diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_0/collision/collision_mesh_collision_0.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_0/collision/collision_mesh_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a48e099243909c961798eee005718519bfd5617
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_0/collision/collision_mesh_collision_0.obj
@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
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diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_0/collision/collision_mesh_collision_1.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_0/collision/collision_mesh_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8c327cbebf45e2f96d252b8b35ae56455017bcda
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_0/collision/collision_mesh_collision_1.obj
@@ -0,0 +1,484 @@
+# https://github.com/mikedh/trimesh
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diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_0/collision/collision_mesh_collision_2.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_0/collision/collision_mesh_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f9034b47cbbf7d68483ae4e40ab7918000f07252
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_0/collision/collision_mesh_collision_2.obj
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diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_0/collision/collision_mesh_collision_3.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_0/collision/collision_mesh_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8f597fa2da1edefe59907a7f3da2021037f12d8f
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_0/collision/collision_mesh_collision_3.obj
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diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_0/collision/collision_mesh_collision_4.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_0/collision/collision_mesh_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6a4bbb1482ddc2c7ab6b79cba8bb1a487d1399c6
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_0/collision/collision_mesh_collision_4.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v 0.08951604 -0.02771899 -0.39513105
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+
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_0/collision/collision_mesh_collision_5.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_0/collision/collision_mesh_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ca69a05ffbb715a4ca784e8409430687d22aab5
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_0/collision/collision_mesh_collision_5.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v 0.15084463 0.00455238 -0.39513105
+v 0.15084463 0.00525105 -0.39559501
+v 0.17462689 0.00771796 -0.39513105
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+
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_0/collision/collision_mesh_collision_6.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_0/collision/collision_mesh_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c654a58a22a1e48b34c95c66cada08c4508a4966
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_0/collision/collision_mesh_collision_6.obj
@@ -0,0 +1,502 @@
+# https://github.com/mikedh/trimesh
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diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_0/collision/collision_mesh_collision_7.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_0/collision/collision_mesh_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4d3ada862c773f1887c1267958dfa5170ef84883
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_0/collision/collision_mesh_collision_7.obj
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diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_0/collision/collision_mesh_collision_8.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_0/collision/collision_mesh_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae9a5417f031283e1e9a9316af77468c1336cc12
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_0/collision/collision_mesh_collision_8.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
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diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_0/collision/model_normalized_collision_0.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_0/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..50650e4d2af3fb7a60c21be17b37a53596179cfd
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_0/collision/model_normalized_collision_0.obj
@@ -0,0 +1,150 @@
+# https://github.com/mikedh/trimesh
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+f 44 4 9
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+f 49 14 22
+f 49 22 47
+f 49 47 42
+f 49 42 46
+f 50 48 42
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+f 51 50 47
+f 51 47 23
+f 51 23 48
+f 51 48 50
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_0/collision/model_normalized_collision_1.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_0/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4fe431378f8b98470232adf520931f2e740ef6a8
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_0/collision/model_normalized_collision_1.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.20101069 -0.25576793 -0.14696317
+v 0.36755058 -0.05431652 -0.24618967
+v 0.28133557 -0.05412450 -0.00767978
+v 0.19488661 0.23637498 -0.11845604
+v 0.20072970 0.14926752 -0.31690023
+v 0.35211304 0.08562086 -0.12177296
+v 0.19669305 -0.18427356 -0.00442456
+v 0.20617510 -0.23947920 -0.27428331
+v 0.36963288 -0.05461786 -0.14669257
+v 0.26842261 0.11268326 -0.04130877
+v 0.29582191 0.15297271 -0.24182620
+v 0.19816867 0.16029879 -0.31110515
+v 0.30321997 -0.05249950 -0.34612702
+v 0.30780936 -0.19557333 -0.20145444
+v 0.35326518 0.03160468 -0.09249553
+v 0.37088622 0.04522069 -0.14540279
+v 0.29320628 -0.16689414 -0.08090177
+v 0.29760197 0.13877661 -0.09373081
+v 0.19888221 0.10360841 -0.00388112
+v 0.19600432 -0.21117179 -0.03212171
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+v 0.20473979 -0.01207429 -0.31060605
+v 0.28553872 0.09888394 -0.30807315
+v 0.19658626 0.23863806 -0.23215226
+v 0.35345312 -0.12224448 -0.20351281
+v 0.29467465 -0.18256279 -0.27188641
+v 0.33740579 -0.05406570 -0.07970229
+v 0.29828258 0.04093361 -0.02459823
+v 0.36895908 -0.08425874 -0.19060252
+v 0.35336431 0.00404116 -0.09308457
+v 0.35252367 0.07041540 -0.10790340
+v 0.33841047 0.11429733 -0.21580279
+v 0.26489369 -0.13840824 -0.02474518
+v 0.26825587 -0.22106255 -0.12197240
+v 0.19612296 0.22050775 -0.08945457
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\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_0/collision/model_normalized_collision_10.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_0/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ba0a0a813e985dcb1fc402313b2cec44cc771260
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_0/collision/model_normalized_collision_10.obj
@@ -0,0 +1,126 @@
+# https://github.com/mikedh/trimesh
+v -0.16861117 -0.15484978 -0.40463223
+v -0.09855385 -0.05670182 -0.40044293
+v -0.34318261 -0.08236662 -0.36564361
+v -0.23341391 0.08807738 -0.37870258
+v -0.17243316 -0.01150877 -0.45769632
+v -0.10084972 -0.07017812 -0.39482728
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+v -0.27417249 -0.08031877 -0.42917174
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+v -0.19250508 -0.13096185 -0.41546371
+v -0.16155753 0.08320021 -0.40750912
+v -0.31553252 -0.06589995 -0.41576936
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+v -0.25543519 -0.13266421 -0.40124102
+v -0.17615747 -0.14668313 -0.40924212
+v -0.17511141 0.04064658 -0.44478630
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+v -0.29023452 -0.01438756 -0.42825960
+v -0.27650897 0.07212982 -0.37636667
+v -0.24399977 -0.12063019 -0.41513857
+v -0.29978735 -0.09054889 -0.41332768
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+v -0.28706107 -0.06887211 -0.42741530
+v -0.31399540 0.02179138 -0.39869250
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+f 43 22 36
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+f 43 10 22
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_0/collision/model_normalized_collision_11.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_0/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..185853f4c991030fd5588ee5705445de0c89d699
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_0/collision/model_normalized_collision_11.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v 0.06692855 -0.07113623 -0.38309513
+v 0.26962458 -0.00955493 -0.36897488
+v -0.17404808 -0.01207429 -0.35606059
+v -0.17137184 0.12988271 -0.34722987
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+v 0.24616054 0.07043464 -0.34595988
+v 0.02816781 0.05707918 -0.49525404
+v -0.21046448 -0.00943345 -0.44575772
+v 0.26108953 0.05753540 -0.34806417
+v 0.10867320 0.13311051 -0.44320986
+v 0.26183701 -0.01360854 -0.37234582
+v -0.13575119 0.06784632 -0.44472577
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+v -0.20092464 -0.06461770 -0.43276967
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+f 29 12 28
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_0/collision/model_normalized_collision_12.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_0/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c18bac02b1336dafb5f9440836ca71e5cf801482
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_0/collision/model_normalized_collision_12.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.12366626 -0.23682348 0.44645307
+v 0.15939002 -0.22497236 0.41166012
+v 0.11226219 -0.12936756 0.46375349
+v 0.05175061 -0.13114402 0.47689833
+v -0.10008234 -0.18650849 0.22915571
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+v 0.07004960 -0.14097368 0.49374695
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+v 0.12215818 -0.13654694 0.42186908
+v 0.05135646 -0.20274890 0.24499492
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+v -0.08321403 -0.21187395 0.23185820
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+f 63 30 52
+f 63 52 10
+f 63 10 46
+f 64 60 5
+f 64 5 25
+f 64 25 47
+f 64 47 60
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_0/collision/model_normalized_collision_13.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_0/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..01b4619b4fc31a13ff2aab524e5ab4db29d259c1
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_0/collision/model_normalized_collision_13.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v 0.04982147 -0.24721460 0.25482746
+v 0.06179316 -0.22323498 0.25429323
+v -0.09263022 -0.11405694 0.22961898
+v -0.06616635 -0.02934871 0.13788196
+v 0.01551180 -0.23212801 0.11839024
+v 0.02058743 -0.02820696 0.13746957
+v 0.05967380 -0.23618503 0.25700713
+v -0.06025608 -0.25701189 0.17508329
+v -0.01612246 -0.10019242 0.21720769
+v -0.09312721 -0.04262049 0.12351284
+v 0.03241701 -0.04309795 0.13611702
+v -0.08321403 -0.21187395 0.23185820
+v -0.01418192 -0.25346162 0.12618615
+v -0.00153132 -0.11579777 0.22192834
+v -0.07640991 -0.10589123 0.22482710
+v 0.02295692 -0.25189949 0.25077124
+v -0.09014034 -0.21661833 0.12625290
+v -0.05779725 -0.24011574 0.23182485
+v -0.05346556 -0.25228242 0.13186751
+v -0.10094863 -0.07526756 0.12152755
+v -0.10573892 -0.12111393 0.18828251
+v -0.06950937 -0.23858385 0.13181315
+v -0.10710418 -0.11872077 0.12922020
+f 7 2 3
+f 7 5 2
+f 7 1 5
+f 10 4 6
+f 10 3 4
+f 11 6 2
+f 11 2 5
+f 11 10 6
+f 11 5 10
+f 13 5 1
+f 14 9 3
+f 14 3 2
+f 14 2 6
+f 14 6 9
+f 15 9 6
+f 15 6 4
+f 15 4 3
+f 15 3 9
+f 16 7 3
+f 16 3 12
+f 16 1 7
+f 16 13 1
+f 16 8 13
+f 17 8 12
+f 17 5 13
+f 18 16 12
+f 18 12 8
+f 18 8 16
+f 19 17 13
+f 19 13 8
+f 20 10 5
+f 20 5 17
+f 21 17 12
+f 21 12 3
+f 21 3 10
+f 21 10 20
+f 22 19 8
+f 22 8 17
+f 22 17 19
+f 23 21 20
+f 23 20 17
+f 23 17 21
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_0/collision/model_normalized_collision_14.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_0/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5b84da2616e2dc626ca194853300ca9ccd6aefbc
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_0/collision/model_normalized_collision_14.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.09643413 -0.25108476 0.00504904
+v 0.26047334 -0.08611060 0.00084991
+v 0.09085954 -0.08582485 0.08645485
+v 0.12516325 0.09357427 0.04343809
+v 0.21691834 0.07598825 -0.00023886
+v 0.09311844 0.07462443 0.07548540
+v 0.09146671 -0.19082357 0.06032991
+v 0.13643357 -0.22870522 -0.00100251
+v 0.09024052 0.04506901 0.08801183
+v 0.24101340 -0.12597848 0.00306083
+v 0.24342320 -0.12898376 -0.00049418
+v 0.10827660 -0.24605311 0.00132482
+v 0.09144787 -0.21897722 0.04454755
+v 0.25786879 0.01475631 0.00521509
+v 0.09270992 -0.24542181 0.01600908
+v 0.25632174 -0.08390700 0.00442145
+v 0.09206735 -0.14592527 0.07291054
+v 0.24722902 0.04557209 0.00003073
+v 0.20084776 -0.17434079 0.00009903
+v 0.10455239 -0.24039016 0.01228487
+v 0.26311386 0.01684444 0.00239658
+v 0.13239692 -0.22396285 0.00723408
+f 5 1 4
+f 6 4 1
+f 6 5 4
+f 11 8 5
+f 11 2 10
+f 12 1 5
+f 12 5 8
+f 13 7 3
+f 13 3 9
+f 13 10 7
+f 14 9 3
+f 15 9 6
+f 15 6 1
+f 15 13 9
+f 16 10 2
+f 16 3 10
+f 16 14 3
+f 17 10 3
+f 17 3 7
+f 17 7 10
+f 18 11 5
+f 18 2 11
+f 18 5 6
+f 19 8 11
+f 19 11 10
+f 19 10 13
+f 20 13 15
+f 20 12 8
+f 20 15 1
+f 20 1 12
+f 21 16 2
+f 21 14 16
+f 21 2 18
+f 21 9 14
+f 21 18 6
+f 21 6 9
+f 22 19 13
+f 22 8 19
+f 22 20 8
+f 22 13 20
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_0/collision/model_normalized_collision_15.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_0/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be10793cd3cd21fb0055cf89c5d95a0e5f1cb4c0
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_0/collision/model_normalized_collision_15.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.02110463 -0.25145515 0.08213787
+v 0.11871063 -0.19129288 0.03894698
+v 0.03485897 -0.11457266 0.13268530
+v 0.02234750 0.07514094 0.10539091
+v 0.02292161 0.07883480 0.00757577
+v 0.12516325 0.09357427 0.04343809
+v 0.01363324 -0.17586115 0.13774646
+v 0.02292161 -0.17874096 0.00757577
+v 0.08653847 -0.04044590 0.09609592
+v 0.02046715 0.01396337 0.12746568
+v 0.02064931 0.05827198 0.11300335
+v 0.01551180 -0.23212801 0.11839024
+v 0.01539104 -0.24573873 0.10608420
+v 0.08698060 -0.12881242 0.08044313
+v 0.04643493 -0.00053678 0.12408175
+v 0.03200465 -0.24589913 0.07852424
+v 0.03674896 -0.22945372 0.09924803
+v 0.03509244 0.01351637 0.12540235
+v 0.08601700 0.02883655 0.09576496
+v 0.02447191 -0.24075510 0.10221628
+v 0.04560802 0.05490680 0.11042125
+v 0.02137712 -0.23226483 0.11248080
+v 0.06008269 0.04258338 0.10828797
+v 0.06049842 0.07115093 0.09567296
+v 0.08712040 0.07008297 0.08217183
+f 6 5 4
+f 6 2 5
+f 7 2 3
+f 8 5 2
+f 8 2 1
+f 9 2 6
+f 10 7 3
+f 11 4 5
+f 11 5 7
+f 11 7 10
+f 12 2 7
+f 13 7 5
+f 13 5 8
+f 13 12 7
+f 13 8 1
+f 14 9 3
+f 14 3 2
+f 14 2 9
+f 15 3 9
+f 16 13 1
+f 16 1 2
+f 17 2 12
+f 18 10 3
+f 18 3 15
+f 19 15 9
+f 19 9 6
+f 20 16 2
+f 20 13 16
+f 20 2 17
+f 20 12 13
+f 21 11 10
+f 21 10 18
+f 21 4 11
+f 22 20 17
+f 22 17 12
+f 22 12 20
+f 23 21 18
+f 23 18 15
+f 23 15 19
+f 24 6 4
+f 24 4 21
+f 24 21 23
+f 25 23 19
+f 25 19 6
+f 25 24 23
+f 25 6 24
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_0/collision/model_normalized_collision_16.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_0/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d14e576404b13fcfd238b4744b75871a32a7c84d
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_0/collision/model_normalized_collision_16.obj
@@ -0,0 +1,135 @@
+# https://github.com/mikedh/trimesh
+v 0.19809320 0.07337001 0.00853410
+v 0.20328159 0.07763588 0.00446192
+v 0.04900930 0.15688509 0.05001896
+v -0.13887177 0.22014004 -0.00043064
+v -0.19458947 0.08182319 0.04205837
+v 0.09525174 0.20765051 -0.00174785
+v 0.04880986 0.07247835 0.10069689
+v -0.19844164 0.16561131 0.00191763
+v 0.05185348 0.22398125 -0.00019424
+v 0.10271142 0.07406056 0.06844312
+v -0.10872939 0.07419461 0.09806413
+v 0.09015647 0.15800971 0.03463697
+v -0.20284588 0.15353975 0.00613456
+v 0.16861979 0.13492943 -0.00243976
+v -0.12329136 0.17193334 0.04967843
+v 0.09214098 0.20080000 0.00494152
+v 0.06095167 0.12867552 0.06421790
+v 0.10094093 0.08522812 0.06481555
+v 0.20183982 0.09120966 -0.00004697
+v -0.18079182 0.19139256 -0.00103279
+v -0.13627607 0.21353265 0.00957516
+v -0.03895213 0.17217646 0.05084841
+v -0.14724965 0.08651618 0.07903749
+v 0.04972015 0.21796190 0.00511599
+v 0.10540565 0.17193593 0.01860628
+v 0.04883844 0.08367171 0.09493262
+v 0.11741804 0.15940884 0.01866170
+v -0.16549733 0.20639690 -0.00117919
+v -0.16150580 0.15866231 0.03730983
+v -0.07990481 0.10148214 0.09406519
+v -0.19681579 0.14932282 0.01551245
+v -0.14711179 0.07687354 0.08184000
+v -0.12213955 0.14456450 0.06537522
+v 0.00575710 0.18719554 0.03553457
+v 0.02021432 0.14264859 0.06597739
+v -0.16182106 0.20044721 0.00839268
+v -0.06699249 0.12953620 0.08000169
+v -0.00857556 0.09932334 0.09554888
+v -0.19409986 0.16068653 0.00987838
+v -0.13528450 0.10110908 0.07851386
+v -0.10850481 0.08632308 0.09354457
+v 0.03388235 0.20184252 0.02024297
+v -0.13836192 0.20023657 0.02143773
+v -0.14875123 0.17358272 0.03536778
+v -0.17506242 0.18925288 0.00600978
+v -0.03874775 0.12779038 0.08074986
+f 5 2 1
+f 9 6 4
+f 10 7 1
+f 10 1 2
+f 11 5 1
+f 11 1 7
+f 13 2 5
+f 16 6 9
+f 16 3 12
+f 17 12 3
+f 18 7 10
+f 19 13 8
+f 19 2 13
+f 19 18 10
+f 19 10 2
+f 20 19 8
+f 20 14 19
+f 21 9 4
+f 22 21 15
+f 22 9 21
+f 24 16 9
+f 24 3 16
+f 25 14 6
+f 25 6 16
+f 25 16 12
+f 26 17 3
+f 26 7 12
+f 26 12 17
+f 27 12 7
+f 27 7 18
+f 27 25 12
+f 27 18 19
+f 27 19 14
+f 27 14 25
+f 28 4 6
+f 28 6 14
+f 28 14 20
+f 28 21 4
+f 31 13 5
+f 31 5 23
+f 31 23 29
+f 31 8 13
+f 32 23 5
+f 32 5 11
+f 32 11 23
+f 33 29 23
+f 33 15 29
+f 34 24 9
+f 34 9 22
+f 35 26 3
+f 35 34 22
+f 36 21 28
+f 36 28 20
+f 37 22 15
+f 37 33 30
+f 37 15 33
+f 38 30 11
+f 38 11 7
+f 38 37 30
+f 38 7 26
+f 38 26 35
+f 39 20 8
+f 39 8 31
+f 40 33 23
+f 40 23 11
+f 41 11 30
+f 41 30 33
+f 41 40 11
+f 41 33 40
+f 42 35 3
+f 42 3 24
+f 42 24 34
+f 42 34 35
+f 43 15 21
+f 43 21 36
+f 44 36 29
+f 44 29 15
+f 44 43 36
+f 44 15 43
+f 45 31 29
+f 45 29 36
+f 45 39 31
+f 45 36 20
+f 45 20 39
+f 46 35 22
+f 46 22 37
+f 46 38 35
+f 46 37 38
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_0/collision/model_normalized_collision_17.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_0/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd49cc2930a7f739050b649269d18305c184b023
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_0/collision/model_normalized_collision_17.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.08092006 -0.26073818 -0.25695597
+v 0.11624586 -0.18377607 -0.32998792
+v 0.01462925 -0.20296947 -0.31869686
+v -0.10659260 -0.17299251 -0.37207031
+v 0.00907467 -0.27426331 -0.27056832
+v 0.11534154 -0.17591642 -0.33652218
+v -0.11404504 -0.25099760 -0.29335003
+v 0.11304568 -0.24217149 -0.27014852
+v -0.11912363 -0.18505109 -0.37151614
+v -0.06669209 -0.26231121 -0.27350024
+v -0.05908906 -0.21362590 -0.31856413
+v 0.11424737 -0.21347466 -0.30041117
+v 0.11348855 -0.24964196 -0.26110728
+v -0.11654570 -0.17476259 -0.37660234
+v -0.11943402 -0.23977905 -0.31509459
+f 6 4 3
+f 9 2 5
+f 9 6 2
+f 10 7 5
+f 10 5 1
+f 11 3 4
+f 11 4 7
+f 11 7 10
+f 12 8 5
+f 12 5 2
+f 13 1 5
+f 13 5 8
+f 13 10 1
+f 13 11 10
+f 13 3 11
+f 13 6 3
+f 13 2 6
+f 13 12 2
+f 13 8 12
+f 14 4 6
+f 14 6 9
+f 14 7 4
+f 15 9 5
+f 15 5 7
+f 15 14 9
+f 15 7 14
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_0/collision/model_normalized_collision_18.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_0/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d4fee4e24afa77d5f621ab2e6253a91e42af2ba7
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_0/collision/model_normalized_collision_18.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v 0.02019021 -0.17789410 0.12696675
+v 0.02292161 -0.17874096 0.00757577
+v 0.02292161 0.07883480 0.00757577
+v -0.19458947 0.08182319 0.04205837
+v -0.16201728 -0.16589928 0.01147060
+v 0.02234750 0.07514094 0.10539091
+v -0.12455092 -0.19719190 0.02858632
+v -0.10216346 -0.17925513 0.12858470
+v 0.02160138 -0.04380352 0.14013792
+v -0.08060963 0.05728367 0.11116172
+v -0.00716152 0.02833298 0.12650981
+v -0.11989809 0.07372648 0.09482364
+v -0.08565144 -0.04328183 0.13086071
+v 0.02046715 0.01396337 0.12746568
+v -0.05208835 0.07149973 0.11008658
+v -0.14711179 0.07687354 0.08184000
+v -0.10448216 -0.16228439 0.12934899
+v -0.06309438 0.01478944 0.12654149
+v 0.02064931 0.05827198 0.11300335
+v -0.13261302 0.03147687 0.09573983
+v -0.08626799 -0.01442037 0.12558566
+v -0.03658733 0.02836134 0.12565253
+v -0.00885770 0.07024963 0.10983703
+f 5 3 2
+f 5 4 3
+f 6 3 4
+f 6 2 3
+f 7 5 2
+f 7 2 1
+f 8 4 5
+f 8 7 1
+f 8 5 7
+f 9 1 2
+f 9 2 6
+f 9 8 1
+f 14 11 9
+f 14 9 6
+f 15 12 10
+f 16 6 4
+f 16 15 6
+f 16 12 15
+f 17 8 9
+f 17 9 13
+f 17 16 4
+f 17 4 8
+f 18 10 12
+f 18 13 9
+f 19 14 6
+f 19 11 14
+f 20 17 13
+f 20 13 16
+f 20 16 17
+f 21 18 12
+f 21 13 18
+f 21 16 13
+f 21 12 16
+f 22 15 10
+f 22 10 18
+f 22 11 15
+f 22 18 9
+f 22 9 11
+f 23 15 11
+f 23 11 19
+f 23 19 6
+f 23 6 15
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_0/collision/model_normalized_collision_19.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_0/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..186873c32affa806921355c6bb888cf1e2ff2366
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_0/collision/model_normalized_collision_19.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v -0.13097664 -0.23025408 -0.33424471
+v 0.00703559 -0.16196467 -0.33651230
+v -0.00868658 -0.17596529 -0.33402080
+v -0.17404808 -0.01207429 -0.34090908
+v -0.15456526 -0.04182518 -0.43080177
+v 0.00777010 -0.01207429 -0.34090908
+v -0.17716740 -0.16711942 -0.40187133
+v -0.06325766 -0.03187290 -0.41835551
+v -0.17317629 -0.23416967 -0.33679882
+v -0.17460552 -0.10264933 -0.41498825
+v -0.11996523 -0.20898459 -0.35444838
+v -0.16533955 -0.16693161 -0.39886692
+v 0.00664261 -0.03135898 -0.41069220
+v -0.17178052 -0.22719642 -0.34526742
+v 0.00900497 -0.07834811 -0.37367481
+v -0.13450047 -0.22489073 -0.34260228
+f 1 3 4
+f 6 3 2
+f 6 4 3
+f 8 5 4
+f 8 4 6
+f 9 1 4
+f 9 4 7
+f 10 7 4
+f 10 4 5
+f 10 5 7
+f 11 3 1
+f 12 2 3
+f 12 11 7
+f 12 3 11
+f 13 8 6
+f 13 2 12
+f 13 12 7
+f 13 7 5
+f 13 5 8
+f 14 9 7
+f 15 13 6
+f 15 6 2
+f 15 2 13
+f 16 14 7
+f 16 7 11
+f 16 11 1
+f 16 1 9
+f 16 9 14
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_0/collision/model_normalized_collision_2.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_0/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5b402f61a7e7af1fb0d21bae5f20f27d85367701
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_0/collision/model_normalized_collision_2.obj
@@ -0,0 +1,159 @@
+# https://github.com/mikedh/trimesh
+v 0.10985216 0.22158841 -0.01839850
+v 0.20351781 0.22935392 -0.23442404
+v 0.11971145 0.30274406 -0.16022770
+v -0.03196900 0.31786121 -0.14728026
+v -0.19553999 0.23655818 -0.09270638
+v -0.03407302 0.31736363 -0.23126779
+v 0.03632231 0.30238527 -0.09174020
+v 0.19918473 0.22465732 -0.10075683
+v -0.16549733 0.20639690 -0.00117919
+v 0.10740162 0.30444522 -0.22951588
+v -0.04698206 0.31815581 -0.17730775
+v -0.09496269 0.26072554 -0.26693958
+v 0.10496105 0.28602995 -0.09368170
+v 0.07915924 0.31811274 -0.14993090
+v 0.14792331 0.28826723 -0.17543321
+v -0.06825810 0.21964476 0.01193059
+v -0.12335450 0.25682504 -0.04821336
+v -0.06196144 0.30742380 -0.23206376
+v -0.15375037 0.26274843 -0.10083162
+v -0.06798748 0.21519843 -0.09848484
+v 0.05151186 0.31773175 -0.22903136
+v 0.06315084 0.25985369 -0.03625304
+v 0.16124177 0.27282927 -0.13495231
+v 0.10583147 0.25809217 -0.05315108
+v -0.00539236 0.31857863 -0.13235250
+v 0.07875498 0.31822899 -0.20129978
+v 0.13265083 0.28717261 -0.12263654
+v 0.07781069 0.30220128 -0.10699123
+v 0.14729969 0.28943942 -0.21575213
+v 0.06672793 0.22269435 -0.00176430
+v -0.16286833 0.24372937 -0.05008483
+v -0.05033887 0.27327299 -0.05012205
+v -0.12416972 0.22836331 -0.00562360
+v -0.04577318 0.31885442 -0.20266753
+v -0.06141991 0.30257239 -0.11890173
+v -0.17046678 0.25431555 -0.09936561
+v 0.18915771 0.24424115 -0.12163935
+v 0.10511454 0.24497120 -0.03833618
+v 0.07726008 0.28803829 -0.07973503
+v 0.05054923 0.31815070 -0.13498859
+v 0.11931458 0.30296354 -0.20316032
+v 0.14680357 0.27194262 -0.10921262
+v 0.16141795 0.27569080 -0.22881748
+v 0.06389014 0.23061371 -0.00780965
+v -0.16405649 0.21209373 -0.00549909
+v -0.02092036 0.30301619 -0.09349831
+v 0.05084328 0.27470611 -0.05152225
+v -0.10899206 0.24449645 -0.02065984
+v -0.14971168 0.25753414 -0.07194310
+v 0.19218257 0.23263327 -0.10362069
+v 0.18956311 0.24787539 -0.22987648
+v 0.10547873 0.23007523 -0.02357405
+v -0.04894112 0.30306468 -0.10625877
+v -0.06418234 0.28663928 -0.07778767
+f 9 8 1
+f 9 2 8
+f 12 9 5
+f 12 10 2
+f 18 12 5
+f 18 6 12
+f 20 12 2
+f 20 2 9
+f 20 9 12
+f 21 12 6
+f 21 10 12
+f 23 15 3
+f 25 11 4
+f 26 10 21
+f 26 25 14
+f 27 3 14
+f 27 23 3
+f 28 27 14
+f 28 13 27
+f 29 3 15
+f 30 16 9
+f 30 9 1
+f 33 9 16
+f 34 6 18
+f 34 21 6
+f 34 26 21
+f 34 11 25
+f 34 25 26
+f 35 4 11
+f 35 11 19
+f 36 18 5
+f 36 5 31
+f 36 34 18
+f 36 19 11
+f 36 11 34
+f 37 8 2
+f 37 15 23
+f 38 1 8
+f 38 8 24
+f 38 24 22
+f 39 24 13
+f 39 22 24
+f 39 13 28
+f 39 28 7
+f 40 25 7
+f 40 14 25
+f 40 28 14
+f 40 7 28
+f 41 26 14
+f 41 14 3
+f 41 3 29
+f 41 29 10
+f 41 10 26
+f 42 37 23
+f 42 23 27
+f 42 27 13
+f 42 13 24
+f 43 2 10
+f 43 10 29
+f 43 29 15
+f 44 22 16
+f 44 16 30
+f 45 31 5
+f 45 5 9
+f 45 33 31
+f 45 9 33
+f 46 32 7
+f 46 7 25
+f 47 7 32
+f 47 39 7
+f 47 22 39
+f 47 32 16
+f 47 16 22
+f 48 17 31
+f 48 31 33
+f 48 33 16
+f 48 16 32
+f 49 31 17
+f 49 35 19
+f 49 36 31
+f 49 19 36
+f 50 42 24
+f 50 24 8
+f 50 8 37
+f 50 37 42
+f 51 37 2
+f 51 2 43
+f 51 43 15
+f 51 15 37
+f 52 38 22
+f 52 22 44
+f 52 1 38
+f 52 44 30
+f 52 30 1
+f 53 46 25
+f 53 25 4
+f 53 4 35
+f 53 49 17
+f 53 35 49
+f 54 32 46
+f 54 48 32
+f 54 17 48
+f 54 53 17
+f 54 46 53
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_0/collision/model_normalized_collision_20.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_0/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c83940ecda70938acc8a92b37020f9c6448bbe7c
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_0/collision/model_normalized_collision_20.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.20084776 -0.17434079 0.00009903
+v 0.20214365 -0.17040429 -0.34453049
+v 0.21179376 -0.01043444 0.02416538
+v 0.00777010 -0.01207429 0.00757577
+v 0.00702535 -0.17535227 -0.33164152
+v 0.10988248 -0.00137012 -0.40582921
+v 0.00777010 -0.17874096 0.00757577
+v 0.19991249 -0.00866417 -0.38587048
+v 0.00664261 -0.03135898 -0.41069220
+v 0.19945939 -0.12918242 -0.36749111
+v 0.06827604 -0.01189002 -0.41638807
+v 0.00486192 -0.15715641 -0.33865225
+v 0.19997681 -0.02437668 -0.38329211
+v 0.14755789 -0.16966378 -0.35343623
+v 0.17220741 -0.14353055 -0.36849201
+v 0.19889298 -0.15529022 -0.35586916
+v 0.18382865 -0.16480578 -0.35419548
+f 1 2 3
+f 5 2 1
+f 6 4 3
+f 7 1 3
+f 7 3 4
+f 7 5 1
+f 8 6 3
+f 8 3 2
+f 11 9 4
+f 11 4 6
+f 11 6 8
+f 11 8 10
+f 12 7 4
+f 12 4 9
+f 12 9 5
+f 12 5 7
+f 13 10 8
+f 13 8 2
+f 13 2 10
+f 14 2 5
+f 14 5 9
+f 15 11 10
+f 15 14 9
+f 15 9 11
+f 16 15 10
+f 16 10 2
+f 17 2 14
+f 17 14 15
+f 17 16 2
+f 17 15 16
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_0/collision/model_normalized_collision_21.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_0/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..14c52d172002a1a21ead18c06821c584d68a3197
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_0/collision/model_normalized_collision_21.obj
@@ -0,0 +1,108 @@
+# https://github.com/mikedh/trimesh
+v -0.17404808 -0.14843793 -0.09848484
+v -0.15021099 -0.04765510 -0.42198278
+v -0.17404808 -0.01207429 -0.09848484
+v -0.34374763 -0.01084137 -0.13572178
+v -0.31207540 -0.13306339 -0.34693633
+v -0.28357613 0.00248029 -0.42609881
+v -0.31762797 -0.01275297 -0.10609829
+v -0.16861117 -0.15484978 -0.40463223
+v -0.29124328 -0.13725738 -0.10706604
+v -0.36842846 -0.01175650 -0.33572779
+v -0.33383822 -0.08513088 -0.38248800
+v -0.30520403 -0.11010053 -0.10862938
+v -0.32229232 -0.13672494 -0.19415360
+v -0.37085222 -0.01206856 -0.20850864
+v -0.28537054 -0.13492507 -0.37531510
+v -0.35604827 -0.01299103 -0.36450320
+v -0.32512102 -0.13218780 -0.32118592
+v -0.33660481 -0.10724241 -0.18165287
+v -0.32512143 -0.10256399 -0.37806177
+v -0.36771890 -0.04111016 -0.33601776
+v -0.30539525 -0.12360037 -0.12204791
+v -0.35294473 -0.05255235 -0.16623075
+v -0.36949925 -0.08006273 -0.29142408
+v -0.31335550 -0.11589669 -0.37478784
+v -0.33860605 -0.11795954 -0.32065951
+v -0.35027395 -0.06592927 -0.36330131
+v -0.33765560 -0.05364270 -0.13779508
+v -0.35707777 -0.01174295 -0.16470475
+v -0.35047078 -0.07943954 -0.18240588
+v -0.36764648 -0.07961829 -0.23825107
+v -0.35307991 -0.10563941 -0.29263239
+v -0.35096062 -0.07819266 -0.34976306
+v -0.33755082 -0.10337130 -0.34893826
+v -0.36662864 -0.06494361 -0.21130995
+v -0.35376463 -0.10423536 -0.23748007
+v -0.36633789 -0.06621296 -0.31965350
+v -0.33702439 -0.12022906 -0.20974069
+f 1 2 3
+f 6 3 2
+f 6 4 3
+f 7 1 3
+f 7 3 4
+f 8 2 1
+f 8 6 2
+f 9 1 7
+f 11 6 8
+f 12 9 7
+f 12 7 4
+f 13 8 1
+f 13 1 9
+f 14 4 6
+f 14 6 10
+f 15 8 5
+f 16 10 6
+f 16 6 11
+f 17 5 8
+f 17 8 13
+f 19 11 8
+f 19 8 15
+f 20 10 16
+f 21 18 13
+f 21 13 9
+f 21 9 12
+f 23 14 10
+f 23 10 20
+f 24 19 15
+f 24 15 5
+f 24 5 19
+f 25 19 5
+f 25 5 17
+f 26 20 16
+f 26 16 11
+f 27 22 12
+f 27 12 4
+f 27 4 22
+f 28 22 4
+f 28 4 14
+f 29 21 12
+f 29 12 22
+f 29 18 21
+f 30 14 23
+f 31 25 17
+f 31 17 13
+f 31 23 25
+f 32 26 11
+f 33 11 19
+f 33 19 25
+f 33 32 11
+f 33 25 23
+f 33 23 32
+f 34 28 14
+f 34 22 28
+f 34 14 30
+f 34 29 22
+f 34 30 18
+f 34 18 29
+f 35 18 30
+f 35 31 13
+f 35 30 23
+f 35 23 31
+f 36 32 23
+f 36 23 20
+f 36 20 26
+f 36 26 32
+f 37 35 13
+f 37 13 18
+f 37 18 35
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_0/collision/model_normalized_collision_22.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_0/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3bc2dfe2abfac8434aafdb8b55d761a9d9f7bebe
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_0/collision/model_normalized_collision_22.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v -0.34523311 -0.01561695 -0.13916715
+v -0.30447275 0.03847988 -0.39222831
+v -0.30863068 0.10782566 -0.15983448
+v -0.30735965 0.02987038 -0.39725057
+v -0.35367803 0.06844024 -0.27522268
+v -0.30275293 0.08652467 -0.34827753
+v -0.35248614 0.07153183 -0.19469412
+v -0.37104519 -0.01324455 -0.32306586
+v -0.31839846 0.11836352 -0.23420025
+v -0.32677193 0.03550385 -0.37486163
+v -0.35154439 0.04232074 -0.16944772
+v -0.33347276 0.00065981 -0.39245674
+v -0.36886542 0.02968818 -0.26239111
+v -0.33719264 0.08154594 -0.30391029
+v -0.33965036 0.09482094 -0.20786853
+v -0.31315443 0.03599984 -0.38789357
+v -0.32395565 0.09369559 -0.16875639
+v -0.35604827 -0.01299103 -0.36450320
+v -0.36890692 0.01336717 -0.30624546
+v -0.36819256 0.02829571 -0.20904344
+v -0.32440717 0.08109201 -0.33029349
+v -0.34066999 0.09715842 -0.23443374
+v -0.31789924 0.02564022 -0.39310212
+v -0.35103670 0.01105291 -0.36201148
+v -0.35707777 -0.01174295 -0.16470475
+v -0.37085222 -0.01206856 -0.20850864
+v -0.31282328 0.08157430 -0.34311391
+v -0.36950495 -0.00126117 -0.32245426
+v -0.35125094 0.05696968 -0.30342951
+f 1 2 3
+f 2 1 4
+f 6 3 2
+f 9 3 6
+f 11 1 3
+f 12 4 1
+f 13 7 5
+f 15 3 9
+f 16 10 6
+f 16 6 2
+f 17 11 3
+f 17 7 11
+f 17 15 7
+f 17 3 15
+f 18 12 1
+f 18 1 8
+f 19 13 5
+f 19 8 13
+f 20 11 7
+f 20 7 13
+f 21 14 9
+f 21 9 6
+f 22 14 5
+f 22 9 14
+f 22 15 9
+f 22 5 7
+f 22 7 15
+f 23 16 2
+f 23 2 4
+f 23 4 12
+f 23 12 10
+f 23 10 16
+f 24 10 12
+f 24 12 18
+f 24 21 10
+f 24 14 21
+f 25 1 11
+f 25 11 20
+f 26 20 13
+f 26 13 8
+f 26 25 20
+f 26 8 1
+f 26 1 25
+f 27 21 6
+f 27 6 10
+f 27 10 21
+f 28 24 18
+f 28 18 8
+f 28 8 19
+f 28 19 24
+f 29 24 19
+f 29 19 5
+f 29 5 14
+f 29 14 24
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_0/collision/model_normalized_collision_23.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_0/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..62f22ec870c683c4bc0218b624f86574218fccf8
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_0/collision/model_normalized_collision_23.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v -0.20568824 0.20167109 -0.03689926
+v -0.16627763 0.23504903 -0.22925263
+v -0.18346318 0.21162771 -0.02745632
+v -0.16826511 0.24829345 -0.07170116
+v -0.24029005 0.19017594 -0.18608380
+v -0.16877093 0.23641004 -0.04534293
+v -0.23351205 0.19984552 -0.10272930
+v -0.19307580 0.24333009 -0.15597043
+v -0.18276516 0.21218454 -0.24389362
+v -0.17713233 0.24446870 -0.07454750
+v -0.23897705 0.19336693 -0.10111265
+v -0.16684646 0.25000131 -0.20058826
+v -0.23177450 0.20081639 -0.18307808
+v -0.21495675 0.19500960 -0.23203306
+v -0.19334606 0.21610558 -0.04460559
+v -0.20430998 0.23040224 -0.10256963
+v -0.19046299 0.24322836 -0.11457027
+v -0.20520715 0.22796553 -0.18294971
+v -0.22734094 0.19226368 -0.21746436
+v -0.20852763 0.20303696 -0.22805128
+v -0.18959226 0.22796549 -0.06221291
+v -0.19195162 0.22749373 -0.20968224
+v -0.17676768 0.24370538 -0.19826153
+v -0.22075481 0.20067985 -0.21251997
+f 6 3 2
+f 6 2 4
+f 6 1 3
+f 9 2 3
+f 10 6 4
+f 11 5 1
+f 11 1 7
+f 12 8 4
+f 12 4 2
+f 13 7 8
+f 13 11 7
+f 13 5 11
+f 14 9 3
+f 14 3 1
+f 15 1 6
+f 15 6 10
+f 16 7 1
+f 16 8 7
+f 17 10 4
+f 17 4 8
+f 17 16 10
+f 17 8 16
+f 18 13 8
+f 18 8 12
+f 19 14 1
+f 19 1 5
+f 19 5 13
+f 19 13 18
+f 20 2 9
+f 20 9 14
+f 20 14 19
+f 21 15 10
+f 21 1 15
+f 21 16 1
+f 21 10 16
+f 22 12 2
+f 22 2 20
+f 22 20 19
+f 23 22 18
+f 23 18 12
+f 23 12 22
+f 24 22 19
+f 24 19 18
+f 24 18 22
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_0/collision/model_normalized_collision_24.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_0/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..606222e4493fc49b2b85557435a2f0324d68f741
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_0/collision/model_normalized_collision_24.obj
@@ -0,0 +1,129 @@
+# https://github.com/mikedh/trimesh
+v -0.16659575 -0.25675322 -0.14671168
+v -0.17178052 -0.22719642 -0.34526742
+v -0.17565145 -0.14943491 0.00947284
+v -0.26640671 -0.14033717 -0.06114394
+v -0.29294377 -0.18042434 -0.27684961
+v -0.17615747 -0.14668313 -0.40924212
+v -0.16564919 -0.21498372 -0.04358626
+v -0.21250845 -0.25152554 -0.29176865
+v -0.25094444 -0.22264392 -0.19468695
+v -0.19544037 -0.14194116 -0.00360485
+v -0.31696036 -0.13940834 -0.32335589
+v -0.16770146 -0.17364867 0.00159364
+v -0.16555180 -0.24194880 -0.10301692
+v -0.17454587 -0.25488557 -0.30605970
+v -0.31460060 -0.14146360 -0.17759148
+v -0.25041214 -0.16267975 -0.06430106
+v -0.20912345 -0.24989648 -0.19541293
+v -0.23740433 -0.23848855 -0.28893365
+v -0.25432599 -0.14140767 -0.04983913
+v -0.25879919 -0.13862342 -0.39247746
+v -0.25016274 -0.20732951 -0.15122097
+v -0.19767063 -0.23897146 -0.32538693
+v -0.17163810 -0.24018616 -0.32954660
+v -0.29231770 -0.18044651 -0.20708371
+v -0.28152370 -0.14042572 -0.08948279
+v -0.23720558 -0.23632740 -0.20901302
+v -0.26327811 -0.20863833 -0.30324766
+v -0.25295823 -0.15196673 -0.05482996
+v -0.22951180 -0.14019259 -0.40613489
+v -0.22335404 -0.21998186 -0.13770140
+v -0.20019068 -0.25238529 -0.30488095
+v -0.29207911 -0.16589198 -0.15134589
+v -0.27828749 -0.19501200 -0.19395848
+v -0.27593798 -0.15187075 -0.09229793
+v -0.25072450 -0.22347617 -0.29977821
+v -0.30261700 -0.13938483 -0.35003938
+v -0.26212301 -0.15087744 -0.06531599
+v -0.20927770 -0.16434028 -0.39950550
+v -0.20862419 -0.23476476 -0.15234363
+v -0.22273101 -0.23809337 -0.31108682
+v -0.30862943 -0.15133225 -0.17775737
+v -0.17716740 -0.16711942 -0.40187133
+v -0.21115797 -0.19146447 -0.37103368
+v -0.24984347 -0.19288567 -0.34314594
+f 10 3 6
+f 12 7 6
+f 12 6 3
+f 13 1 2
+f 13 2 6
+f 13 6 7
+f 14 1 8
+f 15 11 5
+f 16 7 12
+f 17 8 1
+f 17 1 13
+f 19 10 4
+f 19 3 10
+f 20 11 4
+f 20 4 10
+f 21 7 16
+f 23 2 1
+f 23 1 14
+f 23 22 2
+f 24 15 5
+f 25 4 11
+f 25 11 15
+f 26 17 9
+f 26 9 18
+f 26 18 8
+f 26 8 17
+f 27 5 11
+f 28 12 3
+f 28 3 19
+f 28 16 12
+f 28 19 4
+f 29 20 10
+f 29 10 6
+f 30 13 7
+f 30 7 21
+f 30 21 9
+f 31 14 8
+f 31 23 14
+f 31 22 23
+f 32 25 15
+f 32 9 21
+f 33 18 9
+f 33 32 24
+f 33 9 32
+f 33 24 5
+f 33 5 18
+f 34 25 32
+f 34 32 21
+f 34 21 16
+f 35 18 5
+f 35 5 27
+f 36 27 11
+f 36 11 20
+f 36 35 27
+f 37 28 4
+f 37 16 28
+f 37 34 16
+f 37 4 25
+f 37 25 34
+f 38 20 29
+f 39 17 13
+f 39 13 30
+f 39 30 9
+f 39 9 17
+f 40 31 8
+f 40 8 18
+f 40 18 35
+f 40 22 31
+f 41 32 15
+f 41 15 24
+f 41 24 32
+f 42 38 29
+f 42 29 6
+f 42 6 2
+f 42 2 38
+f 43 38 2
+f 43 2 22
+f 43 22 40
+f 43 20 38
+f 44 36 20
+f 44 43 40
+f 44 20 43
+f 44 40 35
+f 44 35 36
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_0/collision/model_normalized_collision_25.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_0/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d4b386e5e5ad6acbbcf2d027d39f3f0a25ebbdc5
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_0/collision/model_normalized_collision_25.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.08948826 -0.20417893 0.23109771
+v -0.09497408 -0.20722789 0.08273524
+v -0.09263022 -0.11405694 0.22961898
+v -0.09708441 -0.10437981 0.18909658
+v -0.11132311 -0.16052226 0.18688037
+v -0.09445086 -0.19854746 0.22675605
+v -0.10684138 -0.16263680 0.08133534
+v -0.11184915 -0.13703693 0.18861313
+v -0.09863873 -0.20110428 0.08082079
+v -0.09635153 -0.11733022 0.22736674
+v -0.10690681 -0.11733840 0.12820016
+v -0.11115845 -0.13530414 0.16155406
+v -0.10060694 -0.10782932 0.18970642
+v -0.11123789 -0.15894751 0.17675179
+f 1 2 3
+f 3 2 4
+f 6 2 1
+f 8 5 6
+f 9 6 5
+f 9 2 6
+f 9 7 2
+f 9 5 7
+f 10 6 1
+f 10 1 3
+f 10 8 6
+f 11 4 2
+f 11 2 7
+f 12 11 7
+f 12 8 11
+f 13 10 3
+f 13 3 4
+f 13 8 10
+f 13 11 8
+f 13 4 11
+f 14 12 7
+f 14 7 5
+f 14 5 8
+f 14 8 12
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_0/collision/model_normalized_collision_26.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_0/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..951343ef1579eb5e0234cecacb0639adac22e674
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_0/collision/model_normalized_collision_26.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.06798748 0.15459237 -0.09848484
+v -0.06798748 0.15459237 -0.23484847
+v -0.06196144 0.30742380 -0.23206376
+v -0.06368104 0.30773286 -0.14610927
+v -0.19768272 0.19184582 -0.25805891
+v -0.06459938 0.29646741 -0.10120115
+v -0.17404808 0.15459237 -0.11363635
+v -0.16407069 0.25814862 -0.10093865
+v -0.07590285 0.30338226 -0.14652104
+v -0.16194141 0.25695584 -0.18490321
+v -0.17404808 0.15459237 -0.09848484
+v -0.09270957 0.28820796 -0.10342709
+v -0.16015358 0.24196277 -0.22484243
+v -0.07260717 0.30257468 -0.23110205
+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 9 4 3
+f 10 5 8
+f 10 8 9
+f 11 8 5
+f 11 5 7
+f 11 7 1
+f 11 1 6
+f 11 6 8
+f 12 9 8
+f 12 8 6
+f 12 6 4
+f 12 4 9
+f 13 5 10
+f 14 10 9
+f 14 9 3
+f 14 13 10
+f 14 3 5
+f 14 5 13
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_0/collision/model_normalized_collision_27.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_0/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4cccd6927d9f871e60550de36941fce13445717d
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_0/collision/model_normalized_collision_27.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.10662051 -0.28606847 -0.10083481
+v 0.20268258 -0.22553363 -0.29738536
+v 0.19708256 -0.23499260 -0.07669364
+v 0.12992188 -0.18882387 0.03277614
+v 0.11534154 -0.17591642 -0.33652218
+v 0.20084776 -0.17434079 0.00009903
+v 0.10827660 -0.24605311 0.00132482
+v 0.20218139 -0.25174295 -0.24344414
+v 0.13371013 -0.17113013 -0.34672555
+v 0.10664959 -0.25675354 -0.01411891
+v 0.19278048 -0.19498987 -0.01026420
+v 0.19898529 -0.25007199 -0.11831546
+v 0.10873602 -0.28669323 -0.20087542
+v 0.20214365 -0.17040429 -0.34453049
+v 0.19437901 -0.22147220 -0.04844393
+v 0.14793506 -0.22366080 -0.00506878
+v 0.17043763 -0.26685934 -0.20161981
+v 0.17270212 -0.25136740 -0.25372404
+v 0.11286005 -0.25587245 -0.25367846
+v 0.20057600 -0.18052180 -0.33756816
+v 0.11773763 -0.25283401 -0.01856266
+v 0.16858452 -0.26543537 -0.14700004
+v 0.13436453 -0.17900985 -0.34108190
+v 0.16181378 -0.22227076 -0.29781747
+v 0.11624586 -0.18377607 -0.32998792
+f 7 4 5
+f 8 2 6
+f 9 5 4
+f 9 4 6
+f 10 7 5
+f 10 5 1
+f 11 6 4
+f 12 10 1
+f 12 3 10
+f 12 8 6
+f 12 6 3
+f 13 1 5
+f 14 9 6
+f 14 6 2
+f 15 3 6
+f 15 6 11
+f 16 11 4
+f 16 4 7
+f 16 15 11
+f 16 7 15
+f 17 8 12
+f 17 13 8
+f 17 1 13
+f 18 13 2
+f 18 2 8
+f 18 8 13
+f 19 2 13
+f 19 13 5
+f 20 14 2
+f 20 9 14
+f 21 10 3
+f 21 3 15
+f 21 15 7
+f 21 7 10
+f 22 17 12
+f 22 12 1
+f 22 1 17
+f 23 20 2
+f 23 9 20
+f 23 5 9
+f 24 23 2
+f 24 2 19
+f 24 19 23
+f 25 23 19
+f 25 19 5
+f 25 5 23
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_0/collision/model_normalized_collision_28.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_0/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ab252d625e5b30868d08eb6c2795d75c46128fb
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_0/collision/model_normalized_collision_28.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.00777010 -0.17874096 0.00757577
+v 0.00702535 -0.17535227 -0.33164152
+v 0.00777010 -0.01207429 0.00757577
+v -0.19989171 -0.01765230 0.03282919
+v -0.18125654 -0.20605440 -0.36591147
+v 0.00777010 -0.01207429 -0.34090908
+v -0.16770146 -0.17364867 0.00159364
+v -0.17404808 -0.01207429 -0.34090908
+f 1 3 4
+f 5 2 1
+f 6 1 2
+f 6 3 1
+f 6 2 5
+f 7 5 1
+f 7 1 4
+f 7 4 5
+f 8 6 5
+f 8 5 4
+f 8 4 3
+f 8 3 6
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_0/collision/model_normalized_collision_29.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_0/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1970a2ec4f45f763f713f0f79b1c4103d7a1b753
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_0/collision/model_normalized_collision_29.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.23360785 0.17774728 -0.07952673
+v 0.23262586 0.19419078 -0.25294338
+v 0.14040821 0.27750432 -0.25996472
+v 0.00777010 0.23034995 -0.09848484
+v 0.00777010 0.15459237 -0.23484847
+v 0.19918473 0.22465732 -0.10075683
+v 0.00777010 0.15459237 -0.09848484
+v 0.00777010 0.23034995 -0.23484847
+v 0.20197938 0.22752118 -0.11476535
+v 0.20351781 0.22935392 -0.23442404
+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 3 6
+f 10 9 2
+f 10 2 3
+f 10 3 9
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_0/collision/model_normalized_collision_3.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_0/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..33c56c4599755759d41eab551b715be0912ac9e2
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_0/collision/model_normalized_collision_3.obj
@@ -0,0 +1,108 @@
+# https://github.com/mikedh/trimesh
+v -0.17404808 -0.01207429 -0.09848484
+v -0.15021099 -0.04765510 -0.42198278
+v -0.16814324 0.22282693 -0.24409744
+v -0.20284976 0.22867149 -0.09074102
+v -0.35487764 -0.01209508 -0.15951111
+v -0.16562394 0.20280148 -0.26898660
+v -0.31762797 -0.01275297 -0.10609829
+v -0.34633704 0.08615275 -0.26297354
+v -0.26101509 0.15825874 -0.10301167
+v -0.31337267 0.12194775 -0.26308022
+v -0.32370497 -0.00501178 -0.40394877
+v -0.33899681 0.02833790 -0.13968848
+v -0.34066999 0.09715842 -0.23443374
+v -0.18305593 0.22224077 -0.22989087
+v -0.31204141 0.09423038 -0.33080972
+v -0.17192250 0.08824185 -0.39647438
+v -0.34374763 -0.01084137 -0.13572178
+v -0.30686129 0.05809963 -0.11124977
+v -0.23897705 0.19336693 -0.10111265
+v -0.33928847 0.05673977 -0.15464648
+v -0.32375494 0.11094336 -0.27620779
+v -0.17232433 0.22815382 -0.23312540
+v -0.33243019 0.08621900 -0.30645964
+v -0.25886952 0.10810535 -0.35513025
+v -0.16898248 0.09544782 -0.38950218
+v -0.32454470 0.08433429 -0.15590965
+v -0.27476109 0.13080614 -0.10630931
+v -0.33912911 0.09537893 -0.26132612
+v -0.29939542 0.12101941 -0.30403093
+v -0.31009875 0.10724016 -0.31420724
+v -0.24532533 0.09702903 -0.36942385
+v -0.28451451 0.09398291 -0.35594200
+v -0.28590716 0.10760600 -0.34115410
+v -0.17029362 0.10920054 -0.37395471
+v -0.32610164 0.10876455 -0.20862359
+v -0.32528533 0.09620550 -0.30301880
+v -0.29897399 0.06566682 -0.36792558
+f 1 3 4
+f 6 1 2
+f 6 3 1
+f 7 5 2
+f 7 2 1
+f 7 1 4
+f 9 7 4
+f 11 2 5
+f 11 5 8
+f 13 8 5
+f 13 4 10
+f 14 10 4
+f 16 2 11
+f 17 12 5
+f 17 5 7
+f 17 7 12
+f 18 12 7
+f 18 7 9
+f 19 9 4
+f 19 4 13
+f 20 12 18
+f 20 13 5
+f 20 5 12
+f 21 13 10
+f 22 14 4
+f 22 4 3
+f 23 15 11
+f 23 11 8
+f 23 8 21
+f 24 3 6
+f 25 6 2
+f 25 2 16
+f 25 16 24
+f 26 9 19
+f 26 20 9
+f 26 13 20
+f 27 20 18
+f 27 18 9
+f 27 9 20
+f 28 21 8
+f 28 8 13
+f 28 13 21
+f 29 21 10
+f 29 10 14
+f 29 14 22
+f 30 15 23
+f 30 21 29
+f 31 24 16
+f 31 16 11
+f 32 31 11
+f 32 24 31
+f 33 22 3
+f 33 3 24
+f 33 29 22
+f 33 24 32
+f 33 30 29
+f 33 32 15
+f 33 15 30
+f 34 25 24
+f 34 24 6
+f 34 6 25
+f 35 26 19
+f 35 19 13
+f 35 13 26
+f 36 30 23
+f 36 23 21
+f 36 21 30
+f 37 32 11
+f 37 11 15
+f 37 15 32
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_0/collision/model_normalized_collision_30.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_0/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c58fc3f966a636c7038e0d51fdd2ee0678e60fe
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_0/collision/model_normalized_collision_30.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.01159908 0.17903736 0.04085494
+v 0.00777010 0.15459237 -0.23484847
+v 0.00777010 0.23034995 -0.23484847
+v -0.06781415 0.22695207 0.00436377
+v -0.06798748 0.15459237 -0.23484847
+v 0.00733614 0.22628513 0.00296946
+v -0.06838655 0.18341233 0.04403224
+v -0.09496269 0.26072554 -0.26693958
+v -0.06778848 0.19340164 0.03597866
+f 1 2 3
+f 5 2 1
+f 6 1 3
+f 7 5 1
+f 8 3 2
+f 8 2 5
+f 8 6 3
+f 8 4 6
+f 8 7 4
+f 8 5 7
+f 9 6 4
+f 9 4 7
+f 9 7 1
+f 9 1 6
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_0/collision/model_normalized_collision_31.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_0/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..78a33a821584b4037156bd438db3cc69034ab8b5
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_0/collision/model_normalized_collision_31.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v -0.06798748 0.15459237 -0.09848484
+v -0.06798748 0.21519843 -0.09848484
+v -0.06838655 0.18341233 0.04403224
+v -0.19553999 0.23655818 -0.09270638
+v -0.17404808 0.15459237 -0.09848484
+v -0.06860704 0.22734450 0.00390585
+v -0.06825810 0.21964476 0.01193059
+v -0.18249834 0.16205850 0.01816732
+v -0.16549733 0.20639690 -0.00117919
+f 5 2 1
+f 5 4 2
+f 6 2 4
+f 7 1 2
+f 7 3 1
+f 7 2 6
+f 8 5 1
+f 8 1 3
+f 8 4 5
+f 9 8 3
+f 9 3 7
+f 9 7 6
+f 9 6 4
+f 9 4 8
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_0/collision/model_normalized_collision_4.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_0/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef4b7e14a7d39c73f30cff26e620eb65f3bc959a
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_0/collision/model_normalized_collision_4.obj
@@ -0,0 +1,120 @@
+# https://github.com/mikedh/trimesh
+v 0.20473979 0.13944086 -0.23484847
+v 0.19898314 0.13179682 -0.32819402
+v 0.13739759 0.29167179 -0.23244756
+v -0.06196144 0.30742380 -0.23206376
+v -0.17404808 0.13944086 -0.23484847
+v 0.08067124 0.16266553 -0.44335610
+v -0.14946605 0.24827371 -0.22811778
+v 0.18956311 0.24787539 -0.22987648
+v 0.03769955 0.30317472 -0.26859699
+v -0.03219717 0.12897661 -0.43898724
+v 0.19383058 0.18857413 -0.29462837
+v 0.09475954 0.30755527 -0.23176255
+v 0.10076728 0.19359819 -0.42293331
+v 0.12111532 0.13145257 -0.43886698
+v -0.15658624 0.13212266 -0.34981802
+v 0.17676260 0.26162906 -0.22986676
+v -0.08941325 0.29204748 -0.23081013
+v -0.00629579 0.30465151 -0.26698731
+v 0.01217447 0.14050904 -0.44645796
+v 0.12045423 0.27539455 -0.28336002
+v 0.18742097 0.24474945 -0.24372979
+v 0.09181085 0.14987131 -0.44449308
+v -0.17346170 0.13717603 -0.33873319
+v -0.05503249 0.30284746 -0.25599080
+v 0.06041629 0.15386272 -0.44804193
+v 0.00850311 0.13269849 -0.45137317
+v 0.09226854 0.30175178 -0.25462273
+v 0.14983362 0.27418673 -0.25621953
+v -0.16627763 0.23504903 -0.22925263
+v -0.05630775 0.26636236 -0.29184310
+v -0.03338676 0.28965056 -0.28016439
+v 0.09310176 0.13637379 -0.44671246
+v 0.13477534 0.28934114 -0.24204218
+v 0.08066706 0.28961957 -0.28102224
+v 0.17442143 0.25962307 -0.24141693
+v 0.14844482 0.26033956 -0.28095523
+v -0.11531439 0.26012830 -0.25038828
+v -0.08763160 0.28880802 -0.24082157
+v 0.00164614 0.15071597 -0.43323971
+v -0.16281427 0.23118913 -0.23877055
+v -0.14633195 0.24507666 -0.23772699
+f 5 2 1
+f 7 5 1
+f 8 7 1
+f 11 8 1
+f 11 1 2
+f 14 2 10
+f 14 13 11
+f 14 11 2
+f 15 10 2
+f 15 2 5
+f 16 3 12
+f 16 12 7
+f 16 7 8
+f 17 12 4
+f 17 7 12
+f 18 12 9
+f 18 4 12
+f 18 9 13
+f 21 8 11
+f 21 11 13
+f 22 6 13
+f 22 13 14
+f 23 15 5
+f 23 10 15
+f 24 17 4
+f 24 4 18
+f 25 19 13
+f 25 13 6
+f 25 6 22
+f 26 14 10
+f 26 10 19
+f 26 19 25
+f 27 12 3
+f 27 9 12
+f 28 3 16
+f 29 23 5
+f 29 5 7
+f 30 10 23
+f 30 23 24
+f 31 24 18
+f 31 18 13
+f 31 30 24
+f 31 10 30
+f 32 26 25
+f 32 25 22
+f 32 22 14
+f 32 14 26
+f 33 27 3
+f 33 20 27
+f 33 28 20
+f 33 3 28
+f 34 27 20
+f 34 20 13
+f 34 13 9
+f 34 9 27
+f 35 28 16
+f 35 16 8
+f 35 8 21
+f 36 21 13
+f 36 13 20
+f 36 20 28
+f 36 35 21
+f 36 28 35
+f 37 24 23
+f 38 29 7
+f 38 7 17
+f 38 17 24
+f 38 24 37
+f 39 31 13
+f 39 13 19
+f 39 19 10
+f 39 10 31
+f 40 37 23
+f 40 23 29
+f 41 38 37
+f 41 37 40
+f 41 40 29
+f 41 29 38
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_0/collision/model_normalized_collision_5.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_0/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..434214b066a3aebcd6e343287434fa37fcab77d5
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_0/collision/model_normalized_collision_5.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.21179376 -0.01043444 0.02416538
+v 0.21142737 -0.01594026 -0.38156867
+v 0.23262586 0.19419078 -0.25294338
+v -0.18249834 0.16205850 0.01816732
+v -0.19989171 -0.01765230 0.03282919
+v -0.17137184 0.12988271 -0.34722987
+v 0.16559896 0.14726476 -0.00673839
+v 0.18055077 0.12901737 -0.33996635
+v -0.19768272 0.19184582 -0.25805891
+v -0.17404808 -0.01207429 -0.35606059
+v 0.19631501 0.14549909 -0.02397114
+v 0.19502626 0.11470861 -0.34146572
+v 0.19638028 0.11639817 -0.00877465
+v 0.19898314 0.13179682 -0.32819402
+f 1 2 3
+f 5 2 1
+f 5 1 4
+f 7 3 4
+f 7 4 1
+f 8 6 3
+f 8 2 6
+f 9 4 3
+f 9 3 6
+f 9 5 4
+f 10 6 2
+f 10 2 5
+f 10 9 6
+f 10 5 9
+f 11 1 3
+f 11 3 7
+f 12 2 8
+f 13 11 7
+f 13 7 1
+f 13 1 11
+f 14 12 8
+f 14 8 3
+f 14 3 2
+f 14 2 12
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_0/collision/model_normalized_collision_6.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_0/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6e71f89255f2f7815d07788f5f0d43831586b5e0
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_0/collision/model_normalized_collision_6.obj
@@ -0,0 +1,129 @@
+# https://github.com/mikedh/trimesh
+v 0.20439610 -0.23730180 -0.27929180
+v 0.34926994 -0.01849242 -0.30637856
+v 0.20473979 -0.01207429 -0.28030302
+v 0.20508117 0.15508305 -0.31136724
+v 0.20413526 -0.01172107 -0.38414602
+v 0.25999149 0.13320179 -0.30170069
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+v 0.23203676 0.14981896 -0.30337215
+v 0.24475798 -0.22762457 -0.27458663
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+v 0.27271818 -0.03742120 -0.36953665
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+v 0.19898314 0.13179682 -0.32819402
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+v 0.29966652 -0.03797993 -0.35341529
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+v 0.23038340 -0.20828144 -0.30905123
+v 0.20072970 0.14926752 -0.31690023
+v 0.20268258 -0.22553363 -0.29738536
+v 0.29348167 -0.15353273 -0.29757721
+v 0.23959882 -0.18494429 -0.32372502
+v 0.27265704 -0.01497525 -0.36862402
+v 0.27200500 0.03936502 -0.35317748
+v 0.29830649 0.03715224 -0.33814116
+v 0.29857970 -0.00067127 -0.35254187
+v 0.22389241 -0.13902998 -0.35247571
+v 0.25141272 -0.20814322 -0.29596904
+v 0.20263373 -0.19592177 -0.32447088
+v 0.21658296 -0.22448155 -0.29618147
+v 0.29506231 -0.17001917 -0.28343053
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+v 0.29807151 0.08565438 -0.30770234
+v 0.21182486 -0.11241378 -0.36899493
+v 0.21155237 -0.15213314 -0.35257884
+v 0.24130270 -0.22292383 -0.28503765
+v 0.26518623 -0.19509038 -0.29615789
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+v 0.28295576 -0.15383031 -0.30894253
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+v 0.25386802 -0.16904030 -0.32299885
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+f 38 24 13
+f 38 37 29
+f 38 13 37
+f 39 30 10
+f 39 20 30
+f 39 32 20
+f 39 10 32
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+f 41 7 16
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+f 41 30 40
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+f 42 17 23
+f 42 41 40
+f 42 23 33
+f 42 33 41
+f 43 24 29
+f 43 29 34
+f 44 42 40
+f 44 40 24
+f 44 24 43
+f 44 43 34
+f 44 34 42
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_0/collision/model_normalized_collision_7.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_0/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b7ef0a1e38f58ad7896923842d189435b24052b6
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_0/collision/model_normalized_collision_7.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.00592255 -0.28709174 0.00127717
+v 0.11871063 -0.19129288 0.03894698
+v -0.04858101 -0.25555651 0.13230937
+v -0.16620066 -0.15778105 0.01293324
+v 0.09255477 -0.25721880 -0.00027479
+v 0.02019021 -0.17789410 0.12696675
+v -0.08905408 -0.25697883 0.00193917
+v -0.17228986 -0.16228807 0.00538140
+v 0.01088998 -0.24156487 0.11513202
+v 0.08672734 -0.17480215 0.06848743
+v -0.10216346 -0.17925513 0.12858470
+v -0.06281718 -0.27427493 0.00283349
+v -0.14984574 -0.19994244 -0.00142501
+v 0.08771903 -0.25288430 0.01036129
+v -0.01418192 -0.25346162 0.12618615
+v -0.10684138 -0.16263680 0.08133534
+v -0.08302552 -0.22461945 0.12443293
+v -0.02132348 -0.28591020 0.00219250
+v -0.16770146 -0.17364867 0.00159364
+v 0.06198819 -0.27155861 0.00074571
+f 8 4 2
+f 8 2 5
+f 9 2 6
+f 10 6 2
+f 10 2 4
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+f 11 4 8
+f 12 3 7
+f 13 5 1
+f 13 7 3
+f 14 9 5
+f 14 5 2
+f 14 2 9
+f 15 3 1
+f 15 5 9
+f 15 9 6
+f 15 6 3
+f 16 10 4
+f 16 6 10
+f 16 11 6
+f 16 4 11
+f 17 11 8
+f 17 3 11
+f 17 13 3
+f 18 12 7
+f 18 1 3
+f 18 3 12
+f 18 13 1
+f 18 7 13
+f 19 8 5
+f 19 5 13
+f 19 17 8
+f 19 13 17
+f 20 15 1
+f 20 1 5
+f 20 5 15
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_0/collision/model_normalized_collision_8.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_0/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f84ef9b917097872f6cfcd66f884982bafd6e10d
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_0/collision/model_normalized_collision_8.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.16559896 0.14726476 -0.00673839
+v 0.23360785 0.17774728 -0.07952673
+v 0.13567303 0.22781498 -0.03823635
+v 0.11190471 0.28659628 -0.10073193
+v 0.00777010 0.15459237 -0.09848484
+v 0.16061846 0.24343299 -0.07873866
+v 0.20126753 0.15084553 -0.02948177
+v 0.19218257 0.23263327 -0.10362069
+v 0.01159908 0.17903736 0.04085494
+v 0.11961687 0.27233620 -0.07978947
+v 0.19305517 0.17419393 -0.03918144
+v 0.12044286 0.20233602 -0.00810193
+v 0.13544179 0.27748519 -0.10581666
+v 0.18996261 0.22862287 -0.09383078
+v 0.00777010 0.23034995 -0.09848484
+v 0.13390325 0.24397117 -0.05434780
+v 0.00733614 0.22628513 0.00296946
+v 0.16243297 0.16124304 -0.01110614
+v 0.14649599 0.20285272 -0.02486410
+v 0.13258619 0.27267661 -0.09417592
+v 0.10792812 0.27574370 -0.07805096
+v 0.09146749 0.21891095 -0.00832243
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+f 7 5 2
+f 7 1 5
+f 8 2 5
+f 9 5 1
+f 11 7 2
+f 11 2 3
+f 12 9 1
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+f 13 4 10
+f 13 6 8
+f 14 8 6
+f 14 6 2
+f 14 2 8
+f 15 13 5
+f 15 4 13
+f 16 3 6
+f 16 6 10
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+f 17 15 5
+f 17 5 9
+f 18 12 1
+f 18 1 7
+f 18 7 12
+f 19 11 3
+f 19 3 12
+f 19 12 7
+f 19 7 11
+f 20 13 10
+f 20 10 6
+f 20 6 13
+f 21 10 4
+f 21 4 17
+f 21 16 10
+f 22 17 9
+f 22 9 12
+f 22 12 3
+f 22 21 17
+f 22 3 16
+f 22 16 21
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_0/collision/model_normalized_collision_9.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_0/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e38402f77d7e586a3752ecb49e054780e6c87719
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_0/collision/model_normalized_collision_9.obj
@@ -0,0 +1,144 @@
+# https://github.com/mikedh/trimesh
+v 0.04641835 -0.31096131 -0.07400868
+v 0.11243895 -0.21455134 -0.29920504
+v 0.12992188 -0.18882387 0.03277614
+v -0.16770146 -0.17364867 0.00159364
+v -0.17454587 -0.25488557 -0.30605970
+v -0.10298784 -0.19187838 -0.35847152
+v -0.04608611 -0.28109763 0.00064809
+v 0.10879632 -0.28319627 -0.21182691
+v -0.18125654 -0.20605440 -0.36591147
+v 0.04573025 -0.28035901 -0.00349449
+v -0.07584307 -0.31279247 -0.17059083
+v 0.11286005 -0.25587245 -0.25367846
+v 0.10292218 -0.28170358 -0.07339573
+v 0.02156014 -0.31179585 -0.05947038
+v 0.01766908 -0.31312751 -0.21325722
+v -0.16134116 -0.25100249 -0.12019967
+v 0.05926170 -0.31129048 -0.10271746
+v 0.08867293 -0.28060547 -0.04568862
+v 0.04507834 -0.29505797 -0.03255323
+v -0.05962682 -0.31253893 -0.10179293
+v -0.03420796 -0.31171932 -0.21390921
+v 0.03130673 -0.29596820 -0.23956893
+v -0.09802481 -0.25230099 -0.00232364
+v -0.16737147 -0.26561421 -0.19192442
+v 0.08855580 -0.29561007 -0.10178429
+v 0.06006943 -0.31206656 -0.15843352
+v 0.10262107 -0.25301480 -0.00340519
+v 0.06007462 -0.29479750 -0.04553874
+v -0.02059786 -0.31140830 -0.05957992
+v -0.06187288 -0.31125695 -0.19833906
+v 0.10935018 -0.26793249 -0.23874940
+v 0.04415951 -0.28278818 -0.25154901
+v -0.17163810 -0.24018616 -0.32954660
+v -0.15912595 -0.22196066 -0.04611519
+v -0.07219306 -0.29676813 -0.05945042
+v -0.17061634 -0.26711064 -0.24865369
+v -0.10212091 -0.29611935 -0.13201156
+v 0.04759851 -0.31232448 -0.18641344
+v 0.09160391 -0.29683559 -0.18752566
+v 0.10318894 -0.26617527 -0.03003550
+v 0.04637026 -0.26928371 -0.26356693
+v -0.15781014 -0.19518050 -0.00468104
+v -0.09907248 -0.26769735 -0.03206118
+v -0.04743712 -0.29648502 -0.03040077
+v -0.07438600 -0.31082711 -0.13227552
+v -0.08799309 -0.29527248 -0.08809534
+v -0.11299715 -0.26904210 -0.05930223
+v -0.11656620 -0.28081205 -0.10369353
+v -0.15859978 -0.23688149 -0.07664760
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+f 13 8 3
+f 14 10 7
+f 17 13 1
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+f 19 14 1
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+f 20 11 15
+f 21 15 11
+f 21 5 15
+f 22 8 15
+f 23 7 4
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+f 28 19 1
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+f 29 20 14
+f 29 14 7
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+f 30 5 21
+f 31 12 8
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+f 33 22 15
+f 33 15 5
+f 33 5 9
+f 33 32 22
+f 33 9 32
+f 34 4 16
+f 36 24 4
+f 36 4 5
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+f 37 24 11
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+f 38 15 8
+f 39 25 17
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+f 39 8 25
+f 39 38 8
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+f 40 18 13
+f 40 13 3
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+f 40 28 18
+f 40 27 28
+f 41 32 9
+f 41 9 2
+f 41 2 32
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+f 42 23 4
+f 42 4 34
+f 43 7 23
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+f 44 29 7
+f 44 43 35
+f 44 7 43
+f 44 35 20
+f 44 20 29
+f 45 37 11
+f 45 11 20
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+f 46 45 20
+f 46 37 45
+f 47 43 34
+f 47 46 35
+f 47 35 43
+f 48 16 24
+f 48 24 37
+f 48 37 46
+f 48 47 16
+f 48 46 47
+f 49 47 34
+f 49 34 16
+f 49 16 47
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_0/model.xml b/Assets/robocasa/data/objects/objaverse/garlic/garlic_0/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..43edde60390790430521bf76fee7de86cf55de9e
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_0/model.xml
@@ -0,0 +1,41 @@
+<mujoco model="garlic_6">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.065 0.065 0.065" refquat="0.923879532511287 0.0 0.0 0.38268343236508984"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="Garlic_u1_v1" texture="image0" specular="0.5" shininess="0.0"/>
+    <mesh file="collision/collision_mesh_collision_0.obj" name="garlic_collision_mesh_0" scale="0.065 0.065 0.065" refquat="0.923879532511287 0.0 0.0 0.38268343236508984"/>
+    <mesh file="collision/collision_mesh_collision_1.obj" name="garlic_collision_mesh_1" scale="0.065 0.065 0.065" refquat="0.923879532511287 0.0 0.0 0.38268343236508984"/>
+    <mesh file="collision/collision_mesh_collision_2.obj" name="garlic_collision_mesh_2" scale="0.065 0.065 0.065" refquat="0.923879532511287 0.0 0.0 0.38268343236508984"/>
+    <mesh file="collision/collision_mesh_collision_3.obj" name="garlic_collision_mesh_3" scale="0.065 0.065 0.065" refquat="0.923879532511287 0.0 0.0 0.38268343236508984"/>
+    <mesh file="collision/collision_mesh_collision_4.obj" name="garlic_collision_mesh_4" scale="0.065 0.065 0.065" refquat="0.923879532511287 0.0 0.0 0.38268343236508984"/>
+    <mesh file="collision/collision_mesh_collision_5.obj" name="garlic_collision_mesh_5" scale="0.065 0.065 0.065" refquat="0.923879532511287 0.0 0.0 0.38268343236508984"/>
+    <mesh file="collision/collision_mesh_collision_6.obj" name="garlic_collision_mesh_6" scale="0.065 0.065 0.065" refquat="0.923879532511287 0.0 0.0 0.38268343236508984"/>
+    <mesh file="collision/collision_mesh_collision_7.obj" name="garlic_collision_mesh_7" scale="0.065 0.065 0.065" refquat="0.923879532511287 0.0 0.0 0.38268343236508984"/>
+    <mesh file="collision/collision_mesh_collision_8.obj" name="garlic_collision_mesh_8" scale="0.065 0.065 0.065" refquat="0.923879532511287 0.0 0.0 0.38268343236508984"/>
+  </asset>
+  <default>
+    <default class="region">
+      <geom group="1" conaffinity="0" contype="0" rgba="0 1 0 0"/>
+    </default>
+    <default class="collision">
+      <geom group="0" rgba="0.5 0 0 0.5" density="1000.0"/>
+    </default>
+  </default>
+  <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="Garlic_u1_v1"/>
+        <geom class="region" name="reg_bbox" type="box" pos="-0.0004854191399697146 -0.0015542482149151686 3.3604999999992117e-07" size="0.021913230994473926 0.02180669255067104 0.03249966395"/>
+        <geom mesh="garlic_collision_mesh_0" type="mesh" class="collision"/>
+        <geom mesh="garlic_collision_mesh_1" type="mesh" class="collision"/>
+        <geom mesh="garlic_collision_mesh_2" type="mesh" class="collision"/>
+        <geom mesh="garlic_collision_mesh_3" type="mesh" class="collision"/>
+        <geom mesh="garlic_collision_mesh_4" type="mesh" class="collision"/>
+        <geom mesh="garlic_collision_mesh_5" type="mesh" class="collision"/>
+        <geom mesh="garlic_collision_mesh_6" type="mesh" class="collision"/>
+        <geom mesh="garlic_collision_mesh_7" type="mesh" class="collision"/>
+        <geom mesh="garlic_collision_mesh_8" type="mesh" class="collision"/>
+      </body>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_0/visual/material.mtl b/Assets/robocasa/data/objects/objaverse/garlic/garlic_0/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f68742fe8420aadeab267568817d347d5678c9d5
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_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 0.00000000
+map_Kd material_0.jpeg
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_0/visual/model_normalized_0.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_0/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eb64bb86d95c97dd6244a2b56b2d487a254509b8
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_0/visual/model_normalized_0.obj
@@ -0,0 +1,14919 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
+v -0.34286757 -0.06038472 -0.38371319
+v -0.35297174 -0.03111665 -0.37384459
+v -0.34146758 -0.03550178 -0.39439635
+v -0.34604154 -0.07268121 -0.36863750
+v -0.35624596 -0.05119814 -0.36021297
+v -0.35238077 -0.07513432 -0.34992121
+v -0.36238994 -0.05911268 -0.34116732
+v -0.35567664 -0.09887935 -0.30605851
+v -0.36624421 -0.09223799 -0.28141783
+v -0.36894790 -0.07684270 -0.29991144
+v -0.29652957 -0.13242479 -0.36838450
+v -0.29284769 -0.12389631 -0.38439777
+v -0.27746616 -0.13380192 -0.38376406
+v -0.29024602 -0.10686704 -0.40783634
+v -0.31448178 -0.08603765 -0.40791820
+v -0.29597749 -0.08230510 -0.42106058
+v -0.06550278 -0.15300470 -0.36021716
+v -0.06741415 -0.13720781 -0.36552306
+v -0.05337261 -0.15264930 -0.35617488
+v -0.37033038 -0.05591186 -0.31759660
+v -0.36012837 -0.07825492 -0.32706880
+v -0.37455332 -0.07727529 -0.27589335
+v -0.37362534 -0.07221474 -0.25292679
+v -0.37635261 -0.05561767 -0.28510159
+v -0.37741463 -0.04108179 -0.24521216
+v -0.37819863 -0.02425556 -0.28169195
+v -0.32169669 -0.12132328 -0.35249613
+v -0.33127028 -0.10383143 -0.36413519
+v -0.31378195 -0.11593899 -0.37427454
+v -0.37199400 -0.08594357 -0.26697791
+v -0.36344166 -0.09512081 -0.25278285
+v -0.23331856 -0.23449714 -0.30650352
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diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_1/collision/collision_mesh_collision_0.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_1/collision/collision_mesh_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..32ab9e9a5decd873f97c2dd170c9e143722966e7
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_1/collision/collision_mesh_collision_0.obj
@@ -0,0 +1,1144 @@
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diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_1/collision/collision_mesh_collision_1.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_1/collision/collision_mesh_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f605c357cec474595167783e5bed7613199a5266
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_1/collision/collision_mesh_collision_1.obj
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diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_1/collision/collision_mesh_collision_2.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_1/collision/collision_mesh_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6234d27673c06dc2b6d6e30c7ee2f71490b59add
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_1/collision/collision_mesh_collision_2.obj
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diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_1/collision/collision_mesh_collision_3.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_1/collision/collision_mesh_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..471a61d2800ace1fe18519f4b3c7210d573d95e4
--- /dev/null
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diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_1/collision/collision_mesh_collision_4.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_1/collision/collision_mesh_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..68369b739990328cfe18f4f2c59e2a833a051f3d
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_1/collision/collision_mesh_collision_4.obj
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diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_1/collision/collision_mesh_collision_5.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_1/collision/collision_mesh_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8fb66501777f136e4ed02527a274be64cab9872f
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_1/collision/collision_mesh_collision_5.obj
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diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_1/collision/collision_mesh_collision_6.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_1/collision/collision_mesh_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..17b9c22e1e84a6fc7daebb8ebdc80cec966126f8
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_1/collision/collision_mesh_collision_6.obj
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diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_1/collision/model_normalized_collision_0.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_1/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..84b0f2e5c6517201923a47ab4229a9637574887e
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_1/collision/model_normalized_collision_0.obj
@@ -0,0 +1,129 @@
+# https://github.com/mikedh/trimesh
+v -0.33129510 -0.14100296 -0.07437673
+v -0.33186805 -0.14564606 -0.39149536
+v -0.30037978 -0.00850642 -0.00860907
+v -0.29257456 0.17020103 -0.03380931
+v -0.41002793 0.16662893 -0.23641875
+v -0.30105638 0.15841318 -0.35606061
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\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_1/collision/model_normalized_collision_1.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_1/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d31725f3e3e0b927e24aedd925d98abeac654a26
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_1/collision/model_normalized_collision_1.obj
@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
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+v 0.27437230 -0.23325620 -0.38856065
+v 0.13833756 -0.20522318 -0.35606061
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\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_1/collision/model_normalized_collision_10.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_1/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e6345869e4d4ebb7d299276a61af9df3a41420ea
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_1/collision/model_normalized_collision_10.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
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+v -0.18749777 0.34329297 -0.27451575
+v -0.25509925 0.25191544 -0.05421548
+v -0.34630281 0.24668458 -0.17946026
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+v -0.18850846 0.36009338 -0.21835367
+v -0.32203701 0.27543681 -0.22122202
+v -0.33456778 0.21839653 -0.11037103
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+v -0.39164945 0.15689630 -0.34737293
+v -0.38907693 0.20865939 -0.22311672
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+v -0.37656100 0.20443881 -0.16724945
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\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_1/collision/model_normalized_collision_11.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_1/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..703343398d3700266337ea669c109df707f8462e
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_1/collision/model_normalized_collision_11.obj
@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
+v 0.13893097 0.20327504 0.02203268
+v 0.13833756 0.17356469 -0.34090909
+v 0.12917135 0.33645109 -0.25833623
+v 0.01537583 0.37789203 -0.10228146
+v 0.01712544 0.17356469 -0.23484849
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+v 0.13833756 0.17356469 -0.23484849
+v 0.03641948 0.20043948 0.04218037
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+v 0.12627637 0.33967017 -0.11696547
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+v 0.01646521 0.27894089 0.00648440
+v 0.01712544 0.17356469 -0.34090909
+v 0.01208310 0.38696801 -0.20272386
+v 0.06048961 0.34199844 -0.07357244
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+v 0.05512260 0.36864448 -0.12142848
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+v 0.11935910 0.33913270 -0.11037103
+v 0.09780655 0.29504086 -0.02999861
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\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_1/collision/model_normalized_collision_12.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_1/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8a964184e203685936676324f474a0c97b3d5bc0
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_1/collision/model_normalized_collision_12.obj
@@ -0,0 +1,144 @@
+# https://github.com/mikedh/trimesh
+v -0.03178698 -0.38424628 -0.20635546
+v 0.01265608 -0.35707761 -0.34946699
+v 0.01916950 -0.23090810 0.02170426
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+v -0.18259516 -0.33738940 -0.34955209
+v 0.01712544 -0.22037470 -0.35606061
+v -0.09660615 -0.33823316 -0.07799481
+v 0.01537583 -0.36717979 -0.17841359
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+v -0.19499578 -0.22037470 -0.35606061
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+v -0.18678868 -0.35357595 -0.17942877
+v -0.01661899 -0.38467324 -0.27834384
+v -0.03464815 -0.36945708 -0.15095364
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+v -0.15656106 -0.25716609 -0.00737449
+v -0.17106795 -0.36696592 -0.25957065
+v -0.18914717 -0.35196399 -0.30492551
+v -0.01447446 -0.38359176 -0.23536963
+v 0.01259570 -0.36938618 -0.31976609
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+v -0.14459836 -0.35290648 -0.34824846
+v -0.02061834 -0.37081240 -0.34742275
+v 0.01517870 -0.26649056 -0.00751962
+v -0.09704344 -0.35422995 -0.10645345
+v -0.00336395 -0.35295657 -0.12159273
+v -0.13101163 -0.30829559 -0.05204849
+v -0.18375369 -0.31137947 -0.08237544
+v -0.17259388 -0.36966820 -0.22386526
+v -0.04399459 -0.38325091 -0.30639652
+v -0.11215087 -0.38289800 -0.27434447
+v -0.05967309 -0.38478304 -0.19297861
+v -0.11480290 -0.36757000 -0.33212516
+v -0.06099643 -0.27982583 -0.00746264
+v -0.15659516 -0.35216413 -0.13672005
+v 0.01137648 -0.32485794 -0.08004568
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+v -0.18540193 -0.34058118 -0.13827281
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+v 0.01188099 -0.35377164 -0.13487159
+v -0.17100874 -0.29393071 -0.05240937
+v -0.17196110 -0.35095400 -0.15036448
+v -0.11426423 -0.36788336 -0.15117254
+v -0.16634641 -0.26748521 -0.02238507
+f 6 4 3
+f 8 6 3
+f 8 2 6
+f 10 4 6
+f 10 6 2
+f 10 2 5
+f 12 4 10
+f 14 1 8
+f 15 5 2
+f 16 11 7
+f 17 11 3
+f 17 3 4
+f 19 12 10
+f 19 10 5
+f 19 9 18
+f 20 8 1
+f 20 1 13
+f 21 2 8
+f 21 20 13
+f 21 8 20
+f 23 5 15
+f 23 19 5
+f 23 9 19
+f 24 9 15
+f 24 21 13
+f 24 15 2
+f 24 2 21
+f 25 8 3
+f 26 16 7
+f 27 14 8
+f 27 26 14
+f 27 16 26
+f 28 7 11
+f 30 19 18
+f 30 12 19
+f 30 18 22
+f 31 22 9
+f 31 13 22
+f 31 24 13
+f 31 9 24
+f 32 22 18
+f 32 18 9
+f 32 9 22
+f 33 1 14
+f 33 14 26
+f 33 22 13
+f 33 13 1
+f 34 23 15
+f 34 15 9
+f 34 9 23
+f 35 25 3
+f 35 3 11
+f 35 11 16
+f 37 16 27
+f 37 8 25
+f 38 28 11
+f 38 11 17
+f 39 17 4
+f 39 4 29
+f 40 29 4
+f 40 4 12
+f 41 7 28
+f 41 40 36
+f 41 29 40
+f 41 36 26
+f 41 26 7
+f 42 33 26
+f 42 22 33
+f 43 30 22
+f 43 12 30
+f 44 37 25
+f 44 16 37
+f 44 35 16
+f 44 25 35
+f 45 37 27
+f 45 27 8
+f 45 8 37
+f 46 29 41
+f 46 41 28
+f 46 28 38
+f 46 39 29
+f 47 40 12
+f 47 36 40
+f 47 43 36
+f 47 12 43
+f 48 42 26
+f 48 26 36
+f 48 36 43
+f 48 43 22
+f 48 22 42
+f 49 46 38
+f 49 38 17
+f 49 17 39
+f 49 39 46
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_1/collision/model_normalized_collision_13.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_1/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a55cd76a214b9753b34228bd15a02b8cbbe50c7
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_1/collision/model_normalized_collision_13.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v -0.07378365 0.18871621 -0.23484849
+v 0.01537583 0.29383444 -0.36005088
+v 0.01783461 0.37780980 -0.23281051
+v -0.12761172 0.38440982 -0.23330480
+v -0.19499578 0.18871621 -0.34090909
+v -0.07738615 0.35314975 -0.31433818
+v -0.02797673 0.38736185 -0.23035172
+v 0.01712544 0.27962530 -0.23484849
+v -0.07378365 0.18871621 -0.34090909
+v -0.19499578 0.18871621 -0.23484849
+v 0.02337453 0.34018139 -0.31323585
+v -0.18722797 0.31030545 -0.33112781
+v -0.12143664 0.36706169 -0.28611226
+v -0.04646280 0.33872462 -0.32818454
+v 0.02052144 0.37060802 -0.25805704
+v -0.20798963 0.34397011 -0.23711859
+v -0.06441330 0.36752073 -0.28407286
+v -0.12860094 0.38212727 -0.24434942
+v -0.13143104 0.33737526 -0.32833595
+v 0.02068082 0.32674573 -0.32969993
+v -0.00862028 0.35246547 -0.30070482
+v -0.18692898 0.33763112 -0.28807108
+v -0.11260354 0.35427032 -0.31337922
+v -0.14576730 0.37626779 -0.23435107
+v -0.18487536 0.32444658 -0.31402063
+v -0.14459836 0.36574646 -0.27034524
+v -0.16968335 0.32270395 -0.32754116
+v -0.18749777 0.34329297 -0.27451575
+f 8 7 1
+f 8 3 7
+f 9 5 2
+f 9 1 5
+f 9 8 1
+f 9 2 8
+f 10 5 1
+f 10 7 4
+f 10 1 7
+f 11 8 2
+f 12 2 5
+f 14 6 11
+f 15 3 8
+f 15 8 11
+f 15 7 3
+f 16 10 4
+f 16 12 5
+f 16 5 10
+f 17 13 7
+f 17 7 15
+f 18 4 7
+f 18 7 13
+f 19 14 2
+f 19 2 12
+f 20 14 11
+f 20 11 2
+f 20 2 14
+f 21 15 11
+f 21 11 6
+f 21 17 15
+f 21 6 17
+f 23 17 6
+f 23 13 17
+f 23 6 14
+f 23 14 19
+f 24 18 16
+f 24 16 4
+f 24 4 18
+f 25 12 16
+f 25 16 22
+f 26 18 13
+f 26 25 22
+f 26 13 25
+f 27 19 12
+f 27 12 25
+f 27 23 19
+f 27 25 13
+f 27 13 23
+f 28 26 22
+f 28 22 16
+f 28 16 18
+f 28 18 26
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_1/collision/model_normalized_collision_14.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_1/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..42cc1a63459f058bbdb667b83176b0c1de286149
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_1/collision/model_normalized_collision_14.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.01712544 -0.12946561 -0.35606061
+v 0.01712544 -0.12946561 -0.41666667
+v 0.02337453 -0.00352772 -0.46404854
+v -0.19499578 0.08265560 -0.35606061
+v -0.21664189 -0.14828502 -0.45216153
+v -0.07378365 0.08265560 -0.35606061
+v -0.19499578 -0.12946561 -0.35606061
+v -0.20058934 0.08045873 -0.47310384
+v 0.01712544 -0.00825349 -0.35606061
+v -0.07954716 0.08171313 -0.46173556
+f 1 2 3
+f 5 2 1
+f 5 3 2
+f 6 4 1
+f 7 5 1
+f 7 1 4
+f 7 4 5
+f 8 5 4
+f 8 3 5
+f 9 6 1
+f 9 1 3
+f 9 3 6
+f 10 6 3
+f 10 3 8
+f 10 8 4
+f 10 4 6
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_1/collision/model_normalized_collision_15.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_1/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1aa0ee6d042cd4fee29b7298ebf1702870f8ef6b
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_1/collision/model_normalized_collision_15.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v -0.19155303 -0.31949644 -0.10241745
+v -0.18730502 -0.31355156 -0.08908792
+v -0.37919985 -0.09373802 -0.10643258
+v -0.21382359 -0.00095946 0.04141652
+v -0.19499578 -0.00825349 -0.09848485
+v -0.28921145 -0.10942525 -0.00929633
+v -0.24545813 -0.27479757 -0.10513893
+v -0.18814195 -0.21377446 -0.00519399
+v -0.38390647 -0.01064616 -0.10237230
+v -0.20154251 -0.31363701 -0.10661675
+v -0.35812967 -0.10595688 -0.08237547
+v -0.18485355 -0.26063680 -0.03232712
+v -0.30369666 -0.01234670 -0.01003008
+v -0.28857514 -0.13072818 -0.02264420
+v -0.35909703 -0.06698421 -0.06659889
+v -0.24058292 -0.27137047 -0.09512883
+v -0.20978705 -0.24022312 -0.03618739
+v -0.30205272 -0.08030270 -0.00972783
+v -0.34732284 -0.01049258 -0.05187908
+v -0.37842055 -0.01152637 -0.09037424
+v -0.37296986 -0.09313458 -0.09613512
+v -0.19664134 -0.21340024 -0.01060689
+v -0.34459451 -0.07947974 -0.05180362
+v -0.36088547 -0.01362799 -0.06637803
+f 5 2 1
+f 7 1 2
+f 8 5 4
+f 8 4 6
+f 9 5 3
+f 9 4 5
+f 10 5 1
+f 10 1 7
+f 10 7 3
+f 10 3 5
+f 11 3 7
+f 12 2 5
+f 12 5 8
+f 14 6 11
+f 16 7 2
+f 16 2 12
+f 16 14 11
+f 16 11 7
+f 17 6 14
+f 17 16 12
+f 17 14 16
+f 18 6 4
+f 18 4 13
+f 19 13 4
+f 19 4 9
+f 19 18 13
+f 20 9 3
+f 20 3 15
+f 20 19 9
+f 21 15 3
+f 21 3 11
+f 22 8 6
+f 22 6 17
+f 22 17 12
+f 22 12 8
+f 23 11 6
+f 23 6 18
+f 23 21 11
+f 23 15 21
+f 23 19 15
+f 23 18 19
+f 24 20 15
+f 24 15 19
+f 24 19 20
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_1/collision/model_normalized_collision_16.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_1/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fae6a3cde268b852244784380d1a780a818afc43
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_1/collision/model_normalized_collision_16.obj
@@ -0,0 +1,129 @@
+# https://github.com/mikedh/trimesh
+v -0.18854646 -0.35916421 -0.20691901
+v -0.18712986 -0.26057956 -0.43886746
+v -0.23637981 -0.22749158 -0.06032461
+v -0.36856230 -0.18291800 -0.23534942
+v -0.26713083 -0.28593340 -0.31988603
+v -0.19194093 -0.18937666 -0.45971234
+v -0.24280103 -0.28000182 -0.10835590
+v -0.18892365 -0.34531415 -0.32053829
+v -0.27315142 -0.29718673 -0.23435099
+v -0.34222550 -0.18122604 -0.33753206
+v -0.19499578 -0.19007167 -0.23484849
+v -0.19155303 -0.31949644 -0.10241745
+v -0.30918472 -0.19626644 -0.11810902
+v -0.20058934 -0.31159868 -0.37432844
+v -0.18688512 -0.36150276 -0.23241843
+v -0.36757682 -0.18349865 -0.26465619
+v -0.26621738 -0.28552968 -0.16582052
+v -0.25258098 -0.31534388 -0.27597307
+v -0.30873247 -0.17883713 -0.37795954
+v -0.18859129 -0.21817432 -0.45759765
+v -0.29649286 -0.19878722 -0.10333035
+v -0.23183482 -0.30747876 -0.34422637
+v -0.18837020 -0.31547750 -0.37748998
+v -0.18614354 -0.34315561 -0.14782071
+v -0.35625608 -0.18283243 -0.30733658
+v -0.26953679 -0.29763971 -0.20682611
+v -0.33438780 -0.20149666 -0.17910201
+v -0.21410062 -0.34012406 -0.17836000
+v -0.21136530 -0.33783229 -0.30397179
+v -0.27248489 -0.29485130 -0.26234645
+v -0.19951642 -0.18664173 -0.45223625
+v -0.18994539 -0.22349235 -0.45431554
+v -0.20022550 -0.33972758 -0.31946637
+v -0.25892237 -0.28072741 -0.34383747
+v -0.24086546 -0.31026691 -0.31827067
+v -0.18920853 -0.32864884 -0.12021322
+v -0.21193651 -0.32257608 -0.13672724
+v -0.20226652 -0.33771070 -0.15293482
+v -0.24058292 -0.32493427 -0.19519616
+v -0.24499225 -0.32218698 -0.26637758
+v -0.25210879 -0.26056837 -0.37467145
+v -0.20980260 -0.31067790 -0.11119142
+v -0.19898348 -0.35378407 -0.20818612
+v -0.20424394 -0.35122578 -0.23451936
+f 12 3 7
+f 12 11 3
+f 13 11 4
+f 16 9 4
+f 16 4 10
+f 17 7 13
+f 18 16 5
+f 19 10 4
+f 19 4 11
+f 20 6 11
+f 20 19 6
+f 21 13 7
+f 21 7 3
+f 21 3 11
+f 21 11 13
+f 23 14 2
+f 23 8 14
+f 23 15 8
+f 23 2 15
+f 24 1 15
+f 24 15 2
+f 24 2 20
+f 24 20 11
+f 25 16 10
+f 25 10 5
+f 25 5 16
+f 26 17 4
+f 26 4 9
+f 27 17 13
+f 27 13 4
+f 27 4 17
+f 28 1 24
+f 29 8 15
+f 30 18 9
+f 30 9 16
+f 30 16 18
+f 31 19 11
+f 31 11 6
+f 31 6 19
+f 32 20 2
+f 32 2 19
+f 32 19 20
+f 33 22 14
+f 33 14 8
+f 33 29 22
+f 33 8 29
+f 34 22 5
+f 34 5 10
+f 35 18 5
+f 35 5 22
+f 35 29 18
+f 35 22 29
+f 36 24 11
+f 36 11 12
+f 36 12 24
+f 38 28 24
+f 38 24 12
+f 38 37 28
+f 38 12 37
+f 39 17 26
+f 39 26 9
+f 39 28 37
+f 39 37 7
+f 39 7 17
+f 40 18 29
+f 40 39 9
+f 40 9 18
+f 41 34 10
+f 41 10 19
+f 41 19 2
+f 41 2 14
+f 41 14 22
+f 41 22 34
+f 42 37 12
+f 42 12 7
+f 42 7 37
+f 43 15 1
+f 43 1 28
+f 43 28 39
+f 44 40 29
+f 44 29 15
+f 44 15 43
+f 44 43 39
+f 44 39 40
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_1/collision/model_normalized_collision_17.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_1/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..973c63a5e327272f58c775720f1cc70f738d8b71
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_1/collision/model_normalized_collision_17.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v 0.13535650 -0.32500519 -0.37630630
+v 0.14010407 -0.28482427 -0.42272041
+v 0.13833756 -0.11431409 -0.35606061
+v -0.19499578 -0.12946561 -0.35606061
+v -0.17505958 -0.28348267 -0.43031943
+v -0.19912267 -0.32102045 -0.36137424
+v 0.00737712 -0.30027421 -0.42752962
+v 0.01730938 -0.11295440 -0.48799830
+v 0.03305931 -0.33512698 -0.37032909
+v -0.21664189 -0.14828502 -0.45216153
+v -0.14469120 -0.29753312 -0.43135179
+v 0.13535650 -0.11462638 -0.48340092
+v 0.01712544 -0.11431409 -0.35606061
+v -0.18259223 -0.25502688 -0.45031619
+v -0.11586704 -0.13016713 -0.49314252
+v 0.11763285 -0.21008609 -0.47306912
+v -0.17659323 -0.21349385 -0.46509960
+v -0.04711035 -0.12818373 -0.49306156
+v 0.13659089 -0.19949623 -0.47367820
+v -0.03090495 -0.26816220 -0.46011530
+v -0.18859129 -0.21817432 -0.45759765
+v -0.07829009 -0.17195622 -0.49061126
+v 0.13791171 -0.25774178 -0.44806455
+v -0.11260354 -0.28621890 -0.44531500
+v -0.01629234 -0.22958276 -0.47271777
+v -0.14459836 -0.20576909 -0.47757966
+v -0.00299386 -0.28376543 -0.44425767
+v -0.11539152 -0.17053244 -0.48893969
+v -0.11115858 -0.22727390 -0.47225970
+v -0.05548138 -0.26764723 -0.45939626
+v -0.16059576 -0.24348904 -0.46078053
+f 1 2 3
+f 6 3 4
+f 7 2 1
+f 9 1 3
+f 9 3 6
+f 9 7 1
+f 10 6 4
+f 11 6 5
+f 11 9 6
+f 11 7 9
+f 12 8 3
+f 12 3 2
+f 13 8 4
+f 13 4 3
+f 13 3 8
+f 14 5 6
+f 14 6 10
+f 14 11 5
+f 15 10 4
+f 15 4 8
+f 17 10 15
+f 18 15 8
+f 18 8 12
+f 19 12 2
+f 21 17 14
+f 21 14 10
+f 21 10 17
+f 22 15 18
+f 22 19 16
+f 22 18 12
+f 22 12 19
+f 23 19 2
+f 23 16 19
+f 23 20 16
+f 23 2 7
+f 24 7 11
+f 24 11 14
+f 25 22 16
+f 25 16 20
+f 25 20 22
+f 26 17 15
+f 26 14 17
+f 27 23 7
+f 27 20 23
+f 27 24 20
+f 27 7 24
+f 28 26 15
+f 28 15 22
+f 28 22 26
+f 29 26 22
+f 29 22 20
+f 30 29 20
+f 30 20 24
+f 31 24 14
+f 31 14 26
+f 31 26 29
+f 31 30 24
+f 31 29 30
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_1/collision/model_normalized_collision_18.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_1/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad5d2949faa2abb0395caa2e5555ee21d0f98f59
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_1/collision/model_normalized_collision_18.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v -0.12860094 -0.23492549 -0.46410384
+v -0.11779852 -0.18852329 -0.48590508
+v -0.11790588 0.18472794 -0.44325275
+v -0.19061104 0.20371215 -0.43775794
+v -0.19259064 0.03218812 -0.49036507
+v -0.20678986 -0.22684491 -0.43283965
+v -0.10471602 0.07727347 -0.46583653
+v -0.11660289 0.13766818 -0.48281866
+v -0.14252670 0.19773016 -0.43454577
+v -0.19607322 0.18596524 -0.44909551
+v -0.18659158 -0.21349385 -0.46188404
+v -0.12460159 0.18044265 -0.46083098
+v -0.11660289 -0.15579794 -0.49286123
+v -0.18459194 0.11171292 -0.48231109
+v -0.14526517 -0.20167828 -0.47929455
+v -0.13957373 0.17689894 -0.46203753
+v -0.15266273 0.04846391 -0.49235254
+v -0.18991889 0.01377727 -0.49089835
+v -0.12060224 -0.04070401 -0.49023214
+v -0.15864075 0.04846391 -0.49234671
+v -0.16101082 -0.19751624 -0.47467384
+v -0.12856295 -0.15940290 -0.48974413
+f 6 1 3
+f 7 1 2
+f 7 3 1
+f 8 3 7
+f 9 6 3
+f 9 4 6
+f 10 6 4
+f 10 5 6
+f 11 6 5
+f 11 1 6
+f 12 3 8
+f 12 9 3
+f 12 4 9
+f 13 8 7
+f 13 7 2
+f 14 10 8
+f 14 5 10
+f 15 2 1
+f 15 1 11
+f 15 13 2
+f 16 10 4
+f 16 4 12
+f 16 12 8
+f 16 8 10
+f 18 11 5
+f 19 17 8
+f 19 8 13
+f 19 13 17
+f 20 14 8
+f 20 8 17
+f 20 5 14
+f 20 18 5
+f 20 17 13
+f 20 13 18
+f 21 18 15
+f 21 15 11
+f 21 11 18
+f 22 18 13
+f 22 13 15
+f 22 15 18
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_1/collision/model_normalized_collision_19.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_1/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d7c2920164da9a839e6d0858875fcb63c588168
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_1/collision/model_normalized_collision_19.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v 0.20856330 -0.32656141 -0.34957899
+v 0.24477316 -0.29659425 -0.35636151
+v -0.18923824 -0.33220971 -0.35156402
+v -0.19013650 -0.30162159 -0.39295429
+v 0.01556405 -0.29353430 -0.42824241
+v -0.19912267 -0.32102045 -0.36137424
+v 0.23907457 -0.30411477 -0.35147701
+v 0.19500040 -0.28851054 -0.40865783
+v -0.01695296 -0.35417309 -0.37592425
+v -0.17259388 -0.33813321 -0.36121786
+v 0.21672654 -0.29549354 -0.38839448
+v 0.04485083 -0.28782196 -0.42160174
+v 0.01265608 -0.35707761 -0.34946699
+v -0.11660289 -0.30412396 -0.42895057
+v 0.17778835 -0.32544929 -0.37521160
+v 0.00837715 -0.30999060 -0.41854895
+v -0.16776749 -0.31068212 -0.40068375
+v 0.20654587 -0.32227331 -0.36001416
+v 0.23678652 -0.28593387 -0.37832779
+v -0.17259388 -0.34241453 -0.35097202
+v -0.17276035 -0.30101414 -0.40622104
+v -0.08477630 -0.35391479 -0.37593991
+v 0.19095494 -0.29792836 -0.40202560
+v 0.19073819 -0.30941831 -0.38822989
+v 0.22185235 -0.28726516 -0.39235665
+v -0.11512636 -0.32679408 -0.40257626
+v -0.12784526 -0.35697411 -0.35033231
+v -0.12661532 -0.35313903 -0.35968945
+f 6 3 2
+f 6 2 4
+f 7 2 3
+f 7 3 1
+f 10 3 6
+f 11 2 7
+f 12 8 5
+f 14 12 5
+f 15 13 9
+f 15 1 13
+f 16 5 8
+f 16 15 9
+f 16 14 5
+f 16 9 14
+f 17 10 6
+f 17 6 4
+f 18 11 7
+f 18 7 1
+f 18 1 15
+f 19 2 11
+f 19 8 12
+f 19 12 4
+f 19 4 2
+f 20 13 1
+f 20 1 3
+f 20 3 10
+f 21 4 12
+f 21 12 14
+f 21 17 4
+f 21 14 17
+f 22 14 9
+f 23 8 11
+f 23 16 8
+f 23 15 16
+f 24 18 15
+f 24 11 18
+f 24 23 11
+f 24 15 23
+f 25 19 11
+f 25 11 8
+f 25 8 19
+f 26 17 14
+f 26 14 22
+f 26 10 17
+f 27 20 10
+f 27 13 20
+f 27 22 9
+f 27 9 13
+f 28 26 22
+f 28 10 26
+f 28 27 10
+f 28 22 27
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_1/collision/model_normalized_collision_2.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_1/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..63bdfa90d2432fc0d08b8cb4ddd2c8ca3630e343
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_1/collision/model_normalized_collision_2.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.24183526 -0.29366467 -0.11559669
+v 0.42446850 -0.05015903 -0.27834389
+v 0.32056734 0.00354276 -0.02370861
+v 0.23744188 0.29524574 -0.16046480
+v 0.24166368 0.14078318 -0.40986523
+v 0.40698256 0.05729662 -0.18025275
+v 0.23731697 0.19998567 0.00072329
+v 0.39196332 -0.07716696 -0.12421240
+v 0.24439816 -0.19007167 -0.34090909
+v 0.23572508 0.24004831 -0.35917117
+v 0.23704418 -0.12461528 -0.00270900
+v 0.30661099 0.21949559 -0.11037103
+v 0.39252139 -0.13344692 -0.23658529
+v 0.37816059 0.01904599 -0.09497989
+v 0.42298556 -0.02190681 -0.19308207
+v 0.39311539 -0.10464003 -0.33191427
+v 0.39245708 0.08445811 -0.31833750
+v 0.23582912 0.22573455 -0.01608085
+v 0.23718478 -0.29086587 -0.10353864
+v 0.23704232 0.16777238 -0.40181740
+v 0.29573237 -0.06180857 -0.00965230
+v 0.39237731 -0.12249035 -0.17995021
+v 0.34935808 -0.04849415 -0.05167769
+v 0.31658747 0.16753424 -0.07672338
+v 0.42283973 0.03423877 -0.26424041
+v 0.40770767 0.00534363 -0.15101501
+v 0.34357550 0.07788810 -0.39298379
+v 0.40748305 -0.10888872 -0.26419880
+v 0.33394485 -0.18295449 -0.33598910
+v 0.40623410 0.03308664 -0.33290763
+v 0.30327180 0.25008427 -0.24775697
+v 0.23625091 0.29549312 -0.26114974
+v 0.27586807 0.26462996 -0.11878596
+v 0.23680673 -0.21451424 -0.03225490
+v 0.29914495 0.00342440 -0.01006661
+v 0.38118455 -0.14355764 -0.19263065
+v 0.28720602 -0.23948970 -0.11089072
+v 0.40670363 -0.09132497 -0.17946910
+v 0.34797463 0.00285500 -0.04976389
+v 0.37623677 -0.06466165 -0.09159312
+v 0.32098558 -0.04952842 -0.02339158
+v 0.39307395 0.03322016 -0.12479197
+v 0.31510468 0.21038770 -0.11688682
+v 0.28786148 0.19333021 -0.05038066
+v 0.42338650 0.03603352 -0.21878444
+v 0.40780553 -0.04907980 -0.15093758
+v 0.26333588 0.17561231 -0.38605249
+v 0.28735934 0.21031069 -0.34312626
+v 0.40773184 -0.09201514 -0.30924451
+v 0.40826015 -0.10614338 -0.22345464
+v 0.35017145 -0.17586807 -0.30633941
+v 0.37886627 0.08446324 -0.34648294
+v 0.40837113 -0.05012281 -0.33384894
+v 0.42286665 0.00270739 -0.29133667
+v 0.40678969 0.07427097 -0.29034204
+v 0.27539542 0.27987673 -0.16484335
+v 0.24112415 0.26294605 -0.07513625
+v 0.28092171 -0.08904640 -0.00982819
+v 0.25807317 0.18002117 -0.00718857
+v 0.25086226 -0.28654912 -0.11946840
+v 0.36103606 -0.13397708 -0.12483902
+v 0.28774845 -0.22402529 -0.09540269
+v 0.39131526 -0.10631798 -0.15224444
+v 0.35011383 -0.09151348 -0.06819249
+f 18 11 7
+f 19 9 1
+f 20 5 9
+f 20 19 10
+f 20 9 19
+f 21 7 11
+f 27 9 5
+f 27 5 20
+f 29 1 9
+f 29 27 16
+f 29 9 27
+f 32 18 4
+f 32 10 18
+f 34 18 10
+f 34 10 19
+f 34 11 18
+f 35 7 21
+f 37 36 22
+f 40 39 23
+f 40 14 39
+f 41 35 21
+f 41 3 35
+f 41 39 3
+f 41 23 39
+f 42 24 14
+f 42 6 24
+f 42 26 6
+f 42 14 26
+f 43 24 6
+f 43 12 24
+f 43 33 12
+f 44 39 14
+f 44 14 24
+f 44 24 12
+f 44 33 18
+f 44 12 33
+f 45 15 2
+f 45 2 25
+f 45 26 15
+f 45 6 26
+f 45 43 6
+f 45 31 43
+f 46 15 26
+f 46 38 15
+f 46 8 38
+f 46 40 8
+f 46 26 14
+f 46 14 40
+f 47 27 20
+f 47 20 10
+f 48 31 17
+f 48 32 31
+f 48 10 32
+f 48 47 10
+f 48 27 47
+f 49 2 28
+f 50 13 28
+f 50 36 13
+f 50 22 36
+f 50 38 22
+f 50 28 2
+f 50 2 15
+f 50 15 38
+f 51 28 13
+f 51 29 16
+f 51 49 28
+f 51 16 49
+f 52 30 27
+f 52 17 30
+f 52 48 17
+f 52 27 48
+f 53 16 27
+f 53 27 30
+f 53 49 16
+f 53 2 49
+f 54 30 25
+f 54 25 2
+f 54 53 30
+f 54 2 53
+f 55 30 17
+f 55 25 30
+f 55 17 31
+f 55 45 25
+f 55 31 45
+f 56 32 4
+f 56 31 32
+f 56 4 33
+f 56 43 31
+f 56 33 43
+f 57 33 4
+f 57 4 18
+f 57 18 33
+f 58 21 11
+f 58 11 34
+f 58 41 21
+f 58 34 41
+f 59 35 3
+f 59 7 35
+f 59 3 39
+f 59 39 44
+f 59 44 18
+f 59 18 7
+f 60 13 36
+f 60 51 13
+f 60 1 29
+f 60 29 51
+f 60 36 37
+f 60 37 19
+f 60 19 1
+f 62 34 19
+f 62 19 37
+f 62 37 61
+f 63 38 8
+f 63 22 38
+f 63 8 61
+f 63 61 37
+f 63 37 22
+f 64 40 23
+f 64 34 62
+f 64 62 61
+f 64 61 8
+f 64 8 40
+f 64 41 34
+f 64 23 41
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_1/collision/model_normalized_collision_20.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_1/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ba79d988192c78051b7997cb8bb6116008dbca49
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_1/collision/model_normalized_collision_20.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.01712544 -0.00825349 -0.35606061
+v 0.06385468 -0.00986662 -0.47296689
+v 0.01712544 0.08265560 -0.35606061
+v -0.07378365 0.08265560 -0.35606061
+v -0.12060224 -0.01388102 -0.48231108
+v 0.06436277 0.05002191 -0.46115587
+v -0.07378365 -0.00825349 -0.35606061
+v 0.06445868 -0.00243716 -0.47077471
+v -0.11927094 0.08254836 -0.47426570
+v 0.06275652 0.06745640 -0.45969178
+v -0.12654372 0.02149010 -0.48088612
+v -0.00062158 0.08471429 -0.46220989
+v 0.01728573 0.08304209 -0.45874994
+v 0.05835292 0.06903229 -0.45921561
+f 1 3 4
+f 5 2 1
+f 6 3 1
+f 7 5 1
+f 7 1 4
+f 8 6 1
+f 8 1 2
+f 8 2 6
+f 10 6 2
+f 10 2 9
+f 10 3 6
+f 11 9 2
+f 11 2 5
+f 11 5 7
+f 11 7 4
+f 11 4 9
+f 12 9 4
+f 12 4 3
+f 12 10 9
+f 13 12 3
+f 13 10 12
+f 14 13 3
+f 14 3 10
+f 14 10 13
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_1/collision/model_normalized_collision_21.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_1/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..317145a61615e1ab288bfee39eb9baf3eecfdee9
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_1/collision/model_normalized_collision_21.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.24547435 -0.00802263 0.01041785
+v 0.24439816 -0.00825349 -0.23484849
+v 0.24439816 0.18871621 -0.23484849
+v -0.20331813 0.18900878 0.02112155
+v -0.30037978 -0.00850642 -0.00860907
+v 0.24146476 0.18669852 0.00381628
+v -0.29320488 -0.01016638 -0.00306926
+v -0.30105638 0.17356469 -0.23484849
+v -0.30105638 -0.00825349 -0.23484849
+v -0.27462626 0.12544911 -0.01088443
+v -0.19499578 0.18871621 -0.23484849
+v -0.29257456 0.17020103 -0.03380931
+v -0.28734205 0.15359652 -0.02612013
+v -0.27647695 0.16788077 -0.02232672
+f 1 2 3
+f 6 1 3
+f 6 3 4
+f 6 4 1
+f 7 2 1
+f 7 1 4
+f 8 3 2
+f 9 7 5
+f 9 2 7
+f 9 8 2
+f 9 5 8
+f 10 7 4
+f 10 5 7
+f 11 8 4
+f 11 4 3
+f 11 3 8
+f 12 8 5
+f 12 4 8
+f 13 12 5
+f 13 5 10
+f 14 4 12
+f 14 12 13
+f 14 13 10
+f 14 10 4
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_1/collision/model_normalized_collision_22.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_1/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4bfe36f9ec683dc020baafe9e080c8911ab2c7fe
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_1/collision/model_normalized_collision_22.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.13833756 -0.11431409 -0.41666667
+v 0.14874407 -0.07412665 -0.47158363
+v 0.14449239 -0.00352772 -0.48242110
+v -0.11260354 -0.00352772 -0.47487632
+v -0.11586704 -0.13016713 -0.49314252
+v 0.07536616 0.00463973 -0.47031302
+v 0.13535650 -0.11462638 -0.48340092
+v -0.11923820 -0.12946561 -0.41666667
+v -0.12103218 -0.05125239 -0.49034473
+v 0.01712544 -0.12946561 -0.41666667
+v 0.11935910 -0.02752383 -0.49247837
+v -0.12060224 -0.01388102 -0.48231108
+v 0.01730409 -0.12916778 -0.48634471
+v 0.06244891 -0.11415640 -0.48962016
+v 0.13569476 -0.00929778 -0.48696086
+f 1 2 3
+f 6 1 3
+f 6 3 4
+f 7 2 1
+f 7 3 2
+f 8 6 4
+f 8 1 6
+f 9 5 8
+f 10 7 1
+f 10 8 5
+f 10 1 8
+f 11 5 9
+f 12 9 8
+f 12 8 4
+f 12 11 9
+f 13 10 5
+f 13 7 10
+f 14 11 7
+f 14 5 11
+f 14 13 5
+f 14 7 13
+f 15 3 7
+f 15 7 11
+f 15 11 12
+f 15 12 4
+f 15 4 3
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_1/collision/model_normalized_collision_23.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_1/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d53d7b572b0959149317678cb5fecc51a94411a1
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_1/collision/model_normalized_collision_23.obj
@@ -0,0 +1,141 @@
+# https://github.com/mikedh/trimesh
+v 0.33394485 -0.18295449 -0.33598910
+v 0.39653222 -0.09334447 -0.33324709
+v 0.33282702 0.14113183 -0.33931746
+v 0.27533400 0.16444528 -0.37911701
+v 0.28229109 -0.05119304 -0.45877558
+v 0.24439816 -0.19007167 -0.34090909
+v 0.27516090 -0.18471966 -0.41517050
+v 0.36665966 0.00447099 -0.40081180
+v 0.24062919 0.01462888 -0.46088893
+v 0.39686224 0.05967943 -0.33433491
+v 0.34953719 -0.13138137 -0.37393213
+v 0.24012458 -0.18889294 -0.43863087
+v 0.24166368 0.14078318 -0.40986523
+v 0.31212725 0.04675526 -0.42704013
+v 0.39268491 -0.06651388 -0.36114035
+v 0.38250831 -0.12076409 -0.33436372
+v 0.30348978 -0.17949938 -0.38755260
+v 0.32272133 -0.07800350 -0.42817829
+v 0.24055165 -0.07433528 -0.46054112
+v 0.23933979 0.12190751 -0.41824038
+v 0.32548400 0.01549453 -0.42874567
+v 0.28113300 0.10428142 -0.41322562
+v 0.36455245 0.05965970 -0.38409025
+v 0.39343969 0.03304410 -0.35961452
+v 0.33084429 -0.18081286 -0.34694634
+v 0.39032376 -0.09527948 -0.34633299
+v 0.35055462 -0.08808486 -0.40092468
+v 0.30798705 -0.05121038 -0.44514323
+v 0.24993746 -0.18749810 -0.43308949
+v 0.28165259 -0.04365847 -0.45904287
+v 0.25606833 -0.07177830 -0.45978313
+v 0.28667576 0.07336595 -0.42650270
+v 0.33888134 0.04682001 -0.41276928
+v 0.37640959 0.07534297 -0.35795429
+v 0.37904213 -0.00700634 -0.38775765
+v 0.38006978 -0.10093608 -0.35698615
+v 0.36512532 -0.08898715 -0.38665583
+v 0.35054519 -0.03687930 -0.41502416
+v 0.29571878 0.01318902 -0.44345857
+v 0.31028727 -0.04025931 -0.44357058
+v 0.25433917 0.01256743 -0.45850191
+v 0.29489851 0.11586771 -0.39917252
+v 0.34966803 0.05712241 -0.39968755
+v 0.35056589 -0.01027360 -0.41643390
+v 0.39211353 0.05749946 -0.34622637
+v 0.32353476 0.13224185 -0.35998703
+v 0.37919931 -0.11766886 -0.34263479
+v 0.37929783 -0.03408092 -0.38723348
+f 6 3 4
+f 10 6 1
+f 10 1 2
+f 10 3 6
+f 12 7 1
+f 12 1 6
+f 13 6 4
+f 16 2 1
+f 17 7 11
+f 20 12 6
+f 20 6 13
+f 20 19 12
+f 20 9 19
+f 22 13 4
+f 24 10 2
+f 24 2 15
+f 24 8 23
+f 25 16 1
+f 25 11 16
+f 25 17 11
+f 25 1 7
+f 25 7 17
+f 26 15 2
+f 26 2 16
+f 27 7 18
+f 28 18 12
+f 28 12 5
+f 29 18 7
+f 29 7 12
+f 29 12 18
+f 30 19 9
+f 30 28 5
+f 31 5 12
+f 31 12 19
+f 31 30 5
+f 31 19 30
+f 32 20 13
+f 32 13 22
+f 32 22 14
+f 33 21 14
+f 33 14 22
+f 34 3 10
+f 34 24 23
+f 35 24 15
+f 35 8 24
+f 37 11 7
+f 37 7 27
+f 37 36 11
+f 37 15 26
+f 37 26 36
+f 38 18 28
+f 38 27 18
+f 38 37 27
+f 39 14 21
+f 39 21 30
+f 40 30 21
+f 40 28 30
+f 41 32 14
+f 41 9 20
+f 41 20 32
+f 41 14 39
+f 41 39 30
+f 41 30 9
+f 42 33 22
+f 42 22 4
+f 43 23 8
+f 43 8 33
+f 43 33 42
+f 43 42 4
+f 43 4 23
+f 44 33 8
+f 44 21 33
+f 44 40 21
+f 44 38 28
+f 44 28 40
+f 45 34 10
+f 45 10 24
+f 45 24 34
+f 46 34 23
+f 46 23 4
+f 46 4 3
+f 46 3 34
+f 47 36 26
+f 47 26 16
+f 47 16 11
+f 47 11 36
+f 48 35 15
+f 48 15 37
+f 48 37 38
+f 48 38 44
+f 48 44 8
+f 48 8 35
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_1/collision/model_normalized_collision_24.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_1/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db75a669ca091301d93881e3fec4881de488a5f4
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_1/collision/model_normalized_collision_24.obj
@@ -0,0 +1,129 @@
+# https://github.com/mikedh/trimesh
+v 0.23577378 -0.33355214 -0.20635546
+v 0.33852566 -0.18228704 -0.32134687
+v 0.30444566 -0.26654502 -0.20892139
+v 0.32332622 -0.18002746 -0.11895059
+v 0.24012458 -0.18889294 -0.43863087
+v 0.34129819 -0.18221620 -0.16189186
+v 0.24352548 -0.29863602 -0.12379627
+v 0.27800356 -0.28351807 -0.33122802
+v 0.30951138 -0.18257899 -0.37819186
+v 0.33246804 -0.20824925 -0.29034199
+v 0.29148989 -0.26249861 -0.15052296
+v 0.23783964 -0.30178037 -0.12086890
+v 0.24831852 -0.32320879 -0.27760902
+v 0.24993746 -0.18749810 -0.43308949
+v 0.30300916 -0.23759204 -0.34555432
+v 0.33231371 -0.21066847 -0.19288743
+v 0.30393660 -0.26647306 -0.27542053
+v 0.30406256 -0.22349230 -0.12054006
+v 0.31740873 -0.23908779 -0.17842589
+v 0.26016471 -0.31038386 -0.19295871
+v 0.23854143 -0.20036038 -0.43634003
+v 0.24687251 -0.30776179 -0.15036837
+v 0.28508307 -0.20957683 -0.08243507
+v 0.29968078 -0.22750317 -0.36167340
+v 0.31756638 -0.23902204 -0.30070116
+v 0.27133458 -0.29748531 -0.30682684
+v 0.25829298 -0.28107045 -0.12270113
+v 0.28794138 -0.28235815 -0.19282408
+v 0.30162312 -0.23948970 -0.13836642
+v 0.24830038 -0.32349308 -0.20764903
+v 0.23622301 -0.31571663 -0.15073685
+v 0.23550543 -0.29966579 -0.36295304
+v 0.27133458 -0.25442987 -0.37410793
+v 0.30400048 -0.25242537 -0.31833745
+v 0.23551584 -0.33252977 -0.27870764
+v 0.25897492 -0.28306992 -0.36020387
+v 0.23777157 -0.25909781 -0.40632325
+v 0.24530036 -0.30933426 -0.33444359
+v 0.26213480 -0.21318616 -0.41432204
+v 0.24588170 -0.25548713 -0.40232390
+v 0.23790494 -0.31386214 -0.33507755
+v 0.24704894 -0.19914279 -0.43114651
+v 0.28824936 -0.21352689 -0.38742939
+v 0.25974956 -0.24030461 -0.39944459
+f 6 2 4
+f 9 4 2
+f 10 2 6
+f 14 5 4
+f 14 4 9
+f 16 10 6
+f 17 3 13
+f 18 6 4
+f 19 6 18
+f 19 16 6
+f 19 3 16
+f 21 12 5
+f 21 5 14
+f 22 7 12
+f 22 1 20
+f 22 11 7
+f 23 4 5
+f 23 5 12
+f 23 18 4
+f 23 12 7
+f 24 9 2
+f 24 2 15
+f 25 15 2
+f 25 2 10
+f 25 10 16
+f 25 16 3
+f 25 3 17
+f 26 17 13
+f 26 8 17
+f 27 7 11
+f 27 11 18
+f 27 23 7
+f 27 18 23
+f 28 19 11
+f 28 3 19
+f 28 22 20
+f 28 11 22
+f 29 19 18
+f 29 18 11
+f 29 11 19
+f 30 13 3
+f 30 28 20
+f 30 3 28
+f 30 20 1
+f 30 1 13
+f 31 12 21
+f 31 22 12
+f 31 1 22
+f 32 31 21
+f 32 1 31
+f 33 24 15
+f 33 15 8
+f 34 25 17
+f 34 17 8
+f 34 8 15
+f 34 15 25
+f 35 13 1
+f 35 1 32
+f 36 33 8
+f 37 32 21
+f 37 36 32
+f 38 26 13
+f 38 13 35
+f 38 8 26
+f 38 36 8
+f 38 32 36
+f 39 37 21
+f 39 14 9
+f 40 33 36
+f 40 36 37
+f 40 37 39
+f 41 38 35
+f 41 35 32
+f 41 32 38
+f 42 39 21
+f 42 21 14
+f 42 14 39
+f 43 39 9
+f 43 9 24
+f 43 24 33
+f 44 40 39
+f 44 39 43
+f 44 43 33
+f 44 33 40
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_1/collision/model_normalized_collision_25.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_1/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8ad7d602c221f5797397f43c9b8645f0a0b7c210
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_1/collision/model_normalized_collision_25.obj
@@ -0,0 +1,123 @@
+# https://github.com/mikedh/trimesh
+v 0.24146476 0.18669852 0.00381628
+v 0.23704232 0.16777238 -0.40181740
+v 0.23426465 0.29313001 -0.27481380
+v 0.13238106 0.33004790 -0.10441883
+v 0.13833756 0.17356469 -0.23484849
+v 0.13739545 0.22375077 -0.39918649
+v 0.23178825 0.29260954 -0.13636347
+v 0.24439816 0.17356469 -0.23484849
+v 0.13893097 0.20327504 0.02203268
+v 0.22316470 0.26168221 -0.34377705
+v 0.13254346 0.34429160 -0.23226299
+v 0.13084355 0.32759398 -0.27359282
+v 0.13808607 0.17262297 -0.42977166
+v 0.23244530 0.23381352 -0.02147398
+v 0.23617894 0.26442913 -0.33044800
+v 0.19293523 0.23395000 -0.38424604
+v 0.22334237 0.30940139 -0.17836007
+v 0.20898364 0.29321831 -0.30161315
+v 0.19260299 0.16798838 -0.41793619
+v 0.13187407 0.31045961 -0.30020343
+v 0.17116978 0.30586236 -0.09267258
+v 0.20408887 0.23400894 -0.00638773
+v 0.23420568 0.20843815 -0.38217135
+v 0.16433743 0.22043620 -0.40034539
+v 0.22125386 0.30784069 -0.24590861
+v 0.13380729 0.34250472 -0.20642951
+v 0.13731954 0.27821481 -0.34444689
+v 0.19281198 0.26216922 -0.35686666
+v 0.17934944 0.27587637 -0.04975732
+v 0.23117979 0.22141753 -0.00838650
+v 0.13935592 0.26659961 -0.01725205
+v 0.23629352 0.17930714 -0.39679311
+v 0.21856193 0.22287709 -0.38209243
+v 0.17767073 0.19349987 -0.41282200
+v 0.20622448 0.27778622 -0.32891623
+v 0.15127542 0.27695254 -0.34490417
+v 0.20554927 0.24542508 -0.02015114
+v 0.13946905 0.25593699 -0.00778907
+v 0.14614015 0.26469588 -0.01712052
+v 0.22120344 0.19436632 -0.39708472
+v 0.14735463 0.25586105 -0.00840509
+v 0.19371488 0.18143683 -0.41257145
+f 7 1 3
+f 8 3 1
+f 8 5 2
+f 8 1 5
+f 9 5 1
+f 12 4 11
+f 12 9 4
+f 12 5 9
+f 13 5 12
+f 14 1 7
+f 15 8 2
+f 15 3 8
+f 17 7 3
+f 17 4 7
+f 18 12 11
+f 18 3 15
+f 19 2 5
+f 19 5 13
+f 20 13 12
+f 20 6 13
+f 21 14 7
+f 21 7 4
+f 22 9 1
+f 23 10 15
+f 24 13 6
+f 25 17 3
+f 25 11 17
+f 25 18 11
+f 25 3 18
+f 26 17 11
+f 26 11 4
+f 26 4 17
+f 27 6 20
+f 28 10 16
+f 28 16 24
+f 28 24 6
+f 29 21 4
+f 29 14 21
+f 30 22 1
+f 30 1 14
+f 30 14 22
+f 32 23 15
+f 32 15 2
+f 33 16 10
+f 33 10 23
+f 34 19 13
+f 34 13 24
+f 34 24 16
+f 34 16 33
+f 35 10 28
+f 35 18 15
+f 35 15 10
+f 35 12 18
+f 35 28 20
+f 35 20 12
+f 36 27 20
+f 36 20 28
+f 36 28 6
+f 36 6 27
+f 37 22 14
+f 37 14 29
+f 38 31 4
+f 38 4 9
+f 39 29 4
+f 39 4 31
+f 39 37 29
+f 39 22 37
+f 40 33 23
+f 40 23 32
+f 40 34 33
+f 40 32 2
+f 41 38 9
+f 41 9 22
+f 41 22 39
+f 41 39 31
+f 41 31 38
+f 42 40 2
+f 42 2 19
+f 42 19 34
+f 42 34 40
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_1/collision/model_normalized_collision_26.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_1/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..774bae069e70d2494b13161b127c8b8850e4542c
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_1/collision/model_normalized_collision_26.obj
@@ -0,0 +1,105 @@
+# https://github.com/mikedh/trimesh
+v -0.19499578 -0.19007167 -0.35606061
+v -0.18888423 -0.17361568 -0.46617201
+v -0.19499578 0.15841318 -0.35606061
+v -0.38779504 0.15763423 -0.35359190
+v -0.36730047 -0.14750458 -0.35131330
+v -0.19025148 0.10757332 -0.48231109
+v -0.33785423 -0.17783537 -0.35033235
+v -0.23760995 0.15205736 -0.45859260
+v -0.33656742 -0.13150717 -0.40143915
+v -0.19194093 -0.18937666 -0.45971234
+v -0.39560607 0.03328283 -0.35082692
+v -0.29257456 0.15408287 -0.44414892
+v -0.19505140 0.15038829 -0.46005996
+v -0.36456295 -0.14488514 -0.36079954
+v -0.30714290 -0.07951548 -0.44333923
+v -0.30551224 -0.17443831 -0.38509298
+v -0.39578658 -0.09545339 -0.35084436
+v -0.24858162 0.10278490 -0.47831174
+v -0.31840748 -0.10505721 -0.42789553
+v -0.36129618 0.12626887 -0.40181184
+v -0.33526403 -0.17493123 -0.35835763
+v -0.30697085 -0.15837009 -0.40035743
+v -0.37496879 -0.09075921 -0.38550948
+v -0.19476523 -0.03552260 -0.47717708
+v -0.28045224 -0.06538066 -0.45832009
+v -0.38935720 0.00224905 -0.37372148
+v -0.32245622 0.15386963 -0.42888600
+v -0.36179862 -0.13550645 -0.37339666
+v -0.36158558 -0.08959804 -0.40008297
+v -0.24415615 0.06161659 -0.47742576
+v -0.33552316 -0.06475365 -0.42972770
+v -0.37589283 0.15558662 -0.37663670
+v -0.39022034 -0.06455850 -0.37513124
+v -0.39099212 -0.09419101 -0.36104779
+v -0.22288804 -0.03598665 -0.47486234
+v -0.33405994 0.01869731 -0.43031946
+f 1 2 3
+f 6 3 2
+f 7 1 3
+f 10 2 1
+f 10 1 7
+f 11 7 3
+f 11 3 4
+f 12 4 3
+f 12 3 8
+f 13 8 3
+f 13 3 6
+f 13 6 8
+f 14 7 5
+f 15 2 10
+f 17 5 7
+f 17 7 11
+f 17 14 5
+f 18 12 8
+f 18 8 6
+f 19 15 10
+f 19 10 9
+f 21 16 10
+f 21 10 7
+f 21 7 14
+f 22 9 10
+f 22 10 16
+f 22 21 9
+f 22 16 21
+f 24 6 2
+f 25 2 15
+f 26 11 4
+f 27 4 12
+f 27 12 18
+f 28 21 14
+f 28 9 21
+f 29 19 9
+f 29 28 23
+f 29 9 28
+f 30 18 6
+f 30 6 24
+f 30 25 18
+f 31 25 15
+f 31 18 25
+f 31 15 19
+f 31 19 29
+f 32 26 4
+f 32 20 26
+f 32 27 20
+f 32 4 27
+f 33 17 11
+f 33 11 26
+f 33 26 20
+f 33 31 29
+f 33 29 23
+f 34 28 14
+f 34 14 17
+f 34 23 28
+f 34 33 23
+f 34 17 33
+f 35 30 24
+f 35 24 2
+f 35 2 25
+f 35 25 30
+f 36 27 18
+f 36 18 31
+f 36 20 27
+f 36 33 20
+f 36 31 33
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_1/collision/model_normalized_collision_27.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_1/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..99e57cf2929990c0dc3a325b82e0e1ef09f61033
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_1/collision/model_normalized_collision_27.obj
@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
+v -0.29372870 -0.19306207 -0.09063376
+v -0.30626372 -0.19496667 -0.35994576
+v -0.29507761 -0.11151029 -0.01438640
+v -0.33237011 -0.10916238 -0.05038063
+v -0.39255841 -0.15992643 -0.25860045
+v -0.39255841 -0.10577945 -0.34795024
+v -0.32936539 -0.11950901 -0.05194814
+v -0.29324628 -0.12155705 -0.01923863
+v -0.32000766 -0.22249173 -0.23435099
+v -0.33186805 -0.14564606 -0.39149536
+v -0.30275041 -0.10936714 -0.02139112
+v -0.40667228 -0.10935211 -0.17827833
+v -0.34906548 -0.17350186 -0.34443896
+v -0.30457261 -0.18799264 -0.09342578
+v -0.30057326 -0.11805790 -0.02271041
+v -0.39186104 -0.10811175 -0.13812883
+v -0.40856781 -0.10872006 -0.30574756
+v -0.35882481 -0.17549997 -0.32099218
+v -0.38765433 -0.11772449 -0.34514928
+v -0.36130915 -0.16073069 -0.13836642
+v -0.34599320 -0.18890653 -0.16615222
+v -0.34483966 -0.13190152 -0.08111466
+v -0.36170368 -0.19106287 -0.23807553
+v -0.40393099 -0.12036660 -0.30329540
+v -0.38790731 -0.14982386 -0.19356316
+v -0.38660108 -0.12044721 -0.13788555
+v -0.33329044 -0.18596081 -0.13508944
+v -0.33271546 -0.17370785 -0.10924557
+v -0.35989791 -0.18979186 -0.22247075
+v -0.40294247 -0.11975466 -0.18016300
+v -0.35947116 -0.17459707 -0.16739641
+v -0.37524503 -0.13145942 -0.12649691
+v -0.38987633 -0.15969353 -0.24104545
+v -0.34355099 -0.16144186 -0.11011881
+f 8 1 2
+f 8 2 3
+f 9 2 1
+f 10 6 3
+f 10 3 2
+f 11 4 3
+f 11 3 6
+f 13 10 2
+f 14 1 8
+f 15 8 3
+f 15 14 8
+f 15 7 14
+f 15 3 4
+f 15 4 7
+f 16 11 6
+f 16 4 11
+f 16 6 12
+f 17 12 6
+f 17 5 12
+f 18 13 2
+f 18 2 9
+f 19 6 10
+f 19 10 13
+f 19 13 18
+f 21 9 1
+f 22 7 4
+f 22 4 16
+f 23 18 9
+f 23 5 18
+f 24 18 5
+f 24 5 17
+f 24 19 18
+f 24 17 6
+f 24 6 19
+f 26 16 12
+f 27 21 1
+f 27 1 14
+f 27 20 21
+f 28 14 7
+f 28 7 22
+f 28 27 14
+f 28 20 27
+f 29 23 9
+f 29 9 21
+f 30 12 5
+f 30 5 25
+f 30 26 12
+f 30 25 20
+f 30 20 26
+f 31 21 20
+f 31 20 25
+f 31 29 21
+f 31 25 29
+f 32 22 16
+f 32 16 26
+f 32 26 20
+f 33 29 25
+f 33 25 5
+f 33 5 23
+f 33 23 29
+f 34 28 22
+f 34 22 32
+f 34 32 20
+f 34 20 28
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_1/collision/model_normalized_collision_28.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_1/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ef818d579891f67688892e3c1c3e8beb9cfe1fb
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_1/collision/model_normalized_collision_28.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.23311820 -0.20089594 -0.02298052
+v 0.27437230 -0.23325620 -0.38856065
+v 0.24547435 -0.00802263 0.01041785
+v 0.01712544 -0.00825349 0.00757576
+v 0.01887848 -0.22024680 0.02936721
+v 0.24439816 -0.00825349 -0.35606061
+v 0.01712544 -0.20522318 -0.35606061
+v 0.21620634 -0.20003297 -0.00952325
+v 0.01712544 -0.00825349 -0.35606061
+v 0.23138454 -0.15550323 -0.00892065
+f 1 2 3
+f 5 2 1
+f 5 3 4
+f 6 3 2
+f 7 5 4
+f 7 2 5
+f 8 5 1
+f 8 3 5
+f 9 4 3
+f 9 3 6
+f 9 7 4
+f 9 6 2
+f 9 2 7
+f 10 8 1
+f 10 1 3
+f 10 3 8
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_1/collision/model_normalized_collision_29.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_1/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f5e1c9ab1cab97f8f0bdea93c153e1d2b09a85a
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_1/collision/model_normalized_collision_29.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v -0.23637981 -0.22749158 -0.06032461
+v -0.19499578 -0.20522318 -0.23484849
+v -0.19499578 -0.00825349 -0.09848485
+v -0.30105638 -0.00825349 -0.09848485
+v -0.32000766 -0.22249173 -0.23435099
+v -0.30105638 -0.00825349 -0.23484849
+v -0.29649286 -0.19878722 -0.10333035
+v -0.19499578 -0.00825349 -0.23484849
+v -0.29921929 -0.20356998 -0.11461999
+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 1 4
+f 8 6 3
+f 8 3 2
+f 8 2 6
+f 9 5 1
+f 9 1 7
+f 9 7 4
+f 9 4 5
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_1/collision/model_normalized_collision_3.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_1/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e58c91a7dcf657b70b3c4824694bfb8ff7c7d522
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_1/collision/model_normalized_collision_3.obj
@@ -0,0 +1,138 @@
+# https://github.com/mikedh/trimesh
+v 0.24439816 0.06750409 -0.35606061
+v 0.24291487 0.06399695 -0.44063939
+v 0.13835331 0.28559303 -0.33433494
+v -0.14535746 0.32864065 -0.33374211
+v -0.19499578 0.08265560 -0.35606061
+v -0.04576285 0.16444525 -0.47431239
+v 0.26071980 0.18844137 -0.37818564
+v 0.01712544 0.06750409 -0.35606061
+v -0.19499578 0.18871621 -0.34090909
+v -0.00705589 0.31222984 -0.35449464
+v -0.20058934 0.08045873 -0.47310384
+v 0.11136040 0.12371958 -0.46286327
+v 0.21072561 0.06213398 -0.44779771
+v 0.05748616 0.31871080 -0.33117098
+v 0.01712544 0.17356469 -0.34090909
+v -0.07453597 0.28566532 -0.38212630
+v 0.09791218 0.19244071 -0.43419213
+v -0.19655169 0.24841095 -0.40232397
+v 0.20860042 0.16644491 -0.41351326
+v 0.13052778 0.06846067 -0.46631367
+v 0.01658576 0.06725075 -0.45923509
+v -0.17445133 0.31554681 -0.33265727
+v -0.00375703 0.32841884 -0.33322335
+v 0.13833756 0.17356469 -0.34090909
+v -0.06010110 0.28201310 -0.38453369
+v -0.14259872 0.32607627 -0.33961253
+v 0.07861717 0.18044265 -0.44387864
+v 0.09936234 0.26827840 -0.37032915
+v -0.19521360 0.19389256 -0.44631689
+v 0.23704232 0.16777238 -0.40181740
+v 0.13739545 0.22375077 -0.39918649
+v 0.16506225 0.16691414 -0.42702052
+v -0.12286537 0.10219177 -0.47703634
+v 0.09756903 0.06510168 -0.46280791
+v -0.19287738 0.30358755 -0.33672701
+v -0.00643293 0.32316444 -0.34246956
+v -0.12948843 0.29611311 -0.36875912
+v 0.05316380 0.31128999 -0.34067021
+v 0.10372324 0.30186541 -0.33349823
+v -0.11111452 0.14731572 -0.47888698
+v -0.19607322 0.18596524 -0.44909551
+v -0.08260837 0.15733927 -0.47831174
+v 0.13731954 0.27821481 -0.34444689
+v -0.11927094 0.08254836 -0.47426570
+v -0.19129305 0.29722259 -0.34765647
+v 0.10138684 0.29425750 -0.34244014
+v -0.19393678 0.26356935 -0.38689722
+f 7 1 2
+f 7 3 1
+f 9 5 8
+f 11 5 9
+f 11 8 5
+f 13 2 1
+f 13 1 8
+f 15 9 8
+f 15 8 1
+f 15 14 9
+f 17 6 10
+f 18 11 9
+f 19 2 12
+f 20 6 12
+f 20 12 2
+f 20 2 13
+f 21 13 8
+f 21 8 11
+f 22 14 4
+f 22 9 14
+f 23 4 14
+f 24 15 1
+f 24 1 3
+f 24 3 14
+f 24 14 15
+f 25 16 10
+f 25 10 6
+f 25 6 16
+f 26 10 16
+f 26 4 23
+f 26 22 4
+f 27 17 12
+f 27 12 6
+f 27 6 17
+f 28 17 10
+f 29 18 16
+f 30 19 7
+f 30 7 2
+f 30 2 19
+f 31 19 17
+f 31 7 19
+f 31 17 28
+f 32 19 12
+f 32 12 17
+f 32 17 19
+f 34 20 13
+f 34 13 21
+f 34 21 11
+f 34 11 20
+f 35 18 9
+f 35 9 22
+f 36 23 14
+f 36 26 23
+f 36 10 26
+f 37 26 16
+f 37 16 18
+f 37 18 26
+f 38 28 10
+f 38 36 14
+f 38 10 36
+f 39 14 3
+f 39 38 14
+f 40 33 11
+f 40 20 33
+f 41 11 18
+f 41 18 29
+f 41 40 11
+f 41 29 40
+f 42 29 16
+f 42 16 6
+f 42 40 29
+f 42 6 20
+f 42 20 40
+f 43 3 7
+f 43 7 31
+f 43 39 3
+f 43 31 28
+f 44 33 20
+f 44 20 11
+f 44 11 33
+f 45 18 35
+f 45 35 22
+f 45 22 26
+f 46 28 38
+f 46 38 39
+f 46 43 28
+f 46 39 43
+f 47 45 26
+f 47 26 18
+f 47 18 45
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_1/collision/model_normalized_collision_30.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_1/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..69cda87dbc902dc79d67022292f2608593139760
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_1/collision/model_normalized_collision_30.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.24439816 -0.00825349 -0.23484849
+v 0.24439816 -0.00825349 -0.35606061
+v 0.26071980 0.18844137 -0.37818564
+v 0.01712544 0.17356469 -0.23484849
+v 0.01712544 -0.00825349 -0.35606061
+v 0.24439816 0.17356469 -0.23484849
+v 0.01712544 -0.00825349 -0.23484849
+v 0.01712544 0.17356469 -0.35606061
+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/Assets/robocasa/data/objects/objaverse/garlic/garlic_1/collision/model_normalized_collision_31.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_1/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8796671c790c065fef6ff09e53a3c60b726178dc
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_1/collision/model_normalized_collision_31.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.01916950 -0.23090810 0.02170426
+v 0.01712544 -0.22037470 -0.23484849
+v 0.01712544 -0.00825349 0.00757576
+v -0.21382359 -0.00095946 0.04141652
+v -0.19499578 -0.22037470 -0.23484849
+v 0.01712544 -0.00825349 -0.23484849
+v -0.19307590 -0.21861142 -0.01074832
+v -0.19499578 -0.00825349 -0.23484849
+v -0.18814195 -0.21377446 -0.00519399
+f 1 3 4
+f 5 2 1
+f 6 1 2
+f 6 3 1
+f 6 2 5
+f 6 4 3
+f 7 5 1
+f 7 4 5
+f 8 6 5
+f 8 5 4
+f 8 4 6
+f 9 7 1
+f 9 1 4
+f 9 4 7
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_1/collision/model_normalized_collision_4.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_1/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a87b8c3148c9d288f2e404bdc36f2fe8a8ef4ad5
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_1/collision/model_normalized_collision_4.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.12102101 -0.25769894 -0.00115499
+v 0.25480364 -0.09593903 -0.00073154
+v -0.01261963 -0.08082767 0.13792601
+v -0.12961448 0.30084962 -0.00198607
+v 0.25108646 0.18378508 -0.00209666
+v -0.28196032 -0.09652886 0.00168965
+v 0.17682004 -0.18349862 0.01977576
+v -0.21752575 0.22716510 -0.00341519
+v 0.05860639 0.01267425 0.13665051
+v -0.14814798 -0.24679228 0.00129413
+v 0.20917936 -0.18749804 0.00002916
+v 0.13469428 -0.22398018 0.02032743
+v -0.15746595 0.28567956 -0.00305068
+v -0.08759306 0.01197667 0.13395553
+v 0.23262371 0.15644655 0.02034557
+v 0.06136840 -0.04550403 0.13358973
+v -0.08432912 -0.23981235 0.02080291
+v -0.07791798 -0.04106989 0.13361380
+v -0.26566648 -0.12287004 -0.00130689
+v 0.11985888 -0.25058757 0.00561039
+v 0.14729469 -0.23924404 0.00659718
+v 0.01305955 0.30493512 -0.00122375
+v -0.28163634 0.00567762 0.00102173
+v -0.10114523 0.17769628 0.07936359
+v 0.23534035 0.09938331 0.01909182
+v 0.24992355 -0.09004939 0.00439407
+v 0.20311438 -0.18531587 0.00467920
+v 0.03396126 -0.07070776 0.13569229
+v -0.11897468 -0.25948651 -0.00028234
+v -0.11168989 -0.21124891 0.03319009
+v -0.04201975 -0.07179560 0.13536537
+v -0.27649838 -0.09393247 0.00592366
+v -0.26170959 -0.11625038 0.00598288
+v 0.01145722 -0.08104778 0.13437266
+v -0.02906768 -0.23811366 0.02070353
+v 0.15036856 -0.24519289 0.00081260
+v 0.20299404 0.18331865 0.03299151
+v -0.16748186 0.18044272 0.04933435
+v -0.14156178 0.26802332 0.02032037
+v -0.03858333 0.09197872 0.13246517
+v -0.11841418 -0.25329900 0.00431360
+v -0.26033129 -0.05280698 0.01989041
+v 0.21640232 0.19487629 0.02040510
+v -0.25264775 0.12621498 0.00022946
+v -0.15257417 0.28002753 0.00561032
+v -0.21009082 0.22266760 0.00537877
+v -0.06618993 0.25367554 0.05032027
+v 0.02477752 0.10290526 0.12721984
+v -0.07467062 0.05664563 0.13237651
+v -0.26092681 -0.01507735 0.01809242
+v 0.24613707 0.18001639 0.00360629
+v 0.21157689 0.22501995 -0.00008723
+v -0.12649852 0.29452882 0.00519032
+v -0.09884170 0.26859635 0.03417383
+v -0.03576421 0.17788860 0.09415064
+v 0.10002353 0.12250387 0.09442643
+v 0.19675110 0.20425520 0.02155927
+v 0.00698483 0.30181667 0.00296350
+v -0.01916570 0.17799159 0.09722925
+v 0.03937201 0.09462593 0.12570916
+v 0.05536942 0.11393948 0.11269595
+v 0.21004564 0.21927490 0.00597592
+v -0.00875187 0.22414769 0.06512845
+v -0.03289999 0.25082789 0.05256522
+f 5 2 1
+f 8 5 1
+f 11 1 2
+f 13 5 8
+f 14 3 9
+f 18 3 14
+f 19 8 1
+f 20 17 1
+f 21 7 12
+f 21 12 20
+f 22 13 4
+f 22 5 13
+f 23 19 6
+f 23 8 19
+f 25 2 5
+f 25 5 15
+f 25 15 9
+f 25 9 16
+f 26 11 2
+f 26 25 16
+f 26 2 25
+f 27 16 7
+f 27 26 16
+f 27 11 26
+f 27 21 11
+f 27 7 21
+f 28 16 9
+f 28 9 3
+f 28 12 7
+f 28 7 16
+f 29 1 17
+f 29 19 1
+f 29 10 19
+f 30 17 3
+f 31 18 10
+f 31 3 18
+f 31 30 3
+f 31 10 30
+f 32 18 14
+f 33 19 10
+f 33 10 18
+f 33 18 32
+f 33 32 6
+f 33 6 19
+f 34 20 12
+f 34 3 20
+f 34 28 3
+f 34 12 28
+f 35 20 3
+f 35 3 17
+f 35 17 20
+f 36 1 11
+f 36 11 21
+f 36 21 20
+f 36 20 1
+f 37 9 15
+f 39 38 24
+f 40 14 9
+f 41 29 17
+f 41 10 29
+f 41 30 10
+f 41 17 30
+f 42 23 6
+f 42 6 32
+f 42 32 14
+f 43 37 15
+f 44 23 14
+f 44 14 38
+f 44 8 23
+f 45 4 13
+f 45 13 8
+f 46 38 39
+f 46 44 38
+f 46 8 44
+f 46 45 8
+f 46 39 45
+f 48 40 9
+f 49 38 14
+f 49 14 40
+f 49 40 24
+f 49 24 38
+f 50 42 14
+f 50 14 23
+f 50 23 42
+f 51 43 15
+f 51 15 5
+f 51 5 43
+f 52 43 5
+f 52 5 22
+f 53 45 39
+f 53 4 45
+f 54 39 24
+f 54 24 47
+f 54 53 39
+f 55 47 24
+f 55 24 40
+f 56 9 37
+f 57 37 43
+f 58 22 4
+f 58 4 53
+f 58 53 54
+f 58 54 47
+f 58 57 22
+f 59 55 40
+f 59 40 48
+f 59 37 57
+f 59 47 55
+f 60 48 9
+f 60 9 56
+f 61 56 37
+f 61 60 56
+f 61 48 60
+f 61 59 48
+f 61 37 59
+f 62 52 22
+f 62 22 57
+f 62 57 43
+f 62 43 52
+f 63 59 57
+f 64 63 57
+f 64 57 58
+f 64 58 47
+f 64 47 59
+f 64 59 63
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_1/collision/model_normalized_collision_5.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_1/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..09fe3d8158fa6c519f3d2ea51e59ca51b22167bf
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_1/collision/model_normalized_collision_5.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.03641948 0.20043948 0.04218037
+v 0.01712544 0.18871621 -0.34090909
+v 0.01537583 0.29383444 -0.36005088
+v -0.23258422 0.32261929 -0.24196493
+v -0.20331813 0.18900878 0.02112155
+v -0.06861061 0.30292048 -0.36906522
+v 0.01646521 0.27894089 0.00648440
+v -0.19499578 0.18871621 -0.23484849
+v -0.18243445 0.26859589 -0.00630764
+v -0.07378365 0.18871621 -0.34090909
+f 1 2 3
+f 5 2 1
+f 6 3 2
+f 6 4 3
+f 7 1 3
+f 7 3 4
+f 8 5 4
+f 8 2 5
+f 9 5 1
+f 9 1 7
+f 9 7 4
+f 9 4 5
+f 10 6 2
+f 10 2 8
+f 10 8 4
+f 10 4 6
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_1/collision/model_normalized_collision_6.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_1/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..79bec4075f9008cf020b1c177fbaf5b92f5dc944
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_1/collision/model_normalized_collision_6.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v 0.02337453 -0.03768199 0.43164319
+v 0.06107301 -0.05168071 0.12732306
+v 0.03137324 0.01625992 0.43154185
+v -0.00462093 0.04382255 0.45353831
+v -0.08047020 -0.03352281 0.13877954
+v 0.02854563 0.07888677 0.13526519
+v 0.01683739 -0.01316388 0.49589355
+v 0.03179568 -0.02152472 0.43115995
+v -0.03801277 -0.07295881 0.13903632
+v 0.05079843 0.03086450 0.13625320
+v 0.01904680 0.03431405 0.45240416
+v -0.05125985 0.07714287 0.13688118
+v -0.01261963 -0.02263903 0.46753594
+v 0.01938654 -0.02538340 0.47797331
+v 0.05543555 -0.06351798 0.12091163
+v 0.01662529 0.01846889 0.49353182
+v -0.07621092 0.04885154 0.13517554
+v -0.00462093 -0.03663319 0.45587545
+v 0.02786812 -0.07246382 0.13943031
+v 0.01591550 0.02476084 0.48802577
+v 0.00337777 0.01646917 0.49472498
+v -0.01102108 0.00265980 0.47259895
+v -0.00062158 -0.03714107 0.45669896
+v 0.00615456 -0.01952500 0.49353182
+v 0.01137648 0.02498426 0.49379022
+v 0.00108665 0.01091393 0.49212338
+v 0.00137814 -0.02752370 0.48117868
+v 0.00737712 0.02446787 0.49316892
+f 8 1 2
+f 8 2 3
+f 8 3 7
+f 10 6 3
+f 10 3 2
+f 11 6 4
+f 11 3 6
+f 12 4 6
+f 14 8 7
+f 14 1 8
+f 15 9 5
+f 15 2 1
+f 15 12 6
+f 15 10 2
+f 15 6 10
+f 16 7 3
+f 17 4 12
+f 17 15 5
+f 17 12 15
+f 18 13 5
+f 18 5 9
+f 19 15 1
+f 19 9 15
+f 20 16 3
+f 20 3 11
+f 22 4 17
+f 22 21 4
+f 22 17 5
+f 22 5 13
+f 23 1 14
+f 23 19 1
+f 23 18 9
+f 23 9 19
+f 24 7 21
+f 24 14 7
+f 25 20 11
+f 25 11 4
+f 25 16 20
+f 25 21 7
+f 25 7 16
+f 26 22 13
+f 26 21 22
+f 26 24 21
+f 26 13 24
+f 27 24 13
+f 27 13 18
+f 27 18 23
+f 27 23 14
+f 27 14 24
+f 28 25 4
+f 28 4 21
+f 28 21 25
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_1/collision/model_normalized_collision_7.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_1/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eaa842b5e160aef1abcc777f44970c5a33e87a66
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_1/collision/model_normalized_collision_7.obj
@@ -0,0 +1,144 @@
+# https://github.com/mikedh/trimesh
+v 0.11645252 -0.37015657 -0.19145088
+v 0.25678227 -0.21234886 -0.41837639
+v 0.23311820 -0.20089594 -0.02298052
+v 0.01887848 -0.22024680 0.02936721
+v 0.01712544 -0.20522318 -0.35606061
+v 0.16335203 -0.29271297 -0.05239224
+v 0.23534035 -0.32477501 -0.16581643
+v 0.01265608 -0.35707761 -0.34946699
+v 0.13833756 -0.20522318 -0.40151515
+v 0.20734496 -0.20169909 -0.00345660
+v 0.01231733 -0.31306447 -0.06256621
+v 0.23436776 -0.29548061 -0.10637161
+v 0.16266883 -0.33813574 -0.12268131
+v 0.21605520 -0.32347617 -0.34795301
+v 0.13808494 -0.30063515 -0.40617502
+v 0.11851872 -0.26512349 -0.00786874
+v 0.01537583 -0.37063679 -0.19349195
+v 0.01517870 -0.26649056 -0.00751962
+v 0.18814577 -0.25474892 -0.02535391
+v 0.17812769 -0.35433306 -0.18158352
+v 0.11743628 -0.35350623 -0.13436707
+v 0.18472276 -0.29634499 -0.06758143
+v 0.13461867 -0.36938758 -0.27834384
+v 0.23123290 -0.32489140 -0.32001528
+v 0.16335203 -0.33886497 -0.36233037
+v 0.16026857 -0.25135611 -0.00887993
+v 0.11869600 -0.28052585 -0.02282205
+v 0.01395192 -0.35917112 -0.15020727
+v 0.23018467 -0.26437714 -0.06667305
+v 0.23148123 -0.21010994 -0.02575792
+v 0.21934295 -0.33666174 -0.17836000
+v 0.16262622 -0.35388401 -0.16563615
+v 0.11935910 -0.33919146 -0.10683621
+v 0.16335203 -0.32189241 -0.09379368
+v 0.01328202 -0.37205872 -0.30732336
+v 0.13935592 -0.36996700 -0.23681242
+v 0.23081539 -0.28245651 -0.38873471
+v 0.17408687 -0.35538034 -0.30571604
+v 0.20565391 -0.20939437 -0.00657255
+v 0.09536299 -0.27972098 -0.02082807
+v 0.21975337 -0.34022860 -0.29003624
+v 0.06336812 -0.33948125 -0.10989991
+v 0.14626489 -0.30827575 -0.06661510
+v 0.16336074 -0.35478620 -0.32200732
+v 0.23385546 -0.31012869 -0.34781789
+v 0.19387302 -0.35238254 -0.26348541
+v 0.20289349 -0.33936808 -0.32157388
+v 0.11851146 -0.36917141 -0.29191836
+v 0.19458459 -0.35301119 -0.22119975
+f 9 5 3
+f 9 3 2
+f 10 5 4
+f 10 3 5
+f 11 5 8
+f 12 7 2
+f 12 2 3
+f 13 7 12
+f 15 8 5
+f 15 5 9
+f 15 9 2
+f 18 4 5
+f 18 5 11
+f 18 16 4
+f 22 19 6
+f 24 2 7
+f 25 8 15
+f 26 10 4
+f 26 4 16
+f 26 6 19
+f 27 26 16
+f 27 6 26
+f 28 17 1
+f 28 1 21
+f 29 12 3
+f 29 22 12
+f 29 19 22
+f 30 3 10
+f 30 29 3
+f 30 19 29
+f 31 7 13
+f 31 13 20
+f 32 20 13
+f 32 13 21
+f 32 21 1
+f 32 1 20
+f 33 21 13
+f 33 27 11
+f 34 13 12
+f 34 12 22
+f 34 22 6
+f 34 33 13
+f 35 17 28
+f 35 28 11
+f 35 11 8
+f 35 1 17
+f 36 20 1
+f 36 35 23
+f 36 1 35
+f 37 14 25
+f 37 25 15
+f 37 15 2
+f 39 26 19
+f 39 10 26
+f 39 30 10
+f 39 19 30
+f 40 18 11
+f 40 11 27
+f 40 27 16
+f 40 16 18
+f 41 24 7
+f 41 7 31
+f 42 28 21
+f 42 21 33
+f 42 33 11
+f 42 11 28
+f 43 34 6
+f 43 6 27
+f 43 27 33
+f 43 33 34
+f 44 38 23
+f 44 8 25
+f 45 24 14
+f 45 14 37
+f 45 37 2
+f 45 2 24
+f 46 36 23
+f 46 23 38
+f 46 38 41
+f 47 41 38
+f 47 14 24
+f 47 24 41
+f 47 38 44
+f 47 44 25
+f 47 25 14
+f 48 44 23
+f 48 23 35
+f 48 35 8
+f 48 8 44
+f 49 20 36
+f 49 36 46
+f 49 31 20
+f 49 46 41
+f 49 41 31
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_1/collision/model_normalized_collision_8.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_1/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e252a52daed6c3b6dfefa8ea1f282804011c2f93
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_1/collision/model_normalized_collision_8.obj
@@ -0,0 +1,144 @@
+# https://github.com/mikedh/trimesh
+v 0.09212635 0.27640910 -0.01312958
+v 0.09990895 0.29482099 -0.03372954
+v -0.10060548 0.33935853 -0.03643301
+v -0.11779334 0.38392728 -0.14702814
+v 0.01712544 0.27962530 -0.23484849
+v 0.01480754 0.38454433 -0.11657130
+v 0.02516083 0.33452641 -0.03254904
+v -0.18835891 0.27319477 -0.01497322
+v -0.12871672 0.36715227 -0.09161912
+v 0.01783461 0.37780980 -0.23281051
+v 0.06899935 0.31404454 -0.02607412
+v -0.17349273 0.27181586 -0.00177635
+v -0.19979762 0.33188051 -0.28465740
+v 0.01047455 0.38933977 -0.15857570
+v 0.09425529 0.28703023 -0.01980359
+v 0.05699933 0.35914187 -0.10400224
+v 0.05195802 0.33771395 -0.04461311
+v -0.11923820 0.27962530 -0.23484849
+v -0.12751773 0.30972980 -0.00930387
+v -0.15738973 0.34966944 -0.29357608
+v -0.18590795 0.35141295 -0.11953296
+v -0.12761172 0.38440982 -0.23330480
+v 0.08069286 0.31242147 -0.03287852
+v 0.01242156 0.38423349 -0.21398610
+v 0.05107770 0.35241505 -0.07437680
+v -0.23258422 0.32261929 -0.24196493
+v 0.02376162 0.31296219 -0.01038708
+v -0.14059900 0.33796909 -0.04939476
+v -0.14212979 0.38101772 -0.16319218
+v -0.13947561 0.38384433 -0.21435425
+v -0.14663500 0.36241604 -0.27471224
+v 0.06783664 0.31946976 -0.03132477
+v 0.08271832 0.31492425 -0.04153524
+v -0.00270040 0.38205691 -0.22677298
+v -0.18348598 0.32510558 -0.06211948
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+f 49 22 31
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\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_1/collision/model_normalized_collision_9.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_1/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8eeed8e6b6a2eaefbea02a4278f7c3b69f732c6d
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_1/collision/model_normalized_collision_9.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.01712544 -0.22037470 -0.23484849
+v 0.01712544 -0.22037470 -0.35606061
+v 0.01712544 0.18871621 -0.23484849
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+v -0.32524473 -0.21749872 -0.23292510
+v -0.19499578 0.18871621 -0.35606061
+v -0.19499578 -0.22037470 -0.35606061
+v 0.01712544 0.18871621 -0.35606061
+v -0.30105638 0.15841318 -0.23484849
+v -0.19499578 -0.22037470 -0.23484849
+v -0.30626372 -0.19496667 -0.35994576
+v -0.30105638 0.15841318 -0.35606061
+f 1 2 3
+f 5 1 3
+f 5 3 4
+f 6 4 3
+f 7 2 1
+f 8 6 3
+f 8 3 2
+f 9 5 4
+f 9 4 6
+f 10 7 1
+f 10 1 5
+f 10 5 7
+f 11 2 7
+f 11 8 2
+f 11 6 8
+f 11 7 5
+f 12 9 6
+f 12 6 11
+f 12 11 5
+f 12 5 9
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_1/model.xml b/Assets/robocasa/data/objects/objaverse/garlic/garlic_1/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..6b7b5ace6481720d373d12975762bf09a0a9b502
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_1/model.xml
@@ -0,0 +1,37 @@
+<mujoco model="garlic_3">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="ALHO_material" texture="image0" specular="0.5" shininess="0.0"/>
+    <mesh file="collision/collision_mesh_collision_0.obj" name="garlic_collision_mesh_0" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/collision_mesh_collision_1.obj" name="garlic_collision_mesh_1" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/collision_mesh_collision_2.obj" name="garlic_collision_mesh_2" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/collision_mesh_collision_3.obj" name="garlic_collision_mesh_3" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/collision_mesh_collision_4.obj" name="garlic_collision_mesh_4" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/collision_mesh_collision_5.obj" name="garlic_collision_mesh_5" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/collision_mesh_collision_6.obj" name="garlic_collision_mesh_6" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+  </asset>
+  <default>
+    <default class="region">
+      <geom group="1" conaffinity="0" contype="0" rgba="0 1 0 0"/>
+    </default>
+    <default class="collision">
+      <geom group="0" rgba="0.5 0 0 0.5" density="1000.0"/>
+    </default>
+  </default>
+  <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="ALHO_material"/>
+        <geom class="region" name="reg_bbox" type="box" pos="0.0 0.0 0.0" size="0.0300890982 0.027528316900000002 0.035"/>
+        <geom mesh="garlic_collision_mesh_0" type="mesh" class="collision"/>
+        <geom mesh="garlic_collision_mesh_1" type="mesh" class="collision"/>
+        <geom mesh="garlic_collision_mesh_2" type="mesh" class="collision"/>
+        <geom mesh="garlic_collision_mesh_3" type="mesh" class="collision"/>
+        <geom mesh="garlic_collision_mesh_4" type="mesh" class="collision"/>
+        <geom mesh="garlic_collision_mesh_5" type="mesh" class="collision"/>
+        <geom mesh="garlic_collision_mesh_6" type="mesh" class="collision"/>
+      </body>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_1/visual/material.mtl b/Assets/robocasa/data/objects/objaverse/garlic/garlic_1/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f68742fe8420aadeab267568817d347d5678c9d5
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_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 0.00000000
+map_Kd material_0.jpeg
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_2/collision/collision_mesh_collision_0.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_2/collision/collision_mesh_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..093e37b14246ba942bacd433f824185d7be5828d
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_2/collision/collision_mesh_collision_0.obj
@@ -0,0 +1,9175 @@
+# https://github.com/mikedh/trimesh
+v 0.00496046 0.50388402 -0.16142510
+v 0.00496046 0.50296158 -0.17501466
+v -0.00503500 0.50308454 -0.17501466
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+v 0.02138155 0.50314605 -0.16142510
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+v 0.01321067 0.50025576 -0.20248088
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diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_2/collision/collision_mesh_collision_1.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_2/collision/collision_mesh_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad2d2b5ad459405a12234d1dfb95ea7f9f1992f9
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_2/collision/collision_mesh_collision_1.obj
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diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_2/collision/collision_mesh_collision_2.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_2/collision/collision_mesh_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c89e87a33c2e5b7cf2a5edc5cb4a671e17a5e81
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_2/collision/collision_mesh_collision_2.obj
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diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_2/collision/collision_mesh_collision_3.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_2/collision/collision_mesh_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd3c565f0480767f8110ffa451da6e1733fa8914
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_2/collision/collision_mesh_collision_3.obj
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diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_2/collision/collision_mesh_collision_4.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_2/collision/collision_mesh_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..13bbe4454f574246935831e1d53ce8d435618468
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_2/collision/collision_mesh_collision_4.obj
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diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_2/collision/collision_mesh_collision_5.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_2/collision/collision_mesh_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4aeeae3400ac098cd5f8eddea779eece0ea7c6a3
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_2/collision/collision_mesh_collision_5.obj
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diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_2/collision/collision_mesh_collision_6.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_2/collision/collision_mesh_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2bac5787908925e47356f84e81ff25b97b5642e8
--- /dev/null
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+
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_2/collision/model_normalized_collision_0.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_2/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e4bb2909867143cf11c2a95aad3011b7e4aa2c4f
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_2/collision/model_normalized_collision_0.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.29303303 -0.00862697 -0.26076642
+v 0.28482699 -0.01067951 -0.30413311
+v 0.24126730 0.30279940 -0.25358525
+v -0.01590582 0.47913769 -0.25703433
+v -0.04838866 -0.00757575 -0.26209552
+v -0.05196480 0.26146523 -0.47488236
+v 0.25643571 0.24804733 -0.25648891
+v 0.28756261 0.03634061 -0.25860862
+v 0.12475217 0.43404304 -0.25379506
+v 0.19356888 0.01892645 -0.44397544
+v -0.07814106 0.34508217 -0.41733229
+v 0.09154047 0.31493844 -0.39474540
+v -0.04838866 -0.00757575 -0.48177401
+v 0.23603632 0.03157670 -0.38803820
+v -0.04693384 0.47176318 -0.25986160
+v 0.20639131 0.31564576 -0.29271536
+v 0.03782282 0.37295846 -0.38051513
+v 0.15482411 0.01736630 -0.47057010
+v -0.07875138 0.27977149 -0.47281799
+v 0.25246511 0.03167098 -0.35803389
+v 0.24229418 -0.00982087 -0.38907358
+v 0.23732861 0.24588725 -0.29743853
+v -0.01490851 0.45949430 -0.29619485
+v 0.10570456 0.34194649 -0.36618965
+v 0.21144788 0.34775362 -0.25449691
+v 0.17801352 0.26990715 -0.35165606
+v 0.00614453 0.29975080 -0.43919930
+v 0.12128537 0.27364907 -0.39471097
+v 0.15628611 -0.00858880 -0.47346525
+v -0.08019648 0.30018327 -0.46056714
+v 0.25107303 0.24706730 -0.26939360
+v 0.18076208 -0.00962171 -0.45793398
+v 0.23579391 0.29956035 -0.26507792
+v 0.22225376 0.23115698 -0.32340996
+v -0.01514369 0.47419738 -0.26945038
+v -0.04307603 0.44439493 -0.30851775
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+v -0.02480065 0.28614968 -0.45672110
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\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_2/collision/model_normalized_collision_1.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_2/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea674b3de6cdb9eb2660cc8aed5f4c30d1422d0d
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_2/collision/model_normalized_collision_1.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.28230164 -0.31796006 -0.23418033
+v 0.33515665 -0.27581388 -0.23794596
+v 0.33079223 -0.17111018 -0.09041021
+v 0.27141129 0.23684647 -0.22321966
+v 0.25571034 0.23498076 -0.26253280
+v 0.33698039 -0.00874952 -0.09381656
+v 0.28186309 -0.27748137 -0.09544251
+v 0.29022950 -0.00174818 -0.26933347
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\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_2/collision/model_normalized_collision_10.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_2/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..51441d782e044d0c006ae66b9412ca29b833ba22
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_2/collision/model_normalized_collision_10.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.01186880 -0.42938257 -0.09503472
+v 0.01004766 -0.40342729 -0.22876534
+v 0.01221740 -0.26515151 -0.09542886
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+f 22 18 15
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_2/collision/model_normalized_collision_11.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_2/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..21bbd6404bc38a13726bcda4116794a7f370b1f9
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_2/collision/model_normalized_collision_11.obj
@@ -0,0 +1,159 @@
+# https://github.com/mikedh/trimesh
+v -0.03651643 -0.25899471 0.46808832
+v -0.03323714 -0.26515151 0.26820750
+v -0.05485334 0.01871838 0.31053479
+v -0.25832348 0.00494897 0.26432335
+v -0.37339128 -0.26593155 0.26217824
+v -0.26918321 0.00160311 0.25944413
+v -0.12114976 -0.19816489 0.46274756
+v -0.02697169 -0.01526484 0.34689741
+v -0.36639804 -0.26659716 0.27195748
+v -0.28029815 -0.01355213 0.25858770
+v -0.18767392 -0.16910519 0.41614519
+v -0.03322085 -0.16737753 0.45000265
+v -0.17598891 -0.06740090 0.35620042
+v -0.11746495 -0.25608159 0.46432014
+v -0.37152492 -0.25217895 0.26143718
+v -0.23473628 -0.01922230 0.29597616
+v -0.24652996 -0.16714865 0.37244443
+v -0.12189186 -0.16984151 0.44658175
+v -0.06457224 -0.22449515 0.47796353
+v -0.13798597 -0.02237977 0.32820753
+v -0.29307281 -0.26388251 0.34195183
+v -0.36529832 -0.25340081 0.27097641
+v -0.26454707 -0.00301262 0.26574144
+v -0.14622331 -0.15519736 0.43160415
+v -0.24644569 -0.10837851 0.34093480
+v -0.03485142 -0.19629751 0.46427917
+v -0.09019901 -0.24400349 0.47796101
+v -0.19265907 -0.02113478 0.31074406
+v -0.30554743 -0.22280101 0.32804032
+v -0.18894369 -0.20833438 0.43248330
+v -0.33436778 -0.18063359 0.28469344
+v -0.17382339 -0.15476530 0.41641218
+v -0.27550757 -0.01770495 0.26571500
+v -0.21675713 -0.18196122 0.40207453
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+v -0.24802307 -0.03288600 0.29572002
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+v -0.35496447 -0.19313485 0.26165045
+v -0.33523098 -0.15176563 0.26928274
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+f 27 14 1
+f 28 16 13
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+f 28 3 4
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+f 33 6 10
+f 33 17 25
+f 33 25 23
+f 33 23 6
+f 34 25 17
+f 34 11 25
+f 34 17 30
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+f 36 16 23
+f 36 23 25
+f 36 35 16
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+f 37 27 1
+f 37 1 19
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+f 38 27 19
+f 38 19 7
+f 39 29 9
+f 39 9 21
+f 39 21 30
+f 39 30 17
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+f 40 22 9
+f 40 9 29
+f 40 15 22
+f 41 34 30
+f 41 11 34
+f 41 32 11
+f 42 30 21
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+f 43 40 29
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+f 44 10 15
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+f 46 38 7
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+f 46 7 45
+f 46 27 38
+f 46 41 30
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+f 47 21 14
+f 48 33 10
+f 48 43 17
+f 48 17 33
+f 49 40 31
+f 49 31 44
+f 49 15 40
+f 50 14 27
+f 50 27 46
+f 50 47 14
+f 50 42 47
+f 50 46 30
+f 50 30 42
+f 51 48 10
+f 51 10 44
+f 52 31 43
+f 52 43 48
+f 53 49 44
+f 53 44 15
+f 53 15 49
+f 54 51 44
+f 54 48 51
+f 54 52 48
+f 54 44 31
+f 54 31 52
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_2/collision/model_normalized_collision_12.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_2/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c01b5e0516ab4ddc034168f088f5cfdaa9baacb6
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_2/collision/model_normalized_collision_12.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.30312279 -0.01506445 0.22843103
+v 0.34375273 -0.01057884 -0.06176449
+v 0.22221872 0.38849970 -0.08595257
+v -0.04381627 0.49067432 -0.11453883
+v -0.04838866 -0.00757575 -0.26209552
+v 0.06954810 0.26612888 0.19084457
+v 0.34305570 0.03002705 0.09762937
+v 0.29022950 -0.00174818 -0.26933347
+v 0.16668423 0.20801974 0.19055397
+v 0.08189726 0.46013606 -0.01688384
+v -0.04477163 -0.01274859 0.33655341
+v 0.34665894 -0.01213594 0.14198477
+v 0.28135375 0.25955478 -0.16761140
+v 0.33056713 -0.00871196 -0.12148008
+v -0.04437535 0.47411811 -0.25562664
+v 0.20620903 0.25159090 0.10423106
+v -0.04035156 0.44633821 -0.01663196
+v 0.13671304 0.27879339 0.14782332
+v -0.02697169 -0.01526484 0.34689741
+v 0.23533350 0.34451534 -0.04350721
+v 0.34116065 0.03112068 -0.01675611
+v 0.28155708 0.23155898 -0.19604405
+v 0.17995477 0.41678587 -0.22035393
+v 0.20665622 0.20677293 0.14879552
+v -0.01306253 0.47298160 -0.04428926
+v 0.01585767 0.41449274 0.04122443
+v -0.04058934 0.22003063 0.20599308
+v 0.10930269 0.39978128 0.03979874
+v 0.11231225 0.25201787 0.19054231
+v 0.16372130 0.37132049 0.02602806
+v 0.09492977 -0.01339809 0.34417861
+v 0.34232147 0.01448039 0.12542196
+v 0.29718536 0.07020015 0.15108803
+v 0.26616585 0.30340896 -0.08374522
+v 0.28263328 0.26085739 -0.09822350
+v 0.23560123 0.35938666 -0.19503927
+v 0.20635097 0.35908223 -0.25049951
+v 0.15174600 0.46044187 -0.09938465
+v 0.19279133 0.19295356 0.17647659
+v 0.29893617 -0.00382828 0.22434968
+v 0.06975390 0.49016520 -0.08387825
+v -0.04305065 0.47619182 -0.07202283
+v 0.06872269 0.41494280 0.04061134
+v 0.00096222 0.46049938 -0.01654457
+v 0.00220475 0.29456902 0.16042670
+v 0.01460174 0.07267307 0.31109967
+v -0.04066944 0.17837959 0.23511836
+v 0.13718061 0.23593177 0.19002638
+v 0.12312403 0.43008055 -0.00375017
+v 0.22086498 0.34331069 -0.01651306
+v 0.27543617 -0.01490108 0.25570246
+v 0.25093970 0.33295097 -0.06991181
+v 0.34261610 0.00059096 0.14036794
+v 0.26566407 0.30387096 -0.18380039
+v 0.22067755 0.38822038 -0.18147137
+v 0.04956353 0.47433523 -0.25389312
+v 0.19305458 0.40210214 -0.22160156
+v 0.25210434 0.27557952 -0.25376422
+v 0.27176891 -0.00307966 0.25142011
+v -0.01534591 0.48849192 -0.08614293
+v 0.12431685 0.47372776 -0.08455600
+v 0.02975175 0.26680202 0.19122889
+v 0.09596117 0.44464701 -0.00357316
+v 0.08320770 0.27914338 0.17572346
+f 5 2 1
+f 11 4 5
+f 12 1 2
+f 12 2 7
+f 14 2 5
+f 14 5 8
+f 15 8 5
+f 15 5 4
+f 19 11 5
+f 19 5 1
+f 21 7 2
+f 21 2 13
+f 22 13 2
+f 22 2 14
+f 22 14 8
+f 24 16 9
+f 29 18 28
+f 30 18 9
+f 30 9 16
+f 32 12 7
+f 33 32 20
+f 35 21 13
+f 35 7 21
+f 35 34 7
+f 39 24 9
+f 40 16 24
+f 40 33 16
+f 40 1 33
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+f 42 27 17
+f 42 4 11
+f 42 11 27
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+f 44 41 25
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+f 47 19 46
+f 48 9 18
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+f 49 28 18
+f 49 18 30
+f 49 30 3
+f 49 3 38
+f 50 30 16
+f 50 20 3
+f 50 3 30
+f 50 33 20
+f 50 16 33
+f 51 31 19
+f 51 19 1
+f 52 32 7
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+f 52 34 3
+f 52 3 20
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+f 53 33 1
+f 53 32 33
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+f 57 36 37
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+f 58 56 37
+f 58 8 56
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+f 59 39 9
+f 59 9 31
+f 59 31 51
+f 59 51 1
+f 59 1 40
+f 60 41 4
+f 60 25 41
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+f 60 4 42
+f 61 41 10
+f 61 56 41
+f 61 38 56
+f 61 49 38
+f 61 10 49
+f 62 43 26
+f 62 6 43
+f 62 26 45
+f 62 45 27
+f 62 27 47
+f 62 47 46
+f 62 46 6
+f 63 43 28
+f 63 10 43
+f 63 49 10
+f 63 28 49
+f 64 29 28
+f 64 28 43
+f 64 43 6
+f 64 6 29
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_2/collision/model_normalized_collision_13.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_2/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a54a6c70b5712df340d67c69c57b134f6c1c431
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_2/collision/model_normalized_collision_13.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v -0.23020684 -0.14393939 0.26820750
+v -0.23020684 -0.14393939 -0.23179249
+v -0.23020684 -0.00757575 -0.23179249
+v -0.23539413 0.00154070 0.27935752
+v -0.38748290 -0.17064355 -0.22282851
+v -0.38442964 -0.14911366 0.17247805
+v -0.33626744 -0.00757575 -0.23179249
+v -0.36533242 -0.15025789 0.21577257
+v -0.37062404 -0.00889570 -0.03631832
+v -0.31918968 -0.13711466 0.27945500
+v -0.34810161 -0.01341350 0.15514424
+v -0.36460604 -0.02667339 0.11280777
+v -0.28029815 -0.01355213 0.25858770
+v -0.33411899 -0.01332941 0.18119557
+v -0.36365170 -0.01372116 0.08594744
+v -0.37751270 -0.09071798 0.11193038
+v -0.29023730 -0.02954443 0.25650595
+v -0.30290975 -0.01425466 0.22680805
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 7 3 2
+f 7 2 5
+f 7 4 3
+f 8 6 5
+f 8 5 1
+f 9 7 5
+f 9 5 6
+f 9 4 7
+f 10 8 1
+f 10 1 4
+f 11 6 8
+f 11 4 9
+f 12 6 11
+f 13 10 4
+f 14 11 8
+f 14 8 10
+f 14 13 4
+f 14 4 11
+f 15 12 11
+f 15 11 9
+f 15 9 12
+f 16 12 9
+f 16 9 6
+f 16 6 12
+f 17 14 10
+f 17 10 13
+f 18 17 13
+f 18 13 14
+f 18 14 17
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_2/collision/model_normalized_collision_14.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_2/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4869f4826a4c42ad5ad96e387af72005144a6199
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_2/collision/model_normalized_collision_14.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v -0.07181030 -0.47619800 0.01521458
+v 0.18398820 -0.37233113 -0.09545263
+v 0.19403558 -0.23484848 0.01063174
+v -0.23020684 -0.26515151 0.01063174
+v -0.22484853 -0.41920071 -0.09021487
+v 0.01221740 -0.23484848 -0.09542886
+v -0.22370987 -0.46670056 0.01545833
+v 0.18266620 -0.36895165 0.00921832
+v -0.07957600 -0.44405787 -0.08999270
+v 0.19403558 -0.23484848 -0.09542886
+v 0.01221740 -0.23484848 0.01063174
+v -0.23020684 -0.26515151 -0.09542886
+v 0.12816806 -0.40131557 -0.09479726
+v -0.18004139 -0.47309790 -0.01202420
+v 0.12667763 -0.39790225 -0.00656406
+v 0.15526726 -0.38446089 0.00760254
+v 0.00979689 -0.43005821 -0.09269213
+v -0.19418506 -0.47506886 0.00261559
+v -0.13735784 -0.44371303 -0.08691672
+v -0.11154753 -0.47386840 -0.02503867
+v -0.08698543 -0.47379142 -0.01100087
+v -0.19593619 -0.47976949 0.01563710
+v -0.19495025 -0.42934135 -0.08919294
+v -0.13822905 -0.47357535 -0.02655323
+v -0.15113992 -0.45804652 -0.05520129
+f 8 2 3
+f 8 3 1
+f 10 6 3
+f 10 3 2
+f 10 2 6
+f 11 6 4
+f 11 3 6
+f 11 7 3
+f 11 4 7
+f 12 4 6
+f 12 7 4
+f 12 5 7
+f 12 6 2
+f 13 12 2
+f 15 1 13
+f 16 13 2
+f 16 2 8
+f 16 15 13
+f 16 8 1
+f 16 1 15
+f 17 9 5
+f 17 5 12
+f 17 12 13
+f 18 7 5
+f 18 5 14
+f 20 9 17
+f 21 17 13
+f 21 13 1
+f 21 20 17
+f 21 1 20
+f 22 7 18
+f 22 1 3
+f 22 3 7
+f 22 20 1
+f 22 18 14
+f 23 14 5
+f 23 5 9
+f 23 9 19
+f 24 19 9
+f 24 9 20
+f 24 22 14
+f 24 20 22
+f 25 23 19
+f 25 14 23
+f 25 24 14
+f 25 19 24
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_2/collision/model_normalized_collision_15.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_2/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8ee3e7443b8031873bdc1b53dddd742b254b085b
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_2/collision/model_normalized_collision_15.obj
@@ -0,0 +1,150 @@
+# https://github.com/mikedh/trimesh
+v 0.41535546 -0.35163953 -0.43610625
+v 0.47072232 -0.33332407 -0.46506176
+v 0.33131072 -0.28683831 -0.24058133
+v 0.25464164 -0.17424242 -0.26209552
+v 0.24840024 -0.19911633 -0.42949903
+v 0.32408179 -0.16232471 -0.26328543
+v 0.40735886 -0.32429666 -0.36330259
+v 0.36566076 -0.33303830 -0.47202314
+v 0.23987824 -0.33897501 -0.33751527
+v 0.46491125 -0.26954737 -0.40960707
+v 0.25464164 -0.20454545 -0.23179249
+v 0.24820134 -0.18307997 -0.41751939
+v 0.45625766 -0.33671026 -0.43983391
+v 0.45685975 -0.27157014 -0.47340137
+v 0.41975097 -0.35438332 -0.46644977
+v 0.26290994 -0.28437941 -0.42502283
+v 0.25032877 -0.32831110 -0.23419700
+v 0.33404627 -0.20805020 -0.23570574
+v 0.46348388 -0.30210599 -0.41114388
+v 0.32319330 -0.16444978 -0.33378038
+v 0.24061645 -0.33606306 -0.35157024
+v 0.38345397 -0.33678100 -0.36019673
+v 0.36550491 -0.25638368 -0.47105942
+v 0.46509043 -0.26309262 -0.45019625
+v 0.34840053 -0.35411566 -0.41329395
+v 0.45703866 -0.34384488 -0.46628122
+v 0.27597945 -0.26028287 -0.44185008
+v 0.46725504 -0.26222085 -0.41947604
+v 0.26459182 -0.32402225 -0.23547638
+v 0.40458179 -0.30269749 -0.33708263
+v 0.46690646 -0.32775351 -0.44044276
+v 0.34212724 -0.26159239 -0.24195242
+v 0.44196250 -0.25037889 -0.45925691
+v 0.26146908 -0.32602167 -0.38920942
+v 0.38688407 -0.35360446 -0.41884722
+v 0.30635129 -0.30981180 -0.23997195
+v 0.46481499 -0.27317227 -0.46195597
+v 0.35379217 -0.35266027 -0.44020619
+v 0.25417515 -0.33985757 -0.30985043
+v 0.45910770 -0.33340171 -0.47195780
+v 0.27148771 -0.23708523 -0.44141038
+v 0.45300133 -0.25079601 -0.44885261
+v 0.34287648 -0.23692389 -0.24086300
+v 0.43184535 -0.25840468 -0.47001692
+v 0.35648536 -0.34334742 -0.45963941
+v 0.36729109 -0.32273782 -0.32011165
+v 0.37978514 -0.35376702 -0.46306188
+v 0.24194508 -0.33950963 -0.33586467
+v 0.44631214 -0.34323749 -0.47118024
+v 0.34503055 -0.33143044 -0.45810507
+v 0.37941257 -0.34514089 -0.47055264
+f 11 6 4
+f 11 4 9
+f 12 9 4
+f 17 11 9
+f 18 6 11
+f 18 11 17
+f 20 12 4
+f 20 4 6
+f 21 12 5
+f 21 9 12
+f 21 5 16
+f 22 13 7
+f 22 1 13
+f 23 14 8
+f 23 5 12
+f 26 13 1
+f 26 1 15
+f 26 2 13
+f 27 16 5
+f 27 8 16
+f 28 18 10
+f 28 6 18
+f 28 2 24
+f 28 10 19
+f 29 18 17
+f 29 3 18
+f 29 17 22
+f 30 3 7
+f 31 7 13
+f 31 13 2
+f 31 28 19
+f 31 2 28
+f 31 30 7
+f 31 19 30
+f 32 18 3
+f 32 30 19
+f 32 3 30
+f 32 19 10
+f 33 12 20
+f 34 21 16
+f 35 22 17
+f 35 1 22
+f 35 17 25
+f 35 25 15
+f 35 15 1
+f 36 7 3
+f 36 29 22
+f 36 3 29
+f 37 24 2
+f 37 2 14
+f 37 14 24
+f 38 25 9
+f 38 9 21
+f 39 25 17
+f 40 14 2
+f 40 2 26
+f 40 8 14
+f 41 23 8
+f 41 8 27
+f 41 27 5
+f 41 5 23
+f 42 28 24
+f 42 20 6
+f 42 6 28
+f 42 33 20
+f 42 24 14
+f 42 14 33
+f 43 32 10
+f 43 10 18
+f 43 18 32
+f 44 23 12
+f 44 12 33
+f 44 33 14
+f 44 14 23
+f 45 34 16
+f 45 38 21
+f 45 21 34
+f 46 36 22
+f 46 22 7
+f 46 7 36
+f 47 15 25
+f 47 25 38
+f 47 38 45
+f 48 39 17
+f 48 17 9
+f 48 9 25
+f 48 25 39
+f 49 40 26
+f 49 26 15
+f 49 8 40
+f 50 45 16
+f 50 16 8
+f 50 8 45
+f 51 47 45
+f 51 45 8
+f 51 15 47
+f 51 49 15
+f 51 8 49
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_2/collision/model_normalized_collision_16.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_2/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0646817e158656322baedc397b51c23831c03f76
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_2/collision/model_normalized_collision_16.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.26050986 0.09848485 -0.06512583
+v -0.26047457 0.09848485 -0.48176325
+v -0.21990265 0.31651652 -0.06969580
+v -0.22599496 0.38782733 -0.22182337
+v -0.42513977 0.20056873 -0.26546938
+v -0.23020684 0.23484848 -0.36815613
+v -0.43318481 0.08867489 -0.34706840
+v -0.32260493 0.32547911 -0.39839016
+v -0.35745086 0.09482394 -0.06770116
+v -0.36540392 0.31103765 -0.24058100
+v -0.22766841 0.38436914 -0.36286713
+v -0.39298530 0.22737505 -0.40493627
+v -0.26971179 0.22574549 -0.01400779
+v -0.42687610 0.09525176 -0.23806929
+v -0.29501774 0.36882144 -0.23875225
+v -0.39345048 0.24471388 -0.21046690
+v -0.26031474 0.23437710 -0.48119417
+v -0.40880986 0.22793325 -0.36302154
+v -0.35580280 0.09945724 -0.46014411
+v -0.25131950 0.25694678 -0.02509963
+v -0.39961728 0.09444837 -0.16175006
+v -0.30549474 0.33816882 -0.19528598
+v -0.25428764 0.36712189 -0.19690018
+v -0.28523930 0.38307968 -0.31996729
+v -0.40889908 0.24255567 -0.25029586
+v -0.36669217 0.28091759 -0.19843157
+v -0.31911988 0.21226415 -0.07689090
+v -0.29968233 0.30173726 -0.43317317
+v -0.40861235 0.19984475 -0.39044295
+v -0.42482774 0.15757293 -0.35072762
+v -0.35012643 0.34104976 -0.32019329
+v -0.33058655 0.09882125 -0.47437721
+v -0.34268287 0.20204348 -0.47171871
+v -0.42485269 0.18615156 -0.25213275
+v -0.32201929 0.35596839 -0.25487747
+v -0.24057513 0.38417049 -0.22331321
+v -0.29781702 0.36712121 -0.35988048
+v -0.39265333 0.26908659 -0.23740082
+v -0.40877472 0.24284430 -0.33501484
+v -0.36665571 0.26784435 -0.18558436
+v -0.27645130 0.22019932 -0.01918356
+v -0.39694915 0.09989913 -0.41828053
+v -0.42347159 0.19869597 -0.30417253
+v -0.35029436 0.32660633 -0.36122459
+v -0.34336397 0.13037219 -0.47080367
+v -0.32914998 0.22899376 -0.47187410
+v -0.39513988 0.20038963 -0.41852543
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+v -0.31157663 0.36935684 -0.33415758
+v -0.31038835 0.35371297 -0.37303271
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+v -0.39222634 0.25535807 -0.37581915
+v -0.33895266 0.29521974 -0.41386051
+v -0.35250069 0.22662031 -0.45761980
+v -0.41068684 0.10143275 -0.39238616
+v -0.37877221 0.29919253 -0.25170329
+v -0.28314435 0.38357707 -0.26584400
+v -0.32228408 0.35312468 -0.35930079
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+f 26 13 20
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+f 63 15 52
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+f 63 4 24
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+f 64 54 37
+f 64 37 55
+f 64 55 8
+f 64 8 44
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_2/collision/model_normalized_collision_17.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_2/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e2aadd7962a503436bdccffd473bcb2dd2b964e
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_2/collision/model_normalized_collision_17.obj
@@ -0,0 +1,186 @@
+# https://github.com/mikedh/trimesh
+v -0.03644184 -0.45775874 0.18891431
+v -0.03697775 -0.46486593 0.14565321
+v -0.03323714 -0.26515151 0.14699537
+v -0.19141258 -0.25762962 0.42187780
+v -0.38754417 -0.39314489 0.14457293
+v -0.03651643 -0.25899471 0.46808832
+v -0.01810330 -0.41659777 0.29847364
+v -0.25609764 -0.47724160 0.14461101
+v -0.09632095 -0.47783105 0.14295940
+v -0.41144952 -0.26178287 0.16537780
+v -0.11851515 -0.38438410 0.35963284
+v -0.29692555 -0.46152796 0.14427250
+v -0.15651053 -0.47343992 0.18500179
+v -0.36608139 -0.30646009 0.26895634
+v -0.03836383 -0.36762273 0.37615815
+v -0.10266133 -0.26829044 0.46208071
+v -0.25452694 -0.42858189 0.25523803
+v -0.04867686 -0.44399350 0.24665092
+v -0.21295616 -0.47398902 0.18531895
+v -0.38578962 -0.37837565 0.18787879
+v -0.36639804 -0.26659716 0.27195748
+v -0.07947601 -0.41360433 0.31890957
+v -0.03641958 -0.31214122 0.43226240
+v -0.10474479 -0.25831425 0.46761019
+v -0.28139528 -0.44267796 0.21273102
+v -0.30921358 -0.37357169 0.27983782
+v -0.02093282 -0.42032509 0.29274175
+v -0.38016962 -0.26536518 0.25199960
+v -0.39433880 -0.38453945 0.14637825
+v -0.33784633 -0.42946452 0.17115228
+v -0.30799561 -0.26451887 0.32929291
+v -0.06664866 -0.38333748 0.36151471
+v -0.12144087 -0.41331999 0.31768080
+v -0.01955929 -0.41054258 0.31035633
+v -0.03729044 -0.26998615 0.46229894
+v -0.09064251 -0.31321705 0.43302047
+v -0.14476930 -0.28212634 0.43197174
+v -0.25571751 -0.47467563 0.15754689
+v -0.25499812 -0.45851663 0.19932689
+v -0.29285858 -0.31602425 0.32506556
+v -0.36470529 -0.34693174 0.25260113
+v -0.31105014 -0.40027170 0.25433133
+v -0.25466823 -0.38785593 0.29605172
+v -0.37985548 -0.38689040 0.18604897
+v -0.34158887 -0.43294626 0.14492919
+v -0.29598580 -0.45905552 0.15723714
+v -0.22683447 -0.44370342 0.24182792
+v -0.02250869 -0.41465522 0.30408295
+v -0.11601573 -0.28174072 0.44679666
+v -0.18862254 -0.26795749 0.41717611
+v -0.24119403 -0.47437233 0.17046523
+v -0.33691563 -0.30379671 0.29651466
+v -0.32199853 -0.33164310 0.29548362
+v -0.29470336 -0.42798313 0.22697717
+v -0.11582961 -0.34200563 0.40188482
+v -0.28201789 -0.37368319 0.29547673
+v -0.35237242 -0.41330618 0.18448005
+v -0.36659345 -0.38665192 0.21307289
+v -0.29545216 -0.44301612 0.19804881
+v -0.22673838 -0.45859919 0.21365811
+v -0.30773941 -0.27663962 0.32786790
+v -0.35328278 -0.39869534 0.21290863
+v -0.30910384 -0.42757017 0.21220171
+f 6 3 4
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+f 7 2 3
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+f 9 5 3
+f 9 3 2
+f 9 2 1
+f 10 4 3
+f 10 3 5
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+f 12 5 9
+f 18 13 9
+f 18 9 1
+f 19 8 9
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+f 22 19 13
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+f 59 39 25
+f 60 19 33
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+f 60 51 19
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+f 61 31 14
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+f 61 52 4
+f 61 4 31
+f 62 58 57
+f 62 54 42
+f 62 42 58
+f 62 57 30
+f 63 59 54
+f 63 54 62
+f 63 62 30
+f 63 30 59
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_2/collision/model_normalized_collision_18.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_2/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2c54ad72bf66031d33c33f34f9a1b1a488e47b38
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_2/collision/model_normalized_collision_18.obj
@@ -0,0 +1,117 @@
+# https://github.com/mikedh/trimesh
+v -0.04838866 0.23484848 -0.36815613
+v -0.04997084 0.23370994 -0.47828501
+v -0.04798554 0.38079897 -0.37783255
+v -0.28536211 0.37131356 -0.36189067
+v -0.38898160 0.23091682 -0.40932306
+v -0.23806681 0.31338991 -0.45563384
+v -0.04782158 0.37324611 -0.38554194
+v -0.38347380 0.22891624 -0.42030116
+v -0.30596441 0.23484848 -0.36815613
+v -0.22670761 0.36779317 -0.40415905
+v -0.08019648 0.30018327 -0.46056714
+v -0.31738817 0.23162398 -0.47468692
+v -0.35101325 0.28184327 -0.41649417
+v -0.30209524 0.36302606 -0.36432545
+v -0.22965730 0.38277484 -0.36702646
+v -0.11094570 0.33968695 -0.42923966
+v -0.05316911 0.27424663 -0.47129803
+v -0.34343943 0.22949994 -0.46337042
+v -0.36798783 0.27089330 -0.40528241
+v -0.28178728 0.35253214 -0.40135881
+v -0.17263813 0.36924479 -0.40201670
+v -0.04910612 0.34361108 -0.41610159
+v -0.17353016 0.31327406 -0.45757179
+v -0.24031935 0.28642640 -0.47146120
+v -0.35067241 0.25392898 -0.44336529
+v -0.37928993 0.24050158 -0.41749956
+v -0.38403158 0.24352891 -0.40674355
+v -0.28358304 0.36648344 -0.37428924
+v -0.25437473 0.35371595 -0.41569778
+v -0.29593301 0.35428348 -0.38685204
+v -0.10964228 0.28735604 -0.47098962
+v -0.29993008 0.25664975 -0.47173855
+v -0.33892043 0.28122639 -0.42977550
+v -0.36388995 0.26693394 -0.41588101
+v -0.31443152 0.24328726 -0.47208591
+v -0.25154623 0.32816911 -0.44010791
+v -0.31314361 0.26760713 -0.45916461
+v -0.28083583 0.32770405 -0.42588901
+v -0.33926699 0.26705338 -0.44262532
+v -0.34084105 0.24170071 -0.45891501
+f 1 3 4
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+f 9 1 4
+f 9 8 1
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+f 14 9 4
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+f 15 10 4
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+f 37 6 32
+f 38 20 29
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+f 38 36 37
+f 38 33 20
+f 39 25 33
+f 39 38 37
+f 39 33 38
+f 40 37 35
+f 40 35 18
+f 40 39 37
+f 40 18 25
+f 40 25 39
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_2/collision/model_normalized_collision_19.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_2/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..986ae8badc068768fdd666ba75f7666f1119e909
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_2/collision/model_normalized_collision_19.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.33404627 -0.20805020 -0.23570574
+v 0.34352406 -0.20542253 -0.26291437
+v 0.30020985 -0.00903569 -0.22824347
+v 0.26917380 0.12865772 -0.26186733
+v 0.25226484 -0.17675336 -0.41015891
+v 0.27137758 0.12574072 -0.25748338
+v 0.25464164 -0.20454545 -0.26209552
+v 0.32221345 -0.18533353 -0.35996844
+v 0.29241862 -0.18614841 -0.38973337
+v 0.25464164 -0.20454545 -0.23179249
+v 0.26420431 -0.18118338 -0.40552350
+v 0.24733287 0.00597351 -0.37814499
+v 0.24836801 -0.16404310 -0.40497491
+v 0.26510754 0.01673231 -0.34377971
+v 0.26434606 0.12749537 -0.27500829
