diff --git a/objects/objaverse/bar/bar_0/collision/model_normalized_collision_1.obj b/objects/objaverse/bar/bar_0/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..739e6f668cd17ce4182ec6886c240ecb4a3f6b2f
--- /dev/null
+++ b/objects/objaverse/bar/bar_0/collision/model_normalized_collision_1.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.26696990 -0.11333686 -0.06724067
+v 0.34548795 0.02305206 -0.12523096
+v 0.33895340 0.04717771 -0.07116923
+v 0.00771365 0.05977237 -0.07012392
+v 0.00783619 -0.11660871 -0.14159081
+v 0.30736005 0.04932980 -0.08082131
+v 0.30822868 0.05444855 -0.06815495
+v 0.34999790 0.03763482 -0.08601481
+v 0.26586248 -0.11477563 -0.13924555
+v 0.00742110 -0.11622615 -0.06627893
+v 0.00776142 0.04154398 -0.11430902
+v 0.33593072 0.03726549 -0.09735966
+v 0.32251370 0.03407584 -0.11109937
+v 0.33809758 0.02912793 -0.11558603
+f 7 1 3
+f 7 6 4
+f 8 1 2
+f 8 2 3
+f 8 3 1
+f 9 5 2
+f 9 2 1
+f 10 7 4
+f 10 1 7
+f 10 9 1
+f 10 5 9
+f 11 2 5
+f 11 4 6
+f 11 10 4
+f 11 5 10
+f 12 3 2
+f 12 7 3
+f 13 11 6
+f 13 2 11
+f 13 6 7
+f 13 7 12
+f 14 13 12
+f 14 12 2
+f 14 2 13
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_0/collision/model_normalized_collision_10.obj b/objects/objaverse/bar/bar_0/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e28256b392377a3a091d94ba974f4563a4a64aa6
--- /dev/null
+++ b/objects/objaverse/bar/bar_0/collision/model_normalized_collision_10.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.05374072 0.09129884 0.00779047
+v 0.05252142 0.09792843 0.02378757
+v -0.36238646 0.07744369 0.04362454
+v -0.27962401 0.10824139 0.06507917
+v -0.24786681 0.09547780 0.02452652
+v 0.05278483 0.12146743 0.08093752
+v 0.00730014 0.08647565 -0.00538332
+v -0.30759959 0.08110677 0.00951353
+v -0.35235544 0.08646951 0.05244337
+v 0.00751391 0.12199037 0.08072400
+v 0.05441119 0.11262803 0.05960830
+v -0.35513168 0.06555691 0.00327737
+v -0.29325441 0.10086393 0.05271732
+v -0.33539341 0.08030813 0.02466527
+v -0.35091153 0.08159901 0.03926541
+f 6 1 2
+f 7 2 1
+f 8 4 5
+f 8 5 7
+f 9 3 6
+f 10 5 4
+f 10 9 6
+f 10 4 9
+f 10 7 5
+f 10 6 2
+f 10 2 7
+f 11 6 3
+f 11 3 1
+f 11 1 6
+f 12 7 1
+f 12 1 3
+f 12 8 7
+f 12 3 9
+f 13 9 4
+f 13 4 8
+f 14 8 12
+f 14 13 8
+f 14 9 13
+f 15 14 12
+f 15 12 9
+f 15 9 14
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_0/collision/model_normalized_collision_11.obj b/objects/objaverse/bar/bar_0/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..01cde4d39392b483383401d4f156ce96733440fb
--- /dev/null
+++ b/objects/objaverse/bar/bar_0/collision/model_normalized_collision_11.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.26573527 -0.04315644 -0.17709671
+v 0.31237459 0.01861839 -0.15407772
+v 0.30982718 0.03365795 -0.11739014
+v 0.00776142 0.04154398 -0.11430902
+v -0.09869225 -0.00722525 -0.18361817
+v 0.27821484 0.03410632 -0.12674356
+v 0.00812018 -0.04632822 -0.17859851
+v 0.31406447 0.02897385 -0.12749111
+v 0.26354580 0.01241305 -0.17743516
+v 0.30815883 0.02356860 -0.14375829
+v 0.27877073 0.03939951 -0.11327128
+v -0.09867251 -0.03564849 -0.18107736
+v 0.26484331 -0.03601537 -0.17789426
+v -0.03739159 0.01115262 -0.17897969
+v 0.24929352 0.01300588 -0.17773990
+v -0.09795174 -0.04295438 -0.18017017
+v -0.09820272 0.02524205 -0.14772455
+v 0.00784400 0.03620326 -0.12725716
+v -0.03726896 0.02250420 -0.15815504
+v -0.03767920 0.03317893 -0.13225919
+f 7 1 3
+f 8 1 2
+f 8 3 1
+f 9 6 2
+f 10 2 6
+f 10 8 2
+f 10 3 8
+f 11 6 4
+f 11 10 6
+f 11 3 10
+f 11 7 3
+f 11 4 7
+f 13 9 2
+f 13 2 1
+f 13 12 5
+f 13 1 12
+f 15 6 9
+f 15 5 14
+f 15 13 5
+f 15 9 13
+f 16 12 1
+f 16 1 7
+f 16 7 4
+f 17 5 12
+f 17 14 5
+f 17 16 4
+f 17 12 16
+f 18 4 6
+f 18 6 15
+f 19 18 15
+f 19 15 14
+f 19 14 17
+f 19 4 18
+f 20 19 17
+f 20 17 4
+f 20 4 19
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_0/collision/model_normalized_collision_12.obj b/objects/objaverse/bar/bar_0/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..558addf1ad6e6a9d48c91146b1e7d4519f0d21f3
--- /dev/null
+++ b/objects/objaverse/bar/bar_0/collision/model_normalized_collision_12.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.00738932 -0.05936755 0.07162979
+v 0.00763495 -0.04555287 0.10514178
+v -0.24804671 -0.03353982 0.13086920
+v -0.35439542 0.01054271 0.17559560
+v 0.00757575 0.00807154 0.06256568
+v 0.00746537 -0.01389751 0.17687161
+v -0.18961499 -0.05355636 0.08688099
+v -0.27821024 -0.01845338 0.16050666
+v 0.00758277 0.00806217 0.18240865
+v -0.32168438 -0.05341578 0.05688855
+v 0.00733743 -0.02199261 0.16227627
+v -0.32044576 -0.00515866 0.17213877
+v 0.00762057 -0.03487473 0.13104104
+v -0.18944754 -0.06413363 0.06114957
+v -0.38502315 -0.01502040 0.06939773
+v -0.27836741 -0.04928759 0.08510233
+v -0.32019350 -0.01782630 0.14575788
+v -0.35347398 -0.04349786 0.05898578
+v -0.32028944 -0.04865328 0.06982615
+v -0.35047403 -0.00322516 0.15938525
+v -0.35249233 0.00400548 0.17158489
+f 5 2 1
+f 7 1 2
+f 9 5 4
+f 9 4 6
+f 9 2 5
+f 11 3 7
+f 11 8 3
+f 11 6 8
+f 12 8 6
+f 12 6 4
+f 13 9 6
+f 13 2 9
+f 13 6 11
+f 13 11 7
+f 13 7 2
+f 14 10 5
+f 14 5 1
+f 14 1 7
+f 14 7 3
+f 15 4 5
+f 16 3 8
+f 16 14 3
+f 16 10 14
+f 17 8 12
+f 17 16 8
+f 18 15 5
+f 18 5 10
+f 19 10 16
+f 19 16 17
+f 19 18 10
+f 19 17 18
+f 20 17 12
+f 20 18 17
+f 20 15 18
+f 21 20 12
+f 21 12 4
+f 21 4 15
+f 21 15 20
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_0/collision/model_normalized_collision_13.obj b/objects/objaverse/bar/bar_0/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..189040146fa7a9f289f4c35ce4d539cd029f0d88
--- /dev/null
+++ b/objects/objaverse/bar/bar_0/collision/model_normalized_collision_13.obj
@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
+v 0.33858765 -0.10585532 -0.07688348
+v 0.39574942 -0.07594323 -0.07572917
+v 0.36634070 0.00818389 0.17464900
+v 0.34067049 0.11766842 0.14265266
+v 0.33895340 0.04717771 -0.07116923
+v 0.40454166 0.08378286 0.19139016
+v 0.33632519 -0.00776036 0.16242348
+v 0.36648859 -0.09831694 -0.08007620
+v 0.38720349 0.02450051 0.17348354
+v 0.37370260 0.11366753 0.12872960
+v 0.33600629 0.06784119 -0.02172243
+v 0.34140061 0.03662979 0.18281291
+v 0.37197933 -0.02028125 0.10138653
+v 0.35010935 -0.07917459 -0.02081182
+v 0.36512223 -0.01795264 0.11533075
+v 0.38853633 0.03395642 0.18204627
+v 0.38046761 0.11071985 0.14684931
+v 0.38852986 0.02279969 -0.06817784
+v 0.33673768 0.05505130 -0.05322570
+v 0.33615710 -0.08296597 -0.01927630
+v 0.33695912 0.11653822 0.09818381
+v 0.34247985 0.08763475 0.17173645
+v 0.33944453 0.01283589 0.18365040
+v 0.38592462 0.01079165 0.14499500
+v 0.35024440 -0.00406652 0.16069158
+v 0.39782510 0.09892245 0.16574469
+v 0.37127658 0.05071559 -0.03576297
+v 0.33701466 -0.10085000 -0.06383872
+v 0.33612186 0.09847098 0.05363919
+v 0.35998122 0.07740513 0.18334991
+v 0.35438753 0.01357637 0.18238560
+v 0.38703593 0.09683313 0.11477958
+v 0.37235989 0.03654017 -0.06743671
+v 0.36497485 0.10913911 0.10125959
+v 0.37274065 0.09732506 0.08386840
+v 0.35075689 0.05134755 -0.05174930
+v 0.38750540 0.03684667 -0.03631508
+v 0.36488632 0.07837042 0.02531157
+f 8 5 2
+f 8 1 5
+f 9 2 6
+f 13 8 2
+f 13 9 3
+f 14 1 8
+f 15 14 8
+f 15 13 3
+f 15 8 13
+f 16 9 6
+f 16 3 9
+f 17 10 4
+f 18 2 5
+f 18 6 2
+f 19 5 1
+f 20 7 11
+f 20 1 14
+f 21 7 4
+f 21 4 10
+f 21 5 19
+f 22 6 4
+f 23 6 12
+f 23 12 22
+f 23 22 4
+f 23 4 7
+f 24 13 2
+f 24 2 9
+f 24 9 13
+f 25 15 3
+f 25 3 7
+f 25 14 15
+f 25 20 14
+f 25 7 20
+f 26 17 4
+f 26 4 6
+f 26 6 18
+f 26 10 17
+f 28 19 1
+f 28 1 20
+f 28 20 11
+f 28 11 19
+f 29 11 7
+f 29 7 21
+f 29 21 19
+f 29 19 11
+f 30 22 12
+f 30 12 6
+f 30 6 22
+f 31 23 7
+f 31 7 3
+f 31 3 16
+f 31 16 6
+f 31 6 23
+f 32 26 18
+f 32 10 26
+f 33 27 18
+f 33 18 5
+f 34 21 10
+f 35 10 32
+f 35 34 10
+f 35 27 34
+f 36 33 5
+f 36 27 33
+f 37 35 32
+f 37 32 18
+f 37 18 27
+f 37 27 35
+f 38 34 27
+f 38 27 36
+f 38 36 5
+f 38 5 21
+f 38 21 34
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_0/collision/model_normalized_collision_14.obj b/objects/objaverse/bar/bar_0/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db25789bcaac7324f2af7103a13e56e35eacb87c
--- /dev/null
+++ b/objects/objaverse/bar/bar_0/collision/model_normalized_collision_14.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.09848486 -0.03738300 -0.08894947
+v -0.09867251 -0.03564849 -0.18107736
+v -0.09864917 0.04125588 -0.10887824
+v -0.15880586 0.04225102 -0.10947072
+v -0.30993923 -0.04343222 -0.18234572
+v -0.09869225 -0.00722525 -0.18361817
+v -0.15909092 -0.03738300 -0.08894947
+v -0.09820272 0.02524205 -0.14772455
+v -0.15928387 -0.00715619 -0.18475802
+v -0.31741277 0.01609107 -0.14370371
+v -0.31075368 -0.03588811 -0.18332325
+v -0.31001816 -0.00986176 -0.18449013
+f 5 2 1
+f 7 1 3
+f 7 3 4
+f 7 5 1
+f 8 4 3
+f 8 3 1
+f 8 1 2
+f 8 2 6
+f 9 6 2
+f 9 8 6
+f 10 7 4
+f 10 5 7
+f 10 4 8
+f 11 9 2
+f 11 2 5
+f 11 5 10
+f 12 10 8
+f 12 8 9
+f 12 11 10
+f 12 9 11
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_0/collision/model_normalized_collision_15.obj b/objects/objaverse/bar/bar_0/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ecf3c25336ec89e9c66ab947efe9651983d7c473
--- /dev/null
+++ b/objects/objaverse/bar/bar_0/collision/model_normalized_collision_15.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v -0.31035144 -0.11048383 -0.15036422
+v -0.31049052 -0.10299324 -0.15616725
+v -0.30757699 0.00600158 -0.17158598
+v -0.31032131 0.02147709 -0.13370857
+v -0.44907004 -0.08557927 -0.20155981
+v -0.44734390 -0.05035088 -0.13523094
+v -0.31075368 -0.03588811 -0.18332325
+v -0.44308084 -0.06791411 -0.14073840
+v -0.37697139 -0.00496329 -0.12871055
+v -0.30886407 -0.00199282 -0.18163663
+v -0.40842534 -0.08181346 -0.19339839
+v -0.44290862 -0.08112060 -0.17358457
+v -0.40558484 -0.08045011 -0.14085474
+v -0.35256619 0.01136695 -0.12964937
+v -0.35811903 -0.00955662 -0.17099125
+v -0.31984998 0.00377026 -0.17058968
+v -0.33623098 -0.00665642 -0.17921467
+v -0.44647934 -0.07710731 -0.19732353
+v -0.35113487 0.00650099 -0.14288168
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 8 6 5
+f 10 7 5
+f 10 3 2
+f 10 2 7
+f 11 7 2
+f 11 2 5
+f 11 5 7
+f 12 8 5
+f 12 5 1
+f 13 6 8
+f 13 9 6
+f 13 1 9
+f 13 12 1
+f 13 8 12
+f 14 9 1
+f 14 1 4
+f 14 6 9
+f 15 6 14
+f 16 4 3
+f 17 10 5
+f 17 15 16
+f 17 16 3
+f 17 3 10
+f 18 5 6
+f 18 6 15
+f 18 17 5
+f 18 15 17
+f 19 14 4
+f 19 4 16
+f 19 16 15
+f 19 15 14
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_0/collision/model_normalized_collision_16.obj b/objects/objaverse/bar/bar_0/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..58bfdb10735c7195c3c10d1eb198913cf855e6f0
--- /dev/null
+++ b/objects/objaverse/bar/bar_0/collision/model_normalized_collision_16.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v -0.41394640 -0.07522379 -0.13753298
+v -0.41086646 -0.04923818 -0.16024563
+v -0.40753072 0.03698549 0.14730568
+v -0.41545935 0.07975607 0.15441751
+v -0.49562756 -0.08150999 -0.19314380
+v -0.40895524 0.07210578 0.12824281
+v -0.41104320 -0.05444424 -0.08089675
+v -0.44907004 -0.08557927 -0.20155981
+v -0.49963605 0.06182738 0.15401182
+v -0.40879591 -0.02088033 -0.09743220
+v -0.41206266 -0.07065496 -0.12444815
+v -0.48964187 -0.08087649 -0.18676765
+v -0.44647934 -0.07710731 -0.19732353
+v -0.45983110 0.06973196 0.16001576
+v -0.41070837 0.05313214 0.08252322
+v -0.44420801 -0.08559588 -0.18501662
+v -0.49783389 0.05721914 0.14513914
+v -0.48681607 -0.08325449 -0.19713860
+v -0.49488745 -0.06510278 -0.15180540
+f 6 4 3
+f 8 2 1
+f 9 4 6
+f 10 6 3
+f 10 2 5
+f 10 5 9
+f 10 3 7
+f 11 1 2
+f 11 10 7
+f 11 2 10
+f 12 7 3
+f 12 11 7
+f 12 1 11
+f 13 5 2
+f 13 2 8
+f 14 9 3
+f 14 3 4
+f 14 4 9
+f 15 10 9
+f 15 9 6
+f 15 6 10
+f 16 8 1
+f 16 1 12
+f 16 12 5
+f 17 9 5
+f 17 12 3
+f 17 3 9
+f 18 13 8
+f 18 5 13
+f 18 16 5
+f 18 8 16
+f 19 17 5
+f 19 5 12
+f 19 12 17
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_0/collision/model_normalized_collision_19.obj b/objects/objaverse/bar/bar_0/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..128532d7347abf53c7927d5c29a29478befc42c1
--- /dev/null
+++ b/objects/objaverse/bar/bar_0/collision/model_normalized_collision_19.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v -0.35336261 -0.10488354 -0.09238229
+v -0.35218888 -0.09978382 -0.07937074
+v -0.41372621 0.08544144 0.16850789
+v -0.35556724 0.10467857 0.14408176
+v -0.35136532 0.03763453 -0.06739669
+v -0.35249233 0.00400548 0.17158489
+v -0.41208237 -0.05879597 -0.09271953
+v -0.35899174 0.09689702 0.08457529
+v -0.35593266 0.08943254 0.15904059
+v -0.35176520 0.09976512 0.08383829
+v -0.35123968 -0.02049660 0.11651262
+v -0.35344058 0.02955024 -0.08522279
+v -0.40162836 0.03744578 0.16064734
+v -0.35566720 0.02369803 0.17746549
+v -0.37426458 0.09807405 0.11505254
+v -0.35148057 -0.08203089 -0.03466609
+v -0.38681760 -0.00580351 0.10117411
+v -0.36184524 -0.09965140 -0.09410459
+v -0.41104311 -0.01772961 -0.08503452
+v -0.38143700 0.02742563 0.17356870
+v -0.38063596 0.09892687 0.14781644
+v -0.38438744 0.06803647 0.05678840
+v -0.35798694 -0.01863364 0.11534394
+v -0.37487957 -0.08073469 -0.06704112
+v -0.37745320 0.02223369 0.17335392
+v -0.36154334 0.02485300 -0.08351294
+v -0.37314560 0.01135080 0.16137364
+v -0.38401405 -0.03814007 0.02357920
+v -0.36023757 0.00777080 0.17088075
+f 5 2 1
+f 9 6 4
+f 9 4 3
+f 10 4 6
+f 11 10 6
+f 11 5 10
+f 12 5 1
+f 12 10 5
+f 12 8 10
+f 13 3 7
+f 14 9 3
+f 14 6 9
+f 15 10 8
+f 15 4 10
+f 16 2 5
+f 16 5 11
+f 16 1 2
+f 17 13 7
+f 18 12 1
+f 18 7 12
+f 19 12 7
+f 19 7 3
+f 20 14 3
+f 20 3 13
+f 21 15 3
+f 21 3 4
+f 21 4 15
+f 22 15 8
+f 22 19 3
+f 22 3 15
+f 23 16 11
+f 23 1 16
+f 23 17 1
+f 23 11 6
+f 24 7 18
+f 24 18 1
+f 24 1 17
+f 25 6 14
+f 25 14 20
+f 25 20 13
+f 26 22 8
+f 26 8 12
+f 26 12 19
+f 26 19 22
+f 27 17 23
+f 27 25 13
+f 27 13 17
+f 28 24 17
+f 28 17 7
+f 28 7 24
+f 29 27 23
+f 29 23 6
+f 29 6 25
+f 29 25 27
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_0/collision/model_normalized_collision_2.obj b/objects/objaverse/bar/bar_0/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2ab77758d1b55d196edaea68c890cdff2aba1e03
--- /dev/null
+++ b/objects/objaverse/bar/bar_0/collision/model_normalized_collision_2.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.26922166 -0.07208429 0.03186601
+v 0.26380750 -0.05622450 0.07315080
+v 0.00725352 -0.07538433 0.03277825
+v 0.00767247 0.06511000 0.17314692
+v 0.26759557 0.09059917 0.00784804
+v 0.00746537 -0.01389751 0.17687161
+v 0.21984581 -0.05812607 0.07390337
+v 0.26538645 0.06701751 0.17801865
+v 0.00721744 0.09181636 0.00756478
+v 0.00733743 -0.02199261 0.16227627
+v 0.26311929 -0.02002600 0.16124177
+v 0.26515221 0.02319277 0.18355918
+v 0.14428334 -0.01310178 0.17627473
+v 0.23392089 -0.03389052 0.13090596
+v 0.21994352 -0.05286055 0.08660268
+f 7 1 2
+f 7 3 1
+f 8 1 5
+f 9 5 1
+f 9 1 3
+f 9 8 5
+f 9 4 8
+f 10 3 7
+f 10 9 3
+f 10 6 4
+f 10 4 9
+f 11 2 1
+f 11 7 2
+f 12 8 4
+f 12 4 6
+f 12 11 1
+f 12 1 8
+f 13 6 10
+f 13 10 11
+f 13 12 6
+f 13 11 12
+f 14 11 10
+f 14 7 11
+f 15 14 10
+f 15 10 7
+f 15 7 14
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_0/collision/model_normalized_collision_20.obj b/objects/objaverse/bar/bar_0/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..907476098619773c1f1e18b513706f46ece10fb6
--- /dev/null
+++ b/objects/objaverse/bar/bar_0/collision/model_normalized_collision_20.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.00720824 -0.08072305 0.01982849
+v 0.00757575 -0.03738300 -0.08894947
+v 0.00770105 0.09088869 0.00529811
+v -0.27872719 0.08516967 0.00782208
+v -0.39195707 -0.00485251 -0.09680936
+v 0.00778376 0.08554798 -0.00764999
+v -0.36725162 -0.05525012 0.00775804
+v 0.00779650 0.05443168 -0.08307226
+v -0.35157169 0.06874905 0.00832736
+v -0.26306084 0.05035273 -0.08113611
+v -0.23386149 0.06515848 -0.05119040
+v -0.30749230 0.04989656 -0.06628259
+v -0.35344058 0.02955024 -0.08522279
+v -0.33580091 0.03628120 -0.08168423
+v -0.35136532 0.03763453 -0.06739669
+v -0.33513282 0.04912738 -0.05077142
+f 1 3 4
+f 6 1 2
+f 6 3 1
+f 7 5 2
+f 7 2 1
+f 8 6 2
+f 8 2 5
+f 9 7 1
+f 9 1 4
+f 9 5 7
+f 10 8 5
+f 11 3 6
+f 11 6 8
+f 11 8 10
+f 11 10 4
+f 11 4 3
+f 12 9 4
+f 12 4 10
+f 13 10 5
+f 13 5 9
+f 14 12 10
+f 14 10 13
+f 15 14 13
+f 15 13 9
+f 15 9 14
+f 16 14 9
+f 16 9 12
+f 16 12 14
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_0/collision/model_normalized_collision_22.obj b/objects/objaverse/bar/bar_0/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..16da2011749ade961451ae8b192643c3a264c5e3
--- /dev/null
+++ b/objects/objaverse/bar/bar_0/collision/model_normalized_collision_22.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.35741031 -0.08976501 -0.05260280
+v 0.34804073 -0.05997100 0.02662642
+v 0.00725352 -0.07538433 0.03277825
+v 0.00761838 0.09622941 0.01824621
+v 0.33686242 0.08579611 0.02235703
+v 0.00757575 -0.03738300 -0.07379796
+v 0.33526385 0.05023690 -0.06646197
+v 0.00771365 0.05977237 -0.07012392
+v 0.23403711 0.08061711 -0.02059142
+v 0.27826893 0.06511349 -0.05122564
+v 0.20488737 0.08062261 -0.02070068
+v 0.30739726 0.08000171 -0.00521911
+v 0.33533700 0.08093886 0.00942886
+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 1 6
+f 8 7 6
+f 8 6 3
+f 8 3 4
+f 9 4 5
+f 10 7 8
+f 10 8 9
+f 11 9 8
+f 11 8 4
+f 11 4 9
+f 12 10 9
+f 12 9 5
+f 12 7 10
+f 13 12 5
+f 13 5 7
+f 13 7 12
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_0/collision/model_normalized_collision_23.obj b/objects/objaverse/bar/bar_0/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f8ad7cb3118876fc05bf75037a4269ebe9d3dd8
--- /dev/null
+++ b/objects/objaverse/bar/bar_0/collision/model_normalized_collision_23.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.32336732 -0.05405797 0.05711356
+v 0.37084449 -0.03695342 0.06237468
+v 0.30935916 -0.03020763 0.12031108
+v -0.18932637 -0.04353242 0.11057960
+v -0.18944754 -0.06413363 0.06114957
+v 0.36804958 -0.03346229 0.07616803
+v 0.36759643 -0.04107098 0.05792146
+v 0.27816119 -0.04955156 0.08515593
+v 0.33875602 -0.03055297 0.10513989
+v 0.32246872 -0.04896723 0.07021969
+v 0.14396386 -0.03655597 0.12283109
+v 0.33501642 -0.03384158 0.10013710
+v 0.30716539 -0.03287521 0.11485392
+v -0.18961499 -0.05355636 0.08688099
+v 0.14434695 -0.03876354 0.11749921
+v 0.36606260 -0.03621277 0.07110763
+v -0.18949925 -0.04580250 0.10516408
+f 5 4 2
+f 6 2 4
+f 7 5 2
+f 7 1 5
+f 7 2 6
+f 8 5 1
+f 9 6 4
+f 9 4 3
+f 10 8 1
+f 11 8 3
+f 11 3 4
+f 12 6 9
+f 12 1 7
+f 12 10 1
+f 12 9 3
+f 12 3 10
+f 13 10 3
+f 13 3 8
+f 13 8 10
+f 14 11 4
+f 15 5 8
+f 15 8 11
+f 15 14 5
+f 15 11 14
+f 16 12 7
+f 16 7 6
+f 16 6 12
+f 17 14 4
+f 17 4 5
+f 17 5 14
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_0/collision/model_normalized_collision_24.obj b/objects/objaverse/bar/bar_0/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6014b151f02b164d9146ba985cdb0a6cc482895a
--- /dev/null
+++ b/objects/objaverse/bar/bar_0/collision/model_normalized_collision_24.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v 0.00770534 -0.12817142 -0.09524629
+v 0.00749451 -0.13170386 -0.12619372
+v 0.00759590 0.05222530 -0.08841283
+v -0.32170015 0.03982845 -0.08317868
+v -0.36283356 -0.11388466 -0.13647353
+v 0.00784400 0.03620326 -0.12725716
+v -0.30903557 -0.12755668 -0.13154625
+v -0.36002992 0.00768998 -0.12766377
+v -0.21872153 0.03467344 -0.12691441
+v -0.26319482 -0.12519464 -0.09620391
+v -0.41104311 -0.01772961 -0.08503452
+v -0.33489042 0.01795402 -0.12621477
+v -0.41394640 -0.07522379 -0.13753298
+v -0.35015883 -0.10794755 -0.09747572
+v -0.36154334 0.02485300 -0.08351294
+v -0.29219981 0.03371282 -0.11086586
+v -0.41142854 -0.03642467 -0.12834967
+v -0.30763158 -0.12465035 -0.11115846
+v -0.35746164 -0.10964259 -0.11193860
+v -0.40446069 -0.06369185 -0.09614136
+v -0.37446602 0.00573246 -0.11040998
+v -0.35893769 0.02121341 -0.09718840
+v -0.32019477 0.03479662 -0.09617199
+f 1 3 4
+f 6 1 2
+f 6 3 1
+f 6 2 5
+f 7 5 2
+f 9 4 3
+f 9 3 6
+f 10 7 2
+f 10 2 1
+f 11 10 1
+f 11 1 4
+f 12 9 8
+f 13 9 6
+f 13 6 5
+f 13 8 9
+f 14 10 11
+f 15 11 4
+f 16 4 9
+f 16 9 12
+f 17 13 11
+f 17 8 13
+f 18 5 7
+f 18 7 10
+f 18 10 14
+f 19 13 5
+f 19 18 14
+f 19 5 18
+f 20 14 11
+f 20 11 13
+f 20 19 14
+f 20 13 19
+f 21 11 15
+f 21 17 11
+f 21 8 17
+f 22 12 8
+f 22 21 15
+f 22 8 21
+f 22 15 4
+f 22 4 12
+f 23 16 12
+f 23 12 4
+f 23 4 16
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_0/collision/model_normalized_collision_25.obj b/objects/objaverse/bar/bar_0/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa04dc1972b748468592adcee7ad97ce7aa171ab
--- /dev/null
+++ b/objects/objaverse/bar/bar_0/collision/model_normalized_collision_25.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.00764746 -0.08953166 -0.00152733
+v 0.00769274 -0.08419270 0.01142297
+v -0.35347398 -0.04349786 0.05898578
+v -0.38826610 0.03750218 -0.00496726
+v 0.00757575 0.00807154 0.00195962
+v -0.35212288 -0.06920086 -0.00370681
+v -0.24808228 -0.06457453 0.05535468
+v 0.00757575 0.00807154 0.06256568
+v -0.38502315 -0.01502040 0.06939773
+v -0.29314708 -0.08345936 -0.00415889
+v 0.00771875 -0.06597401 0.05561293
+v -0.30753405 -0.06313076 0.03960137
+v -0.33582377 -0.04992001 0.05552762
+v -0.33507632 -0.06255994 0.02419493
+f 5 2 1
+f 5 1 4
+f 8 5 4
+f 9 6 3
+f 9 4 6
+f 9 8 4
+f 9 3 7
+f 10 6 4
+f 10 4 1
+f 10 1 7
+f 11 2 5
+f 11 5 8
+f 11 7 1
+f 11 1 2
+f 11 9 7
+f 11 8 9
+f 12 10 7
+f 13 12 7
+f 13 7 3
+f 13 3 6
+f 14 6 10
+f 14 10 12
+f 14 13 6
+f 14 12 13
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_0/collision/model_normalized_collision_26.obj b/objects/objaverse/bar/bar_0/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f88418313f11a99cf340f9bd221bcf9a7df7aef
--- /dev/null
+++ b/objects/objaverse/bar/bar_0/collision/model_normalized_collision_26.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v -0.35679914 0.02220966 0.17715363
+v -0.35566720 0.02369803 0.17746549
+v -0.45946572 0.07073785 0.18835919
+v -0.49851496 0.07513411 0.18641853
+v -0.44408534 0.05056438 0.14775436
+v -0.35619839 0.08182190 0.16703516
+v -0.49963605 0.06182738 0.15401182
+v -0.41457917 0.04275219 0.15186560
+v -0.38955424 0.07060102 0.18202049
+v -0.43189222 0.08239692 0.17921694
+v -0.39353975 0.03072365 0.16328560
+v -0.49819787 0.07020540 0.17659499
+v -0.40791362 0.08514665 0.15858150
+v -0.38753486 0.08918568 0.16128136
+v -0.35767816 0.07531345 0.17372497
+v -0.39101686 0.07485435 0.18131043
+v -0.50000002 0.07484513 0.18554383
+v -0.49839911 0.06617474 0.16326316
+f 1 2 3
+f 1 3 4
+f 6 2 1
+f 8 6 1
+f 9 3 2
+f 10 4 3
+f 11 7 5
+f 11 1 7
+f 11 8 1
+f 11 5 8
+f 12 7 1
+f 13 5 7
+f 14 8 5
+f 14 6 8
+f 14 5 13
+f 14 10 6
+f 14 4 10
+f 15 9 2
+f 15 2 6
+f 16 10 3
+f 16 3 9
+f 16 9 15
+f 16 15 6
+f 16 6 10
+f 17 12 1
+f 17 1 4
+f 17 7 12
+f 17 14 13
+f 17 4 14
+f 18 17 13
+f 18 13 7
+f 18 7 17
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_0/collision/model_normalized_collision_27.obj b/objects/objaverse/bar/bar_0/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f77fd263af290f3449a8ec5ac0dc402f2387225
--- /dev/null
+++ b/objects/objaverse/bar/bar_0/collision/model_normalized_collision_27.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.00755710 -0.12652159 -0.13264041
+v 0.00745399 -0.11958744 -0.13911240
+v 0.00749902 -0.09368663 -0.15872062
+v -0.39221685 -0.09149545 -0.13951550
+v -0.39402649 -0.09508817 -0.16438212
+v 0.00773386 -0.10827341 -0.14801609
+v -0.18983502 -0.12809100 -0.13437057
+v -0.39910114 -0.09276587 -0.16492791
+v -0.24955323 -0.13314073 -0.12749234
+v -0.36283356 -0.11388466 -0.13647353
+v -0.18967996 -0.13351342 -0.12757732
+v -0.24973349 -0.12802539 -0.13456635
+v -0.36589030 -0.11228651 -0.14456435
+v -0.38642360 -0.09818896 -0.13994508
+f 1 3 4
+f 6 1 2
+f 6 3 1
+f 6 5 3
+f 6 2 5
+f 7 5 2
+f 7 2 1
+f 8 4 3
+f 8 3 5
+f 10 9 4
+f 11 7 1
+f 11 1 4
+f 11 4 9
+f 12 5 7
+f 12 11 9
+f 12 7 11
+f 13 10 8
+f 13 8 5
+f 13 9 10
+f 13 12 9
+f 13 5 12
+f 14 10 4
+f 14 4 8
+f 14 8 10
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_0/collision/model_normalized_collision_28.obj b/objects/objaverse/bar/bar_0/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9630ec9c9177626214b24812683b43b8df32da38
--- /dev/null
+++ b/objects/objaverse/bar/bar_0/collision/model_normalized_collision_28.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.03787061 -0.00714273 -0.18345951
+v -0.03739159 0.01115262 -0.17897969
+v -0.03767920 0.03317893 -0.13225919
+v -0.30823638 0.02384533 -0.12861672
+v -0.31001816 -0.00986176 -0.18449013
+v -0.26300057 0.01933653 -0.15663779
+v -0.03726896 0.02250420 -0.15815504
+v -0.26316268 0.00755596 -0.18044196
+v -0.30757699 0.00600158 -0.17158598
+v -0.30886407 -0.00199282 -0.18163663
+v -0.30737920 0.01876291 -0.14178952
+v -0.31741277 0.01609107 -0.14370371
+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 2 1
+f 8 1 5
+f 8 7 2
+f 8 6 7
+f 9 6 8
+f 10 9 8
+f 10 8 5
+f 11 4 6
+f 11 6 9
+f 12 10 5
+f 12 5 4
+f 12 9 10
+f 12 11 9
+f 12 4 11
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_0/collision/model_normalized_collision_29.obj b/objects/objaverse/bar/bar_0/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a62e465c6cf5b3d5de4c7e922e976fa34f0ee816
--- /dev/null
+++ b/objects/objaverse/bar/bar_0/collision/model_normalized_collision_29.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.00758277 0.00806217 0.18240865
+v 0.00757575 0.00807154 0.00195962
+v 0.00730014 0.08647565 -0.00538332
+v -0.35690755 0.06771304 0.17682799
+v -0.35439542 0.01054271 0.17559560
+v 0.00767247 0.06511000 0.17314692
+v -0.38826610 0.03750218 -0.00496726
+v -0.35513168 0.06555691 0.00327737
+f 5 2 1
+f 5 1 4
+f 6 3 4
+f 6 4 1
+f 6 1 2
+f 6 2 3
+f 7 3 2
+f 7 2 5
+f 7 5 4
+f 8 7 4
+f 8 4 3
+f 8 3 7
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_0/collision/model_normalized_collision_31.obj b/objects/objaverse/bar/bar_0/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5c96ea28d852a943b9e359e1fa7c720595a23f81
--- /dev/null
+++ b/objects/objaverse/bar/bar_0/collision/model_normalized_collision_31.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.39485082 0.02901100 0.16665920
+v 0.49599147 0.06875512 0.16259488
+v 0.48235827 0.08425933 0.20030844
+v 0.40115598 0.09761116 0.16840059
+v 0.40094065 0.03593099 0.16638866
+v 0.49059789 0.08159749 0.18923013
+v 0.42224707 0.08343170 0.19921218
+v 0.49492129 0.08179265 0.19418070
+v 0.39632807 0.04839547 0.18674549
+v 0.39207025 0.03122317 0.17589615
+v 0.49586992 0.07309425 0.17310567
+v 0.42072525 0.07004777 0.19501825
+v 0.40454166 0.08378286 0.19139016
+v 0.48842229 0.08197205 0.19705822
+f 5 2 1
+f 5 1 4
+f 5 4 2
+f 6 2 4
+f 7 3 4
+f 8 6 4
+f 8 4 3
+f 10 1 2
+f 10 3 9
+f 10 9 4
+f 10 4 1
+f 11 2 6
+f 11 6 8
+f 11 10 2
+f 11 8 10
+f 12 9 3
+f 12 3 7
+f 12 7 9
+f 13 9 7
+f 13 7 4
+f 13 4 9
+f 14 10 8
+f 14 8 3
+f 14 3 10
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_0/collision/model_normalized_collision_4.obj b/objects/objaverse/bar/bar_0/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..38635acd0d0f8e9dc8699a6b2caefa257a84ad6a
--- /dev/null
+++ b/objects/objaverse/bar/bar_0/collision/model_normalized_collision_4.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v 0.34235464 -0.10255113 -0.07187067
+v 0.40495280 -0.07610714 -0.18465260
+v 0.39283651 0.01686290 -0.07192892
+v 0.26969766 0.04966555 -0.09131249
+v 0.26513160 -0.03714878 -0.17777316
+v 0.37408636 -0.00684676 -0.16919200
+v 0.26515151 -0.03738300 -0.07379796
+v 0.38950752 -0.08142899 -0.07886558
+v 0.34108407 -0.09141175 -0.15622649
+v 0.39005569 -0.02086473 -0.17041680
+v 0.36699288 0.03980214 -0.06812662
+v 0.26436560 0.00519333 -0.18045309
+v 0.40501305 -0.08778359 -0.16944513
+v 0.38896333 0.00702202 -0.11083824
+v 0.39059356 -0.03259012 -0.17870343
+v 0.33515741 0.01952167 -0.14211226
+v 0.33895340 0.04717771 -0.07116923
+v 0.26405732 0.02823309 -0.14559454
+v 0.26348147 0.02311133 -0.15823172
+v 0.26492001 -0.02015899 -0.18011215
+v 0.37153802 0.02056132 -0.11152057
+v 0.32422066 0.00159074 -0.17768388
+v 0.30728311 0.01855780 -0.15621020
+v 0.36529508 0.00420739 -0.15655531
+v 0.33593072 0.03726549 -0.09735966
+v 0.33563174 0.00719607 -0.16935207
+f 7 5 1
+f 8 3 1
+f 9 5 2
+f 9 1 5
+f 10 3 2
+f 11 7 1
+f 11 1 3
+f 13 8 1
+f 13 2 3
+f 13 3 8
+f 13 9 2
+f 13 1 9
+f 14 10 6
+f 14 3 10
+f 14 11 3
+f 15 10 2
+f 15 6 10
+f 17 4 7
+f 17 7 11
+f 17 11 16
+f 18 7 4
+f 19 12 5
+f 19 5 7
+f 19 7 18
+f 20 12 2
+f 20 2 5
+f 20 5 12
+f 21 14 6
+f 21 11 14
+f 22 6 15
+f 22 15 2
+f 22 2 12
+f 23 4 17
+f 23 18 4
+f 23 19 18
+f 24 16 11
+f 24 11 21
+f 24 21 6
+f 25 23 17
+f 25 17 16
+f 25 16 23
+f 26 19 23
+f 26 22 12
+f 26 12 19
+f 26 23 16
+f 26 16 24
+f 26 24 6
+f 26 6 22
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_0/collision/model_normalized_collision_5.obj b/objects/objaverse/bar/bar_0/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ef66eaed844647bddcfc9535044d513d41c5856
--- /dev/null
+++ b/objects/objaverse/bar/bar_0/collision/model_normalized_collision_5.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.34804073 -0.05997100 0.02662642
+v 0.35491662 -0.01858150 0.12169882
+v 0.26311929 -0.02002600 0.16124177
+v 0.26521908 0.11654554 0.14377899
+v 0.34425426 0.07950885 0.01262703
+v 0.34110720 0.06852710 0.18201247
+v 0.32234851 -0.01784260 0.14573110
+v 0.26759557 0.09059917 0.00784804
+v 0.26515221 0.02319277 0.18355918
+v 0.31060257 0.11698766 0.14346430
+v 0.33632519 -0.00776036 0.16242348
+v 0.26922166 -0.07208429 0.03186601
+v 0.26578651 0.08744694 0.16756687
+v 0.35337961 -0.01372138 0.13486608
+v 0.34099398 0.02216646 0.18388516
+v 0.27809695 -0.01854113 0.16061004
+v 0.31131557 0.08719705 0.16982540
+v 0.32577002 0.02215887 0.18381232
+v 0.34140061 0.03662979 0.18281291
+f 5 2 1
+f 6 2 5
+f 8 5 1
+f 8 3 4
+f 9 4 3
+f 10 6 5
+f 10 8 4
+f 10 5 8
+f 11 7 1
+f 12 1 7
+f 12 8 1
+f 12 3 8
+f 13 9 6
+f 13 4 9
+f 14 11 1
+f 14 1 2
+f 14 2 6
+f 15 6 9
+f 15 3 11
+f 15 11 14
+f 16 11 3
+f 16 7 11
+f 16 12 7
+f 16 3 12
+f 17 10 4
+f 17 4 13
+f 17 13 6
+f 17 6 10
+f 18 15 9
+f 18 9 3
+f 18 3 15
+f 19 15 14
+f 19 14 6
+f 19 6 15
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_0/collision/model_normalized_collision_6.obj b/objects/objaverse/bar/bar_0/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f8e8714067f7b4b8ffea7e9dff13b239cbf71e7
--- /dev/null
+++ b/objects/objaverse/bar/bar_0/collision/model_normalized_collision_6.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.34110014 -0.10682270 -0.14406562
+v 0.39836613 -0.03479091 0.01659514
+v 0.37386493 -0.06854675 -0.01975971
+v 0.38016831 -0.03029374 0.05930788
+v 0.26556016 -0.04218995 -0.17720287
+v 0.37352847 -0.03753644 0.05589732
+v 0.34076898 -0.04172834 -0.17658010
+v 0.39303657 -0.04084729 0.01352326
+v 0.26325521 -0.08194328 0.01031475
+v 0.26538088 -0.10640976 -0.14569190
+v 0.39146288 -0.02852288 0.04190938
+v 0.37131867 -0.06492587 -0.00508620
+v 0.33615710 -0.08296597 -0.01927630
+v 0.26744190 -0.05691518 0.07034750
+v 0.34985583 -0.04801380 0.05459588
+v 0.26441123 -0.06137300 0.06005050
+v 0.29320359 -0.07894234 0.00904367
+v 0.36469791 -0.06229633 0.00851807
+v 0.26351127 -0.06875328 0.04180151
+v 0.30726843 -0.06380812 0.03980078
+v 0.32257629 -0.08012829 -0.00558584
+f 1 2 3
+f 7 2 1
+f 8 3 2
+f 8 2 4
+f 8 4 6
+f 10 7 1
+f 10 5 7
+f 10 9 5
+f 10 1 9
+f 11 7 5
+f 11 5 4
+f 11 4 2
+f 11 2 7
+f 12 8 6
+f 12 3 8
+f 13 9 1
+f 13 1 3
+f 13 3 12
+f 14 6 4
+f 14 4 5
+f 15 6 14
+f 16 14 5
+f 16 9 14
+f 17 14 9
+f 17 9 13
+f 18 15 13
+f 18 13 12
+f 18 12 6
+f 18 6 15
+f 19 16 5
+f 19 5 9
+f 19 9 16
+f 20 15 14
+f 20 14 17
+f 21 20 17
+f 21 17 13
+f 21 13 15
+f 21 15 20
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_0/collision/model_normalized_collision_7.obj b/objects/objaverse/bar/bar_0/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..79e547d3d78ee3b63cb91008e6cd475c1ae344b1
--- /dev/null
+++ b/objects/objaverse/bar/bar_0/collision/model_normalized_collision_7.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.40797918 0.05822748 0.07455060
+v 0.40324935 0.05599291 0.06151369
+v 0.30834269 0.11602293 0.08334677
+v 0.05278483 0.12146743 0.08093752
+v 0.05374072 0.09129884 0.00779047
+v 0.39047909 0.08341235 0.08224782
+v 0.05252142 0.09792843 0.02378757
+v 0.34425426 0.07950885 0.01262703
+v 0.36713661 0.10094531 0.08315055
+v 0.38785499 0.08154083 0.07155511
+v 0.24915965 0.11078989 0.05473880
+v 0.33686242 0.08579611 0.02235703
+v 0.36561172 0.09601136 0.07003196
+v 0.15938790 0.11093639 0.05487886
+v 0.29332204 0.09471221 0.02481294
+v 0.32266534 0.09573276 0.03955295
+f 5 2 1
+f 6 4 1
+f 7 5 1
+f 7 1 4
+f 8 2 5
+f 9 3 4
+f 9 4 6
+f 10 6 1
+f 10 1 2
+f 10 2 8
+f 10 9 6
+f 11 4 3
+f 12 9 8
+f 12 3 9
+f 13 10 8
+f 13 8 9
+f 13 9 10
+f 14 7 4
+f 14 4 11
+f 14 11 5
+f 14 5 7
+f 15 8 5
+f 15 5 11
+f 15 12 8
+f 15 11 3
+f 16 15 3
+f 16 3 12
+f 16 12 15
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_0/collision/model_normalized_collision_8.obj b/objects/objaverse/bar/bar_0/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..055fe966fb1a367fa2adb55e5ce1897f3e88631c
--- /dev/null
+++ b/objects/objaverse/bar/bar_0/collision/model_normalized_collision_8.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v 0.34110720 0.06852710 0.18201247
+v 0.35016673 0.09896347 0.06567913
+v 0.32440134 0.12731798 0.13079236
+v -0.35301697 0.11430994 0.13112548
+v -0.36238646 0.07744369 0.04362454
+v -0.35767816 0.07531345 0.17372497
+v 0.34067049 0.11766842 0.14265266
+v 0.00746863 0.11665158 0.06777391
+v -0.35690755 0.06771304 0.17682799
+v 0.34247985 0.08763475 0.17173645
+v -0.24880018 0.12681639 0.12590404
+v 0.29331715 0.12553089 0.10021740
+v -0.28482215 0.09583559 0.03658942
+v -0.24943605 0.11556654 0.13706722
+v 0.32257170 0.12593012 0.11423825
+v -0.27877408 0.12783362 0.11910913
+v -0.32003914 0.11009834 0.08585844
+v 0.33542102 0.11155881 0.08510019
+v -0.26282497 0.12508136 0.10045565
+v -0.32057731 0.09672308 0.05445155
+v -0.35104432 0.11194077 0.11385200
+v -0.27834272 0.12726749 0.11100989
+v -0.35235544 0.08646951 0.05244337
+f 5 2 1
+f 6 4 5
+f 7 2 3
+f 9 6 5
+f 9 5 1
+f 9 1 6
+f 10 1 2
+f 10 2 7
+f 10 6 1
+f 11 7 3
+f 11 4 6
+f 12 2 8
+f 13 8 2
+f 13 2 5
+f 14 10 7
+f 14 7 11
+f 14 11 6
+f 14 6 10
+f 15 12 3
+f 15 3 2
+f 16 11 3
+f 16 3 12
+f 16 4 11
+f 18 15 2
+f 18 2 12
+f 18 12 15
+f 19 12 8
+f 19 8 13
+f 20 17 13
+f 21 5 4
+f 22 16 12
+f 22 12 19
+f 22 17 21
+f 22 21 4
+f 22 4 16
+f 22 19 13
+f 22 13 17
+f 23 20 13
+f 23 13 5
+f 23 5 21
+f 23 21 17
+f 23 17 20
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_0/collision/model_normalized_collision_9.obj b/objects/objaverse/bar/bar_0/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6dac037876d278b7dff499443c361efe1bf4e741
--- /dev/null
+++ b/objects/objaverse/bar/bar_0/collision/model_normalized_collision_9.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.00759545 -0.12596917 -0.08990717
+v 0.00768599 -0.11529149 -0.06400651
+v -0.35336261 -0.10488354 -0.09238229
+v -0.39195707 -0.00485251 -0.09680936
+v 0.00757575 -0.03738300 -0.08894947
+v -0.39678955 -0.03296333 0.00101749
+v -0.32188596 -0.11490403 -0.09453873
+v -0.41447162 -0.03153880 -0.03079641
+v 0.00720824 -0.08072305 0.01982849
+v -0.32035738 -0.07924252 -0.00581165
+v -0.41149626 -0.02722170 -0.01682207
+v -0.38938766 -0.04119217 -0.00045819
+v 0.00764746 -0.08953166 -0.00152733
+v -0.18955125 -0.10997501 -0.05095160
+v -0.35921259 -0.06568394 -0.00466169
+v 0.00771216 -0.09707275 -0.01981657
+v -0.26314750 -0.09425775 -0.02064993
+v -0.21880524 -0.10955478 -0.05089701
+v -0.35072796 -0.09464662 -0.06599854
+v -0.29236543 -0.10884178 -0.06682805
+f 5 2 1
+f 5 1 4
+f 6 5 4
+f 7 3 4
+f 7 4 1
+f 8 4 3
+f 9 5 6
+f 10 3 7
+f 11 8 6
+f 11 6 4
+f 11 4 8
+f 12 8 3
+f 12 6 8
+f 12 9 6
+f 13 5 9
+f 14 1 2
+f 14 13 9
+f 15 12 3
+f 15 10 9
+f 15 9 12
+f 16 2 5
+f 16 5 13
+f 16 14 2
+f 16 13 14
+f 17 9 10
+f 18 7 1
+f 18 1 14
+f 18 14 9
+f 18 9 17
+f 19 15 3
+f 19 3 10
+f 19 10 15
+f 20 17 10
+f 20 10 7
+f 20 18 17
+f 20 7 18
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_0/model.xml b/objects/objaverse/bar/bar_0/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..0ae6f24f7de4347c7cbc15b4cc93bf35f299afbf
--- /dev/null
+++ b/objects/objaverse/bar/bar_0/model.xml
@@ -0,0 +1,81 @@
+<mujoco model="bar_0">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.18 0.18 0.18" refquat="-0.5879378012096791 -0.39284747919355084 -0.3928474791935509 0.5879378012096791"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.18 0.18 0.18" refquat="-0.5879378012096791 -0.39284747919355084 -0.3928474791935509 0.5879378012096791"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.18 0.18 0.18" refquat="-0.5879378012096791 -0.39284747919355084 -0.3928474791935509 0.5879378012096791"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.18 0.18 0.18" refquat="-0.5879378012096791 -0.39284747919355084 -0.3928474791935509 0.5879378012096791"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.18 0.18 0.18" refquat="-0.5879378012096791 -0.39284747919355084 -0.3928474791935509 0.5879378012096791"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.18 0.18 0.18" refquat="-0.5879378012096791 -0.39284747919355084 -0.3928474791935509 0.5879378012096791"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.18 0.18 0.18" refquat="-0.5879378012096791 -0.39284747919355084 -0.3928474791935509 0.5879378012096791"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.18 0.18 0.18" refquat="-0.5879378012096791 -0.39284747919355084 -0.3928474791935509 0.5879378012096791"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.18 0.18 0.18" refquat="-0.5879378012096791 -0.39284747919355084 -0.3928474791935509 0.5879378012096791"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.18 0.18 0.18" refquat="-0.5879378012096791 -0.39284747919355084 -0.3928474791935509 0.5879378012096791"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.18 0.18 0.18" refquat="-0.5879378012096791 -0.39284747919355084 -0.3928474791935509 0.5879378012096791"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.18 0.18 0.18" refquat="-0.5879378012096791 -0.39284747919355084 -0.3928474791935509 0.5879378012096791"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.18 0.18 0.18" refquat="-0.5879378012096791 -0.39284747919355084 -0.3928474791935509 0.5879378012096791"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.18 0.18 0.18" refquat="-0.5879378012096791 -0.39284747919355084 -0.3928474791935509 0.5879378012096791"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.18 0.18 0.18" refquat="-0.5879378012096791 -0.39284747919355084 -0.3928474791935509 0.5879378012096791"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.18 0.18 0.18" refquat="-0.5879378012096791 -0.39284747919355084 -0.3928474791935509 0.5879378012096791"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.18 0.18 0.18" refquat="-0.5879378012096791 -0.39284747919355084 -0.3928474791935509 0.5879378012096791"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.18 0.18 0.18" refquat="-0.5879378012096791 -0.39284747919355084 -0.3928474791935509 0.5879378012096791"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.18 0.18 0.18" refquat="-0.5879378012096791 -0.39284747919355084 -0.3928474791935509 0.5879378012096791"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.18 0.18 0.18" refquat="-0.5879378012096791 -0.39284747919355084 -0.3928474791935509 0.5879378012096791"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.18 0.18 0.18" refquat="-0.5879378012096791 -0.39284747919355084 -0.3928474791935509 0.5879378012096791"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.18 0.18 0.18" refquat="-0.5879378012096791 -0.39284747919355084 -0.3928474791935509 0.5879378012096791"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.18 0.18 0.18" refquat="-0.5879378012096791 -0.39284747919355084 -0.3928474791935509 0.5879378012096791"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.18 0.18 0.18" refquat="-0.5879378012096791 -0.39284747919355084 -0.3928474791935509 0.5879378012096791"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.18 0.18 0.18" refquat="-0.5879378012096791 -0.39284747919355084 -0.3928474791935509 0.5879378012096791"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.18 0.18 0.18" refquat="-0.5879378012096791 -0.39284747919355084 -0.3928474791935509 0.5879378012096791"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.18 0.18 0.18" refquat="-0.5879378012096791 -0.39284747919355084 -0.3928474791935509 0.5879378012096791"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.18 0.18 0.18" refquat="-0.5879378012096791 -0.39284747919355084 -0.3928474791935509 0.5879378012096791"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.18 0.18 0.18" refquat="-0.5879378012096791 -0.39284747919355084 -0.3928474791935509 0.5879378012096791"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.18 0.18 0.18" refquat="-0.5879378012096791 -0.39284747919355084 -0.3928474791935509 0.5879378012096791"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.18 0.18 0.18" refquat="-0.5879378012096791 -0.39284747919355084 -0.3928474791935509 0.5879378012096791"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.18 0.18 0.18" refquat="-0.5879378012096791 -0.39284747919355084 -0.3928474791935509 0.5879378012096791"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.18 0.18 0.18" refquat="-0.5879378012096791 -0.39284747919355084 -0.3928474791935509 0.5879378012096791"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="kek05" texture="image0" specular="0.5" shininess="0.015474505000000001"/>
+  </asset>
+  <worldbody>
+    <body>
+      <body name="object">
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_0_vis" conaffinity="0" contype="0" group="1" material="kek05"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_22._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_23._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_21._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_20._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_24._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
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+    </body>
+  </worldbody>
+</mujoco>
diff --git a/objects/objaverse/bar/bar_6/visual/model_normalized_0.obj b/objects/objaverse/bar/bar_6/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..10c3f179b901319902d1091fb648431e4cc9699b
--- /dev/null
+++ b/objects/objaverse/bar/bar_6/visual/model_normalized_0.obj
@@ -0,0 +1,97353 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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+f 25971/25971/25971 25972/25972/25972 25969/25969/25969
+f 25955/25955/25955 25971/25971/25971 25969/25969/25969
+f 25973/25973/25973 25974/25974/25974 25971/25971/25971
+f 25955/25955/25955 25973/25973/25973 25971/25971/25971
+f 25975/25975/25975 25976/25976/25976 25973/25973/25973
+f 25955/25955/25955 25975/25975/25975 25973/25973/25973
+f 25953/25953/25953 25955/25955/25955 25977/25977/25977
+f 25977/25977/25977 25955/25955/25955 25978/25978/25978
+f 25979/25979/25979 25980/25980/25980 25981/25981/25981
+f 25982/25982/25982 25979/25979/25979 25981/25981/25981
+f 25983/25983/25983 25980/25980/25980 25979/25979/25979
+f 25984/25984/25984 25983/25983/25983 25979/25979/25979
+f 25985/25985/25985 25980/25980/25980 25983/25983/25983
+f 25986/25986/25986 25985/25985/25985 25983/25983/25983
+f 25987/25987/25987 25980/25980/25980 25985/25985/25985
+f 25988/25988/25988 25987/25987/25987 25985/25985/25985
+f 25989/25989/25989 25980/25980/25980 25987/25987/25987
+f 25990/25990/25990 25989/25989/25989 25987/25987/25987
+f 25991/25991/25991 25992/25992/25992 25981/25981/25981
+f 25951/25951/25951 25991/25991/25991 25981/25981/25981
+f 25993/25993/25993 25994/25994/25994 25991/25991/25991
+f 25951/25951/25951 25993/25993/25993 25991/25991/25991
+f 25995/25995/25995 25996/25996/25996 25993/25993/25993
+f 25951/25951/25951 25995/25995/25995 25993/25993/25993
+f 25997/25997/25997 25998/25998/25998 25995/25995/25995
+f 25951/25951/25951 25997/25997/25997 25995/25995/25995
+f 25965/25965/25965 25999/25999/25999 25997/25997/25997
+f 25951/25951/25951 25965/25965/25965 25997/25997/25997
+f 26000/26000/26000 25951/25951/25951 25981/25981/25981
+f 25980/25980/25980 26000/26000/26000 25981/25981/25981
+f 26001/26001/26001 25951/25951/25951 26000/26000/26000
+f 25980/25980/25980 26001/26001/26001 26000/26000/26000
+f 26002/26002/26002 25951/25951/25951 26001/26001/26001
+f 25980/25980/25980 26002/26002/26002 26001/26001/26001
+f 26003/26003/26003 25951/25951/25951 26002/26002/26002
+f 25980/25980/25980 26003/26003/26003 26002/26002/26002
+f 26004/26004/26004 25951/25951/25951 26003/26003/26003
+f 25980/25980/25980 26004/26004/26004 26003/26003/26003
+f 25978/25978/25978 25955/25955/25955 26005/26005/26005
+f 26006/26006/26006 26007/26007/26007 26008/26008/26008
+f 25954/25954/25954 26006/26006/26006 26008/26008/26008
+f 26009/26009/26009 26010/26010/26010 26006/26006/26006
+f 25954/25954/25954 26009/26009/26009 26006/26006/26006
+f 26011/26011/26011 26012/26012/26012 26009/26009/26009
+f 25954/25954/25954 26011/26011/26011 26009/26009/26009
+f 26013/26013/26013 26014/26014/26014 26011/26011/26011
+f 25954/25954/25954 26013/26013/26013 26011/26011/26011
+f 26015/26015/26015 26016/26016/26016 26013/26013/26013
+f 25954/25954/25954 26015/26015/26015 26013/26013/26013
+f 25955/25955/25955 25954/25954/25954 26008/26008/26008
+f 26017/26017/26017 25955/25955/25955 26008/26008/26008
+f 26018/26018/26018 26017/26017/26017 26008/26008/26008
+f 26019/26019/26019 25955/25955/25955 26017/26017/26017
+f 26020/26020/26020 26019/26019/26019 26017/26017/26017
+f 26021/26021/26021 25955/25955/25955 26019/26019/26019
+f 26022/26022/26022 26021/26021/26021 26019/26019/26019
+f 26023/26023/26023 25955/25955/25955 26021/26021/26021
+f 26024/26024/26024 26023/26023/26023 26021/26021/26021
+f 25975/25975/25975 25955/25955/25955 26023/26023/26023
+f 26025/26025/26025 25975/25975/25975 26023/26023/26023
+f 26026/26026/26026 25953/25953/25953 25977/25977/25977
+f 25953/25953/25953 26026/26026/26026 26027/26027/26027
+f 26028/26028/26028 25951/25951/25951 25950/25950/25950
+f 25951/25951/25951 26028/26028/26028 25955/25955/25955
+f 25955/25955/25955 26028/26028/26028 26005/26005/26005
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_8/collision/model_normalized_collision_0.obj b/objects/objaverse/bar/bar_8/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..68206bee55f991e4034e23f0dfcf20179a499393
--- /dev/null
+++ b/objects/objaverse/bar/bar_8/collision/model_normalized_collision_0.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v -0.02121057 0.15756714 0.12774641
+v -0.01687151 0.16026008 0.12085557
+v -0.03607648 0.46212688 0.11139578
+v -0.04541946 0.46127177 0.10821375
+v -0.08497507 0.23504340 0.06821112
+v -0.04167557 0.45709577 0.11161517
+v -0.01490584 0.27995886 0.10696041
+v -0.07955449 0.16048898 0.08213283
+v -0.07433018 0.35901351 0.06899528
+v -0.03711096 0.45920135 0.11211808
+v -0.00990020 0.21942447 0.10631234
+v -0.07953206 0.32285052 0.08451983
+v -0.07839950 0.33792623 0.06735738
+v -0.07836604 0.15766975 0.09375083
+v -0.07944473 0.33912623 0.07921284
+v -0.08488491 0.23471835 0.06930198
+v -0.05287370 0.21487075 0.11317880
+v -0.07521162 0.35541203 0.06862650
+v -0.08252959 0.31273564 0.06943859
+v -0.04040473 0.16218723 0.11983603
+f 6 3 4
+f 7 3 1
+f 8 2 1
+f 9 4 3
+f 9 3 7
+f 10 6 1
+f 10 1 3
+f 10 3 6
+f 11 7 1
+f 11 1 2
+f 11 9 7
+f 11 8 5
+f 11 2 8
+f 13 11 5
+f 13 9 11
+f 14 8 1
+f 14 4 12
+f 15 12 4
+f 15 4 9
+f 16 14 12
+f 16 5 8
+f 16 8 14
+f 17 6 4
+f 17 4 14
+f 18 15 9
+f 18 9 13
+f 18 13 15
+f 19 15 13
+f 19 13 5
+f 19 5 16
+f 19 16 12
+f 19 12 15
+f 20 17 14
+f 20 14 1
+f 20 1 6
+f 20 6 17
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_8/collision/model_normalized_collision_1.obj b/objects/objaverse/bar/bar_8/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..600da60cf2c0806b363b8df5fe0523b3073b3b8d
--- /dev/null
+++ b/objects/objaverse/bar/bar_8/collision/model_normalized_collision_1.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.07237570 -0.48383239 0.19371693
+v 0.07525645 -0.48084682 0.11061613
+v 0.08021743 -0.38602058 0.10248382
+v -0.02104150 -0.38507709 0.14001683
+v -0.00514459 -0.48724066 0.11665254
+v 0.06369418 -0.38870776 0.17431648
+v 0.06389972 -0.48462758 0.09357922
+v -0.00840279 -0.47954195 0.15187195
+v -0.02216025 -0.38266187 0.11399843
+v 0.07248727 -0.38790515 0.16480175
+v 0.04580672 -0.38770196 0.17709834
+v 0.07754687 -0.38662947 0.09674270
+v 0.06558420 -0.48044010 0.19570722
+v 0.06996958 -0.43360374 0.09401762
+f 1 2 3
+f 7 2 1
+f 7 1 5
+f 8 5 1
+f 9 7 5
+f 9 8 4
+f 9 5 8
+f 10 6 1
+f 10 1 3
+f 10 3 9
+f 11 9 4
+f 11 10 9
+f 11 6 10
+f 12 3 2
+f 12 2 7
+f 12 9 3
+f 13 1 6
+f 13 6 11
+f 13 8 1
+f 13 11 4
+f 13 4 8
+f 14 12 7
+f 14 7 9
+f 14 9 12
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_8/collision/model_normalized_collision_10.obj b/objects/objaverse/bar/bar_8/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6a68c0052bc88467a3a97b2211d00db5dd8252d7
--- /dev/null
+++ b/objects/objaverse/bar/bar_8/collision/model_normalized_collision_10.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.03342954 -0.49490539 -0.01948212
+v 0.02578309 -0.49847470 -0.06441930
+v 0.02786348 -0.39765713 -0.05123190
+v -0.02821187 -0.39834973 -0.05342731
+v -0.01706492 -0.49376679 -0.01857669
+v 0.00438294 -0.40167867 -0.08729056
+v -0.02089054 -0.49694885 -0.09091007
+v 0.03278844 -0.41757275 0.00633898
+v 0.02003423 -0.50000002 -0.08894182
+v -0.02582332 -0.39960803 -0.08694116
+v 0.03328211 -0.43075977 0.00735647
+v 0.03264862 -0.39696762 -0.02052598
+v 0.00611301 -0.49963135 -0.09930457
+v 0.03190212 -0.40378646 -0.00765226
+v -0.01115065 -0.49809454 -0.09701284
+f 1 2 3
+f 5 2 1
+f 7 5 4
+f 8 4 5
+f 9 6 3
+f 9 3 2
+f 9 2 5
+f 10 4 3
+f 10 3 6
+f 10 7 4
+f 11 8 5
+f 11 5 1
+f 12 1 3
+f 12 3 4
+f 12 11 1
+f 12 8 11
+f 13 6 9
+f 13 10 6
+f 13 9 5
+f 14 12 4
+f 14 4 8
+f 14 8 12
+f 15 7 10
+f 15 10 13
+f 15 13 5
+f 15 5 7
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_8/collision/model_normalized_collision_11.obj b/objects/objaverse/bar/bar_8/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..066d3a6c46f18ca3828c7d791dccfcccd1f858c8
--- /dev/null
+++ b/objects/objaverse/bar/bar_8/collision/model_normalized_collision_11.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v 0.02171064 0.05129313 -0.05377141
+v 0.02244040 0.05374485 -0.05164692
+v 0.03568085 0.11246656 0.05416795
+v 0.01057232 0.24065880 0.03225206
+v -0.03532562 0.23603911 -0.15558561
+v 0.00777391 0.18636954 -0.06385498
+v -0.03879791 0.16001158 -0.14710920
+v 0.02368894 0.12707137 -0.01903001
+v 0.02394853 0.17376046 0.01137727
+v -0.00685855 0.22799719 -0.09292863
+v 0.00086597 0.05360630 -0.11770332
+v 0.02635104 0.14548957 0.06027799
+v 0.01466392 0.23486235 0.05439766
+v 0.03177290 0.09740935 0.01132095
+v 0.00920882 0.06762182 -0.10645268
+v -0.02073953 0.23790582 -0.11532661
+v 0.00804169 0.22867023 -0.02228584
+v -0.02092357 0.09913812 -0.13484747
+v 0.02905538 0.16711966 0.05112852
+v 0.03595552 0.11439225 0.05355318
+v 0.01037823 0.05359533 -0.10536486
+v -0.00648830 0.17213100 -0.12266565
+v -0.02022329 0.22961237 -0.13379768
+v 0.01519298 0.23479839 0.05161699
+v -0.01017016 0.09670378 -0.12983728
+v -0.00701527 0.05319001 -0.12326830
+v -0.03119631 0.23254596 -0.15079923
+f 1 2 3
+f 9 8 6
+f 13 4 5
+f 13 5 7
+f 13 7 12
+f 14 3 2
+f 14 2 8
+f 14 8 9
+f 15 8 2
+f 15 6 8
+f 16 5 4
+f 16 4 10
+f 17 9 6
+f 17 6 10
+f 17 10 4
+f 18 7 5
+f 19 13 12
+f 20 14 9
+f 20 3 14
+f 20 9 19
+f 20 19 12
+f 20 12 3
+f 21 15 2
+f 21 2 1
+f 21 11 15
+f 22 10 6
+f 22 6 15
+f 22 15 11
+f 23 16 10
+f 23 5 16
+f 23 10 22
+f 24 9 17
+f 24 19 9
+f 24 13 19
+f 24 17 4
+f 24 4 13
+f 25 18 5
+f 25 22 11
+f 26 12 7
+f 26 7 18
+f 26 3 12
+f 26 1 3
+f 26 21 1
+f 26 11 21
+f 26 25 11
+f 26 18 25
+f 27 23 22
+f 27 5 23
+f 27 25 5
+f 27 22 25
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_8/collision/model_normalized_collision_12.obj b/objects/objaverse/bar/bar_8/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..03f51557e05fa80890a22bad05ed9e6689850689
--- /dev/null
+++ b/objects/objaverse/bar/bar_8/collision/model_normalized_collision_12.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v -0.01472259 -0.05325936 0.13900143
+v -0.00316098 -0.01087297 0.13659180
+v -0.02121057 0.15756714 0.12774641
+v -0.04040473 0.16218723 0.11983603
+v -0.06839897 -0.05233499 0.08129338
+v -0.02146800 0.12499172 0.12986032
+v -0.00293240 -0.00246891 0.13318985
+v -0.06073772 -0.05415873 0.11928604
+v -0.07917348 0.15911357 0.08406567
+v 0.00215257 0.09970624 0.12017787
+v -0.06664420 -0.05391899 0.08789294
+v -0.01687151 0.16026008 0.12085557
+v -0.07544609 0.15911485 0.09834565
+v -0.06671820 0.00559551 0.11307383
+v -0.01229535 0.12226768 0.12712311
+v -0.02200836 -0.05435009 0.13240325
+v -0.05682918 0.16076301 0.09927576
+v -0.00677287 0.12784981 0.12263507
+f 6 3 4
+f 6 1 2
+f 6 2 3
+f 7 2 1
+f 7 1 5
+f 8 6 4
+f 8 1 6
+f 10 2 7
+f 10 7 5
+f 10 5 9
+f 11 8 5
+f 12 4 3
+f 12 10 9
+f 13 4 9
+f 14 9 5
+f 14 5 8
+f 14 13 9
+f 14 8 4
+f 14 4 13
+f 15 3 2
+f 15 2 10
+f 16 11 5
+f 16 5 1
+f 16 1 8
+f 16 8 11
+f 17 12 9
+f 17 9 4
+f 17 4 12
+f 18 12 3
+f 18 10 12
+f 18 15 10
+f 18 3 15
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_8/collision/model_normalized_collision_13.obj b/objects/objaverse/bar/bar_8/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cd40efa43321c42b59e21b612185ea5ef1d5ec3a
--- /dev/null
+++ b/objects/objaverse/bar/bar_8/collision/model_normalized_collision_13.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v -0.00497023 -0.44704961 0.14526611
+v -0.01341408 -0.44695604 -0.05268241
+v -0.00596597 -0.43200006 0.14433938
+v -0.03058680 -0.34030331 0.12880032
+v -0.04768307 -0.34059755 -0.03727033
+v -0.02045943 -0.41076290 -0.04887371
+v -0.00641888 -0.43078494 0.14660104
+v -0.01332436 -0.44699421 -0.05152058
+v -0.00561628 -0.44716106 0.14374477
+v -0.02944108 -0.34281685 0.13191943
+v -0.03695915 -0.34577033 0.04036775
+v -0.03377835 -0.38627685 -0.05231190
+v -0.03404489 -0.33839414 0.11129906
+v -0.02185630 -0.40972218 -0.05392645
+v -0.04672374 -0.34398082 -0.03579827
+v -0.03098956 -0.35193352 0.11184714
+f 7 1 3
+f 8 3 1
+f 8 6 3
+f 8 2 6
+f 9 8 1
+f 9 2 8
+f 10 6 4
+f 10 3 6
+f 10 7 3
+f 10 1 7
+f 10 9 1
+f 10 4 9
+f 11 6 5
+f 11 5 4
+f 11 4 6
+f 12 2 9
+f 13 9 4
+f 13 4 5
+f 14 6 2
+f 14 2 12
+f 14 12 5
+f 14 5 6
+f 15 12 9
+f 15 9 5
+f 15 5 12
+f 16 13 5
+f 16 5 9
+f 16 9 13
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_8/collision/model_normalized_collision_14.obj b/objects/objaverse/bar/bar_8/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..158525cf3236d7eb1763d834a5f4dc9d5ccb2835
--- /dev/null
+++ b/objects/objaverse/bar/bar_8/collision/model_normalized_collision_14.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.01066539 0.23341173 0.07663619
