 0.02701508
+v -0.38982641 0.19857160 -0.02417231
+v -0.38894813 0.24182366 -0.00912716
+v -0.30357196 0.33387807 -0.01476416
+v -0.31556352 0.33072247 -0.00987018
+v -0.32125012 0.24634591 -0.04088528
+v -0.36642752 0.15725103 -0.04294279
+v -0.31270051 0.37020825 0.01694767
+v -0.31661451 0.30146940 -0.02446759
+f 1 2 3
+f 1 3 4
+f 6 2 1
+f 6 1 5
+f 7 5 1
+f 7 1 4
+f 7 4 5
+f 10 3 2
+f 11 2 6
+f 12 6 5
+f 13 5 4
+f 18 13 4
+f 19 12 5
+f 20 12 19
+f 21 14 4
+f 21 4 3
+f 23 9 15
+f 23 20 9
+f 24 23 15
+f 25 11 6
+f 25 24 15
+f 26 25 15
+f 26 11 25
+f 28 16 15
+f 28 15 9
+f 28 9 22
+f 28 27 16
+f 29 10 2
+f 30 17 8
+f 31 8 17
+f 32 18 4
+f 32 4 14
+f 33 19 5
+f 33 5 13
+f 33 20 19
+f 33 13 20
+f 34 9 20
+f 34 22 9
+f 34 14 22
+f 34 32 14
+f 34 18 32
+f 34 20 13
+f 34 13 18
+f 35 28 22
+f 35 22 14
+f 35 14 21
+f 36 12 20
+f 36 20 23
+f 36 24 12
+f 36 23 24
+f 37 6 12
+f 37 12 24
+f 37 25 6
+f 37 24 25
+f 38 11 26
+f 38 31 11
+f 38 8 31
+f 39 38 26
+f 39 8 38
+f 39 16 27
+f 39 30 8
+f 39 27 30
+f 39 26 15
+f 39 15 16
+f 40 3 10
+f 41 27 28
+f 41 40 27
+f 41 3 40
+f 42 29 17
+f 42 10 29
+f 42 30 10
+f 42 17 30
+f 43 2 11
+f 43 11 31
+f 43 29 2
+f 43 31 17
+f 43 17 29
+f 44 35 21
+f 44 21 3
+f 44 28 35
+f 44 41 28
+f 44 3 41
+f 45 30 27
+f 45 27 40
+f 45 40 10
+f 45 10 30
\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_0/collision/model_normalized_collision_8.obj b/objects/objaverse/plate/plate_0/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cb62f410ee857b614ede8805bcf71a81291e265f
--- /dev/null
+++ b/objects/objaverse/plate/plate_0/collision/model_normalized_collision_8.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.19009534 -0.35744679 -0.00206944
+v 0.18708678 -0.35153149 -0.04305025
+v 0.14421125 -0.28084473 -0.01709722
+v -0.15933149 -0.28078191 -0.01602124
+v -0.16010943 -0.35806469 -0.00627942
+v -0.14163596 -0.27579434 -0.05990241
+v 0.19052282 -0.32750031 -0.00919120
+v -0.15763034 -0.35320444 -0.04618298
+v -0.16056819 -0.29835788 -0.01277940
+v 0.14164390 -0.27579685 -0.05991814
+v 0.18827360 -0.32404227 -0.04871772
+v -0.15891366 -0.27996270 -0.05675405
+v -0.05259971 -0.32303832 -0.05574491
+v 0.05259664 -0.32303986 -0.05574915
+v 0.11264297 -0.30802203 -0.05564849
+f 1 3 4
+f 7 3 1
+f 8 2 1
+f 8 1 5
+f 9 5 1
+f 9 1 4
+f 10 3 7
+f 10 6 4
+f 10 4 3
+f 11 7 1
+f 11 1 2
+f 11 10 7
+f 12 4 6
+f 12 6 8
+f 12 9 4
+f 12 8 5
+f 12 5 9
+f 13 8 6
+f 13 6 10
+f 14 2 8
+f 14 8 13
+f 14 11 2
+f 14 13 10
+f 15 14 10
+f 15 10 11
+f 15 11 14
\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_0/collision/model_normalized_collision_9.obj b/objects/objaverse/plate/plate_0/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..36b6471459b628ff81cfddbdadb6c7ceb005078a
--- /dev/null
+++ b/objects/objaverse/plate/plate_0/collision/model_normalized_collision_9.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v -0.42355762 -0.14658588 0.02431631
+v -0.36891500 -0.09787754 -0.04716560
+v -0.37910324 0.16210600 0.00085434
+v -0.43645843 0.15505781 0.04023165
+v -0.43392090 -0.14045613 -0.01102049
+v -0.43992288 -0.14206174 0.03853021
+v -0.37296424 -0.09896064 -0.00780173
+v -0.41396178 -0.14291047 -0.02403204
+v -0.42038650 0.11057160 -0.02606355
+v -0.43876795 0.15594211 -0.00275370
+v -0.36770255 0.14258791 -0.04408228
+v -0.42038537 -0.11058565 -0.02606182
+v -0.43392226 0.14044214 -0.01102229
+v -0.41079961 0.16263985 0.01934688
+v -0.37793375 0.14650658 -0.00184499
+v -0.39564833 0.09690835 -0.04004540
+v -0.37061240 0.15885401 -0.04147517
+v -0.39564795 -0.09692266 -0.04004423
+v -0.40588353 0.15495371 -0.02623656
+v -0.38078889 0.14179700 -0.04036092
+f 6 3 4
+f 6 5 1
+f 7 6 1
+f 7 3 6
+f 8 1 5
+f 8 7 1
+f 8 2 7
+f 10 6 4
+f 10 5 6
+f 11 7 2
+f 12 8 5
+f 12 5 9
+f 13 9 5
+f 13 5 10
+f 14 10 4
+f 14 4 3
+f 15 11 3
+f 15 3 7
+f 15 7 11
+f 16 11 2
+f 17 3 11
+f 17 14 3
+f 17 10 14
+f 18 2 8
+f 18 8 12
+f 18 16 2
+f 18 12 9
+f 18 9 16
+f 19 13 10
+f 19 10 17
+f 19 9 13
+f 20 17 11
+f 20 11 16
+f 20 19 17
+f 20 16 9
+f 20 9 19
\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_0/model.xml b/objects/objaverse/plate/plate_0/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..8d61f090d14133df9b3fd5086cf441449f4f4ac0
--- /dev/null
+++ b/objects/objaverse/plate/plate_0/model.xml
@@ -0,0 +1,84 @@
+<mujoco model="plate_52">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.185 0.185 0.185" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="visual/model_normalized_1.obj" name="model_normalized_1_vis" scale="0.185 0.185 0.185" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.185 0.185 0.185" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.185 0.185 0.185" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.185 0.185 0.185" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.185 0.185 0.185" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.185 0.185 0.185" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.185 0.185 0.185" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.185 0.185 0.185" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.185 0.185 0.185" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.185 0.185 0.185" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.185 0.185 0.185" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.185 0.185 0.185" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.185 0.185 0.185" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.185 0.185 0.185" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.185 0.185 0.185" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.185 0.185 0.185" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.185 0.185 0.185" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.185 0.185 0.185" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.185 0.185 0.185" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.185 0.185 0.185" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.185 0.185 0.185" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.185 0.185 0.185" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.185 0.185 0.185" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.185 0.185 0.185" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.185 0.185 0.185" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.185 0.185 0.185" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.185 0.185 0.185" refquat="1.0 0.0 0.0 0.0"/>
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+    <material name="plate_top" texture="image0" specular="0.5" shininess="0.15999998099999999"/>
+  </asset>
+  <worldbody>
+    <body>
+      <body name="object">
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diff --git a/objects/objaverse/plate/plate_0/visual/material.mtl b/objects/objaverse/plate/plate_0/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ac7612074176632fe5be688b8bc892b458617616
--- /dev/null
+++ b/objects/objaverse/plate/plate_0/visual/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 159.99998100
+map_Kd material_0.jpeg
\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_0/visual/model_normalized_0.obj b/objects/objaverse/plate/plate_0/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb7daf00b85f97e1647ebc2442c10e4e783c4d90
--- /dev/null
+++ b/objects/objaverse/plate/plate_0/visual/model_normalized_0.obj
@@ -0,0 +1,10905 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/objects/objaverse/plate/plate_0/visual/model_normalized_1.obj b/objects/objaverse/plate/plate_0/visual/model_normalized_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7b696639ee1e5803848131d0f659bfd2a8edd2f8
--- /dev/null
+++ b/objects/objaverse/plate/plate_0/visual/model_normalized_1.obj
@@ -0,0 +1,10596 @@
+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_1/.DS_Store b/objects/objaverse/plate/plate_1/.DS_Store
new file mode 100644
index 0000000000000000000000000000000000000000..63f30f2d2d580484cf7941039b35be6a56a5deea
Binary files /dev/null and b/objects/objaverse/plate/plate_1/.DS_Store differ
diff --git a/objects/objaverse/plate/plate_1/collision/model_normalized_collision_1.obj b/objects/objaverse/plate/plate_1/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac82bd694ff60f89c88f95f285f7dc93733b7fe5
--- /dev/null
+++ b/objects/objaverse/plate/plate_1/collision/model_normalized_collision_1.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.25076850 0.35715162 0.01696335
+v 0.24977247 0.35573744 0.00970676
+v 0.09855735 0.44729212 0.02145569
+v -0.09855723 0.44729212 0.02145568
+v -0.15847398 0.35466953 -0.00077746
+v 0.20457538 0.41672601 0.02270674
+v 0.23315369 0.35338289 0.00721507
+v -0.16058686 0.35943602 0.00734998
+v 0.09819753 0.44569083 0.01425110
+v -0.15938196 0.41742185 0.01913892
+v 0.24948642 0.37048276 0.01222370
+v -0.09819742 0.44569083 0.01425109
+v 0.08248330 0.35227660 -0.00758598
+v 0.25043193 0.37182552 0.01942578
+v -0.15771151 0.41308942 0.01131803
+v 0.20383728 0.41525983 0.01552997
+v -0.08248318 0.35227661 -0.00758599
+v 0.15771199 0.41309034 0.01131810
+f 6 3 4
+f 7 2 1
+f 7 1 5
+f 8 5 1
+f 9 4 3
+f 10 6 4
+f 10 8 1
+f 11 1 2
+f 11 2 7
+f 12 4 9
+f 12 10 4
+f 14 10 1
+f 14 6 10
+f 14 1 11
+f 15 5 8
+f 15 8 10
+f 15 10 12
+f 16 14 11
+f 16 6 14
+f 16 9 3
+f 16 3 6
+f 16 11 7
+f 16 7 13
+f 17 13 7
+f 17 7 5
+f 17 12 9
+f 17 9 13
+f 17 15 12
+f 17 5 15
+f 18 16 13
+f 18 13 9
+f 18 9 16
\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_1/collision/model_normalized_collision_11.obj b/objects/objaverse/plate/plate_1/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..34dcb6d877d760c48c83e1a9baab796e0f3a3c07
--- /dev/null
+++ b/objects/objaverse/plate/plate_1/collision/model_normalized_collision_11.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.18757926 -0.45741590 0.02987029
+v 0.42588591 -0.26139615 0.02661195
+v 0.37398969 -0.26710706 0.02177665
+v 0.34207572 -0.26606199 0.01629935
+v 0.31408308 -0.38655738 0.02369820
+v 0.29846978 -0.40111863 0.02649675
+v 0.18931503 -0.38620681 0.00870382
+v 0.34071225 -0.26499781 0.00904255
+v 0.40111873 -0.29846969 0.02649675
+v 0.18787673 -0.45818526 0.02162536
+v 0.19009278 -0.38775186 0.01596027
+v 0.42340854 -0.25982565 0.02252509
+v 0.22652051 -0.44557765 0.02649675
+v 0.27131437 -0.41761926 0.02369820
+v 0.41761860 -0.27131157 0.02369820
+v 0.38655738 -0.31408305 0.02369820
+v 0.25542080 -0.42978790 0.02649675
+v 0.21330218 -0.44942115 0.02309843
+v 0.41919921 -0.27231477 0.02649675
+f 1 2 3
+f 1 3 4
+f 3 2 4
+f 8 7 4
+f 8 5 7
+f 9 6 5
+f 9 2 1
+f 9 1 6
+f 10 1 7
+f 11 7 1
+f 11 1 4
+f 11 4 7
+f 12 8 4
+f 12 4 2
+f 13 1 10
+f 14 10 7
+f 14 7 5
+f 14 5 6
+f 15 12 2
+f 16 5 8
+f 16 8 12
+f 16 12 15
+f 16 15 9
+f 16 9 5
+f 17 6 1
+f 17 1 13
+f 17 14 6
+f 18 13 10
+f 18 10 14
+f 18 17 13
+f 18 14 17
+f 19 15 2
+f 19 2 9
+f 19 9 15
\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_1/collision/model_normalized_collision_16.obj b/objects/objaverse/plate/plate_1/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c5ae3a073d5420f39b2d8deed85723ae6792c7d
--- /dev/null
+++ b/objects/objaverse/plate/plate_1/collision/model_normalized_collision_16.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.19014084 -0.44865398 0.02694479
+v 0.18858225 -0.44513899 0.01945209
+v 0.18789033 -0.38337772 0.00800982
+v -0.09795794 -0.38446012 0.00114979
+v -0.09819741 -0.44569078 0.01425119
+v 0.09762496 -0.42799171 0.01065231
+v -0.09934910 -0.38948533 0.00927729
+v 0.19074602 -0.41971545 0.02207354
+v 0.12954193 -0.44969523 0.02342410
+v 0.15771165 -0.41308942 0.01131778
+v 0.19009278 -0.38775186 0.01596027
+v -0.09855721 -0.44729208 0.02145586
+f 6 4 3
+f 6 5 4
+f 6 2 5
+f 7 4 5
+f 8 1 2
+f 8 2 3
+f 9 5 2
+f 9 2 1
+f 10 6 3
+f 10 3 2
+f 10 2 6
+f 11 3 4
+f 11 4 7
+f 11 8 3
+f 12 7 5
+f 12 1 8
+f 12 11 7
+f 12 8 11
+f 12 9 1
+f 12 5 9
\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_1/collision/model_normalized_collision_20.obj b/objects/objaverse/plate/plate_1/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..38efb30916271ffb66a4a90392716ee99be6688a
--- /dev/null
+++ b/objects/objaverse/plate/plate_1/collision/model_normalized_collision_20.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.37315404 -0.19037163 0.01313134
+v -0.36877979 -0.18816974 0.00518096
+v -0.37200801 0.08351230 0.00443261
+v -0.44700005 0.12879631 0.02288904
+v -0.44541286 -0.12835688 0.01572527
+v -0.41789125 0.12919223 0.01716775
+v -0.41546876 -0.18886283 0.01424821
+v -0.37012452 0.08308924 -0.00299204
+v -0.41308956 -0.15771166 0.01131814
+v -0.41696928 -0.18952815 0.02145246
+v -0.44541286 0.12835691 0.01572526
+v -0.42799161 -0.09762486 0.01065229
+v -0.44700005 -0.12879628 0.02288906
+v -0.41624890 0.12864987 0.00991052
+v -0.42799160 0.09762489 0.01065229
+f 1 2 3
+f 6 1 3
+f 6 4 1
+f 7 2 1
+f 8 3 2
+f 8 6 3
+f 9 7 5
+f 9 2 7
+f 10 7 1
+f 10 1 4
+f 10 5 7
+f 11 5 4
+f 11 4 6
+f 12 8 2
+f 12 2 9
+f 12 9 5
+f 12 5 11
+f 13 10 4
+f 13 4 5
+f 13 5 10
+f 14 11 6
+f 14 6 8
+f 14 8 11
+f 15 12 11
+f 15 11 8
+f 15 8 12
\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_1/collision/model_normalized_collision_23.obj b/objects/objaverse/plate/plate_1/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c8eb628cfff83e60effe3f381952253933d675a0
--- /dev/null
+++ b/objects/objaverse/plate/plate_1/collision/model_normalized_collision_23.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.32674191 -0.18995142 0.00358294
+v 0.32176171 -0.18713056 -0.00486099
+v 0.33035617 -0.08460567 -0.00690109
+v 0.23484854 -0.08333332 -0.02325082
+v 0.20455234 -0.18939935 -0.02311128
+v 0.30498326 -0.08177669 -0.02419223
+v 0.20444996 -0.18935621 -0.02984571
+v 0.20454551 -0.14393938 -0.02325082
+v 0.32353031 -0.08271710 -0.01651925
+v 0.28404708 -0.19203084 -0.00630507
+v 0.27397175 -0.18493490 -0.01785209
+v 0.23484854 -0.08333332 -0.02997621
+v 0.22050638 -0.18997582 -0.02289355
+v 0.30375578 -0.12581975 -0.01855933
+v 0.20454551 -0.14393938 -0.02997621
+f 1 2 3
+f 1 3 4
+f 8 5 1
+f 8 1 4
+f 8 7 5
+f 9 3 2
+f 9 2 6
+f 9 6 4
+f 9 4 3
+f 10 7 2
+f 10 2 1
+f 10 1 5
+f 11 7 6
+f 11 2 7
+f 12 4 6
+f 12 6 7
+f 12 8 4
+f 13 10 5
+f 13 5 7
+f 13 7 10
+f 14 11 6
+f 14 6 2
+f 14 2 11
+f 15 12 7
+f 15 7 8
+f 15 8 12
\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_1/collision/model_normalized_collision_25.obj b/objects/objaverse/plate/plate_1/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..10b8fcf1b7491294350488023317c656d3db08e1
--- /dev/null
+++ b/objects/objaverse/plate/plate_1/collision/model_normalized_collision_25.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v -0.15900129 0.40128288 0.00903868
+v -0.09846782 0.41659115 0.00825580
+v -0.23624264 0.40397594 0.02342003
+v -0.09721869 0.48678943 0.02866835
+v -0.09696294 0.48565123 0.02162526
+v -0.09884680 0.41827894 0.01551249
+v -0.23120108 0.43972460 0.02252499
+v -0.09921584 0.45022328 0.02207682
+v -0.15962341 0.40289668 0.01629539
+v -0.21330207 0.44942103 0.02309812
+v -0.23405273 0.40011028 0.01572127
+v -0.22651833 0.44557740 0.02649665
+v -0.15356364 0.47568565 0.02649665
+v -0.13993851 0.47796708 0.02369809
+v -0.19669567 0.45956475 0.02649665
+v -0.18382391 0.46283187 0.02369809
+f 5 2 1
+f 5 4 2
+f 6 2 4
+f 8 6 4
+f 8 4 3
+f 8 3 6
+f 9 6 3
+f 9 1 2
+f 9 2 6
+f 10 5 1
+f 10 1 7
+f 11 7 1
+f 11 3 7
+f 11 9 3
+f 11 1 9
+f 12 7 3
+f 12 3 4
+f 12 10 7
+f 14 13 4
+f 14 4 5
+f 15 12 4
+f 15 4 13
+f 15 10 12
+f 16 14 5
+f 16 5 10
+f 16 10 15
+f 16 15 13
+f 16 13 14
\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_1/collision/model_normalized_collision_29.obj b/objects/objaverse/plate/plate_1/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..79137162fed83b240401fb9fffb47d0b7cc7b462
--- /dev/null
+++ b/objects/objaverse/plate/plate_1/collision/model_normalized_collision_29.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.09904193 -0.31229329 -0.01176549
+v 0.09637144 -0.30420743 -0.02268406
+v 0.09848713 -0.26515930 -0.02306157
+v -0.09848702 -0.26515930 -0.02306156
+v -0.09904181 -0.31229330 -0.01176550
+v -0.09848655 -0.26504814 -0.02979682
+v 0.09848666 -0.26504814 -0.02979682
+v -0.09882358 -0.28132555 -0.02243055
+v -0.09637134 -0.30420743 -0.02268408
+v 0.09882370 -0.28132555 -0.02243055
+f 1 3 4
+f 5 2 1
+f 5 1 4
+f 7 1 2
+f 7 6 4
+f 7 4 3
+f 8 6 5
+f 8 5 4
+f 8 4 6
+f 9 2 5
+f 9 5 6
+f 9 7 2
+f 9 6 7
+f 10 7 3
+f 10 3 1
+f 10 1 7
\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_1/collision/model_normalized_collision_31.obj b/objects/objaverse/plate/plate_1/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d4520ec029b65d7d82fc445e4124389614ad5df6
--- /dev/null
+++ b/objects/objaverse/plate/plate_1/collision/model_normalized_collision_31.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.18955025 -0.34118492 0.00655403
+v 0.18864430 -0.33958551 -0.00078009
+v 0.18738479 -0.30743315 -0.00805873
+v -0.18738480 -0.30743334 -0.00805810
+v -0.18955015 -0.34118487 0.00655418
+v -0.08177669 -0.30498337 -0.02419220
+v 0.19044714 -0.31226908 0.00038546
+v 0.08177662 -0.30498454 -0.02419207
+v -0.18864439 -0.33958548 -0.00077983
+v -0.19044725 -0.31226891 0.00038554
+v 0.08134055 -0.31855660 -0.01854684
+v -0.08134118 -0.31855699 -0.01854630
+f 5 2 1
+f 6 4 3
+f 7 5 1
+f 7 1 2
+f 7 2 3
+f 8 6 3
+f 8 3 2
+f 9 4 6
+f 9 2 5
+f 10 5 7
+f 10 9 5
+f 10 4 9
+f 10 7 3
+f 10 3 4
+f 11 8 2
+f 11 2 9
+f 11 6 8
+f 12 11 9
+f 12 9 6
+f 12 6 11
\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_1/collision/model_normalized_collision_4.obj b/objects/objaverse/plate/plate_1/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92f0ae95b9dc847e15252feb5793af070ed35983
--- /dev/null
+++ b/objects/objaverse/plate/plate_1/collision/model_normalized_collision_4.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v -0.09721908 -0.48678939 0.02866845
+v -0.09696296 -0.48565111 0.02162536
+v -0.28017812 -0.23474077 -0.00661933
+v -0.44114242 -0.23191506 0.02742639
+v -0.29846970 -0.40111877 0.02649675
+v -0.09934910 -0.38948533 0.00927729
+v -0.19669563 -0.45956464 0.02649675
+v -0.31523378 -0.38803313 0.02649675
+v -0.28170099 -0.23605429 0.00085260
+v -0.09921571 -0.45022338 0.02207706
+v -0.09795794 -0.38446012 0.00114979
+v -0.15356372 -0.47568555 0.02649675
+v -0.25541955 -0.42978584 0.02649675
+v -0.38655738 -0.31408307 0.02369820
+v -0.31408470 -0.38655573 0.02369820
+v -0.38937562 -0.23675520 0.02096214
+v -0.18382400 -0.46283181 0.02369820
+v -0.13993751 -0.47796622 0.02369820
+v -0.40111878 -0.29846980 0.02649675
+v -0.43972449 -0.23120111 0.02252509
+v -0.27131172 -0.41761867 0.02369820
+v -0.29888399 -0.23752514 0.00454867
+v -0.15771176 -0.41309004 0.01131817
+v -0.41761863 -0.27131170 0.02369820
+v -0.26284718 -0.35310845 0.01088721
+v -0.21783829 -0.38308322 0.01101225
+v -0.42978793 -0.25542073 0.02649675
+v -0.43435909 -0.24285794 0.02337859
+f 8 5 1
+f 8 1 4
+f 9 3 4
+f 10 4 1
+f 10 1 6
+f 11 6 1
+f 11 1 2
+f 11 9 6
+f 11 3 9
+f 12 1 7
+f 13 7 1
+f 13 1 5
+f 15 5 8
+f 15 14 3
+f 15 8 14
+f 16 9 4
+f 16 10 6
+f 16 4 10
+f 17 7 13
+f 17 12 7
+f 18 2 1
+f 18 1 12
+f 18 17 2
+f 18 12 17
+f 19 14 8
+f 19 8 4
+f 20 4 3
+f 21 13 5
+f 21 5 15
+f 21 17 13
+f 22 16 6
+f 22 6 9
+f 22 9 16
+f 23 11 2
+f 23 2 17
+f 24 20 3
+f 24 3 14
+f 24 14 19
+f 25 21 15
+f 25 15 3
+f 26 23 17
+f 26 17 21
+f 26 21 25
+f 26 11 23
+f 26 25 3
+f 26 3 11
+f 27 24 19
+f 27 19 4
+f 27 4 20
+f 28 27 20
+f 28 20 24
+f 28 24 27
\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_1/collision/model_normalized_collision_5.obj b/objects/objaverse/plate/plate_1/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3205d2b67e2a8df1992d98d5534cae176fd33762
--- /dev/null
+++ b/objects/objaverse/plate/plate_1/collision/model_normalized_collision_5.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v 0.44715382 0.11368732 0.02213020
+v 0.47152500 0.15719299 0.02819790
+v 0.24394730 0.43628480 0.02649665
+v 0.32247360 0.15743846 -0.00836174
+v 0.44557240 0.11324972 0.01492477
+v 0.38655737 0.31408307 0.02369809
+v 0.35732086 0.11405268 0.00283427
+v 0.24807548 0.23301630 -0.01416013
+v 0.40111872 0.29846971 0.02649665
+v 0.46999419 0.15668664 0.02180646
+v 0.25216151 0.37428205 0.02004697
+v 0.41337341 0.11272510 0.00834846
+v 0.41761930 0.27131417 0.02369809
+v 0.24810419 0.42847089 0.02162526
+v 0.35541145 0.11342198 -0.00463771
+v 0.29846977 0.40111862 0.02649665
+v 0.37481055 0.11482520 0.00693500
+v 0.25299093 0.23769607 -0.00491146
+v 0.42978794 0.25542082 0.02649665
+v 0.31408308 0.38655738 0.02369809
+v 0.27131177 0.41761857 0.02369809
+v 0.25308669 0.28388024 0.00419773
+v 0.24738130 0.26239993 -0.00789179
+v 0.45956663 0.19669485 0.02649665
+v 0.25541794 0.42978695 0.02649665
+v 0.46283176 0.18382397 0.02369809
+f 1 2 3
+f 5 2 1
+f 10 2 5
+f 11 1 3
+f 12 5 1
+f 12 1 7
+f 13 8 6
+f 13 4 8
+f 13 10 4
+f 13 6 9
+f 14 8 3
+f 15 8 4
+f 15 7 8
+f 15 12 7
+f 15 5 12
+f 15 10 5
+f 15 4 10
+f 16 2 9
+f 17 11 7
+f 17 7 1
+f 17 1 11
+f 18 8 7
+f 19 13 9
+f 19 9 2
+f 20 6 8
+f 20 8 14
+f 20 16 9
+f 20 9 6
+f 21 20 14
+f 21 16 20
+f 22 18 7
+f 22 7 11
+f 22 11 3
+f 22 3 18
+f 23 18 3
+f 23 3 8
+f 23 8 18
+f 24 19 2
+f 25 16 21
+f 25 3 2
+f 25 2 16
+f 25 21 14
+f 25 14 3
+f 26 24 2
+f 26 2 10
+f 26 10 13
+f 26 13 19
+f 26 19 24
\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_1/collision/model_normalized_collision_6.obj b/objects/objaverse/plate/plate_1/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e108f09aa363a665416041b6f0f08f4c5e0f064e
--- /dev/null
+++ b/objects/objaverse/plate/plate_1/collision/model_normalized_collision_6.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.23514852 -0.38683750 0.02034081
+v 0.40180437 -0.21986079 0.02144662
+v 0.14479539 -0.38858223 0.01220041
+v 0.15909096 -0.18939392 -0.02325082
+v 0.25963958 -0.18551264 -0.02267899
+v 0.09848490 -0.21969695 -0.02325079
+v 0.33985946 -0.30960669 0.01492254
+v 0.40233698 -0.18975828 0.01870617
+v 0.09637144 -0.30420743 -0.02268406
+v 0.40037602 -0.21905175 0.01424256
+v 0.28032330 -0.37123799 0.02288232
+v 0.38337775 -0.18789024 0.00800978
+v 0.23427038 -0.38545023 0.01313765
+v 0.09904193 -0.31229329 -0.01176549
+v 0.09848490 -0.21969695 -0.02997621
+v 0.34104779 -0.31073803 0.02212805
+v 0.40083530 -0.18909247 0.01150505
+v 0.14297163 -0.38385431 0.00418947
+v 0.27931035 -0.36993990 0.01571856
+v 0.15909096 -0.18939392 -0.02997621
+v 0.18493494 -0.27397156 -0.01785209
+f 1 2 3
+f 8 4 6
+f 8 6 3
+f 8 3 2
+f 10 7 5
+f 10 2 7
+f 10 8 2
+f 11 2 1
+f 12 5 4
+f 12 4 8
+f 13 1 3
+f 14 3 6
+f 14 6 9
+f 15 9 6
+f 15 6 4
+f 16 11 7
+f 16 7 2
+f 16 2 11
+f 17 10 5
+f 17 5 12
+f 17 12 8
+f 17 8 10
+f 18 13 3
+f 18 9 13
+f 18 14 9
+f 18 3 14
+f 19 7 11
+f 19 11 1
+f 19 1 13
+f 19 5 7
+f 20 15 4
+f 20 4 5
+f 20 5 9
+f 20 9 15
+f 21 19 13
+f 21 13 9
+f 21 9 5
+f 21 5 19
\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_1/collision/model_normalized_collision_7.obj b/objects/objaverse/plate/plate_1/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f51b10313f5b8fe8a0685457a344e12e69285bc
--- /dev/null
+++ b/objects/objaverse/plate/plate_1/collision/model_normalized_collision_7.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v -0.23484842 0.08333335 -0.02325082
+v -0.23484842 0.08333335 -0.02997621
+v -0.23653510 0.26710763 -0.00195956
+v -0.38655673 0.25012233 0.02194824
+v -0.41842702 0.08372895 0.01481808
+v -0.23062224 0.21567456 -0.02419307
+v -0.35227653 0.08248328 -0.00758600
+v -0.28068945 0.26551926 0.00563359
+v -0.23242548 0.26234163 -0.01089615
+v -0.41364918 0.08265535 0.00686751
+v -0.27978861 0.08319102 -0.02953070
+v -0.27935807 0.26425194 -0.00170089
+v -0.41525973 0.20383721 0.01553003
+v -0.38517024 0.24924434 0.01474296
+v -0.41672588 0.20457532 0.02270716
+v -0.41308956 0.15771169 0.01131814
+v -0.28984303 0.12630067 -0.02401028
+f 5 1 3
+f 6 1 2
+f 7 2 1
+f 8 5 3
+f 8 4 5
+f 9 3 1
+f 9 1 6
+f 10 7 1
+f 10 1 5
+f 11 6 2
+f 11 2 7
+f 11 7 10
+f 12 8 3
+f 12 3 9
+f 12 9 6
+f 13 10 5
+f 14 4 8
+f 14 8 12
+f 14 13 4
+f 14 12 6
+f 15 13 5
+f 15 5 4
+f 15 4 13
+f 16 11 10
+f 16 10 13
+f 17 6 11
+f 17 16 13
+f 17 11 16
+f 17 14 6
+f 17 13 14
\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_1/model.xml b/objects/objaverse/plate/plate_1/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..24fce98fba8704a4f6637be8f4cbf5014d1faba0
--- /dev/null
+++ b/objects/objaverse/plate/plate_1/model.xml
@@ -0,0 +1,80 @@
+<mujoco model="plate_54">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.185 0.185 0.185" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.185 0.185 0.185" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.185 0.185 0.185" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.185 0.185 0.185" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.185 0.185 0.185" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.185 0.185 0.185" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.185 0.185 0.185" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.185 0.185 0.185" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.185 0.185 0.185" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.185 0.185 0.185" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.185 0.185 0.185" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.185 0.185 0.185" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.185 0.185 0.185" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.185 0.185 0.185" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.185 0.185 0.185" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.185 0.185 0.185" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.185 0.185 0.185" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.185 0.185 0.185" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.185 0.185 0.185" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.185 0.185 0.185" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.185 0.185 0.185" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.185 0.185 0.185" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.185 0.185 0.185" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.185 0.185 0.185" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.185 0.185 0.185" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.185 0.185 0.185" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.185 0.185 0.185" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.185 0.185 0.185" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.185 0.185 0.185" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.185 0.185 0.185" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.185 0.185 0.185" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.185 0.185 0.185" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.185 0.185 0.185" refquat="1.0 0.0 0.0 0.0"/>
+    <material name="Material.392" specular="0.5" shininess="0.359999993" rgba="0.800000 0.800000 0.800000 1.0"/>
+  </asset>
+  <worldbody>
+    <body>
+      <body name="object">
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_0_vis" conaffinity="0" contype="0" group="1" material="Material.392"/>
+        <geom solimp="0.998 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="-0.0002503327499999995 9.249999995131208e-10 -0.0055456173499999995" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="-0.0002503327499999995 9.249999995131208e-10 0.005545598849999999" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.09091674964999999 0.0909167663 -9.249999999945065e-09" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/objects/objaverse/plate/plate_17/.DS_Store b/objects/objaverse/plate/plate_17/.DS_Store
new file mode 100644
index 0000000000000000000000000000000000000000..913964df0512f548dc243ccf77e4e5e50d9dd5ae
Binary files /dev/null and b/objects/objaverse/plate/plate_17/.DS_Store differ
diff --git a/objects/objaverse/plate/plate_17/collision/model_normalized_collision_0.obj b/objects/objaverse/plate/plate_17/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f6b65ea02edfe3702ef2c5192e612e193b088e39
--- /dev/null
+++ b/objects/objaverse/plate/plate_17/collision/model_normalized_collision_0.obj
@@ -0,0 +1,126 @@
+# https://github.com/mikedh/trimesh
+v -0.31283153 0.00247781 -0.41256554
+v -0.21278814 0.03169572 -0.38884717
+v -0.44644610 0.11277184 -0.22820095
+v -0.37647383 0.13890153 -0.22823402
+v -0.30145015 0.08762899 -0.32772009
+v -0.21059749 0.09753212 -0.28355442
+v -0.21331247 0.05003237 -0.37853995
+v -0.39962242 0.07557889 -0.31125299
+v -0.33364010 0.14491413 -0.23205251
+v -0.31622585 0.01257894 -0.39378128
+v -0.31552845 0.01648462 -0.40237070
+v -0.20937405 0.08916341 -0.30232803
+v -0.37886353 0.04833463 -0.34653826
+v -0.43271557 0.11508615 -0.23814889
+v -0.34514121 0.10186439 -0.29743133
+v -0.25988857 0.11654668 -0.28532713
+v -0.42048153 0.10198100 -0.24648378
+v -0.33027395 0.05790810 -0.35637842
+v -0.21102716 0.06061839 -0.35262239
+v -0.34906528 0.02549506 -0.38054834
+v -0.40965389 0.07570029 -0.30216562
+v -0.43530436 0.12116520 -0.22662363
+v -0.31682397 0.11649548 -0.28365621
+v -0.38899667 0.10091028 -0.28216258
+v -0.21576830 0.08567785 -0.32938419
+v -0.21452376 0.11302161 -0.27708055
+v -0.37433277 0.07172865 -0.32649757
+v -0.21233700 0.03929161 -0.38011596
+v -0.43986971 0.10459711 -0.24494281
+v -0.32502004 0.01803660 -0.39845501
+v -0.38185144 0.05277590 -0.34240634
+v -0.44102641 0.10975532 -0.23865340
+v -0.40357347 0.11584630 -0.25300232
+v -0.33259757 0.13873627 -0.24360451
+v -0.37480518 0.13270140 -0.23954555
+v -0.40309836 0.08612395 -0.29640150
+v -0.25970158 0.12269565 -0.27377892
+v -0.32134347 0.00792884 -0.40547014
+v -0.36865232 0.04785696 -0.35476910
+v -0.35429627 0.03001407 -0.37495778
+v -0.44505981 0.11125632 -0.23174052
+v -0.41150327 0.07997702 -0.29748241
+v -0.21663146 0.10167429 -0.30134187
+f 7 2 1
+f 9 4 3
+f 9 3 6
+f 10 1 2
+f 10 2 6
+f 10 3 1
+f 11 7 1
+f 12 6 2
+f 17 10 6
+f 17 6 3
+f 17 3 10
+f 18 5 7
+f 18 7 11
+f 18 15 5
+f 19 12 2
+f 19 7 12
+f 20 1 3
+f 22 3 4
+f 23 5 15
+f 23 16 5
+f 25 7 5
+f 25 5 16
+f 25 12 7
+f 26 9 6
+f 26 6 12
+f 26 12 25
+f 27 15 18
+f 27 24 15
+f 28 19 2
+f 28 2 7
+f 28 7 19
+f 29 20 3
+f 29 13 20
+f 29 21 13
+f 30 11 1
+f 30 18 11
+f 31 21 8
+f 31 13 21
+f 32 22 14
+f 32 3 22
+f 33 22 4
+f 33 14 22
+f 34 9 16
+f 34 16 23
+f 34 4 9
+f 35 15 24
+f 35 4 34
+f 35 34 23
+f 35 23 15
+f 35 33 4
+f 35 24 33
+f 36 33 24
+f 36 14 33
+f 36 32 14
+f 36 27 8
+f 36 24 27
+f 37 16 9
+f 37 9 26
+f 38 30 1
+f 38 1 20
+f 38 20 30
+f 39 27 18
+f 39 18 30
+f 39 31 8
+f 39 8 27
+f 40 20 13
+f 40 13 31
+f 40 31 39
+f 40 39 30
+f 40 30 20
+f 41 32 29
+f 41 29 3
+f 41 3 32
+f 42 8 21
+f 42 21 29
+f 42 29 32
+f 42 36 8
+f 42 32 36
+f 43 37 26
+f 43 26 25
+f 43 25 16
+f 43 16 37
\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_17/collision/model_normalized_collision_1.obj b/objects/objaverse/plate/plate_17/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5b8a89a8933872af2579c8873c99512f928742aa
--- /dev/null
+++ b/objects/objaverse/plate/plate_17/collision/model_normalized_collision_1.obj
@@ -0,0 +1,156 @@
+# https://github.com/mikedh/trimesh
+v 0.47513274 -0.21210046 0.00517974
+v 0.46337533 -0.22703012 -0.06989699
+v 0.40610348 -0.10763112 -0.04696152
+v 0.34486677 -0.00550079 0.14467297
+v 0.40816568 -0.09614505 0.26776388
+v 0.36523210 -0.10451533 -0.09964519
+v 0.43423799 -0.13442696 -0.01765190
+v 0.43191616 -0.12126863 0.25954601
+v 0.41985215 -0.14903510 -0.09155776
+v 0.34462371 -0.01637174 0.02262778
+v 0.36714475 -0.04304635 0.26590630
+v 0.45110466 -0.23467511 -0.11398627
+v 0.46403752 -0.20724615 -0.04746733
+v 0.46680444 -0.15715999 0.15733068
+v 0.39644599 -0.11736153 -0.09349082
+v 0.40617754 -0.12111062 -0.07671916
+v 0.34070482 -0.01136943 0.10061599
+v 0.40776265 -0.07656521 0.05646663
+v 0.39396204 -0.05758290 0.26223887
+v 0.45709756 -0.23269912 -0.09211665
+v 0.46434478 -0.17777157 0.01155099
+v 0.46718393 -0.22372435 -0.05085276
+v 0.43358586 -0.16375278 -0.07663510
+v 0.45052008 -0.22092931 -0.10671540
+v 0.46681128 -0.16548323 0.15587419
+v 0.35517027 -0.05752435 -0.03443613
+v 0.37261858 -0.11236824 -0.10292471
+v 0.34472639 -0.03187893 0.00758531
+v 0.35542057 -0.06453937 0.00410536
+v 0.40667529 -0.09216936 -0.00265194
+v 0.35452579 -0.01228950 0.14563276
+v 0.43603317 -0.11608170 0.24632951
+v 0.43569288 -0.10354814 0.17352292
+v 0.37490152 -0.05236291 0.26745749
+v 0.42431697 -0.10138018 0.26232145
+v 0.45252392 -0.23414294 -0.10978044
+v 0.47512360 -0.18228983 0.10596626
+v 0.45004088 -0.13337068 0.07055942
+v 0.47497147 -0.21242280 0.00363135
+v 0.44841068 -0.19283976 -0.07650342
+v 0.44692996 -0.21654721 -0.11104482
+v 0.45286028 -0.14385576 0.20885540
+v 0.43506062 -0.11984408 0.02660810
+v 0.43570570 -0.10365644 0.11434023
+v 0.45109218 -0.13214941 0.20238769
+v 0.43321507 -0.12218362 0.25787098
+v 0.42096416 -0.08888667 0.23251098
+v 0.46566874 -0.16237852 0.07016261
+v 0.46826618 -0.16713553 0.15068353
+v 0.42177930 -0.09025408 0.07068380
+v 0.45083202 -0.13861715 0.21486525
+v 0.40602059 -0.07416137 0.26171305
+v 0.44082658 -0.12795001 0.24026816
+f 12 11 6
+f 12 5 11
+f 12 8 5
+f 15 10 3
+f 16 3 7
+f 16 7 9
+f 16 15 3
+f 16 9 15
+f 17 4 10
+f 17 11 4
+f 19 4 11
+f 20 8 12
+f 21 13 7
+f 22 2 13
+f 22 20 2
+f 23 9 7
+f 23 7 13
+f 24 13 2
+f 25 20 1
+f 25 8 20
+f 26 15 6
+f 26 6 10
+f 26 10 15
+f 27 12 6
+f 27 6 15
+f 28 17 10
+f 28 10 6
+f 28 6 17
+f 29 17 6
+f 29 6 11
+f 29 11 17
+f 30 7 3
+f 30 3 10
+f 30 10 18
+f 31 18 10
+f 31 10 4
+f 31 4 19
+f 33 31 19
+f 34 19 11
+f 34 11 5
+f 34 5 19
+f 35 19 5
+f 35 5 8
+f 36 20 12
+f 36 2 20
+f 36 24 2
+f 36 12 24
+f 37 25 1
+f 39 22 13
+f 39 1 20
+f 39 20 22
+f 39 21 1
+f 39 13 21
+f 40 23 13
+f 40 13 24
+f 41 9 23
+f 41 40 24
+f 41 23 40
+f 41 15 9
+f 41 24 12
+f 41 27 15
+f 41 12 27
+f 43 7 30
+f 43 38 21
+f 43 21 7
+f 44 31 33
+f 44 33 14
+f 44 14 38
+f 45 14 33
+f 46 35 8
+f 46 32 35
+f 46 8 25
+f 46 25 42
+f 47 33 19
+f 47 35 32
+f 47 45 33
+f 47 32 45
+f 48 37 1
+f 48 1 21
+f 48 21 38
+f 48 38 14
+f 48 14 37
+f 49 37 14
+f 49 25 37
+f 49 42 25
+f 49 14 42
+f 50 18 31
+f 50 31 44
+f 50 43 30
+f 50 30 18
+f 50 44 38
+f 50 38 43
+f 51 42 14
+f 51 14 45
+f 51 45 32
+f 52 47 19
+f 52 19 35
+f 52 35 47
+f 53 46 42
+f 53 42 51
+f 53 51 32
+f 53 32 46
\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_17/collision/model_normalized_collision_10.obj b/objects/objaverse/plate/plate_17/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b6392b8f4f98b3720556e47e452cad5ee0d8b72
--- /dev/null
+++ b/objects/objaverse/plate/plate_17/collision/model_normalized_collision_10.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.01718916 -0.02542307 -0.37452847
+v 0.01949586 -0.02007010 -0.36143019
+v -0.21282538 0.04564272 -0.37247724
+v -0.17439175 0.13015851 -0.25248541
+v 0.00715232 0.03072331 -0.34152431
+v 0.01688673 0.01972548 -0.23617181
+v -0.19691103 0.03880391 -0.37930626
+v -0.15981326 0.09326871 -0.24022927
+v 0.01024199 0.03457724 -0.23219625
+v 0.02071833 0.01351832 -0.25392356
+v 0.00386330 -0.02091287 -0.37701316
+v -0.13884751 0.10394956 -0.29668240
+v -0.21452376 0.11302161 -0.27708055
+v -0.14479661 0.10288091 -0.23017839
+v -0.02173567 0.04088896 -0.34209208
+v -0.21404808 0.06288014 -0.36235956
+v -0.15597060 0.11894342 -0.27785757
+v -0.20716151 0.09452991 -0.28848284
+v -0.00788557 0.04290153 -0.23038537
+v -0.17058140 0.11362669 -0.23339467
+v -0.21582941 0.10740199 -0.28961541
+v -0.15678054 0.05557681 -0.35952868
+v -0.11214380 0.08909803 -0.31167400
+v -0.21461150 0.07474306 -0.34600166
+v -0.16728772 0.12251045 -0.27283307
+f 5 2 1
+f 6 3 1
+f 7 1 3
+f 8 3 6
+f 9 5 4
+f 10 2 5
+f 10 9 6
+f 10 5 9
+f 10 6 1
+f 10 1 2
+f 11 5 1
+f 11 1 7
+f 14 8 6
+f 15 11 7
+f 15 5 11
+f 16 7 3
+f 17 4 5
+f 18 13 3
+f 18 3 8
+f 18 8 13
+f 19 14 6
+f 19 6 9
+f 19 9 4
+f 19 4 14
+f 20 13 8
+f 20 8 14
+f 20 14 4
+f 20 4 13
+f 21 16 3
+f 21 3 13
+f 21 13 4
+f 22 15 7
+f 22 7 16
+f 23 12 17
+f 23 15 22
+f 23 22 16
+f 23 16 12
+f 23 17 5
+f 23 5 15
+f 24 16 21
+f 24 17 12
+f 24 12 16
+f 25 21 4
+f 25 4 17
+f 25 24 21
+f 25 17 24
\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_17/collision/model_normalized_collision_11.obj b/objects/objaverse/plate/plate_17/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d846e47b8b6ec5ac93ca9767a11cc0dd0d23d65f
--- /dev/null
+++ b/objects/objaverse/plate/plate_17/collision/model_normalized_collision_11.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v 0.34991546 -0.16168499 -0.24131068
+v 0.35519799 -0.15808321 -0.22977073
+v 0.14139811 -0.03324895 -0.23856046
+v 0.13487321 -0.01818274 -0.23439553
+v 0.18995100 -0.03161311 -0.28496472
+v 0.34998091 -0.14747089 -0.22614583
+v 0.22119501 -0.15722474 -0.37988089
+v 0.25018932 -0.04090330 -0.22882271
+v 0.34487748 -0.15099532 -0.23764706
+v 0.23107952 -0.16131743 -0.37428577
+v 0.14171517 -0.08269979 -0.36321050
+v 0.13267495 -0.01920913 -0.31901465
+v 0.17426923 -0.03305287 -0.23035855
+v 0.30098129 -0.13727825 -0.28202779
+v 0.12982294 -0.05729259 -0.34988208
+v 0.21386414 -0.10756880 -0.34275749
+v 0.24379881 -0.04216401 -0.23983245
+v 0.30043705 -0.15112043 -0.29637451
+v 0.21710180 -0.14583894 -0.37520867
+v 0.15426104 -0.02544811 -0.30844662
+v 0.27232354 -0.10952108 -0.28311953
+v 0.30498495 -0.16159193 -0.30023715
+v 0.15893017 -0.09584556 -0.36542797
+v 0.22728129 -0.15011816 -0.36975916
+f 1 2 3
+f 6 3 2
+f 6 4 3
+f 9 6 2
+f 9 2 1
+f 10 1 3
+f 10 3 7
+f 11 7 3
+f 12 8 5
+f 12 4 8
+f 13 8 4
+f 13 4 6
+f 13 6 8
+f 14 6 9
+f 15 11 3
+f 15 3 4
+f 15 4 12
+f 17 8 6
+f 17 6 14
+f 17 5 8
+f 17 16 5
+f 18 14 9
+f 18 9 1
+f 18 16 14
+f 19 12 16
+f 20 16 12
+f 20 12 5
+f 20 5 16
+f 21 17 14
+f 21 14 16
+f 21 16 17
+f 22 18 1
+f 22 1 10
+f 23 15 12
+f 23 12 19
+f 23 11 15
+f 23 19 7
+f 23 7 11
+f 24 10 7
+f 24 7 19
+f 24 22 10
+f 24 18 22
+f 24 19 16
+f 24 16 18
\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_17/collision/model_normalized_collision_12.obj b/objects/objaverse/plate/plate_17/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5cbf67156d6125c46b2553eba34b817629c60b1e
--- /dev/null
+++ b/objects/objaverse/plate/plate_17/collision/model_normalized_collision_12.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v -0.03005036 0.15260046 0.18869438
+v -0.02731003 0.15902945 0.21737949
+v -0.22485946 0.22040948 0.14192553
+v -0.18310115 0.23885331 0.21985699
+v -0.07882543 0.23192009 0.22687349
+v -0.17986547 0.22010019 0.21835967
+v -0.03516285 0.18630111 0.22254059
+v -0.17703005 0.24514382 0.13498843
+v -0.22834598 0.23981974 0.14411527
+v -0.10536177 0.16875179 0.12777701
+v -0.03836465 0.17911496 0.19441401
+v -0.12293984 0.24010101 0.19959328
+v -0.20311395 0.24191707 0.12287328
+v -0.11411202 0.19430918 0.13372306
+v -0.13547118 0.24175658 0.18083417
+v -0.22562854 0.21750122 0.12725178
+v -0.22880343 0.23765050 0.12931257
+v -0.17586140 0.19753664 0.12457334
+v -0.20724709 0.21004770 0.12519400
+v -0.13123588 0.17931211 0.12512567
+f 6 5 4
+f 6 1 2
+f 7 2 1
+f 7 6 2
+f 7 5 6
+f 9 6 4
+f 9 3 6
+f 9 4 8
+f 10 6 3
+f 10 1 6
+f 11 7 1
+f 11 5 7
+f 11 8 5
+f 11 1 10
+f 12 4 5
+f 13 9 8
+f 14 11 10
+f 14 8 11
+f 14 13 8
+f 14 10 13
+f 15 8 4
+f 15 4 12
+f 15 12 5
+f 15 5 8
+f 16 3 9
+f 16 10 3
+f 17 16 9
+f 17 9 13
+f 17 13 16
+f 19 16 13
+f 19 13 18
+f 19 10 16
+f 20 18 13
+f 20 13 10
+f 20 19 18
+f 20 10 19
\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_17/collision/model_normalized_collision_13.obj b/objects/objaverse/plate/plate_17/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d04f20ca10c4c51edb74f2ed273f6e757444e8d
--- /dev/null
+++ b/objects/objaverse/plate/plate_17/collision/model_normalized_collision_13.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.13721473 0.10775815 0.38712046
+v 0.13555179 0.08954512 0.21969415
+v 0.13172132 0.14978560 0.26479263
+v 0.00914429 0.18021838 0.38253441
+v 0.01896985 0.13042509 0.18621503
+v 0.12594465 0.13119297 0.38123663
+v 0.14095605 0.10169439 0.27740230
+v 0.01813543 0.16048529 0.38861178
+v 0.09078875 0.12146439 0.18890309
+v 0.00766013 0.20090524 0.26066532
+v 0.06885137 0.18092869 0.27266734
+v 0.11276082 0.11971123 0.38967547
+v 0.12788640 0.11686081 0.22544576
+v 0.01070787 0.15695016 0.19187641
+v 0.12446987 0.15126917 0.27855368
+v 0.09606189 0.14556536 0.38169547
+v 0.02539018 0.19614042 0.27249577
+v 0.02220905 0.17587606 0.38153776
+v 0.02206661 0.19702410 0.26500760
+v 0.01220064 0.19935431 0.27313292
+f 5 2 1
+f 6 1 3
+f 7 1 2
+f 7 2 3
+f 7 3 1
+f 8 5 1
+f 8 4 5
+f 9 2 5
+f 10 3 9
+f 12 4 8
+f 12 8 1
+f 12 1 6
+f 13 9 3
+f 13 3 2
+f 13 2 9
+f 14 5 4
+f 14 4 10
+f 14 10 9
+f 14 9 5
+f 15 11 6
+f 15 6 3
+f 15 3 11
+f 16 6 11
+f 16 12 6
+f 16 4 12
+f 18 16 11
+f 18 4 16
+f 18 17 4
+f 18 11 17
+f 19 17 11
+f 19 10 17
+f 19 11 3
+f 19 3 10
+f 20 17 10
+f 20 10 4
+f 20 4 17
\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_17/collision/model_normalized_collision_14.obj b/objects/objaverse/plate/plate_17/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8ed8bcb320f27a3761f80693d352cb9e98787a0a
--- /dev/null
+++ b/objects/objaverse/plate/plate_17/collision/model_normalized_collision_14.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v 0.01813543 0.16048529 0.38861178
+v 0.01665829 0.14038405 0.21826293
+v -0.07367059 0.23033366 0.22797356
+v -0.18326051 0.22994600 0.33822510
+v -0.18211378 0.21724756 0.34238075
+v -0.03584409 0.19416479 0.38236279
+v 0.01220064 0.19935431 0.27313292
+v -0.08912439 0.19192248 0.38942890
+v -0.17986547 0.22010019 0.21835967
+v -0.12496848 0.22335640 0.33772039
+v 0.02054040 0.14967376 0.26166621
+v 0.00870760 0.16755974 0.22367959
+v 0.00914429 0.18021838 0.38253441
+v -0.00631454 0.20827479 0.26447439
+v -0.09250790 0.20660140 0.38509102
+v -0.08450823 0.18266126 0.21554814
+v -0.00918970 0.15076900 0.21551628
+v -0.18310115 0.23885331 0.21985699
+v -0.02115032 0.19312339 0.36769093
+v -0.06573495 0.20834393 0.35284125
+v 0.00766013 0.20090524 0.26066532
+v 0.00443207 0.16518993 0.38991695
+v -0.08042291 0.20883481 0.36717872
+v -0.11047774 0.22279361 0.32360332
+v -0.01163180 0.21010538 0.25590698
+v -0.09434907 0.21160276 0.36772662
+f 8 5 2
+f 8 2 1
+f 10 3 4
+f 11 7 1
+f 11 1 2
+f 11 2 7
+f 12 7 2
+f 13 1 7
+f 14 13 7
+f 15 4 5
+f 15 5 8
+f 15 13 6
+f 17 2 5
+f 17 5 9
+f 17 9 16
+f 17 16 3
+f 17 12 2
+f 17 3 12
+f 18 9 5
+f 18 5 4
+f 18 4 3
+f 18 16 9
+f 18 3 16
+f 19 6 13
+f 19 13 14
+f 20 19 14
+f 20 6 19
+f 20 14 3
+f 21 12 3
+f 21 14 7
+f 21 7 12
+f 22 15 8
+f 22 8 1
+f 22 1 13
+f 22 13 15
+f 23 15 6
+f 23 6 20
+f 23 20 10
+f 24 20 3
+f 24 3 10
+f 24 10 20
+f 25 21 3
+f 25 3 14
+f 25 14 21
+f 26 23 10
+f 26 15 23
+f 26 10 4
+f 26 4 15
\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_17/collision/model_normalized_collision_15.obj b/objects/objaverse/plate/plate_17/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c2ba2422c1c98ea369057e38fd8e31f43e1fe4a7
--- /dev/null
+++ b/objects/objaverse/plate/plate_17/collision/model_normalized_collision_15.obj
@@ -0,0 +1,120 @@
+# https://github.com/mikedh/trimesh
+v 0.45498235 -0.23358619 -0.09911975
+v 0.45377845 -0.23309512 -0.10239436
+v 0.41484293 -0.14326741 -0.09516791
+v 0.38824641 -0.12894947 -0.10288151
+v 0.27928360 -0.16229910 -0.31724235
+v 0.44081335 -0.18952590 -0.09391337
+v 0.33129276 -0.24312525 -0.32074491
+v 0.27417556 -0.15093965 -0.31262288
+v 0.42560275 -0.16017363 -0.09353522
+v 0.40786118 -0.24713474 -0.21223116
+v 0.34998091 -0.14747089 -0.22614583
+v 0.32610057 -0.23603639 -0.31759855
+v 0.43677127 -0.24472972 -0.15097544
+v 0.32428238 -0.13104716 -0.22431349
+v 0.30498495 -0.16159193 -0.30023715
+v 0.38923153 -0.16433845 -0.17941658
+v 0.35918248 -0.20816380 -0.26658394
+v 0.33728106 -0.24529293 -0.31334814
+v 0.29746215 -0.19142052 -0.31967829
+v 0.43340392 -0.22261286 -0.14978519
+v 0.27952339 -0.14628252 -0.30216307
+v 0.40707044 -0.14812479 -0.12173680
+v 0.34449059 -0.16487732 -0.25216012
+v 0.32398471 -0.21808882 -0.31826523
+v 0.34442146 -0.24711568 -0.30523219
+v 0.42911516 -0.24353207 -0.16950526
+v 0.40353327 -0.22268255 -0.20845066
+v 0.36177663 -0.14943051 -0.20975897
+v 0.42173870 -0.16235292 -0.10678032
+v 0.33056170 -0.17823283 -0.28231391
+v 0.36166211 -0.24803391 -0.28307080
+v 0.38907552 -0.19329550 -0.20846902
+v 0.39101880 -0.23575639 -0.23912714
+v 0.41876148 -0.17862884 -0.13517688
+v 0.31752627 -0.17773587 -0.29812504
+v 0.34445198 -0.22276311 -0.29631682
+v 0.39212722 -0.24757182 -0.23912460
+v 0.43670627 -0.19133652 -0.10714552
+v 0.40403470 -0.16398896 -0.14973851
+v 0.33131594 -0.22207631 -0.31207416
+v 0.36104855 -0.23522451 -0.28258962
+f 6 4 1
+f 6 1 2
+f 8 1 4
+f 9 3 4
+f 9 4 6
+f 11 4 3
+f 12 1 8
+f 12 8 5
+f 13 2 1
+f 14 4 11
+f 15 5 8
+f 18 12 7
+f 18 1 12
+f 19 12 5
+f 19 7 12
+f 20 6 2
+f 20 2 13
+f 21 8 4
+f 21 4 14
+f 21 15 8
+f 21 14 11
+f 21 11 15
+f 23 15 11
+f 24 7 19
+f 24 19 5
+f 24 5 15
+f 25 13 1
+f 25 1 18
+f 25 18 7
+f 26 20 13
+f 26 13 10
+f 27 20 26
+f 28 22 16
+f 28 11 3
+f 28 3 22
+f 28 23 11
+f 29 22 3
+f 29 3 9
+f 29 9 6
+f 30 23 17
+f 30 15 23
+f 31 10 13
+f 31 13 25
+f 32 20 27
+f 32 28 16
+f 32 23 28
+f 32 17 23
+f 33 27 26
+f 33 26 10
+f 33 32 27
+f 33 17 32
+f 34 32 16
+f 34 20 32
+f 35 24 15
+f 35 15 30
+f 36 30 17
+f 36 35 30
+f 37 33 10
+f 37 10 31
+f 38 34 29
+f 38 29 6
+f 38 6 20
+f 38 20 34
+f 39 34 16
+f 39 16 22
+f 39 22 29
+f 39 29 34
+f 40 24 35
+f 40 35 36
+f 40 7 24
+f 41 36 17
+f 41 17 33
+f 41 31 25
+f 41 25 7
+f 41 40 36
+f 41 7 40
+f 41 37 31
+f 41 33 37
\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_17/collision/model_normalized_collision_16.obj b/objects/objaverse/plate/plate_17/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d28f6f348316034c9dd13aa6446b830862895464
--- /dev/null
+++ b/objects/objaverse/plate/plate_17/collision/model_normalized_collision_16.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v 0.41484293 -0.14326741 -0.09516791
+v 0.41112003 -0.14574114 -0.10845463
+v 0.33976623 -0.07313437 -0.10931159
+v 0.30533994 -0.05504215 -0.05490025
+v 0.31106941 -0.12891684 -0.24087630
+v 0.36920702 -0.07289799 -0.04931380
+v 0.28968549 -0.05613029 -0.08491791
+v 0.33108654 -0.12324005 -0.22378801
+v 0.40582295 -0.10946192 -0.05216598
+v 0.34231733 -0.14191746 -0.23120363
+v 0.22908293 -0.07164303 -0.23657526
+v 0.39902554 -0.10077107 -0.04963572
+v 0.37293358 -0.09516304 -0.05730178
+v 0.40512825 -0.13561092 -0.10603544
+v 0.36651071 -0.14610727 -0.19781962
+v 0.29191578 -0.09142190 -0.22774402
+v 0.23062318 -0.06809282 -0.22241713
+v 0.37621645 -0.10850873 -0.12077399
+v 0.40873741 -0.13304894 -0.09270964
+v 0.36089580 -0.13624639 -0.19455902
+v 0.31696035 -0.10970499 -0.22411248
+v 0.23489403 -0.07570362 -0.24051659
+v 0.36439483 -0.07896918 -0.07689862
+v 0.39306879 -0.10595785 -0.07727184
+v 0.36132954 -0.10872564 -0.15023455
+v 0.34987540 -0.07944782 -0.10677271
+v 0.31847070 -0.09496359 -0.19540291
+f 5 2 1
+f 6 3 4
+f 7 5 1
+f 7 1 4
+f 7 4 3
+f 12 6 4
+f 12 4 9
+f 13 9 4
+f 13 4 1
+f 13 1 9
+f 14 1 2
+f 15 2 5
+f 15 5 10
+f 15 14 2
+f 16 10 5
+f 16 11 3
+f 17 7 3
+f 17 3 11
+f 17 11 5
+f 17 5 7
+f 19 9 1
+f 19 1 14
+f 20 15 10
+f 20 10 8
+f 20 18 14
+f 20 14 15
+f 21 8 10
+f 21 10 16
+f 22 16 5
+f 22 5 11
+f 22 11 16
+f 23 3 6
+f 23 6 12
+f 24 12 9
+f 24 9 19
+f 24 19 14
+f 24 14 18
+f 24 23 12
+f 24 18 23
+f 25 20 8
+f 25 18 20
+f 25 8 21
+f 26 23 18
+f 26 18 25
+f 26 3 23
+f 27 25 21
+f 27 21 16
+f 27 26 25
+f 27 16 3
+f 27 3 26
\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_17/collision/model_normalized_collision_17.obj b/objects/objaverse/plate/plate_17/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..075a134cdfc6136fc4530b3e9bef5151a90b3125
--- /dev/null
+++ b/objects/objaverse/plate/plate_17/collision/model_normalized_collision_17.obj
@@ -0,0 +1,108 @@
+# https://github.com/mikedh/trimesh
+v -0.04509532 -0.13409062 -0.49950893
+v -0.21311408 0.05721108 -0.36963982
+v -0.04111768 -0.00323029 -0.37877981
+v -0.31769149 0.03817771 -0.38054854
+v -0.18844540 -0.06723612 -0.47860646
+v -0.05050820 0.01801454 -0.36527062
+v -0.31622585 0.01257894 -0.39378128
+v -0.22748399 0.02896850 -0.40148751
+v -0.08132032 0.03048922 -0.36329482
+v -0.05146744 -0.04624280 -0.44447972
+v -0.30869266 -0.00008617 -0.41585497
+v -0.21331247 0.05003237 -0.37853995
+v -0.14016893 0.04820731 -0.36431646
+v -0.05296750 -0.00492453 -0.40242264
+v -0.12903665 -0.09680395 -0.49427829
+v -0.12450798 -0.04499790 -0.45932305
+v -0.30964194 0.00436671 -0.41333083
+v -0.14118287 0.04180737 -0.37450336
+v -0.05264715 0.01234460 -0.37654687
+v -0.06565579 -0.10389424 -0.48870212
+v -0.20761267 -0.05863870 -0.47174907
+v -0.23935864 -0.03856874 -0.45781680
+v -0.19852298 0.02852452 -0.40162833
+v -0.14559453 -0.08840500 -0.49006497
+v -0.31610499 0.03088403 -0.38830074
+v -0.08315636 0.02466869 -0.37427663
+v -0.05088122 -0.08856099 -0.47541477
+v -0.06961524 -0.12496440 -0.49997812
+v -0.19437376 -0.06477721 -0.47651663
+v -0.26677315 -0.02347776 -0.44285942
+v -0.09587398 -0.01694383 -0.43055540
+v -0.05004837 -0.11645363 -0.49262728
+v -0.06560635 -0.06009009 -0.45916637
+v -0.30422658 -0.00254207 -0.41900473
+v -0.23112172 -0.04560156 -0.46223159
+v -0.09653954 -0.00320535 -0.41683145
+v -0.26249938 -0.02767637 -0.44568954
+f 7 1 3
+f 7 6 4
+f 7 3 6
+f 9 4 6
+f 10 3 1
+f 11 1 7
+f 12 8 4
+f 12 4 2
+f 13 2 4
+f 13 4 9
+f 14 6 3
+f 14 3 10
+f 17 11 7
+f 18 12 2
+f 18 2 13
+f 19 9 6
+f 19 6 14
+f 20 15 16
+f 22 16 5
+f 22 5 21
+f 23 8 12
+f 23 12 18
+f 23 22 8
+f 23 16 22
+f 24 16 15
+f 24 15 5
+f 24 5 16
+f 25 17 7
+f 25 7 4
+f 25 4 8
+f 25 8 17
+f 26 18 13
+f 26 13 9
+f 26 14 18
+f 26 19 14
+f 26 9 19
+f 27 10 1
+f 28 15 20
+f 28 21 15
+f 28 1 11
+f 28 11 21
+f 29 21 5
+f 29 5 15
+f 29 15 21
+f 30 17 8
+f 30 8 22
+f 31 16 23
+f 32 27 1
+f 32 20 27
+f 32 28 20
+f 32 1 28
+f 33 27 20
+f 33 20 16
+f 33 10 27
+f 33 31 10
+f 33 16 31
+f 34 11 17
+f 34 17 30
+f 35 22 21
+f 36 14 10
+f 36 10 31
+f 36 18 14
+f 36 31 23
+f 36 23 18
+f 37 30 22
+f 37 22 35
+f 37 34 30
+f 37 11 34
+f 37 35 21
+f 37 21 11
\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_17/collision/model_normalized_collision_18.obj b/objects/objaverse/plate/plate_17/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd6a4263258caa9dffdd5f369424350e39791959