+v 0.25401207 0.00740539 -0.36774591
+v 0.26232857 0.11167338 -0.28893237
+f 1 2 3
+f 6 3 2
+f 7 2 1
+f 8 6 2
+f 8 4 6
+f 9 2 7
+f 9 8 2
+f 10 7 1
+f 10 1 3
+f 10 3 6
+f 10 6 4
+f 11 9 7
+f 11 7 5
+f 12 8 9
+f 12 9 11
+f 12 11 5
+f 13 5 7
+f 13 7 10
+f 13 12 5
+f 13 10 12
+f 15 12 10
+f 15 10 4
+f 15 4 8
+f 15 8 14
+f 16 14 8
+f 16 8 12
+f 17 15 14
+f 17 14 16
+f 17 16 12
+f 17 12 15
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_2/collision/model_normalized_collision_2.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_2/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5be24c7959fed03afa7a010617754f31e25f698b
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_2/collision/model_normalized_collision_2.obj
@@ -0,0 +1,129 @@
+# https://github.com/mikedh/trimesh
+v -0.04477163 -0.01274859 0.33655341
+v -0.04838866 -0.00757575 -0.06512583
+v -0.04156043 0.33380512 0.09529721
+v -0.16658996 0.38431125 -0.06600633
+v -0.37501175 -0.00821665 -0.06624153
+v -0.04838866 0.34090909 -0.06512583
+v -0.27541326 0.02564226 0.23710922
+v -0.04116060 -0.00101209 0.33059082
+v -0.05963015 -0.01641179 0.33297053
+v -0.30860192 0.22688668 -0.07374675
+v -0.15965375 0.37936922 -0.03978941
+v -0.03986261 0.28331032 0.15097660
+v -0.15281744 -0.01568217 0.32002154
+v -0.36784354 0.06484597 -0.06910728
+v -0.18412842 0.36004792 -0.07001439
+v -0.27423584 0.17549111 0.07808432
+v -0.24937705 0.11203726 0.17758930
+v -0.04261980 0.19601340 0.22410678
+v -0.32214159 -0.01255700 0.19689875
+v -0.17168636 0.37783179 -0.06865504
+v -0.25045492 0.08280908 0.20635996
+v -0.28763599 0.08442002 0.16627074
+v -0.26128603 0.15937592 0.11619920
+v -0.23906080 -0.01394517 0.28965761
+v -0.35240211 -0.01170460 0.14194272
+v -0.04099017 0.26872475 0.16462131
+v -0.28843503 0.04105010 0.20966495
+v -0.28873789 0.14668815 0.09199930
+v -0.29190261 -0.01350606 0.24402466
+v -0.26372038 0.03881804 0.23601788
+v -0.34716530 0.09227684 -0.00877786
+v -0.33155211 0.01255351 0.16621379
+v -0.28029815 -0.01355213 0.25858770
+v -0.28887542 -0.00086366 0.24001652
+v -0.25072363 0.00974191 0.26532571
+v -0.34719282 0.01422667 0.12693274
+v -0.35261596 0.10736279 -0.06954595
+v -0.31870787 -0.00002601 0.19480162
+v -0.30325422 0.08626067 0.13731672
+v -0.27702469 -0.00182074 0.25452475
+v -0.23623011 -0.00441311 0.28373447
+v -0.34850735 0.00054550 0.14087812
+v -0.30250170 0.13327620 0.07977733
+v -0.30163051 0.01450356 0.21076805
+f 6 3 2
+f 6 4 3
+f 8 1 2
+f 9 5 2
+f 9 2 1
+f 11 3 4
+f 11 4 10
+f 12 8 2
+f 12 2 3
+f 12 3 11
+f 13 9 1
+f 14 10 2
+f 14 2 5
+f 15 6 2
+f 15 2 10
+f 16 11 10
+f 17 12 11
+f 18 13 1
+f 18 1 8
+f 18 8 12
+f 20 15 10
+f 20 10 4
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+f 20 6 15
+f 21 12 17
+f 22 21 17
+f 23 17 11
+f 23 11 16
+f 23 22 17
+f 24 13 18
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+f 25 14 5
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+f 28 23 16
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+f 29 19 25
+f 30 27 7
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+f 30 18 26
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+f 33 13 24
+f 34 7 27
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+f 37 10 14
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+f 38 19 29
+f 39 32 22
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+f 40 24 7
+f 40 34 33
+f 40 7 34
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+f 41 24 18
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+f 42 36 25
+f 42 25 32
+f 42 32 36
+f 43 28 10
+f 43 10 36
+f 43 39 28
+f 43 36 32
+f 43 32 39
+f 44 38 29
+f 44 29 34
+f 44 34 27
+f 44 27 32
+f 44 32 38
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_2/collision/model_normalized_collision_20.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_2/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..790fa21296546328f3f527b37a2bfaaf1dcff110
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_2/collision/model_normalized_collision_20.obj
@@ -0,0 +1,138 @@
+# https://github.com/mikedh/trimesh
+v 0.25464164 -0.21969696 -0.23179249
+v 0.25366191 -0.22125226 -0.43871378
+v 0.29620491 -0.00242160 -0.24209817
+v -0.44040044 -0.00716638 -0.22150948
+v -0.37290108 -0.19955950 -0.23279262
+v -0.35947936 -0.00776241 -0.47152615
+v -0.23020684 -0.21969696 -0.23179249
+v 0.15628611 -0.00858880 -0.47346525
+v -0.39845717 -0.00745806 -0.44463049
+v -0.22665613 -0.21267790 -0.46424912
+v 0.23484604 -0.22145548 -0.44277187
+v 0.24229418 -0.00982087 -0.38907358
+v -0.42909123 -0.10631976 -0.33434363
+v -0.34601662 -0.07556548 -0.47195808
+v 0.12530903 -0.19535556 -0.47149961
+v 0.20795574 -0.00907975 -0.43012118
+v -0.43147077 -0.10660594 -0.26431989
+v -0.36798737 -0.18879939 -0.34528575
+v -0.35717519 -0.03615202 -0.47167695
+v -0.39518510 -0.10353665 -0.40041590
+v 0.05672435 -0.21126668 -0.47090402
+v 0.14183085 -0.17140264 -0.47154677
+v -0.19773081 -0.21016125 -0.47191792
+v 0.18076208 -0.00962171 -0.45793398
+v -0.37985781 -0.19031984 -0.30445495
+v -0.42140601 -0.11090717 -0.23338666
+v -0.36725365 -0.06295774 -0.45963604
+v -0.39500755 -0.06032570 -0.42986957
+v -0.37840272 -0.16155390 -0.37298296
+v 0.15446657 -0.12640429 -0.47072100
+v -0.23931933 -0.19609629 -0.46931790
+v -0.42330899 -0.11686856 -0.33297328
+v -0.37825695 -0.19350160 -0.24861242
+v -0.38325154 -0.18191566 -0.23370332
+v -0.34978981 -0.16094658 -0.41422765
+v -0.39537909 -0.03209572 -0.44266906
+v -0.39461441 -0.16299339 -0.33232302
+v -0.42451093 -0.11812322 -0.26516707
+v -0.33760980 -0.11939611 -0.45646210
+v -0.36365973 -0.11852116 -0.43017118
+v -0.37811322 -0.14886003 -0.38637669
+v -0.29268918 -0.19043278 -0.44319819
+v -0.35261989 -0.18694604 -0.37433346
+v -0.38088824 -0.17566718 -0.34536553
+v -0.31269694 -0.12235374 -0.47010842
+v -0.32103534 -0.16127578 -0.44310667
+v -0.32036463 -0.18960269 -0.41528109
+f 1 2 3
+f 1 3 4
+f 7 1 4
+f 7 4 5
+f 8 6 3
+f 9 4 3
+f 9 3 6
+f 10 7 5
+f 11 2 1
+f 11 1 7
+f 11 7 10
+f 12 3 2
+f 13 4 9
+f 14 6 8
+f 15 2 11
+f 16 8 3
+f 16 3 12
+f 16 12 2
+f 17 4 13
+f 19 9 6
+f 19 6 14
+f 21 15 11
+f 22 15 8
+f 22 2 15
+f 23 14 8
+f 23 8 15
+f 23 15 21
+f 23 21 11
+f 23 11 10
+f 24 16 2
+f 24 2 8
+f 24 8 16
+f 25 18 10
+f 25 10 5
+f 26 5 4
+f 26 4 17
+f 27 19 14
+f 27 9 19
+f 28 20 13
+f 30 22 8
+f 30 8 2
+f 30 2 22
+f 31 23 10
+f 31 14 23
+f 32 17 13
+f 32 13 29
+f 33 25 5
+f 33 5 17
+f 34 26 17
+f 34 17 5
+f 34 5 26
+f 36 28 13
+f 36 13 9
+f 36 9 27
+f 36 27 28
+f 37 32 29
+f 37 25 32
+f 38 33 17
+f 38 25 33
+f 38 32 25
+f 38 17 32
+f 39 27 14
+f 40 35 20
+f 40 20 28
+f 40 39 35
+f 40 28 27
+f 40 27 39
+f 41 35 29
+f 41 20 35
+f 41 29 13
+f 41 13 20
+f 42 31 10
+f 43 29 35
+f 44 37 29
+f 44 18 25
+f 44 25 37
+f 44 43 18
+f 44 29 43
+f 45 39 14
+f 45 14 31
+f 45 31 42
+f 46 42 35
+f 46 35 39
+f 46 45 42
+f 46 39 45
+f 47 43 35
+f 47 35 42
+f 47 42 10
+f 47 10 18
+f 47 18 43
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_2/collision/model_normalized_collision_21.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_2/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b6fd7f002fc46fd1f810954636282f9b8b812521
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_2/collision/model_normalized_collision_21.obj
@@ -0,0 +1,105 @@
+# https://github.com/mikedh/trimesh
+v 0.02453496 -0.40105446 -0.22812853
+v 0.26202458 -0.30065885 -0.41425304
+v 0.25464164 -0.21969696 -0.23179249
+v -0.23020684 -0.21969696 -0.23179249
+v -0.22665613 -0.21267790 -0.46424912
+v 0.12796665 -0.37088516 -0.22722240
+v -0.08918955 -0.36810261 -0.33894977
+v 0.25366191 -0.22125226 -0.43871378
+v 0.12742722 -0.21148066 -0.46192334
+v -0.22674547 -0.36024596 -0.22770196
+v 0.25660103 -0.34182553 -0.33681850
+v -0.07720616 -0.31108416 -0.39806701
+v 0.25977183 -0.27298764 -0.43044135
+v -0.13445832 -0.40024997 -0.22725708
+v -0.22284619 -0.27765690 -0.38673335
+v 0.26146908 -0.32602167 -0.38920942
+v 0.25032877 -0.32831110 -0.23419700
+v -0.22386786 -0.22113657 -0.45834504
+v 0.23872794 -0.23343310 -0.44095070
+v 0.01151546 -0.23566566 -0.45825328
+v -0.11673636 -0.38260633 -0.29784190
+v -0.22493220 -0.23415883 -0.44465556
+v -0.02108041 -0.39881963 -0.27296089
+v 0.17359793 -0.35449187 -0.22872339
+v 0.25417515 -0.33985757 -0.30985043
+v -0.09091354 -0.32541568 -0.38255172
+v 0.23484604 -0.22145548 -0.44277187
+v -0.15155103 -0.23556161 -0.45730811
+v -0.14546879 -0.38279574 -0.26963280
+v -0.11550184 -0.36717134 -0.32534231
+v -0.00641718 -0.38317508 -0.31383509
+v -0.09002620 -0.38326934 -0.31342602
+v -0.10359817 -0.39700864 -0.27082122
+v -0.13255732 -0.39690645 -0.24146243
+v -0.22133443 -0.33602736 -0.28235495
+v -0.00660298 -0.36793489 -0.33996800
+f 6 3 4
+f 9 5 4
+f 9 4 3
+f 9 3 8
+f 10 6 4
+f 10 4 5
+f 11 6 1
+f 13 8 3
+f 13 3 2
+f 14 1 6
+f 14 6 10
+f 16 2 3
+f 16 12 2
+f 16 7 12
+f 17 16 3
+f 17 11 16
+f 19 13 9
+f 19 8 13
+f 20 13 2
+f 20 5 9
+f 20 9 13
+f 22 15 10
+f 22 10 5
+f 22 5 18
+f 22 18 7
+f 22 7 15
+f 23 16 11
+f 23 11 1
+f 23 1 14
+f 24 17 3
+f 24 3 6
+f 24 6 17
+f 25 17 6
+f 25 6 11
+f 25 11 17
+f 26 12 7
+f 26 7 18
+f 27 19 9
+f 27 9 8
+f 27 8 19
+f 28 18 5
+f 28 5 20
+f 28 26 18
+f 28 12 26
+f 28 20 2
+f 28 2 12
+f 30 21 15
+f 30 15 7
+f 31 16 23
+f 32 31 23
+f 32 30 7
+f 32 21 30
+f 33 29 21
+f 33 21 32
+f 33 32 23
+f 33 23 14
+f 34 14 10
+f 34 10 29
+f 34 33 14
+f 34 29 33
+f 35 29 10
+f 35 10 15
+f 35 15 21
+f 35 21 29
+f 36 7 16
+f 36 16 31
+f 36 32 7
+f 36 31 32
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_2/collision/model_normalized_collision_22.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_2/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea70eda216e81f13eda0293e43bdc98bd5e9e2bf
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_2/collision/model_normalized_collision_22.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v -0.22946160 -0.41521547 -0.09476098
+v -0.22674547 -0.36024596 -0.22770196
+v -0.23020684 -0.14393939 -0.09542886
+v -0.38543203 -0.13946563 -0.15969055
+v -0.34064104 -0.34949137 -0.08850452
+v -0.23020684 -0.14393939 -0.23179249
+v -0.22380433 -0.40600726 -0.12079937
+v -0.30094310 -0.39100916 -0.08868931
+v -0.39784002 -0.15241310 -0.23380404
+v -0.37197281 -0.14955025 -0.10009177
+v -0.39906892 -0.13809201 -0.20450969
+v -0.30248944 -0.29638785 -0.22526452
+v -0.25116944 -0.40459470 -0.08812030
+v -0.36657027 -0.21105191 -0.23373412
+v -0.35654182 -0.32032515 -0.08968961
+v -0.40438456 -0.13938573 -0.23326641
+v -0.30396594 -0.34050405 -0.16078489
+v -0.36477765 -0.29488944 -0.09438861
+v -0.31869593 -0.35711536 -0.11311335
+v -0.24896751 -0.35178498 -0.22214504
+v -0.27407542 -0.33978248 -0.20615707
+f 7 1 2
+f 7 3 1
+f 7 6 3
+f 7 2 6
+f 8 2 1
+f 10 3 4
+f 11 4 3
+f 11 3 6
+f 11 10 4
+f 13 8 1
+f 13 1 3
+f 13 3 5
+f 13 5 8
+f 14 9 6
+f 14 6 2
+f 14 2 12
+f 14 12 5
+f 15 5 3
+f 15 3 10
+f 15 14 5
+f 15 9 14
+f 16 11 6
+f 16 6 9
+f 16 9 15
+f 17 5 12
+f 18 15 10
+f 18 10 11
+f 18 16 15
+f 18 11 16
+f 19 17 8
+f 19 8 5
+f 19 5 17
+f 20 12 2
+f 20 2 8
+f 21 17 12
+f 21 12 20
+f 21 20 8
+f 21 8 17
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_2/collision/model_normalized_collision_23.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_2/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7e9de0a9af45ae7ba692db1462799780e43ff4b1
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_2/collision/model_normalized_collision_23.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.21968831 -0.33744643 0.01078126
+v 0.35685368 -0.16960308 -0.00120350
+v 0.35912959 -0.16979658 0.01290802
+v 0.20918710 -0.00757575 0.01063174
+v 0.19403558 -0.23484848 -0.09542886
+v 0.35602039 -0.00869831 0.01120010
+v 0.19403558 -0.23484848 0.01063174
+v 0.30008679 -0.25537645 -0.09567499
+v 0.35810647 -0.04048986 -0.01655984
+v 0.36088325 -0.03974985 0.01192370
+v 0.34189877 -0.20916403 -0.00176760
+v 0.22237020 -0.33903163 -0.09487953
+v 0.35682730 -0.15557351 -0.01525399
+v 0.33698039 -0.00874952 -0.09381656
+v 0.34244065 -0.19702709 -0.03061218
+v 0.34304537 -0.21027873 0.01228218
+v 0.20918710 -0.00757575 -0.09542886
+v 0.34375273 -0.01057884 -0.06176449
+v 0.32772905 -0.18420864 -0.08972033
+v 0.34194239 -0.12717310 -0.07425724
+v 0.26137790 -0.30066447 0.01037898
+v 0.31279987 -0.22821484 -0.09392015
+v 0.34163608 -0.17064074 -0.05887546
+v 0.34255207 -0.02474126 -0.07614527
+v 0.25958958 -0.30088136 -0.09499180
+f 7 1 3
+f 7 3 4
+f 7 5 1
+f 7 4 5
+f 10 6 4
+f 10 4 3
+f 10 9 6
+f 12 1 5
+f 12 5 8
+f 13 3 2
+f 13 10 3
+f 13 9 10
+f 15 11 8
+f 15 2 3
+f 15 3 11
+f 15 13 2
+f 16 11 3
+f 16 3 1
+f 16 8 11
+f 17 14 8
+f 17 8 5
+f 17 5 4
+f 17 4 6
+f 17 6 14
+f 18 14 6
+f 18 6 9
+f 18 9 14
+f 20 9 13
+f 20 19 14
+f 21 16 1
+f 21 1 12
+f 22 8 14
+f 22 14 19
+f 22 19 15
+f 22 15 8
+f 23 13 15
+f 23 15 19
+f 23 20 13
+f 23 19 20
+f 24 20 14
+f 24 14 9
+f 24 9 20
+f 25 21 12
+f 25 12 8
+f 25 8 16
+f 25 16 21
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_2/collision/model_normalized_collision_24.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_2/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..178967852bf37e25de35c82aaf34d3872cf74c31
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_2/collision/model_normalized_collision_24.obj
@@ -0,0 +1,108 @@
+# https://github.com/mikedh/trimesh
+v 0.00961688 -0.36221906 0.36719033
+v 0.14382883 -0.17082806 0.36671827
+v -0.03651643 -0.25899471 0.46808832
+v -0.03678098 -0.11353828 0.41722323
+v 0.11841941 -0.11328252 0.37495748
+v -0.03377854 -0.36900584 0.37263127
+v 0.07348060 -0.30146812 0.38698759
+v 0.14676013 -0.11596998 0.36866982
+v -0.02245402 -0.32612886 0.41792193
+v -0.03793811 -0.35552844 0.39236975
+v 0.09330381 -0.30501812 0.36551684
+v -0.01125987 -0.24721744 0.46262916
+v 0.02181760 -0.15028832 0.43392995
+v 0.01918124 -0.31152151 0.41702842
+v -0.03634707 -0.32816226 0.41945100
+v 0.02114262 -0.33963698 0.38944854
+v 0.10820748 -0.27608203 0.36488969
+v 0.04415194 -0.28714365 0.41622009
+v 0.13823734 -0.16683905 0.37192946
+v 0.01642879 -0.17891452 0.44616444
+v -0.03582840 -0.28597646 0.45165408
+v 0.00302896 -0.27277629 0.44638652
+v 0.00760815 -0.35533359 0.37652730
+v 0.05024182 -0.34125091 0.37444243
+v 0.05321264 -0.34707256 0.36634900
+v 0.10138409 -0.27374073 0.37314480
+v 0.04850803 -0.32725798 0.38791125
+v 0.01529246 -0.23358387 0.44719659
+v -0.03485142 -0.19629751 0.46427917
+v -0.02348700 -0.25898959 0.46404059
+v 0.08717003 -0.30192901 0.37410662
+v -0.01039159 -0.20590874 0.46172417
+v 0.00703205 -0.16664441 0.44588051
+v -0.00979363 -0.28365233 0.44603025
+v -0.03307353 -0.14975080 0.44011408
+v -0.02082928 -0.19506523 0.46214470
+v -0.03322085 -0.16737753 0.45000265
+f 6 4 5
+f 8 2 1
+f 8 6 5
+f 8 1 6
+f 10 3 4
+f 10 4 6
+f 10 6 1
+f 13 8 5
+f 13 5 4
+f 15 10 9
+f 15 3 10
+f 16 9 10
+f 16 14 9
+f 17 1 2
+f 19 2 8
+f 19 18 2
+f 20 8 13
+f 21 15 9
+f 21 3 15
+f 22 18 12
+f 22 14 18
+f 23 16 10
+f 23 10 1
+f 24 14 16
+f 25 17 11
+f 25 1 17
+f 25 11 24
+f 25 23 1
+f 25 24 16
+f 25 16 23
+f 26 17 2
+f 26 18 7
+f 26 2 18
+f 27 18 14
+f 27 7 18
+f 27 14 24
+f 28 19 8
+f 28 12 18
+f 28 18 19
+f 28 20 12
+f 28 8 20
+f 29 4 3
+f 30 22 12
+f 30 12 3
+f 31 24 11
+f 31 27 24
+f 31 7 27
+f 31 26 7
+f 31 11 17
+f 31 17 26
+f 32 29 3
+f 32 3 12
+f 32 12 20
+f 33 20 13
+f 34 30 3
+f 34 3 21
+f 34 14 22
+f 34 22 30
+f 34 21 9
+f 34 9 14
+f 35 33 13
+f 35 13 4
+f 36 33 29
+f 36 29 32
+f 36 32 20
+f 36 20 33
+f 37 35 4
+f 37 4 29
+f 37 29 33
+f 37 33 35
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_2/collision/model_normalized_collision_25.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_2/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6e7bd89fe001fc8387b51b20d22e8822b0dafbf4
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_2/collision/model_normalized_collision_25.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v -0.41731613 -0.11674362 -0.23018726
+v -0.40203025 -0.06286209 -0.42026315
+v -0.40836593 0.09922815 -0.39694432
+v -0.43218478 0.10129232 -0.25542761
+v -0.47449942 -0.05338306 -0.35103724
+v -0.40294059 0.03307091 -0.43389522
+v -0.40625786 -0.10991995 -0.37938056
+v -0.44040044 -0.00716638 -0.22150948
+v -0.47493769 -0.00375133 -0.38460350
+v -0.47388206 -0.01536441 -0.38485473
+v -0.42287889 -0.10196571 -0.35916574
+v -0.45282085 -0.07655399 -0.27110825
+v -0.44053477 0.08353905 -0.34353477
+v -0.46975439 -0.00999403 -0.29858162
+v -0.40275355 -0.03409918 -0.43450270
+v -0.43987054 -0.07584862 -0.23902448
+v -0.45391231 0.06160323 -0.31076657
+v -0.41068684 0.10143275 -0.39238616
+v -0.45445385 0.01910561 -0.26790401
+v -0.46953285 -0.03598543 -0.29817747
+v -0.45430874 0.05584623 -0.36158376
+v -0.43924501 0.09432081 -0.28058087
+v -0.46971034 0.01758300 -0.32556731
+v -0.46990069 -0.04728533 -0.30994727
+v -0.43521916 0.09715624 -0.26397572
+v -0.46844625 0.01580109 -0.37555732
+v -0.47331210 -0.05311087 -0.34108300
+f 1 3 4
+f 6 1 2
+f 6 3 1
+f 7 2 1
+f 8 1 4
+f 9 3 6
+f 10 7 5
+f 10 2 7
+f 10 5 9
+f 11 7 1
+f 11 1 5
+f 11 5 7
+f 12 5 1
+f 14 9 5
+f 15 10 9
+f 15 9 6
+f 15 6 2
+f 15 2 10
+f 16 12 1
+f 16 1 8
+f 18 4 3
+f 18 3 9
+f 19 14 8
+f 19 8 4
+f 19 4 14
+f 20 8 14
+f 20 16 8
+f 20 12 16
+f 20 14 5
+f 21 18 9
+f 21 13 18
+f 22 21 17
+f 22 13 21
+f 22 18 13
+f 22 4 18
+f 23 9 14
+f 23 22 17
+f 23 14 4
+f 23 17 21
+f 24 12 20
+f 25 23 4
+f 25 4 22
+f 25 22 23
+f 26 23 21
+f 26 21 9
+f 26 9 23
+f 27 24 20
+f 27 20 5
+f 27 5 12
+f 27 12 24
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_2/collision/model_normalized_collision_26.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_2/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..714bb855fc719b133dd7a414b2cc69c726fde705
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_2/collision/model_normalized_collision_26.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v 0.11306706 -0.14463964 0.38696455
+v 0.13280641 -0.11449994 0.37227482
+v 0.00957660 -0.14975951 0.43735645
+v 0.01327393 -0.02647571 0.36756527
+v -0.19699693 -0.10186609 0.36881259
+v 0.07021553 -0.04073924 0.36778132
+v 0.12189718 -0.14344574 0.38399460
+v -0.19572726 -0.14776591 0.39839377
+v 0.04895125 -0.09297222 0.39950342
+v 0.04049837 -0.03259811 0.37135548
+v -0.16578737 -0.07438745 0.36607467
+v 0.12964216 -0.11950913 0.37539445
+v 0.04730051 -0.14774885 0.41954081
+v 0.13170699 -0.10265624 0.36666343
+v -0.16243686 -0.15230830 0.42162231
+v -0.20703471 -0.13754177 0.38470822
+v 0.04610780 -0.13439783 0.41662497
+v 0.04160196 -0.02659393 0.36782146
+v -0.07789283 -0.15098787 0.43869226
+v 0.05164118 -0.06269716 0.38469247
+v -0.15921082 -0.14082432 0.41610862
+v 0.01474661 -0.03291112 0.37141743
+v 0.00909850 -0.13762807 0.43155589
+v 0.06631373 -0.04615292 0.37182535
+v -0.17449781 -0.11047683 0.38703986
+v -0.13397125 -0.12664384 0.41721305
+v -0.14745074 -0.11130979 0.40178170
+v -0.07728443 -0.14047265 0.43212669
+v -0.16195312 -0.08087622 0.37278764
+f 8 7 1
+f 12 7 2
+f 13 3 1
+f 13 1 7
+f 13 12 3
+f 13 7 12
+f 14 7 5
+f 14 2 7
+f 14 5 11
+f 14 6 2
+f 14 11 4
+f 15 8 1
+f 15 1 3
+f 15 5 8
+f 16 8 5
+f 16 5 7
+f 16 7 8
+f 17 9 3
+f 17 2 9
+f 17 12 2
+f 17 3 12
+f 18 14 4
+f 18 6 14
+f 19 15 3
+f 20 18 10
+f 20 3 9
+f 21 5 15
+f 22 18 4
+f 22 10 18
+f 22 4 19
+f 23 19 3
+f 23 22 19
+f 23 10 22
+f 23 20 10
+f 23 3 20
+f 24 20 9
+f 24 6 18
+f 24 18 20
+f 24 9 2
+f 24 2 6
+f 25 5 21
+f 26 21 15
+f 26 15 19
+f 27 25 21
+f 27 21 26
+f 27 26 4
+f 28 26 19
+f 28 19 4
+f 28 4 26
+f 29 25 27
+f 29 11 5
+f 29 5 25
+f 29 27 4
+f 29 4 11
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_2/collision/model_normalized_collision_27.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_2/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d9b9ba5b9b608379c2f5df32307d013dfa7abef
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_2/collision/model_normalized_collision_27.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v -0.22674547 -0.36024596 -0.22770196
+v -0.22466084 -0.26573193 -0.40240484
+v -0.23020684 -0.20454545 -0.23179249
+v -0.37290108 -0.19955950 -0.23279262
+v -0.30887337 -0.24631742 -0.36095255
+v -0.23846434 -0.35638227 -0.22509940
+v -0.22359972 -0.35630162 -0.23915787
+v -0.25502293 -0.19697222 -0.46244065
+v -0.35020096 -0.23687033 -0.27459643
+v -0.22305129 -0.32609352 -0.29967323
+v -0.22889844 -0.20234320 -0.46954301
+v -0.29424139 -0.23260979 -0.40045487
+v -0.34211608 -0.19392004 -0.37736935
+v -0.35012669 -0.23690298 -0.23428972
+v -0.33606616 -0.24859012 -0.28812752
+v -0.23544447 -0.35180925 -0.23758234
+v -0.22665613 -0.21267790 -0.46424912
+v -0.30717915 -0.23391840 -0.38632674
+v -0.23739316 -0.26181828 -0.40073612
+v -0.37190769 -0.19469773 -0.31989604
+v -0.28234001 -0.19485664 -0.44760177
+v -0.36657027 -0.21105191 -0.23373412
+v -0.32123178 -0.24758803 -0.33179890
+v -0.23506556 -0.32140405 -0.29720442
+v -0.25235198 -0.23353134 -0.43021756
+v -0.33434228 -0.23517388 -0.33100817
+v -0.33176905 -0.22265421 -0.35868309
+v -0.31113735 -0.19592055 -0.41965123
+v -0.27843491 -0.21913489 -0.42832925
+v -0.25131750 -0.20700547 -0.45737029
+v -0.30553277 -0.20759344 -0.41506227
+v -0.27852539 -0.20456883 -0.44187699
+f 6 1 3
+f 6 3 4
+f 7 3 1
+f 7 1 6
+f 10 2 3
+f 10 3 7
+f 11 8 3
+f 14 9 6
+f 14 6 4
+f 15 6 9
+f 16 10 7
+f 16 7 6
+f 16 6 5
+f 17 11 3
+f 17 3 2
+f 17 8 11
+f 19 2 10
+f 19 18 12
+f 20 4 3
+f 20 3 13
+f 21 13 3
+f 21 3 8
+f 22 14 4
+f 22 9 14
+f 22 20 9
+f 22 4 20
+f 23 5 6
+f 23 6 15
+f 24 16 5
+f 24 10 16
+f 24 5 18
+f 24 19 10
+f 24 18 19
+f 25 17 2
+f 25 2 19
+f 25 19 12
+f 26 15 9
+f 26 9 20
+f 26 23 15
+f 26 5 23
+f 27 20 13
+f 27 13 18
+f 27 26 20
+f 27 18 5
+f 27 5 26
+f 28 18 13
+f 28 13 21
+f 29 25 12
+f 30 8 17
+f 30 17 25
+f 30 25 29
+f 30 21 8
+f 31 12 18
+f 31 18 28
+f 31 29 12
+f 31 28 21
+f 31 21 29
+f 32 30 29
+f 32 29 21
+f 32 21 30
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_2/collision/model_normalized_collision_28.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_2/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..539322e9ee7b5e312eb1ccf2a26a99030d3057d3
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_2/collision/model_normalized_collision_28.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.18876420 -0.36454004 0.01002344
+v 0.24649599 -0.32855512 -0.22849068
+v 0.19787244 -0.35740620 0.00972242
+v 0.25271444 -0.30838766 0.01044049
+v 0.19148671 -0.34853795 -0.23096604
+v 0.21968831 -0.33744643 0.01078126
+v 0.18670319 -0.35804721 -0.18324981
+v 0.24534641 -0.31475381 0.00973851
+v 0.25624537 -0.31340768 -0.18558013
+v 0.23664325 -0.33265082 -0.23275225
+v 0.20569833 -0.34377251 -0.23305844
+f 1 2 3
+f 3 2 4
+f 6 1 3
+f 6 3 4
+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 5 4
+f 9 4 2
+f 10 2 7
+f 10 9 2
+f 11 10 7
+f 11 7 5
+f 11 5 9
+f 11 9 10
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_2/collision/model_normalized_collision_29.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_2/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..76af164357d9c349e0adfeab4cfe858511c77baa
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_2/collision/model_normalized_collision_29.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v -0.11323095 -0.48904749 0.11249841
+v -0.03996451 -0.46065580 0.01368056
+v -0.03323714 -0.26515151 0.14699537
+v -0.23020684 -0.26515151 0.14699537
+v -0.22370987 -0.46670056 0.01545833
+v -0.23020684 -0.26515151 0.01063174
+v -0.22841125 -0.48446876 0.14546758
+v -0.03697775 -0.46486593 0.14565321
+v -0.12434505 -0.49030661 0.01504078
+v -0.03323714 -0.26515151 0.01063174
+v -0.15679737 -0.48952972 0.14104442
+v -0.20881578 -0.48946523 0.07391320
+v -0.09793090 -0.48948911 0.02877345
+v -0.19797264 -0.49007689 0.14249340
+v -0.08128007 -0.47527820 0.14343416
+v -0.22047707 -0.47512160 0.03206153
+v -0.09888141 -0.48862277 0.09784498
+v -0.07181030 -0.47619800 0.01521458
+v -0.05860223 -0.47282576 0.02954282
+v -0.21174719 -0.49058670 0.12963864
+v -0.12824066 -0.48884760 0.12653187
+v -0.20785899 -0.47588032 0.01739117
+v -0.05433692 -0.47370442 0.11485597
+v -0.13691848 -0.48927330 0.01574418
+v -0.19457894 -0.48829768 0.04577968
+f 6 4 3
+f 7 6 5
+f 7 4 6
+f 8 3 4
+f 8 4 7
+f 9 6 2
+f 9 5 6
+f 10 6 3
+f 10 2 6
+f 10 8 2
+f 10 3 8
+f 11 9 1
+f 13 1 9
+f 14 11 8
+f 14 8 7
+f 15 1 8
+f 15 8 11
+f 16 12 7
+f 16 7 5
+f 17 8 1
+f 17 1 13
+f 18 13 9
+f 18 9 2
+f 19 2 8
+f 19 18 2
+f 19 13 18
+f 20 14 7
+f 20 7 12
+f 20 12 9
+f 20 9 11
+f 20 11 14
+f 21 15 11
+f 21 11 1
+f 21 1 15
+f 22 16 5
+f 23 17 13
+f 23 8 17
+f 23 19 8
+f 23 13 19
+f 24 22 5
+f 24 5 9
+f 25 12 16
+f 25 16 22
+f 25 22 24
+f 25 24 9
+f 25 9 12
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_2/collision/model_normalized_collision_3.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_2/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3e2a2a2764bd405f99065a39a0e1a0ca4e5f9c6b
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_2/collision/model_normalized_collision_3.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.20918710 -0.23484848 0.01063174
+v 0.20918710 -0.23484848 -0.23179249
+v 0.20918710 -0.00757575 -0.23179249
+v -0.23020684 -0.00757575 0.01063174
+v -0.23020684 -0.26515151 -0.23179249
+v 0.20918710 -0.00757575 0.01063174
+v 0.01221740 -0.26515151 -0.23179249
+v -0.23020684 -0.26515151 0.01063174
+v -0.23020684 -0.00757575 -0.23179249
+v 0.01221740 -0.26515151 0.01063174
+f 1 2 3
+f 5 3 2
+f 6 1 3
+f 6 3 4
+f 6 4 1
+f 7 5 2
+f 7 2 1
+f 8 1 4
+f 8 4 5
+f 8 5 7
+f 9 5 4
+f 9 4 3
+f 9 3 5
+f 10 8 7
+f 10 7 1
+f 10 1 8
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_2/collision/model_normalized_collision_30.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_2/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..103422797ad88602cc79ee9cade576489599a63a
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_2/collision/model_normalized_collision_30.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v -0.03323714 -0.26515151 0.26820750
+v -0.03323714 -0.26515151 0.01063174
+v -0.03323714 -0.00757575 0.25305598
+v -0.23539413 0.00154070 0.27935752
+v -0.23020684 -0.26515151 0.26820750
+v -0.23020684 -0.00757575 0.01063174
+v -0.05485334 0.01871838 0.31053479
+v -0.03323714 -0.00757575 0.01063174
+v -0.23020684 -0.26515151 0.01063174
+f 1 2 3
+f 5 2 1
+f 7 1 3
+f 7 5 1
+f 7 4 5
+f 7 6 4
+f 8 3 2
+f 8 2 6
+f 8 7 3
+f 8 6 7
+f 9 5 4
+f 9 4 6
+f 9 6 2
+f 9 2 5
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_2/collision/model_normalized_collision_31.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_2/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b6d7022052cdfadd54f2cf7ae32ac97c4f4704f9
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_2/collision/model_normalized_collision_31.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.04838866 -0.00757575 -0.06512583
+v -0.04838866 -0.00757575 -0.48177401
+v -0.04838866 0.23484848 -0.06512583
+v -0.27611899 0.24908297 -0.05449849
+v -0.26050986 -0.00757575 -0.48178017
+v -0.04997084 0.23370994 -0.47828501
+v -0.26050986 -0.00757575 -0.06512583
+v -0.26031474 0.23437710 -0.48119417
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 6 3 2
+f 6 4 3
+f 7 5 1
+f 7 1 4
+f 7 4 5
+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/Assets/robocasa/data/objects/objaverse/garlic/garlic_2/collision/model_normalized_collision_4.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_2/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6231510ed3126d1cfb9585efd58070dbee362c4f
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_2/collision/model_normalized_collision_4.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v -0.35565720 -0.30311939 -0.10595980
+v -0.33487774 -0.29496356 -0.15535162
+v -0.36968459 -0.00508851 -0.03256670
+v -0.35445903 0.09980681 -0.06434390
+v -0.45588718 -0.00762814 -0.26273043
+v -0.41571306 -0.12172354 -0.23494011
+v -0.38027224 -0.12892189 -0.03466391
+v -0.42454487 0.04906073 -0.19262974
+v -0.40438456 -0.13938573 -0.23326641
+v -0.36931298 -0.29203730 -0.08789251
+v -0.43944127 0.02059562 -0.22280806
+v -0.40962736 0.06328356 -0.16412734
+v -0.35141895 0.09848485 -0.26209552
+v -0.44295409 -0.06504038 -0.23797594
+v -0.43521916 0.09715624 -0.26397572
+v -0.36429804 0.07791975 -0.06981216
+v -0.33626744 -0.00757575 -0.23179249
+v -0.35141895 -0.00757575 -0.26209552
+v -0.44266052 0.06455440 -0.26637868
+v -0.40695813 0.09166239 -0.17809669
+v -0.38748290 -0.17064355 -0.22282851
+f 1 2 3
+f 3 2 4
+f 7 1 3
+f 9 2 1
+f 9 1 6
+f 9 6 5
+f 10 6 1
+f 10 1 7
+f 11 7 3
+f 11 5 7
+f 11 3 8
+f 12 8 3
+f 14 5 6
+f 14 6 10
+f 14 10 7
+f 14 7 5
+f 15 11 8
+f 15 4 13
+f 16 12 3
+f 16 3 4
+f 17 13 4
+f 17 4 2
+f 18 9 5
+f 18 13 17
+f 18 17 2
+f 19 5 11
+f 19 11 15
+f 19 18 5
+f 19 15 13
+f 19 13 18
+f 20 15 8
+f 20 8 12
+f 20 4 15
+f 20 16 4
+f 20 12 16
+f 21 18 2
+f 21 2 9
+f 21 9 18
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_2/collision/model_normalized_collision_5.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_2/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3e078076e2d4aa3875e547ac2bfff9da94c62580
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_2/collision/model_normalized_collision_5.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.22841125 -0.48446876 0.14546758
+v -0.22484853 -0.41920071 -0.09021487
+v -0.23020684 -0.14393939 0.26820750
+v -0.32278845 -0.07602213 0.23261593
+v -0.44118844 -0.32193093 0.04435248
+v -0.23020684 -0.14393939 -0.09542886
+v -0.35909355 -0.36539779 0.24527410
+v -0.22370987 -0.46670056 0.01545833
+v -0.30458699 -0.08387179 0.26727282
+v -0.37371011 -0.14283113 -0.09451320
+v -0.23020684 -0.26515151 0.26820750
+v -0.38129076 -0.39998063 0.14362885
+v -0.39276404 -0.26954831 0.23034884
+v -0.35254395 -0.39920552 -0.02584851
+v -0.40856533 -0.16797933 0.11447801
+v -0.37339128 -0.26593155 0.26217824
+v -0.22495187 -0.48024362 0.05864547
+v -0.39250093 -0.34707256 0.21240740
+v -0.32516279 -0.44438747 0.14410593
+v -0.31339275 -0.39734877 -0.07107177
+v -0.39599373 -0.38548296 0.03019325
+v -0.43963082 -0.26848659 0.04323744
+v -0.39301734 -0.13471680 0.02973036
+v -0.39261115 -0.16575537 0.16896515
+v -0.34977397 -0.16372283 0.25648309
+v -0.35522402 -0.41374242 0.01382567
+v -0.36692099 -0.37480884 0.22786310
+v -0.40822468 -0.36235986 0.14338546
+v -0.43857722 -0.31883449 0.09415806
+v -0.39344905 -0.32145746 0.22744098
+v -0.26904621 -0.47435786 0.11839742
+v -0.33615026 -0.36161031 -0.08413291
+v -0.41006425 -0.37316446 0.08530630
+v -0.40906021 -0.35925020 0.00622820
+v -0.38291961 -0.40028983 0.04360460
+v -0.43925341 -0.28225646 0.03023069
+v -0.39409221 -0.13628674 0.11346738
+v -0.40813812 -0.16543730 0.05753063
+v -0.44044188 -0.26811558 0.09925068
+v -0.34755790 -0.13841021 0.24287405
+v -0.36179912 -0.21036495 0.25813047
+v -0.36815866 -0.40003130 0.00280012
+v -0.37888918 -0.35960422 0.22551789
+v -0.26948793 -0.47315936 0.14430655
+v -0.39241546 -0.36034397 0.19891622
+v -0.38066914 -0.33412691 0.24061805
+v -0.29756613 -0.45725037 0.09004743
+v -0.31275477 -0.38784218 -0.08434361
+v -0.41111649 -0.37209560 0.04305763
+v -0.39503216 -0.38765220 0.12980227
+v -0.42465517 -0.34695089 0.09686585
+v -0.37915693 -0.37318976 -0.02111238
+v -0.36208387 -0.31560346 -0.08431741
+v -0.33859560 -0.08975766 0.21613100
+v -0.39218535 -0.15302901 0.15636329
+v -0.42267245 -0.21159059 0.04477334
+v -0.40820958 -0.18128584 0.14114762
+v -0.42365932 -0.20985507 0.11394466
+v -0.36763330 -0.36127250 0.23974571
+v -0.39425806 -0.37444859 0.17181309
+v -0.32470647 -0.44466555 0.10377985
+v -0.42446898 -0.34505985 0.01966975
+v -0.39366703 -0.27705228 -0.05341938
+v -0.34808686 -0.12193683 0.22740719
+f 8 6 3
+f 8 2 6
+f 9 6 4
+f 9 3 6
+f 10 4 6
+f 10 6 2
+f 11 7 1
+f 11 3 9
+f 11 8 3
+f 16 11 9
+f 16 7 11
+f 17 11 1
+f 17 8 11
+f 20 2 8
+f 23 4 10
+f 25 16 9
+f 25 24 13
+f 26 8 17
+f 26 20 8
+f 26 14 20
+f 27 12 19
+f 30 16 13
+f 30 29 18
+f 31 17 1
+f 32 10 2
+f 35 19 12
+f 36 22 10
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+f 37 4 23
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+f 38 15 37
+f 39 22 5
+f 39 5 29
+f 39 30 13
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+f 40 9 4
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+f 51 5 33
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+f 54 4 37
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+f 57 24 55
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+f 58 39 57
+f 59 43 27
+f 59 27 7
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+f 60 28 50
+f 61 47 31
+f 61 31 19
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+f 61 26 47
+f 62 49 5
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+f 62 53 34
+f 62 5 36
+f 63 36 10
+f 63 10 53
+f 63 62 36
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+f 64 54 24
+f 64 24 40
+f 64 40 4
+f 64 4 54
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_2/collision/model_normalized_collision_6.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_2/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ce112b49e26ec1cb5e161af88c40b8ad1c1ede25
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_2/collision/model_normalized_collision_6.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.00784868 -0.44333687 0.23166366
+v 0.35912959 -0.16979658 0.01290802
+v 0.24102283 -0.13999671 0.31061551
+v -0.02697169 -0.01526484 0.34689741
+v -0.03323714 -0.00757575 0.01063174
+v 0.35817894 -0.01227670 0.09854843
+v -0.06320752 -0.37331316 0.37560952
+v 0.32838548 -0.22045232 0.14179214
+v -0.03470856 -0.45812278 0.01130900
+v 0.24367085 -0.01980671 0.27980356
+v 0.35602039 -0.00869831 0.01120010
+v 0.17036174 -0.10595630 0.35560346
+v -0.06488613 -0.37809863 0.36870585
+v 0.10479856 -0.35527132 0.30344359
+v 0.31248888 -0.15382563 0.24059134
+v 0.35750470 -0.14225656 0.15611302
+v 0.19787244 -0.35740620 0.00972242
+v 0.06781677 -0.01643646 0.35683815
+v 0.35911081 -0.02479413 0.01184529
+v 0.25697126 -0.07314879 0.29569229
+v -0.06354017 -0.37121211 0.25305598
+v -0.06357369 -0.44246719 0.25138490
+v 0.00597457 -0.39846102 0.31856827
+v 0.10074323 -0.30119268 0.35936198
+v 0.28375039 -0.21996230 0.22658843
+v 0.35811595 -0.18351668 0.11488826
+v 0.32602054 -0.04344358 0.21246048
+v 0.02038313 -0.44404308 0.17578326
+v 0.11760891 -0.38617445 0.21830098
+v 0.15526726 -0.38446089 0.00760254
+v 0.31457940 -0.01555586 0.21276475
+v 0.21592135 -0.04764188 0.30938502
+v -0.02560446 -0.03318176 0.35871848
+v 0.35792239 -0.01128914 0.02689486
+v 0.24241376 -0.10110479 0.31175462
+v -0.03738834 -0.46319771 0.15981919
+v -0.06509985 -0.40290210 0.33434811
+v -0.03971923 -0.46317622 0.02822043
+v 0.16536554 -0.16470773 0.35539945
+v 0.04977219 -0.35349214 0.36053551
+v 0.26994824 -0.16628216 0.28053964
+v 0.10804276 -0.38423085 0.24550284
+v 0.34130253 -0.18249477 0.16965300
+v 0.11593741 -0.31575297 0.33072492
+v 0.34304537 -0.21027873 0.01228218
+v 0.35731215 -0.08515593 0.15568784
+v 0.31297901 -0.05780819 0.23998552
+v 0.28498714 -0.26289800 0.14063012
+v 0.04527187 -0.42963533 0.19171634
+v 0.34236674 -0.01370393 0.15513866
+v 0.25621762 -0.03317896 0.27982391
+v 0.22897274 -0.06110254 0.30903285
+v -0.01068016 -0.01772915 0.35610602
+v 0.19726823 -0.14008851 0.34203389
+v -0.03434001 -0.44725123 0.23352211
+v 0.00636649 -0.44287242 0.21847219
+v -0.02241226 -0.39848391 0.33105697
+v -0.02397957 -0.45899520 0.15976863
+v 0.01838514 -0.44357048 0.08790456
+v 0.00449916 -0.44350766 0.01227705
+v 0.06279746 -0.38158748 0.30319061
+v 0.28305272 -0.19349111 0.25269090
+v 0.32819868 -0.20666742 0.16872135
+v 0.35694074 -0.16889077 0.14108054
+f 11 5 4
+f 13 7 4
+f 13 4 5
+f 18 7 12
+f 18 11 4
+f 19 2 11
+f 21 13 5
+f 26 6 16
+f 26 19 6
+f 26 2 19
+f 30 5 11
+f 30 9 5
+f 30 17 29
+f 31 18 10
+f 32 18 12
+f 32 10 18
+f 33 4 7
+f 33 7 18
+f 34 19 11
+f 34 11 6
+f 34 6 19
+f 35 3 15
+f 37 13 21
+f 37 21 22
+f 37 7 13
+f 38 22 21
+f 38 21 5
+f 38 5 9
+f 38 36 22
+f 39 12 7
+f 39 7 24
+f 40 24 7
+f 41 15 3
+f 41 3 24
+f 42 25 14
+f 43 16 15
+f 44 14 25
+f 44 40 14
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+f 45 2 26
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+f 45 30 11
+f 45 11 2
+f 45 26 8
+f 45 8 17
+f 46 16 6
+f 47 46 27
+f 47 15 16
+f 47 16 46
+f 47 35 15
+f 47 20 35
+f 47 27 31
+f 48 29 17
+f 48 17 8
+f 48 42 29
+f 48 8 42
+f 49 30 29
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+f 51 10 32
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+f 52 32 12
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+f 57 7 37
+f 57 40 7
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+f 57 1 23
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+f 59 38 30
+f 59 30 28
+f 59 28 38
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+f 60 9 30
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+f 61 42 14
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+f 61 23 1
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+f 62 41 24
+f 62 44 25
+f 62 24 44
+f 63 42 8
+f 63 25 42
+f 63 8 26
+f 63 26 43
+f 63 62 25
+f 63 43 62
+f 64 43 26
+f 64 26 16
+f 64 16 43
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_2/collision/model_normalized_collision_7.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_2/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..56ab776dfa3e07a88144396950bbfdb0b2578add
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_2/collision/model_normalized_collision_7.obj
@@ -0,0 +1,135 @@
+# https://github.com/mikedh/trimesh
+v -0.04838866 0.23484848 -0.06512583
+v -0.04838866 0.23484848 -0.36815613
+v -0.04132128 0.34803498 0.07896987
+v -0.04515590 0.49269101 -0.12753694
+v -0.25974680 0.26232026 -0.04814377
+v -0.04400344 0.46092975 -0.28294744
+v -0.23020684 0.23484848 -0.36815613
+v -0.05929671 0.33401710 0.07900861
+v -0.04194010 0.46272617 -0.04278772
+v -0.23634144 0.36962041 -0.39670599
+v -0.04578486 0.33846710 0.08447807
+v -0.04413123 0.49312125 -0.16990689
+v -0.04158138 0.43341826 -0.00232598
+v -0.13911728 0.41644813 -0.05834742
+v -0.04832310 0.35888137 -0.40037535
+v -0.12660766 0.38680739 -0.00456156
+v -0.04305065 0.47619182 -0.07202283
+v -0.21286424 0.39952981 -0.30499632
+v -0.05818526 0.47450644 -0.24227839
+v -0.04539255 0.41736605 -0.34031987
+v -0.11549623 0.33106387 0.04531509
+v -0.05394868 0.41578266 0.00932440
+v -0.09935507 0.42816751 -0.03342761
+v -0.13797233 0.40099531 -0.03210795
+v -0.09861608 0.45832678 -0.08737609
+v -0.08467949 0.47420790 -0.11422797
+v -0.22402302 0.38368082 -0.20965109
+v -0.04506849 0.47791451 -0.24273829
+v -0.07027782 0.47340849 -0.22756042
+v -0.04689682 0.38838657 -0.37029397
+v -0.16092550 0.33378698 0.00206844
+v -0.04233402 0.41863613 0.01224211
+v -0.12616526 0.40091986 -0.01876564
+v -0.06885110 0.44333812 -0.03298011
+v -0.13877651 0.37484743 -0.00624445
+v -0.12548912 0.42929477 -0.05960710
+v -0.06998770 0.47308026 -0.08839279
+v -0.05708411 0.48915573 -0.12771390
+v -0.22766841 0.38436914 -0.36286713
+v -0.21112506 0.39892478 -0.24977058
+v -0.05627265 0.48908026 -0.16882191
+v -0.05368657 0.42932216 -0.00458848
+v -0.05456400 0.45847271 -0.04560933
+v -0.13890334 0.43162864 -0.11206738
+v -0.05609355 0.47244448 -0.07421594
+v -0.22876581 0.37811186 -0.38008170
+f 1 2 3
+f 6 3 2
+f 7 2 1
+f 7 1 5
+f 8 5 1
+f 10 7 5
+f 11 8 1
+f 11 1 3
+f 12 9 6
+f 13 3 6
+f 13 6 9
+f 15 2 7
+f 15 7 10
+f 16 11 3
+f 17 12 4
+f 17 9 12
+f 20 10 6
+f 20 6 2
+f 20 2 15
+f 21 8 11
+f 21 11 16
+f 21 5 8
+f 22 16 3
+f 24 14 5
+f 27 10 5
+f 27 5 14
+f 28 19 12
+f 28 12 6
+f 28 6 10
+f 29 12 19
+f 30 20 15
+f 30 15 10
+f 30 10 20
+f 31 5 21
+f 32 22 3
+f 32 3 13
+f 32 13 22
+f 33 16 22
+f 33 24 16
+f 34 13 9
+f 35 24 5
+f 35 16 24
+f 35 5 31
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+f 35 21 16
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+f 36 14 24
+f 36 24 33
+f 36 27 14
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+f 38 4 12
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+f 38 37 17
+f 38 17 4
+f 39 27 18
+f 39 10 27
+f 39 29 19
+f 40 27 26
+f 40 26 18
+f 40 18 27
+f 41 12 29
+f 41 38 12
+f 41 18 26
+f 41 26 38
+f 41 39 18
+f 41 29 39
+f 42 33 22
+f 42 22 13
+f 42 23 33
+f 42 34 23
+f 42 13 34
+f 43 34 9
+f 43 23 34
+f 43 36 23
+f 43 25 36
+f 43 37 25
+f 44 36 25
+f 44 27 36
+f 44 25 26
+f 44 26 27
+f 45 9 17
+f 45 17 37
+f 45 43 9
+f 45 37 43
+f 46 28 10
+f 46 10 39
+f 46 39 19
+f 46 19 28
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_2/collision/model_normalized_collision_8.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_2/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0dfbd562d1d8cefc57be407315aaf7b1fcb2dd0a
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_2/collision/model_normalized_collision_8.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.26050986 -0.00757575 -0.06512583
+v -0.26050986 -0.00757575 -0.48178017
+v -0.26047457 0.09848485 -0.48176325
+v -0.35445903 0.09980681 -0.06434390
+v -0.45005689 -0.00656739 -0.24791844
+v -0.26050986 0.09848485 -0.06512583
+v -0.35947936 -0.00776241 -0.47152615
+v -0.37393710 -0.00542505 -0.06138176
+v -0.39694915 0.09989913 -0.41828053
+v -0.43218478 0.10129232 -0.25542761
+v -0.39845717 -0.00745806 -0.44463049
+v -0.33058655 0.09882125 -0.47437721
+v -0.35580280 0.09945724 -0.46014411
+v -0.39857944 0.01883312 -0.44223611
+v -0.35877095 0.00546291 -0.47142255
+f 1 2 3
+f 6 1 3
+f 7 2 1
+f 7 3 2
+f 8 5 1
+f 8 6 4
+f 8 1 6
+f 10 6 3
+f 10 4 6
+f 10 9 5
+f 10 8 4
+f 10 5 8
+f 11 7 1
+f 11 1 5
+f 12 3 7
+f 13 10 3
+f 13 9 10
+f 13 3 12
+f 14 11 5
+f 14 5 9
+f 14 9 13
+f 15 13 12
+f 15 12 7
+f 15 14 13
+f 15 7 11
+f 15 11 14
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_2/collision/model_normalized_collision_9.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_2/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..067366a8a8eb003cfae163950ddb0e28c2e6e355
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_2/collision/model_normalized_collision_9.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v 0.01186880 -0.42938257 -0.09503472
+v 0.32927585 -0.23149537 -0.21168269
+v 0.30603026 -0.24457928 -0.09529241
+v 0.01221740 -0.23484848 -0.09542886
+v 0.05697101 -0.38398694 -0.26135167
+v 0.06802806 -0.41642345 -0.09382993
+v 0.01004766 -0.40342729 -0.22876534
+v 0.01221740 -0.23484848 -0.23179249
+v 0.28230164 -0.31796006 -0.23418033
+v 0.00976590 -0.41599299 -0.16818405
+v 0.11231789 -0.39759948 -0.15161038
+v 0.18398820 -0.37233113 -0.09545263
+v 0.07083337 -0.38009020 -0.26011279
+v 0.03854539 -0.39852688 -0.22717705
+v 0.06836978 -0.41295603 -0.12334795
+v 0.27436909 -0.28537514 -0.09505924
+v 0.12816806 -0.40131557 -0.09479726
+v 0.06678542 -0.38260022 -0.25621893
+v 0.05320003 -0.38638239 -0.25728506
+v 0.02437917 -0.41376776 -0.16762137
+v 0.12714968 -0.39878722 -0.12263904
+v 0.26459182 -0.32402225 -0.23547638
+v 0.12620991 -0.38119452 -0.19550450
+f 3 2 4
+f 6 3 4
+f 6 4 1
+f 8 4 2
+f 8 5 7
+f 9 2 3
+f 9 8 2
+f 10 1 4
+f 10 8 7
+f 10 4 8
+f 13 5 8
+f 13 8 9
+f 15 6 1
+f 16 12 9
+f 16 9 3
+f 16 3 6
+f 17 9 12
+f 17 16 6
+f 17 12 16
+f 18 5 13
+f 19 14 7
+f 19 7 5
+f 19 5 18
+f 19 18 11
+f 19 11 14
+f 20 10 7
+f 20 7 14
+f 20 14 11
+f 20 11 15
+f 20 15 1
+f 20 1 10
+f 21 11 9
+f 21 9 17
+f 21 15 11
+f 21 17 6
+f 21 6 15
+f 22 18 13
+f 22 13 9
+f 22 9 11
+f 23 22 11
+f 23 11 18
+f 23 18 22
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_2/model.xml b/Assets/robocasa/data/objects/objaverse/garlic/garlic_2/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..b3e10bc81bd7cd1216c466e52bdb664a77f06f48
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_2/model.xml
@@ -0,0 +1,37 @@
+<mujoco model="garlic_4">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.065 0.065 0.065" refquat="0.37533027751786513 0.18023995550173688 0.9061274463528873 -0.0746578340503426"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="material0.005" texture="image0" specular="0.5" shininess="0.0"/>
+    <mesh file="collision/collision_mesh_collision_0.obj" name="garlic_collision_mesh_0" scale="0.065 0.065 0.065" refquat="0.37533027751786513 0.18023995550173688 0.9061274463528873 -0.0746578340503426"/>
+    <mesh file="collision/collision_mesh_collision_1.obj" name="garlic_collision_mesh_1" scale="0.065 0.065 0.065" refquat="0.37533027751786513 0.18023995550173688 0.9061274463528873 -0.0746578340503426"/>
+    <mesh file="collision/collision_mesh_collision_2.obj" name="garlic_collision_mesh_2" scale="0.065 0.065 0.065" refquat="0.37533027751786513 0.18023995550173688 0.9061274463528873 -0.0746578340503426"/>
+    <mesh file="collision/collision_mesh_collision_3.obj" name="garlic_collision_mesh_3" scale="0.065 0.065 0.065" refquat="0.37533027751786513 0.18023995550173688 0.9061274463528873 -0.0746578340503426"/>
+    <mesh file="collision/collision_mesh_collision_4.obj" name="garlic_collision_mesh_4" scale="0.065 0.065 0.065" refquat="0.37533027751786513 0.18023995550173688 0.9061274463528873 -0.0746578340503426"/>
+    <mesh file="collision/collision_mesh_collision_5.obj" name="garlic_collision_mesh_5" scale="0.065 0.065 0.065" refquat="0.37533027751786513 0.18023995550173688 0.9061274463528873 -0.0746578340503426"/>
+    <mesh file="collision/collision_mesh_collision_6.obj" name="garlic_collision_mesh_6" scale="0.065 0.065 0.065" refquat="0.37533027751786513 0.18023995550173688 0.9061274463528873 -0.0746578340503426"/>
+  </asset>
+  <default>
+    <default class="region">
+      <geom group="1" conaffinity="0" contype="0" rgba="0 1 0 0"/>
+    </default>
+    <default class="collision">
+      <geom group="0" rgba="0.5 0 0 0.5" density="1000.0"/>
+    </default>
+  </default>
+  <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="material0.005"/>
+        <geom class="region" name="reg_bbox" type="box" pos="0.006380896534339076 -0.0017001627865749422 0.011248044278041984" size="0.03404309255909165 0.03384983597884658 0.03628983807173763"/>
+        <geom mesh="garlic_collision_mesh_0" type="mesh" class="collision"/>
+        <geom mesh="garlic_collision_mesh_1" type="mesh" class="collision"/>
+        <geom mesh="garlic_collision_mesh_2" type="mesh" class="collision"/>
+        <geom mesh="garlic_collision_mesh_3" type="mesh" class="collision"/>
+        <geom mesh="garlic_collision_mesh_4" type="mesh" class="collision"/>
+        <geom mesh="garlic_collision_mesh_5" type="mesh" class="collision"/>
+        <geom mesh="garlic_collision_mesh_6" type="mesh" class="collision"/>
+      </body>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_2/visual/material.mtl b/Assets/robocasa/data/objects/objaverse/garlic/garlic_2/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f68742fe8420aadeab267568817d347d5678c9d5
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_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 0.00000000
+map_Kd material_0.jpeg
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_4/collision/collision_mesh_collision_0.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_4/collision/collision_mesh_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa0bfa8f89e49a04f4e0ffd77cf696720ec73625
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_4/collision/collision_mesh_collision_0.obj
@@ -0,0 +1,1096 @@
+# https://github.com/mikedh/trimesh
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diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_4/collision/collision_mesh_collision_1.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_4/collision/collision_mesh_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..35aafc7d6bc665be18ae64678f9a71753c1b8917
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_4/collision/collision_mesh_collision_1.obj
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diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_4/collision/collision_mesh_collision_10.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_4/collision/collision_mesh_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5b3b6da266593f27f11449a23beeac57bcc04023
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_4/collision/collision_mesh_collision_10.obj
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diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_4/collision/collision_mesh_collision_11.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_4/collision/collision_mesh_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..18789e684115af0dfa9b58225009a724980ac188
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_4/collision/collision_mesh_collision_11.obj
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diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_4/collision/collision_mesh_collision_12.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_4/collision/collision_mesh_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..40c8adb8af2783508cf50982a5c48e2fd11fc6c1
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_4/collision/collision_mesh_collision_12.obj
@@ -0,0 +1,379 @@
+# https://github.com/mikedh/trimesh
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diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_4/collision/collision_mesh_collision_13.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_4/collision/collision_mesh_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8710a0346211be9d533ddffbd6ea0b1122b25c71
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_4/collision/collision_mesh_collision_13.obj
@@ -0,0 +1,370 @@
+# https://github.com/mikedh/trimesh
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diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_4/collision/collision_mesh_collision_14.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_4/collision/collision_mesh_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b128058c1cea0ebb592b053dea071ccad9a8aba
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_4/collision/collision_mesh_collision_14.obj
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diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_4/collision/collision_mesh_collision_15.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_4/collision/collision_mesh_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e6f6cd9491c631a805cf530f4c7f00d5d06d463
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_4/collision/collision_mesh_collision_15.obj
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diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_4/collision/collision_mesh_collision_2.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_4/collision/collision_mesh_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..33d823cfcac1839ac0d3112ac1c6ee18f379eb59
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_4/collision/collision_mesh_collision_2.obj
@@ -0,0 +1,3949 @@
+# https://github.com/mikedh/trimesh
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diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_4/collision/collision_mesh_collision_3.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_4/collision/collision_mesh_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4df51896dc10accde86f52cf09704efe7378b8db
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_4/collision/collision_mesh_collision_3.obj
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diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_4/collision/collision_mesh_collision_4.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_4/collision/collision_mesh_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d36314c6500ee3e8a6064f4c1b76ec9bb4700842
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_4/collision/collision_mesh_collision_4.obj
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diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_4/collision/collision_mesh_collision_5.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_4/collision/collision_mesh_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f35af85c4ba938385f806163a318eeddfc4dd3a3
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_4/collision/collision_mesh_collision_5.obj
@@ -0,0 +1,295 @@
+# https://github.com/mikedh/trimesh
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diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_4/collision/collision_mesh_collision_6.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_4/collision/collision_mesh_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ebe942f26e12024e72d8dfefbb2c597f8baba1f5
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_4/collision/collision_mesh_collision_6.obj
@@ -0,0 +1,7519 @@
+# https://github.com/mikedh/trimesh
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diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_4/collision/collision_mesh_collision_7.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_4/collision/collision_mesh_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..72db4849846a680fdc898bfb525f1672d5207a13
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_4/collision/collision_mesh_collision_7.obj
@@ -0,0 +1,529 @@
+# https://github.com/mikedh/trimesh
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diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_4/collision/collision_mesh_collision_8.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_4/collision/collision_mesh_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..292b0aad4c746ce37bb495034ab7f445e30a12af
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_4/collision/collision_mesh_collision_8.obj
@@ -0,0 +1,1651 @@
+# https://github.com/mikedh/trimesh
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diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_4/collision/collision_mesh_collision_9.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_4/collision/collision_mesh_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5b3d1ef21f8c793b71281702cca80d78f01a960d
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_4/collision/collision_mesh_collision_9.obj
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+
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_4/collision/model_normalized_collision_0.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_4/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..79f7f8b3d1453d429a65e639d06dbc5167596d3a
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_4/collision/model_normalized_collision_0.obj
@@ -0,0 +1,105 @@
+# https://github.com/mikedh/trimesh
+v 0.04036127 -0.14671705 -0.41600529
+v 0.12272248 -0.09958511 -0.44921772
+v 0.14289442 0.14310626 -0.44153951
+v -0.21825171 0.17893294 -0.43580179
+v -0.18981206 -0.13779217 -0.45465908
+v 0.12143492 -0.09734854 -0.41926760
+v 0.00842843 -0.13827266 -0.46115967
+v -0.19254912 -0.15075900 -0.45050015
+v 0.10162467 -0.11303001 -0.42856688
+v 0.10297365 -0.11316587 -0.46798173
+v -0.21574947 -0.02166684 -0.44682801
+v -0.07743273 -0.10288598 -0.47308217
+v 0.12456193 0.09183658 -0.47753389
+v -0.10957411 -0.04539072 -0.48878702
+v -0.03216906 -0.10176583 -0.47438965
+v 0.11807107 -0.03904791 -0.47695620
+v -0.02018794 0.19532836 -0.46527373
+v -0.13948681 0.06504011 -0.49152555
+v 0.08952755 -0.04339478 -0.49070295
+v 0.11180869 -0.09237163 -0.46894602
+v 0.12758176 0.12917670 -0.46180316
+v -0.16117379 -0.03982832 -0.47778337
+v -0.19805060 0.09949104 -0.45818425
+v -0.12520036 0.16761466 -0.47525504
+v 0.05971256 -0.09446572 -0.47512358
+v 0.08839083 -0.03942042 -0.49154647
+v -0.02598264 0.17675395 -0.47760867
+v -0.12714284 -0.01748087 -0.48884018
+v -0.18717766 -0.12206757 -0.45867014
+v -0.19805373 0.05889037 -0.45879600
+v -0.13546203 0.10020293 -0.48879192
+v -0.17109785 0.17897660 -0.45531977
+v 0.10989655 0.11096544 -0.47525986
+v -0.08283663 0.17468558 -0.47453131
+v -0.08535621 0.12931339 -0.48998531
+v -0.19806971 0.17655063 -0.44600605
+f 6 3 4
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+f 36 4 32
+f 36 32 24
+f 36 24 31
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_4/collision/model_normalized_collision_1.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_4/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad71f3f7c61ba40c621a97d2173fb8c2408dab8d
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_4/collision/model_normalized_collision_1.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v -0.00771795 -0.15466426 0.05185905
+v 0.09521947 -0.04773509 0.07939370
+v -0.05687652 -0.00323185 0.24629168
+v -0.14295851 0.05852572 0.03913469
+v 0.00716701 -0.02879846 -0.00725315
+v 0.09765040 0.01202665 0.07015887
+v -0.13191895 -0.10355902 0.18680609
+v 0.00696112 -0.02632671 0.19374209
+v -0.01941609 -0.14231168 0.01380484
+v -0.08395361 0.05904939 0.04538639
+v 0.09827285 -0.00229772 0.07293244
+v -0.13274612 0.01266473 0.17404026
+v 0.01660031 -0.12722990 0.07118818
+v -0.05869402 -0.02645981 0.24337186
+v -0.02462591 -0.00743746 0.21820655
+v -0.00227538 -0.15257651 0.05637551
+v -0.13047300 -0.13988356 0.01514820
+v 0.05206584 0.02646518 0.06607530
+v 0.08894277 -0.04019578 0.08937210
+v -0.15030189 0.05546208 0.03758365
+v -0.02219528 -0.02428091 0.21906170
+v 0.00329431 -0.01711075 0.19434760
+v -0.01688882 0.00378900 0.19949100
+v -0.04724864 -0.00363346 0.23830534
+v -0.09317076 -0.11447487 0.15807560
+v -0.01881484 -0.15301948 0.04480576
+v -0.13116972 -0.10925551 0.17083826
+v -0.14616361 0.00790125 0.02934047
+v -0.05021256 -0.02466100 0.23802725
+v -0.00835372 -0.00174080 0.19574106
+f 9 5 2
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\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_4/collision/model_normalized_collision_10.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_4/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c694bc2ac6b820cf08ad5f8f71fc26f60d3a6789
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_4/collision/model_normalized_collision_10.obj
@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
+v 0.00440524 -0.37574655 -0.10306842
+v 0.00182589 -0.36916202 -0.09253766
+v -0.18155903 -0.31505373 -0.10626117
+v -0.19218138 -0.02063384 0.02164436
+v 0.03834051 -0.00879475 -0.08522738
+v -0.07810335 -0.26178641 0.00686858
+v -0.08189045 -0.37111886 -0.10532788
+v -0.00337752 -0.20843283 0.03859074
+v -0.19041625 -0.01853666 -0.09848484
+v -0.18783588 -0.18027398 -0.00781961
+v -0.05174481 -0.35030438 -0.06632281
+v 0.00047087 -0.33432746 -0.05324389
+v 0.00733728 -0.03195169 -0.00289867
+v -0.12219149 -0.35450083 -0.10639778
+v -0.13437450 -0.28927755 -0.03651907
+v -0.00905899 -0.13988446 0.05372373
+v -0.07844560 -0.36534022 -0.09431140
+v -0.00134134 -0.27843518 -0.00983692
+v -0.00918639 -0.35073936 -0.06687319
+v -0.01584411 -0.30759587 -0.02534521
+v -0.15300162 -0.33948581 -0.10663343
+v -0.18608030 -0.21924173 -0.02510924
+v -0.06987108 -0.32256307 -0.03920457
+v -0.10515892 -0.24225289 0.00491793
+v -0.10422596 -0.33620087 -0.06545065
+v -0.01429254 -0.26525834 0.00426352
+v -0.13579501 -0.30416977 -0.05187559
+v -0.17735715 -0.24806651 -0.03923816
+v -0.10755445 -0.29043482 -0.02352320
+v -0.05255616 -0.30698491 -0.02488034
+v -0.06500312 -0.33625779 -0.05164802
+v -0.11733635 -0.35066942 -0.09593454
+v -0.15089243 -0.33410617 -0.09737589
+v -0.17483146 -0.31157016 -0.09529096
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+f 21 3 9
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+f 29 23 6
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+f 29 6 24
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+f 32 21 14
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+f 33 25 27
+f 34 27 15
+f 34 15 28
+f 34 28 3
+f 34 33 27
+f 34 3 33
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_4/collision/model_normalized_collision_11.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_4/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c3ad4685fa485d7f51c0769b4b9bbc9a60e1517a
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_4/collision/model_normalized_collision_11.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.01299973 -0.35581727 -0.08104542
+v 0.04562932 -0.23027473 -0.36510453
+v 0.03834051 -0.00879475 -0.08522738
+v -0.19041625 -0.01853666 -0.09848484
+v -0.18652800 -0.30801579 -0.32089799
+v 0.05242658 -0.01017590 -0.37484224
+v 0.01346078 -0.35942995 -0.34422175
+v -0.17689338 -0.32271181 -0.10892075
+v -0.19041625 -0.01853666 -0.35606060
+v -0.18682924 -0.26627499 -0.38369713
+v -0.16372138 -0.32744824 -0.31701627
+v -0.17730906 -0.32283626 -0.30300430
+f 1 2 3
+f 1 3 4
+f 6 3 2
+f 7 2 1
+f 8 1 4
+f 8 4 5
+f 8 7 1
+f 9 4 3
+f 9 3 6
+f 9 5 4
+f 10 2 7
+f 10 5 9
+f 10 9 6
+f 10 6 2
+f 11 7 8
+f 11 10 7
+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/Assets/robocasa/data/objects/objaverse/garlic/garlic_4/collision/model_normalized_collision_12.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_4/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f4487b1f6bcc262d363c1f866be7a7f0315f6b62
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_4/collision/model_normalized_collision_12.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.04036127 -0.14671705 -0.41600529
+v 0.03840397 -0.13572883 -0.36320878
+v -0.19254912 -0.15075900 -0.45050015
+v -0.20387327 0.36775500 -0.35319498
+v 0.00087069 0.28915825 -0.40377135
+v -0.19041625 -0.13974878 -0.35606060
+v 0.00580396 0.25771345 -0.42409419
+v -0.08906656 0.34815720 -0.35043362
+v -0.21574947 -0.02166684 -0.44682801
+v -0.20250895 0.34631182 -0.39273229
+v -0.12013228 0.35916257 -0.34859659
+v -0.20556777 -0.01853666 -0.35606060
+v -0.07860638 0.26289247 -0.43508127
+v -0.21825171 0.17893294 -0.43580179
+v -0.14891918 0.35770812 -0.37691241
+v -0.12420028 0.34141772 -0.39081153
+v -0.20115642 0.35762627 -0.37622209
+v -0.12588838 0.35586705 -0.36385603
+f 6 1 2
+f 6 3 1
+f 7 5 2
+f 7 2 1
+f 7 1 3
+f 8 2 5
+f 9 3 6
+f 11 6 2
+f 11 2 8
+f 11 4 6
+f 12 9 6
+f 12 6 4
+f 13 7 3
+f 13 3 9
+f 14 4 10
+f 14 12 4
+f 14 9 12
+f 14 13 9
+f 14 10 13
+f 15 4 11
+f 16 5 7
+f 16 7 13
+f 16 15 5
+f 16 13 10
+f 16 10 15
+f 17 15 10
+f 17 10 4
+f 17 4 15
+f 18 15 11
+f 18 11 8
+f 18 8 5
+f 18 5 15
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_4/collision/model_normalized_collision_13.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_4/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..985eb1aa8b8bd90d014891b53a31f5d7329d629b
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_4/collision/model_normalized_collision_13.obj
@@ -0,0 +1,141 @@
+# https://github.com/mikedh/trimesh
+v 0.00396695 -0.40273781 -0.16189783
+v 0.05613163 -0.37010688 -0.31194176
+v 0.06788153 -0.31298592 -0.06534178
+v 0.02723874 -0.16513605 -0.10775003
+v 0.00590938 -0.18430826 -0.44423511
+v 0.00525516 -0.21630168 0.00815302
+v 0.06755685 -0.38307230 -0.19417399
+v 0.00396322 -0.37125745 -0.33331073
+v 0.06178423 -0.16081123 -0.30608167
+v 0.00074573 -0.29515266 -0.02232209
+v 0.05138194 -0.21994851 0.00971708
+v 0.00011638 -0.19376611 -0.08753727
+v 0.04266778 -0.39500068 -0.26013861
+v 0.06013382 -0.36333545 -0.12489201
+v 0.03087686 -0.32437176 -0.37067605
+v 0.03661880 -0.17890125 -0.43617053
+v 0.06449613 -0.33402066 -0.29046410
+v 0.06597669 -0.20202654 -0.27647818
+v 0.00182589 -0.36916202 -0.09253766
+v 0.03417204 -0.20913654 0.01689774
+v 0.04446792 -0.26165234 -0.00607169
+v 0.00088201 -0.26859383 -0.00414729
+v 0.00097252 -0.22321620 -0.43100115
+v 0.04482546 -0.39301396 -0.17929369
+v 0.05048939 -0.38566567 -0.27596098
+v 0.00571301 -0.40322036 -0.26290382
+v 0.06694264 -0.34577560 -0.10307112
+v 0.03954953 -0.35252879 -0.34306639
+v 0.05128036 -0.32564136 -0.34336451
+v 0.06298078 -0.36074634 -0.28567972
+v 0.06432594 -0.27669100 -0.29187580
+v 0.06744824 -0.38177407 -0.20472875
+v 0.06568474 -0.21104238 -0.20781295
+v 0.02909366 -0.39551961 -0.16292417
+v 0.02306292 -0.20947389 0.01444343
+v 0.05008726 -0.25324321 -0.00393240
+v 0.02477881 -0.33667209 -0.06765263
+v 0.00188172 -0.31093465 -0.38630913
+v 0.03588456 -0.18914947 -0.43311519
+v 0.05502513 -0.37897813 -0.15225350
+v 0.04248391 -0.36741764 -0.32528809
+v 0.01456047 -0.36706817 -0.09541407
+v 0.06656185 -0.30034024 -0.05938632
+v 0.05845786 -0.29215808 -0.03916537
+v 0.01536674 -0.31033609 -0.38298575
+v 0.01328314 -0.22082762 -0.42797381
+v 0.04188885 -0.36419728 -0.11141181
+v 0.02824147 -0.34954179 -0.08258317
+f 9 5 4
+f 11 9 4
+f 12 6 4
+f 12 4 5
+f 16 5 9
+f 18 3 7
+f 19 8 1
+f 20 11 4
+f 21 11 20
+f 22 12 10
+f 22 6 12
+f 22 21 20
+f 22 10 21
+f 23 12 5
+f 23 10 12
+f 24 13 7
+f 24 1 13
+f 25 13 2
+f 26 2 13
+f 26 13 1
+f 26 1 8
+f 27 14 7
+f 27 7 3
+f 28 15 2
+f 28 8 15
+f 29 2 15
+f 29 17 2
+f 29 16 17
+f 30 2 17
+f 31 18 17
+f 31 9 18
+f 31 17 16
+f 31 16 9
+f 32 18 7
+f 32 17 18
+f 32 30 17
+f 32 2 30
+f 32 25 2
+f 32 7 13
+f 32 13 25
+f 33 3 18
+f 33 18 9
+f 33 9 11
+f 34 1 24
+f 35 20 4
+f 35 4 6
+f 35 22 20
+f 35 6 22
+f 36 3 11
+f 36 11 21
+f 37 21 10
+f 37 10 19
+f 38 8 19
+f 38 19 10
+f 38 10 23
+f 38 15 8
+f 39 29 15
+f 39 16 29
+f 39 23 5
+f 39 5 16
+f 40 24 7
+f 40 7 14
+f 40 34 24
+f 40 14 34
+f 41 26 8
+f 41 2 26
+f 41 28 2
+f 41 8 28
+f 42 19 1
+f 42 1 34
+f 42 37 19
+f 43 33 11
+f 43 11 3
+f 43 3 33
+f 44 36 21
+f 44 3 36
+f 44 21 37
+f 45 38 23
+f 45 15 38
+f 46 39 15
+f 46 23 39
+f 46 45 23
+f 46 15 45
+f 47 14 27
+f 47 27 42
+f 47 42 34
+f 47 34 14
+f 48 42 27
+f 48 27 3
+f 48 37 42
+f 48 44 37
+f 48 3 44
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_4/collision/model_normalized_collision_14.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_4/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f56663346660233f950c95b2b2f77fad5d7076d
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_4/collision/model_normalized_collision_14.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v 0.14901838 0.32185606 -0.07886058
+v 0.12776556 0.29964516 -0.23484848
+v 0.12485237 0.39836593 -0.23407586
+v -0.09556542 0.40254479 -0.14784938
+v -0.21391393 0.31081169 -0.08952329
+v -0.28313954 0.34326380 -0.22849117
+v 0.06505902 0.38738836 -0.10758870
+v -0.22982091 0.37757463 -0.23602787
+v -0.20556777 0.29964516 -0.23484848
+v 0.11931815 0.38566648 -0.13690895
+v 0.07883749 0.40218512 -0.14982181
+v -0.16184316 0.33212704 -0.05120197
+v -0.09661882 0.40196431 -0.22947777
+v -0.27510824 0.33404219 -0.17842906
+v -0.24875940 0.36972613 -0.23486750
+v 0.11978143 0.37220156 -0.10740898
+v -0.04486796 0.38813457 -0.10554312
+v 0.10674507 0.40295213 -0.17754616
+v -0.18093319 0.32118121 -0.06057359
+v 0.00650960 0.34534629 -0.05283140
+v 0.10875767 0.40394164 -0.23331694
+v -0.24424240 0.36207641 -0.19351001
+v -0.11059899 0.37283308 -0.07776824
+v -0.17515547 0.33129096 -0.06450091
+v -0.16312477 0.34270227 -0.06560290
+v -0.14866777 0.38688572 -0.14883655
+v -0.23059923 0.37225476 -0.20825585
+v -0.10925323 0.38639595 -0.10567221
+v -0.13731784 0.35770967 -0.06639335
+v -0.04614001 0.37405679 -0.07761611
+v -0.13836318 0.37257856 -0.09149087
+f 1 2 3
+f 5 2 1
+f 8 3 2
+f 9 2 5
+f 9 8 2
+f 10 1 3
+f 11 7 10
+f 13 8 4
+f 14 9 5
+f 14 6 9
+f 15 9 6
+f 15 8 9
+f 16 10 7
+f 16 1 10
+f 17 11 4
+f 17 7 11
+f 18 11 10
+f 18 10 3
+f 18 4 11
+f 19 5 1
+f 19 1 12
+f 19 14 5
+f 20 12 1
+f 20 16 7
+f 20 1 16
+f 21 3 8
+f 21 8 13
+f 21 18 3
+f 21 13 4
+f 21 4 18
+f 22 15 6
+f 22 6 14
+f 24 19 12
+f 24 14 19
+f 25 22 14
+f 25 24 12
+f 25 14 24
+f 26 4 8
+f 27 8 15
+f 27 15 22
+f 27 26 8
+f 27 22 26
+f 28 23 17
+f 28 17 4
+f 28 4 26
+f 29 12 20
+f 29 20 23
+f 29 25 12
+f 30 23 20
+f 30 20 7
+f 30 7 17
+f 30 17 23
+f 31 29 23
+f 31 23 28
+f 31 28 26
+f 31 26 22
+f 31 22 25
+f 31 25 29
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_4/collision/model_normalized_collision_15.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_4/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5af42fa193fb016c320a8f8bad1b82d3cfbe98af
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_4/collision/model_normalized_collision_15.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.00808028 -0.19844885 -0.09122544
+v 0.09539468 -0.12142250 -0.46284609
+v 0.09017899 -0.01435495 -0.05499926
+v 0.04944976 0.00382418 0.01005438
+v 0.00793656 0.00148131 -0.45387534
+v 0.04223569 -0.10168130 0.00836374
+v 0.00283992 -0.18004257 -0.44635427
+v 0.00933591 -0.12734950 -0.00071386
+v 0.08408662 -0.01109965 -0.39435168
+v 0.05405227 -0.19407224 -0.20756851
+v 0.01504664 -0.16188324 -0.46352969
+v 0.03430265 -0.00536512 0.01435285
+v 0.01447408 -0.12492035 0.00112742
+v 0.00011638 -0.19376611 -0.08753727
+v 0.08530174 -0.00233523 -0.05389013
+v 0.03661880 -0.17890125 -0.43617053
+v 0.00842843 -0.13827266 -0.46115967
+v 0.03164321 -0.12470208 -0.46498598
+v 0.05689706 -0.18661978 -0.30834420
+v 0.02586748 -0.16475304 -0.46299407
+v 0.09398262 -0.12237590 -0.46456148
+v 0.02850751 -0.12653069 -0.46483440
+f 6 3 4
+f 9 3 2
+f 9 2 5
+f 10 6 1
+f 10 2 3
+f 10 3 6
+f 10 1 7
+f 12 4 5
+f 12 5 8
+f 12 6 4
+f 13 8 1
+f 13 1 6
+f 13 12 8
+f 13 6 12
+f 14 7 1
+f 14 1 8
+f 14 8 5
+f 14 5 7
+f 15 9 5
+f 15 5 4
+f 15 4 3
+f 15 3 9
+f 16 10 7
+f 17 11 7
+f 17 7 5
+f 19 2 10
+f 19 10 16
+f 20 16 7
+f 20 7 11
+f 21 18 5
+f 21 5 2
+f 21 16 20
+f 21 19 16
+f 21 2 19
+f 21 20 11
+f 21 11 18
+f 22 17 5
+f 22 5 18
+f 22 18 11
+f 22 11 17
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_4/collision/model_normalized_collision_16.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_4/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b45c44f9ee416246c56118d7ae8009498c6a8d0
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_4/collision/model_normalized_collision_16.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.08051793 -0.12104554 -0.42013234
+v 0.12143492 -0.09734854 -0.41926760
+v 0.11813385 -0.01810633 -0.35987395
+v 0.00439190 0.30106896 -0.39542919
+v 0.00793656 0.00148131 -0.45387534
+v 0.14455745 0.27978626 -0.37600027
+v 0.09109496 -0.09927840 -0.40427639
+v 0.09146148 -0.11739095 -0.42395410
+v 0.05062123 0.00113272 -0.37332206
+v 0.00639387 0.26989679 -0.41757284
+v 0.11760121 0.26397843 -0.39949413
+v 0.11890738 -0.09658401 -0.41513651
+v 0.07998404 -0.09766926 -0.40056168
+v 0.07476615 -0.11743138 -0.41318756
+f 6 3 2
+f 6 4 3
+f 8 5 2
+f 8 1 5
+f 9 3 4
+f 9 4 5
+f 10 5 4
+f 11 6 2
+f 11 2 5
+f 11 5 10
+f 11 10 4
+f 11 4 6
+f 12 2 3
+f 12 3 7
+f 12 8 2
+f 12 1 8
+f 13 7 3
+f 13 3 9
+f 14 12 7
+f 14 1 12
+f 14 7 13
+f 14 5 1
+f 14 13 9
+f 14 9 5
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_4/collision/model_normalized_collision_17.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_4/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b9b4f3300706a8ef23078baf50983083574fc2dc
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_4/collision/model_normalized_collision_17.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.04691267 -0.25459122 -0.00124121
+v 0.05224755 -0.24320981 0.00105874
+v 0.03101052 -0.16162286 0.06809842
+v -0.00936621 0.02005979 0.06923287
+v 0.00716701 -0.02879846 -0.00725315
+v -0.01404863 -0.25396823 0.01139233
+v 0.04352200 -0.21856663 0.03436765
+v 0.05262518 -0.01176421 0.04341581
+v -0.00599847 -0.11505872 0.07965827
+v -0.00973606 -0.25984635 0.00585981
+v 0.04996207 -0.23482204 0.01188587
+v 0.02031817 -0.21948699 0.03403711
+v 0.04944976 0.00382418 0.01005438
+v 0.03812319 -0.18019842 0.05513129
+v 0.00925026 -0.19129468 0.05016325
+v 0.04345325 -0.24847157 0.00626090
+v 0.05043494 -0.21532501 0.02181798
+v 0.03609399 -0.17020817 0.06016662
+v -0.00573517 -0.23600990 0.02330117
+v 0.01536624 -0.16341928 0.06423841
+f 5 2 1
+f 6 4 5
+f 8 4 3
+f 9 3 4
+f 9 4 6
+f 10 6 5
+f 10 5 1
+f 10 7 6
+f 11 7 1
+f 11 1 2
+f 12 7 3
+f 12 6 7
+f 13 8 2
+f 13 2 5
+f 13 5 4
+f 13 4 8
+f 14 3 7
+f 15 12 3
+f 16 10 1
+f 16 1 7
+f 16 7 10
+f 17 7 11
+f 17 14 7
+f 17 8 14
+f 17 11 2
+f 17 2 8
+f 18 14 8
+f 18 8 3
+f 18 3 14
+f 19 15 9
+f 19 9 6
+f 19 6 12
+f 19 12 15
+f 20 15 3
+f 20 3 9
+f 20 9 15
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_4/collision/model_normalized_collision_18.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_4/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a5bc413705bc42233e58c90d826800fd74ca2272
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_4/collision/model_normalized_collision_18.obj
@@ -0,0 +1,159 @@
+# https://github.com/mikedh/trimesh
+v 0.01722579 -0.39527325 -0.14951173
+v 0.04859359 -0.37542362 -0.30671457
+v 0.01299973 -0.35581727 -0.08104542
+v -0.16866473 -0.32750296 -0.10531322
+v -0.10833629 -0.39426216 -0.24773555
+v -0.16372138 -0.32744824 -0.31701627
+v -0.06129987 -0.38003113 -0.11080107
+v 0.04755022 -0.37376741 -0.13296999
+v -0.00903141 -0.41071050 -0.23367270
+v 0.01346078 -0.35942995 -0.34422175
+v -0.20302327 -0.33027424 -0.23353013
+v 0.00228983 -0.37947654 -0.10823945
+v -0.10849742 -0.36460839 -0.10753581
+v 0.03218546 -0.39841384 -0.26113056
+v -0.03413823 -0.41124483 -0.19287923
+v -0.07950982 -0.37978771 -0.31465902
+v -0.13726450 -0.37798331 -0.26067922
+v -0.13595043 -0.37824187 -0.17803511
+v -0.18248961 -0.32622292 -0.28915517
+v 0.00360000 -0.39400313 -0.13787563
+v 0.03230301 -0.37395852 -0.11842722
+v 0.04262197 -0.37933610 -0.13856092
+v -0.00905974 -0.41056042 -0.20545842
+v -0.03612814 -0.41108094 -0.23436750
+v -0.12174821 -0.36300915 -0.31457272
+v 0.01544096 -0.39383140 -0.28662679
+v -0.10489613 -0.37931316 -0.30033479
+v -0.18466359 -0.32911299 -0.13077609
+v -0.10858892 -0.39287288 -0.17897738
+v -0.16220170 -0.36487400 -0.20435197
+v -0.15937004 -0.35096723 -0.28799928
+v -0.06322659 -0.39246143 -0.13584068
+v 0.02789417 -0.37862199 -0.12264905
+v -0.02553980 -0.41074049 -0.19175682
+v -0.07943603 -0.39323166 -0.28652560
+v 0.03162853 -0.39383970 -0.27570017
+v 0.01577813 -0.37918718 -0.31686299
+v -0.09438682 -0.39257925 -0.27613964
+v -0.13399125 -0.36529859 -0.30009423
+v -0.20335526 -0.32803143 -0.20523993
+v -0.16249584 -0.34905957 -0.13602216
+v -0.16205448 -0.36465268 -0.23241022
+v -0.17426799 -0.35131292 -0.24667248
+v -0.17349488 -0.33673492 -0.28728392
+v -0.16025269 -0.33599604 -0.31138903
+v -0.09384893 -0.37743431 -0.12331165
+v 0.04442426 -0.37855620 -0.30395933
+v 0.01819289 -0.37572283 -0.32097608
+v -0.12003045 -0.37780474 -0.28762239
+v -0.17565592 -0.35142588 -0.19055311
+v -0.16290012 -0.33469549 -0.10918223
+v -0.11784185 -0.38017759 -0.15237997
+v -0.14753121 -0.36408133 -0.15059480
+v -0.17838536 -0.33595419 -0.13475126
+f 6 4 3
+f 8 2 3
+f 10 6 3
+f 10 3 2
+f 12 3 7
+f 13 7 3
+f 13 3 4
+f 14 2 8
+f 19 4 6
+f 21 8 3
+f 21 3 12
+f 22 14 8
+f 22 1 14
+f 23 14 1
+f 23 9 14
+f 23 15 9
+f 24 15 5
+f 24 9 15
+f 25 6 10
+f 25 10 16
+f 26 14 9
+f 26 9 24
+f 27 25 16
+f 29 5 15
+f 30 29 18
+f 30 5 29
+f 32 20 12
+f 32 12 7
+f 32 15 20
+f 32 29 15
+f 33 20 1
+f 33 12 20
+f 33 21 12
+f 33 1 22
+f 33 22 8
+f 33 8 21
+f 34 20 15
+f 34 1 20
+f 34 23 1
+f 34 15 23
+f 35 26 24
+f 35 16 26
+f 35 27 16
+f 36 14 26
+f 37 26 16
+f 37 16 10
+f 38 5 17
+f 38 27 35
+f 38 35 24
+f 38 24 5
+f 39 25 27
+f 39 17 31
+f 40 19 11
+f 40 11 30
+f 40 28 4
+f 40 4 19
+f 42 17 5
+f 42 5 30
+f 42 30 11
+f 43 31 17
+f 43 11 31
+f 43 42 11
+f 43 17 42
+f 44 31 11
+f 44 11 19
+f 45 19 6
+f 45 39 31
+f 45 6 25
+f 45 25 39
+f 45 44 19
+f 45 31 44
+f 46 32 7
+f 46 7 13
+f 47 36 26
+f 47 2 14
+f 47 14 36
+f 47 26 37
+f 48 37 10
+f 48 10 2
+f 48 47 37
+f 48 2 47
+f 49 38 17
+f 49 27 38
+f 49 39 27
+f 49 17 39
+f 50 40 30
+f 50 28 40
+f 51 41 13
+f 51 13 4
+f 51 4 28
+f 51 28 41
+f 52 46 13
+f 52 29 32
+f 52 32 46
+f 53 30 18
+f 53 18 29
+f 53 29 52
+f 53 52 13
+f 53 13 41
+f 53 50 30
+f 53 41 50
+f 54 50 41
+f 54 41 28
+f 54 28 50
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_4/collision/model_normalized_collision_19.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_4/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e9a666c63e989e92b3f92606c0624bb43effffbc
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_4/collision/model_normalized_collision_19.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.21517910 -0.12251602 0.02646671
+v 0.23949864 -0.09864408 -0.35324609
+v 0.26570483 -0.01073715 0.05448309
+v 0.10719399 0.00052326 0.00603861
+v 0.07447920 -0.03372646 -0.26552727
+v 0.22414981 -0.08629183 0.06369475
+v 0.24228791 -0.11475391 -0.20419314
+v 0.09850943 -0.01994363 -0.04105741
+v 0.23382617 -0.00338515 -0.35606060
+v 0.23331533 -0.11210972 0.03051389
+v 0.21773237 -0.10236373 0.04797422
+v 0.11096504 -0.03318850 -0.04170382
+v 0.11327469 -0.01968129 -0.00028695
+v 0.09760582 0.00221272 -0.02670955
+v 0.08575626 0.00097320 -0.37179301
+v 0.23329461 -0.10132075 0.04745491
+v 0.09883917 -0.01479182 -0.02945601
+v 0.11996610 -0.01724132 -0.37296406
+v 0.22765974 -0.09288648 -0.35120093
+v 0.23714478 -0.08286712 0.05809684
+v 0.08872602 -0.00046080 -0.37197515
+v 0.13191550 -0.02716967 -0.37022983
+f 6 3 4
+f 7 2 3
+f 7 5 2
+f 7 1 5
+f 9 3 2
+f 10 7 3
+f 10 1 7
+f 12 8 5
+f 12 5 1
+f 12 1 8
+f 13 8 1
+f 13 1 11
+f 13 11 6
+f 13 6 4
+f 14 4 3
+f 14 3 9
+f 15 14 9
+f 15 5 14
+f 16 1 10
+f 16 11 1
+f 16 6 11
+f 16 10 3
+f 17 13 4
+f 17 8 13
+f 17 4 14
+f 17 14 5
+f 17 5 8
+f 18 9 2
+f 19 2 5
+f 19 5 15
+f 20 16 3
+f 20 3 6
+f 20 6 16
+f 21 18 15
+f 21 15 9
+f 21 9 18
+f 22 18 2
+f 22 15 18
+f 22 19 15
+f 22 2 19
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_4/collision/model_normalized_collision_2.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_4/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6646455352fbeb4d25e9f15e9788e9a00dfd9832
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_4/collision/model_normalized_collision_2.obj
@@ -0,0 +1,174 @@
+# https://github.com/mikedh/trimesh
+v 0.23750164 -0.13066346 -0.00834885
+v 0.29282504 0.10088923 0.00508354
+v 0.05067084 -0.04592886 0.09685528
+v -0.13910539 0.29385673 -0.00224973
+v 0.22564690 0.18938578 -0.00111834
+v -0.15030189 0.05546208 0.03758365
+v 0.22376978 -0.08358687 0.06565139
+v 0.28928430 0.11185041 -0.00109507
+v 0.17169001 0.23252629 -0.00102520
+v 0.17945710 0.14229703 0.05100672
+v -0.08884214 -0.00257666 0.08430729
+v -0.18433921 0.22110616 -0.00002851
+v 0.23904276 -0.09673667 0.04986441
+v 0.21904237 0.18477982 0.00816970
+v 0.25651378 0.03556759 0.05353435
+v 0.01873431 0.27489831 0.00577075
+v -0.09988344 0.01434246 0.03940444
+v 0.12128360 -0.09542620 0.08099747
+v -0.12325682 0.23352667 0.03465537
+v -0.15425020 0.27856808 -0.00186853
+v -0.19539001 0.13658722 0.01956141
+v 0.24542263 -0.11905362 0.01205495
+v 0.28802608 0.09532864 0.01201527
+v 0.19858957 0.22003527 0.00007765
+v 0.23042164 0.03524663 0.06325136
+v 0.18163345 0.19983164 0.02002989
+v -0.04153883 0.29468745 -0.00024335
+v 0.06096232 -0.06695018 0.06214004
+v 0.04309004 -0.05482091 0.09237578
+v 0.14865351 -0.10206433 0.07135875
+v 0.10356992 -0.08325768 0.08698709
+v -0.05735839 0.23200662 0.03323106
+v -0.07802170 0.01763084 0.08601583
+v -0.13502534 0.25949709 0.01825952
+v -0.14915099 0.24428377 0.01871132
+v 0.24055396 -0.12810581 0.00084954
+v 0.20609350 0.11252975 0.04988541
+v 0.15839589 0.08380969 0.06532549
+v 0.16807345 0.22775485 0.00369612
+v 0.19390910 0.21363334 0.00622043
+v 0.02061152 0.28020925 0.00161151
+v -0.13558935 0.28803881 0.00355960
+v 0.04460592 -0.06241367 0.08252612
+v 0.20116915 -0.12344195 0.02854426
+v 0.13805555 -0.09045474 0.08022578
+v -0.07245853 0.17461168 0.05097084
+v 0.14014018 0.15546750 0.05010468
+v -0.04336934 0.28865238 0.00405810
+v -0.12579647 0.16133664 0.04910457
+v -0.14521824 0.19133996 0.03639943
+v -0.18067021 0.17486399 0.02013579
+v 0.22560635 -0.12558034 0.02262897
+v 0.25647316 0.05023140 0.04822036
+v -0.14944688 0.27433186 0.00359066
+v 0.11959090 -0.09467813 0.07601410
+v -0.11071399 0.17623595 0.05123728
+v 0.13999975 0.08650223 0.06580043
+v -0.18469438 0.13146140 0.02526283
+v -0.13650108 0.21708049 0.03415650
+f 8 5 2
+f 8 2 1
+f 8 1 5
+f 9 5 1
+f 9 1 4
+f 14 2 5
+f 15 13 2
+f 15 7 13
+f 17 11 6
+f 17 6 1
+f 20 4 1
+f 20 1 12
+f 21 12 1
+f 21 1 6
+f 21 6 11
+f 22 2 13
+f 23 14 10
+f 23 2 14
+f 23 15 2
+f 24 14 5
+f 24 5 9
+f 25 3 7
+f 25 7 15
+f 26 16 10
+f 26 10 14
+f 27 9 4
+f 28 17 1
+f 28 11 17
+f 29 3 11
+f 30 13 7
+f 31 7 3
+f 31 29 18
+f 31 3 29
+f 33 11 3
+f 35 19 34
+f 35 20 12
+f 36 1 2
+f 36 2 22
+f 37 23 10
+f 37 25 15
+f 37 10 25
+f 38 25 10
+f 38 3 25
+f 39 16 26
+f 39 24 9
+f 40 26 14
+f 40 14 24
+f 40 39 26
+f 40 24 39
+f 41 27 16
+f 41 9 27
+f 41 39 9
+f 41 16 39
+f 42 27 4
+f 42 34 19
+f 42 4 20
+f 43 11 28
+f 43 29 11
+f 43 18 29
+f 44 28 1
+f 44 30 18
+f 45 31 18
+f 45 7 31
+f 45 30 7
+f 45 18 30
+f 46 32 19
+f 47 10 16
+f 47 16 32
+f 47 32 46
+f 48 19 32
+f 48 42 19
+f 48 27 42
+f 48 32 16
+f 48 16 27
+f 49 11 33
+f 51 35 12
+f 51 12 21
+f 51 21 50
+f 52 36 22
+f 52 22 13
+f 52 13 30
+f 52 30 44
+f 52 44 1
+f 52 1 36
+f 53 37 15
+f 53 15 23
+f 53 23 37
+f 54 35 34
+f 54 34 42
+f 54 42 20
+f 54 20 35
+f 55 43 28
+f 55 18 43
+f 55 44 18
+f 55 28 44
+f 56 46 19
+f 56 33 46
+f 56 49 33
+f 56 50 49
+f 57 38 10
+f 57 10 47
+f 57 3 38
+f 57 33 3
+f 57 47 46
+f 57 46 33
+f 58 21 11
+f 58 11 49
+f 58 50 21
+f 58 49 50
+f 59 19 35
+f 59 51 50
+f 59 35 51
+f 59 56 19
+f 59 50 56
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_4/collision/model_normalized_collision_20.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_4/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef92a3aa1100f5df378ab397cbfc42e6017115ec
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_4/collision/model_normalized_collision_20.obj
@@ -0,0 +1,135 @@
+# https://github.com/mikedh/trimesh
+v 0.22564690 0.18938578 -0.00111834
+v 0.22499222 0.19144806 -0.36156138
+v 0.22801605 0.30295673 -0.16099532
+v 0.12213093 0.39345302 -0.16269270
+v 0.12690147 0.19215835 -0.42946100
+v 0.14449734 0.35845501 -0.31481373
+v 0.22301857 0.26775508 -0.06446519
+v 0.18041121 0.18911058 -0.40310515
+v 0.13036967 0.20357573 0.02305363
+v 0.22030284 0.28283006 -0.30029287
+v 0.15989493 0.37396101 -0.24730513
+v 0.12151034 0.36249016 -0.33139013
+v 0.22438531 0.29496554 -0.11963055
+v 0.21978112 0.22853002 -0.35599000
+v 0.11804548 0.33686733 -0.06296811
+v 0.22216765 0.29883030 -0.26025818
+v 0.15974004 0.37295585 -0.17855910
+v 0.17129851 0.34831390 -0.28788388
+v 0.12153188 0.39083266 -0.27495809
+v 0.12130079 0.29458235 -0.38911722
+v 0.12993553 0.37372952 -0.12226091
+v 0.15762621 0.34576211 -0.31685095
+v 0.12279005 0.21604470 -0.41754654
+v 0.20537445 0.22767598 -0.00924479
+v 0.17198287 0.36204798 -0.24809751
+v 0.13345843 0.38855751 -0.16506393
+v 0.14571358 0.37229151 -0.28650212
+v 0.11858998 0.36367600 -0.09295468
+v 0.14985109 0.20177265 -0.41536034
+v 0.20533614 0.22842332 -0.36883015
+v 0.15757123 0.35828088 -0.13670709
+v 0.13016270 0.34507750 -0.34789541
+v 0.12222683 0.27597152 -0.02124156
+v 0.22055126 0.21314172 -0.00991254
+v 0.20898539 0.25431863 -0.03738220
+v 0.12118345 0.37779540 -0.12014514
+v 0.13116681 0.38674467 -0.27321618
+v 0.12806222 0.35918125 -0.09601217
+v 0.17947200 0.20064184 -0.39898899
+v 0.14960011 0.19138738 -0.41935196
+v 0.12235532 0.34900114 -0.34956361
+v 0.13067036 0.35898654 -0.32809052
+v 0.12792905 0.29428975 -0.38443490
+v 0.15694838 0.32101634 -0.34218061
+v 0.12504265 0.24771831 -0.00403669
+v 0.16941645 0.23850260 -0.00608526
+f 1 2 3
+f 7 1 3
+f 8 2 1
+f 8 1 5
+f 9 5 1
+f 13 7 3
+f 14 2 8
+f 14 10 2
+f 16 3 2
+f 16 2 10
+f 17 13 3
+f 18 16 10
+f 21 7 13
+f 22 10 14
+f 22 18 10
+f 23 5 9
+f 23 20 5
+f 23 15 20
+f 24 9 1
+f 25 3 16
+f 25 17 3
+f 25 11 17
+f 25 18 11
+f 25 16 18
+f 26 17 11
+f 26 19 4
+f 27 11 18
+f 27 6 12
+f 27 22 6
+f 27 18 22
+f 28 4 19
+f 28 19 12
+f 28 20 15
+f 28 12 20
+f 29 5 20
+f 30 14 8
+f 31 21 13
+f 31 13 17
+f 31 26 21
+f 31 17 26
+f 32 6 22
+f 32 14 30
+f 33 15 23
+f 34 24 1
+f 34 1 7
+f 35 15 24
+f 35 28 15
+f 35 7 28
+f 35 34 7
+f 35 24 34
+f 36 26 4
+f 36 21 26
+f 36 28 21
+f 36 4 28
+f 37 26 11
+f 37 19 26
+f 37 11 27
+f 37 27 12
+f 37 12 19
+f 38 28 7
+f 38 7 21
+f 38 21 28
+f 39 29 20
+f 39 8 29
+f 39 30 8
+f 39 20 30
+f 40 29 8
+f 40 8 5
+f 40 5 29
+f 41 32 20
+f 41 20 12
+f 42 12 6
+f 42 6 32
+f 42 41 12
+f 42 32 41
+f 43 32 30
+f 43 30 20
+f 43 20 32
+f 44 32 22
+f 44 22 14
+f 44 14 32
+f 45 33 23
+f 45 23 9
+f 45 9 33
+f 46 24 15
+f 46 15 33
+f 46 33 9
+f 46 9 24
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_4/collision/model_normalized_collision_21.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_4/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..20f87f6fa38226e8229d67da98a7ecf0429ea582
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_4/collision/model_normalized_collision_21.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v -0.12944995 -0.18456508 0.00593745
+v -0.12670153 -0.17966542 0.00844718
+v -0.25559862 0.00541395 0.01842306
+v -0.18963576 0.19297697 0.00636326
+v -0.12016078 -0.04554280 0.02689260
+v -0.27357321 -0.01456803 -0.00200867
+v -0.18865048 -0.13825833 0.00126989
+v -0.14333858 0.04487651 0.03722676
+v -0.27721381 0.10102020 -0.00035151
+v -0.13912926 -0.18056375 0.00434975
+v -0.26724271 -0.01136284 0.00448149
+v -0.20193668 0.19033382 0.00101629
+v -0.14106247 0.13262203 0.04452991
+v -0.14213126 -0.18341120 0.00187635
+v -0.18306422 0.18990828 0.01346549
+v -0.15814351 0.04348822 0.03520410
+v -0.25691795 0.05738885 0.01869899
+v -0.27299431 0.09658357 0.00273654
+f 5 2 1
+f 5 1 4
+f 7 2 3
+f 8 3 2
+f 8 2 5
+f 9 6 3
+f 10 1 2
+f 10 2 7
+f 11 7 3
+f 11 3 6
+f 11 6 7
+f 12 4 1
+f 12 6 9
+f 13 8 5
+f 13 5 4
+f 14 7 6
+f 14 6 12
+f 14 10 7
+f 14 12 1
+f 14 1 10
+f 15 12 9
+f 15 4 12
+f 15 13 4
+f 16 13 3
+f 16 3 8
+f 16 8 13
+f 17 9 3
+f 17 3 13
+f 18 15 9
+f 18 13 15
+f 18 17 13
+f 18 9 17
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_4/collision/model_normalized_collision_22.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_4/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..76e51aed1c8d6749f9ca577ddbe7368ae1d26725
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_4/collision/model_normalized_collision_22.obj
@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
+v 0.13036967 0.20357573 0.02305363
+v 0.12776556 0.19358455 -0.09848484
+v 0.12208041 0.36861985 -0.10340374
+v -0.09800724 0.36544772 -0.06095799
+v -0.20193668 0.19033382 0.00101629
+v -0.20556777 0.19358455 -0.09848484
+v 0.06385823 0.31793341 -0.02440093
+v 0.10630318 0.37649759 -0.10488391
+v -0.20349211 0.32673266 -0.10053597
+v 0.11787719 0.34325415 -0.06831316
+v -0.07265384 0.31599239 -0.00790023
+v 0.09121340 0.35806455 -0.06773383
+v 0.00923928 0.37829026 -0.10424795
+v 0.08695070 0.33169279 -0.04085851
+v -0.13898699 0.30242849 -0.00836769
+v 0.10432276 0.37105756 -0.09377242
+v 0.11858998 0.36367600 -0.09295468
+v -0.07079441 0.35868298 -0.05072883
+v -0.16737597 0.35624712 -0.09275450
+v 0.12272343 0.25912696 -0.01059725
+v -0.17427563 0.28829449 -0.02388818
+v -0.10900286 0.33025368 -0.02441607
+v -0.14188305 0.35037479 -0.05864892
+v -0.19256666 0.25758149 -0.02381432
+v -0.17322234 0.26199316 -0.00753961
+v -0.16342630 0.33018919 -0.05039054
+v -0.08199646 0.31701798 -0.00903855
+v -0.09796940 0.35821014 -0.05140703
+v -0.14933525 0.32936832 -0.03759477
+v -0.18807468 0.30258461 -0.05103538
+v -0.19273902 0.23190992 -0.01031891
+v -0.11038048 0.34331964 -0.03800160
+v -0.14849195 0.31575552 -0.02516736
+v -0.18802541 0.31598069 -0.06437227
+v -0.13931700 0.34495608 -0.05048098
+f 1 2 3
+f 5 2 1
+f 6 2 5
+f 8 3 2
+f 8 2 6
+f 9 6 5
+f 10 1 3
+f 11 1 7
+f 13 8 6
+f 13 6 9
+f 13 4 8
+f 14 7 1
+f 14 12 7
+f 14 10 12
+f 15 5 1
+f 15 1 11
+f 16 8 4
+f 16 3 8
+f 17 12 10
+f 17 10 3
+f 17 16 12
+f 17 3 16
+f 18 11 7
+f 18 7 12
+f 18 16 4
+f 18 12 16
+f 19 13 9
+f 19 4 13
+f 20 14 1
+f 20 1 10
+f 20 10 14
+f 23 4 19
+f 24 9 5
+f 25 5 15
+f 25 15 21
+f 25 21 24
+f 26 19 9
+f 26 23 19
+f 27 22 15
+f 27 15 11
+f 27 11 18
+f 28 18 4
+f 28 27 18
+f 28 22 27
+f 29 15 22
+f 29 23 26
+f 30 24 21
+f 30 9 24
+f 30 21 26
+f 31 25 24
+f 31 24 5
+f 31 5 25
+f 32 29 22
+f 32 22 28
+f 33 29 26
+f 33 26 21
+f 33 21 15
+f 33 15 29
+f 34 30 26
+f 34 26 9
+f 34 9 30
+f 35 32 28
+f 35 23 29
+f 35 29 32
+f 35 28 4
+f 35 4 23
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_4/collision/model_normalized_collision_23.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_4/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..21165e0d4ee89969af8bd087277b50f61feedf6b
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_4/collision/model_normalized_collision_23.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.23949864 -0.09864408 -0.35324609
+v 0.24068308 -0.09466467 -0.36494649
+v 0.23162892 0.19268668 -0.35386193
+v 0.15239625 0.21701939 -0.40544856
+v 0.12460924 -0.08611961 -0.46083498
+v 0.13859904 -0.03396012 -0.35530775
+v 0.21905606 0.04011302 -0.48008128
+v 0.22765974 -0.09288648 -0.35120093
+v 0.12471886 0.18613743 -0.43337741
+v 0.22253555 -0.08338553 -0.40397821
+v 0.21704947 0.19157067 -0.36962972
+v 0.12187414 -0.08917469 -0.41190401
+v 0.13192449 0.02654433 -0.49083576
+v 0.17998454 0.04243760 -0.49658295
+v 0.21905300 0.04259744 -0.47896902
+v 0.12456193 0.09183658 -0.47753389
+v 0.13518061 0.18599385 -0.43047419
+v 0.18108334 0.03501972 -0.49551708
+v 0.12545239 -0.01682321 -0.48840148
+v 0.14866606 0.04719688 -0.49047755
+f 1 2 3
+f 5 2 1
+f 6 3 4
+f 7 3 2
+f 8 1 3
+f 8 3 6
+f 9 6 4
+f 10 7 2
+f 10 2 5
+f 10 5 7
+f 11 4 3
+f 12 8 6
+f 12 5 1
+f 12 1 8
+f 12 6 9
+f 15 4 11
+f 15 14 4
+f 15 7 14
+f 15 11 3
+f 15 3 7
+f 16 12 9
+f 16 9 14
+f 17 14 9
+f 17 9 4
+f 17 4 14
+f 18 14 7
+f 18 7 5
+f 19 5 12
+f 19 12 16
+f 19 16 13
+f 19 18 5
+f 19 13 14
+f 19 14 18
+f 20 16 14
+f 20 14 13
+f 20 13 16
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_4/collision/model_normalized_collision_24.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_4/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..932bf5fd42a02c5f46156ba85b2a473f7bdd1465
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_4/collision/model_normalized_collision_24.obj
@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
+v -0.13623671 -0.01378195 0.35200098
+v -0.00503354 0.01165078 0.08765040
+v -0.06311841 0.03844205 0.19952214
+v -0.26440045 0.00907328 0.38123464
+v -0.19436735 -0.01067050 0.20019063
+v -0.20711653 -0.00903192 0.41388782
+v -0.01818858 -0.00611948 0.21108182
+v -0.06549085 0.02710151 0.09094967
+v -0.17627232 -0.01154932 0.39893067
+v -0.14604574 0.04025902 0.26149384
+v -0.29622937 -0.00914428 0.42954629
+v -0.02220643 0.00975277 0.19750995
+v -0.08999966 -0.00556453 0.08153802
+v -0.04592819 0.03828275 0.12065618
+v -0.22255618 0.00708251 0.37914751
+v -0.15328299 0.03831658 0.22541247
+v -0.08638257 0.03730694 0.22912107
+v -0.28010986 0.00223668 0.38400614
+v -0.26570473 -0.00934920 0.43008475
+v -0.05363793 0.01079369 0.23589656
+v -0.00917496 0.01463180 0.07868024
+v -0.08722482 0.01071938 0.08207115
+v -0.04644227 0.03842335 0.17125492
+v -0.22928210 0.02524372 0.32646389
+v -0.20973283 -0.00565225 0.40829999
+v -0.05338373 0.03927310 0.11774905
+v -0.29610078 -0.00607079 0.42289242
+v -0.02055446 -0.00065993 0.21043721
+v -0.05202556 0.02779604 0.20871814
+v -0.04060533 0.02597470 0.08821986
+v -0.16249094 0.02786635 0.21391958
+v -0.15814801 0.04115376 0.25045946
+v -0.19015910 -0.00357964 0.20207122
+v -0.13536281 0.03927409 0.25871569
+v -0.28284928 -0.00206142 0.38593321
+v -0.18700319 0.03125292 0.26185314
+v -0.22436609 0.02609023 0.31665499
+v -0.12330865 0.02560332 0.28114540
+f 9 1 7
+f 11 5 1
+f 11 1 9
+f 12 7 2
+f 13 2 7
+f 13 7 1
+f 13 1 5
+f 17 3 10
+f 19 11 9
+f 19 9 6
+f 19 15 4
+f 21 2 13
+f 22 13 5
+f 22 21 13
+f 23 12 2
+f 23 21 14
+f 23 2 21
+f 24 15 10
+f 24 4 15
+f 24 18 4
+f 25 10 15
+f 25 6 9
+f 25 19 6
+f 25 15 19
+f 26 8 16
+f 26 14 21
+f 26 23 14
+f 27 4 18
+f 27 19 4
+f 27 11 19
+f 27 5 11
+f 28 20 9
+f 28 9 7
+f 28 7 12
+f 28 12 20
+f 29 17 9
+f 29 9 20
+f 29 3 17
+f 29 20 12
+f 29 23 3
+f 29 12 23
+f 30 22 8
+f 30 21 22
+f 30 26 21
+f 30 8 26
+f 31 16 8
+f 31 8 22
+f 32 10 3
+f 32 3 23
+f 32 23 26
+f 32 26 16
+f 32 24 10
+f 33 5 18
+f 33 31 22
+f 33 22 5
+f 34 17 10
+f 34 10 25
+f 35 27 18
+f 35 18 5
+f 35 5 27
+f 36 16 31
+f 36 32 16
+f 36 31 33
+f 37 33 18
+f 37 18 24
+f 37 36 33
+f 37 24 32
+f 37 32 36
+f 38 34 25
+f 38 25 9
+f 38 9 17
+f 38 17 34
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_4/collision/model_normalized_collision_25.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_4/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..649f315a4c3341d5cca972c27fdcf1d0d3372b85
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_4/collision/model_normalized_collision_25.obj
@@ -0,0 +1,135 @@
+# https://github.com/mikedh/trimesh
+v 0.33095989 -0.11451795 -0.31697370
+v 0.38900171 -0.01517595 -0.31764413
+v 0.33305852 0.12614035 -0.31962820
+v 0.25583085 0.15354002 -0.35408924
+v 0.22741377 0.02595276 -0.43419755
+v 0.23763570 -0.10306956 -0.32479905
+v 0.36069333 0.09363206 -0.31871816
+v 0.31384001 -0.04381587 -0.38393454
+v 0.22891837 0.12844365 -0.39361934
+v 0.32880669 -0.05324942 -0.36954332
+v 0.22693970 -0.08229365 -0.39957552
+v 0.32605959 0.03825955 -0.38497614
+v 0.29764069 0.10462923 -0.37042750
+v 0.32618084 -0.09722368 -0.34081271
+v 0.24336970 -0.04060325 -0.41327059
+v 0.22746287 0.11108842 -0.40673271
+v 0.25556810 -0.10673589 -0.34918367
+v 0.37175430 0.06493907 -0.33001685
+v 0.32874153 0.00034348 -0.38365446
+v 0.29897087 0.11884039 -0.35748029
+v 0.32613430 0.07741063 -0.37023488
+v 0.38184964 -0.01466969 -0.32784862
+v 0.30150462 -0.11050976 -0.34284912
+v 0.29986386 -0.08196999 -0.37016226
+v 0.22937380 -0.04210258 -0.41652053
+v 0.27186884 -0.01496414 -0.41138555
+v 0.25590022 -0.06957569 -0.39721217
+v 0.30045777 0.05746451 -0.39742808
+v 0.25465341 -0.11235221 -0.32368680
+v 0.38993240 0.02378340 -0.31841952
+v 0.24012869 0.03806145 -0.42920024
+v 0.32859447 0.12200554 -0.33014660
+v 0.35451523 0.07670728 -0.34267309
+v 0.32745751 -0.10965773 -0.32595345
+v 0.27258746 -0.07953092 -0.38513284
+v 0.28557822 -0.04313924 -0.39722164
+v 0.30024337 -0.01488014 -0.39864593
+v 0.23022354 -0.07415325 -0.40409055
+v 0.34090046 0.05543773 -0.36899149
+v 0.37626837 0.06731705 -0.32122676
+v 0.38272818 0.02200923 -0.32943583
+v 0.22808507 0.08277790 -0.42151653
+v 0.35360781 0.09233260 -0.32967149
+v 0.24051885 0.02979742 -0.42870068
+v 0.35423308 0.05369206 -0.35628985
+v 0.22765009 0.04015096 -0.43492527
+f 6 1 3
+f 6 3 4
+f 7 1 2
+f 7 3 1
+f 9 6 4
+f 11 6 9
+f 14 2 1
+f 16 11 9
+f 16 5 11
+f 16 9 13
+f 19 10 8
+f 20 13 9
+f 20 9 4
+f 21 13 20
+f 22 14 10
+f 22 2 14
+f 22 10 19
+f 23 17 11
+f 24 8 10
+f 24 10 14
+f 24 14 23
+f 25 11 5
+f 25 5 15
+f 26 15 5
+f 28 16 13
+f 28 13 21
+f 29 1 6
+f 29 6 11
+f 29 11 17
+f 29 23 1
+f 29 17 23
+f 30 7 2
+f 31 28 12
+f 32 20 4
+f 32 4 3
+f 32 21 20
+f 33 21 32
+f 34 23 14
+f 34 14 1
+f 34 1 23
+f 35 24 23
+f 35 23 11
+f 35 8 24
+f 36 15 26
+f 36 27 15
+f 36 35 27
+f 36 8 35
+f 37 19 8
+f 37 36 26
+f 37 8 36
+f 37 31 12
+f 37 12 19
+f 38 25 15
+f 38 15 27
+f 38 11 25
+f 38 35 11
+f 38 27 35
+f 39 28 21
+f 39 12 28
+f 39 21 33
+f 40 30 18
+f 40 18 7
+f 40 7 30
+f 41 30 2
+f 41 2 22
+f 41 22 19
+f 41 19 12
+f 41 18 30
+f 42 16 28
+f 43 32 3
+f 43 3 7
+f 43 33 32
+f 43 7 18
+f 43 18 33
+f 44 37 26
+f 44 26 5
+f 44 31 37
+f 45 39 33
+f 45 33 18
+f 45 18 41
+f 45 41 12
+f 45 12 39
+f 46 5 16
+f 46 16 42
+f 46 44 5
+f 46 31 44
+f 46 42 28
+f 46 28 31
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_4/collision/model_normalized_collision_26.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_4/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..921304cbbfbc8e9f375843c05f135c8425f77ab6
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_4/collision/model_normalized_collision_26.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v 0.12409706 0.26694072 -0.39506716
+v 0.15716957 0.29923248 -0.35533508
+v -0.08435565 0.25419061 -0.35606060
+v -0.08483629 0.34393393 -0.35542813
+v 0.12025936 0.34598918 -0.35512151
+v -0.00546930 0.34981837 -0.34712538
+v -0.08539261 0.25282150 -0.44360379
+v 0.14455745 0.27978626 -0.37600027
+v 0.14966317 0.32442254 -0.34876208
+v -0.08983324 0.33192010 -0.37636397
+v -0.04144055 0.24765811 -0.43413385
+v 0.07765862 0.27631730 -0.41388421
+v 0.13182749 0.31703257 -0.37066922
+v 0.12235532 0.34900114 -0.34956361
+v -0.09054181 0.27554409 -0.43287049
+v 0.00702595 0.25187161 -0.42702081
+v 0.14403507 0.32012123 -0.35772273
+v 0.15047884 0.29663092 -0.36365439
+v 0.10665150 0.31715939 -0.38338548
+v 0.07766302 0.26416825 -0.41946063
+v 0.11654218 0.33235587 -0.36810241
+v 0.07792797 0.30363245 -0.39892821
+v 0.10490625 0.29130189 -0.39830010
+v 0.10626581 0.26675191 -0.40502137
+f 6 4 3
+f 8 2 3
+f 8 3 1
+f 9 6 3
+f 9 3 2
+f 10 6 5
+f 10 4 6
+f 10 3 4
+f 11 3 7
+f 13 8 1
+f 14 9 5
+f 14 5 6
+f 14 6 9
+f 15 10 5
+f 15 7 3
+f 15 3 10
+f 15 12 7
+f 16 1 3
+f 16 3 11
+f 17 13 5
+f 17 5 9
+f 17 9 2
+f 18 2 8
+f 18 8 13
+f 18 17 2
+f 18 13 17
+f 20 1 16
+f 20 7 12
+f 20 16 11
+f 20 11 7
+f 21 19 5
+f 21 5 13
+f 21 13 19
+f 22 15 5
+f 22 5 19
+f 22 12 15
+f 23 19 13
+f 23 13 1
+f 23 20 12
+f 23 22 19
+f 23 12 22
+f 24 23 1
+f 24 1 20
+f 24 20 23
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_4/collision/model_normalized_collision_27.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_4/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..76ae5867fc9fde93c774c1f97ee39cd49363e85a
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_4/collision/model_normalized_collision_27.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.00655344 -0.01853666 -0.23484848
+v 0.05242658 -0.01017590 -0.37484224
+v 0.00753185 0.40291744 -0.23444264
+v -0.20431830 0.38250465 -0.23571058
+v -0.20556777 -0.01853666 -0.35606060
+v -0.19821098 0.37120007 -0.34852406
+v -0.13770178 0.39032875 -0.23182537
+v -0.20556777 -0.01853666 -0.23484848
+v 0.01186687 0.36073255 -0.34394102
+v 0.01173211 0.39148765 -0.28931458
+v -0.16203698 0.37264434 -0.34876250
+f 1 2 3
+f 5 2 1
+f 6 5 4
+f 6 2 5
+f 7 1 3
+f 7 6 4
+f 7 3 6
+f 8 5 1
+f 8 4 5
+f 8 7 4
+f 8 1 7
+f 10 3 2
+f 10 2 9
+f 11 9 2
+f 11 2 6
+f 11 10 9
+f 11 6 3
+f 11 3 10
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_4/collision/model_normalized_collision_28.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_4/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..08dad94bba1fa087ca935baeb0eee46af94211b9
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_4/collision/model_normalized_collision_28.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.12776556 0.19358455 -0.23484848
+v 0.15239625 0.21701939 -0.40544856
+v 0.12485237 0.39836593 -0.23407586
+v 0.01301319 0.40546009 -0.23206485
+v 0.00655344 0.19358455 -0.35606060
+v 0.10640435 0.35927303 -0.34464656
+v 0.10875767 0.40394164 -0.23331694
+v 0.00655344 0.19358455 -0.23484848
+v 0.12235532 0.34900114 -0.34956361
+v 0.00606926 0.34621821 -0.35701927
+v 0.09318921 0.38782146 -0.30296885
+v 0.12159032 0.37415839 -0.31368955
+v 0.02571368 0.40401189 -0.26100054
+v 0.01302541 0.37248079 -0.32837055
+v 0.12048347 0.38641175 -0.28819180
+v 0.09268070 0.37353779 -0.32957989
+v 0.09462971 0.40212828 -0.26197897
+v 0.01430362 0.38690267 -0.30282742
+v 0.01186687 0.36073255 -0.34394102
+v 0.10753995 0.40217413 -0.24527101
+v 0.01391741 0.40351792 -0.24612770
+f 1 2 3
+f 5 2 1
+f 7 1 3
+f 7 4 1
+f 8 5 1
+f 8 1 4
+f 10 8 4
+f 10 5 8
+f 10 2 5
+f 10 9 2
+f 10 6 9
+f 12 3 2
+f 12 2 9
+f 12 9 6
+f 13 4 7
+f 15 12 11
+f 15 3 12
+f 16 12 6
+f 16 11 12
+f 17 13 7
+f 17 11 13
+f 17 15 11
+f 18 13 11
+f 18 16 14
+f 18 11 16
+f 18 14 10
+f 18 10 4
+f 19 16 6
+f 19 6 10
+f 19 10 14
+f 19 14 16
+f 20 17 7
+f 20 7 3
+f 20 3 15
+f 20 15 17
+f 21 18 4
+f 21 4 13
+f 21 13 18
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_4/collision/model_normalized_collision_29.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_4/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7bb176649727d94591b283339b9c1ce43fb57d49
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_4/collision/model_normalized_collision_29.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.26570483 -0.01073715 0.05448309
+v 0.23382617 -0.00338515 -0.35606060
+v 0.23162892 0.19268668 -0.35386193
+v 0.00926882 0.20379598 0.03189643
+v 0.03430265 -0.00536512 0.01435285
+v 0.00655344 0.19358455 -0.35606060
+v 0.22564690 0.18938578 -0.00111834
+v 0.05062123 0.00113272 -0.37332206
+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 8 3 2
+f 8 2 5
+f 8 5 6
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_4/collision/model_normalized_collision_3.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_4/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9f73e2649065cf7b8b6cc4a54dbd2922e218776c
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_4/collision/model_normalized_collision_3.obj
@@ -0,0 +1,105 @@
+# https://github.com/mikedh/trimesh
+v 0.12758176 0.12917670 -0.46180316
+v 0.14289442 0.14310626 -0.44153951
+v -0.17581205 0.13065593 -0.45952498
+v -0.21776222 0.33904143 -0.39369620
+v 0.09441561 0.26810528 -0.41127346
+v -0.08435565 0.17843304 -0.40151515
+v -0.02576435 0.18529152 -0.49079974
+v 0.00756532 0.11658813 -0.45351964
+v 0.11033852 0.19016734 -0.45289378
+v -0.25750980 0.27087382 -0.40688765
+v -0.09024417 0.31830479 -0.39226956
+v 0.12289983 0.23540732 -0.40806948
+v -0.08437919 0.11775838 -0.49233302
+v -0.14640191 0.29037515 -0.44352914
+v -0.16754168 0.12342753 -0.46471346
+v 0.13079478 0.13749089 -0.45954586
+v 0.01586474 0.20330691 -0.47754573
+v -0.24157456 0.32255565 -0.39280913
+v -0.22189630 0.17879294 -0.43383609
+v 0.07837603 0.13305178 -0.47625892
+v -0.12374476 0.33104379 -0.40478485
+v -0.19761360 0.27709506 -0.44560607
+v -0.12020108 0.30248450 -0.42973091
+v -0.04383324 0.17272162 -0.49336192
+v 0.05625880 0.17177302 -0.47895802
+v -0.12007121 0.33678847 -0.39487181
+v -0.21203029 0.33269476 -0.40304385
+v -0.17230578 0.29056776 -0.44374236
+v -0.15911899 0.23710563 -0.46138517
+v -0.22490570 0.29033711 -0.42786006
+v -0.22784804 0.26579221 -0.43465375
+v -0.23687525 0.31652012 -0.40151934
+v -0.04393271 0.17388997 -0.49336568
+v -0.21152252 0.30248936 -0.42781772
+v -0.24163024 0.26762093 -0.42359383
+v -0.23823073 0.29104126 -0.41797437
+f 8 1 2
+f 8 2 6
+f 12 6 2
+f 12 11 6
+f 12 5 11
+f 12 9 5
+f 12 2 9
+f 13 1 8
+f 15 8 6
+f 15 6 3
+f 15 13 8
+f 16 9 2
+f 16 2 1
+f 17 5 9
+f 17 7 14
+f 18 10 6
+f 18 11 4
+f 18 6 11
+f 19 3 6
+f 19 6 10
+f 19 15 3
+f 20 1 13
+f 23 17 14
+f 23 5 17
+f 23 21 5
+f 23 14 21
+f 24 20 13
+f 24 7 20
+f 25 20 7
+f 25 7 17
+f 25 17 9
+f 25 9 16
+f 25 16 1
+f 25 1 20
+f 26 11 5
+f 26 5 21
+f 26 21 4
+f 26 4 11
+f 27 4 21
+f 28 14 7
+f 28 27 21
+f 28 21 14
+f 29 13 15
+f 29 15 22
+f 31 22 15
+f 31 15 19
+f 31 30 22
+f 32 18 4
+f 32 4 27
+f 33 22 28
+f 33 29 22
+f 33 24 13
+f 33 13 29
+f 33 28 7
+f 33 7 24
+f 34 28 22
+f 34 27 28
+f 34 22 30
+f 34 32 27
+f 34 30 32
+f 35 31 19
+f 35 19 10
+f 36 32 30
+f 36 10 18
+f 36 18 32
+f 36 35 10
+f 36 30 31
+f 36 31 35
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_4/collision/model_normalized_collision_30.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_4/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..46451ccd26de4e98fad978215ad9e863fa7e46c0
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_4/collision/model_normalized_collision_30.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.12776556 0.19358455 -0.09848484
+v 0.12776556 0.19358455 -0.23484848
+v 0.15262460 0.32729913 -0.08847978
+v -0.21391393 0.31081169 -0.08952329
+v -0.20556777 0.19358455 -0.09848484
+v -0.20556777 0.29964516 -0.23484848
+v 0.14901838 0.32185606 -0.07886058
+v 0.12776556 0.29964516 -0.23484848
+v -0.20556777 0.19358455 -0.23484848
+f 1 2 3
+f 5 2 1
+f 6 4 3
+f 7 1 3
+f 7 3 4
+f 7 5 1
+f 7 4 5
+f 8 6 3
+f 8 3 2
+f 8 2 6
+f 9 5 4
+f 9 4 6
+f 9 6 2
+f 9 2 5
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_4/collision/model_normalized_collision_31.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_4/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f94a34099d67504c3672ad7445ea33f3d6b91a04
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_4/collision/model_normalized_collision_31.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.00733728 -0.03195169 -0.00289867
+v 0.00655344 -0.01853666 -0.23484848
+v 0.00926882 0.20379598 0.03189643
+v -0.20193668 0.19033382 0.00101629
+v -0.20556777 -0.01853666 -0.23484848
+v 0.00655344 0.19358455 -0.23484848
+v -0.20743028 -0.02149994 0.01913980
+v -0.20556777 0.19358455 -0.23484848
+f 1 2 3
+f 5 2 1
+f 6 3 2
+f 6 2 5
+f 7 1 3
+f 7 3 4
+f 7 5 1
+f 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/Assets/robocasa/data/objects/objaverse/garlic/garlic_4/collision/model_normalized_collision_4.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_4/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..26b4df91ff70e10a6703872ed121b979a5ee67be
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_4/collision/model_normalized_collision_4.obj
@@ -0,0 +1,132 @@
+# https://github.com/mikedh/trimesh
+v -0.20396603 -0.12468735 0.48104775
+v -0.05493519 -0.06057709 0.18818553
+v -0.04037735 0.02257128 0.19684869
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+v -0.12532523 -0.10129730 0.07105676
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+v -0.22107261 -0.01668555 0.23030259
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+v -0.30422206 -0.01866572 0.44515062
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+v -0.06383708 -0.00299592 0.25178119
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\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_4/collision/model_normalized_collision_5.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_4/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..08cbf87a2b98487a71e7afbfd7f4b0502fdfe4bb
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_4/collision/model_normalized_collision_5.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
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+v 0.22430625 0.23405720 -0.34706177
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+v 0.26189845 0.27185075 -0.15946676
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+v 0.22955496 0.09678645 0.04408225
+v 0.28341976 -0.15534668 -0.08530430
+v 0.41203962 -0.07258120 -0.17654507
+v 0.34458743 -0.15375633 -0.13873761
+v 0.38279302 -0.08686421 -0.09314121
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\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_4/collision/model_normalized_collision_6.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_4/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f71e589f3bb32017bfe2b124746a3eff427a3ee5
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_4/collision/model_normalized_collision_6.obj
@@ -0,0 +1,108 @@
+# https://github.com/mikedh/trimesh
+v 0.00529117 -0.37803223 -0.32334511
+v 0.05207670 -0.22901861 -0.33589736
+v -0.19041625 -0.23065787 -0.32575757
+v -0.19041625 -0.13974878 -0.35606060
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+v 0.03840397 -0.13572883 -0.36320878
+v -0.15048817 -0.34037936 -0.31854582
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\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_4/collision/model_normalized_collision_7.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_4/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f1eb60e9f0dc9f1e27ec1203c2a6b7c6071392a8
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_4/collision/model_normalized_collision_7.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
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+v -0.18806913 -0.24883133 -0.40146153
+v -0.18823842 -0.19755603 -0.01406145
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+f 58 42 48
+f 59 36 7
+f 59 7 44
+f 59 44 28
+f 59 28 36
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+f 62 49 34
+f 62 34 54
+f 63 50 33
+f 63 5 50
+f 63 33 62
+f 63 62 12
+f 63 12 51
+f 63 58 5
+f 63 51 58
+f 64 50 19
+f 64 19 49
+f 64 49 50
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_4/collision/model_normalized_collision_8.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_4/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8c478091f026824063425736c9855fbfcaa08a73
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_4/collision/model_normalized_collision_8.obj
@@ -0,0 +1,186 @@
+# https://github.com/mikedh/trimesh
+v -0.18823842 -0.19755603 -0.01406145
+v -0.19190041 -0.19273954 -0.43527379
+v -0.18935019 -0.01877959 -0.46008744
+v -0.32928351 -0.01259825 -0.05237703
+v -0.38785951 -0.19499777 -0.23575616
+v -0.19218138 -0.02063384 0.02164436
+v -0.18499742 -0.05061587 -0.46371684
+v -0.32743895 -0.23123424 -0.35666308
+v -0.32548527 -0.19233419 -0.08098636
+v -0.38911675 -0.01179689 -0.30383870
+v -0.27357321 -0.01456803 -0.00200867
+v -0.18968728 -0.15113719 -0.45055749
+v -0.18783588 -0.18027398 -0.00781961
+v -0.19041625 -0.20035484 -0.23484848
+v -0.32738861 -0.08207202 -0.40068760
+v -0.38462360 -0.01574540 -0.13607779
+v -0.36615366 -0.19459862 -0.15211485
+v -0.21573895 -0.01701093 -0.44731209
+v -0.38204553 -0.13597113 -0.33314217
+v -0.29570001 -0.16721653 -0.03825837
+v -0.27242232 -0.16596078 -0.42810378
+v -0.26927424 -0.18833343 -0.02160680
+v -0.28538215 -0.07227359 -0.42718429
+v -0.35433135 -0.16500820 -0.10923345
+v -0.40463486 -0.01296002 -0.24816511
+v -0.38426816 -0.19425900 -0.20911706
+v -0.35379331 -0.19309528 -0.12427092
+v -0.32652332 -0.01784296 -0.38609685
+v -0.38485689 -0.17911289 -0.30213783
+v -0.35558451 -0.09889083 -0.37493239
+v -0.31295454 -0.01394290 -0.03654076
+v -0.21829329 -0.18194733 -0.43834446
+v -0.20066895 -0.10759158 -0.45844744
+v -0.28737736 -0.12384552 -0.42840058
+v -0.36994287 -0.01580561 -0.10761321
+v -0.30997303 -0.16603628 -0.05294530
+v -0.38271380 -0.16374264 -0.16497363
+v -0.38320022 -0.11296655 -0.33213732
+v -0.34352007 -0.01535909 -0.37053380
+v -0.28513279 -0.01974622 -0.41440198
+v -0.37045836 -0.16483571 -0.34479719
+v -0.33525573 -0.22630653 -0.35174524
+v -0.40129934 -0.12573498 -0.26393950
+v -0.32163349 -0.22597452 -0.36722381
+v -0.18785624 -0.10596063 -0.46119710
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+v -0.32870526 -0.15113041 -0.39842305
+v -0.36983639 -0.10647673 -0.12496096
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+v -0.34188200 -0.20701835 -0.35908842
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+v -0.24447590 -0.13739717 -0.44317390
+v -0.30114955 -0.16432040 -0.41417297
+v -0.40008282 -0.14768455 -0.22158175
+v -0.34186202 -0.18923253 -0.37249307
+v -0.32409430 -0.19452365 -0.38645797
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+f 18 10 4
+f 18 11 3
+f 18 4 11
+f 22 13 6
+f 22 6 11
+f 22 11 20
+f 22 1 13
+f 22 20 9
+f 22 9 1
+f 23 3 7
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+f 25 16 4
+f 25 4 10
+f 26 5 8
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+f 34 15 23
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+f 44 32 2
+f 44 2 8
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+f 53 43 19
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+f 54 19 30
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+f 56 29 5
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+f 56 43 53
+f 57 32 44
+f 57 46 32
+f 58 44 8
+f 58 8 42
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+f 60 47 34
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+f 61 37 50
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+f 61 56 5
+f 61 5 26
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+f 62 41 54
+f 62 54 47
+f 62 58 55
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+f 63 57 44
+f 63 44 58
+f 63 58 62
+f 63 62 47
+f 63 47 60
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_4/collision/model_normalized_collision_9.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_4/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2612d9b5d1704896c18abb056032f8359200a365
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_4/collision/model_normalized_collision_9.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.20743028 -0.02149994 0.01913980
+v -0.20050645 -0.01991422 -0.45397572
+v -0.19534779 0.24741720 -0.01974903
+v -0.20431830 0.38250465 -0.23571058
+v -0.41501579 0.11229459 -0.24651155
+v -0.20060743 0.26539233 -0.44825335
+v -0.40035062 -0.01374470 -0.17877567
+v -0.27842739 0.31656679 -0.15442398
+v -0.19656129 0.33555011 -0.10454496
+v -0.27860430 0.32944919 -0.33411695
+v -0.33107442 0.09774135 -0.39800807
+v -0.28513279 -0.01974622 -0.41440198
+v -0.35487552 0.12606956 -0.06833957
+v -0.20188828 0.37493670 -0.33574494
+v -0.25343188 0.27271999 -0.08406635
+v -0.25585852 0.35658019 -0.19502754
+v -0.27306092 0.09850438 -0.42873829
+v -0.26538166 0.29137646 -0.38902957
+v -0.38462360 -0.01574540 -0.13607779
+v -0.38388354 0.00550364 -0.33035455
+v -0.28811215 0.12423897 -0.01174077
+v -0.41547509 0.06925003 -0.16459761
+v -0.19882567 0.36267513 -0.16313390
+v -0.24384162 0.31233569 -0.11390546
+v -0.35605643 0.15147940 -0.08378760
+v -0.24320266 0.37181783 -0.29323698
+v -0.29598410 0.33004886 -0.23366848
+v -0.21191434 0.26637653 -0.44350904
+v -0.22738134 0.11210455 -0.44397639
+v -0.27450439 0.03116602 -0.42871312
+v -0.21434253 0.34378765 -0.39010259
+v -0.38545943 0.12176498 -0.32894133
+v -0.32652332 -0.01784296 -0.38609685
+v -0.31348746 0.01879455 -0.02342932
+v -0.41376606 0.01616830 -0.24749225
+v -0.19934428 0.20289662 -0.00377291
+v -0.39961042 0.04675566 -0.12102986
+v -0.23150724 0.35657309 -0.16870459
+v -0.27886504 0.28851461 -0.12514703
+v -0.32603973 0.15497802 -0.05396913
+v -0.39967495 0.11339358 -0.13581594
+v -0.24328083 0.37246299 -0.23675836
+v -0.22814568 0.37209368 -0.32086371
+v -0.39839469 0.15326078 -0.26221814
+v -0.28215712 0.32976847 -0.18220477
+v -0.28140322 0.34483406 -0.27713150
+v -0.30046337 0.10991093 -0.41310408
+v -0.25147950 0.26252318 -0.41574470
+v -0.26312704 0.31846918 -0.37364231
+v -0.20250895 0.34631182 -0.39273229
+v -0.37041704 0.11097164 -0.35632601
+v -0.41411688 0.08387947 -0.28906081
+v -0.40013657 -0.00976276 -0.27448910
+v -0.37009443 0.01657721 -0.35684580
+v -0.32970798 0.03210629 -0.39842204
+v -0.28100320 -0.01514203 -0.00869249
+v -0.29949539 0.08439440 -0.01027811
+v -0.41436158 0.03220321 -0.17784170
+v -0.39766325 0.01915246 -0.13646373
+v -0.34187417 -0.01092910 -0.06500737
+v -0.37058562 0.03467365 -0.07977438
+v -0.25398883 0.32804017 -0.14107705
+v -0.35615125 0.19401780 -0.12542509
+v -0.34230236 0.12577748 -0.05561320
+f 1 2 3
+f 6 3 2
+f 9 3 6
+f 12 2 1
+f 14 9 6
+f 19 12 1
+f 23 14 4
+f 23 9 14
+f 24 15 3
+f 24 3 9
+f 28 6 17
+f 29 17 6
+f 29 6 2
+f 29 2 17
+f 30 11 17
+f 30 17 2
+f 30 2 12
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+f 38 9 23
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+f 64 40 13
+f 64 21 40
+f 64 57 21
+f 64 13 57
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_4/model.xml b/Assets/robocasa/data/objects/objaverse/garlic/garlic_4/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..47b316d6cb72794a1154a9409c3e6a4786bc5ef5
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_4/model.xml
@@ -0,0 +1,55 @@
+<mujoco model="garlic_2">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="material.004" texture="image0" specular="0.5" shininess="0.0"/>
+    <mesh file="collision/collision_mesh_collision_0.obj" name="garlic_collision_mesh_0" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/collision_mesh_collision_1.obj" name="garlic_collision_mesh_1" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/collision_mesh_collision_2.obj" name="garlic_collision_mesh_2" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/collision_mesh_collision_3.obj" name="garlic_collision_mesh_3" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/collision_mesh_collision_4.obj" name="garlic_collision_mesh_4" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/collision_mesh_collision_5.obj" name="garlic_collision_mesh_5" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/collision_mesh_collision_6.obj" name="garlic_collision_mesh_6" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/collision_mesh_collision_7.obj" name="garlic_collision_mesh_7" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/collision_mesh_collision_8.obj" name="garlic_collision_mesh_8" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/collision_mesh_collision_9.obj" name="garlic_collision_mesh_9" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/collision_mesh_collision_10.obj" name="garlic_collision_mesh_10" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/collision_mesh_collision_11.obj" name="garlic_collision_mesh_11" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/collision_mesh_collision_12.obj" name="garlic_collision_mesh_12" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/collision_mesh_collision_13.obj" name="garlic_collision_mesh_13" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/collision_mesh_collision_14.obj" name="garlic_collision_mesh_14" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/collision_mesh_collision_15.obj" name="garlic_collision_mesh_15" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+  </asset>
+  <default>
+    <default class="region">
+      <geom group="1" conaffinity="0" contype="0" rgba="0 1 0 0"/>
+    </default>
+    <default class="collision">
+      <geom group="0" rgba="0.5 0 0 0.5" density="1000.0"/>
+    </default>
+  </default>
+  <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 class="region" name="reg_bbox" type="box" pos="-9.733499999986517e-07 -1.0499999994473264e-09 1.0261999999999771e-06" size="0.029767557050000004 0.028929720750000006 0.034997991000000006"/>
+        <geom mesh="garlic_collision_mesh_0" type="mesh" class="collision"/>
+        <geom mesh="garlic_collision_mesh_1" type="mesh" class="collision"/>
+        <geom mesh="garlic_collision_mesh_2" type="mesh" class="collision"/>
+        <geom mesh="garlic_collision_mesh_3" type="mesh" class="collision"/>
+        <geom mesh="garlic_collision_mesh_4" type="mesh" class="collision"/>
+        <geom mesh="garlic_collision_mesh_5" type="mesh" class="collision"/>
+        <geom mesh="garlic_collision_mesh_6" type="mesh" class="collision"/>
+        <geom mesh="garlic_collision_mesh_7" type="mesh" class="collision"/>
+        <geom mesh="garlic_collision_mesh_8" type="mesh" class="collision"/>
+        <geom mesh="garlic_collision_mesh_9" type="mesh" class="collision"/>
+        <geom mesh="garlic_collision_mesh_10" type="mesh" class="collision"/>
+        <geom mesh="garlic_collision_mesh_11" type="mesh" class="collision"/>
+        <geom mesh="garlic_collision_mesh_12" type="mesh" class="collision"/>
+        <geom mesh="garlic_collision_mesh_13" type="mesh" class="collision"/>
+        <geom mesh="garlic_collision_mesh_14" type="mesh" class="collision"/>
+        <geom mesh="garlic_collision_mesh_15" type="mesh" class="collision"/>
+      </body>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_4/visual/material.mtl b/Assets/robocasa/data/objects/objaverse/garlic/garlic_4/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f68742fe8420aadeab267568817d347d5678c9d5
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_4/visual/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 0.00000000
+map_Kd material_0.jpeg
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_5/collision/collision_mesh_collision_0.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_5/collision/collision_mesh_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b0d1946527b72d7ce7c6e45579d1c8adf046026
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_5/collision/collision_mesh_collision_0.obj
@@ -0,0 +1,7951 @@
+# https://github.com/mikedh/trimesh
+v -0.32053643 0.03768460 0.19364943
+v -0.32826740 0.03497373 0.18888102
+v -0.32803258 0.02493615 0.18882863
+v -0.32053643 0.02808663 0.19328262
+v -0.32053643 0.04823504 0.19359703
+v -0.33500493 0.03497373 0.18447943
+v -0.34098381 0.02493615 0.18060182
+v -0.33500493 0.02493615 0.18442701
+v -0.32310137 0.04493804 0.19202502
+v -0.34055030 0.01753619 0.18033980
+v -0.32703912 0.01497184 0.18830462
+v -0.32302913 0.02493615 0.19171061
+v -0.32053643 0.02493615 0.19312541
+v -0.32053643 0.05497561 0.19323023
+v -0.32810485 0.04493804 0.18867142
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diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_5/collision/collision_mesh_collision_1.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_5/collision/collision_mesh_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..144f462e30c5aa20d39b08ffe67019bf592dda74
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_5/collision/collision_mesh_collision_1.obj
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diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_5/collision/collision_mesh_collision_10.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_5/collision/collision_mesh_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b5e02d86cb063e6e5af1f72503e949774e1d9949
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_5/collision/collision_mesh_collision_10.obj
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diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_5/collision/collision_mesh_collision_11.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_5/collision/collision_mesh_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e5e1729237318d67e80101ff228c49b6983eed9f
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_5/collision/collision_mesh_collision_11.obj
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diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_5/collision/collision_mesh_collision_12.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_5/collision/collision_mesh_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2bf69a11f715a07d8db7611548aa058a029c1279
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_5/collision/collision_mesh_collision_12.obj
@@ -0,0 +1,1564 @@
+# https://github.com/mikedh/trimesh
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+v -0.05322183 0.06407513 0.38415408
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diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_5/collision/collision_mesh_collision_13.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_5/collision/collision_mesh_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ee132a24381b974828403c7c7253c0b124782bb
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_5/collision/collision_mesh_collision_13.obj
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diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_5/collision/collision_mesh_collision_14.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_5/collision/collision_mesh_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4fc5777e24bf1c5693a97f5eea5074fcb52cbcef
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_5/collision/collision_mesh_collision_14.obj
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diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_5/collision/collision_mesh_collision_2.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_5/collision/collision_mesh_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a059b0fd9dc180384a6fb92943aecc29709abeeb
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_5/collision/collision_mesh_collision_2.obj
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diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_5/collision/collision_mesh_collision_3.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_5/collision/collision_mesh_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa86b8b0dc514237bb60bcfbfcf683cd402007b2
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_5/collision/collision_mesh_collision_3.obj
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diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_5/collision/collision_mesh_collision_4.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_5/collision/collision_mesh_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d325d87a68274dee24c319f8e236232ff46bf8d2
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_5/collision/collision_mesh_collision_4.obj
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diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_5/collision/collision_mesh_collision_5.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_5/collision/collision_mesh_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e50b39844608821cba1e2538c866ca38882a4dc3
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_5/collision/collision_mesh_collision_5.obj
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diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_5/collision/collision_mesh_collision_6.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_5/collision/collision_mesh_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a73ff2b6ba9774c584004a8ede0f89d64cb9d88
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_5/collision/collision_mesh_collision_6.obj
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diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_5/collision/collision_mesh_collision_7.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_5/collision/collision_mesh_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5146e26333fddeffc3eff3f9ff66bcf8525341cd
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_5/collision/collision_mesh_collision_7.obj
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diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_5/collision/collision_mesh_collision_8.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_5/collision/collision_mesh_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b7e2b28c47ebaba76a721de31f7adb8279e0601c
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_5/collision/collision_mesh_collision_8.obj
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diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_5/collision/collision_mesh_collision_9.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_5/collision/collision_mesh_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..703fa961050d659326c1d949386e0db55380f578
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_5/collision/collision_mesh_collision_9.obj
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diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_5/collision/model_normalized_collision_0.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_5/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c6d0c664551ee250353121c614eddb1c79bb4a0a
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_5/collision/model_normalized_collision_0.obj
@@ -0,0 +1,117 @@
+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_5/collision/model_normalized_collision_1.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_5/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ab5699f55b9a85645d109b2d07bcb32b55ad48f
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_5/collision/model_normalized_collision_1.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
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+f 24 15 5
+f 24 5 9
+f 25 15 6
+f 26 17 2
+f 26 2 10
+f 26 11 17
+f 26 10 18
+f 26 7 11
+f 29 20 28
+f 32 23 14
+f 32 14 3
+f 35 27 15
+f 35 16 18
+f 35 18 27
+f 36 25 6
+f 37 22 7
+f 38 27 18
+f 38 18 10
+f 38 10 15
+f 38 15 27
+f 39 28 12
+f 39 12 8
+f 39 29 28
+f 40 28 20
+f 40 4 12
+f 40 12 28
+f 41 8 14
+f 41 39 8
+f 41 29 39
+f 42 9 4
+f 44 13 36
+f 46 32 3
+f 46 23 32
+f 47 6 34
+f 47 45 21
+f 48 34 6
+f 48 6 24
+f 48 47 34
+f 48 45 47
+f 49 35 15
+f 49 15 25
+f 49 25 35
+f 50 16 35
+f 51 36 13
+f 51 13 25
+f 51 25 36
+f 52 36 6
+f 52 47 21
+f 52 6 47
+f 53 37 7
+f 53 7 26
+f 53 26 18
+f 54 31 37
+f 54 50 31
+f 54 16 50
+f 54 18 16
+f 54 53 18
+f 54 37 53
+f 55 37 31
+f 55 3 22
+f 55 22 37
+f 55 46 3
+f 55 31 46
+f 56 40 20
+f 56 4 40
+f 57 41 14
+f 57 14 23
+f 57 23 33
+f 57 29 41
+f 58 42 4
+f 58 30 42
+f 58 4 56
+f 58 43 30
+f 58 56 20
+f 58 20 43
+f 59 43 20
+f 59 57 33
+f 59 20 29
+f 59 29 57
+f 60 44 36
+f 60 52 21
+f 60 36 52
+f 61 30 43
+f 61 33 13
+f 61 13 44
+f 61 59 33
+f 61 43 59
+f 61 44 60
+f 62 45 42
+f 62 42 30
+f 62 61 60
+f 62 30 61
+f 62 60 21
+f 62 21 45
+f 63 24 9
+f 63 9 42
+f 63 42 45
+f 63 48 24
+f 63 45 48
+f 64 33 23
+f 64 23 46
+f 64 13 33
+f 64 46 31
+f 64 31 50
+f 64 25 13
+f 64 50 35
+f 64 35 25
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_5/collision/model_normalized_collision_10.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_5/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7e465379bca46b174a29ea34898672498eed189d
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_5/collision/model_normalized_collision_10.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.12302512 -0.49177936 -0.02987056
+v 0.34368402 -0.28984660 -0.14497464
+v 0.32116263 -0.30116062 0.03957744
+v -0.21969697 -0.28181928 0.01859863
+v -0.19770041 -0.32169130 -0.29536651
+v 0.34136793 -0.29297571 0.00008451
+v -0.21080975 -0.44981905 0.01199724
+v 0.13772950 -0.40549710 -0.26520878
+v -0.15591558 -0.27900535 -0.31482023
+v 0.26865019 -0.27675948 -0.25435286
+v 0.24021016 -0.44591153 -0.04256343
+v 0.14182576 -0.47424729 0.01143746
+v -0.21753089 -0.28137882 -0.29426435
+v -0.16995016 -0.47398004 -0.17126009
+v -0.15702360 -0.35031148 -0.29642124
+v 0.26342502 -0.39004767 -0.19420186
+v 0.14001639 -0.27957563 -0.31483088
+v 0.30872808 -0.37616923 -0.03020339
+v -0.13983679 -0.47599462 -0.00264717
+v 0.23914241 -0.43118893 0.01192917
+v 0.18107607 -0.47633616 -0.04420521
+v -0.21108271 -0.46272823 -0.01693374
+v -0.19943888 -0.28022571 -0.30076417
+v -0.20984648 -0.46183897 -0.16998655
+v 0.12702273 -0.47490225 -0.18493900
+v -0.15587848 -0.29359001 -0.31207236
+v -0.14404263 -0.44800129 -0.22668110
+v 0.31453097 -0.29098136 -0.20041750
+v 0.23640881 -0.37463498 -0.23653291
+v 0.12520798 -0.35074707 -0.29624451
+v 0.33758758 -0.31911961 -0.03065870
+v 0.31146187 -0.34831457 0.01292232
+v 0.30667207 -0.37619798 -0.11472225
+v -0.18429770 -0.45846152 0.01008637
+v 0.08544425 -0.47581547 0.00931762
+v -0.12799759 -0.49314091 -0.10155051
+v 0.18271806 -0.46016576 0.01156822
+v 0.25007093 -0.43289825 -0.01605415
+v 0.16753465 -0.47553703 -0.01747032
+v -0.21313112 -0.34870670 -0.28086218
+v 0.13720937 -0.48978346 -0.12896638
+v -0.18337750 -0.33800186 -0.29510385
+v 0.12696631 -0.30695373 -0.31199089
+v -0.14279747 -0.40540765 -0.26681645
+v -0.19764825 -0.45950265 -0.18557889
+v 0.06966270 -0.47489668 -0.18568213
+v 0.12405894 -0.46019211 -0.21177293
+v 0.29311083 -0.36197584 -0.18502913
+v 0.26464774 -0.33579076 -0.23737259
+v 0.16848173 -0.36519597 -0.28204227
+v 0.33079687 -0.29938899 0.02093878
+v 0.29791063 -0.37212722 0.01109799
+v 0.32292128 -0.34824913 -0.01745257
+v 0.33665283 -0.31894060 -0.11452067
+v 0.22266997 -0.44576968 -0.15913575
+v -0.12788728 -0.49313849 -0.08860601
+v -0.19795190 -0.47454555 -0.14347231
+v 0.19263649 -0.46049408 -0.00241223
+v 0.14048291 -0.49022791 -0.04558428
+v 0.07081153 -0.49263217 -0.13113708
+v -0.14086704 -0.30742327 -0.31139723
+v 0.13995658 -0.37755762 -0.28187261
+v 0.13976144 -0.44610451 -0.22573317
+v 0.07044691 -0.46012465 -0.21232132
+f 6 4 3
+f 7 3 4
+f 10 6 2
+f 10 4 6
+f 10 9 4
+f 12 3 7
+f 17 9 10
+f 22 7 4
+f 22 4 13
+f 23 9 5
+f 23 5 13
+f 23 13 4
+f 23 4 9
+f 24 22 13
+f 26 5 9
+f 28 10 2
+f 31 2 6
+f 33 18 11
+f 34 12 7
+f 34 22 19
+f 34 7 22
+f 35 19 1
+f 35 1 12
+f 35 34 19
+f 35 12 34
+f 37 20 3
+f 37 3 12
+f 38 20 11
+f 38 11 18
+f 39 12 1
+f 39 37 12
+f 40 24 13
+f 40 13 5
+f 42 5 26
+f 42 40 5
+f 42 15 40
+f 43 9 17
+f 43 30 15
+f 44 8 27
+f 44 40 15
+f 44 27 40
+f 45 27 14
+f 45 14 24
+f 45 40 27
+f 45 24 40
+f 46 14 27
+f 47 25 46
+f 48 28 2
+f 48 16 29
+f 48 33 16
+f 48 2 33
+f 49 10 28
+f 49 48 29
+f 49 28 48
+f 50 29 8
+f 50 30 43
+f 50 49 29
+f 50 43 17
+f 50 17 10
+f 50 10 49
+f 51 6 3
+f 51 3 32
+f 52 38 18
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+f 52 32 3
+f 52 3 20
+f 53 31 6
+f 53 51 32
+f 53 6 51
+f 53 18 31
+f 53 52 18
+f 53 32 52
+f 54 31 18
+f 54 18 33
+f 54 33 2
+f 54 2 31
+f 55 33 11
+f 55 16 33
+f 55 11 21
+f 55 21 41
+f 55 41 25
+f 55 29 16
+f 56 1 19
+f 56 19 22
+f 57 24 14
+f 57 14 36
+f 57 22 24
+f 57 56 22
+f 57 36 56
+f 58 21 11
+f 58 11 20
+f 58 20 37
+f 58 39 21
+f 58 37 39
+f 59 39 1
+f 59 21 39
+f 59 41 21
+f 59 1 41
+f 60 41 1
+f 60 36 14
+f 60 14 46
+f 60 46 25
+f 60 25 41
+f 60 56 36
+f 60 1 56
+f 61 42 26
+f 61 15 42
+f 61 43 15
+f 61 26 9
+f 61 9 43
+f 62 8 44
+f 62 50 8
+f 62 30 50
+f 62 44 15
+f 62 15 30
+f 63 47 27
+f 63 27 8
+f 63 8 29
+f 63 29 55
+f 63 55 25
+f 63 25 47
+f 64 47 46
+f 64 46 27
+f 64 27 47
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_5/collision/model_normalized_collision_11.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_5/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc9fac31112be721c11dacfe79d5ead88db82953
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_5/collision/model_normalized_collision_11.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.26515152 -0.02424352 0.00344711
+v 0.26515152 -0.02424352 -0.19352259
+v 0.26515152 0.23333224 -0.19352259
+v -0.23484848 0.23333224 0.01859863
+v -0.23484848 -0.02424352 -0.19352259
+v 0.26515152 0.23333224 0.00344711
+v -0.23484848 -0.02424352 0.01859863
+v -0.23484848 0.23333224 -0.19352259
+v 0.00757576 -0.02424352 0.01859863
+v 0.00757576 0.23333224 0.01859863
+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 4 5
+f 8 5 4
+f 8 4 3
+f 8 3 5
+f 9 1 6
+f 9 7 1
+f 9 4 7
+f 10 9 6
+f 10 6 4
+f 10 4 9
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_5/collision/model_normalized_collision_12.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_5/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..49eb7ef9caac67e0096e9eba9f2787db8e596e2f
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_5/collision/model_normalized_collision_12.obj
@@ -0,0 +1,114 @@
+# https://github.com/mikedh/trimesh
+v 0.09755017 -0.03917366 0.38180761
+v 0.22267184 0.12926390 0.21871535
+v 0.10414646 0.16584321 0.35400328
+v -0.00828741 0.23502661 0.24231565
+v -0.16380408 -0.02439485 0.26719298
+v 0.19895663 0.19968681 0.20805793
+v 0.11640155 0.10325783 0.38004669
+v 0.14393940 -0.02424352 0.21556833
+v -0.02578966 0.08882239 0.39757118
+v 0.09218963 0.17274775 0.34613450
+v 0.11262380 -0.00114929 0.38021202
+v 0.11587940 0.14961451 0.35464481
+v 0.12988430 -0.02119095 0.34245780
+v 0.00757576 -0.02424352 0.21556833
+v 0.21233135 0.18231583 0.20525473
+v -0.14032786 0.18410652 0.22365794
+v 0.09395963 0.10059949 0.39630798
+v 0.00535685 -0.01991547 0.39667620
+v 0.11811645 0.17286224 0.32982711
+v 0.03148427 0.15703660 0.37311741
+v 0.10171169 0.14752176 0.36620500
+v 0.12711598 -0.00183772 0.35531593
+v -0.05293948 0.08523516 0.37167429
+v -0.12508294 0.19813466 0.22292910
+v 0.10182442 0.02455241 0.39597536
+v -0.02343858 0.04044181 0.39820406
+v 0.00536216 0.11665959 0.39499596
+v 0.09289905 0.13310766 0.38028742
+v -0.13273544 0.11943350 0.25887123
+v 0.00279646 0.12990785 0.38312989
+v 0.10269590 0.09071361 0.39414143
+v 0.09008814 -0.02431621 0.40045524
+v 0.00240202 0.07465711 0.40994036
+v 0.02752328 0.14754910 0.37962842
+v 0.00198923 0.11490219 0.39482212
+v 0.09073755 -0.03392145 0.39227642
+v -0.00591831 0.05792428 0.41085739
+v 0.05730755 0.14136812 0.38010791
+v -0.00394078 0.07682732 0.40917604
+f 11 2 7
+f 12 6 3
+f 13 8 2
+f 13 1 8
+f 13 11 1
+f 14 8 1
+f 14 1 5
+f 15 2 8
+f 15 6 12
+f 15 12 7
+f 15 7 2
+f 15 8 14
+f 16 14 5
+f 16 15 14
+f 18 5 1
+f 19 10 3
+f 19 3 6
+f 19 6 4
+f 19 4 10
+f 20 3 10
+f 20 10 4
+f 21 12 3
+f 21 7 12
+f 22 13 2
+f 22 2 11
+f 22 11 13
+f 23 5 9
+f 23 9 16
+f 24 4 6
+f 24 6 15
+f 24 15 16
+f 24 20 4
+f 25 11 7
+f 26 9 5
+f 26 5 18
+f 28 17 7
+f 28 7 21
+f 28 21 3
+f 28 3 20
+f 29 23 16
+f 29 16 5
+f 29 5 23
+f 30 24 16
+f 30 16 9
+f 30 20 24
+f 31 25 7
+f 31 7 17
+f 32 1 11
+f 32 11 25
+f 32 31 17
+f 32 25 31
+f 33 17 27
+f 33 32 17
+f 34 27 17
+f 34 30 27
+f 34 20 30
+f 35 30 9
+f 35 27 30
+f 36 32 18
+f 36 18 1
+f 36 1 32
+f 37 9 26
+f 37 26 18
+f 37 18 32
+f 37 32 33
+f 38 28 20
+f 38 20 34
+f 38 34 17
+f 38 17 28
+f 39 33 27
+f 39 27 35
+f 39 35 9
+f 39 37 33
+f 39 9 37
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_5/collision/model_normalized_collision_13.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_5/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..140e4310b5bffc92443f394a3dfcff79607feb94
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_5/collision/model_normalized_collision_13.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.23484849 0.23333224 0.00344711
+v 0.23303831 0.23245379 -0.35277225
+v 0.23981430 0.37636041 0.01691306
+v 0.00757576 0.35454436 0.00344711
+v 0.00757576 0.23333224 0.00344711
+v 0.07929424 0.35194033 -0.35102580
+v 0.20239835 0.23214718 -0.35947277
+v 0.23166829 0.34635314 -0.30447096
+v 0.00757576 0.35454436 -0.26928016
+v 0.23122288 0.28712052 -0.34031268
+v 0.00757576 0.23333224 -0.26928016
+v 0.20329547 0.24483378 -0.35710070
+v 0.23126350 0.31393945 -0.32697292
+v 0.08172086 0.23293274 -0.36422923
+v 0.07903811 0.27804758 -0.36088020
+f 1 2 3
+f 5 1 3
+f 5 3 4
+f 7 2 1
+f 7 1 5
+f 8 6 3
+f 8 3 2
+f 9 4 3
+f 9 3 6
+f 9 5 4
+f 11 7 5
+f 11 5 9
+f 12 7 6
+f 12 6 10
+f 12 10 2
+f 12 2 7
+f 13 8 2
+f 13 2 10
+f 13 10 6
+f 13 6 8
+f 14 7 11
+f 15 14 11
+f 15 11 9
+f 15 9 6
+f 15 6 7
+f 15 7 14
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_5/collision/model_normalized_collision_14.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_5/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..19202266c4b2cd188d2bda0e9d55db2e1a84ccb8
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_5/collision/model_normalized_collision_14.obj
@@ -0,0 +1,150 @@
+# https://github.com/mikedh/trimesh
+v 0.43404892 -0.02570539 0.08412601
+v 0.48121732 -0.02560728 -0.00091584
+v 0.33026358 0.34458849 -0.00364095
+v 0.00916694 0.45394539 -0.00072483
+v 0.00757576 -0.02424352 0.00344711
+v -0.00828741 0.23502661 0.24231565
+v 0.45849222 0.04338829 0.03666205
+v 0.47616008 -0.02622269 0.01226685
+v 0.09171370 0.44707077 -0.00501247
+v 0.20875189 0.20541442 0.19786924
+v 0.00757576 -0.02424352 0.21556833
+v 0.47713333 0.04431198 -0.00175340
+v 0.46201491 -0.02496008 0.04116547
+v 0.12177747 0.30845897 0.15697764
+v 0.34107626 0.26840037 0.06564088
+v 0.26057980 -0.02492415 0.22598008
+v 0.26803407 -0.02555680 0.21870084
+v 0.34259848 0.32964111 -0.00426072
+v 0.47341159 0.04257155 0.00953632
+v 0.06345476 0.41479695 0.04784957
+v 0.13914762 0.25369712 0.20297373
+v 0.28788163 0.33642769 0.05059372
+v 0.37251740 0.04282062 0.13911281
+v 0.25584926 0.03421177 0.22178174
+v 0.34630908 -0.02019178 0.16655921
+v 0.28869814 0.37168776 -0.00412622
+v 0.35349549 0.29570888 0.02333544
+v 0.03688296 0.42823058 0.03565746
+v 0.16553388 0.24906974 0.19814871
+v 0.08933586 0.44171340 0.00521227
+v 0.28534400 0.25286270 0.12197505
+v 0.43026277 0.03336556 0.07993741
+v 0.23581684 0.16454786 0.19795737
+v 0.34464792 0.01898015 0.16666053
+v 0.32674501 0.33971905 0.00801457
+v 0.36680474 0.27404321 0.02348618
+v 0.00938408 0.42845292 0.03482012
+v 0.00844203 0.31289749 0.16119096
+v 0.26045010 0.33660643 0.06394902
+v 0.11995127 0.32216502 0.14114648
+v 0.01153628 0.44783178 0.00991108
+v 0.28542486 0.36656849 0.00648614
+v 0.31314251 0.26724409 0.09358009
+v 0.41481401 0.04164867 0.09557776
+v 0.31128803 0.24180253 0.10618099
+v 0.26628629 0.09551054 0.19884416
+v 0.35324558 0.28300022 0.03763248
+v 0.37414762 0.28730879 -0.00266001
+v 0.16474011 0.29279346 0.15371120
+v 0.28449129 0.29587815 0.09247970
+v 0.36989578 0.28374516 0.00936832
+f 6 4 5
+f 8 5 2
+f 9 2 5
+f 9 5 4
+f 11 6 5
+f 12 2 9
+f 13 7 1
+f 13 1 8
+f 16 6 11
+f 17 11 5
+f 17 5 8
+f 17 16 11
+f 17 8 1
+f 18 12 9
+f 19 8 2
+f 19 2 12
+f 19 13 8
+f 19 7 13
+f 21 14 6
+f 24 10 6
+f 24 6 16
+f 25 17 1
+f 25 16 17
+f 26 18 9
+f 26 3 18
+f 27 18 3
+f 28 14 20
+f 29 21 6
+f 29 6 10
+f 29 14 21
+f 30 28 20
+f 31 29 10
+f 32 1 7
+f 32 7 15
+f 33 10 24
+f 33 31 10
+f 34 25 1
+f 34 1 23
+f 34 24 16
+f 34 16 25
+f 35 26 22
+f 35 3 26
+f 35 27 3
+f 35 22 15
+f 36 15 7
+f 36 7 19
+f 37 4 6
+f 38 6 14
+f 38 14 28
+f 38 37 6
+f 38 28 37
+f 39 29 22
+f 39 22 30
+f 40 30 20
+f 40 20 14
+f 40 39 30
+f 40 14 39
+f 41 28 30
+f 41 37 28
+f 41 4 37
+f 41 30 9
+f 41 9 4
+f 42 26 9
+f 42 9 30
+f 42 30 22
+f 42 22 26
+f 43 23 15
+f 43 15 22
+f 44 23 1
+f 44 1 32
+f 44 32 15
+f 44 15 23
+f 45 33 23
+f 45 31 33
+f 45 43 31
+f 45 23 43
+f 46 33 24
+f 46 24 34
+f 46 34 23
+f 46 23 33
+f 47 35 15
+f 47 27 35
+f 47 15 36
+f 48 19 12
+f 48 12 18
+f 48 18 27
+f 49 39 14
+f 49 14 29
+f 49 29 39
+f 50 43 22
+f 50 22 29
+f 50 29 31
+f 50 31 43
+f 51 36 19
+f 51 19 48
+f 51 47 36
+f 51 48 27
+f 51 27 47
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_5/collision/model_normalized_collision_15.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_5/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c6743bfc01989af9a83f16611a50bfed0418f387
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_5/collision/model_normalized_collision_15.obj
@@ -0,0 +1,159 @@
+# https://github.com/mikedh/trimesh
+v -0.35606061 -0.02424352 -0.05715895
+v -0.37592085 -0.04375215 -0.27921122
+v -0.34997096 0.22269685 -0.28550477
+v -0.38237405 0.27204441 -0.04564351
+v -0.49036253 -0.01965217 -0.05952771
+v -0.34983085 0.19689434 -0.30220101
+v -0.47318527 0.10424734 -0.00130669
+v -0.47336415 0.13617084 -0.20256699
+v -0.45398728 0.16173035 -0.00879577
+v -0.42927114 0.19218093 -0.23955919
+v -0.49003981 0.12197290 -0.09001156
+v -0.47427383 -0.00550303 -0.19962395
+v -0.38811562 0.19286591 -0.28069878
+v -0.44515967 0.22005086 -0.15896269
+v -0.48137059 0.09412922 -0.01603307
+v -0.47439031 -0.01895316 -0.18778464
+v -0.48916430 0.10819917 -0.17353214
+v -0.41688559 0.22239578 -0.22847084
+v -0.36268667 0.22244762 -0.28040800
+v -0.39362653 0.02538682 -0.30300411
+v -0.45802917 0.17816620 -0.20101302
+v -0.45777617 0.19282833 -0.07590546
+v -0.48870991 0.10709799 -0.06011531
+v -0.47408225 0.12104313 -0.01756961
+v -0.45189763 -0.02017599 -0.22904037
+v -0.48913421 -0.01989822 -0.13136774
+v -0.47491299 0.10647567 -0.21580340
+v -0.47321678 0.16484060 -0.17168474
+v -0.49022450 0.12298915 -0.14534439
+v -0.43124204 0.22339139 -0.20257755
+v -0.36028139 0.19459088 -0.29807151
+v -0.37416346 0.01094401 -0.30795609
+v -0.45783919 0.16543537 -0.21549497
+v -0.44669730 0.20625771 -0.06082588
+v -0.46210274 0.15145641 -0.01720641
+v -0.47413142 0.16331435 -0.07745181
+v -0.46210515 -0.01899342 -0.21303867
+v -0.40589599 0.02676595 -0.29564794
+v -0.48887481 0.02481996 -0.17483046
+v -0.45804259 0.02360540 -0.24189370
+v -0.42998560 0.13696947 -0.27012655
+v -0.45968612 0.19262444 -0.17384357
+v -0.42848646 0.20823318 -0.22684507
+v -0.35576561 0.15734814 -0.31410298
+v -0.43371360 0.22291588 -0.06153442
+v -0.44472052 0.22246492 -0.10322191
+v -0.47201976 0.15011758 -0.04800398
+v -0.47409634 0.02460995 -0.21423629
+v -0.45965680 -0.00270931 -0.22696994
+v -0.46006322 0.10789108 -0.24104077
+v -0.44193702 0.20718174 -0.20033531
+v -0.40472969 0.10843523 -0.29677932
+v -0.37543386 0.17977250 -0.29577041
+v -0.41727395 0.13710540 -0.28185805
+f 1 3 4
+f 5 2 1
+f 6 1 2
+f 6 3 1
+f 7 5 1
+f 9 7 1
+f 9 1 4
+f 15 5 7
+f 18 13 10
+f 19 3 6
+f 19 13 18
+f 19 18 4
+f 19 4 3
+f 23 11 5
+f 23 5 15
+f 24 15 7
+f 24 23 15
+f 25 2 16
+f 26 16 2
+f 26 2 5
+f 27 17 8
+f 28 8 17
+f 29 5 11
+f 29 28 17
+f 30 14 4
+f 30 4 18
+f 31 19 6
+f 31 13 19
+f 32 2 20
+f 33 28 21
+f 33 8 28
+f 33 27 8
+f 35 24 7
+f 35 7 9
+f 35 9 34
+f 36 11 23
+f 36 29 11
+f 36 28 29
+f 36 35 34
+f 36 34 22
+f 37 25 16
+f 37 16 12
+f 38 20 2
+f 38 2 25
+f 39 12 16
+f 39 16 26
+f 39 17 27
+f 39 29 17
+f 39 26 5
+f 39 5 29
+f 40 38 25
+f 41 10 13
+f 41 33 10
+f 42 21 28
+f 42 14 30
+f 42 28 36
+f 43 30 18
+f 43 18 10
+f 43 10 33
+f 43 33 21
+f 44 31 6
+f 44 32 20
+f 44 6 2
+f 44 2 32
+f 45 34 9
+f 45 9 4
+f 46 22 34
+f 46 36 22
+f 46 42 36
+f 46 14 42
+f 46 34 45
+f 46 45 4
+f 46 4 14
+f 47 36 23
+f 47 23 24
+f 47 24 35
+f 47 35 36
+f 48 39 27
+f 48 27 40
+f 48 12 39
+f 49 37 12
+f 49 48 40
+f 49 12 48
+f 49 40 25
+f 49 25 37
+f 50 40 27
+f 50 27 33
+f 50 33 41
+f 50 38 40
+f 51 42 30
+f 51 21 42
+f 51 43 21
+f 51 30 43
+f 52 44 20
+f 52 20 38
+f 52 50 41
+f 52 38 50
+f 53 13 31
+f 53 31 44
+f 54 53 44
+f 54 44 52
+f 54 52 41
+f 54 41 13
+f 54 13 53
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_5/collision/model_normalized_collision_16.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_5/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..128f263170cbdcea598c3832cd8173d4e1e7ad75
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_5/collision/model_normalized_collision_16.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v -0.02272727 0.41515042 -0.07231047
+v -0.02272727 0.41515042 -0.20867410
+v -0.02090587 0.48881559 -0.22086212
+v -0.03340615 0.48681225 -0.09213840
+v -0.14264429 0.43949211 -0.21961262
+v -0.02258949 0.48316988 -0.07451969
+v -0.13616473 0.43714062 -0.06312906
+v -0.04267872 0.46151308 -0.27841929
+v -0.04780317 0.48748929 -0.20538924
+v -0.02241893 0.48831912 -0.09253197
+v -0.03897192 0.44968003 -0.00924549
+v -0.03645350 0.46963764 -0.26621149
+v -0.08493008 0.44806535 -0.27096666
+v -0.04932648 0.48885569 -0.12061603
+v -0.08159457 0.43896407 -0.01526325
+v -0.03618351 0.45405026 -0.01551777
+v -0.03545677 0.47747955 -0.24856221
+v -0.07572402 0.45882086 -0.26153396
+v -0.07607194 0.47317616 -0.09296848
+v -0.13156025 0.44929675 -0.20971888
+v -0.03473108 0.46464425 -0.03320978
+v -0.03516272 0.48700714 -0.21955054
+v -0.02865808 0.48286640 -0.23636048
+v -0.06149434 0.47147696 -0.24573955
+v -0.07730259 0.45696448 -0.04961223
+v -0.12823663 0.44369156 -0.07293787
+v -0.07584744 0.47085126 -0.23329575
+v -0.06045635 0.46965435 -0.06480135
+v -0.07849673 0.44318529 -0.02139340
+f 1 2 3
+f 6 1 3
+f 7 5 2
+f 7 2 1
+f 10 6 3
+f 10 4 6
+f 12 3 2
+f 12 2 8
+f 13 8 2
+f 13 2 5
+f 14 4 10
+f 14 10 3
+f 14 3 9
+f 15 7 1
+f 15 1 11
+f 16 11 1
+f 16 1 6
+f 18 8 13
+f 18 13 5
+f 19 4 14
+f 20 14 9
+f 20 19 14
+f 20 5 7
+f 21 15 11
+f 21 11 16
+f 21 16 6
+f 22 9 3
+f 23 3 12
+f 23 12 17
+f 23 22 3
+f 23 17 22
+f 24 12 8
+f 24 8 18
+f 24 17 12
+f 24 22 17
+f 24 9 22
+f 25 7 15
+f 26 20 7
+f 26 7 19
+f 26 19 20
+f 27 18 5
+f 27 5 20
+f 27 24 18
+f 27 20 9
+f 27 9 24
+f 28 21 6
+f 28 6 4
+f 28 25 21
+f 28 4 19
+f 28 19 7
+f 28 7 25
+f 29 25 15
+f 29 15 21
+f 29 21 25
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_5/collision/model_normalized_collision_17.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_5/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b4d391494f61961211adb51829f631e88936a4ab
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_5/collision/model_normalized_collision_17.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v -0.14304704 -0.47133261 -0.18888957
+v 0.02768891 -0.39303175 -0.26871292
+v 0.02567414 -0.35272943 -0.28769649
+v -0.21707469 -0.35403428 -0.27695484
+v -0.14196172 -0.42108198 -0.25472549
+v -0.21467005 -0.45221023 -0.18724811
+v 0.02121454 -0.40604228 -0.25746995
+v -0.17136180 -0.37704101 -0.28173377
+v -0.23744297 -0.37644486 -0.25458310
+v -0.15545569 -0.44617025 -0.22677076
+v -0.10099201 -0.37760108 -0.28095677
+v -0.19775210 -0.35161260 -0.28478809
+v -0.23357172 -0.42509514 -0.21058125
+v -0.21065378 -0.37957158 -0.26686934
+v -0.17029157 -0.46094733 -0.19876571
+v -0.14404263 -0.44800129 -0.22668110
+v 0.02690610 -0.36584260 -0.28266144
+v -0.19846248 -0.36222259 -0.28023133
+v -0.19660793 -0.44532310 -0.21188795
+v -0.16840055 -0.41962509 -0.25227085
+v -0.21249422 -0.41668257 -0.23623161
+v -0.14411685 -0.46526052 -0.20002835
+v -0.17145357 -0.46641700 -0.18806415
+v -0.21160934 -0.44692702 -0.19906884
+v -0.19546320 -0.39134382 -0.26579374
+v -0.17031721 -0.43162285 -0.23949519
+v -0.15265478 -0.44884463 -0.22339759
+f 6 1 3
+f 7 2 3
+f 7 3 1
+f 7 5 2
+f 9 3 4
+f 11 8 3
+f 11 2 5
+f 11 5 8
+f 12 4 3
+f 12 3 8
+f 13 6 3
+f 13 3 9
+f 14 9 4
+f 16 5 7
+f 17 11 3
+f 17 3 2
+f 17 2 11
+f 18 12 8
+f 18 4 12
+f 18 14 4
+f 18 8 14
+f 19 10 15
+f 20 8 5
+f 20 16 10
+f 20 5 16
+f 21 13 9
+f 21 9 14
+f 21 19 13
+f 22 15 10
+f 22 16 7
+f 22 7 1
+f 23 1 6
+f 23 19 15
+f 23 6 19
+f 23 22 1
+f 23 15 22
+f 24 19 6
+f 24 6 13
+f 24 13 19
+f 25 14 8
+f 25 8 20
+f 25 21 14
+f 25 20 21
+f 26 20 10
+f 26 10 19
+f 26 21 20
+f 26 19 21
+f 27 22 10
+f 27 10 16
+f 27 16 22
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_5/collision/model_normalized_collision_18.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_5/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f82a908a62423004db237bcb864da4ce782bdc5c
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_5/collision/model_normalized_collision_18.obj
@@ -0,0 +1,150 @@
+# https://github.com/mikedh/trimesh
+v 0.32033959 -0.30890496 0.03539272
+v 0.49010160 -0.09485988 -0.12949130
+v 0.47616008 -0.02622269 0.01226685
+v 0.28030304 -0.02424352 0.01859863
+v 0.27745719 -0.06621049 -0.34497622
+v 0.45838708 -0.15136888 -0.01786246
+v 0.27280001 -0.29403936 -0.24591779
+v 0.43281218 -0.02432342 -0.27407205
+v 0.41519150 -0.22099075 -0.13257884
+v 0.48931891 -0.08015814 -0.03151216
+v 0.47256884 -0.09506917 0.00863098
+v 0.49029658 -0.02347845 -0.14516046
+v 0.37682137 -0.08736534 -0.31114926
+v 0.27959617 -0.02469166 -0.35216865
+v 0.42997839 -0.20846958 -0.06037391
+v 0.35420926 -0.28475873 -0.11438307
+v 0.47777693 -0.13793220 -0.06031330
+v 0.47344630 -0.09643870 -0.18530660
+v 0.49086661 -0.02429142 -0.03219140
+v 0.33445542 -0.08967188 -0.32827842
+v 0.40851370 -0.02218205 -0.30083084
+v 0.43025007 -0.19304511 -0.02003833
+v 0.30768112 -0.29160085 -0.21000861
+v 0.35273229 -0.28750225 -0.05843995
+v 0.43074813 -0.20700108 -0.11552579
+v 0.48870330 -0.09584664 -0.04607965
+v 0.45873765 -0.16587874 -0.04614479
+v 0.48925643 -0.08220111 -0.14279779
+v 0.45855867 -0.02565252 -0.23238133
+v 0.43082335 -0.10878759 -0.25270684
+v 0.35034200 -0.07760309 -0.32804419
+v 0.27709321 -0.10957667 -0.33040362
+v 0.40322834 -0.21949475 -0.18186721
+v 0.40136261 -0.23529820 -0.13075960
+v 0.47371948 -0.13896223 -0.14337489
+v 0.45919918 -0.03765809 -0.23016084
+v 0.40150178 -0.07537980 -0.30023808
+v 0.31911090 -0.02784742 -0.34629221
+v 0.34061984 -0.28244245 -0.16752883
+v 0.42823774 -0.17952236 -0.19932709
+v 0.43002901 -0.19291730 -0.17207066
+v 0.45844963 -0.16356005 -0.14452484
+v 0.44559251 -0.09464384 -0.24039255
+v 0.43072934 -0.06508410 -0.27032217
+v 0.40252875 -0.13758166 -0.26638545
+v 0.32141788 -0.05377185 -0.34199931
+v 0.45834107 -0.12461442 -0.20134353
+v 0.45859348 -0.14987633 -0.17148675
+v 0.36022545 -0.17805401 -0.26821403
+v 0.42892103 -0.13661855 -0.23948857
+v 0.44441870 -0.12282042 -0.22683520
+f 1 3 4
+f 7 1 4
+f 7 4 5
+f 11 3 1
+f 11 1 6
+f 11 10 3
+f 14 5 4
+f 17 11 6
+f 19 10 2
+f 19 2 12
+f 19 3 10
+f 19 4 3
+f 21 12 8
+f 21 14 4
+f 21 19 12
+f 21 4 19
+f 22 6 1
+f 22 1 15
+f 23 16 1
+f 23 1 7
+f 24 15 1
+f 24 1 16
+f 25 24 16
+f 25 15 24
+f 25 17 15
+f 26 17 2
+f 26 2 10
+f 26 10 11
+f 26 11 17
+f 27 17 6
+f 27 15 17
+f 27 22 15
+f 27 6 22
+f 28 12 2
+f 28 2 18
+f 29 8 12
+f 31 13 7
+f 31 7 20
+f 32 20 7
+f 32 7 5
+f 32 5 20
+f 34 25 16
+f 34 9 25
+f 34 33 9
+f 34 16 33
+f 35 2 17
+f 35 18 2
+f 36 29 12
+f 36 8 29
+f 36 28 18
+f 36 12 28
+f 37 31 21
+f 37 13 31
+f 38 14 21
+f 38 21 31
+f 39 33 16
+f 39 16 23
+f 39 23 33
+f 40 33 23
+f 40 23 7
+f 41 25 9
+f 41 9 33
+f 41 33 40
+f 42 35 17
+f 42 17 25
+f 42 25 41
+f 43 36 18
+f 44 37 21
+f 44 21 8
+f 44 8 36
+f 44 36 43
+f 44 43 30
+f 44 30 37
+f 45 37 30
+f 45 13 37
+f 45 40 7
+f 46 5 14
+f 46 14 38
+f 46 20 5
+f 46 38 31
+f 46 31 20
+f 47 18 35
+f 47 43 18
+f 48 42 41
+f 48 41 40
+f 48 35 42
+f 48 47 35
+f 48 40 47
+f 49 45 7
+f 49 7 13
+f 49 13 45
+f 50 45 30
+f 50 40 45
+f 51 47 40
+f 51 40 50
+f 51 43 47
+f 51 50 30
+f 51 30 43
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_5/collision/model_normalized_collision_19.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_5/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a02e6313708cc0f30fbe1d702a752f6c82e9d675
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_5/collision/model_normalized_collision_19.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v -0.37247774 -0.29776843 -0.04703021
+v -0.34917889 -0.27510958 0.02613071
+v -0.48988437 0.00794229 -0.03003862
+v -0.38237405 0.27204441 -0.04564351
+v -0.34090909 -0.02424352 -0.05715895
+v -0.36618630 0.24574335 0.02750181
+v -0.46081767 -0.15761358 -0.01583501
+v -0.49163090 -0.00696407 -0.05762966
+v -0.45742127 0.16256823 -0.01877971
+v -0.34090909 -0.02424352 0.01859863
+v -0.39271813 -0.25403284 0.00958343
+v -0.47466846 0.07775951 0.01149488
+v -0.40538843 -0.27122067 -0.05637019
+v -0.43371360 0.22291588 -0.06153442
+v -0.49016480 -0.00714365 -0.04431911
+v -0.49127312 0.09484582 -0.05891723
+v -0.47311633 -0.02022627 0.01214694
+v -0.42865384 0.19135317 0.00800927
+v -0.46704753 -0.15921487 -0.05714058
+v -0.47354032 0.10687701 -0.00404270
+v -0.48842803 0.07829666 -0.03202938
+v -0.46147485 0.17960540 -0.06065104
+v -0.45259341 -0.14398552 0.01503255
+v -0.45842065 0.13532827 0.00905245
+v -0.44469328 0.20391780 -0.04788274
+v -0.40289999 0.22178612 0.00899241
+v -0.48907198 0.09394652 -0.04617865
+v -0.45910244 -0.14277062 -0.00294909
+v -0.45888049 0.17820555 -0.04644453
+v -0.44669730 0.20625771 -0.06082588
+v -0.43073629 0.22119065 -0.04831776
+v -0.41364699 0.21880478 -0.00606255
+f 5 2 1
+f 6 5 4
+f 10 6 2
+f 10 2 5
+f 10 5 6
+f 11 1 2
+f 13 5 1
+f 13 11 7
+f 13 1 11
+f 14 4 5
+f 14 5 13
+f 15 7 3
+f 15 3 8
+f 16 8 3
+f 17 12 3
+f 17 3 7
+f 17 6 12
+f 19 13 7
+f 19 8 16
+f 19 14 13
+f 19 15 8
+f 19 7 15
+f 21 16 3
+f 21 3 12
+f 21 12 20
+f 22 19 16
+f 22 14 19
+f 23 7 11
+f 23 11 2
+f 23 2 6
+f 23 6 17
+f 24 12 6
+f 24 6 18
+f 24 20 12
+f 24 18 9
+f 24 9 20
+f 25 9 18
+f 26 18 6
+f 26 6 4
+f 27 20 9
+f 27 21 20
+f 27 16 21
+f 27 22 16
+f 28 23 17
+f 28 17 7
+f 28 7 23
+f 29 9 25
+f 29 27 9
+f 29 22 27
+f 30 25 14
+f 30 14 22
+f 30 29 25
+f 30 22 29
+f 31 4 14
+f 31 14 25
+f 32 26 4
+f 32 4 31
+f 32 18 26
+f 32 31 25
+f 32 25 18
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_5/collision/model_normalized_collision_2.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_5/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..78f51966048a4a0f927b9ebeafaba8991885a700
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_5/collision/model_normalized_collision_2.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v -0.08543278 -0.20930176 -0.31539636
+v -0.07923880 -0.19996898 -0.31241875
+v -0.21969697 -0.16060716 -0.23897713
+v -0.46047914 0.02151656 -0.23768821
+v -0.27981390 0.02158271 -0.34318706
+v -0.36188044 -0.16201287 -0.27302181
+v -0.07891607 -0.09772780 -0.33881750
+v -0.18018420 -0.20676039 -0.31131060
+v -0.42709367 -0.09913987 -0.22017264
+v -0.41971329 0.02618796 -0.28480369
+v -0.09322181 -0.15888366 -0.34031068
+v -0.08333333 -0.10000110 -0.26928016
+v -0.30577243 -0.15884064 -0.29659015
+v -0.44478881 0.01169529 -0.25587977
+v -0.28030303 0.02121103 -0.25412865
+v -0.36564163 0.02514498 -0.31609641
+v -0.12227549 -0.17576686 -0.33575029
+v -0.33575225 -0.15943751 -0.28676452
+v -0.45330642 -0.03599449 -0.21688750
+v -0.44725891 0.02497791 -0.25696126
+v -0.39086347 0.00064252 -0.29601442
+v -0.32124142 0.02416074 -0.33167379
+v -0.17101639 -0.20651622 -0.31319070
+v -0.35606061 0.02121103 -0.23897713
+v -0.34090909 -0.02424352 -0.22382562
+v -0.45629279 -0.02226454 -0.21986166
+v -0.21969697 -0.02424352 -0.23897713
+f 1 2 3
+f 8 1 3
+f 8 3 6
+f 9 6 3
+f 11 7 2
+f 11 2 1
+f 11 5 7
+f 12 3 2
+f 12 2 7
+f 14 6 9
+f 14 10 6
+f 15 12 7
+f 15 7 5
+f 17 11 1
+f 17 8 13
+f 17 13 5
+f 17 5 11
+f 18 13 8
+f 18 8 6
+f 18 6 16
+f 19 14 9
+f 19 4 14
+f 20 14 4
+f 20 10 14
+f 20 15 10
+f 21 16 6
+f 21 6 10
+f 21 10 16
+f 22 15 5
+f 22 18 16
+f 22 5 13
+f 22 13 18
+f 22 16 10
+f 22 10 15
+f 23 17 1
+f 23 1 8
+f 23 8 17
+f 24 20 4
+f 24 15 20
+f 25 19 9
+f 25 9 3
+f 26 24 4
+f 26 4 19
+f 26 25 24
+f 26 19 25
+f 27 25 3
+f 27 3 12
+f 27 12 15
+f 27 15 24
+f 27 24 25
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_5/collision/model_normalized_collision_20.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_5/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7147eacc4a79c5ed9abbfc8a1552ed1cf27e9749
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_5/collision/model_normalized_collision_20.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.23981430 0.37636041 0.01691306
+v 0.23166829 0.34635314 -0.30447096
+v 0.11782623 0.47301722 -0.19093066
+v -0.02241893 0.48831912 -0.09253197
+v -0.20749406 0.37773470 0.03070271
+v -0.20199597 0.34947777 -0.27773263
+v 0.07797748 0.47228910 -0.04858996
+v 0.22895260 0.41437887 -0.20238544
+v 0.00757576 0.35454436 0.01859863
+v -0.04778622 0.41609568 -0.32796483
+v -0.17976320 0.42586679 -0.18754849
+v 0.23229477 0.41120404 -0.06245092
+v 0.07799840 0.48812095 -0.10487472
+v 0.01153628 0.44783178 0.00991108
+v 0.23011692 0.39604140 -0.24304164
+v -0.18318451 0.34603177 -0.28886710
+v -0.02090587 0.48881559 -0.22086212
+v -0.19477316 0.41324545 -0.20320270
+v -0.18207366 0.42666679 -0.07697692
+v 0.23286345 0.39696758 -0.01987509
+v 0.21548721 0.42712281 -0.13194251
+v 0.06611698 0.48782258 -0.09050738
+v 0.10504939 0.47167204 -0.07824721
+v 0.05275914 0.45743992 -0.00628791
+v -0.03316447 0.47242826 -0.05002949
+v 0.10595038 0.47189559 -0.21834052
+v -0.04839706 0.35087371 -0.36301830
+v 0.07852367 0.48884707 -0.19098361
+v -0.10353061 0.42833739 -0.28481162
+v -0.09127507 0.47273033 -0.20465424
+v -0.19979319 0.41255265 -0.04715958
+v 0.08929497 0.45680780 -0.02002526
+v 0.17554038 0.44476804 -0.17282322
+v 0.11660454 0.47238257 -0.10578839
+v 0.01111926 0.47236199 -0.03514221
+v -0.03339511 0.45842048 -0.02179005
+v 0.03611680 0.45767633 -0.28765193
+v -0.09024647 0.35059114 -0.34589160
+v -0.10258066 0.37663503 -0.32674769
+v -0.19397037 0.38448720 -0.25237391
+v -0.03546778 0.45743333 -0.28798100
+v -0.11992990 0.45813883 -0.20622303
+v -0.09117848 0.47091088 -0.10770551
+v -0.19985820 0.39679950 -0.00552729
+v 0.10173699 0.44335208 -0.00815312
+v 0.21419553 0.42735542 -0.11981288
+v 0.01214210 0.45835663 -0.00684803
+v 0.03570276 0.47233419 -0.03496736
+v -0.01975853 0.44364970 0.00659257
+v 0.07866079 0.47288361 -0.24582917
+v 0.06339621 0.38988202 -0.34177431
+v -0.10301701 0.41560178 -0.29924166
+v -0.08926350 0.36077292 -0.34223774
+v -0.12976224 0.42870490 -0.25718462
+v -0.04772700 0.44449695 -0.30061577
+v -0.03451618 0.47226460 -0.26155199
+v -0.10415186 0.45811610 -0.23294004
+v -0.10363982 0.45702428 -0.07835273
+v -0.20289476 0.38771900 0.01251493
+v 0.08834376 0.44451273 -0.28558867
+v 0.05002012 0.47284834 -0.25951389
+v 0.02075842 0.37603722 -0.35650590
+v -0.07333839 0.40161969 -0.32672956
+v -0.19945578 0.35958115 -0.27105801
+f 9 2 1
+f 9 1 5
+f 12 1 8
+f 14 5 1
+f 15 8 1
+f 15 1 2
+f 16 2 9
+f 16 9 5
+f 16 5 6
+f 18 6 5
+f 19 11 18
+f 20 1 12
+f 21 12 8
+f 22 13 4
+f 22 7 13
+f 23 13 7
+f 23 20 12
+f 23 7 20
+f 24 14 1
+f 26 3 8
+f 26 8 15
+f 27 2 16
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+f 28 4 13
+f 28 13 3
+f 28 3 26
+f 30 4 17
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+f 33 21 8
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+f 36 25 5
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+f 46 21 34
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+f 48 7 22
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+f 48 47 24
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+f 49 36 5
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+f 49 47 36
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+f 52 40 29
+f 53 38 6
+f 53 6 39
+f 53 27 38
+f 54 40 18
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+f 55 41 37
+f 55 37 10
+f 56 37 41
+f 56 30 17
+f 57 42 30
+f 57 29 54
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+f 57 18 42
+f 57 30 56
+f 57 56 41
+f 57 41 29
+f 58 43 31
+f 58 31 25
+f 58 25 43
+f 59 44 5
+f 59 5 25
+f 59 25 44
+f 60 50 15
+f 60 15 2
+f 60 51 37
+f 60 2 51
+f 61 17 28
+f 61 28 50
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+f 61 37 56
+f 61 60 37
+f 61 50 60
+f 62 27 10
+f 62 10 37
+f 62 37 51
+f 62 51 2
+f 62 2 27
+f 63 52 10
+f 63 39 52
+f 63 53 39
+f 63 10 27
+f 63 27 53
+f 64 52 6
+f 64 6 40
+f 64 40 52
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_5/collision/model_normalized_collision_21.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_5/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c24e966607ad9607a627f55a885294960642f8ad
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_5/collision/model_normalized_collision_21.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.15506876 -0.23449539 0.22405247
+v 0.26809941 -0.02392798 0.21845616
+v 0.13651805 0.03529447 0.34661634
+v 0.21954725 0.14234027 0.21538472
+v 0.24243772 0.12272623 0.20584030
+v 0.14393940 0.08181709 0.21556833
+v 0.24485950 -0.09721062 0.22274611
+v 0.25699213 0.09459257 0.20702180
+v 0.13686778 0.07933859 0.33298434
+v 0.13340680 -0.10852074 0.29581557
+v 0.14393940 -0.02424352 0.21556833
+v 0.22930721 0.13935580 0.20877304
+v 0.18601629 -0.20397384 0.22515242
+v 0.25405584 -0.06521568 0.22785201
+v 0.24779838 0.03231586 0.23122725
+v 0.18283474 0.12445659 0.25354624
+v 0.14270767 -0.22953313 0.23094426
+v 0.13666642 0.02220947 0.34662421
+v 0.25779825 -0.06781933 0.22366273
+v 0.20321085 0.13474223 0.23246286
+v 0.14397916 -0.23509866 0.22818471
+f 8 2 1
+f 8 1 5
+f 9 8 5
+f 9 3 8
+f 10 9 6
+f 10 3 9
+f 11 6 5
+f 11 5 1
+f 11 10 6
+f 12 6 4
+f 12 5 6
+f 12 9 5
+f 12 4 9
+f 13 1 2
+f 13 2 7
+f 13 10 1
+f 15 8 3
+f 15 3 2
+f 15 2 8
+f 16 6 9
+f 17 10 11
+f 18 13 7
+f 18 3 10
+f 18 10 13
+f 18 7 14
+f 18 14 2
+f 18 2 3
+f 19 14 7
+f 19 7 2
+f 19 2 14
+f 20 16 9
+f 20 9 4
+f 20 4 6
+f 20 6 16
+f 21 17 11
+f 21 11 1
+f 21 1 10
+f 21 10 17
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_5/collision/model_normalized_collision_22.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_5/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..37b9e6a938ec447896212fcb6c96d6c3630ee723
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_5/collision/model_normalized_collision_22.obj
@@ -0,0 +1,126 @@
+# https://github.com/mikedh/trimesh
+v 0.40054697 -0.21982765 -0.01234601
+v 0.49037421 -0.09954981 -0.05760130
+v 0.40070911 -0.09475595 0.10748810
+v 0.44645017 0.05109419 0.04854774
+v 0.40151516 -0.02424352 -0.05715895
+v 0.46013533 -0.08004789 0.03851091
+v 0.44592957 -0.18400911 -0.04790754
+v 0.49495900 -0.02636998 -0.04951541
+v 0.37803798 -0.01076698 0.14568996
+v 0.43038807 -0.13654521 0.05172009
+v 0.47777693 -0.13793220 -0.06031330
+v 0.45283804 0.04700215 0.04293864
+v 0.47658591 -0.09703659 -0.00078453
+v 0.37917155 -0.21237733 0.02743228
+v 0.38393696 0.00558325 0.13729896
+v 0.40317338 -0.03491678 0.12436288
+v 0.42993022 -0.08024969 0.07966089
+v 0.43027034 -0.17594097 0.00841952
+v 0.46201491 -0.02496008 0.04116547
+v 0.47432217 -0.10718130 -0.00401346
+v 0.46022969 -0.10660180 0.02380632
+v 0.38636364 -0.02424352 0.01859863
+v 0.38335517 -0.21652216 0.01606386
+v 0.37835829 -0.13732182 0.09762136
+v 0.44127412 0.04738087 0.05998764
+v 0.37880508 -0.03699093 0.14405665
+v 0.39945900 -0.01138254 0.12547634
+v 0.41553561 -0.12185351 0.07975261
+v 0.44523253 -0.06543108 0.06575073
+v 0.40864631 -0.21404578 -0.01511320
+v 0.47211349 -0.13491746 -0.03419844
+v 0.38964799 -0.20666715 0.02343273
+v 0.44417278 -0.01069346 0.06722198
+v 0.38747996 -0.03338528 0.13788211
+v 0.38722594 -0.08036429 0.12408030
+v 0.38583702 -0.01210358 0.13879188
+v 0.40688887 0.01053762 0.11286096
+v 0.40402891 -0.11902213 0.09194540
+v 0.38900083 -0.13335119 0.09275823
+v 0.40330133 -0.20633803 0.00765365
+v 0.44665793 0.04478369 0.05387746
+v 0.37975378 -0.08114977 0.12981841
+v 0.39250386 0.00381382 0.12968844
+f 7 1 5
+f 8 2 5
+f 11 7 5
+f 11 5 2
+f 12 8 5
+f 12 5 4
+f 13 2 8
+f 15 4 5
+f 17 16 3
+f 19 8 12
+f 19 13 8
+f 19 6 13
+f 20 11 2
+f 20 2 13
+f 20 10 18
+f 21 13 6
+f 21 6 10
+f 21 20 13
+f 21 10 20
+f 22 14 9
+f 22 5 14
+f 22 15 5
+f 22 9 15
+f 23 14 5
+f 23 5 1
+f 24 9 14
+f 25 12 4
+f 25 4 15
+f 26 9 24
+f 28 10 6
+f 28 17 3
+f 29 16 17
+f 29 6 19
+f 29 28 6
+f 29 17 28
+f 30 1 7
+f 30 7 18
+f 31 18 7
+f 31 7 11
+f 31 20 18