+v 0.00044662 0.22947632 -0.06442678
+v -0.00746759 0.27668468 -0.03528387
+v -0.02067377 0.28057167 0.10975278
+v -0.01938746 0.23466066 0.11295375
+v -0.00384982 0.28176224 0.09196902
+v 0.00952753 0.26231758 0.04454742
+v 0.01534616 0.22930760 0.02809563
+v -0.03532562 0.23603911 -0.15558561
+v -0.03603127 0.28039701 -0.15668173
+v -0.00416788 0.23915246 0.10379048
+v 0.01038840 0.25872571 0.06305697
+v -0.01966985 0.22963260 -0.12774311
+v -0.01567594 0.27999481 -0.07469612
+v -0.01148894 0.28184932 0.10506570
+v 0.00821374 0.25004965 0.07537537
+v -0.03119631 0.23254596 -0.15079923
+v -0.03543669 0.27759855 -0.15577405
+f 7 2 3
+f 7 3 6
+f 8 1 5
+f 8 2 7
+f 9 5 4
+f 10 9 4
+f 11 5 1
+f 11 1 6
+f 12 7 6
+f 12 8 7
+f 12 1 8
+f 13 8 5
+f 13 2 8
+f 13 10 2
+f 14 10 6
+f 14 6 3
+f 14 3 2
+f 14 2 10
+f 15 10 4
+f 15 6 10
+f 15 11 6
+f 15 4 5
+f 15 5 11
+f 16 12 6
+f 16 6 1
+f 16 1 12
+f 17 13 5
+f 17 5 9
+f 17 9 10
+f 18 17 10
+f 18 10 13
+f 18 13 17
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_8/collision/model_normalized_collision_15.obj b/objects/objaverse/bar/bar_8/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..24446e8e6a86f6826c69ae2f6b0878f17e826d9f
--- /dev/null
+++ b/objects/objaverse/bar/bar_8/collision/model_normalized_collision_15.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v -0.01602531 0.35283174 0.09070252
+v -0.03345751 0.35985600 -0.14208057
+v -0.04797047 0.42288986 -0.18173760
+v -0.04763809 0.41823099 0.10826153
+v -0.07290187 0.35398232 0.08235017
+v -0.03391493 0.41718533 0.07190393
+v -0.02079328 0.37717230 0.04307391
+v -0.06109955 0.35371241 -0.17679147
+v -0.05166592 0.35745796 0.10228291
+v -0.06353343 0.41568788 -0.18496286
+v -0.03271259 0.40710383 0.10929106
+v -0.01873142 0.35127421 0.03121355
+v -0.03289202 0.36786521 -0.14357219
+v -0.04334435 0.36096032 -0.17825091
+v -0.02595761 0.35470520 0.10478875
+v -0.06039888 0.41396845 0.07539432
+v -0.02382781 0.38266798 0.09632659
+v -0.04692417 0.38851882 -0.18723394
+v -0.05147689 0.41864382 -0.19148594
+v -0.05836330 0.41805574 -0.19177460
+v -0.06057257 0.39166100 -0.18681506
+f 6 3 4
+f 7 3 6
+f 9 4 5
+f 10 8 5
+f 11 6 4
+f 11 4 9
+f 12 7 1
+f 12 8 2
+f 12 1 5
+f 12 5 8
+f 13 3 7
+f 13 12 2
+f 13 7 12
+f 14 2 8
+f 14 13 2
+f 15 9 5
+f 15 5 1
+f 15 11 9
+f 15 1 11
+f 16 10 5
+f 16 5 4
+f 16 4 3
+f 16 3 10
+f 17 7 6
+f 17 6 11
+f 17 11 1
+f 17 1 7
+f 18 3 13
+f 18 13 14
+f 18 14 8
+f 19 3 18
+f 20 10 3
+f 20 3 19
+f 20 19 18
+f 21 8 10
+f 21 10 20
+f 21 20 18
+f 21 18 8
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_8/collision/model_normalized_collision_16.obj b/objects/objaverse/bar/bar_8/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f07d4353641f3f3c6f2e70ba6e4a629023383ef6
--- /dev/null
+++ b/objects/objaverse/bar/bar_8/collision/model_normalized_collision_16.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.03778863 -0.21977285 -0.06612769
+v 0.02839378 -0.22377825 -0.08065006
+v 0.01037823 0.05359533 -0.10536486
+v 0.01523145 0.05377585 -0.08422651
+v -0.00506454 -0.14336956 -0.10228951
+v 0.03130725 -0.08402527 -0.06329140
+v 0.02209422 -0.08197180 -0.09128859
+v 0.00917605 -0.21744309 -0.09108257
+v -0.00701527 0.05319001 -0.12326830
+v 0.01079100 0.05252830 -0.10439024
+v 0.01739722 0.05314315 -0.07962476
+v 0.00086597 0.05360630 -0.11770332
+v 0.00758520 -0.19894940 -0.09806654
+v 0.01621214 -0.19759070 -0.09455657
+v -0.00718024 -0.08417787 -0.11338527
+v 0.00316907 -0.08123749 -0.11052313
+f 7 1 2
+f 8 2 1
+f 8 6 5
+f 8 1 6
+f 10 6 1
+f 10 7 3
+f 10 1 7
+f 11 5 6
+f 11 9 5
+f 11 4 9
+f 11 6 10
+f 11 10 3
+f 11 3 4
+f 12 9 4
+f 12 4 3
+f 12 3 7
+f 13 8 5
+f 13 2 8
+f 14 12 7
+f 14 7 2
+f 14 2 13
+f 15 13 5
+f 15 5 9
+f 16 9 12
+f 16 12 14
+f 16 15 9
+f 16 14 13
+f 16 13 15
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_8/collision/model_normalized_collision_17.obj b/objects/objaverse/bar/bar_8/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..738e84b4389806ac686447beb7a8a8944843573f
--- /dev/null
+++ b/objects/objaverse/bar/bar_8/collision/model_normalized_collision_17.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.01897944 -0.44765265 -0.04995743
+v 0.03941862 -0.29670726 -0.06619966
+v 0.00917605 -0.21744309 -0.09108257
+v -0.03097018 -0.37399407 -0.07586792
+v 0.00482425 -0.41637111 -0.08826244
+v 0.02472755 -0.35354743 -0.08367185
+v -0.02504094 -0.40420589 -0.08511353
+v 0.04271979 -0.22065228 -0.04890630
+v 0.01164048 -0.45105123 -0.07202343
+v 0.02874163 -0.37611488 -0.05857563
+v 0.02839378 -0.22377825 -0.08065006
+v -0.02531438 -0.26612905 -0.08035358
+v -0.01814289 -0.40127104 -0.09159405
+v 0.04433844 -0.29170293 -0.04574630
+v 0.00727156 -0.44720817 -0.08050251
+v 0.03921614 -0.22003272 -0.06170912
+v -0.01451701 -0.26375020 -0.08610123
+v 0.02470490 -0.40857996 -0.05303390
+v 0.01153736 -0.41346860 -0.08362052
+v 0.04099697 -0.21873320 -0.05565578
+v 0.02275146 -0.21839929 -0.08318851
+f 6 5 3
+f 7 1 4
+f 8 4 1
+f 9 1 7
+f 10 6 2
+f 10 9 6
+f 10 1 9
+f 11 6 3
+f 11 2 6
+f 12 7 4
+f 12 8 3
+f 12 4 8
+f 13 3 5
+f 13 7 12
+f 14 8 1
+f 14 2 8
+f 14 10 2
+f 15 6 9
+f 15 13 5
+f 15 9 7
+f 15 7 13
+f 16 2 11
+f 17 13 12
+f 17 12 3
+f 17 3 13
+f 18 14 1
+f 18 1 10
+f 18 10 14
+f 19 15 5
+f 19 5 6
+f 19 6 15
+f 20 8 2
+f 20 2 16
+f 20 3 8
+f 21 16 11
+f 21 11 3
+f 21 20 16
+f 21 3 20
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_8/collision/model_normalized_collision_18.obj b/objects/objaverse/bar/bar_8/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b61710eca966f27fdf2b201ae4d4ac741a8136dc
--- /dev/null
+++ b/objects/objaverse/bar/bar_8/collision/model_normalized_collision_18.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.02944108 -0.34281685 0.13191943
+v -0.03432411 -0.34482605 0.10214126
+v -0.01791611 -0.26454391 0.13576388
+v -0.05256831 -0.14269526 0.11006347
+v -0.05235090 -0.26375770 0.08221704
+v -0.05065573 -0.14403409 0.11490012
+v -0.03690678 -0.33848928 0.09687032
+v -0.06075595 -0.14463887 0.08738850
+v -0.03033158 -0.15696713 0.12473824
+v -0.03161720 -0.33774033 0.12623891
+v -0.06192383 -0.14379872 0.08343560
+f 1 2 3
+f 6 1 3
+f 6 4 1
+f 7 2 1
+f 7 3 2
+f 8 5 1
+f 8 1 4
+f 9 6 3
+f 9 4 6
+f 9 7 5
+f 9 3 7
+f 10 7 1
+f 10 1 5
+f 10 5 7
+f 11 8 4
+f 11 4 9
+f 11 9 5
+f 11 5 8
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_8/collision/model_normalized_collision_19.obj b/objects/objaverse/bar/bar_8/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d66a2dc1d65f89bf865f27b23bbf5aebe973e7a9
--- /dev/null
+++ b/objects/objaverse/bar/bar_8/collision/model_normalized_collision_19.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v -0.03568284 -0.34134350 0.09956979
+v -0.02723875 -0.30730057 -0.06850346
+v -0.04176506 -0.26528184 0.10426174
+v -0.04798265 -0.26338712 0.09234202
+v -0.06401537 -0.28083162 -0.05005530
+v -0.03240396 -0.26421500 -0.07737837
+v -0.04599457 -0.29458218 0.09273716
+v -0.04672374 -0.34398082 -0.03579827
+v -0.06377277 -0.26235941 -0.04777572
+v -0.05613759 -0.30871383 -0.05651982
+v -0.06261377 -0.27753973 -0.02400788
+v -0.04307198 -0.26249477 -0.07260989
+v -0.04492306 -0.31132855 -0.06329292
+v -0.05054503 -0.33459402 -0.03798482
+v -0.03690678 -0.33848928 0.09687032
+v -0.06472060 -0.26322849 -0.02467175
+f 1 2 3
+f 6 3 2
+f 6 4 3
+f 7 1 3
+f 7 3 4
+f 8 2 1
+f 12 5 9
+f 12 10 5
+f 12 9 4
+f 12 4 6
+f 13 6 2
+f 13 2 8
+f 13 8 10
+f 13 12 6
+f 13 10 12
+f 14 10 8
+f 14 5 10
+f 14 11 5
+f 14 8 1
+f 15 1 7
+f 15 7 11
+f 15 14 1
+f 15 11 14
+f 16 11 7
+f 16 7 4
+f 16 4 9
+f 16 9 5
+f 16 5 11
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_8/collision/model_normalized_collision_2.obj b/objects/objaverse/bar/bar_8/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..941899cb5c17cec870c6cda38b9afec3e1d54533
--- /dev/null
+++ b/objects/objaverse/bar/bar_8/collision/model_normalized_collision_2.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v -0.07292750 0.03747726 0.08537853
+v -0.07397047 0.05248851 -0.09920146
+v -0.06469935 0.17446059 0.09613844
+v -0.08274354 0.31099393 0.06903573
+v -0.07873651 0.03859212 0.03832923
+v -0.08250973 0.28082792 -0.12809489
+v -0.08344005 0.23559923 0.08417720
+v -0.07603436 0.03749287 0.00831578
+v -0.08068411 0.31080751 -0.05235572
+v -0.08352186 0.23571916 -0.12566845
+v -0.07756268 0.06884364 0.06585761
+v -0.07787705 0.03848386 0.02466023
+v -0.08123826 0.30805970 -0.05167977
+v -0.08277744 0.23458360 -0.12874017
+v -0.07765505 0.07256630 -0.09315245
+v -0.08309953 0.30851916 0.06956972
+v -0.07328289 0.03816311 0.08319038
+v -0.07436015 0.05331259 -0.09694908
+v -0.08283335 0.27904126 -0.12720902
+f 1 2 3
+f 6 3 2
+f 7 1 3
+f 8 2 1
+f 8 1 5
+f 9 4 3
+f 9 3 6
+f 10 5 7
+f 11 7 5
+f 11 1 7
+f 12 8 5
+f 12 2 8
+f 13 9 6
+f 13 4 9
+f 14 6 2
+f 15 5 10
+f 15 14 2
+f 15 10 14
+f 16 10 7
+f 16 4 13
+f 16 7 3
+f 16 3 4
+f 17 11 5
+f 17 5 1
+f 17 1 11
+f 18 12 5
+f 18 2 12
+f 18 15 2
+f 18 5 15
+f 19 14 10
+f 19 6 14
+f 19 10 16
+f 19 16 13
+f 19 13 6
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_8/collision/model_normalized_collision_20.obj b/objects/objaverse/bar/bar_8/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..936f49ff22da74c0b6975d5773f32f99887396de
--- /dev/null
+++ b/objects/objaverse/bar/bar_8/collision/model_normalized_collision_20.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.07248727 -0.38790515 0.16480175
+v 0.08021743 -0.38602058 0.10248382
+v 0.06971832 -0.27116434 0.14002177
+v 0.04954557 -0.23250322 0.15338041
+v 0.05947902 -0.34154869 0.03761192
+v 0.05644885 -0.26535672 0.15941881
+v 0.07754687 -0.38662947 0.09674270
+v 0.06809692 -0.38709340 0.17160536
+v 0.06217031 -0.21908028 0.03981953
+v 0.05937006 -0.23444943 0.14645628
+v 0.06823185 -0.31999445 0.04553633
+v 0.06972370 -0.30079942 0.14971878
+v 0.07025477 -0.23689857 0.08607596
+v 0.06190382 -0.22000492 0.03805551
+v 0.06869255 -0.28088654 0.04220968
+v 0.06839753 -0.23980186 0.11055201
+f 1 2 3
+f 7 2 1
+f 8 4 5
+f 8 6 4
+f 8 7 1
+f 8 5 7
+f 10 4 6
+f 10 9 4
+f 11 7 5
+f 11 2 7
+f 12 8 1
+f 12 1 3
+f 12 6 8
+f 12 10 6
+f 12 3 10
+f 13 3 2
+f 13 9 10
+f 14 5 4
+f 14 4 9
+f 15 9 13
+f 15 14 9
+f 15 11 5
+f 15 5 14
+f 15 13 2
+f 15 2 11
+f 16 13 10
+f 16 10 3
+f 16 3 13
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_8/collision/model_normalized_collision_21.obj b/objects/objaverse/bar/bar_8/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d8a18e885721c460c6d88bff8f75d28ca7269ec2
--- /dev/null
+++ b/objects/objaverse/bar/bar_8/collision/model_normalized_collision_21.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.02393390 -0.40288640 0.14816707
+v 0.07820788 -0.37071129 0.14785694
+v 0.04580672 -0.38770196 0.17709834
+v -0.02947952 -0.26474718 0.13623954
+v -0.02212956 -0.38157614 0.13006619
+v 0.05462535 -0.26404391 0.15986667
+v 0.07434524 -0.38623054 0.16091720
+v 0.06992078 -0.26604963 0.12861878
+v -0.02104150 -0.38507709 0.14001683
+v 0.01811004 -0.26138005 0.15820752
+v 0.06369418 -0.38870776 0.17431648
+v 0.06364566 -0.26723086 0.15208832
+v -0.03061633 -0.26503471 0.12893609
+v 0.07682121 -0.30999511 0.13059786
+v 0.01138601 -0.40139874 0.14599093
+v -0.02650020 -0.30221751 0.14313697
+v 0.04416295 -0.35805335 0.17300228
+v -0.02073182 -0.36810535 0.14419296
+f 5 2 1
+f 7 1 2
+f 10 6 8
+f 11 3 1
+f 11 1 7
+f 11 6 3
+f 12 7 2
+f 12 11 7
+f 12 6 11
+f 12 8 6
+f 13 8 5
+f 13 10 8
+f 13 4 10
+f 13 5 9
+f 14 2 5
+f 14 5 8
+f 14 12 2
+f 14 8 12
+f 15 9 5
+f 15 5 1
+f 15 1 3
+f 15 3 9
+f 16 13 9
+f 16 4 13
+f 16 10 4
+f 16 3 10
+f 17 10 3
+f 17 3 6
+f 17 6 10
+f 18 16 9
+f 18 9 3
+f 18 3 16
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_8/collision/model_normalized_collision_22.obj b/objects/objaverse/bar/bar_8/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..098ffecf1e4a7ff4ac10ddaefc9d34ce7665fc90
--- /dev/null
+++ b/objects/objaverse/bar/bar_8/collision/model_normalized_collision_22.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v -0.08325975 0.28009999 -0.05215393
+v -0.06530953 0.35652338 -0.14304449
+v -0.08309953 0.30851916 0.06956972
+v -0.07433018 0.35901351 0.06899528
+v -0.07878355 0.30768067 -0.12762415
+v -0.08283335 0.27904126 -0.12720902
+v -0.06800653 0.35090536 -0.14461386
+v -0.08195926 0.31315344 0.00765924
+v -0.08331476 0.28089762 -0.05259463
+v -0.07698130 0.32100887 -0.09810964
+v -0.07590151 0.31226430 -0.14460731
+v -0.08004451 0.32935597 0.07035683
+v -0.08033387 0.29800149 -0.12847270
+v -0.07521162 0.35541203 0.06862650
+v -0.07653944 0.31010999 -0.14276001
+v -0.08250973 0.28082792 -0.12809489
+f 1 2 3
+f 3 2 4
+f 6 2 1
+f 7 4 2
+f 8 6 3
+f 9 6 1
+f 9 1 3
+f 9 3 6
+f 10 7 5
+f 11 5 7
+f 11 7 2
+f 11 2 6
+f 12 8 3
+f 12 3 4
+f 13 8 5
+f 13 6 8
+f 14 4 7
+f 14 7 10
+f 14 12 4
+f 14 8 12
+f 14 10 5
+f 14 5 8
+f 15 13 5
+f 15 5 11
+f 16 15 11
+f 16 11 6
+f 16 6 13
+f 16 13 15
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_8/collision/model_normalized_collision_23.obj b/objects/objaverse/bar/bar_8/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f7054e63e846d91f46ebcd262a93881b4071b2e
--- /dev/null
+++ b/objects/objaverse/bar/bar_8/collision/model_normalized_collision_23.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v -0.02471952 0.27989579 -0.09470560
+v -0.03543669 0.27759855 -0.15577405
+v -0.03560727 0.37728977 -0.15099724
+v -0.03276771 0.42102486 -0.09913112
+v -0.06213637 0.36063458 -0.09727451
+v -0.03397668 0.42133113 -0.12565019
+v -0.03088563 0.27937799 -0.13118635
+v -0.04574922 0.28324342 -0.16558825
+v -0.03425652 0.41675891 -0.09775285
+v -0.04688174 0.36007247 -0.17893849
+v -0.02814042 0.28159381 -0.09999845
+v -0.04334435 0.36096032 -0.17825091
+v -0.03558075 0.41718867 -0.12791467
+v -0.04989140 0.32449422 -0.17266281
+v -0.04341736 0.28382537 -0.16565282
+v -0.04413217 0.31969141 -0.17170535
+f 6 1 3
+f 6 4 1
+f 6 5 4
+f 7 1 2
+f 7 2 3
+f 7 3 1
+f 8 2 1
+f 9 5 1
+f 9 1 4
+f 9 4 5
+f 11 8 1
+f 11 1 5
+f 11 5 8
+f 12 10 6
+f 12 6 3
+f 12 3 2
+f 13 10 5
+f 13 5 6
+f 13 6 10
+f 14 10 8
+f 14 8 5
+f 14 5 10
+f 15 12 2
+f 15 2 8
+f 15 8 10
+f 16 15 10
+f 16 10 12
+f 16 12 15
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_8/collision/model_normalized_collision_24.obj b/objects/objaverse/bar/bar_8/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..711c5c0912830c3985a4f8069485296ab7eec882
--- /dev/null
+++ b/objects/objaverse/bar/bar_8/collision/model_normalized_collision_24.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.01588480 0.09499132 0.10665437
+v 0.03595552 0.11439225 0.05355318
+v 0.01066539 0.23341173 0.07663619
+v -0.02452324 0.23298764 0.11521755
+v -0.02790260 0.09549270 0.12410475
+v -0.00416788 0.23915246 0.10379048
+v 0.02754721 0.09833294 0.08447022
+v 0.00255770 0.09642342 0.12050008
+v 0.01519298 0.23479839 0.05161699
+v 0.02365817 0.09972816 0.09254395
+v -0.01873712 0.09867030 0.12883032
+v -0.01384237 0.23254982 0.11095878
+v 0.02905538 0.16711966 0.05112852
+v 0.01068610 0.23801799 0.07236650
+f 7 2 3
+f 7 5 2
+f 7 1 5
+f 8 5 1
+f 8 1 6
+f 9 2 5
+f 9 5 4
+f 10 6 1
+f 10 1 7
+f 10 7 3
+f 10 3 6
+f 11 4 5
+f 11 5 8
+f 12 8 6
+f 12 6 4
+f 12 11 8
+f 12 4 11
+f 13 3 2
+f 13 2 9
+f 14 6 3
+f 14 13 9
+f 14 3 13
+f 14 9 4
+f 14 4 6
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_8/collision/model_normalized_collision_25.obj b/objects/objaverse/bar/bar_8/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..18a13b8b5b7c89416e657abea7b3f37abd0a260d
--- /dev/null
+++ b/objects/objaverse/bar/bar_8/collision/model_normalized_collision_25.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.06389972 -0.48462758 0.09357922
+v 0.06082569 -0.48787973 0.06046474
+v 0.07507430 -0.44682338 0.10564844
+v 0.08219407 -0.34086290 0.10037158
+v 0.02950402 -0.40280401 -0.02260645
+v 0.08148105 -0.34099487 0.09716572
+v 0.06597541 -0.48220624 0.09784953
+v 0.03268895 -0.49460931 -0.02219801
+v 0.04323817 -0.40908465 0.02985160
+v 0.04867121 -0.33907494 -0.00492894
+v 0.05090261 -0.49196035 0.04056238
+v 0.04325090 -0.45762294 0.02894374
+v 0.07453579 -0.33873397 0.07395646
+v 0.05342069 -0.35275348 0.02811242
+v 0.04728281 -0.34212539 -0.00805998
+v 0.03342954 -0.49490539 -0.01948212
+v 0.05712616 -0.33692238 0.02761859
+v 0.07516606 -0.34260028 0.07651321
+v 0.03627727 -0.39427480 -0.00392789
+v 0.03264862 -0.39696762 -0.02052598
+v 0.03918562 -0.49311438 0.00529162
+v 0.04315072 -0.49087159 0.02006043
+f 6 3 2
+f 6 4 3
+f 7 3 4
+f 7 1 2
+f 7 2 3
+f 9 7 4
+f 9 1 7
+f 10 2 8
+f 11 2 1
+f 12 1 9
+f 12 9 5
+f 12 5 8
+f 13 4 6
+f 14 9 4
+f 14 10 5
+f 15 10 8
+f 15 5 10
+f 16 8 2
+f 16 2 11
+f 17 13 10
+f 17 4 13
+f 17 14 4
+f 17 10 14
+f 18 13 6
+f 18 6 2
+f 18 2 10
+f 18 10 13
+f 19 14 5
+f 19 5 9
+f 19 9 14
+f 20 15 8
+f 20 8 5
+f 20 5 15
+f 21 16 11
+f 21 11 1
+f 21 12 8
+f 21 8 16
+f 22 21 1
+f 22 1 12
+f 22 12 21
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_8/collision/model_normalized_collision_26.obj b/objects/objaverse/bar/bar_8/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8c988d3124f35a71a14ffb6a2edd8e21c324bfb9
--- /dev/null
+++ b/objects/objaverse/bar/bar_8/collision/model_normalized_collision_26.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v -0.03271259 0.40710383 0.10929106
+v -0.03752402 0.43732646 -0.16810405
+v -0.02456680 0.49280716 0.10794321
+v -0.03264701 0.49329330 0.10648476
+v -0.05836330 0.41805574 -0.19177460
+v -0.04602509 0.47523910 -0.18726091
+v -0.04763809 0.41823099 0.10826153
+v -0.03794437 0.42233849 -0.15347343
+v -0.03623872 0.47719728 -0.15125784
+v -0.04892516 0.46896765 0.10272844
+v -0.04834270 0.43530440 -0.19418847
+v -0.03605145 0.46209525 -0.17179908
+v -0.05147689 0.41864382 -0.19148594
+v -0.03179821 0.49316348 -0.00119454
+v -0.05351390 0.46718121 -0.19035615
+v -0.04011352 0.47459313 -0.18313561
+v -0.04288608 0.46970169 -0.18906020
+v -0.04561306 0.48730593 0.04792725
+v -0.03919244 0.48897802 -0.00259447
+v -0.04889072 0.47767783 -0.10871978
+f 7 1 3
+f 7 3 4
+f 7 5 1
+f 8 3 1
+f 10 7 4
+f 10 5 7
+f 12 8 2
+f 12 3 8
+f 12 9 3
+f 12 2 11
+f 13 8 1
+f 13 1 5
+f 13 5 11
+f 13 11 2
+f 13 2 8
+f 14 4 3
+f 14 3 9
+f 15 5 10
+f 15 11 5
+f 16 9 12
+f 16 14 9
+f 16 6 14
+f 17 15 6
+f 17 11 15
+f 17 6 16
+f 17 16 12
+f 17 12 11
+f 18 15 10
+f 18 10 4
+f 18 4 14
+f 19 18 14
+f 19 14 6
+f 20 6 15
+f 20 15 18
+f 20 19 6
+f 20 18 19
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_8/collision/model_normalized_collision_27.obj b/objects/objaverse/bar/bar_8/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b9a9c3f9e3535cdff42beba1b5b0bfd5633fea2b
--- /dev/null
+++ b/objects/objaverse/bar/bar_8/collision/model_normalized_collision_27.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.04205635 -0.08694115 0.12292996
+v 0.05066061 -0.08458524 0.09687949
+v 0.03005551 0.10045833 0.07925528
+v -0.00590517 0.09747103 0.12617790
+v 0.00929017 -0.08329502 0.14200510
+v 0.02512603 0.03275959 0.11529857
+v 0.04514247 -0.06594444 0.10739416
+v 0.02865720 -0.04600919 0.13123717
+v 0.04478628 -0.03262441 0.08427732
+v 0.03824590 -0.05541174 0.12002459
+v 0.01150968 0.10142196 0.10987213
+v 0.05060513 -0.05284150 0.08437633
+v 0.03331141 -0.08386858 0.13250717
+v -0.00809837 0.06486968 0.13084424
+v 0.01035946 0.09463209 0.11314187
+v 0.02570197 0.09795929 0.08986049
+v 0.04094621 0.02066222 0.08223436
+v 0.05062723 -0.05316576 0.08389754
+v -0.00293240 -0.00246891 0.13318985
+v 0.02365817 0.09972816 0.09254395
+v 0.03807172 0.02213237 0.09003225
+v -0.00316098 -0.01087297 0.13659180
+f 5 2 1
+f 7 1 2
+f 10 7 3
+f 10 1 7
+f 10 8 1
+f 10 6 8
+f 11 3 4
+f 12 7 2
+f 13 8 5
+f 13 5 1
+f 13 1 8
+f 14 8 4
+f 14 5 8
+f 14 4 3
+f 15 8 6
+f 15 4 8
+f 15 11 4
+f 15 6 11
+f 16 10 3
+f 16 6 10
+f 17 7 12
+f 18 9 3
+f 18 17 12
+f 18 3 17
+f 18 5 9
+f 18 12 2
+f 18 2 5
+f 19 9 5
+f 19 14 3
+f 19 3 9
+f 20 11 6
+f 20 6 16
+f 20 16 3
+f 20 3 11
+f 21 17 3
+f 21 3 7
+f 21 7 17
+f 22 19 5
+f 22 5 14
+f 22 14 19
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_8/collision/model_normalized_collision_28.obj b/objects/objaverse/bar/bar_8/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..535dd084ad0a423c9402a07be7dd506434d93335
--- /dev/null
+++ b/objects/objaverse/bar/bar_8/collision/model_normalized_collision_28.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.06165422 -0.22751682 0.13675583
+v 0.06190382 -0.22000492 0.03805551
+v 0.05578979 -0.10206826 0.05573988
+v 0.04604483 -0.05269873 0.10258487
+v 0.05331100 -0.22337595 0.13873497
+v 0.04551955 -0.05290887 0.00608214
+v 0.05380191 -0.10056351 0.10907294
+v 0.06217031 -0.21908028 0.03981953
+v 0.04807059 -0.16233805 0.13782311
+v 0.04927842 -0.05201607 0.09820387
+v 0.04964124 -0.14383173 0.00656411
+v 0.04734825 -0.05242106 0.01083249
+v 0.04399504 -0.08277106 0.11495955
+v 0.05412359 -0.16514712 0.13139005
+f 5 2 1
+f 7 1 3
+f 8 1 2
+f 8 3 1
+f 9 5 1
+f 10 7 3
+f 11 2 5
+f 11 5 9
+f 12 3 8
+f 12 10 3
+f 12 6 4
+f 12 4 10
+f 12 8 2
+f 12 11 6
+f 12 2 11
+f 13 9 4
+f 13 4 6
+f 13 11 9
+f 13 6 11
+f 14 9 1
+f 14 1 7
+f 14 7 10
+f 14 10 4
+f 14 4 9
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_8/collision/model_normalized_collision_29.obj b/objects/objaverse/bar/bar_8/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a9e4ddd97484ae2dababd64426987df26ebba837
--- /dev/null
+++ b/objects/objaverse/bar/bar_8/collision/model_normalized_collision_29.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.00140289 -0.00818297 -0.11574012
+v -0.00856759 -0.00625503 -0.12178548
+v 0.00142149 0.09761632 -0.11617197
+v -0.07912768 0.10131637 -0.09449093
+v -0.07080862 -0.00627053 -0.09483683
+v -0.05551323 0.09847766 -0.13343419
+v -0.01017016 0.09670378 -0.12983728
+v -0.05743392 -0.01193528 -0.11443493
+v -0.08058436 0.08621291 -0.09354111
+v -0.07662011 0.10252892 -0.10771059
+v -0.02005275 0.02697991 -0.12693771
+v -0.07004008 0.05477115 -0.11209209
+v -0.07587567 0.08637316 -0.10672082
+v -0.04066757 0.02766224 -0.12783030
+v -0.06808086 -0.00581070 -0.10293255
+f 5 1 3
+f 7 1 2
+f 7 3 1
+f 8 2 1
+f 8 1 5
+f 9 5 3
+f 9 3 4
+f 10 4 3
+f 10 7 6
+f 10 3 7
+f 10 9 4
+f 11 7 2
+f 11 6 7
+f 12 10 6
+f 12 6 8
+f 13 9 10
+f 13 10 12
+f 14 8 6
+f 14 6 11
+f 14 11 2
+f 14 2 8
+f 15 12 8
+f 15 8 5
+f 15 13 12
+f 15 5 9
+f 15 9 13
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_8/collision/model_normalized_collision_3.obj b/objects/objaverse/bar/bar_8/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb50ca63f661c8b0b7274970072239624a6f2e6c
--- /dev/null
+++ b/objects/objaverse/bar/bar_8/collision/model_normalized_collision_3.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.03190212 -0.40378646 -0.00765226
+v 0.06218389 -0.33860182 0.04247965
+v 0.05619332 -0.14419689 0.04068656
+v 0.04734825 -0.05242106 0.01083249
+v 0.03453903 -0.21951149 -0.07305118
+v 0.05456243 -0.22281609 -0.00116535
+v 0.04147981 -0.05270834 -0.00057243
+v 0.03859793 -0.33666841 -0.04879008
+v 0.02931080 -0.05447113 -0.06440622
+v 0.02671264 -0.40153428 -0.05227123
+v 0.05380838 -0.32047430 -0.00340616
+v 0.03921614 -0.22003272 -0.06170912
+v 0.02811024 -0.05277516 -0.06780801
+v 0.03971681 -0.38474914 -0.00639918
+v 0.02786348 -0.39765713 -0.05123190
+v 0.03874796 -0.38302282 -0.01803415
+v 0.03455365 -0.39838734 -0.00565384
+f 1 2 3
+f 6 3 2
+f 6 4 3
+f 7 1 3
+f 7 3 4
+f 9 4 6
+f 10 5 8
+f 11 6 2
+f 12 9 6
+f 12 6 11
+f 12 11 8
+f 12 8 5
+f 13 7 4
+f 13 4 9
+f 13 1 7
+f 13 10 1
+f 13 5 10
+f 13 12 5
+f 13 9 12
+f 15 10 8
+f 15 8 11
+f 15 11 2
+f 16 2 14
+f 16 15 2
+f 16 10 15
+f 17 14 2
+f 17 2 1
+f 17 1 10
+f 17 16 14
+f 17 10 16
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_8/collision/model_normalized_collision_30.obj b/objects/objaverse/bar/bar_8/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9f0e5b199a5f7c6c7531db189be1a4edd34b1451
--- /dev/null
+++ b/objects/objaverse/bar/bar_8/collision/model_normalized_collision_30.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.00514459 -0.48724066 0.11665254
+v -0.00335516 -0.48942943 0.00042832
+v -0.00340895 -0.46452237 0.11443433
+v -0.00438608 -0.44684742 0.11450534
+v -0.01754103 -0.46257964 -0.05228542
+v -0.00482082 -0.48744506 0.11455412
+v -0.01662577 -0.49383185 -0.01982730
+v -0.01341408 -0.44695604 -0.05268241
+v -0.00907654 -0.49139807 -0.01926338
+v -0.00509540 -0.44927797 0.11242292
+v -0.00746121 -0.49301501 0.00083495
+v -0.00565762 -0.44910834 0.02545094
+v -0.01461666 -0.45697955 -0.05313606
+v -0.00526267 -0.44774440 0.05425535
+f 1 3 4
+f 3 2 4
+f 6 2 3
+f 6 3 1
+f 7 6 1
+f 8 5 4
+f 9 7 5
+f 10 7 1
+f 10 1 4
+f 10 4 5
+f 10 5 7
+f 11 2 6
+f 11 6 7
+f 11 9 2
+f 11 7 9
+f 12 2 8
+f 13 8 2
+f 13 2 9
+f 13 9 5
+f 13 5 8
+f 14 12 8
+f 14 8 4
+f 14 4 2
+f 14 2 12
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_8/collision/model_normalized_collision_31.obj b/objects/objaverse/bar/bar_8/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..de4a92d472c4558fd110ae5322069c41dd218d31
--- /dev/null
+++ b/objects/objaverse/bar/bar_8/collision/model_normalized_collision_31.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v -0.02433565 -0.40455632 -0.05115051
+v -0.01814289 -0.40127104 -0.09159405
+v -0.01353419 -0.31064669 -0.07561286
+v -0.05862530 -0.30958961 -0.03782327
+v -0.03024188 -0.39870881 -0.07409181
+v -0.05613759 -0.30871383 -0.05651982
+v -0.02777199 -0.39036793 -0.03502561
+v -0.01376845 -0.35814831 -0.08561874
+v -0.02582332 -0.39960803 -0.08694116
+v -0.02723875 -0.30730057 -0.06850346
+v -0.04655381 -0.35319606 -0.05997985
+v -0.04913289 -0.33316785 -0.03187693
+v -0.03154757 -0.39324919 -0.05657334
+v -0.05792766 -0.31219448 -0.03600715
+v -0.04578185 -0.35199244 -0.04086780
+v -0.03419740 -0.37932886 -0.04082575
+v -0.03295347 -0.37822453 -0.03373257
+f 7 1 3
+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 9 6 2
+f 10 6 4
+f 10 4 3
+f 10 3 6
+f 11 4 6
+f 11 9 5
+f 11 6 9
+f 12 7 3
+f 13 5 1
+f 13 1 7
+f 13 11 5
+f 14 12 3
+f 14 3 4
+f 14 4 11
+f 15 12 14
+f 15 14 11
+f 15 11 13
+f 16 15 13
+f 16 13 7
+f 17 7 12
+f 17 12 15
+f 17 16 7
+f 17 15 16
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_8/collision/model_normalized_collision_4.obj b/objects/objaverse/bar/bar_8/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..28a921f6e43ac4cd192da7d3e54c4ffc832078f3
--- /dev/null
+++ b/objects/objaverse/bar/bar_8/collision/model_normalized_collision_4.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v -0.05093889 -0.26534928 0.08487166
+v -0.05614366 -0.26798313 -0.05960854
+v -0.04799070 -0.05247990 0.11906703
+v -0.07665478 0.05328128 0.00876502
+v -0.06377277 -0.26235941 -0.04777572
+v -0.07397047 0.05248851 -0.09920146
+v -0.07292750 0.03747726 0.08537853
+v -0.06204824 -0.26334081 -0.00981586
+v -0.06909089 -0.00771687 -0.09930970
+v -0.07436015 0.05331259 -0.09694908
+v -0.06133157 -0.05284023 0.11414099
+v -0.07328289 0.03816311 0.08319038
+v -0.06340120 -0.23415424 -0.05783583
+v -0.06173769 -0.15817492 0.08005159
+v -0.05065573 -0.14403409 0.11490012
+v -0.07080862 -0.00627053 -0.09483683
+v -0.05235090 -0.26375770 0.08221704
+f 1 2 3
+f 7 6 4
+f 7 3 6
+f 8 5 2
+f 8 2 1
+f 9 6 3
+f 9 3 2
+f 10 6 5
+f 10 5 4
+f 10 4 6
+f 11 3 7
+f 12 7 4
+f 12 4 5
+f 12 5 8
+f 13 9 2
+f 13 2 5
+f 13 5 6
+f 14 11 7
+f 14 7 12
+f 14 12 8
+f 15 11 1
+f 15 1 3
+f 15 3 11
+f 16 13 6
+f 16 6 9
+f 16 9 13
+f 17 1 11
+f 17 11 14
+f 17 14 8
+f 17 8 1
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_8/collision/model_normalized_collision_5.obj b/objects/objaverse/bar/bar_8/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..668b298951a9808644232608a90c5f73e9724acf
--- /dev/null
+++ b/objects/objaverse/bar/bar_8/collision/model_normalized_collision_5.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v -0.01148894 0.28184932 0.10506570
+v -0.01627774 0.28058970 -0.07621689
+v -0.00367716 0.33489733 0.07203755
+v -0.04550268 0.35527562 0.10999674
+v -0.05009062 0.28198968 0.10465043
+v -0.03301338 0.35648140 -0.09790249
+v -0.02595761 0.35470520 0.10478875
+v -0.00441488 0.27862639 -0.00620223
+v -0.04571608 0.27654036 0.10893918
+v -0.06708048 0.34872709 -0.05312702
+v -0.00602931 0.33601302 0.08646325
+v -0.06364202 0.36051181 -0.05521138
+v -0.01602531 0.35283174 0.09070252
+v -0.00384982 0.28176224 0.09196902
+v -0.03139977 0.35311305 -0.09727578
+v -0.02814042 0.28159381 -0.09999845
+v -0.02471952 0.27989579 -0.09470560
+v -0.02058724 0.34593407 0.10236605
+v -0.01873142 0.35127421 0.03121355
+f 7 4 1
+f 9 1 4
+f 9 4 5
+f 10 5 4
+f 12 7 6
+f 12 4 7
+f 12 10 4
+f 12 6 10
+f 13 6 7
+f 13 11 3
+f 14 8 3
+f 14 9 8
+f 14 1 9
+f 14 11 1
+f 14 3 11
+f 15 6 3
+f 15 3 8
+f 15 8 2
+f 16 9 5
+f 16 5 10
+f 16 10 6
+f 16 6 15
+f 17 2 8
+f 17 8 9
+f 17 9 16
+f 17 16 15
+f 17 15 2
+f 18 7 1
+f 18 1 11
+f 18 13 7
+f 18 11 13
+f 19 13 3
+f 19 3 6
+f 19 6 13
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_8/collision/model_normalized_collision_6.obj b/objects/objaverse/bar/bar_8/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..34327f98c589d0fa769ebb4507b260302df1f643
--- /dev/null
+++ b/objects/objaverse/bar/bar_8/collision/model_normalized_collision_6.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.05062723 -0.05316576 0.08389754
+v 0.03130725 -0.08402527 -0.06329140
+v 0.03088917 0.11320689 0.01059190
+v 0.02059611 0.11603213 0.08854633
+v 0.01843752 0.11171567 0.09519369
+v 0.03919180 0.06380173 0.06596561
+v 0.04288848 -0.05348873 0.00171085
+v 0.02354760 -0.08379815 -0.08673617
+v 0.01736155 0.09847214 -0.05269180
+v 0.03904104 0.06939284 0.02624664
+v 0.02640634 0.11549301 0.07262403
+v 0.02570197 0.09795929 0.08986049
+v 0.02763004 -0.08330281 -0.07251685
+v 0.05060513 -0.05284150 0.08437633
+v 0.03024799 0.11377829 0.00759570
+v 0.01523145 0.05377585 -0.08422651
+v 0.02472506 0.10618417 0.08851744
+v 0.03848534 0.01229465 0.09049103
+v 0.03959213 0.03122096 0.08194662
+v 0.02388983 -0.04134458 -0.07968786
+v 0.01739722 0.05314315 -0.07962476
+v 0.02160928 0.09797034 0.09575387
+f 7 1 2
+f 9 5 4
+f 10 3 6
+f 10 1 7
+f 10 7 2
+f 11 6 3
+f 13 8 2
+f 13 2 1
+f 13 1 8
+f 14 8 1
+f 14 5 8
+f 14 10 6
+f 14 1 10
+f 15 9 4
+f 15 3 10
+f 15 11 3
+f 15 4 11
+f 16 8 5
+f 16 5 9
+f 17 4 5
+f 17 11 4
+f 17 12 6
+f 17 6 11
+f 19 14 6
+f 19 6 12
+f 19 18 14
+f 19 12 18
+f 20 2 8
+f 20 8 16
+f 21 10 2
+f 21 20 16
+f 21 2 20
+f 21 15 10
+f 21 16 9
+f 21 9 15
+f 22 17 5
+f 22 12 17
+f 22 18 12
+f 22 5 14
+f 22 14 18
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_8/collision/model_normalized_collision_7.obj b/objects/objaverse/bar/bar_8/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4e6fb60bed95f64f769845ffc0183fa19f413bcc
--- /dev/null
+++ b/objects/objaverse/bar/bar_8/collision/model_normalized_collision_7.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v -0.08105274 0.09615342 -0.06585849
+v -0.01655942 0.09910074 -0.13263605
+v -0.01260472 0.16061014 -0.13270485
+v -0.06530953 0.35652338 -0.14304449
+v -0.06410915 0.10023694 -0.12606780
+v -0.04688174 0.36007247 -0.17893849
+v -0.08327067 0.15905395 -0.06728110
+v -0.02092357 0.09913812 -0.13484747
+v -0.03863350 0.35558139 -0.15970871
+v -0.06499981 0.34228281 -0.17281003
+v -0.03187716 0.28046364 -0.14358838
+v -0.06109955 0.35371241 -0.17679147
+v -0.07878355 0.30768067 -0.12762415
+v -0.06800653 0.35090536 -0.14461386
+v -0.05133031 0.31494520 -0.17348842
+v -0.05608251 0.14576326 -0.14197847
+v -0.07752885 0.31357935 -0.12907782
+v -0.07755165 0.19474639 -0.13362364
+v -0.05923943 0.31464675 -0.17225179
+v -0.04708495 0.13180824 -0.14115674
+v -0.07726833 0.30762367 -0.14067897
+v -0.08329105 0.15919904 -0.06781714
+v -0.07662011 0.10252892 -0.10771059
+v -0.06601845 0.17963562 -0.14249223
+f 1 2 3
+f 6 3 2
+f 7 1 3
+f 8 2 1
+f 8 1 5
+f 8 6 2
+f 9 6 4
+f 9 3 6
+f 9 4 7
+f 11 9 7
+f 11 7 3
+f 11 3 9
+f 12 4 6
+f 14 12 10
+f 14 4 12
+f 15 12 6
+f 15 6 8
+f 17 13 7
+f 17 7 4
+f 17 4 14
+f 19 10 12
+f 19 12 15
+f 20 15 8
+f 20 8 5
+f 20 5 16
+f 20 19 15
+f 20 16 19
+f 21 17 14
+f 21 14 10
+f 21 13 17
+f 21 18 13
+f 21 10 18
+f 22 18 1
+f 22 1 7
+f 22 7 13
+f 22 13 18
+f 23 18 5
+f 23 5 1
+f 23 1 18
+f 24 16 5
+f 24 5 18
+f 24 19 16
+f 24 18 10
+f 24 10 19
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_8/collision/model_normalized_collision_8.obj b/objects/objaverse/bar/bar_8/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..59749a72937cc6334de696bbf639b6b1647cd410
--- /dev/null
+++ b/objects/objaverse/bar/bar_8/collision/model_normalized_collision_8.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v 0.05462535 -0.26404391 0.15986667
+v 0.06393200 -0.26204759 0.14556900
+v 0.01205984 -0.00589511 0.13354433
+v -0.01946087 -0.00713243 0.13161266
+v -0.03853382 -0.26491974 0.11068718
+v -0.00106906 -0.05332579 0.14410646
+v 0.04205635 -0.08694115 0.12292996
+v -0.03382639 -0.26596915 0.12155835
+v 0.00947072 -0.01050090 0.13585146
+v 0.04159000 -0.10001284 0.12758199
+v 0.06539558 -0.21757622 0.11658790
+v -0.06133157 -0.05284023 0.11414099
+v 0.01811004 -0.26138005 0.15820752
+v 0.00502231 -0.05458179 0.14333479
+v -0.01528972 -0.00997756 0.13354052
+v 0.04573692 -0.08619856 0.11155217
+v -0.06073772 -0.05415873 0.11928604
+v -0.00182891 -0.26283355 0.14745268
+v 0.04800678 -0.25801715 0.16062103
+v -0.01075389 -0.06855906 0.14257512
+v -0.04998073 -0.17260505 0.11011167
+v -0.03306299 -0.21344597 0.13263123
+v -0.04152642 -0.17574057 0.12868073
+v -0.03355085 -0.26345330 0.12283231
+f 7 1 2
+f 8 5 2
+f 8 2 1
+f 9 1 3
+f 10 7 3
+f 10 3 1
+f 10 1 7
+f 11 2 5
+f 12 4 3
+f 14 9 6
+f 14 1 9
+f 15 6 9
+f 15 9 3
+f 15 3 4
+f 16 7 2
+f 16 2 11
+f 16 11 5
+f 16 12 3
+f 16 3 7
+f 17 5 8
+f 17 4 12
+f 18 8 1
+f 18 1 13
+f 19 13 1
+f 19 6 13
+f 19 14 6
+f 19 1 14
+f 20 15 4
+f 20 6 15
+f 20 4 17
+f 20 17 13
+f 20 13 6
+f 21 16 5
+f 21 12 16
+f 21 17 12
+f 21 5 17
+f 22 18 13
+f 23 22 13
+f 23 13 17
+f 24 8 18
+f 24 18 22
+f 24 22 23
+f 24 23 17
+f 24 17 8
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_8/collision/model_normalized_collision_9.obj b/objects/objaverse/bar/bar_8/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b7acd296617a4505838699f9bd8d56828a1d4c3b
--- /dev/null
+++ b/objects/objaverse/bar/bar_8/collision/model_normalized_collision_9.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v -0.02575704 -0.31333823 -0.06797186
+v 0.01184142 -0.26720637 -0.08964679
+v -0.07055306 -0.14342316 -0.05172775
+v -0.07470753 -0.00746030 -0.08213410
+v -0.05743392 -0.01193528 -0.11443493
+v 0.00384518 -0.02373757 -0.11006084
+v -0.06622925 -0.24884250 -0.04703651
+v -0.01328293 -0.27768590 -0.08400905
+v 0.01839077 -0.19399333 -0.09468174
+v -0.00856759 -0.00625503 -0.12178548
+v -0.05265451 -0.25897708 -0.06712353
+v -0.06808086 -0.00581070 -0.10293255
+v -0.03889354 -0.08781394 -0.11119276
+v -0.01353419 -0.31064669 -0.07561286
+v 0.01122689 -0.26359117 -0.08870012
+v -0.00140289 -0.00818297 -0.11574012
+v -0.03503918 -0.31182940 -0.06425730
+v -0.07356846 -0.00835273 -0.08565618
+v -0.06241153 -0.24619092 -0.05759338
+v -0.06391371 -0.06706368 -0.09715979
+v -0.05128321 -0.20096582 -0.08150065
+v -0.04002077 -0.24520614 -0.07904419
+v -0.05136243 -0.04483687 -0.11192269
+v -0.02518086 -0.27662068 -0.07871735
+f 6 4 3
+f 7 3 4
+f 9 6 3
+f 9 3 7
+f 10 9 2
+f 12 10 5
+f 12 4 10
+f 13 2 8
+f 13 10 2
+f 13 5 10
+f 14 8 2
+f 15 9 7
+f 15 7 1
+f 15 2 9
+f 15 14 2
+f 15 1 14
+f 16 10 4
+f 16 4 6
+f 16 6 9
+f 16 9 10
+f 17 1 7
+f 17 14 1
+f 18 12 7
+f 18 7 4
+f 18 4 12
+f 19 7 12
+f 19 17 7
+f 19 11 17
+f 20 12 5
+f 20 19 12
+f 20 11 19
+f 21 20 5
+f 21 11 20
+f 22 17 11
+f 22 11 21
+f 22 21 13
+f 22 13 8
+f 23 21 5
+f 23 5 13
+f 23 13 21
+f 24 22 8
+f 24 8 14
+f 24 14 17
+f 24 17 22
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_8/model.xml b/objects/objaverse/bar/bar_8/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..6fc0ccee20cd5b6a8c933055c98299a094f64c4c
--- /dev/null
+++ b/objects/objaverse/bar/bar_8/model.xml
@@ -0,0 +1,81 @@
+<mujoco model="bar_9">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.19 0.19 0.19" refquat="0.6343932841636453 0.0 0.7730104533627369 0.0"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.19 0.19 0.19" refquat="0.6343932841636453 0.0 0.7730104533627369 0.0"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.19 0.19 0.19" refquat="0.6343932841636453 0.0 0.7730104533627369 0.0"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.19 0.19 0.19" refquat="0.6343932841636453 0.0 0.7730104533627369 0.0"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.19 0.19 0.19" refquat="0.6343932841636453 0.0 0.7730104533627369 0.0"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.19 0.19 0.19" refquat="0.6343932841636453 0.0 0.7730104533627369 0.0"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.19 0.19 0.19" refquat="0.6343932841636453 0.0 0.7730104533627369 0.0"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.19 0.19 0.19" refquat="0.6343932841636453 0.0 0.7730104533627369 0.0"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.19 0.19 0.19" refquat="0.6343932841636453 0.0 0.7730104533627369 0.0"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.19 0.19 0.19" refquat="0.6343932841636453 0.0 0.7730104533627369 0.0"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.19 0.19 0.19" refquat="0.6343932841636453 0.0 0.7730104533627369 0.0"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.19 0.19 0.19" refquat="0.6343932841636453 0.0 0.7730104533627369 0.0"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.19 0.19 0.19" refquat="0.6343932841636453 0.0 0.7730104533627369 0.0"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.19 0.19 0.19" refquat="0.6343932841636453 0.0 0.7730104533627369 0.0"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.19 0.19 0.19" refquat="0.6343932841636453 0.0 0.7730104533627369 0.0"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.19 0.19 0.19" refquat="0.6343932841636453 0.0 0.7730104533627369 0.0"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.19 0.19 0.19" refquat="0.6343932841636453 0.0 0.7730104533627369 0.0"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.19 0.19 0.19" refquat="0.6343932841636453 0.0 0.7730104533627369 0.0"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.19 0.19 0.19" refquat="0.6343932841636453 0.0 0.7730104533627369 0.0"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.19 0.19 0.19" refquat="0.6343932841636453 0.0 0.7730104533627369 0.0"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.19 0.19 0.19" refquat="0.6343932841636453 0.0 0.7730104533627369 0.0"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.19 0.19 0.19" refquat="0.6343932841636453 0.0 0.7730104533627369 0.0"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.19 0.19 0.19" refquat="0.6343932841636453 0.0 0.7730104533627369 0.0"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.19 0.19 0.19" refquat="0.6343932841636453 0.0 0.7730104533627369 0.0"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.19 0.19 0.19" refquat="0.6343932841636453 0.0 0.7730104533627369 0.0"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.19 0.19 0.19" refquat="0.6343932841636453 0.0 0.7730104533627369 0.0"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.19 0.19 0.19" refquat="0.6343932841636453 0.0 0.7730104533627369 0.0"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.19 0.19 0.19" refquat="0.6343932841636453 0.0 0.7730104533627369 0.0"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.19 0.19 0.19" refquat="0.6343932841636453 0.0 0.7730104533627369 0.0"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.19 0.19 0.19" refquat="0.6343932841636453 0.0 0.7730104533627369 0.0"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.19 0.19 0.19" refquat="0.6343932841636453 0.0 0.7730104533627369 0.0"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.19 0.19 0.19" refquat="0.6343932841636453 0.0 0.7730104533627369 0.0"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.19 0.19 0.19" refquat="0.6343932841636453 0.0 0.7730104533627369 0.0"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="textured_0" 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="textured_0"/>
+        <geom solimp="0.998 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"/>
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+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_12._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_13._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+      </body>
+      <site rgba="0 0 0 0" size="0.005" pos="-0.00046105560563787577 -0.0006371383999999999 -0.018669195757790386" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="-0.00046105560563787577 -0.0006371383999999999 0.01159630999655708" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.03797879196727298 0.09372572700000001 -0.0035364428806166533" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/objects/objaverse/bar/bar_8/visual/material.mtl b/objects/objaverse/bar/bar_8/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f68742fe8420aadeab267568817d347d5678c9d5
--- /dev/null
+++ b/objects/objaverse/bar/bar_8/visual/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 0.00000000
+map_Kd material_0.jpeg
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_8/visual/model_normalized_0.obj b/objects/objaverse/bar/bar_8/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..19fa1e98ac7b0c37a7f1cfc55be7275d78c15dd8
--- /dev/null
+++ b/objects/objaverse/bar/bar_8/visual/model_normalized_0.obj
@@ -0,0 +1,24759 @@
+# 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/cake/cake_1/collision/model_normalized_collision_0.obj b/objects/objaverse/cake/cake_1/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bafb5704a0713da60eefb6e73802ba8ed86dd658
--- /dev/null
+++ b/objects/objaverse/cake/cake_1/collision/model_normalized_collision_0.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
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+f 20 19 16
+f 20 9 5
+f 20 5 19
+f 21 17 12
+f 21 12 4
+f 21 4 17
+f 22 13 7
+f 22 7 17
+f 22 17 4
+f 22 4 13
+f 23 19 8
+f 23 8 14
+f 23 14 19
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_1/collision/model_normalized_collision_1.obj b/objects/objaverse/cake/cake_1/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..44e99cc1cfbe6027fd565364024a010a37549e42
--- /dev/null
+++ b/objects/objaverse/cake/cake_1/collision/model_normalized_collision_1.obj
@@ -0,0 +1,132 @@
+# https://github.com/mikedh/trimesh
+v -0.09212647 -0.49196935 0.01479680
+v 0.20048689 -0.00168238 -0.29605471
+v 0.18280541 -0.00110259 0.01465673
+v -0.18288686 -0.00757576 0.01628488
+v -0.16653194 -0.18302799 -0.32325631
+v -0.16825552 -0.00661542 -0.32575556
+v -0.15063090 -0.35122738 0.01768290
+v 0.17810435 -0.05920897 -0.27853434
+v 0.19822972 -0.00094583 -0.15151998
+v -0.23211922 -0.01668608 -0.23097551
+v -0.04923272 -0.43079895 -0.31539498
+v -0.11135939 -0.48384152 0.01713623
+v -0.19754899 -0.18380463 0.01747253
+v -0.05029639 -0.44069174 -0.07659372
+v 0.19513627 -0.02856114 -0.27771701
+v -0.17468187 -0.14293746 -0.32225564
+v 0.16339640 -0.00707909 -0.30105529
+v -0.05006931 -0.45244293 -0.30984839
+v -0.10263842 -0.49224821 0.01621034
+v -0.08692313 -0.45626978 -0.29730315
+v -0.21198851 -0.14348386 0.01639166
+v 0.17690495 -0.01288361 0.01390945
+v 0.16389999 -0.07084790 -0.16669224
+v -0.18241895 -0.13899848 -0.30822422
+v -0.03224298 -0.05267770 -0.31620556
+v -0.03295160 -0.00825370 -0.31640539
+v -0.01992557 -0.40751533 -0.27361325
+v -0.06212993 -0.48033789 -0.29570454
+v 0.04070606 -0.29838145 -0.29572508
+v -0.16608991 -0.22051274 -0.26623431
+v -0.07913521 -0.46756627 -0.31013754
+v -0.06517058 -0.45229013 -0.01495736
+v 0.17810570 -0.02603479 -0.06094748
+v 0.04153639 -0.29947996 -0.27429422
+v -0.06540702 -0.46823630 -0.10495386
+v -0.08970273 -0.49349128 -0.13220168
+v -0.06473441 -0.48024720 -0.24331886
+v -0.10539621 -0.48544641 -0.04291888
+v -0.17797502 -0.15588241 -0.30895699
+v -0.07650524 -0.43182898 -0.31646411
+v -0.07142789 -0.47547574 -0.30746222
+v -0.01929880 -0.40669592 -0.28466736
+v -0.08225013 -0.49265798 -0.14568834
+v -0.07899052 -0.47944956 -0.29300649
+v -0.06639720 -0.47496875 -0.30650909
+f 6 4 3
+f 9 6 3
+f 9 2 6
+f 10 4 6
+f 12 3 7
+f 12 7 10
+f 13 7 3
+f 13 3 4
+f 15 2 9
+f 16 10 6
+f 16 6 5
+f 17 2 11
+f 18 11 2
+f 19 1 3
+f 19 3 12
+f 21 10 7
+f 21 7 13
+f 21 13 4
+f 21 4 10
+f 22 3 1
+f 23 14 8
+f 23 8 15
+f 24 16 5
+f 24 10 16
+f 25 17 11
+f 25 11 6
+f 26 6 2
+f 26 2 17
+f 26 25 6
+f 26 17 25
+f 29 15 8
+f 29 28 18
+f 29 8 28
+f 29 18 2
+f 29 2 15
+f 31 20 5
+f 32 22 1
+f 32 1 14
+f 32 14 22
+f 33 9 3
+f 33 3 22
+f 33 22 14
+f 33 14 23
+f 33 23 15
+f 33 15 9
+f 34 8 14
+f 34 14 27
+f 35 14 1
+f 36 1 19
+f 37 28 27
+f 37 27 14
+f 37 14 35
+f 37 35 1
+f 38 30 20
+f 38 12 10
+f 38 10 30
+f 38 36 19
+f 38 19 12
+f 39 30 10
+f 39 10 24
+f 39 24 5
+f 39 5 20
+f 39 20 30
+f 40 31 5
+f 40 11 31
+f 40 5 6
+f 40 6 11
+f 41 31 11
+f 41 11 18
+f 42 28 8
+f 42 8 34
+f 42 34 27
+f 42 27 28
+f 43 36 28
+f 43 1 36
+f 43 37 1
+f 43 28 37
+f 44 20 31
+f 44 31 41
+f 44 41 28
+f 44 28 36
+f 44 38 20
+f 44 36 38
+f 45 41 18
+f 45 18 28
+f 45 28 41
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_1/collision/model_normalized_collision_10.obj b/objects/objaverse/cake/cake_1/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3440ed1e020c5c518fbbd55395d335fb72694a8a
--- /dev/null
+++ b/objects/objaverse/cake/cake_1/collision/model_normalized_collision_10.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v -0.03727129 -0.26303344 0.30643093
+v 0.17966623 -0.00701442 0.01614942
+v 0.15802987 -0.00411946 0.29639330
+v -0.03029584 -0.00517902 0.33718002
+v -0.04652322 -0.00757576 0.01628488
+v 0.07609140 -0.10437066 0.32075699
+v 0.04180958 -0.23713628 0.25362199
+v -0.04917331 -0.13338099 0.31121999
+v 0.16794219 -0.00204188 0.27155121
+v 0.14569552 -0.00550051 0.30796071
+v -0.01923822 -0.02308491 0.33958386
+v 0.03854849 -0.20257794 0.31371428
+v -0.04652322 -0.26515153 0.01628488
+v 0.08647705 -0.16347858 0.25340555
+v 0.01077726 -0.01330564 0.33474177
+v 0.02641426 -0.25295766 0.26842428
+v 0.10498886 -0.06933491 0.31884738
+v 0.05762601 -0.22578440 0.01419655
+v 0.16255786 -0.01339317 0.27096593
+v 0.15082463 -0.03016927 0.29060754
+v 0.05636640 -0.19557158 0.28973593
+v 0.03702484 -0.26043059 0.01587615
+v 0.13183245 -0.04166914 0.30890940
+v 0.16726208 -0.03025830 0.01487039
+v 0.11662950 -0.10322356 0.26873096
+v 0.05585932 -0.20842246 0.26856638
+v 0.11975185 -0.08687409 0.28771654
+f 8 1 4
+f 8 4 5
+f 9 2 5
+f 9 5 4
+f 9 4 3
+f 10 3 4
+f 11 4 1
+f 12 11 1
+f 12 6 11
+f 13 8 5
+f 13 1 8
+f 15 10 4
+f 15 4 11
+f 16 12 1
+f 17 6 12
+f 17 10 15
+f 17 15 11
+f 17 11 6
+f 18 13 5
+f 19 2 9
+f 20 19 9
+f 20 9 3
+f 21 12 16
+f 21 20 12
+f 22 16 1
+f 22 1 13
+f 22 13 18
+f 22 7 16
+f 22 18 14
+f 22 14 7
+f 23 3 10
+f 23 10 17
+f 23 20 3
+f 23 17 12
+f 23 12 20
+f 24 18 5
+f 24 5 2
+f 24 2 14
+f 24 14 18
+f 25 14 2
+f 25 2 19
+f 25 19 20
+f 26 21 16
+f 26 16 7
+f 26 7 14
+f 26 25 21
+f 26 14 25
+f 27 25 20
+f 27 20 21
+f 27 21 25
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_1/collision/model_normalized_collision_11.obj b/objects/objaverse/cake/cake_1/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b236766a882cfd60ba37c23e15b3bcd80acf8b0
--- /dev/null
+++ b/objects/objaverse/cake/cake_1/collision/model_normalized_collision_11.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v -0.21606344 -0.14549459 0.28885186
+v -0.16642006 -0.14211280 -0.32169721
+v -0.18288686 -0.00757576 0.01628488
+v -0.27133097 -0.00675630 0.18306889
+v -0.24392381 -0.12316030 0.22305982
+v -0.22818145 -0.00258859 -0.29888178
+v -0.19803837 -0.00757576 0.18295155
+v -0.22443438 -0.15533643 0.18134857
+v -0.26067030 -0.07936005 0.25366873
+v -0.16825552 -0.00661542 -0.32575556
+v -0.18241895 -0.13899848 -0.30822422
+v -0.25784806 -0.00175783 0.01733657
+v -0.20799744 -0.15346100 0.01405297
+v -0.22776651 -0.13994238 0.28048425
+v -0.24537628 -0.00384242 -0.17280885
+v -0.21317699 -0.08332784 0.28897131
+v -0.16773534 -0.00757576 -0.22613937
+v -0.21439238 -0.00266051 -0.32219037
+v -0.18766309 -0.14922602 -0.22806937
+v -0.22221923 -0.14217096 0.28966953
+v -0.24193331 -0.12384738 0.26327230
+v -0.22444454 -0.03253132 -0.26971341
+v -0.24895497 -0.07883912 0.27445504
+v -0.17468187 -0.14293746 -0.32225564
+v -0.21007887 -0.12210614 -0.13115337
+v -0.25592009 -0.09247723 0.25569856
+v -0.19509588 -0.10814346 -0.29989792
+v -0.22523660 -0.12956288 0.28845141
+v -0.17901608 -0.12336126 -0.32246709
+v -0.24112883 -0.01697863 -0.17266928
+f 1 2 3
+f 7 1 3
+f 12 4 7
+f 13 2 1
+f 13 1 8
+f 15 5 9
+f 15 12 6
+f 15 9 4
+f 15 4 12
+f 16 7 4
+f 16 1 7
+f 17 10 3
+f 17 3 2
+f 17 2 10
+f 18 6 12
+f 18 3 10
+f 18 12 7
+f 18 7 3
+f 19 8 5
+f 19 13 8
+f 19 2 13
+f 20 14 8
+f 20 8 1
+f 20 1 16
+f 21 5 8
+f 21 8 14
+f 22 15 6
+f 23 16 4
+f 23 4 9
+f 24 10 2
+f 24 11 6
+f 24 6 18
+f 24 19 11
+f 24 2 19
+f 25 11 19
+f 25 19 5
+f 26 9 5
+f 26 5 21
+f 26 23 9
+f 26 20 23
+f 26 21 14
+f 26 14 20
+f 27 22 6
+f 27 6 11
+f 27 11 25
+f 28 23 20
+f 28 20 16
+f 28 16 23
+f 29 24 18
+f 29 18 10
+f 29 10 24
+f 30 15 22
+f 30 27 25
+f 30 22 27
+f 30 25 5
+f 30 5 15
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_1/collision/model_normalized_collision_12.obj b/objects/objaverse/cake/cake_1/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ce6fc4c199ad1404370f6e7e24535a528d13c5d4
--- /dev/null
+++ b/objects/objaverse/cake/cake_1/collision/model_normalized_collision_12.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.00425839 -0.29771723 0.18824305
+v -0.04652322 -0.26515153 0.01628488
+v -0.04652322 -0.00757576 0.01628488
+v -0.19803837 -0.00757576 0.18295155
+v -0.18937302 -0.26272530 0.18328842
+v -0.24934660 -0.02435802 0.01290188
+v -0.04652322 -0.00757576 0.18295155
+v -0.17529212 -0.26296706 0.01676184
+v -0.21381143 -0.18439983 0.18407209
+v -0.21073140 -0.16881354 0.04096403
+v -0.19918472 -0.23034902 0.18409356
+v -0.22798030 -0.14387095 0.18299153
+v -0.18040662 -0.25882314 0.04003271
+f 1 2 3
+f 6 3 2
+f 6 4 3
+f 7 1 3
+f 7 3 4
+f 7 4 1
+f 8 2 1
+f 8 1 5
+f 8 6 2
+f 9 1 4
+f 10 6 8
+f 11 5 1
+f 11 1 9
+f 12 9 4
+f 12 4 6
+f 12 6 10
+f 12 10 5
+f 12 11 9
+f 12 5 11
+f 13 10 8
+f 13 8 5
+f 13 5 10
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_1/collision/model_normalized_collision_13.obj b/objects/objaverse/cake/cake_1/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b1dff4a1394c24658e8896cf7bc800392cf0686
--- /dev/null
+++ b/objects/objaverse/cake/cake_1/collision/model_normalized_collision_13.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.08144055 -0.13172142 0.29590258
+v 0.06334725 -0.11752410 0.32136424
+v -0.02287814 0.09507120 0.30663443
+v -0.00506503 0.32946354 0.31024959
+v 0.07586021 0.28014092 0.29908217
+v -0.01547705 0.31283208 0.32286359
+v 0.02250398 -0.12815478 0.31656899
+v 0.07958258 0.01941778 0.31848959
+v -0.01545506 0.10087667 0.30344883
+v 0.01538909 0.30853368 0.32221819
+v 0.03115542 -0.12833181 0.31836700
+v 0.07254713 0.28059944 0.29830386
+v 0.06098432 0.13868606 0.32132360
+v 0.02204661 0.28994005 0.30521291
+f 6 4 3
+f 7 3 1
+f 7 6 3
+f 8 2 1
+f 8 1 5
+f 9 1 3
+f 9 3 4
+f 10 5 4
+f 10 4 6
+f 11 7 1
+f 11 1 2
+f 11 2 6
+f 11 6 7
+f 12 5 1
+f 12 1 9
+f 12 4 5
+f 13 8 5
+f 13 5 10
+f 13 2 8
+f 13 10 6
+f 13 6 2
+f 14 12 9
+f 14 9 4
+f 14 4 12
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_1/collision/model_normalized_collision_14.obj b/objects/objaverse/cake/cake_1/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef0ea210f072fc8fe68e30a56399a653c9a821b8
--- /dev/null
+++ b/objects/objaverse/cake/cake_1/collision/model_normalized_collision_14.obj
@@ -0,0 +1,135 @@
+# https://github.com/mikedh/trimesh
+v -0.19711472 0.23506822 0.29551938
+v -0.19803837 0.23484848 0.00113336
+v -0.19254942 0.49869531 0.20485351
+v -0.39028090 0.47562547 0.23358595
+v -0.36434282 0.25444912 0.20123015
+v -0.36924387 0.46189910 0.00471115
+v -0.21906478 0.45868282 0.28554820
+v -0.34517305 0.24020284 0.15381732
+v -0.32057216 0.24188071 0.29588117
+v -0.19775740 0.47819904 0.00097309
+v -0.25875386 0.49307946 0.15922371
+v -0.39640502 0.44561612 0.01767175
+v -0.19546747 0.33503804 0.30604335
+v -0.20353064 0.47910541 0.27649541
+v -0.33320802 0.23956775 0.00293088
+v -0.40898007 0.40651817 0.24379385
+v -0.34673249 0.24055708 0.26078990
+v -0.39914674 0.47380605 0.19174091
+v -0.28581506 0.48963811 0.22685328
+v -0.25784346 0.47638177 0.01720036
+v -0.23443719 0.49313661 0.14414859
+v -0.19909871 0.31078327 0.30808543
+v -0.35953926 0.39900641 0.28846893
+v -0.38285834 0.46371099 0.25833055
+v -0.19734509 0.49289195 0.24005781
+v -0.39153120 0.40751135 0.03688100
+v -0.39257921 0.43154961 0.00254432
+v -0.36393286 0.25417785 0.23893173
+v -0.40259251 0.47459619 0.21087267
+v -0.41100271 0.46750299 0.19783842
+v -0.24268781 0.49111851 0.24209413
+v -0.22810498 0.47711343 0.00121368
+v -0.24997317 0.49293765 0.14469381
+v -0.25198927 0.35185382 0.30387671
+v -0.38057826 0.40340621 0.27233269
+v -0.37552081 0.47266938 0.24929319
+v -0.24236451 0.45384320 0.28631996
+v -0.40825882 0.40500611 0.21193314
+v -0.39339784 0.44582244 0.00617184
+v -0.39250185 0.34677319 0.23962784
+v -0.29419386 0.48929310 0.19156381
+v -0.41131431 0.46692637 0.23415437
+v -0.35034849 0.34917365 0.28893022
+v -0.38488994 0.42546453 0.27008086
+v -0.39250263 0.34709914 0.21092572
+v -0.40839212 0.45657127 0.24624138
+f 1 2 3
+f 10 3 2
+f 13 1 3
+f 14 7 13
+f 15 2 1
+f 15 1 8
+f 15 8 5
+f 17 8 1
+f 17 1 9
+f 17 5 8
+f 17 9 16
+f 18 11 6
+f 19 3 11
+f 21 3 10
+f 22 9 1
+f 22 1 13
+f 25 14 13
+f 25 13 3
+f 26 15 5
+f 27 2 15
+f 27 15 26
+f 28 17 16
+f 28 5 17
+f 29 11 18
+f 29 4 19
+f 30 18 6
+f 30 29 18
+f 31 19 4
+f 31 14 25
+f 31 25 3
+f 31 3 19
+f 32 6 20
+f 32 27 6
+f 32 10 2
+f 32 2 27
+f 33 20 6
+f 33 6 11
+f 33 32 20
+f 33 21 10
+f 33 10 32
+f 33 11 3
+f 33 3 21
+f 34 13 7
+f 34 22 13
+f 34 23 9
+f 34 9 22
+f 35 16 9
+f 36 24 14
+f 36 31 4
+f 36 14 31
+f 37 7 14
+f 37 14 24
+f 37 24 23
+f 37 34 7
+f 37 23 34
+f 38 27 26
+f 38 12 27
+f 38 30 12
+f 38 16 30
+f 39 27 12
+f 39 6 27
+f 39 30 6
+f 39 12 30
+f 40 28 16
+f 40 5 28
+f 41 29 19
+f 41 19 11
+f 41 11 29
+f 42 4 29
+f 42 36 4
+f 42 24 36
+f 42 30 16
+f 42 29 30
+f 43 35 9
+f 43 9 23
+f 43 23 35
+f 44 35 23
+f 44 23 24
+f 44 16 35
+f 45 38 26
+f 45 26 5
+f 45 5 40
+f 45 40 16
+f 45 16 38
+f 46 44 24
+f 46 24 42
+f 46 42 16
+f 46 16 44
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_1/collision/model_normalized_collision_15.obj b/objects/objaverse/cake/cake_1/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c9fc010006dc88c6e8577823113765ee236af831
--- /dev/null
+++ b/objects/objaverse/cake/cake_1/collision/model_normalized_collision_15.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.12014345 0.09848484 -0.15038179
+v 0.11941860 0.09801653 -0.30545456
+v 0.13544700 0.22118175 -0.30369807
+v 0.14108365 0.44970991 -0.24331542
+v 0.01337247 0.40226081 -0.31934859
+v 0.13529496 0.21969697 -0.15038179
+v 0.01307897 0.09789989 -0.31275358
+v 0.13518881 0.41731454 -0.31458292
+v 0.01408284 0.34090909 -0.15038179
