diff --git a/objects/objaverse/apple/apple_14/collision/model_normalized_collision_1.obj b/objects/objaverse/apple/apple_14/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7447ffc2f5e32d62bf47e2392a185e8a93f4aba0
--- /dev/null
+++ b/objects/objaverse/apple/apple_14/collision/model_normalized_collision_1.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.29129401 -0.30135310 0.29217795
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+v 0.25796127 0.37251211 0.23339890
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\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_14/collision/model_normalized_collision_11.obj b/objects/objaverse/apple/apple_14/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..16b87dbcec4ac2240856687e89e603a22a793270
--- /dev/null
+++ b/objects/objaverse/apple/apple_14/collision/model_normalized_collision_11.obj
@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
+v 0.16915337 -0.43620542 -0.11094774
+v 0.14732939 -0.39410628 -0.22557597
+v 0.15327691 -0.27346851 -0.09848485
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\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_14/collision/model_normalized_collision_20.obj b/objects/objaverse/apple/apple_14/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1dcb69bd06be155417abe9a6f3bc0088b8c9b109
--- /dev/null
+++ b/objects/objaverse/apple/apple_14/collision/model_normalized_collision_20.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.22083467 -0.23942678 0.36291568
+v -0.22551097 -0.24316548 0.21969697
+v -0.22551097 0.19622846 0.21969697
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+v -0.41980005 0.06909096 0.28277974
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\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_14/collision/model_normalized_collision_23.obj b/objects/objaverse/apple/apple_14/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0a4a568b9b6a28d87609696b06923aeda0d29a41
--- /dev/null
+++ b/objects/objaverse/apple/apple_14/collision/model_normalized_collision_23.obj
@@ -0,0 +1,171 @@
+# https://github.com/mikedh/trimesh
+v 0.19328350 0.29290803 -0.33151577
+v 0.22126066 0.33750235 -0.26237282
+v -0.24581756 0.32478923 -0.25475604
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+v -0.10117203 0.29409945 -0.39208564
+v -0.21805802 0.36811388 -0.22791532
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+v -0.21692208 0.29324193 -0.31625485
+v -0.05625191 0.37630708 -0.31299895
+v -0.20197044 0.37965775 -0.22602455
+v 0.11723575 0.40483546 -0.23836290
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+v 0.13137726 0.31639667 -0.33932097
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\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_14/collision/model_normalized_collision_25.obj b/objects/objaverse/apple/apple_14/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5abc8abd96600b21ede9ba21eace527a7f78589f
--- /dev/null
+++ b/objects/objaverse/apple/apple_14/collision/model_normalized_collision_25.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.21912403 -0.44203333 0.09690710
+v -0.21742488 -0.38156198 -0.19670805
+v -0.22083467 -0.23942678 0.36291568
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\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_14/collision/model_normalized_collision_29.obj b/objects/objaverse/apple/apple_14/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4bd241970a2f2280b3a2e776ff11b1df24d50aa2
--- /dev/null
+++ b/objects/objaverse/apple/apple_14/collision/model_normalized_collision_29.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.15460821 -0.38346968 0.26837894
+v 0.28845309 -0.28643010 -0.24701682
+v 0.29129401 -0.30135310 0.29217795
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+v 0.15510281 -0.38351702 -0.23750519
+v 0.15327691 -0.27346851 -0.23484848
+v 0.26308135 -0.36481337 -0.16604904
+v 0.21736267 -0.36157073 -0.22256926
+v 0.26613550 -0.36462677 0.22598657
+v 0.24689653 -0.36053700 -0.19359563
+v 0.23619407 -0.36230111 0.25384679
+v 0.26097696 -0.33159509 -0.22194323
+v 0.26532340 -0.34748956 0.25403952
+v 0.25185751 -0.36360434 0.24079633
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+f 12 8 2
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+f 12 7 10
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+f 13 3 11
+f 14 11 1
+f 14 1 9
+f 14 13 11
+f 14 9 13
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_14/collision/model_normalized_collision_31.obj b/objects/objaverse/apple/apple_14/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..795baf2ce8132645da70b50092d596e62bf05de7
--- /dev/null
+++ b/objects/objaverse/apple/apple_14/collision/model_normalized_collision_31.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.15155832 -0.38962634 0.26143029
+v 0.16915337 -0.43620542 -0.11094774
+v 0.15327691 -0.27346851 -0.09848485
+v -0.25413262 -0.30424073 0.30303696
+v -0.21653689 -0.38047052 0.25406007
+v 0.15327691 -0.27346851 0.26515152
+v -0.23663121 -0.41342559 -0.10469109
+v -0.22551097 -0.27346851 -0.09848485
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+f 8 4 6
+f 8 7 4
+f 8 3 2
+f 8 2 7
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_14/collision/model_normalized_collision_4.obj b/objects/objaverse/apple/apple_14/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..677021eefcb2d1e3ce1386073116868845a2399e
--- /dev/null
+++ b/objects/objaverse/apple/apple_14/collision/model_normalized_collision_4.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.36439679 -0.25673662 0.23189277
+v -0.37448870 -0.14816278 -0.24009935
+v -0.35978032 0.20359752 -0.22937742
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+v -0.39098618 0.11994788 0.29445731
+v -0.41837442 0.08589675 -0.20748714
+v -0.48064866 0.08638022 0.09717643
+v -0.45079118 -0.13216868 -0.10884635
+v -0.46323289 -0.07208889 0.19834495
+v -0.44742729 -0.11553429 0.21194702
+v -0.41229231 -0.24634330 0.12997858
+v -0.38326762 0.14606591 0.28775493
+v -0.41793474 0.18699306 -0.14920233
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+v -0.48078200 -0.01517373 -0.06512945
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+v -0.43523794 -0.13192083 -0.15066936
+v -0.46374080 -0.13159270 -0.05033071
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+v -0.39011523 0.17287920 -0.20799722
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+v -0.41927397 -0.07239556 -0.20805521
+v -0.44929147 0.02873768 -0.16564608
+v -0.48050701 0.07285485 -0.03605278
+v -0.46459411 -0.04387880 -0.12272444
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+v -0.48100328 -0.07300411 -0.02094398
+v -0.41830739 0.12773902 0.25304586
+v -0.46489728 0.05685934 0.19830066
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+v -0.40257554 0.18684655 -0.17805087
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+v -0.46393665 0.08525172 0.18373887
+v -0.43303278 -0.08737781 -0.17886248
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+f 18 11 1
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\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_14/collision/model_normalized_collision_5.obj b/objects/objaverse/apple/apple_14/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1fa1a02f1330c40fb8f7f6273fbb92477f948c9f
--- /dev/null
+++ b/objects/objaverse/apple/apple_14/collision/model_normalized_collision_5.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.26749094 -0.38273606 0.18479933
+v 0.46842549 -0.10319172 -0.06469112
+v 0.45296119 -0.07423243 0.24167034
+v 0.27448903 0.22653149 0.26515152
+v 0.27448903 0.09016786 -0.23484848
+v 0.43821789 0.21899785 0.15480545
+v 0.27023452 -0.34128923 0.25914611
+v 0.40851367 -0.27720441 0.12737520
+v 0.26644621 -0.32358004 -0.22716686
+v 0.48508947 0.07325677 0.09737299
+v 0.39662320 0.21885859 0.25653612
+v 0.27448903 0.22653149 -0.09848485
+v 0.26847531 -0.35344821 0.24258875
+v 0.46922431 -0.14690312 0.12748164
+v 0.37846174 -0.25887649 0.25253216
+v 0.40820589 -0.04455456 -0.22217298
+v 0.26580560 -0.35317610 -0.18315721
+v 0.45200446 0.10177092 0.22660067
+v 0.43821024 -0.21832944 -0.00499290
+v 0.48484463 -0.03064243 0.14185852
+v 0.33652224 -0.30119772 0.25246923
+v 0.43691189 -0.13186145 0.25453476
+v 0.43616396 -0.20502748 0.19864929
+v 0.40020554 0.08852498 -0.22728814
+v 0.37697575 -0.21817601 -0.19288250
+v 0.31995484 -0.36278747 -0.03491609
+v 0.46760651 0.13095939 0.15521708
+v 0.43804677 0.10204199 0.25478435
+v 0.43727533 0.15963036 0.22618095
+v 0.45329328 -0.19037953 0.14180153
+v 0.46871338 -0.14768435 0.02409327
+v 0.46745060 -0.08909304 0.19860828
+v 0.46765957 0.07287107 0.19817485
+v 0.48524138 -0.03037364 -0.02093691
+v 0.29340178 -0.33173173 0.25308835
+v 0.36449503 -0.31796904 0.16895108
+v 0.42332999 -0.17595691 0.25503622
+v 0.39388102 -0.27463673 0.19866169
+v 0.39301862 -0.13150429 -0.22219464
+v 0.42406598 0.21887458 -0.09405473
+v 0.43576889 -0.17517148 -0.10785641
+v 0.33307776 -0.30295255 -0.16480650
+v 0.26741242 -0.38403481 -0.11061375
+v 0.39388291 -0.29031009 -0.00487630
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+v 0.46713137 0.10187901 0.18365908
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+v 0.48514931 -0.07394208 0.09762111
+v 0.45316953 -0.01522946 -0.15023327
+v 0.48519970 -0.07380320 0.03833491
+v 0.28055717 -0.34804121 0.24047490
+v 0.33656925 -0.33218242 0.19691497
+v 0.32207402 -0.36099933 0.14014266
+v 0.39400285 -0.25937848 0.22615063
+v 0.39380889 -0.28995382 0.15543163
+f 11 6 4
+f 12 4 6
+f 12 5 9
+f 13 7 4
+f 13 4 1
+f 17 1 4
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+f 21 15 7
+f 24 9 5
+f 24 5 12
+f 28 22 3
+f 28 11 4
+f 28 4 22
+f 29 28 18
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+f 31 14 30
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+f 62 26 8
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+f 63 21 61
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+f 64 38 36
+f 64 36 8
+f 64 49 38
+f 64 8 49
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_14/collision/model_normalized_collision_6.obj b/objects/objaverse/apple/apple_14/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aa70d2ebba28b71dcfc535db5afe4dcc2dc0744c
--- /dev/null
+++ b/objects/objaverse/apple/apple_14/collision/model_normalized_collision_6.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.08852059 -0.46737593 0.12502828
+v 0.31407552 -0.37176463 -0.00659659
+v 0.21033777 -0.37040603 0.25846894
+v -0.20440490 -0.38523744 0.25776411
+v -0.09510359 -0.42742864 -0.20609402
+v 0.19379167 -0.37053025 -0.22903408
+v -0.01426691 -0.43740791 0.23954982
+v 0.24960220 -0.40590906 0.13973781
+v 0.25296216 -0.36982813 -0.16920284
+v -0.21983839 -0.38562043 0.24369410
+v 0.08814013 -0.46578111 -0.09333441
+v 0.08801583 -0.45057975 0.18136126
+v 0.15460821 -0.38346968 0.26837894
+v 0.31423083 -0.37152569 0.11233508
+v -0.23663121 -0.41342559 -0.10469109
+v -0.11626503 -0.46713392 0.15347200
+v 0.08834554 -0.43579752 -0.18034581
+v 0.21861414 -0.42152560 -0.07918885
+v 0.01502338 -0.46731456 0.16779541
+v 0.19074225 -0.41981830 0.18132703
+v -0.11511488 -0.42212979 0.25405799
+v 0.05895119 -0.43642744 0.22499105
+v 0.26312406 -0.40745470 -0.00586199
+v 0.27105649 -0.37360353 0.20189014
+v -0.20162746 -0.45233368 0.08119142
+v -0.10131527 -0.48353515 -0.00615032
+v 0.01563899 -0.45226718 -0.16663143
+v 0.15510281 -0.38351702 -0.23750519
+v 0.17456863 -0.42059018 -0.15108908
+v 0.26272285 -0.39207254 -0.09338513
+v 0.05906209 -0.46585536 0.15314985
+v -0.07319605 -0.45177044 0.21094663
+v 0.17678286 -0.40527478 0.22363969
+v 0.16125184 -0.43526659 0.16730915
+v 0.04381915 -0.42226485 0.25349826
+v -0.17269946 -0.43531143 0.19588807
+v 0.04410636 -0.45251322 0.19728680
+v 0.26344380 -0.40647756 0.09612086
+v 0.30686044 -0.37736929 -0.00539266
+v 0.11768926 -0.46796532 0.08111752
+v 0.26337172 -0.39099666 0.16816217
+v -0.21583019 -0.43535209 0.13852423
+v -0.05776470 -0.48363431 0.11075319
+v -0.10140213 -0.48288092 0.08128684
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+v 0.07320438 -0.45090678 -0.15160187
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+v 0.14732939 -0.39410628 -0.22557597
+v 0.18895275 -0.37686664 -0.22333839
+v 0.13198603 -0.45016750 -0.10828279
+v 0.26939221 -0.37182228 -0.14087230
+v 0.27794002 -0.39179579 -0.04982643
+v -0.01410031 -0.45214462 0.21121300
+v -0.07299160 -0.43737636 0.23938337
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+v 0.11742847 -0.40607261 0.25282769
+v 0.14730484 -0.43479601 0.18126699
+v 0.26534372 -0.37889309 0.19747090
+v 0.19147641 -0.43615332 0.12508484
+v -0.17321427 -0.42157785 0.22438649
+v -0.11492254 -0.45218469 0.19679791
+v 0.30718951 -0.37681248 0.11073115
+v 0.20538382 -0.43710565 -0.02058543
+v 0.23441541 -0.40562683 0.16778717
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\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_14/collision/model_normalized_collision_7.obj b/objects/objaverse/apple/apple_14/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd4a62906e1b65f7c3d4c9c8ad54e777ab8bb058
--- /dev/null
+++ b/objects/objaverse/apple/apple_14/collision/model_normalized_collision_7.obj
@@ -0,0 +1,117 @@
+# https://github.com/mikedh/trimesh
+v 0.01494369 -0.32569485 0.36004649
+v 0.01691327 -0.33407457 0.26515152
+v 0.01332959 0.01010504 0.38620761
+v -0.21907111 0.22127314 0.37315134
+v -0.23585315 -0.34751338 0.27758751
+v -0.08914733 0.22653149 0.26515152
+v -0.22490746 -0.07351225 0.40059072
+v 0.03134389 -0.21306087 0.39787498
+v 0.01341400 -0.01237500 0.30260599
+v -0.08863674 0.22566866 0.41154587
+v -0.22551097 0.22653149 0.26515152
+v -0.11372130 -0.26453521 0.39683589
+v 0.03137966 -0.22791107 0.39806358
+v -0.02854127 0.09016786 0.26515152
+v -0.22391525 0.10235681 0.39989214
+v -0.21544820 -0.23556440 0.36728199
+v -0.14248719 -0.32072944 0.35371792
+v -0.01579231 -0.26651328 0.39883542
+v 0.02793696 -0.22753246 0.39880951
+v 0.00960465 0.01342225 0.34077338
+v -0.15883764 0.22156524 0.39720071
+v -0.15824292 -0.22373978 0.39666254
+v -0.21861568 -0.17850432 0.38309831
+v -0.07337582 -0.32106699 0.36914428
+v -0.21539142 -0.29192376 0.33780877
+v 0.01310557 -0.25284402 0.39809153
+v 0.02776801 -0.21391434 0.39864966
+v -0.21859062 0.19138351 0.38361219
+v -0.15745376 -0.26451001 0.38216682
+v -0.18571585 -0.23568662 0.38174004
+v -0.11483066 -0.29162655 0.38210591
+v -0.02958950 -0.32099863 0.36897829
+v -0.20158217 -0.32094905 0.32534309
+v 0.01418855 -0.30914271 0.37170075
+v -0.20174524 0.21978064 0.38180362
+v -0.17081739 -0.30595322 0.35219528
+v -0.21736038 -0.32397029 0.31288429
+v -0.00097620 -0.29382732 0.38339081
+v -0.15636449 -0.29253913 0.36737516
+v -0.19934122 -0.30573589 0.33772101
+f 5 2 1
+f 9 8 2
+f 9 3 8
+f 10 3 6
+f 10 8 3
+f 11 10 6
+f 11 4 10
+f 11 6 2
+f 11 2 5
+f 13 1 2
+f 13 2 8
+f 14 9 2
+f 14 2 6
+f 15 7 10
+f 15 4 11
+f 15 11 5
+f 15 5 7
+f 18 10 7
+f 18 7 12
+f 19 13 8
+f 19 10 18
+f 20 14 6
+f 20 6 3
+f 20 3 9
+f 20 9 14
+f 21 15 10
+f 21 10 4
+f 22 12 7
+f 23 7 5
+f 23 5 16
+f 23 22 7
+f 24 17 5
+f 24 5 1
+f 24 18 12
+f 25 16 5
+f 26 19 18
+f 26 13 19
+f 27 19 8
+f 27 8 10
+f 27 10 19
+f 28 4 15
+f 28 15 21
+f 29 12 22
+f 29 16 25
+f 30 23 16
+f 30 22 23
+f 30 29 22
+f 30 16 29
+f 31 24 12
+f 31 17 24
+f 31 12 29
+f 32 24 1
+f 32 18 24
+f 33 5 17
+f 34 1 13
+f 34 13 26
+f 34 32 1
+f 35 28 21
+f 35 21 4
+f 35 4 28
+f 36 33 17
+f 37 33 25
+f 37 25 5
+f 37 5 33
+f 38 34 26
+f 38 26 18
+f 38 18 32
+f 38 32 34
+f 39 29 25
+f 39 25 36
+f 39 31 29
+f 39 36 17
+f 39 17 31
+f 40 36 25
+f 40 25 33
+f 40 33 36
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_14/model.xml b/objects/objaverse/apple/apple_14/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..b4ca0932a0ebb898ee90636571cc4e732db304e7
--- /dev/null
+++ b/objects/objaverse/apple/apple_14/model.xml
@@ -0,0 +1,81 @@
+<mujoco model="apple_76">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="lambert1.051" texture="image0" specular="0.5" shininess="0.25"/>
+  </asset>
+  <worldbody>
+    <body>
+      <body name="object">
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_0_vis" conaffinity="0" contype="0" group="1" material="lambert1.051"/>
+        <geom solimp="0.998 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="0.00013137144999999934 2.826705000000013e-05 -0.034372828700000004" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.00013137144999999934 2.826705000000013e-05 0.034758707900000005" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.0339668966 0.0339109358 0.0001929396" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/objects/objaverse/apple/apple_18/collision/model_normalized_collision_21.obj b/objects/objaverse/apple/apple_18/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef50c11f678170ac667e09d4379c083abccc6f3e
--- /dev/null
+++ b/objects/objaverse/apple/apple_18/collision/model_normalized_collision_21.obj
@@ -0,0 +1,129 @@
+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_18/visual/material.mtl b/objects/objaverse/apple/apple_18/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fbcf6b4b1af9257e08a0fd6e283841743ce8fad5
--- /dev/null
+++ b/objects/objaverse/apple/apple_18/visual/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 250.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_18/visual/model_normalized_0.obj b/objects/objaverse/apple/apple_18/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..483443fb7bd8551582c13c3771c6035ab0833fea