+f 31 11 20
+f 32 10 28
+f 33 29 19
+f 33 16 29
+f 34 26 16
+f 34 16 9
+f 34 9 26
+f 35 3 16
+f 35 16 26
+f 36 15 9
+f 36 9 16
+f 36 16 27
+f 37 25 15
+f 37 27 16
+f 37 16 33
+f 38 28 3
+f 39 24 14
+f 39 32 28
+f 39 14 32
+f 39 38 24
+f 39 28 38
+f 40 18 10
+f 40 10 32
+f 40 30 18
+f 40 1 30
+f 40 23 1
+f 40 32 14
+f 40 14 23
+f 41 33 19
+f 41 19 12
+f 41 12 25
+f 41 37 33
+f 41 25 37
+f 42 35 26
+f 42 26 24
+f 42 24 38
+f 42 38 3
+f 42 3 35
+f 43 36 27
+f 43 15 36
+f 43 37 15
+f 43 27 37
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_5/collision/model_normalized_collision_23.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_5/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..646a71e615a56407c878941af6c43943ff4bdaca
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_5/collision/model_normalized_collision_23.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v 0.25834866 -0.41184586 0.01560887
+v 0.37527392 -0.22716659 0.01228454
+v 0.25756522 -0.30699257 0.13126890
+v 0.26057980 -0.02492415 0.22598008
+v 0.26515152 -0.02424352 0.01859863
+v 0.37541668 -0.06408913 0.13870129
+v 0.29300988 -0.33673486 0.06977140
+v 0.28408227 -0.39334540 -0.00101232
+v 0.25466970 -0.40918457 0.02799298
+v 0.25779825 -0.06781933 0.22366273
+v 0.37960408 -0.02299847 0.14649328
+v 0.37274081 -0.10385694 0.12338988
+v 0.38636364 -0.02424352 0.01859863
+v 0.27697709 -0.39961458 0.00182211
+v 0.31146187 -0.34831457 0.01292232
+v 0.25468715 -0.37841066 0.07188348
+v 0.29520262 -0.35928887 0.03837142
+v 0.36382529 -0.02156567 0.15681839
+v 0.26409896 -0.30424202 0.12648252
+v 0.37021411 -0.19195087 0.06664164
+v 0.32795740 -0.32251412 0.00004013
+v 0.27825304 -0.38734551 0.02384268
+v 0.25451351 -0.33484128 0.11498630
+v 0.26327484 -0.37247103 0.06729121
+v 0.30697507 -0.34689438 0.02744208
+v 0.33913947 -0.29617901 0.00295726
+v 0.26740568 -0.40437783 0.01287601
+v 0.28395454 -0.39078118 0.00485327
+v 0.25734294 -0.11005844 0.20721795
+v 0.26361920 -0.32955877 0.10930379
+v 0.26537943 -0.40111424 0.02294282
+f 9 5 1
+f 10 3 6
+f 10 4 5
+f 10 5 9
+f 11 10 6
+f 11 4 10
+f 12 6 3
+f 12 11 6
+f 12 2 11
+f 13 11 2
+f 14 1 5
+f 14 5 8
+f 17 8 15
+f 18 5 4
+f 18 4 11
+f 18 13 5
+f 18 11 13
+f 19 12 3
+f 19 7 12
+f 20 12 7
+f 20 2 12
+f 21 8 5
+f 21 5 13
+f 21 15 8
+f 21 2 15
+f 22 17 16
+f 22 16 9
+f 23 16 7
+f 23 10 9
+f 23 9 16
+f 23 19 3
+f 24 17 7
+f 24 7 16
+f 24 16 17
+f 25 17 15
+f 25 15 2
+f 25 2 20
+f 25 20 7
+f 25 7 17
+f 26 21 13
+f 26 13 2
+f 26 2 21
+f 27 9 1
+f 27 1 14
+f 28 14 8
+f 28 8 17
+f 28 17 22
+f 28 27 14
+f 28 22 27
+f 29 23 3
+f 29 3 10
+f 29 10 23
+f 30 23 7
+f 30 7 19
+f 30 19 23
+f 31 27 22
+f 31 22 9
+f 31 9 27
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_5/collision/model_normalized_collision_24.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_5/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c488fcc211ddee0081db756ffa39f899daaf323d
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_5/collision/model_normalized_collision_24.obj
@@ -0,0 +1,144 @@
+# https://github.com/mikedh/trimesh
+v -0.20454545 0.23333224 0.01859863
+v -0.20030981 0.31504145 -0.29949308
+v -0.19720470 0.41675019 -0.18810561
+v -0.20030512 0.41623541 -0.06053415
+v -0.43813592 0.22536305 -0.17732001
+v -0.22268677 0.23920856 -0.32097994
+v -0.39466643 0.22762719 0.01373220
+v -0.24006665 0.36871720 -0.24038145
+v -0.26634579 0.39866302 -0.14520106
+v -0.36517657 0.22580430 -0.27680042
+v -0.20289476 0.38771900 0.01251493
+v -0.19915853 0.38646619 -0.24665687
+v -0.23066951 0.41242820 -0.07602272
+v -0.41536592 0.25012246 -0.18904466
+v -0.25620558 0.39737900 -0.17274973
+v -0.40303092 0.26168130 -0.06142759
+v -0.21359323 0.31291070 -0.29679520
+v -0.27722987 0.22674216 -0.29952635
+v -0.19945578 0.35958115 -0.27105801
+v -0.22974003 0.41117810 -0.15951106
+v -0.23156246 0.39720412 -0.01845142
+v -0.42252357 0.22481864 -0.21793551
+v -0.28061691 0.38325769 -0.15817741
+v -0.26714877 0.36908319 -0.21253097
+v -0.20860308 0.38449049 -0.24176677
+v -0.43600579 0.22554056 -0.07498946
+v -0.28217612 0.38260745 -0.06138318
+v -0.43086966 0.23449345 -0.17457651
+v -0.40697283 0.22471366 -0.00229150
+v -0.23773891 0.34241742 -0.26755641
+v -0.20310617 0.40152050 -0.01809968
+v -0.21665729 0.41268464 -0.06180656
+v -0.26619195 0.36857349 0.00734689
+v -0.26685403 0.38406423 -0.18636088
+v -0.38891985 0.26056771 -0.21274479
+v -0.36272372 0.23424339 -0.27051669
+v -0.26574085 0.39848678 -0.07571475
+v -0.42994637 0.23388976 -0.07592771
+v -0.42127172 0.22482228 -0.03158580
+v -0.21228531 0.35485708 -0.26955516
+v -0.28001720 0.35394391 0.00926920
+v -0.24350059 0.38227456 0.00921010
+v -0.41618837 0.23437576 -0.21490667
+v -0.25690847 0.39669835 -0.04654895
+v -0.40001891 0.23538962 -0.00517516
+v -0.29209640 0.35679092 -0.01884764
+v -0.26607292 0.38188868 -0.02027959
+v -0.41436476 0.23392742 -0.03316296
+v -0.38896925 0.23763239 0.00970954
+f 1 2 3
+f 1 3 4
+f 6 2 1
+f 11 7 1
+f 11 1 4
+f 13 4 3
+f 15 3 12
+f 17 2 6
+f 17 6 10
+f 18 10 6
+f 18 6 1
+f 19 12 3
+f 19 3 2
+f 19 2 17
+f 20 13 3
+f 20 9 13
+f 20 15 9
+f 20 3 15
+f 22 5 14
+f 22 10 18
+f 23 14 9
+f 23 9 15
+f 25 15 12
+f 25 12 8
+f 25 8 15
+f 27 9 14
+f 27 14 16
+f 28 16 14
+f 28 14 5
+f 29 18 1
+f 29 1 7
+f 29 22 18
+f 30 8 12
+f 30 10 8
+f 30 17 10
+f 31 21 11
+f 31 11 4
+f 31 4 21
+f 32 21 4
+f 32 4 13
+f 32 13 21
+f 34 15 8
+f 34 8 24
+f 34 23 15
+f 34 14 23
+f 35 34 24
+f 35 14 34
+f 36 24 8
+f 36 8 10
+f 36 35 24
+f 37 13 9
+f 37 9 27
+f 38 16 28
+f 38 28 5
+f 38 5 26
+f 39 26 5
+f 39 5 22
+f 39 22 29
+f 39 38 26
+f 39 16 38
+f 40 30 12
+f 40 12 19
+f 40 19 17
+f 40 17 30
+f 41 7 11
+f 42 11 21
+f 42 41 11
+f 42 33 41
+f 43 22 14
+f 43 14 35
+f 43 35 36
+f 43 36 10
+f 43 10 22
+f 44 21 13
+f 44 13 37
+f 44 42 21
+f 44 37 27
+f 45 39 29
+f 46 41 33
+f 46 27 16
+f 46 45 41
+f 46 16 45
+f 47 33 42
+f 47 42 44
+f 47 44 27
+f 47 46 33
+f 47 27 46
+f 48 45 16
+f 48 16 39
+f 48 39 45
+f 49 7 41
+f 49 41 45
+f 49 45 29
+f 49 29 7
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_5/collision/model_normalized_collision_25.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_5/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b4fc7f5a552b216e7b5e4d3df6a88f63512e3add
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_5/collision/model_normalized_collision_25.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v 0.18275125 0.19628213 0.21951903
+v 0.18805685 0.20146167 0.21332893
+v 0.06511567 0.19421193 0.30042233
+v 0.02444584 0.31434992 0.16267734
+v -0.22156251 0.20475505 0.17342999
+v 0.13870729 0.29895130 0.16162877
+v 0.11910861 0.19458808 0.26457322
+v -0.21615920 0.19981529 0.17908517
+v -0.18699474 0.25980803 0.16217484
+v 0.15221007 0.23701760 0.21365432
+v 0.09177056 0.30802597 0.17175453
+v -0.19953855 0.19695651 0.18884302
+v 0.01117072 0.19375454 0.29904898
+v -0.21586070 0.22952685 0.16322718
+v -0.03519772 0.30016389 0.16216498
+v 0.13478558 0.27885898 0.18421520
+v 0.18462736 0.21259261 0.20758512
+v 0.09515542 0.31439873 0.16242393
+v 0.04920193 0.21659309 0.27632973
+v -0.14281359 0.27245877 0.16194745
+v -0.00043782 0.27786489 0.20010462
+v 0.13534282 0.29345110 0.16968322
+v 0.17023480 0.22497672 0.20885898
+v 0.02564077 0.30737360 0.17213572
+v 0.01444847 0.20044977 0.29227601
+v 0.02647914 0.21578378 0.27640084
+f 7 1 2
+f 8 5 2
+f 8 2 1
+f 10 7 2
+f 10 3 7
+f 12 8 1
+f 12 1 7
+f 13 9 8
+f 13 8 12
+f 13 12 7
+f 13 7 3
+f 14 9 6
+f 14 6 5
+f 14 5 8
+f 14 8 9
+f 16 3 10
+f 17 10 2
+f 17 2 5
+f 17 5 6
+f 18 11 6
+f 18 4 11
+f 18 15 4
+f 18 6 15
+f 19 3 11
+f 20 15 6
+f 20 6 9
+f 20 9 13
+f 21 20 13
+f 21 15 20
+f 22 16 10
+f 22 10 6
+f 22 6 11
+f 22 11 3
+f 22 3 16
+f 23 17 6
+f 23 6 10
+f 23 10 17
+f 24 19 11
+f 24 11 4
+f 24 4 15
+f 24 15 21
+f 25 13 3
+f 25 3 19
+f 25 24 21
+f 25 21 13
+f 26 25 19
+f 26 19 24
+f 26 24 25
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_5/collision/model_normalized_collision_26.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_5/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9f4774e08f493ce6f2241688f623361d9bc15e40
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_5/collision/model_normalized_collision_26.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.26515152 -0.02424352 -0.19352259
+v 0.26465977 -0.02437088 -0.35332471
+v 0.26515152 0.23333224 -0.19352259
+v 0.14393940 0.23333224 -0.19352259
+v 0.13590153 -0.02744670 -0.35587552
+v 0.14393940 -0.02424352 -0.19352259
+v 0.14376656 0.23032946 -0.35999530
+v 0.26001881 0.23255039 -0.34608633
+v 0.17259430 0.10046272 -0.35771205
+v 0.21583288 0.23152782 -0.35687833
+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 5 4
+f 8 3 2
+f 8 7 4
+f 8 4 3
+f 9 7 2
+f 9 2 5
+f 9 5 7
+f 10 8 2
+f 10 2 7
+f 10 7 8
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_5/collision/model_normalized_collision_27.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_5/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..36b7d7c170e4e5a0a0c589b5fe84f8152ef085e2
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_5/collision/model_normalized_collision_27.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.06307084 0.23374701 -0.36687350
+v 0.05155135 0.23335902 -0.36977326
+v 0.06379760 0.36831388 -0.35163406
+v -0.14062501 0.35264486 -0.31049253
+v -0.23259896 0.23191505 -0.31211661
+v 0.03535838 0.29279300 -0.37331075
+v -0.23105487 0.26127105 -0.30499500
+v 0.03389586 0.23328139 -0.37436679
+v 0.04986158 0.35051934 -0.36106628
+v -0.22885346 0.27133587 -0.34503953
+v -0.06367161 0.34942554 -0.35818962
+v -0.22963060 0.23424198 -0.34254579
+v -0.08811700 0.24290942 -0.37410540
+v -0.11862974 0.34825581 -0.32814394
+v -0.03427052 0.32197622 -0.37338823
+v -0.08858722 0.24109920 -0.37312773
+v 0.01958016 0.32156496 -0.37312889
+v -0.14565621 0.29700011 -0.36219296
+f 1 3 4
+f 5 2 1
+f 7 5 1
+f 7 1 4
+f 8 6 1
+f 8 1 2
+f 8 2 5
+f 9 3 1
+f 9 1 6
+f 10 7 4
+f 10 5 7
+f 11 4 3
+f 11 3 9
+f 12 8 5
+f 12 5 10
+f 13 12 10
+f 14 11 10
+f 14 10 4
+f 14 4 11
+f 15 11 9
+f 15 8 13
+f 16 13 8
+f 16 8 12
+f 16 12 13
+f 17 15 9
+f 17 9 6
+f 17 6 8
+f 17 8 15
+f 18 15 13
+f 18 13 10
+f 18 10 11
+f 18 11 15
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_5/collision/model_normalized_collision_28.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_5/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e6d245208a1fbd6b3bca576087798ddcf849ba56
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_5/collision/model_normalized_collision_28.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v -0.15176722 -0.16668850 0.24322594
+v -0.14003803 -0.15914416 0.25557050
+v -0.21823972 0.09558437 0.22601168
+v -0.14284455 0.17169044 0.22866403
+v -0.13755763 0.16698605 0.23380093
+v -0.18521610 -0.15673420 0.22350402
+v -0.13658301 0.01989844 0.28027232
+v -0.18566144 0.13895351 0.22266487
+v -0.20524562 -0.12299624 0.22707977
+v -0.13646416 0.09427037 0.26598398
+v -0.15579249 0.16913856 0.22347458
+v -0.13603904 0.13689617 0.24882173
+v -0.20919878 -0.12584409 0.22139101
+v -0.13655693 -0.08202101 0.27770954
+v -0.13544424 -0.14128415 0.26495498
+v -0.17978211 -0.05155092 0.25836840
+v -0.19416621 -0.10669503 0.24220881
+v -0.17814197 -0.01247385 0.25898208
+v -0.14791924 -0.08066917 0.27175333
+f 5 2 1
+f 5 1 4
+f 6 4 1
+f 9 6 1
+f 9 1 2
+f 10 3 7
+f 11 8 5
+f 11 5 4
+f 11 4 6
+f 12 8 3
+f 12 5 8
+f 12 3 10
+f 12 10 7
+f 13 3 8
+f 13 9 3
+f 13 6 9
+f 13 11 6
+f 13 8 11
+f 15 2 5
+f 15 5 12
+f 15 12 7
+f 15 7 14
+f 16 14 7
+f 17 15 14
+f 17 9 2
+f 17 2 15
+f 17 16 3
+f 17 3 9
+f 18 16 7
+f 18 7 3
+f 18 3 16
+f 19 17 14
+f 19 14 16
+f 19 16 17
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_5/collision/model_normalized_collision_29.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_5/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac42e27e67895b9a1053ffc1b734cf5728fbcad8
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_5/collision/model_normalized_collision_29.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.23484848 -0.02424352 0.01859863
+v -0.23484848 -0.02424352 -0.25412865
+v -0.23484848 0.23333224 0.01859863
+v -0.36618630 0.24574335 0.02750181
+v -0.36985112 -0.04260000 -0.28278786
+v -0.35606061 -0.02424352 0.01859863
+v -0.25359179 0.24852637 -0.29883256
+v -0.36038938 0.24223480 -0.26307454
+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/Assets/robocasa/data/objects/objaverse/garlic/garlic_5/collision/model_normalized_collision_3.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_5/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..61049dd46efd7226b7c32d72205ebdd9fc02786e
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_5/collision/model_normalized_collision_3.obj
@@ -0,0 +1,174 @@
+# https://github.com/mikedh/trimesh
+v 0.16900979 -0.46461083 0.01291583
+v 0.25137827 -0.42072220 0.01283377
+v 0.08471701 -0.03289689 0.40221786
+v -0.22142613 -0.02416400 0.23318113
+v -0.21969697 -0.02424352 0.01859863
+v -0.18340378 -0.41674682 0.08107254
+v 0.19653428 -0.34347673 0.15454300
+v -0.21080975 -0.44981905 0.01199724
+v 0.26515152 -0.02424352 0.01859863
+v -0.12130710 -0.19629259 0.25679172
+v 0.22698728 -0.38594130 0.09527214
+v 0.12548678 -0.44557399 0.06610060
+v -0.01674129 -0.29690688 0.21460966
+v -0.21140078 -0.34596446 0.11957795
+v -0.01201493 -0.01873934 0.38322066
+v 0.23661927 -0.40173112 0.06688779
+v 0.26057980 -0.02492415 0.22598008
+v 0.16612750 -0.41567445 0.09589597
+v -0.15556830 -0.46581429 0.01227881
+v 0.07207402 -0.05615271 0.39609280
+v -0.06314552 -0.34239429 0.17026597
+v -0.20598834 -0.41709952 0.06458116
+v -0.20611902 -0.15123669 0.21319328
+v -0.06359339 -0.21171806 0.27507069
+v 0.24824354 -0.41858307 0.02500312
+v 0.25130470 -0.30275930 0.13937133
+v 0.09008814 -0.02431621 0.40045524
+v 0.17095431 -0.37317735 0.13781236
+v 0.18029568 -0.43158475 0.06601402
+v 0.14354573 -0.46066303 0.03907242
+v -0.15509268 -0.44485804 0.05231049
+v 0.22619065 -0.34175656 0.13818047
+v 0.01372883 -0.02257189 0.40231470
+v 0.15703687 -0.35865388 0.15411971
+v -0.20811657 -0.44589796 0.02338191
+v -0.20631037 -0.40246374 0.07899449
+v -0.18029850 -0.38954878 0.10824918
+v -0.05415221 -0.23960772 0.25854271
+v 0.24976034 -0.38772756 0.06706345
+v 0.25250517 -0.10687890 0.21343142
+v 0.16838422 -0.44532235 0.05354820
+v 0.10372105 -0.44585092 0.06561834
+v 0.23535721 -0.30328192 0.15332753
+v 0.02099041 -0.04529769 0.39867293
+v -0.10026391 -0.14023271 0.28878627
+v 0.00300734 -0.22360520 0.27313913
+v 0.17058063 -0.31562275 0.18262780
+v -0.15403989 -0.46018476 0.02468826
+v -0.19343764 -0.36205293 0.12055159
+v -0.06176931 -0.32771824 0.18409069
+v 0.24863390 -0.33103180 0.12384054
+v 0.16870213 -0.45994771 0.02545498
+v 0.15553417 -0.43001903 0.08120891
+v 0.23370275 -0.33223324 0.13850623
+v 0.03084992 -0.05791799 0.39454311
+v -0.02307170 -0.22431713 0.27239308
+v 0.08417902 -0.46038904 0.03831508
+v -0.10564620 -0.21108624 0.25558307
+v -0.03060290 -0.29861361 0.21221387
+f 8 2 1
+f 8 4 5
+f 9 8 5
+f 9 2 8
+f 14 4 8
+f 15 9 5
+f 15 5 4
+f 17 9 15
+f 17 2 9
+f 19 8 1
+f 23 14 10
+f 23 4 14
+f 25 1 2
+f 26 2 17
+f 27 17 15
+f 27 3 26
+f 28 18 11
+f 28 11 7
+f 29 16 11
+f 29 11 18
+f 30 19 1
+f 31 21 6
+f 32 20 7
+f 32 3 20
+f 32 7 11
+f 33 15 4
+f 33 4 23
+f 33 27 15
+f 33 3 27
+f 34 21 12
+f 34 12 18
+f 34 18 28
+f 34 13 21
+f 34 28 7
+f 35 22 8
+f 35 6 22
+f 35 31 6
+f 35 8 19
+f 36 22 6
+f 36 14 8
+f 36 8 22
+f 37 6 21
+f 37 36 6
+f 38 24 37
+f 39 16 25
+f 39 25 2
+f 39 2 26
+f 39 11 16
+f 40 27 26
+f 40 26 17
+f 40 17 27
+f 41 25 16
+f 41 16 29
+f 41 29 18
+f 42 12 21
+f 42 21 31
+f 42 30 12
+f 43 26 3
+f 44 20 3
+f 44 3 33
+f 44 33 10
+f 44 10 24
+f 45 33 23
+f 45 23 10
+f 45 10 33
+f 46 34 20
+f 46 13 34
+f 47 34 7
+f 47 7 20
+f 47 20 34
+f 48 35 19
+f 48 31 35
+f 49 14 36
+f 49 36 37
+f 49 10 14
+f 49 37 24
+f 50 21 13
+f 50 38 37
+f 50 37 21
+f 51 39 26
+f 51 32 11
+f 51 11 39
+f 52 1 25
+f 52 25 41
+f 52 41 30
+f 52 30 1
+f 53 41 18
+f 53 18 12
+f 53 12 30
+f 53 30 41
+f 54 26 43
+f 54 51 26
+f 54 32 51
+f 54 43 3
+f 54 3 32
+f 55 20 44
+f 55 46 20
+f 55 44 24
+f 55 24 38
+f 56 38 13
+f 56 13 46
+f 56 55 38
+f 56 46 55
+f 57 48 19
+f 57 19 30
+f 57 30 42
+f 57 42 31
+f 57 31 48
+f 58 49 24
+f 58 24 10
+f 58 10 49
+f 59 50 13
+f 59 13 38
+f 59 38 50
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_5/collision/model_normalized_collision_30.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_5/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c18717fe0b8f4f5243638057b1106c67979b0634
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_5/collision/model_normalized_collision_30.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.00757576 0.23333224 0.01859863
+v 0.00757576 0.23333224 -0.31473471
+v 0.00982734 0.37471815 -0.35809200
+v -0.20749406 0.37773470 0.03070271
+v -0.22268677 0.23920856 -0.32097994
+v 0.00757576 0.35454436 0.01859863
+v -0.20454545 0.23333224 0.01859863
+v -0.19808265 0.34426132 -0.28284825
+v -0.20030981 0.31504145 -0.29949308
+v -0.16599985 0.34483819 -0.29870577
+f 1 2 3
+f 5 3 2
+f 6 1 3
+f 6 3 4
+f 6 4 1
+f 7 5 2
+f 7 2 1
+f 7 1 4
+f 7 4 5
+f 8 5 4
+f 8 4 3
+f 9 3 5
+f 9 5 8
+f 10 9 8
+f 10 8 3
+f 10 3 9
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_5/collision/model_normalized_collision_31.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_5/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..796f49c1642f8927c547efa97ecf37b0679417b2
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_5/collision/model_normalized_collision_31.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.00757576 -0.02424352 0.23071984
+v 0.00757576 -0.02424352 0.01859863
+v 0.00757576 0.20302921 0.01859863
+v -0.00828741 0.23502661 0.24231565
+v -0.23428131 -0.02613464 0.22471831
+v -0.00569102 0.22806277 0.25210201
+v -0.21969697 -0.02424352 0.01859863
+v -0.22142613 -0.02416400 0.23318113
+v -0.21067621 0.19573634 0.18406404
+v -0.21318501 0.13478280 0.21300025
+v -0.21969697 0.20302921 0.01859863
+v -0.15052416 0.19383413 0.21332701
+f 1 2 3
+f 5 2 1
+f 6 1 3
+f 6 3 4
+f 7 3 2
+f 7 2 5
+f 8 5 1
+f 8 1 6
+f 9 6 4
+f 10 8 6
+f 10 9 5
+f 10 5 8
+f 11 7 5
+f 11 5 9
+f 11 3 7
+f 11 9 4
+f 11 4 3
+f 12 10 6
+f 12 6 9
+f 12 9 10
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_5/collision/model_normalized_collision_4.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_5/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2873419fe7576dff9d49adae0c09241197515686
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_5/collision/model_normalized_collision_4.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.21216702 -0.46618992 -0.02962994
+v -0.21207168 -0.43605587 -0.21453943
+v -0.21969697 -0.02424352 0.01859863
+v -0.48911042 -0.02335961 -0.05761498
+v -0.44341818 -0.22715725 -0.10127232
+v -0.21969697 -0.02424352 -0.23897713
+v -0.45259341 -0.14398552 0.01503255
+v -0.21318238 -0.33798718 -0.28490433
+v -0.25317839 -0.44789961 -0.14192428
+v -0.46210515 -0.01899342 -0.21303867
+v -0.21674487 -0.44389584 0.01640582
+v -0.34090909 -0.02424352 0.01859863
+v -0.45800618 -0.18404589 -0.03124962
+v -0.41519646 -0.20996766 -0.21060818
+v -0.21422218 -0.46687634 -0.14674301
+v -0.30832523 -0.39255798 -0.04510212
+v -0.36272450 -0.04477224 -0.28505224
+v -0.46062920 -0.17267470 -0.13055429
+v -0.21316487 -0.45404645 -0.00074303
+v -0.47875478 -0.01927222 -0.17400191
+v -0.46081767 -0.15761358 -0.01583501
+v -0.25069864 -0.36285707 -0.25291747
+v -0.41386516 -0.25608684 -0.15677974
+v -0.21467005 -0.45221023 -0.18724811
+v -0.22714143 -0.46083443 -0.14366829
+v -0.26821355 -0.43164010 -0.03125302
+v -0.32362577 -0.37668719 -0.11620674
+v -0.42803845 -0.23884706 -0.03162878
+v -0.21951948 -0.16009608 -0.31227870
+v -0.38584983 -0.18511205 -0.25216270
+v -0.46023199 -0.18713984 -0.11511550
+v -0.44527317 -0.18678862 -0.17149922
+v -0.44629522 -0.18066651 0.01076625
+v -0.21401931 -0.39367591 -0.25609968
+v -0.29544860 -0.38711083 -0.18258477
+v -0.25166748 -0.44605796 -0.04635553
+v -0.22346837 -0.45974785 -0.03104834
+v -0.26329060 -0.41761338 0.00862067
+v -0.32215396 -0.37780601 -0.07431168
+v -0.43026160 -0.23780720 -0.14513581
+v -0.44307895 -0.22567592 -0.05899994
+v -0.21623001 -0.21887260 -0.30082094
+v -0.29247034 -0.17107725 -0.29804806
+v -0.41518644 -0.18424810 -0.22519635
+v -0.37311465 -0.21174907 -0.25032986
+v -0.45824547 -0.17196295 -0.01651644
+v -0.44239789 -0.20984188 -0.01835573
+v -0.43031837 -0.20967164 0.01172548
+v -0.22620426 -0.33666807 -0.27951624
+v -0.22409284 -0.43230158 -0.20998887
+v -0.29185351 -0.40508345 -0.15817950
+v -0.41480227 -0.23756498 -0.18371666
+v -0.29207250 -0.34937390 -0.22446306
+v -0.41429790 -0.25103468 -0.01879144
+v -0.29482124 -0.40415216 -0.03253804
+v -0.44408478 -0.21412171 -0.14362950
+v -0.29185657 -0.15835478 -0.30016678
+v -0.34676134 -0.17194286 -0.28005556
+v -0.42794359 -0.19982406 -0.19773416
+v -0.42863609 -0.22394692 -0.00436232
+v -0.22502689 -0.38877690 -0.25310202
+v -0.36011824 -0.19905995 -0.26527318
+v -0.25198434 -0.43035604 -0.18441665
+v -0.30884960 -0.38963185 -0.14304115
+f 8 1 2
+f 8 3 1
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+f 12 4 7
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+f 17 10 6
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+f 20 12 3
+f 20 3 10
+f 21 7 4
+f 21 4 13
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+f 24 2 15
+f 25 15 1
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+f 25 9 15
+f 26 16 9
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+f 34 8 2
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+f 37 36 1
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+f 38 19 11
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+f 41 31 5
+f 41 13 31
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+f 44 10 30
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+f 46 21 13
+f 46 13 33
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+f 46 7 21
+f 47 33 13
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+f 53 45 22
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+f 58 57 43
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+f 59 10 44
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+f 61 53 22
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+f 63 35 53
+f 63 61 50
+f 63 53 61
+f 64 27 23
+f 64 23 51
+f 64 51 9
+f 64 9 27
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_5/collision/model_normalized_collision_5.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_5/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cdb9566ce82b91c7b5da513579421db9e86c295e
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_5/collision/model_normalized_collision_5.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.15801939 0.01884595 -0.34900234
+v 0.14376656 0.23032946 -0.35999530
+v 0.00685987 0.44316325 -0.30681937
+v 0.00757576 0.23333224 -0.26928016
+v 0.08173323 0.01424778 -0.39093520
+v 0.08333334 0.02121103 -0.29958320
+v 0.14393940 0.23333224 -0.28443168
+v 0.04986158 0.35051934 -0.36106628
+v 0.00757576 0.23333224 -0.31473471
+v 0.09503513 0.01114054 -0.39014041
+v 0.05287598 0.09655109 -0.36588887
+v 0.10132922 0.42610281 -0.29714074
+v 0.14393940 0.09696860 -0.28443168
+v 0.00850769 0.41442391 -0.33353547
+v 0.08333334 0.23333224 -0.26928016
+v 0.08723631 0.40512952 -0.32312714
+v 0.08333334 0.09696860 -0.28443168
+v 0.06262422 0.35039668 -0.35808572
+f 7 1 2
+f 9 4 3
+f 10 2 1
+f 10 6 5
+f 10 1 6
+f 10 8 2
+f 10 5 8
+f 11 6 4
+f 11 5 6
+f 11 4 9
+f 12 7 2
+f 12 3 4
+f 13 6 1
+f 13 1 7
+f 14 9 3
+f 14 11 9
+f 14 8 5
+f 14 5 11
+f 15 12 4
+f 15 7 12
+f 15 13 7
+f 15 4 13
+f 16 12 2
+f 16 8 14
+f 16 14 3
+f 16 3 12
+f 17 13 4
+f 17 4 6
+f 17 6 13
+f 18 16 2
+f 18 2 8
+f 18 8 16
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_5/collision/model_normalized_collision_6.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_5/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb9279022e772a729ffa0de31a8c6b6a87c61e7c
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_5/collision/model_normalized_collision_6.obj
@@ -0,0 +1,120 @@
+# https://github.com/mikedh/trimesh
+v 0.48121732 -0.02560728 -0.00091584
+v 0.49029658 -0.02347845 -0.14516046
+v 0.42099646 0.23268542 -0.18440274
+v 0.26515152 0.23333224 0.00344711
+v 0.26465977 -0.02437088 -0.35332471
+v 0.38675851 0.23087552 -0.00304294
+v 0.48899912 0.04661982 -0.04573983
+v 0.31911090 -0.02784742 -0.34629221
+v 0.26515152 -0.02424352 0.00344711
+v 0.26001881 0.23255039 -0.34608633
+v 0.39727988 0.11999764 0.05704909
+v 0.49086661 -0.02429142 -0.03219140
+v 0.48966317 0.04815923 -0.11339648
+v 0.41251132 0.22213596 -0.06425355
+v 0.45855867 -0.02565252 -0.23238133
+v 0.38120205 0.20038334 0.03098945
+v 0.47312333 0.05429869 -0.00438718
+v 0.48978997 0.03181724 -0.02912094
+v 0.47448831 0.09123197 -0.12848183
+v 0.47283135 0.09148972 -0.04666453
+v 0.47345113 0.01564303 -0.18665657
+v 0.40225001 0.03222558 -0.29866563
+v 0.37885262 0.16965538 0.04405220
+v 0.42318453 0.10250989 0.04236289
+v 0.45867659 0.09322453 -0.00502189
+v 0.48999899 0.00242583 -0.14286987
+v 0.47203529 0.04645530 -0.17031124
+v 0.44369929 0.03180614 -0.24289212
+v 0.37146511 0.23098225 -0.25794948
+v 0.40851370 -0.02218205 -0.30083084
+v 0.37592669 0.04660508 -0.31323840
+v 0.46001145 0.09968648 -0.01899391
+v 0.48873898 0.03323986 -0.12742916
+v 0.45858054 -0.01501161 -0.23004615
+v 0.45811014 0.03070157 -0.21471834
+v 0.30042033 0.22921336 -0.32880805
+v 0.41401871 0.03206079 -0.28609750
+v 0.43281218 -0.02432342 -0.27407205
+v 0.34878261 0.04682617 -0.32616342
+v 0.43048455 0.00312428 -0.27112421
+v 0.27234714 0.23136107 -0.34156424
+f 6 3 4
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+f 14 3 6
+f 15 2 1
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+f 16 6 4
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+f 23 11 16
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+f 31 30 8
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+f 32 14 25
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+f 33 13 26
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+f 33 21 27
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+f 35 28 3
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+f 37 29 28
+f 37 22 29
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+f 38 15 8
+f 38 8 30
+f 38 30 37
+f 38 34 15
+f 38 28 34
+f 39 36 31
+f 39 31 8
+f 40 38 37
+f 40 37 28
+f 40 28 38
+f 41 39 8
+f 41 8 10
+f 41 10 36
+f 41 36 39
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_5/collision/model_normalized_collision_7.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_5/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..01c7bbe17ddcaac17dd9ccc311e34dbcf903702e
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_5/collision/model_normalized_collision_7.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.32116263 -0.30116062 0.03957744
+v 0.26865019 -0.27675948 -0.25435286
+v 0.27959617 -0.02469166 -0.35216865
+v -0.21969697 -0.02424352 0.01859863
+v -0.21969697 -0.28181928 0.01859863
+v 0.28030304 -0.02424352 0.01859863
+v 0.27689197 -0.12132488 -0.32532877
+v -0.21247423 -0.28013972 -0.29642627
+v -0.01121254 -0.02099184 -0.39158061
+v 0.19619618 -0.28013985 -0.29677227
+v -0.21723110 -0.02183359 -0.33937764
+v 0.22400413 -0.28014697 -0.28198602
+v -0.16895802 -0.27939172 -0.31153314
+v 0.03315730 -0.16187999 -0.36532608
+v -0.17069328 -0.04509814 -0.36037761
+v 0.07883284 -0.05684402 -0.38427326
+v 0.27714457 -0.07858151 -0.34213425
+v -0.00202244 -0.04750009 -0.38881942
+v 0.15377163 -0.27918747 -0.31111374
+v -0.16891961 -0.02160900 -0.36404058
+v 0.07372491 -0.03245967 -0.38822087
+f 5 1 4
+f 6 1 3
+f 6 4 1
+f 7 1 2
+f 7 3 1
+f 8 1 5
+f 9 6 3
+f 9 4 6
+f 11 8 5
+f 11 5 4
+f 11 4 9
+f 12 2 1
+f 12 1 10
+f 12 10 7
+f 12 7 2
+f 13 10 1
+f 13 1 8
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+f 15 8 11
+f 17 3 7
+f 17 7 10
+f 17 16 3
+f 17 14 16
+f 18 14 13
+f 18 16 14
+f 18 15 9
+f 18 13 15
+f 19 10 13
+f 19 13 14
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+f 20 15 11
+f 20 11 9
+f 20 9 15
+f 21 9 3
+f 21 3 16
+f 21 18 9
+f 21 16 18
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_5/collision/model_normalized_collision_8.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_5/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a5edbcdd784a122982cc16e53d6488e9631e0d02
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_5/collision/model_normalized_collision_8.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.38675851 0.23087552 -0.00304294
+v 0.42099646 0.23268542 -0.18440274
+v 0.35342855 0.35779579 -0.09061447
+v 0.23312603 0.41485905 -0.07600715
+v 0.23303831 0.23245379 -0.35277225
+v 0.29908801 0.36709594 -0.00669767
+v 0.39771080 0.28230021 -0.06147001
+v 0.30042033 0.22921336 -0.32880805
+v 0.23484849 0.23333224 0.00344711
+v 0.30171142 0.39579050 -0.09032923
+v 0.41712510 0.22903412 -0.09003585
+v 0.39985938 0.28564194 -0.17830281
+v 0.37009819 0.29616925 -0.00502663
+v 0.22895260 0.41437887 -0.20238544
+v 0.23225639 0.38844920 -0.00233789
+v 0.33899191 0.35419650 -0.03426703
+v 0.26048742 0.39643635 -0.03372662
+v 0.39855198 0.26066825 -0.04684376
+v 0.41416113 0.25896997 -0.12177165
+v 0.37146511 0.23098225 -0.25794948
+v 0.23151648 0.27383295 -0.34539127
+v 0.27359464 0.41183777 -0.14688512
+v 0.28462509 0.36798871 -0.25700325
+v 0.29917731 0.38132196 -0.03532594
+v 0.31380733 0.38288152 -0.06371703
+v 0.36858440 0.32671414 -0.06141849
+v 0.25938590 0.41072333 -0.07807463
+v 0.27255552 0.38113483 -0.00708327
+v 0.23300861 0.40155623 -0.03166934
+v 0.38328887 0.26077883 -0.00426465
+v 0.41438096 0.25662719 -0.18206618
+v 0.38399466 0.31304648 -0.08994174
+v 0.25904569 0.25938250 -0.34158820
+v 0.27361506 0.41212281 -0.11807175
+v 0.34056034 0.36995473 -0.16009933
+v 0.23120905 0.33093183 -0.31672472
+v 0.32630164 0.30044358 -0.28236627
+v 0.28727986 0.39503330 -0.20176572
+v 0.31280678 0.36559500 -0.02104047
+v 0.34399706 0.36617894 -0.08875980
+v 0.28739633 0.39601284 -0.06220124
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+v 0.29881593 0.28559649 -0.31194450
+v 0.25728186 0.38181156 -0.25606548
+v 0.25761626 0.32678478 -0.31109771
+v 0.29778571 0.31490397 -0.29771712
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+f 15 1 13
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+f 18 11 7
+f 18 1 11
+f 19 11 2
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+f 61 33 48
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+f 62 54 47
+f 62 23 54
+f 62 55 23
+f 62 47 55
+f 63 48 36
+f 63 36 54
+f 64 54 23
+f 64 37 61
+f 64 63 54
+f 64 61 48
+f 64 48 63
+f 64 58 37
+f 64 23 58
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_5/collision/model_normalized_collision_9.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_5/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1f6aa70a9e86662f50dd6f94d0622b5b87ca97e0
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_5/collision/model_normalized_collision_9.obj
@@ -0,0 +1,108 @@
+# https://github.com/mikedh/trimesh
+v 0.00757576 0.20302921 0.17011378
+v 0.00757576 0.20302921 0.01859863
+v 0.00851721 0.44240890 0.01644496
+v -0.04903975 0.43351063 0.01078826
+v -0.43915073 0.16781588 0.01454749
+v -0.18688679 0.29401757 0.14004827
+v 0.00976569 0.43559921 0.02592619
+v -0.23015446 0.16682970 0.18973587
+v -0.38896925 0.23763239 0.00970954
+v 0.00844203 0.31289749 0.16119096
+v -0.22819165 0.35225627 0.06718292
+v -0.21969697 0.17272618 0.01859863
+v -0.43379891 0.17997376 0.01115941
+v -0.21678150 0.16961578 0.19432930
+v -0.04773579 0.42741180 0.02032812
+v 0.00730049 0.41573049 0.04990921
+v -0.25646224 0.37353597 0.01127519
+v -0.36067698 0.16506612 0.11281120
+v -0.19602112 0.26909191 0.15323250
+v -0.07835989 0.39790716 0.04976001
+v -0.18769851 0.32322373 0.10918187
+v -0.23977834 0.36774359 0.03691844
+v -0.26502595 0.32485179 0.06423280
+v -0.40136305 0.18883349 0.05071835
+v -0.43427996 0.16476931 0.02558257
+v -0.15672316 0.28059588 0.15359779
+v -0.31875768 0.16490025 0.14498188
+v -0.25070577 0.33899628 0.06414515
+v -0.25271183 0.36865381 0.02326580
+v -0.40001447 0.20308377 0.03631558
+v -0.38582541 0.17562434 0.08089180
+v -0.42898983 0.17683615 0.02215062
+v -0.22621154 0.31209848 0.10808278
+v -0.38600957 0.23231059 0.02037986
+v -0.25084904 0.32402539 0.07944080
+v -0.38973811 0.16544258 0.08393410
+v -0.20959380 0.28258500 0.13785635
+f 3 2 4
+f 7 1 2
+f 7 2 3
+f 8 2 1
+f 9 4 2
+f 10 1 7
+f 12 2 8
+f 13 9 2
+f 13 12 5
+f 13 2 12
+f 14 8 1
+f 14 1 10
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+f 29 17 9
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+f 29 22 17
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+f 30 24 23
+f 31 23 24
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+f 34 23 9
+f 34 9 30
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+f 35 33 11
+f 35 11 28
+f 36 25 18
+f 36 18 31
+f 36 31 24
+f 36 24 25
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+f 37 27 19
+f 37 19 6
+f 37 6 33
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_5/model.xml b/Assets/robocasa/data/objects/objaverse/garlic/garlic_5/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..2dc1c4fd7c1f1b39bbc53c58efc38ece62e9f965
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_5/model.xml
@@ -0,0 +1,53 @@
+<mujoco model="garlic_0">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.05 0.05 0.05" refquat="1.0 0.0 0.0 0.0"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="material_0.005" texture="image0" specular="0.5" shininess="0.000399999"/>
+    <mesh file="collision/collision_mesh_collision_0.obj" name="garlic_collision_mesh_0" scale="0.05 0.05 0.05" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/collision_mesh_collision_1.obj" name="garlic_collision_mesh_1" scale="0.05 0.05 0.05" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/collision_mesh_collision_2.obj" name="garlic_collision_mesh_2" scale="0.05 0.05 0.05" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/collision_mesh_collision_3.obj" name="garlic_collision_mesh_3" scale="0.05 0.05 0.05" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/collision_mesh_collision_4.obj" name="garlic_collision_mesh_4" scale="0.05 0.05 0.05" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/collision_mesh_collision_5.obj" name="garlic_collision_mesh_5" scale="0.05 0.05 0.05" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/collision_mesh_collision_6.obj" name="garlic_collision_mesh_6" scale="0.05 0.05 0.05" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/collision_mesh_collision_7.obj" name="garlic_collision_mesh_7" scale="0.05 0.05 0.05" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/collision_mesh_collision_8.obj" name="garlic_collision_mesh_8" scale="0.05 0.05 0.05" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/collision_mesh_collision_9.obj" name="garlic_collision_mesh_9" scale="0.05 0.05 0.05" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/collision_mesh_collision_10.obj" name="garlic_collision_mesh_10" scale="0.05 0.05 0.05" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/collision_mesh_collision_11.obj" name="garlic_collision_mesh_11" scale="0.05 0.05 0.05" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/collision_mesh_collision_12.obj" name="garlic_collision_mesh_12" scale="0.05 0.05 0.05" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/collision_mesh_collision_13.obj" name="garlic_collision_mesh_13" scale="0.05 0.05 0.05" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/collision_mesh_collision_14.obj" name="garlic_collision_mesh_14" scale="0.05 0.05 0.05" refquat="1.0 0.0 0.0 0.0"/>
+  </asset>
+  <default>
+    <default class="region">
+      <geom group="1" conaffinity="0" contype="0" rgba="0 1 0 0"/>
+    </default>
+    <default class="collision">
+      <geom group="0" rgba="0.5 0 0 0.5" density="1000.0"/>
+    </default>
+  </default>
+  <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_0.005"/>
+        <geom class="region" name="reg_bbox" type="box" pos="1.3277499999991838e-06 4.458500000001364e-06 2.9614749999999637e-05" size="0.025253854750000006 0.025172143999999997 0.02081089175"/>
+        <geom mesh="garlic_collision_mesh_0" type="mesh" class="collision"/>
+        <geom mesh="garlic_collision_mesh_1" type="mesh" class="collision"/>
+        <geom mesh="garlic_collision_mesh_2" type="mesh" class="collision"/>
+        <geom mesh="garlic_collision_mesh_3" type="mesh" class="collision"/>
+        <geom mesh="garlic_collision_mesh_4" type="mesh" class="collision"/>
+        <geom mesh="garlic_collision_mesh_5" type="mesh" class="collision"/>
+        <geom mesh="garlic_collision_mesh_6" type="mesh" class="collision"/>
+        <geom mesh="garlic_collision_mesh_7" type="mesh" class="collision"/>
+        <geom mesh="garlic_collision_mesh_8" type="mesh" class="collision"/>
+        <geom mesh="garlic_collision_mesh_9" type="mesh" class="collision"/>
+        <geom mesh="garlic_collision_mesh_10" type="mesh" class="collision"/>
+        <geom mesh="garlic_collision_mesh_11" type="mesh" class="collision"/>
+        <geom mesh="garlic_collision_mesh_12" type="mesh" class="collision"/>
+        <geom mesh="garlic_collision_mesh_13" type="mesh" class="collision"/>
+        <geom mesh="garlic_collision_mesh_14" type="mesh" class="collision"/>
+      </body>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_5/visual/material.mtl b/Assets/robocasa/data/objects/objaverse/garlic/garlic_5/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2268211d7f0d7cdb93501a9d42e84f24758edfb1
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_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 0.39999900
+map_Kd material_0.png
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/garlic/garlic_5/visual/model_normalized_0.obj b/Assets/robocasa/data/objects/objaverse/garlic/garlic_5/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f944164759a5cf75d00418f76150d56b97dc729
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/garlic/garlic_5/visual/model_normalized_0.obj
@@ -0,0 +1,69586 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
+v 0.48707947 -0.07361694 -0.01772111
+v 0.48941359 -0.05565731 -0.02010305
+v 0.48222996 -0.06281759 0.00243198
+v 0.47935929 -0.07594606 0.00456650
+v 0.47998591 -0.05242801 0.00883331
+v 0.47646193 -0.05890606 0.01679480
+v 0.49097375 -0.05310189 -0.02851213
+v 0.49072522 -0.07432585 -0.03114983
+v 0.48394080 -0.04052608 -0.00692231
+v 0.48097338 -0.03808576 0.00361128
+v 0.47273723 -0.06100555 0.02376604
+v 0.49427367 -0.06102335 -0.04212433
+v 0.47459096 -0.02291173 0.01526244
+v 0.49198347 0.00233107 -0.03276837
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+v 0.48757599 0.01724544 -0.01307232
+v 0.49091482 -0.02700618 -0.03231801
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+v 0.47263770 -0.03557483 0.02037994
+v 0.49039384 0.02722636 -0.02465009
+v 0.46702868 -0.07875001 0.02774150
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+v 0.49503762 -0.07092864 -0.05331234
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\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_0/collision/collision_mesh_collision_0.obj b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_0/collision/collision_mesh_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fed38153bfd5e051b0cd2afe2dbbefb5c21d7043
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_0/collision/collision_mesh_collision_0.obj
@@ -0,0 +1,5524 @@
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diff --git a/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_0/collision/collision_mesh_collision_1.obj b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_0/collision/collision_mesh_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9f2a51694b1edff36d25351fb31d2f74e7634f52
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_0/collision/collision_mesh_collision_1.obj
@@ -0,0 +1,6043 @@
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diff --git a/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_0/collision/collision_mesh_collision_10.obj b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_0/collision/collision_mesh_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d842b432e5a9f080c7b87492c844d244ad66346
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_0/collision/collision_mesh_collision_10.obj
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diff --git a/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_0/collision/collision_mesh_collision_2.obj b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_0/collision/collision_mesh_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db3d5a623ee1002f848fdfb7192ee09c80c8c282
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_0/collision/collision_mesh_collision_2.obj
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diff --git a/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_0/collision/collision_mesh_collision_3.obj b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_0/collision/collision_mesh_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4507327c149c426911dea78300a845f38201e2ea
--- /dev/null
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diff --git a/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_0/collision/collision_mesh_collision_4.obj b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_0/collision/collision_mesh_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc6983e725da6c8b8e3c566179199d2d2af45220
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_0/collision/collision_mesh_collision_4.obj
@@ -0,0 +1,409 @@
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diff --git a/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_0/collision/collision_mesh_collision_5.obj b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_0/collision/collision_mesh_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..90f87304e514f66b0884afca90e0545312181cbb
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_0/collision/collision_mesh_collision_5.obj
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diff --git a/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_0/collision/collision_mesh_collision_6.obj b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_0/collision/collision_mesh_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a8d1ded9679a3988e220ae717028a694c56cc1e
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_0/collision/collision_mesh_collision_6.obj
@@ -0,0 +1,496 @@
+# https://github.com/mikedh/trimesh
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diff --git a/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_0/collision/collision_mesh_collision_7.obj b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_0/collision/collision_mesh_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef0ddb49e5f4c81ae45ab5ef47bf1ed584921523
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_0/collision/collision_mesh_collision_7.obj
@@ -0,0 +1,1924 @@
+# https://github.com/mikedh/trimesh
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diff --git a/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_0/collision/collision_mesh_collision_8.obj b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_0/collision/collision_mesh_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c2aeccf1113a676b9ae40361c7cea1e777fce3d5
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_0/collision/collision_mesh_collision_8.obj
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diff --git a/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_0/collision/collision_mesh_collision_9.obj b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_0/collision/collision_mesh_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1200c35f1533a0b8ef35cb929dc0e1116c3a71bf
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_0/collision/collision_mesh_collision_9.obj
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+f 213 263 214
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+f 215 265 217
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+f 219 265 266
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+f 221 269 222
+f 222 269 223
+f 223 270 271
+f 223 271 250
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+f 223 253 228
+f 223 228 272
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+f 224 272 225
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+f 274 279 275
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+f 278 282 302
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+f 291 307 308
+f 291 308 292
+f 292 308 307
+f 292 307 293
+f 296 309 297
+f 297 309 307
+f 300 306 301
+
diff --git a/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_0/collision/model_normalized_collision_0.obj b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_0/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d2c7ece2b23482e91dd6823336a46807c704be9a
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_0/collision/model_normalized_collision_0.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.11812395 0.23193604 0.11025367
+v 0.17308265 0.24245076 -0.08910286
+v 0.12471023 0.45168284 0.10604327
+v -0.00239997 0.49213598 0.13031472
+v -0.20256874 0.23361930 -0.03552496
+v 0.09450167 0.42972476 -0.05934155
+v 0.02016356 0.43630163 0.15195532
+v -0.19609173 0.23412347 -0.05266980
+v 0.12190695 0.44471216 -0.01690118
+v 0.11089832 0.35457220 0.12493045
+v 0.04092249 0.46438217 0.14128372
+v -0.18661600 0.23676641 0.08360205
+v 0.14475256 0.34719269 -0.09113501
+v -0.17169230 0.41659748 -0.00238370
+v 0.12172356 0.45820409 0.02340726
+v -0.00354201 0.49189283 0.05922918
+v 0.03980911 0.47838504 0.12830640
+v -0.01814027 0.45675820 0.15208756
+v 0.01954492 0.45618564 0.15174212
+v -0.20076595 0.23608017 0.05712777
+v -0.14707550 0.39570228 0.14232911
+v -0.18555707 0.33805502 -0.04635897
+v 0.12183289 0.41817759 -0.06000010
+v 0.09573796 0.45841051 -0.00393453
+v 0.03501351 0.49049236 0.08409228
+v -0.12019992 0.45890768 0.09027510
+v -0.10719798 0.44326730 -0.03128935
+v 0.01838601 0.47657559 0.14149549
+v -0.01888628 0.23886126 0.10766671
+v -0.01870426 0.43623916 0.15219537
+v -0.17370437 0.39526834 0.11559562
+v -0.03987313 0.46485824 0.14178398
+v -0.20086431 0.35348974 -0.00463573
+v 0.12098094 0.42962450 -0.04495739
+v 0.10861131 0.44292382 -0.03112921
+v 0.00497636 0.49158541 0.05922036
+v 0.03469455 0.49008008 0.10662683
+v -0.03392469 0.49068559 0.08403392
+v -0.09424012 0.45867266 -0.00399601
+v -0.17465280 0.39274742 -0.03180198
+v 0.01477286 0.42036186 -0.06266095
+v 0.00381909 0.49183180 0.13016367
+v -0.01698220 0.47702676 0.14162830
+v -0.00384913 0.29931885 0.12349402
+v -0.18478541 0.40722739 0.08684116
+v -0.14624910 0.43282347 0.11557236
+v -0.14442362 0.40785722 0.13915570
+v -0.20037157 0.26351495 -0.03482009
+v -0.20101617 0.38166167 0.06172150
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+v -0.12042977 0.45871457 0.02330864
+v -0.13432301 0.43080568 -0.03151285
+v -0.20078329 0.38095180 0.02217121
+v -0.18352793 0.37800697 -0.03017256
+v 0.02832849 0.43003089 -0.05695298
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+v -0.13364793 0.44452875 -0.00399338
+v -0.18447141 0.39066529 -0.01605881
+v -0.18557678 0.40513143 0.01036755
+v -0.17037020 0.40591194 0.11354157
+v -0.14728288 0.44478380 0.09003082
+f 1 2 3
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+f 63 45 31
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+f 63 47 46
+f 63 46 57
+f 64 57 46
+f 64 46 26
+f 64 26 59
+f 64 59 45
+f 64 45 57
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_0/collision/model_normalized_collision_1.obj b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_0/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b301f9d60a81f02f2e6ac4e9e3ee1b860c72ab8e
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_0/collision/model_normalized_collision_1.obj
@@ -0,0 +1,171 @@
+# https://github.com/mikedh/trimesh
+v 0.05779839 -0.44441844 0.04166940
+v 0.16800991 -0.30878287 -0.06572553
+v 0.07620616 -0.26320960 0.04403314
+v -0.20810885 -0.26512879 0.03406081
+v -0.08087569 -0.34404376 -0.09927241
+v 0.12228663 -0.26120863 -0.11604631
+v -0.18919006 -0.36141014 0.03657628
+v 0.12711805 -0.41144341 0.03560937
+v 0.10747307 -0.36993192 -0.07042511
+v 0.17428685 -0.26500742 -0.07050054
+v -0.12103799 -0.26134978 -0.11658622
+v -0.03914028 -0.44954437 0.03191770
+v 0.12147816 -0.39837666 -0.01650452
+v 0.10880897 -0.33166267 -0.09978039
+v 0.16023777 -0.26161804 -0.08792519
+v -0.18891627 -0.26297285 -0.04811657
+v 0.09559943 -0.30548281 -0.11404274
+v -0.14718865 -0.38393169 -0.01732378
+v -0.14841726 -0.40041069 0.03651145
+v 0.02046816 -0.44231937 0.02234391
+v -0.09284443 -0.38370921 -0.05895326
+v 0.10854213 -0.41308485 0.01080899
+v 0.13511132 -0.38406512 -0.03077424
+v 0.13342384 -0.30493735 -0.09786061
+v 0.12066336 -0.34421395 -0.08658886
+v 0.08237452 -0.34413690 -0.09908122
+v 0.15909541 -0.27612280 -0.08536130
+v -0.20069756 -0.30803274 -0.00458170
+v -0.10607588 -0.30462549 -0.11121621
+v -0.14666544 -0.39895727 0.02377513
+v 0.10830619 -0.39653461 -0.03064198
+v 0.09439201 -0.38351510 -0.05864411
+v -0.11931471 -0.38384457 -0.04474677
+v 0.13716203 -0.38900676 -0.01924030
+v 0.12088834 -0.27561027 -0.11305699
+v 0.12062809 -0.38340662 -0.04443399
+v 0.16136780 -0.30651843 -0.07382747
+v 0.10619499 -0.35621899 -0.08427085
+v -0.20197513 -0.33506164 0.03535381
+v -0.20437332 -0.26406476 -0.00720571
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+v -0.13067276 -0.35675457 -0.06974308
+v -0.13082534 -0.36880045 -0.05683123
+f 7 1 3
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+f 57 48 52
+f 58 57 50
+f 58 50 33
+f 58 33 53
+f 58 53 57
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_0/collision/model_normalized_collision_10.obj b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_0/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0234fab713537befd2fa31294a85f3d647a070ec
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_0/collision/model_normalized_collision_10.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v 0.17927825 -0.26326596 -0.06413669
+v 0.18445790 -0.21879713 -0.06742505
+v 0.02851208 -0.22066278 -0.02002857
+v -0.07133788 -0.21630825 0.00505049
+v -0.10818622 -0.21643091 -0.13264447
+v -0.06711124 -0.26117103 0.00775276
+v 0.10954544 -0.21633213 -0.13222139
+v -0.15993015 -0.26916338 -0.08627120
+v 0.13672305 -0.21660791 -0.11842131
+v 0.01070580 -0.26824743 -0.02452367
+v 0.08224600 -0.26052849 -0.12832781
+v -0.16550120 -0.22459121 -0.09136671
+v 0.17834507 -0.21749620 -0.07719251
+v 0.12228663 -0.26120863 -0.11604631
+v -0.08075954 -0.26055753 -0.12846252
+v -0.13560441 -0.21675988 -0.11905438
+v 0.14734087 -0.26087871 -0.09988347
+v 0.10854692 -0.23078959 -0.12921518
+v -0.12103799 -0.26134978 -0.11658622
+v 0.17298235 -0.26164657 -0.07311343
+v 0.13369417 -0.24552583 -0.11341196
+v -0.10618126 -0.24511210 -0.12661612
+v -0.13716957 -0.26274285 -0.10705477
+v -0.13257528 -0.24568806 -0.11404409
+f 1 2 3
+f 3 2 4
+f 6 1 3
+f 6 3 4
+f 7 5 4
+f 8 6 4
+f 9 7 4
+f 10 8 1
+f 10 1 6
+f 10 6 8
+f 11 5 7
+f 12 8 4
+f 13 2 1
+f 13 9 4
+f 13 4 2
+f 14 1 8
+f 14 8 11
+f 14 7 9
+f 15 11 8
+f 15 5 11
+f 16 12 4
+f 16 4 5
+f 16 8 12
+f 17 9 13
+f 17 1 14
+f 18 14 11
+f 18 11 7
+f 18 7 14
+f 19 15 8
+f 19 16 5
+f 20 17 13
+f 20 13 1
+f 20 1 17
+f 21 17 14
+f 21 14 9
+f 21 9 17
+f 22 19 5
+f 22 5 15
+f 22 15 19
+f 23 19 8
+f 23 8 16
+f 24 23 16
+f 24 16 19
+f 24 19 23
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_0/collision/model_normalized_collision_11.obj b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_0/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d38a39344573536572eaf464f8a6a2d0839f080
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_0/collision/model_normalized_collision_11.obj
@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
+v -0.15166298 -0.31444985 -0.08028877
+v -0.13766059 -0.30832266 -0.09403811
+v -0.14004406 0.27931862 -0.11230872
+v -0.17039414 0.27972578 -0.08382788
+v -0.14551932 -0.12601869 -0.12968333
+v -0.15885714 -0.21611317 -0.10048524
+v -0.13664174 -0.12703664 -0.13590161
+v -0.14562114 0.17149376 -0.12980985
+v -0.14455318 -0.27559530 -0.09819324
+v -0.19429038 -0.14296361 -0.06607750
+v -0.13571196 0.26243238 -0.11923257
+v -0.15903763 0.18681245 -0.11580265
+v -0.14755591 -0.30618541 -0.08721492
+v -0.13577245 -0.27717677 -0.10422189
+v -0.17761137 -0.27805080 -0.06263571
+v -0.17088587 -0.14162070 -0.10289766
+v -0.14450653 0.26108388 -0.11322373
+v -0.13673388 0.17251486 -0.13604845
+v -0.19118053 0.14298273 -0.07960704
+v -0.18535535 -0.09681192 -0.08961872
+v -0.16783689 -0.30890031 -0.06590612
+v -0.17791887 0.26315101 -0.07801123
+v -0.15893510 -0.14133664 -0.11569029
+v -0.18631992 -0.17186411 -0.07508391
+v -0.17062185 -0.21633826 -0.08759845
+v -0.15501568 0.28337578 -0.09911331
+v -0.18543784 0.14227363 -0.08967116
+v -0.16065503 -0.30673425 -0.07454073
+v -0.19182710 -0.17287590 -0.06479151
+v -0.17096337 0.18714672 -0.10299823
+v -0.17541693 -0.14860737 -0.09563504
+v -0.17049581 -0.27659822 -0.07236806
+v -0.14904820 0.27779012 -0.10590208
+v -0.16334725 0.27807901 -0.09210358
+v -0.17073955 0.26202667 -0.08768821
+f 1 2 3
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+f 33 17 12
+f 33 12 26
+f 33 26 3
+f 33 3 17
+f 34 26 12
+f 34 4 26
+f 35 30 22
+f 35 22 4
+f 35 4 34
+f 35 34 12
+f 35 12 30
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_0/collision/model_normalized_collision_12.obj b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_0/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e2bd7fb15a459712d242e855aed370e045b13c0
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_0/collision/model_normalized_collision_12.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.10966457 -0.14671982 0.09602202
+v -0.08623542 -0.14280292 0.07478227
+v -0.14273235 0.23519454 0.12389214
+v -0.16119328 0.23714996 0.11195859
+v -0.19611682 -0.14456764 0.06094448
+v -0.09089645 0.15728205 0.07422623
+v -0.14993687 -0.14582155 0.11355925
+v -0.19815816 0.23523039 0.06278368
+v -0.18962945 -0.14509707 0.07239004
+v -0.12658600 -0.14647698 0.11032223
+v -0.17464870 0.23676120 0.09895624
+v -0.19246251 0.23585780 0.07400300
+f 1 2 3
+f 5 2 1
+f 6 3 2
+f 6 2 5
+f 7 3 4
+f 8 4 3
+f 8 3 6
+f 8 6 5
+f 9 5 1
+f 10 1 3
+f 10 3 7
+f 10 9 1
+f 10 7 9
+f 11 9 7
+f 11 7 4
+f 12 8 5
+f 12 5 9
+f 12 9 11
+f 12 11 4
+f 12 4 8
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_0/collision/model_normalized_collision_13.obj b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_0/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..130e41656cee6a3850adc5900f2d0d5e444c754f
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_0/collision/model_normalized_collision_13.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v 0.16622094 0.10122590 -0.11969122
+v 0.12496577 0.09769697 -0.15206395
+v 0.15248879 0.24045054 -0.11131110
+v -0.16171666 0.23835831 -0.10307933
+v -0.05736731 0.09585775 -0.04350866
+v -0.09390093 0.23116059 -0.14349421
+v 0.09534191 0.23110495 -0.14321095
+v -0.14746720 0.09894554 -0.13736300
+v 0.04174002 0.23138521 -0.14466796
+v 0.12064899 0.18632501 -0.14275495
+v -0.16870318 0.16292690 -0.10947820
+v -0.13199987 0.23109038 -0.12820577
+v -0.09479319 0.09736374 -0.16296274
+v 0.12313332 0.23207000 -0.13298488
+v 0.08240435 0.14170331 -0.16048257
+v -0.15573703 0.09960081 -0.13026066
+v -0.13773115 0.15785400 -0.13770450
+v 0.10842060 0.09705578 -0.15911140
+v 0.10796853 0.21582498 -0.14261259
+v -0.09386915 0.14143857 -0.15851897
+v -0.12115169 0.15707839 -0.14707185
+v 0.10804120 0.11157059 -0.15796750
+v -0.11940610 0.18641595 -0.14331032
+v -0.10661082 0.21590964 -0.14304078
+f 1 2 3
+f 5 2 1
+f 5 1 3
+f 5 3 4
+f 6 4 3
+f 9 6 3
+f 9 3 7
+f 10 3 2
+f 11 5 4
+f 12 4 6
+f 13 5 8
+f 14 7 3
+f 14 3 10
+f 15 9 7
+f 15 6 9
+f 16 8 5
+f 16 5 11
+f 17 11 4
+f 17 16 11
+f 17 8 16
+f 17 4 12
+f 18 2 5
+f 18 5 13
+f 18 13 15
+f 19 14 10
+f 19 7 14
+f 19 15 7
+f 20 15 13
+f 20 6 15
+f 21 13 8
+f 21 8 17
+f 21 20 13
+f 22 10 2
+f 22 2 18
+f 22 19 10
+f 22 18 15
+f 22 15 19
+f 23 21 17
+f 23 17 12
+f 23 20 21
+f 24 23 12
+f 24 12 6
+f 24 6 20
+f 24 20 23
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_0/collision/model_normalized_collision_14.obj b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_0/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f93694ef1b52ff6d22706d09a22e337905f5bd24
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_0/collision/model_normalized_collision_14.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.09000284 -0.26549092 0.09165096
+v 0.08315267 -0.26510512 0.08107083
+v 0.06178848 -0.14461581 0.07623660
+v -0.18546567 -0.14426481 0.07825483
+v -0.19168574 -0.26642280 0.08869472
+v -0.19153700 -0.17533339 0.07347902
+v -0.13517957 -0.19255329 0.12422463
+v 0.09166642 -0.22026145 0.09007855
+v 0.04703092 -0.26766941 0.11456495
+v -0.19725111 -0.26566795 0.07752022
+v -0.14993687 -0.14582155 0.11355925
+v 0.08479613 -0.21973784 0.07999805
+v -0.16079609 -0.26799702 0.12662976
+v 0.04291114 -0.14684753 0.09247301
+v 0.05596976 -0.14335356 0.08416495
+v -0.12151781 -0.26742258 0.13006318
+v -0.17410107 -0.26752321 0.11360836
+v -0.14723902 -0.19266799 0.12270292
+v 0.02044636 -0.19336606 0.10799075
+v -0.16517517 -0.14536395 0.10133896
+v -0.17868562 -0.14518869 0.08721966
+v -0.17341967 -0.16135629 0.09567351
+f 6 3 2
+f 6 4 3
+f 6 5 4
+f 8 1 2
+f 9 2 1
+f 9 1 8
+f 10 6 2
+f 10 5 6
+f 10 9 5
+f 10 2 9
+f 12 8 2
+f 12 2 3
+f 12 3 8
+f 14 9 8
+f 15 3 4
+f 15 4 11
+f 15 11 14
+f 15 14 8
+f 15 8 3
+f 16 13 9
+f 16 9 7
+f 16 7 13
+f 17 5 9
+f 17 9 13
+f 17 4 5
+f 18 13 7
+f 18 7 11
+f 18 11 13
+f 19 14 11
+f 19 11 7
+f 19 7 9
+f 19 9 14
+f 20 17 13
+f 20 13 11
+f 20 11 4
+f 21 20 4
+f 21 4 17
+f 22 21 17
+f 22 17 20
+f 22 20 21
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_0/collision/model_normalized_collision_15.obj b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_0/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8111020c2ec062f1940a7fad8ca7ecc4e111c975
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_0/collision/model_normalized_collision_15.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.15683442 -0.14949475 -0.11610419
+v 0.16768892 -0.00934003 -0.12104132
+v -0.05742851 -0.00521222 -0.04623615
+v 0.12057182 -0.14084609 -0.14258905
+v 0.12599867 -0.00719797 -0.15429407
+v -0.14882118 -0.14532242 -0.12400365
+v -0.12240699 -0.15361882 -0.13942937
+v -0.09532656 -0.00700741 -0.16552860
+v -0.15410794 -0.08465533 -0.12846916
+v 0.10921837 -0.00680886 -0.16151397
+v -0.08090185 -0.09624522 -0.16045647
+v -0.13274508 -0.08143905 -0.14455135
+v 0.10839021 -0.05159427 -0.15901976
+v 0.08238739 -0.09622732 -0.16031476
+v -0.13560547 -0.14163499 -0.13417752
+v -0.13195601 -0.09594160 -0.14323717
+v 0.09562701 -0.08146411 -0.15975906
+v -0.11932951 -0.14093289 -0.14314505
+v -0.09418759 -0.08149590 -0.16004951
+f 1 2 3
+f 5 2 1
+f 5 1 4
+f 5 3 2
+f 6 1 3
+f 7 4 1
+f 7 1 6
+f 9 6 3
+f 9 3 8
+f 10 8 3
+f 10 3 5
+f 12 9 8
+f 13 10 5
+f 13 5 4
+f 14 4 7
+f 14 7 11
+f 14 11 8
+f 14 8 10
+f 15 7 6
+f 16 6 9
+f 16 9 12
+f 16 15 6
+f 17 13 4
+f 17 4 14
+f 17 14 10
+f 17 10 13
+f 18 7 15
+f 18 15 16
+f 18 11 7
+f 19 8 11
+f 19 11 18
+f 19 12 8
+f 19 18 16
+f 19 16 12
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_0/collision/model_normalized_collision_16.obj b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_0/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7ae580cef954ce436b41b03d0eea0f7d490669f3
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_0/collision/model_normalized_collision_16.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.11158568 0.09663851 0.08335401
+v 0.16622094 0.10122590 -0.11969122
+v 0.15248879 0.24045054 -0.11131110
+v -0.09845474 0.23496110 0.09492320
+v -0.10288377 0.09914871 0.07508291
+v 0.10325774 0.22826869 0.09814998
+v -0.05736731 0.09585775 -0.04350866
+v -0.03426220 0.09910970 0.08512232
+v 0.04606799 0.23770239 0.09778325
+v -0.11906639 0.24487438 -0.13218983
+v -0.10554203 0.16060146 0.08657070
+v -0.01889895 0.14679714 0.09258205
+v -0.04494759 0.23756175 0.09842267
+v 0.02035772 0.14683485 0.09233911
+f 6 1 2
+f 6 2 3
+f 7 2 1
+f 7 1 5
+f 8 5 1
+f 9 6 3
+f 10 3 2
+f 10 2 7
+f 10 9 3
+f 10 7 5
+f 11 5 8
+f 11 10 5
+f 11 4 10
+f 12 11 8
+f 12 4 11
+f 13 10 4
+f 13 9 10
+f 13 4 12
+f 13 12 6
+f 13 6 9
+f 14 12 8
+f 14 8 1
+f 14 1 6
+f 14 6 12
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_0/collision/model_normalized_collision_17.obj b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_0/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b66791f8c34d3502dfe2ef408872f40045d8b48a
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_0/collision/model_normalized_collision_17.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v 0.18445790 -0.21879713 -0.06742505
+v 0.19341120 -0.15787112 -0.06483592
+v 0.17943438 0.30874734 -0.06423460
+v 0.17444904 0.31049521 -0.07062413
+v 0.12384241 0.12745402 -0.14963954
+v 0.13969893 -0.22287674 -0.11485659
+v 0.18751213 0.11234726 -0.09003632
+v 0.12313332 0.23207000 -0.13298488
+v 0.17263013 -0.12656187 -0.10312563
+v 0.19227662 0.21821061 -0.06424323
+v 0.15986910 0.18668995 -0.11506983
+v 0.12604996 -0.14265532 -0.13974002
+v 0.18790224 -0.15703323 -0.07555603
+v 0.16567503 -0.21765054 -0.09285213
+v 0.13385321 -0.08136966 -0.14389848
+v 0.17273383 0.17202918 -0.10320212
+v 0.16771894 0.30886299 -0.07957117
+v 0.14658939 0.17138046 -0.12911002
+v 0.12379119 -0.08198705 -0.14952492
+v 0.17834507 -0.21749620 -0.07719251
+v 0.18744633 -0.06688786 -0.08999370
+v 0.15630281 -0.22666831 -0.10031278
+v 0.14649553 -0.12590415 -0.12897461
+v 0.18689074 0.21719235 -0.07449340
+v 0.13311598 0.23095724 -0.12756826
+v 0.17295494 0.24699906 -0.08822930
+v 0.13391457 0.12683357 -0.14400116
+v 0.17281294 -0.20152069 -0.08812553
+v 0.13671074 -0.14162480 -0.13352078
+v 0.15976562 -0.14122020 -0.11495702
+v 0.16269969 0.24167019 -0.10126960
+v 0.17314353 0.30713780 -0.07323651
+f 1 2 3
+f 6 1 3
+f 8 6 3
+f 8 3 4
+f 10 3 2
+f 10 2 7
+f 12 6 8
+f 13 2 1
+f 17 8 4
+f 18 11 16
+f 19 12 8
+f 19 8 5
+f 19 15 12
+f 19 5 15
+f 20 13 1
+f 20 9 13
+f 21 13 9
+f 21 7 2
+f 21 2 13
+f 21 9 15
+f 22 1 6
+f 22 20 1
+f 22 14 20
+f 23 15 9
+f 24 10 7
+f 24 7 16
+f 24 3 10
+f 25 8 17
+f 25 5 8
+f 26 24 16
+f 26 3 24
+f 27 15 5
+f 27 25 18
+f 27 5 25
+f 27 21 15
+f 27 7 21
+f 27 18 16
+f 27 16 7
+f 28 20 14
+f 28 9 20
+f 29 23 6
+f 29 6 12
+f 29 12 15
+f 29 15 23
+f 30 22 6
+f 30 6 23
+f 30 14 22
+f 30 23 9
+f 30 28 14
+f 30 9 28
+f 31 25 17
+f 31 11 18
+f 31 18 25
+f 31 17 26
+f 31 26 16
+f 31 16 11
+f 32 26 17
+f 32 17 4
+f 32 4 3
+f 32 3 26
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_0/collision/model_normalized_collision_18.obj b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_0/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..277ee53fc1db7acc994c170a628dfd55a8a3993f
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_0/collision/model_normalized_collision_18.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.08623542 -0.14280292 0.07478227
+v -0.10763514 -0.14934043 -0.14632682
+v -0.09643977 0.15825268 -0.15572087
+v -0.17002364 0.15605539 0.09194201
+v -0.17201609 -0.14012555 0.09392919
+v -0.13773115 0.15785400 -0.13770450
+v -0.09089645 0.15728205 0.07422623
+v -0.09450912 -0.06651093 -0.16159768
+v -0.14882118 -0.14532242 -0.12400365
+v -0.09453645 0.11197983 -0.16172904
+v -0.13274508 -0.08143905 -0.14455135
+v -0.12115169 0.15707839 -0.14707185
+v -0.10664566 -0.06615016 -0.15828229
+v -0.10668667 0.11161762 -0.15840596
+v -0.13203186 0.14141098 -0.14336350
+f 5 2 1
+f 5 1 4
+f 7 4 1
+f 7 6 4
+f 7 3 6
+f 8 1 2
+f 9 5 4
+f 9 4 6
+f 9 2 5
+f 10 7 1
+f 10 3 7
+f 10 1 8
+f 11 2 9
+f 11 9 6
+f 12 6 3
+f 13 8 2
+f 13 2 11
+f 13 10 8
+f 14 12 3
+f 14 3 10
+f 14 10 13
+f 14 13 11
+f 15 14 11
+f 15 11 6
+f 15 6 12
+f 15 12 14
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_0/collision/model_normalized_collision_19.obj b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_0/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa04bee9378c9bc6f4a55164f70d1d5595e1fbb8
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_0/collision/model_normalized_collision_19.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v -0.09845474 0.23496110 0.09492320
+v -0.10522463 0.23672372 0.10142518
+v -0.19158365 0.31188478 0.08863617
+v -0.09704538 0.46526907 0.09115358
+v -0.12002771 0.42554936 0.13803885
+v -0.18175253 0.23569106 0.09037882
+v -0.12604341 0.34409829 0.13981107
+v -0.10897258 0.44009989 0.12585339
+v -0.18891562 0.39624559 0.08867185
+v -0.13519156 0.23783865 0.12397146
+v -0.14679850 0.31444307 0.13706466
+v -0.09970228 0.46094050 0.10185117
+v -0.11421953 0.34251967 0.12766584
+v -0.12631078 0.26858348 0.12400051
+v -0.17333774 0.29819621 0.11145670
+v -0.13439415 0.31430317 0.13877322
+v -0.14712948 0.23794446 0.12251989
+v -0.14707550 0.39570228 0.14232911
+v -0.13703526 0.45069407 0.09190799
+v -0.11020840 0.25366534 0.10879283
+v -0.18586410 0.31298323 0.09819130
+v -0.17464870 0.23676120 0.09895624
+v -0.15922994 0.29856272 0.12486242
+v -0.10827286 0.45894022 0.10335244
+v -0.13336383 0.41980899 0.13972847
+v -0.18443445 0.39425177 0.09937007
+v -0.10861434 0.46232109 0.09222063
+v -0.13189276 0.44349016 0.11487061
+f 6 3 4
+f 6 4 1
+f 7 2 1
+f 9 4 3
+f 10 6 1
+f 10 1 2
+f 12 8 1
+f 12 1 4
+f 13 7 1
+f 13 1 8
+f 13 8 5
+f 13 5 7
+f 14 10 2
+f 14 7 10
+f 16 10 7
+f 17 6 10
+f 17 16 11
+f 17 10 16
+f 18 7 5
+f 18 16 7
+f 18 11 16
+f 19 4 9
+f 20 14 2
+f 20 2 7
+f 20 7 14
+f 21 3 6
+f 21 6 15
+f 21 15 18
+f 22 15 6
+f 22 6 17
+f 23 18 15
+f 23 11 18
+f 23 15 22
+f 23 22 17
+f 23 17 11
+f 24 12 4
+f 24 8 12
+f 25 18 5
+f 26 21 18
+f 26 9 3
+f 26 3 21
+f 26 18 25
+f 27 24 4
+f 27 4 19
+f 27 19 24
+f 28 24 19
+f 28 26 25
+f 28 19 9
+f 28 9 26
+f 28 8 24
+f 28 25 5
+f 28 5 8
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_0/collision/model_normalized_collision_2.obj b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_0/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..74ffdaa4792ff7ee54a74abf78f3127456eb96ad
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_0/collision/model_normalized_collision_2.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.01544941 -0.25581114 0.12266068
+v 0.01070580 -0.26824743 -0.02452367
+v 0.03195717 -0.14519669 -0.02091955
+v -0.18962945 -0.14509707 0.07239004
+v -0.20370847 -0.26594816 0.06029198
+v 0.01169807 -0.14077189 0.10043129
+v -0.19725111 -0.26566795 0.07752022
+v -0.11788007 -0.27609555 -0.11432929
+v -0.05750897 -0.13792053 -0.03261468
+v -0.20297617 -0.14462186 0.04490671
+v -0.19429038 -0.14296361 -0.06607750
+v -0.20102251 -0.14273615 -0.05019348
+v -0.18891627 -0.26297285 -0.04811657
+v -0.17882261 -0.26344696 -0.06479893
+v -0.20089302 -0.26338538 -0.01982259
+v -0.18516384 -0.24689332 -0.05920221
+v -0.20026948 -0.21804763 -0.03478758
+v -0.20063741 -0.15755110 -0.04827479
+f 1 2 3
+f 6 1 3
+f 6 4 1
+f 7 2 1
+f 7 1 4
+f 8 3 2
+f 8 7 5
+f 8 2 7
+f 9 6 3
+f 9 4 6
+f 10 7 4
+f 10 5 7
+f 10 4 9
+f 11 9 3
+f 11 3 8
+f 12 10 9
+f 12 9 11
+f 12 5 10
+f 14 11 8
+f 14 8 13
+f 15 13 8
+f 15 8 5
+f 15 5 12
+f 16 14 13
+f 16 13 11
+f 16 11 14
+f 17 15 12
+f 17 11 13
+f 17 13 15
+f 18 17 12
+f 18 12 11
+f 18 11 17
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_0/collision/model_normalized_collision_20.obj b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_0/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..416873bea6033c7f7cf0fc475896f5d98e0c4d14
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_0/collision/model_normalized_collision_20.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.11268715 -0.00698889 0.08155649
+v 0.07484100 -0.00706393 -0.00118340
+v 0.07431380 0.09787389 -0.00109086
+v 0.00731643 0.09883999 0.08966211
+v 0.00689255 -0.00809471 0.08715246
+v 0.11158568 0.09663851 0.08335401
+v 0.03997070 -0.00851976 -0.02366705
+v 0.03816232 0.10066004 -0.02159367
+v 0.03428101 -0.00837796 0.08253967
+v 0.04409182 0.09945436 0.07930359
+f 1 2 3
+f 5 1 4
+f 6 1 3
+f 6 4 1
+f 7 2 1
+f 7 3 2
+f 8 6 3
+f 8 3 7
+f 8 7 5
+f 8 5 4
+f 9 7 1
+f 9 1 5
+f 9 5 7
+f 10 8 4
+f 10 4 6
+f 10 6 8
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_0/collision/model_normalized_collision_21.obj b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_0/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae25c151b4b2116d958218a26cf98d3c9f628965
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_0/collision/model_normalized_collision_21.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.18057511 0.05337024 0.07240760
+v 0.18730038 0.05311301 0.06334051
+v 0.17528375 0.23688047 0.09821899
+v 0.09916504 0.23720808 0.09600119
+v 0.09113437 0.05350341 0.05879060
+v 0.15168341 0.05351819 0.09939688
+v 0.19841459 0.23531369 0.06222307
+v 0.16204547 0.23726949 0.11122274
+v 0.12796969 0.05362082 0.09731294
+v 0.19283620 0.23595592 0.07335956
+v 0.19335974 0.12938976 0.05852198
+v 0.07901833 0.23459513 0.06858602
+v 0.09862334 0.05355512 0.06670696
+v 0.12313392 0.23688558 0.11520230
+v 0.14216915 0.13037541 0.10920035
+v 0.13583956 0.13046584 0.10857041
+f 1 2 3
+f 6 5 2
+f 6 2 1
+f 8 6 1
+f 8 1 3
+f 8 3 4
+f 9 5 6
+f 10 3 2
+f 10 2 7
+f 10 7 4
+f 10 4 3
+f 11 7 2
+f 11 2 5
+f 11 5 7
+f 12 7 5
+f 12 5 4
+f 12 4 7
+f 13 9 4
+f 13 4 5
+f 13 5 9
+f 14 8 4
+f 14 4 9
+f 15 9 6
+f 15 6 8
+f 15 8 14
+f 16 15 14
+f 16 14 9
+f 16 9 15
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_0/collision/model_normalized_collision_22.obj b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_0/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0138f2ef83930d67a1eae5bd421acdd6736871d9
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_0/collision/model_normalized_collision_22.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v 0.18204779 0.23575071 0.08996092
+v 0.19314501 0.32700284 0.08866667
+v 0.14857633 0.32918026 0.13893455
+v 0.06507685 0.45330919 0.11785472
+v 0.09284538 0.23573066 0.08846076
+v 0.15950099 0.40612767 0.12637394
+v 0.17333805 0.29817574 0.11144688
+v 0.13795762 0.45040446 0.09125841
+v 0.14152416 0.23765362 0.12457479
+v 0.12023199 0.42509177 0.13827124
+v 0.18754472 0.32800038 0.09861627
+v 0.08844532 0.35627682 0.09279352
+v 0.16265820 0.43288470 0.09021562
+v 0.12765185 0.32974311 0.13800221
+v 0.16204547 0.23726949 0.11122274
+v 0.14535867 0.40777494 0.13843070
+v 0.13267069 0.44299590 0.11487453
+v 0.18721571 0.38219211 0.10041960
+v 0.09247042 0.45617665 0.10258706
+v 0.14092000 0.31406785 0.13932182
+v 0.11310510 0.23860520 0.10772727
+v 0.16009097 0.29870384 0.12412727
+v 0.14941415 0.25307526 0.12381829
+v 0.17528375 0.23688047 0.09821899
+v 0.13447638 0.41979774 0.13906875
+v 0.15880577 0.43116900 0.10130188
+v 0.19225687 0.38341501 0.08971804
+v 0.12659615 0.45521242 0.09362489
+v 0.13439446 0.31428654 0.13876428
+v 0.09916504 0.23720808 0.09600119
+v 0.13519184 0.23782802 0.12396402
+f 5 2 1
+f 9 5 1
+f 11 7 1
+f 11 1 2
+f 11 3 7
+f 12 8 5
+f 12 5 4
+f 13 2 5
+f 13 5 8
+f 14 10 4
+f 15 9 1
+f 16 3 6
+f 17 4 10
+f 18 11 2
+f 18 6 3
+f 18 3 11
+f 19 12 4
+f 20 9 3
+f 21 14 4
+f 22 15 7
+f 22 7 3
+f 22 3 15
+f 23 15 3
+f 23 3 9
+f 23 9 15
+f 24 15 1
+f 24 1 7
+f 24 7 15
+f 25 17 10
+f 25 16 6
+f 25 10 20
+f 25 20 3
+f 25 3 16
+f 26 13 8
+f 26 8 17
+f 26 6 18
+f 26 25 6
+f 26 17 25
+f 27 18 2
+f 27 2 13
+f 27 26 18
+f 27 13 26
+f 28 8 12
+f 28 12 19
+f 28 17 8
+f 28 19 4
+f 28 4 17
+f 29 9 20
+f 29 20 10
+f 29 10 14
+f 30 21 4
+f 30 4 5
+f 31 9 29
+f 31 21 30
+f 31 30 5
+f 31 5 9
+f 31 29 14
+f 31 14 21
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_0/collision/model_normalized_collision_23.obj b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_0/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..daef668d480396e5f6700c00490493ed4d41c4aa
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_0/collision/model_normalized_collision_23.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.15630281 -0.22666831 -0.10031278
+v 0.16567503 -0.21765054 -0.09285213
+v -0.16550120 -0.22459121 -0.09136671
+v -0.17541693 -0.14860737 -0.09563504
+v 0.10946865 -0.14157942 -0.14712798
+v 0.16591382 -0.14238536 -0.10820892
+v -0.11941480 -0.21564690 -0.12821363
+v 0.15969351 -0.21596531 -0.09975929
+v 0.13671074 -0.14162480 -0.13352078
+v 0.17296539 -0.14364561 -0.09979409
+v 0.12066039 -0.21553105 -0.12766623
+v -0.13560547 -0.14163499 -0.13417752
+v 0.16714869 -0.15037750 -0.10535623
+v 0.09529274 -0.18560222 -0.14297454
+v 0.13300340 -0.18546915 -0.12738121
+v -0.13560441 -0.21675988 -0.11905438
+v 0.10789429 -0.17032467 -0.14238893
+v -0.10811363 -0.14162753 -0.14756435
+v -0.13188913 -0.18559442 -0.12802256
+v -0.09385155 -0.18565952 -0.14325658
+v -0.10653651 -0.17041136 -0.14281693
+f 1 2 3
+f 3 2 4
+f 7 1 3
+f 8 2 1
+f 9 8 1
+f 9 6 8
+f 10 4 2
+f 11 1 7
+f 12 3 4
+f 12 9 5
+f 12 6 9
+f 12 10 6
+f 12 4 10
+f 13 8 6
+f 13 2 8
+f 13 10 2
+f 13 6 10
+f 14 11 7
+f 15 9 1
+f 15 1 11
+f 15 11 5
+f 15 5 9
+f 16 7 3
+f 16 3 12
+f 17 14 5
+f 17 5 11
+f 17 11 14
+f 18 12 5
+f 18 5 14
+f 19 16 12
+f 19 7 16
+f 19 18 7
+f 19 12 18
+f 20 18 14
+f 20 14 7
+f 21 20 7
+f 21 7 18
+f 21 18 20
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_0/collision/model_normalized_collision_24.obj b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_0/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2883033238d8b1e145c1853410d2c7477381ee33
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_0/collision/model_normalized_collision_24.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.02851208 -0.22066278 -0.02002857
+v 0.00766713 -0.21964635 -0.07079980
+v 0.03997070 -0.00851976 -0.02366705
+v -0.07396431 -0.00735386 -0.00641268
+v -0.12199537 -0.23181688 -0.12327213
+v -0.07133788 -0.21630825 0.00505049
+v 0.00765466 -0.14389439 -0.08593639
+v 0.01324222 -0.00765366 -0.08821700
+v -0.12240699 -0.15361882 -0.13942937
+v -0.05742851 -0.00521222 -0.04623615
+f 5 2 1
+f 6 1 3
+f 6 3 4
+f 6 5 1
+f 6 4 5
+f 7 1 2
+f 7 3 1
+f 8 3 7
+f 9 7 2
+f 9 2 5
+f 9 8 7
+f 9 5 4
+f 10 4 3
+f 10 3 8
+f 10 9 4
+f 10 8 9
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_0/collision/model_normalized_collision_25.obj b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_0/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c0f38d1402ea01185b7cf6175918cd7482685aa0
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_0/collision/model_normalized_collision_25.obj
@@ -0,0 +1,114 @@
+# https://github.com/mikedh/trimesh
+v 0.12918249 -0.40082482 0.11049095
+v 0.20150186 -0.32220013 0.00897900
+v 0.18751727 -0.28248759 0.09888263
+v 0.11664764 -0.26255611 0.12509223
+v 0.12833185 -0.30984545 -0.09934794
+v 0.17536021 -0.36315003 0.10250834
+v 0.12611283 -0.39374275 -0.02172539
+v 0.18925959 -0.26280446 -0.04751253
+v 0.18136027 -0.26631287 0.10461763
+v 0.20497763 -0.32248518 0.03534398
+v 0.15849075 -0.34358773 -0.05581147
+v 0.12199298 -0.35892873 -0.07345745
+v 0.16154015 -0.38445577 0.00959699
+v 0.15080941 -0.27117853 -0.09424081
+v 0.18707721 -0.33671956 0.10006708
+v 0.20812089 -0.26512487 0.03393231
+v 0.18699456 -0.32060003 -0.03117970
+v 0.12326879 -0.33447989 -0.09125757
+v 0.15837226 -0.35665509 -0.04298583
+v 0.16235808 -0.38661069 0.08966931
+v 0.18855740 -0.35912052 0.02322633
+v 0.17927825 -0.26326596 -0.06413669
+v 0.15872955 -0.31926657 -0.07144296
+v 0.18810761 -0.36074198 0.07683147
+v 0.20445318 -0.26396446 -0.00689133
+v 0.19206424 -0.26654159 0.08804707
+v 0.14461410 -0.34367330 -0.06966170
+v 0.14732929 -0.38383131 -0.01734609
+v 0.17367284 -0.35900411 -0.01707552
+v 0.15066708 -0.38938734 0.10503431
+v 0.17488604 -0.37223637 0.01070900
+v 0.18574807 -0.29239593 -0.04567551
+v 0.14755839 -0.30612732 -0.08723680
+v 0.17464008 -0.37370318 0.09002729
+v 0.20253499 -0.29364501 -0.00505207
+v 0.13333586 -0.33294933 -0.08611548
+v 0.13168176 -0.35653190 -0.06916886
+v 0.18810905 -0.34701245 -0.00332963
+v 0.14633867 -0.31858811 -0.08342159
+f 6 4 1
+f 7 1 4
+f 12 7 4
+f 13 1 7
+f 14 5 4
+f 15 3 9
+f 15 9 4
+f 15 4 6
+f 16 4 9
+f 16 15 10
+f 18 12 4
+f 18 4 5
+f 20 1 13
+f 21 2 10
+f 22 14 4
+f 22 4 8
+f 23 14 22
+f 23 17 11
+f 24 15 6
+f 24 10 15
+f 24 21 10
+f 24 20 21
+f 25 8 4
+f 25 4 16
+f 25 16 10
+f 26 16 9
+f 26 9 3
+f 26 3 15
+f 26 15 16
+f 27 11 19
+f 27 23 11
+f 28 13 7
+f 29 19 11
+f 29 11 17
+f 29 28 19
+f 29 13 28
+f 30 6 1
+f 30 1 20
+f 31 21 20
+f 31 20 13
+f 31 13 29
+f 32 22 8
+f 32 23 22
+f 32 17 23
+f 33 5 14
+f 33 14 23
+f 34 24 6
+f 34 20 24
+f 34 30 20
+f 34 6 30
+f 35 2 17
+f 35 17 32
+f 35 32 8
+f 35 8 25
+f 35 25 10
+f 35 10 2
+f 36 12 18
+f 36 18 5
+f 37 27 19
+f 37 36 27
+f 37 12 36
+f 37 19 28
+f 37 28 7
+f 37 7 12
+f 38 29 17
+f 38 17 2
+f 38 2 21
+f 38 31 29
+f 38 21 31
+f 39 36 5
+f 39 5 33
+f 39 33 23
+f 39 23 27
+f 39 27 36
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_0/collision/model_normalized_collision_26.obj b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_0/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f4c51f98930f5dbfe7f7ec69ae95683c6ec9f388
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_0/collision/model_normalized_collision_26.obj
@@ -0,0 +1,147 @@
+# https://github.com/mikedh/trimesh
+v 0.18204779 0.23575071 0.08996092
+v 0.20271436 0.23352024 -0.03509384
+v 0.20327040 0.36868731 0.06180527
+v 0.12659615 0.45521242 0.09362489
+v 0.12837553 0.23445769 -0.12971320
+v 0.17470266 0.40139326 0.11057465
+v 0.20488968 0.23556420 0.04504032
+v 0.11812395 0.23193604 0.11025367
+v 0.15883146 0.38936236 -0.05625911
+v 0.18004110 0.39755287 0.10485642
+v 0.20256894 0.33917231 -0.00534658
+v 0.20239368 0.28120760 0.05936433
+v 0.14852740 0.23177405 -0.11656738
+v 0.12183289 0.41817759 -0.06000010
+v 0.16212728 0.43066921 0.00938573
+v 0.17524937 0.41962325 0.09020312
+v 0.19283620 0.23595592 0.07335956
+v 0.18831176 0.25201708 0.08373921
+v 0.13354726 0.35048053 -0.09815856
+v 0.18590213 0.33787527 -0.04575773
+v 0.12373929 0.29241597 -0.11917130
+v 0.18602463 0.40457166 0.01070418
+v 0.12418968 0.44856658 -0.00535736
+v 0.14590429 0.41529445 -0.04271722
+v 0.17003804 0.41372983 0.10734958
+v 0.14825842 0.44420725 0.08993291
+v 0.18813620 0.40738875 0.07696438
+v 0.18924096 0.39582093 0.08835394
+v 0.13217051 0.40220556 -0.06974069
+v 0.20163599 0.24845480 -0.03475077
+v 0.17159577 0.36458987 -0.05691788
+v 0.12350972 0.35222467 -0.10360165
+v 0.13382753 0.29104203 -0.11363384
+v 0.18726015 0.36613515 -0.03131838
+v 0.20170767 0.36776437 0.00893624
+v 0.14730535 0.43056975 -0.01737460
+v 0.15888001 0.40252425 -0.04332675
+v 0.17590881 0.40885029 0.10260155
+v 0.14829706 0.44460667 0.02373064
+v 0.14647947 0.36417306 -0.08377838
+v 0.13176243 0.41509930 -0.05650655
+v 0.19093132 0.23320879 -0.06354032
+v 0.15983293 0.26144877 -0.09991207
+v 0.12222835 0.40501449 -0.07399705
+v 0.14704543 0.24623240 -0.11460721
+v 0.14511064 0.38937941 -0.07002771
+v 0.13483674 0.44396021 -0.00378852
+v 0.18681720 0.27768641 -0.06068614
+v 0.15911602 0.32165023 -0.08565774
+v 0.16169392 0.23232794 -0.10436361
+f 8 6 4
+f 8 1 6
+f 8 7 1
+f 8 2 7
+f 10 6 1
+f 11 7 2
+f 11 3 7
+f 12 7 3
+f 13 8 5
+f 13 2 8
+f 17 1 7
+f 17 7 12
+f 18 12 3
+f 18 17 12
+f 18 10 1
+f 18 1 17
+f 21 5 8
+f 23 14 8
+f 23 8 4
+f 25 4 6
+f 26 25 16
+f 26 4 25
+f 27 22 15
+f 28 18 3
+f 28 10 18
+f 28 3 27
+f 30 20 11
+f 30 11 2
+f 33 5 21
+f 33 32 19
+f 33 21 32
+f 34 11 20
+f 34 20 31
+f 34 31 9
+f 35 3 11
+f 35 34 22
+f 35 11 34
+f 35 27 3
+f 35 22 27
+f 36 14 23
+f 37 29 24
+f 37 34 9
+f 37 22 34
+f 37 24 36
+f 37 36 15
+f 37 15 22
+f 38 25 6
+f 38 6 10
+f 38 10 28
+f 38 16 25
+f 38 28 27
+f 38 27 16
+f 39 26 16
+f 39 23 4
+f 39 4 26
+f 39 27 15
+f 39 16 27
+f 40 19 32
+f 40 9 31
+f 41 24 29
+f 41 36 24
+f 41 14 36
+f 42 30 2
+f 42 2 13
+f 44 32 21
+f 44 40 32
+f 44 41 29
+f 44 14 41
+f 44 21 8
+f 44 8 14
+f 45 13 5
+f 45 5 33
+f 45 43 13
+f 46 37 9
+f 46 29 37
+f 46 9 40
+f 46 44 29
+f 46 40 44
+f 47 36 23
+f 47 23 39
+f 47 39 15
+f 47 15 36
+f 48 20 30
+f 48 30 42
+f 49 31 20
+f 49 48 43
+f 49 20 48
+f 49 40 31
+f 49 43 45
+f 49 19 40
+f 49 45 33
+f 49 33 19
+f 50 42 13
+f 50 13 43
+f 50 48 42
+f 50 43 48
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_0/collision/model_normalized_collision_27.obj b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_0/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..44234e7f9f82daee25283059394486f8f42548a2
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_0/collision/model_normalized_collision_27.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v -0.17201609 -0.14012555 0.09392919
+v -0.16604088 -0.14784742 -0.10704045
+v -0.16171666 0.23835831 -0.10307933
+v -0.19815816 0.23523039 0.06278368
+v -0.20677540 -0.14421021 0.03251475
+v -0.17758991 0.23013872 0.09440398
+v -0.19611682 -0.14456764 0.06094448
+v -0.20095369 0.09783120 -0.06353698
+v -0.20297617 -0.14462186 0.04490671
+v -0.20102251 -0.14273615 -0.05019348
+v -0.20474129 0.23550275 0.04548635
+v -0.20091428 -0.05237514 -0.06351946
+v -0.20256874 0.23361930 -0.03552496
+v -0.18812674 -0.14233086 -0.07801230
+v -0.18644340 0.21733520 -0.07516103
+v -0.19059621 0.23334123 -0.06414809
+v -0.18049374 0.23373961 -0.08101013
+v -0.20065263 0.20304316 -0.04849060
+f 1 2 3
+f 6 1 3
+f 6 3 4
+f 7 2 1
+f 7 6 4
+f 7 1 6
+f 8 3 2
+f 9 5 2
+f 9 2 7
+f 9 7 4
+f 10 2 5
+f 11 4 3
+f 11 9 4
+f 11 5 9
+f 12 8 2
+f 12 10 5
+f 12 5 8
+f 13 8 5
+f 13 5 11
+f 13 11 3
+f 14 12 2
+f 14 2 10
+f 14 10 12
+f 15 3 8
+f 16 13 3
+f 17 16 3
+f 17 3 15
+f 17 15 16
+f 18 16 15
+f 18 15 8
+f 18 8 13
+f 18 13 16
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_0/collision/model_normalized_collision_28.obj b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_0/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3901de3da93bdf72e25769a5a8d5b98e0968c2a9
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_0/collision/model_normalized_collision_28.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.08807343 -0.14433374 0.07719568
+v 0.08076807 -0.14375118 0.06756079
+v 0.08496346 -0.08356616 0.06417989
+v -0.10052239 -0.08387266 0.07724302
+v -0.10205219 -0.14515225 0.08980038
+v -0.09343453 -0.08230408 0.07065237
+v 0.00529498 -0.08617990 0.09284761
+v 0.09229511 -0.08529862 0.07030545
+v 0.05750425 -0.14584490 0.08364967
+v -0.10529365 -0.11526021 0.08660025
+v -0.08623542 -0.14280292 0.07478227
+v -0.00383608 -0.08614181 0.09308987
+v 0.03431743 -0.14605642 0.09744878
+v -0.03432697 -0.14605602 0.09744862
+v 0.03430958 -0.11649798 0.09275741
+f 6 3 2
+f 7 3 6
+f 8 1 2
+f 8 2 3
+f 8 3 7
+f 9 5 2
+f 9 2 1
+f 10 4 6
+f 11 6 2
+f 11 2 5
+f 11 10 6
+f 11 5 10
+f 12 7 6
+f 12 6 4
+f 12 4 10
+f 13 1 8
+f 13 9 1
+f 13 7 12
+f 14 12 10
+f 14 10 5
+f 14 13 12
+f 14 5 9
+f 14 9 13
+f 15 13 8
+f 15 8 7
+f 15 7 13
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_0/collision/model_normalized_collision_29.obj b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_0/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e8f2f23c50e6c390520cb25bfd5c70cc95585b3
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_0/collision/model_normalized_collision_29.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.07484100 -0.00706393 -0.00118340
+v 0.12599867 -0.00719797 -0.15429407
+v 0.12496577 0.09769697 -0.15206395
+v -0.07343534 0.09821550 -0.00632175
+v -0.09532656 -0.00700741 -0.16552860
+v 0.07431380 0.09787389 -0.00109086
+v -0.07396431 -0.00735386 -0.00641268
+v 0.10921837 -0.00680886 -0.16151397
+v -0.09479319 0.09736374 -0.16296274
+v 0.10842060 0.09705578 -0.15911140
+f 1 2 3
+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 3 2
+f 8 2 5
+f 9 4 3
+f 9 7 4
+f 9 5 7
+f 10 8 5
+f 10 5 9
+f 10 9 3
+f 10 3 8
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_0/collision/model_normalized_collision_3.obj b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_0/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bae3fe748225413a036ce1ee760480b9bc22d3ad
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_0/collision/model_normalized_collision_3.obj
@@ -0,0 +1,150 @@
+# https://github.com/mikedh/trimesh
+v 0.17308265 0.24245076 -0.08910286
+v 0.12313332 0.23207000 -0.13298488
+v 0.11045694 0.42146747 -0.06319224
+v -0.12256510 0.43592884 -0.03375744
+v -0.19609173 0.23412347 -0.05266980
+v -0.10617816 0.35018471 -0.11152455
+v 0.01403383 0.34117821 -0.04338311
+v 0.15396791 0.34946118 -0.08244413
+v 0.09540890 0.38904493 -0.09794782
+v -0.17325075 0.37935768 -0.04608997
+v -0.12188784 0.23218231 -0.13353319
+v 0.12556135 0.41100686 -0.06569241
+v 0.01353665 0.42927312 -0.04104873
+v -0.17923195 0.38207991 -0.03474502
+v 0.08227402 0.30614049 -0.12860714
+v 0.12172787 0.36512649 -0.09989407
+v -0.09395825 0.38909802 -0.09820577
+v -0.19059621 0.23334123 -0.06414809
+v -0.14470326 0.32111117 -0.09839298
+v 0.10669160 0.40217349 -0.08473923
+v -0.01855458 0.43709682 -0.03804917
+v -0.16289298 0.40741276 -0.03262434
+v -0.08078790 0.30614441 -0.12874847
+v 0.12100756 0.32112343 -0.11331224
+v 0.10754277 0.35005101 -0.11111736
+v 0.12078490 0.39047184 -0.08690251
+v -0.14555338 0.36442157 -0.08437003
+v -0.18818487 0.34083723 -0.04049521
+v -0.11951709 0.26115303 -0.12843462
+v -0.17065655 0.32208951 -0.07249072
+v 0.10764321 0.41597846 -0.07107461
+v -0.09318500 0.43004877 -0.05939558
+v -0.13092017 0.40281862 -0.07013502
+v 0.12076380 0.26103060 -0.12788860
+v 0.12222835 0.40501449 -0.07399705
+v -0.11837804 0.37688030 -0.09614105
+v -0.17096167 0.36492527 -0.05757792
+v -0.19070779 0.29361666 -0.04905298
+v -0.10626965 0.29062921 -0.12688242
+v -0.02698753 0.42992827 -0.05660365
+v -0.14481526 0.41587626 -0.04311889
+v -0.14400842 0.38985480 -0.07063223
+v -0.10549011 0.40247775 -0.08502501
+v -0.10635673 0.41629272 -0.07129959
+v 0.10762924 0.29052882 -0.12646094
+v -0.18531403 0.29237263 -0.05929607
+v -0.14919397 0.41953689 -0.03332175
+v -0.15800861 0.38981164 -0.05675081
+v -0.15797872 0.40307745 -0.04384447
+v -0.11973397 0.43008226 -0.04521208
+v -0.13070160 0.41551243 -0.05696932
+f 5 2 1
+f 7 5 1
+f 8 1 2
+f 12 7 1
+f 12 1 8
+f 13 12 3
+f 13 7 12
+f 14 5 7
+f 15 2 11
+f 17 9 15
+f 18 11 2
+f 18 2 5
+f 21 13 3
+f 21 7 13
+f 22 14 7
+f 22 10 14
+f 22 21 4
+f 22 7 21
+f 23 15 11
+f 23 17 15
+f 23 6 17
+f 24 16 8
+f 25 15 9
+f 25 9 16
+f 25 16 24
+f 26 12 8
+f 26 8 16
+f 26 16 9
+f 26 9 20
+f 27 6 19
+f 28 5 14
+f 29 19 6
+f 29 11 19
+f 30 19 11
+f 30 11 18
+f 30 27 19
+f 31 3 12
+f 31 20 9
+f 32 4 21
+f 32 3 31
+f 32 31 9
+f 32 9 17
+f 34 24 8
+f 34 8 2
+f 35 26 20
+f 35 12 26
+f 35 31 12
+f 35 20 31
+f 36 17 6
+f 36 6 27
+f 37 28 14
+f 37 14 10
+f 37 30 28
+f 37 27 30
+f 38 18 5
+f 38 5 28
+f 39 23 11
+f 39 11 29
+f 39 29 6
+f 39 6 23
+f 40 32 21
+f 40 21 3
+f 40 3 32
+f 42 36 27
+f 42 33 36
+f 43 32 17
+f 43 36 33
+f 43 17 36
+f 44 43 33
+f 44 32 43
+f 45 25 24
+f 45 24 34
+f 45 15 25
+f 45 34 2
+f 45 2 15
+f 46 30 18
+f 46 18 38
+f 46 38 28
+f 46 28 30
+f 47 41 22
+f 47 22 4
+f 47 4 41
+f 48 37 10
+f 48 42 27
+f 48 27 37
+f 49 41 33
+f 49 33 42
+f 49 42 48
+f 49 22 41
+f 49 48 10
+f 49 10 22
+f 50 4 32
+f 50 32 44
+f 51 50 44
+f 51 44 33
+f 51 33 41
+f 51 41 4
+f 51 4 50
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_0/collision/model_normalized_collision_30.obj b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_0/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..249c54d9878b89c4c7bea3d150df54d685be4ae2
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_0/collision/model_normalized_collision_30.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v -0.10001248 -0.41429645 0.10168962
+v -0.09394595 -0.40026778 -0.03149632
+v -0.10326650 -0.39784564 0.11931226
+v -0.15219785 -0.39393325 0.09290116
+v -0.12179422 -0.41409635 0.03772790
+v -0.10961530 -0.39304492 -0.03605072
+v -0.12511052 -0.39589465 0.12226374
+v -0.09410235 -0.41613115 0.00909694
+v -0.12075915 -0.41423713 0.07785918
+v -0.09640599 -0.39613187 -0.03764640
+v -0.15444264 -0.39608300 0.03582386
+v -0.10360387 -0.40612588 0.11377387
+v -0.10717756 -0.41347226 0.01070418
+v -0.12081817 -0.40152830 0.11705855
+v -0.10701360 -0.39679956 -0.03086363
+v -0.13891404 -0.39363840 -0.00754941
+v -0.14662409 -0.39853596 0.08986706
+v -0.14841726 -0.40041069 0.03651145
+v -0.10798074 -0.41242049 0.10294409
+v -0.13315710 -0.39818371 -0.00366791
+f 7 6 4
+f 7 3 6
+f 8 2 3
+f 8 3 1
+f 9 8 1
+f 9 5 8
+f 10 6 3
+f 10 3 2
+f 12 1 3
+f 12 3 7
+f 13 2 8
+f 13 8 5
+f 14 7 4
+f 14 12 7
+f 15 10 2
+f 15 6 10
+f 15 2 13
+f 16 11 4
+f 16 4 6
+f 16 6 15
+f 17 4 11
+f 17 14 4
+f 18 5 9
+f 18 17 11
+f 18 9 17
+f 18 11 16
+f 19 9 1
+f 19 1 12
+f 19 12 14
+f 19 17 9
+f 19 14 17
+f 20 16 15
+f 20 15 13
+f 20 13 5
+f 20 18 16
+f 20 5 18
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_0/collision/model_normalized_collision_31.obj b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_0/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..745744924ef183655746130cfffd49fbab222635
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_0/collision/model_normalized_collision_31.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.10554203 0.16060146 0.08657070
+v -0.09773492 0.15909090 -0.08618961
+v -0.10522463 0.23672372 0.10142518
+v -0.14273235 0.23519454 0.12389214
+v -0.16870318 0.16292690 -0.10947820
+v -0.13429713 0.16083379 0.11146039
+v -0.11906639 0.24487438 -0.13218983
+v -0.12184296 0.16045549 0.10105520
+v -0.12219700 0.23702261 0.11446930
+v -0.14203744 0.16065497 0.11268788
+v -0.16171666 0.23835831 -0.10307933
+f 1 2 3
+f 7 3 2
+f 7 2 5
+f 8 1 3
+f 8 3 6
+f 8 2 1
+f 9 6 3
+f 9 4 6
+f 9 7 4
+f 9 3 7
+f 10 6 4
+f 10 4 5
+f 10 5 2
+f 10 8 6
+f 10 2 8
+f 11 7 5
+f 11 5 4
+f 11 4 7
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_0/collision/model_normalized_collision_4.obj b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_0/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f8a50ae5a6becfee8f39d97515f880ccfe31ddc5
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_0/collision/model_normalized_collision_4.obj
@@ -0,0 +1,126 @@
+# https://github.com/mikedh/trimesh
+v 0.00340011 -0.49148317 0.14150317
+v 0.15446875 -0.39334699 0.02166519
+v 0.12636902 -0.39543378 0.12196139
+v -0.10326650 -0.39784564 0.11931226
+v -0.10146625 -0.41949540 0.03199006
+v 0.15296710 -0.39350276 0.09233753
+v -0.03377018 -0.40555385 0.15392149
+v 0.01934843 -0.47371442 0.04683728
+v -0.05311488 -0.47448901 0.12096067
+v 0.13957973 -0.39346626 -0.00703807
+v 0.05602940 -0.47622118 0.10646325
+v 0.03184856 -0.46846170 0.15676541
+v -0.10001248 -0.41429645 0.10168962
+v -0.03185810 -0.46846170 0.15676541
+v -0.01799320 -0.48881598 0.07001549
+v -0.01831471 -0.46409881 0.03641481
+v 0.03465200 -0.48836346 0.08455388
+v 0.03376068 -0.40554678 0.15391985
+v 0.03427579 -0.48921180 0.12157868
+v 0.05258544 -0.46302570 0.14247313
+v -0.10360387 -0.40612588 0.11377387
+v -0.04189643 -0.45633480 0.15472121
+v -0.03308906 -0.48945407 0.12164956
+v -0.00201775 -0.47724890 0.15749434
+v 0.12805365 -0.39847324 -0.00911181
+v -0.04066655 -0.47531036 0.06178785
+v -0.01791009 -0.47408101 0.04681688
+v 0.05566768 -0.47354212 0.08509784
+v 0.01942759 -0.48850856 0.07001240
+v 0.04259168 -0.45609329 0.15412160
+v 0.03863315 -0.47746909 0.14108756
+v -0.00198635 -0.49186029 0.14155927
+v -0.04140346 -0.42089648 0.15293871
+v -0.05242193 -0.46280939 0.14290262
+v 0.00360317 -0.47699508 0.15726199
+v 0.01977290 -0.46414575 0.03695153
+v 0.04167261 -0.47469861 0.06130347
+v -0.06716598 -0.42218084 0.02142860
+v -0.03311411 -0.48867904 0.08449181
+v 0.04252431 -0.42105597 0.15229393
+v -0.03868564 -0.47760860 0.14138691
+v -0.06455852 -0.45430479 0.12940251
+v -0.05450803 -0.47438426 0.08492326
+f 6 4 3
+f 7 3 4
+f 10 5 4
+f 10 6 2
+f 10 4 6
+f 11 2 6
+f 13 5 9
+f 17 10 2
+f 18 3 7
+f 19 17 11
+f 20 6 3
+f 20 3 12
+f 21 13 9
+f 21 4 5
+f 21 5 13
+f 22 14 7
+f 24 7 14
+f 24 18 7
+f 24 12 18
+f 25 5 10
+f 27 16 8
+f 27 15 26
+f 27 26 5
+f 27 5 16
+f 28 17 2
+f 28 2 11
+f 28 11 17
+f 29 8 25
+f 29 27 8
+f 29 15 27
+f 30 18 12
+f 30 12 3
+f 31 12 1
+f 31 1 19
+f 31 20 12
+f 31 19 11
+f 31 11 6
+f 31 6 20
+f 32 19 1
+f 32 17 19
+f 32 29 17
+f 32 15 29
+f 32 24 14
+f 32 1 24
+f 33 22 7
+f 33 7 4
+f 33 4 22
+f 34 22 4
+f 34 4 21
+f 34 14 22
+f 35 24 1
+f 35 1 12
+f 35 12 24
+f 36 25 8
+f 36 8 16
+f 36 16 25
+f 37 25 10
+f 37 10 17
+f 37 29 25
+f 37 17 29
+f 38 25 16
+f 38 16 5
+f 38 5 25
+f 39 26 15
+f 39 32 23
+f 39 15 32
+f 40 30 3
+f 40 3 18
+f 40 18 30
+f 41 32 14
+f 41 23 32
+f 41 14 34
+f 41 34 9
+f 41 9 23
+f 42 34 21
+f 42 21 9
+f 42 9 34
+f 43 39 23
+f 43 23 9
+f 43 9 5
+f 43 5 26
+f 43 26 39
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_0/collision/model_normalized_collision_5.obj b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_0/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5baa195568849bce15d54143c45c68c89ca5c71e
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_0/collision/model_normalized_collision_5.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v 0.09283590 -0.40153079 0.10502532
+v 0.19750856 -0.26576439 0.07695902
+v 0.14855710 -0.28367213 0.13919066
+v 0.12796969 0.05362082 0.09731294
+v 0.09113437 0.05350341 0.05879060
+v 0.18057511 0.05337024 0.07240760
+v 0.06954276 -0.40330491 0.11762827
+v 0.16434817 -0.37700855 0.10419897
+v 0.08076807 -0.14375118 0.06756079
+v 0.17332355 -0.25267007 0.11169561
+v 0.15168341 0.05351819 0.09939688
+v 0.19340826 -0.08393370 0.05854974
+v 0.12752358 -0.28424856 0.13818114
+v 0.09862334 0.05355512 0.06670696
+v 0.15066708 -0.38938734 0.10503431
+v 0.08315267 -0.26510512 0.08107083
+v 0.19206424 -0.26654159 0.08804707
+v 0.18730038 0.05311301 0.06334051
+v 0.19621200 -0.14458023 0.06077390
+v 0.11984652 -0.37921582 0.13781267
+v 0.13437937 -0.26877907 0.13901959
+v 0.10906748 -0.39357354 0.12579483
+v 0.17960433 -0.35194653 0.10478266
+v 0.13446422 -0.37305816 0.13907123
+v 0.14096569 -0.26856351 0.13956441
+v 0.17396990 -0.34929625 0.11474199
+v 0.14677899 -0.38622305 0.11474260
+v 0.13340526 -0.38598875 0.12825217
+v 0.14528719 -0.36104151 0.13848434
+v 0.15988214 -0.37361059 0.11415766
+v 0.15915465 -0.36031751 0.12606344
+f 9 7 5
+f 10 6 3
+f 11 6 4
+f 11 3 6
+f 13 4 7
+f 14 7 4
+f 14 5 7
+f 14 6 5
+f 14 4 6
+f 15 1 2
+f 15 2 8
+f 16 2 1
+f 16 1 7
+f 16 7 9
+f 17 6 10
+f 18 17 2
+f 18 6 17
+f 18 12 5
+f 18 5 6
+f 19 9 5
+f 19 5 12
+f 19 16 9
+f 19 2 16
+f 19 18 2
+f 19 12 18
+f 20 13 7
+f 21 11 4
+f 21 4 13
+f 21 13 20
+f 22 7 1
+f 22 1 15
+f 22 20 7
+f 23 8 2
+f 23 2 17
+f 24 21 20
+f 25 3 11
+f 25 11 21
+f 25 24 3
+f 25 21 24
+f 26 23 17
+f 26 17 10
+f 26 10 3
+f 27 15 8
+f 28 24 20
+f 28 20 22
+f 28 22 15
+f 28 15 27
+f 29 26 3
+f 29 3 24
+f 30 8 23
+f 30 23 26
+f 30 27 8
+f 30 28 27
+f 30 24 28
+f 31 30 26
+f 31 26 29
+f 31 29 24
+f 31 24 30
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_0/collision/model_normalized_collision_6.obj b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_0/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e0d655f76c31410153ad68e396756a78fb5393ec
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_0/collision/model_normalized_collision_6.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v 0.12918249 -0.40082482 0.11049095
+v 0.13282428 -0.40864658 0.03421839
+v 0.11664764 -0.26255611 0.12509223
+v -0.18597388 -0.26751244 0.09827621
+v -0.16348003 -0.38977175 0.03747445
+v 0.07620616 -0.26320960 0.04403314
+v -0.01940209 -0.40502478 0.15623135
+v -0.02109066 -0.25116248 0.12068101
+v -0.20810885 -0.26512879 0.03406081
+v 0.02086285 -0.40507432 0.15600243
+v -0.14435226 -0.36112392 0.13920914
+v 0.02255045 -0.25121510 0.12044384
+v -0.13437908 -0.26879535 0.13902848
+v -0.20370847 -0.26594816 0.06029198
+v -0.20197513 -0.33506164 0.03535381
+v 0.05623182 -0.40508417 0.14054067
+v -0.13305227 -0.38645275 0.12800650
+v -0.14691764 -0.26895279 0.13724384
+v -0.20071945 -0.33614565 0.06159180
+v -0.15741315 -0.38581086 0.10136564
+v -0.13327243 -0.37331028 0.13958912
+v -0.18658904 -0.33693884 0.10092000
+v -0.18919006 -0.36141014 0.03657628
+v -0.17008916 -0.36021002 0.11308374
+v -0.18442815 -0.36131446 0.08674240
+v -0.16990944 -0.37286077 0.10059902
+f 1 2 3
+f 6 3 2
+f 7 5 2
+f 9 8 6
+f 9 6 2
+f 10 1 3
+f 10 7 2
+f 12 3 6
+f 12 6 8
+f 13 12 8
+f 13 3 12
+f 13 10 3
+f 13 7 10
+f 13 11 7
+f 14 4 8
+f 14 8 9
+f 15 9 2
+f 15 2 5
+f 16 10 2
+f 16 2 1
+f 16 1 10
+f 18 13 8
+f 18 8 4
+f 18 11 13
+f 19 14 9
+f 19 9 15
+f 20 5 7
+f 20 7 17
+f 21 17 7
+f 21 7 11
+f 21 11 17
+f 22 18 4
+f 22 11 18
+f 22 4 14
+f 22 14 19
+f 23 19 15
+f 23 15 5
+f 24 17 11
+f 24 11 22
+f 25 19 23
+f 25 24 22
+f 25 22 19
+f 25 23 5
+f 25 5 20
+f 26 20 17
+f 26 17 24
+f 26 25 20
+f 26 24 25
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_0/collision/model_normalized_collision_7.obj b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_0/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da5e1fdb4002009131da91dab1baf28b29db620e
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_0/collision/model_normalized_collision_7.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.09796142 -0.26300957 0.10299729
+v 0.15080941 -0.27117853 -0.09424081
+v 0.16768892 -0.00934003 -0.12104132
+v 0.00689255 -0.00809471 0.08715246
+v 0.00471714 -0.26490659 -0.06964327
+v 0.11268715 -0.00698889 0.08155649
+v 0.11428738 -0.14066278 0.09869329
+v 0.01544941 -0.25581114 0.12266068
+v 0.15683442 -0.14949475 -0.11610419
+v 0.01324222 -0.00765366 -0.08821700
+v 0.00772504 -0.08389748 0.09207461
+v 0.00765466 -0.14389439 -0.08593639
+f 5 2 1
+f 7 1 2
+f 7 2 3
+f 7 3 6
+f 8 5 1
+f 8 1 7
+f 8 7 6
+f 8 6 4
+f 9 3 2
+f 9 2 5
+f 10 6 3
+f 10 4 6
+f 11 8 4
+f 11 4 5
+f 11 5 8
+f 12 5 4
+f 12 4 10
+f 12 9 5
+f 12 10 3
+f 12 3 9
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_0/collision/model_normalized_collision_8.obj b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_0/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d27fdd2017a49da7d1ce7d4f41f9e5bfe420b5a
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_0/collision/model_normalized_collision_8.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.19416526 -0.34185203 0.08182441
+v 0.20497763 -0.32248518 0.03534398
+v 0.20488968 0.23556420 0.04504032
+v 0.10325774 0.22826869 0.09814998
+v 0.15080941 -0.27117853 -0.09424081
+v 0.19841459 0.23531369 0.06222307
+v 0.20309420 -0.32325514 0.06176988
+v 0.19839840 -0.34416900 0.03394942
+v 0.09796142 -0.26300957 0.10299729
+v 0.20203659 0.17316454 -0.05004261
+v 0.16269969 0.24167019 -0.10126960
+v 0.19633612 -0.33880828 0.07747530
+v 0.18925959 -0.26280446 -0.04751253
+v 0.20054420 -0.33910680 0.03559482
+v 0.11428738 -0.14066278 0.09869329
+v 0.20271436 0.23352024 -0.03509384
+v 0.17927825 -0.26326596 -0.06413669
+v 0.20196999 -0.12770558 -0.05001805
+v 0.19093132 0.23320879 -0.06354032
+v 0.20232546 -0.24830964 -0.01980720
+v 0.18679585 -0.23217154 -0.06041484
+f 6 4 1
+f 7 2 3
+f 7 3 6
+f 9 4 5
+f 9 8 1
+f 9 5 8
+f 11 6 3
+f 11 4 6
+f 11 5 4
+f 12 7 6
+f 12 6 1
+f 12 1 8
+f 14 2 7
+f 14 12 8
+f 14 7 12
+f 14 13 2
+f 14 8 13
+f 15 9 1
+f 15 1 4
+f 15 4 9
+f 16 3 2
+f 16 11 3
+f 17 13 8
+f 17 8 5
+f 18 16 2
+f 18 10 16
+f 18 11 10
+f 18 5 11
+f 19 16 10
+f 19 10 11
+f 19 11 16
+f 20 18 2
+f 20 2 13
+f 20 13 18
+f 21 18 13
+f 21 13 17
+f 21 17 5
+f 21 5 18
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_0/collision/model_normalized_collision_9.obj b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_0/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..56014c63c9a2dd7bf18476d486ae36b98060adea
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_0/collision/model_normalized_collision_9.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.01412813 -0.13848947 0.09965829
+v 0.03195717 -0.14519669 -0.02091955
+v 0.03816232 0.10066004 -0.02159367
+v -0.04811667 0.19049504 0.08861167
+v -0.10052239 -0.08387266 0.07724302
+v 0.00731643 0.09883999 0.08966211
+v -0.08623542 -0.14280292 0.07478227
+v -0.03684044 0.18947018 0.09514259
+v -0.07343534 0.09821550 -0.00632175
+v -0.10288377 0.09914871 0.07508291
+v -0.06367813 0.18833732 0.07208879
+v -0.07170927 -0.14326755 -0.00603312
+f 1 2 3
+f 6 1 3
+f 7 2 1
+f 7 1 5
+f 8 5 1
+f 8 1 6
+f 8 6 3
+f 9 3 2
+f 10 8 4
+f 10 5 8
+f 11 8 3
+f 11 4 8
+f 11 3 9
+f 11 10 4
+f 11 9 10
+f 12 7 5
+f 12 10 9
+f 12 5 10
+f 12 9 2
+f 12 2 7
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_0/model.xml b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_0/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..383b769abccaa5fbfae85602ec86bf61e6d53525
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_0/model.xml
@@ -0,0 +1,53 @@
+<mujoco model="hot_dog_5">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="visual/model_normalized_1.obj" name="model_normalized_1_vis" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="visual/model_normalized_2.obj" name="model_normalized_2_vis" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <texture type="2d" name="image2" file="visual/image2.png"/>
+    <texture type="2d" name="image1" file="visual/image1.png"/>
+    <material name="bunleft" texture="image0" specular="0.5" shininess="0.0"/>
+    <material name="bunright" texture="image2" specular="0.5" shininess="0.0"/>
+    <material name="hotdog" texture="image1" specular="0.5" shininess="0.25"/>
+    <mesh file="collision/collision_mesh_collision_0.obj" name="hot_collision_mesh_0" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/collision_mesh_collision_1.obj" name="hot_collision_mesh_1" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/collision_mesh_collision_2.obj" name="hot_collision_mesh_2" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/collision_mesh_collision_3.obj" name="hot_collision_mesh_3" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/collision_mesh_collision_4.obj" name="hot_collision_mesh_4" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/collision_mesh_collision_5.obj" name="hot_collision_mesh_5" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/collision_mesh_collision_6.obj" name="hot_collision_mesh_6" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/collision_mesh_collision_7.obj" name="hot_collision_mesh_7" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/collision_mesh_collision_8.obj" name="hot_collision_mesh_8" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/collision_mesh_collision_9.obj" name="hot_collision_mesh_9" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/collision_mesh_collision_10.obj" name="hot_collision_mesh_10" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="1.0 0.0 0.0 0.0"/>
+  </asset>
+  <default>
+    <default class="region">
+      <geom group="1" conaffinity="0" contype="0" rgba="0 1 0 0"/>
+    </default>
+    <default class="collision">
+      <geom group="0" rgba="0.5 0 0 0.5" density="1000.0"/>
+    </default>
+  </default>
+  <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="bunright"/>
+        <geom solimp="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="hotdog"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_2_vis" conaffinity="0" contype="0" group="1" material="bunleft"/>
+        <geom class="region" name="reg_bbox" type="box" pos="1.2750000001615633e-08 -3.8924999999911937e-07 -0.00013450875000000013" size="0.032511438749999996 0.07554621824999999 0.026100824249999995"/>
+        <geom mesh="hot_collision_mesh_0" type="mesh" class="collision"/>
+        <geom mesh="hot_collision_mesh_1" type="mesh" class="collision"/>
+        <geom mesh="hot_collision_mesh_2" type="mesh" class="collision"/>
+        <geom mesh="hot_collision_mesh_3" type="mesh" class="collision"/>
+        <geom mesh="hot_collision_mesh_4" type="mesh" class="collision"/>
+        <geom mesh="hot_collision_mesh_5" type="mesh" class="collision"/>
+        <geom mesh="hot_collision_mesh_6" type="mesh" class="collision"/>
+        <geom mesh="hot_collision_mesh_7" type="mesh" class="collision"/>
+        <geom mesh="hot_collision_mesh_8" type="mesh" class="collision"/>
+        <geom mesh="hot_collision_mesh_9" type="mesh" class="collision"/>
+        <geom mesh="hot_collision_mesh_10" type="mesh" class="collision"/>
+      </body>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_0/visual/material.mtl b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_0/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..3e963f5e154ef1e7766d3c2c065b16bfeea95307
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_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 0.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_0/visual/model_normalized_0.obj b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_0/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4cb4ed742ec4dd6743cff9f982777ff0f26360c6
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_0/visual/model_normalized_0.obj
@@ -0,0 +1,17072 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
+v 0.19863675 -0.34490254 0.03801129
+v 0.19947115 -0.34360580 0.05045734
+v 0.19468032 -0.35420562 0.05412005
+v 0.19346528 -0.35598585 0.04253682
+v 0.19881287 -0.34263380 0.06261734
+v 0.19444775 -0.35277520 0.06521457
+v 0.18896630 -0.36386841 0.05835000
+v 0.18722683 -0.36629103 0.04775410
+v 0.18940060 -0.36168959 0.06801391
+v 0.20056841 -0.33432160 0.02072656
+v 0.20255279 -0.33330996 0.03401467
+v 0.19643755 -0.34628174 0.02528424
+v 0.20312975 -0.33237741 0.04712068
+v 0.20220673 -0.33169370 0.06000515
+v 0.19969064 -0.33142803 0.07262825
+v 0.19652393 -0.34224997 0.07450606
+v 0.19252805 -0.35218105 0.07596266
+v 0.18813639 -0.36064898 0.07696289
+v 0.18453929 -0.36637254 0.07748395
+v 0.18395916 -0.36902100 0.07187536
+v 0.18251733 -0.37234252 0.06360972
+v 0.18010668 -0.37555672 0.05385457
+v 0.18433943 -0.36860596 0.03636773
+v 0.17674535 -0.37843794 0.04302665
+v 0.19096564 -0.35779860 0.03047591
+v 0.19232315 -0.29523838 -0.03223725
+v 0.19803381 -0.29508245 -0.01864720
+v 0.19719399 -0.30980978 -0.01473508
+v 0.19148875 -0.31006722 -0.02824904
+v 0.20250101 -0.29485792 -0.00475727
+v 0.20166736 -0.30943717 -0.00094424
+v 0.19556165 -0.32326335 -0.01065545
+v 0.18985772 -0.32364325 -0.02405349
+v 0.20005745 -0.32270827 0.00297910
+v 0.18588502 -0.27861006 -0.04954274
+v 0.19277372 -0.27857977 -0.03636175
+v 0.18544848 -0.29529690 -0.04538009
+v 0.19849261 -0.27849938 -0.02271786
+v 0.20296261 -0.27838384 -0.00876137
+v 0.20610464 -0.27824867 0.00535740
+v 0.20564584 -0.29459430 0.00928541
+v 0.20483052 -0.30899557 0.01297804
+v 0.20326810 -0.32204176 0.01670245
+v 0.20326810 -0.32204176 0.01670245
+v 0.20056841 -0.33432160 0.02072656
+v 0.19726709 -0.33525808 0.00731524
+v 0.19272548 -0.33602517 -0.00608187
+v 0.18701762 -0.33654342 -0.01930772
+v 0.18302306 -0.32378403 -0.03706752
+v 0.18021736 -0.33673374 -0.03220565
+v 0.18463072 -0.31016332 -0.04134028
+v 0.13829442 -0.40358748 0.09090517
+v 0.14385327 -0.39697250 0.10008879
+v 0.13621899 -0.39904120 0.10615075
+v 0.13035390 -0.40590091 0.09693217
+v 0.14908364 -0.38916546 0.10803081
+v 0.14171315 -0.39096962 0.11416923
+v 0.12935984 -0.40042170 0.11123547
+v 0.12327432 -0.40742631 0.10198997
+v 0.13503741 -0.39219308 0.11930911
+v 0.14122706 -0.40541781 0.07376010
+v 0.14675114 -0.40030841 0.08402564
+v 0.13237119 -0.40901677 0.08062598
+v 0.15190541 -0.39407202 0.09316906
+v 0.15677644 -0.38667218 0.10101106
+v 0.16145154 -0.37807206 0.10737215
+v 0.15402141 -0.38016021 0.11458484
+v 0.14683452 -0.38169776 0.12086255
+v 0.14027899 -0.38276025 0.12609684
+v 0.13474332 -0.38342358 0.13017947
+v 0.12942864 -0.39294428 0.12333265
+v 0.12363272 -0.40125816 0.11522387
+v 0.11740082 -0.40834054 0.10596117
+v 0.11680947 -0.41318614 0.09168591
+v 0.11077892 -0.41416712 0.09565206
+v 0.12411938 -0.41153773 0.08663933
+v 0.14504028 -0.37218547 0.13149827
+v 0.15155580 -0.37127966 0.12612470
+v 0.15574891 -0.35994040 0.12992819
+v 0.14921152 -0.36069553 0.13546498
+v 0.15866491 -0.36999581 0.11963516
+v 0.16286289 -0.35889306 0.12318645
+v 0.15926038 -0.34794755 0.13226518
+v 0.15266690 -0.34855928 0.13796220
+v 0.16642727 -0.34711801 0.12527404
+v 0.13474332 -0.38342358 0.13017947
+v 0.13474332 -0.38342358 0.13017947
+v 0.14027899 -0.38276025 0.12609684
+v 0.13952106 -0.37276093 0.13566596
+v 0.14683452 -0.38169776 0.12086255
+v 0.15402141 -0.38016021 0.11458484
+v 0.16145154 -0.37807206 0.10737215
+v 0.16596473 -0.36828569 0.11211923
+v 0.17013803 -0.35752714 0.11530501
+v 0.17374129 -0.34606038 0.11702858
+v 0.17654324 -0.33414922 0.11738866
+v 0.16916902 -0.33493688 0.12593325
+v 0.16193688 -0.33556880 0.13312781
+v 0.15528077 -0.33604499 0.13895495
+v 0.14707252 -0.34896292 0.14232544
+v 0.14963498 -0.33636525 0.14339635
+v 0.14963498 -0.33636525 0.14339635
+v 0.14963498 -0.33636525 0.14339635
+v 0.14366613 -0.36118443 0.13973158
+v 0.10214515 0.45098963 -0.01892334
+v 0.10995517 0.45366595 -0.00673828
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diff --git a/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_0/visual/model_normalized_1.obj b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_0/visual/model_normalized_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b2893c2bdd5ca9df007559f778ec7c53463fa176
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_0/visual/model_normalized_1.obj
@@ -0,0 +1,1134 @@
+# https://github.com/mikedh/trimesh
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diff --git a/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_0/visual/model_normalized_2.obj b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_0/visual/model_normalized_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8bf613a322185cd9d76df554909cea8a368957eb
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_0/visual/model_normalized_2.obj
@@ -0,0 +1,17009 @@
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diff --git a/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_1/collision/collision_mesh_collision_0.obj b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_1/collision/collision_mesh_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..97b0cbaf905b371a98914ae3dac0279180241884
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_1/collision/collision_mesh_collision_0.obj
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diff --git a/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_1/collision/collision_mesh_collision_1.obj b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_1/collision/collision_mesh_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7170a9cdbc196672c7a0284b70003ce60b8ea700
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_1/collision/collision_mesh_collision_1.obj
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+
diff --git a/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_1/collision/model_normalized_collision_0.obj b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_1/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f1e73af2b0475ec67ecfe84f496c7f3d10dfb673
--- /dev/null
+++ b/Assets/robocasa/data/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
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+f 8 2 1
+f 8 7 5
+f 9 1 3
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+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/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_1/collision/model_normalized_collision_1.obj b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_1/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f649407ad5d69a6e4095b7b8bd8d857fb998a2b1
--- /dev/null
+++ b/Assets/robocasa/data/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/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_1/collision/model_normalized_collision_10.obj b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_1/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3595989a7b3b68642dc9754e17b224fe19d9c881
--- /dev/null
+++ b/Assets/robocasa/data/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/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_1/collision/model_normalized_collision_11.obj b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_1/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d5d0ad9a1df82e31f92813003c59429ef1cb2416
--- /dev/null
+++ b/Assets/robocasa/data/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/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_1/collision/model_normalized_collision_12.obj b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_1/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0b4c51bad32c1f5b2358b19b27593f39e03fcbaf
--- /dev/null
+++ b/Assets/robocasa/data/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/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_1/collision/model_normalized_collision_13.obj b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_1/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..31ae151955598d5da4d7880c85552d0bdf887191
--- /dev/null
+++ b/Assets/robocasa/data/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/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_1/collision/model_normalized_collision_14.obj b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_1/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c751b9b71fdc024957bcd4d1bbd443383396095
--- /dev/null
+++ b/Assets/robocasa/data/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/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_1/collision/model_normalized_collision_15.obj b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_1/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3050490166ba82f4a94ed738c63ea349c55bd52b
--- /dev/null
+++ b/Assets/robocasa/data/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/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_1/collision/model_normalized_collision_16.obj b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_1/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8f312bdb083060341bb287be07ef82ecd50b0e1b
--- /dev/null
+++ b/Assets/robocasa/data/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/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_1/collision/model_normalized_collision_17.obj b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_1/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..62f12ff7b09abc49b53d87db3b12ecb8b831ee7b
--- /dev/null
+++ b/Assets/robocasa/data/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/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_1/collision/model_normalized_collision_18.obj b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_1/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..66ed44de7d2560a8594fc8d08a99e30dd6256c7f
--- /dev/null
+++ b/Assets/robocasa/data/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/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_1/collision/model_normalized_collision_19.obj b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_1/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a8d2bad6ce9fee1e47eea25cb7664d02c6404cd5
--- /dev/null
+++ b/Assets/robocasa/data/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/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_1/collision/model_normalized_collision_2.obj b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_1/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3918559a8be6db835c467e74b7203144f56353c2
--- /dev/null
+++ b/Assets/robocasa/data/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/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_1/collision/model_normalized_collision_20.obj b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_1/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..85a5cc8949fa4f1c34bfdcf50eb1228c7ba11558
--- /dev/null
+++ b/Assets/robocasa/data/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/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_1/collision/model_normalized_collision_21.obj b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_1/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..103d5753d1cfb832363b87648e64d1bb3afc01fb
--- /dev/null
+++ b/Assets/robocasa/data/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/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_1/collision/model_normalized_collision_22.obj b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_1/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c745dde28119b5691bb123ced552c42c7bd6020f
--- /dev/null
+++ b/Assets/robocasa/data/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/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_1/collision/model_normalized_collision_23.obj b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_1/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b3ad1b01128466a5321902d7e52a2d617c919a5b
--- /dev/null
+++ b/Assets/robocasa/data/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/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_1/collision/model_normalized_collision_24.obj b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_1/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..03b0a773ebe2fcdb11ddc25e595d8c2fdb9fc008
--- /dev/null
+++ b/Assets/robocasa/data/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/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_1/collision/model_normalized_collision_25.obj b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_1/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5deac6b68b576bd750cbd57750f911a10cdc06a5
--- /dev/null
+++ b/Assets/robocasa/data/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/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_1/collision/model_normalized_collision_26.obj b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_1/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9eef91615b1349284e1f460955549f9bc4e0c8da
--- /dev/null
+++ b/Assets/robocasa/data/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/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_1/collision/model_normalized_collision_27.obj b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_1/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..76f9c9ede215ddfc82fe9cad73850dfea3d0b74d
--- /dev/null
+++ b/Assets/robocasa/data/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/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_1/collision/model_normalized_collision_28.obj b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_1/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0f8dce3b63d51e5b9497323701dd97c4f317d581
--- /dev/null
+++ b/Assets/robocasa/data/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/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_1/collision/model_normalized_collision_29.obj b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_1/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..259dbac5b5db535273952200e36a49ed617b54a6
--- /dev/null
+++ b/Assets/robocasa/data/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/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_1/collision/model_normalized_collision_3.obj b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_1/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..465030e3e83ca57541c3ee93d7a2840216906349
--- /dev/null
+++ b/Assets/robocasa/data/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/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_1/collision/model_normalized_collision_30.obj b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_1/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d6b97dedd0cf7bf8e2c82b323fbc6d56b1de703
--- /dev/null
+++ b/Assets/robocasa/data/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/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_1/collision/model_normalized_collision_31.obj b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_1/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ffbee6f4fd4ec1cfdfccb53f654eda6365ca073
--- /dev/null
+++ b/Assets/robocasa/data/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/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_1/collision/model_normalized_collision_4.obj b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_1/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6848b53cde78de6f4b14e16a7199be6fe7e13c57
--- /dev/null
+++ b/Assets/robocasa/data/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/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_1/collision/model_normalized_collision_5.obj b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_1/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..06f101437490c1eece60a2c36cbeeda303420241
--- /dev/null
+++ b/Assets/robocasa/data/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/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_1/collision/model_normalized_collision_6.obj b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_1/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..61a5d04c5dd6a0763f50cf0fc129c34ff01f3fb3
--- /dev/null
+++ b/Assets/robocasa/data/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/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_1/collision/model_normalized_collision_7.obj b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_1/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f395b37171423209ddd50e5c8318ce972b47aee3
--- /dev/null
+++ b/Assets/robocasa/data/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/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_1/collision/model_normalized_collision_8.obj b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_1/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eeb1293d0f429a8a1858adbfaf2f3962654715d9
--- /dev/null
+++ b/Assets/robocasa/data/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/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_1/collision/model_normalized_collision_9.obj b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_1/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d0df3991c0d334423493c8174a2883ac00a6a41
--- /dev/null
+++ b/Assets/robocasa/data/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/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_1/model.xml b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_1/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..101565ef9bcb14cb9aede0e2efa3d31f8fcca3b9
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_1/model.xml
@@ -0,0 +1,27 @@
+<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"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="lambert3.002" texture="image0" specular="0.5" shininess="1.0"/>
+    <mesh file="collision/collision_mesh_collision_0.obj" name="hot_collision_mesh_0" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/collision_mesh_collision_1.obj" name="hot_collision_mesh_1" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+  </asset>
+  <default>
+    <default class="region">
+      <geom group="1" conaffinity="0" contype="0" rgba="0 1 0 0"/>
+    </default>
+    <default class="collision">
+      <geom group="0" rgba="0.5 0 0 0.5" density="1000.0"/>
+    </default>
+  </default>
+  <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 class="region" name="reg_bbox" type="box" pos="7.632783294297952e-18 0.00017739257885316498 -0.00010309089999999897" size="0.014718154445459073 0.11103259856388124 0.0159234867"/>
+        <geom mesh="hot_collision_mesh_0" type="mesh" class="collision"/>
+        <geom mesh="hot_collision_mesh_1" type="mesh" class="collision"/>
+      </body>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_1/visual/material.mtl b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_1/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..aaf320b42423ffc0277d8ac8f199790cc0fe5efd
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_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 1000.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_1/visual/model_normalized_0.obj b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_1/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f0fa2a1da55a06f8c907735afb73ea5fa2856ba7
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_1/visual/model_normalized_0.obj
@@ -0,0 +1,2385 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
+v 0.00711390 -0.42129801 0.05947759
+v 0.01090010 -0.43586937 0.05769814
+v 0.01104529 -0.43271004 0.05385805
+v 0.00794856 -0.42032122 0.05318964
+v 0.00967070 -0.44292103 0.05486790
+v 0.00984766 -0.43656178 0.05077791
+v 0.00532987 -0.42237975 0.04771600
+v 0.00794856 -0.42032122 0.05318964
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+v 0.02092154 -0.14577728 0.04951051
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+v 0.02092154 -0.14577728 0.04951051
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+v 0.00658656 -0.11478100 0.04969570
+v 0.00184816 -0.11553742 0.04148688
+v 0.00117681 0.03956131 0.06112820
+v 0.00376644 0.02541057 0.06162224
+v 0.00475711 0.02538104 0.05203072
+v 0.00219830 0.03928222 0.05154268
+v 0.00966306 0.01019351 0.06202322
+v 0.01061149 0.01037882 0.05242569
+v 0.00475711 0.02538104 0.05203072
+v 0.01061149 0.01037882 0.05242569
+v 0.00595968 0.00884352 0.04423912
+v 0.00012954 0.02428471 0.04381790
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\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_2/model.xml b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_2/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..5f5ea483b1f43c3c642efd986cee30d76c15e7d8
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_2/model.xml
@@ -0,0 +1,55 @@
+<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"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="aiStandardSurface1.001" texture="image0" specular="0.5" shininess="0.25"/>
+    <mesh file="collision/collision_mesh_collision_0.obj" name="hot_collision_mesh_0" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/collision_mesh_collision_1.obj" name="hot_collision_mesh_1" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/collision_mesh_collision_2.obj" name="hot_collision_mesh_2" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/collision_mesh_collision_3.obj" name="hot_collision_mesh_3" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/collision_mesh_collision_4.obj" name="hot_collision_mesh_4" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/collision_mesh_collision_5.obj" name="hot_collision_mesh_5" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/collision_mesh_collision_6.obj" name="hot_collision_mesh_6" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/collision_mesh_collision_7.obj" name="hot_collision_mesh_7" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/collision_mesh_collision_8.obj" name="hot_collision_mesh_8" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/collision_mesh_collision_9.obj" name="hot_collision_mesh_9" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/collision_mesh_collision_10.obj" name="hot_collision_mesh_10" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/collision_mesh_collision_11.obj" name="hot_collision_mesh_11" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/collision_mesh_collision_12.obj" name="hot_collision_mesh_12" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/collision_mesh_collision_13.obj" name="hot_collision_mesh_13" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/collision_mesh_collision_14.obj" name="hot_collision_mesh_14" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/collision_mesh_collision_15.obj" name="hot_collision_mesh_15" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+  </asset>
+  <default>
+    <default class="region">
+      <geom group="1" conaffinity="0" contype="0" rgba="0 1 0 0"/>
+    </default>
+    <default class="collision">
+      <geom group="0" rgba="0.5 0 0 0.5" density="1000.0"/>
+    </default>
+  </default>
+  <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 class="region" name="reg_bbox" type="box" pos="9.628725000000793e-06 0.0 1.0562525000000277e-05" size="0.029055334174999996 0.07322982124999998 0.02964464172499999"/>
+        <geom mesh="hot_collision_mesh_0" type="mesh" class="collision"/>
+        <geom mesh="hot_collision_mesh_1" type="mesh" class="collision"/>
+        <geom mesh="hot_collision_mesh_2" type="mesh" class="collision"/>
+        <geom mesh="hot_collision_mesh_3" type="mesh" class="collision"/>
+        <geom mesh="hot_collision_mesh_4" type="mesh" class="collision"/>
+        <geom mesh="hot_collision_mesh_5" type="mesh" class="collision"/>
+        <geom mesh="hot_collision_mesh_6" type="mesh" class="collision"/>
+        <geom mesh="hot_collision_mesh_7" type="mesh" class="collision"/>
+        <geom mesh="hot_collision_mesh_8" type="mesh" class="collision"/>
+        <geom mesh="hot_collision_mesh_9" type="mesh" class="collision"/>
+        <geom mesh="hot_collision_mesh_10" type="mesh" class="collision"/>
+        <geom mesh="hot_collision_mesh_11" type="mesh" class="collision"/>
+        <geom mesh="hot_collision_mesh_12" type="mesh" class="collision"/>
+        <geom mesh="hot_collision_mesh_13" type="mesh" class="collision"/>
+        <geom mesh="hot_collision_mesh_14" type="mesh" class="collision"/>
+        <geom mesh="hot_collision_mesh_15" type="mesh" class="collision"/>
+      </body>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_3/model.xml b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_3/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..d59883f9a74cacfa9f03fd345d45070560ee39ac
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_3/model.xml
@@ -0,0 +1,43 @@
+<mujoco model="hot_dog_4">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="visual/model_normalized_1.obj" name="model_normalized_1_vis" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="visual/model_normalized_2.obj" name="model_normalized_2_vis" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="visual/model_normalized_3.obj" name="model_normalized_3_vis" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <texture type="2d" name="image5" file="visual/image5.png"/>
+    <texture type="2d" name="image11" file="visual/image11.png"/>
+    <texture type="2d" name="image8" file="visual/image8.png"/>
+    <material name="hotdog.001" texture="image0" specular="0.5" shininess="0.25"/>
+    <material name="hotdogbun" texture="image5" specular="0.5" shininess="0.25"/>
+    <material name="ketchup" texture="image11" specular="0.5" shininess="0.25"/>
+    <material name="mustard" texture="image8" specular="0.5" shininess="0.25"/>
+    <mesh file="collision/collision_mesh_collision_0.obj" name="hot_collision_mesh_0" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/collision_mesh_collision_1.obj" name="hot_collision_mesh_1" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/collision_mesh_collision_2.obj" name="hot_collision_mesh_2" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/collision_mesh_collision_3.obj" name="hot_collision_mesh_3" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="1.0 0.0 0.0 0.0"/>
+  </asset>
+  <default>
+    <default class="region">
+      <geom group="1" conaffinity="0" contype="0" rgba="0 1 0 0"/>
+    </default>
+    <default class="collision">
+      <geom group="0" rgba="0.5 0 0 0.5" density="1000.0"/>
+    </default>
+  </default>
+  <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="hotdog.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_1_vis" conaffinity="0" contype="0" group="1" material="hotdogbun"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_2_vis" conaffinity="0" contype="0" group="1" material="mustard"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_3_vis" conaffinity="0" contype="0" group="1" material="ketchup"/>
+        <geom class="region" name="reg_bbox" type="box" pos="3.598500000000018e-05 0.0 -2.1189750000000225e-05" size="0.022775348999999993 0.07570681499999998 0.016158668249999997"/>
+        <geom mesh="hot_collision_mesh_0" type="mesh" class="collision"/>
+        <geom mesh="hot_collision_mesh_1" type="mesh" class="collision"/>
+        <geom mesh="hot_collision_mesh_2" type="mesh" class="collision"/>
+        <geom mesh="hot_collision_mesh_3" type="mesh" class="collision"/>
+      </body>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_4/model.xml b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_4/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..5349e4247867f599e5f8814d1f97fafa76bc3f94
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_4/model.xml
@@ -0,0 +1,55 @@
+<mujoco model="hot_dog_9">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="material.016" texture="image0" specular="0.5" shininess="0.359999993"/>
+    <mesh file="collision/collision_mesh_collision_0.obj" name="hot_collision_mesh_0" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/collision_mesh_collision_1.obj" name="hot_collision_mesh_1" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/collision_mesh_collision_2.obj" name="hot_collision_mesh_2" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/collision_mesh_collision_3.obj" name="hot_collision_mesh_3" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/collision_mesh_collision_4.obj" name="hot_collision_mesh_4" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/collision_mesh_collision_5.obj" name="hot_collision_mesh_5" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/collision_mesh_collision_6.obj" name="hot_collision_mesh_6" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/collision_mesh_collision_7.obj" name="hot_collision_mesh_7" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/collision_mesh_collision_8.obj" name="hot_collision_mesh_8" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/collision_mesh_collision_9.obj" name="hot_collision_mesh_9" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/collision_mesh_collision_10.obj" name="hot_collision_mesh_10" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/collision_mesh_collision_11.obj" name="hot_collision_mesh_11" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/collision_mesh_collision_12.obj" name="hot_collision_mesh_12" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/collision_mesh_collision_13.obj" name="hot_collision_mesh_13" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/collision_mesh_collision_14.obj" name="hot_collision_mesh_14" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/collision_mesh_collision_15.obj" name="hot_collision_mesh_15" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+  </asset>
+  <default>
+    <default class="region">
+      <geom group="1" conaffinity="0" contype="0" rgba="0 1 0 0"/>
+    </default>
+    <default class="collision">
+      <geom group="0" rgba="0.5 0 0 0.5" density="1000.0"/>
+    </default>
+  </default>
+  <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.016"/>
+        <geom class="region" name="reg_bbox" type="box" pos="2.4655499999999547e-05 5.690999999993783e-06 -3.886050000000001e-05" size="0.030409789499999992 0.075699462 0.027595147499999997"/>
+        <geom mesh="hot_collision_mesh_0" type="mesh" class="collision"/>
+        <geom mesh="hot_collision_mesh_1" type="mesh" class="collision"/>
+        <geom mesh="hot_collision_mesh_2" type="mesh" class="collision"/>
+        <geom mesh="hot_collision_mesh_3" type="mesh" class="collision"/>
+        <geom mesh="hot_collision_mesh_4" type="mesh" class="collision"/>
+        <geom mesh="hot_collision_mesh_5" type="mesh" class="collision"/>
+        <geom mesh="hot_collision_mesh_6" type="mesh" class="collision"/>
+        <geom mesh="hot_collision_mesh_7" type="mesh" class="collision"/>
+        <geom mesh="hot_collision_mesh_8" type="mesh" class="collision"/>
+        <geom mesh="hot_collision_mesh_9" type="mesh" class="collision"/>
+        <geom mesh="hot_collision_mesh_10" type="mesh" class="collision"/>
+        <geom mesh="hot_collision_mesh_11" type="mesh" class="collision"/>
+        <geom mesh="hot_collision_mesh_12" type="mesh" class="collision"/>
+        <geom mesh="hot_collision_mesh_13" type="mesh" class="collision"/>
+        <geom mesh="hot_collision_mesh_14" type="mesh" class="collision"/>
+        <geom mesh="hot_collision_mesh_15" type="mesh" class="collision"/>
+      </body>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_5/collision/collision_mesh_collision_0.obj b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_5/collision/collision_mesh_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..49eb3b3de2c4d3fc820021944a8e46a5991af2b0
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_5/collision/collision_mesh_collision_0.obj
@@ -0,0 +1,1600 @@
+# https://github.com/mikedh/trimesh
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+v 0.35499141 0.10618824 -0.13504386
+v 0.38492012 0.11011398 -0.13014579
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+v -0.39076519 0.11008145 -0.13009284
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+v 0.37497669 0.10536404 -0.13538805
+v -0.36388841 0.10536404 -0.13562633
+v -0.37314269 0.10536404 -0.13533509
+v -0.38584271 0.10536404 -0.13464671
+v -0.39745978 0.10950668 -0.12969570
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+v -0.40494195 0.12225994 -0.11314820
+v -0.39499852 0.11869207 -0.11815216
+v 0.42498916 0.13518672 -0.09498566
+v 0.43493259 0.13936190 -0.08902855
+v 0.44044575 0.13028497 -0.10022791
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+v 0.45176747 0.15057522 -0.07086601
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+v -0.45495442 0.14148743 -0.08222422
+v -0.45180401 0.15057522 -0.07086601
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+v 0.45491788 0.13225868 -0.09154377
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+v 0.46023417 0.14021862 -0.08026499
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+v 0.39446974 0.10536404 -0.13274044
+v -0.42994818 0.12000427 -0.10999755
+v -0.41577142 0.10536404 -0.12289137
+v -0.41951251 0.10898614 -0.11976720
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+v -0.45495442 0.16205966 -0.05302118
+v -0.45958155 0.16996539 -0.03991555
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+v 0.42016512 0.10536404 -0.12019081
+v 0.44497445 0.15086803 -0.07131610
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+v 0.44497445 0.15909909 -0.05860762
+v 0.44497445 0.16233078 -0.05360365
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+v 0.46121866 0.18079916 -0.01190394
+v 0.46210471 0.17135350 -0.03324360
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diff --git a/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_5/collision/collision_mesh_collision_1.obj b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_5/collision/collision_mesh_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc51b05ca935629ec09cf2b78ebe2dafd397fbde
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_5/collision/collision_mesh_collision_1.obj
@@ -0,0 +1,376 @@
+# https://github.com/mikedh/trimesh
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diff --git a/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_5/collision/collision_mesh_collision_10.obj b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_5/collision/collision_mesh_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..638dcce3a73049dd5c7a13cc40dd9d8253ed68d9
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_5/collision/collision_mesh_collision_10.obj
@@ -0,0 +1,616 @@
+# https://github.com/mikedh/trimesh
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diff --git a/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_5/collision/collision_mesh_collision_11.obj b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_5/collision/collision_mesh_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e5c749cf0b7e8614c935266d57ce72c160c07277
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_5/collision/collision_mesh_collision_11.obj
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diff --git a/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_5/collision/collision_mesh_collision_12.obj b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_5/collision/collision_mesh_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a1c0104fb3337233eb50fcc667d79b5546ea41b1
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_5/collision/collision_mesh_collision_12.obj
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diff --git a/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_5/collision/collision_mesh_collision_13.obj b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_5/collision/collision_mesh_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cb4400743888180df4f6f26a169894afbcacc819
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_5/collision/collision_mesh_collision_13.obj
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diff --git a/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_5/collision/collision_mesh_collision_14.obj b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_5/collision/collision_mesh_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f0264eb6c0d0ef8495ee7da0a2949dec16f54340
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_5/collision/collision_mesh_collision_14.obj
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diff --git a/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_5/collision/collision_mesh_collision_2.obj b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_5/collision/collision_mesh_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf6ad9e74661eb1b0e26333c2605c36d421fe67c
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_5/collision/collision_mesh_collision_2.obj
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diff --git a/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_5/collision/collision_mesh_collision_3.obj b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_5/collision/collision_mesh_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4cd86451fdccefdb125ea3ce95e1a698a6194677
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_5/collision/collision_mesh_collision_3.obj
@@ -0,0 +1,463 @@
+# https://github.com/mikedh/trimesh
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diff --git a/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_5/collision/collision_mesh_collision_4.obj b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_5/collision/collision_mesh_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a8e178406349d56f180b7ec8d33647a542de5d2
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_5/collision/collision_mesh_collision_4.obj
@@ -0,0 +1,2458 @@
+# https://github.com/mikedh/trimesh
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diff --git a/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_5/collision/collision_mesh_collision_5.obj b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_5/collision/collision_mesh_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0b6a5a7543d21223cc6a8d90a884b98db72c9b6b
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_5/collision/collision_mesh_collision_5.obj
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diff --git a/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_5/collision/collision_mesh_collision_6.obj b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_5/collision/collision_mesh_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6a1d0f30a97df6146a3848e2fa6ec835671208c0
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_5/collision/collision_mesh_collision_6.obj
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diff --git a/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_5/collision/collision_mesh_collision_7.obj b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_5/collision/collision_mesh_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4bd5f761a3eeb56357262c8d9197e163885cf037
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_5/collision/collision_mesh_collision_7.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_5/collision/collision_mesh_collision_8.obj b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_5/collision/collision_mesh_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eedbedc4928eff5ef05b8a17fde7f9db7a7ffe1c
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_5/collision/collision_mesh_collision_8.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v 0.14271408 0.10535321 0.11757158
+v -0.05543935 0.10535321 0.11511242
+v -0.02498703 0.08957101 0.14866903
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+
diff --git a/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_5/collision/collision_mesh_collision_9.obj b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_5/collision/collision_mesh_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c5a689c6b06554892491d37fd84db9fe2727752e
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_5/collision/collision_mesh_collision_9.obj
@@ -0,0 +1,493 @@
+# https://github.com/mikedh/trimesh
+v 0.49674627 0.08238257 -0.04463972
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diff --git a/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_5/collision/model_normalized_collision_0.obj b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_5/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b408d147a0320111f120af37641b929e046ba834
--- /dev/null
+++ b/Assets/robocasa/data/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
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+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
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+v 0.46057993 -0.09566759 -0.10595014
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\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_5/collision/model_normalized_collision_1.obj b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_5/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c5444dd8e3c907d6e6862066dc1c4466b547bd56
--- /dev/null
+++ b/Assets/robocasa/data/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
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+v 0.00757576 -0.19010701 0.00620734
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\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_5/collision/model_normalized_collision_10.obj b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_5/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9692851a3ccc3c39b2043dcc8930760022b580c7
--- /dev/null
+++ b/Assets/robocasa/data/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
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+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/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_5/collision/model_normalized_collision_11.obj b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_5/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..02757a47be017349c85e3e975defd42580843185
--- /dev/null
+++ b/Assets/robocasa/data/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/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_5/collision/model_normalized_collision_12.obj b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_5/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cfc9d8d099598703d355099644779592c749c5e3
--- /dev/null
+++ b/Assets/robocasa/data/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/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_5/collision/model_normalized_collision_13.obj b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_5/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..748999441e487a6c28b13f6c55c1bfefd42efd5a
--- /dev/null
+++ b/Assets/robocasa/data/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/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_5/collision/model_normalized_collision_14.obj b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_5/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..00fbf8bab6e1bad40932128c8cf7c1251b851e8c
--- /dev/null
+++ b/Assets/robocasa/data/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/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_5/collision/model_normalized_collision_15.obj b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_5/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3410dc60d5caa8f60c67d6f4e227754afbd32cab
--- /dev/null
+++ b/Assets/robocasa/data/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/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_5/collision/model_normalized_collision_16.obj b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_5/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..24cf116150d579d631be3798621b2d725fce7279
--- /dev/null
+++ b/Assets/robocasa/data/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/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_5/collision/model_normalized_collision_17.obj b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_5/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d2083881757659f441e874a9752359c8f2e940e6
--- /dev/null
+++ b/Assets/robocasa/data/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/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_5/collision/model_normalized_collision_18.obj b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_5/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3aca2edd637e8d214fac6004a9a1f5d3c61d8736
--- /dev/null
+++ b/Assets/robocasa/data/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/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_5/collision/model_normalized_collision_19.obj b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_5/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f253f8ab43e3effa47c7e15ff67d6b29c229d4e9
--- /dev/null
+++ b/Assets/robocasa/data/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/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_5/collision/model_normalized_collision_2.obj b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_5/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aed6e53489dfab672a4d1872b0d71331c0bab015
--- /dev/null
+++ b/Assets/robocasa/data/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/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_5/collision/model_normalized_collision_20.obj b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_5/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..91d8f96d0a482d22fc251e997b74280708dfcee2
--- /dev/null
+++ b/Assets/robocasa/data/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/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_5/collision/model_normalized_collision_21.obj b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_5/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e218e56b9d5bf9fe65fe8ba46d25cf484135f97f
--- /dev/null
+++ b/Assets/robocasa/data/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/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_5/collision/model_normalized_collision_22.obj b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_5/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..02a6723d87152b26fb436fbe209677f14d335a17
--- /dev/null
+++ b/Assets/robocasa/data/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/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_5/collision/model_normalized_collision_23.obj b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_5/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2c34fc220345cf80ac3473b196a6798a0e2981eb
--- /dev/null
+++ b/Assets/robocasa/data/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/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_5/collision/model_normalized_collision_24.obj b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_5/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..13cdd662675f7ee1d6046991952a73cf8fcbd236
--- /dev/null
+++ b/Assets/robocasa/data/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/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_5/collision/model_normalized_collision_25.obj b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_5/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0b32c95f6058ce82a15834a27898a265d75ec23a
--- /dev/null
+++ b/Assets/robocasa/data/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/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_5/collision/model_normalized_collision_26.obj b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_5/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c298b12540b6e85cf06a606031989d8c5cd3a56
--- /dev/null
+++ b/Assets/robocasa/data/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/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_5/collision/model_normalized_collision_27.obj b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_5/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e52a5f8685de37227f9055af1d2d97e03eac87e3
--- /dev/null
+++ b/Assets/robocasa/data/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/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_5/collision/model_normalized_collision_28.obj b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_5/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1cf72e1b9b92cce2d999e5585b1b14246f50922b
--- /dev/null
+++ b/Assets/robocasa/data/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/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_5/collision/model_normalized_collision_29.obj b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_5/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d45fb1c587d180504800056be35eed05c447c3c5
--- /dev/null
+++ b/Assets/robocasa/data/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/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_5/collision/model_normalized_collision_3.obj b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_5/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f468bda60d093e643ab17067d164b27b4672294e
--- /dev/null
+++ b/Assets/robocasa/data/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/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_5/collision/model_normalized_collision_30.obj b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_5/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be3d1140e19aaad40b02e4fbeba719de60ee8b26
--- /dev/null
+++ b/Assets/robocasa/data/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/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_5/collision/model_normalized_collision_31.obj b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_5/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..918c4eacd41a48458c26e8141f2cd2b34d50d6d4
--- /dev/null
+++ b/Assets/robocasa/data/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/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_5/collision/model_normalized_collision_4.obj b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_5/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..97391dfa6298ed23bd005f909d2fad90df27ce30
--- /dev/null
+++ b/Assets/robocasa/data/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/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_5/collision/model_normalized_collision_5.obj b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_5/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..42038aef5bd2ff8aa5f53b77ac5bcd2b65f714d2
--- /dev/null
+++ b/Assets/robocasa/data/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/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_5/collision/model_normalized_collision_6.obj b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_5/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..43e6fd7506f7e87a73224a2448d87ae2e0f95d40
--- /dev/null
+++ b/Assets/robocasa/data/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/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_5/collision/model_normalized_collision_7.obj b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_5/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8f6d5ed6f83dce92d21e0ead3c67627b957880c
--- /dev/null
+++ b/Assets/robocasa/data/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/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_5/collision/model_normalized_collision_8.obj b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_5/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3723115165e074db893ecfdeac2fba3433cbb5cc
--- /dev/null
+++ b/Assets/robocasa/data/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/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_5/collision/model_normalized_collision_9.obj b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_5/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a9780da190af9cceeaf5ecebe2a4d6273875b7e9
--- /dev/null
+++ b/Assets/robocasa/data/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/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_5/model.xml b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_5/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..a04c28c69c9195810b208afa545f05ab571e2332
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_5/model.xml
@@ -0,0 +1,53 @@
+<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"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="initialShadingGroup.006" texture="image0" specular="0.5" shininess="0.25"/>
+    <mesh file="collision/collision_mesh_collision_0.obj" name="hot_collision_mesh_0" scale="0.13499999999999995 0.13499999999999995 0.13499999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/collision_mesh_collision_1.obj" name="hot_collision_mesh_1" scale="0.13499999999999995 0.13499999999999995 0.13499999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/collision_mesh_collision_2.obj" name="hot_collision_mesh_2" scale="0.13499999999999995 0.13499999999999995 0.13499999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/collision_mesh_collision_3.obj" name="hot_collision_mesh_3" scale="0.13499999999999995 0.13499999999999995 0.13499999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/collision_mesh_collision_4.obj" name="hot_collision_mesh_4" scale="0.13499999999999995 0.13499999999999995 0.13499999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/collision_mesh_collision_5.obj" name="hot_collision_mesh_5" scale="0.13499999999999995 0.13499999999999995 0.13499999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/collision_mesh_collision_6.obj" name="hot_collision_mesh_6" scale="0.13499999999999995 0.13499999999999995 0.13499999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/collision_mesh_collision_7.obj" name="hot_collision_mesh_7" scale="0.13499999999999995 0.13499999999999995 0.13499999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/collision_mesh_collision_8.obj" name="hot_collision_mesh_8" scale="0.13499999999999995 0.13499999999999995 0.13499999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/collision_mesh_collision_9.obj" name="hot_collision_mesh_9" scale="0.13499999999999995 0.13499999999999995 0.13499999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/collision_mesh_collision_10.obj" name="hot_collision_mesh_10" scale="0.13499999999999995 0.13499999999999995 0.13499999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/collision_mesh_collision_11.obj" name="hot_collision_mesh_11" scale="0.13499999999999995 0.13499999999999995 0.13499999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/collision_mesh_collision_12.obj" name="hot_collision_mesh_12" scale="0.13499999999999995 0.13499999999999995 0.13499999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/collision_mesh_collision_13.obj" name="hot_collision_mesh_13" scale="0.13499999999999995 0.13499999999999995 0.13499999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/collision_mesh_collision_14.obj" name="hot_collision_mesh_14" scale="0.13499999999999995 0.13499999999999995 0.13499999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+  </asset>
+  <default>
+    <default class="region">
+      <geom group="1" conaffinity="0" contype="0" rgba="0 1 0 0"/>
+    </default>
+    <default class="collision">
+      <geom group="0" rgba="0.5 0 0 0.5" density="1000.0"/>
+    </default>
+  </default>
+  <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 class="region" name="reg_bbox" type="box" pos="4.7652975e-05 0.0 3.700889999999893e-05" size="0.02913148057499999 0.06789212774999998 0.023744075399999995"/>
+        <geom mesh="hot_collision_mesh_0" type="mesh" class="collision"/>
+        <geom mesh="hot_collision_mesh_1" type="mesh" class="collision"/>
+        <geom mesh="hot_collision_mesh_2" type="mesh" class="collision"/>
+        <geom mesh="hot_collision_mesh_3" type="mesh" class="collision"/>
+        <geom mesh="hot_collision_mesh_4" type="mesh" class="collision"/>
+        <geom mesh="hot_collision_mesh_5" type="mesh" class="collision"/>
+        <geom mesh="hot_collision_mesh_6" type="mesh" class="collision"/>
+        <geom mesh="hot_collision_mesh_7" type="mesh" class="collision"/>
+        <geom mesh="hot_collision_mesh_8" type="mesh" class="collision"/>
+        <geom mesh="hot_collision_mesh_9" type="mesh" class="collision"/>
+        <geom mesh="hot_collision_mesh_10" type="mesh" class="collision"/>
+        <geom mesh="hot_collision_mesh_11" type="mesh" class="collision"/>
+        <geom mesh="hot_collision_mesh_12" type="mesh" class="collision"/>
+        <geom mesh="hot_collision_mesh_13" type="mesh" class="collision"/>
+        <geom mesh="hot_collision_mesh_14" type="mesh" class="collision"/>
+      </body>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_5/visual/material.mtl b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_5/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fbcf6b4b1af9257e08a0fd6e283841743ce8fad5
--- /dev/null
+++ b/Assets/robocasa/data/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/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_5/visual/model_normalized_0.obj b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_5/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9fe0fbd0f5ddde74ccd704caa5e00a8109ae97b0
--- /dev/null
+++ b/Assets/robocasa/data/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
+v 0.45201605 -0.07910232 0.05426973
+v 0.44537322 -0.08207494 0.05941845
+v 0.43787977 -0.09365383 0.07947379
+v 0.43831749 -0.01778070 -0.05194244
+v 0.44552309 -0.02780856 -0.03457368
+v 0.45176900 -0.03093664 -0.02915566
+v -0.45201605 -0.07910232 0.05426973
+v -0.43787977 -0.09365383 0.07947379
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+v 0.44839766 0.03734956 0.07135599
+v 0.44839766 0.02113300 0.09367626
+v 0.45863858 -0.00510594 0.05756137
+v 0.44839766 0.03734956 0.04376671
+v 0.44839766 0.02113300 0.02144649
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+v 0.44839766 -0.04756153 0.04376671
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+v -0.44839766 0.03734956 0.07135599
+v -0.45863858 -0.00510594 0.05756137
+v -0.44839766 0.02113300 0.09367621
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+v -0.44839766 -0.00510599 0.01292098
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+v 0.45022929 0.18816337 0.00661243
+v 0.38672501 0.08207499 0.06786266
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+v 0.45176900 0.03093659 -0.02071155
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+v 0.38207903 -0.00013559 -0.07453016
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+v 0.45074413 -0.18814725 -0.00185951
+v 0.43905466 -0.12183707 -0.11310992
+v 0.38672501 -0.11662715 -0.11877713
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diff --git a/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_6/collision/collision_mesh_collision_12.obj b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_6/collision/collision_mesh_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..80383beeee55d8c08396fd2554bebfb71cac42dd
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_6/collision/collision_mesh_collision_12.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_6/collision/collision_mesh_collision_5.obj b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_6/collision/collision_mesh_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..50dc588e3417c972104443daeb548c8322cd2425
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_6/collision/collision_mesh_collision_5.obj
@@ -0,0 +1,1369 @@
+# https://github.com/mikedh/trimesh