+v 0.01188368 0.20498624 -0.31706358
+v 0.08979816 0.41681585 -0.31638726
+v 0.13640708 0.40987899 -0.31257664
+v 0.01408284 0.09848484 -0.15038179
+v 0.13529496 0.34090909 -0.15038179
+v 0.01408284 0.40151515 -0.24129088
+f 1 2 3
+f 6 1 3
+f 6 3 4
+f 7 2 1
+f 8 3 2
+f 9 1 6
+f 10 5 8
+f 10 9 5
+f 10 8 2
+f 10 2 7
+f 11 8 5
+f 11 5 4
+f 11 4 8
+f 12 8 4
+f 12 4 3
+f 12 3 8
+f 13 7 1
+f 13 1 9
+f 13 10 7
+f 13 9 10
+f 14 9 6
+f 14 6 4
+f 14 4 9
+f 15 9 4
+f 15 4 5
+f 15 5 9
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_1/collision/model_normalized_collision_16.obj b/objects/objaverse/cake/cake_1/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..98b8dae5c611f6fea95093ea4e044255525b7708
--- /dev/null
+++ b/objects/objaverse/cake/cake_1/collision/model_normalized_collision_16.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.07682625 0.35606060 0.10719397
+v -0.07682625 0.35606060 -0.16553331
+v -0.07769139 0.47760345 0.10741292
+v -0.19795726 0.48005401 0.10703323
+v -0.19803837 0.35606060 0.10719397
+v -0.07700315 0.47394052 -0.16540150
+v -0.07734096 0.47670513 -0.08927324
+v -0.21526625 0.47443470 -0.16822468
+v -0.21530579 0.47556173 -0.10606740
+v -0.09207873 0.47669630 -0.10444924
+v -0.18288686 0.35606060 -0.16553331
+v -0.21309540 0.47464382 -0.16541083
+v -0.19803837 0.35606060 0.00113336
+v -0.18252195 0.47675938 -0.10457528
+v -0.19775740 0.47819904 0.00097309
+f 5 2 1
+f 5 1 3
+f 5 3 4
+f 6 1 2
+f 6 3 1
+f 7 4 3
+f 7 3 6
+f 8 6 2
+f 9 8 5
+f 9 5 4
+f 10 7 6
+f 10 4 7
+f 11 8 2
+f 11 2 5
+f 12 9 4
+f 12 8 9
+f 12 10 6
+f 12 6 8
+f 13 11 5
+f 13 5 8
+f 13 8 11
+f 14 4 10
+f 14 10 12
+f 15 14 12
+f 15 12 4
+f 15 4 14
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_1/collision/model_normalized_collision_17.obj b/objects/objaverse/cake/cake_1/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..827b923f8db75307ea4257c26ca032ff23e64242
--- /dev/null
+++ b/objects/objaverse/cake/cake_1/collision/model_normalized_collision_17.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.01408284 0.35606060 0.10719397
+v 0.01408284 0.34090909 -0.24129088
+v 0.01286945 0.46672379 -0.24121107
+v -0.09045036 0.48513488 0.18605016
+v -0.07682625 0.34090909 -0.16553331
+v 0.02406206 0.46530450 0.18744322
+v 0.01408284 0.34090909 -0.16553331
+v -0.07682625 0.35606060 0.10719397
+v -0.07682625 0.34090909 -0.24129088
+v 0.01243548 0.46810815 0.18291501
+v -0.07897099 0.47618793 0.18431362
+v -0.07695908 0.47471211 -0.24126771
+f 6 2 3
+f 7 5 2
+f 7 1 5
+f 7 6 1
+f 7 2 6
+f 8 5 1
+f 8 4 5
+f 8 1 6
+f 9 2 5
+f 9 5 4
+f 10 6 3
+f 10 3 4
+f 10 4 6
+f 11 8 6
+f 11 6 4
+f 11 4 8
+f 12 3 2
+f 12 2 9
+f 12 9 4
+f 12 4 3
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_1/collision/model_normalized_collision_18.obj b/objects/objaverse/cake/cake_1/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..545a1312c540ea8241c3c840548db2da9f4be30b
--- /dev/null
+++ b/objects/objaverse/cake/cake_1/collision/model_normalized_collision_18.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v 0.00142983 -0.25593048 0.30675392
+v 0.09118701 -0.14472064 0.27422456
+v 0.04473144 -0.12648537 0.31987321
+v -0.13560324 -0.08367186 0.31400923
+v -0.18776591 -0.22260483 0.29266637
+v 0.06695237 -0.12505198 0.31201698
+v -0.13741147 -0.26535419 0.31812046
+v 0.02120033 -0.25843523 0.27134057
+v -0.18986641 -0.13885739 0.29265163
+v 0.08144055 -0.13172142 0.29590258
+v -0.13095188 -0.08453273 0.31566757
+v 0.02087394 -0.22392343 0.31652208
+v -0.15455559 -0.26685051 0.30626897
+v 0.07893899 -0.16790476 0.27073793
+v -0.14755487 -0.15498417 0.31686530
+v 0.05804400 -0.16654775 0.30430900
+v 0.07399808 -0.16665677 0.28825048
+v 0.02974966 -0.23876907 0.29152001
+v -0.00575990 -0.24466124 0.31630708
+v -0.17374071 -0.21160548 0.30499085
+v 0.03337311 -0.24200888 0.27070044
+v -0.17478767 -0.15018542 0.30307926
+v -0.12037172 -0.09291905 0.31900568
+v 0.07991385 -0.13962640 0.29403306
+v 0.01673916 -0.25456683 0.29223467
+v 0.02826537 -0.22398190 0.30758676
+f 8 1 7
+f 9 4 2
+f 9 8 5
+f 10 2 4
+f 10 4 6
+f 11 6 4
+f 11 3 6
+f 12 6 3
+f 13 8 7
+f 13 5 8
+f 14 9 2
+f 15 11 4
+f 16 10 6
+f 16 6 12
+f 17 16 12
+f 17 14 2
+f 18 14 17
+f 19 7 1
+f 19 1 12
+f 19 12 3
+f 19 3 7
+f 20 13 7
+f 20 5 13
+f 20 7 15
+f 20 9 5
+f 21 8 9
+f 21 9 14
+f 21 18 8
+f 21 14 18
+f 22 15 4
+f 22 4 9
+f 22 20 15
+f 22 9 20
+f 23 15 7
+f 23 7 3
+f 23 3 11
+f 23 11 15
+f 24 17 2
+f 24 2 10
+f 24 10 16
+f 24 16 17
+f 25 12 1
+f 25 1 8
+f 25 8 18
+f 26 18 17
+f 26 17 12
+f 26 25 18
+f 26 12 25
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_1/collision/model_normalized_collision_19.obj b/objects/objaverse/cake/cake_1/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a1f5163b9d9b6a9fecaafd5a6827c4c7f6238ba5
--- /dev/null
+++ b/objects/objaverse/cake/cake_1/collision/model_normalized_collision_19.obj
@@ -0,0 +1,105 @@
+# https://github.com/mikedh/trimesh
+v 0.31051263 0.22363705 0.01641701
+v 0.40995168 0.34889505 -0.26735591
+v 0.38636867 0.37364341 0.01552638
+v 0.22586618 0.43029640 0.01624504
+v 0.22512404 0.22023425 -0.29646518
+v 0.31138542 0.41290522 -0.28237947
+v 0.37389095 0.33362551 0.01626402
+v 0.32561999 0.20782062 -0.27293389
+v 0.22620406 0.21969697 0.01628488
+v 0.41435599 0.37111713 -0.26741192
+v 0.28214841 0.41605513 0.01574001
+v 0.22495108 0.42837678 -0.31244115
+v 0.37614969 0.30889323 -0.10896825
+v 0.39268619 0.36708947 -0.00004428
+v 0.30996856 0.21867040 -0.28876192
+v 0.22279176 0.43183894 -0.07548370
+v 0.30931090 0.20949755 -0.07511829
+v 0.31200038 0.41378349 -0.25671049
+v 0.31271200 0.40830557 -0.30102442
+v 0.33155033 0.21282774 -0.27126818
+v 0.39180456 0.37210262 -0.01482540
+v 0.40816029 0.36333260 -0.16728827
+v 0.38865264 0.33445592 -0.09367339
+v 0.22271887 0.43151501 -0.29884500
+v 0.31372083 0.20608066 -0.15034250
+v 0.38389743 0.38307878 -0.10689150
+v 0.28116280 0.41711473 -0.30509321
+v 0.33669684 0.40136384 -0.29387655
+v 0.32938831 0.23002975 -0.11058140
+v 0.40747015 0.36819329 -0.16711071
+v 0.23739093 0.42845852 -0.29830182
+v 0.36880864 0.38270168 0.01514141
+v 0.36460543 0.38286669 -0.29186882
+v 0.40852533 0.37079622 -0.19695369
+v 0.38156283 0.34471301 -0.28388754
+v 0.38005293 0.37607901 -0.28640621
+f 7 3 4
+f 7 4 1
+f 9 1 4
+f 11 4 3
+f 13 7 1
+f 14 3 7
+f 15 8 5
+f 15 5 12
+f 16 9 4
+f 16 5 9
+f 17 1 9
+f 18 4 11
+f 18 16 4
+f 18 10 6
+f 19 15 12
+f 20 2 13
+f 20 15 2
+f 20 8 15
+f 21 3 14
+f 22 2 10
+f 23 14 7
+f 23 7 13
+f 23 22 14
+f 23 13 2
+f 23 2 22
+f 24 12 5
+f 24 5 16
+f 24 16 18
+f 25 17 9
+f 25 9 5
+f 25 5 8
+f 25 20 17
+f 25 8 20
+f 26 18 11
+f 26 10 18
+f 26 21 10
+f 26 3 21
+f 27 19 12
+f 27 6 19
+f 28 19 6
+f 28 6 10
+f 29 20 13
+f 29 13 1
+f 29 1 17
+f 29 17 20
+f 30 21 14
+f 30 22 10
+f 30 14 22
+f 31 24 18
+f 31 18 6
+f 31 6 27
+f 31 27 12
+f 31 12 24
+f 32 26 11
+f 32 11 3
+f 32 3 26
+f 33 28 10
+f 33 15 19
+f 33 19 28
+f 34 30 10
+f 34 10 21
+f 34 21 30
+f 35 10 2
+f 35 2 15
+f 35 15 33
+f 36 35 33
+f 36 33 10
+f 36 10 35
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_1/collision/model_normalized_collision_2.obj b/objects/objaverse/cake/cake_1/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4fb58a22b6d5d1ce8c76c7cc4db0a79a1f66e05b
--- /dev/null
+++ b/objects/objaverse/cake/cake_1/collision/model_normalized_collision_2.obj
@@ -0,0 +1,165 @@
+# https://github.com/mikedh/trimesh
+v 0.28038153 0.23014080 0.33335739
+v 0.38636867 0.37364341 0.01552638
+v 0.35318417 0.38951511 0.30164625
+v 0.01392668 0.47643173 0.20205067
+v 0.01408284 0.23484848 0.01628488
+v 0.23077569 0.44499610 0.20128614
+v 0.01766040 0.41535557 0.29785515
+v 0.37437678 0.33375999 0.27080717
+v 0.31570075 0.22052963 -0.07478474
+v 0.01336429 0.46907705 0.01599872
+v 0.36445146 0.40442071 0.24976759
+v 0.11767594 0.46357418 0.26866636
+v 0.24435802 0.27547318 0.34945853
+v 0.02450341 0.22753061 0.30326443
+v -0.00015541 0.35564945 0.30160133
+v 0.32953927 0.29882300 0.31850480
+v 0.33081667 0.26241116 0.28193525
+v 0.38083548 0.34752686 0.01543434
+v 0.34194839 0.26821521 -0.07497106
+v 0.28214841 0.41605513 0.01574001
+v 0.07254996 0.46158510 0.01605202
+v 0.37670946 0.38487534 0.28253989
+v 0.13381984 0.46065519 0.24831260
+v 0.22176559 0.44486809 0.25745510
+v 0.31837533 0.38712750 0.31883139
+v 0.23772378 0.24399341 0.35124480
+v 0.00059626 0.37046257 0.29949235
+v 0.00991266 0.30397086 0.32128917
+v 0.30061818 0.23073661 0.29724369
+v 0.31193583 0.25821658 0.32532387
+v 0.31971537 0.22709532 -0.07605047
+v 0.36281023 0.30714120 0.08328041
+v 0.32635035 0.40130169 0.01559297
+v 0.33247620 0.41664772 0.19576951
+v 0.22266221 0.43101767 0.01586732
+v 0.37417355 0.39266074 0.25226310
+v 0.36553916 0.39943247 0.26665210
+v 0.37480237 0.34717438 0.27949475
+v 0.34072968 0.36666773 0.31776726
+v 0.32827587 0.40119094 0.30383142
+v 0.12491400 0.44195427 0.29355114
+v 0.27406132 0.34914752 0.33266067
+v 0.12001990 0.26377705 0.33533220
+v 0.24276458 0.27428114 0.34952684
+v 0.31474551 0.23086781 0.10022029
+v 0.30122995 0.24805086 0.32890951
+v 0.33529131 0.25632794 -0.07595387
+v 0.34279205 0.41324269 0.25512315
+v 0.32433517 0.38728078 0.31848469
+v 0.29149100 0.24431581 0.33670758
+v 0.19300880 0.44450552 0.28237059
+v 0.16655218 0.42647322 0.30052308
+v 0.23463288 0.44301573 0.22627340
+v 0.26528930 0.24162295 0.34626720
+v 0.23809086 0.42949560 0.29027104
+v 0.29694114 0.41452638 0.29297462
+f 12 4 7
+f 14 9 1
+f 14 5 9
+f 15 10 5
+f 17 9 8
+f 18 2 8
+f 19 2 18
+f 21 10 4
+f 21 19 10
+f 23 12 6
+f 23 4 12
+f 23 21 4
+f 23 6 21
+f 24 6 12
+f 26 14 1
+f 27 7 4
+f 27 4 10
+f 27 10 15
+f 28 15 5
+f 28 5 14
+f 28 13 7
+f 28 27 15
+f 28 7 27
+f 29 1 9
+f 30 29 17
+f 30 17 8
+f 31 9 5
+f 31 5 10
+f 31 8 9
+f 32 19 18
+f 32 18 8
+f 32 31 19
+f 32 8 31
+f 33 2 19
+f 33 19 20
+f 34 20 6
+f 34 33 20
+f 34 11 2
+f 34 2 33
+f 35 21 6
+f 35 6 20
+f 35 20 19
+f 35 19 21
+f 36 22 2
+f 36 2 11
+f 36 11 22
+f 37 22 11
+f 37 3 22
+f 38 8 2
+f 38 2 22
+f 38 30 8
+f 38 16 30
+f 39 22 3
+f 39 38 22
+f 39 16 38
+f 40 3 37
+f 41 12 7
+f 42 7 13
+f 42 41 7
+f 43 28 14
+f 43 14 26
+f 43 26 28
+f 44 28 26
+f 44 26 13
+f 44 13 28
+f 45 29 9
+f 45 9 17
+f 45 17 29
+f 46 1 29
+f 46 29 30
+f 47 31 10
+f 47 10 19
+f 47 19 31
+f 48 11 34
+f 48 40 37
+f 48 37 11
+f 48 34 6
+f 49 39 3
+f 49 13 39
+f 49 42 13
+f 49 25 42
+f 49 3 40
+f 49 41 25
+f 50 30 16
+f 50 16 39
+f 50 46 30
+f 50 1 46
+f 51 24 12
+f 51 12 41
+f 51 41 49
+f 52 42 25
+f 52 25 41
+f 52 41 42
+f 53 48 6
+f 53 6 24
+f 53 24 48
+f 54 26 1
+f 54 1 50
+f 54 13 26
+f 54 50 39
+f 54 39 13
+f 55 51 49
+f 55 49 40
+f 55 40 51
+f 56 48 24
+f 56 24 51
+f 56 51 40
+f 56 40 48
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_1/collision/model_normalized_collision_20.obj b/objects/objaverse/cake/cake_1/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae40be29a5c18ced2ac1d6b5c168b37c4bcc9db1
--- /dev/null
+++ b/objects/objaverse/cake/cake_1/collision/model_normalized_collision_20.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.01408284 0.40151515 -0.24129088
+v 0.06207986 0.40078248 -0.31657112
+v 0.01286945 0.46672379 -0.24121107
+v -0.27144341 0.46251587 -0.25534652
+v -0.27326541 0.40162667 -0.33736220
+v -0.07682625 0.40151515 -0.24129088
+v 0.05752119 0.46118851 -0.28671315
+v -0.07695908 0.47471211 -0.24126771
+v -0.28420233 0.45992218 -0.26086535
+v -0.16858912 0.46370653 -0.34723879
+v 0.05863005 0.45799780 -0.32774207
+v -0.10853544 0.40336654 -0.33044312
+v -0.27175762 0.45069783 -0.35041366
+v -0.25572075 0.46131875 -0.32690126
+v 0.02585445 0.46156622 -0.33111241
+v -0.27340522 0.43695775 -0.34693196
+v -0.22946038 0.43506721 -0.34485437
+v -0.24001947 0.45967963 -0.34180296
+v -0.27096101 0.45959609 -0.30141497
+v 0.05716363 0.45952738 -0.31525530
+v -0.19734095 0.46155877 -0.34823389
+f 6 1 3
+f 6 5 2
+f 6 2 1
+f 7 1 2
+f 7 3 1
+f 8 6 3
+f 8 4 6
+f 8 3 7
+f 9 6 4
+f 9 5 6
+f 11 7 2
+f 12 10 2
+f 12 2 5
+f 14 4 8
+f 14 8 10
+f 14 9 4
+f 15 10 8
+f 15 8 7
+f 15 11 2
+f 15 2 10
+f 16 5 9
+f 16 9 13
+f 17 13 10
+f 17 10 12
+f 17 16 13
+f 17 12 5
+f 17 5 16
+f 18 13 14
+f 19 14 13
+f 19 13 9
+f 19 9 14
+f 20 15 7
+f 20 7 11
+f 20 11 15
+f 21 18 14
+f 21 14 10
+f 21 10 13
+f 21 13 18
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_1/collision/model_normalized_collision_21.obj b/objects/objaverse/cake/cake_1/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..043d8d6a1c77ed896c16d0edda2ae9f421ba9262
--- /dev/null
+++ b/objects/objaverse/cake/cake_1/collision/model_normalized_collision_21.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v -0.04652669 -0.14450198 0.31856730
+v -0.04652322 -0.14393940 0.18295155
+v -0.04503152 -0.00751247 0.31815092
+v -0.25612052 -0.00403255 0.29431022
+v -0.22728372 -0.14661096 0.18139111
+v -0.04652322 -0.00757576 0.18295155
+v -0.20582706 -0.05277080 0.31873661
+v -0.17478767 -0.15018542 0.30307926
+v -0.27279833 -0.00265741 0.26634919
+v -0.18490924 -0.04430255 0.31891235
+v -0.21606344 -0.14549459 0.28885186
+v -0.27133097 -0.00675630 0.18306889
+v -0.20920798 -0.01136044 0.31784020
+v -0.25528062 -0.06135024 0.27564392
+v -0.28201937 -0.00400680 0.20689124
+v -0.20693861 -0.00903889 0.31652512
+v -0.26901423 -0.01921032 0.26752191
+v -0.25504463 -0.07697979 0.26497102
+v -0.26098612 -0.04560067 0.18418211
+v -0.27172266 -0.03558938 0.25259933
+v -0.25896262 -0.07766245 0.22035142
+f 1 2 3
+f 6 3 2
+f 6 2 5
+f 8 5 2
+f 8 2 1
+f 8 1 7
+f 9 4 3
+f 9 3 6
+f 10 7 1
+f 10 1 3
+f 11 8 7
+f 11 7 4
+f 11 5 8
+f 12 6 5
+f 13 10 3
+f 13 4 7
+f 13 7 10
+f 14 11 4
+f 15 9 6
+f 15 6 12
+f 16 13 3
+f 16 3 4
+f 16 4 13
+f 17 14 4
+f 17 4 9
+f 18 5 11
+f 18 11 14
+f 19 15 12
+f 19 12 5
+f 19 5 15
+f 20 17 9
+f 20 9 15
+f 20 18 14
+f 20 14 17
+f 21 20 15
+f 21 15 5
+f 21 5 18
+f 21 18 20
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_1/collision/model_normalized_collision_22.obj b/objects/objaverse/cake/cake_1/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b2f1600f2366fa0fb2590c3690599f26744e0316
--- /dev/null
+++ b/objects/objaverse/cake/cake_1/collision/model_normalized_collision_22.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.02776612 0.22859825 0.30161348
+v 0.01408284 0.23484848 -0.16553331
+v 0.01408284 0.35606060 -0.16553331
+v -0.19796601 0.35098046 0.29989506
+v -0.19711472 0.23506822 0.29551938
+v 0.01639577 0.35477597 0.30614077
+v -0.18288686 0.23484848 -0.16553331
+v -0.19803837 0.35606060 0.00113336
+v -0.11712095 0.28633265 0.32006531
+v -0.19803837 0.23484848 0.00113336
+v -0.18288686 0.35606060 -0.16553331
+v -0.01314415 0.23539217 0.30638444
+v 0.01849146 0.31809919 0.32219328
+v -0.19909871 0.31078327 0.30808543
+v -0.14739659 0.24467289 0.30403862
+v -0.05484579 0.33708059 0.31915744
+v 0.00991266 0.30397086 0.32128917
+v -0.08350522 0.28772137 0.32008245
+f 1 2 3
+f 6 1 3
+f 7 2 1
+f 7 3 2
+f 8 6 3
+f 8 4 6
+f 10 7 1
+f 10 1 5
+f 10 8 7
+f 11 8 3
+f 11 3 7
+f 11 7 8
+f 12 5 1
+f 13 1 6
+f 14 5 9
+f 14 10 5
+f 14 4 8
+f 14 8 10
+f 15 12 9
+f 15 9 5
+f 15 5 12
+f 16 13 6
+f 16 6 4
+f 16 9 13
+f 16 14 9
+f 16 4 14
+f 17 12 1
+f 17 1 13
+f 17 13 9
+f 18 17 9
+f 18 9 12
+f 18 12 17
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_1/collision/model_normalized_collision_23.obj b/objects/objaverse/cake/cake_1/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d5b7c1b8dcddcedd1b12f9043d5d6ea18cb1a0b
--- /dev/null
+++ b/objects/objaverse/cake/cake_1/collision/model_normalized_collision_23.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.26101898 0.10459948 -0.15106330
+v 0.32731333 0.22301289 -0.27706162
+v 0.32754192 0.22426824 -0.15098235
+v 0.12014345 0.21969697 -0.15038179
+v 0.11941860 0.09801653 -0.30545456
+v 0.12029742 0.22120071 -0.30352765
+v 0.12014345 0.09848484 -0.15038179
+v 0.31596099 0.18449291 -0.27202179
+v 0.30996856 0.21867040 -0.28876192
+v 0.16488323 0.09880004 -0.30157441
+v 0.27199300 0.12324293 -0.15108688
+v 0.17924911 0.22000497 -0.30199903
+v 0.25841643 0.10544013 -0.29022475
+v 0.27136084 0.10590360 -0.27468626
+v 0.17906865 0.11405951 -0.30122999
+v 0.30310683 0.19834768 -0.28871915
+f 6 3 2
+f 6 4 3
+f 6 5 4
+f 7 1 3
+f 7 3 4
+f 7 4 5
+f 8 2 3
+f 10 7 5
+f 10 1 7
+f 11 8 3
+f 11 3 1
+f 12 6 2
+f 12 2 9
+f 12 5 6
+f 14 11 1
+f 14 8 11
+f 14 13 8
+f 14 1 10
+f 14 10 13
+f 15 10 5
+f 15 5 12
+f 15 12 9
+f 15 13 10
+f 16 9 2
+f 16 2 8
+f 16 8 13
+f 16 15 9
+f 16 13 15
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_1/collision/model_normalized_collision_24.obj b/objects/objaverse/cake/cake_1/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b0fa8001c161fbab50293ed114a307ab2d00e0a
--- /dev/null
+++ b/objects/objaverse/cake/cake_1/collision/model_normalized_collision_24.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v -0.13293585 -0.38331660 0.30457468
+v -0.15146836 -0.39111807 0.19665853
+v -0.13743231 -0.14393940 0.18295155
+v -0.22776651 -0.13994238 0.28048425
+v -0.16464630 -0.38278025 0.26870077
+v -0.22879523 -0.14073166 0.18458882
+v -0.15478584 -0.13172658 0.30659948
+v -0.15125325 -0.38494617 0.29630074
+v -0.18345684 -0.28065283 0.18264084
+v -0.21386025 -0.22955939 0.27995582
+v -0.16616446 -0.37932322 0.23574916
+v -0.14297288 -0.22792838 0.30763541
+v -0.22221923 -0.14217096 0.28966953
+v -0.22619855 -0.15162371 0.18400180
+v -0.22537437 -0.16910983 0.26767423
+v -0.14434444 -0.37918593 0.30284725
+v -0.16312511 -0.21853967 0.30974588
+v -0.21077103 -0.23183283 0.22542385
+v -0.19676738 -0.25755892 0.29068612
+f 1 2 3
+f 7 6 4
+f 7 3 6
+f 8 5 2
+f 8 2 1
+f 9 3 2
+f 10 5 8
+f 11 2 5
+f 11 5 10
+f 12 1 3
+f 12 3 7
+f 13 4 10
+f 13 7 4
+f 14 6 3
+f 14 3 9
+f 14 9 2
+f 14 2 11
+f 15 10 4
+f 15 4 6
+f 15 6 10
+f 16 8 1
+f 17 12 7
+f 17 7 13
+f 17 16 1
+f 17 1 12
+f 18 14 11
+f 18 11 10
+f 18 10 6
+f 18 6 14
+f 19 13 10
+f 19 10 8
+f 19 8 16
+f 19 17 13
+f 19 16 17
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_1/collision/model_normalized_collision_25.obj b/objects/objaverse/cake/cake_1/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..964ca641c53aee313628fb542657032caab5db2e
--- /dev/null
+++ b/objects/objaverse/cake/cake_1/collision/model_normalized_collision_25.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v -0.01622019 -0.26515153 -0.22613937
+v -0.01756692 -0.26472542 -0.30941411
+v -0.01726425 -0.14174724 -0.30827296
+v -0.18571904 -0.15555371 -0.23080954
+v -0.14733481 -0.26752556 -0.22768999
+v -0.15051159 -0.21248042 -0.32062746
+v -0.01622019 -0.14393940 -0.22613937
+v -0.13937276 -0.14477175 -0.32328915
+v -0.16613043 -0.21841701 -0.27085783
+v -0.12122206 -0.26504503 -0.31710728
+v -0.06370825 -0.14390208 -0.31621993
+v -0.15686593 -0.21352838 -0.31464443
+v -0.09266783 -0.26481184 -0.31660960
+v -0.14064387 -0.26271979 -0.30342842
+v -0.07787976 -0.24923265 -0.31572623
+v -0.14811912 -0.26426070 -0.27104502
+f 1 2 3
+f 5 2 1
+f 7 1 3
+f 7 5 1
+f 7 4 5
+f 8 7 3
+f 8 4 7
+f 9 5 4
+f 10 2 5
+f 11 8 3
+f 11 3 2
+f 12 8 6
+f 12 4 8
+f 12 9 4
+f 13 2 10
+f 13 10 6
+f 13 6 8
+f 14 12 6
+f 14 6 10
+f 14 9 12
+f 15 11 2
+f 15 2 13
+f 15 13 8
+f 15 8 11
+f 16 14 10
+f 16 10 5
+f 16 5 9
+f 16 9 14
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_1/collision/model_normalized_collision_26.obj b/objects/objaverse/cake/cake_1/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cd7fde31256e057371cdddfb52b6df99435e3891
--- /dev/null
+++ b/objects/objaverse/cake/cake_1/collision/model_normalized_collision_26.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.36470605 0.30193199 0.16559394
+v -0.34993858 0.30532719 -0.07737496
+v -0.36250256 0.35667770 -0.07443692
+v -0.38238335 0.35984565 0.16899824
+v -0.37821715 0.34574432 0.16928141
+v -0.36487447 0.36025755 -0.05821761
+v -0.38107474 0.36023799 0.15397092
+v -0.35807214 0.29942991 0.08887270
+v -0.36863298 0.31421250 0.16878390
+v -0.35891326 0.34494773 -0.07799705
+v -0.36190987 0.31574934 0.07834694
+v -0.35158676 0.31286262 -0.07344835
+f 5 2 1
+f 5 4 2
+f 6 3 2
+f 6 2 4
+f 7 6 4
+f 7 3 6
+f 8 1 2
+f 9 5 1
+f 9 4 5
+f 9 7 4
+f 9 1 7
+f 10 2 3
+f 11 7 1
+f 11 1 8
+f 11 3 7
+f 11 10 3
+f 11 8 10
+f 12 10 8
+f 12 8 2
+f 12 2 10
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_1/collision/model_normalized_collision_27.obj b/objects/objaverse/cake/cake_1/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5864bf4ed2c6644b10de3faa8bd8eaacd47e33ee
--- /dev/null
+++ b/objects/objaverse/cake/cake_1/collision/model_normalized_collision_27.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v -0.27379595 0.38636363 -0.25644240
+v -0.27523681 0.38553898 -0.33885004
+v -0.27378640 0.46206130 -0.25643795
+v -0.33272406 0.45700341 -0.19495993
+v -0.36368027 0.39171501 -0.19792827
+v -0.36889572 0.43793629 -0.33711700
+v -0.27175762 0.45069783 -0.35041366
+v -0.35844188 0.38846006 -0.25599489
+v -0.35879741 0.44400863 -0.33263957
+v -0.37540584 0.44411627 -0.19495507
+v -0.36343111 0.42452336 -0.35480826
+v -0.35413778 0.43826066 -0.35263601
+v -0.34451665 0.44542347 -0.34240475
+v -0.36885115 0.40533279 -0.19333422
+v -0.37393991 0.44427724 -0.21048571
+v -0.33585299 0.38719120 -0.34645104
+v -0.36402461 0.42587767 -0.35297727
+v -0.35024031 0.39560224 -0.34818518
+f 1 3 4
+f 5 1 4
+f 7 1 2
+f 7 3 1
+f 8 2 1
+f 8 1 5
+f 9 4 3
+f 12 6 9
+f 12 11 6
+f 12 7 11
+f 13 9 3
+f 13 3 7
+f 13 12 9
+f 13 7 12
+f 14 10 6
+f 14 5 4
+f 14 4 10
+f 14 11 8
+f 14 8 5
+f 15 9 6
+f 15 6 10
+f 15 10 4
+f 15 4 9
+f 16 11 7
+f 16 7 2
+f 16 2 8
+f 17 14 6
+f 17 6 11
+f 17 11 14
+f 18 16 8
+f 18 8 11
+f 18 11 16
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_1/collision/model_normalized_collision_28.obj b/objects/objaverse/cake/cake_1/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0fe73dc6b5be652539e76d21f70306e3f9fe7b94
--- /dev/null
+++ b/objects/objaverse/cake/cake_1/collision/model_normalized_collision_28.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.07682625 0.34090909 -0.16553331
+v -0.07682625 0.34090909 -0.25644240
+v -0.07696618 0.47457538 -0.25641799
+v -0.31634688 0.46402109 -0.16472887
+v -0.34849534 0.33585829 -0.16728144
+v -0.07700315 0.47394052 -0.16540150
+v -0.34050094 0.33898240 -0.25684592
+v -0.36568947 0.39175734 -0.16798053
+v -0.33244377 0.45235446 -0.25649634
+v -0.28588012 0.46005691 -0.25513871
+v -0.33272406 0.45700341 -0.19495993
+f 1 2 3
+f 5 2 1
+f 5 1 4
+f 6 1 3
+f 6 3 4
+f 6 4 1
+f 7 3 2
+f 7 2 5
+f 8 7 5
+f 8 5 4
+f 9 3 7
+f 9 7 8
+f 10 9 4
+f 10 4 3
+f 10 3 9
+f 11 9 8
+f 11 8 4
+f 11 4 9
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_1/collision/model_normalized_collision_29.obj b/objects/objaverse/cake/cake_1/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..83c99343251fe64372b84ab519d1f14d88522322
--- /dev/null
+++ b/objects/objaverse/cake/cake_1/collision/model_normalized_collision_29.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.22620406 0.21969697 -0.15038179
+v 0.22512404 0.22023425 -0.29646518
+v 0.23761241 0.43173811 -0.15069581
+v 0.23561243 0.43206012 -0.22687500
+v 0.13529496 0.38636363 -0.15038179
+v 0.13529496 0.21969697 -0.15038179
+v 0.13462651 0.38655540 -0.30981147
+v 0.19425157 0.22003557 -0.30050394
+v 0.22554765 0.38823089 -0.30588044
+v 0.13544700 0.22118175 -0.30369807
+v 0.22473629 0.26575859 -0.30050667
+f 1 2 3
+f 3 2 4
+f 5 1 3
+f 5 3 4
+f 6 1 5
+f 7 5 4
+f 7 6 5
+f 8 2 1
+f 8 1 6
+f 9 7 4
+f 9 4 2
+f 10 8 6
+f 10 6 7
+f 10 9 8
+f 10 7 9
+f 11 9 2
+f 11 2 8
+f 11 8 9
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_1/collision/model_normalized_collision_3.obj b/objects/objaverse/cake/cake_1/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1bbda55d10e76545e4dab7e129e552811c55f35c
--- /dev/null
+++ b/objects/objaverse/cake/cake_1/collision/model_normalized_collision_3.obj
@@ -0,0 +1,120 @@
+# https://github.com/mikedh/trimesh
+v -0.00205385 -0.01217293 0.33660414
+v 0.01393100 -0.00744838 -0.31197456
+v 0.02776612 0.22859825 0.30161348
+v -0.31681634 0.24971796 0.30314973
+v -0.27092582 -0.00235910 0.15413608
+v 0.01130705 0.23401379 -0.31746666
+v -0.01314415 0.23539217 0.30638444
+v 0.01358817 -0.00843322 0.33224050
+v -0.21861005 -0.01028367 0.31002289
+v -0.29732600 0.23612646 -0.32384319
+v -0.03029584 -0.00517902 0.33718002
+v -0.30650633 0.24984160 0.29919488
+v -0.21439238 -0.00266051 -0.32219037
+v -0.03295160 -0.00825370 -0.31640539
+v -0.30062661 0.04535525 0.24154994
+v -0.31654519 0.24865452 0.30409649
+v -0.28074795 0.23874180 -0.33991633
+v -0.27279833 -0.00265741 0.26634919
+v -0.35476469 0.22500455 0.20227620
+v -0.25645793 0.02835958 -0.17029599
+v -0.30485044 0.23899563 -0.30062932
+v -0.28719951 0.17936728 -0.32078774
+v -0.22250762 0.04082889 -0.33223689
+v -0.28929085 0.01415175 0.20524930
+v -0.34702594 0.21041103 0.24771782
+v -0.25628381 -0.00254752 0.29480240
+v -0.22544036 0.00024822 -0.30643094
+v -0.34884324 0.24129177 0.18508670
+v -0.30233144 0.04364119 0.20916124
+v -0.30082029 0.22362710 -0.30225915
+v -0.25648274 0.08821181 -0.31748647
+v -0.18365253 0.08357962 -0.33144999
+v -0.28509517 0.01431582 0.25102554
+v -0.30159870 0.07343865 0.26258691
+v -0.35137871 0.21193438 0.20654563
+v -0.35250750 0.23744165 0.25017126
+v -0.25351094 0.02601818 0.30380757
+v -0.25492052 0.00066172 -0.05644590
+v -0.33320802 0.23956775 0.00293088
+v -0.16915090 0.23508067 -0.33206655
+v -0.31433270 0.23882906 0.30370864
+f 6 3 2
+f 7 1 3
+f 7 3 6
+f 8 1 2
+f 8 2 3
+f 8 3 1
+f 11 1 7
+f 11 9 1
+f 12 7 6
+f 12 4 7
+f 13 9 5
+f 14 2 1
+f 14 1 9
+f 14 9 13
+f 14 6 2
+f 16 11 7
+f 16 7 4
+f 16 9 11
+f 17 4 12
+f 17 12 6
+f 18 5 9
+f 21 17 10
+f 21 4 17
+f 22 10 17
+f 22 21 10
+f 23 14 13
+f 23 22 17
+f 24 5 18
+f 26 18 9
+f 27 13 5
+f 28 4 21
+f 29 22 20
+f 29 20 24
+f 29 24 15
+f 30 22 19
+f 30 19 21
+f 30 21 22
+f 31 23 13
+f 31 22 23
+f 31 13 27
+f 31 27 20
+f 31 20 22
+f 32 23 17
+f 32 6 14
+f 32 14 23
+f 33 24 18
+f 33 18 15
+f 33 15 24
+f 34 25 15
+f 34 15 18
+f 34 18 26
+f 35 25 19
+f 35 15 25
+f 35 29 15
+f 35 19 22
+f 35 22 29
+f 36 16 4
+f 36 19 25
+f 36 28 19
+f 36 4 28
+f 36 25 34
+f 37 26 9
+f 37 9 16
+f 38 24 20
+f 38 20 27
+f 38 27 5
+f 38 5 24
+f 39 28 21
+f 39 21 19
+f 39 19 28
+f 40 32 17
+f 40 17 6
+f 40 6 32
+f 41 34 26
+f 41 36 34
+f 41 16 36
+f 41 37 16
+f 41 26 37
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_1/collision/model_normalized_collision_30.obj b/objects/objaverse/cake/cake_1/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..817308025f712e769ded7012d384501042b1fda1
--- /dev/null
+++ b/objects/objaverse/cake/cake_1/collision/model_normalized_collision_30.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.00425839 -0.29771723 0.18824305
+v -0.03727129 -0.26303344 0.30643093
+v -0.18345684 -0.28065283 0.18264084
+v -0.15478584 -0.13172658 0.30659948
+v -0.04142783 -0.12529964 0.30409914
+v -0.16044936 -0.26846746 0.30309092
+v -0.04652322 -0.14393940 0.18295155
+v -0.15455559 -0.26685051 0.30626897
+v -0.13743231 -0.14393940 0.18295155
+f 5 2 1
+f 5 4 2
+f 6 4 3
+f 6 1 2
+f 6 3 1
+f 7 5 1
+f 7 1 3
+f 8 6 2
+f 8 2 4
+f 8 4 6
+f 9 7 3
+f 9 3 4
+f 9 4 5
+f 9 5 7
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_1/collision/model_normalized_collision_31.obj b/objects/objaverse/cake/cake_1/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d2fb2a393938c700789da424e25ddc5f15ddbbaa
--- /dev/null
+++ b/objects/objaverse/cake/cake_1/collision/model_normalized_collision_31.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.22620406 0.21969697 0.01628488
+v 0.22620406 0.21969697 -0.15038179
+v 0.22620406 0.34090909 -0.15038179
+v 0.01408284 0.34090909 0.01628488
+v 0.01408284 0.21969697 -0.15038179
+v 0.22620406 0.34090909 0.01628488
+v 0.01408284 0.21969697 0.01628488
+v 0.01408284 0.34090909 -0.15038179
+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/cake/cake_1/collision/model_normalized_collision_4.obj b/objects/objaverse/cake/cake_1/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4efee7386cc00bca8e089a917867f15c423b40a1
--- /dev/null
+++ b/objects/objaverse/cake/cake_1/collision/model_normalized_collision_4.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.19822972 -0.00094583 -0.15151998
+v 0.25644009 0.07801553 -0.27545199
+v 0.24913147 0.10221213 -0.09043059
+v 0.01408284 0.09848484 -0.15038179
+v 0.01393100 -0.00744838 -0.31197456
+v 0.25841643 0.10544013 -0.29022475
+v 0.01408284 -0.00757576 -0.15038179
+v 0.25408625 0.09292593 -0.12614386
+v 0.20048689 -0.00168238 -0.29605471
+v 0.25992277 0.10489134 -0.12412938
+v 0.01307897 0.09789989 -0.31275358
+v 0.23333890 0.07212406 -0.09123814
+v 0.21033810 0.00004994 -0.27856440
+v 0.16339640 -0.00707909 -0.30105529
+v 0.24572826 0.09608541 -0.08896209
+v 0.20809268 0.00147507 -0.24302676
+v 0.16488323 0.09880004 -0.30157441
+f 9 6 2
+f 10 6 4
+f 10 4 3
+f 10 8 2
+f 10 2 6
+f 11 4 6
+f 11 7 4
+f 11 5 7
+f 12 7 1
+f 12 4 7
+f 12 1 8
+f 13 2 8
+f 13 9 2
+f 13 1 9
+f 14 7 5
+f 14 5 11
+f 14 6 9
+f 14 9 1
+f 14 1 7
+f 15 3 4
+f 15 4 12
+f 15 10 3
+f 15 12 8
+f 15 8 10
+f 16 13 8
+f 16 8 1
+f 16 1 13
+f 17 14 11
+f 17 11 6
+f 17 6 14
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_1/collision/model_normalized_collision_5.obj b/objects/objaverse/cake/cake_1/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9bac611f0217a19aa2a5c34dafcb2deff752666c
--- /dev/null
+++ b/objects/objaverse/cake/cake_1/collision/model_normalized_collision_5.obj
@@ -0,0 +1,123 @@
+# https://github.com/mikedh/trimesh
+v -0.10618738 -0.49150755 0.28066442
+v 0.03702484 -0.26043059 0.01587615
+v 0.01855595 -0.25622458 0.28566261
+v -0.13715463 -0.26785175 0.31854861
+v -0.17529212 -0.26296706 0.01676184
+v -0.07532750 -0.37537544 0.33461950
+v -0.03361185 -0.36609684 0.30708416
+v -0.09455592 -0.49426570 0.01569276
+v -0.18972551 -0.26235171 0.19815918
+v -0.18319970 -0.26126064 0.10913523
+v -0.00714993 -0.26063425 0.31195716
+v -0.13936185 -0.46985254 0.29129478
+v 0.03517266 -0.25926628 0.08886538
+v -0.04594894 -0.37826922 0.31760210
+v -0.13542226 -0.39185220 -0.01526501
+v -0.09351926 -0.48091499 0.26983570
+v -0.13071203 -0.43993719 0.30484778
+v -0.10743560 -0.48352582 0.29237458
+v -0.15125325 -0.38494617 0.29630074
+v -0.12655167 -0.49364719 0.28357624
+v -0.15085042 -0.42824768 0.24183716
+v 0.01071555 -0.28276021 0.25153561
+v -0.06760465 -0.37524502 0.33208960
+v -0.13072602 -0.40376435 -0.01523179
+v -0.07928128 -0.47037892 0.08652774
+v -0.13718359 -0.27908096 0.31886471
+v -0.13202241 -0.48668627 0.28807747
+v -0.15021059 -0.42831059 0.28182015
+v -0.14950549 -0.39471882 0.29817273
+v -0.12093292 -0.49519324 0.24763029
+v -0.17891788 -0.28968448 0.13980029
+v -0.13877857 -0.38298367 -0.01261124
+v -0.06729935 -0.36957394 0.33253285
+v -0.05674590 -0.38541828 0.32023906
+v -0.07712072 -0.46865016 0.01523024
+v -0.11135939 -0.48384152 0.01713623
+v -0.00256795 -0.33069459 0.06611334
+v 0.03007836 -0.27156948 0.01538052
+v -0.11947472 -0.47143600 0.05072114
+v -0.10263842 -0.49224821 0.01621034
+v -0.10809835 -0.49288824 0.05311967
+v -0.13884343 -0.46921142 0.23999340
+f 9 4 3
+f 10 3 2
+f 10 2 5
+f 10 9 3
+f 11 3 4
+f 11 4 6
+f 13 2 3
+f 14 7 3
+f 14 3 11
+f 15 5 2
+f 16 1 8
+f 16 14 1
+f 16 7 14
+f 16 13 7
+f 18 6 17
+f 18 1 14
+f 19 4 9
+f 20 1 18
+f 22 13 3
+f 22 3 7
+f 22 7 13
+f 23 14 11
+f 23 6 18
+f 24 15 2
+f 25 16 8
+f 25 13 16
+f 26 17 6
+f 26 6 4
+f 26 4 19
+f 27 18 17
+f 27 17 12
+f 27 20 18
+f 28 19 9
+f 28 21 12
+f 28 9 21
+f 29 12 17
+f 29 26 19
+f 29 17 26
+f 29 28 12
+f 29 19 28
+f 30 8 1
+f 30 1 20
+f 31 21 9
+f 31 9 10
+f 31 10 5
+f 31 5 21
+f 32 21 5
+f 32 5 15
+f 33 23 11
+f 33 11 6
+f 33 6 23
+f 34 23 18
+f 34 18 14
+f 34 14 23
+f 35 8 24
+f 35 25 8
+f 35 2 25
+f 36 15 24
+f 36 32 15
+f 37 25 2
+f 37 2 13
+f 37 13 25
+f 38 35 24
+f 38 24 2
+f 38 2 35
+f 39 32 36
+f 40 36 24
+f 40 24 8
+f 41 20 27
+f 41 27 36
+f 41 36 40
+f 41 30 20
+f 41 40 8
+f 41 8 30
+f 42 12 21
+f 42 21 32
+f 42 32 39
+f 42 27 12
+f 42 39 36
+f 42 36 27
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_1/collision/model_normalized_collision_6.obj b/objects/objaverse/cake/cake_1/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d2e554d241ef3f553bac8c9b55a7f3878e7f9a33
--- /dev/null
+++ b/objects/objaverse/cake/cake_1/collision/model_normalized_collision_6.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v 0.01383886 0.35619612 0.30555340
+v 0.12850017 0.45202572 0.19943613
+v 0.12491400 0.44195427 0.29355114
+v -0.19733707 0.48909743 0.25147416
+v -0.19803837 0.35606060 0.10719397
+v 0.07633351 0.47811781 0.22790080
+v -0.13102082 0.44598188 0.30454179
+v 0.12013795 0.41666000 0.30409461
+v 0.01408284 0.35606060 0.10719397
+v 0.11155929 0.46554180 0.24400568
+v 0.05685769 0.47332973 0.26803524
+v -0.19795726 0.48005401 0.10703323
+v -0.19801885 0.35469007 0.29892446
+v -0.08343720 0.45478216 0.30210788
+v 0.11536574 0.45900497 0.27733000
+v -0.09500679 0.48963114 0.25614177
+v 0.01998152 0.46837732 0.10745101
+v -0.16424635 0.35220620 0.30239149
+v -0.20294287 0.47423981 0.27781722
+v 0.08415342 0.47448112 0.24004372
+v 0.08368700 0.45858487 0.28691848
+v -0.18715098 0.49469674 0.19535855
+v -0.01336689 0.47215762 0.10732948
+v -0.02402166 0.34922517 0.30561945
+v -0.16446743 0.48183946 0.26888213
+v -0.04954506 0.47387406 0.27882960
+v -0.11379778 0.49023366 0.15973850
+v -0.10114920 0.48913163 0.15677591
+v -0.07769139 0.47760345 0.10741292
+f 8 2 3
+f 8 7 1
+f 9 8 1
+f 9 2 8
+f 10 2 6
+f 12 9 5
+f 14 8 3
+f 14 7 8
+f 15 3 2
+f 15 2 10
+f 16 11 6
+f 17 6 2
+f 17 2 9
+f 18 7 13
+f 18 13 5
+f 19 13 7
+f 19 4 12
+f 19 12 5
+f 19 5 13
+f 19 7 14
+f 20 15 10
+f 20 10 6
+f 20 6 11
+f 20 11 15
+f 21 14 3
+f 21 3 15
+f 21 15 11
+f 22 12 4
+f 22 4 16
+f 23 17 9
+f 23 9 12
+f 24 1 7
+f 24 7 18
+f 24 9 1
+f 24 18 5
+f 24 5 9
+f 25 16 4
+f 25 4 19
+f 25 19 14
+f 26 14 21
+f 26 25 14
+f 26 16 25
+f 26 21 11
+f 26 11 16
+f 27 22 16
+f 27 16 6
+f 27 12 22
+f 28 6 17
+f 28 17 23
+f 28 27 6
+f 29 28 23
+f 29 23 12
+f 29 12 27
+f 29 27 28
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_1/collision/model_normalized_collision_7.obj b/objects/objaverse/cake/cake_1/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..031fba78064b950261aeb3dd72ace45cd4cc6412
--- /dev/null
+++ b/objects/objaverse/cake/cake_1/collision/model_normalized_collision_7.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.01408284 0.23484848 -0.16553331
+v 0.01130705 0.23401379 -0.31746666
+v 0.01337247 0.40226081 -0.31934859
+v -0.28420233 0.45992218 -0.26086535
+v -0.31870440 0.24125577 -0.16296359
+v -0.35013018 0.39072399 -0.34386466
+v 0.01408284 0.34090909 -0.16553331
+v -0.16915090 0.23508067 -0.33206655
+v -0.18371408 0.40248767 -0.33645450
+v -0.35230563 0.34535282 -0.16399528
+v 0.01408284 0.40151515 -0.24129088
+v -0.30416142 0.23779308 -0.31855812
+v -0.27326541 0.40162667 -0.33736220
+v -0.12331594 0.40326541 -0.33149200
+v -0.35844188 0.38846006 -0.25599489
+v -0.34755836 0.33190264 -0.16340643
+v -0.28850021 0.24225514 -0.33320683
+v -0.34815467 0.37939612 -0.33795647
+v -0.31616704 0.24071442 -0.19411328
+v -0.31766591 0.30048284 -0.33433757
+f 1 2 3
+f 7 5 1
+f 8 2 1
+f 9 8 6
+f 9 2 8
+f 10 7 4
+f 11 7 1
+f 11 1 3
+f 11 3 4
+f 11 4 7
+f 12 8 1
+f 12 1 5
+f 13 9 6
+f 13 6 4
+f 13 4 9
+f 14 9 4
+f 14 4 3
+f 14 3 2
+f 14 2 9
+f 15 10 4
+f 15 4 6
+f 16 10 5
+f 16 5 7
+f 16 7 10
+f 17 6 8
+f 17 8 12
+f 18 15 6
+f 18 6 12
+f 18 12 15
+f 19 15 12
+f 19 12 5
+f 19 5 10
+f 19 10 15
+f 20 17 12
+f 20 12 6
+f 20 6 17
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_1/collision/model_normalized_collision_8.obj b/objects/objaverse/cake/cake_1/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8f044aa453baed9c4495ba2f6b60fde71a7e815f
--- /dev/null
+++ b/objects/objaverse/cake/cake_1/collision/model_normalized_collision_8.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v 0.16645483 -0.00103880 0.28955791
+v 0.32014825 0.21675920 -0.14999584
+v 0.29484828 0.24072128 0.32919485
+v 0.02450341 0.22753061 0.30326443
+v 0.01408284 -0.00757576 -0.15038179
+v 0.01408284 0.23484848 0.01628488
+v 0.10817327 0.05034390 0.34032116
+v 0.29998478 0.19781818 0.08280534
+v 0.19822972 -0.00094583 -0.15151998
+v 0.31626370 0.23539205 0.01625442
+v 0.18048185 0.24321594 0.32476824
+v 0.01635271 0.01386683 0.31685133
+v 0.01408284 0.21969697 -0.15038179
+v 0.13672500 0.05135916 0.33656053
+v 0.28588853 0.20202061 0.28427849
+v 0.07393715 -0.00731363 0.31676436
+v 0.20926698 0.01799425 -0.12494905
+v 0.30752200 0.24227115 0.21232033
+v 0.09161557 0.12284963 0.33634105
+v 0.20764293 0.01717263 -0.15202932
+v 0.15058754 0.00099182 0.30656414
+v 0.25419134 0.13908243 0.25433742
+v 0.27199300 0.12324293 -0.15108688
+v 0.09254276 0.07758223 0.33915128
+v 0.28445512 0.17023178 0.08193673
+v 0.30322182 0.18141589 -0.15144503
+f 11 6 4
+f 12 6 5
+f 12 4 6
+f 13 5 6
+f 13 10 2
+f 13 6 10
+f 14 3 7
+f 15 3 1
+f 16 9 1
+f 16 5 9
+f 16 12 5
+f 16 7 12
+f 16 14 7
+f 17 1 9
+f 18 8 2
+f 18 2 10
+f 18 15 8
+f 18 3 15
+f 18 11 3
+f 18 10 6
+f 18 6 11
+f 19 3 11
+f 19 11 4
+f 19 4 12
+f 20 9 5
+f 20 5 13
+f 21 1 3
+f 21 3 14
+f 21 16 1
+f 21 14 16
+f 22 15 1
+f 22 8 15
+f 22 1 17
+f 23 17 9
+f 23 9 20
+f 24 7 3
+f 24 3 19
+f 24 19 12
+f 24 12 7
+f 25 22 17
+f 25 8 22
+f 25 23 8
+f 25 17 23
+f 26 2 8
+f 26 8 23
+f 26 13 2
+f 26 23 20
+f 26 20 13
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_1/collision/model_normalized_collision_9.obj b/objects/objaverse/cake/cake_1/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2f1eb08dc772163998fc79d11f5aea2cacf3c283
--- /dev/null
+++ b/objects/objaverse/cake/cake_1/collision/model_normalized_collision_9.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.22620406 0.34090909 0.01628488
+v 0.22554765 0.38823089 -0.30588044
+v 0.22266221 0.43101767 0.01586732
+v 0.01336429 0.46907705 0.01599872
+v 0.01408284 0.34090909 -0.24129088
+v 0.14578549 0.44527541 -0.32093520
+v 0.07254996 0.46158510 0.01605202
+v 0.22620406 0.34090909 -0.15038179
+v 0.01408284 0.34090909 0.01628488
+v 0.22223478 0.42888945 -0.31279692
+v 0.01284578 0.46647996 -0.28673200
+v 0.01586898 0.39964029 -0.31905854
+v 0.17743426 0.44416346 -0.22536182
+v 0.13529496 0.34090909 -0.24129088
+v 0.05752119 0.46118851 -0.28671315
+v 0.13462651 0.38655540 -0.30981147
+v 0.05863005 0.45799780 -0.32774207
+v 0.17719359 0.44404910 -0.12110502
+v 0.16232649 0.44473593 -0.29926238
+v 0.07269613 0.46021527 -0.16509165
+v 0.16170399 0.44415540 0.01560771
+v 0.17746356 0.43889537 -0.31726110
+f 1 2 3
+f 7 1 3
+f 8 2 1
+f 8 1 5
+f 9 5 1
+f 9 7 4
+f 9 1 7
+f 10 3 2
+f 10 2 6
+f 11 9 4
+f 11 5 9
+f 12 6 2
+f 12 5 11
+f 13 3 10
+f 14 8 5
+f 14 2 8
+f 15 11 4
+f 16 12 2
+f 16 5 12
+f 16 14 5
+f 16 2 14
+f 17 12 11
+f 17 6 12
+f 17 11 15
+f 18 13 7
+f 18 3 13
+f 19 13 10
+f 19 15 13
+f 19 17 15
+f 19 6 17
+f 20 7 13
+f 20 13 15
+f 20 15 4
+f 20 4 7
+f 21 18 7
+f 21 7 3
+f 21 3 18
+f 22 19 10
+f 22 10 6
+f 22 6 19
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_1/model.xml b/objects/objaverse/cake/cake_1/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..7da6840b0aab2dfb06c8681f48513a9a0c8fc81f
--- /dev/null
+++ b/objects/objaverse/cake/cake_1/model.xml
@@ -0,0 +1,81 @@
+<mujoco model="cake_30">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.09999999999999994 0.09999999999999994 0.09999999999999994" refquat="0.9999999999999999 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.09999999999999994 0.09999999999999994 0.09999999999999994" refquat="0.9999999999999999 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.09999999999999994 0.09999999999999994 0.09999999999999994" refquat="0.9999999999999999 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.09999999999999994 0.09999999999999994 0.09999999999999994" refquat="0.9999999999999999 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.09999999999999994 0.09999999999999994 0.09999999999999994" refquat="0.9999999999999999 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.09999999999999994 0.09999999999999994 0.09999999999999994" refquat="0.9999999999999999 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.09999999999999994 0.09999999999999994 0.09999999999999994" refquat="0.9999999999999999 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.09999999999999994 0.09999999999999994 0.09999999999999994" refquat="0.9999999999999999 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.09999999999999994 0.09999999999999994 0.09999999999999994" refquat="0.9999999999999999 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.09999999999999994 0.09999999999999994 0.09999999999999994" refquat="0.9999999999999999 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.09999999999999994 0.09999999999999994 0.09999999999999994" refquat="0.9999999999999999 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.09999999999999994 0.09999999999999994 0.09999999999999994" refquat="0.9999999999999999 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.09999999999999994 0.09999999999999994 0.09999999999999994" refquat="0.9999999999999999 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.09999999999999994 0.09999999999999994 0.09999999999999994" refquat="0.9999999999999999 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.09999999999999994 0.09999999999999994 0.09999999999999994" refquat="0.9999999999999999 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.09999999999999994 0.09999999999999994 0.09999999999999994" refquat="0.9999999999999999 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.09999999999999994 0.09999999999999994 0.09999999999999994" refquat="0.9999999999999999 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.09999999999999994 0.09999999999999994 0.09999999999999994" refquat="0.9999999999999999 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.09999999999999994 0.09999999999999994 0.09999999999999994" refquat="0.9999999999999999 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.09999999999999994 0.09999999999999994 0.09999999999999994" refquat="0.9999999999999999 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.09999999999999994 0.09999999999999994 0.09999999999999994" refquat="0.9999999999999999 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.09999999999999994 0.09999999999999994 0.09999999999999994" refquat="0.9999999999999999 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.09999999999999994 0.09999999999999994 0.09999999999999994" refquat="0.9999999999999999 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.09999999999999994 0.09999999999999994 0.09999999999999994" refquat="0.9999999999999999 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.09999999999999994 0.09999999999999994 0.09999999999999994" refquat="0.9999999999999999 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.09999999999999994 0.09999999999999994 0.09999999999999994" refquat="0.9999999999999999 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.09999999999999994 0.09999999999999994 0.09999999999999994" refquat="0.9999999999999999 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.09999999999999994 0.09999999999999994 0.09999999999999994" refquat="0.9999999999999999 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.09999999999999994 0.09999999999999994 0.09999999999999994" refquat="0.9999999999999999 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.09999999999999994 0.09999999999999994 0.09999999999999994" refquat="0.9999999999999999 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.09999999999999994 0.09999999999999994 0.09999999999999994" refquat="0.9999999999999999 0.0 0.0 0.0"/>
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+      <site rgba="0 0 0 0" size="0.005" pos="0.00015208399999999946 0.00017510350000000109 -0.03548082599999998" name="bottom_site"/>
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diff --git a/objects/objaverse/cake/cake_1/visual/material.mtl b/objects/objaverse/cake/cake_1/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6b5d0f127cc1df2efd6b4835e0300358bb6dde72
--- /dev/null
+++ b/objects/objaverse/cake/cake_1/visual/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 359.99999300
+map_Kd material_0.png
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_1/visual/model_normalized_0.obj b/objects/objaverse/cake/cake_1/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d81e3216909da79c1f595525c7ca26181765f5b0
--- /dev/null
+++ b/objects/objaverse/cake/cake_1/visual/model_normalized_0.obj
@@ -0,0 +1,18333 @@
+# 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/cake/cake_3/collision/model_normalized_collision_0.obj b/objects/objaverse/cake/cake_3/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..24bf0f3127493c9e708d18186ef80b7283209a1c
--- /dev/null
+++ b/objects/objaverse/cake/cake_3/collision/model_normalized_collision_0.obj
@@ -0,0 +1,114 @@
+# https://github.com/mikedh/trimesh
+v 0.07033492 -0.41468732 0.08854604
+v 0.29151296 -0.37567993 0.00951132
+v 0.08484665 -0.36864376 0.15532674
+v 0.02905022 -0.22912581 0.25012222
+v -0.07946773 -0.24999999 -0.00038903
+v 0.28127846 -0.32015443 0.08889936
+v -0.08260953 -0.39988784 0.12424835
+v 0.04977423 -0.41316415 0.11558145
+v -0.08706950 -0.40366566 -0.00719707
+v 0.28911633 -0.35363658 0.04888815
+v 0.07188187 -0.22655074 0.25046173
+v 0.31538614 -0.24285759 0.06014590
+v -0.08221145 -0.39159436 0.13306501
+v 0.02659288 -0.24999999 -0.00038903
+v 0.04023116 -0.43231011 0.00875519
+v 0.28187297 -0.36961994 0.03086256
+v 0.06740879 -0.40025666 0.12535906
+v 0.15179774 -0.20071921 0.15979597
+v 0.29600107 -0.23353990 0.08653849
+v 0.29072144 -0.37092154 0.02025101
+v 0.28570341 -0.32645019 0.07777390
+v 0.06207240 -0.37139348 0.15377018
+v -0.13631451 -0.25112073 0.14896676
+v -0.03186683 -0.41297566 0.11278669
+v 0.02818678 -0.43134007 0.00641496
+v 0.02659288 -0.23484848 0.01476248
+v 0.16166861 -0.20413108 0.13485616
+v -0.04800993 -0.26700152 0.21343180
+v -0.15315501 -0.27400247 0.06861308
+v -0.10792081 -0.34762770 0.13724362
+v -0.12844202 -0.24717098 0.13207175
+v -0.04242627 -0.41582753 0.10015987
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+v -0.02910780 -0.25868611 0.22349345
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+v -0.11571843 -0.24369560 0.15952720
+v -0.05319841 -0.24896230 0.21508637
+v -0.02933807 -0.24695760 0.22752218
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+f 38 37 23
+f 38 4 37
+f 39 34 4
+f 39 4 38
+f 39 38 28
+f 39 28 34
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_3/collision/model_normalized_collision_1.obj b/objects/objaverse/cake/cake_3/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cfa3f085694731192df336746eae3cae9fa09c5d
--- /dev/null
+++ b/objects/objaverse/cake/cake_3/collision/model_normalized_collision_1.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v -0.18345491 -0.00019500 0.22586520
+v -0.17037681 -0.00757575 0.01476248
+v -0.16376074 0.37109888 0.05775266
+v -0.16398473 0.39813270 0.04293088
+v -0.39388678 0.14665526 0.00369962
+v -0.34750776 -0.01421804 0.10811159
+v -0.17052150 0.39616392 0.01349020
+v -0.26998837 0.27561909 0.16138863
+v -0.33838670 -0.01032569 -0.01896012
+v -0.31184085 -0.01221529 0.20516768
+v -0.18311414 0.21179463 0.21020559
+v -0.37915159 0.26293055 0.00965386
+v -0.34131060 0.00169097 -0.02572267
+v -0.34123221 -0.01463219 0.17523881
+v -0.19003119 0.19940731 0.21344834
+v -0.19962776 0.38724110 0.02444641
+v -0.19960178 0.38811722 0.01370858
+v -0.38839059 0.22994635 0.00764251
+v -0.29660043 0.15277482 0.19889914
+v -0.32085729 0.20894328 0.14296513
+v -0.30736624 0.16584597 0.18287383
+v -0.27693684 0.27197583 0.15503271
+v -0.32170854 0.14561320 0.17150126
+v -0.28508460 0.23718328 0.16821688
+v -0.30701552 0.21993745 0.15315829
+f 1 2 3
+f 3 2 4
+f 7 4 2
+f 9 6 5
+f 9 2 6
+f 10 2 1
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+f 11 3 4
+f 11 4 8
+f 13 7 2
+f 13 2 9
+f 13 9 5
+f 14 6 2
+f 14 2 10
+f 14 5 6
+f 15 1 11
+f 15 11 8
+f 16 12 8
+f 16 8 4
+f 17 13 12
+f 17 7 13
+f 17 12 16
+f 17 16 4
+f 17 4 7
+f 18 13 5
+f 18 12 13
+f 18 5 14
+f 19 14 10
+f 19 15 8
+f 19 10 1
+f 19 1 15
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+f 23 20 12
+f 23 12 18
+f 23 21 20
+f 23 18 14
+f 23 14 19
+f 23 19 21
+f 24 21 19
+f 24 19 8
+f 25 22 20
+f 25 8 22
+f 25 24 8
+f 25 20 21
+f 25 21 24
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_3/collision/model_normalized_collision_10.obj b/objects/objaverse/cake/cake_3/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9bac55aaeca274321549249ee8fe5c91db4dccf2
--- /dev/null
+++ b/objects/objaverse/cake/cake_3/collision/model_normalized_collision_10.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v 0.37289866 0.00691696 0.06146983
+v 0.44019760 0.04178727 0.00819388
+v 0.40548189 0.14589434 0.04523943
+v 0.24612828 0.32732354 0.04250594
+v 0.22892451 0.18895655 0.01920812
+v 0.31921377 0.31981912 0.00693611
+v 0.39757747 0.11305603 0.05982021
+v 0.36956261 0.01066968 0.02097453
+v 0.21464421 0.25277947 0.05669628
+v 0.40821514 0.18041051 0.01091838
+v 0.29916722 0.31769591 0.03488594
+v 0.22717937 0.31672511 0.01479011
+v 0.40180060 0.01116468 0.00696175
+v 0.40029912 0.08766171 0.05698884
+v 0.41936832 0.13628663 0.03422108
+v 0.25097237 0.11306687 0.04534923
+v 0.26219457 0.31868496 0.04661364
+v 0.32064205 0.11072940 0.06049152
+v 0.40551440 0.17911803 0.01700342
+v 0.43788713 0.07507812 0.00865065
+v 0.30128650 0.32768666 0.02134491
+v 0.23586668 0.31769009 0.04610487
+v 0.22076510 0.18840680 0.02740356
+v 0.42964170 0.02805991 0.00660590
+v 0.25646655 0.12323424 0.02291925
+v 0.43847251 0.04669518 0.01230660
+v 0.29301372 0.32587351 0.03165305
+v 0.35687249 0.07735802 0.06111598
+v 0.42189323 0.13788682 0.01531765
+v 0.24688433 0.32713114 0.01494371
+v 0.40717762 0.05782908 0.04345232
+v 0.30760459 0.32743794 0.01090439
+f 11 7 3
+f 13 12 6
+f 13 5 12
+f 13 1 8
+f 14 7 1
+f 15 3 7
+f 15 7 14
+f 16 8 1
+f 16 1 9
+f 17 9 7
+f 17 7 11
+f 18 9 1
+f 18 7 9
+f 19 10 6
+f 19 15 10
+f 19 3 15
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+f 20 6 10
+f 21 11 6
+f 22 12 9
+f 22 4 12
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+f 25 13 8
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+f 25 8 16
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+f 25 16 23
+f 26 1 2
+f 26 15 14
+f 26 20 15
+f 26 2 20
+f 27 17 11
+f 27 4 17
+f 27 21 4
+f 27 11 21
+f 28 18 1
+f 28 1 7
+f 28 7 18
+f 29 20 10
+f 29 10 15
+f 29 15 20
+f 30 12 4
+f 30 4 21
+f 30 6 12
+f 31 26 14
+f 31 14 1
+f 31 1 26
+f 32 30 21
+f 32 21 6
+f 32 6 30
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_3/collision/model_normalized_collision_11.obj b/objects/objaverse/cake/cake_3/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e59f4429e0fbf5ccdccfaf7f5f75ba580fd54ebf
--- /dev/null
+++ b/objects/objaverse/cake/cake_3/collision/model_normalized_collision_11.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.29740016 -0.35526745 0.02971474
+v 0.44144523 -0.19324987 -0.08400966
+v 0.40795316 -0.18268590 0.02106996
+v 0.37306032 -0.09706945 0.02056913
+v 0.39014478 -0.08672081 -0.08026860
+v 0.43199174 -0.14997521 -0.01942898
+v 0.30778118 -0.18727540 0.11187798
+v 0.31197836 -0.29448930 -0.02998295
+v 0.43188651 -0.16808248 -0.02083134
+v 0.41947837 -0.13517707 -0.00800563
+v 0.43686108 -0.15106891 -0.07978915
+v 0.30204601 -0.31117146 0.07409749
+v 0.29139275 -0.19661567 0.10290949
+v 0.38068150 -0.21560752 -0.07483395
+v 0.29827313 -0.35590362 0.01470625
+v 0.41356651 -0.10328991 -0.07386423
+v 0.29938994 -0.18951160 0.10569091
+v 0.37142270 -0.09818352 0.01599864
+v 0.32771307 -0.23429441 -0.04505205
+v 0.28770677 -0.31931840 0.08195473
+v 0.42379710 -0.13188606 -0.03277410
+v 0.32389528 -0.24809263 -0.04360628
+f 1 2 3
+f 7 3 4
+f 9 6 3
+f 9 3 2
+f 9 2 6
+f 10 4 3
+f 10 3 6
+f 11 6 2
+f 11 2 5
+f 12 1 3
+f 12 3 7
+f 14 5 2
+f 14 2 8
+f 15 8 2
+f 15 2 1
+f 15 13 8
+f 16 5 4
+f 16 4 10
+f 16 11 5
+f 16 6 11
+f 17 13 7
+f 17 7 4
+f 17 4 13
+f 18 13 4
+f 18 4 5
+f 18 5 13
+f 19 13 5
+f 20 12 7
+f 20 7 13
+f 20 1 12
+f 20 15 1
+f 20 13 15
+f 21 16 10
+f 21 10 6
+f 21 6 16
+f 22 8 13
+f 22 13 19
+f 22 14 8
+f 22 19 5
+f 22 5 14
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_3/collision/model_normalized_collision_12.obj b/objects/objaverse/cake/cake_3/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b5dca4e3ef2c6aea3744bbd3c07dc18d45a48928
--- /dev/null
+++ b/objects/objaverse/cake/cake_3/collision/model_normalized_collision_12.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v 0.02659288 -0.00757575 0.01476248
+v 0.02661056 -0.00760469 -0.40015523
+v 0.03097578 0.48189757 -0.11347322
+v -0.03804805 0.49420073 -0.10430475
+v -0.23098288 -0.00757575 -0.00038903
+v 0.02560801 0.47117277 -0.39868919
+v 0.02428963 0.42469070 0.01109172
+v -0.00854855 0.49245284 -0.13085826
+v -0.21982031 0.41700310 -0.39836067
+v 0.01815443 0.48313055 -0.07713895
+v -0.14586538 0.41171792 0.02121972
+v -0.10600471 0.45960116 -0.39845916
+v -0.23096284 -0.00760504 -0.39963057
+v -0.00847156 0.49058015 -0.09866119
+v -0.23098288 -0.00757575 0.01476248
+v 0.00248062 0.42026695 0.01352547
+v -0.22887961 0.41796672 -0.18218833
+v -0.14456667 0.46221485 -0.14030734
+v -0.04731730 0.47643581 -0.31106370
+v -0.21545037 0.36874059 -0.00438938
+v -0.16566096 0.44333939 -0.36058293
+v -0.06463017 0.48985790 -0.14484808
+v -0.19960178 0.38811722 0.01370858
+v -0.19209050 0.43062125 -0.39837263
+v -0.10387068 0.47648843 -0.15567436
+v -0.21470211 0.31982655 0.01407860
+f 1 2 3
+f 6 3 2
+f 7 1 3
+f 8 6 4
+f 8 3 6
+f 9 6 2
+f 10 7 3
+f 10 3 8
+f 11 10 4
+f 11 7 10
+f 12 6 9
+f 13 9 2
+f 13 2 1
+f 14 10 8
+f 14 8 4
+f 14 4 10
+f 15 1 11
+f 15 13 1
+f 15 5 13
+f 16 11 1
+f 16 1 7
+f 16 7 11
+f 17 5 15
+f 17 13 5
+f 17 9 13
+f 18 9 17
+f 18 11 4
+f 19 4 6
+f 19 6 12
+f 20 17 15
+f 22 18 4
+f 22 12 21
+f 22 19 12
+f 22 4 19
+f 23 18 17
+f 23 11 18
+f 23 17 20
+f 24 21 12
+f 24 12 9
+f 24 9 18
+f 24 18 21
+f 25 22 21
+f 25 21 18
+f 25 18 22
+f 26 23 20
+f 26 20 15
+f 26 15 11
+f 26 11 23
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_3/collision/model_normalized_collision_13.obj b/objects/objaverse/cake/cake_3/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0ab6f4cf0a1428c9f313ac17ff245d65566d9a6d
--- /dev/null
+++ b/objects/objaverse/cake/cake_3/collision/model_normalized_collision_13.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.14904490 -0.47262551 -0.07744562
+v 0.35000710 -0.36721181 -0.08306564
+v 0.29865776 -0.35364361 0.01386911
+v 0.02659288 -0.28030302 0.01476248
+v 0.02659288 -0.28030302 -0.07614661
+v 0.31653879 -0.27531257 -0.04324301
+v 0.02021069 -0.40769181 0.01232419
+v 0.28487675 -0.38680727 0.00316695
+v 0.13173564 -0.47254554 -0.08426267
+v 0.32303940 -0.28989915 0.01191625
+v 0.31063419 -0.28019137 -0.07548641
+v 0.32595207 -0.39394629 -0.07185979
+v 0.09897570 -0.46750783 -0.01884955
+v 0.34654647 -0.33226172 -0.08405139
+v 0.02659288 -0.40151514 -0.07614661
+v 0.31958508 -0.27641693 -0.02783714
+v 0.32917418 -0.39098806 -0.07887341
+v 0.14091127 -0.45716004 -0.02454383
+v 0.09392736 -0.46468527 -0.05640946
+v 0.10039904 -0.45811338 -0.07743467
+f 6 5 4
+f 7 3 4
+f 7 4 5
+f 8 2 3
+f 8 3 7
+f 10 3 2
+f 10 4 3
+f 11 5 6
+f 12 8 1
+f 12 2 8
