diff --git a/objects/objaverse/bar/bar_11/collision/model_normalized_collision_17.obj b/objects/objaverse/bar/bar_11/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd464b4193e96ac0fe03c5b2e56d6437b084ba73
--- /dev/null
+++ b/objects/objaverse/bar/bar_11/collision/model_normalized_collision_17.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.44736604 -0.00701376 0.20824780
+v -0.44832837 0.00026485 -0.21400115
+v -0.44695565 0.00464302 0.20731854
+v -0.49999117 -0.00133079 0.20656488
+v -0.49715529 0.00083399 -0.20692672
+v -0.46260221 -0.00182050 0.21586445
+v -0.44822988 0.00169759 -0.21395673
+v -0.49829156 -0.00045781 0.15945703
+v -0.47596244 -0.00152590 0.21543898
+v -0.49030939 -0.00005641 0.20862870
+v -0.47549807 -0.00162545 0.21545263
+v -0.46261006 -0.00206415 0.21586734
+f 5 2 1
+f 5 1 4
+f 6 1 3
+f 7 1 2
+f 7 3 1
+f 7 5 3
+f 7 2 5
+f 8 5 4
+f 8 3 5
+f 9 6 3
+f 10 8 4
+f 10 3 8
+f 10 9 3
+f 10 4 9
+f 11 9 4
+f 11 4 1
+f 12 11 1
+f 12 1 6
+f 12 6 9
+f 12 9 11
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_11/collision/model_normalized_collision_18.obj b/objects/objaverse/bar/bar_11/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d8dccda13e22bb53a98c87df9492bd326c8510b9
--- /dev/null
+++ b/objects/objaverse/bar/bar_11/collision/model_normalized_collision_18.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.26427212 -0.08182906 0.12522228
+v 0.26403820 -0.07988156 -0.11748349
+v 0.26392087 0.08005600 0.12511865
+v -0.23430629 0.08003811 0.12513334
+v -0.23451468 -0.08232295 0.12522076
+v 0.26413422 0.08179999 -0.11763340
+v -0.23440291 0.08175235 -0.11761933
+v -0.23439551 -0.08040299 -0.11747445
+f 1 3 4
+f 5 1 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/objects/objaverse/bar/bar_11/collision/model_normalized_collision_21.obj b/objects/objaverse/bar/bar_11/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..02e565df8c41bfcae895f4dd522fb16f09e73ff0
--- /dev/null
+++ b/objects/objaverse/bar/bar_11/collision/model_normalized_collision_21.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.15934360 -0.07977783 0.16188730
+v -0.15920085 -0.08276111 0.12510683
+v -0.15921073 0.08079413 0.12499854
+v -0.23423338 0.07811247 0.16147506
+v -0.23447207 -0.07971350 0.16238422
+v -0.23451468 -0.08232295 0.12522076
+v -0.15934496 0.07824738 0.16151651
+v -0.23430629 0.08003811 0.12513334
+f 5 2 1
+f 6 3 2
+f 6 2 5
+f 7 3 4
+f 7 5 1
+f 7 4 5
+f 7 1 2
+f 7 2 3
+f 8 4 3
+f 8 3 6
+f 8 6 5
+f 8 5 4
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_11/collision/model_normalized_collision_3.obj b/objects/objaverse/bar/bar_11/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f4f462e6935557ac5fe35e096f6354f7d716e00
--- /dev/null
+++ b/objects/objaverse/bar/bar_11/collision/model_normalized_collision_3.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.35586106 -0.06620904 0.12407107
+v 0.35093999 0.06574836 0.12500078
+v 0.34194772 -0.01041890 0.19074005
+v -0.15854013 0.08078639 0.12513641
+v 0.34106344 0.02504696 0.18470891
+v -0.23465210 -0.01878548 0.18548372
+v -0.15885604 -0.02989277 0.18184353
+v -0.23480510 0.03393914 0.18087400
+v -0.23522229 -0.01185533 0.18718646
+v -0.23498409 0.02598743 0.18325162
+f 1 2 3
+f 2 1 4
+f 5 3 2
+f 5 2 4
+f 6 4 1
+f 7 6 1
+f 7 1 3
+f 7 3 6
+f 8 5 4
+f 8 4 6
+f 9 8 6
+f 9 6 3
+f 10 3 5
+f 10 5 8
+f 10 9 3
+f 10 8 9
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_11/visual/material.mtl b/objects/objaverse/bar/bar_11/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..558f170804f036126ecafc7e1af0d9aa541ac1b6
--- /dev/null
+++ b/objects/objaverse/bar/bar_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 15.47450500
+map_Kd material_0.jpeg
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_11/visual/model_normalized_0.obj b/objects/objaverse/bar/bar_11/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ee7fae7f77bc36c4a2ccf5932086b2aff2123557
--- /dev/null
+++ b/objects/objaverse/bar/bar_11/visual/model_normalized_0.obj
@@ -0,0 +1,31420 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
+v 0.49354169 0.00306975 -0.17648921
+v 0.49459889 0.00289913 -0.17791193
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diff --git a/objects/objaverse/bar/bar_4/collision/model_normalized_collision_11.obj b/objects/objaverse/bar/bar_4/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b1983eecef3f663615a10a6e70b21f4f0f31f1a5
--- /dev/null
+++ b/objects/objaverse/bar/bar_4/collision/model_normalized_collision_11.obj
@@ -0,0 +1,57 @@
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+f 19 11 3
+f 19 3 10
+f 19 10 15
+f 20 19 15
+f 20 6 11
+f 20 11 19
+f 20 15 4
+f 20 4 6
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_4/collision/model_normalized_collision_23.obj b/objects/objaverse/bar/bar_4/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f6b6d1d650d55241a767c929590970c6ca7abf1b
--- /dev/null
+++ b/objects/objaverse/bar/bar_4/collision/model_normalized_collision_23.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.09848484 0.08658634 0.00525099
+v -0.10354556 0.09313155 -0.08200269
+v -0.09624053 0.18217735 0.00442934
+v -0.23634620 0.18998421 0.00456586
+v -0.23484687 0.08685521 -0.07582353
+v -0.10757173 0.17506516 -0.07736270
+v -0.23484848 0.08658634 0.00525099
+v -0.10357830 0.11281679 -0.08309327
+v -0.23113562 0.17616082 -0.07649394
+v -0.14198393 0.11134960 -0.08264217
+v -0.14124380 0.09241990 -0.08120269
+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 9 5 4
+f 9 4 6
+f 9 6 8
+f 10 8 2
+f 10 9 8
+f 10 5 9
+f 11 10 2
+f 11 2 5
+f 11 5 10
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_4/collision/model_normalized_collision_4.obj b/objects/objaverse/bar/bar_4/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6753bde61dbda46ff18fad37ef435faa698ab153
--- /dev/null
+++ b/objects/objaverse/bar/bar_4/collision/model_normalized_collision_4.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.14414365 0.08736295 0.07625625
+v 0.14427205 0.08621904 -0.07481613
+v 0.14398537 0.18037607 -0.05888455
+v -0.04354061 0.17283441 0.07036732
+v -0.03739898 0.08598760 0.07643591
+v -0.03835509 0.16833485 -0.07281972
+v 0.14330382 0.16914570 0.08800926
+v 0.14574084 0.16410857 0.08749037
+v 0.05308995 0.08661135 0.07606208
+v 0.14305767 0.16710449 -0.08073161
+v -0.01716006 0.19094534 -0.03541363
+v -0.03812583 0.13203271 -0.07615805
+v -0.03791784 0.08663508 0.07644728
+v 0.14128391 0.17635524 0.07335794
+v -0.03700226 0.17666992 -0.06246689
+v 0.00772881 0.08663494 -0.07526032
+v 0.11614887 0.14373612 -0.08501395
+v 0.10807939 0.19251685 0.06416978
+v -0.02421158 0.18630214 -0.01088061
+v 0.08294504 0.12792499 -0.08464569
+v 0.08961241 0.18986177 0.06815942
+v 0.09328074 0.10627783 -0.08493136
+f 8 1 2
+f 8 2 3
+f 8 7 5
+f 8 5 1
+f 9 5 2
+f 9 2 1
+f 9 1 5
+f 10 3 2
+f 12 4 6
+f 13 7 4
+f 13 5 7
+f 13 12 5
+f 13 4 12
+f 14 8 3
+f 14 7 8
+f 15 10 6
+f 15 3 10
+f 15 11 3
+f 15 6 4
+f 16 2 5
+f 16 5 12
+f 17 6 10
+f 17 10 2
+f 18 14 3
+f 18 3 11
+f 18 7 14
+f 19 15 4
+f 19 4 11
+f 19 11 15
+f 20 12 6
+f 20 6 17
+f 21 18 11
+f 21 11 4
+f 21 4 7
+f 21 7 18
+f 22 16 12
+f 22 12 20
+f 22 2 16
+f 22 20 17
+f 22 17 2
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_4/collision/model_normalized_collision_7.obj b/objects/objaverse/bar/bar_4/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8211fe2324a48cabd248c755c284b78a8c830e5
--- /dev/null
+++ b/objects/objaverse/bar/bar_4/collision/model_normalized_collision_7.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.26359096 -0.11637691 0.07762055
+v 0.26522479 -0.11010198 0.07832240
+v -0.03958045 -0.00137024 0.08251798
+v 0.07827525 0.16608023 0.07675349
+v 0.26407304 0.18654487 0.02877285
+v 0.14574084 0.16410857 0.08749037
+v 0.09174746 -0.11170483 0.08116565
+v 0.14383776 0.18095433 0.02090979
+v 0.08456913 0.16013061 0.08116839
+v 0.14617451 0.17605653 0.07229652
+v 0.25504867 0.12370043 0.08600422
+v 0.00746813 0.08662721 0.07592976
+v -0.03942215 -0.06513273 0.07733044
+v 0.05308712 -0.11047815 0.07686743
+v 0.26611498 -0.01429163 0.08137791
+v -0.04110732 -0.01544387 0.07942342
+v -0.03742086 -0.06486830 0.07760435
+f 5 2 1
+f 7 1 2
+f 7 6 3
+f 8 5 1
+f 9 6 4
+f 9 3 6
+f 10 6 5
+f 10 4 6
+f 10 8 4
+f 10 5 8
+f 11 5 6
+f 11 7 2
+f 11 6 7
+f 12 4 8
+f 12 9 4
+f 12 3 9
+f 14 8 1
+f 14 1 7
+f 14 13 8
+f 14 7 13
+f 15 11 2
+f 15 2 5
+f 15 5 11
+f 16 12 8
+f 16 3 12
+f 16 13 3
+f 16 8 13
+f 17 13 7
+f 17 7 3
+f 17 3 13
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_4/model.xml b/objects/objaverse/bar/bar_4/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..dff42dee3adad4c8d8942e54a21122164be88c3b
--- /dev/null
+++ b/objects/objaverse/bar/bar_4/model.xml
@@ -0,0 +1,81 @@
+<mujoco model="bar_15">
+  <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="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="granola_2_bake" texture="image0" specular="0.5" shininess="0.0"/>
+  </asset>
+  <worldbody>
+    <body>
+      <body name="object">
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_0_vis" conaffinity="0" contype="0" group="1" material="granola_2_bake"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_22._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_23._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_21._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_20._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_24._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_30._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_18._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_19._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_31._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_25._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_27._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_26._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_9._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_8._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_6._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_7._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_5._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_4._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_0._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_1._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_3._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_2._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_17._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_16._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_28._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_14._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_15._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_29._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_11._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_10._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_12._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_13._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+      </body>
+      <site rgba="0 0 0 0" size="0.005" pos="4.7953500000001695e-05 -0.00012764924999999897 -0.013160075999999998" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="4.7953500000001695e-05 -0.00012764924999999897 0.013330246499999998" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.029026603499999994 0.07390693649999999 8.508525000000091e-05" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/objects/objaverse/rolling_pin/rolling_pin_1/collision/model_normalized_collision_0.obj b/objects/objaverse/rolling_pin/rolling_pin_1/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b0a6744c9e918f98657bb81a03f1ccb77aab7e14
--- /dev/null
+++ b/objects/objaverse/rolling_pin/rolling_pin_1/collision/model_normalized_collision_0.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.00802367 -0.34032781 0.01389762
+v 0.01429610 -0.34035497 -0.00705897
+v 0.01763408 -0.30273405 0.01018119
+v -0.00862764 -0.30307622 0.01808332
+v -0.01074666 -0.34074274 0.01179252
+v 0.01299853 -0.31039077 -0.01167210
+v 0.01018103 -0.30273409 0.01763424
+v 0.01389744 -0.34032780 0.00802386
+v -0.00705907 -0.34035499 0.01429631
+v 0.01808315 -0.30307609 -0.00862763
+v -0.01167224 -0.31039079 0.01299874
+v 0.01179231 -0.34074273 -0.01074651
+f 7 3 4
+f 8 2 3
+f 8 7 1
+f 8 3 7
+f 9 5 1
+f 9 4 5
+f 9 7 4
+f 9 1 7
+f 10 3 2
+f 10 4 3
+f 11 5 4
+f 11 10 6
+f 11 4 10
+f 12 11 6
+f 12 5 11
+f 12 2 8
+f 12 8 1
+f 12 1 5
+f 12 10 2
+f 12 6 10
\ No newline at end of file
diff --git a/objects/objaverse/rolling_pin/rolling_pin_1/collision/model_normalized_collision_17.obj b/objects/objaverse/rolling_pin/rolling_pin_1/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7015d6266c84441252e5fc07f35bd8f839d52000
--- /dev/null
+++ b/objects/objaverse/rolling_pin/rolling_pin_1/collision/model_normalized_collision_17.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.01618552 -0.27385790 0.01618548
+v 0.01439396 -0.26515151 -0.08086869
+v 0.05527283 -0.08333333 0.06075653
+v -0.07295880 -0.08333332 0.03773182
+v -0.02926902 -0.27385789 0.01618548
+v 0.01439397 -0.08333333 -0.08086872
+v -0.02528642 -0.26515151 -0.07814191
+v -0.02528643 -0.08333333 -0.07814193
+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 7 6 2
+f 8 7 4
+f 8 4 6
+f 8 6 7
\ No newline at end of file
diff --git a/objects/objaverse/rolling_pin/rolling_pin_1/collision/model_normalized_collision_18.obj b/objects/objaverse/rolling_pin/rolling_pin_1/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f7e8fa0851ce4eee496a50d1f6416bb06ce8701f
--- /dev/null
+++ b/objects/objaverse/rolling_pin/rolling_pin_1/collision/model_normalized_collision_18.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.07679030 -0.27385790 -0.02926863
+v 0.06529244 -0.27385790 -0.05010051
+v 0.06529244 0.27480435 -0.05010058
+v 0.06164007 0.27480435 -0.02926907
+v 0.06164007 -0.27385790 -0.02926907
+v 0.07679032 0.27480435 -0.02926864
+v 0.05900937 -0.27385790 -0.05726506
+v 0.05900941 0.27480435 -0.05726510
+f 1 2 3
+f 5 1 4
+f 6 1 3
+f 6 3 4
+f 6 4 1
+f 7 2 1
+f 7 1 5
+f 7 5 4
+f 8 7 4
+f 8 4 3
+f 8 3 2
+f 8 2 7
\ No newline at end of file
diff --git a/objects/objaverse/rolling_pin/rolling_pin_1/collision/model_normalized_collision_21.obj b/objects/objaverse/rolling_pin/rolling_pin_1/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c7f06201b2478d0a0a86793fedd6c2dea47ce275
--- /dev/null
+++ b/objects/objaverse/rolling_pin/rolling_pin_1/collision/model_normalized_collision_21.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.01987147 0.46009437 0.01987144
+v 0.01985559 0.46027436 -0.01985563
+v 0.00917632 0.49473702 0.00917628
+v -0.01267113 0.49345994 0.00731563
+v -0.01985559 0.46027436 0.01985552
+v 0.00731570 0.49345994 -0.01267120
+v 0.01679954 0.47923418 0.01679951
+v -0.00725329 0.49345994 -0.01269708
+v -0.01649806 0.47989880 0.01649800
+v 0.01649806 0.47989880 -0.01649810
+v -0.01269702 0.49345994 -0.00725333
+v -0.01983968 0.46045433 -0.01983975
+v -0.01619655 0.48056342 -0.01619661
+f 5 2 1
+f 7 1 2
+f 7 5 1
+f 8 3 6
+f 9 7 3
+f 9 3 4
+f 9 5 7
+f 10 6 3
+f 10 3 7
+f 10 7 2
+f 10 8 6
+f 11 4 3
+f 11 3 8
+f 11 9 4
+f 12 2 5
+f 12 5 9
+f 12 10 2
+f 13 11 8
+f 13 8 10
+f 13 10 12
+f 13 12 9
+f 13 9 11
\ No newline at end of file
diff --git a/objects/objaverse/rolling_pin/rolling_pin_1/collision/model_normalized_collision_3.obj b/objects/objaverse/rolling_pin/rolling_pin_1/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..823326c1d933aab78d14f9340d55a37fefc743fb
--- /dev/null
+++ b/objects/objaverse/rolling_pin/rolling_pin_1/collision/model_normalized_collision_3.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.01355814 -0.29107595 -0.02348331
+v 0.01439396 -0.27385792 -0.08086869
+v 0.01618552 -0.27385791 -0.02926907
+v -0.02926902 -0.27385790 -0.02926907
+v -0.02528641 -0.27385791 -0.07814191
+v 0.01439396 -0.26515151 -0.08086869
+v -0.01188961 -0.29145830 -0.02389035
+v -0.02528642 -0.26515151 -0.07814191
+f 1 2 3
+f 1 3 4
+f 6 3 2
+f 6 2 5
+f 7 5 2
+f 7 2 1
+f 7 1 4
+f 7 4 5
+f 8 4 3
+f 8 3 6
+f 8 6 5
+f 8 5 4
\ No newline at end of file
diff --git a/objects/objaverse/rolling_pin/rolling_pin_1/visual/material.mtl b/objects/objaverse/rolling_pin/rolling_pin_1/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..33616803300962094e8955deb30562079542847b
--- /dev/null
+++ b/objects/objaverse/rolling_pin/rolling_pin_1/visual/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 250.00000000
+map_Kd material_0.jpeg
\ No newline at end of file
diff --git a/objects/objaverse/rolling_pin/rolling_pin_1/visual/model_normalized_0.obj b/objects/objaverse/rolling_pin/rolling_pin_1/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..03b51ba1d5633bbb55ffe63c9f4412e7507274c6
--- /dev/null
+++ b/objects/objaverse/rolling_pin/rolling_pin_1/visual/model_normalized_0.obj
@@ -0,0 +1,4955 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
+v -0.00378687 0.49345994 -0.01413289
+v 0.00000000 0.49345994 -0.01463146
+v 0.00000000 0.50000000 -0.00616069
+v -0.00159449 0.50000000 -0.00595078
+v -0.00458410 0.30868697 -0.01710815
+v 0.00000000 0.30868697 -0.01771168
+v 0.00000000 0.33717900 -0.01617153
+v -0.00418550 0.33717900 -0.01562051
+v -0.00159449 0.50000000 -0.00595078
+v 0.00000000 0.50000000 -0.00616069
+v 0.00000000 0.50000000 -0.00024977
+v -0.00006463 0.50000000 -0.00024126
+v -0.00006463 0.50000000 -0.00024126
+v 0.00000000 0.36259305 -0.01540149
+v -0.00398620 0.36259305 -0.01487669
+v 0.00000000 0.37480350 -0.01771169
+v -0.00458410 0.37480350 -0.01710819
+v 0.00000000 0.40306786 -0.02464231
+v -0.00637790 0.40306786 -0.02380264
+v -0.00817164 0.27480434 -0.03049715
+v 0.00000000 0.27480434 -0.03157280
+v 0.00000000 0.28558556 -0.03157281
+v -0.00817164 0.28558556 -0.03049716
+v 0.00000000 0.43849221 -0.03080278
+v -0.00797234 0.43849221 -0.02975319
+v -0.00637787 0.29559591 -0.02380262
+v 0.00000000 0.29559591 -0.02464227
+v 0.00000000 0.47545558 -0.02618247
+v -0.00677650 0.47545558 -0.02529032
+v -0.00817164 0.28558556 -0.03049716
+v 0.00000000 0.28558556 -0.03157281
+v 0.00000000 0.49345994 -0.01463146
+v -0.00378687 0.49345994 -0.01413289
+v -0.00000001 0.27480434 -0.00000009
+v 0.00000000 0.27480434 -0.03157280
+v -0.00817164 0.27480434 -0.03049715
+v -0.00770072 0.36259305 -0.01333808
+v -0.00885582 0.37480350 -0.01533878
+v -0.01232111 0.40306786 -0.02134088
+v -0.01578641 0.27480434 -0.02734292
+v -0.01578641 0.28558556 -0.02734292
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+v -0.01232111 0.29559591 -0.02134083
+v -0.00885582 0.30868697 -0.01533877
+v -0.01309119 0.47545558 -0.02267468
+v -0.01578641 0.28558556 -0.02734292
+v -0.00731570 0.49345994 -0.01267123
+v -0.01578641 0.27480434 -0.02734292
+v -0.00731570 0.49345994 -0.01267123
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+v -0.00808574 0.33717900 -0.01400498
+v -0.00308033 0.50000000 -0.00533534
+v -0.00308033 0.50000000 -0.00533534
+v -0.00012485 0.50000000 -0.00021632
+v -0.00012485 0.50000000 -0.00021632
+v -0.01742471 0.40306786 -0.01742477
+v -0.01232111 0.40306786 -0.02134088
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+v -0.02178087 0.43849221 -0.02178093
+v -0.01742469 0.29559591 -0.01742473
+v -0.01232111 0.29559591 -0.02134083
+v -0.00885582 0.30868697 -0.01533877
+v -0.01252401 0.30868697 -0.01252405
+v -0.01309119 0.47545558 -0.02267468
+v -0.01851375 0.47545558 -0.01851382
+v -0.02232537 0.28558556 -0.02232541
+v -0.01578641 0.28558556 -0.02734292
+v -0.00731570 0.49345994 -0.01267123
+v -0.01034596 0.49345994 -0.01034602
+v -0.02232537 0.27480434 -0.02232540
+v -0.01034596 0.49345994 -0.01034602
+v -0.00435624 0.50000000 -0.00435631
+v -0.00808574 0.33717900 -0.01400498
+v -0.01143497 0.33717900 -0.01143502
+v -0.00435624 0.50000000 -0.00435631
+v -0.00017657 0.50000000 -0.00017663
+v -0.00017657 0.50000000 -0.00017663
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+v -0.00533527 0.50000000 -0.00308039
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+v -0.00533527 0.50000000 -0.00308039
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+v -0.02267462 0.47545558 -0.01309125
+v -0.02734288 0.28558556 -0.01578648
+v -0.01267116 0.49345994 -0.00731576
+v -0.02734288 0.27480434 -0.01578648
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+v -0.01413282 0.49345994 -0.00378693
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+v -0.01413282 0.49345994 -0.00378693
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+v -0.01562047 0.33717900 -0.00418554
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+v -0.00024120 0.50000000 -0.00006469
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+v -0.01771164 0.30868697 -0.00000004
+v -0.03080272 0.43849221 -0.00000006
+v -0.02618241 0.47545558 -0.00000007
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+v -0.03157276 0.28558556 -0.00000004
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+v -0.03049711 0.28558556 0.00817160
+v -0.02975313 0.43849221 0.00797228
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+v -0.02529025 0.47545558 0.00677644
+v -0.03049711 0.28558556 0.00817160
+v -0.01413282 0.49345994 0.00378683
+v -0.03049711 0.27480434 0.00817160
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+v -0.02734288 0.28558556 0.01578637
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+v -0.01413282 0.49345994 0.00378683
+v -0.01267113 0.49345994 0.00731563
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+f 1180/1180/1180 713/713/713 705/705/705
+f 713/713/713 1180/1180/1180 1182/1182/1182
+f 1182/1182/1182 715/715/715 713/713/713
+f 715/715/715 1182/1182/1182 1184/1184/1184
+f 1184/1184/1184 717/717/717 715/715/715
+f 720/720/720 1185/1185/1185 1188/1188/1188
+f 1188/1188/1188 721/721/721 720/720/720
+f 717/717/717 1184/1184/1184 1161/1161/1161
+f 1161/1161/1161 723/723/723 717/717/717
+f 726/726/726 1157/1157/1157 1160/1160/1160
+f 1160/1160/1160 704/704/704 726/726/726
+f 723/723/723 1161/1161/1161 1164/1164/1164
+f 1164/1164/1164 727/727/727 723/723/723
+f 730/730/730 1165/1165/1165 1157/1157/1157
+f 1157/1157/1157 726/726/726 730/730/730
+f 727/727/727 1164/1164/1164 1168/1168/1168
+f 1168/1168/1168 731/731/731 727/727/727
\ No newline at end of file
diff --git a/objects/objaverse/rolling_pin/rolling_pin_2/collision/model_normalized_collision_0.obj b/objects/objaverse/rolling_pin/rolling_pin_2/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..15dd6edb79def40910792e7a94644bc1f241d518
--- /dev/null
+++ b/objects/objaverse/rolling_pin/rolling_pin_2/collision/model_normalized_collision_0.obj
@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
+v 0.06138901 -0.00836571 0.02090118
+v 0.05973268 -0.01003797 -0.02709754
+v 0.04337099 0.09564487 -0.02502527
+v -0.05149475 0.10069870 0.06273793
+v -0.06081972 -0.00496667 0.01934741
+v 0.03187413 0.09870579 0.05853673
+v 0.05881958 0.05166404 0.00823984
+v 0.01287721 -0.00651621 0.06193557
+v -0.01412176 -0.00924608 -0.06342345
+v -0.06247742 0.09910259 -0.02595365
+v 0.05780879 0.05094241 -0.00174592
+v 0.04208396 0.09772609 0.04708594
+v -0.04665387 -0.00430115 0.04310661
+v 0.00759519 0.09942187 0.07322177
+v 0.03466973 0.00858418 0.05447027
+v 0.03858848 -0.00947350 -0.05367564
+v -0.05899333 -0.00680722 -0.02399596
+v -0.03734980 0.10142366 0.07082345
+v 0.01905413 0.09517116 -0.04576647
+v -0.06492478 0.10080893 0.04825157
+v 0.05571713 0.01960737 -0.02526100
+v 0.05712031 0.03636693 0.02304591
+v 0.02311639 -0.00669151 0.05885966
+v 0.04635094 0.03794152 0.04409727
+v 0.04427757 0.04966969 -0.03493186
+v 0.01127207 -0.00967657 -0.06433802
+v -0.03609471 -0.00775744 -0.05313301
+v -0.01291831 0.05537670 0.07038548
+v -0.04641077 0.05639275 0.05774070
+v -0.03784463 0.09725701 -0.04590823
+v 0.03409862 0.04968204 -0.04557333
+v -0.05722097 0.01077427 0.03285299
+v 0.00957855 0.06968130 0.07030486
+v 0.01088981 0.00519684 -0.06234045
+v -0.03622733 0.08663478 0.06879788
+v -0.06006421 0.05650691 0.04301385
+v -0.00312463 0.05479240 0.07035562
+v -0.01392723 0.00574471 -0.06188346
+f 7 1 2
+f 8 2 1
+f 9 2 8
+f 11 7 2
+f 11 3 7
+f 12 7 3
+f 12 3 6
+f 13 5 8
+f 15 6 14
+f 17 9 8
+f 17 8 5
+f 17 5 10
+f 18 6 3
+f 18 3 10
+f 18 14 6
+f 20 10 5
+f 20 18 10
+f 20 4 18
+f 21 11 2
+f 21 2 3
+f 21 3 11
+f 22 12 1
+f 22 1 7
+f 22 7 12
+f 23 8 1
+f 23 1 15
+f 24 12 6
+f 24 6 15
+f 24 15 1
+f 24 1 12
+f 25 3 2
+f 25 2 16
+f 26 16 2
+f 26 2 9
+f 27 17 10
+f 27 9 17
+f 28 14 18
+f 28 13 8
+f 29 18 4
+f 29 13 28
+f 30 10 3
+f 30 3 19
+f 30 27 10
+f 30 9 27
+f 31 19 3
+f 31 16 19
+f 31 25 16
+f 31 3 25
+f 32 20 5
+f 32 5 13
+f 33 8 23
+f 33 23 15
+f 33 15 14
+f 34 19 16
+f 34 16 26
+f 34 30 19
+f 35 29 28
+f 35 28 18
+f 35 18 29
+f 36 32 13
+f 36 20 32
+f 36 13 29
+f 36 29 4
+f 36 4 20
+f 37 28 8
+f 37 8 33
+f 37 33 14
+f 37 14 28
+f 38 34 26
+f 38 26 9
+f 38 9 30
+f 38 30 34
\ No newline at end of file
diff --git a/objects/objaverse/rolling_pin/rolling_pin_2/collision/model_normalized_collision_1.obj b/objects/objaverse/rolling_pin/rolling_pin_2/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1f214b7febeee785adb8069f8164734d960b6959
--- /dev/null
+++ b/objects/objaverse/rolling_pin/rolling_pin_2/collision/model_normalized_collision_1.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.04669994 -0.00734910 0.04303461
+v 0.06339535 -0.00897578 -0.01753133
+v 0.06005751 0.03661859 0.00849150
+v -0.03912980 0.04024254 0.05888411
+v -0.06120255 -0.00624370 -0.01566099
+v 0.01301048 0.03840071 0.06660664
+v 0.06377131 -0.00851776 0.00924648
+v -0.03576241 -0.00412411 0.05280738
+v -0.06491636 0.03889265 -0.01641597
+v 0.04635094 0.03794152 0.04409727
+v -0.06244486 -0.00581444 0.00985838
+v 0.01287721 -0.00651621 0.06193557
+v 0.05833936 0.03548770 -0.01384061
+v -0.06788904 0.03896977 0.01047613
+f 7 2 3
+f 9 2 5
+f 10 6 1
+f 10 4 6
+f 10 9 4
+f 10 3 9
+f 10 7 3
+f 10 1 7
+f 11 5 2
+f 11 8 4
+f 12 6 4
+f 12 4 8
+f 12 1 6
+f 12 8 11
+f 12 7 1
+f 12 11 2
+f 12 2 7
+f 13 9 3
+f 13 3 2
+f 13 2 9
+f 14 9 5
+f 14 5 11
+f 14 11 4
+f 14 4 9
\ No newline at end of file
diff --git a/objects/objaverse/rolling_pin/rolling_pin_2/collision/model_normalized_collision_10.obj b/objects/objaverse/rolling_pin/rolling_pin_2/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6b070bf6ea99fd534239716e074b01eb20c1cbf6
--- /dev/null
+++ b/objects/objaverse/rolling_pin/rolling_pin_2/collision/model_normalized_collision_10.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.00134201 -0.21863474 0.03496578
+v -0.02097181 -0.21934631 -0.07063180
+v -0.01253541 -0.14229165 -0.07377394
+v -0.03826311 -0.14220074 0.01952113
+v -0.02977664 -0.21604422 0.01120657
+v -0.04642077 -0.14263901 -0.03088767
+v -0.00943850 -0.14666821 0.04187564
+v -0.03659073 -0.21885253 -0.04712098
+v -0.04074803 -0.14369275 -0.04592264
+v -0.04546320 -0.14129673 0.00410214
+v -0.00041303 -0.18897279 0.03875954
+v -0.01650871 -0.21615161 0.02551844
+v -0.04345542 -0.15611940 0.00318386
+v -0.04374205 -0.17204383 -0.00569610
+v -0.01974909 -0.18661692 0.02901025
+v -0.04394490 -0.17272991 -0.03038435
+f 1 2 3
+f 7 3 4
+f 8 2 1
+f 8 1 5
+f 9 6 3
+f 9 3 2
+f 9 8 6
+f 9 2 8
+f 10 4 3
+f 10 3 6
+f 11 7 1
+f 11 1 3
+f 11 3 7
+f 12 5 1
+f 12 1 7
+f 13 5 4
+f 13 4 10
+f 14 10 6
+f 14 13 10
+f 14 8 5
+f 14 5 13
+f 15 12 7
+f 15 7 4
+f 15 4 5
+f 15 5 12
+f 16 14 6
+f 16 6 8
+f 16 8 14
\ No newline at end of file
diff --git a/objects/objaverse/rolling_pin/rolling_pin_2/collision/model_normalized_collision_11.obj b/objects/objaverse/rolling_pin/rolling_pin_2/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..17336b8f13a1ad0834e0628537ec81d76365be11
--- /dev/null
+++ b/objects/objaverse/rolling_pin/rolling_pin_2/collision/model_normalized_collision_11.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.05879411 -0.26503446 0.02488193
+v 0.06809458 -0.23473140 0.01945196
+v 0.03786242 -0.14299726 0.04284229
+v -0.03113080 -0.14058337 0.02761125
+v -0.03664292 -0.15696808 0.01777522
+v 0.02821403 -0.26424507 0.03309948
+v 0.06133141 -0.23442549 0.02573982
+v 0.06662259 -0.14429185 0.02205747
+v 0.03786042 -0.18809572 0.03982852
+v -0.00857589 -0.14149459 0.04327986
+v -0.02606787 -0.18824857 0.02179585
+v 0.06127941 -0.14370270 0.02726732
+v -0.03826311 -0.14220074 0.01952113
+v 0.05299603 -0.26420683 0.02765255
+v 0.01734097 -0.20223089 0.04031111
+v 0.03007794 -0.26578506 0.03270330
+v -0.01974909 -0.18661692 0.02901025
+v 0.06090991 -0.18915076 0.02686957
+v 0.02712825 -0.20274192 0.03965562
+v -0.00633097 -0.17107236 0.03922870
+f 5 2 1
+f 7 1 2
+f 8 2 5
+f 9 7 3
+f 10 3 4
+f 11 5 1
+f 12 2 8
+f 12 8 4
+f 12 4 3
+f 13 8 5
+f 13 4 8
+f 14 1 7
+f 14 7 9
+f 15 3 10
+f 16 11 1
+f 16 6 11
+f 16 1 14
+f 16 14 9
+f 16 9 6
+f 17 10 4
+f 17 5 11
+f 17 13 5
+f 17 4 13
+f 17 11 6
+f 18 12 3
+f 18 3 7
+f 18 7 2
+f 18 2 12
+f 19 9 3
+f 19 3 15
+f 19 15 6
+f 19 6 9
+f 20 15 10
+f 20 6 15
+f 20 17 6
+f 20 10 17
\ No newline at end of file
diff --git a/objects/objaverse/rolling_pin/rolling_pin_2/collision/model_normalized_collision_12.obj b/objects/objaverse/rolling_pin/rolling_pin_2/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be262669361224567340a77accac6bd50c6f5f96
--- /dev/null
+++ b/objects/objaverse/rolling_pin/rolling_pin_2/collision/model_normalized_collision_12.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.02749083 0.23411389 0.06255121
+v 0.03687806 0.23391460 0.01234213
+v 0.02561565 0.32544095 0.05618481
+v -0.01542686 0.34258983 0.00774253
+v -0.01757021 0.23602733 0.09109558
+v 0.02724886 0.32550365 0.02686704
+v 0.02631882 0.32420301 0.05324761
+v 0.00526998 0.24176641 -0.02716062
+v 0.00222252 0.31081557 0.08954097
+v 0.02766206 0.32368893 0.02853938
+v 0.02843730 0.30803206 0.01838164
+v 0.00528538 0.23611521 0.08344105
+v 0.01644888 0.31048588 0.07631952
+v -0.01689157 0.31094507 0.09882889
+v 0.02649538 0.26437384 0.06199187
+f 5 2 1
+f 6 4 3
+f 7 1 2
+f 7 3 1
+f 7 6 3
+f 8 5 4
+f 8 2 5
+f 10 7 2
+f 10 2 6
+f 10 6 7
+f 11 6 2
+f 11 2 8
+f 11 8 4
+f 11 4 6
+f 12 5 1
+f 13 3 9
+f 13 12 1
+f 13 9 12
+f 14 9 3
+f 14 3 4
+f 14 4 5
+f 14 12 9
+f 14 5 12
+f 15 13 1
+f 15 1 3
+f 15 3 13
\ No newline at end of file
diff --git a/objects/objaverse/rolling_pin/rolling_pin_2/collision/model_normalized_collision_13.obj b/objects/objaverse/rolling_pin/rolling_pin_2/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d3c538929b08af041e9c3f2148bb86908d2340d
--- /dev/null
+++ b/objects/objaverse/rolling_pin/rolling_pin_2/collision/model_normalized_collision_13.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.07318837 -0.33120352 0.01085398
+v 0.09371251 -0.32929915 -0.01937827
+v 0.07463280 -0.21983550 0.01362092
+v -0.00923344 -0.21746459 0.02931494
+v -0.02825547 -0.31023181 -0.01916640
+v 0.02879763 -0.21927270 0.03771945
+v 0.08928355 -0.33082157 -0.01061136
+v 0.01516195 -0.33704866 0.02007542
+v 0.08767997 -0.21988866 -0.01927632
+v 0.05299603 -0.26420683 0.02765255
+v 0.08668387 -0.23642370 -0.00740744
+v -0.01948364 -0.30801793 0.00055119
+v 0.01765336 -0.32321573 0.02352709
+v 0.01026366 -0.34529751 -0.01527377
+v 0.08962107 -0.23617204 -0.02196186
+v -0.03955702 -0.21884868 -0.01960325
+v -0.00586605 -0.26183125 0.02323820
+v 0.00917845 -0.30732037 0.02343133
+v 0.04235196 -0.32401369 0.02507561
+v -0.03048340 -0.29348902 -0.02063284
+v -0.03253127 -0.21741785 0.00511728
+v -0.01560773 -0.27686559 0.01211589
+v 0.05183327 -0.30949540 0.02516966
+v -0.02809891 -0.29244946 -0.01206142
+v -0.02851571 -0.24706318 0.00328073
+f 6 3 4
+f 7 3 1
+f 9 4 3
+f 10 1 3
+f 10 3 6
+f 11 7 2
+f 11 3 7
+f 11 9 3
+f 12 5 8
+f 14 7 1
+f 14 1 8
+f 14 2 7
+f 14 8 5
+f 14 5 2
+f 15 11 2
+f 15 9 11
+f 16 9 15
+f 18 13 6
+f 18 6 4
+f 18 8 13
+f 18 4 17
+f 19 6 13
+f 19 13 8
+f 19 8 1
+f 20 15 2
+f 20 2 5
+f 20 16 15
+f 20 5 16
+f 21 4 9
+f 21 9 16
+f 21 16 5
+f 22 17 4
+f 22 18 17
+f 22 12 8
+f 22 8 18
+f 22 21 12
+f 22 4 21
+f 23 10 6
+f 23 6 19
+f 23 19 1
+f 23 1 10
+f 24 21 5
+f 24 5 12
+f 25 24 12
+f 25 12 21
+f 25 21 24
\ No newline at end of file
diff --git a/objects/objaverse/rolling_pin/rolling_pin_2/collision/model_normalized_collision_14.obj b/objects/objaverse/rolling_pin/rolling_pin_2/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ab50526f8c2f9154b1e36d9cfc31b7f91507fa6
--- /dev/null
+++ b/objects/objaverse/rolling_pin/rolling_pin_2/collision/model_normalized_collision_14.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.01934957 -0.38424022 -0.03626158
+v 0.01836706 -0.38506224 -0.04813822
+v 0.01696117 -0.31157871 -0.09890383
+v -0.00641825 -0.30812176 0.01464503
+v -0.02331087 -0.33908158 -0.04523285
+v 0.01452548 -0.31033988 0.02472114
+v 0.01799410 -0.32844342 -0.09688254
+v -0.01541779 -0.34235870 -0.01018945
+v -0.01869803 -0.31006083 -0.07234946
+v -0.01653428 -0.33293076 -0.06981970
+v -0.01948364 -0.30801793 0.00055119
+v -0.00340745 -0.33556396 0.01140061
+v 0.00573564 -0.33045120 -0.09127601
+v -0.01624030 -0.33533875 -0.00241321
+v 0.00667944 -0.34255057 0.01193971
+v 0.00639346 -0.31166026 -0.09396033
+v 0.01606568 -0.34214431 0.01721377
+f 6 3 4
+f 7 1 2
+f 7 6 1
+f 7 3 6
+f 8 5 2
+f 8 2 1
+f 10 2 5
+f 10 5 9
+f 11 9 5
+f 11 4 3
+f 11 3 9
+f 12 6 4
+f 13 3 7
+f 13 10 9
+f 13 7 2
+f 13 2 10
+f 14 11 5
+f 14 5 8
+f 14 8 12
+f 14 12 4
+f 14 4 11
+f 15 12 8
+f 15 8 1
+f 16 13 9
+f 16 9 3
+f 16 3 13
+f 17 15 1
+f 17 1 6
+f 17 6 12
+f 17 12 15
\ No newline at end of file
diff --git a/objects/objaverse/rolling_pin/rolling_pin_2/collision/model_normalized_collision_15.obj b/objects/objaverse/rolling_pin/rolling_pin_2/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc6213f0bd661b4ffd0942d44adf6bbfa8330cbb
--- /dev/null
+++ b/objects/objaverse/rolling_pin/rolling_pin_2/collision/model_normalized_collision_15.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.03187413 0.09870579 0.05853673
+v 0.05076224 0.09902460 0.02791367
+v 0.03840719 0.16079622 0.04877115
+v -0.06566366 0.16152007 0.06182862
+v -0.07347558 0.09888796 0.02626155
+v -0.00176290 0.15972793 0.08113554
+v 0.03236680 0.15930320 0.05906706
+v -0.08114768 0.16041496 0.02541286
+v -0.05351676 0.16170167 0.07265590
+v 0.04581050 0.15920639 0.02690704
+v -0.07458526 0.16192700 0.04901654
+v -0.06492478 0.10080893 0.04825157
+v -0.07570351 0.11563075 0.02479511
+v -0.07416846 0.11654072 0.03367441
+v -0.06043359 0.11721156 0.05698864
+v -0.00254103 0.09976477 0.07497559
+v -0.05127183 0.13212390 0.06860475
+v -0.03734980 0.10142366 0.07082345
+f 5 2 1
+f 7 1 2
+f 7 2 3
+f 7 6 1
+f 7 3 6
+f 9 6 3
+f 10 8 3
+f 10 3 2
+f 11 3 8
+f 11 9 3
+f 11 4 9
+f 12 4 11
+f 13 10 2
+f 13 2 5
+f 13 5 8
+f 13 8 10
+f 14 11 8
+f 14 8 5
+f 14 12 11
+f 14 5 12
+f 15 4 12
+f 16 5 1
+f 16 1 6
+f 17 9 4
+f 17 4 15
+f 18 12 5
+f 18 5 16
+f 18 9 17
+f 18 16 6
+f 18 6 9
+f 18 17 15
+f 18 15 12
\ No newline at end of file
diff --git a/objects/objaverse/rolling_pin/rolling_pin_2/collision/model_normalized_collision_16.obj b/objects/objaverse/rolling_pin/rolling_pin_2/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d727427de07a7025eb7fb82048a487fdb2a4aa38
--- /dev/null
+++ b/objects/objaverse/rolling_pin/rolling_pin_2/collision/model_normalized_collision_16.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.01184351 0.34690489 0.06157240
+v 0.00032650 0.34404412 0.01006084
+v -0.02508227 0.41866505 0.06584884
+v -0.05606819 0.42119966 0.07626713
+v -0.06284163 0.35235252 0.02269374
+v -0.03729435 0.42016008 0.07537256
+v -0.04417591 0.34778753 0.00736262
+v -0.06287190 0.35508773 0.05917964
+v -0.05558415 0.41873879 0.02537255
+v -0.04380269 0.38951080 0.07025023
+v -0.06945487 0.42036173 0.06543851
+v -0.02471375 0.41712581 0.03460224
+v -0.03266497 0.34796955 0.00647946
+v -0.06708768 0.41936228 0.03305170
+v -0.03678855 0.41743218 0.02515618
+f 1 2 3
+f 6 1 3
+f 7 2 1
+f 8 7 1
+f 8 5 7
+f 9 4 6
+f 10 8 1
+f 10 4 8
+f 10 6 4
+f 10 1 6
+f 11 8 4
+f 11 5 8
+f 12 9 6
+f 12 6 3
+f 12 3 2
+f 13 2 7
+f 13 7 9
+f 14 9 7
+f 14 7 5
+f 14 5 11
+f 14 11 4
+f 14 4 9
+f 15 12 2
+f 15 9 12
+f 15 13 9
+f 15 2 13
\ No newline at end of file
diff --git a/objects/objaverse/rolling_pin/rolling_pin_2/collision/model_normalized_collision_17.obj b/objects/objaverse/rolling_pin/rolling_pin_2/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..de3a7b0c28c3fcb1dadc20c571826fdc6ad7b46a
--- /dev/null
+++ b/objects/objaverse/rolling_pin/rolling_pin_2/collision/model_normalized_collision_17.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.06283652 -0.40213727 -0.03185948
+v 0.06101132 -0.40545243 -0.06671417
+v 0.07252874 -0.32812013 -0.07714097
+v 0.01516195 -0.33704866 0.02007542
+v 0.02653730 -0.39962207 -0.03028935
+v 0.07424623 -0.33667028 -0.00322763
+v 0.01606568 -0.34214431 0.01721377