--- /dev/null
+++ b/objects/objaverse/apple/apple_18/visual/model_normalized_0.obj
@@ -0,0 +1,7145 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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+f 1484/1484/1484 1479/1479/1479 1499/1499/1499
+f 1489/1489/1489 1502/1502/1502 1500/1500/1500
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+f 1515/1515/1515 1518/1518/1518 1537/1537/1537
+f 1448/1448/1448 1494/1494/1494 1508/1508/1508
\ No newline at end of file
diff --git a/objects/objaverse/bar/.DS_Store b/objects/objaverse/bar/.DS_Store
new file mode 100644
index 0000000000000000000000000000000000000000..148e9d1ef9aa693b416d94ae7d1a16bb37798f37
Binary files /dev/null and b/objects/objaverse/bar/.DS_Store differ
diff --git a/objects/objaverse/bar/bar_3/collision/model_normalized_collision_0.obj b/objects/objaverse/bar/bar_3/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9b973010f2c98fae4881827c97a958fec88a4356
--- /dev/null
+++ b/objects/objaverse/bar/bar_3/collision/model_normalized_collision_0.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.26403820 -0.07988156 -0.11748349
+v 0.26361936 -0.07438443 -0.16629874
+v 0.27031605 0.08113057 -0.11626863
+v -0.32148448 0.07137960 -0.13181373
+v -0.31236912 -0.07152892 -0.13249935
+v 0.26514525 0.02801852 -0.18338381
+v 0.26485451 -0.05444659 -0.17563641
+v -0.23439551 -0.08040299 -0.11747445
+v -0.31062433 0.02759163 -0.18350565
+v -0.26358920 -0.07327838 -0.16553263
+v -0.23713183 0.08159960 -0.11628252
+v -0.31042002 -0.05370653 -0.17513293
+v -0.27871134 -0.07491141 -0.15948507
+v -0.27889915 -0.07652375 -0.13268060
+f 6 4 3
+f 7 1 2
+f 7 3 1
+f 7 6 3
+f 8 2 1
+f 8 1 3
+f 8 4 5
+f 9 4 6
+f 9 6 7
+f 11 8 3
+f 11 3 4
+f 11 4 8
+f 12 5 4
+f 12 4 9
+f 12 9 7
+f 12 7 2
+f 12 2 10
+f 13 12 10
+f 13 5 12
+f 13 10 2
+f 13 2 8
+f 14 13 8
+f 14 8 5
+f 14 5 13
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_3/collision/model_normalized_collision_1.obj b/objects/objaverse/bar/bar_3/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..16c29d1d5bd9637c87fd9b318eb6140ec41cc6e2
--- /dev/null
+++ b/objects/objaverse/bar/bar_3/collision/model_normalized_collision_1.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.39502469 -0.03651114 0.17993913
+v 0.44753575 -0.00009892 -0.21382233
+v 0.44548739 -0.00978476 0.18603679
+v 0.39389686 0.03592917 0.17908092
+v 0.39390001 0.03440014 -0.18410859
+v 0.44463404 0.00798084 0.18582016
+v 0.39388139 -0.03723085 -0.17476181
+v 0.44753081 0.00232167 -0.21492115
+v 0.41822405 -0.00453884 0.20786649
+v 0.40665476 -0.00078625 -0.20461494
+v 0.43324378 -0.00964943 0.20622663
+v 0.40207008 -0.01294590 0.19803318
+v 0.40679381 0.00357781 -0.20482668
+v 0.40365465 -0.02014449 -0.19295665
+v 0.40271462 -0.02411110 0.19223658
+v 0.43088833 -0.01278900 0.20350417
+v 0.41840095 -0.01634209 0.19973251
+f 6 5 4
+f 7 2 3
+f 7 3 1
+f 7 1 4
+f 7 4 5
+f 8 6 3
+f 8 3 2
+f 8 5 6
+f 9 6 4
+f 10 7 5
+f 10 8 2
+f 11 3 6
+f 11 6 9
+f 12 9 4
+f 12 4 1
+f 13 10 5
+f 13 5 8
+f 13 8 10
+f 14 10 2
+f 14 2 7
+f 14 7 10
+f 15 12 1
+f 15 9 12
+f 16 1 3
+f 16 3 11
+f 16 15 1
+f 17 11 9
+f 17 9 15
+f 17 16 11
+f 17 15 16
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_3/collision/model_normalized_collision_10.obj b/objects/objaverse/bar/bar_3/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f47c3482280d0de4e73b8444560842dccd170f6d
--- /dev/null
+++ b/objects/objaverse/bar/bar_3/collision/model_normalized_collision_10.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.31062035 0.02784401 -0.18342727
+v 0.31049526 0.03973018 -0.17995036
+v 0.27031605 0.08113057 -0.11626863
+v -0.32148448 0.07137960 -0.13181373
+v -0.31062433 0.02759163 -0.18350565
+v 0.29385328 0.07429769 -0.16574194
+v 0.30828721 0.07680969 -0.14732419
+v -0.23713183 0.08159960 -0.11628252
+v -0.27853940 0.07341396 -0.16588684
+v 0.31050984 0.05535998 -0.17534156
+v 0.26413422 0.08179999 -0.11763340
+v -0.30979928 0.06838499 -0.16750467
+v -0.29298549 0.07485344 -0.15943462
+v 0.30816483 0.07564696 -0.15952041
+v -0.31045908 0.05508925 -0.17508563
+v -0.29313121 0.07610151 -0.13240887
+v -0.23440291 0.08175235 -0.11761933
+v -0.31016879 0.07355015 -0.13252553
+f 5 2 1
+f 5 1 3
+f 7 3 1
+f 8 5 3
+f 8 4 5
+f 10 7 1
+f 10 1 2
+f 10 9 6
+f 10 2 5
+f 11 3 7
+f 11 8 3
+f 13 6 9
+f 13 12 4
+f 13 9 12
+f 14 10 6
+f 14 7 10
+f 14 11 7
+f 14 6 13
+f 15 10 5
+f 15 9 10
+f 15 12 9
+f 15 5 4
+f 15 4 12
+f 16 8 13
+f 17 14 13
+f 17 13 8
+f 17 8 11
+f 17 11 14
+f 18 16 13
+f 18 13 4
+f 18 4 8
+f 18 8 16
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_3/collision/model_normalized_collision_11.obj b/objects/objaverse/bar/bar_3/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8d2a265030aa1e5cd4f00199042468f044925e9e
--- /dev/null
+++ b/objects/objaverse/bar/bar_3/collision/model_normalized_collision_11.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v -0.37746010 -0.04830655 0.07790378
+v -0.28041487 -0.02874139 -0.18239952
+v -0.28030301 -0.01443780 0.07956863
+v -0.28696607 0.07497125 0.08042353
+v -0.35650957 0.02842772 -0.18383789
+v -0.28718402 0.07698645 -0.13297820
+v -0.36957116 0.05153250 0.07948964
+v -0.35664973 -0.00618368 -0.19221552
+v -0.31062433 0.02759163 -0.18350565
+v -0.35659289 0.00846794 -0.19239825
+v -0.32621728 0.00912723 -0.19108085
+v -0.32623756 -0.00712923 -0.19073078
+v -0.31068536 -0.01234437 -0.18816138
+f 1 2 3
+f 6 3 2
+f 6 4 3
+f 7 1 3
+f 7 3 4
+f 7 5 1
+f 7 6 5
+f 7 4 6
+f 8 2 1
+f 9 6 2
+f 9 5 6
+f 10 8 1
+f 10 1 5
+f 10 5 9
+f 11 10 9
+f 11 9 2
+f 11 8 10
+f 12 2 8
+f 12 8 11
+f 13 12 11
+f 13 11 2
+f 13 2 12
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_3/collision/model_normalized_collision_12.obj b/objects/objaverse/bar/bar_3/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5440a0590b2339d2d50e99ef76cffd5a965aaa41
--- /dev/null
+++ b/objects/objaverse/bar/bar_3/collision/model_normalized_collision_12.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v -0.35575042 -0.01615392 0.18928561
+v -0.35664973 -0.00618368 -0.19221552
+v -0.35229275 0.06188283 -0.16083631
+v -0.35314582 0.05146489 0.17339832
+v -0.41750808 -0.01685713 0.18548682
+v -0.35221603 0.06228341 -0.04188597
+v -0.41837346 -0.00976833 -0.19978009
+v -0.40883831 0.01773021 0.18493288
+v -0.35431061 0.05182874 -0.17509532
+v -0.37614479 0.04484018 0.16677062
+v -0.41587614 0.01513425 -0.19636072
+v -0.35659289 0.00846794 -0.19239825
+v -0.36536270 0.04745070 0.17346969
+v -0.36679778 0.04689406 -0.17646243
+v -0.36053268 0.05892597 -0.15883994
+v -0.35959252 0.05884426 -0.04156907
+f 1 2 3
+f 6 1 3
+f 6 4 1
+f 7 2 1
+f 7 1 5
+f 8 5 1
+f 8 1 4
+f 10 4 6
+f 11 7 5
+f 11 5 8
+f 11 8 10
+f 12 9 3
+f 12 3 2
+f 12 11 9
+f 12 2 7
+f 12 7 11
+f 13 10 8
+f 13 8 4
+f 13 4 10
+f 14 11 3
+f 14 3 9
+f 14 9 11
+f 15 11 10
+f 15 6 3
+f 15 3 11
+f 16 15 10
+f 16 10 6
+f 16 6 15
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_3/collision/model_normalized_collision_13.obj b/objects/objaverse/bar/bar_3/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e4b0619f342be6e17e796e236bb33c1ac8e690bd
--- /dev/null
+++ b/objects/objaverse/bar/bar_3/collision/model_normalized_collision_13.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v -0.27913505 -0.07842610 0.12530398
+v -0.27871134 -0.07491141 -0.15948507
+v -0.27972603 -0.03400483 0.18075655
+v -0.27979364 -0.06841960 -0.16844500
+v -0.32566186 -0.07064636 0.12398772
+v -0.28041487 -0.02874139 -0.18239952
+v -0.30807441 -0.07315241 0.01928680
+v -0.30823505 -0.07419589 0.12537250
+v -0.31082224 -0.02794770 -0.18255200
+v -0.28019184 -0.05806395 -0.17387015
+v -0.30969183 -0.06654066 -0.16767728
+v -0.29287701 -0.07297503 -0.15903284
+v -0.31048835 -0.05768522 -0.17327537
+f 1 2 3
+f 6 3 2
+f 7 2 1
+f 8 1 3
+f 8 3 5
+f 8 7 1
+f 8 5 7
+f 9 5 3
+f 9 3 6
+f 10 9 6
+f 10 6 2
+f 10 2 4
+f 11 4 2
+f 12 7 5
+f 12 5 11
+f 12 11 2
+f 12 2 7
+f 13 11 5
+f 13 5 9
+f 13 9 10
+f 13 10 4
+f 13 4 11
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_3/collision/model_normalized_collision_14.obj b/objects/objaverse/bar/bar_3/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c44be5cde5dcd7234635846ab3a1cd8652344acf
--- /dev/null
+++ b/objects/objaverse/bar/bar_3/collision/model_normalized_collision_14.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.41414513 -0.01710110 0.19524838
+v -0.41224203 -0.01554650 -0.19189651
+v -0.41062206 0.01811187 0.10920315
+v -0.44695565 0.00464302 0.20731854
+v -0.44736604 -0.00701376 0.20824780
+v -0.44822988 0.00169759 -0.21395673
+v -0.41989279 0.00818072 0.20136781
+v -0.42671495 -0.01141770 -0.19135608
+v -0.41587614 0.01513425 -0.19636072
+v -0.44832837 0.00026485 -0.21400115
+v -0.41833986 -0.00402547 0.20749365
+v -0.42845148 -0.01284788 0.19892284
+v -0.42936909 0.01114724 -0.20121346
+v -0.42029280 0.00002390 -0.20823250
+v -0.42029390 0.00213904 -0.20822882
+f 1 2 3
+f 7 1 3
+f 7 3 4
+f 8 2 1
+f 9 3 2
+f 10 5 4
+f 10 4 6
+f 10 8 5
+f 10 2 8
+f 11 5 1
+f 11 1 7
+f 11 7 4
+f 11 4 5
+f 12 8 1
+f 12 1 5
+f 12 5 8
+f 13 9 6
+f 13 6 4
+f 13 4 3
+f 13 3 9
+f 14 2 10
+f 15 9 2
+f 15 2 14
+f 15 6 9
+f 15 14 10
+f 15 10 6
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_3/collision/model_normalized_collision_15.obj b/objects/objaverse/bar/bar_3/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..579e4c32f5ddc14dd55dd30a89aeb918f262d9c9
--- /dev/null
+++ b/objects/objaverse/bar/bar_3/collision/model_normalized_collision_15.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.35609181 -0.02895959 0.18403681
+v -0.35642071 -0.02364040 0.18612392
+v -0.41989279 0.00818072 0.20136781
+v -0.35605770 0.02988051 0.18291476
+v -0.35608627 0.02463723 0.18509492
+v -0.41282675 -0.01853097 0.18626320
+v -0.41833986 -0.00402547 0.20749365
+v -0.40883831 0.01773021 0.18493288
+v -0.41414513 -0.01710110 0.19524838
+v -0.38963411 -0.00419131 0.20057625
+v -0.41302316 0.01502022 0.19382438
+v -0.38926775 0.00454993 0.19868201
+f 5 2 1
+f 5 1 4
+f 7 1 2
+f 7 3 6
+f 7 5 4
+f 7 4 3
+f 8 6 3
+f 8 4 1
+f 8 1 6
+f 9 7 6
+f 9 6 1
+f 9 1 7
+f 10 7 2
+f 10 2 5
+f 11 8 3
+f 11 3 4
+f 11 4 8
+f 12 10 5
+f 12 5 7
+f 12 7 10
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_3/collision/model_normalized_collision_16.obj b/objects/objaverse/bar/bar_3/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8e81f5034d4827a13b437b2f050077d294e0c1e0
--- /dev/null
+++ b/objects/objaverse/bar/bar_3/collision/model_normalized_collision_16.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.28025309 0.07598580 0.07955906
+v -0.27893861 0.07815075 -0.13251644
+v -0.31016879 0.07355015 -0.13252553
+v -0.32109456 0.06946435 0.08017852
+v -0.32120315 0.06996277 0.01901500
+v -0.30985852 0.07152059 0.07947716
+v -0.29284269 0.07439310 0.06409140
+v -0.32148448 0.07137960 -0.13181373
+v -0.28696607 0.07497125 0.08042353
+v -0.27874164 0.07644033 0.06412634
+v -0.28718402 0.07698645 -0.13297820
+f 5 2 1
+f 5 1 4
+f 6 3 4
+f 7 3 6
+f 8 2 5
+f 8 5 4
+f 8 4 3
+f 9 6 4
+f 9 4 1
+f 9 7 6
+f 9 1 7
+f 10 7 1
+f 10 1 2
+f 11 3 7
+f 11 8 3
+f 11 2 8
+f 11 10 2
+f 11 7 10
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_3/collision/model_normalized_collision_17.obj b/objects/objaverse/bar/bar_3/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd464b4193e96ac0fe03c5b2e56d6437b084ba73
--- /dev/null
+++ b/objects/objaverse/bar/bar_3/collision/model_normalized_collision_17.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.44736604 -0.00701376 0.20824780
+v -0.44832837 0.00026485 -0.21400115
+v -0.44695565 0.00464302 0.20731854
+v -0.49999117 -0.00133079 0.20656488
+v -0.49715529 0.00083399 -0.20692672
+v -0.46260221 -0.00182050 0.21586445
+v -0.44822988 0.00169759 -0.21395673
+v -0.49829156 -0.00045781 0.15945703
+v -0.47596244 -0.00152590 0.21543898
+v -0.49030939 -0.00005641 0.20862870
+v -0.47549807 -0.00162545 0.21545263
+v -0.46261006 -0.00206415 0.21586734
+f 5 2 1
+f 5 1 4
+f 6 1 3
+f 7 1 2
+f 7 3 1
+f 7 5 3
+f 7 2 5
+f 8 5 4
+f 8 3 5
+f 9 6 3
+f 10 8 4
+f 10 3 8
+f 10 9 3
+f 10 4 9
+f 11 9 4
+f 11 4 1
+f 12 11 1
+f 12 1 6
+f 12 6 9
+f 12 9 11
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_3/collision/model_normalized_collision_19.obj b/objects/objaverse/bar/bar_3/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92ac573578fafd538343d087fe015d36b8db070f
--- /dev/null
+++ b/objects/objaverse/bar/bar_3/collision/model_normalized_collision_19.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.23451468 -0.08232295 0.12522076
+v -0.23441049 -0.08053957 -0.13264296
+v -0.23430629 0.08003811 0.12513334
+v -0.27868781 0.07598852 0.12514055
+v -0.27913505 -0.07842610 0.12530398
+v -0.27893861 0.07815075 -0.13251644
+v -0.23443131 0.08210296 -0.13252700
+v -0.27889915 -0.07652375 -0.13268060
+f 1 2 3
+f 5 2 1
+f 5 1 3
+f 5 3 4
+f 6 4 3
+f 6 5 4
+f 7 6 3
+f 7 3 2
+f 8 2 5
+f 8 5 6
+f 8 7 2
+f 8 6 7
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_3/collision/model_normalized_collision_2.obj b/objects/objaverse/bar/bar_3/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..843de1659e843b1bdb9e8d5cc348f555f1a968c4
--- /dev/null
+++ b/objects/objaverse/bar/bar_3/collision/model_normalized_collision_2.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.26416020 -0.07939730 0.16210431
+v 0.26427212 -0.08182906 0.12522228
+v 0.26486755 -0.01886008 0.18561334
+v -0.15909157 -0.01442433 0.18555947
+v -0.15920085 -0.08276111 0.12510683
+v 0.18939414 -0.01443390 0.18561005
+v -0.15919190 -0.05643647 0.17460540
+v 0.26486670 -0.03172065 0.18156350
+v -0.15885604 -0.02989277 0.18184353
+v -0.15934360 -0.07977783 0.16188730
+v 0.18951198 -0.05644211 0.17468474
+f 5 2 1
+f 5 4 2
+f 6 3 2
+f 6 2 4
+f 6 4 3
+f 8 1 2
+f 8 2 3
+f 9 7 3
+f 9 3 4
+f 9 4 7
+f 10 5 1
+f 10 7 4
+f 10 4 5
+f 11 1 8
+f 11 10 1
+f 11 7 10
+f 11 8 3
+f 11 3 7
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_3/collision/model_normalized_collision_20.obj b/objects/objaverse/bar/bar_3/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f8d4c9e8e163d85028ecfaf2bc2be5871f8f1651
--- /dev/null
+++ b/objects/objaverse/bar/bar_3/collision/model_normalized_collision_20.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.35586106 -0.06620904 0.12407107
+v 0.34098380 -0.01206166 -0.18819798
+v 0.35093999 0.06574836 0.12500078
+v 0.27029644 0.07937359 0.12462401
+v 0.26521822 -0.01277913 -0.18708128
+v 0.34096557 0.02785834 -0.18351595
+v 0.26486670 -0.03172065 0.18156350
+v 0.26514525 0.02801852 -0.18338381
+f 5 2 1
+f 6 4 3
+f 6 1 2
+f 6 3 1
+f 7 1 3
+f 7 3 4
+f 7 5 1
+f 8 4 6
+f 8 7 4
+f 8 5 7
+f 8 6 2
+f 8 2 5
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_3/collision/model_normalized_collision_22.obj b/objects/objaverse/bar/bar_3/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2c99f596b55f77b6245c4f3015579ec837d5d269
--- /dev/null
+++ b/objects/objaverse/bar/bar_3/collision/model_normalized_collision_22.obj
@@ -0,0 +1,18 @@
+# https://github.com/mikedh/trimesh
+v 0.49841585 -0.00137639 0.20692782
+v 0.49717442 0.00131203 -0.20699365
+v 0.49780607 -0.00061690 0.20754465
+v 0.44627788 0.00628634 0.20799447
+v 0.44702301 -0.00839150 0.20817865
+v 0.44753081 0.00232167 -0.21492115
+v 0.44753575 -0.00009892 -0.21382233
+f 1 2 3
+f 3 2 4
+f 5 2 1
+f 5 1 3
+f 5 3 4
+f 6 4 2
+f 7 5 4
+f 7 4 6
+f 7 6 2
+f 7 2 5
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_3/collision/model_normalized_collision_23.obj b/objects/objaverse/bar/bar_3/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0999b53dec3ba2febd763fe6479293d698a48631
--- /dev/null
+++ b/objects/objaverse/bar/bar_3/collision/model_normalized_collision_23.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.31063506 0.03000992 0.18260198
+v -0.32342942 0.06588662 0.16408615
+v 0.30968887 0.06955300 0.16599232
+v -0.32357961 0.06321492 0.16803336
+v -0.35605770 0.02988051 0.18291476
+v -0.35405503 0.05674701 0.16761958
+v 0.30963072 0.06565004 0.16912478
+v -0.35314582 0.05146489 0.17339832
+v 0.31058418 0.03470205 0.18099080
+v -0.35606800 0.03503129 0.18092409
+f 3 2 4
+f 6 2 3
+f 6 3 1
+f 6 1 5
+f 6 4 2
+f 7 3 4
+f 8 4 6
+f 8 7 4
+f 9 7 5
+f 9 5 1
+f 9 1 3
+f 9 3 7
+f 10 8 6
+f 10 6 5
+f 10 5 7
+f 10 7 8
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_3/collision/model_normalized_collision_24.obj b/objects/objaverse/bar/bar_3/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c05daf2f1a064be293858f5f988458cb820b2d2d
--- /dev/null
+++ b/objects/objaverse/bar/bar_3/collision/model_normalized_collision_24.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.31739987 0.07330915 0.12483661
+v 0.31049526 0.03973018 -0.17995036
+v 0.30828721 0.07680969 -0.14732419
+v 0.26392087 0.08005600 0.12511865
+v 0.26533455 0.03942217 -0.18013017
+v 0.30792096 0.07482663 0.12512535
+v 0.26409951 0.08203698 -0.14762358
+v 0.27029644 0.07937359 0.12462401
+f 1 2 3
+f 5 2 1
+f 5 1 4
+f 6 1 3
+f 6 4 1
+f 7 3 2
+f 7 2 5
+f 7 5 4
+f 8 6 3
+f 8 4 6
+f 8 7 4
+f 8 3 7
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_3/collision/model_normalized_collision_25.obj b/objects/objaverse/bar/bar_3/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2a1df617161379e92a3e97d585450fdf365bf9df
--- /dev/null
+++ b/objects/objaverse/bar/bar_3/collision/model_normalized_collision_25.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.36957116 0.05153250 0.07948964
+v -0.31062433 0.02759163 -0.18350565