+f 13 8 7
+f 13 9 1
+f 14 9 5
+f 14 2 9
+f 14 5 11
+f 14 11 6
+f 14 10 2
+f 15 7 5
+f 15 5 9
+f 16 6 4
+f 16 4 10
+f 16 14 6
+f 16 10 14
+f 17 9 2
+f 17 2 12
+f 17 12 1
+f 17 1 9
+f 18 13 1
+f 18 1 8
+f 18 8 13
+f 19 13 7
+f 19 7 15
+f 19 9 13
+f 20 19 15
+f 20 15 9
+f 20 9 19
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_3/collision/model_normalized_collision_14.obj b/objects/objaverse/cake/cake_3/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..95d2d1b10fa0ccb1953d2e499c86a2255b1b8cfa
--- /dev/null
+++ b/objects/objaverse/cake/cake_3/collision/model_normalized_collision_14.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v 0.41842841 -0.27279709 -0.12946912
+v 0.48091725 -0.12589947 -0.40143418
+v 0.48646955 -0.02374666 -0.19608527
+v 0.38080821 -0.02324553 0.01670735
+v 0.39024604 -0.28032595 -0.40172085
+v 0.39024599 -0.02275520 -0.40092908
+v 0.44144523 -0.19324987 -0.08400966
+v 0.45214515 -0.22258280 -0.39988784
+v 0.36706146 -0.26244000 -0.10299692
+v 0.49398809 -0.02291961 -0.40113843
+v 0.43986621 -0.01806938 -0.03525013
+v 0.48138521 -0.08065541 -0.18741245
+v 0.45084913 -0.22384621 -0.40166863
+v 0.44002338 -0.24874726 -0.13194378
+v 0.39355751 -0.29220965 -0.28070442
+v 0.37507773 -0.15909090 -0.28826781
+v 0.38051456 -0.03262352 0.02112649
+v 0.40914341 -0.27207386 -0.12161441
+v 0.41128898 -0.01509180 -0.01144929
+v 0.46369482 -0.18278528 -0.40156975
+v 0.41418931 -0.27638512 -0.40176104
+v 0.48029017 -0.12205308 -0.36411901
+v 0.37487254 -0.27633577 -0.11348008
+v 0.37435027 -0.03779164 0.01531221
+v 0.42882042 -0.19941378 -0.08329467
+v 0.43748209 -0.25241006 -0.14513935
+v 0.37892333 -0.02480759 0.01224326
+f 10 2 6
+f 11 3 10
+f 12 11 7
+f 12 3 11
+f 12 10 3
+f 12 2 10
+f 14 7 1
+f 14 12 7
+f 14 8 2
+f 16 6 5
+f 16 5 9
+f 17 7 11
+f 18 1 7
+f 19 11 10
+f 19 10 6
+f 19 6 4
+f 19 17 11
+f 19 4 17
+f 20 13 2
+f 20 2 8
+f 20 8 13
+f 21 1 15
+f 21 13 8
+f 21 15 5
+f 21 2 13
+f 21 6 2
+f 21 5 6
+f 22 14 2
+f 22 2 12
+f 22 12 14
+f 23 9 5
+f 23 5 15
+f 23 15 1
+f 23 1 18
+f 24 16 9
+f 24 6 16
+f 24 17 4
+f 24 9 17
+f 25 17 9
+f 25 7 17
+f 25 9 23
+f 25 23 18
+f 25 18 7
+f 26 14 1
+f 26 1 21
+f 26 21 8
+f 26 8 14
+f 27 24 4
+f 27 4 6
+f 27 6 24
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_3/collision/model_normalized_collision_15.obj b/objects/objaverse/cake/cake_3/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..234cbff2303cdd358e4b8bf3f1660eac50ca8982
--- /dev/null
+++ b/objects/objaverse/cake/cake_3/collision/model_normalized_collision_15.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.30757851 -0.30246014 0.02976759
+v 0.39117962 -0.29401955 -0.18250311
+v 0.41511169 0.07979382 0.03877541
+v 0.26772485 0.10562828 0.03795661
+v 0.26901712 -0.28030302 -0.18220722
+v 0.26901712 0.08333334 -0.18220722
+v 0.39900975 -0.19550204 -0.04895533
+v 0.40233607 0.09533300 -0.13339027
+v 0.33178390 -0.28272308 0.01404468
+v 0.40517723 -0.20395983 -0.07646416
+v 0.40852971 -0.04001557 -0.17521954
+v 0.38394037 -0.14563826 0.02196577
+f 1 3 4
+f 5 2 1
+f 5 1 4
+f 6 5 4
+f 6 2 5
+f 8 6 4
+f 8 4 3
+f 9 1 2
+f 10 3 7
+f 10 9 2
+f 10 7 9
+f 11 2 6
+f 11 6 8
+f 11 10 2
+f 11 8 3
+f 11 3 10
+f 12 9 7
+f 12 7 3
+f 12 3 1
+f 12 1 9
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_3/collision/model_normalized_collision_16.obj b/objects/objaverse/cake/cake_3/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..275bc082507cc5ef5ee39ff19b926e7b6537d04f
--- /dev/null
+++ b/objects/objaverse/cake/cake_3/collision/model_normalized_collision_16.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.25319897 0.22036591 0.01335061
+v 0.29912895 0.30925371 -0.10735490
+v 0.25248002 0.32915777 0.01649031
+v 0.02371822 0.47689834 -0.07862452
+v 0.02659288 0.21969697 -0.18220722
+v 0.23896190 0.42350118 -0.10322951
+v 0.02659288 0.21969697 0.01476248
+v 0.30457296 0.35945374 -0.11647411
+v 0.25386561 0.21969697 -0.18220722
+v 0.16402908 0.45950461 -0.08574857
+v 0.14695105 0.44414405 -0.18239618
+v 0.02428963 0.42469070 0.01109172
+v 0.02659288 0.34090909 -0.18220722
+v 0.16505202 0.46611625 -0.11249642
+v 0.24236844 0.40095193 -0.18530752
+v 0.03647275 0.42045671 0.01166842
+v 0.01894159 0.47033730 -0.07062265
+v 0.24543139 0.41822798 -0.14647720
+v 0.14142278 0.39305252 -0.00233606
+v 0.23250929 0.42780615 -0.14257421
+v 0.18616868 0.42969044 -0.18100371
+f 7 1 3
+f 8 1 2
+f 8 3 1
+f 8 6 3
+f 9 2 1
+f 9 7 5
+f 9 1 7
+f 9 8 2
+f 10 3 6
+f 12 10 4
+f 13 4 11
+f 14 10 6
+f 14 11 4
+f 14 4 10
+f 15 9 5
+f 15 13 11
+f 15 5 13
+f 15 8 9
+f 16 12 7
+f 16 7 3
+f 16 10 12
+f 17 12 4
+f 17 5 7
+f 17 7 12
+f 17 13 5
+f 17 4 13
+f 18 6 8
+f 18 8 15
+f 19 16 3
+f 19 3 10
+f 19 10 16
+f 20 14 6
+f 20 6 18
+f 20 18 15
+f 21 20 15
+f 21 15 11
+f 21 11 14
+f 21 14 20
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_3/collision/model_normalized_collision_17.obj b/objects/objaverse/cake/cake_3/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c34e8c71db3dda6be336c8fa84436e6b3453f2a4
--- /dev/null
+++ b/objects/objaverse/cake/cake_3/collision/model_normalized_collision_17.obj
@@ -0,0 +1,132 @@
+# https://github.com/mikedh/trimesh
+v 0.19431665 0.18678391 0.24418730
+v 0.22892451 0.18895655 0.01920812
+v 0.22591153 0.29787869 0.17370192
+v 0.04043908 0.35793258 0.12944767
+v -0.05937731 0.20799220 0.18195972
+v 0.16818040 0.35432464 0.01286948
+v 0.05107617 0.28191516 0.24454758
+v 0.24077269 0.19144975 0.19913951
+v 0.02659288 0.18939395 0.01476248
+v 0.22717937 0.31672511 0.01479011
+v 0.14450531 0.35452582 0.11564640
+v 0.18196750 0.19584990 0.25389173
+v -0.06825760 0.23001345 0.22619193
+v 0.23912637 0.18330961 0.08510407
+v 0.03251534 0.19575052 0.26254502
+v -0.03599087 0.31253465 0.10099582
+v 0.20008113 0.32389997 0.14181063
+v 0.12053743 0.36978959 0.00651410
+v 0.23784077 0.27035218 0.16012956
+v 0.09492342 0.35172616 0.15759847
+v 0.22103732 0.28505792 0.18558281
+v 0.18118475 0.19073173 0.25608760
+v 0.02160750 0.29633816 0.22924055
+v 0.24113101 0.21445464 0.09074816
+v -0.05744839 0.20561882 0.23057144
+v 0.01963344 0.24034508 0.26090664
+v -0.07136368 0.23290279 0.17981610
+v 0.02370416 0.33784594 0.16841227
+v 0.04088936 0.35747808 0.02348874
+v 0.21491364 0.29924814 0.17797935
+v 0.07836659 0.23065773 0.26798573
+v 0.23561734 0.21131567 0.19929902
+v 0.06676172 0.19433140 0.27477490
+v 0.04977570 0.29555216 0.23176958
+v 0.23733192 0.26441815 0.12421898
+v 0.04833940 0.20318084 0.26929097
+v 0.02349480 0.28809739 0.23849443
+v -0.03257725 0.26300234 0.10140966
+v -0.00798006 0.29441613 0.20024891
+v 0.04266392 0.35068823 0.15834812
+v 0.03959864 0.35922736 0.11460819
+v 0.03053233 0.26600779 0.25281611
+v 0.09529207 0.19641836 0.27244200
+v 0.06065781 0.22634987 0.27005435
+v 0.03808912 0.22013050 0.26666683
+f 14 8 1
+f 14 9 2
+f 14 1 9
+f 15 9 1
+f 17 10 6
+f 17 3 10
+f 17 6 11
+f 18 6 10
+f 18 11 6
+f 18 10 2
+f 18 2 9
+f 19 10 3
+f 19 3 8
+f 20 17 11
+f 20 3 17
+f 20 18 4
+f 20 11 18
+f 22 1 8
+f 24 14 2
+f 24 2 10
+f 24 19 8
+f 24 8 14
+f 25 5 9
+f 25 9 15
+f 26 13 25
+f 27 9 5
+f 27 13 16
+f 27 25 13
+f 27 5 25
+f 28 16 13
+f 28 4 16
+f 29 18 9
+f 29 9 16
+f 30 3 20
+f 30 21 3
+f 30 7 21
+f 31 21 7
+f 31 12 21
+f 31 22 12
+f 32 21 12
+f 32 8 3
+f 32 3 21
+f 32 22 8
+f 32 12 22
+f 33 15 1
+f 33 1 22
+f 34 30 20
+f 34 7 30
+f 35 24 10
+f 35 10 19
+f 35 19 24
+f 36 25 15
+f 36 15 33
+f 37 23 13
+f 37 13 26
+f 37 34 23
+f 37 7 34
+f 38 27 16
+f 38 16 9
+f 38 9 27
+f 39 28 13
+f 39 13 23
+f 39 23 28
+f 40 28 23
+f 40 20 4
+f 40 4 28
+f 40 34 20
+f 40 23 34
+f 41 29 16
+f 41 16 4
+f 41 4 18
+f 41 18 29
+f 42 31 7
+f 42 37 26
+f 42 7 37
+f 43 33 22
+f 43 22 31
+f 44 42 26
+f 44 31 42
+f 44 43 31
+f 44 33 43
+f 45 26 25
+f 45 25 36
+f 45 36 33
+f 45 44 26
+f 45 33 44
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_3/collision/model_normalized_collision_18.obj b/objects/objaverse/cake/cake_3/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..82492e0fdcb8a6f283cefdbd9ea95f329993b7c3
--- /dev/null
+++ b/objects/objaverse/cake/cake_3/collision/model_normalized_collision_18.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v 0.23114453 -0.42848281 -0.10941503
+v 0.41418931 -0.27638512 -0.40176104
+v 0.41487926 -0.27675940 -0.12860982
+v 0.23871409 -0.28030302 -0.07614661
+v 0.23873021 -0.28032674 -0.40141028
+v 0.40095611 -0.27293413 -0.11920025
+v 0.34751370 -0.38475457 -0.10648417
+v 0.23503054 -0.44005656 -0.40189223
+v 0.23141615 -0.41728131 -0.06353244
+v 0.41291140 -0.28232802 -0.13029556
+v 0.34961104 -0.37491645 -0.08695237
+v 0.24205893 -0.43246536 -0.26474888
+v 0.33421991 -0.36927275 -0.40188031
+v 0.32917418 -0.39098806 -0.07887341
+v 0.40740448 -0.28733100 -0.40178058
+v 0.31063419 -0.28019137 -0.07548641
+v 0.35780568 -0.36616868 -0.09429558
+v 0.27285747 -0.41929479 -0.40190418
+v 0.37596640 -0.32807582 -0.40183257
+v 0.34654647 -0.33226172 -0.08405139
+v 0.25755822 -0.40024780 -0.06003097
+v 0.34922955 -0.38196735 -0.11622718
+v 0.25427182 -0.39949178 -0.06031897
+f 6 3 2
+f 6 5 4
+f 6 2 5
+f 8 1 5
+f 9 5 1
+f 9 4 5
+f 10 2 3
+f 11 3 6
+f 12 8 7
+f 12 1 8
+f 14 9 1
+f 14 7 11
+f 14 12 7
+f 14 1 12
+f 15 2 10
+f 15 13 8
+f 15 8 5
+f 15 5 2
+f 16 6 4
+f 17 10 3
+f 17 3 11
+f 17 11 7
+f 17 7 10
+f 18 13 7
+f 18 7 8
+f 18 8 13
+f 19 7 13
+f 19 13 15
+f 20 11 6
+f 20 6 16
+f 20 14 11
+f 21 16 4
+f 21 9 14
+f 21 20 16
+f 21 14 20
+f 22 19 15
+f 22 7 19
+f 22 15 10
+f 22 10 7
+f 23 21 4
+f 23 4 9
+f 23 9 21
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_3/collision/model_normalized_collision_19.obj b/objects/objaverse/cake/cake_3/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e35524f962bccd5b941c2adabce32b005ff6fb94
--- /dev/null
+++ b/objects/objaverse/cake/cake_3/collision/model_normalized_collision_19.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v 0.02040340 -0.00416782 0.39174412
+v 0.00937768 -0.03150950 0.25703923
+v 0.03290175 0.20372909 0.26214516
+v -0.18083619 0.21707234 0.29545062
+v -0.30007699 -0.01346021 0.21928342
+v -0.00809577 0.10177974 0.39315906
+v 0.02830634 -0.00117799 0.39557944
+v -0.17343233 -0.01353019 0.36931492
+v -0.18311414 0.21179463 0.21020559
+v -0.14209490 0.21676438 0.29734466
+v 0.01277435 0.09056501 0.39351185
+v -0.09278579 0.06336262 0.39250607
+v -0.23600507 0.14648754 0.25952086
+v 0.00751222 0.20277373 0.24313120
+v -0.30168499 -0.00136194 0.20727337
+v -0.01688403 0.11193302 0.38774612
+v -0.04995197 0.10502202 0.39376462
+v -0.14189668 0.07907944 0.37885762
+v -0.17357185 0.01315468 0.36441763
+v -0.28502039 0.11048182 0.20608049
+v -0.30580250 -0.00794937 0.21103899
+v 0.01683004 0.12533503 0.35446125
+v -0.09047850 0.07538587 0.39280197
+v -0.14566299 0.21314257 0.30071149
+v -0.09605983 0.11580380 0.38257856
+v -0.19786889 0.20044253 0.26732902
+v -0.28102576 0.10510840 0.21414386
+v -0.17527680 0.21277562 0.30064665
+f 7 1 2
+f 7 2 3
+f 8 5 2
+f 8 2 1
+f 8 1 7
+f 10 9 4
+f 10 3 9
+f 11 7 3
+f 12 8 7
+f 14 9 3
+f 14 3 2
+f 14 2 9
+f 15 9 2
+f 16 3 10
+f 16 6 11
+f 17 11 6
+f 17 7 11
+f 17 6 16
+f 18 8 12
+f 18 4 13
+f 19 13 5
+f 19 5 8
+f 19 18 13
+f 19 8 18
+f 20 13 4
+f 20 9 15
+f 21 15 2
+f 21 2 5
+f 21 20 15
+f 21 5 13
+f 22 16 11
+f 22 11 3
+f 22 3 16
+f 23 12 7
+f 23 7 17
+f 23 18 12
+f 24 17 16
+f 24 16 10
+f 25 23 17
+f 25 18 23
+f 26 20 4
+f 26 4 9
+f 26 9 20
+f 27 21 13
+f 27 13 20
+f 27 20 21
+f 28 24 10
+f 28 10 4
+f 28 4 18
+f 28 18 25
+f 28 25 17
+f 28 17 24
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_3/collision/model_normalized_collision_2.obj b/objects/objaverse/cake/cake_3/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e672b6b1b706abda7670f8f3dfdd1c1ed65b96c7
--- /dev/null
+++ b/objects/objaverse/cake/cake_3/collision/model_normalized_collision_2.obj
@@ -0,0 +1,123 @@
+# https://github.com/mikedh/trimesh
+v -0.11064417 -0.43584104 0.00078657
+v 0.02659288 -0.24999999 -0.00038903
+v 0.02680383 -0.24847096 0.21159264
+v -0.29607348 -0.01393296 0.22254523
+v -0.44915876 -0.02934594 -0.00629859
+v 0.02659288 -0.00757575 -0.00038903
+v -0.25578780 -0.26443961 0.19852794
+v -0.10446998 -0.43555011 -0.00662802
+v 0.00937768 -0.03150950 0.25703923
+v -0.43915655 -0.01898845 -0.00560689
+v -0.07662129 -0.39559796 0.07703733
+v -0.30828873 -0.33816474 -0.00625339
+v -0.38043439 -0.11145303 0.14669520
+v -0.26658593 -0.01701124 0.24230897
+v -0.19921909 -0.22767641 0.22805234
+v -0.34053165 -0.01656011 0.17867710
+v -0.20666888 -0.39926910 0.04702510
+v -0.22479518 -0.25311813 0.21267845
+v -0.16172330 -0.43556122 -0.00198053
+v -0.32140300 -0.24060157 0.15708039
+v -0.33897530 -0.18776453 0.16490397
+v -0.26570069 -0.05315984 0.23959342
+v -0.38082527 -0.06896705 0.14427324
+v -0.21449427 -0.23349915 0.22287901
+v -0.21819342 -0.39966998 0.02809487
+v -0.14911678 -0.43000216 0.01620500
+v -0.25042028 -0.36920683 0.05440726
+v -0.45863534 -0.06674936 -0.00577026
+v -0.31172715 -0.23855689 0.16927118
+v -0.33652439 -0.20753405 0.15697224
+v -0.26665149 -0.25895899 0.19567280
+v -0.29426216 -0.03354046 0.22467550
+v -0.21942071 -0.06564152 0.24854813
+v -0.44478382 -0.03273838 0.00423547
+v -0.29921683 -0.34646455 -0.00258484
+v -0.13000681 -0.42915027 0.01708670
+v -0.16055226 -0.43172363 0.00665409
+v -0.33448432 -0.22611161 0.14161442
+v -0.45881362 -0.06456833 -0.00517709
+v -0.36778812 -0.13553504 0.15227746
+v -0.26366228 -0.27961042 0.17047774
+v -0.21665173 -0.40121946 0.01811729
+f 6 3 2
+f 8 2 3
+f 8 6 2
+f 8 5 6
+f 9 3 6
+f 10 6 5
+f 10 4 6
+f 11 8 3
+f 11 1 8
+f 12 5 8
+f 14 9 6
+f 14 6 4
+f 15 3 9
+f 16 10 5
+f 16 4 10
+f 17 11 7
+f 18 11 3
+f 18 7 11
+f 18 3 15
+f 19 12 8
+f 19 8 1
+f 23 13 4
+f 23 4 16
+f 24 18 15
+f 24 7 18
+f 24 15 22
+f 25 19 17
+f 26 19 1
+f 26 11 17
+f 27 17 7
+f 27 25 17
+f 28 5 12
+f 29 21 20
+f 30 20 21
+f 30 13 28
+f 31 22 21
+f 31 24 22
+f 31 7 24
+f 31 21 29
+f 31 29 20
+f 32 22 14
+f 32 14 4
+f 32 4 13
+f 32 21 22
+f 33 22 15
+f 33 15 9
+f 33 9 14
+f 33 14 22
+f 34 23 16
+f 34 16 5
+f 35 12 19
+f 35 25 27
+f 35 27 20
+f 35 20 12
+f 36 26 1
+f 36 1 11
+f 36 11 26
+f 37 26 17
+f 37 17 19
+f 37 19 26
+f 38 28 12
+f 38 12 20
+f 38 30 28
+f 38 20 30
+f 39 28 13
+f 39 13 23
+f 39 23 34
+f 39 34 5
+f 39 5 28
+f 40 30 21
+f 40 13 30
+f 40 32 13
+f 40 21 32
+f 41 27 7
+f 41 7 31
+f 41 31 20
+f 41 20 27
+f 42 35 19
+f 42 19 25
+f 42 25 35
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_3/collision/model_normalized_collision_20.obj b/objects/objaverse/cake/cake_3/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b4597e80e0767cc4a42bcd15ea40a1cb0650bd5e
--- /dev/null
+++ b/objects/objaverse/cake/cake_3/collision/model_normalized_collision_20.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.02659288 -0.26515151 -0.00038903
+v 0.02661220 -0.26517949 -0.40093693
+v 0.02659288 -0.00757575 -0.00038903
+v -0.33718093 -0.01434528 -0.00094777
+v -0.33717430 -0.25042532 0.00002181
+v -0.33702282 -0.00760677 -0.39942412
+v -0.21581148 -0.26517955 -0.40045071
+v 0.02661056 -0.00760469 -0.40015523
+v -0.21583136 -0.26515151 -0.00038903
+v -0.33702322 -0.25002857 -0.40016238
+f 1 2 3
+f 5 1 3
+f 5 3 4
+f 6 4 3
+f 7 2 1
+f 8 6 3
+f 8 3 2
+f 9 7 1
+f 9 1 5
+f 9 5 7
+f 10 7 5
+f 10 6 8
+f 10 8 2
+f 10 2 7
+f 10 5 4
+f 10 4 6
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_3/collision/model_normalized_collision_21.obj b/objects/objaverse/cake/cake_3/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a1e415088233c59c107ac363c89324058a2c9e22
--- /dev/null
+++ b/objects/objaverse/cake/cake_3/collision/model_normalized_collision_21.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v 0.38080821 -0.02324553 0.01670735
+v 0.47950498 0.03733035 -0.18987294
+v 0.44752405 0.06338358 -0.00858526
+v 0.39301256 0.20947887 -0.02814621
+v 0.39071737 0.21990960 -0.18274468
+v 0.46566502 0.13399705 -0.18271170
+v 0.39898110 0.15382503 0.03075785
+v 0.44971597 -0.01188064 -0.06310776
+v 0.40852971 -0.04001557 -0.17521954
+v 0.40854967 0.21036556 -0.03351389
+v 0.42484035 0.21150839 -0.18304110
+v 0.43788713 0.07507812 0.00865065
+v 0.44793205 0.02093389 -0.00801345
+v 0.45314430 -0.02169136 -0.19646634
+v 0.43554929 -0.01483753 -0.02740114
+v 0.42189323 0.13788682 0.01531765
+v 0.39988284 0.21069842 -0.03053604
+v 0.46442268 0.13731702 -0.18359220
+v 0.42335679 0.21186847 -0.18038414
+v 0.46460805 -0.00192036 -0.12198795
+v 0.44212463 0.02116886 -0.00401600
+v 0.42362198 -0.01683018 -0.01801663
+v 0.41775469 0.19555801 -0.05111494
+v 0.47000952 -0.00757654 -0.19232840
+f 5 1 4
+f 6 3 2
+f 7 4 1
+f 9 1 5
+f 12 7 1
+f 13 2 3
+f 13 3 12
+f 14 9 5
+f 14 8 9
+f 14 11 2
+f 14 5 11
+f 15 9 8
+f 15 13 1
+f 15 8 13
+f 16 3 6
+f 16 12 3
+f 16 10 7
+f 16 7 12
+f 17 4 7
+f 17 7 10
+f 17 10 5
+f 17 5 4
+f 18 6 2
+f 18 2 11
+f 18 11 10
+f 19 11 5
+f 19 5 10
+f 19 10 11
+f 20 13 8
+f 20 2 13
+f 21 13 12
+f 21 12 1
+f 21 1 13
+f 22 15 1
+f 22 1 9
+f 22 9 15
+f 23 16 6
+f 23 10 16
+f 23 18 10
+f 23 6 18
+f 24 14 2
+f 24 2 20
+f 24 20 8
+f 24 8 14
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_3/collision/model_normalized_collision_22.obj b/objects/objaverse/cake/cake_3/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d19ce35cd487e68d1ce9e537d8953d43e7e9c1c
--- /dev/null
+++ b/objects/objaverse/cake/cake_3/collision/model_normalized_collision_22.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v 0.17538697 -0.47629437 -0.09200319
+v 0.23503054 -0.44005656 -0.40189223
+v 0.24116916 -0.39312329 -0.04353619
+v -0.03637730 -0.40562662 -0.01599933
+v -0.07821807 -0.48906529 -0.40141553
+v -0.07945026 -0.40153998 -0.40113963
+v 0.09897570 -0.46750783 -0.01884955
+v 0.22376135 -0.44663717 -0.05214401
+v 0.09308120 -0.48986486 -0.40176102
+v 0.23872837 -0.40153788 -0.40178415
+v -0.07946773 -0.40151514 -0.13675267
+v 0.01820015 -0.41186877 0.00866800
+v -0.02045607 -0.49334017 -0.11147228
+v 0.22271064 -0.44789617 -0.07036542
+v 0.21612820 -0.45014076 -0.03784480
+v 0.19913858 -0.46063999 -0.40188031
+v -0.09717958 -0.48022903 -0.14639167
+v 0.06852378 -0.49133412 -0.13083092
+v -0.06132635 -0.49251333 -0.40146113
+v -0.03764655 -0.47655648 -0.03401452
+v 0.22357738 -0.44091746 -0.04261859
+v 0.21252714 -0.44154025 -0.03130313
+v 0.16053648 -0.47393969 -0.40184782
+v 0.09672378 -0.49098019 -0.38228978
+v -0.07382663 -0.49120059 -0.30353079
+v -0.03131717 -0.47389533 -0.02822675
+v 0.02713995 -0.47207180 -0.01826198
+v 0.21688650 -0.43626280 -0.03306237
+v 0.19796942 -0.40649405 -0.03070903
+v 0.08441157 -0.49145071 -0.14022082
+v -0.07870879 -0.48637031 -0.19589501
+f 8 2 3
+f 10 6 3
+f 10 3 2
+f 11 4 3
+f 11 3 6
+f 12 3 4
+f 14 8 1
+f 14 1 2
+f 14 2 8
+f 15 7 1
+f 15 1 8
+f 16 2 1
+f 17 11 6
+f 17 6 5
+f 17 4 11
+f 18 1 7
+f 19 5 6
+f 19 6 10
+f 20 17 13
+f 20 4 17
+f 21 15 8
+f 21 8 3
+f 22 12 7
+f 22 7 15
+f 23 16 1
+f 23 2 16
+f 23 10 2
+f 23 19 10
+f 23 9 19
+f 24 23 1
+f 24 9 23
+f 24 19 9
+f 24 13 19
+f 25 17 5
+f 25 5 19
+f 25 19 13
+f 26 12 4
+f 26 4 20
+f 27 20 13
+f 27 26 20
+f 27 7 12
+f 27 12 26
+f 27 18 7
+f 27 13 18
+f 28 21 3
+f 28 15 21
+f 28 22 15
+f 28 3 22
+f 29 22 3
+f 29 3 12
+f 29 12 22
+f 30 18 13
+f 30 13 24
+f 30 24 1
+f 30 1 18
+f 31 25 13
+f 31 13 17
+f 31 17 25
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_3/collision/model_normalized_collision_23.obj b/objects/objaverse/cake/cake_3/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..07734277dd1b37711541c844477a1a9c7c5e15ee
--- /dev/null
+++ b/objects/objaverse/cake/cake_3/collision/model_normalized_collision_23.obj
@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
+v -0.10359015 0.19987224 0.28613415
+v -0.02640307 0.25325715 0.10840412
+v -0.10089834 0.26442411 0.25209561
+v -0.24564117 0.30951415 0.15917198
+v -0.29532080 0.21622877 0.09088540
+v -0.06634125 0.31696688 0.10948123
+v -0.16380690 0.25596007 0.28562632
+v -0.02060314 0.25577528 0.18025434
+v -0.02807732 0.21053430 0.19129591
+v -0.13956556 0.32316273 0.09533884
+v -0.13483136 0.24880581 0.28789763
+v -0.18641730 0.20347773 0.29247805
+v -0.17840776 0.30935189 0.18390360
+v -0.08783637 0.21944861 0.27334322
+v -0.03488594 0.24509640 0.11459626
+v -0.27955287 0.20279850 0.16928014
+v -0.24941657 0.29579920 0.11750236
+v -0.06443696 0.31089726 0.10535157
+v -0.14717852 0.26280495 0.27490783
+v -0.18625705 0.23215780 0.28667507
+v -0.16546323 0.26338669 0.27870345
+v -0.24627663 0.31230637 0.14100558
+v -0.14814594 0.31282810 0.15739238
+v -0.11639150 0.26508958 0.26136637
+v -0.09646956 0.25516648 0.25705857
+v -0.06448179 0.20414311 0.24288587
+v -0.10010530 0.21557829 0.28076466
+v -0.26745490 0.27580654 0.16455092
+v -0.22914392 0.30751120 0.11672459
+v -0.20446906 0.30729565 0.18463421
+v -0.18271814 0.25456441 0.27271572
+v -0.23906965 0.30910815 0.16715905
+v -0.26265144 0.28033329 0.11375556
+v -0.26308066 0.28608743 0.15873393
+v -0.24705551 0.30276611 0.16871717
+f 8 6 3
+f 8 2 6
+f 9 2 8
+f 10 2 5
+f 12 11 7
+f 12 1 11
+f 15 9 5
+f 15 5 2
+f 15 2 9
+f 16 5 9
+f 16 1 12
+f 18 10 6
+f 18 6 2
+f 18 2 10
+f 20 12 7
+f 20 16 12
+f 21 19 13
+f 21 7 11
+f 21 11 19
+f 23 13 6
+f 23 6 10
+f 23 10 13
+f 24 3 6
+f 24 6 13
+f 24 13 19
+f 24 19 11
+f 24 11 3
+f 25 14 8
+f 25 8 3
+f 25 3 11
+f 25 11 14
+f 26 9 8
+f 26 8 14
+f 26 14 1
+f 26 16 9
+f 26 1 16
+f 27 14 11
+f 27 11 1
+f 27 1 14
+f 28 5 16
+f 28 16 20
+f 29 10 5
+f 29 22 10
+f 29 17 22
+f 30 21 13
+f 31 20 7
+f 31 7 21
+f 32 13 10
+f 32 10 22
+f 32 22 4
+f 32 30 13
+f 32 21 30
+f 33 22 17
+f 33 29 5
+f 33 17 29
+f 34 4 22
+f 34 22 33
+f 34 33 5
+f 34 5 28
+f 35 28 20
+f 35 20 31
+f 35 31 21
+f 35 21 32
+f 35 32 4
+f 35 34 28
+f 35 4 34
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_3/collision/model_normalized_collision_24.obj b/objects/objaverse/cake/cake_3/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..401e13ef2c0792f698a1ddf42c662b391343c650
--- /dev/null
+++ b/objects/objaverse/cake/cake_3/collision/model_normalized_collision_24.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v 0.02659288 0.20454546 0.10567158
+v 0.02659288 0.20454546 0.01476248
+v 0.04786519 0.40855492 0.01201728
+v -0.14788790 0.41355866 0.04971996
+v -0.17037681 0.20454546 0.10567158
+v -0.16930829 0.39678380 0.01074501
+v -0.05270176 0.42193866 0.08829904
+v 0.05374869 0.34458815 0.03189129
+v 0.03647275 0.42045671 0.01166842
+v -0.17002582 0.31283614 0.11012316
+v -0.17037681 0.20454546 0.01476248
+v 0.05383385 0.35520201 0.01348569
+v 0.02659393 0.34090570 0.10567338
+v -0.14541792 0.41766035 0.02695559
+v -0.15620074 0.40478246 0.05205809
+v -0.00759481 0.31468213 0.12125995
+v -0.01392698 0.41604380 0.07479393
+v -0.13059794 0.37298587 0.09474631
+v -0.11137916 0.30276284 0.11591498
+v -0.01821316 0.30078870 0.12038471
+v -0.11466367 0.36230257 0.10668216
+v -0.01818125 0.40693209 0.08723033
+v 0.02687817 0.40645496 0.04685515
+v -0.09848960 0.41315499 0.07919953
+v -0.06756336 0.37564287 0.10379324
+v -0.07089179 0.41560617 0.08941916
+v 0.04193170 0.41025799 0.01890540
+v 0.01647595 0.41295215 0.04915990
+f 5 2 1
+f 8 1 2
+f 9 3 2
+f 9 2 6
+f 11 6 2
+f 11 2 5
+f 11 10 6
+f 11 5 10
+f 12 8 2
+f 12 2 3
+f 12 3 8
+f 13 1 8
+f 13 8 3
+f 14 9 6
+f 14 6 4
+f 14 4 7
+f 14 7 9
+f 15 4 6
+f 15 6 10
+f 16 1 13
+f 16 13 7
+f 17 9 7
+f 18 15 10
+f 18 4 15
+f 19 10 5
+f 20 5 1
+f 20 1 16
+f 20 19 5
+f 20 16 19
+f 21 19 16
+f 21 10 19
+f 21 18 10
+f 22 17 7
+f 22 7 13
+f 23 13 3
+f 23 22 13
+f 23 17 22
+f 24 7 4
+f 24 4 18
+f 25 21 16
+f 25 16 7
+f 25 7 21
+f 26 21 7
+f 26 18 21
+f 26 24 18
+f 26 7 24
+f 27 23 3
+f 27 3 9
+f 27 9 23
+f 28 23 9
+f 28 9 17
+f 28 17 23
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_3/collision/model_normalized_collision_25.obj b/objects/objaverse/cake/cake_3/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b30c50cfa4864ec1cc5cca2084458ef40d085c0e
--- /dev/null
+++ b/objects/objaverse/cake/cake_3/collision/model_normalized_collision_25.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.10877537 -0.46434887 -0.02107187
+v 0.14430973 -0.44562975 -0.01907780
+v 0.02677075 -0.41320667 0.02840258
+v -0.21347436 -0.39926031 0.00096632
+v -0.20680689 -0.39271448 -0.02863465
+v -0.04012146 -0.46837124 -0.01615009
+v 0.11005059 -0.45321892 -0.00256514
+v -0.15254722 -0.46216763 -0.04163103
+v 0.13117361 -0.40391892 -0.02121956
+v -0.01993547 -0.41650169 0.02902533
+v 0.10441781 -0.46245156 -0.00976404
+v 0.10074950 -0.39860993 0.00392266
+v 0.02708501 -0.47475339 -0.03060312
+v -0.14638348 -0.44658859 -0.01581255
+v -0.02202619 -0.41163497 0.02928480
+v 0.06808071 -0.46241249 -0.00186042
+v 0.14268340 -0.44082719 -0.01670562
+v -0.06940360 -0.46783732 -0.03686943
+v -0.20838426 -0.40397861 0.00131761
+v 0.03143044 -0.46393562 -0.00126232
+v 0.14586957 -0.41727551 -0.01891429
+v 0.14433503 -0.41979756 -0.01757883
+f 8 4 5
+f 9 8 5
+f 11 1 2
+f 11 2 7
+f 12 3 7
+f 12 9 5
+f 12 5 4
+f 13 2 1
+f 13 6 8
+f 13 1 11
+f 13 9 2
+f 14 8 6
+f 14 6 10
+f 15 10 3
+f 15 12 4
+f 15 3 12
+f 16 7 3
+f 16 3 10
+f 16 11 7
+f 16 13 11
+f 17 12 7
+f 17 7 2
+f 18 13 8
+f 18 8 9
+f 18 9 13
+f 19 4 8
+f 19 8 14
+f 19 14 10
+f 19 15 4
+f 19 10 15
+f 20 16 10
+f 20 10 6
+f 20 6 13
+f 20 13 16
+f 21 17 2
+f 21 2 9
+f 21 9 12
+f 22 21 12
+f 22 12 17
+f 22 17 21
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_3/collision/model_normalized_collision_26.obj b/objects/objaverse/cake/cake_3/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9627a773267d8a0f6f0b944517eb63b2c12c5690
--- /dev/null
+++ b/objects/objaverse/cake/cake_3/collision/model_normalized_collision_26.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.23098288 -0.00757575 0.01476248
+v -0.23098288 -0.00757575 -0.18220722
+v -0.23098288 0.08333334 -0.18220722
+v -0.46478676 0.08773336 -0.03988111
+v -0.44097854 -0.01290152 -0.01957050
+v -0.46708509 0.08244889 -0.17317194
+v -0.29428071 0.07930968 0.01632923
+v -0.44024950 -0.00791051 -0.18281697
+v -0.47915437 0.08861753 -0.06963654
+v -0.41161146 -0.01158458 -0.00279173
+v -0.48014064 0.06277873 -0.08240490
+v -0.30415986 0.01154850 0.01715081
+v -0.42144527 0.08527174 -0.02317321
+v -0.48215938 0.08395717 -0.07901799
+f 1 2 3
+f 5 2 1
+f 7 1 3
+f 7 3 4
+f 8 6 3
+f 8 3 2
+f 8 2 5
+f 9 4 3
+f 9 3 6
+f 9 5 4
+f 10 5 1
+f 10 4 5
+f 11 8 5
+f 11 5 9
+f 11 6 8
+f 12 10 1
+f 12 1 7
+f 12 7 10
+f 13 10 7
+f 13 7 4
+f 13 4 10
+f 14 11 9
+f 14 9 6
+f 14 6 11
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_3/collision/model_normalized_collision_27.obj b/objects/objaverse/cake/cake_3/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..77a7fcfeaf32de8601fd51b92390d5d197d1e84f
--- /dev/null
+++ b/objects/objaverse/cake/cake_3/collision/model_normalized_collision_27.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.39117962 -0.29401955 -0.18250311
+v 0.39024604 -0.28032595 -0.40172085
+v 0.40852971 -0.04001557 -0.17521954
+v 0.26901712 -0.02272727 -0.18220722
+v 0.26903362 -0.28032853 -0.40147117
+v 0.39024599 -0.02275520 -0.40092908
+v 0.26901712 -0.28030302 -0.18220722
+v 0.39919847 -0.28760416 -0.28652078
+v 0.26903608 -0.02275484 -0.40068879
+f 6 3 2
+f 6 4 3
+f 7 1 3
+f 7 3 4
+f 7 5 1
+f 7 4 5
+f 8 2 3
+f 8 3 1
+f 8 5 2
+f 8 1 5
+f 9 5 4
+f 9 4 6
+f 9 6 2
+f 9 2 5
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_3/collision/model_normalized_collision_28.obj b/objects/objaverse/cake/cake_3/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..705c4d1bc3d653b99542422f2ce69378e90a132b
--- /dev/null
+++ b/objects/objaverse/cake/cake_3/collision/model_normalized_collision_28.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.24090977 -0.40336543 -0.07591712
+v 0.23872837 -0.40153788 -0.40178415
+v 0.23871409 -0.28030302 -0.07614661
+v 0.02659288 -0.28030302 -0.07614661
+v 0.02660793 -0.40154173 -0.40135404
+v 0.23873021 -0.28032674 -0.40141028
+v 0.02659288 -0.40151514 -0.07614661
+v 0.02661209 -0.28033083 -0.40098655
+f 1 3 4
+f 5 2 1
+f 6 4 3
+f 6 1 2
+f 6 3 1
+f 7 5 1
+f 7 1 4
+f 7 4 5
+f 8 5 4
+f 8 4 6
+f 8 6 2
+f 8 2 5
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_3/collision/model_normalized_collision_29.obj b/objects/objaverse/cake/cake_3/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..55ed9c7f9b796581f4948fb962f9df2e613a6c33
--- /dev/null
+++ b/objects/objaverse/cake/cake_3/collision/model_normalized_collision_29.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.30757851 -0.30246014 0.02976759
+v 0.26903362 -0.28032853 -0.40147117
+v 0.26903620 0.21966914 -0.39994749
+v 0.02659288 0.21969697 0.01476248
+v 0.02659288 -0.28030302 0.01476248
+v 0.02661209 -0.28033083 -0.40098655
+v 0.26212036 0.22422518 0.01219731
+v 0.02661232 0.21966561 -0.39945518
+f 1 2 3
+f 5 1 4
+f 6 3 2
+f 6 5 4
+f 6 2 1
+f 6 1 5
+f 7 1 3
+f 7 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/cake/cake_3/collision/model_normalized_collision_3.obj b/objects/objaverse/cake/cake_3/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..16d684470b9054897bab8067130f59f09c12ef26
--- /dev/null
+++ b/objects/objaverse/cake/cake_3/collision/model_normalized_collision_3.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.25386561 0.21969697 -0.18220722
+v 0.25388468 0.21966881 -0.39991716
+v 0.24665326 0.40453490 -0.39933720
+v 0.02290256 0.48423913 -0.08101924
+v 0.02661232 0.21966561 -0.39945518
+v 0.24236844 0.40095193 -0.18530752
+v 0.02659288 0.21969697 -0.18220722
+v 0.02560801 0.47117277 -0.39868919
+v 0.18616868 0.42969044 -0.18100371
+v 0.16211166 0.34991026 -0.06643656
+v -0.02558749 0.35781282 -0.07406603
+v 0.15348769 0.44535000 -0.39902537
+v 0.22534274 0.41613439 -0.32497391
+v 0.02758423 0.48401260 -0.08418440
+v 0.14393038 0.40531649 -0.07690868
+v 0.04425348 0.47976210 -0.10328601
+v 0.09814964 0.46043862 -0.39886773
+v 0.15731478 0.44121433 -0.21289163
+f 1 2 3
+f 5 2 1
+f 6 1 3
+f 7 5 1
+f 8 2 5
+f 10 1 6
+f 10 7 1
+f 11 5 7
+f 11 8 5
+f 11 4 8
+f 11 10 4
+f 11 7 10
+f 12 3 2
+f 12 2 8
+f 13 9 6
+f 13 6 3
+f 13 12 9
+f 13 3 12
+f 14 6 9
+f 14 8 4
+f 15 10 6
+f 15 6 14
+f 15 14 4
+f 15 4 10
+f 16 14 9
+f 17 12 8
+f 17 8 14
+f 17 16 12
+f 17 14 16
+f 18 16 9
+f 18 9 12
+f 18 12 16
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_3/collision/model_normalized_collision_30.obj b/objects/objaverse/cake/cake_3/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..985ccd853ca69f69c31715322ab0fa155027cde0
--- /dev/null
+++ b/objects/objaverse/cake/cake_3/collision/model_normalized_collision_30.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.48646955 -0.02374666 -0.19608527
+v 0.49398809 -0.02291961 -0.40113843
+v 0.47769586 0.08401493 -0.18867769
+v 0.26901712 0.08333334 -0.18220722
+v 0.26903608 -0.02275484 -0.40068879
+v 0.26901712 -0.02272727 -0.18220722
+v 0.47934523 0.07842456 -0.19717462
+v 0.48201613 0.08473750 -0.40078617
+v 0.47954041 0.07003107 -0.19272527
+v 0.26903461 0.08330369 -0.40036549
+f 5 2 1
+f 6 1 3
+f 6 3 4
+f 6 5 1
+f 7 1 2
+f 8 7 2
+f 8 3 7
+f 8 4 3
+f 9 7 3
+f 9 3 1
+f 9 1 7
+f 10 4 8
+f 10 6 4
+f 10 5 6
+f 10 8 2
+f 10 2 5
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_3/collision/model_normalized_collision_31.obj b/objects/objaverse/cake/cake_3/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dcc5c0b9b765896fe5c91700424dc16ebde482c2
--- /dev/null
+++ b/objects/objaverse/cake/cake_3/collision/model_normalized_collision_31.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.00937768 -0.03150950 0.25703923
+v 0.02659288 -0.00757575 0.01476248
+v 0.00751222 0.20277373 0.24313120
+v -0.18485969 0.21079547 0.22002520
+v -0.17037681 -0.00757575 0.01476248
+v 0.02659288 0.20454546 0.01476248
+v -0.18038663 -0.00456790 0.23161126
+v -0.17037681 0.20454546 0.01476248
+f 1 3 4
+f 5 2 1
+f 6 4 3
+f 6 2 5
+f 6 1 2
+f 6 3 1
+f 7 5 1
+f 7 1 4
+f 7 4 5
+f 8 6 5
+f 8 5 4
+f 8 4 6
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_3/collision/model_normalized_collision_4.obj b/objects/objaverse/cake/cake_3/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7ee2f0974aee1d3a9284af01cd9b508262118905
--- /dev/null
+++ b/objects/objaverse/cake/cake_3/collision/model_normalized_collision_4.obj
@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
+v -0.33717430 -0.25042532 0.00002181
+v -0.33702322 -0.25002857 -0.40016238
+v -0.33702282 -0.00760677 -0.39942412
+v -0.45459028 -0.01804698 -0.02659118
+v -0.44231014 -0.23199152 -0.16188528
+v -0.33718093 -0.01434528 -0.00094777
+v -0.41784869 -0.24715306 -0.39998436
+v -0.47081127 -0.07757082 -0.01064013
+v -0.47984433 -0.00663270 -0.18914472
+v -0.43101550 -0.24131870 -0.16907508
+v -0.40019760 -0.23399879 -0.02837226
+v -0.35364525 -0.12543470 0.04819839
+v -0.47378348 -0.00571779 -0.39914107
+v -0.47342505 -0.04505717 -0.02219629
+v -0.47361578 -0.13502974 -0.11272552
+v -0.44164928 -0.23321632 -0.15212343
+v -0.42687909 -0.23936540 -0.09528880
+v -0.44437075 -0.02100994 -0.00840940
+v -0.35211701 -0.12876879 0.04508335
+v -0.38755744 -0.18955165 0.02772462
+v -0.47475187 -0.05767107 -0.01439543
+v -0.47187585 -0.06409385 -0.39931976
+v -0.41336452 -0.23674369 -0.05641491
+v -0.47172065 -0.08922113 -0.02104774
+v -0.34978654 -0.20068166 0.03127743
+v -0.37313851 -0.22411976 0.01614477
+v -0.45813449 -0.14129759 -0.39958957
+v -0.42346910 -0.22642226 -0.06690267
+v -0.39586711 -0.20055837 0.01753842
+v -0.37565823 -0.19668616 0.02961450
+v -0.37773516 -0.23373436 0.00127591
+v -0.35843992 -0.22717621 0.01768159
+v -0.44165564 -0.18569395 -0.39975571
+v -0.46930565 -0.09707137 -0.34822552
+f 1 2 3
+f 6 1 3
+f 7 2 1
+f 9 6 3
+f 9 4 6
+f 10 7 1
+f 13 9 3
+f 14 4 9
+f 16 5 7
+f 16 7 10
+f 16 15 5
+f 17 10 1
+f 17 16 10
+f 17 15 16
+f 18 12 6
+f 18 6 4
+f 18 4 14
+f 19 1 6
+f 19 6 12
+f 20 12 8
+f 21 14 9
+f 21 9 15
+f 21 18 14
+f 21 8 12
+f 21 12 18
+f 22 15 9
+f 22 9 13
+f 23 17 1
+f 23 1 11
+f 24 15 17
+f 24 21 15
+f 24 8 21
+f 25 19 12
+f 25 1 19
+f 27 5 15
+f 27 22 13
+f 27 13 3
+f 27 3 2
+f 28 24 17
+f 28 17 23
+f 28 23 24
+f 29 24 23
+f 29 23 11
+f 29 20 8
+f 29 8 24
+f 29 26 20
+f 30 25 12
+f 30 12 20
+f 30 20 26
+f 31 11 1
+f 31 1 26
+f 31 29 11
+f 31 26 29
+f 32 26 1
+f 32 1 25
+f 32 30 26
+f 32 25 30
+f 33 7 5
+f 33 5 27
+f 33 27 2
+f 33 2 7
+f 34 27 15
+f 34 15 22
+f 34 22 27
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_3/collision/model_normalized_collision_5.obj b/objects/objaverse/cake/cake_3/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2ee30147dd91f1f165f2eb626cc71f7f62170b82
--- /dev/null
+++ b/objects/objaverse/cake/cake_3/collision/model_normalized_collision_5.obj
@@ -0,0 +1,168 @@
+# https://github.com/mikedh/trimesh
+v -0.23098288 -0.00757575 -0.18220722
+v -0.23096284 -0.00760504 -0.39963057
+v -0.22010876 0.28878858 0.01553075
+v -0.22887961 0.41796672 -0.18218833
+v -0.49080127 0.12309108 -0.13113248
+v -0.22792830 0.41160339 -0.39836067
+v -0.47378348 -0.00571779 -0.39914107
+v -0.28091152 0.06180393 0.00020062
+v -0.37039427 0.30182238 -0.01521808
+v -0.22403124 0.41740230 -0.19504251
+v -0.43809099 -0.01009096 -0.17151479
+v -0.42517781 0.21067504 -0.39857153
+v -0.28500731 0.34102934 -0.02751153
+v -0.35826923 0.33817023 -0.08700791
+v -0.43095367 0.14567563 0.00040870
+v -0.22148690 0.32189852 -0.02050372
+v -0.42958266 0.01523326 -0.08988948
+v -0.47731828 0.00111822 -0.18252960
+v -0.47170756 0.06604133 -0.39892528
+v -0.31366325 0.32517658 -0.01120311
+v -0.26709038 0.38913686 -0.39802816
+v -0.46204475 0.21169539 -0.13659541
+v -0.37132100 0.28619094 0.00144515
+v -0.45671961 0.08975506 -0.03185692
+v -0.48919174 0.09899252 -0.15755748
+v -0.48974582 0.13111083 -0.15205053
+v -0.35053996 0.34035183 -0.06027058
+v -0.23499471 0.41548429 -0.18125901
+v -0.36681427 0.29928133 -0.39842622
+v -0.38135932 0.29658636 -0.02611382
+v -0.45805074 0.16616646 -0.03979894
+v -0.42697499 0.18587834 0.00046693
+v -0.32971033 0.32515272 -0.01534313
+v -0.44708027 0.11450490 -0.01517701
+v -0.48014064 0.06277873 -0.08240490
+v -0.47301014 0.19006051 -0.12999859
+v -0.45813365 0.12210661 -0.39878240
+v -0.29644132 0.34226614 -0.03145636
+v -0.35484863 0.34020222 -0.06627888
+v -0.30778392 0.35810941 -0.39836197
+v -0.36881691 0.32351612 -0.13041837
+v -0.41227538 0.23896511 -0.37219662
+v -0.38845656 0.26684789 0.00135317
+v -0.35755009 0.09869086 -0.00124378
+v -0.45797694 0.13668937 -0.02543275
+v -0.46637374 0.05095154 -0.08074992
+v -0.48389078 0.07089861 -0.10941554
+v -0.47164399 0.12732287 -0.05201241
+v -0.43937510 0.19797075 -0.02673442
+v -0.45781257 0.20813261 -0.10781666
+v -0.36369020 0.33164738 -0.06908896
+v -0.29203274 0.37159083 -0.38820984
+v -0.46067315 0.10220495 -0.03180420
+v -0.43879863 0.17605259 -0.01225353
+v -0.48685394 0.09572588 -0.10989921
+v -0.47276816 0.18656180 -0.12424232
+v -0.47148257 0.08977263 -0.05239126
+f 1 2 3
+f 6 3 2
+f 8 1 3
+f 10 6 4
+f 10 3 6
+f 11 7 2
+f 11 2 1
+f 15 8 3
+f 16 10 4
+f 16 3 10
+f 16 13 3
+f 16 4 13
+f 17 11 1
+f 17 1 8
+f 18 7 11
+f 18 11 17
+f 20 3 13
+f 23 3 20
+f 24 17 8
+f 25 7 18
+f 26 19 7
+f 26 25 5
+f 26 7 25
+f 28 21 14
+f 28 4 6
+f 28 6 21
+f 28 27 4
+f 29 6 2
+f 29 2 7
+f 32 15 3
+f 33 23 20
+f 33 9 23
+f 33 27 9
+f 34 24 8
+f 36 26 5
+f 36 22 12
+f 37 19 26
+f 37 12 29
+f 37 29 7
+f 37 7 19
+f 37 36 12
+f 37 26 36
+f 38 13 4
+f 38 4 27
+f 38 27 33
+f 38 33 20
+f 38 20 13
+f 39 28 14
+f 39 27 28
+f 39 30 9
+f 39 9 27
+f 40 21 6
+f 40 6 29
+f 41 29 22
+f 41 22 14
+f 41 40 29
+f 41 14 40
+f 42 29 12
+f 42 12 22
+f 42 22 29
+f 43 23 9
+f 43 9 30
+f 43 32 3
+f 43 3 23
+f 44 34 8
+f 44 8 15
+f 44 15 34
+f 45 34 15
+f 45 15 32
+f 46 35 18
+f 46 18 17
+f 46 17 24
+f 46 24 35
+f 47 25 18
+f 47 18 35
+f 48 45 31
+f 49 36 31
+f 49 43 30
+f 49 32 43
+f 50 30 22
+f 50 22 36
+f 50 49 30
+f 50 36 49
+f 51 39 14
+f 51 14 22
+f 51 22 30
+f 51 30 39
+f 52 40 14
+f 52 14 21
+f 52 21 40
+f 53 24 34
+f 53 34 45
+f 54 45 32
+f 54 31 45
+f 54 49 31
+f 54 32 49
+f 55 47 35
+f 55 5 25
+f 55 25 47
+f 55 48 5
+f 55 35 48
+f 56 36 5
+f 56 5 48
+f 56 48 31
+f 56 31 36
+f 57 53 45
+f 57 45 48
+f 57 48 35
+f 57 35 24
+f 57 24 53
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_3/collision/model_normalized_collision_6.obj b/objects/objaverse/cake/cake_3/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a013d0a13fbbfd2e63a19725c03147fc8b349fa
--- /dev/null
+++ b/objects/objaverse/cake/cake_3/collision/model_normalized_collision_6.obj
@@ -0,0 +1,144 @@
+# https://github.com/mikedh/trimesh
+v 0.31538614 -0.24285759 0.06014590
+v 0.38825016 -0.19438605 0.01107971
+v 0.27168005 0.02099615 0.27471653
+v 0.03251534 0.19575052 0.26254502
+v 0.02659288 0.18939395 0.01476248
+v 0.03076315 -0.12890916 0.37043710
+v 0.34500603 -0.16869237 0.18732580
+v 0.02659288 -0.23484848 0.01476248
+v 0.35598697 0.11972714 0.05008861
+v 0.02114545 0.07599044 0.39353600
+v 0.34982505 -0.21614928 0.05010083
+v 0.02801788 -0.24230766 0.23088808
+v 0.07888132 -0.07632633 0.37679862
+v 0.38883681 0.00754609 0.00874964
+v 0.40275817 -0.01333602 0.13263558
+v 0.24077269 0.19144975 0.19913951
+v 0.01824222 0.12141360 0.35761248
+v 0.27259449 -0.18608164 0.20870964
+v 0.32473512 -0.16543381 0.21136776
+v 0.04517633 -0.06653042 0.39207260
+v 0.08463706 -0.01956146 0.38285543
+v 0.23870057 0.17742152 0.01762516
+v 0.40349913 -0.02330760 0.08639651
+v 0.40364787 -0.08862511 0.09304393
+v 0.35590101 0.05860164 0.17818221
+v 0.18118475 0.19073173 0.25608760
+v 0.06009592 -0.12964113 0.36286628
+v 0.29041471 -0.20757324 0.17081261
+v 0.39489939 -0.02801112 0.15190146
+v 0.03180777 -0.12081228 0.37482102
+v 0.06088349 0.04345559 0.38968875
+v 0.05537129 -0.06583469 0.39167942
+v 0.22620490 -0.01138383 0.30219367
+v 0.40199951 -0.03879512 0.06508133
+v 0.40162323 -0.09180629 0.09621599
+v 0.38957763 0.01301552 0.14315299
+v 0.33558503 0.05807729 0.21498166
+v 0.08517531 0.19409083 0.27408560
+v 0.33308161 -0.17554812 0.19547937
+v 0.40168927 -0.05740874 0.12828504
+v 0.22829852 0.02722588 0.30102544
+v 0.03509722 0.07508903 0.38807846
+v 0.06483930 -0.03652504 0.39203286
+v 0.05241195 -0.10542605 0.37591293
+v 0.40186964 -0.06385605 0.06748813
+v 0.33427080 0.06873777 0.20368294
+v 0.37328215 0.02910312 0.17280469
+v 0.06676172 0.19433140 0.27477490
+v 0.38586160 0.00893368 0.15925418
+f 8 2 1
+f 11 7 1
+f 11 1 2
+f 11 2 7
+f 12 8 1
+f 12 6 10
+f 14 8 5
+f 14 2 8
+f 16 5 4
+f 17 4 5
+f 17 5 8
+f 17 12 10
+f 17 8 12
+f 22 14 5
+f 22 9 14
+f 22 16 9
+f 22 5 16
+f 23 14 9
+f 23 9 15
+f 24 23 15
+f 25 9 16
+f 26 17 10
+f 27 6 12
+f 27 12 18
+f 27 18 19
+f 27 19 13
+f 28 18 12
+f 28 12 1
+f 29 19 7
+f 30 20 10
+f 30 10 6
+f 30 6 27
+f 32 27 13
+f 32 20 30
+f 33 19 3
+f 33 13 19
+f 34 2 14
+f 34 14 23
+f 34 23 24
+f 35 7 2
+f 35 2 24
+f 36 15 9
+f 37 16 26
+f 37 3 19
+f 37 19 29
+f 38 26 16
+f 38 16 4
+f 38 17 26
+f 39 19 18
+f 39 18 28
+f 39 7 19
+f 39 28 1
+f 39 1 7
+f 40 24 15
+f 40 15 29
+f 40 35 24
+f 40 29 7
+f 40 7 35
+f 41 31 21
+f 41 26 31
+f 41 37 26
+f 41 3 37
+f 41 33 3
+f 41 21 33
+f 42 31 26
+f 42 26 10
+f 42 10 31
+f 43 32 13
+f 43 21 31
+f 43 31 10
+f 43 10 20
+f 43 20 32
+f 43 33 21
+f 43 13 33
+f 44 32 30
+f 44 30 27
+f 44 27 32
+f 45 34 24
+f 45 24 2
+f 45 2 34
+f 46 37 25
+f 46 25 16
+f 46 16 37
+f 47 25 37
+f 47 36 9
+f 47 9 25
+f 47 37 29
+f 48 38 4
+f 48 4 17
+f 48 17 38
+f 49 15 36
+f 49 36 47
+f 49 47 29
+f 49 29 15
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_3/collision/model_normalized_collision_7.obj b/objects/objaverse/cake/cake_3/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..48fc2d68d0e12150702ac930ee1ea71c72db0254
--- /dev/null
+++ b/objects/objaverse/cake/cake_3/collision/model_normalized_collision_7.obj
@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
+v -0.02045607 -0.49334017 -0.11147228
+v 0.02660793 -0.40154173 -0.40135404
+v 0.02659288 -0.26515151 -0.00038903
+v -0.37659728 -0.23981928 -0.00625348
+v -0.28261907 -0.40177297 -0.40073494
+v 0.02661220 -0.26517949 -0.40093693
+v 0.02106996 -0.40815596 0.01125084
+v -0.07821807 -0.48906529 -0.40141553
+v -0.17447702 -0.49298082 -0.08360976
+v -0.41784869 -0.24715306 -0.39998436
+v -0.21583136 -0.24999999 -0.00038903
+v -0.01463394 -0.49247693 -0.14479397
+v -0.22187941 -0.39280629 0.00484576
+v -0.03764655 -0.47655648 -0.03401452
+v -0.17519328 -0.46226254 -0.40114059
+v -0.21581282 -0.25002726 -0.40040421
+v -0.43105461 -0.26574660 -0.14368176
+v -0.15497077 -0.49030183 -0.07286795
+v -0.17640533 -0.49132710 -0.11439829
+v -0.43610315 -0.24461305 -0.16211001
+v -0.30806233 -0.34058253 -0.00718720
+v -0.38364288 -0.29684087 -0.40021335
+v -0.32391305 -0.37186468 -0.18584529
+v -0.16161588 -0.46807230 -0.04764271
+v -0.23269143 -0.43107794 -0.40092855
+v -0.13735819 -0.47460676 -0.39509231
+v -0.43332947 -0.24705128 -0.11596694
+v -0.30674871 -0.35840446 -0.04282568
+v -0.41394668 -0.25724405 -0.40002338
+v -0.33631362 -0.35624480 -0.36014501
+v -0.42592179 -0.26656247 -0.11553011
+v -0.23408427 -0.44861137 -0.14760434
+v -0.16609124 -0.48880587 -0.07291802
+v -0.12123107 -0.47805444 -0.40129306
+v -0.30721627 -0.38583745 -0.24066218
+f 6 3 2
+f 6 4 3
+f 7 2 3
+f 8 6 2
+f 9 8 1
+f 11 7 3
+f 11 3 4
+f 12 7 1
+f 12 2 7
+f 12 8 2
+f 12 1 8
+f 13 11 4
+f 13 7 11
+f 14 1 7
+f 14 7 13
+f 15 6 8
+f 16 10 4
+f 16 4 6
+f 18 9 1
+f 18 1 14
+f 19 8 9
+f 20 4 10
+f 20 10 17
+f 21 13 4
+f 21 9 13
+f 22 10 16
+f 22 16 6
+f 22 6 15
+f 24 14 13
+f 25 19 5
+f 25 15 19
+f 25 22 15
+f 25 5 22
+f 26 19 15
+f 26 8 19
+f 27 20 17
+f 27 4 20
+f 28 9 21
+f 29 22 17
+f 29 17 10
+f 29 10 22
+f 30 22 5
+f 30 17 22
+f 30 23 17
+f 31 17 23
+f 31 9 28
+f 31 28 21
+f 31 27 17
+f 31 21 4
+f 31 4 27
+f 32 19 9
+f 32 31 23
+f 32 9 31
+f 32 5 19
+f 33 18 14
+f 33 14 24
+f 33 9 18
+f 33 24 13
+f 33 13 9
+f 34 26 15
+f 34 15 8
+f 34 8 26
+f 35 30 5
+f 35 23 30
+f 35 32 23
+f 35 5 32
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_3/collision/model_normalized_collision_8.obj b/objects/objaverse/cake/cake_3/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea07f54c13d0d42e90e2af8f27aafc65a4cac822
--- /dev/null
+++ b/objects/objaverse/cake/cake_3/collision/model_normalized_collision_8.obj
@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
+v 0.41511169 0.07979382 0.03877541
+v 0.48201613 0.08473750 -0.40078617
+v 0.36069480 0.30186693 -0.08326314
+v 0.24357888 0.42098472 -0.10921446
+v 0.26903461 0.08330369 -0.40036549
+v 0.37589479 0.30071824 -0.39991171
+v 0.31745336 0.32447811 0.00564341
+v 0.46442268 0.13731702 -0.18359220
+v 0.48111619 0.08388303 -0.33522511
+v 0.26772485 0.10562828 0.03795661
+v 0.29576310 0.37619686 -0.11335913
+v 0.25332964 0.40053924 -0.39936896
+v 0.40821514 0.18041051 0.01091838
+v 0.43473046 0.22938507 -0.39539341
+v 0.47769586 0.08401493 -0.18867769
+v 0.47903742 0.11015794 -0.40071107
+v 0.25319897 0.22036591 0.01335061
+v 0.25248002 0.32915777 0.01649031
+v 0.25777065 0.41530789 -0.13266625
+v 0.31213181 0.35902060 -0.12926175
+v 0.35069256 0.31008140 -0.07066644
+v 0.25388468 0.21966881 -0.39991716
+v 0.34520855 0.30089720 -0.03166460
+v 0.45042192 0.16642777 -0.17555531
+v 0.41942880 0.14345509 0.01480691
+v 0.48041478 0.09384206 -0.33955381
+v 0.46502605 0.15090985 -0.38585308
+v 0.43517778 0.22862833 -0.40025759
+v 0.25843350 0.41190816 -0.11423665
+v 0.24807876 0.42005400 -0.13362675
+v 0.31581082 0.35817744 -0.39961343
+v 0.24817629 0.40517948 -0.34657404
+v 0.41833214 0.22723748 -0.18743388
+v 0.46396869 0.15190416 -0.40054405
+v 0.27657862 0.38651279 -0.39945488
+f 9 5 2
+f 9 1 5
+f 10 5 1
+f 13 7 1
+f 14 6 3
+f 15 1 9
+f 16 8 15
+f 16 2 5
+f 16 5 12
+f 17 5 10
+f 18 10 1
+f 18 1 7
+f 18 17 10
+f 18 7 4
+f 18 4 17
+f 19 11 6
+f 20 11 3
+f 20 3 6
+f 20 6 11
+f 21 11 7
+f 21 7 3
+f 21 3 11
+f 22 12 5
+f 22 17 4
+f 22 5 17
+f 23 13 3
+f 23 3 7
+f 23 7 13
+f 24 13 8
+f 24 3 13
+f 24 8 14
+f 25 13 1
+f 25 1 15
+f 25 15 8
+f 25 8 13
+f 26 9 2
+f 26 2 16
+f 26 16 15
+f 26 15 9
+f 27 8 16
+f 28 6 14
+f 28 14 8
+f 28 8 27
+f 28 16 12
+f 29 19 4
+f 29 4 7
+f 29 7 11
+f 29 11 19
+f 30 19 12
+f 30 4 19
+f 31 19 6
+f 32 22 4
+f 32 12 22
+f 32 30 12
+f 32 4 30
+f 33 24 14
+f 33 14 3
+f 33 3 24
+f 34 28 27
+f 34 27 16
+f 34 16 28
+f 35 12 19
+f 35 19 31
+f 35 31 6
+f 35 28 12
+f 35 6 28
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_3/collision/model_normalized_collision_9.obj b/objects/objaverse/cake/cake_3/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..65191b3ce2513b76dc79c9820f09424e6e93fa3a
--- /dev/null
+++ b/objects/objaverse/cake/cake_3/collision/model_normalized_collision_9.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v 0.02680383 -0.24847096 0.21159264
+v 0.09451508 -0.22945586 0.21972499
+v -0.06554315 -0.16501164 0.37474545
+v -0.15291830 -0.00887659 0.37789922
+v -0.19820878 -0.00421667 0.22038254
+v 0.02675705 -0.00690305 0.39252891
+v 0.06452374 -0.22103205 0.25767108
+v 0.10361012 -0.14144513 0.21959825
+v -0.20036890 -0.25028144 0.21240441
+v -0.11824816 -0.14173754 0.37678137
+v -0.08467357 -0.17512171 0.36632623
+v 0.03076315 -0.12890916 0.37043710
+v 0.00937768 -0.03150950 0.25703923
+v -0.18339830 -0.02130937 0.35970138
+v -0.15440159 -0.03920416 0.37794336
+v -0.04719863 -0.15627089 0.37884175
+v -0.05270489 -0.16964010 0.36476725
+v 0.02922326 -0.23233083 0.24758615
+v -0.12684929 -0.16016036 0.36551494
+v -0.07724801 -0.16483630 0.37540695
+v 0.05455192 -0.13835658 0.34808602
+v -0.18314126 -0.01586071 0.35511443
+v -0.20392742 -0.24388242 0.21825902
+v -0.17343233 -0.01353019 0.36931492
+v 0.02085818 -0.15991932 0.34958082
+v -0.00895082 -0.16168110 0.36172759
+v -0.11733013 -0.17328183 0.35310592
+v -0.17051884 -0.04662539 0.37114834
+v -0.10920934 -0.15261253 0.37489606
+v 0.07487830 -0.21569869 0.25712275
+v 0.03187369 -0.03984712 0.38512053
+v 0.03278189 -0.15459866 0.34870910
+v -0.15711501 -0.13489173 0.34959275
+f 6 5 4
+f 7 1 2
+f 8 2 1
+f 8 1 5
+f 9 5 1
+f 13 8 5
+f 13 5 6
+f 13 6 8
+f 15 10 6
+f 15 6 4
+f 16 6 10
+f 16 12 6
+f 17 11 7
+f 17 3 11
+f 18 1 7
+f 18 7 11
+f 18 11 9
+f 18 9 1
+f 20 11 3
+f 20 19 11
+f 20 16 10
+f 20 3 16
+f 21 2 8
+f 21 8 6
+f 22 5 14
+f 23 14 5
+f 23 5 9
+f 23 9 19
+f 24 15 4
+f 24 22 14
+f 24 4 5
+f 24 5 22
+f 26 16 3
+f 26 3 17
+f 26 17 7
+f 26 7 25
+f 26 12 16
+f 27 19 9
+f 27 9 11
+f 27 11 19
+f 28 14 23
+f 28 24 14
+f 28 15 24
+f 28 19 10
+f 28 10 15
+f 29 20 10
+f 29 10 19
+f 29 19 20
+f 30 7 2
+f 30 2 21
+f 31 21 6
+f 31 6 12
+f 31 12 21
+f 32 21 12
+f 32 26 25
+f 32 12 26
+f 32 30 21
+f 32 25 7
+f 32 7 30
+f 33 28 23
+f 33 23 19
+f 33 19 28
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_3/model.xml b/objects/objaverse/cake/cake_3/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..f5576b3583024e85ae9cc503ccca58b6fb4d6f10
--- /dev/null
+++ b/objects/objaverse/cake/cake_3/model.xml
@@ -0,0 +1,81 @@
+<mujoco model="cake_28">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.09999999999999996 0.09999999999999996 0.09999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.09999999999999996 0.09999999999999996 0.09999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.09999999999999996 0.09999999999999996 0.09999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.09999999999999996 0.09999999999999996 0.09999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.09999999999999996 0.09999999999999996 0.09999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.09999999999999996 0.09999999999999996 0.09999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.09999999999999996 0.09999999999999996 0.09999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.09999999999999996 0.09999999999999996 0.09999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.09999999999999996 0.09999999999999996 0.09999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.09999999999999996 0.09999999999999996 0.09999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.09999999999999996 0.09999999999999996 0.09999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.09999999999999996 0.09999999999999996 0.09999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.09999999999999996 0.09999999999999996 0.09999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.09999999999999996 0.09999999999999996 0.09999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.09999999999999996 0.09999999999999996 0.09999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.09999999999999996 0.09999999999999996 0.09999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.09999999999999996 0.09999999999999996 0.09999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.09999999999999996 0.09999999999999996 0.09999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.09999999999999996 0.09999999999999996 0.09999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.09999999999999996 0.09999999999999996 0.09999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.09999999999999996 0.09999999999999996 0.09999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.09999999999999996 0.09999999999999996 0.09999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.09999999999999996 0.09999999999999996 0.09999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.09999999999999996 0.09999999999999996 0.09999999999999996" refquat="1.0 0.0 0.0 0.0"/>
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diff --git a/objects/objaverse/cake/cake_3/visual/material.mtl b/objects/objaverse/cake/cake_3/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6b5d0f127cc1df2efd6b4835e0300358bb6dde72
--- /dev/null
+++ b/objects/objaverse/cake/cake_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 359.99999300
+map_Kd material_0.png
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_3/visual/model_normalized_0.obj b/objects/objaverse/cake/cake_3/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..05cf6bf982d5e096487ac6f5618a9054b71ec561
--- /dev/null
+++ b/objects/objaverse/cake/cake_3/visual/model_normalized_0.obj
@@ -0,0 +1,93127 @@
+# 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/cake/cake_5/collision/model_normalized_collision_0.obj b/objects/objaverse/cake/cake_5/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f96cfe450729a913be470b8378ffdc194109949
--- /dev/null
+++ b/objects/objaverse/cake/cake_5/collision/model_normalized_collision_0.obj
@@ -0,0 +1,126 @@
+# https://github.com/mikedh/trimesh
+v 0.28751207 0.36510664 -0.22251640
+v 0.26901219 0.35568519 -0.45269444
+v 0.21556464 0.49543137 -0.41693147
+v -0.28968265 0.47653424 -0.37373997
+v -0.21901118 0.35606061 -0.22130418
+v -0.13924683 0.47630395 -0.45272361
+v -0.18740841 0.46148810 -0.24713168
+v 0.26822089 0.45819972 -0.42070798
+v 0.28340908 0.35230615 -0.32700323
+v 0.11134448 0.49065318 -0.45237258
+v -0.21795179 0.35414606 -0.45197594
+v 0.23132214 0.43126752 -0.22715510
+v -0.07916460 0.48928391 -0.40958580
+v -0.31035730 0.43746951 -0.27236754
+v 0.28232314 0.35186663 -0.35687211
+v 0.09921817 0.49242399 -0.45272095
+v 0.24419167 0.44123607 -0.44360687
+v -0.21798820 0.41773566 -0.45140596
+v 0.13459704 0.45881000 -0.27433901
+v 0.24247564 0.45987831 -0.31730978
+v -0.26222687 0.42254005 -0.21804332
+v 0.13101387 0.48972519 -0.37803846
+v -0.24720145 0.47517763 -0.34450199
+v -0.08023891 0.48895803 -0.44546180
+v -0.19551408 0.46181040 -0.24859502
+v -0.31539586 0.39826848 -0.26662316
+v 0.26639462 0.39362283 -0.44856436
+v 0.15207780 0.48313979 -0.44911526
+v 0.24542361 0.48162726 -0.41837311
+v -0.31019175 0.44913927 -0.38380597
+v 0.12440080 0.44633747 -0.24711997
+v 0.23763481 0.44689847 -0.27364856
+v 0.26562946 0.43785798 -0.32659252
+v -0.19205211 0.45002282 -0.23330355
+v 0.24442190 0.42222359 -0.22609037
+v 0.21213461 0.48960765 -0.39369868
+v -0.28470026 0.47886963 -0.38652282
+v 0.25530701 0.45537297 -0.43293755
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+v 0.14380234 0.48922719 -0.37829163
+v -0.30894020 0.45753771 -0.38300182
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+f 43 18 30
+f 43 40 37
+f 43 30 14
+f 43 14 40
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_5/collision/model_normalized_collision_1.obj b/objects/objaverse/cake/cake_5/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bca878921fed1904bccfd794fb860800cb043b6e
--- /dev/null
+++ b/objects/objaverse/cake/cake_5/collision/model_normalized_collision_1.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.04988484 -0.40000354 -0.10036546
+v 0.11709696 -0.26068018 -0.41265745
+v 0.06673229 -0.36802009 -0.44006608
+v 0.12056180 -0.26135159 0.00562626
+v -0.07546237 -0.28191695 -0.09790247
+v 0.10189599 -0.30477355 0.00594381
+v -0.02204148 -0.26515152 -0.32736478
+v -0.03491300 -0.39076877 -0.32640278
+v 0.11263408 -0.27177844 -0.41023679
+v 0.08719668 -0.33397151 -0.03925926
+v -0.03911624 -0.39250061 -0.09842895
+v 0.11347037 -0.27780788 0.00710309
+v 0.10192460 -0.25915974 -0.44776357
+v 0.03995147 -0.39362063 -0.32834830
+v 0.02333262 -0.26513481 -0.45511816
+v 0.09642509 -0.31642910 0.00599326
+v 0.09820229 -0.26440690 -0.45394391
+v 0.04579673 -0.38380216 -0.40409926
+v 0.02332796 -0.32574703 -0.45502912
+v 0.06393446 -0.36791583 -0.44378341
+v 0.06592295 -0.34002622 -0.45318494
+f 7 5 4
+f 8 5 7
+f 9 3 2
+f 9 2 4
+f 9 4 6
+f 10 1 3
+f 11 8 1
+f 11 5 8
+f 12 6 4
+f 12 4 5
+f 13 7 4
+f 13 4 2
+f 14 3 1
+f 14 1 8
+f 15 8 7
+f 15 7 13
+f 16 1 10
+f 16 11 1
+f 16 5 11
+f 16 12 5
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+f 16 10 3
+f 16 9 6
+f 16 3 9
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+f 17 2 3