+v 0.01344795 -0.33442248 -0.07866068
+v 0.05530143 -0.33658567 0.01875169
+v 0.02753103 -0.40266773 -0.06525137
+v 0.05344120 -0.33823865 0.01886286
+f 5 2 1
+f 6 1 2
+f 6 2 3
+f 7 5 1
+f 8 3 2
+f 8 4 3
+f 8 7 4
+f 8 5 7
+f 9 6 3
+f 9 3 4
+f 9 1 6
+f 10 8 2
+f 10 2 5
+f 10 5 8
+f 11 9 4
+f 11 4 7
+f 11 7 1
+f 11 1 9
\ No newline at end of file
diff --git a/objects/objaverse/rolling_pin/rolling_pin_2/collision/model_normalized_collision_18.obj b/objects/objaverse/rolling_pin/rolling_pin_2/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e4e11cbbf84aee05ce06de37a22bc1612e5023f9
--- /dev/null
+++ b/objects/objaverse/rolling_pin/rolling_pin_2/collision/model_normalized_collision_18.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.07463280 -0.21983550 0.01362092
+v 0.07532370 -0.22289475 -0.06592257
+v 0.07634004 -0.14463789 0.00479005
+v -0.00943850 -0.14666821 0.04187564
+v -0.03831740 -0.22429285 -0.01458619
+v 0.00090741 -0.14550864 -0.07954345
+v 0.06662259 -0.14429185 0.02205747
+v -0.00382619 -0.22061263 0.03174776
+v 0.05941145 -0.14730387 -0.06521857
+v 0.00292090 -0.22025549 -0.08622394
+v 0.03872010 -0.14651342 -0.07813632
+v 0.07508920 -0.14636803 -0.04234282
+v 0.06467175 -0.22283327 -0.07741851
+v 0.07165286 -0.16213215 -0.05550162
+v 0.04895049 -0.16253598 -0.07533563
+v 0.06305156 -0.20806593 -0.07567261
+f 1 2 3
+f 5 2 1
+f 6 5 4
+f 7 1 3
+f 7 4 1
+f 7 6 4
+f 7 3 6
+f 8 5 1
+f 8 1 4
+f 8 4 5
+f 10 5 6
+f 11 6 3
+f 11 10 6
+f 12 3 2
+f 12 11 3
+f 12 9 11
+f 13 2 5
+f 13 5 10
+f 13 10 11
+f 13 9 2
+f 14 12 2
+f 14 2 9
+f 14 9 12
+f 15 11 9
+f 16 15 9
+f 16 9 13
+f 16 13 11
+f 16 11 15
\ No newline at end of file
diff --git a/objects/objaverse/rolling_pin/rolling_pin_2/collision/model_normalized_collision_19.obj b/objects/objaverse/rolling_pin/rolling_pin_2/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed94b193d4b0fe5ff48c07e5a1c54430aa82d8ad
--- /dev/null
+++ b/objects/objaverse/rolling_pin/rolling_pin_2/collision/model_normalized_collision_19.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.03236680 0.15930320 0.05906706
+v 0.03224121 0.15641290 -0.02266315
+v 0.02841997 0.23191705 -0.00891414
+v -0.03487708 0.23224230 0.09080712
+v -0.03296582 0.15787526 0.08081930
+v -0.03062577 0.15853804 -0.04382730
+v 0.02749083 0.23411389 0.06255121
+v 0.00354471 0.23141917 -0.02996909
+v 0.02083413 0.15635228 -0.03382711
+v -0.02965311 0.23349199 -0.03612734
+v 0.01858920 0.18593005 -0.02977596
+v 0.02875450 0.18595191 -0.01943650
+f 1 2 3
+f 5 2 1
+f 5 1 4
+f 6 5 4
+f 7 1 3
+f 7 4 1
+f 9 2 5
+f 9 5 6
+f 9 6 8
+f 10 8 6
+f 10 6 4
+f 10 4 7
+f 10 7 3
+f 10 3 8
+f 11 9 8
+f 11 8 3
+f 11 2 9
+f 12 11 3
+f 12 3 2
+f 12 2 11
\ No newline at end of file
diff --git a/objects/objaverse/rolling_pin/rolling_pin_2/collision/model_normalized_collision_2.obj b/objects/objaverse/rolling_pin/rolling_pin_2/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f6038c9d59f905fc571406f6888e5d941f79393
--- /dev/null
+++ b/objects/objaverse/rolling_pin/rolling_pin_2/collision/model_normalized_collision_2.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v 0.06127941 -0.14370270 0.02726732
+v 0.07508920 -0.14636803 -0.04234282
+v 0.07360135 -0.08473128 -0.00698684
+v -0.02474285 -0.08121658 0.04511231
+v -0.04642077 -0.14263901 -0.03088767
+v 0.05968178 -0.08356332 0.02973205
+v 0.07634004 -0.14463789 0.00479005
+v 0.01299032 -0.14297330 0.04767949
+v -0.01182513 -0.08394973 -0.07020657
+v 0.07190209 -0.10002838 0.00781924
+v 0.00090741 -0.14550864 -0.07954345
+v -0.03113080 -0.14058337 0.02761125
+v 0.01376846 -0.08301014 0.05383944
+v 0.04960803 -0.08656597 -0.06137070
+v -0.05142059 -0.08249220 -0.03164306
+v -0.04788778 -0.08108779 0.02036255
+v 0.03872010 -0.14651342 -0.07813632
+v -0.00857589 -0.14149459 0.04327986
+v -0.04546320 -0.14129673 0.00410214
+v 0.05980064 -0.08661253 -0.05042721
+v 0.02582832 -0.11617025 -0.07637885
+v -0.02137546 -0.12558324 0.03903558
+v -0.04186445 -0.12555579 0.01760772
+v 0.07288216 -0.08543085 -0.01688857
+v 0.00129648 -0.11552706 -0.07646346
+v 0.03709991 -0.13174608 -0.07639042
+v 0.07107364 -0.11672269 -0.04050627
+f 7 2 3
+f 7 6 1
+f 8 7 1
+f 8 2 7
+f 9 6 3
+f 10 7 3
+f 10 3 6
+f 10 6 7
+f 11 8 5
+f 13 6 4
+f 13 8 1
+f 13 1 6
+f 14 9 3
+f 15 11 5
+f 15 9 11
+f 16 4 6
+f 16 6 9
+f 16 9 15
+f 16 12 4
+f 17 2 8
+f 17 8 11
+f 17 14 2
+f 18 13 4
+f 18 8 13
+f 19 5 8
+f 19 18 12
+f 19 8 18
+f 19 16 15
+f 19 15 5
+f 20 14 3
+f 20 2 14
+f 21 17 11
+f 21 9 14
+f 22 18 4
+f 22 4 12
+f 22 12 18
+f 23 19 12
+f 23 12 16
+f 23 16 19
+f 24 20 3
+f 24 3 2
+f 25 21 11
+f 25 11 9
+f 25 9 21
+f 26 21 14
+f 26 14 17
+f 26 17 21
+f 27 24 2
+f 27 2 20
+f 27 20 24
\ No newline at end of file
diff --git a/objects/objaverse/rolling_pin/rolling_pin_2/collision/model_normalized_collision_20.obj b/objects/objaverse/rolling_pin/rolling_pin_2/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..90afa2bf081c904fc10771ba373101fd2152de97
--- /dev/null
+++ b/objects/objaverse/rolling_pin/rolling_pin_2/collision/model_normalized_collision_20.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.05146540 0.09778666 0.02497647
+v 0.04337099 0.09564487 -0.02502527
+v 0.04651367 0.15796846 0.02396984
+v -0.07422612 0.15205934 0.04626805
+v -0.05919164 0.09237201 0.05244905
+v -0.03062577 0.15853804 -0.04382730
+v 0.02083413 0.15635228 -0.03382711
+v -0.02789191 0.09723783 -0.05057045
+v 0.04036062 0.15593743 -0.01001572
+v 0.03185202 0.09572156 -0.03745450
+v 0.01134192 0.09643486 -0.04955154
+v 0.04175080 0.11041221 -0.02327936
+v -0.01404034 0.14220180 -0.04762736
+v 0.02836531 0.12526057 -0.03422785
+v -0.00443095 0.14143734 -0.04630449
+v 0.00881804 0.12603094 -0.04591407
+f 1 2 3
+f 5 2 1
+f 5 1 3
+f 5 3 4
+f 6 4 3
+f 7 6 3
+f 8 5 4
+f 8 4 6
+f 9 7 3
+f 9 3 2
+f 10 2 5
+f 11 7 10
+f 11 10 5
+f 11 5 8
+f 12 9 2
+f 12 7 9
+f 12 2 10
+f 13 11 8
+f 13 8 6
+f 14 12 10
+f 14 10 7
+f 14 7 12
+f 15 13 6
+f 15 6 7
+f 15 11 13
+f 16 15 7
+f 16 7 11
+f 16 11 15
\ No newline at end of file
diff --git a/objects/objaverse/rolling_pin/rolling_pin_2/collision/model_normalized_collision_21.obj b/objects/objaverse/rolling_pin/rolling_pin_2/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c125eb47f034a99c1e5552035694a956f4a3eebc
--- /dev/null
+++ b/objects/objaverse/rolling_pin/rolling_pin_2/collision/model_normalized_collision_21.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.05919164 0.09237201 0.05244905
+v -0.03120648 0.09847222 -0.04893569
+v -0.02965311 0.23349199 -0.03612734
+v -0.09022130 0.23505530 0.02644244
+v -0.07350846 0.10006072 0.00006900
+v -0.07707055 0.23549039 -0.01048839
+v -0.05092052 0.09829745 -0.03763089
+v -0.07388879 0.10070268 0.02458919
+v -0.05297825 0.21846657 -0.03071849
+v -0.08771160 0.23001470 0.01516414
+v -0.06247742 0.09910259 -0.02595365
+v -0.04284294 0.23351001 -0.03445932
+v -0.06549999 0.23465105 -0.02186360
+v -0.07408419 0.14471056 -0.00881036
+f 1 2 3
+f 1 3 4
+f 6 4 3
+f 7 2 1
+f 8 5 1
+f 8 1 4
+f 8 4 5
+f 9 2 7
+f 10 5 4
+f 10 4 6
+f 11 7 1
+f 11 1 5
+f 11 6 7
+f 12 3 2
+f 12 2 9
+f 13 9 7
+f 13 7 6
+f 13 12 9
+f 13 6 3
+f 13 3 12
+f 14 10 6
+f 14 6 11
+f 14 11 5
+f 14 5 10
\ No newline at end of file
diff --git a/objects/objaverse/rolling_pin/rolling_pin_2/collision/model_normalized_collision_22.obj b/objects/objaverse/rolling_pin/rolling_pin_2/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..04657554e8e57edcc2bafc5fb29c991ca77621c3
--- /dev/null
+++ b/objects/objaverse/rolling_pin/rolling_pin_2/collision/model_normalized_collision_22.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v -0.03090393 0.42109493 0.07233744
+v -0.02471375 0.41712581 0.03460224
+v -0.03276722 0.48393928 0.06457351
+v -0.06518996 0.49335097 0.06572329
+v -0.07362165 0.42207446 0.04603538
+v -0.04080802 0.46889450 0.02905734
+v -0.05740192 0.49162247 0.07332200
+v -0.03015038 0.46926962 0.07221117
+v -0.02907015 0.46982160 0.03852026
+v -0.04263220 0.49347668 0.04372865
+v -0.07382438 0.45797810 0.03590834
+v -0.06440183 0.42382193 0.07283880
+v -0.04282498 0.49161160 0.07099979
+v -0.03176872 0.48264563 0.04844827
+v -0.07479806 0.47288757 0.06378499
+v -0.05814954 0.49267495 0.04085406
+v -0.06207606 0.42082822 0.02832301
+v -0.07564781 0.47167351 0.04711368
+v -0.07203027 0.42450243 0.06330574
+v -0.06501133 0.48764730 0.07226714
+v -0.05878107 0.47077369 0.02925442
+v -0.06644713 0.49354037 0.04870579
+v -0.03678855 0.41743218 0.02515618
+v -0.07434099 0.43643556 0.03719044
+v -0.06703000 0.45747167 0.02880965
+v -0.06482800 0.48492886 0.03988309
+v -0.07498343 0.44857702 0.03629556
+f 5 2 1
+f 8 1 2
+f 8 7 1
+f 9 2 6
+f 9 8 2
+f 10 9 6
+f 12 5 1
+f 12 1 7
+f 13 8 3
+f 13 7 8
+f 13 3 10
+f 13 10 4
+f 13 4 7
+f 14 3 8
+f 14 8 9
+f 14 10 3
+f 14 9 10
+f 16 10 6
+f 18 5 15
+f 19 15 5
+f 19 5 12
+f 19 12 15
+f 20 15 12
+f 20 12 7
+f 20 7 4
+f 20 4 15
+f 21 16 6
+f 22 4 10
+f 22 10 16
+f 22 18 15
+f 22 15 4
+f 23 6 2
+f 23 2 5
+f 23 5 17
+f 23 21 6
+f 24 17 5
+f 25 23 17
+f 25 21 23
+f 26 11 18
+f 26 18 22
+f 26 25 11
+f 26 22 16
+f 26 16 21
+f 26 21 25
+f 27 18 11
+f 27 11 25
+f 27 25 17
+f 27 17 24
+f 27 24 5
+f 27 5 18
\ No newline at end of file
diff --git a/objects/objaverse/rolling_pin/rolling_pin_2/collision/model_normalized_collision_23.obj b/objects/objaverse/rolling_pin/rolling_pin_2/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9033f2b719cbbafad7e655054261af64a43f3299
--- /dev/null
+++ b/objects/objaverse/rolling_pin/rolling_pin_2/collision/model_normalized_collision_23.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v 0.06313144 -0.49372349 -0.04491788
+v 0.07166692 -0.48768053 -0.06147559
+v 0.06283652 -0.40213727 -0.03185948
+v 0.02653730 -0.39962207 -0.03028935
+v 0.02888205 -0.46969230 -0.06991210
+v 0.03129555 -0.46739538 -0.03457948
+v 0.07343493 -0.47093884 -0.04197265
+v 0.04139321 -0.49331693 -0.06830679
+v 0.05639058 -0.42294354 -0.07682510
+v 0.07176866 -0.48698925 -0.05184082
+v 0.06424930 -0.48228440 -0.03818394
+v 0.06403052 -0.49189109 -0.06919917
+v 0.03138989 -0.48370528 -0.05976501
+v 0.03729379 -0.47093882 -0.07725582
+v 0.07350289 -0.43579161 -0.06885128
+v 0.02753103 -0.40266773 -0.06525137
+v 0.03898422 -0.48036962 -0.03696527
+v 0.06439780 -0.47261727 -0.07648604
+v 0.07209011 -0.47258085 -0.06952523
+v 0.06101132 -0.40545243 -0.06671417
+v 0.07224095 -0.42178422 -0.04046726
+v 0.03845303 -0.42198993 -0.07649702
+v 0.03258492 -0.48038912 -0.04322319
+v 0.06505596 -0.43590107 -0.07698422
+v 0.07377102 -0.42289302 -0.05793092
+v 0.04144081 -0.49345577 -0.04501114
+f 6 3 4
+f 6 4 5
+f 10 7 1
+f 10 1 2
+f 10 2 7
+f 11 1 7
+f 11 7 3
+f 11 3 6
+f 12 2 1
+f 12 1 8
+f 13 6 5
+f 13 5 8
+f 14 8 5
+f 14 12 8
+f 16 5 4
+f 16 4 3
+f 17 11 6
+f 17 1 11
+f 18 12 14
+f 19 15 7
+f 19 7 2
+f 19 2 12
+f 19 12 18
+f 20 16 3
+f 21 3 7
+f 22 14 5
+f 22 5 16
+f 22 9 14
+f 22 20 9
+f 22 16 20
+f 23 17 6
+f 23 6 13
+f 24 18 14
+f 24 14 9
+f 24 19 18
+f 24 15 19
+f 24 20 15
+f 24 9 20
+f 25 21 7
+f 25 7 15
+f 25 15 20
+f 25 20 3
+f 25 3 21
+f 26 23 13
+f 26 13 8
+f 26 8 1
+f 26 1 17
+f 26 17 23
\ No newline at end of file
diff --git a/objects/objaverse/rolling_pin/rolling_pin_2/collision/model_normalized_collision_24.obj b/objects/objaverse/rolling_pin/rolling_pin_2/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c56aab0ab925a483ed90d6f95ad361ce6f767bd4
--- /dev/null
+++ b/objects/objaverse/rolling_pin/rolling_pin_2/collision/model_normalized_collision_24.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.03990510 -0.14496787 -0.04732458
+v -0.01337548 -0.14433449 -0.07351709
+v -0.04642077 -0.14263901 -0.03088767
+v -0.05534116 -0.00730494 -0.03045737
+v -0.04971336 -0.00729459 -0.04047393
+v -0.01598566 -0.00770609 -0.06302728
+v -0.04440020 -0.14319502 -0.03946123
+v -0.02151524 -0.14411104 -0.06890030
+v -0.01431630 -0.02423687 -0.06496345
+v -0.02728144 -0.00598589 -0.05775658
+v -0.03609471 -0.00775744 -0.05313301
+v -0.02271101 -0.02395256 -0.06109797
+f 1 2 3
+f 6 4 3
+f 7 1 3
+f 7 3 4
+f 7 5 1
+f 7 4 5
+f 8 2 1
+f 8 1 5
+f 9 6 3
+f 9 3 2
+f 10 5 4
+f 10 4 6
+f 10 6 9
+f 11 8 5
+f 11 5 10
+f 11 10 2
+f 11 2 8
+f 12 10 9
+f 12 9 2
+f 12 2 10
\ No newline at end of file
diff --git a/objects/objaverse/rolling_pin/rolling_pin_2/collision/model_normalized_collision_25.obj b/objects/objaverse/rolling_pin/rolling_pin_2/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c43a7a7e36f15fda90abbd21bd3ac75f75200292
--- /dev/null
+++ b/objects/objaverse/rolling_pin/rolling_pin_2/collision/model_normalized_collision_25.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.02705362 -0.31283903 -0.05442261
+v 0.00059538 -0.31083263 -0.09118972
+v 0.00090741 -0.14550864 -0.07954345
+v -0.04074803 -0.14369275 -0.04592264
+v -0.01869803 -0.31006083 -0.07234946
+v -0.03476233 -0.14356677 -0.05658506
+v -0.03163899 -0.27903433 -0.04611435
+v -0.02845995 -0.31036316 -0.04854822
+v -0.00718209 -0.31076334 -0.08493274
+v -0.02979725 -0.27957965 -0.05494423
+v -0.01253541 -0.14229165 -0.07377394
+v -0.00757740 -0.14516212 -0.07628770
+f 7 3 4
+f 8 1 2
+f 8 2 3
+f 8 7 1
+f 8 3 7
+f 9 2 1
+f 9 1 5
+f 9 6 2
+f 9 5 6
+f 10 5 1
+f 10 6 5
+f 10 4 6
+f 10 7 4
+f 10 1 7
+f 11 2 6
+f 11 6 4
+f 11 4 3
+f 12 11 3
+f 12 3 2
+f 12 2 11
\ No newline at end of file
diff --git a/objects/objaverse/rolling_pin/rolling_pin_2/collision/model_normalized_collision_26.obj b/objects/objaverse/rolling_pin/rolling_pin_2/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d2cb5f16deda2ede9e7dec43d28b7249c76d4881
--- /dev/null
+++ b/objects/objaverse/rolling_pin/rolling_pin_2/collision/model_normalized_collision_26.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.00977669 0.31068299 0.08252110
+v 0.00862221 0.33342080 0.07948225
+v -0.06872926 0.32375716 0.08943829
+v -0.07065079 0.32715103 0.08134920
+v 0.00125959 0.33180747 0.08629570
+v -0.07573460 0.31082844 0.08629992
+v 0.00222252 0.31081557 0.08954097
+v -0.07014863 0.31273856 0.09047886
+f 2 1 4
+f 5 2 4
+f 5 4 3
+f 6 3 4
+f 6 4 1
+f 7 1 2
+f 7 2 5
+f 7 5 3
+f 7 6 1
+f 8 7 3
+f 8 3 6
+f 8 6 7
\ No newline at end of file
diff --git a/objects/objaverse/rolling_pin/rolling_pin_2/collision/model_normalized_collision_27.obj b/objects/objaverse/rolling_pin/rolling_pin_2/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b2560758e3f3a4e7557f841953253438eb98feaf
--- /dev/null
+++ b/objects/objaverse/rolling_pin/rolling_pin_2/collision/model_normalized_collision_27.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.01644888 0.31048588 0.07631952
+v 0.01497478 0.30746462 -0.00555447
+v 0.02375495 0.33965741 0.04077445
+v -0.02126930 0.35450687 0.06618064
+v -0.01777058 0.30942223 -0.02546988
+v 0.01274334 0.33195391 0.07645492
+v -0.01185105 0.30999336 0.09640475
+v 0.00128306 0.34284900 -0.00707477
+v 0.02182653 0.33800167 0.05298957
+v -0.00747484 0.30851164 -0.02227403
+v -0.01530970 0.33331023 0.08634070
+v 0.01348280 0.34263489 0.00605756
+v -0.01672942 0.34259208 -0.01551005
+v -0.00938196 0.33501040 -0.01858690
+v 0.01323143 0.32223413 -0.00394114
+v -0.01801952 0.33446984 -0.02203032
+f 1 2 3
+f 7 2 1
+f 7 4 5
+f 7 1 6
+f 9 6 1
+f 9 1 3
+f 9 3 4
+f 9 4 6
+f 10 7 5
+f 10 2 7
+f 11 7 6
+f 11 6 4
+f 11 4 7
+f 12 3 2
+f 12 8 4
+f 12 4 3
+f 13 4 8
+f 14 2 10
+f 14 13 8
+f 15 12 2
+f 15 8 12
+f 15 14 8
+f 15 2 14
+f 16 5 4
+f 16 4 13
+f 16 13 14
+f 16 14 10
+f 16 10 5
\ No newline at end of file
diff --git a/objects/objaverse/rolling_pin/rolling_pin_2/collision/model_normalized_collision_28.obj b/objects/objaverse/rolling_pin/rolling_pin_2/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b7659c580eb30daf8b34898a8748e7833b434aee
--- /dev/null
+++ b/objects/objaverse/rolling_pin/rolling_pin_2/collision/model_normalized_collision_28.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.00840772 -0.34262012 -0.01400005
+v 0.00356935 -0.33773036 -0.05984902
+v -0.01320751 -0.26467120 -0.07858371
+v -0.03411285 -0.26363288 -0.02022100
+v -0.02866868 -0.30841709 -0.02083875
+v -0.01785250 -0.27216614 0.01080296
+v -0.02916312 -0.30912522 -0.04561103
+v -0.03287692 -0.26398888 -0.04636601
+v -0.02580970 -0.26622571 -0.06306952
+f 1 2 3
+f 6 1 3
+f 6 3 4
+f 6 5 1
+f 6 4 5
+f 7 2 1
+f 7 1 5
+f 7 3 2
+f 7 5 4
+f 8 7 4
+f 8 4 3
+f 9 8 3
+f 9 3 7
+f 9 7 8
\ No newline at end of file
diff --git a/objects/objaverse/rolling_pin/rolling_pin_2/collision/model_normalized_collision_29.obj b/objects/objaverse/rolling_pin/rolling_pin_2/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f78f2901d2c1bec16b1e80d18e64b89a42c790bf
--- /dev/null
+++ b/objects/objaverse/rolling_pin/rolling_pin_2/collision/model_normalized_collision_29.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.04208396 0.09772609 0.04708594
+v 0.05146540 0.09778666 0.02497647
+v 0.05076224 0.09902460 0.02791367
+v 0.04039743 0.18904563 0.04095813
+v 0.04106632 0.17368615 -0.00211665
+v 0.04158624 0.11285606 0.04680627
+v 0.04307410 0.15886348 -0.00303493
+v 0.03807223 0.11339842 0.05301835
+v 0.03942830 0.09857321 0.05151686
+v 0.04388842 0.18795068 0.02424711
+v 0.04338833 0.17175988 0.00227051
+v 0.04232222 0.18913039 0.01172439
+v 0.04500852 0.15699254 0.00052461
+f 1 2 3
+f 6 1 3
+f 6 3 4
+f 8 1 6
+f 8 6 4
+f 8 4 5
+f 9 7 2
+f 9 2 1
+f 9 1 8
+f 9 8 5
+f 9 5 7
+f 10 3 2
+f 10 4 3
+f 12 5 4
+f 12 4 10
+f 12 11 5
+f 12 10 11
+f 13 11 10
+f 13 10 2
+f 13 2 7
+f 13 7 5
+f 13 5 11
\ No newline at end of file
diff --git a/objects/objaverse/rolling_pin/rolling_pin_2/collision/model_normalized_collision_3.obj b/objects/objaverse/rolling_pin/rolling_pin_2/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..43fc54e12f0cef9adb8b88b9fe5c32954f158bb2
--- /dev/null
+++ b/objects/objaverse/rolling_pin/rolling_pin_2/collision/model_normalized_collision_3.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.00250739 0.15859141 0.07955975
+v -0.00176290 0.15972793 0.08113554
+v -0.08114768 0.16041496 0.02541286
+v -0.07987581 0.23708111 0.06436270
+v -0.00715084 0.23572763 0.08923914
+v -0.05351676 0.16170167 0.07265590
+v -0.00375229 0.19118614 0.08467009
+v -0.08771160 0.23001470 0.01516414
+v -0.07422612 0.15205934 0.04626805
+v -0.05285921 0.23767167 0.08662083
+v 0.00444533 0.23407237 0.08369790
+v -0.09022130 0.23505530 0.02644244
+v -0.07501524 0.19277909 0.05912498
+v -0.06004439 0.17790291 0.07177998
+v -0.04286518 0.19199946 0.08367582
+v -0.05173675 0.22288279 0.08459525
+f 7 2 1
+f 8 1 3
+f 9 4 3
+f 9 3 1
+f 9 1 2
+f 9 2 6
+f 11 1 8
+f 11 7 1
+f 11 5 7
+f 12 8 3
+f 12 3 4
+f 12 11 8
+f 12 5 11
+f 12 10 5
+f 12 4 10
+f 13 4 9
+f 14 10 4
+f 14 6 10
+f 14 4 13
+f 14 13 9
+f 14 9 6
+f 15 7 5
+f 15 5 10
+f 15 2 7
+f 15 6 2
+f 16 15 10
+f 16 10 6
+f 16 6 15
\ No newline at end of file
diff --git a/objects/objaverse/rolling_pin/rolling_pin_2/collision/model_normalized_collision_30.obj b/objects/objaverse/rolling_pin/rolling_pin_2/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..afd50cd5b3bb2c628dab0aa38f35c95368500410
--- /dev/null
+++ b/objects/objaverse/rolling_pin/rolling_pin_2/collision/model_normalized_collision_30.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.05968178 -0.08356332 0.02973205
+v 0.05980064 -0.08661253 -0.05042721
+v 0.06138901 -0.00836571 0.02090118
+v -0.02494791 -0.01042019 0.05767302
+v -0.05339077 -0.08791959 0.00055645
+v -0.01412176 -0.00924608 -0.06342345
+v 0.05202946 -0.00790405 0.03752274
+v -0.01933560 -0.08436462 0.04754513
+v 0.04388838 -0.01102165 -0.04972321
+v -0.01182513 -0.08394973 -0.07020657
+v 0.05973268 -0.01003797 -0.02709754
+v 0.03793094 -0.08544351 -0.06764057
+v 0.02376907 -0.01024124 -0.06202520
+v 0.05670183 -0.02585997 -0.03939049
+v 0.03456354 -0.04107685 -0.06156384
+f 1 2 3
+f 5 2 1
+f 6 5 4
+f 7 1 3
+f 7 4 1
+f 7 6 4
+f 7 3 6
+f 8 5 1
+f 8 1 4
+f 8 4 5
+f 10 5 6
+f 11 3 2
+f 12 2 5
+f 12 5 10
+f 12 9 2
+f 13 11 9
+f 13 6 3
+f 13 3 11
+f 13 12 10
+f 13 10 6
+f 14 11 2
+f 14 2 9
+f 14 9 11
+f 15 13 9
+f 15 9 12
+f 15 12 13
\ No newline at end of file
diff --git a/objects/objaverse/rolling_pin/rolling_pin_2/collision/model_normalized_collision_31.obj b/objects/objaverse/rolling_pin/rolling_pin_2/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..96910dfbbd82aa19b229b51bd0e61c9827797387
--- /dev/null
+++ b/objects/objaverse/rolling_pin/rolling_pin_2/collision/model_normalized_collision_31.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.01339327 0.09859424 0.07045115
+v 0.02386349 0.11373198 0.06622349
+v 0.02041900 0.11490565 0.06825132
+v -0.00135276 0.23490000 0.08646852
+v 0.02474139 0.23490326 0.06738358
+v 0.00444533 0.23407237 0.08369790
+v -0.00254103 0.09976477 0.07497559
+v 0.01729466 0.23505939 0.07430402
+v 0.00759519 0.09942187 0.07322177
+v -0.00067712 0.09822478 0.07457941
+f 1 2 3
+f 6 3 2
+f 7 5 2
+f 7 2 1
+f 7 4 5
+f 8 5 4
+f 8 4 6
+f 8 6 2
+f 8 2 5
+f 9 6 4
+f 9 1 3
+f 9 3 6
+f 10 7 1
+f 10 1 9
+f 10 9 4
+f 10 4 7
\ No newline at end of file
diff --git a/objects/objaverse/rolling_pin/rolling_pin_2/collision/model_normalized_collision_4.obj b/objects/objaverse/rolling_pin/rolling_pin_2/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1c2a642e1681fda773b0ab850dad5fb64538bea6
--- /dev/null
+++ b/objects/objaverse/rolling_pin/rolling_pin_2/collision/model_normalized_collision_4.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.09209694 -0.26626294 -0.02145854
+v 0.08843794 -0.26787542 -0.05666982
+v 0.08838313 -0.22112659 -0.02221352
+v -0.03955702 -0.21884868 -0.01960325
+v -0.03411285 -0.26363288 -0.02022100
+v 0.00292090 -0.22025549 -0.08622394
+v 0.08795553 -0.22180411 -0.03203121
+v -0.03659073 -0.21885253 -0.04712098
+v 0.01613112 -0.26678041 -0.09412345
+v 0.06467175 -0.22283327 -0.07741851
+v -0.03287692 -0.26398888 -0.04636601
+v 0.07532370 -0.22289475 -0.06592257
+v 0.04114908 -0.25241075 -0.09241481
+v 0.08643016 -0.25305275 -0.05575154
+v 0.06848484 -0.26718064 -0.08324481
+v 0.01632565 -0.25178962 -0.09258346
+v 0.04153134 -0.26728416 -0.09441238
+f 1 3 4
+f 5 2 1
+f 5 1 4
+f 7 1 2
+f 7 3 1
+f 8 4 3
+f 8 3 6
+f 9 2 5
+f 10 6 3
+f 11 5 4
+f 11 4 8
+f 11 9 5
+f 11 8 6
+f 11 6 9
+f 12 10 3
+f 12 3 7
+f 13 6 10
+f 14 12 7
+f 14 7 2
+f 14 2 12
+f 15 12 2
+f 15 10 12
+f 15 13 10
+f 16 9 6
+f 16 6 13
+f 17 15 2
+f 17 2 9
+f 17 13 15
+f 17 16 13
+f 17 9 16
\ No newline at end of file
diff --git a/objects/objaverse/rolling_pin/rolling_pin_2/collision/model_normalized_collision_5.obj b/objects/objaverse/rolling_pin/rolling_pin_2/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..373d8addd5e524cd54419f69413a0a269efe56df
--- /dev/null
+++ b/objects/objaverse/rolling_pin/rolling_pin_2/collision/model_normalized_collision_5.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v -0.01757021 0.23602733 0.09109558
+v 0.00526998 0.24176641 -0.02716062
+v -0.02435962 0.35296467 0.06816593
+v -0.06287190 0.35508773 0.05917964
+v -0.08758707 0.23521810 0.01235849
+v -0.01825166 0.34195701 -0.01765816
+v -0.07014863 0.31273856 0.09047886
+v -0.01689157 0.31094507 0.09882889
+v -0.06284163 0.35235252 0.02269374
+v -0.06631403 0.27983977 -0.02037060
+v -0.05112520 0.35488188 0.06869157
+v -0.07987581 0.23708111 0.06436270
+v -0.09297094 0.32963028 0.01726555
+v -0.05285921 0.23767167 0.08662083
+v -0.01700606 0.27967541 -0.02946501
+v -0.08195928 0.32369073 0.07772267
+v -0.08952497 0.25287078 0.04891968
+v -0.08982547 0.32334346 0.00544409
+v -0.06678124 0.26837191 0.08440212
+v -0.04283485 0.33954460 -0.02006638
+v -0.09094729 0.32439305 0.06344133
+v -0.08793400 0.28343439 0.06334354
+v -0.09048373 0.23674545 0.02596371
+v -0.08867732 0.28109837 0.00665490
+v -0.07595666 0.25349378 0.07248399
+v -0.06672087 0.33085565 -0.01564616
+v -0.08896215 0.23707594 0.03973184
+v -0.08952817 0.25150149 0.01504402
+v -0.07759064 0.33260665 -0.00532367
+v -0.05667228 0.33848303 -0.01434647
+f 5 2 1
+f 6 3 2
+f 8 1 2
+f 8 2 3
+f 9 4 3
+f 9 3 6
+f 10 2 5
+f 11 3 4
+f 11 8 3
+f 11 7 8
+f 12 5 1
+f 13 4 9
+f 14 8 7
+f 14 1 8
+f 14 12 1
+f 15 6 2
+f 15 2 10
+f 16 11 4
+f 16 7 11
+f 19 14 7
+f 20 15 10
+f 20 6 15
+f 20 9 6
+f 21 16 4
+f 21 4 13
+f 22 7 16
+f 22 16 21
+f 22 21 17
+f 22 17 12
+f 23 21 13
+f 23 17 21
+f 24 18 10
+f 24 10 5
+f 24 13 18
+f 25 19 7
+f 25 12 14
+f 25 14 19
+f 25 22 12
+f 25 7 22
+f 26 20 10
+f 27 23 5
+f 27 5 12
+f 27 12 17
+f 27 17 23
+f 28 23 13
+f 28 13 24
+f 28 24 5
+f 28 5 23
+f 29 26 10
+f 29 10 18
+f 29 18 13
+f 29 13 9
+f 30 29 9
+f 30 9 20
+f 30 20 26
+f 30 26 29
\ No newline at end of file
diff --git a/objects/objaverse/rolling_pin/rolling_pin_2/collision/model_normalized_collision_6.obj b/objects/objaverse/rolling_pin/rolling_pin_2/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..74492900c9d519159d79f0859ef963e8aaa848c2
--- /dev/null
+++ b/objects/objaverse/rolling_pin/rolling_pin_2/collision/model_normalized_collision_6.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.04366050 -0.14382489 0.04007167
+v 0.05339194 -0.11352716 0.03508666
+v 0.02311639 -0.00669151 0.05885966
+v -0.04665387 -0.00430115 0.04310661
+v -0.05159395 -0.02069590 0.03388635
+v 0.01299032 -0.14297330 0.04767949
+v 0.04800057 -0.11292065 0.04010505
+v 0.05202946 -0.00790405 0.03752274
+v 0.02290939 -0.05182354 0.05593964
+v -0.04159094 -0.05196635 0.03729121
+v 0.04669994 -0.00734910 0.04303461
+v -0.05321414 -0.00592856 0.03563226
+v 0.03786242 -0.14299726 0.04284229
+v -0.02408531 -0.00524658 0.05907723
+v 0.01485424 -0.14451329 0.04728331
+v 0.01209908 -0.06647937 0.05577561
+v -0.03470012 -0.05034474 0.04512138
+v -0.01260591 -0.06560813 0.05360145
+v -0.02184038 -0.03482435 0.05502608
+f 5 2 1
+f 7 1 2
+f 8 2 5
+f 9 7 3
+f 10 5 1
+f 11 7 2
+f 11 2 8
+f 11 3 7
+f 11 8 4
+f 11 4 3
+f 12 8 5
+f 12 4 8
+f 13 1 7
+f 13 7 9
+f 14 3 4
+f 15 10 1
+f 15 6 10
+f 15 1 13
+f 15 13 9
+f 15 9 6
+f 16 9 3
+f 16 3 14
+f 16 14 6
+f 16 6 9
+f 17 10 6
+f 17 14 4
+f 17 5 10
+f 17 12 5
+f 17 4 12
+f 18 17 6
+f 18 6 14
+f 19 18 14
+f 19 14 17
+f 19 17 18
\ No newline at end of file
diff --git a/objects/objaverse/rolling_pin/rolling_pin_2/collision/model_normalized_collision_7.obj b/objects/objaverse/rolling_pin/rolling_pin_2/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..43c60b2b822397a042e4e48c74cea07550adf971
--- /dev/null
+++ b/objects/objaverse/rolling_pin/rolling_pin_2/collision/model_normalized_collision_7.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v 0.03687806 0.23391460 0.01234213
+v 0.02841997 0.23191705 -0.00891414
+v 0.02570981 0.31001621 0.01312862
+v -0.01542686 0.34258983 0.00774253
+v -0.08758707 0.23521810 0.01235849
+v -0.01777058 0.30942223 -0.02546988
+v 0.03005749 0.29326472 0.01663573
+v 0.00420225 0.30738918 -0.01600416
+v -0.08081846 0.28010852 -0.00689181
+v -0.09130088 0.28035445 0.01160351
+v 0.01497478 0.30746462 -0.00555447
+v -0.00397884 0.23267536 -0.03351558
+v -0.06631403 0.27983977 -0.02037060
+v -0.07707055 0.23549039 -0.01048839
+v 0.02500410 0.29226749 0.00522955
+v 0.01632895 0.23200378 -0.02195915
+v -0.00451280 0.24753577 -0.03154885
+v -0.04284294 0.23351001 -0.03445932
+v -0.06549999 0.23465105 -0.02186360
+v 0.02679978 0.24668439 -0.00716824
+v 0.01284224 0.26154279 -0.01873250
+v -0.04418012 0.26327903 -0.03118346
+v -0.01936946 0.26280444 -0.03226609
+f 5 2 1
+f 7 1 2
+f 7 5 1
+f 7 3 4
+f 8 6 4
+f 10 7 4
+f 10 5 7
+f 10 4 9
+f 11 8 4
+f 11 4 3
+f 13 9 4
+f 13 4 6
+f 14 10 9
+f 14 5 10
+f 15 11 3
+f 15 3 7
+f 16 2 5
+f 17 12 6
+f 17 6 8
+f 17 16 12
+f 17 8 16
+f 18 16 5
+f 18 12 16
+f 19 14 9
+f 19 9 13
+f 19 13 18
+f 19 18 5
+f 19 5 14
+f 20 11 15
+f 20 16 11
+f 20 2 16
+f 20 15 7
+f 20 7 2
+f 21 16 8
+f 21 8 11
+f 21 11 16
+f 22 18 13
+f 22 13 6
+f 23 6 12
+f 23 12 18
+f 23 22 6
+f 23 18 22
\ No newline at end of file
diff --git a/objects/objaverse/rolling_pin/rolling_pin_2/collision/model_normalized_collision_8.obj b/objects/objaverse/rolling_pin/rolling_pin_2/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..427e67992149a7bb96a36d38f4c9fe599c777ba4
--- /dev/null
+++ b/objects/objaverse/rolling_pin/rolling_pin_2/collision/model_normalized_collision_8.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.01026366 -0.34529751 -0.01527377
+v 0.09358105 -0.32476902 -0.05781735
+v 0.09371251 -0.32929915 -0.01937827
+v -0.01785250 -0.27216614 0.01080296
+v 0.00755622 -0.26637169 -0.09147744
+v 0.01799410 -0.32844342 -0.09688254
+v 0.09209694 -0.26626294 -0.02145854
+v 0.05205093 -0.26801826 -0.09250154
+v 0.05547358 -0.32439769 -0.09632167
+v -0.02705362 -0.31283903 -0.05442261
+v -0.02580970 -0.26622571 -0.06306952
+v 0.08843794 -0.26787542 -0.05666982
+v 0.07738091 -0.32361038 -0.08265103
+v 0.00639346 -0.31166026 -0.09396033
+v 0.08684696 -0.29843903 -0.07109369
+v 0.06445991 -0.29878399 -0.09113301
+v 0.08810805 -0.32105907 -0.07117067
+v 0.07319116 -0.26881659 -0.07910060
+v 0.06484752 -0.32094321 -0.09245019
+f 1 2 3
+f 1 3 4
+f 7 3 2
+f 7 4 3
+f 8 6 5
+f 8 5 7
+f 9 1 6
+f 9 6 8
+f 10 6 1
+f 10 1 4
+f 11 7 5
+f 11 4 7
+f 11 10 4
+f 12 8 7
+f 12 7 2
+f 13 2 1
+f 13 1 9
+f 14 11 5
+f 14 5 6
+f 14 6 10
+f 14 10 11
+f 15 12 2
+f 16 9 8
+f 16 15 13
+f 17 15 2
+f 17 2 13
+f 17 13 15
+f 18 8 12
+f 18 12 15
+f 18 16 8
+f 18 15 16
+f 19 16 13
+f 19 13 9
+f 19 9 16
\ No newline at end of file
diff --git a/objects/objaverse/rolling_pin/rolling_pin_2/collision/model_normalized_collision_9.obj b/objects/objaverse/rolling_pin/rolling_pin_2/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc838d373e4d8ce3fc1a791013cadf635b500242
--- /dev/null
+++ b/objects/objaverse/rolling_pin/rolling_pin_2/collision/model_normalized_collision_9.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v -0.01360902 -0.08236256 0.05107691
+v -0.03555129 -0.08299271 -0.05486451
+v -0.02728144 -0.00598589 -0.05775658
+v -0.05321414 -0.00592856 0.03563226
+v -0.04511318 -0.07976527 0.02690272
+v -0.06120255 -0.00624370 -0.01566099
+v -0.02494791 -0.01042019 0.05767302
+v -0.05142059 -0.08249220 -0.03164306
+v -0.05534116 -0.00730494 -0.03045737
+v -0.06081972 -0.00496667 0.01934741
+v -0.01573379 -0.05273229 0.05479551
+v -0.03145974 -0.07987943 0.04162957
+v -0.05881542 -0.03567057 0.00944655
+v -0.03470012 -0.05034474 0.04512138
+v -0.05881194 -0.01978934 0.01842913
+v -0.05872668 -0.03633459 -0.01515768
+f 1 2 3
+f 7 3 4
+f 8 2 1
+f 8 1 5
+f 9 6 3
+f 9 3 2
+f 9 8 6
+f 9 2 8
+f 10 4 3
+f 10 3 6
+f 11 7 1
+f 11 1 3
+f 11 3 7
+f 12 5 1
+f 12 1 7
+f 13 8 5
+f 13 10 6
+f 14 12 7
+f 14 7 4
+f 14 4 5
+f 14 5 12
+f 15 13 5
+f 15 10 13
+f 15 5 4
+f 15 4 10
+f 16 13 6
+f 16 6 8
+f 16 8 13
\ No newline at end of file
diff --git a/objects/objaverse/rolling_pin/rolling_pin_2/model.xml b/objects/objaverse/rolling_pin/rolling_pin_2/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..7edd8c874515f34a2ca1d0a2f701da2645b4d0f6
--- /dev/null
+++ b/objects/objaverse/rolling_pin/rolling_pin_2/model.xml
@@ -0,0 +1,81 @@
+<mujoco model="rolling_pin_2">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="0.9987954562051725 0.0 0.0 0.04906767432741801"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="0.9987954562051725 0.0 0.0 0.04906767432741801"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="0.9987954562051725 0.0 0.0 0.04906767432741801"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="0.9987954562051725 0.0 0.0 0.04906767432741801"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="0.9987954562051725 0.0 0.0 0.04906767432741801"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="0.9987954562051725 0.0 0.0 0.04906767432741801"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="0.9987954562051725 0.0 0.0 0.04906767432741801"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="0.9987954562051725 0.0 0.0 0.04906767432741801"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="0.9987954562051725 0.0 0.0 0.04906767432741801"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="0.9987954562051725 0.0 0.0 0.04906767432741801"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="0.9987954562051725 0.0 0.0 0.04906767432741801"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="0.9987954562051725 0.0 0.0 0.04906767432741801"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="0.9987954562051725 0.0 0.0 0.04906767432741801"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="0.9987954562051725 0.0 0.0 0.04906767432741801"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="0.9987954562051725 0.0 0.0 0.04906767432741801"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="0.9987954562051725 0.0 0.0 0.04906767432741801"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="0.9987954562051725 0.0 0.0 0.04906767432741801"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="0.9987954562051725 0.0 0.0 0.04906767432741801"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="0.9987954562051725 0.0 0.0 0.04906767432741801"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="0.9987954562051725 0.0 0.0 0.04906767432741801"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="0.9987954562051725 0.0 0.0 0.04906767432741801"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="0.9987954562051725 0.0 0.0 0.04906767432741801"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="0.9987954562051725 0.0 0.0 0.04906767432741801"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="0.9987954562051725 0.0 0.0 0.04906767432741801"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="0.9987954562051725 0.0 0.0 0.04906767432741801"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="0.9987954562051725 0.0 0.0 0.04906767432741801"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="0.9987954562051725 0.0 0.0 0.04906767432741801"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="0.9987954562051725 0.0 0.0 0.04906767432741801"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="0.9987954562051725 0.0 0.0 0.04906767432741801"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="0.9987954562051725 0.0 0.0 0.04906767432741801"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="0.9987954562051725 0.0 0.0 0.04906767432741801"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="0.9987954562051725 0.0 0.0 0.04906767432741801"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="0.9987954562051725 0.0 0.0 0.04906767432741801"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="Scene_-_Root.014" texture="image0" specular="0.5" shininess="0.25"/>
+  </asset>
+  <worldbody>
+    <body>
+      <body name="object">
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_0_vis" conaffinity="0" contype="0" group="1" material="Scene_-_Root.014"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_22._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_23._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_21._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_20._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_24._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_30._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_18._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_19._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_31._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_25._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_27._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_26._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_9._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_8._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_6._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_7._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_5._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_4._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_0._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_1._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_3._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_2._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_17._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_16._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_28._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_14._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_15._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_29._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_11._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_10._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_12._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_13._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+      </body>
+      <site rgba="0 0 0 0" size="0.005" pos="-6.435042498077117e-05 1.641696905421125e-05 -0.022747880900000003" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="-6.435042498077117e-05 1.641696905421125e-05 0.022730644700000004" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.01524516892946787 0.1144656631142457 -8.618099999999491e-06" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/objects/objaverse/rolling_pin/rolling_pin_2/visual/material.mtl b/objects/objaverse/rolling_pin/rolling_pin_2/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fbcf6b4b1af9257e08a0fd6e283841743ce8fad5