+v -0.30985852 0.07152059 0.07947716
+v -0.32109456 0.06946435 0.08017852
+v -0.35201977 0.05911681 -0.16969542
+v -0.35650957 0.02842772 -0.18383789
+v -0.35188562 0.06110434 0.07929495
+v -0.30979928 0.06838499 -0.16750467
+v -0.35431061 0.05182874 -0.17509532
+v -0.31045908 0.05508925 -0.17508563
+f 1 2 3
+f 1 3 4
+f 6 2 1
+f 7 5 1
+f 7 1 4
+f 7 4 5
+f 8 3 2
+f 8 5 4
+f 8 4 3
+f 9 6 1
+f 9 1 5
+f 9 5 8
+f 10 9 8
+f 10 8 2
+f 10 2 6
+f 10 6 9
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_3/collision/model_normalized_collision_26.obj b/objects/objaverse/bar/bar_3/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..26fd61a3782f0ac09a7494e9598dc5f84287b42a
--- /dev/null
+++ b/objects/objaverse/bar/bar_3/collision/model_normalized_collision_26.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.35337011 -0.06445633 0.16550604
+v 0.35604432 -0.05978745 0.17035794
+v -0.35256969 -0.05951958 0.16950395
+v -0.35474109 -0.05338674 0.17402318
+v 0.35552846 -0.05419575 0.17415104
+v 0.35398588 -0.06254200 0.16853353
+v -0.35290818 -0.06180430 0.16456546
+v -0.35514067 -0.05808364 0.16992051
+f 5 2 1
+f 6 4 3
+f 6 5 4
+f 6 2 5
+f 6 1 2
+f 6 3 1
+f 7 1 3
+f 7 5 1
+f 7 4 5
+f 8 7 3
+f 8 3 4
+f 8 4 7
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_3/collision/model_normalized_collision_27.obj b/objects/objaverse/bar/bar_3/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0fcb4e706ec052cd0689e06f78e8ffebe544c7d0
--- /dev/null
+++ b/objects/objaverse/bar/bar_3/collision/model_normalized_collision_27.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.23447207 -0.07971350 0.16238422
+v -0.23451468 -0.08232295 0.12522076
+v -0.23465210 -0.01878548 0.18548372
+v -0.31024773 -0.02079657 0.18618207
+v -0.32566186 -0.07064636 0.12398772
+v -0.23460468 -0.03187111 0.18154140
+v -0.30819305 -0.07260820 0.16211756
+v -0.30823505 -0.07419589 0.12537250
+f 5 3 2
+f 5 4 3
+f 6 3 4
+f 6 4 1
+f 6 1 2
+f 6 2 3
+f 7 2 1
+f 7 1 4
+f 7 4 5
+f 8 7 5
+f 8 5 2
+f 8 2 7
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_3/collision/model_normalized_collision_28.obj b/objects/objaverse/bar/bar_3/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2381b4bafa99c183ff051dade91d7c6f9406a35c
--- /dev/null
+++ b/objects/objaverse/bar/bar_3/collision/model_normalized_collision_28.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.44702301 -0.00839150 0.20817865
+v 0.44548739 -0.00978476 0.18603679
+v 0.44463404 0.00798084 0.18582016
+v 0.34093096 0.02994414 0.18283747
+v 0.34083919 -0.01555630 0.18848845
+v 0.42611752 0.01467310 0.18320083
+v 0.37422967 0.00460534 0.19760673
+v 0.44627788 0.00628634 0.20799447
+v 0.37489664 -0.00573820 0.19734456
+v 0.34194772 -0.01041890 0.19074005
+v 0.42560581 0.01379426 0.19800861
+v 0.34106344 0.02504696 0.18470891
+f 1 2 3
+f 5 2 1
+f 6 3 2
+f 6 5 4
+f 6 2 5
+f 8 1 3
+f 8 3 6
+f 8 7 1
+f 8 4 7
+f 9 1 7
+f 10 9 7
+f 10 5 1
+f 10 1 9
+f 11 8 6
+f 11 6 4
+f 11 4 8
+f 12 10 7
+f 12 7 4
+f 12 4 5
+f 12 5 10
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_3/collision/model_normalized_collision_29.obj b/objects/objaverse/bar/bar_3/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af1a58dfea53dc1678eb5e727203e6dddd76b6ad
--- /dev/null
+++ b/objects/objaverse/bar/bar_3/collision/model_normalized_collision_29.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.15906706 -0.06076393 0.17323784
+v -0.15919190 -0.05643647 0.17460540
+v -0.35695829 -0.01053958 0.19203829
+v -0.15919765 -0.02505839 0.18313739
+v -0.15897240 -0.01738357 0.18496124
+v -0.35514067 -0.05808364 0.16992051
+v -0.15925419 -0.01216955 0.18592360
+v -0.35474109 -0.05338674 0.17402318
+f 1 2 3
+f 3 2 4
+f 5 2 1
+f 5 4 2
+f 5 3 4
+f 7 5 1
+f 7 1 6
+f 7 6 3
+f 7 3 5
+f 8 6 1
+f 8 1 3
+f 8 3 6
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_3/collision/model_normalized_collision_30.obj b/objects/objaverse/bar/bar_3/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ebb949d19c442a8ebee798cbc3caafb77cadd791
--- /dev/null
+++ b/objects/objaverse/bar/bar_3/collision/model_normalized_collision_30.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.31058418 0.03470205 0.18099080
+v 0.31739987 0.07330915 0.12483661
+v 0.29368971 0.07475505 0.16175185
+v -0.15934496 0.07824738 0.16151651
+v -0.15906790 0.03373757 0.18063933
+v -0.15921073 0.08079413 0.12499854
+v 0.30968887 0.06955300 0.16599232
+v 0.30792096 0.07482663 0.12512535
+v 0.30770118 0.07425211 0.15408696
+f 5 2 1
+f 5 1 4
+f 6 4 3
+f 6 5 4
+f 6 2 5
+f 7 3 4
+f 7 4 1
+f 7 1 2
+f 8 6 3
+f 8 2 6
+f 9 7 2
+f 9 3 7
+f 9 8 3
+f 9 2 8
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_3/collision/model_normalized_collision_31.obj b/objects/objaverse/bar/bar_3/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fdfa00556d00f28fecba467bcf781d85bd8c3beb
--- /dev/null
+++ b/objects/objaverse/bar/bar_3/collision/model_normalized_collision_31.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v -0.27972603 -0.03400483 0.18075655
+v -0.28030301 -0.01443780 0.07956863
+v -0.28025309 0.07598580 0.07955906
+v -0.28023652 0.07582768 0.12502801
+v -0.38643147 -0.03982622 0.12773672
+v -0.37746010 -0.04830655 0.07790378
+v -0.35181460 0.06086979 0.12506579
+v -0.37704966 -0.04891993 0.11191377
+v -0.35188562 0.06110434 0.07929495
+f 1 2 3
+f 1 3 4
+f 6 2 1
+f 6 3 2
+f 7 5 1
+f 7 1 4
+f 8 6 1
+f 8 1 5
+f 8 5 6
+f 9 7 4
+f 9 4 3
+f 9 3 6
+f 9 6 5
+f 9 5 7
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_3/collision/model_normalized_collision_4.obj b/objects/objaverse/bar/bar_3/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..01600d60f051bc874dcbfd9e26cceb7126d0aa2c
--- /dev/null
+++ b/objects/objaverse/bar/bar_3/collision/model_normalized_collision_4.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v -0.30991631 -0.06932123 0.16686206
+v -0.30969183 -0.06654066 -0.16767728
+v -0.31068536 -0.01234437 -0.18816138
+v -0.41750808 -0.01685713 0.18548682
+v -0.36005628 -0.05708711 -0.15905221
+v -0.31024773 -0.02079657 0.18618207
+v -0.36089262 -0.05770855 0.16553470
+v -0.41837346 -0.00976833 -0.19978009
+v -0.38855913 -0.00464596 -0.19636073
+v -0.35575042 -0.01615392 0.18928561
+v -0.35474109 -0.05338674 0.17402318
+v -0.31042002 -0.05370653 -0.17513293
+v -0.35172809 -0.05706066 -0.16960037
+v -0.41567206 -0.01313252 -0.19652109
+v -0.37738288 -0.04566085 0.17352425
+v -0.41282675 -0.01853097 0.18626320
+v -0.35434801 -0.05049856 -0.17488076
+f 5 2 1
+f 6 1 2
+f 6 2 3
+f 7 5 1
+f 7 4 5
+f 9 8 4
+f 9 3 8
+f 10 1 6
+f 10 9 4
+f 10 6 3
+f 10 3 9
+f 11 7 1
+f 11 1 10
+f 12 8 3
+f 12 3 2
+f 12 2 8
+f 13 2 5
+f 14 5 4
+f 14 4 8
+f 14 13 5
+f 14 8 13
+f 15 4 7
+f 15 7 11
+f 16 11 10
+f 16 10 4
+f 16 15 11
+f 16 4 15
+f 17 13 8
+f 17 8 2
+f 17 2 13
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_3/collision/model_normalized_collision_5.obj b/objects/objaverse/bar/bar_3/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..847ddd9d47e1c03034a5cc2a305ced571424212f
--- /dev/null
+++ b/objects/objaverse/bar/bar_3/collision/model_normalized_collision_5.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.31065208 -0.06078557 0.17240979
+v 0.31050535 -0.05605725 0.17431573
+v 0.18936336 -0.06078635 0.17331362
+v 0.18933566 0.03379124 0.18070365
+v 0.21965777 0.03390800 0.18079661
+v 0.31107965 -0.01116646 0.18903790
+v 0.18947000 -0.02490898 0.18316864
+v 0.21995827 0.01279957 0.18616823
+v 0.31082077 -0.02344753 0.18475719
+v 0.18951198 -0.05644211 0.17468474
+v 0.21971228 0.02997135 0.18189991
+v 0.18958197 0.01309620 0.18570162
+v 0.18941609 0.02996233 0.18174296
+f 1 2 3
+f 1 3 4
+f 5 1 4
+f 6 3 2
+f 6 2 1
+f 7 4 3
+f 9 6 1
+f 9 1 5
+f 9 5 6
+f 10 7 3
+f 10 3 6
+f 10 6 7
+f 11 8 6
+f 11 6 5
+f 11 5 4
+f 12 7 6
+f 12 6 8
+f 12 4 7
+f 13 11 4
+f 13 8 11
+f 13 12 8
+f 13 4 12
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_3/collision/model_normalized_collision_6.obj b/objects/objaverse/bar/bar_3/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..634e0fcda597be2dd5d6e2c4b9551086688cc8fc
--- /dev/null
+++ b/objects/objaverse/bar/bar_3/collision/model_normalized_collision_6.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v 0.33929679 -0.06758996 0.16564704
+v 0.40365465 -0.02014449 -0.19295665
+v 0.40207008 -0.01294590 0.19803318
+v 0.33874350 0.06659577 0.16392276
+v 0.34135476 0.00879144 -0.19140767
+v 0.38972928 0.04523382 -0.17279928
+v 0.34194772 -0.01041890 0.19074005
+v 0.37427404 -0.05734891 0.16587740
+v 0.33856023 -0.06370234 -0.16832768
+v 0.40376912 0.02227797 -0.19309978
+v 0.38888019 0.04426960 0.16758351
+v 0.33907261 0.06667805 -0.16789278
+v 0.34056172 -0.05472155 0.17443632
+v 0.34055450 0.05570007 0.17316898
+v 0.34123653 -0.02350331 0.18531601
+v 0.39902187 -0.02942396 0.18720258
+v 0.34138640 -0.00670075 -0.19076717
+v 0.37347480 -0.05847930 -0.08739647
+v 0.37318873 0.05952418 -0.05731259
+v 0.39389686 0.03592917 0.17908092
+v 0.34063534 0.05418630 -0.17553068
+v 0.36703498 0.05942504 -0.16982769
+v 0.38877570 -0.04439309 0.17566731
+v 0.35507970 -0.05071746 -0.17550107
+v 0.36644542 -0.05663486 -0.16955754
+v 0.37420667 0.05923901 -0.15924978
+v 0.36656190 0.05900216 0.16490544
+v 0.38184518 0.04673448 -0.17731971
+v 0.38990362 -0.04196668 -0.17276314
+v 0.36970260 -0.04941557 -0.17541647
+v 0.38053686 0.04758189 0.17344770
+f 9 1 4
+f 10 3 2
+f 10 2 5
+f 11 10 6
+f 12 9 4
+f 12 5 9
+f 13 3 7
+f 14 7 3
+f 14 4 7
+f 15 7 4
+f 15 4 1
+f 15 13 7
+f 15 1 13
+f 16 2 3
+f 16 13 1
+f 16 3 13
+f 17 9 5
+f 17 5 2
+f 18 8 1
+f 18 1 9
+f 19 12 4
+f 20 3 10
+f 20 10 11
+f 20 14 3
+f 21 12 10
+f 21 10 5
+f 21 5 12
+f 22 10 12
+f 23 16 1
+f 23 1 8
+f 23 8 18
+f 24 17 2
+f 24 2 9
+f 24 9 17
+f 25 18 9
+f 26 19 11
+f 26 11 6
+f 26 6 22
+f 26 22 12
+f 26 12 19
+f 27 19 4
+f 27 11 19
+f 28 22 6
+f 28 6 10
+f 28 10 22
+f 29 23 18
+f 29 2 16
+f 29 16 23
+f 29 25 2
+f 29 18 25
+f 30 25 9
+f 30 9 2
+f 30 2 25
+f 31 20 11
+f 31 11 27
+f 31 14 20
+f 31 27 4
+f 31 4 14
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_3/collision/model_normalized_collision_7.obj b/objects/objaverse/bar/bar_3/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f1a38636972f3370ca72160e9c4f17fd7ce7786f
--- /dev/null
+++ b/objects/objaverse/bar/bar_3/collision/model_normalized_collision_7.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.34093096 0.02994414 0.18283747
+v 0.34096557 0.02785834 -0.18351595
+v 0.33926871 0.07073214 -0.08710409
+v 0.30963072 0.06565004 0.16912478
+v 0.31062035 0.02784401 -0.18342727
+v 0.33879313 0.06389272 0.16794594
+v 0.34063534 0.05418630 -0.17553068
+v 0.31063506 0.03000992 0.18260198
+v 0.30828721 0.07680969 -0.14732419
+v 0.31050984 0.05535998 -0.17534156
+v 0.33907261 0.06667805 -0.16789278
+v 0.30825781 0.07666723 -0.11773371
+v 0.31000933 0.06960180 -0.16829345
+v 0.32307655 0.07449608 -0.14726486
+v 0.32304494 0.07434657 -0.11778533
+f 5 2 1
+f 6 1 3
+f 6 4 1
+f 7 1 2
+f 7 3 1
+f 8 5 1
+f 8 1 4
+f 10 7 2
+f 10 2 5
+f 11 3 7
+f 12 4 6
+f 12 8 4
+f 12 9 5
+f 12 5 8
+f 13 10 5
+f 13 5 9
+f 13 9 11
+f 13 11 7
+f 13 7 10
+f 14 11 9
+f 14 3 11
+f 14 9 12
+f 15 12 6
+f 15 6 3
+f 15 14 12
+f 15 3 14
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_3/collision/model_normalized_collision_8.obj b/objects/objaverse/bar/bar_3/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..45b01dbf0a26d040e3f99ddf07695552f57684ce
--- /dev/null
+++ b/objects/objaverse/bar/bar_3/collision/model_normalized_collision_8.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.23460468 -0.03187111 0.18154140
+v -0.23522229 -0.01185533 0.18718646
+v -0.35695829 -0.01053958 0.19203829
+v -0.27848422 0.07396209 0.16180026
+v -0.23430629 0.08003811 0.12513334
+v -0.23498409 0.02598743 0.18325162
+v -0.38643147 -0.03982622 0.12773672
+v -0.35608627 0.02463723 0.18509492
+v -0.23423338 0.07811247 0.16147506
+v -0.35181460 0.06086979 0.12506579
+v -0.27868781 0.07598852 0.12514055
+v -0.35158527 0.05869341 0.16491345
+f 1 2 3
+f 6 3 2
+f 6 2 1
+f 7 5 1
+f 7 1 3
+f 8 3 6
+f 8 7 3
+f 9 8 6
+f 9 4 8
+f 9 6 1
+f 9 1 5
+f 10 5 7
+f 11 9 5
+f 11 4 9
+f 11 5 10
+f 12 8 4
+f 12 11 10
+f 12 4 11
+f 12 10 7
+f 12 7 8
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_3/collision/model_normalized_collision_9.obj b/objects/objaverse/bar/bar_3/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..693aca45088a3b085cc7f5d2e971bec10dec297b
--- /dev/null
+++ b/objects/objaverse/bar/bar_3/collision/model_normalized_collision_9.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.32318710 -0.07261268 0.16203567
+v 0.34034480 -0.05170395 -0.17555609
+v 0.34194772 -0.01041890 0.19074005
+v 0.26486755 -0.01886008 0.18561334
+v 0.26361936 -0.07438443 -0.16629874
+v 0.26521822 -0.01277913 -0.18708128
+v 0.26416020 -0.07939730 0.16210431
+v 0.33929679 -0.06758996 0.16564704
+v 0.30789913 -0.07313506 -0.15897963
+v 0.34098380 -0.01206166 -0.18819798
+v 0.31107965 -0.01116646 0.18903790
+v 0.26485451 -0.05444659 -0.17563641
+v 0.34056172 -0.05472155 0.17443632
+v 0.33856023 -0.06370234 -0.16832768
+v 0.32300626 -0.07295873 0.00411886
+v 0.29355613 -0.07203459 -0.16550189
+f 6 5 4
+f 7 4 5
+f 8 7 1
+f 9 7 5
+f 10 6 3
+f 10 3 2
+f 11 6 4
+f 11 4 3
+f 11 3 6
+f 12 2 5
+f 12 5 6
+f 12 10 2
+f 12 6 10
+f 13 3 4
+f 13 4 7
+f 13 7 8
+f 13 8 2
+f 13 2 3
+f 14 5 2
+f 14 2 8
+f 15 1 7
+f 15 7 9
+f 15 9 14
+f 15 14 8
+f 15 8 1
+f 16 14 9
+f 16 9 5
+f 16 5 14
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_3/model.xml b/objects/objaverse/bar/bar_3/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..c58b4e160eb99581e4bb483e0ee6575408c75bd5
--- /dev/null
+++ b/objects/objaverse/bar/bar_3/model.xml
@@ -0,0 +1,81 @@
+<mujoco model="bar_4">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.49999999999999994 0.49999999999999994 0.4999999999999999 -0.49999999999999994"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.49999999999999994 0.49999999999999994 0.4999999999999999 -0.49999999999999994"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.49999999999999994 0.49999999999999994 0.4999999999999999 -0.49999999999999994"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.49999999999999994 0.49999999999999994 0.4999999999999999 -0.49999999999999994"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.49999999999999994 0.49999999999999994 0.4999999999999999 -0.49999999999999994"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.49999999999999994 0.49999999999999994 0.4999999999999999 -0.49999999999999994"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.49999999999999994 0.49999999999999994 0.4999999999999999 -0.49999999999999994"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.49999999999999994 0.49999999999999994 0.4999999999999999 -0.49999999999999994"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.49999999999999994 0.49999999999999994 0.4999999999999999 -0.49999999999999994"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.49999999999999994 0.49999999999999994 0.4999999999999999 -0.49999999999999994"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.49999999999999994 0.49999999999999994 0.4999999999999999 -0.49999999999999994"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.49999999999999994 0.49999999999999994 0.4999999999999999 -0.49999999999999994"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.49999999999999994 0.49999999999999994 0.4999999999999999 -0.49999999999999994"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.49999999999999994 0.49999999999999994 0.4999999999999999 -0.49999999999999994"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.49999999999999994 0.49999999999999994 0.4999999999999999 -0.49999999999999994"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.49999999999999994 0.49999999999999994 0.4999999999999999 -0.49999999999999994"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.49999999999999994 0.49999999999999994 0.4999999999999999 -0.49999999999999994"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.49999999999999994 0.49999999999999994 0.4999999999999999 -0.49999999999999994"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.49999999999999994 0.49999999999999994 0.4999999999999999 -0.49999999999999994"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.49999999999999994 0.49999999999999994 0.4999999999999999 -0.49999999999999994"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.49999999999999994 0.49999999999999994 0.4999999999999999 -0.49999999999999994"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.49999999999999994 0.49999999999999994 0.4999999999999999 -0.49999999999999994"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.49999999999999994 0.49999999999999994 0.4999999999999999 -0.49999999999999994"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.49999999999999994 0.49999999999999994 0.4999999999999999 -0.49999999999999994"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.49999999999999994 0.49999999999999994 0.4999999999999999 -0.49999999999999994"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.49999999999999994 0.49999999999999994 0.4999999999999999 -0.49999999999999994"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.49999999999999994 0.49999999999999994 0.4999999999999999 -0.49999999999999994"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.49999999999999994 0.49999999999999994 0.4999999999999999 -0.49999999999999994"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.49999999999999994 