+f 17 15 13
+f 18 14 8
+f 18 3 14
+f 19 8 15
+f 19 15 17
+f 20 18 8
+f 20 8 19
+f 20 3 18
+f 20 17 3
+f 21 20 19
+f 21 19 17
+f 21 17 20
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_5/collision/model_normalized_collision_10.obj b/objects/objaverse/cake/cake_5/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d74f6f5448c96cff0ed4e2f0fe5175395aa3905b
--- /dev/null
+++ b/objects/objaverse/cake/cake_5/collision/model_normalized_collision_10.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v -0.00016362 -0.47611438 -0.38958412
+v 0.07590600 -0.32967384 -0.41835429
+v 0.03995147 -0.39362063 -0.32834830
+v -0.09187433 -0.26399809 -0.32924613
+v -0.08927275 -0.26089147 -0.45035511
+v 0.02341307 -0.26515152 -0.32736478
+v -0.04041998 -0.38020815 -0.32851662
+v 0.02255684 -0.45483609 -0.42979046
+v -0.03459661 -0.43826678 -0.43000388
+v -0.10005108 -0.25935578 -0.37375857
+v 0.02333262 -0.26513481 -0.45511816
+v 0.05110534 -0.39394109 -0.42183088
+v 0.02160551 -0.45251024 -0.41256365
+v -0.08001150 -0.30052615 -0.32943321
+v -0.01469168 -0.47629146 -0.40571314
+v -0.10319063 -0.26060529 -0.42615513
+v 0.06760185 -0.32549498 -0.45334784
+v -0.00444855 -0.47558136 -0.39023848
+v -0.03251673 -0.43870403 -0.41228221
+v -0.00751738 -0.45428669 -0.45246243
+v 0.00318359 -0.47675552 -0.42840288
+v -0.03812950 -0.42585643 -0.43890840
+v 0.05287316 -0.39117522 -0.43917237
+v -0.01495949 -0.47892205 -0.42285354
+v 0.02002793 -0.43825308 -0.45483307
+v 0.01218531 -0.46820819 -0.43898939
+v -0.02351736 -0.45222422 -0.43898141
+v 0.05049993 -0.37710484 -0.45345303
+v 0.01064173 -0.45365062 -0.45228875
+f 6 3 2
+f 7 1 3
+f 7 6 4
+f 7 3 6
+f 10 4 6
+f 11 6 2
+f 11 10 6
+f 11 5 10
+f 12 2 3
+f 13 3 1
+f 13 1 8
+f 13 12 3
+f 13 8 12
+f 14 7 4
+f 14 10 9
+f 14 4 10
+f 15 7 14
+f 16 10 5
+f 16 9 10
+f 17 11 2
+f 18 1 7
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+f 19 14 9
+f 19 9 15
+f 22 16 5
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+f 23 2 12
+f 24 18 15
+f 24 1 18
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+f 29 26 20
+f 29 20 25
+f 29 25 26
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_5/collision/model_normalized_collision_11.obj b/objects/objaverse/cake/cake_5/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d86359fcf89be53fce3845c2088be7f59797fd7
--- /dev/null
+++ b/objects/objaverse/cake/cake_5/collision/model_normalized_collision_11.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.01544419 -0.48329314 0.00766976
+v 0.05181701 -0.37026647 -0.38819525
+v 0.06471323 -0.38461630 0.00622733
+v -0.02893207 -0.38282494 0.00643411
+v -0.01328922 -0.47272227 -0.39036551
+v 0.06464638 -0.36945402 -0.09982495
+v 0.03683599 -0.45452013 0.00769050
+v -0.03426552 -0.40697945 -0.10205552
+v 0.05640228 -0.36475275 -0.28086876
+v 0.05396258 -0.41125211 0.00698847
+v -0.02346266 -0.39563354 0.00674235
+v 0.00078322 -0.47396572 -0.38798639
+v 0.00586808 -0.46929534 0.00654915
+v -0.04712285 -0.38347639 -0.38919085
+v 0.01177242 -0.45618821 -0.38960628
+v -0.03443584 -0.39670516 -0.07230948
+v -0.03513529 -0.41103293 -0.39071737
+v -0.03816264 -0.38255461 -0.07178497
+f 6 3 2
+f 6 4 3
+f 7 2 3
+f 9 6 2
+f 9 4 6
+f 10 7 3
+f 10 3 4
+f 11 1 7
+f 11 10 4
+f 11 7 10
+f 12 7 1
+f 12 1 5
+f 13 8 5
+f 13 5 1
+f 13 1 11
+f 13 11 4
+f 14 5 8
+f 14 9 2
+f 15 12 5
+f 15 5 2
+f 15 2 7
+f 15 7 12
+f 16 13 4
+f 16 8 13
+f 17 14 2
+f 17 2 5
+f 17 5 14
+f 18 4 9
+f 18 9 14
+f 18 16 4
+f 18 14 8
+f 18 8 16
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_5/collision/model_normalized_collision_12.obj b/objects/objaverse/cake/cake_5/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c215f390142e54e54a8562c3306644a9ce592c8b
--- /dev/null
+++ b/objects/objaverse/cake/cake_5/collision/model_normalized_collision_12.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v -0.25464378 0.18769439 -0.38745039
+v -0.14316190 0.41660932 -0.45313086
+v -0.14428232 0.48414320 -0.38709570
+v -0.28470026 0.47886963 -0.38652282
+v -0.27641045 0.21188686 -0.45401731
+v -0.14285801 0.47538783 -0.45275078
+v -0.30432035 0.46669215 -0.38505030
+v -0.14325360 0.41666667 -0.38797084
+v -0.24851107 0.18969039 -0.45369262
+v -0.20005676 0.47830183 -0.43176777
+v -0.29444227 0.28762867 -0.39645129
+v -0.13959410 0.47790159 -0.44528635
+v -0.26942090 0.19362962 -0.45342856
+v -0.28756768 0.46704071 -0.41590954
+v -0.29380099 0.28050571 -0.42429489
+v -0.27399325 0.24324647 -0.38937965
+v -0.27707877 0.21147753 -0.42430216
+v -0.28097108 0.47689731 -0.40912788
+v -0.25648715 0.44079123 -0.44674920
+v -0.29518393 0.27212613 -0.41119645
+v -0.28060965 0.30364523 -0.45025540
+v -0.25854223 0.47723180 -0.41662969
+v -0.19689835 0.46051824 -0.45191775
+v -0.29435277 0.26563951 -0.41629362
+v -0.29784650 0.38723126 -0.41527770
+v -0.24556085 0.44836575 -0.44508701
+f 6 2 5
+f 7 1 3
+f 7 3 4
+f 8 3 1
+f 9 5 2
+f 9 8 1
+f 9 2 8
+f 10 4 3
+f 12 3 8
+f 12 10 3
+f 12 6 10
+f 12 8 2
+f 12 2 6
+f 13 9 1
+f 13 5 9
+f 16 11 1
+f 16 1 7
+f 16 7 11
+f 17 5 13
+f 17 13 1
+f 18 14 7
+f 18 7 4
+f 20 11 7
+f 20 17 1
+f 20 1 11
+f 21 5 15
+f 21 14 19
+f 22 18 4
+f 22 4 10
+f 22 10 6
+f 22 14 18
+f 23 6 5
+f 23 21 19
+f 23 5 21
+f 23 22 6
+f 23 14 22
+f 24 15 5
+f 24 5 17
+f 24 17 20
+f 24 20 7
+f 24 7 15
+f 25 21 15
+f 25 15 7
+f 25 7 14
+f 25 14 21
+f 26 23 19
+f 26 19 14
+f 26 14 23
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_5/collision/model_normalized_collision_13.obj b/objects/objaverse/cake/cake_5/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..743066ae4c3d5d507b1a782758f89859d44767a9
--- /dev/null
+++ b/objects/objaverse/cake/cake_5/collision/model_normalized_collision_13.obj
@@ -0,0 +1,174 @@
+# https://github.com/mikedh/trimesh
+v 0.04404484 -0.00508147 0.45152647
+v 0.16027707 -0.00889699 0.14839623
+v 0.15958190 0.12659961 0.13999555
+v -0.00037702 0.15913080 0.22784424
+v -0.09749064 -0.05223725 0.13886615
+v 0.03323912 0.08095518 0.40570681
+v 0.12674499 0.03527491 0.31575715
+v -0.05275690 -0.05259146 0.13976321
+v -0.03715011 0.15877177 0.12573700
+v 0.07812754 0.14196429 0.24184211
+v -0.03440814 0.04801372 0.40311098
+v 0.11157655 -0.00804230 0.34869190
+v 0.14095786 0.06004907 0.25618335
+v 0.06808392 0.04418109 0.41459922
+v 0.02341561 0.15906804 0.12712989
+v 0.04750729 0.14104214 0.27179243
+v -0.01786594 0.00117503 0.41892207
+v -0.00254537 0.04371638 0.44474884
+v -0.09802009 0.12700283 0.13757838
+v 0.14099818 -0.00598888 0.25763579
+v 0.11232297 0.08309075 0.29917454
+v 0.07128365 -0.00042466 0.42742187
+v 0.00765479 0.15867122 0.22830690
+v 0.00094986 0.14153002 0.27135271
+v 0.08360401 0.11477743 0.29962663
+v -0.03401374 0.01086984 0.39233863
+v 0.02998789 0.04361108 0.44576660
+v -0.00121441 0.00790500 0.44722631
+v -0.06435431 0.01387756 0.28764227
+v -0.08191587 0.14129214 0.13705904
+v 0.12846438 0.10111648 0.24275064
+v 0.09570939 0.05975993 0.36104374
+v 0.05579850 0.01408572 0.44419810
+v 0.03657321 0.09595326 0.37569751
+v -0.02231751 0.06972316 0.40284206
+v 0.08821179 0.12646402 0.27042953
+v -0.03411803 0.04096150 0.40510521
+v 0.04597195 0.06740982 0.41560068
+v -0.06429262 0.02228680 0.28725232
+v 0.10990585 0.05883433 0.33049240
+v 0.08060755 0.03125112 0.40406594
+v 0.09812923 0.06863344 0.34471839
+v 0.06803877 0.00471629 0.43177448
+v 0.05483984 0.04330717 0.42831776
+v 0.02459226 0.09519913 0.37567287
+v 0.06156937 0.12455191 0.29878593
+v 0.07352379 0.09601166 0.34442195
+v -0.01154005 0.05346355 0.43407749
+v -0.04013911 0.12574334 0.25769899
+v -0.03523320 0.05728821 0.39362264
+v 0.10056674 0.13030997 0.24087013
+v 0.04295508 0.05662874 0.42853590
+v 0.06495576 0.07174721 0.38957720
+v 0.02458088 0.08022564 0.40606361
+v 0.05997406 0.09436403 0.35898489
+v -0.03344859 0.10312679 0.31611030
+v -0.01205303 0.06510521 0.41727592
+v -0.01450817 0.07800046 0.39222152
+v -0.02591592 0.07943045 0.37723012
+f 8 1 5
+f 9 8 5
+f 12 8 2
+f 12 1 8
+f 13 2 3
+f 15 9 4
+f 15 3 2
+f 15 2 8
+f 15 8 9
+f 15 10 3
+f 17 5 1
+f 19 9 5
+f 20 12 2
+f 20 7 12
+f 20 13 7
+f 20 2 13
+f 22 12 7
+f 22 1 12
+f 23 15 4
+f 23 10 15
+f 23 16 10
+f 23 4 16
+f 24 16 4
+f 26 5 17
+f 27 18 1
+f 28 17 1
+f 28 1 18
+f 29 19 5
+f 29 5 26
+f 30 4 9
+f 30 9 19
+f 31 13 3
+f 31 25 21
+f 31 7 13
+f 33 27 1
+f 34 16 24
+f 36 10 16
+f 36 31 3
+f 36 25 31
+f 37 26 17
+f 37 29 26
+f 37 17 28
+f 39 11 19
+f 39 19 29
+f 39 37 11
+f 39 29 37
+f 40 31 21
+f 40 7 31
+f 40 32 7
+f 40 21 32
+f 41 22 7
+f 41 7 32
+f 41 32 14
+f 41 14 33
+f 42 32 21
+f 42 21 25
+f 43 33 1
+f 43 1 22
+f 43 41 33
+f 43 22 41
+f 44 33 14
+f 44 27 33
+f 45 34 24
+f 45 6 34
+f 46 34 25
+f 46 16 34
+f 46 36 16
+f 46 25 36
+f 47 25 34
+f 47 6 38
+f 47 42 25
+f 47 32 42
+f 48 27 6
+f 48 18 27
+f 48 35 11
+f 48 11 37
+f 48 37 28
+f 48 28 18
+f 49 24 4
+f 49 4 30
+f 49 30 19
+f 50 35 19
+f 50 19 11
+f 50 11 35
+f 51 36 3
+f 51 3 10
+f 51 10 36
+f 52 38 6
+f 52 6 27
+f 52 27 44
+f 52 44 14
+f 52 14 38
+f 53 38 14
+f 53 14 32
+f 53 47 38
+f 53 32 47
+f 54 6 45
+f 54 48 6
+f 54 45 24
+f 55 47 34
+f 55 34 6
+f 55 6 47
+f 56 24 49
+f 56 49 19
+f 57 35 48
+f 57 48 54
+f 58 54 24
+f 58 24 35
+f 58 57 54
+f 58 35 57
+f 59 56 19
+f 59 19 35
+f 59 35 24
+f 59 24 56
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_5/collision/model_normalized_collision_14.obj b/objects/objaverse/cake/cake_5/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8243e8a7a6c0cd9e65af507d572d11413ab3225c
--- /dev/null
+++ b/objects/objaverse/cake/cake_5/collision/model_normalized_collision_14.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v -0.26995294 0.23326724 0.00436336
+v -0.21901118 0.35606061 -0.38797084
+v -0.21716358 0.26862541 0.02308101
+v -0.22153593 0.48385677 -0.38258961
+v -0.31019175 0.44913927 -0.38380597
+v -0.21713889 0.41668991 -0.19805437
+v -0.26745539 0.22751536 -0.38674067
+v -0.29444227 0.28762867 -0.39645129
+v -0.21834549 0.47137800 -0.32124990
+v -0.29331684 0.34506950 -0.09353899
+v -0.26855617 0.22218203 -0.33512170
+v -0.27181396 0.23800276 -0.38849999
+v -0.30940433 0.43165878 -0.26002529
+v -0.27232976 0.28537255 -0.00569716
+v -0.21724164 0.40236862 -0.16736426
+v -0.29411821 0.27183239 -0.05700620
+v -0.31244531 0.36213779 -0.15229346
+v -0.28472373 0.41430481 -0.20101240
+v -0.28341071 0.30962358 -0.03660784
+v -0.28050909 0.30019330 -0.02361543
+v -0.28018784 0.23772699 -0.14526424
+v -0.31263486 0.38480059 -0.18792753
+v -0.30692719 0.33149522 -0.21992802
+v -0.29347196 0.40128909 -0.18786060
+v -0.28397177 0.39784225 -0.17145881
+v -0.29269280 0.30581550 -0.06055208
+v -0.29250165 0.26765756 -0.09879594
+v -0.27697090 0.23944036 -0.30955663
+v -0.30719660 0.33093389 -0.16397057
+v -0.28998900 0.33534853 -0.07663786
+f 6 3 2
+f 7 2 3
+f 8 5 4
+f 8 4 2
+f 9 6 2
+f 9 2 4
+f 11 7 3
+f 11 3 1
+f 11 8 7
+f 12 8 2
+f 12 2 7
+f 12 7 8
+f 13 9 4
+f 13 4 5
+f 14 1 3
+f 15 3 6
+f 18 6 9
+f 18 9 13
+f 18 15 6
+f 19 3 15
+f 19 10 17
+f 20 16 1
+f 20 1 14
+f 20 14 3
+f 20 3 19
+f 21 11 1
+f 21 1 16
+f 22 13 5
+f 22 5 17
+f 22 17 10
+f 22 10 13
+f 23 17 5
+f 23 5 8
+f 23 8 16
+f 24 18 13
+f 24 13 10
+f 25 15 18
+f 25 24 10
+f 25 18 24
+f 26 19 17
+f 26 17 16
+f 26 20 19
+f 26 16 20
+f 27 21 16
+f 27 16 8
+f 27 8 21
+f 28 21 8
+f 28 8 11
+f 28 11 21
+f 29 23 16
+f 29 16 17
+f 29 17 23
+f 30 19 15
+f 30 15 25
+f 30 25 10
+f 30 10 19
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_5/collision/model_normalized_collision_15.obj b/objects/objaverse/cake/cake_5/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c2bf30ac268b22716f38d8541f2b5c02d2d94b39
--- /dev/null
+++ b/objects/objaverse/cake/cake_5/collision/model_normalized_collision_15.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.11349455 -0.19557719 0.10400413
+v 0.14271128 -0.15717322 0.13861612
+v -0.08217893 -0.15645315 0.13762168
+v 0.01255963 -0.08019779 0.14268332
+v 0.14227623 -0.11488908 0.13832486
+v 0.13761616 -0.15206800 0.14387487
+v -0.03496618 -0.19042266 0.10594643
+v 0.06833285 -0.08503429 0.13794250
+v -0.08104002 -0.15004237 0.14132485
+v 0.14022058 -0.11733132 0.14029326
+v -0.07082644 -0.18458679 0.11931264
+v 0.04007434 -0.18929469 0.09727725
+v -0.08260509 -0.12915668 0.14010592
+v 0.06674845 -0.09007384 0.14008828
+v -0.06256418 -0.19651261 0.10852901
+v 0.00855339 -0.08334202 0.14094799
+v -0.08232395 -0.13159872 0.14051583
+f 5 2 1
+f 6 2 5
+f 6 1 2
+f 8 5 1
+f 9 6 4
+f 9 3 6
+f 10 6 5
+f 10 4 6
+f 10 5 8
+f 11 6 3
+f 12 8 1
+f 13 11 3
+f 14 10 8
+f 14 8 4
+f 14 4 10
+f 15 1 6
+f 15 6 11
+f 15 12 1
+f 15 7 12
+f 15 11 13
+f 16 12 7
+f 16 4 8
+f 16 8 12
+f 16 7 15
+f 16 15 13
+f 16 13 4
+f 17 9 4
+f 17 4 13
+f 17 13 3
+f 17 3 9
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_5/collision/model_normalized_collision_16.obj b/objects/objaverse/cake/cake_5/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bf949dd8e11cc3e09a80d40ef05a1398abde495b
--- /dev/null
+++ b/objects/objaverse/cake/cake_5/collision/model_normalized_collision_16.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v -0.11694756 -0.14567410 0.05151119
+v -0.12766447 -0.15077389 -0.22114533
+v -0.11295057 -0.00757576 -0.22130418
+v -0.17120925 -0.00662534 0.00624873
+v -0.18135255 -0.02708459 -0.26427772
+v -0.14502254 -0.07816914 0.05080422
+v -0.15487518 -0.09481204 -0.26385223
+v -0.18861488 -0.00754171 -0.26676306
+v -0.13859728 -0.09406898 0.05263023
+v -0.13295222 -0.13940047 -0.22159833
+v -0.16171906 -0.07878705 -0.26752249
+v -0.17623535 -0.00046205 -0.08560762
+v -0.15892523 -0.04739143 0.00534630
+v -0.14021305 -0.10666294 -0.07113418
+v -0.12461960 -0.13556937 -0.01114044
+v -0.17385792 -0.04730404 -0.26771871
+v -0.11935432 -0.14014285 0.05123030
+v -0.14006065 -0.09080591 0.05055967
+f 1 2 3
+f 6 3 4
+f 7 3 2
+f 9 1 3
+f 9 3 6
+f 10 7 2
+f 10 2 1
+f 11 3 7
+f 12 8 4
+f 12 4 3
+f 12 3 8
+f 13 6 4
+f 13 4 8
+f 13 8 5
+f 13 5 6
+f 14 11 7
+f 15 10 1
+f 15 7 10
+f 15 14 7
+f 16 11 6
+f 16 6 5
+f 16 5 8
+f 16 8 3
+f 16 3 11
+f 17 1 9
+f 17 9 14
+f 17 15 1
+f 17 14 15
+f 18 14 9
+f 18 9 6
+f 18 6 11
+f 18 11 14
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_5/collision/model_normalized_collision_17.obj b/objects/objaverse/cake/cake_5/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc862a8b265c8d63c9b8cdd3d951dec0d16d84b1
--- /dev/null
+++ b/objects/objaverse/cake/cake_5/collision/model_normalized_collision_17.obj
@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
+v -0.09660163 -0.00560740 0.15016551
+v -0.09779906 -0.00757576 0.00596855
+v -0.10569331 0.28440618 0.01109111
+v -0.27176905 0.27794928 0.00106861
+v -0.17350062 -0.00141848 0.00778366
+v -0.12405774 0.28518587 -0.00256386
+v -0.19941229 0.18915508 0.14286213
+v -0.09001097 0.12288253 0.14096116
+v -0.26433924 0.20733364 0.00231110
+v -0.10961830 0.29010610 0.00144993
+v -0.11191521 0.25053881 0.09203876
+v -0.16835373 0.00128196 0.14726619
+v -0.09779906 0.14393939 0.00596855
+v -0.23088626 0.15064889 0.13738078
+v -0.19635576 0.23098814 0.10208915
+v -0.11298056 0.20988109 0.12859519
+v -0.20103104 0.07639515 0.14996729
+v -0.23919029 0.21784033 0.09970531
+v -0.26270972 0.20969338 0.06655679
+v -0.15590628 0.24586075 0.09036393
+v -0.17439263 0.19394296 0.14037784
+v -0.21688656 0.11809290 0.14536867
+v -0.21490919 0.09046795 0.10841958
+v -0.23571619 0.17920447 0.12467158
+v -0.24688770 0.20049043 0.10141789
+v -0.20924595 0.18025101 0.14268336
+v -0.20052914 0.06097409 0.13491726
+v -0.24952726 0.16550804 0.00533119
+v -0.24768710 0.22110260 0.08452898
+v -0.26312699 0.21410112 0.06281396
+v -0.24718564 0.17584748 0.10232705
+v -0.22287038 0.19397275 0.12521737
+v -0.24580991 0.16480760 0.07889726
+v -0.21640453 0.09028937 0.00722839
+f 5 2 1
+f 8 1 2
+f 8 7 1
+f 9 2 5
+f 9 6 2
+f 9 4 6
+f 10 2 6
+f 10 6 4
+f 11 10 4
+f 11 3 10
+f 11 8 3
+f 12 5 1
+f 13 8 2
+f 13 3 8
+f 13 10 3
+f 13 2 10
+f 15 7 11
+f 16 8 11
+f 17 12 1
+f 17 1 7
+f 18 15 4
+f 18 7 15
+f 19 4 9
+f 20 15 11
+f 20 11 4
+f 20 4 15
+f 21 16 11
+f 21 11 7
+f 21 7 8
+f 21 8 16
+f 22 14 17
+f 25 24 18
+f 25 14 24
+f 26 22 17
+f 26 17 7
+f 26 14 22
+f 26 24 14
+f 26 7 18
+f 27 23 5
+f 27 5 12
+f 27 12 17
+f 27 17 14
+f 28 19 9
+f 28 9 5
+f 29 25 18
+f 29 18 4
+f 29 4 25
+f 30 25 4
+f 30 4 19
+f 30 19 25
+f 31 25 19
+f 31 14 25
+f 31 27 14
+f 31 23 27
+f 32 26 18
+f 32 18 24
+f 32 24 26
+f 33 28 23
+f 33 19 28
+f 33 31 19
+f 33 23 31
+f 34 28 5
+f 34 5 23
+f 34 23 28
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_5/collision/model_normalized_collision_18.obj b/objects/objaverse/cake/cake_5/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3600bcbf071c3d9b735379f6d671f8917ee86543
--- /dev/null
+++ b/objects/objaverse/cake/cake_5/collision/model_normalized_collision_18.obj
@@ -0,0 +1,144 @@
+# https://github.com/mikedh/trimesh
+v 0.06321352 -0.06688845 0.30429139
+v 0.14465158 -0.03739234 0.14083946
+v 0.08555763 -0.00591951 0.40813103
+v -0.00376253 0.00095469 0.43804051
+v -0.05275690 -0.05259146 0.13976321
+v 0.14579492 -0.00793493 0.14889129
+v 0.04793473 -0.03686670 0.40831420
+v 0.08248105 -0.03747074 0.37428363
+v 0.03841585 -0.08380642 0.14111130
+v 0.14530804 -0.00635309 0.24384034
+v -0.06271886 -0.00502497 0.18767583
+v -0.05548034 -0.00981102 0.14852503
+v 0.04404484 -0.00508147 0.45152647
+v 0.01468083 -0.05145642 0.35143269
+v 0.10262401 -0.05127903 0.25939120
+v 0.06143720 -0.04984834 0.36416692
+v 0.11207864 -0.06678770 0.13753529
+v 0.14560886 -0.00589662 0.20334336
+v 0.11158510 -0.01129329 0.34892857
+v -0.05542390 -0.00086780 0.28989157
+v 0.02808458 -0.00206305 0.44751419
+v 0.03242502 -0.02162853 0.43464284
+v 0.06583835 -0.02442877 0.41968219
+v 0.02536992 -0.04990981 0.36576282
+v -0.00595332 -0.08336121 0.13788961
+v 0.07605578 -0.04853342 0.34862538
+v 0.11171943 -0.03827838 0.27341621
+v 0.06077074 -0.03287932 0.40681075
+v 0.07159043 -0.06537496 0.28943487
+v 0.11157655 -0.00804230 0.34869190
+v -0.05054550 -0.02846011 0.25798999
+v 0.03056815 -0.01447960 0.44314130
+v -0.01060719 -0.00914704 0.42334799
+v 0.08312710 -0.01154097 0.40560443
+v 0.04691902 -0.00937180 0.44688690
+v 0.04904081 -0.02247144 0.43056088
+v 0.03179878 -0.03763281 0.40704364
+v 0.02590993 -0.06478506 0.29005510
+v -0.03683439 -0.04211630 0.27222559
+v 0.14425415 -0.00971602 0.24384567
+v -0.02565211 0.00029954 0.39509020
+v 0.00422892 -0.03721643 0.37853258
+v 0.05609596 -0.06576316 0.30566039
+v -0.02618559 -0.04826982 0.27148839
+v -0.01992358 -0.02451558 0.36513452
+v -0.01256064 -0.00363656 0.42384886
+v 0.00133943 -0.06381126 0.25934744
+v -0.01842025 -0.01211718 0.39386439
+v -0.01029811 -0.02117674 0.39333454
+f 12 6 2
+f 12 2 5
+f 12 11 6
+f 12 5 11
+f 17 5 2
+f 17 1 9
+f 17 2 15
+f 18 10 2
+f 18 2 6
+f 18 4 10
+f 19 3 8
+f 20 4 18
+f 20 18 6
+f 20 6 11
+f 21 13 3
+f 21 10 4
+f 21 3 10
+f 24 1 16
+f 25 9 1
+f 25 17 9
+f 25 5 17
+f 26 15 8
+f 26 16 1
+f 26 8 16
+f 27 8 15
+f 27 15 2
+f 28 16 8
+f 28 7 16
+f 28 23 7
+f 28 8 23
+f 29 17 15
+f 29 1 17
+f 29 26 1
+f 29 15 26
+f 30 19 10
+f 30 10 3
+f 30 3 19
+f 31 20 11
+f 31 11 5
+f 32 21 4
+f 32 13 21
+f 33 32 4
+f 33 22 32
+f 34 23 8
+f 34 8 3
+f 34 3 23
+f 35 23 3
+f 35 3 13
+f 35 32 22
+f 35 13 32
+f 36 22 7
+f 36 7 23
+f 36 35 22
+f 36 23 35
+f 37 7 22
+f 37 22 33
+f 37 14 24
+f 37 24 16
+f 37 16 7
+f 38 25 1
+f 38 14 25
+f 39 5 25
+f 39 31 5
+f 40 19 8
+f 40 8 27
+f 40 10 19
+f 40 27 2
+f 40 2 10
+f 41 4 20
+f 41 20 31
+f 42 37 33
+f 42 14 37
+f 42 39 14
+f 43 38 1
+f 43 14 38
+f 43 24 14
+f 43 1 24
+f 44 39 25
+f 44 14 39
+f 45 31 39
+f 45 41 31
+f 45 39 42
+f 46 41 33
+f 46 33 4
+f 46 4 41
+f 47 44 25
+f 47 25 14
+f 47 14 44
+f 48 45 33
+f 48 33 41
+f 48 41 45
+f 49 45 42
+f 49 42 33
+f 49 33 45
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_5/collision/model_normalized_collision_19.obj b/objects/objaverse/cake/cake_5/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e6152d06886ecea9995fdbcb84021ea907b500d8
--- /dev/null
+++ b/objects/objaverse/cake/cake_5/collision/model_normalized_collision_19.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.22569164 0.00402758 0.14430452
+v 0.27588864 0.13401557 0.00314041
+v 0.24946805 0.13982292 0.11209762
+v -0.09825149 0.14028555 0.13260152
+v -0.09779906 -0.00757576 0.00596855
+v -0.09779906 0.14393939 0.00596855
+v 0.15612258 0.12015569 0.14631869
+v 0.25783868 0.07843505 0.14104724
+v 0.22330112 -0.00393003 0.00580335
+v -0.09885720 -0.00931517 0.14879918
+v 0.24979921 0.05678751 0.15141081
+v 0.24239260 0.10487409 0.13982686
+v 0.23264864 -0.00290672 0.08029568
+v 0.15909124 -0.00576575 0.14917631
+v 0.21737989 0.12962149 0.12697785
+v 0.26266011 0.08439536 0.09692315
+v 0.23584289 0.01647497 0.14176587
+v 0.24791315 0.04440589 0.13864863
+f 6 3 2
+f 6 4 3
+f 6 2 5
+f 7 3 4
+f 8 2 3
+f 9 5 2
+f 10 6 5
+f 10 4 6
+f 10 7 4
+f 10 5 9
+f 11 7 10
+f 12 8 3
+f 12 11 8
+f 12 7 11
+f 13 9 2
+f 14 11 10
+f 14 1 11
+f 14 13 1
+f 14 10 9
+f 14 9 13
+f 15 12 3
+f 15 3 7
+f 15 7 12
+f 16 13 2
+f 16 2 8
+f 17 11 1
+f 17 1 13
+f 18 16 8
+f 18 8 11
+f 18 13 16
+f 18 17 13
+f 18 11 17
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_5/collision/model_normalized_collision_2.obj b/objects/objaverse/cake/cake_5/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..361e0ebc65f930812a4dc4c9ef39f9647025c98b
--- /dev/null
+++ b/objects/objaverse/cake/cake_5/collision/model_normalized_collision_2.obj
@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
+v 0.24946805 0.13982292 0.11209762
+v 0.30252457 0.21521171 -0.00165660
+v 0.15279492 0.28027149 0.06686796
+v -0.09277382 0.30254034 -0.00084576
+v -0.11295057 0.14393939 0.00596855
+v 0.23203834 0.27194319 -0.00311117
+v -0.11298056 0.20988109 0.12859519
+v 0.27580164 0.18414385 0.09157707
+v 0.27588864 0.13401557 0.00314041
+v 0.28643019 0.24355387 -0.00293906
+v 0.06092186 0.31217682 0.03677827
+v -0.11678691 0.14363746 0.13499109
+v -0.10961830 0.29010610 0.00144993
+v 0.06687080 0.23636843 0.11100593
+v 0.29429156 0.17890909 0.03670020
+v 0.19679856 0.26173111 0.06154824
+v -0.04780822 0.31120498 -0.00025035
+v 0.12388229 0.29080647 0.06131864
+v -0.11191521 0.25053881 0.09203876
+v 0.12876276 0.13595358 0.13380491
+v 0.24873397 0.19679261 0.09368808
+v 0.29292769 0.18193765 0.00743881
+v 0.24384045 0.21652369 0.08580600
+v 0.05949363 0.30568111 0.00707799
+v 0.06963735 0.30933068 0.04370594
+v -0.00045148 0.25437250 0.09597213
+v -0.11158996 0.26109984 0.06021563
+v -0.01826927 0.30657053 0.02484954
+v -0.09773049 0.21253021 0.12711684
+v 0.24915921 0.15393043 0.10827233
+v 0.29510603 0.18233919 0.03165860
+v 0.24089664 0.23526420 0.06611471
+v 0.12598172 0.29363063 0.04414022
+v -0.01533052 0.26906785 0.08014108
+v 0.02449480 0.23957739 0.10895823
+v -0.04623114 0.30614566 0.01273911
+v 0.27044310 0.20956561 0.07164135
+v 0.27159031 0.19386567 0.08578516
+f 9 5 2
+f 10 5 4
+f 10 2 5
+f 10 4 6
+f 13 4 5
+f 13 5 12
+f 15 8 1
+f 15 1 9
+f 15 2 8
+f 16 10 6
+f 16 6 3
+f 17 6 4
+f 18 3 6
+f 18 14 3
+f 19 4 13
+f 19 12 7
+f 20 7 12
+f 20 9 1
+f 20 12 5
+f 20 5 9
+f 22 9 2
+f 23 21 8
+f 23 3 14
+f 23 14 21
+f 24 17 11
+f 24 11 6
+f 24 6 17
+f 25 6 11
+f 25 11 19
+f 26 19 7
+f 26 18 25
+f 27 19 13
+f 27 13 12
+f 27 12 19
+f 28 4 19
+f 28 19 11
+f 28 11 17
+f 29 20 14
+f 29 7 20
+f 29 26 7
+f 30 1 8
+f 30 8 21
+f 30 20 1
+f 30 21 14
+f 30 14 20
+f 31 22 2
+f 31 2 15
+f 31 15 9
+f 31 9 22
+f 32 16 3
+f 32 3 23
+f 32 10 16
+f 33 25 18
+f 33 18 6
+f 33 6 25
+f 34 26 25
+f 34 25 19
+f 34 19 26
+f 35 14 18
+f 35 18 26
+f 35 29 14
+f 35 26 29
+f 36 28 17
+f 36 17 4
+f 36 4 28
+f 37 32 23
+f 37 10 32
+f 37 8 2
+f 37 2 10
+f 38 37 23
+f 38 23 8
+f 38 8 37
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_5/collision/model_normalized_collision_20.obj b/objects/objaverse/cake/cake_5/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b43354f8cad0141d751fbbfcebb02a87b9566e74
--- /dev/null
+++ b/objects/objaverse/cake/cake_5/collision/model_normalized_collision_20.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.16736256 -0.14460998 0.12862098
+v 0.20531652 -0.00438870 -0.45356416
+v 0.22996699 -0.00454077 0.13565088
+v 0.14278405 -0.00672525 0.14993197
+v 0.14447415 -0.14399909 -0.45350578
+v 0.21423325 0.00004178 0.14907169
+v 0.14396693 -0.14406947 0.14114688
+v 0.14449189 -0.00751392 -0.45372936
+v 0.21807764 -0.01895993 -0.34162856
+v 0.22085374 -0.00474967 -0.34141400
+v 0.20251130 -0.01529503 -0.45374602
+v 0.18671573 -0.10789593 -0.11310598
+v 0.15604468 -0.13600657 -0.45328816
+v 0.17257105 -0.14187931 0.12000387
+v 0.18519831 -0.07613779 -0.42664062
+v 0.17125713 -0.13670185 -0.17308627
+v 0.20207623 -0.03041309 -0.42999649
+f 6 1 3
+f 7 5 1
+f 7 4 5
+f 7 6 4
+f 7 1 6
+f 8 5 4
+f 8 6 2
+f 8 4 6
+f 10 6 3
+f 10 2 6
+f 10 9 2
+f 10 3 9
+f 11 8 2
+f 11 5 8
+f 11 2 9
+f 12 9 3
+f 13 5 11
+f 14 12 3
+f 14 3 1
+f 15 13 11
+f 15 9 13
+f 16 13 9
+f 16 9 12
+f 16 12 14
+f 16 5 13
+f 16 14 1
+f 16 1 5
+f 17 15 11
+f 17 11 9
+f 17 9 15
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_5/collision/model_normalized_collision_21.obj b/objects/objaverse/cake/cake_5/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a5d48169c02aba88f8f861bc3e5a70b4e6cff56
--- /dev/null
+++ b/objects/objaverse/cake/cake_5/collision/model_normalized_collision_21.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v -0.12810209 0.09848485 0.00596855
+v -0.12810209 0.09848485 -0.22130418
+v -0.12810209 0.23484848 -0.22130418
+v -0.13389864 0.27325246 0.02051251
+v -0.28018784 0.23772699 -0.14526424
+v -0.22229223 0.09713703 -0.26684958
+v -0.26995294 0.23326724 0.00436336
+v -0.27915849 0.23499312 -0.22129595
+v -0.22263001 0.10362677 0.00570736
+v -0.27967474 0.23718669 -0.04277361
+v -0.26558717 0.19404703 -0.22095450
+v -0.22977063 0.11542969 -0.26669901
+v -0.26179994 0.19357896 0.00243271
+v -0.27750091 0.22603881 -0.04072170
+v -0.24619130 0.15224939 -0.07084481
+v -0.22760350 0.11012803 -0.26687553
+v -0.23062202 0.12171370 0.00514309
+v -0.27716118 0.22627804 -0.14540876
+v -0.24750782 0.15209851 -0.22068196
+v -0.23295290 0.12061761 -0.22085698
+f 1 2 3
+f 1 3 4
+f 6 2 1
+f 6 3 2
+f 8 5 4
+f 8 4 3
+f 9 1 4
+f 9 4 7
+f 9 6 1
+f 10 7 4
+f 10 4 5
+f 12 8 3
+f 12 11 8
+f 14 10 5
+f 14 13 7
+f 14 7 10
+f 15 14 11
+f 16 12 3
+f 16 3 6
+f 16 6 11
+f 16 11 12
+f 17 9 7
+f 17 7 13
+f 17 13 14
+f 17 15 9
+f 17 14 15
+f 18 8 11
+f 18 11 14
+f 18 14 5
+f 18 5 8
+f 19 15 11
+f 19 11 6
+f 20 6 9
+f 20 9 15
+f 20 19 6
+f 20 15 19
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_5/collision/model_normalized_collision_22.obj b/objects/objaverse/cake/cake_5/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..788d3ce3bf0ba4587c61ae0926eb7238be73087f
--- /dev/null
+++ b/objects/objaverse/cake/cake_5/collision/model_normalized_collision_22.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.16047140 -0.15040311 -0.22255270
+v 0.14447415 -0.14399909 -0.45350578
+v 0.14449189 -0.00751392 -0.45372936
+v -0.19032531 -0.00288067 -0.26757000
+v -0.14147387 -0.13616011 -0.45215764
+v 0.14462519 -0.00757576 -0.22130418
+v -0.13295222 -0.13940047 -0.22159833
+v -0.18517627 -0.02989262 -0.45268688
+v -0.17834246 -0.02650684 -0.21748613
+v -0.19476751 -0.00445192 -0.45249598
+v -0.15580400 -0.12137230 -0.42089240
+v -0.18523353 -0.03105959 -0.38821322
+v -0.18555055 -0.01604175 -0.26761066
+v -0.15670749 -0.08264213 -0.22142853
+v -0.15348058 -0.12201475 -0.43161811
+v -0.13943851 -0.13540124 -0.28401480
+f 1 2 3
+f 5 2 1
+f 6 1 3
+f 6 3 4
+f 7 5 1
+f 8 3 2
+f 8 2 5
+f 9 6 4
+f 9 7 1
+f 9 1 6
+f 10 4 3
+f 10 3 8
+f 11 10 8
+f 12 11 4
+f 12 4 10
+f 12 10 11
+f 13 11 9
+f 13 9 4
+f 13 4 11
+f 14 7 9
+f 14 9 11
+f 15 11 8
+f 15 8 5
+f 15 5 11
+f 16 11 5
+f 16 5 7
+f 16 14 11
+f 16 7 14
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_5/collision/model_normalized_collision_23.obj b/objects/objaverse/cake/cake_5/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..371b0484e4613485e5a66d789d0eebd229a2da93
--- /dev/null
+++ b/objects/objaverse/cake/cake_5/collision/model_normalized_collision_23.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.03828878 -0.14267231 0.13886321
+v 0.03856458 -0.14393940 0.00596855
+v 0.03856458 -0.00757576 0.00596855
+v -0.16371416 -0.00329257 0.15254298
+v -0.11799024 -0.14620312 0.00649796
+v 0.03681035 -0.04155856 0.14542901
+v -0.10654377 -0.14300585 0.13630982
+v -0.15892523 -0.04739143 0.00534630
+v -0.09660163 -0.00560740 0.15016551
+v -0.17537807 -0.00182549 0.12638767
+v -0.14679270 -0.07885796 0.00547470
+v -0.15442047 -0.04366011 0.13254636
+v -0.11822381 -0.13784072 0.11334211
+v -0.17120925 -0.00662534 0.00624873
+v -0.16986693 -0.01466747 0.12606668
+v -0.12564166 -0.11987801 0.11596328
+v -0.11935432 -0.14014285 0.05123030
+v -0.17503555 -0.00203995 0.02275197
+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 3 2
+f 9 6 3
+f 9 4 6
+f 10 9 3
+f 10 4 9
+f 11 8 2
+f 11 2 5
+f 11 10 8
+f 12 7 4
+f 12 4 10
+f 13 5 7
+f 14 3 8
+f 15 12 10
+f 15 10 13
+f 16 13 7
+f 16 7 12
+f 16 15 13
+f 16 12 15
+f 17 11 5
+f 17 5 13
+f 17 13 10
+f 17 10 11
+f 18 10 3
+f 18 3 14
+f 18 14 8
+f 18 8 10
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_5/collision/model_normalized_collision_24.obj b/objects/objaverse/cake/cake_5/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..569a0cb8296192cacfdd890b797090d29b861d9c
--- /dev/null
+++ b/objects/objaverse/cake/cake_5/collision/model_normalized_collision_24.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.16433511 -0.02224593 0.00164394
+v -0.12791328 -0.00756635 -0.45404876
+v -0.12810209 0.09848485 0.00596855
+v -0.22263001 0.10362677 0.00570736
+v -0.20100114 -0.00095001 -0.43668367
+v -0.12797695 0.09853186 -0.45464893
+v -0.17350062 -0.00141848 0.00778366
+v -0.19476751 -0.00445192 -0.45249598
+v -0.21640453 0.09028937 0.00722839
+v -0.23199079 0.09940402 -0.45201473
+v -0.21648803 0.04322271 -0.43666987
+v -0.21576937 0.04433658 -0.44209235
+f 1 2 3
+f 6 3 2
+f 6 4 3
+f 7 1 3
+f 8 2 1
+f 8 1 5
+f 8 6 2
+f 9 5 1
+f 9 4 5
+f 9 1 7
+f 9 7 3
+f 9 3 4
+f 10 4 6
+f 10 6 8
+f 11 5 4
+f 11 4 10
+f 12 10 8
+f 12 8 5
+f 12 11 10
+f 12 5 11
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_5/collision/model_normalized_collision_25.obj b/objects/objaverse/cake/cake_5/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..145ddad32d6fecd20ef577bc29ce120919bb5ff2
--- /dev/null
+++ b/objects/objaverse/cake/cake_5/collision/model_normalized_collision_25.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.21784946 -0.02124536 0.00656045
+v 0.23185149 0.09954538 -0.45211445
+v 0.26273548 0.09970622 0.00631663
+v 0.17492822 0.09848485 0.00596855
+v 0.17505292 -0.00758224 -0.45347255
+v 0.25176440 0.10268423 -0.19068861
+v 0.25243642 0.07490074 0.00867194
+v 0.21769760 -0.00418538 -0.37076012
+v 0.17472648 0.09851871 -0.45358068
+v 0.20531652 -0.00438870 -0.45356416
+v 0.23285219 0.05645241 -0.33995046
+v 0.23258444 0.02977676 -0.25012072
+v 0.23596825 0.10156264 -0.40135797
+f 5 1 4
+f 6 4 3
+f 7 1 3
+f 7 3 4
+f 7 4 1
+f 9 5 4
+f 9 4 6
+f 10 2 8
+f 10 9 2
+f 10 5 9
+f 10 8 1
+f 10 1 5
+f 11 8 2
+f 12 3 1
+f 12 1 8
+f 12 8 11
+f 12 11 6
+f 12 6 3
+f 13 9 6
+f 13 2 9
+f 13 11 2
+f 13 6 11
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_5/collision/model_normalized_collision_26.obj b/objects/objaverse/cake/cake_5/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca588d091d52433758b8bda759a25c7472efe3f0
--- /dev/null
+++ b/objects/objaverse/cake/cake_5/collision/model_normalized_collision_26.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.17492822 0.23484848 -0.10009205
+v 0.18193058 0.26472484 0.02295171
+v -0.27273389 0.21450758 -0.09954635
+v -0.21900656 0.35491544 -0.10110210
+v 0.16970686 0.36211198 -0.10553053
+v -0.21716358 0.26862541 0.02308101
+v -0.17104031 0.36118164 -0.10839513
+v -0.22241094 0.32462928 -0.06732667
+v 0.01986174 0.32558547 0.00414086
+v 0.04257598 0.37354624 -0.10830469
+v -0.21979535 0.28111873 -0.00129442
+v 0.16814172 0.35223335 -0.07819828
+v -0.05023936 0.37497861 -0.10782397
+v 0.03868034 0.36906406 -0.09602509
+f 1 2 3
+f 5 2 1
+f 6 3 2
+f 7 1 3
+f 7 3 4
+f 8 6 4
+f 8 4 3
+f 9 6 2
+f 9 4 6
+f 10 5 1
+f 10 1 7
+f 11 8 3
+f 11 3 6
+f 11 6 8
+f 12 9 2
+f 12 2 5
+f 12 5 10
+f 13 7 4
+f 13 4 9
+f 13 10 7
+f 14 12 10
+f 14 9 12
+f 14 13 9
+f 14 10 13
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_5/collision/model_normalized_collision_27.obj b/objects/objaverse/cake/cake_5/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1064940f4742a1466a4e3ec0ea7aba2b72cfe47d
--- /dev/null
+++ b/objects/objaverse/cake/cake_5/collision/model_normalized_collision_27.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.25057123 0.05308333 0.09689021
+v 0.29596613 0.18946694 0.00598250
+v 0.27843811 0.17208315 0.10075897
+v 0.27963063 0.20420183 0.03114270
+v 0.25935096 0.10170575 -0.02300971
+v 0.27620732 0.18221923 0.09308636
+v 0.27822893 0.13154847 0.10534390
+v 0.27763628 0.13656563 0.00860970
+v 0.24930671 0.18391609 0.09907009
+v 0.26761454 0.11882849 -0.02326904
+v 0.25336694 0.05880238 0.09824510
+v 0.24505179 0.05549847 0.02157956
+v 0.27328366 0.17912301 0.09854456
+v 0.24624721 0.07984846 0.14585548
+v 0.26519104 0.11395728 -0.02420248
+v 0.26232173 0.09148501 0.03812315
+v 0.24901139 0.06902133 0.00630634
+v 0.25783868 0.07843505 0.14104724
+v 0.24408985 0.09385486 0.14248137
+v 0.26450341 0.09642106 0.13139644
+v 0.26309976 0.08820622 0.12488820
+v 0.25669421 0.09221103 0.13728619
+f 6 3 2
+f 6 2 4
+f 7 2 3
+f 9 4 5
+f 9 6 4
+f 10 4 2
+f 10 2 8
+f 11 8 2
+f 11 2 7
+f 12 11 1
+f 13 3 6
+f 13 6 9
+f 14 12 1
+f 15 5 4
+f 15 4 10
+f 16 10 8
+f 16 8 11
+f 16 12 10
+f 16 11 12
+f 17 12 9
+f 17 9 5
+f 17 5 15
+f 17 15 10
+f 17 10 12
+f 18 14 1
+f 18 1 11
+f 19 13 9
+f 19 9 12
+f 19 12 14
+f 19 3 13
+f 19 14 18
+f 20 7 3
+f 20 3 18
+f 21 18 11
+f 21 11 7
+f 21 20 18
+f 21 7 20
+f 22 19 18
+f 22 18 3
+f 22 3 19
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_5/collision/model_normalized_collision_28.obj b/objects/objaverse/cake/cake_5/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..523e48524df13eb754628dbc99b916f5a560b683
--- /dev/null
+++ b/objects/objaverse/cake/cake_5/collision/model_normalized_collision_28.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.21784946 -0.02124536 0.00656045
+v 0.17505292 -0.00758224 -0.45347255
+v 0.18193058 0.26472484 0.02295171
+v -0.13389864 0.27325246 0.02051251
+v -0.16433511 -0.02224593 0.00164394
+v 0.17485547 0.23481685 -0.45369323
+v -0.12802921 0.23474779 -0.45417299
+v -0.12791328 -0.00756635 -0.45404876
+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 4 6
+f 8 7 6
+f 8 6 2
+f 8 2 5
+f 8 5 7
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_5/collision/model_normalized_collision_29.obj b/objects/objaverse/cake/cake_5/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..458258dbf91e81dff23e38daf5ed7e4cd81411cc
--- /dev/null
+++ b/objects/objaverse/cake/cake_5/collision/model_normalized_collision_29.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.17492822 0.23484848 -0.22130418
+v 0.17485547 0.23481685 -0.45369323
+v 0.18751601 0.40372477 -0.19773913
+v -0.14325360 0.35606061 -0.22130418
+v -0.14317984 0.23474657 -0.45405745
+v -0.14325360 0.23484848 -0.22130418
+v 0.00825738 0.35599759 -0.45373613
+v 0.17486600 0.35602106 -0.45323685
+v -0.14321335 0.35603484 -0.45342113
+f 1 2 3
+f 5 2 1
+f 6 1 3
+f 6 3 4
+f 6 5 1
+f 7 2 5
+f 8 7 3
+f 8 3 2
+f 8 2 7
+f 9 7 5
+f 9 4 3
+f 9 3 7
+f 9 6 4
+f 9 5 6
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_5/collision/model_normalized_collision_3.obj b/objects/objaverse/cake/cake_5/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a0768a3707c1faa5373fc4be4b40dd59634e2476
--- /dev/null
+++ b/objects/objaverse/cake/cake_5/collision/model_normalized_collision_3.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v 0.26273548 0.09970622 0.00631663
+v 0.30934901 0.26559148 -0.18735543
+v 0.31156851 0.23615992 -0.02552864
+v 0.17486200 0.35594519 -0.10016103
+v 0.17492822 0.09848485 -0.22130418
+v 0.29678977 0.33729063 -0.14517818
+v 0.17334757 0.28676932 -0.00347482
+v 0.30771154 0.22676070 -0.12884224
+v 0.29341335 0.34031268 -0.22119137
+v 0.31329801 0.28429768 -0.06786136
+v 0.29292769 0.18193765 0.00743881
+v 0.17492822 0.09848485 0.00596855
+v 0.17492822 0.23484848 -0.22130418
+v 0.25085791 0.10259664 -0.21954798
+v 0.27280530 0.34469443 -0.10788757
+v 0.30964742 0.28000073 -0.18769513
+v 0.28232626 0.25436581 -0.00628961
+v 0.30832225 0.22250707 -0.01261395
+v 0.27002027 0.11795532 0.00719939
+v 0.29514461 0.33086307 -0.22196722
+v 0.29224312 0.21377907 -0.21802549
+v 0.29269464 0.18135633 -0.09875787
+v 0.29696433 0.30854306 -0.08207153
+v 0.18574227 0.33958085 -0.06384708
+v 0.29494281 0.23914661 -0.00902926
+v 0.30746372 0.23899844 -0.15844828
+v 0.28369179 0.30846767 -0.06649582
+v 0.24492013 0.34010601 -0.08198720
+v 0.17501110 0.34224656 -0.06691808
+v 0.26904323 0.33946926 -0.09631974
+v 0.22833283 0.32391032 -0.05319812
+v 0.25849333 0.32357390 -0.06862102
+v 0.22934730 0.28065962 -0.01010040
+f 8 2 3
+f 10 3 2
+f 10 9 6
+f 12 7 5
+f 12 5 1
+f 12 11 7
+f 13 7 4
+f 13 5 7
+f 13 4 9
+f 14 1 5
+f 15 9 4
+f 15 6 9
+f 16 10 2
+f 16 9 10
+f 17 3 10
+f 17 7 11
+f 18 8 3
+f 19 12 1
+f 19 11 12
+f 19 18 11
+f 20 13 9
+f 20 5 13
+f 20 14 5
+f 20 16 2
+f 20 9 16
+f 21 8 14
+f 21 20 2
+f 21 14 20
+f 22 14 8
+f 22 1 14
+f 22 19 1
+f 22 8 18
+f 22 18 19
+f 23 10 6
+f 23 6 15
+f 25 17 11
+f 25 11 18
+f 25 18 3
+f 25 3 17
+f 26 21 2
+f 26 2 8
+f 26 8 21
+f 27 17 10
+f 27 10 23
+f 27 23 15
+f 28 15 4
+f 29 4 7
+f 29 7 24
+f 29 28 4
+f 29 24 28
+f 30 27 15
+f 30 15 28
+f 31 28 24
+f 31 24 7
+f 32 30 28
+f 32 27 30
+f 32 28 31
+f 32 31 17
+f 32 17 27
+f 33 31 7
+f 33 7 17
+f 33 17 31
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_5/collision/model_normalized_collision_30.obj b/objects/objaverse/cake/cake_5/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a3110d84e83392e2d3786fa834840bc70b3e1ee2
--- /dev/null
+++ b/objects/objaverse/cake/cake_5/collision/model_normalized_collision_30.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.14396693 -0.14406947 0.14114688
+v 0.16047140 -0.15040311 -0.22255270
+v 0.14579492 -0.00793493 0.14889129
+v 0.14462519 -0.00757576 -0.22130418
+v 0.03856458 -0.14393940 -0.22130418
+v 0.03828878 -0.14267231 0.13886321
+v 0.03856458 -0.00757576 -0.22130418
+v 0.03681035 -0.04155856 0.14542901
+f 1 2 3
+f 3 2 4
+f 6 5 2
+f 6 2 1
+f 7 4 2
+f 7 2 5
+f 7 3 4
+f 8 6 1
+f 8 1 3
+f 8 3 7
+f 8 7 5
+f 8 5 6
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_5/collision/model_normalized_collision_31.obj b/objects/objaverse/cake/cake_5/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ee9da29c1ca8cfb3302096a8ee315662823aa94e
--- /dev/null
+++ b/objects/objaverse/cake/cake_5/collision/model_normalized_collision_31.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.03856458 -0.14393940 0.00596855
+v 0.03856458 -0.14393940 -0.22130418
+v 0.03856458 -0.00757576 0.00596855
+v -0.16220929 -0.02701698 0.00001768
+v -0.12766447 -0.15077389 -0.22114533
+v -0.11799024 -0.14620312 0.00649796
+v -0.11295057 -0.00757576 -0.22130418
+v 0.03856458 -0.00757576 -0.22130418
+f 1 2 3
+f 5 2 1
+f 6 1 3
+f 6 3 4
+f 6 5 1
+f 6 4 5
+f 7 2 5
+f 7 5 4
+f 7 4 3
+f 8 7 3
+f 8 3 2
+f 8 2 7
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_5/collision/model_normalized_collision_4.obj b/objects/objaverse/cake/cake_5/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d26d9d9448fcc02625543ab5b5fa8c450cbb65b0
--- /dev/null
+++ b/objects/objaverse/cake/cake_5/collision/model_normalized_collision_4.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.25085791 0.10259664 -0.21954798
+v 0.27713119 0.26822676 -0.44112529
+v 0.29650532 0.32318168 -0.22096965
+v 0.24210659 0.45424356 -0.29977355
+v 0.17472648 0.09851871 -0.45358068
+v 0.28095971 0.33963265 -0.43866377
+v 0.18751601 0.40372477 -0.19773913
+v 0.29732681 0.22471666 -0.21929295
+v 0.23297471 0.10351487 -0.45212075
+v 0.26562946 0.43785798 -0.32659252
+v 0.17486600 0.35602106 -0.45323685
+v 0.28004231 0.39792634 -0.22083933
+v 0.17492822 0.09848485 -0.22130418
+v 0.29605609 0.30944871 -0.32671045
+v 0.26453615 0.20846709 -0.44303775
+v 0.26901219 0.35568519 -0.45269444
+v 0.24703619 0.45877005 -0.32851839
+v 0.24442190 0.42222359 -0.22609037
+v 0.27875564 0.39828290 -0.29637322
+v 0.26400336 0.22341066 -0.45257928
+v 0.25438991 0.45160992 -0.33098319
+v 0.26997665 0.41487407 -0.24480183
+f 8 7 1
+f 8 3 7
+f 9 1 5
+f 9 8 1
+f 12 7 3
+f 13 5 1
+f 13 1 7
+f 13 11 5
+f 13 7 11
+f 14 3 8
+f 14 8 2
+f 14 2 6
+f 15 2 8
+f 15 8 9
+f 16 6 2
+f 16 5 11
+f 16 10 6
+f 17 16 11
+f 17 11 7
+f 17 7 4
+f 18 4 7
+f 18 7 12
+f 19 14 6
+f 19 6 10
+f 19 10 12
+f 19 12 3
+f 19 3 14
+f 20 15 9
+f 20 2 15
+f 20 16 2
+f 20 9 5
+f 20 5 16
+f 21 10 16
+f 21 16 17
+f 22 17 4
+f 22 21 17
+f 22 12 10
+f 22 10 21
+f 22 18 12
+f 22 4 18
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_5/collision/model_normalized_collision_5.obj b/objects/objaverse/cake/cake_5/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..04a61623ac1be383f46486ad4cb55cbae783bc23
--- /dev/null
+++ b/objects/objaverse/cake/cake_5/collision/model_normalized_collision_5.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.03332341 -0.49557260 0.13004536
+v 0.11216320 -0.28200427 -0.10035726
+v 0.11971188 -0.26302028 0.10344241
+v -0.03730613 -0.26632604 0.11692198
+v -0.03911624 -0.39250061 -0.09842895
+v 0.12056180 -0.26135159 0.00562626
+v 0.06158005 -0.28536912 0.12669562
+v 0.05942401 -0.38149772 -0.09999452
+v -0.04482357 -0.33730319 0.09754178
+v -0.07546237 -0.28191695 -0.09790247
+v 0.11088217 -0.28931496 0.10430448
+v 0.03597296 -0.47197585 0.14115619
+v 0.09456996 -0.26705225 0.11047471
+v 0.03545781 -0.48787280 0.09939956
+v 0.00690734 -0.48774442 0.12821711
+v -0.06840948 -0.27826287 0.00393492
+v 0.02482243 -0.43543463 0.14059994
+v 0.01543980 -0.48324961 0.00741555
+v 0.01345718 -0.47232269 0.13772804
+v 0.02338985 -0.47622412 0.00887563
+v 0.01589840 -0.49120291 0.08403675
+v 0.01553871 -0.45085023 0.14010115
+v -0.03405585 -0.33378764 0.11155841
+v 0.01195094 -0.49125207 0.12632720
+v -0.00367374 -0.45403100 0.12387353
+f 6 4 3
+f 10 8 5
+f 10 2 8
+f 10 6 2
+f 10 4 6
+f 10 5 9
+f 11 1 2
+f 11 2 6
+f 11 6 3
+f 11 3 1
+f 12 1 3
+f 12 3 7
+f 13 7 3
+f 13 3 4
+f 13 4 7
+f 14 8 2
+f 14 2 1
+f 15 9 5
+f 16 10 9
+f 16 9 4
+f 16 4 10
+f 17 12 7
+f 17 7 4
+f 18 5 8
+f 18 15 5
+f 18 14 1
+f 19 15 1
+f 19 1 12
+f 20 18 8
+f 20 8 14
+f 20 14 18
+f 21 18 1
+f 21 15 18
+f 22 19 12
+f 22 12 17
+f 22 17 4
+f 22 4 19
+f 23 19 4
+f 23 4 9
+f 24 21 1
+f 24 1 15
+f 24 15 21
+f 25 23 9
+f 25 9 15
+f 25 15 19
+f 25 19 23
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_5/collision/model_normalized_collision_6.obj b/objects/objaverse/cake/cake_5/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6da5d2912c0e38ed6aae8066a95074dc48eba567
--- /dev/null
+++ b/objects/objaverse/cake/cake_5/collision/model_normalized_collision_6.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v -0.03130808 -0.39067137 -0.03742169
+v -0.03491300 -0.39076877 -0.32640278
+v -0.03719300 -0.14393940 -0.22130418
+v -0.11822381 -0.13784072 0.11334211
+v -0.11134595 -0.24548722 -0.42341375
+v -0.03715376 -0.16880877 0.12358676
+v -0.02204148 -0.26515152 -0.32736478
+v -0.04949507 -0.36577389 -0.11782863
+v -0.14551787 -0.13715669 -0.44240098
+v -0.06754445 -0.14402075 0.14189798
+v -0.03405585 -0.33378764 0.11155841
+v -0.05232088 -0.26519981 -0.45538423
+v -0.05057393 -0.31724892 0.10388868
+v -0.12918894 -0.13872180 -0.08611868
+v -0.10654377 -0.14300585 0.13630982
+v -0.08927275 -0.26089147 -0.45035511
+v -0.05234591 -0.14394705 -0.45486027
+v -0.12510335 -0.19814930 -0.38987793
+v -0.04946200 -0.30341341 0.11836739
+v -0.10142278 -0.16350834 0.13067814
+v -0.13903251 -0.14172795 -0.45198665
+v -0.14426946 -0.13797729 -0.40819433
+v -0.03743811 -0.32781800 0.11360049
+v -0.09681216 -0.24375038 -0.45082847
+f 7 1 2
+f 7 3 6
+f 8 5 2
+f 8 2 1
+f 8 4 5
+f 9 4 3
+f 10 6 3
+f 10 3 4
+f 11 7 6
+f 11 1 7
+f 11 6 10
+f 12 7 2
+f 13 8 1
+f 13 4 8
+f 13 1 11
+f 14 5 4
+f 14 4 9
+f 15 10 4
+f 16 12 2
+f 16 2 5
+f 17 9 3
+f 17 3 7
+f 17 7 12
+f 18 9 5
+f 18 5 14
+f 19 10 15
+f 20 15 4
+f 20 4 13
+f 20 19 15
+f 20 13 19
+f 21 5 9
+f 21 17 12
+f 21 9 17
+f 22 18 14
+f 22 14 9
+f 22 9 18
+f 23 11 10
+f 23 10 19
+f 23 19 13
+f 23 13 11
+f 24 16 5
+f 24 5 21
+f 24 21 12
+f 24 12 16
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_5/collision/model_normalized_collision_7.obj b/objects/objaverse/cake/cake_5/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..71bf06ff98447a5fd79e1ce35629a66f356ac9c1
--- /dev/null
+++ b/objects/objaverse/cake/cake_5/collision/model_normalized_collision_7.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.11971188 -0.26302028 0.10344241
+v 0.16156904 -0.13802265 -0.42954134
+v 0.16736256 -0.14460998 0.12862098
+v 0.11435736 -0.14319994 0.14590386
+v -0.07838514 -0.27671366 -0.21969903
+v 0.17700085 -0.13838774 -0.04015457
+v 0.14709873 -0.17553406 0.12621677
+v 0.10169049 -0.25879408 -0.45402584
+v -0.03730613 -0.26632604 0.11692198
+v -0.05234591 -0.14394705 -0.45486027
+v 0.16224782 -0.16362862 0.12522278
+v 0.08295035 -0.26769721 0.11136368
+v 0.14286029 -0.19911866 -0.42329980
+v -0.05232088 -0.26519981 -0.45538423
+v 0.15370320 -0.14145637 -0.45335458
+v -0.05234451 -0.14393940 -0.22130418
+v 0.17156335 -0.15123117 -0.04043253
+v 0.11369373 -0.25715705 -0.42352768
+v 0.17663241 -0.13873766 -0.11453792
+v 0.14271385 -0.16703408 -0.45366629
+v -0.03714183 -0.17636527 0.11655074
+v 0.12614780 -0.24290672 -0.18831368
+v 0.15855332 -0.15394119 -0.42129492
+v 0.17154647 -0.15192181 -0.11427104
+v -0.04145436 -0.23581123 0.11281636
+f 6 4 3
+f 7 4 1
+f 11 6 3
+f 11 7 1
+f 11 3 4
+f 11 4 7
+f 12 8 1
+f 12 5 8
+f 12 9 5
+f 12 1 4
+f 12 4 9
+f 14 8 5
+f 14 5 10
+f 15 10 2
+f 15 2 13
+f 16 6 2
+f 16 2 10
+f 16 4 6
+f 16 10 5
+f 17 11 1
+f 17 6 11
+f 18 1 8
+f 18 8 13
+f 19 2 6
+f 20 14 10
+f 20 10 15
+f 20 8 14
+f 20 15 13
+f 20 13 8
+f 21 9 4
+f 21 4 16
+f 21 16 5
+f 22 18 13
+f 22 1 18
+f 23 19 13
+f 23 13 2
+f 23 2 19
+f 24 19 6
+f 24 6 17
+f 24 17 1
+f 24 1 22
+f 24 22 13
+f 24 13 19
+f 25 21 5
+f 25 5 9
+f 25 9 21
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_5/collision/model_normalized_collision_8.obj b/objects/objaverse/cake/cake_5/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1f309ae33b59dd843c2f6a0286d6b616741949a4
--- /dev/null
+++ b/objects/objaverse/cake/cake_5/collision/model_normalized_collision_8.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v 0.30684890 0.21916050 -0.10303428
+v 0.29434810 0.22102827 -0.22621147
+v 0.24442190 0.42222359 -0.22609037
+v -0.15725978 0.45107003 -0.23008238
+v -0.27273389 0.21450758 -0.09954635
+v 0.27534766 0.40400107 -0.22647167
+v 0.01676834 0.38207112 -0.10601809
+v -0.27312462 0.21690168 -0.22265285
+v 0.29605175 0.32574214 -0.22130217
+v 0.25759590 0.35517327 -0.10885165
+v 0.15149940 0.38646794 -0.12520044
+v 0.30294826 0.31916820 -0.10394340
+v -0.29746073 0.34876708 -0.10626724
+v 0.28461777 0.38226334 -0.18331207
+v -0.12983262 0.45137430 -0.22804261
+v 0.23854392 0.39806861 -0.16997563
+v -0.27423129 0.38694043 -0.14350268
+v -0.29904191 0.33845014 -0.10434801
+v 0.29689387 0.33891737 -0.12510363
+v 0.28004231 0.39792634 -0.22083933
+v 0.23853026 0.41319920 -0.20028910
+v -0.13091064 0.44467967 -0.21708871
+v -0.27072309 0.35928357 -0.11130870
+v -0.21838118 0.42462752 -0.22350638
+v -0.31244531 0.36213779 -0.15229346
+v 0.28400750 0.33920918 -0.11164963
+v 0.30034655 0.32302658 -0.14526854
+v -0.19606702 0.44021000 -0.22827920
+v -0.27477073 0.39153717 -0.15119683
+v -0.30935752 0.34781715 -0.14544955
+v 0.29940989 0.32663292 -0.11027806
+v -0.30833504 0.34530315 -0.13206099
+f 5 2 1
+f 6 2 4
+f 6 4 3
+f 8 4 2
+f 8 2 5
+f 9 1 2
+f 9 2 6
+f 11 7 10
+f 12 7 5
+f 12 5 1
+f 12 10 7
+f 12 1 9
+f 14 6 3
+f 15 3 4
+f 15 7 11
+f 16 11 10
+f 16 10 14
+f 18 5 7
+f 18 7 13
+f 19 14 10
+f 19 12 14
+f 20 14 12
+f 20 9 6
+f 20 6 14
+f 21 15 11
+f 21 3 15
+f 21 11 16
+f 21 16 14
+f 21 14 3
+f 22 15 4
+f 22 7 15
+f 22 17 7
+f 22 4 17
+f 23 17 13
+f 23 13 7
+f 23 7 17
+f 25 24 8
+f 26 19 10
+f 26 10 12
+f 27 20 12
+f 27 12 9
+f 27 9 20
+f 28 4 8
+f 28 8 24
+f 29 25 13
+f 29 13 17
+f 29 17 4
+f 29 4 28
+f 29 28 24
+f 29 24 25
+f 30 25 8
+f 30 8 5
+f 31 26 12
+f 31 12 19
+f 31 19 26
+f 32 30 5
+f 32 5 18
+f 32 25 30
+f 32 18 13
+f 32 13 25
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_5/collision/model_normalized_collision_9.obj b/objects/objaverse/cake/cake_5/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c44911d7f54b1d65130cedf2e0a069d327d15c45
--- /dev/null
+++ b/objects/objaverse/cake/cake_5/collision/model_normalized_collision_9.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v -0.12810209 0.09848485 -0.22130418
+v -0.12797695 0.09853186 -0.45464893
+v -0.14325360 0.35606061 -0.22130418
+v -0.21901118 0.35606061 -0.22130418
+v -0.26942090 0.19362962 -0.45342856
+v -0.24750782 0.15209851 -0.22068196
+v -0.12810209 0.23484848 -0.22130418
+v -0.14321335 0.35603484 -0.45342113
+v -0.29506989 0.34436613 -0.32930953
+v -0.23414674 0.10469718 -0.45203034
+v -0.12802921 0.23474779 -0.45417299
+v -0.27915849 0.23499312 -0.22129595
+v -0.24801685 0.35371598 -0.44933589
+v -0.26558717 0.19404703 -0.22095450
+v -0.22283138 0.09692502 -0.22135611
+v -0.24671006 0.13568549 -0.42189578
+v -0.23295290 0.12061761 -0.22085698
+v -0.24688903 0.13598124 -0.45212257
+v -0.26436640 0.18042689 -0.45300281
+f 6 3 4
+f 7 1 2
+f 7 6 1
+f 7 3 6
+f 8 4 3
+f 10 5 2
+f 11 2 5
+f 11 5 8
+f 11 7 2
+f 11 8 3
+f 11 3 7
+f 12 4 9
+f 12 9 5
+f 13 8 5
+f 13 5 9
+f 13 9 4
+f 13 4 8
+f 14 12 5
+f 14 6 4
+f 14 4 12
+f 15 10 2
+f 15 2 1
+f 15 6 10
+f 16 10 6
+f 16 6 14
+f 17 15 1
+f 17 1 6
+f 17 6 15
+f 18 5 10
+f 18 10 16
+f 19 18 16
+f 19 5 18
+f 19 16 14
+f 19 14 5
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_5/model.xml b/objects/objaverse/cake/cake_5/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..bc62607a1cb0b7a489e06374984a24cc37932dea
--- /dev/null
+++ b/objects/objaverse/cake/cake_5/model.xml
@@ -0,0 +1,81 @@
+<mujoco model="cake_25">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.10999999999999995 0.10999999999999995 0.10999999999999995" refquat="-1.0 0.0 0.0 -2.220446049250313e-16"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.10999999999999995 0.10999999999999995 0.10999999999999995" refquat="-1.0 0.0 0.0 -2.220446049250313e-16"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.10999999999999995 0.10999999999999995 0.10999999999999995" refquat="-1.0 0.0 0.0 -2.220446049250313e-16"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.10999999999999995 0.10999999999999995 0.10999999999999995" refquat="-1.0 0.0 0.0 -2.220446049250313e-16"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.10999999999999995 0.10999999999999995 0.10999999999999995" refquat="-1.0 0.0 0.0 -2.220446049250313e-16"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.10999999999999995 0.10999999999999995 0.10999999999999995" refquat="-1.0 0.0 0.0 -2.220446049250313e-16"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.10999999999999995 0.10999999999999995 0.10999999999999995" refquat="-1.0 0.0 0.0 -2.220446049250313e-16"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.10999999999999995 0.10999999999999995 0.10999999999999995" refquat="-1.0 0.0 0.0 -2.220446049250313e-16"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.10999999999999995 0.10999999999999995 0.10999999999999995" refquat="-1.0 0.0 0.0 -2.220446049250313e-16"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.10999999999999995 0.10999999999999995 0.10999999999999995" refquat="-1.0 0.0 0.0 -2.220446049250313e-16"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.10999999999999995 0.10999999999999995 0.10999999999999995" refquat="-1.0 0.0 0.0 -2.220446049250313e-16"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.10999999999999995 0.10999999999999995 0.10999999999999995" refquat="-1.0 0.0 0.0 -2.220446049250313e-16"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.10999999999999995 0.10999999999999995 0.10999999999999995" refquat="-1.0 0.0 0.0 -2.220446049250313e-16"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.10999999999999995 0.10999999999999995 0.10999999999999995" refquat="-1.0 0.0 0.0 -2.220446049250313e-16"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.10999999999999995 0.10999999999999995 0.10999999999999995" refquat="-1.0 0.0 0.0 -2.220446049250313e-16"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.10999999999999995 0.10999999999999995 0.10999999999999995" refquat="-1.0 0.0 0.0 -2.220446049250313e-16"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.10999999999999995 0.10999999999999995 0.10999999999999995" refquat="-1.0 0.0 0.0 -2.220446049250313e-16"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.10999999999999995 0.10999999999999995 0.10999999999999995" refquat="-1.0 0.0 0.0 -2.220446049250313e-16"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.10999999999999995 0.10999999999999995 0.10999999999999995" refquat="-1.0 0.0 0.0 -2.220446049250313e-16"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.10999999999999995 0.10999999999999995 0.10999999999999995" refquat="-1.0 0.0 0.0 -2.220446049250313e-16"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.10999999999999995 0.10999999999999995 0.10999999999999995" refquat="-1.0 0.0 0.0 -2.220446049250313e-16"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.10999999999999995 0.10999999999999995 0.10999999999999995" refquat="-1.0 0.0 0.0 -2.220446049250313e-16"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.10999999999999995 0.10999999999999995 0.10999999999999995" refquat="-1.0 0.0 0.0 -2.220446049250313e-16"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.10999999999999995 0.10999999999999995 0.10999999999999995" refquat="-1.0 0.0 0.0 -2.220446049250313e-16"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.10999999999999995 0.10999999999999995 0.10999999999999995" refquat="-1.0 0.0 0.0 -2.220446049250313e-16"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.10999999999999995 0.10999999999999995 0.10999999999999995" refquat="-1.0 0.0 0.0 -2.220446049250313e-16"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.10999999999999995 0.10999999999999995 0.10999999999999995" refquat="-1.0 0.0 0.0 -2.220446049250313e-16"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.10999999999999995 0.10999999999999995 0.10999999999999995" refquat="-1.0 0.0 0.0 -2.220446049250313e-16"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.10999999999999995 0.10999999999999995 0.10999999999999995" refquat="-1.0 0.0 0.0 -2.220446049250313e-16"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.10999999999999995 0.10999999999999995 0.10999999999999995" refquat="-1.0 0.0 0.0 -2.220446049250313e-16"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.10999999999999995 0.10999999999999995 0.10999999999999995" refquat="-1.0 0.0 0.0 -2.220446049250313e-16"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.10999999999999995 0.10999999999999995 0.10999999999999995" refquat="-1.0 0.0 0.0 -2.220446049250313e-16"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.10999999999999995 0.10999999999999995 0.10999999999999995" refquat="-1.0 0.0 0.0 -2.220446049250313e-16"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="cake" texture="image0" specular="0.5" shininess="0.141395041"/>