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diff --git a/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_6/collision/collision_mesh_collision_6.obj b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_6/collision/collision_mesh_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..663cef7c55af47732b999ba9c238b35d9bb3f930
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_6/collision/collision_mesh_collision_6.obj
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+
diff --git a/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_6/collision/model_normalized_collision_2.obj b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_6/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..008a13cb67f07a917ae6f7baf5a1b940cd5abcab
--- /dev/null
+++ b/Assets/robocasa/data/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/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_6/collision/model_normalized_collision_20.obj b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_6/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..96893c938ce7dec0664eb38762250aa53239bff8
--- /dev/null
+++ b/Assets/robocasa/data/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
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+f 8 1 4
+f 9 6 3
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+f 11 8 4
+f 11 5 8
+f 12 4 6
+f 12 6 9
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+f 13 11 4
+f 13 4 12
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_6/collision/model_normalized_collision_22.obj b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_6/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aa5d74395c3e06947e4135a62a7fae942327f3b2
--- /dev/null
+++ b/Assets/robocasa/data/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/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_6/collision/model_normalized_collision_23.obj b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_6/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..68d54fbb99d32efbb9e8a5057027ffd33ace00d1
--- /dev/null
+++ b/Assets/robocasa/data/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/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_6/collision/model_normalized_collision_4.obj b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_6/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b5e9f180a63f4140719f489ab6e74fc52ace5cbb
--- /dev/null
+++ b/Assets/robocasa/data/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
+f 41 33 17
+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/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_6/model.xml b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_6/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..15babe68ab597d21a9938278a3fb10b44a1daf02
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/hot_dog/hot_dog_6/model.xml
@@ -0,0 +1,58 @@
+<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"/>
+    <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"/>
+    <mesh file="collision/collision_mesh_collision_0.obj" name="hot_collision_mesh_0" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/collision_mesh_collision_1.obj" name="hot_collision_mesh_1" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/collision_mesh_collision_2.obj" name="hot_collision_mesh_2" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/collision_mesh_collision_3.obj" name="hot_collision_mesh_3" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/collision_mesh_collision_4.obj" name="hot_collision_mesh_4" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/collision_mesh_collision_5.obj" name="hot_collision_mesh_5" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/collision_mesh_collision_6.obj" name="hot_collision_mesh_6" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/collision_mesh_collision_7.obj" name="hot_collision_mesh_7" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/collision_mesh_collision_8.obj" name="hot_collision_mesh_8" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/collision_mesh_collision_9.obj" name="hot_collision_mesh_9" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/collision_mesh_collision_10.obj" name="hot_collision_mesh_10" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/collision_mesh_collision_11.obj" name="hot_collision_mesh_11" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/collision_mesh_collision_12.obj" name="hot_collision_mesh_12" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/collision_mesh_collision_13.obj" name="hot_collision_mesh_13" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/collision_mesh_collision_14.obj" name="hot_collision_mesh_14" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+  </asset>
+  <default>
+    <default class="region">
+      <geom group="1" conaffinity="0" contype="0" rgba="0 1 0 0"/>
+    </default>
+    <default class="collision">
+      <geom group="0" rgba="0.5 0 0 0.5" density="1000.0"/>
+    </default>
+  </default>
+  <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.207"/>
+        <geom solimp="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"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_2_vis" conaffinity="0" contype="0" group="1" material="Material.205"/>
+        <geom class="region" name="reg_bbox" type="box" pos="1.461675000000023e-05 1.57717500000043e-05 -4.0642499999998796e-05" size="0.026730480749999994 0.07567995824999998 0.024239350499999993"/>
+        <geom mesh="hot_collision_mesh_0" type="mesh" class="collision"/>
+        <geom mesh="hot_collision_mesh_1" type="mesh" class="collision"/>
+        <geom mesh="hot_collision_mesh_2" type="mesh" class="collision"/>
+        <geom mesh="hot_collision_mesh_3" type="mesh" class="collision"/>
+        <geom mesh="hot_collision_mesh_4" type="mesh" class="collision"/>
+        <geom mesh="hot_collision_mesh_5" type="mesh" class="collision"/>
+        <geom mesh="hot_collision_mesh_6" type="mesh" class="collision"/>
+        <geom mesh="hot_collision_mesh_7" type="mesh" class="collision"/>
+        <geom mesh="hot_collision_mesh_8" type="mesh" class="collision"/>
+        <geom mesh="hot_collision_mesh_9" type="mesh" class="collision"/>
+        <geom mesh="hot_collision_mesh_10" type="mesh" class="collision"/>
+        <geom mesh="hot_collision_mesh_11" type="mesh" class="collision"/>
+        <geom mesh="hot_collision_mesh_12" type="mesh" class="collision"/>
+        <geom mesh="hot_collision_mesh_13" type="mesh" class="collision"/>
+        <geom mesh="hot_collision_mesh_14" type="mesh" class="collision"/>
+      </body>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_0/collision/collision_mesh_collision_0.obj b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_0/collision/collision_mesh_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..663e941d22a10ebac3f5d18da19cf98b798ef98a
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_0/collision/collision_mesh_collision_0.obj
@@ -0,0 +1,1126 @@
+# https://github.com/mikedh/trimesh
+v -0.18640776 -0.00000016 0.07060277
+v -0.18448810 0.01415960 0.07060277
+v -0.18448810 -0.01415992 0.07060277
+v -0.24637143 -0.02345704 0.29425415
+v -0.24945298 -0.00000016 0.29425415
+v -0.24637143 0.02345672 0.29425415
+v -0.18413448 0.01675913 0.07060277
+v -0.18413448 -0.01675944 0.07060277
+v -0.23727837 -0.04633284 0.29425415
+v -0.24536110 -0.04825955 0.33586568
+v -0.25480777 -0.02443568 0.33586568
+v -0.25804088 -0.00000016 0.33586568
+v -0.25480777 0.02443537 0.33586568
+v -0.24536110 0.04825924 0.33586568
+v -0.23727837 0.04633253 0.29425415
+v -0.17731470 0.03312083 0.07060277
+v -0.17731470 -0.03312115 0.07060277
+v -0.22227482 -0.06807709 0.29425415
+v -0.22985238 -0.07089069 0.33586568
+v -0.25344381 -0.02409927 0.37861207
+v -0.24404766 -0.04761732 0.37861207
+v -0.25662640 -0.00000016 0.37861207
+v -0.25344381 0.02409896 0.37861207
+v -0.24404766 0.04761700 0.37861207
+v -0.22985238 0.07089038 0.33586568
+v -0.22227482 0.06807678 0.29425415
+v -0.16786802 0.04624078 0.07060277
+v -0.16786802 -0.04624110 0.07060277
+v -0.20181544 -0.08816989 0.29425415
+v -0.20873627 -0.09180922 0.33586568
+v -0.16609992 -0.04865712 0.07060277
+v -0.22863998 -0.06997322 0.37861207
+v -0.23803614 -0.02205023 0.42367017
+v -0.24101664 -0.00000016 0.42367017
+v -0.22924617 -0.04361099 0.42367017
+v -0.23803614 0.02204992 0.42367017
+v -0.22924617 0.04361068 0.42367017
+v -0.22863998 0.06997291 0.37861207
+v -0.20873627 0.09180891 0.33586568
+v -0.20181544 0.08816957 0.29425415
+v -0.16609992 0.04865681 0.07060277
+v -0.18241692 -0.11043404 0.33586568
+v -0.15079327 -0.06300038 0.07060277
+v -0.17640539 -0.10606073 0.29425415
+v -0.20757438 -0.09061649 0.37861207
+v -0.21474780 -0.06407077 0.42367017
+v -0.21303022 -0.01914489 0.46187711
+v -0.21570762 -0.00000016 0.46187711
+v -0.20514956 -0.03783087 0.46187711
+v -0.21303022 0.01914457 0.46187711
+v -0.20514956 0.03783056 0.46187711
+v -0.21474780 0.06407046 0.42367017
+v -0.20757438 0.09061618 0.37861207
+v -0.18241692 0.11043373 0.33586568
+v -0.17640539 0.10606042 0.29425415
+v -0.15079327 0.06300007 0.07060277
+v -0.18140657 -0.10899666 0.37861207
+v -0.15165205 -0.12636760 0.33586568
+v -0.13477938 -0.07379605 0.07060277
+v -0.13179886 -0.07578392 0.07060277
+v -0.14665087 -0.12138262 0.29425415
+v -0.19499564 -0.08297084 0.42367017
+v -0.19216669 -0.05559938 0.46187711
+v -0.18282105 -0.01617837 0.48406994
+v -0.18509431 -0.00000016 0.48406994
+v -0.17605177 -0.03195901 0.48406994
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+
diff --git a/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_0/collision/model_normalized_collision_13.obj b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_0/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5801f98190a63c308d87a7142f29cdc22de2da04
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_0/collision/model_normalized_collision_13.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.07925525 -0.13489629 0.26938037
+v 0.14066869 -0.08305475 0.16056045
+v 0.15259230 -0.10685837 0.25934032
+v -0.13519409 -0.10081117 0.21559078
+v -0.09234134 -0.10030704 0.14827654
+v -0.12476433 -0.12178737 0.26895069
+v 0.09150909 -0.10058540 0.14821207
+v -0.11505004 -0.09145305 0.14363057
+v 0.13733546 -0.11755206 0.27017247
+v -0.14120812 -0.11200681 0.25746399
+v -0.05091197 -0.13110968 0.24012264
+v 0.12687072 -0.08580881 0.14432264
+v -0.08013500 -0.13469392 0.26943947
+v 0.04999142 -0.11565490 0.17802756
+v 0.12115590 -0.08933235 0.14769336
+v -0.05090477 -0.11553331 0.17805234
+v 0.04999861 -0.13122895 0.24008819
+f 3 2 4
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+f 15 7 12
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+f 16 5 7
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+f 17 14 1
+f 17 1 11
+f 17 16 14
+f 17 11 16
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_0/collision/model_normalized_collision_14.obj b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_0/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf184f426714ce742e94c58f794a54230e7fddac
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_0/collision/model_normalized_collision_14.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v 0.12413412 0.05632130 0.49473115
+v 0.14998883 0.07268298 0.47448691
+v 0.03519996 0.10696295 0.47801129
+v -0.08052208 0.12472574 0.43993248
+v -0.11089303 0.05781192 0.49865185
+v 0.07963171 0.12489362 0.44001821
+v 0.09394894 0.08112272 0.48914325
+v 0.14173937 0.06008837 0.48710410
+v -0.11113429 0.11511691 0.44250792
+v -0.03612073 0.10689280 0.47794965
+v 0.10714573 0.10615305 0.46188423
+v 0.12255296 0.06841400 0.48921571
+v 0.14088728 0.10290754 0.44387566
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+v -0.09484824 0.08103205 0.48900330
+v 0.07823571 0.11902073 0.45217135
+v 0.10743876 0.09183824 0.47641569
+v 0.13646599 0.07845792 0.47674937
+v 0.14557114 0.09734985 0.44947753
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+v -0.07912609 0.11885283 0.45208560
+v 0.13815236 0.09730567 0.45575622
+v 0.12214845 0.10572818 0.45277475
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\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_0/collision/model_normalized_collision_15.obj b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_0/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..275b4f58d1f6d663be959d9a4f5d436c1ee6505a
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_0/collision/model_normalized_collision_15.obj
@@ -0,0 +1,120 @@
+# https://github.com/mikedh/trimesh
+v -0.22420265 0.05494361 -0.10383520
+v -0.09078479 0.11380741 -0.35606061
+v -0.10793758 0.10380364 -0.04282029
+v -0.09522925 0.13859704 -0.13156984
+v -0.17721295 0.10625062 -0.20255563
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+v -0.17691940 0.10585352 -0.13110367
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+v -0.09206527 0.13969022 -0.27768550
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+v -0.16220052 0.08188938 -0.05102864
+v -0.21845687 0.06507837 -0.10695445
+v -0.12230709 0.13575039 -0.16217173
+v -0.11046520 0.06980089 -0.34569686
+v -0.17307940 0.08033211 -0.27069798
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+v -0.15011215 0.11989548 -0.13166960
+v -0.11172454 0.09322085 -0.35606061
+v -0.10433758 0.13384760 -0.27659083
+v -0.12128443 0.13498422 -0.23112900
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+v -0.12301733 0.10538815 -0.06011409
+v -0.11714268 0.11449766 -0.07784239
+v -0.17737797 0.05634065 -0.28655896
+v -0.09953818 0.10632374 -0.35606061
+v -0.12876554 0.06833013 -0.35606061
+v -0.09187600 0.12618109 -0.32130075
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+v -0.12939035 0.10745295 -0.30103884
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+v -0.21698430 0.06584537 -0.19970182
+v -0.14373840 0.09383546 -0.29972303
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\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_0/collision/model_normalized_collision_17.obj b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_0/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..83b97c094999283e48526e51726dfb7824616ba7
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_0/collision/model_normalized_collision_17.obj
@@ -0,0 +1,114 @@
+# https://github.com/mikedh/trimesh
+v 0.07915460 -0.10352302 0.14726326
+v 0.19204887 -0.02311007 0.00347291
+v 0.17647169 0.05152421 0.14868909
+v -0.06473963 0.10700412 0.14743661
+v -0.17690755 -0.04904946 0.00296896
+v 0.05044802 0.10783719 0.00473558
+v -0.18869397 -0.03512515 0.14967010
+v 0.18860757 -0.03510869 0.14940058
+v 0.07889165 -0.10223504 0.00430522
+v 0.16122045 0.06435560 0.00277337
+v 0.06385756 0.10720571 0.14739348
+v -0.16174796 0.06392111 0.00261925
+v -0.16239435 0.06476503 0.14881741
+v -0.08003664 -0.10332149 0.14730647
+v 0.19152661 0.02719929 0.14828083
+v 0.14887920 -0.07425400 0.14829796
+v 0.16186939 0.06519769 0.14865689
+v 0.14830858 -0.07329850 0.00319947
+v 0.10795054 0.09323891 0.00441236
+v -0.05136179 0.10771651 0.00471358
+v -0.19086613 0.02651531 0.00275234
+v -0.10914491 0.09413668 0.14719225
+v -0.14953706 -0.07384875 0.14841968
+v -0.07977440 -0.10203408 0.00426615
+v 0.19065572 0.02681726 0.00299783
+v 0.17559053 0.05101044 0.00266630
+v 0.17653955 -0.04945799 0.00316897
+v 0.12115590 -0.08933235 0.14769336
+v 0.10831267 0.09441501 0.14712788
+v -0.17566557 0.05103080 0.00241381
+v -0.19225927 -0.02280811 0.00322742
+v -0.19173815 0.02689886 0.14852941
+v -0.13834868 0.08073289 0.14711134
+v -0.10878375 0.09296073 0.00435355
+v -0.14896736 -0.07289161 0.00308430
+v 0.12071756 -0.08822674 0.00382772
+v -0.17654804 0.05154706 0.14894342
+v -0.12144665 -0.08789794 0.00372214
+v -0.12191441 -0.08898275 0.14778329
+f 12 6 10
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+f 15 8 2
+f 15 3 8
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+f 17 8 3
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+f 17 11 13
+f 19 10 6
+f 19 6 11
+f 20 6 12
+f 20 11 6
+f 20 4 11
+f 22 13 4
+f 23 7 5
+f 23 16 7
+f 23 14 1
+f 23 1 16
+f 24 9 1
+f 24 1 14
+f 25 3 15
+f 25 15 2
+f 26 17 3
+f 26 10 17
+f 26 3 25
+f 27 2 8
+f 27 8 16
+f 27 16 18
+f 27 25 2
+f 27 26 25
+f 27 18 26
+f 28 18 16
+f 28 16 1
+f 29 17 10
+f 29 10 19
+f 29 19 11
+f 29 11 17
+f 30 5 21
+f 30 12 10
+f 30 10 26
+f 30 26 18
+f 30 13 12
+f 31 21 5
+f 31 5 7
+f 32 31 7
+f 32 21 31
+f 33 12 13
+f 33 13 22
+f 34 20 12
+f 34 33 22
+f 34 12 33
+f 34 22 4
+f 34 4 20
+f 35 18 9
+f 35 9 24
+f 35 30 18
+f 35 5 30
+f 35 23 5
+f 36 28 1
+f 36 1 9
+f 36 9 18
+f 36 18 28
+f 37 32 7
+f 37 13 30
+f 37 30 21
+f 37 21 32
+f 37 17 13
+f 37 7 17
+f 38 35 24
+f 38 24 14
+f 39 38 14
+f 39 14 23
+f 39 23 35
+f 39 35 38
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_0/collision/model_normalized_collision_18.obj b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_0/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7604cca1fa90242db94ca45017135fd17c323e12
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_0/collision/model_normalized_collision_18.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.15862579 -0.01300571 -0.09848485
+v 0.20430553 -0.01748625 -0.26296865
+v 0.17670279 0.08971586 -0.08614478
+v -0.17738099 0.08933993 -0.08631683
+v -0.24067375 -0.03232881 -0.17501117
+v 0.13324799 0.05851020 -0.35606061
+v -0.15955603 -0.01300571 -0.09848485
+v 0.18301893 0.08417961 -0.24778931
+v -0.13338455 0.05818099 -0.35606061
+v -0.21034189 0.08261742 -0.15754468
+v 0.14491411 -0.01311972 -0.35606061
+v -0.19216582 0.04378976 -0.27237531
+v -0.14501418 -0.01185403 -0.35606061
+v -0.17103956 0.05446336 -0.29655688
+v -0.13936945 0.04276449 -0.35606061
+v -0.19713455 -0.01223319 -0.27545456
+v -0.18670281 0.04216907 -0.28148227
+f 1 2 3
+f 5 2 1
+f 7 1 3
+f 7 3 4
+f 7 5 1
+f 7 4 5
+f 8 3 2
+f 8 2 6
+f 8 4 3
+f 9 8 6
+f 10 5 4
+f 10 4 8
+f 10 8 9
+f 11 9 6
+f 11 6 2
+f 11 2 5
+f 12 5 10
+f 13 11 5
+f 13 9 11
+f 14 12 10
+f 14 10 9
+f 14 9 12
+f 15 12 9
+f 15 9 13
+f 16 13 5
+f 16 5 12
+f 16 15 13
+f 17 16 12
+f 17 12 15
+f 17 15 16
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_0/collision/model_normalized_collision_26.obj b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_0/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..50e47d38baf3d980ebcbfb9e7ae04927ef643a3f
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_0/collision/model_normalized_collision_26.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v 0.18698726 -0.02490324 0.01611005
+v 0.24808428 -0.01077419 -0.14372234
+v 0.23345800 0.05145403 -0.11796274
+v 0.15222309 0.11073814 -0.10379903
+v 0.20430553 -0.01748625 -0.26296865
+v 0.15305909 0.06955916 0.00521449
+v 0.24784846 0.01503408 -0.11796274
+v 0.21718672 0.05251386 -0.22450430
+v 0.18734973 0.03537229 0.00159870
+v 0.19104172 0.08938720 -0.10695900
+v 0.15018246 0.08039875 -0.02630873
+v 0.24841509 -0.01081865 -0.11796274
+v 0.23274640 -0.01109678 -0.21429380
+v 0.23110254 0.02543965 -0.21392188
+v 0.15454194 0.11661955 -0.23303114
+v 0.21834351 0.06502918 -0.10665373
+v 0.23093840 0.01472046 -0.07860268
+v 0.16486454 0.10518813 -0.10581978
+v 0.24951783 0.00010695 -0.14374108
+v 0.22565510 -0.01201326 -0.22941503
+v 0.23041752 0.05137036 -0.18380957
+v 0.18688569 0.09310207 -0.22572654
+v 0.16122045 0.06435560 0.00277337
+v 0.19484492 -0.01172519 0.00449836
+v 0.17654947 0.10612270 -0.13107138
+v 0.24771229 0.01501577 -0.12856596
+v 0.17470072 0.10590611 -0.21675565
+v 0.20053150 0.01470446 -0.01380704
+v 0.23138432 -0.01049038 -0.07835268
+v 0.16362533 0.11090578 -0.22935458
+f 5 2 1
+f 9 6 1
+f 11 5 1
+f 11 1 6
+f 11 6 4
+f 12 1 2
+f 13 2 5
+f 14 5 8
+f 15 11 4
+f 15 5 11
+f 16 9 3
+f 17 7 3
+f 17 3 9
+f 18 4 6
+f 18 6 10
+f 19 12 2
+f 19 7 12
+f 19 2 13
+f 19 13 14
+f 20 14 13
+f 20 13 5
+f 20 5 14
+f 21 14 8
+f 21 19 14
+f 22 8 5
+f 22 5 15
+f 22 21 8
+f 23 6 9
+f 23 9 16
+f 23 16 10
+f 23 10 6
+f 24 9 1
+f 25 15 4
+f 25 4 18
+f 25 18 10
+f 25 10 16
+f 25 16 3
+f 26 21 3
+f 26 3 7
+f 26 7 19
+f 26 19 21
+f 27 3 21
+f 27 21 22
+f 27 25 3
+f 27 15 25
+f 28 24 17
+f 28 17 9
+f 28 9 24
+f 29 24 1
+f 29 1 12
+f 29 17 24
+f 29 12 7
+f 29 7 17
+f 30 27 22
+f 30 22 15
+f 30 15 27
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_0/collision/model_normalized_collision_30.obj b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_0/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6dcd78f8508a551965c2aa585c78f850a41ac82c
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_0/collision/model_normalized_collision_30.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.14347427 -0.01300571 0.40151514
+v 0.14347427 -0.01300571 0.26515151
+v 0.16670213 0.10899467 0.40143898
+v 0.16487589 0.10535894 0.41540523
+v 0.00711064 0.06275187 0.26515151
+v 0.00711064 -0.01300571 0.40151514
+v 0.16225070 0.10001484 0.25318479
+v 0.00711064 0.06275187 0.40151514
+v 0.00711064 -0.01300571 0.26515151
+f 1 2 3
+f 1 3 4
+f 6 2 1
+f 6 1 4
+f 7 5 3
+f 7 3 2
+f 8 4 3
+f 8 3 5
+f 8 6 4
+f 8 5 6
+f 9 6 5
+f 9 2 6
+f 9 7 2
+f 9 5 7
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_0/collision/model_normalized_collision_7.obj b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_0/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..59d2ffb7f7bdc0d96b30dce548d831aeec3ff81b
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_0/collision/model_normalized_collision_7.obj
@@ -0,0 +1,114 @@
+# https://github.com/mikedh/trimesh
+v 0.13270636 0.10203371 0.45221245
+v 0.14531446 0.09678659 0.21842512
+v 0.05008799 0.15173277 0.32833374
+v -0.10932952 0.13411962 0.39579044
+v -0.11908774 0.10715746 0.21533120
+v 0.06519167 0.13576938 0.42368077
+v 0.12144035 0.13496380 0.38063014
+v -0.11495415 0.11064107 0.44826043
+v 0.05086381 0.12623854 0.22321301
+v -0.05099948 0.15160351 0.32835324
+v 0.15099870 0.10798758 0.26035599
+v 0.12214316 0.12134636 0.42368077
+v 0.02147732 0.15234214 0.38167545
+v -0.12337264 0.11873019 0.25730410
+v 0.08783469 0.11394864 0.45763688
+v -0.05091728 0.13543877 0.25516036
+v 0.12105876 0.13405941 0.31387250
+v 0.09313872 0.13367304 0.41081110
+v 0.05012112 0.15196119 0.35527477
+v -0.02237598 0.15178196 0.31312170
+v -0.02240560 0.15230122 0.38166380
+v -0.10950724 0.13525691 0.29833831
+v -0.06610374 0.13564066 0.42368077
+v 0.10645449 0.11985447 0.43686970
+v -0.09403358 0.11843075 0.22563521
+v 0.07832181 0.13544856 0.27047297
+v 0.02144783 0.15182551 0.31311527
+v -0.05103223 0.15182934 0.35526862
+v -0.07920153 0.13524619 0.27053206
+v -0.10729997 0.11961905 0.43674224
+v 0.12415255 0.11145057 0.44065698
+v -0.10720999 0.11942435 0.24087653
+v 0.09315195 0.11862926 0.22557650
+v 0.05000395 0.13555842 0.25512646
+v -0.09402052 0.13347470 0.41075302
+v -0.11025275 0.11269936 0.22306349
+v 0.13432145 0.10479701 0.22602293
+v 0.12130065 0.11906262 0.25594378
+v 0.14059712 0.11554697 0.26750477
+f 8 5 2
+f 8 2 1
+f 9 2 5
+f 11 7 1
+f 11 1 2
+f 12 1 7
+f 14 8 4
+f 14 5 8
+f 15 8 1
+f 17 3 7
+f 17 7 11
+f 18 12 7
+f 18 6 12
+f 18 13 6
+f 18 7 13
+f 19 13 7
+f 19 7 3
+f 20 16 10
+f 22 14 4
+f 23 15 6
+f 23 8 15
+f 23 6 13
+f 23 13 21
+f 23 21 4
+f 24 12 6
+f 24 6 15
+f 24 15 1
+f 25 16 9
+f 25 9 5
+f 26 3 17
+f 27 19 3
+f 27 13 19
+f 27 21 13
+f 27 20 21
+f 28 4 21
+f 28 22 4
+f 28 10 22
+f 28 21 20
+f 28 20 10
+f 29 22 10
+f 29 10 16
+f 29 16 25
+f 30 4 8
+f 30 8 23
+f 31 24 1
+f 31 1 12
+f 31 12 24
+f 32 5 14
+f 32 14 22
+f 32 29 25
+f 32 22 29
+f 33 2 9
+f 33 9 26
+f 34 9 16
+f 34 16 20
+f 34 20 27
+f 34 26 9
+f 34 27 3
+f 34 3 26
+f 35 30 23
+f 35 23 4
+f 35 4 30
+f 36 32 25
+f 36 25 5
+f 36 5 32
+f 37 11 2
+f 37 2 33
+f 38 33 26
+f 38 26 17
+f 38 37 33
+f 39 38 17
+f 39 17 11
+f 39 11 37
+f 39 37 38
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_0/collision/model_normalized_collision_8.obj b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_0/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0ebebdc088ce9bbf4852cec072561d04489c8878
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_0/collision/model_normalized_collision_8.obj
@@ -0,0 +1,132 @@
+# https://github.com/mikedh/trimesh
+v -0.16766167 -0.10503914 0.41209379
+v -0.16853645 -0.10681939 0.28423603
+v -0.16876687 0.04319604 0.48342204
+v -0.20404374 0.07822604 0.41457126
+v -0.24809281 -0.03632070 0.37997342
+v -0.17156966 -0.09935959 0.26681893
+v -0.16664343 -0.09216889 0.43914418
+v -0.19267266 -0.10151731 0.37039145
+v -0.23180887 0.01477368 0.43456650
+v -0.23929860 -0.01150083 0.26900488
+v -0.21712476 -0.06073517 0.42368077
+v -0.21924736 -0.07241013 0.29955490
+v -0.20516899 0.03784057 0.46188423
+v -0.22465869 -0.03336425 0.24544540
+v -0.23906744 0.04305520 0.39735891
+v -0.23367953 -0.06202338 0.37980506
+v -0.23239535 -0.03591628 0.42368077
+v -0.16738125 -0.05045243 0.48032214
+v -0.20391329 -0.08736317 0.39416478
+v -0.20396707 -0.08743058 0.29958776
+v -0.24597648 -0.03553672 0.31477017
+v -0.21811340 -0.06147979 0.27196892
+v -0.23089129 0.03959268 0.42368077
+v -0.24924224 -0.01084685 0.39585044
+v -0.23283257 -0.04628715 0.40977716
+v -0.20547633 -0.03711217 0.46188423
+v -0.17708800 -0.10046443 0.40976413
+v -0.21937785 -0.07212707 0.39442291
+v -0.17813782 -0.10205080 0.28653150
+v -0.19277311 -0.10178461 0.32935117
+v -0.24741781 -0.02357993 0.29925175
+v -0.23193101 -0.06091310 0.31485610
+v -0.19268315 -0.08639386 0.27147868
+v -0.23220642 -0.01053587 0.43483079
+v -0.24778705 -0.02336300 0.39520641
+v -0.19204601 -0.08503106 0.42368077
+v -0.17788524 -0.04958314 0.47427992
+v -0.21890365 -0.04648408 0.43481798
+v -0.19276364 -0.02290891 0.47505911
+v -0.23389434 -0.04702969 0.28671370
+v -0.24901608 -0.01081922 0.29886297
+v -0.17806605 -0.08673752 0.43552563
+v -0.19219979 0.02704341 0.47421076
+v -0.23302174 -0.03635836 0.27145542
+v -0.17997876 0.04027527 0.47745213
+f 6 3 2
+f 6 4 3
+f 7 1 2
+f 7 2 3
+f 8 2 1
+f 13 3 4
+f 14 10 4
+f 14 4 6
+f 15 4 10
+f 18 7 3
+f 19 16 8
+f 23 13 4
+f 23 4 15
+f 23 15 9
+f 23 9 13
+f 24 9 15
+f 25 16 11
+f 25 11 17
+f 25 17 5
+f 25 5 16
+f 27 19 8
+f 27 8 1
+f 28 19 11
+f 28 11 16
+f 28 16 19
+f 29 6 2
+f 30 12 20
+f 30 8 16
+f 30 20 29
+f 30 29 2
+f 30 2 8
+f 31 10 14
+f 31 21 5
+f 32 16 5
+f 32 5 21
+f 32 30 16
+f 32 12 30
+f 33 22 14
+f 33 14 6
+f 33 20 12
+f 33 12 22
+f 33 29 20
+f 33 6 29
+f 34 9 24
+f 34 17 26
+f 34 13 9
+f 35 24 5
+f 35 5 17
+f 35 34 24
+f 35 17 34
+f 36 26 11
+f 36 11 19
+f 36 19 27
+f 36 27 1
+f 36 1 7
+f 37 7 18
+f 38 26 17
+f 38 17 11
+f 38 11 26
+f 39 18 3
+f 39 34 26
+f 39 13 34
+f 39 37 18
+f 39 26 37
+f 40 21 31
+f 40 32 21
+f 40 22 12
+f 40 12 32
+f 40 14 22
+f 41 31 5
+f 41 5 24
+f 41 24 15
+f 41 15 10
+f 41 10 31
+f 42 36 7
+f 42 7 37
+f 42 37 26
+f 42 26 36
+f 43 39 3
+f 43 13 39
+f 44 40 31
+f 44 31 14
+f 44 14 40
+f 45 43 3
+f 45 3 13
+f 45 13 43
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_0/collision/model_normalized_collision_9.obj b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_0/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c54c0cc668869a02e8b9fbbccd3f3d069f1c0d5
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_0/collision/model_normalized_collision_9.obj
@@ -0,0 +1,180 @@
+# https://github.com/mikedh/trimesh
+v 0.06066001 -0.13235630 -0.35606061
+v 0.14063430 -0.02384727 -0.47406482
+v 0.12851190 0.06874453 -0.35606061
+v -0.04700757 0.13801909 -0.35606061
+v -0.12812587 -0.05170813 -0.49947979
+v 0.06169194 0.12398463 -0.49947979
+v 0.13003515 -0.06625608 -0.35606061
+v 0.03372915 -0.13398902 -0.49947979
+v -0.13003515 -0.06625608 -0.35606061
+v 0.12647050 0.05569885 -0.49947979
+v 0.04621388 0.13834829 -0.35606061
+v -0.08601682 0.10823029 -0.49947979
+v 0.14372430 -0.02458719 -0.35606061
+v 0.09911740 -0.10262745 -0.47352272
+v -0.06145377 -0.13202703 -0.35606061
+v 0.11212391 0.08146254 -0.49947979
+v 0.14217078 0.02850685 -0.45918716
+v 0.12798932 -0.05203733 -0.49947979
+v -0.02167894 0.13687578 -0.49947979
+v -0.12876554 0.06833013 -0.35606061
+v 0.10112085 -0.10497085 -0.35606061
+v 0.08550525 -0.11768818 -0.45851599
+v -0.08551467 -0.11770116 -0.45842374
+v 0.12585734 0.06711998 -0.47369098
+v 0.07456694 0.12494806 -0.35606061
+v 0.14146499 0.01593800 -0.47428772
+v 0.14275188 0.02864589 -0.35606061
+v 0.07264685 -0.11752002 -0.49947979
+v 0.12492842 -0.06365408 -0.48880148
+v 0.04484327 0.13569790 -0.47356833
+v -0.04563346 0.13537210 -0.47350123
+v -0.07524349 0.12453384 -0.35606061
+v -0.12660705 0.05536964 -0.49947979
+v -0.14319086 -0.02423681 -0.45920315
+v 0.11345138 -0.09120110 -0.35606061
+v 0.05947730 -0.12950507 -0.47354410
+v 0.08578893 -0.11807831 -0.35606061
+v -0.08578892 -0.11807831 -0.35606061
+v -0.11347783 -0.09042811 -0.45852293
+v -0.07332352 -0.11710580 -0.49947979
+v 0.08547959 0.10868967 -0.49947979
+v 0.11328826 -0.07955993 -0.49947979
+v 0.02093764 0.13693448 -0.49947979
+v 0.07159131 0.12008682 -0.48871727
+v -0.06248561 0.12365541 -0.49947979
+v -0.11212390 0.08146254 -0.49947979
+v -0.14377449 -0.02437657 -0.35606061
+v -0.14149765 0.01586717 -0.47413163
+v 0.11113089 -0.08921690 -0.47335091
+v -0.12721874 -0.06482113 -0.47391547
+v -0.11384426 -0.09074144 -0.35606061
+v -0.03460890 -0.13377827 -0.49947979
+v -0.11354191 -0.07914603 -0.49947979
+v -0.07227511 0.11968456 -0.48863605
+v -0.12613062 0.06671755 -0.47355773
+v -0.14182556 -0.01160155 -0.47418870
+v -0.14280212 0.02843530 -0.35606061
+v -0.06125200 -0.13154138 -0.45877457
+v -0.09966617 -0.10218154 -0.47342097
+v -0.14224694 0.02830225 -0.45903484
+v -0.04631050 -0.13204719 -0.48920570
+f 1 3 4
+f 7 3 1
+f 8 5 6
+f 9 1 4
+f 10 8 6
+f 11 4 3
+f 12 6 5
+f 13 7 2
+f 13 3 7
+f 15 8 1
+f 15 1 9
+f 16 10 6
+f 17 13 2
+f 18 8 10
+f 19 4 11
+f 19 6 12
+f 20 9 4
+f 21 7 1
+f 22 14 21
+f 24 16 3
+f 24 10 16
+f 24 17 10
+f 24 3 17
+f 25 11 3
+f 25 3 16
+f 26 17 2
+f 26 10 17
+f 26 18 10
+f 26 2 18
+f 27 17 3
+f 27 3 13
+f 27 13 17
+f 28 8 18
+f 28 14 22
+f 29 18 2
+f 29 2 7
+f 30 11 25
+f 31 4 19
+f 32 20 4
+f 32 4 31
+f 33 12 5
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\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_0/visual/material.mtl b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_0/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6b5d0f127cc1df2efd6b4835e0300358bb6dde72
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_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/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_0/visual/model_normalized_0.obj b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_0/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c8bdc8098b7692cf4dbac29c072c3a4e9aec082
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_0/visual/model_normalized_0.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_0/visual/model_normalized_1.obj b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_0/visual/model_normalized_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d04b0db549cd8061286e4e722a6e5829abd90d4
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_0/visual/model_normalized_1.obj
@@ -0,0 +1,2561 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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+v 0.10937417 0.04412434 0.49979068
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diff --git a/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_0/visual/model_normalized_2.obj b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_0/visual/model_normalized_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1cd194376ffc0a02f9279ecbaa9e6ad28368db75
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_0/visual/model_normalized_2.obj
@@ -0,0 +1,7156 @@
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diff --git a/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_2/collision/collision_mesh_collision_0.obj b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_2/collision/collision_mesh_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c900e9c0327aeb7040606633558c161cf716ea66
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_2/collision/collision_mesh_collision_0.obj
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diff --git a/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_2/collision/collision_mesh_collision_1.obj b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_2/collision/collision_mesh_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d3d215b19aaca072daa2000f00213a93a969b4be
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_2/collision/collision_mesh_collision_1.obj
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diff --git a/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_2/collision/model_normalized_collision_0.obj b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_2/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef7735729d29e46f992044cc2f0e5c00aafbb5b2
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_2/collision/model_normalized_collision_0.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.07759250 -0.07759250 0.33819899
+v 0.13150943 -0.01702240 -0.23484848
+v 0.08549146 -0.00973389 0.34935099
+v -0.05087217 -0.00973389 0.34935099
+v -0.09157112 -0.09588738 -0.23484848
+v -0.08117520 -0.00973389 0.27499899
+v -0.05180940 -0.08733085 0.34861340
+v 0.09372925 -0.09372925 -0.23484848
+v -0.13140380 -0.01768930 -0.23484848
+v -0.08117353 -0.08548979 0.27502717
+f 1 2 3
+f 6 3 2
+f 6 4 3
+f 7 1 3
+f 7 3 4
+f 7 4 6
+f 8 5 2
+f 8 2 1
+f 8 7 5
+f 8 1 7
+f 9 6 2
+f 9 2 5
+f 10 7 6
+f 10 6 9
+f 10 9 5
+f 10 5 7
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_2/collision/model_normalized_collision_1.obj b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_2/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7033067bb55c1ebf0d8c14cfe3832d51fd6a62df
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_2/collision/model_normalized_collision_1.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.05276457 -0.09588587 0.33947840
+v 0.09931418 -0.04679130 0.31060606
+v 0.09798303 -0.04611289 0.34377500
+v 0.07774900 0.07343274 0.34511169
+v 0.07975063 0.07543437 0.31060606
+v 0.05092620 -0.09227814 0.34667284
+v 0.09006243 -0.06494889 0.31060606
+v 0.10106014 0.04336465 0.31060606
+v 0.06427046 -0.08873114 0.34377500
+v 0.05518843 0.05087217 0.34935099
+v 0.08516826 -0.07001674 0.31060606
+v 0.09972901 0.04268627 0.34377500
+v 0.06494889 -0.09006243 0.33819899
+v 0.08626989 0.06680211 0.34377500
+v 0.08732639 0.06785861 0.31060606
+f 7 2 3
+f 7 5 2
+f 8 2 5
+f 9 6 1
+f 9 3 6
+f 10 6 3
+f 10 4 5
+f 10 5 1
+f 10 1 6
+f 11 1 5
+f 11 5 7
+f 12 3 2
+f 12 2 8
+f 12 10 3
+f 12 4 10
+f 13 7 3
+f 13 3 9
+f 13 11 7
+f 13 9 1
+f 13 1 11
+f 14 12 8
+f 14 5 4
+f 14 4 12
+f 15 14 8
+f 15 8 5
+f 15 5 14
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_2/collision/model_normalized_collision_10.obj b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_2/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..78f53e2362705bf6af2191bc08e3bc1eb4b619d9
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_2/collision/model_normalized_collision_10.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v -0.10017053 0.04511061 0.32575758
+v -0.08117520 0.05087217 -0.50000000
+v -0.07759250 0.07759250 0.32575758
+v -0.07596393 0.10455545 0.27153133
+v -0.10978670 0.07259328 -0.49337301
+v -0.07528802 0.10362505 -0.49763967
+v -0.10978670 0.07259328 0.26840049
+v -0.11800964 0.04647996 -0.49790162
+v -0.08489774 0.10004926 -0.49337301
+v -0.08516826 0.07001674 0.32575758
+v -0.08489774 0.10004926 0.26840049
+v -0.11903438 0.04700216 0.27177900
+v -0.09392486 0.05736844 0.32575758
+f 1 2 3
+f 6 3 2
+f 6 4 3
+f 8 2 1
+f 8 6 2
+f 8 5 6
+f 9 6 5
+f 9 4 6
+f 9 5 7
+f 10 1 3
+f 11 3 4
+f 11 9 7
+f 11 4 9
+f 11 10 3
+f 11 7 10
+f 12 7 5
+f 12 5 8
+f 12 8 1
+f 12 1 7
+f 13 10 7
+f 13 7 1
+f 13 1 10
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_2/collision/model_normalized_collision_11.obj b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_2/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2f5c28a618f9dad4e975ec7671a692b6255d7baf
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_2/collision/model_normalized_collision_11.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.08516826 -0.07001674 0.31060606
+v 0.11505924 -0.06224528 -0.49337301
+v 0.11505924 -0.06224528 0.26840049
+v 0.08732639 0.06785861 0.31060606
+v 0.08549146 0.06602369 -0.50000000
+v 0.11680520 0.05881862 0.26840049
+v 0.10106014 0.04336465 0.31060606
+v 0.08549146 -0.07033995 -0.50000000
+v 0.11680520 0.05881862 -0.49337301
+v 0.09931418 -0.04679130 0.31060606
+v 0.09180839 0.06152224 0.31060606
+v 0.09006243 -0.06494889 0.31060606
+f 5 1 4
+f 6 3 2
+f 7 4 1
+f 7 3 6
+f 8 2 3
+f 8 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 7 1
+f 10 3 7
+f 11 7 6
+f 11 6 4
+f 11 4 7
+f 12 10 1
+f 12 1 3
+f 12 3 10
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_2/collision/model_normalized_collision_12.obj b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_2/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..620e4ecd7e9ca3f0bea400fd45f23a7cfe9849b7
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_2/collision/model_normalized_collision_12.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.00896257 -0.12607599 0.27325201
+v 0.08435725 -0.08435725 -0.50000000
+v 0.07775760 -0.10702448 0.26851711
+v 0.07001674 -0.08516826 0.31060606
+v 0.00973389 -0.08549146 -0.50000000
+v 0.08448295 -0.08448295 0.27497988
+v 0.04679130 -0.09931418 0.31060606
+v 0.06224528 -0.11505924 -0.49337301
+v 0.06224528 -0.11505924 0.26840049
+v 0.06494889 -0.09006243 0.31060606
+v 0.00877038 -0.10971095 0.31060606
+v 0.07708171 -0.10609409 -0.49462544
+v 0.00896257 -0.12607599 -0.49822450
+v 0.01345233 -0.10896942 0.31060606
+f 6 3 2
+f 6 4 3
+f 6 5 4
+f 6 2 5
+f 9 8 3
+f 9 1 8
+f 10 3 4
+f 10 4 7
+f 10 9 3
+f 10 7 9
+f 11 7 4
+f 11 4 5
+f 12 2 3
+f 12 3 8
+f 13 5 2
+f 13 12 8
+f 13 2 12
+f 13 8 1
+f 13 11 5
+f 13 1 11
+f 14 9 7
+f 14 7 11
+f 14 11 1
+f 14 1 9
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_2/collision/model_normalized_collision_13.obj b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_2/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fec090ce275252b7c8c7e87150603c1a97144ef5
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_2/collision/model_normalized_collision_13.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.12949121 -0.02465499 0.26475676
+v 0.12889749 -0.02216117 -0.49337301
+v 0.12956440 0.01795053 -0.49337301
+v 0.12792920 0.03524284 0.26433296
+v 0.12385829 -0.02376284 0.27312718
+v 0.12956440 0.01795053 0.26840049
+v 0.12373500 -0.02374331 -0.49822450
+v 0.12897733 0.03300906 0.26177400
+v 0.12889749 -0.02216117 0.26840049
+v 0.12440188 0.01953267 0.27325201
+v 0.12872218 0.03296864 -0.48771005
+v 0.12736110 0.03515286 -0.49145161
+v 0.12440188 0.01953267 -0.49822450
+f 1 2 3
+f 6 1 3
+f 7 2 1
+f 7 1 5
+f 7 3 2
+f 8 6 3
+f 8 4 6
+f 9 6 5
+f 9 5 1
+f 9 1 6
+f 10 6 4
+f 10 5 6
+f 10 7 5
+f 11 8 3
+f 11 4 8
+f 12 10 4
+f 12 4 11
+f 12 11 3
+f 13 7 10
+f 13 10 12
+f 13 12 3
+f 13 3 7
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_2/collision/model_normalized_collision_14.obj b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_2/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..acf39acdae695b45382a11b4ca752dc9752af828
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_2/collision/model_normalized_collision_14.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.05087217 -0.00973389 0.27499899
+v -0.05087217 -0.00973389 -0.50000000
+v -0.05087217 0.05087217 -0.50000000
+v -0.12674957 0.04321319 0.26177400
+v -0.13264883 -0.00828746 0.26267348
+v -0.05087217 0.05087217 0.27499899
+v -0.12944319 -0.00777972 -0.49508379
+v -0.12516731 0.04240698 -0.49337301
+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/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_2/collision/model_normalized_collision_15.obj b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_2/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f5277facb0805d03bdec5ad2b24c6235a06ab875
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_2/collision/model_normalized_collision_15.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.00973389 -0.00973389 0.27499899
+v 0.00973389 -0.00973389 -0.50000000
+v 0.00828744 0.13264881 0.26267355
+v -0.04321319 0.12674957 0.26177400
+v -0.05087217 -0.00973389 -0.50000000
+v -0.05087217 -0.00973389 0.27499899
+v 0.00777977 0.12944320 -0.49508380
+v -0.04240698 0.12516731 -0.49337301
+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 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/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_2/collision/model_normalized_collision_16.obj b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_2/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd73f3539bcced5fbd10e100fbce0855d41b6cd1
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_2/collision/model_normalized_collision_16.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.08549146 -0.00973389 0.34935099
+v 0.13150943 -0.01702240 -0.23484848
+v 0.11514795 0.06598281 -0.23484848
+v 0.00973389 0.05087217 0.34935099
+v 0.00973389 -0.00973389 -0.23484848
+v 0.08733084 0.05180941 0.34861341
+v 0.00973389 -0.00973389 0.34741899
+v 0.00973389 0.05087217 -0.23484848
+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 8 4 3
+f 8 3 5
+f 8 7 4
+f 8 5 7
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_2/collision/model_normalized_collision_17.obj b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_2/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..441a2121768975d1fcbeda5618bd299bb5038d29
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_2/collision/model_normalized_collision_17.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.08117520 -0.05518843 0.27499899
+v -0.08117520 -0.05518843 -0.50000000
+v -0.08117520 -0.00973389 -0.50000000
+v -0.13264883 -0.00828746 0.26267348
+v -0.12500383 -0.04663985 0.26177400
+v -0.12944319 -0.00777972 -0.49508379
+v -0.08117520 -0.00973389 0.27499899
+v -0.11713690 -0.05035154 -0.49692158
+v -0.12486306 -0.04656812 -0.48733551
+v -0.12645081 -0.03760880 -0.49337301
+f 1 2 3
+f 5 1 4
+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 3
+f 8 3 2
+f 9 5 4
+f 9 8 5
+f 10 9 4
+f 10 4 6
+f 10 6 8
+f 10 8 9
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_2/collision/model_normalized_collision_18.obj b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_2/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c35703d28f1cf1f8e6d829e6612f417f0a6622c4
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_2/collision/model_normalized_collision_18.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.01702248 -0.13150938 -0.23484848
+v 0.00973389 -0.08549146 -0.50000000
+v 0.00973389 -0.00973389 -0.23484848
+v -0.13140380 -0.01768930 -0.23484848
+v -0.08117520 -0.08549146 -0.50000000
+v 0.00973389 -0.00973389 -0.50000000
+v -0.09157112 -0.09588738 -0.23484848
+v -0.08117520 -0.00973389 -0.50000000
+f 1 3 4
+f 5 2 1
+f 6 1 2
+f 6 3 1
+f 6 2 5
+f 7 5 1
+f 7 1 4
+f 7 4 5
+f 8 6 5
+f 8 5 4
+f 8 4 3
+f 8 3 6
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_2/collision/model_normalized_collision_19.obj b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_2/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..25c2e300e39851275654b7307104897429a98753
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_2/collision/model_normalized_collision_19.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.06079509 0.09217889 0.31060606
+v 0.05518843 0.08117520 -0.50000000
+v 0.04656807 0.12486274 -0.48733600
+v 0.00795963 0.13057910 0.26896121
+v 0.00973389 0.08117520 -0.50000000
+v 0.04663985 0.12500361 0.26177400
+v 0.05035139 0.11713661 -0.49692184
+v 0.00943726 0.10960533 0.31060606
+v 0.00777977 0.12944320 -0.49508380
+v 0.03760880 0.12645081 -0.49337301
+v 0.04583364 0.12342135 0.26840049
+v 0.01411921 0.10886380 0.31060606
+v 0.04853726 0.09842456 0.31060606
+f 5 2 1
+f 7 1 2
+f 7 6 1
+f 7 3 6
+f 7 2 5
+f 8 5 1
+f 8 4 5
+f 9 5 4
+f 9 7 5
+f 10 6 3
+f 10 4 6
+f 10 9 4
+f 10 3 7
+f 10 7 9
+f 11 6 4
+f 11 1 6
+f 12 11 4
+f 12 4 8
+f 12 8 1
+f 13 12 1
+f 13 1 11
+f 13 11 12
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_2/collision/model_normalized_collision_2.obj b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_2/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2dc5f40da318db7e384f54b85cd92fc1ffba4400
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_2/collision/model_normalized_collision_2.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.00973389 -0.00973389 0.34741899
+v 0.00973389 -0.00973389 0.27499899
+v 0.00828744 0.13264881 0.26267355
+v -0.04321319 0.12674957 0.26177400
+v -0.09392486 0.05736844 0.32575758
+v -0.07339950 0.11136897 0.26177400
+v 0.00943726 0.10960533 0.31060606
+v -0.05087217 -0.00973389 0.34935099
+v -0.07759250 0.07759250 0.32575758
+v -0.05087217 -0.00973389 0.27499899
+v 0.00973389 0.05087217 0.34935099
+v -0.04240698 0.12516731 0.26840049
+v -0.07259328 0.10978670 0.26840049
+v -0.05087217 0.05087217 0.34935099
+v -0.08117520 0.05087217 0.27499899
+v 0.00795963 0.13057910 0.26896121
+v -0.05713929 0.09404161 0.31060606
+f 6 3 2
+f 6 4 3
+f 7 2 3
+f 8 2 1
+f 10 6 2
+f 10 8 5
+f 10 2 8
+f 11 1 2
+f 11 2 7
+f 11 8 1
+f 12 3 4
+f 12 4 6
+f 13 6 5
+f 13 5 9
+f 13 12 6
+f 13 9 12
+f 14 9 5
+f 14 5 8
+f 14 8 11
+f 14 11 7
+f 14 7 9
+f 15 10 5
+f 15 5 6
+f 15 6 10
+f 16 12 7
+f 16 7 3
+f 16 3 12
+f 17 12 9
+f 17 9 7
+f 17 7 12
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_2/collision/model_normalized_collision_20.obj b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_2/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..734d7c6175d215c42eb1f6e7e218827ccb22c53f
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_2/collision/model_normalized_collision_20.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.05087217 0.05087217 0.27499899
+v -0.05087217 0.05087217 -0.50000000
+v -0.04648008 0.11800989 -0.49790136
+v -0.04906122 0.12307553 0.26408252
+v -0.08117520 0.05087217 0.27499899
+v -0.08117520 0.05087217 -0.50000000
+v -0.07339950 0.11136897 0.26177400
+v -0.07259328 0.10978670 -0.49337301
+f 1 2 3
+f 1 3 4
+f 5 1 4
+f 6 3 2
+f 6 2 1
+f 6 1 5
+f 7 6 5
+f 7 5 4
+f 8 7 4
+f 8 4 3
+f 8 3 6
+f 8 6 7
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_2/collision/model_normalized_collision_21.obj b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_2/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..616bd1ce048c9928476bd1b30e9c8349eaf3345f
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_2/collision/model_normalized_collision_21.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.07975063 0.07543437 0.31060606
+v 0.08549146 0.08117520 -0.50000000
+v 0.07601994 0.10804074 0.26840049
+v 0.05087359 0.11816135 0.27079923
+v 0.05518843 0.08117520 -0.50000000
+v 0.07676220 0.10949750 -0.48727172
+v 0.05466618 0.09530173 0.31060606
+v 0.05035139 0.11713661 -0.49692184
+v 0.06079509 0.09217889 0.31060606
+v 0.06394167 0.11407236 -0.49348218
+v 0.07217487 0.08301013 0.31060606
+v 0.07746442 0.10345105 -0.49622377
+f 1 2 3
+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 8 5 4
+f 8 2 5
+f 9 7 1
+f 9 3 7
+f 10 8 4
+f 10 4 6
+f 11 9 1
+f 11 1 3
+f 11 3 9
+f 12 10 6
+f 12 6 2
+f 12 2 8
+f 12 8 10
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_2/collision/model_normalized_collision_22.obj b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_2/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..68c6e979ab248eb264c033445014c610c65cd58f
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_2/collision/model_normalized_collision_22.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.09180839 0.06152224 0.31060606
+v 0.10935997 0.06274519 -0.49822450
+v 0.10943580 0.06278383 0.27316689
+v 0.07827757 0.10426433 0.27010117
+v 0.08549146 0.06602369 -0.50000000
+v 0.10220739 0.08273961 -0.49337301
+v 0.10220739 0.08273961 0.26840049
+v 0.07975063 0.07543437 0.31060606
+v 0.07746442 0.10345105 -0.49622377
+v 0.08705587 0.09789113 0.26840049
+v 0.08732639 0.06785861 0.31060606
+v 0.08705587 0.09789113 -0.49337301
+f 1 2 3
+f 5 2 1
+f 6 3 2
+f 7 1 3
+f 7 3 6
+f 8 5 1
+f 9 8 4
+f 9 5 8
+f 9 6 2
+f 9 2 5
+f 10 7 6
+f 10 8 7
+f 10 4 8
+f 11 8 1
+f 11 1 7
+f 11 7 8
+f 12 9 4
+f 12 4 10
+f 12 10 6
+f 12 6 9
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_2/collision/model_normalized_collision_23.obj b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_2/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9853f3e216fd688e7afafcd6e0a4efe16667c448
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_2/collision/model_normalized_collision_23.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.01702248 -0.13150938 -0.35606061
+v 0.08435725 -0.08435725 -0.50000000
+v 0.09588738 0.09157112 -0.35606061
+v 0.01768939 0.13140375 -0.35606061
+v 0.00973389 0.08117520 -0.50000000
+v 0.09372925 -0.09372925 -0.35606061
+v 0.00973389 -0.08549146 -0.50000000
+v 0.08549146 0.08117520 -0.50000000
+f 1 3 4
+f 5 1 4
+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 3 2
+f 8 2 5
+f 8 5 4
+f 8 4 3
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_2/collision/model_normalized_collision_24.obj b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_2/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..772e43d0b587a8e28d3a41a92bccc3e821278dd1
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_2/collision/model_normalized_collision_24.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.00344751 -0.13365881 0.26177644
+v -0.00316981 -0.13190545 -0.49337301
+v -0.00475193 -0.12674288 -0.49822450
+v -0.03524284 -0.12792920 0.26433296
+v -0.03296864 -0.12872216 -0.48771010
+v -0.00563170 -0.13229758 0.26551824
+v -0.03300906 -0.12897733 0.26177400
+v -0.03515286 -0.12736110 -0.49145161
+v -0.01953267 -0.12440188 -0.49822450
+v -0.01795053 -0.12956440 -0.49337301
+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 8 2 5
+f 8 5 4
+f 9 6 3
+f 9 4 6
+f 9 8 4
+f 9 3 2
+f 10 9 2
+f 10 2 8
+f 10 8 9
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_2/collision/model_normalized_collision_25.obj b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_2/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a21c37dc8d3b58ab1ff56f0858680230b03e6277
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_2/collision/model_normalized_collision_25.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.00765824 -0.13299255 0.26177400
+v 0.00738044 -0.13123855 -0.49337301
+v 0.00973389 -0.08549146 0.27499899
+v -0.00541763 -0.08549146 0.27499899
+v -0.00344751 -0.13365881 0.26177644
+v 0.00973389 -0.08549146 -0.50000000
+v -0.00541763 -0.08549146 -0.50000000
+v -0.00316981 -0.13190545 -0.49337301
+f 5 1 3
+f 5 3 4
+f 6 4 3
+f 6 1 2
+f 6 3 1
+f 7 5 4
+f 7 4 6
+f 8 5 7
+f 8 2 1
+f 8 1 5
+f 8 7 6
+f 8 6 2
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_2/collision/model_normalized_collision_26.obj b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_2/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8acd3e6951b61ac8d3fccfb59b550fb3b3f27d63
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_2/collision/model_normalized_collision_26.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v -0.06278378 -0.10943588 0.27316656
+v -0.06274498 -0.10935974 -0.49822450
+v -0.06152224 -0.09180839 0.31060606
+v -0.07543437 -0.07975063 0.31060606
+v -0.10426433 -0.07827757 0.27010117
+v -0.06602369 -0.08549146 -0.50000000
+v -0.08399536 -0.10346314 0.26177400
+v -0.10345111 -0.07746434 -0.49622377
+v -0.08273961 -0.10220739 0.26840049
+v -0.09789113 -0.08705587 -0.49337301
+v -0.06785861 -0.08732639 0.31060606
+v -0.09789113 -0.08705587 0.26840049
+v -0.08273961 -0.10220739 -0.49337301
+f 1 2 3
+f 6 3 2
+f 6 4 3
+f 7 2 1
+f 8 5 4
+f 8 4 6
+f 8 6 2
+f 9 7 1
+f 9 1 3
+f 10 5 8
+f 11 9 3
+f 11 3 4
+f 11 4 9
+f 12 9 4
+f 12 4 5
+f 12 7 9
+f 12 10 7
+f 12 5 10
+f 13 10 8
+f 13 8 2
+f 13 2 7
+f 13 7 10
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_2/collision/model_normalized_collision_27.obj b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_2/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..07207026a6aa3cf7d5523e0bf7218842fd053897
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_2/collision/model_normalized_collision_27.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.07775760 -0.10702448 0.26851711
+v 0.10761377 -0.06617162 -0.49822450
+v 0.10856289 -0.06665522 0.27218678
+v 0.08516826 -0.07001674 0.28030303
+v 0.08549146 -0.07033995 -0.50000000
+v 0.10127195 -0.08612043 -0.48692048
+v 0.10609409 -0.07708171 -0.49462544
+v 0.10004926 -0.08489774 0.26840049
+v 0.07843241 -0.10795309 -0.48957729
+v 0.08489774 -0.10004926 0.26840049
+v 0.08612043 -0.10127195 -0.48692048
+v 0.08146724 -0.09661876 -0.49822450
+v 0.09153678 -0.09153678 -0.49469774
+f 3 2 4
+f 5 1 4
+f 5 4 2
+f 7 2 3
+f 8 3 4
+f 8 4 1
+f 8 7 3
+f 8 6 7
+f 9 1 5
+f 9 7 6
+f 10 8 1
+f 10 6 8
+f 11 9 6
+f 11 1 9
+f 11 10 1
+f 11 6 10
+f 12 9 5
+f 12 5 2
+f 12 2 7
+f 13 12 7
+f 13 7 9
+f 13 9 12
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_2/collision/model_normalized_collision_28.obj b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_2/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..49e0fb0939fe36a20c35a26d71d9fc7ba1a1f2ff
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_2/collision/model_normalized_collision_28.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.09481447 0.05562248 0.32575758
+v 0.11514795 0.06598281 -0.35606061
+v 0.01768939 0.13140375 -0.35606061
+v 0.00973389 0.08117520 0.34935099
+v 0.00973389 0.05087217 -0.35606061
+v 0.07975063 0.07543437 0.32575758
+v 0.00973389 0.05087217 0.34935099
+v 0.09588738 0.09157112 -0.35606061
+f 5 2 1
+f 5 3 2
+f 5 4 3
+f 6 3 4
+f 6 4 1
+f 7 5 1
+f 7 1 4
+f 7 4 5
+f 8 6 1
+f 8 1 2
+f 8 2 3
+f 8 3 6
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_2/collision/model_normalized_collision_29.obj b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_2/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f054aa2e4ff74ef284f6648f05f990b5cc8e1d5
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_2/collision/model_normalized_collision_29.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.07543437 -0.07975063 0.31060606
+v -0.08117520 -0.08549146 -0.50000000
+v -0.08117520 -0.05518843 -0.50000000
+v -0.11816134 -0.05087352 0.27079920
+v -0.10804074 -0.07601994 0.26840049
+v -0.11713690 -0.05035154 -0.49692158
+v -0.09530173 -0.05466618 0.31060606
+v -0.10949750 -0.07676219 -0.48727172
+v -0.09217889 -0.06079509 0.31060606
+v -0.11407203 -0.06394150 -0.49348256
+v -0.08301013 -0.07217487 0.31060606
+v -0.10345111 -0.07746434 -0.49622377
+f 1 2 3
+f 5 2 1
+f 6 3 2
+f 6 4 3
+f 7 1 3
+f 7 3 4
+f 7 4 5
+f 8 5 4
+f 8 2 5
+f 9 7 5
+f 9 1 7
+f 10 8 4
+f 10 4 6
+f 11 9 5
+f 11 5 1
+f 11 1 9
+f 12 10 6
+f 12 6 2
+f 12 2 8
+f 12 8 10
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_2/collision/model_normalized_collision_3.obj b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_2/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..19072b528432caf07052ea7af793d5068f514d38
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_2/collision/model_normalized_collision_3.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.04705489 -0.09315139 0.34765240
+v -0.05087217 -0.08549146 0.27499899
+v -0.05087217 0.05087217 0.27499899
+v -0.09883937 0.04443225 0.34377500
+v -0.12500383 -0.04663985 0.26177400
+v -0.05087217 0.05087217 0.34935099
+v -0.08117353 -0.08548979 0.27502717
+v -0.09709339 -0.04785887 0.34377500
+v -0.12674957 0.04321319 0.26177400
+v -0.04949356 -0.09793731 0.31060606
+v -0.06680211 -0.08626989 0.34377500
+v -0.12516731 0.04240698 0.26840049
+v -0.08195363 -0.07111837 0.34377500
+v -0.12342135 -0.04583364 0.26840049
+f 1 2 3
+f 5 3 2
+f 6 1 3
+f 7 5 2
+f 8 6 4
+f 8 1 6
+f 9 3 5
+f 9 6 3
+f 9 4 6
+f 10 7 2
+f 10 2 1
+f 11 10 1
+f 11 7 10
+f 11 5 7
+f 12 8 4
+f 12 4 9
+f 12 9 5
+f 13 11 1
+f 13 1 8
+f 13 5 11
+f 14 12 5
+f 14 8 12
+f 14 13 8
+f 14 5 13
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_2/collision/model_normalized_collision_30.obj b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_2/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..89f4bdeb4f805a7765616d2e8e7e16792c307776
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_2/collision/model_normalized_collision_30.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.02243897 -0.13065149 0.26177400
+v 0.02374331 -0.12373500 -0.49822450
+v 0.02465498 -0.12949118 0.26475677
+v 0.00984941 -0.13167536 0.26534941
+v 0.00738044 -0.13123855 -0.49337301
+v 0.02216117 -0.12889749 -0.49337301
+v 0.00765824 -0.13299255 0.26177400
+v 0.00896257 -0.12607599 -0.49822450
+f 3 2 4
+f 6 2 3
+f 6 3 1
+f 6 5 2
+f 7 1 3
+f 7 3 4
+f 7 6 1
+f 7 5 6
+f 8 4 2
+f 8 2 5
+f 8 7 4
+f 8 5 7
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_2/collision/model_normalized_collision_31.obj b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_2/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..693ef2c4ee0e21e7916b363c6934a120fb8f0e90
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_2/collision/model_normalized_collision_31.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.01702248 -0.13150938 -0.23484848
+v 0.09372925 -0.09372925 -0.35606061
+v 0.11514795 0.06598281 -0.23484848
+v 0.00973389 0.05087217 -0.23484848
+v 0.00973389 0.05087217 -0.35606061
+v 0.09372925 -0.09372925 -0.23484848
+v 0.01702248 -0.13150938 -0.35606061
+v 0.11514795 0.06598281 -0.35606061
+f 1 3 4
+f 5 4 3
+f 6 2 3
+f 6 3 1
+f 7 5 2
+f 7 1 4
+f 7 4 5
+f 7 6 1
+f 7 2 6
+f 8 5 3
+f 8 3 2
+f 8 2 5
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_2/collision/model_normalized_collision_4.obj b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_2/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dfec4d4ea2612aae81c9f895f738e4b4d88e3511
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_2/collision/model_normalized_collision_4.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.04611289 -0.09798303 0.34377500
+v 0.07001674 -0.08516826 0.31060606
+v 0.05518843 -0.05518843 0.34935099
+v -0.05087217 -0.05518843 0.34935099
+v -0.04336465 -0.10106014 0.31060606
+v -0.04268627 -0.09972901 0.34377500
+v 0.06955930 -0.08471082 0.34061327
+v 0.04679130 -0.09931418 0.31060606
+v -0.05562248 -0.09481447 0.31060606
+v 0.06494889 -0.09006243 0.33819899
+v 0.06494889 -0.09006243 0.31060606
+f 3 2 4
+f 6 1 3
+f 6 3 4
+f 7 2 3
+f 7 3 1
+f 8 5 2
+f 8 6 5
+f 8 1 6
+f 9 4 2
+f 9 2 5
+f 9 6 4
+f 9 5 6
+f 10 7 1
+f 10 1 8
+f 10 2 7
+f 11 10 8
+f 11 8 2
+f 11 2 10
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_2/collision/model_normalized_collision_5.obj b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_2/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..982c2155438ae282fcc68221212b9cc3e3036613
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_2/collision/model_normalized_collision_5.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.05518843 -0.05518843 0.34935099
+v 0.05518843 0.05087217 0.34935099
+v 0.02364652 -0.00713846 0.39967506
+v -0.05087217 0.05087217 0.34935099
+v -0.01299041 0.02084786 0.39966421
+v 0.01458082 0.02006865 0.39941356
+v -0.05087217 -0.05518843 0.34935099
+v 0.02177895 0.01126650 0.39924296
+v 0.00713759 -0.02364669 0.39967505
+v -0.02084787 0.01299042 0.39966422
+v -0.02006865 -0.01458098 0.39941361
+v -0.01126648 -0.02177891 0.39924293
+f 1 2 3
+f 2 1 4
+f 5 2 4
+f 6 5 3
+f 6 2 5
+f 7 4 1
+f 8 6 3
+f 8 3 2
+f 8 2 6
+f 9 7 1
+f 9 1 3
+f 10 5 4
+f 10 4 7
+f 10 9 3
+f 10 3 5
+f 11 10 7
+f 11 9 10
+f 12 11 7
+f 12 7 9
+f 12 9 11
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_2/collision/model_normalized_collision_6.obj b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_2/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0638faf53a34afd65c5421c96dfec3b484bbf3aa
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_2/collision/model_normalized_collision_6.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.08487819 0.05055969 0.34935099
+v 0.09481447 0.05562248 0.32575758
+v 0.04785887 0.09709339 0.34377500
+v -0.05646085 0.09271040 0.34377500
+v -0.10017053 0.04511061 0.32575758
+v -0.05713929 0.09404161 0.31060606
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+v -0.09404161 0.05713929 0.32575758
+v 0.07975063 0.07543437 0.31060606
+f 1 3 4
+f 5 2 1
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+f 7 1 2
+f 7 3 1
+f 8 5 1
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+f 10 6 9
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+f 11 1 4
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+f 12 10 9
+f 13 9 3
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+f 13 7 2
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+f 16 2 5
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+f 16 10 12
+f 16 13 2
+f 16 12 13
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_2/collision/model_normalized_collision_7.obj b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_2/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3af2298b488303294a2adb020afec1b474899f38
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_2/collision/model_normalized_collision_7.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.00943942 -0.00943683 0.50000000
+v 0.02431860 -0.00944510 0.38629310
+v 0.01458082 0.02006865 0.39941356
+v -0.00943800 0.00943800 0.50000000
+v -0.02006865 -0.01458098 0.39941361
+v 0.01093300 0.00794300 0.50000000
+v 0.00944509 -0.02431858 0.38629310
+v -0.00794300 -0.01093300 0.50000000
+v -0.02084787 0.01299042 0.39966422
+v 0.00608314 0.01872201 0.44502805
+v 0.01842754 -0.01842754 0.38535092
+v -0.01872201 -0.00608314 0.44502805
+v -0.01299041 0.02084786 0.39966421
+v 0.01359340 0.01870966 0.41437649
+v -0.01870966 -0.01359361 0.41437654
+v -0.01923073 0.00280644 0.44511843
+v -0.00280646 0.01923087 0.44511847
+v -0.01789038 0.01148337 0.42959919
+v -0.01148355 0.01789028 0.42959919
+f 6 4 1
+f 6 1 2
+f 6 2 3
+f 8 1 4
+f 8 7 1
+f 8 5 7
+f 9 7 5
+f 10 4 6
+f 11 2 1
+f 11 1 7
+f 11 7 9
+f 12 8 4
+f 13 3 2
+f 13 11 9
+f 13 2 11
+f 13 9 4
+f 14 10 6
+f 14 6 3
+f 14 3 10
+f 15 12 5
+f 15 5 8
+f 15 8 12
+f 16 9 5
+f 16 5 12
+f 16 12 4
+f 17 10 3
+f 17 3 13
+f 17 4 10
+f 18 16 4
+f 18 4 9
+f 18 9 16
+f 19 17 13
+f 19 13 4
+f 19 4 17
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_2/collision/model_normalized_collision_8.obj b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_2/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5dc77d149b83d796349098d15a43cc898fc76cc5
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_2/collision/model_normalized_collision_8.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.02243897 -0.13065149 0.26177400
+v 0.02465498 -0.12949118 0.26475677
+v -0.04336465 -0.10106014 0.31060606
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+v 0.00973389 -0.08549146 0.27499899
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+v -0.01822833 -0.13131839 0.26177400
+v 0.00877038 -0.10971095 0.31060606
+f 5 2 1
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+f 10 7 3
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+f 12 10 3
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+f 13 2 7
+f 13 10 12
+f 13 12 1
+f 13 1 2
+f 14 12 6
+f 14 6 1
+f 14 1 12
+f 15 13 7
+f 15 7 10
+f 15 10 13
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_2/collision/model_normalized_collision_9.obj b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_2/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f210ea0bc4a78e4a346ed6cdd5e2e0cd69434915
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_2/collision/model_normalized_collision_9.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.00563170 -0.13229758 0.26551824
+v -0.00475193 -0.12674288 -0.49822450
+v -0.00541763 -0.08549146 0.27499899
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+v -0.05881862 -0.11680520 -0.49337301
+v -0.04949356 -0.09793731 0.31060606
+v -0.05881862 -0.11680520 0.26840049
+v -0.00541763 -0.08549146 -0.50000000
+v -0.04612913 -0.12163722 0.26985609
+v -0.06152224 -0.09180839 0.31060606
+v -0.06602369 -0.08549146 -0.50000000
+f 1 2 3
+f 5 2 1
+f 6 1 3
+f 6 3 4
+f 7 4 5
+f 8 3 2
+f 9 7 5
+f 9 5 1
+f 9 1 6
+f 9 6 7
+f 10 7 6
+f 10 6 4
+f 10 4 7
+f 11 8 2
+f 11 2 5
+f 11 5 4
+f 11 4 3
+f 11 3 8
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_2/visual/material.mtl b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_2/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..33616803300962094e8955deb30562079542847b
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_2/visual/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 250.00000000
+map_Kd material_0.jpeg
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_2/visual/model_normalized_0.obj b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_2/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d8fe4fbd237316e08f3751c30a9b7d4f10a89a5f
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_2/visual/model_normalized_0.obj
@@ -0,0 +1,2154 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
+v 0.02914400 0.00946950 0.34741900
+v 0.02479150 0.01801200 0.34741900
+v 0.01093300 0.00794300 0.50000000
+v 0.01285250 0.00417600 0.50000000
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+v 0.00794300 0.01093300 0.50000000
+v 0.01801200 0.02479100 0.34741900
+v 0.00946950 0.02914400 0.34741900
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+v 0.00794300 0.01093300 0.50000000
+v 0.00000000 0.03064350 0.34741900
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+v -0.01801200 0.02479100 0.34741900
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+v -0.01801200 0.02479100 0.34741900
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+v -0.02914400 0.00946950 0.34741900
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diff --git a/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_3/collision/collision_mesh_collision_0.obj b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_3/collision/collision_mesh_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..53878b4e5986277c37f19f877e513d4ac98a0a74
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_3/collision/collision_mesh_collision_0.obj
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diff --git a/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_3/collision/collision_mesh_collision_1.obj b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_3/collision/collision_mesh_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad91739a47f8615c83923f4009ffb386a1b78204
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_3/collision/collision_mesh_collision_1.obj
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diff --git a/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_3/collision/collision_mesh_collision_2.obj b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_3/collision/collision_mesh_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..73d4f777e98cd46d9b72d2cd8fe5c5ab26d081ea
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_3/collision/collision_mesh_collision_2.obj
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diff --git a/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_3/collision/model_normalized_collision_0.obj b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_3/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c8d9c30afd1a31c293df456c3a7f9baf0f6d03cd
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_3/collision/model_normalized_collision_0.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.21657079 -0.09136013 0.26515151
+v 0.16007261 -0.12923053 -0.10112965
+v 0.16734439 0.12545541 -0.10218206
+v 0.16805538 0.12688369 0.26515151
+v 0.00543346 -0.09252367 0.26515151
+v 0.23423121 0.06963752 0.26515151
+v 0.00543346 0.07414300 -0.09848485
+v 0.20539190 -0.06960761 0.14626508
+v 0.21348253 0.05639190 0.14471805
+v 0.00543346 -0.09252367 -0.09848485
+v 0.00543346 0.07414300 0.26515151
+f 5 2 1
+f 5 1 4
+f 6 3 4
+f 6 4 1
+f 7 4 3
+f 8 6 1
+f 8 1 2
+f 9 2 3
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+f 9 8 2
+f 9 6 8
+f 10 7 3
+f 10 3 2
+f 10 2 5
+f 10 5 7
+f 11 7 5
+f 11 5 4
+f 11 4 7
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_3/collision/model_normalized_collision_1.obj b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_3/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da44192150aac234e9535f97f403f2ab4bf408b8
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_3/collision/model_normalized_collision_1.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v 0.08119103 0.07414300 0.00757576
+v 0.14317059 0.10720472 -0.23601437
+v 0.12187613 0.12516951 0.08333333
+v -0.09627609 0.13371123 0.08333333
+v -0.13404880 0.11083883 -0.23816156
+v 0.01909757 0.16279137 -0.14134419
+v -0.12525812 0.12348567 0.08333333
+v 0.13396638 0.11915003 0.08333333
+v 0.13208991 0.11288681 -0.28650268
+v 0.01904410 0.16216515 -0.01378558
+v -0.11084958 0.14671215 -0.14100603
+v -0.13945419 0.12169590 0.02235001
+v 0.07646426 0.15147657 -0.27264306
+v 0.09228012 0.13478521 0.08333333
+v -0.03861102 0.16369680 -0.02526623
+v -0.11073350 0.14628024 -0.01451061
+v 0.09630580 0.12787956 -0.29751462
+v 0.12168383 0.14659070 -0.02577497
+v -0.00830768 0.16369303 -0.14147857
+v -0.09630275 0.13748067 -0.24767682
+v -0.00832301 0.14872081 0.05260894
+v -0.11420471 0.12889272 0.08333333
+v 0.10240231 0.14905143 -0.26093534
+v 0.14934943 0.11961517 -0.19414633
+v 0.04949262 0.16386867 -0.03857969
+v -0.03856463 0.16315361 -0.11265329
+v 0.01911124 0.14779987 0.05258518
+v -0.02330092 0.16183999 -0.01389735
+v 0.09033984 0.14781202 -0.27057535
+v 0.12175285 0.14684737 -0.09735843
+v 0.11644860 0.13409124 -0.26991491
+v 0.04942692 0.16309952 -0.09749866
+f 7 3 4
+f 8 1 2
+f 8 7 1
+f 8 3 7
+f 9 2 1
+f 9 1 5
+f 12 5 1
+f 12 1 7
+f 12 11 5
+f 14 4 3
+f 16 12 7
+f 16 11 12
+f 16 15 11
+f 16 4 15
+f 17 9 5
+f 18 3 8
+f 18 14 3
+f 19 6 13
+f 20 5 11
+f 20 19 13
+f 20 17 5
+f 20 13 17
+f 21 4 14
+f 21 15 4
+f 22 16 7
+f 22 7 4
+f 22 4 16
+f 24 18 8
+f 24 8 2
+f 24 2 9
+f 25 10 14
+f 25 14 18
+f 25 19 15
+f 25 15 10
+f 26 11 15
+f 26 15 19
+f 26 20 11
+f 26 19 20
+f 27 21 14
+f 27 14 10
+f 27 10 21
+f 28 21 10
+f 28 10 15
+f 28 15 21
+f 29 23 17
+f 29 17 13
+f 29 13 23
+f 30 24 23
+f 30 18 24
+f 30 25 18
+f 30 23 25
+f 31 24 9
+f 31 23 24
+f 31 9 17
+f 31 17 23
+f 32 6 19
+f 32 19 25
+f 32 13 6
+f 32 25 23
+f 32 23 13
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_3/collision/model_normalized_collision_10.obj b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_3/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aac4751073286e82ed9c388357792e7448420004
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_3/collision/model_normalized_collision_10.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v -0.11421079 -0.14862314 0.40494542
+v -0.11194513 -0.13886604 -0.18555658
+v -0.11163423 0.13448014 0.16319023
+v -0.11481810 0.14733844 0.40347177
+v -0.20792336 0.09628913 -0.10198720
+v -0.18229317 -0.09951101 -0.19224684
+v -0.16969395 -0.11491419 0.40522567
+v -0.11577866 0.05899148 -0.09848485
+v -0.15270052 0.13276240 0.20956949
+v -0.16724854 -0.11962789 -0.15567305
+v -0.13801558 0.13740493 0.41049003
+v -0.13256161 -0.12623264 -0.19995469
+v -0.13692053 -0.13472921 -0.15566368
+v -0.16719099 -0.11951232 0.33652920
+v -0.12667313 -0.14457935 0.40780816
+v -0.16450943 0.12070533 0.40816673
+v -0.17079805 -0.11160566 -0.18587844
+v -0.12250559 -0.13620874 -0.18409273
+v -0.15434728 -0.12729546 0.40703459
+v -0.15283248 -0.12110505 -0.18410765
+f 1 2 3
+f 1 3 4
+f 7 5 6
+f 8 5 3
+f 8 3 2
+f 9 4 3
+f 9 3 5
+f 11 1 4
+f 11 4 9
+f 12 6 5
+f 12 5 8
+f 12 8 2
+f 13 2 1
+f 14 7 6
+f 14 6 10
+f 15 1 11
+f 15 14 10
+f 15 13 1
+f 15 10 13
+f 16 11 9
+f 16 9 5
+f 16 5 7
+f 17 10 6
+f 17 6 12
+f 18 12 2
+f 18 2 13
+f 18 17 12
+f 18 13 10
+f 19 15 11
+f 19 7 14
+f 19 14 15
+f 19 16 7
+f 19 11 16
+f 20 18 10
+f 20 10 17
+f 20 17 18
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_3/collision/model_normalized_collision_11.obj b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_3/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..59df854a10d3037a08edcf97c8cdb9386699cc63
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_3/collision/model_normalized_collision_11.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.00539439 -0.16792788 0.40184935
+v 0.00888061 -0.14802844 0.08333333
+v 0.00028065 -0.00113136 0.40152720
+v -0.11577866 -0.01676609 0.40151515
+v -0.12400111 -0.12419021 0.08333333
+v -0.06907294 -0.16362584 0.40565995
+v -0.00054208 -0.00120402 0.14395409
+v -0.11421079 -0.14862314 0.40494542
+v -0.11075701 -0.14959685 0.20956949
+v -0.11577866 -0.01676609 0.14393939
+v -0.08135559 -0.13779995 0.08333333
+v -0.00834316 -0.16733737 0.22097632
+v -0.11341502 -0.12918363 0.08333333
+v 0.00408941 -0.16769846 0.22094762
+v -0.00835653 -0.16749382 0.29407761
+v 0.00502582 -0.14835773 0.08333331
+v 0.00410274 -0.16785451 0.29410877
+f 1 2 3
+f 6 1 3
+f 6 3 4
+f 7 3 2
+f 7 2 5
+f 7 4 3
+f 8 6 4
+f 8 4 5
+f 9 8 5
+f 9 6 8
+f 10 7 5
+f 10 5 4
+f 10 4 7
+f 12 6 9
+f 12 9 11
+f 13 11 9
+f 13 9 5
+f 14 2 1
+f 15 1 6
+f 15 6 12
+f 15 12 14
+f 16 12 11
+f 16 14 12
+f 16 2 14
+f 16 5 2
+f 16 13 5
+f 16 11 13
+f 17 15 14
+f 17 14 1
+f 17 1 15
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_3/collision/model_normalized_collision_12.obj b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_3/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3752120ca01f9f1647afa2c9ef6b0b5a7bffab93
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_3/collision/model_normalized_collision_12.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v -0.21480007 0.05449776 0.14528537
+v -0.11141570 0.12517334 -0.23090702
+v -0.11577866 0.05899148 0.00757576
+v -0.11476308 0.13097026 0.14440822
+v -0.18051126 0.11708464 -0.12737494
+v -0.11178299 0.13503359 0.01876082
+v -0.16515839 0.10632129 0.14643928
+v -0.23219302 0.05592868 -0.15790824
+v -0.15145337 0.13025746 -0.01602621
+v -0.23362128 0.06231946 -0.01812090
+v -0.13858482 0.11969139 0.14611502
+v -0.13576739 0.11816514 -0.24645915
+v -0.23920681 0.05073368 -0.01494081
+v -0.11273315 0.13856894 0.00455252
+v -0.17956594 0.11647134 -0.01651548
+v -0.13704790 0.13175588 -0.17086286
+v -0.20810212 0.06537345 0.14656616
+v -0.23401255 0.06256929 -0.12705903
+v -0.20277284 0.09019826 -0.16666589
+v -0.11577866 0.05899148 -0.09848485
+v -0.11172770 0.13482786 -0.20049044
+v -0.15196774 0.13129058 -0.12744695
+v -0.16737593 0.11665457 -0.17087221
+v -0.24084036 0.05177653 -0.12771013
+v -0.17421354 0.08672687 -0.23343429
+v -0.21901794 0.07782097 -0.15466054
+v -0.12191506 0.13179338 -0.19887262
+v -0.19197241 0.10219505 -0.15486674
+v -0.12800366 0.11384859 -0.23816156
+f 1 3 4
+f 6 3 2
+f 6 4 3
+f 11 4 9
+f 13 3 1
+f 13 1 10
+f 14 9 4
+f 14 4 6
+f 15 11 9
+f 15 7 11
+f 15 5 10
+f 17 10 1
+f 17 15 10
+f 17 7 15
+f 17 11 7
+f 17 1 4
+f 17 4 11
+f 18 10 5
+f 20 2 3
+f 20 3 13
+f 21 14 6
+f 21 6 2
+f 21 2 12
+f 22 15 9
+f 22 5 15
+f 22 9 14
+f 22 21 16
+f 22 14 21
+f 23 16 12
+f 23 22 16
+f 23 5 22
+f 23 12 19
+f 24 13 10
+f 24 10 18
+f 24 20 13
+f 24 8 20
+f 25 19 12
+f 25 20 8
+f 26 18 5
+f 26 24 18
+f 26 8 24
+f 26 25 8
+f 26 19 25
+f 27 21 12
+f 27 12 16
+f 27 16 21
+f 28 23 19
+f 28 5 23
+f 28 26 5
+f 28 19 26
+f 29 25 12
+f 29 12 2
+f 29 2 20
+f 29 20 25
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_3/collision/model_normalized_collision_13.obj b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_3/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bfcb767eb4ec9784d6663a7b47fb70ad252e94a5
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_3/collision/model_normalized_collision_13.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v 0.04478876 -0.13840484 -0.35606061
+v 0.13638614 -0.02275681 -0.35115462
+v -0.10339246 -0.10668466 -0.35606061
+v -0.07032412 -0.01676609 -0.35606061
+v 0.09634255 -0.01676609 -0.50000000
+v -0.11567775 -0.09244624 -0.35606061
+v -0.04920712 -0.13872777 -0.35606061
+v 0.08440329 -0.10726711 -0.49321706
+v -0.07032412 -0.01676609 -0.50000000
+v 0.08923285 -0.11356115 -0.35606061
+v 0.01826643 -0.13551835 -0.49457089
+v 0.07237872 -0.12649376 -0.35606061
+v 0.06951694 -0.12276430 -0.48852489
+v -0.07412661 -0.12318785 -0.48863364
+v -0.06388760 -0.12243922 -0.49526205
+v 0.05951594 -0.12222897 -0.49509549
+v 0.04301199 -0.13411546 -0.48823944
+v -0.04742503 -0.13442552 -0.48830788
+v -0.10258221 -0.10562871 -0.46030238
+v -0.10770190 -0.08632617 -0.49611259
+v -0.02256116 -0.13559528 -0.49462774
+v -0.10142149 -0.09665848 -0.49432691
+v -0.08890829 -0.10755427 -0.49348205
+f 5 4 2
+f 6 3 2
+f 6 2 4
+f 7 1 2
+f 7 2 3
+f 8 5 2
+f 9 6 4
+f 9 4 5
+f 10 8 2
+f 11 1 7
+f 12 10 2
+f 12 2 1
+f 13 12 1
+f 13 8 10
+f 13 10 12
+f 14 7 3
+f 15 9 5
+f 16 11 5
+f 16 5 8
+f 16 8 13
+f 17 13 1
+f 17 1 11
+f 17 16 13
+f 17 11 16
+f 18 7 14
+f 18 14 15
+f 19 14 3
+f 19 3 6
+f 20 9 15
+f 20 19 6
+f 20 6 9
+f 21 11 7
+f 21 7 18
+f 21 18 15
+f 21 15 5
+f 21 5 11
+f 22 20 15
+f 22 14 19
+f 22 19 20
+f 23 22 15
+f 23 15 14
+f 23 14 22
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_3/collision/model_normalized_collision_14.obj b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_3/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2843176d100a1de9e47492208480fd037f141672
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_3/collision/model_normalized_collision_14.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.07711736 -0.15312399 0.33782188
+v 0.19853913 -0.10587232 -0.03694589
+v 0.19890162 -0.10630101 0.26515151
+v 0.00543346 -0.09252367 0.26515151
+v 0.00486187 -0.16158995 -0.15809360
+v 0.09494254 -0.14792060 0.33984810
+v 0.00541744 -0.16809377 0.26515151
+v 0.00543346 -0.09252367 -0.15909091
+v 0.15387127 -0.13179728 0.30944183
+v 0.08077370 -0.15157693 0.34059282
+v 0.10659742 -0.15006202 -0.11250909
+v 0.17885761 -0.12111859 -0.03878277
+v 0.10672861 -0.15055012 0.30779390
+v 0.15699038 -0.12303993 -0.16477481
+v 0.17904337 -0.12149172 0.26515151
+v 0.14771280 -0.13457937 -0.11229978
+v 0.14795001 -0.13505572 0.30779390
+v 0.12275303 -0.13864648 -0.17192592
+v 0.09132781 -0.14962260 -0.15610656
+v 0.12602690 -0.13673558 -0.17401097
+v 0.13825011 -0.13085398 -0.17291548
+f 3 2 4
+f 7 1 4
+f 7 4 5
+f 8 5 4
+f 8 4 2
+f 9 3 4
+f 9 4 6
+f 10 6 4
+f 10 4 1
+f 10 1 6
+f 11 7 5
+f 12 2 3
+f 13 6 1
+f 13 1 7
+f 13 7 11
+f 14 8 2
+f 14 2 12
+f 15 12 3
+f 15 3 9
+f 16 14 12
+f 16 12 15
+f 17 9 6
+f 17 6 13
+f 17 13 11
+f 17 11 16
+f 17 16 15
+f 17 15 9
+f 18 16 11
+f 18 14 16
+f 19 18 11
+f 19 11 5
+f 19 5 18
+f 20 18 5
+f 20 5 8
+f 20 14 18
+f 21 20 8
+f 21 8 14
+f 21 14 20
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_3/collision/model_normalized_collision_15.obj b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_3/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2382f046778ceb2547fff42a6f75c187d857f6fd
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_3/collision/model_normalized_collision_15.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.13638614 -0.02275681 -0.35115462
+v 0.12101703 0.05666005 -0.49611259
+v 0.11975101 0.10890833 -0.30275497
+v -0.06324824 0.13281789 -0.35606061
+v -0.07032412 -0.01676609 -0.50000000
+v 0.04407643 0.13345606 -0.48880525
+v -0.07032412 -0.01676609 -0.35606061
+v 0.13474302 0.08153477 -0.31713483
+v 0.09634255 -0.01676609 -0.50000000
+v 0.09751697 0.10138230 -0.48775624
+v 0.04797078 0.14152203 -0.30532154
+v -0.06475776 0.12131078 -0.49611259
+v 0.05831649 0.13125553 -0.46042790
+v 0.06912911 0.11902960 -0.49306946
+v 0.10957305 0.09134576 -0.46031564
+v -0.04848948 0.13376618 -0.48887344
+v 0.06191312 0.13804916 -0.30313113
+v 0.03307690 0.13309726 -0.49508184
+v 0.08339131 0.11787074 -0.44518467
+v 0.11145542 0.07763873 -0.49355790
+v -0.06273389 0.13157620 -0.46045699
+v -0.03780878 0.13309611 -0.49516650
+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 4 7
+f 12 7 4
+f 12 5 7
+f 12 9 5
+f 13 6 11
+f 14 6 13
+f 15 10 3
+f 15 3 8
+f 16 11 6
+f 16 4 11
+f 17 11 7
+f 17 7 3
+f 17 13 11
+f 17 3 13
+f 18 2 9
+f 18 9 12
+f 18 14 2
+f 18 6 14
+f 18 16 6
+f 19 13 3
+f 19 3 10
+f 19 14 13
+f 19 10 14
+f 20 14 10
+f 20 2 14
+f 20 10 15
+f 20 15 8
+f 20 8 2
+f 21 16 12
+f 21 12 4
+f 21 4 16
+f 22 18 12
+f 22 12 16
+f 22 16 18
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_3/collision/model_normalized_collision_16.obj b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_3/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ecf9c22b67a8c73731fdcf334388fd7662a32c3
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_3/collision/model_normalized_collision_16.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.00900462 -0.14948057 0.13910595
+v 0.00446974 -0.15699922 0.00477083
+v 0.00956394 0.15279924 0.01959724
+v -0.09687376 0.13593499 0.14567208
+v -0.12485727 -0.12590980 0.14130485
+v -0.03980437 0.14736361 0.14423272
+v -0.05386941 -0.15302510 0.00378279
+v -0.00078389 0.00114749 0.14394395
+v -0.12823202 0.12945892 0.01534704
+v 0.00914767 0.14792684 0.08333333
+v -0.11199267 -0.13904293 0.00381738
+v -0.11476308 0.13097026 0.14440822
+f 1 2 3
+f 7 2 1
+f 7 1 5
+f 8 5 1
+f 8 4 5
+f 8 6 4
+f 9 6 3
+f 9 4 6
+f 9 3 2
+f 9 2 7
+f 10 8 1
+f 10 1 3
+f 10 3 6
+f 10 6 8
+f 11 9 7
+f 11 7 5
+f 11 5 9
+f 12 9 5
+f 12 5 4
+f 12 4 9
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_3/collision/model_normalized_collision_17.obj b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_3/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2fd7c2398064c949b080e783a71c27efd0fd5483
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_3/collision/model_normalized_collision_17.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v -0.17020937 -0.11047913 0.36827766
+v -0.16654612 -0.09604003 -0.22844011
+v -0.17321030 -0.10392111 0.38812408
+v -0.20951019 -0.06950147 0.38249341
+v -0.21764827 -0.08017571 -0.15432290
+v -0.17924144 -0.08075052 -0.23670921
+v -0.21765319 -0.08017890 0.33483881
+v -0.19222384 -0.10572161 -0.13978739
+v -0.22423581 -0.06922958 -0.15594676
+v -0.20613191 -0.07725887 -0.19737615
+v -0.19239019 -0.10591833 0.32160716
+v -0.18276278 -0.09729969 0.39122915
+v -0.17079805 -0.11160566 -0.18587844
+v -0.19556644 -0.07027244 -0.22862804
+v -0.22407550 -0.06912727 0.33685484
+v -0.19246172 -0.07569994 -0.22558237
+v -0.20531606 -0.07695318 0.38070019
+v -0.19149299 -0.08970583 -0.19720865
+v -0.17807011 -0.10690162 -0.18289181
+v -0.20996660 -0.06979286 -0.19962266
+v -0.17633008 -0.08969237 -0.22494397
+f 1 2 3
+f 6 3 2
+f 6 4 3
+f 9 5 7
+f 10 5 9
+f 11 7 5
+f 11 5 8
+f 12 3 4
+f 12 7 11
+f 12 11 1
+f 12 1 3
+f 13 2 1
+f 13 11 8
+f 13 1 11
+f 14 9 4
+f 14 4 6
+f 15 9 7
+f 15 7 4
+f 15 4 9
+f 16 14 6
+f 16 10 14
+f 17 12 4
+f 17 4 7
+f 17 7 12
+f 19 13 8
+f 19 8 5
+f 19 5 10
+f 19 18 13
+f 19 10 18
+f 20 14 10
+f 20 10 9
+f 20 9 14
+f 21 2 13
+f 21 13 18
+f 21 16 6
+f 21 6 2
+f 21 18 10
+f 21 10 16
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_3/collision/model_normalized_collision_18.obj b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_3/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..21a604087b89ce2cdd3c3ea40468cc7b534ccfe3
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_3/collision/model_normalized_collision_18.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.14443179 -0.12691151 0.46356197
+v 0.14392050 -0.12709162 0.39916303
+v 0.13119377 0.14861286 0.42601988
+v 0.07569953 0.16443159 0.45734418
+v 0.07562736 -0.10684740 0.49102126
+v 0.07657921 0.16696880 0.41168095
+v 0.13423100 0.11269078 0.49260503
+v 0.08633240 -0.14195674 0.38669976
+v 0.12937012 0.14579795 0.41154970
+v 0.10605303 0.16458408 0.42194742
+v 0.10121264 0.14731941 0.47980796
+v 0.15060325 0.03006765 0.49499758
+v 0.09065572 0.16388380 0.41405057
+v 0.13098108 0.13313161 0.47030097
+v 0.07818342 0.14126248 0.49433182
+v 0.08933674 0.16008237 0.45602689
+v 0.10560853 0.16329987 0.42669839
+v 0.07714767 0.15343931 0.48328727
+v 0.10307873 0.13685354 0.48974333
+f 6 5 4
+f 8 2 1
+f 8 1 5
+f 8 5 6
+f 9 8 6
+f 9 2 8
+f 10 6 4
+f 10 3 9
+f 12 5 1
+f 12 1 2
+f 12 3 7
+f 12 9 3
+f 12 2 9
+f 13 10 9
+f 13 9 6
+f 13 6 10
+f 14 11 7
+f 14 7 3
+f 14 3 11
+f 15 12 7
+f 15 5 12
+f 16 4 11
+f 17 11 3
+f 17 3 10
+f 17 16 11
+f 17 10 4
+f 17 4 16
+f 18 11 4
+f 18 4 5
+f 18 5 15
+f 19 15 7
+f 19 7 11
+f 19 18 15
+f 19 11 18
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_3/collision/model_normalized_collision_19.obj b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_3/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..531f501f50c4c369bee14442e763dc1e50ad9bfd
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_3/collision/model_normalized_collision_19.obj
@@ -0,0 +1,153 @@
+# https://github.com/mikedh/trimesh
+v -0.10864535 -0.15722188 0.44306892
+v -0.11111077 -0.15486420 0.41172779
+v -0.10772682 0.15256868 0.45771815
+v -0.11266446 0.15346484 0.41057048
+v -0.22352013 -0.04276548 0.39820356
+v -0.15100809 -0.13726861 0.42217150
+v -0.18752289 -0.09054415 0.38540667
+v -0.17946981 -0.05627469 0.49014931
+v -0.21972208 0.05048400 0.39800986
+v -0.12245781 -0.15126427 0.41403950
+v -0.17321030 -0.10392111 0.38812408
+v -0.19182557 -0.09410817 0.42558198
+v -0.10972821 -0.12859767 0.49260517
+v -0.14948721 0.13168977 0.44054653
+v -0.20448181 -0.07596391 0.38638974
+v -0.20315614 0.02576224 0.47030111
+v -0.16307253 -0.12223522 0.40889772
+v -0.20203602 -0.05246226 0.45498568
+v -0.10786457 -0.14085989 0.48286930
+v -0.11061418 0.12674216 0.49328013
+v -0.13486794 0.14767495 0.42195995
+v -0.19231526 -0.09067827 0.39433423
+v -0.21819865 0.02574519 0.42550842
+v -0.17627207 0.09051212 0.47030097
+v -0.17528327 -0.08451476 0.48023306
+v -0.20455133 -0.06885320 0.42558899
+v -0.20267452 -0.02891596 0.47030111
+v -0.14651048 -0.12319370 0.47030111
+v -0.17993633 0.05327536 0.49082277
+v -0.13400683 0.13117990 0.47030097
+v -0.10920771 0.13971306 0.48308944
+v -0.19276018 0.09173810 0.40351907
+v -0.20316702 0.04979037 0.45539320
+v -0.18704419 -0.08284394 0.45504325
+v -0.16590620 -0.08295834 0.48995214
+v -0.21960481 -0.04354141 0.41189462
+v -0.19031316 -0.05415174 0.48014238
+v -0.11965959 -0.13565603 0.47959505
+v -0.17472255 -0.09232673 0.47021767
+v -0.15967279 -0.12272270 0.43995731
+v -0.16628963 0.08066289 0.49092720
+v -0.15159855 0.13054913 0.41227824
+v -0.18831331 0.09135116 0.43977881
+v -0.21732664 0.04930388 0.41267513
+v -0.19117306 0.05134629 0.48078735
+v -0.21776480 -0.02890640 0.42536273
+v -0.12227103 -0.12455324 0.48974347
+v -0.17614311 0.08170928 0.48087802
+v -0.12317254 0.12272171 0.49057186
+v -0.12107005 0.14977723 0.41248618
+v -0.20170504 0.06422145 0.43971492
+v -0.12069900 0.13403835 0.48077807
+f 1 2 3
+f 3 2 4
+f 9 4 7
+f 10 2 1
+f 10 1 6
+f 11 7 4
+f 11 4 2
+f 11 2 10
+f 15 9 7
+f 15 5 9
+f 15 12 5
+f 17 11 10
+f 17 10 6
+f 19 1 3
+f 20 13 19
+f 21 3 4
+f 22 6 12
+f 22 12 15
+f 22 17 6
+f 22 15 7
+f 22 7 11
+f 22 11 17
+f 23 9 5
+f 26 5 12
+f 27 16 23
+f 28 6 1
+f 29 8 13
+f 29 13 20
+f 29 27 8
+f 29 16 27
+f 30 14 24
+f 30 21 14
+f 30 3 21
+f 31 20 19
+f 31 19 3
+f 31 3 30
+f 32 4 9
+f 32 14 21
+f 33 23 16
+f 34 26 12
+f 34 18 26
+f 35 13 8
+f 35 8 25
+f 35 25 28
+f 36 26 18
+f 36 5 26
+f 36 18 27
+f 37 25 8
+f 37 8 27
+f 37 27 18
+f 37 34 25
+f 37 18 34
+f 38 28 1
+f 38 1 19
+f 39 28 25
+f 39 34 12
+f 39 25 34
+f 40 12 6
+f 40 6 28
+f 40 39 12
+f 40 28 39
+f 41 29 20
+f 42 32 21
+f 42 4 32
+f 43 24 14
+f 43 14 32
+f 43 32 9
+f 43 33 24
+f 44 9 23
+f 44 23 33
+f 44 43 9
+f 45 33 16
+f 45 16 29
+f 46 36 27
+f 46 27 23
+f 46 23 5
+f 46 5 36
+f 47 38 19
+f 47 19 13
+f 47 13 35
+f 47 35 28
+f 47 28 38
+f 48 30 24
+f 48 24 33
+f 48 33 45
+f 48 45 29
+f 48 29 41
+f 49 48 41
+f 49 30 48
+f 49 41 20
+f 49 20 31
+f 50 42 21
+f 50 21 4
+f 50 4 42
+f 51 44 33
+f 51 33 43
+f 51 43 44
+f 52 49 31
+f 52 31 30
+f 52 30 49
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_3/collision/model_normalized_collision_2.obj b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_3/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c91884c36a172fe601d7284436d856f976f84e5c
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_3/collision/model_normalized_collision_2.obj
@@ -0,0 +1,114 @@
+# https://github.com/mikedh/trimesh
+v 0.08119103 0.07414300 0.49102126
+v 0.13396638 0.11915003 0.08333333
+v 0.10781723 0.15450047 0.40961996
+v -0.06463036 0.17900991 0.42193649
+v -0.00095472 0.00116107 0.08333838
+v 0.00956394 0.15279924 0.01959724
+v 0.06133174 0.15153092 0.49116069
+v 0.13647881 0.12419632 0.38684016
+v -0.00078389 0.00114749 0.14394395
+v 0.09101467 0.14099767 0.01732758
+v 0.06080920 0.18034066 0.42193548
+v -0.13798484 0.11874465 0.13749507
+v -0.12198048 0.07980436 0.49572604
+v 0.12168150 0.14658196 0.20956949
+v 0.08523155 0.11071039 0.49705650
+v 0.08119103 0.07414300 0.00757576
+v -0.02315276 0.17985568 0.41631906
+v 0.07448089 0.16093154 0.47030097
+v 0.00543346 0.07414300 0.00757576
+v -0.11053705 0.14554914 0.19741607
+v -0.09500694 0.13828455 0.49241382
+v -0.10062715 0.07414300 0.49102126
+v 0.12390593 0.14439793 0.40560376
+v 0.00345504 0.17747761 0.45707549
+v 0.07818342 0.14126248 0.49433182
+v -0.05373597 0.16338559 0.22103378
+v -0.10987418 0.16325333 0.42194842
+v -0.11061418 0.12674216 0.49328013
+v 0.12164914 0.14646136 0.30779377
+v 0.05948469 0.16137769 0.48055438
+v -0.05197780 0.16302036 0.48209447
+v -0.06541602 0.15095571 0.49046308
+v -0.10568411 0.14940167 0.47040683
+v 0.06034769 0.17900773 0.42686689
+v -0.05306970 0.17635290 0.44160652
+v -0.09478500 0.14827304 0.48184492
+v 0.04883316 0.17678715 0.44172909
+v -0.00769158 0.17704335 0.45695293
+v -0.06420407 0.17777784 0.42649437
+f 8 1 2
+f 9 5 2
+f 9 2 1
+f 11 10 6
+f 13 12 5
+f 13 5 9
+f 14 8 2
+f 14 2 10
+f 14 11 3
+f 14 10 11
+f 15 1 8
+f 15 13 1
+f 16 10 2
+f 16 2 5
+f 17 11 6
+f 17 6 4
+f 18 3 11
+f 19 12 6
+f 19 5 12
+f 19 16 5
+f 19 6 10
+f 19 10 16
+f 20 6 12
+f 22 13 9
+f 22 9 1
+f 22 1 13
+f 23 8 14
+f 23 3 18
+f 23 15 8
+f 24 17 4
+f 24 11 17
+f 25 23 18
+f 25 15 23
+f 26 20 4
+f 26 4 6
+f 26 6 20
+f 27 12 13
+f 27 20 12
+f 27 4 20
+f 28 13 15
+f 28 25 21
+f 28 15 25
+f 28 27 13
+f 29 23 14
+f 29 14 3
+f 29 3 23
+f 30 25 18
+f 30 7 25
+f 31 30 24
+f 31 7 30
+f 32 25 7
+f 32 21 25
+f 32 7 31
+f 33 27 28
+f 34 30 18
+f 34 18 11
+f 35 33 31
+f 36 32 31
+f 36 21 32
+f 36 31 33
+f 36 33 28
+f 36 28 21
+f 37 34 11
+f 37 11 24
+f 37 24 30
+f 37 30 34
+f 38 35 31
+f 38 31 24
+f 38 24 4
+f 38 4 35
+f 39 35 4
+f 39 33 35
+f 39 4 27
+f 39 27 33
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_3/collision/model_normalized_collision_20.obj b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_3/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3dae2a716a9ac0a8bcccce51ae01c5b2e6eed484
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_3/collision/model_normalized_collision_20.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v -0.05354532 -0.16209695 -0.25761226
+v -0.05456399 -0.13650888 -0.35606061
+v -0.06270733 -0.13571038 -0.23816156
+v -0.18229317 -0.09951101 -0.19224684
+v -0.12072706 -0.13731093 -0.26093534
+v -0.12321793 -0.08579888 -0.33394567
+v -0.06935908 -0.14953906 -0.18842794
+v -0.05451906 -0.14547894 -0.24448597
+v -0.09487204 -0.15175230 -0.26093534
+v -0.05755030 -0.11419824 -0.35115462
+v -0.17614808 -0.08552614 -0.26318364
+v -0.05187499 -0.15881027 -0.27495902
+v -0.07700180 -0.12693488 -0.35606061
+v -0.11194513 -0.13886604 -0.18555658
+v -0.13569794 -0.12187936 -0.26972464
+v -0.11567775 -0.09244624 -0.35606061
+v -0.17079805 -0.11160566 -0.18587844
+v -0.10128060 -0.09337527 -0.35185646
+v -0.10339246 -0.10668466 -0.35606061
+f 6 4 3
+f 7 3 4
+f 8 7 1
+f 8 3 7
+f 10 6 3
+f 10 3 8
+f 11 4 6
+f 12 8 1
+f 12 10 8
+f 12 2 10
+f 12 9 2
+f 12 1 9
+f 13 9 5
+f 13 2 9
+f 14 9 1
+f 14 1 7
+f 15 4 11
+f 15 13 5
+f 16 11 6
+f 16 10 2
+f 16 2 13
+f 17 14 7
+f 17 7 4
+f 17 5 9
+f 17 9 14
+f 17 15 5
+f 17 4 15
+f 18 16 6
+f 18 6 10
+f 18 10 16
+f 19 15 11
+f 19 11 16
+f 19 16 13
+f 19 13 15
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_3/collision/model_normalized_collision_21.obj b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_3/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..771da8373d4462c46a38f6dfc2080499fbdf9ebf
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_3/collision/model_normalized_collision_21.obj
@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
+v -0.19215282 -0.09177266 0.39927383
+v -0.18559395 -0.08826298 0.14188874
+v -0.17111575 0.11336646 0.40446640
+v -0.16966830 0.12125891 0.32321652
+v -0.24937451 0.04020411 0.20956949
+v -0.16716948 0.10842801 0.16353511
+v -0.24876455 -0.04328896 0.20956949
+v -0.23212934 0.02462773 0.38050954
+v -0.21898856 0.07780217 0.33525799
+v -0.18210830 0.11812097 0.20956949
+v -0.21945956 0.04779981 0.14729156
+v -0.23428420 -0.06597187 0.20956949
+v -0.21972208 0.05048400 0.39800986
+v -0.24858516 -0.04325786 0.30779390
+v -0.17966533 0.11653588 0.32186660
+v -0.24919613 0.04016791 0.30779390
+v -0.17073170 0.12339479 0.20842806
+v -0.23571308 0.06365485 0.20956949
+v -0.17247752 0.09982537 0.14480945
+v -0.25026548 -0.01331098 0.19945317
+v -0.20670944 -0.06771354 0.14683250
+v -0.21851072 -0.05311209 0.39775932
+v -0.19276018 0.09173810 0.40351907
+v -0.23414260 -0.06588139 0.30779390
+v -0.17909405 0.10698761 0.40524242
+v -0.23322517 0.06206659 0.32104187
+v -0.24836269 0.00969579 0.33537140
+v -0.22099707 0.07908442 0.19953312
+v -0.24851380 0.02487793 0.20048794
+v -0.21806688 -0.05013990 0.14755793
+v -0.23429052 -0.01314387 0.38114172
+v -0.20899721 -0.06917399 0.40166715
+v -0.18144003 0.09250621 0.14618756
+v -0.23255001 0.02471307 0.16657098
+v -0.23201141 -0.02783294 0.16677654
+v -0.24779538 -0.01280983 0.33520545
+v -0.23327709 -0.04059639 0.36556378
+v -0.20555559 0.07696413 0.16600202
+f 1 2 3
+f 6 3 2
+f 6 4 3
+f 12 2 1
+f 14 7 12
+f 15 3 4
+f 15 10 9
+f 15 4 10
+f 16 8 13
+f 17 10 4
+f 17 4 6
+f 18 5 16
+f 18 11 5
+f 19 6 2
+f 19 2 11
+f 19 17 6
+f 19 10 17
+f 20 16 5
+f 20 7 14
+f 20 14 16
+f 21 12 7
+f 21 2 12
+f 24 14 12
+f 24 12 1
+f 25 15 9
+f 25 3 15
+f 25 9 23
+f 25 1 3
+f 26 16 13
+f 26 18 16
+f 26 9 18
+f 26 23 9
+f 26 13 23
+f 27 16 14
+f 27 8 16
+f 28 18 9
+f 28 9 10
+f 28 11 18
+f 29 20 5
+f 29 5 11
+f 30 21 7
+f 30 11 2
+f 30 2 21
+f 31 22 13
+f 31 13 8
+f 31 8 27
+f 32 23 13
+f 32 13 22
+f 32 25 23
+f 32 1 25
+f 32 24 1
+f 32 22 14
+f 32 14 24
+f 33 28 10
+f 33 10 19
+f 33 19 11
+f 34 29 11
+f 34 20 29
+f 35 30 7
+f 35 7 20
+f 35 20 34
+f 35 34 11
+f 35 11 30
+f 36 31 27
+f 36 27 14
+f 37 14 22
+f 37 22 31
+f 37 36 14
+f 37 31 36
+f 38 33 11
+f 38 11 28
+f 38 28 33
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_3/collision/model_normalized_collision_22.obj b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_3/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b9a4f04bcfb5e20d53d7ce3632d793675e4d75d
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_3/collision/model_normalized_collision_22.obj
@@ -0,0 +1,138 @@
+# https://github.com/mikedh/trimesh
+v 0.14241150 -0.13921227 -0.03781262
+v 0.24517195 -0.04266461 -0.13981177
+v 0.24550587 -0.04272251 -0.01693327
+v 0.17608103 0.09953565 0.02399237
+v 0.16770327 0.08962829 -0.23816156
+v 0.24597412 0.04811648 -0.02706094
+v 0.15389754 -0.11682781 0.01512701
+v 0.17885761 -0.12111859 -0.03878277
+v 0.13678289 -0.11275561 -0.23059214
+v 0.24372510 0.00962415 -0.00217538
+v 0.24505627 0.04753059 -0.11192442
+v 0.24465652 -0.05050451 -0.09673482
+v 0.18003820 -0.11429609 -0.01324056
+v 0.21751153 -0.03785554 -0.22639235
+v 0.13521986 -0.12476760 -0.20040668
+v 0.23188817 0.04879678 -0.00108990
+v 0.24583872 0.04035603 -0.01668574
+v 0.23070648 -0.05127160 -0.00173113
+v 0.24560423 0.04030845 -0.13994137
+v 0.21389346 -0.08016645 -0.16957912
+v 0.23064961 -0.06638674 -0.01737341
+v 0.17804143 -0.11947920 -0.11230350
+v 0.24323221 -0.01275330 -0.00242461
+v 0.24486174 0.00985479 -0.17007383
+v 0.23088681 0.04815751 -0.18235727
+v 0.23024547 -0.06612873 -0.13959791
+v 0.17263367 -0.10553946 -0.19748723
+v 0.22961349 -0.05057380 -0.18182936
+v 0.24460801 -0.05047355 -0.02740829
+v 0.18965295 -0.10774831 -0.01602952
+v 0.18236460 -0.10189578 0.00523562
+v 0.16269655 -0.11909080 -0.17072449
+v 0.24427746 -0.01296537 -0.16993961
+v 0.22983931 0.03991994 -0.19756648
+v 0.14930151 -0.10746739 -0.22835717
+v 0.20121075 -0.07541528 -0.21208363
+v 0.19210082 -0.09549166 0.00106578
+v 0.14758111 -0.11916331 -0.19865086
+v 0.18791312 -0.10569080 -0.15493138
+v 0.22949912 -0.01304109 -0.21260369
+v 0.22990602 -0.04001042 -0.19738773
+v 0.20690809 0.05219485 -0.22889361
+v 0.20011684 -0.06624012 -0.22509506
+v 0.17356338 -0.09148743 -0.22593256
+v 0.23003603 0.00992089 -0.21281114
+v 0.21737313 0.04920310 -0.21333938
+v 0.21740146 0.03775745 -0.22661099
+f 6 3 2
+f 7 4 1
+f 11 5 4
+f 11 4 6
+f 12 2 3
+f 13 7 1
+f 13 1 8
+f 14 9 5
+f 15 1 4
+f 15 4 5
+f 15 5 9
+f 16 6 4
+f 16 4 10
+f 17 10 3
+f 17 3 6
+f 17 16 10
+f 17 6 16
+f 19 11 6
+f 19 6 2
+f 21 3 18
+f 22 8 1
+f 23 18 3
+f 23 3 10
+f 23 10 4
+f 23 4 7
+f 23 7 18
+f 24 19 2
+f 25 5 11
+f 25 11 19
+f 26 22 20
+f 26 8 22
+f 26 21 8
+f 26 12 21
+f 26 20 2
+f 26 2 12
+f 28 2 20
+f 29 21 12
+f 29 12 3
+f 29 3 21
+f 30 13 8
+f 30 8 21
+f 31 18 7
+f 31 7 13
+f 31 13 30
+f 32 22 1
+f 32 1 15
+f 33 24 2
+f 34 25 19
+f 34 19 24
+f 35 15 9
+f 36 20 27
+f 36 28 20
+f 37 21 18
+f 37 18 31
+f 37 31 30
+f 37 30 21
+f 38 32 15
+f 38 27 32
+f 38 35 27
+f 38 15 35
+f 39 32 27
+f 39 27 20
+f 39 20 22
+f 39 22 32
+f 40 24 33
+f 41 33 2
+f 41 2 28
+f 41 40 33
+f 41 14 40
+f 41 36 14
+f 41 28 36
+f 43 9 14
+f 43 14 36
+f 44 36 27
+f 44 27 35
+f 44 43 36
+f 44 35 9
+f 44 9 43
+f 45 34 24
+f 45 24 40
+f 45 40 14
+f 46 42 5
+f 46 5 25
+f 46 25 34
+f 47 14 5
+f 47 5 42
+f 47 45 14
+f 47 42 46
+f 47 46 34
+f 47 34 45
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_3/collision/model_normalized_collision_23.obj b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_3/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b8d5132b3cf366436e0f93d6b73c322e5929c20
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_3/collision/model_normalized_collision_23.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.13984672 -0.11890931 0.14450537
+v 0.23570239 -0.04101800 0.00112494
+v 0.21814199 0.04969397 0.14672431
+v 0.14108298 0.11816322 0.14414663
+v 0.14267544 -0.12459088 0.00812388
+v 0.20937245 0.07961823 0.00365776
+v 0.16455916 0.10673426 0.14594113
+v 0.21674931 -0.05203407 0.14699066
+v 0.14041955 0.11683072 0.05294108
+v 0.23559749 0.04092110 0.00133971
+v 0.16422934 -0.10701799 0.14622339
+v 0.19998672 0.08643683 0.00641868
+v 0.17608103 0.09953565 0.02399237
+v 0.21995584 0.06600338 0.00065695
+v 0.17596045 -0.10947375 0.00044093
+v 0.21877417 -0.06847821 0.00001573
+f 7 4 1
+f 7 3 6
+f 8 2 3
+f 8 3 7
+f 9 5 1
+f 9 1 4
+f 10 3 2
+f 11 8 7
+f 11 7 1
+f 12 7 6
+f 13 9 4
+f 13 4 7
+f 13 7 12
+f 13 12 5
+f 13 5 9
+f 14 6 3
+f 14 3 10
+f 15 11 1
+f 15 1 5
+f 15 6 14
+f 15 12 6
+f 15 5 12
+f 16 14 10
+f 16 10 2
+f 16 15 14
+f 16 2 8
+f 16 8 11
+f 16 11 15
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_3/collision/model_normalized_collision_24.obj b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_3/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..95774af31676f0fabe4a78b2b960969d7aef6ccc
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_3/collision/model_normalized_collision_24.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v 0.08923285 -0.11356115 -0.35606061
+v 0.13980115 -0.00004700 -0.48890772
+v 0.14070680 -0.02977932 -0.35606061
+v 0.11216733 0.07279001 -0.35115462
+v 0.09634255 0.05899148 -0.50000000
+v 0.14111252 0.02660358 -0.35606061
+v 0.12605878 -0.07085313 -0.35606061
+v 0.09043040 -0.09997031 -0.49611259
+v 0.12072296 0.07115295 -0.48890823
+v 0.09876938 -0.10624353 -0.35606061
+v 0.13935969 -0.02960197 -0.46063265
+v 0.12394357 -0.05482544 -0.49342766
+v 0.08838571 -0.11245718 -0.46102454
+v 0.12466521 0.05189520 -0.49399952
+v 0.13976257 0.02642586 -0.46066675
+v 0.12494834 0.07343998 -0.35606061
+v 0.12180945 -0.06909298 -0.48802543
+v 0.09796144 -0.10519071 -0.46025605
+v 0.13839358 0.01109410 -0.48861909
+v 0.12716723 0.06808311 -0.35606061
+v 0.11046964 -0.08011147 -0.49264821
+v 0.09676270 -0.09637143 -0.49398135
+v 0.12287389 0.06630471 -0.48825975
+f 5 1 4
+f 6 3 2
+f 6 4 3
+f 7 3 4
+f 9 5 4
+f 10 7 4
+f 10 4 1
+f 11 2 3
+f 11 3 7
+f 12 8 5
+f 13 1 5
+f 13 5 8
+f 14 5 9
+f 14 12 5
+f 14 2 12
+f 15 6 2
+f 16 9 4
+f 17 12 2
+f 17 2 11
+f 17 11 7
+f 18 10 1
+f 18 1 13
+f 18 17 7
+f 18 7 10
+f 19 15 2
+f 19 2 14
+f 20 16 4
+f 20 4 6
+f 20 6 15
+f 21 8 12
+f 21 12 17
+f 22 18 13
+f 22 13 8
+f 22 8 21
+f 22 21 17
+f 22 17 18
+f 23 19 14
+f 23 14 9
+f 23 15 19
+f 23 20 15
+f 23 9 16
+f 23 16 20
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_3/collision/model_normalized_collision_25.obj b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_3/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..09170a2e4b27689d1ce7e395b92f4c7ef445964a
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_3/collision/model_normalized_collision_25.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.09294313 -0.15850936 0.41014808
+v 0.13657291 -0.14263683 0.26515151
+v 0.13353929 -0.14031677 0.41063001
+v 0.16028588 0.11127818 0.38540667
+v 0.00543346 0.07414300 0.26515151
+v 0.16805538 0.12688369 0.26515151
+v 0.00543346 0.07414300 0.40151515
+v 0.00541744 -0.16809377 0.26515151
+v 0.07887957 -0.15968085 0.26515151
+v 0.00539439 -0.16792788 0.40184935
+f 1 2 3
+f 6 3 2
+f 6 4 3
+f 6 2 5
+f 7 1 3
+f 7 3 4
+f 7 6 5
+f 7 4 6
+f 8 5 2
+f 9 8 2
+f 9 2 1
+f 9 1 8
+f 10 8 1
+f 10 1 7
+f 10 7 5
+f 10 5 8
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_3/collision/model_normalized_collision_26.obj b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_3/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b36ec839dea1b4347888eeb4cd6c4dc904f01b9
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_3/collision/model_normalized_collision_26.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v -0.07872001 -0.10495742 -0.35115462
+v -0.07032412 -0.09252367 -0.50000000
+v -0.06860511 0.13059900 -0.35606061
+v -0.06475776 0.12131078 -0.49611259
+v -0.14354024 0.01120766 -0.48879588
+v -0.12684271 -0.06940308 -0.48819019
+v -0.12945746 0.05210554 -0.49440151
+v -0.14629479 0.02672176 -0.35606061
+v -0.11512852 -0.08039866 -0.49299359
+v -0.11342693 0.09101533 -0.47542162
+v -0.11548930 0.09259784 -0.35606061
+v -0.14368704 0.02637849 -0.47578780
+v -0.13112288 -0.07117601 -0.35606061
+v -0.12873584 -0.05503580 -0.49382965
+v -0.08724352 0.11730724 -0.46027653
+v -0.10212665 0.10180585 -0.48786456
+v -0.13223132 0.06840599 -0.35606061
+v -0.08805248 0.11836150 -0.35606061
+v -0.12790715 0.06661482 -0.48842451
+v -0.14588907 -0.02989750 -0.35606061
+v -0.12129275 -0.08512862 -0.35606061
+v -0.14328416 -0.02955461 -0.47575371
+v -0.07363411 0.11931685 -0.49333430
+v -0.11611429 0.07792592 -0.49390329
+v -0.14315065 -0.01438553 -0.48871593
+f 1 2 3
+f 3 2 4
+f 7 4 2
+f 9 2 1
+f 12 5 8
+f 14 7 2
+f 14 2 9
+f 14 5 7
+f 14 9 6
+f 16 10 11
+f 16 11 15
+f 17 8 1
+f 17 1 11
+f 17 12 8
+f 17 11 10
+f 18 11 1
+f 18 1 3
+f 18 15 11
+f 18 3 15
+f 19 7 5
+f 19 5 12
+f 19 10 16
+f 19 17 10
+f 19 12 17
+f 20 13 1
+f 20 1 8
+f 20 8 5
+f 21 9 1
+f 21 1 13
+f 21 13 6
+f 21 6 9
+f 22 20 5
+f 22 6 13
+f 22 13 20
+f 23 15 3
+f 23 3 4
+f 23 16 15
+f 24 19 16
+f 24 7 19
+f 24 16 23
+f 24 23 4
+f 24 4 7
+f 25 14 6
+f 25 6 22
+f 25 22 5
+f 25 5 14
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_3/collision/model_normalized_collision_27.obj b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_3/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d72ca2d865b7f95613fe4204bbe61f0e93a222fd
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_3/collision/model_normalized_collision_27.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.08119103 0.07414300 0.40151515
+v 0.16023283 0.09594522 -0.23816156
+v 0.16028588 0.11127818 0.38540667
+v 0.09066892 0.13971108 0.38540667
+v 0.09075788 0.11768701 -0.31700685
+v 0.14317059 0.10720472 -0.23601437
+v 0.14954374 0.12000536 0.38995415
+v 0.13474302 0.08153477 -0.31713483
+v 0.12380075 0.10184913 -0.30812030
+v 0.10322829 0.10464363 -0.32535030
+f 5 1 4
+f 6 5 4
+f 7 1 3
+f 7 4 1
+f 7 6 4
+f 7 3 2
+f 7 2 6
+f 8 2 3
+f 8 3 1
+f 9 6 2
+f 9 5 6
+f 9 2 8
+f 10 8 1
+f 10 1 5
+f 10 9 8
+f 10 5 9
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_3/collision/model_normalized_collision_28.obj b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_3/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e205fc673085959183720c4ef2e36eec0e84ae20
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_3/collision/model_normalized_collision_28.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.00471644 -0.01700751 0.49102126
+v -0.00054208 -0.00120402 0.14395409
+v 0.00543346 0.07414300 0.49102126
+v -0.11577866 0.07414300 0.49102126
+v -0.11577866 -0.01676609 0.14393939
+v -0.13798484 0.11874465 0.13749507
+v 0.00543346 0.07414300 0.14393939
+v -0.11577866 -0.01676609 0.49102126
+f 1 3 4
+f 5 2 1
+f 6 4 3
+f 6 2 5
+f 7 1 2
+f 7 3 1
+f 7 6 3
+f 7 2 6
+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/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_3/collision/model_normalized_collision_29.obj b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_3/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..119f52a0e9565cc7279286a976f91d022efa56e7
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_3/collision/model_normalized_collision_29.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.08119103 -0.01676609 0.49102126
+v 0.08119103 -0.01676609 0.40151515
+v 0.08119103 0.07414300 0.49102126
+v 0.00543346 0.07414300 0.49102126
+v 0.00471644 -0.01700751 0.49102126
+v 0.06603952 0.07414300 0.40151515
+v 0.08119103 0.07414300 0.40151515
+v 0.00028065 -0.00113136 0.40152720
+v 0.00543346 0.07414300 0.40151515
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 5 1 4
+f 6 4 3
+f 7 6 3
+f 7 3 2
+f 7 2 6
+f 8 5 4
+f 8 2 5
+f 9 8 4
+f 9 4 6
+f 9 6 2
+f 9 2 8
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_3/collision/model_normalized_collision_3.obj b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_3/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e60dcab11d7b8329f9ecf3f46ad9a662e89ee0a
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_3/collision/model_normalized_collision_3.obj
@@ -0,0 +1,126 @@
+# https://github.com/mikedh/trimesh
+v 0.18926166 0.05251579 0.48256740
+v 0.23565899 0.05120400 -0.15608388
+v 0.21825660 0.08735794 0.30779377
+v 0.13530027 0.13982801 0.44341699
+v 0.13788235 0.11173473 -0.23152549
+v 0.19907997 0.08019074 0.42516130
+v 0.23548473 0.05109277 0.33702507
+v 0.20690809 0.05219485 -0.22889361
+v 0.14455236 0.06034920 0.49997711
+v 0.17833360 0.11683689 -0.14060311
+v 0.14635979 0.13348385 0.44117933
+v 0.21858684 0.08774841 -0.09691693
+v 0.20598119 0.05328839 0.44279952
+v 0.22906241 0.06214438 0.33500904
+v 0.13423100 0.11269078 0.49260503
+v 0.17702799 0.05395356 0.49260512
+v 0.20109359 0.07529244 -0.21243375
+v 0.12132130 0.13630555 -0.18541376
+v 0.17148721 0.09005550 0.47893574
+v 0.17843628 0.11704314 0.32242256
+v 0.14321375 0.12034370 0.47965121
+v 0.16770327 0.08962829 -0.23816156
+v 0.22135065 0.05174229 -0.19983708
+v 0.21510775 0.07805993 -0.16990434
+v 0.16286340 0.11619676 -0.18358163
+v 0.14800559 0.13193822 -0.14059376
+v 0.12390593 0.14439793 0.40560376
+v 0.17028212 0.10410697 0.45500072
+v 0.18303470 0.07975026 0.47029385
+v 0.17434607 0.06778344 0.48974338
+v 0.13457539 0.12355262 0.48286930
+v 0.14374869 0.10754798 0.48973591
+v 0.20128579 0.06375720 -0.22574889
+v 0.22907143 0.06215012 -0.15446002
+v 0.21522671 0.06298435 -0.19729791
+v 0.13473513 0.12056488 -0.21433960
+v 0.15928832 0.10331407 -0.22623269
+v 0.18766170 0.10216420 -0.17001071
+v 0.13253655 0.13130044 -0.18356664
+v 0.15578779 0.11985836 0.45527650
+v 0.18512617 0.06562946 0.47946563
+v 0.14699053 0.11474794 -0.21343078
+v 0.18747217 0.08678864 -0.21248761
+f 7 1 2
+f 8 2 1
+f 9 5 8
+f 11 6 3
+f 12 7 2
+f 12 3 7
+f 13 7 6
+f 13 1 7
+f 14 7 3
+f 14 3 6
+f 14 6 7
+f 16 9 8
+f 16 8 1
+f 16 15 9
+f 18 5 9
+f 20 10 4
+f 20 4 11
+f 20 11 3
+f 20 12 10
+f 20 3 12
+f 21 11 4
+f 22 8 5
+f 23 2 8
+f 23 8 17
+f 24 2 23
+f 24 10 12
+f 26 4 10
+f 27 26 18
+f 27 4 26
+f 27 18 9
+f 27 9 15
+f 29 13 6
+f 29 28 19
+f 29 6 28
+f 30 16 1
+f 30 15 16
+f 31 21 4
+f 31 15 21
+f 31 27 15
+f 31 4 27
+f 32 21 15
+f 32 19 21
+f 32 30 19
+f 32 15 30
+f 33 22 17
+f 33 17 8
+f 33 8 22
+f 34 24 12
+f 34 12 2
+f 34 2 24
+f 35 24 23
+f 35 23 17
+f 35 17 24
+f 36 5 18
+f 36 18 25
+f 37 22 5
+f 37 5 36
+f 37 17 22
+f 38 24 17
+f 38 25 10
+f 38 10 24
+f 39 25 18
+f 39 18 26
+f 39 26 10
+f 39 10 25
+f 40 21 19
+f 40 19 28
+f 40 11 21
+f 40 28 6
+f 40 6 11
+f 41 29 19
+f 41 1 13
+f 41 13 29
+f 41 30 1
+f 41 19 30
+f 42 37 36
+f 42 36 25
+f 42 25 37
+f 43 38 17
+f 43 17 37
+f 43 37 25
+f 43 25 38
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_3/collision/model_normalized_collision_30.obj b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_3/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..30c94254d422c1dbe6e1454ae79232fb1789ef42
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_3/collision/model_normalized_collision_30.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.14179709 -0.00161458 -0.09848485
+v 0.14179709 -0.00161458 -0.23484849
+v 0.16734439 0.12545541 -0.10218206
+v 0.16023283 0.09594522 -0.23816156
+v 0.00543346 0.07414300 -0.23484849
+v -0.00052615 -0.00012851 -0.23483153
+v 0.00543346 0.07414300 -0.09848485
+v -0.00014867 -0.00017043 -0.09846895
+f 1 2 3
+f 3 2 4
+f 5 3 4
+f 6 5 4
+f 6 4 2
+f 7 1 3
+f 7 3 5
+f 7 5 6
+f 8 6 2
+f 8 2 1
+f 8 7 6
+f 8 1 7
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_3/collision/model_normalized_collision_31.obj b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_3/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..19bccc2f84756963acefc6fe9966a570ee12fc47
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_3/collision/model_normalized_collision_31.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.00446974 -0.15699922 0.00477083
+v 0.00531498 -0.16689429 -0.09840488
+v -0.00014867 -0.00017043 -0.09846895
+v -0.11577866 -0.00161458 0.00757576
+v -0.11076077 -0.14961077 -0.02580924
+v 0.00014493 -0.00020303 0.00759083
+v -0.11199267 -0.13904293 0.00381738
+v -0.11577866 -0.00161458 -0.09848485
+v -0.08017832 -0.14857119 0.00063643
+v -0.11082857 -0.14986305 -0.09734525
+f 5 2 1
+f 6 3 4
+f 6 4 1
+f 6 1 2
+f 6 2 3
+f 7 1 4
+f 8 3 2
+f 8 4 3
+f 8 7 4
+f 9 7 5
+f 9 5 1
+f 9 1 7
+f 10 8 2
+f 10 2 5
+f 10 5 7
+f 10 7 8
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_3/collision/model_normalized_collision_4.obj b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_3/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..53c8dc997f4e1e6f4b4ff900572bd08304d34cff
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_3/collision/model_normalized_collision_4.obj
@@ -0,0 +1,141 @@
+# https://github.com/mikedh/trimesh
+v 0.13586120 -0.12877530 0.47323548
+v 0.24478583 -0.04259723 0.20023611
+v 0.19999595 -0.01401599 0.48015168
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+v 0.14179709 0.05899148 0.26515151
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+v 0.12978172 -0.08023498 0.49997711
+v 0.24416095 -0.05018816 0.30779390
+v 0.14261803 -0.13962709 0.26515151
+v 0.19802666 0.04936861 0.47023636
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+v 0.17309690 -0.07039710 0.48974347
+v 0.12044790 -0.07171457 0.49102126
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+v 0.17827874 -0.11995581 0.30779390
+v 0.21407188 0.04980900 0.42510384
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+v 0.24573140 0.04796160 0.20956949
+v 0.17917176 -0.09811989 0.16294589
+v 0.13728729 -0.10355839 0.49510468
+v 0.21294075 -0.05248092 0.42469625
+v 0.12664558 -0.01676609 0.49102126
+v 0.15752058 -0.12466925 0.44085207
+v 0.21669559 -0.08121612 0.33578006
+v 0.20032212 0.01083793 0.48037950
+v 0.18894543 -0.02980988 0.48974347
+v 0.23085056 0.01008612 0.14696978
+v 0.23009237 -0.06603106 0.20065619
+v 0.18918154 -0.10719081 0.19915480
+v 0.14767225 -0.09920724 0.49197442
+v 0.20025579 -0.04435976 0.47030111
+v 0.24338002 -0.01278329 0.35031872
+v 0.17904337 -0.12149172 0.26515151
+v 0.17275592 -0.09444276 0.47030111
+v 0.19794895 -0.08286265 0.42475380
+v 0.21320825 0.02563470 0.44042297
+v 0.18925196 0.02662874 0.48987674
+v 0.24509999 0.04020619 0.19997370
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+v 0.17917737 -0.11327807 0.19535477
+v 0.18419684 -0.06840070 0.47893574
+v 0.14645422 -0.12314629 0.47049209
+v 0.18650932 -0.09316649 0.44030057
+v 0.21814199 0.04969397 0.14672431
+v 0.23025478 -0.01319438 0.14707594
+v 0.18608103 -0.09113930 0.15935157
+v 0.21674931 -0.05203407 0.14699066
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+f 14 8 6
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+f 18 10 17
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+f 19 15 2
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+f 33 32 22
+f 33 14 3
+f 33 3 32
+f 34 24 9
+f 34 16 24
+f 34 25 16
+f 34 15 25
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+f 34 29 15
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+f 36 8 22
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+f 37 10 26
+f 37 26 14
+f 37 14 17
+f 38 26 10
+f 38 10 18
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+f 38 4 27
+f 39 19 2
+f 39 2 28
+f 40 20 11
+f 40 11 28
+f 40 2 29
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+f 41 9 20
+f 41 34 9
+f 41 30 34
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+f 42 27 12
+f 42 12 35
+f 43 1 24
+f 43 24 35
+f 43 35 31
+f 43 31 1
+f 44 35 24
+f 44 24 25
+f 44 25 36
+f 44 42 35
+f 44 36 32
+f 44 32 42
+f 45 39 28
+f 45 28 11
+f 45 11 19
+f 45 19 39
+f 46 40 28
+f 46 28 2
+f 47 40 30
+f 47 20 40
+f 47 41 20
+f 47 30 41
+f 48 46 2
+f 48 2 40
+f 48 40 46
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_3/collision/model_normalized_collision_5.obj b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_3/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9370d4522fd3be9c5673f0945e17f1eb74334893
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_3/collision/model_normalized_collision_5.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.00531498 -0.16689429 -0.09840488
+v 0.16007261 -0.12923053 -0.10112965
+v 0.14179709 -0.00161458 -0.09848485
+v -0.17638472 -0.00161458 -0.09848485
+v -0.20780935 -0.00653618 -0.25450532
+v -0.09669413 -0.15364735 -0.09757940
+v 0.07843991 -0.14289338 -0.24743909
+v 0.14179709 -0.00161458 -0.23484849
+v -0.19151358 -0.11041512 -0.10016486
+v 0.07717322 -0.15333193 -0.15669984
+v -0.06703560 -0.14368494 -0.24634405
+v 0.12067126 -0.12597871 -0.24668078
+v 0.12334632 -0.14085396 -0.15712747
+v -0.06580141 -0.15145330 -0.18486671
+v -0.11194513 -0.13886604 -0.18555658
+v 0.13678289 -0.11275561 -0.23059214
+v 0.13934561 -0.13305433 -0.15817379
+v -0.09533049 -0.14857365 -0.15593881
+v -0.17289378 -0.08839527 -0.23257466
+f 1 2 3
+f 6 1 3
+f 6 3 4
+f 8 5 4
+f 8 4 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 7 5
+f 12 5 8
+f 13 10 7
+f 13 2 10
+f 13 7 12
+f 14 11 1
+f 14 1 6
+f 15 6 9
+f 16 12 8
+f 16 8 2
+f 16 2 12
+f 17 13 12
+f 17 12 2
+f 17 2 13
+f 18 14 6
+f 18 11 14
+f 18 15 11
+f 18 6 15
+f 19 15 9
+f 19 9 5
+f 19 5 11
+f 19 11 15
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_3/collision/model_normalized_collision_6.obj b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_3/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5fd24c5d0d0113c6fdbcbee0b6530be62e3fe7e6
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_3/collision/model_normalized_collision_6.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.00014493 -0.00020303 0.00759083
+v -0.00052615 -0.00012851 -0.23483153
+v 0.00543346 0.07414300 -0.23484849
+v -0.13945419 0.12169590 0.02235001
+v -0.20780935 -0.00653618 -0.25450532
+v 0.00543346 0.07414300 0.00757576
+v -0.11577866 -0.00161458 0.00757576
+v -0.12800366 0.11384859 -0.23816156
+v -0.14045281 0.13885317 -0.10205584
+v -0.17638472 -0.00161458 -0.09848485
+v -0.19305890 0.10901342 -0.10033651
+v -0.17421354 0.08672687 -0.23343429
+f 1 2 3
+f 5 2 1
+f 5 3 2
+f 6 1 3
+f 6 4 1
+f 7 5 1
+f 7 1 4
+f 8 3 5
+f 9 6 3
+f 9 4 6
+f 9 3 8
+f 10 7 4
+f 10 5 7
+f 11 9 8
+f 11 4 9
+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/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_3/collision/model_normalized_collision_7.obj b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_3/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d0496a4a7c17957d126cb40dc25d7744a023c8f
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_3/collision/model_normalized_collision_7.obj
@@ -0,0 +1,123 @@
+# https://github.com/mikedh/trimesh
+v 0.04909203 -0.18234777 0.42220496
+v 0.15179166 -0.12762034 0.40722754
+v 0.14115826 -0.07678900 0.49981589
+v -0.11577866 -0.01676609 0.49102126
+v -0.11577866 -0.01676609 0.40151515
+v -0.05054961 -0.15500375 0.49145737
+v 0.11628683 -0.13706974 0.48063260
+v -0.06931243 -0.14936543 0.38971507
+v 0.08119103 -0.01676609 0.40151515
+v -0.12145608 -0.08255479 0.49672801
+v 0.14504068 -0.13466782 0.44045797
+v 0.03373048 -0.16530635 0.48177459
+v 0.09017118 -0.16569266 0.41718757
+v -0.09536413 -0.16830956 0.42219458
+v 0.12664558 -0.01676609 0.49102126
+v 0.15138484 -0.12935221 0.44392720
+v -0.03835653 -0.18353554 0.42220584
+v 0.05994501 -0.16592901 0.47067924
+v 0.06088772 -0.15348489 0.48974347
+v 0.14541541 -0.13523462 0.41424534
+v -0.10972821 -0.12859767 0.49260517
+v -0.11111077 -0.15486420 0.41172779
+v 0.13428228 -0.11291490 0.49249581
+v 0.12954603 -0.13413588 0.47030111
+v -0.03797644 -0.16495719 0.48156911
+v 0.01855076 -0.18020232 0.44178159
+v -0.07986476 -0.16730528 0.41379089
+v 0.08974966 -0.16449760 0.44123462
+v 0.09012011 -0.15040998 0.48115666
+v -0.10427022 -0.15043873 0.47030111
+v -0.09844176 -0.14499833 0.39360319
+v -0.06381056 -0.16472547 0.47030111
+v -0.02278729 -0.17976806 0.44165904
+v 0.04894731 -0.18104751 0.42686864
+v -0.06712888 -0.15639238 0.39694854
+v 0.11433978 -0.14920254 0.45539196
+v 0.11881472 -0.12583741 0.49041203
+v -0.09586803 -0.13961690 0.49113434
+v -0.09481637 -0.15124329 0.39952308
+v -0.09360604 -0.16326768 0.44086208
+v -0.03820228 -0.18214886 0.42717948
+v -0.09406271 -0.14942756 0.48053752
+f 9 8 5
+f 9 2 8
+f 9 5 4
+f 10 6 3
+f 10 3 4
+f 10 4 5
+f 13 8 2
+f 13 1 8
+f 15 3 2
+f 15 2 9
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+f 15 4 3
+f 16 2 3
+f 17 8 1
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+f 20 13 2
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+f 20 2 16
+f 21 6 10
+f 22 10 5
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+f 25 12 6
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+f 26 12 25
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+f 28 1 13
+f 28 13 11
+f 29 19 18
+f 29 18 28
+f 30 22 14
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+f 31 22 5
+f 31 5 8
+f 32 14 17
+f 32 25 6
+f 33 26 25
+f 33 17 26
+f 34 26 1
+f 34 1 18
+f 34 18 26
+f 35 8 17
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+f 36 29 28
+f 36 24 7
+f 36 7 29
+f 36 11 16
+f 36 16 24
+f 37 23 19
+f 37 19 29
+f 37 29 7
+f 37 7 23
+f 38 6 21
+f 38 21 30
+f 39 27 22
+f 39 22 31
+f 39 35 27
+f 39 31 8
+f 39 8 35
+f 40 32 30
+f 40 30 14
+f 40 14 32
+f 41 32 17
+f 41 17 33
+f 41 33 25
+f 41 25 32
+f 42 32 6
+f 42 6 38
+f 42 38 30
+f 42 30 32
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_3/collision/model_normalized_collision_8.obj b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_3/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..13872c97b23256ba659a0bf7b2893a85bdbff0ef
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_3/collision/model_normalized_collision_8.obj
@@ -0,0 +1,183 @@
+# https://github.com/mikedh/trimesh
+v 0.03407555 -0.16842397 -0.26093534
+v 0.22103445 -0.01439789 -0.22876507
+v -0.20753322 -0.05308786 -0.22684670
+v -0.06411864 0.16238117 -0.26093534
+v 0.13960474 0.03805631 -0.35606061
+v 0.13259411 0.11626474 -0.22703661
+v 0.20573914 -0.05467777 -0.22823979
+v -0.12129275 -0.08512862 -0.35606061
+v -0.20870217 0.05060494 -0.22750053
+v 0.04589725 0.13785183 -0.35606061
+v 0.17493795 0.08758721 -0.26223284
+v -0.18267775 -0.08204761 -0.22907852
+v 0.15928832 0.10331407 -0.22623269
+v 0.13899141 -0.03963101 -0.35606061
+v -0.06662893 0.15130305 -0.25175969
+v -0.14405550 -0.03995389 -0.35606061
+v 0.06029731 0.16371170 -0.26093534
+v 0.21917959 0.02594388 -0.22779834
+v 0.12716723 0.06808311 -0.35606061
+v 0.04941438 -0.15496509 -0.25156806
+v -0.06575058 -0.15514576 -0.27289130
+v -0.17338747 -0.08418635 -0.26827974
+v 0.21509007 -0.01319177 -0.24057581
+v 0.14481890 -0.12177180 -0.26093534
+v 0.04478876 -0.13840484 -0.35606061
+v -0.13576739 0.11816514 -0.24645915
+v -0.20441835 -0.02918907 -0.25425445
+v -0.05150328 0.16153151 -0.27022574
+v 0.14570327 0.11982879 -0.25893587
+v 0.06134503 0.15156930 -0.25125881
+v 0.18413497 0.04097884 -0.28370925
+v 0.19101478 0.07582661 -0.22743069
+v -0.05402014 -0.15478964 -0.25184350
+v -0.04920712 -0.13872777 -0.35606061
+v -0.13112288 -0.07117601 -0.35606061
+v 0.20062404 -0.04301641 -0.25630474
+v 0.09105071 -0.15308283 -0.26093534
+v 0.09876938 -0.10624353 -0.35606061
+v -0.10832634 0.13493248 -0.24960800
+v -0.11548930 0.09259784 -0.35606061
+v -0.14480256 0.03805631 -0.35606061
+v -0.20186248 -0.05083177 -0.24463277
+v 0.04883544 0.16165590 -0.27055065
+v 0.14178534 0.11914286 -0.26779380
+v 0.21393406 0.02487959 -0.23825760
+v -0.03830832 -0.16795555 -0.26093534
+v 0.18410639 -0.04150643 -0.28364262
+v 0.17246483 -0.08373852 -0.26998312
+v 0.11534896 -0.13561553 -0.26879482
+v 0.13224654 -0.12150337 -0.24798675
+v -0.14481876 0.12169284 -0.26093534
+v -0.06324824 0.13281789 -0.35606061
+v -0.20215274 0.03984550 -0.25461984
+v -0.18886992 0.01074634 -0.28370925
+v 0.20064458 -0.05258628 -0.24544339
+v 0.12605878 -0.07085313 -0.35606061
+v 0.10557543 -0.13754656 -0.25078997
+v -0.09426366 0.14677573 -0.26999063
+v -0.08805248 0.11836150 -0.35606061
+v -0.17376556 0.08225961 -0.26882697
+v -0.18838837 -0.01390007 -0.28370925
+v -0.20315242 0.04889476 -0.24377431
+f 10 5 8
+f 12 7 3
+f 13 3 7
+f 13 9 3
+f 13 6 9
+f 14 8 5
+f 15 9 6
+f 16 10 8
+f 17 6 13
+f 17 4 15
+f 18 13 7
+f 18 7 2
+f 19 5 10
+f 20 7 12
+f 22 12 3
+f 22 21 12
+f 23 14 5
+f 23 18 2
+f 25 8 14
+f 27 3 9
+f 28 4 17
+f 29 17 13
+f 30 17 15
+f 30 15 6
+f 30 6 17
+f 31 11 18
+f 31 19 11
+f 31 5 19
+f 32 18 11
+f 32 13 18
+f 32 29 13
+f 32 11 29
+f 33 20 12
+f 33 1 20
+f 34 22 8
+f 34 21 22
+f 34 8 25
+f 34 25 1
+f 35 16 8
+f 35 8 22
+f 36 23 2
+f 36 2 7
+f 37 20 1
+f 37 1 25
+f 38 25 14
+f 38 24 25
+f 39 15 4
+f 39 26 9
+f 39 9 15
+f 40 10 16
+f 41 40 16
+f 42 22 3
+f 42 3 27
+f 42 35 22
+f 42 27 16
+f 42 16 35
+f 43 28 17
+f 43 17 10
+f 43 10 28
+f 44 10 17
+f 44 17 29
+f 44 19 10
+f 44 29 11
+f 44 11 19
+f 45 23 5
+f 45 5 31
+f 45 31 18
+f 45 18 23
+f 46 1 33
+f 46 34 1
+f 46 21 34
+f 46 33 12
+f 46 12 21
+f 47 14 23
+f 47 23 36
+f 48 7 24
+f 48 24 38
+f 49 37 25
+f 49 25 24
+f 49 24 37
+f 50 37 24
+f 50 24 7
+f 51 39 4
+f 51 26 39
+f 51 9 26
+f 52 28 10
+f 52 10 40
+f 52 4 28
+f 53 27 9
+f 54 41 16
+f 54 53 41
+f 54 27 53
+f 55 48 36
+f 55 36 7
+f 55 7 48
+f 56 47 36
+f 56 36 48
+f 56 14 47
+f 56 48 38
+f 56 38 14
+f 57 50 7
+f 57 7 20
+f 57 20 37
+f 57 37 50
+f 58 52 51
+f 58 51 4
+f 58 4 52
+f 59 52 40
+f 59 40 51
+f 59 51 52
+f 60 40 41
+f 60 41 53
+f 60 51 40
+f 60 9 51
+f 61 54 16
+f 61 16 27
+f 61 27 54
+f 62 60 53
+f 62 53 9
+f 62 9 60
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_3/collision/model_normalized_collision_9.obj b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_3/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f1a54f742ee5f27674444ddb8633e2037cf0cabb
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_3/collision/model_normalized_collision_9.obj
@@ -0,0 +1,108 @@
+# https://github.com/mikedh/trimesh
+v -0.18559395 -0.08826298 0.14188874
+v -0.17924144 -0.08075052 -0.23670921
+v -0.16753711 0.10866637 -0.20019043
+v -0.19443492 0.08033773 0.13992007
+v -0.24920076 -0.04336497 -0.09687660
+v -0.16786587 0.09437163 -0.22929973
+v -0.23361283 -0.06554320 -0.11186946
+v -0.22476483 -0.03926425 0.14627718
+v -0.24980364 0.04029116 -0.09693065
+v -0.21837264 -0.03800526 -0.22468180
+v -0.20670944 -0.06771354 0.14683250
+v -0.18292800 0.10941736 -0.15661984
+v -0.22483220 0.03904948 0.14617535
+v -0.24920816 0.02501883 -0.01717133
+v -0.23311204 -0.05007207 -0.16955136
+v -0.21826256 0.03790717 -0.22490043
+v -0.23455244 -0.06614313 -0.02720242
+v -0.24964607 0.04025921 -0.02691112
+v -0.17435300 0.11551676 -0.15833084
+v -0.21480007 0.05449776 0.14528537
+v -0.24906921 -0.04334207 -0.02704898
+v -0.24841106 0.00970558 -0.15475341
+v -0.20598911 -0.06725360 -0.21312508
+v -0.20601475 0.07713610 -0.19772628
+v -0.24872490 -0.02814994 -0.01742779
+v -0.24782679 -0.01281618 -0.15461920
+v -0.23448172 0.04771728 -0.16988903
+v -0.23305656 0.02481592 -0.19717129
+v -0.21767172 -0.04988758 -0.21168678
+v -0.19556644 -0.07027244 -0.22862804
+v -0.21950275 -0.06620811 -0.18214283
+v -0.17670583 0.10205900 -0.19738458
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\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_3/visual/material.mtl b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_3/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..320834c39e2835536047d46ee9ad9ea3cb837595
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_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 109.92627300
+map_Kd material_0.jpeg
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_3/visual/model_normalized_0.obj b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_3/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cb271db3c55dced54572b04ab89d4ef669edb023
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_3/visual/model_normalized_0.obj
@@ -0,0 +1,10420 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_7/collision/collision_mesh_collision_0.obj b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_7/collision/collision_mesh_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..833f72f451ef892eeee0a8fe93524053917f5a38
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_7/collision/collision_mesh_collision_0.obj
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diff --git a/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_7/collision/collision_mesh_collision_1.obj b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_7/collision/collision_mesh_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8a4e846e1194b34142071d58ca4af9d608b663aa
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_7/collision/collision_mesh_collision_1.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
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+v -0.03153478 -0.00627043 0.34064782
+v -0.03215805 -0.00000002 0.34064782
+v -0.01224499 -0.00000002 0.49998441
+f 1 2 3
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+f 1 34 38
+f 1 38 42
+f 1 42 46
+f 1 46 50
+f 1 50 54
+f 1 54 58
+f 1 58 62
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+f 1 63 59
+f 1 59 55
+f 1 55 51
+f 1 51 47
+f 1 47 43
+f 1 43 39
+f 1 39 35
+f 1 35 31
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+f 1 23 19
+f 1 19 15
+f 1 15 11
+f 1 11 5
+f 1 5 2
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+f 11 15 16
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+f 13 17 14
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+f 29 33 30
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+f 38 41 42
+f 39 43 40
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+f 43 47 48
+f 43 48 44
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+f 51 55 56
+f 51 56 52
+f 53 57 54
+f 54 57 58
+f 55 59 56
+f 56 59 60
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+f 59 63 64
+f 59 64 60
+f 61 64 62
+f 62 64 63
+
diff --git a/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_7/collision/collision_mesh_collision_2.obj b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_7/collision/collision_mesh_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d9a4298e379837551c4a420d4e9d68507e182362
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_7/collision/collision_mesh_collision_2.obj
@@ -0,0 +1,334 @@
+# https://github.com/mikedh/trimesh
+v -0.00000000 0.07458337 0.29530236
+v -0.00000000 0.07442276 0.34051463
+v 0.01451365 0.07299183 0.34051463
+v 0.01454285 0.07313785 0.29530236
+v -0.01432384 0.07316705 0.29530236
+v -0.01451365 0.07299183 0.34051463
+v -0.00626394 0.03153887 0.34064779
+v -0.00000000 0.03215212 0.34064779
+v 0.00626394 0.03153887 0.34064779
+v 0.01474726 0.07307944 0.29530236
+v 0.02847245 0.06875747 0.34051463
+v 0.02853085 0.06890348 0.29530236
+v -0.01454286 0.07313785 0.29530236
+v -0.02853086 0.06890348 0.29530236
+v -0.02847245 0.06875747 0.34051463
+v -0.01229426 0.02969911 0.34064779
+v 0.01229425 0.02969911 0.34064779
+v 0.01785733 0.02673506 0.34064779
+v 0.04133615 0.06188028 0.34051463
+v 0.04142376 0.06201169 0.29530236
+v -0.04123395 0.06211390 0.29530236
+v -0.01785734 0.02673506 0.34064779
+v -0.04133616 0.06188028 0.34051463
+v 0.02273415 0.02273431 0.34064779
+v 0.05262293 0.05262309 0.34051463
+v 0.05272513 0.05272529 0.29530236
+v -0.04142377 0.06201169 0.29530236
+v -0.05262293 0.05262309 0.34051463
+v -0.02273416 0.02273431 0.34064779
+v 0.02673490 0.01785749 0.34064779
+v 0.06188012 0.04133631 0.34051463
+v 0.06201153 0.04142392 0.29530236
+v 0.05287115 0.05256468 0.29530236
+v -0.05256453 0.05287131 0.29530236
+v -0.05272514 0.05272529 0.29530236
+v -0.06201154 0.04142392 0.29530236
+v -0.06188013 0.04133631 0.34051463
+v -0.02673490 0.01785749 0.34064779
+v 0.02969895 0.01229441 0.34064779
+v 0.06875731 0.02847261 0.34051463
+v 0.06211374 0.04123411 0.29530236
+v -0.06890333 0.02853101 0.29530236
+v -0.06875733 0.02847261 0.34051463
+v -0.02969896 0.01229441 0.34064779
+v 0.03153871 0.00626410 0.34064779
+v 0.06890333 0.02853101 0.29530236
+v 0.07299167 0.01451381 0.34051463
+v -0.07307929 0.01474742 0.29530236
+v -0.07299168 0.01451381 0.34051463
+v -0.03153872 0.00626410 0.34064779
+v 0.03215196 0.00000016 0.34064779
+v 0.07442260 0.00000016 0.34051463
+v 0.07313769 0.01454301 0.29530236
+v 0.07458322 0.00000016 0.29530236
+v 0.07316689 0.01432399 0.29530236
+v -0.07313770 0.01454301 0.29530236
+v -0.07458322 0.00000016 0.29530236
+v -0.07442261 0.00000016 0.34051463
+v -0.03215197 0.00000016 0.34064779
+v 0.03153871 -0.00626378 0.34064779
+v 0.07299167 -0.01451349 0.34051463
+v 0.07313769 -0.01454270 0.29530236
+v -0.07316689 -0.01432368 0.29530236
+v -0.07299168 -0.01451349 0.34051463
+v -0.03153872 -0.00626378 0.34064779
+v 0.06875731 -0.02847229 0.34051463
+v 0.02969895 -0.01229410 0.34064779
+v 0.07307929 -0.01474711 0.29530236
+v 0.06890333 -0.02853070 0.29530236
+v -0.07313770 -0.01454270 0.29530236
+v -0.06890333 -0.02853070 0.29530236
+v -0.06875733 -0.02847229 0.34051463
+v -0.02969896 -0.01229410 0.34064779
+v 0.06188012 -0.04133600 0.34051463
+v 0.06201153 -0.04142361 0.29530236
+v 0.02673490 -0.01785718 0.34064779
+v -0.06211375 -0.04123379 0.29530236
+v -0.06188013 -0.04133600 0.34051463
+v -0.02673490 -0.01785718 0.34064779
+v 0.05262293 -0.05262277 0.34051463
+v 0.05272513 -0.05272498 0.29530236
+v 0.02273415 -0.02273400 0.34064779
+v -0.06201154 -0.04142361 0.29530236
+v -0.05262293 -0.05262277 0.34051463
+v -0.02273416 -0.02273400 0.34064779
+v 0.04133615 -0.06187997 0.34051463
+v 0.04142376 -0.06201138 0.29530236
+v 0.05256452 -0.05287099 0.29530236
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+v -0.05287115 -0.05256437 0.29530236
+v -0.05272514 -0.05272498 0.29530236
+v -0.04142377 -0.06201138 0.29530236
+v -0.04133616 -0.06187997 0.34051463
+v -0.01785734 -0.02673474 0.34064779
+v 0.04123395 -0.06211359 0.29530236
+v 0.02847245 -0.06875716 0.34051463
+v 0.01229425 -0.02969880 0.34064779
+v -0.02853086 -0.06890317 0.29530236
+v -0.02847245 -0.06875716 0.34051463
+v -0.01229426 -0.02969880 0.34064779
+v 0.02853085 -0.06890317 0.29530236
+v 0.00626394 -0.03153856 0.34064779
+v 0.01451365 -0.07299152 0.34051463
+v -0.01474727 -0.07307913 0.29530236
+v -0.01451365 -0.07299152 0.34051463
+v -0.00626394 -0.03153856 0.34064779
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+v -0.00000000 -0.07442245 0.34051463
+v -0.00000000 -0.07458306 0.29530236
+v 0.01432383 -0.07316674 0.29530236
+v -0.01454286 -0.07313754 0.29530236
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+f 102 109 103
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+
diff --git a/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_7/collision/model_normalized_collision_0.obj b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_7/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3fa8211279ed4e80725af02bd6d631503ba2e9db
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_7/collision/model_normalized_collision_0.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.08288813 -0.09705346 0.22286641
+v 0.11559867 -0.06302519 -0.48398970
+v 0.11999948 -0.01037715 0.26528323
+v 0.08746423 -0.01164956 0.29459503
+v 0.07888560 -0.09217637 -0.49574030
+v 0.08740109 -0.01164334 -0.50000002
+v 0.08557439 -0.08557422 0.26517796
+v 0.11559854 -0.06302512 0.22046097
+v 0.08922928 -0.08922945 -0.49088178
+v 0.12026095 -0.01040281 -0.49641665
+v 0.10233694 -0.06403550 0.26532913
+v 0.09354720 -0.09354703 0.22046097
+v 0.11753944 -0.03730017 -0.49346292
+v 0.11479629 -0.03646816 0.26534387
+v 0.09151251 -0.07834053 0.26529705
+f 5 1 4
+f 6 4 3
+f 6 5 4
+f 7 4 1
+f 9 1 5
+f 10 6 3
+f 10 5 6
+f 10 8 2
+f 10 3 8
+f 12 2 8
+f 12 9 2
+f 12 1 9
+f 12 7 1
+f 12 8 11
+f 13 9 5
+f 13 2 9
+f 13 10 2
+f 13 5 10
+f 14 3 4
+f 14 4 11
+f 14 11 8
+f 14 8 3
+f 15 11 4
+f 15 4 7
+f 15 12 11
+f 15 7 12
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_7/collision/model_normalized_collision_1.obj b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_7/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e81082ea418627c74258b5171559a7ef48e08802
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_7/collision/model_normalized_collision_1.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.06381020 -0.11517914 -0.41666667
+v -0.04896255 -0.08740092 -0.50000002
+v -0.04896255 0.04896272 -0.41666668
+v -0.12417493 0.04420116 -0.41666668
+v -0.12222552 -0.05062744 -0.48398970
+v -0.07907185 -0.08716485 -0.50000002
+v -0.12222552 -0.05062741 -0.41666668
+v -0.04896255 0.04896272 -0.50000002
+v -0.08802754 -0.09807744 -0.41666668
+v -0.12381405 0.00192669 -0.49334866
+v -0.07926558 0.04896272 -0.50000002
+v -0.11179646 -0.05019001 -0.49465479
+v -0.12417493 0.04420115 -0.48398970
+v -0.11249862 0.04525547 -0.49631476
+v -0.12336756 -0.01001774 -0.49295307
+f 1 2 3
+f 1 3 4
+f 6 2 1
+f 7 1 4
+f 8 3 2
+f 8 2 6
+f 9 6 1
+f 9 5 6
+f 9 7 5
+f 9 1 7
+f 10 7 4
+f 10 5 7
+f 11 4 3
+f 11 3 8
+f 11 8 6
+f 12 6 5
+f 13 10 4
+f 13 4 11
+f 14 11 6
+f 14 13 11
+f 14 10 13
+f 14 12 10
+f 14 6 12
+f 15 12 5
+f 15 5 10
+f 15 10 12
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_7/collision/model_normalized_collision_10.obj b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_7/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..96f5fee61cefc2aced53d08ad7cdd2b507adaaff
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_7/collision/model_normalized_collision_10.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.01037731 -0.11999925 0.26528317
+v 0.07888560 -0.09217637 -0.49574030
+v 0.08746423 -0.01164956 0.29459503
+v 0.01164351 -0.01164334 0.26515151
+v 0.01164351 -0.01164334 -0.50000002
+v 0.07802826 -0.10628330 0.22046097
+v 0.01040297 -0.12026084 -0.49641687
+v 0.08740109 -0.01164334 -0.50000002
+v 0.07834067 -0.09151244 0.26529705
+v 0.06302555 -0.11559840 0.22046097
+v 0.07802841 -0.10628325 -0.48398970
+v 0.03646838 -0.11479620 0.26534392
+v 0.06403573 -0.10233674 0.26532912
+v 0.06302555 -0.11559840 -0.48398970
+v 0.03730036 -0.11753913 -0.49346314
+v 0.06508852 -0.10430646 -0.49418115
+f 1 3 4
+f 5 1 4
+f 7 1 5
+f 8 7 5
+f 8 2 7
+f 8 5 4
+f 8 4 3
+f 9 6 3
+f 10 1 7
+f 11 2 8
+f 11 6 10
+f 11 8 3
+f 11 3 6
+f 12 3 1
+f 12 1 10
+f 13 10 6
+f 13 6 9
+f 13 12 10
+f 13 9 3
+f 13 3 12
+f 14 11 10
+f 14 10 7
+f 15 14 7
+f 16 2 11
+f 16 11 14
+f 16 14 15
+f 16 15 7
+f 16 7 2
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_7/collision/model_normalized_collision_11.obj b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_7/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b83ae2973ea4258073d67ebe7838a6482cc0aa33
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_7/collision/model_normalized_collision_11.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.11216130 0.04515302 0.26528530
+v -0.07926558 0.04896272 -0.50000002
+v -0.07746826 0.09222719 0.26518040
+v -0.07470935 0.10401699 0.22275125
+v -0.11087381 0.07186461 -0.48398970
+v -0.11087395 0.07186468 0.22046097
+v -0.11249862 0.04525547 -0.49631476
+v -0.07065638 0.09907854 -0.49561005
+v -0.10347250 0.06190156 0.26487163
+v -0.08621037 0.09956883 0.22046097
+v -0.09489823 0.08237749 -0.49084177
+v -0.10727843 0.05479157 0.26535313
+v -0.08557512 0.08557541 0.26527960
+v -0.08237739 0.09489829 -0.49084175
+v -0.11015539 0.05632908 -0.49301404
+f 1 2 3
+f 3 2 4
+f 7 2 1
+f 7 6 5
+f 7 1 6
+f 8 4 2
+f 8 2 7
+f 10 3 4
+f 10 5 6
+f 11 8 7
+f 12 9 6
+f 12 6 1
+f 12 1 3
+f 13 6 9
+f 13 10 6
+f 13 3 10
+f 13 12 3
+f 13 9 12
+f 14 5 10
+f 14 11 5
+f 14 8 11
+f 14 10 4
+f 14 4 8
+f 15 11 7
+f 15 7 5
+f 15 5 11
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_7/collision/model_normalized_collision_12.obj b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_7/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a2280212d578cce895e8eebb13bbced9c4ed16ef
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_7/collision/model_normalized_collision_12.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.01147706 -0.13116537 0.14393939
+v 0.01040297 -0.12026084 -0.49641687
+v 0.01079268 0.13123305 0.14393939
+v -0.04420098 0.12417505 0.14393939
+v -0.04614996 -0.12358364 0.14393939
+v -0.04420088 0.12417480 -0.48398970
+v 0.01001804 0.12336758 -0.49295293
+v -0.04398379 -0.11644268 -0.49245287
+v -0.04525514 0.11249867 -0.49631463
+v -0.00192659 0.12381404 -0.49334849
+f 1 3 4
+f 5 1 4
+f 6 4 3
+f 7 1 2
+f 7 3 1
+f 8 2 1
+f 8 1 5
+f 9 5 4
+f 9 4 6
+f 9 8 5
+f 9 7 2
+f 9 2 8
+f 10 6 3
+f 10 3 7
+f 10 9 6
+f 10 7 9
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_7/collision/model_normalized_collision_13.obj b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_7/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..950de4e321dd17ade5ff11c5e174c5ca95089a4d
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_7/collision/model_normalized_collision_13.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.11999948 -0.01037715 0.26528323
+v 0.12026095 -0.01040281 -0.49641665
+v 0.12358378 0.04615016 0.22046097
+v 0.01860820 0.07192187 0.29462511
+v 0.01164351 -0.01164334 -0.50000002
+v 0.11644288 0.04398395 -0.49245254
+v 0.11180871 0.04631298 0.26521769
+v 0.01164351 -0.01164334 0.26515151
+v 0.01164351 0.04896272 -0.50000002
+v 0.11705602 0.02901848 0.26531985
+f 1 2 3
+f 6 3 2
+f 6 4 3
+f 7 3 4
+f 8 1 4
+f 8 5 2
+f 8 2 1
+f 9 4 6
+f 9 8 4
+f 9 5 8
+f 9 6 2
+f 9 2 5
+f 10 1 3
+f 10 3 7
+f 10 7 4
+f 10 4 1
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_7/collision/model_normalized_collision_14.obj b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_7/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ca68706ae2c8dfb668c58c3757bd8b8e5926bc6
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_7/collision/model_normalized_collision_14.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v -0.04896255 -0.01164334 0.21969696
+v -0.04896255 -0.01164334 -0.41666668
+v -0.04896255 0.04896272 -0.41666668
+v -0.07591248 0.08180195 0.23249337
+v -0.13123294 -0.01079254 -0.41666668
+v -0.13123293 -0.01079252 0.21969696
+v -0.10356573 0.08133972 -0.41666669
+v -0.12417501 0.04420119 0.21969697
+v -0.12417493 0.04420116 -0.41666668
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 6 5 1
+f 6 1 4
+f 7 4 3
+f 7 3 2
+f 7 2 5
+f 8 6 4
+f 8 4 7
+f 8 5 6
+f 9 8 7
+f 9 7 5
+f 9 5 8
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_7/collision/model_normalized_collision_15.obj b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_7/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0082771a7a82b0f3846c2c804a3508eadd6a39ad
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_7/collision/model_normalized_collision_15.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.06591376 0.09000772 0.23249337
+v 0.05709806 0.07926575 -0.50000002
+v 0.05062730 0.12222535 -0.48398970
+v 0.01079269 0.13123309 0.21969697
+v 0.01164351 0.07926575 -0.50000002
+v 0.05062730 0.12222569 0.21969697
+v 0.01471794 0.11048163 0.23249337
+v 0.01088697 0.11703830 -0.50000002
+v 0.05019013 0.11179638 -0.49465460
+v 0.01075473 0.13084754 -0.48442870
+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 2 5
+f 8 5 4
+f 9 8 3
+f 9 3 2
+f 9 2 8
+f 10 8 4
+f 10 4 3
+f 10 3 8
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_7/collision/model_normalized_collision_16.obj b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_7/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..96437ee22d86afb721f987cdfa04171cbb7bb732
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_7/collision/model_normalized_collision_16.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.10235069 0.06400631 0.26515384
+v 0.10620945 0.05797018 -0.49608327
+v 0.10284260 0.08222096 0.22046097
+v 0.08199153 0.10297721 0.22048572
+v 0.08740109 0.06411424 -0.50000002
+v 0.09107158 0.09557905 -0.48398970
+v 0.08807229 0.08253361 0.26534247
+v 0.11158949 0.06084579 0.22317012
+v 0.09107171 0.09557924 0.22046097
+v 0.08171810 0.10264401 -0.48452554
+v 0.09683240 0.07185431 0.26502714
+v 0.08232994 0.08823806 0.26523301
+v 0.10284263 0.08222080 -0.48398970
+v 0.08113010 0.08677611 -0.49885978
+v 0.10377950 0.06934329 -0.49243336
+v 0.09024075 0.08431323 -0.49353215
+f 5 2 1
+f 8 1 2
+f 8 3 1
+f 9 6 4
+f 9 7 3
+f 10 4 6
+f 11 7 1
+f 11 1 3
+f 11 3 7
+f 12 5 1
+f 12 1 7
+f 12 9 4
+f 12 7 9
+f 13 3 8
+f 13 9 3
+f 13 6 9
+f 13 8 2
+f 14 10 6
+f 14 2 5
+f 14 5 12
+f 14 12 4
+f 14 4 10
+f 15 13 2
+f 15 2 14
+f 16 14 6
+f 16 6 13
+f 16 15 14
+f 16 13 15
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_7/collision/model_normalized_collision_17.obj b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_7/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2a5207cfc63b43b696b52261530becd629538f3a
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_7/collision/model_normalized_collision_17.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.09730537 0.05425661 0.23249337
+v 0.08740109 0.04896272 -0.50000002
+v 0.08716467 0.07907173 -0.50000002
+v 0.01471794 0.11048163 0.23249337
+v 0.01164351 0.04896272 0.21969696
+v 0.09044277 0.08176199 0.22632464
+v 0.01164351 0.04896272 -0.50000002
+v 0.01164351 0.07926575 -0.50000002
+f 1 2 3
+f 5 2 1
+f 5 1 4
+f 6 1 3
+f 6 3 4
+f 6 4 1
+f 7 3 2
+f 7 2 5
+f 8 7 5
+f 8 5 4
+f 8 4 3
+f 8 3 7
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_7/collision/model_normalized_collision_18.obj b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_7/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5597129a927b7faedaf99db106784d1a55362960
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_7/collision/model_normalized_collision_18.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v -0.06084565 -0.11158927 0.22317023
+v -0.05797008 -0.10620942 -0.49608355
+v -0.06654418 -0.09036201 0.24430848
+v -0.08823787 -0.08232978 0.26523301
+v -0.09557923 -0.09107169 -0.48398970
+v -0.06400615 -0.10235054 0.26515384
+v -0.08222093 -0.10284281 -0.48398970
+v -0.09557908 -0.09107155 0.22046097
+v -0.06411406 -0.08740092 -0.50000002
+v -0.08677609 -0.08113017 -0.49885996
+v -0.10297708 -0.08199140 0.22048570
+v -0.08253341 -0.08807217 0.26534248
+v -0.08222076 -0.10284264 0.22046097
+v -0.08431325 -0.09024075 -0.49353237
+v -0.10264407 -0.08171812 -0.48452572
+v -0.07185416 -0.09683226 0.26502714
+v -0.06934334 -0.10377948 -0.49243360
+f 1 2 3
+f 6 1 3
+f 6 3 4
+f 7 2 1
+f 8 5 7
+f 9 3 2
+f 9 4 3
+f 10 9 2
+f 10 4 9
+f 11 8 4
+f 11 5 8
+f 11 4 10
+f 12 6 4
+f 12 4 8
+f 13 1 6
+f 13 12 8
+f 13 8 7
+f 13 7 1
+f 14 7 5
+f 14 5 10
+f 15 11 10
+f 15 10 5
+f 15 5 11
+f 16 13 6
+f 16 6 12
+f 16 12 13
+f 17 14 10
+f 17 10 2
+f 17 2 7
+f 17 7 14
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_7/collision/model_normalized_collision_19.obj b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_7/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..37f8ad7f73a0510f4465582b7305d0fa81e9f853
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_7/collision/model_normalized_collision_19.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.11180871 0.04631298 0.26521769
+v 0.12358372 0.04615010 -0.48398970
+v 0.11898092 0.05669780 0.22046097
+v 0.09683240 0.07185431 0.26502714
+v 0.08740109 0.04896272 -0.50000002
+v 0.11898077 0.05669783 -0.48398970
+v 0.10571881 0.05770797 0.26529006
+v 0.12358378 0.04615016 0.22046097
+v 0.10945336 0.04533710 -0.49959257
+v 0.08740109 0.06411424 -0.50000002
+v 0.10620945 0.05797018 -0.49608327
+f 5 1 4
+f 6 3 2
+f 6 4 3
+f 7 1 3
+f 7 3 4
+f 7 4 1
+f 8 2 3
+f 8 3 1
+f 9 1 5
+f 9 8 1
+f 9 2 8
+f 9 6 2
+f 10 5 4
+f 10 4 6
+f 10 9 5
+f 11 10 6
+f 11 6 9
+f 11 9 10
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_7/collision/model_normalized_collision_2.obj b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_7/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..077ed75fe1d76c7a7d08a11ce7c17471939ab014
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_7/collision/model_normalized_collision_2.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v -0.07926411 -0.05709668 0.29457497
+v -0.09000752 -0.06591342 0.23249337
+v -0.07746826 0.09222719 0.26518040
+v -0.07765804 0.09245846 0.29452488
+v -0.12417501 0.04420119 0.22046097
+v -0.11045737 -0.04947438 0.29452488
+v -0.09549757 0.05763880 0.23249337
+v -0.08578688 0.08578734 0.29452488
+v -0.12222552 -0.05062714 0.21969696
+v -0.12417501 0.04420119 0.21969697
+v -0.10754071 0.05493176 0.29452488
+v -0.12222552 -0.05062714 0.22046097
+v -0.08557512 0.08557541 0.26527960
+f 1 2 3
+f 1 3 4
+f 6 2 1
+f 7 3 2
+f 8 1 4
+f 10 3 7
+f 10 5 8
+f 10 7 2
+f 10 9 5
+f 10 2 9
+f 11 8 5
+f 11 5 6
+f 11 6 1
+f 11 1 8
+f 12 6 5
+f 12 5 9
+f 12 9 2
+f 12 2 6
+f 13 10 8
+f 13 3 10
+f 13 8 4
+f 13 4 3
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_7/collision/model_normalized_collision_20.obj b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_7/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9763051dec4999ca27ca299f917c38be6284ecf2
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_7/collision/model_normalized_collision_20.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.05425645 -0.09730521 0.23249337
+v -0.06381020 -0.11517914 -0.41666667
+v -0.04896255 -0.01164334 -0.41666668
+v -0.11048149 -0.01471775 0.23249337
+v -0.08176182 -0.09044260 0.22632465
+v -0.13065072 -0.01670413 -0.41666668
+v -0.04896255 -0.01164334 0.21969696
+v -0.08802754 -0.09807744 -0.41666668
+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 2 5
+f 8 5 6
+f 8 6 3
+f 8 3 2
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_7/collision/model_normalized_collision_21.obj b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_7/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d734974fa3ced2f94662d55176b77beeea3adca
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_7/collision/model_normalized_collision_21.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v -0.09000752 -0.06591342 0.23249337
+v -0.10567423 -0.07877082 -0.41666667
+v -0.13123294 -0.01079254 -0.41666668
+v -0.13123293 -0.01079252 0.21969696
+v -0.12222552 -0.05062714 0.21969696
+v -0.11048149 -0.01471775 0.23249337
+v -0.12222552 -0.05062741 -0.41666668
+v -0.13065070 -0.01670419 0.18939394
+v -0.13065072 -0.01670413 -0.41666668
+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 3 2
+f 7 2 5
+f 8 7 5
+f 8 5 4
+f 9 3 7
+f 9 7 8
+f 9 8 4
+f 9 4 3
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_7/collision/model_normalized_collision_22.obj b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_7/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e69adcf95d65bb200aec2226c609a4f4937535c3
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_7/collision/model_normalized_collision_22.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.09549757 0.05763880 0.23249337
+v -0.04896255 0.04896272 -0.50000002
+v -0.07591248 0.08180195 0.23249337
+v -0.04840986 0.12289834 0.21969696
+v -0.07186457 0.11087388 -0.48398970
+v -0.07186471 0.11087414 0.21969697
+v -0.07926558 0.04896272 -0.50000002
+v -0.04525514 0.11249867 -0.49631463
+v -0.07065638 0.09907854 -0.49561005
+v -0.05632904 0.11015539 -0.49301396
+f 1 2 3
+f 3 2 4
+f 6 1 3
+f 6 3 4
+f 6 5 1
+f 6 4 5
+f 7 2 1
+f 7 1 5
+f 8 5 4
+f 8 4 2
+f 8 2 7
+f 9 8 7
+f 9 7 5
+f 10 9 5
+f 10 5 8
+f 10 8 9
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_7/collision/model_normalized_collision_23.obj b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_7/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..37b2df6218922a24bf7fe1c08442cf3b2c7c0a18
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_7/collision/model_normalized_collision_23.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.08940298 0.08090866 0.26512511
+v 0.08716467 0.07907173 -0.50000002
+v 0.07458764 0.10910700 -0.48398970
+v 0.05347586 0.11794360 0.22190584
+v 0.05709806 0.07926575 -0.50000002
+v 0.07458779 0.10910721 0.22046097
+v 0.05563253 0.10682696 0.26518320
+v 0.05019013 0.11179638 -0.49465460
+v 0.07165060 0.09699819 0.26491768
+v 0.07694992 0.09683394 -0.49304982
+v 0.07490052 0.09433680 0.26535240
+v 0.06344747 0.10825254 -0.49111156
+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 8 2 5
+f 8 4 3
+f 8 7 4
+f 8 5 7
+f 9 6 7
+f 10 3 2
+f 10 2 8
+f 11 9 7
+f 11 7 1
+f 11 1 6
+f 11 6 9
+f 12 10 8
+f 12 8 3
+f 12 3 10
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_7/collision/model_normalized_collision_24.obj b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_7/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9b75394738e40ffe13ff401e893925a39bca8d96
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_7/collision/model_normalized_collision_24.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.08090851 -0.08940283 0.26512511
+v -0.07907185 -0.08716485 -0.50000002
+v -0.07926558 -0.05709789 -0.50000002
+v -0.10682670 -0.05563231 0.26518321
+v -0.10910719 -0.07458776 -0.48398970
+v -0.10910705 -0.07458763 0.22046097
+v -0.11179646 -0.05019001 -0.49465479
+v -0.09699802 -0.07165032 0.26491759
+v -0.09683399 -0.07694999 -0.49304987
+v -0.11794340 -0.05347568 0.22190587
+v -0.09433651 -0.07490043 0.26535245
+v -0.10825265 -0.06344742 -0.49111164
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 6 5 1
+f 7 3 2
+f 7 4 3
+f 8 4 6
+f 9 7 2
+f 9 2 5
+f 10 6 4
+f 10 4 7
+f 10 7 5
+f 10 5 6
+f 11 8 6
+f 11 6 1
+f 11 1 4
+f 11 4 8
+f 12 9 5
+f 12 5 7
+f 12 7 9
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_7/collision/model_normalized_collision_25.obj b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_7/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..44f244d7d90670747bfbb9cfd391ee33c5acf66b
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_7/collision/model_normalized_collision_25.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.04614996 -0.12358364 0.22046097
+v -0.04533717 -0.10945326 -0.49959288
+v -0.04896255 -0.08740092 -0.50000002
+v -0.07185416 -0.09683226 0.26502714
+v -0.05669792 -0.11898073 -0.48398970
+v -0.04631281 -0.11180856 0.26521769
+v -0.04614996 -0.12358364 -0.48398970
+v -0.05669775 -0.11898074 0.22046097
+v -0.06411406 -0.08740092 -0.50000002
+v -0.05770780 -0.10571864 0.26529004
+v -0.05797008 -0.10620942 -0.49608355
+f 6 3 4
+f 6 1 2
+f 6 2 3
+f 7 5 2
+f 7 2 1
+f 7 1 5
+f 8 5 1
+f 8 4 5
+f 8 1 6
+f 9 3 2
+f 9 5 4
+f 9 4 3
+f 10 8 6
+f 10 6 4
+f 10 4 8
+f 11 9 2
+f 11 2 5
+f 11 5 9
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_7/collision/model_normalized_collision_26.obj b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_7/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..90bb4e71aaa83ad53a4e8c3945c52281e24adf50
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_7/collision/model_normalized_collision_26.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.05851951 -0.10528079 0.26494486
+v -0.05425645 -0.09730521 0.23249337
+v -0.04515296 0.11216146 0.26528538
+v -0.04840986 0.12289834 0.21969696
+v -0.08176182 -0.09044260 0.22632465
+v -0.07003886 0.09832581 0.26529982
+v -0.08090851 -0.08940283 0.26512511
+v -0.07186471 0.11087414 0.22046097
+v -0.05479129 0.10727857 0.26535324
+v -0.07186471 0.11087414 0.21969697
+f 1 2 3
+f 3 2 4
+f 5 2 1
+f 5 4 2
+f 7 5 1
+f 8 3 4
+f 8 7 6
+f 8 5 7
+f 9 6 7
+f 9 8 6
+f 9 3 8
+f 9 7 1
+f 9 1 3
+f 10 8 4
+f 10 4 5
+f 10 5 8
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_7/collision/model_normalized_collision_27.obj b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_7/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..993c94dc3e942abf9dfc05760b4aef17f7050f1e
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_7/collision/model_normalized_collision_27.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.05709686 0.07926429 0.29457497
+v 0.07165060 0.09699819 0.26491768
+v 0.04947453 0.11045754 0.29452488
+v -0.05493138 0.10754100 0.29452488
+v -0.08612831 0.08489785 0.26506101
+v 0.04933421 0.11019503 0.26531937
+v -0.07926406 0.07926451 0.29454466
+v -0.05479129 0.10727857 0.26535324
+v -0.07022786 0.09855621 0.29452488
+v -0.07003886 0.09832581 0.26529982
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 6 3 2
+f 6 4 3
+f 7 5 1
+f 7 1 4
+f 8 4 6
+f 8 6 2
+f 8 2 5
+f 9 7 4
+f 9 5 7
+f 10 8 5
+f 10 5 9
+f 10 9 4
+f 10 4 8
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_7/collision/model_normalized_collision_28.obj b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_7/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cd45dd4d6b8c4818289928ae27626e1723845e21
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_7/collision/model_normalized_collision_28.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.02350586 -0.02137912 0.34281744
+v 0.01164351 -0.01164334 0.14393939
+v 0.01164351 0.04896272 0.14393939
+v -0.04896337 0.04896340 0.34050481
+v -0.04896369 -0.01164369 0.34045557
+v 0.01164386 0.04896387 0.34045557
+v -0.04896255 -0.01164334 0.14393939
+v -0.04896255 0.04896272 0.14393939
+f 1 2 3
+f 5 1 4
+f 6 1 3
+f 6 4 1
+f 7 2 1
+f 7 1 5
+f 7 3 2
+f 8 3 7
+f 8 6 3
+f 8 4 6
+f 8 7 5
+f 8 5 4
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_7/collision/model_normalized_collision_29.obj b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_7/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7448d951e477f67a957316c09d7d1c72ade1a008
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_7/collision/model_normalized_collision_29.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v -0.04896369 -0.01164369 0.34045557
+v -0.05307235 0.05233545 0.29462511
+v -0.06257772 0.04004308 0.34051840
+v -0.10347250 0.06190156 0.26487163
+v -0.07192169 -0.01860786 0.29462511
+v -0.04896337 0.04896340 0.34050481
+v -0.07333385 -0.01105909 0.34051840
+v -0.05298729 0.05226565 0.32577596
+v -0.07932876 -0.01164956 0.29461247
+f 5 2 1
+f 5 4 2
+f 6 4 3
+f 6 1 2
+f 7 5 1
+f 7 3 4
+f 7 6 3
+f 7 1 6
+f 8 6 2
+f 8 2 4
+f 8 4 6
+f 9 7 4
+f 9 4 5
+f 9 5 7
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_7/collision/model_normalized_collision_3.obj b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_7/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1f438b7afec0f5fcc98b2360472cb4de2b66ebab
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_7/collision/model_normalized_collision_3.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.03655457 -0.11508085 0.29452488
+v 0.10863526 -0.05225054 0.26525632
+v 0.10889834 -0.05239116 0.29452488
+v -0.10709054 -0.05577335 0.29452488
+v -0.02901825 -0.11705587 0.26531985
+v 0.06417602 -0.10259920 0.29452488
+v -0.02910469 -0.11734081 0.29452488
+v -0.10682670 -0.05563231 0.26518321
+v 0.10259937 -0.06417584 0.29452488
+v 0.06403573 -0.10233674 0.26532912
+v -0.06740242 -0.10087467 0.29452488
+v 0.10233694 -0.06403550 0.26532913
+v 0.03646838 -0.11479620 0.26534392
+v -0.09456648 -0.07508905 0.29452488
+v -0.08253341 -0.08807217 0.26534248
+v -0.06732270 -0.10075536 0.28051533
+v -0.09433651 -0.07490043 0.26535245
+f 1 3 4
+f 3 2 4
+f 6 3 1
+f 7 5 1
+f 7 1 4
+f 8 4 2
+f 8 2 5
+f 9 2 3
+f 9 3 6
+f 10 5 2
+f 10 9 6
+f 11 7 4
+f 12 10 2
+f 12 2 9
+f 12 9 10
+f 13 1 5
+f 13 5 10
+f 13 10 6
+f 13 6 1
+f 14 11 4
+f 15 8 5
+f 15 11 14
+f 16 15 5
+f 16 11 15
+f 16 5 7
+f 16 7 11
+f 17 15 14
+f 17 8 15
+f 17 14 4
+f 17 4 8
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_7/collision/model_normalized_collision_30.obj b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_7/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6fcfdc834a311703e185995d70ce77d71d0d01c0
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_7/collision/model_normalized_collision_30.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.01164351 0.04896272 0.21969696
+v 0.01164351 0.04896272 0.14393939
+v 0.01079269 0.13123309 0.21969697
+v -0.04420099 0.12417509 0.21969697
+v -0.07591248 0.08180195 0.23249337
+v -0.04420098 0.12417505 0.14393939
+v -0.04896255 0.04896272 0.14393939
+v 0.01079268 0.13123305 0.14393939
+f 1 2 3
+f 5 1 3
+f 5 3 4
+f 6 4 3
+f 6 5 4
+f 7 2 1
+f 7 1 5
+f 7 5 6
+f 8 6 3
+f 8 3 2
+f 8 7 6
+f 8 2 7
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_7/collision/model_normalized_collision_31.obj b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_7/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..904a686ae6c93f75ee9a74edb9b3af71d7942fee
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_7/collision/model_normalized_collision_31.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.01037731 -0.11999925 0.26528317
+v 0.01147706 -0.13116537 0.14393939
+v 0.01164351 -0.01164334 0.14393939
+v -0.07192169 -0.01860786 0.29462511
+v -0.04614996 -0.12358364 0.22046097
+v 0.01164351 -0.01164334 0.26515151
+v -0.04631281 -0.11180856 0.26521769
+v -0.04896255 -0.01164334 0.14393939
+v -0.02901825 -0.11705587 0.26531985
+v -0.04614996 -0.12358364 0.14393939
+f 5 2 1
+f 6 4 1
+f 6 1 2
+f 6 2 3
+f 7 4 5
+f 8 3 2
+f 8 6 3
+f 8 4 6
+f 9 7 5
+f 9 5 1
+f 9 1 4
+f 9 4 7
+f 10 8 2
+f 10 2 5
+f 10 5 4
+f 10 4 8
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_7/collision/model_normalized_collision_4.obj b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_7/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fda25a702ac376b88bd5e65b688c0beb0a3fea23
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_7/collision/model_normalized_collision_4.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.10189909 -0.06484720 0.26498394
+v 0.11479629 -0.03646816 0.26534387
+v 0.10889834 -0.05239116 0.29452488
+v 0.05577351 0.10709070 0.29452488
+v 0.05563253 0.10682696 0.26518320
+v 0.11734097 0.02910486 0.29452488
+v 0.08739939 -0.05709698 0.29456096
+v 0.10863526 -0.05225054 0.26525632
+v 0.11705602 0.02901848 0.26531985
+v 0.11508102 -0.03655440 0.29452488
+v 0.10087484 0.06740256 0.29452488
+v 0.05709667 0.04896158 0.29462301
+v 0.07508922 0.09456662 0.29452488
+v 0.08807229 0.08253361 0.26534247
+v 0.10075552 0.06732284 0.28051533
+v 0.07490052 0.09433680 0.26535240
+f 7 1 3
+f 8 1 2
+f 8 3 1
+f 9 2 1
+f 9 1 5
+f 10 9 6
+f 10 2 9
+f 10 8 2
+f 10 3 8
+f 10 7 3
+f 12 5 1
+f 12 1 7
+f 12 4 5
+f 12 6 11
+f 12 10 6
+f 12 7 10
+f 13 12 11
+f 13 4 12
+f 14 9 5
+f 14 13 11
+f 15 14 11
+f 15 9 14
+f 15 11 6
+f 15 6 9
+f 16 14 5
+f 16 13 14
+f 16 5 4
+f 16 4 13
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_7/collision/model_normalized_collision_5.obj b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_7/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0289c15f33b300e60f3b90ac289bba6517328192
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_7/collision/model_normalized_collision_5.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.02679559 -0.04194743 0.34045397
+v 0.04194760 -0.02679542 0.34045397
+v 0.00468639 -0.01131349 0.50000000
+v -0.00865900 0.00865945 0.50000000
+v -0.03381197 0.03381198 0.34044859
+v 0.04194763 0.01866027 0.34044385
+v -0.03381200 -0.02679565 0.34043685
+v 0.01131363 -0.00468592 0.50000000
+v 0.02679582 0.03381217 0.34043685
+v -0.01866010 -0.04194745 0.34044385
+v -0.00680343 -0.01018195 0.50000000
+v -0.01705772 0.00185801 0.46002777
+v -0.00185772 0.01705790 0.46002777
+v 0.01018211 0.00680360 0.50000000
+v -0.01605909 -0.00625763 0.45981427
+v 0.00625876 0.01605924 0.45981436
+f 1 2 3
+f 8 3 2
+f 8 2 6
+f 8 4 3
+f 9 7 5
+f 9 6 2
+f 9 2 1
+f 9 1 7
+f 10 7 1
+f 10 1 3
+f 11 3 4
+f 11 10 3
+f 11 7 10
+f 12 4 5
+f 12 5 7
+f 12 11 4
+f 13 9 5
+f 13 5 4
+f 14 8 6
+f 14 6 9
+f 14 13 4
+f 14 4 8
+f 15 12 7
+f 15 7 11
+f 15 11 12
+f 16 14 9
+f 16 9 13
+f 16 13 14
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_7/collision/model_normalized_collision_6.obj b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_7/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c8eb9a06d38d640293f421c5db70b669be82ede
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_7/collision/model_normalized_collision_6.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.10528095 0.05851969 0.26494482
+v 0.09730537 0.05425661 0.23249337
+v 0.05062730 0.12222569 0.21969697
+v -0.04420100 0.12417509 0.22046097
+v -0.05307235 0.05233545 0.29462511
+v 0.09044277 0.08176199 0.22632464
+v -0.07591248 0.08180195 0.23249337
+v 0.04933421 0.11019503 0.26531937
+v -0.04420099 0.12417509 0.21969697
+v 0.08940298 0.08090866 0.26512511
+v -0.04515296 0.11216146 0.26528538
+v 0.05062730 0.12222569 0.22046097
+f 5 2 1
+f 6 1 2
+f 7 2 5
+f 9 6 2
+f 9 3 6
+f 9 7 4
+f 9 2 7
+f 10 1 6
+f 10 8 5
+f 10 5 1
+f 11 7 5
+f 11 4 7
+f 11 5 8
+f 12 11 8
+f 12 4 11
+f 12 9 4
+f 12 3 9
+f 12 8 10
+f 12 10 6
+f 12 6 3
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_7/collision/model_normalized_collision_7.obj b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_7/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..458c2e1ceabc53a7e6ab01851c4dc6e6f57f5f6f
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_7/collision/model_normalized_collision_7.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.01164973 -0.08746406 0.29459503
+v 0.01164351 -0.01164334 0.26515151
+v 0.02350586 -0.02137912 0.34281744
+v -0.07333385 -0.01105909 0.34051840
+v -0.09699802 -0.07165032 0.26491759
+v -0.01451924 -0.07299262 0.34051840
+v -0.05851951 -0.10528079 0.26494486
+v -0.07932876 -0.01164956 0.29461247
+v 0.01026567 -0.07341156 0.34051840
+v -0.04134729 -0.06188007 0.34051840
+v -0.06549465 -0.03458546 0.34051840
+f 1 2 3
+f 3 2 4
+f 7 5 2
+f 7 2 1
+f 8 5 4
+f 8 4 2
+f 8 2 5
+f 9 1 3
+f 9 3 6
+f 9 7 1
+f 9 6 7
+f 10 6 3
+f 10 7 6
+f 10 5 7
+f 11 10 3
+f 11 3 4
+f 11 4 5
+f 11 5 10
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_7/collision/model_normalized_collision_8.obj b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_7/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c3f7de6b0bed3a9bd89fef4e54fa4c5c77cc57f
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_7/collision/model_normalized_collision_8.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.06484732 -0.10189895 0.26498394
+v 0.10189909 -0.06484720 0.26498394