--- /dev/null
+++ b/objects/objaverse/plate/plate_17/collision/model_normalized_collision_18.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.13652278 -0.07535752 -0.35712400
+v 0.14207066 -0.06460465 -0.33176913
+v 0.09558289 -0.00310238 -0.19245361
+v 0.01124330 0.02169982 -0.27837544
+v 0.05156660 0.01441714 -0.33996471
+v 0.01949586 -0.02007010 -0.36143019
+v 0.14023482 -0.02046224 -0.19222009
+v 0.12601255 -0.01510122 -0.31925807
+v 0.08969196 0.01281636 -0.18913428
+v 0.02320793 0.00372082 -0.28609255
+v 0.11160094 -0.06505378 -0.36307936
+v 0.01235981 0.02420965 -0.34502130
+v 0.12982294 -0.05729259 -0.34988208
+v 0.12899910 -0.00219614 -0.18498369
+v 0.11091941 -0.01245777 -0.32698945
+f 6 1 3
+f 7 1 2
+f 7 3 1
+f 8 2 1
+f 8 7 2
+f 9 4 3
+f 10 6 3
+f 10 3 4
+f 10 4 6
+f 11 1 6
+f 12 6 4
+f 12 11 6
+f 12 5 11
+f 12 9 5
+f 12 4 9
+f 13 8 1
+f 13 11 5
+f 13 1 11
+f 14 9 3
+f 14 3 7
+f 14 7 8
+f 14 8 5
+f 14 5 9
+f 15 13 5
+f 15 5 8
+f 15 8 13
\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_17/collision/model_normalized_collision_19.obj b/objects/objaverse/plate/plate_17/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..021bda153a5db9d66bb040e5caeffd23dec5be1f
--- /dev/null
+++ b/objects/objaverse/plate/plate_17/collision/model_normalized_collision_19.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v 0.09558289 -0.00310238 -0.19245361
+v 0.09204884 -0.01180068 -0.23608002
+v 0.08806045 0.06917379 0.00907136
+v -0.09192960 0.13458238 -0.03776423
+v -0.08929598 0.06495051 -0.23635274
+v 0.05527712 0.00311551 -0.27745191
+v 0.08553507 0.00282563 -0.23183513
+v 0.03594159 -0.00134914 -0.28461873
+v 0.02237332 0.07752373 0.00281348
+v -0.09566740 0.08060903 -0.23235526
+v 0.06947743 0.07827986 0.01232728
+v 0.06188591 -0.01165229 -0.28173149
+v 0.09194533 0.04862260 0.00644564
+v -0.08736169 0.11423349 -0.04043829
+v 0.02278928 0.04904693 -0.10343482
+v 0.01799534 0.00697769 -0.28269134
+v 0.01281267 0.10114411 0.00853515
+v 0.09565415 0.04264094 -0.01107639
+v 0.03869903 0.09080584 0.01180492
+v -0.09804954 0.09062876 -0.20052698
+v -0.03765519 0.04860276 -0.20945770
+v 0.05323894 0.06405183 0.00255496
+v 0.06801877 0.03406854 -0.08838002
+v -0.05268308 0.09388896 -0.05807729
+v 0.01124330 0.02169982 -0.27837544
+v -0.09811298 0.12087296 -0.09445347
+v -0.06927449 0.10550491 -0.04216015
+v -0.03733674 0.07909507 -0.08838816
+v -0.08418894 0.07669851 -0.17896838
+v -0.08345692 0.10782436 -0.05776176
+f 7 1 2
+f 7 3 1
+f 7 6 4
+f 10 4 6
+f 11 7 4
+f 11 3 7
+f 12 2 1
+f 12 8 6
+f 12 7 2
+f 12 6 7
+f 13 3 11
+f 15 8 12
+f 16 5 10
+f 17 11 4
+f 17 14 9
+f 17 4 14
+f 18 1 3
+f 18 3 13
+f 19 13 11
+f 19 9 13
+f 19 17 9
+f 19 11 17
+f 20 10 5
+f 20 5 14
+f 20 4 10
+f 21 8 15
+f 21 16 8
+f 21 5 16
+f 22 15 13
+f 22 13 9
+f 23 15 12
+f 23 12 1
+f 23 1 18
+f 23 18 13
+f 23 13 15
+f 25 16 10
+f 25 10 6
+f 25 6 8
+f 25 8 16
+f 26 20 14
+f 26 14 4
+f 26 4 20
+f 27 24 9
+f 27 9 14
+f 28 21 15
+f 28 15 22
+f 28 22 9
+f 28 9 24
+f 29 14 5
+f 29 5 21
+f 29 21 28
+f 30 27 14
+f 30 14 29
+f 30 29 28
+f 30 28 24
+f 30 24 27
\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_17/collision/model_normalized_collision_2.obj b/objects/objaverse/plate/plate_17/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8c14a00278f51a6f841fcd63c8925f73dea9d211
--- /dev/null
+++ b/objects/objaverse/plate/plate_17/collision/model_normalized_collision_2.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v -0.08441583 0.07351448 -0.19252260
+v -0.08929598 0.06495051 -0.23635274
+v -0.22892031 0.17995416 -0.15931382
+v -0.22562854 0.21750122 0.12725178
+v -0.22535694 0.14178621 -0.16094226
+v -0.09453028 0.18925579 0.14582943
+v -0.17779692 0.10123219 -0.23811019
+v -0.25812805 0.21151491 0.05284355
+v -0.23990898 0.20975708 -0.03640952
+v -0.08564155 0.16343705 0.13994823
+v -0.09566740 0.08060903 -0.23235526
+v -0.18466906 0.13439918 -0.23599097
+v -0.25606092 0.21762858 0.08176475
+v -0.10737299 0.19447410 0.14427360
+v -0.08496964 0.15010374 0.09420230
+v -0.17986616 0.13070700 -0.24223813
+v -0.08528670 0.08928941 -0.13259049
+v -0.11531653 0.07520515 -0.23926038
+f 7 2 1
+f 8 3 5
+f 9 3 8
+f 10 6 4
+f 11 6 1
+f 11 1 2
+f 12 7 5
+f 12 5 3
+f 13 8 5
+f 13 5 7
+f 13 9 8
+f 13 4 9
+f 14 6 3
+f 14 3 9
+f 14 9 4
+f 14 4 6
+f 15 1 6
+f 15 6 10
+f 15 10 4
+f 15 4 13
+f 16 12 3
+f 16 3 6
+f 16 6 11
+f 16 11 2
+f 16 7 12
+f 17 13 7
+f 17 7 1
+f 17 15 13
+f 17 1 15
+f 18 16 2
+f 18 2 7
+f 18 7 16
\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_17/collision/model_normalized_collision_20.obj b/objects/objaverse/plate/plate_17/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9621ac753cb619f8938aaea89edc47777919613d
--- /dev/null
+++ b/objects/objaverse/plate/plate_17/collision/model_normalized_collision_20.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.36960627 -0.08233302 -0.02551311
+v 0.36558601 -0.08851830 -0.05425066
+v 0.33168707 -0.03183080 -0.07719018
+v 0.31209893 0.03590473 0.12836658
+v 0.32706357 -0.01507351 0.14049903
+v 0.33854901 -0.00366507 0.03066974
+v 0.35735853 -0.06958328 -0.06553027
+v 0.34988874 -0.02835441 0.14337553
+v 0.31345484 -0.07014378 -0.09613604
+v 0.32636419 -0.03405702 -0.09400028
+v 0.34410410 -0.03057685 -0.02197874
+v 0.35543367 -0.03515553 0.12661474
+v 0.31220264 0.02805848 0.14185662
+v 0.34224976 -0.06965983 -0.09559395
+v 0.32073184 -0.03376857 -0.09606980
+v 0.33037996 -0.03929805 -0.09286474
+v 0.36686994 -0.07124952 0.00595007
+v 0.33801302 -0.00055311 0.14646781
+v 0.32146927 0.02410625 0.10273188
+v 0.31600836 0.03201709 0.12665358
+f 7 1 2
+f 7 6 1
+f 8 2 1
+f 9 8 5
+f 9 2 8
+f 10 6 3
+f 10 4 6
+f 11 7 3
+f 11 3 6
+f 11 6 7
+f 12 8 1
+f 13 9 5
+f 13 4 9
+f 14 7 2
+f 14 2 9
+f 15 9 4
+f 15 4 10
+f 15 14 9
+f 15 10 14
+f 16 10 3
+f 16 3 7
+f 16 14 10
+f 16 7 14
+f 17 12 1
+f 17 1 6
+f 17 6 12
+f 18 12 6
+f 18 8 12
+f 18 4 13
+f 18 13 5
+f 18 5 8
+f 19 18 6
+f 19 6 4
+f 20 19 4
+f 20 4 18
+f 20 18 19
\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_17/collision/model_normalized_collision_21.obj b/objects/objaverse/plate/plate_17/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a3b0d724f1eeeba5b4669ba8561535a0e76e70bf
--- /dev/null
+++ b/objects/objaverse/plate/plate_17/collision/model_normalized_collision_21.obj
@@ -0,0 +1,126 @@
+# https://github.com/mikedh/trimesh
+v 0.43225910 -0.12141716 0.25915565
+v 0.42700233 -0.11524812 0.27074967
+v 0.24433041 0.01125961 0.45305346
+v 0.23425816 0.07824650 0.32425513
+v 0.29119555 0.04348637 0.26492887
+v 0.24516819 0.05091543 0.26417835
+v 0.30743799 -0.02773126 0.41008619
+v 0.39396204 -0.05758290 0.26223887
+v 0.23564225 0.02383190 0.45641364
+v 0.23520224 0.07805024 0.26626016
+v 0.39944475 -0.09220244 0.31586749
+v 0.26325362 -0.00137266 0.43867822
+v 0.42431697 -0.10138018 0.26232145
+v 0.28657917 0.02683780 0.36416977
+v 0.30873539 -0.02087858 0.41401504
+v 0.24651262 0.07173818 0.26656696
+v 0.23422896 0.03491243 0.44203817
+v 0.42158422 -0.10145922 0.27558305
+v 0.30214512 0.02704252 0.32139416
+v 0.24532212 0.01827185 0.45270520
+v 0.25338292 0.00745170 0.44898547
+v 0.37086385 -0.06552191 0.35531944
+v 0.23359425 0.06405871 0.38218799
+v 0.25642528 0.02650014 0.42258766
+v 0.42048343 -0.10747911 0.28348186
+v 0.28854919 0.04145810 0.30776484
+v 0.32264954 -0.03603208 0.39982639
+v 0.34566568 -0.01650506 0.32053166
+v 0.40500800 -0.08691636 0.30422971
+v 0.25745474 0.05620470 0.35082522
+v 0.30081248 -0.01465004 0.41793385
+v 0.24327384 0.05762242 0.37951184
+v 0.24382552 0.02872436 0.43872121
+v 0.24443094 0.07151466 0.32360463
+v 0.39829864 -0.09115141 0.31769183
+v 0.33028341 -0.01719350 0.36411002
+v 0.38973084 -0.06035724 0.29086249
+v 0.37739506 -0.06846015 0.34628185
+v 0.41008417 -0.09866194 0.30006718
+v 0.32968658 -0.03038466 0.39163056
+v 0.37492999 -0.04602571 0.30544275
+v 0.37999975 -0.07314432 0.34312498
+v 0.36069943 -0.04600747 0.34965999
+f 6 1 3
+f 6 5 1
+f 8 1 5
+f 9 6 3
+f 10 5 6
+f 10 6 9
+f 11 1 2
+f 12 7 3
+f 12 3 1
+f 12 11 7
+f 12 1 11
+f 13 1 8
+f 16 10 4
+f 16 4 5
+f 16 5 10
+f 17 10 9
+f 18 2 1
+f 18 1 13
+f 18 13 8
+f 19 8 5
+f 20 9 3
+f 20 17 9
+f 21 3 7
+f 21 7 15
+f 21 20 3
+f 21 15 20
+f 23 4 10
+f 23 10 17
+f 25 11 2
+f 25 2 18
+f 26 19 5
+f 27 22 15
+f 27 15 7
+f 28 8 19
+f 28 19 14
+f 29 25 18
+f 30 14 19
+f 30 19 26
+f 30 4 23
+f 31 14 24
+f 31 20 15
+f 32 24 14
+f 32 23 17
+f 32 17 24
+f 32 30 23
+f 32 14 30
+f 33 24 17
+f 33 17 20
+f 33 31 24
+f 33 20 31
+f 34 26 5
+f 34 5 4
+f 34 30 26
+f 34 4 30
+f 35 27 7
+f 35 7 11
+f 35 22 27
+f 36 28 14
+f 37 29 18
+f 37 18 8
+f 39 35 11
+f 39 11 25
+f 39 25 29
+f 39 38 35
+f 39 29 38
+f 40 15 22
+f 40 22 38
+f 40 31 15
+f 40 36 14
+f 40 14 31
+f 41 37 8
+f 41 8 28
+f 41 29 37
+f 42 38 22
+f 42 22 35
+f 42 35 38
+f 43 40 38
+f 43 36 40
+f 43 38 29
+f 43 29 41
+f 43 41 28
+f 43 28 36
\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_17/collision/model_normalized_collision_22.obj b/objects/objaverse/plate/plate_17/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f336a79fc61c6a4cca8e1bf61cd650820a8ddf68
--- /dev/null
+++ b/objects/objaverse/plate/plate_17/collision/model_normalized_collision_22.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.01800917 0.06781215 -0.04027695
+v 0.02091666 0.07445361 -0.01149518
+v -0.14529496 0.15164681 0.00323807
+v -0.15446609 0.17562305 0.00894464
+v 0.01202853 0.11459110 0.05462633
+v -0.14931728 0.14190770 -0.03971332
+v -0.02263920 0.10876032 0.04773691
+v 0.00824744 0.09071191 -0.03379997
+v -0.15871803 0.16547149 -0.03386982
+v 0.01585229 0.09307056 0.05209066
+v -0.06927449 0.10550491 -0.04216015
+v -0.09336820 0.16189531 0.05396358
+v 0.00512495 0.07299368 -0.04159511
+v 0.01970910 0.08688747 0.03467993
+v -0.13116539 0.13350735 -0.04147479
+v -0.08407066 0.13678680 0.04830027
+v 0.00617871 0.10105874 -0.00206639
+v -0.06771371 0.15114836 0.05724827
+v -0.10144297 0.14496121 -0.01698472
+v -0.00605126 0.12322675 0.05663276
+f 7 3 6
+f 8 5 2
+f 8 2 1
+f 9 6 3
+f 9 3 4
+f 11 7 6
+f 11 9 8
+f 12 9 4
+f 13 10 7
+f 13 1 10
+f 13 7 11
+f 13 11 8
+f 13 8 1
+f 14 10 1
+f 14 1 2
+f 14 2 5
+f 14 5 10
+f 15 11 6
+f 15 6 9
+f 15 9 11
+f 16 12 4
+f 16 4 3
+f 16 3 7
+f 16 7 10
+f 17 12 5
+f 17 5 8
+f 18 16 10
+f 18 12 16
+f 19 17 8
+f 19 8 9
+f 19 9 12
+f 19 12 17
+f 20 18 10
+f 20 10 5
+f 20 5 12
+f 20 12 18
\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_17/collision/model_normalized_collision_23.obj b/objects/objaverse/plate/plate_17/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f6aaac645c190618c58b7c0c1428318ae1616fae
--- /dev/null
+++ b/objects/objaverse/plate/plate_17/collision/model_normalized_collision_23.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v 0.31345484 -0.07014378 -0.09613604
+v 0.31840702 -0.03459344 -0.09843977
+v 0.32015689 -0.02575066 0.08178908
+v 0.14757550 0.06702428 0.08554769
+v 0.14582389 0.01616533 -0.09476832
+v 0.31742459 0.01369160 0.08338691
+v 0.32380639 -0.04774811 0.00378860
+v 0.19897210 -0.02492235 -0.11539490
+v 0.13181433 0.03438693 -0.05025881
+v 0.27999275 0.01377727 0.08752857
+v 0.32524984 -0.02791899 -0.05217439
+v 0.32417927 -0.03211386 0.06429566
+v 0.19348415 -0.00795882 -0.11175397
+v 0.21199690 -0.03004811 -0.11405987
+v 0.14242226 0.01597199 -0.04228849
+v 0.14454291 0.06020724 0.05691759
+v 0.20479143 0.04402306 0.08772502
+v 0.32409056 0.00430334 0.05820432
+v 0.15558203 -0.00454337 -0.10155119
+v 0.15618333 0.04240148 0.07965202
+v 0.13334805 0.03790383 -0.03604478
+v 0.16042189 0.06226926 0.08671201
+v 0.14126307 0.01279681 -0.05660199
+v 0.15838546 0.03302503 0.04795562
+f 6 2 4
+f 9 2 5
+f 10 3 6
+f 11 7 1
+f 11 1 2
+f 12 1 7
+f 12 7 11
+f 13 5 2
+f 13 2 8
+f 14 8 2
+f 14 2 1
+f 14 1 8
+f 16 4 2
+f 17 10 6
+f 17 3 10
+f 18 11 2
+f 18 2 6
+f 18 12 11
+f 18 6 3
+f 18 3 12
+f 19 13 8
+f 19 5 13
+f 19 8 1
+f 20 9 15
+f 20 3 17
+f 20 12 3
+f 21 4 16
+f 21 20 4
+f 21 9 20
+f 21 16 2
+f 21 2 9
+f 22 17 6
+f 22 6 4
+f 22 20 17
+f 22 4 20
+f 23 19 1
+f 23 1 15
+f 23 15 9
+f 23 9 5
+f 23 5 19
+f 24 20 15
+f 24 15 1
+f 24 1 12
+f 24 12 20
\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_17/collision/model_normalized_collision_24.obj b/objects/objaverse/plate/plate_17/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2f66dc43553bad8c6fd09ce87bd71514fcb464eb
--- /dev/null
+++ b/objects/objaverse/plate/plate_17/collision/model_normalized_collision_24.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.32313324 -0.01991617 0.11071918
+v 0.32015689 -0.02575066 0.08178908
+v 0.30767656 0.03883707 0.13324157
+v 0.13542399 0.08924111 0.14402121
+v 0.13808346 0.05031027 0.08163098
+v 0.32025504 -0.01087171 0.14262503
+v 0.31962467 0.01866273 0.08996847
+v 0.30521940 0.04267911 0.14532629
+v 0.14362911 0.06358312 0.13863416
+v 0.29445720 -0.01496911 0.07906929
+v 0.12996838 0.07522735 0.08763048
+v 0.17471927 0.07408828 0.14852709
+v 0.31652030 0.02698119 0.10715159
+v 0.15618333 0.04240148 0.07965202
+v 0.18747213 0.02949489 0.07911019
+f 5 2 1
+f 6 5 1
+f 7 1 2
+f 7 6 1
+f 8 3 4
+f 9 5 6
+f 10 7 2
+f 11 4 3
+f 11 9 4
+f 11 5 9
+f 12 8 4
+f 12 6 8
+f 12 9 6
+f 12 4 9
+f 13 3 8
+f 13 11 3
+f 13 7 11
+f 13 8 6
+f 13 6 7
+f 14 10 2
+f 14 2 5
+f 14 11 7
+f 14 5 11
+f 15 14 7
+f 15 7 10
+f 15 10 14
\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_17/collision/model_normalized_collision_25.obj b/objects/objaverse/plate/plate_17/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eb3676355d8117d7c72ed4beb37554df77b397d5
--- /dev/null
+++ b/objects/objaverse/plate/plate_17/collision/model_normalized_collision_25.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v -0.15583648 0.20284971 0.10086463
+v -0.15268184 0.20995379 0.12902756
+v -0.44725927 0.21481352 0.12443547
+v -0.36131074 0.24036965 0.12908952
+v -0.22247616 0.24221215 0.05591206
+v -0.15789378 0.21335420 0.13261334
+v -0.17703005 0.24514382 0.13498843
+v -0.46659591 0.20318135 0.05166783
+v -0.21359114 0.24297332 0.07371274
+v -0.42098275 0.22616927 0.12912335
+v -0.18614308 0.20280118 0.05530890
+v -0.40564526 0.22509889 0.05491722
+v -0.44544319 0.21672290 0.12553657
+v -0.23277979 0.24026621 0.05216205
+v -0.33310108 0.23929347 0.07029427
+v -0.36157222 0.23902273 0.09958998
+v -0.46034996 0.20843559 0.05463931
+v -0.45427822 0.21200010 0.10491264
+v -0.42888415 0.21012176 0.05117383
+v -0.41993463 0.22289101 0.07008296
+f 1 2 3
+f 6 3 2
+f 7 2 1
+f 7 1 5
+f 7 6 2
+f 8 1 3
+f 9 7 5
+f 9 5 4
+f 9 4 7
+f 10 7 4
+f 10 6 7
+f 11 5 1
+f 11 1 8
+f 13 3 6
+f 13 6 10
+f 14 5 11
+f 15 4 5
+f 15 14 12
+f 15 5 14
+f 16 10 4
+f 16 15 12
+f 16 4 15
+f 17 12 8
+f 17 13 10
+f 18 8 3
+f 18 3 13
+f 18 17 8
+f 18 13 17
+f 19 14 11
+f 19 11 8
+f 19 8 12
+f 19 12 14
+f 20 16 12
+f 20 10 16
+f 20 17 10
+f 20 12 17
\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_17/collision/model_normalized_collision_26.obj b/objects/objaverse/plate/plate_17/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b033644c22fd125c76f08b7eb03048df66ae5af5
--- /dev/null
+++ b/objects/objaverse/plate/plate_17/collision/model_normalized_collision_26.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v -0.08682240 0.16135109 0.47463679
+v -0.09026980 0.20114259 0.34139879
+v -0.09495316 0.20811530 0.38150152
+v -0.28223797 0.22068440 0.37587405
+v -0.27010563 0.21126534 0.37061113
+v -0.13930796 0.22550201 0.33811487
+v -0.13373130 0.18295526 0.45973832
+v -0.08847586 0.19538082 0.37453300
+v -0.19960838 0.19546635 0.43382460
+v -0.09348402 0.21706666 0.33951299
+v -0.16886335 0.20769350 0.41015480
+v -0.22795371 0.23068109 0.33837274
+v -0.09447624 0.18064483 0.45592586
+v -0.26053602 0.20905556 0.38766290
+v -0.17482966 0.18828921 0.44640167
+v -0.13921728 0.22274219 0.35183226
+v -0.19871652 0.19797287 0.43441975
+v -0.28342569 0.21676745 0.37147919
+v -0.25141068 0.21466795 0.39867858
+v -0.22809404 0.21916924 0.34313434
+v -0.09243660 0.17243252 0.47177014
+v -0.12448979 0.19215597 0.43960823
+v -0.25685570 0.21337518 0.39598041
+v -0.12364499 0.17291119 0.46388885
+v -0.17548121 0.18835351 0.44611026
+v -0.10992716 0.20633026 0.39509501
+v -0.19827130 0.22309779 0.36604262
+v -0.28203934 0.22012550 0.37260232
+v -0.09483275 0.19323646 0.42496297
+v -0.10783901 0.17861904 0.46451897
+v -0.28339652 0.21751550 0.37372179
+v -0.09994468 0.16606842 0.47122956
+f 5 2 1
+f 8 1 2
+f 8 3 1
+f 10 2 6
+f 10 8 2
+f 10 3 8
+f 12 6 2
+f 14 5 1
+f 16 10 6
+f 16 3 10
+f 16 6 12
+f 17 15 7
+f 18 5 14
+f 19 12 4
+f 19 17 11
+f 20 12 2
+f 20 2 5
+f 20 18 12
+f 20 5 18
+f 22 17 7
+f 22 11 17
+f 23 14 9
+f 23 19 4
+f 23 9 17
+f 23 17 19
+f 24 7 15
+f 25 14 1
+f 25 24 15
+f 25 1 24
+f 25 9 14
+f 25 17 9
+f 25 15 17
+f 26 16 11
+f 26 3 16
+f 26 11 22
+f 27 16 12
+f 27 11 16
+f 27 19 11
+f 27 12 19
+f 28 4 12
+f 28 12 18
+f 29 21 1
+f 29 1 3
+f 29 13 21
+f 29 3 26
+f 29 26 22
+f 29 22 13
+f 30 21 13
+f 30 13 22
+f 30 22 7
+f 30 7 21
+f 31 18 14
+f 31 14 23
+f 31 23 4
+f 31 28 18
+f 31 4 28
+f 32 21 7
+f 32 7 24
+f 32 24 1
+f 32 1 21
\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_17/collision/model_normalized_collision_27.obj b/objects/objaverse/plate/plate_17/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9fdacfc42724014b7293c636d7261d468035ce2b
--- /dev/null
+++ b/objects/objaverse/plate/plate_17/collision/model_normalized_collision_27.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.34077243 -0.08629557 -0.13993665
+v 0.34877254 -0.07559418 -0.09910876
+v 0.13741188 0.00327526 -0.09967302
+v 0.15054813 0.01335333 -0.09836050
+v 0.25827977 -0.04357720 -0.22353002
+v 0.18996417 -0.00149038 -0.09411999
+v 0.28084055 -0.05739129 -0.10398857
+v 0.32731236 -0.03600429 -0.09606536
+v 0.14139811 -0.03324895 -0.23856046
+v 0.34224976 -0.06965983 -0.09559395
+v 0.29891166 -0.04344907 -0.16404307
+v 0.28132227 -0.08536113 -0.23062585
+v 0.12989034 -0.01522478 -0.23102809
+v 0.20340690 -0.06071252 -0.23947041
+v 0.31365405 -0.04247290 -0.13596180
+v 0.29501534 -0.08717084 -0.21472213
+v 0.27087346 -0.04429545 -0.20735903
+f 6 4 3
+f 7 1 2
+f 8 2 1
+f 8 5 4
+f 8 4 6
+f 10 6 3
+f 10 8 6
+f 10 2 8
+f 10 7 2
+f 10 3 7
+f 11 5 8
+f 13 9 3
+f 13 3 4
+f 13 4 5
+f 13 5 9
+f 14 7 3
+f 14 3 9
+f 14 9 5
+f 14 5 12
+f 15 11 8
+f 15 8 1
+f 15 1 11
+f 16 11 1
+f 16 14 12
+f 16 1 7
+f 16 7 14
+f 16 12 5
+f 17 16 5
+f 17 5 11
+f 17 11 16
\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_17/collision/model_normalized_collision_28.obj b/objects/objaverse/plate/plate_17/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d09af0e63d61f64e363c1f15812f158421c44878
--- /dev/null
+++ b/objects/objaverse/plate/plate_17/collision/model_normalized_collision_28.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v -0.22808087 0.21151875 0.37143033
+v -0.18450505 0.20597661 0.14511306
+v -0.18019857 0.24696494 0.14126632
+v -0.30181188 0.23867522 0.27721691
+v -0.44725927 0.21481352 0.12443547
+v -0.18326051 0.22994600 0.33822510
+v -0.35313811 0.22136675 0.29810334
+v -0.22562854 0.21750122 0.12725178
+v -0.36131074 0.24036965 0.12908952
+v -0.19929414 0.23909217 0.29327874
+v -0.29928562 0.22276008 0.34928446
+v -0.18211378 0.21724756 0.34238075
+v -0.28945896 0.21822667 0.36246086
+v -0.34612948 0.23846446 0.23284919
+v -0.23178465 0.23861501 0.13150248
+v -0.18460723 0.23927207 0.27908955
+v -0.27214389 0.23881850 0.29218732
+v -0.32152688 0.22394087 0.32880874
+v -0.22789521 0.22321280 0.36604309
+v -0.41430162 0.22515364 0.19758138
+v -0.29252399 0.21971287 0.35848618
+v -0.38059949 0.22763787 0.25390808
+v -0.24257555 0.22282510 0.36596348
+v -0.36090275 0.23848753 0.20310007
+v -0.42098275 0.22616927 0.12912335
+v -0.39257476 0.22361826 0.24024460
+v -0.35142973 0.22392166 0.29797175
+v -0.44544319 0.21672290 0.12553657
+v -0.42485917 0.22203509 0.17908209
+v -0.39289265 0.22364490 0.23971297
+v -0.44136946 0.21810739 0.14010056
+f 5 2 1
+f 8 3 2
+f 8 2 5
+f 9 8 5
+f 12 6 1
+f 12 1 2
+f 12 2 3
+f 12 3 6
+f 13 7 5
+f 13 5 1
+f 14 4 3
+f 14 3 9
+f 15 9 3
+f 15 3 8
+f 15 8 9
+f 16 10 6
+f 16 6 3
+f 16 3 10
+f 17 10 3
+f 17 3 4
+f 17 6 10
+f 17 4 11
+f 18 7 13
+f 18 11 4
+f 19 1 6
+f 19 6 17
+f 21 18 13
+f 21 11 18
+f 22 18 4
+f 22 4 14
+f 23 13 1
+f 23 1 19
+f 23 21 13
+f 23 11 21
+f 23 19 17
+f 23 17 11
+f 24 14 9
+f 24 22 14
+f 24 20 22
+f 25 24 9
+f 25 20 24
+f 26 5 7
+f 26 7 22
+f 27 22 7
+f 27 7 18
+f 27 18 22
+f 28 25 9
+f 28 9 5
+f 29 5 26
+f 30 29 26
+f 30 20 29
+f 30 26 22
+f 30 22 20
+f 31 28 5
+f 31 5 29
+f 31 25 28
+f 31 29 20
+f 31 20 25
\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_17/collision/model_normalized_collision_29.obj b/objects/objaverse/plate/plate_17/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..080e3396bbc986627e4c6660f59783f352ce2a10
--- /dev/null
+++ b/objects/objaverse/plate/plate_17/collision/model_normalized_collision_29.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.15643200 -0.01672426 -0.14764605
+v 0.15325717 -0.02556008 -0.19098469
+v 0.14757550 0.06702428 0.08554769
+v 0.13455630 0.07214056 0.08398867
+v 0.09697643 0.04580727 0.00337669
+v 0.14712241 -0.01016006 -0.18696812
+v 0.09558289 -0.00310238 -0.19245361
+v 0.15618333 0.04240148 0.07965202
+v 0.12771809 -0.01270279 -0.17831905
+v 0.09813825 0.03349185 -0.04293179
+v 0.12718580 -0.01534433 -0.19334122
+v 0.08377572 0.05864639 -0.03334392
+v 0.15686502 -0.00139667 -0.08726639
+v 0.14305606 0.04737407 0.07829334
+v 0.08462360 0.01581861 -0.18584996
+v 0.08806045 0.06917379 0.00907136
+v 0.08377228 0.02868182 -0.13973621
+v 0.12359486 0.05194493 0.06604244
+f 6 4 3
+f 6 1 2
+f 6 3 1
+f 9 7 2
+f 9 2 1
+f 10 1 5
+f 10 5 7
+f 10 9 1
+f 10 7 9
+f 11 6 2
+f 11 2 7
+f 13 8 5
+f 13 5 1
+f 13 1 3
+f 13 3 8
+f 14 8 3
+f 14 3 4
+f 15 11 7
+f 15 6 11
+f 15 4 6
+f 16 12 5
+f 16 15 12
+f 16 4 15
+f 17 15 7
+f 17 7 5
+f 17 5 12
+f 17 12 15
+f 18 14 4
+f 18 4 16
+f 18 16 5
+f 18 5 8
+f 18 8 14
\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_17/collision/model_normalized_collision_3.obj b/objects/objaverse/plate/plate_17/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..79190e4990e812c22acc8219a7bffc4883237d6a
--- /dev/null
+++ b/objects/objaverse/plate/plate_17/collision/model_normalized_collision_3.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v 0.38823180 -0.05064957 0.26420123
+v 0.40000753 -0.05436281 0.14443159
+v 0.24618538 0.08773147 0.21139617
+v 0.13530585 0.14927786 0.26577243
+v 0.04477190 0.12014328 0.18930077
+v 0.29119555 0.04348637 0.26492887
+v 0.13855236 0.06657300 0.14195911
+v 0.13950371 0.09869571 0.26283916
+v 0.13034958 0.09231245 0.14739058
+v 0.18657994 0.12239403 0.25622388
+v 0.36018072 -0.03554743 0.26734997
+v 0.34777324 -0.00222984 0.24846505
+v 0.04990359 0.11681686 0.18573205
+v 0.04768602 0.12688623 0.21781001
+v 0.30521940 0.04267911 0.14532629
+v 0.24030655 0.09057435 0.22461831
+v 0.16242229 0.13644956 0.25849469
+v 0.15783356 0.13846125 0.26596075
+v 0.38113396 -0.04121630 0.26291730
+v 0.18812228 0.04597535 0.13943234
+v 0.39129302 -0.04550416 0.21798631
+v 0.30044672 0.04638592 0.15565532
+v 0.35693532 -0.03351027 0.14164077
+v 0.15641125 0.05865271 0.13967761
+v 0.36228050 -0.01664144 0.24813274
+v 0.39263571 -0.04637423 0.14503457
+v 0.39822173 -0.05443605 0.21855268
+f 7 2 1
+f 9 5 4
+f 11 1 6
+f 11 4 8
+f 12 3 6
+f 13 7 1
+f 13 9 7
+f 13 5 9
+f 13 11 5
+f 13 1 11
+f 14 8 4
+f 14 4 5
+f 14 11 8
+f 14 5 11
+f 15 9 4
+f 16 10 6
+f 16 6 3
+f 16 3 10
+f 17 10 3
+f 17 15 4
+f 17 3 15
+f 18 6 10
+f 18 11 6
+f 18 4 11
+f 18 17 4
+f 18 10 17
+f 19 12 6
+f 19 6 1
+f 22 15 3
+f 22 3 12
+f 22 12 15
+f 23 20 15
+f 23 15 2
+f 24 7 9
+f 24 9 15
+f 24 15 20
+f 24 20 23
+f 24 23 2
+f 24 2 7
+f 25 21 15
+f 25 15 12
+f 25 12 19
+f 25 19 21
+f 26 21 2
+f 26 2 15
+f 26 15 21
+f 27 21 19
+f 27 19 1
+f 27 1 2
+f 27 2 21
\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_17/collision/model_normalized_collision_30.obj b/objects/objaverse/plate/plate_17/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af59199e7801acdfca23c4b92f061b6529c18ae9
--- /dev/null
+++ b/objects/objaverse/plate/plate_17/collision/model_normalized_collision_30.obj
@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
+v 0.13546725 0.07569560 0.48945316
+v 0.14154988 0.10043965 0.40495371
+v 0.05201987 0.16092225 0.39595475
+v -0.09250790 0.20660140 0.38509102
+v -0.08784134 0.16911774 0.45402553
+v 0.13171788 0.12743304 0.38431908
+v 0.11961444 0.07733875 0.49026548
+v -0.08912439 0.19192248 0.38942890
+v 0.00947408 0.13510064 0.49232366
+v 0.05314278 0.16393341 0.38264874
+v 0.14305386 0.08644585 0.43812724
+v 0.12556166 0.11699022 0.42387082
+v -0.09483275 0.19323646 0.42496297
+v 0.13721473 0.10775815 0.38712046
+v -0.01321600 0.13491115 0.50000000
+v -0.03584409 0.19416479 0.38236279
+v 0.11380899 0.13674037 0.38321838
+v 0.05313382 0.11745690 0.49360331
+v 0.07857963 0.09411040 0.49755787
+v -0.08977380 0.16707366 0.47724385
+v -0.03664326 0.19074956 0.39553174
+v 0.11045502 0.13046420 0.40947751
+v 0.12554619 0.08737427 0.48239622
+v 0.03662810 0.14497752 0.45276215
+v 0.11015382 0.08888271 0.49321788
+v -0.07969449 0.15819412 0.47869677
+v -0.06408978 0.16277665 0.47980809
+v -0.08056861 0.19083074 0.42418412
+v 0.03669083 0.13048222 0.48222456
+v -0.00708502 0.16019882 0.45302517
+v 0.06663651 0.14557571 0.42346673
+v -0.04956239 0.14635183 0.48960154
+v -0.02904614 0.14622918 0.49108810
+v -0.06594833 0.17584859 0.45349898
+v -0.00719240 0.14608645 0.48269092
+f 8 7 5
+f 11 6 1
+f 11 2 6
+f 11 1 7
+f 11 7 8
+f 12 1 6
+f 13 8 5
+f 13 4 8
+f 14 6 2
+f 14 11 8
+f 14 2 11
+f 14 8 4
+f 16 3 10
+f 16 14 4
+f 17 10 3
+f 17 16 10
+f 17 6 14
+f 17 14 16
+f 18 9 15
+f 19 7 1
+f 19 18 15
+f 20 13 5
+f 21 16 4
+f 21 3 16
+f 22 12 6
+f 22 6 17
+f 22 17 3
+f 23 1 12
+f 23 12 18
+f 25 19 1
+f 25 18 19
+f 25 23 18
+f 25 1 23
+f 26 7 19
+f 26 20 5
+f 26 5 7
+f 27 20 15
+f 27 13 20
+f 28 21 4
+f 28 4 13
+f 29 9 18
+f 29 18 24
+f 30 3 21
+f 31 22 3
+f 31 30 24
+f 31 3 30
+f 31 12 22
+f 31 24 18
+f 31 18 12
+f 32 26 19
+f 32 19 15
+f 32 15 20
+f 32 20 26
+f 33 27 15
+f 33 15 9
+f 34 28 13
+f 34 13 27
+f 34 30 21
+f 34 21 28
+f 35 29 24
+f 35 9 29
+f 35 24 30
+f 35 33 9
+f 35 27 33
+f 35 34 27
+f 35 30 34
\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_17/collision/model_normalized_collision_31.obj b/objects/objaverse/plate/plate_17/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a3ffec27a71957aad9668086d99366ab95af35ad
--- /dev/null
+++ b/objects/objaverse/plate/plate_17/collision/model_normalized_collision_31.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.33506335 -0.24153661 -0.31243918
+v 0.32288119 -0.24007303 -0.33036244
+v 0.29687088 -0.15708727 -0.30585416
+v 0.26471179 -0.14560816 -0.31800063
+v 0.22835011 -0.22646749 -0.41048873
+v 0.32179211 -0.18949446 -0.30170153
+v 0.24387621 -0.22967688 -0.39942475
+v 0.22119501 -0.15722474 -0.37988089
+v 0.31754495 -0.22161496 -0.32777913
+v 0.24557925 -0.22993509 -0.39837877
+v 0.23428623 -0.14577996 -0.34899731
+v 0.27096671 -0.16481025 -0.33977122
+v 0.24319846 -0.22115959 -0.39951438
+v 0.22015553 -0.20280975 -0.40853732
+v 0.29108059 -0.16071979 -0.31547618
+v 0.24231602 -0.19310920 -0.38485932
+v 0.21910392 -0.17382708 -0.39236808
+v 0.31566061 -0.19311668 -0.31153807
+v 0.23107952 -0.16131743 -0.37428577
+v 0.23005713 -0.20626751 -0.40252965
+v 0.22903869 -0.17746026 -0.38655155
+f 6 3 4
+f 6 4 1
+f 7 1 5
+f 9 6 1
+f 9 1 2
+f 10 2 1
+f 10 1 7
+f 10 7 5
+f 11 4 3
+f 11 3 8
+f 11 5 1
+f 11 1 4
+f 12 8 3
+f 13 9 2
+f 13 2 10
+f 13 10 5
+f 14 5 11
+f 14 13 5
+f 15 12 3
+f 15 3 6
+f 16 12 9
+f 16 9 13
+f 17 14 11
+f 17 11 8
+f 18 15 6
+f 18 6 9
+f 18 9 12
+f 18 12 15
+f 19 8 12
+f 19 12 16
+f 20 16 13
+f 20 13 14
+f 21 14 17
+f 21 20 14
+f 21 16 20
+f 21 19 16
+f 21 17 8
+f 21 8 19
\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_17/collision/model_normalized_collision_4.obj b/objects/objaverse/plate/plate_17/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd795464904e5278e6610679d97e79f40ba6dd73
--- /dev/null
+++ b/objects/objaverse/plate/plate_17/collision/model_normalized_collision_4.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v -0.16894335 0.08568459 -0.27905494
+v -0.16475127 0.09626113 -0.23676500
+v -0.33560314 0.11333851 -0.27062188
+v -0.24656802 0.18374096 -0.15056429
+v -0.16728772 0.12251045 -0.27283307
+v -0.18093921 0.12402463 -0.16027364
+v -0.24081196 0.10322317 -0.28691386
+v -0.33364010 0.14491413 -0.23205251
+v -0.16806031 0.13361707 -0.15870612
+v -0.31935285 0.10808344 -0.28238857
+v -0.22632988 0.17872648 -0.17331279
+v -0.27151298 0.15813743 -0.16169098
+v -0.17313703 0.13670223 -0.15532181
+v -0.31762325 0.12311877 -0.27305462
+v -0.23106503 0.18442625 -0.15783236
+v -0.27463278 0.17430276 -0.15688690
+v -0.33512694 0.13087732 -0.24069172
+v -0.17672337 0.13230794 -0.25878167
+v -0.33197530 0.13234816 -0.25475805
+v -0.33654215 0.12017695 -0.25910148
+f 1 2 3
+f 5 2 1
+f 6 3 2
+f 7 5 1
+f 9 6 2
+f 9 2 5
+f 10 7 1
+f 10 1 3
+f 13 6 9
+f 14 5 7
+f 14 7 10
+f 14 8 11
+f 14 10 3
+f 15 11 8
+f 15 8 4
+f 15 4 13
+f 15 13 9
+f 16 4 8
+f 16 8 12
+f 16 13 4
+f 16 12 6
+f 16 6 13
+f 17 12 8
+f 17 6 12
+f 18 14 11
+f 18 5 14
+f 18 11 15
+f 18 15 9
+f 18 9 5
+f 19 14 3
+f 19 8 14
+f 20 17 8
+f 20 3 6
+f 20 6 17
+f 20 19 3
+f 20 8 19
\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_17/collision/model_normalized_collision_5.obj b/objects/objaverse/plate/plate_17/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..56033e919a66c64fd44f698b13aa4cbb426869e5
--- /dev/null
+++ b/objects/objaverse/plate/plate_17/collision/model_normalized_collision_5.obj
@@ -0,0 +1,177 @@
+# https://github.com/mikedh/trimesh
+v 0.23084721 -0.22393465 -0.40629526
+v 0.23567306 -0.19114662 -0.38140582
+v 0.01949586 -0.02007010 -0.36143019
+v -0.04645840 0.01328289 -0.37092513
+v 0.06614143 -0.10526312 -0.44391279
+v -0.04111768 -0.00323029 -0.37877981
+v 0.18327282 -0.16422792 -0.41360427
+v 0.15887179 -0.07318908 -0.34863540
+v -0.04078161 -0.13550065 -0.49959065
+v 0.21333481 -0.17819940 -0.39965090
+v 0.05074506 -0.06315271 -0.41596412
+v 0.04239067 -0.00385326 -0.34674232
+v 0.12425483 -0.09300606 -0.40019528
+v 0.09974813 -0.18872132 -0.47496865
+v -0.05004837 -0.11645363 -0.49262728
+v 0.17044506 -0.20431219 -0.44432355
+v 0.21864303 -0.11598189 -0.34754051
+v 0.01389211 -0.00236205 -0.35528791
+v -0.00850767 -0.03412559 -0.41590737
+v 0.13935022 -0.12057260 -0.41397233
+v 0.09528781 -0.10563855 -0.42910569
+v 0.09532552 -0.06373607 -0.38791885
+v 0.12163739 -0.19849564 -0.46712193
+v 0.03766042 -0.16113849 -0.48945890
+v 0.21408458 -0.20712874 -0.41557047
+v 0.21324553 -0.13571434 -0.37064811
+v 0.20300450 -0.10259574 -0.34718967
+v 0.23311643 -0.16271801 -0.36348248
+v 0.00607521 -0.01983942 -0.38934994
+v -0.04992840 -0.07171963 -0.46352649
+v 0.12471494 -0.17857206 -0.45837424
+v 0.05095042 -0.07746543 -0.42951979
+v 0.13980763 -0.07877381 -0.37275561
+v 0.19087471 -0.21757958 -0.43371033
+v 0.03879814 -0.16958320 -0.49136335
+v 0.13270469 -0.20085655 -0.46256186
+v -0.00724104 -0.10472885 -0.47315071
+v 0.02244639 -0.14826713 -0.48837051
+v 0.18423852 -0.19269758 -0.42936315
+v 0.18299130 -0.10791921 -0.37046562
+v -0.05111714 0.00118224 -0.39292416
+v 0.09512848 -0.14906936 -0.45751682
+v -0.00811058 -0.04795941 -0.43019659
+v 0.15536754 -0.07820604 -0.35892976
+v 0.21870258 -0.22251213 -0.41709757
+v 0.07420297 -0.18073770 -0.48299371
+v 0.00414360 -0.15370946 -0.49622815
+v 0.17633339 -0.21308513 -0.44186251
+v 0.09600275 -0.17805017 -0.47314806
+v -0.03594102 -0.07364227 -0.46099894
+v 0.00744198 -0.09021816 -0.45834530
+v -0.03600179 -0.11798634 -0.48980933
+v 0.19852971 -0.10760212 -0.35679323
+v 0.21368955 -0.12104384 -0.35699971
+v -0.03733438 -0.00241474 -0.39043671
+v 0.08078729 -0.16378243 -0.47264296
+v 0.04058843 -0.16947705 -0.49090896
+v 0.03654829 -0.16851457 -0.49184052
+v 0.17147102 -0.21038961 -0.44460268
+v 0.17091550 -0.21114217 -0.44471657
+f 1 2 3
+f 6 1 3
+f 6 3 4
+f 9 1 6
+f 10 2 1
+f 15 9 6
+f 15 6 4
+f 18 12 4
+f 18 4 3
+f 18 3 12
+f 21 13 20
+f 22 13 11
+f 22 11 12
+f 25 10 1
+f 26 2 10
+f 26 10 7
+f 26 7 20
+f 27 8 12
+f 27 12 17
+f 28 17 12
+f 28 12 3
+f 28 3 2
+f 28 26 17
+f 28 2 26
+f 29 12 11
+f 29 11 19
+f 31 20 7
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+f 33 22 12
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+f 49 16 36
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+f 49 46 24
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+f 51 32 5
+f 51 38 37
+f 51 5 38
+f 51 37 50
+f 51 50 43
+f 51 43 32
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+f 52 50 37
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+f 52 9 15
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+f 54 26 40
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+f 54 40 53
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+f 56 5 42
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+f 56 49 24
+f 56 42 49
+f 57 46 35
+f 57 24 46
+f 58 35 9
+f 58 9 47
+f 58 57 35
+f 58 47 24
+f 58 24 57
+f 59 36 16
+f 59 16 34
+f 59 34 48
+f 60 59 48
+f 60 48 36
+f 60 36 59
\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_17/collision/model_normalized_collision_6.obj b/objects/objaverse/plate/plate_17/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea04ee9c818c62e160c479d559e1c887acbab969
--- /dev/null
+++ b/objects/objaverse/plate/plate_17/collision/model_normalized_collision_6.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v -0.22535694 0.14178621 -0.16094226
+v -0.22276118 0.14847074 -0.13241085
+v -0.30186752 0.22232128 0.05072366
+v -0.30413860 0.23667324 0.05379515
+v -0.22247616 0.24221215 0.05591206
+v -0.30157933 0.16416150 -0.16396444
+v -0.19898523 0.20800801 0.05382159
+v -0.30535728 0.18014796 -0.15338275
+v -0.22302621 0.19343394 0.03451984
+v -0.23390709 0.18701726 -0.15477106
+v -0.20426723 0.21134440 0.05729257
+v -0.30519286 0.22817301 0.01042048
+v -0.22202592 0.18093155 -0.01175097
+v -0.20049557 0.20457392 0.03965644
+v -0.25244994 0.15150849 -0.16383609
+v -0.22662123 0.19933645 0.05208044
+v -0.30584058 0.19559474 -0.10881673
+v -0.25054540 0.22548268 -0.03483689
+v -0.24965707 0.20963798 -0.09274998
+v -0.23531024 0.23963275 0.03921419
+v -0.24436418 0.22589170 -0.03397715
+v -0.22634224 0.24079536 0.04495588
+v -0.24431630 0.20873517 -0.09406187
+f 6 1 2
+f 7 2 1
+f 8 6 3
+f 9 6 2
+f 9 3 6
+f 10 5 7
+f 10 6 8
+f 11 7 5
+f 11 5 4
+f 11 4 3
+f 12 3 4
+f 13 9 2
+f 13 2 7
+f 13 7 9
+f 14 10 7
+f 14 7 1
+f 14 1 10
+f 15 10 1
+f 15 1 6
+f 15 6 10
+f 16 9 7
+f 16 7 11
+f 16 11 3
+f 16 3 9
+f 17 8 3
+f 17 3 12
+f 18 12 4
+f 18 17 12
+f 19 10 8
+f 19 8 17
+f 19 17 18
+f 20 18 4
+f 20 4 5
+f 21 19 18
+f 21 18 20
+f 22 5 10
+f 22 21 20
+f 22 20 5
+f 23 10 19
+f 23 19 21
+f 23 22 10
+f 23 21 22
\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_17/collision/model_normalized_collision_7.obj b/objects/objaverse/plate/plate_17/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..507f94651817629aa884e0643be46d5dff229a66
--- /dev/null
+++ b/objects/objaverse/plate/plate_17/collision/model_normalized_collision_7.obj
@@ -0,0 +1,150 @@
+# https://github.com/mikedh/trimesh
+v -0.27189775 0.13031316 -0.23927978
+v -0.27055447 0.13552752 -0.22597814
+v -0.27062663 0.20403621 0.00542752
+v -0.40564526 0.22509889 0.05491722
+v -0.37619121 0.17676419 -0.15144909
+v -0.44505981 0.11125632 -0.23174052
+v -0.29059279 0.16167969 -0.19679492
+v -0.43556877 0.11688686 -0.21474187
+v -0.47407960 0.17799591 -0.06313447
+v -0.27606914 0.14713391 -0.22691248
+v -0.29105667 0.22649157 0.01102489
+v -0.40441943 0.20574180 -0.04765014
+v -0.43356956 0.16080940 -0.15048179
+v -0.46659591 0.20318135 0.05166783
+v -0.39791937 0.11680977 -0.24199339
+v -0.34638955 0.14705378 -0.22493457
+v -0.27431467 0.21262498 -0.03431440
+v -0.30413860 0.23667324 0.05379515
+v -0.37662280 0.20772114 -0.06295416
+v -0.46940096 0.15208526 -0.13675215
+v -0.39026811 0.19118315 -0.10663719
+v -0.44950915 0.20793683 0.02569419
+v -0.34716079 0.16160461 -0.19574640
+v -0.40432002 0.13279687 -0.22476476
+v -0.27513511 0.19557558 -0.09372007
+v -0.27406302 0.22291193 0.00825568
+v -0.30186752 0.22232128 0.05072366
+v -0.37640032 0.22225698 -0.00392272
+v -0.44361876 0.11915815 -0.22412505
+v -0.47266667 0.16361901 -0.10590005
+v -0.46669469 0.13798581 -0.16420667
+v -0.40409503 0.17629102 -0.13594609
+v -0.46363989 0.19080841 -0.03282305
+v -0.45089826 0.21180644 0.05482199
+v -0.38953831 0.16080852 -0.18001812
+v -0.29181077 0.20744448 -0.06296257
+v -0.29159461 0.22317523 -0.00334090
+v -0.39027817 0.22238878 0.01097040
+v -0.41854245 0.14497203 -0.19416062
+v -0.47102341 0.19850618 0.03443020
+v -0.47285355 0.15104809 -0.13060463
+v -0.45705145 0.12680925 -0.19611019
+v -0.43426822 0.20734263 -0.00380950
+v -0.40525708 0.22330843 0.04038803
+v -0.46477198 0.20516904 0.05307155
+v -0.38937690 0.14593307 -0.20918148
+v -0.47163809 0.19389807 -0.00377751
+v -0.47024344 0.14649027 -0.14392560
+v -0.47171629 0.19496999 0.01933694
+v -0.45597780 0.12551649 -0.19932947
+v -0.47007503 0.19966192 0.03713168
+f 1 2 3
+f 8 6 1
+f 8 1 3
+f 10 2 1
+f 14 6 8
+f 14 8 3
+f 15 1 6
+f 16 10 1
+f 16 1 15
+f 17 3 2
+f 21 19 5
+f 21 12 19
+f 21 9 12
+f 23 7 10
+f 23 10 16
+f 23 19 7
+f 23 5 19
+f 24 16 15
+f 24 15 6
+f 25 17 2
+f 25 2 10
+f 25 10 7
+f 26 11 18
+f 26 18 3
+f 26 3 17
+f 27 14 3
+f 27 3 18
+f 28 19 12
+f 29 20 13
+f 29 24 6
+f 30 13 20
+f 30 9 21
+f 32 21 5
+f 32 30 21
+f 32 13 30
+f 33 12 9
+f 34 27 18
+f 34 18 4
+f 35 5 23
+f 35 23 16
+f 35 32 5
+f 35 13 32
+f 36 25 7
+f 36 7 19
+f 36 17 25
+f 37 26 17
+f 37 11 26
+f 37 17 36
+f 37 36 19
+f 37 19 28
+f 37 28 18
+f 37 18 11
+f 38 4 18
+f 38 18 28
+f 38 28 12
+f 39 29 13
+f 39 24 29
+f 39 13 35
+f 40 31 6
+f 40 6 14
+f 41 30 20
+f 41 31 40
+f 41 9 30
+f 42 6 31
+f 42 31 20
+f 42 20 29
+f 43 33 22
+f 43 12 33
+f 43 38 12
+f 44 34 4
+f 44 22 34
+f 44 4 38
+f 44 43 22
+f 44 38 43
+f 45 14 27
+f 45 27 34
+f 46 35 16
+f 46 16 24
+f 46 39 35
+f 46 24 39
+f 47 33 9
+f 47 22 33
+f 47 45 34
+f 47 34 22
+f 48 41 20
+f 48 20 31
+f 48 31 41
+f 49 41 40
+f 49 9 41
+f 49 47 9
+f 49 40 47
+f 50 42 29
+f 50 29 6
+f 50 6 42
+f 51 40 14
+f 51 14 45
+f 51 47 40
+f 51 45 47
\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_17/collision/model_normalized_collision_8.obj b/objects/objaverse/plate/plate_17/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bbd683d04d6fe3e10031b4c513a7c78614ba24d5
--- /dev/null
+++ b/objects/objaverse/plate/plate_17/collision/model_normalized_collision_8.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v 0.13637093 0.03100948 0.00703895
+v 0.14031889 0.04075695 0.04983213
+v -0.08407066 0.13678680 0.04830027
+v -0.09499994 0.20327767 0.19165982
+v 0.12977233 0.10623546 0.19348940
+v 0.01281267 0.10114411 0.00853515
+v 0.03520542 0.07231550 0.00426427
+v 0.12736033 0.05439222 0.01342227
+v 0.08642386 0.11130551 0.22199578
+v -0.09336820 0.16189531 0.05396358
+v 0.09810230 0.04896842 0.01748310
+v 0.09697643 0.04580727 0.00337669
+v 0.01709283 0.08065862 0.00594193
+v 0.11482752 0.12189874 0.22382901
+v 0.13794294 0.07998217 0.18773120
+v -0.08694151 0.17651675 0.18648059
+v 0.03819879 0.09486090 0.09264468
+v 0.11986038 0.11857900 0.22009422
+v -0.03516285 0.18630111 0.22254059
+v 0.14146457 0.07371145 0.17026801
+v -0.09707461 0.16859091 0.07141923
+v -0.02731003 0.15902945 0.21737949
+v -0.02236566 0.18125918 0.22420875
+v -0.09819364 0.19615442 0.16346790
+f 8 5 2
+f 8 2 1
+f 10 6 3
+f 10 8 6
+f 10 4 8
+f 11 1 2
+f 12 7 6
+f 12 11 7
+f 12 1 11
+f 12 8 1
+f 12 6 8
+f 13 3 6
+f 13 6 7
+f 14 8 4
+f 15 14 9
+f 15 11 2
+f 17 7 11
+f 17 13 7
+f 17 16 3
+f 17 3 13
+f 17 15 9
+f 17 11 15
+f 18 5 8
+f 18 8 14
+f 18 15 5
+f 18 14 15
+f 20 15 2
+f 20 2 5
+f 20 5 15
+f 21 10 3
+f 21 3 16
+f 21 4 10
+f 22 17 9
+f 22 16 17
+f 22 19 4
+f 22 4 16
+f 23 9 14
+f 23 14 4
+f 23 4 19
+f 23 22 9
+f 23 19 22
+f 24 21 16
+f 24 16 4
+f 24 4 21
\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_17/collision/model_normalized_collision_9.obj b/objects/objaverse/plate/plate_17/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..879725b6ab34de6e9ec52efe000da1e27fc5476d
--- /dev/null
+++ b/objects/objaverse/plate/plate_17/collision/model_normalized_collision_9.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v 0.24433041 0.01125961 0.45305346
+v 0.24516819 0.05091543 0.26417835
+v 0.22973323 0.07263222 0.36591779
+v 0.12850360 0.15346028 0.26852148
+v 0.13950371 0.09869571 0.26283916
+v 0.23520224 0.07805024 0.26626016
+v 0.13058655 0.08146863 0.48680834
+v 0.25069412 0.00989714 0.43648823
+v 0.14010574 0.14753983 0.27061632
+v 0.14149865 0.14633525 0.26514518
+v 0.23080320 0.03144656 0.45291465
+v 0.12047272 0.07540667 0.48983391
+v 0.15765068 0.09041592 0.26112564
+v 0.21434223 0.08661745 0.35201819
+v 0.12812167 0.12071633 0.41138436
+v 0.23309105 0.05699095 0.26336932
+v 0.19243456 0.04622647 0.47543338
+v 0.22820929 0.05683071 0.40853516
+v 0.23279342 0.01658813 0.45790711
+v 0.15508676 0.11573796 0.38095649
+v 0.12837514 0.09236902 0.47049089
+v 0.21650471 0.03387657 0.46583218
+v 0.15747845 0.05784801 0.48704332
+v 0.19854921 0.05679983 0.45234676
+v 0.16838577 0.08539826 0.43744195
+v 0.22483109 0.02159326 0.46282475
+v 0.18506174 0.05034400 0.47717825
+v 0.17764661 0.04632057 0.47793362
+v 0.22793320 0.04224445 0.43782914
+v 0.13977174 0.11521682 0.40918488
+v 0.15386070 0.07111816 0.48047880
+v 0.14014206 0.08713863 0.46738154
+f 8 6 3
+f 8 2 6
+f 10 5 4
+f 10 9 6
+f 10 4 9
+f 11 1 8
+f 12 4 5
+f 13 8 5
+f 13 2 8
+f 13 5 10
+f 14 3 6
+f 14 6 9
+f 15 4 12
+f 16 10 6
+f 16 6 2
+f 16 13 10
+f 16 2 13
+f 18 11 8
+f 18 8 3
+f 19 8 1
+f 19 12 5
+f 19 5 8
+f 20 9 4
+f 20 4 15
+f 20 14 9
+f 20 3 14
+f 21 15 12
+f 21 12 7
+f 22 1 11
+f 22 11 17
+f 23 7 12
+f 24 17 11
+f 25 18 3
+f 25 24 18
+f 26 19 1
+f 26 1 22
+f 26 22 17
+f 26 17 23
+f 27 23 17
+f 27 7 23
+f 28 23 12
+f 28 12 19
+f 28 26 23
+f 28 19 26
+f 29 24 11
+f 29 11 18
+f 29 18 24
+f 30 25 3
+f 30 3 20
+f 30 20 15
+f 30 15 21
+f 30 21 25
+f 31 24 25
+f 31 7 27
+f 31 27 17
+f 31 17 24
+f 32 31 25
+f 32 25 21
+f 32 21 7
+f 32 7 31
\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_17/model.xml b/objects/objaverse/plate/plate_17/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..335ae303324ea0f7a2af6b401d8b81a5a97befa9
--- /dev/null
+++ b/objects/objaverse/plate/plate_17/model.xml
@@ -0,0 +1,81 @@
+<mujoco model="plate_10">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.185 0.185 0.185" refquat="0.7397248827654451 0.5594849272637079 -0.29905092401907074 0.2243930899687281"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.185 0.185 0.185" refquat="0.7397248827654451 0.5594849272637079 -0.29905092401907074 0.2243930899687281"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.185 0.185 0.185" refquat="0.7397248827654451 0.5594849272637079 -0.29905092401907074 0.2243930899687281"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.185 0.185 0.185" refquat="0.7397248827654451 0.5594849272637079 -0.29905092401907074 0.2243930899687281"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.185 0.185 0.185" refquat="0.7397248827654451 0.5594849272637079 -0.29905092401907074 0.2243930899687281"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.185 0.185 0.185" refquat="0.7397248827654451 0.5594849272637079 -0.29905092401907074 0.2243930899687281"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.185 0.185 0.185" refquat="0.7397248827654451 0.5594849272637079 -0.29905092401907074 0.2243930899687281"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.185 0.185 0.185" refquat="0.7397248827654451 0.5594849272637079 -0.29905092401907074 0.2243930899687281"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.185 0.185 0.185" refquat="0.7397248827654451 0.5594849272637079 -0.29905092401907074 0.2243930899687281"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.185 0.185 0.185" refquat="0.7397248827654451 0.5594849272637079 -0.29905092401907074 0.2243930899687281"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.185 0.185 0.185" refquat="0.7397248827654451 0.5594849272637079 -0.29905092401907074 0.2243930899687281"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.185 0.185 0.185" refquat="0.7397248827654451 0.5594849272637079 -0.29905092401907074 0.2243930899687281"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.185 0.185 0.185" refquat="0.7397248827654451 0.5594849272637079 -0.29905092401907074 0.2243930899687281"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.185 0.185 0.185" refquat="0.7397248827654451 0.5594849272637079 -0.29905092401907074 0.2243930899687281"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.185 0.185 0.185" refquat="0.7397248827654451 0.5594849272637079 -0.29905092401907074 0.2243930899687281"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.185 0.185 0.185" refquat="0.7397248827654451 0.5594849272637079 -0.29905092401907074 0.2243930899687281"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.185 0.185 0.185" refquat="0.7397248827654451 0.5594849272637079 -0.29905092401907074 0.2243930899687281"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.185 0.185 0.185" refquat="0.7397248827654451 0.5594849272637079 -0.29905092401907074 0.2243930899687281"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.185 0.185 0.185" refquat="0.7397248827654451 0.5594849272637079 -0.29905092401907074 0.2243930899687281"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.185 0.185 0.185" refquat="0.7397248827654451 0.5594849272637079 -0.29905092401907074 0.2243930899687281"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.185 0.185 0.185" refquat="0.7397248827654451 0.5594849272637079 -0.29905092401907074 0.2243930899687281"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.185 0.185 0.185" refquat="0.7397248827654451 0.5594849272637079 -0.29905092401907074 0.2243930899687281"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.185 0.185 0.185" refquat="0.7397248827654451 0.5594849272637079 -0.29905092401907074 0.2243930899687281"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.185 0.185 0.185" refquat="0.7397248827654451 0.5594849272637079 -0.29905092401907074 0.2243930899687281"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.185 0.185 0.185" refquat="0.7397248827654451 0.5594849272637079 -0.29905092401907074 0.2243930899687281"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.185 0.185 0.185" refquat="0.7397248827654451 0.5594849272637079 -0.29905092401907074 0.2243930899687281"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.185 0.185 0.185" refquat="0.7397248827654451 0.5594849272637079 -0.29905092401907074 0.2243930899687281"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.185 0.185 0.185" refquat="0.7397248827654451 0.5594849272637079 -0.29905092401907074 0.2243930899687281"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.185 0.185 0.185" refquat="0.7397248827654451 0.5594849272637079 -0.29905092401907074 0.2243930899687281"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.185 0.185 0.185" refquat="0.7397248827654451 0.5594849272637079 -0.29905092401907074 0.2243930899687281"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.185 0.185 0.185" refquat="0.7397248827654451 0.5594849272637079 -0.29905092401907074 0.2243930899687281"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.185 0.185 0.185" refquat="0.7397248827654451 0.5594849272637079 -0.29905092401907074 0.2243930899687281"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.185 0.185 0.185" refquat="0.7397248827654451 0.5594849272637079 -0.29905092401907074 0.2243930899687281"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="defaultMat.035" texture="image0" specular="0.5" shininess="0.800356625"/>
+  </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="defaultMat.035"/>
+        <geom solimp="0.998 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="-0.00015597795692112308 -7.656947075153048e-05 -0.03321701894016694" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="-0.00015597795692112308 -7.656947075153048e-05 0.022641931737233903" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.09504878174901156 0.09418715387715267 -0.005287543601466515" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/objects/objaverse/plate/plate_17/visual/material.mtl b/objects/objaverse/plate/plate_17/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d0d83c8fcc6bed98d64439cf6929149c97aa55ee
--- /dev/null
+++ b/objects/objaverse/plate/plate_17/visual/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 800.35662500
+map_Kd material_0.png
\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_19/collision/model_normalized_collision_0.obj b/objects/objaverse/plate/plate_19/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed1b49a514cafb8e2d2bd0b3f12022cc36850f5a
--- /dev/null
+++ b/objects/objaverse/plate/plate_19/collision/model_normalized_collision_0.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.18992166 -0.32663751 -0.00673751
+v 0.19686110 -0.29037715 -0.01861058
+v 0.18929554 -0.20434346 -0.02532635
+v -0.09846784 -0.23475163 -0.02448752
+v -0.09783929 -0.32317695 -0.04226056
+v 0.14386717 -0.20439577 -0.02442815
+v 0.15223253 -0.31127422 -0.03488775
+v -0.09948794 -0.32976649 -0.02486378
+v 0.19013427 -0.20547269 -0.03508078
+v 0.18081250 -0.29629847 -0.03424140
+v 0.11675546 -0.33448547 -0.01510609
+v -0.09877208 -0.26607976 -0.03551157
+v -0.09849522 -0.23490851 -0.03370953
+v 0.14398501 -0.20463985 -0.03368652
+f 1 2 3
+f 6 1 3
+f 6 4 1
+f 8 1 4
+f 9 3 2
+f 10 2 1
+f 10 1 7
+f 10 9 2
+f 10 7 5
+f 10 5 9
+f 11 7 1
+f 11 5 7
+f 11 8 5
+f 11 1 8
+f 12 5 8
+f 13 4 6
+f 13 9 5
+f 13 5 12
+f 13 12 8
+f 13 8 4
+f 14 6 3
+f 14 3 9
+f 14 13 6
+f 14 9 13
\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_19/collision/model_normalized_collision_10.obj b/objects/objaverse/plate/plate_19/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ffbeaf0082261e72e8066ce4808c3f16223e13c7
--- /dev/null