+  </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="cake"/>
+        <geom solimp="0.998 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"/>
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+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_13._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+      </body>
+      <site rgba="0 0 0 0" size="0.005" pos="-0.00011538174999999756 -7.767649999999566e-06 -0.05009226529999998" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="-0.00011538174999999756 -7.767649999999566e-06 0.04966791169999998" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.034462781099999985 0.05449745069999997 -0.00021217679999999923" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/objects/objaverse/cake/cake_5/visual/material.mtl b/objects/objaverse/cake/cake_5/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9151be8fce955409cc7d1cfe6903678061edd766
--- /dev/null
+++ b/objects/objaverse/cake/cake_5/visual/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 141.39504100
+map_Kd material_0.jpeg
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_5/visual/model_normalized_0.obj b/objects/objaverse/cake/cake_5/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf11037727035f14a59c8a21a05ec8609e074512
--- /dev/null
+++ b/objects/objaverse/cake/cake_5/visual/model_normalized_0.obj
@@ -0,0 +1,5610 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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+f 1171/1171/1171 865/865/865 864/864/864
+f 1171/1171/1171 864/864/864 863/863/863
+f 1172/1172/1172 868/868/868 867/867/867
+f 1172/1172/1172 867/867/867 866/866/866
+f 1132/1132/1132 1131/1131/1131 55/55/55
+f 1132/1132/1132 55/55/55 54/54/54
+f 180/180/180 183/183/183 184/184/184
+f 180/180/180 184/184/184 1173/1173/1173
+f 184/184/184 186/186/186 190/190/190
+f 184/184/184 190/190/190 1174/1174/1174
+f 184/184/184 1174/1174/1174 1175/1175/1175
+f 184/184/184 1175/1175/1175 1173/1173/1173
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_6/collision/model_normalized_collision_0.obj b/objects/objaverse/cake/cake_6/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da24b397f98480038ffea15b75fabfa3ec6fdc92
--- /dev/null
+++ b/objects/objaverse/cake/cake_6/collision/model_normalized_collision_0.obj
@@ -0,0 +1,183 @@
+# https://github.com/mikedh/trimesh
+v 0.23484849 0.22914909 0.00159938
+v 0.23486153 0.22912846 -0.41605163
+v 0.22268958 0.44173477 -0.29072549
+v -0.09421805 0.45223278 -0.00313902
+v -0.20457587 0.22914569 -0.41968596
+v 0.22801561 0.39932875 -0.00247697
+v -0.20454545 0.22914909 0.00159938
+v -0.05163084 0.48569661 -0.40639374
+v 0.12161570 0.46955959 -0.10653250
+v 0.13221154 0.35244972 0.08591173
+v 0.22462017 0.42149499 -0.41051784
+v -0.19886534 0.45265730 -0.40294007
+v 0.18656351 0.45354961 -0.15793072
+v 0.06450947 0.45341492 0.00966928
+v -0.05073768 0.48621504 -0.16450281
+v 0.08095995 0.48455389 -0.34567450
+v -0.10347403 0.38333718 0.06436354
+v 0.22342151 0.44116066 -0.30988912
+v -0.14206196 0.47001246 -0.41466891
+v -0.19942731 0.41600698 -0.00349924
+v 0.18171589 0.42315980 -0.00342881
+v 0.20833115 0.44071290 -0.15599294
+v 0.00493193 0.48520467 -0.14054342
+v 0.06536501 0.48512277 -0.37402919
+v 0.15278597 0.47042323 -0.24221944
+v -0.09435985 0.44053637 0.01972984
+v 0.09624814 0.42951629 0.02956373
+v 0.22589658 0.42080660 -0.11783906
+v 0.10418617 0.47002596 -0.40785571
+v -0.19657337 0.45246959 -0.41371402
+v -0.08073755 0.48498994 -0.35352374
+v -0.12245182 0.46979579 -0.14010775
+v 0.16539005 0.45292106 -0.10745237
+v 0.20959205 0.42107283 -0.05019600
+v 0.10886101 0.44103328 0.01562938
+v 0.08124408 0.46885702 -0.06767813
+v 0.08045569 0.48358876 -0.23011385
+v -0.03646718 0.46910642 -0.04739285
+v 0.01991437 0.48527630 -0.15327511
+v 0.13863775 0.46876718 -0.37386314
+v -0.06655699 0.45237167 0.00809301
+v -0.09501451 0.42993084 0.02918112
+v -0.18466362 0.42320751 -0.00449793
+v 0.22360249 0.40715611 -0.01887844
+v 0.03592807 0.48297096 -0.40228307
+v -0.06587295 0.48456450 -0.19658209
+v -0.19731061 0.44051236 -0.11006188
+v -0.07944092 0.46810805 -0.07877052
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+v 0.10722767 0.46792873 -0.08216863
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+v 0.02270444 0.46915378 -0.04852363
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+v -0.19627843 0.42346121 -0.01958352
+v 0.20974821 0.43812290 -0.38686370
+v 0.16607026 0.45251229 -0.40323608
+v -0.16844696 0.43703477 -0.03269216
+v -0.13639647 0.45241691 -0.06312405
+f 6 1 2
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+f 19 2 5
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+f 29 19 8
+f 29 11 19
+f 30 19 5
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+f 55 40 16
+f 55 16 25
+f 55 54 40
+f 55 25 54
+f 56 29 24
+f 56 24 40
+f 57 44 21
+f 57 6 44
+f 57 51 6
+f 57 21 51
+f 58 47 20
+f 58 20 43
+f 59 54 18
+f 59 18 11
+f 60 56 40
+f 60 40 54
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+f 60 59 11
+f 60 11 29
+f 60 29 56
+f 61 58 43
+f 61 43 4
+f 61 32 47
+f 61 47 58
+f 62 61 4
+f 62 4 32
+f 62 32 61
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_6/collision/model_normalized_collision_1.obj b/objects/objaverse/cake/cake_6/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..868a75c424f564af2d8677c8d434291ce83a6df2
--- /dev/null
+++ b/objects/objaverse/cake/cake_6/collision/model_normalized_collision_1.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.27220569 -0.27324507 0.04859002
+v 0.26488775 -0.27053904 -0.41072723
+v 0.26518026 0.22912406 -0.41615121
+v -0.23484848 0.22914909 0.00159938
+v -0.25313792 -0.30006537 0.04205939
+v -0.23485384 -0.27085155 -0.42243451
+v 0.26515152 0.22914909 0.00159938
+v -0.23487279 0.22914883 -0.41998171
+f 1 2 3
+f 5 2 1
+f 5 1 4
+f 6 3 2
+f 6 2 5
+f 7 1 3
+f 7 4 1
+f 8 3 6
+f 8 7 3
+f 8 4 7
+f 8 6 5
+f 8 5 4
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_6/collision/model_normalized_collision_10.obj b/objects/objaverse/cake/cake_6/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..74edb4ef3ea8dc6f3e311a6d31f5a22c37d6d651
--- /dev/null
+++ b/objects/objaverse/cake/cake_6/collision/model_normalized_collision_10.obj
@@ -0,0 +1,180 @@
+# https://github.com/mikedh/trimesh
+v -0.23183507 -0.40163405 -0.07514346
+v -0.23284183 -0.43126392 -0.41927130
+v -0.23487157 -0.02843565 -0.42132935
+v -0.45229824 -0.02794860 0.01162842
+v -0.42720825 -0.24287716 -0.22806438
+v -0.23484848 -0.02842667 0.01675089
+v -0.22782831 -0.44477389 -0.35618640
+v -0.38534303 -0.24212836 -0.00634170
+v -0.49773492 -0.02653049 -0.42485996
+v -0.22828728 -0.41348080 -0.14038375
+v -0.39964885 -0.28928061 -0.42367699
+v -0.32664201 -0.37890141 -0.31089103
+v -0.45940766 -0.14138340 -0.11166245
+v -0.23317344 -0.37359634 0.01454953
+v -0.47812749 -0.02664858 -0.10839850
+v -0.48975750 -0.11317502 -0.41746167
+v -0.31551619 -0.37485093 -0.42456412
+v -0.40201540 -0.28556227 -0.29195097
+v -0.37085606 -0.31591946 -0.18197917
+v -0.22893875 -0.44906526 -0.32096166
+v -0.44238423 -0.12813560 -0.00570043
+v -0.42955028 -0.23045158 -0.15240596
+v -0.41469316 -0.18460851 0.00680823
+v -0.46174671 -0.02739226 -0.01582551
+v -0.45977130 -0.19035401 -0.42394173
+v -0.49253063 -0.02711686 -0.27354686
+v -0.49183230 -0.08755028 -0.42582827
+v -0.23525853 -0.37665133 -0.42219495
+v -0.32361130 -0.37988777 -0.33867638
+v -0.25459418 -0.42084669 -0.41866260
+v -0.29694359 -0.37238704 -0.13684549
+v -0.44245000 -0.20343430 -0.15376688
+v -0.38300917 -0.25737680 -0.03398566
+v -0.35494766 -0.27305006 0.00780460
+v -0.44531748 -0.09974140 0.00807376
+v -0.41227324 -0.19837275 -0.00553204
+v -0.45947454 -0.08641207 -0.03309895
+v -0.43064717 -0.24327262 -0.42337902
+v -0.47382121 -0.11471107 -0.15265764
+v -0.29575096 -0.02857094 -0.42242082
+v -0.47591596 -0.14317376 -0.42386498
+v -0.23524394 -0.25575924 -0.42239238
+v -0.24988119 -0.40658514 -0.42182706
+v -0.29755844 -0.38944478 -0.41628591
+v -0.32477903 -0.34781504 -0.12836042
+v -0.27004479 -0.35912868 0.00624305
+v -0.25483847 -0.40407072 -0.14486505
+v -0.45856785 -0.18773272 -0.31591286
+v -0.38460668 -0.28864679 -0.14052685
+v -0.39825148 -0.21394154 0.00540424
+v -0.35406778 -0.28822674 -0.01937969
+v -0.45943990 -0.05706187 -0.01595462
+v -0.49103801 -0.04179619 -0.27331408
+v -0.47412877 -0.07156625 -0.10904956
+v -0.26546451 -0.08912269 -0.42230206
+v -0.29596117 -0.34582361 -0.01901063
+v -0.25612177 -0.39025660 -0.08086709
+v -0.48888431 -0.11653185 -0.40475835
+v -0.47409925 -0.12866266 -0.19630866
+v -0.41493241 -0.24137211 -0.12139469
+v -0.32570539 -0.33095436 -0.06342188
+f 7 2 3
+f 10 7 3
+f 10 3 6
+f 14 6 4
+f 14 10 6
+f 14 1 10
+f 15 6 3
+f 15 3 9
+f 18 11 12
+f 19 18 12
+f 19 5 18
+f 20 10 1
+f 20 7 10
+f 22 5 19
+f 23 14 4
+f 24 4 6
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+f 53 26 16
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+f 54 39 37
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+f 55 40 3
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+f 56 45 31
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+f 57 31 47
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+f 57 47 1
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+f 58 53 16
+f 58 39 53
+f 59 48 32
+f 59 32 39
+f 59 58 48
+f 59 39 58
+f 60 49 33
+f 60 33 22
+f 60 22 49
+f 61 51 19
+f 61 19 45
+f 61 56 51
+f 61 45 56
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_6/collision/model_normalized_collision_11.obj b/objects/objaverse/cake/cake_6/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b75f0636e60ae8662f0ed761d4975b0bb92498a6
--- /dev/null
+++ b/objects/objaverse/cake/cake_6/collision/model_normalized_collision_11.obj
@@ -0,0 +1,162 @@
+# https://github.com/mikedh/trimesh
+v 0.39334291 -0.27927509 -0.22733612
+v 0.49094462 -0.07124064 -0.39216565
+v 0.44477520 -0.08635414 0.01274388
+v 0.44075771 0.15149349 -0.03029132
+v 0.40151516 0.09278546 -0.30143093
+v 0.49154244 -0.02881135 -0.16611320
+v 0.39589534 -0.18860099 0.01352914
+v 0.39586797 -0.28140295 -0.40957606
+v 0.48219365 0.09741155 -0.34690237
+v 0.45961031 0.03073730 -0.01669347
+v 0.47402208 -0.12753337 -0.18438674
+v 0.40922004 -0.02841640 0.05118322
+v 0.39434505 -0.22119741 -0.01551566
+v 0.44434044 0.15258229 -0.04464384
+v 0.46212830 -0.02798652 -0.41384495
+v 0.48968565 0.08951350 -0.29987760
+v 0.46097924 -0.02470341 -0.01783302
+v 0.49107528 -0.08629125 -0.28433256
+v 0.44396860 -0.21630019 -0.35997592
+v 0.47409032 -0.10157217 -0.12336590
+v 0.39970071 -0.18409738 0.01596679
+v 0.43610118 0.09398801 0.01900169
+v 0.39368121 -0.24856519 -0.07516971
+v 0.47523195 0.09036932 -0.10964776
+v 0.40134746 -0.14953152 -0.41137787
+v 0.48822276 -0.02815773 -0.41413566
+v 0.45108084 -0.02767144 0.01254123
+v 0.41572447 -0.25994485 -0.40160278
+v 0.47302675 -0.14314609 -0.28690287
+v 0.42714908 -0.14209422 0.01076109
+v 0.48919456 -0.06974335 -0.16654675
+v 0.44355828 0.11821004 -0.00391621
+v 0.45976535 -0.15181174 -0.15258977
+v 0.47315867 0.07614531 -0.09541608
+v 0.48934183 0.08893719 -0.27235731
+v 0.49048241 -0.05629691 -0.40807364
+v 0.48388455 0.09065691 -0.34664430
+v 0.41532096 -0.25846534 -0.33785937
+v 0.46011277 -0.17308691 -0.40208807
+v 0.47338395 -0.14037778 -0.25796548
+v 0.48941815 -0.08440213 -0.22766625
+v 0.44140802 0.12160347 -0.00040858
+v 0.45906473 0.07495102 -0.03142987
+v 0.44647963 0.14896108 -0.04805985
+v 0.42801861 -0.15703368 -0.01749877
+v 0.42845580 -0.23095267 -0.24166292
+v 0.44454186 -0.20153960 -0.41021645
+v 0.47578941 -0.12810722 -0.40294580
+v 0.45758507 -0.12633416 -0.09333489
+v 0.39777310 -0.24412353 -0.07702739
+v 0.44343301 -0.21613658 -0.34844535
+v 0.39968051 -0.27201954 -0.22912945
+v 0.42944129 -0.23030842 -0.40953820
+v 0.40132964 -0.27413088 -0.40977539
+v 0.47770211 -0.11504477 -0.40674114
+f 8 1 5
+f 12 4 5
+f 12 5 7
+f 13 7 5
+f 14 9 5
+f 14 5 4
+f 15 5 9
+f 16 6 2
+f 16 9 14
+f 17 6 10
+f 18 2 6
+f 21 12 7
+f 21 7 13
+f 22 4 12
+f 23 13 5
+f 23 5 1
+f 25 8 5
+f 25 5 15
+f 26 15 9
+f 27 17 10
+f 27 3 17
+f 27 10 22
+f 27 22 12
+f 27 12 3
+f 28 1 8
+f 30 20 3
+f 30 21 13
+f 30 3 12
+f 30 12 21
+f 31 17 3
+f 31 3 20
+f 31 6 17
+f 31 18 6
+f 31 20 11
+f 32 22 10
+f 33 11 20
+f 34 24 10
+f 34 10 6
+f 34 6 24
+f 35 16 14
+f 35 24 6
+f 35 6 16
+f 36 26 16
+f 36 16 2
+f 37 26 9
+f 37 9 16
+f 37 16 26
+f 38 28 19
+f 38 1 28
+f 39 29 19
+f 40 29 18
+f 40 19 29
+f 41 31 11
+f 41 18 31
+f 41 40 18
+f 41 11 40
+f 42 32 4
+f 42 4 22
+f 42 22 32
+f 43 32 10
+f 43 10 24
+f 43 24 32
+f 44 32 24
+f 44 14 4
+f 44 4 32
+f 44 35 14
+f 44 24 35
+f 45 30 13
+f 46 40 11
+f 46 11 33
+f 46 38 19
+f 47 39 19
+f 47 19 28
+f 48 2 18
+f 48 18 29
+f 48 29 39
+f 48 36 2
+f 48 39 47
+f 49 45 33
+f 49 33 20
+f 49 20 30
+f 49 30 45
+f 50 45 13
+f 50 13 23
+f 50 33 45
+f 50 46 33
+f 50 23 1
+f 51 46 19
+f 51 19 40
+f 51 40 46
+f 52 1 38
+f 52 38 46
+f 52 50 1
+f 52 46 50
+f 53 47 28
+f 54 26 47
+f 54 15 26
+f 54 25 15
+f 54 8 25
+f 54 47 53
+f 54 53 28
+f 54 28 8
+f 55 47 26
+f 55 26 36
+f 55 48 47
+f 55 36 48
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_6/collision/model_normalized_collision_12.obj b/objects/objaverse/cake/cake_6/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..05b64b16f17108dcca46be89543ff63c8c35db19
--- /dev/null
+++ b/objects/objaverse/cake/cake_6/collision/model_normalized_collision_12.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v 0.24575835 -0.34657994 0.04496308
+v 0.44694721 -0.07153803 0.01324562
+v 0.32603148 -0.14051391 0.18546187
+v 0.26567615 0.00272461 0.20134460
+v 0.25000001 -0.02842667 0.01675089
+v 0.36118608 -0.03065965 0.14276725
+v 0.26474809 -0.22115815 0.19048159
+v 0.37237382 -0.24674449 0.01276126
+v 0.24133691 -0.34183132 0.05472283
+v 0.45108084 -0.02767144 0.01254123
+v 0.34301334 -0.04950079 0.16429420
+v 0.41531146 -0.14416060 0.03369000
+v 0.33932280 -0.28716289 0.02284590
+v 0.25274475 -0.34607409 0.01289478
+v 0.43151082 -0.12917680 0.01206836
+v 0.44586080 -0.02736618 0.02511782
+v 0.33150371 -0.03060200 0.16683356
+v 0.33793061 -0.11320702 0.17821008
+v 0.32700300 -0.20507662 0.13610841
+v 0.29611106 -0.33054966 0.02068790
+v 0.34122260 -0.28881213 0.01283148
+v 0.43226569 -0.09988354 0.03122441
+v 0.35411153 -0.07183064 0.15887858
+v 0.36914415 -0.24602501 0.01945028
+v 0.29635757 -0.18410091 0.18540227
+v 0.27333329 -0.34607654 0.01361103
+v 0.42847795 -0.12792675 0.02115657
+v 0.44337317 -0.07124114 0.02160364
+v 0.35582848 -0.04812188 0.15291780
+v 0.27122688 -0.34456145 0.02274283
+v 0.29884470 -0.33022941 0.01317134
+f 7 3 4
+f 9 4 5
+f 9 7 4
+f 9 1 7
+f 10 5 4
+f 14 5 10
+f 14 9 5
+f 14 1 9
+f 15 10 2
+f 15 14 10
+f 15 12 8
+f 16 10 4
+f 16 4 6
+f 16 2 10
+f 17 11 6
+f 17 6 4
+f 17 4 11
+f 18 11 4
+f 18 4 3
+f 19 12 3
+f 19 7 13
+f 20 13 7
+f 20 7 1
+f 21 15 8
+f 21 14 15
+f 21 8 13
+f 21 13 20
+f 22 18 3
+f 23 11 18
+f 23 18 16
+f 24 19 13
+f 24 13 8
+f 24 8 12
+f 24 12 19
+f 25 19 3
+f 25 3 7
+f 25 7 19
+f 26 1 14
+f 27 15 2
+f 27 2 22
+f 27 12 15
+f 27 22 3
+f 27 3 12
+f 28 22 2
+f 28 2 16
+f 28 16 18
+f 28 18 22
+f 29 6 11
+f 29 11 23
+f 29 23 16
+f 29 16 6
+f 30 26 20
+f 30 20 1
+f 30 1 26
+f 31 21 20
+f 31 20 26
+f 31 26 14
+f 31 14 21
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_6/collision/model_normalized_collision_13.obj b/objects/objaverse/cake/cake_6/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..36769a2b083e878c2a4fb1b003faea6b6eb3602f
--- /dev/null
+++ b/objects/objaverse/cake/cake_6/collision/model_normalized_collision_13.obj
@@ -0,0 +1,105 @@
+# https://github.com/mikedh/trimesh
+v -0.29326406 -0.13299975 0.21322444
+v -0.29581182 -0.13858126 0.18455686
+v -0.28863454 -0.03382457 0.18748106
+v -0.48641148 0.03374908 0.37573967
+v -0.46681280 -0.07348747 0.32993111
+v -0.30005563 -0.05604272 0.24324822
+v -0.28580053 -0.04626278 0.17466576
+v -0.32823420 -0.13463151 0.21833211
+v -0.29494518 -0.03047384 0.21324570
+v -0.29787311 -0.12078254 0.24822612
+v -0.39337738 -0.00615103 0.22439709
+v -0.32293737 -0.13579479 0.18253807
+v -0.32424261 -0.13778171 0.20175268
+v -0.44528623 0.03052652 0.30914890
+v -0.47753226 0.03549378 0.36680892
+v -0.49385800 0.02411700 0.38561562
+v -0.43107251 -0.07138944 0.27387135
+v -0.29553050 -0.08898955 0.16823568
+v -0.43356023 -0.09244952 0.28408389
+v -0.42035443 0.01534303 0.26623529
+v -0.48818018 0.02786048 0.38090950
+v -0.47603392 0.03721537 0.35975245
+v -0.49218177 -0.02071222 0.38432651
+v -0.30171938 -0.09617432 0.17143512
+v -0.44538543 -0.08633828 0.29849690
+v -0.42835760 0.01181322 0.27208824
+v -0.46264024 0.03600988 0.34232026
+v -0.48874508 -0.02687619 0.37219167
+v -0.45742345 -0.07884457 0.31217319
+v -0.40695771 0.00261831 0.24203571
+v -0.42458547 0.01724025 0.27114490
+v -0.44345327 0.02518647 0.30184158
+v -0.48953828 0.02812331 0.37652719
+v -0.44870962 0.03185003 0.31534554
+v -0.45927857 -0.03037684 0.31465013
+v -0.40302266 0.00009095 0.23644205
+f 7 1 2
+f 9 6 3
+f 10 1 7
+f 10 7 3
+f 10 3 6
+f 10 8 1
+f 10 5 8
+f 11 3 7
+f 13 2 1
+f 13 1 8
+f 13 12 2
+f 14 9 3
+f 15 6 9
+f 17 11 12
+f 18 11 7
+f 18 7 2
+f 18 2 12
+f 19 13 8
+f 19 12 13
+f 19 17 12
+f 20 14 3
+f 20 3 11
+f 21 15 4
+f 21 6 15
+f 21 4 16
+f 21 16 10
+f 21 10 6
+f 22 4 15
+f 23 5 10
+f 23 10 16
+f 24 18 12
+f 24 12 11
+f 24 11 18
+f 25 19 8
+f 25 8 5
+f 27 22 15
+f 27 15 9
+f 28 23 16
+f 28 5 23
+f 29 25 5
+f 29 17 19
+f 29 19 25
+f 31 14 20
+f 31 30 26
+f 32 22 14
+f 32 31 26
+f 32 14 31
+f 33 16 4
+f 33 4 22
+f 33 32 26
+f 33 22 32
+f 33 28 16
+f 34 27 9
+f 34 9 14
+f 34 14 22
+f 34 22 27
+f 35 26 17
+f 35 17 29
+f 35 33 26
+f 35 28 33
+f 35 29 5
+f 35 5 28
+f 36 20 11
+f 36 11 17
+f 36 17 26
+f 36 26 30
+f 36 31 20
+f 36 30 31
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_6/collision/model_normalized_collision_14.obj b/objects/objaverse/cake/cake_6/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c8c49d78d3c138e878e894fec821b68f14e0dff1
--- /dev/null
+++ b/objects/objaverse/cake/cake_6/collision/model_normalized_collision_14.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.23484848 -0.02842667 -0.21052183
+v -0.23487157 -0.02843565 -0.42132935
+v -0.23487279 0.22914883 -0.41998171
+v -0.42716916 0.23213911 -0.21031276
+v -0.41711547 -0.02867387 -0.42534425
+v -0.23484848 0.22914909 -0.21052183
+v -0.29575096 -0.02857094 -0.42242082
+v -0.41666667 -0.02842667 -0.21052183
+v -0.41657783 0.22930668 -0.41931163
+v -0.44741759 0.01645862 -0.42493417
+v -0.44733119 0.09207069 -0.42217621
+f 5 3 2
+f 6 3 4
+f 6 4 1
+f 6 1 2
+f 6 2 3
+f 7 5 2
+f 7 2 1
+f 7 1 5
+f 8 5 1
+f 8 1 4
+f 9 4 3
+f 10 8 4
+f 10 5 8
+f 10 9 3
+f 10 3 5
+f 11 10 4
+f 11 4 9
+f 11 9 10
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_6/collision/model_normalized_collision_15.obj b/objects/objaverse/cake/cake_6/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc4bcac26765683deaf6807ab6cf9e20db3a2533
--- /dev/null
+++ b/objects/objaverse/cake/cake_6/collision/model_normalized_collision_15.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v -0.47210891 -0.03659294 -0.08035524
+v -0.41711547 -0.02867387 -0.42534425
+v -0.42644176 0.18821650 -0.04246571
+v -0.41342388 0.22689747 -0.08981865
+v -0.48278293 0.10514391 -0.42110896
+v -0.49773492 -0.02653049 -0.42485996
+v -0.41657783 0.22930668 -0.41931163
+v -0.49069236 0.09675634 -0.27486329
+v -0.47541752 0.07385660 -0.12377502
+v -0.44380937 0.19064388 -0.15401993
+v -0.49156901 0.00128888 -0.18006686
+v -0.49513868 0.04519647 -0.41933531
+v -0.44213388 0.15162488 -0.04421508
+v -0.44581080 0.16577454 -0.08041414
+v -0.45278778 0.21782046 -0.41541527
+v -0.49215429 0.03096438 -0.18048491
+v -0.49253063 -0.02711686 -0.27354686
+v -0.49270528 0.05878704 -0.41830489
+v -0.47508358 -0.00038378 -0.09242399
+v -0.43787066 0.16119619 -0.03982759
+v -0.41756841 0.22096206 -0.09138732
+v -0.45748292 0.15985484 -0.15400823
+v -0.47524595 0.08821929 -0.13740075
+v -0.45939694 0.20830577 -0.41616698
+v -0.47462367 0.04662408 -0.10759033
+v -0.47493868 -0.02626556 -0.09122495
+v -0.42823512 0.20619485 -0.10767085
+v -0.45976521 0.20813833 -0.40184704
+v -0.42642180 0.22188887 -0.16524744
+f 1 2 3
+f 3 2 4
+f 6 2 1
+f 7 4 2
+f 7 6 5
+f 7 2 6
+f 12 5 6
+f 15 4 7
+f 16 6 11
+f 16 12 6
+f 16 8 12
+f 17 11 6
+f 17 6 1
+f 17 1 11
+f 18 12 8
+f 18 8 5
+f 18 5 12
+f 19 1 13
+f 20 13 1
+f 20 1 3
+f 20 14 13
+f 20 3 14
+f 21 14 3
+f 21 3 4
+f 22 14 10
+f 23 9 13
+f 23 13 14
+f 23 16 9
+f 23 8 16
+f 23 22 8
+f 23 14 22
+f 24 15 7
+f 24 7 5
+f 24 5 8
+f 25 19 13
+f 25 13 9
+f 25 9 16
+f 25 16 19
+f 26 19 16
+f 26 16 11
+f 26 11 1
+f 26 1 19
+f 27 21 10
+f 27 10 14
+f 27 14 21
+f 28 24 8
+f 28 8 22
+f 28 22 10
+f 28 15 24
+f 29 28 10
+f 29 10 21
+f 29 21 4
+f 29 4 15
+f 29 15 28
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_6/collision/model_normalized_collision_16.obj b/objects/objaverse/cake/cake_6/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..539563071df4eafa06bae17d26527bd390d2c90e
--- /dev/null
+++ b/objects/objaverse/cake/cake_6/collision/model_normalized_collision_16.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v 0.26497114 -0.34852957 0.01449179
+v 0.38859589 -0.29108552 -0.40931067
+v 0.43610118 0.09398801 0.01900169
+v 0.26515152 0.09278546 0.00159938
+v 0.25916813 -0.41501878 -0.40253277
+v 0.40157999 0.09290667 -0.41643900
+v 0.40922004 -0.02841640 0.05118322
+v 0.37360203 -0.28462546 -0.09727035
+v 0.25738214 -0.41180207 -0.34739941
+v 0.26514732 0.09282475 -0.41588682
+v 0.26515152 -0.02842667 0.01675089
+v 0.31373415 -0.37528629 -0.35878253
+v 0.38122368 -0.23111988 0.01282410
+v 0.26410220 -0.37624391 -0.40713041
+v 0.25927241 -0.39653632 -0.22862683
+v 0.31233576 -0.37595400 -0.39929532
+v 0.38591721 -0.30089680 -0.35083962
+v 0.35447624 -0.27228342 0.01316047
+v 0.36258822 -0.32139614 -0.40865530
+v 0.26616761 -0.39262752 -0.23088581
+v 0.26914041 -0.40803101 -0.40085352
+v 0.37218565 -0.29862065 -0.19395250
+v 0.38347686 -0.27304143 -0.09609435
+v 0.38528180 -0.30250629 -0.40302973
+v 0.29884470 -0.33022941 0.01317134
+v 0.38440498 -0.28588338 -0.20781304
+v 0.38208775 -0.24320111 -0.01777119
+v 0.27333329 -0.34607654 0.01361103
+f 6 3 2
+f 7 3 4
+f 10 4 3
+f 10 3 6
+f 10 9 4
+f 10 5 9
+f 11 7 4
+f 11 1 7
+f 12 9 5
+f 13 3 7
+f 14 5 10
+f 15 1 11
+f 15 11 4
+f 15 4 9
+f 17 2 3
+f 18 13 7
+f 19 5 14
+f 19 16 5
+f 19 14 10
+f 19 10 6
+f 19 6 2
+f 20 15 9
+f 20 9 12
+f 21 16 12
+f 21 12 5
+f 21 5 16
+f 22 8 12
+f 22 12 17
+f 23 8 22
+f 23 18 8
+f 23 17 3
+f 24 17 12
+f 24 12 16
+f 24 16 19
+f 24 19 2
+f 24 2 17
+f 25 18 7
+f 25 7 1
+f 25 8 18
+f 25 20 12
+f 25 12 8
+f 26 23 22
+f 26 22 17
+f 26 17 23
+f 27 13 18
+f 27 18 23
+f 27 23 3
+f 27 3 13
+f 28 25 1
+f 28 1 15
+f 28 15 20
+f 28 20 25
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_6/collision/model_normalized_collision_17.obj b/objects/objaverse/cake/cake_6/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..762a369baa85889bf2ea51ffeb3b933ab72329e2
--- /dev/null
+++ b/objects/objaverse/cake/cake_6/collision/model_normalized_collision_17.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v -0.23484848 -0.02842667 0.00159938
+v -0.23484848 -0.02842667 -0.21052183
+v -0.23484848 0.22914909 -0.21052183
+v -0.40338574 0.22233841 -0.00334190
+v -0.47450310 -0.02801811 -0.08961413
+v -0.23484848 0.22914909 0.00159938
+v -0.41666667 -0.02842667 -0.21052183
+v -0.45864548 -0.02725021 -0.00330700
+v -0.42716916 0.23213911 -0.21031276
+v -0.47394142 0.09189996 -0.13527554
+v -0.44406515 0.11725418 -0.00486015
+v -0.45915422 0.01546709 -0.00386722
+v -0.46386443 0.13400798 -0.13709246
+v -0.45813721 0.05980135 -0.01912571
+v -0.42847822 0.19012235 -0.06187591
+v -0.41756841 0.22096206 -0.09138732
+v -0.42710488 0.17711668 -0.01736710
+v -0.41347770 0.22006742 -0.06129066
+v -0.44292486 0.13145912 -0.01793634
+v -0.41199729 0.20508184 -0.00511700
+f 1 2 3
+f 6 1 3
+f 7 2 1
+f 7 1 5
+f 7 3 2
+f 8 5 1
+f 8 6 4
+f 8 1 6
+f 9 6 3
+f 9 4 6
+f 9 3 7
+f 10 9 7
+f 10 7 5
+f 12 10 5
+f 12 5 8
+f 12 8 4
+f 12 4 11
+f 13 9 10
+f 14 12 11
+f 14 11 10
+f 14 10 12
+f 15 9 13
+f 16 4 9
+f 16 9 15
+f 17 15 13
+f 18 16 15
+f 18 15 4
+f 18 4 16
+f 19 17 13
+f 19 11 17
+f 19 13 10
+f 19 10 11
+f 20 17 11
+f 20 11 4
+f 20 4 15
+f 20 15 17
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_6/collision/model_normalized_collision_18.obj b/objects/objaverse/cake/cake_6/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..65ebf6677d548a96eaf23873234689a76082eb70
--- /dev/null
+++ b/objects/objaverse/cake/cake_6/collision/model_normalized_collision_18.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v -0.35467859 -0.23289450 0.23872466
+v -0.29180762 -0.21569206 0.12283362
+v -0.28217388 -0.18107012 0.27471875
+v -0.29934920 -0.06588705 0.13464535
+v -0.38479599 -0.10888882 0.12030030
+v -0.27954372 -0.21003915 0.18365572
+v -0.38689434 -0.13885106 0.12813768
+v -0.37772829 -0.09407188 0.11680999
+v -0.29937220 -0.11868426 0.27327017
+v -0.29028613 -0.07565429 0.17125166
+v -0.35045986 -0.23160811 0.24070523
+v -0.30166607 -0.20480128 0.11779673
+v -0.37274881 -0.12974252 0.16918310
+v -0.29268633 -0.12256524 0.27521954
+v -0.34136456 -0.07384650 0.12769688
+v -0.28989106 -0.17837868 0.27403112
+v -0.35779696 -0.22346644 0.22499326
+v -0.38333727 -0.13584088 0.14562221
+v -0.38316964 -0.11370490 0.13064971
+v -0.29663150 -0.07782455 0.17939235
+v -0.29320890 -0.16246873 0.27367074
+v -0.37762348 -0.14819174 0.12894377
+f 10 6 2
+f 10 2 4
+f 10 3 6
+f 11 1 2
+f 11 2 6
+f 11 6 3
+f 12 7 5
+f 12 5 8
+f 12 8 4
+f 12 4 2
+f 13 1 9
+f 13 9 8
+f 14 10 9
+f 14 3 10
+f 15 4 8
+f 15 8 9
+f 16 1 11
+f 16 11 3
+f 16 3 14
+f 17 12 2
+f 17 2 1
+f 17 1 7
+f 18 7 1
+f 18 1 13
+f 18 5 7
+f 19 13 8
+f 19 8 5
+f 19 18 13
+f 19 5 18
+f 20 10 4
+f 20 4 15
+f 20 15 9
+f 20 9 10
+f 21 9 1
+f 21 1 16
+f 21 16 14
+f 21 14 9
+f 22 17 7
+f 22 7 12
+f 22 12 17
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_6/collision/model_normalized_collision_19.obj b/objects/objaverse/cake/cake_6/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f9a1eb7aa8a1d7b11e0dd9e31059e268b17f6a6a
--- /dev/null
+++ b/objects/objaverse/cake/cake_6/collision/model_normalized_collision_19.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v 0.08091707 -0.44108145 -0.00460134
+v 0.26321543 -0.40706974 -0.40567730
+v 0.27220569 -0.27324507 0.04859002
+v 0.00757576 -0.27085091 0.01675089
+v 0.00799386 -0.49078969 -0.41323117
+v 0.26488775 -0.27053904 -0.41072723
+v 0.00520810 -0.39361442 0.03405111
+v 0.26497114 -0.34852957 0.01449179
+v 0.17959017 -0.45104261 -0.28758559
+v 0.00745454 -0.27083015 -0.41686827
+v 0.18392462 -0.45099493 -0.41363338
+v 0.00805531 -0.46228562 -0.09200749
+v 0.08215616 -0.43087899 0.01303816
+v 0.16880801 -0.40586292 0.00410450
+v 0.25961096 -0.38883100 -0.17596401
+v 0.04304733 -0.49059084 -0.41052125
+v 0.22537770 -0.43451351 -0.37730311
+v 0.00738597 -0.48332173 -0.19524566
+v 0.13793940 -0.44839161 -0.16568440
+v 0.12283854 -0.42264720 0.00854644
+v 0.19282838 -0.41993328 -0.13508070
+v 0.22311023 -0.43595946 -0.40862466
+v 0.25916813 -0.41501878 -0.40253277
+v 0.03523440 -0.46594027 -0.09473432
+v 0.04672334 -0.48084903 -0.20038081
+v 0.13170363 -0.42165141 -0.00305622
+v 0.25961915 -0.35962631 -0.01932320
+v 0.24085542 -0.42615937 -0.40548840
+v 0.12244657 -0.44940656 -0.13855387
+f 6 3 2
+f 6 4 3
+f 7 3 4
+f 8 2 3
+f 10 4 6
+f 10 7 4
+f 10 5 7
+f 11 6 2
+f 11 10 6
+f 11 5 10
+f 12 1 7
+f 13 7 1
+f 13 8 3
+f 13 3 7
+f 15 2 8
+f 16 11 9
+f 16 5 11
+f 17 15 9
+f 18 12 7
+f 18 7 5
+f 18 5 16
+f 20 13 1
+f 20 14 8
+f 20 8 13
+f 21 9 15
+f 21 19 9
+f 21 14 19
+f 22 11 2
+f 22 17 9
+f 22 9 11
+f 23 2 15
+f 23 15 17
+f 24 1 12
+f 24 12 18
+f 25 18 16
+f 25 16 9
+f 25 9 19
+f 25 24 18
+f 25 1 24
+f 26 19 14
+f 26 20 1
+f 26 14 20
+f 27 21 15
+f 27 15 8
+f 27 8 14
+f 27 14 21
+f 28 22 2
+f 28 2 23
+f 28 23 17
+f 28 17 22
+f 29 25 19
+f 29 1 25
+f 29 26 1
+f 29 19 26
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_6/collision/model_normalized_collision_2.obj b/objects/objaverse/cake/cake_6/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8f1f21fdaae5669d6e0db12e46c48855d91dcdc7
--- /dev/null
+++ b/objects/objaverse/cake/cake_6/collision/model_normalized_collision_2.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v 0.10990784 -0.42592498 0.01048428
+v 0.25274475 -0.34607409 0.01289478
+v -0.00872846 -0.34080025 0.25724237
+v -0.24966954 -0.25288151 0.24769085
+v -0.23484848 -0.24054788 0.01675089
+v 0.24140174 -0.23350315 0.22562366
+v -0.17042367 -0.41024500 0.01214478
+v -0.25816033 -0.36481344 0.00785115
+v 0.00757576 -0.24054788 0.24402363
+v 0.27112646 -0.25526135 0.05400568
+v 0.19124241 -0.30546362 0.19721552
+v -0.09659210 -0.42721406 0.01050267
+v -0.16740027 -0.33127703 0.23896649
+v -0.31280570 -0.30360605 0.02161983
+v 0.23753993 -0.26895151 0.20824411
+v 0.21953538 -0.36190776 0.05175473
+v -0.10994659 -0.34409443 0.25299974
+v -0.22040844 -0.29883262 0.23843119
+v -0.30811005 -0.29837145 0.02637746
+v -0.29870221 -0.33094964 0.01153340
+v 0.22693268 -0.27364199 0.21325280
+v 0.18158264 -0.39063862 0.01265102
+v 0.24118428 -0.34715291 0.05068769
+v -0.01134296 -0.34277789 0.25285859
+v -0.11259693 -0.34183393 0.25721383
+v -0.20696409 -0.31253970 0.22486222
+v -0.29712031 -0.32897613 0.02106549
+v 0.23677369 -0.26659256 0.21303460
+v 0.18005636 -0.38778315 0.02711999
+f 8 5 2
+f 8 2 1
+f 9 4 3
+f 9 3 6
+f 9 6 5
+f 9 5 4
+f 10 2 5
+f 10 5 6
+f 11 3 1
+f 12 8 1
+f 12 7 8
+f 13 8 7
+f 15 10 6
+f 15 2 10
+f 16 11 1
+f 17 12 1
+f 17 7 12
+f 19 14 4
+f 19 4 5
+f 19 5 14
+f 20 14 5
+f 20 5 8
+f 21 6 3
+f 21 3 11
+f 21 16 15
+f 21 11 16
+f 22 1 2
+f 22 2 16
+f 23 16 2
+f 23 2 15
+f 23 15 16
+f 24 17 1
+f 24 1 3
+f 24 3 17
+f 25 17 3
+f 25 3 4
+f 25 4 18
+f 25 18 13
+f 25 13 7
+f 25 7 17
+f 26 18 8
+f 26 8 13
+f 26 13 18
+f 27 20 8
+f 27 8 18
+f 27 18 4
+f 27 4 14
+f 27 14 20
+f 28 21 15
+f 28 15 6
+f 28 6 21
+f 29 22 16
+f 29 16 1
+f 29 1 22
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_6/collision/model_normalized_collision_20.obj b/objects/objaverse/cake/cake_6/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d0da064939d954786d9a54cb33085614a06bf54f
--- /dev/null
+++ b/objects/objaverse/cake/cake_6/collision/model_normalized_collision_20.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.24140174 -0.23350315 0.22562366
+v 0.27112646 -0.25526135 0.05400568
+v 0.25000001 -0.02842667 0.01675089
+v -0.25594314 -0.00598805 0.25468914
+v -0.24966954 -0.25288151 0.24769085
+v 0.25751134 -0.02282355 0.23425798
+v -0.23484848 -0.24054788 0.01675089
+v 0.00757576 -0.24054788 0.24402363
+v -0.23484848 -0.02842667 0.01675089
+f 5 2 1
+f 6 3 4
+f 6 1 2
+f 6 2 3
+f 7 3 2
+f 7 2 5
+f 7 5 4
+f 8 5 1
+f 8 1 6
+f 8 6 4
+f 8 4 5
+f 9 7 4
+f 9 4 3
+f 9 3 7
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_6/collision/model_normalized_collision_21.obj b/objects/objaverse/cake/cake_6/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..49f5ac42d42a8b9b2f4cebf73b25cd60d2ea52f8
--- /dev/null
+++ b/objects/objaverse/cake/cake_6/collision/model_normalized_collision_21.obj
@@ -0,0 +1,114 @@
+# https://github.com/mikedh/trimesh
+v -0.20454545 0.22914909 0.00159938
+v -0.20457587 0.22914569 -0.41968596
+v -0.19800515 0.42737244 -0.04576996
+v -0.20099276 0.44308457 -0.12212519
+v -0.44510822 0.22521013 -0.41374972
+v -0.20242656 0.45021882 -0.41341029
+v -0.40338574 0.22233841 -0.00334190
+v -0.38734842 0.32131518 -0.16256443
+v -0.37803768 0.32451812 -0.42333681
+v -0.43280812 0.22222293 -0.29064825
+v -0.26377748 0.29612339 0.05762429
+v -0.25274340 0.42283562 -0.22804989
+v -0.41933972 0.22292307 -0.10728001
+v -0.29782760 0.34736991 0.00668415
+v -0.29496116 0.39528930 -0.42249387
+v -0.38395262 0.30476733 -0.42198555
+v -0.19942731 0.41600698 -0.00349924
+v -0.26425539 0.41161965 -0.13794603
+v -0.22336874 0.43953252 -0.21000691
+v -0.35382445 0.29129973 0.00651145
+v -0.22652184 0.44084683 -0.41402370
+v -0.30130099 0.39251405 -0.41599994
+v -0.25942751 0.35544722 0.02802207
+v -0.26671272 0.37726976 -0.00355748
+v -0.22504774 0.40955947 -0.01927956
+v -0.21164174 0.43964958 -0.12632291
+v -0.36854719 0.27674042 -0.00411853
+v -0.33209731 0.27001863 0.03133660
+v -0.30553848 0.38869601 -0.42237966
+v -0.25287258 0.42444735 -0.41570030
+v -0.24490174 0.35734305 0.03151712
+v -0.28341854 0.34978513 0.01766789
+v -0.25549780 0.37899649 0.00748708
+v -0.23777006 0.42260029 -0.11399749
+v -0.39757409 0.23203583 -0.00288969
+v -0.34282817 0.29249046 0.01585132
+v -0.29972272 0.39353859 -0.41798787
+v -0.21196097 0.41024123 -0.00457054
+v -0.33109791 0.28138124 0.02791191
+f 1 2 3
+f 6 3 2
+f 6 4 3
+f 7 2 1
+f 9 5 8
+f 10 5 2
+f 10 2 7
+f 11 7 1
+f 13 8 5
+f 13 7 8
+f 13 10 7
+f 13 5 10
+f 15 6 2
+f 15 2 9
+f 16 9 2
+f 16 2 5
+f 16 5 9
+f 17 11 1
+f 17 1 3
+f 18 12 8
+f 19 4 6
+f 19 12 18
+f 20 14 8
+f 21 6 15
+f 21 19 6
+f 21 12 19
+f 22 8 12
+f 24 18 8
+f 24 8 14
+f 25 18 24
+f 25 17 3
+f 26 19 18
+f 26 4 19
+f 26 25 3
+f 26 3 4
+f 27 20 8
+f 28 7 11
+f 29 15 9
+f 29 9 8
+f 29 8 22
+f 30 22 12
+f 30 12 21
+f 30 21 15
+f 30 15 29
+f 31 23 11
+f 31 11 17
+f 31 17 23
+f 33 23 17
+f 33 25 24
+f 33 32 23
+f 33 24 14
+f 33 14 32
+f 34 26 18
+f 34 18 25
+f 34 25 26
+f 35 27 8
+f 35 8 7
+f 35 20 27
+f 36 7 28
+f 36 35 7
+f 36 20 35
+f 36 11 23
+f 36 23 32
+f 36 32 14
+f 36 14 20
+f 37 30 29
+f 37 29 22
+f 37 22 30
+f 38 33 17
+f 38 17 25
+f 38 25 33
+f 39 36 28
+f 39 28 11
+f 39 11 36
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_6/collision/model_normalized_collision_22.obj b/objects/objaverse/cake/cake_6/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8c8171f3050c3faef6af5902dab63df8ffe46454
--- /dev/null
+++ b/objects/objaverse/cake/cake_6/collision/model_normalized_collision_22.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.26231184 0.20697142 0.16699274
+v 0.26450274 0.21216115 0.16425934
+v -0.11218805 0.31591207 0.19847827
+v -0.24553773 0.34805120 0.03564052
+v 0.12878788 0.21399758 0.00159938
+v 0.21899907 0.33339543 0.07569139
+v 0.19505407 0.26408487 0.19929652
+v 0.21969698 0.21399758 0.07735696
+v -0.22856885 0.20329945 0.17550550
+v -0.16725318 0.32614368 0.18197204
+v 0.12878788 0.33520970 0.00159938
+v 0.22659217 0.21053614 0.20721236
+v 0.13775080 0.32165279 0.17390301
+v 0.26421331 0.22495637 0.15899423
+v -0.23484848 0.21399758 0.00159938
+v -0.20007536 0.20495865 0.18846129
+v -0.22524298 0.32174667 0.14265005
+v -0.07625175 0.30354750 0.20108655
+v 0.17863853 0.28836119 0.18627934
+v 0.21884433 0.23345879 0.20132759
+v -0.19451463 0.32386571 0.16801986
+v -0.22256009 0.31675335 0.15062768
+f 8 2 1
+f 8 1 5
+f 8 5 6
+f 9 5 1
+f 11 6 5
+f 11 4 6
+f 12 1 2
+f 12 9 1
+f 13 3 7
+f 13 10 3
+f 13 6 4
+f 13 4 10
+f 14 6 7
+f 14 8 6
+f 14 2 8
+f 14 12 2
+f 15 9 4
+f 15 5 9
+f 15 11 5
+f 15 4 11
+f 16 10 9
+f 16 3 10
+f 16 9 12
+f 17 4 9
+f 18 12 7
+f 18 7 3
+f 18 16 12
+f 18 3 16
+f 19 13 7
+f 19 7 6
+f 19 6 13
+f 20 14 7
+f 20 7 12
+f 20 12 14
+f 21 10 4
+f 21 4 17
+f 21 9 10
+f 22 21 17
+f 22 17 9
+f 22 9 21
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_6/collision/model_normalized_collision_23.obj b/objects/objaverse/cake/cake_6/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2c28b0a8bc711057909efb619d64573fe0f4c422
--- /dev/null
+++ b/objects/objaverse/cake/cake_6/collision/model_normalized_collision_23.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.12589538 0.32659185 0.17310115
+v 0.22161786 0.34019722 0.06457742
+v 0.05007922 0.36499838 0.15417193
+v -0.09370443 0.38751549 0.12542498
+v -0.09864037 0.33423733 0.15214046
+v 0.17028268 0.37071379 0.05409091
+v 0.21608412 0.32670827 0.08318530
+v 0.08499730 0.34476214 0.16747070
+v -0.06356416 0.38481946 0.13733233
+v -0.08276474 0.39022288 0.04467024
+v 0.12075541 0.33219343 0.16990620
+v -0.00865591 0.37959812 0.14173420
+v 0.00908274 0.36953680 0.15046360
+v -0.10347403 0.38333718 0.06436354
+v 0.21691014 0.34467378 0.05909511
+v -0.08528013 0.37574029 0.05765736
+v 0.19900451 0.35603724 0.05578019
+f 7 2 1
+f 7 1 5
+f 8 5 1
+f 9 4 5
+f 9 5 8
+f 10 9 6
+f 10 4 9
+f 11 1 2
+f 11 6 3
+f 11 8 1
+f 11 3 8
+f 12 3 6
+f 12 6 9
+f 13 9 8
+f 13 8 3
+f 13 12 9
+f 13 3 12
+f 14 5 4
+f 14 4 10
+f 15 2 7
+f 16 7 5
+f 16 14 10
+f 16 5 14
+f 16 15 7
+f 16 10 15
+f 17 11 2
+f 17 6 11
+f 17 2 15
+f 17 15 10
+f 17 10 6
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_6/collision/model_normalized_collision_24.obj b/objects/objaverse/cake/cake_6/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e777a99ea69940175b69a5647339c45fb68e8e56
--- /dev/null
+++ b/objects/objaverse/cake/cake_6/collision/model_normalized_collision_24.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.47054754 -0.15233828 -0.34683714
+v 0.48821932 -0.02792992 -0.41415068
+v 0.48759846 0.09860953 -0.30233294
+v 0.40151516 0.09278546 -0.30143093
+v 0.40134746 -0.14953152 -0.41137787
+v 0.40157999 0.09290667 -0.41643900
+v 0.48208956 -0.11122013 -0.30389585
+v 0.46049153 -0.14901005 -0.40954951
+v 0.47724903 0.09018936 -0.41453275
+v 0.40151516 -0.10418425 -0.30143093
+v 0.49160587 -0.02859044 -0.34691859
+v 0.40151516 -0.14963879 -0.34688547
+f 6 4 3
+f 6 5 4
+f 6 2 5
+f 7 1 2
+f 8 5 2
+f 8 2 1
+f 8 1 5
+f 9 6 3
+f 9 3 2
+f 9 2 6
+f 10 7 3
+f 10 3 4
+f 10 4 5
+f 11 7 2
+f 11 2 3
+f 11 3 7
+f 12 10 5
+f 12 5 1
+f 12 1 7
+f 12 7 10
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_6/collision/model_normalized_collision_25.obj b/objects/objaverse/cake/cake_6/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ba9970e28869c8f43727387f853e80ac57d111a7
--- /dev/null
+++ b/objects/objaverse/cake/cake_6/collision/model_normalized_collision_25.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v -0.11476334 0.32920642 0.16561339
+v -0.09848485 0.33520970 0.00159938
+v -0.09513590 0.36090485 0.13713390
+v -0.09687742 0.45068928 -0.00075616
+v -0.25882323 0.32942066 0.03890686
+v -0.09435985 0.44053637 0.01972984
+v -0.09864037 0.33423733 0.15214046
+v -0.24353874 0.31097724 0.05830973
+v -0.24639289 0.39021744 -0.00205215
+v -0.09370443 0.38751549 0.12542498
+v -0.18835746 0.32994909 0.16735251
+v -0.17043743 0.42667700 -0.00373929
+v -0.20234146 0.32862468 0.15212580
+v -0.22946580 0.40100479 -0.00372085
+v -0.12607969 0.39412979 0.10115384
+v -0.16845239 0.42292410 0.01165773
+v -0.12152456 0.43907360 0.01117438
+f 6 2 4
+f 7 1 2
+f 7 2 3
+f 8 5 2
+f 8 2 1
+f 9 2 5
+f 10 3 2
+f 10 2 6
+f 10 6 4
+f 10 7 3
+f 10 1 7
+f 11 8 1
+f 11 1 10
+f 12 4 2
+f 13 5 8
+f 13 8 11
+f 13 11 9
+f 13 9 5
+f 14 12 2
+f 14 2 9
+f 14 9 11
+f 15 11 10
+f 15 10 4
+f 16 12 14
+f 16 14 11
+f 16 11 15
+f 17 16 15
+f 17 15 4
+f 17 4 12
+f 17 12 16
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_6/collision/model_normalized_collision_26.obj b/objects/objaverse/cake/cake_6/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..524eaa113144fca83e261a8616da1baa2b59934a
--- /dev/null
+++ b/objects/objaverse/cake/cake_6/collision/model_normalized_collision_26.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v 0.38483133 -0.05816742 0.05518268
+v 0.45596273 -0.02754612 -0.00024494
+v 0.36987542 -0.03653749 0.12653633
+v 0.39539788 0.22746882 0.01629346
+v 0.41065876 0.21115083 -0.00026839
+v 0.36335284 0.20917031 0.05272977
+v 0.44586080 -0.02736618 0.02511782
+v 0.37068322 -0.05832850 0.06031279
+v 0.41871270 0.15030131 0.03076408
+v 0.36695147 -0.04050489 0.12420707
+v 0.36292380 -0.05272751 0.06614552
+v 0.36195807 0.05764784 0.11366497
+v 0.40152371 0.20867114 0.02578919
+v 0.44410029 0.05825587 0.02055202
+v 0.37037482 0.05407713 0.10703664
+v 0.36211530 0.18012768 0.07319863
+v 0.37775167 0.20824082 0.04472078
+v 0.42730753 0.16210353 0.00992760
+v 0.43232532 0.09028868 0.02951444
+v 0.40231950 0.19203897 0.03223817
+v 0.41552026 0.19227508 0.01174359
+v 0.42829198 0.13505302 0.02169546
+v 0.44912231 0.08957909 -0.00398673
+v 0.39095589 0.19364789 0.04184863
+v 0.43143036 0.16291786 -0.00318648
+v 0.41926331 0.19372561 -0.00233330
+f 6 4 5
+f 7 1 2
+f 8 5 2
+f 8 2 1
+f 10 7 3
+f 10 1 7
+f 10 8 1
+f 11 6 5
+f 11 5 8
+f 11 8 10
+f 12 10 3
+f 12 11 10
+f 13 5 4
+f 14 3 7
+f 14 7 2
+f 15 12 3
+f 15 9 12
+f 16 6 11
+f 16 11 12
+f 17 13 4
+f 17 4 6
+f 17 16 13
+f 17 6 16
+f 18 13 9
+f 19 9 15
+f 19 15 3
+f 19 3 14
+f 20 16 12
+f 20 12 9
+f 20 9 13
+f 21 5 13
+f 21 13 18
+f 22 18 9
+f 22 19 14
+f 22 9 19
+f 23 14 2
+f 23 22 14
+f 23 18 22
+f 24 20 13
+f 24 13 16
+f 24 16 20
+f 25 21 18
+f 25 18 23
+f 26 5 21
+f 26 21 25
+f 26 2 5
+f 26 25 23
+f 26 23 2
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_6/collision/model_normalized_collision_27.obj b/objects/objaverse/cake/cake_6/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..54dcfec26a29ace2f2f4b313ef726f561f3bdb64
--- /dev/null
+++ b/objects/objaverse/cake/cake_6/collision/model_normalized_collision_27.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.24213159 -0.32923929 0.06015206
+v 0.32268154 -0.22236415 0.04949701
+v 0.28003390 -0.21296245 0.27982006
+v 0.24887979 -0.20864159 0.30111079
+v 0.27556312 -0.24294301 0.05717337
+v 0.32218283 -0.20228013 0.13888452
+v 0.24404641 -0.24337173 0.27762209
+v 0.25504088 -0.32804182 0.04614541
+v 0.28647350 -0.20373502 0.28032339
+v 0.32227755 -0.20659463 0.06076780
+v 0.25516007 -0.22606457 0.28741085
+v 0.24387253 -0.22960615 0.29025708
+v 0.31548194 -0.21752547 0.13740735
+v 0.24224740 -0.32113575 0.08438151
+v 0.25295557 -0.23973886 0.27549500
+v 0.27227374 -0.20414142 0.29248758
+v 0.26912767 -0.21297958 0.28883221
+f 5 1 4
+f 8 5 2
+f 8 1 5
+f 10 5 4
+f 10 6 2
+f 10 2 5
+f 12 4 1
+f 12 11 4
+f 12 7 11
+f 13 8 2
+f 13 2 6
+f 13 3 8
+f 13 9 3
+f 13 6 9
+f 14 1 8
+f 14 12 1
+f 14 7 12
+f 15 8 3
+f 15 14 8
+f 15 7 14
+f 15 11 7
+f 15 3 11
+f 16 9 6
+f 16 3 9
+f 16 10 4
+f 16 6 10
+f 17 11 3
+f 17 3 16
+f 17 16 4
+f 17 4 11
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_6/collision/model_normalized_collision_28.obj b/objects/objaverse/cake/cake_6/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4ac0a88a1ad94524cdfc26195f6d2617f35b791c
--- /dev/null
+++ b/objects/objaverse/cake/cake_6/collision/model_normalized_collision_28.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v 0.25872251 -0.21899179 0.25092709
+v 0.33704863 -0.07607547 0.17615420
+v 0.29720205 -0.10921815 0.27108552
+v 0.24872216 0.01594621 0.22773446
+v 0.28359349 -0.20719986 0.17428418
+v 0.30964589 -0.02547555 0.21667355
+v 0.24879784 -0.02937010 0.27318873
+v 0.30879008 -0.17418347 0.26754072
+v 0.26474809 -0.22115815 0.19048159
+v 0.26567615 0.00272461 0.20134460
+v 0.30949424 -0.10914281 0.26011588
+v 0.24324656 0.01145994 0.23945695
+v 0.28647350 -0.20373502 0.28032339
+v 0.32603148 -0.14051391 0.18546187
+v 0.31838398 -0.02897890 0.18238182
+v 0.29550522 -0.08221420 0.26083202
+v 0.24406769 -0.01760377 0.26892606
+v 0.29362015 -0.19927487 0.25486252
+v 0.28710716 -0.10729176 0.27790126
+v 0.32860202 -0.12617770 0.19566497
+v 0.25808266 0.01106240 0.22177536
+v 0.29211606 -0.19960638 0.27772373
+v 0.32281279 -0.14788205 0.20133479
+f 10 9 4
+f 10 5 9
+f 11 2 6
+f 11 8 2
+f 11 3 8
+f 12 9 1
+f 12 4 9
+f 12 6 4
+f 13 7 1
+f 13 1 9
+f 14 5 2
+f 15 2 5
+f 15 5 10
+f 15 6 2
+f 16 3 11
+f 16 11 6
+f 16 6 7
+f 17 12 1
+f 17 1 7
+f 17 7 6
+f 17 6 12
+f 18 13 9
+f 18 9 5
+f 19 8 3
+f 19 7 13
+f 19 16 7
+f 19 3 16
+f 20 14 2
+f 20 2 8
+f 21 15 10
+f 21 10 4
+f 21 4 6
+f 21 6 15
+f 22 18 8
+f 22 13 18
+f 22 19 13
+f 22 8 19
+f 23 8 18
+f 23 20 8
+f 23 14 20
+f 23 18 5
+f 23 5 14
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_6/collision/model_normalized_collision_29.obj b/objects/objaverse/cake/cake_6/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3940d7fb330237c10a799539c42032c3a85de91e
--- /dev/null
+++ b/objects/objaverse/cake/cake_6/collision/model_normalized_collision_29.obj
@@ -0,0 +1,135 @@
+# https://github.com/mikedh/trimesh
+v -0.22726776 -0.29226840 0.24114425
+v -0.23084486 -0.29651726 0.21275362
+v -0.22802570 0.06355058 0.22364989
+v -0.24122601 0.06905740 0.22055880
+v -0.31056381 -0.03096557 0.21357512
+v -0.24530239 0.06458528 0.21066776
+v -0.27479938 -0.21838238 0.29792382
+v -0.23607480 0.06206257 0.21456069
+v -0.28103135 -0.22151271 0.21239142
+v -0.26408638 -0.24216755 0.28670252
+v -0.22697911 -0.04669284 0.38412470
+v -0.30733303 -0.11875336 0.21314386
+v -0.24994188 -0.27140187 0.23941685
+v -0.26397745 -0.25932629 0.21408187
+v -0.22740365 0.04218337 0.33064555
+v -0.29446743 -0.04976869 0.31253341
+v -0.22924218 -0.20438501 0.36579369
+v -0.29320890 -0.16246873 0.27367074
+v -0.23629137 -0.28526479 0.23899983
+v -0.26247432 -0.25976141 0.22569382
+v -0.23854904 -0.28948455 0.21291524
+v -0.29491297 -0.04100764 0.30066581
+v -0.22592922 -0.24428419 0.33899972
+v -0.26328289 -0.03627992 0.34952888
+v -0.27632358 -0.13046893 0.34096915
+v -0.29225501 -0.13169587 0.29889667
+v -0.23629126 -0.26945222 0.28337769
+v -0.23255463 0.03687627 0.32672354
+v -0.26430568 -0.01295467 0.32862358
+v -0.22702974 0.01183812 0.35736009
+v -0.22794389 -0.14685441 0.38382493
+v -0.26250972 -0.21692672 0.32519092
+v -0.27846849 -0.04948426 0.33772834
+v -0.29243444 -0.08721324 0.31512027
+v -0.29192215 -0.16249374 0.28452329
+v -0.26348890 -0.23100357 0.31053155
+v -0.22692797 -0.27638207 0.28583919
+v -0.24900044 -0.03629926 0.36320447
+v -0.23530348 0.00820990 0.35131170
+v -0.25206654 -0.16094139 0.36375668
+v -0.23606392 -0.20413122 0.36324933
+v -0.23745808 -0.23964779 0.33449763
+v -0.23676275 -0.04796031 0.37759513
+v -0.26325796 -0.16045950 0.35116875
+v -0.23881306 -0.14552928 0.37775145
+v -0.25055316 -0.20156482 0.35048343
+f 1 2 3
+f 6 5 4
+f 8 3 2
+f 8 2 6
+f 8 6 4
+f 8 4 3
+f 9 6 2
+f 12 5 6
+f 12 6 9
+f 14 7 9
+f 15 3 4
+f 16 5 12
+f 18 12 9
+f 18 9 7
+f 19 2 1
+f 19 10 13
+f 20 10 7
+f 20 7 14
+f 20 13 10
+f 21 14 9
+f 21 9 2
+f 21 20 14
+f 21 13 20
+f 21 19 13
+f 21 2 19
+f 22 4 5
+f 22 5 16
+f 23 1 3
+f 27 19 1
+f 27 10 19
+f 28 22 15
+f 28 15 4
+f 28 4 22
+f 29 22 16
+f 29 15 22
+f 30 11 23
+f 30 23 3
+f 30 3 15
+f 31 23 11
+f 31 17 23
+f 32 25 7
+f 33 16 25
+f 33 29 16
+f 33 24 29
+f 34 16 12
+f 34 12 26
+f 34 26 25
+f 34 25 16
+f 35 26 12
+f 35 12 18
+f 35 18 7
+f 35 7 25
+f 35 25 26
+f 36 10 27
+f 36 32 7
+f 36 7 10
+f 37 27 1
+f 37 1 23
+f 37 36 27
+f 38 30 24
+f 39 29 24
+f 39 24 30
+f 39 30 15
+f 39 15 29
+f 41 23 17
+f 41 17 31
+f 42 32 36
+f 42 23 41
+f 42 37 23
+f 42 36 37
+f 43 11 30
+f 43 30 38
+f 43 38 24
+f 43 24 33
+f 44 40 25
+f 44 25 32
+f 45 41 31
+f 45 40 41
+f 45 31 11
+f 45 11 43
+f 45 25 40
+f 45 43 33
+f 45 33 25
+f 46 42 41
+f 46 32 42
+f 46 44 32
+f 46 41 40
+f 46 40 44
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_6/collision/model_normalized_collision_3.obj b/objects/objaverse/cake/cake_6/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0224af59db9426e2a74e23a38116f0eca0f2e17b
--- /dev/null
+++ b/objects/objaverse/cake/cake_6/collision/model_normalized_collision_3.obj
@@ -0,0 +1,186 @@
+# https://github.com/mikedh/trimesh
+v 0.44599686 0.09260317 0.00097540
+v 0.47724903 0.09018936 -0.41453275
+v 0.41424443 0.27745804 -0.22659276
+v 0.22915793 0.41484255 -0.06157466
+v 0.26514732 0.09282475 -0.41588682
+v 0.37084459 0.27645531 -0.00357428
+v 0.47428479 0.11754370 -0.13725011
+v 0.26515152 0.09278546 0.00159938
+v 0.23092718 0.41811144 -0.41071584
+v 0.29522461 0.38169251 -0.10685465
+v 0.47523195 0.09036932 -0.10964776
+v 0.47743792 0.14993554 -0.32881936
+v 0.42695625 0.17644977 -0.00456443
+v 0.45970627 0.09012662 -0.04719826
+v 0.23484849 0.22914909 0.00159938
+v 0.23486153 0.22912846 -0.41605163
+v 0.38487309 0.30404134 -0.13997636
+v 0.28226363 0.36480103 -0.00459334
+v 0.23584387 0.42311966 -0.14386148
+v 0.29947626 0.39178943 -0.35524198
+v 0.45942189 0.19185800 -0.22676103
+v 0.39918172 0.23494547 -0.00371240
+v 0.45772045 0.14543082 -0.09327350
+v 0.45769463 0.10527165 -0.04756709
+v 0.22801561 0.39932875 -0.00247697
+v 0.29849482 0.37768006 -0.41277379
+v 0.23878174 0.40902749 -0.06319426
+v 0.34217624 0.33246957 -0.07849312
+v 0.22705642 0.42784906 -0.38949640
+v 0.29823739 0.39175384 -0.24392116
+v 0.44451496 0.21939313 -0.37255707
+v 0.47390665 0.14906583 -0.25713494
+v 0.39923421 0.27765130 -0.10951500
+v 0.47196648 0.10413858 -0.10846560
+v 0.45839661 0.16160287 -0.12279736
+v 0.24009352 0.39293770 -0.00354337
+v 0.46212357 0.16403435 -0.41401769
+v 0.31102183 0.34928412 -0.03308784
+v 0.36997658 0.30468888 -0.07850598
+v 0.22881448 0.42620047 -0.14278794
+v 0.24190351 0.41201876 -0.41099923
+v 0.23864125 0.42168802 -0.38723823
+v 0.31447704 0.37728592 -0.19421672
+v 0.45984131 0.18892197 -0.34405457
+v 0.38332902 0.30752967 -0.40350765
+v 0.41419144 0.26383634 -0.13720300
+v 0.47453821 0.11872907 -0.40621838
+v 0.36791414 0.29096845 -0.03257303
+v 0.32836217 0.36172140 -0.40279504
+v 0.39931709 0.29346271 -0.37330853
+v 0.36895942 0.32038563 -0.41266973
+v 0.42934253 0.23345095 -0.41026489
+v 0.42874943 0.24941354 -0.19710240
+v 0.42840223 0.23448527 -0.12284910
+v 0.47526578 0.10455760 -0.41342512
+v 0.42783753 0.24894964 -0.37391485
+v 0.34181031 0.34934759 -0.40960859
+v 0.44460904 0.20409523 -0.41225622
+v 0.44408651 0.22059359 -0.19929343
+v 0.41217461 0.21920565 -0.01898678
+v 0.41442822 0.24821025 -0.09383380
+v 0.41269069 0.27825405 -0.28250919
+v 0.41259784 0.26273035 -0.40403102
+f 12 11 2
+f 12 7 11
+f 14 8 5
+f 14 5 2
+f 14 2 11
+f 14 1 8
+f 15 5 8
+f 15 8 1
+f 16 2 5
+f 16 5 15
+f 19 4 10
+f 22 6 1
+f 22 1 13
+f 24 13 1
+f 24 1 14
+f 24 23 13
+f 24 14 11
+f 25 15 1
+f 25 1 6
+f 25 6 18
+f 25 16 15
+f 26 16 9
+f 27 18 10
+f 27 10 4
+f 28 17 10
+f 29 9 16
+f 29 16 25
+f 29 19 20
+f 30 20 19
+f 31 3 21
+f 32 21 7
+f 32 7 12
+f 32 12 21
+f 33 6 22
+f 34 11 7
+f 34 7 23
+f 34 24 11
+f 34 23 24
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+f 35 7 21
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+f 36 4 25
+f 36 27 4
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+f 37 2 16
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+f 38 28 10
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+f 38 18 6
+f 39 17 28
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+f 39 28 38
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+f 43 10 17
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+f 43 20 30
+f 44 31 21
+f 44 21 12
+f 44 12 31
+f 46 3 17
+f 46 17 33
+f 47 37 12
+f 47 12 2
+f 48 6 33
+f 48 33 39
+f 48 39 38
+f 48 38 6
+f 49 42 20
+f 49 26 42
+f 50 43 3
+f 50 20 43
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+f 53 3 46
+f 54 53 46
+f 54 13 35
+f 55 47 2
+f 55 2 37
+f 55 37 47
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+f 56 31 52
+f 57 49 20
+f 57 20 50
+f 57 50 45
+f 57 45 51
+f 57 51 26
+f 57 26 49
+f 58 52 31
+f 58 31 37
+f 58 37 51
+f 58 51 52
+f 59 21 3
+f 59 3 53
+f 59 53 54
+f 59 54 35
+f 59 35 21
+f 60 22 13
+f 60 13 54
+f 61 54 46
+f 61 46 33
+f 61 33 22
+f 61 60 54
+f 61 22 60
+f 62 56 50
+f 62 50 3
+f 62 3 56
+f 63 56 52
+f 63 52 45
+f 63 45 50
+f 63 50 56
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_6/collision/model_normalized_collision_30.obj b/objects/objaverse/cake/cake_6/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6198c7073317e875f659b617ecc94e233d8bd838
--- /dev/null
+++ b/objects/objaverse/cake/cake_6/collision/model_normalized_collision_30.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.00520810 -0.39361442 0.03405111
+v 0.00757576 -0.39206304 -0.19537032
+v 0.00757576 -0.27085091 0.01675089
+v -0.09848485 -0.27085091 0.01675089
+v -0.09895871 -0.39820978 0.03155693
+v -0.00757575 -0.27085091 -0.19537032
+v 0.00757576 -0.27085091 -0.19537032
+v -0.09848485 -0.39206304 -0.19537032
+v -0.09848485 -0.27085091 -0.19537032
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 5 1 4
+f 6 4 3
+f 7 6 3
+f 7 3 2
+f 7 2 6
+f 8 6 2
+f 8 2 5
+f 9 8 5
+f 9 5 4
+f 9 4 6
+f 9 6 8
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_6/collision/model_normalized_collision_31.obj b/objects/objaverse/cake/cake_6/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a9b35714c84d7d3d41687aeadf048e4f5e29e84
--- /dev/null
+++ b/objects/objaverse/cake/cake_6/collision/model_normalized_collision_31.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.00738597 -0.48332173 -0.19524566
+v 0.00799386 -0.49078969 -0.41323117
+v 0.00745454 -0.27083015 -0.41686827
+v -0.09848485 -0.27085091 -0.19537032
+v -0.09566962 -0.48018511 -0.27027687
+v 0.00757576 -0.27085091 -0.19537032
+v -0.09635883 -0.47318410 -0.19633846
+v -0.09856222 -0.27084351 -0.41913292
+v -0.05009626 -0.48020450 -0.19693908
+v -0.09527373 -0.48235806 -0.41657736
+v -0.06561294 -0.47948071 -0.21279830
+f 6 3 4
+f 6 4 1
+f 6 1 2
+f 6 2 3
+f 7 1 4
+f 8 4 3
+f 8 7 4
+f 9 1 7
+f 9 5 2
+f 9 2 1
+f 10 8 3
+f 10 3 2
+f 10 2 5
+f 10 5 7
+f 10 7 8
+f 11 9 7
+f 11 7 5
+f 11 5 9
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_6/collision/model_normalized_collision_4.obj b/objects/objaverse/cake/cake_6/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0dd747063be20f386740ca1c66e3eda84b6a55eb
--- /dev/null
+++ b/objects/objaverse/cake/cake_6/collision/model_normalized_collision_4.obj
@@ -0,0 +1,159 @@
+# https://github.com/mikedh/trimesh
+v 0.21082245 -0.03358224 0.30789344
+v 0.38733624 -0.03196435 0.05631624
+v 0.39539788 0.22746882 0.01629346
+v -0.22600140 0.20015612 0.18076610
+v -0.23484848 -0.02842667 0.00159938
+v -0.04060584 0.13839426 0.33360373
+v 0.33094177 0.07277161 0.19458723
+v -0.22463348 -0.03302998 0.38201358
+v -0.23484848 0.21399758 0.00159938
+v 0.23282543 0.20644155 0.20141804
+v 0.36118608 -0.03065965 0.14276725
+v 0.13555608 -0.03444030 0.34902846
+v -0.13763013 0.09436498 0.36103820
+v -0.06671996 0.19606813 0.25252175
+v 0.31696491 0.20668003 0.15754118
+v 0.30964589 -0.02547555 0.21667355
+v 0.00028982 0.02329194 0.39152853
+v -0.21768654 0.03408927 0.35143550
+v -0.05487483 0.16633985 0.30707265
+v 0.32415874 0.17684871 0.16783270
+v 0.32323287 0.01981823 0.20557747
+v 0.22696837 0.19464326 0.21241820
+v -0.02686839 0.09726520 0.36218744
+v -0.12626344 0.01067741 0.40761632
+v -0.16112550 0.09219316 0.34979794
+v -0.19474136 -0.00361157 0.39129839
+v -0.04048821 0.15234695 0.31979219
+v -0.02522345 0.18085954 0.27996636
+v -0.10736738 0.12233968 0.34953893
+v -0.08172623 0.16635059 0.30714606
+v 0.17867344 -0.00688379 0.31551578
+v 0.04445378 -0.01979696 0.39044104
+v 0.31779441 0.19127590 0.16533347
+v 0.04505288 0.08276102 0.34606397
+v 0.00004576 0.11055323 0.34715638
+v -0.02761024 0.00916203 0.40627572
+v -0.19118437 0.04960100 0.36286470
+v -0.20593483 0.00809102 0.37831650
+v -0.15282142 0.03736425 0.39108910
+v -0.16960826 -0.03178562 0.40890039
+v -0.03995182 0.19544622 0.25289057
+v -0.05532101 0.12483754 0.34733959
+v -0.13274807 0.13509767 0.32086614