+v 0.04567388 -0.05832926 0.34051840
+v 0.01860820 0.07192187 0.29462511
+v 0.10528095 0.05851969 0.26494482
+v 0.01164973 -0.08746406 0.29459503
+v 0.05709715 -0.08739922 0.29456096
+v 0.07299278 0.01451939 0.34051840
+v 0.01164386 0.04896387 0.34045557
+v 0.08739939 -0.05709698 0.29456096
+v 0.01026567 -0.07341156 0.34051840
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\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_7/collision/model_normalized_collision_9.obj b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_7/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc9a29272c9d8221f12cd262831e90e8a8dcebe8
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_7/collision/model_normalized_collision_9.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
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+f 11 3 6
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+f 12 10 8
+f 12 8 5
+f 12 5 10
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_7/visual/material.mtl b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_7/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8345fe272159c2021ad4e0b09b7d457a41975b56
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_7/visual/material.mtl
@@ -0,0 +1,7 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 1.00000000 0.00000000 0.00000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 159.99998100
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_7/visual/model_normalized_0.obj b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_7/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2c5d6760094848ecbd054db56972078a1f1e97b8
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_7/visual/model_normalized_0.obj
@@ -0,0 +1,2104 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_9/collision/collision_mesh_collision_0.obj b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_9/collision/collision_mesh_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c07289eca568b59f3997e667510bfd6851a606f0
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_9/collision/collision_mesh_collision_0.obj
@@ -0,0 +1,1723 @@
+# https://github.com/mikedh/trimesh
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+v -0.00497233 -0.17512885 0.16579166
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+v -0.02499881 -0.17317422 0.16579166
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diff --git a/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_9/collision/collision_mesh_collision_1.obj b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_9/collision/collision_mesh_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..11556c029dcc5ce6aeff0cdf09b01c2bfbf80b1e
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_9/collision/collision_mesh_collision_1.obj
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diff --git a/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_9/collision/collision_mesh_collision_2.obj b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_9/collision/collision_mesh_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..604d3be4f2ded417c29e7919f76bdacf4d44c0d4
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_9/collision/collision_mesh_collision_2.obj
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+f 1021 1059 1035
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+f 1027 1031 1029
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+f 1031 1067 1033
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+f 1033 1093 1069
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+f 1057 1094 1071
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+f 1060 1070 1069
+f 1060 1069 1089
+f 1061 1089 1090
+f 1061 1090 1091
+f 1061 1091 1062
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+f 1062 1090 1065
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+f 1063 1065 1064
+f 1065 1090 1066
+f 1068 1090 1069
+f 1068 1069 1093
+f 1069 1090 1089
+f 1071 1094 1095
+f 1071 1095 1072
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+f 1086 1097 1087
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+f 1087 1098 1095
+f 1087 1095 1094
+f 1087 1094 1088
+f 1090 1092 1091
+f 1095 1098 1096
+
diff --git a/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_9/collision/model_normalized_collision_0.obj b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_9/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..35fa40ea505871e933447f1b1368669575d5059f
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_9/collision/model_normalized_collision_0.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.05124379 -0.07860514 0.33173873
+v 0.07860505 -0.05124387 0.33173873
+v 0.05578885 -0.05578875 0.37459370
+v -0.04883079 0.07686237 0.33382858
+v -0.04832904 -0.07910683 0.33246663
+v 0.05611997 0.05538545 0.37459370
+v 0.07910672 0.04832900 0.33246669
+v -0.03019286 -0.07289173 0.37459370
+v 0.05123337 0.07667607 0.33307201
+v 0.07289162 0.03019276 0.37459370
+v 0.03240599 -0.07170868 0.37459370
+v -0.06560073 -0.04383305 0.37459370
+v 0.04383313 0.06560083 0.37459370
+v 0.07170856 -0.03240611 0.37459370
+v -0.07667615 -0.05123337 0.33307189
+v -0.05538516 -0.05612005 0.37459370
+v -0.04303835 0.06602555 0.37459370
+v -0.07686245 0.04883066 0.33382854
+v -0.06602559 0.04303836 0.37459370
+f 1 2 3
+f 5 2 1
+f 7 2 5
+f 8 5 1
+f 8 3 6
+f 9 7 4
+f 9 6 7
+f 10 7 6
+f 10 6 3
+f 10 2 7
+f 11 8 1
+f 11 1 3
+f 11 3 8
+f 12 8 6
+f 13 6 9
+f 13 12 6
+f 14 10 3
+f 14 3 2
+f 14 2 10
+f 16 5 8
+f 16 8 12
+f 16 15 5
+f 16 12 15
+f 17 13 9
+f 17 9 4
+f 17 12 13
+f 18 5 15
+f 18 7 5
+f 18 4 7
+f 19 18 15
+f 19 15 12
+f 19 12 17
+f 19 17 4
+f 19 4 18
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_9/collision/model_normalized_collision_1.obj b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_9/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5c5f570f8d4ae69694ea95939c79b938af2a658d
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_9/collision/model_normalized_collision_1.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v 0.10890423 -0.13782570 0.26754683
+v 0.17676373 -0.03516035 0.20026284
+v 0.17676373 -0.03516035 0.26463214
+v 0.10924795 0.07683436 0.30070636
+v 0.13717677 0.09975494 0.14393940
+v 0.10775807 -0.03720435 0.31576816
+v 0.14680667 -0.10384045 0.20026284
+v 0.11233413 -0.12685349 0.14393940
+v 0.17679029 0.03488912 0.26463214
+v 0.14680667 -0.10384045 0.26463214
+v 0.16194701 -0.07750217 0.20026284
+v 0.10809324 0.03412305 0.31621642
+v 0.11127056 -0.14070906 0.20026284
+v 0.16167559 -0.05032700 0.14393940
+v 0.15835078 0.06128695 0.14393941
+v 0.16327023 0.07502642 0.26463214
+v 0.10865622 -0.07953172 0.29972671
+v 0.16194701 -0.07750217 0.26463214
+v 0.11798466 0.03252741 0.30918195
+v 0.12032423 -0.13327886 0.20026284
+v 0.14343035 -0.09085490 0.14393940
+v 0.17344009 0.04611649 0.20026284
+v 0.17344009 0.04611649 0.26463214
+v 0.13241995 0.05958244 0.29158116
+v 0.12032423 -0.13327886 0.26463214
+v 0.11884645 -0.07876041 0.29387097
+v 0.11764949 -0.03560873 0.30873370
+v 0.12030875 -0.12030887 0.14393940
+v 0.16327023 0.07502642 0.20026284
+v 0.11934810 0.07584552 0.29459891
+v 0.15105257 0.07659464 0.14393941
+f 8 4 5
+f 8 1 6
+f 9 3 2
+f 11 2 3
+f 11 10 7
+f 12 8 6
+f 12 4 8
+f 13 1 8
+f 14 2 11
+f 15 14 5
+f 15 2 14
+f 16 5 4
+f 17 6 1
+f 18 3 6
+f 18 11 3
+f 18 10 11
+f 19 12 6
+f 19 3 9
+f 20 7 10
+f 21 14 11
+f 21 11 7
+f 21 5 14
+f 22 9 2
+f 22 2 15
+f 23 22 16
+f 23 9 22
+f 23 19 9
+f 23 12 19
+f 24 23 16
+f 24 12 23
+f 25 17 1
+f 25 10 17
+f 25 20 10
+f 25 1 13
+f 25 13 20
+f 26 17 10
+f 26 10 18
+f 26 18 6
+f 26 6 17
+f 27 19 6
+f 27 6 3
+f 27 3 19
+f 28 7 20
+f 28 21 7
+f 28 8 5
+f 28 5 21
+f 28 20 13
+f 28 13 8
+f 29 22 15
+f 29 5 16
+f 29 16 22
+f 30 24 16
+f 30 16 4
+f 30 4 12
+f 30 12 24
+f 31 29 15
+f 31 15 5
+f 31 5 29
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_9/collision/model_normalized_collision_10.obj b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_9/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a7e8f0cb8d104fb22061c8157b0eb18900197c5
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_9/collision/model_normalized_collision_10.obj
@@ -0,0 +1,123 @@
+# https://github.com/mikedh/trimesh
+v -0.07800007 -0.15368184 0.27014464
+v -0.07659467 -0.15105264 0.14393940
+v -0.07420828 -0.06359054 0.32843684
+v -0.07611373 0.16212125 0.26502359
+v -0.17317208 0.04700068 0.20026284
+v -0.07634987 0.16256305 0.20026284
+v -0.07498787 -0.09184653 0.31213284
+v -0.15494081 -0.09061012 0.20026284
+v -0.17317208 0.04700068 0.26463214
+v -0.07480001 0.06089325 0.32941655
+v -0.14404639 0.08970253 0.14393941
+v -0.07692287 -0.13651502 0.28237178
+v -0.10193850 -0.14836770 0.20026284
+v -0.17228780 -0.04991545 0.26463214
+v -0.12743947 0.12743953 0.26463214
+v -0.07791798 0.15034532 0.14393941
+v -0.15719855 -0.06508578 0.14393940
+v -0.14552588 -0.10540130 0.26463214
+v -0.07848669 0.00417128 0.35606062
+v -0.07634735 0.11710378 0.29596085
+v -0.08813451 0.15626405 0.26463214
+v -0.12743947 0.12743953 0.20026284
+v -0.15626411 0.08813436 0.20026284
+v -0.15808266 0.06217104 0.14393941
+v -0.17228780 -0.04991545 0.20026284
+v -0.14272315 -0.09217830 0.14393940
+v -0.10193850 -0.14836770 0.26463214
+v -0.15494081 -0.09061012 0.26463214
+v -0.10251392 -0.10361435 0.29137944
+v -0.15965010 0.03234348 0.27806805
+v -0.15626411 0.08813436 0.26463214
+v -0.07834111 0.00564929 0.35606062
+v -0.07803059 -0.00880171 0.35606062
+v -0.08744908 0.11568844 0.29155428
+v -0.08970258 0.14404629 0.14393941
+v -0.08813451 0.15626405 0.20026284
+v -0.08837924 -0.14475359 0.14393940
+v -0.08996414 -0.13464044 0.27885981
+v -0.08782760 -0.08902968 0.30746939
+v -0.15931486 -0.03542480 0.27761970
+v -0.11672638 0.11672644 0.27641392
+v -0.07817617 -0.00732369 0.35606062
+f 6 3 2
+f 7 2 3
+f 10 6 4
+f 10 3 6
+f 12 1 2
+f 12 2 7
+f 13 2 1
+f 16 6 2
+f 18 8 13
+f 20 10 4
+f 21 4 6
+f 21 20 4
+f 22 15 21
+f 23 15 22
+f 23 22 11
+f 24 17 5
+f 24 11 16
+f 24 23 11
+f 24 5 23
+f 25 5 17
+f 25 14 9
+f 25 9 5
+f 25 17 8
+f 26 13 8
+f 26 8 17
+f 27 18 13
+f 27 13 1
+f 28 8 18
+f 28 25 8
+f 28 14 25
+f 29 27 7
+f 29 18 27
+f 30 19 9
+f 30 9 14
+f 31 15 23
+f 31 23 5
+f 31 5 9
+f 32 15 31
+f 32 31 9
+f 32 9 19
+f 33 32 19
+f 33 3 10
+f 33 10 32
+f 33 18 29
+f 33 28 18
+f 33 14 28
+f 34 10 20
+f 34 21 15
+f 34 20 21
+f 35 16 11
+f 35 11 22
+f 36 22 21
+f 36 21 6
+f 36 35 22
+f 36 6 16
+f 36 16 35
+f 37 2 13
+f 37 13 26
+f 37 16 2
+f 37 24 16
+f 37 26 17
+f 37 17 24
+f 38 27 1
+f 38 1 12
+f 38 12 7
+f 38 7 27
+f 39 29 7
+f 39 7 3
+f 39 33 29
+f 39 3 33
+f 40 30 14
+f 40 19 30
+f 41 32 10
+f 41 15 32
+f 41 34 15
+f 41 10 34
+f 42 33 19
+f 42 19 40
+f 42 40 14
+f 42 14 33
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_9/collision/model_normalized_collision_11.obj b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_9/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6100dfec69e889f2af2a1de4161041534ed8f699
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_9/collision/model_normalized_collision_11.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.03516044 -0.17676363 0.26463214
+v 0.12075558 -0.11976440 0.18939395
+v 0.10384036 -0.14680689 0.26463214
+v 0.06727328 -0.11055076 0.30381923
+v 0.01443553 -0.16872054 0.18939397
+v 0.10926803 -0.10926811 0.28461626
+v 0.07750212 -0.16194704 0.26463214
+v 0.01151278 -0.13904318 0.29577647
+v 0.07953165 -0.10865635 0.29972674
+v 0.07876037 -0.11884654 0.29387100
+v 0.05189085 -0.16683157 0.26826396
+v 0.07750212 -0.16194704 0.20026284
+v 0.00802960 -0.17943581 0.26463214
+v 0.06488526 -0.12123456 0.29733620
+v 0.03516044 -0.17676363 0.20026284
+v 0.10384036 -0.14680689 0.20026284
+v 0.00802960 -0.17943581 0.20026284
+f 5 4 2
+f 6 3 2
+f 8 4 5
+f 9 6 2
+f 9 2 4
+f 9 3 6
+f 10 7 3
+f 10 9 4
+f 10 3 9
+f 11 1 7
+f 11 8 1
+f 12 7 1
+f 12 5 2
+f 12 3 7
+f 13 1 8
+f 14 11 7
+f 14 4 8
+f 14 8 11
+f 14 10 4
+f 14 7 10
+f 15 12 1
+f 15 5 12
+f 15 1 13
+f 16 12 2
+f 16 2 3
+f 16 3 12
+f 17 13 8
+f 17 8 5
+f 17 15 13
+f 17 5 15
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_9/collision/model_normalized_collision_12.obj b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_9/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f9f067cf529b189fccc2201517ed1e0260899dfe
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_9/collision/model_normalized_collision_12.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.05324003 -0.17127922 0.20026284
+v 0.12075558 -0.11976441 0.14393941
+v 0.12075558 -0.11976440 0.18939395
+v -0.09975487 -0.13717685 0.18939396
+v -0.06128705 -0.15835090 0.14393940
+v 0.11127056 -0.14070906 0.20026284
+v 0.05032679 -0.16167566 0.14393940
+v -0.06420022 -0.16795452 0.20026284
+v -0.09975487 -0.13717686 0.14393941
+v 0.09558577 -0.15228123 0.20026284
+v -0.08132556 -0.15990341 0.20026284
+v 0.09085496 -0.14343045 0.14393940
+v -0.07659467 -0.15105264 0.14393940
+v 0.10490394 -0.13295131 0.14393940
+v 0.11071063 -0.12818587 0.14393941
+f 3 2 4
+f 6 3 4
+f 6 2 3
+f 8 1 6
+f 8 7 1
+f 8 5 7
+f 9 4 2
+f 10 6 1
+f 10 1 7
+f 11 8 6
+f 11 6 4
+f 11 4 9
+f 11 5 8
+f 12 10 7
+f 12 6 10
+f 12 7 5
+f 13 11 9
+f 13 5 11
+f 13 9 2
+f 14 6 12
+f 14 13 2
+f 14 12 5
+f 14 5 13
+f 15 14 2
+f 15 2 6
+f 15 6 14
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_9/collision/model_normalized_collision_13.obj b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_9/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d859ec717cbb9bd89eb6a07451205b1f274406d6
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_9/collision/model_normalized_collision_13.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.10484133 0.13300260 0.18939395
+v 0.10007624 0.11204487 -0.50000001
+v 0.09217812 0.14272303 -0.50000001
+v 0.06860892 0.15532118 0.18939395
+v 0.06977321 0.11204487 -0.50000001
+v 0.09690895 0.15157383 0.20026284
+v 0.11227153 0.12690471 0.14393940
+v 0.06860885 0.15532104 -0.50000001
+f 5 1 4
+f 5 3 2
+f 6 4 1
+f 7 2 3
+f 7 6 1
+f 7 3 6
+f 7 5 2
+f 7 1 5
+f 8 5 4
+f 8 3 5
+f 8 6 3
+f 8 4 6
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_9/collision/model_normalized_collision_14.obj b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_9/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..11e8e0dd3f6852cfda3447be2f6b2f07469805d9
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_9/collision/model_normalized_collision_14.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.09336295 -0.08913282 0.30420496
+v 0.12999968 -0.07766908 0.28658683
+v 0.10202250 0.01983509 0.32392802
+v 0.08690764 0.10262027 0.29971631
+v 0.12629522 0.09082458 0.28347396
+v 0.06536723 -0.06536731 0.33289643
+v 0.08802006 0.05881316 0.32246227
+v 0.08838915 -0.06018199 0.32156079
+v 0.07444487 0.07314133 0.32355947
+v 0.10231924 -0.02040299 0.32364618
+v 0.06359050 0.07420825 0.32843697
+v 0.10406766 -0.06380812 0.30956335
+f 2 1 4
+f 5 3 2
+f 5 2 4
+f 6 4 1
+f 7 3 5
+f 8 6 1
+f 8 1 2
+f 9 7 5
+f 9 5 4
+f 10 2 3
+f 10 3 6
+f 10 6 8
+f 11 9 4
+f 11 4 6
+f 11 6 3
+f 11 3 7
+f 11 7 9
+f 12 10 8
+f 12 8 2
+f 12 2 10
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_9/collision/model_normalized_collision_15.obj b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_9/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6056f52febaad3d8abb2db249272cc652204c673
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_9/collision/model_normalized_collision_15.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.00852391 -0.16930278 0.14393940
+v 0.00852393 -0.16930294 -0.50000001
+v 0.00883438 0.16927218 0.14393941
+v -0.06217118 0.15808269 0.14393941
+v -0.06128710 -0.15835105 -0.50000001
+v -0.06128705 -0.15835090 0.14393940
+v 0.00883437 0.16927202 -0.50000001
+v -0.06217114 0.15808253 -0.50000001
+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 8 7 5
+f 8 5 4
+f 8 4 3
+f 8 3 7
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_9/collision/model_normalized_collision_16.obj b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_9/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..83a50628eb7682e62f88bbb6d28f0425e6752119
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_9/collision/model_normalized_collision_16.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.16930280 -0.00852400 0.14393941
+v 0.16930281 -0.00852400 -0.50000001
+v 0.15835078 0.06128695 0.14393941
+v 0.00916715 0.06659032 0.14393941
+v 0.00916715 -0.00916726 -0.50000001
+v 0.00916715 0.06659032 -0.50000001
+v 0.00916715 -0.00916726 0.14393941
+v 0.15835074 0.06128694 -0.50000001
+f 1 2 3
+f 6 4 3
+f 6 5 4
+f 6 2 5
+f 7 4 5
+f 7 1 3
+f 7 3 4
+f 7 5 2
+f 7 2 1
+f 8 6 3
+f 8 3 2
+f 8 2 6
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_9/collision/model_normalized_collision_17.obj b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_9/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f858612b93648362bcdba0f043abb96843ec02e7
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_9/collision/model_normalized_collision_17.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.12208801 -0.11814083 0.14393941
+v 0.10007624 -0.10007635 -0.50000001
+v 0.10007624 -0.00916726 -0.50000001
+v 0.00916715 -0.00916726 0.14393941
+v 0.00916715 -0.10007635 0.14393941
+v 0.00916715 -0.10007635 -0.50000001
+v 0.10007624 -0.00916726 0.14393941
+v 0.00916715 -0.00916726 -0.50000001
+f 1 2 3
+f 5 1 4
+f 6 3 2
+f 6 5 4
+f 6 2 1
+f 6 1 5
+f 7 1 3
+f 7 3 4
+f 7 4 1
+f 8 6 4
+f 8 4 3
+f 8 3 6
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_9/collision/model_normalized_collision_18.obj b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_9/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..09989c29558f9dfd15a27814f0893cc71a678587
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_9/collision/model_normalized_collision_18.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.06659043 -0.00916726 0.14393941
+v -0.06659043 -0.00916726 -0.50000001
+v -0.06659043 0.06659032 -0.50000001
+v -0.15808266 0.06217104 0.14393941
+v -0.16927231 -0.00883449 -0.50000001
+v -0.06659043 0.06659032 0.14393941
+v -0.16927229 -0.00883449 0.14393941
+v -0.15808261 0.06217103 -0.50000001
+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/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_9/collision/model_normalized_collision_19.obj b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_9/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4530ee2b13a6c7edb9676ff632777e953accd536
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_9/collision/model_normalized_collision_19.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.14522059 -0.08750587 0.14393941
+v -0.11204497 -0.06977332 -0.50000001
+v -0.11204497 -0.00916726 -0.50000001
+v -0.16927229 -0.00883449 0.14393941
+v -0.15719860 -0.06508579 -0.50000001
+v -0.15719855 -0.06508578 0.14393940
+v -0.16927231 -0.00883449 -0.50000001
+v -0.16869007 -0.01474610 0.14393941
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 5 3 2
+f 6 5 1
+f 7 4 3
+f 7 3 5
+f 8 5 6
+f 8 7 5
+f 8 4 7
+f 8 6 1
+f 8 1 4
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_9/collision/model_normalized_collision_2.obj b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_9/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a00ff25ec4f9efc99d8c22b1686e829171b4878e
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_9/collision/model_normalized_collision_2.obj
@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
+v 0.13651492 0.07692273 0.28237177
+v 0.15990331 0.08132545 0.20026284
+v 0.09060994 0.15494072 0.26463214
+v -0.04700085 0.17317192 0.26463214
+v -0.11617616 0.12370037 0.14393939
+v 0.00880165 0.07803060 0.35606062
+v 0.14836745 0.10193843 0.26463214
+v 0.06508577 0.15719856 0.14393941
+v 0.04991534 0.17228776 0.26463214
+v -0.07801739 0.07801747 0.31898434
+v 0.15368174 0.07799994 0.27014464
+v 0.09060994 0.15494072 0.20026284
+v 0.09184641 0.07498785 0.31213291
+v 0.13107897 0.10718514 0.14393940
+v -0.06217118 0.15808269 0.14393941
+v -0.03234351 0.15964997 0.27806804
+v 0.04991534 0.17228776 0.20026284
+v -0.00564944 0.07834104 0.35606062
+v -0.07611373 0.16212125 0.26502359
+v 0.13464039 0.08996389 0.27885981
+v 0.10540125 0.14552575 0.26463214
+v -0.06089338 0.07479993 0.32941657
+v 0.10484132 0.13300259 0.14393940
+v 0.14836745 0.10193843 0.20026284
+v -0.04700085 0.17317192 0.20026284
+v -0.00417157 0.07848659 0.35606062
+v -0.07634987 0.16256305 0.20026284
+v -0.07276283 0.10110373 0.30764422
+v 0.10361419 0.10251395 0.29137955
+v 0.06359050 0.07420825 0.32843697
+v 0.03542468 0.15931478 0.27761978
+v -0.07791798 0.15034532 0.14393941
+v -0.07503652 0.14495443 0.27725072
+v 0.08902953 0.08782764 0.30746951
+v 0.00732379 0.07817614 0.35606062
+f 9 6 3
+f 10 5 2
+f 11 1 2
+f 11 2 7
+f 12 9 3
+f 13 2 1
+f 14 2 5
+f 15 8 5
+f 16 9 4
+f 17 12 8
+f 17 9 12
+f 19 5 10
+f 19 18 4
+f 20 11 7
+f 20 1 11
+f 20 13 1
+f 21 12 3
+f 21 3 6
+f 22 10 2
+f 22 2 13
+f 22 18 10
+f 22 6 18
+f 23 8 12
+f 23 14 5
+f 23 5 8
+f 24 7 2
+f 24 2 14
+f 24 21 7
+f 24 12 21
+f 24 23 12
+f 24 14 23
+f 25 4 9
+f 25 9 17
+f 25 17 8
+f 25 8 15
+f 26 16 4
+f 26 4 18
+f 26 18 6
+f 27 5 19
+f 27 25 15
+f 27 19 4
+f 27 4 25
+f 28 10 18
+f 29 7 21
+f 29 20 7
+f 29 21 6
+f 30 22 13
+f 30 6 22
+f 31 9 16
+f 31 16 26
+f 32 27 15
+f 32 15 5
+f 32 5 27
+f 33 19 10
+f 33 10 28
+f 33 28 18
+f 33 18 19
+f 34 29 6
+f 34 6 30
+f 34 30 13
+f 34 13 20
+f 34 20 29
+f 35 31 26
+f 35 26 6
+f 35 6 9
+f 35 9 31
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_9/collision/model_normalized_collision_20.obj b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_9/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d9879870be22691a5b96c9fbb8b48d06507f7af6
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_9/collision/model_normalized_collision_20.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.08750593 0.14522053 0.14393940
+v 0.06977321 0.11204487 -0.50000001
+v 0.06508572 0.15719840 -0.50000001
+v 0.00883438 0.16927218 0.14393941
+v 0.00916715 0.11204487 -0.50000001
+v 0.06508577 0.15719856 0.14393941
+v 0.00883437 0.16927202 -0.50000001
+v 0.01474603 0.16868995 0.14393939
+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 3 5
+f 8 6 3
+f 8 4 6
+f 8 7 4
+f 8 3 7
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_9/collision/model_normalized_collision_21.obj b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_9/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a9b3f7c2106b723bc15bc8ad80408467aad1d815
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_9/collision/model_normalized_collision_21.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.09000630 -0.14388390 0.14393942
+v -0.06659043 -0.10007635 -0.50000001
+v -0.06659043 -0.00916726 0.14393941
+v -0.16869007 -0.01474610 0.14393941
+v -0.11204497 -0.10007635 -0.50000001
+v -0.12690487 -0.11227156 0.14393941
+v -0.06659043 -0.00916726 -0.50000001
+v -0.11204497 -0.00916726 -0.50000001
+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/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_9/collision/model_normalized_collision_22.obj b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_9/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..81339a7699a4f2fd6c8cc85b03359178c41987f8
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_9/collision/model_normalized_collision_22.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.14388404 0.09000604 0.14393940
+v 0.10007624 0.06659032 -0.50000001
+v 0.10007624 0.11204487 -0.50000001
+v 0.01474603 0.16868995 0.14393939
+v 0.00916715 0.06659032 0.14393941
+v 0.11227153 0.12690471 0.14393940
+v 0.00916715 0.11204487 -0.50000001
+v 0.00916715 0.06659032 -0.50000001
+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 3 2
+f 7 5 4
+f 7 4 3
+f 8 7 2
+f 8 2 5
+f 8 5 7
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_9/collision/model_normalized_collision_23.obj b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_9/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e3d1ad2bd4649923bbb90132b5401865f797ec6
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_9/collision/model_normalized_collision_23.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.06728562 -0.15602842 0.14393940
+v 0.10007624 -0.10007635 -0.50000001
+v 0.09085503 -0.14343058 -0.50000001
+v 0.12208801 -0.11814083 0.14393941
+v 0.06977321 -0.10007635 -0.50000001
+v 0.09085496 -0.14343045 0.14393940
+v 0.06728569 -0.15602855 -0.50000001
+v 0.10003342 -0.13694844 0.14393942
+f 3 2 4
+f 5 1 4
+f 5 4 2
+f 5 2 3
+f 7 5 3
+f 7 1 5
+f 7 6 1
+f 7 3 6
+f 8 6 3
+f 8 3 4
+f 8 4 1
+f 8 1 6
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_9/collision/model_normalized_collision_24.obj b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_9/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6a21cb1bc9c8b590ed3f4cd425ffbb6131f9e70f
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_9/collision/model_normalized_collision_24.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.15912215 -0.05874465 0.14393941
+v 0.16167564 -0.05032701 -0.50000001
+v 0.16167559 -0.05032700 0.14393940
+v 0.16930280 -0.00852400 0.14393941
+v 0.14553079 -0.00916726 -0.50000001
+v 0.16901166 -0.01147995 0.14393941
+v 0.14553079 -0.05462180 -0.50000001
+v 0.16930281 -0.00852400 -0.50000001
+f 1 2 3
+f 5 1 4
+f 6 3 2
+f 6 1 3
+f 6 4 1
+f 7 5 2
+f 7 2 1
+f 7 1 5
+f 8 5 4
+f 8 2 5
+f 8 6 2
+f 8 4 6
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_9/collision/model_normalized_collision_25.obj b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_9/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b45677a31deb08651b67e18e4314da0d495c5282
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_9/collision/model_normalized_collision_25.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.14038128 -0.09585028 0.14393940
+v 0.16039892 -0.05453584 -0.50000001
+v 0.15912215 -0.05874465 0.14393941
+v 0.16039887 -0.05453583 0.14393941
+v 0.14553079 -0.05462180 -0.50000001
+v 0.14343042 -0.09085494 -0.50000001
+v 0.14343035 -0.09085490 0.14393940
+v 0.14038136 -0.09585035 -0.50000001
+f 1 3 4
+f 3 2 4
+f 5 1 4
+f 5 4 2
+f 6 2 3
+f 6 5 2
+f 7 6 3
+f 7 3 1
+f 8 1 5
+f 8 5 6
+f 8 7 1
+f 8 6 7
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_9/collision/model_normalized_collision_26.obj b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_9/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..73190b53155f34182dd081370ff16f1e50ce9a28
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_9/collision/model_normalized_collision_26.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.00802960 -0.17943581 0.26463214
+v 0.01443553 -0.16872054 0.18939397
+v 0.01151278 -0.13904318 0.29577647
+v -0.09082476 -0.12629525 0.28347397
+v -0.07502655 -0.16327029 0.20026284
+v -0.09975487 -0.13717685 0.18939396
+v -0.04611658 -0.17344016 0.26463214
+v 0.00802960 -0.17943581 0.20026284
+v -0.07502655 -0.16327029 0.26463214
+v -0.04611658 -0.17344016 0.20026284
+f 1 2 3
+f 6 3 2
+f 6 4 3
+f 7 1 3
+f 7 3 4
+f 8 2 1
+f 8 1 7
+f 9 6 5
+f 9 4 6
+f 9 7 4
+f 9 5 7
+f 10 6 2
+f 10 5 6
+f 10 2 8
+f 10 8 7
+f 10 7 5
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_9/collision/model_normalized_collision_27.obj b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_9/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..93134e6c975f95a870717b56968e78f2efb83c73
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_9/collision/model_normalized_collision_27.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.02470194 -0.02809662 0.37459370
+v 0.00916715 -0.00916726 0.14393941
+v 0.00914847 0.08155217 0.34066521
+v -0.11617616 0.12370037 0.14393939
+v -0.11813025 -0.01275127 0.31194451
+v 0.00916715 0.08174184 0.14393941
+v -0.08174194 -0.00916726 0.14393941
+v -0.07282556 0.07282565 0.32469408
+v -0.08155224 -0.00914857 0.34066516
+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 5 4
+f 7 4 2
+f 8 1 3
+f 8 3 4
+f 8 4 5
+f 9 8 5
+f 9 5 1
+f 9 1 8
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_9/collision/model_normalized_collision_28.obj b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_9/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2574dda3350fbeae957ca9da16c20b92e157a93a
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_9/collision/model_normalized_collision_28.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.11920143 -0.12006978 0.27316748
+v 0.16872052 -0.01443591 0.14393941
+v 0.13904315 -0.01151289 0.29577656
+v -0.11813025 -0.01275127 0.31194451
+v -0.09975487 -0.13717686 0.14393941
+v -0.08174194 -0.00916726 0.14393941
+v 0.12075558 -0.11976441 0.14393941
+v -0.09082476 -0.12629525 0.28347397
+f 1 2 3
+f 1 3 4
+f 6 3 2
+f 6 4 3
+f 6 5 4
+f 7 2 1
+f 7 1 5
+f 7 6 2
+f 7 5 6
+f 8 5 1
+f 8 1 4
+f 8 4 5
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_9/collision/model_normalized_collision_29.obj b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_9/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..31f9fd55f0de2cdc2f7b01813fbd925ac5e54d9f
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_9/collision/model_normalized_collision_29.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.02470194 -0.02809662 0.37459370
+v 0.06977321 -0.00916726 0.26515153
+v 0.08690764 0.10262027 0.29971631
+v 0.01275114 0.11813017 0.31194453
+v 0.00916715 -0.00916726 0.26515153
+v 0.00914847 0.08155217 0.34066521
+v 0.07791557 -0.00996924 0.34343031
+v 0.06359050 0.07420825 0.32843697
+f 5 2 1
+f 5 3 2
+f 5 4 3
+f 6 3 4
+f 6 5 1
+f 6 4 5
+f 7 1 2
+f 7 2 3
+f 8 6 1
+f 8 3 6
+f 8 7 3
+f 8 1 7
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_9/collision/model_normalized_collision_3.obj b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_9/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b9ada53977897ec5d41c0ed0f7642700d425415
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_9/collision/model_normalized_collision_3.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.03516044 -0.17676363 0.26463214
+v 0.11920143 -0.12006978 0.27316748
+v 0.02040295 -0.10231927 0.32364612
+v -0.08155224 -0.00914857 0.34066516
+v 0.06977321 -0.00916726 0.26515153
+v -0.07502655 -0.16327029 0.26463214
+v 0.06357437 -0.14908520 0.27862605
+v 0.07791557 -0.00996924 0.34343031
+v -0.03488928 -0.17679036 0.26463214
+v -0.05881334 -0.08802009 0.32246219
+v -0.11813025 -0.01275127 0.31194451
+v 0.06018191 -0.08838927 0.32156080
+v 0.12999968 -0.07766908 0.28658683
+v -0.01983520 -0.10202255 0.32392792
+v -0.07314129 -0.07444500 0.32355934
+v 0.07667001 -0.06299888 0.32724320
+v -0.05958254 -0.13242004 0.29158115
+v -0.07217100 -0.10356569 0.30645045
+v 0.11055066 -0.06727336 0.30381922
+v 0.07480900 -0.07480908 0.32251278
+v 0.10583934 -0.09237149 0.29506329
+v 0.10926803 -0.10926811 0.28461626
+f 5 2 1
+f 6 5 1
+f 7 1 2
+f 7 3 1
+f 8 5 4
+f 9 6 1
+f 11 4 5
+f 11 5 6
+f 12 7 2
+f 12 3 7
+f 13 2 5
+f 13 5 8
+f 14 8 4
+f 14 3 8
+f 14 4 10
+f 14 9 1
+f 14 1 3
+f 15 10 4
+f 15 4 11
+f 16 8 3
+f 16 3 12
+f 17 14 10
+f 17 10 6
+f 17 6 9
+f 17 9 14
+f 18 15 11
+f 18 11 6
+f 18 6 10
+f 18 10 15
+f 19 13 8
+f 19 8 16
+f 20 16 12
+f 20 12 2
+f 21 2 13
+f 21 19 16
+f 21 13 19
+f 21 16 20
+f 22 21 20
+f 22 20 2
+f 22 2 21
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_9/collision/model_normalized_collision_30.obj b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_9/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d66106d33cc6a169e72ea45f5771dbe6ba29ff04
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_9/collision/model_normalized_collision_30.obj
@@ -0,0 +1,18 @@
+# https://github.com/mikedh/trimesh
+v -0.12690487 -0.11227156 0.14393941
+v -0.11204497 -0.10007635 -0.50000001
+v -0.11204497 -0.06977332 -0.50000001
+v -0.15532110 -0.06860894 0.14393941
+v -0.14272322 -0.09217833 -0.50000001
+v -0.14272315 -0.09217830 0.14393940
+v -0.15532117 -0.06860898 -0.50000001
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 5 3 2
+f 6 5 1
+f 6 1 4
+f 7 4 3
+f 7 3 5
+f 7 6 4
+f 7 5 6
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_9/collision/model_normalized_collision_31.obj b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_9/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8a5ded11f6b861e8a7a956872c14272539842c6c
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_9/collision/model_normalized_collision_31.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.13904315 -0.01151289 0.29577656
+v 0.16872052 -0.01443591 0.14393941
+v 0.13197764 0.09548798 0.27772982
+v 0.01275114 0.11813017 0.31194453
+v 0.00916715 -0.00916726 0.14393941
+v 0.12629522 0.09082458 0.28347396
+v 0.00916715 -0.00916726 0.26515153
+v 0.13717677 0.09975494 0.14393940
+v 0.00916715 0.08174184 0.14393941
+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 7 1 4
+f 8 3 2
+f 8 2 5
+f 8 4 3
+f 9 7 4
+f 9 5 7
+f 9 8 5
+f 9 4 8
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_9/collision/model_normalized_collision_4.obj b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_9/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b807cb210e3daceeb96c7f9768ff353113eac6d3
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_9/collision/model_normalized_collision_4.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.01144716 -0.07776992 0.34343031
+v 0.03947018 -0.03947029 0.37459370
+v -0.00684229 -0.00283416 0.50000002
+v -0.03628740 0.03628729 0.37459370
+v 0.03947018 0.03628729 0.37459370
+v -0.04252861 -0.06629795 0.34343031
+v 0.00283425 -0.00684222 0.50000002
+v 0.00283425 0.00684222 0.50000002
+v -0.03628740 -0.05462180 0.37459370
+v 0.00726366 0.00144479 0.50000002
+v -0.00523687 0.00523694 0.50000002
+v -0.00144486 -0.00726359 0.50000002
+v 0.00684213 -0.00283416 0.50000002
+f 5 2 1
+f 6 5 1
+f 6 4 5
+f 7 1 2
+f 8 5 4
+f 8 3 7
+f 9 3 4
+f 9 4 6
+f 9 6 1
+f 10 2 5
+f 10 8 7
+f 10 5 8
+f 11 8 4
+f 11 4 3
+f 11 3 8
+f 12 7 3
+f 12 3 9
+f 12 9 1
+f 12 1 7
+f 13 10 7
+f 13 7 2
+f 13 2 10
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_9/collision/model_normalized_collision_5.obj b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_9/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b892718595feed9a338790892686a492f9b65921
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_9/collision/model_normalized_collision_5.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.15719090 0.06511060 0.14393941
+v 0.15719090 0.06511044 -0.50000001
+v 0.15360427 0.09311004 0.20026284
+v 0.09741112 0.13910048 0.18939395
+v 0.10007624 0.06659032 -0.50000001
+v 0.10646467 0.13167016 -0.50000001
+v 0.15990331 0.08132545 0.20026284
+v 0.14475349 0.08837924 -0.50000001
+v 0.11283144 0.13942797 0.20026284
+v 0.09741104 0.13910037 -0.50000001
+f 5 2 1
+f 5 1 4
+f 6 2 5
+f 7 4 1
+f 7 1 2
+f 8 2 6
+f 8 7 2
+f 8 3 7
+f 9 8 6
+f 9 3 8
+f 9 7 3
+f 9 4 7
+f 10 6 5
+f 10 5 4
+f 10 9 6
+f 10 4 9
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_9/collision/model_normalized_collision_6.obj b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_9/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fc6e3bed0267477cf5ccd2ac48432126bdd8a5ac
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_9/collision/model_normalized_collision_6.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.06659043 0.06659032 0.14393941
+v -0.06659043 0.06659032 -0.50000001
+v -0.06613338 0.15664435 0.14393941
+v -0.15664438 0.06613324 0.14393941
+v -0.14404632 0.08970250 -0.50000001
+v -0.06613332 0.15664422 -0.50000001
+v -0.15664431 0.06613320 -0.50000001
+v -0.14404639 0.08970253 0.14393941
+v -0.08970251 0.14404616 -0.50000001
+v -0.08970258 0.14404629 0.14393941
+f 6 2 5
+f 6 1 2
+f 6 3 1
+f 7 5 2
+f 7 4 5
+f 7 2 1
+f 7 1 4
+f 8 5 4
+f 8 4 1
+f 9 6 5
+f 9 3 6
+f 10 3 9
+f 10 8 1
+f 10 1 3
+f 10 9 5
+f 10 5 8
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_9/collision/model_normalized_collision_7.obj b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_9/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cdd00a24b5608eba14b4e1d8bda8d95826744b8c
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_9/collision/model_normalized_collision_7.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.09585024 -0.14038150 0.14393940
+v 0.13295118 -0.10490410 -0.50000001
+v 0.16901166 -0.01147995 0.14393941
+v 0.10007624 -0.00916726 0.14393941
+v 0.10007624 -0.00916726 -0.50000001
+v 0.13295110 -0.10490404 0.14393940
+v 0.09585032 -0.14038160 -0.50000001
+v 0.14553079 -0.00916726 -0.50000001
+v 0.10490394 -0.13295131 0.14393940
+v 0.10490401 -0.13295141 -0.50000001
+f 1 3 4
+f 5 1 4
+f 6 2 3
+f 6 3 1
+f 7 5 2
+f 7 1 5
+f 8 3 2
+f 8 2 5
+f 8 5 4
+f 8 4 3
+f 9 6 1
+f 9 1 7
+f 10 9 7
+f 10 7 2
+f 10 2 6
+f 10 6 9
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_9/collision/model_normalized_collision_8.obj b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_9/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7b48034a2466cc90f6c10934d9d3d9ffa599676c
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_9/collision/model_normalized_collision_8.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v -0.06511071 -0.15719101 0.14393940
+v -0.06511071 -0.15719118 -0.50000001
+v -0.06659043 -0.10007635 -0.50000001
+v -0.13910049 -0.09741117 0.14393941
+v -0.09000630 -0.14388390 0.14393942
+v -0.13910056 -0.09741124 -0.50000001
+v -0.13167037 -0.10646495 -0.50000001
+v -0.13167029 -0.10646488 0.14393940
+v -0.08837931 -0.14475372 -0.50000001
+f 1 2 3
+f 1 3 4
+f 5 1 4
+f 6 3 2
+f 6 4 3
+f 7 4 6
+f 7 6 2
+f 8 7 5
+f 8 5 4
+f 8 4 7
+f 9 7 2
+f 9 5 7
+f 9 2 1
+f 9 1 5
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_9/collision/model_normalized_collision_9.obj b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_9/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0cb0d3e621003ff3d98f0bb4f0a63a3610a542fb
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_9/collision/model_normalized_collision_9.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.05032679 -0.16167566 0.14393940
+v 0.06728569 -0.15602855 -0.50000001
+v 0.10003342 -0.13694844 0.14393942
+v 0.00916715 -0.10007635 0.14393941
+v 0.00852393 -0.16930294 -0.50000001
+v 0.06977321 -0.10007635 -0.50000001
+v 0.06728562 -0.15602842 0.14393940
+v 0.05032684 -0.16167581 -0.50000001
+v 0.00852391 -0.16930278 0.14393940
+v 0.00916715 -0.10007635 -0.50000001
+f 6 3 2
+f 6 4 3
+f 6 2 5
+f 7 2 3
+f 8 5 2
+f 8 1 5
+f 8 7 1
+f 8 2 7
+f 9 5 1
+f 9 3 4
+f 9 7 3
+f 9 1 7
+f 10 6 5
+f 10 4 6
+f 10 9 4
+f 10 5 9
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_9/visual/material.mtl b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_9/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fbcf6b4b1af9257e08a0fd6e283841743ce8fad5
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_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 250.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_9/visual/model_normalized_0.obj b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_9/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e0b8f0c472759e0d8b3738f8daea69e8fcbecb59
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/ketchup/ketchup_9/visual/model_normalized_0.obj
@@ -0,0 +1,1996 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
+v 0.17676354 0.03516053 0.20026286
+v 0.16650756 0.06896981 0.20026286
+v 0.16650756 0.06896981 0.26463212
+v 0.17676354 0.03516053 0.26463212
+v 0.14985280 0.10012850 0.20026286
+v 0.14985280 0.10012850 0.26463212
+v 0.12743944 0.12743953 0.20026286
+v 0.12743944 0.12743953 0.26463212
+v 0.10012859 0.14985289 0.20026286
+v 0.10012859 0.14985289 0.26463212
+v 0.06896972 0.16650765 0.20026286
+v 0.06896972 0.16650765 0.26463212
+v 0.03516044 0.17676363 0.20026286
+v 0.03516044 0.17676363 0.26463212
+v 0.00000000 0.18022669 0.20026286
+v 0.00000000 0.18022669 0.26463212
+v -0.03516044 0.17676363 0.20026286
+v -0.03516044 0.17676363 0.26463212
+v -0.06896972 0.16650783 0.20026286
+v -0.06896972 0.16650783 0.26463212
+v -0.10012859 0.14985307 0.20026286
+v -0.10012859 0.14985307 0.26463212
+v -0.12743944 0.12743953 0.20026286
+v -0.12743944 0.12743953 0.26463212
+v -0.14985298 0.10012868 0.20026286
+v -0.14985298 0.10012868 0.26463212
+v -0.16650774 0.06896981 0.20026286
+v -0.16650774 0.06896981 0.26463212
+v -0.17676372 0.03516071 0.20026286
+v -0.17676372 0.03516071 0.26463212
+v -0.18022678 0.00000009 0.20026286
+v -0.18022678 0.00000009 0.26463212
+v -0.18022678 0.00000009 0.20026286
+v -0.17676372 -0.03516035 0.20026286
+v -0.17676372 -0.03516035 0.26463212
+v -0.18022678 0.00000009 0.26463212
+v -0.16650774 -0.06896963 0.20026286
+v -0.16650774 -0.06896963 0.26463212
+v -0.14985316 -0.10012850 0.20026286
+v -0.14985316 -0.10012850 0.26463212
+v -0.12743962 -0.12743935 0.20026286
+v -0.12743962 -0.12743935 0.26463212
+v -0.10012877 -0.14985289 0.20026286
+v -0.10012877 -0.14985289 0.26463212
+v -0.06896990 -0.16650765 0.20026286
+v -0.06896990 -0.16650765 0.26463212
+v -0.03516062 -0.17676363 0.20026286
+v -0.03516062 -0.17676363 0.26463212
+v -0.00000018 -0.18022669 0.20026286
+v -0.00000018 -0.18022669 0.26463212
+v 0.03516044 -0.17676363 0.20026286
+v 0.03516044 -0.17676363 0.26463212
+v 0.06896972 -0.16650765 0.20026286
+v 0.06896972 -0.16650765 0.26463212
+v 0.10012859 -0.14985307 0.20026286
+v 0.10012859 -0.14985307 0.26463212
+v 0.12743944 -0.12743953 0.20026286
+v 0.12743944 -0.12743953 0.26463212
+v 0.14985298 -0.10012850 0.20026286
+v 0.14985298 -0.10012850 0.26463212
+v 0.16650774 -0.06896963 0.20026286
+v 0.16650774 -0.06896963 0.26463212
+v 0.17676372 -0.03516035 0.20026286
+v 0.17676372 -0.03516035 0.26463212
+v 0.18022678 0.00000009 0.20026286
+v 0.18022678 0.00000009 0.26463212
+v 0.18022678 0.00000009 0.20026286
+v 0.18022678 0.00000009 0.26463212
+v 0.17676354 0.03516053 0.26463212
+v 0.16650756 0.06896981 0.26463212
+v 0.07289164 0.03019276 0.34343033
+v 0.07738145 0.01539218 0.34343033
+v 0.14985280 0.10012850 0.26463212
+v 0.06560075 0.04383305 0.34343033
+v 0.12743944 0.12743953 0.26463212
+v 0.05578884 0.05578893 0.34343033
+v 0.10012859 0.14985289 0.26463212
+v 0.04383314 0.06560084 0.34343033
+v 0.06896972 0.16650765 0.26463212
+v 0.03019267 0.07289173 0.34343033
+v 0.03516044 0.17676363 0.26463212
+v 0.01539209 0.07738154 0.34343033
+v 0.00000000 0.18022669 0.26463212
+v 0.00000000 0.07889743 0.34343033
+v -0.03516044 0.17676363 0.26463212
+v -0.01539209 0.07738154 0.34343033
+v -0.06896972 0.16650783 0.26463212
+v -0.03019267 0.07289173 0.34343033
+v -0.10012859 0.14985307 0.26463212
+v -0.04383296 0.06560084 0.34343033
+v -0.12743944 0.12743953 0.26463212
+v -0.05578884 0.05578893 0.34343033
+v -0.14985298 0.10012868 0.26463212
+v -0.06560075 0.04383305 0.34343033
+v -0.16650774 0.06896981 0.26463212
+v -0.07289164 0.03019276 0.34343033
+v -0.17676372 0.03516071 0.26463212
+v -0.07738145 0.01539218 0.34343033
+v -0.18022678 0.00000009 0.26463212
+v -0.07889752 0.00000009 0.34343033
+v -0.18022678 0.00000009 0.26463212
+v -0.17676372 -0.03516035 0.26463212
+v -0.07738145 -0.01539200 0.34343033
+v -0.07889752 0.00000009 0.34343033
+v -0.16650774 -0.06896963 0.26463212
+v -0.07289164 -0.03019258 0.34343033
+v -0.14985316 -0.10012850 0.26463212
+v -0.06560075 -0.04383305 0.34343033
+v -0.12743962 -0.12743935 0.26463212
+v -0.05578884 -0.05578875 0.34343033
+v -0.10012877 -0.14985289 0.26463212
+v -0.04383314 -0.06560066 0.34343033
+v -0.06896990 -0.16650765 0.26463212
+v -0.03019285 -0.07289173 0.34343033
+v -0.03516062 -0.17676363 0.26463212
+v -0.01539209 -0.07738136 0.34343033
+v -0.00000018 -0.18022669 0.26463212
+v 0.00000000 -0.07889743 0.34343033
+v 0.03516044 -0.17676363 0.26463212
+v 0.01539209 -0.07738136 0.34343033
+v 0.06896972 -0.16650765 0.26463212
+v 0.03019267 -0.07289173 0.34343033
+v 0.10012859 -0.14985307 0.26463212
+v 0.04383296 -0.06560084 0.34343033
+v 0.12743944 -0.12743953 0.26463212
+v 0.05578884 -0.05578893 0.34343033
+v 0.14985298 -0.10012850 0.26463212
+v 0.06560075 -0.04383305 0.34343033
+v 0.16650774 -0.06896963 0.26463212
+v 0.07289164 -0.03019276 0.34343033
+v 0.17676372 -0.03516035 0.26463212
+v 0.07738145 -0.01539200 0.34343033
+v 0.18022678 0.00000009 0.26463212
+v 0.07889752 0.00000009 0.34343033
+v 0.18022678 0.00000009 0.26463212
+v 0.07889752 0.00000009 0.34343033
+v 0.07738145 0.01539218 0.34343033
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+f 470/470/470 473/473/473 471/471/471
+f 472/472/472 408/408/408 411/411/411
+f 472/472/472 411/411/411 473/473/473
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_10/collision/collision_mesh_collision_0.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_10/collision/collision_mesh_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..428d0a3809626342e84646f1c770fed89c82f676
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_10/collision/collision_mesh_collision_0.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
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+v -0.10878656 -0.27220789 -0.47739035
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+v -0.17506793 -0.21448274 -0.43338341
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+v 0.17498234 -0.19585201 -0.40049788
+v 0.11433730 -0.23020086 -0.46103966
+v 0.11433730 -0.25495815 -0.44700900
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+v -0.01573247 -0.29940072 -0.46137112
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+v -0.17875326 -0.24486440 -0.34113452
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+v 0.31263950 -0.11131066 -0.12375122
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+
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_10/collision/collision_mesh_collision_1.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_10/collision/collision_mesh_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d9e46a2c92242347d8eaab5d4b12297f27dcc50
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_10/collision/collision_mesh_collision_1.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
+v 0.36656490 -0.02230220 -0.03690861
+v 0.36656490 0.00248112 -0.05097528
+v 0.35351339 0.12644136 0.22529384
+v 0.36385608 -0.03657007 -0.02840610
+v 0.32036749 -0.09918287 -0.13868868
+v 0.32642537 -0.08002815 -0.13868868
+v 0.28510380 0.21239762 0.31907153
+v 0.35351339 0.15118106 0.21122719
+v 0.33194146 -0.04730369 -0.13868868
+v -0.13658288 -0.04730369 -0.13868868
+v 0.02752130 0.30389521 0.48030668
+v 0.07711701 0.29477596 0.46423945
+v 0.35085383 0.11160628 0.23279606
+v 0.23969442 0.26427680 0.41053605
+v 0.23969442 0.23944983 0.42460275
+v 0.23737964 0.22444022 0.43166730
+v 0.35612369 -0.04909264 -0.02015367
+v 0.31056654 -0.11467245 -0.13562527
+v 0.31268436 -0.11118184 -0.13868868
+v -0.13658288 0.25459033 0.39346853
+v -0.13658288 -0.14176829 -0.13868868
+v 0.02752130 0.27911186 0.49437335
+v 0.14473858 0.27483588 0.48693365
+v 0.14473858 0.29957557 0.47286698
+v 0.19960415 0.29377243 0.46261394
+v -0.13658288 0.22985066 0.40753520
+v 0.34312144 0.09742568 0.23817265
+v 0.23063225 0.20960513 0.43591857
+v 0.19960415 0.26903275 0.47668061
+v 0.19797885 0.25345591 0.48280743
+v 0.19339854 0.23709367 0.48430786
+v 0.34410647 -0.05869180 -0.01296404
+v 0.29968208 -0.12261358 -0.12555981
+v 0.30869502 -0.11633049 -0.13868868
+v 0.25181016 -0.14185557 -0.13868868
+v -0.13658288 -0.09416512 -0.05460134
+v 0.02821082 0.26314235 0.50000000
+v 0.14464007 0.25908452 0.49274784
+v -0.13658288 0.21401203 0.41334939
+v 0.33115345 0.08533945 0.24092346
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+f 37 42 38
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+f 40 59 58
+f 41 44 59
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+f 45 58 52
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+
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_10/collision/collision_mesh_collision_2.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_10/collision/collision_mesh_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5cd4aaacd92fa87191df14f75e33f7e17bc3430e
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_10/collision/collision_mesh_collision_2.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v -0.16209984 -0.14185545 -0.15375116
+v -0.17896909 -0.13880748 -0.15375116
+v -0.10663231 -0.14185545 -0.15375116
+v -0.26059285 -0.05545714 0.01351860
+v -0.27591002 -0.05690297 0.00562799
+v -0.19456615 -0.13005432 -0.15375116
+v -0.28970057 -0.05365963 -0.00410935
+v -0.10663231 -0.04729014 -0.15375116
+v -0.10663231 0.01038688 0.12958334
+v -0.18695845 0.15493113 0.38448927
+v -0.30669707 0.10022393 0.28789923
+v -0.31242192 0.05239420 0.20345290
+v -0.32913852 0.05391819 0.20076674
+v -0.34420124 0.05970152 0.19573018
+v -0.20736438 -0.11633845 -0.15375116
+v -0.30066687 -0.04603969 -0.01474209
+v -0.22181648 -0.04729014 -0.15375116
+v -0.19843361 0.25735083 0.39831182
+v -0.10663231 0.25461549 0.39349911
+v -0.10663231 0.15512651 0.38476908
+v -0.19049513 0.16681041 0.39999068
+v -0.32290477 0.10620265 0.29321560
+v -0.33745861 0.11628440 0.29545408
+v -0.34906101 0.12929690 0.29439080
+v -0.35618529 0.06950974 0.18890284
+v -0.21606617 -0.09918383 -0.15375116
+v -0.30771482 -0.03474656 -0.02515098
+v -0.36386931 0.08213148 0.18090031
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+v -0.36654091 0.12124713 0.15840366
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+f 38 46 47
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+
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_10/collision/model_normalized_collision_0.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_10/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..94546409111dbe36fb5a2664dc3b7af5638a2491
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_10/collision/model_normalized_collision_0.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v 0.30065408 -0.11406316 -0.10357876
+v 0.34986596 -0.04640672 -0.07934009
+v 0.34563818 -0.04591172 0.00336685
+v -0.32497569 0.03681045 0.00961710
+v -0.22262548 -0.02018068 -0.09084342
+v 0.30767754 0.03640497 0.00890251
+v -0.25039807 -0.06315137 -0.00090493
+v 0.35120359 -0.05306359 -0.01716866
+v 0.35041016 -0.02084568 -0.09201599
+v -0.31918732 -0.00433332 0.00864521
+v 0.31940043 -0.06371345 -0.00336646
+v -0.18642225 -0.11742949 -0.10362126
+v 0.33715475 -0.07513444 -0.09634717
+v 0.36590967 0.00661554 -0.04360899
+v -0.31189612 -0.00487638 -0.03464504
+v 0.34314923 -0.05236365 -0.00178801
+v -0.18548594 -0.11198729 -0.09142751
+v -0.26043809 -0.07052690 -0.03717049
+v 0.34912867 -0.05790255 -0.06597174
+v 0.35270385 -0.01754476 -0.08619732
+v 0.35551941 -0.04494887 -0.01279590
+v 0.36490413 0.01308014 -0.03221355
+v -0.31505229 0.01469768 -0.02936202
+v -0.21280673 -0.09742669 -0.09757604
+v 0.31927502 -0.07840332 -0.03222778
+v 0.29862666 -0.11006233 -0.08989767
+v -0.26174100 -0.06559412 -0.01094152
+v 0.32828899 -0.07849555 -0.04490752
+f 10 6 4
+f 10 3 6
+f 10 7 3
+f 11 3 7
+f 12 9 1
+f 12 5 9
+f 13 8 1
+f 13 9 2
+f 13 1 9
+f 15 10 4
+f 16 3 11
+f 17 11 7
+f 17 7 12
+f 18 10 15
+f 19 13 2
+f 19 8 13
+f 19 2 14
+f 20 14 2
+f 20 2 9
+f 21 19 14
+f 21 8 19
+f 21 16 8
+f 21 3 16
+f 22 6 3
+f 22 21 14
+f 22 3 21
+f 22 14 4
+f 22 4 6
+f 23 15 4
+f 23 5 15
+f 23 9 5
+f 23 20 9
+f 23 4 14
+f 23 14 20
+f 24 15 5
+f 24 5 12
+f 24 18 15
+f 24 12 18
+f 25 16 11
+f 26 17 12
+f 26 12 1
+f 26 1 25
+f 26 25 11
+f 26 11 17
+f 27 18 12
+f 27 12 7
+f 27 7 10
+f 27 10 18
+f 28 25 1
+f 28 1 8
+f 28 8 16
+f 28 16 25
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_10/collision/model_normalized_collision_1.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_10/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e39eb7700734ba79a5bff42bb043a123e654c410
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_10/collision/model_normalized_collision_1.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.31771272 0.09311140 0.25592799
+v 0.32931838 0.11617855 0.25714516
+v 0.27224357 0.16215119 0.35226806
+v -0.17717096 0.22742061 0.34561358
+v -0.26808006 0.18752931 0.27529541
+v 0.27523203 0.22373591 0.33911848
+v -0.26808005 0.08652791 0.26382991
+v 0.27690960 0.16416646 0.34591953
+v 0.31210187 0.18009056 0.26218296
+v 0.32753223 0.14291415 0.25771389
+v 0.25905798 0.11727342 0.31426806
+v -0.27420048 0.15538187 0.35110119
+v 0.28002826 0.21825511 0.32945725
+v 0.28943300 0.18698985 0.31999521
+v 0.28407123 0.09893001 0.28021149
+v 0.26838452 0.15140598 0.34785230
+v -0.26808005 0.21072632 0.31618576
+v -0.26643055 0.12695176 0.33179843
+v 0.26733361 0.13093567 0.32739374
+v -0.26808046 0.11622787 0.31618317
+f 1 2 3
+f 6 4 3
+f 8 6 3
+f 8 3 2
+f 9 7 5
+f 10 2 1
+f 10 1 7
+f 10 7 9
+f 10 8 2
+f 12 3 4
+f 12 5 7
+f 13 10 9
+f 13 9 6
+f 13 6 10
+f 14 10 6
+f 14 6 8
+f 14 8 10
+f 15 11 7
+f 15 7 1
+f 16 1 3
+f 16 3 12
+f 17 12 4
+f 17 5 12
+f 17 4 6
+f 17 9 5
+f 17 6 9
+f 18 16 12
+f 18 11 16
+f 19 15 1
+f 19 11 15
+f 19 16 11
+f 19 1 16
+f 20 18 12
+f 20 12 7
+f 20 7 11
+f 20 11 18
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_10/collision/model_normalized_collision_10.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_10/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5bc0d4c7cfe9ed85a1d26f4fe2ac457ea5e1b26d
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_10/collision/model_normalized_collision_10.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v -0.17717096 -0.06090729 0.00393960
+v -0.29334751 -0.01817978 0.07393069
+v -0.32593324 0.00999106 0.08315462
+v -0.17717097 0.02902716 -0.00410294
+v -0.30046681 -0.03906948 -0.03251220
+v -0.20747399 -0.02101596 0.07425775
+v -0.26729996 -0.06609793 -0.03780649
+v -0.29892940 -0.03755882 0.01815916
+v -0.31189612 -0.00487638 -0.03464504
+v -0.17717095 -0.02295444 0.07084069
+v -0.20747398 -0.00994908 0.09376580
+v -0.28749797 -0.04710054 0.01402955
+v -0.22262555 -0.00154786 -0.05799864
+v -0.31226939 -0.00544257 0.07819756
+v -0.31102730 -0.02706778 -0.00872275
+v -0.32181952 0.00919092 0.00889825
+v -0.31031804 -0.01985547 -0.03434110
+v -0.28529966 -0.05420167 -0.03250864
+v -0.22262552 0.00583009 -0.04499326
+v -0.31028256 -0.02664832 0.00638039
+f 6 2 1
+f 10 1 4
+f 10 6 1
+f 11 2 6
+f 11 6 10
+f 11 10 4
+f 11 4 3
+f 12 7 1
+f 12 1 2
+f 13 4 1
+f 13 1 7
+f 14 3 8
+f 14 11 3
+f 14 2 11
+f 14 12 2
+f 14 8 12
+f 15 5 8
+f 16 3 4
+f 16 4 9
+f 16 15 3
+f 17 7 5
+f 17 5 15
+f 17 16 9
+f 17 15 16
+f 17 13 7
+f 17 9 13
+f 18 12 8
+f 18 8 5
+f 18 5 7
+f 18 7 12
+f 19 13 9
+f 19 9 4
+f 19 4 13
+f 20 15 8
+f 20 8 3
+f 20 3 15
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_10/collision/model_normalized_collision_11.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_10/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f3266881443df61891a643a23a701536ed4a78bc
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_10/collision/model_normalized_collision_11.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.27167743 -0.14550062 -0.16263536
+v 0.30038590 -0.12219918 -0.15763478
+v 0.29097877 -0.11867850 -0.10311927
+v -0.26476751 -0.02247758 -0.09489228
+v -0.22026317 -0.05342910 -0.14945171
+v 0.29252602 -0.02386964 -0.09734613
+v -0.17386962 -0.13976792 -0.13880224
+v 0.30219199 -0.12093302 -0.12921503
+v 0.29252604 -0.05356931 -0.14969906
+v -0.25738663 -0.04767164 -0.09056340
+v 0.25945495 -0.14002904 -0.13732558
+v -0.18619210 -0.14732293 -0.16442785
+v 0.29529546 -0.12819860 -0.15954340
+v 0.29617983 -0.12577178 -0.13118761
+v -0.19849493 -0.11195342 -0.10630178
+v 0.27019906 -0.14219845 -0.14840360
+v -0.20844698 -0.12075422 -0.16119563
+v -0.24163523 -0.07309140 -0.09274611
+v -0.18351150 -0.14255579 -0.15160974
+v 0.28532531 -0.12699048 -0.11811630
+v -0.19498811 -0.12821295 -0.13549093
+f 8 6 3
+f 8 2 6
+f 9 6 2
+f 9 5 4
+f 9 4 6
+f 10 6 4
+f 10 3 6
+f 11 3 7
+f 12 11 7
+f 12 1 11
+f 13 2 8
+f 13 9 2
+f 13 1 9
+f 14 8 3
+f 14 13 8
+f 14 1 13
+f 15 7 3
+f 16 11 1
+f 16 1 14
+f 17 9 1
+f 17 1 12
+f 17 5 9
+f 17 4 5
+f 17 10 4
+f 18 15 3
+f 18 3 10
+f 18 17 12
+f 18 10 17
+f 19 12 7
+f 19 7 15
+f 20 3 11
+f 20 11 16
+f 20 16 14
+f 20 14 3
+f 21 18 12
+f 21 15 18
+f 21 19 15
+f 21 12 19
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_10/collision/model_normalized_collision_12.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_10/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..08cfcb13ec6f733fff53dedc4f8f22ba2aa81c03
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_10/collision/model_normalized_collision_12.obj
@@ -0,0 +1,114 @@
+# https://github.com/mikedh/trimesh
+v 0.25264707 0.16698778 0.37762034
+v 0.24681706 0.17126897 0.38744876
+v 0.00464723 0.16349684 0.39950635
+v 0.02747247 0.30389522 0.48041862
+v 0.21538990 0.28223042 0.44222927
+v 0.15365533 0.24034204 0.49151859
+v 0.18646541 0.15699419 0.38804377
+v 0.23071859 0.20970544 0.43595789
+v 0.00464721 0.23955057 0.36699596
+v 0.03039244 0.22832288 0.49141382
+v 0.18536583 0.29535780 0.46536949
+v 0.21363192 0.17805166 0.41999543
+v 0.25063952 0.25183857 0.38865622
+v 0.01037597 0.29515769 0.46501674
+v 0.02747247 0.28650869 0.49028202
+v 0.19895801 0.26265956 0.47929534
+v 0.23697534 0.17657073 0.40222872
+v 0.19007034 0.21868434 0.47599981
+v 0.01168614 0.20360481 0.46188822
+v 0.24567854 0.18726081 0.40155896
+v 0.00464724 0.26449808 0.41097195
+v 0.02055966 0.26148170 0.49248535
+v 0.16700859 0.28641736 0.47496912
+v 0.19961281 0.28946855 0.46519643
+v 0.23045554 0.24635727 0.43672763
+v 0.15238859 0.25981657 0.49087112
+v 0.04534337 0.22638837 0.48957967
+v 0.19990760 0.23913291 0.47749649
+v 0.22125912 0.19265155 0.43172421
+v 0.00464722 0.17650220 0.42243147
+v 0.19268468 0.20565578 0.46165773
+v 0.01332114 0.21836945 0.47544442
+v 0.01981064 0.28909565 0.47969061
+v 0.18266298 0.29564392 0.46587384
+v 0.19751174 0.27172573 0.47578018
+v 0.24074137 0.26314950 0.40859447
+v 0.24376797 0.24693286 0.40973551
+v 0.01871910 0.25282969 0.49084070
+v 0.22963528 0.27173923 0.42373597
+f 7 3 1
+f 9 1 3
+f 12 7 1
+f 13 1 9
+f 13 9 4
+f 14 4 9
+f 15 4 14
+f 17 12 1
+f 17 1 2
+f 17 2 8
+f 20 1 13
+f 20 8 2
+f 20 2 1
+f 21 14 9
+f 22 10 6
+f 23 4 15
+f 24 5 11
+f 25 24 16
+f 25 16 8
+f 26 6 16
+f 26 22 6
+f 26 15 22
+f 26 23 15
+f 27 18 6
+f 27 6 10
+f 27 10 19
+f 28 16 6
+f 28 6 18
+f 28 18 8
+f 28 8 16
+f 29 17 8
+f 29 8 18
+f 29 12 17
+f 30 3 7
+f 30 7 12
+f 30 14 21
+f 30 21 9
+f 30 9 3
+f 31 27 19
+f 31 18 27
+f 31 29 18
+f 31 12 29
+f 31 30 12
+f 31 19 30
+f 32 19 10
+f 32 30 19
+f 32 14 30
+f 33 22 15
+f 33 15 14
+f 33 14 22
+f 34 4 23
+f 34 11 5
+f 34 24 11
+f 35 16 24
+f 35 26 16
+f 35 23 26
+f 35 34 23
+f 35 24 34
+f 36 13 4
+f 37 20 13
+f 37 36 25
+f 37 13 36
+f 37 25 8
+f 37 8 20
+f 38 32 10
+f 38 10 22
+f 38 22 14
+f 38 14 32
+f 39 25 36
+f 39 5 24
+f 39 24 25
+f 39 34 5
+f 39 36 4
+f 39 4 34
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_10/collision/model_normalized_collision_13.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_10/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c6b91d31235231955a570807e9b8499ac9afbd9e
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_10/collision/model_normalized_collision_13.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.24574766 -0.17169065 -0.23495157
+v 0.30038590 -0.12219918 -0.15763478
+v 0.25890212 -0.15080828 -0.16115700
+v 0.24707148 -0.10083857 -0.23302257
+v 0.23985000 -0.14155067 -0.29276846
+v 0.26951743 -0.14421633 -0.15455266
+v 0.24155715 -0.17033707 -0.26416511
+v 0.28206631 -0.09794296 -0.22791840
+v 0.27901568 -0.14101131 -0.16014255
+v 0.29529546 -0.12819860 -0.15954340
+v 0.24549951 -0.13010308 -0.28460838
+v 0.29422820 -0.12207618 -0.18403579
+v 0.25169783 -0.16511590 -0.23274646
+v 0.27199561 -0.13414707 -0.22667022
+v 0.28954997 -0.12884471 -0.18577390
+f 1 3 4
+f 6 2 4
+f 6 4 3
+f 7 1 4
+f 7 4 5
+f 8 4 2
+f 9 6 3
+f 9 3 1
+f 10 7 2
+f 10 9 1
+f 10 2 6
+f 10 6 9
+f 11 8 5
+f 11 5 4
+f 11 4 8
+f 12 8 2
+f 13 10 1
+f 13 1 7
+f 13 7 10
+f 14 12 7
+f 14 7 5
+f 14 5 8
+f 14 8 12
+f 15 12 2
+f 15 2 7
+f 15 7 12
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_10/collision/model_normalized_collision_14.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_10/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..989f1b174da9ab548b15c14cd6530cabe0d01269
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_10/collision/model_normalized_collision_14.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v 0.33139807 -0.01084354 0.07650159
+v 0.35423973 0.02548562 0.08102003
+v 0.32890284 0.02363639 0.13451794
+v -0.36319942 0.11475261 0.14700900
+v -0.34019316 0.04378470 0.08599180
+v 0.33798057 0.11337391 0.14457895
+v 0.34334336 0.00145794 0.07783552
+v -0.29499633 -0.00244051 0.10348046
+v 0.35070330 0.05565751 0.12623684
+v -0.34481097 0.04701606 0.14340895
+v 0.35400764 0.08313361 0.09127298
+v 0.33911347 0.00498772 0.09061137
+v -0.30674586 -0.00925399 0.07790881
+v 0.30444811 -0.00419702 0.10332987
+v 0.35219571 0.03013256 0.09335499
+v -0.35961496 0.08602849 0.14716563
+v -0.32076365 0.02339331 0.13778282
+v -0.34784277 0.08507875 0.09470167
+v 0.35213189 0.07041489 0.12658649
+v 0.33693863 0.02195426 0.11969286
+v -0.32961847 0.01644875 0.08241025
+v 0.32692761 0.01179134 0.11731640
+v -0.30436610 -0.00483474 0.09115915
+v -0.32842190 0.02422285 0.12436046
+v 0.35034089 0.10692048 0.13320323
+v 0.32817522 -0.00544863 0.08830822
+f 9 6 3
+f 10 3 6
+f 11 4 6
+f 11 2 5
+f 12 3 1
+f 12 1 7
+f 13 5 2
+f 13 2 7
+f 13 7 1
+f 14 13 1
+f 14 8 13
+f 15 7 2
+f 15 2 9
+f 16 10 6
+f 16 6 4
+f 16 5 10
+f 17 3 10
+f 17 14 3
+f 17 8 14
+f 18 11 5
+f 18 4 11
+f 18 16 4
+f 18 5 16
+f 19 9 2
+f 19 2 11
+f 20 12 7
+f 20 3 12
+f 20 7 15
+f 20 15 9
+f 20 9 3
+f 21 10 5
+f 21 5 13
+f 22 1 3
+f 22 3 14
+f 23 17 13
+f 23 13 8
+f 23 8 17
+f 24 17 10
+f 24 13 17
+f 24 21 13
+f 24 10 21
+f 25 19 11
+f 25 11 6
+f 25 6 9
+f 25 9 19
+f 26 22 14
+f 26 14 1
+f 26 1 22
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_10/collision/model_normalized_collision_15.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_10/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9f3fa2e66bf2017e4d4f6c116a6a939386165cab
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_10/collision/model_normalized_collision_15.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.35694530 0.00957783 0.05138476
+v 0.35114720 0.01540731 0.07786914
+v -0.32961847 0.01644875 0.08241025
+v -0.34605054 0.08161560 0.08859704
+v 0.35457807 0.07946627 0.08480839
+v -0.32853393 0.01227219 0.05475255
+v -0.34425831 0.07090282 0.08660513
+v -0.33880458 0.06761413 0.06391607
+v 0.35658915 0.06653708 0.06201750
+f 1 2 3
+f 5 2 1
+f 5 3 2
+f 5 4 3
+f 6 1 3
+f 7 6 3
+f 7 3 4
+f 8 1 6
+f 8 7 4
+f 8 6 7
+f 9 5 1
+f 9 1 8
+f 9 8 4
+f 9 4 5
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_10/collision/model_normalized_collision_16.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_10/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..561f785893cb1045f643f6ae0a8115ac84226ead
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_10/collision/model_normalized_collision_16.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.17559852 -0.23771596 -0.35729102
+v 0.25287740 -0.16278331 -0.23600802
+v 0.17131390 -0.18708395 -0.21847744
+v 0.17131390 -0.12403557 -0.27391293
+v 0.21574695 -0.16420311 -0.34471813
+v 0.17131390 -0.16761586 -0.35073377
+v 0.19205424 -0.21421179 -0.27166603
+v 0.21178256 -0.19641419 -0.33513024
+v 0.24707148 -0.12403557 -0.27391293
+v 0.17131370 -0.21853409 -0.27391589
+v 0.21304410 -0.16939455 -0.34903957
+v 0.20123618 -0.22008098 -0.32150840
+v 0.22482033 -0.18782235 -0.23926553
+v 0.24549951 -0.13010308 -0.28460838
+v 0.19853291 -0.19975930 -0.24415203
+v 0.19961168 -0.21022088 -0.34754040
+v 0.23840587 -0.17748744 -0.23552302
+v 0.20272839 -0.21774040 -0.31291805
+v 0.18944373 -0.22338001 -0.35256469
+f 3 2 4
+f 6 4 5
+f 9 5 4
+f 9 4 2
+f 10 6 1
+f 10 3 4
+f 10 4 6
+f 10 1 7
+f 11 6 5
+f 11 1 6
+f 12 7 1
+f 12 8 2
+f 14 2 8
+f 14 9 2
+f 14 5 9
+f 14 11 5
+f 14 8 11
+f 15 10 7
+f 15 3 10
+f 15 13 3
+f 15 7 13
+f 16 11 8
+f 16 8 12
+f 17 2 3
+f 17 3 13
+f 17 12 2
+f 18 13 7
+f 18 7 12
+f 18 17 13
+f 18 12 17
+f 19 1 11
+f 19 11 16
+f 19 16 12
+f 19 12 1
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_10/collision/model_normalized_collision_17.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_10/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cb3bb5b3a9cf4ac64112ab06179570cdc3e2d3e2
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_10/collision/model_normalized_collision_17.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v -0.26808005 0.08652791 0.26382991
+v -0.26808005 0.09953328 0.28675502
+v -0.35914960 0.18340490 0.26802506
+v -0.25957393 0.22939164 0.34908805
+v -0.26032379 0.15159222 0.35773349
+v -0.26808006 0.18752931 0.27529541
+v -0.33782500 0.09430218 0.25901264
+v -0.35668504 0.14503418 0.28966829
+v -0.32347214 0.10166783 0.28519106
+v -0.26029961 0.20284407 0.36300992
+v -0.35862880 0.13134378 0.26314212
+v -0.26808046 0.11622787 0.31618317
+v -0.34542150 0.12521585 0.29479467
+v -0.33261117 0.13688024 0.30772205
+v -0.35785074 0.16642884 0.28015673
+v -0.34943051 0.10740041 0.25993753
+v -0.29604436 0.11700244 0.31284021
+v -0.33547893 0.11491627 0.29523868
+v -0.27159017 0.15350435 0.35182611
+v -0.26861374 0.20048250 0.35586220
+v -0.35908905 0.18382814 0.26896744
+v -0.34119448 0.11433789 0.28574747
+v -0.35750593 0.13589174 0.27563758
+v -0.28693157 0.13943195 0.33629812
+v -0.32801998 0.16989005 0.30908247
+v -0.35538091 0.18560704 0.27190688
+f 5 2 1
+f 5 1 4
+f 6 4 1
+f 7 6 1
+f 7 3 6
+f 9 7 1
+f 9 1 2
+f 10 5 4
+f 12 9 2
+f 12 2 5
+f 14 10 8
+f 14 8 13
+f 16 11 3
+f 16 3 7
+f 17 12 5
+f 17 9 12
+f 18 7 9
+f 18 9 17
+f 18 17 5
+f 19 5 10
+f 19 10 14
+f 19 14 13
+f 20 10 4
+f 20 4 15
+f 20 8 10
+f 21 3 11
+f 21 11 8
+f 21 8 15
+f 22 16 7
+f 22 13 16
+f 22 18 13
+f 22 7 18
+f 23 16 13
+f 23 13 8
+f 23 8 11
+f 23 11 16
+f 24 18 5
+f 24 13 18
+f 24 19 13
+f 24 5 19
+f 25 20 15
+f 25 15 8
+f 25 8 20
+f 26 3 21
+f 26 6 3
+f 26 4 6
+f 26 21 15
+f 26 15 4
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_10/collision/model_normalized_collision_18.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_10/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2fdf89a03057e2dc21d7039c9c8d64a3bd7cf271
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_10/collision/model_normalized_collision_18.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v 0.07567786 -0.29167472 -0.41875021
+v 0.13844763 -0.21659707 -0.43707493
+v 0.14101087 -0.20469348 -0.41609204
+v -0.18493969 -0.20314288 -0.41335870
+v -0.10072985 -0.24788567 -0.49222855
+v 0.13403474 -0.25718797 -0.41370652
+v 0.05537208 -0.25542380 -0.49195272
+v -0.11056787 -0.29238189 -0.41967122
+v 0.06083200 -0.24780954 -0.49209451
+v 0.05493240 -0.28091860 -0.47602502
+v -0.14484702 -0.26694598 -0.43446160
+v -0.17583068 -0.24320251 -0.41196151
+v 0.09931045 -0.27702652 -0.43724567
+v -0.05400005 -0.29227662 -0.46579641
+v -0.02346707 -0.26918488 -0.48950204
+v 0.09759377 -0.25456391 -0.46013390
+v -0.13777526 -0.27899466 -0.41513788
+v -0.17292152 -0.21561783 -0.43534869
+v 0.10286207 -0.28216616 -0.41585649
+v 0.07210998 -0.29056744 -0.44351689
+v -0.10445337 -0.29406559 -0.45445982
+v 0.00300709 -0.26886381 -0.48893608
+v -0.10886669 -0.27124891 -0.47798902
+v 0.04862329 -0.29161038 -0.46533553
+v 0.06706610 -0.26954887 -0.47499182
+v 0.11439836 -0.23021895 -0.46108672
+v 0.12311692 -0.25332452 -0.43526616
+v -0.17512189 -0.23930179 -0.41936415
+v -0.13119570 -0.27712942 -0.43899179
+v -0.06887360 -0.28116918 -0.47561911
+v -0.12312179 -0.24037583 -0.47899063
+v 0.12451492 -0.22689282 -0.44962211
+v -0.18019061 -0.20864813 -0.42306298
+f 6 3 4
+f 6 2 3
+f 9 7 5
+f 9 3 2
+f 9 5 4
+f 9 4 3
+f 12 6 4
+f 15 5 7
+f 16 13 10
+f 17 12 11
+f 17 8 1
+f 17 6 12
+f 19 13 6
+f 19 17 1
+f 19 6 17
+f 20 10 13
+f 20 19 1
+f 20 13 19
+f 21 1 8
+f 21 8 17
+f 22 15 7
+f 22 7 10
+f 22 10 15
+f 23 5 15
+f 23 21 11
+f 24 15 10
+f 24 14 15
+f 24 10 20
+f 24 21 14
+f 24 20 1
+f 24 1 21
+f 25 16 10
+f 25 10 7
+f 26 9 2
+f 26 16 25
+f 26 25 7
+f 26 7 9
+f 27 6 13
+f 27 13 16
+f 27 16 26
+f 27 2 6
+f 28 12 4
+f 28 23 11
+f 28 11 12
+f 29 21 17
+f 29 17 11
+f 29 11 21
+f 30 23 15
+f 30 15 14
+f 30 14 21
+f 30 21 23
+f 31 5 23
+f 31 4 5
+f 31 28 18
+f 31 23 28
+f 32 27 26
+f 32 26 2
+f 32 2 27
+f 33 28 4
+f 33 18 28
+f 33 31 18
+f 33 4 31
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_10/collision/model_normalized_collision_19.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_10/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e3459687b5c476a108154c4c4b9a1d0da805105b
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_10/collision/model_normalized_collision_19.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.35562822 -0.03186857 0.00354022
+v 0.35108370 -0.02266039 0.02821849
+v 0.06525329 -0.05352935 0.01694495
+v 0.11070784 0.06329097 0.05629553
+v 0.35715959 0.06286973 0.05555290
+v 0.06525329 -0.03402130 0.05133262
+v 0.06525329 0.03271605 0.00239981
+v 0.33923343 -0.02541542 0.04522420
+v 0.35035681 -0.01175572 0.04571510
+v 0.36074664 0.03980861 0.01490198
+v 0.06525330 0.05222410 0.03678748
+f 6 5 4
+f 7 1 3
+f 7 3 6
+f 8 1 2
+f 8 3 1
+f 8 6 3
+f 8 5 6
+f 9 2 1
+f 9 1 5
+f 9 8 2
+f 9 5 8
+f 10 5 1
+f 10 1 7
+f 10 4 5
+f 11 7 6
+f 11 6 4
+f 11 10 7
+f 11 4 10
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_10/collision/model_normalized_collision_2.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_10/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e92f906f013a8f665e5b38ab9e44a4e64ffef2bd
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_10/collision/model_normalized_collision_2.obj
@@ -0,0 +1,105 @@
+# https://github.com/mikedh/trimesh
+v 0.06148487 -0.29533963 -0.41832719
+v 0.18252133 -0.23054784 -0.35492799
+v -0.17764437 -0.21626291 -0.29070019
+v -0.20324673 -0.12379136 -0.27348231
+v 0.14101087 -0.20100452 -0.40958935
+v 0.16975451 -0.22434144 -0.28500633
+v -0.18763385 -0.20001975 -0.40785345
+v 0.12707531 -0.26525970 -0.41075285
+v -0.19053004 -0.19634290 -0.28486278
+v 0.17131390 -0.12403557 -0.27391293
+v -0.14383985 -0.26072852 -0.35004124
+v -0.11056787 -0.29238189 -0.41967122
+v 0.10286207 -0.28216616 -0.41585649
+v -0.17817658 -0.24794457 -0.35840863
+v -0.19740119 -0.18869720 -0.38789485
+v 0.18313986 -0.22710767 -0.29772006
+v 0.17131390 -0.16761586 -0.35073377
+v -0.16673868 -0.23143034 -0.30574299
+v 0.06363479 -0.29250107 -0.40849976
+v 0.16064260 -0.24948512 -0.35611926
+v -0.19033416 -0.22546175 -0.33099370
+v -0.16309393 -0.26317565 -0.37354871
+v -0.19011050 -0.22773782 -0.38140937
+v -0.16759866 -0.24804061 -0.33519841
+v 0.12336107 -0.26016959 -0.34933791
+v 0.10781160 -0.27527780 -0.37926693
+v -0.11010928 -0.29005560 -0.40531629
+v 0.17593342 -0.23845205 -0.35389193
+v -0.18964476 -0.20877437 -0.30157811
+v -0.18931874 -0.21501891 -0.39479358
+v -0.17456675 -0.25200556 -0.39979273
+v -0.17833428 -0.23295029 -0.32011575
+v 0.17844696 -0.23019233 -0.30019338
+v -0.16229974 -0.26287054 -0.40909629
+v -0.17583068 -0.24320251 -0.41196151
+v 0.16287492 -0.24404169 -0.33064890
+f 8 5 2
+f 9 6 4
+f 9 3 6
+f 10 4 6
+f 12 7 5
+f 12 5 1
+f 13 1 5
+f 13 5 8
+f 15 4 10
+f 15 5 7
+f 16 10 6
+f 16 2 10
+f 17 10 2
+f 17 2 5
+f 17 15 10
+f 17 5 15
+f 18 11 6
+f 18 6 3
+f 20 13 8
+f 21 9 4
+f 21 4 15
+f 23 21 15
+f 23 14 21
+f 24 14 22
+f 24 22 11
+f 24 11 18
+f 25 6 11
+f 25 11 19
+f 26 19 1
+f 26 1 13
+f 26 25 19
+f 26 13 20
+f 27 12 1
+f 27 1 19
+f 27 19 11
+f 27 22 12
+f 27 11 22
+f 28 20 8
+f 28 8 2
+f 28 2 16
+f 28 16 20
+f 29 3 9
+f 29 9 21
+f 30 23 15
+f 30 15 7
+f 31 22 14
+f 31 14 23
+f 32 21 14
+f 32 14 24
+f 32 29 21
+f 32 3 29
+f 32 24 18
+f 32 18 3
+f 33 16 6
+f 33 6 25
+f 33 25 26
+f 33 20 16
+f 34 12 22
+f 34 22 31
+f 35 31 23
+f 35 23 30
+f 35 30 7
+f 35 34 31
+f 35 7 12
+f 35 12 34
+f 36 33 26
+f 36 26 20
+f 36 20 33
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_10/collision/model_normalized_collision_20.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_10/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..02bcfe7b18b7e47521c45396d8179f4a61d5c2fa
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_10/collision/model_normalized_collision_20.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.17717095 0.02343958 0.15262139
+v -0.17717096 0.04294763 0.18700906
+v -0.34285285 0.05526189 0.18476079
+v -0.36433141 0.13997506 0.19146961
+v -0.17717094 0.12919315 0.17246385
+v -0.35676200 0.07370723 0.14639770
+v -0.20747399 0.14026004 0.19197190
+v -0.34481097 0.04701606 0.14340895
+v -0.35970733 0.07523565 0.18533473
+v -0.17717095 0.10968510 0.13807618
+v -0.36499165 0.11821575 0.15311362
+v -0.36587779 0.12701460 0.16862371
+f 1 2 3
+f 3 2 4
+f 5 2 1
+f 7 4 2
+f 7 2 5
+f 8 1 3
+f 9 3 4
+f 9 8 3
+f 9 6 8
+f 10 5 1
+f 10 8 6
+f 10 1 8
+f 10 7 5
+f 10 4 7
+f 11 6 9
+f 11 10 6
+f 11 4 10
+f 12 11 9
+f 12 9 4
+f 12 4 11
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_10/collision/model_normalized_collision_21.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_10/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b9924cedc5bf1c1369598db4a0e739ef5c35c50
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_10/collision/model_normalized_collision_21.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.29097877 -0.11867850 -0.10311927
+v 0.34881636 -0.02313937 -0.09605916
+v 0.33715475 -0.07513444 -0.09634717
+v 0.29252602 -0.02386964 -0.09734613
+v 0.28449969 -0.11054949 -0.21578024
+v 0.29088015 -0.09019127 -0.21425418
+v 0.30638835 -0.11501735 -0.15580773
+v 0.31975619 -0.09102089 -0.15385050
+v 0.30863086 -0.10985813 -0.10313595
+v 0.28584047 -0.12501584 -0.20188227
+v 0.32012559 -0.06442918 -0.16884229
+v 0.33384895 -0.06405464 -0.12303726
+v 0.30300167 -0.10430839 -0.18140573
+v 0.33391636 -0.07641827 -0.10949381
+v 0.28975004 -0.12012740 -0.19740406
+f 1 3 4
+f 3 2 4
+f 5 1 4
+f 6 5 4
+f 6 4 2
+f 8 3 7
+f 9 7 3
+f 9 3 1
+f 9 1 7
+f 10 7 1
+f 10 1 5
+f 10 8 7
+f 11 6 2
+f 12 2 3
+f 12 11 2
+f 12 8 11
+f 13 8 10
+f 13 11 8
+f 13 5 6
+f 13 6 11
+f 14 12 3
+f 14 3 8
+f 14 8 12
+f 15 13 10
+f 15 10 5
+f 15 5 13
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_10/collision/model_normalized_collision_22.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_10/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..85d7a328a2b9f2f75853ec3401f118ce58f43e1f
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_10/collision/model_normalized_collision_22.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.13915768 -0.25929509 -0.35703620
+v 0.21340445 -0.16690595 -0.34948255
+v 0.20441647 -0.19931843 -0.34888409
+v 0.14101086 -0.16761585 -0.35073378
+v 0.13104200 -0.22969842 -0.43941622
+v 0.13844763 -0.21659707 -0.43707493
+v 0.13403474 -0.25718797 -0.41370652
+v 0.17481643 -0.19599722 -0.40076281
+v 0.18944373 -0.22338001 -0.35256469
+v 0.20871661 -0.17141840 -0.35743685
+v 0.15275314 -0.23776605 -0.40452654
+v 0.16064260 -0.24948512 -0.35611926
+v 0.18341400 -0.18978959 -0.38982040
+v 0.14124588 -0.25224941 -0.40855519
+v 0.13757927 -0.22599565 -0.43288914
+v 0.17107783 -0.23535263 -0.37877042
+v 0.18447517 -0.22538037 -0.36269927
+v 0.15646379 -0.24917572 -0.38006235
+f 1 3 4
+f 3 2 4
+f 5 1 4
+f 6 5 4
+f 7 1 5
+f 9 3 1
+f 10 2 3
+f 10 8 6
+f 10 6 4
+f 10 4 2
+f 12 9 1
+f 12 1 7
+f 13 10 3
+f 13 3 8
+f 13 8 10
+f 14 7 5
+f 14 5 11
+f 15 11 5
+f 15 8 11
+f 15 5 6
+f 15 6 8
+f 16 11 8
+f 16 8 3
+f 16 14 11
+f 17 16 3
+f 17 3 9
+f 17 9 16
+f 18 16 9
+f 18 9 12
+f 18 12 7
+f 18 7 14
+f 18 14 16
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_10/collision/model_normalized_collision_23.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_10/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..755f54ea68e4564b2bad546b876949a971656c34
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_10/collision/model_normalized_collision_23.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v -0.22104522 -0.08555470 -0.04317602
+v -0.21939923 -0.09319282 -0.09783740
+v -0.22262549 0.01320803 -0.03198787
+v -0.31353462 0.01320803 -0.03198789
+v -0.28529966 -0.05420167 -0.03250864
+v -0.22262548 -0.02018068 -0.09084342
+v -0.24550318 -0.07785347 -0.04182164
+v -0.27482772 -0.01664904 -0.08461809
+v -0.23864340 -0.08204294 -0.07818311
+v -0.30494181 -0.03184849 -0.03239513
+v -0.26744682 -0.03038043 -0.08679200
+v -0.30426824 0.00040779 -0.05455140
+v -0.28243676 -0.05133627 -0.04648159
+v -0.25302004 -0.05826298 -0.08887472
+v -0.31156233 0.00692084 -0.04307058
+v -0.29947475 -0.02856123 -0.04405840
+v -0.26507155 -0.05640035 -0.07174416
+v -0.28032192 -0.02942394 -0.06995403
+v -0.22715563 -0.08697569 -0.09412293
+v -0.29688741 -0.01486662 -0.05584996
+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 9 7 5
+f 9 5 2
+f 9 2 7
+f 10 5 4
+f 11 8 6
+f 11 6 2
+f 12 3 6
+f 12 6 8
+f 13 2 5
+f 13 5 10
+f 14 11 2
+f 15 12 10
+f 15 10 4
+f 15 4 3
+f 15 3 12
+f 16 10 12
+f 16 14 10
+f 17 13 10
+f 17 10 14
+f 18 11 14
+f 18 14 16
+f 18 8 11
+f 19 17 14
+f 19 14 2
+f 19 2 13
+f 19 13 17
+f 20 18 16
+f 20 16 12
+f 20 12 8
+f 20 8 18
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_10/collision/model_normalized_collision_24.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_10/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7718beb8d4a9f83970060b75c519ba48e7a5a53d
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_10/collision/model_normalized_collision_24.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.32950926 0.06851481 0.21175177
+v 0.35238118 0.11697244 0.21894896
+v 0.31409013 0.08427356 0.24939621
+v -0.35914960 0.18340490 0.26802506
+v -0.35742494 0.09113418 0.21463064
+v 0.31210187 0.18009056 0.26218296
+v 0.34023255 0.09448868 0.23889972
+v 0.35355172 0.14275888 0.21609143
+v -0.33689744 0.06555785 0.21261107
+v 0.33984399 0.08084387 0.21355056
+v 0.32658405 0.07356307 0.22415975
+v 0.32560541 0.09306145 0.25004421
+v -0.36190779 0.16028798 0.22727598
+v 0.35158917 0.11548916 0.23088650
+v -0.33259448 0.08794372 0.25367004
+v -0.35647326 0.12183209 0.25979674
+v 0.34440319 0.15759203 0.22252391
+v 0.35030290 0.13851905 0.22376927
+v -0.33371854 0.07089984 0.22451693
+v -0.34307220 0.09760481 0.25646874
+v 0.32069136 0.16906380 0.25449838
+v -0.35379121 0.09263925 0.22868280
+f 9 8 1
+f 9 5 8
+f 10 7 1
+f 10 8 2
+f 10 1 8
+f 11 7 3
+f 11 1 7
+f 11 9 1
+f 11 3 9
+f 12 6 3
+f 12 3 7
+f 13 8 5
+f 14 2 8
+f 14 10 2
+f 14 7 10
+f 14 12 7
+f 14 6 12
+f 16 13 5
+f 16 4 13
+f 17 6 8
+f 17 8 13
+f 17 13 4
+f 17 4 6
+f 18 14 8
+f 19 15 9
+f 19 9 3
+f 19 3 15
+f 20 9 15
+f 20 15 3
+f 20 4 16
+f 20 6 4
+f 20 3 6
+f 21 6 14
+f 21 14 18
+f 21 18 8
+f 21 8 6
+f 22 5 9
+f 22 9 20
+f 22 20 16
+f 22 16 5
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_10/collision/model_normalized_collision_25.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_10/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7eb8b56782a8cc0730916be5720a207e5c8d4f79
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_10/collision/model_normalized_collision_25.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.06525329 -0.02295442 0.07084067
+v 0.11070784 0.03271605 0.00239981
+v 0.11070784 0.06329097 0.05629553
+v -0.33718538 0.06401784 0.05757673
+v -0.32181952 0.00919092 0.00889825
+v 0.06525329 0.02902710 -0.00410288
+v -0.32853393 0.01227219 0.05475255
+v -0.32655379 0.04032698 0.01581584
+v -0.32530948 0.01277636 0.02498458
+f 1 2 3
+f 1 3 4
+f 6 2 1
+f 6 1 5
+f 6 3 2
+f 6 4 3
+f 7 5 1
+f 7 1 4
+f 8 6 5
+f 8 5 4
+f 8 4 6
+f 9 7 4
+f 9 4 5
+f 9 5 7
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_10/collision/model_normalized_collision_26.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_10/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a860021cc9253601ef0c22642a956b36c7129a09
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_10/collision/model_normalized_collision_26.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.33191779 -0.05716912 0.00128395
+v 0.35192297 -0.03600487 0.00689667
+v 0.33264529 -0.02808377 0.04749348
+v -0.17717096 -0.03402132 0.05133263
+v -0.17717096 -0.06090729 0.00393960
+v 0.34346328 -0.02894524 0.03244836
+v 0.32744693 -0.03453435 0.04209875
+v 0.34563818 -0.04591172 0.00336685
+v 0.32869472 -0.05177439 0.01309064
+v 0.34056791 -0.03576708 0.02746748
+f 5 4 2
+f 6 2 4
+f 6 4 3
+f 7 3 4
+f 8 5 2
+f 8 1 5
+f 8 2 6
+f 9 5 1
+f 9 7 4
+f 9 4 5
+f 10 8 6
+f 10 6 3
+f 10 1 8
+f 10 3 7
+f 10 9 1
+f 10 7 9
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_10/collision/model_normalized_collision_27.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_10/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b61608bbaccebc79559a2ba4c8099659447fea2f
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_10/collision/model_normalized_collision_27.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.33264529 -0.02808377 0.04749348
+v 0.35694530 0.00957783 0.05138476
+v 0.34795467 0.01054565 0.08168236
+v 0.06525329 -0.00994906 0.09376579
+v 0.06525329 -0.03402130 0.05133262
+v 0.35496052 0.01385704 0.06393356
+v 0.31956778 -0.01917262 0.07292426
+v 0.35391218 -0.00086785 0.04844755
+v 0.33705853 -0.00844894 0.07430571
+v 0.32942222 -0.02268904 0.05930017
+v 0.35009879 0.00068257 0.06238305
+f 5 4 2
+f 6 2 4
+f 6 4 3
+f 7 3 4
+f 7 5 1
+f 7 4 5
+f 8 6 3
+f 8 2 6
+f 8 5 2
+f 8 1 5
+f 9 3 7
+f 10 9 7
+f 10 7 1
+f 10 1 9
+f 11 8 3
+f 11 3 9
+f 11 9 1
+f 11 1 8
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_10/collision/model_normalized_collision_28.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_10/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..37ebb88d06aa9993fc5051f5f6ba49baf3ff185c
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_10/collision/model_normalized_collision_28.obj
@@ -0,0 +1,15 @@
+# https://github.com/mikedh/trimesh
+v 0.06525329 -0.05352935 0.01694495
+v 0.06525329 0.02902710 -0.00410288
+v -0.17717095 -0.00994908 0.09376580
+v -0.17717097 0.02902716 -0.00410294
+v -0.17717095 -0.05352938 0.01694497
+v 0.06525329 -0.00994906 0.09376579
+f 2 1 4
+f 5 3 4
+f 5 4 1
+f 6 1 2
+f 6 5 1
+f 6 3 5
+f 6 2 4
+f 6 4 3
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_10/collision/model_normalized_collision_29.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_10/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f12c2a5c72250ed346225afbf3113b870293b040
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_10/collision/model_normalized_collision_29.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.31173472 -0.07640612 -0.02572647
+v 0.35792252 -0.04555891 -0.03754232
+v 0.35325853 -0.03962693 -0.00086300
+v 0.30767754 0.03640497 0.00890251
+v 0.30767754 0.01320797 -0.03198785
+v 0.36131708 0.03614127 0.00843738
+v 0.30767754 -0.05721835 0.01044229
+v 0.36490413 0.01308014 -0.03221355
+f 1 2 3
+f 5 2 1
+f 7 1 3
+f 7 5 1
+f 7 4 5
+f 7 6 4
+f 7 3 6
+f 8 6 3
+f 8 3 2
+f 8 2 5
+f 8 5 4
+f 8 4 6
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_10/collision/model_normalized_collision_3.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_10/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..190041e4795917d0123c582de94c37fe21db2283
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_10/collision/model_normalized_collision_3.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.27046190 0.13779136 0.33340603
+v 0.28287275 0.16277709 0.33527793
+v 0.18646542 0.17456375 0.41901437
+v -0.07111035 0.25061747 0.38650402
+v -0.07111035 0.22742052 0.34561363
+v 0.25336041 0.24872932 0.38317542
+v 0.24074144 0.17037297 0.39246291
+v 0.27795292 0.21745691 0.33543587
+v -0.07111035 0.13010826 0.34065071
+v 0.26141559 0.17167917 0.37179061
+v 0.25212522 0.14627492 0.35676973
+v 0.25846234 0.23168394 0.37926079
+v 0.27285100 0.22645679 0.34391470
+v -0.07111035 0.16349692 0.39950631
+v 0.26623374 0.14353641 0.34353310
+v 0.27690960 0.16416646 0.34591953
+v 0.23640929 0.16235553 0.38626550
+v 0.27315671 0.21643502 0.34878607
+v 0.00464724 0.17456371 0.41901440
+f 6 4 3
+f 6 5 4
+f 7 6 3
+f 8 2 1
+f 9 8 1
+f 9 5 8
+f 11 9 1
+f 11 3 9
+f 12 8 6
+f 12 6 7
+f 12 7 10
+f 13 8 5
+f 13 5 6
+f 13 6 8
+f 14 4 5
+f 14 5 9
+f 15 10 7
+f 15 11 1
+f 15 7 11
+f 16 1 2
+f 16 12 10
+f 16 2 12
+f 16 15 1
+f 16 10 15
+f 17 11 7
+f 17 7 3
+f 17 3 11
+f 18 12 2
+f 18 2 8
+f 18 8 12
+f 19 3 4
+f 19 4 14
+f 19 14 9
+f 19 9 3
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_10/collision/model_normalized_collision_30.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_10/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d74f2f3a52a6b2c519139d434b7409715c36cd2
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_10/collision/model_normalized_collision_30.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.31685617 0.01843799 0.13774088
+v 0.33765797 0.03901290 0.14375821
+v 0.31794422 0.04717265 0.18481301
+v -0.33725173 0.04619646 0.17194810
+v -0.34094040 0.04170980 0.14310731
+v -0.32499708 0.04570623 0.18652721
+v 0.33137316 0.02910608 0.14022838
+v 0.32932409 0.04643104 0.17023752
+v 0.31349943 0.04170912 0.17949974
+v -0.32076365 0.02339331 0.13778282
+v 0.32765523 0.04087636 0.16352612
+v 0.31513837 0.02455896 0.14926841
+v -0.31848444 0.02769492 0.15116323
+v -0.33365936 0.03401134 0.14101695
+v -0.32318791 0.04223753 0.18043075
+f 6 3 4
+f 7 3 1
+f 7 5 2
+f 8 2 5
+f 8 7 2
+f 8 5 4
+f 8 4 3
+f 9 1 3
+f 9 3 6
+f 10 7 1
+f 10 5 7
+f 10 6 4
+f 11 8 3
+f 11 3 7
+f 11 7 8
+f 12 1 9
+f 13 10 1
+f 14 10 4
+f 14 4 5
+f 14 5 10
+f 15 1 12
+f 15 13 1
+f 15 6 10
+f 15 10 13
+f 15 12 9
+f 15 9 6
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_10/collision/model_normalized_collision_31.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_10/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..826cc96f5df22edf3c2dc474e002e89507b5f0c9
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_10/collision/model_normalized_collision_31.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.17717096 -0.03402132 0.05133263
+v -0.17717096 -0.02101595 0.07425775
+v -0.20747399 -0.02101596 0.07425775
+v -0.20747399 0.07998542 0.08572326
+v -0.17717096 0.07998541 0.08572327
+v -0.20747399 -0.03402133 0.05133264
+v -0.17717096 0.06698005 0.06279815
+v -0.20747397 0.06698005 0.06279816
+f 5 2 1
+f 5 3 2
+f 5 4 3
+f 6 3 4
+f 6 1 2
+f 6 2 3
+f 7 5 1
+f 7 4 5
+f 7 1 6
+f 8 7 6
+f 8 6 4
+f 8 4 7
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_10/collision/model_normalized_collision_4.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_10/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..62d717471061d8d254108c7c281b186405511f01
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_10/collision/model_normalized_collision_4.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v -0.07111035 0.13010826 0.34065071
+v -0.26701785 0.13182836 0.33835639
+v -0.19839521 0.25605534 0.39910795
+v -0.07111035 0.22742052 0.34561363
+v -0.19786468 0.19744024 0.41581614
+v -0.17717094 0.12448078 0.33073098
+v -0.06277945 0.25792525 0.41755578
+v -0.26808005 0.21072632 0.31618576
+v -0.20081852 0.17312736 0.40093304
+v -0.07111035 0.15980796 0.39300362
+v -0.07111037 0.25430641 0.39300669
+v -0.19783326 0.21662789 0.41795442
+v -0.17717096 0.21072628 0.31618578
+v -0.28585036 0.14667563 0.34019820
+v -0.21508298 0.15973138 0.38368450
+v -0.06900476 0.18326560 0.42001737
+v -0.20794331 0.25298727 0.39068117
+v -0.24559848 0.15832196 0.36959628
+v -0.25672565 0.16844124 0.36745566
+v -0.24646625 0.14244201 0.35593518
+v -0.25300396 0.22768158 0.35705422
+v -0.26358507 0.13854861 0.34543439
+v -0.26808002 0.22091791 0.33415097
+v -0.25310479 0.20046860 0.37057827
+v -0.24769132 0.23482209 0.35866056
+v -0.20882763 0.22836256 0.40370912
+f 7 1 4
+f 8 6 2
+f 10 2 6
+f 10 6 1
+f 11 7 4
+f 11 3 7
+f 12 7 3
+f 13 4 1
+f 13 1 6
+f 13 6 8
+f 14 8 2
+f 15 10 9
+f 16 5 9
+f 16 9 10
+f 16 12 5
+f 16 7 12
+f 16 10 1
+f 16 1 7
+f 17 3 11
+f 17 13 8
+f 17 11 4
+f 17 4 13
+f 18 9 5
+f 18 5 14
+f 18 15 9
+f 19 14 5
+f 19 5 12
+f 20 2 10
+f 20 10 15
+f 20 18 2
+f 20 15 18
+f 21 3 17
+f 22 18 14
+f 22 14 2
+f 22 2 18
+f 23 17 8
+f 23 8 14
+f 24 14 19
+f 24 19 12
+f 24 23 14
+f 24 21 23
+f 25 23 21
+f 25 21 17
+f 25 17 23
+f 26 24 12
+f 26 12 3
+f 26 3 21
+f 26 21 24
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_10/collision/model_normalized_collision_5.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_10/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eb44bf9d1eabb770598d0c51f29e7c69af307471
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_10/collision/model_normalized_collision_5.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.33765797 0.03901290 0.14375821
+v 0.33798057 0.11706287 0.15108164
+v 0.29252602 0.15695422 0.22139978
+v -0.36234641 0.15661175 0.22079575
+v -0.20747398 0.10968511 0.13807617
+v 0.29252604 0.05595301 0.20993418
+v 0.33798057 0.14025993 0.19197196
+v -0.35742494 0.09113418 0.21463064
+v 0.32874756 0.05203228 0.18223517
+v -0.35970733 0.07523565 0.18533473
+v -0.36389279 0.14365129 0.19794984
+v -0.17717095 0.02343958 0.15262139
+v -0.33721568 0.05124172 0.18424805
+v -0.34326433 0.06810685 0.21057048
+v -0.35608311 0.07653705 0.19907419
+v -0.32522869 0.05766573 0.20872845
+v -0.33493651 0.05554333 0.19762843
+f 5 2 1
+f 7 1 2
+f 7 3 6
+f 7 2 5
+f 7 5 4
+f 7 4 3
+f 8 6 3
+f 8 3 4
+f 9 7 6
+f 9 6 1
+f 9 1 7
+f 10 8 4
+f 11 10 4
+f 11 4 5
+f 11 5 10
+f 12 5 1
+f 12 1 6
+f 13 10 5
+f 13 5 12
+f 14 6 8
+f 15 14 8
+f 15 8 10
+f 15 10 13
+f 15 13 14
+f 16 13 12
+f 16 12 6
+f 16 6 14
+f 17 16 14
+f 17 14 13
+f 17 13 16
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_10/collision/model_normalized_collision_6.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_10/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c54b11810b18558a84e047d0826a8a719f58f3d
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_10/collision/model_normalized_collision_6.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.33560302 0.02557627 0.12745254
+v 0.34322342 0.03186105 0.12322270
+v 0.35238118 0.11697244 0.21894896
+v 0.29252602 0.15695422 0.22139978
+v 0.33798057 0.10687123 0.13311639
+v 0.29252604 0.05595301 0.20993418
+v 0.33984399 0.08084387 0.21355056
+v 0.29252603 0.14394884 0.19847467
+v 0.35034089 0.10692048 0.13320323
+v 0.32950926 0.06851481 0.21175177
+v 0.29252603 0.04294765 0.18700906
+v 0.35271381 0.11488159 0.20496991
+v 0.35299267 0.15160928 0.21197787
+v 0.30438862 0.05687711 0.20954527
+v 0.35304421 0.14421784 0.19894870
+v 0.33137316 0.02910608 0.14022838
+v 0.32705193 0.05760411 0.19429554
+f 5 2 1
+f 6 3 4
+f 7 1 2
+f 7 2 3
+f 9 2 5
+f 10 1 7
+f 10 7 3
+f 10 3 6
+f 11 8 5
+f 11 5 1
+f 11 6 4
+f 11 4 8
+f 12 3 2
+f 12 2 9
+f 13 4 3
+f 13 3 12
+f 13 8 4
+f 13 5 8
+f 14 10 6
+f 14 6 11
+f 15 13 12
+f 15 12 9
+f 15 9 5
+f 15 5 13
+f 16 14 11
+f 16 11 1
+f 16 1 10
+f 17 16 10
+f 17 10 14
+f 17 14 16
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_10/collision/model_normalized_collision_7.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_10/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..367ec96b904f3245f5ddc91c6458ec7a6f78d3ba
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_10/collision/model_normalized_collision_7.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.22482033 -0.18782235 -0.23926553
+v 0.29369929 -0.12941800 -0.15899955
+v -0.17404348 -0.15589149 -0.16857789
+v -0.21937622 -0.05706538 -0.15586154
+v 0.28525656 -0.09513716 -0.22297251
+v -0.20844698 -0.12075422 -0.16119563
+v 0.25461602 -0.15386780 -0.16525221
+v 0.25169783 -0.16511590 -0.23274646
+v -0.20978491 -0.09638708 -0.22517566
+v 0.29252603 -0.05725827 -0.15620174
+v -0.19204563 -0.14379356 -0.16514333
+v -0.16843694 -0.18816651 -0.22732201
+v 0.27568583 -0.12326103 -0.22663073
+v -0.20556340 -0.13972101 -0.23445342
+v 0.29252604 -0.06376095 -0.16766430
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\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_10/collision/model_normalized_collision_8.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_10/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1e4514b6cad31f0a17ee6d483f1529db1bab2d92
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_10/collision/model_normalized_collision_8.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.16975451 -0.22434144 -0.28500633
+v 0.25287740 -0.16278331 -0.23600802
+v -0.15867401 -0.20014040 -0.24500173
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+v 0.24707148 -0.12403557 -0.27391293
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+v -0.19053004 -0.19634290 -0.28486278
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+f 17 13 7
+f 17 7 6
+f 17 6 4
+f 17 4 13
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_10/collision/model_normalized_collision_9.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_10/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8ac4c4ffb8a3918498a25dd0a21066319963a0d4
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_10/collision/model_normalized_collision_9.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.00464724 0.13748611 0.35365611
+v 0.00464725 0.22004258 0.33260831
+v 0.01322540 0.29223289 0.47006906
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+f 18 7 13
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_10/model.xml b/Assets/robocasa/data/objects/objaverse/steak/steak_10/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..4fc5ebff4b836f18d0b13d37e959cb64c8217709
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_10/model.xml
@@ -0,0 +1,30 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="more_steak_5">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.11499999999999999 0.11499999999999999 0.11499999999999999" refquat="5.5243849865338296e-17 5.4410443000896516e-18 0.8819212643483545 0.4713967368259975" />
+    <texture type="2d" name="image0" file="visual/image0.png" />
+    <material name="meat.001" texture="image0" specular="0.5" shininess="0.15999998099999999" />
+    <mesh file="collision/collision_mesh_collision_0.obj" name="steak_collision_mesh_0" scale="0.11499999999999999 0.11499999999999999 0.11499999999999999" refquat="5.5243849865338296e-17 5.4410443000896516e-18 0.8819212643483545 0.4713967368259975" />
+    <mesh file="collision/collision_mesh_collision_1.obj" name="steak_collision_mesh_1" scale="0.11499999999999999 0.11499999999999999 0.11499999999999999" refquat="5.5243849865338296e-17 5.4410443000896516e-18 0.8819212643483545 0.4713967368259975" />
+    <mesh file="collision/collision_mesh_collision_2.obj" name="steak_collision_mesh_2" scale="0.11499999999999999 0.11499999999999999 0.11499999999999999" refquat="5.5243849865338296e-17 5.4410443000896516e-18 0.8819212643483545 0.4713967368259975" />
+    </asset>
+  <default>
+    <default class="region">
+      <geom group="1" conaffinity="0" contype="0" rgba="0 1 0 0" />
+      </default>
+    <default class="collision">
+      <geom group="0" rgba="0.5 0 0 0.5" density="1000.0" />
+      </default>
+    </default>
+  <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="meat.001" />
+        <geom class="region" name="reg_bbox" type="box" pos="-1.8330994536973342e-06 0.0006745582421576237 -0.001183120703318971" size="0.042075933310390966 0.06535318649511415 0.008929296506354486" />
+        <geom mesh="steak_collision_mesh_0" type="mesh" class="collision" />
+        <geom mesh="steak_collision_mesh_1" type="mesh" class="collision" />
+        <geom mesh="steak_collision_mesh_2" type="mesh" class="collision" />
+        </body>
+      </body>
+    </worldbody>
+  </mujoco>
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_10/visual/material.mtl b/Assets/robocasa/data/objects/objaverse/steak/steak_10/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ac7612074176632fe5be688b8bc892b458617616
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_10/visual/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 159.99998100
+map_Kd material_0.jpeg
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_10/visual/model_normalized_0.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_10/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1e413a500a7d81c5b1e6e01619459b182462b67c
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_10/visual/model_normalized_0.obj
@@ -0,0 +1,3441 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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+v 0.02747247 0.30389522 0.48041861
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diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_11/collision/collision_mesh_collision_0.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_11/collision/collision_mesh_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed2851f97eb1d493e88d95e7983f747d89421b30
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_11/collision/collision_mesh_collision_0.obj
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diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_11/collision/collision_mesh_collision_1.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_11/collision/collision_mesh_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bee6830bdc4207c90224e8e916255d8de32bdbc3
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_11/collision/collision_mesh_collision_1.obj
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diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_11/collision/collision_mesh_collision_10.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_11/collision/collision_mesh_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a3913be3c6f319de9029bfdfc11ab3280c6f5d2b
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_11/collision/collision_mesh_collision_10.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
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diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_11/collision/collision_mesh_collision_11.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_11/collision/collision_mesh_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b5a83bad0ec148695a116efaafc079186524390
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_11/collision/collision_mesh_collision_11.obj
@@ -0,0 +1,277 @@
+# https://github.com/mikedh/trimesh
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diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_11/collision/collision_mesh_collision_12.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_11/collision/collision_mesh_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..851b83e7ea4b7db9d7f65d8c5ad13456b4fd43f3
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_11/collision/collision_mesh_collision_12.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
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diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_11/collision/collision_mesh_collision_2.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_11/collision/collision_mesh_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..94e00f9e0dae9d915c76dbcf1df2bfd5ecbab373
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_11/collision/collision_mesh_collision_2.obj
@@ -0,0 +1,298 @@
+# https://github.com/mikedh/trimesh
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diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_11/collision/collision_mesh_collision_3.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_11/collision/collision_mesh_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1e017e2d5a846ee37ea05e15876857319832dbb7
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_11/collision/collision_mesh_collision_3.obj
@@ -0,0 +1,454 @@
+# https://github.com/mikedh/trimesh
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diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_11/collision/collision_mesh_collision_4.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_11/collision/collision_mesh_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f06ed855e166d050fd138753f5f34997ceb13e8
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_11/collision/collision_mesh_collision_4.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_11/collision/collision_mesh_collision_5.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_11/collision/collision_mesh_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ba32223815b5728ff7b85d4a7f58693417d2eff6
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_11/collision/collision_mesh_collision_5.obj
@@ -0,0 +1,316 @@
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diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_11/collision/collision_mesh_collision_6.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_11/collision/collision_mesh_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9915410bc87e89442911b4eb9411eafdb8b7793b
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_11/collision/collision_mesh_collision_6.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
+v -0.19693080 0.42685911 0.06910293
+v -0.19693080 0.42898700 0.06853055
+v -0.19693080 0.41941145 0.06874143
+v -0.05926207 0.45300648 0.06583437
+v -0.09102763 0.44849277 0.06664775
+v -0.05926207 0.46425855 0.06432813
+v -0.19693080 0.43204987 0.06484025
+v -0.10038075 0.43572533 0.06526200
+v -0.19693080 0.14529920 -0.01197825
+v -0.17976095 0.14529920 -0.01193306
+v -0.14050213 0.14529920 -0.01298743
+v -0.05926207 0.14529920 -0.01740073
+v -0.05926207 0.44227028 0.06303276
+v -0.05926207 0.46651542 0.05943283
+v -0.19693080 0.43691826 0.05693246
+v -0.19693080 0.14529920 -0.08177765
+v -0.05926207 0.14529920 -0.07885553
+v -0.05926207 0.46767610 0.05566722
+v -0.19693080 0.43885273 0.04920543
+v -0.05926207 0.47367293 0.03238067
+v -0.16702507 0.14529920 -0.08340439
+v -0.19693080 0.17673409 -0.07890072
+v -0.13857490 0.17112418 -0.08349477
+v -0.12649940 0.14529920 -0.08454914
+v -0.05926207 0.17360672 -0.07837353
+v -0.19693080 0.44791242 0.00760294
+v -0.05926207 0.47467238 0.01614335
+v -0.07648583 0.47277015 0.00415364
+v -0.14327841 0.14529920 -0.08451901
+v -0.19693080 0.21519750 -0.07185149
+v -0.16520567 0.24315037 -0.06962225
+v -0.13170156 0.22648183 -0.07496942
+v -0.12503040 0.18489105 -0.08099440
+v -0.09385782 0.20091477 -0.07733423
+v -0.13171504 0.14529920 -0.08477508
+v -0.05926207 0.22367686 -0.07144480
+v -0.10609505 0.46493560 -0.00022954
+v -0.10941042 0.46032518 -0.00881513
+v -0.19693080 0.44455937 0.00371683
+v -0.05926207 0.47409204 0.01112755
+v -0.05926207 0.47318929 0.00412351
+v -0.09858830 0.46196944 -0.00780595
+v -0.19693080 0.25711069 -0.06296465
+v -0.19693080 0.26791140 -0.06059984
+v -0.13961263 0.27742246 -0.06382321
+v -0.12829186 0.24853460 -0.07040550
+v -0.09377696 0.26600918 -0.06701645
+v -0.05926207 0.26033479 -0.06534451
+v -0.08232142 0.40293634 -0.02743232
+v -0.10170151 0.40303308 -0.02811013
+v -0.13201153 0.35280171 -0.04305208
+v -0.15680942 0.35892749 -0.03952747
+v -0.19693080 0.38310817 -0.02565495
+v -0.19693080 0.40132430 -0.01868104
+v -0.19693080 0.42195848 -0.01012557
+v -0.19693080 0.43188870 -0.00571227
+v -0.19693080 0.44059372 -0.00072660
+v -0.05926207 0.47086793 0.00193946
+v -0.05926207 0.46474218 -0.00370896
+v -0.05926207 0.44846052 -0.00971888
+v -0.05926207 0.43188870 -0.01575892
+v -0.05926207 0.41148019 -0.02309434
+v -0.19693080 0.31314540 -0.04823357
+v -0.15082559 0.32939482 -0.04913731
+v -0.15277977 0.29899162 -0.05712041
+v -0.12689023 0.31246835 -0.05454474
+v -0.07651278 0.29077020 -0.06026847
+v -0.05926207 0.29054451 -0.05993709
+v -0.05926207 0.28393513 -0.06121740
+v -0.05926207 0.36295760 -0.03868397
+v -0.08601414 0.39294165 -0.03071594
+v -0.09624328 0.33955070 -0.04698338
+v -0.16542131 0.34690163 -0.04244959
+v -0.19693080 0.34209773 -0.03976847
+f 1 2 7
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+f 1 15 19
+f 1 19 26
+f 1 26 39
+f 1 39 57
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+f 1 56 55
+f 1 55 54
+f 1 54 53
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+f 1 30 22
+f 1 22 16
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+f 1 6 2
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+f 3 8 4
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+f 3 10 11
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+f 3 12 8
+f 4 6 5
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+f 4 13 12
+f 4 12 17
+f 4 17 25
+f 4 25 36
+f 4 36 48
+f 4 48 69
+f 4 69 68
+f 4 68 70
+f 4 70 62
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+f 4 61 60
+f 4 60 59
+f 4 59 58
+f 4 58 41
+f 4 41 40
+f 4 40 27
+f 4 27 20
+f 4 20 18
+f 4 18 14
+f 4 14 6
+f 6 14 15
+f 6 15 7
+f 8 12 13
+f 9 16 21
+f 9 21 29
+f 9 29 35
+f 9 35 24
+f 9 24 17
+f 9 17 12
+f 9 12 11
+f 9 11 10
+f 14 18 15
+f 15 18 20
+f 15 20 19
+f 16 22 23
+f 16 23 21
+f 17 24 25
+f 19 20 26
+f 20 27 28
+f 20 28 26
+f 21 23 29
+f 22 30 31
+f 22 31 32
+f 22 32 23
+f 23 32 33
+f 23 33 34
+f 23 34 25
+f 23 25 24
+f 23 24 35
+f 23 35 29
+f 25 34 36
+f 26 28 37
+f 26 37 38
+f 26 38 39
+f 27 40 28
+f 28 40 41
+f 28 41 42
+f 28 42 38
+f 28 38 37
+f 30 43 31
+f 31 43 44
+f 31 44 45
+f 31 45 32
+f 32 45 46
+f 32 46 47
+f 32 47 34
+f 32 34 33
+f 34 47 36
+f 36 47 48
+f 38 42 49
+f 38 49 50
+f 38 50 51
+f 38 51 52
+f 38 52 53
+f 38 53 54
+f 38 54 55
+f 38 55 56
+f 38 56 57
+f 38 57 39
+f 41 58 42
+f 42 58 59
+f 42 59 60
+f 42 60 61
+f 42 61 62
+f 42 62 49
+f 44 63 64
+f 44 64 65
+f 44 65 45
+f 45 47 46
+f 45 65 64
+f 45 64 66
+f 45 66 47
+f 47 66 67
+f 47 67 68
+f 47 68 69
+f 47 69 48
+f 49 62 70
+f 49 70 71
+f 49 71 50
+f 50 71 72
+f 50 72 51
+f 51 72 66
+f 51 66 64
+f 51 64 52
+f 52 64 73
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+f 52 74 53
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+f 66 72 67
+f 67 72 68
+f 68 72 70
+f 70 72 71
+
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_11/collision/collision_mesh_collision_7.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_11/collision/collision_mesh_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8d284199d9c9b8b6b3bf91eb670edc4b4c1f5ac6
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_11/collision/collision_mesh_collision_7.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v -0.06111297 -0.10242900 -0.10442017
+v -0.06111297 -0.10242900 -0.03706603
+v -0.06111297 -0.08704194 -0.10444179
+v 0.11601029 -0.03952150 -0.09235287
+v 0.06174709 -0.10242900 -0.09561839
+v 0.19399646 -0.10242900 -0.00752493
+v 0.18131091 -0.07633081 -0.00662745
+v -0.06111297 0.17529914 -0.01819736
+v -0.02108356 0.01213115 -0.09764042
+v 0.10262553 0.05831949 -0.09012539
+v 0.15211916 0.02131988 -0.08842775
+v -0.06111297 0.04141004 -0.09624554
+v -0.04395751 0.04320429 -0.09621310
+v 0.13933372 -0.02984343 -0.08999564
+v 0.14460272 -0.03832534 -0.08922791
+v 0.15821221 -0.10242900 -0.08628678
+v 0.11521120 -0.10242900 -0.09067685
+v 0.08564487 -0.10242900 -0.09361798
+v 0.19399646 -0.10242900 -0.08065321
+v 0.19399646 -0.07385692 -0.00589217
+v 0.19399646 0.17529914 0.00602375
+v 0.18021217 0.17529914 0.00488839
+v -0.06111297 0.17529914 -0.08091272
+v 0.02816035 0.14743391 -0.08600564
+v 0.10841893 0.14909223 -0.07968004
+v 0.19399646 0.00204528 -0.07856630
+v 0.19399646 -0.07089369 -0.08082622
+v 0.18473202 -0.10242900 -0.08286987
+v 0.16997382 0.17529914 -0.06963477
+v 0.18218490 0.17529914 -0.06753705
+v 0.19399646 0.17529914 -0.06549339
+v 0.19399646 0.05951566 -0.07639289
+v 0.19399646 0.05483973 -0.07666321
+v -0.06111297 0.14324731 -0.08487028
+v -0.04018681 0.14506875 -0.08602726
+v 0.17456859 -0.10242900 -0.08435125
+v -0.03152168 0.17529914 -0.08118305
+v -0.03199614 0.14672707 -0.08584344
+v 0.02401507 0.17529914 -0.08149662
+v 0.06769032 0.17529914 -0.07889069
+v 0.11121575 0.17529914 -0.07610094
+f 1 2 8
+f 1 8 23
+f 1 23 34
+f 1 34 12
+f 1 12 3
+f 1 3 4
+f 1 4 5
+f 1 5 18
+f 1 18 17
+f 1 17 16
+f 1 16 36
+f 1 36 28
+f 1 28 19
+f 1 19 6
+f 1 6 2
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+f 2 7 8
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+f 3 10 11
+f 3 11 4
+f 3 12 13
+f 3 13 9
+f 4 11 14
+f 4 14 15
+f 4 15 16
+f 4 16 17
+f 4 17 18
+f 4 18 5
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+f 6 26 33
+f 6 33 32
+f 6 32 31
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+f 6 21 20
+f 6 20 7
+f 7 20 21
+f 7 21 22
+f 7 22 8
+f 8 22 21
+f 8 21 31
+f 8 31 30
+f 8 30 29
+f 8 29 41
+f 8 41 40
+f 8 40 39
+f 8 39 37
+f 8 37 23
+f 9 13 10
+f 10 13 24
+f 10 24 25
+f 10 25 11
+f 11 26 27
+f 11 27 28
+f 11 28 15
+f 11 15 14
+f 11 25 29
+f 11 29 30
+f 11 30 31
+f 11 31 32
+f 11 32 33
+f 11 33 26
+f 12 34 35
+f 12 35 13
+f 13 35 24
+f 15 28 36
+f 15 36 16
+f 19 28 27
+f 23 37 38
+f 23 38 35
+f 23 35 34
+f 24 35 38
+f 24 38 39
+f 24 39 40
+f 24 40 41
+f 24 41 25
+f 25 41 29
+f 37 39 38
+
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_11/collision/collision_mesh_collision_8.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_11/collision/collision_mesh_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b1454f398eec770621c8423e30097fa5b33ab92a
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_11/collision/collision_mesh_collision_8.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v -0.19691458 -0.10242898 -0.10337643
+v -0.19691458 -0.10242898 -0.02982419
+v -0.19691458 -0.07733666 -0.10416104
+v -0.13980821 -0.10242898 -0.10879214
+v -0.05676947 -0.10242898 -0.03504853
+v -0.16736338 -0.07633080 -0.02773828
+v -0.19691458 0.17529917 -0.01202697
+v -0.19691458 -0.01717492 -0.10456291
+v -0.11965302 -0.10242898 -0.10972984
+v -0.14023013 -0.08174073 -0.10888782
+v -0.05508176 -0.10242898 -0.03514421
+v -0.14039242 0.15996647 -0.01301252
+v -0.17974535 0.17529917 -0.01197913
+v -0.19691458 0.17529917 -0.08176143
+v -0.19691458 0.01408852 -0.10227606
+v -0.14954501 -0.01002511 -0.10675407
+v -0.15438096 -0.02350917 -0.10701242
+v -0.13555647 -0.05800770 -0.10860077
+v -0.13148324 -0.05308711 -0.10841897
+v -0.09162724 -0.10242898 -0.10856250
+v -0.03112921 -0.10242898 -0.03706746
+v -0.03112921 0.17529917 -0.01820816
+v -0.14048979 0.17529917 -0.01303166
+v -0.16702259 0.17529917 -0.08340719
+v -0.19691458 0.11772005 -0.09054521
+v -0.19691458 0.02099367 -0.10175937
+v -0.13169420 0.17529917 -0.08473720
+v -0.12643632 0.17529917 -0.08455540
+v -0.03112921 0.14324734 -0.08487116
+v -0.03112921 0.04138287 -0.09622884
+v -0.06272516 -0.03528053 -0.10415147
+v -0.06256287 -0.08723222 -0.10670623
+v -0.06246550 -0.10242898 -0.10670623
+v -0.03112921 -0.10242898 -0.10440981
+v -0.03112921 0.17529917 -0.08090984
+v -0.14324854 0.17529917 -0.08449799
+v -0.03112921 -0.08704192 -0.10440981
+f 1 2 7
+f 1 7 14
+f 1 14 25
+f 1 25 26
+f 1 26 15
+f 1 15 8
+f 1 8 3
+f 1 3 4
+f 1 4 9
+f 1 9 20
+f 1 20 33
+f 1 33 34
+f 1 34 21
+f 1 21 11
+f 1 11 5
+f 1 5 2
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+f 10 17 18
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+f 16 30 31
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+f 16 19 18
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+f 21 34 37
+f 21 37 30
+f 21 30 29
+f 21 29 35
+f 21 35 22
+f 24 36 25
+f 25 36 27
+f 28 35 29
+f 30 37 31
+f 31 37 32
+f 32 37 33
+f 33 37 34
+
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_11/collision/collision_mesh_collision_9.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_11/collision/collision_mesh_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dba474cbb48713c21651b037b29dadfd7d946919
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_11/collision/collision_mesh_collision_9.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v -0.02235216 -0.32952237 -0.08655156
+v 0.03170388 -0.32952237 -0.08182701
+v -0.02235216 -0.32952237 -0.01094991
+v -0.02235216 -0.20028222 -0.09642693
+v -0.00585367 -0.20000543 -0.09634700
+v 0.09184067 -0.32952237 -0.07203157
+v 0.09184067 -0.20815842 -0.08662260
+v 0.09184067 -0.26198334 -0.08195134
+v 0.09184067 -0.27806285 -0.07993542
+v 0.09086820 -0.32952237 -0.00827681
+v 0.01298100 -0.30045843 -0.00978654
+v -0.02235216 -0.07245123 -0.03430623
+v -0.02235216 -0.17441407 -0.09814091
+v -0.02235216 -0.15576784 -0.09900234
+v 0.09184067 -0.10851064 -0.09433996
+v 0.09184067 -0.11281361 -0.09414458
+v 0.09184067 -0.32952237 -0.00831233
+v 0.09184067 -0.07245123 -0.02411115
+v 0.08597231 -0.07245123 -0.02448414
+v -0.02235216 -0.07245123 -0.09711075
+v -0.02235216 -0.12592384 -0.09886025
+v 0.03400652 -0.09638180 -0.09790113
+v 0.03752754 -0.07245123 -0.09742157
+v 0.05695463 -0.07245123 -0.09600066
+v 0.06170521 -0.07245123 -0.09562767
+v 0.08568168 -0.07245123 -0.09361174
+v 0.09184067 -0.07245123 -0.09298120
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+f 1 6 17
+f 1 17 10
+f 1 10 3
+f 1 3 12
+f 1 12 20
+f 1 20 21
+f 1 21 14
+f 1 14 13
+f 1 13 4
+f 1 4 5
+f 1 5 2
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+f 6 18 17
+f 10 17 18
+f 10 18 11
+f 11 18 19
+f 11 19 12
+f 12 19 18
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+f 12 27 26
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+f 12 23 20
+f 14 21 22
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+f 15 22 23
+f 15 23 24
+f 15 24 25
+f 15 25 26
+f 15 26 27
+f 20 23 21
+f 21 23 22
+
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_11/collision/model_normalized_collision_0.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_11/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..54526b8a5b233ee8c256d5e6ef91bdcd5d43aeb2
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_11/collision/model_normalized_collision_0.obj
@@ -0,0 +1,105 @@
+# https://github.com/mikedh/trimesh
+v 0.38542295 0.10271070 0.03241265
+v 0.41429155 0.16730651 -0.01317570
+v 0.41856969 0.23166289 0.04731834
+v 0.33471982 0.35078155 0.05514896
+v 0.29354155 0.18924552 -0.04103854
+v 0.38690102 0.31921273 0.01887884
+v 0.40119490 0.16796433 0.04816355
+v 0.33892420 0.09846436 -0.04184546
+v 0.28737554 0.18850289 0.02569481
+v 0.41744971 0.26388473 0.01643375
+v 0.37539519 0.34017427 0.05100356
+v 0.33066809 0.34928178 0.00835888
+v 0.41102238 0.20447898 0.05067997
+v 0.39759824 0.10175899 0.00471233
+v 0.39506475 0.17029646 -0.02354709
+v 0.34660982 0.22503937 0.04982665
+v 0.34528375 0.10045257 0.03064440
+v 0.41832229 0.24179217 0.00457911
+v 0.38526312 0.33030555 0.03884359
+v 0.28864336 0.23014728 0.03280213
+v 0.41210025 0.18018329 0.02884610
+v 0.38981562 0.10265930 -0.02763798
+v 0.29228132 0.23374783 -0.03693044
+v 0.37294173 0.16067341 0.04397604
+v 0.41739929 0.26940853 0.03379781
+v 0.40896508 0.21535082 -0.00830324
+v 0.38391294 0.32818659 0.02469980
+v 0.39495127 0.10109285 -0.01797328
+v 0.41377137 0.18484552 -0.01099732
+v 0.34679401 0.33315201 0.00290551
+v 0.37153516 0.33903743 0.02796704
+v 0.35964449 0.33906402 0.01684565
+v 0.33556637 0.33444923 0.00017015
+v 0.34827448 0.23131899 -0.02319849
+v 0.36475244 0.27305159 -0.00798992
+v 0.33423940 0.29234856 -0.01133865
+f 9 5 8
+f 12 4 11
+f 13 11 4
+f 13 3 11
+f 14 7 1
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+f 16 7 13
+f 17 9 8
+f 17 1 7
+f 17 14 1
+f 18 3 2
+f 18 6 10
+f 20 4 12
+f 20 16 4
+f 20 17 16
+f 20 9 17
+f 21 13 7
+f 21 7 14
+f 21 3 13
+f 21 14 2
+f 21 2 3
+f 22 15 2
+f 22 8 15
+f 23 15 8
+f 23 8 5
+f 23 20 12
+f 23 5 9
+f 23 9 20
+f 24 17 7
+f 24 7 16
+f 24 16 17
+f 25 18 10
+f 25 3 18
+f 25 10 19
+f 25 19 11
+f 25 11 3
+f 27 19 10
+f 27 10 6
+f 28 8 22
+f 28 17 8
+f 28 14 17
+f 28 22 2
+f 28 2 14
+f 29 26 18
+f 29 18 2
+f 29 2 15
+f 29 15 26
+f 30 6 18
+f 30 18 26
+f 31 12 11
+f 31 11 19
+f 31 19 27
+f 32 27 6
+f 32 6 30
+f 32 30 12
+f 32 31 27
+f 32 12 31
+f 33 23 12
+f 33 12 30
+f 34 15 23
+f 35 30 26
+f 35 26 15
+f 35 15 34
+f 36 34 23
+f 36 23 33
+f 36 35 34
+f 36 33 30
+f 36 30 35
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_11/collision/model_normalized_collision_1.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_11/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..173d4d990ca9931a20dc97acab0db85e566bb13a
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_11/collision/model_normalized_collision_1.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v 0.19926391 -0.30783789 -0.00033275
+v 0.37529589 -0.00558662 -0.05107384
+v 0.36236664 -0.00405170 0.02646808
+v 0.16062420 -0.00731673 -0.01177822
+v 0.15673862 -0.18999695 -0.08246255
+v 0.37000737 -0.00172998 -0.02610796
+v 0.22346536 -0.00620513 0.00149193
+v 0.30716240 -0.14727970 -0.01660198
+v 0.20049550 -0.30479786 -0.06467171
+v 0.16024492 -0.19207136 -0.01191237
+v 0.15660062 -0.00773096 -0.08482836
+v 0.35247370 -0.04550983 0.01283300
+v 0.24663458 -0.20390385 -0.07007523
+v 0.24887690 -0.25555527 -0.05239357
+v 0.34000739 -0.08837832 -0.04870075
+v 0.35582221 -0.03054931 0.02176647
+v 0.29315032 -0.16254957 0.00456046
+v 0.17103790 -0.21915726 -0.07989886
+v 0.21238747 -0.30213402 -0.02915568
+v 0.26539117 -0.22174305 -0.05961832
+v 0.32828862 -0.08651311 0.01680839
+v 0.23225005 -0.27012202 -0.00684816
+v 0.20200950 -0.24759253 -0.07260158
+v 0.20723731 -0.30479051 -0.06076141
+v 0.22997085 -0.23415729 -0.06988596
+v 0.32357104 -0.11674159 -0.05651727
+v 0.26124774 -0.22058547 -0.00450772
+v 0.20793607 -0.30309614 -0.00485716
+v 0.21290962 -0.30000985 -0.05051051
+f 6 3 2
+f 7 1 3
+f 7 4 1
+f 7 6 4
+f 7 3 6
+f 9 1 5
+f 10 5 1
+f 10 1 4
+f 11 6 2
+f 11 4 6
+f 11 10 4
+f 11 5 10
+f 13 11 2
+f 13 5 11
+f 15 12 8
+f 15 2 12
+f 15 8 14
+f 16 12 2
+f 16 2 3
+f 17 8 12
+f 18 9 5
+f 18 5 13
+f 21 16 3
+f 21 3 1
+f 21 1 17
+f 21 17 12
+f 21 12 16
+f 22 14 8
+f 22 19 14
+f 23 9 18
+f 24 19 1
+f 24 1 9
+f 24 20 14
+f 24 9 20
+f 25 20 9
+f 25 13 20
+f 25 9 23
+f 25 23 18
+f 25 18 13
+f 26 15 14
+f 26 14 20
+f 26 2 15
+f 26 20 13
+f 26 13 2
+f 27 22 8
+f 27 8 17
+f 27 17 22
+f 28 22 17
+f 28 17 1
+f 28 1 19
+f 28 19 22
+f 29 24 14
+f 29 14 19
+f 29 19 24
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_11/collision/model_normalized_collision_10.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_11/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7b291399c83c0fd1af955728ea596b2ff0d4a533
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_11/collision/model_normalized_collision_10.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v 0.23448216 -0.00632205 0.00404706
+v 0.22941887 -0.00729097 -0.07106775
+v 0.23215288 0.23284909 -0.04745184
+v 0.12758810 0.23655244 0.01041074
+v 0.08133939 -0.00816700 -0.02398000
+v 0.23453993 0.23664713 0.02473809
+v 0.22997463 0.06772000 -0.07074503
+v 0.14005319 -0.00951110 -0.08735622
+v 0.23494833 0.19269671 0.01795241
+v 0.19158506 0.23895171 0.01971677
+v 0.16062420 -0.00731673 -0.01177822
+v 0.15479606 0.00808632 -0.08533042
+v 0.08233956 0.18733015 -0.07480222
+v 0.12564069 0.23352709 -0.06067496
+v 0.08080801 -0.00804597 -0.09251894
+v 0.08220055 0.19061515 -0.00297917
+v 0.18292577 0.14153890 -0.07024714
+v 0.12602267 0.18505216 -0.07155831
+v 0.11071733 0.08111665 -0.08494029
+v 0.15282961 0.03385518 -0.08560040
+v 0.08073320 0.08315728 -0.08689646
+v 0.22857187 0.20007127 -0.05350922
+v 0.18403428 0.23280219 -0.05494596
+f 5 1 4
+f 7 1 2
+f 7 3 1
+f 8 2 1
+f 9 6 1
+f 9 1 3
+f 9 3 6
+f 10 6 3
+f 10 4 1
+f 10 1 6
+f 11 8 1
+f 11 1 5
+f 11 5 8
+f 12 7 2
+f 12 2 8
+f 14 10 3
+f 14 4 10
+f 15 8 5
+f 16 5 4
+f 16 14 13
+f 16 4 14
+f 18 13 14
+f 19 13 18
+f 19 18 17
+f 20 12 8
+f 20 8 15
+f 20 7 12
+f 20 19 17
+f 20 17 7
+f 21 15 5
+f 21 5 16
+f 21 16 13
+f 21 13 19
+f 21 20 15
+f 21 19 20
+f 22 3 7
+f 22 7 17
+f 23 18 14
+f 23 14 3
+f 23 3 22
+f 23 22 17
+f 23 17 18
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_11/collision/model_normalized_collision_11.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_11/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ade41d4bec90fafb7e01d3c51eb1adf6b8bb2db4
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_11/collision/model_normalized_collision_11.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v -0.10040728 -0.26660332 -0.01610428
+v -0.03997751 -0.21921112 -0.09796761
+v -0.03889437 -0.08363047 -0.03683605
+v -0.20680928 -0.08398270 -0.02417302
+v -0.20001407 -0.19576368 -0.08740979
+v -0.21064972 -0.22085465 -0.00717639
+v -0.03822740 -0.22037062 -0.02984054
+v -0.18115713 -0.21190901 -0.08909861
+v -0.18867293 -0.08230888 -0.10267524
+v -0.20581998 -0.08322837 -0.09992394
+v -0.14589860 -0.26547759 -0.01258859
+v -0.20040304 -0.21106826 -0.07673030
+v -0.04289340 -0.08453910 -0.10349753
+v -0.17134823 -0.18482454 -0.10142378
+v -0.17263509 -0.08149003 -0.02929403
+v -0.21092621 -0.20845861 -0.00972341
+v -0.11480480 -0.20250611 -0.10030589
+v -0.18421019 -0.17063047 -0.09931517
+v -0.04195105 -0.20263638 -0.09968770
+f 6 1 3
+f 6 3 4
+f 7 1 2
+f 7 2 3
+f 7 3 1
+f 10 5 6
+f 11 8 2
+f 11 2 1
+f 11 1 6
+f 12 6 5
+f 12 5 8
+f 12 11 6
+f 12 8 11
+f 13 9 3
+f 13 3 2
+f 14 10 9
+f 14 8 5
+f 14 9 13
+f 15 4 3
+f 15 3 9
+f 15 10 4
+f 15 9 10
+f 16 10 6
+f 16 6 4
+f 16 4 10
+f 17 2 8
+f 17 8 14
+f 18 14 5
+f 18 5 10
+f 18 10 14
+f 19 17 14
+f 19 14 13
+f 19 13 2
+f 19 2 17
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_11/collision/model_normalized_collision_12.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_11/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3e11333735489bbaedc271eb53da955c674be8da
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_11/collision/model_normalized_collision_12.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v -0.19244773 0.23837636 0.00621484
+v -0.19080050 0.23431520 -0.06627278
+v -0.18837624 0.43900622 -0.00026418
+v -0.30182020 0.43203296 0.09924279
+v -0.29823808 0.23574922 0.02990984
+v -0.19257226 0.43190823 0.06445203
+v -0.18783504 0.27445360 -0.05708870
+v -0.24824137 0.23257720 -0.05612839
+v -0.30301446 0.39172642 0.09338868
+v -0.20566293 0.27595111 -0.05391381
+v -0.29071505 0.30494162 -0.02396365
+v -0.26936572 0.42197829 0.09278477
+v -0.24742523 0.24293960 -0.05405371
+v -0.18918086 0.38119802 -0.02626022
+v -0.29098788 0.23199538 -0.04279862
+v -0.29036077 0.43491662 0.03338776
+v -0.30213188 0.25396503 0.03665686
+v -0.19551931 0.39442289 0.06120672
+v -0.18799992 0.33707048 -0.03984208
+v -0.23152308 0.36259346 -0.02267547
+v -0.28963259 0.24806051 -0.04075437
+v -0.29034033 0.34933339 -0.00807951
+v -0.27233899 0.41026344 0.09117216
+v -0.22936787 0.42323655 0.07780564
+v -0.27567057 0.27427584 -0.03808708
+v -0.24449533 0.42231145 0.00613203
+v -0.20083807 0.33291440 -0.03851881
+v -0.26281839 0.28808303 -0.03716823
+v -0.26308668 0.43241962 0.01964883
+v -0.21623464 0.41007953 -0.00793574
+v -0.28559177 0.42270068 0.02221889
+v -0.24399312 0.39220041 -0.00665203
+v -0.21740117 0.43354819 0.00424384
+f 6 1 3
+f 6 3 4
+f 7 1 2
+f 7 3 1
+f 8 2 1
+f 8 1 5
+f 9 5 1
+f 10 7 2
+f 12 6 4
+f 12 4 9
+f 13 10 2
+f 13 2 8
+f 15 8 5
+f 16 4 3
+f 17 9 4
+f 17 4 11
+f 17 11 15
+f 17 15 5
+f 17 5 9
+f 18 1 6
+f 19 14 3
+f 19 3 7
+f 19 7 10
+f 21 13 8
+f 21 8 15
+f 21 15 11
+f 22 11 4
+f 22 4 16
+f 22 20 11
+f 23 18 12
+f 23 12 9
+f 23 9 1
+f 23 1 18
+f 24 18 6
+f 24 6 12
+f 24 12 18
+f 25 11 20
+f 25 21 11
+f 25 13 21
+f 27 20 14
+f 27 14 19
+f 27 19 10
+f 27 10 13
+f 27 13 20
+f 28 25 20
+f 28 20 13
+f 28 13 25
+f 29 16 3
+f 30 3 14
+f 30 14 20
+f 31 26 22
+f 31 22 16
+f 31 29 26
+f 31 16 29
+f 32 20 22
+f 32 22 26
+f 32 30 20
+f 32 26 30
+f 33 29 3
+f 33 26 29
+f 33 30 26
+f 33 3 30
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_11/collision/model_normalized_collision_13.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_11/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eef3f6e455600593de9d758d35db0e6d4b1d4577
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_11/collision/model_normalized_collision_13.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v -0.13138308 0.32712674 0.02616973
+v -0.08571979 0.35542504 -0.03888824
+v -0.08610239 0.36276224 0.03269630
+v -0.07837127 0.46429537 0.05985661
+v -0.19144002 0.44541194 0.01090815
+v -0.19381171 0.40672510 0.06646884
+v -0.19058817 0.35449417 -0.03310240
+v -0.08214236 0.46631327 -0.00073799
+v -0.08783982 0.43844107 0.06367876
+v -0.19257226 0.43190823 0.06445203
+v -0.19405098 0.36173303 0.04661698
+v -0.10835153 0.46177032 -0.00617395
+v -0.08511641 0.45712614 0.06442615
+v -0.19143522 0.32593218 0.03291440
+v -0.18625364 0.44658149 0.00769450
+v -0.08756359 0.40880395 -0.02543180
+v -0.19376261 0.33090718 0.03499422
+v -0.18736725 0.42400605 -0.00816299
+v -0.09046162 0.45390996 -0.00914585
+v -0.12927583 0.40992403 -0.02329511
+v -0.17110384 0.44658043 0.00196987
+v -0.18918086 0.38119802 -0.02626022
+v -0.11113282 0.45744351 -0.00918069
+f 1 2 3
+f 3 2 4
+f 7 2 1
+f 8 4 2
+f 9 6 1
+f 9 1 3
+f 9 3 4
+f 10 4 5
+f 10 5 6
+f 11 6 5
+f 11 5 7
+f 12 4 8
+f 13 9 4
+f 13 4 10
+f 13 10 6
+f 13 6 9
+f 14 7 1
+f 14 1 6
+f 15 5 4
+f 15 4 12
+f 16 8 2
+f 17 11 7
+f 17 7 14
+f 17 14 6
+f 17 6 11
+f 18 5 15
+f 19 8 16
+f 20 16 2
+f 20 2 7
+f 21 18 15
+f 21 15 12
+f 22 7 5
+f 22 5 18
+f 22 20 7
+f 23 19 16
+f 23 12 8
+f 23 8 19
+f 23 16 20
+f 23 20 22
+f 23 22 18
+f 23 21 12
+f 23 18 21
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_11/collision/model_normalized_collision_14.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_11/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..117e9f996c7ca473d5bbd012f32599c911988f4b
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_11/collision/model_normalized_collision_14.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.11196448 -0.26517948 -0.01343425
+v 0.15673862 -0.18999695 -0.08246255
+v 0.15736562 -0.00756222 -0.01251925
+v -0.00832038 -0.00856761 -0.03246841
+v -0.01034725 -0.21905968 -0.09503526
+v 0.15491269 -0.00917847 -0.08522629
+v -0.00865979 -0.26684229 -0.01972034
+v 0.15742165 -0.18960031 -0.01290670
+v 0.10975585 -0.26434418 -0.07946738
+v -0.01016112 -0.00763257 -0.09660126
+v 0.15520859 -0.12810120 -0.08564148
+v 0.06622802 -0.26511401 -0.08252320
+v 0.05440360 -0.00655715 -0.02731777
+v -0.01134330 -0.26296991 -0.02071838
+f 6 3 2
+f 7 1 3
+f 7 3 4
+f 8 1 2
+f 8 2 3
+f 8 3 1
+f 9 5 2
+f 9 2 1
+f 11 6 2
+f 11 2 5
+f 11 10 6
+f 11 5 10
+f 12 7 5
+f 12 5 9
+f 12 9 1
+f 12 1 7
+f 13 10 4
+f 13 4 3
+f 13 3 6
+f 13 6 10
+f 14 7 4
+f 14 4 10
+f 14 10 5
+f 14 5 7
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_11/collision/model_normalized_collision_15.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_11/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..97c1d4a156d65e1ad456db12a07fd719470f8761
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_11/collision/model_normalized_collision_15.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v -0.14673281 -0.14432861 -0.03084495
+v -0.14386894 -0.14191851 -0.03157038
+v -0.16184353 0.10015222 -0.02250064
+v -0.20674081 0.09930018 -0.01814404
+v -0.21041445 0.10313004 -0.08758677
+v -0.16104289 -0.14417591 -0.02832958
+v -0.14254559 -0.00678946 -0.03568575
+v -0.20680928 -0.08398270 -0.02417302
+v -0.15853796 0.09486781 -0.02357826
+f 1 2 3
+f 5 2 1
+f 5 4 3
+f 6 1 3
+f 6 3 4
+f 6 5 1
+f 7 2 5
+f 8 6 4
+f 8 4 5
+f 8 5 6
+f 9 7 5
+f 9 5 3
+f 9 3 2
+f 9 2 7
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_11/collision/model_normalized_collision_16.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_11/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..69ef8ce369a3f41506813634de2f4b3fdc1dbc1e
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_11/collision/model_normalized_collision_16.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v 0.34066764 0.09900613 0.02889886
+v 0.33178520 0.09550920 -0.04700238
+v 0.33253728 0.34347791 0.00354068
+v 0.22786450 0.37566459 -0.00850637
+v 0.23526471 0.09909223 0.00783843
+v 0.23003033 0.26269167 -0.04214541
+v 0.23691712 0.36363978 0.05088590
+v 0.33635030 0.14013536 -0.04012659
+v 0.27171982 0.36120555 -0.00892770
+v 0.23212760 0.09818044 -0.06628835
+v 0.33471982 0.35078155 0.05514896
+v 0.22823702 0.37095820 0.01338777
+v 0.33459443 0.24555744 -0.02330035
+v 0.23076610 0.36715432 -0.01384323
+v 0.30281934 0.35641530 0.00199085
+v 0.23074130 0.17168455 -0.05785355
+v 0.34060738 0.25381681 0.05001799
+v 0.33265919 0.30604745 -0.00883176
+v 0.27461869 0.30482973 -0.02413495
+v 0.22968740 0.32272615 -0.02679717
+v 0.26121428 0.15774860 -0.05483983
+v 0.27055721 0.35647110 0.05339663
+v 0.34287134 0.14807735 0.03464058
+v 0.29083754 0.23242058 -0.03728932
+v 0.24810072 0.32028259 -0.02449584
+v 0.28815063 0.09747425 -0.05607816
+v 0.24511952 0.26040766 -0.03992455
+f 5 2 1
+f 7 5 1
+f 8 1 2
+f 10 2 5
+f 11 4 7
+f 12 7 4
+f 12 5 7
+f 12 10 5
+f 14 4 9
+f 15 9 4
+f 15 3 9
+f 15 11 3
+f 15 4 11
+f 16 4 6
+f 16 12 4
+f 16 10 12
+f 17 7 1
+f 17 13 3
+f 17 3 11
+f 18 9 3
+f 18 3 13
+f 19 18 13
+f 19 9 18
+f 20 6 4
+f 20 4 14
+f 20 14 9
+f 21 8 2
+f 21 10 16
+f 22 17 11
+f 22 11 7
+f 22 7 17
+f 23 17 1
+f 23 1 8
+f 23 8 13
+f 23 13 17
+f 24 19 13
+f 24 13 8
+f 24 8 21
+f 24 21 16
+f 24 16 6
+f 25 19 6
+f 25 6 20
+f 25 20 9
+f 25 9 19
+f 26 21 2
+f 26 2 10
+f 26 10 21
+f 27 24 6
+f 27 6 19
+f 27 19 24
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_11/collision/model_normalized_collision_17.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_11/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8cab03f6a66e59457a44560905d397ab95c313dd
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_11/collision/model_normalized_collision_17.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.23453993 0.23664713 0.02473809
+v 0.23215288 0.23284909 -0.04745184
+v 0.23351290 0.35287512 -0.01924784
+v 0.08257489 0.36049607 0.03471440
+v 0.08180729 0.23317222 -0.06470621
+v 0.23291473 0.35578535 0.05035985
+v 0.08362859 0.23764538 0.00511870
+v 0.16912532 0.32067113 -0.03803177
+v 0.23503738 0.28365219 0.03415289
+v 0.07822516 0.26094731 -0.05738349
+v 0.22569366 0.27595618 -0.04019589
+v 0.08037568 0.35297397 -0.03459984
+v 0.23177501 0.33749849 -0.02379434
+v 0.17370763 0.24491245 -0.05476055
+v 0.12445779 0.33877139 -0.03821299
+v 0.08191311 0.33572568 -0.04066500
+v 0.17089245 0.23379898 -0.05637790
+f 5 2 1
+f 6 3 4
+f 6 4 1
+f 7 5 1
+f 7 1 4
+f 9 6 1
+f 9 3 6
+f 9 1 2
+f 9 2 3
+f 10 7 4
+f 10 5 7
+f 12 4 3
+f 12 10 4
+f 13 11 8
+f 13 8 3
+f 13 3 2
+f 13 2 11
+f 14 11 2
+f 14 8 11
+f 15 12 3
+f 15 3 8
+f 15 14 5
+f 15 8 14
+f 16 5 10
+f 16 10 12
+f 16 15 5
+f 16 12 15
+f 17 14 2
+f 17 2 5
+f 17 5 14
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_11/collision/model_normalized_collision_18.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_11/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b6ed5e7334cb1895f92273b473e94e0d6f6d1b07
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_11/collision/model_normalized_collision_18.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v -0.34147227 0.27388213 0.05491226
+v -0.25447098 0.31446890 0.04253367
+v -0.33184679 0.34581419 0.08237351
+v -0.36422691 0.33915633 0.08417657
+v -0.33801539 0.32101591 0.00021429
+v -0.37015798 0.31834496 0.07998672
+v -0.25657355 0.31858777 0.04588991
+v -0.34261093 0.28008696 -0.01109396
+v -0.34079816 0.33891709 0.00844265
+v -0.34938128 0.32119726 0.07730870
+v -0.28317012 0.29748501 0.04341933
+v -0.39344171 0.27494024 0.01375659
+v -0.37389010 0.33473065 0.02812761
+v -0.25731916 0.33072861 0.05073005
+v -0.25270216 0.32642778 0.04712266
+v -0.38028436 0.27513371 0.00424320
+v -0.39072363 0.28065430 0.05379183
+v -0.30232340 0.34532818 0.07069346
+v -0.35097091 0.31886512 0.00524105
+v -0.36405479 0.33458777 0.01841701
+v -0.38086060 0.28810538 0.06293313
+v -0.38563148 0.30513925 0.06000105
+v -0.38876215 0.28661045 0.01501290
+v -0.37846465 0.28610078 0.00742225
+v -0.37213098 0.33498354 0.07441925
+v -0.38691015 0.30161817 0.02449445
+v -0.37305483 0.31808868 0.01770196
+f 6 3 4
+f 7 1 2
+f 7 3 1
+f 8 5 2
+f 10 6 1
+f 10 1 3
+f 10 3 6
+f 11 8 2
+f 11 2 1
+f 11 1 8
+f 13 4 3
+f 13 3 9
+f 14 3 7
+f 15 2 5
+f 15 5 9
+f 15 9 14
+f 15 14 7
+f 15 7 2
+f 16 8 1
+f 16 1 12
+f 17 12 1
+f 18 14 9
+f 18 9 3
+f 18 3 14
+f 19 5 8
+f 19 8 16
+f 19 9 5
+f 20 13 9
+f 20 9 19
+f 21 17 1
+f 21 1 6
+f 21 6 17
+f 22 17 6
+f 22 12 17
+f 23 16 12
+f 23 12 13
+f 24 20 19
+f 24 19 16
+f 24 23 20
+f 24 16 23
+f 25 22 6
+f 25 6 4
+f 25 4 13
+f 25 13 22
+f 26 22 13
+f 26 13 12
+f 26 12 22
+f 27 23 13
+f 27 13 20
+f 27 20 23
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_11/collision/model_normalized_collision_19.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_11/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..874172201401d0c25b0b61d58affd9d83ac77cf2
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_11/collision/model_normalized_collision_19.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.08362859 0.23764538 0.00511870
+v 0.08180729 0.23317222 -0.06470621
+v 0.08037568 0.35297397 -0.03459984
+v -0.18970401 0.35275305 0.04279175
+v -0.19244773 0.23837636 0.00621484
+v 0.08144397 0.35625925 0.03318386
+v 0.08191311 0.33572568 -0.04066500
+v -0.14390756 0.23184850 -0.07236321
+v -0.19058817 0.35449417 -0.03310240
+v 0.08356079 0.30028047 0.01885228
+v -0.11805666 0.24531384 -0.06979270
+v -0.17091523 0.34935101 -0.03986862
+v -0.19080050 0.23431520 -0.06627278
+v -0.19381658 0.28445788 0.01931681
+v 0.06491372 0.29079822 -0.05301485
+v -0.11707846 0.23256957 -0.07184033
+v -0.02512389 0.35068025 -0.03855869
+v -0.15795795 0.30547078 -0.05471316
+v -0.18932934 0.29169882 -0.05219989
+v -0.08707574 0.30627354 -0.05422415
+v -0.18799992 0.33707048 -0.03984208
+f 5 1 4
+f 6 4 1
+f 7 1 2
+f 7 3 6
+f 8 2 1
+f 8 1 5
+f 9 6 3
+f 9 4 6
+f 10 7 6
+f 10 6 1
+f 10 1 7
+f 13 8 5
+f 14 5 4
+f 14 4 9
+f 14 13 5
+f 14 9 13
+f 15 7 2
+f 15 2 11
+f 16 11 2
+f 16 2 8
+f 16 8 11
+f 17 12 9
+f 17 9 3
+f 17 3 7
+f 18 11 8
+f 18 8 13
+f 19 13 9
+f 19 18 13
+f 20 15 11
+f 20 7 15
+f 20 11 18
+f 20 17 7
+f 20 18 12
+f 20 12 17
+f 21 19 9
+f 21 9 12
+f 21 12 18
+f 21 18 19
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_11/collision/model_normalized_collision_2.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_11/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b24eddbb5da3ffbd39fb8534c437f178f41dcefd
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_11/collision/model_normalized_collision_2.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v -0.20087771 -0.24505213 -0.01067835
+v -0.20040304 -0.21106826 -0.07673030
+v -0.20952286 -0.00738121 -0.02488426
+v -0.40910870 -0.00616099 0.03611447
+v -0.26961467 -0.17823393 -0.04809836
+v -0.37637953 -0.00660123 0.03212707
+v -0.20629313 -0.00765677 -0.10142001
+v -0.21433101 -0.23416162 -0.04902788
+v -0.28799811 -0.16172274 -0.00829808
+v -0.40969575 -0.00355850 -0.01781864
+v -0.37389265 -0.03333063 0.03184936
+v -0.21289134 -0.20777465 -0.07234223
+v -0.20213834 -0.24083349 -0.05128698
+v -0.40463471 -0.02376064 0.03255180
+v -0.21315920 -0.23421757 -0.01194677
+v -0.25772393 -0.13956337 -0.08434746
+v -0.40085254 -0.02682940 -0.00776107
+v -0.26751377 -0.14867369 -0.07359913
+v -0.30721636 -0.00792875 -0.07203539
+v -0.20109777 -0.18749817 -0.08983825
+v -0.40491498 -0.01411011 -0.01782365
+v -0.21583784 -0.18457489 -0.08542470
+v -0.39546703 -0.00528203 -0.02850869
+v -0.26226108 -0.00741949 -0.08665885
+v -0.38683322 -0.04181899 -0.01544896
+v -0.35654112 -0.06866669 -0.03295683
+v -0.33137554 -0.06346113 -0.05573069
+v -0.30463995 -0.06592811 -0.06857908
+f 6 1 3
+f 7 1 2
+f 7 3 1
+f 9 5 8
+f 10 6 3
+f 10 4 6
+f 10 3 7
+f 11 6 4
+f 11 1 6
+f 12 8 5
+f 13 2 1
+f 13 1 8
+f 13 12 2
+f 13 8 12
+f 14 9 1
+f 14 4 10
+f 14 11 4
+f 14 1 11
+f 15 9 8
+f 15 8 1
+f 15 1 9
+f 17 14 10
+f 17 5 9
+f 17 9 14
+f 18 12 5
+f 20 16 7
+f 20 7 2
+f 21 17 10
+f 22 18 16
+f 22 12 18
+f 22 16 20
+f 22 20 2
+f 22 2 12
+f 23 10 19
+f 23 21 10
+f 23 16 18
+f 23 18 21
+f 24 19 10
+f 24 10 7
+f 24 7 16
+f 24 16 19
+f 25 21 5
+f 25 5 17
+f 25 17 21
+f 26 21 18
+f 26 18 5
+f 26 5 21
+f 27 23 19
+f 27 16 23
+f 28 27 19
+f 28 19 16
+f 28 16 27
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_11/collision/model_normalized_collision_20.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_11/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8d82b8d53ef9310135bd75615dfaec42194b5080
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_11/collision/model_normalized_collision_20.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.00542079 0.10117217 -0.02145520
+v 0.05109218 0.09830760 -0.08596521
+v 0.05106659 0.16249378 -0.07842174
+v -0.25243519 0.15915016 0.00189217
+v -0.25020225 0.09747391 -0.08187035
+v 0.00563966 0.15922940 -0.01411137
+v -0.26492843 0.09773329 -0.00345642
+v -0.20367633 0.14094388 -0.08414890
+v -0.19102058 0.16448217 -0.01003835
+v 0.05174398 0.10179952 -0.08554292
+v -0.22000673 0.09633945 -0.08775517
+v -0.24973465 0.15555950 -0.07244529
+v -0.26896424 0.09930164 -0.00217496
+v -0.10148896 0.14108244 -0.08492854
+v 0.01973403 0.09792386 -0.08663650
+v -0.26833864 0.11390266 -0.00182859
+v 0.02168676 0.11306893 -0.08588176
+v 0.05124990 0.15738109 -0.07939863
+v -0.02610868 0.12626672 -0.08533498
+f 7 2 1
+f 9 6 3
+f 9 4 6
+f 10 6 1
+f 10 1 2
+f 10 3 6
+f 11 7 5
+f 11 5 8
+f 12 8 5
+f 12 4 9
+f 12 9 3
+f 12 3 8
+f 13 6 4
+f 13 12 5
+f 13 5 7
+f 13 7 1
+f 13 1 6
+f 14 8 3
+f 14 11 8
+f 15 2 7
+f 15 7 11
+f 16 13 4
+f 16 4 12
+f 16 12 13
+f 17 2 15
+f 17 15 11
+f 17 11 14
+f 18 14 3
+f 18 3 10
+f 18 10 2
+f 18 2 17
+f 19 18 17
+f 19 17 14
+f 19 14 18
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_11/collision/model_normalized_collision_21.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_11/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b2c15defee54f4ed884d94868a65efb370532d5
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_11/collision/model_normalized_collision_21.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.00844930 -0.08340238 -0.03449026
+v -0.03984329 -0.00771082 -0.09867527
+v -0.20161094 -0.00690412 -0.02619297
+v -0.19650242 -0.08022385 -0.02649934
+v -0.00832038 -0.00856761 -0.03246841
+v -0.04289340 -0.08453910 -0.10349753
+v -0.14596006 -0.08424711 -0.03151482
+v -0.20247999 -0.08267236 -0.10072273
+v -0.20436900 -0.00864724 -0.10173569
+v -0.05759740 -0.00960332 -0.10070597
+f 5 1 2
+f 5 2 3
+f 5 4 1
+f 5 3 4
+f 6 2 1
+f 7 6 1
+f 7 1 4
+f 8 4 3
+f 8 7 4
+f 8 6 7
+f 9 8 3
+f 9 3 2
+f 9 6 8
+f 10 9 2
+f 10 2 6
+f 10 6 9
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_11/collision/model_normalized_collision_22.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_11/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f5c783c93724fca7ba67f71f8b92010b99ecb031
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_11/collision/model_normalized_collision_22.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v -0.00319771 -0.48378914 -0.00774823
+v -0.00390455 -0.47847748 -0.04838366
+v -0.00993318 -0.34276815 -0.00333457
+v -0.12267241 -0.33279684 -0.00745661
+v -0.09850464 -0.40544960 -0.06695288
+v -0.01845806 -0.45417727 0.02102149
+v -0.06177021 -0.44367070 -0.04276680
+v -0.01576935 -0.34351016 -0.09208210
+v -0.01068087 -0.37670762 0.00373724
+v -0.08503750 -0.35537209 0.00135433
+v -0.08581607 -0.41778824 -0.07650538
+v -0.01655890 -0.47486726 -0.04602329
+v -0.07773634 -0.43123902 -0.02384240
+v -0.10700099 -0.34415763 -0.08910896
+v -0.04240176 -0.34118263 -0.09970301
+v -0.01221130 -0.47799046 -0.00978906
+v -0.02653436 -0.46102704 -0.06042557
+v -0.07224298 -0.43006512 -0.06720776
+v -0.10169363 -0.40125352 -0.02271487
+v -0.11579871 -0.37366654 -0.08635090
+v -0.05857170 -0.44600947 -0.03211596
+v -0.04182392 -0.39867611 -0.10210961
+v -0.12002724 -0.34729590 -0.07984945
+v -0.11292242 -0.38009497 -0.04509766
+v -0.03650067 -0.43437392 -0.08559910
+v -0.01185867 -0.43892059 -0.08541545
+v -0.07814747 -0.39636564 -0.09954508
+v -0.11762590 -0.35909626 -0.08583628
+v -0.07525571 -0.41636950 -0.08649672
+v -0.00758396 -0.45189262 -0.07647585
+v -0.08059387 -0.34469600 -0.10120970
+f 1 2 3
+f 8 3 2
+f 9 6 1
+f 9 1 3
+f 9 3 6
+f 10 6 3
+f 10 3 4
+f 10 4 6
+f 12 2 1
+f 13 11 7
+f 13 5 11
+f 15 4 3
+f 15 3 8
+f 15 14 4
+f 16 12 1
+f 16 1 6
+f 16 6 13
+f 17 12 11
+f 17 2 12
+f 18 12 7
+f 18 7 11
+f 18 11 12
+f 19 13 6
+f 19 6 4
+f 19 5 13
+f 20 5 19
+f 20 11 5
+f 21 7 12
+f 21 12 16
+f 21 16 13
+f 21 13 7
+f 22 15 8
+f 23 20 4
+f 23 4 14
+f 24 20 19
+f 24 19 4
+f 24 4 20
+f 26 22 8
+f 26 25 22
+f 27 22 25
+f 28 23 14
+f 28 20 23
+f 29 25 17
+f 29 17 11
+f 29 27 25
+f 29 11 20
+f 29 20 27
+f 30 2 17
+f 30 17 25
+f 30 25 26
+f 30 26 8
+f 30 8 2
+f 31 14 15
+f 31 15 22
+f 31 22 27
+f 31 28 14
+f 31 27 20
+f 31 20 28
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_11/collision/model_normalized_collision_23.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_11/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..31e8b400d345384b644f80190f46b8e505cba813
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_11/collision/model_normalized_collision_23.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.36726788 -0.00060434 0.02247829
+v 0.37529589 -0.00558662 -0.05107384
+v 0.38981562 0.10265930 -0.02763798
+v 0.23526471 0.09909223 0.00783843
+v 0.23252802 -0.00754219 -0.07039577
+v 0.37878039 0.10164936 0.03600167
+v 0.38972712 0.09975911 0.02743295
+v 0.31216730 -0.00856150 0.01739032
+v 0.23212760 0.09818044 -0.06628835
+v 0.37926459 0.04284145 0.02777714
+v 0.38538717 0.04217078 -0.03769253
+v 0.33632282 -0.00767622 -0.05519344
+v 0.23448216 -0.00632205 0.00404706
+v 0.37699341 0.04543134 0.03391174
+v 0.37936783 0.07868123 -0.04071687
+v 0.35658449 0.09978658 0.03338541
+v 0.36643060 0.09439988 -0.04016303
+v 0.33424107 0.03721588 -0.05453548
+v 0.35774950 0.06974435 0.03180339
+v 0.28815063 0.09747425 -0.05607816
+f 6 3 4
+f 7 3 6
+f 8 2 1
+f 9 2 5
+f 9 4 3
+f 10 1 2
+f 11 3 7
+f 11 10 2
+f 11 7 10
+f 12 8 5
+f 12 5 2
+f 12 2 8
+f 13 5 8
+f 13 9 5
+f 13 4 9
+f 14 8 1
+f 14 13 8
+f 14 1 10
+f 14 10 7
+f 14 7 6
+f 15 11 2
+f 15 3 11
+f 16 14 6
+f 16 6 4
+f 16 4 13
+f 17 3 15
+f 18 15 2
+f 18 2 9
+f 19 16 13
+f 19 13 14
+f 19 14 16
+f 20 17 15
+f 20 9 3
+f 20 3 17
+f 20 18 9
+f 20 15 18
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_11/collision/model_normalized_collision_24.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_11/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c010c514afff1a06e094c05bdf32d5d5164a152d
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_11/collision/model_normalized_collision_24.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.08102630 0.09963254 -0.01576093
+v 0.08136774 0.09826464 -0.08551466
+v 0.08315551 0.19636682 -0.07288510
+v 0.00398344 0.18612588 -0.00998218
+v 0.00542079 0.10117217 -0.02145520
+v 0.00437173 0.15924803 -0.07929971
+v 0.07874537 0.18631240 -0.00418663
+v 0.08346784 0.11769278 -0.01098277
+v 0.05109218 0.09830760 -0.08596521
+v 0.08233956 0.18733015 -0.07480222
+v 0.00631999 0.18693006 -0.07602490
+v 0.08250094 0.15999032 -0.00842016
+v 0.00888977 0.10045839 -0.08733807
+f 6 5 4
+f 7 3 4
+f 8 1 2
+f 8 2 3
+f 8 7 4
+f 8 5 1
+f 8 4 5
+f 9 2 1
+f 9 1 5
+f 10 3 2
+f 11 6 4
+f 11 4 3
+f 11 3 10
+f 12 8 3
+f 12 3 7
+f 12 7 8
+f 13 9 5
+f 13 5 6
+f 13 6 11
+f 13 2 9
+f 13 11 10
+f 13 10 2
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_11/collision/model_normalized_collision_25.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_11/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..22c5ef07c09df618e2f4ae91f0092ddb7f17b913
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_11/collision/model_normalized_collision_25.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.30398135 0.09662455 0.00551201
+v -0.30511731 0.15424512 0.01414681
+v -0.31637751 0.09934762 0.01318926
+v -0.39254655 0.16121760 0.05055418
+v -0.39186393 0.16074582 -0.01969983
+v -0.31229997 0.15867346 0.01932916
+v -0.39726334 0.09894827 -0.02545703
+v -0.38042099 0.16208775 0.04659843
+v -0.39079915 0.09921753 0.04237053
+v -0.39398121 0.14541512 0.04887948
+f 5 2 1
+f 6 2 5
+f 6 1 2
+f 6 3 1
+f 7 5 1
+f 8 3 6
+f 8 6 5
+f 8 5 4
+f 9 7 1
+f 9 1 3
+f 9 8 4
+f 9 3 8
+f 10 4 5
+f 10 5 7
+f 10 9 4
+f 10 7 9
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_11/collision/model_normalized_collision_26.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_11/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b0b9f699db59c10506b4775666d8af5bad69289
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_11/collision/model_normalized_collision_26.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.20289161 -0.26559065 0.00064061
+v 0.20100703 -0.26304042 -0.07089814
+v 0.17500210 -0.18928858 -0.01055257
+v 0.11190118 -0.18980516 -0.01969454
+v 0.10975585 -0.26434418 -0.07946738
+v 0.17157235 -0.18987583 -0.08097250
+v 0.14481602 -0.19256754 -0.01459523
+v 0.20349270 -0.22053136 -0.00453797
+v 0.11196448 -0.26517948 -0.01343425
+v 0.11173172 -0.18940106 -0.08709405
+v 0.20019288 -0.21740414 -0.07655074
+v 0.12744903 -0.26586365 -0.01230059
+f 5 2 1
+f 7 1 3
+f 7 3 4
+f 7 4 1
+f 8 1 2
+f 8 3 1
+f 9 1 4
+f 9 4 5
+f 10 4 3
+f 10 3 6
+f 10 5 4
+f 11 6 3
+f 11 3 8
+f 11 8 2
+f 11 10 6
+f 11 2 5
+f 11 5 10
+f 12 9 5
+f 12 5 1
+f 12 1 9
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_11/collision/model_normalized_collision_27.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_11/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..82612b0ba5bca80e8fdd7aed09a5486d7725db31
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_11/collision/model_normalized_collision_27.obj
@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
+v -0.36422691 0.33915633 0.08417657
+v -0.29640179 0.33999115 -0.00915953
+v -0.30706578 0.35098759 0.07650469
+v -0.33079671 0.44206248 0.10172822
+v -0.36869836 0.34959180 0.02959325
+v -0.29350869 0.43985111 0.04013615
+v -0.31320798 0.41801134 0.10946898
+v -0.37389010 0.33473065 0.02812761
+v -0.29139203 0.38053210 0.00449889
+v -0.33188832 0.43833809 0.05784344
+v -0.33394672 0.36431232 0.09170774
+v -0.32605160 0.41497179 0.10851256
+v -0.30182020 0.43203296 0.09924279
+v -0.36405479 0.33458777 0.01841701
+v -0.37499518 0.33624988 0.06297588
+v -0.32554550 0.44652266 0.07060753
+v -0.31840059 0.41983431 0.03666394
+v -0.35015259 0.36176550 0.09346869
+v -0.31372283 0.42609539 0.11020919
+v -0.34054683 0.41217461 0.09974100
+v -0.30482192 0.38158523 0.08909968
+v -0.29098539 0.40913009 0.01783807
+v -0.32222188 0.33584256 -0.00041428
+v -0.34285297 0.43169764 0.06881733
+v -0.31837507 0.44469183 0.07896825
+v -0.31890708 0.43641225 0.04726454
+v -0.35943130 0.34703833 0.02070148
+v -0.32371267 0.42654471 0.10773478
+v -0.35545231 0.37985216 0.08587380
+v -0.35552515 0.39213244 0.04474607
+v -0.34072498 0.43553125 0.07907707
+v -0.32353581 0.44631157 0.06995828
+v -0.30377374 0.40693374 0.02244072
+v -0.30466369 0.37739101 0.00890347
+v -0.37050961 0.35024103 0.06087383
+v -0.35830784 0.37716117 0.03661054
+v -0.32683390 0.44611815 0.07393217
+v -0.35360439 0.39479402 0.07834246
+f 1 2 3
+f 9 3 2
+f 11 1 3
+f 11 3 7
+f 14 8 5
+f 15 8 14
+f 16 6 10
+f 18 11 7
+f 18 1 11
+f 18 7 12
+f 19 12 7
+f 19 13 4
+f 19 7 13
+f 20 12 4
+f 20 18 12
+f 20 1 18
+f 21 13 7
+f 21 7 3
+f 21 3 9
+f 21 9 13
+f 22 13 9
+f 22 6 13
+f 23 9 2
+f 23 15 14
+f 23 2 1
+f 23 1 15
+f 24 16 10
+f 25 13 6
+f 25 4 13
+f 26 10 6
+f 26 22 17
+f 26 6 22
+f 27 14 5
+f 27 23 14
+f 28 19 4
+f 28 4 12
+f 28 12 19
+f 29 15 1
+f 29 1 20
+f 29 20 4
+f 30 5 8
+f 30 24 10
+f 31 24 15
+f 32 25 6
+f 32 6 16
+f 32 16 25
+f 33 27 17
+f 33 17 22
+f 33 22 9
+f 34 9 23
+f 34 23 27
+f 34 33 9
+f 34 27 33
+f 35 30 8
+f 35 8 15
+f 35 15 24
+f 35 24 30
+f 36 27 5
+f 36 5 30
+f 36 17 27
+f 36 26 17
+f 36 30 10
+f 36 10 26
+f 37 31 4
+f 37 16 24
+f 37 24 31
+f 37 25 16
+f 37 4 25
+f 38 29 4
+f 38 4 31
+f 38 31 15
+f 38 15 29
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_11/collision/model_normalized_collision_28.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_11/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c1b320976332b617436ae738455a8a7a2e20df8b
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_11/collision/model_normalized_collision_28.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.00883284 -0.22210313 -0.02698427
+v -0.01034725 -0.21905968 -0.09503526
+v -0.01016112 -0.00763257 -0.09660126
+v -0.04091923 -0.00836049 -0.03628449
+v -0.03997751 -0.21921112 -0.09796761
+v -0.01705348 -0.01127188 -0.03512156
+v -0.00461978 -0.20725332 -0.02885895
+v -0.03550229 -0.22312000 -0.02859078
+v -0.04195786 -0.11208214 -0.10288684
+v -0.00844930 -0.08340238 -0.03449026
+v -0.03649082 -0.20603803 -0.02924500
+v -0.02540246 -0.11249363 -0.10055655
+v -0.04315732 -0.06948992 -0.10228492
+v -0.03984329 -0.00771082 -0.09867527
+f 6 3 4
+f 6 4 1
+f 7 1 2
+f 7 2 3
+f 7 6 1
+f 8 5 2
+f 8 2 1
+f 8 1 4
+f 9 2 5
+f 10 7 3
+f 10 3 6
+f 10 6 7
+f 11 8 4
+f 11 4 5
+f 11 5 8
+f 12 9 3
+f 12 3 2
+f 12 2 9
+f 13 9 5
+f 13 5 4
+f 13 3 9
+f 14 13 4
+f 14 4 3
+f 14 3 13
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_11/collision/model_normalized_collision_29.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_11/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c63a7bea420fff024e5957523e80203083116893
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_11/collision/model_normalized_collision_29.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v -0.25192830 0.09772513 -0.00673537
+v -0.25020225 0.09747391 -0.08187035
+v -0.25144102 0.23456081 -0.05512679
+v -0.31234769 0.23474032 0.03402789
+v -0.31637751 0.09934762 0.01318926
+v -0.25484664 0.23868892 0.01839865
+v -0.24948374 0.21722028 -0.05765352
+v -0.29220869 0.09678944 -0.07024732
+v -0.30867053 0.23253294 -0.03854084
+v -0.24973465 0.15555950 -0.07244529
+v -0.30942267 0.09765422 -0.06445406
+v -0.31899620 0.14261674 0.01797287
+v -0.26117243 0.15479970 -0.07008833
+v -0.29095119 0.11051688 -0.06883093
+v -0.30737208 0.16999853 -0.05379655
+v -0.27579332 0.13974574 -0.06842580
+f 6 5 1
+f 6 4 5
+f 7 6 1
+f 7 3 6
+f 8 2 1
+f 8 1 5
+f 9 6 3
+f 9 4 6
+f 10 7 1
+f 10 1 2
+f 10 3 7
+f 11 8 5
+f 12 5 4
+f 12 4 9
+f 12 11 5
+f 12 9 11
+f 13 10 2
+f 13 3 10
+f 14 13 2
+f 14 2 8
+f 14 8 11
+f 15 9 3
+f 15 3 13
+f 15 14 11
+f 15 11 9
+f 16 15 13
+f 16 13 14
+f 16 14 15
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_11/collision/model_normalized_collision_3.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_11/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3cbbaa2846618681d2270fc0f9cb289e7d8b6190
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_11/collision/model_normalized_collision_3.obj
@@ -0,0 +1,141 @@
+# https://github.com/mikedh/trimesh
+v -0.31640692 -0.00783438 0.00846414
+v -0.31155625 -0.00748402 -0.07016466
+v -0.28881280 0.33430178 0.06055317
+v -0.35050790 0.34861804 0.01714836
+v -0.41788198 -0.00547242 0.00855101
+v -0.29185794 0.33381575 -0.01435708
+v -0.33609966 -0.00788960 -0.05899918
+v -0.40910870 -0.00616099 0.03611447
+v -0.29576113 0.23413412 -0.03936600
+v -0.40257417 0.16930871 -0.01120471
+v -0.37637953 -0.00660123 0.03212707
+v -0.39486468 0.23683032 0.06244949
+v -0.29276599 0.29086253 -0.02729180
+v -0.41754928 0.02982945 -0.01581838
+v -0.30846500 0.14185105 -0.05849667
+v -0.35796623 0.29547777 0.06400143
+v -0.39887239 0.26441907 0.02153351
+v -0.41451009 0.18788986 0.04224669
+v -0.38744881 0.21875317 0.06363367
+v -0.36572644 0.26062355 -0.00795812
+v -0.40508976 0.05070290 -0.02486007
+v -0.40969575 -0.00355850 -0.01781864
+v -0.39072363 0.28065430 0.05379183
+v -0.41973920 0.04352740 0.03358292
+v -0.41707258 0.13996083 -0.00137352
+v -0.39276534 0.21320303 0.06346261
+v -0.32143722 0.32114933 -0.00733159
+v -0.39344171 0.27494024 0.01375659
+v -0.39109445 0.21532340 -0.00780949
+v -0.31849801 0.21427216 -0.03879199
+v -0.39418470 0.14059587 -0.02215576
+v -0.39546703 -0.00528203 -0.02850869
+v -0.39940081 0.24647991 0.05444213
+v -0.41495470 -0.00421508 0.02779216
+v -0.41328514 0.10444685 0.04934114
+v -0.41671469 0.18655855 0.02121751
+v -0.41621475 0.05122755 -0.01496993
+v -0.30518212 0.28951942 -0.02333517
+v -0.39030294 0.25830867 0.00423443
+v -0.40382283 0.21397202 0.00331383
+v -0.34938785 0.23001302 -0.02209407
+v -0.32107540 0.14073195 -0.05413343
+v -0.40354704 0.00976337 -0.02514107
+v -0.40020883 0.25920903 0.04549585
+v -0.31771288 0.27377266 -0.02342190
+v -0.41596116 0.17066914 0.00985703
+v -0.40162912 0.24484794 0.01291438
+v -0.33420119 0.09678947 -0.05421194
+f 1 2 3
+f 6 4 3
+f 7 2 1
+f 8 7 1
+f 8 5 7
+f 9 3 2
+f 11 8 1
+f 11 1 3
+f 13 6 3
+f 13 3 9
+f 15 9 2
+f 15 13 9
+f 16 3 4
+f 19 11 3
+f 19 3 16
+f 19 8 11
+f 21 2 7
+f 22 5 14
+f 23 16 4
+f 23 12 16
+f 24 14 5
+f 25 14 24
+f 26 19 16
+f 26 16 12
+f 26 8 19
+f 27 20 4
+f 27 4 6
+f 28 23 4
+f 28 17 23
+f 30 13 15
+f 31 21 10
+f 31 10 29
+f 32 7 5
+f 32 5 22
+f 33 18 12
+f 33 12 23
+f 34 24 5
+f 34 5 8
+f 34 8 24
+f 35 12 18
+f 35 18 24
+f 35 26 12
+f 35 24 8
+f 35 8 26
+f 36 25 24
+f 36 24 18
+f 37 21 14
+f 37 14 25
+f 37 25 10
+f 37 10 21
+f 38 27 6
+f 38 6 13
+f 39 28 4
+f 39 4 20
+f 39 20 29
+f 39 29 10
+f 40 10 25
+f 40 39 10
+f 40 28 39
+f 41 30 29
+f 41 29 20
+f 41 20 30
+f 42 30 15
+f 42 29 30
+f 42 31 29
+f 43 21 7
+f 43 7 32
+f 43 14 21
+f 43 32 22
+f 43 22 14
+f 44 33 23
+f 44 23 17
+f 44 18 33
+f 44 36 18
+f 44 17 36
+f 45 20 27
+f 45 27 38
+f 45 30 20
+f 45 38 13
+f 45 13 30
+f 46 40 25
+f 46 25 36
+f 47 36 17
+f 47 17 28
+f 47 28 40
+f 47 46 36
+f 47 40 46
+f 48 42 15
+f 48 15 2
+f 48 2 21
+f 48 21 31
+f 48 31 42
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_11/collision/model_normalized_collision_30.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_11/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..99315cc81266ac4140fb85557945cdffd7e50de2
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_11/collision/model_normalized_collision_30.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.23339271 0.34147859 0.04715544
+v 0.23351290 0.35287512 -0.01924784
+v 0.23691712 0.36363978 0.05088590
+v 0.17915126 0.39127191 0.04179692
+v 0.18682748 0.35552070 -0.02459700
+v 0.22880689 0.37384134 -0.00960245
+v 0.18295543 0.38266795 0.04876576
+v 0.23551905 0.34538071 0.04865750
+v 0.20365860 0.34225923 0.04339901
+v 0.18253139 0.39169368 -0.01178675
+v 0.19028929 0.36112798 0.04615628
+v 0.20792705 0.37038757 0.04998951
+v 0.19832070 0.38412681 -0.01379674
+f 6 3 2
+f 6 4 3
+f 7 3 4
+f 8 1 2
+f 8 2 3
+f 9 5 2
+f 9 2 1
+f 9 1 8
+f 10 5 4
+f 10 4 6
+f 11 7 4
+f 11 4 5
+f 11 5 9
+f 11 9 8
+f 12 8 3
+f 12 3 7
+f 12 11 8
+f 12 7 11
+f 13 10 6
+f 13 6 2
+f 13 2 5
+f 13 5 10
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_11/collision/model_normalized_collision_31.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_11/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..588382254eda5fb0ffa1e79530769a22f4fe6592
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_11/collision/model_normalized_collision_31.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v -0.20952286 -0.00738121 -0.02488426
+v -0.20629313 -0.00765677 -0.10142001
+v -0.20674081 0.09930018 -0.01814404
+v -0.31637751 0.09934762 0.01318926
+v -0.31640692 -0.00783438 0.00846414
+v -0.29220869 0.09678944 -0.07024732
+v -0.30175617 -0.01053873 0.00275042
+v -0.20471874 0.09645546 -0.08934888
+v -0.23947924 0.10153332 -0.01085337
+v -0.30942267 0.09765422 -0.06445406
+v -0.30721636 -0.00792875 -0.07203539
+v -0.24835769 0.08108567 -0.08528065
+v -0.28292808 0.10102283 0.00163447
+v -0.23427278 0.09605377 -0.08613114
+v -0.30565358 0.06669610 -0.06846479
+v -0.26226108 -0.00741949 -0.08665885
+v -0.26166760 0.05175439 -0.08399217
+f 1 2 3
+f 5 1 3
+f 5 3 4
+f 7 2 1
+f 7 1 5
+f 8 3 2
+f 9 4 3
+f 9 3 8
+f 10 5 4
+f 10 9 8
+f 11 7 5
+f 11 2 7
+f 11 5 10
+f 13 10 4
+f 13 4 9
+f 13 9 10
+f 14 10 8
+f 14 6 10
+f 14 12 6
+f 14 8 2
+f 14 2 12
+f 15 11 10
+f 15 10 6
+f 16 2 11
+f 17 15 6
+f 17 6 12
+f 17 12 2
+f 17 2 16
+f 17 16 11
+f 17 11 15
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_11/collision/model_normalized_collision_4.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_11/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..668980cfab12aeb42602e26a5a427f33e35a582d
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_11/collision/model_normalized_collision_4.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v 0.06300079 -0.48730012 -0.00949236
+v 0.06119283 -0.48506875 -0.05065606
+v 0.06614043 -0.21949264 -0.08573818
+v 0.03455279 -0.21832125 -0.02565925
+v -0.01826381 -0.45147519 0.01587936
+v 0.06505303 -0.21893285 -0.02272592
+v 0.06858466 -0.45943017 0.00406103
+v 0.00398554 -0.49314722 -0.01715212
+v -0.01358030 -0.31265919 -0.08804397
+v -0.01068087 -0.37670762 0.00373724
+v 0.06496703 -0.36139764 0.00149050
+v 0.04381375 -0.49295960 -0.04130428
+v 0.01152140 -0.49641236 -0.01035103
+v 0.03599085 -0.21969412 -0.08720342
+v -0.01185867 -0.43892059 -0.08541545
+v -0.00993318 -0.34276815 -0.00333457
+v 0.06005842 -0.49070623 -0.03702273
+v -0.00319771 -0.48378914 -0.00774823
+v -0.00058499 -0.48908903 -0.03448684
+v -0.01574029 -0.30415843 -0.01419476
+v 0.05026733 -0.49207454 -0.04343597
+v 0.01511603 -0.42731511 -0.08447870
+v 0.05058170 -0.42739538 -0.07213965
+v 0.00376151 -0.43802632 -0.08374861
+f 6 3 4
+f 7 1 2
+f 7 2 3
+f 7 3 6
+f 7 5 1
+f 11 7 6
+f 11 5 7
+f 11 10 5
+f 11 6 10
+f 13 1 5
+f 14 4 3
+f 14 3 9
+f 15 5 9
+f 16 10 6
+f 16 6 4
+f 17 2 1
+f 17 13 12
+f 17 1 13
+f 18 13 5
+f 18 8 13
+f 19 13 8
+f 19 12 13
+f 19 15 12
+f 19 8 18
+f 19 18 5
+f 19 5 15
+f 20 14 9
+f 20 4 14
+f 20 16 4
+f 20 9 5
+f 20 5 10
+f 20 10 16
+f 21 15 2
+f 21 12 15
+f 21 17 12
+f 21 2 17
+f 22 15 9
+f 22 9 3
+f 23 22 3
+f 23 3 2
+f 23 2 22
+f 24 22 2
+f 24 2 15
+f 24 15 22
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_11/collision/model_normalized_collision_5.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_11/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a23bb6676701d9882f3fdb393ff889af8603802e
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_11/collision/model_normalized_collision_5.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.07979510 0.15772148 -0.00883739
+v 0.12678243 0.18888712 -0.07047162
+v 0.12758810 0.23655244 0.01041074
+v -0.25220280 0.23523723 0.01702677
+v -0.24973465 0.15555950 -0.07244529
+v -0.15849344 0.23403058 -0.06994166
+v -0.27071825 0.16214802 0.00660671
+v 0.12967054 0.19210339 0.00270674
+v 0.00437173 0.15924803 -0.07929971
+v 0.12564069 0.23352709 -0.06067496
+v -0.24824137 0.23257720 -0.05612839
+v -0.26287877 0.15575021 0.00279190
+v 0.09169475 0.21429151 -0.06992709
+v -0.24649575 0.18317958 -0.06791607
+v -0.26844551 0.19237028 0.01020739
+v -0.08577539 0.23290604 -0.07076035
+v 0.11276830 0.18775951 -0.07195717
+f 6 4 3
+f 7 3 4
+f 8 1 2
+f 8 7 1
+f 8 3 7
+f 9 2 1
+f 9 1 5
+f 9 5 6
+f 10 6 3
+f 10 8 2
+f 10 3 8
+f 11 4 6
+f 11 5 7
+f 12 7 5
+f 12 5 1
+f 12 1 7
+f 13 10 2
+f 14 11 6
+f 14 6 5
+f 14 5 11
+f 15 11 7
+f 15 7 4
+f 15 4 11
+f 16 13 9
+f 16 9 6
+f 16 6 10
+f 16 10 13
+f 17 13 2
+f 17 2 9
+f 17 9 13
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_11/collision/model_normalized_collision_6.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_11/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9963bfa7f77874e57825cc4cded603aa79f53edd
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_11/collision/model_normalized_collision_6.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v 0.18814909 0.35728527 0.04472778
+v 0.18296631 0.35023395 -0.02759515
+v 0.15537302 0.43414341 0.01035659
+v 0.03997134 0.49542217 0.06750889
+v -0.08610239 0.36276224 0.03269630
+v 0.15619114 0.41256294 0.05400220
+v 0.18253139 0.39169368 -0.01178675
+v -0.08571979 0.35542504 -0.03888824
+v -0.08783982 0.43844107 0.06367876
+v 0.19016843 0.37336987 0.04962184
+v 0.09557723 0.48157294 0.02863802
+v -0.08756359 0.40880395 -0.02543180
+v 0.15917688 0.43047780 0.01288407
+v 0.08510996 0.45130188 0.06413215
+v 0.07190901 0.49362581 0.02166943
+v 0.12704634 0.37896029 -0.02418304
+v -0.08214236 0.46631327 -0.00073799
+v 0.02915482 0.49233848 0.06882585
+v 0.10006052 0.47703391 0.02331353
+v 0.14942780 0.43490739 0.00362097
+v 0.07092701 0.49215318 0.03960415
+v 0.16873615 0.40212876 -0.01117115
+v -0.06731374 0.47603642 0.01811904
+v 0.06353013 0.46872523 0.00768660
+v 0.17513144 0.40225628 -0.00767952
+v 0.18262978 0.36493641 -0.02321466
+v 0.05320367 0.49184699 0.01822485
+v -0.06308291 0.47626061 0.04247428
+v 0.00510099 0.43929633 -0.00841528
+v -0.05642521 0.47444896 0.00778967
+v -0.07220669 0.46428012 0.06638652
+f 8 2 1
+f 8 1 5
+f 9 5 1
+f 10 1 2
+f 10 2 7
+f 10 9 1
+f 11 4 6
+f 12 8 5
+f 12 5 9
+f 13 6 10
+f 13 11 6
+f 13 3 11
+f 13 10 7
+f 13 7 3
+f 14 10 6
+f 14 6 4
+f 14 9 10
+f 16 2 8
+f 16 8 12
+f 17 12 9
+f 18 14 4
+f 19 15 11
+f 19 11 3
+f 20 19 3
+f 20 15 19
+f 21 15 4
+f 21 4 11
+f 21 11 15
+f 22 15 20
+f 24 22 16
+f 24 15 22
+f 25 20 3
+f 25 3 7
+f 25 22 20
+f 25 7 22
+f 26 22 7
+f 26 7 2
+f 26 2 16
+f 26 16 22
+f 27 23 4
+f 27 4 15
+f 27 24 17
+f 27 15 24
+f 28 18 4
+f 28 4 23
+f 28 23 17
+f 29 24 16
+f 29 16 12
+f 29 12 17
+f 29 17 24
+f 30 27 17
+f 30 17 23
+f 30 23 27
+f 31 18 28
+f 31 9 14
+f 31 14 18
+f 31 28 17
+f 31 17 9
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_11/collision/model_normalized_collision_7.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_11/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a3af3a075f619036fc6152e8cba37463c443972f
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_11/collision/model_normalized_collision_7.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.06718222 -0.34263914 -0.00400631
+v 0.06791485 -0.34434845 -0.06944738
+v 0.03690412 -0.21948608 -0.08726165
+v -0.21064972 -0.22085465 -0.00717639
+v -0.12805008 -0.33801519 -0.06340296
+v 0.03455279 -0.21832125 -0.02565925
+v 0.06658134 -0.26580780 -0.01760511
+v -0.10700099 -0.34415763 -0.08910896
+v -0.13381536 -0.32525016 -0.01197667
+v -0.20040304 -0.21106826 -0.07673030
+v 0.06592467 -0.26333611 -0.01791496
+v -0.01576935 -0.34351016 -0.09208210
+v -0.19399467 -0.25666723 -0.01096127
+v -0.18115713 -0.21190901 -0.08909861
+v -0.17437585 -0.27374564 -0.05937189
+v 0.03467109 -0.31039460 -0.08134582
+v -0.18903766 -0.26072323 -0.04668478
+f 7 1 2
+f 7 2 3
+f 8 2 1
+f 8 1 5
+f 9 5 1
+f 9 1 4
+f 10 4 6
+f 11 7 3
+f 11 3 6
+f 11 6 4
+f 11 4 1
+f 11 1 7
+f 12 2 8
+f 13 9 4
+f 13 5 9
+f 14 10 6
+f 14 6 3
+f 14 8 10
+f 14 12 8
+f 14 3 12
+f 15 10 8
+f 15 8 5
+f 16 12 3
+f 16 3 2
+f 16 2 12
+f 17 13 4
+f 17 4 10
+f 17 10 15
+f 17 15 5
+f 17 5 13
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_11/collision/model_normalized_collision_8.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_11/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da3614dd5993a2330a896139787491d356b39590
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_11/collision/model_normalized_collision_8.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.12751553 -0.00728085 -0.01717025
+v 0.12210976 -0.00828462 -0.01801747
+v 0.08090759 0.09659121 -0.08571614
+v -0.16184353 0.10015222 -0.02250064
+v -0.20161094 -0.00690412 -0.02619297
+v 0.08102630 0.09963254 -0.01576093
+v 0.08080801 -0.00804597 -0.09251894
+v -0.21041445 0.10313004 -0.08758677
+v 0.12727562 0.03818555 -0.01530341
+v -0.11585220 -0.00976070 -0.10189380
+v -0.16138917 -0.00744248 -0.03149830
+v -0.20436900 -0.00864724 -0.10173569
+v -0.19020575 0.02149699 -0.10119732
+v -0.20471874 0.09645546 -0.08934888
+v -0.13265762 0.01992746 -0.10078981
+v -0.20434270 0.00681877 -0.10086140
+f 5 2 1
+f 7 1 2
+f 8 5 4
+f 8 6 3
+f 8 4 6
+f 9 3 6
+f 9 7 3
+f 9 1 7
+f 9 5 1
+f 9 6 4
+f 9 4 5
+f 10 7 2
+f 11 10 2
+f 11 2 5
+f 11 5 10
+f 12 10 5
+f 12 5 8
+f 13 10 12
+f 14 8 3
+f 15 10 13
+f 15 3 7
+f 15 7 10
+f 15 14 3
+f 15 13 14
+f 16 13 12
+f 16 12 8
+f 16 14 13
+f 16 8 14
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_11/collision/model_normalized_collision_9.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_11/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..02bd4fe02682b4cae4d0b62e83993663852c8dd8
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_11/collision/model_normalized_collision_9.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.06324957 -0.48521660 -0.00698233
+v 0.20723731 -0.30479051 -0.06076141
+v 0.20289161 -0.26559065 0.00064061
+v 0.06658134 -0.26580780 -0.01760511
+v 0.06622802 -0.26511401 -0.08252320
+v 0.06496703 -0.36139764 0.00149050
+v 0.20793607 -0.30309614 -0.00485716
+v 0.06119283 -0.48506875 -0.05065606
+v 0.20100703 -0.26304042 -0.07089814