+++ b/objects/objaverse/plate/plate_19/collision/model_normalized_collision_10.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.27296638 0.22820489 -0.02544755
+v 0.28549091 0.23954625 -0.00066088
+v 0.18909300 0.23434694 -0.02681646
+v 0.08385065 0.37328002 0.00582094
+v 0.28086764 0.37197389 0.03689552
+v 0.12586882 0.31758856 -0.03964403
+v 0.27694719 0.36668437 0.02754220
+v 0.28391268 0.31459196 0.02397201
+v 0.25693260 0.22740326 -0.03832886
+v 0.12847842 0.27969130 -0.02724053
+v 0.08162496 0.36438397 -0.00972310
+v 0.11590382 0.37755537 0.01202599
+v 0.19023552 0.23624614 -0.03746730
+v 0.18081257 0.29629859 -0.03424123
+v 0.08490927 0.34720692 -0.01213695
+v 0.20704949 0.37538774 0.02551443
+v 0.12955224 0.28181892 -0.03812920
+v 0.22310217 0.26733369 -0.03342888
+v 0.08280969 0.35396772 -0.01774503
+f 1 2 3
+f 3 2 4
+f 7 5 2
+f 7 2 1
+f 8 4 2
+f 8 2 5
+f 9 1 3
+f 9 7 1
+f 10 3 4
+f 11 7 6
+f 12 8 5
+f 12 4 8
+f 12 11 4
+f 13 9 3
+f 13 6 9
+f 13 3 10
+f 14 9 6
+f 14 6 7
+f 15 10 4
+f 15 4 11
+f 16 12 5
+f 16 5 7
+f 16 7 11
+f 16 11 12
+f 17 13 10
+f 17 6 13
+f 17 10 15
+f 18 14 7
+f 18 7 9
+f 18 9 14
+f 19 15 11
+f 19 11 6
+f 19 17 15
+f 19 6 17
\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_19/collision/model_normalized_collision_12.obj b/objects/objaverse/plate/plate_19/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..83a6cc6373127b02326a3ea20eb1bd8fed368e3b
--- /dev/null
+++ b/objects/objaverse/plate/plate_19/collision/model_normalized_collision_12.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v -0.20416017 0.23432375 -0.02758562
+v -0.20561602 0.23609134 -0.03855041
+v -0.20008884 0.27429024 -0.04114780
+v -0.20205896 0.45686874 0.04268478
+v -0.44237296 0.23267199 0.04268478
+v -0.20068983 0.45397754 0.04028123
+v -0.25693260 0.22740326 -0.03832886
+v -0.20832145 0.36235700 0.02185996
+v -0.31553113 0.38771826 0.04268478
+v -0.43948323 0.23130401 0.04028123
+v -0.34638448 0.23890679 0.02291347
+v -0.20637838 0.42053791 0.03744432
+v -0.27252626 0.41885278 0.04268478
+v -0.38771826 0.31553113 0.04268478
+v -0.40514089 0.23702312 0.03767482
+v -0.22681425 0.44514970 0.04268478
+v -0.29850385 0.40033911 0.04268478
+v -0.41885187 0.27252694 0.04268478
+v -0.25470007 0.42954510 0.04268478
+v -0.40033911 0.29850385 0.04268478
+v -0.43585782 0.24333604 0.04236249
+v -0.42954276 0.25470032 0.04268478
+f 1 2 3
+f 6 1 3
+f 7 2 1
+f 7 3 2
+f 8 1 6
+f 9 5 4
+f 9 3 7
+f 10 7 1
+f 11 1 8
+f 11 10 1
+f 12 4 5
+f 12 8 6
+f 12 6 4
+f 13 9 4
+f 14 9 7
+f 14 5 9
+f 15 5 10
+f 15 10 11
+f 15 12 5
+f 15 11 8
+f 15 8 12
+f 16 13 4
+f 16 4 6
+f 16 6 3
+f 17 13 3
+f 17 3 9
+f 17 9 13
+f 18 7 10
+f 18 5 14
+f 19 16 3
+f 19 3 13
+f 19 13 16
+f 20 18 14
+f 20 14 7
+f 20 7 18
+f 21 18 10
+f 21 10 5
+f 22 21 5
+f 22 5 18
+f 22 18 21
\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_19/collision/model_normalized_collision_13.obj b/objects/objaverse/plate/plate_19/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..90b8685a9f14ee8da20221c0d62cdb83e11456cc
--- /dev/null
+++ b/objects/objaverse/plate/plate_19/collision/model_normalized_collision_13.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v 0.17227641 0.41251354 0.02338479
+v 0.18802577 0.44407980 0.03481648
+v -0.20606323 0.43502406 0.04053237
+v -0.09596087 0.49059648 0.04268478
+v 0.06732619 0.45636264 0.02812044
+v 0.19037737 0.44904726 0.04172333
+v 0.14191114 0.44129486 0.02876030
+v -0.15772977 0.41285843 0.02177591
+v -0.19619944 0.45964261 0.04268478
+v 0.06626563 0.49468414 0.04244213
+v 0.17509303 0.41846320 0.03323245
+v 0.17234178 0.42650048 0.02757752
+v -0.06732619 0.45636264 0.02812044
+v -0.20347985 0.42956682 0.03267230
+v 0.18475646 0.46429563 0.04268478
+v 0.09596107 0.49059643 0.04268478
+v -0.15989076 0.41890438 0.03185840
+v -0.14191110 0.44129487 0.02876031
+v -0.06626631 0.49468982 0.04244630
+v -0.20068983 0.45397754 0.04028123
+v 0.14072049 0.47955835 0.04268478
+v -0.15735019 0.42694794 0.02609508
+v -0.14072049 0.47955835 0.04268478
+v 0.15308368 0.47561417 0.04268478
+v -0.18475646 0.46429563 0.04268478
+v -0.15308368 0.47561417 0.04268478
+f 7 1 5
+f 8 5 1
+f 9 3 6
+f 11 6 3
+f 11 1 2
+f 11 2 6
+f 12 7 2
+f 12 2 1
+f 12 1 7
+f 13 5 8
+f 13 10 5
+f 15 9 6
+f 15 6 2
+f 15 4 9
+f 16 7 5
+f 16 5 10
+f 16 4 15
+f 17 8 1
+f 17 1 11
+f 17 11 3
+f 17 14 8
+f 17 3 14
+f 18 13 8
+f 18 4 13
+f 19 13 4
+f 19 10 13
+f 19 16 10
+f 19 4 16
+f 20 14 3
+f 20 3 9
+f 20 18 14
+f 21 16 15
+f 21 2 7
+f 21 7 16
+f 22 18 8
+f 22 8 14
+f 22 14 18
+f 23 9 4
+f 23 4 18
+f 23 18 20
+f 24 21 15
+f 24 15 2
+f 24 2 21
+f 25 20 9
+f 25 9 23
+f 26 25 23
+f 26 23 20
+f 26 20 25
\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_19/collision/model_normalized_collision_14.obj b/objects/objaverse/plate/plate_19/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be5569c900b4eea6a9c732148a3ec7d255592d72
--- /dev/null
+++ b/objects/objaverse/plate/plate_19/collision/model_normalized_collision_14.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v -0.46585401 -0.09941880 0.03927136
+v -0.46023569 -0.09801309 0.03101029
+v -0.41802970 0.19003930 0.03492944
+v -0.41969381 0.23666400 0.04060500
+v -0.49469432 0.06626698 0.04244985
+v -0.49059648 -0.09596087 0.04268478
+v -0.41618669 0.18916676 0.02677015
+v -0.49468982 -0.06626631 0.04244630
+v -0.48663345 -0.09703642 0.04006583
+v -0.44514769 0.22681177 0.04268478
+v -0.41450301 0.23355084 0.03276762
+v -0.49059648 0.09596087 0.04268478
+v -0.43948323 0.23130401 0.04028123
+v -0.47561417 0.15308368 0.04268478
+v -0.45964287 0.19619798 0.04268478
+v -0.47955835 0.14072049 0.04268478
+v -0.46429563 0.18475646 0.04268478
+f 1 2 3
+f 1 3 4
+f 6 1 4
+f 7 3 2
+f 7 2 5
+f 8 6 5
+f 8 5 2
+f 9 2 1
+f 9 1 6
+f 9 8 2
+f 9 6 8
+f 10 6 4
+f 11 4 3
+f 11 3 7
+f 12 5 6
+f 12 6 10
+f 12 7 5
+f 13 10 4
+f 13 4 11
+f 13 11 7
+f 14 12 10
+f 15 14 10
+f 15 10 13
+f 16 14 7
+f 16 7 12
+f 16 12 14
+f 17 15 13
+f 17 13 7
+f 17 7 14
+f 17 14 15
\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_19/collision/model_normalized_collision_15.obj b/objects/objaverse/plate/plate_19/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8738010306d20a259682de7fccd153b059f786fa
--- /dev/null
+++ b/objects/objaverse/plate/plate_19/collision/model_normalized_collision_15.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.31138827 -0.28101141 0.02246872
+v 0.38800562 -0.23583315 0.03349301
+v 0.21919590 -0.20418235 -0.02650941
+v 0.33240507 -0.18429299 -0.00537773
+v 0.27428875 -0.20008774 -0.04114901
+v 0.38609494 -0.18926673 0.02601438
+v 0.30585778 -0.27600339 0.01087779
+v 0.30929624 -0.18860839 -0.01879079
+v 0.38419276 -0.18836619 0.01697890
+v 0.38959526 -0.20607540 0.02943258
+v 0.18906004 -0.23437427 -0.02679281
+v 0.38256963 -0.23257304 0.02376232
+v 0.22119198 -0.20563277 -0.03714479
+v 0.36564927 -0.18676064 0.01024765
+v 0.26996084 -0.28561380 0.01119133
+v 0.22310550 -0.26733737 -0.03342361
+v 0.19033148 -0.23617923 -0.03743393
+v 0.18791744 -0.27831088 -0.04282231
+v 0.20951026 -0.28699978 -0.01410771
+v 0.19238461 -0.28433801 -0.02583306
+f 6 4 3
+f 8 3 4
+f 9 8 4
+f 9 5 8
+f 10 6 1
+f 10 1 2
+f 10 9 6
+f 11 6 3
+f 12 2 1
+f 12 1 7
+f 12 5 9
+f 12 10 2
+f 12 9 10
+f 13 8 5
+f 13 3 8
+f 14 9 4
+f 14 4 6
+f 14 6 9
+f 15 1 6
+f 15 6 11
+f 16 12 7
+f 16 5 12
+f 17 11 3
+f 17 3 13
+f 18 7 1
+f 18 1 15
+f 18 16 7
+f 18 11 17
+f 18 5 16
+f 18 17 13
+f 18 13 5
+f 19 18 15
+f 19 15 11
+f 20 19 11
+f 20 11 18
+f 20 18 19
\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_19/collision/model_normalized_collision_17.obj b/objects/objaverse/plate/plate_19/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d79bd6f394e227cb2af0216d2e561ec46209016
--- /dev/null
+++ b/objects/objaverse/plate/plate_19/collision/model_normalized_collision_17.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.14396208 -0.40157862 0.02490950
+v 0.14140745 -0.39443074 0.01368199
+v 0.13110672 -0.33224673 -0.01256322
+v -0.20026082 -0.31861319 -0.00777346
+v -0.15823353 -0.39911619 0.01740408
+v 0.14649372 -0.36320636 0.01037096
+v -0.15894497 -0.40110683 0.02642741
+v -0.06584691 -0.34035927 -0.03501435
+v 0.12586866 -0.31758867 -0.03964408
+v -0.20251193 -0.33751891 0.00253385
+v -0.16178566 -0.36175359 0.01287716
+v 0.06584851 -0.34035890 -0.03501429
+v -0.12586882 -0.31758856 -0.03964403
+v 0.14122357 -0.34846087 -0.00816495
+v -0.20384962 -0.32459751 -0.00314813
+f 5 2 1
+f 6 3 4
+f 6 1 2
+f 7 5 1
+f 9 4 3
+f 10 5 7
+f 11 7 1
+f 11 1 6
+f 11 10 7
+f 12 2 5
+f 12 5 8
+f 12 9 2
+f 12 8 9
+f 13 8 5
+f 13 9 8
+f 13 4 9
+f 13 10 4
+f 13 5 10
+f 14 6 2
+f 14 2 9
+f 14 9 3
+f 14 3 6
+f 15 6 4
+f 15 4 10
+f 15 11 6
+f 15 10 11
\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_19/collision/model_normalized_collision_18.obj b/objects/objaverse/plate/plate_19/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3be9657b0665d7e441992a39ba3a604ea4657f6f
--- /dev/null
+++ b/objects/objaverse/plate/plate_19/collision/model_normalized_collision_18.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.30903498 -0.20360321 -0.00240867
+v 0.34104254 -0.18947399 0.00965985
+v 0.26488393 0.09840767 -0.02551858
+v 0.28393885 -0.19601110 -0.03655237
+v 0.29950917 -0.19788939 -0.02235679
+v 0.33796086 0.02258133 -0.04181839
+v 0.27033912 -0.20839044 -0.02740201
+v 0.33240507 -0.18429299 -0.00537773
+v 0.26506790 -0.20448348 -0.04306807
+v 0.34436460 0.02289837 -0.02389244
+v 0.28699780 -0.20950879 -0.01410903
+v 0.34779742 -0.13124990 -0.00114156
+v 0.32493381 -0.12307945 -0.03394933
+v 0.26626895 0.09880742 -0.03538755
+v 0.30906249 0.09798813 -0.02925105
+v 0.29630286 -0.18081513 -0.03423537
+v 0.31258105 0.09912330 -0.04142152
+f 1 2 3
+f 5 2 1
+f 8 5 4
+f 8 2 5
+f 9 7 3
+f 9 4 5
+f 11 1 3
+f 11 3 7
+f 11 7 9
+f 11 9 5
+f 11 5 1
+f 12 2 8
+f 12 10 2
+f 12 6 10
+f 13 12 8
+f 13 6 12
+f 13 9 6
+f 13 4 9
+f 14 9 3
+f 15 3 2
+f 15 2 10
+f 16 13 8
+f 16 8 4
+f 16 4 13
+f 17 6 9
+f 17 9 14
+f 17 14 3
+f 17 3 15
+f 17 15 10
+f 17 10 6
\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_19/collision/model_normalized_collision_19.obj b/objects/objaverse/plate/plate_19/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..65e90f5a283d31b216dfb7a4a58a1f5a96c61ee1
--- /dev/null
+++ b/objects/objaverse/plate/plate_19/collision/model_normalized_collision_19.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.17198947 0.36645328 0.00801790
+v 0.17518236 0.37319749 0.01960701
+v -0.08501476 0.36278022 -0.00055065
+v -0.08339948 0.41693107 0.02428792
+v 0.17427368 0.41673270 0.02488580
+v -0.08534686 0.37926093 0.00899421
+v 0.17631744 0.39074674 0.02557323
+v 0.06691702 0.34754930 -0.02738698
+v -0.08280968 0.35396768 -0.01774504
+v 0.17509303 0.41846320 0.03323245
+v -0.06691677 0.34754938 -0.02738700
+v 0.08157683 0.40964623 0.01296356
+v 0.08449408 0.42130572 0.02577629
+v -0.08157711 0.40964617 0.01296356
+f 1 2 3
+f 6 3 2
+f 6 2 4
+f 7 2 1
+f 7 1 5
+f 7 4 2
+f 8 5 1
+f 9 6 4
+f 9 3 6
+f 10 7 5
+f 10 4 7
+f 11 8 1
+f 11 1 3
+f 11 3 9
+f 12 5 8
+f 12 8 11
+f 13 10 5
+f 13 4 10
+f 13 5 12
+f 14 11 9
+f 14 9 4
+f 14 12 11
+f 14 13 12
+f 14 4 13
\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_19/collision/model_normalized_collision_2.obj b/objects/objaverse/plate/plate_19/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cb6a69eaf7663d62f6fc3f02f014f84c87494171
--- /dev/null
+++ b/objects/objaverse/plate/plate_19/collision/model_normalized_collision_2.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.44237296 -0.23267199 0.04268478
+v 0.49059648 -0.09596087 0.04268478
+v 0.49059648 0.09596087 0.04268478
+v 0.40825812 0.10017177 0.02284217
+v 0.39645012 -0.08206607 0.00790743
+v 0.46585401 0.09941880 0.03927136
+v 0.44129486 -0.14191114 0.02876030
+v 0.40582530 -0.14547991 0.02639816
+v 0.49468982 0.06626631 0.04244630
+v 0.39645002 0.08206613 0.00790703
+v 0.40101708 0.09836024 0.01125000
+v 0.47561417 -0.15308368 0.04268478
+v 0.39961998 -0.14326207 0.01584159
+v 0.49469432 -0.06626698 0.04244985
+v 0.48663345 0.09703642 0.04006583
+v 0.47955835 -0.14072049 0.04268478
+v 0.44202543 -0.21735610 0.03881569
+v 0.45964287 -0.19619798 0.04268478
+v 0.46429563 -0.18475646 0.04268478
+v 0.45048029 -0.21418516 0.04224590
+f 1 2 3
+f 6 1 3
+f 6 4 1
+f 7 5 2
+f 8 1 4
+f 10 9 5
+f 10 8 4
+f 11 4 6
+f 11 10 4
+f 12 2 1
+f 13 5 7
+f 13 1 8
+f 13 10 5
+f 13 8 10
+f 14 2 5
+f 14 5 9
+f 14 9 3
+f 14 3 2
+f 15 3 9
+f 15 9 10
+f 15 10 11
+f 15 11 6
+f 15 6 3
+f 16 12 7
+f 16 7 2
+f 16 2 12
+f 17 7 12
+f 17 13 7
+f 17 1 13
+f 18 12 1
+f 19 18 17
+f 19 17 12
+f 19 12 18
+f 20 18 1
+f 20 1 17
+f 20 17 18
\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_19/collision/model_normalized_collision_21.obj b/objects/objaverse/plate/plate_19/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..966b533f07ef022e702e5a29307cb438f10b6fc0
--- /dev/null
+++ b/objects/objaverse/plate/plate_19/collision/model_normalized_collision_21.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v -0.30992387 0.05291184 -0.02804455
+v -0.27969021 0.11349015 -0.02661919
+v -0.35840488 0.05337870 -0.00811574
+v -0.35615002 0.23490211 0.02479778
+v -0.27428875 0.20008774 -0.04114901
+v -0.31575074 0.23866134 0.01267351
+v -0.31200327 0.05327243 -0.03913746
+v -0.34035927 0.06584691 -0.03501435
+v -0.36278052 0.08501442 -0.00055100
+v -0.27296660 0.22820453 -0.02544749
+v -0.28208051 0.11406391 -0.03729562
+v -0.34147858 0.05086185 -0.03612853
+v -0.34965328 0.23100545 0.01355187
+v -0.28549081 0.23954634 -0.00066084
+v -0.32493381 0.12307945 -0.03394933
+v -0.36175359 0.16178566 0.01287716
+v -0.29630286 0.18081513 -0.03423537
+f 1 2 3
+f 6 3 2
+f 7 2 1
+f 9 6 4
+f 9 3 6
+f 10 2 5
+f 11 7 5
+f 11 5 2
+f 11 2 7
+f 12 7 1
+f 12 1 3
+f 12 9 8
+f 12 3 9
+f 12 8 5
+f 12 5 7
+f 13 10 5
+f 14 6 2
+f 14 2 10
+f 14 10 13
+f 14 13 4
+f 14 4 6
+f 15 5 8
+f 15 8 13
+f 16 9 4
+f 16 4 13
+f 16 13 8
+f 16 8 9
+f 17 15 13
+f 17 13 5
+f 17 5 15
\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_19/collision/model_normalized_collision_24.obj b/objects/objaverse/plate/plate_19/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..86b89e32d08d3174903eb2dd6b8aacd31d5a0943
--- /dev/null
+++ b/objects/objaverse/plate/plate_19/collision/model_normalized_collision_24.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.09596107 -0.49059643 0.04268478
+v 0.23267377 -0.44237583 0.04268478
+v -0.09596087 -0.49059648 0.04268478
+v -0.09801312 -0.46023583 0.03101029
+v 0.12849516 -0.44579975 0.02887548
+v -0.09941863 -0.46585407 0.03927128
+v 0.06626623 -0.49468817 0.04244531
+v 0.15308368 -0.47561417 0.04268478
+v 0.21735617 -0.44202536 0.03881579
+v -0.09703616 -0.48663350 0.04006583
+v 0.14072049 -0.47955835 0.04268478
+v 0.19619944 -0.45964261 0.04268478
+v -0.06626698 -0.49469432 0.04244985
+v 0.21418780 -0.45048364 0.04224780
+v 0.18475646 -0.46429563 0.04268478
+f 1 2 3
+f 6 3 2
+f 6 2 4
+f 7 5 1
+f 7 4 5
+f 8 2 1
+f 9 5 4
+f 9 4 2
+f 9 8 5
+f 10 6 4
+f 10 3 6
+f 11 8 1
+f 11 1 5
+f 11 5 8
+f 12 2 8
+f 13 3 10
+f 13 7 1
+f 13 1 3
+f 13 10 4
+f 13 4 7
+f 14 12 9
+f 14 9 2
+f 14 2 12
+f 15 12 8
+f 15 8 9
+f 15 9 12
\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_19/collision/model_normalized_collision_27.obj b/objects/objaverse/plate/plate_19/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b2242523ccd3cc99e880fb069ec51d6ad19ba55
--- /dev/null
+++ b/objects/objaverse/plate/plate_19/collision/model_normalized_collision_27.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.12879654 -0.46215583 0.04011546
+v 0.14413653 -0.44752133 0.03780682
+v -0.09858943 -0.46253929 0.03845694
+v -0.08206607 -0.39645012 0.00790743
+v 0.08206628 -0.39645009 0.00790739
+v -0.10017186 -0.40825848 0.02284231
+v 0.14191110 -0.44129487 0.02876031
+v -0.06732619 -0.45636264 0.02812044
+v 0.14547986 -0.40582518 0.02639796
+v -0.09836021 -0.40101700 0.01125028
+v 0.12814128 -0.45953662 0.03319705
+v 0.14326205 -0.39961994 0.01584159
+v -0.09801312 -0.46023583 0.03101029
+v 0.06732619 -0.45636264 0.02812044
+f 1 2 3
+f 8 4 5
+f 9 6 3
+f 9 3 2
+f 9 4 6
+f 10 6 4
+f 11 7 2
+f 11 2 1
+f 11 5 7
+f 12 5 4
+f 12 4 9
+f 12 7 5
+f 12 9 2
+f 12 2 7
+f 13 3 6
+f 13 6 10
+f 13 11 1
+f 13 1 3
+f 13 10 4
+f 13 4 8
+f 14 8 5
+f 14 5 11
+f 14 13 8
+f 14 11 13
\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_19/collision/model_normalized_collision_28.obj b/objects/objaverse/plate/plate_19/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c28b8e2b8febc4c753fbdefd356b0886bc14cca
--- /dev/null
+++ b/objects/objaverse/plate/plate_19/collision/model_normalized_collision_28.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.23432375 -0.20416017 -0.02758562
+v -0.23609134 -0.20561602 -0.03855041
+v -0.23490851 0.09849522 -0.03370953
+v -0.30907145 0.09794323 -0.02926952
+v -0.31342008 -0.14527144 -0.02353879
+v -0.31256079 0.09917555 -0.04144564
+v -0.28097630 -0.20504450 -0.02120160
+v -0.23475163 0.09846784 -0.02448752
+v -0.30729841 -0.14237339 -0.04181839
+v -0.27429024 -0.20008884 -0.04114780
+f 1 2 3
+f 6 3 2
+f 6 5 4
+f 7 2 1
+f 8 6 4
+f 8 3 6
+f 8 4 5
+f 8 5 7
+f 8 7 1
+f 8 1 3
+f 9 5 6
+f 9 7 5
+f 10 9 6
+f 10 6 2
+f 10 2 7
+f 10 7 9
\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_19/collision/model_normalized_collision_3.obj b/objects/objaverse/plate/plate_19/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..25814bae4b6dafb8463b2d72b4f6ad1017b0310c
--- /dev/null
+++ b/objects/objaverse/plate/plate_19/collision/model_normalized_collision_3.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.30906249 0.09798813 -0.02925105
+v 0.31258105 0.09912330 -0.04142152
+v 0.30879524 0.23350628 -0.00078594
+v 0.12847842 0.27969130 -0.02724053
+v 0.21977415 0.09849819 -0.03319994
+v 0.18791740 0.27831091 -0.04282230
+v 0.32010964 0.14843852 -0.01644064
+v 0.14389589 0.18934694 -0.02407006
+v 0.29629847 0.18081250 -0.03424140
+v 0.19238461 0.28433801 -0.02583306
+v 0.14397977 0.18943770 -0.03308588
+v 0.21960838 0.09846929 -0.02413388
+v 0.12867141 0.23467407 -0.02502869
+v 0.26733712 0.22310508 -0.03342407
+v 0.12955224 0.28181892 -0.03812920
+v 0.12935532 0.23569822 -0.03462320
+f 5 2 1
+f 7 1 2
+f 9 2 6
+f 9 7 2
+f 9 3 7
+f 10 4 3
+f 10 3 6
+f 11 2 5
+f 12 5 1
+f 12 1 7
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+f 12 3 8
+f 12 11 5
+f 12 8 11
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+f 13 3 4
+f 13 11 8
+f 14 9 6
+f 14 6 3
+f 14 3 9
+f 15 10 6
+f 15 4 10
+f 15 6 2
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+f 16 13 4
+f 16 4 15
+f 16 15 11
+f 16 11 13
\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_19/collision/model_normalized_collision_30.obj b/objects/objaverse/plate/plate_19/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c3da92cec669da5ff912222d9bc9339fa87280e
--- /dev/null
+++ b/objects/objaverse/plate/plate_19/collision/model_normalized_collision_30.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.23451731 -0.34046233 0.01135717
+v -0.23141351 -0.33627530 0.00927934
+v -0.28549091 -0.23954625 -0.00066088
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+v -0.24893196 -0.33946830 0.01446096
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+v -0.27873532 -0.32402640 0.01678507
+v -0.29471418 -0.29471418 0.01259164
+f 1 2 3
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+f 6 4 5
+f 7 3 2
+f 7 2 5
+f 8 1 3
+f 8 3 6
+f 8 5 1
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+f 9 3 7
+f 10 7 5
+f 10 5 4
+f 10 4 7
+f 11 8 6
+f 11 6 5
+f 11 5 8
+f 12 6 3
+f 12 3 9
+f 12 9 4
+f 12 4 6
\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_19/collision/model_normalized_collision_8.obj b/objects/objaverse/plate/plate_19/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..63b1a349acaed8a5df2c7b64f0be0a950bf1058b
--- /dev/null
+++ b/objects/objaverse/plate/plate_19/collision/model_normalized_collision_8.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.12867141 0.23467407 -0.02502869
+v 0.12882083 0.23489783 -0.03456181
+v 0.12894383 0.35649698 -0.00588844
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\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_19/visual/material.mtl b/objects/objaverse/plate/plate_19/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7abc3dc66520ba29cba2d7c7f6455642ed065b3c
--- /dev/null
+++ b/objects/objaverse/plate/plate_19/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 639.99999500
+map_Kd material_0.png
\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_19/visual/model_normalized_0.obj b/objects/objaverse/plate/plate_19/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e45e79cfaf16f82c381045eaaa182a47e4a41d14
--- /dev/null
+++ b/objects/objaverse/plate/plate_19/visual/model_normalized_0.obj
@@ -0,0 +1,12361 @@
+# 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/plate/plate_2/.DS_Store b/objects/objaverse/plate/plate_2/.DS_Store
new file mode 100644
index 0000000000000000000000000000000000000000..0fc39dbcb7ec77661541c80daf4d1da0be77b59b
Binary files /dev/null and b/objects/objaverse/plate/plate_2/.DS_Store differ
diff --git a/objects/objaverse/plate/plate_2/collision/model_normalized_collision_0.obj b/objects/objaverse/plate/plate_2/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..91bafef7c2fe8ffa541064dc317cda5ee0d8795d
--- /dev/null
+++ b/objects/objaverse/plate/plate_2/collision/model_normalized_collision_0.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.06907620 -0.26832713 -0.00089161
+v -0.23578871 0.09893146 -0.00813410
+v -0.23422153 -0.26447374 -0.01102380
+v -0.23260607 0.09743226 -0.03586576
+v -0.09855775 0.09855773 -0.01348663
+v -0.23984970 -0.13158758 -0.00208009
+v -0.09500564 -0.24057860 -0.03230412
+v -0.23499571 -0.26531094 0.01203740
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+v -0.09788518 -0.26352812 -0.02403583
+v -0.22983414 -0.14084362 -0.02745763
+v -0.06842207 -0.25089183 -0.00741822
+v -0.06820598 -0.26523801 -0.00199667
+v -0.20000392 -0.18519442 -0.02649292
+v -0.18519423 -0.20000412 -0.02649292
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+f 13 1 10
+f 13 7 12
+f 13 12 5
+f 13 5 1
+f 14 11 7
+f 14 3 11
+f 15 14 7
+f 15 7 3
+f 15 3 14
\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_2/collision/model_normalized_collision_1.obj b/objects/objaverse/plate/plate_2/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c9d0a021f01cfdd9b9bd55f451421513787a9911
--- /dev/null
+++ b/objects/objaverse/plate/plate_2/collision/model_normalized_collision_1.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v 0.35670651 0.23527965 0.02368593
+v 0.37955843 0.32038927 0.01826396
+v 0.24289281 0.43427308 0.03424524
+v 0.09862985 0.41739530 0.02389614
+v 0.09842196 0.31038208 -0.01553304
+v 0.36218623 0.26998344 0.03008384
+v 0.33894597 0.23353751 -0.00186371
+v 0.09873570 0.31149582 0.00760761
+v 0.24579169 0.42430010 0.01438294
+v 0.16171639 0.42377611 0.03123095
+v 0.38028088 0.32095915 0.03444947
+v 0.35574265 0.23463605 0.00050235
+v 0.09784983 0.39926019 -0.00197878
+v 0.25209456 0.23678521 0.01068215
+v 0.29761784 0.40020129 0.02201180
+v 0.26327570 0.33853087 0.00095992
+v 0.09840313 0.41625443 0.00072487
+v 0.24951879 0.23440331 -0.01272774
+v 0.24314916 0.43473095 0.02127194
+v 0.30309973 0.39199915 0.01762404
+v 0.37417722 0.32963973 0.02201180
+v 0.29722821 0.39970732 0.03358132
+v 0.18814534 0.38365609 0.00067986
+v 0.33853107 0.26327550 0.00095993
+v 0.21822628 0.36858450 0.00085470
+v 0.25488853 0.42863548 0.02201180
+v 0.36751841 0.32234169 0.01386181
+v 0.37348697 0.32900145 0.03424524
+v 0.14294217 0.39881406 0.00007688
+v 0.25862077 0.42202809 0.01706241
+v 0.25458456 0.42809258 0.03356650
+v 0.36305705 0.33336765 0.01600478
+f 8 6 4
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\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_2/collision/model_normalized_collision_10.obj b/objects/objaverse/plate/plate_2/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..580155a4a06bd820e116f0103f427102eff2d977
--- /dev/null
+++ b/objects/objaverse/plate/plate_2/collision/model_normalized_collision_10.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.28043446 -0.21980048 0.01235066
+v 0.32447726 -0.18867711 -0.00755543
+v 0.32576716 0.15909524 0.01333283
+v 0.22414134 0.16205846 -0.00103271
+v 0.22881772 -0.11085470 -0.03496108
+v 0.23560188 -0.22039346 0.00697207
+v 0.32545615 -0.18922509 0.01556260
+v 0.32473786 0.15862050 -0.00974926
+v 0.22018297 0.15941530 -0.00284839
+v 0.23292815 -0.21792099 -0.01662926
+v 0.32288475 -0.06761088 -0.01478102
+v 0.22881776 0.11085474 -0.03496110
+v 0.23337974 0.15811004 -0.02386989
+v 0.27954048 -0.21909528 -0.01071556
+v 0.22060785 0.12928435 -0.00811028
+v 0.32288475 0.06761090 -0.01478103
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+f 15 12 5
+f 15 9 12
+f 15 10 6
+f 15 6 9
+f 16 12 8
+f 16 8 11
+f 16 11 12
\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_2/collision/model_normalized_collision_11.obj b/objects/objaverse/plate/plate_2/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c8d39590b6a4c2604eeadd4c9a10045f61d8f2b
--- /dev/null
+++ b/objects/objaverse/plate/plate_2/collision/model_normalized_collision_11.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.06849943 -0.38796087 0.01834922
+v 0.06782345 -0.38455925 -0.00518428
+v 0.06825565 -0.34127958 0.01103158
+v -0.28096779 -0.31132515 0.02241442
+v -0.23431567 -0.38541218 0.00467687
+v -0.11350652 -0.31025499 -0.01469828
+v -0.27965068 -0.35523388 0.03038682
+v 0.06803237 -0.34015598 -0.01201338
+v -0.11391276 -0.31135510 0.00839614
+v -0.27862761 -0.30879449 -0.00118466
+v -0.18814493 -0.38365609 0.00067983
+v -0.23449037 -0.38572426 0.02982789
+v 0.06864341 -0.35838245 0.01372187
+v -0.21822587 -0.36858449 0.00085466
+v -0.27960510 -0.35517610 0.00489044
+v -0.26327529 -0.33853086 0.00095988
+v -0.27829153 -0.32358257 0.00056629
+f 5 2 1
+f 7 3 4
+f 8 6 3
+f 8 2 6
+f 9 4 3
+f 9 3 6
+f 10 9 6
+f 10 4 9
+f 11 6 2
+f 11 2 5
+f 12 5 1
+f 12 1 7
+f 13 8 3
+f 13 1 2
+f 13 2 8
+f 13 7 1
+f 13 3 7
+f 14 11 5
+f 14 6 11
+f 15 7 4
+f 15 4 10
+f 15 12 7
+f 15 5 12
+f 16 10 6
+f 16 6 14
+f 16 14 5
+f 16 5 15
+f 17 16 15
+f 17 15 10
+f 17 10 16
\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_2/collision/model_normalized_collision_12.obj b/objects/objaverse/plate/plate_2/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..99a2565c688011be5d3f21ae401bb2a600dc2a0c
--- /dev/null
+++ b/objects/objaverse/plate/plate_2/collision/model_normalized_collision_12.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v -0.26704265 -0.23659748 0.01241401
+v -0.35838226 -0.06864320 0.01372186
+v -0.38365589 -0.18814513 0.00067982
+v -0.35606859 -0.06818344 0.01334524
+v -0.42037580 -0.19110479 0.03584422
+v -0.41388586 -0.08278076 -0.00018530
+v -0.34127938 -0.06825543 0.01103157
+v -0.37060094 -0.23444051 0.00257903
+v -0.31049238 -0.08330136 -0.01621018
+v -0.41746709 -0.08349243 0.02343634
+v -0.41521908 -0.18872636 0.00563382
+v -0.26531074 -0.23499591 0.01203739
+v -0.37174642 -0.23520538 0.02587131
+v -0.41380491 -0.09791619 0.00030143
+v -0.28001178 -0.17404807 -0.01484142
+v -0.42377575 -0.16171611 0.03123072
+v -0.36858430 -0.21822606 0.00085466
+v -0.31159390 -0.08361166 0.00696797
+v -0.27936296 -0.23410708 -0.00927825
+v -0.35366551 -0.23324933 0.00007890
+v -0.26551469 -0.21998360 0.01049860
+f 5 4 2
+f 6 2 4
+f 7 4 5
+f 7 6 4
+f 9 6 7
+f 10 5 2
+f 10 2 6
+f 11 8 5
+f 12 7 5
+f 12 5 1
+f 13 8 1
+f 13 1 5
+f 13 5 8
+f 14 9 3
+f 14 6 9
+f 14 11 6
+f 14 3 11
+f 15 3 9
+f 16 10 6
+f 16 5 10
+f 16 11 5
+f 16 6 11
+f 17 11 3
+f 17 8 11
+f 17 3 15
+f 18 9 7
+f 18 7 12
+f 19 12 1
+f 19 1 8
+f 20 17 15
+f 20 8 17
+f 20 19 8
+f 20 15 19
+f 21 15 9
+f 21 9 18
+f 21 18 12
+f 21 19 15
+f 21 12 19
\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_2/collision/model_normalized_collision_13.obj b/objects/objaverse/plate/plate_2/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0735202fb0bb077596ca51a2e54951198fac0bbe
--- /dev/null
+++ b/objects/objaverse/plate/plate_2/collision/model_normalized_collision_13.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.18973341 0.28081112 0.00957090
+v 0.18909302 0.27985207 -0.01345051
+v 0.09908043 0.35817412 0.01479572
+v -0.09908002 0.35817413 0.01479569
+v -0.15780325 0.27800313 -0.01651183
+v 0.18938583 0.31059120 0.01350421
+v 0.15780365 0.27800312 -0.01651180
+v -0.15958315 0.28118274 0.00708299
+v 0.18883258 0.30960290 -0.00958062
+v -0.15870297 0.30991342 -0.01184796
+v -0.15926210 0.31091225 0.01119972
+v 0.09813503 0.35481807 -0.00868046
+v -0.09813462 0.35481807 -0.00868048
+v 0.12752390 0.30786517 -0.01425506
+v -0.12752349 0.30786518 -0.01425509
+v -0.06761068 0.32288456 -0.01478107
+v 0.06761109 0.32288456 -0.01478106
+f 6 3 4
+f 7 2 1
+f 7 1 5
+f 8 5 1
+f 9 6 1
+f 9 1 2
+f 9 3 6
+f 9 2 7
+f 10 5 8
+f 11 6 4
+f 11 10 8
+f 11 4 10
+f 11 8 1
+f 11 1 6
+f 12 4 3
+f 12 3 9
+f 13 10 4
+f 13 4 12
+f 14 12 9
+f 14 9 7
+f 15 5 10
+f 15 10 13
+f 16 15 13
+f 16 13 12
+f 16 7 5
+f 16 5 15
+f 17 16 12
+f 17 12 14
+f 17 14 7
+f 17 7 16
\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_2/collision/model_normalized_collision_14.obj b/objects/objaverse/plate/plate_2/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c98696132b21390e136dd295aba8ff53c318a9bb
--- /dev/null
+++ b/objects/objaverse/plate/plate_2/collision/model_normalized_collision_14.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v 0.18394323 -0.46251136 0.03424524
+v 0.33336782 -0.36305681 0.01600476
+v 0.32900163 -0.37348676 0.03424524
+v 0.31091245 -0.15926230 0.01119977
+v 0.18926477 -0.26495775 -0.01553139
+v 0.34584030 -0.28419276 0.02808584
+v 0.25488856 -0.42863548 0.02201180
+v 0.18990733 -0.26592005 0.00760917
+v 0.32447726 -0.18867711 -0.00755543
+v 0.32790919 -0.16008321 0.01370945
+v 0.29761784 -0.40020128 0.02201180
+v 0.25458462 -0.42809267 0.03356629
+v 0.18634281 -0.45385801 0.01438294
+v 0.23560188 -0.22039346 0.00697207
+v 0.27985227 -0.18909281 -0.01345049
+v 0.34049166 -0.26482206 0.00138333
+v 0.32576716 -0.15909523 0.01333284
+v 0.25862065 -0.42202790 0.01706230
+v 0.32963991 -0.37417700 0.02201180
+v 0.19594289 -0.45862094 0.02201180
+v 0.29722820 -0.39970732 0.03358132
+v 0.18422348 -0.46327023 0.02177813
+v 0.23476159 -0.21961642 -0.01620586
+v 0.26327570 -0.33853086 0.00095992
+v 0.30309967 -0.39199899 0.01762393
+v 0.19564692 -0.45797911 0.03374714
+v 0.19973947 -0.45170088 0.01659250
+v 0.18821155 -0.36909952 -0.00147995
+v 0.32358278 -0.27829173 0.00056635
+v 0.21822628 -0.36858449 0.00085469
+f 6 3 2
+f 6 1 3
+f 8 5 1
+f 8 1 4
+f 10 1 6
+f 12 3 1
+f 12 7 11
+f 14 8 4
+f 15 4 9
+f 16 6 2
+f 16 15 9
+f 16 10 6
+f 16 9 10
+f 17 4 1
+f 17 1 10
+f 17 10 9
+f 17 9 4
+f 18 11 7
+f 19 2 3
+f 20 7 12
+f 21 12 11
+f 21 3 12
+f 21 19 3
+f 21 11 19
+f 22 1 5
+f 23 14 4
+f 23 4 15
+f 23 5 8
+f 23 8 14
+f 23 15 16
+f 24 5 23
+f 24 2 18
+f 25 18 2
+f 25 11 18
+f 25 19 11
+f 25 2 19
+f 26 20 12
+f 26 12 1
+f 26 22 20
+f 26 1 22
+f 27 18 7
+f 27 7 20
+f 27 13 18
+f 27 22 13
+f 27 20 22
+f 28 22 5
+f 28 13 22
+f 29 16 2
+f 29 2 24
+f 29 24 23
+f 29 23 16
+f 30 24 18
+f 30 18 13
+f 30 13 28
+f 30 28 5
+f 30 5 24
\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_2/collision/model_normalized_collision_15.obj b/objects/objaverse/plate/plate_2/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3fc599199245f6a7c2631cfb82458c519f12271d
--- /dev/null
+++ b/objects/objaverse/plate/plate_2/collision/model_normalized_collision_15.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.23499612 -0.26531094 0.01203743
+v 0.23422193 -0.26447374 -0.01102375
+v 0.23567756 -0.00766489 -0.01066452
+v 0.15913588 -0.00757669 -0.01339611
+v 0.15831353 -0.21853246 -0.02736733
+v 0.23985014 -0.13158760 -0.00207993
+v 0.20497675 -0.26569800 0.00903771
+v 0.23410041 -0.00751492 -0.03810985
+v 0.20424256 -0.26476727 -0.01401911
+v 0.16205864 -0.22414110 -0.00103276
+v 0.15522877 -0.19964917 -0.03568069
+v 0.22983440 -0.14084377 -0.02745753
+v 0.15904233 -0.00758803 -0.03951434
+f 1 3 4
+f 6 1 2
+f 6 3 1
+f 7 2 1
+f 7 1 4
+f 8 6 2
+f 8 3 6
+f 8 4 3
+f 9 2 7
+f 10 7 4
+f 10 9 7
+f 10 5 9
+f 11 10 4
+f 11 5 10
+f 11 9 5
+f 11 2 9
+f 12 11 8
+f 12 8 2
+f 12 2 11
+f 13 11 4
+f 13 4 8
+f 13 8 11
\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_2/collision/model_normalized_collision_16.obj b/objects/objaverse/plate/plate_2/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..16478e4ad8738db6d683545bff5114249dfa7668
--- /dev/null
+++ b/objects/objaverse/plate/plate_2/collision/model_normalized_collision_16.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v -0.15673036 -0.47088078 0.03556469
+v -0.15685736 -0.47122468 0.01818424
+v -0.15904669 -0.38624445 -0.00094451
+v -0.40586084 -0.28823923 0.03424524
+v -0.29761760 -0.40020149 0.02201180
+v -0.15943695 -0.38730129 0.02228826
+v -0.19594255 -0.45862110 0.02201180
+v -0.29722802 -0.39970768 0.03358097
+v -0.25862058 -0.42202773 0.01706218
+v -0.32520476 -0.29494352 0.00268515
+v -0.40020130 -0.29761781 0.02201180
+v -0.25458428 -0.42809280 0.03356642
+v -0.15751413 -0.45785171 0.01237254
+v -0.19973914 -0.45170092 0.01659240
+v -0.28020334 -0.31049847 -0.00082040
+v -0.39970729 -0.29722814 0.03358142
+v -0.39529824 -0.29055058 0.01438292
+v -0.19564653 -0.45797915 0.03374740
+v -0.25488825 -0.42863566 0.02201180
+v -0.30309934 -0.39199917 0.01762390
+v -0.28096779 -0.31132515 0.02241442
+v -0.40598704 -0.28832347 0.02060751
+v -0.39199888 -0.30309953 0.01762384
+v -0.32872811 -0.29820169 0.02684280
+f 1 2 3
+f 6 1 3
+f 6 4 1
+f 7 2 1
+f 8 1 4
+f 11 5 8
+f 12 1 8
+f 12 8 5
+f 13 9 3
+f 13 3 2
+f 14 2 7
+f 14 13 2
+f 14 9 13
+f 15 3 9
+f 15 6 3
+f 16 11 8
+f 16 8 4
+f 16 4 11
+f 18 12 7
+f 18 7 1
+f 18 1 12
+f 19 7 12
+f 19 14 7
+f 19 9 14
+f 19 12 5
+f 19 5 9
+f 20 15 9
+f 20 10 15
+f 20 17 10
+f 20 9 5
+f 20 5 11
+f 21 15 10
+f 21 6 15
+f 22 11 4
+f 22 4 10
+f 22 10 17
+f 23 20 11
+f 23 17 20
+f 23 22 17
+f 23 11 22
+f 24 21 10
+f 24 10 4
+f 24 4 6
+f 24 6 21
\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_2/collision/model_normalized_collision_17.obj b/objects/objaverse/plate/plate_2/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..17e0d20f1214db8cb12e0cc5650fba89c8297948
--- /dev/null
+++ b/objects/objaverse/plate/plate_2/collision/model_normalized_collision_17.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v -0.17547600 -0.31281009 0.01272857
+v -0.17432376 -0.31075172 0.01235195
+v -0.37138157 -0.29558837 0.03928862
+v -0.37174642 -0.23520538 0.02587131
+v -0.29345894 -0.30844824 0.00042830
+v -0.23537118 -0.23541394 0.00857357
+v -0.18883218 -0.30960289 -0.00958066
+v -0.33051327 -0.31500399 0.03304275
+v -0.36937593 -0.29400626 0.00908496
+v -0.18990692 -0.26592006 0.00760913
+v -0.37716361 -0.25397417 0.03192545
+v -0.32499370 -0.30989986 0.00438060
+v -0.33894557 -0.23353750 -0.00186376
+v -0.17448428 -0.29588696 0.01029359
+v -0.18926436 -0.26495776 -0.01553144
+v -0.37060094 -0.23444051 0.00257903
+v -0.33853066 -0.26327549 0.00095987
+v -0.23456136 -0.23456152 -0.01451037
+f 1 2 3
+f 7 2 1
+f 8 1 3
+f 8 7 1
+f 9 8 3
+f 10 6 3
+f 11 6 4
+f 11 3 6
+f 11 9 3
+f 12 5 7
+f 12 7 8
+f 12 8 9
+f 13 4 6
+f 14 10 3
+f 14 3 2
+f 14 2 7
+f 15 7 5
+f 15 14 7
+f 15 10 14
+f 16 11 4
+f 16 9 11
+f 16 4 13
+f 17 5 12
+f 17 16 13
+f 17 12 9
+f 17 9 16
+f 18 13 6
+f 18 6 10
+f 18 10 15
+f 18 17 13
+f 18 15 5
+f 18 5 17
\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_2/collision/model_normalized_collision_18.obj b/objects/objaverse/plate/plate_2/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..85192263a9e943e80d8ab12a1008b8eddf10013c
--- /dev/null
+++ b/objects/objaverse/plate/plate_2/collision/model_normalized_collision_18.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.32790921 0.16008323 0.01370945
+v 0.32473786 0.15862050 -0.00974926
+v 0.32692441 0.23562748 0.01976247
+v 0.20541576 0.23578941 0.00537050
+v 0.20450531 0.15905909 -0.03198077
+v 0.32404638 0.23370573 -0.00379381
+v 0.27800332 0.15780346 -0.01651179
+v 0.20953810 0.16302911 -0.00567114
+v 0.20296485 0.23313901 -0.01832471
+v 0.26704306 0.23659748 0.01241406
+v 0.31297082 0.16041456 0.01157639
+v 0.23279715 0.23279711 -0.01493310
+f 1 3 4
+f 6 1 2
+f 6 3 1
+f 6 2 5
+f 7 5 2
+f 7 2 1
+f 8 4 5
+f 9 5 4
+f 10 4 3
+f 10 3 6
+f 10 9 4
+f 10 6 9
+f 11 7 1
+f 11 5 7
+f 11 8 5
+f 11 1 4
+f 11 4 8
+f 12 9 6
+f 12 6 5
+f 12 5 9
\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_2/collision/model_normalized_collision_19.obj b/objects/objaverse/plate/plate_2/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..242984057f8cdf4ce77567b23867d9ded798bd81
--- /dev/null
+++ b/objects/objaverse/plate/plate_2/collision/model_normalized_collision_19.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.33595382 -0.36585330 0.03498594
+v 0.43709689 -0.22932170 0.01633532
+v 0.44788537 -0.14419727 0.03849769
+v 0.40224398 -0.14420845 0.02368401
+v 0.34049166 -0.26482206 0.00138333
+v 0.44494078 -0.14336779 0.00801722
+v 0.34348572 -0.26718387 0.02503298
+v 0.42809277 -0.25458433 0.03356617
+v 0.33754687 -0.35242449 0.01361742
+v 0.40115680 -0.14380698 0.00050031
+v 0.35594388 -0.21961889 -0.00085815
+v 0.35688043 -0.22024425 0.02237602
+v 0.39970758 -0.29722798 0.03358111
+v 0.42202780 -0.25862086 0.01706237
+v 0.33573359 -0.36561517 0.01818424
+v 0.42863552 -0.25488825 0.02201180
+v 0.34535988 -0.35964021 0.02201180
+v 0.39199932 -0.30309950 0.01762409
+v 0.34472160 -0.35894997 0.03424524
+v 0.34837529 -0.34837546 0.01563580
+v 0.40020143 -0.29761759 0.02201180
+f 6 3 2
+f 6 4 3
+f 7 1 3
+f 7 5 1
+f 8 2 3
+f 10 4 6
+f 11 6 2
+f 11 2 5
+f 11 10 6
+f 12 7 3
+f 12 3 4
+f 12 4 10
+f 12 10 11
+f 12 11 5
+f 12 5 7
+f 13 8 3
+f 13 3 1
+f 14 9 5
+f 14 5 2
+f 15 1 5
+f 15 5 9
+f 16 14 2
+f 16 2 8
+f 17 1 15
+f 18 9 14
+f 18 17 15
+f 19 17 13
+f 19 13 1
+f 19 1 17
+f 20 18 15
+f 20 15 9
+f 20 9 18
+f 21 18 14
+f 21 14 16
+f 21 13 17
+f 21 17 18
+f 21 16 8
+f 21 8 13
\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_2/collision/model_normalized_collision_2.obj b/objects/objaverse/plate/plate_2/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df859a086c82e23ff5ba1e8544f54bb8a4ce545d
--- /dev/null
+++ b/objects/objaverse/plate/plate_2/collision/model_normalized_collision_2.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.18955372 -0.40186111 0.02696171
+v 0.18903021 -0.40072609 0.00337089
+v 0.20560350 -0.22084090 0.00363860
+v 0.12928454 -0.22060764 -0.00811031
+v 0.06842743 -0.40275007 0.02066289
+v 0.14353623 -0.21909288 -0.03046529
+v 0.20497675 -0.26569800 0.00903771
+v 0.06994283 -0.25625065 -0.00564359
+v 0.20284740 -0.21786048 -0.02046327
+v 0.06775381 -0.39936034 -0.00290791
+v 0.06871541 -0.34359325 0.01140820
+v 0.06843515 -0.25093765 -0.00741443
+v 0.20269599 -0.26280669 -0.01444250
+v 0.14294217 -0.39881405 0.00007687
+v 0.06774350 -0.26359483 -0.02664053
+v 0.18814534 -0.38365609 0.00067986
+v 0.06769204 -0.30814036 -0.01723038
+f 5 2 1
+f 5 1 3
+f 7 1 2
+f 7 3 1
+f 9 6 4
+f 9 4 3
+f 10 2 5
+f 11 5 3
+f 11 3 8
+f 12 8 3
+f 12 3 4
+f 12 4 6
+f 12 11 8
+f 12 5 11
+f 13 6 9
+f 13 7 2
+f 13 9 3
+f 13 3 7
+f 14 6 2
+f 14 2 10
+f 15 12 6
+f 15 14 10
+f 15 6 14
+f 16 13 2
+f 16 2 6
+f 16 6 13
+f 17 15 10
+f 17 10 5
+f 17 5 12
+f 17 12 15
\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_2/collision/model_normalized_collision_20.obj b/objects/objaverse/plate/plate_2/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d7cbbf903c75fe89d27264a885da56ca3c347d7
--- /dev/null
+++ b/objects/objaverse/plate/plate_2/collision/model_normalized_collision_20.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.06825565 -0.34127958 0.01103158
+v 0.06803237 -0.34015598 -0.01201338
+v 0.06774350 -0.26359483 -0.02664053
+v -0.18990692 -0.26592006 0.00760913
+v -0.11366800 -0.34099531 0.01282181
+v -0.18883218 -0.30960289 -0.00958066
+v 0.06907661 -0.26832720 -0.00089157
+v -0.11327443 -0.33992949 -0.01025203
+v -0.18938541 -0.31059119 0.01350419
+v -0.18787765 -0.26288102 -0.01595483
+v -0.06761069 -0.32288455 -0.01478108
+v -0.12752350 -0.30786517 -0.01425510
+f 7 3 4
+f 7 4 1
+f 7 1 2
+f 7 2 3
+f 8 2 1
+f 8 1 5
+f 8 5 6
+f 9 5 1
+f 9 1 4
+f 9 6 5
+f 9 4 6
+f 10 6 4
+f 10 4 3
+f 11 3 2
+f 11 2 8
+f 12 8 6
+f 12 6 10
+f 12 11 8
+f 12 10 3
+f 12 3 11
\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_2/collision/model_normalized_collision_21.obj b/objects/objaverse/plate/plate_2/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..13c5d9efeeb33a1b7519a89224e79682443be200
--- /dev/null
+++ b/objects/objaverse/plate/plate_2/collision/model_normalized_collision_21.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.44788537 -0.14419727 0.03849769
+v 0.44494078 -0.14336779 0.00801722
+v 0.44477740 0.15828130 0.00907917
+v 0.40217315 0.15933382 0.02456017
+v 0.40224398 -0.14420845 0.02368401
+v 0.39926039 0.09784963 -0.00197875
+v 0.44717267 0.15916579 0.03928725
+v 0.42262755 -0.14614047 0.02790297
+v 0.41380531 0.09791621 0.00030149
+v 0.40101922 0.15890771 0.00136532
+v 0.39926039 -0.09784962 -0.00197874
+v 0.40115680 -0.14380698 0.00050031
+v 0.42377606 0.16171609 0.03123090
+v 0.41380531 -0.09791619 0.00030151
+f 1 2 3
+f 7 1 3
+f 7 5 1
+f 7 4 5
+f 8 2 1
+f 8 1 5
+f 9 3 2
+f 10 6 4
+f 10 9 6
+f 10 3 9
+f 11 5 4
+f 11 4 6
+f 11 6 9
+f 12 8 5
+f 12 2 8
+f 12 5 11
+f 13 7 3
+f 13 3 10
+f 13 10 4
+f 13 4 7
+f 14 11 9
+f 14 9 2
+f 14 12 11
+f 14 2 12
\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_2/collision/model_normalized_collision_22.obj b/objects/objaverse/plate/plate_2/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0f80140919a3c0abfe20de0c02fd852cc92f64ec
--- /dev/null
+++ b/objects/objaverse/plate/plate_2/collision/model_normalized_collision_22.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.35636694 -0.26539299 0.02692455
+v 0.40012507 -0.21891870 0.00563094
+v 0.39829666 0.23304672 0.03564317
+v 0.32692441 0.23562748 0.01976247
+v 0.32379007 -0.26359932 -0.00093699
+v 0.39881426 0.14294198 0.00007691
+v 0.32649520 -0.26573321 0.02266612
+v 0.39950658 -0.21857248 0.03233674
+v 0.35538218 -0.26461619 0.00334392
+v 0.39983784 0.23390944 0.00715665
+v 0.32404638 0.23370573 -0.00379381
+v 0.39881425 -0.14294196 0.00007691
+v 0.36858470 -0.21822606 0.00085472
+v 0.38365629 0.18814515 0.00067987
+v 0.38365629 -0.18814513 0.00067989
+v 0.36858470 0.21822607 0.00085471
+v 0.35366591 0.23324934 0.00007895
+f 7 1 3
+f 7 3 4
+f 8 1 2
+f 8 3 1
+f 9 2 1
+f 9 7 5
+f 9 1 7
+f 10 2 6
+f 10 8 2
+f 10 3 8
+f 10 4 3
+f 11 4 10
+f 11 7 4
+f 11 5 7
+f 12 6 2
+f 12 11 6
+f 12 5 11
+f 13 9 5
+f 13 2 9
+f 14 10 6
+f 14 6 11
+f 15 12 2
+f 15 2 13
+f 15 13 5
+f 15 5 12
+f 16 14 11
+f 16 10 14
+f 17 16 11
+f 17 11 10
+f 17 10 16
\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_2/collision/model_normalized_collision_23.obj b/objects/objaverse/plate/plate_2/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..168e4358d09764a5defb5f225e237aab2ee0c9b6
--- /dev/null
+++ b/objects/objaverse/plate/plate_2/collision/model_normalized_collision_23.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.47088083 0.15673053 0.03556450
+v 0.47122453 0.15685746 0.01818424
+v 0.40020148 0.29761763 0.02201180
+v 0.35577205 0.32549056 0.03958251
+v 0.40101922 0.15890771 0.00136532
+v 0.42809283 0.25458440 0.03356612
+v 0.40459684 0.16022882 0.02501436
+v 0.42202804 0.25862074 0.01706240
+v 0.35313499 0.32305197 0.01061479
+v 0.38628406 0.31374266 0.03424524
+v 0.45862100 0.19594267 0.02201180
+v 0.35670651 0.23527965 0.02368593
+v 0.45785191 0.15751432 0.01237264
+v 0.42863559 0.25488825 0.02201180
+v 0.37740248 0.31868857 0.01649471
+v 0.39970759 0.29722805 0.03358110
+v 0.45797908 0.19564657 0.03374743
+v 0.45170105 0.19973926 0.01659257
+v 0.35574265 0.23463605 0.00050235
+v 0.39199931 0.30309953 0.01762403
+v 0.38702222 0.31432492 0.02201180
+f 5 2 1
+f 6 4 1
+f 7 5 1
+f 7 1 4
+f 10 4 6
+f 11 1 2
+f 12 7 4
+f 12 5 7
+f 12 4 9
+f 13 2 5
+f 14 8 3
+f 14 3 6
+f 14 6 11
+f 15 8 9
+f 15 9 4
+f 15 4 10
+f 16 10 6
+f 16 6 3
+f 17 11 6
+f 17 6 1
+f 17 1 11
+f 18 11 2
+f 18 14 11
+f 18 8 14
+f 18 13 8
+f 18 2 13
+f 19 12 9
+f 19 5 12
+f 19 13 5
+f 19 9 8
+f 19 8 13
+f 20 3 8
+f 20 8 15
+f 21 15 10
+f 21 20 15
+f 21 3 20
+f 21 16 3
+f 21 10 16
\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_2/collision/model_normalized_collision_24.obj b/objects/objaverse/plate/plate_2/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7ec822131ac9b925e6c287d5aa0481e12181802a
--- /dev/null
+++ b/objects/objaverse/plate/plate_2/collision/model_normalized_collision_24.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.25036265 0.23518366 0.01030553
+v 0.24951879 0.23440331 -0.01272774
+v 0.24978630 0.28007172 0.01537089
+v -0.18973300 0.28081112 0.00957086
+v -0.18780317 0.23283213 -0.02015323
+v 0.24902396 0.27924733 -0.00774404
+v 0.11085497 0.22881761 -0.03496111
+v -0.19033553 0.23604241 0.00387271
+v 0.21792119 0.23292796 -0.01662927
+v -0.18768211 0.27773973 -0.01387808
+v -0.11085452 0.22881758 -0.03496123
+v 0.06591632 0.25710853 -0.02889755
+v 0.18768252 0.27773972 -0.01387805
+v -0.06591593 0.25710855 -0.02889759
+f 1 3 4
+f 6 1 2
+f 6 3 1
+f 6 4 3
+f 7 6 2
+f 8 1 4
+f 9 7 2
+f 9 2 1
+f 9 1 7
+f 10 4 6
+f 10 8 4
+f 10 5 8
+f 11 7 1
+f 11 1 8
+f 11 8 5
+f 11 5 10
+f 12 7 11
+f 13 10 6
+f 13 6 7
+f 13 7 12
+f 14 12 11
+f 14 11 10
+f 14 13 12
+f 14 10 13
\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_2/collision/model_normalized_collision_25.obj b/objects/objaverse/plate/plate_2/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d4f26e85740d9c249314cc1054e6cb0401365914
--- /dev/null
+++ b/objects/objaverse/plate/plate_2/collision/model_normalized_collision_25.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.24979439 0.41629900 0.03928863
+v 0.24791100 0.41293451 0.01152117
+v 0.09487680 0.48941834 0.02201180
+v -0.09469317 0.48849635 0.03424524
+v -0.15876992 0.41579795 0.00370782
+v 0.09469356 0.48849625 0.03424524
+v 0.22649818 0.44452792 0.02201180
+v -0.16171595 0.42377604 0.03123079
+v 0.09641991 0.48203215 0.01518516
+v 0.24314916 0.43473095 0.02127194
+v 0.19564687 0.45797907 0.03374726
+v -0.15379783 0.47363532 0.03424524
+v 0.15535793 0.46716301 0.01547622
+v -0.09641955 0.48203249 0.01518532
+v 0.24579169 0.42430010 0.01438294
+v 0.15379820 0.47363518 0.03424524
+v 0.24289281 0.43427308 0.03424524
+v -0.15535753 0.46716306 0.01547615
+v 0.15405317 0.47454016 0.02201180
+v -0.09487640 0.48941843 0.02201180
+v 0.19973948 0.45170091 0.01659251
+v 0.22609059 0.44372806 0.03415335
+v -0.15405279 0.47454029 0.02201180
+v 0.19594290 0.45862088 0.02201180
+v 0.22932197 0.43709677 0.01633532
+f 5 2 1
+f 6 3 4
+f 6 4 1
+f 8 5 1
+f 9 2 5
+f 12 8 1
+f 12 1 4
+f 13 2 9
+f 14 9 5
+f 14 3 9
+f 15 10 1
+f 15 1 2
+f 15 2 13
+f 16 6 1
+f 16 1 11
+f 17 10 7
+f 17 1 10
+f 18 5 8
+f 18 14 5
+f 19 13 9
+f 19 9 3
+f 19 3 6
+f 19 6 16
+f 19 16 11
+f 20 4 3
+f 20 3 14
+f 21 15 13
+f 21 13 19
+f 22 17 7
+f 22 7 11
+f 22 11 1
+f 22 1 17
+f 23 18 8
+f 23 8 12
+f 23 12 4
+f 23 4 20
+f 23 20 14
+f 23 14 18
+f 24 19 11
+f 24 11 7
+f 24 21 19
+f 24 7 21
+f 25 21 7
+f 25 7 10
+f 25 10 15
+f 25 15 21
\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_2/collision/model_normalized_collision_26.obj b/objects/objaverse/plate/plate_2/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0597dcaa78a46ba2210f9df469d7f57fb0d11d6f
--- /dev/null
+++ b/objects/objaverse/plate/plate_2/collision/model_normalized_collision_26.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v -0.42037580 -0.19110479 0.03584422
+v -0.41521908 -0.18872636 0.00563382
+v -0.41869474 0.20548096 0.03752339
+v -0.41496278 0.20375968 0.00694206
+v -0.48941820 0.09487661 0.02201180
+v -0.48941824 -0.09487660 0.02201180
+v -0.48203211 0.09641975 0.01518521
+v -0.45862088 0.19594275 0.02201180
+v -0.46327012 -0.18422331 0.02177808
+v -0.48849612 -0.09469338 0.03424524
+v -0.48203219 -0.09641975 0.01518523
+v -0.47363515 0.15379813 0.03424524
+v -0.44258564 0.20252351 0.01322999
+v -0.47454003 0.15405299 0.02201180
+v -0.45385793 -0.18634264 0.01438294
+v -0.46251128 -0.18394308 0.03424524
+v -0.47454012 -0.15405302 0.02201180
+v -0.45797897 0.19564669 0.03374740
+v -0.48849608 0.09469337 0.03424524
+v -0.46716283 0.15535774 0.01547619
+v -0.47363520 -0.15379811 0.03424524
+v -0.46716284 -0.15535774 0.01547615
+v -0.45170067 0.19973931 0.01659244
+f 1 2 3
+f 3 2 4
+f 7 4 2
+f 10 1 3
+f 10 5 6
+f 11 7 2
+f 11 6 5
+f 11 5 7
+f 13 3 4
+f 14 7 5
+f 15 2 1
+f 16 15 1
+f 16 9 15
+f 17 6 11
+f 17 9 16
+f 17 10 6
+f 18 12 3
+f 18 14 12
+f 18 8 14
+f 19 10 3
+f 19 3 12
+f 19 5 10
+f 19 14 5
+f 19 12 14
+f 20 13 4
+f 20 4 7
+f 20 7 14
+f 21 16 1
+f 21 1 10
+f 21 17 16
+f 21 10 17
+f 22 15 9
+f 22 9 17
+f 22 17 11
+f 22 11 2
+f 22 2 15
+f 23 8 18
+f 23 13 20
+f 23 20 14
+f 23 14 8
+f 23 18 3
+f 23 3 13
\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_2/collision/model_normalized_collision_27.obj b/objects/objaverse/plate/plate_2/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6e99ad1f14b8f8a502a71531155824efe47b7ba9
--- /dev/null
+++ b/objects/objaverse/plate/plate_2/collision/model_normalized_collision_27.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.44033665 -0.23113527 0.03462383
+v 0.48941824 -0.09487654 0.02201180
+v 0.48849607 -0.09469328 0.03424524
+v 0.44717267 0.15916579 0.03928725
+v 0.44477740 0.15828130 0.00907917
+v 0.48941827 0.09487656 0.02201180
+v 0.47363522 -0.15379804 0.03424524
+v 0.44258602 -0.20252348 0.01323009
+v 0.48849611 0.09469337 0.03424524
+v 0.47454023 0.15405299 0.02201180
+v 0.48203247 0.09641977 0.01518542
+v 0.43967624 -0.23076560 0.01818425
+v 0.46716307 0.15535770 0.01547622
+v 0.47363526 0.15379803 0.03424524
+v 0.48203245 -0.09641973 0.01518545
+v 0.45862094 -0.19594258 0.02201180
+v 0.45797904 -0.19564658 0.03374729
+v 0.44452771 -0.22649829 0.02201180
+v 0.47454011 -0.15405288 0.02201180
+v 0.44372787 -0.22609072 0.03415341
+v 0.46716315 -0.15535768 0.01547633
+v 0.45170102 -0.19973928 0.01659260
+f 5 1 4
+f 7 3 4
+f 7 4 1
+f 9 4 3
+f 9 3 2
+f 9 2 6
+f 10 9 6
+f 11 6 2
+f 11 10 6
+f 12 1 5
+f 12 5 8
+f 13 5 4
+f 13 4 10