--- /dev/null
+++ b/objects/objaverse/rolling_pin/rolling_pin_2/visual/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 250.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/objects/objaverse/rolling_pin/rolling_pin_2/visual/model_normalized_0.obj b/objects/objaverse/rolling_pin/rolling_pin_2/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0aeac1938a3dbd3be5ece21b67c0a3fe3f120aa3
--- /dev/null
+++ b/objects/objaverse/rolling_pin/rolling_pin_2/visual/model_normalized_0.obj
@@ -0,0 +1,3671 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
+v -0.01789242 0.32006738 0.09990740
+v 0.05350482 -0.33068772 0.02297021
+v 0.07156817 -0.32772916 0.01470876
+v 0.00017093 0.32302594 0.09164595
+v 0.02433984 0.32932148 0.06082512
+v 0.09573708 -0.32143362 -0.01611207
+v 0.09947674 -0.31871288 -0.03565448
+v 0.02807949 0.33204222 0.04128271
+v 0.09697335 -0.31664450 -0.05547234
+v 0.02557611 0.33411060 0.02146484
+v 0.08847196 -0.31543100 -0.07362577
+v 0.01707472 0.33532410 0.00331142
+v 0.01707472 0.33532410 0.00331142
+v 0.08847196 -0.31543100 -0.07362577
+v 0.07480474 -0.31519114 -0.08833776
+v 0.00340750 0.33556396 -0.01140057
+v 0.05730956 -0.31594838 -0.09816820
+v -0.01408768 0.33480672 -0.02123102
+v 0.03769894 -0.31762862 -0.10215485
+v -0.03369831 0.33312648 -0.02521766
+v 0.01789250 -0.32006738 -0.09990742
+v -0.05350474 0.33068772 -0.02297024
+v -0.00017094 -0.32302594 -0.09164594
+v -0.07156819 0.32772916 -0.01470875
+v -0.07156819 0.32772916 -0.01470875
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\ No newline at end of file
diff --git a/objects/objaverse/rolling_pin/rolling_pin_3/collision/model_normalized_collision_1.obj b/objects/objaverse/rolling_pin/rolling_pin_3/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c06258f8b05f36e8d3229b3bdd6ff6e9831a8cb
--- /dev/null
+++ b/objects/objaverse/rolling_pin/rolling_pin_3/collision/model_normalized_collision_1.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.49796073 -0.02688023 0.00714127
+v 0.49818445 -0.01633776 -0.02222292
+v 0.49829060 0.02650779 0.00776075
+v 0.31592136 0.02603060 0.00786130
+v 0.31760733 -0.02489740 -0.01254341
+v 0.46210175 0.01366926 -0.02457663
+v 0.49749727 -0.02510001 -0.01264235
+v 0.31645348 -0.02652321 0.00675103
+v 0.49821300 0.01355273 -0.02380133
+v 0.31611651 0.02384964 -0.01308097
+v 0.31708552 -0.01630276 -0.02218689
+v 0.49828690 0.02395342 -0.01349781
+v 0.31614092 0.01311796 -0.02366787
+f 1 2 3
+f 1 3 4
+f 7 2 1
+f 7 1 5
+f 8 5 1
+f 8 1 4
+f 9 2 6
+f 10 4 3
+f 11 6 2
+f 11 5 8
+f 11 7 5
+f 11 2 7
+f 12 3 2
+f 12 2 9
+f 12 10 3
+f 12 9 6
+f 12 6 10
+f 13 8 4
+f 13 4 10
+f 13 11 8
+f 13 10 6
+f 13 6 11
\ No newline at end of file
diff --git a/objects/objaverse/rolling_pin/rolling_pin_3/collision/model_normalized_collision_11.obj b/objects/objaverse/rolling_pin/rolling_pin_3/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c0c4ca455753fbb8a7c3113c489d7ac5bf09c76e
--- /dev/null
+++ b/objects/objaverse/rolling_pin/rolling_pin_3/collision/model_normalized_collision_11.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.23484848 -0.05448121 -0.01973691
+v -0.24567320 -0.05448119 -0.01973695
+v -0.23484848 0.05528192 -0.01770618
+v -0.24567322 0.04926548 0.03039270
+v -0.24567327 -0.04105642 0.04105639
+v -0.28012183 0.02108168 -0.01137429
+v -0.23484848 -0.04105642 0.04105639
+v -0.28021173 -0.01887496 -0.01467032
+v -0.24567318 0.05528193 -0.01770614
+v -0.28009180 0.01946797 0.01398547
+v -0.23484848 0.03933906 0.04252465
+v -0.28017521 -0.01701562 0.01682447
+v -0.23484848 0.04926546 0.03039274
+v -0.24567325 0.03933909 0.04252462
+f 1 2 3
+f 5 2 1
+f 7 5 1
+f 9 4 3
+f 9 8 6
+f 9 3 2
+f 9 2 8
+f 10 9 6
+f 10 4 9
+f 11 5 7
+f 12 8 2
+f 12 2 5
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+f 12 6 8
+f 13 3 4
+f 13 11 7
+f 13 7 1
+f 13 1 3
+f 14 4 10
+f 14 10 12
+f 14 12 5
+f 14 5 11
+f 14 13 4
+f 14 11 13
\ No newline at end of file
diff --git a/objects/objaverse/rolling_pin/rolling_pin_3/collision/model_normalized_collision_12.obj b/objects/objaverse/rolling_pin/rolling_pin_3/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e5275401dbc0fbade33f60f4fa0b4525c7605ab6
--- /dev/null
+++ b/objects/objaverse/rolling_pin/rolling_pin_3/collision/model_normalized_collision_12.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.24582769 -0.05722733 0.00904611
+v -0.24567324 -0.05268406 0.02406956
+v 0.24582775 -0.05479452 0.01865991
+v -0.24567319 -0.05490817 0.01870747
+v -0.24557182 -0.05597807 0.01021264
+v -0.24567327 -0.05734983 0.00905589
+v 0.24582771 -0.05257021 0.02402219
+v 0.24572804 -0.05603716 0.01022688
+f 1 3 4
+f 3 2 4
+f 6 5 1
+f 6 1 4
+f 6 4 2
+f 6 2 5
+f 7 5 2
+f 7 2 3
+f 7 3 1
+f 8 7 1
+f 8 1 5
+f 8 5 7
\ No newline at end of file
diff --git a/objects/objaverse/rolling_pin/rolling_pin_3/collision/model_normalized_collision_16.obj b/objects/objaverse/rolling_pin/rolling_pin_3/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..01272f796e79802744df1a89e0847418746a21de
--- /dev/null
+++ b/objects/objaverse/rolling_pin/rolling_pin_3/collision/model_normalized_collision_16.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.37123496 -0.02741480 0.00696660
+v -0.37123810 -0.01669092 -0.02271541
+v -0.37118857 -0.01907073 0.02070207
+v -0.49999991 -0.01011497 0.01011455
+v -0.49749704 -0.02509999 -0.01264290
+v -0.37122686 -0.00810589 -0.02686454
+v -0.37124095 -0.02529537 -0.01274401
+v -0.49785218 -0.02695935 0.00685631
+v -0.49891113 -0.00732402 -0.02563148
+v -0.49749704 -0.01656286 -0.02253621
+f 6 4 3
+f 7 5 2
+f 7 1 5
+f 7 3 1
+f 7 6 3
+f 7 2 6
+f 8 5 1
+f 8 1 3
+f 8 3 4
+f 8 4 5
+f 9 5 4
+f 9 4 6
+f 10 9 6
+f 10 6 2
+f 10 2 5
+f 10 5 9
\ No newline at end of file
diff --git a/objects/objaverse/rolling_pin/rolling_pin_3/collision/model_normalized_collision_2.obj b/objects/objaverse/rolling_pin/rolling_pin_3/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ee9bb5932e9b71a82d06e3b8c4cc6193a9aded68
--- /dev/null
+++ b/objects/objaverse/rolling_pin/rolling_pin_3/collision/model_normalized_collision_2.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.08333333 -0.05734983 0.00905585
+v 0.08333333 -0.05555750 -0.01655567
+v 0.08333993 -0.01368516 -0.02889178
+v -0.18938135 -0.02170979 0.02382851
+v -0.18939394 -0.05555751 -0.01655567
+v 0.08334578 -0.02158640 0.02368257
+v -0.18939394 -0.05734983 0.00905585
+v -0.18938720 -0.01375778 -0.02906880
+f 5 2 1
+f 6 4 1
+f 6 1 2
+f 6 2 3
+f 7 5 1
+f 7 1 4
+f 8 3 2
+f 8 2 5
+f 8 6 3
+f 8 4 6
+f 8 7 4
+f 8 5 7
\ No newline at end of file
diff --git a/objects/objaverse/rolling_pin/rolling_pin_3/collision/model_normalized_collision_20.obj b/objects/objaverse/rolling_pin/rolling_pin_3/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a9d1404ce76cda135137fa6d3758ab86dbfcfe9
--- /dev/null
+++ b/objects/objaverse/rolling_pin/rolling_pin_3/collision/model_normalized_collision_20.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.28017521 -0.01701562 0.01682447
+v -0.28009142 -0.01414760 -0.01925379
+v -0.28009180 0.01946797 0.01398547
+v -0.31707470 0.02243237 0.01611525
+v -0.31708508 -0.01630257 -0.02218669
+v -0.31582576 -0.01923104 0.01901509
+v -0.31611837 0.02385045 -0.01308146
+v -0.28012183 0.02108168 -0.01137429
+v -0.31614242 0.01311840 -0.02366853
+v -0.28012090 0.01143393 -0.02089828
+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 8 7 4
+f 8 4 3
+f 9 5 4
+f 9 4 7
+f 10 2 5
+f 10 5 9
+f 10 8 3
+f 10 3 2
+f 10 9 7
+f 10 7 8
\ No newline at end of file
diff --git a/objects/objaverse/rolling_pin/rolling_pin_3/collision/model_normalized_collision_22.obj b/objects/objaverse/rolling_pin/rolling_pin_3/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e794626241f248e677c4978a0b0b15285aa9cecd
--- /dev/null
+++ b/objects/objaverse/rolling_pin/rolling_pin_3/collision/model_normalized_collision_22.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.24582775 -0.05436737 -0.01968963
+v 0.26478496 0.01718264 -0.01698982
+v 0.24582769 -0.04096929 0.04096721
+v 0.21969443 0.01970914 0.05441429
+v 0.21969730 0.02258794 -0.02271067
+v 0.24582775 0.01968884 0.05436538
+v 0.21965546 -0.04100614 0.04100495
+v 0.25386075 -0.02598186 -0.01309022
+v 0.25382699 0.01324961 0.02571265
+v 0.21969448 -0.05441542 -0.01970960
+f 5 2 1
+f 6 5 4
+f 6 2 5
+f 7 1 3
+f 7 4 5
+f 7 6 4
+f 7 3 6
+f 8 1 2
+f 8 2 3
+f 8 3 1
+f 9 6 3
+f 9 3 2
+f 9 2 6
+f 10 7 5
+f 10 5 1
+f 10 1 7
\ No newline at end of file
diff --git a/objects/objaverse/rolling_pin/rolling_pin_3/collision/model_normalized_collision_23.obj b/objects/objaverse/rolling_pin/rolling_pin_3/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..20fd4e9767932d0707570d9932a7fad775a346bc
--- /dev/null
+++ b/objects/objaverse/rolling_pin/rolling_pin_3/collision/model_normalized_collision_23.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.37118857 -0.01907073 0.02070207
+v -0.37122686 -0.00810589 -0.02686454
+v -0.37122653 0.02713362 0.00812796
+v -0.49921348 0.02565962 0.00723665
+v -0.49891113 -0.00732402 -0.02563148
+v -0.49999991 -0.01011497 0.01011455
+v -0.37123334 0.02474511 -0.01363374
+v -0.49824251 0.01255593 -0.02435054
+v -0.49828464 0.02408832 -0.01322717
+v -0.37123349 0.01365555 -0.02455378
+v -0.38638497 0.01366886 -0.02457575
+f 1 3 4
+f 5 2 1
+f 6 5 1
+f 6 1 4
+f 6 4 5
+f 7 3 1
+f 8 2 5
+f 8 5 4
+f 9 4 3
+f 9 3 7
+f 9 8 4
+f 10 7 1
+f 10 1 2
+f 11 10 2
+f 11 2 8
+f 11 8 9
+f 11 9 7
+f 11 7 10
\ No newline at end of file
diff --git a/objects/objaverse/rolling_pin/rolling_pin_3/collision/model_normalized_collision_25.obj b/objects/objaverse/rolling_pin/rolling_pin_3/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..56b9d6570e4511716355e396f878f79513981be7
--- /dev/null
+++ b/objects/objaverse/rolling_pin/rolling_pin_3/collision/model_normalized_collision_25.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.18939394 -0.05734983 0.00905585
+v -0.18939394 -0.05555751 -0.01655567
+v -0.18939394 0.05734771 0.00908297
+v -0.23484848 0.05734771 0.00908296
+v -0.23484848 -0.05555751 -0.01655568
+v -0.18939394 0.05528192 -0.01770618
+v -0.23484848 -0.05734983 0.00905585
+v -0.23484848 0.05528192 -0.01770618
+f 1 2 3
+f 5 2 1
+f 6 3 2
+f 6 4 3
+f 6 2 5
+f 7 5 1
+f 7 4 5
+f 7 1 3
+f 7 3 4
+f 8 6 5
+f 8 5 4
+f 8 4 6
\ No newline at end of file
diff --git a/objects/objaverse/rolling_pin/rolling_pin_3/collision/model_normalized_collision_26.obj b/objects/objaverse/rolling_pin/rolling_pin_3/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f69110d70d8f5e7e8792aba63d1b7fee50702c19
--- /dev/null
+++ b/objects/objaverse/rolling_pin/rolling_pin_3/collision/model_normalized_collision_26.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v -0.23484848 -0.05448121 -0.01973691
+v -0.23484849 -0.04252467 -0.03933908
+v -0.23484582 0.02263788 -0.02308553
+v -0.28025298 0.01701502 -0.01682398
+v -0.28021173 -0.01887496 -0.01467032
+v -0.24567318 0.01770610 -0.05528195
+v -0.24567325 -0.04252464 -0.03933911
+v -0.23484848 0.01770614 -0.05528194
+v -0.28012090 0.01143393 -0.02089828
+v -0.24567320 -0.05448119 -0.01973695
+v -0.24567322 -0.03039273 -0.04926550
+v -0.28009142 -0.01414760 -0.01925379
+v -0.23484848 -0.03039276 -0.04926547
+f 1 2 3
+f 5 1 3
+f 5 3 4
+f 6 4 3
+f 8 6 3
+f 9 5 4
+f 9 4 6
+f 10 1 5
+f 10 5 7
+f 10 7 2
+f 10 2 1
+f 11 6 8
+f 12 11 7
+f 12 7 5
+f 12 5 9
+f 12 9 6
+f 12 6 11
+f 13 11 8
+f 13 2 7
+f 13 7 11
+f 13 8 3
+f 13 3 2
\ No newline at end of file
diff --git a/objects/objaverse/rolling_pin/rolling_pin_3/collision/model_normalized_collision_29.obj b/objects/objaverse/rolling_pin/rolling_pin_3/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f06f1cabd5a5c228a3a96aeec0cbfde88144b8e
--- /dev/null
+++ b/objects/objaverse/rolling_pin/rolling_pin_3/collision/model_normalized_collision_29.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.08334578 -0.02158640 0.02368257
+v 0.08333993 -0.01368516 -0.02889178
+v 0.08333333 0.05734771 0.00908301
+v 0.05303030 0.05734771 0.00908301
+v 0.05304493 -0.02788738 -0.01603707
+v 0.08333333 0.05528191 -0.01770618
+v 0.05304277 -0.02160011 0.02369879
+v 0.05303030 0.05528191 -0.01770618
+v 0.05303692 -0.01369323 -0.02891145
+f 5 2 1
+f 6 1 2
+f 6 3 1
+f 7 1 3
+f 7 3 4
+f 7 5 1
+f 8 4 3
+f 8 3 6
+f 9 8 6
+f 9 6 2
+f 9 2 5
+f 9 5 7
+f 9 7 4
+f 9 4 8
\ No newline at end of file
diff --git a/objects/objaverse/rolling_pin/rolling_pin_3/collision/model_normalized_collision_31.obj b/objects/objaverse/rolling_pin/rolling_pin_3/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b417dd10d48971c0b2540fc4614cbbd3aabee0a2
--- /dev/null
+++ b/objects/objaverse/rolling_pin/rolling_pin_3/collision/model_normalized_collision_31.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.23484848 -0.05734983 0.00905585
+v -0.23484848 -0.05448121 -0.01973691
+v -0.23484848 -0.05701740 0.01046167
+v -0.24557182 -0.05597807 0.01021264
+v -0.24567319 -0.05555752 -0.01655564
+v -0.24567327 -0.05734983 0.00905589
+v -0.23484848 -0.05555751 -0.01655568
+v -0.24567320 -0.05448119 -0.01973695
+f 1 2 3
+f 3 2 4
+f 6 1 3
+f 6 3 4
+f 6 5 1
+f 7 2 1
+f 7 1 5
+f 8 4 2
+f 8 7 5
+f 8 2 7
+f 8 6 4
+f 8 5 6
\ No newline at end of file
diff --git a/objects/objaverse/rolling_pin/rolling_pin_3/collision/model_normalized_collision_4.obj b/objects/objaverse/rolling_pin/rolling_pin_3/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a94a79c365e6ef326415cb3d633f0b4d5a96f0df
--- /dev/null
+++ b/objects/objaverse/rolling_pin/rolling_pin_3/collision/model_normalized_collision_4.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v -0.31760703 -0.02350075 0.01480103
+v -0.31708508 -0.01630257 -0.02218669
+v -0.31592119 0.02603055 0.00786122
+v -0.37123800 0.02297061 0.01650193
+v -0.37124095 -0.02529537 -0.01274401
+v -0.37123349 0.01365555 -0.02455378
+v -0.31760541 0.01268830 0.02462269
+v -0.31760733 -0.02489733 -0.01254334
+v -0.37124532 -0.01512048 0.02366648
+v -0.31614242 0.01311840 -0.02366853
+v -0.37123334 0.02474511 -0.01363374
+v -0.37123810 -0.01669092 -0.02271541
+v -0.31760572 -0.01489118 0.02328864
+v -0.31707470 0.02243237 0.01611525
+v -0.37124525 -0.02387863 0.01503418
+v -0.37124108 0.01289126 0.02501667
+v -0.31611837 0.02385045 -0.01308146
+f 1 2 3
+f 8 2 1
+f 10 3 2
+f 10 2 6
+f 11 4 3
+f 11 10 6
+f 12 6 2
+f 12 5 6
+f 12 8 5
+f 12 2 8
+f 13 1 3
+f 13 3 7
+f 13 7 9
+f 14 7 3
+f 14 3 4
+f 14 4 7
+f 15 13 9
+f 15 1 13
+f 15 8 1
+f 15 5 8
+f 15 9 6
+f 15 6 5
+f 16 9 7
+f 16 7 4
+f 16 4 11
+f 16 11 6
+f 16 6 9
+f 17 11 3
+f 17 3 10
+f 17 10 11
\ No newline at end of file
diff --git a/objects/objaverse/rolling_pin/rolling_pin_3/collision/model_normalized_collision_5.obj b/objects/objaverse/rolling_pin/rolling_pin_3/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d142818dab521c5345f9551e03471a9d4443b281
--- /dev/null
+++ b/objects/objaverse/rolling_pin/rolling_pin_3/collision/model_normalized_collision_5.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.26478496 0.01718264 -0.01698982
+v 0.25442219 0.01384772 -0.02486635
+v 0.24582769 0.05142138 -0.02663400
+v -0.24567318 0.05528193 -0.01770614
+v -0.26478515 0.01718246 -0.01698963
+v 0.24582776 0.05516223 -0.01767739
+v 0.24582776 0.01767704 -0.05515968
+v 0.25441933 0.02506486 -0.01382886
+v 0.24582769 0.02663381 -0.05141969
+v -0.25442192 0.01384809 -0.02486686
+v -0.25441903 0.02506540 -0.01382918
+v -0.24567318 0.01770610 -0.05528195
+v -0.24567326 0.05152667 -0.02669881
+v -0.24567326 0.02669878 -0.05152668
+f 5 2 1
+f 6 1 3
+f 7 1 2
+f 8 5 1
+f 8 1 6
+f 9 3 1
+f 9 1 7
+f 10 7 2
+f 10 2 5
+f 11 4 5
+f 11 5 8
+f 11 8 6
+f 11 6 4
+f 12 9 7
+f 12 7 10
+f 12 10 5
+f 13 6 3
+f 13 4 6
+f 13 5 4
+f 14 9 12
+f 14 12 5
+f 14 5 13
+f 14 13 3
+f 14 3 9
\ No newline at end of file
diff --git a/objects/objaverse/rolling_pin/rolling_pin_3/collision/model_normalized_collision_6.obj b/objects/objaverse/rolling_pin/rolling_pin_3/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..36b6960a32e821f250da415ff942b07921465260
--- /dev/null
+++ b/objects/objaverse/rolling_pin/rolling_pin_3/collision/model_normalized_collision_6.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.21969443 0.01970914 0.05441429
+v 0.21969830 0.02857965 0.01469700
+v 0.21968018 0.05727743 0.00907162
+v -0.05303030 0.05734771 0.00908299
+v -0.05302349 0.02846827 0.01523970
+v 0.18935933 0.03933195 0.04251640
+v -0.05303030 0.01973690 0.05448122
+v 0.21966231 0.03929270 0.04246973
+v -0.05303030 0.04926545 0.03039277
+v -0.05303030 0.03933906 0.04252466
+v 0.21965848 0.04920479 0.03035511
+f 1 2 3
+f 3 2 4
+f 5 2 1
+f 5 4 2
+f 7 5 1
+f 7 4 5
+f 7 1 6
+f 8 6 1
+f 8 1 3
+f 9 3 4
+f 9 4 7
+f 10 9 7
+f 10 7 6
+f 10 6 9
+f 11 8 3
+f 11 3 9
+f 11 9 6
+f 11 6 8
\ No newline at end of file
diff --git a/objects/objaverse/rolling_pin/rolling_pin_3/collision/model_normalized_collision_7.obj b/objects/objaverse/rolling_pin/rolling_pin_3/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae5b13913e34988d699c298137ad6764f8039072
--- /dev/null
+++ b/objects/objaverse/rolling_pin/rolling_pin_3/collision/model_normalized_collision_7.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.31582553 -0.01923082 0.01901489
+v 0.31708552 -0.01630276 -0.02218689
+v 0.31707539 0.02243266 0.01611541
+v 0.25441951 0.02327508 0.01672096
+v 0.25442122 -0.01690998 -0.02301388
+v 0.25441933 0.02506486 -0.01382886
+v 0.26418892 -0.01721803 0.01702478
+v 0.31611651 0.02384964 -0.01308097
+v 0.25442219 0.01384772 -0.02486635
+v 0.31614092 0.01311796 -0.02366787
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 6 4 3
+f 6 5 4
+f 7 5 1
+f 7 1 4
+f 7 4 5
+f 8 6 3
+f 9 2 5
+f 9 5 6
+f 10 8 3
+f 10 3 2
+f 10 2 9
+f 10 9 6
+f 10 6 8
\ No newline at end of file
diff --git a/objects/objaverse/rolling_pin/rolling_pin_3/collision/model_normalized_collision_8.obj b/objects/objaverse/rolling_pin/rolling_pin_3/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c2feb1d85064b8cad1fabb3cefc504567c5d460b
--- /dev/null
+++ b/objects/objaverse/rolling_pin/rolling_pin_3/collision/model_normalized_collision_8.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.49796073 -0.02688023 0.00714127
+v 0.49788412 -0.02362648 0.01461336
+v 0.31760714 -0.02350059 0.01480084
+v 0.31592136 0.02603060 0.00786130
+v 0.49829060 0.02650779 0.00776075
+v 0.31645348 -0.02652321 0.00675103
+v 0.49786711 -0.01470096 0.02342170
+v 0.31760577 -0.01489067 0.02328873
+v 0.49749727 0.01279247 0.02481946
+v 0.49818445 0.02248277 0.01614309
+v 0.31760548 0.01268830 0.02462283
+v 0.31707539 0.02243266 0.01611541
+f 1 2 3
+f 6 1 3
+f 6 5 1
+f 6 4 5
+f 7 2 1
+f 7 3 2
+f 8 6 3
+f 8 4 6
+f 8 3 7
+f 9 8 7
+f 10 9 7
+f 10 7 1
+f 10 1 5
+f 11 4 8
+f 11 8 9
+f 12 10 5
+f 12 5 4
+f 12 4 11
+f 12 11 9
+f 12 9 10
\ No newline at end of file
diff --git a/objects/objaverse/rolling_pin/rolling_pin_3/collision/model_normalized_collision_9.obj b/objects/objaverse/rolling_pin/rolling_pin_3/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2343b92a56867e1a5a881b44865a4c88d4c3c998
--- /dev/null
+++ b/objects/objaverse/rolling_pin/rolling_pin_3/collision/model_normalized_collision_9.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.05303692 -0.01369323 -0.02891145
+v 0.05303030 -0.00908298 -0.05734770
+v 0.05303282 0.02250764 -0.02293149
+v -0.23484582 0.02263788 -0.02308553
+v -0.23484173 -0.01376988 -0.02909830
+v 0.05303030 0.01770614 -0.05528191
+v -0.23484848 0.01770614 -0.05528194
+v -0.23484848 -0.00908298 -0.05734774
+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 4 6
+f 8 2 5
+f 8 5 4
+f 8 4 7
+f 8 7 6
+f 8 6 2
\ No newline at end of file
diff --git a/objects/objaverse/rolling_pin/rolling_pin_3/model.xml b/objects/objaverse/rolling_pin/rolling_pin_3/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..dda403a61513f29cdd9225d20df1109627dd1491
--- /dev/null
+++ b/objects/objaverse/rolling_pin/rolling_pin_3/model.xml
@@ -0,0 +1,85 @@
+<mujoco model="rolling_pin_3">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="visual/model_normalized_1.obj" name="model_normalized_1_vis" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <texture type="2d" name="image3" file="visual/image3.png"/>
+    <material name="Handle_MAT" texture="image0" specular="0.5" shininess="0.25"/>
+    <material name="Pin_MAT" texture="image3" specular="0.5" shininess="0.25"/>
+  </asset>
+  <worldbody>
+    <body>
+      <body name="object">
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_0_vis" conaffinity="0" contype="0" group="1" material="Pin_MAT"/>
+        <geom solimp="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="Handle_MAT"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_22._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_23._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_21._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_20._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_24._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_30._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_18._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_19._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_31._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_25._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_27._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_26._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_9._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_8._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_6._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_7._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_5._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_4._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_0._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_1._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_3._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_2._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_17._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_16._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_28._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_14._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_15._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_29._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_11._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_10._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_12._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_13._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+      </body>
+      <site rgba="0 0 0 0" size="0.005" pos="-2.437999999993501e-07 0.00019657065000000228 -0.013189980200000005" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="-2.437999999993501e-07 0.00019657065000000228 0.013190456300000002" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.013189973300000003 0.11499997930000001 2.3804999999998276e-07" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/objects/objaverse/rolling_pin/rolling_pin_4/collision/model_normalized_collision_0.obj b/objects/objaverse/rolling_pin/rolling_pin_4/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..21025380c15e1332d67d7a383e3dbd597d7c7986
--- /dev/null
+++ b/objects/objaverse/rolling_pin/rolling_pin_4/collision/model_normalized_collision_0.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.38283765 -0.02130581 0.02022419
+v 0.38767169 -0.00434096 0.03019384
+v 0.29030516 -0.00613978 0.05253281
+v 0.29030516 0.03931476 0.05253281
+v 0.29030516 0.03931476 -0.03837628
+v 0.38806022 0.02975405 0.00570364
+v 0.29030516 -0.00613978 -0.03837628
+v 0.33557760 0.03794961 0.01468546
+v 0.38884214 0.01653345 0.02551177
+v 0.34104203 -0.00626574 -0.03880558
+v 0.33557760 0.03757358 -0.01550869
+v 0.38892429 0.02605027 0.01617386
+v 0.33659506 0.02833727 -0.02886451
+f 1 2 3
+f 3 2 4
+f 5 3 4
+f 6 2 1
+f 7 1 3
+f 7 3 5
+f 8 5 4
+f 8 4 6
+f 9 4 2
+f 10 6 1
+f 10 1 7
+f 10 7 5
+f 11 8 6
+f 11 5 8
+f 12 6 4
+f 12 4 9
+f 12 9 2
+f 12 2 6
+f 13 10 5
+f 13 6 10
+f 13 11 6
+f 13 5 11
\ No newline at end of file
diff --git a/objects/objaverse/rolling_pin/rolling_pin_4/collision/model_normalized_collision_1.obj b/objects/objaverse/rolling_pin/rolling_pin_4/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca9d250c5058698b7d830e130a6d9f02d303672c
--- /dev/null
+++ b/objects/objaverse/rolling_pin/rolling_pin_4/collision/model_normalized_collision_1.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.26515153 -0.09144359 0.00627271
+v 0.26515153 -0.08539279 -0.03305227
+v 0.26515153 0.09150171 0.00586832
+v -0.28520094 0.08977363 0.00561867
+v -0.28030302 -0.08539279 -0.03305227
+v -0.29030517 0.03931476 0.00707826
+v 0.26515153 0.08588853 -0.03196692
+v -0.28030302 -0.09144359 0.00627271
+v -0.29030517 0.03931476 -0.03837628
+v -0.28345600 0.08588853 -0.03196692
+f 1 2 3
+f 5 2 1
+f 6 1 3
+f 6 3 4
+f 7 3 2
+f 8 5 1
+f 8 1 6
+f 9 6 4
+f 9 8 6
+f 9 5 8
+f 9 7 2
+f 9 2 5
+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/objects/objaverse/rolling_pin/rolling_pin_4/collision/model_normalized_collision_10.obj b/objects/objaverse/rolling_pin/rolling_pin_4/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d1a8e941ca504056b45d4ddb4d2ad1d4deaffbbf
--- /dev/null
+++ b/objects/objaverse/rolling_pin/rolling_pin_4/collision/model_normalized_collision_10.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.26515153 -0.06471398 -0.06489587
+v 0.33961055 -0.01892734 -0.03469922
+v 0.29030516 -0.05159433 -0.03837628
+v 0.29030516 0.02416325 -0.03837628
+v 0.29030516 0.02416325 -0.05352780
+v 0.33918660 0.02102752 -0.03349875
+v 0.29030516 -0.05159433 -0.05352780
+v 0.33559856 0.01704605 -0.03732553
+v 0.33590826 -0.01654846 -0.03737575
+f 1 3 4
+f 5 1 4
+f 6 3 2
+f 6 4 3
+f 6 5 4
+f 7 1 2
+f 7 2 3
+f 7 3 1
+f 8 1 5
+f 8 6 2
+f 8 5 6
+f 9 8 2
+f 9 2 1
+f 9 1 8
\ No newline at end of file
diff --git a/objects/objaverse/rolling_pin/rolling_pin_4/collision/model_normalized_collision_11.obj b/objects/objaverse/rolling_pin/rolling_pin_4/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac9555aa8c550d8c409a5cc87e6a42d933091638
--- /dev/null
+++ b/objects/objaverse/rolling_pin/rolling_pin_4/collision/model_normalized_collision_11.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.26515153 -0.07170392 0.05682894
+v 0.29030516 -0.06652582 0.05234217
+v 0.28345599 -0.04136482 0.08207003
+v 0.26515153 0.03545763 0.08485299
+v 0.29030516 0.03931476 0.05253281
+v 0.26515153 -0.04136482 0.08207003
+v 0.28777260 -0.06094183 0.06265538
+v 0.28345599 0.03545763 0.08485299
+v 0.26515153 -0.06420528 0.06548295
+f 5 2 1
+f 5 1 4
+f 6 3 4
+f 6 4 1
+f 7 1 2
+f 7 2 3
+f 8 3 2
+f 8 2 5
+f 8 5 4
+f 8 4 3
+f 9 6 1
+f 9 3 6
+f 9 7 3
+f 9 1 7
\ No newline at end of file
diff --git a/objects/objaverse/rolling_pin/rolling_pin_4/collision/model_normalized_collision_12.obj b/objects/objaverse/rolling_pin/rolling_pin_4/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..57bf8bb972c132e21300772b09447ad00035cbb5
--- /dev/null
+++ b/objects/objaverse/rolling_pin/rolling_pin_4/collision/model_normalized_collision_12.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.29030516 -0.01646316 0.01602724
+v 0.29030516 0.03931476 0.00707826
+v 0.26515153 0.03545763 0.08485299
+v -0.28030302 0.03545763 0.08485299
+v -0.29030517 0.03931476 0.00707826
+v 0.26515153 -0.00613978 0.09140658
+v -0.29030517 -0.01646316 0.01602724
+v -0.28030302 -0.00613978 0.09140658
+f 1 2 3
+f 5 2 1
+f 5 3 2
+f 5 4 3
+f 6 1 3
+f 7 5 1
+f 7 4 5
+f 7 1 6
+f 8 7 6
+f 8 4 7
+f 8 6 3
+f 8 3 4
\ No newline at end of file
diff --git a/objects/objaverse/rolling_pin/rolling_pin_4/collision/model_normalized_collision_13.obj b/objects/objaverse/rolling_pin/rolling_pin_4/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9b359e6851038d786a0068830ab31759d591dbed
--- /dev/null
+++ b/objects/objaverse/rolling_pin/rolling_pin_4/collision/model_normalized_collision_13.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.29030516 0.03931476 0.05253281
+v 0.29030516 0.03931476 0.00707826
+v 0.28520095 0.08977361 0.00561867
+v -0.28345600 0.08626456 0.03114368
+v -0.29030517 0.03931476 0.00707826
+v 0.28568955 0.07589037 0.04847804
+v -0.29030517 0.03931476 0.05253281
+v -0.28520094 0.08977363 0.00561867
+v 0.28345599 0.08626456 0.03114368
+v -0.28568954 0.07589039 0.04847805
+f 1 2 3
+f 5 2 1
+f 5 3 2
+f 6 1 3
+f 7 5 1
+f 8 3 5
+f 8 5 7
+f 9 6 3
+f 9 8 4
+f 9 3 8
+f 10 8 7
+f 10 4 8
+f 10 9 4
+f 10 6 9
+f 10 7 1
+f 10 1 6
\ No newline at end of file
diff --git a/objects/objaverse/rolling_pin/rolling_pin_4/collision/model_normalized_collision_14.obj b/objects/objaverse/rolling_pin/rolling_pin_4/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..59900fc7d102dbaf01ca1524d84aa75422afcf17
--- /dev/null
+++ b/objects/objaverse/rolling_pin/rolling_pin_4/collision/model_normalized_collision_14.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.29030516 0.02416325 -0.03837628
+v 0.29030516 0.02416325 -0.05352780
+v 0.28862990 0.07856391 -0.03554245
+v -0.28862989 0.07856393 -0.03554246
+v -0.29030517 0.02416325 -0.03837628
+v -0.28543839 0.07600026 -0.04884228
+v 0.28543840 0.07600024 -0.04884227
+v -0.29030517 0.02416325 -0.05352780
+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/objects/objaverse/rolling_pin/rolling_pin_4/collision/model_normalized_collision_15.obj b/objects/objaverse/rolling_pin/rolling_pin_4/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ecd8994312b16ec6c09df1519e9c5263b0088851
--- /dev/null
+++ b/objects/objaverse/rolling_pin/rolling_pin_4/collision/model_normalized_collision_15.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.26515153 -0.09083039 0.01053954
+v 0.29030516 -0.01646316 0.01602724
+v 0.26515153 -0.00613978 0.09140658
+v -0.29030517 -0.00613978 0.06768432
+v -0.29030517 -0.06674584 0.00707826
+v -0.28030302 -0.06420528 0.06548295
+v 0.26515153 -0.06420528 0.06548295
+v -0.29030517 -0.01646316 0.01602724
+f 3 2 4
+f 5 2 1
+f 6 3 4
+f 6 5 1
+f 6 4 5
+f 7 1 2
+f 7 2 3
+f 7 6 1
+f 7 3 6
+f 8 5 4
+f 8 4 2
+f 8 2 5
\ No newline at end of file
diff --git a/objects/objaverse/rolling_pin/rolling_pin_4/collision/model_normalized_collision_16.obj b/objects/objaverse/rolling_pin/rolling_pin_4/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a3fdbae9f50812b7abeb953d2dcf1596c92c9aca
--- /dev/null
+++ b/objects/objaverse/rolling_pin/rolling_pin_4/collision/model_normalized_collision_16.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.29030516 0.03931476 0.06768432
+v 0.29030516 0.03931476 0.05253281
+v 0.28568955 0.07589037 0.04847804
+v -0.28030302 0.07792319 0.04940579
+v -0.29030517 0.03931476 0.05253281
+v 0.28345599 0.07193439 0.05656296
+v -0.29030517 0.03931476 0.06768432
+v -0.28030302 0.07193439 0.05656296
+f 1 2 3
+f 5 2 1
+f 5 3 2
+f 5 4 3
+f 6 1 3
+f 6 3 4
+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/objects/objaverse/rolling_pin/rolling_pin_4/collision/model_normalized_collision_17.obj b/objects/objaverse/rolling_pin/rolling_pin_4/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b30574abc96228b36da86fb22e1bdbd82b42543
--- /dev/null
+++ b/objects/objaverse/rolling_pin/rolling_pin_4/collision/model_normalized_collision_17.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.29030516 -0.05159433 -0.05352780
+v 0.28345599 -0.04091228 -0.08236086
+v 0.29030516 -0.00613978 -0.05352780
+v -0.29030517 -0.00613978 -0.05352780
+v -0.29030517 -0.05159433 -0.05352780
+v -0.28030302 -0.00613978 -0.09140659
+v 0.28566522 -0.00613978 -0.08919655
+v -0.28030302 -0.04091228 -0.08236086
+f 5 2 1
+f 5 1 3
+f 5 3 4
+f 6 5 4
+f 7 1 2
+f 7 3 1
+f 7 2 6
+f 7 6 4
+f 7 4 3
+f 8 6 2
+f 8 2 5
+f 8 5 6
\ No newline at end of file
diff --git a/objects/objaverse/rolling_pin/rolling_pin_4/collision/model_normalized_collision_18.obj b/objects/objaverse/rolling_pin/rolling_pin_4/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ff8c78518798a8925f99c8b87496b522be14ac70
--- /dev/null
+++ b/objects/objaverse/rolling_pin/rolling_pin_4/collision/model_normalized_collision_18.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.29030516 -0.00613978 -0.03837628
+v 0.29030516 0.02416325 -0.03837628
+v -0.29030517 0.02416325 -0.03837628
+v -0.28030302 -0.00613978 -0.09140659
+v 0.26515153 -0.00613978 -0.09140659
+v -0.28030302 0.02124005 -0.08902822
+v -0.29030517 -0.00613978 -0.03837628
+v 0.26515153 0.02124005 -0.08902822
+f 5 2 1
+f 5 1 4
+f 6 3 2
+f 6 4 3
+f 6 5 4
+f 7 3 4
+f 7 4 1
+f 7 1 2
+f 7 2 3
+f 8 6 2
+f 8 2 5
+f 8 5 6
\ No newline at end of file
diff --git a/objects/objaverse/rolling_pin/rolling_pin_4/collision/model_normalized_collision_19.obj b/objects/objaverse/rolling_pin/rolling_pin_4/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e922736801b6d6d480bef0881a9e0652317cc134
--- /dev/null
+++ b/objects/objaverse/rolling_pin/rolling_pin_4/collision/model_normalized_collision_19.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.29030516 0.03931476 -0.05352780
+v 0.28926665 0.03597071 -0.07862701
+v 0.28543840 0.07600024 -0.04884227
+v -0.28543839 0.07600026 -0.04884228
+v -0.29030517 0.03931476 -0.05352780
+v 0.28345599 0.06047384 -0.06978932
+v -0.28926664 0.03597072 -0.07862702
+v 0.28345599 0.07144196 -0.05713126
+v -0.28345600 0.06047384 -0.06978932
+v -0.28345600 0.07144196 -0.05713126
+f 1 2 3
+f 5 2 1
+f 5 1 3
+f 5 3 4
+f 6 3 2
+f 7 5 4
+f 7 2 5
+f 7 6 2
+f 8 4 3
+f 8 3 6
+f 9 7 4
+f 9 6 7
+f 9 8 6
+f 10 9 4
+f 10 4 8
+f 10 8 9
\ No newline at end of file
diff --git a/objects/objaverse/rolling_pin/rolling_pin_4/collision/model_normalized_collision_2.obj b/objects/objaverse/rolling_pin/rolling_pin_4/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d49bae1e0ec2421af8f199e1adb350ae2ef396f0
--- /dev/null
+++ b/objects/objaverse/rolling_pin/rolling_pin_4/collision/model_normalized_collision_2.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v -0.29030517 -0.05159433 0.05253281
+v -0.29030517 -0.05159433 -0.05352780
+v -0.29030517 0.03931476 0.05253281
+v -0.33557761 0.03794961 0.01468546
+v -0.35127273 -0.03564024 0.00478544
+v -0.29030517 0.03931476 -0.03837628
+v -0.35007571 -0.01524127 0.03337320
+v -0.35072597 0.00519377 -0.03612154
+v -0.35015634 -0.03351473 0.01397156
+v -0.34974726 0.01528222 0.03346286
+v -0.35045813 0.03579778 -0.00539033
+v -0.29030517 0.02416325 -0.05352780
+v -0.34982652 -0.01527234 -0.03344123
+v -0.35069542 0.02566679 0.02555122
+v -0.33557761 0.03757358 -0.01550869
+v -0.35004350 -0.03316919 -0.01480872
+v -0.35049676 0.03592652 0.00441384
+v -0.35051753 0.02521427 -0.02615396
+v -0.33559853 0.01704605 -0.03732554
+f 1 2 3
+f 5 2 1
+f 6 3 2
+f 6 4 3
+f 7 1 3
+f 9 7 5
+f 9 5 1
+f 9 1 7
+f 10 7 3
+f 12 6 2
+f 12 2 8
+f 13 8 2
+f 13 5 8
+f 14 10 3
+f 14 3 4
+f 14 5 7
+f 14 7 10
+f 14 8 5
+f 15 4 6
+f 16 13 2
+f 16 2 5
+f 16 5 13
+f 17 14 4
+f 17 8 14
+f 17 15 11
+f 17 4 15
+f 18 11 15
+f 18 17 11
+f 18 8 17
+f 18 15 6
+f 18 6 12
+f 19 18 12
+f 19 12 8
+f 19 8 18
\ No newline at end of file
diff --git a/objects/objaverse/rolling_pin/rolling_pin_4/collision/model_normalized_collision_20.obj b/objects/objaverse/rolling_pin/rolling_pin_4/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a3d80809114d8ac8dbfb587379207c8e2453a33
--- /dev/null
+++ b/objects/objaverse/rolling_pin/rolling_pin_4/collision/model_normalized_collision_20.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.29030516 0.02416325 -0.05352780
+v 0.26515153 0.02124005 -0.08902822
+v 0.26515153 0.05289548 -0.07465967
+v -0.29030517 0.03931476 -0.05352780
+v -0.29030517 0.02416325 -0.05352780
+v -0.28030302 0.03518863 -0.08493198
+v 0.26515153 0.03518863 -0.08493198
+v -0.28030302 0.02124005 -0.08902822
+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 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/objects/objaverse/rolling_pin/rolling_pin_4/collision/model_normalized_collision_21.obj b/objects/objaverse/rolling_pin/rolling_pin_4/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b0d2d3e2e80c12777e4b4efe3df3d46be738bf6
--- /dev/null
+++ b/objects/objaverse/rolling_pin/rolling_pin_4/collision/model_normalized_collision_21.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.28662229 -0.08830826 0.00582100
+v 0.29030516 -0.06674584 0.00707826
+v 0.29030516 -0.06652582 0.05234217
+v -0.29030517 -0.06652582 0.05234217
+v -0.29030517 -0.06674584 0.00707826
+v -0.28345600 -0.08004283 0.04476516
+v 0.28345599 -0.08004283 0.04476516
+v -0.28662228 -0.08830827 0.00582100
+f 1 2 3
+f 3 2 4