0.49999999999999994 0.4999999999999999 -0.49999999999999994"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.49999999999999994 0.49999999999999994 0.4999999999999999 -0.49999999999999994"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.49999999999999994 0.49999999999999994 0.4999999999999999 -0.49999999999999994"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.49999999999999994 0.49999999999999994 0.4999999999999999 -0.49999999999999994"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.49999999999999994 0.49999999999999994 0.4999999999999999 -0.49999999999999994"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="kek05.002" 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="kek05.002"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_22._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_23._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_21._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_20._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_24._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_30._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_18._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_19._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_31._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_25._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_27._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_26._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_9._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_8._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_6._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_7._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_5._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_4._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_0._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_1._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_3._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_2._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_17._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_16._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_28._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_14._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_15._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_29._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_11._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_10._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_12._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_13._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+      </body>
+      <site rgba="0 0 0 0" size="0.005" pos="-8.042622160365996e-05 -0.0001339022057344516 -0.013957503710936191" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="-8.042622160365996e-05 -0.0001339022057344516 0.014069389129080269" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.036536597856984744 0.08473068943571037 5.5942709072040254e-05" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/objects/objaverse/canned_food/canned_food_18/collision/model_normalized_collision_0.obj b/objects/objaverse/canned_food/canned_food_18/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e922ceafc7271142c52a86b22954c93f6416960a
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_18/collision/model_normalized_collision_0.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v 0.12420580 -0.44441631 -0.23484848
+v 0.25545937 -0.37864169 -0.49999987
+v 0.24980349 -0.24980350 -0.23484848
+v -0.21989348 -0.24980350 -0.23484848
+v -0.26825322 -0.38480639 -0.49609685
+v 0.24980349 -0.24980350 -0.35606060
+v 0.24395815 -0.39156626 -0.23484848
+v 0.09396736 -0.45982575 -0.49609685
+v -0.21594972 -0.40813182 -0.23484848
+v -0.21989348 -0.24980350 -0.35606060
+v -0.29070888 -0.36435189 -0.49925011
+v 0.15245143 -0.44391772 -0.47999199
+v -0.12457556 -0.44432366 -0.23484848
+v -0.09433712 -0.45973325 -0.49609685
+v -0.28799953 -0.36069882 -0.46212121
+v -0.28532163 -0.37223961 -0.47961959
+v 0.19739068 -0.41690962 -0.23484848
+v 0.09407665 -0.46026214 -0.47999199
+v 0.24118432 -0.40208992 -0.49609685
+v -0.15264830 -0.44336949 -0.49609685
+v -0.28527765 -0.37218022 -0.49609685
+v -0.26852110 -0.38516770 -0.47999199
+v 0.16797729 -0.42981250 -0.23484848
+v -0.09444646 -0.46016950 -0.47999199
+v 0.15229986 -0.44349419 -0.49609685
+v 0.24105424 -0.40187290 -0.47929539
+v -0.16832571 -0.42968780 -0.23484849
+v -0.24139574 -0.40178688 -0.47939631
+v -0.15279985 -0.44379310 -0.47999199
+v 0.22612997 -0.40225206 -0.23484849
+v -0.19771182 -0.41675773 -0.23484848
+f 6 3 2
+f 6 4 3
+f 7 2 3
+f 9 3 4
+f 10 4 6
+f 11 4 10
+f 11 10 6
+f 11 6 2
+f 13 1 9
+f 14 11 2
+f 14 2 8
+f 15 9 4
+f 15 4 11
+f 16 15 11
+f 16 9 15
+f 17 7 3
+f 17 9 1
+f 17 3 9
+f 18 12 1
+f 18 1 13
+f 18 14 8
+f 19 2 7
+f 20 5 11
+f 20 11 14
+f 21 16 11
+f 21 11 5
+f 22 9 16
+f 22 21 5
+f 22 16 21
+f 23 17 1
+f 23 1 12
+f 23 12 17
+f 24 18 13
+f 24 14 18
+f 24 20 14
+f 25 19 12
+f 25 8 2
+f 25 2 19
+f 25 18 8
+f 25 12 18
+f 26 17 12
+f 26 12 19
+f 26 19 7
+f 28 9 22
+f 28 22 5
+f 28 5 20
+f 29 24 13
+f 29 20 24
+f 29 13 27
+f 29 28 20
+f 29 9 28
+f 30 26 7
+f 30 7 17
+f 30 17 26
+f 31 29 27
+f 31 9 29
+f 31 27 13
+f 31 13 9
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_18/collision/model_normalized_collision_1.obj b/objects/objaverse/canned_food/canned_food_18/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f5bb30211f76f35f9e22b8c06b526dbc7e93bbd7
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_18/collision/model_normalized_collision_1.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v 0.09396732 -0.45982563 0.49609697
+v 0.31819555 -0.33415167 0.46212123
+v 0.31485629 -0.33046732 0.50000001
+v -0.21989346 -0.24980351 0.49482163
+v -0.09606158 -0.45146596 0.26515152
+v 0.24980349 -0.24980350 0.26515153
+v -0.21334312 -0.41777214 0.49609697
+v 0.26799957 -0.38499426 0.49609697
+v 0.24980350 -0.24980350 0.49482162
+v -0.09868136 -0.24980350 0.26515153
+v -0.09433709 -0.45973313 0.49609697
+v -0.23531577 -0.39674632 0.40151517
+v 0.30068181 -0.36028269 0.49609697
+v 0.15229983 -0.44349406 0.49609697
+v 0.22612995 -0.40225200 0.26515153
+v -0.15279981 -0.44379298 0.47999214
+v 0.09407662 -0.46026202 0.47999214
+v -0.21989348 -0.24980350 0.40151516
+v 0.24395812 -0.39156622 0.26515153
+v 0.24105415 -0.40187275 0.47929550
+v -0.15264826 -0.44336938 0.49609697
+v -0.09444643 -0.46016938 0.47999214
+v 0.12420578 -0.44441624 0.26515152
+v 0.26826753 -0.38535560 0.47999214
+v 0.15245137 -0.44391761 0.47999214
+v 0.28499773 -0.37233269 0.47950267
+v 0.16797727 -0.42981242 0.26515152
+f 7 3 4
+f 9 3 2
+f 9 2 6
+f 9 4 3
+f 11 1 3
+f 12 7 4
+f 12 5 7
+f 12 10 5
+f 13 2 3
+f 13 3 8
+f 14 8 3
+f 14 3 1
+f 16 7 5
+f 17 1 11
+f 17 14 1
+f 18 12 4
+f 18 10 12
+f 18 4 9
+f 18 9 6
+f 18 6 10
+f 19 6 2
+f 19 2 13
+f 20 8 14
+f 20 15 19
+f 21 7 16
+f 21 11 3
+f 21 3 7
+f 22 16 5
+f 22 21 16
+f 22 11 21
+f 22 17 11
+f 22 5 17
+f 23 17 5
+f 24 13 8
+f 24 20 19
+f 24 8 20
+f 25 20 14
+f 25 15 20
+f 25 14 17
+f 25 17 23
+f 26 24 19
+f 26 19 13
+f 26 13 24
+f 27 25 23
+f 27 15 25
+f 27 19 15
+f 27 6 19
+f 27 10 6
+f 27 23 5
+f 27 5 10
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_18/collision/model_normalized_collision_10.obj b/objects/objaverse/canned_food/canned_food_18/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1315ccf31b955337006080911e450a6fdfda8407
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_18/collision/model_normalized_collision_10.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.46147198 -0.00735701 -0.23484848
+v 0.46147198 -0.00735701 -0.41666667
+v 0.39674621 0.23531590 -0.41666667
+v 0.24980349 0.21989348 -0.23484848
+v 0.24980349 -0.00737925 -0.35606060
+v 0.40813179 0.21594977 -0.23484848
+v 0.24980349 -0.00737925 -0.23484848
+v 0.42796799 0.17313161 -0.46212121
+v 0.24980349 0.21989348 -0.35606060
+v 0.37101562 -0.00737925 -0.41666667
+v 0.40813178 0.21594976 -0.41666666
+v 0.44432358 0.12457550 -0.23484848
+v 0.45146600 0.09606156 -0.46212121
+v 0.41675759 0.19771185 -0.23484848
+v 0.44432357 0.12457549 -0.46212121
+v 0.41675758 0.19771185 -0.41666666
+v 0.42968764 0.16832558 -0.23484848
+v 0.42968763 0.16832557 -0.46212121
+f 6 3 4
+f 7 4 5
+f 9 5 4
+f 9 4 3
+f 9 8 5
+f 9 3 8
+f 10 5 8
+f 10 7 5
+f 10 2 1
+f 10 1 7
+f 11 8 3
+f 11 3 6
+f 13 10 8
+f 13 2 10
+f 13 12 1
+f 13 1 2
+f 14 11 6
+f 14 6 4
+f 14 4 7
+f 15 13 8
+f 15 12 13
+f 16 14 8
+f 16 8 11
+f 16 11 14
+f 17 8 14
+f 17 12 15
+f 17 1 12
+f 17 14 7
+f 17 7 1
+f 18 17 15
+f 18 15 8
+f 18 8 17
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_18/collision/model_normalized_collision_11.obj b/objects/objaverse/canned_food/canned_food_18/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a3cf93b6075250df0f9c065c211522dc2a6d0f6c
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_18/collision/model_normalized_collision_11.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.24395812 -0.39156622 0.46212123
+v 0.40828357 -0.21562847 -0.46212121
+v 0.40828354 -0.21562846 0.46212123
+v 0.24980350 -0.21950047 0.49482161
+v 0.24980349 -0.21950047 -0.49482159
+v 0.30617139 -0.35118798 0.49925026
+v 0.24629637 -0.39546737 -0.49925011
+v 0.34064624 -0.21946070 0.49469780
+v 0.24975730 -0.32549879 0.49466651
+v 0.37236815 -0.28502403 -0.49609685
+v 0.26826759 -0.38535570 -0.47999199
+v 0.33194554 -0.33194693 0.49609697
+v 0.37817814 -0.27418149 -0.49794852
+v 0.31653941 -0.34591022 0.49609697
+v 0.26799960 -0.38499430 -0.49609685
+v 0.38488499 -0.25510503 0.46212123
+v 0.38609958 -0.21945996 -0.49446358
+v 0.25510507 -0.38488500 0.46212123
+v 0.40225203 -0.22612994 0.46212123
+f 5 1 4
+f 5 3 2
+f 5 4 3
+f 7 1 5
+f 8 3 4
+f 8 4 6
+f 9 6 4
+f 9 4 1
+f 9 1 6
+f 11 1 7
+f 12 8 6
+f 12 3 8
+f 12 11 10
+f 13 2 3
+f 13 3 10
+f 13 7 5
+f 14 6 1
+f 14 12 6
+f 14 11 12
+f 15 11 7
+f 15 10 11
+f 15 13 10
+f 15 7 13
+f 16 12 10
+f 17 13 5
+f 17 5 2
+f 17 2 13
+f 18 14 1
+f 18 1 11
+f 18 11 14
+f 19 16 10
+f 19 10 3
+f 19 3 12
+f 19 12 16
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_18/collision/model_normalized_collision_12.obj b/objects/objaverse/canned_food/canned_food_18/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2756e055d46bd9cc9e39f265a4983c377776ca2e
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_18/collision/model_normalized_collision_12.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v -0.34103924 -0.21946071 0.49469577
+v -0.34103924 -0.21946067 -0.49469575
+v -0.32595409 -0.12859137 0.26515153
+v -0.44354495 -0.12768429 0.46212123
+v -0.41799595 -0.21287014 -0.49609691
+v -0.34110560 -0.12859137 0.49482159
+v -0.32595409 -0.21950047 -0.35606060
+v -0.38649258 -0.21945999 0.49446158
+v -0.34110560 -0.12859137 -0.49482159
+v -0.32595409 -0.21950047 0.26515153
+v -0.40835555 -0.21547666 0.46212123
+v -0.38648724 -0.12856529 0.49468457
+v -0.42694896 -0.18680152 -0.49925018
+v -0.32595409 -0.12859137 -0.35606060
+v -0.42985702 -0.16785255 0.46212123
+v -0.44354498 -0.12768430 -0.44696970
+v -0.41698142 -0.19723875 0.46212123
+v -0.38648724 -0.12856529 -0.49468458
+f 6 1 3
+f 6 3 4
+f 8 5 2
+f 8 2 7
+f 10 7 3
+f 10 3 1
+f 10 8 7
+f 10 1 8
+f 11 5 8
+f 12 6 4
+f 12 4 8
+f 12 8 1
+f 12 1 6
+f 13 9 2
+f 13 2 5
+f 14 3 7
+f 14 7 2
+f 14 2 9
+f 14 4 3
+f 15 8 4
+f 15 13 5
+f 15 4 13
+f 16 13 4
+f 16 14 9
+f 16 4 14
+f 17 11 8
+f 17 8 15
+f 17 15 5
+f 17 5 11
+f 18 16 9
+f 18 9 13
+f 18 13 16
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_18/collision/model_normalized_collision_13.obj b/objects/objaverse/canned_food/canned_food_18/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..810277aa1c7ef28864f9b2697ea2e19e8f655675
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_18/collision/model_normalized_collision_13.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v -0.09606157 -0.45146593 0.46212123
+v -0.09606158 -0.45146596 0.26515152
+v -0.09868136 -0.24980350 0.26515153
+v -0.21989348 -0.24980350 0.40151516
+v -0.23531576 -0.39674632 0.46212123
+v -0.21989348 -0.24980350 0.26515153
+v -0.09868136 -0.24980350 0.40151516
+v -0.16832569 -0.42968775 0.46212123
+v -0.21594970 -0.40813176 0.26515152
+v -0.09868136 -0.37101562 0.49482165
+v -0.12457554 -0.44432357 0.46212123
+v -0.21594969 -0.40813174 0.46212123
+v -0.16832569 -0.42968775 0.26515153
+v -0.19771178 -0.41675765 0.46212123
+v -0.12457555 -0.44432359 0.26515152
+v -0.19771179 -0.41675768 0.26515152
+f 1 2 3
+f 6 4 3
+f 6 5 4
+f 7 1 3
+f 7 3 4
+f 9 5 6
+f 10 1 7
+f 10 7 4
+f 10 4 5
+f 11 2 1
+f 11 10 8
+f 11 1 10
+f 12 5 9
+f 12 10 5
+f 14 12 9
+f 14 8 10
+f 14 10 12
+f 15 2 11
+f 15 11 8
+f 15 8 13
+f 15 3 2
+f 15 6 3
+f 16 14 9
+f 16 13 8
+f 16 8 14
+f 16 15 13
+f 16 9 6
+f 16 6 15
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_18/collision/model_normalized_collision_14.obj b/objects/objaverse/canned_food/canned_food_18/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cdeab1a767f1d46bfd16f0a03d95d3534ea08a2b
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_18/collision/model_normalized_collision_14.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.21950046 0.32595409 0.26515153
+v 0.21945996 0.38649258 -0.49446164
+v 0.21547669 0.40835560 0.26515153
+v 0.12768432 0.44354501 0.26515153
+v 0.12859137 0.32595409 -0.35606060
+v 0.21287010 0.41799598 -0.49609698
+v 0.21950046 0.32595409 -0.35606060
+v 0.12859137 0.32595409 0.26515153
+v 0.16785259 0.42985710 0.26515153
+v 0.12768430 0.44354493 -0.35606060
+v 0.18916397 0.38648939 -0.49454616
+v 0.19723878 0.41698148 0.26515153
+v 0.18680156 0.42694902 -0.49925025
+f 1 2 3
+f 6 3 2
+f 7 2 1
+f 7 1 5
+f 8 5 1
+f 9 4 8
+f 9 8 1
+f 9 1 3
+f 10 8 4
+f 10 5 8
+f 11 7 5
+f 11 2 7
+f 12 9 3
+f 12 3 6
+f 12 6 9
+f 13 10 4
+f 13 6 2
+f 13 2 11
+f 13 11 5
+f 13 5 10
+f 13 9 6
+f 13 4 9
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_18/collision/model_normalized_collision_15.obj b/objects/objaverse/canned_food/canned_food_18/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e835da5f6244cb22a7ac84b2177e8b1899aefe32
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_18/collision/model_normalized_collision_15.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v -0.35619010 0.23500482 0.49456965
+v -0.14413590 0.34110560 0.49482152
+v -0.40772910 0.22957027 0.49726840
+v -0.14286948 0.44362679 0.49925014
+v -0.14133724 0.43934447 0.46212123
+v -0.40218261 0.22624585 0.46212123
+v -0.28522846 0.37250700 0.47977749
+v -0.26806511 0.38494580 0.49609685
+v -0.37250680 0.28522839 0.47977728
+v -0.18238801 0.43193792 0.47912069
+v -0.40203647 0.24130976 0.47956483
+v -0.38494586 0.26806515 0.49609685
+v -0.18257163 0.43232618 0.49609685
+v -0.24130986 0.40203676 0.47956495
+v -0.38530702 0.26833304 0.47999202
+v -0.40202049 0.24130021 0.49609688
+v -0.26833303 0.38530713 0.47999202
+f 1 2 3
+f 3 2 4
+f 5 4 2
+f 6 5 2
+f 6 2 1
+f 6 1 3
+f 7 5 6
+f 8 3 4
+f 9 7 6
+f 10 4 5
+f 11 6 3
+f 12 3 8
+f 12 8 7
+f 12 7 9
+f 13 8 4
+f 13 4 10
+f 14 10 5
+f 14 13 10
+f 14 8 13
+f 15 9 6
+f 15 6 11
+f 15 12 9
+f 16 11 3
+f 16 3 12
+f 16 15 11
+f 16 12 15
+f 17 14 5
+f 17 5 7
+f 17 7 8
+f 17 8 14
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_18/collision/model_normalized_collision_16.obj b/objects/objaverse/canned_food/canned_food_18/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9987757552311029b54677cc935b10b159573e59
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_18/collision/model_normalized_collision_16.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v 0.37997904 -0.27551712 -0.47999199
+v 0.45982585 -0.09396731 -0.49609691
+v 0.44441612 -0.12420556 -0.41666667
+v 0.36069883 0.28799967 -0.46212121
+v 0.36435196 0.29070899 -0.49925025
+v 0.45146600 0.09606156 -0.41666667
+v 0.41168656 -0.20843349 -0.41666667
+v 0.37817814 -0.27418149 -0.49794852
+v 0.46026220 -0.09407655 -0.47999206
+v 0.40813178 0.21594976 -0.41666666
+v 0.45973310 0.09433718 -0.49609691
+v 0.38076265 -0.26094676 -0.46212121
+v 0.41792404 -0.21302188 -0.49609691
+v 0.37094847 -0.21946020 -0.49454163
+v 0.38516762 0.26852112 -0.47999212
+v 0.39674621 0.23531590 -0.41666667
+v 0.44379299 0.15279975 -0.47999206
+v 0.46016938 0.09444645 -0.47999206
+v 0.40187269 -0.24105408 -0.47929532
+v 0.44391762 -0.15245130 -0.47999206
+v 0.44349424 -0.15229979 -0.49609691
+v 0.38499432 -0.26799960 -0.49609685
+v 0.37223956 0.28532166 -0.47961969
+v 0.40178686 0.24139565 -0.47939641
+v 0.41675758 0.19771185 -0.41666666
+v 0.44336954 0.15264821 -0.49609691
+v 0.38535566 -0.26826758 -0.47999199
+v 0.42981229 -0.16797717 -0.41666667
+v 0.42276567 -0.18500883 -0.41666667
+v 0.37218013 0.28527769 -0.49609698
+v 0.38480622 0.26825321 -0.49609698
+f 8 5 2
+f 9 6 3
+f 11 2 5
+f 12 7 4
+f 12 1 7
+f 14 4 5
+f 14 5 8
+f 14 12 4
+f 14 8 1
+f 14 1 12
+f 16 4 7
+f 16 7 10
+f 18 6 9
+f 18 9 2
+f 18 2 11
+f 18 17 6
+f 19 13 7
+f 20 9 3
+f 21 13 8
+f 21 8 2
+f 21 20 13
+f 21 2 9
+f 21 9 20
+f 22 1 8
+f 22 8 13
+f 22 13 19
+f 23 5 4
+f 23 16 15
+f 23 4 16
+f 24 16 10
+f 24 15 16
+f 24 10 17
+f 25 17 10
+f 25 6 17
+f 25 10 7
+f 26 11 5
+f 26 24 17
+f 26 18 11
+f 26 17 18
+f 27 19 7
+f 27 7 1
+f 27 22 19
+f 27 1 22
+f 28 20 3
+f 29 7 13
+f 29 13 20
+f 29 20 28
+f 29 28 3
+f 29 3 6
+f 29 25 7
+f 29 6 25
+f 30 23 15
+f 30 5 23
+f 31 30 15
+f 31 15 24
+f 31 24 26
+f 31 26 5
+f 31 5 30