+f 13 11 5
+f 13 10 11
+f 14 10 4
+f 14 4 9
+f 14 9 10
+f 15 8 5
+f 15 5 11
+f 15 11 2
+f 17 7 1
+f 18 1 12
+f 18 12 16
+f 18 16 17
+f 19 17 16
+f 19 7 17
+f 19 2 3
+f 19 3 7
+f 19 15 2
+f 20 18 17
+f 20 17 1
+f 20 1 18
+f 21 8 15
+f 21 15 19
+f 22 12 8
+f 22 8 21
+f 22 16 12
+f 22 21 19
+f 22 19 16
\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_2/collision/model_normalized_collision_28.obj b/objects/objaverse/plate/plate_2/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c0c2864759f23a2cb9751f0384eaab6ae99bc023
--- /dev/null
+++ b/objects/objaverse/plate/plate_2/collision/model_normalized_collision_28.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.14353019 -0.26442013 0.00349581
+v 0.15941550 -0.22018276 -0.00284841
+v 0.15913588 -0.00757669 -0.01339611
+v 0.02272748 -0.00757574 -0.01361007
+v 0.02164250 -0.25599934 -0.03353157
+v 0.15470462 -0.21312777 -0.02989890
+v 0.02286555 -0.26626054 -0.00512501
+v 0.14268516 -0.26291057 -0.02015364
+v 0.15904233 -0.00758803 -0.03951434
+v 0.11118831 -0.24469184 -0.02763129
+v 0.02272748 -0.00757575 -0.03963279
+f 1 2 3
+f 1 3 4
+f 7 1 4
+f 7 4 5
+f 8 6 2
+f 8 2 1
+f 8 7 5
+f 8 1 7
+f 9 3 2
+f 9 2 6
+f 9 6 5
+f 10 8 5
+f 10 5 6
+f 10 6 8
+f 11 9 5
+f 11 5 4
+f 11 4 3
+f 11 3 9
\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_2/collision/model_normalized_collision_29.obj b/objects/objaverse/plate/plate_2/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ebae9b99afe9b2d6c8ad1768c8bfd3d6af07a101
--- /dev/null
+++ b/objects/objaverse/plate/plate_2/collision/model_normalized_collision_29.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v -0.37138157 -0.29558837 0.03928862
+v -0.36937593 -0.29400626 0.00908496
+v -0.37210838 -0.18989576 0.02211423
+v -0.46251128 -0.18394308 0.03424524
+v -0.40598704 -0.28832347 0.02060751
+v -0.37112450 -0.18934500 -0.00111573
+v -0.39529824 -0.29055058 0.01438292
+v -0.40586084 -0.28823923 0.03424524
+v -0.45385793 -0.18634264 0.01438294
+v -0.42863545 -0.25488844 0.02201180
+v -0.46327012 -0.18422331 0.02177808
+v -0.42809263 -0.25458449 0.03356632
+v -0.42202762 -0.25862076 0.01706222
+v -0.45862089 -0.19594275 0.02201180
+v -0.45170073 -0.19973929 0.01659244
+v -0.45797902 -0.19564676 0.03374725
+f 1 2 3
+f 1 3 4
+f 6 3 2
+f 6 4 3
+f 7 2 1
+f 7 1 5
+f 8 5 1
+f 8 1 4
+f 9 6 2
+f 9 2 7
+f 10 5 8
+f 11 4 6
+f 11 6 9
+f 12 10 8
+f 12 8 4
+f 13 9 7
+f 13 7 5
+f 13 5 10
+f 14 10 12
+f 15 13 10
+f 15 10 14
+f 15 9 13
+f 15 14 11
+f 15 11 9
+f 16 14 12
+f 16 12 4
+f 16 4 11
+f 16 11 14
\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_2/collision/model_normalized_collision_3.obj b/objects/objaverse/plate/plate_2/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1442029f88c9c82d2d405dec0a596477bb57054c
--- /dev/null
+++ b/objects/objaverse/plate/plate_2/collision/model_normalized_collision_3.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v -0.21998341 0.26551490 0.01049860
+v -0.09842155 0.31038208 -0.01553306
+v -0.09873529 0.31149582 0.00760759
+v -0.15673034 0.47088072 0.03556468
+v -0.22932160 0.43709679 0.01633518
+v -0.09862944 0.41739530 0.02389612
+v -0.15958315 0.28118274 0.00708299
+v -0.23410688 0.27936317 -0.00927823
+v -0.22609068 0.44372790 0.03415354
+v -0.09840272 0.41625444 0.00072486
+v -0.09784943 0.39926020 -0.00197880
+v -0.23499571 0.26531095 0.01203740
+v -0.15902303 0.28018215 -0.01608842
+v -0.19594254 0.45862109 0.02201180
+v -0.21822586 0.36858451 0.00085467
+v -0.15685735 0.47122468 0.01818424
+v -0.23711465 0.37460625 0.02669665
+v -0.19564641 0.45797905 0.03374777
+v -0.22649830 0.44452784 0.02201180
+v -0.23324913 0.35366572 0.00007891
+v -0.15751410 0.45785172 0.01237255
+v -0.14294176 0.39881408 0.00007686
+v -0.19973911 0.45170102 0.01659253
+v -0.23659727 0.26704287 0.01241402
+v -0.18814494 0.38365610 0.00067984
+f 7 3 1
+f 11 6 3
+f 11 3 2
+f 11 10 6
+f 12 1 3
+f 12 3 6
+f 12 8 1
+f 13 7 1
+f 13 2 3
+f 13 3 7
+f 13 1 8
+f 16 4 6
+f 16 6 10
+f 16 14 4
+f 17 4 9
+f 17 9 5
+f 18 9 4
+f 18 4 14
+f 19 5 9
+f 19 18 14
+f 19 9 18
+f 20 5 15
+f 20 17 5
+f 20 8 17
+f 20 15 13
+f 20 13 8
+f 21 15 5
+f 21 16 10
+f 22 10 11
+f 22 11 2
+f 22 21 10
+f 23 14 16
+f 23 19 14
+f 23 5 19
+f 23 21 5
+f 23 16 21
+f 24 4 17
+f 24 12 6
+f 24 6 4
+f 24 17 8
+f 24 8 12
+f 25 22 2
+f 25 2 13
+f 25 13 15
+f 25 15 21
+f 25 21 22
\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_2/collision/model_normalized_collision_30.obj b/objects/objaverse/plate/plate_2/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..30c9e8dd0eadba067003d9b15976f1c9d6fa0e45
--- /dev/null
+++ b/objects/objaverse/plate/plate_2/collision/model_normalized_collision_30.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.09908043 0.35817412 0.01479572
+v 0.09813503 0.35481807 -0.00868046
+v 0.09862985 0.41739530 0.02389614
+v -0.09862944 0.41739530 0.02389612
+v -0.09908002 0.35817413 0.01479569
+v -0.09791599 0.41380512 0.00030145
+v 0.09791640 0.41380512 0.00030146
+v -0.09813462 0.35481807 -0.00868048
+f 1 3 4
+f 5 1 4
+f 6 4 3
+f 6 5 4
+f 7 1 2
+f 7 3 1
+f 7 6 3
+f 8 5 6
+f 8 2 1
+f 8 1 5
+f 8 7 2
+f 8 6 7
\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_2/collision/model_normalized_collision_31.obj b/objects/objaverse/plate/plate_2/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..34d36256e55aaf3b6a602447ff596f191801e209
--- /dev/null
+++ b/objects/objaverse/plate/plate_2/collision/model_normalized_collision_31.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.02286555 -0.26626054 -0.00512501
+v 0.02164250 -0.25599934 -0.03353157
+v 0.02287459 0.23562834 -0.01045634
+v -0.09896536 0.23577335 -0.00812672
+v -0.09788518 -0.26352812 -0.02403583
+v -0.09744763 0.23260014 -0.03586704
+v -0.09831667 -0.26469664 0.00034610
+v 0.02261146 0.23413087 -0.03798650
+v -0.09500564 -0.24057860 -0.03230412
+v -0.06591589 -0.25710853 -0.02889763
+f 5 2 1
+f 6 5 4
+f 7 1 3
+f 7 3 4
+f 7 5 1
+f 7 4 5
+f 8 1 2
+f 8 3 1
+f 8 6 4
+f 8 4 3
+f 9 5 6
+f 9 8 2
+f 9 6 8
+f 10 9 2
+f 10 2 5
+f 10 5 9
\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_2/collision/model_normalized_collision_4.obj b/objects/objaverse/plate/plate_2/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f4e8df280c748bfb28da5e863ac688043831a300
--- /dev/null
+++ b/objects/objaverse/plate/plate_2/collision/model_normalized_collision_4.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v -0.23537118 -0.23541394 0.00857357
+v -0.23456136 -0.23456152 -0.01451037
+v -0.23518345 0.25036245 0.01030549
+v -0.28007151 0.24978610 0.01537086
+v -0.31075152 -0.17432396 0.01235194
+v -0.22881739 0.11085475 -0.03496122
+v -0.28025093 -0.23480754 0.01381154
+v -0.27924712 0.24902376 -0.00774407
+v -0.30786497 -0.12752369 -0.01425510
+v -0.22881742 -0.11085473 -0.03496125
+v -0.27936296 -0.23410708 -0.00927825
+v -0.23440310 0.24951859 -0.01272777
+v -0.30786496 0.12752370 -0.01425509
+v -0.23292775 -0.21792099 -0.01662933
+v -0.30975795 -0.17376777 -0.01071432
+v -0.23292775 0.21792100 -0.01662931
+v -0.30991321 0.15870318 -0.01184796
+v -0.25710840 -0.06591611 -0.02889763
+v -0.31091204 0.15926231 0.01119972
+v -0.25710835 0.06591614 -0.02889762
+f 7 1 3
+f 7 3 4
+f 7 4 5
+f 8 4 3
+f 10 6 3
+f 10 3 1
+f 11 2 1
+f 11 1 7
+f 11 7 5
+f 11 10 2
+f 12 8 3
+f 12 6 8
+f 14 10 1
+f 14 1 2
+f 14 2 10
+f 15 11 5
+f 15 9 10
+f 15 10 11
+f 16 12 3
+f 16 3 6
+f 16 6 12
+f 17 8 6
+f 17 6 13
+f 17 13 9
+f 17 9 15
+f 18 10 9
+f 18 9 13
+f 19 4 8
+f 19 8 17
+f 19 5 4
+f 19 17 15
+f 19 15 5
+f 20 18 13
+f 20 13 6
+f 20 6 10
+f 20 10 18
\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_2/collision/model_normalized_collision_5.obj b/objects/objaverse/plate/plate_2/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..07df03ded355017f855a821109aec5bbd6e8b63d
--- /dev/null
+++ b/objects/objaverse/plate/plate_2/collision/model_normalized_collision_5.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.23567756 -0.00766489 -0.01066452
+v 0.23410041 -0.00751492 -0.03810985
+v 0.20541576 0.23578941 0.00537050
+v 0.02287459 0.23562834 -0.01045634
+v 0.02272748 -0.00757574 -0.01361007
+v 0.02261146 0.23413087 -0.03798650
+v 0.23337974 0.15811004 -0.02386989
+v 0.02272748 -0.00757575 -0.03963279
+v 0.13158780 0.23984989 -0.00208001
+v 0.23451649 0.15886909 0.00053590
+v 0.20296485 0.23313901 -0.01832471
+v 0.22983452 0.14084366 -0.02745754
+v 0.14084368 0.22983443 -0.02745756
+v 0.18519461 0.20000411 -0.02649284
+v 0.20000430 0.18519441 -0.02649284
+f 5 1 3
+f 5 3 4
+f 6 5 4
+f 7 1 2
+f 8 2 1
+f 8 1 5
+f 8 6 2
+f 8 5 6
+f 9 6 4
+f 9 4 3
+f 10 7 3
+f 10 3 1
+f 10 1 7
+f 11 3 7
+f 11 9 3
+f 11 6 9
+f 12 7 2
+f 12 2 6
+f 12 11 7
+f 13 6 11
+f 14 6 13
+f 14 13 11
+f 15 12 6
+f 15 6 14
+f 15 14 11
+f 15 11 12
\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_2/collision/model_normalized_collision_6.obj b/objects/objaverse/plate/plate_2/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4340607f2829242e555206fee6ccc13365200be2
--- /dev/null
+++ b/objects/objaverse/plate/plate_2/collision/model_normalized_collision_6.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v 0.09469358 -0.48849626 0.03424524
+v 0.18634281 -0.45385801 0.01438294
+v 0.19264482 -0.40856303 0.03015456
+v -0.15943695 -0.38730129 0.02228826
+v -0.09641954 -0.48203232 0.01518519
+v 0.06782345 -0.38455925 -0.00518428
+v -0.16171600 -0.42377616 0.03123088
+v 0.18394323 -0.46251136 0.03424524
+v 0.09641997 -0.48203234 0.01518527
+v 0.18903021 -0.40072609 0.00337089
+v 0.06849943 -0.38796087 0.01834922
+v -0.15904669 -0.38624445 -0.00094451
+v -0.15379794 -0.47363542 0.03424524
+v -0.09487640 -0.48941845 0.02201181
+v 0.15405321 -0.47454022 0.02201180
+v 0.09791640 -0.41380511 0.00030146
+v -0.09791600 -0.41380512 0.00030144
+v -0.14313494 -0.38418567 -0.00211271
+v -0.15535753 -0.46716305 0.01547614
+v 0.09487680 -0.48941837 0.02201180
+v -0.09469316 -0.48849632 0.03424524
+v 0.15379830 -0.47363531 0.03424524
+v 0.15535794 -0.46716301 0.01547620
+v 0.18422348 -0.46327023 0.02177813
+v 0.09784984 -0.39926018 -0.00197879
+v -0.14294176 -0.39881405 0.00007685
+v -0.15405280 -0.47454030 0.02201180
+f 7 3 4
+f 8 2 3
+f 8 3 7
+f 10 3 2
+f 11 6 4
+f 11 4 3
+f 11 10 6
+f 11 3 10
+f 12 7 4
+f 13 8 7
+f 13 1 8
+f 14 5 9
+f 16 9 5
+f 16 10 2
+f 16 2 9
+f 17 16 5
+f 17 6 16
+f 18 12 4
+f 18 4 6
+f 18 6 17
+f 19 17 5
+f 19 7 12
+f 20 14 9
+f 20 1 14
+f 20 15 1
+f 20 9 15
+f 21 14 1
+f 21 1 13
+f 22 15 8
+f 22 8 1
+f 22 1 15
+f 23 15 9
+f 23 9 2
+f 24 2 8
+f 24 8 15
+f 24 23 2
+f 24 15 23
+f 25 16 6
+f 25 6 10
+f 25 10 16
+f 26 18 17
+f 26 12 18
+f 26 19 12
+f 26 17 19
+f 27 13 7
+f 27 7 19
+f 27 21 13
+f 27 14 21
+f 27 19 5
+f 27 5 14
\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_2/collision/model_normalized_collision_7.obj b/objects/objaverse/plate/plate_2/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..728ca7bc26647e8842d34ed8ca782f4d23af4cbb
--- /dev/null
+++ b/objects/objaverse/plate/plate_2/collision/model_normalized_collision_7.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.09855775 0.09855773 -0.01348663
+v -0.09844306 0.09848932 -0.03956215
+v -0.09896536 0.23577335 -0.00812672
+v -0.23480734 0.28025114 0.01381156
+v -0.23578871 0.09893146 -0.00813410
+v -0.09744763 0.23260014 -0.03586704
+v -0.18973300 0.28081112 0.00957086
+v -0.23260607 0.09743226 -0.03586576
+v -0.23984974 0.13158762 -0.00208004
+v -0.13158745 0.23985002 -0.00208002
+v -0.23410688 0.27936317 -0.00927823
+v -0.18909261 0.27985208 -0.01345054
+f 6 1 2
+f 6 3 1
+f 7 4 1
+f 8 2 1
+f 8 1 5
+f 8 6 2
+f 9 5 1
+f 9 1 4
+f 9 8 5
+f 10 7 1
+f 10 1 3
+f 10 3 7
+f 11 4 7
+f 11 6 8
+f 11 9 4
+f 11 8 9
+f 12 7 3
+f 12 3 6
+f 12 11 7
+f 12 6 11
\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_2/collision/model_normalized_collision_8.obj b/objects/objaverse/plate/plate_2/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5694d9aacf07b93a64bb4895818b0f678c855ff7
--- /dev/null
+++ b/objects/objaverse/plate/plate_2/collision/model_normalized_collision_8.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.31159390 -0.08361166 0.00696797
+v -0.31049238 -0.08330136 -0.01621018
+v -0.31091204 0.15926231 0.01119972
+v -0.41702075 0.15922174 0.02761006
+v -0.41746709 -0.08349243 0.02343634
+v -0.38406710 0.15824296 -0.00130876
+v -0.30814016 -0.06769183 -0.01723041
+v -0.35831027 -0.08378042 0.01418163
+v -0.32790879 0.16008323 0.01370940
+v -0.41380492 0.09791621 0.00030144
+v -0.30991321 0.15870318 -0.01184796
+v -0.41579774 0.15877012 0.00370783
+v -0.41388586 -0.08278076 -0.00018530
+v -0.30814016 0.06769184 -0.01723040
+v -0.39881385 0.14294198 0.00007686
+f 5 1 3
+f 5 3 4
+f 7 1 2
+f 7 3 1
+f 8 5 2
+f 8 2 1
+f 8 1 5
+f 9 4 3
+f 11 9 3
+f 12 4 9
+f 12 5 4
+f 12 11 6
+f 12 9 11
+f 13 2 5
+f 13 12 10
+f 13 5 12
+f 13 7 2
+f 14 11 3
+f 14 3 7
+f 14 6 11
+f 14 13 10
+f 14 7 13
+f 15 12 6
+f 15 10 12
+f 15 14 10
+f 15 6 14
\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_2/collision/model_normalized_collision_9.obj b/objects/objaverse/plate/plate_2/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f3621fb04ce3c57f70737773ce2174096a97bce
--- /dev/null
+++ b/objects/objaverse/plate/plate_2/collision/model_normalized_collision_9.obj
@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
+v -0.28118253 0.15958336 0.00708299
+v -0.23440310 0.24951859 -0.01272777
+v -0.23678501 0.25209437 0.01068211
+v -0.23113510 0.44033650 0.03462407
+v -0.45409972 0.20084580 0.01835703
+v -0.28018194 0.15902324 -0.01608842
+v -0.42377599 0.16171621 0.03123093
+v -0.30309931 0.39199914 0.01762390
+v -0.33853066 0.26327551 0.00095989
+v -0.42809240 0.25458442 0.03356673
+v -0.38406710 0.15824296 -0.00130876
+v -0.23249173 0.42760846 0.01321993
+v -0.39199905 0.30309965 0.01762402
+v -0.45500404 0.20126290 0.03434238
+v -0.29722796 0.39970759 0.03358117
+v -0.40459642 0.16022880 0.02501430
+v -0.41579774 0.15877012 0.00370783
+v -0.36858429 0.21822607 0.00085467
+v -0.23076559 0.43967634 0.01818425
+v -0.26327529 0.33853088 0.00095989
+v -0.42863540 0.25488840 0.02201180
+v -0.39970722 0.29722806 0.03358152
+v -0.29761757 0.40020146 0.02201180
+v -0.44258564 0.20252351 0.01322999
+v -0.38365589 0.18814515 0.00067984
+v -0.25862074 0.42202781 0.01706228
+v -0.23353730 0.33894578 -0.00186375
+v -0.42202779 0.25862064 0.01706230
+v -0.44452779 0.22649816 0.02201180
+v -0.44372784 0.22609055 0.03415348
+v -0.40020123 0.29761778 0.02201180
+v -0.25458427 0.42809279 0.03356641
+v -0.25488817 0.42863562 0.02201180
+v -0.43709656 0.22932176 0.01633519
+f 1 2 3
+f 1 3 4
+f 3 2 4
+f 6 2 1
+f 7 1 4
+f 9 2 6
+f 11 6 1
+f 13 8 9
+f 14 7 4
+f 14 5 7
+f 16 11 1
+f 16 1 7
+f 17 7 5
+f 17 16 7
+f 17 11 16
+f 18 9 6
+f 19 4 2
+f 20 9 8
+f 20 8 12
+f 20 2 9
+f 22 4 15
+f 23 8 13
+f 24 17 5
+f 24 18 17
+f 24 9 18
+f 25 18 6
+f 25 6 11
+f 25 11 17
+f 25 17 18
+f 26 19 12
+f 26 12 8
+f 26 8 23
+f 27 19 2
+f 27 12 19
+f 27 20 12
+f 27 2 20
+f 28 13 9
+f 28 9 24
+f 29 10 21
+f 29 5 14
+f 29 21 28
+f 30 22 10
+f 30 14 4
+f 30 4 22
+f 30 29 14
+f 30 10 29
+f 31 21 10
+f 31 10 22
+f 31 28 21
+f 31 13 28
+f 31 23 13
+f 31 22 15
+f 31 15 23
+f 32 23 15
+f 32 15 4
+f 33 26 23
+f 33 19 26
+f 33 23 32
+f 33 32 4
+f 33 4 19
+f 34 28 24
+f 34 24 5
+f 34 29 28
+f 34 5 29
\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_2/model.xml b/objects/objaverse/plate/plate_2/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..fde7d1c3a2edb2abcef74d225bb1cbedc8a5e2a7
--- /dev/null
+++ b/objects/objaverse/plate/plate_2/model.xml
@@ -0,0 +1,81 @@
+<mujoco model="plate_31">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.175 0.175 0.175" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.175 0.175 0.175" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.175 0.175 0.175" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.175 0.175 0.175" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.175 0.175 0.175" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.175 0.175 0.175" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.175 0.175 0.175" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.175 0.175 0.175" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.175 0.175 0.175" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.175 0.175 0.175" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.175 0.175 0.175" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.175 0.175 0.175" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.175 0.175 0.175" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.175 0.175 0.175" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.175 0.175 0.175" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.175 0.175 0.175" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.175 0.175 0.175" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.175 0.175 0.175" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.175 0.175 0.175" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.175 0.175 0.175" refquat="1.0 0.0 0.0 0.0"/>
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+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="phong2.002" texture="image0" specular="0.5" shininess="1.0"/>
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diff --git a/objects/objaverse/plate/plate_2/visual/material.mtl b/objects/objaverse/plate/plate_2/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0bde7acb2ffe570714f95aa2ffcc1983ab927c38
--- /dev/null
+++ b/objects/objaverse/plate/plate_2/visual/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.22745098 0.22745098 0.22745098
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 1000.00000000
+map_Kd material_0.jpeg
\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_2/visual/model_normalized_0.obj b/objects/objaverse/plate/plate_2/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed8d857fa88b3aaab944fe411352689cbea27bf9
--- /dev/null
+++ b/objects/objaverse/plate/plate_2/visual/model_normalized_0.obj
@@ -0,0 +1,20423 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/objects/objaverse/plate/plate_5/.DS_Store b/objects/objaverse/plate/plate_5/.DS_Store
new file mode 100644
index 0000000000000000000000000000000000000000..007513fe3389b1f01fd72f290818ba416ff2cb10
Binary files /dev/null and b/objects/objaverse/plate/plate_5/.DS_Store differ
diff --git a/objects/objaverse/plate/plate_5/model.xml b/objects/objaverse/plate/plate_5/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..698749f85b21b15b33632e02eda8ab6937a0ffa5
--- /dev/null
+++ b/objects/objaverse/plate/plate_5/model.xml
@@ -0,0 +1,81 @@
+<mujoco model="plate_8">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.185 0.185 0.185" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.185 0.185 0.185" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.185 0.185 0.185" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.185 0.185 0.185" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.185 0.185 0.185" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.185 0.185 0.185" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.185 0.185 0.185" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.185 0.185 0.185" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.185 0.185 0.185" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.185 0.185 0.185" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.185 0.185 0.185" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.185 0.185 0.185" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.185 0.185 0.185" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.185 0.185 0.185" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.185 0.185 0.185" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.185 0.185 0.185" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.185 0.185 0.185" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.185 0.185 0.185" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.185 0.185 0.185" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.185 0.185 0.185" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.185 0.185 0.185" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.185 0.185 0.185" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.185 0.185 0.185" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.185 0.185 0.185" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.185 0.185 0.185" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.185 0.185 0.185" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.185 0.185 0.185" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.185 0.185 0.185" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.185 0.185 0.185" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.185 0.185 0.185" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.185 0.185 0.185" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.185 0.185 0.185" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.185 0.185 0.185" refquat="1.0 0.0 0.0 0.0"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="lambert1.131" 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="lambert1.131"/>
+        <geom solimp="0.998 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"/>
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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_10._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_12._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_13._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+      </body>
+      <site rgba="0 0 0 0" size="0.005" pos="-1.248749999958887e-07 1.3320000000177634e-07 -0.00861037175" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="-1.248749999958887e-07 1.3320000000177634e-07 0.008587513150000002" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.09064567655 0.09064593925 -1.142930000000016e-05" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/objects/objaverse/plate/plate_9/.DS_Store b/objects/objaverse/plate/plate_9/.DS_Store
new file mode 100644
index 0000000000000000000000000000000000000000..a6b924312aaeb268b0098306157e58b96386e071
Binary files /dev/null and b/objects/objaverse/plate/plate_9/.DS_Store differ
diff --git a/objects/objaverse/plate/plate_9/collision/model_normalized_collision_0.obj b/objects/objaverse/plate/plate_9/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a4133af361e0079f7904c2d0997fa060b6cec99
--- /dev/null
+++ b/objects/objaverse/plate/plate_9/collision/model_normalized_collision_0.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v -0.24003705 0.29975857 -0.02098707
+v -0.14509570 0.36061949 0.00127083
+v -0.39286021 0.30503622 0.03123629
+v -0.15635856 0.47190628 0.03123629
+v -0.15676965 0.47317224 0.02363579
+v -0.14300845 0.37139007 0.00590590
+v -0.23873629 0.31650078 0.00545342
+v -0.15795518 0.35574826 -0.00814300
+v -0.29725526 0.40172362 0.02377636
+v -0.14661871 0.36385513 0.00339762
+v -0.22511434 0.31197604 -0.02066633
+v -0.38717951 0.31606078 0.02377636
+v -0.29605345 0.40027070 0.03123629
+v -0.24268573 0.43700225 0.02377636
+v -0.23104203 0.30720020 -0.02098707
+v -0.38179434 0.32239524 0.02377636
+v -0.39438442 0.30614379 0.02377636
+v -0.19525025 0.45962113 0.02377636
+v -0.25247690 0.42855563 0.03123629
+v -0.28879939 0.40773781 0.02377636
+v -0.38565522 0.31495297 0.03123629
+v -0.17064524 0.46924581 0.02377636
+v -0.21349218 0.45103690 0.02377636
+v -0.19444763 0.45791650 0.03123629
+f 6 4 3
+f 6 5 4
+f 6 2 5
+f 7 1 2
+f 7 3 1
+f 7 6 3
+f 8 5 2
+f 8 2 1
+f 10 7 2
+f 10 2 6
+f 10 6 7
+f 11 5 8
+f 13 3 4
+f 15 11 8
+f 15 8 1
+f 15 1 9
+f 16 9 1
+f 16 1 12
+f 16 13 9
+f 17 12 1
+f 17 1 3
+f 17 3 12
+f 19 13 4
+f 20 14 11
+f 20 11 15
+f 20 15 9
+f 20 19 14
+f 20 9 13
+f 20 13 19
+f 21 16 12
+f 21 12 3
+f 21 3 13
+f 21 13 16
+f 22 4 5
+f 22 5 11
+f 22 11 18
+f 23 18 11
+f 23 11 14
+f 24 19 4
+f 24 18 23
+f 24 23 14
+f 24 14 19
+f 24 22 18
+f 24 4 22
\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_9/collision/model_normalized_collision_1.obj b/objects/objaverse/plate/plate_9/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dcb075544f05086447606dcd08339d69c587efdb
--- /dev/null
+++ b/objects/objaverse/plate/plate_9/collision/model_normalized_collision_1.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.23385825 0.08333275 -0.02356764
+v -0.23385972 0.08333333 -0.03123629
+v -0.22813331 0.30368442 -0.02667339
+v -0.29590943 0.31196176 0.01399760
+v -0.37679171 0.08501966 -0.00058549
+v -0.23502707 0.31201725 0.00272970
+v -0.36541955 0.08209988 -0.03005132
+v -0.25140291 0.31349709 0.00702301
+v -0.37067436 0.20479342 0.00461397
+v -0.34134734 0.26618832 0.01484997
+v -0.31116785 0.22496540 -0.02098707
+v -0.33702901 0.26305091 0.00557633
+v -0.35367201 0.13738599 -0.02667339
+v -0.29201808 0.30830753 0.00472501
+v -0.23722295 0.29635729 -0.02645102
+f 1 2 3
+f 5 1 4
+f 6 1 3
+f 7 2 1
+f 7 1 5
+f 7 3 2
+f 8 6 3
+f 8 3 4
+f 8 4 1
+f 8 1 6
+f 9 7 5
+f 10 9 5
+f 10 5 4
+f 12 10 4
+f 12 11 9
+f 12 9 10
+f 13 7 9
+f 13 9 11
+f 14 12 4
+f 14 4 3
+f 15 11 12
+f 15 13 11
+f 15 3 7
+f 15 7 13
+f 15 14 3
+f 15 12 14
\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_9/collision/model_normalized_collision_10.obj b/objects/objaverse/plate/plate_9/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c3f22158791345e118ff113d48da65af0d74c057
--- /dev/null
+++ b/objects/objaverse/plate/plate_9/collision/model_normalized_collision_10.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.35476583 0.32361319 0.01898875
+v 0.35865451 0.32726493 0.02827702
+v 0.19149263 0.37357084 0.01153143
+v 0.24994001 0.43016559 0.03123629
+v 0.34583848 0.36068440 0.02377636
+v 0.19197068 0.42004101 0.02226353
+v 0.24947662 0.32392973 0.00084084
+v 0.35339928 0.35263294 0.02377636
+v 0.29381417 0.32257950 0.00774756
+v 0.25288069 0.32804449 0.01010953
+v 0.18851310 0.39754209 0.00879714
+v 0.34446441 0.35939381 0.03123629
+v 0.29842930 0.40075236 0.02377636
+v 0.18921920 0.36873958 0.00226109
+v 0.24879796 0.42836600 0.02275722
+v 0.29722750 0.39929944 0.03123629
+v 0.18969793 0.41521139 0.01298156
+v 0.26175164 0.42490273 0.02377636
+v 0.20349861 0.39718907 0.01033491
+v 0.29020916 0.40684315 0.02377636
+v 0.27154281 0.41645612 0.03123629
+f 6 3 2
+f 6 2 4
+f 8 2 1
+f 8 1 5
+f 9 1 2
+f 9 5 1
+f 10 2 3
+f 10 3 7
+f 10 9 2
+f 10 7 9
+f 11 3 6
+f 12 8 5
+f 12 4 2
+f 12 2 8
+f 13 9 7
+f 13 5 9
+f 13 12 5
+f 14 7 3
+f 14 3 11
+f 15 6 4
+f 15 7 14
+f 16 4 12
+f 16 12 13
+f 17 11 6
+f 17 6 15
+f 17 14 11
+f 18 15 4
+f 19 17 15
+f 19 15 14
+f 19 14 17
+f 20 13 7
+f 20 7 15
+f 20 15 18
+f 20 16 13
+f 21 4 16
+f 21 16 20
+f 21 20 18
+f 21 18 4
\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_9/collision/model_normalized_collision_11.obj b/objects/objaverse/plate/plate_9/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f0ecaf922079423d504026c03cdce7a1c236c1fb
--- /dev/null
+++ b/objects/objaverse/plate/plate_9/collision/model_normalized_collision_11.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.12686746 -0.48347174 0.02377636
+v 0.18863879 -0.45841530 0.02278530
+v -0.22509390 -0.44349435 0.03123629
+v -0.23234516 -0.42859968 0.02066212
+v -0.09737193 -0.43116731 0.00925409
+v 0.19126305 -0.44884050 0.02880580
+v -0.07953361 -0.49283894 0.02377636
+v 0.18899184 -0.44401402 0.01951732
+v -0.23461611 -0.43342548 0.02995208
+v 0.18366262 -0.46299195 0.03123629
+v -0.19525025 -0.45962113 0.02377636
+v 0.08144172 -0.49247497 0.02377636
+v 0.18446467 -0.46469658 0.02377636
+v -0.23173411 -0.44245268 0.02377636
+v -0.07917977 -0.49098734 0.03123629
+v -0.12507880 -0.48405298 0.02377636
+v 0.08108786 -0.49062331 0.03123629
+v -0.15248754 -0.47514630 0.02377636
+v 0.15369453 -0.47277183 0.03123629
+v -0.19444763 -0.45791650 0.03123629
+v -0.15190581 -0.47335299 0.03123629
+f 8 6 2
+f 8 5 4
+f 8 4 6
+f 9 6 4
+f 10 2 6
+f 10 9 3
+f 10 6 9
+f 11 4 5
+f 12 7 5
+f 12 8 1
+f 12 5 8
+f 13 8 2
+f 13 1 8
+f 13 2 10
+f 14 9 4
+f 14 3 9
+f 14 4 11
+f 15 10 3
+f 15 7 12
+f 16 5 7
+f 16 7 15
+f 17 12 1
+f 17 15 12
+f 17 10 15
+f 18 11 5
+f 18 5 16
+f 19 17 1
+f 19 10 17
+f 19 13 10
+f 19 1 13
+f 20 11 18
+f 20 14 11
+f 20 3 14
+f 20 15 3
+f 21 20 18
+f 21 18 16
+f 21 16 15
+f 21 15 20
\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_9/collision/model_normalized_collision_12.obj b/objects/objaverse/plate/plate_9/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ec71898581d93f72929b61602949a8844fa9738f
--- /dev/null
+++ b/objects/objaverse/plate/plate_9/collision/model_normalized_collision_12.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.47257713 0.15684039 0.03123629
+v 0.47422619 0.15749327 0.02374826
+v 0.40750842 0.28808196 0.02377636
+v 0.35202523 0.35134252 0.03123629
+v 0.35533416 0.18845101 -0.00079447
+v 0.44397432 0.22432771 0.03123629
+v 0.40242958 0.15906147 0.00695768
+v 0.36001471 0.19102415 0.00847214
+v 0.44562555 0.22523584 0.02377636
+v 0.35339928 0.35263294 0.02377636
+v 0.38633845 0.31401260 0.03123629
+v 0.40403404 0.15969666 0.01531524
+v 0.36846765 0.24728751 0.00967892
+v 0.39855582 0.18754706 0.00870459
+v 0.46395750 0.18373079 0.02377636
+v 0.35391588 0.24772328 0.00675702
+v 0.36806015 0.33702068 0.02377636
+v 0.46220550 0.18303717 0.03123629
+v 0.46914333 0.17063241 0.02377636
+v 0.35912546 0.34378170 0.03123629
+v 0.38786322 0.31511998 0.02377636
+v 0.35430853 0.33833527 0.02146121
+f 6 4 1
+f 7 2 1
+f 8 4 5
+f 9 3 6
+f 11 6 3
+f 11 4 6
+f 12 1 4
+f 12 4 8
+f 12 7 1
+f 12 8 5
+f 12 5 7
+f 13 9 5
+f 13 3 9
+f 14 7 5
+f 14 5 9
+f 15 9 6
+f 15 14 9
+f 15 2 7
+f 15 7 14
+f 16 5 4
+f 16 4 10
+f 16 13 5
+f 16 3 13
+f 18 15 6
+f 18 6 1
+f 19 1 2
+f 19 2 15
+f 19 18 1
+f 19 15 18
+f 20 4 11
+f 20 11 17
+f 20 17 10
+f 20 10 4
+f 21 17 11
+f 21 11 3
+f 21 3 16
+f 22 16 10
+f 22 10 17
+f 22 21 16
+f 22 17 21
\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_9/collision/model_normalized_collision_13.obj b/objects/objaverse/plate/plate_9/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5bb4d35c42f7032d1f33830a9ec550a3a71b87e3
--- /dev/null
+++ b/objects/objaverse/plate/plate_9/collision/model_normalized_collision_13.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v -0.31993193 -0.38051682 0.03123629
+v -0.32113369 -0.38196956 0.02377636
+v -0.32240236 -0.23312945 -0.00213608
+v -0.48087934 -0.12607780 0.03123629
+v -0.42885562 -0.25573566 0.02377636
+v -0.41716362 -0.12916931 0.01575535
+v -0.32180448 -0.29267086 0.00751796
+v -0.39961894 -0.29893888 0.02377636
+v -0.42720499 -0.25482852 0.03123629
+v -0.32767034 -0.23695661 0.00767479
+v -0.41549248 -0.12874027 0.00739701
+v -0.33717477 -0.36789334 0.02361883
+v -0.40682385 -0.28902189 0.02377636
+v -0.33646902 -0.29221356 0.01015086
+v -0.45156326 -0.21443563 0.02377636
+v -0.39809497 -0.29783124 0.03123629
+v -0.32892728 -0.37307526 0.03123629
+v -0.32239559 -0.36834341 0.02131660
+v -0.35114469 -0.27745027 0.01062148
+v -0.45675119 -0.19681270 0.03123629
+v -0.48270684 -0.12654664 0.02377636
+v -0.36789632 -0.18811455 0.00195753
+v -0.33012896 -0.37452798 0.02377636
+v -0.47552725 -0.15450789 0.02377636
+v -0.39679214 -0.18734077 0.00828726
+v -0.38118357 -0.23254413 0.01034261
+v -0.45850370 -0.19750600 0.02377636
+v -0.47373059 -0.15392310 0.03123629
+f 6 4 1
+f 7 1 2
+f 7 3 1
+f 9 1 4
+f 10 6 1
+f 10 1 3
+f 10 3 6
+f 11 4 6
+f 11 6 3
+f 13 5 3
+f 13 3 8
+f 13 9 5
+f 14 3 7
+f 14 12 8
+f 14 7 12
+f 15 5 9
+f 16 1 9
+f 16 8 12
+f 16 13 8
+f 16 9 13
+f 17 2 1
+f 17 16 12
+f 17 1 16
+f 18 12 7
+f 18 7 2
+f 19 14 8
+f 19 8 3
+f 19 3 14
+f 20 15 9
+f 20 9 4
+f 21 4 11
+f 22 11 3
+f 23 17 12
+f 23 2 17
+f 23 18 2
+f 23 12 18
+f 24 21 11
+f 25 11 22
+f 25 24 11
+f 26 22 3
+f 26 3 5
+f 26 5 15
+f 26 25 22
+f 26 15 25
+f 27 15 20
+f 27 20 24
+f 27 25 15
+f 27 24 25
+f 28 24 20
+f 28 20 4
+f 28 4 21
+f 28 21 24
\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_9/collision/model_normalized_collision_14.obj b/objects/objaverse/plate/plate_9/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..274b4cd5f813f5e2ad2c569df9b675196645e448
--- /dev/null
+++ b/objects/objaverse/plate/plate_9/collision/model_normalized_collision_14.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.25098762 0.23484741 -0.02357765
+v 0.25098877 0.23484849 -0.03123629
+v 0.10210903 0.36417180 -0.01211517
+v -0.10032032 0.36475297 -0.01211517
+v -0.09749608 0.23484849 -0.03123629
+v -0.09738270 0.35571163 -0.03123629
+v 0.25290772 0.28262238 -0.01018167
+v 0.09917229 0.35513341 -0.03123629
+v -0.09749541 0.23484706 -0.02356826
+v 0.24988178 0.27896496 -0.03007722
+v 0.20467694 0.30925505 -0.03076145
+v 0.20861372 0.31545876 -0.01170097
+f 6 4 3
+f 6 5 4
+f 6 2 5
+f 7 3 4
+f 7 1 2
+f 8 6 3
+f 8 2 6
+f 9 1 7
+f 9 5 2
+f 9 2 1
+f 9 7 4
+f 9 4 5
+f 10 7 2
+f 11 10 2
+f 11 2 8
+f 11 8 3
+f 12 11 3
+f 12 3 7
+f 12 7 10
+f 12 10 11
\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_9/collision/model_normalized_collision_15.obj b/objects/objaverse/plate/plate_9/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7e7a13569c59a0727364f91a67beb6a74295072d
--- /dev/null
+++ b/objects/objaverse/plate/plate_9/collision/model_normalized_collision_15.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v -0.36896380 0.12828918 -0.00707327
+v -0.29192217 0.26276307 -0.00481058
+v -0.48087934 0.12607780 0.03123629
+v -0.39438442 0.30614379 0.02377636
+v -0.42885499 0.25573596 0.02377636
+v -0.29590943 0.31196176 0.01399760
+v -0.40682385 0.28902189 0.02377636
+v -0.48270684 0.12654664 0.02377636
+v -0.29201808 0.30830753 0.00472501
+v -0.39809497 0.29783124 0.03123629
+v -0.37478503 0.13059379 0.00568632
+v -0.45156153 0.21443505 0.02377636
+v -0.32134719 0.30739296 0.00999072
+v -0.32787194 0.31352016 0.02018704
+v -0.42720433 0.25482888 0.03123629
+v -0.35971946 0.14577943 0.00131454
+v -0.47552725 0.15450789 0.02377636
+v -0.45675039 0.19681187 0.03123629
+v -0.29728429 0.26779831 0.00657272
+v -0.45850289 0.19750522 0.02377636
+v -0.47373059 0.15392310 0.03123629
+f 5 2 1
+f 7 4 2
+f 7 2 5
+f 8 1 3
+f 9 6 2
+f 10 4 7
+f 11 6 3
+f 11 3 1
+f 12 5 1
+f 13 9 2
+f 13 2 4
+f 13 4 9
+f 14 9 4
+f 14 6 9
+f 14 4 10
+f 14 10 3
+f 14 3 6
+f 15 10 7
+f 15 7 5
+f 15 5 12
+f 15 3 10
+f 16 11 1
+f 16 1 2
+f 17 1 8
+f 18 15 12
+f 18 3 15
+f 19 16 2
+f 19 2 6
+f 19 6 11
+f 19 11 16
+f 20 12 1
+f 20 1 17
+f 20 18 12
+f 20 17 18
+f 21 18 17
+f 21 3 18
+f 21 17 8
+f 21 8 3
\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_9/collision/model_normalized_collision_16.obj b/objects/objaverse/plate/plate_9/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..20d06bdeeedc622265e5f3cc8a4dbb148d2a4145
--- /dev/null
+++ b/objects/objaverse/plate/plate_9/collision/model_normalized_collision_16.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v -0.23173411 -0.44245268 0.02377636
+v -0.23093141 -0.44074721 0.03123629
+v -0.32113369 -0.38196956 0.02377636
+v -0.31122858 -0.22500953 -0.02057928
+v -0.23385972 -0.23484849 -0.03123629
+v -0.32767034 -0.23695661 0.00767479
+v -0.22813331 -0.30368442 -0.02667339
+v -0.28879939 -0.40773781 0.02377636
+v -0.31249037 -0.38667298 0.03123629
+v -0.32741366 -0.32824132 0.02266199
+v -0.23385857 -0.23484741 -0.02357634
+v -0.29503732 -0.23940668 -0.02667339
+v -0.24268573 -0.43700225 0.02377636
+v -0.29725526 -0.40172362 0.02377636
+v -0.29605345 -0.40027070 0.03123629
+v -0.23873526 -0.31649954 0.00545273
+v -0.23722189 -0.29635601 -0.02645344
+v -0.30224236 -0.22949011 -0.02667339
+v -0.25247690 -0.42855563 0.03123629
+v -0.31578718 -0.23933124 0.00550387
+f 7 2 1
+f 9 2 6
+f 10 6 4
+f 10 4 3
+f 10 9 6
+f 10 3 9
+f 11 5 4
+f 11 4 6
+f 11 7 5
+f 11 2 7
+f 12 5 7
+f 13 1 2
+f 13 8 7
+f 13 7 1
+f 14 3 7
+f 14 7 8
+f 14 9 3
+f 15 2 9
+f 15 14 8
+f 15 9 14
+f 16 6 2
+f 16 2 11
+f 17 12 7
+f 17 7 3
+f 17 3 12
+f 18 12 3
+f 18 3 4
+f 18 4 5
+f 18 5 12
+f 19 13 2
+f 19 2 15
+f 19 15 8
+f 19 8 13
+f 20 16 11
+f 20 11 6
+f 20 6 16
\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_9/collision/model_normalized_collision_17.obj b/objects/objaverse/plate/plate_9/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..665888e161e8dfb828850222b8cbfa899497bfb6
--- /dev/null
+++ b/objects/objaverse/plate/plate_9/collision/model_normalized_collision_17.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.23385857 -0.23484741 -0.02357634
+v -0.23385972 -0.23484849 -0.03123629
+v -0.23385972 -0.12878788 -0.03123629
+v -0.36214674 -0.13158875 -0.00146972
+v -0.35677121 -0.23608317 0.01352468
+v -0.35210505 -0.12761331 -0.03005132
+v -0.31578718 -0.23933124 0.00550387
+v -0.23385834 -0.12878712 -0.02356962
+v -0.31116785 -0.22496540 -0.02098707
+v -0.35245222 -0.23294528 0.00425314
+v -0.35851690 -0.17613638 0.00631690
+v -0.34132860 -0.16668706 -0.02667339
+f 6 3 2
+f 6 5 4
+f 7 2 1
+f 8 6 4
+f 8 3 6
+f 8 5 7
+f 8 7 1
+f 8 1 2
+f 8 2 3
+f 10 7 5
+f 10 2 7
+f 10 9 2
+f 10 5 6
+f 11 8 4
+f 11 4 5
+f 11 5 8
+f 12 6 2
+f 12 2 9
+f 12 10 6
+f 12 9 10
\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_9/collision/model_normalized_collision_18.obj b/objects/objaverse/plate/plate_9/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae36810c907c188510655f2c0cb4cac43f348a18
--- /dev/null
+++ b/objects/objaverse/plate/plate_9/collision/model_normalized_collision_18.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.15922721 -0.43528042 0.02261340
+v -0.15757768 -0.43020425 0.01333105
+v -0.15810130 -0.26515019 -0.02357397
+v -0.23385871 -0.26515030 -0.02357866
+v -0.23461611 -0.43342548 0.02995208
+v -0.15381072 -0.34694003 -0.02667339
+v -0.15673081 -0.41244666 0.00897977
+v -0.23234516 -0.42859968 0.02066212
+v -0.23873526 -0.31649954 0.00545273
+v -0.15810214 -0.26515152 -0.03123629
+v -0.22309681 -0.30879815 -0.02539045
+v -0.16110358 -0.36243907 0.00568632
+v -0.23385972 -0.26515152 -0.03123629
+v -0.16621586 -0.34110315 -0.02667339
+f 7 1 2
+f 7 3 1
+f 7 6 3
+f 7 2 6
+f 8 2 1
+f 8 1 5
+f 8 6 2
+f 9 5 1
+f 9 3 4
+f 10 3 6
+f 12 9 1
+f 12 1 3
+f 12 3 9
+f 13 8 5
+f 13 5 9
+f 13 9 4
+f 13 11 8
+f 13 10 6
+f 13 4 3
+f 13 3 10
+f 14 6 8
+f 14 8 11
+f 14 13 6
+f 14 11 13
\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_9/collision/model_normalized_collision_19.obj b/objects/objaverse/plate/plate_9/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8d1941b07698b1fe42282a998905ca191dee6427
--- /dev/null
+++ b/objects/objaverse/plate/plate_9/collision/model_normalized_collision_19.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v -0.09749541 0.23484706 -0.02356826
+v -0.09749608 0.23484849 -0.03123629
+v -0.10032032 0.36475297 -0.01211517
+v -0.23496430 0.35780134 0.01367776
+v -0.23385972 0.23484849 -0.03123629
+v -0.13006601 0.36303892 -0.00118019
+v -0.09738270 0.35571163 -0.03123629
+v -0.23385857 0.23484741 -0.02357634
+v -0.17490570 0.35957114 0.00651972
+v -0.22309679 0.30879816 -0.02539045
+v -0.23873629 0.31650078 0.00545342
+v -0.16621586 0.34110315 -0.02667339
+v -0.23210416 0.35329385 0.00440525
+f 5 2 1
+f 6 1 3
+f 6 3 4
+f 7 1 2
+f 7 3 1
+f 7 2 5
+f 7 4 3
+f 8 5 1
+f 9 6 4
+f 9 4 1
+f 9 1 6
+f 10 7 5
+f 11 8 1
+f 11 1 4
+f 11 5 8
+f 12 7 10
+f 13 10 5
+f 13 5 11
+f 13 11 4
+f 13 12 10
+f 13 4 7
+f 13 7 12
\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_9/collision/model_normalized_collision_2.obj b/objects/objaverse/plate/plate_9/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..85628ed95aa3afdd8cb23bef6e8d4558a69f8ff8
--- /dev/null
+++ b/objects/objaverse/plate/plate_9/collision/model_normalized_collision_2.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.09949932 -0.44710438 0.02125423
+v 0.09917656 -0.44541260 0.01289048
+v 0.09870908 -0.38401049 -0.00311791
+v -0.15879841 -0.35754016 0.00315051
+v -0.15810991 -0.43184208 0.02169509
+v 0.10063044 -0.38992386 0.00705676
+v -0.09752597 -0.44712642 0.02116592
+v -0.16110358 -0.36243907 0.00568632
+v -0.05104812 -0.38115552 -0.02098707
+v -0.15757768 -0.43020425 0.01333105
+v 0.05295624 -0.38079156 -0.02098707
+v -0.09720327 -0.44543461 0.01280188
+v -0.15693955 -0.38389307 0.00225266
+v 0.00828017 -0.44245106 0.00933590
+v -0.02145090 -0.44240109 0.00953324
+f 6 3 4
+f 6 1 2
+f 6 2 3
+f 7 1 5
+f 8 5 1
+f 8 1 6
+f 8 6 4
+f 10 5 8
+f 10 7 5
+f 11 3 2
+f 11 9 4
+f 11 4 3
+f 12 10 9
+f 12 7 10
+f 12 2 1
+f 12 1 7
+f 13 10 8
+f 13 8 4
+f 13 4 9
+f 13 9 10
+f 14 11 2
+f 14 9 11
+f 14 2 12
+f 15 14 12
+f 15 12 9
+f 15 9 14
\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_9/collision/model_normalized_collision_20.obj b/objects/objaverse/plate/plate_9/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..68c10862fc03b18315e5101a3ed99b10206d84b6
--- /dev/null
+++ b/objects/objaverse/plate/plate_9/collision/model_normalized_collision_20.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.36001471 0.19102415 0.00847214
+v 0.35533416 0.18845101 -0.00079447
+v 0.35865451 0.32726493 0.02827702
+v 0.25288069 0.32804449 0.01010953
+v 0.28129053 0.18939302 -0.02357715
+v 0.36028509 0.28265393 0.02120018
+v 0.25595091 0.30145270 0.00516251
+v 0.32563146 0.19560297 -0.02641178
+v 0.34688749 0.19213703 0.00568632
+v 0.24574385 0.28911488 -0.02667339
+v 0.33187472 0.18388370 -0.02667339
+v 0.25098762 0.23484741 -0.02357765
+v 0.35476583 0.32361319 0.01898875
+v 0.25098877 0.23484849 -0.03123629
+v 0.24947662 0.32392973 0.00084084
+v 0.31466401 0.32863979 0.02037045
+v 0.25473874 0.28167323 -0.02667339
+v 0.28129181 0.18939394 -0.03123629
+f 1 3 4
+f 5 2 1
+f 6 1 2
+f 6 3 1
+f 9 7 5
+f 9 5 1
+f 9 1 4
+f 9 4 7
+f 11 2 5
+f 12 7 4
+f 12 5 7
+f 13 11 8
+f 13 3 6
+f 13 6 2
+f 13 2 11
+f 14 8 11
+f 14 12 10
+f 14 5 12
+f 15 12 4
+f 15 10 12
+f 15 13 10
+f 16 4 3
+f 16 3 13
+f 16 15 4
+f 16 13 15
+f 17 13 8
+f 17 10 13
+f 17 14 10
+f 17 8 14
+f 18 14 11
+f 18 11 5
+f 18 5 14
\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_9/collision/model_normalized_collision_21.obj b/objects/objaverse/plate/plate_9/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9f669d28a16bd8a2c0e07f2d500e088546eab759
--- /dev/null
+++ b/objects/objaverse/plate/plate_9/collision/model_normalized_collision_21.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.40434831 -0.14466961 0.01398465
+v 0.40274320 -0.14403414 0.00562822
+v 0.40518117 0.09917222 0.01091245
+v 0.36870165 0.10147656 -0.00409738
+v 0.35237301 -0.12693648 -0.03005132
+v 0.37227160 -0.14396739 0.00634314
+v 0.38273804 0.03538168 -0.01999838
+v 0.37563319 -0.14529820 0.00726151
+v 0.39089123 0.09939343 0.00741060
+v 0.36332337 -0.13127181 -0.00055143
+v 0.40000921 0.09784430 0.00164252
+v 0.38273619 -0.03538145 -0.02000632
+v 0.35557482 0.09810629 -0.03115567
+v 0.36834862 -0.09360544 -0.02570813
+v 0.36835072 0.09360598 -0.02570655
+v 0.35912484 -0.12361094 -0.02667339
+f 1 2 3
+f 8 1 3
+f 8 2 1
+f 8 6 5
+f 8 5 2
+f 9 3 4
+f 9 4 6
+f 9 8 3
+f 9 6 8
+f 10 6 4
+f 10 5 6
+f 11 3 2
+f 12 11 2
+f 12 7 11
+f 13 4 3
+f 13 3 11
+f 13 10 4
+f 13 5 10
+f 13 7 12
+f 14 12 2
+f 14 13 12
+f 14 5 13
+f 15 13 11
+f 15 11 7
+f 15 7 13
+f 16 14 2
+f 16 2 5
+f 16 5 14
\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_9/collision/model_normalized_collision_22.obj b/objects/objaverse/plate/plate_9/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..069ce9f0d78c358f4de1723a90e8ea3e18397af4
--- /dev/null
+++ b/objects/objaverse/plate/plate_9/collision/model_normalized_collision_22.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.23583625 -0.26515030 -0.02357879
+v 0.28129181 -0.21969697 -0.03123629
+v 0.29009996 0.24312086 -0.01211517
+v -0.23385857 0.23484741 -0.02357634
+v -0.23385972 -0.26515152 -0.03123629
+v 0.28129181 0.23484849 -0.03123629
+v 0.28129053 -0.21969605 -0.02357901
+v 0.23583726 -0.26515152 -0.03123629
+v -0.23385871 -0.26515030 -0.02357866
+v -0.23385972 0.23484849 -0.03123629
+f 6 3 2
+f 6 2 5
+f 7 2 3
+f 7 3 1
+f 8 5 2
+f 8 7 1
+f 8 2 7
+f 9 1 3
+f 9 3 4
+f 9 8 1
+f 9 5 8
+f 10 4 3
+f 10 3 6
+f 10 6 5
+f 10 9 4
+f 10 5 9
\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_9/collision/model_normalized_collision_23.obj b/objects/objaverse/plate/plate_9/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a6466c26114c5c96e2e4b4e60ea2b2ad5b35797f
--- /dev/null
+++ b/objects/objaverse/plate/plate_9/collision/model_normalized_collision_23.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v -0.37257552 -0.19068706 0.01122681
+v -0.36789632 -0.18811455 0.00195753
+v -0.37138506 0.12924778 0.00397412
+v -0.41716361 0.12916933 0.01575533
+v -0.41428749 -0.18884339 0.01253669
+v -0.37478503 0.13059379 0.00568632
+v -0.41588910 -0.18947755 0.02089977
+v -0.36369249 0.09680794 -0.02872446
+v -0.36309968 0.12596733 -0.02098707
+v -0.36369379 -0.09680827 -0.02872390
+v -0.41199423 0.12784203 0.00648064
+v -0.36765595 -0.09393535 -0.02659128
+v -0.36765427 0.09393529 -0.02659299
+f 1 2 3
+f 5 2 1
+f 6 1 3
+f 6 4 1
+f 7 5 1
+f 7 1 4
+f 7 4 5
+f 9 3 2
+f 9 6 3
+f 10 2 5
+f 10 9 2
+f 10 8 9
+f 11 5 4
+f 11 9 8
+f 11 4 6
+f 11 6 9
+f 12 10 5
+f 12 5 11
+f 13 12 11
+f 13 11 8
+f 13 8 10
+f 13 10 12
\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_9/collision/model_normalized_collision_24.obj b/objects/objaverse/plate/plate_9/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c2fdba5dcdf52c7e8eae5c3154f5e121b683b6bb
--- /dev/null
+++ b/objects/objaverse/plate/plate_9/collision/model_normalized_collision_24.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.32830827 -0.19025263 -0.00949905
+v 0.35741726 -0.12893352 -0.00872874
+v 0.36438835 0.10036940 -0.01211517
+v 0.28129034 0.09848427 -0.02357284
+v 0.35237301 -0.12693648 -0.03005132
+v 0.32393058 -0.18784604 -0.03005132
+v 0.35557482 0.09810629 -0.03115567
+v 0.28129053 -0.18939302 -0.02357715
+v 0.28129181 0.09848485 -0.03123629
+v 0.28129181 -0.18939394 -0.03123629
+f 1 2 3
+f 1 3 4
+f 5 3 2
+f 6 5 2
+f 6 2 1
+f 7 3 5
+f 8 1 4
+f 9 4 3
+f 9 3 7
+f 10 7 5
+f 10 5 6
+f 10 9 7
+f 10 8 4
+f 10 4 9
+f 10 6 1
+f 10 1 8
\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_9/collision/model_normalized_collision_25.obj b/objects/objaverse/plate/plate_9/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ce0a7d68f76f7861baa180822609cb7410ffb05
--- /dev/null
+++ b/objects/objaverse/plate/plate_9/collision/model_normalized_collision_25.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.23538576 -0.34019770 0.00995952
+v 0.23446171 -0.33874173 0.00160855
+v 0.23583625 -0.26515030 -0.02357879
+v 0.14492750 -0.26515009 -0.02357324
+v 0.14821959 -0.34790346 -0.01211517
+v 0.24055905 -0.30116204 -0.00125109
+v 0.16350404 -0.34818682 -0.00193065
+v 0.19565633 -0.32534658 -0.02648349
+v 0.23583726 -0.26515152 -0.03123629
+v 0.14428246 -0.33953688 -0.03118478
+v 0.22614092 -0.31125491 -0.02098707
+v 0.14492817 -0.26515152 -0.03123629
+f 6 3 4
+f 6 4 1
+f 6 1 2
+f 7 5 2
+f 7 2 1
+f 7 1 4
+f 7 4 5
+f 9 6 2
+f 9 3 6
+f 9 4 3
+f 10 8 2
+f 10 2 5
+f 10 5 4
+f 10 9 8
+f 11 9 2
+f 11 2 8
+f 11 8 9
+f 12 10 4
+f 12 4 9
+f 12 9 10
\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_9/collision/model_normalized_collision_26.obj b/objects/objaverse/plate/plate_9/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..87b339e8dea0ce50f0ce3e3cb03498b7f5a06906
--- /dev/null
+++ b/objects/objaverse/plate/plate_9/collision/model_normalized_collision_26.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.19040402 -0.38640892 0.00644528
+v -0.16169427 -0.34854338 -0.00234898
+v -0.15736560 -0.33934389 -0.03011199
+v 0.09459427 -0.36841540 -0.02636906
+v 0.19122388 -0.34223451 0.00328927
+v 0.17236249 -0.33481290 -0.02872804
+v -0.15847738 -0.38716105 0.00316902
+v 0.13926108 -0.35377346 -0.02654938
+v 0.18723264 -0.33594501 -0.02098707
+v -0.09406386 -0.36837300 -0.02657924
+v -0.13744721 -0.35427566 -0.02667339
+v -0.15381072 -0.34694003 -0.02667339
+f 5 3 2
+f 6 4 3
+f 7 4 1
+f 7 2 3
+f 7 5 2
+f 7 1 5
+f 8 6 1
+f 8 1 4
+f 8 4 6
+f 9 5 1
+f 9 1 6
+f 9 6 3
+f 9 3 5
+f 10 3 4
+f 10 4 7
+f 11 10 7
+f 11 3 10
+f 12 11 7
+f 12 7 3
+f 12 3 11
\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_9/collision/model_normalized_collision_27.obj b/objects/objaverse/plate/plate_9/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d21c931dabbc693a806200921bbbcbb00176a1b0
--- /dev/null
+++ b/objects/objaverse/plate/plate_9/collision/model_normalized_collision_27.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.18949988 -0.46024512 0.03123629
+v 0.33874459 -0.36740048 0.02377636
+v 0.33754290 -0.36594784 0.03123629
+v 0.23556789 -0.37078770 0.00862376
+v 0.22751581 -0.44443771 0.02377636
+v 0.20612392 -0.38761678 0.01634167
+v 0.19005098 -0.40081015 0.00971337
+v 0.29020916 -0.40684315 0.02377636
+v 0.19232446 -0.40564153 0.01899194
+v 0.23842945 -0.37529650 0.01790140
+v 0.18863879 -0.45841530 0.02278530
+v 0.20538942 -0.38605588 0.00798303
+v 0.29476618 -0.36918482 0.01701265
+v 0.29842930 -0.40075236 0.02377636
+v 0.29722750 -0.39929944 0.03123629
+v 0.20270660 -0.45611235 0.02377636
+v 0.24409551 -0.43610758 0.02377636
+v 0.22671393 -0.44273334 0.03123629
+f 3 2 4
+f 9 1 3
+f 9 3 6
+f 9 7 1
+f 9 6 7
+f 10 6 3
+f 10 3 4
+f 10 4 6
+f 11 1 7
+f 12 11 7
+f 12 7 6
+f 12 6 4
+f 13 4 2
+f 14 2 3
+f 14 13 2
+f 14 8 4
+f 14 4 13
+f 15 3 1
+f 15 14 3
+f 15 8 14
+f 16 1 11
+f 16 12 5
+f 16 11 12
+f 17 5 12
+f 17 8 15
+f 17 12 4
+f 17 4 8
+f 18 17 15
+f 18 15 1
+f 18 5 17
+f 18 16 5
+f 18 1 16
\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_9/collision/model_normalized_collision_28.obj b/objects/objaverse/plate/plate_9/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6149e26268c89335b70f935be6112df057510479
--- /dev/null
+++ b/objects/objaverse/plate/plate_9/collision/model_normalized_collision_28.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.35677121 -0.23608317 0.01352468
+v -0.35245222 -0.23294528 0.00425314
+v -0.35507184 -0.08333333 -0.03123629
+v -0.37679161 -0.08501973 -0.00058540
+v -0.37141239 -0.23550222 0.01645220
+v -0.36306770 -0.14710530 0.00343108
+v -0.36682292 -0.23279243 0.00718014
+v -0.37375923 -0.14533920 0.00682274
+v -0.37222891 -0.08773840 -0.00409738
+v -0.34879081 -0.14145270 -0.02870586
+v -0.36541955 -0.08209988 -0.03005132
+v -0.35367201 -0.13738599 -0.02667339
+f 6 1 2
+f 7 2 1
+f 7 1 5
+f 8 5 1
+f 8 4 5
+f 8 6 4
+f 8 1 6
+f 9 6 3
+f 9 3 4
+f 9 4 6
+f 10 2 7
+f 10 6 2
+f 10 3 6
+f 11 7 5
+f 11 5 4
+f 11 4 3
+f 11 3 10
+f 12 11 10