+f 5 2 1
+f 5 4 2
+f 6 3 4
+f 7 1 3
+f 7 3 6
+f 8 5 1
+f 8 7 6
+f 8 1 7
+f 8 6 4
+f 8 4 5
\ No newline at end of file
diff --git a/objects/objaverse/rolling_pin/rolling_pin_4/collision/model_normalized_collision_22.obj b/objects/objaverse/rolling_pin/rolling_pin_4/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a5512d67839880c8c7f8717c3e609176b0910cc0
--- /dev/null
+++ b/objects/objaverse/rolling_pin/rolling_pin_4/collision/model_normalized_collision_22.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.26515153 -0.07121149 -0.05739724
+v 0.26515153 -0.06471398 -0.06489587
+v 0.26515153 -0.04780345 -0.07793214
+v -0.29030517 -0.05159433 -0.05352780
+v -0.28345600 -0.05852625 -0.07104097
+v -0.29030517 -0.06603339 -0.05291049
+v 0.26515153 -0.05852625 -0.07104097
+v -0.28594797 -0.04645587 -0.07583528
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 6 5 1
+f 6 1 4
+f 7 5 3
+f 7 3 2
+f 7 2 5
+f 8 4 3
+f 8 3 5
+f 8 6 4
+f 8 5 6
\ No newline at end of file
diff --git a/objects/objaverse/rolling_pin/rolling_pin_4/collision/model_normalized_collision_23.obj b/objects/objaverse/rolling_pin/rolling_pin_4/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..82afa5dd5f763e439b5219c702589d39917e73e8
--- /dev/null
+++ b/objects/objaverse/rolling_pin/rolling_pin_4/collision/model_normalized_collision_23.obj
@@ -0,0 +1,18 @@
+# https://github.com/mikedh/trimesh
+v 0.26515153 -0.05514716 0.07321260
+v 0.26515153 -0.04136482 0.08207003
+v -0.28030302 -0.04136482 0.08207003
+v -0.28030302 -0.00613978 0.09140658
+v -0.29030517 -0.00613978 0.06768432
+v 0.26515153 -0.00613978 0.09140658
+v -0.28030302 -0.05514716 0.07321260
+f 5 3 4
+f 6 2 1
+f 6 1 5
+f 6 5 4
+f 6 3 2
+f 6 4 3
+f 7 5 1
+f 7 3 5
+f 7 1 2
+f 7 2 3
\ No newline at end of file
diff --git a/objects/objaverse/rolling_pin/rolling_pin_4/collision/model_normalized_collision_24.obj b/objects/objaverse/rolling_pin/rolling_pin_4/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4be66b6d2d6eb09bae15e4059b5cd5922978b583
--- /dev/null
+++ b/objects/objaverse/rolling_pin/rolling_pin_4/collision/model_normalized_collision_24.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.28345599 -0.08539279 -0.03305227
+v 0.28744682 -0.06069569 -0.06343709
+v -0.29030517 -0.06674584 -0.03837628
+v -0.28744681 -0.06069570 -0.06343711
+v 0.28345599 -0.07021036 -0.05855262
+v -0.28345600 -0.08539279 -0.03305227
+v 0.29030516 -0.06674584 -0.03837628
+v 0.28345599 -0.07966681 -0.04558840
+v -0.28345600 -0.07966681 -0.04558840
+v -0.28345600 -0.07021036 -0.05855262
+f 3 2 4
+f 5 4 2
+f 6 1 3
+f 7 2 3
+f 7 3 1
+f 8 5 2
+f 8 7 1
+f 8 2 7
+f 9 6 3
+f 9 3 4
+f 9 5 8
+f 9 8 1
+f 9 1 6
+f 10 9 4
+f 10 4 5
+f 10 5 9
\ No newline at end of file
diff --git a/objects/objaverse/rolling_pin/rolling_pin_4/collision/model_normalized_collision_25.obj b/objects/objaverse/rolling_pin/rolling_pin_4/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..54942fed95b83eac4dad5fc6e5788e54017885d6
--- /dev/null
+++ b/objects/objaverse/rolling_pin/rolling_pin_4/collision/model_normalized_collision_25.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.26515153 -0.08016202 -0.04450423
+v 0.29030516 -0.00613978 -0.05352780
+v 0.29030516 -0.00613978 -0.03837628
+v -0.29030517 -0.00613978 -0.03837628
+v -0.28030302 -0.07121149 -0.05739724
+v -0.29030517 -0.06674584 -0.03837628
+v 0.26515153 -0.07121149 -0.05739724
+v -0.29030517 -0.00613978 -0.05352780
+f 1 2 3
+f 6 1 3
+f 6 3 4
+f 6 5 1
+f 7 2 1
+f 7 1 5
+f 8 7 5
+f 8 2 7
+f 8 3 2
+f 8 4 3
+f 8 6 4
+f 8 5 6
\ No newline at end of file
diff --git a/objects/objaverse/rolling_pin/rolling_pin_4/collision/model_normalized_collision_26.obj b/objects/objaverse/rolling_pin/rolling_pin_4/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..702bab0220d242ee4cb9ba1b17c628a13b4b3ae8
--- /dev/null
+++ b/objects/objaverse/rolling_pin/rolling_pin_4/collision/model_normalized_collision_26.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.28777260 -0.06094183 0.06265538
+v 0.29030516 -0.05144324 0.06744921
+v 0.28345599 -0.05897879 0.07075015
+v -0.28636649 -0.04668208 0.07519229
+v -0.29030517 -0.05144324 0.06744921
+v 0.28636650 -0.04668207 0.07519227
+v -0.28777259 -0.06094184 0.06265539
+v -0.28345600 -0.05897879 0.07075015
+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 5 1
+f 7 1 3
+f 8 7 3
+f 8 3 4
+f 8 4 5
+f 8 5 7
\ No newline at end of file
diff --git a/objects/objaverse/rolling_pin/rolling_pin_4/collision/model_normalized_collision_27.obj b/objects/objaverse/rolling_pin/rolling_pin_4/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3852f2d00783a03c475095caaf36a23d19947969
--- /dev/null
+++ b/objects/objaverse/rolling_pin/rolling_pin_4/collision/model_normalized_collision_27.obj
@@ -0,0 +1,15 @@
+# https://github.com/mikedh/trimesh
+v 0.28691536 -0.07474434 0.04803544
+v 0.29030516 -0.06652582 0.05234217
+v 0.28345599 -0.07070279 0.05798432
+v -0.28030302 -0.06420528 0.06548295
+v -0.28030302 -0.07768594 0.04992522
+v 0.28777260 -0.06094183 0.06265538
+f 5 2 1
+f 5 4 2
+f 5 1 3
+f 5 3 4
+f 6 2 4
+f 6 4 3
+f 6 1 2
+f 6 3 1
\ No newline at end of file
diff --git a/objects/objaverse/rolling_pin/rolling_pin_4/collision/model_normalized_collision_28.obj b/objects/objaverse/rolling_pin/rolling_pin_4/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c07bd68febfa33098274270749b97482bd40ecba
--- /dev/null
+++ b/objects/objaverse/rolling_pin/rolling_pin_4/collision/model_normalized_collision_28.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.28345599 0.03545763 0.08485299
+v 0.29030516 0.03931476 0.06768432
+v 0.28668734 0.06299382 0.06194492
+v -0.28668733 0.06299383 0.06194493
+v -0.29030517 0.03931476 0.06768432
+v 0.28345599 0.06047384 0.06978932
+v 0.28345599 0.04339731 0.08076382
+v -0.28345600 0.03545763 0.08485299
+v -0.28345600 0.04339731 0.08076382
+v -0.28345600 0.06047384 0.06978932
+f 5 3 2
+f 5 4 3
+f 6 3 4
+f 7 1 2
+f 7 2 3
+f 7 3 6
+f 8 1 7
+f 8 5 2
+f 8 2 1
+f 9 4 5
+f 9 5 8
+f 9 8 7
+f 9 7 6
+f 10 9 6
+f 10 6 4
+f 10 4 9
\ No newline at end of file
diff --git a/objects/objaverse/rolling_pin/rolling_pin_4/collision/model_normalized_collision_29.obj b/objects/objaverse/rolling_pin/rolling_pin_4/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d3575ba4947988ec41bd14952ad08846f2a97949
--- /dev/null
+++ b/objects/objaverse/rolling_pin/rolling_pin_4/collision/model_normalized_collision_29.obj
@@ -0,0 +1,15 @@
+# https://github.com/mikedh/trimesh
+v -0.29030517 -0.05159433 -0.05352780
+v -0.28030302 -0.04091228 -0.08236086
+v -0.29030517 0.03931476 -0.05352780
+v -0.28030302 0.03518863 -0.08493198
+v -0.28345600 0.03518863 -0.08493198
+v -0.28345600 -0.04091228 -0.08236086
+f 1 2 3
+f 3 2 4
+f 5 4 2
+f 5 1 3
+f 5 3 4
+f 6 5 2
+f 6 2 1
+f 6 1 5
\ No newline at end of file
diff --git a/objects/objaverse/rolling_pin/rolling_pin_4/collision/model_normalized_collision_3.obj b/objects/objaverse/rolling_pin/rolling_pin_4/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92a34a005a829dd8bedaf028a128fea5341a82f5
--- /dev/null
+++ b/objects/objaverse/rolling_pin/rolling_pin_4/collision/model_normalized_collision_3.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.26515153 -0.06520641 0.06432757
+v 0.38759998 -0.02947571 -0.00707153
+v 0.38767169 -0.00434096 0.03019384
+v 0.29030516 -0.00613978 0.05253281
+v 0.29030516 -0.00613978 -0.03837628
+v 0.38849688 -0.02578596 0.01657205
+v 0.29030516 -0.05159433 -0.03837628
+v 0.34104203 -0.00626574 -0.03880558
+v 0.38857753 -0.01447609 0.02677901
+v 0.38298062 -0.01655408 -0.02427456
+f 1 3 4
+f 5 1 4
+f 5 4 3
+f 6 1 2
+f 7 2 1
+f 7 1 5
+f 8 5 3
+f 8 7 5
+f 9 6 2
+f 9 2 3
+f 9 3 1
+f 9 1 6
+f 10 8 3
+f 10 3 2
+f 10 2 7
+f 10 7 8
\ No newline at end of file
diff --git a/objects/objaverse/rolling_pin/rolling_pin_4/collision/model_normalized_collision_30.obj b/objects/objaverse/rolling_pin/rolling_pin_4/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4037ef9d3ad529b1d724cacc8fa0e17d48c4218c
--- /dev/null
+++ b/objects/objaverse/rolling_pin/rolling_pin_4/collision/model_normalized_collision_30.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.29030516 -0.00613978 -0.05352780
+v 0.28566522 -0.00613978 -0.08919655
+v 0.29030516 0.03931476 -0.06867931
+v 0.26515153 0.05289548 -0.07465967
+v 0.26515153 -0.00613978 -0.09140659
+v 0.28345599 0.03518863 -0.08493198
+v 0.29030516 0.03931476 -0.05352780
+v 0.26515153 0.03518863 -0.08493198
+f 1 2 3
+f 5 2 1
+f 5 1 4
+f 6 3 2
+f 6 4 3
+f 6 2 5
+f 7 1 3
+f 7 3 4
+f 7 4 1
+f 8 6 5
+f 8 5 4
+f 8 4 6
\ No newline at end of file
diff --git a/objects/objaverse/rolling_pin/rolling_pin_4/collision/model_normalized_collision_31.obj b/objects/objaverse/rolling_pin/rolling_pin_4/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..319bd90719b88f1f07b4e225ac4ebd3bb50ad40f
--- /dev/null
+++ b/objects/objaverse/rolling_pin/rolling_pin_4/collision/model_normalized_collision_31.obj
@@ -0,0 +1,18 @@
+# https://github.com/mikedh/trimesh
+v 0.29030516 0.03931476 0.00707826
+v 0.29030516 0.03931476 -0.03837628
+v 0.28520095 0.08977361 0.00561867
+v 0.26515153 0.09150171 0.00586832
+v 0.26515153 0.08588853 -0.03196692
+v 0.28345599 0.08588853 -0.03196692
+v 0.28512777 0.08970574 -0.00660520
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 5 1 4
+f 6 2 5
+f 7 3 2
+f 7 2 6
+f 7 4 3
+f 7 6 5
+f 7 5 4
\ No newline at end of file
diff --git a/objects/objaverse/rolling_pin/rolling_pin_4/collision/model_normalized_collision_4.obj b/objects/objaverse/rolling_pin/rolling_pin_4/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..efafbaf1390d6f8f37f4ef6860328989cc1548f5
--- /dev/null
+++ b/objects/objaverse/rolling_pin/rolling_pin_4/collision/model_normalized_collision_4.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v -0.35128780 -0.02430174 0.02685739
+v -0.35110991 -0.02384921 -0.02746013
+v -0.35069542 0.02566679 0.02555122
+v -0.48528889 0.02363961 0.01507362
+v -0.45736813 -0.03572061 0.00479618
+v -0.35051753 0.02521427 -0.02615396
+v -0.48528889 -0.01307666 0.02459983
+v -0.43263014 -0.03557272 0.00477297
+v -0.48528889 -0.01262411 -0.02489068
+v -0.48528889 0.02359822 -0.01516427
+v -0.47072077 0.02260597 0.02290080
+v -0.47131199 -0.02124175 0.02420745
+v -0.45732956 -0.03559178 -0.00577265
+v -0.49610614 -0.01190288 0.01373721
+v -0.47054326 0.02215328 -0.02350347
+v -0.48528889 0.01510909 0.02329359
+v -0.43263775 -0.03543259 -0.00574976
+v -0.47111333 -0.02114756 -0.02440602
+v -0.49472164 0.01341123 -0.01390664
+v -0.49292654 -0.02039236 0.00477294
+v -0.48528889 0.01465654 -0.02358444
+v -0.49504578 0.01368236 0.01314663
+v -0.49285617 -0.02031526 -0.00575685
+v -0.49573172 -0.01212667 -0.01399548
+f 6 1 2
+f 6 3 1
+f 7 1 3
+f 8 2 1
+f 8 1 5
+f 9 6 2
+f 10 4 3
+f 10 3 6
+f 11 3 4
+f 12 5 1
+f 12 1 7
+f 13 8 5
+f 15 10 6
+f 16 7 3
+f 16 3 11
+f 16 11 4
+f 16 14 7
+f 17 13 2
+f 17 2 8
+f 17 8 13
+f 18 9 2
+f 18 2 13
+f 20 12 7
+f 20 7 14
+f 20 5 12
+f 21 15 6
+f 21 6 9
+f 21 9 19
+f 21 19 10
+f 21 10 15
+f 22 16 4
+f 22 14 16
+f 22 19 14
+f 22 4 10
+f 22 10 19
+f 23 13 5
+f 23 5 20
+f 23 18 13
+f 23 9 18
+f 23 20 14
+f 24 19 9
+f 24 9 23
+f 24 23 14
+f 24 14 19
\ No newline at end of file
diff --git a/objects/objaverse/rolling_pin/rolling_pin_4/collision/model_normalized_collision_5.obj b/objects/objaverse/rolling_pin/rolling_pin_4/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f42c2e1ff1c335acdb90162424fb2f262b498dc
--- /dev/null
+++ b/objects/objaverse/rolling_pin/rolling_pin_4/collision/model_normalized_collision_5.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.33731116 -0.03960526 -0.00635025
+v 0.38858938 -0.02579977 -0.01658092
+v 0.38283765 -0.02130581 0.02022419
+v 0.33657383 0.04002027 0.00500217
+v 0.33682675 0.00578796 -0.04025100
+v 0.38806022 0.02975405 0.00570364
+v 0.34903187 -0.02680893 0.02498766
+v 0.38759998 -0.02947571 -0.00707153
+v 0.33590826 -0.01654846 -0.03737575
+v 0.33659506 0.02833727 -0.02886451
+v 0.38898476 0.01609442 -0.02582377
+v 0.33612055 -0.03693112 -0.01652706
+v 0.38900498 0.02586181 -0.01662077
+v 0.33653519 0.03989153 -0.00597866
+v 0.38872015 -0.01403706 -0.02709100
+f 7 4 1
+f 7 6 4
+f 7 3 6
+f 8 7 1
+f 8 3 7
+f 8 6 3
+f 8 2 6
+f 10 5 9
+f 11 5 10
+f 12 8 1
+f 12 2 8
+f 12 9 2
+f 12 1 4
+f 12 4 9
+f 13 11 10
+f 13 6 2
+f 13 2 11
+f 14 10 9
+f 14 9 4
+f 14 13 10
+f 14 4 6
+f 14 6 13
+f 15 9 5
+f 15 5 11
+f 15 11 2
+f 15 2 9
\ No newline at end of file
diff --git a/objects/objaverse/rolling_pin/rolling_pin_4/collision/model_normalized_collision_6.obj b/objects/objaverse/rolling_pin/rolling_pin_4/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e371316989d7c03e531f980d087da0084f393b3b
--- /dev/null
+++ b/objects/objaverse/rolling_pin/rolling_pin_4/collision/model_normalized_collision_6.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.28662229 -0.08830826 0.00582100
+v 0.28594798 -0.04645586 -0.07583526
+v 0.29030516 -0.06652582 0.05234217
+v 0.29030516 -0.05159433 0.05253281
+v 0.26515153 -0.06520641 0.06432757
+v 0.26515153 -0.08539279 -0.03305227
+v 0.26515153 -0.04780345 -0.07793214
+v 0.26515153 -0.07170392 0.05682894
+v 0.28345599 -0.08539279 -0.03305227
+v 0.26515153 -0.09144359 0.00627271
+v 0.28345599 -0.05852625 -0.07104097
+v 0.26515153 -0.05852625 -0.07104097
+f 1 2 3
+f 3 2 4
+f 5 3 4
+f 7 5 4
+f 7 4 2
+f 7 6 5
+f 8 1 3
+f 8 3 5
+f 8 5 6
+f 9 2 1
+f 10 8 6
+f 10 1 8
+f 10 9 1
+f 10 6 9
+f 11 7 2
+f 11 2 9
+f 11 9 6
+f 12 11 6
+f 12 6 7
+f 12 7 11
\ No newline at end of file
diff --git a/objects/objaverse/rolling_pin/rolling_pin_4/collision/model_normalized_collision_7.obj b/objects/objaverse/rolling_pin/rolling_pin_4/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..63ad754089d54bd5200a1f2cef79e623750838a4
--- /dev/null
+++ b/objects/objaverse/rolling_pin/rolling_pin_4/collision/model_normalized_collision_7.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.28030302 -0.07768594 0.04992522
+v -0.28030302 -0.07070279 0.05798432
+v -0.28691535 -0.07474436 0.04803545
+v -0.28030302 0.07792319 0.04940579
+v -0.28345600 0.03545763 0.08485299
+v -0.28345600 -0.07070279 0.05798432
+v -0.28030302 0.03545763 0.08485299
+v -0.28568954 0.07589039 0.04847805
+v -0.28345600 -0.04136482 0.08207003
+v -0.28030302 0.07193439 0.05656296
+v -0.28030302 -0.04136482 0.08207003
+v -0.28345600 0.07193439 0.05656296
+f 1 3 4
+f 6 1 2
+f 6 3 1
+f 7 2 1
+f 7 1 4
+f 8 4 3
+f 8 3 5
+f 9 5 3
+f 9 3 6
+f 9 6 2
+f 9 7 5
+f 10 7 4
+f 10 5 7
+f 11 9 2
+f 11 2 7
+f 11 7 9
+f 12 8 5
+f 12 5 10
+f 12 10 4
+f 12 4 8
\ No newline at end of file
diff --git a/objects/objaverse/rolling_pin/rolling_pin_4/collision/model_normalized_collision_8.obj b/objects/objaverse/rolling_pin/rolling_pin_4/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f56c5bfd6e1286a03d187615e4913ce0df4f1b3e
--- /dev/null
+++ b/objects/objaverse/rolling_pin/rolling_pin_4/collision/model_normalized_collision_8.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v 0.45736816 -0.03572060 0.00479618
+v 0.49573176 -0.01212666 -0.01399546
+v 0.48528888 0.01510909 0.02329359
+v 0.38892429 0.02605027 0.01617386
+v 0.39025137 -0.02027621 -0.02340051
+v 0.47054328 0.02215327 -0.02350346
+v 0.39012252 -0.02027517 0.02336716
+v 0.48528888 -0.01307666 0.02459983
+v 0.47111336 -0.02114755 -0.02440601
+v 0.49472167 0.01341121 -0.01390663
+v 0.48528888 0.02363961 0.01507362
+v 0.38898476 0.01609442 -0.02582377
+v 0.38884214 0.01653345 0.02551177
+v 0.43263017 -0.03557272 0.00477297
+v 0.49292658 -0.02039233 0.00477293
+v 0.47131201 -0.02124174 0.02420744
+v 0.48528888 -0.01262411 -0.02489068
+v 0.48528888 0.02359822 -0.01516427
+v 0.49504582 0.01368235 0.01314662
+v 0.38900498 0.02586181 -0.01662077
+v 0.47072080 0.02260596 0.02290079
+v 0.45732958 -0.03559177 -0.00577265
+v 0.48528888 0.01465654 -0.02358444
+v 0.49285621 -0.02031524 -0.00575685
+v 0.49610617 -0.01190287 0.01373720
+v 0.40530131 0.02302981 -0.02426047
+v 0.40518874 0.02350301 0.02368429
+v 0.43263778 -0.03543259 -0.00574976
+f 12 5 7
+f 12 9 5
+f 13 12 7
+f 13 8 3
+f 14 7 5
+f 16 15 8
+f 16 1 15
+f 16 14 1
+f 16 7 14
+f 16 13 7
+f 16 8 13
+f 17 9 12
+f 17 10 2
+f 18 4 11
+f 19 11 3
+f 19 18 11
+f 19 10 18
+f 20 18 6
+f 20 4 18
+f 20 13 4
+f 20 12 13
+f 21 11 4
+f 21 13 3
+f 21 3 11
+f 22 1 14
+f 23 10 17
+f 23 18 10
+f 23 6 18
+f 23 17 12
+f 23 12 6
+f 24 17 2
+f 24 9 17
+f 24 22 9
+f 24 15 1
+f 24 1 22
+f 25 19 3
+f 25 3 8
+f 25 8 15
+f 25 2 10
+f 25 10 19
+f 25 24 2
+f 25 15 24
+f 26 20 6
+f 26 6 12
+f 26 12 20
+f 27 21 4
+f 27 4 13
+f 27 13 21
+f 28 22 14
+f 28 14 5
+f 28 5 9
+f 28 9 22
\ No newline at end of file
diff --git a/objects/objaverse/rolling_pin/rolling_pin_4/collision/model_normalized_collision_9.obj b/objects/objaverse/rolling_pin/rolling_pin_4/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7ce957df310edfbdef5e2d1df122ad52d64db311
--- /dev/null
+++ b/objects/objaverse/rolling_pin/rolling_pin_4/collision/model_normalized_collision_9.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.28030302 -0.09144359 0.00627271
+v -0.28030302 -0.07121149 -0.05739724
+v -0.28030302 -0.07170392 0.05682894
+v -0.29030517 -0.05159433 0.05253281
+v -0.29030517 -0.06603339 -0.05291049
+v -0.29030517 -0.06652582 0.05234217
+v -0.28345600 -0.08539279 -0.03305227
+v -0.29030517 -0.05159433 -0.05352780
+v -0.28662228 -0.08830827 0.00582100
+v -0.28030302 -0.08539279 -0.03305227
+f 1 2 3
+f 3 2 4
+f 6 3 4
+f 6 4 5
+f 7 5 2
+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 5
+f 9 5 7
+f 10 7 2
+f 10 2 1
+f 10 1 7
\ No newline at end of file
diff --git a/objects/objaverse/rolling_pin/rolling_pin_4/model.xml b/objects/objaverse/rolling_pin/rolling_pin_4/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..c833c56fc61d7cd6e9b7f4c189b873748356e7bb
--- /dev/null
+++ b/objects/objaverse/rolling_pin/rolling_pin_4/model.xml
@@ -0,0 +1,80 @@
+<mujoco model="rolling_pin_4">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.21000000000000002 0.21000000000000002 0.21000000000000002" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.21000000000000002 0.21000000000000002 0.21000000000000002" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.21000000000000002 0.21000000000000002 0.21000000000000002" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.21000000000000002 0.21000000000000002 0.21000000000000002" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.21000000000000002 0.21000000000000002 0.21000000000000002" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.21000000000000002 0.21000000000000002 0.21000000000000002" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.21000000000000002 0.21000000000000002 0.21000000000000002" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.21000000000000002 0.21000000000000002 0.21000000000000002" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.21000000000000002 0.21000000000000002 0.21000000000000002" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.21000000000000002 0.21000000000000002 0.21000000000000002" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.21000000000000002 0.21000000000000002 0.21000000000000002" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.21000000000000002 0.21000000000000002 0.21000000000000002" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.21000000000000002 0.21000000000000002 0.21000000000000002" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.21000000000000002 0.21000000000000002 0.21000000000000002" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.21000000000000002 0.21000000000000002 0.21000000000000002" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.21000000000000002 0.21000000000000002 0.21000000000000002" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
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+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.21000000000000002 0.21000000000000002 0.21000000000000002" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.21000000000000002 0.21000000000000002 0.21000000000000002" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
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+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.21000000000000002 0.21000000000000002 0.21000000000000002" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <material name="phong1SG" specular="0.5" shininess="0.0028583989999999997" rgba="0.500000 0.320000 0.160000 1.0"/>
+  </asset>
+  <worldbody>
+    <body>
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+      </body>
+      <site rgba="0 0 0 0" size="0.005" pos="6.102599999999459e-06 -3.15000000417065e-09 -0.0191953839" name="bottom_site"/>
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diff --git a/objects/objaverse/rolling_pin/rolling_pin_4/visual/material.mtl b/objects/objaverse/rolling_pin/rolling_pin_4/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..954b61a7b2012dd9938b1cec1ce73fb031bba25a
--- /dev/null
+++ b/objects/objaverse/rolling_pin/rolling_pin_4/visual/material.mtl
@@ -0,0 +1,7 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.50196078 0.32156863 0.16078431
+Ks 0.50196078 0.50196078 0.50196078
+Ns 2.85839900
\ No newline at end of file
diff --git a/objects/objaverse/rolling_pin/rolling_pin_4/visual/model_normalized_0.obj b/objects/objaverse/rolling_pin/rolling_pin_4/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..319a43ceeab7b8fb23e80a7f664dd5ddf398c212
--- /dev/null
+++ b/objects/objaverse/rolling_pin/rolling_pin_4/visual/model_normalized_0.obj
@@ -0,0 +1,2649 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_12/collision/model_normalized_collision_0.obj b/objects/objaverse/tray/tray_12/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a6e3554f488b05ec663ef73d02edac70125200f4
--- /dev/null
+++ b/objects/objaverse/tray/tray_12/collision/model_normalized_collision_0.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.33318104 -0.26493800 -0.02932636
+v 0.35400346 -0.21998461 -0.03912407
+v 0.35148440 -0.14391053 -0.02970092
+v 0.01438731 -0.14393731 -0.02968371
+v 0.01431505 -0.26534976 -0.04682296
+v 0.04476576 -0.14383234 -0.02951253
+v 0.35190104 -0.21928572 -0.02988689
+v 0.33259529 -0.26516546 -0.04388225
+v 0.01438604 -0.26513626 -0.03073084
+v 0.01421745 -0.14401043 -0.04559007
+v 0.22677292 -0.26502668 -0.02968174
+v 0.35357461 -0.14438353 -0.04019893
+v 0.15047971 -0.14414653 -0.04440270
+v 0.24144863 -0.26527183 -0.04461897
+f 6 1 3
+f 7 1 2
+f 7 2 3
+f 7 3 1
+f 8 2 1
+f 9 6 4
+f 10 6 3
+f 10 4 6
+f 10 9 4
+f 10 5 9
+f 11 1 6
+f 11 6 9
+f 12 3 2
+f 12 2 8
+f 13 8 5
+f 13 5 10
+f 13 12 8
+f 13 10 3
+f 13 3 12
+f 14 11 9
+f 14 9 5
+f 14 5 8
+f 14 8 1
+f 14 1 11
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_12/collision/model_normalized_collision_1.obj b/objects/objaverse/tray/tray_12/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..30cd81839da9322c5bac3b66ae357947bdfc7059
--- /dev/null
+++ b/objects/objaverse/tray/tray_12/collision/model_normalized_collision_1.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.35286410 -0.46614802 -0.00271496
+v 0.35019900 -0.45051300 -0.02698621
+v 0.34975684 -0.40278443 -0.03030242
+v 0.07487101 -0.40016031 -0.04719022
+v 0.11245049 -0.45015101 -0.02892960
+v 0.35263326 -0.40037331 -0.04307525
+v 0.10626601 -0.46473118 -0.00069034
+v 0.07475961 -0.41419523 -0.04509167
+v 0.07494414 -0.40438440 -0.03048612
+v 0.07583090 -0.42473243 -0.04090891
+v 0.35043103 -0.41235456 -0.04230068
+v 0.07551676 -0.42201350 -0.03086687
+f 5 2 1
+f 6 4 3
+f 6 1 2
+f 6 3 1
+f 7 1 3
+f 7 5 1
+f 9 7 3
+f 9 3 4
+f 9 4 8
+f 10 2 5
+f 10 5 7
+f 11 6 2
+f 11 10 8
+f 11 2 10
+f 11 8 4
+f 11 4 6
+f 12 9 8
+f 12 8 10
+f 12 10 7
+f 12 7 9
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_12/collision/model_normalized_collision_10.obj b/objects/objaverse/tray/tray_12/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0f3a0efb10d420a718cc1d82ab000b0655deb888
--- /dev/null
+++ b/objects/objaverse/tray/tray_12/collision/model_normalized_collision_10.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.07583090 -0.42473243 -0.04090891
+v 0.07475961 -0.41419523 -0.04509167
+v 0.07494414 -0.40438440 -0.03048612
+v -0.35450400 -0.40188465 -0.03639929
+v -0.35256828 -0.42620346 -0.04345203
+v 0.07487101 -0.40016031 -0.04719022
+v -0.06034214 -0.42100818 -0.04351645
+v -0.10755759 -0.45098303 -0.01662066
+v -0.35288247 -0.40019480 -0.04868877
+v -0.35422645 -0.44212767 -0.03367396
+v 0.07551676 -0.42201350 -0.03086687
+v -0.34853746 -0.40372013 -0.03221697
+v -0.10013230 -0.43258298 -0.03815630
+v -0.35517210 -0.45001359 -0.01737333
+f 6 4 3
+f 6 1 2
+f 6 3 1
+f 7 5 2
+f 7 2 1
+f 7 1 5
+f 9 4 6
+f 9 6 2
+f 9 2 5
+f 10 9 5
+f 10 4 9
+f 11 8 1
+f 11 1 3
+f 11 3 8
+f 12 3 4
+f 13 10 5
+f 13 5 1
+f 13 1 8
+f 13 8 10
+f 14 8 3
+f 14 3 12
+f 14 10 8
+f 14 12 4
+f 14 4 10
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_12/collision/model_normalized_collision_11.obj b/objects/objaverse/tray/tray_12/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..52ed5b72ef8b07742de42c15f01ada817f4eac7e
--- /dev/null
+++ b/objects/objaverse/tray/tray_12/collision/model_normalized_collision_11.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.09344146 -0.46791108 0.00097386
+v -0.10476494 -0.43950567 -0.02876643
+v -0.10802454 -0.43529435 -0.02162357
+v -0.35407363 -0.43679157 -0.02386848
+v -0.35286894 -0.45047562 -0.02956302
+v -0.10914886 -0.43945384 -0.03583469
+v -0.33428914 -0.47003985 0.01095236
+v -0.35422645 -0.44212767 -0.03367396
+v -0.11377590 -0.45179905 -0.02790507
+v -0.35480606 -0.46698800 -0.00131322
+v -0.10848206 -0.45494961 -0.02246452
+v -0.34768404 -0.47012591 0.01074824
+f 1 2 3
+f 6 3 2
+f 6 4 3
+f 6 2 1
+f 7 1 3
+f 7 3 4
+f 8 6 5
+f 8 4 6
+f 9 5 6
+f 10 5 9
+f 10 8 5
+f 10 4 8
+f 11 9 6
+f 11 6 1
+f 11 10 9
+f 11 1 10
+f 12 10 1
+f 12 1 7
+f 12 7 4
+f 12 4 10
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_12/collision/model_normalized_collision_12.obj b/objects/objaverse/tray/tray_12/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..07bbcdc45536f93bfbff39b5cf3d9ac012e9494c
--- /dev/null
+++ b/objects/objaverse/tray/tray_12/collision/model_normalized_collision_12.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.35286322 -0.48690849 0.01796223
+v 0.35264462 -0.45509561 -0.02129673
+v -0.35300135 -0.47028261 0.00827067
+v -0.35403064 -0.45669975 -0.02395060
+v 0.34882516 -0.47917126 -0.00316503
+v 0.35037442 -0.47061743 0.00697736
+v 0.34891149 -0.46590650 -0.01689332
+v -0.35430911 -0.48411969 0.01926820
+v -0.35213453 -0.46651557 -0.01544305
+v 0.11071948 -0.45609376 -0.02268547
+v -0.35143182 -0.47512673 -0.00304659
+f 3 2 4
+f 5 2 1
+f 6 1 2
+f 6 2 3
+f 7 2 5
+f 8 5 1
+f 8 3 4
+f 8 6 3
+f 8 1 6
+f 9 7 5
+f 9 4 7
+f 9 8 4
+f 10 7 4
+f 10 4 2
+f 10 2 7
+f 11 9 5
+f 11 5 8
+f 11 8 9
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_12/collision/model_normalized_collision_13.obj b/objects/objaverse/tray/tray_12/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8916412e88306f165cac627b379c7226c563c8a7
--- /dev/null
+++ b/objects/objaverse/tray/tray_12/collision/model_normalized_collision_13.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.01438016 -0.12868256 -0.02951055
+v 0.01421300 -0.12896460 -0.04546664
+v 0.01430005 0.23491104 -0.04465014
+v -0.16743025 0.23484655 -0.02973378
+v -0.16772290 -0.14413782 -0.04728521
+v 0.01446099 0.23476881 -0.02895081
+v -0.10682266 -0.14393420 -0.03005134
+v -0.16759162 0.23493851 -0.04619213
+v -0.10703264 -0.14403214 -0.04645876
+v -0.16742448 -0.14392827 -0.03055823
+v -0.16737072 0.02280081 -0.02957971
+v -0.16732582 0.21964242 -0.02961746
+v -0.13706061 -0.05292644 -0.02966968
+v -0.09154346 -0.09843160 -0.02960266
+f 1 2 3
+f 5 3 2
+f 6 1 3
+f 6 3 4
+f 7 2 1
+f 8 5 4
+f 8 4 3
+f 8 3 5
+f 9 7 5
+f 9 5 2
+f 9 2 7
+f 10 4 5
+f 10 5 7
+f 11 4 10
+f 12 11 6
+f 12 6 4
+f 12 4 11
+f 13 11 10
+f 14 7 1
+f 14 11 13
+f 14 1 6
+f 14 6 11
+f 14 13 10
+f 14 10 7
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_12/collision/model_normalized_collision_14.obj b/objects/objaverse/tray/tray_12/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b695178d9c2115f5af002d7df0adeb5d5e92fa25
--- /dev/null
+++ b/objects/objaverse/tray/tray_12/collision/model_normalized_collision_14.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.35115969 -0.49308095 0.04586536
+v 0.35004076 -0.49351756 0.02305778
+v 0.35037442 -0.47061743 0.00697736
+v -0.35300135 -0.47028261 0.00827067
+v -0.34463055 -0.49473771 0.04124175
+v -0.34273231 -0.48563766 0.04669291
+v -0.19753252 -0.48961759 0.02237758
+v 0.34867291 -0.48972993 0.04667671
+v -0.34235974 -0.48948358 0.04732927
+v -0.35210761 -0.48607811 0.03806051
+v -0.35430911 -0.48411969 0.01926820
+v -0.34738174 -0.49283000 0.03412845
+v 0.35070783 -0.47990262 0.02426134
+v -0.19693421 -0.49294350 0.04560550
+v -0.35187378 -0.48868954 0.03806720
+f 1 2 3
+f 3 2 4
+f 5 2 1
+f 6 3 4
+f 7 4 2
+f 8 3 6
+f 9 8 6
+f 9 1 8
+f 10 6 4
+f 10 9 6
+f 11 4 7
+f 11 10 4
+f 12 7 2
+f 12 2 5
+f 12 11 7
+f 13 8 1
+f 13 1 3
+f 13 3 8
+f 14 9 5
+f 14 5 1
+f 14 1 9
+f 15 5 9
+f 15 9 10
+f 15 12 5
+f 15 10 11
+f 15 11 12
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_12/collision/model_normalized_collision_15.obj b/objects/objaverse/tray/tray_12/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..493c0e312f53545a4b6dd7bfe81b59164161c52d
--- /dev/null
+++ b/objects/objaverse/tray/tray_12/collision/model_normalized_collision_15.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v -0.06140951 0.41661467 -0.02619181
+v -0.06137907 0.41641592 -0.04349149
+v -0.07691405 0.48435210 0.00609865
+v -0.16754863 0.48471991 0.00541554
+v -0.16743537 0.41656918 -0.04423900
+v -0.16779575 0.45198392 -0.02896210
+v -0.07744294 0.47424574 0.00705410
+v -0.06085091 0.42624834 -0.03961783
+v -0.16746105 0.42028934 -0.02612413
+v -0.16769633 0.47834580 -0.00399545
+v -0.06043074 0.42334848 -0.02777929
+v -0.10337490 0.44476679 -0.02969525
+v -0.07781138 0.48109469 0.00249761
+f 5 2 1
+f 7 3 4
+f 8 2 5
+f 8 5 6
+f 9 5 1
+f 9 6 5
+f 9 7 4
+f 9 1 7
+f 10 4 3
+f 10 9 4
+f 10 6 9
+f 11 7 1
+f 11 3 7
+f 11 8 3
+f 11 1 2
+f 11 2 8
+f 12 8 6
+f 13 10 3
+f 13 6 10
+f 13 12 6
+f 13 3 8
+f 13 8 12
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_12/collision/model_normalized_collision_16.obj b/objects/objaverse/tray/tray_12/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..125e7991eb308a0ba90e8b0dc8043bf43312ce45
--- /dev/null
+++ b/objects/objaverse/tray/tray_12/collision/model_normalized_collision_16.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.05990595 0.23479554 -0.02886378
+v 0.05983818 0.23484888 -0.04431814
+v 0.05988944 0.28025391 -0.02903796
+v -0.16742993 0.28029770 -0.03006022
+v -0.16743025 0.23484655 -0.02973378
+v -0.16755578 0.28042494 -0.04654218
+v -0.12190547 0.23473242 -0.02950838
+v 0.05984024 0.28030351 -0.04448188
+v -0.16759162 0.23493851 -0.04619213
+v -0.10674819 0.26504407 -0.02963722
+v 0.04449810 0.28036666 -0.04463934
+v 0.02951971 0.23492258 -0.04459359
+f 6 4 3
+f 7 2 1
+f 7 1 3
+f 8 1 2
+f 8 3 1
+f 9 5 4
+f 9 4 6
+f 9 7 5
+f 9 2 7
+f 10 7 3
+f 10 3 4
+f 10 4 5
+f 10 5 7
+f 11 6 3
+f 11 3 8
+f 11 8 2
+f 12 9 6
+f 12 2 9
+f 12 11 2
+f 12 6 11
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_12/collision/model_normalized_collision_17.obj b/objects/objaverse/tray/tray_12/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c75977e5731d6407e21d12ccf9dd11c0afe19054
--- /dev/null
+++ b/objects/objaverse/tray/tray_12/collision/model_normalized_collision_17.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.35516898 0.44305783 -0.02355084
+v 0.35364534 0.45255662 -0.01859296
+v 0.35450090 0.48362374 0.01871676
+v 0.07496074 0.48855287 0.01771343
+v 0.10847268 0.44343320 -0.02786564
+v 0.19591939 0.47566563 -0.00115558
+v 0.07441185 0.47057917 0.01246177
+v 0.35324879 0.47952776 0.01084868
+v 0.11184414 0.46659347 -0.01291036
+v 0.10741959 0.46366753 0.00420356
+v 0.35303928 0.45946466 0.00220446
+v 0.07504170 0.48332570 0.00706925
+v 0.27171503 0.46244197 -0.01390260
+v 0.07534185 0.47038255 0.00730056
+v 0.09102450 0.47869827 0.00154037
+v 0.25661860 0.46289673 -0.01378974
+f 1 2 3
+f 5 2 1
+f 7 3 4
+f 8 3 2
+f 10 7 5
+f 10 5 1
+f 11 1 3
+f 11 3 7
+f 11 10 1
+f 11 7 10
+f 12 7 4
+f 12 9 5
+f 12 8 6
+f 12 4 3
+f 12 3 8
+f 13 8 2
+f 13 6 8
+f 13 2 5
+f 14 12 5
+f 14 5 7
+f 14 7 12
+f 15 12 6
+f 15 6 9
+f 15 9 12
+f 16 9 6
+f 16 6 13
+f 16 13 5
+f 16 5 9
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_12/collision/model_normalized_collision_18.obj b/objects/objaverse/tray/tray_12/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f090711bad9428656d049a4c279c48237e2cc833
--- /dev/null
+++ b/objects/objaverse/tray/tray_12/collision/model_normalized_collision_18.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.01438604 -0.26513626 -0.03073084
+v 0.01431505 -0.26534976 -0.04682296
+v 0.01438673 -0.12878771 -0.02951128
+v -0.10682448 -0.12878434 -0.02991088
+v -0.16759664 -0.26524948 -0.04851109
+v -0.16741441 -0.26512866 -0.03169915
+v 0.01421300 -0.12896460 -0.04546664
+v -0.16772290 -0.14413782 -0.04728521
+v -0.10708909 -0.12886655 -0.04637406
+v -0.16742448 -0.14392827 -0.03055823
+f 1 2 3
+f 1 3 4
+f 6 5 2
+f 6 2 1
+f 6 1 4
+f 7 3 2
+f 7 2 5
+f 8 5 6
+f 8 7 5
+f 9 4 3
+f 9 3 7
+f 9 7 8
+f 10 8 6
+f 10 6 4
+f 10 9 8
+f 10 4 9
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_12/collision/model_normalized_collision_19.obj b/objects/objaverse/tray/tray_12/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e55179798e9aca5c77bb9a00cde2a4c163be7f0f
--- /dev/null
+++ b/objects/objaverse/tray/tray_12/collision/model_normalized_collision_19.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.25833205 0.37120382 -0.03113708
+v -0.25846394 0.37128572 -0.04815076
+v -0.25821584 0.43497815 -0.02086963
+v -0.35195457 0.45023224 -0.01875840
+v -0.35124588 0.37066132 -0.03557502
+v -0.25865326 0.42623566 -0.04255555
+v -0.30379889 0.44688834 -0.01421051
+v -0.35063605 0.42559638 -0.04271409
+v -0.30385099 0.44253054 -0.03612819
+v -0.35136001 0.37155613 -0.04755498
+v -0.35024340 0.44224334 -0.03571329
+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 8 6 2
+f 9 4 7
+f 9 6 8
+f 9 7 3
+f 9 3 6
+f 10 5 4
+f 10 4 8
+f 10 8 2
+f 10 2 5
+f 11 9 8
+f 11 8 4
+f 11 4 9
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_12/collision/model_normalized_collision_2.obj b/objects/objaverse/tray/tray_12/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..46662bcd5f0313f36968cd26ff7f48686713d0a9
--- /dev/null
+++ b/objects/objaverse/tray/tray_12/collision/model_normalized_collision_2.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.12056909 0.09846585 -0.02827266
+v 0.12042847 0.09848791 -0.04345914
+v 0.12043933 0.31061047 -0.04400747
+v 0.05987650 0.31048622 -0.02922537
+v 0.01445470 0.09846900 -0.02875305
+v 0.12059012 0.31050688 -0.02896597
+v 0.01441687 0.18940610 -0.02883853
+v 0.01438575 0.09848457 -0.04450539
+v 0.01438663 0.18939402 -0.04460009
+v 0.05984101 0.31060620 -0.04461496
+f 6 1 2
+f 6 2 3
+f 7 5 1
+f 7 6 4
+f 7 1 6
+f 8 2 1
+f 8 1 5
+f 8 5 7
+f 9 8 7
+f 10 9 7
+f 10 7 4
+f 10 8 9
+f 10 3 2
+f 10 2 8
+f 10 6 3
+f 10 4 6
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_12/collision/model_normalized_collision_20.obj b/objects/objaverse/tray/tray_12/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b1c59eecead373defea2dc2a88d2eb1a31f53665
--- /dev/null
+++ b/objects/objaverse/tray/tray_12/collision/model_normalized_collision_20.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.05984213 0.37121173 -0.02962053
+v 0.05969620 0.37128735 -0.04503875
+v 0.06051074 0.41621148 -0.02709209
+v -0.25817173 0.42026368 -0.02674642
+v -0.25833205 0.37120382 -0.03113708
+v -0.25866756 0.41365699 -0.04588097
+v 0.05983324 0.41615252 -0.04208079
+v -0.25846333 0.40294070 -0.03046290
+v -0.25846394 0.37128572 -0.04815076
+v 0.05977745 0.40036462 -0.04450504
+v 0.04443448 0.41354712 -0.04278820
+f 1 2 3
+f 1 3 4
+f 5 1 4
+f 7 6 4
+f 7 4 3
+f 8 6 5
+f 8 5 4
+f 8 4 6
+f 9 5 6
+f 9 2 1
+f 9 1 5
+f 10 7 3
+f 10 3 2
+f 10 9 6
+f 10 2 9
+f 11 10 6
+f 11 6 7
+f 11 7 10
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_12/collision/model_normalized_collision_21.obj b/objects/objaverse/tray/tray_12/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..310400c87b85530a0d3cdff2e69ea5cfa9da5bfe
--- /dev/null
+++ b/objects/objaverse/tray/tray_12/collision/model_normalized_collision_21.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.34538246 -0.40365996 -0.02890237
+v 0.35263326 -0.40037331 -0.04307525
+v 0.35190104 -0.21928572 -0.02988689
+v 0.33257239 -0.21902604 -0.02897514
+v 0.33255949 -0.40028066 -0.04474585