+v 0.08191282 -0.45708312 0.00213484
+v 0.08123620 -0.47770164 -0.03720102
+v 0.05635528 -0.44303910 -0.06202730
+v 0.06497481 -0.47141476 0.00154322
+v 0.18558103 -0.31892010 0.00336338
+v 0.07960423 -0.47865065 -0.01827790
+v 0.17128647 -0.35835311 -0.03162737
+v 0.20548699 -0.30839278 -0.06054746
+v 0.06524916 -0.29785694 -0.01229836
+v 0.07314648 -0.46817412 0.00073695
+v 0.17834204 -0.33188380 0.00245012
+v 0.07186621 -0.48015699 -0.00840051
+v 0.20264283 -0.31095140 -0.00580952
+v 0.08364950 -0.46907258 -0.04267396
+v 0.17199534 -0.35726491 -0.04800849
+v 0.19881146 -0.27769915 -0.06909324
+f 6 3 4
+f 7 2 3
+f 9 3 2
+f 9 5 4
+f 9 4 3
+f 11 1 8
+f 12 8 1
+f 12 1 6
+f 12 4 5
+f 12 5 9
+f 13 10 6
+f 13 6 1
+f 14 3 6
+f 14 6 10
+f 14 7 3
+f 15 1 11
+f 16 15 11
+f 17 2 7
+f 17 7 16
+f 17 8 12
+f 18 12 6
+f 18 6 4
+f 18 4 12
+f 19 13 1
+f 19 10 13
+f 20 14 10
+f 20 10 7
+f 20 7 14
+f 21 10 19
+f 21 19 1
+f 21 1 15
+f 22 16 7
+f 22 15 16
+f 22 21 15
+f 22 7 10
+f 22 10 21
+f 23 17 11
+f 23 11 8
+f 23 8 17
+f 24 17 16
+f 24 16 11
+f 24 11 17
+f 25 17 12
+f 25 12 9
+f 25 9 2
+f 25 2 17
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_11/model.xml b/Assets/robocasa/data/objects/objaverse/steak/steak_11/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..7f7c637e3aba76a56f9f1b5074a2dc74855ec29b
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_11/model.xml
@@ -0,0 +1,50 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="more_steak_17">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.12499999999999999 0.12499999999999999 0.12499999999999999" refquat="1.0 0.0 0.0 0.0" />
+    <texture type="2d" name="image0" file="visual/image0.png" />
+    <material name="qoripata_borde_inka" texture="image0" specular="0.5" shininess="0.0" />
+    <mesh file="collision/collision_mesh_collision_0.obj" name="steak_collision_mesh_0" scale="0.12499999999999999 0.12499999999999999 0.12499999999999999" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/collision_mesh_collision_1.obj" name="steak_collision_mesh_1" scale="0.12499999999999999 0.12499999999999999 0.12499999999999999" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/collision_mesh_collision_2.obj" name="steak_collision_mesh_2" scale="0.12499999999999999 0.12499999999999999 0.12499999999999999" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/collision_mesh_collision_3.obj" name="steak_collision_mesh_3" scale="0.12499999999999999 0.12499999999999999 0.12499999999999999" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/collision_mesh_collision_4.obj" name="steak_collision_mesh_4" scale="0.12499999999999999 0.12499999999999999 0.12499999999999999" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/collision_mesh_collision_5.obj" name="steak_collision_mesh_5" scale="0.12499999999999999 0.12499999999999999 0.12499999999999999" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/collision_mesh_collision_6.obj" name="steak_collision_mesh_6" scale="0.12499999999999999 0.12499999999999999 0.12499999999999999" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/collision_mesh_collision_7.obj" name="steak_collision_mesh_7" scale="0.12499999999999999 0.12499999999999999 0.12499999999999999" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/collision_mesh_collision_8.obj" name="steak_collision_mesh_8" scale="0.12499999999999999 0.12499999999999999 0.12499999999999999" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/collision_mesh_collision_9.obj" name="steak_collision_mesh_9" scale="0.12499999999999999 0.12499999999999999 0.12499999999999999" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/collision_mesh_collision_10.obj" name="steak_collision_mesh_10" scale="0.12499999999999999 0.12499999999999999 0.12499999999999999" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/collision_mesh_collision_11.obj" name="steak_collision_mesh_11" scale="0.12499999999999999 0.12499999999999999 0.12499999999999999" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/collision_mesh_collision_12.obj" name="steak_collision_mesh_12" scale="0.12499999999999999 0.12499999999999999 0.12499999999999999" refquat="1.0 0.0 0.0 0.0" />
+    </asset>
+  <default>
+    <default class="region">
+      <geom group="1" conaffinity="0" contype="0" rgba="0 1 0 0" />
+      </default>
+    <default class="collision">
+      <geom group="0" rgba="0.5 0 0 0.5" density="1000.0" />
+      </default>
+    </default>
+  <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="qoripata_borde_inka" />
+        <geom class="region" name="reg_bbox" type="box" pos="-7.309437499999903e-05 -6.18868750000001e-05 0.0004194787500000005" size="0.05232121124999999 0.06192777124999999 0.01335667" />
+        <geom mesh="steak_collision_mesh_0" type="mesh" class="collision" />
+        <geom mesh="steak_collision_mesh_1" type="mesh" class="collision" />
+        <geom mesh="steak_collision_mesh_2" type="mesh" class="collision" />
+        <geom mesh="steak_collision_mesh_3" type="mesh" class="collision" />
+        <geom mesh="steak_collision_mesh_4" type="mesh" class="collision" />
+        <geom mesh="steak_collision_mesh_5" type="mesh" class="collision" />
+        <geom mesh="steak_collision_mesh_6" type="mesh" class="collision" />
+        <geom mesh="steak_collision_mesh_7" type="mesh" class="collision" />
+        <geom mesh="steak_collision_mesh_8" type="mesh" class="collision" />
+        <geom mesh="steak_collision_mesh_9" type="mesh" class="collision" />
+        <geom mesh="steak_collision_mesh_10" type="mesh" class="collision" />
+        <geom mesh="steak_collision_mesh_11" type="mesh" class="collision" />
+        <geom mesh="steak_collision_mesh_12" type="mesh" class="collision" />
+        </body>
+      </body>
+    </worldbody>
+  </mujoco>
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_11/visual/material.mtl b/Assets/robocasa/data/objects/objaverse/steak/steak_11/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f68742fe8420aadeab267568817d347d5678c9d5
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_11/visual/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 0.00000000
+map_Kd material_0.jpeg
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_11/visual/model_normalized_0.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_11/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..458358ebefc50b574f56047f5c7193de8ac57b62
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_11/visual/model_normalized_0.obj
@@ -0,0 +1,37622 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
+v -0.01845806 -0.45417730 0.02102149
+v -0.02065690 -0.45574205 0.01653258
+v -0.01826335 -0.45146880 0.01586722
+v -0.02405236 -0.45203939 0.01463063
+v -0.02198085 -0.44940922 0.01981005
+v -0.01845806 -0.45417730 0.02102149
+v -0.01845806 -0.45417730 0.02102149
+v -0.02198085 -0.44940922 0.01981005
+v -0.02405236 -0.45203939 0.01463063
+v -0.02405236 -0.45203939 0.01463063
+v -0.02065690 -0.45574205 0.01653258
+v -0.32840649 0.08966464 0.01766117
+v -0.33257787 0.10201439 0.01814375
+v -0.34698688 0.08425924 0.02306657
+v -0.34319137 0.09750678 0.02181999
+v 0.28557565 0.07959948 -0.05818454
+v 0.29694187 0.08028933 -0.05462113
+v 0.29779742 0.07095852 -0.05609304
+v 0.28441256 0.07013424 -0.06031955
+v -0.35271400 0.09377961 0.02517386
+v 0.12233845 0.02821471 -0.08800382
+v 0.13719167 0.02664674 -0.08825720
+v 0.13063189 0.01434341 -0.08721790
+v 0.27812840 0.05541415 -0.06279627
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diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_14/collision/collision_mesh_collision_0.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_14/collision/collision_mesh_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ca514615317cb31bfbdc89e147481332bbe65b8
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_14/collision/collision_mesh_collision_0.obj
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diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_14/collision/model_normalized_collision_0.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_14/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8a182513a569501da20d715d081e2a7998dca1b6
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_14/collision/model_normalized_collision_0.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.49741932 -0.05937255 0.06515433
+v 0.49252459 -0.05937256 0.01244267
+v 0.49252460 0.05937256 0.01244267
+v 0.40151515 0.05937257 0.06786136
+v 0.40151515 -0.05937255 0.06786135
+v 0.40151515 0.05937255 -0.03819925
+v 0.49741931 0.05937257 0.06515434
+v 0.44497167 0.05937255 -0.04695103
+v 0.40151515 -0.05937256 -0.03819925
+v 0.47884159 0.05937256 -0.01259772
+v 0.44497167 -0.05937256 -0.04695102
+v 0.47884158 -0.05937256 -0.01259772
+v 0.45467442 -0.05937256 -0.04125411
+v 0.45467442 0.05937255 -0.04125412
+f 1 2 3
+f 5 2 1
+f 7 1 3
+f 7 5 1
+f 7 4 5
+f 8 6 4
+f 9 2 5
+f 9 5 4
+f 9 4 6
+f 9 6 8
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+f 12 10 2
+f 13 11 8
+f 13 12 2
+f 13 2 9
+f 13 9 11
+f 14 13 8
+f 14 8 10
+f 14 10 12
+f 14 12 13
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_14/collision/model_normalized_collision_1.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_14/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0083f3c79fc2471ac856faac02b9276b5a1600ee
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_14/collision/model_normalized_collision_1.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.03787878 -0.05937258 -0.17456289
+v -0.03945929 -0.05937259 -0.23027200
+v -0.03945929 0.05937252 -0.23027200
+v -0.09848485 0.05937253 -0.17456289
+v -0.11363637 -0.05937258 -0.20486592
+v -0.03787879 0.05937253 -0.17456289
+v -0.09848485 -0.05937258 -0.17456289
+v -0.10987488 -0.05937259 -0.23421845
+v -0.05695093 -0.05937259 -0.23560326
+v -0.10987488 0.05937252 -0.23421845
+v -0.11363636 0.05937253 -0.20486591
+v -0.05695093 0.05937252 -0.23560326
+f 1 2 3
+f 6 1 3
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+f 7 6 4
+f 7 1 6
+f 7 2 1
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+f 8 2 7
+f 9 3 2
+f 9 2 8
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+f 10 9 8
+f 11 10 5
+f 11 5 4
+f 11 4 6
+f 12 3 9
+f 12 9 10
+f 12 10 11
+f 12 11 6
+f 12 6 3
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_14/collision/model_normalized_collision_10.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_14/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6bb9b003f7d113621e32297d7ace828b257fe162
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_14/collision/model_normalized_collision_10.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.47950038 -0.05937254 0.13069510
+v 0.49741932 -0.05937255 0.06515433
+v 0.49444805 0.05937257 0.10718918
+v 0.46212122 0.05937257 0.14361893
+v 0.46212121 -0.05937255 0.06786135
+v 0.47950037 0.05937257 0.13069510
+v 0.49444806 -0.05937254 0.10718918
+v 0.46212121 -0.05937254 0.14361893
+v 0.46212122 0.05937257 0.06786135
+v 0.49741931 0.05937257 0.06515434
+f 6 1 3
+f 6 4 1
+f 7 3 1
+f 7 5 2
+f 8 1 4
+f 8 4 5
+f 8 7 1
+f 8 5 7
+f 9 2 5
+f 9 5 4
+f 9 4 6
+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/Assets/robocasa/data/objects/objaverse/steak/steak_14/collision/model_normalized_collision_11.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_14/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b3509ba923b756e0b58863b93bc9bd4a4eadfad
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_14/collision/model_normalized_collision_11.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.46212121 -0.05937254 0.14361893
+v 0.46212121 -0.05937255 0.06786135
+v 0.46212122 0.05937257 0.06786135
+v 0.39724987 0.05937258 0.17686490
+v 0.39724987 -0.05937253 0.17686492
+v 0.40151515 -0.05937255 0.06786135
+v 0.46212122 0.05937257 0.14361893
+v 0.40151515 0.05937257 0.06786136
+v 0.44013142 -0.05937253 0.15926107
+v 0.44013141 0.05937258 0.15926106
+f 1 2 3
+f 6 3 2
+f 6 5 4
+f 6 2 1
+f 6 1 5
+f 7 1 3
+f 8 6 4
+f 8 3 6
+f 9 5 1
+f 9 1 7
+f 10 9 7
+f 10 4 5
+f 10 5 9
+f 10 7 3
+f 10 8 4
+f 10 3 8
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_14/collision/model_normalized_collision_12.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_14/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc08790f61bb42f8c4e10ff9d5c179df24edb6c0
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_14/collision/model_normalized_collision_12.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.15909091 -0.05937257 -0.11395683
+v -0.15428514 -0.05937258 -0.21295216
+v -0.15909091 0.05937254 -0.11395682
+v -0.23484848 0.05937254 -0.11395683
+v -0.23161157 -0.05937258 -0.18188776
+v -0.15428514 0.05937253 -0.21295216
+v -0.23484848 -0.05937257 -0.11395683
+v -0.23161157 0.05937253 -0.18188776
+f 1 2 3
+f 6 3 2
+f 7 4 5
+f 7 1 3
+f 7 3 4
+f 7 5 2
+f 7 2 1
+f 8 5 4
+f 8 4 3
+f 8 3 6
+f 8 6 2
+f 8 2 5
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_14/collision/model_normalized_collision_13.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_14/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..724c7c9326fb35212fcb7d5f81e6d5ea8274e194
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_14/collision/model_normalized_collision_13.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.23305455 -0.05937254 0.13666064
+v -0.23484848 -0.05937257 -0.08365380
+v -0.23305455 0.05937257 0.13666063
+v -0.34691600 0.05937257 0.08495894
+v -0.35606060 -0.05937257 -0.08365380
+v -0.23484848 0.05937255 -0.08365380
+v -0.25776253 0.05937257 0.12776941
+v -0.35438432 -0.05937254 0.08028990
+v -0.35606061 0.05937255 -0.08365380
+v -0.34691600 -0.05937254 0.08495895
+v -0.25776254 -0.05937254 0.12776942
+f 1 2 3
+f 5 2 1
+f 6 3 2
+f 7 1 3
+f 7 6 4
+f 7 3 6
+f 9 4 6
+f 9 8 4
+f 9 5 8
+f 9 6 2
+f 9 2 5
+f 10 7 4
+f 10 4 8
+f 10 8 5
+f 10 5 1
+f 11 10 1
+f 11 1 7
+f 11 7 10
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_14/collision/model_normalized_collision_14.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_14/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..20b0b632fdfec85cdcf2489b1356223a82b6a7c5
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_14/collision/model_normalized_collision_14.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.39724987 -0.05937253 0.17686492
+v 0.40151515 -0.05937256 -0.00789622
+v 0.40151515 0.05937256 -0.00789622
+v 0.26515152 0.05937258 0.20422499
+v 0.26515152 -0.05937256 -0.00789622
+v 0.39724987 0.05937258 0.17686490
+v 0.26515152 -0.05937253 0.20422499
+v 0.26515152 0.05937255 -0.00789622
+v 0.35156844 0.05937258 0.18970865
+v 0.35156844 -0.05937253 0.18970867
+f 1 2 3
+f 5 3 2
+f 6 1 3
+f 6 3 4
+f 7 4 5
+f 8 5 4
+f 8 4 3
+f 8 3 5
+f 9 6 4
+f 9 1 6
+f 10 1 9
+f 10 7 5
+f 10 5 2
+f 10 2 1
+f 10 9 4
+f 10 4 7
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_14/collision/model_normalized_collision_15.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_14/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6e7fef5f77feabd56254fa9c17e3ce2cefc83757
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_14/collision/model_normalized_collision_15.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.26515152 -0.05937253 0.20422499
+v 0.26515152 -0.05937256 -0.05335077
+v 0.26515152 0.05937255 -0.05335077
+v 0.14393940 0.05937259 0.20422499
+v 0.14393940 -0.05937256 -0.05335077
+v 0.26515152 0.05937258 0.20422499
+v 0.14393940 -0.05937253 0.20422499
+v 0.14393940 0.05937255 -0.05335077
+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/Assets/robocasa/data/objects/objaverse/steak/steak_14/collision/model_normalized_collision_16.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_14/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cd61d7644d7df0d66dc375fd56a7b613e811ffa4
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_14/collision/model_normalized_collision_16.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.35438432 -0.05937254 0.08028990
+v -0.35420453 -0.05937257 -0.14068015
+v -0.35438431 0.05937257 0.08028989
+v -0.41480333 0.05937256 0.06158866
+v -0.41480334 -0.05937255 0.06158867
+v -0.35420454 0.05937254 -0.14068016
+v -0.41311851 0.05937254 -0.11625718
+v -0.41311851 -0.05937257 -0.11625715
+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 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/Assets/robocasa/data/objects/objaverse/steak/steak_14/collision/model_normalized_collision_17.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_14/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ee81dd13c3830256364de6382f2f8a7bbe0fd8f7
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_14/collision/model_normalized_collision_17.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.26515152 -0.05937256 -0.05335077
+v 0.25895131 -0.05937257 -0.11359214
+v 0.25895132 0.05937254 -0.11359216
+v 0.21969697 0.05937255 -0.05335077
+v 0.21969697 -0.05937256 -0.05335077
+v 0.26515152 0.05937255 -0.05335077
+v 0.21889786 0.05937254 -0.12697804
+v 0.21889785 -0.05937257 -0.12697802
+f 1 2 3
+f 5 2 1
+f 5 1 4
+f 6 1 3
+f 6 4 1
+f 7 3 2
+f 7 6 3
+f 7 4 6
+f 8 7 2
+f 8 2 5
+f 8 5 4
+f 8 4 7
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_14/collision/model_normalized_collision_18.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_14/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..84bcf297385ad4bfb364f90e695aaa95278b907e
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_14/collision/model_normalized_collision_18.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.28030303 -0.05937257 -0.11395683
+v -0.27678734 -0.05937258 -0.16535536
+v -0.27678734 0.05937253 -0.16535536
+v -0.31060606 0.05937254 -0.11395682
+v -0.30969358 -0.05937258 -0.15256089
+v -0.28030303 0.05937254 -0.11395683
+v -0.31060606 -0.05937257 -0.11395683
+v -0.30969358 0.05937253 -0.15256089
+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/Assets/robocasa/data/objects/objaverse/steak/steak_14/collision/model_normalized_collision_19.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_14/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1e0525a3c513a5ee09bd373f1c76547a99ae6ced
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_14/collision/model_normalized_collision_19.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.31060606 -0.05937256 -0.05335077
+v 0.30604910 -0.05937257 -0.09938285
+v 0.30604910 0.05937255 -0.09938287
+v 0.26515152 0.05937255 -0.05335077
+v 0.26515152 -0.05937256 -0.05335077
+v 0.31060606 0.05937255 -0.05335077
+v 0.26417214 -0.05937257 -0.11150592
+v 0.26417215 0.05937254 -0.11150593
+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 7 5 4
+f 8 7 4
+f 8 4 3
+f 8 3 7
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_14/collision/model_normalized_collision_2.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_14/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..736f35cd994d88a171f5564cc45c1ec76188cc78
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_14/collision/model_normalized_collision_2.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.01178861 -0.05937253 0.20953589
+v 0.00757576 -0.05937256 -0.00789622
+v 0.01178862 0.05937258 0.20953587
+v -0.09520247 0.05937258 0.17855993
+v -0.09520248 -0.05937253 0.17855995
+v 0.00757576 0.05937256 -0.00789622
+v -0.09848485 -0.05937256 -0.00789622
+v -0.09848485 0.05937255 -0.00789622
+f 1 2 3
+f 5 2 1
+f 5 1 3
+f 5 3 4
+f 6 3 2
+f 7 2 5
+f 8 6 2
+f 8 2 7
+f 8 4 3
+f 8 3 6
+f 8 7 5
+f 8 5 4
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_14/collision/model_normalized_collision_20.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_14/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..44c959fcad083f7135638cc06ca4a7a70f895a2f
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_14/collision/model_normalized_collision_20.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.34090909 -0.05937256 -0.00789622
+v 0.34090909 -0.05937257 -0.05335077
+v 0.34090909 0.05937256 -0.00789622
+v 0.26515152 0.05937255 -0.00789622
+v 0.26515152 -0.05937256 -0.00789622
+v 0.26515152 0.05937255 -0.05335077
+v 0.34090909 0.05937255 -0.05335077
+v 0.26515152 -0.05937256 -0.05335077
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 5 1 4
+f 6 4 3
+f 7 6 3
+f 7 3 2
+f 8 2 5
+f 8 5 4
+f 8 4 6
+f 8 7 2
+f 8 6 7
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_14/collision/model_normalized_collision_21.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_14/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e57d0e67923354c3a62d0c227d3bc13f82b3a9d4
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_14/collision/model_normalized_collision_21.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.40151515 -0.05937256 -0.00789622
+v 0.40151515 -0.05937256 -0.03819925
+v 0.40151515 0.05937255 -0.03819925
+v 0.34090909 0.05937256 -0.00789622
+v 0.34090909 -0.05937256 -0.03819925
+v 0.40151515 0.05937256 -0.00789622
+v 0.34090909 -0.05937256 -0.00789622
+v 0.34090909 0.05937255 -0.03819925
+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/Assets/robocasa/data/objects/objaverse/steak/steak_14/collision/model_normalized_collision_22.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_14/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2fb21b0f32c4ba65357749d60d0aaca22651a9f6
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_14/collision/model_normalized_collision_22.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.18791378 -0.05937253 0.22819179
+v 0.18939394 -0.05937253 0.20422499
+v 0.18939394 0.05937258 0.20422499
+v 0.14393940 0.05937259 0.23725869
+v 0.14393940 -0.05937253 0.20422499
+v 0.18791377 0.05937258 0.22819177
+v 0.14393940 -0.05937252 0.23725869
+v 0.14393940 0.05937259 0.20422499
+v 0.16820281 0.05937259 0.23429765
+v 0.16820284 -0.05937252 0.23429764
+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 8 5 4
+f 8 3 5
+f 9 1 6
+f 9 4 7
+f 9 6 3
+f 9 8 4
+f 9 3 8
+f 10 9 7
+f 10 7 1
+f 10 1 9
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_14/collision/model_normalized_collision_23.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_14/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ba350d50f67b8bb6a37a37bdc7ec9fde7e7fdb0
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_14/collision/model_normalized_collision_23.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.09520248 -0.05937253 0.17855995
+v -0.09848485 -0.05937254 0.15877044
+v -0.09520247 0.05937258 0.17855993
+v -0.11031497 0.05937258 0.17445180
+v -0.11363636 -0.05937254 0.15877044
+v -0.09848485 0.05937258 0.15877045
+v -0.11031497 -0.05937253 0.17445182
+v -0.11363636 0.05937258 0.15877045
+f 1 2 3
+f 5 2 1
+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 8 5 7
+f 8 6 2
+f 8 2 5
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_14/collision/model_normalized_collision_24.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_14/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c01fe3b25e390eaa67bac511165d45a13aff2394
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_14/collision/model_normalized_collision_24.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.11358784 -0.05937253 0.17370837
+v -0.11363636 -0.05937254 0.15877044
+v -0.11358784 0.05937258 0.17370835
+v -0.15852773 0.05937258 0.15726984
+v -0.15852774 -0.05937253 0.15726986
+v -0.11363636 0.05937258 0.15877045
+v -0.15354345 0.05937258 0.15914042
+v -0.15354345 -0.05937253 0.15914044
+f 1 2 3
+f 5 4 2
+f 6 3 2
+f 6 2 4
+f 6 4 3
+f 7 1 3
+f 7 3 4
+f 7 4 5
+f 8 7 5
+f 8 1 7
+f 8 5 2
+f 8 2 1
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_14/collision/model_normalized_collision_25.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_14/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6eac140c722e45828e011845de95ba72433c6f94
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_14/collision/model_normalized_collision_25.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.00757576 -0.05937258 -0.17456289
+v 0.00072573 -0.05937258 -0.21747807
+v 0.00757576 0.05937253 -0.17456289
+v -0.03787879 0.05937253 -0.17456289
+v -0.03787878 -0.05937258 -0.17456289
+v -0.03945929 0.05937252 -0.23027200
+v 0.00072573 0.05937253 -0.21747807
+v -0.03945929 -0.05937259 -0.23027200
+f 1 2 3
+f 1 3 4
+f 5 1 4
+f 7 3 2
+f 7 6 4
+f 7 4 3
+f 8 5 4
+f 8 4 6
+f 8 2 1
+f 8 1 5
+f 8 7 2
+f 8 6 7
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_14/collision/model_normalized_collision_26.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_14/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4dde0f1fa35c46a85fbd2133759afcb9037fdcc0
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_14/collision/model_normalized_collision_26.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.28030303 -0.05937257 -0.08365380
+v -0.28030303 -0.05937257 -0.11395683
+v -0.28030303 0.05937254 -0.08365380
+v -0.35606061 0.05937255 -0.08365380
+v -0.35606060 -0.05937257 -0.08365380
+v -0.35606061 0.05937254 -0.11395683
+v -0.28030303 0.05937254 -0.11395683
+v -0.35606060 -0.05937257 -0.11395683
+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/Assets/robocasa/data/objects/objaverse/steak/steak_14/collision/model_normalized_collision_27.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_14/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a75a59c58c4733146e66c7d85c08ccbd84997d5
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_14/collision/model_normalized_collision_27.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.47210837 -0.05937254 0.13798541
+v 0.46456116 -0.05937254 0.14490409
+v 0.44696970 -0.05937254 0.14361893
+v 0.44561604 0.05937258 0.15640122
+v 0.47210836 0.05937257 0.13798540
+v 0.44561605 -0.05937253 0.15640124
+v 0.46456116 0.05937257 0.14490407
+v 0.44696970 0.05937258 0.14361893
+f 1 2 3
+f 5 2 1
+f 5 1 3
+f 6 3 2
+f 6 4 3
+f 7 5 4
+f 7 2 5
+f 7 6 2
+f 7 4 6
+f 8 5 3
+f 8 3 4
+f 8 4 5
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_14/collision/model_normalized_collision_28.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_14/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed92922a413d8266a8ef14fcfa5092d04470964d
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_14/collision/model_normalized_collision_28.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.00757576 -0.05937256 -0.00789622
+v 0.00757576 -0.05937257 -0.11395683
+v 0.00757576 0.05937254 -0.11395683
+v -0.23484848 0.05937255 -0.00789622
+v -0.23484848 -0.05937256 -0.00789622
+v -0.23484848 0.05937254 -0.11395683
+v 0.00757576 0.05937256 -0.00789622
+v -0.23484848 -0.05937257 -0.11395683
+f 1 2 3
+f 5 2 1
+f 6 3 2
+f 7 1 3
+f 7 5 1
+f 7 4 5
+f 7 6 4
+f 7 3 6
+f 8 6 2
+f 8 2 5
+f 8 5 4
+f 8 4 6
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_14/collision/model_normalized_collision_29.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_14/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..54b53752372f1d4b409245c26022b7061a37d363
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_14/collision/model_normalized_collision_29.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.23484848 -0.05937257 -0.08365380
+v -0.23161157 -0.05937258 -0.18188776
+v -0.23161157 0.05937253 -0.18188776
+v -0.28030303 0.05937254 -0.08365380
+v -0.28030303 -0.05937257 -0.08365380
+v -0.23484848 0.05937255 -0.08365380
+v -0.27678734 0.05937253 -0.16535536
+v -0.25872319 0.05937253 -0.17205243
+v -0.27678734 -0.05937258 -0.16535536
+v -0.25872319 -0.05937258 -0.17205243
+f 1 2 3
+f 6 1 3
+f 6 3 4
+f 6 5 1
+f 6 4 5
+f 8 7 4
+f 8 4 3
+f 9 5 4
+f 9 4 7
+f 9 2 1
+f 9 1 5
+f 9 7 8
+f 10 9 8
+f 10 2 9
+f 10 8 3
+f 10 3 2
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_14/collision/model_normalized_collision_3.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_14/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..39b07e2129cfccf0fd49142fd595f6708652c246
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_14/collision/model_normalized_collision_3.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.09848485 -0.05937257 -0.11395683
+v -0.09848485 -0.05937258 -0.20486592
+v -0.09848484 0.05937253 -0.20486592
+v -0.15909091 0.05937254 -0.11395682
+v -0.15909091 -0.05937257 -0.11395683
+v -0.09848485 0.05937254 -0.11395683
+v -0.14697697 0.05937253 -0.21813110
+v -0.11323117 0.05937252 -0.23343441
+v -0.14697697 -0.05937258 -0.21813110
+v -0.11323117 -0.05937259 -0.23343441
+f 1 2 3
+f 5 1 4
+f 6 1 3
+f 6 4 1
+f 7 5 4
+f 7 6 3
+f 7 4 6
+f 8 7 3
+f 9 5 7
+f 9 7 8
+f 10 9 8
+f 10 5 9
+f 10 2 1
+f 10 1 5
+f 10 8 3
+f 10 3 2
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_14/collision/model_normalized_collision_30.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_14/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1261838f2055da85c0d8e4d186cd1f1a2fc7e765
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_14/collision/model_normalized_collision_30.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.00757576 -0.05937257 -0.11395683
+v 0.00757576 -0.05937258 -0.17456289
+v 0.00757576 0.05937253 -0.17456289
+v -0.09848485 0.05937254 -0.11395683
+v -0.09848485 -0.05937258 -0.17456289
+v 0.00757576 0.05937254 -0.11395683
+v -0.09848485 -0.05937257 -0.11395683
+v -0.09848485 0.05937253 -0.17456289
+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/Assets/robocasa/data/objects/objaverse/steak/steak_14/collision/model_normalized_collision_31.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_14/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ba1d40df1d2027f2779bbcbee882614a1749a3da
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_14/collision/model_normalized_collision_31.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.31060606 -0.05937257 -0.11395683
+v -0.30969358 -0.05937258 -0.15256089
+v -0.31060606 0.05937254 -0.11395682
+v -0.35606061 0.05937254 -0.11395683
+v -0.35606060 -0.05937257 -0.11395683
+v -0.30969358 0.05937253 -0.15256089
+v -0.35043727 0.05937254 -0.14253275
+v -0.35043723 -0.05937257 -0.14253274
+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 6 2
+f 7 4 3
+f 7 3 6
+f 8 7 2
+f 8 2 5
+f 8 5 7
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_14/collision/model_normalized_collision_4.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_14/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..17901199b5ede8f137ab45118fccf220ec6e7674
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_14/collision/model_normalized_collision_4.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.09848485 -0.05937254 0.15877044
+v -0.09848485 -0.05937256 -0.00789622
+v -0.09848485 0.05937255 -0.00789622
+v -0.23305455 0.05937257 0.13666063
+v -0.23484848 -0.05937256 -0.00789622
+v -0.09848485 0.05937258 0.15877045
+v -0.23305455 -0.05937254 0.13666064
+v -0.23484848 0.05937255 -0.00789622
+v -0.20122558 -0.05937254 0.14361953
+v -0.20122558 0.05937257 0.14361951
+f 1 2 3
+f 6 1 3
+f 6 3 4
+f 8 4 3
+f 8 3 2
+f 8 2 5
+f 8 7 4
+f 8 5 7
+f 9 4 7
+f 9 1 6
+f 9 7 5
+f 9 5 2
+f 9 2 1
+f 10 9 6
+f 10 6 4
+f 10 4 9
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_14/collision/model_normalized_collision_5.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_14/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..94b7eaf2cdfd7e07509817a07d5518e51233f5bd
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_14/collision/model_normalized_collision_5.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.44696970 -0.05937256 -0.03819925
+v 0.44497167 -0.05937256 -0.04695102
+v 0.44497167 0.05937255 -0.04695103
+v 0.31060606 0.05937255 -0.05335077
+v 0.31060606 -0.05937256 -0.05335077
+v 0.34090909 0.05937255 -0.03819925
+v 0.31036473 0.05937255 -0.09803347
+v 0.44696970 0.05937255 -0.03819925
+v 0.34090909 -0.05937256 -0.03819925
+v 0.36853702 0.05937255 -0.08363284
+v 0.31036472 -0.05937257 -0.09803345
+v 0.40557444 0.05937255 -0.06722536
+v 0.36853701 -0.05937257 -0.08363282
+v 0.40557443 -0.05937257 -0.06722534
+f 1 2 3
+f 7 6 3
+f 7 4 6
+f 8 6 1
+f 8 1 3
+f 8 3 6
+f 9 1 6
+f 9 6 4
+f 9 4 5
+f 10 7 3
+f 11 5 4
+f 11 4 7
+f 11 7 10
+f 12 10 3
+f 12 3 2
+f 13 11 10
+f 14 12 2
+f 14 2 1
+f 14 5 11
+f 14 11 13
+f 14 9 5
+f 14 1 9
+f 14 13 10
+f 14 10 12
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_14/collision/model_normalized_collision_6.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_14/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..956d5b2b36f6d4ba9a74ce412feb05792fdaed24
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_14/collision/model_normalized_collision_6.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v -0.41480334 -0.05937255 0.06158867
+v -0.41311851 -0.05937257 -0.11625715
+v -0.41480333 0.05937256 0.06158866
+v -0.49230095 0.05937256 0.01300352
+v -0.49576762 -0.05937256 -0.04705349
+v -0.41311851 0.05937254 -0.11625718
+v -0.46659313 0.05937256 0.03700901
+v -0.49230096 -0.05937256 0.01300352
+v -0.48049219 0.05937255 -0.07630833
+v -0.43994295 0.05937256 0.05145676
+v -0.46659313 -0.05937255 0.03700902
+v -0.49576763 0.05937255 -0.04705350
+v -0.45059013 -0.05937257 -0.09960339
+v -0.43994295 -0.05937255 0.05145677
+v -0.45059013 0.05937255 -0.09960342
+v -0.42478729 -0.05937257 -0.11210812
+v -0.48049218 -0.05937257 -0.07630833
+v -0.42478729 0.05937254 -0.11210814
+f 1 2 3
+f 6 3 2
+f 10 1 3
+f 10 3 7
+f 11 7 4
+f 11 4 8
+f 11 10 7
+f 12 9 5
+f 12 4 7
+f 12 8 4
+f 12 5 8
+f 14 1 10
+f 14 10 11
+f 14 11 8
+f 14 8 1
+f 15 9 12
+f 15 12 7
+f 15 7 3
+f 15 3 6
+f 16 6 2
+f 16 2 1
+f 16 1 8
+f 17 5 9
+f 17 15 13
+f 17 9 15
+f 17 13 16
+f 17 16 8
+f 17 8 5
+f 18 15 6
+f 18 6 16
+f 18 16 13
+f 18 13 15
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_14/collision/model_normalized_collision_7.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_14/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d749de0f18ed39c80ddbf907758e1ce2dc27dc50
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_14/collision/model_normalized_collision_7.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.21969697 -0.05937256 -0.05335077
+v 0.21328803 -0.05937257 -0.12931644
+v 0.21328804 0.05937254 -0.12931646
+v 0.14393940 0.05937255 -0.05335077
+v 0.14393940 -0.05937256 -0.05335077
+v 0.21969697 0.05937255 -0.05335077
+v 0.14282739 -0.05937258 -0.15386253
+v 0.18235092 0.05937254 -0.14391909
+v 0.18235092 -0.05937257 -0.14391907
+v 0.14282739 0.05937253 -0.15386253
+f 1 2 3
+f 5 1 4
+f 6 1 3
+f 6 4 1
+f 7 2 1
+f 7 1 5
+f 8 6 3
+f 8 4 6
+f 9 2 7
+f 9 7 8
+f 9 8 3
+f 9 3 2
+f 10 8 7
+f 10 4 8
+f 10 7 5
+f 10 5 4
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_14/collision/model_normalized_collision_8.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_14/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1be6390f3a861f0549483ee04c68d0330ee2ce70
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_14/collision/model_normalized_collision_8.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.29507980 -0.05937253 0.20293509
+v 0.29102050 -0.05937253 0.20411443
+v 0.18939394 -0.05937253 0.20422499
+v 0.18791377 0.05937258 0.22819177
+v 0.29507979 0.05937258 0.20293507
+v 0.18791378 -0.05937253 0.22819179
+v 0.23061403 0.05937258 0.21863273
+v 0.18939394 0.05937258 0.20422499
+v 0.29102050 0.05937258 0.20411441
+v 0.23061403 -0.05937253 0.21863275
+f 1 2 3
+f 5 2 1
+f 5 1 3
+f 6 4 3
+f 7 5 4
+f 7 4 6
+f 8 5 3
+f 8 3 4
+f 8 4 5
+f 9 2 5
+f 9 5 7
+f 10 7 6
+f 10 9 7
+f 10 2 9
+f 10 6 3
+f 10 3 2
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_14/collision/model_normalized_collision_9.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_14/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6e0537e6f7fc7842dcdab913ae1c454b534182bf
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_14/collision/model_normalized_collision_9.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.14393940 -0.05937252 0.23725869
+v 0.14282739 -0.05937258 -0.15386253
+v 0.14282739 0.05937253 -0.15386253
+v 0.01178862 0.05937258 0.20953587
+v 0.00582759 -0.05937258 -0.21550260
+v 0.14393940 0.05937259 0.23725869
+v 0.00757576 -0.05937253 0.20422499
+v 0.07659454 0.05937253 -0.18744034
+v 0.04666684 -0.05937253 0.23294231
+v 0.00582759 0.05937253 -0.21550260
+v 0.07659453 -0.05937258 -0.18744034
+v 0.04666684 0.05937258 0.23294228
+v 0.01178861 -0.05937253 0.20953589
+f 1 2 3
+f 6 1 3
+f 8 3 2
+f 8 6 3
+f 9 1 6
+f 9 2 1
+f 9 7 5
+f 9 5 2
+f 10 7 4
+f 10 5 7
+f 10 8 5
+f 10 4 6
+f 10 6 8
+f 11 8 2
+f 11 2 5
+f 11 5 8
+f 12 9 6
+f 12 6 4
+f 13 4 7
+f 13 7 9
+f 13 12 4
+f 13 9 12
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_14/model.xml b/Assets/robocasa/data/objects/objaverse/steak/steak_14/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..cb2c18b4f7f4fdce3ae15562a0bc1b1497655b6b
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_14/model.xml
@@ -0,0 +1,26 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="more_steak_4">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.11499999999999999 0.11499999999999999 0.11499999999999999" refquat="0.5879378012096788 0.39284747919355073 0.5879378012096788 -0.39284747919355073" />
+    <texture type="2d" name="image0" file="visual/image0.png" />
+    <material name="Textured" texture="image0" specular="0.5" shininess="0.15999998099999999" />
+    <mesh file="collision/collision_mesh_collision_0.obj" name="steak_collision_mesh_0" scale="0.11499999999999999 0.11499999999999999 0.11499999999999999" refquat="0.5879378012096788 0.39284747919355073 0.5879378012096788 -0.39284747919355073" />
+    </asset>
+  <default>
+    <default class="region">
+      <geom group="1" conaffinity="0" contype="0" rgba="0 1 0 0" />
+      </default>
+    <default class="collision">
+      <geom group="0" rgba="0.5 0 0 0.5" density="1000.0" />
+      </default>
+    </default>
+  <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="Textured" />
+        <geom class="region" name="reg_bbox" type="box" pos="-9.518722499999916e-05 8.774306599510741e-05 3.634427448673955e-05" size="0.027094374899999996 0.05546178625773734 0.028162483362085447" />
+        <geom mesh="steak_collision_mesh_0" type="mesh" class="collision" />
+        </body>
+      </body>
+    </worldbody>
+  </mujoco>
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_14/visual/material.mtl b/Assets/robocasa/data/objects/objaverse/steak/steak_14/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ac7612074176632fe5be688b8bc892b458617616
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_14/visual/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 159.99998100
+map_Kd material_0.jpeg
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_14/visual/model_normalized_0.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_14/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7dff7251ed19a9c5b9a283b87ba6c400d726d35c
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_14/visual/model_normalized_0.obj
@@ -0,0 +1,4280 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
+v -0.06314269 -0.05937259 -0.23725273
+v -0.06314269 -0.05937259 -0.23725273
+v -0.05137505 -0.05937259 -0.23411786
+v -0.03921555 -0.05937259 -0.23019333
+v -0.02706199 -0.05937259 -0.22627475
+v -0.01411878 -0.05937259 -0.22195835
+v -0.00274893 -0.05937259 -0.21882349
+v 0.00941056 -0.05937259 -0.21411525
+v 0.02078041 -0.05937259 -0.20862329
+v 0.03176433 -0.05937259 -0.20274540
+v 0.04352603 -0.05937259 -0.19882088
+v 0.05529367 -0.05937259 -0.19568601
+v 0.06744723 -0.05937259 -0.19097777
+v 0.07960674 -0.05937258 -0.18627546
+v 0.09058472 -0.05937258 -0.17999977
+v 0.10077899 -0.05937258 -0.17372409
+v 0.11137104 -0.05937258 -0.16784029
+v 0.12274089 -0.05937258 -0.16274612
+v 0.13372481 -0.05937258 -0.15568673
+v 0.14548651 -0.05937258 -0.15332964
+v 0.15803788 -0.05937258 -0.15176220
+v 0.16979958 -0.05937258 -0.14705394
+v 0.18235092 -0.05937257 -0.14391907
+v 0.19437388 -0.05937257 -0.13764338
+v 0.20666399 -0.05937257 -0.13215736
+v 0.21764197 -0.05937257 -0.12744912
+v 0.23019334 -0.05937257 -0.12274087
+v 0.24196097 -0.05937257 -0.12038972
+v 0.25372267 -0.05937257 -0.11568148
+v 0.26549032 -0.05937257 -0.11097918
+v 0.27803573 -0.05937257 -0.10627094
+v 0.28980337 -0.05937257 -0.10470350
+v 0.30156508 -0.05937257 -0.10078490
+v 0.31411643 -0.05937257 -0.09686037
+v 0.32666184 -0.05937257 -0.09490108
+v 0.33882134 -0.05937257 -0.09215214
+v 0.35176458 -0.05937257 -0.08901727
+v 0.36470182 -0.05937257 -0.08430902
+v 0.37803691 -0.05937257 -0.08195786
+v 0.39019643 -0.05937257 -0.07725556
+v 0.40117441 -0.05937257 -0.07019617
+v 0.41162993 -0.05937257 -0.06313676
+v 0.42274443 -0.05937256 -0.05686109
+v 0.43333059 -0.05937256 -0.05058541
+v 0.44588194 -0.05937256 -0.04666682
+v 0.45607622 -0.05937256 -0.04039115
+v 0.46391933 -0.05937256 -0.03098060
+v 0.47254613 -0.05937256 -0.02078039
+v 0.48038924 -0.05937256 -0.01058612
+v 0.48666491 -0.05937256 0.00039187
+v 0.49215689 -0.05937256 0.01137579
+v 0.49607550 -0.05937256 0.02274564
+v 0.49921037 -0.05937255 0.03412142
+v 0.50000000 -0.05937255 0.04627498
+v 0.50000000 -0.05937255 0.04627498
+v -0.07412068 -0.05937259 -0.24274471
+v -0.07412068 -0.05937259 -0.24274471
+v 0.49921037 -0.05937255 0.05843448
+v 0.49607550 -0.05937254 0.07019618
+v 0.49529176 -0.05937254 0.08353126
+v 0.49450807 -0.05937254 0.09529890
+v 0.49450807 -0.05937254 0.10706060
+v 0.48901609 -0.05937254 0.11882825
+v 0.48195668 -0.05937254 0.12823880
+v 0.47332987 -0.05937254 0.13686563
+v 0.46391933 -0.05937254 0.14549246
+v 0.45372505 -0.05937253 0.15176814
+v 0.44274113 -0.05937253 0.15804383
+v 0.43097941 -0.05937253 0.16352985
+v 0.41960363 -0.05937253 0.16745437
+v 0.40862565 -0.05937253 0.17176481
+v 0.39724987 -0.05937253 0.17686493
+v 0.38470446 -0.05937253 0.18039165
+v 0.37254498 -0.05937253 0.18353246
+v 0.36013016 -0.05937253 0.18705920
+v 0.34744817 -0.05937253 0.19098372
+v 0.33528869 -0.05937253 0.19411860
+v 0.32274326 -0.05937253 0.19725940
+v 0.31058376 -0.05937253 0.20039427
+v 0.29843021 -0.05937253 0.20196171
+v 0.28627071 -0.05937253 0.20549437
+v 0.27333343 -0.05937253 0.20823738
+v 0.26078206 -0.05937253 0.21019668
+v 0.24901443 -0.05937253 0.21294563
+v 0.23725273 -0.05937253 0.21686422
+v 0.22548508 -0.05937253 0.21999909
+v 0.21372338 -0.05937253 0.22313989
+v 0.20117203 -0.05937253 0.22470733
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diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_15/collision/collision_mesh_collision_0.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_15/collision/collision_mesh_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8e1ef71bf23d0624107c5f1955e3fa22bc69c810
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_15/collision/collision_mesh_collision_0.obj
@@ -0,0 +1,1318 @@
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diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_15/collision/collision_mesh_collision_1.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_15/collision/collision_mesh_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b7c5b46768df2bca05d1f73a13470c99f2ddf799
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_15/collision/collision_mesh_collision_1.obj
@@ -0,0 +1,538 @@
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diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_15/collision/collision_mesh_collision_2.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_15/collision/collision_mesh_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5337e05fc52d3dd38b7658fd707c3df22071842b
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_15/collision/collision_mesh_collision_2.obj
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diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_15/collision/collision_mesh_collision_3.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_15/collision/collision_mesh_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a9be3654daa0abbb6a2f241ac2266715ee463bf
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_15/collision/collision_mesh_collision_3.obj
@@ -0,0 +1,976 @@
+# https://github.com/mikedh/trimesh
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+v 0.14493345 0.16421710 0.05993071
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diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_15/collision/collision_mesh_collision_4.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_15/collision/collision_mesh_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ce92e8f2e0cc3b9be171379cfce830dbd8b4a1b1
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_15/collision/collision_mesh_collision_4.obj
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diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_15/collision/collision_mesh_collision_5.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_15/collision/collision_mesh_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c083b0b840dfdd91cf7abc27dfda91e12bc1ad4
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_15/collision/collision_mesh_collision_5.obj
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diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_15/collision/collision_mesh_collision_6.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_15/collision/collision_mesh_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3e230e5d9a10a06fbf066d199aa0b7846252c2d1
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_15/collision/collision_mesh_collision_6.obj
@@ -0,0 +1,577 @@
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diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_15/collision/collision_mesh_collision_7.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_15/collision/collision_mesh_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1960839def2f426dd4a06f0ad3caff91a0b20533
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_15/collision/collision_mesh_collision_7.obj
@@ -0,0 +1,1135 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_15/collision/model_normalized_collision_0.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_15/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a3060347eeab3fe15a7b4e8d6538956d80bb35e4
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_15/collision/model_normalized_collision_0.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v 0.06585417 -0.05647565 0.24049110
+v 0.28320777 0.00170205 0.00658225
+v 0.22685294 0.07578821 0.27238232
+v 0.11697082 0.15471851 0.17310324
+v 0.08122750 -0.07413824 0.00900664
+v 0.22766450 0.11136912 0.00768054
+v 0.07522624 0.11400493 0.24790010
+v 0.16684506 -0.02530448 0.22681079
+v 0.29054155 0.05866118 0.00487363
+v 0.18057943 0.14110719 0.10599907
+v 0.07573365 0.15538888 0.00886170
+v 0.06946832 -0.03360466 0.25918015
+v 0.16178639 0.12480954 0.26514290
+v 0.22390253 0.04338968 0.27177579
+v 0.26136639 -0.01373242 0.00208596
+v 0.09242192 -0.05214935 0.23109875
+v 0.15560355 0.15538077 0.02408253
+v 0.07250022 0.15429708 0.09805351
+v 0.06747997 -0.06611908 0.08193820
+v 0.14241036 0.15573776 0.00724116
+v 0.08873671 0.13855213 0.22411881
+v 0.15475787 0.15215838 0.12334045
+v 0.17478073 0.12907075 0.19827463
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+v 0.14990798 0.14026672 0.21170334
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\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_15/collision/model_normalized_collision_1.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_15/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d09d42b2ca7721460ba2d15cecdd3d0f65494c80
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_15/collision/model_normalized_collision_1.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.00880651 -0.10335187 0.00566167
+v -0.00881239 -0.11586806 -0.23395209
+v -0.00522713 0.06504171 -0.23484849
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+v -0.06583265 -0.13192962 -0.23484853
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+f 11 1 8
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_15/collision/model_normalized_collision_10.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_15/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9c201df537504aabd2580e2cf63fb09c53feb585
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_15/collision/model_normalized_collision_10.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v 0.06585417 -0.05647565 0.24049110
+v 0.06855433 -0.04608673 0.15680277
+v 0.07584554 0.08710544 0.26486510
+v 0.07153587 0.14716449 0.15700908
+v -0.08127593 -0.07673994 0.16875821
+v 0.07564798 0.14186617 0.18728573
+v 0.07298839 -0.02098896 0.26550160
+v -0.06642677 -0.08186705 0.15733408
+v -0.05908773 0.08553781 0.15333001
+v 0.06832658 -0.05375122 0.19349459
+v 0.04724686 -0.04108515 0.25266296
+v -0.06328335 0.01733438 0.20116892
+v 0.04789164 0.12315996 0.22316044
+v 0.03601234 -0.05708508 0.15440873
+v -0.07969399 -0.05486205 0.18626567
+v 0.04663813 -0.00915972 0.26298046
+v 0.07509516 0.12546964 0.24012698
+v 0.04661626 0.14091834 0.15552585
+v 0.05163709 0.10032564 0.24611472
+v -0.02431583 -0.07188728 0.15468474
+v -0.07536052 -0.05855425 0.18650943
+v 0.05820461 -0.02025910 0.26328714
+v 0.05293078 0.06283751 0.26232086
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+v 0.06483944 0.08613500 0.26047371
+v -0.07540533 -0.04885790 0.19086378
+v -0.05668888 0.05385322 0.18689663
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\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_15/collision/model_normalized_collision_11.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_15/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc25bfe8a824eb6088157035d35637e7d07f9f39
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_15/collision/model_normalized_collision_11.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.08167829 -0.07407760 0.00704020
+v 0.20408737 -0.00623265 -0.22609808
+v 0.12988201 -0.03535756 0.08314206
+v 0.08568196 0.00443565 0.00757575
+v 0.08568196 0.00443565 -0.23484849
+v 0.16640159 -0.02937849 0.00821744
+v 0.11049415 -0.04301603 0.08155480
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+v 0.07770439 -0.08786942 -0.13294053
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+v 0.14411339 -0.03390918 0.05233486
+v 0.12693664 -0.07484983 -0.23645361
+v 0.09473816 -0.08763375 -0.23668647
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+f 15 14 8
+f 15 8 5
+f 15 5 14
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_15/collision/model_normalized_collision_12.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_15/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d8e2eea9bae5bb39cb8a6ffc6a70dc4951a6fe1c
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_15/collision/model_normalized_collision_12.obj
@@ -0,0 +1,162 @@
+# https://github.com/mikedh/trimesh
+v 0.30642795 0.04956475 0.44065990
+v 0.32807282 0.07281280 0.40934026
+v 0.32598297 0.07000248 0.43716012
+v 0.28183864 0.14328383 0.49605514
+v 0.16019228 0.12499955 0.21839064
+v 0.32614913 0.10668874 0.43007723
+v 0.28405707 0.10139482 0.49353380
+v 0.19685878 0.01841470 0.26847014
+v 0.32628441 0.09138205 0.43360831
+v 0.30057734 0.13842567 0.42617448
+v 0.16894290 0.12167285 0.21168654
+v 0.30252418 0.06139888 0.46176523
+v 0.12684442 0.00369194 0.27621284
+v 0.30226249 0.05211869 0.39206326
+v 0.21248427 0.13906550 0.34023156
+v 0.31160871 0.13224351 0.44077427
+v 0.32659869 0.10174490 0.41178827
+v 0.19577610 0.07699825 0.22750911
+v 0.31486965 0.06103707 0.44860152
+v 0.20856030 0.08619116 0.41924431
+v 0.17160504 0.08176413 0.21081953
+v 0.26270250 0.06404742 0.46222712
+v 0.21853399 0.03233771 0.27472674
+v 0.31353262 0.06026464 0.39658154
+v 0.29756511 0.14206184 0.46680023
+v 0.31276420 0.12721800 0.42202725
+v 0.31220113 0.08863474 0.38511571
+v 0.25281864 0.09811724 0.47783364
+v 0.14534376 0.11096754 0.28639820
+v 0.13351138 0.00587936 0.26665486
+v 0.27633444 0.08731400 0.49000328
+v 0.27262285 0.05305597 0.45091691
+v 0.25022856 0.05542817 0.30638264
+v 0.31072743 0.06900980 0.38397442
+v 0.27133220 0.13356817 0.49397843
+v 0.22463620 0.07311959 0.43295572
+v 0.21930235 0.13878625 0.38157154
+v 0.13820908 0.11368111 0.26334462
+v 0.14584245 0.08671778 0.31569188
+v 0.26296349 0.07955579 0.47699938
+v 0.29319576 0.05318344 0.45500955
+v 0.20871984 0.07556088 0.24513101
+v 0.25461251 0.11014377 0.47956817
+v 0.26712799 0.10078975 0.49088869
+v 0.28073663 0.14324192 0.49494265
+v 0.17418758 0.12605339 0.30445267
+v 0.14622321 0.04411665 0.31364447
+v 0.22379419 0.12503768 0.42332149
+v 0.22628798 0.11643440 0.43600648
+v 0.27622553 0.08848612 0.49051740
+v 0.15985057 0.12320254 0.25751654
+v 0.16416789 0.07666314 0.34616404
+v 0.20963286 0.12536214 0.39365548
+v 0.20967136 0.09314002 0.41962143
+v 0.19469866 0.10135036 0.39280759
+f 1 2 3
+f 7 3 4
+f 9 3 2
+f 9 2 6
+f 9 6 4
+f 9 4 3
+f 11 5 10
+f 13 8 1
+f 14 1 8
+f 15 10 5
+f 17 6 2
+f 19 12 1
+f 19 1 3
+f 19 3 7
+f 19 7 12
+f 21 5 11
+f 21 11 18
+f 21 18 8
+f 23 14 8
+f 23 8 18
+f 24 2 1
+f 24 1 14
+f 24 14 23
+f 25 15 4
+f 25 10 15
+f 25 16 10
+f 25 4 6
+f 25 6 16
+f 26 17 11
+f 26 11 10
+f 26 10 16
+f 26 16 6
+f 26 6 17
+f 27 17 2
+f 27 18 11
+f 27 11 17
+f 30 13 5
+f 30 5 21
+f 30 21 8
+f 30 8 13
+f 31 12 7
+f 32 22 13
+f 33 23 18
+f 34 24 23
+f 34 2 24
+f 34 23 33
+f 34 27 2
+f 35 7 4
+f 36 28 20
+f 36 20 13
+f 38 5 13
+f 38 29 37
+f 39 38 13
+f 39 29 38
+f 40 22 31
+f 40 28 36
+f 40 36 13
+f 40 13 22
+f 41 32 13
+f 41 13 1
+f 41 1 12
+f 41 12 31
+f 41 31 22
+f 41 22 32
+f 42 34 33
+f 42 33 18
+f 42 18 27
+f 42 27 34
+f 43 20 28
+f 44 7 35
+f 44 40 31
+f 44 28 40
+f 44 43 28
+f 44 35 43
+f 45 4 15
+f 45 15 37
+f 45 35 4
+f 46 38 37
+f 46 37 15
+f 47 39 13
+f 47 13 20
+f 48 29 39
+f 48 35 45
+f 48 45 37
+f 49 43 35
+f 49 35 48
+f 50 44 31
+f 50 31 7
+f 50 7 44
+f 51 46 15
+f 51 15 5
+f 51 5 38
+f 51 38 46
+f 52 47 20
+f 52 20 39
+f 52 39 47
+f 53 48 37
+f 53 37 29
+f 53 29 48
+f 54 20 43
+f 54 43 49
+f 54 39 20
+f 55 49 48
+f 55 48 39
+f 55 54 49
+f 55 39 54
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_15/collision/model_normalized_collision_13.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_15/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..78605229bcf4b2feee57bba948b2c9bb61b1ea55
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_15/collision/model_normalized_collision_13.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v -0.15933415 -0.13140046 -0.10288340
+v -0.15676157 -0.14606944 -0.23493483
+v -0.15181987 0.10061099 -0.09985587
+v -0.15175169 0.09738546 -0.23055868
+v -0.28325149 0.00183116 -0.23642979
+v -0.23593209 -0.13885011 -0.23692831
+v -0.16316801 0.09184402 -0.23295213
+v -0.27118233 -0.02315949 -0.08918639
+v -0.23082633 -0.13395963 -0.11536491
+v -0.23524237 0.04903444 -0.23476061
+v -0.23270052 0.04794259 -0.12037837
+v -0.23057998 -0.13202836 -0.10046784
+v -0.19220698 0.07732304 -0.21843891
+v -0.23687995 0.03757105 -0.10334217
+v -0.16400660 0.09465707 -0.10068163
+v -0.18942377 0.07782471 -0.10176668
+f 1 2 3
+f 3 2 4
+f 7 4 2
+f 7 6 5
+f 7 2 6
+f 7 3 4
+f 8 1 3
+f 8 5 6
+f 9 6 2
+f 9 2 1
+f 9 8 6
+f 10 7 5
+f 11 10 5
+f 12 9 1
+f 12 1 8
+f 12 8 9
+f 13 7 10
+f 14 11 5
+f 14 5 8
+f 15 3 7
+f 15 7 13
+f 15 8 3
+f 15 13 10
+f 16 11 14
+f 16 14 8
+f 16 8 15
+f 16 15 10
+f 16 10 11
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_15/collision/model_normalized_collision_14.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_15/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e842bd4ae4e4f47d715ed5830d63fa9cb3e9ca5b
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_15/collision/model_normalized_collision_14.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v -0.15975027 0.06807138 0.00937853
+v -0.06376060 0.12576989 -0.23197116
+v -0.10318431 0.09942721 -0.28480377
+v -0.06539346 0.12430607 0.00744696
+v -0.13311798 0.10767116 -0.08592021
+v -0.09392509 0.10528231 -0.27866509
+v -0.12927100 0.09548981 0.00228524
+v -0.09059306 0.12258101 -0.05362138
+v -0.16538338 0.08841676 -0.24211083
+v -0.14581321 0.09242164 -0.02591709
+v -0.08949969 0.11355843 0.01723047
+v -0.06137319 0.12719112 -0.00888201
+v -0.09168797 0.12212973 -0.21659235
+v -0.15711898 0.08129071 -0.28056340
+v -0.14673349 0.08175901 0.00148213
+v -0.11679066 0.10593409 -0.01149405
+v -0.09101771 0.11515473 0.00548766
+v -0.07627639 0.12276030 -0.00960301
+v -0.13308006 0.10745529 -0.21784736
+v -0.07677604 0.12313527 -0.23191108
+v -0.10332443 0.10937741 0.00434186
+v -0.09178695 0.11090025 -0.26110826
+v -0.10349846 0.10728031 -0.25938145
+v -0.08124007 0.11728338 -0.24917136
+f 1 3 4
+f 6 2 4
+f 6 4 3
+f 10 9 1
+f 10 5 9
+f 11 7 1
+f 11 1 4
+f 12 4 2
+f 13 5 8
+f 13 12 2
+f 13 8 12
+f 14 3 1
+f 14 1 9
+f 14 6 3
+f 15 10 1
+f 15 1 7
+f 15 7 10
+f 16 10 7
+f 16 5 10
+f 16 8 5
+f 17 11 4
+f 17 8 16
+f 18 12 8
+f 18 4 12
+f 18 17 4
+f 18 8 17
+f 19 9 5
+f 19 5 13
+f 19 14 9
+f 20 13 2
+f 21 16 7
+f 21 7 11
+f 21 17 16
+f 21 11 17
+f 22 13 20
+f 23 6 14
+f 23 14 19
+f 23 22 6
+f 23 19 13
+f 23 13 22
+f 24 20 2
+f 24 2 6
+f 24 22 20
+f 24 6 22
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_15/collision/model_normalized_collision_15.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_15/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c5d6132e9796a6fa79f25681c45903fbcf673442
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_15/collision/model_normalized_collision_15.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.07053044 0.06504171 0.15909091
+v 0.07053044 0.06504171 0.00757575
+v 0.07153587 0.14716449 0.15700908
+v 0.07123940 0.15380979 0.00775097
+v -0.03954922 0.11167596 0.10882294
+v -0.02037865 0.06504171 0.00757575
+v -0.03514761 0.08628479 0.17743747
+v -0.01397125 0.14094801 -0.04923097
+v 0.03287696 0.13552532 0.15461423
+v -0.00208429 0.14500571 -0.05439588
+v -0.01272015 0.11217528 0.15396389
+v -0.01956671 0.13540835 0.00714042
+v 0.05560805 0.15429299 -0.05330675
+v 0.05537893 0.08019323 -0.03787879
+v -0.00918855 0.12357114 0.12355725
+v 0.00446114 0.12226799 0.15146505
+f 1 2 3
+f 3 2 4
+f 6 2 1
+f 7 1 3
+f 7 6 1
+f 7 5 6
+f 8 6 5
+f 9 7 3
+f 11 5 7
+f 11 7 9
+f 12 8 5
+f 12 9 3
+f 12 10 8
+f 12 3 10
+f 13 10 3
+f 13 3 4
+f 13 4 2
+f 14 2 6
+f 14 6 8
+f 14 8 10
+f 14 13 2
+f 14 10 13
+f 15 5 11
+f 15 12 5
+f 15 9 12
+f 16 15 11
+f 16 11 9
+f 16 9 15
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_15/collision/model_normalized_collision_16.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_15/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be8994e9f913b87fec345880b7c36047f574f1ee
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_15/collision/model_normalized_collision_16.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v -0.01274966 -0.12063308 -0.32806273
+v 0.11214133 -0.06454092 -0.41372619
+v 0.00908010 -0.10976616 -0.32551363
+v -0.00576643 -0.06623533 -0.48437463
+v -0.01151786 -0.12186417 -0.42733635
+v 0.11805654 -0.07556498 -0.35720007
+v -0.00595534 -0.11568308 -0.32598073
+v -0.01041240 -0.10770890 -0.45543919
+v 0.09576404 -0.08599682 -0.35370556
+v 0.10687254 -0.06928186 -0.40968030
+v 0.07961815 -0.06272861 -0.45649955
+v 0.11257493 -0.07857291 -0.35512778
+v 0.03297431 -0.06871808 -0.47762146
+v 0.03697302 -0.06352638 -0.47979582
+v 0.07637259 -0.06872276 -0.45083769
+v -0.00642157 -0.07831733 -0.47749675
+f 6 2 4
+f 6 4 3
+f 7 1 3
+f 7 3 4
+f 7 4 1
+f 8 5 1
+f 8 1 4
+f 9 3 1
+f 9 1 5
+f 10 6 5
+f 10 2 6
+f 12 6 3
+f 12 3 9
+f 12 9 5
+f 12 5 6
+f 13 11 8
+f 14 4 2
+f 14 2 11
+f 14 13 4
+f 14 11 13
+f 15 11 2
+f 15 2 10
+f 15 10 5
+f 15 5 8
+f 15 8 11
+f 16 13 8
+f 16 8 4
+f 16 4 13
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_15/collision/model_normalized_collision_17.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_15/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2744f5f3951ff8dc6dbfbb31fa9f6f65bcf7862e
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_15/collision/model_normalized_collision_17.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v -0.00880651 -0.10335187 0.00566167
+v 0.08196903 -0.09310229 -0.23596808
+v 0.08568196 0.00443565 0.00757575
+v -0.00522713 0.00443565 0.00757575
+v -0.00522713 0.00443565 -0.23484849
+v 0.04928534 -0.08518448 0.00685528
+v -0.00560003 -0.11510610 -0.23475526
+v 0.08568196 0.00443565 -0.23484849
+v 0.08167829 -0.07407760 0.00704020
+v 0.02211753 -0.11459331 -0.15990152
+v 0.06373136 -0.10116984 -0.23689868
+v -0.00750399 -0.11696587 -0.21724160
+v 0.04583432 -0.09745179 -0.07094907
+v 0.05891877 -0.09898206 -0.13294902
+v -0.00772088 -0.11684145 -0.13051439
+v 0.02060178 -0.11375267 -0.20190720
+v 0.00535364 -0.09964369 0.00518954
+v 0.00703274 -0.11443426 -0.13078987
+v 0.00731339 -0.11477017 -0.21688128
+f 5 1 4
+f 5 4 3
+f 6 4 1
+f 8 5 3
+f 8 3 2
+f 9 3 4
+f 9 4 6
+f 9 2 3
+f 11 7 5
+f 11 8 2
+f 11 5 8
+f 12 1 5
+f 12 5 7
+f 13 9 6
+f 14 11 2
+f 14 10 11
+f 14 13 10
+f 14 2 9
+f 14 9 13
+f 15 12 10
+f 15 1 12
+f 16 11 10
+f 16 10 12
+f 17 13 6
+f 17 6 1
+f 17 1 10
+f 17 10 13
+f 18 15 10
+f 18 10 1
+f 18 1 15
+f 19 16 12
+f 19 12 7
+f 19 7 11
+f 19 11 16
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_15/collision/model_normalized_collision_18.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_15/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a1ace8442e1447191a2a0ce69a9340b01479faf2
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_15/collision/model_normalized_collision_18.obj
@@ -0,0 +1,177 @@
+# https://github.com/mikedh/trimesh
+v -0.15618743 -0.14583874 -0.23236419
+v -0.15313211 -0.11763764 -0.43722854
+v -0.14854957 0.04095211 -0.44248119
+v -0.15635841 0.09433627 -0.23451852
+v -0.32241737 -0.10809216 -0.28807645
+v -0.15163873 0.08047584 -0.29192709
+v -0.28731001 -0.14432684 -0.28999014
+v -0.32285127 -0.06099064 -0.23539764
+v -0.22150794 -0.05336552 -0.44412070
+v -0.14940079 0.05281627 -0.41240827
+v -0.15686967 -0.14652091 -0.38167584
+v -0.17943099 0.08328036 -0.23286319
+v -0.28921325 -0.14718022 -0.24090446
+v -0.14999032 -0.01480226 -0.48062861
+v -0.23664283 -0.08315344 -0.43031872
+v -0.27823320 -0.02515454 -0.36194882
+v -0.19569813 -0.13002592 -0.40316254
+v -0.15609075 -0.15146742 -0.28264117
+v -0.29238170 -0.00896235 -0.23428168
+v -0.18021749 0.07494935 -0.27503707
+v -0.32235506 -0.11834123 -0.23807497
+v -0.17530896 -0.00352779 -0.46020389
+v -0.30787167 -0.13018791 -0.28842806
+v -0.16933474 -0.06487381 -0.47655601
+v -0.21911996 0.03215397 -0.34830970
+v -0.32168117 -0.07708439 -0.29196585
+v -0.24517518 -0.04801863 -0.42215878
+v -0.18196001 -0.14349893 -0.37924733
+v -0.17694375 -0.09085169 -0.45933888
+v -0.30492856 -0.03349518 -0.29049928
+v -0.30998141 -0.13248612 -0.23883440
+v -0.21935024 -0.04977166 -0.44599829
+v -0.14963431 0.01286034 -0.46950091
+v -0.24774613 -0.02653295 -0.40566844
+v -0.30958150 -0.11019244 -0.30955833
+v -0.32170794 -0.12194758 -0.27229716
+v -0.29680222 -0.14452397 -0.27486370
+v -0.15451405 -0.06570740 -0.47860740
+v -0.15868758 0.04832150 -0.40930185
+v -0.23046236 0.00487099 -0.39009487
+v -0.20640268 0.04510062 -0.33494827
+v -0.23311611 0.04896464 -0.26116405
+v -0.28980841 -0.05669435 -0.34667916
+v -0.20700407 -0.08723719 -0.44457817
+v -0.15454978 -0.10544965 -0.45273334
+v -0.19207062 -0.07622301 -0.45916066
+v -0.31992056 -0.06253394 -0.27645044
+v -0.30673446 -0.05802751 -0.31601840
+v -0.16171255 -0.01687772 -0.47463767
+v -0.20257764 -0.01724870 -0.44479176
+v -0.15988423 0.00822158 -0.46414153
+v -0.24340332 -0.08008942 -0.42135716
+v -0.29624182 -0.14501588 -0.25369089
+v -0.15627007 -0.09267238 -0.46658567
+v -0.26301146 0.00309393 -0.33678996
+v -0.23524237 0.04903444 -0.23476061
+v -0.17782920 -0.10055748 -0.44768851
+v -0.27480349 -0.00729373 -0.33311827
+v -0.29000400 -0.00810670 -0.26134200
+v -0.28957904 -0.02059740 -0.31686542
+f 1 2 3
+f 6 1 3
+f 6 4 1
+f 10 6 3
+f 10 4 6
+f 12 1 4
+f 13 7 11
+f 14 3 2
+f 17 2 11
+f 17 7 15
+f 18 11 2
+f 18 2 1
+f 18 13 11
+f 18 1 13
+f 19 8 1
+f 19 1 12
+f 20 12 4
+f 20 4 10
+f 21 1 8
+f 21 8 5
+f 23 15 7
+f 24 15 9
+f 26 5 8
+f 27 9 15
+f 28 17 11
+f 28 11 7
+f 28 7 17
+f 30 8 19
+f 31 13 1
+f 31 1 21
+f 32 9 27
+f 32 24 9
+f 33 3 14
+f 34 3 22
+f 34 27 16
+f 35 23 5
+f 35 15 23
+f 35 5 26
+f 35 26 27
+f 36 21 5
+f 36 5 23
+f 36 31 21
+f 37 23 7
+f 37 7 13
+f 37 36 23
+f 38 24 14
+f 38 14 2
+f 39 10 3
+f 39 3 25
+f 40 25 3
+f 40 34 16
+f 40 3 34
+f 41 20 10
+f 41 39 25
+f 41 10 39
+f 42 41 25
+f 42 12 20
+f 42 20 41
+f 43 27 26
+f 43 16 27
+f 44 29 17
+f 44 17 15
+f 44 15 29
+f 45 2 17
+f 45 38 2
+f 46 29 15
+f 46 15 24
+f 46 24 29
+f 47 30 26
+f 47 26 8
+f 47 8 30
+f 48 30 16
+f 48 26 30
+f 48 43 26
+f 48 16 43
+f 49 32 22
+f 49 14 24
+f 49 24 32
+f 49 33 14
+f 49 22 33
+f 50 32 27
+f 50 22 32
+f 50 34 22
+f 50 27 34
+f 51 33 22
+f 51 22 3
+f 51 3 33
+f 52 35 27
+f 52 27 15
+f 52 15 35
+f 53 37 13
+f 53 13 31
+f 53 31 36
+f 53 36 37
+f 54 29 24
+f 54 24 38
+f 54 45 29
+f 54 38 45
+f 55 40 16
+f 55 25 40
+f 55 42 25
+f 56 19 12
+f 56 12 42
+f 57 45 17
+f 57 17 29
+f 57 29 45
+f 58 55 16
+f 58 42 55
+f 59 56 42
+f 59 19 56
+f 59 42 58
+f 59 30 19
+f 60 58 16
+f 60 16 30
+f 60 59 58
+f 60 30 59
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_15/collision/model_normalized_collision_19.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_15/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f47b7cd7249ea42d3cdd0ade126b0ed07355740
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_15/collision/model_normalized_collision_19.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v -0.06179199 -0.10607432 0.00898108
+v -0.05225191 -0.12740436 -0.23573113
+v -0.15019553 -0.11506528 0.00952754
+v -0.06775555 -0.10745255 0.00690726
+v -0.06858053 -0.12945396 -0.19352854
+v -0.16004131 -0.11752007 0.00659221
+v -0.06939752 -0.11409885 -0.04257756
+v -0.15676157 -0.14606944 -0.23493483
+v -0.09992406 -0.11586493 -0.00894941
+v -0.07035957 -0.13343804 -0.23455433
+v -0.15933415 -0.13140046 -0.10288340
+v -0.15561328 -0.14560803 -0.22979355
+v -0.12845352 -0.13035943 -0.11474475
+f 1 2 3
+f 5 2 1
+f 6 1 3
+f 6 4 1
+f 7 5 1
+f 8 6 3
+f 8 3 2
+f 9 7 1
+f 9 1 4
+f 9 4 6
+f 9 5 7
+f 10 8 2
+f 10 2 5
+f 11 9 6
+f 11 6 8
+f 12 5 9
+f 12 10 5
+f 12 8 10
+f 12 11 8
+f 13 12 9
+f 13 9 11
+f 13 11 12
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_15/collision/model_normalized_collision_2.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_15/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3774d8e30a8347b753651e073f88beca5df5fa1c
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_15/collision/model_normalized_collision_2.obj
@@ -0,0 +1,105 @@
+# https://github.com/mikedh/trimesh
+v -0.00560003 -0.11510610 -0.23475526
+v 0.21921874 0.00334595 -0.31687125
+v 0.22083705 0.10490245 -0.23277259
+v -0.01494671 0.13211722 -0.24265846
+v -0.00476000 -0.11776689 -0.35619631
+v 0.18473759 0.10089651 -0.35407153
+v 0.19764149 0.13092592 -0.23365140
+v 0.19536037 -0.03117222 -0.23561079
+v 0.22069179 0.06904474 -0.33412641
+v -0.00829984 0.10897587 -0.35745455
+v 0.22102476 0.03939432 -0.23155074
+v 0.17566139 -0.05653177 -0.30554264
+v 0.20375189 -0.00555564 -0.35649656
+v 0.21725296 0.08562449 -0.31697393
+v 0.18597444 0.11506480 -0.32091583
+v 0.21834225 -0.00126468 -0.28355804
+v 0.06373136 -0.10116984 -0.23689868
+v 0.21769500 0.01272943 -0.33152441
+v 0.20428671 0.08488451 -0.35101826
+v 0.09576404 -0.08599682 -0.35370556
+v 0.18978928 -0.04083661 -0.30535444
+v 0.21908299 0.10356777 -0.24693364
+v 0.19299710 0.11156915 -0.31808412
+v 0.18893618 0.13531666 -0.23422476
+v 0.21830958 0.01295329 -0.25750569
+v 0.17556531 -0.05692547 -0.26619004
+v 0.19354995 0.09398429 -0.35295702
+v 0.17556303 -0.04148607 -0.35174375
+v 0.07791271 -0.09927879 -0.27976532
+v 0.19081109 -0.02476400 -0.35324242
+v 0.19087130 -0.04191142 -0.29648315
+v 0.20583733 -0.00605013 -0.23637314
+v 0.18185662 -0.04565603 -0.23785238
+v 0.10776956 -0.08259121 -0.33866175
+v 0.07721887 -0.09735028 -0.25255196
+v 0.10800581 -0.08221227 -0.23777264
+f 5 1 4
+f 7 4 1
+f 10 5 4
+f 11 7 1
+f 11 3 7
+f 11 1 8
+f 11 9 3
+f 11 2 9
+f 13 10 6
+f 13 5 10
+f 14 3 9
+f 15 6 10
+f 16 2 11
+f 17 8 1
+f 17 1 5
+f 18 13 9
+f 18 9 2
+f 18 2 13
+f 19 9 13
+f 19 14 9
+f 20 5 13
+f 22 14 7
+f 22 7 3
+f 22 3 14
+f 23 15 7
+f 23 7 14
+f 23 14 19
+f 23 6 15
+f 24 15 10
+f 24 10 4
+f 24 4 7
+f 24 7 15
+f 25 16 11
+f 27 19 13
+f 27 13 6
+f 27 23 19
+f 27 6 23
+f 28 20 13
+f 28 12 20
+f 29 17 5
+f 29 5 20
+f 29 12 26
+f 30 13 2
+f 30 2 21
+f 30 28 13
+f 30 21 12
+f 30 12 28
+f 31 21 2
+f 31 2 16
+f 31 16 8
+f 31 8 26
+f 31 26 12
+f 31 12 21
+f 32 25 11
+f 32 11 8
+f 32 8 16
+f 32 16 25
+f 33 26 8
+f 34 29 20
+f 34 20 12
+f 34 12 29
+f 35 29 26
+f 35 26 17
+f 35 17 29
+f 36 17 26
+f 36 26 33
+f 36 33 8
+f 36 8 17
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_15/collision/model_normalized_collision_20.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_15/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..76a8bf76474dce009beb820639637e1de3794fb0
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_15/collision/model_normalized_collision_20.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.16640159 -0.02937849 0.00821744
+v 0.20408737 -0.00623265 -0.22609808
+v 0.15953646 0.15226292 0.00782260
+v 0.07573365 0.15538888 0.00886170
+v -0.00522713 0.00443565 -0.23484849
+v -0.01339685 0.13597936 0.01157665
+v 0.14267126 0.15176511 -0.23166519
+v -0.00522713 0.00443565 0.00757575
+v 0.15999195 0.14821122 -0.23357440
+v 0.14241036 0.15573776 0.00724116
+v 0.01274264 0.15275858 -0.18734527
+v -0.00057935 0.13836667 -0.23111386
+v 0.15812233 0.15382966 -0.20162159
+v 0.01572126 0.15343664 -0.08351030
+v 0.10188454 0.15360601 -0.23221664
+v -0.00208429 0.14500571 -0.05439588
+v 0.02870070 0.15263377 -0.20037787
+f 1 2 3
+f 5 2 1
+f 6 1 3
+f 6 3 4
+f 8 6 5
+f 8 5 1
+f 8 1 6
+f 9 3 2
+f 9 2 5
+f 10 4 3
+f 12 9 5
+f 12 5 6
+f 13 9 7
+f 13 10 3
+f 13 3 9
+f 14 6 4
+f 14 4 11
+f 15 7 9
+f 15 9 12
+f 15 13 7
+f 15 11 4
+f 15 4 10
+f 15 10 13
+f 16 12 6
+f 16 11 12
+f 16 14 11
+f 16 6 14
+f 17 15 12
+f 17 12 11
+f 17 11 15
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_15/collision/model_normalized_collision_21.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_15/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..949de088b37c1596e8512de8f9c4416f0f96e022
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_15/collision/model_normalized_collision_21.obj
@@ -0,0 +1,156 @@
+# https://github.com/mikedh/trimesh
+v -0.09794684 -0.09870734 0.12205651
+v -0.06775555 -0.10745255 0.00690726
+v -0.06181259 -0.05209484 0.19480087
+v -0.05965759 0.11134157 0.07888876
+v -0.22068770 -0.02781681 0.00060294
+v -0.05773243 0.07049388 0.17754066
+v -0.06810690 -0.08398010 0.15236134
+v -0.20757686 -0.10850343 -0.00110701
+v -0.06539346 0.12430607 0.00744696
+v -0.05817862 0.09875376 0.12412851
+v -0.12819659 0.01218349 0.15689070
+v -0.07186115 -0.09795891 0.09733867
+v -0.11760202 -0.08441817 0.14438046
+v -0.16004131 -0.11752007 0.00659221
+v -0.19229377 0.04009226 0.00172994
+v -0.12927100 0.09548981 0.00228524
+v -0.06993048 0.00247733 0.20242765
+v -0.16878911 -0.05537363 0.10583313
+v -0.13512410 -0.09956588 0.11613590
+v -0.18620183 -0.11728633 0.00230491
+v -0.15872092 -0.11623349 0.02101052
+v -0.20137505 -0.00195976 0.03038235
+v -0.11073761 0.06405633 0.11821617
+v -0.10332443 0.10937741 0.00434186
+v -0.22162179 -0.08385751 -0.00109726
+v -0.06332304 0.00126777 0.20415098
+v -0.07238475 0.03936776 0.18794726
+v -0.11553396 -0.05140292 0.17248443
+v -0.15467742 -0.07721246 0.11961418
+v -0.20723383 0.01480905 0.00132739
+v -0.13734345 0.00013908 0.14799511
+v -0.16815477 -0.04197933 0.10572178
+v -0.12381929 0.03907138 0.13604296
+v -0.08274568 0.07830965 0.13452556
+v -0.12949038 0.07714300 0.06093174
+v -0.10219593 0.10700942 0.01901828
+v -0.06299139 -0.02364603 0.20581651
+v -0.08116725 0.05427366 0.17173846
+v -0.11444278 -0.00203112 0.17348731
+v -0.05978531 0.04317961 0.19205884
+v -0.11469324 -0.07336108 0.15890082
+v -0.15516980 -0.08974278 0.10513754
+v -0.14093228 -0.05181606 0.14577592
+v -0.18845075 0.03629005 0.01461292
+v -0.06956367 0.06625817 0.17292096
+v -0.11350918 0.07589496 0.09073765
+v -0.07209217 0.10626562 0.07794976
+v -0.09821325 0.09242783 0.07614986
+v -0.08882146 -0.04658346 0.18660832
+v -0.07186333 -0.02134388 0.20186282
+v -0.09440702 0.05061500 0.16104488
+v -0.08213168 0.02718945 0.18597625
+v -0.08031468 0.06393310 0.16358999
+f 6 3 2
+f 7 2 3
+f 9 4 2
+f 10 6 2
+f 10 2 4
+f 12 7 1
+f 12 1 2
+f 12 2 7
+f 13 7 3
+f 16 2 8
+f 19 1 7
+f 19 7 13
+f 20 8 2
+f 20 2 14
+f 20 19 8
+f 21 14 2
+f 21 2 1
+f 21 1 19
+f 21 20 14
+f 21 19 20
+f 24 9 2
+f 24 2 16
+f 25 16 8
+f 25 15 16
+f 25 18 5
+f 29 25 8
+f 29 18 25
+f 30 5 22
+f 30 25 5
+f 30 15 25
+f 30 22 11
+f 31 11 22
+f 32 22 5
+f 32 5 18
+f 32 31 22
+f 32 18 31
+f 35 16 15
+f 35 33 23
+f 35 15 33
+f 36 4 9
+f 36 9 24
+f 36 24 16
+f 37 26 17
+f 38 11 27
+f 39 11 31
+f 40 6 27
+f 40 26 37
+f 40 37 3
+f 40 3 6
+f 40 27 17
+f 40 17 26
+f 41 13 3
+f 41 3 28
+f 41 28 29
+f 41 29 19
+f 41 19 13
+f 42 29 8
+f 42 8 19
+f 42 19 29
+f 43 29 28
+f 43 18 29
+f 43 31 18
+f 43 39 31
+f 43 28 39
+f 44 30 11
+f 44 11 33
+f 44 33 15
+f 44 15 30
+f 45 6 10
+f 45 10 34
+f 45 38 27
+f 45 27 6
+f 46 35 23
+f 46 23 34
+f 47 10 4
+f 47 4 36
+f 48 36 16
+f 48 16 35
+f 48 47 36
+f 48 10 47
+f 48 35 46
+f 48 46 34
+f 48 34 10
+f 49 37 28
+f 49 28 3
+f 49 3 37
+f 50 37 17
+f 50 28 37
+f 50 39 28
+f 50 17 39
+f 51 33 11
+f 51 11 38
+f 51 38 45
+f 52 27 11
+f 52 11 39
+f 52 39 17
+f 52 17 27
+f 53 45 34
+f 53 34 23
+f 53 51 45
+f 53 23 33
+f 53 33 51
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_15/collision/model_normalized_collision_22.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_15/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae33e1d71a0435b751bcbaf1a26d224dff55cb3f
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_15/collision/model_normalized_collision_22.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v -0.07055151 0.07190146 0.16312054
+v -0.00522713 0.06504171 -0.23484849
+v -0.00522713 0.06504171 0.00757575
+v -0.01272015 0.11217528 0.15396389
+v -0.08124007 0.11728338 -0.24917136
+v -0.00283902 0.14180265 -0.21519981
+v -0.03514761 0.08628479 0.17743747
+v -0.05966098 0.12205943 0.03429203
+v -0.00294431 0.14098960 -0.02529704
+v -0.00417119 0.13680430 -0.23400001
+v -0.05908773 0.08553781 0.15333001
+v -0.06285521 0.13101176 -0.05334785
+v -0.01687570 0.12539876 0.07986280
+v -0.06376060 0.12576989 -0.23197116
+v -0.05807366 0.10767228 0.09290033
+v -0.00474914 0.13762558 0.00731947
+v -0.04638408 0.13786242 -0.09998049
+v -0.04460291 0.12115280 0.06386474
+v -0.05660349 0.09448373 0.13678966
+v -0.01768647 0.13819626 -0.02412467
+v -0.04362353 0.13554552 -0.19886079
+v -0.02981884 0.12234039 0.07927721
+v -0.03164954 0.13811310 -0.05407642
+v -0.02876666 0.13639734 -0.21424961
+f 1 2 3
+f 5 2 1
+f 6 3 2
+f 7 1 3
+f 7 3 4
+f 9 4 3
+f 9 3 6
+f 10 6 2
+f 10 2 5
+f 11 7 4
+f 11 1 7
+f 12 5 1
+f 12 1 8
+f 14 10 5
+f 14 6 10
+f 15 8 1
+f 15 4 8
+f 16 8 13
+f 16 13 4
+f 16 4 9
+f 17 9 6
+f 17 14 5
+f 17 5 12
+f 18 13 8
+f 18 8 4
+f 19 15 1
+f 19 1 11
+f 19 11 4
+f 19 4 15
+f 20 12 8
+f 20 8 16
+f 20 16 9
+f 21 17 6
+f 21 14 17
+f 22 18 4
+f 22 4 13
+f 22 13 18
+f 23 17 12
+f 23 12 20
+f 23 20 9
+f 23 9 17
+f 24 21 6
+f 24 6 14
+f 24 14 21
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_15/collision/model_normalized_collision_23.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_15/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..65e35f19f872bd77e73596dc7184adb32ecc39d7
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_15/collision/model_normalized_collision_23.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.00690152 -0.09253153 -0.46259939
+v 0.12835731 0.00178476 -0.46912766
+v 0.11195968 -0.05038357 -0.44251125
+v -0.00741132 0.07422723 -0.46562021
+v -0.00389153 -0.05414871 -0.49188662
+v 0.07632020 0.06354607 -0.46890342
+v 0.09528025 -0.06152490 -0.44272137
+v 0.07425089 -0.03131633 -0.48924605
+v -0.00576643 -0.06623533 -0.48437463
+v 0.10385225 -0.04004326 -0.46503642
+v 0.06426901 0.03196129 -0.48989399
+v -0.00519732 0.04126613 -0.49009896
+v 0.06432734 -0.05620839 -0.47726391
+v 0.10615071 -0.01752015 -0.47665499
+v 0.06808688 0.04412675 -0.48316715
+v 0.07875286 0.00653160 -0.48944534
+v 0.09085232 -0.05717715 -0.45286783
+v 0.05082547 -0.04458847 -0.48787829
+v 0.11011881 0.00649189 -0.47728567
+v 0.02426046 0.03845295 -0.48989558
+f 6 3 2
+f 6 4 3
+f 7 3 4
+f 7 4 1
+f 9 1 4
+f 10 2 3
+f 10 3 7
+f 12 9 4
+f 12 5 9
+f 12 11 5
+f 12 4 6
+f 13 1 9
+f 13 8 10
+f 13 7 1
+f 14 10 8
+f 14 8 2
+f 14 2 10
+f 15 6 2
+f 15 12 6
+f 16 8 5
+f 16 5 11
+f 17 13 10
+f 17 10 7
+f 17 7 13
+f 18 13 9
+f 18 9 5
+f 18 5 8
+f 18 8 13
+f 19 15 2
+f 19 11 15
+f 19 16 11
+f 19 2 8
+f 19 8 16
+f 20 15 11
+f 20 11 12
+f 20 12 15
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_15/collision/model_normalized_collision_24.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_15/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e678ba86b3f7e688bc12b58e0ed81190f1e6d3fd
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_15/collision/model_normalized_collision_24.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.09998652 -0.03100723 0.25764151
+v 0.14232863 -0.02147653 0.25804949
+v 0.14012110 0.09007410 0.30445642
+v 0.11097132 0.10816378 0.25663143
+v 0.13207989 0.10911218 0.26475656
+v 0.07775358 0.05864335 0.27704439
+v 0.13925847 0.04239395 0.30363626
+v 0.15036331 0.01575165 0.27456389
+v 0.13938218 0.10240342 0.29080264
+v 0.07212844 0.09286758 0.26051006
+v 0.11248595 -0.01082793 0.28035353
+v 0.14741194 0.01082802 0.26276013
+v 0.06946832 -0.03360466 0.25918015
+v 0.10421415 -0.01615372 0.27696610
+v 0.07817222 -0.00129103 0.27510814
+v 0.07201402 -0.03091352 0.26206876
+f 2 1 4
+f 5 2 4
+f 7 3 6
+f 8 7 2
+f 8 3 7
+f 9 5 4
+f 9 8 5
+f 9 3 8
+f 10 9 4
+f 10 6 3
+f 10 3 9
+f 11 2 7
+f 12 8 2
+f 12 2 5
+f 12 5 8
+f 13 10 4
+f 13 4 1
+f 13 6 10
+f 14 1 2
+f 14 2 11
+f 14 13 1
+f 14 11 7
+f 15 7 6
+f 15 6 13
+f 15 14 7
+f 16 15 13
+f 16 13 14
+f 16 14 15
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_15/collision/model_normalized_collision_25.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_15/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..40bfdff2e57612cc4966af3f6dde2e3123afe8e1
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_15/collision/model_normalized_collision_25.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v -0.00522713 -0.02586738 -0.41666668
+v -0.00467399 -0.02623672 -0.48886694
+v -0.00337864 0.09724892 -0.42577705
+v -0.00416413 0.10287815 -0.41319262
+v -0.09570742 -0.02660055 -0.49942977
+v -0.09613623 -0.02586738 -0.41666668
+v -0.00395706 0.06460063 -0.47858647
+v -0.08846672 0.07658893 -0.42459997
+v -0.00519732 0.04126613 -0.49009896
+v -0.06193107 0.07580472 -0.45479710
+v -0.09023370 0.07926043 -0.41473769
+v -0.00730550 -0.00881127 -0.49064930
+v -0.09039672 0.02519338 -0.48955204
+v -0.04647438 0.09336683 -0.41436826
+v -0.06191159 0.04177435 -0.48844215
+v -0.08718967 0.04889142 -0.47562169
+v -0.04664972 0.09030612 -0.42425039
+v -0.01882199 0.06284837 -0.47913215
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 6 5 1
+f 6 1 4
+f 7 3 2
+f 9 7 2
+f 10 4 3
+f 10 3 7
+f 11 6 4
+f 11 10 8
+f 11 5 6
+f 12 9 2
+f 12 2 5
+f 12 5 9
+f 13 5 11
+f 14 11 4
+f 15 9 5
+f 15 5 13
+f 16 8 10
+f 16 15 13
+f 16 13 11
+f 16 11 8
+f 17 14 4
+f 17 4 10
+f 17 10 11
+f 17 11 14
+f 18 7 9
+f 18 9 15
+f 18 10 7
+f 18 16 10
+f 18 15 16
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_15/collision/model_normalized_collision_26.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_15/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc82e08f3e3b42d89d96c9f2623a2bcc117c5605
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_15/collision/model_normalized_collision_26.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.15375765 -0.04797364 -0.14677622
+v 0.21715072 0.02541792 -0.23070876
+v 0.24133349 0.06792432 -0.09083190
+v 0.15920286 0.14908281 -0.09783947
+v 0.15999195 0.14821122 -0.23357440
+v 0.15535820 -0.03242751 -0.09807809
+v 0.19536037 -0.03117222 -0.23561079
+v 0.22083705 0.10490245 -0.23277259
+v 0.22890648 0.02579971 -0.08937833
+v 0.15835227 -0.06310721 -0.23618462
+v 0.16627193 -0.06034683 -0.23798400
+v 0.21068196 0.12577093 -0.09224988
+v 0.18260539 0.14176338 -0.09486933
+v 0.15673818 -0.05879368 -0.20670093
+v 0.18285315 0.13858419 -0.23287277
+v 0.23918017 0.09039559 -0.09062096
+v 0.22596031 0.11170959 -0.09127090
+f 5 1 4
+f 6 4 1
+f 8 3 2
+f 8 2 7
+f 9 6 1
+f 9 7 2
+f 9 2 3
+f 11 8 7
+f 11 5 8
+f 11 10 5
+f 11 7 9
+f 11 9 1
+f 13 4 6
+f 13 6 9
+f 13 9 12
+f 13 5 4
+f 14 1 5
+f 14 5 10
+f 14 11 1
+f 14 10 11
+f 15 12 8
+f 15 8 5
+f 15 13 12
+f 15 5 13
+f 16 3 8
+f 16 9 3
+f 17 16 8
+f 17 8 12
+f 17 12 9
+f 17 9 16
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_15/collision/model_normalized_collision_27.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_15/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f1c86dd60c2e2932207dd7651141b947d01d55cb
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_15/collision/model_normalized_collision_27.obj
@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
+v 0.18988061 -0.02549912 0.00794787
+v 0.29767580 0.01682612 -0.01692791
+v 0.29522009 0.02796219 0.00675688
+v 0.15953646 0.15226292 0.00782260
+v 0.16300085 -0.02671167 -0.10085946
+v 0.23864604 0.10948117 -0.07581656
+v 0.18348944 0.13995747 0.00864624
+v 0.27156684 -0.00848390 0.00132925
+v 0.15849228 -0.03076099 0.00780568
+v 0.29833862 0.04424183 -0.01436248
+v 0.15920286 0.14908281 -0.09783947
+v 0.24062857 0.04034024 -0.08262740
+v 0.22880383 0.12246493 -0.04006625
+v 0.28320777 0.00170205 0.00658225
+v 0.25699300 -0.00703175 -0.04167223
+v 0.15535820 -0.03242751 -0.09807809
+v 0.28344042 0.06767905 0.00266312
+v 0.23537847 0.10411829 -0.08835067
+v 0.19540084 0.13795979 -0.02644717
+v 0.22102113 0.12461970 -0.07481101
+v 0.27474880 -0.00536182 -0.01540274
+v 0.28460221 0.01706118 -0.04127109
+v 0.25514386 0.09301006 0.00584332
+v 0.29512863 0.04675957 -0.00050188
+v 0.27948132 0.07048591 -0.02914005
+v 0.21068196 0.12577093 -0.09224988
+v 0.19519035 0.13777826 -0.07870225
+v 0.28174946 0.00421137 -0.02741863
+v 0.28025687 0.05604306 -0.04303274
+v 0.25915579 0.00253832 -0.05190767
+v 0.21018742 0.12303723 0.00770610
+v 0.24111247 0.10862953 -0.01520813
+v 0.18260539 0.14176338 -0.09486933
+v 0.22480474 0.01372181 -0.08487294
+v 0.19447488 -0.00736372 -0.09243528
+f 7 1 3
+f 9 7 4
+f 9 1 7
+f 10 3 2
+f 14 2 3
+f 14 3 1
+f 14 1 8
+f 16 8 1
+f 16 5 15
+f 16 1 9
+f 16 11 5
+f 16 9 4
+f 16 4 11
+f 18 12 5
+f 19 4 7
+f 19 7 13
+f 20 13 6
+f 21 14 8
+f 21 2 14
+f 21 16 15
+f 21 8 16
+f 22 12 18
+f 22 10 2
+f 23 3 17
+f 24 17 3
+f 24 3 10
+f 24 10 17
+f 25 17 10
+f 25 6 13
+f 25 13 17
+f 26 18 5
+f 26 5 11
+f 26 20 6
+f 26 6 18
+f 27 4 19
+f 27 19 13
+f 27 13 20
+f 28 21 15
+f 28 15 22
+f 28 22 2
+f 28 2 21
+f 29 22 18
+f 29 10 22
+f 29 25 10
+f 29 18 6
+f 29 6 25
+f 30 22 15
+f 30 15 5
+f 31 7 3
+f 31 3 23
+f 31 13 7
+f 32 23 17
+f 32 17 13
+f 32 31 23
+f 32 13 31
+f 33 11 4
+f 33 4 27
+f 33 26 11
+f 33 27 20
+f 33 20 26
+f 34 5 12
+f 34 12 22
+f 34 22 30
+f 35 34 30
+f 35 30 5
+f 35 5 34
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_15/collision/model_normalized_collision_28.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_15/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c18d52170d601da39cee6d37eecb3a7187a27caf
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_15/collision/model_normalized_collision_28.obj
@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
+v -0.16004131 -0.11752007 0.00659221
+v -0.15933415 -0.13140046 -0.10288340
+v -0.14960439 0.08565592 -0.01192150
+v -0.15016834 0.09729437 -0.07001282
+v -0.28069985 -0.04395387 -0.10427472
+v -0.23057998 -0.13202836 -0.10046784
+v -0.15181987 0.10061099 -0.09985587
+v -0.21675523 -0.00263836 -0.00115756
+v -0.26188182 0.00987684 -0.10431463
+v -0.28021307 -0.05334196 -0.10435863
+v -0.21156005 -0.13116953 -0.04031871
+v -0.15313417 0.07529565 0.00537904
+v -0.20076740 0.06443514 -0.07296433
+v -0.16400660 0.09465707 -0.10068163
+v -0.26050713 -0.00626115 -0.07796769
+v -0.24507515 -0.08175908 -0.03020289
+v -0.18800066 -0.13017052 -0.04176399
+v -0.18699746 0.06527996 -0.03151398
+v -0.20648574 0.06529365 -0.10127582
+v -0.17590079 0.07691381 -0.04113149
+v -0.27514851 -0.04526718 -0.09171400
+v -0.26945585 -0.09883020 -0.10142712
+v -0.21662431 -0.10353257 -0.00655261
+v -0.16004044 0.07925523 -0.01479241
+v -0.20031099 0.03454972 -0.00256197
+v -0.16065198 0.09168733 -0.07166948
+v -0.27471584 -0.05213597 -0.09171157
+v -0.24513827 -0.03174585 -0.03474523
+v -0.25966646 -0.09791030 -0.07528635
+v -0.23258696 -0.11959629 -0.04494906
+v -0.19440150 -0.11618240 -0.00209800
+v -0.22062623 -0.09341033 -0.00313659
+v -0.25915477 0.00716449 -0.09268959
+v -0.17085780 0.06388900 -0.00212594
+v -0.22480776 -0.13067816 -0.07121882
+v -0.24512580 -0.10334375 -0.04580902
+v -0.21944228 -0.11521030 -0.02085061
+v -0.23116120 -0.10281505 -0.02222862
+f 1 2 3
+f 3 2 4
+f 7 4 2
+f 10 2 6
+f 10 9 2
+f 10 5 9
+f 11 6 2
+f 12 8 1
+f 12 1 3
+f 14 7 2
+f 14 2 9
+f 14 4 7
+f 15 9 5
+f 17 11 2
+f 17 2 1
+f 17 1 11
+f 18 13 9
+f 19 14 9
+f 19 9 13
+f 20 3 4
+f 20 13 18
+f 20 19 13
+f 20 14 19
+f 21 5 10
+f 21 15 5
+f 22 10 6
+f 24 18 12
+f 24 12 3
+f 24 20 18
+f 24 3 20
+f 25 18 9
+f 25 15 8
+f 25 8 12
+f 26 20 4
+f 26 4 14
+f 26 14 20
+f 27 21 10
+f 27 10 16
+f 27 16 21
+f 28 21 16
+f 28 16 8
+f 28 8 15
+f 28 15 21
+f 29 16 10
+f 29 10 22
+f 30 22 6
+f 31 11 1
+f 32 1 8
+f 32 8 16
+f 32 31 1
+f 32 23 31
+f 33 25 9
+f 33 9 15
+f 33 15 25
+f 34 25 12
+f 34 12 18
+f 34 18 25
+f 35 30 6
+f 35 6 11
+f 35 11 30
+f 36 29 22
+f 36 22 30
+f 36 16 29
+f 37 30 11
+f 37 11 31
+f 37 31 23
+f 38 32 16
+f 38 16 36
+f 38 23 32
+f 38 37 23
+f 38 36 30
+f 38 30 37
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_15/collision/model_normalized_collision_29.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_15/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..42c7fe2c64fce58e222a1826146630aa8d864543
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_15/collision/model_normalized_collision_29.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v -0.07035957 -0.13343804 -0.23455433
+v -0.05640771 -0.13553403 -0.27363738
+v -0.06130574 -0.13042120 -0.23514273
+v -0.23211076 -0.13672611 -0.23241066
+v -0.14418430 -0.14599943 -0.23718771
+v -0.22660518 -0.14252238 -0.27731926
+v -0.06692596 -0.13978685 -0.28128648
+v -0.23317487 -0.14483732 -0.28053790
+v -0.11428723 -0.14345873 -0.25270538
+v -0.17032851 -0.14545459 -0.23665183
+v -0.11374059 -0.14725698 -0.28226851
+v -0.20025822 -0.14678943 -0.28293900
+v -0.23593209 -0.13885011 -0.23692831
+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 6 2
+f 8 4 6
+f 8 6 7
+f 9 7 1
+f 9 1 5
+f 10 5 4
+f 11 9 5
+f 11 7 9
+f 12 10 8
+f 12 5 10
+f 12 11 5
+f 12 8 7
+f 12 7 11
+f 13 10 4
+f 13 4 8
+f 13 8 10
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_15/collision/model_normalized_collision_3.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_15/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..03d4a604167b11aa4a8eca9be263d9539631d99d
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_15/collision/model_normalized_collision_3.obj
@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
+v -0.22842354 -0.12534547 -0.05508880
+v -0.23593209 -0.13885011 -0.23692831
+v -0.23859851 0.03987707 -0.27781956
+v -0.23897613 0.04080843 -0.11652401
+v -0.32556196 -0.11180679 -0.23784365
+v -0.30998141 -0.13248612 -0.23883440
+v -0.26596054 -0.02127804 -0.07907619
+v -0.32285127 -0.06099064 -0.23539764
+v -0.23057998 -0.13202836 -0.10046784
+v -0.23809964 -0.12016677 -0.05768979
+v -0.28421485 -0.00247129 -0.27949411
+v -0.24378001 0.03031104 -0.10023063
+v -0.32223234 -0.07398566 -0.20977126
+v -0.23951116 -0.12996704 -0.10242102
+v -0.31003733 -0.13135205 -0.23487066
+v -0.24215392 -0.10896102 -0.04869934
+v -0.26047045 0.01861449 -0.28381971
+v -0.27484138 0.00931018 -0.13621738
+v -0.24641611 -0.12029610 -0.07579291
+v -0.25208270 -0.09877412 -0.05755091
+v -0.27804161 0.00456760 -0.27630844
+v -0.29238170 -0.00896235 -0.23428168
+v -0.27752649 0.00916543 -0.23684851
+v -0.26214820 0.01949138 -0.11909600
+v -0.28883198 -0.01569303 -0.13602547
+v -0.24894726 -0.10624765 -0.05924617
+v -0.27536624 -0.08284179 -0.10591392
+v -0.30364975 -0.03018582 -0.17953344
+v -0.24726153 0.03362058 -0.11880946
+v -0.24715856 0.03258642 -0.27601131
+v -0.29042756 -0.00740278 -0.19166901
+v -0.25216394 0.02360119 -0.10202614
+v -0.27635115 -0.01363754 -0.10503974
+v -0.32100344 -0.05974735 -0.22123003
+v -0.26188182 0.00987684 -0.10431463
+f 1 2 3
+f 1 3 4
+f 9 6 2
+f 9 2 1
+f 11 6 5
+f 11 2 6
+f 11 5 8
+f 12 1 4
+f 13 8 5
+f 14 9 1
+f 14 1 6
+f 14 6 9
+f 15 6 1
+f 15 1 10
+f 15 5 6
+f 16 10 1
+f 16 12 7
+f 16 1 12
+f 17 3 2
+f 17 2 11
+f 19 15 10
+f 19 5 15
+f 19 10 16
+f 20 16 7
+f 20 13 5
+f 21 17 11
+f 22 11 8
+f 23 4 3
+f 23 21 11
+f 23 11 22
+f 26 19 16
+f 26 5 19
+f 26 20 5
+f 26 16 20
+f 27 20 7
+f 27 7 13
+f 27 13 20
+f 28 22 8
+f 28 25 18
+f 28 13 25
+f 29 23 18
+f 29 4 23
+f 29 24 4
+f 29 18 24
+f 30 23 3
+f 30 21 23
+f 30 3 17
+f 30 17 21
+f 31 23 22
+f 31 18 23
+f 31 28 18
+f 31 22 28
+f 32 12 4
+f 32 4 24
+f 32 7 12
+f 33 25 13
+f 33 13 7
+f 33 24 18
+f 33 18 25
+f 34 28 8
+f 34 8 13
+f 34 13 28
+f 35 32 24
+f 35 24 33
+f 35 33 7
+f 35 7 32
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_15/collision/model_normalized_collision_30.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_15/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e2aa830c4efd61a627eb2d1b41f8d3f410568fb4
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_15/collision/model_normalized_collision_30.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.10654812 0.11515021 -0.03497854
+v -0.02027018 0.14008397 -0.05308661
+v -0.02009449 0.13892527 -0.03802629
+v -0.02679143 0.13763620 -0.03455020
+v -0.07672414 0.12679639 -0.05348461
+v -0.10685638 0.11674904 -0.05087915
+v -0.09467168 0.12083436 -0.03803496
+v -0.02972840 0.13832188 -0.05050986
+v -0.09480844 0.12128384 -0.05317189
+v -0.07709884 0.12591133 -0.03955192
+f 1 2 3
+f 1 3 4
+f 3 2 4
+f 6 2 1
+f 7 1 4
+f 7 6 1
+f 8 4 2
+f 8 2 5
+f 9 5 2
+f 9 2 6
+f 9 7 5
+f 9 6 7
+f 10 7 4
+f 10 5 7
+f 10 8 5
+f 10 4 8
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_15/collision/model_normalized_collision_31.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_15/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..46f642fd7a3ba1acca44d8f806a7c3c9749dec3b
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_15/collision/model_normalized_collision_31.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.12412947 -0.05755629 -0.11832925
+v 0.17122032 -0.04848426 -0.33829207
+v 0.16627193 -0.06034683 -0.23798400
+v 0.13882524 -0.04841241 -0.11751213
+v 0.13609691 -0.06633055 -0.35878907
+v 0.17351935 -0.05290344 -0.23578184
+v 0.14773757 -0.05329071 -0.14706013
+v 0.12973721 -0.05342144 -0.11457353
+v 0.15912143 -0.05271519 -0.35528770
+v 0.15278946 -0.06838262 -0.30746262
+v 0.15375765 -0.04797364 -0.14677622
+v 0.12604496 -0.07292565 -0.22190053
+v 0.12480743 -0.07350992 -0.35257933
+v 0.13642652 -0.05194855 -0.12024101
+v 0.16462060 -0.05419082 -0.33507619
+v 0.13720305 -0.06786518 -0.35106346
+v 0.15445598 -0.06714568 -0.25266900
+v 0.15234533 -0.05776666 -0.35302839
+f 6 3 2
+f 9 4 2
+f 9 8 4
+f 9 5 8
+f 10 2 3
+f 11 6 2
+f 11 2 4
+f 11 7 3
+f 11 3 6
+f 12 7 1
+f 13 8 5
+f 13 1 8
+f 13 12 1
+f 13 10 12
+f 14 4 8
+f 14 11 4
+f 14 7 11
+f 14 8 1
+f 14 1 7
+f 15 9 2
+f 15 2 10
+f 16 13 5
+f 16 10 13
+f 17 3 7
+f 17 7 12
+f 17 12 10
+f 17 10 3
+f 18 16 5
+f 18 5 9
+f 18 9 15
+f 18 15 10
+f 18 10 16
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_15/collision/model_normalized_collision_4.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_15/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f7ac3311057abe30c6ae76ca576a861916825189
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_15/collision/model_normalized_collision_4.obj
@@ -0,0 +1,147 @@
+# https://github.com/mikedh/trimesh
+v 0.01220685 -0.10626451 -0.35567250
+v 0.20728941 0.01324927 -0.40640931
+v 0.20685389 0.07846439 -0.35529518
+v -0.00186335 0.11072538 -0.35453463
+v -0.00521811 0.04727868 -0.48713198
+v 0.16875628 0.11135952 -0.34948580
+v 0.19806255 -0.01731833 -0.35449817
+v 0.00690152 -0.09253153 -0.46259939
+v 0.00855551 0.09222345 -0.43910529
+v 0.17069424 0.05440495 -0.44516485
+v 0.20731379 0.00710945 -0.35605081
+v 0.12480743 -0.07350992 -0.35257933
+v -0.00259315 0.09161968 -0.43836148
+v 0.01008145 0.10910857 -0.39709079
+v 0.19037513 0.08518451 -0.39305945
+v 0.09626812 0.06942525 -0.45997749
+v 0.07050460 0.00441370 -0.49233437
+v 0.20562632 -0.00213755 -0.39448568
+v 0.20707733 0.05365974 -0.40633484
+v 0.15234533 -0.05776666 -0.35302839
+v 0.11257493 -0.07857291 -0.35512778
+v -0.00395706 0.06460063 -0.47858647
+v 0.12670296 0.10757936 -0.39356384
+v -0.00120514 0.10780545 -0.38453906
+v 0.08080528 0.05353945 -0.47394961
+v 0.16605021 -0.00026318 -0.44691550
+v 0.20473700 -0.00459063 -0.38641237
+v 0.10701436 -0.05643414 -0.43912280
+v 0.02290807 0.06669905 -0.47539423
+v 0.12446961 0.09424286 -0.41985209
+v 0.15432661 0.10691193 -0.37745962
+v 0.11080607 0.03034002 -0.47441376
+v 0.10799029 -0.03395706 -0.46590725
+v 0.18974724 -0.00072243 -0.41959879
+v 0.14969150 -0.05334328 -0.38243536
+v 0.10946335 -0.07411513 -0.38418243
+v 0.08406305 0.07777598 -0.45096846
+v 0.14222603 0.07762212 -0.43627062
+v 0.16726996 0.10598180 -0.36590372
+v 0.15424470 0.09253531 -0.40700450
+v 0.11011881 0.00649189 -0.47728567
+v 0.14870856 -0.03775869 -0.42223697
+v 0.19163544 -0.00834105 -0.40973234
+v 0.13445472 -0.05263683 -0.40894530
+v 0.13990395 0.06749509 -0.44723781
+v 0.16924011 0.07794140 -0.42260154
+v 0.13379683 -0.01487773 -0.45958790
+v 0.11915589 -0.03043625 -0.46024077
+v 0.16295437 -0.03877448 -0.39561694
+v 0.11967362 -0.03969121 -0.44942485
+f 5 1 4
+f 6 4 1
+f 7 3 6
+f 8 1 5
+f 11 3 7
+f 12 6 1
+f 13 5 4
+f 14 4 6
+f 14 9 13
+f 15 6 3
+f 17 8 5
+f 18 2 11
+f 19 11 2
+f 19 3 11
+f 19 15 3
+f 19 2 10
+f 19 10 15
+f 20 7 6
+f 20 6 12
+f 20 18 7
+f 21 12 1
+f 21 1 8
+f 22 13 9
+f 22 5 13
+f 23 14 6
+f 23 9 14
+f 24 14 13
+f 24 13 4
+f 24 4 14
+f 25 16 10
+f 25 17 5
+f 26 10 2
+f 27 18 11
+f 27 11 7
+f 27 7 18
+f 29 22 9
+f 29 16 25
+f 29 25 5
+f 29 5 22
+f 30 9 23
+f 31 23 6
+f 32 25 10
+f 32 17 25
+f 33 8 17
+f 33 28 8
+f 34 26 2
+f 35 20 12
+f 35 18 20
+f 36 21 8
+f 36 8 28
+f 36 35 12
+f 36 12 21
+f 37 29 9
+f 37 9 30
+f 37 30 16
+f 37 16 29
+f 38 16 30
+f 39 31 6
+f 39 6 15
+f 39 15 31
+f 40 30 23
+f 40 23 31
+f 40 31 15
+f 41 17 32
+f 41 33 17
+f 41 32 10
+f 41 10 26
+f 43 34 2
+f 43 2 18
+f 43 42 26
+f 43 26 34
+f 44 36 28
+f 44 35 36
+f 44 42 35
+f 44 28 42
+f 45 38 10
+f 45 10 16
+f 45 16 38
+f 46 15 10
+f 46 10 38
+f 46 40 15
+f 46 38 30
+f 46 30 40
+f 47 41 26
+f 47 26 33
+f 47 33 41
+f 48 33 26
+f 49 43 18
+f 49 18 35
+f 49 35 42
+f 49 42 43
+f 50 48 26
+f 50 26 42
+f 50 42 28
+f 50 28 33
+f 50 33 48
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_15/collision/model_normalized_collision_5.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_15/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c884904d755236854b880d218c563e09f2783a7c
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_15/collision/model_normalized_collision_5.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.13113650 0.06504171 -0.23484849
+v 0.19151130 0.09505858 -0.35600683
+v 0.18285315 0.13858419 -0.23287277
+v 0.01362278 0.14195850 -0.23187672
+v -0.00829984 0.10897587 -0.35745455
+v 0.21022792 0.11294650 -0.24377871
+v 0.07053044 0.06504171 -0.28030304
+v 0.12741559 0.12316820 -0.35098099
+v 0.13113650 0.06504171 -0.28030304
+v 0.07053044 0.06504171 -0.23484849
+v 0.15472650 0.12178180 -0.33514388
+v 0.05792248 0.13874659 -0.29022034
+v -0.01494671 0.13211722 -0.24265846
+v 0.16655625 0.13738482 -0.25644296
+v 0.18089563 0.10586624 -0.34695804
+v 0.05840581 0.12186777 -0.35021776
+v -0.00135087 0.12478144 -0.30690775
+v 0.09984104 0.13800690 -0.28979883
+v -0.00417119 0.13680430 -0.23400001
+v 0.01499313 0.13691719 -0.26208828
+v 0.14159447 0.13703038 -0.27320943
+f 1 3 4
+f 6 1 2
+f 6 2 3
+f 6 3 1
+f 7 5 2
+f 8 2 5
+f 9 7 2
+f 9 2 1
+f 9 1 7
+f 10 7 1
+f 10 1 4
+f 10 5 7
+f 13 5 10
+f 14 11 8
+f 14 3 11
+f 15 11 3
+f 15 3 2
+f 15 2 8
+f 15 8 11
+f 16 12 8
+f 16 8 5
+f 17 5 13
+f 17 16 5
+f 17 12 16
+f 18 12 4
+f 18 4 3
+f 18 3 14
+f 18 8 12
+f 19 13 10
+f 19 10 4
+f 19 17 13
+f 19 4 17
+f 20 17 4
+f 20 4 12
+f 20 12 17
+f 21 18 14
+f 21 14 8
+f 21 8 18
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_15/collision/model_normalized_collision_6.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_15/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..62ab462b45cf826d768b9d15cb1a33d8b2f537ad
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_15/collision/model_normalized_collision_6.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.00302648 -0.11396456 -0.41400468
+v -0.00701616 -0.09362400 -0.46706733
+v -0.00522713 -0.02586738 -0.41666668
+v -0.09498990 0.07738988 -0.41558780
+v -0.15903853 -0.12212914 -0.42714845
+v -0.00467399 -0.02623672 -0.48886694
+v -0.12144066 0.06796913 -0.41196220
+v -0.12365487 -0.04915455 -0.49031033
+v -0.00642157 -0.07831733 -0.47749675
+v -0.14940079 0.05281627 -0.41240827
+v -0.15627007 -0.09267238 -0.46658567
+v -0.09123520 0.04132166 -0.48074355
+v -0.05312969 -0.05403649 -0.49083260
+v -0.15815450 -0.10610793 -0.45036455
+v -0.14459363 0.01187544 -0.47403956
+v -0.09134470 0.06857819 -0.44260150
+v -0.09332883 0.01377719 -0.49387838
+v -0.15368046 -0.07875851 -0.47343847
+v -0.09110023 0.05356015 -0.46862472
+v -0.13410984 0.04758568 -0.45151099
+v -0.13213842 0.02142018 -0.47809345
+v -0.03742537 -0.02390869 -0.49253246
+v -0.14389858 0.04661896 -0.43968593
+v -0.10433477 0.05059296 -0.46485726
+v -0.12032516 0.00941888 -0.48837571
+f 5 2 1
+f 6 4 3
+f 6 3 1
+f 7 1 3
+f 7 3 4
+f 9 6 1
+f 9 1 2
+f 10 5 1
+f 10 1 7
+f 11 9 2
+f 13 6 9
+f 13 11 8
+f 13 9 11
+f 14 11 2
+f 14 2 5
+f 14 5 10
+f 14 10 11
+f 15 11 10
+f 16 4 6
+f 16 7 4
+f 17 12 6
+f 17 13 8
+f 18 15 8
+f 18 8 11
+f 18 11 15
+f 19 16 6
+f 19 6 12
+f 20 7 16
+f 20 16 19
+f 21 15 20
+f 22 17 6
+f 22 6 13
+f 22 13 17
+f 23 10 7
+f 23 7 20
+f 23 20 15
+f 23 15 10
+f 24 20 19
+f 24 19 12
+f 24 21 20
+f 24 12 21
+f 25 21 12
+f 25 12 17
+f 25 17 8
+f 25 8 15
+f 25 15 21
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_15/collision/model_normalized_collision_7.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_15/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8624ada3e8cef35788bc1139ee6b48a7c0e47db3
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_15/collision/model_normalized_collision_7.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v -0.00921964 -0.09949862 0.03633292
+v 0.12285229 -0.04947241 0.00827776
+v 0.07053044 0.06504171 0.15909091
+v -0.08949969 0.11355843 0.01723047
+v -0.06775555 -0.10745255 0.00690726
+v 0.07053044 0.06504171 0.00757575
+v 0.06855433 -0.04608673 0.15680277
+v 0.00535364 -0.09964369 0.00518954
+v 0.11579762 -0.04057002 0.08327264
+v -0.06642677 -0.08186705 0.15733408
+v 0.09393774 -0.06738126 0.03310682
+v 0.10804259 -0.06168160 0.00669059
+v -0.06904786 -0.08899835 0.13862654
+v -0.07055151 0.07190146 0.16312054
+v 0.05061254 -0.06845166 0.10875964
+v 0.00546477 -0.09747720 0.02100055
+v 0.09357104 -0.06989408 0.00773540
+v -0.06772020 -0.10039815 0.06474341
+v -0.01170526 -0.08201609 0.12253379
+v -0.05137820 -0.09910118 0.06635128
+v 0.00337145 -0.08186782 0.10733963
+v 0.04902005 -0.05312155 0.15410691
+v -0.00836195 -0.06897854 0.15547171
+f 6 3 2
+f 6 4 3
+f 6 5 4
+f 8 1 5
+f 8 5 6
+f 9 2 3
+f 9 3 7
+f 11 9 7
+f 12 8 6
+f 12 6 2
+f 12 2 9
+f 12 9 11
+f 13 4 5
+f 14 10 7
+f 14 7 3
+f 14 3 4
+f 14 13 10
+f 14 4 13
+f 15 11 7
+f 16 1 8
+f 16 8 11
+f 16 15 1
+f 16 11 15
+f 17 12 11
+f 17 11 8
+f 17 8 12
+f 18 13 5
+f 19 13 1
+f 19 10 13
+f 20 18 5
+f 20 5 1
+f 20 1 13
+f 20 13 18
+f 21 19 1
+f 21 1 15
+f 21 15 19
+f 22 19 15
+f 22 15 7
+f 23 22 7
+f 23 7 10
+f 23 10 19
+f 23 19 22
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_15/collision/model_normalized_collision_8.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_15/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..247363424cf93167f11a0f94f52b1fc17271d1af
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_15/collision/model_normalized_collision_8.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v -0.06130574 -0.13042120 -0.23514273
+v 0.00302648 -0.11396456 -0.41400468
+v -0.00241554 -0.11437485 -0.23511960
+v -0.06376060 0.12576989 -0.23197116
+v -0.15903853 -0.12212914 -0.42714845
+v -0.00417119 0.13680430 -0.23400001
+v -0.15618743 -0.14583874 -0.23236419
+v -0.05671164 -0.14231088 -0.35536261
+v -0.00135087 0.12478144 -0.30690775
+v -0.16096513 0.09128708 -0.23847837
+v -0.15665298 -0.15056228 -0.36863754
+v -0.00416413 0.10287815 -0.41319262
+v -0.09389528 0.11804917 -0.23276521
+v -0.14940079 0.05281627 -0.41240827
+v -0.04647438 0.09336683 -0.41436826
+v -0.13179653 0.06388336 -0.41098557
+v -0.06112382 0.09182745 -0.39902475
+f 6 4 3
+f 7 1 3
+f 7 3 4
+f 8 2 3
+f 8 3 1
+f 8 1 7
+f 9 6 3
+f 9 3 2
+f 9 4 6
+f 10 5 7
+f 11 8 7
+f 11 7 5
+f 11 5 2
+f 11 2 8
+f 12 9 2
+f 12 2 5
+f 13 10 7
+f 13 7 4
+f 14 5 10
+f 15 4 9
+f 15 9 12
+f 15 13 4
+f 15 12 5
+f 15 5 14
+f 16 15 14
+f 16 14 10
+f 16 10 13
+f 17 16 13
+f 17 13 15
+f 17 15 16
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_15/collision/model_normalized_collision_9.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_15/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..efa555dec17ec05ef32b37709b63e686741068f8
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_15/collision/model_normalized_collision_9.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v -0.05440023 -0.12876228 -0.20581633
+v -0.00701616 -0.09362400 -0.46706733
+v -0.15652254 -0.09899543 -0.45977143
+v -0.06605334 -0.13062710 -0.20466675
+v -0.12997043 -0.16063609 -0.33785355
+v -0.00241554 -0.11437485 -0.23511960
+v -0.13110638 -0.16028415 -0.32824932
+v -0.03830307 -0.12783906 -0.42458327
+v -0.05198798 -0.12799110 -0.20446057
+v -0.08176130 -0.09392635 -0.46765718
+v -0.15831900 -0.14942758 -0.27387173
+v -0.13756630 -0.12902355 -0.42195572
+v -0.06849352 -0.14500465 -0.35426989
+v -0.02402063 -0.12907859 -0.41387905
+v -0.01538182 -0.11430944 -0.45033849
+v -0.15609075 -0.15146742 -0.28264117
+v -0.06852509 -0.13117235 -0.20602856
+v -0.15686967 -0.14652091 -0.38167584
+v -0.07150036 -0.14385083 -0.32889817
+v -0.07978357 -0.10420436 -0.46037364
+v -0.00828173 -0.10311554 -0.45984789
+v -0.14894858 -0.15965097 -0.34096545
+v -0.15313211 -0.11763764 -0.43722854
+v -0.14893085 -0.15961062 -0.32581406
+v -0.15637342 -0.14978492 -0.37072380
+v -0.09085549 -0.11534054 -0.44700491
+v -0.15454978 -0.10544965 -0.45273334
+f 7 1 4
+f 9 6 3
+f 9 3 4
+f 9 4 1
+f 9 1 7
+f 10 6 2
+f 10 3 6
+f 13 6 9
+f 13 7 5
+f 14 6 13
+f 14 13 5
+f 14 5 8
+f 15 8 12
+f 15 14 8
+f 15 6 14
+f 17 4 3
+f 17 3 11
+f 17 11 16
+f 17 16 7
+f 17 7 4
+f 18 12 8
+f 18 8 5
+f 18 11 3
+f 19 13 9
+f 19 9 7
+f 19 7 13
+f 20 10 2
+f 20 3 10
+f 21 2 6
+f 21 6 15
+f 21 20 2
+f 21 15 20
+f 22 18 5
+f 23 18 3
+f 23 12 18
+f 24 22 5
+f 24 5 7
+f 24 7 16
+f 24 16 11
+f 24 11 22
+f 25 22 11
+f 25 11 18
+f 25 18 22
+f 26 20 15
+f 26 15 12
+f 26 12 23
+f 27 26 23
+f 27 23 3
+f 27 3 20
+f 27 20 26
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_15/model.xml b/Assets/robocasa/data/objects/objaverse/steak/steak_15/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..b396ac4edd9cb81a91d2fb2f978a7ec5e0b22026
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_15/model.xml
@@ -0,0 +1,40 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="more_steak_21">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.12499999999999999 0.12499999999999999 0.12499999999999999" refquat="0.7071067811865477 -0.6532814824381884 0.0 0.2705980500730985" />
+    <texture type="2d" name="image0" file="visual/image0.png" />
+    <material name="Default_OBJ" texture="image0" specular="0.5" shininess="0.359999993" />
+    <mesh file="collision/collision_mesh_collision_0.obj" name="steak_collision_mesh_0" scale="0.12499999999999999 0.12499999999999999 0.12499999999999999" refquat="0.7071067811865477 -0.6532814824381884 0.0 0.2705980500730985" />
+    <mesh file="collision/collision_mesh_collision_1.obj" name="steak_collision_mesh_1" scale="0.12499999999999999 0.12499999999999999 0.12499999999999999" refquat="0.7071067811865477 -0.6532814824381884 0.0 0.2705980500730985" />
+    <mesh file="collision/collision_mesh_collision_2.obj" name="steak_collision_mesh_2" scale="0.12499999999999999 0.12499999999999999 0.12499999999999999" refquat="0.7071067811865477 -0.6532814824381884 0.0 0.2705980500730985" />
+    <mesh file="collision/collision_mesh_collision_3.obj" name="steak_collision_mesh_3" scale="0.12499999999999999 0.12499999999999999 0.12499999999999999" refquat="0.7071067811865477 -0.6532814824381884 0.0 0.2705980500730985" />
+    <mesh file="collision/collision_mesh_collision_4.obj" name="steak_collision_mesh_4" scale="0.12499999999999999 0.12499999999999999 0.12499999999999999" refquat="0.7071067811865477 -0.6532814824381884 0.0 0.2705980500730985" />
+    <mesh file="collision/collision_mesh_collision_5.obj" name="steak_collision_mesh_5" scale="0.12499999999999999 0.12499999999999999 0.12499999999999999" refquat="0.7071067811865477 -0.6532814824381884 0.0 0.2705980500730985" />
+    <mesh file="collision/collision_mesh_collision_6.obj" name="steak_collision_mesh_6" scale="0.12499999999999999 0.12499999999999999 0.12499999999999999" refquat="0.7071067811865477 -0.6532814824381884 0.0 0.2705980500730985" />
+    <mesh file="collision/collision_mesh_collision_7.obj" name="steak_collision_mesh_7" scale="0.12499999999999999 0.12499999999999999 0.12499999999999999" refquat="0.7071067811865477 -0.6532814824381884 0.0 0.2705980500730985" />
+    </asset>
+  <default>
+    <default class="region">
+      <geom group="1" conaffinity="0" contype="0" rgba="0 1 0 0" />
+      </default>
+    <default class="collision">
+      <geom group="0" rgba="0.5 0 0 0.5" density="1000.0" />
+      </default>
+    </default>
+  <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="Default_OBJ" />
+        <geom class="region" name="reg_bbox" type="box" pos="0.006522913397287454 -0.0038167644667095875 -0.001989615283422154" size="0.0426184137572257 0.06313524524382338 0.019431840400137283" />
+        <geom mesh="steak_collision_mesh_0" type="mesh" class="collision" />
+        <geom mesh="steak_collision_mesh_1" type="mesh" class="collision" />
+        <geom mesh="steak_collision_mesh_2" type="mesh" class="collision" />
+        <geom mesh="steak_collision_mesh_3" type="mesh" class="collision" />
+        <geom mesh="steak_collision_mesh_4" type="mesh" class="collision" />
+        <geom mesh="steak_collision_mesh_5" type="mesh" class="collision" />
+        <geom mesh="steak_collision_mesh_6" type="mesh" class="collision" />
+        <geom mesh="steak_collision_mesh_7" type="mesh" class="collision" />
+        </body>
+      </body>
+    </worldbody>
+  </mujoco>
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_15/visual/material.mtl b/Assets/robocasa/data/objects/objaverse/steak/steak_15/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6b5d0f127cc1df2efd6b4835e0300358bb6dde72
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_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 359.99999300
+map_Kd material_0.png
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_15/visual/model_normalized_0.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_15/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b005712aa8c7782bdea6f1de49382293ef43f73c
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_15/visual/model_normalized_0.obj
@@ -0,0 +1,4954 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_2/collision/collision_mesh_collision_0.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_2/collision/collision_mesh_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f13eb5b887a7850eba9a2536b96ce732d4b29e46
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_2/collision/collision_mesh_collision_0.obj
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diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_2/collision/collision_mesh_collision_1.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_2/collision/collision_mesh_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..033e3a5a0d5cd5127fd2354d9b4df1da56a293cb
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_2/collision/collision_mesh_collision_1.obj
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diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_2/collision/collision_mesh_collision_2.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_2/collision/collision_mesh_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e45c2cddedffa24559a330dfb0cd6d64edb61498
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_2/collision/collision_mesh_collision_2.obj
@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
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diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_2/collision/collision_mesh_collision_3.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_2/collision/collision_mesh_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..96d2e27899eb74f5d76a99df36a69b8d884ce93e
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_2/collision/collision_mesh_collision_3.obj
@@ -0,0 +1,1279 @@
+# https://github.com/mikedh/trimesh
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diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_2/collision/collision_mesh_collision_4.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_2/collision/collision_mesh_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1cb33f4f838417c7cc87ec226d8ee6a45aad0c43
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_2/collision/collision_mesh_collision_4.obj
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+f 160 181 161
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+
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_2/collision/model_normalized_collision_0.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_2/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3953bdae3633287ca8fdda35bae8fbc15d6a18cc
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_2/collision/model_normalized_collision_0.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.00757576 -0.00298873 0.06534216
+v -0.09848489 0.23943560 0.06837925
+v -0.09848485 -0.00298873 0.06534216
+v -0.09848219 0.23942875 0.06534030
+v 0.00757575 0.23943552 0.06534213
+v -0.09848485 0.07276884 -0.06495057
+v 0.00792750 0.06767659 0.07279991
+v -0.09848485 -0.00298874 -0.06495056
+v -0.03787879 -0.00298874 -0.06495056
+v -0.08872123 0.07668712 0.07279969
+v 0.00774665 0.10074262 0.07279974
+v -0.03796480 0.06925922 -0.06430539
+f 5 4 2
+f 6 2 4
+f 6 4 5
+f 7 3 1
+f 7 1 5
+f 8 1 3
+f 8 3 2
+f 8 2 6
+f 9 5 1
+f 9 8 6
+f 9 1 8
+f 10 2 3
+f 10 3 7
+f 11 7 5
+f 11 5 2
+f 11 10 7
+f 11 2 10
+f 12 9 6
+f 12 6 5
+f 12 5 9
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_2/collision/model_normalized_collision_1.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_2/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ec61b24b01b379ea7f0b54466723da848067c658
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_2/collision/model_normalized_collision_1.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.21678218 -0.01675608 0.07279984
+v 0.21678230 -0.01675617 -0.06430538
+v 0.21969697 0.05761732 -0.06495057
+v 0.00757576 0.05761733 0.06534215
+v 0.00757576 -0.01814025 0.06534216
+v 0.00757576 0.05761733 -0.06495056
+v 0.21969700 0.05761732 0.07279985
+v 0.16966049 -0.02001578 0.07279987
+v 0.08333333 -0.01814025 -0.06495056
+v 0.12956617 0.05889989 0.07279988
+v 0.00757576 -0.01814025 -0.06495055
+f 6 5 4
+f 7 1 2
+f 7 2 3
+f 8 2 1
+f 8 1 7
+f 9 6 3
+f 9 3 2
+f 9 2 8
+f 10 6 4
+f 10 3 6
+f 10 7 3
+f 10 8 7
+f 10 4 5
+f 10 5 8
+f 11 5 6
+f 11 6 9
+f 11 9 8
+f 11 8 5
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_2/collision/model_normalized_collision_10.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_2/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d56519c58f0f5a209a4ca6ee19463096bdbf9a4
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_2/collision/model_normalized_collision_10.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.42993735 -0.22243394 0.01053342
+v 0.49129328 -0.08953292 -0.05776342
+v 0.49129327 -0.08953293 0.05815503
+v 0.40151516 0.14852642 0.06838156
+v 0.40151518 0.14852643 -0.06799000
+v 0.40283978 -0.12455596 0.06838128
+v 0.46645583 -0.17625321 -0.05776355
+v 0.49303139 0.02167591 0.05815499
+v 0.45628150 -0.18018903 0.06369446
+v 0.40151526 -0.19995851 -0.06798989
+v 0.47511978 -0.14986503 0.05815514
+v 0.49230336 -0.05950067 -0.06456404
+v 0.44624194 0.14237053 0.05815498
+v 0.46645582 -0.17625320 0.05815519
+v 0.44881971 -0.18943996 -0.06341766
+v 0.47511979 -0.14986502 -0.05776351
+v 0.43507434 0.14391497 -0.06761767
+v 0.46287318 -0.16579527 -0.06546756
+v 0.49223994 -0.04945454 -0.06500657
+v 0.44624193 0.14237053 -0.05776342
+v 0.49303138 0.02167591 -0.05776341
+v 0.47864315 0.03712332 -0.06559525
+f 9 6 1
+f 9 3 8
+f 9 8 4
+f 9 4 6
+f 10 1 6
+f 10 6 4
+f 10 4 5
+f 11 2 3
+f 11 3 9
+f 12 8 3
+f 12 3 2
+f 13 4 8
+f 14 9 1
+f 14 1 7
+f 14 11 9
+f 14 7 11
+f 15 7 1
+f 15 1 10
+f 16 11 7
+f 16 2 11
+f 16 12 2
+f 17 10 5
+f 17 5 4
+f 17 4 13
+f 18 7 15
+f 18 16 7
+f 18 12 16
+f 18 15 10
+f 19 10 17
+f 19 18 10
+f 19 12 18
+f 20 17 13
+f 20 13 8
+f 21 8 12
+f 21 12 19
+f 21 20 8
+f 22 21 19
+f 22 19 17
+f 22 17 20
+f 22 20 21
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_2/collision/model_normalized_collision_11.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_2/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..74d4ea68e90e0cc61ed440f75726951a0080fa1f
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_2/collision/model_normalized_collision_11.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.01009402 -0.31411238 0.06364542
+v 0.01168557 -0.30965157 -0.06798997
+v 0.00757576 -0.16965540 0.06534218
+v -0.15909091 -0.16965540 0.06534218
+v -0.18782004 -0.26039397 -0.06497290
+v -0.18939394 -0.24541300 0.06838157
+v -0.03207273 -0.30489733 -0.05776334
+v 0.00757575 -0.16965540 -0.06495054
+v -0.18831195 -0.26518273 0.06055065
+v -0.18914328 -0.21266979 -0.06495054
+v -0.03207272 -0.30489733 0.05815501
+v -0.18939393 -0.21511004 -0.06798966
+v -0.15909090 -0.16965541 -0.06495054
+v 0.00513920 -0.23709059 -0.06798954
+f 1 2 3
+f 6 1 3
+f 6 3 4
+f 7 5 2
+f 7 2 1
+f 8 3 2
+f 8 4 3
+f 9 6 5
+f 9 1 6
+f 9 5 7
+f 10 6 4
+f 11 9 7
+f 11 7 1
+f 11 1 9
+f 12 5 6
+f 12 6 10
+f 12 2 5
+f 13 10 4
+f 13 4 8
+f 13 12 10
+f 13 8 12
+f 14 12 8
+f 14 8 2
+f 14 2 12
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_2/collision/model_normalized_collision_12.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_2/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d8d2c5a34ef80f9a5406e9ffc7607055524a1cba
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_2/collision/model_normalized_collision_12.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.25120036 0.16243108 0.07279990
+v 0.26515151 0.16367794 -0.06495058
+v 0.26515153 0.28489009 0.06838112
+v 0.21969702 0.28489012 0.06838038
+v 0.14393939 0.16367793 -0.06495058
+v 0.26515161 0.28489023 -0.06798960
+v 0.24455095 0.18710608 0.07279990
+v 0.22493208 0.16117357 -0.07279992
+v 0.14393939 0.25458702 -0.06495059
+v 0.24985696 0.17746253 0.07279990
+v 0.14393939 0.16367793 0.06534214
+v 0.21969720 0.28489033 -0.06798886
+v 0.22493207 0.16117357 0.07279990
+v 0.14393939 0.25458702 0.06534213
+f 1 2 3
+f 6 3 2
+f 7 3 4
+f 8 2 1
+f 8 6 2
+f 9 8 5
+f 10 7 1
+f 10 1 3
+f 10 3 7
+f 11 5 8
+f 11 9 5
+f 12 6 8
+f 12 8 9
+f 12 4 3
+f 12 3 6
+f 13 1 7
+f 13 7 4
+f 13 11 8
+f 13 8 1
+f 14 9 11
+f 14 12 9
+f 14 4 12
+f 14 13 4
+f 14 11 13
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_2/collision/model_normalized_collision_13.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_2/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e19002a85a2bc7010c1e13dc1f27ff8bd1c37ab
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_2/collision/model_normalized_collision_13.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.00757576 0.23943551 0.06534213
+v 0.00757576 0.23943551 -0.06495059
+v 0.00814728 0.33849624 0.06411606
+v -0.06106590 0.32737528 0.05815494
+v -0.15909095 0.25458712 0.06838052
+v 0.00849440 0.33424486 -0.06798991
+v -0.09848489 0.23943560 0.06837925
+v -0.15481945 0.28916422 0.05945308
+v -0.06106591 0.32737528 -0.05776344
+v -0.15909107 0.25458747 -0.06798900
+v -0.03221259 0.33106704 -0.06487334
+v -0.13701184 0.29755191 0.05815488
+v -0.09848501 0.23943592 -0.06798771
+v -0.15305990 0.28468349 -0.06387522
+v -0.13701184 0.29755191 -0.05776337
+f 6 1 2
+f 6 3 1
+f 7 2 1
+f 7 1 3
+f 7 3 5
+f 8 5 3
+f 8 3 4
+f 9 4 3
+f 10 5 8
+f 11 9 3
+f 11 3 6
+f 12 8 4
+f 12 4 9
+f 13 2 7
+f 13 7 5
+f 13 5 10
+f 13 10 6
+f 13 6 2
+f 14 10 8
+f 14 11 6
+f 14 6 10
+f 15 12 9
+f 15 9 11
+f 15 11 14
+f 15 14 8
+f 15 8 12
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_2/collision/model_normalized_collision_14.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_2/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b0dda0b1895c169ba9880989052719177cf5cc1b
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_2/collision/model_normalized_collision_14.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.35606061 -0.16965541 0.06534212
+v -0.35606061 -0.16965540 -0.06495047
+v -0.35606068 0.11822346 0.06838023
+v -0.38530422 0.15262390 0.01053340
+v -0.41666667 -0.16965539 -0.06799009
+v -0.35606061 0.04246581 -0.06495057
+v -0.41666667 -0.16965540 0.06838173
+v -0.38960026 -0.17074931 -0.06798986
+v -0.41666704 0.04246598 -0.06798883
+v -0.41437124 0.11552319 0.06759535
+v -0.37673931 0.04534786 -0.06798778
+v -0.42048595 0.12271617 0.01053341
+f 6 4 3
+f 6 1 2
+f 6 3 1
+f 7 1 3
+f 8 2 1
+f 8 7 5
+f 8 1 7
+f 9 8 5
+f 10 7 3
+f 10 3 4
+f 11 6 2
+f 11 2 8
+f 11 8 9
+f 11 9 4
+f 11 4 6
+f 12 9 5
+f 12 5 7
+f 12 7 10
+f 12 10 4
+f 12 4 9
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_2/collision/model_normalized_collision_15.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_2/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3617cb304309887d9207b507eb490dc4c463ee83
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_2/collision/model_normalized_collision_15.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.00757576 -0.00298873 0.06534216
+v 0.00757576 -0.00298873 -0.06495056
+v 0.00757576 0.23943551 -0.06495059
+v -0.09848219 0.23942875 0.06534030
+v -0.09848485 -0.00298874 -0.06495056
+v 0.00757575 0.23943552 0.06534213
+v 0.00792750 0.06767657 -0.07279990
+v -0.08835593 0.07436179 0.06430525
+v -0.09848501 0.23943592 -0.06798771
+v -0.03787879 -0.00298873 0.06534216
+v 0.00774664 0.10074260 -0.07279976
+v -0.06923644 0.24212112 -0.06798742
+f 5 2 1
+f 7 1 2
+f 7 6 1
+f 7 3 6
+f 7 2 5
+f 8 4 5
+f 9 5 4
+f 9 7 5
+f 10 8 5
+f 10 5 1
+f 10 4 8
+f 10 6 4
+f 10 1 6
+f 11 3 7
+f 11 7 9
+f 12 6 3
+f 12 11 9
+f 12 3 11
+f 12 9 4
+f 12 4 6
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_2/collision/model_normalized_collision_16.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_2/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..64c981b3a3aeb74511c86e0ddd7e719031fb7b46
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_2/collision/model_normalized_collision_16.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v -0.28458434 -0.29202297 0.05815501
+v -0.18855675 -0.26756585 -0.05776334
+v -0.18939394 -0.24541300 0.06838157
+v -0.44002290 -0.24283804 0.06367446
+v -0.37740162 -0.29397818 -0.06498600
+v -0.43604003 -0.24014000 -0.06791984
+v -0.34177059 -0.29566178 0.06074636
+v -0.18831195 -0.26518273 0.06055065
+v -0.28458434 -0.29202297 -0.05776333
+v -0.18939393 -0.24541307 -0.06798990
+v -0.39010864 -0.29263735 -0.05776334
+v -0.18905187 -0.25723446 -0.06798998
+v -0.43871106 -0.25087576 0.05840846
+v -0.39010863 -0.29263735 0.01053341
+v -0.34216963 -0.29086442 -0.06516859
+v -0.43558821 -0.24721213 -0.06283077
+v -0.40636424 -0.27878111 0.05815502
+v -0.25462520 -0.27574723 -0.06456367
+f 6 4 3
+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 6 3
+f 10 8 2
+f 10 3 8
+f 11 6 5
+f 12 5 6
+f 12 6 10
+f 12 10 2
+f 12 2 9
+f 14 11 5
+f 14 5 7
+f 15 9 5
+f 15 5 12
+f 16 13 4
+f 16 4 6
+f 16 6 11
+f 16 11 13
+f 17 7 4
+f 17 4 13
+f 17 14 7
+f 17 13 11
+f 17 11 14
+f 18 15 12
+f 18 12 9
+f 18 9 15
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_2/collision/model_normalized_collision_17.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_2/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a068745d720e2515e8ba07d496437e990dd8b803
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_2/collision/model_normalized_collision_17.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.21969702 0.25458709 0.06837971
+v 0.26515161 0.28489023 -0.06798960
+v 0.24136937 0.32866088 0.05815483
+v 0.00889106 0.34453815 0.05815492
+v 0.00757576 0.25458703 -0.06495059
+v 0.17190127 0.34455976 -0.05776330
+v 0.26515153 0.28489009 0.06838112
+v 0.21969720 0.25458730 -0.06798818
+v 0.00757576 0.25458702 0.06534213
+v 0.24136937 0.32866088 -0.05776332
+v 0.17190127 0.34455976 0.05815480
+v 0.00889107 0.34453815 -0.05776343
+v 0.25937328 0.31907335 0.05847322
+v 0.00849440 0.33424486 -0.06798991
+v 0.21750653 0.33044386 -0.06516442
+v 0.09976154 0.34501111 -0.06468656
+v 0.25717727 0.31478968 -0.06289535
+v 0.12646049 0.34465427 -0.06421328
+f 7 1 2
+f 8 2 1
+f 8 1 5
+f 9 5 1
+f 9 7 4
+f 9 1 7
+f 10 6 3
+f 11 3 6
+f 11 7 3
+f 11 4 7
+f 13 7 2
+f 13 3 7
+f 13 10 3
+f 14 8 5
+f 14 2 8
+f 14 4 12
+f 14 9 4
+f 14 5 9
+f 15 6 10
+f 15 2 14
+f 16 11 6
+f 16 14 12
+f 16 15 14
+f 16 12 4
+f 16 4 11
+f 17 13 2
+f 17 10 13
+f 17 15 10
+f 17 2 15
+f 18 16 6
+f 18 6 15
+f 18 15 16
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_2/collision/model_normalized_collision_18.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_2/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e5e6f82dcb75fd986952d5f0ceb0653f044d7db6
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_2/collision/model_normalized_collision_18.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v -0.43094604 -0.24438981 0.06838172
+v -0.43094606 -0.24438981 -0.06799006
+v -0.41666667 -0.16965539 -0.06799009
+v -0.41437124 0.11552319 0.06759535
+v -0.49118014 -0.03642292 0.05815511
+v -0.41666667 -0.16965540 0.06838173
+v -0.49275609 -0.10404096 0.05815515
+v -0.49118014 -0.03642291 -0.05776350
+v -0.41386212 0.11492431 -0.06798978
+v -0.44673599 -0.24021346 0.05815504
+v -0.49275610 -0.10404096 -0.05776351
+v -0.47657852 0.01905152 0.05815503
+v -0.47763861 -0.00581245 -0.06532240
+v -0.44673600 -0.24021347 -0.05776337
+v -0.42959086 0.10916118 -0.05776328
+v -0.43604003 -0.24014000 -0.06791984
+v -0.42959087 0.10916118 0.05815485
+v -0.46217532 0.03459324 -0.06334850
+v -0.47650709 -0.13397309 -0.06357392
+v -0.41905996 0.11157059 -0.06598664
+v -0.47657851 0.01905153 -0.05776345
+f 1 2 3
+f 5 1 4
+f 6 1 3
+f 6 4 1
+f 7 1 5
+f 9 6 3
+f 9 4 6
+f 9 3 2
+f 10 2 1
+f 10 1 7
+f 11 7 5
+f 11 5 8
+f 12 8 5
+f 12 5 4
+f 13 11 8
+f 14 2 10
+f 14 10 7
+f 14 7 11
+f 15 4 9
+f 16 13 9
+f 16 9 2
+f 16 14 11
+f 16 2 14
+f 17 12 4
+f 17 4 15
+f 18 9 13
+f 19 16 11
+f 19 11 13
+f 19 13 16
+f 20 18 15
+f 20 15 9
+f 20 9 18
+f 21 18 13
+f 21 13 8
+f 21 8 12
+f 21 15 18
+f 21 17 15
+f 21 12 17
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_2/collision/model_normalized_collision_19.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_2/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cccbe6391cd9b9a7e286bbade5fecc7d9f23d2d6
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_2/collision/model_normalized_collision_19.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.21969697 -0.12420086 -0.06495055
+v 0.08359251 0.06503063 -0.06430554
+v 0.14393939 -0.12420086 -0.06495055
+v 0.08333333 0.05761733 -0.06495057
+v 0.21969699 0.05761732 -0.07279985
+v 0.08333333 -0.01814025 -0.06495056
+v 0.21969697 0.05761732 -0.06495057
+v 0.12956619 0.05889986 -0.07279986
+v 0.16700718 -0.08569607 -0.07279989
+f 1 2 3
+f 6 3 2
+f 6 2 4
+f 7 5 2
+f 7 2 1
+f 7 1 5
+f 8 4 2
+f 8 2 5
+f 8 6 4
+f 9 5 1
+f 9 1 3
+f 9 8 5
+f 9 3 6
+f 9 6 8
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_2/collision/model_normalized_collision_2.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_2/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..10a711ef981467a30dfbbe54e95a068b76de2f86
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_2/collision/model_normalized_collision_2.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.26057690 -0.34211865 0.06070551
+v 0.36461904 -0.29285653 0.01053341
+v 0.37121214 -0.19995844 0.06838130
+v 0.00757576 -0.19995842 0.06534218
+v -0.00134183 -0.31586170 0.01053341
+v 0.37121051 -0.19995714 0.06534198
+v 0.00757575 -0.29086754 0.06838153
+v 0.36461904 -0.29285653 0.05815520
+v 0.26163015 -0.34444348 0.01053341
+v 0.14357838 -0.34469849 0.06435469
+v 0.33432691 -0.30802980 0.05815520
+v 0.14390826 -0.35088942 0.01053341
+f 5 4 2
+f 6 3 2
+f 6 2 4
+f 6 4 3
+f 7 3 4
+f 7 4 5
+f 8 2 3
+f 8 3 1
+f 10 1 3
+f 10 3 7
+f 10 7 5
+f 11 8 1
+f 11 1 9
+f 11 9 2
+f 11 2 8
+f 12 9 1
+f 12 1 10
+f 12 10 5
+f 12 5 2
+f 12 2 9
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_2/collision/model_normalized_collision_20.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_2/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf65d86432c0715a3991c182e986d3864aafc386
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_2/collision/model_normalized_collision_20.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.21969700 0.05761732 0.07279985
+v 0.21969699 0.05761732 -0.07279985
+v 0.22493208 0.16117357 -0.07279992
+v 0.00757576 0.16367793 0.06534214
+v 0.00792750 0.06767657 -0.07279990
+v 0.22493207 0.16117357 0.07279990
+v 0.00792750 0.06767659 0.07279991
+v 0.00757576 0.16367793 -0.06495058
+v 0.00774664 0.10074260 -0.07279976
+v 0.00774665 0.10074262 0.07279974
+v 0.20454545 0.16367794 -0.06495058
+v 0.20454545 0.16367793 0.06534214
+f 1 2 3
+f 5 2 1
+f 5 3 2
+f 6 1 3
+f 7 5 1
+f 7 1 6
+f 9 5 7
+f 9 4 8
+f 9 8 3
+f 9 3 5
+f 10 7 6
+f 10 6 4
+f 10 9 7
+f 10 4 9
+f 11 6 3
+f 11 3 8
+f 11 8 4
+f 12 11 4
+f 12 4 6
+f 12 6 11
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_2/collision/model_normalized_collision_21.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_2/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..472ee54f914f1c37c9b1d3966331851232bebcf2
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_2/collision/model_normalized_collision_21.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.40151515 -0.01814025 0.06534216
+v 0.40151515 -0.01814025 -0.06495056
+v 0.40151518 0.14852643 -0.06799000
+v 0.26515151 0.14852642 0.06534214
+v 0.26515151 -0.01814025 0.06534216
+v 0.40151516 0.14852642 0.06838156
+v 0.40286325 0.04298843 -0.06798989
+v 0.26515151 0.14852642 -0.06495058
+v 0.35830316 0.15036745 -0.06798979
+v 0.26515151 -0.01814025 -0.06495056
+f 5 2 1
+f 6 5 1
+f 6 4 5
+f 7 1 2
+f 7 6 1
+f 7 3 6
+f 8 5 4
+f 9 6 3
+f 9 4 6
+f 9 8 4
+f 9 3 7
+f 10 7 2
+f 10 2 5
+f 10 5 8
+f 10 9 7
+f 10 8 9
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_2/collision/model_normalized_collision_22.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_2/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea8c15932065d4ad24229182ae6ce0281659e276
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_2/collision/model_normalized_collision_22.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.43956274 0.14565498 0.06319538
+v 0.43507434 0.14391497 -0.06761767
+v 0.36113981 0.26726023 -0.05776337
+v 0.25937328 0.31907335 0.05847322
+v 0.26515151 0.14852642 0.06534214
+v 0.36113981 0.26726024 0.05815488
+v 0.43064308 0.18260816 -0.05776342
+v 0.26515151 0.14852642 -0.06495058
+v 0.25951852 0.31935667 -0.05776333
+v 0.41994025 0.18422861 -0.06500702
+v 0.43064308 0.18260818 0.05815497
+v 0.27151675 0.31320574 0.05815484
+v 0.26100400 0.30710276 -0.06798988
+v 0.43252118 0.15807670 -0.06487935
+v 0.35885800 0.25959523 -0.06439075
+f 5 2 1
+f 5 1 4
+f 6 4 1
+f 7 1 2
+f 7 3 6
+f 8 2 5
+f 8 5 4
+f 9 6 3
+f 9 8 4
+f 10 3 7
+f 11 7 6
+f 11 6 1
+f 11 1 7
+f 12 9 4
+f 12 4 6
+f 12 6 9
+f 13 2 8
+f 13 8 9
+f 13 9 3
+f 14 10 7
+f 14 7 2
+f 14 2 10
+f 15 10 2
+f 15 2 13
+f 15 13 3
+f 15 3 10
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_2/collision/model_normalized_collision_23.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_2/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..440a8edbda996abc6700c9a13ac7c48800e73aff
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_2/collision/model_normalized_collision_23.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v -0.34177059 -0.29566178 0.06074636
+v -0.34155579 -0.29824424 0.01053341
+v -0.34090908 -0.16965540 0.06534212
+v -0.43181818 -0.16965540 0.06838174
+v -0.43758018 -0.25217272 0.01053341
+v -0.43094604 -0.24438981 0.06838172
+v -0.39010864 -0.29263734 0.05815501
+v -0.46660796 -0.18141276 0.01053341
+v -0.39010863 -0.29263735 0.01053341
+f 1 2 3
+f 6 1 3
+f 6 3 4
+f 7 2 1
+f 7 6 5
+f 7 1 6
+f 8 3 2
+f 8 4 3
+f 8 6 4
+f 8 5 6
+f 9 7 5
+f 9 2 7
+f 9 8 2
+f 9 5 8
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_2/collision/model_normalized_collision_24.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_2/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f58e635201975e1b375af68d2b0f7e4a70355467
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_2/collision/model_normalized_collision_24.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.08636965 -0.34296339 0.06210374
+v 0.08798732 -0.33842938 -0.06652596
+v 0.08333332 -0.29086754 0.06838131
+v 0.00757575 -0.29086754 0.06838153
+v 0.01304442 -0.32099452 -0.05776333
+v 0.05816156 -0.33709171 -0.05776332
+v 0.01304442 -0.32099452 0.05815501
+v 0.08333330 -0.29086761 -0.06798963
+v 0.05816156 -0.33709171 0.05815501
+v 0.01168557 -0.30965157 -0.06798997
+v 0.00757572 -0.29086761 -0.06798984
+f 1 2 3
+f 1 3 4
+f 6 2 1
+f 7 1 4
+f 8 3 2
+f 9 6 1
+f 9 1 7
+f 9 7 5
+f 9 5 6
+f 10 8 2
+f 10 6 5
+f 10 2 6
+f 11 10 5
+f 11 8 10
+f 11 4 3
+f 11 3 8
+f 11 7 4
+f 11 5 7
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_2/collision/model_normalized_collision_25.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_2/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d0d6c40023b6cbfc1d102123cf6dc19b6e8b7b7
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_2/collision/model_normalized_collision_25.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.21969697 -0.12420085 0.06534217
+v 0.21969697 -0.12420086 -0.06495055
+v 0.21678230 -0.01675617 -0.06430538
+v 0.14393939 -0.01814025 0.06534216
+v 0.14393939 -0.12420086 -0.06495055
+v 0.21678218 -0.01675608 0.07279984
+v 0.21969697 -0.04844328 0.06534216
+v 0.14393939 -0.12420085 0.06534217
+v 0.14393939 -0.01814025 -0.06495056
+v 0.16700718 -0.08569605 0.07279992
+v 0.16966049 -0.02001578 0.07279987
+v 0.19051000 -0.07208129 0.07279973
+f 5 2 1
+f 7 1 2
+f 7 2 3
+f 7 6 1
+f 7 3 6
+f 8 5 1
+f 9 3 2
+f 9 2 5
+f 9 6 3
+f 9 4 6
+f 9 8 4
+f 9 5 8
+f 10 4 8
+f 10 8 1
+f 11 10 6
+f 11 6 4
+f 11 4 10
+f 12 10 1
+f 12 1 6
+f 12 6 10
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_2/collision/model_normalized_collision_26.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_2/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d758ba359539e9861fc8347c7cea08f22c3a0e42
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_2/collision/model_normalized_collision_26.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.26515151 -0.01814025 0.06534216
+v 0.26515151 -0.01814025 -0.06495056
+v 0.26515151 0.16367794 -0.06495058
+v 0.22493207 0.16117357 0.07279990
+v 0.21678219 -0.01675609 -0.07279982
+v 0.25120036 0.16243108 0.07279990
+v 0.23484848 -0.01814025 0.06534216
+v 0.22493208 0.16117357 -0.07279992
+v 0.21678218 -0.01675608 0.07279984
+v 0.23484848 -0.01814025 -0.06495056
+v 0.24976636 0.09112636 0.07279991
+f 1 2 3
+f 6 1 3
+f 6 3 4
+f 7 2 1
+f 8 3 2
+f 8 2 5
+f 8 5 4
+f 8 4 3
+f 9 7 1
+f 9 4 5
+f 9 5 7
+f 10 7 5
+f 10 5 2
+f 10 2 7
+f 11 9 1
+f 11 1 6
+f 11 6 4
+f 11 4 9
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_2/collision/model_normalized_collision_27.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_2/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a89d412a860631576470ba0372ba419b76697ca1
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_2/collision/model_normalized_collision_27.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.00757576 -0.16965540 0.06534218
+v 0.00757576 -0.16965540 -0.06495054
+v 0.00757576 -0.00298873 0.06534216
+v -0.35606061 -0.00298873 0.06534215
+v -0.35606061 -0.16965541 0.06534212
+v -0.35606061 -0.00298873 -0.06495056
+v 0.00757576 -0.00298873 -0.06495056
+v -0.35606061 -0.16965540 -0.06495047
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 5 1 4
+f 6 4 3
+f 7 6 3
+f 7 3 2
+f 7 2 6
+f 8 6 2
+f 8 2 5
+f 8 5 4
+f 8 4 6
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_2/collision/model_normalized_collision_28.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_2/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d3abbb8adf25f428d54f6927f0d2afeab2003cbf
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_2/collision/model_normalized_collision_28.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.40283978 -0.12455596 0.06838128
+v 0.40151515 -0.12420085 -0.06495055
+v 0.40151515 -0.01814025 -0.06495056
+v 0.21678219 -0.01675611 0.07113943
+v 0.21969697 -0.12420085 0.06534217
+v 0.40151515 -0.01814025 0.06534216
+v 0.21969697 -0.12420085 -0.06495055
+v 0.21969697 -0.01814025 -0.06495056
+f 1 2 3
+f 5 1 4
+f 6 1 3
+f 6 3 4
+f 6 4 1
+f 7 2 1
+f 7 1 5
+f 7 5 4
+f 8 7 4
+f 8 4 3
+f 8 3 2
+f 8 2 7
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_2/collision/model_normalized_collision_29.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_2/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..83e7eaecfd56e150c720f9d5451e839e83d19bc5
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_2/collision/model_normalized_collision_29.obj
@@ -0,0 +1,15 @@
+# https://github.com/mikedh/trimesh
+v -0.16165036 -0.27032968 0.01053341
+v -0.15909091 -0.24541299 0.06838157
+v -0.33654932 -0.29782781 0.01053341
+v -0.34090924 -0.16965543 0.06534212
+v -0.15909091 -0.16965539 0.06534218
+v -0.34090909 -0.24541299 0.06838143
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 5 1 4
+f 5 4 2
+f 6 3 2
+f 6 2 4
+f 6 4 3
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_2/collision/model_normalized_collision_3.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_2/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7533b633d04f3483b8c6a1da7b26ce6f012dea2c
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_2/collision/model_normalized_collision_3.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v -0.09848485 -0.00298873 0.06534216
+v -0.09848485 -0.00298873 -0.06495056
+v -0.09848489 0.25458711 0.06837974
+v -0.15481945 0.28916422 0.05945308
+v -0.45417128 0.06202258 0.01053341
+v -0.09848501 0.25458744 -0.06798821
+v -0.35606061 -0.00298873 0.06534215
+v -0.15529400 0.29037265 -0.05776335
+v -0.35606061 -0.00298873 -0.06495056
+v -0.42332839 0.11379637 0.06156447
+v -0.40751501 0.12260945 -0.06624547
+v -0.41666704 0.04246598 -0.06798883
+v -0.26853776 0.23812841 0.05815483
+v -0.15671082 0.27882913 -0.06798983
+v -0.42180444 0.12159533 -0.05776327
+v -0.10064580 0.22978689 -0.06798742
+v -0.21295777 0.26772854 0.05815482
+v -0.25525605 0.24074411 -0.06335896
+v -0.42180443 0.12159535 0.05815483
+v -0.42577731 0.11507336 -0.05841111
+v -0.16842120 0.28521770 0.05815485
+v -0.22891163 0.25462024 -0.06413284
+v -0.37298734 0.16309437 -0.05776343
+v -0.21295777 0.26772854 -0.05776329
+v -0.37298734 0.16309439 0.05815500
+v -0.36130275 0.16496708 -0.06333506
+v -0.26853774 0.23812842 -0.05776330
+f 1 2 3
+f 6 3 2
+f 7 2 1
+f 7 1 3
+f 8 4 3
+f 8 3 6
+f 9 7 5
+f 9 2 7
+f 10 7 3
+f 10 5 7
+f 12 2 9
+f 12 9 5
+f 13 10 3
+f 14 8 6
+f 14 12 11
+f 14 6 12
+f 16 12 6
+f 16 6 2
+f 16 2 12
+f 17 13 3
+f 17 3 4
+f 19 5 10
+f 20 12 5
+f 20 19 15
+f 20 5 19
+f 20 15 11
+f 20 11 12
+f 21 17 4
+f 21 4 8
+f 21 8 17
+f 22 14 11
+f 22 11 18
+f 23 11 15
+f 24 13 17
+f 24 17 8
+f 24 8 14
+f 24 14 22
+f 25 19 10
+f 25 10 13
+f 25 23 15
+f 25 15 19
+f 26 18 11
+f 26 11 23
+f 27 26 23
+f 27 18 26
+f 27 13 24
+f 27 24 22
+f 27 22 18
+f 27 25 13
+f 27 23 25
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_2/collision/model_normalized_collision_30.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_2/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9ac93cae7cff7c7300135aab0ba7019e84361708
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_2/collision/model_normalized_collision_30.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.14393939 0.16367793 0.06534214
+v 0.14393939 0.16367793 -0.06495058
+v 0.14393939 0.25458702 0.06534213
+v 0.00757576 0.25458702 0.06534213
+v 0.00757576 0.16367793 0.06534214
+v 0.00757576 0.25458702 -0.06495059
+v 0.14393939 0.25458702 -0.06495059
+v 0.00757576 0.16367793 -0.06495058
+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/Assets/robocasa/data/objects/objaverse/steak/steak_2/collision/model_normalized_collision_31.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_2/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..76edcb42962e7ac84382618213d07b315b61ccc6
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_2/collision/model_normalized_collision_31.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.14393939 -0.19995843 0.06534218
+v 0.14393939 -0.19995843 -0.06495054
+v 0.14393939 -0.01814025 -0.06495056
+v 0.00757576 -0.01814025 0.06534216
+v 0.00757576 -0.19995843 0.06534218
+v 0.14393939 -0.01814025 0.06534216
+v 0.00757576 -0.19995843 -0.06495053
+v 0.00757576 -0.01814025 -0.06495055
+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/Assets/robocasa/data/objects/objaverse/steak/steak_2/collision/model_normalized_collision_4.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_2/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0b7ea44cf8e8c497972b56a5e39a88bab3f4f85d
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_2/collision/model_normalized_collision_4.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.26057690 -0.34211865 0.06070551
+v 0.32575763 -0.29086764 -0.06799005
+v 0.31060607 -0.29086755 0.06838165
+v 0.14393928 -0.29086546 0.06534199
+v 0.14336411 -0.34067717 -0.06799000
+v 0.26515153 -0.29086755 0.06838143
+v 0.33434867 -0.30801891 0.01053341
+v 0.27374265 -0.33837635 -0.05776352
+v 0.14390826 -0.35088942 0.01053341
+v 0.14393940 -0.29086762 -0.06798956
+v 0.30403478 -0.32320308 0.05815520
+v 0.25934518 -0.33746607 -0.06502531
+v 0.30403478 -0.32320308 -0.05776352
+v 0.27374265 -0.33837635 0.05815520
+v 0.31892253 -0.30752496 -0.06511377
+f 3 2 4
+f 6 1 3
+f 6 3 4
+f 6 4 1
+f 7 2 3
+f 9 1 4
+f 9 4 5
+f 9 8 1
+f 9 5 8
+f 10 5 4
+f 10 4 2
+f 10 2 5
+f 11 7 3
+f 11 3 1
+f 12 8 5
+f 12 5 2
+f 13 7 8
+f 14 11 1
+f 14 1 8
+f 14 8 7
+f 14 7 11
+f 15 2 7
+f 15 7 13
+f 15 12 2
+f 15 13 8
+f 15 8 12
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_2/collision/model_normalized_collision_5.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_2/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..57d56f0f5af4fdbaae98f7e51c9c5e8fbcf770a7
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_2/collision/model_normalized_collision_5.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.45259568 -0.19242590 0.05899542
+v 0.48066693 -0.12917248 0.01053341
+v 0.46212123 -0.12420086 0.06838169
+v 0.14393939 -0.12420085 0.06534217
+v 0.14393939 -0.19995843 -0.06495054
+v 0.38636363 -0.12420085 -0.06495054
+v 0.14393939 -0.19995843 0.06534218
+v 0.40283978 -0.12455595 -0.06798965
+v 0.14393939 -0.12420085 -0.06495055
+v 0.34671770 -0.20455168 -0.06798948
+v 0.40151526 -0.19995851 -0.06798989
+v 0.45325476 -0.19294708 0.01053341
+f 1 2 3
+f 6 4 3
+f 7 1 3
+f 7 3 4
+f 7 4 5
+f 8 6 3
+f 8 3 2
+f 9 5 4
+f 9 4 6
+f 9 6 8
+f 10 7 5
+f 10 1 7
+f 10 9 8
+f 10 5 9
+f 11 10 8
+f 11 8 2
+f 11 1 10
+f 12 11 2
+f 12 2 1
+f 12 1 11
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_2/collision/model_normalized_collision_6.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_2/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8ed7a9b4410217062ae48cc6d1241f8a5140988c
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_2/collision/model_normalized_collision_6.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.33434867 -0.30801891 0.01053341
+v 0.32575763 -0.29086764 -0.06799005
+v 0.32575757 -0.19995842 0.06534218
+v 0.00757576 -0.19995842 0.06534218
+v -0.00134183 -0.31586170 0.01053341
+v 0.00757576 -0.19995843 -0.06495053
+v 0.32575757 -0.19995843 -0.06495053
+v 0.00757572 -0.29086761 -0.06798984
+v 0.00513920 -0.23709059 -0.06798954
+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 7 6 3
+f 8 2 5
+f 9 7 2
+f 9 6 7
+f 9 2 8
+f 9 8 5
+f 9 5 6
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_2/collision/model_normalized_collision_7.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_2/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d13ad8748818075f4f3257a21a1f45c7d9df652a
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_2/collision/model_normalized_collision_7.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.32221441 -0.31409693 0.01053341
+v 0.45325477 -0.19294708 -0.05776355
+v 0.45259568 -0.19242590 0.05899542
+v 0.32575757 -0.19995842 0.06534218
+v 0.32575757 -0.19995843 -0.06495053
+v 0.36804161 -0.28453787 0.06406007
+v 0.32370144 -0.30191414 -0.06799014
+v 0.37121214 -0.19995844 0.06838130
+v 0.38570706 -0.27836692 0.05815520
+v 0.43940369 -0.19397544 -0.06799018
+v 0.32221441 -0.31409693 -0.05776352
+v 0.44588304 -0.20226924 0.05815519
+v 0.37611800 -0.27940343 -0.06464208
+v 0.33432691 -0.30802980 0.01053341
+v 0.38570706 -0.27836691 -0.05776353
+v 0.33432691 -0.30802980 -0.05776352
+f 5 3 2
+f 5 4 3
+f 6 4 1
+f 8 6 3
+f 8 3 4
+f 8 4 6
+f 9 3 6
+f 9 6 1
+f 10 7 5
+f 10 5 2
+f 11 5 7
+f 11 1 4
+f 11 4 5
+f 12 9 2
+f 12 2 3
+f 12 3 9
+f 13 10 2
+f 13 7 10
+f 13 11 7
+f 14 9 1
+f 14 1 11
+f 15 13 2
+f 15 2 9
+f 16 11 13
+f 16 13 15
+f 16 14 11
+f 16 15 9
+f 16 9 14
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_2/collision/model_normalized_collision_8.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_2/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c8ed20d176646b4633dbc519abd78ab717cbb3df
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_2/collision/model_normalized_collision_8.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.16165036 -0.27032968 0.01053341
+v 0.00757576 -0.21510994 -0.06495053
+v -0.15909091 -0.16965539 0.06534218
+v -0.46660796 -0.18141276 0.01053341
+v -0.43094606 -0.24438981 -0.06799006
+v 0.00757576 -0.16965540 -0.06495054
+v -0.43758018 -0.25217272 0.01053341
+v -0.18939393 -0.24541307 -0.06798990
+v -0.43181819 -0.16965539 -0.06799009
+v -0.16165036 -0.27032968 -0.01976962
+v -0.05341850 -0.21619795 -0.06798960
+f 1 2 3
+f 6 3 2
+f 7 1 3
+f 7 3 4
+f 7 4 5
+f 9 4 3
+f 9 3 6
+f 9 5 4
+f 9 8 5
+f 10 7 5
+f 10 1 7
+f 10 5 8
+f 10 8 2
+f 10 2 1
+f 11 6 2
+f 11 2 8
+f 11 9 6
+f 11 8 9
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_2/collision/model_normalized_collision_9.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_2/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2f88d2b91623f856049c7ba5043a7b3790a53979
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_2/collision/model_normalized_collision_9.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.14310320 -0.35093232 0.05815506
+v 0.14336411 -0.34067717 -0.06799000
+v 0.14393939 -0.19995842 0.06534218
+v 0.08333333 -0.19995842 0.06534218
+v 0.08983812 -0.34839349 -0.05776332
+v 0.08333333 -0.19995844 -0.06495054
+v 0.08333332 -0.29086754 0.06838131
+v 0.14393939 -0.29086754 0.06838124
+v 0.14310320 -0.35093232 -0.05776337
+v 0.14393939 -0.19995844 -0.06495054
+v 0.08798732 -0.33842938 -0.06652596
+v 0.08983812 -0.34839349 0.05815501
+v 0.08193289 -0.26448960 -0.06798947
+v 0.14393939 -0.26056449 -0.06495053
+f 6 4 3
+f 7 3 4
+f 8 1 2
+f 8 7 1
+f 8 3 7
+f 9 5 2
+f 9 2 1
+f 10 6 3
+f 10 3 8
+f 11 2 5
+f 12 1 7
+f 12 9 1
+f 12 5 9
+f 12 11 5
+f 12 7 11
+f 13 7 4
+f 13 4 6
+f 13 11 7
+f 13 2 11
+f 13 10 2
+f 13 6 10
+f 14 10 8
+f 14 8 2
+f 14 2 10
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_2/model.xml b/Assets/robocasa/data/objects/objaverse/steak/steak_2/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..aca67655e26370e2bb83ab9280a4528a19e6a277
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_2/model.xml
@@ -0,0 +1,34 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="steak_6">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.12499999999999999 0.12499999999999999 0.12499999999999999" refquat="0.7071067811865475 0.0 0.0 -0.7071067811865475" />
+    <texture type="2d" name="image0" file="visual/image0.png" />
+    <material name="ma_Steak" texture="image0" specular="0.5" shininess="0.25" />
+    <mesh file="collision/collision_mesh_collision_0.obj" name="steak_collision_mesh_0" scale="0.12499999999999999 0.12499999999999999 0.12499999999999999" refquat="0.7071067811865475 0.0 0.0 -0.7071067811865475" />
+    <mesh file="collision/collision_mesh_collision_1.obj" name="steak_collision_mesh_1" scale="0.12499999999999999 0.12499999999999999 0.12499999999999999" refquat="0.7071067811865475 0.0 0.0 -0.7071067811865475" />
+    <mesh file="collision/collision_mesh_collision_2.obj" name="steak_collision_mesh_2" scale="0.12499999999999999 0.12499999999999999 0.12499999999999999" refquat="0.7071067811865475 0.0 0.0 -0.7071067811865475" />
+    <mesh file="collision/collision_mesh_collision_3.obj" name="steak_collision_mesh_3" scale="0.12499999999999999 0.12499999999999999 0.12499999999999999" refquat="0.7071067811865475 0.0 0.0 -0.7071067811865475" />
+    <mesh file="collision/collision_mesh_collision_4.obj" name="steak_collision_mesh_4" scale="0.12499999999999999 0.12499999999999999 0.12499999999999999" refquat="0.7071067811865475 0.0 0.0 -0.7071067811865475" />
+    </asset>
+  <default>
+    <default class="region">
+      <geom group="1" conaffinity="0" contype="0" rgba="0 1 0 0" />
+      </default>
+    <default class="collision">
+      <geom group="0" rgba="0.5 0 0 0.5" density="1000.0" />
+      </default>
+    </default>
+  <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="ma_Steak" />
+        <geom class="region" name="reg_bbox" type="box" pos="0.0003700756250000006 1.720562500000244e-05 0.0" size="0.043866539999999996 0.061628923749999995 0.009099989999999999" />
+        <geom mesh="steak_collision_mesh_0" type="mesh" class="collision" />
+        <geom mesh="steak_collision_mesh_1" type="mesh" class="collision" />
+        <geom mesh="steak_collision_mesh_2" type="mesh" class="collision" />
+        <geom mesh="steak_collision_mesh_3" type="mesh" class="collision" />
+        <geom mesh="steak_collision_mesh_4" type="mesh" class="collision" />
+        </body>
+      </body>
+    </worldbody>
+  </mujoco>
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_2/visual/material.mtl b/Assets/robocasa/data/objects/objaverse/steak/steak_2/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fbcf6b4b1af9257e08a0fd6e283841743ce8fad5
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_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/Assets/robocasa/data/objects/objaverse/steak/steak_2/visual/model_normalized_0.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_2/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f64a205968c154cb6358f6551485f641bbac028f
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_2/visual/model_normalized_0.obj
@@ -0,0 +1,1817 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
+v 0.16700718 -0.08569605 0.07279992
+v 0.18868853 -0.07591703 0.07279972
+v 0.16037531 -0.07234156 0.07279972
+v 0.17304527 -0.00094121 0.07279992
+v 0.23549875 0.02265816 0.07279992
+v 0.15870062 0.04121849 0.07279971
+v 0.25522986 0.11734492 0.07279990
+v 0.24234540 0.18885422 0.07279990
+v 0.23491797 0.18204800 0.07279990
+v 0.24933389 0.18331511 0.07279990
+v 0.21601518 0.14253377 0.07279990
+v 0.17917584 0.11642976 0.07279990
+v 0.12894911 0.10963397 0.07279990
+v 0.12165721 0.06369975 0.07279992
+v -0.03109126 0.09789349 0.07279969
+v -0.03585391 0.06920751 0.07279990
+v -0.08774584 0.07047883 0.07279990
+v -0.08872124 0.07668712 0.07279969
+v -0.32323846 0.10515313 0.06533923
+v -0.32323860 0.10515262 0.06837897
+v -0.36332286 0.07107792 0.06533945
+v -0.36332269 0.07107751 0.06837918
+v -0.40999560 -0.01842842 0.06534008
+v -0.40999542 -0.01842882 0.06837981
+v -0.42121800 -0.07719312 0.06534135
+v -0.42121782 -0.07719350 0.06838087
+v -0.37916918 -0.20161471 0.06534220
+v -0.37916918 -0.20161471 0.06838172
+v -0.35445052 -0.22268477 0.06534178
+v -0.35445052 -0.22268476 0.06838130
+v -0.30574051 -0.21863341 0.06534137
+v -0.30574055 -0.21863319 0.06838109
+v -0.20815535 -0.18878254 0.06534135
+v -0.20815535 -0.18878256 0.06838109
+v -0.09876428 -0.20001932 0.06534157
+v -0.09876435 -0.20001911 0.06838130
+v 0.11418485 -0.27599664 0.06534157
+v 0.11418483 -0.27599664 0.06838111
+v 0.24127916 -0.26922444 0.06534137
+v 0.24127905 -0.26922425 0.06838111
+v 0.33118969 -0.22418842 0.06534137
+v 0.33118969 -0.22418819 0.06838109
+v 0.39917985 -0.13820900 0.06534155
+v 0.39917978 -0.13820880 0.06838128
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\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_3/collision/collision_mesh_collision_0.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_3/collision/collision_mesh_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..933bed8682623eaf4b0e41682fc4093f23d57285
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_3/collision/collision_mesh_collision_0.obj
@@ -0,0 +1,355 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_3/collision/collision_mesh_collision_1.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_3/collision/collision_mesh_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8ee87a098846cd4eab5630c1953ce54cda6a474d
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_3/collision/collision_mesh_collision_1.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
+v -0.22577196 -0.20889792 -0.00454610
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+v -0.22566190 -0.18611614 0.00851631
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diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_3/collision/collision_mesh_collision_2.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_3/collision/collision_mesh_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2681814b868d95843cfc04f3a88121e006d60a69
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_3/collision/collision_mesh_collision_2.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v -0.06838235 -0.30841553 -0.02566767
+v -0.06838235 -0.30841553 0.01082620
+v -0.06838235 -0.21132103 -0.02639197
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+v -0.06838235 -0.04466951 -0.02607006
+v -0.06838235 -0.03087915 -0.02601105
+v -0.05001210 0.13322181 -0.02526529
+v 0.05652383 -0.16143364 -0.02809273
+v 0.02439029 -0.30841553 -0.02877947
+v 0.16412511 -0.30841553 0.01776336
+v 0.19139256 -0.21495235 0.02462005
+v -0.06838235 -0.02059042 0.02099319
+v -0.06838235 0.13322181 -0.02495411
+v -0.02490417 0.13322181 -0.02520091
+v 0.20478153 -0.15123138 -0.02279731
+v 0.17685184 -0.23410322 -0.02388644
+v 0.12804687 0.13322181 -0.02368256
+v 0.14604279 0.13322181 -0.02311922
+v 0.19651780 -0.06788400 -0.02282414
+v 0.13415109 -0.30841553 -0.02449270
+v 0.17020056 -0.30841553 0.01395946
+v 0.19916680 -0.22083162 0.01805845
+v 0.20440722 -0.17561308 0.02445373
+v 0.21019471 -0.11336192 0.02529069
+v 0.19340810 -0.07354712 0.02603109
+v 0.18059500 -0.10073877 0.02556432
+v 0.08197728 0.13322181 0.02295685
+v -0.06838235 0.13322181 0.01435112
+v 0.19841817 -0.19925988 -0.02175110
+v 0.21448494 -0.09092557 -0.02034006
+v 0.22038761 -0.13878115 -0.01482467
+v 0.15574622 -0.30841553 -0.02273829
+v 0.15810728 0.13322181 -0.02028641
+v 0.17296472 -0.30841553 0.00760710
+v 0.21241181 -0.18564242 0.00335252
+v 0.21799774 -0.14833497 0.02058544
+v 0.22145297 -0.09736684 0.01692103
+v 0.16375080 0.13322181 0.01928171
+v 0.15303963 0.13322181 0.02401915
+v 0.20446481 -0.20444746 -0.01521633
+v 0.16893363 -0.30841553 -0.01528071
+v 0.16320372 -0.30841553 -0.01928313
+v 0.15845281 0.13322181 -0.02015228
+v 0.16429788 0.13322181 -0.00908394
+v 0.22004208 -0.07998839 -0.00129371
+v 0.22433232 -0.12594184 -0.00980287
+v 0.22107865 -0.15010740 -0.00445380
+v 0.17328145 -0.30841553 0.00093820
+v 0.17256162 -0.30841553 -0.00621894
+v 0.22577199 -0.11439945 0.00506937
+v 0.16602549 0.13322181 0.00644822
+v 0.16570875 0.13322181 -0.00492057
+f 1 2 6
+f 1 6 15
+f 1 15 31
+f 1 31 16
+f 1 16 9
+f 1 9 8
+f 1 8 7
+f 1 7 3
+f 1 3 4
+f 1 4 12
+f 1 12 23
+f 1 23 35
+f 1 35 45
+f 1 45 44
+f 1 44 52
+f 1 52 51
+f 1 51 37
+f 1 37 24
+f 1 24 13
+f 1 13 5
+f 1 5 2
+f 2 5 6
+f 3 7 4
+f 4 7 8
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 5 13 14
+f 5 14 6
+f 6 14 15
+f 9 16 10
+f 10 16 31
+f 10 31 30
+f 10 30 42
+f 10 42 41
+f 10 41 54
+f 10 54 55
+f 10 55 47
+f 10 47 46
+f 10 46 36
+f 10 36 21
+f 10 21 20
+f 10 20 17
+f 10 17 11
+f 11 18 19
+f 11 19 12
+f 11 17 20
+f 11 20 21
+f 11 21 22
+f 11 22 18
+f 12 19 23
+f 13 24 14
+f 14 24 25
+f 14 25 26
+f 14 26 27
+f 14 27 28
+f 14 28 29
+f 14 29 15
+f 15 30 31
+f 15 29 28
+f 15 28 30
+f 18 32 19
+f 18 22 33
+f 18 33 34
+f 18 34 32
+f 19 32 35
+f 19 35 23
+f 21 36 33
+f 21 33 22
+f 24 37 25
+f 25 38 39
+f 25 39 26
+f 25 37 38
+f 26 39 27
+f 27 39 40
+f 27 40 41
+f 27 41 42
+f 27 42 28
+f 28 42 30
+f 32 34 43
+f 32 43 44
+f 32 44 45
+f 32 45 35
+f 33 36 46
+f 33 46 47
+f 33 47 48
+f 33 48 49
+f 33 49 34
+f 34 49 50
+f 34 50 43
+f 37 51 38
+f 38 51 52
+f 38 52 43
+f 38 43 50
+f 38 50 39
+f 39 50 53
+f 39 53 40
+f 40 53 48
+f 40 48 54
+f 40 54 41
+f 43 52 44
+f 47 55 48
+f 48 53 49
+f 48 55 54
+f 49 53 50
+
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_3/collision/collision_mesh_collision_3.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_3/collision/collision_mesh_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..680a2b0dd28e5a96c40fe58f3a497325812013d5
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_3/collision/collision_mesh_collision_3.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v 0.00719710 -0.49507076 0.00819526
+v 0.00719710 -0.49487990 -0.01447358
+v 0.08681219 -0.47630218 0.00577552
+v 0.00719710 -0.49481627 0.00925930
+v 0.00719710 -0.49390435 -0.01733081
+v 0.09701008 -0.46845543 -0.01403068
+v 0.08133103 -0.47208190 0.02283252
+v 0.10475202 -0.46508342 0.01915430
+v 0.00719710 -0.49140188 0.01837113
+v 0.00719710 -0.48389444 -0.02160856
+v 0.09930339 -0.45715186 -0.02098202
+v 0.12394422 -0.44432136 -0.01692032
+v 0.00719710 -0.48215544 0.02419362
+v 0.00719710 -0.48565465 0.02223298
+v 0.09920580 -0.45422524 0.02526306
+v 0.12814048 -0.43965572 0.01523843
+v 0.12386289 -0.43057895 0.02419362
+v 0.00719710 -0.45138344 -0.02378525
+v 0.12231776 -0.43282694 -0.02221350
+v 0.13419090 -0.41702738 -0.01593730
+v 0.13480896 -0.42731300 -0.00034404
+v 0.00719710 -0.47481766 0.02509562
+v 0.05280297 -0.44752368 0.02609484
+v 0.13163736 -0.38457999 0.02479315
+v 0.14040397 -0.40226701 0.01539506
+v 0.13954195 -0.39000911 0.02138500
+v 0.00719710 -0.39147243 -0.02679912
+v 0.00719710 -0.30889064 -0.02908383
+v 0.13419090 -0.27841556 -0.02449280
+v 0.15580651 -0.27841556 -0.02274822
+v 0.16325569 -0.27841556 -0.01929145
+v 0.16893204 -0.27841556 -0.01528916
+v 0.17259157 -0.27841556 -0.00621514
+v 0.17335600 -0.27841556 0.00094145
+v 0.17301443 -0.27841556 0.00760113
+v 0.00719710 -0.44992012 0.02399918
+v 0.00724589 -0.44987771 0.02399918
+v 0.15606675 -0.27841556 0.01991047
+v 0.16416651 -0.27841556 0.01776079
+v 0.17023319 -0.27841556 0.01395834
+v 0.00719710 -0.27841556 -0.02877055
+v 0.02437249 -0.27841556 -0.02877596
+v 0.09401740 -0.27841556 0.01262965
+v 0.09291141 -0.27841556 0.01246221
+v 0.00719710 -0.27841556 -0.00171054
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 14
+f 1 14 13
+f 1 13 22
+f 1 22 36
+f 1 36 45
+f 1 45 41
+f 1 41 28
+f 1 28 27
+f 1 27 18
+f 1 18 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 3 7 4
+f 3 6 8
+f 3 8 7
+f 4 7 9
+f 5 10 11
+f 5 11 6
+f 6 11 12
+f 6 12 8
+f 7 13 14
+f 7 14 9
+f 7 8 15
+f 7 15 13
+f 8 12 16
+f 8 16 17
+f 8 17 15
+f 10 18 19
+f 10 19 11
+f 11 19 12
+f 12 19 20
+f 12 20 21
+f 12 21 16
+f 13 15 22
+f 15 23 22
+f 15 17 24
+f 15 24 23
+f 16 21 25
+f 16 25 17
+f 17 25 26
+f 17 26 24
+f 18 27 19
+f 19 27 28
+f 19 28 29
+f 19 29 30
+f 19 30 31
+f 19 31 32
+f 19 32 20
+f 20 32 33
+f 20 33 21
+f 21 33 34
+f 21 34 35
+f 21 35 25
+f 22 23 36
+f 23 37 36
+f 23 24 38
+f 23 38 37
+f 24 26 39
+f 24 39 38
+f 25 35 40
+f 25 40 26
+f 26 40 39
+f 28 41 42
+f 28 42 29
+f 29 42 41
+f 29 41 45
+f 29 45 44
+f 29 44 43
+f 29 43 38
+f 29 38 39
+f 29 39 40
+f 29 40 35
+f 29 35 34
+f 29 34 33
+f 29 33 32
+f 29 32 31
+f 29 31 30
+f 36 37 38
+f 36 38 43
+f 36 43 44
+f 36 44 45
+
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_3/collision/collision_mesh_collision_4.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_3/collision/collision_mesh_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5c099d7d42573d3f5fb9f402544f527cb17a0ef2
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_3/collision/collision_mesh_collision_4.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v -0.05338236 -0.49595568 -0.01941342
+v -0.04029550 -0.49856427 -0.02069704
+v -0.05338236 -0.49542990 0.01560182
+v -0.05338236 -0.48681548 -0.02224605
+v 0.00561487 -0.49235621 -0.02242478
+v 0.01636985 -0.49684542 -0.01851976
+v -0.00905021 -0.50000000 -0.01759360
+v -0.00799510 -0.49894848 0.01121476
+v -0.05338236 -0.49530858 0.01733498
+v -0.05338236 -0.48307449 -0.02280932
+v 0.02059027 -0.39084348 -0.02687142
+v 0.03719709 -0.39153102 -0.02680101
+v 0.03719709 -0.45140737 -0.02378423
+v 0.03719709 -0.48390356 -0.02160694
+v 0.03719709 -0.49391329 -0.01732821
+v 0.03719709 -0.49488392 -0.01447391
+v 0.03719709 -0.49506593 0.00818715
+v 0.01068647 -0.49553102 0.01877025
+v -0.05338236 -0.49526814 0.01744330
+v -0.05338236 -0.48016256 -0.02290681
+v -0.00530857 -0.32653862 -0.02894579
+v 0.03719709 -0.30886489 -0.02908119
+v 0.03719709 -0.49484348 0.00925412
+v 0.03719709 -0.49138558 0.01837487
+v 0.03719709 -0.48562241 0.02223115
+v 0.01249522 -0.48697725 0.02400764
+v -0.04589909 -0.49193156 0.02310315
+v -0.05338236 -0.49500525 0.01788742
+v -0.05338236 -0.42293528 -0.02471580
+v 0.02053707 -0.30882445 -0.02915702
+v -0.05338236 -0.33958158 -0.02721263
+v 0.00920578 -0.29341555 -0.02873456
+v 0.03719709 -0.30219173 -0.02898912
+v 0.03719709 -0.48216450 0.02419721
+v -0.02563043 -0.48430800 0.02591412
+v -0.05338236 -0.48724014 0.02368809
+v -0.05338236 -0.48990941 0.02282693
+v 0.03719709 -0.29341555 -0.02877248
+v -0.05338236 -0.29341555 -0.02566362
+v 0.03719709 -0.47484428 0.02509628
+v -0.05338236 -0.47567335 0.02617409
+v 0.03719709 -0.29341555 -0.00171894
+v -0.05338236 -0.29341555 0.01082480
+v 0.03719709 -0.44993117 0.02400223
+v -0.05338236 -0.45037606 0.02563789
+v -0.05338236 -0.46633095 0.02603327
+f 1 2 3
+f 1 3 9
+f 1 9 19
+f 1 19 28
+f 1 28 37
+f 1 37 36
+f 1 36 41
+f 1 41 46
+f 1 46 45
+f 1 45 43
+f 1 43 39
+f 1 39 31
+f 1 31 29
+f 1 29 20
+f 1 20 10
+f 1 10 4
+f 1 4 2
+f 2 4 5
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 3 8 9
+f 4 10 5
+f 5 10 11
+f 5 11 12
+f 5 12 13
+f 5 13 14
+f 5 14 15
+f 5 15 6
+f 6 15 16
+f 6 16 7
+f 7 16 17
+f 7 17 8
+f 8 17 18
+f 8 18 19
+f 8 19 9
+f 10 20 21
+f 10 21 11
+f 11 21 12
+f 12 21 22
+f 12 22 33
+f 12 33 38
+f 12 38 42
+f 12 42 44
+f 12 44 40
+f 12 40 34
+f 12 34 25
+f 12 25 24
+f 12 24 23
+f 12 23 17
+f 12 17 16
+f 12 16 15
+f 12 15 14
+f 12 14 13
+f 17 23 18
+f 18 23 24
+f 18 24 25
+f 18 25 26
+f 18 26 27
+f 18 27 28
+f 18 28 19
+f 20 29 21
+f 21 30 22
+f 21 29 31
+f 21 31 32
+f 21 32 30
+f 22 30 33
+f 25 34 26
+f 26 34 35
+f 26 35 27
+f 27 35 36
+f 27 36 37
+f 27 37 28
+f 30 32 38
+f 30 38 33
+f 31 39 32
+f 32 39 43
+f 32 43 42
+f 32 42 38
+f 34 40 35
+f 35 40 41
+f 35 41 36
+f 40 44 45
+f 40 45 46
+f 40 46 41
+f 42 43 44
+f 43 45 44
+
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_3/collision/model_normalized_collision_0.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_3/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d1a2c79e693fd722dc12b110add8ca2cecbe6912
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_3/collision/model_normalized_collision_0.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v 0.19462915 -0.21598776 0.02224867
+v 0.21635236 -0.15271926 -0.01392701
+v 0.18941569 -0.03031936 0.02358597
+v 0.08505446 -0.00757204 0.02223899
+v 0.13016550 -0.21960063 -0.02447763
+v 0.17835986 -0.01400505 -0.01866085
+v 0.20751301 -0.16960911 0.02359010
+v 0.19347120 -0.21292362 -0.02004285
+v 0.13048619 -0.22001920 0.01782278
+v 0.22063063 -0.08555678 -0.00232877
+v 0.18376376 -0.01254342 0.02093279
+v 0.08440880 -0.00758434 -0.02418493
+v 0.14568947 -0.00747278 0.02380616
+v 0.17799125 -0.21919264 0.02264633
+v 0.21857882 -0.15528167 0.00625739
+v 0.21328299 -0.08765756 -0.02006347
+v 0.21901738 -0.08967365 0.01616543
+v 0.20463263 -0.04529974 -0.00116813
+v 0.08454733 -0.08367905 -0.02439349
+v 0.08535857 -0.08251317 0.01962250
+v 0.11547040 -0.03793117 0.02321087
+v 0.20381495 -0.20137085 0.01578183
+v 0.21059566 -0.15730452 -0.01879722
+v 0.21847067 -0.10143521 -0.01463843
+v 0.21086676 -0.08835216 0.02038122
+v 0.21934797 -0.14276402 0.01799073
+v 0.20268656 -0.04589559 0.01424828
+v 0.18604435 -0.01604914 -0.01405804
+v 0.20468139 -0.20419577 -0.01488802
+v 0.18865200 -0.01514461 0.01562714
+v 0.19497959 -0.04327717 -0.01754717
+f 13 7 3
+f 13 3 11
+f 13 12 4
+f 13 11 6
+f 13 6 12
+f 14 1 7
+f 14 9 5
+f 14 8 1
+f 14 5 8
+f 15 2 10
+f 16 8 5
+f 16 12 6
+f 16 5 12
+f 18 10 16
+f 19 4 12
+f 19 12 5
+f 19 5 9
+f 20 14 4
+f 20 9 14
+f 20 19 9
+f 20 4 19
+f 21 13 4
+f 21 4 14
+f 21 14 7
+f 21 7 13
+f 22 7 1
+f 23 16 2
+f 23 8 16
+f 24 16 10
+f 24 10 2
+f 24 2 16
+f 25 17 3
+f 25 3 7
+f 26 15 10
+f 26 10 17
+f 26 22 15
+f 26 7 22
+f 26 25 7
+f 26 17 25
+f 27 3 17
+f 27 17 10
+f 27 10 18
+f 28 6 11
+f 28 18 16
+f 29 22 1
+f 29 1 8
+f 29 2 15
+f 29 15 22
+f 29 23 2
+f 29 8 23
+f 30 27 18
+f 30 11 3
+f 30 3 27
+f 30 28 11
+f 30 18 28
+f 31 28 16
+f 31 16 6
+f 31 6 28
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_3/collision/model_normalized_collision_1.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_3/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8379481638245cf32602f804019cb500a8b2eacc
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_3/collision/model_normalized_collision_1.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.08535857 -0.08251317 0.01962250
+v 0.08454733 -0.08367905 -0.02439349
+v 0.08440880 -0.00758434 -0.02418493
+v -0.09840164 -0.00825039 0.02362660
+v -0.09707646 -0.08333213 0.02333178
+v -0.09575413 -0.08361942 -0.02230541
+v 0.08505446 -0.00757204 0.02223899
+v -0.09544121 -0.00765978 -0.02165484
+v -0.09957654 -0.05299637 0.02382594
+f 1 2 3
+f 5 2 1
+f 6 3 2
+f 6 2 5
+f 7 1 3
+f 7 5 1
+f 8 3 6
+f 8 7 3
+f 8 4 7
+f 9 6 5
+f 9 8 6
+f 9 4 8
+f 9 7 4
+f 9 5 7