+f 12 10 7
+f 12 7 11
\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_9/collision/model_normalized_collision_29.obj b/objects/objaverse/plate/plate_9/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b1fd970676758fd7600081f20cb90fcac49c50c
--- /dev/null
+++ b/objects/objaverse/plate/plate_9/collision/model_normalized_collision_29.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.23385834 -0.12878712 -0.02356962
+v -0.23385972 -0.12878788 -0.03123629
+v -0.23385972 0.08333333 -0.03123629
+v -0.37065893 0.08344517 -0.00875873
+v -0.35674622 -0.12945081 -0.00950942
+v -0.36541955 0.08209988 -0.03005132
+v -0.23385825 0.08333275 -0.02356764
+v -0.37065860 -0.08344510 -0.00875854
+v -0.35210505 -0.12761331 -0.03005132
+v -0.36541955 -0.08209988 -0.03005132
+f 5 2 1
+f 6 3 2
+f 6 4 3
+f 7 3 4
+f 7 5 1
+f 7 4 5
+f 7 1 2
+f 7 2 3
+f 8 5 4
+f 9 2 5
+f 9 5 8
+f 10 6 2
+f 10 2 9
+f 10 9 8
+f 10 8 4
+f 10 4 6
\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_9/collision/model_normalized_collision_3.obj b/objects/objaverse/plate/plate_9/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7306bdbd781ff75e2f93e488759319b6d40817e4
--- /dev/null
+++ b/objects/objaverse/plate/plate_9/collision/model_normalized_collision_3.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v 0.24921255 0.41386777 0.01970769
+v 0.25207064 0.41837143 0.02899680
+v -0.15837978 0.41752121 0.01825669
+v -0.12507880 0.48405298 0.02377636
+v 0.08144172 0.49247497 0.02377636
+v -0.15190581 0.47335299 0.03123629
+v 0.22751611 0.44443715 0.02377636
+v 0.09883721 0.41333020 0.00487824
+v -0.15922706 0.43528051 0.02261345
+v -0.07917977 0.49098734 0.03123629
+v 0.15369453 0.47277183 0.03123629
+v 0.24409551 0.43610758 0.02377636
+v -0.12660283 0.41298534 0.00674718
+v 0.11350488 0.41321954 0.00577669
+v -0.15676965 0.47317224 0.02363579
+v -0.07953361 0.49283894 0.02377636
+v 0.17243345 0.46866372 0.02377636
+v 0.08108786 0.49062331 0.03123629
+v 0.24308528 0.43451570 0.03123629
+v 0.12686728 0.48347175 0.02377636
+v -0.15248754 0.47514630 0.02377636
+v -0.15784700 0.41588159 0.00989610
+v 0.00828007 0.44245105 0.00933594
+v 0.22671289 0.44273245 0.03123629
+v 0.11323552 0.42754221 0.00921162
+v -0.02145100 0.44240111 0.00953313
+f 1 2 3
+f 9 3 2
+f 9 2 6
+f 10 4 6
+f 11 10 6
+f 12 2 1
+f 12 1 7
+f 13 1 3
+f 14 7 1
+f 14 13 8
+f 14 1 13
+f 15 9 6
+f 15 4 13
+f 16 10 5
+f 16 4 10
+f 16 13 4
+f 17 7 14
+f 18 5 10
+f 18 10 11
+f 19 11 6
+f 19 6 2
+f 19 2 12
+f 19 12 7
+f 20 8 5
+f 20 11 17
+f 20 18 11
+f 20 5 18
+f 21 15 6
+f 21 6 4
+f 21 4 15
+f 22 15 13
+f 22 13 3
+f 22 3 9
+f 22 9 15
+f 23 16 5
+f 23 5 8
+f 24 17 11
+f 24 11 19
+f 24 19 7
+f 24 7 17
+f 25 14 8
+f 25 8 20
+f 25 20 17
+f 25 17 14
+f 26 23 8
+f 26 8 13
+f 26 13 16
+f 26 16 23
\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_9/collision/model_normalized_collision_30.obj b/objects/objaverse/plate/plate_9/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..849e92056d623fdc8ca535bf4873ef2f2cc87ee0
--- /dev/null
+++ b/objects/objaverse/plate/plate_9/collision/model_normalized_collision_30.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.14821959 -0.34790346 -0.01211517
+v 0.14428246 -0.33953688 -0.03118478
+v 0.14492750 -0.26515009 -0.02357324
+v -0.15810130 -0.26515019 -0.02357397
+v -0.15736560 -0.33934389 -0.03011199
+v 0.14492817 -0.26515152 -0.03123629
+v -0.15944401 -0.34376061 -0.01025986
+v -0.15810214 -0.26515152 -0.03123629
+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 8 4 3
+f 8 3 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/plate/plate_9/collision/model_normalized_collision_31.obj b/objects/objaverse/plate/plate_9/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..62e39326cf0d1b6ecf41e27da3fd68530d9b1ed7
--- /dev/null
+++ b/objects/objaverse/plate/plate_9/collision/model_normalized_collision_31.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.40518117 0.09917222 0.01091245
+v 0.40000921 0.09784430 0.00164252
+v 0.40340542 0.18975085 0.01797696
+v 0.28129053 0.18939302 -0.02357715
+v 0.28129034 0.09848427 -0.02357284
+v 0.34178756 0.16585221 -0.02667339
+v 0.39855582 0.18754706 0.00870459
+v 0.34688749 0.19213703 0.00568632
+v 0.28129181 0.09848485 -0.03123629
+v 0.36509828 0.09666118 -0.02783926
+v 0.33187472 0.18388370 -0.02667339
+v 0.28129181 0.18939394 -0.03123629
+v 0.35436220 0.13687627 -0.02599374
+f 5 2 1
+f 7 1 2
+f 7 3 1
+f 8 5 1
+f 8 1 3
+f 8 4 5
+f 10 7 2
+f 10 2 5
+f 10 5 9
+f 11 7 6
+f 12 8 3
+f 12 3 7
+f 12 7 11
+f 12 4 8
+f 12 9 5
+f 12 5 4
+f 12 10 9
+f 12 11 6
+f 12 6 10
+f 13 10 6
+f 13 6 7
+f 13 7 10
\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_9/collision/model_normalized_collision_4.obj b/objects/objaverse/plate/plate_9/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ab4e51ce37270082b6dde4d2058f9a59091fa6a
--- /dev/null
+++ b/objects/objaverse/plate/plate_9/collision/model_normalized_collision_4.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v 0.33874459 -0.36740048 0.02377636
+v 0.47641540 -0.14346544 0.03123629
+v 0.23649211 -0.37224393 0.01698302
+v 0.32674489 -0.12878730 -0.02357843
+v 0.32562980 -0.19560206 -0.02641453
+v 0.36473678 -0.14698274 0.00413641
+v 0.34446441 -0.35939381 0.03123629
+v 0.44562393 -0.22523495 0.02377636
+v 0.35912484 -0.12361094 -0.02667339
+v 0.22930685 -0.30271079 -0.02667339
+v 0.42206744 -0.14568616 0.01826452
+v 0.39956774 -0.12803396 0.00343897
+v 0.23583611 -0.21969589 -0.02357541
+v 0.26820508 -0.37446550 0.02177609
+v 0.38786271 -0.31512041 0.02377636
+v 0.44397274 -0.22432758 0.03123629
+v 0.47430439 -0.14292333 0.02274485
+v 0.23363253 -0.36773828 0.00770740
+v 0.32674635 -0.12878788 -0.03123629
+v 0.35775575 -0.13506584 -0.00409738
+v 0.24022742 -0.31591282 0.00568632
+v 0.40750705 -0.28808152 0.02377636
+v 0.23864347 -0.29568057 -0.02587463
+v 0.34583848 -0.36068440 0.02377636
+v 0.46395697 -0.18373021 0.02377636
+v 0.38633845 -0.31401260 0.03123629
+v 0.24852092 -0.36732369 0.00964276
+v 0.23583726 -0.21969697 -0.03123629
+v 0.46220418 -0.18303664 0.03123629
+v 0.46914305 -0.17063207 0.02377636
+f 9 8 5
+f 11 6 3
+f 11 3 2
+f 11 2 6
+f 12 6 2
+f 12 9 4
+f 14 7 2
+f 14 2 3
+f 14 1 7
+f 16 2 7
+f 17 12 2
+f 17 9 12
+f 18 13 10
+f 18 3 13
+f 18 14 3
+f 18 1 14
+f 19 9 5
+f 19 5 10
+f 19 13 4
+f 19 4 9
+f 20 12 4
+f 20 6 12
+f 20 13 6
+f 20 4 13
+f 21 13 3
+f 21 3 6
+f 21 6 13
+f 22 15 5
+f 22 5 8
+f 22 8 16
+f 23 10 5
+f 23 5 15
+f 24 7 1
+f 24 23 15
+f 24 1 10
+f 24 10 23
+f 25 16 8
+f 25 8 9
+f 26 16 7
+f 26 22 16
+f 26 15 22
+f 26 24 15
+f 26 7 24
+f 27 18 10
+f 27 10 1
+f 27 1 18
+f 28 19 10
+f 28 10 13
+f 28 13 19
+f 29 2 16
+f 29 16 25
+f 30 17 2
+f 30 29 25
+f 30 2 29
+f 30 25 9
+f 30 9 17
\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_9/collision/model_normalized_collision_5.obj b/objects/objaverse/plate/plate_9/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd75e4d8d2d8f12040c71ced7c1c3ad398123487
--- /dev/null
+++ b/objects/objaverse/plate/plate_9/collision/model_normalized_collision_5.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.24893562 0.35282533 0.00659318
+v 0.25179531 0.35733164 0.01586792
+v -0.15879841 0.35754016 0.00315051
+v -0.15837978 0.41752121 0.01825669
+v 0.18969793 0.41521139 0.01298156
+v -0.15956688 0.37432463 0.00825152
+v 0.24852103 0.36732356 0.00964271
+v 0.19043125 0.41676982 0.02134522
+v 0.14195158 0.34973579 -0.02835769
+v -0.15575280 0.35106799 -0.02098707
+v 0.25137984 0.37182841 0.01892064
+v -0.09406455 0.36837210 -0.02658138
+v -0.14008591 0.34997222 -0.02874518
+v -0.15673073 0.41244670 0.00897974
+v 0.09459116 0.36841734 -0.02636608
+f 1 2 3
+f 6 3 2
+f 6 2 4
+f 7 2 1
+f 8 5 4
+f 9 7 1
+f 9 5 7
+f 10 6 4
+f 10 3 6
+f 10 1 3
+f 11 8 4
+f 11 4 2
+f 11 2 7
+f 11 7 5
+f 11 5 8
+f 13 9 1
+f 13 1 10
+f 14 4 5
+f 14 12 13
+f 14 13 10
+f 14 10 4
+f 15 5 9
+f 15 13 12
+f 15 9 13
+f 15 14 5
+f 15 12 14
\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_9/collision/model_normalized_collision_6.obj b/objects/objaverse/plate/plate_9/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1cc31148e1c9d4b96a5c8612cec4dcc1c867e384
--- /dev/null
+++ b/objects/objaverse/plate/plate_9/collision/model_normalized_collision_6.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.47430439 -0.14292333 0.02274485
+v 0.49270445 -0.08133025 0.02377636
+v 0.47257713 0.15684039 0.03123629
+v 0.40403404 0.15969666 0.01531524
+v 0.39938512 -0.14270447 0.00471184
+v 0.42837212 0.11249766 0.00953727
+v 0.43642504 -0.14537184 0.02162605
+v 0.47735229 -0.13981611 0.03123629
+v 0.42837213 -0.11249764 0.00953724
+v 0.49270445 0.08133025 0.02377636
+v 0.47422619 0.15749327 0.02374826
+v 0.39907157 0.15773183 0.00604135
+v 0.40434831 -0.14466961 0.01398465
+v 0.47917934 -0.14028463 0.02377636
+v 0.42175317 0.16071315 0.01959508
+v 0.41374446 -0.14239079 0.00806992
+v 0.49083211 0.08109287 0.03123629
+v 0.48647896 0.11185591 0.02377636
+v 0.48647896 -0.11185591 0.02377636
+v 0.49083199 -0.08109299 0.03123629
+v 0.47917934 0.14028463 0.02377636
+v 0.47735294 0.13981654 0.03123629
+f 7 5 1
+f 8 7 1
+f 9 5 6
+f 10 9 6
+f 10 2 9
+f 12 6 5
+f 12 11 6
+f 13 5 7
+f 13 12 5
+f 13 4 12
+f 14 8 1
+f 15 8 3
+f 15 7 8
+f 15 13 7
+f 15 4 13
+f 15 3 11
+f 15 12 4
+f 15 11 12
+f 16 9 1
+f 16 1 5
+f 16 5 9
+f 17 2 10
+f 17 3 8
+f 18 10 6
+f 18 17 10
+f 19 8 14
+f 19 9 2
+f 19 14 1
+f 19 1 9
+f 20 17 8
+f 20 2 17
+f 20 19 2
+f 20 8 19
+f 21 18 6
+f 21 6 11
+f 21 11 3
+f 22 3 17
+f 22 17 18
+f 22 21 3
+f 22 18 21
\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_9/collision/model_normalized_collision_7.obj b/objects/objaverse/plate/plate_9/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..51051a2507233dc69073ef6fa0b34bf1b7637643
--- /dev/null
+++ b/objects/objaverse/plate/plate_9/collision/model_normalized_collision_7.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v -0.41716362 -0.12916931 0.01575535
+v -0.41199422 -0.12784205 0.00648065
+v -0.41716361 0.12916933 0.01575533
+v -0.48087934 0.12607780 0.03123629
+v -0.49094361 -0.09446811 0.02377636
+v -0.43495540 -0.12984715 0.02017554
+v -0.44145372 0.03730682 0.00947580
+v -0.43495539 0.12984721 0.02017550
+v -0.48087934 -0.12607780 0.03123629
+v -0.41199423 0.12784203 0.00648064
+v -0.44145373 -0.03730702 0.00947571
+v -0.49094361 0.09446811 0.02377636
+v -0.48911489 0.09399923 0.03123629
+v -0.48270684 -0.12654664 0.02377636
+v -0.48270684 0.12654664 0.02377636
+v -0.48911489 -0.09399923 0.03123629
+v -0.42628604 -0.12762131 0.00997891
+v -0.42628605 0.12762129 0.00997889
+f 1 2 3
+f 6 1 3
+f 6 2 1
+f 8 6 3
+f 8 4 6
+f 9 6 4
+f 10 3 2
+f 10 8 3
+f 11 2 5
+f 11 10 2
+f 11 7 10
+f 12 10 7
+f 12 11 5
+f 12 7 11
+f 13 9 4
+f 13 12 5
+f 13 4 12
+f 14 9 5
+f 14 5 2
+f 14 6 9
+f 15 4 8
+f 15 12 4
+f 15 10 12
+f 16 13 5
+f 16 5 9
+f 16 9 13
+f 17 14 2
+f 17 2 6
+f 17 6 14
+f 18 15 8
+f 18 8 10
+f 18 10 15
\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_9/collision/model_normalized_collision_8.obj b/objects/objaverse/plate/plate_9/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9cf72e2f129581dc4eb10bd92853f82cc35ccba9
--- /dev/null
+++ b/objects/objaverse/plate/plate_9/collision/model_normalized_collision_8.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.19126305 -0.44884050 0.02880580
+v 0.23515331 -0.38528591 0.01167328
+v 0.23607659 -0.38674077 0.02003559
+v 0.23686023 -0.31184271 0.00321366
+v 0.09870908 -0.38401049 -0.00311791
+v 0.24022742 -0.31591282 0.00568632
+v 0.18899184 -0.44401402 0.01951732
+v 0.19010691 -0.34047457 -0.00796329
+v 0.23446171 -0.33874173 0.00160855
+v 0.10017685 -0.45065573 0.02217259
+v 0.10209281 -0.37927492 0.00368250
+v 0.10092242 -0.37567203 0.00164383
+v 0.09917656 -0.44541260 0.01289048
+v 0.22402208 -0.31586307 0.00000757
+v 0.10034591 -0.43639032 0.01862124
+v 0.11323562 -0.42754221 0.00921215
+v 0.09866841 -0.42759758 0.00842653
+f 1 2 3
+f 6 3 2
+f 7 2 1
+f 8 2 7
+f 9 6 2
+f 9 4 6
+f 9 2 8
+f 10 1 3
+f 10 3 6
+f 10 7 1
+f 11 6 4
+f 12 8 5
+f 12 11 4
+f 13 7 10
+f 14 9 8
+f 14 4 9
+f 14 12 4
+f 14 8 12
+f 15 10 6
+f 15 6 11
+f 15 11 12
+f 15 12 5
+f 15 5 10
+f 16 13 5
+f 16 5 8
+f 16 8 7
+f 16 7 13
+f 17 13 10
+f 17 10 5
+f 17 5 13
\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_9/collision/model_normalized_collision_9.obj b/objects/objaverse/plate/plate_9/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c2b2b7b2ad6ceed6b05e8a5f90e9d052722c8607
--- /dev/null
+++ b/objects/objaverse/plate/plate_9/collision/model_normalized_collision_9.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.24988178 0.27896496 -0.03007722
+v 0.25631156 0.28673699 -0.00225901
+v 0.09947313 0.31060457 -0.02357581
+v 0.10210903 0.36417180 -0.01211517
+v 0.25179531 0.35733164 0.01586792
+v 0.09917229 0.35513341 -0.03123629
+v 0.20553322 0.28030182 -0.02357799
+v 0.17686139 0.35952499 0.00672079
+v 0.09947362 0.31060606 -0.03123629
+v 0.16783495 0.34034133 -0.02667339
+v 0.25333174 0.31343821 0.00732379
+v 0.13195556 0.36276707 -0.00087557
+v 0.20553423 0.28030303 -0.03123629
+v 0.24893562 0.35282533 0.00659318
+v 0.23864393 0.29568457 -0.02587111
+f 5 2 1
+f 6 3 4
+f 6 4 5
+f 7 1 2
+f 7 2 3
+f 9 3 6
+f 10 1 6
+f 11 3 2
+f 11 2 5
+f 11 5 8
+f 12 8 5
+f 12 5 4
+f 12 4 3
+f 12 11 8
+f 12 3 11
+f 13 9 6
+f 13 6 1
+f 13 1 7
+f 13 7 3
+f 13 3 9
+f 14 10 6
+f 14 6 5
+f 14 5 1
+f 15 14 1
+f 15 1 10
+f 15 10 14
\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_9/model.xml b/objects/objaverse/plate/plate_9/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..f5e6a4607c1fcc903dffecd5870a7ec5679add10
--- /dev/null
+++ b/objects/objaverse/plate/plate_9/model.xml
@@ -0,0 +1,80 @@
+<mujoco model="plate_1">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.175 0.175 0.175" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.175 0.175 0.175" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.175 0.175 0.175" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.175 0.175 0.175" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.175 0.175 0.175" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.175 0.175 0.175" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.175 0.175 0.175" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.175 0.175 0.175" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.175 0.175 0.175" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.175 0.175 0.175" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.175 0.175 0.175" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.175 0.175 0.175" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.175 0.175 0.175" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.175 0.175 0.175" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.175 0.175 0.175" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.175 0.175 0.175" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.175 0.175 0.175" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.175 0.175 0.175" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.175 0.175 0.175" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.175 0.175 0.175" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.175 0.175 0.175" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.175 0.175 0.175" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.175 0.175 0.175" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.175 0.175 0.175" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.175 0.175 0.175" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.175 0.175 0.175" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.175 0.175 0.175" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.175 0.175 0.175" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.175 0.175 0.175" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.175 0.175 0.175" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.175 0.175 0.175" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.175 0.175 0.175" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.175 0.175 0.175" refquat="1.0 0.0 0.0 0.0"/>
+    <material name="piring" specular="0.5" shininess="0.15999998099999999" rgba="0.675724 0.795397 0.800000 1.0"/>
+  </asset>
+  <worldbody>
+    <body>
+      <body name="object">
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+      </body>
+      <site rgba="0 0 0 0" size="0.005" pos="0.0001540735000000036 0.0 -0.00546635075" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.0001540735000000036 0.0 0.00546635075" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.08622327875 0.08624681449999999 0.0" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/objects/objaverse/plate/plate_9/visual/material.mtl b/objects/objaverse/plate/plate_9/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..33e287dfdd6bc7bbf87ba7688fa7e753d6412261
--- /dev/null
+++ b/objects/objaverse/plate/plate_9/visual/material.mtl
@@ -0,0 +1,7 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.67450980 0.79607843 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 159.99998100
\ No newline at end of file
diff --git a/objects/objaverse/plate/plate_9/visual/model_normalized_0.obj b/objects/objaverse/plate/plate_9/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..30be5b805d33828927b34e7413230f379d46e47d
--- /dev/null
+++ b/objects/objaverse/plate/plate_9/visual/model_normalized_0.obj
@@ -0,0 +1,4407 @@
+# 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/potato/potato_0/collision/model_normalized_collision_0.obj b/objects/objaverse/potato/potato_0/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..762e76e0a927641b8401a1f05bf308a2fbc51380
--- /dev/null
+++ b/objects/objaverse/potato/potato_0/collision/model_normalized_collision_0.obj
@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
+v 0.20573720 0.23484850 0.01754587
+v 0.20573720 0.23484850 -0.16427232
+v 0.19823951 0.38491860 -0.01882464
+v -0.06229088 0.49646362 0.02208072
+v 0.00876750 0.23484850 0.01754587
+v 0.04780055 0.41393749 -0.22967275
+v 0.19769845 0.37157033 0.00705568
+v 0.19588283 0.36900959 -0.15624807
+v 0.00876750 0.23484850 -0.16427232
+v 0.01475786 0.47457910 0.01586987
+v 0.19676456 0.38219177 -0.12729570
+v 0.12054670 0.33252035 -0.27430588
+v -0.06699008 0.41666669 0.01754587
+v 0.07401004 0.44390877 -0.12857446
+v 0.08791989 0.41262433 -0.19930601
+v 0.16748224 0.33321927 -0.23125071
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+v 0.09885463 0.33987625 -0.28432646
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+v -0.06144392 0.49651405 -0.01973185
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\ No newline at end of file
diff --git a/objects/objaverse/potato/potato_0/collision/model_normalized_collision_1.obj b/objects/objaverse/potato/potato_0/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..913f0f12ec31521a92693f950e65629a17785632
--- /dev/null
+++ b/objects/objaverse/potato/potato_0/collision/model_normalized_collision_1.obj
@@ -0,0 +1,126 @@
+# https://github.com/mikedh/trimesh
+v 0.12456354 -0.46013580 0.01427507
+v 0.16944455 -0.39216168 -0.24653128
+v 0.19146980 -0.42525244 0.02513024
+v -0.15553191 -0.44366904 0.01992367
+v -0.03249482 -0.48804658 -0.17800724
+v -0.14538572 -0.39567192 -0.32925663
+v 0.03641809 -0.47498193 0.01934781
+v 0.12696552 -0.47532551 -0.16321800
+v -0.14092940 -0.44561677 -0.27846135
+v -0.06989389 -0.49703647 -0.06218202
+v 0.16621934 -0.44396398 -0.18709487
+v 0.16703441 -0.45820125 -0.08845290
+v 0.12489188 -0.47409657 -0.07440344
+v -0.15201659 -0.40835688 -0.31982749
+v 0.05252369 -0.45821798 -0.24539508
+v -0.09134463 -0.47360464 0.01392867
+v 0.02302252 -0.49007041 -0.17556891
+v -0.06059202 -0.48746867 -0.14585540
+v 0.16532949 -0.44377636 0.01393759
+v 0.14978650 -0.46133997 -0.16844884
+v 0.00403964 -0.48804912 -0.01799760
+v 0.08978505 -0.44452226 -0.25693667
+v -0.12136613 -0.46190898 0.01479769
+v 0.03518992 -0.48956200 -0.16464995
+v 0.05239605 -0.47344492 -0.21512324
+v -0.02951296 -0.47475248 -0.21725670
+v -0.07271999 -0.48894539 -0.11532555
+v 0.15037870 -0.45864840 -0.03057338
+v 0.16334947 -0.45831747 -0.11705585
+v -0.03453480 -0.49018251 -0.01027561
+v 0.08983432 -0.45605013 -0.23497195
+v 0.16649149 -0.41533563 -0.22477558
+v 0.03781496 -0.39313926 -0.32158613
+v -0.13776582 -0.45338214 0.01652432
+v 0.12086653 -0.47520077 -0.16851658
+v 0.03280901 -0.44491105 -0.27234507
+v 0.13899172 -0.45894393 -0.00218903
+v 0.10598720 -0.40843068 -0.28180984
+v -0.05298910 -0.39344843 -0.33968262
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+v 0.10952054 -0.39198668 -0.28758120
+v 0.15197421 -0.39385708 -0.25780547
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+f 42 41 2
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+f 43 42 2
+f 43 2 38
+f 43 38 42
\ No newline at end of file
diff --git a/objects/objaverse/potato/potato_0/collision/model_normalized_collision_10.obj b/objects/objaverse/potato/potato_0/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f433161a08cb0f8e43cb28f9750cf1191250a7b
--- /dev/null
+++ b/objects/objaverse/potato/potato_0/collision/model_normalized_collision_10.obj
@@ -0,0 +1,120 @@
+# https://github.com/mikedh/trimesh
+v 0.16944455 -0.39216168 -0.24653128
+v 0.26803614 -0.21990623 -0.25577139
+v -0.14274766 -0.26515152 -0.25518142
+v 0.06292643 -0.08431475 -0.34549693
+v 0.07940214 -0.29718721 -0.36147333
+v 0.00876750 -0.14393940 -0.25518142
+v 0.16014570 -0.28444804 -0.33037929
+v -0.15426854 -0.44243764 -0.26234624
+v 0.21787721 -0.08406256 -0.29563631
+v -0.08214160 -0.14393940 -0.27033293
+v 0.25897841 -0.26087681 -0.24932864
+v 0.09768916 -0.37505132 -0.31226039
+v -0.14255711 -0.26430564 -0.35114539
+v 0.16578472 -0.17263580 -0.34366484
+v 0.08160219 -0.08341806 -0.33960267
+v 0.25383723 -0.22947349 -0.26935086
+v 0.16641971 -0.36855360 -0.27120519
+v 0.10285769 -0.30702036 -0.34999545
+v -0.07382731 -0.37396515 -0.36026338
+v 0.06356837 -0.38981457 -0.31491316
+v -0.08243133 -0.14379997 -0.35968776
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\ No newline at end of file
diff --git a/objects/objaverse/potato/potato_0/collision/model_normalized_collision_11.obj b/objects/objaverse/potato/potato_0/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..90e3a9f679daffd481681febf3fff34d3c8fe2b5
--- /dev/null
+++ b/objects/objaverse/potato/potato_0/collision/model_normalized_collision_11.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.00792781 0.23668324 0.34111148
+v 0.00876750 0.23484850 -0.17942384
+v 0.00100653 0.47311415 -0.05299876
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+v -0.02760811 0.48650270 0.04325790
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+v 0.01185922 0.30038064 0.30651228
+v -0.33282869 0.24188380 -0.18930761
+v -0.12280594 0.49024836 -0.05323992
+v 0.00004635 0.47376233 0.05579119
+v -0.29472178 0.35492736 0.14276503
+v -0.05500859 0.48911268 0.05741237
+v -0.05434439 0.44520142 0.13969936
+v -0.16689705 0.31298294 0.27160659
+v -0.35934774 0.23277649 -0.11603052
+v -0.05526789 0.49031795 -0.05099832
+v -0.23758833 0.41455010 -0.17057377
+v -0.02638001 0.48936434 -0.02473229
+v 0.01084341 0.35762608 0.23756570
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+v -0.29294810 0.23019738 0.23360726
+v -0.13819762 0.47428246 0.08587931
+v -0.02802476 0.47400822 0.08444865
+v -0.16728486 0.38352363 0.19959487
+v -0.15278522 0.24282393 0.31692898
+v -0.32184029 0.37463020 -0.02679895
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+v -0.06753128 0.43482861 -0.20202444
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+v -0.33649873 0.30646995 0.11606089
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+f 64 47 4
+f 64 4 13
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\ No newline at end of file
diff --git a/objects/objaverse/potato/potato_0/collision/model_normalized_collision_12.obj b/objects/objaverse/potato/potato_0/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1fe6160f7649d5ca2bee847830c22fa4dd7d9483
--- /dev/null
+++ b/objects/objaverse/potato/potato_0/collision/model_normalized_collision_12.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v 0.22088872 -0.00757575 0.22966709
+v 0.21888150 -0.00896810 -0.27947649
+v 0.25454107 0.24478764 0.26190461
+v -0.18820221 0.23484850 0.22966709
+v -0.18820221 -0.00757575 0.22966709
+v 0.00522563 0.23018932 -0.37325953
+v 0.19958122 -0.00971684 -0.28662049
+v 0.21482122 0.23382769 -0.25590973
+v 0.09210495 0.23564733 -0.34483689
+v -0.18548177 -0.00878378 -0.37985100
+v -0.18102862 0.22928201 -0.34820828
+v 0.20999495 0.11325107 -0.28281566
+v 0.03094012 0.01042033 -0.37165071
+v -0.10970142 0.23003936 -0.37256795
+v 0.11869828 0.23094817 -0.32935783
+v -0.00992931 0.12604191 -0.38915542
+v 0.01900532 -0.00541256 -0.37311195
+v 0.06112260 -0.00375909 -0.35793881
+v -0.18065821 0.14198151 -0.37320145
+v 0.01933773 0.21669356 -0.37229216
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+v -0.09489098 0.02648450 -0.39014649
+v -0.12105366 0.09003943 -0.38892426
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+f 33 32 10
+f 33 10 27
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\ No newline at end of file
diff --git a/objects/objaverse/potato/potato_0/collision/model_normalized_collision_13.obj b/objects/objaverse/potato/potato_0/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a14dd8173e1d07e109363d91c1477a0b966b05f8
--- /dev/null
+++ b/objects/objaverse/potato/potato_0/collision/model_normalized_collision_13.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.24402695 -0.14376646 -0.28412540
+v 0.22153533 -0.14389103 -0.30157795
+v 0.22834437 -0.00306476 -0.27462810
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+v -0.26531957 -0.14827274 -0.33966419
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+f 18 4 17
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+f 19 17 16
+f 20 19 16
+f 20 16 5
+f 20 5 18
+f 20 18 19
\ No newline at end of file
diff --git a/objects/objaverse/potato/potato_0/collision/model_normalized_collision_14.obj b/objects/objaverse/potato/potato_0/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..235649448a9f75f169485059cac5976f958085af
--- /dev/null
+++ b/objects/objaverse/potato/potato_0/collision/model_normalized_collision_14.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.11225538 -0.46343618 0.01421569
+v 0.17112396 -0.44021486 0.01537554
+v 0.08089028 -0.32737969 0.25714151
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+v -0.00990103 -0.47497804 0.05587504
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+v 0.17052469 -0.25790491 0.26450246
+v -0.12046541 -0.35976749 0.24193177
+v -0.12136613 -0.46190898 0.01479769
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+v 0.16548016 -0.38517046 0.14336776
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+v -0.10730884 -0.28333435 0.30462484
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+f 64 35 52
\ No newline at end of file
diff --git a/objects/objaverse/potato/potato_0/collision/model_normalized_collision_15.obj b/objects/objaverse/potato/potato_0/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca792408bca4462112abfe2493dd0bd90b6cf009
--- /dev/null
+++ b/objects/objaverse/potato/potato_0/collision/model_normalized_collision_15.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v -0.29426282 -0.14393940 -0.07336323
+v -0.33946620 -0.17156824 -0.19839355
+v -0.29426282 0.09848486 -0.17942384
+v -0.31683055 0.35991422 -0.12212198
+v -0.40061758 -0.06587242 -0.07209312
+v -0.30454418 0.33807851 -0.17698503
+v -0.38436186 -0.13721116 -0.07151674
+v -0.29426282 0.09848486 -0.07336323
+v -0.38158276 0.09457039 -0.12872690
+v -0.38174725 -0.09632666 -0.15901128
+v -0.39136370 0.09663055 -0.07293046
+v -0.30314419 0.35193635 -0.16161865
+v -0.35039540 0.26142819 -0.12816940
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+v -0.39842589 0.02072591 -0.10037098
+v -0.36729118 0.09463889 -0.17478974
+v -0.32528005 0.35115258 -0.11274393
+v -0.40065491 0.03603709 -0.07192380
+v -0.35367553 0.26201660 -0.11411301
+v -0.39814624 -0.06445287 -0.10122692
+v -0.36680062 -0.13700185 -0.17329851
+v -0.39877738 0.03605046 -0.08613888
+v -0.33562628 0.26044454 -0.17145607
+v -0.35084562 0.18566149 -0.17300727
+v -0.38211804 0.03526026 -0.15829382
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+v -0.38130882 -0.00923341 -0.17146968
+v -0.33497071 0.30445665 -0.14166691
+v -0.33444185 0.31851096 -0.12714359
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+f 30 6 23
+f 31 25 16
+f 31 16 29
+f 31 29 15
+f 31 15 25
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+f 32 23 13
+f 32 13 27
+f 33 32 27
+f 33 27 17
+f 33 30 32
+f 33 17 26
+f 33 26 30
\ No newline at end of file
diff --git a/objects/objaverse/potato/potato_0/collision/model_normalized_collision_16.obj b/objects/objaverse/potato/potato_0/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d9cb3196a9b607b36feb7a3aeb6c398d4846719d
--- /dev/null
+++ b/objects/objaverse/potato/potato_0/collision/model_normalized_collision_16.obj
@@ -0,0 +1,183 @@
+# https://github.com/mikedh/trimesh
+v -0.13543098 -0.44848961 0.05654791
+v -0.13680914 -0.37815793 -0.34580281
+v -0.14208350 -0.26416546 0.30379936
+v -0.25057698 -0.25479116 0.20732689
+v -0.30710649 -0.28388397 -0.13328265
+v -0.16275753 -0.38319678 0.18938696
+v -0.13752448 -0.28327320 0.29316103
+v -0.19848460 -0.42773386 -0.28617007
+v -0.14255711 -0.26430564 -0.35114539
+v -0.24784118 -0.35751367 0.10072264
+v -0.13573144 -0.35828586 0.23477910
+v -0.20564352 -0.32001500 0.21063436
+v -0.14282228 -0.44727626 -0.26746175
+v -0.28287315 -0.25717935 -0.27892284
+v -0.16614884 -0.25822540 0.29430686
+v -0.16321438 -0.42939917 0.10184538
+v -0.21635578 -0.42109446 -0.22245971
+v -0.31218973 -0.25741469 0.05901400
+v -0.16178548 -0.34849528 0.22685780
+v -0.20236455 -0.37181262 0.16179105
+v -0.14628197 -0.43586131 -0.29615280
+v -0.18146328 -0.44463586 -0.23975942
+v -0.25994194 -0.34556727 -0.23555127
+v -0.22477492 -0.26085209 -0.33121621
+v -0.14741120 -0.28203356 0.29017414
+v -0.13876534 -0.43489514 0.11713819
+v -0.30667884 -0.28282916 -0.04318451
+v -0.17666442 -0.42991973 0.07340678
+v -0.29504822 -0.25678301 0.10218894
+v -0.30840774 -0.26076455 -0.19130260
+v -0.14832833 -0.35543174 0.22992972
+v -0.19155376 -0.38371568 0.15739947
+v -0.21699011 -0.31566827 0.20134697
+v -0.15489282 -0.44419007 -0.27305014
+v -0.15201659 -0.40835688 -0.31982749
+v -0.21799284 -0.37544488 -0.30640083
+v -0.27592059 -0.33009129 -0.19200220
+v -0.20283266 -0.42111707 -0.28776741
+v -0.19748583 -0.26277450 -0.34455251
+v -0.16202024 -0.26692941 0.29097343
+v -0.13716592 -0.40219068 0.17731308
+v -0.14991448 -0.43011880 0.11755680
+v -0.16381713 -0.44279496 0.04249478
+v -0.30673274 -0.26777570 0.05531528
+v -0.29062713 -0.28605379 -0.21717279
+v -0.14887414 -0.37240724 0.21086722
+v -0.18944397 -0.39872822 0.13067263
+v -0.24657842 -0.26935565 0.20027961
+v -0.21554238 -0.34179652 0.17418903
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+v -0.17546598 -0.40612939 -0.31181752
+v -0.20970834 -0.37219910 -0.31661795
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+v -0.30469758 -0.27205491 -0.18956887
+v -0.17810236 -0.34434558 -0.34423835
+v -0.13561271 -0.37263255 0.21748865
+v -0.14824921 -0.39829772 0.17518315
+v -0.21941606 -0.38558840 0.09814892
+v -0.23370545 -0.29344316 -0.31556487
+v -0.14676588 -0.37482805 -0.34362463
+v -0.20237839 -0.33673904 -0.32968747
+v -0.18963325 -0.41567714 0.08524004
+f 9 7 2
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+f 11 2 7
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+f 15 3 9
+f 15 4 12
+f 18 4 14
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+f 20 19 12
+f 20 6 19
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+f 22 13 1
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+f 24 14 9
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+f 29 10 4
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+f 62 58 28
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\ No newline at end of file
diff --git a/objects/objaverse/potato/potato_0/collision/model_normalized_collision_17.obj b/objects/objaverse/potato/potato_0/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..08886c3a5931f772c667e7914a04b2f9b1036e43
--- /dev/null
+++ b/objects/objaverse/potato/potato_0/collision/model_normalized_collision_17.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.24142144 0.21312316 0.29345900
+v 0.37899785 0.21330632 0.01995154
+v 0.30757696 0.25314432 0.18897704
+v 0.19872353 0.37188718 0.17782161
+v 0.20573720 0.23484850 -0.16427232
+v 0.28047459 0.32576372 0.13448652
+v 0.21923516 0.30962059 0.25067547
+v 0.34400893 0.21292926 0.14880138
+v 0.20573720 0.21969698 0.01754587
+v 0.19912437 0.37399110 -0.14273803
+v 0.27769001 0.25393791 0.23164062
+v 0.20328039 0.21831394 0.31467101
+v 0.25085905 0.33876554 0.17299620
+v 0.36053736 0.21244851 0.10386890
+v 0.31740504 0.23091952 -0.17331946
+v 0.23932575 0.36898164 -0.04653860
+v 0.25021630 0.25510107 0.25946142
+v 0.29792018 0.21276273 0.23401105
+v 0.20206238 0.31195830 0.26201523
+v 0.21499998 0.21563902 0.31002018
+v 0.19809205 0.24302982 0.30653465
+v 0.22608234 0.36982992 0.14730533
+v 0.20857166 0.35287440 0.20224761
+v 0.29328294 0.29769439 0.16091960
+v 0.35489615 0.22575879 0.10562292
+v 0.20144240 0.36377875 -0.16068694
+v 0.35330914 0.25463755 -0.04018368
+v 0.22063253 0.29963975 0.25823478
+v 0.26995197 0.21550307 0.26473389
+v 0.29444011 0.22583254 0.23041083
+v 0.19718573 0.35723011 0.20624809
+v 0.20983983 0.23992005 0.30158378
+v 0.25179971 0.35478311 0.13533703
+v 0.20029337 0.38796481 -0.10035152
+v 0.20981514 0.36757176 0.17460694
+v 0.27893947 0.29721036 0.18918828
+v 0.33937957 0.22654424 0.14438180
+v 0.30809502 0.28330674 0.14670355
+v 0.37614705 0.21340585 0.04581959
+v 0.31135668 0.23462712 -0.17904425
+v 0.35417970 0.25353653 0.03067786
+v 0.35932873 0.22912764 -0.08550453
+v 0.26737054 0.33903825 -0.11334270
+v 0.23758717 0.22715489 0.28889518
+v 0.21017619 0.31043375 0.25850280
+v 0.21199791 0.38235222 -0.03291320
+v 0.19952554 0.38773987 -0.03062078
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+v 0.33907957 0.26858798 0.05906885
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+v 0.30254946 0.25910452 -0.17234271
+v 0.32469668 0.24232869 -0.15377062
+v 0.33836714 0.25374774 -0.11145953
+v 0.22524951 0.35399621 -0.15353998
+f 9 2 1
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+f 18 8 3
+f 18 14 8
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+f 20 9 1
+f 21 10 5
+f 21 5 9
+f 21 9 12
+f 21 12 20
+f 23 7 13
+f 24 6 13
+f 25 8 14
+f 26 5 10
+f 28 17 11
+f 28 11 7
+f 29 11 17
+f 29 1 18
+f 30 18 3
+f 30 3 11
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+f 31 10 21
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+f 32 21 20
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+f 58 26 10
+f 59 51 43
+f 59 43 53
+f 59 56 51
+f 59 34 56
+f 59 58 10
+f 59 10 34
+f 60 43 52
+f 60 53 43
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+f 62 54 50
+f 62 50 55
+f 62 55 60
+f 63 57 54
+f 63 52 57
+f 63 54 62
+f 63 62 60
+f 63 60 52
+f 64 26 58
+f 64 61 26
+f 64 53 60
+f 64 60 61
+f 64 59 53
+f 64 58 59
\ No newline at end of file
diff --git a/objects/objaverse/potato/potato_0/collision/model_normalized_collision_18.obj b/objects/objaverse/potato/potato_0/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e553b1bf763fac0b766100ad1c4a2761492a9b54
--- /dev/null
+++ b/objects/objaverse/potato/potato_0/collision/model_normalized_collision_18.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v -0.08214160 -0.26515152 -0.27033293
+v -0.08185631 -0.26564560 -0.35287311
+v -0.08379925 -0.14156621 -0.36020847
+v -0.24880827 -0.14393940 -0.27033293
+v -0.28583809 -0.26108848 -0.26645151
+v -0.08214160 -0.14393940 -0.27033293
+v -0.22800046 -0.14042577 -0.36260082
+v -0.29855008 -0.21726436 -0.26715416
+v -0.17337270 -0.21434903 -0.35904100
+v -0.29500580 -0.24352180 -0.26653738
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+v -0.15901106 -0.21749865 -0.35849695
+v -0.19748583 -0.26277450 -0.34455251
+v -0.27937527 -0.22865090 -0.30122230
+v -0.22369969 -0.17062376 -0.35788244
+v -0.29503489 -0.21686380 -0.27832388
+v -0.23795498 -0.20138522 -0.34234053
+v -0.25361596 -0.25484420 -0.31271202
+v -0.28914612 -0.24585909 -0.27913515
+v -0.19805600 -0.20064326 -0.35844009
+v -0.27926285 -0.21691386 -0.30307380
+v -0.26506131 -0.22962736 -0.31401644
+v -0.22386608 -0.22977582 -0.34178748
+v -0.27773374 -0.25668320 -0.28752598
+f 5 2 1
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+f 6 2 3
+f 7 6 3
+f 7 4 6
+f 8 6 4
+f 9 7 3
+f 10 5 6
+f 10 6 8
+f 11 8 4
+f 11 4 7
+f 12 9 3
+f 12 3 2
+f 12 2 9
+f 13 9 2
+f 13 2 5
+f 15 11 7
+f 16 10 8
+f 16 8 11
+f 17 11 15
+f 19 5 10
+f 19 16 14
+f 19 10 16
+f 20 15 7
+f 20 7 9
+f 20 9 13
+f 20 13 15
+f 21 16 11
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+f 21 14 16
+f 22 14 11
+f 22 11 17
+f 22 18 14
+f 23 17 15
+f 23 15 13
+f 23 13 18
+f 23 22 17
+f 23 18 22
+f 24 18 13
+f 24 13 5
+f 24 5 19
+f 24 19 14
+f 24 14 18
\ No newline at end of file
diff --git a/objects/objaverse/potato/potato_0/collision/model_normalized_collision_19.obj b/objects/objaverse/potato/potato_0/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3572ff913474fa11b5f4beb7157567782b79397e
--- /dev/null
+++ b/objects/objaverse/potato/potato_0/collision/model_normalized_collision_19.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v 0.32104568 -0.14133007 0.19585460
+v 0.38323271 -0.07864653 -0.08351257
+v 0.38435139 -0.09466081 0.06044887
+v 0.34336999 -0.00790072 0.20821475
+v 0.36592190 -0.01079398 -0.15336048
+v 0.35253354 -0.07997570 0.17458872
+v 0.34329241 -0.14943421 -0.13904356
+v 0.40227353 -0.00770442 0.02910603
+v 0.35168951 -0.12179333 0.14642072
+v 0.33726517 -0.10946346 0.18967089
+v 0.36847619 -0.13709899 -0.06915647
+v 0.36864313 -0.07994881 -0.12840101
+v 0.38442538 -0.09435681 -0.05597797
+v 0.40211411 -0.00610481 -0.04193968
+v 0.38472914 -0.03651907 0.10224105
+v 0.34088653 -0.13461122 0.16131268
+v 0.36786309 -0.10806941 -0.11226058
+v 0.36953118 -0.13350739 0.04568623
+v 0.38735566 -0.00721868 -0.11075685
+v 0.40044377 -0.01978803 -0.04163499
+v 0.38655042 -0.00609536 0.10519794
+v 0.38449548 -0.06521083 0.08815963
+v 0.32628373 -0.13666935 0.19034689
+v 0.35268414 -0.13788166 -0.12618291
+v 0.38295504 -0.06275114 -0.09829099
+v 0.35288669 -0.13363382 0.11903124
+v 0.37925569 -0.00658790 -0.13037513
+v 0.40011954 -0.01995671 0.02956960
+v 0.36020056 -0.00759139 0.17717050
+v 0.38304260 -0.03463993 -0.11390307
+v 0.36897046 -0.11944497 0.08748626
+v 0.34977534 -0.00741425 0.19545673
+f 5 1 4
+f 7 1 5
+f 10 6 4
+f 10 4 1
+f 10 9 6
+f 12 7 5
+f 13 11 2
+f 13 3 11
+f 16 9 10
+f 17 2 11
+f 18 1 7
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+f 18 11 3
+f 20 3 13
+f 20 14 8
+f 20 13 2
+f 20 19 14
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+f 21 15 8
+f 22 3 8
+f 22 8 15
+f 22 9 3
+f 22 15 6
+f 22 6 9
+f 23 16 10
+f 23 10 1
+f 23 1 16
+f 24 17 11
+f 24 11 7
+f 24 7 12
+f 24 12 17
+f 25 17 12
+f 25 2 17
+f 25 20 2
+f 25 19 20
+f 26 16 1
+f 26 1 18
+f 27 12 5
+f 27 5 4
+f 27 21 14
+f 27 14 19
+f 28 20 8
+f 28 8 3
+f 28 3 20
+f 29 4 6
+f 29 6 15
+f 29 15 21
+f 30 25 12
+f 30 19 25
+f 30 27 19
+f 30 12 27
+f 31 26 18
+f 31 18 3
+f 31 3 9
+f 31 9 16
+f 31 16 26
+f 32 27 4
+f 32 21 27
+f 32 29 21
+f 32 4 29
\ No newline at end of file
diff --git a/objects/objaverse/potato/potato_0/collision/model_normalized_collision_2.obj b/objects/objaverse/potato/potato_0/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6bd53a20ea59e49506ee0e54396d3ffeb9d368dc
--- /dev/null
+++ b/objects/objaverse/potato/potato_0/collision/model_normalized_collision_2.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.22347783 -0.26750382 0.21748572
+v 0.20818095 -0.25256573 0.24332767
+v -0.19986318 -0.28300695 0.23262038
+v -0.18838270 0.18975101 0.32126261
+v 0.22454398 0.14694986 0.32650053
+v -0.18820221 0.09848486 0.22966709
+v 0.03590143 -0.25548466 0.31748794
+v 0.21003378 -0.06435153 0.33398839
+v -0.18820221 -0.00757575 0.21451557
+v 0.22088872 0.09848486 0.22966709
+v 0.09232559 -0.25473722 0.30249253
+v -0.15177211 -0.08041112 0.36226575
+v 0.21020249 -0.12414688 0.31607253
+v 0.22088872 -0.00757575 0.21451557
+v -0.13360244 0.19660848 0.34021979
+v -0.18150747 -0.10986636 0.34486307
+v 0.00741943 -0.11049533 0.37991161
+v 0.21087037 -0.20823231 0.27309592
+v -0.15218262 0.09551561 0.36153618
+v -0.11854987 -0.25329161 0.31816441
+v 0.12460378 0.08129833 0.37779330
+v 0.12325718 -0.15059858 0.34686500
+v 0.17897486 -0.23861060 0.27283574
+v -0.18527213 0.17897101 0.33241623
+v -0.03456360 0.08073813 0.39588619
+v -0.18147368 0.12365960 0.34696578
+v -0.17699725 -0.25551659 0.28988280
+v -0.02209528 -0.21113048 0.34776936
+v -0.12276866 -0.13896776 0.36045780
+v 0.19842139 -0.00281214 0.34925593
+v 0.13981105 0.12561672 0.36300711
+v 0.18063821 -0.07901601 0.34604887
+v 0.17966988 -0.16381754 0.31670714
+v 0.07862562 -0.18050572 0.34685096
+v -0.09451427 0.09569001 0.37900677
+v 0.01788381 0.05638076 0.39501920
+v -0.16455434 -0.18210329 0.33109043
+v -0.17879493 -0.19568775 0.31717920
+v -0.06582822 -0.24169359 0.33231876
+v -0.07864562 -0.16726821 0.36165200
+v -0.08021494 -0.09511521 0.37906893
+v 0.16771395 0.08009469 0.36263177
+v 0.18481042 0.13729344 0.34647123
+v 0.09393232 0.10003192 0.38346396
+v 0.19570171 -0.03549280 0.34697242
+v 0.11125808 -0.03557243 0.37871182
+v 0.19468203 -0.17844002 0.30108676
+v 0.15170074 -0.12184780 0.34589462
+v 0.10942724 -0.19205356 0.33113222
+v 0.07904082 -0.23965155 0.31614645
+v 0.04984186 -0.19517698 0.34691448
+v 0.08071865 -0.13745041 0.36290040
+v -0.09364314 -0.06759926 0.37892864
+v -0.13882298 0.16947925 0.34857681
+v 0.00520083 0.04744372 0.39551883
+v -0.15128544 -0.15387963 0.34619528
+v -0.00709944 -0.23913486 0.33334449
+v -0.03565378 -0.21192253 0.34739051
+v -0.12351879 -0.18162267 0.34643163
+v -0.06580929 -0.11040244 0.37865835
+v 0.21363555 0.14077309 0.33525151
+v 0.12603286 -0.00660078 0.37875589
+v 0.01916187 0.06442489 0.39491776
+v -0.12682460 0.18744921 0.34519176
+f 6 3 4
+f 7 3 1
+f 8 1 5
+f 9 1 3
+f 9 3 6
+f 10 5 1
+f 10 9 6
+f 10 6 4
+f 11 7 1
+f 11 1 2
+f 13 1 8
+f 14 10 1
+f 14 1 9
+f 14 9 10
+f 15 10 4
+f 15 5 10
+f 16 4 3
+f 18 2 1
+f 18 1 13
+f 20 3 7
+f 23 11 2
+f 23 2 18
+f 24 15 4
+f 26 16 12
+f 26 12 19
+f 26 24 4
+f 26 4 16
+f 27 3 20
+f 29 12 16
+f 30 8 5
+f 32 13 8
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+f 35 19 12
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+f 37 27 20
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+f 38 3 27
+f 38 37 16
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+f 43 21 42
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+f 45 32 8
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+f 47 18 13
+f 47 13 33
+f 47 33 23
+f 47 23 18
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+f 49 33 22
+f 49 11 33
+f 49 22 34
+f 50 7 11
+f 50 49 34
+f 50 11 49
+f 51 50 34
+f 51 7 50
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+f 52 51 34
+f 52 17 51
+f 52 46 17
+f 52 48 46
+f 52 22 48
+f 53 35 12
+f 53 25 35
+f 53 41 25
+f 53 12 41
+f 54 24 26
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+f 54 15 24
+f 54 35 25
+f 55 46 36
+f 55 17 46
+f 55 25 41
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+f 56 16 37
+f 57 39 7
+f 57 28 39
+f 57 51 28
+f 57 7 51
+f 58 40 39
+f 58 39 28
+f 58 28 40
+f 59 40 29
+f 59 20 40
+f 59 29 56
+f 59 56 37
+f 59 37 20
+f 60 40 17
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+f 61 30 5
+f 61 43 42
+f 61 5 43
+f 62 42 21
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+f 62 21 44
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+f 62 45 30
+f 62 46 32
+f 62 32 45
+f 63 44 25
+f 63 62 44
+f 63 36 62
+f 63 55 36
+f 63 25 55
+f 64 44 15
+f 64 25 44
+f 64 54 25
+f 64 15 54
\ No newline at end of file
diff --git a/objects/objaverse/potato/potato_0/collision/model_normalized_collision_20.obj b/objects/objaverse/potato/potato_0/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d56cd23e3af51df56ab4cd200f447d2e32c65ab1
--- /dev/null
+++ b/objects/objaverse/potato/potato_0/collision/model_normalized_collision_20.obj
@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
+v 0.21370308 -0.25814604 0.23490670
+v 0.35997278 -0.13948974 -0.10071854
+v 0.34404085 -0.13579941 0.14999482
+v 0.21924525 -0.14289515 0.30291540
+v 0.22088872 -0.14393940 -0.13396929
+v 0.29449432 -0.16402949 0.21893651
+v 0.30610830 -0.27764720 0.01663833
+v 0.21389601 -0.16889473 0.29395232
+v 0.25410737 -0.13690670 0.27661033
+v 0.36145301 -0.13674564 0.07565909
+v 0.27778856 -0.25477163 0.15840094
+v 0.30903266 -0.25749862 -0.12946149
+v 0.21221178 -0.24144026 0.24884552
+v 0.22904057 -0.14056842 0.29668736
+v 0.31545740 -0.13813708 0.20652788
+v 0.32342337 -0.24204398 -0.02847571
+v 0.30750002 -0.25611009 0.07440719
+v 0.25008087 -0.22117689 0.23050006
+v 0.34967791 -0.14098879 -0.13053176
+v 0.22088872 -0.26515152 -0.13396929
+v 0.21312273 -0.19729158 0.27840786
+v 0.23575842 -0.17820372 0.27386216
+v 0.31018391 -0.15273298 0.20444291
+v 0.35479968 -0.16058103 0.03979512
+v 0.35254140 -0.16627846 -0.08405894
+v 0.30585735 -0.27747565 -0.08827350
+v 0.30867400 -0.27238048 0.01583608
+v 0.29270845 -0.23899796 0.14663287
+v 0.27927557 -0.19385095 0.21686900
+v 0.24962314 -0.25318676 0.20161606
+v 0.22251348 -0.23777148 0.24369969
+v 0.24936988 -0.15239924 0.27434416
+v 0.22204794 -0.19597708 0.27328555
+v 0.32324758 -0.24186678 -0.05670803
+v 0.30859348 -0.27187461 -0.08632611
+v 0.30664400 -0.24197063 0.10303389
+v 0.26473015 -0.17948648 0.24440619
+v 0.22329642 -0.25305022 0.23040335
+f 5 3 2
+f 8 4 5
+f 9 3 5
+f 10 2 3
+f 11 1 7
+f 14 9 5
+f 14 5 4
+f 15 9 6
+f 15 3 9
+f 17 10 3
+f 17 11 7
+f 19 5 2
+f 19 2 12
+f 20 7 1
+f 20 19 12
+f 20 5 19
+f 20 13 5
+f 20 1 13
+f 21 8 5
+f 21 5 13
+f 22 14 4
+f 22 4 8
+f 23 3 15
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+f 24 2 10
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+f 25 24 16
+f 25 2 24
+f 26 16 7
+f 26 20 12
+f 26 7 20
+f 27 17 7
+f 27 10 17
+f 27 24 10
+f 27 7 16
+f 27 16 24
+f 28 23 11
+f 28 3 23
+f 29 23 6
+f 29 11 23
+f 30 1 11
+f 30 29 18
+f 30 11 29
+f 31 13 1
+f 31 18 22
+f 32 9 14
+f 32 14 22
+f 33 22 8
+f 33 8 21
+f 33 31 22
+f 33 21 13
+f 33 13 31
+f 34 25 16
+f 35 26 12
+f 35 12 25
+f 35 25 34
+f 35 34 16
+f 35 16 26
+f 36 17 3
+f 36 3 28
+f 36 28 11
+f 36 11 17
+f 37 22 18
+f 37 18 29
+f 37 29 6
+f 37 32 22
+f 37 6 9
+f 37 9 32
+f 38 30 18
+f 38 1 30
+f 38 31 1
+f 38 18 31
\ No newline at end of file
diff --git a/objects/objaverse/potato/potato_0/collision/model_normalized_collision_21.obj b/objects/objaverse/potato/potato_0/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b4cba1e98da6338fbfe2a8749aca66c23a46b6c2
--- /dev/null
+++ b/objects/objaverse/potato/potato_0/collision/model_normalized_collision_21.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v -0.18820221 0.09848486 0.19936405
+v -0.18820221 0.09848486 -0.17942384
+v -0.18820221 0.23484850 -0.17942384
+v -0.31003215 0.23199272 0.19558707
+v -0.38433636 0.09577486 -0.11559453
+v -0.18820221 0.23484850 0.19936405
+v -0.35283095 0.09589199 0.18877347
+v -0.35809425 0.10268213 -0.19455855
+v -0.33601973 0.23797489 -0.18364102
+v -0.36827037 0.22521946 0.07002609
+v -0.35934774 0.23277649 -0.11603052
+v -0.35181674 0.18521391 0.15803638
+v -0.38572867 0.09739158 0.11930650
+v -0.36846004 0.23346159 -0.05543787
+v -0.33601652 0.18115903 0.18858629
+v -0.35592035 0.20502757 0.12694194
+v -0.38249389 0.12576356 0.11802695
+v -0.36751682 0.21655866 -0.08594910
+v -0.36616480 0.12520753 0.16040799
+v -0.36537260 0.15350457 0.14639820
+v -0.38317967 0.15389694 0.08970139
+v -0.38211332 0.10915784 -0.11478833
+v -0.35237559 0.11271252 0.18683614
+v -0.36923844 0.09764180 0.15992109
+v -0.38158235 0.15575227 -0.04141005
+f 1 2 3
+f 6 1 3
+f 6 4 1
+f 7 5 2
+f 7 2 1
+f 7 1 4
+f 8 3 2
+f 8 2 5
+f 9 6 3
+f 9 4 6
+f 9 3 8
+f 11 9 8
+f 11 8 5
+f 13 5 7
+f 14 10 4
+f 14 4 9
+f 14 9 11
+f 15 7 4
+f 15 4 12
+f 16 12 4
+f 16 4 10
+f 18 14 11
+f 18 5 14
+f 19 15 12
+f 19 17 13
+f 20 16 10
+f 20 12 16
+f 20 19 12
+f 20 17 19
+f 21 10 14
+f 21 5 13
+f 21 13 17
+f 21 20 10
+f 21 17 20
+f 22 18 11
+f 22 11 5
+f 22 5 18
+f 23 7 15
+f 23 15 19
+f 24 19 13
+f 24 13 7
+f 24 23 19
+f 24 7 23
+f 25 21 14
+f 25 14 5
+f 25 5 21
\ No newline at end of file
diff --git a/objects/objaverse/potato/potato_0/collision/model_normalized_collision_22.obj b/objects/objaverse/potato/potato_0/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b243c2c86c09700e75dbfc961340fed75bceebd0
--- /dev/null
+++ b/objects/objaverse/potato/potato_0/collision/model_normalized_collision_22.obj
@@ -0,0 +1,135 @@
+# https://github.com/mikedh/trimesh
+v -0.18066295 -0.13927540 0.33726584
+v -0.18820221 -0.14393940 0.19936405
+v -0.18820221 0.23484850 0.19936405
+v -0.29294810 0.23019738 0.23360726
+v -0.33975744 -0.09368508 0.19381968
+v -0.18297094 0.17238868 0.33447944
+v -0.31920742 -0.14142679 0.19697445
+v -0.34429412 0.14166929 0.19282519
+v -0.18414153 0.23050674 0.31143463
+v -0.32875730 -0.12350884 0.19429091
+v -0.19095238 -0.14036908 0.33191922
+v -0.31003215 0.23199272 0.19558707
+v -0.22303843 0.17053235 0.33712167
+v -0.27674590 -0.12109239 0.27463417
+v -0.30622383 0.23138229 0.21003734
+v -0.30773723 0.09544059 0.26014595
+v -0.23605122 0.22745119 0.28793763
+v -0.19603153 -0.06466088 0.34731891
+v -0.29266259 -0.13360604 0.24798885
+v -0.32176440 0.17158325 0.21844417
+v -0.33533658 -0.05034960 0.21956205
+v -0.21234738 0.22739057 0.30175108
+v -0.26869855 0.22903228 0.26197300
+v -0.20779702 -0.10826532 0.33180230
+v -0.18311183 0.08232394 0.35284478
+v -0.25044430 -0.02124543 0.31893191
+v -0.30851098 -0.13596732 0.22188743
+v -0.23619891 -0.13758082 0.30391466
+v -0.32265202 0.12475833 0.23317691
+v -0.32237160 -0.07882183 0.23214827
+v -0.27822639 0.21359651 0.25931440