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_18/collision/model_normalized_collision_17.obj b/objects/objaverse/canned_food/canned_food_18/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..08e33f39a638ab5818d67d6343c5376ff5b70159
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_18/collision/model_normalized_collision_17.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v -0.41452836 -0.20242542 -0.44696969
+v -0.34110560 -0.12859137 -0.49482159
+v -0.34110560 -0.12859137 -0.41666667
+v -0.45411441 0.08231301 -0.41666667
+v -0.46195868 0.08122911 -0.49609691
+v -0.34110560 0.08352984 -0.41666667
+v -0.44354498 -0.12768430 -0.41666667
+v -0.38648940 -0.18916397 -0.49454609
+v -0.34110560 0.08352984 -0.49482159
+v -0.46201584 -0.08084457 -0.49609691
+v -0.43247789 -0.18225043 -0.49609691
+v -0.46246076 -0.08091053 -0.47999206
+v -0.43201328 -0.18203060 -0.47903680
+v -0.44801073 -0.10985612 -0.41666667
+v -0.46240360 0.08129506 -0.47999206
+v -0.44834475 -0.13874324 -0.49609691
+f 6 3 2
+f 6 4 3
+f 7 1 3
+f 7 3 4
+f 8 2 3
+f 8 3 1
+f 9 5 4
+f 9 4 6
+f 9 6 2
+f 11 9 2
+f 11 5 9
+f 11 10 5
+f 11 2 8
+f 11 8 1
+f 13 11 1
+f 13 1 7
+f 14 12 7
+f 14 7 4
+f 14 4 12
+f 15 12 4
+f 15 4 5
+f 15 5 10
+f 15 10 12
+f 16 12 10
+f 16 10 11
+f 16 11 13
+f 16 13 7
+f 16 7 12
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_18/collision/model_normalized_collision_18.obj b/objects/objaverse/canned_food/canned_food_18/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d08cf105af59840ecc43853e7d1b935c8cb10d6f
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_18/collision/model_normalized_collision_18.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v -0.38649258 -0.21945999 0.49446158
+v -0.40102800 -0.22817226 0.46212123
+v -0.39417354 0.23960826 0.46212123
+v -0.38990858 0.23705195 0.49999992
+v -0.46201582 -0.08084457 0.49609691
+v -0.41799590 -0.21287012 0.49609691
+v -0.45663972 0.06528860 0.46212123
+v -0.43201323 -0.18203057 0.47903681
+v -0.44834471 -0.13874322 0.49609691
+v -0.46195870 0.08122911 0.49609691
+v -0.45669685 -0.06490406 0.46212123
+v -0.43247783 -0.18225041 0.49609691
+v -0.43232620 0.18257157 0.49609691
+v -0.44118874 -0.13618276 0.46212123
+v -0.46240362 0.08129507 0.47999208
+v -0.44822012 0.13909174 0.49609691
+v -0.40772910 0.22957027 0.49726840
+v -0.41112529 -0.20962053 0.46212123
+v -0.46246074 -0.08091053 0.47999208
+v -0.44106386 0.13653123 0.46212123
+v -0.43193800 0.18238803 0.47912084
+v -0.41784405 0.21319120 0.49609691
+v -0.41097336 0.20994165 0.46212123
+v -0.40218261 0.22624585 0.46212123
+f 1 2 3
+f 1 3 4
+f 6 2 1
+f 6 1 4
+f 7 3 2
+f 8 2 6
+f 9 4 5
+f 10 5 4
+f 11 7 2
+f 12 9 8
+f 12 8 6
+f 12 6 4
+f 12 4 9
+f 14 11 2
+f 15 7 11
+f 15 5 10
+f 16 10 4
+f 16 4 13
+f 16 15 10
+f 17 13 4
+f 17 4 3
+f 18 14 2
+f 18 2 8
+f 18 8 14
+f 19 14 8
+f 19 8 9
+f 19 9 5
+f 19 11 14
+f 19 15 11
+f 19 5 15
+f 20 3 7
+f 20 7 15
+f 21 16 13
+f 21 20 15
+f 21 15 16
+f 22 17 3
+f 22 21 13
+f 22 13 17
+f 23 3 20
+f 23 20 21
+f 24 22 3
+f 24 21 22
+f 24 23 21
+f 24 3 23
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_18/collision/model_normalized_collision_19.obj b/objects/objaverse/canned_food/canned_food_18/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a9cc1247c23802127957703b19518b18f952830
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_18/collision/model_normalized_collision_19.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.46147198 -0.00735701 0.26515153
+v 0.46147198 -0.00735701 -0.23484848
+v 0.40813182 0.21594978 0.26515153
+v 0.00737925 0.21989348 0.26515153
+v 0.00737925 -0.00737925 -0.23484848
+v 0.00737925 0.21989348 -0.23484848
+v 0.44432359 0.12457550 0.26515153
+v 0.00737925 -0.00737925 0.26515153
+v 0.40813179 0.21594977 -0.23484848
+v 0.44432358 0.12457550 -0.23484848
+v 0.42968764 0.16832558 -0.23484848
+v 0.41675762 0.19771186 0.26515153
+v 0.41675759 0.19771185 -0.23484848
+v 0.42968766 0.16832559 0.26515153
+f 6 4 3
+f 6 5 4
+f 6 2 5
+f 7 1 2
+f 8 4 5
+f 8 5 2
+f 8 2 1
+f 9 6 3
+f 9 2 6
+f 10 7 2
+f 10 2 9
+f 11 10 9
+f 12 9 3
+f 12 3 4
+f 12 4 8
+f 13 12 11
+f 13 11 9
+f 13 9 12
+f 14 11 12
+f 14 7 10
+f 14 10 11
+f 14 1 7
+f 14 12 8
+f 14 8 1
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_18/collision/model_normalized_collision_2.obj b/objects/objaverse/canned_food/canned_food_18/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fcbd01dbd944094c36b72f322a9e22fb4e6ad59e
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_18/collision/model_normalized_collision_2.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v -0.34110560 -0.12859137 0.49482159
+v -0.32595409 -0.12859137 -0.35606060
+v -0.32595409 0.18959045 0.26515153
+v -0.38648939 0.18955698 0.49454508
+v -0.44801073 -0.10985612 -0.41666667
+v -0.34103971 0.18955095 0.49478812
+v -0.32595409 -0.12859137 0.26515153
+v -0.44354498 -0.12768430 -0.41666667
+v -0.44801070 -0.10985611 0.46212123
+v -0.34103973 0.18955096 -0.49478814
+v -0.40163645 0.08351100 0.49466845
+v -0.40163827 -0.12856511 0.49459888
+v -0.44822008 0.13909172 -0.49609691
+v -0.32595409 0.18959045 -0.35606060
+v -0.34110560 -0.12859137 -0.41666667
+v -0.44791794 0.11022588 0.46212123
+v -0.44354495 -0.12768429 0.46212123
+v -0.45861345 0.08298038 -0.49925018
+v -0.43232615 0.18257155 -0.49609691
+v -0.34110560 0.08352984 -0.49482159
+v -0.42268565 0.18517813 0.46212123
+v -0.42973233 0.16820106 0.46212123
+f 6 3 4
+f 7 1 2
+f 7 2 3
+f 7 6 1
+f 7 3 6
+f 9 5 8
+f 11 6 4
+f 11 1 6
+f 12 11 9
+f 12 1 11
+f 14 3 2
+f 14 2 10
+f 14 10 4
+f 14 4 3
+f 15 12 8
+f 15 2 1
+f 15 1 12
+f 16 11 4
+f 16 9 11
+f 17 12 9
+f 17 9 8
+f 17 8 12
+f 18 5 9
+f 18 16 13
+f 18 9 16
+f 18 8 5
+f 18 15 8
+f 19 4 10
+f 19 18 13
+f 19 10 18
+f 20 10 2
+f 20 2 15
+f 20 18 10
+f 20 15 18
+f 21 4 19
+f 22 16 4
+f 22 4 21
+f 22 13 16
+f 22 21 19
+f 22 19 13
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_18/collision/model_normalized_collision_20.obj b/objects/objaverse/canned_food/canned_food_18/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4adb72f0efd9aec08ffecbf311815d9e2d1535a6
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_18/collision/model_normalized_collision_20.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.21989348 -0.21950047 0.26515153
+v -0.21989348 -0.21950047 -0.35606060
+v -0.21989348 0.18959045 0.26515153
+v -0.32595409 0.18959045 0.26515153
+v -0.32595409 -0.21950047 -0.35606060
+v -0.32595409 0.18959045 -0.35606060
+v -0.32595409 -0.21950047 0.26515153
+v -0.21989348 0.18959045 -0.35606060
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 6 4 3
+f 6 5 4
+f 6 2 5
+f 7 5 1
+f 7 1 4
+f 7 4 5
+f 8 6 3
+f 8 3 2
+f 8 2 6
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_18/collision/model_normalized_collision_21.obj b/objects/objaverse/canned_food/canned_food_18/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4718b2b2f949e0b24a532e7973312fe6c25b9e1a
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_18/collision/model_normalized_collision_21.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.21989349 -0.21950047 0.49482159
+v -0.21989348 -0.21950047 0.26515153
+v -0.21989348 0.18959045 0.49482159
+v -0.34103971 0.18955095 0.49478812
+v -0.38901411 -0.24821603 0.26515153
+v -0.21989348 0.18959045 0.26515153
+v -0.34103924 -0.21946071 0.49469577
+v -0.34110560 0.18959045 0.26515153
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 6 3 2
+f 7 5 1
+f 7 1 4
+f 7 4 5
+f 8 5 4
+f 8 4 3
+f 8 3 6
+f 8 6 2
+f 8 2 5
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_18/collision/model_normalized_collision_22.obj b/objects/objaverse/canned_food/canned_food_18/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..38aaae48268a087f9c7d039753035a6a3585b1b3
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_18/collision/model_normalized_collision_22.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.39691955 -0.23502670 -0.35606060
+v 0.37094847 -0.21946020 -0.49454163
+v 0.39674622 0.23531591 -0.35606061
+v 0.24980349 0.21989348 -0.35606060
+v 0.24980349 -0.21950047 -0.35606060
+v 0.24980348 0.21989350 -0.49482161
+v 0.37094845 0.21985325 -0.49454046
+v 0.24980349 -0.21950047 -0.49482159
+f 1 3 4
+f 5 1 4
+f 6 4 3
+f 6 5 4
+f 7 1 2
+f 7 3 1
+f 7 6 3
+f 7 2 6
+f 8 2 1
+f 8 1 5
+f 8 6 2
+f 8 5 6
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_18/collision/model_normalized_collision_23.obj b/objects/objaverse/canned_food/canned_food_18/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1f483ffd9c8552819707d671a20357b2a73f3bac
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_18/collision/model_normalized_collision_23.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.12859137 0.32595409 0.26515153
+v 0.12859137 0.32595409 -0.23484848
+v 0.12768432 0.44354501 0.26515153
+v 0.00733775 0.46147304 0.26515153
+v 0.00737925 0.32595409 -0.23484848
+v 0.10985614 0.44801063 -0.23484848
+v 0.00737925 0.32595409 0.26515153
+v 0.12768430 0.44354495 -0.23484848
+v 0.10985616 0.44801070 0.26515153
+v 0.00733775 0.46147297 -0.23484848
+f 1 2 3
+f 5 2 1
+f 7 5 1
+f 8 6 3
+f 8 3 2
+f 9 6 4
+f 9 3 6
+f 9 4 7
+f 9 7 1
+f 9 1 3
+f 10 4 6
+f 10 7 4
+f 10 5 7
+f 10 6 8
+f 10 8 2
+f 10 2 5
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_18/collision/model_normalized_collision_24.obj b/objects/objaverse/canned_food/canned_food_18/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f2ffbe3fc69815834d4c67b917c3749bc946dbe9
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_18/collision/model_normalized_collision_24.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.25842134 -0.38263546 -0.35606060
+v 0.25545937 -0.37864169 -0.49999987
+v 0.24980349 -0.24980350 -0.35606060
+v -0.21989348 -0.24980350 -0.35606060
+v -0.23531581 -0.39674640 -0.35606060
+v -0.21989347 -0.24980349 -0.49482157
+v 0.24980350 -0.24980347 -0.49482155
+v -0.21985323 -0.37094846 -0.49454038
+f 5 2 1
+f 5 1 3
+f 5 3 4
+f 6 5 4
+f 7 1 2
+f 7 3 1
+f 7 2 6
+f 7 6 4
+f 7 4 3
+f 8 6 2
+f 8 2 5
+f 8 5 6
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_18/collision/model_normalized_collision_25.obj b/objects/objaverse/canned_food/canned_food_18/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ea5cc8b5db4a37af70ce0ce655a987a74f6014e
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_18/collision/model_normalized_collision_25.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.21950046 0.21989348 0.26515153
+v 0.21950046 0.21989348 -0.23484848
+v 0.21950046 0.32595409 0.26515153
+v 0.00737925 0.32595409 0.26515153
+v 0.00737925 0.21989348 0.26515153
+v 0.00737925 0.32595409 -0.23484848
+v 0.21950046 0.32595409 -0.23484848
+v 0.00737925 0.21989348 -0.23484848
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 5 1 4
+f 6 4 3
+f 6 5 4
+f 7 6 3
+f 7 3 2
+f 7 2 6
+f 8 6 2
+f 8 2 5
+f 8 5 6
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_18/collision/model_normalized_collision_26.obj b/objects/objaverse/canned_food/canned_food_18/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8001f8a23e330a312efa5cc374ec40eb2841cf8c
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_18/collision/model_normalized_collision_26.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.21989348 -0.21950047 -0.35606060
+v -0.21989347 -0.21950046 -0.49482159
+v -0.21989348 0.18959045 -0.35606060
+v -0.34110560 0.18959045 -0.35606060
+v -0.38901415 -0.24821605 -0.35606060
+v -0.21989348 0.18959045 -0.49482159
+v -0.34103973 0.18955096 -0.49478814
+v -0.34103924 -0.21946067 -0.49469575
+f 1 2 3
+f 5 2 1
+f 5 1 3
+f 5 3 4
+f 6 3 2
+f 6 4 3
+f 7 5 4
+f 7 4 6
+f 7 6 2
+f 8 7 2
+f 8 2 5
+f 8 5 7
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_18/collision/model_normalized_collision_27.obj b/objects/objaverse/canned_food/canned_food_18/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..70af75dcc3079560a930b90167c25ef1df2865cf
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_18/collision/model_normalized_collision_27.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.39691951 -0.23502670 0.40151517
+v 0.39691955 -0.23502670 -0.35606060
+v 0.37101562 -0.00737925 0.40151516
+v 0.24980349 -0.00737925 0.40151516
+v 0.24980349 -0.21950047 -0.35606060
+v 0.24980349 -0.21950047 0.40151516
+v 0.37101562 -0.00737925 -0.35606060
+v 0.24980349 -0.00737925 -0.35606060
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 6 5 1
+f 6 1 4
+f 6 4 5
+f 7 3 2
+f 7 2 5
+f 7 4 3
+f 8 7 5
+f 8 5 4
+f 8 4 7
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_18/collision/model_normalized_collision_28.obj b/objects/objaverse/canned_food/canned_food_18/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..57cf0127c2e8cf787fd5d510bc51006b322c7520
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_18/collision/model_normalized_collision_28.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v 0.12420578 -0.44441624 0.26515152
+v 0.24395812 -0.39156622 0.00757576
+v 0.24980349 -0.00737925 0.26515153
+v -0.21989348 -0.00737925 0.26515153
+v -0.21594972 -0.40813178 0.00757576
+v 0.24980349 -0.00737925 0.00757576
+v 0.24395812 -0.39156622 0.26515153
+v 0.12420579 -0.44441628 0.00757576
+v -0.21594970 -0.40813176 0.26515152
+v -0.21989348 -0.00737925 0.00757576
+v 0.19739065 -0.41690955 0.26515152
+v -0.12457555 -0.44432362 0.00757576
+v 0.16797728 -0.42981247 0.00757576
+v 0.22612995 -0.40225200 0.00757576
+v -0.12457555 -0.44432359 0.26515152
+v -0.16832569 -0.42968775 0.26515153
+v 0.16797727 -0.42981242 0.26515152
+v 0.22612995 -0.40225200 0.26515153
+v 0.19739063 -0.41690957 0.00757576
+v -0.19771179 -0.41675768 0.25000001
+v -0.16832567 -0.42968776 0.00757576
+v -0.19771179 -0.41675768 0.26515152
+v -0.19771181 -0.41675767 0.00757576
+f 6 3 2
+f 6 4 3
+f 7 2 3
+f 9 4 5
+f 10 5 4
+f 10 4 6
+f 12 8 1
+f 13 1 8
+f 13 6 2
+f 13 8 12
+f 13 10 6
+f 14 2 7
+f 14 13 2
+f 15 12 1
+f 16 12 15
+f 16 4 9
+f 16 3 4
+f 16 15 1
+f 17 13 11
+f 17 1 13
+f 18 14 7
+f 18 17 11
+f 18 1 17
+f 18 16 1
+f 18 7 3
+f 18 3 16
+f 19 11 13
+f 19 13 14
+f 19 18 11
+f 19 14 18
+f 20 9 5
+f 21 12 16
+f 21 5 10
+f 21 13 12
+f 21 10 13
+f 21 16 20
+f 22 20 16
+f 22 16 9
+f 22 9 20
+f 23 21 20
+f 23 20 5
+f 23 5 21
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_18/collision/model_normalized_collision_29.obj b/objects/objaverse/canned_food/canned_food_18/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6a1e120db7946ede0b5b95044c3ee1de5d17999c
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_18/collision/model_normalized_collision_29.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.00735701 -0.46147205 0.00757576
+v 0.00735701 -0.46147208 -0.23484848
+v 0.00733775 0.46147300 0.00757576
+v -0.11022593 0.44791805 0.00757577
+v -0.21594972 -0.40813182 -0.23484848
+v -0.12457556 -0.44432366 -0.23484848
+v -0.21594972 -0.40813178 0.00757576
+v 0.00733775 0.46147297 -0.23484848
+v -0.21579781 0.40820363 0.00757577
+v -0.12457555 -0.44432362 0.00757576
+v -0.21579779 0.40820360 -0.23484848
+v -0.16832571 -0.42968780 -0.23484849
+v -0.16820102 0.42973240 0.00757577
+v -0.11022592 0.44791802 -0.23484848
+v -0.16832567 -0.42968776 0.00757576
+v -0.19771182 -0.41675773 -0.23484848
+v -0.19755990 0.41682955 0.00757577
+v -0.16820101 0.42973237 -0.23484848
+v -0.19771181 -0.41675767 0.00757576
+v -0.19755989 0.41682952 -0.23484848
+f 1 2 3
+f 1 3 4
+f 8 3 2
+f 9 5 7
+f 10 6 2
+f 10 2 1
+f 11 5 9
+f 12 6 10
+f 12 5 11
+f 12 11 8
+f 12 8 2
+f 12 2 6
+f 13 1 4
+f 14 8 11
+f 14 4 3
+f 14 3 8
+f 15 12 10
+f 16 7 5
+f 16 5 12
+f 16 12 15
+f 17 11 9
+f 17 9 7
+f 17 7 13
+f 18 14 11
+f 18 13 4
+f 18 4 14
+f 19 16 15
+f 19 7 16
+f 19 15 10
+f 19 10 1
+f 19 13 7
+f 19 1 13
+f 20 18 11
+f 20 11 17
+f 20 17 13
+f 20 13 18
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_18/collision/model_normalized_collision_3.obj b/objects/objaverse/canned_food/canned_food_18/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e23a4c92c43f6efa95a7405101a4c3064ed4f368
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_18/collision/model_normalized_collision_3.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v 0.24980349 -0.24980350 -0.23484848
+v 0.24980350 -0.24980347 -0.49482155
+v 0.22817220 0.40102804 -0.35606061
+v -0.11022592 0.44791802 -0.23484848
+v -0.21989347 -0.24980349 -0.49482157
+v 0.21950046 0.32595409 -0.23484848
+v 0.24980349 0.21989348 -0.23484848
+v -0.21989348 -0.24980350 -0.23484848
+v 0.08084455 0.46201586 -0.49609698
+v 0.12768430 0.44354495 -0.23484848
+v 0.24980348 0.21989350 -0.49482161
+v -0.21579779 0.40820360 -0.23484848
+v 0.10985614 0.44801063 -0.23484848
+v 0.18225043 0.43247803 -0.49609698
+v -0.21319124 0.41784403 -0.49609698
+v 0.08091053 0.46246075 -0.47999212
+v 0.18203058 0.43201311 -0.47903686
+v 0.21945996 0.38649258 -0.49446164
+v -0.16820101 0.42973237 -0.23484848
+v -0.08122908 0.46195877 -0.49609698
+v 0.13874330 0.44834477 -0.49609698
+v 0.18485697 0.42283752 -0.35606060
+v -0.18238798 0.43193785 -0.47912083
+v -0.08129507 0.46240371 -0.47999212
+v -0.19755989 0.41682952 -0.23484848
+v -0.13909169 0.44822012 -0.49609698
+v -0.18257158 0.43232608 -0.49609698
+f 5 2 1
+f 7 1 2
+f 7 3 6
+f 8 5 1
+f 10 6 3
+f 11 7 2
+f 11 3 7
+f 12 5 8
+f 13 7 6
+f 13 6 10
+f 13 1 7
+f 14 11 2
+f 15 5 12
+f 15 9 14
+f 15 14 2
+f 15 2 5
+f 16 13 10
+f 17 3 14
+f 18 14 3
+f 18 3 11
+f 18 11 14
+f 19 8 1
+f 19 13 4
+f 19 1 13
+f 20 9 15
+f 21 14 9
+f 21 9 16
+f 21 16 10
+f 21 17 14
+f 21 10 17
+f 22 17 10
+f 22 10 3
+f 22 3 17
+f 23 15 12
+f 24 16 9
+f 24 9 20
+f 24 4 13