+v 0.35301446 -0.40141921 -0.03364201
+v 0.33367649 -0.40272038 -0.02949167
+v 0.33260122 -0.21969833 -0.04358487
+v 0.35400346 -0.21998461 -0.03912407
+v 0.34688147 -0.24976301 -0.04424194
+v 0.35219925 -0.26554851 -0.04286684
+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 5 4
+f 8 4 3
+f 9 6 2
+f 9 3 6
+f 9 8 3
+f 10 2 5
+f 10 5 8
+f 10 8 9
+f 11 10 9
+f 11 9 2
+f 11 2 10
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_12/collision/model_normalized_collision_22.obj b/objects/objaverse/tray/tray_12/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..77c6e1cd9f1a393bff63a9a5b8ae690c6b28456f
--- /dev/null
+++ b/objects/objaverse/tray/tray_12/collision/model_normalized_collision_22.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.16743121 0.03787891 -0.02952021
+v -0.16771507 0.03780484 -0.04607804
+v -0.16759162 0.23493851 -0.04619213
+v -0.19773167 0.23484578 -0.02988466
+v -0.19773298 0.03787917 -0.02981066
+v -0.19792621 0.23495367 -0.04658497
+v -0.16743025 0.23484655 -0.02973378
+v -0.16730040 0.05305318 -0.02948775
+v -0.19795127 0.03784500 -0.04652157
+v -0.16731342 0.20446979 -0.02956631
+v -0.19767303 0.08336004 -0.02964113
+v -0.19759217 0.17418809 -0.02955773
+f 5 2 1
+f 7 6 4
+f 7 3 6
+f 8 1 2
+f 8 2 3
+f 9 6 3
+f 9 3 2
+f 9 2 5
+f 9 5 4
+f 9 4 6
+f 10 8 3
+f 10 3 7
+f 10 7 4
+f 11 5 1
+f 11 1 8
+f 11 4 5
+f 12 10 4
+f 12 4 11
+f 12 11 8
+f 12 8 10
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_12/collision/model_normalized_collision_23.obj b/objects/objaverse/tray/tray_12/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db35b8036090e7c4fc2508b92291105db6bbf50b
--- /dev/null
+++ b/objects/objaverse/tray/tray_12/collision/model_normalized_collision_23.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.12054665 0.35596183 -0.02925961
+v 0.12044386 0.35606293 -0.04436399
+v 0.12043832 0.41980335 -0.02426854
+v 0.06051074 0.41621148 -0.02709209
+v 0.05964802 0.35618071 -0.04492650
+v 0.12037153 0.41584979 -0.04130432
+v 0.05992469 0.35595111 -0.02952440
+v 0.05983324 0.41615252 -0.04208079
+v 0.10500094 0.40029315 -0.04405416
+v 0.05977745 0.40036462 -0.04450504
+f 6 1 2
+f 6 3 1
+f 7 1 3
+f 7 3 4
+f 7 5 2
+f 7 2 1
+f 8 4 3
+f 8 3 6
+f 8 7 4
+f 8 5 7
+f 9 8 6
+f 9 6 2
+f 10 9 2
+f 10 2 5
+f 10 5 8
+f 10 8 9
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_12/collision/model_normalized_collision_24.obj b/objects/objaverse/tray/tray_12/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ebc39a4d25a716f102aa0f2aaeb4415a2995c49
--- /dev/null
+++ b/objects/objaverse/tray/tray_12/collision/model_normalized_collision_24.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.35148440 -0.14391053 -0.02970092
+v 0.35357461 -0.14438353 -0.04019893
+v 0.35394718 0.42098881 -0.02410363
+v 0.12043832 0.41980335 -0.02426854
+v 0.12044726 -0.14393945 -0.04460334
+v 0.12049974 -0.14385253 -0.02924952
+v 0.12037153 0.41584979 -0.04130432
+v 0.35501117 0.41307735 -0.03626768
+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 7 4 3
+f 7 6 4
+f 7 5 6
+f 8 7 3
+f 8 3 2
+f 8 2 7
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_12/collision/model_normalized_collision_25.obj b/objects/objaverse/tray/tray_12/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d3a489453c3735d3c58c34ea886703a0a3b147ff
--- /dev/null
+++ b/objects/objaverse/tray/tray_12/collision/model_normalized_collision_25.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.16743537 0.41656918 -0.04423900
+v -0.16755261 0.43004283 -0.04015999
+v -0.16732604 0.43474792 -0.02029811
+v -0.25821584 0.43497815 -0.02086963
+v -0.25865326 0.42623566 -0.04255555
+v -0.25817173 0.42026368 -0.02674642
+v -0.18282058 0.42584511 -0.04187148
+v -0.16746105 0.42028934 -0.02612413
+v -0.25866756 0.41365699 -0.04588097
+v -0.18280334 0.41339667 -0.04521349
+f 1 2 3
+f 3 2 4
+f 5 4 2
+f 6 3 4
+f 7 5 2
+f 7 2 1
+f 7 1 5
+f 8 1 3
+f 8 3 6
+f 9 5 1
+f 9 6 4
+f 9 4 5
+f 10 8 6
+f 10 6 9
+f 10 9 1
+f 10 1 8
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_12/collision/model_normalized_collision_26.obj b/objects/objaverse/tray/tray_12/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0a002789fdbca73a42dd03b46851a811a5846935
--- /dev/null
+++ b/objects/objaverse/tray/tray_12/collision/model_normalized_collision_26.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.19620616 -0.40160191 -0.03098953
+v 0.19602237 -0.40044150 -0.04638572
+v 0.19620973 -0.26514382 -0.02993590
+v -0.16741441 -0.26512866 -0.03169915
+v -0.16767838 -0.40057892 -0.04925773
+v -0.16744387 -0.40186121 -0.03202779
+v 0.19609319 -0.26542916 -0.04512880
+v -0.16759664 -0.26524948 -0.04851109
+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 7 2
+f 8 2 5
+f 8 5 4
+f 8 4 3
+f 8 3 7
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_12/collision/model_normalized_collision_27.obj b/objects/objaverse/tray/tray_12/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2473adbcea0365cbc8e6e1bf438e81272f7ca008
--- /dev/null
+++ b/objects/objaverse/tray/tray_12/collision/model_normalized_collision_27.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.05990460 0.18937265 -0.02879390
+v 0.05983826 0.18939491 -0.04424715
+v 0.05983818 0.23484888 -0.04431814
+v 0.01446099 0.23476881 -0.02895081
+v 0.01441687 0.18940610 -0.02883853
+v 0.01430005 0.23491104 -0.04465014
+v 0.05990595 0.23479554 -0.02886378
+v 0.01438663 0.18939402 -0.04460009
+v 0.02951971 0.23492258 -0.04459359
+v 0.01429871 0.21968304 -0.04460048
+f 6 5 4
+f 7 5 1
+f 7 4 5
+f 7 1 2
+f 7 2 3
+f 8 2 1
+f 8 1 5
+f 9 7 3
+f 9 6 4
+f 9 4 7
+f 9 8 6
+f 9 3 2
+f 9 2 8
+f 10 8 5
+f 10 5 6
+f 10 6 8
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_12/collision/model_normalized_collision_28.obj b/objects/objaverse/tray/tray_12/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4ae9f3ca5320a51cf6ad8e25584901d069477857
--- /dev/null
+++ b/objects/objaverse/tray/tray_12/collision/model_normalized_collision_28.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.06136571 0.35605831 -0.03004526
+v -0.06154721 0.35617843 -0.04608818
+v -0.06146533 0.37134609 -0.04626840
+v -0.35124588 0.37066132 -0.03557502
+v -0.35063075 0.35653866 -0.04789579
+v -0.06136670 0.37120959 -0.03011678
+v -0.35164237 0.35655365 -0.03588417
+v -0.35136001 0.37155613 -0.04755498
+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 8 6 3
+f 8 4 6
+f 8 7 4
+f 8 5 7
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_12/collision/model_normalized_collision_29.obj b/objects/objaverse/tray/tray_12/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d584e83e4d285c7eb654d118712a5cbc3783b068
--- /dev/null
+++ b/objects/objaverse/tray/tray_12/collision/model_normalized_collision_29.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.07441185 0.47057917 0.01246177
+v 0.07534185 0.47038255 0.00730056
+v 0.07496074 0.48855287 0.01771343
+v -0.16744053 0.49062931 0.01680156
+v -0.16742080 0.46281488 0.00016848
+v -0.16741828 0.47066299 0.00968880
+v 0.07504170 0.48332570 0.00706925
+v -0.16754863 0.48471991 0.00541554
+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 6 4
+f 8 5 6
+f 8 7 5
+f 8 4 7
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_12/collision/model_normalized_collision_3.obj b/objects/objaverse/tray/tray_12/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca09d89498300fbacde1c9728c8ea95101801fad
--- /dev/null
+++ b/objects/objaverse/tray/tray_12/collision/model_normalized_collision_3.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.35411920 0.46884858 0.01195658
+v 0.35450090 0.48362374 0.01871676
+v 0.35025205 0.48580366 0.05099822
+v -0.34851534 0.49536310 0.04086546
+v -0.34636104 0.47150426 0.00926478
+v 0.35227127 0.49225496 0.03614774
+v 0.35293658 0.48095504 0.03774109
+v -0.35127860 0.49408520 0.02222831
+v 0.33270440 0.48152777 0.04125121
+v -0.34392187 0.48919597 0.04704012
+v 0.35202994 0.49291801 0.04790725
+v -0.35166451 0.48092050 0.01398680
+v 0.22645083 0.48942027 0.02354913
+v -0.34436040 0.49451732 0.04775584
+v -0.34915187 0.48902099 0.03946611
+f 5 2 1
+f 7 1 2
+f 7 3 1
+f 8 4 6
+f 9 5 1
+f 9 1 3
+f 9 3 5
+f 10 5 3
+f 11 6 4
+f 11 3 7
+f 11 7 2
+f 11 2 6
+f 12 8 2
+f 12 2 5
+f 13 8 6
+f 13 6 2
+f 13 2 8
+f 14 10 3
+f 14 3 11
+f 14 11 4
+f 15 4 8
+f 15 8 12
+f 15 14 4
+f 15 10 14
+f 15 12 5
+f 15 5 10
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_12/collision/model_normalized_collision_30.obj b/objects/objaverse/tray/tray_12/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a292371def64870e23cf23499f1c69e94e9c238e
--- /dev/null
+++ b/objects/objaverse/tray/tray_12/collision/model_normalized_collision_30.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v -0.06137031 0.28030245 -0.02958810
+v -0.06150759 0.28034708 -0.04558418
+v -0.06154721 0.35617843 -0.04608818
+v -0.16742522 0.35605501 -0.03050749
+v -0.16742993 0.28029770 -0.03006022
+v -0.06136571 0.35605831 -0.03004526
+v -0.16741359 0.28028554 -0.04653956
+v -0.16758962 0.35617798 -0.04704468
+v -0.16755578 0.28042494 -0.04654218
+f 5 1 4
+f 6 3 4
+f 6 4 1
+f 6 1 2
+f 6 2 3
+f 7 2 1
+f 7 1 5
+f 8 5 4
+f 8 4 3
+f 9 7 5
+f 9 5 8
+f 9 8 3
+f 9 3 2
+f 9 2 7
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_12/collision/model_normalized_collision_31.obj b/objects/objaverse/tray/tray_12/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a1fc29bc6f7183f08bc75c55284b8ae8b72e00a
--- /dev/null
+++ b/objects/objaverse/tray/tray_12/collision/model_normalized_collision_31.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v -0.16743025 0.23484655 -0.02973378
+v -0.16759162 0.23493851 -0.04619213
+v -0.16758962 0.35617798 -0.04704468
+v -0.35164237 0.35655365 -0.03588417
+v -0.35085071 0.23310076 -0.04662974
+v -0.16742522 0.35605501 -0.03050749
+v -0.35226526 0.23557115 -0.03418118
+v -0.35063075 0.35653866 -0.04789579
+v -0.18273248 0.35613870 -0.04723570
+f 5 2 1
+f 6 3 4
+f 6 1 2
+f 6 2 3
+f 7 5 1
+f 7 6 4
+f 7 1 6
+f 8 2 5
+f 8 4 3
+f 8 7 4
+f 8 5 7
+f 9 8 3
+f 9 3 2
+f 9 2 8
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_12/collision/model_normalized_collision_4.obj b/objects/objaverse/tray/tray_12/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0504605fb362c1bfec0ee5e76192794c15f86f8d
--- /dev/null
+++ b/objects/objaverse/tray/tray_12/collision/model_normalized_collision_4.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.33257776 -0.40152391 -0.02965315
+v 0.33255949 -0.40028066 -0.04474585
+v 0.33318104 -0.26493800 -0.02932636
+v 0.19620973 -0.26514382 -0.02993590
+v 0.19602237 -0.40044150 -0.04638572
+v 0.25687459 -0.26497713 -0.02948864
+v 0.33317311 -0.29541772 -0.02949338
+v 0.19620616 -0.40160191 -0.03098953
+v 0.33259529 -0.26516546 -0.04388225
+v 0.33301828 -0.31077384 -0.04444756
+v 0.19609319 -0.26542916 -0.04512880
+v 0.19607115 -0.34117994 -0.04630795
+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 8 4 5
+f 9 6 3
+f 10 7 2
+f 10 3 7
+f 10 9 3
+f 11 5 4
+f 11 4 6
+f 11 6 9
+f 12 10 2
+f 12 2 5
+f 12 5 11
+f 12 11 9
+f 12 9 10
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_12/collision/model_normalized_collision_5.obj b/objects/objaverse/tray/tray_12/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..56c6f716cfd74540d47d072230292da2d96f232b
--- /dev/null
+++ b/objects/objaverse/tray/tray_12/collision/model_normalized_collision_5.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.35501117 0.41307735 -0.03626768
+v 0.35394718 0.42098881 -0.02410363
+v -0.06140951 0.41661467 -0.02619181
+v 0.11320961 0.45534682 -0.00538388
+v 0.35370271 0.43755483 -0.02789393
+v 0.35354204 0.45024263 -0.00655287
+v -0.06137907 0.41641592 -0.04349149
+v 0.09820751 0.43244774 -0.03545004
+v -0.06085091 0.42624834 -0.03961783
+v -0.06043074 0.42334848 -0.02777929
+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 1 3
+f 8 5 1
+f 8 1 7
+f 8 4 5
+f 9 7 3
+f 9 8 7
+f 9 4 8
+f 10 9 3
+f 10 3 4
+f 10 4 9
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_12/collision/model_normalized_collision_6.obj b/objects/objaverse/tray/tray_12/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f07d9afba5a205436008df27f82307d7bffd1d46
--- /dev/null
+++ b/objects/objaverse/tray/tray_12/collision/model_normalized_collision_6.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.16744387 -0.40186121 -0.03202779
+v -0.16767838 -0.40057892 -0.04925773
+v -0.19773167 0.23484578 -0.02988466
+v -0.35226526 0.23557115 -0.03418118
+v -0.35450400 -0.40188465 -0.03639929
+v -0.19792621 0.23495367 -0.04658497
+v -0.16743121 0.03787891 -0.02952021
+v -0.35085071 0.23310076 -0.04662974
+v -0.16771507 0.03780484 -0.04607804
+v -0.35288247 -0.40019480 -0.04868877
+f 5 2 1
+f 6 4 3
+f 7 1 2
+f 7 5 1
+f 7 3 4
+f 7 4 5
+f 7 6 3
+f 8 5 4
+f 8 4 6
+f 8 6 2
+f 9 7 2
+f 9 2 6
+f 9 6 7
+f 10 8 2
+f 10 2 5
+f 10 5 8
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_12/collision/model_normalized_collision_7.obj b/objects/objaverse/tray/tray_12/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e87eed860bf89275bcfd9a34697c348203c1683
--- /dev/null
+++ b/objects/objaverse/tray/tray_12/collision/model_normalized_collision_7.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.05988944 0.28025391 -0.02903796
+v 0.12043933 0.31061047 -0.04400747
+v 0.12054665 0.35596183 -0.02925961
+v -0.06136670 0.37120959 -0.03011678
+v -0.06150759 0.28034708 -0.04558418
+v 0.05969620 0.37128735 -0.04503875
+v 0.12059012 0.31050688 -0.02896597
+v 0.05973830 0.28034918 -0.04448271
+v -0.06137031 0.28030245 -0.02958810
+v 0.12044386 0.35606293 -0.04436399
+v 0.05984213 0.37121173 -0.02962053
+v -0.06146533 0.37134609 -0.04626840
+v -0.04612261 0.28023291 -0.02951243
+f 7 3 4
+f 7 4 1
+f 8 7 1
+f 8 2 7
+f 9 4 5
+f 10 2 8
+f 10 7 2
+f 10 3 7
+f 11 4 3
+f 11 10 6
+f 11 3 10
+f 12 5 4
+f 12 11 6
+f 12 4 11
+f 12 8 5
+f 12 10 8
+f 12 6 10
+f 13 9 5
+f 13 1 4
+f 13 4 9
+f 13 8 1
+f 13 5 8
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_12/collision/model_normalized_collision_8.obj b/objects/objaverse/tray/tray_12/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2082b567ac3eebee625404566b8347e089d30714
--- /dev/null
+++ b/objects/objaverse/tray/tray_12/collision/model_normalized_collision_8.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v -0.16755261 0.43004283 -0.04015999
+v -0.16779575 0.45198392 -0.02896210
+v -0.16741828 0.47066299 0.00968880
+v -0.34770267 0.49458295 0.02131821
+v -0.35024340 0.44224334 -0.03571329
+v -0.16744053 0.49062931 0.01680156
+v -0.30377124 0.43053837 -0.04148769
+v -0.34978235 0.47903499 -0.00514514
+v -0.33543541 0.49394942 0.02153048
+v -0.16769633 0.47834580 -0.00399545
+v -0.16722613 0.44231084 -0.01617651
+v -0.34681159 0.43490937 -0.02186336
+v -0.35260673 0.48987432 0.01812710
+v -0.34958046 0.45227906 -0.03037381
+v -0.34824677 0.48990338 0.01081293
+v -0.34968370 0.45688513 -0.00891758
+v -0.34919182 0.47339357 0.00839543
+f 7 5 2
+f 7 2 1
+f 9 6 4
+f 9 3 6
+f 10 6 1
+f 10 1 2
+f 10 2 8
+f 11 6 3
+f 11 1 6
+f 12 5 7
+f 12 7 1
+f 12 1 11
+f 12 11 3
+f 14 8 2
+f 14 2 5
+f 14 13 8
+f 14 5 13
+f 15 4 6
+f 15 10 8
+f 15 6 10
+f 15 13 4
+f 15 8 13
+f 16 13 5
+f 16 5 12
+f 16 12 13
+f 17 9 4
+f 17 4 13
+f 17 3 9
+f 17 13 12
+f 17 12 3
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_12/collision/model_normalized_collision_9.obj b/objects/objaverse/tray/tray_12/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..255d3ba24812ee164dbe9f3d65de5c53f9cac1da
--- /dev/null
+++ b/objects/objaverse/tray/tray_12/collision/model_normalized_collision_9.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.12049974 -0.14385253 -0.02924952
+v 0.12040996 -0.14407310 -0.04460443
+v 0.12042847 0.09848791 -0.04345914
+v 0.01445470 0.09846900 -0.02875305
+v 0.01421745 -0.14401043 -0.04559007
+v 0.12056909 0.09846585 -0.02827266
+v 0.01443052 -0.14377672 -0.02968189
+v 0.01438575 0.09848457 -0.04450539
+f 5 2 1
+f 6 3 4
+f 6 1 2
+f 6 2 3
+f 7 5 1
+f 7 4 5
+f 7 6 4
+f 7 1 6
+f 8 3 2
+f 8 2 5
+f 8 5 4
+f 8 4 3
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_12/visual/material.mtl b/objects/objaverse/tray/tray_12/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..842b70538fc6029daec10eabd1278717f12035ab
--- /dev/null
+++ b/objects/objaverse/tray/tray_12/visual/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 359.99999300
+map_Kd material_0.jpeg
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_3/collision/model_normalized_collision_17.obj b/objects/objaverse/tray/tray_3/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f66fb11b399bfd148ec3d8635194510c8a88459c
--- /dev/null
+++ b/objects/objaverse/tray/tray_3/collision/model_normalized_collision_17.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.00757576 -0.19976953 -0.01355535
+v 0.00757576 -0.19976945 -0.02717391
+v 0.00757576 0.16386692 -0.02717391
+v -0.23484848 0.16386684 -0.01355847
+v -0.23484848 -0.19976945 -0.02717391
+v 0.00757576 0.16386684 -0.01355847
+v -0.23484848 -0.19976953 -0.01355535
+v -0.23484848 0.16386692 -0.02717391
+f 1 2 3
+f 5 2 1
+f 5 3 2
+f 6 1 3
+f 6 3 4
+f 6 4 1
+f 7 5 1
+f 7 1 4
+f 7 4 5
+f 8 5 4
+f 8 4 3
+f 8 3 5
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_3/collision/model_normalized_collision_18.obj b/objects/objaverse/tray/tray_3/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..645dac81932278975519502248f57b2ee4e6baac
--- /dev/null
+++ b/objects/objaverse/tray/tray_3/collision/model_normalized_collision_18.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.48949089 0.30023055 0.02355340
+v -0.48250509 0.30023055 0.00823340
+v -0.48010444 0.31657843 0.00925455
+v -0.48772067 0.31979962 0.02479002
+v -0.49835970 0.31414093 0.02285397
+v -0.49879662 0.30023055 0.02217692
+v -0.50000000 0.30023055 0.02717391
+v -0.49867542 0.31418345 0.02717391
+f 1 2 3
+f 1 3 4
+f 5 3 2
+f 5 4 3
+f 6 5 2
+f 6 2 1
+f 7 6 1
+f 7 1 4
+f 7 5 6
+f 8 7 4
+f 8 4 5
+f 8 5 7
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_3/collision/model_normalized_collision_21.obj b/objects/objaverse/tray/tray_3/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8d3f796d2d0a1eca2ce62d4fbf761255c6615de
--- /dev/null
+++ b/objects/objaverse/tray/tray_3/collision/model_normalized_collision_21.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.46333614 -0.33900990 0.02264674
+v -0.46167565 -0.33507846 0.01124502
+v -0.48250509 -0.29067854 0.00823340
+v -0.50000000 -0.29067854 0.02717391
+v -0.49331521 -0.32902175 0.02309783
+v -0.48790796 -0.29067854 0.02187772
+v -0.47849756 -0.33771764 0.02717391
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+v -0.49466304 -0.29067854 0.02717391
+v -0.49331521 -0.32902175 0.02717391
+f 1 2 3
+f 6 1 3
+f 7 5 2
+f 7 2 1
+f 8 5 3
+f 8 3 2
+f 8 2 5
+f 9 5 4
+f 9 3 5
+f 9 6 3
+f 10 1 6
+f 10 7 1
+f 10 4 7
+f 10 9 4
+f 10 6 9
+f 11 7 4
+f 11 4 5
+f 11 5 7
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_3/collision/model_normalized_collision_3.obj b/objects/objaverse/tray/tray_3/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f878fc9c567499ee35da9c0d1c888c6f4dad4f5
--- /dev/null
+++ b/objects/objaverse/tray/tray_3/collision/model_normalized_collision_3.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.26515152 0.16386684 -0.01355847
+v 0.26515152 0.16386692 -0.02717391
+v 0.26515152 0.25477601 -0.02717391
+v -0.35606061 0.25477593 -0.01355926
+v -0.35606061 0.16386684 -0.01355847
+v -0.35606061 0.16386692 -0.02717391
+v 0.26515152 0.25477593 -0.01355926
+v -0.35606061 0.25477601 -0.02717391
+f 1 2 3
+f 5 2 1
+f 5 1 4
+f 6 3 2
+f 6 5 4
+f 6 2 5
+f 7 1 3
+f 7 4 1
+f 8 6 4
+f 8 3 6
+f 8 7 3
+f 8 4 7
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_3/visual/material.mtl b/objects/objaverse/tray/tray_3/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fbcf6b4b1af9257e08a0fd6e283841743ce8fad5
--- /dev/null
+++ b/objects/objaverse/tray/tray_3/visual/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 250.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_3/visual/model_normalized_0.obj b/objects/objaverse/tray/tray_3/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1e937b730db1274709ebf20e5406450ef90a8704
--- /dev/null
+++ b/objects/objaverse/tray/tray_3/visual/model_normalized_0.obj
@@ -0,0 +1,2391 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
+v -0.47096196 0.30240217 -0.01011957
+v -0.46175000 0.30736957 -0.01355978
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\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_7/collision/model_normalized_collision_1.obj b/objects/objaverse/tray/tray_7/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..27f54868db4a25aae20171f30e6799b74e28a2f4
--- /dev/null
+++ b/objects/objaverse/tray/tray_7/collision/model_normalized_collision_1.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.00664366 -0.00757576 -0.01512321
+v 0.00664366 -0.00757576 -0.02851797
+v 0.00664366 0.35606059 -0.02851797
+v -0.16002300 0.35606059 -0.01512321
+v -0.16002300 -0.00757576 -0.01512321
+v -0.16002300 0.35606059 -0.02851797
+v 0.00664366 0.35606059 -0.01512321
+v -0.16002300 -0.00757576 -0.02851797
+f 1 2 3
+f 5 2 1
+f 5 1 4
+f 6 3 2
+f 6 5 4
+f 7 1 3
+f 7 4 1
+f 7 6 4
+f 7 3 6
+f 8 6 2
+f 8 2 5
+f 8 5 6
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_7/collision/model_normalized_collision_10.obj b/objects/objaverse/tray/tray_7/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7af7a574e2abaac489268cc2d42d6997ce3f1154
--- /dev/null
+++ b/objects/objaverse/tray/tray_7/collision/model_normalized_collision_10.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.00840936 -0.49329143 0.01258292
+v 0.01470793 -0.47692545 0.00183727
+v -0.00850849 -0.49543689 0.01484285
+v -0.30831172 -0.47009700 0.00415936
+v -0.29371299 -0.47655862 -0.02515394
+v 0.00664366 -0.47713166 -0.02515394
+v -0.29638661 -0.49544425 0.01486063
+v 0.00664366 -0.46212120 -0.02851797
+v -0.29638660 -0.48974638 0.00229225
+v -0.29638664 -0.46212120 -0.02851797
+v -0.01362937 -0.48985767 0.00253642
+f 1 2 3
+f 3 2 4
+f 6 2 1
+f 6 1 3
+f 7 3 4
+f 8 4 2
+f 8 2 6
+f 9 7 4
+f 9 4 5
+f 9 5 6
+f 9 3 7
+f 10 8 6
+f 10 6 5
+f 10 5 4
+f 10 4 8
+f 11 9 6
+f 11 6 3
+f 11 3 9
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_7/collision/model_normalized_collision_11.obj b/objects/objaverse/tray/tray_7/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..78e909833640e897554caeef4f8cd2766906e15a
--- /dev/null
+++ b/objects/objaverse/tray/tray_7/collision/model_normalized_collision_11.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.33240955 -0.46155593 0.02792029
+v 0.33006294 -0.45996905 0.01326668
+v 0.33049830 0.44696968 0.01223408
+v 0.32021641 0.44696968 0.02725361
+v 0.31288393 -0.46287286 0.00841630
+v 0.33282859 0.44696968 0.02791894
+v 0.31964973 -0.46287614 0.02725574
+v 0.31471650 0.44696968 0.00825245
+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 7 6 4
+f 7 1 6
+f 8 5 4
+f 8 4 3
+f 8 3 5
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_7/collision/model_normalized_collision_12.obj b/objects/objaverse/tray/tray_7/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e19a4a3cc155630a3478bb6e89c1544ac0612218
--- /dev/null
+++ b/objects/objaverse/tray/tray_7/collision/model_normalized_collision_12.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.32922323 -0.44696969 0.00802772
+v 0.31700519 -0.44514872 -0.02621054
+v 0.32922323 0.44696968 0.00802772
+v 0.27937092 0.44696968 -0.01512321
+v 0.27937092 -0.44696969 -0.01512321
+v 0.31698149 0.44514269 -0.02623041
+v 0.31471650 -0.44696969 0.00825245
+v 0.27937092 -0.44696969 -0.02851797
+v 0.27937092 0.44696968 -0.02851797
+v 0.31471650 0.44696968 0.00825245
+f 1 2 3
+f 6 3 2
+f 7 4 5
+f 8 2 1
+f 8 7 5
+f 8 1 7
+f 8 6 2
+f 8 5 4
+f 9 3 6
+f 9 8 4
+f 9 6 8
+f 10 4 7
+f 10 9 4
+f 10 3 9
+f 10 7 1
+f 10 1 3
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_7/collision/model_normalized_collision_13.obj b/objects/objaverse/tray/tray_7/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ee263ef0b56d312aeafa716d05a69801dabcc24
--- /dev/null
+++ b/objects/objaverse/tray/tray_7/collision/model_normalized_collision_13.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.27937092 0.47879799 0.00885088
+v 0.27937092 0.49544410 0.01486125
+v 0.27937092 0.48627813 0.02726916
+v -0.29638664 0.49894568 0.02793000
+v -0.29638664 0.47879799 0.00885088
+v 0.27937092 0.49894568 0.02793000
+v -0.29638664 0.49544410 0.01486125
+v -0.29638664 0.48627813 0.02726916
+f 1 2 3
+f 5 2 1
+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 3 4
+f 8 4 5
+f 8 5 1
+f 8 1 3
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_7/collision/model_normalized_collision_14.obj b/objects/objaverse/tray/tray_7/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8ff31449e8370f3f7f4102f2745ad759552e3a0d
--- /dev/null
+++ b/objects/objaverse/tray/tray_7/collision/model_normalized_collision_14.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.00664366 -0.46212120 -0.01512321
+v 0.00664366 -0.46212120 -0.02851797
+v 0.00664366 -0.26515151 -0.02851797
+v -0.16002300 -0.26515151 -0.01512321
+v -0.16002300 -0.46212120 -0.01512321
+v -0.16002300 -0.26515151 -0.02851797
+v 0.00664366 -0.26515151 -0.01512321
+v -0.16002300 -0.46212120 -0.02851797
+f 1 2 3
+f 5 2 1
+f 5 1 4
+f 6 3 2
+f 7 1 3
+f 7 4 1
+f 7 6 4
+f 7 3 6
+f 8 6 2
+f 8 2 5
+f 8 5 4
+f 8 4 6
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_7/collision/model_normalized_collision_15.obj b/objects/objaverse/tray/tray_7/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d137a9000f88d2853183fc8040e81949aecaefd
--- /dev/null
+++ b/objects/objaverse/tray/tray_7/collision/model_normalized_collision_15.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v -0.29638661 -0.49544425 0.01486063
+v -0.29371299 -0.47655862 -0.02515394
+v -0.29638664 -0.40151514 -0.01512321
+v -0.33065518 -0.40151514 0.01275162
+v -0.32822544 -0.47155372 0.01591131
+v -0.31806621 -0.40151514 -0.02629640
+v -0.31480156 -0.40151514 0.00864330
+v -0.30834764 -0.49484566 0.01601814
+v -0.29638664 -0.40151514 -0.02851797
+v -0.32644882 -0.40151514 -0.00112483
+v -0.31014150 -0.46620967 -0.02395458
+v -0.29638660 -0.48974638 0.00229225
+v -0.32304772 -0.46937942 0.00325065
+v -0.30198588 -0.47418474 -0.02397476
+v -0.30502177 -0.48950832 0.00421823
+v -0.31151808 -0.47627047 -0.00932005
+f 1 2 3
+f 7 1 3
+f 7 4 1
+f 8 1 4
+f 8 4 5
+f 9 3 2
+f 9 2 6
+f 9 7 3
+f 9 4 7
+f 10 6 5
+f 10 5 4
+f 10 9 6
+f 10 4 9
+f 11 6 2
+f 12 2 1
+f 12 1 8
+f 13 5 6
+f 13 6 11
+f 14 11 2
+f 15 12 8
+f 15 2 12
+f 15 14 2
+f 15 8 14
+f 16 13 11
+f 16 8 5
+f 16 5 13
+f 16 14 8
+f 16 11 14
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_7/collision/model_normalized_collision_16.obj b/objects/objaverse/tray/tray_7/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c924dbf2af9b9f546e09a76932311d131b6b4564
--- /dev/null
+++ b/objects/objaverse/tray/tray_7/collision/model_normalized_collision_16.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.31966024 -0.46273651 0.02725570
+v -0.31311476 -0.46249019 0.00889698
+v -0.31966024 0.46273651 0.02725570
+v -0.33241875 0.46141451 0.02792025
+v -0.33019732 -0.46015632 0.01371096
+v -0.31311446 0.46248976 0.00889718
+v -0.33241891 -0.46141453 0.02792025
+v -0.33019739 0.46015594 0.01371119
+f 1 3 4
+f 6 4 3
+f 6 1 2
+f 6 3 1
+f 7 5 2
+f 7 2 1
+f 7 1 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/objects/objaverse/tray/tray_7/collision/model_normalized_collision_19.obj b/objects/objaverse/tray/tray_7/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e6c2ec33bc52cbca829c2a93bce539fa884230e4
--- /dev/null
+++ b/objects/objaverse/tray/tray_7/collision/model_normalized_collision_19.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.32335795 -0.47651784 0.01012748
+v 0.32768511 -0.47211029 0.01527415
+v 0.33049830 -0.44696969 0.01223408
+v 0.32922323 -0.44696969 0.00802772
+v 0.32468884 -0.44695939 -0.00574504
+v 0.32250794 -0.46993523 0.00261369
+v 0.31849546 -0.47303975 -0.00205593
+v 0.32627976 -0.44593953 -0.00121382
+f 1 2 3
+f 3 2 4
+f 5 4 2
+f 6 5 2
+f 6 2 1
+f 7 1 3
+f 7 6 1
+f 7 5 6
+f 8 3 4
+f 8 4 5
+f 8 7 3
+f 8 5 7
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_7/collision/model_normalized_collision_2.obj b/objects/objaverse/tray/tray_7/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..414254358810e14c331fed336dee947194d41ec2
--- /dev/null
+++ b/objects/objaverse/tray/tray_7/collision/model_normalized_collision_2.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.31480156 -0.40151514 0.00864330
+v -0.29638664 -0.40151514 -0.02851797
+v -0.29638664 0.41666665 -0.01512321
+v -0.33065518 0.41666665 0.01275162
+v -0.31806621 -0.40151514 -0.02629640
+v -0.31480156 0.41666665 0.00864330
+v -0.29638664 -0.40151514 -0.01512321
+v -0.33065518 -0.40151514 0.01275162
+v -0.29638664 0.41666665 -0.02851797
+v -0.32644882 0.41666665 -0.00112483
+v -0.32644882 -0.40151514 -0.00112483
+v -0.31806621 0.41666665 -0.02629640
+f 6 1 3
+f 7 2 3
+f 7 3 1
+f 7 5 2
+f 7 1 5
+f 8 5 1
+f 8 6 4
+f 8 1 6
+f 9 3 2
+f 9 2 5
+f 9 6 3
+f 9 4 6
+f 10 8 4
+f 10 4 9
+f 11 10 5
+f 11 5 8
+f 11 8 10
+f 12 10 9
+f 12 9 5
+f 12 5 10
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_7/collision/model_normalized_collision_20.obj b/objects/objaverse/tray/tray_7/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3216f856632ed79567a0b6329cfb8b64609ee3ff
--- /dev/null
+++ b/objects/objaverse/tray/tray_7/collision/model_normalized_collision_20.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.31966024 0.46273651 0.02725570
+v -0.29638664 0.49544410 0.01486125
+v -0.29638664 0.48627813 0.02726916
+v -0.29638664 0.49894568 0.02793000
+v -0.32650260 0.48315710 0.02792552
+v -0.33241875 0.46141451 0.02792025
+v -0.30831191 0.47009565 0.00415927
+v -0.31669084 0.49488967 0.02793000
+v -0.33019739 0.46015594 0.01371119
+v -0.31557800 0.49293142 0.01913692
+v -0.32537061 0.48140674 0.01908011
+f 3 2 4
+f 6 1 3
+f 6 3 4
+f 7 2 3
+f 7 3 1
+f 8 6 4
+f 8 5 6
+f 9 7 1
+f 9 1 6
+f 9 6 5
+f 10 8 4
+f 10 4 2
+f 10 2 7
+f 11 10 7
+f 11 7 9
+f 11 9 5
+f 11 5 8
+f 11 8 10
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_7/collision/model_normalized_collision_22.obj b/objects/objaverse/tray/tray_7/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c4b6b181d463a8b32937f0a70656a98ad637cd81
--- /dev/null
+++ b/objects/objaverse/tray/tray_7/collision/model_normalized_collision_22.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.32482547 0.46212120 0.02851812
+v 0.32743019 0.46273118 0.00831589
+v 0.31669085 0.49488967 0.02793000
+v 0.27937092 0.49894568 0.02793000
+v 0.27937092 0.47879799 0.00885088
+v 0.31964973 0.46287614 0.02725574
+v 0.30753249 0.49483694 0.01572641
+v 0.27937092 0.48627813 0.02726916
+v 0.31545806 0.49274369 0.01871907
+v 0.29452244 0.47727473 0.00429463
+v 0.27937092 0.49544410 0.01486125
+f 1 2 3
+f 1 3 4
+f 6 5 2
+f 6 2 1
+f 7 4 3
+f 8 6 1
+f 8 1 4
+f 8 4 5
+f 8 5 6
+f 9 7 3
+f 9 3 2
+f 9 2 7
+f 10 7 2
+f 10 2 5
+f 11 5 4
+f 11 4 7
+f 11 10 5
+f 11 7 10
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_7/collision/model_normalized_collision_23.obj b/objects/objaverse/tray/tray_7/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af20974d52bfc6cdc68fab78975c58bd73ab6ef2
--- /dev/null
+++ b/objects/objaverse/tray/tray_7/collision/model_normalized_collision_23.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.32922323 0.44696968 0.00802772
+v 0.32743019 0.46273118 0.00831589
+v 0.29452244 0.47727473 0.00429463
+v 0.31401822 0.44696968 0.00507561
+v 0.31698149 0.44514269 -0.02623041
+v 0.31386609 0.45752617 -0.02545339
+v 0.27937092 0.44696968 -0.02851797
+v 0.32243070 0.46156038 -0.00483001
+v 0.27937092 0.44696968 -0.01512321
+v 0.27937092 0.46212120 -0.02851797
+v 0.27937092 0.46212120 -0.01512321
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 5 1 4
+f 8 6 3
+f 8 3 2
+f 8 2 5
+f 8 5 6
+f 9 7 5
+f 9 5 4
+f 9 4 3
+f 10 6 5
+f 10 5 7
+f 10 3 6
+f 11 9 3
+f 11 3 10
+f 11 10 7
+f 11 7 9
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_7/collision/model_normalized_collision_24.obj b/objects/objaverse/tray/tray_7/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1484ad15d0d5c42e4aff2b9de6657d8201b6f081
--- /dev/null
+++ b/objects/objaverse/tray/tray_7/collision/model_normalized_collision_24.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.29452246 -0.47727473 0.00429462
+v 0.32742996 -0.46273113 0.00831593
+v 0.31401822 -0.44696969 0.00507561
+v 0.27937092 -0.44696969 -0.01512321
+v 0.31386859 -0.45752723 -0.02545018
+v 0.32922323 -0.44696969 0.00802772
+v 0.27937092 -0.46212120 -0.02851797
+v 0.31700519 -0.44514872 -0.02621054
+v 0.27937092 -0.46212120 -0.01512321
+v 0.32468884 -0.44695939 -0.00574504
+v 0.27937092 -0.44696969 -0.02851797
+f 1 3 4
+f 5 2 1
+f 6 1 2
+f 6 3 1
+f 7 5 1
+f 8 2 5
+f 8 4 3
+f 8 3 6
+f 8 5 7
+f 9 7 1
+f 9 1 4
+f 10 8 6
+f 10 6 2
+f 10 2 8
+f 11 8 7
+f 11 4 8
+f 11 9 4
+f 11 7 9
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_7/collision/model_normalized_collision_25.obj b/objects/objaverse/tray/tray_7/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad6e269b902855d084613c8d0b1b81a14ab05601
--- /dev/null
+++ b/objects/objaverse/tray/tray_7/collision/model_normalized_collision_25.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.29638664 -0.49894565 0.02793000
+v -0.29638661 -0.49544425 0.01486063
+v -0.29638664 -0.48627813 0.02726916
+v -0.33241891 -0.46141453 0.02792025
+v -0.31669084 -0.49488967 0.02793000
+v -0.30831172 -0.47009700 0.00415936
+v -0.31557795 -0.49293333 0.01913675
+v -0.31966024 -0.46273651 0.02725570
+v -0.32536904 -0.48140909 0.01908000
+v -0.33019732 -0.46015632 0.01371096
+v -0.32650260 -0.48315931 0.02792552
+f 1 2 3
+f 1 3 4
+f 5 1 4
+f 6 3 2
+f 7 2 1
+f 7 1 5
+f 7 6 2
+f 8 4 3
+f 8 3 6
+f 9 7 5
+f 9 6 7
+f 10 8 6
+f 10 4 8
+f 10 6 9
+f 11 9 5
+f 11 5 4
+f 11 10 9
+f 11 4 10
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_7/collision/model_normalized_collision_26.obj b/objects/objaverse/tray/tray_7/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd6917b5d881427630d864188f6690e5ba0d91ee
--- /dev/null
+++ b/objects/objaverse/tray/tray_7/collision/model_normalized_collision_26.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.33282859 0.44696968 0.02791894
+v 0.33049830 0.44696968 0.01223408
+v 0.32638161 0.48333806 0.02792559
+v 0.32121980 0.48934389 0.02836767
+v 0.32482547 0.44696968 0.02851812
+v 0.31887000 0.48608581 0.01392154
+v 0.32454458 0.48210119 0.01846746
+v 0.32922323 0.44696968 0.00802772
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 5 1 4
+f 6 5 4
+f 7 3 2
+f 7 6 4
+f 7 4 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/objects/objaverse/tray/tray_7/collision/model_normalized_collision_27.obj b/objects/objaverse/tray/tray_7/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c04d23729e23cb8cbb43646a7eeed40c7fe76644
--- /dev/null
+++ b/objects/objaverse/tray/tray_7/collision/model_normalized_collision_27.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.33049830 0.44696968 0.01223408
+v 0.32922323 0.44696968 0.00802772
+v 0.32768510 0.47211028 0.01527424
+v 0.32335795 0.47651784 0.01012748
+v 0.31849589 0.47303882 -0.00205565
+v 0.32627990 0.44593753 -0.00121304
+v 0.32250752 0.46993576 0.00261357
+v 0.32468833 0.44695935 -0.00574487
+f 1 2 3
+f 1 3 4
+f 5 1 4
+f 6 2 1
+f 6 1 5
+f 7 5 4
+f 7 4 3
+f 8 3 2
+f 8 2 6
+f 8 7 3
+f 8 6 5
+f 8 5 7
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_7/collision/model_normalized_collision_28.obj b/objects/objaverse/tray/tray_7/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ccaa3a12832a4ae78966efabb1eb0b73f29ccf4b
--- /dev/null
+++ b/objects/objaverse/tray/tray_7/collision/model_normalized_collision_28.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.32121980 -0.48934389 0.02836767
+v 0.33006294 -0.45996905 0.01326668
+v 0.33240955 -0.46155593 0.02792029
+v 0.32482547 -0.46212120 0.02851812
+v 0.31887072 -0.48608667 0.01392124
+v 0.32638263 -0.48333874 0.02792558
+v 0.32742996 -0.46273113 0.00831593
+v 0.32454316 -0.48210342 0.01846693
+f 1 3 4
+f 3 2 4
+f 5 1 4
+f 6 2 3
+f 6 3 1
+f 7 5 4
+f 7 4 2
+f 8 6 1
+f 8 1 5
+f 8 5 7
+f 8 7 2
+f 8 2 6
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_7/collision/model_normalized_collision_29.obj b/objects/objaverse/tray/tray_7/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c243c665e90b0467279798c2c31de06d8a12170
--- /dev/null
+++ b/objects/objaverse/tray/tray_7/collision/model_normalized_collision_29.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.31669085 -0.49488967 0.02793000
+v 0.32742996 -0.46273113 0.00831593
+v 0.32482547 -0.46212120 0.02851812
+v 0.31964973 -0.46287614 0.02725574
+v 0.27937093 -0.47879802 0.00885087
+v 0.27937092 -0.49894565 0.02793000