+v -0.18249500 -0.06600046 0.35256581
+v -0.22265711 -0.06526418 0.33269793
+v -0.30693766 -0.03591073 0.26166634
+v -0.26511267 0.08240633 0.30404023
+v -0.32247016 -0.12241803 0.20713613
+v -0.33793384 0.14001824 0.20376107
+v -0.33696462 0.09618299 0.21865238
+v -0.33590206 -0.09389018 0.20132710
+v -0.27846415 0.17108180 0.27455944
+v -0.23754928 -0.09411657 0.31718298
+v -0.29247243 -0.05058976 0.27652387
+v -0.25189201 0.03650538 0.31786759
+v -0.27935652 0.09662328 0.28980635
+v -0.25074519 -0.10931772 0.30282788
+v -0.26359616 -0.05095728 0.30493755
+f 1 2 3
+f 8 3 2
+f 9 6 1
+f 9 1 3
+f 10 2 7
+f 10 8 2
+f 10 5 8
+f 11 7 2
+f 11 2 1
+f 12 3 8
+f 12 9 3
+f 13 6 9
+f 15 12 8
+f 15 4 9
+f 15 9 12
+f 20 15 8
+f 20 4 15
+f 21 8 5
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+f 22 13 9
+f 22 9 17
+f 23 17 9
+f 23 9 4
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+f 24 1 18
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+f 25 6 13
+f 25 13 18
+f 26 18 13
+f 27 7 19
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+f 28 7 11
+f 28 14 19
+f 28 11 24
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+f 30 27 19
+f 31 23 4
+f 31 13 23
+f 31 4 20
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+f 32 18 1
+f 32 1 25
+f 33 24 18
+f 33 18 26
+f 34 21 30
+f 36 10 7
+f 36 7 27
+f 36 27 30
+f 37 29 20
+f 37 20 8
+f 38 16 29
+f 38 34 16
+f 38 21 34
+f 38 8 21
+f 38 37 8
+f 38 29 37
+f 39 30 21
+f 39 21 5
+f 39 36 30
+f 39 5 10
+f 39 10 36
+f 40 31 20
+f 40 20 29
+f 40 29 16
+f 40 16 13
+f 40 13 31
+f 41 28 24
+f 41 24 33
+f 42 34 30
+f 42 30 14
+f 43 26 13
+f 43 13 35
+f 43 42 26
+f 44 35 13
+f 44 13 16
+f 44 16 34
+f 44 43 35
+f 44 34 42
+f 44 42 43
+f 45 14 28
+f 45 28 41
+f 46 41 33
+f 46 33 26
+f 46 45 41
+f 46 26 42
+f 46 42 14
+f 46 14 45
\ No newline at end of file
diff --git a/objects/objaverse/potato/potato_0/collision/model_normalized_collision_23.obj b/objects/objaverse/potato/potato_0/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bdda4b47b2c87fc5cbc6cc445dc9966be5ae243a
--- /dev/null
+++ b/objects/objaverse/potato/potato_0/collision/model_normalized_collision_23.obj
@@ -0,0 +1,180 @@
+# https://github.com/mikedh/trimesh
+v 0.16757811 -0.45066315 -0.02944894
+v 0.29940788 -0.26129717 -0.16153522
+v 0.29248883 -0.28512955 0.08694417
+v 0.19821499 -0.25580489 0.24843561
+v 0.17313839 -0.26420989 -0.32852940
+v 0.29862085 -0.26002871 0.10466560
+v 0.17899547 -0.38697614 0.12781968
+v 0.23443115 -0.40209960 -0.10016418
+v 0.25194553 -0.25909992 -0.25895590
+v 0.29391550 -0.30277001 -0.10034695
+v 0.25554274 -0.25647561 0.19071000
+v 0.23594012 -0.38461749 0.04282223
+v 0.16761600 -0.28475973 0.24676080
+v 0.17030139 -0.43510168 -0.20008497
+v 0.18019670 -0.26168716 -0.32210374
+v 0.29256788 -0.30201032 0.04350785
+v 0.22571511 -0.39848492 -0.18725441
+v 0.26328156 -0.31336549 0.11476091
+v 0.17785281 -0.35620300 0.17110237
+v 0.16783946 -0.43407436 0.04324166
+v 0.23691210 -0.40155928 -0.03295729
+v 0.16582655 -0.28814784 -0.32179364
+v 0.17439593 -0.26389547 0.25817942
+v 0.20913969 -0.42885941 -0.10303393
+v 0.23974329 -0.26022838 -0.27074587
+v 0.27795162 -0.32922148 0.04323031
+v 0.26355390 -0.36093355 -0.09996835
+v 0.29398574 -0.28700924 -0.14374956
+v 0.27940827 -0.27417703 -0.20235236
+v 0.29419814 -0.27189775 0.10237961
+v 0.20650213 -0.38373329 0.09789653
+v 0.19325362 -0.26902226 0.24218163
+v 0.23454185 -0.32609385 0.14219093
+v 0.16538162 -0.45108163 -0.16080365
+v 0.16703999 -0.36145258 0.17503423
+v 0.20777337 -0.41386552 0.02593876
+v 0.19203149 -0.38667676 -0.24265108
+v 0.20880790 -0.42929614 -0.07187507
+v 0.22009811 -0.41543001 -0.11720185
+v 0.18050692 -0.36049280 -0.27187154
+v 0.26304441 -0.35956325 0.01462376
+v 0.25007559 -0.35768170 0.06773894
+v 0.27889034 -0.32946200 -0.11583407
+v 0.21895932 -0.39050716 -0.21179572
+v 0.28327284 -0.26127923 -0.20354318
+v 0.27877785 -0.30171442 -0.17359836
+v 0.19190155 -0.41396052 0.05589704
+v 0.24893004 -0.26840096 0.18676239
+v 0.24882750 -0.29635001 0.15713052
+v 0.20704592 -0.35541685 0.14145039
+v 0.20337543 -0.41702167 -0.19258426
+v 0.17842421 -0.28096828 0.24261383
+v 0.16901194 -0.39062207 0.13179883
+v 0.17836713 -0.42834126 0.04108183
+v 0.18005074 -0.44346256 -0.03034961
+v 0.22348791 -0.41378228 -0.04361789
+v 0.23782063 -0.27129982 -0.26750516
+v 0.17153031 -0.36207428 -0.27636706
+v 0.24971519 -0.33980327 0.09906514
+v 0.24831727 -0.27103143 -0.25645853
+v 0.20519292 -0.40694030 -0.21013922
+f 10 2 6
+f 11 9 4
+f 11 6 2
+f 11 2 9
+f 15 4 9
+f 16 10 6
+f 16 6 3
+f 22 13 5
+f 23 5 13
+f 23 15 5
+f 23 4 15
+f 24 8 21
+f 25 15 9
+f 25 5 15
+f 26 16 3
+f 27 8 17
+f 27 21 8
+f 28 2 10
+f 30 18 3
+f 30 3 6
+f 30 6 11
+f 30 11 18
+f 32 11 4
+f 32 23 13
+f 32 4 23
+f 34 1 20
+f 34 13 22
+f 34 22 14
+f 35 34 20
+f 35 13 34
+f 35 19 32
+f 35 7 19
+f 36 21 12
+f 38 24 21
+f 38 34 24
+f 38 1 34
+f 39 24 17
+f 39 17 8
+f 39 8 24
+f 40 22 5
+f 41 12 21
+f 41 21 27
+f 41 16 26
+f 41 27 10
+f 41 10 16
+f 42 41 26
+f 42 12 41
+f 42 31 12
+f 42 26 3
+f 42 3 18
+f 43 27 17
+f 43 17 28
+f 43 28 10
+f 43 10 27
+f 44 37 40
+f 45 29 9
+f 45 9 2
+f 45 2 29
+f 46 28 17
+f 46 44 29
+f 46 17 44
+f 46 29 2
+f 46 2 28
+f 47 31 7
+f 47 7 20
+f 47 36 12
+f 47 12 31
+f 48 32 19
+f 48 11 32
+f 49 33 18
+f 49 18 11
+f 49 48 33
+f 49 11 48
+f 50 19 7
+f 50 7 31
+f 50 48 19
+f 50 33 48
+f 51 34 14
+f 51 17 24
+f 51 24 34
+f 52 35 32
+f 52 32 13
+f 52 13 35
+f 53 35 20
+f 53 20 7
+f 53 7 35
+f 54 20 1
+f 54 47 20
+f 54 36 47
+f 55 38 36
+f 55 1 38
+f 55 54 1
+f 55 36 54
+f 56 38 21
+f 56 21 36
+f 56 36 38
+f 57 40 5
+f 57 5 25
+f 57 25 9
+f 57 44 40
+f 58 40 37
+f 58 37 14
+f 58 14 22
+f 58 22 40
+f 59 42 18
+f 59 18 33
+f 59 33 50
+f 59 50 31
+f 59 31 42
+f 60 9 29
+f 60 29 44
+f 60 57 9
+f 60 44 57
+f 61 44 17
+f 61 17 51
+f 61 37 44
+f 61 51 14
+f 61 14 37
\ No newline at end of file
diff --git a/objects/objaverse/potato/potato_0/collision/model_normalized_collision_24.obj b/objects/objaverse/potato/potato_0/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f4e29b189f109566c81171a92d2f669aec86fa48
--- /dev/null
+++ b/objects/objaverse/potato/potato_0/collision/model_normalized_collision_24.obj
@@ -0,0 +1,120 @@
+# https://github.com/mikedh/trimesh
+v -0.18163541 -0.25941392 0.28192723
+v -0.18820221 -0.26515152 -0.17942384
+v -0.18820221 -0.14393940 -0.17942384
+v -0.28022975 -0.13659672 0.26417977
+v -0.32176197 -0.25501972 0.03002434
+v -0.18705675 -0.14310621 0.33290023
+v -0.18100614 -0.21434114 0.30921547
+v -0.31149201 -0.26230255 -0.17628398
+v -0.24630391 -0.25089233 0.21969993
+v -0.20959137 -0.13944653 0.32096619
+v -0.18175974 -0.17063498 0.32564284
+v -0.20491441 -0.22543254 0.28862860
+v -0.36364329 -0.14141633 -0.17757257
+v -0.28996261 -0.25455046 0.11518618
+v -0.20720163 -0.15224948 0.31843147
+v -0.18133882 -0.24443300 0.29378881
+v -0.24648127 -0.22657520 0.24689115
+v -0.37212464 -0.13850536 -0.14667362
+v -0.34265443 -0.13814778 0.14886296
+v -0.19357556 -0.14691641 0.32833874
+v -0.19299019 -0.21279668 0.30316119
+v -0.25234811 -0.13771117 0.29111472
+v -0.19398954 -0.25405562 0.27764366
+v -0.24746927 -0.18009125 0.27435995
+v -0.36690452 -0.17952507 -0.05724369
+v -0.33437502 -0.17806410 0.11786493
+v -0.37119232 -0.13798728 0.05932886
+v -0.27535929 -0.14960672 0.26202908
+v -0.33739055 -0.15209214 0.14610559
+v -0.20639507 -0.19532128 0.30086324
+v -0.19256539 -0.24189639 0.28783778
+v -0.24971807 -0.15201434 0.28641808
+v -0.36636652 -0.16389130 -0.11515541
+v -0.31996484 -0.25841596 -0.13256060
+v -0.33574090 -0.22493644 0.04213533
+v -0.32126103 -0.19252189 0.13106768
+v -0.36693997 -0.18004378 -0.01370845
+v -0.36586009 -0.15187522 0.05918029
+v -0.35135504 -0.21013066 0.00045967
+v -0.36675621 -0.16605198 0.02872179
+v -0.35151998 -0.20992371 -0.05886985
+f 7 2 3
+f 8 2 1
+f 8 1 5
+f 10 6 3
+f 10 3 4
+f 11 7 3
+f 11 3 6
+f 13 3 2
+f 13 2 8
+f 14 5 1
+f 14 1 9
+f 16 1 2
+f 16 2 7
+f 18 4 3
+f 18 3 13
+f 18 13 8
+f 20 7 11
+f 20 11 6
+f 20 6 10
+f 20 10 15
+f 21 20 15
+f 21 7 20
+f 21 16 7
+f 21 12 16
+f 22 15 10
+f 22 10 4
+f 23 1 16
+f 23 12 17
+f 23 17 9
+f 23 9 1
+f 24 17 12
+f 24 22 4
+f 27 19 4
+f 27 4 18
+f 28 19 17
+f 28 4 19
+f 28 24 4
+f 28 17 24
+f 29 9 17
+f 29 17 19
+f 30 21 15
+f 30 15 22
+f 30 22 12
+f 30 12 21
+f 31 23 16
+f 31 16 12
+f 31 12 23
+f 32 24 12
+f 32 12 22
+f 32 22 24
+f 33 25 18
+f 33 18 8
+f 34 8 5
+f 34 33 8
+f 34 25 33
+f 35 5 14
+f 36 14 9
+f 36 29 26
+f 36 9 29
+f 36 35 14
+f 36 26 35
+f 37 27 18
+f 37 18 25
+f 38 26 29
+f 38 35 26
+f 38 29 19
+f 38 19 27
+f 39 5 35
+f 39 34 5
+f 40 38 27
+f 40 27 37
+f 40 37 39
+f 40 39 35
+f 40 35 38
+f 41 39 37
+f 41 37 25
+f 41 25 34
+f 41 34 39
\ No newline at end of file
diff --git a/objects/objaverse/potato/potato_0/collision/model_normalized_collision_25.obj b/objects/objaverse/potato/potato_0/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..73ed12dc65f8ec3dd47255e45c521c16a44d5c8f
--- /dev/null
+++ b/objects/objaverse/potato/potato_0/collision/model_normalized_collision_25.obj
@@ -0,0 +1,108 @@
+# https://github.com/mikedh/trimesh
+v 0.40341914 -0.00477148 0.01624919
+v 0.40065845 -0.00566180 -0.05585017
+v 0.36890774 0.22617068 -0.04134248
+v 0.22088872 0.23484850 0.01754587
+v 0.22088872 -0.00757575 0.01754587
+v 0.21248638 0.14986715 -0.27589598
+v 0.38725207 0.18892612 0.02131878
+v 0.38735566 -0.00721868 -0.11075685
+v 0.21977555 0.23447281 -0.25348466
+v 0.36979920 0.22649073 0.01671592
+v 0.40140277 0.12703510 -0.02668969
+v 0.21888150 -0.00896810 -0.27947649
+v 0.30931500 0.17093777 -0.21031542
+v 0.40156286 0.12650276 0.01784982
+v 0.40059845 0.02263160 -0.07012694
+v 0.38396296 0.18371896 -0.05640309
+v 0.24334961 -0.01018335 -0.26925681
+v 0.25896663 0.15338393 -0.25108506
+v 0.32360541 0.22797491 -0.16607471
+v 0.38481423 0.11174166 -0.11150743
+v 0.35695730 -0.00546560 -0.16920383
+v 0.25401760 0.22937766 -0.23778183
+v 0.28289496 0.13645598 -0.23847377
+v 0.35268191 0.22665650 -0.11194821
+v 0.38491854 0.14124227 -0.09750450
+v 0.40060660 0.09681913 -0.05641212
+v 0.35256801 0.16801710 -0.15296969
+v 0.27008697 -0.00905694 -0.25375297
+v 0.28181972 0.21430208 -0.22335350
+v 0.35472764 0.10959159 -0.16821305
+v 0.36788367 0.21074830 -0.08383967
+v 0.39989281 0.06744148 -0.06962302
+v 0.30924401 0.21142381 -0.19454024
+v 0.36715518 0.16984200 -0.12605686
+v 0.33870409 0.14006802 -0.18161240
+v 0.36960957 0.12575564 -0.13946410
+v 0.35233786 0.19694684 -0.13898262
+f 6 5 4
+f 7 5 1
+f 7 4 5
+f 8 2 1
+f 8 1 5
+f 9 6 4
+f 10 7 3
+f 10 4 7
+f 10 9 4
+f 10 3 9
+f 12 5 6
+f 14 11 7
+f 14 7 1
+f 14 1 11
+f 15 11 1
+f 15 1 2
+f 15 2 8
+f 16 3 7
+f 16 7 11
+f 17 8 5
+f 17 5 12
+f 17 12 6
+f 18 17 6
+f 20 15 8
+f 21 20 8
+f 22 18 6
+f 22 6 9
+f 22 9 19
+f 23 17 18
+f 24 19 9
+f 24 9 3
+f 25 16 11
+f 26 11 15
+f 26 25 11
+f 26 20 25
+f 28 21 8
+f 28 8 17
+f 28 23 21
+f 28 17 23
+f 29 22 19
+f 29 13 23
+f 29 23 18
+f 29 18 22
+f 30 23 13
+f 30 21 23
+f 30 20 21
+f 31 24 3
+f 31 3 16
+f 31 16 25
+f 32 26 15
+f 32 15 20
+f 32 20 26
+f 33 27 13
+f 33 19 27
+f 33 29 19
+f 33 13 29
+f 34 25 20
+f 34 31 25
+f 34 24 31
+f 35 30 13
+f 35 13 27
+f 35 27 30
+f 36 30 27
+f 36 27 34
+f 36 34 20
+f 36 20 30
+f 37 34 27
+f 37 27 19
+f 37 19 24
+f 37 24 34
\ No newline at end of file
diff --git a/objects/objaverse/potato/potato_0/collision/model_normalized_collision_26.obj b/objects/objaverse/potato/potato_0/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b2c828115d7320c9cd3cee7a65b18febf6f45a91
--- /dev/null
+++ b/objects/objaverse/potato/potato_0/collision/model_normalized_collision_26.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v 0.29235929 -0.27914386 -0.16247678
+v 0.37416461 -0.05056983 -0.12826350
+v 0.22088872 -0.26515152 -0.13396929
+v 0.22088872 -0.00757575 -0.13396929
+v 0.21428959 -0.13015444 -0.30493092
+v 0.36090840 -0.11022556 -0.12848952
+v 0.21888150 -0.00896810 -0.27947649
+v 0.23183807 -0.27273196 -0.27120927
+v 0.21379447 -0.20210091 -0.30550087
+v 0.30602076 -0.26306304 -0.13254860
+v 0.21517230 -0.04047333 -0.28799009
+v 0.37925569 -0.00658790 -0.13037513
+v 0.26534568 -0.22974040 -0.25863679
+v 0.31344896 -0.24512760 -0.13072846
+v 0.27008697 -0.00905694 -0.25375297
+v 0.35695730 -0.00546560 -0.16920383
+v 0.29168327 -0.25870869 -0.18668859
+v 0.35375056 -0.09359183 -0.15541056
+v 0.23967258 -0.21474012 -0.28454924
+v 0.30799345 -0.24323431 -0.15628690
+v 0.24334961 -0.01018335 -0.26925681
+v 0.37300775 -0.00618931 -0.14189432
+v 0.26603468 -0.25553863 -0.24324349
+v 0.35420394 -0.05085261 -0.16719171
+v 0.22431169 -0.13163996 -0.29879700
+v 0.28838740 -0.27722627 -0.17671562
+v 0.29220108 -0.21573126 -0.21320744
+v 0.36903368 -0.05114771 -0.14036585
+v 0.22476041 -0.20058995 -0.29854439
+f 6 2 4
+f 6 4 3
+f 8 1 3
+f 9 3 4
+f 9 8 3
+f 10 3 1
+f 11 4 7
+f 11 9 4
+f 11 5 9
+f 12 4 2
+f 14 6 3
+f 14 3 10
+f 16 7 4
+f 16 15 7
+f 18 2 6
+f 18 6 17
+f 19 13 8
+f 19 8 9
+f 19 16 13
+f 19 15 16
+f 20 14 10
+f 20 10 1
+f 20 6 14
+f 20 17 6
+f 21 11 7
+f 21 7 15
+f 21 15 5
+f 21 5 11
+f 22 16 4
+f 22 4 12
+f 23 8 13
+f 24 18 13
+f 24 13 16
+f 24 16 22
+f 25 9 5
+f 25 5 15
+f 25 15 19
+f 26 20 1
+f 26 17 20
+f 26 23 17
+f 26 1 8
+f 26 8 23
+f 27 18 17
+f 27 17 23
+f 27 23 13
+f 27 13 18
+f 28 24 22
+f 28 22 12
+f 28 12 2
+f 28 2 18
+f 28 18 24
+f 29 25 19
+f 29 19 9
+f 29 9 25
\ No newline at end of file
diff --git a/objects/objaverse/potato/potato_0/collision/model_normalized_collision_27.obj b/objects/objaverse/potato/potato_0/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d468c8d671cc4ad64b82f63899ffcfb29cd44742
--- /dev/null
+++ b/objects/objaverse/potato/potato_0/collision/model_normalized_collision_27.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.00876750 -0.26515152 0.21451557
+v 0.00876750 -0.26515152 -0.17942384
+v 0.00876750 -0.00757575 0.21451557
+v -0.18820221 -0.00757575 0.21451557
+v -0.19986318 -0.28300695 0.23262038
+v -0.18820221 -0.00757575 -0.17942384
+v 0.00876750 -0.00757575 -0.17942384
+v -0.18820221 -0.26515152 -0.17942384
+f 1 2 3
+f 5 2 1
+f 5 1 3
+f 5 3 4
+f 6 4 3
+f 6 5 4
+f 7 6 3
+f 7 3 2
+f 7 2 6
+f 8 6 2
+f 8 2 5
+f 8 5 6
\ No newline at end of file
diff --git a/objects/objaverse/potato/potato_0/collision/model_normalized_collision_28.obj b/objects/objaverse/potato/potato_0/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4cc26946fd02d25566e5c5f07313f1ac78975ae2
--- /dev/null
+++ b/objects/objaverse/potato/potato_0/collision/model_normalized_collision_28.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.22347783 -0.26750382 0.21748572
+v 0.23183807 -0.27273196 -0.27120927
+v 0.22834437 -0.00306476 -0.27462810
+v 0.00876750 -0.00757575 0.21451557
+v 0.00876750 -0.26515152 -0.25518142
+v 0.22088872 -0.00757575 0.21451557
+v 0.00876750 -0.26515152 0.21451557
+v 0.00876750 -0.00757575 -0.25518142
+f 5 3 2
+f 6 3 4
+f 6 4 1
+f 6 1 2
+f 6 2 3
+f 7 5 2
+f 7 2 1
+f 7 1 4
+f 7 4 5
+f 8 5 4
+f 8 4 3
+f 8 3 5
\ No newline at end of file
diff --git a/objects/objaverse/potato/potato_0/collision/model_normalized_collision_29.obj b/objects/objaverse/potato/potato_0/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..514e7d12105ccff0208fff4bcb7a4fb14784950f
--- /dev/null
+++ b/objects/objaverse/potato/potato_0/collision/model_normalized_collision_29.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.19146980 -0.42525244 0.02513024
+v 0.20381528 -0.28167311 -0.28809243
+v 0.17543417 -0.26515152 0.01754587
+v -0.14274766 -0.26515152 0.01754587
+v -0.15426854 -0.44243764 -0.26234624
+v -0.14274766 -0.26515152 -0.25518142
+v 0.16944455 -0.39216168 -0.24653128
+v -0.15553191 -0.44366904 0.01992367
+f 1 2 3
+f 1 3 4
+f 6 3 2
+f 6 4 3
+f 6 2 5
+f 7 5 2
+f 7 2 1
+f 7 1 5
+f 8 5 1
+f 8 1 4
+f 8 6 5
+f 8 4 6
\ No newline at end of file
diff --git a/objects/objaverse/potato/potato_0/collision/model_normalized_collision_3.obj b/objects/objaverse/potato/potato_0/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8c0a9d5e6ad92a54f3559bb69982e6bdec3d8501
--- /dev/null
+++ b/objects/objaverse/potato/potato_0/collision/model_normalized_collision_3.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.26376114 -0.15773060 0.25785717
+v 0.40341914 -0.00477148 0.01624919
+v 0.33948858 0.08282749 0.21900188
+v 0.21499998 0.21563902 0.31002018
+v 0.22088872 -0.14393940 0.01754587
+v 0.37899785 0.21330632 0.01995154
+v 0.22455169 -0.01917062 0.33339052
+v 0.36879650 -0.07996665 0.13412293
+v 0.38474771 0.09684849 0.11732136
+v 0.31017665 0.21287407 0.21734334
+v 0.22088872 0.21969698 0.01754587
+v 0.31141140 -0.06289267 0.24521660
+v 0.28159967 0.11117232 0.28861898
+v 0.21402159 -0.13869621 0.30809431
+v 0.35884134 -0.16081766 0.02165151
+v 0.40094519 0.12528869 0.03111562
+v 0.38323196 -0.00632446 0.11744134
+v 0.35282732 0.20899859 0.13242259
+v 0.40156286 0.12650276 0.01784982
+v 0.35452409 -0.00641164 0.18770287
+v 0.32563895 -0.12102249 0.20275834
+v 0.22545293 0.09538410 0.33337632
+v 0.25244586 0.17028547 0.30229664
+v 0.32362205 0.13912917 0.23252103
+v 0.30943885 0.05337634 0.26243601
+v 0.26650787 -0.07748524 0.28789034
+v 0.21388133 0.09736312 0.33892203
+v 0.21342860 -0.09406157 0.32436718
+v 0.39190615 -0.05152366 0.06094849
+v 0.40014834 0.03834874 0.06025127
+v 0.38638057 0.19958440 0.03007386
+v 0.40060045 0.11212448 0.04483929
+v 0.36982976 -0.05173247 0.14619229
+v 0.36951634 0.02244459 0.16083206
+v 0.30980840 -0.10871866 0.23099167
+v 0.33826248 -0.06725212 0.20540983
+v 0.28606313 -0.15408967 0.23517619
+v 0.26777008 0.01261880 0.30443787
+v 0.23931654 0.19746564 0.30290957
+v 0.23940585 0.15097578 0.31743572
+v 0.29537764 0.16915446 0.26001039
+v 0.33763996 0.19702628 0.17743935
+v 0.36770835 0.13856832 0.14722002
+v 0.29660283 0.09792640 0.27450790
+v 0.33852556 0.00877653 0.21851208
+v 0.26415598 -0.11782041 0.27576720
+v 0.21398527 -0.02108559 0.33903635
+v 0.23811640 -0.04866254 0.31918420
+v 0.37357463 -0.07925039 0.11835007
+v 0.39970862 -0.00717206 0.04322762
+v 0.38903463 -0.05195179 0.07479818
+v 0.37520767 0.20921907 0.05320819
+v 0.38567276 0.19936541 0.02147164
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+f 64 39 4
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+f 64 27 40
\ No newline at end of file
diff --git a/objects/objaverse/potato/potato_0/collision/model_normalized_collision_30.obj b/objects/objaverse/potato/potato_0/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cb482314749aafa3b03a0de133d2a06c2737786a
--- /dev/null
+++ b/objects/objaverse/potato/potato_0/collision/model_normalized_collision_30.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.18820221 -0.14393940 0.19936405
+v -0.18820221 -0.14393940 -0.17942384
+v -0.18820221 0.09848486 0.19936405
+v -0.33326008 0.10084993 0.22420465
+v -0.33946620 -0.17156824 -0.19839355
+v -0.29426282 0.09848486 -0.17942384
+v -0.30905656 -0.15012430 0.20777372
+v -0.18820221 0.09848486 -0.17942384
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 6 5 4
+f 7 5 1
+f 7 1 4
+f 7 4 5
+f 8 3 2
+f 8 2 5
+f 8 5 6
+f 8 6 4
+f 8 4 3
\ No newline at end of file
diff --git a/objects/objaverse/potato/potato_0/collision/model_normalized_collision_31.obj b/objects/objaverse/potato/potato_0/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ddd845c26904cac1ba95d4cc03791cb9882f6c21
--- /dev/null
+++ b/objects/objaverse/potato/potato_0/collision/model_normalized_collision_31.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.35884134 -0.16081766 0.02165151
+v 0.34329241 -0.14943421 -0.13904356
+v 0.36592190 -0.01079398 -0.15336048
+v 0.22088872 -0.00757575 0.01754587
+v 0.22088872 -0.14393940 0.01754587
+v 0.22088872 -0.00757575 -0.13396929
+v 0.32694933 -0.00757575 0.01754587
+v 0.22088872 -0.14393940 -0.13396929
+v 0.32694933 -0.00757575 0.00239435
+f 1 2 3
+f 5 1 4
+f 6 5 4
+f 7 1 3
+f 7 4 1
+f 7 6 4
+f 8 2 1
+f 8 1 5
+f 8 5 6
+f 8 6 3
+f 8 3 2
+f 9 7 3
+f 9 3 6
+f 9 6 7
\ No newline at end of file
diff --git a/objects/objaverse/potato/potato_0/collision/model_normalized_collision_4.obj b/objects/objaverse/potato/potato_0/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c2a13c9dbc9f6a063807dec167f4d37b42b270c2
--- /dev/null
+++ b/objects/objaverse/potato/potato_0/collision/model_normalized_collision_4.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v -0.30905656 -0.15012430 0.20777372
+v -0.29426282 -0.14393940 -0.07336323
+v -0.29426282 0.09848486 -0.07336323
+v -0.33326008 0.10084993 0.22420465
+v -0.39853657 -0.08092513 -0.07165076
+v -0.38436186 -0.13721116 -0.07151674
+v -0.39766550 -0.03560140 0.07529533
+v -0.38770167 0.10875132 -0.08004569
+v -0.35159063 -0.04992243 0.18951294
+v -0.38158141 -0.12300612 0.04352255
+v -0.39936806 0.05136659 -0.07076436
+v -0.38165721 0.09648653 0.13280788
+v -0.38116334 -0.13755235 0.01488278
+v -0.35036012 -0.10626557 0.16122729
+v -0.39781762 -0.07908293 0.03014784
+v -0.35283095 0.09589199 0.18877347
+v -0.36675776 -0.03467845 0.16134897
+v -0.39693207 0.05208986 0.06067353
+v -0.35096811 -0.13443136 0.13117383
+v -0.38022181 -0.07884057 0.10223895
+v -0.33544800 -0.10715349 0.19185977
+v -0.38090101 0.01093683 0.13027000
+v -0.39659902 0.03538237 0.07551090
+v -0.39595118 0.06512755 0.02958422
+v -0.36469449 -0.13554689 0.08681547
+v -0.32443632 -0.13592186 0.19161601
+v -0.39635169 -0.06351609 0.05885455
+v -0.38162297 -0.05008576 0.11664310
+v -0.39136370 0.09663055 -0.07293046
+v -0.39873496 0.06533972 -0.05647750
+v -0.38016976 -0.09224998 0.08758342
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+f 21 9 14
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+f 22 7 17
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+f 24 18 12
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+f 25 1 19
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+f 26 19 1
+f 26 14 19
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+f 26 1 21
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+f 29 8 11
+f 30 11 18
+f 30 18 24
+f 30 29 11
+f 30 24 29
+f 31 10 25
+f 31 27 10
+f 31 20 27
+f 31 25 19
+f 31 19 20
\ No newline at end of file
diff --git a/objects/objaverse/potato/potato_0/collision/model_normalized_collision_5.obj b/objects/objaverse/potato/potato_0/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf7f4e17820a1f8fe32a788efcd8882998aa65d2
--- /dev/null
+++ b/objects/objaverse/potato/potato_0/collision/model_normalized_collision_5.obj
@@ -0,0 +1,129 @@
+# https://github.com/mikedh/trimesh
+v 0.18749269 0.21387107 0.32208836
+v 0.20573720 0.21969698 0.01754587
+v 0.19691520 0.38392740 0.14719387
+v 0.00273939 0.46516944 0.07304826
+v 0.00876750 0.21969698 0.01754587
+v 0.20151317 0.36502108 0.01254035
+v 0.11269362 0.34282994 0.26326583
+v 0.20328039 0.21831394 0.31467101
+v 0.00863964 0.47687345 0.01746391
+v 0.18554518 0.37530049 0.01090805
+v 0.12617942 0.38280791 0.20564695
+v 0.00920735 0.21871038 0.34763624
+v 0.15432344 0.28449023 0.30066659
+v 0.19986321 0.29991834 0.27303559
+v 0.15606529 0.39860067 0.14916487
+v -0.02586936 0.32515797 0.27351872
+v 0.03039847 0.46495020 0.01520832
+v 0.19784351 0.38451798 0.06830486
+v 0.01073967 0.35180464 0.24934648
+v 0.09170779 0.21516236 0.33397983
+v 0.19537311 0.25452251 0.30179332
+v 0.07874198 0.24424265 0.33153386
+v 0.18244896 0.36655577 0.20252160
+v 0.13966011 0.32544688 0.27351766
+v 0.15500843 0.38359029 0.19062936
+v -0.01934358 0.30280693 0.29713264
+v 0.06942505 0.38281022 0.20831072
+v -0.02017753 0.34516224 0.25206385
+v 0.18396763 0.22733639 0.31802596
+v 0.19665854 0.36730044 0.18922729
+v 0.16617619 0.35316408 0.23257147
+v 0.06637946 0.28448647 0.31701383
+v 0.16693112 0.29712132 0.28675044
+v 0.14228860 0.39788433 0.16229842
+v -0.01631083 0.31160562 0.28993369
+v 0.00196384 0.45028391 0.10041601
+v 0.12615523 0.35373124 0.24773121
+v -0.01791114 0.33883968 0.26106358
+v 0.19553698 0.33936063 0.23063318
+v 0.13986691 0.33979754 0.25943717
+v 0.15419966 0.36850063 0.21723924
+v 0.12574123 0.31225323 0.28852187
+v 0.01006683 0.24565909 0.33843499
+v 0.03993027 0.28509710 0.31755618
+f 5 2 1
+f 8 1 2
+f 8 2 6
+f 10 6 2
+f 10 2 5
+f 14 8 6
+f 14 6 3
+f 15 9 4
+f 15 3 9
+f 16 9 5
+f 16 4 9
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+f 37 27 7
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+f 39 23 31
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+f 41 25 11
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+f 41 11 37
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+f 41 23 25
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+f 42 32 13
+f 42 33 24
+f 42 13 33
+f 43 26 12
+f 43 12 22
+f 43 22 32
+f 44 32 7
+f 44 7 35
+f 44 35 26
+f 44 43 32
+f 44 26 43
\ No newline at end of file
diff --git a/objects/objaverse/potato/potato_0/collision/model_normalized_collision_6.obj b/objects/objaverse/potato/potato_0/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f365f8e1271b64d18dc307e219fbda7cda8c7eaf
--- /dev/null
+++ b/objects/objaverse/potato/potato_0/collision/model_normalized_collision_6.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.31759205 0.23772064 -0.16852444
+v 0.29838130 0.22902158 -0.19811052
+v 0.06152535 0.40020370 -0.24170862
+v -0.19835160 0.43239090 -0.17232766
+v -0.33888432 0.23462023 -0.17908196
+v 0.18430777 0.37498180 -0.15884915
+v 0.00876750 0.23484850 -0.16427232
+v -0.08052228 0.23089490 -0.37729677
+v 0.00834801 0.44230599 -0.19251119
+v 0.25158936 0.32314402 -0.16838349
+v 0.28502443 0.29857281 -0.15614551
+v -0.30950367 0.33335319 -0.17218589
+v 0.09109302 0.25829484 -0.34209407
+v -0.23688634 0.22822429 -0.31806781
+v -0.06544034 0.37098979 -0.30028019
+v 0.17270898 0.38055218 -0.16198848
+v -0.06695519 0.44548766 -0.17886048
+v 0.08959646 0.38474491 -0.24227794
+v 0.30287778 0.27351334 -0.15867550
+v 0.25503059 0.32941651 -0.15552438
+v 0.25262062 0.28553210 -0.20663160
+v -0.28144536 0.37540813 -0.17189005
+v -0.32615769 0.29154836 -0.17321423
+v 0.11869828 0.23094817 -0.32935783
+v -0.29626110 0.22920207 -0.25920280
+v -0.00867607 0.28735877 -0.35815113
+v 0.00722801 0.41383352 -0.24394028
+v -0.16499994 0.29982629 -0.32680964
+v -0.15535497 0.41366307 -0.22761161
+v 0.21199395 0.35287871 -0.16933147
+v 0.04648134 0.35594710 -0.29951682
+v 0.29606353 0.24110834 -0.19470438
+v 0.28006012 0.29577016 -0.16590462
+v 0.20878009 0.32378154 -0.21047620
+v -0.25242048 0.40293727 -0.17212399
+v 0.21406614 0.35844127 -0.15726340
+v 0.26959200 0.22725638 -0.22818303
+v 0.04955925 0.23252943 -0.36083389
+v -0.30728270 0.25927626 -0.22929916
+v 0.00740078 0.43065372 -0.21549369
+v -0.15086319 0.22912530 -0.36057852
+v -0.24905359 0.31617807 -0.26761226
+v -0.07931561 0.31502099 -0.34240561
+v -0.16869985 0.42821489 -0.19983823
+v -0.18093071 0.35741024 -0.28308908
+v -0.05026731 0.41377310 -0.24476891
+v 0.18129401 0.37029181 -0.17123984
+v 0.04678128 0.38473519 -0.27095962
+v 0.03347417 0.30083182 -0.34306006
+v -0.02273253 0.35673188 -0.31471177
+v 0.29741670 0.27024065 -0.16970172
+v 0.07429167 0.34096088 -0.29857204
+v 0.11250640 0.24749528 -0.33143078
+v -0.32774101 0.23246187 -0.20418681
+v 0.11412277 0.28580814 -0.31703460
+v -0.02348650 0.23168296 -0.37722626
+v 0.09210495 0.23564733 -0.34483689
+v 0.02070085 0.27345297 -0.35840739
+v -0.30590597 0.28830846 -0.21443843
+v 0.03519673 0.39910472 -0.25805840
+v -0.19403804 0.27199175 -0.32689724
+v -0.22355755 0.39790091 -0.21325436
+v -0.26437947 0.25812395 -0.28291164
+v -0.27779475 0.33074484 -0.22701702
+f 7 5 2
+f 7 2 1
+f 16 3 9
+f 17 4 6
+f 17 16 9
+f 17 6 16
+f 18 3 16
+f 19 11 7
+f 19 7 1
+f 20 11 10
+f 20 7 11
+f 22 12 20
+f 23 5 7
+f 23 20 12
+f 23 7 20
+f 30 20 10
+f 32 1 2
+f 33 21 10
+f 33 10 11
+f 34 10 21
+f 34 30 10
+f 34 18 30
+f 35 6 4
+f 36 22 20
+f 36 35 22
+f 36 6 35
+f 36 20 30
+f 36 16 6
+f 37 25 14
+f 37 32 2
+f 37 21 32
+f 40 9 3
+f 41 37 14
+f 41 8 37
+f 43 26 8
+f 43 41 28
+f 43 8 41
+f 44 4 17
+f 45 29 15
+f 45 43 28
+f 45 15 43
+f 46 27 15
+f 46 15 29
+f 46 40 27
+f 46 29 44
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+f 46 9 40
+f 47 30 18
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+f 48 3 18
+f 50 48 31
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+f 50 43 15
+f 50 26 43
+f 50 49 26
+f 50 31 49
+f 51 19 1
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+f 51 32 21
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+f 51 33 11
+f 51 11 19
+f 52 18 34
+f 52 48 18
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+f 52 49 31
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+f 54 2 5
+f 54 25 37
+f 54 39 25
+f 54 5 23
+f 54 23 39
+f 55 21 37
+f 55 13 49
+f 55 49 52
+f 55 52 34
+f 55 34 21
+f 55 53 13
+f 55 37 53
+f 56 38 24
+f 56 8 26
+f 56 37 8
+f 56 24 37
+f 57 38 13
+f 57 24 38
+f 57 53 24
+f 57 13 53
+f 58 13 38
+f 58 49 13
+f 58 26 49
+f 58 56 26
+f 58 38 56
+f 59 39 23
+f 59 23 12
+f 60 40 3
+f 60 27 40
+f 60 3 48
+f 60 50 27
+f 60 48 50
+f 61 41 14
+f 61 28 41
+f 61 14 42
+f 61 45 28
+f 61 42 45
+f 62 22 35
+f 62 45 42
+f 62 44 29
+f 62 29 45
+f 62 35 4
+f 62 4 44
+f 63 42 14
+f 63 14 25
+f 64 12 22
+f 64 62 42
+f 64 22 62
+f 64 59 12
+f 64 42 63
+f 64 39 59
+f 64 63 25
+f 64 25 39
\ No newline at end of file
diff --git a/objects/objaverse/potato/potato_0/collision/model_normalized_collision_7.obj b/objects/objaverse/potato/potato_0/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..003ccda28740d62791a63b5d509251aaa3cbd249
--- /dev/null
+++ b/objects/objaverse/potato/potato_0/collision/model_normalized_collision_7.obj
@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
+v 0.22715490 0.10053902 0.33139319
+v 0.22088872 0.09848486 0.22966709
+v 0.25454107 0.24478764 0.26190461
+v -0.00577069 0.26197519 0.32911228
+v -0.19939734 0.10096224 0.34315687
+v -0.18820221 0.23484850 0.22966709
+v 0.19927167 0.21368829 0.31779508
+v 0.11223554 0.09465133 0.37713807
+v 0.00876750 0.23484850 0.22966709
+v -0.18127343 0.22445734 0.31675250
+v -0.18820221 0.09848486 0.22966709
+v 0.23031836 0.18752151 0.31253149
+v 0.03914888 0.26227731 0.32966158
+v -0.06494317 0.12444287 0.37773121
+v -0.13742257 0.09562914 0.36679324
+v 0.23195192 0.17288669 0.31494780
+v 0.21499998 0.21563902 0.31002018
+v 0.21363555 0.14077309 0.33525151
+v 0.05435225 0.15139238 0.37731397
+v -0.06395774 0.18107462 0.36237381
+v -0.08043671 0.09705869 0.38067053
+v -0.18716625 0.18169495 0.32997535
+v 0.22488142 0.18543997 0.31632425
+v 0.06412253 0.21191931 0.34808402
+v 0.09994500 0.11145729 0.38077144
+v 0.00173097 0.15000718 0.37868960
+v -0.10967224 0.22426473 0.33257133
+v -0.09244662 0.16663497 0.36158488
+v -0.13650389 0.12363840 0.36128907
+v 0.07959511 0.13620694 0.37765486
+v 0.03863715 0.25641055 0.33245344
+v -0.00360668 0.25674643 0.33171938
+v -0.06502839 0.20951708 0.34826650
+v -0.10696779 0.19637440 0.34602109
+v -0.08002184 0.11030382 0.37866712
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+f 34 27 10
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+f 34 28 20
+f 34 10 28
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+f 35 14 28
+f 35 28 29
+f 35 29 15
+f 35 15 21
\ No newline at end of file
diff --git a/objects/objaverse/potato/potato_0/collision/model_normalized_collision_8.obj b/objects/objaverse/potato/potato_0/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..addd452a1a500fdcb5c43c816bd811796e3f1c63
--- /dev/null
+++ b/objects/objaverse/potato/potato_0/collision/model_normalized_collision_8.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.29909888 -0.28414729 -0.19110284
+v -0.18801556 -0.12842995 -0.37395807
+v -0.18820221 0.23484850 -0.17942384
+v -0.34130689 0.23180135 -0.17435188
+v -0.32178880 -0.10990865 -0.28875404
+v -0.18102862 0.22928201 -0.34820828
+v -0.31149201 -0.26230255 -0.17628398
+v -0.18820221 -0.14393940 -0.17942384
+v -0.27459314 -0.27196781 -0.27586310
+v -0.33616809 0.23193500 -0.18639805
+v -0.26605278 -0.02490595 -0.34369683
+v -0.37090595 -0.12386020 -0.17592869
+v -0.18656293 -0.11132887 -0.37677988
+v -0.25160496 -0.16918652 -0.34392386
+v -0.19957065 -0.15261559 -0.36808216
+v -0.35236082 -0.04099163 -0.24578973
+v -0.29097431 0.16998607 -0.28661596
+v -0.37151042 0.06587076 -0.17424881
+v -0.33644329 -0.12575259 -0.25897246
+v -0.28924942 -0.25470203 -0.26651561
+v -0.18220555 0.18415834 -0.36504129
+v -0.28029073 -0.13884391 -0.33026254
+v -0.21210822 -0.08157910 -0.37367264
+v -0.24141541 -0.21624874 -0.33543778
+v -0.19972025 -0.11147881 -0.37488723
+v -0.32266380 -0.02595859 -0.28675138
+v -0.30718831 0.23000291 -0.24312362
+v -0.36665701 0.00300044 -0.20186153
+v -0.35165799 0.15579249 -0.18747604
+v -0.35234853 -0.06664987 -0.24510246
+v -0.30444648 -0.26220494 -0.20510141
+v -0.34983386 -0.12319071 -0.23214260
+v -0.29186022 -0.17920292 -0.30380806
+v -0.24940531 0.21377795 -0.31350975
+v -0.28103765 -0.01081194 -0.32998707
+v -0.18505488 0.02057271 -0.37649748
+v -0.21268543 -0.02356559 -0.37268703
+v -0.26614141 -0.12637013 -0.34336623
+v -0.23976326 -0.14027731 -0.35689709
+v -0.26446679 -0.18361595 -0.33011896
+v -0.30546928 0.15469443 -0.27247242
+v -0.36673274 0.06610418 -0.18794106
+v -0.35620113 0.15646585 -0.17531558
+v -0.33681542 0.16904277 -0.21521513
+v -0.36614198 -0.10791621 -0.20196445
+v -0.36672973 -0.12316511 -0.18832072
+v -0.31941043 -0.15343589 -0.27480560
+v -0.30662382 -0.13909582 -0.30084042
+v -0.27926285 -0.21691386 -0.30307380
+v -0.22231511 0.22692610 -0.32673534
+v -0.29252379 0.21355581 -0.26964501
+v -0.20805773 0.15714239 -0.35835559
+v -0.30835199 -0.01209781 -0.30102573
+v -0.25056802 0.15637106 -0.32901220
+v -0.25088333 -0.21295125 -0.33013795
+v -0.33607363 0.08157419 -0.24339087
+v -0.32118005 0.16901766 -0.24412459
+v -0.35068663 0.12560317 -0.20179839
+v -0.26382063 0.16951366 -0.31464496
+v -0.30594887 0.19921343 -0.25772610
+v -0.23820163 0.00463362 -0.35678804
+v -0.22318146 0.18270926 -0.34251800
+v -0.35186003 0.07977810 -0.21606231
+v -0.19404230 0.18258792 -0.35924664
+f 8 7 1
+f 8 3 4
+f 8 4 7
+f 8 6 3
+f 9 8 1
+f 10 4 3
+f 10 3 6
+f 12 1 7
+f 13 8 2
+f 13 6 8
+f 15 2 8
+f 15 8 9
+f 18 12 7
+f 18 7 4
+f 20 9 1
+f 21 6 13
+f 24 15 9
+f 25 13 2
+f 25 2 15
+f 25 23 13
+f 26 5 16
+f 27 10 6
+f 28 12 18
+f 29 4 10
+f 30 16 5
+f 30 5 19
+f 31 20 1
+f 31 1 12
+f 31 12 20
+f 32 19 20
+f 32 30 19
+f 35 22 5
+f 35 5 26
+f 36 21 13
+f 36 13 23
+f 37 23 11
+f 37 36 23
+f 37 21 36
+f 38 11 23
+f 38 35 11
+f 38 22 35
+f 38 14 22
+f 39 24 14
+f 39 15 24
+f 39 25 15
+f 39 23 25
+f 39 38 23
+f 39 14 38
+f 40 22 14
+f 42 28 18
+f 42 16 28
+f 43 18 4
+f 43 4 29
+f 43 42 18
+f 43 29 42
+f 44 29 10
+f 44 10 27
+f 45 28 16
+f 45 16 30
+f 45 12 28
+f 45 30 32
+f 46 32 20
+f 46 20 12
+f 46 45 32
+f 46 12 45
+f 47 20 19
+f 47 19 5
+f 48 5 22
+f 48 22 33
+f 48 47 5
+f 48 33 47
+f 49 9 20
+f 49 47 33
+f 49 20 47
+f 49 33 22
+f 49 22 40
+f 50 34 27
+f 50 27 6
+f 51 27 34
+f 52 21 37
+f 53 35 26
+f 53 17 35
+f 53 41 17
+f 53 26 41
+f 54 52 11
+f 54 11 35
+f 55 40 14
+f 55 14 24
+f 55 49 40
+f 55 24 9
+f 55 9 49
+f 56 41 26
+f 56 26 16
+f 57 44 27
+f 57 41 56
+f 58 42 29
+f 58 29 44
+f 59 51 34
+f 59 17 51
+f 59 34 54
+f 59 54 35
+f 59 35 17
+f 60 27 51
+f 60 57 27
+f 60 41 57
+f 60 51 17
+f 60 17 41
+f 61 52 37
+f 61 37 11
+f 61 11 52
+f 62 34 50
+f 62 54 34
+f 62 52 54
+f 63 56 16
+f 63 16 42
+f 63 42 58
+f 63 58 44
+f 63 57 56
+f 63 44 57
+f 64 62 50
+f 64 21 52
+f 64 52 62
+f 64 50 6
+f 64 6 21
\ No newline at end of file
diff --git a/objects/objaverse/potato/potato_0/collision/model_normalized_collision_9.obj b/objects/objaverse/potato/potato_0/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3081600d1717edbab81ee3231cec5fd63eacb03c
--- /dev/null
+++ b/objects/objaverse/potato/potato_0/collision/model_normalized_collision_9.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.00876750 -0.26515152 -0.17942384
+v 0.00876750 -0.26515152 -0.27033293
+v 0.00876750 -0.00757575 -0.27033293
+v -0.18820221 -0.00757575 -0.17942384
+v -0.29909888 -0.28414729 -0.19110284
+v 0.00876750 -0.00757575 -0.17942384
+v -0.26395979 -0.14393940 -0.17942384
+v -0.30073968 -0.15537566 -0.30175756
+v -0.27459314 -0.27196781 -0.27586310
+v -0.18820221 -0.00757575 -0.27033293
+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 5 7
+f 8 7 4
+f 9 8 2
+f 9 2 5
+f 9 5 8
+f 10 8 4
+f 10 4 3
+f 10 3 8
\ No newline at end of file
diff --git a/objects/objaverse/potato/potato_0/model.xml b/objects/objaverse/potato/potato_0/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..8478af4eb6f1fa05e15ee39a6461e6c6f34f7714
--- /dev/null
+++ b/objects/objaverse/potato/potato_0/model.xml
@@ -0,0 +1,81 @@
+<mujoco model="potato_8">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.08999999999999996 0.08999999999999996 0.08999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.08999999999999996 0.08999999999999996 0.08999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.08999999999999996 0.08999999999999996 0.08999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.08999999999999996 0.08999999999999996 0.08999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.08999999999999996 0.08999999999999996 0.08999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.08999999999999996 0.08999999999999996 0.08999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.08999999999999996 0.08999999999999996 0.08999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.08999999999999996 0.08999999999999996 0.08999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.08999999999999996 0.08999999999999996 0.08999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.08999999999999996 0.08999999999999996 0.08999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.08999999999999996 0.08999999999999996 0.08999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.08999999999999996 0.08999999999999996 0.08999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.08999999999999996 0.08999999999999996 0.08999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.08999999999999996 0.08999999999999996 0.08999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.08999999999999996 0.08999999999999996 0.08999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.08999999999999996 0.08999999999999996 0.08999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.08999999999999996 0.08999999999999996 0.08999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.08999999999999996 0.08999999999999996 0.08999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.08999999999999996 0.08999999999999996 0.08999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.08999999999999996 0.08999999999999996 0.08999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.08999999999999996 0.08999999999999996 0.08999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.08999999999999996 0.08999999999999996 0.08999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.08999999999999996 0.08999999999999996 0.08999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.08999999999999996 0.08999999999999996 0.08999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.08999999999999996 0.08999999999999996 0.08999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.08999999999999996 0.08999999999999996 0.08999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.08999999999999996 0.08999999999999996 0.08999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.08999999999999996 0.08999999999999996 0.08999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.08999999999999996 0.08999999999999996 0.08999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.08999999999999996 0.08999999999999996 0.08999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.08999999999999996 0.08999999999999996 0.08999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.08999999999999996 0.08999999999999996 0.08999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.08999999999999996 0.08999999999999996 0.08999999999999996" 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="0.359999993"/>
+  </asset>
+  <worldbody>
+    <body>
+      <body name="object">
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_0_vis" conaffinity="0" contype="0" group="1" material="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="0.00012439035000000147 -2.350890000000104e-05 -0.035113184099999986" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.00012439035000000147 -2.350890000000104e-05 0.035629757099999985" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.03630772259999998 0.044686264499999975 0.00025828650000000054" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/objects/objaverse/potato/potato_0/visual/material.mtl b/objects/objaverse/potato/potato_0/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6b5d0f127cc1df2efd6b4835e0300358bb6dde72
--- /dev/null
+++ b/objects/objaverse/potato/potato_0/visual/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 359.99999300
+map_Kd material_0.png
\ No newline at end of file
diff --git a/objects/objaverse/potato/potato_1/collision/model_normalized_collision_1.obj b/objects/objaverse/potato/potato_1/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..69cead132c4ab3d75e87457e9eb43c2370b28208
--- /dev/null
+++ b/objects/objaverse/potato/potato_1/collision/model_normalized_collision_1.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.01386458 -0.37175298 0.06443667
+v 0.00971849 -0.25195249 -0.31886569
+v 0.00803612 -0.00328883 0.43628997
+v -0.39004745 -0.00034340 0.33115323
+v -0.40030567 -0.17239801 -0.06836976
+v 0.00757576 -0.00615209 -0.34383338
+v -0.15291121 -0.20122669 0.32465630
+v -0.19707170 -0.28877096 -0.12534796
+v -0.41817772 0.00197443 0.27266936
+v -0.26025324 -0.01588104 -0.38004908
+v 0.01208115 -0.32338817 -0.21480043
+v 0.00906570 -0.02922978 0.42599357
+v -0.23071517 -0.01483648 0.44034192
+v -0.27539569 -0.25938773 0.12045570
+v -0.27463074 -0.00038295 0.43047127
+v 0.00840507 -0.16706901 -0.39578408
+v -0.43391046 -0.01100408 -0.20340463
+v -0.27530543 -0.22931352 -0.20003968
+v -0.00363061 -0.36661005 -0.05194209
+v 0.01038002 -0.28317030 0.26890794
+v -0.17476983 -0.06015839 0.42475295
+v -0.29956125 -0.26104421 -0.00982661
+v -0.29893606 -0.15547788 0.29358600
+v -0.30349539 -0.00035048 0.41593883
+v -0.14554698 -0.00123056 0.44472072
+v 0.00924462 -0.17667015 -0.38897315
+v -0.42808468 -0.00278748 0.23080371
+v -0.41136244 -0.09338536 -0.18878231
+v -0.18231079 -0.27403002 -0.18336528
+v -0.15114502 -0.23134945 -0.28407244
+v 0.01087947 -0.36959025 -0.05259448
+v -0.00173533 -0.35068358 -0.12653605
+v 0.01105933 -0.29530952 0.25275353
+v -0.22923762 -0.11236907 0.38059478
+v 0.00948352 -0.20860917 0.33845438
+v -0.38634391 -0.18720957 0.06000577
+v -0.24362608 -0.28987814 -0.05397981
+v -0.31330317 -0.24619912 -0.07613848
+v -0.25148108 -0.18734819 0.29361677
+v -0.32638779 -0.05442452 0.36878475
+v -0.23169247 -0.00121407 0.44480007
+v -0.14636070 -0.01457369 0.44035288
+v 0.01087226 -0.27729855 -0.28667149
+v -0.40102217 -0.17370713 0.04715458
+v -0.22616290 -0.14524958 -0.32985617
+v -0.35600074 -0.18681026 -0.15660271
+v -0.21165968 -0.27363832 -0.15520902
+v -0.22704410 -0.24410351 -0.21432590
+v -0.09218788 -0.17381013 -0.37066889
+v 0.01111254 -0.35334749 -0.12741198
+v -0.01620941 -0.36679834 0.01850372
+v -0.09204939 -0.30447970 -0.18398752
+v -0.01734815 -0.33512690 0.16430242
+v -0.20233915 -0.05619123 0.42630034
+v -0.27141283 -0.06913660 0.39504414
+v -0.09564370 -0.21665406 0.32263384
+v -0.31682898 -0.24523741 0.07447751
+v -0.37298901 -0.20190743 -0.03805908
+v -0.35232131 -0.11417474 0.26720040
+v -0.27018418 -0.27608338 0.04646543
+v -0.18293244 -0.30473829 -0.08194098
+v -0.26782550 -0.27574364 -0.06679178
+v -0.28317391 -0.18455460 0.26654591
+v -0.26900196 -0.14214417 0.33665165
+f 9 3 6
+f 11 6 1
+f 12 6 3
+f 12 1 6
+f 16 10 6
+f 17 9 6
+f 17 6 10
+f 21 12 3
+f 24 15 9
+f 24 9 4
+f 25 3 9
+f 25 9 15
+f 26 16 6
+f 26 6 11
+f 27 9 17
+f 28 17 10
+f 28 5 17
+f 33 1 12
+f 33 20 7
+f 35 12 21
+f 35 33 12
+f 35 20 33
+f 39 33 7
+f 40 24 4
+f 41 25 15
+f 41 15 13
+f 41 13 25
+f 42 21 3
+f 42 3 25
+f 42 25 13
+f 43 26 11
+f 43 2 26
+f 43 30 2
+f 43 11 30
+f 44 27 17
+f 44 17 5
+f 44 9 27
+f 45 28 10
+f 45 18 28
+f 45 30 18
+f 46 28 18
+f 46 5 28
+f 46 38 5
+f 46 18 38
+f 47 29 8
+f 48 18 30
+f 48 47 18
+f 48 29 47
+f 48 30 11
+f 49 26 2
+f 49 2 30
+f 49 30 45
+f 49 16 26
+f 49 45 10
+f 49 10 16
+f 50 11 1
+f 50 1 31
+f 50 32 11
+f 50 31 19
+f 50 19 32
+f 51 31 1
+f 51 19 31
+f 51 37 19
+f 52 11 32
+f 52 48 11
+f 52 29 48
+f 52 32 8
+f 52 8 29
+f 53 14 1
+f 53 1 33
+f 53 39 14
+f 53 33 39
+f 54 42 13
+f 54 21 42
+f 54 35 21
+f 55 13 15
+f 55 15 24
+f 55 24 40
+f 55 54 13
+f 55 34 54
+f 56 7 20
+f 56 20 35
+f 56 35 54
+f 56 54 34
+f 56 34 7
+f 58 57 36
+f 58 22 57
+f 58 38 22
+f 58 5 38
+f 58 44 5
+f 58 36 44
+f 59 36 23
+f 59 4 9
+f 59 44 36
+f 59 9 44
+f 59 40 4
+f 59 23 40
+f 60 22 37
+f 60 57 22
+f 60 14 57
+f 60 37 51
+f 60 51 1
+f 60 1 14
+f 61 32 19
+f 61 19 37
+f 61 37 8
+f 61 8 32
+f 62 37 22
+f 62 22 38
+f 62 38 18
+f 62 18 47
+f 62 47 8
+f 62 8 37
+f 63 39 23
+f 63 14 39
+f 63 57 14
+f 63 23 36
+f 63 36 57
+f 64 39 7
+f 64 7 34
+f 64 34 55
+f 64 23 39
+f 64 55 40
+f 64 40 23
\ No newline at end of file
diff --git a/objects/objaverse/potato/potato_1/collision/model_normalized_collision_10.obj b/objects/objaverse/potato/potato_1/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f2f85ee9e9b18ed2ca705bc77c00df126825dae
--- /dev/null
+++ b/objects/objaverse/potato/potato_1/collision/model_normalized_collision_10.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v 0.23022056 -0.35547271 0.13916113
+v 0.26363397 -0.34995965 0.00233125
+v 0.24999998 -0.02130360 0.24707568
+v 0.00757576 -0.02130360 0.24707568
+v -0.00987878 -0.36940693 0.00226511
+v 0.24999998 -0.02130360 0.00465146
+v 0.24785542 -0.31434620 0.24183373
+v 0.00757576 -0.02130360 0.00465146
+v 0.04152408 -0.35056247 0.16240392
+v 0.24832822 -0.34946558 0.14034537
+v 0.08606838 -0.35174497 0.17765963
+v 0.01158848 -0.30604610 0.23626182
+v 0.24624487 -0.33634446 0.19473904
+v 0.01211777 -0.35384261 0.13596771
+v 0.18701253 -0.35164246 0.18042004
+v 0.07173051 -0.33513677 0.20683667
+v 0.23087657 -0.35272340 0.15170946
+v 0.01273489 -0.34936790 0.14876456
+v 0.21773668 -0.33697772 0.20821275
+v 0.08591565 -0.32111208 0.23662212
+v 0.21597909 -0.35224039 0.16676999
+v 0.24605560 -0.32373921 0.22527729
+v 0.23081355 -0.32094783 0.23665894
+f 5 2 1
+f 6 3 2
+f 6 4 3
+f 7 3 4
+f 7 2 3
+f 8 5 4
+f 8 4 6
+f 8 6 2
+f 8 2 5
+f 10 1 2
+f 10 2 7
+f 12 4 5
+f 12 7 4
+f 13 10 7
+f 14 11 9
+f 14 5 11
+f 15 11 5
+f 15 5 1
+f 16 12 9
+f 16 9 11
+f 17 1 10
+f 17 10 13
+f 18 12 5
+f 18 5 14
+f 18 14 9
+f 18 9 12
+f 20 7 12
+f 20 12 16
+f 20 16 11
+f 20 11 15
+f 20 15 19
+f 21 15 1
+f 21 1 17
+f 21 17 13
+f 21 19 15
+f 21 13 19
+f 22 19 13
+f 22 13 7
+f 23 20 19
+f 23 7 20
+f 23 22 7
+f 23 19 22
\ No newline at end of file
diff --git a/objects/objaverse/potato/potato_1/collision/model_normalized_collision_11.obj b/objects/objaverse/potato/potato_1/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..40cbef0c49ebd19c83dbab609becbc83d0a6c7b3
--- /dev/null
+++ b/objects/objaverse/potato/potato_1/collision/model_normalized_collision_11.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v 0.14809009 0.25606023 0.38894990
+v 0.14393938 0.25142366 0.00465146
+v 0.14132286 0.32827612 -0.00101072
+v 0.00430322 0.35626633 0.31974845
+v 0.00757576 0.25142366 0.38343932
+v 0.00757576 0.25142366 0.14101508
+v 0.13382164 0.30782576 0.32933605
+v 0.01191980 0.32233086 0.40379231
+v 0.08333333 0.25142366 0.00465146
+v 0.00657998 0.33685975 0.14295156
+v 0.00364063 0.35731946 0.20418551
+v 0.07746128 0.33879707 0.30682388
+v 0.10362113 0.30736810 0.37691519
+v 0.08249755 0.33885912 0.00366096
+v 0.00402955 0.34498544 0.16145222
+v 0.03320318 0.35423539 0.29043203
+v 0.10276096 0.32517339 0.32709213
+v 0.13426381 0.28898180 0.37325185
+v 0.06291800 0.33979903 0.33362017
+v 0.03204372 0.35438252 0.23383769
+v 0.13297479 0.29533104 0.36178886
+v 0.00640939 0.35162420 0.33652735
+v 0.07933694 0.31663249 0.38016797
+v 0.01889166 0.35344987 0.31921769
+f 1 2 3
+f 5 2 1
+f 6 2 5
+f 7 1 3
+f 8 5 1
+f 8 4 5
+f 9 3 2
+f 9 2 6
+f 11 5 4
+f 13 8 1
+f 14 9 6
+f 14 6 10
+f 14 3 9
+f 15 6 5
+f 15 5 11
+f 15 10 6
+f 15 14 10
+f 15 11 14
+f 16 11 4
+f 16 12 3
+f 17 7 3
+f 17 3 12
+f 17 13 7
+f 18 13 1
+f 18 1 7
+f 19 17 12
+f 19 12 16
+f 20 14 11
+f 20 11 16
+f 20 16 3
+f 20 3 14
+f 21 18 7
+f 21 7 13
+f 21 13 18
+f 22 4 8
+f 23 8 13
+f 23 13 17
+f 23 17 19
+f 23 22 8
+f 23 19 22
+f 24 19 16
+f 24 16 4
+f 24 22 19
+f 24 4 22
\ No newline at end of file
diff --git a/objects/objaverse/potato/potato_1/collision/model_normalized_collision_12.obj b/objects/objaverse/potato/potato_1/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..48e03f2d17e6768f1ec977b3a82d32ce221d0b67
--- /dev/null
+++ b/objects/objaverse/potato/potato_1/collision/model_normalized_collision_12.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v 0.27692411 0.28733007 0.02660940
+v 0.26874766 0.24308167 -0.34989260
+v 0.26284776 0.32546263 -0.15934133
+v 0.00421735 0.35851215 -0.01520249
+v 0.00757576 0.25142366 0.08040903
+v 0.00328701 0.35936102 -0.28015585
+v 0.26181568 0.32527775 -0.07378392
+v 0.26515151 0.23627215 -0.23777278
+v 0.01129323 0.32737472 0.08118098
+v 0.26038221 0.29387302 -0.27650053
+v 0.06434724 0.35379533 -0.04334968
+v 0.01166566 0.29537951 -0.38452314
+v 0.14393938 0.23627215 -0.23777278
+v 0.10288927 0.30458032 0.08765306
+v 0.26166196 0.31104759 -0.01613488
+v 0.26084634 0.30881785 -0.23187875
+v 0.06262550 0.35276464 -0.21778571
+v 0.03531422 0.35374552 -0.01595548
+v 0.07946822 0.31817792 -0.33782054
+v 0.26305822 0.30446112 0.00149153
+v 0.08996141 0.32628134 -0.31843661
+v 0.21638499 0.32331662 -0.03041389
+v 0.24403507 0.27838127 -0.31713506
+v 0.15404435 0.27598962 -0.36836125
+v 0.01042795 0.31665455 -0.35893245
+v 0.24634852 0.30950627 -0.00223840
+v 0.08758081 0.31081136 0.08301126
+v 0.22951525 0.30760064 -0.26162157
+v 0.08060909 0.32807245 -0.31896504
+v 0.25786594 0.26440908 -0.33024074
+v 0.24421373 0.29310440 -0.28913980
+f 1 2 3
+f 6 5 4
+f 7 1 3
+f 8 2 1
+f 8 1 5