+f 24 13 16
+f 25 23 12
+f 25 19 23
+f 25 12 8
+f 25 8 19
+f 26 20 15
+f 26 24 20
+f 26 4 24
+f 26 23 19
+f 26 19 4
+f 27 26 15
+f 27 15 23
+f 27 23 26
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_18/collision/model_normalized_collision_30.obj b/objects/objaverse/canned_food/canned_food_18/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..711805a832571998934ac8500833a13cae92f307
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_18/collision/model_normalized_collision_30.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.00737925 -0.00737925 0.26515153
+v 0.00737925 -0.00737925 0.00757576
+v 0.00733775 0.46147304 0.26515153
+v -0.11022594 0.44791808 0.26515153
+v -0.21989348 -0.00737925 0.26515153
+v -0.00772982 0.46145374 0.00757576
+v 0.00733775 0.46147300 0.00757576
+v -0.21579781 0.40820363 0.00757577
+v -0.21579782 0.40820366 0.26515153
+v -0.11022593 0.44791805 0.00757577
+v -0.21989348 -0.00737925 0.00757576
+v -0.16820103 0.42973243 0.26515153
+v -0.19755990 0.41682955 0.00757577
+v -0.19755992 0.41682957 0.26515153
+v -0.16820102 0.42973240 0.00757577
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 6 4 3
+f 7 6 3
+f 7 3 2
+f 10 4 6
+f 10 6 8
+f 11 2 5
+f 11 9 8
+f 11 5 9
+f 11 8 6
+f 11 7 2
+f 11 6 7
+f 12 5 1
+f 12 1 4
+f 13 8 9
+f 14 13 9
+f 14 12 13
+f 14 9 5
+f 14 5 12
+f 15 13 12
+f 15 10 8
+f 15 8 13
+f 15 12 4
+f 15 4 10
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_18/collision/model_normalized_collision_31.obj b/objects/objaverse/canned_food/canned_food_18/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a36566e5b863894017d4545bf70843c516dc8c3
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_18/collision/model_normalized_collision_31.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.12420579 -0.44441628 0.00757576
+v 0.24395815 -0.39156626 -0.23484848
+v 0.24980349 -0.00737925 0.00757576
+v 0.00737925 -0.00737925 0.00757576
+v 0.00735701 -0.46147208 -0.23484848
+v 0.00737925 -0.00737925 -0.23484848
+v 0.24395812 -0.39156622 0.00757576
+v 0.12420580 -0.44441631 -0.23484848
+v 0.00735701 -0.46147205 0.00757576
+v 0.24980349 -0.00737925 -0.23484848
+v 0.19739068 -0.41690962 -0.23484848
+v 0.19739063 -0.41690957 0.00757576
+v 0.22612997 -0.40225206 -0.23484849
+v 0.16797728 -0.42981247 0.00757576
+v 0.22612995 -0.40225200 0.00757576
+v 0.16797729 -0.42981250 -0.23484848
+f 6 4 3
+f 7 2 3
+f 8 1 5
+f 9 5 1
+f 9 6 5
+f 9 4 6
+f 10 6 3
+f 10 3 2
+f 12 9 1
+f 12 4 9
+f 12 7 3
+f 12 3 4
+f 13 2 7
+f 13 10 2
+f 13 6 10
+f 13 8 5
+f 13 5 6
+f 14 1 8
+f 14 12 1
+f 14 11 12
+f 15 13 7
+f 15 7 12
+f 15 12 11
+f 15 11 13
+f 16 14 8
+f 16 11 14
+f 16 13 11
+f 16 8 13
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_18/collision/model_normalized_collision_4.obj b/objects/objaverse/canned_food/canned_food_18/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..612c8a6c5a8ba7f2b417d9aa5e7507ea4ff54458
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_18/collision/model_normalized_collision_4.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.41224323 0.21789428 0.49925020
+v 0.40813178 0.21594976 -0.46212121
+v 0.36008735 0.30089767 -0.49609698
+v 0.21742130 0.41246715 0.49925014
+v 0.21950046 0.21989347 0.49482159
+v 0.33194627 0.33194639 0.49609685
+v 0.38422758 0.26390957 -0.49925025
+v 0.21742125 0.41246704 -0.49925025
+v 0.38516769 0.26852117 0.47999202
+v 0.40191657 0.24147343 0.49609688
+v 0.26781156 0.38513385 -0.49609698
+v 0.21950047 0.21989349 -0.49482160
+v 0.38480628 0.26825325 0.49609685
+v 0.24101108 0.40219393 0.49609685
+v 0.38609957 0.21985300 -0.49446240
+v 0.24101101 0.40219383 -0.49609698
+v 0.26781163 0.38513395 0.49609685
+f 5 2 1
+f 5 1 4
+f 6 4 1
+f 8 5 4
+f 9 3 6
+f 9 7 3
+f 10 1 2
+f 10 2 7
+f 10 7 9
+f 11 3 7
+f 11 7 8
+f 11 6 3
+f 12 8 7
+f 12 2 5
+f 12 5 8
+f 13 10 9
+f 13 9 6
+f 13 6 1
+f 13 1 10
+f 14 8 4
+f 15 12 7
+f 15 7 2
+f 15 2 12
+f 16 11 8
+f 16 8 14
+f 17 14 4
+f 17 4 6
+f 17 6 11
+f 17 16 14
+f 17 11 16
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_18/collision/model_normalized_collision_5.obj b/objects/objaverse/canned_food/canned_food_18/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..24341024f888bfffcf29cc2746b72eaf6303eaa7
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_18/collision/model_normalized_collision_5.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v 0.33681553 -0.32202898 0.49925026
+v 0.46147198 -0.00735701 0.26515153
+v 0.45973314 0.09433719 0.49609691
+v 0.24980349 0.21989347 0.49482157
+v 0.24980349 -0.00737925 0.26515153
+v 0.40813182 0.21594978 0.26515153
+v 0.41777214 0.21334309 0.49609691
+v 0.44349420 -0.15229978 0.49609691
+v 0.33344556 -0.31897460 0.46212123
+v 0.24980350 -0.21950047 0.49482161
+v 0.44432359 0.12457550 0.26515153
+v 0.24980349 0.21989348 0.26515153
+v 0.45982582 -0.09396730 0.49609691
+v 0.38535564 -0.26826753 0.47999214
+v 0.24980349 -0.21950047 0.40151516
+v 0.46016941 0.09444645 0.47999208
+v 0.42968766 0.16832559 0.26515153
+v 0.44441609 -0.12420555 0.40151516
+v 0.38499429 -0.26799956 0.49609697
+v 0.34591027 -0.31653937 0.49609697
+v 0.34027879 -0.31143532 0.46212123
+v 0.46026217 -0.09407654 0.47999208
+v 0.44379303 0.15279977 0.47999208
+v 0.41675762 0.19771186 0.26515153
+v 0.40187265 -0.24105401 0.47929540
+v 0.37233265 -0.28499767 0.47950260
+v 0.44391758 -0.15245129 0.47999208
+v 0.44336958 0.15264822 0.49609691
+f 7 4 1
+f 7 6 4
+f 9 5 2
+f 10 1 4
+f 10 9 1
+f 11 2 6
+f 12 5 4
+f 12 4 6
+f 12 6 2
+f 12 2 5
+f 13 3 1
+f 13 1 8
+f 15 5 9
+f 15 9 10
+f 15 10 4
+f 15 4 5
+f 16 2 11
+f 16 3 13
+f 17 11 6
+f 18 14 2
+f 19 8 1
+f 20 1 9
+f 20 19 1
+f 21 9 2
+f 22 16 13
+f 22 2 16
+f 22 18 2
+f 22 13 8
+f 23 17 7
+f 23 16 11
+f 23 11 17
+f 24 17 6
+f 24 6 7
+f 24 7 17
+f 25 14 18
+f 25 19 14
+f 25 8 19
+f 26 20 9
+f 26 14 19
+f 26 19 20
+f 26 9 21
+f 26 21 2
+f 26 2 14
+f 27 22 8
+f 27 18 22
+f 27 25 18
+f 27 8 25
+f 28 23 7
+f 28 3 16
+f 28 16 23
+f 28 7 1
+f 28 1 3
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_18/collision/model_normalized_collision_6.obj b/objects/objaverse/canned_food/canned_food_18/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f02ab773811deb88b27be6c598023f118afcbb98
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_18/collision/model_normalized_collision_6.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.24980350 -0.24980350 0.49482162
+v 0.24980349 -0.24980350 0.26515153
+v 0.21287014 0.41799609 0.49609685
+v -0.08122910 0.46195890 0.49609685
+v -0.21989348 -0.24980350 0.26515153
+v 0.10985616 0.44801070 0.26515153
+v -0.21989346 -0.24980351 0.49482163
+v 0.24980349 0.21989348 0.26515153
+v 0.08084457 0.46201599 0.49609685
+v -0.21579782 0.40820366 0.26515153
+v 0.24980349 0.21989347 0.49482157
+v 0.21547669 0.40835560 0.26515153
+v -0.08129510 0.46240386 0.47999202
+v 0.13874334 0.44834488 0.49609685
+v -0.21985370 0.34103923 0.49469448
+v 0.08091056 0.46246089 0.47999202
+v -0.13909173 0.44822023 0.49609685
+v -0.11022594 0.44791808 0.26515153
+v 0.16785259 0.42985710 0.26515153
+v -0.21579783 0.40820368 0.46212123
+v -0.16820103 0.42973243 0.26515153
+v 0.18225048 0.43247814 0.49609685
+v -0.19755992 0.41682957 0.26515153
+v 0.19723878 0.41698148 0.26515153
+v 0.18203061 0.43201320 0.47903670
+f 7 1 3
+f 7 5 2
+f 7 2 1
+f 8 1 2
+f 8 2 5
+f 9 4 3
+f 10 8 5
+f 11 3 1
+f 11 1 8
+f 12 11 8
+f 12 3 11
+f 12 10 6
+f 12 8 10
+f 13 4 9
+f 14 9 3
+f 15 10 5
+f 15 5 7
+f 16 13 9
+f 16 6 13
+f 16 14 6
+f 16 9 14
+f 17 4 13
+f 17 15 7
+f 17 7 3
+f 17 3 4
+f 18 13 6
+f 18 6 10
+f 18 17 13
+f 19 6 14
+f 20 17 10
+f 20 10 15
+f 20 15 17
+f 21 18 10
+f 21 17 18
+f 22 14 3
+f 23 21 10
+f 23 10 17
+f 23 17 21
+f 24 12 6
+f 24 6 19
+f 25 24 19
+f 25 12 24
+f 25 22 3
+f 25 3 12
+f 25 19 14
+f 25 14 22
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_18/collision/model_normalized_collision_7.obj b/objects/objaverse/canned_food/canned_food_18/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c8d66c72f469891a6cef481cd1b09c2bd62880b3
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_18/collision/model_normalized_collision_7.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.39691951 -0.23502670 0.46212123
+v 0.44441612 -0.12420556 -0.41666667
+v 0.46147198 -0.00735701 0.40151516
+v 0.37101562 -0.00737925 0.40151516
+v 0.39691956 -0.23502670 -0.44696969
+v 0.37101562 -0.00737925 -0.41666667
+v 0.37120028 -0.12865745 0.49477084
+v 0.44352150 -0.12777684 0.46212123
+v 0.46147198 -0.00735701 -0.41666667
+v 0.44441609 -0.12420555 0.40151516
+v 0.42981225 -0.16797716 0.46212123
+v 0.42276567 -0.18500883 -0.44696970
+v 0.40828354 -0.21562846 0.46212123
+v 0.42981229 -0.16797717 -0.41666667
+v 0.41690947 -0.19739056 0.46212123
+v 0.40828357 -0.21562847 -0.44696970
+f 6 4 3
+f 7 3 4
+f 7 4 6
+f 7 6 5
+f 7 5 1
+f 8 3 7
+f 9 6 3
+f 9 3 2
+f 10 8 2
+f 10 2 3
+f 10 3 8
+f 11 8 7
+f 12 9 2
+f 12 5 6
+f 12 6 9
+f 13 7 1
+f 13 1 5
+f 14 2 8
+f 14 8 11
+f 14 12 2
+f 14 11 12
+f 15 11 7
+f 15 7 13
+f 15 13 12
+f 15 12 11
+f 16 13 5
+f 16 5 12
+f 16 12 13
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_18/collision/model_normalized_collision_8.obj b/objects/objaverse/canned_food/canned_food_18/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..567c10443962460eb7fc62620a9c98a020fc8a80
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_18/collision/model_normalized_collision_8.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v -0.21989348 0.18959045 0.49482159
+v -0.21989348 0.18959045 -0.49482159
+v -0.21579783 0.40820368 0.46212123
+v -0.21774239 0.41231510 -0.49925025
+v -0.42679719 0.18712275 -0.49925018
+v -0.42268565 0.18517813 0.46212123
+v -0.35607647 0.29548733 0.49981236
+v -0.26833299 0.38530704 -0.47999212
+v -0.38530700 0.26833300 -0.47999212
+v -0.38648939 0.18955698 0.49454508
+v -0.21985370 0.34103923 0.49469448
+v -0.25522090 0.38481563 0.46212123
+v -0.24130982 0.40203669 -0.47956509
+v -0.41784400 0.21319117 -0.49609691
+v -0.38481567 0.25522101 0.46212123
+v -0.32656565 0.32656558 0.46212123
+v -0.38494584 0.26806510 -0.49609698
+v -0.38990858 0.23705195 0.49999992
+v -0.28044672 0.34104732 0.49448130
+v -0.22624582 0.40218269 0.46212123
+v -0.24130010 0.40202047 -0.49609698
+v -0.41682951 0.19755989 0.46212123
+v -0.26806505 0.38494572 -0.49609698
+f 1 2 3
+f 3 2 4
+f 5 4 2
+f 6 5 2
+f 6 2 1
+f 10 6 1
+f 11 7 1
+f 11 1 3
+f 13 3 4
+f 13 8 12
+f 14 5 6
+f 15 7 9
+f 15 9 14
+f 16 9 7
+f 16 8 9
+f 16 12 8
+f 16 7 12
+f 17 9 8
+f 17 14 9
+f 17 4 5
+f 17 5 14
+f 18 6 10
+f 18 7 15
+f 18 10 1
+f 18 1 7
+f 19 11 3
+f 19 3 7
+f 19 7 11
+f 20 12 7
+f 20 7 3
+f 20 13 12
+f 20 3 13
+f 21 13 4
+f 21 8 13
+f 22 15 14
+f 22 14 6
+f 22 18 15
+f 22 6 18
+f 23 17 8
+f 23 8 21
+f 23 21 4
+f 23 4 17
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_18/collision/model_normalized_collision_9.obj b/objects/objaverse/canned_food/canned_food_18/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7034568e431575d42cd54ca3ddf9e092ab78b1e6
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_18/collision/model_normalized_collision_9.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v -0.21789430 -0.41224326 0.49925026
+v -0.21594973 -0.40813184 -0.46212121
+v -0.21989349 -0.21950047 0.49482159
+v -0.41246689 -0.21742118 0.49925020
+v -0.31675532 -0.34571479 -0.49609685
+v -0.30089771 -0.36008724 -0.49609685
+v -0.26852105 -0.38516766 0.47999214
+v -0.21989347 -0.21950046 -0.49482159
+v -0.38513378 -0.26781150 0.49609697
+v -0.24147345 -0.40191656 0.49609697
+v -0.25007246 -0.38596017 -0.49989598
+v -0.41246692 -0.21742119 -0.49925018
+v -0.26825316 -0.38480629 0.49609697
+v -0.21985298 -0.38609957 -0.49446232
+v -0.40219386 -0.24101097 -0.49609688
+v -0.40219379 -0.24101096 0.49609694
+v -0.38513385 -0.26781153 -0.49609685
+f 1 2 3
+f 1 3 4
+f 7 5 6
+f 8 3 2
+f 8 4 3
+f 9 1 4
+f 9 5 7
+f 10 7 6
+f 10 6 2
+f 10 2 1
+f 11 6 5
+f 11 2 6
+f 12 4 8
+f 12 11 5
+f 12 8 11
+f 13 9 7
+f 13 7 10
+f 13 10 1
+f 13 1 9
+f 14 11 8
+f 14 8 2
+f 14 2 11
+f 15 4 12
+f 16 9 4
+f 16 4 15
+f 17 15 12
+f 17 12 5
+f 17 5 9
+f 17 16 15
+f 17 9 16
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_18/model.xml b/objects/objaverse/canned_food/canned_food_18/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..f4dfb5d9a3614844bd61458b047382f11c371eec
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_18/model.xml
@@ -0,0 +1,81 @@
+<mujoco model="canned_food_0">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.06499999999999995 0.06499999999999995 0.06499999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.06499999999999995 0.06499999999999995 0.06499999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.06499999999999995 0.06499999999999995 0.06499999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.06499999999999995 0.06499999999999995 0.06499999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.06499999999999995 0.06499999999999995 0.06499999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.06499999999999995 0.06499999999999995 0.06499999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.06499999999999995 0.06499999999999995 0.06499999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.06499999999999995 0.06499999999999995 0.06499999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.06499999999999995 0.06499999999999995 0.06499999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.06499999999999995 0.06499999999999995 0.06499999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.06499999999999995 0.06499999999999995 0.06499999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.06499999999999995 0.06499999999999995 0.06499999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.06499999999999995 0.06499999999999995 0.06499999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.06499999999999995 0.06499999999999995 0.06499999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.06499999999999995 0.06499999999999995 0.06499999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.06499999999999995 0.06499999999999995 0.06499999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.06499999999999995 0.06499999999999995 0.06499999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.06499999999999995 0.06499999999999995 0.06499999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.06499999999999995 0.06499999999999995 0.06499999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.06499999999999995 0.06499999999999995 0.06499999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.06499999999999995 0.06499999999999995 0.06499999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.06499999999999995 0.06499999999999995 0.06499999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.06499999999999995 0.06499999999999995 0.06499999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.06499999999999995 0.06499999999999995 0.06499999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.06499999999999995 0.06499999999999995 0.06499999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.06499999999999995 0.06499999999999995 0.06499999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.06499999999999995 0.06499999999999995 0.06499999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.06499999999999995 0.06499999999999995 0.06499999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.06499999999999995 0.06499999999999995 0.06499999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.06499999999999995 0.06499999999999995 0.06499999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.06499999999999995 0.06499999999999995 0.06499999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.06499999999999995 0.06499999999999995 0.06499999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.06499999999999995 0.06499999999999995 0.06499999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="01___Default.002" texture="image0" specular="0.5" shininess="0.25"/>
+  </asset>
+  <worldbody>
+    <body>
+      <body name="object">
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_0_vis" conaffinity="0" contype="0" group="1" material="01___Default.002"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_22._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_23._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_21._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_20._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_24._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_30._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_18._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_19._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_31._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_25._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_27._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_26._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_9._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_8._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_6._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_7._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_5._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_4._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_0._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_1._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_3._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_2._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_17._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_16._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_28._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_14._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_15._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_29._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_11._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_10._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_12._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_13._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+      </body>