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_3/collision/model_normalized_collision_10.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_3/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d89086ab1c27b22d0a630ddc730d5d0c961d91d5
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_3/collision/model_normalized_collision_10.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.18418211 -0.01042466 0.01908551
+v 0.18403741 -0.01093088 -0.01362919
+v 0.16216186 0.09977327 0.01712526
+v 0.09999239 0.09851415 0.02259972
+v 0.09999897 -0.00757023 0.02305695
+v 0.09999485 0.09841635 -0.02377393
+v 0.15304484 0.09853433 0.02397799
+v 0.15279442 0.10165913 -0.01978751
+v 0.09992191 -0.00756309 -0.02380189
+v 0.13091232 0.09865571 0.02341418
+v 0.17288079 -0.00972907 0.02432743
+v 0.15822345 0.10164520 -0.01388574
+v 0.17055273 -0.01009194 -0.02213600
+f 1 2 3
+f 5 2 1
+f 7 1 3
+f 8 6 4
+f 9 5 4
+f 9 4 6
+f 9 2 5
+f 10 7 3
+f 10 3 4
+f 10 4 5
+f 10 5 7
+f 11 7 5
+f 11 5 1
+f 11 1 7
+f 12 3 2
+f 12 2 8
+f 12 8 4
+f 12 4 3
+f 13 8 2
+f 13 2 9
+f 13 9 6
+f 13 6 8
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_3/collision/model_normalized_collision_11.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_3/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e165c1300ea62cf82df9a6b1236ceb264ec89e6f
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_3/collision/model_normalized_collision_11.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.19146711 0.28035792 0.02475824
+v 0.13025110 0.35759696 0.02597798
+v 0.08374020 0.28042908 0.02389989
+v 0.13033706 0.35407740 0.02556327
+v 0.19261011 0.35620091 0.02491654
+v 0.08375825 0.31073003 0.02364956
+v 0.08591268 0.28017874 0.02405854
+v 0.18943613 0.35594131 0.02525499
+v 0.19025322 0.28024152 0.02470909
+v 0.08571416 0.31021293 0.02379481
+f 5 4 2
+f 6 2 4
+f 6 4 5
+f 7 1 2
+f 8 5 2
+f 8 2 1
+f 8 1 5
+f 9 6 5
+f 9 5 1
+f 9 3 6
+f 9 7 3
+f 9 1 7
+f 10 7 2
+f 10 2 6
+f 10 6 3
+f 10 3 7
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_3/collision/model_normalized_collision_12.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_3/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f184619103dba7f039bcc9ae044f066e215a45e
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_3/collision/model_normalized_collision_12.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.08463482 0.41637238 0.02743747
+v 0.08504708 0.41706454 -0.01861627
+v 0.07804512 0.48997953 0.00473064
+v -0.03286064 0.49390811 0.01637779
+v -0.02176907 0.41698154 -0.01703543
+v 0.08110565 0.48251446 0.02377103
+v -0.02100873 0.41655517 0.02773746
+v 0.02902005 0.48718225 -0.01951410
+v 0.06341231 0.49194936 0.01924604
+v 0.08596814 0.43393654 -0.02094648
+v -0.03823749 0.44804887 -0.02115285
+v -0.03680255 0.48343364 0.02489809
+v 0.07881742 0.48982847 -0.01765574
+v -0.03117431 0.49115912 -0.01415199
+v -0.03676412 0.47666811 -0.02150580
+v -0.03636571 0.44654007 0.02682207
+v 0.08018314 0.48593507 -0.01888705
+f 5 2 1
+f 7 5 1
+f 9 6 3
+f 10 6 1
+f 10 1 2
+f 11 5 7
+f 11 10 2
+f 11 2 5
+f 12 9 4
+f 12 6 9
+f 12 1 6
+f 13 3 6
+f 13 9 3
+f 13 4 9
+f 14 13 8
+f 14 4 13
+f 15 10 11
+f 15 14 8
+f 15 11 12
+f 15 12 4
+f 15 4 14
+f 16 12 11
+f 16 11 7
+f 16 7 1
+f 16 1 12
+f 17 8 13
+f 17 15 8
+f 17 10 15
+f 17 13 6
+f 17 6 10
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_3/collision/model_normalized_collision_13.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_3/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c2c2166625dafb07fcc91a2218e04da42962cce0
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_3/collision/model_normalized_collision_13.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v -0.02133408 0.35672989 0.02814321
+v -0.02152532 0.35574047 -0.01683477
+v -0.02131888 0.44722599 -0.01964294
+v -0.03286064 0.49390811 0.01637779
+v -0.19835874 0.35246981 0.01750289
+v -0.02124479 0.44760617 0.02679981
+v -0.18249658 0.35021710 0.02463597
+v -0.18405744 0.35072616 -0.02163167
+v -0.02121421 0.44654061 0.02683736
+v -0.03159615 0.49263233 -0.00405066
+v -0.05594516 0.47662799 0.02385119
+v -0.09820947 0.35644599 -0.02106810
+v -0.19738034 0.35144958 -0.01799205
+v -0.03676412 0.47666811 -0.02150580
+v -0.03680255 0.48343364 0.02489809
+v -0.12029682 0.43813874 0.02208061
+v -0.11170087 0.44750963 -0.01735462
+v -0.04269855 0.49211690 0.01502733
+v -0.17551869 0.37948125 0.02205777
+v -0.05842560 0.47869890 -0.01497888
+v -0.16319990 0.39634937 -0.02120480
+v -0.11168456 0.44842606 0.02027206
+v -0.06178757 0.46829410 -0.01982899
+v -0.04501095 0.48843804 -0.00343233
+v -0.16993248 0.39514103 -0.01274942
+v -0.17101233 0.39473682 0.01754773
+v -0.15111880 0.40696649 -0.02072349
+v -0.18624049 0.37328072 -0.00086109
+v -0.18598145 0.37390863 0.00572845
+f 1 2 3
+f 7 2 1
+f 8 2 7
+f 9 1 3
+f 9 3 6
+f 9 7 1
+f 9 6 7
+f 10 6 3
+f 10 4 6
+f 12 2 8
+f 13 8 7
+f 13 7 5
+f 14 10 3
+f 14 12 8
+f 14 3 2
+f 14 2 12
+f 15 7 6
+f 15 6 4
+f 16 15 11
+f 16 7 15
+f 18 15 4
+f 18 11 15
+f 18 4 10
+f 19 5 7
+f 19 7 16
+f 20 10 14
+f 21 14 8
+f 21 8 13
+f 22 16 11
+f 22 11 18
+f 22 18 17
+f 23 20 14
+f 23 17 20
+f 24 18 10
+f 24 10 20
+f 24 20 17
+f 24 17 18
+f 25 21 13
+f 25 22 17
+f 25 17 21
+f 26 19 16
+f 26 16 22
+f 26 22 25
+f 26 5 19
+f 27 21 17
+f 27 17 23
+f 27 23 14
+f 27 14 21
+f 28 25 13
+f 28 13 5
+f 29 26 25
+f 29 25 28
+f 29 28 5
+f 29 5 26
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_3/collision/model_normalized_collision_14.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_3/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b2d92b26f2c9635498d15955cba62685603543cb
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_3/collision/model_normalized_collision_14.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.05616570 -0.40494963 0.01306617
+v 0.05412653 -0.40066523 0.01139616
+v 0.05757785 -0.35920443 0.00858488
+v -0.11264784 -0.34051843 0.01976053
+v -0.06672815 -0.40213830 0.01909815
+v -0.11234475 -0.38649898 0.02258327
+v -0.05222429 -0.34066662 0.00637344
+v 0.05478717 -0.35632488 0.00743660
+v -0.11080599 -0.34192317 0.01939770
+v -0.05630600 -0.33924207 0.00772808
+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 8 2 7
+f 8 4 3
+f 9 7 6
+f 9 6 4
+f 9 4 7
+f 10 8 7
+f 10 7 4
+f 10 4 8
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_3/collision/model_normalized_collision_15.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_3/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..71d4f7cb9bd946f13362e76f53bcedc85bfaf72c
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_3/collision/model_normalized_collision_15.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.13214781 0.28124019 0.02478948
+v 0.13157464 0.27982552 -0.02347782
+v 0.12848160 0.45469347 -0.02229473
+v 0.08110565 0.48251446 0.02377103
+v 0.08374020 0.28042908 0.02389989
+v 0.08239843 0.47389007 -0.02268957
+v 0.12502145 0.45596978 0.02327844
+v 0.08211352 0.48811170 -0.01768647
+v 0.08508249 0.28022252 -0.01897150
+v 0.12146902 0.46374152 0.00939660
+v 0.10155383 0.27972073 -0.02056894
+v 0.12180619 0.46258409 0.01957009
+v 0.12272910 0.46201228 -0.01920153
+v 0.09148741 0.47910478 0.02294216
+v 0.10404995 0.47322512 0.01824870
+f 1 2 3
+f 5 2 1
+f 5 1 4
+f 6 3 2
+f 6 5 4
+f 7 1 3
+f 7 4 1
+f 8 6 4
+f 8 3 6
+f 9 5 6
+f 11 2 5
+f 11 5 9
+f 11 9 6
+f 11 6 2
+f 12 7 3
+f 12 3 10
+f 13 10 3
+f 13 3 8
+f 13 8 10
+f 14 4 7
+f 14 7 12
+f 14 8 4
+f 15 14 12
+f 15 12 10
+f 15 10 8
+f 15 8 14
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_3/collision/model_normalized_collision_16.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_3/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..65a0eb8997820c0d06d2ca3104ea8e6f64b9f47e
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_3/collision/model_normalized_collision_16.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.13606733 -0.39907123 0.02201247
+v 0.15302948 -0.33990564 -0.01526954
+v 0.15202627 -0.33846218 0.01608956
+v 0.05918387 -0.34349297 0.00590098
+v 0.05409134 -0.40132328 -0.02539905
+v 0.05409646 -0.34063329 -0.02680428
+v 0.11819864 -0.37255267 0.02152087
+v 0.14436018 -0.38321242 0.01501763
+v 0.13561117 -0.40088529 -0.01537080
+v 0.05616570 -0.40494963 0.01306617
+v 0.14045889 -0.33887469 -0.02166775
+v 0.13847763 -0.37082574 0.02228114
+v 0.10227985 -0.40391334 0.02344706
+v 0.12259721 -0.40121996 -0.02274303
+v 0.10260848 -0.38910533 0.02121578
+f 6 4 3
+f 7 3 4
+f 8 2 3
+f 8 3 1
+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 1 3
+f 12 3 7
+f 13 4 10
+f 13 12 7
+f 13 1 12
+f 13 9 1
+f 14 10 5
+f 14 13 10
+f 14 9 13
+f 14 5 6
+f 14 6 11
+f 14 11 2
+f 14 2 9
+f 15 13 7
+f 15 7 4
+f 15 4 13
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_3/collision/model_normalized_collision_17.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_3/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..54d63f9ba6f89b5176b148025b660d9dbf3f1b86
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_3/collision/model_normalized_collision_17.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.11250738 0.09846067 0.02129782
+v -0.11213015 0.09850867 -0.01992947
+v -0.11148082 0.27950005 0.02417558
+v -0.15898590 0.28033730 0.02529938
+v -0.15836510 0.09806973 -0.02189338
+v -0.15700119 0.09860694 0.02671312
+v -0.14325476 0.09804768 -0.02110491
+v -0.15745441 0.28022648 -0.02324672
+v -0.12949194 0.09834148 0.02375065
+v -0.11374402 0.28061654 -0.02071190
+v -0.11244531 0.17470574 -0.02106501
+v -0.11226493 0.22165856 0.02360393
+f 1 2 3
+f 6 3 4
+f 6 4 5
+f 7 5 2
+f 7 2 1
+f 8 5 4
+f 9 7 1
+f 9 6 5
+f 9 5 7
+f 10 8 4
+f 10 4 3
+f 11 2 5
+f 11 5 8
+f 11 8 10
+f 11 10 3
+f 11 3 2
+f 12 9 1
+f 12 1 3
+f 12 3 6
+f 12 6 9
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_3/collision/model_normalized_collision_18.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_3/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bf4446ca9bea78ad091c60614f4565ec341dd724
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_3/collision/model_normalized_collision_18.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.18403318 -0.26331374 0.01235675
+v 0.19951060 -0.21626504 -0.01421812
+v 0.18998776 -0.21749692 0.02434517
+v 0.13048619 -0.22001920 0.01782278
+v 0.13020840 -0.26521983 -0.02436785
+v 0.13103052 -0.26515870 0.01608375
+v 0.19950690 -0.21816522 0.01844766
+v 0.16905606 -0.26249220 -0.02231469
+v 0.13016550 -0.21960063 -0.02447763
+v 0.17805404 -0.23433006 0.02218883
+v 0.19092820 -0.24242964 -0.00885089
+v 0.18689887 -0.21806589 -0.02290785
+v 0.18337448 -0.22855104 0.02309706
+v 0.18045532 -0.26211819 -0.01388868
+f 3 2 4
+f 6 3 4
+f 6 5 1
+f 6 4 5
+f 7 2 3
+f 7 3 1
+f 8 1 5
+f 9 5 4
+f 9 4 2
+f 10 6 1
+f 11 7 1
+f 11 2 7
+f 12 8 5
+f 12 5 9
+f 12 9 2
+f 12 2 8
+f 13 10 1
+f 13 1 3
+f 13 3 6
+f 13 6 10
+f 14 8 2
+f 14 2 11
+f 14 11 1
+f 14 1 8
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_3/collision/model_normalized_collision_19.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_3/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..faadbdc2a98ef68c5b8b66d5261f98165e4de934
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_3/collision/model_normalized_collision_19.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v -0.09795256 -0.26539521 0.01960021
+v -0.09635196 -0.26504618 -0.02379976
+v -0.09840164 -0.00825039 0.02362660
+v -0.20744125 -0.00838818 0.01954300
+v -0.21795411 -0.26422177 0.02188133
+v -0.09697552 -0.00757623 -0.02149738
+v -0.09544976 -0.02281083 -0.02173840
+v -0.21544990 -0.26500048 0.02228515
+v -0.21290874 -0.18939255 -0.01908206
+v -0.19564535 -0.00633806 -0.01885380
+v -0.19900750 -0.26383828 -0.02043644
+v -0.15852823 -0.26479937 0.02347197
+v -0.19670610 -0.00839843 0.02583754
+v -0.21806634 -0.03911352 -0.00464246
+v -0.20590617 -0.14399212 -0.02106023
+v -0.21527976 -0.26072307 -0.00868849
+v -0.14341100 -0.24963498 0.02290352
+v -0.21672684 -0.04272289 0.01887557
+v -0.20555620 -0.01118246 -0.01429377
+v -0.14352563 -0.00767704 -0.02064546
+v -0.21008014 -0.02414792 0.02035128
+v -0.21612877 -0.08295296 -0.00994382
+f 7 1 2
+f 7 3 1
+f 7 6 3
+f 8 2 1
+f 10 3 6
+f 11 8 5
+f 11 2 8
+f 12 8 1
+f 13 5 8
+f 13 10 4
+f 13 3 10
+f 13 12 3
+f 13 8 12
+f 15 7 2
+f 15 2 11
+f 15 11 9
+f 16 11 5
+f 16 9 11
+f 16 14 9
+f 16 5 14
+f 17 12 1
+f 17 1 3
+f 17 3 12
+f 18 5 13
+f 18 14 5
+f 18 4 14
+f 19 14 4
+f 19 4 10
+f 19 10 15
+f 19 15 9
+f 20 15 10
+f 20 10 6
+f 20 6 7
+f 20 7 15
+f 21 18 13
+f 21 13 4
+f 21 4 18
+f 22 19 9
+f 22 9 14
+f 22 14 19
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_3/collision/model_normalized_collision_2.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_3/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b001150e76d6ed51f1d0ae9a15a0da61159f944e
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_3/collision/model_normalized_collision_2.obj
@@ -0,0 +1,123 @@
+# https://github.com/mikedh/trimesh
+v 0.03221070 -0.48834038 0.01664774
+v 0.13561117 -0.40088529 -0.01537080
+v 0.13606733 -0.39907123 0.02201247
+v -0.17611103 -0.39531081 0.01770057
+v -0.09047306 -0.47906720 -0.02024613
+v -0.06670431 -0.38426552 0.01591679
+v -0.07858603 -0.48296273 0.02188978
+v 0.10478233 -0.46511997 0.01915927
+v -0.15439014 -0.40045768 -0.02266760
+v -0.11471275 -0.38803147 0.02312795
+v -0.04779543 -0.49709306 -0.01996811
+v -0.13016363 -0.46638107 0.01795892
+v 0.12817429 -0.43966411 0.01524276
+v 0.03466088 -0.48220427 0.02093382
+v 0.12259721 -0.40121996 -0.02274303
+v -0.17695108 -0.39590824 -0.01097274
+v -0.10997674 -0.38496649 0.02203860
+v 0.11944611 -0.43863211 0.02302514
+v -0.16743764 -0.39981227 0.02350484
+v -0.07335342 -0.48712984 0.01789892
+v 0.00818519 -0.49532771 -0.02011801
+v -0.07457200 -0.49014237 -0.01755310
+v 0.10310956 -0.46300029 -0.01468894
+v 0.09443195 -0.46819634 0.02077941
+v -0.15695318 -0.43380117 0.01927826
+v -0.13023275 -0.45214508 -0.01907069
+v 0.13099582 -0.41220104 0.02292040
+v -0.12216949 -0.46638844 0.02011857
+v 0.02938856 -0.49031169 -0.01572018
+v -0.13111567 -0.46203889 -0.01287217
+v 0.12585473 -0.43981268 -0.01609757
+v 0.08071584 -0.47379817 0.01791990
+v -0.17091940 -0.40766218 0.01512910
+v -0.16007662 -0.42744014 0.02009588
+v -0.14882800 -0.42523290 -0.02066804
+v 0.07999071 -0.47243386 -0.01447087
+v -0.11780091 -0.46406036 -0.01826536
+v -0.15451786 -0.43386696 -0.00142151
+v 0.12332105 -0.43979001 -0.01902546
+v -0.16994923 -0.40527428 -0.01324454
+v -0.13944200 -0.44937877 -0.01426887
+v 0.10752012 -0.45291517 -0.01963707
+f 6 3 2
+f 11 5 9
+f 13 2 3
+f 14 7 1
+f 15 9 6
+f 15 6 2
+f 16 6 9
+f 17 10 3
+f 17 3 6
+f 17 6 16
+f 17 16 4
+f 18 7 14
+f 18 8 13
+f 19 7 18
+f 19 17 4
+f 19 10 17
+f 20 11 1
+f 20 1 7
+f 20 7 12
+f 21 1 11
+f 21 11 9
+f 21 9 15
+f 22 5 11
+f 22 20 12
+f 22 11 20
+f 24 14 1
+f 24 18 14
+f 24 8 18
+f 27 3 10
+f 27 19 18
+f 27 10 19
+f 27 18 13
+f 27 13 3
+f 28 12 7
+f 28 7 19
+f 28 25 12
+f 29 1 21
+f 30 22 12
+f 30 5 22
+f 30 12 25
+f 31 13 8
+f 31 8 23
+f 31 2 13
+f 32 24 1
+f 32 8 24
+f 32 1 29
+f 33 4 16
+f 33 16 25
+f 34 19 4
+f 34 33 25
+f 34 4 33
+f 34 28 19
+f 34 25 28
+f 35 9 5
+f 35 5 26
+f 36 23 8
+f 36 32 29
+f 36 8 32
+f 36 29 21
+f 36 21 23
+f 37 30 26
+f 37 26 5
+f 37 5 30
+f 38 30 25
+f 38 25 16
+f 39 15 2
+f 39 2 31
+f 39 31 23
+f 40 16 9
+f 40 9 35
+f 40 38 16
+f 41 35 26
+f 41 26 30
+f 41 40 35
+f 41 30 38
+f 41 38 40
+f 42 21 15
+f 42 15 39
+f 42 39 23
+f 42 23 21
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_3/collision/model_normalized_collision_20.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_3/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..47fc4bd6910010a76836a6e54fb1b8ca13e50249
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_3/collision/model_normalized_collision_20.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.15202627 -0.33846218 0.01608956
+v 0.18045532 -0.26211819 -0.01388868
+v 0.18403318 -0.26331374 0.01235675
+v 0.05849598 -0.26577043 0.00660817
+v 0.05409646 -0.34063329 -0.02680428
+v 0.17310422 -0.28752640 0.01356966
+v 0.15742717 -0.33612379 -0.00215927
+v 0.05557757 -0.34149026 0.00467942
+v 0.05398769 -0.26525911 -0.02684534
+v 0.15831079 -0.33616013 0.00627968
+v 0.15064941 -0.33832288 -0.01837277
+v 0.07340175 -0.34297449 0.00950729
+v 0.17161165 -0.28805618 -0.01382809
+v 0.15955028 -0.26453249 -0.02383832
+v 0.16905606 -0.26249220 -0.02231469
+v 0.16591274 -0.29072588 -0.01856507
+f 3 2 4
+f 6 1 3
+f 6 3 4
+f 6 4 1
+f 7 2 3
+f 9 4 2
+f 9 8 4
+f 9 5 8
+f 10 7 3
+f 10 3 1
+f 11 10 1
+f 11 7 10
+f 12 1 4
+f 12 4 8
+f 12 11 1
+f 12 8 5
+f 12 5 11
+f 13 11 2
+f 13 2 7
+f 13 7 11
+f 14 11 5
+f 14 5 9
+f 15 14 9
+f 15 9 2
+f 15 11 14
+f 16 15 2
+f 16 2 11
+f 16 11 15
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_3/collision/model_normalized_collision_21.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_3/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a4b2e27e3b889c1a8b782aa7e6325920bfbe6a0
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_3/collision/model_normalized_collision_21.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v -0.17032637 -0.40011768 0.02096181
+v -0.16856058 -0.39957850 -0.01667912
+v -0.17382719 -0.34131322 0.02629743
+v -0.20492298 -0.33718396 0.01872220
+v -0.18870000 -0.37873293 -0.00799854
+v -0.19479455 -0.33894478 0.02433609
+v -0.16815804 -0.38503819 0.02463633
+v -0.17695108 -0.39590824 -0.01097274
+v -0.20145882 -0.34914639 0.01899769
+v -0.17147197 -0.34076254 -0.02273921
+v -0.19205141 -0.36439845 0.02050340
+v -0.17611103 -0.39531081 0.01770057
+v -0.20135993 -0.34953172 -0.00240684
+v -0.18429883 -0.33984751 -0.02120824
+v -0.18009261 -0.38313935 0.02100933
+v -0.18722107 -0.37677270 0.01547371
+v -0.17038182 -0.36962668 -0.02190203
+v -0.17916611 -0.36880355 -0.02002065
+v -0.20472119 -0.33730389 -0.00228875
+f 6 3 4
+f 7 1 2
+f 7 3 6
+f 8 5 2
+f 8 2 1
+f 9 6 4
+f 10 7 2
+f 10 3 7
+f 10 4 3
+f 11 6 9
+f 12 8 1
+f 12 5 8
+f 12 1 11
+f 12 11 9
+f 13 9 4
+f 13 5 9
+f 15 11 1
+f 15 1 7
+f 15 7 6
+f 15 6 11
+f 16 12 9
+f 16 9 5
+f 16 5 12
+f 17 14 10
+f 17 10 2
+f 18 2 5
+f 18 17 2
+f 18 14 17
+f 19 13 4
+f 19 4 10
+f 19 10 14
+f 19 14 18
+f 19 18 5
+f 19 5 13
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_3/collision/model_normalized_collision_22.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_3/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f61c902151db03cceef7f04d306e768685d992e2
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_3/collision/model_normalized_collision_22.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v -0.15700119 0.09860694 0.02671312
+v -0.15836510 0.09806973 -0.02189338
+v -0.15760975 0.35622545 -0.02301762
+v -0.15749330 0.35589979 0.02664830
+v -0.21625285 0.14595779 0.01904008
+v -0.20378771 0.10336025 0.01690768
+v -0.20903329 0.13298366 0.02117924
+v -0.20738339 0.33722899 -0.02047463
+v -0.20833083 0.14462258 -0.01854838
+v -0.20215040 0.10244291 -0.01338509
+v -0.20758991 0.32322340 0.02053476
+v -0.19320834 0.10220089 0.02238444
+v -0.19838701 0.34958305 -0.01839570
+v -0.19501054 0.10278458 -0.01951641
+v -0.21412647 0.32041488 -0.01469676
+v -0.21432171 0.14863259 -0.01186281
+v -0.20168391 0.34628569 0.01854274
+v -0.21619986 0.29171527 0.01808071
+v -0.19495413 0.34853568 0.02064654
+v -0.20307298 0.34455675 -0.01662156
+v -0.21546846 0.31912719 -0.00485871
+f 1 2 3
+f 1 3 4
+f 7 1 4
+f 7 5 6
+f 8 3 2
+f 10 2 1
+f 10 6 5
+f 11 7 4
+f 11 5 7
+f 12 7 6
+f 12 1 7
+f 12 10 1
+f 12 6 10
+f 13 4 3
+f 13 3 8
+f 14 9 8
+f 14 8 2
+f 14 10 9
+f 14 2 10
+f 15 8 9
+f 16 10 5
+f 16 9 10
+f 16 15 9
+f 18 5 11
+f 19 17 11
+f 19 11 4
+f 19 4 13
+f 19 13 17
+f 20 17 13
+f 20 13 8
+f 20 8 17
+f 21 11 17
+f 21 18 11
+f 21 15 16
+f 21 16 5
+f 21 5 18
+f 21 17 8
+f 21 8 15
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_3/collision/model_normalized_collision_23.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_3/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..585e208ff3e589a08a1da6be591d39e1b10ec120
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_3/collision/model_normalized_collision_23.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.08578735 0.23490905 0.02407895
+v 0.08493180 0.23481220 -0.02057408
+v 0.08530275 0.35590871 -0.01665754
+v 0.00939735 0.35628256 0.02789996
+v 0.00909234 0.23511247 0.02117285
+v 0.08479693 0.35758178 0.02610691
+v 0.00907092 0.23484357 -0.02150503
+v 0.00917176 0.25158767 0.02278389
+v 0.00865864 0.35561290 -0.01494330
+v 0.07069722 0.23491295 0.02311649
+f 1 2 3
+f 6 1 3
+f 6 4 1
+f 7 3 2
+f 8 5 1
+f 8 1 4
+f 8 4 5
+f 9 6 3
+f 9 4 6
+f 9 3 7
+f 9 7 5
+f 9 5 4
+f 10 1 5
+f 10 5 7
+f 10 7 2
+f 10 2 1
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_3/collision/model_normalized_collision_24.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_3/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..185ddbbac89410b2b60b202df2a4da2367d391c7
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_3/collision/model_normalized_collision_24.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.07016726 0.09872613 0.02015220
+v 0.06963065 0.09841924 -0.02385734
+v 0.06992139 0.23475980 -0.01911964
+v -0.05161230 0.23491685 0.02290899
+v -0.05235356 0.09847057 0.01429329
+v 0.06973476 0.23485180 0.02305486
+v -0.05074745 0.23443653 -0.02273509
+v 0.06944508 0.21813774 -0.02067059
+v -0.05046621 0.09851459 -0.02517943
+f 1 2 3
+f 5 2 1
+f 5 1 4
+f 6 1 3
+f 6 3 4
+f 6 4 1
+f 7 5 4
+f 7 4 3
+f 8 7 3
+f 8 3 2
+f 8 2 7
+f 9 7 2
+f 9 2 5
+f 9 5 7
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_3/collision/model_normalized_collision_25.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_3/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..11ed2a2ea2ea5c828345e0e51b4d5e6e141443e7
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_3/collision/model_normalized_collision_25.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.00591220 -0.40129627 0.00985277
+v -0.00584551 -0.40133156 -0.02612225
+v -0.00586864 -0.34055566 -0.02834289
+v -0.17126389 -0.34035891 0.02604851
+v -0.17580570 -0.40314060 0.01030022
+v -0.00609776 -0.34183247 -0.00237371
+v -0.17147197 -0.34076254 -0.02273921
+v -0.16670992 -0.39800799 -0.01887801
+f 1 2 3
+f 5 2 1
+f 5 1 4
+f 6 1 3
+f 6 3 4
+f 6 4 1
+f 7 3 2
+f 7 5 4
+f 7 4 3
+f 8 7 2
+f 8 2 5
+f 8 5 7
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_3/collision/model_normalized_collision_26.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_3/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea57dcacec6336ca5888d9e177e2e0bbd8808a4b
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_3/collision/model_normalized_collision_26.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.20963388 0.28146486 0.00820196
+v 0.20933121 0.28034849 -0.02036634
+v 0.20857034 0.35526252 0.00791632
+v 0.13033706 0.35407740 0.02556327
+v 0.13214781 0.28124019 0.02478948
+v 0.13208542 0.35592134 -0.02221336
+v 0.20918092 0.35127850 -0.02074029
+v 0.13157464 0.27982552 -0.02347782
+f 1 3 4
+f 5 2 1
+f 5 1 4
+f 6 4 3
+f 7 1 2
+f 7 3 1
+f 7 6 3
+f 8 5 4
+f 8 4 6
+f 8 2 5
+f 8 7 2
+f 8 6 7
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_3/collision/model_normalized_collision_27.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_3/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6897b9a41531e3f9cd80512b36d622eb43ed992d
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_3/collision/model_normalized_collision_27.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.08479693 0.35758178 0.02610691
+v 0.08530275 0.35590871 -0.01665754
+v 0.08504708 0.41706454 -0.01861627
+v -0.02100873 0.41655517 0.02773746
+v -0.02133408 0.35672989 0.02814321
+v 0.08463482 0.41637238 0.02743747
+v -0.02152532 0.35574047 -0.01683477
+v -0.02176907 0.41698154 -0.01703543
+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/Assets/robocasa/data/objects/objaverse/steak/steak_3/collision/model_normalized_collision_28.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_3/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed1886ae43ec21fcbbe3d5d4c48348711cbb2068
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_3/collision/model_normalized_collision_28.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.20189552 0.23280303 0.00926180
+v 0.20243587 0.23551977 0.00854453
+v 0.20733330 0.36395159 0.01870045
+v 0.18827439 0.39931786 0.02092914
+v 0.18996944 0.40096213 0.00862817
+v 0.18939697 0.23522428 0.02469790
+v 0.20489902 0.25413342 0.01944125
+v 0.20612178 0.36664914 0.00935936
+v 0.19270887 0.39433564 0.02070081
+v 0.18656837 0.38406236 0.02531513
+v 0.20569296 0.25288289 0.00796063
+v 0.19999421 0.23731310 0.01969318
+v 0.19336449 0.39472053 0.00786994
+v 0.19519071 0.38183613 0.02249449
+f 5 2 1
+f 6 5 1
+f 7 3 6
+f 9 5 4
+f 10 4 5
+f 10 5 6
+f 10 9 4
+f 10 6 3
+f 11 7 1
+f 11 1 2
+f 11 8 3
+f 11 3 7
+f 12 7 6
+f 12 6 1
+f 12 1 7
+f 13 3 8
+f 13 9 3
+f 13 5 9
+f 13 8 11
+f 13 11 2
+f 13 2 5
+f 14 10 3
+f 14 3 9
+f 14 9 10
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_3/collision/model_normalized_collision_29.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_3/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8dca42f4fa822ae0bb5fef00d967afe7d07e9c31
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_3/collision/model_normalized_collision_29.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.09999897 -0.00757023 0.02305695
+v 0.09992191 -0.00756309 -0.02380189
+v 0.09999239 0.09851415 0.02259972
+v -0.09767134 0.09844390 0.01915356
+v -0.09704277 -0.00762368 0.02342420
+v 0.09999485 0.09841635 -0.02377393
+v -0.09544121 -0.00765978 -0.02165484
+v -0.09553894 0.09852527 -0.02103104
+f 5 1 3
+f 5 3 4
+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 4 3
+f 8 3 6
+f 8 7 4
+f 8 6 7
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_3/collision/model_normalized_collision_3.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_3/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cbaca3b159125e5e40d5338c7368ac2bc075ad01
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_3/collision/model_normalized_collision_3.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.00909234 0.23511247 0.02117285
+v 0.00797114 0.23387704 -0.02164786
+v 0.00865864 0.35561290 -0.01494330
+v -0.15749330 0.35589979 0.02664830
+v -0.11107547 0.23503232 0.02487269
+v -0.15760975 0.35622545 -0.02301762
+v 0.00939735 0.35628256 0.02789996
+v -0.09820947 0.35644599 -0.02106810
+v -0.15898590 0.28033730 0.02529938
+v -0.11221163 0.23482177 -0.02057462
+v 0.00917176 0.25158767 0.02278389
+v -0.02217453 0.29453687 -0.02037666
+v -0.15745441 0.28022648 -0.02324672
+v -0.08075648 0.23422033 -0.02084550
+f 1 2 3
+f 5 2 1
+f 7 4 5
+f 8 2 6
+f 8 7 3
+f 8 6 4
+f 8 4 7
+f 9 5 4
+f 9 4 6
+f 10 5 9
+f 11 1 3
+f 11 3 7
+f 11 7 5
+f 11 5 1
+f 12 8 3
+f 12 3 2
+f 12 2 8
+f 13 6 2
+f 13 10 9
+f 13 9 6
+f 14 2 5
+f 14 5 10
+f 14 13 2
+f 14 10 13
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_3/collision/model_normalized_collision_30.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_3/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b15b0d35a6b78067e48e7783f89f202f9f269d58
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_3/collision/model_normalized_collision_30.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.05412653 -0.40066523 0.01139616
+v 0.05409134 -0.40132328 -0.02539905
+v 0.05519478 -0.26525512 0.00583158
+v -0.00680056 -0.26533392 0.00142516
+v -0.00591220 -0.40129627 0.00985277
+v 0.05398769 -0.26525911 -0.02684534
+v -0.00584551 -0.40133156 -0.02612225
+v -0.00605104 -0.26537197 -0.02798904
+f 1 2 3
+f 5 2 1
+f 5 1 3
+f 5 3 4
+f 6 3 2
+f 6 4 3
+f 7 5 4
+f 7 2 5
+f 8 6 2
+f 8 2 7
+f 8 7 4
+f 8 4 6
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_3/collision/model_normalized_collision_31.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_3/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc76fff7bab429cd1361dc60a1d7e97327398cc9
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_3/collision/model_normalized_collision_31.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v -0.11446431 -0.40302221 0.02466044
+v -0.10972830 -0.39995722 0.02357109
+v -0.11264784 -0.34051843 0.01976053
+v -0.17126389 -0.34035891 0.02604851
+v -0.17580570 -0.40314060 0.01030022
+v -0.12912980 -0.34130635 0.02162880
+v -0.16743764 -0.39981227 0.02350484
+v -0.11080599 -0.34192317 0.01939770
+v -0.17382719 -0.34131322 0.02629743
+f 1 2 3
+f 5 2 1
+f 5 4 3
+f 6 1 3
+f 6 3 4
+f 6 4 1
+f 7 5 1
+f 8 5 3
+f 8 3 2
+f 8 2 5
+f 9 7 1
+f 9 1 4
+f 9 4 5
+f 9 5 7
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_3/collision/model_normalized_collision_4.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_3/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..38e682dc65c6006fc4a9d51673fc72800aa5f557
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_3/collision/model_normalized_collision_4.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v 0.15304484 0.09853433 0.02397799
+v 0.20421142 0.24148703 -0.01595537
+v 0.19146711 0.28035792 0.02475824
+v 0.08591268 0.28017874 0.02405854
+v 0.06963065 0.09841924 -0.02385734
+v 0.20262892 0.28093519 -0.02193967
+v 0.08580685 0.15915271 0.02377322
+v 0.18499238 0.17754810 0.02197644
+v 0.15279442 0.10165913 -0.01978751
+v 0.20963388 0.28146486 0.00820196
+v 0.08508249 0.28022252 -0.01897150
+v 0.07016726 0.09872613 0.02015220
+v 0.16216186 0.09977327 0.01712526
+v 0.18474691 0.17849237 -0.01822939
+v 0.21009121 0.28025931 -0.01920443
+v 0.20569296 0.25288289 0.00796063
+v 0.10155383 0.27972073 -0.02056894
+v 0.13091232 0.09865571 0.02341418
+v 0.07069722 0.23491295 0.02311649
+v 0.15822345 0.10164520 -0.01388574
+v 0.18787372 0.17926921 -0.00464683
+v 0.20369349 0.23810315 -0.00728904
+v 0.06944508 0.21813774 -0.02067059
+v 0.07070892 0.18945914 0.02293306
+v 0.18634199 0.17901785 0.01840007
+v 0.06992139 0.23475980 -0.01911964
+f 7 1 3
+f 7 3 4
+f 8 3 1
+f 9 1 5
+f 9 5 6
+f 10 3 8
+f 10 4 3
+f 11 10 6
+f 11 4 10
+f 12 5 1
+f 13 8 1
+f 14 9 6
+f 15 6 10
+f 15 14 6
+f 15 2 14
+f 16 10 8
+f 16 15 10
+f 17 11 6
+f 17 6 5
+f 18 12 1
+f 18 1 7
+f 18 7 12
+f 19 7 4
+f 19 4 11
+f 20 13 1
+f 20 1 9
+f 20 9 14
+f 21 14 2
+f 21 20 14
+f 21 13 20
+f 22 2 15
+f 22 15 16
+f 22 21 2
+f 23 17 5
+f 23 11 17
+f 23 5 12
+f 23 12 19
+f 24 19 12
+f 24 12 7
+f 24 7 19
+f 25 8 13
+f 25 13 21
+f 25 21 22
+f 25 22 16
+f 25 16 8
+f 26 23 19
+f 26 19 11
+f 26 11 23
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_3/collision/model_normalized_collision_5.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_3/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..318f7c2448a4f3c924ba28dde32165fca54a5bed
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_3/collision/model_normalized_collision_5.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.13103052 -0.26515870 0.01608375
+v 0.13020840 -0.26521983 -0.02436785
+v 0.13059927 -0.08276802 0.01986018
+v -0.09707646 -0.08333213 0.02333178
+v -0.09795256 -0.26539521 0.01960021
+v -0.09575413 -0.08361942 -0.02230541
+v 0.13043101 -0.08358522 -0.02433904
+v -0.09635196 -0.26504618 -0.02379976
+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 7 6 3
+f 8 2 5
+f 8 5 6
+f 8 7 2
+f 8 6 7
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_3/collision/model_normalized_collision_6.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_3/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..68af85ab7cc7a86adefab49e18a04521cb68c54c
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_3/collision/model_normalized_collision_6.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v -0.00609776 -0.34183247 -0.00237371
+v -0.00586864 -0.34055566 -0.02834289
+v -0.00680056 -0.26533392 0.00142516
+v -0.21795411 -0.26422177 0.02188133
+v -0.20033839 -0.33835820 -0.01081350
+v -0.14411329 -0.34127012 0.02321510
+v -0.00605104 -0.26537197 -0.02798904
+v -0.05630600 -0.33924207 0.00772808
+v -0.15852823 -0.26479937 0.02347197
+v -0.19479455 -0.33894478 0.02433609
+v -0.18429883 -0.33984751 -0.02120824
+v -0.21665639 -0.26261893 -0.00112681
+v -0.03987330 -0.26548626 0.00667817
+v -0.20492298 -0.33718396 0.01872220
+v -0.21544990 -0.26500048 0.02228515
+v -0.19900750 -0.26383828 -0.02043644
+v -0.14270574 -0.29522947 0.02210142
+v -0.21707522 -0.27874526 0.02189449
+v -0.19990033 -0.27880043 -0.01900953
+v -0.21461099 -0.27746009 -0.00047697
+f 7 1 2
+f 7 3 1
+f 8 6 1
+f 8 1 3
+f 8 3 6
+f 10 6 9
+f 11 2 1
+f 11 1 6
+f 11 10 5
+f 11 6 10
+f 12 3 7
+f 12 9 3
+f 12 4 9
+f 13 6 3
+f 13 3 9
+f 14 5 10
+f 15 10 9
+f 15 9 4
+f 16 7 2
+f 16 2 11
+f 16 12 7
+f 17 13 9
+f 17 9 6
+f 17 6 13
+f 18 14 10
+f 18 4 12
+f 18 15 4
+f 18 10 15
+f 19 16 11
+f 19 11 5
+f 19 5 12
+f 19 12 16
+f 20 18 12
+f 20 12 5
+f 20 5 14
+f 20 14 18
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_3/collision/model_normalized_collision_7.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_3/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..38a5318565d1be36c0870e8590ea73a429fd661d
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_3/collision/model_normalized_collision_7.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.05235356 0.09847057 0.01429329
+v -0.05046621 0.09851459 -0.02517943
+v -0.05032805 0.23385573 0.02272355
+v -0.11107547 0.23503232 0.02487269
+v -0.11213015 0.09850867 -0.01992947
+v -0.05074745 0.23443653 -0.02273509
+v -0.11250738 0.09846067 0.02129782
+v -0.05289655 0.23597798 0.02309443
+v -0.11221163 0.23482177 -0.02057462
+v -0.11226493 0.22165856 0.02360393
+v -0.11328814 0.20414046 -0.02147003
+f 1 2 3
+f 6 3 2
+f 7 1 3
+f 7 5 2
+f 7 2 1
+f 8 3 6
+f 8 7 3
+f 8 4 7
+f 9 8 6
+f 9 4 8
+f 10 7 4
+f 10 4 9
+f 11 5 7
+f 11 10 9
+f 11 7 10
+f 11 2 5
+f 11 9 6
+f 11 6 2
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_3/collision/model_normalized_collision_8.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_3/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..08562ac9f23dece296df2eb32113a61ed55bf4a7
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_3/collision/model_normalized_collision_8.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.09840164 -0.00825039 0.02362660
+v -0.09697552 -0.00757623 -0.02149738
+v -0.09767134 0.09844390 0.01915356
+v -0.20378771 0.10336025 0.01690768
+v -0.20555620 -0.01118246 -0.01429377
+v -0.09692174 0.09848659 -0.02090367
+v -0.19320834 0.10220089 0.02238444
+v -0.19501054 0.10278458 -0.01951641
+v -0.12949194 0.09834148 0.02375065
+v -0.19670610 -0.00839843 0.02583754
+v -0.20215040 0.10244291 -0.01338509
+v -0.14325476 0.09804768 -0.02110491
+v -0.19564535 -0.00633806 -0.01885380
+v -0.20744125 -0.00838818 0.01954300
+v -0.14352563 -0.00767704 -0.02064546
+f 1 2 3
+f 5 2 1
+f 6 3 2
+f 6 4 3
+f 7 3 4
+f 8 4 6
+f 9 1 3
+f 9 3 7
+f 10 5 1
+f 10 9 7
+f 10 1 9
+f 10 7 4
+f 11 8 5
+f 11 4 8
+f 12 8 6
+f 12 6 2
+f 13 5 8
+f 14 10 4
+f 14 5 10
+f 14 11 5
+f 14 4 11
+f 15 2 5
+f 15 5 13
+f 15 12 2
+f 15 13 8
+f 15 8 12
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_3/collision/model_normalized_collision_9.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_3/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c93abb59f258e0ebac5691e59eb904d13d5af89c
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_3/collision/model_normalized_collision_9.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.20857034 0.35526252 0.00791632
+v 0.20933021 0.35164411 -0.01927314
+v 0.17298346 0.42015702 -0.01321674
+v 0.12502145 0.45596978 0.02327844
+v 0.13025110 0.35759696 0.02597798
+v 0.18041409 0.40814905 0.02133386
+v 0.19756529 0.38286551 -0.02002309
+v 0.18943613 0.35594131 0.02525499
+v 0.13208542 0.35592134 -0.02221336
+v 0.14557576 0.44775728 0.01772947
+v 0.20612178 0.36664914 0.00935936
+v 0.12848160 0.45469347 -0.02229473
+v 0.20382787 0.35489294 -0.02123417
+v 0.17403139 0.41709941 0.01753237
+v 0.13839275 0.45208871 0.02032190
+v 0.20453676 0.36501174 -0.01834086
+v 0.14512244 0.44920704 -0.02189866
+v 0.17521527 0.40716268 -0.02229105
+f 7 3 6
+f 8 5 2
+f 8 2 1
+f 8 6 4
+f 8 4 5
+f 9 5 4
+f 9 2 5
+f 11 1 2
+f 11 7 6
+f 11 8 1
+f 11 6 8
+f 12 9 4
+f 13 7 2
+f 13 2 9
+f 14 10 6
+f 14 6 3
+f 14 3 10
+f 15 4 6
+f 15 6 10
+f 15 12 4
+f 16 11 2
+f 16 2 7
+f 16 7 11
+f 17 3 7
+f 17 10 3
+f 17 15 10
+f 17 12 15
+f 18 13 9
+f 18 9 12
+f 18 12 17
+f 18 17 7
+f 18 7 13
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_3/model.xml b/Assets/robocasa/data/objects/objaverse/steak/steak_3/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..4ddf7a9dd3a94d193775a3d7b23d302aebd8f50e
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_3/model.xml
@@ -0,0 +1,34 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="steak_2">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.145 0.145 0.145" refquat="1.0 0.0 0.0 0.0" />
+    <texture type="2d" name="image0" file="visual/image0.png" />
+    <material name="BeafSteak" texture="image0" specular="0.5" shininess="0.0" />
+    <mesh file="collision/collision_mesh_collision_0.obj" name="steak_collision_mesh_0" scale="0.145 0.145 0.145" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/collision_mesh_collision_1.obj" name="steak_collision_mesh_1" scale="0.145 0.145 0.145" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/collision_mesh_collision_2.obj" name="steak_collision_mesh_2" scale="0.145 0.145 0.145" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/collision_mesh_collision_3.obj" name="steak_collision_mesh_3" scale="0.145 0.145 0.145" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/collision_mesh_collision_4.obj" name="steak_collision_mesh_4" scale="0.145 0.145 0.145" refquat="1.0 0.0 0.0 0.0" />
+    </asset>
+  <default>
+    <default class="region">
+      <geom group="1" conaffinity="0" contype="0" rgba="0 1 0 0" />
+      </default>
+    <default class="collision">
+      <geom group="0" rgba="0.5 0 0 0.5" density="1000.0" />
+      </default>
+    </default>
+  <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="BeafSteak" />
+        <geom class="region" name="reg_bbox" type="box" pos="0.00018591102499999977 -0.0002309088749999974 -1.4476800000000085e-05" size="0.03199144135 0.07161667595 0.004095242249999999" />
+        <geom mesh="steak_collision_mesh_0" type="mesh" class="collision" />
+        <geom mesh="steak_collision_mesh_1" type="mesh" class="collision" />
+        <geom mesh="steak_collision_mesh_2" type="mesh" class="collision" />
+        <geom mesh="steak_collision_mesh_3" type="mesh" class="collision" />
+        <geom mesh="steak_collision_mesh_4" type="mesh" class="collision" />
+        </body>
+      </body>
+    </worldbody>
+  </mujoco>
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_3/visual/material.mtl b/Assets/robocasa/data/objects/objaverse/steak/steak_3/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..3e963f5e154ef1e7766d3c2c065b16bfeea95307
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_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 0.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_3/visual/model_normalized_0.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_3/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..40397e3fb302ef857ffe69f335613f1a60255d07
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_3/visual/model_normalized_0.obj
@@ -0,0 +1,2084 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
+v -0.14216978 0.12693915 -0.02024004
+v -0.18729455 0.10334298 -0.02325660
+v -0.20100279 0.15113343 -0.02276860
+v -0.17698623 0.07323684 0.02550547
+v -0.19168725 0.10870638 0.02473635
+v -0.19936594 0.08856676 0.01569988
+v -0.15143473 0.23345043 -0.02357283
+v -0.10351007 0.18583332 -0.02121745
+v 0.13840985 0.29552793 -0.02357530
+v 0.05271814 0.26512489 -0.01635666
+v 0.06728341 0.39110431 -0.01385658
+v -0.20000496 0.05074610 0.02023732
+v -0.08632282 0.24938574 0.02691339
+v -0.14457430 0.20690251 0.02199784
+v -0.09855752 0.15028173 0.01440957
+v -0.09827920 0.10137974 0.01921660
+v -0.14390503 0.02033104 0.02656338
+v -0.07340312 0.03109498 0.01620422
+v -0.05371298 0.15128824 -0.02501648
+v -0.04562071 0.07840911 -0.02557364
+v -0.10928921 0.08387062 -0.01972776
+v -0.06337446 0.14585500 0.01517062
+v -0.03387114 0.11036555 0.01268584
+v -0.01629193 0.19296252 0.01690347
+v -0.16180131 0.15394799 0.02574227
+v -0.16920080 0.35782829 0.02653161
+v -0.17170365 0.27468539 0.02657853
+v -0.13918358 0.27367387 0.02326904
+v -0.04090848 0.31152055 0.02555605
+v -0.03895711 0.27033390 0.02433418
+v 0.03730748 0.32364904 -0.01529570
+v -0.03479855 0.26645509 -0.02268390
+v -0.06372970 0.36810312 -0.01865772
+v 0.05505662 0.24234012 0.02214901
+v 0.07551503 0.31853340 0.02299067
+v 0.02894744 0.31375354 0.02761531
+v 0.15261798 0.35767788 0.02592318
+v 0.18134033 0.39094715 0.02580926
+v 0.15203073 0.42260481 0.02612023
+v 0.07845733 0.12878984 0.02318142
+v -0.09649613 0.26310001 -0.01863754
+v 0.09532770 0.18708924 -0.02330192
+v 0.00855519 0.18607213 -0.02468361
+v 0.12185125 0.12620842 0.02335372
+v 0.11754094 0.28424861 0.02630417
+v -0.19280037 0.02068344 0.02590065
+v -0.12049861 0.36881137 -0.02311589
+v -0.15337107 0.11457867 0.02704517
+v -0.20397746 0.13975066 0.02536623
+v -0.18936823 0.21826741 0.02646841
+v 0.12913779 0.32751476 0.02243879
+v 0.15803176 0.24034087 0.02417994
+v 0.03500804 0.38226756 0.02915702
+v 0.15319830 0.12903658 0.02400132
+v 0.14735788 0.42001555 -0.02348855
+v 0.09293864 0.45995917 0.02618771
+v -0.04051516 0.46009399 -0.02225902
+v 0.18743469 0.32269244 0.02575504
+v 0.01260475 0.39959373 -0.01172855
+v -0.07052361 0.33912878 0.02754685
+v -0.06322684 0.45318371 0.02656103
+v -0.11096215 0.43069500 0.02604062
+v -0.00719597 0.48080509 0.02568128
+v 0.06094673 0.48746939 0.02547938
+v 0.01695504 0.47127487 -0.02099913
+v 0.03549493 0.48922167 0.02448492
+v -0.04759560 0.47200655 -0.02196553
+v -0.06546099 -0.02778975 0.02145018
+v -0.03067852 -0.07791476 0.01201852
+v 0.00047564 -0.02041993 0.01796399
+v -0.21343830 -0.26737691 -0.00898364
+v -0.20898146 -0.32420082 0.00016671
+v -0.21442618 -0.29650213 0.00803547
+v -0.08506801 -0.48117612 0.02164817
+v -0.11330781 -0.47625019 0.00924731
+v -0.08304092 -0.48891087 -0.00194533
+v 0.21454116 -0.09106196 -0.02034922
+v 0.19658775 -0.06782881 -0.02283092
+v 0.19951007 -0.05039037 -0.01693540
+v 0.22152109 -0.09743955 0.01692365
+v 0.21023721 -0.06243976 0.01350645
+v 0.19345696 -0.07350283 0.02603109
+v 0.03957442 -0.03419593 0.01604552
+v 0.09079247 0.01618138 0.02306684
+v 0.10015893 0.06398186 0.02180597
+v 0.04511210 0.04852390 0.01363338
+v -0.02538489 -0.00372922 0.01994627
+v 0.00868805 0.08036269 0.01533949
+v -0.02563444 -0.48433472 0.02591922
+v 0.04682481 -0.46996027 0.02467801
+v 0.02223715 -0.44990612 0.02400083
+v -0.15051964 -0.44425927 0.00840535
+v -0.13111567 -0.46203889 -0.01287217
+v -0.13016363 -0.46638107 0.01795892
+v 0.04812674 -0.48209472 0.01748342
+v 0.08131120 -0.47209612 0.02283320
+v 0.09933676 -0.45718009 -0.02098651
+v 0.12233882 -0.43287139 -0.02221721
+v 0.12396748 -0.44434331 -0.01692490
+v -0.17718281 0.04277695 -0.02260196
+v -0.10997280 -0.47597755 -0.01504829
+v -0.09723008 -0.47359984 -0.02200709
+v -0.06645666 -0.49338954 -0.01812731
+v 0.09390226 -0.25625126 -0.02455385
+v 0.12175119 -0.31071310 -0.02467405
+v 0.02054464 -0.30880584 -0.02915702
+v 0.20565102 0.32585338 -0.02316105
+v 0.19221003 0.25732415 -0.02333750
+v 0.20445625 -0.17574327 0.02445888
+v 0.19918883 -0.22089152 0.01806134
+v 0.21246622 -0.18567563 0.00335429
+v 0.20997901 0.27233860 -0.01987440
+v 0.20514489 0.24368149 -0.01572638
+v 0.01551193 -0.37204953 0.00284301
+v 0.07818734 -0.36546786 0.01398010
+v 0.03258463 -0.32153430 -0.00414226
+v 0.18761176 -0.24614623 0.01296419
+v 0.17663864 -0.23981002 0.02182582
+v 0.16969843 -0.27036971 0.01977137
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+f 357/357/357 345/345/345 358/358/358
+f 344/344/344 343/343/343 64/64/64
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+f 185/185/185 73/73/73 186/186/186
+f 347/347/347 317/317/317 61/61/61
+f 356/356/356 357/357/357 354/354/354
+f 316/316/316 326/326/326 321/321/321
+f 140/140/140 186/186/186 223/223/223
+f 366/366/366 375/375/375 367/367/367
+f 365/365/365 346/346/346 63/63/63
+f 183/183/183 182/182/182 181/181/181
+f 53/53/53 56/56/56 64/64/64
+f 57/57/57 67/67/67 311/311/311
+f 260/260/260 338/338/338 107/107/107
+f 332/332/332 339/339/339 340/340/340
+f 377/377/377 378/378/378 376/376/376
+f 379/379/379 179/179/179 377/377/377
+f 317/317/317 347/347/347 318/318/318
+f 299/299/299 301/301/301 199/199/199
+f 377/377/377 181/181/181 378/378/378
+f 310/310/310 312/312/312 364/364/364
+f 348/348/348 349/349/349 380/380/380
+f 373/373/373 301/301/301 300/300/300
+f 379/379/379 381/381/381 360/360/360
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+f 199/199/199 46/46/46 299/299/299
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+f 374/374/374 199/199/199 301/301/301
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+f 300/300/300 360/360/360 381/381/381
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+f 376/376/376 348/348/348 380/380/380
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+f 121/121/121 372/372/372 100/100/100
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+f 66/66/66 365/365/365 63/63/63
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+f 346/346/346 312/312/312 318/318/318
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+f 200/200/200 374/374/374 370/370/370
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+f 47/47/47 331/331/331 67/67/67
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+f 189/189/189 131/131/131 82/82/82
+f 331/331/331 387/387/387 329/329/329
+f 67/67/67 369/369/369 335/335/335
+f 382/382/382 361/361/361 363/363/363
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+f 352/352/352 358/358/358 345/345/345
+f 335/335/335 319/319/319 318/318/318
+f 329/329/329 387/387/387 385/385/385
+f 218/218/218 220/220/220 303/303/303
+f 131/131/131 189/189/189 188/188/188
+f 382/382/382 12/12/12 6/6/6
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+f 383/383/383 6/6/6 388/388/388
+f 368/368/368 67/67/67 331/331/331
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+f 331/331/331 389/389/389 387/387/387
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+f 330/330/330 368/368/368 331/331/331
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+f 330/330/330 392/392/392 319/319/319
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+f 237/237/237 44/44/44 85/85/85
+f 334/334/334 324/324/324 308/308/308
+f 357/357/357 364/364/364 345/345/345
+f 362/362/362 265/265/265 322/322/322
+f 54/54/54 308/308/308 324/324/324
+f 333/333/333 306/306/306 362/362/362
+f 39/39/39 38/38/38 350/350/350
+f 335/335/335 369/369/369 319/319/319
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+f 193/193/193 251/251/251 195/195/195
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+f 239/239/239 225/225/225 230/230/230
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+f 191/191/191 190/190/190 183/183/183
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+f 403/403/403 400/400/400 410/410/410
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+f 414/414/414 62/62/62 417/417/417
+f 30/30/30 36/36/36 29/29/29
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_4/collision/collision_mesh_collision_0.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_4/collision/collision_mesh_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2a4e8108cc5f7bda60c9c33416630692009bb492
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_4/collision/collision_mesh_collision_0.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
+v 0.40432692 -0.03021503 -0.09185605
+v 0.40432692 0.03021503 -0.09185605
+v 0.41852170 -0.03021503 -0.09089166
+v 0.19848797 -0.03021503 -0.08724374
+v 0.19848797 0.03021503 -0.08724374
+v 0.41852170 0.03021503 -0.09089166
+v 0.47724852 -0.03021503 -0.07667737
+v 0.19848797 -0.03021503 0.12232254
+v 0.19848797 0.03021503 0.12232254
+v 0.47724852 0.03021503 -0.07667737
+v 0.48861024 -0.03021503 -0.06816559
+v 0.38824344 -0.03021503 0.09089599
+v 0.38824344 0.03021503 0.09089599
+v 0.48861024 0.03021503 -0.06816559
+v 0.49902761 -0.03021503 -0.05680254
+v 0.40243822 -0.03021503 0.08806571
+v 0.40243822 0.03021503 0.08806571
+v 0.49902761 0.03021503 -0.05680254
+v 0.49997196 -0.03021503 -0.04166580
+v 0.41663301 -0.03021503 0.08238419
+v 0.41663301 0.03021503 0.08238419
+v 0.49997196 0.03021503 -0.04166580
+v 0.47441548 -0.03021503 0.01328350
+v 0.42802423 -0.03021503 0.07102115
+v 0.42802423 0.03021503 0.07102115
+v 0.47441548 0.03021503 0.01328350
+f 1 2 6
+f 1 6 3
+f 1 3 7
+f 1 7 11
+f 1 11 15
+f 1 15 19
+f 1 19 23
+f 1 23 24
+f 1 24 20
+f 1 20 16
+f 1 16 12
+f 1 12 8
+f 1 8 4
+f 1 4 5
+f 1 5 2
+f 2 5 9
+f 2 9 13
+f 2 13 17
+f 2 17 21
+f 2 21 25
+f 2 25 26
+f 2 26 22
+f 2 22 18
+f 2 18 14
+f 2 14 10
+f 2 10 6
+f 3 6 10
+f 3 10 7
+f 4 8 9
+f 4 9 5
+f 7 10 14
+f 7 14 11
+f 8 12 13
+f 8 13 9
+f 11 14 18
+f 11 18 15
+f 12 16 17
+f 12 17 13
+f 15 18 22
+f 15 22 19
+f 16 20 21
+f 16 21 17
+f 19 22 26
+f 19 26 23
+f 20 24 25
+f 20 25 21
+f 23 26 25
+f 23 25 24
+
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_4/collision/collision_mesh_collision_1.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_4/collision/collision_mesh_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df1deaabd420a4decf38e73be84f73e452a14cd7
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_4/collision/collision_mesh_collision_1.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v -0.21583483 -0.03021503 -0.14924777
+v -0.21583483 -0.03021503 0.10698534
+v -0.21583483 0.03021503 -0.14924777
+v -0.10506558 -0.03021503 -0.14770722
+v -0.21583483 0.03021503 0.10698534
+v -0.12589732 -0.03021503 0.13918853
+v -0.10506558 0.03021503 -0.14770722
+v -0.06153200 -0.03021503 -0.14296710
+v -0.12589732 0.03021503 0.13918853
+v -0.05392123 -0.03021503 0.15340889
+v -0.06153200 0.03021503 -0.14296710
+v 0.07002553 -0.03021503 -0.12214021
+v -0.05392123 0.03021503 0.15340889
+v -0.03878668 -0.03021503 0.15340889
+v 0.07002553 0.03021503 -0.12214021
+v 0.22845992 -0.03021503 -0.08724108
+v -0.03878668 0.03021503 0.15340889
+v 0.13630441 -0.03021503 0.14392865
+v 0.22845992 0.03021503 -0.08724108
+v 0.22845992 -0.03021503 0.12230185
+v 0.13630441 0.03021503 0.14392865
+v 0.15143898 -0.03021503 0.14203259
+v 0.22845992 0.03021503 0.12230185
+v 0.15143898 0.03021503 0.14203259
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 4
+f 1 4 8
+f 1 8 12
+f 1 12 16
+f 1 16 20
+f 1 20 22
+f 1 22 18
+f 1 18 14
+f 1 14 10
+f 1 10 6
+f 1 6 2
+f 2 6 9
+f 2 9 5
+f 3 5 9
+f 3 9 13
+f 3 13 17
+f 3 17 21
+f 3 21 24
+f 3 24 23
+f 3 23 19
+f 3 19 15
+f 3 15 11
+f 3 11 7
+f 4 7 11
+f 4 11 8
+f 6 10 13
+f 6 13 9
+f 8 11 15
+f 8 15 12
+f 10 14 17
+f 10 17 13
+f 12 15 19
+f 12 19 16
+f 14 18 21
+f 14 21 17
+f 16 19 23
+f 16 23 20
+f 18 22 24
+f 18 24 21
+f 20 23 24
+f 20 24 22
+
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_4/collision/collision_mesh_collision_2.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_4/collision/collision_mesh_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6055717a72fb7d53697e8c1784fe9a3fc472ccee
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_4/collision/collision_mesh_collision_2.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v -0.26422238 -0.03021503 -0.15340889
+v -0.27846068 -0.03021503 -0.15146081
+v -0.26422238 0.03021503 -0.15340889
+v -0.25001484 -0.03021503 -0.15340889
+v -0.27846068 0.03021503 -0.15146081
+v -0.32342049 -0.03021503 -0.14391547
+v -0.25001484 0.03021503 -0.15340889
+v -0.18583487 -0.03021503 -0.14923836
+v -0.32342049 0.03021503 -0.14391547
+v -0.35364997 -0.03021503 -0.13680914
+v -0.18583487 0.03021503 -0.14923836
+v -0.18583487 -0.03021503 0.10700146
+v -0.35364997 0.03021503 -0.13680914
+v -0.36834955 -0.03021503 -0.13159598
+v -0.18583487 0.03021503 0.10700146
+v -0.24340311 -0.03021503 0.11740032
+v -0.36834955 0.03021503 -0.13159598
+v -0.38301840 -0.03021503 -0.12498352
+v -0.24340311 0.03021503 0.11740032
+v -0.30306250 -0.03021503 0.12689373
+v -0.38301840 0.03021503 -0.12498352
+v -0.39676467 -0.03021503 -0.11834362
+v -0.30306250 0.03021503 0.12689373
+v -0.39107549 -0.03021503 0.12307990
+v -0.39676467 0.03021503 -0.11834362
+v -0.41048017 -0.03021503 -0.11074340
+v -0.39107549 0.03021503 0.12307990
+v -0.48102587 -0.03021503 0.03313942
+v -0.41048017 0.03021503 -0.11074340
+v -0.47299951 -0.03021503 -0.06484029
+v -0.48102587 0.03021503 0.03313942
+v -0.49428010 -0.03021503 0.00850045
+v -0.47299951 0.03021503 -0.06484029
+v -0.48480839 -0.03021503 -0.05586819
+v -0.49428010 0.03021503 0.00850045
+v -0.50000000 -0.03021503 -0.00475192
+v -0.48480839 0.03021503 -0.05586819
+v -0.50000000 0.03021503 -0.00475192
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 4
+f 1 4 8
+f 1 8 12
+f 1 12 16
+f 1 16 20
+f 1 20 24
+f 1 24 28
+f 1 28 32
+f 1 32 36
+f 1 36 34
+f 1 34 30
+f 1 30 26
+f 1 26 22
+f 1 22 18
+f 1 18 14
+f 1 14 10
+f 1 10 6
+f 1 6 2
+f 2 6 9
+f 2 9 5
+f 3 5 9
+f 3 9 13
+f 3 13 17
+f 3 17 21
+f 3 21 25
+f 3 25 29
+f 3 29 33
+f 3 33 37
+f 3 37 38
+f 3 38 35
+f 3 35 31
+f 3 31 27
+f 3 27 23
+f 3 23 19
+f 3 19 15
+f 3 15 11
+f 3 11 7
+f 4 7 11
+f 4 11 8
+f 6 10 13
+f 6 13 9
+f 8 11 15
+f 8 15 12
+f 10 14 17
+f 10 17 13
+f 12 15 19
+f 12 19 16
+f 14 18 21
+f 14 21 17
+f 16 19 23
+f 16 23 20
+f 18 22 25
+f 18 25 21
+f 20 23 27
+f 20 27 24
+f 22 26 29
+f 22 29 25
+f 24 27 31
+f 24 31 28
+f 26 30 33
+f 26 33 29
+f 28 31 35
+f 28 35 32
+f 30 34 37
+f 30 37 33
+f 32 35 38
+f 32 38 36
+f 34 36 38
+f 34 38 37
+
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_4/collision/model_normalized_collision_0.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_4/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d20aaead4dc28680b90930c57ea6409863af461a
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_4/collision/model_normalized_collision_0.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.35639583 -0.03021503 0.12186592
+v -0.35606060 -0.03021503 -0.10037859
+v -0.35639583 0.03021503 0.12186592
+v -0.39109890 0.03021503 0.12310627
+v -0.41666666 -0.03021503 0.06628808
+v -0.37108613 0.03021503 -0.13040267
+v -0.39109890 -0.03021503 0.12310627
+v -0.35606060 0.03021503 -0.10037859
+v -0.40681876 0.03021503 -0.11283268
+v -0.40625004 0.03021503 0.08617446
+v -0.37108613 -0.03021503 -0.13040267
+v -0.40681876 -0.03021503 -0.11283268
+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 4 5
+f 8 6 3
+f 8 3 2
+f 8 2 6
+f 9 4 6
+f 10 9 5
+f 10 5 4
+f 10 4 9
+f 11 9 6
+f 11 6 2
+f 11 2 5
+f 12 11 5
+f 12 5 9
+f 12 9 11
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_4/collision/model_normalized_collision_1.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_4/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..00f035298a13207ccb0a71c70d577e5707235f10
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_4/collision/model_normalized_collision_1.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.11386113 -0.03021503 0.13844947
+v -0.11363636 -0.03021503 0.09659110
+v -0.11386113 0.03021503 0.13844947
+v -0.18345121 0.03021503 0.11203640
+v -0.18939393 -0.03021503 0.09659110
+v -0.11363636 0.03021503 0.09659110
+v -0.15340882 0.03021503 0.12784101
+v -0.18345121 -0.03021503 0.11203640
+v -0.18939393 0.03021503 0.09659110
+v -0.15340882 -0.03021503 0.12784101
+f 1 2 3
+f 5 2 1
+f 6 3 2
+f 6 4 3
+f 7 1 3
+f 7 3 4
+f 8 5 1
+f 8 4 5
+f 8 7 4
+f 9 5 4
+f 9 4 6
+f 9 6 2
+f 9 2 5
+f 10 8 1
+f 10 1 7
+f 10 7 8
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_4/collision/model_normalized_collision_10.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_4/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6e183dbf5bdcf4353b5e7178152f4a3f314d3721
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_4/collision/model_normalized_collision_10.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.26515152 -0.03021503 -0.03977253
+v 0.26496217 -0.03021503 -0.08371191
+v 0.26515152 0.03021503 -0.03977253
+v 0.18939394 0.03021503 -0.03977253
+v 0.18865007 -0.03021503 -0.08884915
+v 0.18939394 -0.03021503 -0.03977253
+v 0.24903825 0.03021503 -0.08499113
+v 0.26496217 0.03021503 -0.08371191
+v 0.24903825 -0.03021503 -0.08499113
+v 0.18865007 0.03021503 -0.08884915
+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 4 3
+f 8 7 3
+f 8 3 2
+f 8 2 7
+f 9 7 2
+f 9 2 5
+f 9 5 7
+f 10 7 5
+f 10 5 4
+f 10 4 7
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_4/collision/model_normalized_collision_11.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_4/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..65778f1396351d8b59cececf3e521a5cca3a60a7
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_4/collision/model_normalized_collision_11.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.41349366 -0.03021503 0.07853085
+v -0.41163214 -0.03021503 -0.10980917
+v -0.41163214 0.03021503 -0.10980917
+v -0.43969709 0.03021503 0.05659112
+v -0.43969709 -0.03021503 0.05659112
+v -0.43691741 0.03021503 -0.08530017
+v -0.41349366 0.03021503 0.07853085
+v -0.42017096 0.03021503 -0.10229487
+v -0.43691741 -0.03021503 -0.08530017
+v -0.42017096 -0.03021503 -0.10229487
+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 8 3 2
+f 9 2 5
+f 9 5 6
+f 10 8 2
+f 10 2 9
+f 10 9 6
+f 10 6 8
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_4/collision/model_normalized_collision_12.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_4/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..42b198141f86f65b2a694badc23cbdbbcb0fbc59
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_4/collision/model_normalized_collision_12.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.21865704 -0.03021503 0.12134805
+v 0.21969697 -0.03021503 0.09659110
+v 0.21865704 0.03021503 0.12134805
+v 0.14393940 0.03021503 0.14204565
+v 0.14393940 -0.03021503 0.09659110
+v 0.14393940 -0.03021503 0.14204565
+v 0.21969697 0.03021503 0.09659110
+v 0.14393940 0.03021503 0.09659110
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 6 5 1
+f 6 1 4
+f 7 3 2
+f 7 2 5
+f 7 4 3
+f 8 7 5
+f 8 4 7
+f 8 6 4
+f 8 5 6
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_4/collision/model_normalized_collision_13.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_4/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a95e18a1372c5bfc926dc60b05c09c49e911b5e
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_4/collision/model_normalized_collision_13.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.00081593 -0.03021503 0.14142488
+v 0.00757576 -0.03021503 -0.10037859
+v 0.00757576 0.03021503 -0.10037859
+v -0.09659111 0.03021503 0.14299235
+v -0.09848484 -0.03021503 -0.10037859
+v 0.00081593 0.03021503 0.14142488
+v -0.09659111 -0.03021503 0.14299235
+v -0.09848484 0.03021503 -0.10037859
+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/Assets/robocasa/data/objects/objaverse/steak/steak_4/collision/model_normalized_collision_14.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_4/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2728a5005352531bbe1056924841288eca8f21b6
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_4/collision/model_normalized_collision_14.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.05303030 -0.03021503 -0.10037859
+v -0.05430347 -0.03021503 -0.14105895
+v -0.05430347 0.03021503 -0.14105895
+v -0.09848484 0.03021503 -0.10037859
+v -0.10027611 -0.03021503 -0.14710318
+v -0.05303030 0.03021503 -0.10037859
+v -0.09848484 -0.03021503 -0.10037859
+v -0.08490417 -0.03021503 -0.14528008
+v -0.10027611 0.03021503 -0.14710318
+v -0.08490417 0.03021503 -0.14528008
+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 2 5
+f 9 5 4
+f 9 4 3
+f 10 9 3
+f 10 8 5
+f 10 5 9
+f 10 3 2
+f 10 2 8
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_4/collision/model_normalized_collision_15.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_4/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..37fad0a2cb5fbfbbfc14375273b49a42c297fe26
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_4/collision/model_normalized_collision_15.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.46496173 -0.03021503 0.02462114
+v 0.49158836 -0.03021503 -0.02506680
+v 0.47448060 0.03021503 0.01314384
+v 0.45769967 0.03021503 0.03072154
+v 0.46212121 -0.03021503 -0.02462102
+v 0.46496173 0.03021503 0.02462114
+v 0.47448060 -0.03021503 0.01314384
+v 0.45769967 -0.03021503 0.03072154
+v 0.49158836 0.03021503 -0.02506680
+v 0.46212121 0.03021503 -0.02462102
+f 5 2 1
+f 6 1 3
+f 6 3 4
+f 6 4 1
+f 7 1 2
+f 7 3 1
+f 8 5 1
+f 8 1 4
+f 8 4 5
+f 9 2 5
+f 9 7 2
+f 9 3 7
+f 9 4 3
+f 10 9 5
+f 10 5 4
+f 10 4 9
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_4/collision/model_normalized_collision_16.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_4/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0033e917e839e902263fca0c37b5d61d178833a1
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_4/collision/model_normalized_collision_16.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.00757576 -0.03021503 -0.10037859
+v 0.00746263 -0.03021503 -0.12898469
+v 0.00757576 0.03021503 -0.10037859
+v -0.05303030 0.03021503 -0.10037859
+v -0.05430347 -0.03021503 -0.14105895
+v -0.05303030 -0.03021503 -0.10037859
+v -0.05430347 0.03021503 -0.14105895
+v 0.00746263 0.03021503 -0.12898469
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 6 5 1
+f 6 1 4
+f 6 4 5
+f 7 2 5
+f 7 5 4
+f 7 4 3
+f 8 7 3
+f 8 3 2
+f 8 2 7
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_4/collision/model_normalized_collision_17.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_4/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..310975f5ac406abe6fcb034ab4e3606f843d2dfd
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_4/collision/model_normalized_collision_17.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.31060605 -0.03021503 -0.10037859
+v -0.31056495 -0.03021503 -0.14549402
+v -0.31060605 0.03021503 -0.10037859
+v -0.37121211 0.03021503 -0.10037859
+v -0.37121211 -0.03021503 -0.10037859
+v -0.31056495 0.03021503 -0.14549402
+v -0.36641779 -0.03021503 -0.13232194
+v -0.36641779 0.03021503 -0.13232194
+f 5 2 1
+f 5 1 3
+f 5 3 4
+f 6 4 3
+f 6 1 2
+f 6 3 1
+f 7 5 4
+f 7 2 5
+f 7 6 2
+f 8 7 4
+f 8 4 6
+f 8 6 7
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_4/collision/model_normalized_collision_18.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_4/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bba2d3bc063fc2d3c469421ece9e1e4c13b61e01
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_4/collision/model_normalized_collision_18.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.09659111 -0.03021503 0.14299235
+v -0.09848484 -0.03021503 0.09659110
+v -0.09848484 0.03021503 0.09659110
+v -0.11480444 0.03021503 0.13850843
+v -0.11480444 -0.03021503 0.13850843
+v -0.11363636 0.03021503 0.09659110
+v -0.09659111 0.03021503 0.14299235
+v -0.11363636 -0.03021503 0.09659110
+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 2 5
+f 8 5 6
+f 8 6 3
+f 8 3 2
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_4/collision/model_normalized_collision_19.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_4/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1da1b16a8013d032dad8a1fbe5a671c38f379798
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_4/collision/model_normalized_collision_19.obj
@@ -0,0 +1,15 @@
+# https://github.com/mikedh/trimesh
+v 0.08696424 -0.03021503 0.14358183
+v 0.08333334 -0.03021503 0.14204565
+v 0.08696424 0.03021503 0.14358183
+v 0.06904620 0.03021503 0.13880385
+v 0.06904620 -0.03021503 0.13880385
+v 0.08333334 0.03021503 0.14204565
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 5 1 4
+f 5 4 2
+f 6 3 2
+f 6 2 4
+f 6 4 3
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_4/collision/model_normalized_collision_2.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_4/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..63f810257cfed5d0ec55528c007324d05082ba02
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_4/collision/model_normalized_collision_2.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.34057654 -0.03021503 0.09384774
+v 0.34018956 -0.03021503 -0.07983079
+v 0.34057654 0.03021503 0.09384774
+v 0.26416125 0.03021503 0.10802925
+v 0.26416125 -0.03021503 0.10802925
+v 0.26496217 0.03021503 -0.08371191
+v 0.34018956 0.03021503 -0.07983079
+v 0.26496217 -0.03021503 -0.08371191
+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/Assets/robocasa/data/objects/objaverse/steak/steak_4/collision/model_normalized_collision_20.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_4/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..53d1904b5afa2b276fc09d48cd4a8ccb63dd3862
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_4/collision/model_normalized_collision_20.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.15837686 -0.03021503 0.13983193
+v 0.15395016 -0.03021503 0.14125981
+v 0.14393940 -0.03021503 0.14204565
+v 0.14219105 0.03021503 0.14321086
+v 0.15395016 0.03021503 0.14125981
+v 0.14219105 -0.03021503 0.14321086
+v 0.14393940 0.03021503 0.14204565
+v 0.15837686 0.03021503 0.13983193
+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 3 4
+f 7 4 5
+f 8 7 5
+f 8 5 1
+f 8 1 3
+f 8 3 7
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_4/collision/model_normalized_collision_21.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_4/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..78a176117345281b8520c7b7ac60af08f9df5463
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_4/collision/model_normalized_collision_21.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.44696970 -0.03021503 -0.03977253
+v 0.44120432 -0.03021503 -0.08250480
+v 0.44120432 0.03021503 -0.08250480
+v 0.40151515 0.03021503 -0.03977253
+v 0.40151515 -0.03021503 -0.03977253
+v 0.44696970 0.03021503 -0.03977253
+v 0.40326344 -0.03021503 -0.09163755
+v 0.40151515 -0.03021503 -0.05492405
+v 0.40326344 0.03021503 -0.09163755
+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 3 2
+f 7 2 5
+f 8 7 5
+f 8 5 4
+f 9 4 3
+f 9 3 7
+f 9 8 4
+f 9 7 8
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_4/collision/model_normalized_collision_22.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_4/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d20e7c910253d52eeca016ed52b46ad31d2d2b1
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_4/collision/model_normalized_collision_22.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.18896956 -0.03021503 0.11015129
+v -0.18939393 -0.03021503 0.09659110
+v -0.18939393 0.03021503 0.09659110
+v -0.24034084 0.03021503 0.11590894
+v -0.24034084 -0.03021503 0.11590894
+v -0.23484848 0.03021503 0.09659110
+v -0.18896956 0.03021503 0.11015129
+v -0.23484848 -0.03021503 0.09659110
+f 1 2 3
+f 5 2 1
+f 5 1 4
+f 6 3 2
+f 6 4 3
+f 6 5 4
+f 7 1 3
+f 7 3 4
+f 7 4 1
+f 8 6 2
+f 8 2 5
+f 8 5 6
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_4/collision/model_normalized_collision_23.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_4/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f4da71e515b5d947367573855ba52c7c997d8885
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_4/collision/model_normalized_collision_23.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v -0.09848484 -0.03021503 0.09659110
+v -0.10027611 -0.03021503 -0.14710318
+v -0.09848484 0.03021503 0.00568202
+v -0.23484848 0.03021503 0.09659110
+v -0.23484848 -0.03021503 0.09659110
+v -0.23605820 0.03021503 -0.15160984
+v -0.09848484 0.03021503 0.09659110
+v -0.10027611 0.03021503 -0.14710318
+v -0.23605820 -0.03021503 -0.15160984
+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 8 2 6
+f 9 6 2
+f 9 2 5
+f 9 5 4
+f 9 4 6
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_4/collision/model_normalized_collision_24.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_4/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a69fe64144ed5e69f33cd5bd88da1179c4aac65e
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_4/collision/model_normalized_collision_24.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.28030302 -0.03021503 -0.10037859
+v -0.27840937 -0.03021503 -0.15151483
+v -0.28030302 0.03021503 -0.10037859
+v -0.31060605 0.03021503 -0.10037859
+v -0.31060605 -0.03021503 -0.10037859
+v -0.27840937 0.03021503 -0.15151483
+v -0.30875489 -0.03021503 -0.14571344
+v -0.30875489 0.03021503 -0.14571344
+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 5 4
+f 7 6 2
+f 8 4 6
+f 8 6 7
+f 8 7 4
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_4/collision/model_normalized_collision_25.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_4/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..95dd78b41e031d352fc6128138d1b64f7258662d
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_4/collision/model_normalized_collision_25.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.28030302 -0.03021503 -0.07007556
+v -0.28030302 -0.03021503 -0.10037859
+v -0.28030302 0.03021503 -0.10037859
+v -0.35606060 0.03021503 -0.07007556
+v -0.35606060 -0.03021503 -0.10037859
+v -0.28030302 0.03021503 -0.07007556
+v -0.35606060 -0.03021503 -0.07007556
+v -0.35606060 0.03021503 -0.10037859
+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 5 4
+f 8 4 3
+f 8 3 2
+f 8 2 5
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_4/collision/model_normalized_collision_26.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_4/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bf320729f51dfba5c63a6519ca60662f0d198685
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_4/collision/model_normalized_collision_26.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.41714004 -0.03021503 0.08191294
+v 0.43100207 -0.03021503 0.06582174
+v 0.42471580 0.03021503 0.07433719
+v 0.39991245 0.03021503 0.08857791
+v 0.40151515 -0.03021503 0.06628808
+v 0.41714004 0.03021503 0.08191294
+v 0.39991245 -0.03021503 0.08857791
+v 0.43100207 0.03021503 0.06582174
+v 0.40151515 0.03021503 0.06628808
+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 9 8 5
+f 9 4 8
+f 9 7 4
+f 9 5 7
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_4/collision/model_normalized_collision_27.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_4/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1bc2f46f4313e8e2df7f5744d891232e1451f380
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_4/collision/model_normalized_collision_27.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.26038895 -0.03021503 0.10903523
+v 0.26515152 -0.03021503 0.09659110
+v 0.26038895 0.03021503 0.10903523
+v 0.21865704 0.03021503 0.12134805
+v 0.21969697 -0.03021503 0.09659110
+v 0.21865704 -0.03021503 0.12134805
+v 0.21969697 0.03021503 0.09659110
+v 0.26515152 0.03021503 0.09659110
+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/Assets/robocasa/data/objects/objaverse/steak/steak_4/collision/model_normalized_collision_28.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_4/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..18201e4eff9384ef1f011816f126c6a10f541ce0
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_4/collision/model_normalized_collision_28.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v -0.23484848 -0.03021503 -0.07007556
+v -0.23605820 -0.03021503 -0.15160984
+v -0.23484848 0.03021503 -0.07007556
+v -0.28030302 0.03021503 -0.07007556
+v -0.28030302 -0.03021503 -0.07007556
+v -0.23605820 0.03021503 -0.15160984
+v -0.27840937 0.03021503 -0.15151483
+v -0.28030302 -0.03021503 -0.08522708
+v -0.27840937 -0.03021503 -0.15151483
+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 4 6
+f 8 5 4
+f 8 4 7
+f 8 2 5
+f 9 8 7
+f 9 2 8
+f 9 7 6
+f 9 6 2
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_4/collision/model_normalized_collision_29.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_4/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b60cd99955fddb6dd0950058f07e5a18ae9b7632
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_4/collision/model_normalized_collision_29.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.26515152 -0.03021503 0.09659110
+v 0.26515152 -0.03021503 0.02083353
+v 0.26515152 0.03021503 0.02083353
+v 0.14393940 0.03021503 0.09659110
+v 0.14393940 -0.03021503 0.09659110
+v 0.14393940 0.03021503 0.02083353
+v 0.26515152 0.03021503 0.09659110
+v 0.14393940 -0.03021503 0.02083353
+f 1 2 3
+f 5 2 1
+f 6 4 3
+f 7 1 3
+f 7 3 4
+f 7 5 1
+f 7 4 5
+f 8 2 5
+f 8 5 4
+f 8 4 6
+f 8 6 3
+f 8 3 2
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_4/collision/model_normalized_collision_3.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_4/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5018ad4f5580d1056c41efa860a72f09f6936e32
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_4/collision/model_normalized_collision_3.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.43969709 -0.03021503 0.05659112
+v -0.44391042 -0.03021503 -0.08063817
+v -0.43969709 0.03021503 0.05659112
+v -0.47774642 0.03021503 0.03645876
+v -0.49530332 -0.03021503 -0.00825751
+v -0.44391042 0.03021503 -0.08063817
+v -0.45472471 -0.03021503 0.04903033
+v -0.48280833 0.03021503 -0.05742213
+v -0.45472471 0.03021503 0.04903033
+v -0.47774642 -0.03021503 0.03645876
+v -0.49530332 0.03021503 -0.00825751
+v -0.48280833 -0.03021503 -0.05742213
+v -0.49431850 -0.03021503 0.00852252
+v -0.49431850 0.03021503 0.00852252
+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 4 6
+f 8 6 2
+f 9 7 3
+f 9 3 4
+f 9 4 7
+f 10 7 4
+f 10 5 7
+f 11 8 5
+f 11 4 8
+f 12 8 2
+f 12 2 5
+f 12 5 8
+f 13 10 4
+f 13 5 10
+f 13 11 5
+f 14 13 4
+f 14 4 11
+f 14 11 13
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_4/collision/model_normalized_collision_30.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_4/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..49031456ab7da95d77decb66113e95d46db3890d
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_4/collision/model_normalized_collision_30.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.18939394 -0.03021503 -0.03977253
+v 0.18865007 -0.03021503 -0.08884915
+v 0.18865007 0.03021503 -0.08884915
+v 0.00757576 0.03021503 -0.03977253
+v 0.00757576 -0.03021503 -0.03977253
+v 0.18939394 0.03021503 -0.03977253
+v 0.00746263 0.03021503 -0.12898469
+v 0.09563311 -0.03021503 -0.11547297
+v 0.09563311 0.03021503 -0.11547297
+v 0.00746263 -0.03021503 -0.12898469
+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 4 3
+f 8 2 5
+f 9 7 3
+f 9 3 2
+f 9 2 8
+f 10 8 5
+f 10 9 8
+f 10 7 9
+f 10 5 4
+f 10 4 7
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_4/collision/model_normalized_collision_31.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_4/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c890c9a809dd2f4b6eef4b7c0e030f20507a690
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_4/collision/model_normalized_collision_31.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.14219105 -0.03021503 0.14321086
+v 0.14393940 -0.03021503 0.02083353
+v 0.14219105 0.03021503 0.14321086
+v 0.08696424 0.03021503 0.14358183
+v 0.08333334 -0.03021503 0.02083353
+v 0.08696424 -0.03021503 0.14358183
+v 0.12878788 0.03021503 0.02083353
+v 0.14393940 0.03021503 0.02083353
+v 0.08333334 0.03021503 0.02083353
+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 8 7 3
+f 8 3 2
+f 8 2 7
+f 9 7 5
+f 9 4 7
+f 9 6 4
+f 9 5 6
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_4/collision/model_normalized_collision_4.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_4/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..049d73bb354b205281de78e6e90a296fea0f6615
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_4/collision/model_normalized_collision_4.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.43473149 -0.03021503 0.05929504
+v 0.46212121 -0.03021503 -0.03977253
+v 0.44896313 0.03021503 0.03912267
+v 0.40151515 0.03021503 0.06628808
+v 0.40151515 -0.03021503 -0.03977253
+v 0.43473149 0.03021503 0.05929504
+v 0.44896313 -0.03021503 0.03912267
+v 0.40151515 -0.03021503 0.06628808
+v 0.40151515 0.03021503 -0.03977253
+v 0.46212121 0.03021503 -0.03977253
+f 5 2 1
+f 6 3 4
+f 6 4 1
+f 7 1 2
+f 7 6 1
+f 7 3 6
+f 8 5 1
+f 8 1 4
+f 8 4 5
+f 9 2 5
+f 9 5 4
+f 9 4 3
+f 10 9 3
+f 10 2 9
+f 10 7 2
+f 10 3 7
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_4/collision/model_normalized_collision_5.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_4/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e9a3830d78256bcfc66c7629205a1c374d87b9d2
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_4/collision/model_normalized_collision_5.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.49469678 -0.03021503 -0.03106080
+v 0.49634113 -0.03021503 -0.05977662
+v 0.49469678 0.03021503 -0.03106080
+v 0.44696970 0.03021503 -0.03977253
+v 0.44563102 -0.03021503 -0.08107692
+v 0.46212121 -0.03021503 -0.02462102
+v 0.48287883 0.03021503 -0.07249961
+v 0.46212121 0.03021503 -0.02462102
+v 0.44696970 -0.03021503 -0.03977253
+v 0.49634113 0.03021503 -0.05977662
+v 0.48287883 -0.03021503 -0.07249961
+v 0.44563102 0.03021503 -0.08107692
+f 1 2 3
+f 5 2 1
+f 6 5 1
+f 7 4 3
+f 8 3 4
+f 8 4 6
+f 8 6 1
+f 8 1 3
+f 9 6 4
+f 9 4 5
+f 9 5 6
+f 10 7 3
+f 10 3 2
+f 10 2 7
+f 11 7 2
+f 11 2 5
+f 11 5 7
+f 12 7 5
+f 12 5 4
+f 12 4 7
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_4/collision/model_normalized_collision_6.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_4/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cbeccc74c1bc57ef50063cdff61421ef343bd367
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_4/collision/model_normalized_collision_6.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.08333334 -0.03021503 0.14204565
+v 0.08333334 -0.03021503 0.02083353
+v 0.08333334 0.03021503 0.14204565
+v 0.00706587 0.03021503 0.13949574
+v 0.00706587 -0.03021503 0.13949574
+v 0.08333334 0.03021503 0.02083353
+v 0.00757576 0.03021503 0.02083353
+v 0.00757576 -0.03021503 0.02083353
+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 8 2 5
+f 8 5 7
+f 8 7 6
+f 8 6 2
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_4/collision/model_normalized_collision_7.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_4/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..457a96a03e34695644fbca3bf9d81d629b15e451
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_4/collision/model_normalized_collision_7.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.26515152 -0.03021503 0.02083353
+v 0.26515152 -0.03021503 -0.03977253
+v 0.26515152 0.03021503 0.02083353
+v 0.00757576 0.03021503 0.02083353
+v 0.00757576 -0.03021503 0.02083353
+v 0.00757576 0.03021503 -0.03977253
+v 0.26515152 0.03021503 -0.03977253
+v 0.00757576 -0.03021503 -0.03977253
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 5 1 4
+f 6 4 3
+f 7 6 3
+f 7 3 2
+f 8 2 5
+f 8 5 4
+f 8 4 6
+f 8 7 2
+f 8 6 7
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_4/collision/model_normalized_collision_8.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_4/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e237652ef532d271f4b6bf5317c9cfed78b7f963
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_4/collision/model_normalized_collision_8.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.24034084 -0.03021503 0.11590894
+v -0.23484848 -0.03021503 -0.07007556
+v -0.23484848 0.03021503 -0.07007556
+v -0.35639583 0.03021503 0.12186592
+v -0.35606060 -0.03021503 -0.07007556
+v -0.24034084 0.03021503 0.11590894
+v -0.35639583 -0.03021503 0.12186592
+v -0.35606060 0.03021503 -0.07007556
+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 4 3
+f 8 3 2
+f 8 2 5
+f 8 7 4
+f 8 5 7
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_4/collision/model_normalized_collision_9.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_4/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8b7fafd352d68707fcc1535cf298558841c3d31
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_4/collision/model_normalized_collision_9.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.39991245 -0.03021503 0.08857791
+v 0.40326344 -0.03021503 -0.09163755
+v 0.40326344 0.03021503 -0.09163755
+v 0.34057654 0.03021503 0.09384774
+v 0.34018956 -0.03021503 -0.07983079
+v 0.39991245 0.03021503 0.08857791
+v 0.34057654 -0.03021503 0.09384774
+v 0.34018956 0.03021503 -0.07983079
+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/Assets/robocasa/data/objects/objaverse/steak/steak_4/model.xml b/Assets/robocasa/data/objects/objaverse/steak/steak_4/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..2c88cc66074c3844da811ae7e4215aaf85678202
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_4/model.xml
@@ -0,0 +1,30 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="more_steak_23">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.145 0.145 0.145" refquat="0.3333278292388732 -0.6236125064933354 0.3333278292388732 0.6236125064933354" />
+    <texture type="2d" name="image0" file="visual/image0.png" />
+    <material name="Textured.001" texture="image0" specular="0.5" shininess="0.15999998099999999" />
+    <mesh file="collision/collision_mesh_collision_0.obj" name="steak_collision_mesh_0" scale="0.145 0.145 0.145" refquat="0.3333278292388732 -0.6236125064933354 0.3333278292388732 0.6236125064933354" />
+    <mesh file="collision/collision_mesh_collision_1.obj" name="steak_collision_mesh_1" scale="0.145 0.145 0.145" refquat="0.3333278292388732 -0.6236125064933354 0.3333278292388732 0.6236125064933354" />
+    <mesh file="collision/collision_mesh_collision_2.obj" name="steak_collision_mesh_2" scale="0.145 0.145 0.145" refquat="0.3333278292388732 -0.6236125064933354 0.3333278292388732 0.6236125064933354" />
+    </asset>
+  <default>
+    <default class="region">
+      <geom group="1" conaffinity="0" contype="0" rgba="0 1 0 0" />
+      </default>
+    <default class="collision">
+      <geom group="0" rgba="0.5 0 0 0.5" density="1000.0" />
+      </default>
+    </default>
+  <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="Textured.001" />
+        <geom class="region" name="reg_bbox" type="box" pos="0.0005820315997399797 -6.256079539530862e-05 -4.1801422778223185e-05" size="0.021983431970846123 0.062149357095983244 0.04358511255243472" />
+        <geom mesh="steak_collision_mesh_0" type="mesh" class="collision" />
+        <geom mesh="steak_collision_mesh_1" type="mesh" class="collision" />
+        <geom mesh="steak_collision_mesh_2" type="mesh" class="collision" />
+        </body>
+      </body>
+    </worldbody>
+  </mujoco>
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_4/visual/material.mtl b/Assets/robocasa/data/objects/objaverse/steak/steak_4/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ac7612074176632fe5be688b8bc892b458617616
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_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 159.99998100
+map_Kd material_0.jpeg
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_4/visual/model_normalized_0.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_4/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92800ad98dae049683951b06790c070cd4b63d47
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_4/visual/model_normalized_0.obj
@@ -0,0 +1,3301 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_5/collision/collision_mesh_collision_0.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_5/collision/collision_mesh_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..193801ecf2ff86bf80e81405d24eed4980a5f901
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_5/collision/collision_mesh_collision_0.obj
@@ -0,0 +1,658 @@
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diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_5/collision/collision_mesh_collision_1.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_5/collision/collision_mesh_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d93ad5058555c892d1b3fc43de562c6e8e6a1b7b
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_5/collision/collision_mesh_collision_1.obj
@@ -0,0 +1,271 @@
+# https://github.com/mikedh/trimesh
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diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_5/collision/collision_mesh_collision_2.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_5/collision/collision_mesh_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e10c1eb570a98ecdf9be0aa7432b8602d7f88f6
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_5/collision/collision_mesh_collision_2.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
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+v -0.36528963 -0.33035585 -0.05297778
+v -0.39320606 -0.32362199 -0.05273497
+v -0.41887993 -0.31243902 -0.05268219
+v -0.44165385 -0.29824984 -0.05267163
+v -0.43825132 -0.29229763 -0.05292500
+v -0.45588273 -0.06196421 -0.05295667
+v -0.43473274 -0.03815528 -0.05299890
+v -0.42989957 -0.04284491 -0.05309391
+v -0.12107870 0.26432642 -0.05311502
+v -0.10499388 0.26348469 -0.05312558
+v -0.10499388 -0.31748939 -0.05317836
+v -0.44718301 -0.27173537 0.05464929
+v -0.43024755 -0.29169637 0.05464929
+v -0.10499388 -0.32302076 0.05453317
+v -0.10499388 0.26138037 0.05451205
+v -0.12935311 0.25290295 0.05452261
+v -0.16055611 0.22819215 -0.05305168
+v -0.17818755 0.21111706 -0.05302001
+v -0.16674258 0.21773064 0.05453317
+v -0.44439912 -0.05529049 0.05455428
+v -0.46976364 -0.08216573 -0.05290388
+v -0.16531196 -0.33967501 -0.05299890
+v -0.20045885 -0.34725058 -0.05295667
+v -0.10499388 -0.32187843 -0.05310446
+v -0.10499388 -0.32620731 -0.05303057
+v -0.18897521 -0.34063697 0.05455428
+v -0.22427675 -0.34250081 0.05456484
+v -0.29499584 -0.34051672 0.05459651
+v -0.27110061 -0.34809229 -0.05287221
+v -0.33934510 -0.34352291 -0.05280887
+v -0.32786146 -0.33696944 0.05459651
+v -0.35597125 -0.32831165 0.05461762
+v -0.40743494 -0.30588555 0.05463874
+v -0.42328778 -0.03154168 0.05453317
+v -0.10499388 0.26510802 -0.05145760
+v -0.10499388 0.26510802 -0.05311502
+v -0.10499388 0.26144049 0.05363584
+v -0.10499388 -0.32308090 0.05272795
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 2
+f 2 10 11
+f 2 11 3
+f 2 9 10
+f 3 12 13
+f 3 13 4
+f 3 11 12
+f 4 13 5
+f 5 14 6
+f 5 13 14
+f 6 14 15
+f 6 15 7
+f 7 16 8
+f 7 15 16
+f 8 16 9
+f 9 16 17
+f 9 17 10
+f 10 17 18
+f 10 18 11
+f 11 19 20
+f 11 20 21
+f 11 21 22
+f 11 22 23
+f 11 23 24
+f 11 24 25
+f 11 25 12
+f 11 18 26
+f 11 26 27
+f 11 27 28
+f 11 28 29
+f 11 29 30
+f 11 30 31
+f 11 31 32
+f 11 32 33
+f 11 33 42
+f 11 42 19
+f 12 25 13
+f 13 25 34
+f 13 34 14
+f 14 34 35
+f 14 35 15
+f 15 36 37
+f 15 37 38
+f 15 38 16
+f 15 35 36
+f 16 38 39
+f 16 39 17
+f 17 39 38
+f 17 38 40
+f 17 40 18
+f 18 40 41
+f 18 41 26
+f 19 42 43
+f 19 43 44
+f 19 44 20
+f 20 44 45
+f 20 45 46
+f 20 46 21
+f 21 46 47
+f 21 47 48
+f 21 48 49
+f 21 49 22
+f 22 50 51
+f 22 51 23
+f 22 49 50
+f 23 52 53
+f 23 53 24
+f 23 51 52
+f 24 53 34
+f 24 34 25
+f 26 41 54
+f 26 54 27
+f 27 54 55
+f 27 55 56
+f 27 56 28
+f 28 56 57
+f 28 57 29
+f 29 57 30
+f 30 57 31
+f 31 57 32
+f 32 57 58
+f 32 58 84
+f 32 84 83
+f 32 83 85
+f 32 85 63
+f 32 63 62
+f 32 62 86
+f 32 86 73
+f 32 73 72
+f 32 72 59
+f 32 59 33
+f 33 59 42
+f 34 60 35
+f 34 53 52
+f 34 52 61
+f 34 61 60
+f 35 60 61
+f 35 61 62
+f 35 62 36
+f 36 63 64
+f 36 64 57
+f 36 57 65
+f 36 65 66
+f 36 66 67
+f 36 67 68
+f 36 68 37
+f 36 62 63
+f 37 69 40
+f 37 40 38
+f 37 68 54
+f 37 54 69
+f 40 69 54
+f 40 54 41
+f 42 59 43
+f 43 70 71
+f 43 71 44
+f 43 59 72
+f 43 72 73
+f 43 73 70
+f 44 71 45
+f 45 71 74
+f 45 74 75
+f 45 75 76
+f 45 76 77
+f 45 77 46
+f 46 77 76
+f 46 76 78
+f 46 78 47
+f 47 78 48
+f 48 79 80
+f 48 80 81
+f 48 81 51
+f 48 51 50
+f 48 50 49
+f 48 78 79
+f 51 81 61
+f 51 61 52
+f 54 68 55
+f 55 68 82
+f 55 82 67
+f 55 67 66
+f 55 66 65
+f 55 65 57
+f 55 57 56
+f 57 83 84
+f 57 84 58
+f 57 64 63
+f 57 63 85
+f 57 85 83
+f 61 81 80
+f 61 80 76
+f 61 76 62
+f 62 76 74
+f 62 74 71
+f 62 71 70
+f 62 70 86
+f 67 82 68
+f 70 73 86
+f 74 76 75
+f 76 80 79
+f 76 79 78
+
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_5/collision/model_normalized_collision_0.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_5/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e2d4f257f18c7b9724fad0afdfe889b9b4b15c63
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_5/collision/model_normalized_collision_0.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.41618777 -0.12559071 0.00674675
+v 0.40155438 -0.11289587 -0.05327138
+v 0.40152219 0.02347723 -0.05312146
+v 0.26506931 0.02327063 0.05488300
+v 0.26522629 -0.11286923 0.05441665
+v 0.40144526 0.02329065 0.05511344
+v 0.26515160 -0.11294646 -0.05310129
+v 0.26515146 0.02341669 -0.05317033
+v 0.40152846 -0.03722543 -0.05326283
+v 0.31062288 -0.03716157 -0.05328320
+f 6 1 3
+f 6 3 4
+f 6 5 1
+f 6 4 5
+f 7 2 1
+f 7 1 5
+f 7 5 4
+f 8 7 4
+f 8 4 3
+f 9 8 3
+f 9 1 2
+f 9 3 1
+f 10 2 7
+f 10 7 8
+f 10 9 2
+f 10 8 9
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_5/collision/model_normalized_collision_1.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_5/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..608d2785047444134b3490ea01cdda95d3e13de6
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_5/collision/model_normalized_collision_1.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.15688058 -0.24846441 0.05454663
+v 0.26055123 -0.22177389 -0.05310527
+v 0.26516873 0.08391210 0.05477095
+v 0.00756931 0.08401674 0.05447493
+v 0.00659238 -0.27749958 -0.05306391
+v 0.26515147 0.08402321 -0.05314760
+v 0.00609816 -0.27643282 0.05453475
+v 0.25978008 -0.21971645 0.05452405
+v 0.18468851 -0.24816362 -0.05302946
+v 0.00757586 0.08402312 -0.05320529
+v 0.22820683 -0.23145003 0.05453399
+v 0.18432511 -0.24689884 -0.02379650
+v 0.22897723 -0.23350198 -0.05307098
+f 6 3 2
+f 6 4 3
+f 7 1 3
+f 7 3 4
+f 8 2 3
+f 9 7 5
+f 9 1 7
+f 10 4 6
+f 10 7 4
+f 10 5 7
+f 10 6 2
+f 10 2 5
+f 11 8 3
+f 11 3 1
+f 11 2 8
+f 12 11 1
+f 12 1 9
+f 12 9 11
+f 13 11 9
+f 13 2 11
+f 13 9 5
+f 13 5 2
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_5/collision/model_normalized_collision_10.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_5/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..275d5a27dd87fe154813350de2081fe94ab2076e
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_5/collision/model_normalized_collision_10.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.47092715 0.17164815 0.05433808
+v 0.46473674 0.16844520 -0.02032943
+v 0.44414549 0.20838136 -0.00448049
+v 0.38072685 0.27439627 0.05434967
+v 0.38617147 0.17476672 0.05434696
+v 0.44769481 0.21075182 0.05433808
+v 0.45876380 0.18050742 -0.01906235
+v 0.46474238 0.18359892 0.05433808
+v 0.38686450 0.26384063 -0.00453315
+v 0.43136260 0.22002829 -0.01898101
+v 0.38948755 0.26691376 0.05434789
+v 0.38011019 0.25851022 -0.05367217
+v 0.43202903 0.21040566 -0.05370221
+v 0.37797057 0.27116662 -0.00594180
+v 0.40163065 0.24823700 -0.01888017
+v 0.38624214 0.17500049 -0.05307620
+v 0.38886964 0.25102751 -0.05367751
+v 0.44819694 0.17560518 -0.05321692
+f 5 2 1
+f 5 1 4
+f 7 1 2
+f 8 3 6
+f 8 7 3
+f 8 1 7
+f 8 6 4
+f 8 4 1
+f 10 6 3
+f 11 9 4
+f 11 4 6
+f 11 10 9
+f 11 6 10
+f 13 10 3
+f 13 3 7
+f 13 7 2
+f 14 5 4
+f 14 4 9
+f 15 9 10
+f 15 10 13
+f 15 14 9
+f 15 12 14
+f 16 2 5
+f 16 12 13
+f 16 14 12
+f 16 5 14
+f 17 15 13
+f 17 13 12
+f 17 12 15
+f 18 16 13
+f 18 13 2
+f 18 2 16
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_5/collision/model_normalized_collision_11.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_5/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9b2ea8996492ee2d17c866b119ecf40197d3d946
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_5/collision/model_normalized_collision_11.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v -0.17791134 -0.33834304 0.05455725
+v 0.00079808 -0.28019495 -0.05306662
+v 0.00757059 -0.02203154 0.05451055
+v -0.41485413 -0.02411265 0.05454785
+v -0.41241601 -0.31533305 -0.05271022
+v -0.41653223 -0.02219119 -0.05301490
+v -0.41233624 -0.30292085 0.05464657
+v 0.00030035 -0.27913207 0.05453341
+v -0.16385347 -0.33934019 -0.05300247
+v 0.00757573 -0.02203757 -0.05317805
+v -0.30885561 -0.33908290 0.05460149
+v -0.11882465 -0.32276386 0.05454304
+v -0.36444945 -0.32469996 0.05462530
+v -0.35130164 -0.33993526 -0.05279812
+v -0.06033789 -0.30728710 -0.05308342
+v -0.39546165 -0.31117441 0.05463916
+v -0.39413421 -0.32331405 -0.05273747
+v -0.02975905 -0.29281593 0.05452921
+v -0.06046971 -0.30694139 -0.03861950
+f 6 4 3
+f 7 3 4
+f 7 6 5
+f 7 4 6
+f 8 2 3
+f 8 3 7
+f 10 6 3
+f 10 3 2
+f 11 1 8
+f 11 9 1
+f 12 8 1
+f 12 1 9
+f 13 11 8
+f 14 9 11
+f 14 6 9
+f 14 11 13
+f 15 12 9
+f 15 10 2
+f 15 9 6
+f 15 6 10
+f 16 7 5
+f 16 13 8
+f 16 8 7
+f 17 14 13
+f 17 5 6
+f 17 6 14
+f 17 16 5
+f 17 13 16
+f 18 15 2
+f 18 2 8
+f 18 8 12
+f 19 18 12
+f 19 12 15
+f 19 15 18
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_5/collision/model_normalized_collision_12.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_5/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a59e2bc9bb00c84ce371d8e09626699206241849
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_5/collision/model_normalized_collision_12.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.41666666 -0.12809819 0.05449897
+v -0.41666666 -0.12809819 -0.05318318
+v -0.41485413 -0.02411265 0.05454785
+v -0.41653223 -0.02219119 -0.05301490
+v -0.48907397 -0.12873749 -0.00823350
+v -0.48540824 -0.12944507 0.05461631
+v -0.47241586 -0.08598434 -0.05290158
+v -0.44696969 -0.12809819 -0.05318318
+v -0.44632933 -0.05117901 -0.05298307
+v -0.46067673 -0.07892783 0.05458004
+v -0.47734242 -0.10559047 0.05460011
+v -0.43370820 -0.03720685 -0.05300564
+v -0.46534053 -0.07570092 -0.05292849
+v -0.42331840 -0.03151191 0.05454876
+v -0.47976030 -0.10433220 -0.00902939
+f 1 2 3
+f 3 2 4
+f 6 5 2
+f 6 2 1
+f 6 1 3
+f 8 4 2
+f 8 2 5
+f 8 5 7
+f 11 5 6
+f 11 10 7
+f 11 6 3
+f 11 3 10
+f 12 4 8
+f 12 8 9
+f 13 10 9
+f 13 7 10
+f 13 9 8
+f 13 8 7
+f 14 10 3
+f 14 9 10
+f 14 12 9
+f 14 3 4
+f 14 4 12
+f 15 11 7
+f 15 7 5
+f 15 5 11
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_5/collision/model_normalized_collision_13.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_5/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e561177e514bdc79ab02bde31724506002751775
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_5/collision/model_normalized_collision_13.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.40154921 0.08394158 0.05500472
+v 0.40151506 0.08402321 -0.05310599
+v 0.40141756 0.17505591 0.05411052
+v 0.00756300 0.17494371 0.05448740
+v 0.00757586 0.08402312 -0.05320529
+v 0.40151252 0.17493357 -0.05295514
+v 0.00756931 0.08401674 0.05447493
+v 0.34087833 0.17499762 -0.05326232
+v 0.03789835 0.09919493 -0.05326479
+v 0.00757572 0.17493214 -0.05325412
+f 1 3 4
+f 5 2 1
+f 6 1 2
+f 6 3 1
+f 7 5 1
+f 7 1 4
+f 7 4 5
+f 8 6 2
+f 8 3 6
+f 9 8 2
+f 9 2 5
+f 10 9 5
+f 10 5 4
+f 10 8 9
+f 10 4 3
+f 10 3 8
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_5/collision/model_normalized_collision_14.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_5/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0802522637650acd2661d58f45bdd670a94a2d71
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_5/collision/model_normalized_collision_14.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.21972865 0.25066840 0.05435769
+v 0.21972009 0.25063059 -0.05340711
+v 0.21710880 0.34285807 0.00814525
+v 0.04037354 0.33778603 0.00643772
+v 0.00757588 0.25068959 -0.05323550
+v 0.05303166 0.25068305 0.05449960
+v 0.21861430 0.33570127 -0.05352438
+v 0.08387771 0.34440673 0.00783214
+v -0.00297643 0.32256365 -0.02374160
+v 0.18734390 0.34152493 -0.05349153
+v 0.00750284 0.25074058 -0.05323524
+v 0.21627910 0.33832737 -0.03584320
+v 0.05368383 0.33656792 -0.05335390
+v 0.07018165 0.34096908 -0.02182611
+v 0.00757576 0.29614420 -0.05317170
+v 0.11434628 0.34096935 -0.05341672
+v 0.07033216 0.33987751 -0.03689802
+f 6 5 2
+f 6 2 1
+f 7 1 2
+f 7 3 1
+f 7 2 5
+f 8 6 1
+f 8 1 3
+f 8 4 6
+f 9 6 4
+f 10 8 3
+f 11 5 6
+f 11 6 9
+f 12 10 3
+f 12 3 7
+f 12 7 10
+f 13 9 4
+f 13 5 11
+f 13 7 5
+f 14 13 4
+f 14 4 8
+f 15 13 11
+f 15 11 9
+f 15 9 13
+f 16 8 10
+f 16 10 7
+f 16 7 13
+f 17 14 8
+f 17 8 16
+f 17 16 13
+f 17 13 14
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_5/collision/model_normalized_collision_15.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_5/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e9fc5917c3c4ffbc0d5a2c3064b56ede65fc9d51
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_5/collision/model_normalized_collision_15.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.00759836 0.08404502 0.05447490
+v 0.00757586 0.08402312 -0.05320529
+v 0.00757568 0.14462917 -0.05321346
+v -0.08331655 0.14462751 0.05448940
+v -0.12878788 0.08402301 -0.05318318
+v 0.00762160 0.14459902 0.05446735
+v -0.09385314 0.07752665 -0.06086149
+v -0.08400974 0.08614049 0.05449897
+v -0.12879021 0.14462930 -0.05318561
+v -0.04058488 0.07974076 -0.06086149
+f 6 3 4
+f 6 1 2
+f 6 2 3
+f 8 6 4
+f 8 1 6
+f 8 7 1
+f 8 5 7
+f 9 4 3
+f 9 7 5
+f 9 8 4
+f 9 5 8
+f 10 2 1
+f 10 1 7
+f 10 3 2
+f 10 9 3
+f 10 7 9
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_5/collision/model_normalized_collision_16.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_5/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8f382c2295ff9d71fa97d091481ddfebad325847
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_5/collision/model_normalized_collision_16.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.38639107 0.25064073 0.05412209
+v 0.38582595 0.25004983 -0.05383240
+v 0.33281048 0.31044780 0.05435915
+v 0.21744161 0.34467066 0.05439511
+v 0.21968782 0.25069581 0.05435773
+v 0.26051532 0.32455489 -0.05356779
+v 0.37324433 0.28078708 0.05435120
+v 0.33112977 0.29709253 -0.05363705
+v 0.29033733 0.32285875 -0.00569101
+v 0.21972009 0.25063059 -0.05340711
+v 0.37262806 0.26490180 -0.05366716
+v 0.33042371 0.30906729 0.00891631
+v 0.23008278 0.33929648 -0.00583459
+v 0.29116770 0.32592395 0.05437195
+v 0.30430245 0.31066613 -0.05361325
+v 0.21690320 0.34174711 -0.00629084
+v 0.21861430 0.33570127 -0.05352438
+v 0.37217176 0.27952986 0.02365143
+v 0.23208470 0.34194213 0.05439026
+v 0.31836333 0.30796811 -0.03520264
+v 0.34326091 0.29270058 -0.03429213
+f 5 2 1
+f 7 1 2
+f 7 5 1
+f 7 4 5
+f 10 2 5
+f 11 2 8
+f 13 9 6
+f 14 12 9
+f 14 3 12
+f 14 7 3
+f 14 4 7
+f 14 9 13
+f 15 6 9
+f 15 8 2
+f 15 2 6
+f 16 10 5
+f 16 5 4
+f 17 6 2
+f 17 2 10
+f 17 10 16
+f 17 16 13
+f 17 13 6
+f 18 7 2
+f 18 2 11
+f 18 12 3
+f 18 3 7
+f 19 14 13
+f 19 4 14
+f 19 16 4
+f 19 13 16
+f 20 12 8
+f 20 8 15
+f 20 15 9
+f 20 9 12
+f 21 18 11
+f 21 11 8
+f 21 8 12
+f 21 12 18
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_5/collision/model_normalized_collision_17.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_5/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cb0843f4a55e885b7eb76fe301deb9b234959277
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_5/collision/model_normalized_collision_17.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.35477285 -0.17158654 0.05448703
+v 0.40167419 -0.12815511 -0.05326219
+v 0.40163551 -0.11285156 0.05468538
+v 0.35608091 -0.11287268 0.05453391
+v 0.35439402 -0.17099462 -0.05322794
+v 0.40151517 -0.11294663 -0.05327111
+v 0.39225962 -0.14675763 0.05446876
+v 0.35606068 -0.11294648 -0.05318840
+v 0.39108830 -0.14523229 -0.05328483
+v 0.37568469 -0.15713460 -0.05279947
+v 0.37603690 -0.15772307 0.05447697
+v 0.38179373 -0.15261047 -0.05326834
+f 1 3 4
+f 5 1 4
+f 6 3 2
+f 7 2 3
+f 8 4 3
+f 8 3 6
+f 8 5 4
+f 9 6 2
+f 9 8 6
+f 9 5 8
+f 9 2 7
+f 10 1 5
+f 11 10 7
+f 11 1 10
+f 11 7 3
+f 11 3 1
+f 12 9 7
+f 12 7 10
+f 12 10 5
+f 12 5 9
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_5/collision/model_normalized_collision_18.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_5/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3011fb87f39303f70f7c5e8953ed32b45492a26a
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_5/collision/model_normalized_collision_18.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.26472754 -0.21787782 0.05452249
+v 0.34746486 -0.17551038 -0.05311547
+v 0.35608091 -0.11287268 0.05453391
+v 0.26513005 -0.11296889 0.05441697
+v 0.26055123 -0.22177389 -0.05310527
+v 0.35606068 -0.11294648 -0.05318840
+v 0.34784082 -0.17610631 0.05449000
+v 0.26006912 -0.22048138 -0.00820895
+v 0.26515160 -0.11294646 -0.05310129
+v 0.30320323 -0.20201311 0.05450854
+v 0.32989855 -0.18695534 -0.05306764
+v 0.27278217 -0.21687106 -0.05311892
+v 0.33103332 -0.18669464 0.05449713
+f 1 3 4
+f 7 6 3
+f 7 2 6
+f 8 5 1
+f 8 1 4
+f 9 4 3
+f 9 3 6
+f 9 8 4
+f 9 5 8
+f 10 3 1
+f 11 2 7
+f 12 10 1
+f 12 1 5
+f 12 11 10
+f 12 2 11
+f 12 6 2
+f 12 9 6
+f 12 5 9
+f 13 11 7
+f 13 10 11
+f 13 7 3
+f 13 3 10
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_5/collision/model_normalized_collision_19.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_5/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0736aa5319b66647b22252a938ff3d4851aac416
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_5/collision/model_normalized_collision_19.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.34090908 -0.02203759 0.05449897
+v -0.34090908 -0.02203759 -0.05318318
+v -0.33349718 0.04458482 -0.00811860
+v -0.34042550 0.03797247 0.05454302
+v -0.41653223 -0.02219119 -0.05301490
+v -0.41485413 -0.02411265 0.05454785
+v -0.33431991 0.04559832 -0.05303777
+v -0.35870026 0.02314576 0.05454363
+v -0.40902440 -0.01562767 -0.05301894
+v -0.40734636 -0.01754952 0.05454704
+v -0.34345716 0.03818524 -0.05303613
+f 1 2 3
+f 1 3 4
+f 6 5 2
+f 6 2 1
+f 6 1 4
+f 7 3 2
+f 7 4 3
+f 9 5 6
+f 9 2 5
+f 10 9 6
+f 10 8 9
+f 10 6 4
+f 10 4 8
+f 11 9 8
+f 11 7 2
+f 11 2 9
+f 11 8 4
+f 11 4 7
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_5/collision/model_normalized_collision_2.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_5/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6a9f9e69dc37d096b36c3946fcfc47955822f252
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_5/collision/model_normalized_collision_2.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v 0.39963878 -0.14089652 0.05446478
+v 0.47627171 -0.03053704 -0.05352218
+v 0.49308518 0.12454580 0.05433975
+v 0.44392408 0.20320119 -0.02229458
+v 0.39846648 -0.13937537 -0.05329791
+v 0.49032750 0.09841693 -0.03524547
+v 0.40141756 0.17505591 0.05411052
+v 0.49200312 -0.00360394 0.05438325
+v 0.44769064 -0.08751108 0.05443010
+v 0.40151252 0.17493357 -0.05295514
+v 0.47431466 0.15041369 -0.01915016
+v 0.47092715 0.17164815 0.05433808
+v 0.49018874 0.05513203 -0.03543750
+v 0.43099445 -0.10151357 -0.05337884
+v 0.40892918 -0.13351735 0.05445976
+v 0.47702837 -0.04428756 0.05440277
+v 0.44602099 0.18944913 -0.05370375
+v 0.48905579 0.12317755 -0.00484585
+v 0.44895462 0.19644214 -0.02000790
+v 0.48997017 -0.00316918 0.00852386
+v 0.40512685 -0.13326866 -0.05331131
+v 0.46144567 -0.05884663 -0.05346855
+v 0.40152846 -0.03722543 -0.05326283
+v 0.47473293 0.13547814 -0.05369719
+v 0.43934713 0.20014365 -0.05157348
+v 0.48031174 0.15351298 0.05433808
+v 0.44978302 0.18370228 -0.05370406
+v 0.49009081 0.02483497 -0.02026601
+v 0.47368315 -0.04251865 -0.02087261
+v 0.44432786 -0.08509268 -0.03643918
+f 7 5 1
+f 10 5 7
+f 12 7 1
+f 12 4 7
+f 12 9 8
+f 12 8 3
+f 13 6 3
+f 13 3 8
+f 13 2 6
+f 15 1 5
+f 15 12 1
+f 15 9 12
+f 16 8 9
+f 18 3 6
+f 19 12 11
+f 19 4 12
+f 19 17 4
+f 20 8 16
+f 21 14 9
+f 21 9 15
+f 21 15 5
+f 22 5 2
+f 22 21 5
+f 22 14 21
+f 22 16 9
+f 23 17 5
+f 23 5 10
+f 23 10 17
+f 24 6 2
+f 24 2 5
+f 24 5 17
+f 24 18 6
+f 24 11 18
+f 25 17 10
+f 25 4 17
+f 25 10 7
+f 25 7 4
+f 26 12 3
+f 26 3 18
+f 26 18 11
+f 26 11 12
+f 27 19 11
+f 27 17 19
+f 27 24 17
+f 27 11 24
+f 28 13 8
+f 28 8 20
+f 28 20 2
+f 28 2 13
+f 29 20 16
+f 29 2 20
+f 29 22 2
+f 29 16 22
+f 30 22 9
+f 30 9 14
+f 30 14 22
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_5/collision/model_normalized_collision_20.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_5/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b2723a76b36ee9348c74ad52222d59d50af06b74
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_5/collision/model_normalized_collision_20.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.18939394 -0.02203759 0.05449897
+v -0.18939394 -0.02203759 -0.05318318
+v -0.18939394 0.15978058 0.05449897
+v -0.34090908 -0.02203759 0.05449897
+v -0.33431991 0.04559832 -0.05303777
+v -0.22248961 0.14987455 0.05455314
+v -0.18939394 0.15978058 -0.05318318
+v -0.34090908 -0.02203759 -0.05318318
+v -0.33301227 0.04398743 0.05454302
+v -0.20454545 0.15978058 -0.05318318
+v -0.22622298 0.15286644 -0.05299776
+f 1 2 3
+f 6 1 3
+f 7 3 2
+f 8 4 5
+f 8 2 1
+f 8 1 4
+f 8 7 2
+f 9 5 4
+f 9 4 1
+f 9 1 6
+f 10 6 3
+f 10 3 7
+f 10 8 5
+f 10 7 8
+f 11 9 6
+f 11 5 9
+f 11 10 5
+f 11 6 10
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_5/collision/model_normalized_collision_21.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_5/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..381d125547543b05504df51b3e1187a473472a4b
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_5/collision/model_normalized_collision_21.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.44467479 -0.27766269 0.02230273
+v -0.44696067 -0.27960632 -0.05296419
+v -0.44696970 -0.24931032 -0.05318191
+v -0.46564082 -0.24216652 0.05200372
+v -0.46321916 -0.27098516 -0.05266160
+v -0.44696969 -0.24931031 0.05449897
+v -0.45460972 -0.25984581 0.05465894
+v -0.47673080 -0.24897760 -0.05266031
+v -0.46136709 -0.24884710 0.05465985
+v -0.44722497 -0.26461811 0.05457499
+f 1 2 3
+f 5 2 1
+f 6 1 3
+f 6 3 4
+f 7 5 1
+f 8 3 2
+f 8 2 5
+f 8 4 3
+f 9 7 6
+f 9 6 4
+f 9 4 8
+f 9 8 5
+f 9 5 7
+f 10 7 1
+f 10 1 6
+f 10 6 7
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_5/collision/model_normalized_collision_22.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_5/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5985ac7a241cbaa054a1d823fdd592b1201289d3
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_5/collision/model_normalized_collision_22.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.00759393 -0.02205888 0.05451053
+v 0.00757573 -0.02203757 -0.05317805
+v 0.00759836 0.08404502 0.05447490
+v -0.08400974 0.08614049 0.05449897
+v -0.08333541 -0.02204825 0.05449596
+v -0.08333333 0.08402301 -0.06086149
+v 0.00757586 0.08402312 -0.05320529
+v -0.08333298 -0.02203584 -0.05318149
+f 1 2 3
+f 1 3 4
+f 5 1 4
+f 7 3 2
+f 7 2 6
+f 7 6 4
+f 7 4 3
+f 8 5 4
+f 8 4 6
+f 8 6 2
+f 8 2 1
+f 8 1 5
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_5/collision/model_normalized_collision_23.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_5/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b12f443f6be92733864c4fa391ecbc959158e8a3
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_5/collision/model_normalized_collision_23.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.46102858 -0.25794757 -0.00526746
+v -0.44696970 -0.24931032 -0.05318191
+v -0.45966498 -0.07390188 -0.00680160
+v -0.44696969 -0.08264365 -0.05318318
+v -0.49302725 -0.12044892 -0.05281769
+v -0.48978320 -0.22602171 -0.05266256
+v -0.48980691 -0.13148886 -0.00996493
+v -0.47728391 -0.09305966 -0.05288349
+v -0.48087855 -0.24222179 -0.05266031
+v -0.47441941 -0.09503900 -0.00929016
+v -0.48847294 -0.21027190 -0.01108139
+v -0.47426123 -0.23815222 -0.01114385
+v -0.48986456 -0.12046889 -0.02516701
+v -0.48803002 -0.22520346 -0.04217858
+f 1 2 3
+f 3 2 4
+f 5 4 2
+f 6 5 2
+f 7 1 3
+f 8 3 4
+f 8 4 5
+f 9 6 2
+f 9 2 1
+f 10 7 3
+f 10 8 5
+f 10 3 8
+f 11 1 7
+f 11 7 5
+f 11 5 6
+f 12 9 1
+f 12 1 11
+f 13 10 5
+f 13 5 7
+f 13 7 10
+f 14 6 9
+f 14 9 12
+f 14 12 11
+f 14 11 6
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_5/collision/model_normalized_collision_24.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_5/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8e24f781340c87e0deae48e8ee03cffc749fb36a
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_5/collision/model_normalized_collision_24.obj
@@ -0,0 +1,15 @@
+# https://github.com/mikedh/trimesh
+v 0.00759393 -0.02205888 0.05451053
+v -0.21290552 0.16347588 0.00830412
+v 0.00762160 0.14459902 0.05446735
+v -0.18939394 0.14462907 0.05449897
+v -0.18939394 -0.02203759 0.05449897
+v 0.00756267 0.14463765 0.05446743
+f 1 2 3
+f 5 2 1
+f 5 1 4
+f 5 4 2
+f 6 3 2
+f 6 2 4
+f 6 1 3
+f 6 4 1
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_5/collision/model_normalized_collision_25.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_5/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a3fe76467e9f688beb39f0cd0fe3d9eabf88d500
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_5/collision/model_normalized_collision_25.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.38617147 0.17476672 0.05434696
+v 0.38624214 0.17500049 -0.05307620
+v 0.38639107 0.25064073 0.05412209
+v 0.14393010 0.25069537 0.05441013
+v 0.14398753 0.17489722 -0.05344823
+v 0.14392912 0.17493601 0.05438242
+v 0.14398353 0.25064495 -0.05324057
+v 0.38582595 0.25004983 -0.05383240
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 6 5 1
+f 6 1 4
+f 7 4 3
+f 7 6 4
+f 7 5 6
+f 8 7 3
+f 8 3 2
+f 8 2 5
+f 8 5 7
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_5/collision/model_normalized_collision_26.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_5/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea90552f4c1a3ea6b8d46a3b6139f1eaacee2ed2
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_5/collision/model_normalized_collision_26.obj
@@ -0,0 +1,15 @@
+# https://github.com/mikedh/trimesh
+v 0.41618777 -0.12559071 0.00674675
+v 0.40163551 -0.11285156 0.05468538
+v 0.26513005 -0.11296889 0.05441697
+v 0.26517404 0.02345708 0.05488375
+v 0.40153387 0.02345081 0.05511399
+v 0.26506931 0.02327063 0.05488300
+f 1 2 3
+f 5 2 1
+f 5 1 4
+f 6 1 3
+f 6 4 1
+f 6 3 2
+f 6 5 4
+f 6 2 5
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_5/collision/model_normalized_collision_27.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_5/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b7daf740b3885766a2630a7faaf4e3d923b71b9a
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_5/collision/model_normalized_collision_27.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.12878314 -0.02204027 0.05449513
+v -0.12878788 -0.02203759 -0.05318327
+v -0.12878787 0.14462907 -0.05318561
+v -0.21290552 0.16347588 0.00830412
+v -0.18939394 -0.02203759 0.05449897
+v -0.18939394 -0.02203759 -0.05318318
+v -0.12878422 0.14462855 0.05449654
+v -0.18939394 0.14462907 -0.05318318
+f 1 2 3
+f 6 3 2
+f 6 5 4
+f 6 2 1
+f 6 1 5
+f 7 1 3
+f 7 3 4
+f 7 5 1
+f 7 4 5
+f 8 6 4
+f 8 4 3
+f 8 3 6
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_5/collision/model_normalized_collision_28.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_5/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..750ff565d0d90d05142714154953079c2568aaea
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_5/collision/model_normalized_collision_28.obj
@@ -0,0 +1,15 @@
+# https://github.com/mikedh/trimesh
+v 0.47925588 -0.03101767 -0.02491192
+v 0.48873488 0.02125859 -0.02712461
+v 0.31061777 0.02348672 -0.05315251
+v 0.46212098 -0.02203819 -0.05315960
+v 0.46212113 0.02341632 -0.05299631
+v 0.31060603 -0.02203766 -0.05325301
+f 1 2 3
+f 2 1 4
+f 5 3 2
+f 5 2 4
+f 5 4 3
+f 6 1 3
+f 6 3 4
+f 6 4 1
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_5/collision/model_normalized_collision_29.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_5/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..55c6c973d50f4d084a69a400de3ff0910edf29c5
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_5/collision/model_normalized_collision_29.obj
@@ -0,0 +1,15 @@
+# https://github.com/mikedh/trimesh
+v 0.14397507 0.17491852 0.05438238
+v 0.08473475 0.34565180 0.05443626
+v 0.14436629 0.34706996 0.00772149
+v 0.14430360 0.34839476 0.05441814
+v 0.08332539 0.17493594 0.05442437
+v 0.08387771 0.34440673 0.00783214
+f 1 3 4
+f 5 1 4
+f 5 4 2
+f 6 2 4
+f 6 4 3
+f 6 5 2
+f 6 3 1
+f 6 1 5
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_5/collision/model_normalized_collision_3.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_5/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..870414764792c7b82b040dae5f8ba21750127cad
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_5/collision/model_normalized_collision_3.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.00756267 0.14463765 0.05446743
+v 0.00757568 0.14462917 -0.05321346
+v 0.00757495 0.28099572 0.05450732
+v -0.08068166 0.29062615 0.05450042
+v -0.22622298 0.15286644 -0.05299776
+v 0.00757600 0.28099253 -0.05318451
+v -0.21656170 0.15726892 0.05455414
+v -0.18939394 0.14462907 0.05449897
+v -0.09254968 0.28382552 -0.05316334
+v -0.11507374 0.26598765 0.05451696
+v -0.18939394 0.14462907 -0.05318318
+v -0.22547507 0.15226707 -0.03895436
+v -0.08025259 0.28975012 -0.05318015
+v -0.18845231 0.19233194 0.05455015
+v -0.11823755 0.26644156 -0.05312437
+v -0.21882856 0.16209199 -0.05299857
+v -0.09036816 0.28493532 0.05450487
+f 1 2 3
+f 6 3 2
+f 6 4 3
+f 7 1 3
+f 8 2 1
+f 8 1 7
+f 11 2 8
+f 12 8 7
+f 12 7 5
+f 12 11 8
+f 12 5 11
+f 13 9 4
+f 13 4 6
+f 13 11 9
+f 13 6 2
+f 13 2 11
+f 14 7 3
+f 14 3 10
+f 15 14 10
+f 15 11 5
+f 15 9 11
+f 16 15 5
+f 16 14 15
+f 16 5 7
+f 16 7 14
+f 17 15 10
+f 17 4 9
+f 17 9 15
+f 17 10 3
+f 17 3 4
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_5/collision/model_normalized_collision_30.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_5/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b0bc0a1591ab8771052ca8c29fcc0489852e6e1b
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_5/collision/model_normalized_collision_30.obj
@@ -0,0 +1,18 @@
+# https://github.com/mikedh/trimesh
+v 0.21972865 0.25066840 0.05435769
+v 0.14430360 0.34839476 0.05441814
+v 0.14393010 0.25069537 0.05441013
+v 0.14436629 0.34706996 0.00772149
+v 0.21744161 0.34467066 0.05439511
+v 0.21710880 0.34285807 0.00814525
+v 0.18911683 0.34690717 0.00778362
+f 3 2 4
+f 5 2 3
+f 5 3 1
+f 6 1 3
+f 6 3 4
+f 6 5 1
+f 7 4 2
+f 7 2 5
+f 7 6 4
+f 7 5 6
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_5/collision/model_normalized_collision_31.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_5/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f361d011b2b6571facf601eb0200da681122055
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_5/collision/model_normalized_collision_31.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.40153387 0.02345081 0.05511399
+v 0.40151510 0.02341662 -0.05312158
+v 0.40151506 0.08402321 -0.05310599
+v 0.26516873 0.08391210 0.05477095
+v 0.26514786 0.02341047 0.05488356
+v 0.26515146 0.02341669 -0.05317033
+v 0.40154921 0.08394158 0.05500472
+v 0.26515147 0.08402321 -0.05314760
+f 5 2 1
+f 6 3 2
+f 6 2 5
+f 7 5 1
+f 7 4 5
+f 7 1 2
+f 7 2 3
+f 8 3 6
+f 8 7 3
+f 8 4 7
+f 8 6 5
+f 8 5 4
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_5/collision/model_normalized_collision_4.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_5/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..30745da92a2eacbd7d676973652fe7fcb9a844a2
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_5/collision/model_normalized_collision_4.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.41319270 -0.30431121 0.02213934
+v -0.41241601 -0.31533305 -0.05271022
+v -0.41666666 -0.12809819 -0.05318318
+v -0.44696969 -0.12809819 0.05449897
+v -0.45907141 -0.27774096 -0.05266217
+v -0.41666666 -0.12809819 0.05449897
+v -0.42260165 -0.31021025 -0.05269589
+v -0.43722198 -0.28647746 0.02175062
+v -0.44696969 -0.12809819 -0.05318318
+v -0.41075483 -0.31151715 -0.02522441
+v -0.42415050 -0.29754380 0.02173895
+v -0.45224371 -0.27354612 -0.00963426
+v -0.45204038 -0.28619950 -0.05266596
+v -0.43295611 -0.29335042 0.00548783
+f 6 4 1
+f 7 2 1
+f 9 5 4
+f 9 3 2
+f 9 2 7
+f 9 6 3
+f 9 4 6
+f 10 6 1
+f 10 1 2
+f 10 2 3
+f 10 3 6
+f 11 1 4
+f 11 4 8
+f 11 7 1
+f 12 8 4
+f 12 4 5
+f 12 5 8
+f 13 8 5
+f 13 9 7
+f 13 5 9
+f 14 11 8
+f 14 8 13
+f 14 13 7
+f 14 7 11
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_5/collision/model_normalized_collision_5.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_5/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..69731738008afdf5d983b22c2b3f22306334b022
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_5/collision/model_normalized_collision_5.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.00757495 0.28099572 0.05450732
+v 0.08323969 0.29616059 -0.05339118
+v 0.08333308 0.29614774 0.05450792
+v 0.04316477 0.33934113 0.05445140
+v -0.08025259 0.28975012 -0.05318015
+v 0.08473475 0.34565180 0.05443626
+v -0.07475847 0.29347879 0.05449784
+v 0.00757600 0.28099253 -0.05318451
+v 0.05368383 0.33656792 -0.05335390
+v -0.08332802 0.28098529 0.05450146
+v -0.00079732 0.32460140 0.05446820
+v -0.08333333 0.28099286 -0.05317614
+v 0.05527225 0.33908797 -0.02167829
+v 0.08396712 0.34237640 -0.02172826
+v -0.06280006 0.29783099 -0.05300934
+v 0.04322977 0.33913185 0.03786354
+v -0.07450754 0.29298462 -0.02268616
+v -0.00529420 0.32078633 -0.05328197
+v -0.00024514 0.32327074 -0.03763779
+v 0.01209781 0.32678647 -0.05330470
+f 6 3 2
+f 6 4 3
+f 8 2 3
+f 8 3 1
+f 10 7 5
+f 10 1 3
+f 10 3 7
+f 10 8 1
+f 11 7 3
+f 11 3 4
+f 12 2 8
+f 12 10 5
+f 12 8 10
+f 14 6 2
+f 14 2 9
+f 14 13 6
+f 14 9 13
+f 15 7 11
+f 16 4 6
+f 16 6 13
+f 16 11 4
+f 17 15 5
+f 17 5 7
+f 17 7 15
+f 18 5 15
+f 18 12 5
+f 18 2 12
+f 19 18 15
+f 19 15 11
+f 19 11 16
+f 20 19 16
+f 20 16 13
+f 20 13 9
+f 20 18 19
+f 20 9 2
+f 20 2 18
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_5/collision/model_normalized_collision_6.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_5/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b532a68eeeb107b81794e1a301ec2d90c4a335f6
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_5/collision/model_normalized_collision_6.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v -0.08333541 -0.02204825 0.05449596
+v -0.08333298 -0.02203584 -0.05318149
+v -0.08331655 0.14462751 0.05448940
+v -0.12878422 0.14462855 0.05449654
+v -0.12878788 -0.02203759 -0.05318327
+v -0.12878314 -0.02204027 0.05449513
+v -0.08333552 0.14462944 -0.05318891
+v -0.08333333 0.08402301 -0.06086149
+v -0.12879021 0.14462930 -0.05318561
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 6 5 1
+f 6 1 4
+f 7 4 3
+f 8 2 5
+f 8 7 3
+f 8 3 2
+f 9 4 7
+f 9 6 4
+f 9 5 6
+f 9 8 5
+f 9 7 8
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_5/collision/model_normalized_collision_7.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_5/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..556c0cbc5edee32b68f2c0bf2059a572e334efaa
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_5/collision/model_normalized_collision_7.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v -0.41233624 -0.30292085 0.05464657
+v -0.41319270 -0.30431121 0.02213934
+v -0.41666666 -0.12809819 0.05449897
+v -0.48220894 -0.10990529 -0.00450126
+v -0.47996328 -0.22846062 -0.00995133
+v -0.48540824 -0.12944507 0.05461631
+v -0.44945693 -0.27183260 0.02162302
+v -0.46102858 -0.25794757 -0.00526746
+v -0.49275487 -0.18674836 -0.00997753
+v -0.42415050 -0.29754380 0.02173895
+v -0.47535625 -0.22607255 0.05465985
+v -0.46985039 -0.24475055 -0.00918491
+v -0.48907397 -0.12873749 -0.00823350
+v -0.42328242 -0.29613614 0.05465117
+v -0.49078936 -0.18649099 0.00591469
+v -0.44785179 -0.27084538 0.05465802
+v -0.49217796 -0.15897079 -0.00986063
+f 1 2 3
+f 3 2 4
+f 6 1 3
+f 6 3 4
+f 8 4 2
+f 10 2 1
+f 10 8 2
+f 10 7 8
+f 11 9 5
+f 11 1 6
+f 12 4 8
+f 13 6 4
+f 13 4 12
+f 14 10 1
+f 14 7 10
+f 15 11 6
+f 15 6 9
+f 15 9 11
+f 16 11 5
+f 16 5 12
+f 16 7 14
+f 16 14 1
+f 16 1 11
+f 16 12 8
+f 16 8 7
+f 17 9 6
+f 17 6 13
+f 17 5 9
+f 17 13 12
+f 17 12 5
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_5/collision/model_normalized_collision_8.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_5/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e756345f5b8012d4a1d9e976bcf8950a6e3cf41f
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_5/collision/model_normalized_collision_8.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.08336102 0.17491871 0.05442434
+v -0.00297643 0.32256365 -0.02374160
+v 0.08333308 0.29614774 0.05450792
+v 0.00757568 0.29614672 0.05451033
+v 0.00760714 0.17489272 -0.05325404
+v 0.00756300 0.17494371 0.05448740
+v 0.05287893 0.29619559 -0.05326635
+v 0.05306533 0.17489275 -0.05320572
+f 3 2 4
+f 6 1 3
+f 6 3 4
+f 6 5 1
+f 6 4 2
+f 6 2 5
+f 7 5 2
+f 7 2 3
+f 8 7 3
+f 8 3 1
+f 8 1 5
+f 8 5 7
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_5/collision/model_normalized_collision_9.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_5/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af8a859ab930bda0b8619c28c6ded041d799d03f
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_5/collision/model_normalized_collision_9.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.14397507 0.17491852 0.05438238
+v 0.14398753 0.17489722 -0.05344823
+v 0.14393952 0.25068954 -0.05324031
+v 0.05303166 0.25068305 0.05449960
+v 0.00760714 0.17489272 -0.05325404
+v 0.14397174 0.25066985 0.05441009
+v 0.05308430 0.17489118 0.05444309
+v 0.03790241 0.25069450 -0.05328306
+v 0.00750284 0.25074058 -0.05323524
+v 0.14398340 0.23549357 -0.05328516
+v 0.00757572 0.17493214 -0.05325412
+f 6 4 1
+f 6 1 2
+f 7 5 2
+f 7 2 1
+f 7 1 4
+f 9 6 3
+f 9 4 6
+f 9 3 8
+f 9 7 4
+f 10 6 2
+f 10 3 6
+f 10 8 3
+f 10 2 8
+f 11 5 7
+f 11 7 9
+f 11 9 8
+f 11 8 2
+f 11 2 5
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_5/model.xml b/Assets/robocasa/data/objects/objaverse/steak/steak_5/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..f255007b2405016a6d2a8534666e85edac2209bf
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_5/model.xml
@@ -0,0 +1,30 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="more_steak_15">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.12499999999999999 0.12499999999999999 0.12499999999999999" refquat="0.8819212643483549 0.0 0.0 -0.4713967368259976" />
+    <texture type="2d" name="image0" file="visual/image0.png" />
+    <material name="DefaultMaterial.007" texture="image0" specular="0.5" shininess="0.25" />
+    <mesh file="collision/collision_mesh_collision_0.obj" name="steak_collision_mesh_0" scale="0.12499999999999999 0.12499999999999999 0.12499999999999999" refquat="0.8819212643483549 0.0 0.0 -0.4713967368259976" />
+    <mesh file="collision/collision_mesh_collision_1.obj" name="steak_collision_mesh_1" scale="0.12499999999999999 0.12499999999999999 0.12499999999999999" refquat="0.8819212643483549 0.0 0.0 -0.4713967368259976" />
+    <mesh file="collision/collision_mesh_collision_2.obj" name="steak_collision_mesh_2" scale="0.12499999999999999 0.12499999999999999 0.12499999999999999" refquat="0.8819212643483549 0.0 0.0 -0.4713967368259976" />
+    </asset>
+  <default>
+    <default class="region">
+      <geom group="1" conaffinity="0" contype="0" rgba="0 1 0 0" />
+      </default>
+    <default class="collision">
+      <geom group="0" rgba="0.5 0 0 0.5" density="1000.0" />
+      </default>
+    </default>
+  <worldbody>
+    <body>
+      <body name="object">
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_0_vis" conaffinity="0" contype="0" group="1" material="DefaultMaterial.007" />
+        <geom class="region" name="reg_bbox" type="box" pos="0.003290421440950444 -0.002917279534004703 -0.0003592187499999993" size="0.0425071066746839 0.06116650274592407 0.007248467499999999" />
+        <geom mesh="steak_collision_mesh_0" type="mesh" class="collision" />
+        <geom mesh="steak_collision_mesh_1" type="mesh" class="collision" />
+        <geom mesh="steak_collision_mesh_2" type="mesh" class="collision" />
+        </body>
+      </body>
+    </worldbody>
+  </mujoco>
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_5/visual/material.mtl b/Assets/robocasa/data/objects/objaverse/steak/steak_5/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..33616803300962094e8955deb30562079542847b
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_5/visual/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 250.00000000
+map_Kd material_0.jpeg
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_5/visual/model_normalized_0.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_5/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d3cead748978f56202a15cfd03d5e05e4f95287
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_5/visual/model_normalized_0.obj
@@ -0,0 +1,16081 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
+v -0.02124224 0.24460086 0.05450088
+v -0.02124224 0.24460086 0.05450088
+v -0.02124224 0.24460086 0.05450088
+v 0.04904620 0.23169961 0.05449705
+v 0.06040374 0.27499042 0.05450280
+v -0.02448479 0.29864591 -0.05318318
+v -0.02840535 0.30431893 -0.05321382
+v 0.00617866 0.31810120 -0.05323680
+v 0.01017391 0.31243009 -0.05318318
+v -0.03232590 0.30999196 -0.05324446
+v 0.00218341 0.32377231 -0.05329235
+v 0.03755075 0.33452463 -0.05333640
+v 0.04142534 0.32911783 -0.05328469
+v 0.04529802 0.32371102 -0.05323297
+v -0.12948939 0.23766759 -0.05318318
+v -0.13513752 0.24200758 -0.05313529
+v -0.11508465 0.25980617 -0.05315253
+v -0.10910136 0.25522102 -0.05318318
+v -0.14078564 0.24634567 -0.05308741
+v -0.12106795 0.26438941 -0.05311997
+v -0.09764997 0.28136827 -0.05315636
+v -0.09156899 0.27665479 -0.05316977
+v -0.08548801 0.27194132 -0.05318318
+v -0.18934919 0.17874435 -0.05318318
+v -0.19618287 0.18028040 -0.05309507
+v -0.18494407 0.19397073 -0.05309890
+v -0.17826745 0.19190608 -0.05318318
+v -0.20301846 0.18181836 -0.05300889
+v -0.19162262 0.19603731 -0.05301655
+v -0.17814487 0.21121198 -0.05302995
+v -0.17159848 0.20865893 -0.05310657
+v -0.16505401 0.20610588 -0.05318318
+v -0.23754118 0.12189152 -0.05318318
+v -0.23754118 0.12189152 -0.05318318
+v -0.24299012 0.12351950 -0.05310274
+v -0.24299012 0.12351950 -0.05310274
+v -0.23030721 0.13882632 -0.05309507
+v -0.23030721 0.13882632 -0.05309507
+v -0.22348885 0.13838964 -0.05318318
+v -0.22348885 0.13838964 -0.05318318
+v -0.22348885 0.13838964 -0.05318318
+v -0.24843906 0.12514939 -0.05302038
+v -0.23712557 0.13926492 -0.05300697
+v -0.23712557 0.13926492 -0.05300697
+v -0.23712557 0.13926492 -0.05300697
+v -0.22579101 0.15340535 -0.05299740
+v -0.21809546 0.15359687 -0.05308933
+v -0.21809546 0.15359687 -0.05308933
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diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_6/collision/collision_mesh_collision_0.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_6/collision/collision_mesh_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae087d1d24e973d1cbd6095e68a57b47d6ff4490
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_6/collision/collision_mesh_collision_0.obj
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diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_6/collision/collision_mesh_collision_1.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_6/collision/collision_mesh_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0789d14b303a4d3cfa914c441230c6280c9e2cc6
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_6/collision/collision_mesh_collision_1.obj
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diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_6/collision/collision_mesh_collision_10.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_6/collision/collision_mesh_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2ef15931f2a709e22b30935c628fd2a84e098358
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_6/collision/collision_mesh_collision_10.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_6/collision/collision_mesh_collision_11.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_6/collision/collision_mesh_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8dc42a481c6a43dbc04c7a8ddcfa44e75557983e
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_6/collision/collision_mesh_collision_11.obj
@@ -0,0 +1,349 @@
+# https://github.com/mikedh/trimesh
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diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_6/collision/collision_mesh_collision_12.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_6/collision/collision_mesh_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5734446277fbf23025ae6968c5e7369712312367
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_6/collision/collision_mesh_collision_12.obj
@@ -0,0 +1,445 @@
+# https://github.com/mikedh/trimesh
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diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_6/collision/collision_mesh_collision_13.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_6/collision/collision_mesh_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af2b19dfc9cfa7f3dd08eecd2ebfb2f4c2bec63b
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_6/collision/collision_mesh_collision_13.obj
@@ -0,0 +1,52 @@
+# https://github.com/mikedh/trimesh
+v 0.39308780 -0.06512290 0.08978251
+v 0.39500052 -0.06499791 0.07401434
+v 0.39500052 -0.07017864 0.08978251
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+
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_6/collision/collision_mesh_collision_14.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_6/collision/collision_mesh_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a61d7ddde8e1dc00500079b949857c95dcef26c
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_6/collision/collision_mesh_collision_14.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v 0.35983133 -0.00304864 0.07478251
+v 0.36501074 -0.00722687 0.07478251
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diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_6/collision/collision_mesh_collision_2.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_6/collision/collision_mesh_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c3b4df766a045e1787fe5fe6cc57ee64a650f31
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_6/collision/collision_mesh_collision_2.obj
@@ -0,0 +1,376 @@
+# https://github.com/mikedh/trimesh
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diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_6/collision/collision_mesh_collision_3.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_6/collision/collision_mesh_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3e5138c9b1f8987f9b3c71691271bc63f04d19e4
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_6/collision/collision_mesh_collision_3.obj
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diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_6/collision/collision_mesh_collision_4.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_6/collision/collision_mesh_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fcc3e126b7726623bc63a63a6c985a8af13a4494
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_6/collision/collision_mesh_collision_4.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
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diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_6/collision/collision_mesh_collision_5.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_6/collision/collision_mesh_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f267f4d2f8386d2d98cafddcca66840b52ad99ae
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_6/collision/collision_mesh_collision_5.obj
@@ -0,0 +1,277 @@
+# https://github.com/mikedh/trimesh
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diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_6/collision/collision_mesh_collision_6.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_6/collision/collision_mesh_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ebd487167121a6072356c8a4ad4eb6a5cb6c57a
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_6/collision/collision_mesh_collision_6.obj
@@ -0,0 +1,445 @@
+# https://github.com/mikedh/trimesh
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diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_6/collision/collision_mesh_collision_7.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_6/collision/collision_mesh_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..336e1b3242cef247877a7cd323078deaab51aaa5
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_6/collision/collision_mesh_collision_7.obj
@@ -0,0 +1,349 @@
+# https://github.com/mikedh/trimesh
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diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_6/collision/collision_mesh_collision_8.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_6/collision/collision_mesh_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eefa41ea4a4003551c39e1a7352ead51ef826a42
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_6/collision/collision_mesh_collision_8.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
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diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_6/collision/collision_mesh_collision_9.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_6/collision/collision_mesh_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6a08cf80d99a67aa788bdd2e9056f3671c26621c
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_6/collision/collision_mesh_collision_9.obj
@@ -0,0 +1,742 @@
+# https://github.com/mikedh/trimesh
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diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_6/collision/model_normalized_collision_0.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_6/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5142b8d2b2b15eebad26db58b88663404bd88ccf
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_6/collision/model_normalized_collision_0.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_6/collision/model_normalized_collision_1.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_6/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fbfd43af40e5e92f11e87eb7fc9ec5aacf7f8245
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_6/collision/model_normalized_collision_1.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.26551732 -0.01744615 -0.03708998
+v 0.25990500 -0.02867842 -0.21598044
+v 0.25669735 0.02688201 -0.04555314
+v 0.14179719 0.09495167 -0.05131467
+v 0.12580473 -0.05293550 -0.13379064
+v 0.22723303 -0.00722536 -0.22250130
+v 0.16487472 0.08333762 -0.04771432
+v 0.13752066 -0.03295807 -0.04918715
+v 0.25353204 -0.02157658 -0.21191191
+v 0.14009043 0.06131095 -0.14112684
+v 0.13731630 0.08968214 -0.07044421
+v 0.24078014 -0.00971213 -0.20193584
+v 0.21542212 -0.00015873 -0.21753083
+f 1 2 3
+f 5 2 1
+f 6 2 5
+f 7 1 3
+f 7 6 4
+f 7 3 6
+f 8 5 1
+f 8 7 4
+f 8 1 7
+f 9 3 2
+f 9 2 6
+f 11 8 4
+f 11 5 8
+f 11 10 5
+f 12 9 6
+f 12 6 3
+f 12 3 9
+f 13 6 5
+f 13 5 10
+f 13 10 11
+f 13 11 4
+f 13 4 6
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_6/collision/model_normalized_collision_10.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_6/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f0693f49d9593e078ddd4eef2fd0a711c40c6dc
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_6/collision/model_normalized_collision_10.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v 0.22673715 0.00327232 0.26246395
+v 0.22016658 -0.00644921 0.17462059
+v 0.22555091 0.13110411 0.26925343
+v 0.05468232 0.19538063 0.16656145
+v 0.01204395 0.10637608 0.17095688
+v 0.21307182 0.11949714 0.17765273
+v 0.02585468 0.17206163 0.16581962
+v 0.22806873 0.02043319 0.32249473
+v 0.14975014 0.15911099 0.17966169
+v 0.02931972 0.09690503 0.17037759
+v 0.17775382 0.05951084 0.29147370
+v 0.22775309 0.04283175 0.31291027
+v 0.08054813 0.19152340 0.17195182
+v 0.19316124 0.14262501 0.21014659
+v 0.07629584 0.17866585 0.18536425
+v 0.01724064 0.11977605 0.18668064
+v 0.08241902 0.18720126 0.18170018
+v 0.20851418 0.12779243 0.19489774
+v 0.17893138 0.14206111 0.18026843
+v 0.19956286 0.14331033 0.23494867
+v 0.06056609 0.19291329 0.17042504
+v 0.07754647 0.12003287 0.21826470
+v 0.00779666 0.14374070 0.17236411
+v 0.02134773 0.10939901 0.18850229
+v 0.18534289 0.04612987 0.29748587
+v 0.16490619 0.15691367 0.20687860
+v 0.06231320 0.10570143 0.21794266
+v 0.00908016 0.13866007 0.17446886
+f 1 2 3
+f 5 2 1
+f 6 3 2
+f 6 2 4
+f 7 4 2
+f 8 5 1
+f 10 7 2
+f 10 2 5
+f 10 5 7
+f 12 8 1
+f 12 1 3
+f 12 11 8
+f 12 3 11
+f 13 9 6
+f 13 6 4
+f 15 11 3
+f 17 13 4
+f 17 3 13
+f 18 3 6
+f 18 6 14
+f 19 14 6
+f 19 6 9
+f 19 9 14
+f 20 13 3
+f 20 18 14
+f 20 3 18
+f 21 15 3
+f 21 4 15
+f 21 17 4
+f 21 3 17
+f 22 15 4
+f 22 4 7
+f 22 11 15
+f 23 7 5
+f 23 22 7
+f 24 16 5
+f 24 5 8
+f 25 8 11
+f 25 24 8
+f 26 20 14
+f 26 14 9
+f 26 9 13
+f 26 13 20
+f 27 11 22
+f 27 25 11
+f 27 16 24
+f 27 24 25
+f 27 23 16
+f 27 22 23
+f 28 23 5
+f 28 5 16
+f 28 16 23
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_6/collision/model_normalized_collision_11.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_6/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..42f8e7a3de3c383ff476026234119b3f899d771d
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_6/collision/model_normalized_collision_11.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v 0.34860796 -0.13437128 0.09412435
+v 0.40873926 -0.05044296 0.07767547
+v 0.39083814 -0.06283761 0.12645476
+v 0.31911876 0.04603919 0.19166541
+v 0.31770490 0.01299094 0.07149630
+v 0.40087980 -0.03388601 0.12543074
+v 0.31866039 -0.06474652 0.17756287
+v 0.40330047 -0.06915554 0.07759372
+v 0.35711983 -0.00810202 0.07370898
+v 0.33579477 -0.12010306 0.14453538
+v 0.30775088 -0.10858629 0.09961284
+v 0.33982015 0.01873846 0.18854922
+v 0.38352881 -0.08451209 0.10633369
+v 0.39922370 -0.05456394 0.12140077
+v 0.31729669 -0.09117541 0.06866206
+v 0.33683521 0.00451860 0.06918330
+v 0.35902377 0.00654629 0.13412650
+v 0.37023792 -0.08700690 0.13245514
+v 0.31731980 0.04396166 0.17702993
+v 0.31127502 -0.11205640 0.11383236
+v 0.36939156 0.00064047 0.16267434
+v 0.32799885 0.03879664 0.19346438
+v 0.39933360 -0.06940344 0.09347054
+v 0.33760990 -0.13363062 0.09704656
+v 0.40242280 -0.03772596 0.10165761
+v 0.32630437 -0.05934312 0.17433783
+v 0.34016859 -0.12621685 0.13490564
+v 0.33037327 -0.11480570 0.14884246
+v 0.38752296 -0.02435131 0.10399717
+v 0.33486300 -0.12485218 0.13820149
+v 0.31871629 -0.11795097 0.11264623
+f 11 7 4
+f 14 8 2
+f 14 2 6
+f 15 8 1
+f 15 2 8
+f 15 11 5
+f 16 15 5
+f 16 9 2
+f 16 2 15
+f 17 9 16
+f 19 11 4
+f 19 5 11
+f 19 16 5
+f 19 17 16
+f 19 4 17
+f 20 7 11
+f 21 14 6
+f 21 3 14
+f 22 4 7
+f 22 7 12
+f 22 12 21
+f 22 21 17
+f 22 17 4
+f 23 13 1
+f 23 1 8
+f 23 14 13
+f 23 8 14
+f 24 15 1
+f 24 11 15
+f 24 20 11
+f 25 6 2
+f 25 21 6
+f 25 17 21
+f 26 18 3
+f 26 7 10
+f 26 10 18
+f 26 3 21
+f 26 21 12
+f 26 12 7
+f 27 18 10
+f 27 1 13
+f 27 13 14
+f 27 14 3
+f 27 3 18
+f 27 24 1
+f 28 10 7
+f 28 7 20
+f 29 25 2
+f 29 2 9
+f 29 9 17
+f 29 17 25
+f 30 27 10
+f 30 24 27
+f 30 28 20
+f 30 10 28
+f 31 30 20
+f 31 20 24
+f 31 24 30
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_6/collision/model_normalized_collision_12.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_6/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0652e18d6740c8f4f64f9841b7b3c67b3fab2a11
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_6/collision/model_normalized_collision_12.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v 0.19778264 0.01351943 0.18012915
+v 0.23585830 0.07803246 0.09141364
+v 0.21307182 0.11949714 0.17765273
+v 0.01164857 0.20713042 0.14429942
+v 0.01363964 0.05046531 0.00404107
+v 0.04444894 0.17009799 0.04481629
+v 0.01706042 0.10256273 0.16852095
+v 0.18879878 0.01084341 0.01507556
+v 0.13398045 0.12508975 0.04461902
+v 0.08054813 0.19152340 0.17195182
+v 0.00217938 0.17753676 0.01204725
+v 0.07139152 0.01166757 0.00097765
+v 0.19296721 0.10984725 0.10509416
+v 0.18201561 0.08662028 0.01193270
+v 0.07337916 0.18575144 0.13550889
+v 0.01257659 0.18146717 0.15803877
+v 0.14975014 0.15911099 0.17966169
+v 0.00204226 0.20747446 0.10311439
+v 0.16431321 0.09750441 0.01330882
+v 0.20961608 0.09914703 0.10348250
+v 0.02897196 0.19541371 0.15688821
+v 0.19572070 0.13133971 0.17866309
+v 0.13234984 0.15534018 0.13539850
+v 0.03677911 0.20312086 0.15164882
+v 0.02969366 0.20129369 0.12030843
+v 0.01515779 0.17248982 0.01370006
+v 0.19421288 0.12805723 0.16463032
+v 0.04438325 0.18509663 0.09032113
+f 1 2 3
+f 8 2 1
+f 12 7 5
+f 12 1 7
+f 12 8 1
+f 12 5 11
+f 14 2 8
+f 14 12 11
+f 14 8 12
+f 15 9 6
+f 16 7 10
+f 17 10 7
+f 17 7 1
+f 17 15 10
+f 18 11 5
+f 18 5 7
+f 18 7 16
+f 18 16 4
+f 19 6 9
+f 19 14 11
+f 20 14 13
+f 20 2 14
+f 21 16 10
+f 21 10 4
+f 21 4 16
+f 22 17 1
+f 22 1 3
+f 22 3 2
+f 23 9 15
+f 23 15 17
+f 23 19 9
+f 23 13 14
+f 23 14 19
+f 24 18 4
+f 24 4 10
+f 25 10 15
+f 25 11 18
+f 25 24 10
+f 25 18 24
+f 26 19 11
+f 26 6 19
+f 26 11 25
+f 27 20 13
+f 27 17 22
+f 27 23 17
+f 27 13 23
+f 27 22 2
+f 27 2 20
+f 28 25 15
+f 28 15 6
+f 28 26 25
+f 28 6 26
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_6/collision/model_normalized_collision_13.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_6/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f6203983a1ad5b810f56646b06ba12b540983b9b
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_6/collision/model_normalized_collision_13.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v -0.10624485 0.12271485 0.07573106
+v -0.09832535 0.14602433 -0.09356036
+v -0.09945054 0.23976436 0.10459337
+v -0.23527442 0.26939718 0.08849126
+v -0.23362083 0.14831786 -0.08520748
+v -0.14861141 0.20250623 -0.09467989
+v -0.15952245 0.18728114 0.12192319
+v -0.10167023 0.19535890 0.12522773
+v -0.10430966 0.18800567 -0.09342122
+v -0.19356012 0.26336706 0.07398788
+v -0.23634631 0.22379909 -0.09495782
+v -0.23191199 0.15697388 0.06477471
+v -0.11263301 0.18871368 0.12630498
+v -0.21768047 0.25933763 0.09506648
+v -0.19150895 0.26496165 0.08912949
+v -0.10465119 0.23318480 0.05896723
+v -0.20909203 0.21872450 -0.09361292
+v -0.23830964 0.26439882 0.04323138
+v -0.23451307 0.20416103 0.11114220
+v -0.14662354 0.24900003 0.10098824
+v -0.13209903 0.25087667 0.09618456
+v -0.13411111 0.24707362 0.07461875
+v -0.23204037 0.24576404 0.09766446
+v -0.21688928 0.20182677 0.11460470
+v -0.21660891 0.21363403 0.11097927
+f 5 2 1
+f 8 1 2
+f 8 2 3
+f 9 3 2
+f 9 2 6
+f 11 6 2
+f 11 2 5
+f 12 5 1
+f 12 1 7
+f 13 7 1
+f 13 1 8
+f 16 9 6
+f 16 3 9
+f 17 10 6
+f 17 6 11
+f 18 17 11
+f 18 10 17
+f 18 15 10
+f 18 4 15
+f 18 11 5
+f 19 12 7
+f 19 4 18
+f 19 18 5
+f 19 5 12
+f 20 14 8
+f 20 8 3
+f 20 4 14
+f 20 15 4
+f 20 3 15
+f 21 15 3
+f 21 10 15
+f 21 3 16
+f 22 16 6
+f 22 6 10
+f 22 21 16
+f 22 10 21
+f 23 14 4
+f 23 4 19
+f 24 19 7
+f 24 7 13
+f 24 13 8
+f 25 24 8
+f 25 8 14
+f 25 14 23
+f 25 23 19
+f 25 19 24
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_6/collision/model_normalized_collision_14.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_6/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..61ea78908fc70036d41931ece8fa742f56e094a8
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_6/collision/model_normalized_collision_14.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.27211675 -0.14869237 -0.14637758
+v 0.27015505 -0.15143072 -0.16073900
+v 0.26695231 -0.01930106 -0.15955753
+v 0.11826227 -0.01476098 0.00407029
+v 0.04055032 -0.01685489 -0.16043387
+v 0.26058232 -0.01081656 0.03506047
+v 0.20033437 -0.06574897 0.00232260
+v 0.04622519 -0.02096764 -0.16406643
+v 0.27280271 -0.11698383 -0.04097232
+v 0.04238099 -0.01322493 -0.14643410
+v 0.13947298 -0.03403373 -0.01347793
+v 0.17535493 -0.02066019 0.03755431
+v 0.25911057 -0.14469198 -0.16295945
+v 0.27335313 -0.13190851 -0.08632132
+v 0.18247434 -0.04254809 0.03077989
+v 0.14876727 -0.02034792 0.02314733
+v 0.26296404 -0.08873913 0.01217059
+v 0.15316113 -0.02714086 0.02215372
+f 1 2 3
+f 5 2 1
+f 7 5 1
+f 8 5 3
+f 8 2 5
+f 9 3 6
+f 10 5 4
+f 10 4 6
+f 10 6 3
+f 10 3 5
+f 11 7 4
+f 11 4 5
+f 11 5 7
+f 12 6 4
+f 13 8 3
+f 13 3 2
+f 13 2 8
+f 14 1 3
+f 14 3 9
+f 14 9 7
+f 14 7 1
+f 15 4 7
+f 15 6 12
+f 16 15 12
+f 16 12 4
+f 17 15 7
+f 17 7 9
+f 17 9 6
+f 17 6 15
+f 18 16 4
+f 18 4 15
+f 18 15 16
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_6/collision/model_normalized_collision_15.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_6/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..34899a6700007b5f468ae84e953a2069ec8fe7ce
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_6/collision/model_normalized_collision_15.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v 0.29645920 -0.06997684 0.18341340
+v 0.32912349 0.00272883 0.18332937
+v 0.30046495 0.07690631 0.30522088
+v 0.29034234 0.09329999 0.28212398
+v 0.24130461 0.10140271 0.17982971
+v 0.32799885 0.03879664 0.19346438
+v 0.31210502 -0.05600203 0.18044033
+v 0.22790912 0.02587623 0.33063103
+v 0.32733279 0.03466509 0.22393267
+v 0.30841817 0.07350211 0.26587743
+v 0.29724287 0.06567723 0.19506406
+v 0.24666823 0.01615291 0.32593677
+v 0.23511571 -0.02240081 0.19012376
+v 0.22220255 0.06296150 0.29779486
+v 0.29916776 0.08604782 0.28392302
+v 0.32379526 0.04675813 0.23285154
+v 0.28675961 0.08920512 0.25281511
+v 0.25116174 0.00953770 0.31436934
+v 0.23818409 0.01206766 0.31775004
+v 0.25890469 0.05329127 0.32342481
+v 0.23270681 -0.01935603 0.19974977
+v 0.31166833 0.06784862 0.25429763
+v 0.31011500 0.06638235 0.27771439
+v 0.28707646 0.07251587 0.19308579
+v 0.23217474 0.02095616 0.32984309
+v 0.28874421 0.07156739 0.31175073
+v 0.23275127 0.01209522 0.30531287
+f 6 2 5
+f 7 5 2
+f 7 1 5
+f 9 2 6
+f 9 7 2
+f 9 3 7
+f 11 6 5
+f 12 7 3
+f 13 5 1
+f 14 4 5
+f 15 6 4
+f 15 4 3
+f 15 3 10
+f 16 9 6
+f 17 5 4
+f 17 4 6
+f 17 6 11
+f 18 12 1
+f 18 1 7
+f 18 7 12
+f 19 1 12
+f 20 14 8
+f 21 8 14
+f 21 13 1
+f 21 14 5
+f 21 5 13
+f 22 16 6
+f 22 10 16
+f 22 15 10
+f 22 6 15
+f 23 16 10
+f 23 10 3
+f 23 3 9
+f 23 9 16
+f 24 17 11
+f 24 11 5
+f 24 5 17
+f 25 19 12
+f 25 20 8
+f 25 12 20
+f 26 20 12
+f 26 12 3
+f 26 3 4
+f 26 4 14
+f 26 14 20
+f 27 21 1
+f 27 1 19
+f 27 19 25
+f 27 25 8
+f 27 8 21
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_6/collision/model_normalized_collision_16.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_6/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c29c462d3e195502f2ab0c832bcb07750e14ed8a
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_6/collision/model_normalized_collision_16.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v 0.47502891 -0.16088586 -0.14294328
+v 0.47211273 -0.16586998 -0.17166112
+v 0.33549693 -0.05984712 -0.14136272
+v 0.28850181 -0.03184139 -0.15438315
+v 0.27211675 -0.14869237 -0.14637758
+v 0.32660221 -0.09908670 -0.28301815
+v 0.45201846 -0.14186596 -0.13946856
+v 0.34275081 -0.08606363 -0.21398542
+v 0.25822794 -0.07152163 -0.31463670
+v 0.26324298 -0.15510763 -0.28243626
+v 0.46824256 -0.15415885 -0.14075143
+v 0.34577657 -0.06667177 -0.13939259
+v 0.35741672 -0.10107914 -0.22797953
+v 0.25990500 -0.02867842 -0.21598044
+v 0.39711554 -0.14943836 -0.26056762
+v 0.43693063 -0.16668648 -0.22785493
+v 0.41666581 -0.14597109 -0.22867716
+v 0.25886735 -0.06165013 -0.30522517
+v 0.25669190 -0.03274688 -0.22910569
+v 0.28029886 -0.08829645 -0.30968457
+v 0.30829340 -0.15247818 -0.27677294
+v 0.37111913 -0.12741921 -0.26566825
+v 0.43151412 -0.15813881 -0.22654244
+v 0.25656959 -0.04811921 -0.27561920
+v 0.29709627 -0.08409206 -0.29677644
+v 0.26681289 -0.08650938 -0.31029166
+v 0.35643122 -0.12647511 -0.28045232
+v 0.27167258 -0.07451547 -0.30838241
+v 0.31267297 -0.09430584 -0.29220321
+f 5 2 1
+f 5 3 4
+f 8 7 2
+f 8 3 7
+f 11 1 2
+f 11 2 7
+f 11 7 5
+f 11 5 1
+f 12 7 3
+f 12 3 5
+f 12 5 7
+f 13 8 2
+f 14 4 3
+f 14 3 8
+f 14 5 4
+f 14 13 6
+f 14 8 13
+f 16 2 5
+f 16 5 10
+f 17 13 2
+f 17 6 13
+f 19 10 5
+f 19 5 14
+f 21 16 10
+f 21 15 16
+f 21 10 20
+f 22 6 17
+f 23 16 15
+f 23 22 17
+f 23 15 22
+f 23 17 2
+f 23 2 16
+f 24 14 6
+f 24 19 14
+f 24 18 9
+f 24 9 10
+f 24 10 19
+f 25 24 6
+f 25 18 24
+f 26 20 10
+f 26 10 9
+f 26 9 20
+f 27 21 20
+f 27 15 21
+f 27 22 15
+f 27 6 22
+f 28 9 18
+f 28 18 25
+f 28 20 9
+f 28 27 20
+f 29 25 6
+f 29 6 27
+f 29 28 25
+f 29 27 28
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_6/collision/model_normalized_collision_17.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_6/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d6c3fc7b1455d7d9b1b48a5082826a30bef343c
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_6/collision/model_normalized_collision_17.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.25816012 -0.08692172 0.01229931
+v 0.37938275 -0.07560631 -0.08145478
+v 0.36822583 -0.03612972 0.02144301
+v 0.26239709 0.02050248 -0.04656139
+v 0.27840081 -0.04668915 -0.22584664
+v 0.34384870 -0.02375794 -0.01705226
+v 0.26058232 -0.01081656 0.03506047
+v 0.37635147 -0.06479682 0.00365830
+v 0.31999260 -0.07604854 -0.23187620
+v 0.25990500 -0.02867842 -0.21598044
+v 0.37324030 -0.05482811 -0.04638289
+v 0.33767726 -0.01137305 0.00924564
+v 0.36956245 -0.03820237 0.01767880
+v 0.36271798 -0.06376052 0.01273943
+v 0.33471536 -0.07668387 -0.20137942
+v 0.30929756 -0.06944501 -0.23389006
+v 0.26864767 -0.02487635 -0.18725798
+v 0.25697143 0.01139426 -0.07931896
+v 0.34697122 -0.01813126 0.01091714
+v 0.36482712 -0.07639515 -0.12582574
+v 0.25795015 -0.01800686 -0.18793392
+v 0.27358015 0.01523547 -0.04353896
+f 7 1 3
+f 8 1 2
+f 10 5 1
+f 12 11 6
+f 12 7 3
+f 12 4 7
+f 13 8 2
+f 13 3 8
+f 13 11 3
+f 13 2 11
+f 14 8 3
+f 14 3 1
+f 14 1 8
+f 15 1 9
+f 15 6 11
+f 16 9 1
+f 16 1 5
+f 16 10 9
+f 16 5 10
+f 17 9 10
+f 17 15 9
+f 17 6 15
+f 17 12 6
+f 18 7 4
+f 18 1 7
+f 19 12 3
+f 19 3 11
+f 19 11 12
+f 20 2 1
+f 20 1 15
+f 20 15 11
+f 20 11 2
+f 21 17 10
+f 21 18 4
+f 21 10 1
+f 21 1 18
+f 22 21 4
+f 22 4 12
+f 22 12 17
+f 22 17 21
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_6/collision/model_normalized_collision_18.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_6/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c9a1e508b84b21aa69598cd267e6f568a4cd2b6c
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_6/collision/model_normalized_collision_18.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.08436981 0.00926074 0.00556363
+v 0.08321255 0.00972966 -0.04828684
+v 0.07556500 0.14453614 0.01291414
+v -0.08820143 0.20317408 -0.01650196
+v -0.09381565 0.06719967 -0.05654396
+v 0.07578581 0.12755592 -0.05115715
+v -0.04001509 0.19919214 0.02507251
+v 0.01409294 0.02281356 -0.05160849
+v -0.09780223 0.16960270 -0.06812110
+v 0.00948663 0.05814017 0.02163443
+v -0.09138964 0.08835337 -0.01361770
+v -0.02936213 0.17183894 -0.04666713
+v 0.00383218 0.18137534 0.02594168
+v 0.01744377 0.02726616 -0.02852910
+v -0.03040554 0.04113828 -0.05579309
+v -0.02944497 0.07327658 0.01665069
+v -0.09092928 0.07155465 -0.03643799
+v -0.02954621 0.18686780 -0.00117626
+v -0.04289604 0.17628364 -0.04812898
+v -0.01419317 0.18985247 0.02812745
+v 0.04685066 0.02169615 -0.00541268
+v 0.04588572 0.14022454 -0.05069441
+f 6 1 2
+f 6 3 1
+f 8 2 1
+f 9 6 2
+f 10 1 3
+f 11 7 4
+f 11 9 5
+f 11 4 9
+f 13 3 6
+f 13 10 3
+f 14 8 1
+f 14 5 8
+f 15 8 5
+f 15 5 9
+f 15 9 2
+f 15 2 8
+f 16 10 7
+f 16 7 11
+f 16 1 10
+f 17 11 5
+f 17 16 11
+f 17 1 16
+f 17 5 14
+f 18 12 4
+f 18 4 7
+f 19 9 4
+f 19 4 12
+f 20 7 10
+f 20 10 13
+f 20 18 7
+f 20 13 6
+f 21 17 14
+f 21 14 1
+f 21 1 17
+f 22 12 18
+f 22 19 12
+f 22 6 9
+f 22 9 19
+f 22 20 6
+f 22 18 20
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_6/collision/model_normalized_collision_19.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_6/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b3560ec8bde5c4ecab6dd97bdf6f706d97bbbb19
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_6/collision/model_normalized_collision_19.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v 0.24384074 -0.02927039 -0.24762485
+v 0.24979898 -0.02230547 -0.21920151
+v 0.01654191 -0.00173360 -0.15031382
+v 0.00579995 0.12540031 -0.14224869
+v 0.22229210 -0.01052817 -0.24355991
+v 0.21014939 0.02228682 -0.13844210
+v 0.00350562 -0.03093685 -0.26230146
+v 0.22792824 -0.03228800 -0.28956616
+v 0.23479339 0.00359881 -0.15169601
+v 0.03164081 0.11519025 -0.13892286
+v 0.00075590 0.11401001 -0.18389683
+v 0.24342602 -0.01520362 -0.21513298
+v 0.11840656 0.06385920 -0.16721390
+v 0.00229695 0.06888708 -0.29742547
+v 0.05938212 0.06384289 -0.25698523
+v 0.22206823 -0.02580463 -0.28489079
+v 0.05914180 0.09382768 -0.16707528
+v 0.18660519 -0.02810285 -0.31940373
+v 0.00082235 0.09902028 -0.22947810
+v 0.16584932 -0.00955871 -0.31032636
+v 0.01009752 -0.00450542 -0.28614348
+v 0.01644493 0.06601232 -0.29498956
+v 0.06233862 0.03679984 -0.30993999
+v 0.18300622 -0.02033469 -0.31322827
+v 0.05641031 -0.02014532 -0.29389895
+v 0.04197801 0.04082706 -0.30800623
+v 0.01244931 0.01432310 -0.29135085
+v 0.03777962 0.04737498 -0.30765642
+f 7 1 2
+f 7 2 3
+f 8 2 1
+f 8 1 7
+f 9 6 3
+f 9 3 2
+f 10 4 3
+f 10 3 6
+f 11 7 3
+f 11 3 4
+f 11 4 10
+f 12 2 8
+f 12 9 2
+f 12 5 6
+f 12 6 9
+f 13 10 6
+f 13 6 5
+f 16 12 8
+f 16 5 12
+f 16 15 5
+f 17 13 5
+f 17 10 13
+f 17 5 15
+f 18 8 7
+f 19 14 7
+f 19 7 11
+f 19 17 15
+f 19 11 10
+f 19 10 17
+f 20 15 16
+f 21 7 14
+f 22 19 15
+f 22 14 19
+f 22 15 20
+f 23 20 18
+f 23 22 20
+f 23 14 22
+f 24 20 16
+f 24 16 8
+f 24 8 18
+f 24 18 20
+f 25 18 7
+f 25 7 21
+f 26 25 21
+f 26 23 18
+f 26 18 25
+f 27 26 21
+f 27 21 14
+f 28 14 23
+f 28 23 26
+f 28 27 14
+f 28 26 27
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_6/collision/model_normalized_collision_2.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_6/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..64091f5ed1d70196fa183e5f0971dbb4f908073d
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_6/collision/model_normalized_collision_2.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v 0.00948663 0.05814017 0.02163443
+v 0.01234153 0.06553785 0.04803465
+v -0.17168592 0.14608834 0.08244381
+v -0.09945054 0.23976436 0.10459337
+v -0.00121475 0.18480553 0.02978026
+v 0.01488424 0.11118234 0.18401351
+v -0.09780223 0.16960270 -0.06812110
+v -0.15852796 0.16862747 0.12692073
+v 0.00759326 0.21076021 0.13888215
+v -0.03845134 0.17334494 -0.05214575
+v -0.12266522 0.10038004 -0.01242606
+v -0.10114028 0.19680013 -0.04988547
+v -0.15952245 0.18728114 0.12192319
+v -0.15544075 0.15615542 0.12279695
+v -0.03015004 0.21692316 0.08979573
+v 0.01173071 0.19970812 0.14837537
+v -0.03780260 0.06903355 -0.00726621
+v -0.12747364 0.10332798 -0.00858089
+v -0.10326343 0.23712122 0.07286523
+v -0.05130470 0.16808749 0.15706885
+v -0.15574779 0.16484016 0.12748537
+v -0.00127249 0.19977991 0.07532366
+v -0.07123182 0.23464023 0.10754497
+v -0.07453139 0.18824212 -0.04726268
+v -0.07785583 0.08390833 -0.01215644
+v -0.10248591 0.20768430 -0.01817485
+v 0.00908016 0.13866007 0.17446886
+v -0.11061783 0.22760319 0.11003568
+v -0.01387500 0.21750323 0.11636246
+v -0.07457020 0.23246020 0.08966877
+v -0.08946349 0.20352872 -0.01682020
+v -0.01880213 0.14137841 0.16995953
+v -0.01076553 0.21792501 0.12563920
+f 1 2 3
+f 5 2 1
+f 6 3 2
+f 10 5 1
+f 12 7 3
+f 12 10 7
+f 13 3 8
+f 13 12 3
+f 14 8 3
+f 14 3 6
+f 15 5 10
+f 16 6 2
+f 16 2 5
+f 16 5 9
+f 16 9 4
+f 17 10 1
+f 17 7 10
+f 17 1 11
+f 18 3 7
+f 18 7 11
+f 18 11 1
+f 18 1 3
+f 19 13 4
+f 20 13 8
+f 20 8 6
+f 20 16 4
+f 21 14 6
+f 21 6 8
+f 21 8 14
+f 22 9 5
+f 22 5 15
+f 23 4 9
+f 23 19 4
+f 24 15 10
+f 24 10 12
+f 25 17 11
+f 25 11 7
+f 25 7 17
+f 26 12 13
+f 26 13 19
+f 27 6 16
+f 27 16 20
+f 28 20 4
+f 28 4 13
+f 28 13 20
+f 29 22 15
+f 29 9 22
+f 30 19 23
+f 30 26 19
+f 30 15 26
+f 30 29 15
+f 30 23 29
+f 31 26 15
+f 31 15 24
+f 31 24 12
+f 31 12 26
+f 32 27 20
+f 32 20 6
+f 32 6 27
+f 33 29 23
+f 33 23 9
+f 33 9 29
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_6/collision/model_normalized_collision_20.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_6/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d1eb40e31c46864d766cf8c1a9d92b111cab2181
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_6/collision/model_normalized_collision_20.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v -0.34986867 0.13974336 -0.08913732
+v -0.35351881 0.14326614 -0.07163554
+v -0.49612888 0.17890290 -0.04233531
+v -0.48240055 0.27120615 -0.01276015
+v -0.35722648 0.27084217 -0.00443313
+v -0.41358193 0.24369593 -0.09802818
+v -0.44420057 0.16255864 -0.05770725
+v -0.35524591 0.16438090 -0.00856033
+v -0.42790659 0.15854527 -0.08503566
+v -0.49174421 0.25978363 -0.06113223
+v -0.35726715 0.23955058 -0.10809016
+v -0.38050317 0.14649713 -0.07838824
+v -0.35356263 0.15880943 -0.02653377
+v -0.46151322 0.17768404 -0.01119605
+v -0.48281047 0.17389369 -0.05489805
+v -0.49514888 0.18563692 -0.01706407
+v -0.44779634 0.26323538 -0.06349552
+v -0.42448278 0.19105941 -0.09669154
+v -0.48883851 0.17709922 -0.02810277
+v -0.43853494 0.16142640 -0.07749843
+v -0.49174048 0.26341758 -0.04042356
+v -0.48615263 0.26268938 -0.06135388
+v -0.35906411 0.24664748 -0.09250053
+v -0.44226858 0.25655119 -0.08201810
+v -0.48253509 0.25722675 -0.06957536
+v -0.43418716 0.16696376 -0.08367241
+v -0.35353401 0.17773027 -0.09764276
+v -0.49047315 0.24924590 -0.02565029
+v -0.38844802 0.26265672 -0.04771937
+v -0.47862702 0.22284689 -0.06669624
+v -0.35809216 0.26323886 -0.03266927
+f 11 5 1
+f 12 1 2
+f 12 9 1
+f 12 7 9
+f 13 8 2
+f 13 2 1
+f 13 1 5
+f 13 5 8
+f 14 2 8
+f 14 8 5
+f 14 5 4
+f 15 3 10
+f 16 14 4
+f 17 4 5
+f 18 6 11
+f 18 1 9
+f 19 12 2
+f 19 7 12
+f 19 2 14
+f 19 15 7
+f 19 3 15
+f 19 16 3
+f 19 14 16
+f 20 15 9
+f 20 9 7
+f 20 7 15
+f 21 10 3
+f 21 3 16
+f 22 4 17
+f 22 21 4
+f 22 10 21
+f 23 5 11
+f 24 11 6
+f 24 22 17
+f 24 23 11
+f 24 17 23
+f 25 6 18
+f 25 24 6
+f 25 10 22
+f 25 22 24
+f 25 15 10
+f 26 18 9
+f 26 9 15
+f 26 15 18
+f 27 18 11
+f 27 11 1
+f 27 1 18
+f 28 21 16
+f 28 16 4
+f 28 4 21
+f 29 23 17
+f 29 17 5
+f 30 25 18
+f 30 18 15
+f 30 15 25
+f 31 29 5
+f 31 5 23
+f 31 23 29
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_6/collision/model_normalized_collision_21.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_6/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..66552a4affb895ce970142c2f2155f47d772ba80
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_6/collision/model_normalized_collision_21.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.19392322 -0.06050602 0.00561612
+v 0.19630656 -0.05698359 0.01967681
+v 0.08436981 0.00926074 0.00556363
+v 0.17884260 0.01668730 0.12799635
+v 0.18879878 0.01084341 0.01507556
+v 0.08872854 0.00270524 0.00229752
+v 0.19810273 0.00399173 0.12374108
+v 0.10673504 -0.00894707 0.00124605
+v 0.19057104 0.01041004 0.12885853
+v 0.18291992 -0.05409486 0.00348511
+f 5 2 1
+f 5 3 4
+f 6 2 4
+f 6 4 3
+f 6 3 5
+f 7 2 5
+f 8 1 2
+f 8 2 6
+f 8 6 5
+f 9 7 5
+f 9 5 4
+f 9 4 2
+f 9 2 7
+f 10 8 5
+f 10 5 1
+f 10 1 8
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_6/collision/model_normalized_collision_22.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_6/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9ab81ffeb60ed2d144e46a2f3f8d504b08174936
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_6/collision/model_normalized_collision_22.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.37309818 -0.18405479 0.00296622
+v 0.36966246 -0.18101395 0.00451360
+v 0.32063537 0.00116004 0.01000608
+v 0.32468717 0.00686744 0.06894072
+v 0.32469547 -0.08181491 0.06856153
+v 0.36350502 -0.03162702 0.01037325
+v 0.33639644 -0.15890331 0.00431296
+v 0.36420753 -0.01502857 0.07111375
+v 0.36219723 -0.17851475 0.00145400
+v 0.33552623 -0.15691738 0.00978483
+v 0.35868705 -0.04133734 0.07268841
+v 0.34172022 -0.00910470 0.02813370
+v 0.34871213 -0.00253220 0.07128182
+v 0.36203402 -0.17426227 0.00794932
+v 0.33086444 -0.00565082 0.01199189
+f 5 2 1
+f 5 4 3
+f 8 1 6
+f 9 6 1
+f 9 3 6
+f 9 7 3
+f 9 1 2
+f 10 5 3
+f 10 3 7
+f 10 7 9
+f 11 5 1
+f 11 1 8
+f 11 4 5
+f 12 8 6
+f 13 3 4
+f 13 11 8
+f 13 4 11
+f 13 12 3
+f 13 8 12
+f 14 2 5
+f 14 5 10
+f 14 10 9
+f 14 9 2
+f 15 12 6
+f 15 6 3
+f 15 3 12
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_6/collision/model_normalized_collision_23.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_6/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ffc1763a4175906603cc4b18c5f8fde1d373e3a
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_6/collision/model_normalized_collision_23.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.01320633 -0.02453265 -0.22353654
+v 0.01186618 -0.03425238 -0.28290044
+v 0.00229695 0.06888708 -0.29742547
+v -0.15729141 0.08939036 -0.05376890
+v -0.21791540 0.08861879 -0.14455898
+v 0.00759599 0.07743044 -0.07266229
+v 0.01134147 0.02792983 -0.29533747
+v -0.01350154 -0.01691980 -0.23992981
+v -0.18041659 0.08897339 -0.20431778
+v 0.00834968 0.02536761 -0.05262055
+v 0.01303562 0.02074383 -0.08709703
+v -0.19436726 0.07073936 -0.18380069
+v -0.02921400 0.05484634 -0.29200348
+v -0.03149875 0.08248395 -0.29247377
+v -0.05550784 0.00116032 -0.26589019
+v -0.20887627 0.08388260 -0.17998556
+v -0.09113266 0.08497963 -0.26446644
+v -0.04248806 -0.00587747 -0.27063512
+v -0.20562332 0.08069133 -0.18392336
+v -0.17913362 0.07250392 -0.20074115
+v -0.04355480 0.01349526 -0.27524095
+f 5 1 4
+f 7 1 2
+f 7 3 6
+f 8 2 1
+f 8 1 5
+f 9 5 4
+f 10 6 4
+f 10 4 1
+f 11 7 6
+f 11 1 7
+f 11 10 1
+f 11 6 10
+f 12 8 5
+f 12 2 8
+f 13 7 2
+f 13 3 7
+f 14 6 3
+f 14 3 13
+f 14 9 4
+f 14 4 6
+f 16 5 9
+f 17 14 13
+f 17 9 14
+f 18 2 12
+f 18 12 15
+f 18 13 2
+f 19 12 5
+f 19 5 16
+f 19 15 12
+f 19 16 9
+f 20 17 15
+f 20 9 17
+f 20 19 9
+f 20 15 19
+f 21 17 13
+f 21 15 17
+f 21 18 15
+f 21 13 18
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_6/collision/model_normalized_collision_24.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_6/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..66bddb099b3cd4a3db4f111251fc22f717d28db0
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_6/collision/model_normalized_collision_24.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.25626571 0.06075847 0.31589586
+v 0.29391511 0.06674571 0.19037197
+v 0.29659927 0.09447441 0.30885999
+v 0.22555091 0.13110411 0.26925343
+v 0.21161943 0.10216073 0.11771381
+v 0.23713482 0.12696504 0.25547132
+v 0.28703915 0.10038901 0.31059359
+v 0.30915145 0.06827286 0.28056628
+v 0.27361927 0.05996347 0.11679708
+v 0.22220255 0.06296150 0.29779486
+v 0.28128637 0.09808994 0.26950757
+v 0.21251807 0.13380560 0.22336466
+v 0.24231305 0.12590583 0.27416521
+v 0.29916776 0.08604782 0.28392302
+v 0.29829165 0.07637448 0.30830817
+v 0.26645098 0.06609847 0.11907346
+v 0.23129849 0.08633161 0.10867117
+v 0.28221609 0.08099986 0.21016608
+v 0.22331397 0.12724719 0.22536720
+f 7 1 3
+f 7 4 1
+f 9 8 1
+f 9 2 8
+f 10 1 4
+f 10 9 1
+f 11 6 3
+f 12 4 6
+f 12 10 4
+f 12 5 10
+f 13 6 4
+f 13 4 7
+f 13 7 3
+f 13 3 6
+f 14 8 2
+f 14 3 8
+f 14 11 3
+f 14 2 11
+f 15 8 3
+f 15 3 1
+f 15 1 8
+f 16 6 2
+f 16 2 9
+f 17 10 5
+f 17 9 10
+f 17 16 9
+f 18 11 2
+f 18 2 6
+f 18 6 11
+f 19 12 6
+f 19 6 16
+f 19 16 17
+f 19 17 5
+f 19 5 12
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_6/collision/model_normalized_collision_25.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_6/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f66173a08f74918a7edff4cbbe6e3d522018e80b
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_6/collision/model_normalized_collision_25.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v -0.16071274 0.13899236 0.07039565
+v -0.14770339 0.24498469 0.05599183
+v -0.15544075 0.15615542 0.12279695
+v -0.35069094 0.20243981 0.10332254
+v -0.35479011 0.18305891 0.06729520
+v -0.15994368 0.20125614 0.11761127
+v -0.24631950 0.16010514 0.06381846
+v -0.35984971 0.18596276 0.07573812