+v 0.31545802 -0.49274558 0.01871892
+v 0.27937092 -0.48627813 0.02726916
+v 0.29452246 -0.47727473 0.00429462
+v 0.27937088 -0.49544431 0.01486061
+f 1 2 3
+f 3 2 4
+f 5 4 2
+f 6 1 3
+f 7 2 1
+f 7 1 6
+f 8 6 3
+f 8 3 4
+f 8 4 5
+f 9 5 2
+f 9 2 7
+f 10 9 7
+f 10 7 6
+f 10 5 9
+f 10 8 5
+f 10 6 8
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_7/collision/model_normalized_collision_31.obj b/objects/objaverse/tray/tray_7/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..59f091593ecf644c9e12d92b17721dd3dcdd1516
--- /dev/null
+++ b/objects/objaverse/tray/tray_7/collision/model_normalized_collision_31.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.00664366 -0.26515151 -0.01512321
+v 0.00664366 -0.26515151 -0.02851797
+v 0.00664366 -0.00757576 -0.01512321
+v -0.16002300 -0.00757576 -0.01512321
+v -0.16002300 -0.26515151 -0.02851797
+v -0.16002300 -0.26515151 -0.01512321
+v 0.00664366 -0.00757576 -0.02851797
+v -0.16002300 -0.00757576 -0.02851797
+f 1 2 3
+f 1 3 4
+f 6 1 4
+f 6 5 2
+f 6 2 1
+f 7 3 2
+f 7 2 5
+f 8 7 5
+f 8 4 3
+f 8 3 7
+f 8 6 4
+f 8 5 6
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_7/collision/model_normalized_collision_4.obj b/objects/objaverse/tray/tray_7/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..272df6a978970013283b19576c5b928544a2ea5a
--- /dev/null
+++ b/objects/objaverse/tray/tray_7/collision/model_normalized_collision_4.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.30752798 -0.49483828 0.01572708
+v 0.32742996 -0.46273113 0.00831593
+v 0.00664430 -0.49543672 0.01484295
+v 0.00664366 -0.46212120 -0.02851797
+v 0.30052498 -0.47494945 -0.02397634
+v 0.01470793 -0.47692545 0.00183727
+v 0.31887072 -0.48608667 0.01392124
+v 0.31386859 -0.45752723 -0.02545018
+v 0.00664366 -0.47713166 -0.02515394
+v 0.30490644 -0.48932323 0.00380902
+v 0.30939068 -0.46695526 -0.02428451
+v 0.01577603 -0.48993730 0.00271175
+v 0.31033625 -0.47700332 -0.00984556
+f 6 3 2
+f 6 2 4
+f 6 4 3
+f 7 2 3
+f 7 3 1
+f 8 5 4
+f 8 4 2
+f 8 2 7
+f 9 3 4
+f 9 4 5
+f 10 7 1
+f 10 5 7
+f 10 9 5
+f 10 1 9
+f 11 8 7
+f 11 5 8
+f 12 9 1
+f 12 1 3
+f 12 3 9
+f 13 11 7
+f 13 7 5
+f 13 5 11
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_7/collision/model_normalized_collision_5.obj b/objects/objaverse/tray/tray_7/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..99b21c4aa302cebfd4743f963ffdd0d60b4cd842
--- /dev/null
+++ b/objects/objaverse/tray/tray_7/collision/model_normalized_collision_5.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.27937092 -0.49894565 0.02793000
+v 0.27937088 -0.49544431 0.01486061
+v 0.27937093 -0.47879802 0.00885087
+v -0.29638664 -0.47879800 0.00885087
+v -0.29638664 -0.49894565 0.02793000
+v 0.27937092 -0.48627813 0.02726916
+v -0.29638661 -0.49544425 0.01486063
+v -0.29638664 -0.48627813 0.02726916
+f 1 2 3
+f 3 2 4
+f 5 2 1
+f 6 1 3
+f 6 3 4
+f 6 5 1
+f 7 5 4
+f 7 4 2
+f 7 2 5
+f 8 6 4
+f 8 4 5
+f 8 5 6
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_7/collision/model_normalized_collision_6.obj b/objects/objaverse/tray/tray_7/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eab279b0c7aaffa07c842f3bce5fbd084df1358e
--- /dev/null
+++ b/objects/objaverse/tray/tray_7/collision/model_normalized_collision_6.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.18846184 0.35606059 -0.01512321
+v 0.18846184 0.35606059 -0.02851797
+v 0.18846184 0.44696968 -0.01512321
+v -0.16002300 0.44696968 -0.01512321
+v -0.16002300 0.35606059 -0.02851797
+v 0.18846184 0.44696968 -0.02851797
+v -0.16002300 0.35606059 -0.01512321
+v -0.16002300 0.44696968 -0.02851797
+f 1 3 4
+f 5 2 1
+f 6 2 5
+f 6 1 2
+f 6 3 1
+f 7 5 1
+f 7 1 4
+f 7 4 5
+f 8 6 5
+f 8 5 4
+f 8 4 3
+f 8 3 6
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_7/collision/model_normalized_collision_7.obj b/objects/objaverse/tray/tray_7/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cbc62f6887ef16f0dc7c4545c71095445614e1d6
--- /dev/null
+++ b/objects/objaverse/tray/tray_7/collision/model_normalized_collision_7.obj
@@ -0,0 +1,18 @@
+# https://github.com/mikedh/trimesh
+v 0.33049830 -0.44696969 0.01223408
+v 0.33049830 0.44696968 0.01223408
+v 0.32022696 0.44625994 -0.01925211
+v 0.32922323 0.44696968 0.00802772
+v 0.32174848 -0.44559638 -0.01484977
+v 0.32022676 -0.44626165 -0.01925279
+v 0.32922323 -0.44696969 0.00802772
+f 1 2 3
+f 3 2 4
+f 2 1 4
+f 5 3 4
+f 6 1 3
+f 6 3 5
+f 7 6 5
+f 7 1 6
+f 7 5 4
+f 7 4 1
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_7/collision/model_normalized_collision_8.obj b/objects/objaverse/tray/tray_7/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c6f152d067112ae636ccb8dd7e132a6cbd87caa
--- /dev/null
+++ b/objects/objaverse/tray/tray_7/collision/model_normalized_collision_8.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.32743019 0.46273118 0.00831589
+v 0.31386609 0.45752617 -0.02545339
+v 0.30753249 0.49483694 0.01572641
+v -0.29638664 0.49544410 0.01486125
+v -0.29638664 0.46212120 -0.02851797
+v 0.31887000 0.48608581 0.01392154
+v -0.30831191 0.47009565 0.00415927
+v 0.30052491 0.47494950 -0.02397634
+v -0.29371299 0.47655862 -0.02515394
+v 0.30938932 0.46695672 -0.02428475
+v 0.30490643 0.48932326 0.00380901
+v -0.29638664 0.48974584 0.00229330
+v 0.31033578 0.47700282 -0.00984593
+f 5 2 1
+f 6 3 4
+f 6 4 1
+f 6 1 2
+f 7 5 1
+f 7 1 4
+f 8 2 5
+f 9 5 7
+f 9 8 5
+f 10 6 2
+f 10 2 8
+f 11 3 6
+f 11 6 8
+f 11 8 9
+f 12 9 7
+f 12 7 4
+f 12 11 9
+f 12 4 3
+f 12 3 11
+f 13 10 8
+f 13 8 6
+f 13 6 10
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_7/collision/model_normalized_collision_9.obj b/objects/objaverse/tray/tray_7/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dcd68118097c6f001161828bc849bf7c95f3ca28
--- /dev/null
+++ b/objects/objaverse/tray/tray_7/collision/model_normalized_collision_9.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.27937092 -0.46212120 -0.01512321
+v 0.27937092 -0.46212120 -0.02851797
+v 0.27937092 0.44696968 -0.01512321
+v 0.18846184 0.44696968 -0.01512321
+v 0.18846184 -0.46212120 -0.01512321
+v 0.18846184 0.44696968 -0.02851797
+v 0.27937092 0.44696968 -0.02851797
+v 0.18846184 -0.46212120 -0.02851797
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 5 1 4
+f 6 5 4
+f 7 3 2
+f 7 2 6
+f 7 6 4
+f 7 4 3
+f 8 6 2
+f 8 2 5
+f 8 5 6
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_7/model.xml b/objects/objaverse/tray/tray_7/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..8463249640b484422fbb2dcda6059b1100c9e239
--- /dev/null
+++ b/objects/objaverse/tray/tray_7/model.xml
@@ -0,0 +1,81 @@
+<mujoco model="tray_11">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="1.0 0.0 0.0 0.0"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="material.015" texture="image0" specular="0.5" shininess="0.25"/>
+  </asset>
+  <worldbody>
+    <body>
+      <body name="object">
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_0_vis" conaffinity="0" contype="0" group="1" material="material.015"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_22._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_23._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_21._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_20._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_24._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_30._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_18._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_19._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_31._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_25._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_27._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_26._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_9._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_8._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_6._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_7._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_5._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_4._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_0._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_1._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_3._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_2._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_17._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_16._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_28._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_14._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_15._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_29._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_11._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_10._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_12._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_13._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+      </body>
+      <site rgba="0 0 0 0" size="0.005" pos="4.301639999999664e-05 3.1499999983419802e-09 -0.005988773700000002" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="4.301639999999664e-05 3.1499999983419802e-09 0.0059888052000000025" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.06989400390000002 0.10477859280000006 1.5750000000088616e-08" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/objects/objaverse/tray/tray_9/collision/model_normalized_collision_0.obj b/objects/objaverse/tray/tray_9/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5eb361b60025cbcfba574eac7847fbeb07f13d26
--- /dev/null
+++ b/objects/objaverse/tray/tray_9/collision/model_normalized_collision_0.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.23021868 -0.38850500 0.01813698
+v -0.22541992 -0.38276422 0.00317830
+v -0.22623892 0.36990459 -0.01421604
+v -0.24465164 0.37159003 0.00787800
+v -0.24458844 -0.38709553 0.02164817
+v -0.23232932 0.37302256 0.00233165
+v -0.25058508 0.05296793 0.01534017
+v -0.23810916 0.36969598 -0.00912786
+v -0.23551260 -0.35198554 -0.00282184
+v -0.22427560 -0.35328883 -0.00727826
+v -0.23869251 -0.38164699 0.00790784
+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 8 6 3
+f 8 4 6
+f 8 7 4
+f 9 8 3
+f 9 5 7
+f 9 7 8
+f 10 9 3
+f 10 3 2
+f 11 2 5
+f 11 5 9
+f 11 10 2
+f 11 9 10
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_9/collision/model_normalized_collision_1.obj b/objects/objaverse/tray/tray_9/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d1d9de1abae16d14a62543e662da2f2afb039fcf
--- /dev/null
+++ b/objects/objaverse/tray/tray_9/collision/model_normalized_collision_1.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.24370940 -0.44693808 0.02386555
+v -0.24365223 -0.44710251 0.01393546
+v -0.24367435 0.09848520 -0.00508811
+v -0.27526162 0.09809507 0.01747870
+v -0.27861610 -0.44555091 0.02104290
+v -0.25090142 0.09842996 0.01457436
+v -0.23869251 -0.38164699 0.00790784
+v -0.27846089 -0.44628275 0.01862499
+v -0.27494597 -0.00926104 0.02415663
+v -0.26822017 0.09853875 0.01104502
+v -0.27755888 -0.43095481 0.02432916
+v -0.27549964 0.09638675 0.02030618
+v -0.26493123 -0.00789871 0.02365849
+v -0.25944396 -0.43119365 0.02473554
+f 7 1 2
+f 7 6 1
+f 7 3 6
+f 8 2 1
+f 8 1 5
+f 8 7 2
+f 8 3 7
+f 10 6 3
+f 10 4 6
+f 10 8 4
+f 10 3 8
+f 11 5 1
+f 12 11 9
+f 12 5 11
+f 12 8 5
+f 12 4 8
+f 12 6 4
+f 13 1 6
+f 13 12 9
+f 13 6 12
+f 14 11 1
+f 14 9 11
+f 14 13 9
+f 14 1 13
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_9/collision/model_normalized_collision_10.obj b/objects/objaverse/tray/tray_9/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..142bf4520a141fd68f34454ba9b20ec4c7c0d2e1
--- /dev/null
+++ b/objects/objaverse/tray/tray_9/collision/model_normalized_collision_10.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.20132368 -0.34290304 -0.00487823
+v -0.19743520 -0.34040548 -0.01546881
+v -0.19859251 -0.08335581 -0.00911001
+v -0.23359597 -0.08344532 0.00381843
+v -0.23144114 -0.34151468 0.00498124
+v -0.22575096 -0.08328279 -0.01395963
+v -0.22478548 -0.33965058 -0.00925219
+v -0.19821950 -0.08333285 -0.02009426
+f 1 2 3
+f 1 3 4
+f 5 1 4
+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 6 3
+f 8 3 2
+f 8 2 6
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_9/collision/model_normalized_collision_11.obj b/objects/objaverse/tray/tray_9/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7ee14996b0c67ede13f4e4bb46615cdba0c5c75a
--- /dev/null
+++ b/objects/objaverse/tray/tray_9/collision/model_normalized_collision_11.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.15301666 -0.38934830 0.00485962
+v -0.15238365 -0.38085207 -0.00968482
+v -0.15299285 -0.34115174 -0.00939533
+v -0.23144114 -0.34151468 0.00498124
+v -0.22970441 -0.38769030 0.00681827
+v -0.22478548 -0.33965058 -0.00925219
+v -0.20151105 -0.39293507 0.01166969
+v -0.15271676 -0.34082884 -0.01934082
+v -0.23576457 -0.35986006 0.01091497
+v -0.22168483 -0.37795415 -0.00019992
+v -0.23021868 -0.38850500 0.01813698
+f 1 2 3
+f 1 3 4
+f 6 4 3
+f 7 5 2
+f 7 2 1
+f 8 6 3
+f 8 3 2
+f 8 2 6
+f 9 6 5
+f 9 4 6
+f 10 6 2
+f 10 2 5
+f 10 5 6
+f 11 9 5
+f 11 5 7
+f 11 7 1
+f 11 1 4
+f 11 4 9
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_9/collision/model_normalized_collision_12.obj b/objects/objaverse/tray/tray_9/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7e1268ed96e4be47d00e67ab4e8712423281d991
--- /dev/null
+++ b/objects/objaverse/tray/tray_9/collision/model_normalized_collision_12.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.12266200 -0.46186465 0.01972244
+v -0.12247404 -0.46212197 0.01006374
+v -0.12234512 -0.39862826 -0.00073457
+v -0.24386124 -0.40164433 0.02357561
+v -0.24372434 -0.46208337 0.02350442
+v -0.12291541 -0.40738376 0.01437060
+v -0.12240288 -0.43106558 0.01076165
+v -0.24364227 -0.46225848 0.01344434
+v -0.22437558 -0.39552012 0.00841335
+v -0.24316515 -0.40105645 0.01368159
+f 5 2 1
+f 5 1 4
+f 6 3 4
+f 6 4 1
+f 7 1 2
+f 7 2 3
+f 7 6 1
+f 7 3 6
+f 8 3 2
+f 8 2 5
+f 8 5 4
+f 9 4 3
+f 9 3 8
+f 10 9 8
+f 10 8 4
+f 10 4 9
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_9/collision/model_normalized_collision_13.obj b/objects/objaverse/tray/tray_9/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b7d6ec3001ee8e9525e8b46ee033caae419f2b9d
--- /dev/null
+++ b/objects/objaverse/tray/tray_9/collision/model_normalized_collision_13.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.27574741 0.03789477 0.02033004
+v 0.27596674 0.03872749 0.01310887
+v 0.27216332 0.47139291 0.01333245
+v 0.24141386 0.48824698 0.02076580
+v 0.23777791 0.03782790 -0.00086745
+v 0.27126080 0.47023087 0.01922543
+v 0.24958218 0.03732819 0.00760501
+v 0.23804343 0.48833304 0.00958068
+v 0.26077206 0.48447947 0.01795623
+v 0.24554989 0.03804998 0.01682068
+v 0.25175411 0.48621748 0.01124366
+v 0.26444296 0.48046810 0.01524889
+f 1 2 3
+f 5 3 2
+f 6 1 3
+f 6 4 1
+f 7 5 2
+f 7 2 1
+f 8 5 4
+f 8 3 5
+f 9 6 3
+f 9 4 6
+f 10 7 1
+f 10 1 4
+f 10 4 5
+f 10 5 7
+f 11 8 4
+f 11 4 9
+f 11 3 8
+f 12 11 9
+f 12 9 3
+f 12 3 11
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_9/collision/model_normalized_collision_14.obj b/objects/objaverse/tray/tray_9/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c212c09303b3aa185a9ec27c00fef892d4c7d86
--- /dev/null
+++ b/objects/objaverse/tray/tray_9/collision/model_normalized_collision_14.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.24110974 -0.44690151 0.00880694
+v 0.24130696 -0.44722356 -0.00078722
+v 0.24114229 -0.40160204 0.00136072
+v 0.05992019 -0.39455596 -0.00946534
+v 0.05962929 -0.44751322 0.00531365
+v 0.19291982 -0.39558278 -0.00788207
+v 0.24158063 -0.40162804 0.01063748
+v 0.05892983 -0.44668309 0.01475464
+v 0.24089226 -0.43097828 0.00974141
+v 0.05861217 -0.40868789 0.00964849
+f 5 2 1
+f 5 4 2
+f 6 3 2
+f 6 2 4
+f 7 1 2
+f 7 2 3
+f 7 6 4
+f 7 3 6
+f 8 5 1
+f 9 8 1
+f 9 1 7
+f 9 7 8
+f 10 8 7
+f 10 7 4
+f 10 4 5
+f 10 5 8
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_9/collision/model_normalized_collision_15.obj b/objects/objaverse/tray/tray_9/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea4a0efe302b77e5471e9229e5e25b3b71c6fc29
--- /dev/null
+++ b/objects/objaverse/tray/tray_9/collision/model_normalized_collision_15.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.20982748 -0.49846142 0.00454064
+v 0.21030516 -0.49853469 0.00093321
+v 0.21083750 -0.44694704 0.00955181
+v 0.05892983 -0.44668309 0.01475464
+v 0.01168221 -0.49703118 0.00671436
+v 0.01386954 -0.49620883 0.01330446
+v 0.21101219 -0.44724993 0.00028139
+v 0.17985220 -0.47621907 0.00901088
+v 0.01364864 -0.46165704 0.01558083
+v 0.01411373 -0.46273018 0.00566473
+v 0.19524435 -0.44642396 0.01002871
+v 0.05962929 -0.44751322 0.00531365
+f 1 2 3
+f 5 2 1
+f 6 5 1
+f 7 3 2
+f 8 6 1
+f 8 1 3
+f 9 5 6
+f 9 6 8
+f 9 8 3
+f 9 3 4
+f 10 7 2
+f 10 2 5
+f 10 5 9
+f 11 4 3
+f 11 3 7
+f 12 7 10
+f 12 11 7
+f 12 4 11
+f 12 10 9
+f 12 9 4
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_9/collision/model_normalized_collision_16.obj b/objects/objaverse/tray/tray_9/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b651631610dc37bfb38eb1524454ba8448be4b5
--- /dev/null
+++ b/objects/objaverse/tray/tray_9/collision/model_normalized_collision_16.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v -0.19859251 -0.08335581 -0.00911001
+v -0.19821950 -0.08333285 -0.02009426
+v -0.19630759 0.36889091 -0.02149018
+v -0.23232932 0.37302256 0.00233165
+v -0.23359597 -0.08344532 0.00381843
+v -0.22097312 0.05340809 -0.01801343
+v -0.19871433 0.37205889 -0.00890116
+v -0.19710416 -0.06805568 -0.02028840
+v -0.21946173 -0.08376933 -0.00473255
+v -0.22194016 0.36766212 -0.01631187
+v -0.22575096 -0.08328279 -0.01395963
+v -0.21865125 0.37577384 -0.00302349
+v -0.21034154 -0.06805797 -0.01873048
+f 7 1 3
+f 7 5 1
+f 7 4 5
+f 8 1 2
+f 8 3 1
+f 8 6 3
+f 8 2 6
+f 9 2 1
+f 9 1 5
+f 10 3 6
+f 11 10 6
+f 11 5 4
+f 11 4 10
+f 11 9 5
+f 11 2 9
+f 12 7 3
+f 12 4 7
+f 12 10 4
+f 12 3 10
+f 13 11 6
+f 13 6 2
+f 13 2 11
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_9/collision/model_normalized_collision_17.obj b/objects/objaverse/tray/tray_9/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cd4777b698ded2bd305a2931e4e19defea97127a
--- /dev/null
+++ b/objects/objaverse/tray/tray_9/collision/model_normalized_collision_17.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.25918578 -0.49249007 0.00466844
+v 0.27887890 -0.44672366 -0.00182294
+v 0.27899524 -0.44756007 0.00643023
+v 0.21083750 -0.44694704 0.00955181
+v 0.21030516 -0.49853469 0.00093321
+v 0.26975802 -0.48235462 -0.00202781
+v 0.20982748 -0.49846142 0.00454064
+v 0.21101219 -0.44724993 0.00028139
+v 0.26900137 -0.48337427 0.00262018
+v 0.24282891 -0.49264952 -0.00394803
+v 0.26247277 -0.49145431 -0.00054530
+v 0.27344510 -0.46178923 -0.00383224
+v 0.26474195 -0.48577453 -0.00486730
+f 1 3 4
+f 3 2 4
+f 6 2 3
+f 7 5 1
+f 7 1 4
+f 8 4 2
+f 8 7 4
+f 8 5 7
+f 9 6 3
+f 9 3 1
+f 10 5 8
+f 11 9 1
+f 11 6 9
+f 11 1 5
+f 11 5 10
+f 12 8 2
+f 12 2 6
+f 13 11 10
+f 13 6 11
+f 13 12 6
+f 13 10 8
+f 13 8 12
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_9/collision/model_normalized_collision_18.obj b/objects/objaverse/tray/tray_9/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a4d778d0c1be27f2eec69dd0af2b6f98e7974bd5
--- /dev/null
+++ b/objects/objaverse/tray/tray_9/collision/model_normalized_collision_18.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.20083739 -0.49536297 0.01935064
+v -0.19968624 -0.49523710 0.01563067
+v -0.19834534 -0.46205420 0.02217101
+v -0.27861610 -0.44555091 0.02104290
+v -0.26417095 -0.48239587 0.01838776
+v -0.19815859 -0.46222944 0.01230992
+v -0.24370940 -0.44693808 0.02386555
+v -0.23980658 -0.49263666 0.01837943
+v -0.24365223 -0.44710251 0.01393546
+v -0.24068192 -0.49177820 0.01560196
+v -0.26417239 -0.48216244 0.01976059
+v -0.27846089 -0.44628275 0.01862499
+v -0.27185009 -0.46924438 0.01960381
+v -0.27222599 -0.46772627 0.01804576
+f 1 2 3
+f 6 3 2
+f 7 1 3
+f 7 3 6
+f 8 2 1
+f 9 7 6
+f 9 4 7
+f 10 6 2
+f 10 9 6
+f 10 8 5
+f 10 2 8
+f 11 7 4
+f 11 5 8
+f 11 8 1
+f 11 1 7
+f 12 4 9
+f 13 11 4
+f 13 5 11
+f 13 4 12
+f 14 10 5
+f 14 13 12
+f 14 5 13
+f 14 12 9
+f 14 9 10
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_9/collision/model_normalized_collision_19.obj b/objects/objaverse/tray/tray_9/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8572f09a2632a43e2e4a3fc70cfab51a99bb8ec8
--- /dev/null
+++ b/objects/objaverse/tray/tray_9/collision/model_normalized_collision_19.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.27899524 -0.44756007 0.00643023
+v 0.27887890 -0.44672366 -0.00182294
+v 0.27596674 0.03872749 0.01310887
+v 0.24554989 0.03804998 0.01682068
+v 0.24110974 -0.44690151 0.00880694
+v 0.23777791 0.03782790 -0.00086745
+v 0.27574741 0.03789477 0.02033004
+v 0.27676815 -0.05624012 0.01024033
+v 0.24130696 -0.44722356 -0.00078722
+v 0.24089226 -0.43097828 0.00974141
+v 0.27183662 -0.43053341 0.00928283
+v 0.27765782 -0.41517198 0.00975890
+f 6 4 3
+f 7 3 4
+f 8 1 2
+f 8 7 1
+f 8 3 7
+f 8 6 3
+f 8 2 6
+f 9 2 1
+f 9 1 5
+f 9 6 2
+f 10 4 6
+f 10 7 4
+f 10 9 5
+f 10 6 9
+f 11 10 5
+f 11 5 1
+f 12 11 1
+f 12 1 7
+f 12 7 10
+f 12 10 11
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_9/collision/model_normalized_collision_2.obj b/objects/objaverse/tray/tray_9/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..68e2fc63fff24de7e7c03fc58701ce1730016f17
--- /dev/null
+++ b/objects/objaverse/tray/tray_9/collision/model_normalized_collision_2.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.01386954 -0.49620883 0.01330446
+v 0.05990697 -0.46260911 0.00444253
+v 0.05861217 -0.40868789 0.00964849
+v -0.12234512 -0.39862826 -0.00073457
+v -0.12439322 -0.49580421 0.01128933
+v 0.05935582 -0.40135865 -0.00487770
+v 0.05897247 -0.46150728 0.01401082
+v 0.01168221 -0.49703118 0.00671436
+v -0.12291541 -0.40738376 0.01437060
+v -0.12252647 -0.49642636 0.01565016
+v -0.00122667 -0.40047547 -0.00360076
+f 6 3 2
+f 6 4 3
+f 7 1 2
+f 7 2 3
+f 8 2 1
+f 8 6 2
+f 8 5 4
+f 9 3 4
+f 9 4 5
+f 9 7 3
+f 10 8 1
+f 10 5 8
+f 10 9 5
+f 10 1 7
+f 10 7 9
+f 11 8 4
+f 11 4 6
+f 11 6 8
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_9/collision/model_normalized_collision_20.obj b/objects/objaverse/tray/tray_9/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ebc7c32699bbc74c3f652bdefc1d73d79699e520
--- /dev/null
+++ b/objects/objaverse/tray/tray_9/collision/model_normalized_collision_20.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.24132279 0.41672732 0.02286373
+v 0.24109829 0.41663352 0.01119416
+v 0.22832513 0.49103755 0.00957507
+v -0.25123575 0.49442840 0.00323171
+v -0.27521327 0.41518125 0.00503748
+v 0.22380057 0.41440015 0.00944579
+v 0.24141386 0.48824698 0.02076580
+v 0.23804343 0.48833304 0.00958068
+v -0.27201923 0.47174247 0.00271410
+v -0.27397787 0.41558097 0.01233501
+v 0.22556223 0.49116154 0.01858715
+v 0.24125157 0.46265306 0.01065745
+v -0.26152732 0.48487227 0.01261920
+v -0.27297100 0.45863008 0.01070018
+v -0.25547293 0.49121708 0.01105218
+v -0.27224446 0.47123751 0.00602272
+f 6 2 1
+f 8 2 6
+f 8 3 7
+f 8 4 3
+f 9 6 5
+f 9 8 6
+f 9 4 8
+f 10 6 1
+f 10 5 6
+f 11 7 3
+f 11 3 4
+f 12 7 1
+f 12 1 2
+f 12 8 7
+f 12 2 8
+f 13 10 1
+f 13 1 7
+f 14 5 10
+f 14 10 13
+f 15 11 4
+f 15 4 9
+f 15 9 13
+f 15 13 7
+f 15 7 11
+f 16 9 5
+f 16 5 14
+f 16 14 13
+f 16 13 9
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_9/collision/model_normalized_collision_21.obj b/objects/objaverse/tray/tray_9/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8099468b271a6f18352657ac95426b1c24a7ac3
--- /dev/null
+++ b/objects/objaverse/tray/tray_9/collision/model_normalized_collision_21.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.16505842 -0.26496589 -0.01750630
+v 0.16547718 -0.26525626 -0.02731824
+v 0.16547443 0.37155995 -0.00638461
+v -0.19871433 0.37205889 -0.00890116
+v -0.19860353 -0.26517801 -0.00829675
+v -0.19630759 0.36889091 -0.02149018
+v 0.16371649 0.36792933 -0.01893193
+v -0.19806250 -0.26512418 -0.01871196
+v -0.16729250 -0.26517047 -0.02016781
+v -0.19757512 -0.15906077 -0.01961046
+f 1 2 3
+f 5 2 1
+f 5 1 3
+f 5 3 4
+f 6 4 3
+f 7 6 3
+f 7 3 2
+f 7 2 6
+f 8 5 4
+f 8 4 6
+f 9 6 2
+f 9 2 5
+f 9 5 8
+f 10 9 8
+f 10 8 6
+f 10 6 9
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_9/collision/model_normalized_collision_22.obj b/objects/objaverse/tray/tray_9/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6168fd5cf712b2c5f1e1ac80cb472405372d9600
--- /dev/null
+++ b/objects/objaverse/tray/tray_9/collision/model_normalized_collision_22.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.12252647 -0.49642636 0.01565016
+v -0.12439322 -0.49580421 0.01128933
+v -0.12266200 -0.46186465 0.01972244
+v -0.19834534 -0.46205420 0.02217101
+v -0.20083739 -0.49536297 0.01935064
+v -0.19815859 -0.46222944 0.01230992
+v -0.12187647 -0.46294497 0.00999635
+v -0.19968624 -0.49523710 0.01563067
+v -0.16761213 -0.48964984 0.01024657
+v -0.15164129 -0.49404263 0.01131106
+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 1
+f 8 1 5
+f 8 5 6
+f 9 7 2
+f 9 6 7
+f 9 8 6
+f 10 9 2
+f 10 2 8
+f 10 8 9
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_9/collision/model_normalized_collision_23.obj b/objects/objaverse/tray/tray_9/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a34c95e872be5327d317229019e284b05d9bb408
--- /dev/null
+++ b/objects/objaverse/tray/tray_9/collision/model_normalized_collision_23.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.10447536 -0.34134621 -0.01697372
+v 0.10503078 -0.34047892 -0.02653304
+v 0.10460847 -0.26492955 -0.01597897
+v -0.19860353 -0.26517801 -0.00829675
+v -0.19743520 -0.34040548 -0.01546881
+v -0.16729250 -0.26517047 -0.02016781
+v -0.19831141 -0.34096388 -0.00562393
+v 0.10505253 -0.26538525 -0.02553598
+v -0.19806250 -0.26512418 -0.01871196
+v -0.15172648 -0.33953706 -0.01952009
+v -0.16660029 -0.32526335 -0.01961978
+f 1 2 3
+f 5 2 1
+f 7 1 3
+f 7 3 4
+f 7 5 1
+f 8 6 3
+f 8 3 2
+f 8 2 6
+f 9 4 3
+f 9 3 6
+f 9 7 4
+f 9 5 7
+f 10 2 5
+f 11 6 2
+f 11 2 10
+f 11 9 6
+f 11 10 5
+f 11 5 9
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_9/collision/model_normalized_collision_24.obj b/objects/objaverse/tray/tray_9/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..31fe97c8e33c320547c7dc5e056501eb59f8e47b
--- /dev/null
+++ b/objects/objaverse/tray/tray_9/collision/model_normalized_collision_24.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.24158063 -0.40162804 0.01063748
+v 0.24114229 -0.40160204 0.00136072
+v 0.24235418 -0.34085846 0.00736494
+v 0.21045452 -0.34075981 -0.01894219
+v 0.20660006 -0.39543675 -0.00473848
+v 0.23367472 -0.33995042 -0.00764168
+v 0.24453968 -0.37230562 0.00990626
+v 0.21130488 -0.40208634 0.00730751
+v 0.22788245 -0.40243170 0.00984806
+v 0.21942817 -0.34267189 -0.00491707
+f 5 4 2
+f 6 3 2
+f 6 2 4
+f 6 4 3
+f 7 1 2
+f 7 2 3
+f 8 5 2
+f 8 4 5
+f 9 8 2
+f 9 2 1
+f 9 1 7
+f 9 7 3
+f 9 3 8
+f 10 8 3
+f 10 3 4
+f 10 4 8
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_9/collision/model_normalized_collision_25.obj b/objects/objaverse/tray/tray_9/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aff7838a1fe6867c10b764e92ae1d572e4fe0cfc
--- /dev/null
+++ b/objects/objaverse/tray/tray_9/collision/model_normalized_collision_25.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.24235418 -0.34085846 0.00736494
+v 0.23367472 -0.33995042 -0.00764168
+v 0.23103925 -0.08349022 -0.00739499
+v 0.22012949 -0.08299197 -0.00276794
+v 0.20623146 -0.32486986 -0.02167053
+v 0.23988257 -0.08332049 0.01183253
+v 0.21942817 -0.34267189 -0.00491707
+v 0.21652953 -0.09827381 -0.01759161
+v 0.21045452 -0.34075981 -0.01894219
+v 0.21707779 -0.32494513 -0.01743581
+v 0.20669059 -0.09870167 -0.02148249
+v 0.21073290 -0.08333517 -0.01992533
+f 1 2 3
+f 6 1 3
+f 6 3 4
+f 7 2 1
+f 7 4 5
+f 7 6 4
+f 7 1 6
+f 8 3 2
+f 9 7 5
+f 9 2 7
+f 10 8 2
+f 10 9 5
+f 10 2 9
+f 11 5 4
+f 12 11 4
+f 12 4 3
+f 12 3 8
+f 12 8 10
+f 12 10 5
+f 12 5 11
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_9/collision/model_normalized_collision_26.obj b/objects/objaverse/tray/tray_9/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b857013feafd466e404294baa7b5f213af0cebb1
--- /dev/null
+++ b/objects/objaverse/tray/tray_9/collision/model_normalized_collision_26.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.24628117 -0.08319235 0.01551836
+v 0.23720488 -0.08335526 0.00990982
+v 0.23067249 0.35342370 -0.00330939
+v 0.21499714 0.35783803 0.00126557
+v 0.21073290 -0.08333517 -0.01992533
+v 0.24477307 0.35669526 0.01770622
+v 0.22012949 -0.08299197 -0.00276794
+v 0.20852870 0.35505912 -0.01319236
+v 0.23103925 -0.08349022 -0.00739499
+v 0.23358124 0.35807279 0.01182645
+f 2 1 4
+f 7 5 2
+f 7 2 4
+f 7 4 5
+f 8 5 4
+f 8 3 5
+f 9 1 2
+f 9 2 5
+f 9 5 3
+f 9 6 1
+f 9 3 6
+f 10 4 1
+f 10 1 6
+f 10 8 4
+f 10 6 3
+f 10 3 8
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_9/collision/model_normalized_collision_27.obj b/objects/objaverse/tray/tray_9/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..465a3ec640fbb8b08f11ac8e9c2d5d5b661cb9a5
--- /dev/null
+++ b/objects/objaverse/tray/tray_9/collision/model_normalized_collision_27.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.16545450 -0.38673373 -0.00579074
+v 0.16448326 -0.37968651 -0.01890624
+v 0.16505842 -0.26496589 -0.01750630
+v 0.10460847 -0.26492955 -0.01597897
+v 0.10478764 -0.38657527 -0.00546757
+v 0.16547718 -0.26525626 -0.02731824
+v 0.10499811 -0.37881286 -0.01936966
+v 0.10505253 -0.26538525 -0.02553598
+f 1 3 4
+f 5 2 1
+f 5 1 4
+f 6 4 3
+f 6 1 2
+f 6 3 1
+f 7 5 4
+f 7 2 5
+f 7 6 2
+f 8 7 4
+f 8 4 6
+f 8 6 7
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_9/collision/model_normalized_collision_28.obj b/objects/objaverse/tray/tray_9/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1e537a748e27d6848d40ba7a835acfd503a665bd
--- /dev/null
+++ b/objects/objaverse/tray/tray_9/collision/model_normalized_collision_28.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.16557156 0.40311542 0.00722009
+v 0.16608427 0.40959276 0.01090899
+v -0.09216658 0.41674891 0.00988613
+v -0.09180433 0.42209850 0.01264207
+v 0.16528415 0.42026464 0.01640174
+v -0.09233205 0.40576851 0.00321539
+v 0.16534468 0.41459492 0.01364934
+v -0.09171242 0.41240717 0.00739047
+f 1 2 3
+f 5 2 1
+f 6 3 4
+f 6 5 1
+f 6 4 5
+f 7 3 2
+f 7 2 5
+f 7 5 4
+f 7 4 3
+f 8 6 1
+f 8 1 3
+f 8 3 6
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_9/collision/model_normalized_collision_29.obj b/objects/objaverse/tray/tray_9/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..02384168ecc0b3f12b783aafbe3bec1aba55e442
--- /dev/null
+++ b/objects/objaverse/tray/tray_9/collision/model_normalized_collision_29.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.24657834 -0.23449042 0.01244106
+v 0.24130931 -0.23484363 0.00980468
+v 0.23120485 -0.23466145 0.00293256
+v 0.23011900 -0.08330744 0.00462197
+v 0.24628117 -0.08319235 0.01551836
+v 0.23988257 -0.08332049 0.01183253
+v 0.23777378 -0.23413481 0.00753297
+v 0.23720488 -0.08335526 0.00990982
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 5 1 4
+f 6 5 4
+f 6 2 5
+f 7 6 3
+f 7 3 2
+f 7 2 6
+f 8 6 4
+f 8 4 3
+f 8 3 6
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_9/collision/model_normalized_collision_3.obj b/objects/objaverse/tray/tray_9/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bf9432372ad22c9cf622429ceb85b88e7297fe7a
--- /dev/null
+++ b/objects/objaverse/tray/tray_9/collision/model_normalized_collision_3.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.24477307 0.35669526 0.01770622
+v 0.23067249 0.35342370 -0.00330939
+v 0.24026563 0.41619758 0.01113563
+v 0.16528415 0.42026464 0.01640174
+v 0.15098302 0.37569349 -0.00609285
+v 0.24132279 0.41672732 0.02286373
+v 0.20852870 0.35505912 -0.01319236
+v 0.15035218 0.41470467 0.01334206
+v 0.15019886 0.37095762 -0.01904388
+v 0.20552184 0.39418874 -0.00312263
+v 0.14973415 0.40741209 -0.00422671
+v 0.17867415 0.40747321 -0.00224163
+f 1 2 3
+f 6 1 3
+f 6 3 4
+f 6 4 1
+f 7 2 1
+f 7 1 5
+f 7 3 2
+f 8 5 1
+f 8 1 4
+f 9 7 5
+f 9 5 8
+f 10 3 7
+f 10 7 9
+f 11 9 8
+f 11 8 4
+f 11 4 3
+f 12 10 9
+f 12 9 11
+f 12 11 3
+f 12 3 10
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_9/collision/model_normalized_collision_30.obj b/objects/objaverse/tray/tray_9/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bae9e28db14ae91774b1d22a104665da481d469c
--- /dev/null
+++ b/objects/objaverse/tray/tray_9/collision/model_normalized_collision_30.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.21254600 -0.34129412 -0.00845569
+v 0.20629195 -0.33918707 -0.02039964
+v 0.20559388 0.23498657 -0.01857081
+v 0.16542990 0.23485400 -0.01144299
+v 0.16609641 -0.34142283 -0.01718532
+v 0.21088925 0.23484980 -0.00517230
+v 0.16501430 -0.34040809 -0.02669110
+v 0.16551425 0.23495448 -0.02242025
+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 3 2
+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/objects/objaverse/tray/tray_9/collision/model_normalized_collision_31.obj b/objects/objaverse/tray/tray_9/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..19128384fe30fb18c0c458d776d4307c712681bc
--- /dev/null
+++ b/objects/objaverse/tray/tray_9/collision/model_normalized_collision_31.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.21272470 -0.38837621 0.00391016
+v 0.21761559 -0.35912812 -0.00313133
+v 0.16582904 -0.39311973 -0.00241274
+v 0.16609641 -0.34142283 -0.01718532
+v 0.17822457 -0.37984821 -0.01755798
+v 0.21254600 -0.34129412 -0.00845569
+v 0.20755344 -0.38241529 -0.00962424
+v 0.16448326 -0.37968651 -0.01890624
+v 0.19332366 -0.34011505 -0.02358023
+v 0.20629195 -0.33918707 -0.02039964
+v 0.16501430 -0.34040809 -0.02669110
+v 0.20558733 -0.36581597 -0.01606156
+f 6 4 3
+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 10 6 2
+f 10 4 6
+f 11 8 3
+f 11 3 4
+f 11 10 9
+f 11 4 10
+f 11 9 5
+f 11 5 8
+f 12 7 5
+f 12 5 9
+f 12 9 10
+f 12 10 2
+f 12 2 7
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_9/collision/model_normalized_collision_4.obj b/objects/objaverse/tray/tray_9/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7be4adbc04c2e65e8d0422004cd7690870cef388
--- /dev/null
+++ b/objects/objaverse/tray/tray_9/collision/model_normalized_collision_4.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.12264141 0.36955574 -0.02424053
+v -0.12236248 0.37264851 -0.01214608
+v -0.24947720 0.37330534 0.01028528
+v -0.24439639 0.41725212 0.01521247
+v -0.12244867 0.41709675 0.00921094
+v -0.21046782 0.36829004 -0.01944209
+v -0.12223779 0.39415613 -0.00412218
+v -0.12276847 0.40923497 -0.00871664
+v -0.24309503 0.41609129 0.00315943
+v -0.15237161 0.39383617 -0.01698837
+v -0.12269299 0.39321342 -0.01736025
+v -0.23810916 0.36969598 -0.00912786
+v -0.19910582 0.42150943 0.01078489
+v -0.20870620 0.38032990 -0.01688469
+f 1 2 3
+f 5 3 2
+f 5 4 3
+f 6 1 3
+f 7 5 2
+f 7 2 1
+f 8 5 7
+f 9 3 4
+f 10 9 8
+f 11 8 7
+f 11 7 1
+f 11 10 8
+f 11 1 10
+f 12 9 6
+f 12 6 3
+f 12 3 9
+f 13 9 4
+f 13 4 5
+f 13 5 8
+f 13 8 9
+f 14 10 1
+f 14 1 6
+f 14 6 9
+f 14 9 10
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_9/collision/model_normalized_collision_5.obj b/objects/objaverse/tray/tray_9/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5768fa0a6b79932b79c6806791df0a75db31d3fb
--- /dev/null
+++ b/objects/objaverse/tray/tray_9/collision/model_normalized_collision_5.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.21875667 0.23497865 -0.00097768
+v 0.20559388 0.23498657 -0.01857081
+v 0.20761823 0.36924533 -0.01091098
+v 0.16663530 0.37559528 -0.00517709
+v 0.16542990 0.23485400 -0.01144299
+v 0.16371649 0.36792933 -0.01893193
+v 0.21366166 0.37307151 0.00465147
+v 0.20582041 0.29499759 -0.01764183
+v 0.16551425 0.23495448 -0.02242025
+v 0.19216493 0.35396842 -0.01741929
+v 0.17815412 0.36760625 -0.01729713
+f 5 2 1
+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 1 2
+f 8 3 1
+f 9 2 5
+f 9 5 6
+f 9 8 2
+f 10 3 8
+f 10 9 6
+f 10 8 9
+f 11 10 6
+f 11 6 3
+f 11 3 10
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_9/collision/model_normalized_collision_6.obj b/objects/objaverse/tray/tray_9/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bda8d46f249805e50991a3c4a946a0e9aeb97155
--- /dev/null
+++ b/objects/objaverse/tray/tray_9/collision/model_normalized_collision_6.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.08899015 -0.39314414 -0.00100273
+v 0.10499811 -0.37881286 -0.01936966
+v 0.10447536 -0.34134621 -0.01697372
+v -0.15299285 -0.34115174 -0.00939533
+v -0.15238365 -0.38085207 -0.00968482
+v -0.13712981 -0.33987750 -0.02008553
+v 0.10478764 -0.38657527 -0.00546757
+v -0.15301666 -0.38934830 0.00485962
+v 0.10503078 -0.34047892 -0.02653304