+      <site rgba="0 0 0 0" size="0.005" pos="-3.2135350000000705e-05 3.213632500000019e-05 -0.032499991549999975" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="-3.2135350000000705e-05 3.213632500000019e-05 0.03250000064999998" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.029995678699999976 0.030059957849999975 4.550000001213302e-09" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/objects/objaverse/canned_food/canned_food_18/visual/material.mtl b/objects/objaverse/canned_food/canned_food_18/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fbcf6b4b1af9257e08a0fd6e283841743ce8fad5
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_18/visual/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 250.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_18/visual/model_normalized_0.obj b/objects/objaverse/canned_food/canned_food_18/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b6ca7a4154b0d39809240d3c2dfc3b2129cf8635
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_18/visual/model_normalized_0.obj
@@ -0,0 +1,15909 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
+v 0.46414134 0.04571399 0.49925018
+v 0.46638704 0.00000007 0.49925018
+v 0.46944292 0.00000007 0.49609691
+v 0.46718238 0.04601352 0.49609691
+v 0.45742549 0.09098772 0.49925018
+v 0.46042279 0.09158388 0.49609691
+v 0.44630454 0.13538508 0.49925018
+v 0.44922907 0.13627220 0.49609691
+v 0.43088544 0.17847869 0.49925018
+v 0.43370876 0.17964812 0.49609691
+v 0.41131663 0.21985343 0.49925018
+v 0.41401163 0.22129395 0.49609691
+v 0.38778662 0.25911085 0.49925011
+v 0.39032756 0.26080862 0.49609685
+v 0.36052221 0.29587292 0.49925011
+v 0.36288449 0.29781164 0.49609685
+v 0.32978562 0.32978562 0.49925011
+v 0.33194627 0.33194640 0.49609685
+v 0.29587286 0.36052221 0.49925011
+v 0.29781157 0.36288443 0.49609685
+v 0.25911085 0.38778682 0.49925011
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\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_19/collision/model_normalized_collision_0.obj b/objects/objaverse/canned_food/canned_food_19/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9c25bde2eeea4512200d9643a01dc34e27bfd8f5
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_19/collision/model_normalized_collision_0.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.47167557 -0.14610011 0.09929954
+v 0.49120570 -0.07963169 -0.14181187
+v 0.49243263 0.02136135 0.09929954
+v 0.46394178 0.15988211 0.14739784
+v 0.45913100 0.15780015 -0.15048405
+v 0.48463237 0.09672087 0.14100710
+v 0.49243262 -0.02136133 0.09929954
+v 0.46328741 -0.14420251 -0.15068172
+v 0.49120644 0.07963189 -0.14181193
+v 0.46849275 0.09994093 0.14332614
+v 0.47641721 -0.12516168 0.09929954
+v 0.47742377 -0.14054290 -0.14181181
+v 0.49407324 0.05180771 -0.14181192
+v 0.47742454 0.14054313 -0.14181196
+v 0.49407293 -0.05180765 -0.14181188
+v 0.46848623 0.15527862 -0.14548905
+v 0.47549310 0.15449720 0.13295945
+v 0.47422077 0.15408379 0.13576015
+f 7 3 6
+f 8 1 4
+f 8 4 5
+f 10 6 4
+f 10 4 1
+f 10 1 6
+f 11 2 7
+f 11 7 6
+f 11 6 1
+f 12 8 2
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+f 12 11 1
+f 12 2 11
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+f 13 5 9
+f 13 3 7
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+f 13 6 3
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+f 15 13 7
+f 15 7 2
+f 16 14 9
+f 16 9 5
+f 16 5 4
+f 17 6 9
+f 17 9 14
+f 17 16 4
+f 17 14 16
+f 18 17 4
+f 18 4 6
+f 18 6 17
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_19/collision/model_normalized_collision_17.obj b/objects/objaverse/canned_food/canned_food_19/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef9c1039e6f10ce831eea5233bfe8e39679ee97a
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_19/collision/model_normalized_collision_17.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.09681101 -0.48567180 0.14149815
+v -0.09618946 -0.48326646 -0.14581947
+v -0.09847749 -0.26513198 0.13490200
+v -0.23483109 -0.26513198 0.13490200
+v -0.22508215 -0.44673281 -0.14181168
+v -0.18988973 -0.44827179 0.15068201
+v -0.14029570 -0.47779112 -0.14181167
+v -0.09847749 -0.26513196 -0.14403276
+v -0.15449736 -0.47549314 0.13295976
+v -0.22492453 -0.44645875 0.13605923
+v -0.23483108 -0.26513196 -0.14403277
+v -0.18610923 -0.45356239 0.14790396
+v -0.21683508 -0.43948557 0.14959454
+v -0.15408399 -0.47422089 0.13576027
+v -0.21365989 -0.44639432 0.14548651
+f 1 2 3
+f 6 1 3
+f 6 3 4
+f 7 5 2
+f 7 2 1
+f 8 3 2
+f 9 7 1
+f 9 5 7
+f 10 4 5
+f 10 5 9
+f 11 8 2
+f 11 2 5
+f 11 5 4
+f 11 4 3
+f 11 3 8
+f 12 1 6
+f 13 6 4
+f 13 4 10
+f 14 9 1
+f 14 1 12
+f 15 13 10
+f 15 12 6
+f 15 6 13
+f 15 14 12
+f 15 10 9
+f 15 9 14
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_19/collision/model_normalized_collision_18.obj b/objects/objaverse/canned_food/canned_food_19/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a94022722bd2f567f20e18ad037e53600b128b8
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_19/collision/model_normalized_collision_18.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.42604212 -0.25103690 0.09929955
+v -0.42202684 -0.23841331 -0.14977401
+v -0.41663587 -0.08332716 0.13490192
+v -0.48775424 -0.08217273 0.09929954
+v -0.44629280 -0.22880803 -0.14141506
+v -0.41663586 -0.08332717 -0.14403284
+v -0.44691683 -0.21391271 0.09929954
+v -0.40148547 -0.12877836 0.13490194
+v -0.42604216 -0.25103692 -0.06735484
+v -0.48381138 -0.08133852 -0.14803237
+v -0.47709209 -0.12496750 0.09929954
+v -0.43983128 -0.23014210 0.09929954
+v -0.40148547 -0.12877838 -0.06735485
+v -0.47784723 -0.14032852 -0.14174053
+f 8 1 2
+f 8 6 3
+f 9 5 2
+f 9 2 1
+f 9 1 5
+f 10 4 3
+f 10 3 6
+f 10 6 2
+f 10 2 5
+f 11 3 4
+f 11 8 3
+f 11 7 8
+f 12 7 5
+f 12 5 1
+f 12 8 7
+f 12 1 8
+f 13 8 2
+f 13 2 6
+f 13 6 8
+f 14 5 7
+f 14 7 11
+f 14 10 5
+f 14 11 4
+f 14 4 10
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_19/collision/model_normalized_collision_21.obj b/objects/objaverse/canned_food/canned_food_19/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..42b6376c1e79fd8a440583a10d1385605a97b28c
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_19/collision/model_normalized_collision_21.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.20128837 -0.45366979 0.14051791
+v 0.23483128 -0.40148555 -0.14403270
+v 0.23483129 -0.40148557 0.13490207
+v 0.14392890 -0.40148554 0.13490205
+v 0.14213427 -0.46935693 -0.14743585
+v 0.22526791 -0.44701162 -0.14142216
+v 0.14283673 -0.47241472 0.09929954
+v 0.14392889 -0.40148555 -0.14403268
+v 0.22490694 -0.44646777 0.13605913
+v 0.18391492 -0.46306298 -0.14164155
+f 1 3 4
+f 3 2 4
+f 6 2 3
+f 6 5 2
+f 7 1 4
+f 7 4 5
+f 8 5 4
+f 8 4 2
+f 8 2 5
+f 9 6 3
+f 9 3 1
+f 9 1 7
+f 10 7 5
+f 10 5 6
+f 10 9 7
+f 10 6 9
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_19/collision/model_normalized_collision_27.obj b/objects/objaverse/canned_food/canned_food_19/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b25059dc23d83a2f770426a7a3395d7d60845f8
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_19/collision/model_normalized_collision_27.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.23483129 -0.40148557 0.13490207
+v 0.23483128 -0.40148555 -0.14403270
+v 0.23483128 -0.26513196 -0.14403276
+v -0.09847749 -0.26513198 0.13490200
+v -0.09847749 -0.40148557 0.13490206
+v -0.09847749 -0.26513196 -0.14403276
+v 0.23483129 -0.26513197 0.13490200
+v -0.09847749 -0.40148555 -0.14403269
+f 5 2 1
+f 6 3 2
+f 6 5 4
+f 7 5 1
+f 7 4 5
+f 7 6 4
+f 7 3 6
+f 7 1 2
+f 7 2 3
+f 8 6 2
+f 8 2 5
+f 8 5 6
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_19/collision/model_normalized_collision_3.obj b/objects/objaverse/canned_food/canned_food_19/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4ec8934e5d74b8e65bf08c8658a24113edc9d19f
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_19/collision/model_normalized_collision_3.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_19/collision/model_normalized_collision_30.obj b/objects/objaverse/canned_food/canned_food_19/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e3b478cb7431525fe790ffd62f0701e08d66a93
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_19/collision/model_normalized_collision_30.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.45907951 -0.14324166 0.14542684
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\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_19/visual/material.mtl b/objects/objaverse/canned_food/canned_food_19/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..46b0a372e9d3056b87fe8f95ea0dc63c64791eb6
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_19/visual/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 38.39998900
+map_Kd material_0.png
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_19/visual/model_normalized_0.obj b/objects/objaverse/canned_food/canned_food_19/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..39b95ac7704fc8e0d8792d82ff3e9cc6c0656789
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_19/visual/model_normalized_0.obj
@@ -0,0 +1,6494 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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+f 787/787/787 792/792/792 788/788/788
+f 788/788/788 792/792/792 791/791/791
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_3/collision/model_normalized_collision_0.obj b/objects/objaverse/canned_food/canned_food_3/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cd3bf5f19ef037e9c2049140e36a3c0c18313d14
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_3/collision/model_normalized_collision_0.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.26746470 -0.13110139 0.50000000
+v 0.30797582 -0.06763273 -0.44696970
+v 0.31291925 -0.00988927 0.50000000
+v 0.30084356 0.09114521 0.34090909
+v 0.30084356 0.09114521 -0.28030303
+v 0.26746470 -0.00988927 0.50000000
+v 0.29497060 -0.11050520 0.50000000
+v 0.28216058 -0.13895655 -0.15909091
+v 0.31089293 0.05051721 -0.44696970
+v 0.31044151 -0.05509977 -0.44696970
+v 0.28889442 -0.12635848 0.50000000
+v 0.29497060 -0.11050520 -0.15909091
+v 0.31045620 0.05495126 -0.44696970
+v 0.28889442 -0.12635848 -0.15909091
+v 0.30467381 0.07851859 0.34090909
+v 0.30467381 0.07851859 -0.28030303
+f 6 1 3
+f 6 3 4
+f 6 4 5
+f 7 3 1
+f 8 6 5
+f 8 1 6
+f 10 7 2
+f 10 3 7
+f 10 9 3
+f 10 2 9
+f 11 7 1
+f 11 1 8
+f 12 2 7
+f 12 7 11
+f 13 8 5
+f 13 3 9
+f 13 9 2
+f 13 2 8
+f 14 8 2
+f 14 2 12
+f 14 12 11
+f 14 11 8
+f 15 5 4
+f 15 4 3
+f 15 3 13
+f 16 15 13
+f 16 13 5
+f 16 5 15
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_3/collision/model_normalized_collision_1.obj b/objects/objaverse/canned_food/canned_food_3/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..43a0ee21efd13d9b138e2c2326ef43aa676ee929
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_3/collision/model_normalized_collision_1.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.11050475 -0.29497067 0.50000000
+v 0.16801126 -0.26663094 -0.50000000
+v 0.17655561 0.14162588 0.50000000
+v 0.00988894 0.14162588 0.50000000
+v 0.00988894 -0.31291958 -0.50000000
+v 0.17655561 0.14162588 -0.50000000
+v 0.16801126 -0.26663094 0.50000000
+v 0.11050475 -0.29497067 -0.50000000
+v 0.00988894 -0.31291958 0.50000000
+v 0.00988894 0.14162588 -0.50000000
+f 1 3 4
+f 6 4 3
+f 6 2 5
+f 7 1 2
+f 7 3 1
+f 7 6 3
+f 7 2 6
+f 8 5 2
+f 8 2 1
+f 9 1 4
+f 9 4 5
+f 9 8 1
+f 9 5 8
+f 10 6 5
+f 10 5 4
+f 10 4 6
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_3/collision/model_normalized_collision_10.obj b/objects/objaverse/canned_food/canned_food_3/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2cb6e68e76b13f379d07a83227e66f736f5a7295
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_3/collision/model_normalized_collision_10.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.31089293 0.05051721 -0.28030303
+v 0.31089293 0.05051721 -0.44696970
+v 0.29625606 0.10626812 -0.28030303
+v 0.27778538 0.14714243 -0.28030303
+v 0.26746470 0.09617133 -0.50000000
+v 0.28451923 0.13454436 -0.50000000
+v 0.31045620 0.05495126 -0.44696970
+v 0.28451923 0.13454436 -0.28030303
+v 0.26746470 0.14162588 -0.50000000
+v 0.30046493 0.09239335 -0.50000000
+v 0.31045620 0.05495126 -0.28030303
+v 0.29625606 0.10626812 -0.50000000
+f 5 2 1
+f 5 1 4
+f 7 1 2
+f 8 6 4
+f 8 3 6
+f 8 4 1
+f 9 6 5
+f 9 5 4
+f 9 4 6
+f 10 2 5
+f 10 5 6
+f 10 7 2
+f 11 1 7
+f 11 8 1
+f 11 3 8
+f 11 10 3
+f 11 7 10
+f 12 10 6
+f 12 6 3
+f 12 3 10
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_3/collision/model_normalized_collision_11.obj b/objects/objaverse/canned_food/canned_food_3/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f85242eeb78c5d7dc34e367cc659f2c3a9e43fd7
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_3/collision/model_normalized_collision_11.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.28216058 -0.13895655 -0.15909091
+v 0.30338832 -0.08275567 -0.50000000
+v 0.29497060 -0.11050520 -0.15909091
+v 0.31044152 -0.05509977 -0.15909091
+v 0.26746470 -0.08564685 -0.50000000
+v 0.30797583 -0.06763274 -0.15909091
+v 0.28889442 -0.12635848 -0.50000000
+v 0.31044151 -0.05509977 -0.44696970
+v 0.29497059 -0.11050521 -0.50000000
+v 0.28889442 -0.12635848 -0.15909091
+v 0.26746470 -0.13110139 -0.50000000
+v 0.30797582 -0.06763273 -0.44696970
+f 5 1 4
+f 6 4 3
+f 7 5 2
+f 8 5 4
+f 8 2 5
+f 8 4 6
+f 9 7 2
+f 9 3 7
+f 9 6 3
+f 10 7 3
+f 10 1 7
+f 10 3 4
+f 10 4 1
+f 11 7 1
+f 11 1 5
+f 11 5 7
+f 12 8 6
+f 12 2 8
+f 12 9 2
+f 12 6 9
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_3/collision/model_normalized_collision_12.obj b/objects/objaverse/canned_food/canned_food_3/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e45791f59ba62076a9b423c35fc76201d5cae219
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_3/collision/model_normalized_collision_12.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.00988894 -0.17655594 0.50000000
+v 0.00988894 -0.17655594 -0.50000000
+v 0.00905496 0.31497648 -0.50000000
+v -0.07559520 0.30556059 0.50000000
+v -0.14162621 -0.17655594 -0.50000000
+v 0.00905496 0.31497648 0.50000000
+v -0.14162621 -0.17655594 0.50000000
+v -0.13646810 0.28349093 -0.50000000
+v -0.07559524 0.30556061 -0.50000000
+v -0.13646808 0.28349084 0.50000000
+v -0.12087738 0.29182437 -0.50000000
+v -0.12087738 0.29182424 0.50000000
+f 1 2 3
+f 5 2 1
+f 5 3 2
+f 6 1 3
+f 6 4 1
+f 7 5 1
+f 7 1 4
+f 8 3 5
+f 8 5 7
+f 9 3 8
+f 9 6 3
+f 9 4 6
+f 10 8 7
+f 10 7 4
+f 11 9 8
+f 11 4 9
+f 11 8 10
+f 12 11 10
+f 12 10 4
+f 12 4 11
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_3/collision/model_normalized_collision_13.obj b/objects/objaverse/canned_food/canned_food_3/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aa5c34631aaca913916fd1c27ce0a801a56c75ff
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_3/collision/model_normalized_collision_13.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.26746470 -0.14625291 0.50000000
+v 0.26746470 -0.14625291 -0.50000000
+v 0.26746470 0.14162588 0.50000000
+v 0.17655561 0.14162588 0.50000000
+v 0.17655561 -0.14625291 0.50000000
+v 0.26746470 0.14162588 -0.50000000
+v 0.17655561 0.14162588 -0.50000000
+v 0.17655561 -0.14625291 -0.50000000
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 5 1 4
+f 6 3 2
+f 6 4 3
+f 7 5 4
+f 7 6 2
+f 7 4 6
+f 8 7 2
+f 8 2 5
+f 8 5 7
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_3/collision/model_normalized_collision_14.obj b/objects/objaverse/canned_food/canned_food_3/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4d9e0d3370e01627c0050e93a4664c7d10f10b68
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_3/collision/model_normalized_collision_14.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.14162621 -0.16140442 0.50000000
+v -0.14162621 -0.16140442 -0.50000000
+v -0.14162621 -0.00988927 -0.50000000
+v -0.26283833 -0.00988927 0.50000000
+v -0.26283833 -0.16140442 -0.50000000
+v -0.14162621 -0.00988927 0.50000000
+v -0.26283833 -0.16140442 0.50000000
+v -0.26283833 -0.00988927 -0.50000000
+f 1 2 3
+f 5 2 1
+f 5 3 2
+f 6 1 3
+f 6 4 1
+f 7 5 1
+f 7 1 4
+f 7 4 5
+f 8 5 4
+f 8 3 5
+f 8 6 3
+f 8 4 6
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_3/collision/model_normalized_collision_15.obj b/objects/objaverse/canned_food/canned_food_3/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c439b58e86bf768b952676e5d2cdc4dd73d9392d
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_3/collision/model_normalized_collision_15.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.16140410 0.14162588 0.50000000
+v 0.16140410 0.14162588 -0.50000000
+v 0.16140410 0.21738346 -0.50000000
+v 0.00988894 0.21738346 0.50000000
+v 0.00988894 0.14162588 -0.50000000
+v 0.16140410 0.21738346 0.50000000
+v 0.00988894 0.14162588 0.50000000
+v 0.00988894 0.21738346 -0.50000000
+f 5 2 1
+f 5 3 2