+v -0.09289916 0.18022199 0.27929861
+v 0.04435798 0.05404097 0.36013173
+v 0.00108033 -0.01935710 0.40773135
+v -0.17659418 0.06372675 0.36300734
+v -0.22214815 -0.02038791 0.37882706
+v -0.15491622 -0.00381007 0.40650731
+v 0.00250988 -0.03324939 0.41190813
+v -0.10517671 0.14986469 0.32106216
+v 0.07299121 0.05473096 0.34600444
+v -0.16888592 -0.01713276 0.40620447
+v 0.04591451 -0.03331527 0.39408587
+f 5 3 2
+f 9 4 3
+f 9 3 5
+f 9 8 4
+f 9 5 8
+f 11 1 2
+f 11 2 3
+f 11 3 7
+f 12 8 5
+f 12 5 2
+f 12 2 1
+f 14 10 3
+f 14 3 4
+f 15 3 10
+f 16 1 11
+f 18 4 8
+f 20 7 3
+f 20 3 15
+f 20 1 7
+f 21 16 11
+f 21 11 7
+f 21 7 1
+f 21 1 16
+f 22 12 20
+f 22 15 10
+f 27 19 6
+f 27 6 10
+f 27 10 19
+f 28 19 10
+f 28 14 19
+f 29 24 23
+f 29 25 13
+f 30 19 14
+f 31 20 12
+f 31 12 1
+f 31 1 20
+f 32 12 22
+f 33 22 20
+f 33 20 15
+f 33 15 22
+f 35 22 10
+f 35 10 6
+f 35 34 22
+f 35 23 17
+f 35 17 34
+f 36 17 23
+f 36 23 24
+f 37 4 18
+f 38 37 18
+f 39 29 13
+f 39 24 29
+f 40 26 8
+f 41 28 10
+f 41 10 14
+f 41 14 28
+f 42 6 19
+f 42 30 29
+f 42 19 30
+f 42 29 23
+f 42 35 6
+f 42 23 35
+f 43 4 25
+f 43 25 29
+f 44 30 14
+f 44 14 4
+f 44 4 30
+f 45 22 34
+f 45 34 17
+f 45 17 32
+f 46 32 17
+f 46 17 36
+f 47 13 25
+f 47 25 4
+f 47 4 37
+f 47 39 13
+f 47 26 39
+f 47 38 26
+f 47 37 38
+f 48 38 18
+f 48 18 8
+f 48 8 26
+f 48 26 38
+f 49 39 26
+f 49 40 24
+f 49 24 39
+f 50 40 8
+f 50 8 12
+f 50 32 46
+f 50 24 40
+f 50 46 36
+f 50 36 24
+f 51 30 4
+f 51 4 43
+f 51 43 29
+f 51 29 30
+f 52 45 32
+f 52 32 22
+f 52 22 45
+f 53 49 26
+f 53 26 40
+f 53 40 49
+f 54 50 12
+f 54 12 32
+f 54 32 50
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_6/collision/model_normalized_collision_5.obj b/objects/objaverse/cake/cake_6/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..189a94a31ec2938d0ed05859c1c798f1ae363597
--- /dev/null
+++ b/objects/objaverse/cake/cake_6/collision/model_normalized_collision_5.obj
@@ -0,0 +1,105 @@
+# https://github.com/mikedh/trimesh
+v -0.23084486 -0.29651726 0.21275362
+v -0.24297467 -0.30947303 0.04182643
+v -0.23484848 -0.02842667 0.00159938
+v -0.24875668 0.33514808 0.03958747
+v -0.45761614 -0.02816986 0.00045184
+v -0.22459149 0.16416575 0.20056001
+v -0.37408600 -0.24538513 0.01034829
+v -0.37518503 0.26698717 -0.00137315
+v -0.22919714 0.31510663 0.14631228
+v -0.31251050 0.18862403 0.19364624
+v -0.31050687 -0.31623215 0.01670064
+v -0.38938008 -0.13330249 0.12684771
+v -0.31790238 -0.30946510 0.01250025
+v -0.41691202 0.19254830 -0.00338878
+v -0.37367320 0.26667557 0.00482973
+v -0.22802570 0.06355058 0.22364989
+v -0.26397745 -0.25932629 0.21408187
+v -0.43530987 -0.12952260 0.01014357
+v -0.44654054 0.04545368 0.01672480
+v -0.38625483 0.25075855 -0.00265369
+v -0.23675729 0.31254438 0.14065379
+v -0.25882323 0.32942066 0.03890686
+v -0.23410621 0.10960600 0.21918243
+v -0.23854904 -0.28948455 0.21291524
+v -0.40283832 -0.20245922 0.00927199
+v -0.28103135 -0.22151271 0.21239142
+v -0.45063359 -0.05747265 0.00817749
+v -0.44892649 0.10227075 -0.00116459
+v -0.38481280 0.24882164 0.00518860
+v -0.25140108 0.30653483 0.12861112
+v -0.25011077 0.08783193 0.21758592
+v -0.41794404 -0.17459612 0.00957999
+v -0.31075913 0.17015378 0.19535933
+v -0.44698305 0.10282149 0.00538137
+v -0.41302194 0.19148285 0.00598185
+v -0.38713155 0.23284047 0.01594318
+f 1 2 3
+f 6 1 3
+f 8 4 3
+f 9 6 3
+f 9 3 4
+f 10 6 9
+f 11 2 1
+f 13 7 5
+f 13 5 3
+f 13 11 7
+f 13 3 2
+f 13 2 11
+f 14 3 5
+f 16 1 6
+f 17 7 11
+f 17 1 16
+f 19 12 10
+f 19 5 12
+f 20 8 3
+f 20 3 14
+f 20 15 8
+f 21 9 4
+f 21 10 9
+f 22 4 8
+f 22 8 15
+f 22 21 4
+f 22 15 21
+f 23 16 6
+f 23 6 10
+f 24 17 11
+f 24 11 1
+f 24 1 17
+f 25 17 12
+f 25 7 17
+f 25 5 7
+f 26 12 17
+f 26 17 16
+f 27 18 12
+f 27 12 5
+f 27 5 18
+f 28 14 5
+f 29 20 14
+f 29 10 15
+f 29 15 20
+f 30 21 15
+f 30 15 10
+f 30 10 21
+f 31 23 10
+f 31 16 23
+f 31 26 16
+f 32 25 12
+f 32 12 18
+f 32 18 5
+f 32 5 25
+f 33 10 12
+f 33 12 26
+f 33 31 10
+f 33 26 31
+f 34 28 5
+f 34 5 19
+f 34 19 10
+f 34 14 28
+f 35 29 14
+f 35 34 10
+f 35 14 34
+f 36 35 10
+f 36 10 29
+f 36 29 35
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_6/collision/model_normalized_collision_6.obj b/objects/objaverse/cake/cake_6/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d46d551e18f7807ec5c9616b852625c954155276
--- /dev/null
+++ b/objects/objaverse/cake/cake_6/collision/model_normalized_collision_6.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v -0.09357831 -0.46700521 -0.15521260
+v -0.09825926 -0.48174496 -0.41659040
+v -0.09856222 -0.27084351 -0.41913292
+v -0.25313792 -0.30006537 0.04205939
+v -0.22474941 -0.46036746 -0.32562730
+v -0.09848485 -0.27085091 0.01675089
+v -0.09677301 -0.48300286 -0.36186794
+v -0.23317344 -0.37359634 0.01454953
+v -0.23485384 -0.27085155 -0.42243451
+v -0.11059809 -0.48143720 -0.36191431
+v -0.18349323 -0.43421474 -0.12120208
+v -0.09891933 -0.38473036 0.03678688
+v -0.22779607 -0.43322440 -0.41863808
+v -0.09588592 -0.48217981 -0.28974114
+v -0.22702425 -0.41946498 -0.15347636
+v -0.12482064 -0.46475350 -0.18362864
+v -0.11105864 -0.46230671 -0.15222261
+v -0.15411713 -0.46576559 -0.41736078
+v -0.11027719 -0.47993577 -0.29021006
+v -0.16288631 -0.45067061 -0.16836490
+f 6 1 3
+f 7 2 3
+f 7 3 1
+f 8 4 5
+f 9 3 2
+f 9 6 3
+f 9 4 6
+f 10 5 2
+f 10 2 7
+f 12 6 4
+f 12 4 8
+f 12 8 1
+f 12 1 6
+f 13 5 4
+f 13 4 9
+f 14 10 7
+f 14 7 1
+f 15 11 8
+f 15 8 5
+f 15 5 11
+f 17 1 8
+f 17 8 11
+f 17 16 1
+f 18 2 5
+f 18 5 13
+f 18 13 9
+f 18 9 2
+f 19 5 10
+f 19 10 14
+f 19 16 5
+f 19 14 1
+f 19 1 16
+f 20 11 5
+f 20 5 16
+f 20 17 11
+f 20 16 17
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_6/collision/model_normalized_collision_7.obj b/objects/objaverse/cake/cake_6/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e6bb3a0de99fd52e90c93db2c0094ead067e2f2d
--- /dev/null
+++ b/objects/objaverse/cake/cake_6/collision/model_normalized_collision_7.obj
@@ -0,0 +1,108 @@
+# https://github.com/mikedh/trimesh
+v 0.06239871 -0.45145477 -0.02858176
+v 0.09757719 -0.44277384 -0.06191443
+v 0.08422644 -0.40212389 0.03491262
+v -0.25986404 -0.36771853 -0.00160390
+v -0.16076388 -0.45624074 -0.19446761
+v -0.08119141 -0.43283145 0.00703342
+v 0.07980094 -0.43527673 0.00625340
+v 0.02187684 -0.48321035 -0.19751387
+v 0.00757576 -0.39206304 -0.19537032
+v -0.09891933 -0.38473036 0.03678688
+v -0.18197538 -0.41836096 -0.03357635
+v 0.05126720 -0.47814304 -0.19677099
+v -0.03657882 -0.48104671 -0.18224626
+v -0.27812408 -0.37424562 -0.07482323
+v -0.09848485 -0.37691152 -0.07415820
+v -0.09635883 -0.47318410 -0.19633846
+v -0.15268776 -0.41706804 0.00891222
+v 0.02128262 -0.48160678 -0.18268289
+v 0.06017524 -0.47348121 -0.19117645
+v -0.05036364 -0.45014252 -0.03144593
+v -0.18275197 -0.43944044 -0.17653803
+v -0.22417130 -0.40320956 -0.06069371
+v -0.24589564 -0.36903645 0.01147654
+v -0.27549206 -0.36831285 -0.04590906
+v -0.03535996 -0.48259291 -0.19670114
+v -0.11017488 -0.45082442 -0.07825793
+v -0.19576636 -0.40490838 -0.00313882
+v -0.27152506 -0.38037347 -0.07776637
+v -0.19592388 -0.41816494 -0.06253282
+v -0.15188349 -0.45247352 -0.15336682
+v -0.13813655 -0.43284296 -0.03198003
+v -0.09357831 -0.46700521 -0.15521260
+v -0.08127151 -0.44926828 -0.04737994
+v -0.24103933 -0.37481678 0.00662504
+v -0.25318062 -0.37306691 -0.00522363
+v -0.12512348 -0.44910571 -0.09005661
+v -0.10935019 -0.43366304 -0.00655651
+f 7 1 2
+f 7 2 3
+f 7 6 1
+f 7 3 6
+f 9 3 2
+f 10 6 3
+f 12 2 1
+f 12 8 9
+f 15 3 9
+f 15 10 3
+f 16 9 8
+f 16 5 9
+f 17 6 10
+f 18 12 1
+f 18 8 12
+f 18 13 8
+f 18 1 13
+f 19 12 9
+f 19 9 2
+f 19 2 12
+f 20 13 1
+f 20 1 6
+f 21 14 9
+f 21 9 5
+f 23 15 4
+f 23 10 15
+f 23 17 10
+f 24 4 15
+f 24 15 9
+f 24 9 14
+f 25 16 8
+f 25 8 13
+f 25 13 16
+f 27 11 17
+f 27 17 23
+f 28 21 5
+f 28 14 21
+f 28 5 22
+f 28 24 14
+f 28 4 24
+f 29 22 5
+f 29 27 22
+f 29 11 27
+f 30 5 16
+f 30 29 5
+f 30 11 29
+f 31 17 11
+f 32 26 16
+f 32 16 13
+f 32 13 26
+f 33 26 13
+f 33 13 20
+f 34 27 23
+f 34 23 4
+f 34 4 27
+f 35 27 4
+f 35 4 28
+f 35 28 22
+f 35 22 27
+f 36 30 16
+f 36 16 26
+f 36 26 31
+f 36 31 11
+f 36 11 30
+f 37 6 17
+f 37 17 31
+f 37 31 26
+f 37 26 33
+f 37 33 20
+f 37 20 6
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_6/collision/model_normalized_collision_8.obj b/objects/objaverse/cake/cake_6/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..100ef88fc65e07be4c344dc536681674d4f14b57
--- /dev/null
+++ b/objects/objaverse/cake/cake_6/collision/model_normalized_collision_8.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v 0.31696491 0.20668003 0.15754118
+v 0.41065876 0.21115083 -0.00026839
+v 0.29700017 0.34689066 0.00960194
+v 0.12520317 0.44360252 -0.00157504
+v 0.12878788 0.21399758 0.00159938
+v 0.29879501 0.35070559 -0.00382731
+v 0.29874147 0.27064630 0.12675418
+v 0.40152371 0.20867114 0.02578919
+v 0.21262012 0.26784602 0.16495885
+v 0.35843904 0.29239226 -0.00457527
+v 0.21067091 0.40971262 -0.00400874
+v 0.39868694 0.21661529 0.02368890
+v 0.12878788 0.21399758 0.07735696
+v 0.15231530 0.42549391 0.01892079
+v 0.30384024 0.23355448 0.14921638
+v 0.40524854 0.22288224 -0.00204954
+v 0.35403070 0.29156145 0.00645150
+v 0.26518316 0.36404028 0.02271103
+v 0.13804776 0.43981827 -0.00328659
+v 0.23746168 0.22455015 0.17809379
+v 0.13068450 0.34513307 0.09142861
+v 0.12358763 0.43968663 0.00881720
+v 0.15531631 0.41436122 0.03016954
+v 0.31078946 0.21783051 0.15499612
+v 0.29310066 0.26412672 0.13385337
+v 0.38631402 0.24951477 0.00860008
+v 0.19451995 0.40954566 0.01934265
+v 0.13714790 0.43599066 0.00871242
+v 0.12655396 0.41771806 0.03323143
+v 0.38855120 0.25082782 -0.00198628
+v 0.36931147 0.26255962 0.01977573
+v 0.22363112 0.39162167 0.02025578
+v 0.20895661 0.40634565 0.00722408
+f 8 5 2
+f 8 1 5
+f 10 6 3
+f 11 6 10
+f 12 7 1
+f 12 1 8
+f 12 8 2
+f 13 5 1
+f 16 2 5
+f 16 5 10
+f 16 12 2
+f 17 10 3
+f 17 3 7
+f 18 3 6
+f 18 6 11
+f 18 7 3
+f 19 11 10
+f 19 10 5
+f 19 5 4
+f 20 13 1
+f 20 9 13
+f 21 13 9
+f 22 4 5
+f 22 5 13
+f 22 13 21
+f 23 9 7
+f 24 1 7
+f 24 7 15
+f 24 20 1
+f 24 15 9
+f 24 9 20
+f 25 15 7
+f 25 7 9
+f 25 9 15
+f 26 12 16
+f 26 10 17
+f 26 7 12
+f 27 23 7
+f 27 14 23
+f 27 11 19
+f 28 19 4
+f 28 27 19
+f 28 14 27
+f 28 22 14
+f 28 4 22
+f 29 22 21
+f 29 21 9
+f 29 9 23
+f 29 23 14
+f 29 14 22
+f 30 26 16
+f 30 16 10
+f 30 10 26
+f 31 26 17
+f 31 17 7
+f 31 7 26
+f 32 27 7
+f 32 7 18
+f 33 32 18
+f 33 18 11
+f 33 11 27
+f 33 27 32
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_6/collision/model_normalized_collision_9.obj b/objects/objaverse/cake/cake_6/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..99c94a1ec0311ce39682202c8c6a642640c4bcbd
--- /dev/null
+++ b/objects/objaverse/cake/cake_6/collision/model_normalized_collision_9.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.00412019 -0.33920738 0.23159660
+v 0.29104608 -0.20645834 0.25983048
+v -0.08281309 -0.14520679 0.42311167
+v -0.25594314 -0.00598805 0.25468914
+v 0.25751134 -0.02282355 0.23425798
+v -0.22275834 -0.26847921 0.31012007
+v 0.00273988 -0.28613659 0.33352795
+v 0.21919961 -0.26733496 0.21843731
+v 0.06008277 -0.04815025 0.39189490
+v -0.22463348 -0.03302998 0.38201358
+v -0.22726776 -0.29226840 0.24114425
+v 0.07569615 -0.18705900 0.37522229
+v -0.12430200 -0.32851773 0.28114097
+v -0.12615596 -0.25837624 0.36262849
+v 0.24140174 -0.23350315 0.22562366
+v 0.00757576 -0.02842667 0.22887211
+v 0.21430863 -0.25391186 0.27967003
+v 0.28398854 -0.13771327 0.28720315
+v -0.22626807 -0.17400520 0.37788949
+v -0.09721349 -0.03235416 0.42276541
+v 0.12345783 -0.30528392 0.21151078
+v -0.03977438 -0.21434823 0.39247759
+v -0.01179166 -0.11510447 0.42277073
+v -0.05388541 -0.32875595 0.29312360
+v -0.16740027 -0.33127703 0.23896649
+v -0.15353692 -0.28466984 0.33405025
+v 0.28420124 -0.05185208 0.25156638
+v 0.24404641 -0.24337173 0.27762209
+v -0.15427173 -0.17157476 0.40611440
+v -0.22738838 -0.21366668 0.36091325
+v 0.01498121 -0.03394753 0.40707829
+v -0.16960826 -0.03178562 0.40890039
+v 0.03074649 -0.32655479 0.26495717
+v 0.00340453 -0.22817953 0.37739708
+v -0.02433834 -0.25758878 0.36255115
+v 0.00177563 -0.17242164 0.40579653
+v -0.11131666 -0.05959313 0.42423601
+v 0.10594819 -0.14644652 0.37616561
+v -0.06787744 -0.32888001 0.29358538
+v -0.15275478 -0.31272653 0.29471492
+v -0.19348825 -0.31292619 0.25234129
+v 0.20828091 -0.05063224 0.31647466
+v 0.04652251 -0.27021477 0.33379551
+v 0.28100586 -0.20084987 0.28752140
+v 0.11902611 -0.29913827 0.25522112
+v -0.11219483 -0.18826004 0.40739827
+v -0.18333060 -0.25857368 0.34932656
+v -0.18229469 -0.18595977 0.39127498
+v -0.03954840 -0.03391632 0.42344868
+v -0.01330000 -0.04708305 0.42191110
+v -0.21108552 -0.14478490 0.39321723
+v 0.00256028 -0.32807045 0.27864431
+v 0.24296159 -0.21445971 0.30034400
+v -0.05437561 -0.14460332 0.42315406
+v -0.04007819 -0.18666606 0.40682252
+v 0.06057632 -0.20024065 0.37532626
+v -0.11082751 -0.13159231 0.42312112
+v 0.10534981 -0.08971124 0.37710449
+v 0.01657775 -0.16046083 0.40568079
+v -0.12356238 -0.31354742 0.30848023
+v -0.15199360 -0.32764886 0.26561687
+v -0.18146627 -0.28394611 0.32183026
+v -0.22031335 -0.28278704 0.28267815
+v -0.19512146 -0.31622248 0.24014584
+f 15 8 5
+f 15 2 8
+f 16 4 5
+f 16 11 4
+f 19 10 4
+f 21 11 16
+f 21 16 5
+f 21 5 8
+f 25 1 13
+f 25 21 1
+f 27 15 5
+f 27 2 15
+f 27 18 2
+f 28 8 2
+f 30 11 6
+f 30 19 4
+f 30 4 11
+f 31 5 4
+f 32 20 4
+f 32 4 10
+f 33 1 21
+f 35 22 14
+f 35 34 22
+f 37 20 32
+f 39 13 1
+f 39 1 24
+f 39 35 14
+f 39 24 7
+f 39 7 35
+f 41 40 6
+f 42 18 27
+f 42 31 9
+f 42 27 5
+f 42 5 31
+f 43 7 17
+f 43 17 28
+f 43 35 7
+f 43 34 35
+f 44 28 2
+f 44 2 18
+f 44 18 38
+f 45 21 8
+f 45 8 28
+f 45 33 21
+f 45 28 17
+f 45 17 33
+f 46 14 22
+f 47 30 6
+f 47 26 14
+f 47 14 46
+f 48 19 30
+f 48 30 47
+f 48 47 46
+f 48 46 29
+f 49 31 4
+f 49 4 20
+f 49 37 23
+f 49 20 37
+f 50 9 31
+f 50 49 23
+f 50 31 49
+f 51 32 10
+f 51 10 19
+f 51 48 29
+f 51 19 48
+f 52 24 1
+f 52 1 33
+f 52 7 24
+f 52 33 17
+f 52 17 7
+f 53 28 44
+f 53 44 38
+f 53 38 12
+f 53 43 28
+f 53 34 43
+f 54 36 23
+f 54 3 46
+f 54 37 3
+f 54 23 37
+f 55 22 34
+f 55 34 36
+f 55 36 54
+f 55 54 46
+f 55 46 22
+f 56 36 34
+f 56 53 12
+f 56 34 53
+f 57 3 37
+f 57 46 3
+f 57 29 46
+f 57 51 29
+f 57 37 32
+f 57 32 51
+f 58 38 18
+f 58 9 50
+f 58 50 23
+f 58 23 38
+f 58 42 9
+f 58 18 42
+f 59 12 38
+f 59 56 12
+f 59 36 56
+f 59 38 23
+f 59 23 36
+f 60 13 39
+f 60 40 13
+f 60 39 14
+f 60 14 26
+f 61 25 13
+f 61 13 40
+f 61 41 25
+f 61 40 41
+f 62 6 40
+f 62 47 6
+f 62 26 47
+f 62 60 26
+f 62 40 60
+f 63 41 6
+f 63 6 11
+f 64 25 41
+f 64 11 21
+f 64 21 25
+f 64 63 11
+f 64 41 63
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_6/model.xml b/objects/objaverse/cake/cake_6/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..cc38b9ea87862e931fd265128f53e6abe5c8bad9
--- /dev/null
+++ b/objects/objaverse/cake/cake_6/model.xml
@@ -0,0 +1,84 @@
+<mujoco model="cake_16">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.07999999999999997 0.07999999999999997 0.07999999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="visual/model_normalized_1.obj" name="model_normalized_1_vis" scale="0.07999999999999997 0.07999999999999997 0.07999999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.07999999999999997 0.07999999999999997 0.07999999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.07999999999999997 0.07999999999999997 0.07999999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.07999999999999997 0.07999999999999997 0.07999999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.07999999999999997 0.07999999999999997 0.07999999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.07999999999999997 0.07999999999999997 0.07999999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.07999999999999997 0.07999999999999997 0.07999999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.07999999999999997 0.07999999999999997 0.07999999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.07999999999999997 0.07999999999999997 0.07999999999999997" refquat="1.0 0.0 0.0 0.0"/>
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+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.07999999999999997 0.07999999999999997 0.07999999999999997" refquat="1.0 0.0 0.0 0.0"/>
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+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.07999999999999997 0.07999999999999997 0.07999999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.07999999999999997 0.07999999999999997 0.07999999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.07999999999999997 0.07999999999999997 0.07999999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.07999999999999997 0.07999999999999997 0.07999999999999997" refquat="1.0 0.0 0.0 0.0"/>
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+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.07999999999999997 0.07999999999999997 0.07999999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.07999999999999997 0.07999999999999997 0.07999999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.07999999999999997 0.07999999999999997 0.07999999999999997" refquat="1.0 0.0 0.0 0.0"/>
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+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.07999999999999997 0.07999999999999997 0.07999999999999997" refquat="1.0 0.0 0.0 0.0"/>
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+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.07999999999999997 0.07999999999999997 0.07999999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.07999999999999997 0.07999999999999997 0.07999999999999997" refquat="1.0 0.0 0.0 0.0"/>
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+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="MAT_CheeseCakeSauce" texture="image0" specular="0.5" shininess="0.359999993"/>
+    <material name="blinn2.010" texture="image0" specular="0.5" shininess="0.359999993"/>
+  </asset>
+  <worldbody>
+    <body>
+      <body name="object">
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+      </body>
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diff --git a/objects/objaverse/cake/cake_6/visual/material.mtl b/objects/objaverse/cake/cake_6/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..842b70538fc6029daec10eabd1278717f12035ab
--- /dev/null
+++ b/objects/objaverse/cake/cake_6/visual/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 359.99999300
+map_Kd material_0.jpeg
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_6/visual/model_normalized_0.obj b/objects/objaverse/cake/cake_6/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f0bba975ad7dbf64c259986fb24457779bc87d1c
--- /dev/null
+++ b/objects/objaverse/cake/cake_6/visual/model_normalized_0.obj
@@ -0,0 +1,9595 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/objects/objaverse/cake/cake_6/visual/model_normalized_1.obj b/objects/objaverse/cake/cake_6/visual/model_normalized_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..846bb9450edb39b74699c8dee3890815b95e48e5
--- /dev/null
+++ b/objects/objaverse/cake/cake_6/visual/model_normalized_1.obj
@@ -0,0 +1,77228 @@
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\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_7/collision/model_normalized_collision_1.obj b/objects/objaverse/cake/cake_7/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..78894976e91087774fcab48fb334d602d669e2b7
--- /dev/null
+++ b/objects/objaverse/cake/cake_7/collision/model_normalized_collision_1.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v 0.26542510 -0.39656258 0.14081977
+v 0.36230214 -0.36285392 0.01799235
+v 0.26424815 -0.28478780 0.23265256
+v 0.02118106 -0.29706165 0.27208907
+v 0.02017030 -0.31343337 -0.01407990
+v 0.26237602 -0.34584148 0.22188892
+v 0.01483216 -0.41082921 0.14104638
+v 0.36813387 -0.24030126 0.00788857
+v 0.26662721 -0.30502826 0.23826033
+v 0.35895885 -0.37119598 0.08769337
+v 0.16118533 -0.37818533 0.03990797
+v 0.35921651 -0.38544772 0.03298927
+v 0.01897796 -0.33439332 0.25645743
+v 0.26260234 -0.36420129 0.19724234
+v 0.36713071 -0.24377064 0.00642770
+v 0.36964042 -0.24073341 0.05326808
+v 0.18501538 -0.30215966 0.25062740
+v 0.26250788 -0.32669377 0.23409693
+v 0.02309061 -0.37680324 0.06533298
+v 0.35463172 -0.38762598 0.04427624
+v 0.36355932 -0.34626797 0.08587773
+v 0.19154011 -0.36450645 0.02376381
+v 0.34720590 -0.38669560 0.08372138
+v 0.18568514 -0.31022555 0.24953538
+v 0.10935784 -0.33280827 0.24843346
+v 0.03571295 -0.32268306 0.26271146
+v 0.15643173 -0.32407701 0.24819431
+v 0.02159982 -0.32369382 0.26265758
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+f 26 24 4
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+f 27 18 24
+f 27 24 26
+f 28 26 4
+f 28 4 13
+f 28 13 26
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_7/collision/model_normalized_collision_10.obj b/objects/objaverse/cake/cake_7/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc9a89098800e8e4643c253ad2c0a2494c26af12
--- /dev/null
+++ b/objects/objaverse/cake/cake_7/collision/model_normalized_collision_10.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v 0.24802274 0.02131064 -0.38421889
+v 0.29365176 0.12232985 -0.35498375
+v -0.37642468 0.03173394 -0.38165568
+v -0.36948672 0.24026674 -0.34868515
+v 0.12524691 0.05960178 -0.49938802
+v -0.40857718 0.20929521 -0.34881357
+v 0.00385468 -0.01228118 -0.39126121
+v 0.22879765 0.02412663 -0.46299718
+v 0.24113295 0.21560017 -0.37240260
+v 0.28752238 0.14905986 -0.34994636
+v -0.31768102 0.10638581 -0.48517271
+v 0.20565768 0.03921948 -0.48242722
+v 0.25975905 0.22554126 -0.35010569
+v -0.37185303 0.09388095 -0.46020781
+v -0.09762058 0.06522438 -0.47988347
+v -0.40336804 0.20635977 -0.35534503
+v 0.00678812 0.24310280 -0.35405034
+v 0.02524647 0.06224705 -0.49157039
+v 0.18255621 0.05323530 -0.49339937
+v 0.28170696 0.13535548 -0.37121485
+v -0.41603395 0.18144204 -0.35538284
+v -0.11285318 0.01137961 -0.40845556
+v -0.18922885 0.08168932 -0.48349219
+v -0.40848213 0.17515994 -0.37432025
+v 0.28294199 0.12283341 -0.37155523
+v 0.28318034 0.14247605 -0.36345403
+v -0.15826346 0.04965423 -0.44987104
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+f 16 4 11
+f 16 11 14
+f 17 11 4
+f 17 9 11
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+f 23 5 18
+f 23 3 14
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+f 24 6 16
+f 24 21 6
+f 24 14 21
+f 25 20 2
+f 25 2 8
+f 25 8 20
+f 26 20 13
+f 26 13 10
+f 26 10 2
+f 26 2 20
+f 27 22 3
+f 27 3 23
+f 27 23 15
+f 27 15 22
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_7/collision/model_normalized_collision_11.obj b/objects/objaverse/cake/cake_7/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b4e495e92764580462f9e178ca0101e52a33bf7
--- /dev/null
+++ b/objects/objaverse/cake/cake_7/collision/model_normalized_collision_11.obj
@@ -0,0 +1,129 @@
+# https://github.com/mikedh/trimesh
+v -0.38284662 0.05962287 0.00309120
+v -0.32278979 0.03018439 -0.38945162
+v -0.33001487 0.27782329 -0.00004330
+v -0.41677335 0.32219942 0.03733338
+v -0.43545481 0.06214271 -0.39371816
+v -0.38664960 0.21352114 0.06792716
+v -0.31130086 0.06227442 -0.23484849
+v -0.43253804 0.05149158 -0.39972407
+v -0.44688484 0.25086858 0.05196912
+v -0.34176348 0.36201463 -0.25189487
+v -0.38189070 0.22346416 0.06535111
+v -0.44491049 0.32590922 -0.15422940
+v -0.42652876 0.27636339 0.05355896
+v -0.39109671 0.06272304 0.01584251
+v -0.37122959 0.09391092 -0.46021207
+v -0.30978942 0.26589913 -0.33891795
+v -0.33307139 0.30756551 -0.02438677
+v -0.43407867 0.31184700 0.04049053
+v -0.44676143 0.31212192 -0.14966946
+v -0.41988234 0.33927010 -0.20418219
+v -0.44678821 0.26388668 0.05356832
+v -0.41271395 0.27607509 0.05375794
+v -0.39634474 0.20746314 0.06229353
+v -0.43106671 0.15064765 -0.02835574
+v -0.42032278 0.06088026 -0.43502464
+v -0.38526185 0.27631137 -0.32265250
+v -0.31114643 0.30812099 -0.30882047
+v -0.37109202 0.33191216 -0.05501383
+v -0.44686835 0.32629245 -0.13209634
+v -0.42615590 0.31954142 0.04061921
+v -0.43472056 0.07887426 -0.39046348
+v -0.44498415 0.22212858 -0.06505139
+v -0.43013100 0.06293599 -0.32767495
+v -0.41173263 0.06659686 -0.44347662
+v -0.38984855 0.31379960 -0.28252362
+v -0.40072895 0.27968203 -0.31342286
+v -0.32499707 0.30793774 -0.30769332
+v -0.40038544 0.32339273 0.01442768
+v -0.44676050 0.27673014 0.04242843
+v -0.37870583 0.30866128 -0.29438961
+v -0.41768629 0.20231436 -0.34418945
+v -0.43526780 0.32951697 -0.19297898
+v -0.39033679 0.08482789 -0.45087332
+v -0.35419781 0.26528348 -0.33842848
+f 7 1 2
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+f 11 1 3
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+f 16 2 15
+f 17 4 3
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+f 22 11 4
+f 22 13 6
+f 22 6 11
+f 23 14 6
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+f 30 21 13
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+f 31 19 12
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+f 32 5 9
+f 32 9 19
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+f 33 5 8
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+f 38 28 4
+f 38 4 17
+f 38 17 28
+f 39 21 18
+f 39 18 29
+f 39 29 9
+f 39 9 21
+f 40 36 35
+f 40 35 10
+f 40 26 36
+f 40 37 26
+f 40 10 37
+f 41 25 31
+f 41 36 34
+f 41 34 25
+f 42 12 20
+f 42 20 36
+f 42 36 41
+f 42 41 31
+f 42 31 12
+f 43 36 15
+f 43 15 34
+f 43 34 36
+f 44 37 27
+f 44 27 15
+f 44 15 26
+f 44 26 37
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_7/collision/model_normalized_collision_12.obj b/objects/objaverse/cake/cake_7/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b55ccf6fed4b5bf4d409568bccfeb7dae1ed0f4
--- /dev/null
+++ b/objects/objaverse/cake/cake_7/collision/model_normalized_collision_12.obj
@@ -0,0 +1,138 @@
+# https://github.com/mikedh/trimesh
+v 0.40596912 0.03852614 0.01039093
+v 0.43377190 0.09784626 0.01331118
+v 0.00552527 0.28777002 0.00806891
+v 0.10807134 0.44855502 -0.15386180
+v 0.34730530 0.03280627 -0.23218273
+v 0.20131854 0.32199714 0.01300933
+v 0.00688096 0.03197139 0.00757575
+v 0.39957877 0.03794382 -0.05069878
+v 0.35298510 0.38447108 -0.22867310
+v 0.11758429 0.32585368 0.01225020
+v 0.35431176 0.00197394 -0.17389361
+v 0.00688096 0.03197139 -0.23484849
+v 0.38468145 0.09909353 -0.17070466
+v 0.39896369 0.29509877 -0.06346345
+v 0.00697668 0.43832127 -0.23465615
+v 0.34898585 0.01867242 -0.21831633
+v 0.43078843 0.28810519 -0.12576752
+v 0.42886067 0.17262412 0.00253244
+v 0.26683733 0.37943671 -0.09279274
+v 0.00544300 0.42781554 -0.21265931
+v 0.28983049 0.41079043 -0.23793949
+v 0.35014894 0.00312328 -0.18796290
+v 0.42748919 0.23226027 -0.10741612
+v 0.41344545 0.32576585 -0.15815025
+v 0.36887749 0.14054684 -0.22947918
+v 0.38869829 0.27984162 -0.03834368
+v 0.42832977 0.28182292 -0.10780383
+v 0.00796204 0.33096550 -0.05301173
+v 0.15650992 0.42542663 -0.23560429
+v 0.33453575 0.39728512 -0.23742759
+v 0.41333624 0.20407350 -0.13885552
+v 0.40098800 0.30423474 -0.07815060
+v 0.41319575 0.31877736 -0.16623613
+v 0.40876189 0.19742214 -0.00128408
+v 0.30728227 0.30878680 -0.02473881
+v 0.10735571 0.44693232 -0.16494112
+v 0.38003497 0.36474258 -0.19636018
+v 0.13371307 0.44293317 -0.15455906
+v 0.39764846 0.20285291 -0.18205501
+v 0.41523965 0.32110950 -0.14872693
+v 0.39356899 0.30107354 -0.06454716
+v 0.38482361 0.34789955 -0.20488384
+v 0.30106735 0.33187437 -0.05034032
+v 0.13600387 0.44304547 -0.16695295
+v 0.41293990 0.30725931 -0.16572967
+v 0.40077671 0.34431990 -0.18444234
+v 0.37024762 0.33229656 -0.21974744
+f 7 1 2
+f 8 2 1
+f 10 6 4
+f 10 4 3
+f 10 3 7
+f 10 7 2
+f 10 2 6
+f 11 1 7
+f 11 8 1
+f 12 7 3
+f 12 11 7
+f 13 2 8
+f 16 12 5
+f 16 5 13
+f 16 13 8
+f 16 8 11
+f 18 6 2
+f 18 2 17
+f 19 4 6
+f 20 15 12
+f 20 12 3
+f 20 4 15
+f 21 12 15
+f 22 16 11
+f 22 11 12
+f 22 12 16
+f 23 17 2
+f 23 2 13
+f 25 13 5
+f 26 18 14
+f 27 18 17
+f 27 14 18
+f 28 20 3
+f 28 3 4
+f 28 4 20
+f 29 21 15
+f 30 9 25
+f 30 25 5
+f 30 5 12
+f 30 12 21
+f 31 23 13
+f 31 17 23
+f 32 27 17
+f 32 14 27
+f 33 24 17
+f 34 26 6
+f 34 6 18
+f 34 18 26
+f 35 6 26
+f 36 29 15
+f 36 15 4
+f 36 21 29
+f 37 30 19
+f 37 9 30
+f 37 19 32
+f 38 30 21
+f 38 4 19
+f 38 19 30
+f 39 17 31
+f 39 31 13
+f 39 13 25
+f 40 32 17
+f 40 17 24
+f 40 37 32
+f 40 24 37
+f 41 32 19
+f 41 14 32
+f 41 35 26
+f 41 26 14
+f 43 19 6
+f 43 6 35
+f 43 41 19
+f 43 35 41
+f 44 36 4
+f 44 21 36
+f 44 38 21
+f 44 4 38
+f 45 33 17
+f 45 17 39
+f 45 39 25
+f 45 25 33
+f 46 33 25
+f 46 25 42
+f 46 24 33
+f 46 37 24
+f 46 42 9
+f 46 9 37
+f 47 42 25
+f 47 25 9
+f 47 9 42
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_7/collision/model_normalized_collision_13.obj b/objects/objaverse/cake/cake_7/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d8d91bb76fdd6b109bb7c88e38de2f17ec130582
--- /dev/null
+++ b/objects/objaverse/cake/cake_7/collision/model_normalized_collision_13.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v -0.07885186 0.14017796 0.16709195
+v -0.08402813 0.13803199 0.00757575
+v -0.18650191 0.29221486 0.00547023
+v -0.39441062 0.28713349 0.01918287
+v -0.41978502 0.12163371 0.12091187
+v -0.43435684 0.21162344 0.00469194
+v -0.07569251 0.19337033 0.18285735
+v -0.22174899 0.11499320 0.18276673
+v -0.08482969 0.24276540 0.00576817
+v -0.39042888 0.28848037 0.00651404
+v -0.41689467 0.14548514 0.12021494
+v -0.41598255 0.13191020 0.01429887
+v -0.21681130 0.28876086 0.03151295
+v -0.07838112 0.17332228 0.18076236
+v -0.07776387 0.23730199 0.09822571
+v -0.43133892 0.21140531 0.01939938
+v -0.38926002 0.17526089 0.14474750
+v -0.20524025 0.12288048 0.00757575
+v -0.43152252 0.15084076 0.01923416
+v -0.29777279 0.11580225 0.19505601
+v -0.18749879 0.28930292 0.02658296
+v -0.42192156 0.21247543 0.03930643
+v -0.37440881 0.21842281 0.10284608
+v -0.39383021 0.11981736 0.16279857
+v -0.43120072 0.14705301 0.04947989
+v -0.33869190 0.11187669 0.19646738
+v -0.40083541 0.14367863 0.14831762
+v -0.39230729 0.14012668 0.15648473
+v -0.40354133 0.12109759 0.15175672
+f 7 1 2
+f 8 2 1
+f 9 6 3
+f 9 2 6
+f 10 6 4
+f 10 4 3
+f 10 3 6
+f 13 3 4
+f 13 4 7
+f 14 8 1
+f 14 1 7
+f 15 7 2
+f 15 2 9
+f 15 9 3
+f 16 6 5
+f 16 5 11
+f 16 4 6
+f 17 4 11
+f 18 12 6
+f 18 6 2
+f 18 2 8
+f 18 5 12
+f 19 12 5
+f 19 6 12
+f 20 14 7
+f 20 8 14
+f 21 13 7
+f 21 7 15
+f 21 15 3
+f 21 3 13
+f 22 16 11
+f 22 11 4
+f 22 4 16
+f 23 17 7
+f 23 7 4
+f 23 4 17
+f 25 19 5
+f 25 5 6
+f 25 6 19
+f 26 20 7
+f 26 7 17
+f 26 24 5
+f 26 5 18
+f 26 18 8
+f 26 8 20
+f 27 17 11
+f 28 26 17
+f 28 24 26
+f 28 27 24
+f 28 17 27
+f 29 27 11
+f 29 11 5
+f 29 5 24
+f 29 24 27
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_7/collision/model_normalized_collision_14.obj b/objects/objaverse/cake/cake_7/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..42a36ed6d71008d2d9788e6bf0d0178d40d7ed99
--- /dev/null
+++ b/objects/objaverse/cake/cake_7/collision/model_normalized_collision_14.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v 0.26424815 -0.28478780 0.23265256
+v 0.26190170 -0.32356131 -0.02213673
+v 0.25237480 0.28619900 0.00023698
+v 0.09787048 0.31957300 0.11599460
+v 0.02521388 -0.29940267 0.27036956
+v 0.02017030 -0.31343337 -0.01407990
+v 0.25181861 0.13566875 0.21211088
+v 0.26289903 0.18756020 0.16090314
+v 0.04045694 0.23268661 0.00666505
+v 0.26445671 -0.07408922 0.23484848
+v 0.01737107 0.11908454 0.22802268
+v 0.17262854 0.31952126 0.08635602
+v 0.10956686 0.32377534 0.01766851
+v 0.13959181 0.31817187 0.11663350
+v 0.03698281 0.23251599 0.16130605
+v 0.02633858 0.22794078 0.04494664
+v 0.23493738 0.30559869 0.01735767
+v 0.24028077 0.30740250 0.00273653
+v 0.16201775 0.33418418 0.03404110
+v 0.16065443 0.31935189 0.09892941
+v 0.06536274 0.31010749 0.07669112
+v 0.20301276 0.32145548 0.04542656
+v 0.08296199 0.32022961 0.06094301
+v 0.16184510 0.33195336 0.01608012
+v 0.18097258 0.33240697 0.03436181
+v 0.06741191 0.30758333 0.09765967
+v 0.09929200 0.32307768 0.03103412
+v 0.07332037 0.31682041 0.09064977
+v 0.18102354 0.33293324 0.02667906
+v 0.17035565 0.33248986 0.01727968
+v 0.21467498 0.31860105 0.00937673
+f 5 2 1
+f 6 3 2
+f 6 2 5
+f 8 2 3
+f 9 3 6
+f 10 5 1
+f 10 8 7
+f 10 1 2
+f 10 2 8
+f 11 10 7
+f 11 5 10
+f 11 6 5
+f 14 11 7
+f 14 4 11
+f 14 7 8
+f 15 11 4
+f 16 9 6
+f 16 6 11
+f 16 11 15
+f 18 3 9
+f 18 9 13
+f 18 17 8
+f 18 8 3
+f 19 4 14
+f 20 14 8
+f 20 8 12
+f 21 16 15
+f 21 9 16
+f 22 12 8
+f 22 8 17
+f 22 17 18
+f 23 4 19
+f 24 18 13
+f 24 13 19
+f 25 19 14
+f 25 14 20
+f 25 20 12
+f 25 12 22
+f 25 22 18
+f 26 21 15
+f 26 15 4
+f 27 13 9
+f 27 9 21
+f 27 21 23
+f 27 23 19
+f 27 19 13
+f 28 23 21
+f 28 4 23
+f 28 26 4
+f 28 21 26
+f 29 19 25
+f 29 25 18
+f 30 24 19
+f 30 19 29
+f 31 30 29
+f 31 29 18
+f 31 18 24
+f 31 24 30
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_7/collision/model_normalized_collision_15.obj b/objects/objaverse/cake/cake_7/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0df3687aa7482033e8a3c19c8368dcaeecafb506
--- /dev/null
+++ b/objects/objaverse/cake/cake_7/collision/model_normalized_collision_15.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v -0.28232765 -0.40632702 0.19299577
+v -0.27808791 -0.36243814 0.07818778
+v -0.28099783 -0.05893770 0.14393939
+v -0.31032929 -0.03319717 0.36500978
+v -0.38375925 -0.27150293 0.00648434
+v -0.27852107 -0.29245717 0.29448029
+v -0.33267396 -0.40670918 0.13249229
+v -0.28099783 -0.05893770 0.00757575
+v -0.28041366 -0.41208527 0.13901832
+v -0.28310627 -0.29210620 -0.00926219
+v -0.35695685 -0.37868764 0.25033316
+v -0.38857228 -0.05856527 0.00555453
+v -0.32601600 -0.40454749 0.20203341
+v -0.35737674 -0.36237359 0.08502684
+v -0.28327564 -0.35235907 0.25601486
+v -0.34146109 -0.15589856 0.34143677
+v -0.37737975 -0.05177830 0.27513165
+v -0.38544558 -0.22154509 0.00490564
+v -0.35253450 -0.39178189 0.24296291
+v -0.37396241 -0.34074783 0.21630943
+v -0.36653010 -0.05727365 0.33907820
+v -0.38920476 -0.23639362 0.08311396
+v -0.34657555 -0.39061042 0.12284174
+v -0.34888394 -0.38156593 0.24890751
+v -0.37178442 -0.34214486 0.25994489
+v -0.35640279 -0.11436452 0.34150567
+v -0.38596447 -0.26062200 0.08273942
+f 6 3 4
+f 8 6 2
+f 8 3 6
+f 8 4 3
+f 9 6 1
+f 9 2 6
+f 10 9 7
+f 10 2 9
+f 10 8 2
+f 12 4 8
+f 12 8 10
+f 13 9 1
+f 13 7 9
+f 14 10 7
+f 14 5 10
+f 15 1 6
+f 16 11 6
+f 16 6 4
+f 17 4 12
+f 18 12 10
+f 18 10 5
+f 19 7 13
+f 19 13 1
+f 19 1 15
+f 19 15 6
+f 20 5 14
+f 20 14 19
+f 21 4 17
+f 22 17 12
+f 22 12 18
+f 22 18 5
+f 23 19 14
+f 23 14 7
+f 23 7 19
+f 24 19 6
+f 24 6 11
+f 24 11 19
+f 25 20 19
+f 25 19 11
+f 25 11 16
+f 25 21 17
+f 25 22 20
+f 25 17 22
+f 26 16 4
+f 26 4 21
+f 26 25 16
+f 26 21 25
+f 27 22 5
+f 27 5 20
+f 27 20 22
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_7/collision/model_normalized_collision_16.obj b/objects/objaverse/cake/cake_7/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..72e67f1a7638c039e58f166551a781bea45b6cf2
--- /dev/null
+++ b/objects/objaverse/cake/cake_7/collision/model_normalized_collision_16.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v 0.32172568 -0.43231059 0.09994732
+v 0.44577290 -0.11616728 0.19655732
+v 0.42179802 -0.13768607 0.34318493
+v 0.27838749 -0.05413424 0.34061992
+v 0.26445671 -0.07408922 0.00757575
+v 0.46814015 -0.06662836 0.29954841
+v 0.26237602 -0.34584148 0.22188892
+v 0.40407183 -0.07134206 0.01472002
+v 0.45198547 -0.08401709 0.34164462
+v 0.38770796 -0.35201245 0.18062421
+v 0.30726425 -0.15295693 0.34666942
+v 0.26190170 -0.32356131 -0.02213673
+v 0.25880588 -0.19784402 0.31085289
+v 0.41499289 -0.07290240 0.05885549
+v 0.35994892 -0.28737921 0.00668533
+v 0.46361983 -0.09707056 0.33480574
+v 0.36366787 -0.36592342 0.18722154
+v 0.39887027 -0.15260470 0.33813217
+v 0.31025279 -0.07005231 0.35893867
+v 0.26447535 -0.44095534 0.09709373
+v 0.26173151 -0.18839959 0.31783421
+v 0.40085003 -0.18255782 0.07285417
+v 0.35457726 -0.37813805 0.08867485
+v 0.46308364 -0.08192295 0.33069828
+v 0.45064852 -0.10526509 0.34043893
+v 0.43330221 -0.19724489 0.29500690
+v 0.38560645 -0.35291857 0.18761439
+v 0.32909511 -0.33644301 0.21612185
+v 0.26512861 -0.43146685 0.12883224
+v 0.31897218 -0.42553164 0.11438627
+v 0.30419796 -0.41901299 0.13121374
+f 8 5 4
+f 8 4 6
+f 9 6 4
+f 10 2 6
+f 12 5 8
+f 13 4 5
+f 13 5 12
+f 14 8 6
+f 14 6 2
+f 14 2 8
+f 15 12 8
+f 15 1 12
+f 16 10 6
+f 18 11 7
+f 18 3 11
+f 18 17 3
+f 19 9 4
+f 19 11 3
+f 19 3 9
+f 20 12 1
+f 20 13 12
+f 20 7 13
+f 21 13 7
+f 21 7 11
+f 21 11 19
+f 21 19 4
+f 21 4 13
+f 22 15 8
+f 22 8 2
+f 22 2 10
+f 22 10 15
+f 23 15 10
+f 23 10 1
+f 23 1 15
+f 24 16 6
+f 24 6 9
+f 24 9 16
+f 25 16 9
+f 25 9 3
+f 26 10 16
+f 26 3 17
+f 26 25 3
+f 26 16 25
+f 27 17 1
+f 27 1 10
+f 27 26 17
+f 27 10 26
+f 28 18 7
+f 28 7 17
+f 28 17 18
+f 29 17 7
+f 29 7 20
+f 29 20 1
+f 30 29 1
+f 30 1 17
+f 31 30 17
+f 31 17 29
+f 31 29 30
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_7/collision/model_normalized_collision_19.obj b/objects/objaverse/cake/cake_7/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..86b0a8200a16d005384ad07f3e21e903cba28df0
--- /dev/null
+++ b/objects/objaverse/cake/cake_7/collision/model_normalized_collision_19.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v 0.42626922 -0.12814627 0.34859591
+v 0.43697926 -0.11280782 0.34934335
+v 0.21938317 -0.10691942 0.43517536
+v -0.07492568 -0.05416325 0.37335954
+v 0.02041564 -0.06814177 0.36089340
+v 0.20403770 -0.04402660 0.37084936
+v 0.43063639 -0.11244052 0.35777486
+v 0.44042658 -0.07938473 0.34770536
+v -0.05380211 -0.18239796 0.36392263
+v -0.03960282 -0.06101112 0.41605732
+v 0.42355110 -0.12103266 0.35599398
+v 0.17800732 -0.05545145 0.36503966
+v 0.43740925 -0.08424326 0.35218227
+v 0.21859371 -0.04791868 0.37868400
+v 0.16475019 -0.15081541 0.42163617
+v 0.03069016 -0.18792855 0.35148508
+v -0.07434230 -0.12806707 0.41760861
+v 0.39342793 -0.08150194 0.36823616
+v 0.22268116 -0.10060629 0.43307747
+v 0.17037961 -0.15037569 0.42061797
+v 0.02030522 -0.19140095 0.35460274
+v -0.05678389 -0.06231315 0.41467683
+v -0.07750152 -0.16953699 0.38923956
+v -0.04389251 -0.12168980 0.43576009
+v -0.06889437 -0.18001215 0.37113171
+v 0.05588826 -0.13906657 0.43145897
+f 6 5 4
+f 7 1 2
+f 8 2 1
+f 10 6 4
+f 11 7 3
+f 11 1 7
+f 12 8 5
+f 12 5 6
+f 12 6 8
+f 13 7 2
+f 13 2 8
+f 14 8 6
+f 14 6 10
+f 16 9 4
+f 16 4 5
+f 16 5 8
+f 16 8 1
+f 18 13 8
+f 18 3 7
+f 18 7 13
+f 18 8 14
+f 19 14 10
+f 19 10 3
+f 19 18 14
+f 19 3 18
+f 20 11 3
+f 20 3 15
+f 20 1 11
+f 21 9 16
+f 21 20 15
+f 21 16 1
+f 21 1 20
+f 22 10 4
+f 22 4 17
+f 23 17 4
+f 23 21 15
+f 24 3 10
+f 24 22 17
+f 24 10 22
+f 24 17 23
+f 25 23 4
+f 25 4 9
+f 25 9 21
+f 25 21 23
+f 26 15 3
+f 26 3 24
+f 26 24 23
+f 26 23 15
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_7/collision/model_normalized_collision_2.obj b/objects/objaverse/cake/cake_7/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e63b6c11a569f38f925842a0daf2f7a768fef68b
--- /dev/null
+++ b/objects/objaverse/cake/cake_7/collision/model_normalized_collision_2.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v 0.02098373 -0.41012558 0.14572486
+v 0.02270193 -0.33702707 0.01536272
+v 0.02369455 -0.27945280 0.28104740
+v -0.38302236 -0.26697185 0.07938082
+v -0.36191118 -0.35165586 0.07428058
+v 0.01953709 -0.30753479 -0.02144047
+v 0.02234225 -0.39554043 0.16539476
+v -0.22032488 -0.42137256 0.14511132
+v -0.38375925 -0.27150293 0.00648434
+v 0.02296110 -0.36354437 0.04867613
+v -0.22201276 -0.41545474 0.20475856
+v -0.39623016 -0.29261648 0.00136907
+v -0.06878619 -0.42439476 0.14578661
+v -0.15803171 -0.32930867 0.02158126
+v 0.01897796 -0.33439332 0.25645743
+v -0.27852107 -0.29245717 0.29448029
+v -0.36115640 -0.35455531 0.08481883
+v -0.37965288 -0.32002174 0.03409483
+v -0.05257939 -0.36037998 0.05119439
+v -0.28327564 -0.35235907 0.25601486
+v -0.37597187 -0.32931127 0.05374511
+v -0.28185145 -0.36236370 0.24133911
+v -0.37233325 -0.33558123 0.06586470
+f 6 3 2
+f 9 4 3
+f 9 3 6
+f 10 7 1
+f 10 2 3
+f 10 3 7
+f 12 9 6
+f 12 4 9
+f 13 10 1
+f 13 8 10
+f 13 11 8
+f 13 1 11
+f 14 12 6
+f 15 11 1
+f 15 1 7
+f 15 7 3
+f 16 3 4
+f 16 15 3
+f 17 5 8
+f 17 8 11
+f 18 8 5
+f 18 5 12
+f 18 14 8
+f 18 12 14
+f 19 10 8
+f 19 8 14
+f 19 14 6
+f 19 6 2
+f 19 2 10
+f 20 11 15
+f 20 15 16
+f 20 16 4
+f 20 4 17
+f 21 12 5
+f 21 5 17
+f 22 20 17
+f 22 17 11
+f 22 11 20
+f 23 21 17
+f 23 17 4
+f 23 4 12
+f 23 12 21
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_7/collision/model_normalized_collision_20.obj b/objects/objaverse/cake/cake_7/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3efd27ec47e3d0e46c29f5057785c1025d130201
--- /dev/null
+++ b/objects/objaverse/cake/cake_7/collision/model_normalized_collision_20.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.00742140 -0.14194603 -0.22856348
+v 0.00776675 -0.00053384 -0.40636557
+v 0.00688096 0.06227442 -0.23484849
+v 0.00285434 0.18488690 -0.38958141
+v -0.08371521 -0.13286716 -0.23335440
+v 0.00658417 0.13810468 -0.41756423
+v 0.00792551 -0.13458539 -0.23786011
+v -0.08402813 0.06227442 -0.23484849
+v 0.00789597 -0.01379236 -0.38970887
+v -0.08406199 0.13784576 -0.41612596
+v -0.05206617 -0.01206844 -0.38826345
+v -0.03790325 -0.14004712 -0.22705288
+v -0.08010855 0.15764110 -0.40894310
+v -0.08236754 0.00308629 -0.40341292
+f 6 4 3
+f 7 3 1
+f 8 3 4
+f 9 6 3
+f 9 2 6
+f 9 3 7
+f 10 6 2
+f 10 5 8
+f 11 7 1
+f 11 1 5
+f 11 9 7
+f 11 2 9
+f 12 8 5
+f 12 5 1
+f 12 1 3
+f 12 3 8
+f 13 10 8
+f 13 8 4
+f 13 4 6
+f 13 6 10
+f 14 10 2
+f 14 2 11
+f 14 11 5
+f 14 5 10
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_7/collision/model_normalized_collision_22.obj b/objects/objaverse/cake/cake_7/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..96df735f1c51a1907a4d322e5513ae22e7c22250
--- /dev/null
+++ b/objects/objaverse/cake/cake_7/collision/model_normalized_collision_22.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.00696091 -0.33049582 0.00850576
+v 0.05300503 -0.17036312 -0.19676024
+v 0.00688096 -0.14984679 0.00757575
+v -0.22039177 -0.14984679 0.00757575
+v -0.21992585 -0.14519522 -0.20082437
+v -0.17401091 -0.32242019 0.01497091
+v 0.05225685 -0.21160196 -0.14485347
+v 0.00691791 -0.14930651 -0.21926721
+v -0.14389285 -0.14244882 -0.21377877
+v -0.22010907 -0.31369205 0.00983273
+v -0.11267079 -0.16357162 -0.19128327
+v 0.05326442 -0.19688092 -0.16344645
+v 0.05237201 -0.16446453 -0.20412084
+v -0.11315844 -0.28419302 -0.03937214
+f 6 1 3
+f 6 3 4
+f 7 3 1
+f 9 5 4
+f 9 4 3
+f 9 3 8
+f 9 6 5
+f 10 6 4
+f 10 4 5
+f 10 5 6
+f 11 7 1
+f 11 9 8
+f 11 6 9
+f 12 2 3
+f 12 3 7
+f 12 11 2
+f 12 7 11
+f 13 8 3
+f 13 3 2
+f 13 11 8
+f 13 2 11
+f 14 11 1
+f 14 1 6
+f 14 6 11
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_7/collision/model_normalized_collision_23.obj b/objects/objaverse/cake/cake_7/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c996474b3331264df7e3d629fe1d68423a8815fe
--- /dev/null
+++ b/objects/objaverse/cake/cake_7/collision/model_normalized_collision_23.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v -0.36340920 -0.07812606 0.22762032
+v -0.31130086 -0.05893770 0.00757575
+v -0.31064108 0.11740051 0.19584811
+v -0.40048705 0.11914559 0.15699232
+v -0.38857228 -0.05856527 0.00555453
+v -0.31130086 0.12288048 0.00757575
+v -0.36110104 0.03797877 0.26348995
+v -0.31085726 0.09973817 0.21060916
+v -0.41598428 -0.06671711 0.23147521
+v -0.42033046 0.12915981 0.04000924
+v -0.40146065 0.10493509 0.00280211
+v -0.34747260 0.10981719 0.19367031
+v -0.36757157 -0.06801760 0.26720382
+v -0.35476043 0.04277454 0.26378202
+v -0.41129668 -0.06873592 0.23896754
+v -0.41900397 -0.00950411 0.23759702
+v -0.41799915 -0.05925543 0.21712422
+v -0.41131031 0.12453354 0.00790063
+v -0.41380909 0.11833456 0.13088239
+v -0.41313429 -0.02042757 0.25166379
+v -0.41609533 -0.05607811 0.23691074
+v -0.40740496 -0.05245267 0.24685027
+f 5 2 1
+f 6 3 2
+f 8 2 3
+f 10 4 3
+f 10 3 6
+f 11 6 2
+f 11 2 5
+f 12 3 4
+f 13 1 2
+f 13 2 8
+f 14 8 3
+f 14 13 8
+f 14 7 13
+f 14 3 12
+f 14 12 4
+f 14 4 7
+f 15 9 5
+f 15 5 1
+f 15 1 13
+f 16 7 4
+f 17 10 5
+f 17 5 9
+f 17 16 10
+f 18 10 6
+f 18 6 11
+f 18 11 5
+f 18 5 10
+f 19 16 4
+f 19 4 10
+f 19 10 16
+f 20 13 7
+f 20 7 16
+f 21 20 16
+f 21 9 15
+f 21 15 20
+f 21 17 9
+f 21 16 17
+f 22 20 15
+f 22 15 13
+f 22 13 20
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_7/collision/model_normalized_collision_24.obj b/objects/objaverse/cake/cake_7/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..70b74d7617d224f2eedc7e06c11e76263f245d6d
--- /dev/null
+++ b/objects/objaverse/cake/cake_7/collision/model_normalized_collision_24.obj
@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
+v 0.21439444 0.12226946 0.27099435
+v 0.21442946 0.11609733 0.19427269
+v 0.11755025 0.22727150 0.24111903
+v 0.02708148 0.25826738 0.22300896
+v -0.00855484 0.11071660 0.20644656
+v 0.01948226 0.21041281 0.11613513
+v 0.11318473 0.14923608 0.29422687
+v 0.20786612 0.15486329 0.24374808
+v 0.15192496 0.11752704 0.29718647
+v 0.17121286 0.12733012 0.13694570
+v 0.01380865 0.26186181 0.18460036
+v 0.16772217 0.17521665 0.27750671
+v 0.03083237 0.19335304 0.26169191
+v 0.11756173 0.12876348 0.29703757
+v 0.17344824 0.12268542 0.14390559
+v 0.05177073 0.25725551 0.22760468
+v 0.02580418 0.22516987 0.14079048
+v 0.08884810 0.24118071 0.22634193
+v 0.01406723 0.21838101 0.12141004
+v 0.17691501 0.18120496 0.26762422
+v 0.19446823 0.14774081 0.27648918
+v 0.13494217 0.14160944 0.29342458
+v 0.02951771 0.24728757 0.23427114
+v 0.03428497 0.17581215 0.26267570
+v 0.07185246 0.17775041 0.27953134
+v 0.12254932 0.21587495 0.26469415
+v 0.03961448 0.25721858 0.20192020
+v 0.09139234 0.24332113 0.24438133
+v 0.01316173 0.22895535 0.13521904
+v 0.17601310 0.18257451 0.25316702
+v 0.19812233 0.12475119 0.27836280
+v 0.20618954 0.15601723 0.26525429
+v 0.06140867 0.13430653 0.26281518
+v 0.07173001 0.22209390 0.26222516
+v 0.02522024 0.25823361 0.18952692
+v 0.05596889 0.22639235 0.17140460
+v 0.11752030 0.22600173 0.25595795
+v 0.04307609 0.23491121 0.24853175
+f 8 1 2
+f 9 5 2
+f 9 2 1
+f 10 5 6
+f 10 8 2
+f 10 3 8
+f 11 5 4
+f 14 9 7
+f 14 5 9
+f 15 10 2
+f 15 2 5
+f 15 5 10
+f 16 11 4
+f 18 3 10
+f 19 6 5
+f 19 17 10
+f 19 10 6
+f 21 12 9
+f 22 12 7
+f 22 7 9
+f 22 9 12
+f 23 4 5
+f 23 5 13
+f 23 16 4
+f 24 13 5
+f 25 14 7
+f 25 24 14
+f 25 13 24
+f 26 12 20
+f 26 7 12
+f 27 11 16
+f 27 16 18
+f 28 18 16
+f 28 3 18
+f 29 19 5
+f 29 5 11
+f 29 11 17
+f 29 17 19
+f 30 8 3
+f 30 3 20
+f 31 21 9
+f 31 9 1
+f 31 1 21
+f 32 20 12
+f 32 12 21
+f 32 30 20
+f 32 8 30
+f 32 21 1
+f 32 1 8
+f 33 24 5
+f 33 5 14
+f 33 14 24
+f 34 13 25
+f 34 25 7
+f 34 7 26
+f 34 26 28
+f 35 17 11
+f 35 11 27
+f 36 27 18
+f 36 18 10
+f 36 10 17
+f 36 35 27
+f 36 17 35
+f 37 28 26
+f 37 26 20
+f 37 20 3
+f 37 3 28
+f 38 23 13
+f 38 13 34
+f 38 16 23
+f 38 34 28
+f 38 28 16
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_7/collision/model_normalized_collision_25.obj b/objects/objaverse/cake/cake_7/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d0c9123df923ace5dab3c288d75ab12ad67a56f
--- /dev/null
+++ b/objects/objaverse/cake/cake_7/collision/model_normalized_collision_25.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.02369455 -0.27945280 0.28104740
+v 0.01953709 -0.30753479 -0.02144047
+v 0.03283269 -0.01832353 0.29056290
+v -0.29614934 -0.05893770 0.26515151
+v -0.28721319 -0.29610926 0.29412956
+v -0.28099783 -0.05893770 0.00757575
+v 0.02203247 -0.05893770 0.00757575
+v -0.29614934 -0.05893770 0.14393939
+v -0.28310627 -0.29210620 -0.00926219
+v -0.29614934 -0.27105891 0.14393939
+f 1 2 3
+f 5 2 1
+f 5 1 3
+f 5 3 4
+f 7 6 3
+f 7 3 2
+f 7 2 6
+f 8 4 3
+f 8 3 6
+f 9 6 2
+f 9 2 5
+f 9 8 6
+f 10 5 4
+f 10 4 8
+f 10 9 5
+f 10 8 9
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_7/collision/model_normalized_collision_26.obj b/objects/objaverse/cake/cake_7/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cab8ec107d3803bf8c7710d01ce9b57ca6387dca
--- /dev/null
+++ b/objects/objaverse/cake/cake_7/collision/model_normalized_collision_26.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v 0.36645697 0.22750570 -0.23338668
+v 0.35701487 0.22453370 -0.25731815
+v 0.33182835 0.39856997 -0.23902801
+v 0.05053606 0.43279532 -0.23492110
+v 0.00688096 0.22894108 -0.23484849
+v 0.23330869 0.22033054 -0.36777969
+v 0.36301860 0.33330441 -0.22603830
+v 0.34744382 0.22334558 -0.28384767
+v 0.30281601 0.41123710 -0.25345335
+v 0.00572656 0.22468084 -0.36353420
+v 0.34851347 0.38689932 -0.23156370
+v 0.24508310 0.42236549 -0.23950498
+v 0.26523433 0.22898592 -0.34602750
+v 0.00700967 0.40965410 -0.25370447
+v 0.10635872 0.43036137 -0.24875712
+v 0.30628307 0.41017054 -0.24510051
+v 0.33453575 0.39728512 -0.23742759
+v 0.31403352 0.40501761 -0.24943504
+v 0.34347515 0.38715140 -0.23634986
+v 0.00596101 0.37170650 -0.28067807
+v 0.24404080 0.42328899 -0.24603453
+v 0.05105346 0.43084761 -0.24254760
+v 0.16792968 0.27652520 -0.34066193
+v 0.00614446 0.39129900 -0.27115319
+v 0.23427268 0.40564695 -0.26156547
+v 0.05864424 0.25242077 -0.35193221
+v 0.09859442 0.27869463 -0.33789320
+v 0.00740718 0.32644252 -0.30762599
+v 0.00608714 0.23784000 -0.35652976
+f 5 2 1
+f 6 2 5
+f 7 5 1
+f 7 4 5
+f 8 2 6
+f 8 7 1
+f 8 1 2
+f 10 6 5
+f 11 4 7
+f 11 7 8
+f 12 4 11
+f 13 8 6
+f 14 5 4
+f 16 3 9
+f 17 12 11
+f 17 16 12
+f 17 3 16
+f 18 9 3
+f 18 13 6
+f 18 6 9
+f 19 11 8
+f 19 8 13
+f 19 13 18
+f 19 18 3
+f 19 17 11
+f 19 3 17
+f 20 10 5
+f 21 9 15
+f 21 16 9
+f 21 12 16
+f 21 15 4
+f 21 4 12
+f 22 14 4
+f 22 4 15
+f 23 9 6
+f 24 20 5
+f 24 5 14
+f 24 15 23
+f 24 10 20
+f 24 22 15
+f 24 14 22
+f 25 23 15
+f 25 15 9
+f 25 9 23
+f 26 23 6
+f 26 6 10
+f 27 26 24
+f 27 24 23
+f 27 23 26
+f 28 24 26
+f 29 28 26
+f 29 26 10
+f 29 10 24
+f 29 24 28
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_7/collision/model_normalized_collision_27.obj b/objects/objaverse/cake/cake_7/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5fc75ccd4ab7e76aadd230367a1cf763051667de
--- /dev/null
+++ b/objects/objaverse/cake/cake_7/collision/model_normalized_collision_27.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.02203247 -0.05893770 0.21969696
+v 0.02203247 -0.05893770 0.00757575
+v 0.02203247 0.13803199 0.00757575
+v -0.31064108 0.11740051 0.19584811
+v -0.36340920 -0.07812606 0.22762032
+v -0.31130086 0.12288048 0.00757575
+v 0.01478423 0.13262090 0.23279624
+v -0.31130086 -0.05893770 0.00757575
+v -0.31085726 0.09973817 0.21060916
+v -0.02806965 0.14342635 0.20674260
+v -0.20524025 0.13803199 0.00757575
+f 1 2 3
+f 5 2 1
+f 6 3 2
+f 6 5 4
+f 7 1 3
+f 7 5 1
+f 8 6 2
+f 8 2 5
+f 8 5 6
+f 9 7 4
+f 9 4 5
+f 9 5 7
+f 10 4 7
+f 10 7 3
+f 11 6 4
+f 11 4 10
+f 11 10 3
+f 11 3 6
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_7/collision/model_normalized_collision_28.obj b/objects/objaverse/cake/cake_7/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..626766af7cf02e032bb4f5b86305d6c76202a57a
--- /dev/null
+++ b/objects/objaverse/cake/cake_7/collision/model_normalized_collision_28.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.26662721 -0.30502826 0.23826033
+v 0.26424214 -0.30080179 0.23546750
+v 0.26655895 -0.07004886 0.36050021
+v 0.02041564 -0.06814177 0.36089340
+v 0.02434908 -0.30925723 0.26725630
+v 0.26445671 -0.07408922 0.23484848
+v 0.26028098 -0.16658614 0.33850061
+v 0.02203247 -0.07408922 0.23484848
+v 0.27929921 -0.24003608 0.27922610
+v 0.21604644 -0.24280341 0.29303309
+v 0.02030522 -0.19140095 0.35460274
+v 0.27816210 -0.24849942 0.27216380
+v 0.02118106 -0.29706165 0.27208907
+v 0.02110326 -0.23190380 0.32431362
+f 5 2 1
+f 6 4 3
+f 6 1 2
+f 8 4 6
+f 8 6 2
+f 8 2 5
+f 9 6 3
+f 9 7 1
+f 9 3 7
+f 10 5 1
+f 10 1 7
+f 11 7 3
+f 11 3 4
+f 11 10 7
+f 11 5 10
+f 12 9 1
+f 12 1 6
+f 12 6 9
+f 13 8 5
+f 13 11 4
+f 13 4 8
+f 14 13 5
+f 14 5 11
+f 14 11 13
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_7/collision/model_normalized_collision_29.obj b/objects/objaverse/cake/cake_7/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c03ba3d12e37aaedbf35b095335bd204ad55b3ba
--- /dev/null
+++ b/objects/objaverse/cake/cake_7/collision/model_normalized_collision_29.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.20983327 -0.08964388 -0.27153175
+v -0.20417960 -0.03681617 -0.33501597
+v -0.21243362 0.35088148 -0.28484271
+v -0.34176348 0.36201463 -0.25189487
+v -0.32278979 0.03018439 -0.38945162
+v -0.20518554 0.33380236 -0.29371638
+v -0.31668073 -0.07912493 -0.26472800
+v -0.21100233 0.01447694 -0.39254035
+v -0.30978942 0.26589913 -0.33891795
+v -0.30840329 -0.02761909 -0.32650400
+v -0.20337272 0.27050038 -0.33971386
+v -0.31109015 0.33458483 -0.29427346
+f 1 3 4
+f 6 1 2
+f 6 3 1
+f 7 2 1
+f 7 1 4
+f 7 4 5
+f 9 5 4
+f 10 7 5
+f 10 2 7
+f 10 8 2
+f 10 5 8
+f 11 6 2
+f 11 2 8
+f 11 8 5
+f 11 5 9
+f 11 3 6
+f 12 9 4
+f 12 4 3
+f 12 11 9
+f 12 3 11
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_7/collision/model_normalized_collision_31.obj b/objects/objaverse/cake/cake_7/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..abc8e88d4eb6cc3d0a54c2323f856b0c548cf28c
--- /dev/null
+++ b/objects/objaverse/cake/cake_7/collision/model_normalized_collision_31.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.00688096 -0.14984679 0.00757575
+v 0.00742140 -0.14194603 -0.22856348
+v 0.02035542 0.26538206 0.00481637
+v -0.22227831 0.28505162 0.00801830
+v -0.22039177 -0.14984679 0.00757575
+v 0.00688096 0.25924411 -0.23484849
+v -0.22039177 0.25924411 -0.23484849
+v -0.21937433 -0.12453484 -0.22672035
+v -0.21918955 -0.13784914 -0.21009962
+v -0.17327619 -0.13326290 -0.22158248
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 5 1 4
+f 6 3 2
+f 6 4 3
+f 7 4 6
+f 7 6 2
+f 8 5 4
+f 8 4 7
+f 8 7 2
+f 9 2 5
+f 9 5 8
+f 10 9 8
+f 10 8 2
+f 10 2 9
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_7/collision/model_normalized_collision_4.obj b/objects/objaverse/cake/cake_7/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca9c9fcd9f170c4ef18eb117e46bd76de908339d
--- /dev/null
+++ b/objects/objaverse/cake/cake_7/collision/model_normalized_collision_4.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v 0.02143049 -0.32844370 0.25970548
+v -0.36653010 -0.05727365 0.33907820
+v 0.03283269 -0.01832353 0.29056290
+v -0.35450385 -0.06905235 0.40525740
+v -0.35695662 -0.34617524 0.26376598
+v -0.16830181 -0.16836156 0.45276591
+v -0.37614801 -0.14103834 0.42597510
+v -0.35948974 -0.07897906 0.27058686
+v 0.01660116 -0.18781812 0.36469710
+v -0.28579502 -0.10210225 0.49459039
+v -0.18558107 -0.33279016 0.28259597
+v -0.37020508 -0.11617953 0.42281855
+v -0.35063728 -0.14853038 0.26470400
+v 0.02522691 -0.06924300 0.36411033
+v -0.06098446 -0.06223779 0.41062763
+v -0.32023554 -0.11855855 0.49527479
+v -0.28520476 -0.13233760 0.49053885
+v -0.14360607 -0.33584531 0.25788200
+v 0.02159982 -0.32369382 0.26265758
+v -0.30912986 -0.07321199 0.42201655
+v -0.07420819 -0.09788059 0.41991984
+v -0.32549616 -0.11559852 0.49453512
+v -0.31826432 -0.13969801 0.47646463
+v -0.32211066 -0.10439472 0.49638235
+v -0.16216028 -0.16126600 0.45094985
+v -0.37047963 -0.12559684 0.43410074
+v -0.32508519 -0.11043286 0.49631046
+f 3 2 4
+f 8 2 3