+v -0.15271676 -0.34082884 -0.01934082
+v -0.09129280 -0.36604032 -0.01782710
+v -0.15380103 -0.35908323 -0.00707820
+v 0.07457906 -0.34067130 -0.02592102
+v -0.13693336 -0.35312482 -0.01852166
+v 0.01452043 -0.37858324 -0.01695312
+f 1 3 4
+f 5 2 1
+f 6 4 3
+f 7 1 2
+f 7 3 1
+f 8 5 1
+f 8 1 4
+f 9 6 3
+f 9 7 2
+f 9 3 7
+f 10 4 6
+f 12 8 4
+f 12 4 10
+f 12 10 5
+f 12 5 8
+f 13 9 2
+f 13 2 11
+f 13 6 9
+f 14 10 6
+f 14 13 11
+f 14 6 13
+f 14 11 5
+f 14 5 10
+f 15 11 2
+f 15 2 5
+f 15 5 11
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_9/collision/model_normalized_collision_7.obj b/objects/objaverse/tray/tray_9/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c6b02ef37ca87ef0813c9e00ed5bc0f43815efc3
--- /dev/null
+++ b/objects/objaverse/tray/tray_9/collision/model_normalized_collision_7.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.21130488 -0.40208634 0.00730751
+v 0.21272470 -0.38837621 0.00391016
+v -0.24458844 -0.38709553 0.02164817
+v -0.23869251 -0.38164699 0.00790784
+v -0.18186955 -0.38030397 -0.00749478
+v 0.20755344 -0.38241529 -0.00962424
+v -0.07714993 -0.40736323 0.01320081
+v -0.24386124 -0.40164433 0.02357561
+v 0.20660006 -0.39543675 -0.00473848
+v -0.24092310 -0.39915896 0.01310257
+v -0.18130246 -0.39175006 -0.00174032
+f 1 2 3
+f 6 3 2
+f 6 4 3
+f 6 5 4
+f 6 2 1
+f 8 7 1
+f 8 1 3
+f 9 6 1
+f 9 1 7
+f 9 5 6
+f 10 8 3
+f 10 3 4
+f 10 4 5
+f 10 7 8
+f 11 9 7
+f 11 5 9
+f 11 10 5
+f 11 7 10
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_9/collision/model_normalized_collision_8.obj b/objects/objaverse/tray/tray_9/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8660f13577bb413d49b619884d84b55c90ca21e4
--- /dev/null
+++ b/objects/objaverse/tray/tray_9/collision/model_normalized_collision_8.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.15019886 0.37095762 -0.01904388
+v 0.15098302 0.37569349 -0.00609285
+v -0.12236248 0.37264851 -0.01214608
+v -0.12244867 0.41709675 0.00921094
+v 0.15035218 0.41470467 0.01334206
+v -0.12276847 0.40923497 -0.00871664
+v 0.11972158 0.36868709 -0.02069269
+v 0.14973415 0.40741209 -0.00422671
+v -0.12279660 0.38232942 -0.02144239
+v -0.12264141 0.36955574 -0.02424053
+v 0.11933191 0.38040937 -0.01802688
+f 5 3 2
+f 5 4 3
+f 7 1 2
+f 7 2 3
+f 8 5 2
+f 8 2 1
+f 8 6 4
+f 8 4 5
+f 9 3 4
+f 9 4 6
+f 10 9 7
+f 10 7 3
+f 10 3 9
+f 11 9 6
+f 11 6 8
+f 11 8 1
+f 11 1 7
+f 11 7 9
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_9/collision/model_normalized_collision_9.obj b/objects/objaverse/tray/tray_9/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..774f369bf2172377abc0505c7b63a7f2dbdbbc7c
--- /dev/null
+++ b/objects/objaverse/tray/tray_9/collision/model_normalized_collision_9.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.25090142 0.09842996 0.01457436
+v -0.23652597 0.09868774 -0.01040187
+v -0.24439639 0.41725212 0.01521247
+v -0.27397787 0.41558097 0.01233501
+v -0.27526162 0.09809507 0.01747870
+v -0.23798706 0.38236159 -0.00608715
+v -0.27549964 0.09638675 0.02030618
+v -0.27521327 0.41518125 0.00503748
+v -0.27356082 0.18820788 0.01151487
+v -0.24309503 0.41609129 0.00315943
+f 1 2 3
+f 6 3 2
+f 7 5 2
+f 7 2 1
+f 7 1 3
+f 7 3 4
+f 8 6 2
+f 8 4 3
+f 8 7 4
+f 8 5 7
+f 9 8 2
+f 9 2 5
+f 9 5 8
+f 10 8 3
+f 10 3 6
+f 10 6 8
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_9/model.xml b/objects/objaverse/tray/tray_9/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..f1bc601d7af7e5bb3eff35de87e815a7c7671b61
--- /dev/null
+++ b/objects/objaverse/tray/tray_9/model.xml
@@ -0,0 +1,81 @@
+<mujoco model="tray_15">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.2250000000000001 0.2250000000000001 0.2250000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.2250000000000001 0.2250000000000001 0.2250000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.2250000000000001 0.2250000000000001 0.2250000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.2250000000000001 0.2250000000000001 0.2250000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.2250000000000001 0.2250000000000001 0.2250000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.2250000000000001 0.2250000000000001 0.2250000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.2250000000000001 0.2250000000000001 0.2250000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.2250000000000001 0.2250000000000001 0.2250000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.2250000000000001 0.2250000000000001 0.2250000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.2250000000000001 0.2250000000000001 0.2250000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.2250000000000001 0.2250000000000001 0.2250000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.2250000000000001 0.2250000000000001 0.2250000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.2250000000000001 0.2250000000000001 0.2250000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.2250000000000001 0.2250000000000001 0.2250000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.2250000000000001 0.2250000000000001 0.2250000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.2250000000000001 0.2250000000000001 0.2250000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.2250000000000001 0.2250000000000001 0.2250000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.2250000000000001 0.2250000000000001 0.2250000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.2250000000000001 0.2250000000000001 0.2250000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.2250000000000001 0.2250000000000001 0.2250000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.2250000000000001 0.2250000000000001 0.2250000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.2250000000000001 0.2250000000000001 0.2250000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.2250000000000001 0.2250000000000001 0.2250000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.2250000000000001 0.2250000000000001 0.2250000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.2250000000000001 0.2250000000000001 0.2250000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.2250000000000001 0.2250000000000001 0.2250000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.2250000000000001 0.2250000000000001 0.2250000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.2250000000000001 0.2250000000000001 0.2250000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.2250000000000001 0.2250000000000001 0.2250000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.2250000000000001 0.2250000000000001 0.2250000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.2250000000000001 0.2250000000000001 0.2250000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.2250000000000001 0.2250000000000001 0.2250000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.2250000000000001 0.2250000000000001 0.2250000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="material.013" texture="image0" specular="0.5" shininess="0.359999993"/>
+  </asset>
+  <worldbody>
+    <body>
+      <body name="object">
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_0_vis" conaffinity="0" contype="0" group="1" material="material.013"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_22._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_23._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_21._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_20._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_24._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_30._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_18._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_19._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_31._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_25._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_27._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_26._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_9._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_8._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_6._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_7._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_5._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_4._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_0._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_1._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_3._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_2._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_17._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_16._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_28._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_14._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_15._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_29._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_11._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_10._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_12._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_13._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+      </body>
+      <site rgba="0 0 0 0" size="0.005" pos="4.265325000000002e-05 -0.0004619576250000016 -0.0061466040000000026" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="4.265325000000002e-05 -0.0004619576250000016 0.005565496500000002" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.06277392900000002 0.11124639000000004 -0.00029055375000000013" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/objects/objaverse/tray/tray_9/visual/material.mtl b/objects/objaverse/tray/tray_9/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..842b70538fc6029daec10eabd1278717f12035ab
--- /dev/null
+++ b/objects/objaverse/tray/tray_9/visual/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 359.99999300
+map_Kd material_0.jpeg
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_9/visual/model_normalized_0.obj b/objects/objaverse/tray/tray_9/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b127e1ce92d745140c78f7640465cf138f66e76c
--- /dev/null
+++ b/objects/objaverse/tray/tray_9/visual/model_normalized_0.obj
@@ -0,0 +1,232108 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
+v -0.27083870 0.47403610 0.00772818
+v -0.27246597 0.47079654 0.00575399
+v -0.27146016 0.46888478 0.00942283
+v -0.27444514 0.46049884 0.00675731
+v -0.27262570 0.46251795 0.01014911
+v -0.27332702 0.46601707 0.00727893
+v 0.18776078 0.49183866 0.02067143
+v 0.18030831 0.49300173 0.01898177
+v 0.18055789 0.48880626 0.02092351
+v 0.27700833 0.10163676 0.01623643
+v 0.27666890 0.09969253 0.01862242
+v 0.27744510 0.09526996 0.01729216
+v -0.27833610 -0.25048667 0.02275803
+v -0.27776456 -0.25269296 0.02454253
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\ No newline at end of file
diff --git a/objects/objaverse/yogurt/.DS_Store b/objects/objaverse/yogurt/.DS_Store
new file mode 100644
index 0000000000000000000000000000000000000000..76551f3297ceba79e33804c8594bda221af474b3
Binary files /dev/null and b/objects/objaverse/yogurt/.DS_Store differ
diff --git a/objects/objaverse/yogurt/yogurt_1/collision/model_normalized_collision_0.obj b/objects/objaverse/yogurt/yogurt_1/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c248374f1be6f4aed62b6e9a46264f6bdaceeeb
--- /dev/null
+++ b/objects/objaverse/yogurt/yogurt_1/collision/model_normalized_collision_0.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v -0.35606046 -0.34090910 0.34698989
+v -0.34897493 -0.32150624 0.27739412
+v -0.35606046 0.35606060 0.34698960
+v -0.48855079 0.35516676 0.34698960
+v -0.49263666 -0.33746164 0.34698989
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+v -0.35276957 -0.33893455 0.28678977
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+v -0.49263660 0.33746161 0.34698960
+v -0.49230484 -0.32473952 0.33638076
+v -0.35133797 0.35133782 0.29075234
+v -0.45769037 0.35503813 0.32782277
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+f 5 3 4
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+f 8 3 1
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+f 14 9 10
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+f 15 8 6
+f 15 6 12
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+f 16 12 4
+f 16 4 3
+f 16 15 12
+f 16 3 15
\ No newline at end of file
diff --git a/objects/objaverse/yogurt/yogurt_1/collision/model_normalized_collision_1.obj b/objects/objaverse/yogurt/yogurt_1/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c90b7a5639512e7a803828001c2900eefa1c26b
--- /dev/null
+++ b/objects/objaverse/yogurt/yogurt_1/collision/model_normalized_collision_1.obj
@@ -0,0 +1,120 @@
+# https://github.com/mikedh/trimesh
+v 0.20454560 -0.18939395 -0.15759593
+v 0.20381785 -0.18867708 -0.34364969
+v 0.20447849 0.33990248 -0.15759593
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+v -0.24549978 0.32290877 -0.25915643
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+v -0.28434142 0.21827946 -0.32097524
+v -0.15909077 0.34213012 -0.15759593
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+v -0.24652054 0.32609691 -0.24502569
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+v -0.32232761 0.18796552 -0.28276066
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+v -0.18833974 0.34025039 -0.18684490
+v 0.18829110 0.33926506 -0.20193073
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+v -0.33924929 -0.18827316 -0.20192969
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+v -0.29903681 0.24421604 -0.30521088
+v -0.30852388 0.26019622 -0.28308969
+f 1 2 3
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+f 7 2 1
+f 7 1 5
+f 8 3 2
+f 11 2 7
+f 11 8 2
+f 11 6 8
+f 13 8 6
+f 14 5 4
+f 18 4 3
+f 19 9 12
+f 19 3 8
+f 20 13 6
+f 21 14 4
+f 22 12 9
+f 23 4 12
+f 23 22 15
+f 23 12 22
+f 24 11 7
+f 25 21 10
+f 26 24 7
+f 26 17 24
+f 27 12 4
+f 27 4 18
+f 28 27 18
+f 28 12 27
+f 28 19 12
+f 28 3 19
+f 29 13 20
+f 29 19 8
+f 29 8 13
+f 30 20 6
+f 30 6 11
+f 31 16 26
+f 31 26 7
+f 31 7 5
+f 32 10 21
+f 32 23 15
+f 32 21 4
+f 32 4 23
+f 33 22 9
+f 33 29 20
+f 33 9 29
+f 34 24 17
+f 34 11 24
+f 34 30 11
+f 35 25 10
+f 35 17 26
+f 35 26 16
+f 35 16 25
+f 35 10 32
+f 36 28 18
+f 36 18 3
+f 36 3 28
+f 37 29 9
+f 37 9 19
+f 37 19 29
+f 38 14 21
+f 38 21 25
+f 38 25 16
+f 38 16 31
+f 38 31 5
+f 38 5 14
+f 39 33 20
+f 39 20 30
+f 39 32 15
+f 39 15 22
+f 39 22 33
+f 39 30 34
+f 40 34 17
+f 40 17 35
+f 40 39 34
+f 41 40 35
+f 41 35 32
+f 41 32 39
+f 41 39 40
\ No newline at end of file
diff --git a/objects/objaverse/yogurt/yogurt_1/collision/model_normalized_collision_10.obj b/objects/objaverse/yogurt/yogurt_1/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f0341960b18f12bf7504cfc67d0498fd8588af2c
--- /dev/null
+++ b/objects/objaverse/yogurt/yogurt_1/collision/model_normalized_collision_10.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.34213027 0.15909090 0.00907073
+v 0.34112894 0.15909090 -0.19094405
+v 0.32459233 0.24213294 -0.25578954
+v 0.20454560 0.23484848 0.00907073
+v 0.20454560 0.15909090 0.00907073
+v 0.33642237 0.23381304 0.00907073
+v 0.20454560 0.15909090 -0.15759593
+v 0.34025052 0.18833988 -0.18684490
+v 0.33088534 0.19175865 -0.25668136
+v 0.20454560 0.23484848 -0.15759593
+v 0.34097534 0.18838820 0.00907073
+v 0.34139713 0.15909090 -0.18692135
+v 0.32930228 0.23212207 -0.24577860
+v 0.33336537 0.18889044 -0.24676413
+f 5 2 1
+f 5 1 4
+f 6 3 4
+f 6 4 1
+f 7 2 5
+f 7 5 4
+f 9 7 3
+f 9 2 7
+f 10 7 4
+f 10 4 3
+f 10 3 7
+f 11 8 6
+f 11 6 1
+f 11 1 8
+f 12 8 1
+f 12 1 2
+f 12 2 8
+f 13 3 6
+f 13 6 8
+f 13 9 3
+f 14 8 2
+f 14 2 9
+f 14 13 8
+f 14 9 13
\ No newline at end of file
diff --git a/objects/objaverse/yogurt/yogurt_1/collision/model_normalized_collision_11.obj b/objects/objaverse/yogurt/yogurt_1/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8c81e760b5bd9a3329e625891eba8fba6a05f484
--- /dev/null
+++ b/objects/objaverse/yogurt/yogurt_1/collision/model_normalized_collision_11.obj
@@ -0,0 +1,177 @@
+# https://github.com/mikedh/trimesh
+v 0.24652088 -0.32609713 -0.24502573
+v 0.31497900 -0.26205224 -0.27200949
+v 0.33005322 -0.19272588 -0.25998585
+v -0.33336537 -0.18889047 -0.24676419
+v -0.20332600 -0.24579433 -0.33636305
+v 0.27466181 -0.31646200 -0.24585404
+v 0.21827961 -0.28434158 -0.32097524
+v -0.23194725 -0.32923674 -0.24575956
+v -0.24601973 -0.18824284 -0.33731860
+v 0.24421619 -0.29903696 -0.30521088
+v 0.28540555 -0.18807726 -0.32266542
+v -0.32609702 -0.24652077 -0.24502577
+v -0.23000989 -0.30068070 -0.30857274
+v 0.27101296 -0.31175238 -0.26966019
+v 0.18796645 -0.32232046 -0.28280648
+v 0.31158464 -0.18827974 -0.30060731
+v 0.26109313 -0.26086305 -0.32215961
+v 0.24601918 -0.18823853 -0.33731497
+v -0.32681759 -0.18844205 -0.27525011
+v -0.21824546 -0.28434603 -0.32098378
+v -0.31175236 -0.27101290 -0.26966021
+v 0.29420947 -0.26845073 -0.29813250
+v 0.29952888 -0.28803770 -0.27080079
+v -0.18796539 -0.32232778 -0.28276067
+v 0.22983196 -0.30816667 -0.29843549
+v 0.23032101 -0.32308827 -0.27361832
+v 0.32491218 -0.18932895 -0.27829845
+v 0.24526006 -0.26990524 -0.32292901
+v -0.23069800 -0.23069815 -0.33689727
+v 0.26990534 -0.24525990 -0.32292895
+v 0.20333036 -0.24579328 -0.33635808
+v -0.28541785 -0.18810919 -0.32268639
+v -0.32308818 -0.23032089 -0.27361834
+v -0.23032070 -0.32308833 -0.27361834
+v -0.31646197 -0.27466175 -0.24585407
+v 0.26839664 -0.29501212 -0.29720445
+v 0.30814621 -0.22950181 -0.29841648
+v 0.25988126 -0.30866685 -0.28314801
+v 0.24550012 -0.32290898 -0.25915648
+v 0.26738474 -0.28348837 -0.30639085
+v -0.24526172 -0.27022023 -0.32279987
+v 0.28434165 -0.21827947 -0.32097513
+v 0.23068647 -0.23045051 -0.33687054
+v 0.28348851 -0.26738461 -0.30639086
+v -0.27022008 -0.24526187 -0.32279987
+v -0.32290889 -0.24550000 -0.25915650
+v -0.31162156 -0.18828076 -0.30059091
+v -0.29501207 -0.26839658 -0.29720453
+v -0.22950172 -0.30814627 -0.29841660
+v 0.28354819 -0.29501217 -0.28205297
+v 0.29903706 -0.24421603 -0.30521082
+v 0.24579341 -0.20333022 -0.33635804
+v -0.28434588 -0.21824561 -0.32098378
+v -0.24579418 -0.20332616 -0.33636305
+v -0.28339088 -0.26823952 -0.30610399
+v -0.30866676 -0.25988114 -0.28314804
+v 0.29397164 -0.28431683 -0.28193525
+v 0.30852403 -0.26019619 -0.28308960
+v -0.29870381 -0.24419793 -0.30544794
+v -0.30816657 -0.22983184 -0.29843553
+f 6 3 4
+f 6 4 1
+f 6 2 3
+f 12 8 1
+f 12 1 4
+f 14 6 1
+f 18 9 11
+f 19 16 11
+f 19 4 16
+f 20 7 13
+f 23 2 6
+f 23 6 14
+f 23 22 2
+f 24 15 8
+f 24 13 15
+f 25 15 13
+f 25 13 7
+f 25 7 10
+f 26 1 8
+f 26 8 15
+f 26 15 25
+f 27 3 2
+f 27 16 4
+f 27 4 3
+f 28 10 7
+f 29 9 18
+f 31 5 29
+f 31 20 5
+f 31 7 20
+f 31 28 7
+f 32 19 11
+f 32 11 9
+f 33 12 4
+f 33 4 19
+f 34 24 8
+f 35 8 12
+f 35 12 21
+f 35 34 8
+f 35 21 34
+f 37 27 2
+f 37 16 27
+f 38 25 10
+f 38 26 25
+f 38 14 26
+f 38 36 14
+f 38 10 36
+f 39 26 14
+f 39 14 1
+f 39 1 26
+f 40 28 17
+f 40 10 28
+f 40 36 10
+f 40 22 36
+f 41 29 5
+f 41 5 20
+f 41 20 13
+f 42 11 16
+f 43 30 17
+f 43 17 28
+f 43 28 31
+f 43 31 29
+f 43 29 18
+f 44 17 30
+f 44 40 17
+f 44 22 40
+f 45 29 41
+f 46 33 21
+f 46 21 12
+f 46 12 33
+f 47 33 19
+f 47 19 32
+f 48 34 21
+f 49 13 24
+f 49 24 34
+f 49 48 13
+f 49 34 48
+f 50 23 14
+f 50 14 36
+f 50 36 22
+f 51 22 44
+f 51 44 30
+f 51 30 42
+f 51 42 16
+f 51 16 37
+f 52 42 30
+f 52 18 11
+f 52 11 42
+f 52 43 18
+f 52 30 43
+f 53 47 32
+f 54 9 29
+f 54 29 45
+f 54 45 53
+f 54 53 32
+f 54 32 9
+f 55 41 13
+f 55 13 48
+f 55 45 41
+f 56 48 21
+f 56 21 33
+f 57 50 22
+f 57 22 23
+f 57 23 50
+f 58 51 37
+f 58 37 2
+f 58 2 22
+f 58 22 51
+f 59 47 53
+f 59 48 56
+f 59 55 48
+f 59 53 45
+f 59 45 55
+f 60 59 56
+f 60 56 33
+f 60 33 47
+f 60 47 59
\ No newline at end of file
diff --git a/objects/objaverse/yogurt/yogurt_1/collision/model_normalized_collision_12.obj b/objects/objaverse/yogurt/yogurt_1/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..daaeb55a2be065a430a45f52f2242f6dabacb596
--- /dev/null
+++ b/objects/objaverse/yogurt/yogurt_1/collision/model_normalized_collision_12.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.40151530 0.35606060 0.34698960
+v 0.39780776 0.35383608 0.31033741
+v 0.40151530 0.41666666 0.34698960
+v -0.28030289 0.41666666 0.34698960
+v -0.27863267 0.34882291 0.25543111
+v 0.40010798 0.41432115 0.32255591
+v 0.24811660 0.34789848 0.24078238
+v -0.28030289 0.35606060 0.34698960
+v -0.27926679 0.41217693 0.30593560
+v 0.36511804 0.35240406 0.29712013
+v 0.39654506 0.38338149 0.31489699
+v -0.28176783 0.36240867 0.27413276
+v -0.24811632 0.34789849 0.24078234
+v 0.21902227 0.40654376 0.30014649
+v 0.36797760 0.41127555 0.31641683
+f 1 3 4
+f 6 1 2
+f 6 3 1
+f 6 4 3
+f 7 1 5
+f 8 5 1
+f 8 1 4
+f 9 4 6
+f 10 7 2
+f 10 2 1
+f 10 1 7
+f 11 7 6
+f 11 6 2
+f 11 2 7
+f 12 8 4
+f 12 5 8
+f 12 9 5
+f 12 4 9
+f 13 7 5
+f 13 5 9
+f 14 9 6
+f 14 13 9
+f 14 7 13
+f 15 14 6
+f 15 6 7
+f 15 7 14
\ No newline at end of file
diff --git a/objects/objaverse/yogurt/yogurt_1/collision/model_normalized_collision_13.obj b/objects/objaverse/yogurt/yogurt_1/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c2ef024378491b9132f1fde90c9006c61636bfbb
--- /dev/null
+++ b/objects/objaverse/yogurt/yogurt_1/collision/model_normalized_collision_13.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.23484834 -0.26515155 0.34698985
+v -0.23484834 -0.26515152 0.19088892
+v -0.23108350 0.33974628 0.19195865
+v -0.35606046 0.35606060 0.34698960
+v -0.35606046 -0.26515157 0.34698974
+v -0.33644015 0.24547227 0.19217551
+v -0.23484834 0.35606060 0.34698960
+v -0.30251179 0.31226720 0.19200011
+v -0.33644022 -0.24547230 0.19217542
+v -0.33230947 -0.26316705 0.19145279
+v -0.34620339 0.34620324 0.28533624
+v -0.33645491 -0.26062720 0.21044430
+v -0.32298448 0.28469989 0.19236538
+v -0.28469972 0.32298441 0.19236537
+v -0.24547205 0.33644006 0.19217544
+f 1 2 3
+f 5 2 1
+f 5 1 4
+f 7 1 3
+f 7 3 4
+f 7 4 1
+f 8 3 2
+f 9 5 4
+f 9 4 6
+f 10 8 2
+f 10 6 8
+f 10 9 6
+f 10 2 5
+f 11 6 4
+f 11 4 3
+f 12 10 5
+f 12 5 9
+f 12 9 10
+f 13 11 8
+f 13 8 6
+f 13 6 11
+f 14 8 11
+f 15 14 11
+f 15 11 3
+f 15 3 8
+f 15 8 14
\ No newline at end of file
diff --git a/objects/objaverse/yogurt/yogurt_1/collision/model_normalized_collision_14.obj b/objects/objaverse/yogurt/yogurt_1/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf63d3858cf84e3aa2e89e3dc0419dff39cd1a50
--- /dev/null
+++ b/objects/objaverse/yogurt/yogurt_1/collision/model_normalized_collision_14.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.47916626 -0.39583326 0.34698989
+v 0.49263668 -0.33746158 0.34698989
+v 0.40084665 0.47615830 0.34698960
+v 0.39492434 -0.21925759 0.29374459
+v 0.47665088 -0.39375538 0.33638076
+v 0.49230482 0.32473949 0.33638076
+v 0.40151530 -0.40151516 0.34698989
+v 0.49263661 0.33746155 0.34698960
+v 0.39492432 0.21925758 0.29374459
+v 0.49230484 -0.32473951 0.33638076
+v 0.39918685 0.47339201 0.33638076
+v 0.44319667 -0.39925126 0.32891886
+v 0.39717643 -0.36860881 0.31261715
+v 0.46002311 0.42146822 0.33638076
+v 0.40006569 -0.40006562 0.31864408
+v 0.45806266 -0.38392843 0.33019148
+v 0.47665117 0.39375508 0.33638076
+v 0.39717641 0.36860878 0.31261720
+v 0.44791648 0.44791662 0.34698960
+v 0.41387962 0.44232437 0.33069210
+v 0.45806286 0.38392854 0.33019131
+v 0.42146837 0.46002296 0.33638076
+v 0.47916626 0.39583295 0.34698960
+v 0.39925151 0.44319670 0.32891874
+v 0.44232452 0.41387947 0.33069210
+f 5 2 1
+f 7 1 2
+f 7 2 3
+f 8 2 6
+f 9 6 4
+f 10 5 4
+f 10 4 6
+f 10 6 2
+f 10 2 5
+f 11 7 3
+f 11 9 4
+f 12 5 1
+f 12 1 7
+f 13 11 4
+f 13 7 11
+f 15 13 12
+f 15 12 7
+f 15 7 13
+f 16 13 4
+f 16 4 5
+f 16 5 12
+f 16 12 13
+f 17 6 9
+f 17 8 6
+f 18 9 11
+f 19 11 3
+f 19 17 14
+f 19 3 2
+f 21 17 9
+f 21 9 18
+f 22 19 14
+f 22 11 19
+f 22 20 11
+f 23 8 17
+f 23 17 19
+f 23 19 2
+f 23 2 8
+f 24 20 18
+f 24 18 11
+f 24 11 20
+f 25 18 20
+f 25 21 18
+f 25 14 17
+f 25 17 21
+f 25 22 14
+f 25 20 22
\ No newline at end of file
diff --git a/objects/objaverse/yogurt/yogurt_1/collision/model_normalized_collision_15.obj b/objects/objaverse/yogurt/yogurt_1/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ba6b2f2890639db6ad6c61c5cfd7ebb8b1e658fe
--- /dev/null
+++ b/objects/objaverse/yogurt/yogurt_1/collision/model_normalized_collision_15.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.40151530 0.41666666 0.34698960
+v 0.40010798 0.41432115 0.32255591
+v 0.33746177 0.49263674 0.34698960
+v -0.33746149 0.49263680 0.34698960
+v -0.35606046 0.41666666 0.34698960
+v -0.32465170 0.41187519 0.31072303
+v 0.39583310 0.47916640 0.34698960
+v 0.32473964 0.49230467 0.33638076
+v -0.35548439 0.41570654 0.31556806
+v 0.32465200 0.41187518 0.31072305
+v 0.39925151 0.44319670 0.32891874
+v 0.39375523 0.47665102 0.33638076
+v -0.32473935 0.49230469 0.33638076
+v -0.35516664 0.48855099 0.34698960
+v 0.38392869 0.45806272 0.33019131
+v 0.33956385 0.47144282 0.33069210
+v -0.35451039 0.48570731 0.33638076
+v -0.33956358 0.47144289 0.33069210
+v -0.35503799 0.45769049 0.32782283
+f 1 3 4
+f 5 1 4
+f 7 3 1
+f 8 4 3
+f 9 6 5
+f 10 2 1
+f 10 1 5
+f 10 5 6
+f 10 6 8
+f 11 7 1
+f 11 1 2
+f 11 2 10
+f 12 8 3
+f 12 3 7
+f 12 7 11
+f 13 8 6
+f 13 4 8
+f 14 9 5
+f 14 5 4
+f 15 12 11
+f 15 11 10
+f 15 10 12
+f 16 12 10
+f 16 10 8
+f 16 8 12
+f 17 14 4
+f 17 4 13
+f 18 17 13
+f 18 13 6
+f 18 6 17
+f 19 17 6
+f 19 6 9
+f 19 9 14
+f 19 14 17
\ No newline at end of file
diff --git a/objects/objaverse/yogurt/yogurt_1/collision/model_normalized_collision_16.obj b/objects/objaverse/yogurt/yogurt_1/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6389a073fe930ba98d89e29024959d8097b90b61
--- /dev/null
+++ b/objects/objaverse/yogurt/yogurt_1/collision/model_normalized_collision_16.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v 0.33746177 -0.49263675 0.34698989
+v 0.47615836 -0.40084646 0.34698989
+v -0.35606046 -0.40151516 0.34698989
+v -0.21925745 -0.39492427 0.29374447
+v 0.21925773 -0.39492425 0.29374447
+v 0.47339209 -0.39918669 0.33638076
+v -0.32473937 -0.49230499 0.33638076
+v 0.44791648 -0.44791663 0.34698989
+v -0.33746149 -0.49263681 0.34698989
+v -0.35383596 -0.39780766 0.31033730
+v 0.32473966 -0.49230497 0.33638076
+v -0.35451051 -0.48570770 0.33638076
+v 0.39375523 -0.47665103 0.33638076
+v -0.35503795 -0.45769033 0.32782289
+v -0.35516664 -0.48855100 0.34698989
+v 0.39583310 -0.47916642 0.34698989
+v 0.42146851 -0.46002305 0.33638076
+v -0.35320462 -0.41190694 0.31413693
+v 0.46002310 -0.42146832 0.33638076
+v 0.36860896 -0.39717631 0.31261712
+v 0.41387975 -0.44232460 0.33069239
+v 0.38392858 -0.45806255 0.33019146
+v 0.44319667 -0.39925126 0.32891886
+v 0.44232465 -0.41387956 0.33069239
+f 1 2 3
+f 6 3 2
+f 6 4 3
+f 6 5 4
+f 8 6 2
+f 8 2 1
+f 9 1 3
+f 10 3 4
+f 11 9 7
+f 11 1 9
+f 11 7 4
+f 11 4 5
+f 12 4 7
+f 12 7 9
+f 13 1 11
+f 13 11 5
+f 14 4 12
+f 14 3 10
+f 15 12 9
+f 15 9 3
+f 15 14 12
+f 15 3 14
+f 16 13 8
+f 16 8 1
+f 16 1 13
+f 17 8 13
+f 18 14 10
+f 18 10 4
+f 18 4 14
+f 19 6 8
+f 19 8 17
+f 20 5 6
+f 21 17 13
+f 21 19 17
+f 22 13 5
+f 22 5 20
+f 22 21 13
+f 22 20 21
+f 23 20 6
+f 24 21 20
+f 24 19 21
+f 24 20 23
+f 24 23 6
+f 24 6 19
\ No newline at end of file
diff --git a/objects/objaverse/yogurt/yogurt_1/collision/model_normalized_collision_17.obj b/objects/objaverse/yogurt/yogurt_1/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d01b68029f2858915317d467662e5b609e667e94
--- /dev/null
+++ b/objects/objaverse/yogurt/yogurt_1/collision/model_normalized_collision_17.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v -0.28030289 0.35606060 0.34698960
+v -0.28004223 0.35493109 0.26726077
+v -0.28030289 0.41666666 0.34698960
+v -0.35516664 0.48855099 0.34698960
+v -0.48855079 0.35516676 0.34698960
+v -0.27926679 0.41217693 0.30593560
+v -0.32150604 0.34897499 0.27739424
+v -0.35451039 0.48570731 0.33638076
+v -0.27730199 0.37335979 0.28234857
+v -0.42146817 0.46002295 0.33638076
+v -0.39375523 0.47665073 0.33638076
+v -0.46002290 0.42146836 0.33638076
+v -0.44791648 0.44791662 0.34698960
+v -0.48570738 0.35451058 0.33638076
+v -0.39583310 0.47916640 0.34698960
+v -0.47916626 0.39583295 0.34698960
+v -0.47665088 0.39375508 0.33638076
+f 1 3 4
+f 5 1 4
+f 6 4 3
+f 7 2 1
+f 7 1 5
+f 8 6 2
+f 8 4 6
+f 9 1 2
+f 9 2 6
+f 9 6 3
+f 9 3 1
+f 11 8 2
+f 11 2 10
+f 12 10 2
+f 12 2 7
+f 13 11 10
+f 13 10 12
+f 13 5 4
+f 14 7 5
+f 15 13 4
+f 15 11 13
+f 15 4 8
+f 15 8 11
+f 16 5 13
+f 16 14 5
+f 17 12 7
+f 17 7 14
+f 17 14 16
+f 17 16 13
+f 17 13 12
\ No newline at end of file
diff --git a/objects/objaverse/yogurt/yogurt_1/collision/model_normalized_collision_18.obj b/objects/objaverse/yogurt/yogurt_1/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b8d80b0266fc5d39e207ed6592ad1d52f9be76d
--- /dev/null
+++ b/objects/objaverse/yogurt/yogurt_1/collision/model_normalized_collision_18.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.34097536 -0.18838822 -0.15759593
+v 0.33336160 -0.18888846 -0.24676326
+v 0.33412406 0.24377227 -0.15759593
+v 0.20454560 0.23484848 -0.15759593
+v 0.20454560 -0.18939395 -0.15759593
+v 0.32459233 0.24213294 -0.25578954
+v 0.33924928 0.18827313 -0.20192966
+v 0.20454560 0.23484848 -0.24850503
+v 0.33926523 -0.18829097 -0.20193073
+v 0.34213027 0.15909090 -0.15759593
+v 0.33336537 0.18889044 -0.24676413
+v 0.20454560 -0.18939395 -0.24850503
+v 0.34025052 0.18833988 -0.18684490
+f 1 3 4
+f 5 2 1
+f 5 1 4
+f 7 6 3
+f 8 4 3
+f 8 3 6
+f 8 5 4
+f 9 1 2
+f 10 3 1
+f 10 1 9
+f 11 2 6
+f 11 6 7
+f 11 9 2
+f 11 7 9
+f 12 8 6
+f 12 6 2
+f 12 2 5
+f 12 5 8
+f 13 7 3
+f 13 3 10
+f 13 10 9
+f 13 9 7
\ No newline at end of file
diff --git a/objects/objaverse/yogurt/yogurt_1/collision/model_normalized_collision_19.obj b/objects/objaverse/yogurt/yogurt_1/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d49b400927bdc3f15ed1146293d43c8ea6c9c09f
--- /dev/null
+++ b/objects/objaverse/yogurt/yogurt_1/collision/model_normalized_collision_19.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.18838837 -0.34097549 -0.15759593
+v 0.18889062 -0.33336553 -0.24676420
+v 0.18939409 -0.18939395 -0.15759593
+v -0.15909077 -0.18939395 -0.15759593
+v -0.19334727 -0.33960278 -0.19179327
+v -0.15909077 -0.18939395 -0.24850503
+v 0.18827330 -0.33924943 -0.20192968
+v -0.15909077 -0.34213042 -0.15759593
+v 0.18939409 -0.18939395 -0.24850503
+v -0.19272575 -0.33005335 -0.25998591
+v -0.18829083 -0.33926538 -0.20193075
+v -0.18888832 -0.33336174 -0.24676332
+v -0.18834041 -0.34026047 -0.18686135
+f 1 2 3
+f 1 3 4
+f 6 4 3
+f 7 2 1
+f 8 1 4
+f 8 4 5
+f 8 7 1
+f 9 6 3
+f 9 3 2
+f 10 5 4
+f 10 4 6
+f 10 9 2
+f 10 6 9
+f 11 2 7
+f 12 10 2
+f 12 2 11
+f 12 11 5
+f 12 5 10
+f 13 8 5
+f 13 5 11
+f 13 11 7
+f 13 7 8
\ No newline at end of file
diff --git a/objects/objaverse/yogurt/yogurt_1/collision/model_normalized_collision_2.obj b/objects/objaverse/yogurt/yogurt_1/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..926a2b7027a4a6003b93a8d546fb2a80e8790527
--- /dev/null
+++ b/objects/objaverse/yogurt/yogurt_1/collision/model_normalized_collision_2.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.33892180 0.23438984 0.19101923
+v 0.32930228 0.23212207 -0.24577860
+v 0.30744778 0.29956992 -0.21676009
+v 0.28019047 0.32556972 0.19090439
+v 0.20454560 0.23484848 0.00907073
+v 0.31226722 0.30251185 0.19200012
+v 0.32414233 0.27012741 -0.22857172
+v 0.20454560 0.23484848 -0.24850503
+v 0.30251196 0.31226712 0.19200014
+v 0.20397804 0.33240529 -0.24654033
+v 0.32963570 0.27353898 0.19181751
+v 0.29960108 0.30741553 -0.21676004
+v 0.28587038 0.30997459 -0.24371353
+v 0.20447849 0.33990248 0.00907073
+v 0.27015735 0.32420143 -0.22828130
+v 0.31011879 0.28596348 -0.24404492
+v 0.27205116 0.32715561 0.00907073
+v 0.26088072 0.32275101 -0.24399196
+v 0.32290889 0.26065139 -0.24400487
+f 5 2 1
+f 5 1 4
+f 7 1 2
+f 8 2 5
+f 9 6 3
+f 9 4 1
+f 10 2 8
+f 10 8 5
+f 11 1 7
+f 11 9 1
+f 11 6 9
+f 11 7 3
+f 11 3 6
+f 12 9 3
+f 12 4 9
+f 14 10 5
+f 14 5 4
+f 15 4 12
+f 15 10 14
+f 15 12 13
+f 16 2 10
+f 16 10 13
+f 16 3 7
+f 16 13 12
+f 16 12 3
+f 17 15 14
+f 17 14 4
+f 17 4 15
+f 18 15 13
+f 18 13 10
+f 18 10 15
+f 19 16 7
+f 19 7 2
+f 19 2 16
\ No newline at end of file
diff --git a/objects/objaverse/yogurt/yogurt_1/collision/model_normalized_collision_20.obj b/objects/objaverse/yogurt/yogurt_1/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc8611652491a9d7bc5036bc18a0ded83b196c10
--- /dev/null
+++ b/objects/objaverse/yogurt/yogurt_1/collision/model_normalized_collision_20.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.32002334 -0.28898356 0.18761712
+v 0.32978295 -0.26258389 0.00907073
+v 0.33974642 -0.23108368 0.19195872
+v 0.33562352 0.24761469 0.18726155
+v 0.31779777 -0.28764809 0.00907073
+v 0.34097534 0.18838820 0.00907073
+v 0.33974637 0.23108363 0.19195866
+v 0.33230947 -0.26316698 0.19145284
+v 0.34097536 -0.18838822 0.00907073
+v 0.33335796 0.24709202 0.00907073
+v 0.33642237 0.23381304 0.00907073
+f 5 2 1
+f 5 1 4
+f 7 4 1
+f 7 3 6
+f 8 1 2
+f 8 2 3
+f 8 7 1
+f 8 3 7
+f 9 6 3
+f 9 3 2
+f 9 2 6
+f 10 5 4
+f 10 4 7
+f 11 10 7
+f 11 7 6
+f 11 5 10
+f 11 6 2
+f 11 2 5
\ No newline at end of file
diff --git a/objects/objaverse/yogurt/yogurt_1/collision/model_normalized_collision_21.obj b/objects/objaverse/yogurt/yogurt_1/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf5a7b42cb044d4adfaa1967542bb0c2bde6328b
--- /dev/null
+++ b/objects/objaverse/yogurt/yogurt_1/collision/model_normalized_collision_21.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.28030317 -0.26515155 0.34698984
+v 0.31779777 -0.28764809 0.00907073
+v 0.28030318 0.35606060 0.34698960
+v -0.23484834 0.35606060 0.34698960
+v -0.23484834 -0.26515152 0.00907073
+v -0.23484834 -0.26515155 0.34698985
+v 0.18838835 0.34097519 0.00907073
+v 0.27205116 0.32715561 0.00907073
+v -0.23381292 0.33642228 0.00907073
+v 0.15909105 0.34213012 0.00907073
+v -0.18838807 0.34097521 0.00907073
+f 1 2 3
+f 6 5 2
+f 6 2 1
+f 6 4 5
+f 6 1 3
+f 6 3 4
+f 8 7 3
+f 8 3 2
+f 9 5 4
+f 10 4 3
+f 10 3 7
+f 10 7 8
+f 10 5 9
+f 10 8 2
+f 10 2 5
+f 11 10 9
+f 11 9 4
+f 11 4 10
\ No newline at end of file
diff --git a/objects/objaverse/yogurt/yogurt_1/collision/model_normalized_collision_22.obj b/objects/objaverse/yogurt/yogurt_1/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1e188509546e7df73bf2c8c7bbfd30a51d8db8d0
--- /dev/null
+++ b/objects/objaverse/yogurt/yogurt_1/collision/model_normalized_collision_22.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.23108387 -0.33974650 0.19195864
+v 0.23381325 -0.33642251 0.00907073
+v 0.23484863 -0.26515152 0.19088892
+v -0.23484834 -0.26515152 0.19088892
+v -0.23381298 -0.33642257 0.00907073
+v 0.15909105 -0.26515152 0.00907073
+v 0.18838837 -0.34097549 0.00907073
+v -0.23108359 -0.33974655 0.19195870
+v 0.23484863 -0.26515152 0.00907073
+v -0.23484834 -0.26515152 0.00907073
+v -0.18838808 -0.34097551 0.00907073
+f 1 2 3
+f 6 4 3
+f 7 2 1
+f 7 6 2
+f 8 4 5
+f 8 1 3
+f 8 3 4
+f 8 7 1
+f 9 6 3
+f 9 3 2
+f 9 2 6
+f 10 5 4
+f 10 4 6
+f 10 7 5
+f 10 6 7
+f 11 8 5
+f 11 5 7
+f 11 7 8
\ No newline at end of file
diff --git a/objects/objaverse/yogurt/yogurt_1/collision/model_normalized_collision_23.obj b/objects/objaverse/yogurt/yogurt_1/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b59fd8e897324a6963f57c0bdc88d7550d130ffa
--- /dev/null
+++ b/objects/objaverse/yogurt/yogurt_1/collision/model_normalized_collision_23.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.35516664 -0.48855100 0.34698989
+v -0.35451051 -0.48570770 0.33638076
+v -0.35606046 -0.34090910 0.34698989
+v -0.49187057 -0.34078136 0.34698989
+v -0.44791648 -0.44791663 0.34698989
+v -0.35276957 -0.33893455 0.28678977
+v -0.35240396 -0.36511796 0.29711998
+v -0.39583310 -0.47916642 0.34698989
+v -0.37948031 -0.33677919 0.29910377
+v -0.47665088 -0.39375538 0.33638076
+v -0.42146828 -0.46002332 0.33638076
+v -0.48902718 -0.34012519 0.33638076
+v -0.47916626 -0.39583326 0.34698989
+v -0.39375523 -0.47665132 0.33638076
+v -0.46002302 -0.42146845 0.33638076
+f 1 3 4
+f 5 1 4
+f 7 1 2
+f 7 3 1
+f 7 6 3
+f 7 2 6
+f 8 1 5
+f 9 4 3
+f 9 3 6
+f 12 9 6
+f 12 4 9
+f 12 6 10
+f 13 10 5
+f 13 5 4
+f 13 12 10
+f 13 4 12
+f 14 11 6
+f 14 6 2
+f 14 8 5
+f 14 5 11
+f 14 2 1
+f 14 1 8
+f 15 10 6
+f 15 6 11
+f 15 11 5
+f 15 5 10
\ No newline at end of file
diff --git a/objects/objaverse/yogurt/yogurt_1/collision/model_normalized_collision_24.obj b/objects/objaverse/yogurt/yogurt_1/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ab9f817a146970d61058a0629e9480ae725c40f0
--- /dev/null
+++ b/objects/objaverse/yogurt/yogurt_1/collision/model_normalized_collision_24.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.02272742 -0.34213042 0.00907073
+v 0.02272742 -0.34213042 -0.15759593
+v 0.02272742 0.34213012 -0.15759593
+v -0.15909077 0.34213012 0.00907073