+f 9 4 5
+f 11 6 4
+f 11 7 3
+f 12 5 6
+f 13 8 5
+f 13 2 8
+f 13 12 2
+f 13 5 12
+f 14 9 5
+f 14 5 1
+f 15 1 7
+f 16 6 3
+f 16 3 2
+f 16 2 10
+f 17 11 3
+f 17 3 6
+f 17 6 11
+f 18 11 4
+f 18 7 11
+f 18 4 9
+f 18 9 15
+f 20 14 1
+f 20 1 15
+f 21 6 16
+f 22 18 15
+f 22 15 7
+f 22 7 18
+f 23 19 21
+f 24 2 12
+f 24 12 19
+f 24 19 23
+f 25 19 12
+f 25 12 6
+f 26 20 15
+f 26 15 9
+f 27 9 14
+f 27 14 20
+f 27 26 9
+f 27 20 26
+f 28 21 16
+f 28 16 10
+f 28 10 21
+f 29 21 19
+f 29 6 21
+f 29 25 6
+f 29 19 25
+f 30 23 10
+f 30 10 2
+f 30 24 23
+f 30 2 24
+f 31 23 21
+f 31 21 10
+f 31 10 23
\ No newline at end of file
diff --git a/objects/objaverse/potato/potato_1/collision/model_normalized_collision_13.obj b/objects/objaverse/potato/potato_1/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a5f889322c85143cf7f3fd23d54a6acadd752b9
--- /dev/null
+++ b/objects/objaverse/potato/potato_1/collision/model_normalized_collision_13.obj
@@ -0,0 +1,126 @@
+# https://github.com/mikedh/trimesh
+v 0.20062685 -0.36602289 0.12364049
+v 0.25982783 -0.31618164 -0.17354758
+v 0.25788742 -0.34493562 0.14495570
+v 0.00157793 -0.34622653 0.14947415
+v 0.10312998 -0.38113793 -0.12619824
+v 0.17185280 -0.36762925 0.13729642
+v 0.18222611 -0.38198420 -0.06806933
+v 0.00880292 -0.31958104 -0.21989086
+v 0.24395990 -0.35110437 0.13859542
+v 0.04171388 -0.38230062 0.04811153
+v 0.27546399 -0.34371675 0.00289649
+v 0.16876209 -0.35134603 -0.18461356
+v 0.17145683 -0.38246807 0.04820641
+v 0.05695269 -0.36508658 0.13412238
+v 0.16791402 -0.38271827 -0.09688473
+v 0.01113114 -0.36657956 -0.06786094
+v 0.24114126 -0.34962713 -0.11162972
+v 0.22808749 -0.36656026 0.03476621
+v 0.21676169 -0.31698244 -0.21846442
+v 0.05769482 -0.33559340 -0.21291305
+v 0.14210577 -0.38262422 0.07802014
+v 0.01325329 -0.36708979 0.09110799
+v 0.04192954 -0.38252524 -0.02452867
+v 0.18468012 -0.38213042 0.00324986
+v 0.14130505 -0.38197641 -0.12635710
+v 0.01222746 -0.34982662 -0.14221416
+v 0.25536136 -0.35161362 -0.05367333
+v 0.24059929 -0.33545824 -0.15461622
+v 0.25673531 -0.35396978 0.00608371
+v 0.21460069 -0.36653720 0.09424744
+v 0.01275381 -0.33666571 -0.18583072
+v 0.16993131 -0.33694899 -0.21102960
+v 0.06987074 -0.38277290 0.07653631
+v 0.01211777 -0.35384261 0.13596771
+v 0.07757371 -0.38026226 -0.09699389
+v 0.22643645 -0.36651580 -0.03910431
+v 0.25469154 -0.33759772 -0.12599779
+v 0.19696921 -0.33582324 -0.19820122
+v 0.25373346 -0.32200074 -0.16940452
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\ No newline at end of file
diff --git a/objects/objaverse/potato/potato_1/collision/model_normalized_collision_16.obj b/objects/objaverse/potato/potato_1/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e4103fa9a23816633d6b8cbe64be8170a26284b8
--- /dev/null
+++ b/objects/objaverse/potato/potato_1/collision/model_normalized_collision_16.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/objects/objaverse/potato/potato_1/collision/model_normalized_collision_2.obj b/objects/objaverse/potato/potato_1/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..61407957cc91a7f9da6b985d126ca6d06480397c
--- /dev/null
+++ b/objects/objaverse/potato/potato_1/collision/model_normalized_collision_2.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/objects/objaverse/potato/potato_1/collision/model_normalized_collision_20.obj b/objects/objaverse/potato/potato_1/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..762e355c860895838ea93670a10cebf658e38b7b
--- /dev/null
+++ b/objects/objaverse/potato/potato_1/collision/model_normalized_collision_20.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.00288586 -0.19752082 -0.37200119
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\ No newline at end of file
diff --git a/objects/objaverse/potato/potato_1/collision/model_normalized_collision_22.obj b/objects/objaverse/potato/potato_1/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7b78bcb1e5425f9b6a90dcadfed65bf73728a172
--- /dev/null
+++ b/objects/objaverse/potato/potato_1/collision/model_normalized_collision_22.obj
@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
+v 0.24508931 -0.35538086 0.10953110
+v 0.33128156 -0.28612636 -0.06910589
+v 0.32604085 -0.30907082 0.02148037
+v 0.33289427 -0.28399179 0.22755344
+v 0.26269513 -0.28980537 -0.22045100
+v 0.34947597 -0.28619738 0.18411398
+v 0.25407093 -0.31299006 0.24187476
+v 0.27347642 -0.28465613 -0.21772299
+v 0.25829494 -0.34283100 -0.09887992
+v 0.34521766 -0.28620481 0.00640306
+v 0.28513028 -0.33684511 0.11014666
+v 0.24605560 -0.32373921 0.22527729
+v 0.31603323 -0.28553522 -0.12878816
+v 0.24517098 -0.35950315 0.00426963
+v 0.25713709 -0.31198838 -0.18674942
+v 0.30984884 -0.30928405 -0.06794634
+v 0.33875952 -0.29444520 0.00812265
+v 0.32851718 -0.30571097 0.16887972
+v 0.25669921 -0.29653377 -0.21509318
+v 0.30055005 -0.30490817 0.22340968
+v 0.25647313 -0.35091996 0.10705919
+v 0.28344814 -0.33682788 -0.02409876
+v 0.29481358 -0.30860180 -0.12570851
+v 0.30964571 -0.29336622 -0.12606954
+v 0.32502826 -0.29360503 -0.06707739
+v 0.34238859 -0.29291729 0.18157846
+v 0.25976270 -0.32087049 0.22302900
+v 0.31371471 -0.30512696 0.20910617
+v 0.25673531 -0.35396978 0.00608371
+v 0.27304095 -0.33536197 0.16814524
+v 0.27611975 -0.34312431 0.00020642
+v 0.29690767 -0.32293720 -0.05398539
+v 0.26776892 -0.33754060 -0.09789110
+v 0.26833456 -0.30605259 -0.18379355
+v 0.29628320 -0.29518346 -0.15619509
+v 0.32728983 -0.29056816 0.22272534
+v 0.25983750 -0.33626309 0.18161498
+v 0.24578474 -0.34006217 0.18261876
+f 8 7 4
+f 8 5 7
+f 10 4 6
+f 13 8 4
+f 13 10 2
+f 13 4 10
+f 14 1 12
+f 15 9 14
+f 17 10 6
+f 17 6 3
+f 17 3 16
+f 17 2 10
+f 18 11 3
+f 19 12 7
+f 19 7 5
+f 19 5 8
+f 19 8 15
+f 19 15 14
+f 19 14 12
+f 20 4 7
+f 21 1 14
+f 24 13 2
+f 24 16 23
+f 25 17 16
+f 25 2 17
+f 25 24 2
+f 25 16 24
+f 26 18 3
+f 26 3 6
+f 27 20 7
+f 27 7 12
+f 28 18 26
+f 29 21 14
+f 29 11 21
+f 29 14 9
+f 30 21 11
+f 30 11 18
+f 30 18 28
+f 30 1 21
+f 31 22 3
+f 31 3 11
+f 31 11 29
+f 31 29 9
+f 31 9 22
+f 32 16 3
+f 32 3 22
+f 33 9 15
+f 33 23 16
+f 33 16 32
+f 33 32 22
+f 33 22 9
+f 34 15 8
+f 34 33 15
+f 34 23 33
+f 35 8 13
+f 35 24 23
+f 35 13 24
+f 35 34 8
+f 35 23 34
+f 36 26 6
+f 36 6 4
+f 36 28 26
+f 36 4 20
+f 36 20 28
+f 37 30 28
+f 37 28 20
+f 37 20 27
+f 38 37 27
+f 38 27 12
+f 38 12 1
+f 38 1 30
+f 38 30 37
\ No newline at end of file
diff --git a/objects/objaverse/potato/potato_1/collision/model_normalized_collision_23.obj b/objects/objaverse/potato/potato_1/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c481cbb06f599a2cecf0367dd40d93e09e053fc9
--- /dev/null
+++ b/objects/objaverse/potato/potato_1/collision/model_normalized_collision_23.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.23345673 -0.24507673 -0.20599045
+v -0.22730570 -0.16076022 -0.31578446
+v -0.23484848 0.16051458 -0.19231824
+v -0.41980634 0.15224458 -0.18460092
+v -0.41726259 -0.08809840 -0.18460835
+v -0.22791272 0.14215494 -0.40825868
+v -0.22984761 -0.23571153 -0.22845832
+v -0.30071291 -0.22222965 -0.18863884
+v -0.23233887 0.15933037 -0.40044655
+v -0.40081219 0.00938163 -0.25340605
+v -0.22841533 -0.20300119 -0.27203903
+v -0.29199851 -0.22610573 -0.18983890
+v -0.37350335 -0.14806794 -0.18603087
+v -0.43699199 0.11103985 -0.18513165
+v -0.27900519 0.11170517 -0.37507700
+v -0.33966292 -0.08768487 -0.28133791
+v -0.28317411 -0.18813923 -0.25274444
+v -0.24459967 -0.24208231 -0.20233090
+v -0.24131658 -0.23306658 -0.22539412
+v -0.43523215 -0.04749216 -0.18458482
+v -0.23735820 0.14045907 -0.40284691
+v -0.22789380 0.01073263 -0.40951472
+v -0.40061627 0.05267112 -0.25262854
+v -0.29320335 0.15657145 -0.34523453
+v -0.33939365 -0.12969255 -0.25544576
+v -0.24127933 -0.20063415 -0.26762436
+v -0.29981875 -0.19904891 -0.22595078
+v -0.42832623 -0.01593068 -0.20988963
+v -0.39896406 -0.04543615 -0.23948501
+v -0.22722993 -0.04563359 -0.39023526
+v -0.35482803 -0.01696219 -0.29726216
+v -0.26558001 0.05765721 -0.38910947
+v -0.39976031 0.13572033 -0.22300265
+v -0.25214514 0.15545539 -0.38726928
+v -0.38320987 -0.11357092 -0.21075726
+v -0.28335089 -0.14247904 -0.29762150
+v -0.29884413 -0.21827759 -0.19760907
+v -0.36991733 -0.14461854 -0.19737829
+v -0.42934148 0.07987611 -0.21007816
+v -0.39941801 -0.07181136 -0.22442060
+v -0.42856330 -0.04566817 -0.19576673
+v -0.22711099 -0.10385064 -0.36019601
+v -0.36952704 -0.01748224 -0.28269412
+v -0.28039530 -0.04324802 -0.35604733
+v -0.26584598 0.11057625 -0.38753444
+v -0.41308868 0.15196228 -0.19490366
+v -0.31152883 -0.13311536 -0.28122297
+v -0.24050604 -0.15790052 -0.31071343
+v -0.33935693 -0.15818697 -0.22466714
+v -0.41339362 -0.08429298 -0.19518744
+v -0.43050044 0.10842429 -0.19560752
+v -0.39894485 0.10864347 -0.23735111
+v -0.36952692 -0.05799895 -0.26727007
+v -0.25329955 -0.08683504 -0.35477681
+v -0.23812683 -0.04391195 -0.38509213
+v -0.23825245 0.01192709 -0.40257059
+v -0.28020006 0.04133670 -0.37350859
+v -0.35344181 -0.08850774 -0.26743405
+v -0.28093857 -0.07263017 -0.34204396
+v -0.25409354 -0.13052148 -0.32435233
+v -0.34038864 -0.05960182 -0.29611945
+v -0.23795672 -0.10061948 -0.35543639
+v -0.25254637 -0.05880792 -0.36993705
+v -0.25251952 -0.01640626 -0.38513354
+f 6 3 2
+f 7 3 1
+f 8 3 4
+f 9 4 3
+f 9 3 6
+f 11 2 3
+f 11 3 7
+f 12 3 8
+f 13 8 4
+f 13 4 5
+f 18 1 3
+f 18 3 12
+f 19 12 8
+f 19 18 12
+f 19 7 1
+f 19 1 18
+f 19 11 7
+f 20 5 4
+f 20 4 14
+f 21 9 6
+f 23 15 10
+f 24 4 9
+f 24 15 23
+f 26 2 11
+f 26 19 17
+f 26 11 19
+f 27 17 19
+f 28 20 14
+f 29 28 10
+f 30 22 6
+f 32 6 22
+f 32 31 10
+f 32 10 15
+f 34 15 24
+f 34 24 9
+f 34 9 21
+f 37 27 19
+f 37 19 8
+f 37 8 27
+f 38 27 8
+f 38 8 13
+f 38 35 25
+f 38 13 5
+f 39 23 10
+f 39 10 28
+f 39 28 14
+f 40 25 35
+f 41 20 28
+f 41 28 29
+f 41 40 20
+f 41 29 40
+f 42 30 6
+f 42 6 2
+f 43 29 10
+f 43 10 31
+f 45 21 6
+f 45 6 32
+f 45 32 15
+f 45 34 21
+f 45 15 34
+f 46 33 14
+f 46 14 4
+f 46 4 24
+f 46 24 33
+f 47 27 25
+f 47 36 17
+f 47 17 27
+f 48 26 17
+f 48 17 36
+f 48 2 26
+f 48 42 2
+f 49 38 25
+f 49 25 27
+f 49 27 38
+f 50 38 5
+f 50 35 38
+f 50 40 35
+f 50 5 20
+f 50 20 40
+f 51 39 14
+f 51 14 33
+f 52 33 24
+f 52 24 23
+f 52 23 39
+f 52 51 33
+f 52 39 51
+f 53 40 29
+f 53 29 43
+f 55 22 30
+f 56 32 22
+f 57 44 31
+f 57 31 32
+f 58 47 25
+f 58 16 47
+f 58 25 40
+f 58 40 53
+f 59 47 16
+f 59 54 36
+f 59 36 47
+f 60 48 36
+f 60 36 42
+f 60 42 48
+f 61 53 43
+f 61 43 31
+f 61 31 44
+f 61 58 53
+f 61 16 58
+f 61 59 16
+f 61 44 59
+f 62 54 42
+f 62 42 36
+f 62 36 54
+f 63 30 42
+f 63 42 54
+f 63 55 30
+f 63 59 44
+f 63 54 59
+f 64 22 55
+f 64 56 22
+f 64 32 56
+f 64 57 32
+f 64 44 57
+f 64 63 44
+f 64 55 63
\ No newline at end of file
diff --git a/objects/objaverse/potato/potato_1/collision/model_normalized_collision_25.obj b/objects/objaverse/potato/potato_1/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc5bfc1a2ca5c219fec49c78c8a021cc4f43d5c0
--- /dev/null
+++ b/objects/objaverse/potato/potato_1/collision/model_normalized_collision_25.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v 0.25631255 0.15192712 0.38862975
+v 0.29110799 0.21055864 0.13957708
+v 0.24921242 0.24984721 0.28489666
+v 0.13564196 0.30086784 0.34717302
+v 0.14393938 0.16051458 0.14101508
+v 0.24883366 0.27216334 0.17866007
+v 0.25263542 0.23396670 0.31553982
+v 0.14926213 0.16457332 0.44241908
+v 0.25593711 0.26283097 0.22804709
+v 0.13939547 0.28605595 0.14387216
+v 0.23767925 0.24831103 0.31212792
+v 0.13426381 0.28898180 0.37325185
+v 0.21038124 0.15380570 0.41775406
+v 0.18100193 0.29213439 0.27487373
+v 0.23697890 0.26301416 0.27069631
+v 0.24259299 0.23690899 0.14277906
+v 0.16440182 0.25450025 0.38033609
+v 0.13653786 0.22881484 0.41780465
+v 0.13850210 0.30003939 0.18946018
+v 0.16254682 0.27851047 0.35603212
+v 0.16102016 0.29454215 0.31767073
+v 0.22275948 0.26225406 0.30130325
+v 0.25126057 0.16293730 0.38377906
+v 0.14740604 0.28380030 0.36603348
+v 0.20668062 0.16629215 0.41332883
+v 0.18192264 0.29437983 0.23223896
+v 0.20675356 0.19308462 0.39563825
+f 5 2 1
+f 7 1 2
+f 9 2 6
+f 9 7 2
+f 9 3 7
+f 10 2 5
+f 11 7 3
+f 12 10 5
+f 13 8 5
+f 13 5 1
+f 14 9 6
+f 15 3 9
+f 16 10 6
+f 16 6 2
+f 16 2 10
+f 18 12 5
+f 18 5 8
+f 18 17 12
+f 18 8 13
+f 19 12 4
+f 19 10 12
+f 19 6 10
+f 20 11 4
+f 20 7 11
+f 21 14 4
+f 21 9 14
+f 21 15 9
+f 21 4 15
+f 22 11 3
+f 22 3 15
+f 22 15 4
+f 22 4 11
+f 23 17 1
+f 23 1 7
+f 23 7 17
+f 24 17 7
+f 24 12 17
+f 24 7 20
+f 24 20 4
+f 24 4 12
+f 25 18 13
+f 25 13 1
+f 26 19 4
+f 26 4 14
+f 26 14 6
+f 26 6 19
+f 27 25 1
+f 27 1 17
+f 27 17 18
+f 27 18 25
\ No newline at end of file
diff --git a/objects/objaverse/potato/potato_1/collision/model_normalized_collision_26.obj b/objects/objaverse/potato/potato_1/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7cd7d8fc93b7344f80159780e4e198e933d99cb1
--- /dev/null
+++ b/objects/objaverse/potato/potato_1/collision/model_normalized_collision_26.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.26515151 -0.02130360 0.26222721
+v 0.26515151 -0.02130360 -0.23777278
+v 0.29200241 0.21236296 0.27346556
+v 0.00757576 0.16051458 0.26222721
+v 0.00757576 -0.02130360 -0.23777278
+v 0.00757576 -0.02130360 0.26222721
+v 0.00757576 0.16051458 -0.23777278
+v 0.26515151 0.16051458 -0.23777278
+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 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/potato/potato_1/collision/model_normalized_collision_28.obj b/objects/objaverse/potato/potato_1/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d757443ccff3b9dab30160ee5a45aaba787dc1d3
--- /dev/null
+++ b/objects/objaverse/potato/potato_1/collision/model_normalized_collision_28.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.14393938 0.16051458 0.26222721
+v 0.14393938 0.16051458 -0.34383338
+v 0.16507713 0.29997708 0.27291549
+v 0.01166566 0.29537951 -0.38452314
+v 0.15137867 0.28066370 -0.36189082
+v 0.00757576 0.16051458 0.26222721
+v 0.00757576 0.16051458 -0.34383338
+v 0.00757576 0.25142366 0.26222721
+f 1 2 3
+f 5 3 2
+f 5 4 3
+f 5 2 4
+f 6 2 1
+f 6 1 3
+f 7 4 2
+f 7 2 6
+f 8 6 3
+f 8 3 4
+f 8 7 6
+f 8 4 7
\ No newline at end of file
diff --git a/objects/objaverse/potato/potato_1/collision/model_normalized_collision_29.obj b/objects/objaverse/potato/potato_1/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8cb5532489e1417a4cbbc7234cc7a98e98ebdc11
--- /dev/null
+++ b/objects/objaverse/potato/potato_1/collision/model_normalized_collision_29.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.00757576 0.19081761 0.38343932
+v 0.00757576 0.19081761 0.14101508
+v 0.01541383 0.33106040 0.12765994
+v -0.24177812 0.29710746 0.40184263
+v -0.23484848 0.19081761 0.14101508
+v 0.01298823 0.31902822 0.40812803
+v -0.23484848 0.19081761 0.38343932
+v -0.24887552 0.30595575 0.11982269
+f 1 2 3
+f 5 2 1
+f 6 1 3
+f 6 3 4
+f 7 5 1
+f 7 6 4
+f 7 1 6
+f 8 3 2
+f 8 2 5
+f 8 4 3
+f 8 7 4
+f 8 5 7
\ No newline at end of file
diff --git a/objects/objaverse/potato/potato_1/collision/model_normalized_collision_31.obj b/objects/objaverse/potato/potato_1/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..36ff5f00183aec5c5308ecd0d707f3067141395c
--- /dev/null
+++ b/objects/objaverse/potato/potato_1/collision/model_normalized_collision_31.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.23484848 -0.00615209 0.00465146
+v -0.23484848 -0.00615209 -0.19231824
+v -0.23484848 0.16051458 0.00465146
+v -0.42752378 0.16790319 0.01083106
+v -0.43391046 -0.01100408 -0.20340463
+v -0.41666665 -0.00615209 0.00465146
+v -0.23484848 0.16051458 -0.19231824
+v -0.41268513 0.15777334 -0.18976021
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 6 5 1
+f 6 1 4
+f 6 4 5
+f 7 3 2
+f 7 2 5
+f 7 4 3
+f 8 7 5
+f 8 5 4
+f 8 4 7
\ No newline at end of file
diff --git a/objects/objaverse/potato/potato_1/collision/model_normalized_collision_4.obj b/objects/objaverse/potato/potato_1/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa876c53d09967b3d651ae48477be8f4c4a02de5
--- /dev/null
+++ b/objects/objaverse/potato/potato_1/collision/model_normalized_collision_4.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.24785542 -0.31434620 0.24183373
+v 0.29525016 -0.26331535 0.29217192
+v 0.00918821 -0.16299826 0.36455582
+v 0.01298823 0.31902822 0.40812803
+v 0.29200241 0.21236296 0.27346556
+v 0.21687671 -0.02017822 0.44157407
+v 0.00757576 0.25142366 0.26222721
+v 0.11743178 -0.22195399 0.34949393
+v 0.29202566 -0.27007471 0.28582006
+v 0.00768872 0.05539166 0.45580505
+v 0.25161237 0.14718991 0.39698194
+v 0.00931391 -0.30180556 0.24226038
+v 0.24999998 -0.02130360 0.24707568
+v 0.16507713 0.29997708 0.27291549
+v 0.24615613 -0.16442745 0.39397950
+v 0.20294016 -0.30647437 0.26724770
+v 0.04731239 0.24562023 0.46004842
+v 0.00746159 0.28280998 0.44513600
+v 0.12505764 0.29112790 0.38033197
+v 0.25938731 -0.02001279 0.42890243
+v 0.00757576 -0.02130360 0.24707568
+v 0.01111770 -0.24898142 0.30670747
+v 0.14667250 -0.07483065 0.42491715
+v 0.19267645 -0.16419421 0.39526111
+v 0.24576017 -0.29142845 0.27890986
+v 0.05535599 -0.31369278 0.24012809
+v 0.05250436 0.10171253 0.46485036
+v 0.13426381 0.28898180 0.37325185
+v 0.08679024 0.26746967 0.42799969
+v 0.25394565 0.06485305 0.42555701
+v 0.29198962 -0.25673476 0.30160688
+v 0.24609848 -0.06310561 0.42686574
+v 0.04104726 -0.22115844 0.33500187
+v 0.08737961 -0.29293278 0.27919573
+v 0.20383498 -0.03380085 0.44180352
+v 0.00906570 -0.02922978 0.42599357
+v 0.14832741 -0.17801321 0.38043708
+v 0.23461896 -0.19189470 0.38075354
+v 0.24590293 -0.30871117 0.25277461
+v 0.11459780 -0.30674064 0.26579446
+v 0.12384385 0.14219463 0.45676301
+v 0.06193637 0.24492410 0.45525320
+v 0.11985611 0.28813591 0.38744984
+v 0.06161432 0.27079689 0.44119822
+v 0.21309805 0.07983622 0.43968490
+v 0.24708233 -0.12062578 0.41060890
+v 0.26027645 -0.27646859 0.29279753
+v 0.28916187 -0.26358858 0.29530863
+v 0.07226450 -0.24887466 0.32046551
+v 0.01187138 -0.27633257 0.27762621
+v 0.02726975 -0.29066080 0.26453096
+v 0.14750332 -0.03225657 0.43889709
+v 0.12668527 0.06988674 0.45861721
+v 0.16253941 -0.11968943 0.41008010
+v 0.00863552 0.01477699 0.44290452
+v 0.02510683 -0.10351171 0.39487600
+v 0.20699652 -0.19230115 0.38090077
+v 0.24684009 -0.20483205 0.36987859
+v 0.05686509 -0.30717805 0.25059498
+v 0.16612458 0.15519383 0.43910639
+v 0.07564190 0.23077108 0.45436744
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\ No newline at end of file
diff --git a/objects/objaverse/potato/potato_1/collision/model_normalized_collision_5.obj b/objects/objaverse/potato/potato_1/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d5e9b0dc580b19594ffd90327bcb8c423345b4d9
--- /dev/null
+++ b/objects/objaverse/potato/potato_1/collision/model_normalized_collision_5.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v 0.00757576 -0.00615209 -0.23777278
+v 0.08605543 0.30636842 -0.35024094
+v 0.02157322 0.35695946 -0.24871142
+v -0.11166714 0.36029518 -0.27744946
+v -0.25252157 -0.01300382 -0.38599530
+v 0.00013616 0.35821520 -0.29386527
+v -0.24186138 0.32288618 -0.24193960
+v 0.09104314 0.33460818 -0.28901080
+v 0.00757576 -0.00615209 -0.35898489
+v -0.25016406 0.18342703 -0.37874839
+v -0.13801571 0.32485716 -0.33234418
+v 0.00328701 0.35936102 -0.28015585
+v -0.23484848 -0.00615209 -0.23777278
+v 0.08319327 0.33707271 -0.28253289
+v 0.07541215 0.32400784 -0.33167587
+v 0.00757576 0.17566609 -0.35898489
+v -0.10993545 0.34029033 -0.31779693
+v -0.22346018 0.28384815 -0.33050235
+v -0.16941935 0.34460642 -0.27813839
+v -0.11075765 0.35459575 -0.28993252
+v 0.01828778 0.34200215 -0.32264665
+v -0.17997222 0.30904813 -0.33061933
+v -0.22435821 0.29485266 -0.31629548
+v -0.15136183 0.33850868 -0.30327505
+v -0.20869222 0.29419178 -0.32991538
+v -0.22703834 0.31588707 -0.27754789
+v -0.16863927 0.33996434 -0.28895308
+v -0.22437038 0.31113426 -0.28963610
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+f 13 5 1
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+f 25 18 23
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+f 27 24 22
+f 27 19 24
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+f 28 27 22
+f 28 22 23
+f 28 23 26
+f 28 26 27
\ No newline at end of file
diff --git a/objects/objaverse/potato/potato_1/collision/model_normalized_collision_6.obj b/objects/objaverse/potato/potato_1/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e0a4bd70be0109ca7026211bc0358b689adee25
--- /dev/null
+++ b/objects/objaverse/potato/potato_1/collision/model_normalized_collision_6.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.00757576 0.19081761 0.14101508
+v 0.15578867 0.28152054 0.09036122
+v 0.14436782 0.28258230 0.14073456
+v -0.17313939 0.36338889 0.14832528
+v -0.41495294 0.18960337 0.00385555
+v 0.06524310 0.34361829 0.00082369
+v -0.01076100 0.34289226 0.14756518
+v 0.15508697 0.27756145 0.13809313
+v 0.00757576 0.19081761 0.00465146
+v -0.41127104 0.18823724 0.14596567
+v -0.18581915 0.35939221 -0.05996852
+v 0.07816957 0.31499370 0.14430181
+v -0.09947482 0.36192671 0.14804319
+v 0.09179834 0.33264445 0.01636233
+v -0.29025610 0.31820583 0.14929182
+v -0.40718374 0.20098708 0.14855027
+v -0.15909090 0.28172669 -0.04080309
+v -0.15779048 0.36673061 -0.05708227
+v 0.04813114 0.32683683 0.14483608
+v 0.08249755 0.33885912 0.00366096
+v -0.25213334 0.32116256 -0.03482548
+v -0.23179867 0.34890212 0.14893389
+v -0.40854966 0.19738285 0.00128930
+v -0.01118612 0.35731258 -0.00145517
+v -0.36477983 0.23674663 0.00120029
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+f 18 9 17
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+f 24 6 18
+f 25 23 15
+f 25 15 21
+f 25 21 23
\ No newline at end of file
diff --git a/objects/objaverse/potato/potato_1/collision/model_normalized_collision_7.obj b/objects/objaverse/potato/potato_1/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9981dc737ce25eea0ebe754f503b1b1696b6dfec
--- /dev/null
+++ b/objects/objaverse/potato/potato_1/collision/model_normalized_collision_7.obj
@@ -0,0 +1,180 @@
+# https://github.com/mikedh/trimesh
+v 0.09003869 0.27422751 0.41959719
+v 0.12908051 0.28196754 0.38371257
+v 0.00398816 0.33897625 0.37570996
+v -0.23050069 0.38440786 0.28750415
+v -0.28849878 0.29220822 0.12824158
+v -0.24177812 0.29710746 0.40184263
+v 0.09068730 0.30853377 0.39087953
+v 0.12353892 0.27716535 0.39264688
+v 0.01541383 0.33106040 0.12765994
+v 0.00825560 0.27527594 0.45270238
+v -0.18724850 0.35534561 0.35664563
+v -0.28741361 0.34128339 0.33149925
+v -0.28030302 0.28172669 0.24707568
+v 0.11475669 0.29581827 0.38550973
+v -0.21668821 0.38414831 0.19385780
+v 0.07902292 0.33420087 0.33419117
+v 0.04366869 0.29819132 0.42657159
+v -0.14674770 0.38424729 0.30148399
+v -0.21515223 0.34012292 0.36822219
+v -0.21676699 0.37042261 0.32709431
+v -0.06618294 0.27364066 0.43531183
+v 0.08928080 0.28522783 0.41177784
+v -0.22907612 0.35639234 0.15600303
+v -0.27057460 0.37032791 0.20674041
+v 0.03355219 0.33850549 0.36134214
+v 0.11803919 0.29800072 0.37629090
+v 0.01935976 0.32400212 0.40011436
+v 0.03395832 0.27526488 0.44898693
+v -0.13130878 0.35429416 0.35645261
+v -0.10177911 0.38575792 0.21841477
+v -0.02831515 0.29642195 0.42937367
+v -0.23184631 0.33103892 0.37353649
+v -0.24365163 0.37057656 0.31360193
+v -0.20233517 0.38425732 0.30122997
+v -0.08732245 0.36912053 0.16557053
+v -0.27154157 0.37088743 0.28678317
+v -0.24334728 0.38584050 0.22105996
+v -0.27149193 0.35756886 0.18266400
+v 0.07158884 0.32622348 0.36406764
+v 0.00367149 0.35301997 0.33310627
+v 0.04822440 0.32348498 0.38852768
+v 0.03069976 0.28582535 0.44354301
+v -0.00577699 0.32414831 0.40302082
+v 0.00259932 0.35492813 0.19106896
+v -0.21523981 0.37027163 0.16778845
+v -0.13031181 0.38482851 0.19123094
+v -0.27335498 0.35781143 0.31489737
+v -0.24269582 0.37193535 0.18284600
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+v -0.25706785 0.34321766 0.15515947
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+v -0.05740163 0.35475730 0.15120288
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+v -0.27293267 0.33072007 0.15242955
+v -0.25709355 0.35514790 0.16888417
+v 0.04968396 0.34302765 0.33480860
+v -0.04208895 0.36913458 0.20401564
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+f 55 46 30
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+f 55 44 9
+f 55 9 35
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+f 56 35 9
+f 56 9 45
+f 57 49 18
+f 57 18 40
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+f 58 51 5
+f 58 5 38
+f 59 48 23
+f 59 23 51
+f 59 38 48
+f 59 58 38
+f 59 51 58
+f 60 52 16
+f 60 40 52
+f 60 54 40
+f 60 16 54
+f 61 54 44
+f 61 30 54
+f 61 55 30
+f 61 44 55
\ No newline at end of file
diff --git a/objects/objaverse/potato/potato_1/collision/model_normalized_collision_8.obj b/objects/objaverse/potato/potato_1/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0fed41975c8d9ca02913310c5228c742372840f4
--- /dev/null
+++ b/objects/objaverse/potato/potato_1/collision/model_normalized_collision_8.obj
@@ -0,0 +1,141 @@
+# https://github.com/mikedh/trimesh
+v 0.00578369 -0.02485570 0.42752179
+v 0.08285009 0.05230341 0.45616457
+v -0.21803300 0.10250314 0.47182680
+v -0.21728112 0.33322395 0.37545680
+v 0.01298823 0.31902822 0.40812803
+v -0.25229203 -0.02824138 0.42729635
+v -0.09964847 0.33416160 0.37601831
+v 0.03220827 0.22975009 0.47176246
+v -0.24930491 0.28036023 0.41170686
+v -0.23169247 -0.00121407 0.44480007
+v 0.00620689 0.11837851 0.47096047
+v 0.05166817 0.27851358 0.43926731
+v -0.23024465 0.20022108 0.45691279
+v -0.23391712 0.32412730 0.38026837
+v -0.00399829 0.26992341 0.45611669
+v -0.23454178 -0.00567222 0.44264633
+v -0.16209509 0.02975298 0.45564163
+v 0.05009736 0.16066607 0.47157035
+v -0.17218963 0.07423683 0.47167170
+v 0.08401970 0.05750856 0.45713486
+v -0.23197664 0.03045593 0.45598216
+v -0.19992557 0.17283202 0.47227527
+v -0.24715212 0.29086625 0.40538914
+v -0.01889651 0.28343215 0.44323382
+v 0.01125331 0.28498727 0.44392358
+v 0.01851997 0.27150462 0.45511114
+v -0.18637803 0.25768747 0.44137033
+v 0.00803612 -0.00328883 0.43628997
+v 0.04586258 0.21673727 0.47108818
+v 0.08417385 0.09757200 0.46300931
+v -0.20280858 0.08746529 0.47105247
+v -0.21537472 0.14387483 0.47183217
+v -0.07677362 0.22805853 0.47215950
+v -0.20156386 0.29783518 0.41162223
+v -0.21559968 0.32758617 0.38221749
+v 0.04612431 0.25533821 0.45688011
+v -0.22950832 0.24222189 0.43992182
+v -0.22918554 0.27046036 0.42482858
+v 0.03612070 0.13282371 0.47070965
+v 0.08273534 0.10082658 0.46347406
+v -0.17200897 0.20073746 0.47012614
+v -0.17226804 0.28465129 0.42604842
+v -0.21639723 0.31151854 0.39718352
+v 0.04668187 0.27205399 0.44593712
+v -0.24593681 0.27384246 0.41731874
+v -0.18676267 0.22729965 0.45660577
+v -0.23170728 0.31688119 0.38789616
+v -0.21513036 0.21359437 0.45576698
+f 5 2 1
+f 6 4 1
+f 7 5 1
+f 7 1 4
+f 7 4 5
+f 13 9 6
+f 14 4 6
+f 16 6 1
+f 16 1 10
+f 17 10 1
+f 19 17 2
+f 19 10 17
+f 19 11 18
+f 20 2 5
+f 20 5 12
+f 20 19 2
+f 20 11 19
+f 21 13 6
+f 21 3 13
+f 21 6 16
+f 21 16 10
+f 21 10 19
+f 22 19 18
+f 22 3 19
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+f 23 6 9
+f 25 12 5
+f 25 24 15
+f 26 15 8
+f 26 25 15
+f 26 12 25
+f 28 17 1
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+f 29 8 18
+f 30 11 20
+f 30 20 12
+f 31 21 19
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+f 31 3 21
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+f 32 13 3
+f 32 3 22
+f 33 8 15
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+f 33 22 18
+f 33 18 8
+f 35 25 5
+f 35 5 4
+f 35 24 25
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+f 35 4 14
+f 36 26 8
+f 36 8 29
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+f 36 29 30
+f 38 37 27
+f 38 34 23
+f 39 18 11
+f 39 11 30
+f 40 30 29
+f 40 29 18
+f 40 39 30
+f 40 18 39
+f 41 13 22
+f 41 22 33
+f 42 27 15
+f 42 15 24
+f 42 24 34
+f 42 38 27
+f 42 34 38
+f 43 23 34
+f 43 34 35
+f 44 36 12
+f 44 12 26
+f 44 26 36
+f 45 9 13
+f 45 13 37
+f 45 37 38
+f 45 38 23
+f 45 23 9
+f 46 41 33
+f 46 33 27
+f 46 27 37
+f 47 43 35
+f 47 35 14
+f 47 14 23
+f 47 23 43
+f 48 46 37
+f 48 37 13
+f 48 13 41
+f 48 41 46
\ No newline at end of file
diff --git a/objects/objaverse/potato/potato_1/collision/model_normalized_collision_9.obj b/objects/objaverse/potato/potato_1/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e1633f4ff2413379312d054a444ace6d8314583d
--- /dev/null
+++ b/objects/objaverse/potato/potato_1/collision/model_normalized_collision_9.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.34866537 -0.16607703 0.18245412
+v -0.35244618 -0.16944575 -0.19014983
+v -0.35606059 0.19081761 0.24707568
+v -0.44781745 0.18746713 0.24636925
+v -0.48849583 -0.03242284 0.00539740
+v -0.41268513 0.15777334 -0.18976021
+v -0.35112835 -0.13870672 0.22988897
+v -0.34765725 -0.15081805 0.21365008
+v -0.41558382 -0.15779411 0.04615105
+v -0.38320771 0.21554118 0.02048652
+v -0.47456719 0.09537630 -0.09941190
+v -0.40031543 -0.03272504 0.24458691
+v -0.44320909 -0.11506628 -0.08100713
+v -0.42789320 -0.12872001 0.08786574
+v -0.44222387 0.14999755 -0.13925221
+v -0.49013483 0.05145604 0.06421634
+v -0.44262313 -0.03152685 -0.18110288
+v -0.44485164 -0.13006173 -0.00956835
+v -0.40088637 -0.15828254 0.08865541
+v -0.42905394 0.00373805 0.24150533
+v -0.42128381 0.18335354 -0.00024103
+v -0.45914939 0.13634507 -0.09888268
+v -0.44510929 0.09447213 -0.18148639
+v -0.49192996 0.03645871 -0.02492607
+v -0.38198834 -0.11659810 -0.20912252
+v -0.47312768 -0.04481089 -0.09691595
+v -0.47290778 -0.07374552 0.04696297
+v -0.45971755 -0.10102284 0.04745568
+v -0.41465693 -0.15739596 -0.06700337
+v -0.35576343 -0.16037274 0.17895887
+v -0.41411669 -0.12931741 0.11594926
+v -0.44254460 0.03162190 0.24160816
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diff --git a/objects/objaverse/potato/potato_1/model.xml b/objects/objaverse/potato/potato_1/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..7c6ed1902902869079ed09d9ad31bbe68de94a78
--- /dev/null
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@@ -0,0 +1,81 @@
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diff --git a/objects/objaverse/potato/potato_12/collision/model_normalized_collision_0.obj b/objects/objaverse/potato/potato_12/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2bb92a8c0a1f03b0cb67bf5685d25a6f3cb43ce2
--- /dev/null
+++ b/objects/objaverse/potato/potato_12/collision/model_normalized_collision_0.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v 0.09246933 -0.16005407 -0.01847383
+v 0.26018448 -0.09398394 -0.14357251
+v 0.26515361 -0.10061326 -0.01208209
+v 0.01826980 -0.12690614 0.05754555
+v 0.00871603 -0.11303849 -0.15898003
+v 0.10514288 -0.14354209 0.00829624
+v 0.25590373 -0.11362860 -0.11047389
+v 0.02754277 -0.15829587 -0.08246840
+v 0.19959439 -0.09241556 0.01396387
+v 0.08165473 -0.15831717 -0.00565590
+v 0.14543820 -0.10452132 0.03687454
+v 0.26350031 -0.11498314 -0.04561018
+v 0.00546163 -0.15012492 0.02941011
+v 0.08260067 -0.15847719 -0.09765159
+v 0.26420206 -0.10314006 -0.01703803
+v 0.12008981 -0.12879889 0.02077560
+v 0.10985887 -0.15919207 -0.06997719
+v 0.00967216 -0.14504361 -0.11200981
+v 0.02671192 -0.15971217 -0.01512928
+v 0.06558828 -0.14539336 0.01996643
+v 0.17412049 -0.12860194 -0.15471474
+v 0.10766950 -0.15810084 -0.03066307
+v 0.21237358 -0.12802205 -0.11544700
+v 0.00652569 -0.13011310 -0.13772986
+v 0.05582150 -0.15885546 -0.09536800
+v 0.03875616 -0.15829274 -0.00263119
+v 0.22478952 -0.11194600 -0.15755795
+v 0.19712473 -0.12761801 -0.14407390
+v 0.13884280 -0.11328594 -0.17366940
+v 0.04061878 -0.14371949 -0.11998290
+v 0.14559345 -0.12923245 -0.15327496
+v 0.24635268 -0.09731121 -0.16160096
+v 0.24145163 -0.10216589 -0.15808633
+f 9 3 2
+f 9 2 5
+f 9 5 4
+f 10 3 6
+f 11 9 4
+f 11 3 9
+f 12 7 2
+f 12 2 3
+f 13 4 5
+f 15 10 1
+f 15 3 10
+f 15 12 3
+f 15 1 12
+f 16 6 3
+f 16 3 11
+f 16 11 4
+f 18 8 13
+f 19 13 8
+f 20 13 10
+f 20 10 6
+f 20 4 13
+f 20 16 4
+f 20 6 16
+f 22 17 12
+f 22 12 1
+f 22 1 17
+f 23 7 12
+f 23 12 17
+f 24 18 13
+f 24 13 5
+f 25 8 18
+f 25 19 8
+f 25 14 17
+f 25 17 1
+f 25 1 19
+f 26 19 1
+f 26 1 10
+f 26 10 13
+f 26 13 19
+f 28 17 14
+f 28 14 21
+f 28 23 17
+f 28 21 27
+f 28 27 7
+f 28 7 23
+f 29 24 5
+f 29 27 21
+f 30 25 18
+f 30 18 24
+f 31 21 14
+f 31 14 25
+f 31 25 30
+f 31 30 24
+f 31 29 21
+f 31 24 29
+f 32 2 7
+f 32 27 29
+f 32 29 5
+f 32 5 2
+f 33 32 7
+f 33 7 27
+f 33 27 32
\ No newline at end of file
diff --git a/objects/objaverse/potato/potato_12/collision/model_normalized_collision_1.obj b/objects/objaverse/potato/potato_12/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d21bafb57c0da63c8d323e78a67ee0452438e8f
--- /dev/null
+++ b/objects/objaverse/potato/potato_12/collision/model_normalized_collision_1.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v -0.14774571 -0.17345271 0.11954336
+v 0.02232473 -0.14482450 0.03279383
+v -0.11979294 -0.12379609 0.17675543
+v -0.18439481 -0.12056428 0.17716266
+v -0.24733487 -0.15618601 0.02126026
+v 0.00632578 -0.12849616 0.06118345
+v -0.18989065 -0.15225488 0.16846643
+v -0.14990401 -0.15926880 0.15827893
+v -0.09068494 -0.17643555 0.02928189
+v 0.01972922 -0.13925900 0.04270040
+v 0.01971561 -0.14812708 0.02710836
+v -0.26481479 -0.15958696 0.09362252
+v -0.18530517 -0.17415860 0.11955791
+v -0.13950507 -0.14633611 0.16912092
+v -0.23419958 -0.15825786 0.01996208
+v -0.23501119 -0.13092548 0.15440706
+v -0.19152652 -0.15473473 0.16372159
+v -0.12355126 -0.13335553 0.17069548
+v -0.19853442 -0.17405008 0.03803706
+v -0.23627722 -0.13606790 0.14813542
+v -0.26329906 -0.15607555 0.03523366
+v -0.21469279 -0.17403396 0.06432838
+v -0.24661551 -0.15845980 0.02604349
+v -0.21447741 -0.17391917 0.09265383
+v -0.25914325 -0.15837573 0.03873932
+f 6 4 3
+f 6 5 4
+f 7 3 4
+f 10 6 3
+f 10 2 6
+f 11 6 2
+f 11 5 6
+f 11 1 9
+f 11 8 1
+f 11 2 8
+f 13 1 8
+f 13 9 1
+f 14 3 7
+f 14 7 8
+f 14 8 2
+f 14 2 10
+f 15 11 9
+f 15 5 11
+f 16 7 4
+f 16 4 5
+f 17 13 8
+f 17 8 7
+f 17 7 12
+f 17 12 13
+f 18 14 10
+f 18 10 3
+f 18 3 14
+f 19 15 9
+f 19 5 15
+f 20 16 12
+f 20 12 7
+f 20 7 16
+f 21 16 5
+f 21 12 16
+f 22 19 9
+f 23 21 5
+f 23 5 19
+f 24 22 9
+f 24 9 13
+f 24 13 12
+f 24 12 22
+f 25 19 22
+f 25 23 19
+f 25 21 23
+f 25 22 12
+f 25 12 21
\ No newline at end of file
diff --git a/objects/objaverse/potato/potato_12/collision/model_normalized_collision_10.obj b/objects/objaverse/potato/potato_12/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f877755105ddb37cbfe14900acf438c5633034c8
--- /dev/null
+++ b/objects/objaverse/potato/potato_12/collision/model_normalized_collision_10.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v -0.11787609 -0.18967823 0.01606220
+v -0.09568090 -0.11058930 -0.13512441
+v -0.09846433 0.09399160 0.03407549
+v -0.23526712 0.07170118 0.03845671
+v -0.23197147 -0.16060195 0.02487810
+v -0.09250814 0.01187752 -0.13522192
+v -0.10326870 -0.18190929 0.03081491
+v -0.14877337 -0.17774531 -0.06575401
+v -0.09338148 0.08457195 -0.05415167
+v -0.23751013 0.01129028 -0.06278396
+v -0.10196599 -0.17729611 -0.06534670
+v -0.18417750 -0.17864238 0.03599751
+v -0.18342506 0.08061486 0.03734302
+v -0.23202713 -0.16466838 0.03654997
+v -0.11923700 0.04974363 -0.09128546
+v -0.10771255 0.06633580 -0.07804513
+v -0.13622595 -0.02994663 -0.13043871
+v -0.18829695 -0.11985242 -0.08759904
+v -0.11796543 -0.19138515 -0.03944142
+v -0.14058182 -0.19044476 0.01750086
+v -0.12039913 0.02374531 -0.11485409
+v -0.09435522 0.06985961 -0.08049081
+v -0.16582387 -0.01758256 -0.11502039
+v -0.22274545 -0.13236404 -0.02844271
+v -0.15057321 -0.12314667 -0.11393178
+v -0.13813747 -0.18987699 -0.04003041
+v -0.12010479 -0.00217612 -0.12912194
+v -0.10527573 0.00950753 -0.13062196
+v -0.16392364 -0.11042169 -0.11335354
+v -0.21634218 -0.10915917 -0.05848887
+v -0.17439040 -0.12139057 -0.10132430
+v -0.13679767 -0.09791586 -0.12851431
+v -0.12392487 -0.10920343 -0.12932290
+f 9 3 7
+f 9 7 2
+f 9 2 6
+f 11 2 7
+f 11 8 2
+f 12 7 3
+f 13 9 4
+f 13 3 9
+f 13 12 3
+f 13 4 12
+f 14 10 5
+f 14 4 10
+f 14 12 4
+f 14 5 8
+f 16 10 4
+f 16 4 9
+f 16 15 10
+f 17 6 2
+f 19 11 7
+f 19 7 1
+f 19 8 11
+f 20 1 7
+f 20 7 12
+f 20 19 1
+f 21 15 6
+f 21 10 15
+f 22 16 9
+f 22 9 6
+f 22 6 15
+f 22 15 16
+f 24 18 8
+f 24 8 5
+f 24 5 10
+f 25 2 8
+f 26 14 8
+f 26 8 19
+f 26 19 20
+f 26 20 12
+f 26 12 14
+f 27 6 17
+f 27 17 23
+f 28 21 6
+f 28 27 23
+f 28 6 27
+f 28 23 10
+f 28 10 21
+f 29 10 23
+f 30 24 10
+f 30 10 18
+f 30 18 24
+f 31 25 8
+f 31 8 18
+f 31 29 25
+f 31 18 10
+f 31 10 29
+f 32 29 23
+f 32 23 17
+f 32 17 2
+f 32 25 29
+f 33 32 2
+f 33 2 25
+f 33 25 32
\ No newline at end of file
diff --git a/objects/objaverse/potato/potato_12/collision/model_normalized_collision_11.obj b/objects/objaverse/potato/potato_12/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cb37aec164ca8612e20a089062be951a7a6a3fc3
--- /dev/null
+++ b/objects/objaverse/potato/potato_12/collision/model_normalized_collision_11.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v 0.14045170 -0.12430915 0.01332165
+v 0.26549418 -0.08234223 0.01467424
+v 0.14862965 -0.02350132 0.07808257
+v 0.19406782 0.12801105 0.01071746
+v 0.15323098 -0.11980112 0.01094457
+v 0.25989821 0.06049482 0.06182286
+v 0.14607183 0.11538819 0.01341925
+v 0.14020249 -0.09057938 0.05127789
+v 0.26450139 0.13574667 0.01296651
+v 0.26269042 -0.00434482 0.06147673
+v 0.16342445 0.09673677 0.04678692
+v 0.13787438 -0.11778363 0.02448248
+v 0.14769272 0.03004307 0.07662009
+v 0.22878047 0.03456228 0.07698371
+v 0.26528892 -0.04528014 0.04425056
+v 0.14883273 0.10969744 0.02521697
+v 0.19593489 0.12203159 0.02196403
+v 0.24637091 0.09816461 0.04707576
+v 0.16747120 -0.08353971 0.04903687
+v 0.22930713 0.00946777 0.07534976
+v 0.21658732 0.04674552 0.07722017
+v 0.26619161 -0.07480281 0.02199939
+v 0.14911988 0.06965076 0.06213595
+v 0.26159265 0.11357793 0.03218962
+v 0.26356018 0.12880180 0.01988909
+v 0.17015107 -0.03411358 0.07543065
+v 0.24585932 0.07198312 0.06186962
+v 0.18295064 -0.06149622 0.06040813
+v 0.17597411 0.04479510 0.07564444
+v 0.14465380 -0.06538873 0.06511637
+v 0.15848409 -0.03466835 0.07649359
+f 5 2 1
+f 7 5 1
+f 7 4 5
+f 9 5 4
+f 9 2 5
+f 10 9 6
+f 12 1 2
+f 12 8 7
+f 12 7 1
+f 13 8 3
+f 13 7 8
+f 14 10 6
+f 15 9 10
+f 16 4 7
+f 17 11 9
+f 17 9 4
+f 17 16 11
+f 17 4 16
+f 19 12 2
+f 19 8 12
+f 20 14 3
+f 20 10 14
+f 21 13 3
+f 21 3 14
+f 21 18 11
+f 21 14 6
+f 22 2 9
+f 22 9 15
+f 22 19 2
+f 23 11 16
+f 23 21 11
+f 23 16 7
+f 23 7 13
+f 25 9 11
+f 25 11 18
+f 25 18 24
+f 25 24 6
+f 25 6 9
+f 26 15 10
+f 26 10 20
+f 27 21 6
+f 27 18 21
+f 27 24 18
+f 27 6 24
+f 28 22 15
+f 28 19 22
+f 28 15 26
+f 28 8 19
+f 29 23 13
+f 29 13 21
+f 29 21 23
+f 30 3 8
+f 30 28 26
+f 30 8 28
+f 31 26 20
+f 31 20 3
+f 31 30 26
+f 31 3 30
\ No newline at end of file
diff --git a/objects/objaverse/potato/potato_12/collision/model_normalized_collision_12.obj b/objects/objaverse/potato/potato_12/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..37c3e067b336691ecaa8f6ba7d399c6e4fc8ab66
--- /dev/null
+++ b/objects/objaverse/potato/potato_12/collision/model_normalized_collision_12.obj
@@ -0,0 +1,153 @@
+# https://github.com/mikedh/trimesh
+v -0.28330308 -0.10682823 0.20769972
+v -0.23592619 -0.08245178 0.21174249
+v -0.39858999 0.00705094 0.27387458
+v -0.42695480 0.11809050 0.20899616
+v -0.25200483 0.06914293 0.20796007
+v -0.43686729 -0.07601140 0.20596119
+v -0.31682140 -0.04832504 0.25774518
+v -0.25427168 -0.09340192 0.20807636
+v -0.37855200 0.08465935 0.25933350
+v -0.46358018 0.06144582 0.23088473
+v -0.45612687 0.10286983 0.20619447
+v -0.25784639 -0.07341576 0.22801560
+v -0.36723283 -0.07368262 0.24428462
+v -0.34836783 0.11468717 0.20973775
+v -0.25696109 0.02692499 0.24448381
+v -0.42109552 -0.03454461 0.26265831
+v -0.41908813 0.07221884 0.26096537
+v -0.46817077 -0.00790440 0.20839801
+v -0.31567205 -0.07387449 0.24295277
+v -0.28480182 -0.10085678 0.21557603
+v -0.36921719 -0.10447054 0.20807563
+v -0.36604454 0.10971413 0.23204136
+v -0.24031131 0.05425434 0.22029460
+v -0.25665923 -0.03498658 0.24260825
+v -0.36128002 0.03078590 0.27379541
+v -0.35734783 0.00460444 0.27436164
+v -0.44094455 0.09708729 0.23085433
+v -0.43236554 0.04722430 0.25976588
+v -0.46836193 0.08944344 0.20798044
+v -0.46092635 0.02495361 0.23363583
+v -0.45292511 -0.05119159 0.20884856
+v -0.23859691 -0.07645488 0.21810305
+v -0.36809705 -0.09780061 0.21906452
+v -0.23721213 0.06074581 0.21136014
+v -0.41118460 0.10969092 0.23193793
+v -0.24084227 0.04109706 0.23058533
+v -0.36491109 0.09700954 0.24430552
+v -0.23844025 -0.05992328 0.23043042
+v -0.37703565 0.04662660 0.27368821
+v -0.28645524 -0.02091556 0.25743357
+v -0.43313221 0.02333690 0.25971486
+v -0.39987477 0.04727102 0.27433435
+v -0.44913392 0.05734377 0.24369183
+v -0.46471512 0.08415263 0.21529843
+v -0.43412087 -0.07142278 0.21414091
+v -0.44839735 -0.04846811 0.21684556
+v -0.38201016 -0.08411617 0.23009219
+v -0.41155080 -0.09093519 0.20871284
+v -0.35228659 0.11168937 0.21834203
+v -0.40890187 0.08265120 0.25896624
+v -0.28807833 0.01649922 0.25763826
+v -0.40965687 -0.08553793 0.21640955
+f 6 5 1
+f 8 5 2
+f 8 2 1
+f 8 1 5
+f 11 5 6
+f 14 11 4
+f 14 5 11
+f 16 13 7
+f 18 11 6
+f 19 12 7
+f 19 7 13
+f 20 1 2
+f 20 12 19
+f 20 19 13
+f 21 6 1
+f 22 14 4
+f 26 16 7
+f 26 3 16
+f 27 10 17
+f 27 4 11
+f 29 18 10
+f 29 11 18
+f 29 27 11
+f 30 18 16
+f 30 10 18
+f 31 18 6
+f 32 20 2
+f 32 12 20
+f 33 20 13
+f 33 21 1
+f 33 1 20
+f 34 5 14
+f 34 22 23
+f 34 2 5
+f 35 22 4
+f 35 9 22
+f 35 4 27
+f 36 9 15
+f 36 34 23
+f 37 23 22
+f 37 22 9
+f 37 36 23
+f 37 9 36
+f 38 7 12
+f 38 12 32
+f 38 32 2
+f 38 2 34
+f 38 34 36
+f 38 36 15
+f 38 15 24
+f 39 15 9
+f 40 26 7
+f 40 24 15
+f 40 38 24
+f 40 7 38
+f 41 16 3
+f 41 30 16
+f 41 28 10
+f 41 10 30
+f 42 17 28
+f 42 3 26
+f 42 26 25
+f 42 25 39
+f 42 39 9
+f 42 41 3
+f 42 28 41
+f 43 28 17
+f 43 17 10
+f 43 10 28
+f 44 29 10
+f 44 10 27
+f 44 27 29
+f 45 31 6
+f 46 16 18
+f 46 18 31
+f 46 45 16
+f 46 31 45
+f 47 33 13
+f 47 13 16
+f 48 6 21
+f 48 21 33
+f 48 45 6
+f 49 34 14
+f 49 14 22
+f 49 22 34
+f 50 35 27
+f 50 27 17
+f 50 9 35
+f 50 42 9
+f 50 17 42
+f 51 39 25
+f 51 15 39
+f 51 40 15
+f 51 25 26
+f 51 26 40
+f 52 48 33
+f 52 33 47
+f 52 47 16
+f 52 16 45
+f 52 45 48
\ No newline at end of file
diff --git a/objects/objaverse/potato/potato_12/collision/model_normalized_collision_13.obj b/objects/objaverse/potato/potato_12/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c6510a6fab6c7326b87f01fb2ba0c0a90d9f78a8
--- /dev/null
+++ b/objects/objaverse/potato/potato_12/collision/model_normalized_collision_13.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v 0.38395890 0.09409623 0.01222785
+v 0.46031781 0.15318010 -0.08182861
+v 0.39534485 0.16764814 -0.03924986
+v 0.26613791 0.15790469 -0.01781610
+v 0.26515151 0.09577167 -0.08754112
+v 0.34413730 0.18619521 -0.08873190
+v 0.26310340 0.10372273 0.03928577
+v 0.43813128 0.13543760 -0.03467367
+v 0.38636364 0.09577167 -0.08754112
+v 0.39929312 0.18571636 -0.09087311
+v 0.34341294 0.18423643 -0.07601784
+v 0.26539317 0.16897826 -0.08727654
+v 0.38148300 0.12948564 0.00044924
+v 0.26362063 0.14347483 0.00544366
+v 0.30631535 0.08710919 0.03554964
+v 0.43637365 0.15592756 -0.05332163
+v 0.44037202 0.17380216 -0.09249101
+v 0.31342732 0.16713149 -0.03487172
+v 0.39725154 0.18282414 -0.07739556
+v 0.28063571 0.17012992 -0.08829690
+v 0.42264138 0.15427322 -0.03820891
+v 0.26356018 0.12880180 0.01988909
+v 0.26431543 0.09396408 0.04570029
+v 0.43615399 0.14410800 -0.03951180
+v 0.43825644 0.16967253 -0.07892671
+v 0.36549961 0.09397009 0.01955612
+v 0.36689173 0.10499532 0.01575955
+f 9 8 1
+f 9 2 8
+f 11 10 6
+f 12 11 6
+f 12 4 11
+f 13 1 8
+f 14 3 4
+f 14 4 12
+f 14 12 5
+f 14 5 7
+f 15 9 1
+f 15 5 9
+f 17 2 9
+f 17 9 5
+f 18 11 4
+f 18 4 3
+f 18 3 11
+f 19 11 3
+f 19 10 11
+f 19 17 10
+f 20 12 6
+f 20 6 10
+f 20 10 17
+f 20 17 5
+f 20 5 12
+f 21 13 8
+f 21 3 13
+f 22 14 7
+f 22 7 13
+f 22 13 3
+f 22 3 14
+f 23 7 5
+f 23 5 15
+f 23 13 7
+f 24 8 2
+f 24 2 16
+f 24 21 8
+f 24 16 21
+f 25 16 2
+f 25 2 17
+f 25 21 16
+f 25 3 21
+f 25 19 3
+f 25 17 19
+f 26 23 15
+f 26 15 1
+f 27 26 1
+f 27 1 13
+f 27 13 23
+f 27 23 26
\ No newline at end of file
diff --git a/objects/objaverse/potato/potato_12/collision/model_normalized_collision_14.obj b/objects/objaverse/potato/potato_12/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d02d1fd67918ea4f9941446b83640917f652b538
--- /dev/null
+++ b/objects/objaverse/potato/potato_12/collision/model_normalized_collision_14.obj
@@ -0,0 +1,123 @@
+# https://github.com/mikedh/trimesh
+v 0.37883455 -0.04605626 -0.07511795
+v 0.48102896 0.02413351 -0.09200312
+v 0.37588857 0.01006168 0.00654045
+v 0.39244476 0.18295813 -0.07462041
+v 0.38043844 -0.04800753 -0.08925127
+v 0.44742928 0.10535585 -0.02723982
+v 0.38298409 0.16053158 -0.02386664
+v 0.44587251 0.00474187 -0.05290633
+v 0.45440359 0.16270542 -0.09011827
+v 0.38238777 0.11993292 0.00511064
+v 0.37740287 -0.03067277 -0.03280048
+v 0.44776493 0.03932928 -0.02769468
+v 0.45320192 -0.00931251 -0.09143601
+v 0.44538695 0.16910716 -0.08854292
+v 0.47288170 0.11967761 -0.06691763
+v 0.42121874 0.14302484 -0.02675021
+v 0.38265086 0.14569388 -0.01118426
+v 0.43516252 0.01618536 -0.02814044
+v 0.40777337 0.03985982 -0.00093067
+v 0.44718080 0.01850461 -0.03967183
+v 0.46199293 0.00376411 -0.08017171
+v 0.39015520 -0.04091193 -0.09081987
+v 0.45087872 -0.00694281 -0.08037055
+v 0.38444842 0.16564915 -0.03079238
+v 0.47571920 0.13459639 -0.09055420
+v 0.47407035 0.04227491 -0.06507091
+v 0.46099635 0.14495293 -0.06917523
+v 0.40814381 0.10657712 -0.00088337
+v 0.39522695 0.14372298 -0.01314043
+v 0.42089546 0.00462936 -0.02809631
+v 0.43412115 0.05237183 -0.01347613
+v 0.46523839 0.00146927 -0.09147537
+v 0.47568813 0.02384093 -0.08263712
+v 0.45013750 0.15594646 -0.06798736
+v 0.39527564 0.15698769 -0.02498337
+v 0.45940123 0.04212882 -0.03957894
+v 0.47367586 0.13104912 -0.07879578
+v 0.43351577 0.13315713 -0.02817117
+v 0.39374900 0.11789902 0.00135309
+v 0.43360029 0.09357820 -0.01325122
+v 0.46157802 0.10665993 -0.04141037
+v 0.45990379 0.13137583 -0.05522693
+f 7 1 3
+f 7 5 1
+f 7 4 5
+f 11 3 1
+f 13 1 5
+f 14 5 4
+f 17 7 3
+f 17 3 10
+f 19 3 18
+f 20 18 8
+f 20 12 18
+f 21 20 8
+f 22 9 2
+f 22 2 13
+f 22 13 5
+f 22 14 9
+f 22 5 14
+f 23 11 1
+f 23 1 13
+f 23 8 11
+f 23 21 8
+f 24 14 4
+f 24 4 7
+f 25 15 2
+f 25 2 9
+f 26 2 15
+f 27 25 9
+f 28 10 3
+f 28 3 19
+f 29 7 17
+f 29 17 10
+f 30 11 8
+f 30 8 18
+f 30 18 3
+f 30 3 11
+f 31 19 18
+f 31 18 12
+f 31 28 19
+f 32 13 2
+f 32 2 21
+f 32 23 13
+f 32 21 23
+f 33 21 2
+f 33 20 21
+f 33 2 26
+f 34 14 24
+f 34 27 9
+f 34 9 14
+f 35 24 7
+f 35 34 24
+f 35 16 34
+f 35 29 16
+f 35 7 29
+f 36 12 20
+f 36 33 26
+f 36 20 33
+f 36 31 12
+f 37 27 15
+f 37 15 25
+f 37 25 27
+f 38 34 16
+f 38 27 34
+f 39 29 10
+f 39 10 28
+f 39 28 38
+f 39 38 16
+f 39 16 29
+f 40 28 31
+f 40 38 28
+f 40 6 38
+f 41 31 36
+f 41 40 31
+f 41 6 40
+f 41 38 6
+f 41 36 26
+f 41 26 15
+f 42 41 15
+f 42 15 27
+f 42 27 38
+f 42 38 41
\ No newline at end of file
diff --git a/objects/objaverse/potato/potato_12/collision/model_normalized_collision_15.obj b/objects/objaverse/potato/potato_12/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d3029c84b8ecb6996c6f113c54e65b05fd97e682
--- /dev/null
+++ b/objects/objaverse/potato/potato_12/collision/model_normalized_collision_15.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v -0.08071963 -0.16506827 0.04739282
+v -0.10805279 -0.11952676 0.17208395
+v -0.23976513 -0.15836985 0.02274091
+v -0.24019514 0.08585980 0.17914401
+v -0.09829824 0.09473735 0.03734894
+v -0.23844025 -0.05992328 0.23043042
+v -0.23800075 -0.11632937 0.17469765
+v -0.10263903 0.05149901 0.16597167
+v -0.23574938 0.06230911 0.02419580
+v -0.24084227 0.04109706 0.23058533
+v -0.12315964 -0.11990458 0.18277049
+v -0.10684329 -0.07780915 0.19668587
+v -0.09877811 0.09520419 0.10692245
+v -0.23605403 0.08899172 0.08051021
+v -0.24105700 0.06701775 0.20556852
+v -0.17088867 -0.10427608 0.19833657
+v -0.10578009 -0.00129559 0.19540930
+v -0.10869544 -0.10517194 0.18382304
+v -0.15480386 -0.03678932 0.22827719
+v -0.10109263 0.07743168 0.14263256
+v -0.14142545 0.09275049 0.03827055
+v -0.21368833 0.09652990 0.11554669
+v -0.18293555 -0.11461609 0.18594374
+v -0.16500990 0.02313642 0.22773690
+v -0.13626436 -0.10632591 0.19562696
+v -0.16506716 -0.04862942 0.22979393
+v -0.15710374 0.01542573 0.22706278
+v -0.16548435 0.04651241 0.20265471
+f 5 1 3
+f 7 3 1
+f 7 6 3
+f 9 5 3
+f 9 3 4
+f 10 3 6
+f 11 7 1
+f 11 1 2
+f 12 2 1
+f 13 1 5
+f 14 9 4
+f 15 4 3
+f 15 3 10
+f 16 6 7
+f 17 12 1
+f 17 1 8
+f 18 11 2
+f 18 2 12
+f 19 12 17
+f 20 8 1
+f 20 1 13
+f 20 13 4
+f 20 4 15
+f 21 5 9
+f 21 9 14
+f 22 13 5
+f 22 21 14
+f 22 5 21
+f 22 14 4
+f 22 4 13
+f 23 16 7
+f 23 7 11
+f 23 11 16
+f 24 8 20
+f 24 15 10
+f 25 18 12
+f 25 11 18
+f 25 16 11
+f 25 6 16
+f 26 10 6
+f 26 6 25
+f 26 25 12
+f 26 12 19
+f 26 24 10
+f 27 17 8
+f 27 8 24
+f 27 19 17
+f 27 26 19
+f 27 24 26
+f 28 24 20
+f 28 20 15
+f 28 15 24
\ No newline at end of file
diff --git a/objects/objaverse/potato/potato_12/collision/model_normalized_collision_16.obj b/objects/objaverse/potato/potato_12/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..847c46d9d921fe7315d77b3d3247edba57094e47
--- /dev/null
+++ b/objects/objaverse/potato/potato_12/collision/model_normalized_collision_16.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v 0.14377819 -0.13429755 -0.14249769
+v 0.14893738 -0.07916461 -0.21289052
+v 0.14559345 -0.12923245 -0.15327496
+v 0.14722817 0.12963349 -0.14324341
+v 0.00807168 -0.09136479 -0.17603126
+v 0.14867189 0.12454450 -0.15624227
+v 0.00707913 -0.12608990 -0.14378929
+v 0.00837712 0.04651250 -0.14472893
+v 0.04767184 0.08284486 -0.13912168
+v 0.12887452 -0.13515518 -0.14061287
+v 0.00626522 -0.11886133 -0.15278253
+v 0.10323934 0.03025919 -0.21997726
+v 0.09202101 0.10752797 -0.15553268
+v 0.13240596 0.12629388 -0.14207941
+v 0.14737470 0.04502832 -0.22272531
+v 0.08825559 -0.00891981 -0.22103663
+v 0.07810425 0.06839673 -0.19302747