+f 8 3 1
+f 8 7 2
+f 8 5 7
+f 9 6 1
+f 11 5 1
+f 11 1 6
+f 12 4 2
+f 12 2 7
+f 13 8 1
+f 13 5 8
+f 15 14 3
+f 17 11 6
+f 17 5 11
+f 17 6 10
+f 17 10 16
+f 18 13 1
+f 18 1 5
+f 18 5 13
+f 19 14 9
+f 19 9 1
+f 19 1 3
+f 19 3 14
+f 20 15 3
+f 20 3 4
+f 20 10 15
+f 21 15 10
+f 21 6 9
+f 21 9 14
+f 21 14 15
+f 22 7 5
+f 22 5 16
+f 23 17 16
+f 23 16 5
+f 23 5 17
+f 24 20 4
+f 24 10 20
+f 25 21 10
+f 25 10 6
+f 25 6 21
+f 26 24 4
+f 26 4 12
+f 26 12 7
+f 27 22 16
+f 27 16 10
+f 27 10 24
+f 27 24 26
+f 27 26 7
+f 27 7 22
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_7/collision/model_normalized_collision_5.obj b/objects/objaverse/cake/cake_7/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc968ceec9d8944179b839588eaa756a4c740fa0
--- /dev/null
+++ b/objects/objaverse/cake/cake_7/collision/model_normalized_collision_5.obj
@@ -0,0 +1,141 @@
+# https://github.com/mikedh/trimesh
+v 0.02035542 0.26538206 0.00481637
+v 0.09919177 0.36641504 -0.11926590
+v -0.06086532 0.34257029 0.00596090
+v -0.39017541 0.44010192 -0.13581395
+v -0.24888252 0.28275038 -0.32988966
+v -0.06567500 0.46235778 -0.22947753
+v -0.32314791 0.25593845 0.02074053
+v -0.03566253 0.33578636 0.00754813
+v 0.01636295 0.28767327 -0.33030033
+v -0.37073647 0.43938969 -0.12363571
+v -0.35452583 0.36589071 -0.28207455
+v -0.00289216 0.29711448 0.00943301
+v 0.01065515 0.37904413 -0.08985963
+v 0.08101371 0.32898385 -0.10313709
+v -0.22039177 0.24409260 -0.23484849
+v 0.05105346 0.43084761 -0.24254760
+v -0.37990450 0.44016695 -0.12671547
+v -0.36776817 0.41771402 -0.09891827
+v -0.31929648 0.44019525 -0.22009411
+v -0.43029930 0.24758595 -0.11918627
+v -0.18467508 0.39048331 -0.27875507
+v -0.02480666 0.32380830 0.00832109
+v -0.18654113 0.24165539 0.02088838
+v 0.05053606 0.43279532 -0.23492110
+v 0.00693524 0.28625399 -0.33259294
+v 0.05094134 0.38900384 -0.26893187
+v -0.37908557 0.42663574 -0.10963727
+v -0.39448284 0.43067127 -0.17530397
+v -0.26287873 0.44296126 -0.23191786
+v -0.40299880 0.25187801 -0.24216817
+v -0.22911388 0.30749972 -0.32225422
+v 0.04959933 0.40159222 -0.26241753
+v -0.40433771 0.32397689 -0.05834599
+v -0.39327916 0.43787682 -0.15696029
+v -0.07687748 0.45781626 -0.23437232
+v -0.36800574 0.31141373 -0.29712094
+v -0.43282377 0.36879673 -0.19442477
+v -0.31157956 0.28778074 -0.32337332
+v -0.15049904 0.30712798 -0.32486928
+v -0.40969196 0.31471782 -0.05586698
+v -0.43526780 0.32951697 -0.19297898
+v -0.38699143 0.32616162 -0.27945218
+v -0.39994988 0.42964690 -0.16917862
+v -0.43962770 0.31758842 -0.10304364
+v -0.38958724 0.42028770 -0.11364962
+v -0.38984855 0.31379960 -0.28252362
+v -0.40076599 0.43272339 -0.14744260
+v -0.43543993 0.31278396 -0.09090650
+f 8 3 7
+f 10 3 6
+f 12 1 2
+f 13 6 3
+f 13 3 8
+f 13 8 2
+f 14 9 2
+f 14 2 1
+f 14 1 9
+f 17 10 6
+f 17 6 4
+f 18 7 3
+f 19 4 6
+f 22 12 2
+f 22 2 8
+f 23 1 12
+f 23 15 1
+f 23 20 15
+f 23 7 20
+f 23 12 22
+f 23 22 8
+f 23 8 7
+f 24 13 2
+f 24 6 13
+f 24 16 6
+f 24 2 16
+f 25 15 5
+f 25 9 1
+f 25 1 15
+f 26 16 2
+f 26 2 9
+f 27 18 3
+f 27 3 10
+f 27 10 17
+f 27 17 4
+f 28 19 11
+f 29 19 6
+f 29 11 19
+f 29 21 11
+f 30 5 15
+f 30 15 20
+f 31 11 21
+f 32 26 9
+f 32 9 25
+f 32 16 26
+f 33 7 18
+f 33 18 27
+f 34 4 19
+f 34 19 28
+f 35 29 6
+f 35 21 29
+f 35 6 16
+f 35 16 32
+f 35 32 25
+f 35 25 21
+f 37 28 11
+f 38 31 5
+f 38 11 31
+f 38 36 11
+f 38 5 30
+f 38 30 36
+f 39 25 5
+f 39 5 31
+f 39 31 21
+f 39 21 25
+f 40 20 7
+f 40 7 33
+f 40 33 27
+f 41 30 20
+f 42 37 11
+f 42 11 36
+f 43 34 28
+f 43 28 37
+f 44 41 20
+f 44 37 41
+f 45 40 27
+f 45 27 4
+f 46 41 37
+f 46 37 42
+f 46 30 41
+f 46 42 36
+f 46 36 30
+f 47 43 37
+f 47 4 34
+f 47 34 43
+f 47 37 44
+f 47 45 4
+f 47 44 45
+f 48 44 20
+f 48 20 40
+f 48 45 44
+f 48 40 45
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_7/collision/model_normalized_collision_6.obj b/objects/objaverse/cake/cake_7/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d9d5e773fa9a6e5cbfdbe3c48ad321129b317b5
--- /dev/null
+++ b/objects/objaverse/cake/cake_7/collision/model_normalized_collision_6.obj
@@ -0,0 +1,105 @@
+# https://github.com/mikedh/trimesh
+v 0.46308364 -0.08192295 0.33069828
+v 0.45481430 0.13578229 -0.00636141
+v 0.27690378 0.15200562 0.31559683
+v 0.25512966 0.25528131 0.01754967
+v 0.26445671 -0.07408922 0.00757575
+v 0.41939191 0.18816927 0.00221870
+v 0.40407183 -0.07134206 0.01472002
+v 0.26910939 0.25202501 -0.00110131
+v 0.30988823 -0.07770619 0.36696401
+v 0.21173013 0.07839571 0.26745863
+v 0.33092350 0.21164909 0.09382097
+v 0.46043102 0.05075523 0.16229142
+v 0.42331832 0.10910174 -0.01891499
+v 0.45778096 -0.02461071 0.19737411
+v 0.26077361 0.25756577 0.00556939
+v 0.40982396 -0.07816285 0.35787282
+v 0.21083855 0.14044680 0.22867243
+v 0.24467701 0.12915707 0.30792890
+v 0.27838749 -0.05413424 0.34061992
+v 0.30478913 0.22378453 0.08014887
+v 0.37099289 0.18084956 0.12266638
+v 0.44803895 0.13756836 0.02994616
+v 0.46086645 -0.04048000 0.29849897
+v 0.42770261 0.15234271 -0.01919221
+v 0.44267726 -0.06651308 0.19436322
+v 0.39594305 0.20122784 0.00115711
+v 0.40847569 -0.06800270 0.35437144
+v 0.23465973 0.14148373 0.28343220
+v 0.21227055 0.12811651 0.21026251
+v 0.27361932 0.15193895 0.31565333
+v 0.41445041 0.17095250 0.04954485
+v 0.45411645 0.14238375 -0.00706669
+v 0.46137700 -0.06979548 0.32354351
+v 0.36907602 0.17189733 0.14569691
+v 0.46050066 -0.06655686 0.28683778
+v 0.28101245 0.14742202 0.31577935
+f 7 1 5
+f 9 5 1
+f 12 1 2
+f 13 7 5
+f 13 2 7
+f 13 5 8
+f 14 7 2
+f 14 2 1
+f 15 8 5
+f 15 5 4
+f 16 9 1
+f 16 3 9
+f 19 10 5
+f 19 5 9
+f 19 18 10
+f 19 9 18
+f 20 4 3
+f 20 3 11
+f 20 15 4
+f 20 11 15
+f 21 11 3
+f 21 6 11
+f 23 1 12
+f 24 13 8
+f 25 1 7
+f 25 7 14
+f 26 8 15
+f 26 24 8
+f 26 6 24
+f 26 15 11
+f 26 11 6
+f 27 16 1
+f 27 3 16
+f 28 4 17
+f 28 17 10
+f 28 10 18
+f 29 17 4
+f 29 4 5
+f 29 5 10
+f 29 10 17
+f 30 18 9
+f 30 9 3
+f 30 28 18
+f 30 3 4
+f 30 4 28
+f 31 6 21
+f 31 22 6
+f 31 12 22
+f 32 22 12
+f 32 12 2
+f 32 6 22
+f 32 24 6
+f 32 2 13
+f 32 13 24
+f 33 1 23
+f 34 21 3
+f 34 23 12
+f 34 31 21
+f 34 12 31
+f 35 25 14
+f 35 14 1
+f 35 1 25
+f 36 27 1
+f 36 3 27
+f 36 1 33
+f 36 33 23
+f 36 34 3
+f 36 23 34
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_7/collision/model_normalized_collision_7.obj b/objects/objaverse/cake/cake_7/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bdc648e0fd51b4c1f7eefbfd9287d578b1518457
--- /dev/null
+++ b/objects/objaverse/cake/cake_7/collision/model_normalized_collision_7.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.20385065 0.03197139 -0.23484849
+v 0.24802274 0.02131064 -0.38421889
+v 0.20385065 0.22894108 -0.23484849
+v -0.21170322 0.31078303 -0.30885508
+v -0.21100233 0.01447694 -0.39254035
+v 0.20405065 0.23115716 -0.35954986
+v -0.20524025 0.25924411 -0.23484849
+v 0.00385468 -0.01228118 -0.39126121
+v 0.00829125 0.31060047 -0.31585829
+v -0.18829065 0.28367315 -0.33821197
+v -0.20524025 0.06227442 -0.23484849
+v 0.00688096 0.25924411 -0.23484849
+v -0.20469353 0.28789803 -0.33529926
+v -0.02644827 0.28065684 -0.33824542
+v 0.00688096 0.03197139 -0.23484849
+v -0.20337272 0.27050038 -0.33971386
+f 1 2 3
+f 6 3 2
+f 6 2 5
+f 7 1 3
+f 8 5 2
+f 8 2 1
+f 9 3 6
+f 10 6 5
+f 11 1 7
+f 11 7 4
+f 11 4 5
+f 12 7 3
+f 12 3 9
+f 12 9 4
+f 12 4 7
+f 13 5 4
+f 13 4 9
+f 13 9 10
+f 14 10 9
+f 14 9 6
+f 14 6 10
+f 15 8 1
+f 15 1 11
+f 15 11 5
+f 15 5 8
+f 16 13 10
+f 16 10 5
+f 16 5 13
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_7/collision/model_normalized_collision_8.obj b/objects/objaverse/cake/cake_7/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..41f19ffe1f64173d88fb962d915af004bbb7daac
--- /dev/null
+++ b/objects/objaverse/cake/cake_7/collision/model_normalized_collision_8.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v -0.08371521 -0.13286716 -0.23335440
+v -0.08328811 0.00905413 -0.41075838
+v -0.08402813 0.06227442 -0.23484849
+v -0.41407395 0.06208253 -0.23450428
+v -0.42918385 -0.08935936 -0.23310911
+v -0.07592386 0.07916946 -0.44259539
+v -0.23388115 -0.10295433 -0.25188095
+v -0.32499518 -0.10996847 -0.22675232
+v -0.39051516 0.07322710 -0.42755658
+v -0.08255145 -0.10480765 -0.26851461
+v -0.08310438 -0.12546783 -0.24261864
+v -0.21815031 0.03344688 -0.41903278
+v -0.20431427 -0.12545455 -0.22745649
+v -0.41602017 -0.09557477 -0.22739301
+v -0.43801681 0.04739526 -0.38981017
+v -0.08255418 -0.04420342 -0.34427407
+v -0.42180873 -0.07279631 -0.25448902
+v -0.14297301 -0.02721011 -0.35795128
+v -0.20445626 0.06596893 -0.45883245
+v -0.43013100 0.06293599 -0.32767495
+v -0.24879649 0.07121852 -0.45415909
+v -0.20270642 0.05906331 -0.45149202
+v -0.37775836 0.06113596 -0.41789439
+v -0.43545481 0.06214271 -0.39371816
+f 6 4 3
+f 8 3 4
+f 8 5 7
+f 9 4 6
+f 11 6 3
+f 11 3 1
+f 11 10 6
+f 11 1 10
+f 13 1 3
+f 13 3 8
+f 13 8 7
+f 13 7 1
+f 14 8 4
+f 14 4 5
+f 14 5 8
+f 16 2 6
+f 16 6 10
+f 16 10 1
+f 16 1 2
+f 17 12 7
+f 17 7 5
+f 17 15 12
+f 17 5 15
+f 18 12 2
+f 18 7 12
+f 18 2 1
+f 18 1 7
+f 19 6 2
+f 20 15 5
+f 20 5 4
+f 20 4 9
+f 21 19 9
+f 21 9 6
+f 21 6 19
+f 22 19 2
+f 22 2 12
+f 22 12 15
+f 23 15 9
+f 23 9 19
+f 23 22 15
+f 23 19 22
+f 24 20 9
+f 24 9 15
+f 24 15 20
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_7/collision/model_normalized_collision_9.obj b/objects/objaverse/cake/cake_7/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..53c7a7e1cd663f5115e1b67071f9c018ccffb501
--- /dev/null
+++ b/objects/objaverse/cake/cake_7/collision/model_normalized_collision_9.obj
@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
+v 0.00668455 0.08222477 0.22600696
+v 0.06747810 0.22755018 0.00666428
+v 0.02831185 0.23769837 0.24021444
+v -0.05785211 0.33674599 0.04442301
+v -0.08402813 0.13803199 0.00757575
+v 0.02444887 0.26272285 0.21381020
+v -0.06943713 0.19315402 0.19124674
+v 0.02823869 0.12692485 0.23751881
+v 0.02203247 0.13803199 0.00757575
+v -0.06086532 0.34257029 0.00596090
+v 0.07377841 0.23114864 0.05550766
+v 0.02813118 0.17420632 0.25700303
+v -0.07448612 0.13995910 0.16924774
+v -0.03959433 0.25719759 0.16783712
+v -0.08482969 0.24276540 0.00576817
+v -0.03566253 0.33578636 0.00754813
+v 0.02224513 0.09282372 0.21807508
+v -0.05775905 0.18805342 0.20289090
+v 0.02749062 0.20393488 0.25324958
+v 0.00177022 0.25831708 0.20708761
+v -0.05091620 0.24822797 0.16119599
+v -0.07080997 0.20015555 0.18188664
+v -0.03868036 0.33411775 0.02862319
+v 0.02530285 0.09999169 0.22175379
+v 0.06702660 0.22164276 0.01404378
+v -0.01203578 0.19053852 0.23508965
+v -0.07128458 0.17710641 0.18834401
+v -0.01079731 0.20460725 0.23525662
+v 0.00257469 0.24720115 0.21893838
+v -0.06878145 0.24383246 0.12414575
+v -0.04940411 0.33403273 0.04777656
+v 0.06476169 0.21076989 0.05166119
+v 0.01798688 0.17846187 0.25179442
+v -0.05640002 0.19455419 0.20326441
+v 0.01316881 0.20314540 0.24869302
+f 9 1 5
+f 11 6 3
+f 12 1 8
+f 12 8 11
+f 13 5 1
+f 15 9 5
+f 15 2 9
+f 15 10 2
+f 15 4 10
+f 15 5 13
+f 16 6 11
+f 16 11 2
+f 16 2 10
+f 17 1 9
+f 19 12 11
+f 19 11 3
+f 20 6 4
+f 20 4 14
+f 21 14 4
+f 21 7 14
+f 22 21 4
+f 22 7 21
+f 23 16 10
+f 23 10 4
+f 23 6 16
+f 24 17 11
+f 24 11 8
+f 24 8 1
+f 24 1 17
+f 25 17 9
+f 25 9 2
+f 25 2 11
+f 26 18 1
+f 27 13 1
+f 27 1 18
+f 27 18 7
+f 27 7 22
+f 27 22 15
+f 27 15 13
+f 28 18 26
+f 29 3 6
+f 29 6 20
+f 29 28 3
+f 29 20 14
+f 29 14 7
+f 30 22 4
+f 30 4 15
+f 30 15 22
+f 31 23 4
+f 31 4 6
+f 31 6 23
+f 32 25 11
+f 32 11 17
+f 32 17 25
+f 33 26 1
+f 33 1 12
+f 34 7 18
+f 34 18 28
+f 34 29 7
+f 34 28 29
+f 35 19 3
+f 35 3 28
+f 35 28 26
+f 35 26 33
+f 35 33 12
+f 35 12 19
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_7/model.xml b/objects/objaverse/cake/cake_7/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..4352ac0f7649a5f3fe4f0d0d0752032e28b949ae
--- /dev/null
+++ b/objects/objaverse/cake/cake_7/model.xml
@@ -0,0 +1,81 @@
+<mujoco model="cake_34">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.08999999999999994 0.08999999999999994 0.08999999999999994" refquat="0.886299969017732 -0.45952327372109536 0.04731159931036646 -0.032746578424458536"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.08999999999999994 0.08999999999999994 0.08999999999999994" refquat="0.886299969017732 -0.45952327372109536 0.04731159931036646 -0.032746578424458536"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.08999999999999994 0.08999999999999994 0.08999999999999994" refquat="0.886299969017732 -0.45952327372109536 0.04731159931036646 -0.032746578424458536"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.08999999999999994 0.08999999999999994 0.08999999999999994" refquat="0.886299969017732 -0.45952327372109536 0.04731159931036646 -0.032746578424458536"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.08999999999999994 0.08999999999999994 0.08999999999999994" refquat="0.886299969017732 -0.45952327372109536 0.04731159931036646 -0.032746578424458536"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.08999999999999994 0.08999999999999994 0.08999999999999994" refquat="0.886299969017732 -0.45952327372109536 0.04731159931036646 -0.032746578424458536"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.08999999999999994 0.08999999999999994 0.08999999999999994" refquat="0.886299969017732 -0.45952327372109536 0.04731159931036646 -0.032746578424458536"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.08999999999999994 0.08999999999999994 0.08999999999999994" refquat="0.886299969017732 -0.45952327372109536 0.04731159931036646 -0.032746578424458536"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.08999999999999994 0.08999999999999994 0.08999999999999994" refquat="0.886299969017732 -0.45952327372109536 0.04731159931036646 -0.032746578424458536"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.08999999999999994 0.08999999999999994 0.08999999999999994" refquat="0.886299969017732 -0.45952327372109536 0.04731159931036646 -0.032746578424458536"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.08999999999999994 0.08999999999999994 0.08999999999999994" refquat="0.886299969017732 -0.45952327372109536 0.04731159931036646 -0.032746578424458536"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.08999999999999994 0.08999999999999994 0.08999999999999994" refquat="0.886299969017732 -0.45952327372109536 0.04731159931036646 -0.032746578424458536"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.08999999999999994 0.08999999999999994 0.08999999999999994" refquat="0.886299969017732 -0.45952327372109536 0.04731159931036646 -0.032746578424458536"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.08999999999999994 0.08999999999999994 0.08999999999999994" refquat="0.886299969017732 -0.45952327372109536 0.04731159931036646 -0.032746578424458536"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.08999999999999994 0.08999999999999994 0.08999999999999994" refquat="0.886299969017732 -0.45952327372109536 0.04731159931036646 -0.032746578424458536"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.08999999999999994 0.08999999999999994 0.08999999999999994" refquat="0.886299969017732 -0.45952327372109536 0.04731159931036646 -0.032746578424458536"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.08999999999999994 0.08999999999999994 0.08999999999999994" refquat="0.886299969017732 -0.45952327372109536 0.04731159931036646 -0.032746578424458536"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.08999999999999994 0.08999999999999994 0.08999999999999994" refquat="0.886299969017732 -0.45952327372109536 0.04731159931036646 -0.032746578424458536"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.08999999999999994 0.08999999999999994 0.08999999999999994" refquat="0.886299969017732 -0.45952327372109536 0.04731159931036646 -0.032746578424458536"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.08999999999999994 0.08999999999999994 0.08999999999999994" refquat="0.886299969017732 -0.45952327372109536 0.04731159931036646 -0.032746578424458536"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.08999999999999994 0.08999999999999994 0.08999999999999994" refquat="0.886299969017732 -0.45952327372109536 0.04731159931036646 -0.032746578424458536"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.08999999999999994 0.08999999999999994 0.08999999999999994" refquat="0.886299969017732 -0.45952327372109536 0.04731159931036646 -0.032746578424458536"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.08999999999999994 0.08999999999999994 0.08999999999999994" refquat="0.886299969017732 -0.45952327372109536 0.04731159931036646 -0.032746578424458536"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.08999999999999994 0.08999999999999994 0.08999999999999994" refquat="0.886299969017732 -0.45952327372109536 0.04731159931036646 -0.032746578424458536"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.08999999999999994 0.08999999999999994 0.08999999999999994" refquat="0.886299969017732 -0.45952327372109536 0.04731159931036646 -0.032746578424458536"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.08999999999999994 0.08999999999999994 0.08999999999999994" refquat="0.886299969017732 -0.45952327372109536 0.04731159931036646 -0.032746578424458536"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.08999999999999994 0.08999999999999994 0.08999999999999994" refquat="0.886299969017732 -0.45952327372109536 0.04731159931036646 -0.032746578424458536"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.08999999999999994 0.08999999999999994 0.08999999999999994" refquat="0.886299969017732 -0.45952327372109536 0.04731159931036646 -0.032746578424458536"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.08999999999999994 0.08999999999999994 0.08999999999999994" refquat="0.886299969017732 -0.45952327372109536 0.04731159931036646 -0.032746578424458536"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.08999999999999994 0.08999999999999994 0.08999999999999994" refquat="0.886299969017732 -0.45952327372109536 0.04731159931036646 -0.032746578424458536"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.08999999999999994 0.08999999999999994 0.08999999999999994" refquat="0.886299969017732 -0.45952327372109536 0.04731159931036646 -0.032746578424458536"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.08999999999999994 0.08999999999999994 0.08999999999999994" refquat="0.886299969017732 -0.45952327372109536 0.04731159931036646 -0.032746578424458536"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.08999999999999994 0.08999999999999994 0.08999999999999994" refquat="0.886299969017732 -0.45952327372109536 0.04731159931036646 -0.032746578424458536"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="material0.021" texture="image0" specular="0.5" shininess="0.359999993"/>
+  </asset>
+  <worldbody>
+    <body>
+      <body name="object">
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_0_vis" conaffinity="0" contype="0" group="1" material="material0.021"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_22._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_23._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_21._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_20._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_24._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_30._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_18._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_19._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_31._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_25._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_27._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_26._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_9._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_8._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_6._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_7._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_5._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_4._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_0._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_1._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_3._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_2._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_17._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_16._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_28._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_14._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_15._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_29._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_11._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_10._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_12._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_13._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+      </body>
+      <site rgba="0 0 0 0" size="0.005" pos="-0.0008316398070211761 -0.0012332149742372922 -0.02718931365833372" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="-0.0008316398070211761 -0.0012332149742372922 0.03131441598492908" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.041012877850422624 0.04086023725582119 0.0020625511632976824" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/objects/objaverse/cake/cake_8/collision/model_normalized_collision_0.obj b/objects/objaverse/cake/cake_8/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..00efb40f9a216f047d1dd66532031e202b0ab925
--- /dev/null
+++ b/objects/objaverse/cake/cake_8/collision/model_normalized_collision_0.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.09424097 -0.35583117 -0.35745879
+v 0.11108382 -0.34622447 -0.49700918
+v 0.11427939 -0.20518781 -0.35606061
+v -0.17359939 -0.20518781 -0.35606061
+v -0.06605234 -0.37168273 -0.48378818
+v -0.17359939 -0.20518781 -0.50000000
+v -0.18516777 -0.31781750 -0.35400816
+v 0.11231050 -0.35024734 -0.35662392
+v 0.06727059 -0.37147183 -0.48378818
+v 0.11427939 -0.20518781 -0.50000000
+v -0.17359939 -0.29609689 -0.50000000
+v -0.06668486 -0.36304804 -0.35679866
+v -0.06637543 -0.35986181 -0.49595364
+v 0.11057617 -0.35971176 -0.48378818
+v -0.06594370 -0.37056287 -0.46301603
+v 0.00654748 -0.37029471 -0.37261320
+v 0.09441014 -0.35638521 -0.49197576
+v 0.10847834 -0.35283388 -0.37287184
+v 0.06715933 -0.37035266 -0.46302765
+v -0.03558012 -0.36993170 -0.40294612
+v 0.03680232 -0.36981291 -0.40295663
+v -0.00531525 -0.37032367 -0.37261040
+f 6 4 3
+f 7 3 4
+f 7 4 6
+f 8 3 7
+f 10 6 3
+f 10 8 2
+f 10 3 8
+f 11 7 6
+f 11 5 7
+f 11 10 2
+f 11 6 10
+f 12 8 7
+f 12 1 8
+f 13 9 5
+f 13 11 2
+f 13 5 11
+f 14 2 8
+f 15 12 7
+f 15 7 5
+f 16 1 12
+f 17 13 2
+f 17 9 13
+f 17 14 9
+f 17 2 14
+f 18 14 8
+f 18 8 1
+f 18 1 14
+f 19 14 1
+f 19 9 14
+f 20 12 15
+f 20 15 5
+f 21 16 9
+f 21 9 19
+f 21 19 1
+f 21 1 16
+f 22 16 12
+f 22 12 20
+f 22 20 5
+f 22 5 9
+f 22 9 16
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_8/collision/model_normalized_collision_10.obj b/objects/objaverse/cake/cake_8/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..937e3685f6ef259dcb2ec2f9762b4f9c1d673df4
--- /dev/null
+++ b/objects/objaverse/cake/cake_8/collision/model_normalized_collision_10.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v -0.26450848 -0.11427872 0.14393938
+v -0.26450848 -0.11427872 0.08333332
+v -0.26549476 0.15897374 0.26778220
+v -0.27993155 0.16666128 0.26083496
+v -0.34668716 -0.12547891 0.14698406
+v -0.26563735 0.15904967 0.01058697
+v -0.26450848 -0.00821811 0.00160105
+v -0.26929934 0.06898493 0.27936330
+v -0.30720938 0.15698206 0.01148405
+v -0.34625553 -0.12534577 0.07382437
+v -0.30981594 0.06749509 0.26478979
+v -0.31103837 -0.00832571 0.01012010
+v -0.30553725 0.15609162 0.25334575
+f 5 2 1
+f 6 4 3
+f 7 1 2
+f 7 3 1
+f 7 6 3
+f 8 5 1
+f 8 1 3
+f 9 4 6
+f 9 6 7
+f 10 7 2
+f 10 2 5
+f 10 5 9
+f 11 8 3
+f 11 5 8
+f 12 10 9
+f 12 9 7
+f 12 7 10
+f 13 11 3
+f 13 3 4
+f 13 4 9
+f 13 9 5
+f 13 5 11
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_8/collision/model_normalized_collision_13.obj b/objects/objaverse/cake/cake_8/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9b4875fdbb8db4de8806c42b823d2275f6e354c7
--- /dev/null
+++ b/objects/objaverse/cake/cake_8/collision/model_normalized_collision_13.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.20269586 -0.29306895 -0.23386567
+v 0.37155858 -0.06732563 -0.48378818
+v 0.34330437 0.09375599 -0.23133799
+v 0.20518848 0.17360006 -0.24399289
+v 0.20080576 -0.30307947 -0.49863258
+v 0.32235528 0.18658142 -0.48799639
+v 0.31408821 0.16699522 -0.23134749
+v 0.32943992 -0.13813157 -0.23141003
+v 0.19844313 -0.31382659 -0.38755435
+v 0.37159961 0.06599817 -0.48378818
+v 0.20518848 0.17360006 -0.50000000
+v 0.21208877 -0.28607363 -0.23159511
+v 0.31951996 0.18506039 -0.37186352
+v 0.35376410 -0.07851748 -0.27603926
+v 0.26542558 -0.23794399 -0.22982322
+v 0.35657149 0.09318136 -0.49216333
+v 0.20725070 -0.30916032 -0.38817549
+v 0.35584328 0.12326231 -0.48378818
+v 0.35365869 -0.12394090 -0.44799964
+v 0.34293068 -0.09497218 -0.23124390
+v 0.37042177 0.00527470 -0.37260264
+v 0.32801004 0.16633526 -0.49275310
+v 0.34188360 -0.14011098 -0.49264436
+v 0.22474615 -0.28304339 -0.27603926
+v 0.21055829 -0.31409845 -0.48378818
+v 0.33901581 0.16411123 -0.48378818
+v 0.35421887 0.07731159 -0.27603926
+v 0.33846172 -0.13907826 -0.31210780
+v 0.37043943 -0.06721707 -0.46302250
+v 0.33993017 -0.12436955 -0.27603926
+v 0.34203084 0.13882226 -0.49277960
+v 0.35635138 -0.09444991 -0.49195655
+v 0.35551539 -0.12450101 -0.48378818
+v 0.25332280 -0.25255912 -0.23027153
+v 0.20111548 -0.31880758 -0.48411394
+v 0.28226461 -0.23932513 -0.49033159
+v 0.32931807 0.18218849 -0.48378818
+v 0.33759928 0.13746987 -0.29702895
+v 0.35320508 0.12245695 -0.43287490
+v 0.36993997 0.03552955 -0.40294606
+v 0.35281938 -0.10853573 -0.37287085
+v 0.29649902 -0.20827177 -0.27603926
+v 0.36980968 -0.03685361 -0.40295640
+v 0.33835722 -0.14996215 -0.37294571
+v 0.26583533 -0.26503393 -0.43301194
+v 0.25231682 -0.27972399 -0.48378818
+v 0.31215176 -0.19759923 -0.49200196
+v 0.33803603 0.16358562 -0.46326912
+v 0.32285926 0.16357183 -0.28197542
+v 0.32997403 0.13726206 -0.23157331
+v 0.37048019 0.06588660 -0.46302075
+v 0.35318769 0.10730076 -0.37283983
+v 0.30741042 -0.19507384 -0.29715033
+v 0.29769057 -0.19796705 -0.23099910
+v 0.37020172 -0.00658872 -0.37262064
+v 0.25206066 -0.26426142 -0.31230930
+v 0.26428391 -0.25216164 -0.31230274
+v 0.21146374 -0.30046543 -0.49410251
+v 0.23927780 -0.28229028 -0.49032450
+v 0.31415266 -0.21031886 -0.48378818
+v 0.33788419 0.14835325 -0.35784172
+v 0.34024486 0.12312530 -0.27603926
+v 0.32332652 -0.16517802 -0.29708205
+v 0.30957498 -0.20657335 -0.38817758
+f 9 1 4
+f 11 4 6
+f 11 9 4
+f 11 5 9
+f 12 7 4
+f 12 4 1
+f 13 6 4
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+f 15 3 7
+f 15 7 12
+f 16 10 2
+f 17 1 9
+f 18 10 16
+f 20 15 8
+f 20 3 15
+f 21 2 10
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+f 23 5 11
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+f 63 28 8
+f 63 54 53
+f 63 8 54
+f 63 53 44
+f 63 44 28
+f 64 57 45
+f 64 42 57
+f 64 45 60
+f 64 53 42
+f 64 60 44
+f 64 44 53
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_8/collision/model_normalized_collision_14.obj b/objects/objaverse/cake/cake_8/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c493696178347e200dbd51fd80579614b8be8a71
--- /dev/null
+++ b/objects/objaverse/cake/cake_8/collision/model_normalized_collision_14.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.09444860 -0.35650953 0.14266781
+v 0.10887716 -0.33898949 -0.23020802
+v 0.11427939 -0.20518781 0.14393938
+v -0.06753879 -0.20518781 0.14393938
+v -0.06590468 -0.35499913 -0.21545369
+v 0.11427939 -0.20518781 -0.24399289
+v 0.11251945 -0.35093242 0.14346093
+v 0.03675312 -0.36932089 -0.16978885
+v -0.06675381 -0.36375914 0.14329472
+v -0.06753879 -0.20518781 -0.24399289
+v 0.10906868 -0.35476675 -0.16976531
+v 0.03674303 -0.35406593 -0.23036862
+v 0.03685418 -0.37033145 0.09715647
+v -0.03553176 -0.36943295 -0.16981816
+v -0.06692924 -0.35041568 -0.23326568
+v 0.10866722 -0.35345025 0.12726279
+v 0.07806469 -0.35247059 -0.21461890
+v 0.02161423 -0.36944715 0.12738905
+v -0.05054121 -0.35281281 -0.23005480
+v -0.03563042 -0.37045043 0.09716645
+v -0.02038894 -0.36952099 0.12739531
+f 6 4 3
+f 7 3 4
+f 7 6 3
+f 9 7 4
+f 9 1 7
+f 10 4 6
+f 11 2 6
+f 11 6 7
+f 13 8 11
+f 14 9 5
+f 14 12 8
+f 15 9 4
+f 15 4 10
+f 15 5 9
+f 15 10 6
+f 15 6 2
+f 15 2 12
+f 15 14 5
+f 16 11 7
+f 16 7 1
+f 16 13 11
+f 16 1 13
+f 17 11 8
+f 17 8 12
+f 17 12 2
+f 17 2 11
+f 18 13 1
+f 18 1 9
+f 19 15 12
+f 19 12 14
+f 19 14 15
+f 20 14 8
+f 20 8 13
+f 20 9 14
+f 21 18 9
+f 21 9 20
+f 21 20 13
+f 21 13 18
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_8/collision/model_normalized_collision_15.obj b/objects/objaverse/cake/cake_8/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b79ce51770244623c6e21ebd3c29dba9e63a4f23
--- /dev/null
+++ b/objects/objaverse/cake/cake_8/collision/model_normalized_collision_15.obj
@@ -0,0 +1,114 @@
+# https://github.com/mikedh/trimesh
+v 0.35344764 -0.00790249 0.24704330
+v 0.00797108 0.35286344 0.24768047
+v 0.28847323 0.21277857 0.24107988
+v 0.00763920 0.34944050 0.25101194
+v 0.00821879 -0.00821811 0.24999998
+v 0.13627693 0.32467157 0.24918763
+v 0.02071324 -0.01844513 0.33903260
+v 0.13981975 0.33132390 0.24084573
+v 0.33241723 0.13839640 0.24063406
+v 0.07956238 0.34078729 0.25071659
+v 0.00757660 0.12751766 0.32187734
+v 0.08164932 0.34770484 0.24272005
+v 0.19993208 0.30019906 0.23997671
+v 0.34858388 0.08021431 0.24232868
+v 0.10024637 0.12229394 0.32528011
+v 0.00755793 0.31829926 0.26418075
+v 0.31679317 0.16844593 0.24014956
+v 0.27453103 0.08073442 0.27640729
+v 0.08206637 0.27332973 0.27667415
+v 0.19985926 0.25799557 0.26048836
+v 0.00771706 0.27448985 0.28069911
+v 0.06654925 0.31757234 0.26175225
+v 0.34137285 0.07801560 0.25067157
+v 0.28265668 0.20798938 0.24942057
+v 0.27563472 -0.00770287 0.28029845
+v 0.12620316 0.25844778 0.27595113
+v 0.19575244 0.29392296 0.24828275
+v 0.12549132 0.30256636 0.26056951
+v 0.23037387 0.16938669 0.27662799
+v 0.32550263 0.13540111 0.24894534
+v 0.21818061 -0.00800881 0.29404665
+v 0.31938942 -0.00753847 0.26372002
+v 0.15646111 0.24321162 0.27567872
+v 0.15573178 0.28729736 0.26025609
+v 0.25927999 0.19853988 0.26043500
+v 0.25969495 0.12487371 0.27579647
+v 0.31875178 0.06520661 0.26147555
+v 0.31015022 0.16488289 0.24849380
+v 0.35014422 -0.00758226 0.25071530
+f 5 4 2
+f 7 5 1
+f 10 2 4
+f 11 5 7
+f 12 8 5
+f 12 5 2
+f 12 2 10
+f 12 10 6
+f 12 6 8
+f 13 5 8
+f 14 1 5
+f 14 5 9
+f 15 11 7
+f 16 4 5
+f 16 5 11
+f 17 13 3
+f 17 9 5
+f 17 5 13
+f 21 16 11
+f 21 11 15
+f 21 15 19
+f 22 10 4
+f 22 4 16
+f 22 21 19
+f 22 16 21
+f 24 17 3
+f 25 18 15
+f 26 19 15
+f 27 13 8
+f 27 8 6
+f 27 20 24
+f 27 24 3
+f 27 3 13
+f 28 22 19
+f 28 6 10
+f 28 10 22
+f 28 19 26
+f 29 20 15
+f 30 23 14
+f 30 14 9
+f 31 25 15
+f 31 15 7
+f 31 7 25
+f 32 25 7
+f 33 26 15
+f 33 15 20
+f 33 28 26
+f 34 27 6
+f 34 6 28
+f 34 28 33
+f 34 33 20
+f 34 20 27
+f 35 24 20
+f 35 20 29
+f 36 29 15
+f 36 15 18
+f 36 18 30
+f 36 35 29
+f 37 30 18
+f 37 23 30
+f 37 18 25
+f 37 25 32
+f 38 17 24
+f 38 24 35
+f 38 36 30
+f 38 35 36
+f 38 30 9
+f 38 9 17
+f 39 32 7
+f 39 7 1
+f 39 37 32
+f 39 23 37
+f 39 1 14
+f 39 14 23
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_8/collision/model_normalized_collision_17.obj b/objects/objaverse/cake/cake_8/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9359b28a2813bb5fbdf6e2b8a0417b72755d6214
--- /dev/null
+++ b/objects/objaverse/cake/cake_8/collision/model_normalized_collision_17.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v -0.06609070 -0.35691999 0.23372514
+v -0.06637543 -0.35986181 -0.49595364
+v -0.06753879 -0.29609689 -0.50000000
+v -0.17160991 -0.29236151 0.25518691
+v -0.16414393 -0.33894732 -0.48378818
+v -0.06808048 -0.29789226 0.26956688
+v -0.12332278 -0.35587064 -0.48378818
+v -0.14870097 -0.33840231 0.14229623
+v -0.17359939 -0.29609689 -0.50000000
+v -0.06635045 -0.34444665 0.25071530
+v -0.13888095 -0.34206706 -0.49283065
+v -0.16353971 -0.32266319 0.23324545
+v -0.10754309 -0.35378954 0.12729249
+v -0.18841072 -0.31060968 -0.03793300
+v -0.13485335 -0.32569910 0.24892516
+v -0.09322067 -0.35653580 -0.49214180
+v -0.16636917 -0.32797658 -0.49274119
+v -0.12319116 -0.34028510 0.23730142
+v -0.18534818 -0.30485939 -0.01411526
+v -0.07805029 -0.34132184 0.25063248
+v -0.16493068 -0.31012381 0.24849139
+v -0.13781862 -0.33854559 0.20312479
+v -0.07742187 -0.35439346 0.23348303
+f 1 2 3
+f 6 3 4
+f 7 2 1
+f 8 5 7
+f 9 3 2
+f 9 4 3
+f 10 1 3
+f 10 3 6
+f 11 7 5
+f 11 9 2
+f 13 8 7
+f 13 7 1
+f 14 9 5
+f 14 12 4
+f 14 5 8
+f 14 8 12
+f 15 6 4
+f 16 11 2
+f 16 2 7
+f 16 7 11
+f 17 11 5
+f 17 5 9
+f 17 9 11
+f 18 15 12
+f 19 14 4
+f 19 4 9
+f 19 9 14
+f 20 10 6
+f 20 6 15
+f 20 18 10
+f 20 15 18
+f 21 15 4
+f 21 4 12
+f 21 12 15
+f 22 18 12
+f 22 12 8
+f 22 8 13
+f 22 13 18
+f 23 18 13
+f 23 13 1
+f 23 1 10
+f 23 10 18
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_8/collision/model_normalized_collision_18.obj b/objects/objaverse/cake/cake_8/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9654ff23e186db5767825e9af02e6f9dbec94303
--- /dev/null
+++ b/objects/objaverse/cake/cake_8/collision/model_normalized_collision_18.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v 0.31000734 0.17293395 -0.23449541
+v 0.31895378 0.16960486 -0.49942353
+v 0.28035537 0.25155091 -0.48378818
+v 0.18362096 0.32821939 -0.47801206
+v 0.19003696 0.17360006 -0.50000000
+v 0.18445763 0.31464014 -0.49612904
+v 0.25252149 0.25328371 -0.23048697
+v 0.31409912 0.21055762 -0.48378818
+v 0.31775526 0.16896206 -0.27448143
+v 0.29694148 0.22242878 -0.48969965
+v 0.25303015 0.27921001 -0.48378818
+v 0.19003696 0.17360006 -0.24399289
+v 0.29722812 0.20751314 -0.27603926
+v 0.22379956 0.29567385 -0.48976444
+v 0.31241483 0.19639975 -0.49226516
+v 0.26445210 0.26525079 -0.41785608
+v 0.29812989 0.19686557 -0.23111799
+v 0.19488008 0.28558011 -0.26135252
+v 0.18593068 0.25949029 -0.25091585
+v 0.30915594 0.20724772 -0.38811543
+v 0.19557171 0.32220930 -0.48378818
+v 0.26397230 0.25053707 -0.29718790
+v 0.26602279 0.23707271 -0.23000493
+v 0.31274890 0.18142779 -0.27603926
+v 0.23305773 0.27668587 -0.28060600
+v 0.19787620 0.31138494 -0.49256882
+v 0.18376803 0.32849554 -0.48378818
+v 0.25232644 0.27834985 -0.46327345
+v 0.25203753 0.26284493 -0.29716749
+v 0.30790088 0.19397847 -0.29710965
+v 0.19543444 0.32195154 -0.47839671
+f 6 5 4
+f 6 2 5
+f 9 5 2
+f 9 2 8
+f 10 3 8
+f 11 3 10
+f 12 9 1
+f 12 5 9
+f 14 10 2
+f 14 2 6
+f 14 11 10
+f 15 10 8
+f 15 8 2
+f 15 2 10
+f 16 3 11
+f 16 8 3
+f 17 12 1
+f 19 4 5
+f 19 5 12
+f 19 18 4
+f 19 12 7
+f 19 7 18
+f 20 16 13
+f 20 8 16
+f 21 11 14
+f 22 7 13
+f 22 13 16
+f 23 7 12
+f 23 12 17
+f 23 17 13
+f 23 13 7
+f 24 17 1
+f 24 1 9
+f 24 9 8
+f 24 8 20
+f 25 18 7
+f 25 4 18
+f 26 21 14
+f 26 14 6
+f 26 6 21
+f 27 21 6
+f 27 6 4
+f 27 4 21
+f 28 16 11
+f 28 25 16
+f 29 22 16
+f 29 7 22
+f 29 25 7
+f 29 16 25
+f 30 13 17
+f 30 17 24
+f 30 24 20
+f 30 20 13
+f 31 21 4
+f 31 4 25
+f 31 25 28
+f 31 28 11
+f 31 11 21
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_8/collision/model_normalized_collision_19.obj b/objects/objaverse/cake/cake_8/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b24cb68c8c34180a8f1688160f5008fa334a6c36
--- /dev/null
+++ b/objects/objaverse/cake/cake_8/collision/model_normalized_collision_19.obj
@@ -0,0 +1,135 @@
+# https://github.com/mikedh/trimesh
+v 0.06806575 -0.32391105 0.25902532
+v 0.32389672 -0.06806879 0.25899391
+v 0.06731061 -0.06710787 0.31359075
+v -0.17804788 -0.00866289 0.29927527
+v -0.14233023 -0.29428291 0.26031248
+v 0.21818061 -0.00800881 0.29404665
+v 0.17061499 -0.23030381 0.27637237
+v 0.26338259 -0.20321443 0.25781454
+v 0.32481620 -0.00806453 0.26140405
+v -0.03702183 -0.21813298 0.29368625
+v -0.08055287 -0.00608019 0.32614038
+v 0.17311756 -0.14313512 0.29317036
+v -0.11231511 -0.30900053 0.25962325
+v 0.20321076 -0.26339140 0.25782495
+v 0.27563472 -0.00770287 0.28029845
+v 0.08200782 -0.27449107 0.27629008
+v 0.03830105 -0.21813067 0.29366364
+v -0.17624320 -0.16190992 0.29129041
+v -0.17222227 -0.00808043 0.30004231
+v 0.20310185 -0.08334616 0.29397022
+v 0.23028783 -0.17062694 0.27635899
+v -0.12488917 -0.25968092 0.27578510
+v -0.06522523 -0.31873074 0.26144335
+v 0.25916297 -0.19976205 0.26013026
+v -0.06679983 -0.32395036 0.25912766
+v 0.31867721 -0.06649412 0.26130950
+v 0.31938942 -0.00753847 0.26372002
+v 0.11198484 -0.30372493 0.26178437
+v 0.05211437 -0.11137224 0.30827339
+v -0.08075282 -0.27452380 0.27640558
+v 0.09804196 -0.20316342 0.29307181
+v -0.09676658 -0.20316881 0.29314605
+v 0.21813154 -0.03830701 0.29367007
+v 0.25962273 -0.12614361 0.27559592
+v -0.11074036 -0.30378118 0.26193873
+v -0.14036481 -0.24513798 0.27774329
+v 0.06647526 -0.31869624 0.26134101
+v 0.19974516 -0.25918226 0.26014081
+v 0.12612754 -0.25963546 0.27560647
+v 0.11357527 -0.30893970 0.25946872
+v 0.14313046 -0.17312120 0.29317002
+v -0.14185846 -0.17312748 0.29327524
+v 0.30894672 -0.11358410 0.25948937
+v 0.27448526 -0.08202648 0.27628890
+v -0.13976744 -0.28947111 0.26262793
+v 0.30372727 -0.11200940 0.26180492
+f 9 5 4
+f 9 2 5
+f 11 3 6
+f 13 5 2
+f 13 2 8
+f 15 11 6
+f 17 11 10
+f 18 11 4
+f 18 4 5
+f 19 9 4
+f 19 4 11
+f 20 3 12
+f 21 12 7
+f 24 14 8
+f 24 21 7
+f 25 13 8
+f 25 8 14
+f 25 14 1
+f 25 23 13
+f 25 1 23
+f 26 2 9
+f 27 11 15
+f 27 19 11
+f 27 9 19
+f 27 26 9
+f 27 15 26
+f 29 3 11
+f 29 11 17
+f 30 17 10
+f 30 16 17
+f 30 23 16
+f 31 29 17
+f 31 3 29
+f 31 17 16
+f 32 10 11
+f 32 30 10
+f 32 22 30
+f 33 6 3
+f 33 3 20
+f 33 15 6
+f 34 20 12
+f 34 12 21
+f 34 21 24
+f 34 24 8
+f 35 5 13
+f 35 30 22
+f 35 13 23
+f 35 23 30
+f 36 18 5
+f 36 32 18
+f 36 22 32
+f 37 23 1
+f 37 16 23
+f 37 28 16
+f 38 24 7
+f 38 14 24
+f 39 16 28
+f 39 31 16
+f 39 7 31
+f 39 38 7
+f 39 14 38
+f 40 1 14
+f 40 39 28
+f 40 14 39
+f 40 37 1
+f 40 28 37
+f 41 12 3
+f 41 3 31
+f 41 31 7
+f 41 7 12
+f 42 32 11
+f 42 11 18
+f 42 18 32
+f 43 2 26
+f 43 34 8
+f 43 8 2
+f 44 26 15
+f 44 15 33
+f 44 33 20
+f 44 20 34
+f 45 35 22
+f 45 5 35
+f 45 36 5
+f 45 22 36
+f 46 43 26
+f 46 26 44
+f 46 44 34
+f 46 34 43
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_8/collision/model_normalized_collision_21.obj b/objects/objaverse/cake/cake_8/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d5a9d32d8f7f486d9b129c615d4e6d1a0965519c
--- /dev/null
+++ b/objects/objaverse/cake/cake_8/collision/model_normalized_collision_21.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v -0.26429292 0.08262594 0.27966357
+v 0.00819984 0.21885916 0.29395572
+v -0.15518466 0.24327379 0.27584703
+v -0.06685127 0.32286113 0.25960289
+v 0.00808407 0.32372580 0.26186503
+v -0.08077324 0.27337545 0.27679246
+v -0.27720980 0.18674690 0.25769818
+v -0.20341065 0.12788362 0.29120179
+v -0.30917561 0.08245341 0.26321506
+v -0.12493227 0.25851972 0.27615130
+v 0.00771706 0.27448985 0.28069911
+v -0.18674789 0.27722775 0.25773227
+v -0.30745861 0.12681180 0.25847097
+v -0.24327000 0.15520688 0.27586807
+v -0.30395622 0.08087863 0.26553062
+v 0.00857641 0.22274411 0.29344435
+v -0.12565015 0.30205911 0.26076831
+v -0.06526076 0.31764657 0.26191834
+v -0.27299017 0.18329453 0.26001390
+v -0.24465636 0.12564246 0.28033017
+v -0.30243652 0.12473778 0.26076773
+v -0.12731532 0.30724373 0.25845586
+v -0.18328256 0.27301865 0.26004808
+v 0.00755793 0.31829926 0.26418075
+v -0.26883715 0.08399700 0.27799224
+f 8 1 2
+f 9 5 2
+f 10 3 8
+f 13 7 4
+f 13 4 5
+f 13 5 9
+f 14 8 3
+f 15 9 2
+f 15 2 1
+f 16 6 10
+f 16 11 6
+f 16 2 5
+f 16 5 11
+f 16 10 8
+f 16 8 2
+f 17 10 6
+f 17 3 10
+f 18 5 4
+f 18 6 11
+f 18 17 6
+f 19 7 13
+f 19 12 7
+f 20 1 8
+f 20 8 14
+f 21 13 9
+f 21 9 15
+f 21 20 14
+f 21 19 13
+f 21 14 19
+f 22 4 7
+f 22 7 12
+f 22 18 4
+f 22 17 18
+f 23 3 17
+f 23 12 19
+f 23 19 14
+f 23 14 3
+f 23 22 12
+f 23 17 22
+f 24 18 11
+f 24 11 5
+f 24 5 18
+f 25 21 15
+f 25 15 1
+f 25 1 20
+f 25 20 21
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_8/collision/model_normalized_collision_24.obj b/objects/objaverse/cake/cake_8/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c58f179668da1ea8020ad8f5afe34689280e4ad
--- /dev/null
+++ b/objects/objaverse/cake/cake_8/collision/model_normalized_collision_24.obj
@@ -0,0 +1,114 @@
+# https://github.com/mikedh/trimesh
+v 0.31961929 -0.18642500 -0.12939705
+v 0.35237778 -0.07809905 -0.21459874
+v 0.35575673 0.09293275 -0.09981864
+v 0.20518848 0.17360006 -0.09848486
+v 0.20518848 -0.17488478 -0.24399289
+v 0.31408821 0.16699522 -0.23134749
+v 0.20518848 -0.17488478 -0.09848486
+v 0.35534857 -0.09414726 -0.09985156
+v 0.31356538 -0.16804922 -0.23120445
+v 0.36944131 0.03547968 -0.16981870
+v 0.32775447 0.16619819 -0.09972603
+v 0.20518848 0.17360006 -0.24399289
+v 0.32026298 -0.18676779 -0.17250006
+v 0.32718138 -0.16723108 -0.09977514
+v 0.35406610 -0.03679617 -0.23036980
+v 0.33763242 0.14821800 -0.18397109
+v 0.37036353 -0.03690732 -0.16041627
+v 0.34177686 0.13874463 -0.09972157
+v 0.33702910 -0.14925587 -0.18380866
+v 0.34150688 -0.13999664 -0.09974280
+v 0.33898856 -0.10893444 -0.23021219
+v 0.35277401 0.05047950 -0.23004310
+v 0.35383838 0.10749860 -0.13028120
+v 0.32446491 0.16443382 -0.19968675
+v 0.36931738 -0.03680588 -0.16978889
+v 0.37088044 -0.00665453 -0.13007219
+v 0.33853740 0.14870365 -0.11527003
+v 0.35475362 -0.10911891 -0.16976608
+v 0.33790344 -0.14972048 -0.11532436
+v 0.32352539 -0.15013291 -0.22973053
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+v 0.33932650 0.10769434 -0.23029582
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+v 0.35347027 -0.10873170 -0.13030974
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+v 0.35280786 0.07688195 -0.21470674
+v 0.32410781 0.14909074 -0.22988824
+v 0.36960947 0.02034498 -0.13017385
+v 0.32304057 -0.18017823 -0.13045078
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+f 24 6 11
+f 24 11 16
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+f 29 28 20
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+f 30 13 9
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+f 33 23 3
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+f 33 25 10
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+f 37 32 6
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+f 37 6 24
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+f 38 26 33
+f 39 35 29
+f 39 29 1
+f 39 1 35
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_8/collision/model_normalized_collision_27.obj b/objects/objaverse/cake/cake_8/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c5c11711c0c3948c497247b0097e6a370cf87759
--- /dev/null
+++ b/objects/objaverse/cake/cake_8/collision/model_normalized_collision_27.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.17786720 -0.19525207 0.28429171
+v -0.17359939 -0.19003629 -0.50000000
+v -0.17626096 0.16062636 0.29140038
+v -0.26549476 0.15897374 0.26778220
+v -0.26450848 -0.19003629 -0.50000000
+v -0.17359939 0.15844855 -0.50000000
+v -0.26335950 -0.18909034 0.26164752
+v -0.26450848 0.15844855 -0.50000000
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 6 3 2
+f 6 2 5
+f 7 5 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/cake/cake_8/collision/model_normalized_collision_28.obj b/objects/objaverse/cake/cake_8/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d514ff742cf0081ab98cc9516446052103f3714
--- /dev/null
+++ b/objects/objaverse/cake/cake_8/collision/model_normalized_collision_28.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.06808048 -0.29789226 0.26956688
+v -0.06708627 -0.29459708 -0.24399289
+v -0.06753879 -0.20518781 -0.24399289
+v -0.17704811 -0.20940256 0.28061828
+v -0.17643896 -0.30142879 -0.24241485
+v -0.06862359 -0.20878294 0.29381488
+v -0.17160991 -0.29236151 0.25518691
+v -0.17359939 -0.20518781 -0.24399289
+f 1 2 3
+f 5 2 1
+f 6 1 3
+f 6 4 1
+f 7 5 1
+f 7 1 4
+f 7 4 5
+f 8 3 2
+f 8 2 5
+f 8 5 4
+f 8 6 3
+f 8 4 6
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_8/collision/model_normalized_collision_3.obj b/objects/objaverse/cake/cake_8/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..601415a8aac2f3f45f9ad652b4a66078cbdc72ea
--- /dev/null
+++ b/objects/objaverse/cake/cake_8/collision/model_normalized_collision_3.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v -0.16847397 -0.31677634 0.24014877
+v -0.16962597 -0.31893976 -0.49942330
+v -0.17359939 -0.19003629 -0.50000000
+v -0.29786111 -0.18354447 0.25071530
+v -0.27920513 -0.25294706 -0.48378818
+v -0.17786720 -0.19525207 0.28429171
+v -0.16733336 -0.32978643 0.12773153
+v -0.31463802 -0.18441588 -0.49610695
+v -0.24025605 -0.25467037 0.25071530
+v -0.20961311 -0.31473349 -0.48378818
+v -0.22245647 -0.29688815 -0.48967406
+v -0.30864474 -0.20690404 0.12710333
+v -0.17027267 -0.30500227 0.25071530
+v -0.25049571 -0.26381802 0.21803978
+v -0.16992960 -0.33466024 -0.48489149
+v -0.29572602 -0.22377127 -0.48978768
+v -0.25162943 -0.28035604 -0.48378818
+v -0.19646219 -0.31242853 -0.49230367
+v -0.31315637 -0.18362104 0.21867971
+v -0.20750180 -0.29712791 0.23730142
+v -0.18207598 -0.29871578 0.25071530
+v -0.29607829 -0.20890999 0.23730142
+v -0.26264844 -0.25179066 0.21804680
+v -0.18223395 -0.32931379 -0.48378818
+v -0.31374874 -0.21098326 -0.48378818
+v -0.20597308 -0.30926740 0.12707441
+v -0.18148674 -0.31276058 0.23730142
+v -0.20800909 -0.28259745 0.24939301
+v -0.29349608 -0.19635446 0.24827020
+v -0.30687981 -0.19540534 0.21814578
+v -0.31136861 -0.19781343 -0.49252787
+v -0.19396564 -0.30774278 0.21811371
+f 6 1 3
+f 6 3 4
+f 7 2 3
+f 7 3 1
+f 8 3 2
+f 8 4 3
+f 9 6 4
+f 13 1 6
+f 15 2 7
+f 16 8 2
+f 16 2 11
+f 16 11 5
+f 17 11 10
+f 17 5 11
+f 18 11 2
+f 18 2 10
+f 18 10 11
+f 19 4 8
+f 21 13 6
+f 21 6 9
+f 22 4 19
+f 22 20 9
+f 23 12 5
+f 23 17 14
+f 23 5 17
+f 23 22 12
+f 23 14 20
+f 23 20 22
+f 24 15 7
+f 24 10 2
+f 24 2 15
+f 25 19 8
+f 25 12 19
+f 25 16 5
+f 25 5 12
+f 26 17 10
+f 26 14 17
+f 26 20 14
+f 26 24 7
+f 26 10 24
+f 27 7 1
+f 27 21 20
+f 27 1 13
+f 27 13 21
+f 27 26 7
+f 28 21 9
+f 28 9 20
+f 28 20 21
+f 29 22 9
+f 29 9 4
+f 29 4 22
+f 30 22 19
+f 30 19 12
+f 30 12 22
+f 31 25 8
+f 31 8 16
+f 31 16 25
+f 32 27 20
+f 32 20 26
+f 32 26 27
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_8/collision/model_normalized_collision_30.obj b/objects/objaverse/cake/cake_8/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2129fa5a82c301a9d583409374ce37c1699397ad
--- /dev/null
+++ b/objects/objaverse/cake/cake_8/collision/model_normalized_collision_30.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.26450848 0.06753946 0.00160105
+v -0.26450848 0.06753946 -0.50000000
+v -0.26450848 0.15844855 -0.50000000
+v -0.30720938 0.15698206 0.01148405
+v -0.30997073 0.06754179 0.00759471
+v -0.26563735 0.15904967 0.01058697
+v -0.30996302 0.06753946 -0.50000000
+v -0.30996302 0.15844855 -0.50000000
+f 1 2 3
+f 6 1 3
+f 6 5 1
+f 6 4 5
+f 7 3 2
+f 7 2 1
+f 7 1 5
+f 8 6 3
+f 8 4 6
+f 8 3 7
+f 8 7 5
+f 8 5 4
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_8/visual/material.mtl b/objects/objaverse/cake/cake_8/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ac7612074176632fe5be688b8bc892b458617616
--- /dev/null
+++ b/objects/objaverse/cake/cake_8/visual/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 159.99998100
+map_Kd material_0.jpeg
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_8/visual/model_normalized_0.obj b/objects/objaverse/cake/cake_8/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..155da189904ff5b5d809a957b70ca1263466c67e
--- /dev/null
+++ b/objects/objaverse/cake/cake_8/visual/model_normalized_0.obj
@@ -0,0 +1,279 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
+v 0.03405019 0.12650052 0.26546097
+v 0.04345103 0.09294776 0.40035136
+v -0.01638568 0.08380335 0.42054128
+v -0.02817768 0.12588829 0.25135031
+v -0.01664078 0.10305883 0.42534911
+v -0.02843143 0.14514377 0.25615814
+v -0.07247388 0.11967477 0.27218737
+v -0.06068188 0.07758983 0.44137833
+v 0.03387834 0.13952099 0.26871139
+v 0.04327918 0.10596823 0.40360178
+v 0.10111543 0.11919278 0.33774487
+v 0.10022260 0.12237875 0.32493921
+v 0.10118927 0.11366801 0.33636603
+v 0.10029644 0.11685264 0.32356037
+v -0.06647248 0.10141818 0.26722783
+v -0.05468183 0.05933324 0.43641879
+v -0.07628416 0.02983646 0.45263867
+v -0.08807481 0.07192140 0.28344770
+v -0.08592398 0.04650342 0.45745589
+v -0.09771464 0.08858970 0.28826493
+v -0.10605751 0.04086452 0.30729619
+v -0.09426686 -0.00122042 0.47648716
+v -0.07466902 -0.00366125 0.47451489
+v -0.06947721 -0.04667661 0.49101671
+v -0.05555720 -0.03275123 0.49350990
+v -0.08645967 0.03842503 0.30532392
+v -0.08126921 -0.00459167 0.32182708
+v -0.05157238 -0.03439322 0.32245005
+v -0.03978172 -0.07647816 0.49164101
+v -0.06734785 0.00933371 0.32432028
+v -0.03765237 -0.02046784 0.32494324
+v -0.01723420 -0.02810720 0.33080903
+v -0.01959583 -0.04726869 0.32620662
+v -0.02586037 -0.06255278 0.49413421
+v -0.00544355 -0.07019214 0.50000000
+v -0.00780517 -0.08935498 0.49539759
+v 0.04771242 -0.09493480 0.49014133
+v 0.05007404 -0.07577196 0.49474240
+v 0.03592176 -0.05284851 0.32095037
+v 0.06742841 -0.04446133 0.32084028
+v 0.07921907 -0.08654627 0.49003124
+v 0.03828339 -0.03368567 0.32555144
+v 0.07417629 -0.06800237 0.49499615
+v 0.10061330 -0.05136629 0.48611624
+v 0.08477338 -0.05037411 0.48746689
+v 0.06238563 -0.02591743 0.32580519
+v 0.09989367 -0.02251932 0.46970572
+v 0.08627842 -0.02166812 0.47086706
+v 0.07444212 -0.01350112 0.33922978
+v 0.09028204 -0.01449330 0.33787913
+v 0.09265172 0.00333097 0.36578226
+v 0.06559980 0.02290868 0.40549349
+v 0.06853605 0.01242705 0.44762811
+v 0.07903647 0.00418218 0.36694360
+v 0.06292804 0.01691265 0.40418849
+v 0.06586429 0.00643237 0.44632311
+vn 0.37630173 -0.45760210 -0.80560370
+vn 0.46327680 -0.76796153 0.44227785
+vn 0.47841125 -0.73991740 0.47291112
+vn 0.02790023 -0.36850308 -0.92920776
+vn 0.07279882 0.59099043 0.80338699
+vn -0.19260112 0.82480480 -0.53160309
+vn -0.68811725 0.61301537 -0.38820973
+vn -0.14460102 0.56300398 0.81370576
+vn 0.35980277 0.79170609 -0.49370380
+vn 0.44669816 0.48129802 0.75419690
+vn 0.74883868 0.54022791 0.38391983
+vn 0.70937851 0.68097937 -0.18179449
+vn 0.76439321 -0.63849433 0.08959920
+vn 0.72499946 -0.49769963 -0.47609964
+vn -0.01230058 -0.51142407 -0.85924043
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+vn -0.38361397 0.43141571 0.81652973
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+vn -0.72120614 0.01260011 0.69260590
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+vn -0.67638715 -0.36979297 0.63698790
+vn 0.48100264 0.51980285 0.70600387
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+vn -0.50941013 -0.47670948 -0.71641425
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+vn -0.14650845 -0.57623322 -0.80404636
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+vn 0.52180384 -0.71860529 0.45970338
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+vn -0.89598953 0.14159835 -0.42089508
+vn -0.82107669 -0.13999603 0.55338429
+vt 1.75625000 1.85735000
+vt 1.75625000 0.36880000
+vt 1.70016000 0.17954000
+vt 1.70016000 2.04660000
+vt 2.04660000 0.17954000
+vt 2.04660000 2.04660000
+vt 1.69297000 1.84700000
+vt 1.69297000 -0.02006000
+vt 1.99051000 1.85735000
+vt 1.99051000 0.36880000
+vt 1.92309000 1.04242000
+vt 1.92309000 1.18373000
+vt 1.82367000 1.04242000
+vt 1.82367000 1.18373000
+vt 1.36149000 1.84700000
+vt 1.36149000 -0.02006000
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+vt -0.19949000 1.02006000
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+vt -0.70319000 -1.04660000
+vt -1.04660000 0.82046000
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+vt -0.33770000 -0.93099000
+vt -0.31165000 -0.93099000
+vt -0.57596000 0.82046000
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+vt 0.10394000 -0.68648000
+vt -0.31165000 0.70484000
+vt -0.33770000 0.70484000
+vt 0.08155000 0.46034000
+vt 0.58701000 0.11941000
+vt 0.58701000 -0.34555000
+vt 0.10394000 0.46034000
+vt 0.48058000 0.11941000
+vt 0.48058000 -0.34555000
+f 1/1/1 2/2/2 3/3/3
+f 1/1/1 3/3/3 4/4/4
+f 5/5/5 6/6/6 7/7/7
+f 5/5/5 7/7/7 8/8/8
+f 9/9/9 10/10/10 11/11/11
+f 9/9/9 11/11/11 12/12/12
+f 13/13/13 14/14/14 12/12/12
+f 13/13/13 12/12/12 11/11/11
+f 12/12/12 14/14/14 1/1/1
+f 12/12/12 1/1/1 9/9/9
+f 10/10/10 2/2/2 13/13/13
+f 10/10/10 13/13/13 11/11/11
+f 15/15/15 16/16/16 17/17/17
+f 15/15/15 17/17/17 18/18/18
+f 6/6/6 4/4/4 15/15/15
+f 6/6/6 15/15/15 7/7/7
+f 3/3/3 5/5/5 8/8/8
+f 3/3/3 8/8/8 16/16/16
+f 4/4/4 3/3/3 16/16/16
+f 4/4/4 16/16/16 15/15/15
+f 19/19/19 20/20/20 21/21/21
+f 19/19/19 21/21/21 22/22/22
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+f 8/8/8 20/20/20 19/19/19
+f 7/7/7 15/15/15 18/18/18
+f 7/7/7 18/18/18 20/20/20
+f 16/16/16 8/8/8 19/19/19
+f 16/16/16 19/19/19 17/17/17
+f 23/23/23 22/22/22 24/24/24
+f 23/23/23 24/24/24 25/25/25
+f 20/20/20 18/18/18 26/26/26
+f 20/20/20 26/26/26 21/21/21
+f 17/17/17 19/19/19 22/22/22
+f 17/17/17 22/22/22 23/23/23
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+f 24/24/24 27/27/27 28/28/28
+f 24/24/24 28/28/28 29/29/29
+f 26/26/26 23/23/23 25/25/25
+f 26/26/26 25/25/25 30/30/30
+f 22/22/22 21/21/21 27/27/27
+f 22/22/22 27/27/27 24/24/24
+f 21/21/21 26/26/26 30/30/30
+f 21/21/21 30/30/30 27/27/27
+f 28/28/28 31/31/31 32/32/32
+f 28/28/28 32/32/32 33/33/33
+f 27/27/27 30/30/30 31/31/31
+f 27/27/27 31/31/31 28/28/28
+f 25/25/25 24/24/24 29/29/29
+f 25/25/25 29/29/29 34/34/34
+f 30/30/30 25/25/25 34/34/34
+f 30/30/30 34/34/34 31/31/31
+f 35/35/35 36/36/36 37/37/37
+f 35/35/35 37/37/37 38/38/38
+f 34/34/34 29/29/29 36/36/36
+f 34/34/34 36/36/36 35/35/35
+f 31/31/31 34/34/34 35/35/35
+f 31/31/31 35/35/35 32/32/32
+f 29/29/29 28/28/28 33/33/33
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diff --git a/objects/objaverse/cake/cake_8/visual/model_normalized_1.obj b/objects/objaverse/cake/cake_8/visual/model_normalized_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..de90df89c24c56d759fad55b2201060c181c4670
--- /dev/null
+++ b/objects/objaverse/cake/cake_8/visual/model_normalized_1.obj
@@ -0,0 +1,2017 @@
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\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_8/visual/model_normalized_2.obj b/objects/objaverse/cake/cake_8/visual/model_normalized_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e3634315674e459e68f14cb3f7b7a107b1e532a
--- /dev/null
+++ b/objects/objaverse/cake/cake_8/visual/model_normalized_2.obj
@@ -0,0 +1,1119 @@
+# https://github.com/mikedh/trimesh
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diff --git a/objects/objaverse/cake/cake_8/visual/model_normalized_3.obj b/objects/objaverse/cake/cake_8/visual/model_normalized_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b43e08861cb3231392b540f536e63164b10630bd
--- /dev/null
+++ b/objects/objaverse/cake/cake_8/visual/model_normalized_3.obj
@@ -0,0 +1,1119 @@
+# https://github.com/mikedh/trimesh
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\ No newline at end of file