+v -0.15909077 -0.34213042 -0.15759593
+v 0.02272742 0.34213012 0.00907073
+v -0.15909077 -0.34213042 0.00907073
+v -0.15909077 0.34213012 -0.15759593
+f 1 2 3
+f 5 2 1
+f 5 3 2
+f 6 1 3
+f 6 3 4
+f 6 4 1
+f 7 5 1
+f 7 1 4
+f 7 4 5
+f 8 5 4
+f 8 4 3
+f 8 3 5
\ No newline at end of file
diff --git a/objects/objaverse/yogurt/yogurt_1/collision/model_normalized_collision_25.obj b/objects/objaverse/yogurt/yogurt_1/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..69fe8906b42352c7271b1a1c2e8d2f1f337e4f40
--- /dev/null
+++ b/objects/objaverse/yogurt/yogurt_1/collision/model_normalized_collision_25.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.15909077 -0.18939395 0.00907073
+v -0.15909077 -0.18939395 -0.15759593
+v -0.15909077 0.15909090 0.00907073
+v -0.34213027 0.15909090 0.00907073
+v -0.34097536 -0.18838824 -0.15759593
+v -0.34097536 -0.18838824 0.00907073
+v -0.15909077 0.15909090 -0.15759593
+v -0.34213027 0.15909090 -0.15759593
+f 1 2 3
+f 5 2 1
+f 6 5 1
+f 6 4 5
+f 6 1 3
+f 6 3 4
+f 7 3 2
+f 7 2 5
+f 7 4 3
+f 8 7 5
+f 8 5 4
+f 8 4 7
\ No newline at end of file
diff --git a/objects/objaverse/yogurt/yogurt_1/collision/model_normalized_collision_26.obj b/objects/objaverse/yogurt/yogurt_1/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1e636195be267ae44d8ae01779e0d34dba71dca9
--- /dev/null
+++ b/objects/objaverse/yogurt/yogurt_1/collision/model_normalized_collision_26.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.23642173 -0.36450978 0.26789679
+v -0.23381298 -0.33642257 0.11513134
+v -0.23484834 -0.26515152 0.28179801
+v -0.28030289 -0.26515152 0.28179801
+v -0.31779769 -0.28764822 0.11513134
+v -0.28343780 -0.35449370 0.26789679
+v -0.23484834 -0.26515152 0.11513134
+v -0.27205107 -0.32715596 0.11513134
+f 1 2 3
+f 1 3 4
+f 6 2 1
+f 6 1 4
+f 6 4 5
+f 7 3 2
+f 7 5 4
+f 7 4 3
+f 8 6 5
+f 8 2 6
+f 8 7 2
+f 8 5 7
\ No newline at end of file
diff --git a/objects/objaverse/yogurt/yogurt_1/collision/model_normalized_collision_27.obj b/objects/objaverse/yogurt/yogurt_1/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e1f53356d1434a7802bdf10d46bd9194121eb5f
--- /dev/null
+++ b/objects/objaverse/yogurt/yogurt_1/collision/model_normalized_collision_27.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.34097536 -0.18838822 0.00907073
+v 0.34097536 -0.18838822 -0.15759593
+v 0.34213027 0.15909090 0.00907073
+v 0.02272742 0.15909090 0.00907073
+v 0.02272742 -0.18939395 -0.15759593
+v 0.02272742 0.15909090 -0.15759593
+v 0.02272742 -0.18939395 0.00907073
+v 0.34213027 0.15909090 -0.15759593
+f 1 2 3
+f 5 2 1
+f 6 4 3
+f 6 5 4
+f 6 2 5
+f 7 5 1
+f 7 4 5
+f 7 1 3
+f 7 3 4
+f 8 6 3
+f 8 3 2
+f 8 2 6
\ No newline at end of file
diff --git a/objects/objaverse/yogurt/yogurt_1/collision/model_normalized_collision_28.obj b/objects/objaverse/yogurt/yogurt_1/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2dfb8c983d2887ef92cab11c3e172cc15a5f5847
--- /dev/null
+++ b/objects/objaverse/yogurt/yogurt_1/collision/model_normalized_collision_28.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.27205128 -0.32715583 0.00907073
+v 0.33005322 -0.19272588 -0.25998585
+v 0.34064013 -0.19341657 0.00907073
+v 0.18939409 -0.18939395 0.00907073
+v 0.18889062 -0.33336553 -0.24676420
+v 0.27466181 -0.31646200 -0.24585404
+v 0.18939404 -0.34090845 0.00907073
+v 0.18939409 -0.18939395 -0.24850503
+v 0.27012768 -0.32414238 -0.22857185
+v 0.26065164 -0.32290900 -0.24400497
+f 3 2 4
+f 6 2 3
+f 6 3 1
+f 6 5 2
+f 7 4 5
+f 7 1 3
+f 7 3 4
+f 8 5 4
+f 8 4 2
+f 8 2 5
+f 9 6 1
+f 9 7 5
+f 9 1 7
+f 10 9 5
+f 10 5 6
+f 10 6 9
\ No newline at end of file
diff --git a/objects/objaverse/yogurt/yogurt_1/collision/model_normalized_collision_29.obj b/objects/objaverse/yogurt/yogurt_1/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d487e382800b1a19064b6fdf6b01fc6787d3a21a
--- /dev/null
+++ b/objects/objaverse/yogurt/yogurt_1/collision/model_normalized_collision_29.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.23642202 -0.36450976 0.26789679
+v 0.31779777 -0.28764809 0.00907073
+v 0.28343808 -0.35449363 0.26789679
+v 0.23484863 -0.26515152 0.28179801
+v 0.23484863 -0.26515152 0.00907073
+v 0.28030318 -0.26515152 0.28179801
+v 0.23381325 -0.33642251 0.00907073
+v 0.27205128 -0.32715583 0.00907073
+f 6 3 2
+f 6 1 3
+f 6 4 1
+f 6 5 4
+f 6 2 5
+f 7 3 1
+f 7 1 4
+f 7 4 5
+f 8 2 3
+f 8 3 7
+f 8 7 5
+f 8 5 2
\ No newline at end of file
diff --git a/objects/objaverse/yogurt/yogurt_1/collision/model_normalized_collision_3.obj b/objects/objaverse/yogurt/yogurt_1/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d76823ea7b648df43193cb6097b60c31178779f4
--- /dev/null
+++ b/objects/objaverse/yogurt/yogurt_1/collision/model_normalized_collision_3.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v -0.15909077 -0.34213042 0.00907073
+v -0.15909077 -0.33143069 -0.26030376
+v -0.15909077 -0.18939395 0.00907073
+v -0.34090831 -0.18939391 0.00907073
+v -0.29960099 -0.30741589 -0.21676007
+v -0.27015725 -0.32420177 -0.22828139
+v -0.30101728 -0.30977638 0.00907073
+v -0.15909077 -0.18939395 -0.24850503
+v -0.18834041 -0.34026047 -0.18686135
+v -0.32715581 -0.27205122 0.00907073
+v -0.27205107 -0.32715596 0.00907073
+v -0.27179124 -0.27179140 -0.31145045
+v -0.33336537 -0.18889047 -0.24676419
+v -0.18888832 -0.33336174 -0.24676332
+v -0.15909077 -0.34139728 -0.18692137
+v -0.30977623 -0.30101743 0.00907073
+v -0.18838808 -0.34097551 0.00907073
+v -0.29639414 -0.29639429 -0.26739698
+v -0.23394102 -0.27837225 -0.32108109
+v -0.32414235 -0.27012761 -0.22857188
+v -0.23115434 -0.32604651 -0.26016070
+v -0.29936222 -0.27283345 -0.28648992
+v -0.30744782 -0.29957014 -0.21676012
+v -0.26019606 -0.30852404 -0.28308974
+v -0.26845069 -0.29420942 -0.29813267
+v -0.32290892 -0.26065152 -0.24400499
+v -0.24546800 -0.32267545 -0.25936780
+v -0.28365563 -0.30705108 -0.25827761
+v -0.23000989 -0.30068070 -0.30857274
+v -0.29501212 -0.28354813 -0.28205305
+v -0.30728894 -0.28377149 -0.25796137
+v -0.24419778 -0.29870396 -0.30544794
+v -0.26823937 -0.28339103 -0.30610399
+f 1 2 3
+f 8 3 2
+f 10 3 4
+f 11 6 9
+f 11 7 5
+f 11 5 6
+f 13 4 3
+f 13 3 8
+f 15 2 1
+f 15 1 9
+f 15 14 2
+f 15 9 14
+f 17 11 9
+f 17 9 1
+f 17 7 11
+f 17 16 7
+f 17 1 3
+f 17 3 10
+f 17 10 16
+f 18 6 5
+f 19 8 2
+f 19 13 8
+f 19 12 13
+f 20 10 4
+f 20 4 13
+f 21 14 9
+f 21 9 6
+f 21 2 14
+f 22 13 12
+f 23 16 10
+f 23 10 20
+f 23 5 7
+f 23 7 16
+f 23 20 18
+f 23 18 5
+f 25 22 12
+f 25 24 18
+f 26 20 13
+f 26 13 22
+f 27 24 21
+f 27 21 6
+f 27 6 24
+f 28 24 6
+f 28 6 18
+f 28 18 24
+f 29 19 2
+f 29 2 21
+f 29 21 24
+f 30 25 18
+f 30 18 22
+f 30 22 25
+f 31 26 22
+f 31 22 18
+f 31 18 20
+f 31 20 26
+f 32 29 24
+f 32 24 25
+f 32 19 29
+f 33 32 25
+f 33 25 12
+f 33 12 19
+f 33 19 32
\ No newline at end of file
diff --git a/objects/objaverse/yogurt/yogurt_1/collision/model_normalized_collision_30.obj b/objects/objaverse/yogurt/yogurt_1/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef9a0a6b2980e42c787d5165e1e6e5a0318159b0
--- /dev/null
+++ b/objects/objaverse/yogurt/yogurt_1/collision/model_normalized_collision_30.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.18838837 -0.34097549 0.00907073
+v 0.18838837 -0.34097549 -0.15759593
+v 0.18939409 -0.18939395 0.00907073
+v 0.02272742 -0.18939395 0.00907073
+v 0.02272742 -0.34213042 -0.15759593
+v 0.02272742 -0.18939395 -0.15759593
+v 0.02272742 -0.34213042 0.00907073
+v 0.18939409 -0.18939395 -0.15759593
+f 1 2 3
+f 1 3 4
+f 6 4 3
+f 6 5 4
+f 6 2 5
+f 7 1 4
+f 7 4 5
+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/objects/objaverse/yogurt/yogurt_1/collision/model_normalized_collision_31.obj b/objects/objaverse/yogurt/yogurt_1/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..50011f5cb8e64466330d72cfef97163ea166647d
--- /dev/null
+++ b/objects/objaverse/yogurt/yogurt_1/collision/model_normalized_collision_31.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.20454560 0.15909090 0.00907073
+v 0.20454560 0.15909090 -0.15759593
+v 0.20447849 0.33990248 -0.15759593
+v 0.02272742 0.34213012 0.00907073
+v 0.02272742 0.15909090 0.00907073
+v 0.20447849 0.33990248 0.00907073
+v 0.02272742 0.15909090 -0.15759593
+v 0.18838835 0.34097519 0.00907073
+v 0.02272742 0.34213012 -0.15759593
+v 0.18838835 0.34097519 -0.15759593
+f 1 2 3
+f 5 2 1
+f 6 1 3
+f 6 5 1
+f 6 4 5
+f 7 3 2
+f 7 2 5
+f 7 5 4
+f 8 6 3
+f 8 4 6
+f 9 7 4
+f 9 3 7
+f 9 4 8
+f 10 9 8
+f 10 8 3
+f 10 3 9
\ No newline at end of file
diff --git a/objects/objaverse/yogurt/yogurt_1/collision/model_normalized_collision_4.obj b/objects/objaverse/yogurt/yogurt_1/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f798bf915eaefbf26555dda0b324f048544e69a2
--- /dev/null
+++ b/objects/objaverse/yogurt/yogurt_1/collision/model_normalized_collision_4.obj
@@ -0,0 +1,120 @@
+# https://github.com/mikedh/trimesh
+v -0.15909077 0.15909090 0.00907073
+v -0.15909077 0.15909090 -0.15759593
+v -0.15909077 0.34213012 0.00907073
+v -0.27205094 0.32715573 0.00907073
+v -0.34213027 0.15909090 0.00907073
+v -0.24612788 0.28770978 -0.31150872
+v -0.15909077 0.34112879 -0.19094405
+v -0.32420149 0.27015732 -0.22828136
+v -0.19175847 0.33088524 -0.25668137
+v -0.18833974 0.34025039 -0.18684490
+v -0.32715568 0.27205113 0.00907073
+v -0.33551636 0.15909090 -0.24259861
+v -0.24992026 0.26507618 -0.32394236
+v -0.27012734 0.32414228 -0.22857182
+v -0.18838807 0.34097521 0.00907073
+v -0.15909077 0.34139698 -0.18692135
+v -0.18889032 0.33336526 -0.24676414
+v -0.34097534 0.18838822 -0.15759593
+v -0.29956986 0.30744775 -0.21676010
+v -0.24999986 0.15909090 -0.23335351
+v -0.29706856 0.26104170 -0.30089052
+v -0.24594204 0.31152886 -0.28532444
+v -0.26065130 0.32290880 -0.24400493
+v -0.34097534 0.18838822 0.00907073
+v -0.34213027 0.15909090 -0.15759593
+v -0.33667058 0.18911105 -0.23237429
+v -0.30977610 0.30101734 0.00907073
+v -0.28558415 0.26065187 -0.30861382
+v -0.29639414 0.29639399 -0.26739698
+v -0.32086416 0.23344148 -0.27572167
+v -0.30101715 0.30977616 0.00907073
+v -0.30741561 0.29960105 -0.21676006
+v -0.26839633 0.29501207 -0.29720442
+v -0.25988093 0.30866671 -0.28314792
+v -0.32604630 0.23115449 -0.26016069
+v -0.31175223 0.27101281 -0.26966019
+v -0.26738444 0.28348842 -0.30639076
+v -0.29420923 0.26845074 -0.29813252
+v -0.28377122 0.30728889 -0.25796131
+v -0.32267526 0.24546816 -0.25936779
+v -0.28348828 0.26738457 -0.30639074
+f 1 2 3
+f 5 2 1
+f 7 3 2
+f 9 7 2
+f 11 1 3
+f 11 3 4
+f 12 2 5
+f 13 9 2
+f 13 6 9
+f 14 4 10
+f 15 10 4
+f 15 4 3
+f 15 3 10
+f 16 10 3
+f 16 3 7
+f 16 7 10
+f 17 10 7
+f 17 7 9
+f 17 14 10
+f 18 11 8
+f 19 4 14
+f 20 13 2
+f 20 2 12
+f 20 12 13
+f 22 9 6
+f 23 17 9
+f 23 14 17
+f 23 9 22
+f 24 18 5
+f 24 11 18
+f 24 5 1
+f 24 1 11
+f 25 12 5
+f 25 5 18
+f 26 18 8
+f 26 25 18
+f 26 12 25
+f 27 11 4
+f 28 13 12
+f 28 12 21
+f 29 19 14
+f 30 21 12
+f 31 27 4
+f 31 4 19
+f 31 19 27
+f 32 27 19
+f 32 8 11
+f 32 11 27
+f 32 29 8
+f 32 19 29
+f 33 22 6
+f 34 23 22
+f 34 33 29
+f 34 22 33
+f 35 30 12
+f 35 12 26
+f 35 26 8
+f 36 21 30
+f 36 8 29
+f 37 33 6
+f 37 6 13
+f 38 29 33
+f 38 36 29
+f 38 21 36
+f 38 33 37
+f 39 34 29
+f 39 29 14
+f 39 14 23
+f 39 23 34
+f 40 35 8
+f 40 30 35
+f 40 36 30
+f 40 8 36
+f 41 28 21
+f 41 38 37
+f 41 21 38
+f 41 37 13
+f 41 13 28
\ No newline at end of file
diff --git a/objects/objaverse/yogurt/yogurt_1/collision/model_normalized_collision_5.obj b/objects/objaverse/yogurt/yogurt_1/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..44f43ac44a659ca2297de8a9b86b01c89c8f880b
--- /dev/null
+++ b/objects/objaverse/yogurt/yogurt_1/collision/model_normalized_collision_5.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.29261383 -0.33112373 0.23747812
+v 0.32420171 -0.27015729 -0.22828133
+v 0.34357499 -0.26926315 0.24180517
+v 0.34090832 -0.18939389 0.00907073
+v 0.27285283 -0.31348125 -0.26015548
+v 0.33336160 -0.18888846 -0.24676326
+v 0.28019059 -0.32556994 0.19090437
+v 0.32802755 -0.31196798 0.24994432
+v 0.29018161 -0.30227042 -0.26108606
+v 0.33230947 -0.26316698 0.19145284
+v 0.33005322 -0.19272588 -0.25998585
+v 0.29957020 -0.30744785 -0.21676011
+v 0.27908506 -0.30868048 -0.26306274
+v 0.32275122 -0.26088060 -0.24399197
+v 0.28377155 -0.30728897 -0.25796133
+v 0.30997486 -0.28587031 -0.24371357
+v 0.30741581 -0.29960102 -0.21676005
+f 6 3 2
+f 6 4 3
+f 7 1 3
+f 7 5 1
+f 8 2 3
+f 8 3 1
+f 10 7 3
+f 10 3 4
+f 10 4 7
+f 11 5 7
+f 11 7 4
+f 11 4 6
+f 12 8 1
+f 12 1 5
+f 13 11 9
+f 13 5 11
+f 14 11 6
+f 14 6 2
+f 14 9 11
+f 15 12 5
+f 15 9 12
+f 15 13 9
+f 15 5 13
+f 16 14 2
+f 16 9 14
+f 17 2 8
+f 17 8 12
+f 17 16 2
+f 17 12 9
+f 17 9 16
\ No newline at end of file
diff --git a/objects/objaverse/yogurt/yogurt_1/collision/model_normalized_collision_6.obj b/objects/objaverse/yogurt/yogurt_1/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aed211ee6d6065bd96c83a5fab80955e1ccc51dc
--- /dev/null
+++ b/objects/objaverse/yogurt/yogurt_1/collision/model_normalized_collision_6.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.40151530 -0.40151516 0.34698989
+v 0.40006569 -0.40006562 0.31864408
+v 0.40151530 0.35606060 0.34698960
+v 0.28030318 0.35606060 0.34698960
+v 0.28030318 -0.40151516 0.34698989
+v 0.27353919 0.32963569 0.19181755
+v 0.33644015 0.24547217 0.19217544
+v 0.27722336 0.34271474 0.24360148
+v 0.39780776 0.35383608 0.31033741
+v 0.27353929 -0.32963593 0.19181753
+v 0.32298443 0.28469978 0.19236538
+v 0.33644023 -0.24547223 0.19217552
+v 0.27857495 -0.39402616 0.29678698
+v 0.28469991 0.32298441 0.19236540
+v 0.39195289 -0.32355086 0.30093690
+v 0.32298468 -0.28469985 0.19236539
+v 0.28470004 -0.32298463 0.19236543
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 5 1 4
+f 6 5 4
+f 8 6 4
+f 9 3 2
+f 9 6 8
+f 9 8 4
+f 9 4 3
+f 10 5 6
+f 10 6 7
+f 11 9 7
+f 11 7 6
+f 12 7 9
+f 12 10 7
+f 13 10 2
+f 13 2 5
+f 13 5 10
+f 14 11 6
+f 14 6 9
+f 14 9 11
+f 15 12 9
+f 15 9 2
+f 15 2 12
+f 16 12 2
+f 16 10 12
+f 17 16 2
+f 17 2 10
+f 17 10 16
\ No newline at end of file
diff --git a/objects/objaverse/yogurt/yogurt_1/collision/model_normalized_collision_7.obj b/objects/objaverse/yogurt/yogurt_1/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..018caeb53631b4ab2c46afc5f942dbe8d89ea8a7
--- /dev/null
+++ b/objects/objaverse/yogurt/yogurt_1/collision/model_normalized_collision_7.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.28030318 -0.40151516 0.34698989
+v 0.27708360 -0.33541705 0.22272983
+v 0.28030317 -0.26515155 0.34698984
+v -0.35606046 -0.26515157 0.34698974
+v -0.35383596 -0.39780766 0.31033730
+v -0.33230947 -0.26316705 0.19145279
+v 0.28030318 -0.26515152 0.28179801
+v 0.27857495 -0.39402616 0.29678698
+v -0.35606046 -0.40151516 0.34698989
+v -0.33953850 -0.26133881 0.22490316
+v -0.24547214 -0.33644036 0.19217551
+v 0.23484863 -0.26515152 0.19088892
+v -0.28469983 -0.32298476 0.19236537
+v 0.24877861 -0.33561575 0.19123600
+v -0.32298460 -0.28469998 0.19236542
+v 0.24547242 -0.33644031 0.19217542
+f 7 1 2
+f 7 3 1
+f 8 2 1
+f 8 1 5
+f 9 5 1
+f 9 4 5
+f 9 1 3
+f 9 3 4
+f 10 4 3
+f 10 3 7
+f 10 6 5
+f 10 5 4
+f 11 8 5
+f 12 7 2
+f 12 10 7
+f 12 6 10
+f 13 11 5
+f 13 6 11
+f 14 2 8
+f 14 12 2
+f 14 11 6
+f 14 6 12
+f 15 13 5
+f 15 5 6
+f 15 6 13
+f 16 14 8
+f 16 8 11
+f 16 11 14
\ No newline at end of file
diff --git a/objects/objaverse/yogurt/yogurt_1/collision/model_normalized_collision_8.obj b/objects/objaverse/yogurt/yogurt_1/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ee7b5107b32af59ee9ad1261c84f01e053b2a95a
--- /dev/null
+++ b/objects/objaverse/yogurt/yogurt_1/collision/model_normalized_collision_8.obj
@@ -0,0 +1,138 @@
+# https://github.com/mikedh/trimesh
+v 0.28100492 -0.31176238 -0.24883479
+v 0.32594142 -0.24647945 -0.24478488
+v 0.20454560 -0.18939395 -0.24850503
+v 0.20397804 0.33240529 -0.24654033
+v 0.20355131 0.23141058 -0.33966821
+v 0.30997486 -0.28587031 -0.24371357
+v 0.24601918 -0.18823853 -0.33731497
+v 0.32308813 0.23032076 -0.27361832
+v 0.20316283 0.28487106 -0.32185489
+v 0.31011879 0.28596348 -0.24404492
+v 0.30067143 -0.30067158 -0.24475202
+v 0.20381785 -0.18867708 -0.34364969
+v 0.31175243 -0.27101278 -0.26966022
+v 0.28434608 0.21824559 -0.32098364
+v 0.20352718 0.32589978 -0.27484857
+v 0.28587038 0.30997459 -0.24371353
+v 0.32609698 0.24652069 -0.24502569
+v 0.27638538 -0.30470876 -0.27489023
+v 0.24579445 0.20332614 -0.33636297
+v 0.32232770 -0.18796552 -0.28276055
+v 0.24526187 0.27022007 -0.32279964
+v 0.24647957 0.32594121 -0.24478486
+v 0.32290886 0.24549987 -0.25915638
+v 0.28540555 -0.18807726 -0.32266542
+v 0.29639414 -0.29639429 -0.26739698
+v 0.32308820 -0.23032083 -0.27361835
+v 0.32232039 0.18796628 -0.28280636
+v 0.21824574 0.28434593 -0.32098364
+v 0.26845079 0.29420922 -0.29813243
+v 0.23069826 0.23069811 -0.33689715
+v 0.23032095 0.32308799 -0.27361832
+v 0.30866673 0.25988104 -0.28314790
+v 0.32267536 -0.24546813 -0.25936774
+v 0.30816660 0.22983172 -0.29843537
+v 0.20336285 0.31071260 -0.30008418
+v 0.29639414 0.29639399 -0.26739698
+v 0.28339109 0.26823942 -0.30610367
+v 0.24419802 0.29870391 -0.30544770
+v 0.27022024 0.24526177 -0.32279967
+v 0.24546825 0.32267514 -0.25936773
+v 0.30728880 0.28377132 -0.25796126
+v 0.26019632 0.30852382 -0.28308956
+v 0.26823957 0.28339093 -0.30610367
+v 0.29870402 0.24419786 -0.30544773
+v 0.29501212 0.26839639 -0.29720435
+v 0.22950193 0.30814600 -0.29841644
+v 0.28365565 0.30705081 -0.25827761
+f 6 4 3
+f 11 6 3
+f 11 3 1
+f 12 9 5
+f 12 3 9
+f 13 2 6
+f 13 6 11
+f 15 9 3
+f 15 3 4
+f 16 6 10
+f 17 10 6
+f 17 6 2
+f 18 12 7
+f 18 1 3
+f 18 3 12
+f 19 12 5
+f 19 7 12
+f 20 17 2
+f 22 4 6
+f 22 6 16
+f 23 17 8
+f 23 10 17
+f 24 18 7
+f 24 19 14
+f 24 7 19
+f 25 13 11
+f 25 11 1
+f 25 1 18
+f 25 24 13
+f 25 18 24
+f 26 20 2
+f 26 24 20
+f 26 13 24
+f 27 8 17
+f 27 17 20
+f 28 21 5
+f 28 5 9
+f 30 19 5
+f 30 5 21
+f 31 15 4
+f 31 4 22
+f 32 23 8
+f 33 26 2
+f 33 2 13
+f 33 13 26
+f 34 8 27
+f 34 32 8
+f 34 24 14
+f 34 27 20
+f 34 20 24
+f 35 28 9
+f 35 9 15
+f 35 15 31
+f 36 16 10
+f 38 21 28
+f 38 28 35
+f 39 30 21
+f 39 14 19
+f 39 19 30
+f 40 31 22
+f 40 22 16
+f 41 10 23
+f 41 23 32
+f 41 36 10
+f 41 32 36
+f 42 36 29
+f 42 31 40
+f 42 29 38
+f 43 29 37
+f 43 38 29
+f 43 21 38
+f 43 39 21
+f 43 37 39
+f 44 34 14
+f 44 39 37
+f 44 14 39
+f 44 32 34
+f 45 36 32
+f 45 44 37
+f 45 32 44
+f 45 37 29
+f 45 29 36
+f 46 38 35
+f 46 35 31
+f 46 42 38
+f 46 31 42
+f 47 42 40
+f 47 40 16
+f 47 16 36
+f 47 36 42
\ No newline at end of file
diff --git a/objects/objaverse/yogurt/yogurt_1/collision/model_normalized_collision_9.obj b/objects/objaverse/yogurt/yogurt_1/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..82fbf61139607d0868dca1f478c563ded39aa1b5
--- /dev/null
+++ b/objects/objaverse/yogurt/yogurt_1/collision/model_normalized_collision_9.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v -0.23381298 -0.33642257 0.11513134
+v -0.23381298 -0.33642257 0.00907073
+v -0.23381292 0.33642228 0.00907073
+v -0.23438972 0.33892171 0.19101923
+v -0.34097536 -0.18838824 0.00907073
+v -0.31226732 -0.30251202 0.19200015
+v -0.33974634 0.23108371 0.19195871
+v -0.30977623 -0.30101743 0.00907073
+v -0.28019038 -0.32557007 0.19090436
+v -0.31226720 0.30251193 0.19200013
+v -0.32715568 0.27205113 0.00907073
+v -0.33974641 -0.23108374 0.19195863
+v -0.23484834 -0.26515152 0.19088892
+v -0.27205107 -0.32715596 0.00907073
+v -0.30251187 -0.31226747 0.19200011
+v -0.27353892 0.32963568 0.19181750
+v -0.34097534 0.18838822 0.00907073
+v -0.32963576 0.27353917 0.19181753
+v -0.32715581 -0.27205122 0.00907073
+v -0.30101728 -0.30977638 0.00907073
+v -0.30101715 0.30977616 0.00907073
+v -0.32963590 -0.27353923 0.19181752
+v -0.30977610 0.30101734 0.00907073
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+v -0.27205094 0.32715573 0.00907073
+f 1 2 3
+f 1 3 4
+f 9 2 1
+f 10 7 6
+f 12 6 7
+f 13 9 1
+f 13 1 4
+f 14 2 9
+f 14 3 2
+f 15 6 8
+f 15 14 9
+f 15 9 13
+f 16 4 3
+f 16 15 13
+f 16 13 4
+f 17 7 11
+f 17 12 7
+f 17 5 12
+f 17 3 14
+f 18 11 7
+f 18 7 10
+f 18 10 11
+f 19 8 6
+f 19 12 5
+f 19 5 17
+f 19 17 14
+f 20 15 8
+f 20 14 15
+f 20 19 14
+f 20 8 19
+f 21 17 11
+f 21 3 17
+f 22 19 6
+f 22 6 12
+f 22 12 19
+f 23 21 11
+f 23 11 10
+f 24 15 16
+f 24 10 6
+f 24 6 15
+f 24 23 10
+f 24 21 23
+f 25 16 3
+f 25 3 21
+f 25 24 16
+f 25 21 24
\ No newline at end of file
diff --git a/objects/objaverse/yogurt/yogurt_1/model.xml b/objects/objaverse/yogurt/yogurt_1/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..a6b5780b032c8c91d30456ef7b60e6aafd4fb315
--- /dev/null
+++ b/objects/objaverse/yogurt/yogurt_1/model.xml
@@ -0,0 +1,84 @@
+<mujoco model="yogurt_9">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.07500000000000005 0.07500000000000005 0.07500000000000005" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="visual/model_normalized_1.obj" name="model_normalized_1_vis" scale="0.07500000000000005 0.07500000000000005 0.07500000000000005" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.07500000000000005 0.07500000000000005 0.07500000000000005" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.07500000000000005 0.07500000000000005 0.07500000000000005" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.07500000000000005 0.07500000000000005 0.07500000000000005" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.07500000000000005 0.07500000000000005 0.07500000000000005" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.07500000000000005 0.07500000000000005 0.07500000000000005" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.07500000000000005 0.07500000000000005 0.07500000000000005" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.07500000000000005 0.07500000000000005 0.07500000000000005" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.07500000000000005 0.07500000000000005 0.07500000000000005" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.07500000000000005 0.07500000000000005 0.07500000000000005" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.07500000000000005 0.07500000000000005 0.07500000000000005" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.07500000000000005 0.07500000000000005 0.07500000000000005" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.07500000000000005 0.07500000000000005 0.07500000000000005" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.07500000000000005 0.07500000000000005 0.07500000000000005" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.07500000000000005 0.07500000000000005 0.07500000000000005" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.07500000000000005 0.07500000000000005 0.07500000000000005" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.07500000000000005 0.07500000000000005 0.07500000000000005" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.07500000000000005 0.07500000000000005 0.07500000000000005" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.07500000000000005 0.07500000000000005 0.07500000000000005" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.07500000000000005 0.07500000000000005 0.07500000000000005" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.07500000000000005 0.07500000000000005 0.07500000000000005" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.07500000000000005 0.07500000000000005 0.07500000000000005" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.07500000000000005 0.07500000000000005 0.07500000000000005" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.07500000000000005 0.07500000000000005 0.07500000000000005" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.07500000000000005 0.07500000000000005 0.07500000000000005" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.07500000000000005 0.07500000000000005 0.07500000000000005" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.07500000000000005 0.07500000000000005 0.07500000000000005" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.07500000000000005 0.07500000000000005 0.07500000000000005" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.07500000000000005 0.07500000000000005 0.07500000000000005" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.07500000000000005 0.07500000000000005 0.07500000000000005" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.07500000000000005 0.07500000000000005 0.07500000000000005" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.07500000000000005 0.07500000000000005 0.07500000000000005" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.07500000000000005 0.07500000000000005 0.07500000000000005" refquat="1.0 0.0 0.0 0.0"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="anisotropic4SG" texture="image0" specular="0.5" shininess="0.0"/>
+    <material name="initialShadingGroup.001" texture="image0" specular="0.5" shininess="0.0"/>
+  </asset>
+  <worldbody>
+    <body>
+      <body name="object">
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_0_vis" conaffinity="0" contype="0" group="1" material="initialShadingGroup.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="anisotropic4SG"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_22._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_23._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_21._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_20._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_24._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_30._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_18._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_19._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_31._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_25._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_27._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_26._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_9._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_8._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_6._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_7._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_5._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_4._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_0._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_1._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_3._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_2._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_17._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_16._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_28._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_14._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_15._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_29._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_11._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_10._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_12._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_13._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+      </body>
+      <site rgba="0 0 0 0" size="0.005" pos="7.499999996052336e-10 -3.749999998026168e-10 -0.025773726750000017" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="7.499999996052336e-10 -3.749999998026168e-10 0.02602424175000002" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.03694775100000003 0.036947760000000024 0.00012525750000000067" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/objects/objaverse/yogurt/yogurt_1/visual/material.mtl b/objects/objaverse/yogurt/yogurt_1/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7f8a38de772c894ce1765c35efdd4a58a527ae42
--- /dev/null
+++ b/objects/objaverse/yogurt/yogurt_1/visual/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 1.00000000 1.00000000 1.00000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 0.00000000
+map_Kd material_0.jpeg
\ No newline at end of file
diff --git a/objects/objaverse/yogurt/yogurt_1/visual/model_normalized_0.obj b/objects/objaverse/yogurt/yogurt_1/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..595f6e0e2d6864eed751301e0b34d26255a15b2f
--- /dev/null
+++ b/objects/objaverse/yogurt/yogurt_1/visual/model_normalized_0.obj
@@ -0,0 +1,958 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
+v -0.29089774 -0.29089819 0.34698988
+v -0.35336646 -0.35336661 0.34698988
+v -0.31017778 -0.39804264 0.34698988
+v -0.23472729 -0.37620882 0.34698988
+v -0.39252401 -0.39252416 0.34698988
+v -0.35756299 -0.42466834 0.34698988
+v -0.32200753 -0.44539883 0.34698988
+v -0.27612779 -0.43917494 0.34698988
+v -0.19764427 -0.42937557 0.34698988
+v -0.44791647 -0.44791663 0.34698988
+v -0.39583310 -0.47916641 0.34698988
+v -0.38234820 -0.45179265 0.34698988
+v -0.42251263 -0.42251278 0.34698988
+v -0.32812468 -0.49479145 0.34698988
+v -0.32867438 -0.46869609 0.34698988
+v -0.16666662 -0.49999970 0.34698988
+v -0.17783660 -0.46825857 0.34698988
+v -0.25886664 -0.47173124 0.34698988
+v -0.24999977 -0.50000000 0.34698988
+v -0.14530903 -0.27564083 0.34698988
+v -0.14782078 -0.14782093 0.34698957
+v -0.27564067 -0.14530918 0.34698957
+v 0.00000000 -0.27085650 0.34698988
+v 0.00000000 -0.14481420 0.34698957
+v 0.00000000 -0.00000015 0.34698957
+v -0.14481405 -0.00000015 0.34698957
+v -0.27085634 -0.00000015 0.34698957
+v 0.14530903 -0.27564083 0.34698988
+v 0.14782078 -0.14782093 0.34698957
+v 0.29089774 -0.29089819 0.34698988
+v 0.27564067 -0.14530918 0.34698957
+v 0.27085634 -0.00000015 0.34698957
+v 0.14481405 -0.00000015 0.34698957
+v 0.14782078 0.14782062 0.34698957
+v 0.00000000 0.14481390 0.34698957
+v 0.27564067 0.14530887 0.34698957
+v 0.29089804 0.29089759 0.34698957
+v 0.14530903 0.27564052 0.34698957
+v 0.00000000 0.27085619 0.34698957
+v -0.14782078 0.14782062 0.34698957
+v -0.27564067 0.14530887 0.34698957
+v -0.14530903 0.27564052 0.34698957
+v -0.29089774 0.29089789 0.34698957
+v -0.36345973 -0.12574643 0.34698957
+v -0.37620867 -0.23472744 0.34698957
+v -0.35935632 -0.00000015 0.34698957
+v -0.42051701 -0.00000015 0.34698957
+v -0.42291356 -0.10289001 0.34698957
+v -0.42937542 -0.19764442 0.34698957
+v -0.36345973 0.12574612 0.34698957
+v -0.37620867 0.23472714 0.34698957
+v -0.42937542 0.19764412 0.34698957
+v -0.42291356 0.10288971 0.34698957
+v -0.46563872 0.09049574 0.34698957
+v -0.46454204 -0.00000015 0.34698957
+v -0.46825842 0.17783645 0.34698957
+v -0.49999955 0.16666647 0.34698957
+v -0.49999985 0.08333301 0.34698957
+v -0.49999985 -0.00000015 0.34698957
+v -0.46563872 -0.09049605 0.34698957
+v -0.46825842 -0.17783676 0.34698957
+v -0.49999985 -0.08333331 0.34698957
+v -0.49999955 -0.16666677 0.34698957
+v -0.12574628 0.36345988 0.34698957
+v -0.23472729 0.37620852 0.34698957
+v 0.00000000 0.35935617 0.34698957
+v 0.00000000 0.42051686 0.34698957
+v -0.10288986 0.42291341 0.34698957
+v -0.19764427 0.42937527 0.34698957
+v 0.12574628 0.36345988 0.34698957
+v 0.23472729 0.37620852 0.34698957
+v 0.19764427 0.42937527 0.34698957
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diff --git a/objects/objaverse/yogurt/yogurt_1/visual/model_normalized_1.obj b/objects/objaverse/yogurt/yogurt_1/visual/model_normalized_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b4b522b432a8d3bb7dab8ce7ded554d66024be8
--- /dev/null
+++ b/objects/objaverse/yogurt/yogurt_1/visual/model_normalized_1.obj
@@ -0,0 +1,6042 @@
+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/objects/objaverse/yogurt/yogurt_2/collision/model_normalized_collision_11.obj b/objects/objaverse/yogurt/yogurt_2/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd079dc0a6208e41dc553bf3b784ff7ee3c65b4a
--- /dev/null
+++ b/objects/objaverse/yogurt/yogurt_2/collision/model_normalized_collision_11.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v -0.00955620 -0.43388698 0.24730168
+v 0.17246254 -0.37008544 0.24730171
+v -0.32575757 -0.32799752 0.24730171
+v 0.13945834 -0.33548322 0.21481947
+v 0.06384177 -0.40343974 0.22959475
+v 0.14393940 -0.34314904 0.24730171
+v 0.06360280 -0.41846445 0.24730171
+v 0.13703381 -0.37341890 0.22959475
+v -0.24406362 -0.34769104 0.21481946
+v -0.23484848 -0.32799752 0.24730171
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+v -0.32575757 -0.32799752 0.22959475
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\ No newline at end of file
diff --git a/objects/objaverse/yogurt/yogurt_2/collision/model_normalized_collision_23.obj b/objects/objaverse/yogurt/yogurt_2/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..221806ceb4b7bb161a5c67e4cf03d5df98ad5c95
--- /dev/null
+++ b/objects/objaverse/yogurt/yogurt_2/collision/model_normalized_collision_23.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v 0.26396762 0.17145963 0.01802360
+v 0.25132506 0.16566265 -0.08618066
+v 0.20326876 0.24699585 -0.02451456
+v 0.14267411 0.30663593 0.01814064
+v 0.14393940 0.17200248 0.01784977
+v 0.14283963 0.18627951 -0.24730173
+v 0.23304058 0.22101251 0.02061010
+v 0.16146807 0.26059511 -0.13833522
+v 0.13650509 0.26732322 -0.15514395
+v 0.16353732 0.16349023 -0.23643324
+v 0.16168818 0.29281986 0.02035882
+v 0.25117471 0.19336142 0.01995629
+v 0.21647609 0.22004638 -0.08522053
+v 0.13671528 0.29848767 -0.05624706
+v 0.14828643 0.26245452 -0.15114403
+v 0.14393940 0.17200248 -0.24730173
+v 0.23248201 0.17517602 -0.13853818
+v 0.18835670 0.26237934 -0.02455960
+v 0.24678350 0.17539986 -0.08544249
+v 0.13658181 0.28315365 -0.12970059
+v 0.16135546 0.27559263 -0.08524826
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\ No newline at end of file
diff --git a/objects/objaverse/yogurt/yogurt_2/collision/model_normalized_collision_4.obj b/objects/objaverse/yogurt/yogurt_2/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1238e3ad0a68562d6bec84f360a505df7c2df308
--- /dev/null
+++ b/objects/objaverse/yogurt/yogurt_2/collision/model_normalized_collision_4.obj
@@ -0,0 +1,156 @@
+# https://github.com/mikedh/trimesh
+v 0.21415840 -0.24176611 0.01115229
+v 0.27822374 -0.06603411 -0.12800934
+v 0.29406216 0.09207261 0.02004834
+v 0.17424243 0.17200248 0.01784977
+v 0.16692931 -0.15564321 -0.24730175
+v 0.16933977 0.15295258 -0.24730173
+v 0.24905909 -0.19673000 0.02025869
+v 0.21819698 -0.19566106 -0.13911750
+v 0.16822685 -0.20056103 -0.18640927
+v 0.27607260 0.07593515 -0.12728535
+v 0.26681892 0.16581962 0.01982968
+v 0.16718304 0.16656539 -0.22126128
+v 0.21595214 0.01858023 -0.23515349
+v 0.29644913 -0.08216464 0.01972615
+v 0.26189809 -0.11118968 -0.13961802
+v 0.23148571 -0.19441662 -0.10037080
+v 0.17797061 -0.19857946 -0.17952353
+v 0.29350194 0.01893878 -0.07080480
+v 0.24770067 0.16400080 -0.11405989
+v 0.20341078 0.07621596 -0.24730174
+v 0.27740844 0.03400500 -0.14004054
+v 0.27860891 -0.13910899 0.02018526
+v 0.21938342 -0.16577721 -0.16434690
+v 0.20214999 -0.08052346 -0.24730175
+v 0.24616277 -0.16802172 -0.11405991
+v 0.29277417 0.04917592 -0.05555736
+v 0.29301874 -0.02356564 -0.07074323
+v 0.23156567 0.16328529 -0.15111024
+v 0.27636483 0.12015371 -0.05527392
+v 0.26369222 0.07654656 -0.15233347
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diff --git a/objects/objaverse/yogurt/yogurt_2/collision/model_normalized_collision_7.obj b/objects/objaverse/yogurt/yogurt_2/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af21c834843a930f0df7dc4acf4f3ca8e8f7dae6
--- /dev/null
+++ b/objects/objaverse/yogurt/yogurt_2/collision/model_normalized_collision_7.obj
@@ -0,0 +1,150 @@
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diff --git a/objects/objaverse/yogurt/yogurt_2/model.xml b/objects/objaverse/yogurt/yogurt_2/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..8b83cfd71d1e37c0c949f330afef55e3f2b8fe6d
--- /dev/null
+++ b/objects/objaverse/yogurt/yogurt_2/model.xml
@@ -0,0 +1,81 @@
+<mujoco model="yogurt_5">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.08500000000000002 0.08500000000000002 0.08500000000000002" refquat="0.7730104533627369 0.0 0.0 0.6343932841636455"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.08500000000000002 0.08500000000000002 0.08500000000000002" refquat="0.7730104533627369 0.0 0.0 0.6343932841636455"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.08500000000000002 0.08500000000000002 0.08500000000000002" refquat="0.7730104533627369 0.0 0.0 0.6343932841636455"/>
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+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.08500000000000002 0.08500000000000002 0.08500000000000002" refquat="0.7730104533627369 0.0 0.0 0.6343932841636455"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.08500000000000002 0.08500000000000002 0.08500000000000002" refquat="0.7730104533627369 0.0 0.0 0.6343932841636455"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="Object001_mtl" texture="image0" specular="0.5" shininess="0.011455135"/>
+  </asset>
+  <worldbody>
+    <body>
+      <body name="object">
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