+v 0.08035128 0.09429131 -0.16708801
+v 0.08989028 0.11207669 -0.14228584
+v 0.13362491 0.12126309 -0.15518666
+v 0.14794283 -0.05253638 -0.22577405
+v 0.01286561 -0.01442267 -0.19039816
+v 0.08988991 0.00367560 -0.22104611
+v 0.10445848 0.06860204 -0.20506352
+v 0.06891829 0.09378717 -0.15365792
+v 0.06528646 0.09770429 -0.14071019
+v 0.10542777 0.10647823 -0.16644193
+v 0.01047223 -0.05246151 -0.19056759
+v 0.01457811 0.01995559 -0.17455129
+v 0.07828467 0.04278984 -0.20697176
+v 0.14689145 0.07161718 -0.21014203
+v 0.00992568 0.03916046 -0.15327505
+v 0.06653222 0.05601887 -0.19295493
+f 1 3 4
+f 6 3 2
+f 6 4 3
+f 9 8 7
+f 10 7 3
+f 10 3 1
+f 10 9 7
+f 10 1 4
+f 11 5 2
+f 11 2 3
+f 11 3 7
+f 11 8 5
+f 11 7 8
+f 14 10 4
+f 14 9 10
+f 15 6 2
+f 18 17 8
+f 19 14 13
+f 20 14 4
+f 20 4 6
+f 20 13 14
+f 21 2 5
+f 21 15 2
+f 23 12 15
+f 23 21 16
+f 23 15 21
+f 23 16 22
+f 24 15 12
+f 25 18 8
+f 25 13 18
+f 26 9 14
+f 26 14 19
+f 26 19 13
+f 26 13 25
+f 26 25 8
+f 26 8 9
+f 27 18 13
+f 27 13 20
+f 27 20 6
+f 27 24 17
+f 27 17 18
+f 28 21 5
+f 28 16 21
+f 28 22 16
+f 28 5 8
+f 28 8 22
+f 30 23 22
+f 30 12 23
+f 30 24 12
+f 30 17 24
+f 31 6 15
+f 31 15 24
+f 31 27 6
+f 31 24 27
+f 32 29 22
+f 32 22 8
+f 32 8 17
+f 33 17 30
+f 33 32 17
+f 33 29 32
+f 33 30 22
+f 33 22 29
\ No newline at end of file
diff --git a/objects/objaverse/potato/potato_12/collision/model_normalized_collision_17.obj b/objects/objaverse/potato/potato_12/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2aa9df509f19c40bd428038e66cb6ed2e3910f9e
--- /dev/null
+++ b/objects/objaverse/potato/potato_12/collision/model_normalized_collision_17.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.14418705 -0.01020188 0.07822439
+v 0.14771540 0.06133914 0.06653988
+v 0.08256060 0.03480109 0.04780932
+v 0.08482148 0.11563636 -0.01514932
+v 0.14422835 0.12399058 -0.01240566
+v 0.08014597 0.09705955 0.01721816
+v 0.11369106 -0.00684599 0.06198535
+v 0.12518588 0.03182014 0.06515575
+v 0.14883273 0.10969744 0.02521697
+v 0.08836618 0.08396758 0.02996788
+v 0.13143961 -0.01031710 0.07364883
+v 0.08994593 0.03668685 0.04111136
+v 0.13770974 0.05740190 0.06387184
+v 0.14894760 0.08621808 0.05063765
+v 0.13425452 0.11400331 0.01138010
+v 0.08565560 0.11124926 -0.00350280
+v 0.10247711 0.10793077 0.00997523
+f 6 4 3
+f 7 5 1
+f 7 4 5
+f 8 1 2
+f 9 1 5
+f 10 6 3
+f 11 7 1
+f 11 3 7
+f 11 8 3
+f 11 1 8
+f 12 7 3
+f 12 3 4
+f 12 4 7
+f 13 8 2
+f 13 3 8
+f 13 10 3
+f 13 2 10
+f 14 2 1
+f 14 1 9
+f 14 9 6
+f 14 10 2
+f 14 6 10
+f 15 9 5
+f 15 5 4
+f 16 15 4
+f 16 4 6
+f 17 16 6
+f 17 6 9
+f 17 9 15
+f 17 15 16
\ No newline at end of file
diff --git a/objects/objaverse/potato/potato_12/collision/model_normalized_collision_18.obj b/objects/objaverse/potato/potato_12/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7de60989b8124e02dc1de14dc8a8e707bbc20428
--- /dev/null
+++ b/objects/objaverse/potato/potato_12/collision/model_normalized_collision_18.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v -0.44560063 -0.08444251 0.18405982
+v -0.44119040 -0.08052519 0.19567236
+v -0.47910416 0.05054041 0.21084677
+v -0.46554257 0.09959184 0.20020663
+v -0.47790536 0.09843918 0.11592980
+v -0.46412973 0.05410654 0.23206050
+v -0.47365337 -0.03416661 0.18974829
+v -0.46214752 -0.08469845 0.12342151
+v -0.48316118 0.07831660 0.18411066
+v -0.44098220 -0.06628182 0.21099433
+v -0.46132611 -0.06258638 0.18898606
+v -0.47522874 0.00720599 0.20272704
+v -0.49347165 -0.04316711 0.12118384
+v -0.48396191 0.08974717 0.12439965
+v -0.45913665 -0.04705778 0.20330078
+v -0.45548410 -0.07835858 0.18001454
+v -0.49009849 -0.00761844 0.16427204
+v -0.47490714 -0.06247886 0.16359452
+v -0.49559116 0.04918637 0.12370071
+v -0.44934644 -0.06259218 0.20459458
+v -0.48997062 0.01618287 0.16505026
+v -0.47962625 -0.06267104 0.12612301
+v -0.48627626 0.07482125 0.16836609
+v -0.45071909 -0.07419223 0.19122369
+f 5 4 2
+f 6 4 3
+f 8 5 2
+f 8 2 1
+f 9 3 4
+f 10 2 4
+f 10 4 6
+f 12 6 3
+f 13 5 8
+f 14 9 4
+f 14 4 5
+f 15 10 6
+f 15 7 11
+f 15 12 7
+f 15 6 12
+f 16 1 2
+f 16 8 1
+f 17 12 3
+f 17 7 12
+f 18 11 7
+f 18 17 13
+f 18 7 17
+f 18 16 11
+f 18 8 16
+f 19 14 5
+f 19 5 13
+f 19 13 17
+f 20 15 11
+f 20 10 15
+f 21 17 3
+f 21 3 9
+f 21 19 17
+f 22 18 13
+f 22 13 8
+f 22 8 18
+f 23 9 14
+f 23 14 19
+f 23 21 9
+f 23 19 21
+f 24 20 11
+f 24 11 16
+f 24 16 2
+f 24 2 10
+f 24 10 20
\ No newline at end of file
diff --git a/objects/objaverse/potato/potato_12/collision/model_normalized_collision_19.obj b/objects/objaverse/potato/potato_12/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1498e2a1db57937b5d4fc057369cf87aa1bb7ee8
--- /dev/null
+++ b/objects/objaverse/potato/potato_12/collision/model_normalized_collision_19.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v -0.46214752 -0.08469845 0.12342151
+v -0.41587657 -0.02492577 0.03769398
+v -0.41666667 0.05031713 0.12458009
+v -0.49559116 0.04918637 0.12370071
+v -0.48855476 -0.00694664 0.08247645
+v -0.41612711 0.04935322 0.03642041
+v -0.47962625 -0.06267104 0.12612301
+v -0.41666667 -0.02544045 0.12458009
+v -0.45078815 -0.05804115 0.06278178
+v -0.41390126 0.03123555 0.03250609
+v -0.47732016 0.04571258 0.06221268
+v -0.49347165 -0.04316711 0.12118384
+v -0.44057979 -0.06322051 0.06011527
+v -0.49034376 0.04863815 0.08424408
+v -0.46617652 0.04558010 0.05239758
+v -0.47574214 -0.03228078 0.07565354
+v -0.46065406 -0.06098347 0.07573713
+v -0.45306707 -0.03359753 0.05159858
+v -0.49346713 -0.04220505 0.11813823
+v -0.42885289 0.03200714 0.03541095
+v -0.46053182 -0.04604557 0.06236445
+v -0.46277949 -0.00455902 0.05017987
+v -0.47393677 -0.06113269 0.10156052
+v -0.42867198 -0.00610852 0.03503831
+v -0.47435120 -0.00709333 0.06271874
+v -0.41703941 -0.00476987 0.03412046
+f 6 4 3
+f 7 3 4
+f 8 7 1
+f 8 3 7
+f 10 6 3
+f 10 8 2
+f 10 3 8
+f 12 7 4
+f 12 1 7
+f 13 8 1
+f 13 2 8
+f 14 11 5
+f 14 4 6
+f 15 14 6
+f 15 11 14
+f 17 13 1
+f 17 9 13
+f 18 13 9
+f 18 2 13
+f 19 12 4
+f 19 4 14
+f 19 14 5
+f 19 5 16
+f 19 16 17
+f 19 1 12
+f 20 15 6
+f 20 6 10
+f 21 17 16
+f 21 9 17
+f 21 18 9
+f 22 11 15
+f 22 15 20
+f 22 18 21
+f 23 19 17
+f 23 17 1
+f 23 1 19
+f 24 20 10
+f 24 22 20
+f 24 2 18
+f 24 18 22
+f 25 5 11
+f 25 11 22
+f 25 16 5
+f 25 22 21
+f 25 21 16
+f 26 24 10
+f 26 10 2
+f 26 2 24
\ No newline at end of file
diff --git a/objects/objaverse/potato/potato_12/collision/model_normalized_collision_2.obj b/objects/objaverse/potato/potato_12/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..988b228697878953b9314c3f37e829ca9061dbcc
--- /dev/null
+++ b/objects/objaverse/potato/potato_12/collision/model_normalized_collision_2.obj
@@ -0,0 +1,105 @@
+# https://github.com/mikedh/trimesh
+v -0.09233176 -0.13718105 0.12856299
+v 0.00807168 -0.09136479 -0.17603126
+v -0.01120660 0.05546231 0.12023492
+v -0.09877811 0.09520419 0.10692245
+v -0.09634742 -0.13478963 -0.12120159
+v 0.01316365 0.09583652 -0.08273090
+v -0.09822776 0.08946286 0.12177123
+v 0.00405448 -0.12212892 0.06855352
+v -0.09828829 -0.14320587 -0.11373238
+v 0.01205583 0.09747054 -0.01553846
+v -0.09295065 0.06338155 -0.09023359
+v -0.01109259 -0.04360191 0.11485223
+v 0.01362457 0.01253179 -0.17993718
+v 0.00743193 -0.14320882 -0.11619736
+v -0.03227109 -0.10419390 -0.16177421
+v -0.09829824 0.09473735 0.03734894
+v 0.00383587 -0.10855573 0.07966379
+v -0.03285252 0.07536551 0.11798337
+v -0.09023997 0.02198056 -0.12961625
+v 0.01335868 0.08236209 -0.10800864
+v -0.04727768 -0.11898299 -0.14599115
+v -0.02975254 -0.01742258 -0.17620084
+v -0.08170881 0.09269037 -0.03729485
+v -0.07232540 0.09247831 0.10633415
+v -0.06175628 0.03647929 -0.13016560
+v -0.07885859 0.07775199 -0.07585336
+v 0.00652569 -0.13011310 -0.13772986
+v -0.00545529 -0.09014342 -0.17605759
+v -0.00049569 0.00930186 -0.17581449
+v -0.03037450 -0.07904501 -0.17475839
+v -0.09313529 0.07989963 -0.06407503
+v -0.01533040 0.02178530 -0.16137958
+v -0.06352403 0.04968959 -0.11706742
+v -0.05022196 -0.13126772 -0.13347223
+v 0.00561845 -0.10627874 -0.16595922
+v -0.09319025 -0.12154213 -0.13042718
+f 7 1 3
+f 7 4 1
+f 9 1 4
+f 12 3 1
+f 13 10 8
+f 13 6 10
+f 14 8 1
+f 14 1 9
+f 14 13 8
+f 14 2 13
+f 16 10 6
+f 16 4 10
+f 16 11 9
+f 16 9 4
+f 17 10 3
+f 17 8 10
+f 17 3 12
+f 17 12 1
+f 17 1 8
+f 18 7 3
+f 18 3 10
+f 19 5 9
+f 19 9 11
+f 20 6 13
+f 21 9 5
+f 21 5 15
+f 23 16 6
+f 24 18 10
+f 24 10 4
+f 24 4 7
+f 24 7 18
+f 25 19 11
+f 26 20 11
+f 26 6 20
+f 27 14 9
+f 27 2 14
+f 28 13 2
+f 29 22 19
+f 29 19 13
+f 29 13 22
+f 30 28 15
+f 30 22 13
+f 30 13 28
+f 31 11 16
+f 31 16 23
+f 31 26 11
+f 31 23 6
+f 31 6 26
+f 32 13 19
+f 32 19 25
+f 32 20 13
+f 33 25 11
+f 33 11 20
+f 33 32 25
+f 33 20 32
+f 34 27 9
+f 34 9 21
+f 35 2 27
+f 35 28 2
+f 35 15 28
+f 35 27 34
+f 35 34 21
+f 35 21 15
+f 36 30 15
+f 36 15 5
+f 36 5 19
+f 36 19 22
+f 36 22 30
\ No newline at end of file
diff --git a/objects/objaverse/potato/potato_12/collision/model_normalized_collision_20.obj b/objects/objaverse/potato/potato_12/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..663b213b6190dd44aea5efc3aeb60bb7e3242b39
--- /dev/null
+++ b/objects/objaverse/potato/potato_12/collision/model_normalized_collision_20.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v -0.47910416 0.05054041 0.21084677
+v -0.41612711 0.04935322 0.03642041
+v -0.41301876 0.12530029 0.20703802
+v -0.45100461 0.12467742 0.17869155
+v -0.49034376 0.04863815 0.08424408
+v -0.41967968 0.12591644 0.10011128
+v -0.44126897 0.07423101 0.23972139
+v -0.47732016 0.04571258 0.06221268
+v -0.48768087 0.10394340 0.17170784
+v -0.41521708 0.07406842 0.04713090
+v -0.45214434 0.11131260 0.20091101
+v -0.45474746 0.04654352 0.04563835
+v -0.49325511 0.04852800 0.13530681
+v -0.45347404 0.12176678 0.10396134
+v -0.47488279 0.08554980 0.20297788
+v -0.42416561 0.12259563 0.20554554
+v -0.45275433 0.07217543 0.05274505
+v -0.49042944 0.07348035 0.11481545
+v -0.47701833 0.05929048 0.06662650
+v -0.47080840 0.10161548 0.10182389
+v -0.48747427 0.05805264 0.08542818
+f 6 4 3
+f 7 1 2
+f 7 2 3
+f 10 6 3
+f 10 3 2
+f 11 4 9
+f 12 2 1
+f 12 1 8
+f 13 8 1
+f 13 5 8
+f 13 1 9
+f 14 9 4
+f 14 4 6
+f 15 9 1
+f 15 1 7
+f 15 11 9
+f 15 7 11
+f 16 11 7
+f 16 7 3
+f 16 3 4
+f 16 4 11
+f 17 10 2
+f 17 2 12
+f 17 12 8
+f 17 14 6
+f 17 6 10
+f 18 13 9
+f 18 5 13
+f 19 17 8
+f 19 8 5
+f 20 18 9
+f 20 9 14
+f 20 14 17
+f 20 17 19
+f 21 20 19
+f 21 19 5
+f 21 5 18
+f 21 18 20
\ No newline at end of file
diff --git a/objects/objaverse/potato/potato_12/collision/model_normalized_collision_21.obj b/objects/objaverse/potato/potato_12/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8e39cffcfd717c8b5b663878de60e9b872fb976f
--- /dev/null
+++ b/objects/objaverse/potato/potato_12/collision/model_normalized_collision_21.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v -0.23586534 -0.16640868 0.04780682
+v -0.22706278 -0.12273807 -0.03466501
+v -0.23526712 0.07170118 0.03845671
+v -0.26127245 0.06888897 0.04108538
+v -0.27763125 -0.15436972 0.05047460
+v -0.23814237 0.01007056 -0.06329311
+v -0.23484849 -0.02544045 0.04882252
+v -0.24544526 -0.14593123 0.00276999
+v -0.22968276 -0.00242430 -0.06084667
+v -0.23751013 0.01129028 -0.06278396
+v -0.27476487 0.01226051 -0.01059810
+v -0.28030303 -0.02544045 0.04882252
+v -0.23016894 -0.14789242 -0.00075871
+v -0.22599204 -0.09891032 -0.04977405
+v -0.26630057 -0.14562741 0.01430263
+v -0.23465310 0.06618612 0.02914982
+v -0.27447128 0.04917108 0.01756905
+v -0.27033528 -0.11819966 -0.01017449
+v -0.27444539 0.03674197 0.00517586
+v -0.27746140 0.05927675 0.03774841
+f 7 3 4
+f 7 5 1
+f 10 4 3
+f 10 9 6
+f 12 7 4
+f 12 5 7
+f 12 11 5
+f 13 7 1
+f 13 2 7
+f 13 8 2
+f 13 1 8
+f 14 7 2
+f 14 3 7
+f 14 6 9
+f 15 8 1
+f 15 1 5
+f 15 2 8
+f 16 10 3
+f 16 9 10
+f 16 14 9
+f 16 3 14
+f 17 10 6
+f 17 4 10
+f 18 15 5
+f 18 5 11
+f 18 11 6
+f 18 6 14
+f 18 14 2
+f 18 2 15
+f 19 17 6
+f 19 6 11
+f 20 12 4
+f 20 4 17
+f 20 17 19
+f 20 19 11
+f 20 11 12
\ No newline at end of file
diff --git a/objects/objaverse/potato/potato_12/collision/model_normalized_collision_22.obj b/objects/objaverse/potato/potato_12/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e3f8eb2a5ee4e0cf1384a813efe110b2966993b4
--- /dev/null
+++ b/objects/objaverse/potato/potato_12/collision/model_normalized_collision_22.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v -0.27763125 -0.15436972 0.05047460
+v -0.27191787 -0.13759504 0.00974625
+v -0.27746140 0.05927675 0.03774841
+v -0.35600110 0.06396832 0.03592760
+v -0.35054851 -0.12157860 0.05588759
+v -0.27476487 0.01226051 -0.01059810
+v -0.27410696 0.05384012 0.02427989
+v -0.27495818 -0.15185504 0.03839483
+v -0.28030303 -0.02544045 0.04882252
+v -0.36995740 -0.03217291 0.00942994
+v -0.27318732 -0.09949604 -0.01690778
+v -0.28866465 -0.15068973 0.05174677
+v -0.35295551 -0.00007662 0.00710349
+v -0.35223212 -0.07667605 0.01672754
+v -0.35467904 0.04066887 0.02315448
+v -0.30179571 -0.01445909 -0.00843251
+v -0.27333376 -0.12368800 -0.00319239
+v -0.34932196 -0.10350184 0.03542920
+v -0.35572411 0.05698600 0.03127800
+v -0.34765637 -0.11714926 0.04824004
+f 7 3 1
+f 7 6 4
+f 7 4 3
+f 8 5 2
+f 8 7 1
+f 8 2 7
+f 9 1 3
+f 9 3 4
+f 9 4 5
+f 10 5 4
+f 11 7 2
+f 11 6 7
+f 12 8 1
+f 12 5 8
+f 12 9 5
+f 12 1 9
+f 14 10 11
+f 15 13 10
+f 15 6 13
+f 16 11 10
+f 16 10 13
+f 16 13 6
+f 16 6 11
+f 17 14 11
+f 17 11 2
+f 18 5 10
+f 18 10 14
+f 18 14 17
+f 18 17 2
+f 19 15 10
+f 19 10 4
+f 19 4 6
+f 19 6 15
+f 20 18 2
+f 20 2 5
+f 20 5 18
\ No newline at end of file
diff --git a/objects/objaverse/potato/potato_12/collision/model_normalized_collision_23.obj b/objects/objaverse/potato/potato_12/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..81a2d187a3911bde9854b3c9a40e5635f1957e7a
--- /dev/null
+++ b/objects/objaverse/potato/potato_12/collision/model_normalized_collision_23.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.08170582 -0.13751912 0.02593595
+v 0.14194880 -0.11184737 0.03065525
+v 0.00279765 0.01911303 0.10773332
+v 0.02619422 0.07561385 0.02594110
+v 0.12430607 -0.12225919 0.02699159
+v 0.13295583 0.03237660 0.06980054
+v 0.00769176 -0.14709322 0.03391871
+v 0.00383587 -0.10855573 0.07966379
+v 0.08362908 0.07951090 0.03203156
+v -0.00107441 0.05850917 0.06099942
+v 0.12332375 -0.10307898 0.04659519
+v 0.00452023 -0.13494551 0.05484208
+v -0.00118437 0.04581432 0.09308622
+v 0.00720064 0.06508653 0.03341050
+v 0.12334901 -0.11702070 0.03363108
+v 0.14418705 -0.01020188 0.07822439
+v -0.00031114 -0.03546836 0.10449959
+v 0.13919786 -0.10558175 0.03867091
+v 0.14465380 -0.06538873 0.06511637
+v 0.14020249 -0.09057938 0.05127789
+v 0.01672672 -0.10460279 0.07839794
+f 5 1 4
+f 7 4 1
+f 9 5 4
+f 9 2 5
+f 9 6 2
+f 12 7 1
+f 12 10 7
+f 13 3 6
+f 13 6 9
+f 13 9 4
+f 13 4 10
+f 14 10 4
+f 14 4 7
+f 14 7 10
+f 15 5 2
+f 15 11 8
+f 15 8 12
+f 15 12 1
+f 15 1 5
+f 16 2 6
+f 16 6 3
+f 17 3 13
+f 17 16 3
+f 17 12 8
+f 17 13 10
+f 17 10 12
+f 18 15 2
+f 18 11 15
+f 19 2 16
+f 19 16 17
+f 20 8 11
+f 20 11 18
+f 20 18 2
+f 20 2 19
+f 21 19 17
+f 21 17 8
+f 21 20 19
+f 21 8 20
\ No newline at end of file
diff --git a/objects/objaverse/potato/potato_12/collision/model_normalized_collision_24.obj b/objects/objaverse/potato/potato_12/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..997916b0c714ddee36b504fe647127db5742a771
--- /dev/null
+++ b/objects/objaverse/potato/potato_12/collision/model_normalized_collision_24.obj
@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
+v 0.26350031 -0.11498314 -0.04561018
+v 0.38043844 -0.04800753 -0.08925127
+v 0.32762243 -0.03249171 0.03064561
+v 0.26143149 0.08772912 0.05008226
+v 0.26515151 0.09577167 -0.08754112
+v 0.37884764 0.09164305 0.01499600
+v 0.26529229 -0.03342359 0.05054492
+v 0.32593610 -0.07097266 -0.00497764
+v 0.26119514 -0.11751531 -0.08567765
+v 0.37254663 -0.00170419 0.00418047
+v 0.38636364 0.09577167 -0.08754112
+v 0.27565760 0.00799401 0.06107658
+v 0.32828655 -0.08456275 -0.04542628
+v 0.26447506 -0.08761197 0.00872912
+v 0.34295936 0.00748017 0.03240215
+v 0.36966372 -0.04047126 -0.03566803
+v 0.35373476 -0.03017871 0.00517277
+v 0.26058376 0.04751424 0.06460537
+v 0.30197096 -0.03240720 0.04473938
+v 0.30157616 -0.09832188 -0.03401786
+v 0.32883506 -0.08515682 -0.08552876
+v 0.37448294 0.05237325 0.01624227
+v 0.35620129 -0.00404356 0.01831546
+v 0.31891111 0.06010698 0.04383783
+v 0.34029096 -0.07035797 -0.03347304
+v 0.35318325 -0.04170817 -0.00660869
+v 0.26161755 0.00752966 0.06460963
+v 0.31773421 -0.00705321 0.04599822
+v 0.30222452 -0.05805587 0.03020412
+v 0.27593977 -0.11240855 -0.04598052
+v 0.28879438 -0.08482794 0.00666413
+v 0.27441565 0.04670448 0.06041046
+v 0.30484477 0.07213002 0.04369733
+v 0.26564466 -0.06040376 0.03422859
+v 0.27513172 -0.11313820 -0.08418066
+v 0.28770147 -0.09865152 -0.01847150
+v 0.30190467 -0.07033447 0.01852565
+v 0.27463611 0.08668697 0.04687327
+f 6 5 4
+f 9 5 2
+f 9 4 5
+f 10 2 6
+f 11 6 2
+f 11 2 5
+f 11 5 6
+f 14 9 1
+f 16 2 10
+f 17 10 3
+f 17 3 8
+f 18 4 9
+f 20 13 8
+f 21 9 2
+f 21 2 13
+f 22 10 6
+f 23 15 3
+f 23 3 10
+f 23 22 15
+f 23 10 22
+f 25 13 2
+f 25 2 16
+f 25 16 8
+f 25 8 13
+f 26 16 10
+f 26 10 17
+f 26 17 8
+f 26 8 16
+f 27 12 18
+f 27 19 12
+f 27 7 19
+f 27 18 9
+f 27 9 14
+f 28 12 19
+f 28 24 12
+f 28 6 24
+f 28 22 6
+f 28 15 22
+f 28 19 3
+f 28 3 15
+f 29 19 7
+f 29 8 3
+f 29 3 19
+f 30 1 9
+f 30 21 13
+f 30 13 20
+f 32 24 18
+f 32 18 12
+f 32 12 24
+f 33 24 6
+f 33 18 24
+f 34 27 14
+f 34 7 27
+f 34 29 7
+f 34 14 29
+f 35 30 9
+f 35 9 21
+f 35 21 30
+f 36 20 8
+f 36 8 31
+f 36 30 20
+f 36 1 30
+f 36 31 14
+f 36 14 1
+f 37 29 14
+f 37 14 31
+f 37 31 8
+f 37 8 29
+f 38 33 6
+f 38 6 4
+f 38 4 18
+f 38 18 33
\ No newline at end of file
diff --git a/objects/objaverse/potato/potato_12/collision/model_normalized_collision_25.obj b/objects/objaverse/potato/potato_12/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bdacea89e4b23de42c27be3252d4f69e28593d60
--- /dev/null
+++ b/objects/objaverse/potato/potato_12/collision/model_normalized_collision_25.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v -0.31146478 0.07685177 0.05220925
+v -0.30697394 0.09192045 0.07046691
+v -0.47676088 0.08040541 0.09432272
+v -0.45680277 0.11721025 0.09950667
+v -0.34542954 0.10930702 0.07581407
+v -0.31316148 0.10366221 0.08330373
+v -0.46459686 0.07212295 0.06044659
+v -0.33135456 0.09465919 0.06334121
+v -0.46879964 0.10340701 0.09827988
+v -0.41709185 0.12344486 0.09553169
+v -0.32678298 0.07292880 0.04332361
+v -0.31427862 0.08526508 0.05967874
+v -0.46117123 0.09601739 0.07608733
+v -0.34400763 0.11499486 0.08548861
+v -0.33103554 0.08043902 0.04926764
+v -0.46116261 0.08540819 0.06567355
+v -0.44245991 0.10998203 0.07679800
+v -0.39988914 0.07476957 0.04537031
+v -0.45362714 0.11229839 0.08905704
+v -0.44366129 0.09722302 0.06465243
+v -0.39842128 0.08366148 0.05151719
+v -0.41243876 0.10642837 0.07266194
+f 1 2 3
+f 6 3 2
+f 6 2 5
+f 8 5 2
+f 9 6 4
+f 9 3 6
+f 9 7 3
+f 10 4 6
+f 11 1 3
+f 11 3 7
+f 12 8 2
+f 12 2 1
+f 12 1 8
+f 13 9 4
+f 14 10 6
+f 14 6 5
+f 14 5 10
+f 15 8 1
+f 15 1 11
+f 15 5 8
+f 16 7 9
+f 16 9 13
+f 17 4 10
+f 17 10 5
+f 18 11 7
+f 19 17 13
+f 19 13 4
+f 19 4 17
+f 20 16 13
+f 20 13 17
+f 20 18 7
+f 20 7 16
+f 21 15 11
+f 21 11 18
+f 21 18 20
+f 21 5 15
+f 22 21 20
+f 22 20 17
+f 22 17 5
+f 22 5 21
\ No newline at end of file
diff --git a/objects/objaverse/potato/potato_12/collision/model_normalized_collision_26.obj b/objects/objaverse/potato/potato_12/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..227167ba381d73914c5134d2202dce43123c5f17
--- /dev/null
+++ b/objects/objaverse/potato/potato_12/collision/model_normalized_collision_26.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.14875246 -0.11208389 0.02581132
+v 0.25704795 -0.08978750 -0.16068614
+v 0.26362063 0.14347483 0.00544366
+v 0.13961484 0.14805538 -0.06476593
+v 0.13884280 -0.11328594 -0.17366940
+v 0.26680204 0.15016190 -0.16146382
+v 0.14607183 0.11538819 0.01341925
+v 0.26447506 -0.08761197 0.00872912
+v 0.13556024 0.14819886 -0.07723470
+v 0.26613791 0.15790469 -0.01781610
+v 0.26968623 0.15647171 -0.14341218
+v 0.14867189 0.12454450 -0.15624227
+v 0.21131747 0.13785283 0.00548561
+v 0.19528718 0.15230496 -0.11458942
+v 0.20921780 0.15153313 -0.01951546
+v 0.16547777 0.13961203 -0.12866340
+v 0.19527732 0.13857648 -0.15612979
+v 0.20005161 0.15235693 -0.03212264
+f 5 2 1
+f 6 2 5
+f 7 1 3
+f 8 1 2
+f 8 3 1
+f 9 5 1
+f 9 7 4
+f 9 1 7
+f 10 3 8
+f 11 8 2
+f 11 2 6
+f 11 10 8
+f 12 6 5
+f 12 5 9
+f 13 7 3
+f 13 3 10
+f 14 11 6
+f 14 9 10
+f 14 10 11
+f 15 13 10
+f 15 4 7
+f 15 7 13
+f 16 12 9
+f 16 9 14
+f 17 14 6
+f 17 6 12
+f 17 16 14
+f 17 12 16
+f 18 15 10
+f 18 4 15
+f 18 10 9
+f 18 9 4
\ No newline at end of file
diff --git a/objects/objaverse/potato/potato_12/collision/model_normalized_collision_27.obj b/objects/objaverse/potato/potato_12/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c4248fed49f4efc69866a898ab3067f75107f094
--- /dev/null
+++ b/objects/objaverse/potato/potato_12/collision/model_normalized_collision_27.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.10326870 -0.18190929 0.03081491
+v 0.01168549 -0.15486055 -0.07129011
+v 0.00546163 -0.15012492 0.02941011
+v 0.00976043 -0.14308039 0.04026724
+v -0.09386950 -0.16178794 -0.09066636
+v -0.10196599 -0.17729611 -0.06534670
+v -0.08071963 -0.16506827 0.04739282
+v 0.00208970 -0.14741008 -0.07251852
+v -0.07524266 -0.17432799 -0.05385319
+v -0.08706337 -0.17518307 -0.06307853
+f 1 2 3
+f 1 3 4
+f 3 2 4
+f 6 5 2
+f 6 1 5
+f 7 5 1
+f 7 1 4
+f 7 4 5
+f 8 5 4
+f 8 4 2
+f 8 2 5
+f 9 2 1
+f 9 1 6
+f 10 9 6
+f 10 6 2
+f 10 2 9
\ No newline at end of file
diff --git a/objects/objaverse/potato/potato_12/collision/model_normalized_collision_28.obj b/objects/objaverse/potato/potato_12/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ead0a6bec31cc2cf3a090a67846111a8c3978d5
--- /dev/null
+++ b/objects/objaverse/potato/potato_12/collision/model_normalized_collision_28.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v -0.11533409 -0.17976865 -0.06629009
+v 0.00967216 -0.14504361 -0.11200981
+v 0.00208970 -0.14741008 -0.07251852
+v -0.19333788 -0.12298246 -0.07860843
+v -0.12667780 -0.12594842 -0.12142142
+v -0.19222954 -0.13650167 -0.06503953
+v 0.01168549 -0.15486055 -0.07129011
+v -0.09634742 -0.13478963 -0.12120159
+v 0.00807751 -0.13940426 -0.12282195
+v -0.19869178 -0.12664624 -0.06817792
+v -0.15069940 -0.16200453 -0.08536815
+v -0.09641211 -0.12760231 -0.12605859
+v -0.15887881 -0.16325379 -0.07736117
+v -0.12398536 -0.13527140 -0.11676960
+v -0.14162729 -0.17576327 -0.07380867
+v -0.16710979 -0.12410291 -0.10521224
+v -0.18818316 -0.13349011 -0.07472662
+v -0.11498457 -0.17533644 -0.07446417
+v -0.14128007 -0.18061593 -0.06624179
+v -0.16398772 -0.13525284 -0.09999191
+f 7 1 2
+f 7 6 1
+f 7 3 6
+f 9 2 1
+f 9 7 2
+f 9 3 7
+f 9 4 3
+f 10 6 3
+f 10 3 4
+f 12 9 8
+f 12 5 4
+f 12 4 9
+f 14 12 8
+f 14 5 12
+f 15 13 11
+f 15 8 9
+f 15 14 8
+f 15 11 14
+f 16 4 5
+f 17 10 4
+f 17 13 6
+f 17 6 10
+f 18 15 9
+f 18 9 1
+f 19 1 6
+f 19 6 13
+f 19 13 15
+f 19 18 1
+f 19 15 18
+f 20 14 11
+f 20 11 13
+f 20 13 17
+f 20 17 4
+f 20 4 16
+f 20 16 5
+f 20 5 14
\ No newline at end of file
diff --git a/objects/objaverse/potato/potato_12/collision/model_normalized_collision_29.obj b/objects/objaverse/potato/potato_12/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..184571dd2592b7de4a5d2a39ea620ebf2ce67b36
--- /dev/null
+++ b/objects/objaverse/potato/potato_12/collision/model_normalized_collision_29.obj
@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
+v -0.09955694 -0.14513311 0.12373450
+v -0.00553518 -0.03207465 0.11638628
+v -0.10074713 0.01502149 0.18752846
+v -0.09822776 0.08946286 0.12177123
+v -0.04927033 -0.09263551 0.11780278
+v -0.02248240 0.03922633 0.15385937
+v -0.10637433 -0.13728871 0.14854785
+v -0.09066855 -0.13911582 0.12127441
+v -0.02012086 0.06615661 0.11844868
+v -0.06127481 0.03766166 0.17144685
+v -0.10254736 0.04229800 0.17236952
+v -0.06558619 -0.04839331 0.18094193
+v -0.08400816 -0.11689159 0.14463872
+v -0.00592397 0.04474906 0.12066210
+v -0.04362541 0.07997945 0.11949448
+v -0.10495553 -0.09529497 0.18767122
+v -0.09977992 0.08439766 0.13193637
+v -0.06034047 0.01335830 0.18214228
+v -0.02325859 -0.01919642 0.15545069
+v -0.09864672 -0.13251661 0.14497075
+v -0.03898591 -0.04558786 0.15683849
+v -0.02232106 0.06300704 0.13037995
+v -0.09663590 -0.09034841 0.18502691
+v -0.04505744 0.07690184 0.12814061
+v -0.03124615 0.02779271 0.16665623
+v -0.01052798 0.00609075 0.14460733
+v -0.03953604 -0.07190054 0.12889560
+v -0.01169952 -0.03145335 0.12878878
+v -0.03601573 -0.02025817 0.16845080
+v -0.00815775 0.04319979 0.13056050
+v -0.07087578 -0.08868595 0.15878429
+v -0.03190004 0.05084776 0.15274593
+v -0.01034712 0.02826693 0.14392230
+v -0.03630529 -0.07538116 0.11835288
+v -0.03353631 0.06150611 0.14219956
+f 5 4 2
+f 7 4 1
+f 8 1 4
+f 8 4 5
+f 8 7 1
+f 11 3 10
+f 13 8 5
+f 14 2 9
+f 15 9 2
+f 15 2 4
+f 16 11 7
+f 16 3 11
+f 17 4 7
+f 17 7 11
+f 17 11 10
+f 18 10 3
+f 18 16 12
+f 18 3 16
+f 20 7 8
+f 20 8 13
+f 22 9 15
+f 23 16 7
+f 23 21 12
+f 23 12 16
+f 23 7 20
+f 24 15 4
+f 24 4 17
+f 24 22 15
+f 25 10 18
+f 26 2 14
+f 27 13 5
+f 28 19 21
+f 28 26 19
+f 28 2 26
+f 28 21 27
+f 29 21 19
+f 29 12 21
+f 29 26 25
+f 29 19 26
+f 29 25 18
+f 29 18 12
+f 30 14 9
+f 30 9 22
+f 30 22 6
+f 31 21 23
+f 31 27 21
+f 31 13 27
+f 31 23 20
+f 31 20 13
+f 32 17 10
+f 32 6 22
+f 32 25 6
+f 32 10 25
+f 33 6 25
+f 33 25 26
+f 33 30 6
+f 33 26 14
+f 33 14 30
+f 34 27 5
+f 34 5 2
+f 34 28 27
+f 34 2 28
+f 35 24 17
+f 35 17 32
+f 35 32 22
+f 35 22 24
\ No newline at end of file
diff --git a/objects/objaverse/potato/potato_12/collision/model_normalized_collision_3.obj b/objects/objaverse/potato/potato_12/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1aace9bd2e77e5eb7b4db5195a51c393a8ac2326
--- /dev/null
+++ b/objects/objaverse/potato/potato_12/collision/model_normalized_collision_3.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.26509953 -0.11616578 -0.08751664
+v 0.48983427 0.03076149 -0.15751587
+v 0.48961618 0.05346337 -0.09378962
+v 0.34413730 0.18619521 -0.08873190
+v 0.26986017 0.07425253 -0.26814389
+v 0.44687632 0.17032865 -0.18660428
+v 0.30211051 -0.10284885 -0.08460635
+v 0.36540967 -0.02396716 -0.22532891
+v 0.26539317 0.16897826 -0.08727654
+v 0.47344163 0.14714295 -0.17579716
+v 0.47571920 0.13459639 -0.09055420
+v 0.45320192 -0.00931251 -0.09143601
+v 0.25778335 -0.07172461 -0.20088220
+v 0.40709413 -0.03904875 -0.17462585
+v 0.39097642 0.18533702 -0.19812691
+v 0.49041031 0.09080990 -0.15631290
+v 0.40711013 0.04094547 -0.25213288
+v 0.44791314 0.16886708 -0.09288487
+v 0.48968008 0.02924993 -0.11966909
+v 0.32883506 -0.08515682 -0.08552876
+v 0.48922641 0.09423270 -0.09243091
+v 0.26489816 0.00966958 -0.26998791
+v 0.25942560 -0.10429426 -0.12741814
+v 0.30111091 -0.10001957 -0.09802923
+v 0.38045623 -0.03846987 -0.19857040
+v 0.43775217 -0.02228849 -0.13466753
+v 0.27324938 0.13724029 -0.21337262
+v 0.36168480 0.18566091 -0.17691507
+v 0.46143138 0.07522902 -0.21005764
+v 0.41149765 0.14483202 -0.23581458
+v 0.44748274 0.00394420 -0.19916838
+v 0.47409742 0.14688698 -0.11966113
+v 0.42528762 0.18367591 -0.10659193
+v 0.44858196 -0.01230143 -0.17043581
+v 0.47592528 0.01513988 -0.09340561
+v 0.26603188 -0.01604105 -0.25512539
+v 0.33875499 0.07678736 -0.26677187
+v 0.27098133 0.10063388 -0.25527036
+v 0.34386308 0.18519799 -0.13118702
+v 0.30456560 0.16756621 -0.15867279
+v 0.48973733 0.04286733 -0.16811868
+v 0.42384981 0.17065400 -0.21080549
+v 0.43253535 0.07520049 -0.23743198
+v 0.46341277 0.14603965 -0.19655215
+v 0.42231139 -0.00928833 -0.21192774
+v 0.44489313 0.02766109 -0.22309942
+v 0.46152808 0.15683130 -0.09333369
+v 0.43826713 0.18314951 -0.16141033
+v 0.42324453 0.18483634 -0.18757224
+v 0.41332936 0.18404091 -0.09264793
+v 0.43507989 -0.02279716 -0.16196556
+v 0.47789668 0.02038323 -0.16919968
+v 0.28938513 -0.01189069 -0.25459983
+v 0.33520402 0.03883103 -0.26695752
+v 0.40856902 0.09406303 -0.25128705
+v 0.32375249 0.08887837 -0.26525766
+v 0.28661045 0.12576333 -0.23851134
+v 0.27244410 0.15251507 -0.15922394
+v 0.41071196 0.18369238 -0.19912814
+v 0.43545666 0.14642399 -0.22317513
+v 0.47419625 0.13804187 -0.18631235
+v 0.46332636 0.15548586 -0.18662988
+v 0.39232408 -0.02473584 -0.21126502
+v 0.42039444 0.01585768 -0.23468321
+f 9 7 4
+f 9 1 7
+f 11 4 7
+f 18 4 11
+f 19 16 3
+f 19 2 16
+f 20 12 11
+f 20 11 7
+f 20 7 12
+f 21 12 3
+f 21 11 12
+f 21 3 16
+f 22 13 9
+f 23 1 9
+f 23 9 13
+f 23 14 1
+f 24 14 7
+f 24 7 1
+f 24 1 14
+f 25 13 8
+f 25 23 13
+f 25 14 23
+f 26 12 7
+f 26 7 14
+f 28 4 15
+f 28 15 27
+f 32 11 21
+f 32 21 16
+f 32 16 10
+f 34 19 12
+f 34 2 19
+f 34 12 26
+f 35 19 3
+f 35 3 12
+f 35 12 19
+f 36 13 22
+f 37 22 5
+f 38 22 9
+f 38 5 22
+f 38 9 27
+f 39 28 9
+f 39 9 4
+f 39 4 28
+f 40 28 27
+f 40 9 28
+f 41 16 2
+f 45 14 25
+f 45 34 14
+f 45 31 34
+f 46 29 41
+f 46 43 29
+f 46 17 43
+f 46 31 45
+f 47 18 11
+f 47 11 32
+f 48 32 10
+f 48 47 32
+f 48 18 47
+f 48 33 18
+f 49 15 4
+f 49 33 48
+f 49 48 6
+f 49 6 42
+f 50 4 18
+f 50 18 33
+f 50 49 4
+f 50 33 49
+f 51 34 26
+f 51 26 14
+f 51 14 34
+f 52 34 31
+f 52 2 34
+f 52 41 2
+f 52 46 41
+f 52 31 46
+f 53 8 13
+f 53 13 36
+f 53 36 22
+f 53 22 17
+f 54 37 17
+f 54 17 22
+f 54 22 37
+f 55 37 30
+f 55 17 37
+f 55 43 17
+f 56 37 5
+f 56 30 37
+f 56 38 30
+f 56 5 38
+f 57 38 27
+f 57 27 15
+f 57 15 30
+f 57 30 38
+f 58 40 27
+f 58 27 9
+f 58 9 40
+f 59 42 30
+f 59 30 15
+f 59 49 42
+f 59 15 49
+f 60 44 29
+f 60 29 43
+f 60 43 55
+f 60 55 30
+f 60 30 42
+f 60 42 44
+f 61 41 29
+f 61 29 44
+f 61 16 41
+f 61 10 16
+f 62 44 42
+f 62 42 6
+f 62 61 44
+f 62 10 61
+f 62 48 10
+f 62 6 48
+f 63 45 25
+f 63 25 8
+f 63 8 45
+f 64 45 8
+f 64 46 45
+f 64 17 46
+f 64 53 17
+f 64 8 53
\ No newline at end of file
diff --git a/objects/objaverse/potato/potato_12/collision/model_normalized_collision_30.obj b/objects/objaverse/potato/potato_12/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a48493229fcfeae357523728e6630cc18f7a9677
--- /dev/null
+++ b/objects/objaverse/potato/potato_12/collision/model_normalized_collision_30.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v -0.05578391 -0.13143448 -0.13223302
+v -0.04781252 -0.08180993 -0.16655523
+v -0.05887074 0.03259186 -0.13418832
+v -0.10096581 0.02398160 -0.12342028
+v -0.10037957 -0.12259304 -0.12820032
+v -0.04657494 -0.01286118 -0.16688346
+v -0.05023201 -0.09843749 -0.15799448
+v -0.04882399 0.01439226 -0.15278365
+v -0.07951907 -0.05300968 -0.16348596
+v -0.09831370 -0.11599420 -0.13217892
+v -0.05593306 -0.12213412 -0.14065720
+v -0.09250814 0.01187752 -0.13522192
+v -0.07793479 -0.05815404 -0.16353148
+v -0.09461643 -0.08393133 -0.14287387
+v -0.07479258 0.00972871 -0.14451882
+v -0.08831381 -0.00123405 -0.14347329
+f 1 3 4
+f 5 1 4
+f 7 2 1
+f 8 4 3
+f 8 3 1
+f 8 1 2
+f 8 2 6
+f 9 6 2
+f 10 7 5
+f 10 2 7
+f 11 7 1
+f 11 1 5
+f 11 5 7
+f 13 10 9
+f 13 9 2
+f 13 2 10
+f 14 10 5
+f 14 5 4
+f 14 4 9
+f 14 9 10
+f 15 8 6
+f 15 12 4
+f 15 4 8
+f 16 9 4
+f 16 4 12
+f 16 6 9
+f 16 15 6
+f 16 12 15
\ No newline at end of file
diff --git a/objects/objaverse/potato/potato_12/collision/model_normalized_collision_31.obj b/objects/objaverse/potato/potato_12/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8e0aa2a7b0fefb09e05aae5767aa5cccba0c2c62
--- /dev/null
+++ b/objects/objaverse/potato/potato_12/collision/model_normalized_collision_31.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.44064965 -0.09022351 0.18018502
+v -0.44010317 -0.07720875 0.07253812
+v -0.45173764 -0.07528276 0.18836338
+v -0.46652462 -0.06588170 0.17837152
+v -0.46088237 -0.08629182 0.12583124
+v -0.44458566 -0.06806021 0.06711559
+v -0.46364902 -0.07379707 0.17529973
+v -0.43950541 -0.08719957 0.08652228
+v -0.46486965 -0.06395431 0.08613630
+v -0.44939569 -0.08574233 0.17695622
+v -0.46354784 -0.08464483 0.15221449
+v -0.45530447 -0.06350518 0.07183487
+v -0.46224119 -0.07157957 0.08976865
+v -0.45052341 -0.07241813 0.07654092
+v -0.44763944 -0.08393611 0.08911723
+f 6 4 3
+f 6 1 2
+f 6 3 1
+f 7 3 4
+f 8 2 1
+f 8 1 5
+f 10 1 3
+f 10 3 7
+f 11 7 4
+f 11 10 7
+f 11 5 1
+f 11 1 10
+f 11 9 5
+f 11 4 9
+f 12 9 4
+f 12 4 6
+f 13 5 9
+f 13 9 12
+f 14 12 6
+f 14 6 2
+f 14 13 12
+f 15 8 5
+f 15 5 13
+f 15 13 14
+f 15 14 2
+f 15 2 8
\ No newline at end of file
diff --git a/objects/objaverse/potato/potato_12/collision/model_normalized_collision_4.obj b/objects/objaverse/potato/potato_12/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4646d902b987b793eaf476867009ec781ba1f3e0
--- /dev/null
+++ b/objects/objaverse/potato/potato_12/collision/model_normalized_collision_4.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v -0.23351676 0.05305097 0.21801138
+v -0.18342506 0.08061486 0.03734302
+v -0.24435047 0.09474090 0.16550025
+v -0.36058739 0.12611881 0.19557450
+v -0.35638177 0.05255986 0.02907164
+v -0.18661009 0.08772244 0.07984963
+v -0.35897207 0.11937232 0.21171607
+v -0.19851501 0.07049043 0.02515317
+v -0.35457628 0.11518236 0.08453148
+v -0.33387551 0.12321184 0.16524697
+v -0.24213260 0.07981269 0.18869828
+v -0.35059081 0.12356899 0.19303348
+v -0.33687285 0.07659474 0.24349217
+v -0.35581693 0.07447755 0.04290992
+v -0.33138395 0.12255143 0.11475542
+v -0.24105700 0.06701775 0.20556852
+v -0.35503033 0.12533231 0.11190060
+f 6 1 2
+f 7 4 5
+f 8 2 1
+f 8 1 5
+f 9 2 8
+f 10 3 6
+f 11 6 3
+f 11 1 6
+f 11 3 7
+f 12 7 3
+f 12 4 7
+f 12 10 4
+f 12 3 10
+f 13 7 5
+f 13 5 1
+f 13 1 7
+f 14 5 4
+f 14 4 9
+f 14 9 8
+f 14 8 5
+f 15 6 2
+f 15 10 6
+f 16 11 7
+f 16 7 1
+f 16 1 11
+f 17 15 2
+f 17 2 9
+f 17 9 4
+f 17 4 10
+f 17 10 15
\ No newline at end of file
diff --git a/objects/objaverse/potato/potato_12/collision/model_normalized_collision_5.obj b/objects/objaverse/potato/potato_12/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ff9ee49d88f83a8a6ac3007332013b808a3df26
--- /dev/null
+++ b/objects/objaverse/potato/potato_12/collision/model_normalized_collision_5.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.01826980 -0.12690614 0.05754555
+v 0.14141300 -0.12258681 -0.16270315
+v 0.14543820 -0.10452132 0.03687454
+v 0.12876836 0.15215471 -0.07039580
+v 0.01102159 0.05448044 -0.13684564
+v 0.14722817 0.12963349 -0.14324341
+v 0.13655928 0.07866005 0.05134917
+v 0.00871603 -0.11303849 -0.15898003
+v 0.07916813 0.10805632 -0.13922691
+v -0.00421556 0.07669419 0.02744969
+v 0.14422835 0.12399058 -0.01240566
+v 0.11908753 0.12262219 -0.14195071
+v 0.01501684 0.09182040 -0.09382910
+v 0.13961484 0.14805538 -0.06476593
+v 0.08759739 0.09632382 0.01988443
+v 0.05711384 0.10633854 -0.00325664
+v 0.14538575 0.12597160 -0.02836260
+v 0.13079878 0.15119868 -0.07563121
+v 0.01309529 0.09350785 -0.00416716
+v 0.06965509 0.09445621 0.01893573
+v 0.04411916 0.10793280 -0.08410932
+f 1 2 3
+f 6 3 2
+f 7 1 3
+f 8 2 1
+f 8 6 2
+f 9 8 5
+f 10 1 7
+f 10 8 1
+f 10 5 8
+f 11 7 3
+f 12 6 8
+f 12 8 9
+f 13 9 5
+f 13 5 10
+f 13 4 9
+f 14 4 11
+f 15 7 11
+f 16 11 4
+f 17 11 3
+f 17 3 6
+f 17 14 11
+f 17 6 14
+f 18 12 9
+f 18 9 4
+f 18 6 12
+f 18 14 6
+f 18 4 14
+f 19 13 10
+f 19 16 4
+f 19 10 16
+f 20 16 10
+f 20 15 11
+f 20 11 16
+f 20 10 7
+f 20 7 15
+f 21 19 4
+f 21 4 13
+f 21 13 19
\ No newline at end of file
diff --git a/objects/objaverse/potato/potato_12/collision/model_normalized_collision_6.obj b/objects/objaverse/potato/potato_12/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1e4f860e2ef43e50cc805cba1f93fe9864dfc5c0
--- /dev/null
+++ b/objects/objaverse/potato/potato_12/collision/model_normalized_collision_6.obj
@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
+v 0.21343974 -0.11721229 -0.15941391
+v 0.26603188 -0.01604105 -0.25512539
+v 0.26680204 0.15016190 -0.16146382
+v 0.22101216 0.14309589 -0.15848535
+v 0.14737470 0.04502832 -0.22272531
+v 0.24145163 -0.10216589 -0.15808633
+v 0.14984574 -0.06417097 -0.22219539
+v 0.14508840 0.12164132 -0.16085561
+v 0.27098133 0.10063388 -0.25527036
+v 0.23934659 -0.08432153 -0.19730376
+v 0.25704795 -0.08978750 -0.16068614
+v 0.25513260 0.01087616 -0.26747206
+v 0.16268539 0.12789994 -0.15740169
+v 0.14464206 -0.12540920 -0.15912622
+v 0.27080821 0.12793078 -0.22850433
+v 0.14656851 0.09680694 -0.19215088
+v 0.21242528 -0.11326390 -0.17206746
+v 0.21616353 -0.07340369 -0.22106765
+v 0.25862475 -0.05302460 -0.22354492
+v 0.25380544 -0.08253320 -0.18433587
+v 0.17888043 -0.03881237 -0.23665531
+v 0.16455771 -0.07593226 -0.21999179
+v 0.26779774 0.06247939 -0.27059962
+v 0.27123742 0.14053238 -0.20323615
+v 0.24784398 0.08625453 -0.25402035
+v 0.25770378 0.12277898 -0.22797056
+v 0.18694054 -0.11291894 -0.18345150
+v 0.21331321 -0.09870399 -0.19688397
+v 0.23933147 -0.09835102 -0.17142983
+v 0.17806047 0.01602533 -0.23579719
+v 0.26489816 0.00966958 -0.26998791
+v 0.15117436 -0.10094748 -0.19420689
+v 0.25726830 0.06122290 -0.26733719
+v 0.25759356 0.09821915 -0.25149419
+v 0.14927791 0.11004122 -0.18029317
+v 0.14702386 -0.11940059 -0.16979050
+v 0.15290597 -0.08794550 -0.20798448
+v 0.16205056 -0.11437134 -0.18029282
+f 6 3 4
+f 11 3 6
+f 13 6 4
+f 14 13 8
+f 14 1 6
+f 14 6 13
+f 14 8 5
+f 14 5 7
+f 16 5 8
+f 17 6 1
+f 19 2 11
+f 19 18 2
+f 20 19 11
+f 20 10 19
+f 21 7 5
+f 22 2 18
+f 23 9 2
+f 24 4 3
+f 24 3 11
+f 24 11 2
+f 24 2 9
+f 24 9 15
+f 24 13 4
+f 24 15 8
+f 24 8 13
+f 25 5 16
+f 25 9 23
+f 26 15 9
+f 27 17 1
+f 27 1 14
+f 28 19 10
+f 28 18 19
+f 28 10 17
+f 28 17 27
+f 28 27 22
+f 28 22 18
+f 29 20 11
+f 29 11 6
+f 29 6 17
+f 29 17 10
+f 29 10 20
+f 30 21 5
+f 30 5 12
+f 30 12 21
+f 31 2 22
+f 31 23 2
+f 31 12 23
+f 31 21 12
+f 31 22 7
+f 31 7 21
+f 33 23 12
+f 33 12 5
+f 33 25 23
+f 33 5 25
+f 34 25 16
+f 34 9 25
+f 34 26 9
+f 34 16 26
+f 35 26 16
+f 35 16 8
+f 35 8 15
+f 35 15 26
+f 36 14 7
+f 36 7 32
+f 37 32 7
+f 37 7 22
+f 37 22 27
+f 37 27 32
+f 38 36 32
+f 38 32 27
+f 38 27 14
+f 38 14 36
\ No newline at end of file
diff --git a/objects/objaverse/potato/potato_12/collision/model_normalized_collision_7.obj b/objects/objaverse/potato/potato_12/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..067b24cd0b05262961d7b886943e0198fe3d7c3f
--- /dev/null
+++ b/objects/objaverse/potato/potato_12/collision/model_normalized_collision_7.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v -0.23586534 -0.16640868 0.04780682
+v -0.23417344 -0.14903868 0.12959157
+v -0.35409634 -0.10652620 0.20938912
+v -0.33687285 0.07659474 0.24349217
+v -0.23574938 0.06230911 0.02419580
+v -0.23546851 -0.09146553 0.20473807
+v -0.33218480 -0.14596332 0.14887642
+v -0.23484849 -0.02544045 0.03367101
+v -0.36532423 -0.02992832 0.00741185
+v -0.29742984 -0.13045405 0.18655415
+v -0.23351676 0.05305097 0.21801138
+v -0.28415987 -0.14579761 0.15957970
+v -0.35638177 0.05255986 0.02907164
+v -0.34591256 -0.12838486 0.06182965
+v -0.28561957 -0.11436932 0.20002791
+v -0.23996389 -0.13022232 0.15707308
+v -0.31961179 -0.14538664 0.16036998
+v -0.35079465 -0.11608137 0.19207909
+v -0.33302249 -0.14290853 0.07490136
+v -0.33601781 -0.11510621 0.20422202
+v -0.34121371 -0.13263522 0.16171771
+v -0.30235753 -0.14636485 0.05871226
+v -0.32169005 -0.12639405 0.19027882
+f 6 4 3
+f 8 2 1
+f 8 1 5
+f 9 3 4
+f 9 5 1
+f 11 5 4
+f 11 4 6
+f 11 6 2
+f 11 8 5
+f 11 2 8
+f 12 1 2
+f 12 2 10
+f 13 9 4
+f 13 4 5
+f 13 5 9
+f 14 3 9
+f 14 9 1
+f 15 10 6
+f 15 6 3
+f 16 10 2
+f 16 2 6
+f 16 6 10
+f 17 3 7
+f 17 12 10
+f 17 7 1
+f 17 1 12
+f 18 7 3
+f 18 3 14
+f 19 1 7
+f 19 7 14
+f 20 15 3
+f 20 10 15
+f 20 3 17
+f 21 18 14
+f 21 14 7
+f 21 7 18
+f 22 19 14
+f 22 14 1
+f 22 1 19
+f 23 20 17
+f 23 17 10
+f 23 10 20
\ No newline at end of file
diff --git a/objects/objaverse/potato/potato_12/collision/model_normalized_collision_8.obj b/objects/objaverse/potato/potato_12/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..04c3e5a1fc0942461d1e12d35d98b013ae3ec0c4
--- /dev/null
+++ b/objects/objaverse/potato/potato_12/collision/model_normalized_collision_8.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v -0.34832367 -0.14005428 0.12397501
+v -0.34774952 -0.13342637 0.07127243
+v -0.35503033 0.12533231 0.11190060
+v -0.41301876 0.12530029 0.20703802
+v -0.40766294 -0.10012935 0.07220668
+v -0.36313062 0.12267169 0.20818365
+v -0.39253612 -0.11552818 0.08638970
+v -0.35307324 0.02907373 0.01681163
+v -0.35079465 -0.11608137 0.19207909
+v -0.37593618 -0.11332198 0.06055918
+v -0.35457628 0.11518236 0.08453148
+v -0.41521708 0.07406842 0.04713090
+v -0.35409634 -0.10652620 0.20938912
+v -0.40964021 -0.10021428 0.19473614
+v -0.36298286 -0.12590227 0.07223482
+v -0.35223212 -0.07667605 0.01672754
+v -0.35572411 0.05698600 0.03127800
+v -0.41967968 0.12591644 0.10011128
+v -0.41155080 -0.09093519 0.20871284
+v -0.39681526 -0.11380658 0.13819245
+v -0.36785664 -0.11202697 0.19227986
+v -0.35054851 -0.12157860 0.05588759
+v -0.37992061 -0.08690476 0.03241403
+v -0.38984309 -0.05009229 0.02057573
+v -0.41456635 0.04777828 0.03591430
+v -0.39547080 -0.09928250 0.20576773
+v -0.40244754 -0.08656417 0.04898374
+v -0.36697185 -0.07481043 0.01960427
+v -0.39862576 0.05778179 0.03719449
+v -0.37994814 0.02875191 0.02263189
+v -0.40332193 -0.06444996 0.03235682
+v -0.38636828 0.00163488 0.02266435
+f 1 2 3
+f 6 3 4
+f 7 2 1
+f 9 1 3
+f 9 3 6
+f 10 7 5
+f 11 3 2
+f 11 2 8
+f 13 9 6
+f 15 10 2
+f 15 2 7
+f 15 7 10
+f 16 8 2
+f 17 12 11
+f 17 11 8
+f 17 8 12
+f 18 4 3
+f 18 3 11
+f 18 11 12
+f 19 13 6
+f 19 6 4
+f 19 4 18
+f 19 5 14
+f 20 7 1
+f 20 1 14
+f 20 14 5
+f 20 5 7
+f 21 14 1
+f 21 1 9
+f 22 16 2
+f 22 2 10
+f 23 22 10
+f 23 16 22
+f 24 8 16
+f 25 18 12
+f 25 19 18
+f 25 5 19
+f 26 19 14
+f 26 13 19
+f 26 14 21
+f 26 21 9
+f 26 9 13
+f 27 23 10
+f 27 10 5
+f 28 24 16
+f 28 16 23
+f 29 25 12
+f 29 12 8
+f 29 8 25
+f 30 25 8
+f 30 8 24
+f 31 23 27
+f 31 28 23
+f 31 24 28
+f 31 25 24
+f 31 27 5
+f 31 5 25
+f 32 30 24
+f 32 24 25
+f 32 25 30
\ No newline at end of file
diff --git a/objects/objaverse/potato/potato_12/collision/model_normalized_collision_9.obj b/objects/objaverse/potato/potato_12/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2de24f516f6062ce4420669f0dcd3d79149a6957
--- /dev/null
+++ b/objects/objaverse/potato/potato_12/collision/model_normalized_collision_9.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v -0.41133020 -0.10404914 0.18145859
+v -0.40593091 -0.07844439 0.04454850
+v -0.41666667 0.05031713 0.12458009
+v -0.44126897 0.07423101 0.23972139
+v -0.49039978 0.05921122 0.13829642
+v -0.41155080 -0.09093519 0.20871284
+v -0.43994692 -0.09816996 0.11473038
+v -0.41587657 -0.02492577 0.03769398
+v -0.46412973 0.05410654 0.23206050
+v -0.40875570 -0.10416039 0.08291239
+v -0.43828594 -0.09787902 0.16464973
+v -0.44316707 -0.02265543 0.04415592
+v -0.43496437 -0.08383596 0.07557405
+v -0.42425382 -0.09891389 0.17990238
+v -0.43686729 -0.07601140 0.20596119
+v -0.42006795 -0.09852689 0.08617341
+v -0.40804097 -0.09019112 0.05730325
+v -0.43833748 -0.04755016 0.05024952
+v -0.43659256 -0.08603719 0.19313335
+v -0.43410895 -0.07201350 0.06242062
+v -0.42391184 -0.08667637 0.20534535
+v -0.41897182 -0.08463108 0.06120474
+v -0.41902337 -0.07417804 0.05178487
+f 5 4 3
+f 6 3 4
+f 6 1 2
+f 6 2 3
+f 8 5 3
+f 8 3 2
+f 9 6 4
+f 9 4 5
+f 10 2 1
+f 10 1 7
+f 11 7 1
+f 11 5 7
+f 12 5 8
+f 12 8 2
+f 13 7 5
+f 14 11 1
+f 14 1 6
+f 15 6 9
+f 15 9 5
+f 16 13 10
+f 16 10 7
+f 16 7 13
+f 17 2 10
+f 17 10 13
+f 18 12 2
+f 18 13 5
+f 18 5 12
+f 19 15 5
+f 19 5 11
+f 19 11 14
+f 20 13 18
+f 21 19 14
+f 21 14 6
+f 21 6 15
+f 21 15 19
+f 22 17 13
+f 22 13 20
+f 22 20 2
+f 22 2 17
+f 23 20 18
+f 23 18 2
+f 23 2 20
\ No newline at end of file
diff --git a/objects/objaverse/potato/potato_12/model.xml b/objects/objaverse/potato/potato_12/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..c94694dcc9bfa47e5805373f7ee54db58006442a
--- /dev/null
+++ b/objects/objaverse/potato/potato_12/model.xml
@@ -0,0 +1,81 @@
+<mujoco model="potato_0">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.12999999999999995 0.12999999999999995 0.12999999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.12999999999999995 0.12999999999999995 0.12999999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.12999999999999995 0.12999999999999995 0.12999999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.12999999999999995 0.12999999999999995 0.12999999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.12999999999999995 0.12999999999999995 0.12999999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.12999999999999995 0.12999999999999995 0.12999999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.12999999999999995 0.12999999999999995 0.12999999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.12999999999999995 0.12999999999999995 0.12999999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.12999999999999995 0.12999999999999995 0.12999999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.12999999999999995 0.12999999999999995 0.12999999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.12999999999999995 0.12999999999999995 0.12999999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.12999999999999995 0.12999999999999995 0.12999999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.12999999999999995 0.12999999999999995 0.12999999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.12999999999999995 0.12999999999999995 0.12999999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.12999999999999995 0.12999999999999995 0.12999999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.12999999999999995 0.12999999999999995 0.12999999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.12999999999999995 0.12999999999999995 0.12999999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.12999999999999995 0.12999999999999995 0.12999999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.12999999999999995 0.12999999999999995 0.12999999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.12999999999999995 0.12999999999999995 0.12999999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.12999999999999995 0.12999999999999995 0.12999999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.12999999999999995 0.12999999999999995 0.12999999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.12999999999999995 0.12999999999999995 0.12999999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.12999999999999995 0.12999999999999995 0.12999999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.12999999999999995 0.12999999999999995 0.12999999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.12999999999999995 0.12999999999999995 0.12999999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.12999999999999995 0.12999999999999995 0.12999999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.12999999999999995 0.12999999999999995 0.12999999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.12999999999999995 0.12999999999999995 0.12999999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.12999999999999995 0.12999999999999995 0.12999999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.12999999999999995 0.12999999999999995 0.12999999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.12999999999999995 0.12999999999999995 0.12999999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.12999999999999995 0.12999999999999995 0.12999999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="material0.003" texture="image0" specular="0.5" shininess="0.359999993"/>
+  </asset>
+  <worldbody>
+    <body>
+      <body name="object">
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_0_vis" conaffinity="0" contype="0" group="1" material="material0.003"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_22._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_23._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_21._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_20._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_24._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 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"/>
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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_13._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+      </body>
+      <site rgba="0 0 0 0" size="0.005" pos="-0.0003373461000000001 0.0003367552499999972 -0.03517795059999999" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="-0.0003373461000000001 0.0003367552499999972 0.035667013199999986" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.02420537729999999 0.06442685079999996 0.00024453130000000203" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/objects/objaverse/potato/potato_12/visual/material.mtl b/objects/objaverse/potato/potato_12/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..842b70538fc6029daec10eabd1278717f12035ab
--- /dev/null
+++ b/objects/objaverse/potato/potato_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 359.99999300
+map_Kd material_0.jpeg
\ No newline at end of file
diff --git a/objects/objaverse/potato/potato_12/visual/model_normalized_0.obj b/objects/objaverse/potato/potato_12/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea178a9e8c4e98b6bb53fe69de680d3c3f744ae2
--- /dev/null
+++ b/objects/objaverse/potato/potato_12/visual/model_normalized_0.obj
@@ -0,0 +1,21479 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/objects/objaverse/potato/potato_4/visual/material.mtl b/objects/objaverse/potato/potato_4/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..842b70538fc6029daec10eabd1278717f12035ab
--- /dev/null
+++ b/objects/objaverse/potato/potato_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 359.99999300
+map_Kd material_0.jpeg
\ No newline at end of file
diff --git a/objects/objaverse/potato/potato_4/visual/model_normalized_0.obj b/objects/objaverse/potato/potato_4/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ee228ccdb63ad7e6cb32b3e9a684d75a96ecb5ad
--- /dev/null
+++ b/objects/objaverse/potato/potato_4/visual/model_normalized_0.obj
@@ -0,0 +1,221742 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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