+v -0.33267111 0.20095408 0.11276860
+v -0.33610159 0.19182173 0.10448964
+v -0.35285205 0.19094690 0.09296948
+v -0.33264719 0.19994784 0.11288555
+v -0.35012695 0.19716411 0.10231886
+f 1 2 3
+f 6 3 2
+f 7 5 2
+f 7 2 1
+f 7 1 5
+f 8 4 2
+f 8 2 5
+f 8 5 1
+f 8 1 3
+f 9 6 2
+f 9 2 4
+f 11 8 3
+f 11 3 10
+f 12 10 3
+f 12 9 4
+f 12 3 6
+f 12 6 9
+f 13 11 10
+f 13 4 8
+f 13 8 11
+f 13 12 4
+f 13 10 12
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_6/collision/model_normalized_collision_26.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_6/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..339f3df91aa9ecbaf5ff650fb43cf59c2de2bf74
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_6/collision/model_normalized_collision_26.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.12974427 0.15734739 0.21030421
+v 0.14135428 0.15069172 0.13753678
+v 0.12501547 0.17647036 0.19654225
+v 0.07721467 0.19100308 0.16212217
+v 0.06992391 0.14447414 0.20077039
+v 0.11953370 0.17196750 0.16540007
+v 0.14526309 0.15734838 0.16575942
+v 0.10354244 0.16899132 0.13140677
+v 0.09109057 0.16312056 0.20090747
+v 0.09006676 0.18565986 0.16312336
+v 0.12971576 0.16908498 0.20625105
+v 0.08089885 0.18530754 0.14586968
+v 0.12333418 0.16425012 0.14780830
+v 0.08936673 0.15169425 0.20661406
+v 0.08241902 0.18720126 0.18170018
+v 0.09713277 0.18621669 0.18178637
+f 5 2 1
+f 7 1 2
+f 7 6 3
+f 8 2 5
+f 10 3 6
+f 11 7 3
+f 11 1 7
+f 12 8 5
+f 12 5 4
+f 12 4 10
+f 12 10 6
+f 12 6 8
+f 13 8 6
+f 13 2 8
+f 13 7 2
+f 13 6 7
+f 14 9 5
+f 14 5 1
+f 14 11 9
+f 14 1 11
+f 15 4 5
+f 15 5 9
+f 15 11 3
+f 15 9 11
+f 16 10 4
+f 16 3 10
+f 16 15 3
+f 16 4 15
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_6/collision/model_normalized_collision_27.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_6/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7873e0edbbea2a3e6f77ee4e6f66bb6a1a63d9b1
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_6/collision/model_normalized_collision_27.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.08973277 -0.00997363 -0.02665474
+v 0.07912020 -0.03024695 -0.14087539
+v 0.08436981 0.00926074 0.00556363
+v 0.04180940 0.01582538 -0.02481736
+v 0.00629347 0.00534572 -0.14260813
+v 0.08872854 0.00270524 0.00229752
+v 0.01141769 0.00180606 -0.14646098
+v 0.04752980 0.01169674 -0.02839297
+v 0.01135170 0.01689095 -0.10097453
+v 0.07139152 0.01166757 0.00097765
+v 0.07760405 -0.00426859 -0.02868331
+v 0.01644418 0.01339123 -0.10482740
+v 0.07645510 0.00782917 -0.00071399
+v 0.03011676 -0.00756437 -0.14826941
+v 0.06777045 -0.02202146 -0.13361027
+v 0.03195207 -0.00396622 -0.13428452
+f 6 1 2
+f 6 2 3
+f 7 2 1
+f 8 4 5
+f 9 5 4
+f 10 6 3
+f 10 9 4
+f 10 3 9
+f 11 7 1
+f 11 5 7
+f 11 8 5
+f 11 1 4
+f 11 4 8
+f 12 7 5
+f 12 5 9
+f 12 9 3
+f 13 10 4
+f 13 6 10
+f 13 4 1
+f 13 1 6
+f 14 2 7
+f 14 7 12
+f 15 12 3
+f 15 3 2
+f 15 2 14
+f 16 15 14
+f 16 14 12
+f 16 12 15
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_6/collision/model_normalized_collision_28.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_6/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8a6aab96e830d3069827af39affb895c0c01eac0
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_6/collision/model_normalized_collision_28.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.00759599 0.07743044 -0.07266229
+v 0.00448576 0.07555393 -0.28865578
+v 0.00056949 0.15873099 -0.04737136
+v -0.10114028 0.19680013 -0.04988547
+v -0.10014382 0.07957760 -0.05123116
+v -0.05894295 0.17265899 -0.09323782
+v -0.09894208 0.11704709 -0.26528557
+v -0.08797549 0.19280785 -0.04871489
+v -0.01572865 0.15688397 -0.08881028
+v -0.10371669 0.14440295 -0.21441495
+v -0.09113266 0.08497963 -0.26446644
+v 0.00058547 0.15557811 -0.06713867
+v -0.00136004 0.07867580 -0.28717527
+v -0.10398398 0.17420313 -0.12323163
+v -0.06107139 0.08587322 -0.28009387
+v -0.06084214 0.12427020 -0.22777671
+v -0.07061264 0.11324161 -0.26461748
+v -0.10244462 0.19266372 -0.06367258
+v -0.06249620 0.09836942 -0.27997787
+v -0.09000736 0.14016787 -0.21306014
+v -0.07550270 0.12432717 -0.24137238
+f 5 2 1
+f 5 1 3
+f 8 5 3
+f 8 4 5
+f 8 6 4
+f 10 7 5
+f 11 2 5
+f 11 5 7
+f 12 2 9
+f 12 1 2
+f 12 3 1
+f 12 8 3
+f 12 9 6
+f 12 6 8
+f 13 9 2
+f 13 6 9
+f 14 10 5
+f 14 4 6
+f 14 6 10
+f 15 11 7
+f 15 2 11
+f 16 6 13
+f 17 7 10
+f 18 14 5
+f 18 5 4
+f 18 4 14
+f 19 13 2
+f 19 2 15
+f 19 15 7
+f 19 17 13
+f 19 7 17
+f 20 10 6
+f 20 6 16
+f 21 16 13
+f 21 13 17
+f 21 17 10
+f 21 20 16
+f 21 10 20
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_6/collision/model_normalized_collision_29.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_6/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..99868ebc3b429376f5d835c9aec0605742640235
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_6/collision/model_normalized_collision_29.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.33572933 -0.03056169 -0.04528431
+v 0.34467773 -0.01738849 0.00671267
+v 0.14133945 -0.02606070 0.01030152
+v 0.14129902 0.10984259 0.00936979
+v 0.22296359 0.04998593 -0.04367492
+v 0.33086444 -0.00565082 0.01199189
+v 0.29789379 0.00474106 -0.03027746
+v 0.13752066 -0.03295807 -0.04918715
+v 0.15280612 0.10367350 0.01133931
+v 0.33082402 -0.02310716 -0.03972826
+v 0.32888347 -0.00840167 -0.00237979
+v 0.23738049 0.04995992 -0.01659393
+v 0.14403876 0.03744598 -0.05592999
+v 0.13816616 0.10126322 -0.03635968
+v 0.26748283 0.02034856 -0.04345461
+v 0.28281295 0.01962399 -0.01658346
+v 0.24195961 0.05098201 0.00294106
+v 0.14179719 0.09495167 -0.05131467
+v 0.15045298 0.09607358 -0.03356825
+v 0.16487472 0.08333762 -0.04771432
+v 0.17827016 0.08027754 -0.03183665
+f 1 2 3
+f 6 3 2
+f 8 1 3
+f 9 4 3
+f 9 3 6
+f 10 2 1
+f 11 6 2
+f 11 10 7
+f 11 2 10
+f 12 7 5
+f 12 4 9
+f 13 1 8
+f 14 8 3
+f 14 3 4
+f 15 10 1
+f 15 5 7
+f 15 7 10
+f 16 11 7
+f 16 7 12
+f 16 12 6
+f 16 6 11
+f 17 12 9
+f 17 9 6
+f 17 6 12
+f 18 1 13
+f 18 15 1
+f 18 5 15
+f 18 13 8
+f 18 8 14
+f 19 14 4
+f 19 4 12
+f 19 18 14
+f 20 12 5
+f 20 5 18
+f 20 18 19
+f 21 20 19
+f 21 19 12
+f 21 12 20
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_6/collision/model_normalized_collision_3.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_6/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4812a4059b293fdc29012c70fffe54f1aeb602f9
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_6/collision/model_normalized_collision_3.obj
@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
+v -0.23105001 0.11110200 -0.05862537
+v -0.23304400 0.10590989 -0.10022835
+v -0.23527442 0.26939718 0.08849126
+v -0.35304175 0.28318372 0.07127789
+v -0.35343932 0.14798172 -0.06058231
+v -0.28217848 0.21842152 -0.13186567
+v -0.35069094 0.20243981 0.10332254
+v -0.23634631 0.22379909 -0.09495782
+v -0.34986867 0.13974336 -0.08913732
+v -0.23451307 0.20416103 0.11114220
+v -0.33152048 0.24382668 0.09667160
+v -0.35479011 0.18305891 0.06729520
+v -0.23204037 0.24576404 0.09766446
+v -0.35842944 0.25054378 -0.07859929
+v -0.32153124 0.13182894 -0.08585435
+v -0.27429092 0.11947329 -0.11988556
+v -0.23191199 0.15697388 0.06477471
+v -0.33450804 0.27605891 0.07928754
+v -0.34609587 0.22756956 0.09620111
+v -0.35748165 0.28350776 0.04171942
+v -0.29906675 0.23168890 -0.10758509
+v -0.35304458 0.23051254 -0.11287582
+v -0.35726715 0.23955058 -0.10809016
+v -0.26114615 0.11344827 -0.10068926
+v -0.27590489 0.16324420 -0.13058944
+v -0.28178988 0.28079068 0.07752010
+v -0.31449800 0.13565119 -0.10856990
+v -0.35133707 0.14716441 -0.09371834
+v -0.30688937 0.22583715 -0.12422373
+v -0.30447030 0.17865538 -0.12459187
+v -0.23830964 0.26439882 0.04323138
+v -0.30121857 0.12828619 -0.11158052
+v -0.28959091 0.16440296 -0.12626346
+v -0.28365384 0.27800113 0.05868305
+v -0.31651936 0.13088791 -0.10312163
+v -0.32935854 0.24632492 -0.07735074
+v -0.31332847 0.27840448 0.04333194
+v -0.31367497 0.26126458 -0.01674668
+f 8 1 2
+f 11 7 10
+f 12 5 1
+f 13 8 3
+f 13 1 8
+f 13 11 10
+f 13 3 11
+f 14 5 12
+f 15 1 5
+f 15 5 9
+f 17 10 7
+f 17 13 10
+f 17 1 13
+f 17 12 1
+f 17 7 12
+f 18 11 3
+f 18 4 11
+f 19 11 4
+f 19 4 7
+f 19 7 11
+f 20 12 7
+f 20 7 4
+f 20 14 12
+f 21 8 6
+f 23 5 14
+f 23 14 21
+f 24 15 9
+f 24 2 1
+f 24 1 15
+f 24 16 2
+f 24 9 16
+f 25 2 16
+f 25 8 2
+f 25 6 8
+f 26 18 3
+f 26 4 18
+f 26 20 4
+f 28 9 5
+f 28 5 23
+f 28 23 22
+f 29 6 22
+f 29 22 23
+f 29 23 21
+f 29 21 6
+f 30 22 6
+f 30 6 25
+f 30 16 27
+f 30 28 22
+f 30 27 28
+f 31 26 3
+f 31 3 8
+f 32 27 16
+f 32 28 27
+f 32 9 28
+f 33 30 25
+f 33 25 16
+f 33 16 30
+f 34 31 8
+f 34 20 26
+f 34 26 31
+f 35 32 16
+f 35 16 9
+f 35 9 32
+f 36 34 8
+f 36 8 21
+f 36 21 14
+f 37 14 20
+f 37 20 34
+f 38 37 34
+f 38 34 36
+f 38 36 14
+f 38 14 37
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_6/collision/model_normalized_collision_30.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_6/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..885dc15224a97354dce464360b6b375403a7c4be
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_6/collision/model_normalized_collision_30.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.14133945 -0.02606070 0.01030152
+v 0.12580473 -0.05293550 -0.13379064
+v 0.13442967 0.06536353 -0.13753029
+v 0.08121957 0.14047090 0.00929556
+v 0.07912020 -0.03024695 -0.14087539
+v 0.13594370 0.11378736 0.01305963
+v 0.09397334 -0.00259186 -0.00170284
+v 0.07971142 0.09205916 -0.14127110
+v 0.10575435 0.12916175 0.01298689
+v 0.07752986 0.13321592 -0.01862566
+v 0.13431944 0.09541132 -0.06175896
+v 0.07590235 0.09975039 -0.12365643
+v 0.07743174 0.11864030 -0.07757546
+v 0.10417118 0.11063715 -0.06212976
+f 1 2 3
+f 5 2 1
+f 5 3 2
+f 6 1 3
+f 7 5 1
+f 7 1 4
+f 8 3 5
+f 9 4 1
+f 9 1 6
+f 10 7 4
+f 10 5 7
+f 11 6 3
+f 11 9 6
+f 12 8 5
+f 12 5 10
+f 13 11 3
+f 13 3 8
+f 13 8 12
+f 13 12 10
+f 13 10 4
+f 14 4 9
+f 14 9 11
+f 14 13 4
+f 14 11 13
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_6/collision/model_normalized_collision_31.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_6/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a185228796a8aa9de1e1d1c16e24a4dafd57c5ee
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_6/collision/model_normalized_collision_31.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.06777045 -0.02202146 -0.13361027
+v 0.08321255 0.00972966 -0.04828684
+v 0.01409294 0.02281356 -0.05160849
+v 0.00563667 0.15528659 -0.05119859
+v 0.07405066 0.09611174 -0.13767455
+v 0.00629347 0.00534572 -0.14260813
+v 0.07578581 0.12755592 -0.05115715
+v 0.00198941 0.14731864 -0.09188530
+v 0.00579995 0.12540031 -0.14224869
+v 0.03003788 0.14113199 -0.07729424
+v 0.00238734 0.13274410 -0.12449437
+v 0.07396416 0.12544485 -0.06317427
+v 0.04457283 0.11011306 -0.13717200
+v 0.03274339 0.14482025 -0.05277016
+f 1 2 3
+f 3 2 4
+f 5 2 1
+f 6 1 3
+f 6 5 1
+f 7 4 2
+f 7 2 5
+f 8 6 3
+f 8 3 4
+f 9 5 6
+f 10 9 8
+f 10 8 4
+f 11 9 6
+f 11 6 8
+f 11 8 9
+f 12 10 7
+f 12 7 5
+f 12 5 10
+f 13 10 5
+f 13 5 9
+f 13 9 10
+f 14 10 4
+f 14 4 7
+f 14 7 10
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_6/collision/model_normalized_collision_4.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_6/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ee3bae3c06f07e01c0d9c2191a53edea9d3e1432
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_6/collision/model_normalized_collision_4.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.32947253 -0.15329493 0.00667536
+v 0.33154161 -0.14938896 0.01582327
+v 0.17432578 0.02607395 0.17840479
+v 0.18762600 0.11131677 0.09980512
+v 0.31382337 0.00681619 0.01261341
+v 0.19392322 -0.06050602 0.00561612
+v 0.29478532 -0.07931335 0.18183067
+v 0.18201561 0.08662028 0.01193270
+v 0.24666091 -0.09507922 -0.02795984
+v 0.33037327 -0.11480570 0.14884246
+v 0.31911876 0.04603919 0.19166541
+v 0.18172885 0.10133700 0.05753979
+v 0.20761274 0.09613333 0.08925120
+v 0.26550386 -0.08253810 -0.02112235
+v 0.22683818 -0.08416937 -0.01605495
+v 0.32073866 -0.11017374 0.14925697
+v 0.24130461 0.10140271 0.17982971
+v 0.23511571 -0.02240081 0.19012376
+v 0.30994632 -0.08876508 0.17386894
+v 0.19354329 0.08046119 0.01389227
+v 0.26749182 -0.11078859 -0.01919346
+v 0.22083886 -0.07978766 -0.01821678
+v 0.20961608 0.09914703 0.10348250
+v 0.28707646 0.07251587 0.19308579
+v 0.27691006 0.07935452 0.19110752
+f 5 2 1
+f 7 3 6
+f 8 6 3
+f 10 1 2
+f 11 10 2
+f 11 2 5
+f 12 8 3
+f 12 3 4
+f 14 5 1
+f 14 1 9
+f 14 9 8
+f 14 8 5
+f 15 1 6
+f 16 10 7
+f 16 7 6
+f 16 6 1
+f 16 1 10
+f 17 4 3
+f 18 3 7
+f 18 7 11
+f 19 11 7
+f 19 7 10
+f 19 10 11
+f 20 13 5
+f 20 5 8
+f 20 8 12
+f 20 12 4
+f 20 4 13
+f 21 9 1
+f 21 1 15
+f 22 15 6
+f 22 6 8
+f 22 8 9
+f 22 21 15
+f 22 9 21
+f 23 13 4
+f 23 4 17
+f 23 17 5
+f 23 5 13
+f 24 11 5
+f 24 18 11
+f 24 3 18
+f 25 24 5
+f 25 5 17
+f 25 17 3
+f 25 3 24
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_6/collision/model_normalized_collision_5.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_6/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..00af6642f73309a58db6ba8eb4c3fde84cb72a78
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_6/collision/model_normalized_collision_5.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v 0.27015505 -0.15143072 -0.16073900
+v 0.26324298 -0.15510763 -0.28243626
+v 0.26695231 -0.01930106 -0.15955753
+v 0.01147642 -0.01327392 -0.19194107
+v 0.14936750 -0.12659482 -0.27018970
+v 0.12551913 0.00128044 -0.31848938
+v 0.04055032 -0.01685489 -0.16043387
+v 0.26681289 -0.08650938 -0.31029166
+v 0.19440490 -0.14117246 -0.29226616
+v 0.13608527 -0.10990296 -0.24176427
+v 0.01784275 -0.03737237 -0.28424908
+v 0.13551138 0.02150877 -0.26979799
+v 0.21023542 -0.07713232 -0.32250056
+v 0.01578942 -0.03442380 -0.25464351
+v 0.17028986 -0.12999863 -0.30180730
+v 0.01009752 -0.00450542 -0.28614348
+v 0.23736574 -0.03817666 -0.28865496
+v 0.24703030 -0.07165402 -0.32189550
+v 0.08878454 -0.07520450 -0.29395602
+v 0.00321944 -0.00924959 -0.28237408
+v 0.13915631 -0.00194908 -0.31529227
+v 0.14787972 0.01602096 -0.26772263
+v 0.25554493 -0.06375109 -0.31243667
+v 0.22374264 -0.05106292 -0.32485858
+v 0.25297159 -0.05516735 -0.30059569
+v 0.23854818 -0.06249508 -0.32393652
+v 0.17421950 -0.02685512 -0.32372393
+v 0.25089078 -0.03876556 -0.26013513
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+f 8 1 2
+f 8 3 1
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+f 10 5 1
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+f 12 7 3
+f 14 10 4
+f 14 5 10
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+f 15 9 5
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+f 16 12 6
+f 16 6 11
+f 18 8 2
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+f 18 2 15
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+f 19 11 6
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+f 19 13 15
+f 20 14 4
+f 20 4 16
+f 20 16 11
+f 20 11 14
+f 21 6 12
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+f 22 17 12
+f 22 12 3
+f 22 3 17
+f 23 3 8
+f 23 8 18
+f 24 6 21
+f 24 21 17
+f 24 17 23
+f 25 23 17
+f 25 3 23
+f 26 18 13
+f 26 13 24
+f 26 24 23
+f 26 23 18
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+f 27 13 6
+f 27 6 24
+f 28 25 17
+f 28 17 3
+f 28 3 25
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_6/collision/model_normalized_collision_6.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_6/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..054d1efc01b8839ce563c9d32ab6924f6fb44603
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_6/collision/model_normalized_collision_6.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v -0.09817581 0.06975064 -0.05292004
+v -0.11071815 0.05203842 -0.14829337
+v -0.09395239 0.15773217 -0.16299864
+v -0.15717420 0.15136668 0.11182160
+v -0.23105001 0.11110200 -0.05862537
+v -0.09397049 0.14074328 0.13898392
+v -0.09470406 0.07389320 -0.03662558
+v -0.14969022 0.17461589 -0.16762450
+v -0.09332965 0.12901068 0.10919082
+v -0.10862915 0.07690877 -0.03914926
+v -0.16399023 0.06859302 -0.15380044
+v -0.23382449 0.14892476 0.03692979
+v -0.09795664 0.14524757 0.14318385
+v -0.23304400 0.10590989 -0.10022835
+v -0.12390026 0.15046742 0.13391821
+v -0.23362083 0.14831786 -0.08520748
+v -0.12076348 0.14951355 0.13484546
+f 5 2 1
+f 7 1 2
+f 7 2 3
+f 9 7 3
+f 9 3 6
+f 9 6 4
+f 10 5 1
+f 10 1 7
+f 10 7 9
+f 10 9 4
+f 10 4 5
+f 11 8 3
+f 11 3 2
+f 11 2 5
+f 12 5 4
+f 12 4 8
+f 13 6 3
+f 13 3 8
+f 14 11 5
+f 14 8 11
+f 14 5 12
+f 15 13 8
+f 15 8 4
+f 16 14 12
+f 16 12 8
+f 16 8 14
+f 17 15 4
+f 17 4 6
+f 17 6 13
+f 17 13 15
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_6/collision/model_normalized_collision_7.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_6/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6aa3dbbf63e7cbe179246aa7bcc1754d740f6d42
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_6/collision/model_normalized_collision_7.obj
@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
+v 0.43505501 -0.27143828 -0.15050915
+v 0.48347848 -0.19797386 -0.14977253
+v 0.25816012 -0.08692172 0.01229931
+v 0.28850181 -0.03184139 -0.15438315
+v 0.30431474 -0.17635021 -0.16229231
+v 0.38248607 -0.05251497 0.00215178
+v 0.46580958 -0.22661909 -0.15152271
+v 0.39787780 -0.26839144 -0.15082839
+v 0.27211675 -0.14869237 -0.14637758
+v 0.48356694 -0.16816798 -0.14108939
+v 0.37933073 -0.19022193 -0.00085102
+v 0.28043591 -0.15822971 -0.15877730
+v 0.27469414 -0.11460391 0.00549797
+v 0.38041079 -0.06083527 -0.04825792
+v 0.44650741 -0.10915373 -0.02025202
+v 0.39899764 -0.20780771 -0.03665035
+v 0.35372811 -0.17182439 0.00391666
+v 0.41443341 -0.26560385 -0.12150182
+v 0.28723490 -0.16389046 -0.16151565
+v 0.45201846 -0.14186596 -0.13946856
+v 0.40201690 -0.16506470 -0.00689997
+v 0.41732642 -0.08518639 -0.03387298
+v 0.47729495 -0.16368195 -0.10902527
+v 0.45920351 -0.14624337 -0.06428007
+v 0.43020967 -0.26858163 -0.14007774
+v 0.42058420 -0.26706807 -0.12480926
+v 0.38395536 -0.19276056 -0.00623107
+v 0.41804641 -0.08291464 -0.01092134
+v 0.44801165 -0.11444642 -0.04855544
+v 0.46301901 -0.14548582 -0.12389802
+v 0.47535316 -0.15062616 -0.10012723
+v 0.44436932 -0.11689931 -0.02160692
+v 0.40033765 -0.21972239 -0.04995853
+v 0.38975420 -0.06784914 -0.04799840
+f 5 4 2
+f 6 4 3
+f 7 5 2
+f 7 1 5
+f 8 5 1
+f 9 3 4
+f 10 2 4
+f 12 9 4
+f 12 8 9
+f 13 9 8
+f 13 3 9
+f 14 4 6
+f 17 11 6
+f 17 6 3
+f 17 3 13
+f 17 13 8
+f 17 8 11
+f 18 11 8
+f 19 12 4
+f 19 4 5
+f 19 5 8
+f 19 8 12
+f 20 10 4
+f 20 4 14
+f 21 15 6
+f 21 6 11
+f 22 14 6
+f 23 2 10
+f 24 7 2
+f 24 2 23
+f 24 23 15
+f 25 1 7
+f 25 7 24
+f 26 18 8
+f 26 8 1
+f 26 1 25
+f 26 11 18
+f 27 21 11
+f 28 22 6
+f 28 6 15
+f 28 15 22
+f 29 22 15
+f 30 20 14
+f 30 10 20
+f 30 22 29
+f 31 23 10
+f 31 15 23
+f 31 29 15
+f 31 30 29
+f 31 10 30
+f 32 16 24
+f 32 27 16
+f 32 21 27
+f 32 24 15
+f 32 15 21
+f 33 25 24
+f 33 24 16
+f 33 26 25
+f 33 16 27
+f 33 27 11
+f 33 11 26
+f 34 30 14
+f 34 14 22
+f 34 22 30
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_6/collision/model_normalized_collision_8.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_6/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e607d9bb8c8718c54b19e5ffa02b3350f39406c8
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_6/collision/model_normalized_collision_8.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v -0.11071815 0.05203842 -0.14829337
+v -0.09198975 0.10179630 -0.26741112
+v -0.10000665 0.18558847 -0.09686173
+v -0.28120764 0.23119535 -0.09682736
+v -0.26951347 0.11540343 -0.11834414
+v -0.10170245 0.12920206 -0.25264914
+v -0.09832535 0.14602433 -0.09356036
+v -0.22063246 0.09073396 -0.16581975
+v -0.27925267 0.21499709 -0.13414411
+v -0.20969551 0.21619680 -0.10301595
+v -0.15887216 0.08470172 -0.09834253
+v -0.20909203 0.21872450 -0.09361292
+v -0.09611071 0.08562751 -0.26133980
+v -0.27522587 0.11727149 -0.10137737
+v -0.18067363 0.15860787 -0.21879644
+v -0.27082643 0.13380912 -0.12517753
+v -0.13449145 0.15524033 -0.21071439
+v -0.28264267 0.22255528 -0.12267044
+v -0.11800224 0.19231761 -0.09459755
+v -0.10954167 0.12247914 -0.26101259
+v -0.19316589 0.10549482 -0.20255782
+v -0.17874272 0.17195112 -0.19772577
+v -0.10442179 0.13974018 -0.22696178
+v -0.12988165 0.14353324 -0.23696130
+v -0.09894208 0.11704709 -0.26528557
+v -0.13256697 0.11817973 -0.24728667
+v -0.16268774 0.09363309 -0.21875699
+v -0.25421322 0.21740878 -0.12236677
+v -0.15622250 0.14644891 -0.23328874
+v -0.10368478 0.10387921 -0.26159986
+v -0.17809113 0.11857978 -0.21747921
+v -0.11792497 0.09141435 -0.24902360
+f 6 3 2
+f 7 1 2
+f 7 2 3
+f 11 1 7
+f 12 11 7
+f 12 10 4
+f 13 2 1
+f 13 1 8
+f 14 8 1
+f 14 5 8
+f 14 1 11
+f 14 12 4
+f 14 11 12
+f 16 8 5
+f 16 14 9
+f 16 5 14
+f 18 4 10
+f 18 14 4
+f 18 9 14
+f 18 15 9
+f 19 12 7
+f 19 7 3
+f 19 10 12
+f 19 17 10
+f 21 9 15
+f 21 16 9
+f 21 8 16
+f 22 15 18
+f 22 10 17
+f 23 19 3
+f 23 3 6
+f 23 6 17
+f 23 17 19
+f 24 6 20
+f 24 15 22
+f 24 22 17
+f 24 17 6
+f 25 20 6
+f 25 6 2
+f 25 2 20
+f 26 15 20
+f 27 13 8
+f 27 8 21
+f 28 22 18
+f 28 18 10
+f 28 10 22
+f 29 24 20
+f 29 20 15
+f 29 15 24
+f 30 26 20
+f 30 20 2
+f 30 2 13
+f 30 13 26
+f 31 21 15
+f 31 15 26
+f 32 27 21
+f 32 13 27
+f 32 21 31
+f 32 31 26
+f 32 26 13
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_6/collision/model_normalized_collision_9.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_6/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..02c1cf36847dcaca75e94eff8236c25b00ad5630
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_6/collision/model_normalized_collision_9.obj
@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
+v 0.42930035 -0.28265940 -0.15386336
+v 0.49505850 -0.20511071 -0.17543944
+v 0.48356694 -0.16816798 -0.14108939
+v 0.27015505 -0.15143072 -0.16073900
+v 0.22266887 -0.14996853 -0.28552830
+v 0.41067961 -0.26994704 -0.13450897
+v 0.49072326 -0.19275415 -0.15525826
+v 0.37731046 -0.22558348 -0.23372653
+v 0.41783117 -0.16109231 -0.24980790
+v 0.30295932 -0.16908934 -0.14049248
+v 0.40304025 -0.27976837 -0.16619238
+v 0.42407626 -0.27934870 -0.14145506
+v 0.49130437 -0.17667124 -0.14688819
+v 0.40720921 -0.25357350 -0.20162802
+v 0.28824981 -0.18567616 -0.27103878
+v 0.36816545 -0.15184979 -0.26572320
+v 0.41693845 -0.27848743 -0.13866691
+v 0.22336502 -0.15198381 -0.26632456
+v 0.49000230 -0.20693059 -0.16881458
+v 0.42295646 -0.27379207 -0.13458338
+v 0.47871676 -0.17348636 -0.18191399
+v 0.43154709 -0.28122216 -0.15602834
+v 0.39234384 -0.24557752 -0.21449467
+v 0.43744029 -0.17657122 -0.23035822
+v 0.22708924 -0.15432203 -0.28305572
+v 0.24030966 -0.15018570 -0.22176346
+v 0.27807847 -0.15455994 -0.28034139
+v 0.32031211 -0.19782823 -0.26051240
+v 0.42388620 -0.28408969 -0.15791521
+v 0.49144746 -0.18761925 -0.18200118
+v 0.33573710 -0.21449414 -0.24619221
+v 0.42195666 -0.16333380 -0.24635565
+v 0.27710021 -0.16950477 -0.27672330
+v 0.38126048 -0.19678747 -0.24474654
+f 10 6 3
+f 10 3 4
+f 10 4 6
+f 13 7 2
+f 16 4 3
+f 16 3 9
+f 17 6 4
+f 17 4 11
+f 19 12 1
+f 19 2 7
+f 19 7 12
+f 20 3 6
+f 20 17 12
+f 20 6 17
+f 20 13 3
+f 20 12 7
+f 20 7 13
+f 21 9 3
+f 21 3 13
+f 22 14 2
+f 22 19 1
+f 22 2 19
+f 23 8 9
+f 24 2 14
+f 24 14 23
+f 25 15 11
+f 25 5 15
+f 25 18 5
+f 25 11 18
+f 26 16 5
+f 26 4 16
+f 26 5 18
+f 26 18 11
+f 26 11 4
+f 27 16 15
+f 27 5 16
+f 28 16 9
+f 28 15 16
+f 29 17 11
+f 29 1 12
+f 29 12 17
+f 29 22 1
+f 29 14 22
+f 29 23 14
+f 29 11 23
+f 30 21 13
+f 30 13 2
+f 30 9 21
+f 31 23 11
+f 31 11 15
+f 31 15 28
+f 31 28 8
+f 31 8 23
+f 32 24 23
+f 32 23 9
+f 32 9 30
+f 32 30 2
+f 32 2 24
+f 33 27 15
+f 33 15 5
+f 33 5 27
+f 34 28 9
+f 34 9 8
+f 34 8 28
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_6/model.xml b/Assets/robocasa/data/objects/objaverse/steak/steak_6/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..9c4f878bbd13cd43e63996ac7baae6c23fa8afaf
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_6/model.xml
@@ -0,0 +1,54 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="steak_10">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.12499999999999999 0.12499999999999999 0.12499999999999999" refquat="0.33332782923887305 0.6236125064933351 0.33332782923887305 -0.6236125064933351" />
+    <texture type="2d" name="image0" file="visual/image0.png" />
+    <material name="material.028" texture="image0" specular="0.5" shininess="0.25" />
+    <mesh file="collision/collision_mesh_collision_0.obj" name="steak_collision_mesh_0" scale="0.12499999999999999 0.12499999999999999 0.12499999999999999" refquat="0.33332782923887305 0.6236125064933351 0.33332782923887305 -0.6236125064933351" />
+    <mesh file="collision/collision_mesh_collision_1.obj" name="steak_collision_mesh_1" scale="0.12499999999999999 0.12499999999999999 0.12499999999999999" refquat="0.33332782923887305 0.6236125064933351 0.33332782923887305 -0.6236125064933351" />
+    <mesh file="collision/collision_mesh_collision_2.obj" name="steak_collision_mesh_2" scale="0.12499999999999999 0.12499999999999999 0.12499999999999999" refquat="0.33332782923887305 0.6236125064933351 0.33332782923887305 -0.6236125064933351" />
+    <mesh file="collision/collision_mesh_collision_3.obj" name="steak_collision_mesh_3" scale="0.12499999999999999 0.12499999999999999 0.12499999999999999" refquat="0.33332782923887305 0.6236125064933351 0.33332782923887305 -0.6236125064933351" />
+    <mesh file="collision/collision_mesh_collision_4.obj" name="steak_collision_mesh_4" scale="0.12499999999999999 0.12499999999999999 0.12499999999999999" refquat="0.33332782923887305 0.6236125064933351 0.33332782923887305 -0.6236125064933351" />
+    <mesh file="collision/collision_mesh_collision_5.obj" name="steak_collision_mesh_5" scale="0.12499999999999999 0.12499999999999999 0.12499999999999999" refquat="0.33332782923887305 0.6236125064933351 0.33332782923887305 -0.6236125064933351" />
+    <mesh file="collision/collision_mesh_collision_6.obj" name="steak_collision_mesh_6" scale="0.12499999999999999 0.12499999999999999 0.12499999999999999" refquat="0.33332782923887305 0.6236125064933351 0.33332782923887305 -0.6236125064933351" />
+    <mesh file="collision/collision_mesh_collision_7.obj" name="steak_collision_mesh_7" scale="0.12499999999999999 0.12499999999999999 0.12499999999999999" refquat="0.33332782923887305 0.6236125064933351 0.33332782923887305 -0.6236125064933351" />
+    <mesh file="collision/collision_mesh_collision_8.obj" name="steak_collision_mesh_8" scale="0.12499999999999999 0.12499999999999999 0.12499999999999999" refquat="0.33332782923887305 0.6236125064933351 0.33332782923887305 -0.6236125064933351" />
+    <mesh file="collision/collision_mesh_collision_9.obj" name="steak_collision_mesh_9" scale="0.12499999999999999 0.12499999999999999 0.12499999999999999" refquat="0.33332782923887305 0.6236125064933351 0.33332782923887305 -0.6236125064933351" />
+    <mesh file="collision/collision_mesh_collision_10.obj" name="steak_collision_mesh_10" scale="0.12499999999999999 0.12499999999999999 0.12499999999999999" refquat="0.33332782923887305 0.6236125064933351 0.33332782923887305 -0.6236125064933351" />
+    <mesh file="collision/collision_mesh_collision_11.obj" name="steak_collision_mesh_11" scale="0.12499999999999999 0.12499999999999999 0.12499999999999999" refquat="0.33332782923887305 0.6236125064933351 0.33332782923887305 -0.6236125064933351" />
+    <mesh file="collision/collision_mesh_collision_12.obj" name="steak_collision_mesh_12" scale="0.12499999999999999 0.12499999999999999 0.12499999999999999" refquat="0.33332782923887305 0.6236125064933351 0.33332782923887305 -0.6236125064933351" />
+    <mesh file="collision/collision_mesh_collision_13.obj" name="steak_collision_mesh_13" scale="0.12499999999999999 0.12499999999999999 0.12499999999999999" refquat="0.33332782923887305 0.6236125064933351 0.33332782923887305 -0.6236125064933351" />
+    <mesh file="collision/collision_mesh_collision_14.obj" name="steak_collision_mesh_14" scale="0.12499999999999999 0.12499999999999999 0.12499999999999999" refquat="0.33332782923887305 0.6236125064933351 0.33332782923887305 -0.6236125064933351" />
+    </asset>
+  <default>
+    <default class="region">
+      <geom group="1" conaffinity="0" contype="0" rgba="0 1 0 0" />
+      </default>
+    <default class="collision">
+      <geom group="0" rgba="0.5 0 0 0.5" density="1000.0" />
+      </default>
+    </default>
+  <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.028" />
+        <geom class="region" name="reg_bbox" type="box" pos="-0.00036078027117550365 -0.0018521710027939035 -0.007278264458436816" size="0.04060732525700434 0.06569744400409638 0.023138532394219317" />
+        <geom mesh="steak_collision_mesh_0" type="mesh" class="collision" />
+        <geom mesh="steak_collision_mesh_1" type="mesh" class="collision" />
+        <geom mesh="steak_collision_mesh_2" type="mesh" class="collision" />
+        <geom mesh="steak_collision_mesh_3" type="mesh" class="collision" />
+        <geom mesh="steak_collision_mesh_4" type="mesh" class="collision" />
+        <geom mesh="steak_collision_mesh_5" type="mesh" class="collision" />
+        <geom mesh="steak_collision_mesh_6" type="mesh" class="collision" />
+        <geom mesh="steak_collision_mesh_7" type="mesh" class="collision" />
+        <geom mesh="steak_collision_mesh_8" type="mesh" class="collision" />
+        <geom mesh="steak_collision_mesh_9" type="mesh" class="collision" />
+        <geom mesh="steak_collision_mesh_10" type="mesh" class="collision" />
+        <geom mesh="steak_collision_mesh_11" type="mesh" class="collision" />
+        <geom mesh="steak_collision_mesh_12" type="mesh" class="collision" />
+        <geom mesh="steak_collision_mesh_13" type="mesh" class="collision" />
+        <geom mesh="steak_collision_mesh_14" type="mesh" class="collision" />
+        </body>
+      </body>
+    </worldbody>
+  </mujoco>
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_6/visual/material.mtl b/Assets/robocasa/data/objects/objaverse/steak/steak_6/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fbcf6b4b1af9257e08a0fd6e283841743ce8fad5
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_6/visual/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 250.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_6/visual/model_normalized_0.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_6/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..63d5338f2d639b65a96664b14438743cf3e4be62
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_6/visual/model_normalized_0.obj
@@ -0,0 +1,7113 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_8/collision/collision_mesh_collision_0.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_8/collision/collision_mesh_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9fc5811bd3e07e23e653fbf33d43fc71051f275d
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_8/collision/collision_mesh_collision_0.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v 0.22574015 0.37135109 -0.05983543
+v 0.22463799 0.36921400 0.04324795
+v 0.30745736 0.34053639 0.04324795
+v 0.30899251 0.34247133 -0.05983543
+v 0.30041140 0.33143926 -0.10650439
+v 0.21944210 0.35948151 -0.10650439
+v 0.09391409 0.34365541 -0.10650439
+v 0.09391409 0.35471636 -0.05983543
+v 0.21853676 0.35766208 0.09970436
+v 0.29895496 0.32982200 0.09970436
+v 0.09391409 0.35269478 0.04324795
+v 0.09391409 0.34229806 0.09821314
+v 0.38397866 0.30460998 0.04324795
+v 0.38598615 0.30637163 -0.05983543
+v 0.37500393 0.29637924 -0.10650439
+v 0.30320618 0.22409321 -0.10726050
+v 0.20550767 0.23919733 -0.10726050
+v 0.09391409 0.23991932 -0.10726050
+v 0.09391409 0.25534111 -0.10715549
+v 0.21393131 0.34911370 0.10711847
+v 0.29269630 0.32213998 0.10718148
+v 0.09391409 0.34200925 0.09970436
+v 0.36539942 0.28823516 0.10724449
+v 0.37331134 0.29490638 0.09970436
+v 0.43861425 0.22605704 0.09970436
+v 0.45117098 0.23373905 0.04324795
+v 0.45353276 0.23509640 -0.05983543
+v 0.44070047 0.22718334 -0.10650439
+v 0.47687489 0.14005312 -0.10650439
+v 0.48159844 0.07631549 -0.10650439
+v 0.31060636 0.12388045 -0.10726050
+v 0.09391409 0.07631549 -0.10726050
+v 0.09391409 0.34177822 0.09991439
+v 0.09391409 0.33386517 0.10705546
+v 0.46471179 0.13632762 0.10730750
+v 0.42940333 0.22106084 0.10726549
+v 0.47467056 0.13938889 0.09970436
+v 0.48832947 0.14450060 0.04324795
+v 0.49088806 0.14542475 -0.05983543
+v 0.49604458 0.07631549 -0.05983543
+v 0.31202343 0.07631549 -0.10726050
+v 0.09391409 0.07631549 0.09340342
+v 0.46919912 0.07631549 0.10720249
+v 0.47939411 0.07631549 0.09970436
+v 0.49348599 0.07631549 0.04324795
+v 0.49462751 0.07631549 -0.00127870
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+f 28 39 29
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+f 29 40 30
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+f 30 32 41
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+f 34 42 43
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+f 37 45 38
+f 38 45 46
+f 38 46 39
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+
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_8/collision/collision_mesh_collision_1.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_8/collision/collision_mesh_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..73b00f71f6b4d6ba17bdbfefeb8a2f4098b89ff4
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_8/collision/collision_mesh_collision_1.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v -0.04285325 0.38608801 -0.05985320
+v -0.04254248 0.38387430 0.04323701
+v 0.00500543 0.38229740 0.04323701
+v 0.00492773 0.38445047 -0.05985320
+v 0.00504427 0.37216884 -0.10650904
+v -0.04141594 0.37374574 -0.10650904
+v -0.12019631 0.36285907 -0.10844770
+v -0.12419748 0.37483746 -0.06098232
+v -0.12342055 0.37274504 0.04389744
+v -0.11945823 0.36103958 0.10131180
+v -0.04106633 0.37189591 0.09971400
+v 0.00516082 0.37034935 0.09971400
+v 0.05923492 0.35928074 0.10065138
+v 0.06067222 0.37086487 0.04362049
+v 0.06090531 0.37295729 -0.06049233
+v 0.05939029 0.36103958 -0.10761685
+v 0.04249214 0.23919383 -0.10838379
+v -0.14043525 0.23176420 -0.10895900
+v -0.22593603 0.22087754 -0.10650904
+v -0.18215621 0.31770518 -0.10650904
+v -0.18782777 0.32831892 -0.05985320
+v -0.18681777 0.32646912 0.04323701
+v -0.11545706 0.35169950 0.10868300
+v -0.18114620 0.31612828 0.09971400
+v -0.03931824 0.36240423 0.10697868
+v 0.00574351 0.36103958 0.10699999
+v 0.05845799 0.35030454 0.10804388
+v 0.12391406 0.33386841 0.10706390
+v 0.12391406 0.34181356 0.09992705
+v 0.12391406 0.34199551 0.09971400
+v 0.12391406 0.34232908 0.09822272
+v 0.12391406 0.35270023 0.04323701
+v 0.12391406 0.35473198 -0.05985320
+v 0.12391406 0.34369370 -0.10650904
+v 0.12391406 0.25529638 -0.10714816
+v 0.12391406 0.23995195 -0.10725468
+v 0.12391406 0.07631837 -0.10725468
+v 0.01798011 0.07631837 -0.10838379
+v -0.17765003 0.07631837 -0.10895900
+v -0.17664003 0.09472562 -0.10895900
+v -0.26206312 0.07631837 -0.10650904
+v -0.27294010 0.07631837 -0.05985320
+v -0.23292837 0.22861041 -0.05985320
+v -0.23156875 0.22727610 0.04323701
+v -0.22469294 0.21975552 0.09971400
+v -0.17563003 0.30778891 0.10691477
+v -0.21785599 0.21387246 0.10685086
+v -0.25138038 0.07631837 0.10682955
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+v -0.27095893 0.07631837 0.04323701
+v -0.26031503 0.07631837 0.09971400
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+f 1 3 4
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+f 28 49 37
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+f 28 32 31
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+f 28 30 29
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+f 44 50 45
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+f 45 50 51
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+
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_8/collision/collision_mesh_collision_2.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_8/collision/collision_mesh_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..01d6e18329b8dcac8691750230433fadeb9d0d99
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_8/collision/collision_mesh_collision_2.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v 0.24652702 -0.36029348 -0.05982526
+v 0.24652702 -0.35787287 0.04323457
+v 0.24652702 -0.34800780 -0.10648356
+v 0.32068822 -0.32453257 -0.10648356
+v 0.32999247 -0.33293617 -0.05982526
+v 0.32830530 -0.33129197 0.04323457
+v 0.31924915 -0.32288840 0.09967810
+v 0.24652702 -0.34586126 0.09967810
+v 0.24652702 -0.20738481 -0.10721850
+v 0.43385288 -0.19688034 -0.10648356
+v 0.44650668 -0.20158452 -0.05982526
+v 0.44419920 -0.20062540 0.04323457
+v 0.31252527 -0.31539825 0.10719550
+v 0.43181834 -0.19587556 0.09967810
+v 0.42263815 -0.19139974 0.10725850
+v 0.24652702 -0.33558512 0.10717450
+v 0.24652702 -0.18523407 -0.10723950
+v 0.27781415 -0.13714182 -0.10723950
+v 0.46422201 -0.11750302 -0.10648356
+v 0.47774419 -0.11978660 -0.05982526
+v 0.47526306 -0.11923853 0.04323457
+v 0.46201378 -0.11686361 0.09967810
+v 0.45228773 -0.11426033 0.10727949
+v 0.46732342 -0.03456331 0.10727949
+v 0.46920907 0.10628805 0.10719550
+v 0.24652702 0.10628805 0.09342059
+v 0.24652702 0.10628805 -0.10723950
+v 0.31537858 0.01357460 -0.10723950
+v 0.47962987 -0.03565942 -0.10648356
+v 0.49362347 -0.03552241 -0.05982526
+v 0.49104309 -0.03543107 0.04323457
+v 0.47737202 -0.03543107 0.09967810
+v 0.48369893 0.04773700 0.09967810
+v 0.47360069 0.04746297 0.10711151
+v 0.47940657 0.10628805 0.09967810
+v 0.31210348 0.10628805 -0.10723950
+v 0.48578307 0.04773700 -0.10648356
+v 0.50000000 0.05038595 -0.05982526
+v 0.49749404 0.05006625 0.04323457
+v 0.49347460 0.10628805 0.04323457
+v 0.48158997 0.10628805 -0.10648356
+v 0.48806572 0.10628805 -0.08567421
+v 0.49605498 0.10628805 -0.05982526
+v 0.49459112 0.10628805 -0.00128190
+f 1 2 8
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+f 1 17 9
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+f 1 3 4
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+f 2 6 7
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+f 25 41 36
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+f 25 27 26
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+f 28 37 29
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+f 30 38 39
+f 30 39 31
+f 31 39 33
+f 31 33 32
+f 33 39 40
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+f 36 41 37
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+f 37 42 43
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+f 38 43 39
+f 39 43 44
+f 39 44 40
+
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_8/collision/collision_mesh_collision_3.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_8/collision/collision_mesh_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6193a33525f89fc6f85e10e94801d8da2338cf8d
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_8/collision/collision_mesh_collision_3.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v -0.34377581 -0.32517114 0.10753308
+v -0.34377581 -0.33149546 0.10115445
+v -0.31435305 -0.33175898 0.09971343
+v -0.19865108 -0.32438061 0.10005250
+v -0.19865108 -0.31564075 0.10740594
+v -0.25145856 0.10628805 0.10683377
+v -0.34377581 -0.00495850 0.10691854
+v -0.34377581 -0.33263737 0.09992535
+v -0.34377581 -0.34071845 0.04328054
+v -0.19865108 -0.33377925 0.04340769
+v -0.19865108 0.10628805 0.09392816
+v -0.26042318 0.10628805 0.09971343
+v -0.34377581 0.00176109 0.09971343
+v -0.34377581 -0.34238735 -0.05987955
+v -0.19865108 -0.33566776 -0.06015503
+v -0.19865108 0.10628805 -0.10789942
+v -0.27097902 0.10628805 0.04323816
+v -0.34377581 0.01019351 0.04323816
+v -0.34377581 -0.33421844 -0.10673389
+v -0.19865108 -0.32618129 -0.10694581
+v -0.19865108 0.00193676 -0.10895899
+v -0.29781607 -0.06288752 -0.10895899
+v -0.34377581 -0.09947196 -0.10895899
+v -0.34377581 -0.06301928 -0.10832325
+v -0.26218486 0.10628805 -0.10650078
+v -0.27109268 0.10628805 0.03736812
+v -0.34377581 0.01168676 -0.05983716
+v -0.27292538 0.10628805 -0.05983716
+v -0.34377581 -0.28437048 -0.10785703
+v -0.34377581 -0.21489081 -0.10853516
+v -0.34377581 0.00303473 -0.10650078
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 13
+f 1 13 18
+f 1 18 27
+f 1 27 31
+f 1 31 24
+f 1 24 23
+f 1 23 30
+f 1 30 29
+f 1 29 19
+f 1 19 14
+f 1 14 9
+f 1 9 8
+f 1 8 2
+f 2 8 3
+f 3 8 9
+f 3 9 10
+f 3 10 4
+f 4 10 15
+f 4 15 20
+f 4 20 21
+f 4 21 16
+f 4 16 11
+f 4 11 5
+f 5 11 6
+f 6 12 7
+f 6 11 16
+f 6 16 25
+f 6 25 28
+f 6 28 26
+f 6 26 17
+f 6 17 12
+f 7 12 13
+f 9 14 15
+f 9 15 10
+f 12 17 13
+f 13 17 18
+f 14 19 15
+f 15 19 20
+f 16 21 22
+f 16 22 23
+f 16 23 24
+f 16 24 25
+f 17 26 18
+f 18 26 28
+f 18 28 27
+f 19 29 20
+f 20 29 30
+f 20 30 21
+f 21 30 23
+f 21 23 22
+f 24 31 25
+f 25 31 28
+f 27 28 31
+
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_8/collision/collision_mesh_collision_4.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_8/collision/collision_mesh_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0bd01e62e369fff8264099231ce67746ebec3455
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_8/collision/collision_mesh_collision_4.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v -0.40618983 -0.33044767 0.10895900
+v -0.41657874 -0.33839369 0.10132248
+v -0.31380129 -0.33270788 0.09993596
+v -0.31380129 -0.33150715 0.10115183
+v -0.31380129 -0.32518566 0.10752982
+v -0.31380129 -0.00490843 0.10691121
+v -0.40586177 -0.06137808 0.10703921
+v -0.44738099 -0.13070261 0.10714586
+v -0.47098392 -0.21129282 0.10720985
+v -0.45445275 -0.30332530 0.10723118
+v -0.46580768 -0.31049436 0.09970132
+v -0.42926419 -0.34729320 0.04387797
+v -0.47976893 -0.31858164 0.04323804
+v -0.31380129 -0.34075981 0.04328070
+v -0.31380129 0.00180154 0.09970132
+v -0.41694328 -0.06303792 0.09970132
+v -0.45895463 -0.13395165 0.09970132
+v -0.48273981 -0.21634296 0.09970132
+v -0.49721140 -0.22164029 0.04323804
+v -0.43168825 -0.34905899 -0.06098547
+v -0.31380129 -0.34238434 -0.05985492
+v -0.48244819 -0.32020614 -0.05981226
+v -0.50000000 -0.22273508 -0.05981226
+v -0.31380129 0.01020664 0.04323804
+v -0.42948288 -0.06381486 0.04323804
+v -0.47273362 -0.13677689 0.04323804
+v -0.41883880 -0.34012413 -0.10844705
+v -0.31380129 -0.33426175 -0.10671923
+v -0.46826822 -0.31208354 -0.10648459
+v -0.47537643 -0.13744789 -0.05981226
+v -0.48530969 -0.21740241 -0.10648459
+v -0.31380129 0.01172522 -0.05981226
+v -0.43188876 -0.06406207 -0.05981226
+v -0.31380129 -0.28446674 -0.10787112
+v -0.35147482 -0.12614690 -0.10895900
+v -0.35918450 -0.21136345 -0.10895900
+v -0.31380129 -0.21493033 -0.10853238
+v -0.41918510 -0.06335576 -0.10648459
+v -0.46139693 -0.13462265 -0.10648459
+v -0.31380129 0.00307289 -0.10648459
+v -0.31380129 -0.09941299 -0.10895900
+v -0.31380129 -0.06300260 -0.10831907
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 11
+f 1 11 2
+f 2 12 3
+f 2 11 13
+f 2 13 12
+f 3 12 14
+f 3 14 21
+f 3 21 28
+f 3 28 34
+f 3 34 37
+f 3 37 41
+f 3 41 42
+f 3 42 40
+f 3 40 32
+f 3 32 24
+f 3 24 15
+f 3 15 6
+f 3 6 5
+f 3 5 4
+f 6 15 7
+f 7 15 16
+f 7 16 8
+f 8 16 17
+f 8 17 9
+f 9 17 18
+f 9 18 10
+f 10 18 11
+f 11 18 19
+f 11 19 13
+f 12 20 21
+f 12 21 14
+f 12 13 22
+f 12 22 20
+f 13 19 23
+f 13 23 22
+f 15 24 16
+f 16 24 25
+f 16 25 26
+f 16 26 17
+f 17 26 18
+f 18 26 19
+f 19 26 23
+f 20 27 21
+f 20 22 27
+f 21 27 28
+f 22 23 29
+f 22 29 27
+f 23 26 30
+f 23 30 31
+f 23 31 29
+f 24 32 25
+f 25 32 33
+f 25 33 26
+f 26 33 30
+f 27 34 28
+f 27 29 31
+f 27 31 35
+f 27 35 36
+f 27 36 37
+f 27 37 34
+f 30 33 38
+f 30 38 39
+f 30 39 31
+f 31 39 35
+f 32 40 38
+f 32 38 33
+f 35 41 36
+f 35 39 38
+f 35 38 42
+f 35 42 41
+f 36 41 37
+f 38 40 42
+
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_8/collision/collision_mesh_collision_5.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_8/collision/collision_mesh_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..48a63bbd067f6b95a707d5faa025a74bc140a664
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_8/collision/collision_mesh_collision_5.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
+v 0.27652699 0.09125109 0.09343544
+v 0.27652699 0.09125109 -0.10722790
+v -0.16063163 0.09125109 0.09494250
+v -0.21365109 -0.19589493 0.09911747
+v 0.27652699 -0.14593077 0.09343544
+v 0.27652699 -0.18521471 -0.10722790
+v 0.01809913 0.09125109 -0.10836837
+v -0.21365109 0.09125109 0.09390385
+v -0.21365109 -0.25225240 0.09809919
+v -0.20640588 -0.28621471 0.09769187
+v 0.27652699 -0.28621471 0.09339470
+v 0.27652699 -0.20738815 -0.10720753
+v 0.00015408 -0.00479686 -0.10836837
+v -0.17756906 0.09125109 -0.10893861
+v -0.21365109 0.09125109 -0.10787960
+v -0.21365109 -0.28621471 0.09695870
+v -0.20726955 -0.28621471 0.09765114
+v 0.27652699 -0.28621471 -0.10682058
+v -0.10209430 -0.22228131 -0.10836837
+v -0.06793154 -0.15420885 -0.10836837
+v -0.19911271 0.01316363 -0.10893861
+v -0.21365109 0.00200300 -0.10893861
+v -0.21365109 -0.28621471 -0.10686132
+v -0.12646887 -0.28621471 -0.10802216
+v -0.17473817 -0.28621471 -0.10743155
+v -0.20165572 -0.28621471 -0.10704461
+f 1 2 7
+f 1 7 14
+f 1 14 15
+f 1 15 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 11
+f 1 11 18
+f 1 18 12
+f 1 12 6
+f 1 6 2
+f 2 6 7
+f 3 8 4
+f 4 9 10
+f 4 10 11
+f 4 11 5
+f 4 8 15
+f 4 15 22
+f 4 22 23
+f 4 23 16
+f 4 16 9
+f 6 12 13
+f 6 13 7
+f 7 13 14
+f 9 16 17
+f 9 17 10
+f 10 17 16
+f 10 16 23
+f 10 23 26
+f 10 26 25
+f 10 25 24
+f 10 24 18
+f 10 18 11
+f 12 18 19
+f 12 19 20
+f 12 20 13
+f 13 20 21
+f 13 21 14
+f 14 21 22
+f 14 22 15
+f 18 24 19
+f 19 24 22
+f 19 22 21
+f 19 21 20
+f 22 24 25
+f 22 25 26
+f 22 26 23
+
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_8/collision/collision_mesh_collision_6.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_8/collision/collision_mesh_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..acba08403c7cafcd3aac70846b15f56715d997ea
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_8/collision/collision_mesh_collision_6.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v -0.12645067 -0.25626296 -0.10806179
+v -0.15783051 -0.33389622 -0.10761741
+v -0.22865108 -0.32628411 -0.10691910
+v -0.22865108 -0.29744962 -0.10694026
+v -0.22865108 -0.25626296 -0.10687678
+v 0.23283412 -0.25626296 -0.10694026
+v 0.26152700 -0.34810376 -0.10649589
+v 0.19919914 -0.37293524 -0.10649589
+v 0.08030122 -0.37606138 -0.10649589
+v 0.08241240 -0.38608801 -0.05981504
+v -0.22865108 -0.33568802 -0.06013246
+v -0.22865108 -0.25626296 0.09698688
+v 0.26152700 -0.25626296 -0.10683446
+v 0.26152700 -0.35389861 -0.08427699
+v 0.26152700 -0.36027804 -0.05981504
+v 0.20486096 -0.38284749 -0.05981504
+v 0.20385334 -0.38090315 0.04323831
+v 0.08212451 -0.38410556 0.04323831
+v -0.22865108 -0.33383268 0.04340760
+v -0.22865108 -0.31567290 0.10739802
+v -0.20643568 -0.25626296 0.09770635
+v 0.26152700 -0.25626296 0.09341069
+v 0.26152700 -0.35900724 -0.00384459
+v 0.19833548 -0.37105444 0.09969547
+v 0.08006131 -0.37418061 0.09969547
+v 0.26152700 -0.35792705 0.04323831
+v 0.26152700 -0.35191616 0.07146689
+v -0.22865108 -0.32447958 0.10005520
+v -0.22865108 -0.32985505 0.06759445
+v 0.07876581 -0.36517063 0.10714409
+v -0.15231265 -0.32406020 0.10811749
+v 0.26152700 -0.33563721 0.10720757
+v 0.26152700 -0.34589258 0.09969547
+v 0.19430505 -0.36231133 0.10718641
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 12
+f 1 12 21
+f 1 21 22
+f 1 22 13
+f 1 13 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 8 9
+f 2 9 3
+f 3 9 10
+f 3 10 11
+f 3 11 19
+f 3 19 29
+f 3 29 28
+f 3 28 20
+f 3 20 12
+f 3 12 5
+f 3 5 4
+f 6 13 7
+f 7 14 8
+f 7 13 22
+f 7 22 32
+f 7 32 33
+f 7 33 27
+f 7 27 26
+f 7 26 23
+f 7 23 15
+f 7 15 14
+f 8 14 15
+f 8 15 16
+f 8 16 10
+f 8 10 9
+f 10 16 17
+f 10 17 18
+f 10 18 19
+f 10 19 11
+f 12 20 21
+f 15 23 16
+f 16 23 17
+f 17 24 25
+f 17 25 18
+f 17 23 26
+f 17 26 27
+f 17 27 24
+f 18 25 28
+f 18 28 29
+f 18 29 19
+f 20 28 30
+f 20 30 31
+f 20 31 32
+f 20 32 21
+f 21 32 22
+f 24 27 33
+f 24 33 32
+f 24 32 34
+f 24 34 25
+f 25 30 28
+f 25 34 30
+f 30 34 31
+f 31 34 32
+
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_8/collision/model_normalized_collision_0.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_8/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fccf59cd09adcd0a4061478939ee05b23d21db01
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_8/collision/model_normalized_collision_0.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.46334974 -0.01553048 0.10588022
+v 0.49334464 -0.01773322 0.00545304
+v 0.45766759 0.16453966 0.10417556
+v 0.33440334 0.31920181 0.07682256
+v 0.26515152 -0.01542714 0.00467737
+v 0.47764278 0.17284344 0.00511544
+v 0.26515152 0.25730013 0.09345950
+v 0.26515152 -0.01542714 0.09345950
+v 0.37760185 0.29924542 0.07556988
+v 0.33815725 0.32719678 0.00452502
+v 0.36298967 0.31554527 0.00422211
+v 0.33746502 0.31057105 0.10060049
+v 0.42013927 -0.01593693 0.09573607
+v 0.36240041 0.31429036 0.04523923
+v 0.26515152 0.25730013 0.00467737
+v 0.38123161 0.30697585 0.00439322
+v 0.36276559 0.29991684 0.09971400
+v 0.37561541 0.29256467 0.09971400
+f 1 2 3
+f 6 3 2
+f 8 5 2
+f 8 7 5
+f 9 3 6
+f 10 7 4
+f 11 6 2
+f 11 2 5
+f 12 1 3
+f 12 4 7
+f 12 8 1
+f 12 7 8
+f 13 8 2
+f 13 2 1
+f 13 1 8
+f 14 10 4
+f 14 4 9
+f 15 5 7
+f 15 7 10
+f 15 11 5
+f 15 10 11
+f 16 9 6
+f 16 6 11
+f 16 14 9
+f 16 11 10
+f 16 10 14
+f 17 9 4
+f 17 4 12
+f 18 17 12
+f 18 12 3
+f 18 3 9
+f 18 9 17
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_8/collision/model_normalized_collision_1.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_8/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..52b291d22bd8d844001291e7cdb2fcb1b74814c1
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_8/collision/model_normalized_collision_1.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v -0.05301406 -0.34869133 0.06527186
+v 0.00757576 -0.30330593 0.00467737
+v 0.00754282 -0.00026502 0.09392248
+v -0.31758819 0.02588346 0.00540281
+v -0.27244982 -0.33169656 0.00526631
+v 0.00757576 -0.00027562 0.00467737
+v -0.28026385 -0.29247684 0.09721944
+v 0.00747802 -0.30372196 0.09415558
+v -0.09829732 -0.34611028 0.00463118
+v -0.28068475 0.00023429 0.09434558
+v -0.23312124 -0.32180557 0.09986619
+v -0.23254901 -0.33195389 0.00437412
+v -0.15694500 -0.33222949 0.10065150
+v -0.27970657 -0.19741495 0.09722595
+v -0.21715243 -0.33026492 0.06224093
+v -0.05123199 -0.34110568 0.10158892
+v -0.00855877 -0.30749030 0.09634666
+f 6 3 2
+f 6 4 3
+f 7 4 5
+f 8 1 2
+f 8 2 3
+f 9 2 1
+f 9 1 5
+f 10 3 4
+f 10 4 7
+f 11 7 5
+f 12 6 2
+f 12 2 9
+f 12 4 6
+f 12 9 5
+f 12 5 4
+f 13 5 1
+f 13 10 11
+f 14 11 10
+f 14 10 7
+f 14 7 11
+f 15 13 11
+f 15 11 5
+f 15 5 13
+f 16 13 1
+f 16 1 8
+f 16 3 10
+f 16 10 13
+f 17 16 8
+f 17 8 3
+f 17 3 16
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_8/collision/model_normalized_collision_10.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_8/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5224054ac3eeb047ba6f14e39011efd6da4a077e
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_8/collision/model_normalized_collision_10.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.08396118 0.27243950 0.09366703
+v 0.08309782 0.31788066 -0.10716071
+v 0.07664538 0.36100588 0.06155601
+v 0.00511444 0.37833722 0.06205174
+v 0.00757576 0.27245165 0.00467737
+v 0.06110273 0.36047490 -0.10759728
+v 0.08333333 0.27245165 0.00467737
+v 0.00713135 0.27258105 0.09362646
+v 0.07936485 0.35352556 -0.10715740
+v 0.03446631 0.37675670 -0.06669810
+v 0.00775728 0.31782880 -0.10700383
+v 0.00505033 0.37859117 -0.08228107
+v 0.03422875 0.37572286 0.04635093
+v 0.07540715 0.35802682 -0.09595310
+v 0.00644057 0.37195743 -0.10653922
+v 0.01905651 0.37562102 0.06148098
+f 1 2 3
+f 1 3 4
+f 7 5 2
+f 7 2 1
+f 7 1 5
+f 8 5 1
+f 8 1 4
+f 9 3 2
+f 9 2 6
+f 11 6 2
+f 11 2 5
+f 12 8 4
+f 12 5 8
+f 12 11 5
+f 12 4 10
+f 13 10 4
+f 13 3 10
+f 14 9 6
+f 14 6 10
+f 14 10 3
+f 14 3 9
+f 15 12 10
+f 15 10 6
+f 15 6 11
+f 15 11 12
+f 16 13 4
+f 16 4 3
+f 16 3 13
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_8/collision/model_normalized_collision_11.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_8/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eecfff0a33b3fa4bc63c1f213972dad19707aedb
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_8/collision/model_normalized_collision_11.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.28205802 -0.32387800 0.10202759
+v -0.23482810 -0.19780901 0.09889176
+v -0.34745911 -0.01197465 0.09978555
+v -0.28437364 0.00516210 0.09750535
+v -0.35665879 -0.33965637 0.06398385
+v -0.28094473 -0.33005105 0.06484441
+v -0.35714619 -0.33455312 0.10039058
+v -0.35002283 -0.00848769 0.06406151
+v -0.32697774 -0.33259553 0.09991332
+v -0.29823389 -0.33334977 0.06338171
+v -0.23494875 -0.10521625 0.09477240
+v -0.29855573 -0.33156526 0.07831301
+v -0.27965029 -0.00114759 0.09345950
+v -0.23479638 -0.12206978 0.09541300
+v -0.23484587 -0.10636548 0.09481639
+f 1 2 3
+f 3 2 4
+f 6 2 1
+f 7 1 3
+f 8 3 4
+f 8 7 3
+f 8 5 7
+f 9 1 7
+f 9 7 5
+f 10 8 6
+f 10 5 8
+f 10 9 5
+f 11 6 8
+f 12 6 1
+f 12 1 9
+f 12 10 6
+f 12 9 10
+f 13 11 8
+f 13 8 4
+f 13 4 11
+f 14 2 6
+f 15 2 14
+f 15 11 4
+f 15 4 2
+f 15 14 6
+f 15 6 11
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_8/collision/model_normalized_collision_12.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_8/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b5bc1598af6a5fd15650e645af227db274fa218a
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_8/collision/model_normalized_collision_12.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v 0.26007428 -0.35117671 0.07771864
+v 0.44811529 -0.19190050 -0.06674844
+v 0.43334542 -0.19204622 0.09971400
+v 0.26516167 -0.19724920 0.09308406
+v 0.26511198 -0.19723194 -0.10722806
+v 0.26261650 -0.34240186 0.10193033
+v 0.32915839 -0.33221760 -0.01093435
+v 0.25998735 -0.35095876 -0.09800549
+v 0.43169040 -0.21399151 0.04565348
+v 0.31920350 -0.32291201 0.09971400
+v 0.28764861 -0.34433240 -0.08112606
+v 0.43545461 -0.19285101 -0.10651150
+v 0.44505925 -0.20106600 -0.06532054
+v 0.44886656 -0.19218719 -0.01081788
+v 0.28981972 -0.33462658 0.09971400
+v 0.28744807 -0.34382933 0.06100005
+v 0.43034646 -0.19764759 0.09971400
+v 0.34005779 -0.31941018 0.00418608
+v 0.26443647 -0.34696692 -0.10651150
+v 0.44544878 -0.20115252 -0.01095253
+v 0.32880651 -0.33196575 -0.06562520
+v 0.31769775 -0.32854397 0.07612302
+v 0.32490031 -0.31940490 0.09089427
+v 0.32508783 -0.31957128 -0.10651150
+v 0.35503450 -0.30410356 -0.04127384
+v 0.30365713 -0.33133053 -0.10651150
+v 0.43198035 -0.19909729 -0.10651150
+v 0.35431745 -0.30346735 -0.06499939
+v 0.31766550 -0.32846316 -0.09609041
+f 5 3 2
+f 5 4 3
+f 6 3 4
+f 6 4 1
+f 8 1 4
+f 8 4 5
+f 11 1 8
+f 12 5 2
+f 13 12 2
+f 14 2 3
+f 14 13 2
+f 15 10 6
+f 15 6 1
+f 15 1 10
+f 16 10 1
+f 16 11 7
+f 16 1 11
+f 17 3 6
+f 17 6 10
+f 17 10 9
+f 17 9 3
+f 19 8 5
+f 19 11 8
+f 20 18 7
+f 20 9 18
+f 20 13 14
+f 20 14 3
+f 20 3 9
+f 21 7 11
+f 22 16 7
+f 22 10 16
+f 23 18 9
+f 23 9 10
+f 23 10 22
+f 23 22 7
+f 23 7 18
+f 24 13 21
+f 25 20 7
+f 25 13 20
+f 25 7 21
+f 26 19 5
+f 26 5 24
+f 26 11 19
+f 27 12 13
+f 27 13 24
+f 27 24 5
+f 27 5 12
+f 28 25 21
+f 28 21 13
+f 28 13 25
+f 29 26 24
+f 29 24 21
+f 29 21 11
+f 29 11 26
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_8/collision/model_normalized_collision_13.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_8/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a36597ebfd6bde5fa9c8e55dd29d4043621b37f5
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_8/collision/model_normalized_collision_13.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v -0.23312124 -0.32180557 0.09986619
+v -0.23335501 -0.32358214 -0.10670743
+v -0.23486388 -0.28806903 -0.10678057
+v -0.35403808 -0.28259762 0.09474618
+v -0.35665879 -0.33965637 0.06398385
+v -0.23440164 -0.29063442 0.10163588
+v -0.26828857 -0.33136706 -0.02586092
+v -0.28205802 -0.32387800 0.10202759
+v -0.35705624 -0.33611645 -0.10728607
+v -0.28355288 -0.33074163 0.06306003
+v -0.35616467 -0.28807343 -0.10817834
+v -0.26843077 -0.33057854 -0.06835573
+v -0.31345196 -0.33298099 -0.10651150
+f 6 3 4
+f 6 1 2
+f 6 2 3
+f 7 2 1
+f 8 5 1
+f 8 4 5
+f 8 6 4
+f 8 1 6
+f 10 7 1
+f 10 1 5
+f 10 5 7
+f 11 3 2
+f 11 2 9
+f 11 4 3
+f 11 9 5
+f 11 5 4
+f 12 7 5
+f 12 5 9
+f 12 2 7
+f 13 12 9
+f 13 9 2
+f 13 2 12
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_8/collision/model_normalized_collision_14.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_8/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..12d090fda2a0f1573e996a604511fd5d854ab0ff
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_8/collision/model_normalized_collision_14.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.01107626 -0.36416317 0.06279001
+v 0.00867118 -0.35924913 -0.10651150
+v 0.00758714 -0.30325748 -0.10678858
+v -0.09660962 -0.29538302 0.09796307
+v -0.09801856 -0.34211278 0.06421855
+v 0.00652784 -0.30776657 0.09539648
+v 0.01099137 -0.36452438 -0.08327237
+v 0.00946048 -0.35588937 0.10114930
+v -0.09860269 -0.30320741 -0.10721230
+v -0.09786396 -0.33816695 -0.10683353
+v -0.01852739 -0.36118613 0.00435159
+v -0.05123199 -0.34110568 0.10158892
+v -0.05381861 -0.30666149 0.09919719
+v -0.08216866 -0.34685061 -0.06775663
+v -0.03399856 -0.34739518 0.09971400
+v -0.01844719 -0.36084478 -0.06737203
+f 6 1 3
+f 6 3 4
+f 7 2 3
+f 7 3 1
+f 8 5 1
+f 8 1 6
+f 9 3 2
+f 9 5 4
+f 9 4 3
+f 10 2 7
+f 10 9 2
+f 10 5 9
+f 11 7 1
+f 11 1 5
+f 12 4 5
+f 13 8 6
+f 13 6 4
+f 13 12 8
+f 13 4 12
+f 14 11 5
+f 14 5 10
+f 15 12 5
+f 15 5 8
+f 15 8 12
+f 16 14 10
+f 16 10 7
+f 16 7 11
+f 16 11 14
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_8/collision/model_normalized_collision_15.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_8/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..00a05b8053a81f3447c3c119451fe826568a9555
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_8/collision/model_normalized_collision_15.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.42775431 -0.22052649 0.00548289
+v 0.40261182 -0.19821862 0.10470619
+v 0.26515152 -0.19724532 0.00467737
+v 0.26515152 -0.01542714 0.09345950
+v 0.40151515 -0.01542714 0.09345950
+v 0.26516167 -0.19724920 0.09308406
+v 0.40469224 -0.10754954 0.09627385
+v 0.40151515 -0.01542714 0.00467737
+v 0.34389892 -0.19989810 0.09430127
+v 0.26515152 -0.01542714 0.00467737
+f 5 4 2
+f 6 2 4
+f 6 4 3
+f 6 3 1
+f 7 5 2
+f 7 2 1
+f 7 1 5
+f 8 5 1
+f 8 1 3
+f 9 6 1
+f 9 1 2
+f 9 2 6
+f 10 8 3
+f 10 3 4
+f 10 4 5
+f 10 5 8
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_8/collision/model_normalized_collision_16.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_8/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b6ecb806828c1794ab200df9abd0eaf41b48356e
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_8/collision/model_normalized_collision_16.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.42775431 -0.22052649 0.00548289
+v 0.40147316 -0.19723111 -0.10664881
+v 0.40947719 0.27921313 0.00549310
+v 0.26515152 0.25730013 0.00467737
+v 0.26515152 -0.19724532 0.00467737
+v 0.26514127 0.25723386 -0.10706965
+v 0.40147180 0.16638784 -0.10684042
+v 0.26511198 -0.19723194 -0.10722806
+v 0.38631102 0.25722934 -0.10658553
+f 5 1 3
+f 5 3 4
+f 6 4 3
+f 7 1 2
+f 7 3 1
+f 8 2 1
+f 8 1 5
+f 8 5 4
+f 8 4 6
+f 8 7 2
+f 8 6 7
+f 9 7 6
+f 9 6 3
+f 9 3 7
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_8/collision/model_normalized_collision_17.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_8/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a5d32831af305e52929ff49b7575a486ba4a10f8
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_8/collision/model_normalized_collision_17.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.48638712 -0.06545023 0.00528239
+v 0.48853589 -0.06014962 -0.04087413
+v 0.49756876 0.05937139 0.00443259
+v 0.40151515 0.06033044 0.00467737
+v 0.40151515 -0.01542714 -0.04077718
+v 0.49072275 -0.04255725 0.00425717
+v 0.48748099 -0.06565618 -0.04014488
+v 0.40151515 -0.01542714 0.00467737
+v 0.49866984 0.05947692 -0.04099502
+v 0.49181662 -0.04276319 -0.04117010
+v 0.40151515 0.06033044 -0.04077718
+f 1 3 4
+f 6 1 2
+f 6 3 1
+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 4 3
+f 10 2 5
+f 10 6 2
+f 10 9 3
+f 10 3 6
+f 11 5 4
+f 11 4 9
+f 11 10 5
+f 11 9 10
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_8/collision/model_normalized_collision_18.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_8/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..67ddd5714a91bc318cdf544d679b3b5d60f94a0b
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_8/collision/model_normalized_collision_18.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.26515152 0.27245165 0.09345950
+v 0.26515152 0.27245165 0.00467737
+v 0.26293028 0.35694121 0.00452255
+v 0.07876017 0.35190114 0.10025895
+v 0.08329120 0.27245247 0.09368186
+v 0.26259218 0.34081244 0.10095401
+v 0.08333333 0.27245165 0.00467737
+v 0.22844964 0.36001916 0.07595667
+v 0.24471835 0.36324791 0.00430924
+v 0.24313911 0.35868380 0.06048179
+v 0.24488551 0.34857925 0.09971400
+v 0.08325426 0.36315295 0.00467299
+v 0.25904563 0.34571399 0.09131331
+v 0.20713473 0.36040045 0.07700839
+v 0.17644162 0.36312907 0.00438803
+v 0.17664211 0.36172671 0.04695629
+f 1 2 3
+f 6 1 3
+f 6 5 1
+f 6 4 5
+f 7 2 1
+f 7 1 5
+f 7 5 4
+f 9 3 2
+f 9 2 7
+f 10 9 8
+f 10 3 9
+f 11 4 6
+f 11 10 8
+f 12 7 4
+f 13 6 3
+f 13 3 10
+f 13 11 6
+f 13 10 11
+f 14 11 8
+f 14 4 11
+f 14 12 4
+f 14 8 9
+f 15 12 9
+f 15 9 7
+f 15 7 12
+f 16 14 9
+f 16 9 12
+f 16 12 14
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_8/collision/model_normalized_collision_19.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_8/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..65842e6ddf7b1a586fe5dd0144473b3815d352d3
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_8/collision/model_normalized_collision_19.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.26513108 0.31784713 -0.10666621
+v 0.25907224 0.34579092 -0.10651150
+v 0.27696915 0.35205999 0.00550105
+v 0.07821982 0.36507462 0.00439408
+v 0.08309782 0.31788066 -0.10716071
+v 0.22833093 0.35967574 -0.09571584
+v 0.07936485 0.35352556 -0.10715740
+v 0.09834123 0.35739756 0.00551910
+v 0.24328693 0.35911069 -0.08039432
+v 0.20719311 0.35999233 -0.09702832
+v 0.07800329 0.36463158 -0.06736085
+v 0.24471835 0.36324791 0.00430924
+v 0.26293028 0.35694121 0.00452255
+f 1 2 3
+f 5 1 3
+f 7 2 1
+f 7 1 5
+f 8 5 3
+f 8 4 5
+f 9 3 2
+f 9 2 6
+f 10 6 2
+f 10 2 7
+f 11 7 5
+f 11 5 4
+f 11 10 7
+f 11 6 10
+f 12 8 3
+f 12 4 8
+f 12 9 6
+f 12 11 4
+f 12 6 11
+f 13 12 3
+f 13 3 9
+f 13 9 12
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_8/collision/model_normalized_collision_2.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_8/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d8f1766b870960451485d5d61bda45f8630f4575
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_8/collision/model_normalized_collision_2.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v 0.45658359 -0.11936119 0.10288009
+v 0.47613675 -0.11842118 -0.06619868
+v 0.48956611 0.00107313 0.06093828
+v 0.45766759 0.16453966 0.10417556
+v 0.46206722 0.16636860 -0.10653284
+v 0.47602093 -0.04264180 0.09971400
+v 0.46207926 -0.12147173 -0.10651408
+v 0.49014496 0.13441651 -0.06568578
+v 0.47520513 0.13439811 0.09971400
+v 0.47487680 -0.11818396 0.04586966
+v 0.49181662 -0.04276319 -0.04117010
+v 0.47548832 -0.05769303 -0.10651150
+v 0.47358591 0.15855988 0.07517073
+v 0.48937513 0.08886912 0.06072608
+v 0.46205750 -0.11680600 0.09971400
+v 0.49086911 -0.02932748 0.04610114
+v 0.47527292 0.14410962 -0.10651150
+v 0.48899741 -0.01405499 -0.08065819
+v 0.46424601 -0.11740450 -0.10651150
+v 0.47336270 0.15846706 -0.09478597
+v 0.46550554 0.16149938 0.09971400
+v 0.49101806 0.11933141 0.03455853
+v 0.49049857 -0.04251504 -0.06596221
+v 0.48853119 0.10395873 -0.08033787
+v 0.49109268 0.13449016 -0.02604563
+v 0.46766987 0.16239908 -0.10651150
+f 5 1 4
+f 6 4 1
+f 7 1 5
+f 9 4 6
+f 10 7 2
+f 10 1 7
+f 11 10 2
+f 12 7 5
+f 14 9 6
+f 14 6 3
+f 15 10 6
+f 15 6 1
+f 15 1 10
+f 16 3 6
+f 16 6 10
+f 16 10 11
+f 16 14 3
+f 17 12 5
+f 18 12 17
+f 19 12 2
+f 19 2 7
+f 19 7 12
+f 20 5 13
+f 20 8 17
+f 21 13 5
+f 21 5 4
+f 21 4 9
+f 21 9 13
+f 22 13 9
+f 22 9 14
+f 22 14 16
+f 22 16 11
+f 23 18 8
+f 23 8 11
+f 23 11 2
+f 23 2 12
+f 23 12 18
+f 24 18 17
+f 24 17 8
+f 24 8 18
+f 25 20 13
+f 25 8 20
+f 25 13 22
+f 25 22 11
+f 25 11 8
+f 26 20 17
+f 26 17 5
+f 26 5 20
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_8/collision/model_normalized_collision_20.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_8/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..684de6e8bcbbca0b407c8bc8b585d0d3bb3f9bc9
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_8/collision/model_normalized_collision_20.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v -0.41895875 -0.25826361 0.09883166
+v -0.41053074 -0.25674784 0.09715670
+v -0.39655149 -0.05251102 0.10472373
+v -0.39901825 -0.04912624 0.09508114
+v -0.48544828 -0.25659649 0.06337789
+v -0.39346591 -0.11111551 0.09609938
+v -0.47437719 -0.18729818 0.09971400
+v -0.40114366 -0.04623558 0.06520805
+v -0.47583418 -0.25486696 0.09971400
+v -0.43047672 -0.08580869 0.09971400
+v -0.46417984 -0.12924798 0.06248527
+v -0.46111220 -0.14129961 0.09971400
+v -0.41848333 -0.06310593 0.09287002
+v -0.42985490 -0.07102570 0.06162568
+v -0.47831391 -0.17101138 0.06204911
+v -0.45954394 -0.13199571 0.09179753
+v -0.40820730 -0.05728649 0.10048815
+v -0.42096903 -0.06049055 0.06308213
+f 1 2 3
+f 5 2 1
+f 6 3 2
+f 8 4 3
+f 8 3 6
+f 8 6 2
+f 8 2 5
+f 9 7 5
+f 9 5 1
+f 9 1 3
+f 9 3 7
+f 12 7 3
+f 12 3 10
+f 14 8 5
+f 14 10 13
+f 15 5 7
+f 15 7 12
+f 15 14 5
+f 15 11 14
+f 16 12 10
+f 16 15 12
+f 16 11 15
+f 16 14 11
+f 16 10 14
+f 17 13 10
+f 17 10 3
+f 17 3 4
+f 17 4 13
+f 18 14 13
+f 18 8 14
+f 18 13 4
+f 18 4 8
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_8/collision/model_normalized_collision_21.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_8/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..389c2ee768d67de6507468d0264d566ab23f2aa0
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_8/collision/model_normalized_collision_21.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.26515152 0.27245165 0.00467737
+v 0.26514116 0.27238463 -0.10696356
+v 0.27696915 0.35205999 0.00550105
+v 0.00757576 0.31790620 0.00467737
+v -0.03787767 0.27240071 -0.10704215
+v 0.00757576 0.27245165 0.00467737
+v -0.03788050 0.31785521 -0.10680397
+v 0.26513108 0.31784713 -0.10666621
+v -0.03787879 0.31790620 -0.04077718
+v -0.03787879 0.27245165 -0.04077718
+f 1 2 3
+f 6 1 3
+f 6 3 4
+f 6 5 2
+f 6 2 1
+f 7 2 5
+f 8 7 3
+f 8 3 2
+f 8 2 7
+f 9 4 3
+f 9 3 7
+f 9 6 4
+f 10 5 6
+f 10 6 9
+f 10 9 7
+f 10 7 5
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_8/collision/model_normalized_collision_22.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_8/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ede8f7770a3b6e521d774589982cc559b22c0e10
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_8/collision/model_normalized_collision_22.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v 0.46550554 0.16149938 0.09971400
+v 0.47741964 0.16015355 -0.08103858
+v 0.45878115 0.21931013 -0.01099598
+v 0.38092872 0.30633074 0.03467948
+v 0.38632059 0.16638786 -0.10690818
+v 0.37916935 0.29593408 -0.09824193
+v 0.44423729 0.22946164 0.07472192
+v 0.47697065 0.15996693 0.06096505
+v 0.38978747 0.16781433 0.09436357
+v 0.44411998 0.22927015 -0.09423541
+v 0.43118911 0.25749077 -0.02618257
+v 0.47193544 0.17302533 0.05955794
+v 0.37699186 0.29386969 0.09228793
+v 0.45855564 0.21921631 -0.06460216
+v 0.46766987 0.16239908 -0.10651150
+v 0.38585148 0.30305613 0.03442759
+v 0.38652723 0.30369678 -0.06453590
+v 0.38094144 0.30635784 -0.06734033
+v 0.38147715 0.28294586 0.10146181
+v 0.38483273 0.28615177 -0.10651150
+v 0.40087023 0.28777874 0.01927139
+v 0.43085176 0.25717094 -0.06404254
+v 0.43456381 0.23038704 0.09971400
+v 0.44395535 0.21944544 -0.10651150
+v 0.46013507 0.17441837 0.09971400
+v 0.39035251 0.27702026 0.09971400
+v 0.39200478 0.27858678 -0.10651150
+f 8 2 3
+f 8 7 1
+f 8 5 2
+f 9 8 1
+f 9 5 8
+f 11 7 3
+f 12 8 3
+f 12 3 7
+f 12 7 8
+f 13 6 5
+f 13 5 9
+f 14 3 2
+f 14 11 3
+f 15 2 5
+f 15 14 2
+f 15 10 14
+f 16 13 7
+f 16 4 13
+f 17 16 11
+f 17 4 16
+f 18 13 4
+f 18 6 13
+f 18 17 6
+f 18 4 17
+f 19 13 9
+f 19 9 1
+f 20 5 6
+f 21 16 7
+f 21 7 11
+f 21 11 16
+f 22 14 10
+f 22 10 17
+f 22 17 11
+f 22 11 14
+f 23 7 13
+f 24 15 5
+f 24 10 15
+f 25 1 7
+f 25 7 23
+f 25 23 19
+f 25 19 1
+f 26 23 13
+f 26 13 19
+f 26 19 23
+f 27 10 24
+f 27 17 10
+f 27 20 6
+f 27 6 17
+f 27 24 5
+f 27 5 20
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_8/collision/model_normalized_collision_23.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_8/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..01767c4b244dd459d558f330aed22bfd8101e28a
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_8/collision/model_normalized_collision_23.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.40261182 -0.19821862 0.10470619
+v 0.46424601 -0.11740450 -0.10651150
+v 0.46381372 -0.11712027 0.09224018
+v 0.40442769 -0.12260003 0.09747824
+v 0.40147316 -0.19723111 -0.10664881
+v 0.40147502 -0.12147940 -0.10676587
+v 0.45658359 -0.11936119 0.10288009
+v 0.44434010 -0.19045984 -0.08073237
+v 0.43334542 -0.19204622 0.09971400
+v 0.46037662 -0.16049454 -0.06585457
+v 0.43545461 -0.19285101 -0.10651150
+v 0.44536526 -0.16054813 0.09971400
+v 0.44382239 -0.19026242 0.06068985
+v 0.45915239 -0.16002750 0.04558314
+f 6 3 2
+f 6 4 3
+f 6 2 5
+f 6 5 1
+f 6 1 4
+f 7 3 4
+f 7 4 1
+f 9 7 1
+f 10 8 2
+f 10 2 3
+f 11 5 2
+f 11 2 8
+f 11 1 5
+f 12 3 7
+f 12 7 9
+f 13 8 10
+f 13 11 8
+f 13 9 1
+f 13 1 11
+f 13 12 9
+f 13 3 12
+f 14 13 10
+f 14 10 3
+f 14 3 13
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_8/collision/model_normalized_collision_24.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_8/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d94faa4aabd1bee1bf058632d4423971fa88e6d
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_8/collision/model_normalized_collision_24.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.33569625 -0.00736569 0.10410038
+v -0.29525993 -0.00052809 -0.10730829
+v -0.29839038 0.00364621 0.10119425
+v -0.28721867 0.05455556 0.09404600
+v -0.35003287 -0.00847861 -0.08471302
+v -0.29012854 0.04144139 0.10359972
+v -0.35002283 -0.00848769 0.06406151
+v -0.28770903 0.05489335 -0.10651150
+v -0.29862426 0.03677746 0.09971400
+v -0.33826805 -0.00386966 -0.10651150
+f 1 2 3
+f 5 2 1
+f 6 3 2
+f 6 2 4
+f 6 1 3
+f 7 5 1
+f 7 1 4
+f 8 4 2
+f 8 7 4
+f 8 5 7
+f 9 6 4
+f 9 4 1
+f 9 1 6
+f 10 8 2
+f 10 2 5
+f 10 5 8
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_8/collision/model_normalized_collision_25.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_8/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..20f8cec9827da36dd7ef7948a4dde7ead176c299
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_8/collision/model_normalized_collision_25.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.27244982 -0.33169656 0.00526631
+v -0.28021430 -0.28171614 0.09377895
+v -0.35250549 -0.34290791 0.00553055
+v -0.31758819 0.02588346 0.00540281
+v -0.27965029 -0.00114759 0.09345950
+v -0.35177755 -0.00610432 0.00459180
+v -0.35403808 -0.28259762 0.09474618
+v -0.35002283 -0.00848769 0.06406151
+f 1 2 3
+f 5 2 1
+f 5 1 4
+f 6 1 3
+f 6 4 1
+f 7 3 2
+f 7 2 5
+f 7 6 3
+f 8 5 4
+f 8 4 6
+f 8 7 5
+f 8 6 7
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_8/collision/model_normalized_collision_26.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_8/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1eeab1b40cac55f9da0e530a4983327c35cfc99f
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_8/collision/model_normalized_collision_26.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.45658359 -0.11936119 0.10288009
+v 0.47477233 -0.12631546 -0.04044902
+v 0.49446704 -0.01781612 -0.03997362
+v 0.40151515 -0.01542714 0.09345950
+v 0.40151515 -0.12148774 -0.04077718
+v 0.46334974 -0.01553048 0.10588022
+v 0.40442769 -0.12260003 0.09747824
+v 0.40151515 -0.01542714 -0.04077718
+v 0.40151515 -0.03057865 0.09345950
+f 1 2 3
+f 6 1 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 5 4
+f 8 6 3
+f 8 4 6
+f 9 7 4
+f 9 4 5
+f 9 5 7
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_8/collision/model_normalized_collision_27.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_8/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..69bc854c1c5a0eac52028857416d265b605deb42
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_8/collision/model_normalized_collision_27.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v -0.10149669 -0.34587016 0.00541912
+v 0.00758714 -0.30325748 -0.10678858
+v 0.00757576 -0.30330593 0.00467737
+v -0.09848485 -0.00027562 0.00467737
+v -0.09848485 -0.00027562 -0.10726050
+v 0.00757576 -0.00027562 0.00467737
+v -0.10151528 -0.34613280 -0.00972782
+v 0.00743114 -0.00027061 -0.10826678
+v -0.09860269 -0.30320741 -0.10721230
+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 7 4 5
+f 8 6 2
+f 8 5 4
+f 8 4 6
+f 9 7 5
+f 9 2 7
+f 9 8 2
+f 9 5 8
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_8/collision/model_normalized_collision_28.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_8/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..42741e2e12fc0a709bf92029e074e6f1358659bc
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_8/collision/model_normalized_collision_28.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.09848485 -0.19724532 0.00467737
+v -0.09836348 -0.19730617 -0.10826455
+v -0.09848485 -0.00027562 0.00467737
+v -0.35177755 -0.00610432 0.00459180
+v -0.35616278 -0.19723608 -0.10893583
+v -0.35606061 -0.19724532 0.00467737
+v -0.09848485 -0.00027562 -0.10726050
+v -0.34810676 -0.01109954 -0.10651150
+f 1 2 3
+f 6 1 3
+f 6 3 4
+f 6 4 5
+f 6 5 2
+f 6 2 1
+f 7 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/Assets/robocasa/data/objects/objaverse/steak/steak_8/collision/model_normalized_collision_29.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_8/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..00a795e2bda85ff7acd95af4e8cf370650fd4d3e
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_8/collision/model_normalized_collision_29.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.24068615 -0.33082121 0.00544721
+v -0.23486388 -0.28806903 -0.10678057
+v -0.23484848 -0.19724532 0.00467737
+v -0.35606061 -0.19724532 0.00467737
+v -0.35250549 -0.34290791 0.00553055
+v -0.35616278 -0.19723608 -0.10893583
+v -0.23496435 -0.19722492 -0.10733438
+v -0.35616467 -0.28807343 -0.10817834
+f 1 2 3
+f 5 2 1
+f 5 1 3
+f 5 3 4
+f 7 3 2
+f 7 2 6
+f 7 6 4
+f 7 4 3
+f 8 5 4
+f 8 4 6
+f 8 6 2
+f 8 2 5
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_8/collision/model_normalized_collision_3.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_8/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0ce9b6a8617df0bb95b6b0a109bab6724f6dd076
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_8/collision/model_normalized_collision_3.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v 0.21165730 -0.37404904 0.06098224
+v 0.25922434 -0.34904489 -0.10651150
+v 0.26515152 0.18154256 0.09345950
+v 0.00760116 0.18153840 0.09394049
+v 0.00867118 -0.35924913 -0.10651150
+v 0.00774866 0.18151722 -0.10786797
+v 0.00946048 -0.35588937 0.10114930
+v 0.25846045 -0.34712873 0.09971400
+v 0.14346913 -0.37636092 -0.09753561
+v 0.26515152 0.18154256 -0.10726050
+v 0.00652784 -0.30776657 0.09539648
+v 0.25781438 -0.36065980 -0.01089281
+v 0.26519272 -0.27310625 0.09343800
+v 0.21402761 -0.36484298 0.09971400
+v 0.22786509 -0.36154711 -0.10651150
+v 0.04209763 -0.37625695 -0.04110442
+v 0.24297666 -0.36144682 0.06152601
+v 0.07243034 -0.37613065 0.07740871
+v 0.02640353 -0.36341490 -0.10651150
+v 0.25763171 -0.36020162 -0.06616171
+v 0.01217601 -0.35948178 0.09230974
+v 0.02681090 -0.36168090 0.09971400
+v 0.12833119 -0.37687725 0.07736888
+v 0.04235456 -0.37516329 -0.06720248
+v 0.21185847 -0.37455375 -0.08110478
+v 0.01165204 -0.36171210 -0.09785147
+v 0.05750092 -0.37518525 0.06209899
+v 0.07245382 -0.37603050 -0.09768189
+f 7 3 4
+f 8 3 7
+f 10 2 6
+f 10 6 4
+f 10 4 3
+f 11 6 5
+f 11 4 6
+f 11 7 4
+f 11 5 7
+f 13 3 8
+f 13 10 3
+f 13 2 10
+f 13 12 2
+f 13 8 12
+f 14 8 7
+f 14 1 8
+f 15 6 2
+f 17 12 8
+f 17 8 1
+f 17 1 12
+f 19 15 9
+f 19 5 6
+f 19 6 15
+f 20 15 2
+f 20 2 12
+f 21 7 5
+f 22 18 14
+f 22 14 7
+f 22 7 21
+f 23 1 14
+f 23 14 18
+f 23 18 16
+f 23 16 9
+f 25 20 12
+f 25 12 1
+f 25 9 15
+f 25 15 20
+f 25 23 9
+f 25 1 23
+f 26 21 5
+f 26 16 21
+f 26 24 16
+f 27 21 16
+f 27 16 18
+f 27 22 21
+f 27 18 22
+f 28 19 9
+f 28 9 16
+f 28 16 24
+f 28 24 26
+f 28 26 5
+f 28 5 19
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_8/collision/model_normalized_collision_30.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_8/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bf5f411c10ff789de8470a70ed2a2469e1581df4
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_8/collision/model_normalized_collision_30.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.09829732 -0.34611028 0.00463118
+v -0.09786396 -0.33816695 -0.10683353
+v -0.09848485 -0.19724532 0.00467737
+v -0.23484848 -0.19724532 0.00467737
+v -0.23247314 -0.33159291 -0.06760932
+v -0.09836348 -0.19730617 -0.10826455
+v -0.23254901 -0.33195389 0.00437412
+v -0.23496435 -0.19722492 -0.10733438
+v -0.23335501 -0.32358214 -0.10670743
+v -0.17183695 -0.33200259 -0.10746503
+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 4 3
+f 8 3 6
+f 9 7 4
+f 9 4 8
+f 9 5 7
+f 10 2 5
+f 10 5 9
+f 10 6 2
+f 10 9 8
+f 10 8 6
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_8/collision/model_normalized_collision_31.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_8/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d042a375ea1d13c0a4b830c824ef88b863bb853e
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_8/collision/model_normalized_collision_31.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.00754282 -0.00026502 0.09392248
+v 0.00743114 -0.00027061 -0.10826678
+v 0.00774866 0.18151722 -0.10786797
+v -0.15905270 0.18153249 0.09430803
+v -0.15907307 -0.00033169 0.09417021
+v -0.15886193 0.18148210 -0.10880934
+v 0.00760116 0.18153840 0.09394049
+v -0.15923032 -0.00011075 -0.10804437
+v -0.15926358 0.00026708 0.09414410
+f 1 2 3
+f 5 2 1
+f 5 1 4
+f 6 3 2
+f 6 4 3
+f 7 1 3
+f 7 3 4
+f 7 4 1
+f 8 4 6
+f 8 6 2
+f 8 2 5
+f 9 8 5
+f 9 5 4
+f 9 4 8
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_8/collision/model_normalized_collision_4.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_8/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..039f49c30a4c3fb8aeec295d5000ea6c2636592c
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_8/collision/model_normalized_collision_4.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.47477233 -0.12631546 -0.04044902
+v 0.46207926 -0.12147173 -0.10651408
+v 0.46206722 0.16636860 -0.10653284
+v 0.40151515 0.16639104 0.00467737
+v 0.40151515 -0.12148774 -0.04077718
+v 0.49712838 0.06368543 0.00553367
+v 0.40147502 -0.12147940 -0.10676587
+v 0.47764278 0.17284344 0.00511544
+v 0.40151515 0.06033044 0.00467737
+v 0.40147180 0.16638784 -0.10684042
+f 6 1 2
+f 6 2 3
+f 7 2 1
+f 7 1 5
+f 8 6 3
+f 8 4 6
+f 9 5 1
+f 9 1 6
+f 9 6 4
+f 9 7 5
+f 10 3 2
+f 10 2 7
+f 10 8 3
+f 10 4 8
+f 10 9 4
+f 10 7 9
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_8/collision/model_normalized_collision_5.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_8/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..184441584163ee88040611a58ee6469aa6157ab6
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_8/collision/model_normalized_collision_5.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v 0.08396118 0.27243950 0.09366703
+v -0.11158558 0.36220696 0.10116705
+v -0.15883943 0.27238027 -0.10807246
+v -0.08077878 0.37487730 0.06129647
+v 0.07876017 0.35190114 0.10025895
+v -0.14703432 0.34704193 -0.09620146
+v -0.16283453 0.27414123 0.09839942
+v -0.00818039 0.37570361 0.07664212
+v -0.09626877 0.37711347 -0.06664933
+v -0.15041899 0.26853781 0.09386514
+v -0.15244113 0.33947669 -0.10744625
+v -0.15133609 0.33793428 0.10049679
+v -0.05062663 0.37564788 0.07655039
+v 0.04968052 0.36127823 0.10048486
+v -0.09615524 0.37672007 0.03461517
+v 0.00505033 0.37859117 -0.08228107
+v -0.03787767 0.27240071 -0.10704215
+v -0.12028700 0.36291251 -0.10845450
+v -0.13423517 0.35039417 0.10094497
+v 0.00511444 0.37833722 0.06205174
+v -0.13016996 0.35978476 0.07568823
+v 0.07664538 0.36100588 0.06155601
+v 0.00775728 0.31782880 -0.10700383
+v -0.05056520 0.37525366 -0.09645444
+v -0.14539981 0.34473979 0.09086675
+v -0.13012112 0.35974054 -0.09549295
+v 0.08295636 0.28761046 0.09369575
+v 0.07561083 0.35829785 0.07613094
+v 0.00644057 0.37195743 -0.10653922
+v -0.02332966 0.37576649 -0.09668690
+f 7 1 5
+f 10 7 3
+f 10 1 7
+f 11 3 7
+f 12 11 7
+f 12 6 11
+f 13 4 2
+f 13 2 8
+f 14 8 2
+f 14 2 5
+f 15 2 4
+f 15 4 13
+f 17 10 3
+f 17 1 10
+f 18 11 6
+f 18 17 3
+f 18 3 11
+f 19 12 7
+f 19 7 5
+f 19 5 2
+f 20 15 13
+f 20 13 8
+f 20 8 14
+f 20 16 9
+f 20 9 15
+f 21 15 9
+f 21 12 19
+f 21 19 2
+f 21 2 15
+f 22 16 20
+f 22 20 14
+f 23 1 17
+f 23 22 1
+f 23 17 18
+f 24 18 9
+f 24 9 16
+f 25 21 6
+f 25 6 12
+f 25 12 21
+f 26 18 6
+f 26 6 21
+f 26 21 9
+f 26 9 18
+f 27 22 5
+f 27 5 1
+f 27 1 22
+f 28 22 14
+f 28 14 5
+f 28 5 22
+f 29 16 22
+f 29 22 23
+f 29 23 18
+f 29 18 24
+f 30 29 24
+f 30 24 16
+f 30 16 29
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_8/collision/model_normalized_collision_6.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_8/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eb4495502e4be22fdc89a5ed572439d3952bb9e5
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_8/collision/model_normalized_collision_6.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.26515152 0.18154256 0.09345950
+v 0.26515152 0.18154256 -0.10726050
+v 0.26515152 0.27245165 0.09345950
+v -0.17673038 0.27357452 0.10253793
+v -0.17400015 0.18147859 -0.10836068
+v -0.17419069 0.18152893 0.09385558
+v 0.26514116 0.27238463 -0.10696356
+v -0.17843051 0.22888728 0.09693451
+v -0.17397757 0.27237647 -0.10762262
+v -0.14624511 0.27624699 0.09498898
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 6 5 1
+f 6 1 4
+f 7 3 2
+f 7 2 5
+f 8 6 4
+f 8 5 6
+f 9 7 5
+f 9 8 4
+f 9 5 8
+f 10 4 3
+f 10 3 7
+f 10 9 4
+f 10 7 9
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_8/collision/model_normalized_collision_7.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_8/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6a00d163662ed7f91494a397cd2cc6e015a2ede3
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_8/collision/model_normalized_collision_7.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v -0.15907307 -0.00033169 0.09417021
+v -0.15923032 -0.00011075 -0.10804437
+v -0.15133609 0.33793428 0.10049679
+v -0.15133399 0.35282319 -0.06777368
+v -0.29839038 0.00364621 0.10119425
+v -0.29525993 -0.00052809 -0.10730829
+v -0.20142551 0.29450838 0.03463630
+v -0.26481536 -0.00072468 0.09374174
+v -0.15244113 0.33947669 -0.10744625
+v -0.21803731 0.23456139 0.09971400
+v -0.18500384 0.32316212 0.06152783
+v -0.23046954 0.22164140 -0.08242537
+v -0.23237271 0.22216336 0.04733682
+v -0.17832987 0.31826635 0.09978935
+v -0.15185359 0.35344737 -0.01072834
+v -0.18526684 0.32340293 -0.08169029
+v -0.28058406 0.06504337 -0.10651150
+v -0.27938567 0.06421469 0.09971400
+v -0.21653686 0.26418730 -0.04112210
+v -0.21579785 0.24870218 0.07696572
+v -0.18564933 0.30937799 0.09214540
+v -0.17602946 0.32997237 0.06061534
+v -0.16148029 0.34602375 -0.06564012
+v -0.27724870 0.07785342 -0.08202577
+v -0.21949805 0.23522064 -0.10651150
+v -0.21554489 0.26373961 -0.06675047
+v -0.16173382 0.34623726 -0.01091788
+v -0.27701323 0.07770268 0.06183412
+v -0.18596497 0.30952042 -0.10651150
+v -0.16232975 0.33226928 -0.10713617
+f 1 2 3
+f 3 2 4
+f 5 1 3
+f 8 6 2
+f 8 2 1
+f 8 1 5
+f 8 5 6
+f 9 4 2
+f 9 2 6
+f 13 11 7
+f 14 10 5
+f 14 5 3
+f 14 3 11
+f 15 3 4
+f 16 7 11
+f 17 6 5
+f 18 13 5
+f 18 5 10
+f 18 10 13
+f 19 13 7
+f 19 12 13
+f 19 7 16
+f 20 13 10
+f 20 11 13
+f 21 14 11
+f 21 10 14
+f 21 20 10
+f 21 11 20
+f 22 11 3
+f 22 3 15
+f 23 15 4
+f 23 4 9
+f 23 9 16
+f 24 13 12
+f 24 12 17
+f 24 17 5
+f 25 9 6
+f 25 6 17
+f 25 17 12
+f 26 19 16
+f 26 12 19
+f 26 25 12
+f 26 16 25
+f 27 22 15
+f 27 11 22
+f 27 15 23
+f 27 23 16
+f 27 16 11
+f 28 24 5
+f 28 5 13
+f 28 13 24
+f 29 25 16
+f 29 9 25
+f 30 29 16
+f 30 16 9
+f 30 9 29
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_8/collision/model_normalized_collision_8.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_8/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..17b26c2990fb0b919dc4941ffbe34f23e1fd9011
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_8/collision/model_normalized_collision_8.obj
@@ -0,0 +1,132 @@
+# https://github.com/mikedh/trimesh
+v -0.35714619 -0.33455312 0.10039058
+v -0.35705624 -0.33611645 -0.10728607
+v -0.34790144 -0.01137303 0.09393522
+v -0.34872330 -0.01026052 -0.09953421
+v -0.48934741 -0.18735034 -0.04121180
+v -0.47941967 -0.31840677 0.04474284
+v -0.47644990 -0.18670045 -0.10651150
+v -0.44422574 -0.08663999 -0.01086769
+v -0.43661320 -0.34567712 -0.04132419
+v -0.47196475 -0.25689652 0.10179363
+v -0.35533664 -0.01641234 -0.10651150
+v -0.48977324 -0.26980046 -0.06511699
+v -0.38894972 -0.03252711 -0.05617972
+v -0.47486001 -0.14170439 -0.06612804
+v -0.41770558 -0.34784802 -0.04102339
+v -0.42344956 -0.33453038 0.10110575
+v -0.35203310 -0.02092910 0.10585803
+v -0.47367738 -0.14204541 0.04583483
+v -0.48937467 -0.23942564 0.06031180
+v -0.43618007 -0.33031347 -0.10777342
+v -0.48833753 -0.20279307 -0.08080779
+v -0.40392886 -0.04790856 0.06269893
+v -0.38827833 -0.03344078 -0.06774516
+v -0.41898997 -0.06318733 -0.10651150
+v -0.45145670 -0.33008809 0.06004206
+v -0.46581599 -0.31055701 0.09971400
+v -0.39145823 -0.04425722 0.09971400
+v -0.49065126 -0.25480687 0.04550887
+v -0.48781884 -0.20294275 0.06075483
+v -0.46829301 -0.31213000 -0.10651150
+v -0.41782610 -0.34689198 -0.06819131
+v -0.48825365 -0.18766574 -0.06563263
+v -0.42985490 -0.07102570 0.06162568
+v -0.45979919 -0.13184442 -0.10651150
+v -0.44377639 -0.08690632 -0.06624538
+v -0.47797086 -0.25525133 0.09163851
+v -0.37439217 -0.03170971 0.09971400
+v -0.49011860 -0.26986258 -0.01097645
+v -0.45775138 -0.11790666 0.06111140
+v -0.47586732 -0.27002449 -0.10651150
+v -0.47677367 -0.31697563 -0.07859119
+v -0.43620680 -0.34521727 -0.06456653
+v -0.45809461 -0.11770322 -0.08117722
+v -0.42734714 -0.07251213 -0.09621166
+v -0.48772034 -0.25427961 -0.07958093
+f 1 2 3
+f 3 2 4
+f 11 4 2
+f 13 3 4
+f 15 2 1
+f 16 15 1
+f 16 9 15
+f 17 1 3
+f 17 16 1
+f 17 10 16
+f 18 14 5
+f 18 8 14
+f 20 11 2
+f 21 12 5
+f 21 14 7
+f 22 3 13
+f 23 13 4
+f 24 11 20
+f 24 13 23
+f 24 23 4
+f 24 4 11
+f 25 16 6
+f 25 6 9
+f 25 9 16
+f 26 16 10
+f 26 6 16
+f 27 10 17
+f 28 5 12
+f 29 18 5
+f 29 28 19
+f 29 5 28
+f 31 20 2
+f 31 2 15
+f 32 21 5
+f 32 5 14
+f 32 14 21
+f 33 22 13
+f 33 8 18
+f 33 27 22
+f 34 7 14
+f 34 24 20
+f 34 20 7
+f 35 14 8
+f 35 8 33
+f 35 33 13
+f 35 13 24
+f 36 26 10
+f 36 6 26
+f 36 28 6
+f 36 19 28
+f 36 29 19
+f 36 10 29
+f 37 27 17
+f 37 17 3
+f 37 3 22
+f 37 22 27
+f 38 28 12
+f 38 12 6
+f 38 6 28
+f 39 18 29
+f 39 33 18
+f 39 27 33
+f 39 29 10
+f 39 10 27
+f 40 7 20
+f 40 20 30
+f 40 21 7
+f 41 6 12
+f 41 40 30
+f 41 12 40
+f 41 9 6
+f 41 30 20
+f 42 31 15
+f 42 15 9
+f 42 20 31
+f 42 41 20
+f 42 9 41
+f 43 34 14
+f 43 14 35
+f 44 35 24
+f 44 24 34
+f 44 43 35
+f 44 34 43
+f 45 40 12
+f 45 12 21
+f 45 21 40
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_8/collision/model_normalized_collision_9.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_8/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..16d15000ecd2ccd57b94fb80a0a1e57873a148a2
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_8/collision/model_normalized_collision_9.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v 0.34293424 0.25922125 0.09877375
+v 0.38631102 0.25722934 -0.10658553
+v 0.40947719 0.27921313 0.00549310
+v 0.26012295 0.34882758 0.07691575
+v 0.26514127 0.25723386 -0.10706965
+v 0.28857666 0.34348308 -0.08025121
+v 0.33210733 0.31431180 0.09971400
+v 0.26515152 0.25730013 0.09345950
+v 0.37746483 0.29895325 -0.09524541
+v 0.25996809 0.34838003 -0.09687595
+v 0.33233149 0.32994049 0.00420249
+v 0.28030303 0.25730013 0.09345950
+v 0.26259218 0.34081244 0.10095401
+v 0.37726773 0.29413124 -0.10651150
+v 0.28842454 0.34304317 0.06036354
+v 0.38123161 0.30697585 0.00439322
+v 0.26375423 0.34417092 -0.10651150
+v 0.29016206 0.33291329 0.09971400
+v 0.36294247 0.31544476 -0.06537633
+v 0.31632286 0.32811498 0.07519634
+v 0.30232988 0.33058252 -0.10651150
+v 0.33231224 0.32989938 -0.06515065
+v 0.36364649 0.30179282 -0.10651150
+f 1 2 3
+f 7 1 3
+f 8 5 2
+f 10 4 6
+f 10 8 4
+f 10 5 8
+f 12 8 2
+f 12 2 1
+f 12 1 8
+f 13 4 8
+f 13 8 1
+f 13 1 7
+f 14 9 3
+f 14 3 2
+f 14 2 5
+f 15 11 6
+f 15 6 4
+f 16 7 3
+f 16 3 9
+f 17 5 10
+f 17 10 6
+f 18 13 7
+f 18 15 4
+f 18 4 13
+f 19 16 9
+f 20 7 16
+f 20 18 7
+f 20 15 18
+f 20 16 11
+f 20 11 15
+f 21 17 6
+f 21 5 17
+f 21 19 9
+f 22 6 11
+f 22 11 16
+f 22 16 19
+f 22 21 6
+f 22 19 21
+f 23 21 9
+f 23 9 14
+f 23 14 5
+f 23 5 21
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_8/model.xml b/Assets/robocasa/data/objects/objaverse/steak/steak_8/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..3b2ff1a2501731652d044ab1f1f374d252b5a784
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_8/model.xml
@@ -0,0 +1,42 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="more_steak_20">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.11499999999999999 0.11499999999999999 0.11499999999999999" refquat="0.7730104533627369 0.0 0.0 -0.6343932841636455" />
+    <mesh file="visual/model_normalized_1.obj" name="model_normalized_1_vis" scale="0.11499999999999999 0.11499999999999999 0.11499999999999999" refquat="0.7730104533627369 0.0 0.0 -0.6343932841636455" />
+    <texture type="2d" name="image0" file="visual/image0.png" />
+    <texture type="2d" name="image1" file="visual/image1.png" />
+    <material name="blanc" texture="image0" specular="0.5" shininess="0.15999998099999999" />
+    <material name="rojo" texture="image1" specular="0.5" shininess="0.15999998099999999" />
+    <mesh file="collision/collision_mesh_collision_0.obj" name="steak_collision_mesh_0" scale="0.11499999999999999 0.11499999999999999 0.11499999999999999" refquat="0.7730104533627369 0.0 0.0 -0.6343932841636455" />
+    <mesh file="collision/collision_mesh_collision_1.obj" name="steak_collision_mesh_1" scale="0.11499999999999999 0.11499999999999999 0.11499999999999999" refquat="0.7730104533627369 0.0 0.0 -0.6343932841636455" />
+    <mesh file="collision/collision_mesh_collision_2.obj" name="steak_collision_mesh_2" scale="0.11499999999999999 0.11499999999999999 0.11499999999999999" refquat="0.7730104533627369 0.0 0.0 -0.6343932841636455" />
+    <mesh file="collision/collision_mesh_collision_3.obj" name="steak_collision_mesh_3" scale="0.11499999999999999 0.11499999999999999 0.11499999999999999" refquat="0.7730104533627369 0.0 0.0 -0.6343932841636455" />
+    <mesh file="collision/collision_mesh_collision_4.obj" name="steak_collision_mesh_4" scale="0.11499999999999999 0.11499999999999999 0.11499999999999999" refquat="0.7730104533627369 0.0 0.0 -0.6343932841636455" />
+    <mesh file="collision/collision_mesh_collision_5.obj" name="steak_collision_mesh_5" scale="0.11499999999999999 0.11499999999999999 0.11499999999999999" refquat="0.7730104533627369 0.0 0.0 -0.6343932841636455" />
+    <mesh file="collision/collision_mesh_collision_6.obj" name="steak_collision_mesh_6" scale="0.11499999999999999 0.11499999999999999 0.11499999999999999" refquat="0.7730104533627369 0.0 0.0 -0.6343932841636455" />
+    </asset>
+  <default>
+    <default class="region">
+      <geom group="1" conaffinity="0" contype="0" rgba="0 1 0 0" />
+      </default>
+    <default class="collision">
+      <geom group="0" rgba="0.5 0 0 0.5" density="1000.0" />
+      </default>
+    </default>
+  <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="blanc" />
+        <geom solimp="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="rojo" />
+        <geom class="region" name="reg_bbox" type="box" pos="0.0011522942391238445 -0.0014636331734753417 -0.00017569757499999884" size="0.04699915879901309 0.05840783186243356 0.012351922874999997" />
+        <geom mesh="steak_collision_mesh_0" type="mesh" class="collision" />
+        <geom mesh="steak_collision_mesh_1" type="mesh" class="collision" />
+        <geom mesh="steak_collision_mesh_2" type="mesh" class="collision" />
+        <geom mesh="steak_collision_mesh_3" type="mesh" class="collision" />
+        <geom mesh="steak_collision_mesh_4" type="mesh" class="collision" />
+        <geom mesh="steak_collision_mesh_5" type="mesh" class="collision" />
+        <geom mesh="steak_collision_mesh_6" type="mesh" class="collision" />
+        </body>
+      </body>
+    </worldbody>
+  </mujoco>
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_8/visual/material.mtl b/Assets/robocasa/data/objects/objaverse/steak/steak_8/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9b69ee017d934c5b09e3ee53e590b4276cccd4fc
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_8/visual/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 159.99998100
+map_Kd material_0.png
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_8/visual/model_normalized_0.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_8/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..27426e080b7f14384f0b7dc160b6a1dff45ce627
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_8/visual/model_normalized_0.obj
@@ -0,0 +1,1005 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
+v -0.21793450 0.21382650 0.10686700
+v -0.18616650 0.18636950 0.09345950
+v -0.14930650 0.26804050 0.09345950
+v -0.17569050 0.30785050 0.10691600
+v 0.29262750 0.32216950 0.10719150
+v 0.25727300 0.27962250 0.09345950
+v 0.32022350 0.25006600 0.09345950
+v 0.36544100 0.28825250 0.10724500
+v -0.40618200 -0.33048100 0.10895900
+v -0.34779100 -0.28604750 0.09496800
+v -0.39027550 -0.26258600 0.09345950
+v -0.45448400 -0.30336050 0.10723200
+v 0.19435950 -0.36232600 0.10719200
+v 0.17207500 -0.31382850 0.09345950
+v 0.07191800 -0.31646650 0.09345950
+v 0.07881150 -0.36519150 0.10714950
+v -0.15243300 -0.32405450 0.10811750
+v -0.12864850 -0.28084950 0.09627800
+v -0.20576050 -0.27039900 0.09752850
+v -0.24115100 -0.31189200 0.10709650
+v -0.38448450 -0.11301050 0.09345950
+v -0.44741200 -0.13065750 0.10715950
+v -0.47100800 -0.21132450 0.10722650
+v -0.40462100 -0.18283900 0.09345950
+v 0.46424600 -0.11740450 -0.10651150
+v 0.47779500 -0.11971350 -0.05985400
+v 0.44654100 -0.20161350 -0.05985400
+v 0.43389400 -0.19694050 -0.10651150
+v 0.00852450 0.31393700 0.09345950
+v 0.00575850 0.36104800 0.10702000
+v -0.03926500 0.36243000 0.10698750
+v -0.03060850 0.31525450 0.09345950
+v 0.10381850 0.33317300 0.10706300
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diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_8/visual/model_normalized_1.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_8/visual/model_normalized_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf26715139a7d8f007c15fdf44fdcee8202bb953
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_8/visual/model_normalized_1.obj
@@ -0,0 +1,662 @@
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diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_9/collision/collision_mesh_collision_0.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_9/collision/collision_mesh_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..60869a55cf90975c85171bfddf2f57ae83d535bf
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_9/collision/collision_mesh_collision_0.obj
@@ -0,0 +1,1195 @@
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diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_9/collision/collision_mesh_collision_1.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_9/collision/collision_mesh_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c5ece1a031f9b10ee598511b3afd92ef37a79edb
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_9/collision/collision_mesh_collision_1.obj
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diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_9/collision/collision_mesh_collision_10.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_9/collision/collision_mesh_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6b3ae5aa194fecd508d03964aab23ec7524a3967
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_9/collision/collision_mesh_collision_10.obj
@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
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diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_9/collision/collision_mesh_collision_11.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_9/collision/collision_mesh_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e0a198ae8a317703e0efeb4d4f91f5a58648ba98
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_9/collision/collision_mesh_collision_11.obj
@@ -0,0 +1,286 @@
+# https://github.com/mikedh/trimesh
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diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_9/collision/collision_mesh_collision_12.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_9/collision/collision_mesh_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ebbf6d0c73a3e4c1576da28701522870ce06a927
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_9/collision/collision_mesh_collision_12.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
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diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_9/collision/collision_mesh_collision_13.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_9/collision/collision_mesh_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7b254b7372cccfca4ec1b28d0690863f0d69b46f
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_9/collision/collision_mesh_collision_13.obj
@@ -0,0 +1,358 @@
+# https://github.com/mikedh/trimesh
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diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_9/collision/collision_mesh_collision_14.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_9/collision/collision_mesh_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dbaaa2621cda5af30068697d724f3ded630a43a3
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_9/collision/collision_mesh_collision_14.obj
@@ -0,0 +1,352 @@
+# https://github.com/mikedh/trimesh
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diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_9/collision/collision_mesh_collision_15.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_9/collision/collision_mesh_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..29c483627126dac8bb458df0adde008aeaa67dff
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_9/collision/collision_mesh_collision_15.obj
@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
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diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_9/collision/collision_mesh_collision_2.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_9/collision/collision_mesh_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8f2c9438fca67f6f53628045afcb7935d3430df
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_9/collision/collision_mesh_collision_2.obj
@@ -0,0 +1,481 @@
+# https://github.com/mikedh/trimesh
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diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_9/collision/collision_mesh_collision_3.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_9/collision/collision_mesh_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4cb18108dc41d7016fe6bcbc13664203bcb48225
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_9/collision/collision_mesh_collision_3.obj
@@ -0,0 +1,577 @@
+# https://github.com/mikedh/trimesh
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diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_9/collision/collision_mesh_collision_4.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_9/collision/collision_mesh_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2957664d5c9ab731cb9e89c464e67e27d243ad18
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_9/collision/collision_mesh_collision_4.obj
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diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_9/collision/collision_mesh_collision_5.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_9/collision/collision_mesh_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2a1a013c0b36863c9c870f09f4de57fefb852c06
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_9/collision/collision_mesh_collision_5.obj
@@ -0,0 +1,343 @@
+# https://github.com/mikedh/trimesh
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diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_9/collision/collision_mesh_collision_6.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_9/collision/collision_mesh_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..06d30e162b9913c04181c78001d6537d67c35607
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_9/collision/collision_mesh_collision_6.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
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diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_9/collision/collision_mesh_collision_7.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_9/collision/collision_mesh_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3889e8e63eadeed73ad324c89e258c486f84be71
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_9/collision/collision_mesh_collision_7.obj
@@ -0,0 +1,319 @@
+# https://github.com/mikedh/trimesh
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diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_9/collision/collision_mesh_collision_8.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_9/collision/collision_mesh_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed0960fbd5fd6cbea572ab5214b369d6d4ccaf46
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_9/collision/collision_mesh_collision_8.obj
@@ -0,0 +1,727 @@
+# https://github.com/mikedh/trimesh
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diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_9/collision/collision_mesh_collision_9.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_9/collision/collision_mesh_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bfb82c9999bee1835bdb957a5b68b5643449fd91
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_9/collision/collision_mesh_collision_9.obj
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+f 25 33 26
+f 25 34 33
+f 28 35 29
+f 29 35 36
+f 29 36 37
+f 29 37 38
+f 29 38 30
+f 30 38 39
+f 30 39 31
+f 33 34 40
+f 33 40 41
+f 33 41 42
+f 36 43 44
+f 36 44 37
+f 37 44 38
+f 38 44 45
+f 38 45 46
+f 38 46 47
+f 38 47 39
+f 40 48 41
+f 41 48 49
+f 41 49 50
+f 41 50 51
+f 41 51 52
+f 41 52 59
+f 41 59 62
+f 41 62 60
+f 41 60 53
+f 41 53 54
+f 41 54 55
+f 41 55 42
+f 43 56 44
+f 44 56 57
+f 44 57 58
+f 44 58 46
+f 44 46 45
+f 56 61 57
+f 57 61 62
+f 57 62 58
+f 58 62 59
+f 60 62 61
+
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_9/collision/model_normalized_collision_0.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_9/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1e7895b7cc354d1df54fedbb328a0447b5714c0a
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_9/collision/model_normalized_collision_0.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v -0.00724566 -0.14318920 0.05332286
+v -0.00805044 -0.14393938 -0.04784570
+v -0.00805044 -0.00757573 -0.04784570
+v -0.21416015 -0.00574805 0.04541299
+v -0.26799147 -0.14987725 0.04414920
+v -0.00924671 -0.00609002 0.04642874
+v -0.26113421 -0.14631396 0.05271802
+v -0.23430184 -0.14422621 -0.10797666
+v -0.24294355 -0.00414584 -0.09228997
+v -0.23644006 -0.00771556 0.02186194
+v -0.24066504 -0.14584667 -0.09932622
+v -0.24812270 -0.00370144 -0.01816887
+v -0.23094628 -0.00636425 -0.09646376
+v -0.26650182 -0.06179766 -0.07769167
+v -0.26519871 -0.10241652 0.02494000
+v -0.25888189 -0.00991829 -0.08571271
+v -0.27094387 -0.14337492 -0.06889436
+v -0.26384226 -0.02756436 -0.07065440
+v -0.26355527 -0.02227197 -0.07966553
+f 1 2 3
+f 5 2 1
+f 6 1 3
+f 7 5 1
+f 7 6 4
+f 7 1 6
+f 8 3 2
+f 9 6 3
+f 10 7 4
+f 10 5 7
+f 11 8 2
+f 11 2 5
+f 12 4 6
+f 12 6 9
+f 12 10 4
+f 13 9 3
+f 13 3 8
+f 13 8 9
+f 15 5 10
+f 15 10 12
+f 16 9 8
+f 16 8 14
+f 16 12 9
+f 17 14 8
+f 17 8 11
+f 17 11 5
+f 17 5 14
+f 18 14 5
+f 18 5 15
+f 18 15 12
+f 19 16 14
+f 19 14 18
+f 19 18 12
+f 19 12 16
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_9/collision/model_normalized_collision_1.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_9/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e47065051bdbb52d0f8b217dea5d6334d313b87a
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_9/collision/model_normalized_collision_1.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.19214047 -0.26407961 0.03906112
+v 0.21228811 -0.14750307 -0.04888170
+v 0.21439968 -0.14135912 0.04510736
+v -0.26985348 -0.14577547 0.02489479
+v -0.00819405 -0.28968106 -0.08523158
+v -0.27405095 -0.14527569 -0.04604184
+v -0.01404291 -0.25249707 0.08234951
+v 0.17726754 -0.25796781 -0.01786033
+v -0.00805044 -0.14393938 -0.04784570
+v -0.27856249 -0.26441096 0.02822155
+v -0.01025050 -0.14462306 0.05229583
+v 0.19014383 -0.25855235 -0.00686705
+v -0.27252750 -0.26283844 -0.04642392
+v 0.19114974 -0.24130745 -0.01558291
+f 1 2 3
+f 6 4 3
+f 7 1 3
+f 8 5 2
+f 9 6 3
+f 9 3 2
+f 9 2 5
+f 9 5 6
+f 10 4 6
+f 10 7 4
+f 10 5 1
+f 10 1 7
+f 11 7 3
+f 11 3 4
+f 11 4 7
+f 12 2 1
+f 12 1 5
+f 12 5 8
+f 13 10 6
+f 13 6 5
+f 13 5 10
+f 14 12 8
+f 14 8 2
+f 14 2 12
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_9/collision/model_normalized_collision_10.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_9/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..971a45598aec7588e647edb41940cf164c32c76a
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_9/collision/model_normalized_collision_10.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v 0.12179175 -0.39737901 0.02854948
+v 0.10260378 -0.37387081 0.00051072
+v 0.11556117 -0.25504441 0.09463040
+v -0.28696981 -0.26264314 0.07280269
+v -0.17658830 -0.37873267 -0.01483541
+v -0.23405905 -0.31205197 0.09605460
+v 0.10836152 -0.25710929 -0.06735755
+v 0.02990124 -0.37800275 -0.02977587
+v -0.00805044 -0.38636367 0.05821492
+v -0.23596186 -0.28763380 0.08868057
+v -0.22383290 -0.37104983 0.06022223
+v -0.24488169 -0.26014590 -0.10398566
+v -0.15147179 -0.37554550 -0.02903508
+v -0.23587921 -0.26877264 0.07991385
+v -0.28419594 -0.31004761 0.08020292
+v -0.26470937 -0.25969342 -0.07013402
+v 0.03476386 -0.25845299 -0.09796743
+v -0.13634345 -0.36042495 -0.04424046
+v -0.25902007 -0.31223453 0.09056760
+v 0.07763429 -0.25639860 -0.08155545
+v -0.26202381 -0.31444729 -0.01270656
+v 0.01419577 -0.36223394 -0.04359326
+v -0.23225286 -0.35998540 0.03180272
+v -0.26203059 -0.27322289 -0.06629088
+v -0.24523706 -0.29715833 -0.06650488
+v -0.26508237 -0.32887800 0.06304657
+v -0.25480328 -0.32569672 -0.00636616
+v -0.21885442 -0.37210612 0.03536892
+v -0.20268051 -0.37287295 0.00791613
+f 7 1 2
+f 7 3 1
+f 8 2 1
+f 8 7 2
+f 9 1 3
+f 9 3 6
+f 10 6 3
+f 10 4 6
+f 11 9 6
+f 11 5 1
+f 11 1 9
+f 13 8 1
+f 13 1 5
+f 13 5 12
+f 14 10 3
+f 14 3 4
+f 14 4 10
+f 16 4 3
+f 16 15 4
+f 18 13 12
+f 18 8 13
+f 19 15 11
+f 19 11 6
+f 19 6 4
+f 19 4 15
+f 20 16 3
+f 20 3 7
+f 20 12 16
+f 20 17 12
+f 20 7 8
+f 20 8 17
+f 22 17 8
+f 22 8 18
+f 22 18 12
+f 22 12 17
+f 24 21 15
+f 24 15 16
+f 24 16 12
+f 25 12 5
+f 25 24 12
+f 25 21 24
+f 26 23 11
+f 26 11 15
+f 27 21 25
+f 27 23 26
+f 27 26 15
+f 27 15 21
+f 28 5 11
+f 28 11 23
+f 28 23 27
+f 29 28 27
+f 29 5 28
+f 29 27 25
+f 29 25 5
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_9/collision/model_normalized_collision_11.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_9/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1569f547bfec97210f12cfba4f67ef58e69f8b5c
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_9/collision/model_normalized_collision_11.obj
@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
+v 0.20035853 -0.21915464 0.02675017
+v 0.24934909 -0.08585154 -0.03724230
+v 0.19628039 -0.10206271 0.06703511
+v 0.18746749 -0.01242350 -0.03575065
+v 0.19812370 -0.17174862 -0.05106525
+v 0.23425783 -0.03010122 -0.02847513
+v 0.18725804 -0.08330614 -0.07473203
+v 0.22058212 -0.17628075 0.04272568
+v 0.21799510 -0.19249871 -0.02572715
+v 0.23231445 -0.13004230 0.01767318
+v 0.22771531 -0.02512055 -0.02822270
+v 0.20100575 -0.20978585 -0.03588145
+v 0.22564907 -0.07852302 -0.05811050
+v 0.20136392 -0.14529285 0.07116160
+v 0.21727566 -0.19619275 -0.01913144
+v 0.20399255 -0.10840010 0.06207720
+v 0.24710033 -0.05902048 -0.03675958
+v 0.23163113 -0.16340808 0.00583043
+v 0.19368561 -0.02094026 -0.02673451
+v 0.18775969 -0.00764112 -0.07555174
+v 0.21874351 -0.18371155 -0.03614090
+v 0.20109988 -0.20340313 0.04336759
+v 0.20790754 -0.15131101 0.06800382
+v 0.20108090 -0.21896644 0.02452968
+v 0.22461978 -0.02021710 -0.06211221
+v 0.23061080 -0.15394043 0.01812661
+v 0.23308079 -0.16138259 -0.01719202
+v 0.23628217 -0.02420235 -0.04031710
+v 0.23670189 -0.10643028 -0.04555332
+v 0.20669708 -0.19717998 0.04939912
+v 0.24670938 -0.05341576 -0.04306181
+v 0.23244503 -0.14137057 -0.03692177
+v 0.24811071 -0.08094565 -0.04158234
+v 0.21033276 -0.17071352 -0.04517908
+v 0.23286081 -0.02317964 -0.05299593
+f 7 1 3
+f 7 3 4
+f 11 3 6
+f 12 7 5
+f 12 1 7
+f 13 5 7
+f 15 12 9
+f 16 6 3
+f 17 10 2
+f 17 16 10
+f 17 6 16
+f 19 11 4
+f 19 4 3
+f 19 3 11
+f 20 7 4
+f 21 9 12
+f 22 14 3
+f 22 3 1
+f 23 8 10
+f 23 10 16
+f 23 16 3
+f 23 3 14
+f 24 1 12
+f 24 12 15
+f 24 15 18
+f 24 18 8
+f 24 8 1
+f 25 13 7
+f 25 7 20
+f 26 10 8
+f 26 8 18
+f 26 18 2
+f 26 2 10
+f 27 18 15
+f 27 15 9
+f 27 2 18
+f 27 9 21
+f 28 20 4
+f 28 4 11
+f 28 25 20
+f 28 11 6
+f 28 6 17
+f 30 22 1
+f 30 1 8
+f 30 8 23
+f 30 23 14
+f 30 14 22
+f 31 17 2
+f 31 28 17
+f 32 27 21
+f 32 2 27
+f 32 21 29
+f 33 29 13
+f 33 32 29
+f 33 2 32
+f 33 31 2
+f 33 13 25
+f 33 25 31
+f 34 29 21
+f 34 5 13
+f 34 13 29
+f 34 21 12
+f 34 12 5
+f 35 31 25
+f 35 25 28
+f 35 28 31
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_9/collision/model_normalized_collision_12.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_9/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7b9bbe9cfd035d47f55525a028fbfa412575b75e
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_9/collision/model_normalized_collision_12.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v 0.09509057 -0.49119487 0.10362495
+v 0.14426146 -0.43926358 0.09971479
+v -0.01475424 -0.42820192 0.16782073
+v -0.01404291 -0.25249707 0.08234951
+v -0.00832023 -0.48581547 0.04574369
+v 0.11556117 -0.25504441 0.09463040
+v 0.11844431 -0.46066120 0.15040942
+v 0.13551373 -0.39998673 0.04235188
+v -0.00637833 -0.46707525 0.17046727
+v -0.01177926 -0.36380097 0.15008505
+v 0.14382609 -0.44809886 0.13105360
+v 0.09826613 -0.47855508 0.08672741
+v 0.14789695 -0.43651704 0.12547352
+v -0.00457326 -0.49276201 0.08315588
+v -0.00863552 -0.49324355 0.06402753
+v 0.09391567 -0.45066139 0.16297711
+v 0.06179664 -0.48048331 0.16244742
+v 0.12749654 -0.46266261 0.14075441
+v 0.14261567 -0.44751032 0.11921353
+v 0.05708425 -0.48982081 0.07167084
+v 0.12013893 -0.44382710 0.14944891
+v -0.00489352 -0.47226933 0.15797840
+v 0.03331694 -0.36329444 0.14808550
+v 0.04089141 -0.47692146 0.16494926
+v 0.08984598 -0.46651717 0.15929618
+v 0.12938237 -0.46166706 0.13628675
+v 0.09089297 -0.47407611 0.15282829
+v 0.09039257 -0.48999736 0.09653775
+v 0.05822018 -0.47656788 0.05508044
+v 0.11664036 -0.28621724 0.10618011
+v 0.08754076 -0.45996145 0.05638596
+f 5 3 4
+f 8 5 4
+f 8 4 6
+f 10 6 4
+f 10 4 3
+f 12 8 2
+f 12 2 1
+f 13 8 6
+f 13 2 8
+f 13 11 2
+f 15 9 3
+f 15 3 5
+f 15 1 14
+f 16 3 9
+f 17 14 1
+f 18 11 7
+f 19 11 1
+f 19 1 2
+f 19 2 11
+f 20 15 5
+f 20 1 15
+f 21 7 11
+f 21 11 13
+f 21 16 7
+f 22 15 14
+f 22 9 15
+f 23 10 3
+f 23 3 16
+f 23 6 10
+f 24 17 16
+f 24 16 9
+f 24 9 22
+f 24 22 14
+f 24 14 17
+f 25 17 7
+f 25 7 16
+f 25 16 17
+f 26 18 1
+f 26 1 11
+f 26 11 18
+f 27 17 1
+f 27 1 18
+f 27 18 7
+f 27 7 17
+f 28 20 12
+f 28 12 1
+f 28 1 20
+f 29 20 5
+f 29 5 8
+f 29 12 20
+f 30 21 13
+f 30 13 6
+f 30 16 21
+f 30 23 16
+f 30 6 23
+f 31 29 8
+f 31 8 12
+f 31 12 29
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_9/collision/model_normalized_collision_13.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_9/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0353d13cf7bf01a0f526ae737fcc264b53196d23
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_9/collision/model_normalized_collision_13.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.02242320 0.09845925 -0.19164954
+v 0.09726829 0.14936880 -0.13693969
+v -0.18777156 0.09336641 -0.10511116
+v -0.17136824 0.18238995 -0.10127730
+v -0.16398465 0.18114872 -0.18810552
+v 0.09783891 0.20157346 -0.10266112
+v 0.09750135 0.15230753 -0.12635230
+v -0.17564404 0.09299097 -0.18915658
+v -0.18193738 0.15898515 -0.09738764
+v 0.05348889 0.20064639 -0.10112811
+v 0.01896646 0.16388336 -0.19090960
+v -0.03792157 0.17263752 -0.18699059
+v -0.17295883 0.10897033 -0.18945362
+f 7 1 2
+f 7 3 1
+f 7 6 3
+f 7 2 6
+f 8 1 3
+f 9 4 5
+f 9 3 6
+f 9 8 3
+f 9 5 8
+f 10 6 5
+f 10 5 4
+f 10 9 6
+f 10 4 9
+f 11 6 2
+f 11 2 1
+f 12 11 5
+f 12 5 6
+f 12 6 11
+f 13 8 5
+f 13 5 11
+f 13 11 1
+f 13 1 8
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_9/collision/model_normalized_collision_14.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_9/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..157df75a0014ad276f53d40fd2740bd6e3f0ec81
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_9/collision/model_normalized_collision_14.obj
@@ -0,0 +1,168 @@
+# https://github.com/mikedh/trimesh
+v -0.09792927 0.23663004 0.11150996
+v -0.10335672 0.26394997 -0.04980702
+v -0.09703945 0.34799710 -0.00357479
+v -0.09621512 0.45022069 0.06562327
+v -0.24174588 0.23055082 -0.03753697
+v -0.09378810 0.43113389 0.09670971
+v -0.15916293 0.23388418 -0.06129158
+v -0.21141382 0.33331513 -0.00104836
+v -0.09723507 0.25692107 0.11830020
+v -0.09510942 0.44868835 0.05561632
+v -0.21548793 0.22726219 -0.05071469
+v -0.15622199 0.25714388 -0.04883459
+v -0.17249247 0.37271367 0.09375645
+v -0.19716807 0.37383437 0.02359913
+v -0.09652574 0.40683689 0.03002768
+v -0.21800708 0.23214003 0.06717329
+v -0.23443618 0.27168806 -0.02585545
+v -0.09798061 0.33664982 -0.00986911
+v -0.13103399 0.43497595 0.06624473
+v -0.09453838 0.37973027 0.15640350
+v -0.14874795 0.42040739 0.04573437
+v -0.15484247 0.29802840 0.13076418
+v -0.20304654 0.30849709 0.07774670
+v -0.23797763 0.25385229 -0.03216437
+v -0.22012254 0.31658450 -0.00509239
+v -0.11818308 0.41732953 0.10554503
+v -0.17642002 0.38769949 0.06326498
+v -0.10960744 0.44587934 0.05714362
+v -0.20683504 0.23823633 0.08740720
+v -0.10335504 0.33524064 0.14874466
+v -0.16116543 0.34139235 0.13197915
+v -0.18565068 0.36115535 0.08185247
+v -0.23243994 0.27786362 -0.00659155
+v -0.20317147 0.36338805 0.01912148
+v -0.10771129 0.42738863 0.09543680
+v -0.10831569 0.44564688 0.06653004
+v -0.13321474 0.41278427 0.09603600
+v -0.13770834 0.43027568 0.05195122
+v -0.17355061 0.24309214 0.09997840
+v -0.20200195 0.26398326 0.09265112
+v -0.13790776 0.34293441 0.14704800
+v -0.16741761 0.31465677 0.12942247
+v -0.11964092 0.37694009 0.14454262
+v -0.18618552 0.37738632 0.05657787
+v -0.17346545 0.35853138 0.10675075
+v -0.23365888 0.23443916 0.00885632
+v -0.21525380 0.30628495 0.03703940
+v -0.19951547 0.34828392 0.05385360
+v -0.17503050 0.27464737 0.11537830
+v -0.18709260 0.30898346 0.10728034
+v -0.14733347 0.36263116 0.13302158
+v -0.13211637 0.35040550 0.14855813
+v -0.20277165 0.36205365 0.02314284
+v -0.18537013 0.34833724 0.09507167
+v -0.23249537 0.24809226 0.00827291
+v -0.19377220 0.25417649 0.09984318
+v -0.17204194 0.33781177 0.12024250
+f 1 2 3
+f 7 2 1
+f 9 1 3
+f 9 3 6
+f 10 6 3
+f 10 4 6
+f 11 7 1
+f 12 2 7
+f 12 7 8
+f 15 10 3
+f 15 3 8
+f 15 8 10
+f 16 11 1
+f 16 5 11
+f 17 8 7
+f 17 7 11
+f 18 3 2
+f 18 2 12
+f 18 12 8
+f 18 8 3
+f 20 9 6
+f 21 10 8
+f 21 8 14
+f 21 14 19
+f 24 17 11
+f 24 11 5
+f 25 8 17
+f 26 20 6
+f 27 19 14
+f 27 13 19
+f 28 4 10
+f 28 10 21
+f 29 16 1
+f 30 22 1
+f 30 1 9
+f 30 9 20
+f 32 13 27
+f 33 16 23
+f 33 17 24
+f 33 24 5
+f 33 25 17
+f 34 14 8
+f 34 8 25
+f 34 25 33
+f 35 26 6
+f 35 6 4
+f 36 19 26
+f 36 28 19
+f 36 4 28
+f 36 35 4
+f 36 26 35
+f 37 26 19
+f 37 19 13
+f 38 28 21
+f 38 21 19
+f 38 19 28
+f 39 29 1
+f 40 23 16
+f 40 16 29
+f 41 30 20
+f 41 22 30
+f 42 41 31
+f 42 22 41
+f 42 40 29
+f 43 20 26
+f 44 32 27
+f 44 27 14
+f 45 13 32
+f 46 33 5
+f 46 5 16
+f 47 33 23
+f 48 47 23
+f 49 39 1
+f 49 1 22
+f 49 22 42
+f 50 23 40
+f 50 40 42
+f 51 43 26
+f 51 26 37
+f 51 37 13
+f 51 13 45
+f 51 45 31
+f 52 41 20
+f 52 20 43
+f 52 43 51
+f 52 51 31
+f 52 31 41
+f 53 44 14
+f 53 14 34
+f 53 47 48
+f 53 34 33
+f 53 33 47
+f 53 48 32
+f 53 32 44
+f 54 45 32
+f 54 23 50
+f 54 48 23
+f 54 32 48
+f 55 46 16
+f 55 16 33
+f 55 33 46
+f 56 29 39
+f 56 39 49
+f 56 49 42
+f 56 42 29
+f 57 50 42
+f 57 42 31
+f 57 54 50
+f 57 31 45
+f 57 45 54
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_9/collision/model_normalized_collision_15.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_9/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b6c09cefbb0a697951a47826cc1796d4b03bcd8
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_9/collision/model_normalized_collision_15.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v -0.11353923 -0.00836028 0.04106695
+v -0.11411176 -0.00757898 -0.19172718
+v -0.11430375 0.09850655 -0.19136350
+v -0.20528393 0.09933638 0.04127052
+v -0.23364403 -0.00776242 0.02696012
+v -0.11378653 0.09726704 0.04340128
+v -0.22771847 -0.00805178 0.03395532
+v -0.20347686 -0.00716403 -0.18862179
+v -0.12925716 0.09853285 0.04288960
+v -0.21416015 -0.00574805 0.04541299
+v -0.22395771 0.03267229 0.03195787
+v -0.17564404 0.09299097 -0.18915658
+v -0.14700265 -0.00814027 0.04315332
+v -0.20176769 0.09444904 -0.09770588
+v -0.19232961 0.02699490 -0.18891286
+v -0.21375648 0.02264204 -0.10537321
+v -0.22980515 0.03517557 0.02373539
+f 1 2 3
+f 6 1 3
+f 7 2 1
+f 8 7 5
+f 8 2 7
+f 9 6 3
+f 9 3 4
+f 9 4 6
+f 10 6 4
+f 10 4 7
+f 11 7 4
+f 11 5 7
+f 13 1 6
+f 13 6 10
+f 13 10 7
+f 13 7 1
+f 14 12 8
+f 14 4 3
+f 14 3 12
+f 15 12 3
+f 15 8 12
+f 15 3 2
+f 15 2 8
+f 16 14 8
+f 16 8 5
+f 17 5 11
+f 17 11 4
+f 17 4 14
+f 17 16 5
+f 17 14 16
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_9/collision/model_normalized_collision_16.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_9/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..02879320b4b90e0a6e8837eac3fd8fa755646ddc
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_9/collision/model_normalized_collision_16.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v 0.16258284 -0.01465456 0.02588513
+v 0.21967104 -0.01711925 -0.05073399
+v 0.23906029 0.16106439 0.03696018
+v 0.15545244 0.25739518 -0.07933673
+v 0.15666272 -0.00735247 -0.08995900
+v 0.24381240 0.23542151 -0.06827536
+v 0.15882715 0.15938940 0.05742302
+v 0.23523344 0.12331957 0.02827269
+v 0.15238726 0.09983306 -0.11309981
+v 0.23055402 0.16153626 0.04774163
+v 0.15787062 -0.00809208 0.02777192
+v 0.26335630 0.23536231 -0.03215410
+v 0.22534477 0.22898827 -0.09308243
+v 0.15036481 0.04120854 -0.09842780
+v 0.21289647 -0.00582530 -0.06462205
+v 0.22582971 0.13346361 0.03987792
+v 0.25048899 0.16216397 0.00927317
+v 0.24646241 0.19364208 -0.07052966
+v 0.15599177 0.18492177 -0.10673199
+v 0.18212187 -0.00795905 -0.07807714
+v 0.22255634 0.18026573 -0.09253469
+v 0.24786649 0.14876514 0.00842706
+v 0.24727202 0.13243697 -0.00627177
+v 0.17123591 0.18710608 -0.10527387
+v 0.15960237 0.22782115 -0.09391406
+v 0.23466613 0.18158418 -0.08300885
+f 5 2 1
+f 8 1 2
+f 10 8 3
+f 11 5 1
+f 11 10 7
+f 11 1 10
+f 12 10 3
+f 12 6 4
+f 12 4 7
+f 12 7 10
+f 13 4 6
+f 14 7 4
+f 14 4 9
+f 14 11 7
+f 14 9 5
+f 14 5 11
+f 15 5 9
+f 16 10 1
+f 16 1 8
+f 16 8 10
+f 17 12 3
+f 17 3 8
+f 18 12 2
+f 18 6 12
+f 18 2 15
+f 18 13 6
+f 19 9 4
+f 20 15 2
+f 20 2 5
+f 20 5 15
+f 21 15 9
+f 21 9 13
+f 22 17 8
+f 22 8 2
+f 23 2 12
+f 23 12 17
+f 23 22 2
+f 23 17 22
+f 24 19 13
+f 24 13 9
+f 24 9 19
+f 25 19 4
+f 25 4 13
+f 25 13 19
+f 26 18 15
+f 26 15 21
+f 26 21 13
+f 26 13 18
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_9/collision/model_normalized_collision_17.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_9/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1bd21d5930c88c66a26378338cce701f4450db2d
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_9/collision/model_normalized_collision_17.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.17960956 -0.26889605 0.08511949
+v 0.22058212 -0.17628075 0.04272568
+v 0.20214736 -0.15247703 0.07460986
+v 0.06816280 -0.07559084 0.05304805
+v 0.19214047 -0.26407961 0.03906112
+v 0.12506890 -0.07664996 0.06090710
+v 0.20597087 -0.19897230 0.07138742
+v 0.19001402 -0.26360313 0.05282668
+v 0.06843680 -0.26662978 0.09628048
+v 0.21987658 -0.16027644 0.04036824
+v 0.21706741 -0.16239081 0.05422809
+v 0.16849271 -0.26749649 0.09832562
+v 0.20599256 -0.20253630 0.06834304
+v 0.06250012 -0.25179093 0.09155695
+v 0.07127225 -0.11660980 0.07244980
+v 0.21579666 -0.14479515 0.04238551
+v 0.21689999 -0.17733138 0.05335325
+v 0.06836252 -0.08969340 0.06154613
+v 0.13187414 -0.10224640 0.07473991
+v 0.12966662 -0.08733013 0.06705461
+f 8 5 2
+f 8 1 5
+f 9 5 1
+f 10 5 4
+f 10 2 5
+f 11 3 7
+f 11 2 10
+f 12 7 3
+f 12 1 7
+f 12 9 1
+f 13 7 1
+f 13 1 8
+f 13 8 2
+f 13 2 7
+f 14 4 5
+f 14 5 9
+f 15 14 9
+f 16 10 4
+f 16 4 6
+f 16 6 3
+f 16 11 10
+f 16 3 11
+f 17 11 7
+f 17 7 2
+f 17 2 11
+f 18 6 4
+f 18 4 14
+f 18 14 15
+f 19 15 9
+f 19 9 12
+f 19 12 3
+f 19 18 15
+f 20 19 3
+f 20 3 6
+f 20 6 18
+f 20 18 19
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_9/collision/model_normalized_collision_18.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_9/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..64fdafbd9a4704cfb893c4c8cbba5b6f116d0f63
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_9/collision/model_normalized_collision_18.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v 0.12946689 -0.40034473 0.12181807
+v 0.18962739 -0.27133731 -0.00098415
+v 0.18663994 -0.27769818 0.05464899
+v 0.17025400 -0.25191932 0.08596175
+v 0.11220561 -0.26354968 -0.06084784
+v 0.19001402 -0.26360313 0.05282668
+v 0.17579574 -0.32848208 0.00494302
+v 0.11619049 -0.27624858 0.10063891
+v 0.19014383 -0.25855235 -0.00686705
+v 0.18624191 -0.30099794 0.03542694
+v 0.17187608 -0.28925173 0.09110958
+v 0.11833180 -0.40818281 0.03812506
+v 0.16686908 -0.27014715 0.09985583
+v 0.13199657 -0.25806660 -0.04949585
+v 0.18564069 -0.30223960 0.01446086
+v 0.13999297 -0.39382561 0.10865590
+v 0.10747007 -0.37962893 0.00734120
+v 0.11251794 -0.40194605 0.12992983
+v 0.16643316 -0.25818180 0.09280595
+v 0.15721348 -0.31804934 0.10741329
+v 0.17252258 -0.26077874 0.08990865
+v 0.13551373 -0.39998673 0.04235188
+v 0.14751902 -0.37476991 0.01940671
+v 0.10647592 -0.28425319 -0.04796706
+v 0.13221409 -0.32907237 0.11696012
+v 0.14088343 -0.34203660 0.11725105
+v 0.17711510 -0.25644774 0.07993060
+v 0.13855192 -0.39884221 0.06297918
+v 0.10586820 -0.36349140 -0.00386477
+v 0.11049451 -0.33285335 0.11625081
+f 8 4 5
+f 9 2 7
+f 9 6 2
+f 10 6 3
+f 10 2 6
+f 11 3 6
+f 14 5 4
+f 14 4 9
+f 14 9 7
+f 14 7 5
+f 15 10 7
+f 15 7 2
+f 15 2 10
+f 16 7 10
+f 16 10 3
+f 16 3 11
+f 18 17 12
+f 18 12 1
+f 19 4 8
+f 19 8 13
+f 20 11 13
+f 20 16 11
+f 20 1 16
+f 21 13 11
+f 21 11 6
+f 21 19 13
+f 21 4 19
+f 23 5 7
+f 23 12 17
+f 23 22 12
+f 23 7 22
+f 24 8 5
+f 25 13 8
+f 26 18 1
+f 26 1 20
+f 26 25 18
+f 26 20 13
+f 26 13 25
+f 27 21 6
+f 27 4 21
+f 27 9 4
+f 27 6 9
+f 28 22 7
+f 28 7 16
+f 28 16 1
+f 28 1 12
+f 28 12 22
+f 29 23 17
+f 29 5 23
+f 29 24 5
+f 29 17 18
+f 30 8 24
+f 30 25 8
+f 30 18 25
+f 30 29 18
+f 30 24 29
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_9/collision/model_normalized_collision_19.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_9/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..72468c68ef9a501699b2de1515b057be68823d11
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_9/collision/model_normalized_collision_19.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v -0.20695254 -0.00781629 0.04639633
+v -0.20421350 -0.00721304 -0.10609919
+v -0.19825425 0.18396176 -0.08068779
+v -0.22255394 0.23965439 0.04870887
+v -0.25888189 -0.00991829 -0.08571271
+v -0.20177937 0.22959938 -0.05449866
+v -0.20499950 0.03279308 0.03757906
+v -0.23644006 -0.00771556 0.02186194
+v -0.25516838 0.03447064 -0.09208018
+v -0.24740316 0.14422385 -0.02306519
+v -0.20176769 0.09444904 -0.09770588
+v -0.24294355 -0.00414584 -0.09228997
+v -0.24174588 0.23055082 -0.03753697
+v -0.23182212 0.17305179 0.03571468
+v -0.24812270 -0.00370144 -0.01816887
+v -0.24999994 0.09468182 -0.08302483
+v -0.21259703 0.21084888 -0.06157321
+v -0.24925664 0.14142231 -0.05811180
+v -0.23365888 0.23443916 0.00885632
+v -0.23060846 0.14616777 0.03581156
+v -0.24028296 0.18034999 -0.05888081
+v -0.22761282 0.22747002 -0.04611003
+v -0.20033259 0.21210448 -0.06585619
+v -0.23866857 0.21769398 -0.04596939
+v -0.22571259 0.23297881 0.04154170
+v -0.21024360 0.18186874 -0.07515761
+f 5 2 1
+f 7 1 2
+f 7 2 3
+f 7 3 6
+f 7 6 4
+f 7 4 1
+f 8 5 1
+f 8 1 4
+f 11 3 2
+f 11 2 9
+f 12 9 2
+f 12 2 5
+f 12 5 9
+f 13 4 6
+f 15 10 5
+f 15 5 8
+f 15 14 10
+f 15 8 14
+f 16 11 9
+f 16 3 11
+f 18 9 5
+f 18 5 10
+f 18 10 13
+f 18 16 9
+f 18 13 16
+f 19 13 10
+f 19 4 13
+f 19 10 14
+f 20 14 8
+f 20 8 4
+f 20 4 14
+f 22 13 6
+f 23 6 3
+f 23 3 17
+f 23 22 6
+f 23 17 22
+f 24 17 3
+f 24 22 17
+f 24 13 22
+f 24 21 16
+f 24 16 13
+f 25 19 14
+f 25 14 4
+f 25 4 19
+f 26 3 16
+f 26 16 21
+f 26 24 3
+f 26 21 24
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_9/collision/model_normalized_collision_2.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_9/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a27c27661c49cf7db097cb7cb78583a7ff0f7f4f
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_9/collision/model_normalized_collision_2.obj
@@ -0,0 +1,156 @@
+# https://github.com/mikedh/trimesh
+v 0.25609196 0.36467099 0.12697677
+v 0.27685627 0.36997421 -0.01697067
+v 0.19637398 0.49082615 0.06624518
+v 0.05704275 0.49222402 0.04703993
+v -0.09957962 0.34787378 0.15071540
+v 0.20886975 0.47518210 0.00729072
+v 0.24641793 0.42809250 0.15764696
+v 0.20637698 0.35052704 -0.05022772
+v 0.14293625 0.49646792 0.02090250
+v 0.25563331 0.36964634 0.13483043
+v 0.14984977 0.44484197 0.18539617
+v 0.25290589 0.43103930 -0.01194684
+v 0.25101563 0.35414074 -0.05957498
+v 0.02442278 0.34978762 -0.02058790
+v 0.15497047 0.48951600 0.08174527
+v 0.19432679 0.48942501 0.01899334
+v 0.21082257 0.36778113 0.16037347
+v 0.22507544 0.45943061 0.14520716
+v -0.09468151 0.40810162 0.12878908
+v 0.26403376 0.39516209 -0.03515116
+v 0.24375180 0.43324977 -0.02013186
+v 0.02760046 0.48075824 0.04762820
+v 0.08915257 0.49337030 0.04329488
+v 0.06942926 0.46102477 0.14720785
+v -0.01936671 0.39398635 0.17565794
+v 0.23801486 0.39366314 0.16034331
+v 0.21299388 0.44103231 0.17536793
+v 0.18816945 0.45919484 0.15937834
+v 0.23417895 0.44859797 0.15725036
+v 0.26092534 0.36019426 -0.05640723
+v 0.25588617 0.40501284 -0.03572147
+v 0.23608148 0.44674301 -0.00745951
+v 0.02323325 0.47327800 0.07992025
+v 0.10229315 0.48763720 0.08180425
+v 0.21245429 0.40641567 0.17734464
+v -0.06766707 0.36396857 0.16093029
+v -0.08760398 0.37738030 0.16226895
+v -0.01850703 0.40523650 0.17785184
+v 0.24425792 0.37469075 0.14904512
+v 0.25057040 0.38291668 0.14826987
+v 0.18474542 0.44876922 0.17763426
+v 0.17773916 0.46007256 0.15695351
+v 0.23618550 0.43940112 0.16093493
+v 0.26843196 0.37059786 -0.04154853
+v 0.05373247 0.49102367 0.04927129
+v -0.03493879 0.43101815 0.13281980
+v 0.09923039 0.40157067 0.17837852
+v -0.09862702 0.35910813 0.15734417
+v -0.09390646 0.40537285 0.13323878
+v 0.05405770 0.43268457 0.17807680
+v 0.22499733 0.44912630 0.16384509
+v 0.05208599 0.45544335 0.15014002
+v -0.09123600 0.37067862 0.16184879
+f 8 1 5
+f 10 1 2
+f 10 2 7
+f 12 6 3
+f 12 7 2
+f 13 2 1
+f 13 1 8
+f 14 8 5
+f 14 13 8
+f 14 9 13
+f 15 3 9
+f 16 9 3
+f 16 3 6
+f 16 6 9
+f 17 5 1
+f 17 1 10
+f 18 12 3
+f 19 14 5
+f 20 12 2
+f 21 9 6
+f 22 4 9
+f 22 9 14
+f 22 14 19
+f 23 15 9
+f 23 9 4
+f 23 4 15
+f 28 18 3
+f 28 3 15
+f 29 7 12
+f 29 12 18
+f 30 2 13
+f 31 13 9
+f 31 9 21
+f 31 30 13
+f 31 20 30
+f 31 21 12
+f 31 12 20
+f 32 21 6
+f 32 6 12
+f 32 12 21
+f 33 22 19
+f 34 24 15
+f 34 15 4
+f 35 27 11
+f 35 26 7
+f 35 7 27
+f 36 5 17
+f 36 17 25
+f 39 17 10
+f 39 35 17
+f 39 26 35
+f 40 10 7
+f 40 7 26
+f 40 39 10
+f 40 26 39
+f 41 28 11
+f 41 11 27
+f 42 28 15
+f 42 15 24
+f 42 24 11
+f 42 11 28
+f 43 27 7
+f 43 7 29
+f 44 30 20
+f 44 20 2
+f 44 2 30
+f 45 4 22
+f 45 22 33
+f 45 33 24
+f 45 34 4
+f 45 24 34
+f 46 33 19
+f 47 25 17
+f 47 17 35
+f 47 35 11
+f 47 38 25
+f 47 11 38
+f 48 19 5
+f 48 5 36
+f 48 36 25
+f 49 37 38
+f 49 19 48
+f 49 46 19
+f 49 38 46
+f 50 38 11
+f 51 41 27
+f 51 29 18
+f 51 18 28
+f 51 28 41
+f 51 43 29
+f 51 27 43
+f 52 24 33
+f 52 33 46
+f 52 46 38
+f 52 38 50
+f 52 50 11
+f 52 11 24
+f 53 38 37
+f 53 49 48
+f 53 37 49
+f 53 48 25
+f 53 25 38
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_9/collision/model_normalized_collision_20.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_9/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..57072267c9e10ff916a318b4fafc700ac116a674
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_9/collision/model_normalized_collision_20.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.19900567 -0.14911358 0.07640222
+v 0.21228811 -0.14750307 -0.04888170
+v 0.19985469 -0.01789068 -0.03524121
+v -0.00924671 -0.00609002 0.04642874
+v -0.00805044 -0.14393938 -0.03269418
+v 0.16129899 -0.02114814 0.04391776
+v 0.00827322 -0.15206200 0.05839212
+v -0.00805044 -0.00757573 -0.03269418
+v 0.19451192 -0.10507037 0.07070065
+v 0.12786870 -0.14424859 0.08226006
+v -0.00724566 -0.14318920 0.05332286
+v 0.18619399 -0.06264329 0.05070604
+v 0.15359877 -0.03576560 0.05803244
+v -0.00630103 -0.12730974 0.05581207
+v 0.18324099 -0.08529545 0.06950365
+v 0.13206091 -0.02749305 0.05604733
+v 0.17386974 -0.05184408 0.05874706
+v 0.13250822 -0.09314452 0.07115815
+f 1 2 3
+f 6 3 4
+f 7 5 2
+f 7 2 1
+f 8 3 2
+f 8 2 5
+f 8 5 4
+f 8 4 3
+f 9 1 3
+f 10 7 1
+f 11 4 5
+f 11 5 7
+f 12 9 3
+f 12 3 6
+f 14 10 4
+f 14 7 10
+f 14 11 7
+f 14 4 11
+f 15 10 1
+f 15 1 9
+f 16 13 6
+f 16 6 4
+f 17 6 13
+f 17 13 15
+f 17 12 6
+f 17 15 9
+f 17 9 12
+f 18 16 4
+f 18 4 10
+f 18 10 15
+f 18 15 13
+f 18 13 16
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_9/collision/model_normalized_collision_21.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_9/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..086582884c98b535a3757144c6278563c4e4d543
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_9/collision/model_normalized_collision_21.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.02225260 0.09848490 -0.03269418
+v 0.01911676 0.15791977 -0.11957174
+v 0.01834311 0.25360375 -0.06879294
+v -0.20874305 0.24135159 -0.04492947
+v -0.24999994 0.09468182 -0.08302483
+v -0.17778341 0.18471148 -0.09601644
+v 0.02400607 0.21094468 -0.09186415
+v -0.21539213 0.09386809 -0.09357714
+v -0.25294143 0.09956403 -0.03515659
+v -0.24433062 0.15500551 -0.06782900
+v 0.02341941 0.22902451 -0.08226241
+v -0.25331485 0.11244462 -0.03502285
+v -0.24675733 0.15897447 -0.06193982
+v -0.24938922 0.10858013 -0.07881735
+v -0.25135970 0.12587885 -0.06002342
+f 1 3 4
+f 6 4 3
+f 7 1 2
+f 7 2 6
+f 8 2 1
+f 8 1 5
+f 8 6 2
+f 8 5 6
+f 9 5 1
+f 10 6 5
+f 10 4 6
+f 11 3 1
+f 11 1 7
+f 11 7 6
+f 11 6 3
+f 12 9 1
+f 12 1 4
+f 12 5 9
+f 13 12 4
+f 13 4 10
+f 14 13 10
+f 14 10 5
+f 15 14 5
+f 15 5 12
+f 15 12 13
+f 15 13 14
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_9/collision/model_normalized_collision_22.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_9/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..399b754f0bdf980d99c7e4705a0416cbfe17d4c5
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_9/collision/model_normalized_collision_22.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.12236561 -0.17209017 -0.10097176
+v 0.11534095 -0.16954817 -0.10728873
+v 0.15814530 0.18859146 -0.10542422
+v 0.09783891 0.20157346 -0.10266112
+v 0.11279964 -0.17411140 -0.10799642
+v 0.15223827 0.05495014 -0.10087707
+v 0.10960096 -0.00923136 -0.13878827
+v 0.14275792 0.20334108 -0.10390806
+v 0.10577498 -0.17156940 -0.11431338
+v 0.11020713 -0.00498943 -0.13870253
+v 0.09745552 0.16564521 -0.12092211
+v 0.09748445 0.19542259 -0.10582855
+v 0.13571338 0.15716342 -0.12105237
+v 0.12594088 0.16389792 -0.11986454
+f 5 1 4
+f 6 4 1
+f 7 6 1
+f 7 1 2
+f 8 6 3
+f 8 4 6
+f 9 7 2
+f 9 5 4
+f 9 2 1
+f 9 1 5
+f 10 3 6
+f 10 6 7
+f 11 7 9
+f 11 10 7
+f 12 11 9
+f 12 9 4
+f 12 4 8
+f 12 8 11
+f 13 8 3
+f 13 3 10
+f 13 10 11
+f 14 13 11
+f 14 11 8
+f 14 8 13
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_9/collision/model_normalized_collision_23.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_9/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c7e2e24b3ddc57b3deef5eebf3f7d3cb15b844a1
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_9/collision/model_normalized_collision_23.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v 0.24604498 0.23636215 0.07029787
+v 0.27766999 0.26651394 -0.01386623
+v 0.27688408 0.35945338 0.09695278
+v 0.25319668 0.41875335 0.13514072
+v 0.24955695 0.36421101 -0.05206059
+v 0.26541270 0.36929627 0.12033686
+v 0.28119325 0.27744526 0.02977587
+v 0.24688714 0.23492101 -0.06174876
+v 0.24046976 0.34429032 0.12183552
+v 0.27849309 0.35069715 -0.02612842
+v 0.27576890 0.31641600 0.07636789
+v 0.26126666 0.40622155 0.13073201
+v 0.26156392 0.23688001 0.04086688
+v 0.25527590 0.41868417 -0.01990770
+v 0.24361244 0.25297607 0.08091069
+v 0.27048840 0.35199374 -0.05159536
+v 0.27659726 0.37887330 0.09893683
+v 0.25585798 0.22901406 -0.05395890
+v 0.25170220 0.23965038 0.06462195
+v 0.26193983 0.41603265 0.00462534
+v 0.27501713 0.37774506 -0.01126324
+v 0.26519940 0.36436254 -0.04800704
+v 0.26223039 0.23842957 -0.03699540
+v 0.27298460 0.36946325 -0.02832072
+f 9 5 8
+f 10 7 2
+f 11 6 1
+f 11 3 6
+f 11 7 3
+f 12 9 6
+f 12 4 9
+f 13 2 7
+f 13 7 11
+f 14 9 4
+f 14 5 9
+f 15 1 6
+f 15 6 9
+f 15 9 8
+f 15 8 1
+f 16 8 5
+f 16 10 2
+f 17 3 7
+f 17 7 10
+f 17 12 6
+f 17 6 3
+f 18 16 2
+f 18 8 16
+f 18 13 1
+f 18 1 8
+f 19 13 11
+f 19 11 1
+f 19 1 13
+f 20 14 4
+f 20 4 12
+f 20 12 17
+f 21 14 20
+f 21 20 17
+f 21 17 10
+f 22 16 5
+f 22 5 14
+f 22 14 16
+f 23 18 2
+f 23 2 13
+f 23 13 18
+f 24 16 14
+f 24 14 21
+f 24 21 10
+f 24 10 16
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_9/collision/model_normalized_collision_24.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_9/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f287fd8997fcbdd110924cc0fcccd7b8ca8fed08
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_9/collision/model_normalized_collision_24.obj
@@ -0,0 +1,108 @@
+# https://github.com/mikedh/trimesh
+v -0.00457326 -0.49276201 0.08315588
+v -0.00863552 -0.49324355 0.06402753
+v -0.01183498 -0.25632989 0.08398323
+v -0.23396021 -0.25839941 0.07567113
+v -0.21853752 -0.38926487 0.13910152
+v -0.16531937 -0.43930460 0.04677615
+v -0.00743523 -0.27117545 0.08972595
+v -0.16850822 -0.38367621 0.16310660
+v -0.05144639 -0.49146749 0.05633624
+v -0.28176179 -0.30804434 0.06401189
+v -0.18019779 -0.27366717 0.08842541
+v -0.28419594 -0.31004761 0.08020292
+v -0.02576348 -0.37955586 0.16080113
+v -0.05011982 -0.45077553 0.18001302
+v -0.16758686 -0.43390698 0.15115288
+v -0.17787200 -0.39031414 0.16461371
+v -0.24955783 -0.35556709 0.07647297
+v -0.01177926 -0.36380097 0.15008505
+v -0.09856820 -0.42156814 0.17783686
+v -0.00637833 -0.46707525 0.17046727
+v -0.22441879 -0.38752417 0.09843506
+v -0.12439193 -0.46996480 0.05290156
+v -0.21176976 -0.37929674 0.14418238
+v -0.18370953 -0.40917812 0.15918740
+v -0.28383515 -0.31471886 0.08039829
+v -0.28007025 -0.31438263 0.06795337
+v -0.07496960 -0.43836808 0.18035819
+v -0.00908404 -0.39077345 0.16153336
+v -0.21080567 -0.39901930 0.10665915
+v -0.09486373 -0.47927239 0.05429239
+v -0.20604832 -0.39163893 0.14884800
+v -0.24964123 -0.35784099 0.10126123
+v -0.08677281 -0.42284926 0.17753574
+v -0.09765487 -0.42821110 0.17909031
+v -0.16473753 -0.42315616 0.16060691
+v -0.01643490 -0.45978585 0.17923247
+v -0.02822921 -0.44355466 0.17697831
+f 7 1 2
+f 7 2 3
+f 9 6 3
+f 9 3 2
+f 9 2 1
+f 10 4 3
+f 10 3 6
+f 11 8 3
+f 11 3 4
+f 11 4 8
+f 12 4 10
+f 13 3 8
+f 16 8 4
+f 16 4 12
+f 18 7 3
+f 18 3 13
+f 19 13 8
+f 19 8 16
+f 20 9 1
+f 20 1 7
+f 20 15 9
+f 20 14 15
+f 21 17 6
+f 22 15 6
+f 23 16 12
+f 23 12 5
+f 24 5 15
+f 25 12 10
+f 25 5 12
+f 26 10 6
+f 26 6 17
+f 26 25 10
+f 26 17 25
+f 28 20 7
+f 28 7 18
+f 28 18 13
+f 29 21 6
+f 29 6 15
+f 29 15 5
+f 29 5 21
+f 30 22 6
+f 30 6 9
+f 30 9 15
+f 30 15 22
+f 31 23 5
+f 31 16 23
+f 31 24 16
+f 31 5 24
+f 32 25 17
+f 32 17 21
+f 32 21 5
+f 32 5 25
+f 33 27 13
+f 33 13 19
+f 33 19 27
+f 34 27 19
+f 34 19 16
+f 34 16 24
+f 35 15 14
+f 35 14 27
+f 35 27 34
+f 35 34 24
+f 35 24 15
+f 36 14 20
+f 36 20 28
+f 36 27 14
+f 37 36 28
+f 37 28 13
+f 37 13 27
+f 37 27 36
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_9/collision/model_normalized_collision_25.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_9/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d3f3eb562f5338808db98a27f741a572c1852d7
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_9/collision/model_normalized_collision_25.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.11104062 -0.00926468 -0.11163556
+v 0.11112098 -0.00206532 -0.19051584
+v 0.13571338 0.15716342 -0.12105237
+v 0.02057339 0.15924555 -0.11654629
+v 0.02209614 -0.00755091 -0.19146405
+v 0.13376135 0.12749102 -0.12854903
+v 0.10990405 -0.00711040 -0.13874540
+v 0.02225260 -0.00757573 -0.10845177
+v 0.01896646 0.16388336 -0.19090960
+v 0.13097357 0.12612068 -0.18855812
+v 0.12971419 0.14274206 -0.18766773
+f 1 3 4
+f 6 1 2
+f 6 3 1
+f 7 5 2
+f 7 2 1
+f 7 1 5
+f 8 5 1
+f 8 1 4
+f 9 2 5
+f 9 4 3
+f 9 8 4
+f 9 5 8
+f 10 6 2
+f 10 3 6
+f 10 2 9
+f 11 10 9
+f 11 9 3
+f 11 3 10
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_9/collision/model_normalized_collision_26.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_9/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0573d43be317c3bf9ee232710448da712944ad1b
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_9/collision/model_normalized_collision_26.obj
@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
+v -0.00810511 -0.49108485 0.05875815
+v 0.14701804 -0.38516613 0.03657197
+v -0.00805044 -0.38636367 0.05821492
+v -0.21316684 -0.38198142 0.05768451
+v -0.12486976 -0.38049224 -0.03763647
+v 0.14633748 -0.37957305 0.02905751
+v -0.20657773 -0.39332087 0.06041200
+v 0.08946144 -0.45355890 0.05156552
+v -0.19533044 -0.37889011 0.00331886
+v 0.02964086 -0.46011818 -0.00087769
+v 0.09029815 -0.37723825 -0.00435556
+v -0.18991453 -0.41668385 0.03014720
+v 0.04587552 -0.48125923 0.05152503
+v 0.05387890 -0.44944091 0.01083109
+v -0.16907350 -0.37882042 -0.01957799
+v 0.01663374 -0.38010223 -0.03431331
+v 0.13897575 -0.37871810 0.02285669
+v -0.21096252 -0.38028259 0.03235699
+v -0.10877617 -0.47529365 0.05310573
+v -0.03978320 -0.47403666 0.00328872
+v -0.15143484 -0.43740645 0.00270133
+v -0.03983457 -0.40808643 -0.02914844
+v -0.14715578 -0.45989976 0.04547883
+v 0.02319986 -0.47194151 0.01686315
+v -0.11212678 -0.47450466 0.00323700
+v -0.17464182 -0.42123849 0.01092855
+v -0.02482144 -0.43967066 -0.01431314
+v -0.18906412 -0.41573476 0.04906143
+v -0.10662199 -0.40665684 -0.03044057
+v -0.14557958 -0.45922503 0.02265415
+v -0.17342897 -0.40524428 -0.00316203
+v -0.02878592 -0.46491278 -0.00120948
+v -0.11041279 -0.46848777 -0.00017061
+v -0.13182852 -0.46103219 0.00651194
+f 6 3 2
+f 6 4 3
+f 7 1 3
+f 7 3 4
+f 8 2 3
+f 8 3 1
+f 8 6 2
+f 12 7 4
+f 13 10 8
+f 13 8 1
+f 14 10 6
+f 14 6 8
+f 14 8 10
+f 15 11 5
+f 15 9 11
+f 16 11 10
+f 16 5 11
+f 17 6 10
+f 17 10 11
+f 17 4 6
+f 18 11 9
+f 18 17 11
+f 18 4 17
+f 18 12 4
+f 18 9 12
+f 19 1 7
+f 22 16 10
+f 22 5 16
+f 23 19 7
+f 24 13 1
+f 24 1 20
+f 24 20 10
+f 24 10 13
+f 25 20 1
+f 25 1 19
+f 25 19 23
+f 25 21 15
+f 25 15 5
+f 26 12 9
+f 27 22 10
+f 28 23 7
+f 28 7 12
+f 28 12 23
+f 29 5 22
+f 29 22 27
+f 30 25 23
+f 30 23 12
+f 30 12 26
+f 31 26 9
+f 31 9 15
+f 31 15 21
+f 31 21 26
+f 32 27 10
+f 32 10 20
+f 32 20 27
+f 33 27 20
+f 33 20 25
+f 33 29 27
+f 33 25 5
+f 33 5 29
+f 34 30 26
+f 34 26 21
+f 34 21 25
+f 34 25 30
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_9/collision/model_normalized_collision_27.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_9/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c5fbc0b8fe22f8c4c4daeff2e78b9ef0c94a184
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_9/collision/model_normalized_collision_27.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.25307928 0.23430926 0.06064599
+v 0.28531970 0.36019756 0.05945086
+v 0.21416787 0.36387923 0.15516753
+v -0.09862702 0.35910813 0.15734417
+v -0.10491129 0.38009923 0.01598848
+v -0.10798265 0.21436120 0.10098028
+v 0.24409408 0.36735687 0.13963263
+v 0.21323135 0.24370623 0.10210934
+v 0.17217477 0.28584851 0.13005161
+v -0.10335504 0.33524064 0.14874466
+v 0.22154529 0.31522749 0.12991551
+v 0.24054775 0.23917604 0.07790482
+v 0.20637656 0.33251742 0.14550947
+v 0.19870825 0.25897990 0.11335907
+v -0.09792927 0.23663004 0.11150996
+v -0.09814732 0.28692892 0.13119453
+f 5 2 1
+f 6 5 1
+f 7 1 2
+f 7 2 5
+f 7 5 4
+f 7 4 3
+f 8 6 1
+f 10 4 5
+f 10 5 6
+f 10 9 4
+f 11 8 7
+f 11 7 3
+f 12 8 1
+f 12 1 7
+f 12 7 8
+f 13 3 4
+f 13 4 9
+f 13 11 3
+f 13 8 11
+f 14 9 6
+f 14 6 8
+f 14 13 9
+f 14 8 13
+f 15 6 9
+f 16 10 6
+f 16 6 15
+f 16 15 9
+f 16 9 10
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_9/collision/model_normalized_collision_28.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_9/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d3fed88f881596bbc23986e1cd6bcf317600ffc1
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_9/collision/model_normalized_collision_28.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.15275252 -0.01477359 0.04432464
+v 0.20266137 0.07383437 -0.03466583
+v 0.10719330 0.10268731 0.04890637
+v -0.12881901 0.10241381 0.04397395
+v -0.11411106 -0.00757573 -0.03269418
+v -0.11411106 0.09848490 -0.03269418
+v -0.06557564 -0.00837932 0.04361258
+v 0.15536823 0.10053526 0.03219819
+v 0.16549465 -0.00203124 -0.03246451
+v -0.13063831 -0.00717257 0.04097167
+v -0.12969531 0.09465190 0.04180525
+v -0.12906123 -0.00763473 0.04115207
+f 6 4 3
+f 6 2 5
+f 7 1 3
+f 7 3 4
+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 6 5
+f 11 10 4
+f 11 4 6
+f 11 6 10
+f 12 7 4
+f 12 4 10
+f 12 1 7
+f 12 10 5
+f 12 5 1
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_9/collision/model_normalized_collision_29.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_9/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..05d0bbda96b33eb974e880f5f6c94d7b357d2033
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_9/collision/model_normalized_collision_29.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.16765341 -0.26046716 -0.02307189
+v 0.20100575 -0.20978585 -0.03588145
+v 0.20968661 -0.08744957 -0.00362262
+v -0.00805044 -0.00757573 -0.03269418
+v -0.00803130 -0.26188339 -0.10347075
+v 0.19967381 -0.21460771 -0.02968099
+v 0.09009661 -0.23674160 -0.09066146
+v -0.00823474 -0.29663048 -0.08067179
+v 0.11587448 -0.25746700 -0.06350473
+v 0.15008273 -0.00660050 -0.09385638
+v -0.00805044 -0.00757573 -0.10845177
+v 0.06034863 -0.25282306 -0.09190926
+v 0.11313063 -0.21031732 -0.09057746
+v 0.19995219 -0.08106256 -0.06868946
+v 0.18746749 -0.01242350 -0.03575065
+v 0.12957182 -0.18081103 -0.09209577
+v 0.18212187 -0.00795905 -0.07807714
+v 0.14862339 -0.10956991 -0.08935930
+v 0.19478290 -0.14004253 -0.05941033
+f 1 3 4
+f 6 1 2
+f 6 2 3
+f 6 3 1
+f 8 1 4
+f 9 2 1
+f 9 1 8
+f 11 8 4
+f 11 5 8
+f 11 10 5
+f 11 4 10
+f 12 8 5
+f 12 5 7
+f 12 9 8
+f 12 7 9
+f 13 9 7
+f 13 2 9
+f 14 3 2
+f 15 4 3
+f 16 13 7
+f 16 7 5
+f 16 5 10
+f 16 2 13
+f 17 10 4
+f 17 4 15
+f 17 14 10
+f 17 15 3
+f 17 3 14
+f 18 16 10
+f 18 10 14
+f 18 14 16
+f 19 16 14
+f 19 14 2
+f 19 2 16
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_9/collision/model_normalized_collision_3.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_9/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..68ad4702679e62a5a73652ef7a6e681f2015e38d
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_9/collision/model_normalized_collision_3.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v -0.00819405 -0.28968106 -0.08523158
+v -0.00803130 -0.26188339 -0.10347075
+v -0.00805044 -0.00757573 -0.04784570
+v -0.25186406 -0.00831742 -0.04279044
+v -0.24998818 -0.25550826 -0.09988467
+v -0.25755415 -0.29947563 -0.04276089
+v -0.00805044 -0.00757573 -0.10845177
+v -0.23486372 -0.30934330 -0.04689849
+v -0.28485861 -0.19974055 -0.05574487
+v -0.23094628 -0.00636425 -0.09646376
+v -0.25495866 -0.29523532 -0.05596334
+v -0.23424028 -0.30229266 -0.05800120
+v -0.26477441 -0.28979084 -0.04353391
+v -0.27094387 -0.14337492 -0.06889436
+v -0.28478673 -0.21207902 -0.05524264
+v -0.26231006 -0.28618840 -0.05440193
+v -0.26434049 -0.19505668 -0.08162926
+v -0.28472963 -0.21159134 -0.05679387
+v -0.24940331 -0.16224511 -0.09336023
+v -0.26470937 -0.25969342 -0.07013402
+f 1 2 3
+f 5 2 1
+f 6 3 4
+f 7 3 2
+f 7 2 5
+f 8 1 3
+f 8 3 6
+f 10 7 5
+f 10 4 3
+f 10 3 7
+f 11 8 6
+f 12 5 1
+f 12 1 8
+f 12 11 5
+f 12 8 11
+f 13 6 4
+f 13 11 6
+f 14 9 4
+f 14 4 10
+f 15 13 4
+f 15 4 9
+f 16 5 11
+f 16 11 13
+f 17 14 10
+f 17 9 14
+f 18 15 9
+f 18 16 13
+f 18 13 15
+f 18 17 5
+f 18 9 17
+f 19 17 10
+f 19 10 5
+f 19 5 17
+f 20 18 5
+f 20 5 16
+f 20 16 18
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_9/collision/model_normalized_collision_30.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_9/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d3e1b305972b69d899093a672708204b09ee1366
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_9/collision/model_normalized_collision_30.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.16549465 -0.00203124 -0.03246451
+v 0.15008273 -0.00660050 -0.09385638
+v 0.15545244 0.25739518 -0.07933673
+v 0.01834311 0.25360375 -0.06879294
+v 0.02225260 -0.00757573 -0.03269418
+v 0.02225260 -0.00757573 -0.10845177
+v 0.15960237 0.22782115 -0.09391406
+v 0.02400607 0.21094468 -0.09186415
+v 0.07003292 0.22513146 -0.09020038
+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 3 1
+f 7 2 6
+f 8 7 6
+f 8 6 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/Assets/robocasa/data/objects/objaverse/steak/steak_9/collision/model_normalized_collision_31.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_9/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e46e6872024f9f95b3afb7aa8de17e0908e2ade
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_9/collision/model_normalized_collision_31.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.02225260 -0.00757573 -0.03269418
+v 0.02209614 -0.00755091 -0.19146405
+v 0.02242320 0.09845925 -0.19164954
+v -0.11411106 0.09848490 -0.03269418
+v -0.11411106 -0.00757573 -0.03269418
+v -0.11430375 0.09850655 -0.19136350
+v 0.02225260 0.09848490 -0.03269418
+v -0.11411176 -0.00757898 -0.19172718
+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 7 3 6
+f 8 2 1
+f 8 1 5
+f 8 5 6
+f 8 6 3
+f 8 3 2
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_9/collision/model_normalized_collision_4.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_9/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2eeebba3cf0e7b084f26984ce4b07c7feb775f26
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_9/collision/model_normalized_collision_4.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.06843680 -0.26662978 0.09628048
+v 0.07015983 -0.22187318 0.08728400
+v -0.20359402 -0.08536879 0.05253166
+v -0.21166192 -0.07606590 0.04689560
+v -0.27982385 -0.26190107 0.03124263
+v 0.06838444 -0.14376212 0.07140597
+v -0.01286698 -0.14356588 0.05175061
+v -0.28696981 -0.26264314 0.07280269
+v 0.06867885 -0.17864382 0.07456169
+v -0.26985348 -0.14577547 0.02489479
+v -0.14143528 -0.07710632 0.03556137
+v 0.00744876 -0.27037410 0.09070064
+v -0.26149523 -0.15957787 0.05579862
+v 0.05940604 -0.14522095 0.06824552
+v -0.27878321 -0.19116241 0.02870436
+v -0.28049992 -0.19496281 0.05536118
+v -0.26836283 -0.15169331 0.04899848
+f 1 2 3
+f 6 3 2
+f 6 4 3
+f 8 1 3
+f 9 2 1
+f 9 1 5
+f 9 5 7
+f 9 6 2
+f 10 7 5
+f 11 4 6
+f 11 10 4
+f 11 7 10
+f 12 8 5
+f 12 5 1
+f 12 1 8
+f 13 8 3
+f 13 3 4
+f 14 9 7
+f 14 6 9
+f 14 11 6
+f 14 7 11
+f 15 10 5
+f 15 5 8
+f 16 8 13
+f 16 15 8
+f 16 10 15
+f 17 13 4
+f 17 4 10
+f 17 16 13
+f 17 10 16
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_9/collision/model_normalized_collision_5.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_9/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..310c07e56b6c3efc9af2c985609dff6ace460693
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_9/collision/model_normalized_collision_5.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.02026528 -0.26010954 -0.10056020
+v 0.10683564 -0.20063727 -0.10100415
+v -0.24066504 -0.14584667 -0.09932622
+v -0.20421350 -0.00721304 -0.10609919
+v 0.11112098 -0.00206532 -0.19051584
+v 0.06321347 -0.24247130 -0.09834964
+v 0.11403424 -0.00742128 -0.10973285
+v -0.21784556 -0.13967089 -0.18311443
+v -0.24488169 -0.26014590 -0.10398566
+v 0.07072799 -0.17948864 -0.18403805
+v -0.20347686 -0.00716403 -0.18862179
+v -0.22101708 -0.12110768 -0.18753752
+v 0.09650839 -0.11170242 -0.18709192
+v -0.22389414 -0.16670503 -0.17143789
+v 0.06703501 -0.18151932 -0.18329699
+v -0.24494500 -0.25261165 -0.11235078
+v 0.08015277 -0.16350815 -0.18690712
+v -0.18920216 -0.14784768 -0.18166305
+f 6 4 3
+f 7 5 4
+f 7 2 5
+f 7 6 2
+f 7 4 6
+f 9 6 3
+f 9 1 6
+f 10 2 6
+f 10 6 1
+f 11 3 4
+f 11 4 5
+f 12 3 11
+f 12 10 8
+f 12 11 5
+f 13 5 2
+f 14 12 8
+f 15 10 1
+f 15 8 10
+f 16 9 3
+f 16 3 12
+f 16 12 14
+f 16 14 15
+f 16 15 1
+f 16 1 9
+f 17 13 2
+f 17 2 10
+f 17 10 12
+f 17 12 5
+f 17 5 13
+f 18 15 14
+f 18 14 8
+f 18 8 15
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_9/collision/model_normalized_collision_6.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_9/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0bd9b723eb0e6c2aee8f8e938e613b42c56457e9
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_9/collision/model_normalized_collision_6.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.25307928 0.23430926 0.06064599
+v 0.26822077 0.23462794 -0.00747926
+v 0.28531970 0.36019756 0.05945086
+v 0.10298801 0.44029639 0.01030417
+v -0.10798265 0.21436120 0.10098028
+v 0.27873825 0.36840738 -0.01201033
+v -0.10335672 0.26394997 -0.04980702
+v 0.17376778 0.41666677 0.05821492
+v -0.10491129 0.38009923 0.01598848
+v 0.17152992 0.42156613 -0.01334235
+f 1 2 3
+f 5 2 1
+f 5 1 3
+f 6 3 2
+f 7 2 5
+f 7 6 2
+f 8 5 3
+f 8 3 6
+f 9 7 5
+f 9 8 4
+f 9 5 8
+f 10 6 7
+f 10 8 6
+f 10 4 8
+f 10 9 4
+f 10 7 9
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_9/collision/model_normalized_collision_7.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_9/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..514dc7c29a096138e936ae500b32caea7c4c1685
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_9/collision/model_normalized_collision_7.obj
@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
+v 0.20266137 0.07383437 -0.03466583
+v 0.26359249 0.20621668 -0.02461570
+v 0.19879118 0.23885847 0.10461975
+v -0.20032066 0.23839304 0.09267558
+v -0.20874305 0.24135159 -0.04492947
+v -0.07505186 0.10635886 0.05804196
+v 0.23322303 0.16119850 0.04451671
+v 0.26646153 0.23910014 -0.02754446
+v -0.12583493 0.24065383 0.10509664
+v -0.23278414 0.07161291 -0.03196412
+v 0.24737646 0.16184523 0.02165583
+v 0.09448228 0.10580616 0.05455892
+v 0.25215403 0.16228938 -0.03131781
+v 0.25170220 0.23965038 0.06462195
+v -0.11016667 0.21304584 0.09993227
+v -0.21147440 0.10259527 0.04375812
+v -0.22571259 0.23297881 0.04154170
+v 0.15536823 0.10053526 0.03219819
+v 0.00575304 0.13780490 0.07095020
+v 0.26297579 0.21030279 0.02027241
+v 0.22212849 0.23944567 0.09381669
+v 0.24718062 0.21701433 0.05994054
+v -0.12258246 0.22680463 0.10217935
+v -0.21675109 0.09948522 0.03898366
+v -0.19765357 0.22600366 0.08907800
+v 0.20983395 0.15425415 0.05514055
+v 0.19961268 0.22587419 0.10003305
+v 0.26782815 0.23779829 0.02310840
+v 0.22034939 0.22464057 0.08899208
+v -0.22552984 0.12722060 0.03693525
+v 0.19912051 0.17316138 0.07574149
+v 0.21080332 0.19939937 0.08484663
+v -0.22176855 0.16362825 0.05441758
+v -0.22242366 0.13563464 0.04429186
+v -0.21800708 0.23214003 0.06717329
+f 9 5 4
+f 10 5 1
+f 11 7 1
+f 12 10 1
+f 12 6 10
+f 13 8 2
+f 13 1 5
+f 13 5 8
+f 13 11 1
+f 14 8 5
+f 14 5 9
+f 15 3 9
+f 16 6 15
+f 17 4 5
+f 17 5 10
+f 18 12 1
+f 19 6 12
+f 19 15 6
+f 20 13 2
+f 20 11 13
+f 21 14 9
+f 21 9 3
+f 22 7 11
+f 22 20 14
+f 22 11 20
+f 22 14 21
+f 23 15 9
+f 23 9 4
+f 23 4 15
+f 24 10 6
+f 24 6 16
+f 24 16 4
+f 25 16 15
+f 25 15 4
+f 25 4 16
+f 26 18 1
+f 26 1 7
+f 27 19 12
+f 27 3 15
+f 27 15 19
+f 27 21 3
+f 28 20 2
+f 28 2 8
+f 28 8 14
+f 28 14 20
+f 29 22 21
+f 29 7 22
+f 30 17 10
+f 30 10 24
+f 31 12 18
+f 31 18 26
+f 31 27 12
+f 31 26 7
+f 32 29 21
+f 32 21 27
+f 32 27 31
+f 32 31 7
+f 32 7 29
+f 33 24 4
+f 33 17 30
+f 34 33 30
+f 34 30 24
+f 34 24 33
+f 35 33 4
+f 35 4 17
+f 35 17 33
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_9/collision/model_normalized_collision_8.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_9/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..34c3c02dec90cff605f971907fb897beab6f9b12
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_9/collision/model_normalized_collision_8.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.02169268 0.34818316 0.15246138
+v 0.02233451 0.35582394 -0.01708574
+v 0.02521495 0.48363744 0.05009374
+v -0.01498779 0.47331648 0.06351187
+v -0.09957962 0.34787378 0.15071540
+v -0.10491129 0.38009923 0.01598848
+v 0.02485008 0.44917227 0.12764311
+v -0.08220516 0.34908660 -0.00497832
+v -0.09632295 0.45216608 0.06012235
+v 0.02343179 0.47884060 0.06712854
+v 0.02468924 0.37983688 -0.00505770
+v -0.09857979 0.35446591 0.00037137
+v -0.06354051 0.46209532 0.06762081
+v -0.09571966 0.43549761 0.04705710
+v -0.09418694 0.41632489 0.12039719
+v 0.02557079 0.46998686 0.04182658
+v -0.01074720 0.47542226 0.05577717
+v -0.00404083 0.44584454 0.12584608
+v -0.09510942 0.44868835 0.05561632
+v -0.05826809 0.42803015 0.12599841
+f 7 5 1
+f 8 2 1
+f 8 1 5
+f 9 6 5
+f 10 7 3
+f 10 3 4
+f 11 7 1
+f 11 1 2
+f 11 2 8
+f 12 8 5
+f 12 5 6
+f 15 9 5
+f 15 13 9
+f 16 3 7
+f 16 7 11
+f 16 11 8
+f 16 8 12
+f 16 12 6
+f 16 14 3
+f 16 6 14
+f 17 13 4
+f 17 4 3
+f 17 3 9
+f 17 9 13
+f 18 10 4
+f 18 4 13
+f 18 7 10
+f 18 5 7
+f 19 9 3
+f 19 3 14
+f 19 14 6
+f 19 6 9
+f 20 18 13
+f 20 13 15
+f 20 15 5
+f 20 5 18
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_9/collision/model_normalized_collision_9.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_9/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..290aec6a46e47c47241eecf112bb588a63e63e0c
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_9/collision/model_normalized_collision_9.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.26822077 0.23462794 -0.00747926
+v 0.28367883 0.28247437 -0.00170084
+v -0.18976024 0.33799062 0.00237451
+v -0.18950967 0.33124503 -0.00176229
+v 0.20551195 0.27526709 -0.07625488
+v -0.19319552 0.29075434 -0.02192369
+v 0.23514107 0.23367902 -0.07959865
+v 0.27048840 0.35199374 -0.05159536
+v 0.27657135 0.28364198 -0.02692671
+v -0.15656222 0.22765568 -0.06542725
+v 0.28483668 0.35669973 -0.00103744
+v 0.25767099 0.34835181 -0.06322815
+v 0.27939409 0.31749782 -0.03591019
+v 0.00824896 0.22833182 -0.08104762
+v -0.18927145 0.27842706 -0.02918798
+v -0.09857979 0.35446591 0.00037137
+v -0.15509175 0.23928553 -0.05919875
+v 0.27833065 0.33540307 -0.03900475
+f 1 2 3
+f 6 1 3
+f 6 3 4
+f 9 2 1
+f 9 1 7
+f 10 6 4
+f 11 3 2
+f 12 8 7
+f 12 7 5
+f 12 4 3
+f 13 9 7
+f 13 7 8
+f 13 11 2
+f 13 2 9
+f 14 5 7
+f 14 7 1
+f 14 1 10
+f 14 12 5
+f 14 10 12
+f 15 10 1
+f 15 1 6
+f 15 6 10
+f 16 11 8
+f 16 3 11
+f 16 12 3
+f 16 8 12
+f 17 12 10
+f 17 10 4
+f 17 4 12
+f 18 13 8
+f 18 8 11
+f 18 11 13
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_9/model.xml b/Assets/robocasa/data/objects/objaverse/steak/steak_9/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..f5526d7e814b3a07671beeab16a6378e2f81ddbd
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_9/model.xml
@@ -0,0 +1,56 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="more_steak_19">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.12499999999999999 0.12499999999999999 0.12499999999999999" refquat="0.9999999999999996 0.0 0.0 0.0" />
+    <texture type="2d" name="image0" file="visual/image0.png" />
+    <material name="default_tex0.001" texture="image0" specular="0.5" shininess="0.359999993" />
+    <mesh file="collision/collision_mesh_collision_0.obj" name="steak_collision_mesh_0" scale="0.12499999999999999 0.12499999999999999 0.12499999999999999" refquat="0.9999999999999996 0.0 0.0 0.0" />
+    <mesh file="collision/collision_mesh_collision_1.obj" name="steak_collision_mesh_1" scale="0.12499999999999999 0.12499999999999999 0.12499999999999999" refquat="0.9999999999999996 0.0 0.0 0.0" />
+    <mesh file="collision/collision_mesh_collision_2.obj" name="steak_collision_mesh_2" scale="0.12499999999999999 0.12499999999999999 0.12499999999999999" refquat="0.9999999999999996 0.0 0.0 0.0" />
+    <mesh file="collision/collision_mesh_collision_3.obj" name="steak_collision_mesh_3" scale="0.12499999999999999 0.12499999999999999 0.12499999999999999" refquat="0.9999999999999996 0.0 0.0 0.0" />
+    <mesh file="collision/collision_mesh_collision_4.obj" name="steak_collision_mesh_4" scale="0.12499999999999999 0.12499999999999999 0.12499999999999999" refquat="0.9999999999999996 0.0 0.0 0.0" />
+    <mesh file="collision/collision_mesh_collision_5.obj" name="steak_collision_mesh_5" scale="0.12499999999999999 0.12499999999999999 0.12499999999999999" refquat="0.9999999999999996 0.0 0.0 0.0" />
+    <mesh file="collision/collision_mesh_collision_6.obj" name="steak_collision_mesh_6" scale="0.12499999999999999 0.12499999999999999 0.12499999999999999" refquat="0.9999999999999996 0.0 0.0 0.0" />
+    <mesh file="collision/collision_mesh_collision_7.obj" name="steak_collision_mesh_7" scale="0.12499999999999999 0.12499999999999999 0.12499999999999999" refquat="0.9999999999999996 0.0 0.0 0.0" />
+    <mesh file="collision/collision_mesh_collision_8.obj" name="steak_collision_mesh_8" scale="0.12499999999999999 0.12499999999999999 0.12499999999999999" refquat="0.9999999999999996 0.0 0.0 0.0" />
+    <mesh file="collision/collision_mesh_collision_9.obj" name="steak_collision_mesh_9" scale="0.12499999999999999 0.12499999999999999 0.12499999999999999" refquat="0.9999999999999996 0.0 0.0 0.0" />
+    <mesh file="collision/collision_mesh_collision_10.obj" name="steak_collision_mesh_10" scale="0.12499999999999999 0.12499999999999999 0.12499999999999999" refquat="0.9999999999999996 0.0 0.0 0.0" />
+    <mesh file="collision/collision_mesh_collision_11.obj" name="steak_collision_mesh_11" scale="0.12499999999999999 0.12499999999999999 0.12499999999999999" refquat="0.9999999999999996 0.0 0.0 0.0" />
+    <mesh file="collision/collision_mesh_collision_12.obj" name="steak_collision_mesh_12" scale="0.12499999999999999 0.12499999999999999 0.12499999999999999" refquat="0.9999999999999996 0.0 0.0 0.0" />
+    <mesh file="collision/collision_mesh_collision_13.obj" name="steak_collision_mesh_13" scale="0.12499999999999999 0.12499999999999999 0.12499999999999999" refquat="0.9999999999999996 0.0 0.0 0.0" />
+    <mesh file="collision/collision_mesh_collision_14.obj" name="steak_collision_mesh_14" scale="0.12499999999999999 0.12499999999999999 0.12499999999999999" refquat="0.9999999999999996 0.0 0.0 0.0" />
+    <mesh file="collision/collision_mesh_collision_15.obj" name="steak_collision_mesh_15" scale="0.12499999999999999 0.12499999999999999 0.12499999999999999" refquat="0.9999999999999996 0.0 0.0 0.0" />
+    </asset>
+  <default>
+    <default class="region">
+      <geom group="1" conaffinity="0" contype="0" rgba="0 1 0 0" />
+      </default>
+    <default class="collision">
+      <geom group="0" rgba="0.5 0 0 0.5" density="1000.0" />
+      </default>
+    </default>
+  <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="default_tex0.001" />
+        <geom class="region" name="reg_bbox" type="box" pos="-0.00010313187499999889 0.00020152312500000197 -0.0003956881250000016" size="0.0356649625 0.06205849 0.023570209374999995" />
+        <geom mesh="steak_collision_mesh_0" type="mesh" class="collision" />
+        <geom mesh="steak_collision_mesh_1" type="mesh" class="collision" />
+        <geom mesh="steak_collision_mesh_2" type="mesh" class="collision" />
+        <geom mesh="steak_collision_mesh_3" type="mesh" class="collision" />
+        <geom mesh="steak_collision_mesh_4" type="mesh" class="collision" />
+        <geom mesh="steak_collision_mesh_5" type="mesh" class="collision" />
+        <geom mesh="steak_collision_mesh_6" type="mesh" class="collision" />
+        <geom mesh="steak_collision_mesh_7" type="mesh" class="collision" />
+        <geom mesh="steak_collision_mesh_8" type="mesh" class="collision" />
+        <geom mesh="steak_collision_mesh_9" type="mesh" class="collision" />
+        <geom mesh="steak_collision_mesh_10" type="mesh" class="collision" />
+        <geom mesh="steak_collision_mesh_11" type="mesh" class="collision" />
+        <geom mesh="steak_collision_mesh_12" type="mesh" class="collision" />
+        <geom mesh="steak_collision_mesh_13" type="mesh" class="collision" />
+        <geom mesh="steak_collision_mesh_14" type="mesh" class="collision" />
+        <geom mesh="steak_collision_mesh_15" type="mesh" class="collision" />
+        </body>
+      </body>
+    </worldbody>
+  </mujoco>
diff --git a/Assets/robocasa/data/objects/objaverse/steak/steak_9/visual/material.mtl b/Assets/robocasa/data/objects/objaverse/steak/steak_9/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..842b70538fc6029daec10eabd1278717f12035ab
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_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/Assets/robocasa/data/objects/objaverse/steak/steak_9/visual/model_normalized_0.obj b/Assets/robocasa/data/objects/objaverse/steak/steak_9/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7083b67014d1b2e5159ce328424bfbb34c3b5246
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/steak/steak_9/visual/model_normalized_0.obj
@@ -0,0 +1,55993 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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\ No newline at end of file