+f 6 4 1
+f 6 1 2
+f 6 2 3
+f 7 5 1
+f 7 1 4
+f 8 3 5
+f 8 6 3
+f 8 4 6
+f 8 7 4
+f 8 5 7
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_3/collision/model_normalized_collision_16.obj b/objects/objaverse/canned_food/canned_food_3/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a3279a507e3a2241ca3963edcaa9d0c6e94e20dc
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_3/collision/model_normalized_collision_16.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.14162621 -0.00988927 0.50000000
+v -0.14162621 -0.00988927 -0.50000000
+v -0.14162621 0.12647436 0.50000000
+v -0.21738379 0.12647436 0.50000000
+v -0.21738379 -0.00988927 -0.50000000
+v -0.21738379 -0.00988927 0.50000000
+v -0.14162621 0.12647436 -0.50000000
+v -0.21738379 0.12647436 -0.50000000
+f 1 2 3
+f 1 3 4
+f 6 1 4
+f 6 4 5
+f 6 5 2
+f 6 2 1
+f 7 3 2
+f 7 2 5
+f 7 4 3
+f 8 7 5
+f 8 5 4
+f 8 4 7
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_3/collision/model_normalized_collision_17.obj b/objects/objaverse/canned_food/canned_food_3/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ebda649d55c5275140dfbbabe777ad101ccaeaf1
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_3/collision/model_normalized_collision_17.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.10079803 0.21738346 0.50000000
+v 0.10079803 0.21738346 -0.50000000
+v 0.10079803 0.26283800 0.50000000
+v 0.00988894 0.26283800 0.50000000
+v 0.00988894 0.21738346 0.50000000
+v 0.10079803 0.26283800 -0.50000000
+v 0.00988894 0.21738346 -0.50000000
+v 0.00988894 0.26283800 -0.50000000
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 5 1 4
+f 6 3 2
+f 6 4 3
+f 7 5 4
+f 7 6 2
+f 7 2 5
+f 8 7 4
+f 8 4 6
+f 8 6 7
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_3/collision/model_normalized_collision_18.obj b/objects/objaverse/canned_food/canned_food_3/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6044571be623756de6988ac672ceee8354cfd44c
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_3/collision/model_normalized_collision_18.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.07049500 0.26283800 0.50000000
+v 0.07049500 0.26283800 -0.50000000
+v 0.06595697 0.30848435 -0.50000000
+v 0.00905496 0.31497648 0.50000000
+v 0.00988894 0.26283800 0.50000000
+v 0.06595697 0.30848435 0.50000000
+v 0.00988894 0.26283800 -0.50000000
+v 0.00905496 0.31497648 -0.50000000
+f 1 2 3
+f 5 1 4
+f 6 1 3
+f 6 4 1
+f 7 3 2
+f 7 2 1
+f 7 1 5
+f 8 3 7
+f 8 6 3
+f 8 4 6
+f 8 7 5
+f 8 5 4
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_3/collision/model_normalized_collision_19.obj b/objects/objaverse/canned_food/canned_food_3/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a08737f8d54d1adbbcf4663f3c011038e3e099eb
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_3/collision/model_normalized_collision_19.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.26283833 0.05071679 0.50000000
+v -0.26283833 0.05071679 -0.50000000
+v -0.26283833 0.08101982 0.50000000
+v -0.30556067 0.07559485 0.50000000
+v -0.31099405 0.04949049 -0.50000000
+v -0.31099404 0.04949048 0.50000000
+v -0.26283833 0.08101982 -0.50000000
+v -0.30556070 0.07559485 -0.50000000
+f 1 2 3
+f 1 3 4
+f 6 1 4
+f 6 5 2
+f 6 2 1
+f 7 3 2
+f 7 2 5
+f 8 7 5
+f 8 4 3
+f 8 3 7
+f 8 6 4
+f 8 5 6
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_3/collision/model_normalized_collision_2.obj b/objects/objaverse/canned_food/canned_food_3/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..21be395fb67ebf025a5870792cf8e6f5e38eceb2
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_3/collision/model_normalized_collision_2.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.05051749 -0.31089273 0.50000000
+v -0.05051749 -0.31089271 -0.50000000
+v -0.05071712 -0.17655594 0.50000000
+v -0.14162621 -0.17655594 0.50000000
+v -0.13454449 -0.28451914 -0.50000000
+v -0.10626838 -0.29625592 -0.50000000
+v -0.13454449 -0.28451914 0.50000000
+v -0.05071712 -0.17655594 -0.50000000
+v -0.10626838 -0.29625592 0.50000000
+v -0.14162621 -0.17655594 -0.50000000
+f 1 3 4
+f 6 5 2
+f 6 2 1
+f 7 1 4
+f 7 5 6
+f 8 2 5
+f 8 1 2
+f 8 3 1
+f 8 4 3
+f 9 7 6
+f 9 6 1
+f 9 1 7
+f 10 8 5
+f 10 4 8
+f 10 7 4
+f 10 5 7
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_3/collision/model_normalized_collision_20.obj b/objects/objaverse/canned_food/canned_food_3/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..071482f24c4decb33d3fe3ebf8c1784561180a0c
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_3/collision/model_normalized_collision_20.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.26283833 -0.07049533 0.50000000
+v -0.26283833 -0.07049533 -0.50000000
+v -0.26283833 -0.00988927 -0.50000000
+v -0.31497674 -0.00905525 0.50000000
+v -0.30848426 -0.06595723 0.50000000
+v -0.31497674 -0.00905525 -0.50000000
+v -0.26283833 -0.00988927 0.50000000
+v -0.30848426 -0.06595722 -0.50000000
+f 1 2 3
+f 5 2 1
+f 5 1 4
+f 6 3 2
+f 6 4 3
+f 6 5 4
+f 7 1 3
+f 7 3 4
+f 7 4 1
+f 8 6 2
+f 8 2 5
+f 8 5 6
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_3/collision/model_normalized_collision_21.obj b/objects/objaverse/canned_food/canned_food_3/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1bb97f6ca486943f871b1ccc2f85cca7a3190271
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_3/collision/model_normalized_collision_21.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.21738379 0.05071679 0.50000000
+v -0.21738379 0.05071679 -0.50000000
+v -0.21738379 0.12647436 0.50000000
+v -0.26283833 0.12647436 0.50000000
+v -0.26283833 0.05071679 0.50000000
+v -0.21738379 0.12647436 -0.50000000
+v -0.26283833 0.05071679 -0.50000000
+v -0.26283833 0.12647436 -0.50000000
+f 1 3 4
+f 5 1 4
+f 6 4 3
+f 6 1 2
+f 6 3 1
+f 7 5 4
+f 7 2 1
+f 7 1 5
+f 7 6 2
+f 8 7 4
+f 8 4 6
+f 8 6 7
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_3/collision/model_normalized_collision_22.obj b/objects/objaverse/canned_food/canned_food_3/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..581ba9f04836bfb650b0bb046a16f5ee3e7a1a30
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_3/collision/model_normalized_collision_22.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.26283833 0.08101982 0.50000000
+v -0.26283833 0.08101982 -0.50000000
+v -0.26283833 0.12647436 -0.50000000
+v -0.29182431 0.12087758 0.50000000
+v -0.30428395 0.07980372 -0.50000000
+v -0.26283833 0.12647436 0.50000000
+v -0.30428393 0.07980372 0.50000000
+v -0.29182431 0.12087758 -0.50000000
+f 1 2 3
+f 5 3 2
+f 6 1 3
+f 6 4 1
+f 7 1 4
+f 7 4 5
+f 7 5 2
+f 7 2 1
+f 8 5 4
+f 8 3 5
+f 8 6 3
+f 8 4 6
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_3/collision/model_normalized_collision_23.obj b/objects/objaverse/canned_food/canned_food_3/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d5650936b6eb3d60cc014ef727e0dba8907a431
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_3/collision/model_normalized_collision_23.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.16140410 0.21738346 0.50000000
+v 0.16140410 0.21738346 -0.50000000
+v 0.16140410 0.24768649 0.50000000
+v 0.10079803 0.24768649 0.50000000
+v 0.10079803 0.21738346 -0.50000000
+v 0.10079803 0.21738346 0.50000000
+v 0.10079803 0.24768649 -0.50000000
+v 0.16140410 0.24768649 -0.50000000
+f 1 3 4
+f 5 2 1
+f 6 5 1
+f 6 1 4
+f 6 4 5
+f 7 2 5
+f 7 5 4
+f 7 4 3
+f 8 7 3
+f 8 2 7
+f 8 1 2
+f 8 3 1
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_3/collision/model_normalized_collision_24.obj b/objects/objaverse/canned_food/canned_food_3/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e1b4068b367e5a4af95935625a67d01611329b4
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_3/collision/model_normalized_collision_24.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.21738379 -0.00988927 0.50000000
+v -0.21738379 -0.00988927 -0.50000000
+v -0.21738379 0.05071679 0.50000000
+v -0.31099404 0.04949048 0.50000000
+v -0.31497674 -0.00905525 -0.50000000
+v -0.31497674 -0.00905525 0.50000000
+v -0.21738379 0.05071679 -0.50000000
+v -0.31099405 0.04949049 -0.50000000
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 6 5 1
+f 6 1 4
+f 7 3 2
+f 7 2 5
+f 8 7 5
+f 8 4 3
+f 8 3 7
+f 8 6 4
+f 8 5 6
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_3/collision/model_normalized_collision_25.obj b/objects/objaverse/canned_food/canned_food_3/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e5e26f7d103696ec33801b854a1b7a4e73c1f112
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_3/collision/model_normalized_collision_25.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.31191955 -0.04009384 0.50000000
+v 0.31191954 -0.04009384 -0.50000000
+v 0.31251653 0.03403325 -0.50000000
+v 0.31237095 0.03551127 0.50000000
+v 0.31237095 0.03551127 -0.50000000
+v 0.31251653 0.03403325 0.50000000
+v 0.31206512 -0.03861581 -0.50000000
+v 0.31206513 -0.03861581 0.50000000
+f 2 1 4
+f 5 3 2
+f 5 2 4
+f 5 4 3
+f 6 3 4
+f 6 4 1
+f 7 1 2
+f 7 2 3
+f 8 6 1
+f 8 1 7
+f 8 7 3
+f 8 3 6
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_3/collision/model_normalized_collision_26.obj b/objects/objaverse/canned_food/canned_food_3/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3026e32f95a1e6ee77b9ae540ad60c95abcd94c9
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_3/collision/model_normalized_collision_26.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.31291925 -0.00988927 0.50000000
+v 0.31443886 -0.01451605 0.34090909
+v 0.29625606 0.10626812 0.50000000
+v 0.26746470 0.14162588 0.50000000
+v 0.26746470 -0.00988927 0.50000000
+v 0.27778538 0.14714243 0.34090909
+v 0.31487560 -0.01008197 0.34090909
+v 0.28451923 0.13454436 0.50000000
+v 0.29625606 0.10626812 0.34090909
+v 0.28451923 0.13454436 0.34090909
+f 1 3 4
+f 5 2 1
+f 5 1 4
+f 6 5 4
+f 6 2 5
+f 7 1 2
+f 7 3 1
+f 8 6 4
+f 8 4 3
+f 9 3 7
+f 9 7 2
+f 10 6 8
+f 10 8 3
+f 10 3 9
+f 10 9 2
+f 10 2 6
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_3/collision/model_normalized_collision_27.obj b/objects/objaverse/canned_food/canned_food_3/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..00dd525bc3195a1ce92230dc797980e91770837c
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_3/collision/model_normalized_collision_27.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.26746470 -0.14625291 0.50000000
+v 0.28889442 -0.12635848 -0.50000000
+v 0.28259539 -0.13814308 0.50000000
+v 0.28889442 -0.12635848 0.50000000
+v 0.26746470 -0.13110139 -0.50000000
+v 0.26746470 -0.14625291 -0.50000000
+v 0.26746470 -0.13110139 0.50000000
+v 0.28259539 -0.13814308 -0.50000000
+f 1 3 4
+f 3 2 4
+f 5 4 2
+f 6 3 1
+f 6 5 2
+f 6 1 5
+f 7 5 1
+f 7 1 4
+f 7 4 5
+f 8 6 2
+f 8 2 3
+f 8 3 6
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_3/collision/model_normalized_collision_28.obj b/objects/objaverse/canned_food/canned_food_3/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2780328b6eb6cc2fe66d1592f866434a5d2f911d
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_3/collision/model_normalized_collision_28.obj
@@ -0,0 +1,15 @@
+# https://github.com/mikedh/trimesh
+v 0.04009346 -0.31191940 0.50000000
+v 0.04009346 -0.31191936 -0.50000000
+v 0.00988894 -0.31291958 0.50000000
+v 0.00860360 -0.31502093 0.50000000
+v 0.00860361 -0.31502081 -0.50000000
+v 0.00988894 -0.31291958 -0.50000000
+f 1 2 3
+f 1 3 4
+f 2 1 4
+f 5 2 4
+f 5 4 3
+f 6 5 3
+f 6 3 2
+f 6 2 5
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_3/collision/model_normalized_collision_29.obj b/objects/objaverse/canned_food/canned_food_3/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..86579f84f14818c8404e2c3d59234667b9f5b499
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_3/collision/model_normalized_collision_29.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.21577841 -0.22956868 0.50000000
+v 0.22956828 -0.21577885 -0.50000000
+v 0.22335301 -0.22335229 0.50000000
+v 0.22956828 -0.21577885 0.50000000
+v 0.22201016 -0.22201049 -0.50000000
+v 0.22201016 -0.22201049 0.50000000
+v 0.22335301 -0.22335229 -0.50000000
+v 0.21577841 -0.22956868 -0.50000000
+f 1 3 4
+f 3 2 4
+f 5 4 2
+f 6 5 1
+f 6 1 4
+f 6 4 5
+f 7 5 2
+f 7 2 3
+f 7 3 1
+f 8 7 1
+f 8 1 5
+f 8 5 7
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_3/collision/model_normalized_collision_3.obj b/objects/objaverse/canned_food/canned_food_3/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..067412e8effe4f0b57977b0a30b6288c2a458628
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_3/collision/model_normalized_collision_3.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.14162621 0.12647436 0.50000000
+v -0.14162621 0.12647436 -0.50000000
+v -0.13646808 0.28349084 0.50000000
+v -0.28979019 0.12468312 -0.50000000
+v -0.13646810 0.28349093 -0.50000000
+v -0.28979019 0.12468311 0.50000000
+v -0.26263474 0.17548710 -0.50000000
+v -0.26263474 0.17548696 0.50000000
+v -0.17548677 0.26263494 0.50000000
+v -0.17548677 0.26263494 -0.50000000
+f 1 2 3
+f 5 3 2
+f 5 2 4
+f 6 1 3
+f 6 2 1
+f 6 4 2
+f 7 5 4
+f 7 4 6
+f 8 7 6
+f 8 6 3
+f 9 3 5
+f 9 8 3
+f 9 7 8
+f 10 9 5
+f 10 5 7
+f 10 7 9
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_3/collision/model_normalized_collision_30.obj b/objects/objaverse/canned_food/canned_food_3/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..78e77c08056e80f022139cecdcc2b9a5daeb96d7
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_3/collision/model_normalized_collision_30.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.29955808 -0.09538227 -0.44696970
+v 0.30338832 -0.08275567 -0.50000000
+v 0.30338832 -0.08275567 -0.44696970
+v 0.29663468 0.10501997 -0.44696970
+v 0.26746470 -0.08564685 -0.50000000
+v 0.30046493 0.09239335 -0.50000000
+v 0.30046493 0.09239335 -0.44696970
+v 0.26746470 0.09617133 -0.50000000
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 5 1 4
+f 6 3 2
+f 6 2 5
+f 7 6 4
+f 7 4 3
+f 7 3 6
+f 8 6 5
+f 8 5 4
+f 8 4 6
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_3/collision/model_normalized_collision_31.obj b/objects/objaverse/canned_food/canned_food_3/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..81edd067b9e1c4bc7a355f7587ea3bf3a7a424e6
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_3/collision/model_normalized_collision_31.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.30467381 0.07851859 0.34090909
+v 0.30467381 0.07851859 -0.28030303
+v 0.29625606 0.10626812 -0.28030303
+v 0.27778538 0.14714243 0.34090909
+v 0.27778538 0.14714243 -0.28030303
+v 0.29625606 0.10626812 0.34090909
+v 0.28451923 0.13454436 0.34090909
+v 0.28451923 0.13454436 -0.28030303
+f 1 2 3
+f 2 1 4
+f 5 3 2
+f 5 2 4
+f 6 1 3
+f 7 5 4
+f 7 4 1
+f 7 1 6
+f 7 6 3
+f 8 7 3
+f 8 3 5
+f 8 5 7
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_3/collision/model_normalized_collision_4.obj b/objects/objaverse/canned_food/canned_food_3/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c5b6296f8a9e8c744945a4cd9b26d45d735c5a6
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_3/collision/model_normalized_collision_4.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.16140410 0.24768649 0.50000000
+v 0.16140410 0.24768649 -0.50000000
+v 0.15185103 0.27526850 -0.50000000
+v 0.07016588 0.30720758 0.50000000
+v 0.07049500 0.26283800 0.50000000
+v 0.15185103 0.27526850 0.50000000
+v 0.10079803 0.24768649 0.50000000
+v 0.07049500 0.26283800 -0.50000000
+v 0.12198277 0.29123340 0.50000000
+v 0.10079803 0.24768649 -0.50000000
+v 0.07016588 0.30720758 -0.50000000
+v 0.12198277 0.29123340 -0.50000000
+f 1 2 3
+f 5 1 4
+f 6 1 3
+f 6 4 1
+f 7 2 1
+f 7 1 5
+f 8 3 2
+f 8 7 5
+f 8 5 4
+f 9 6 3
+f 9 4 6
+f 10 8 2
+f 10 2 7
+f 10 7 8
+f 11 8 4
+f 11 3 8
+f 11 4 9
+f 12 11 9
+f 12 9 3
+f 12 3 11
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_3/collision/model_normalized_collision_5.obj b/objects/objaverse/canned_food/canned_food_3/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..564074733ea469cfad3a1e87661fc2a1587ced3d
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_3/collision/model_normalized_collision_5.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.14084351 -0.28115223 0.50000000
+v -0.14084351 -0.28115223 -0.50000000
+v -0.14162621 -0.16140442 -0.50000000
+v -0.27190161 -0.15815017 0.50000000
+v -0.18909967 -0.25146304 0.50000000
+v -0.27190159 -0.15815016 -0.50000000
+v -0.14162621 -0.16140442 0.50000000
+v -0.16441272 -0.26855418 0.50000000
+v -0.24733211 -0.19413317 -0.50000000
+v -0.18909967 -0.25146304 -0.50000000
+v -0.24733211 -0.19413317 0.50000000
+v -0.26560255 -0.16993475 -0.50000000
+v -0.16441272 -0.26855418 -0.50000000
+v -0.26560257 -0.16993475 0.50000000
+f 1 2 3
+f 5 1 4
+f 6 3 2
+f 7 1 3
+f 7 4 1
+f 7 6 4
+f 7 3 6
+f 8 2 1
+f 8 1 5
+f 9 6 2
+f 10 8 5
+f 10 9 2
+f 10 5 9
+f 11 9 5
+f 11 5 4
+f 12 4 6
+f 12 6 9
+f 13 10 2
+f 13 2 8
+f 13 8 10
+f 14 11 4
+f 14 4 12
+f 14 12 9
+f 14 9 11
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_3/collision/model_normalized_collision_6.obj b/objects/objaverse/canned_food/canned_food_3/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cb451446277e992712079adf9441244ea0241997
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_3/collision/model_normalized_collision_6.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.26283833 -0.16140442 0.50000000
+v -0.26283833 -0.16140442 -0.50000000
+v -0.26283833 -0.07049533 -0.50000000
+v -0.30720751 -0.07016609 0.50000000
+v -0.29123356 -0.12198292 0.50000000
+v -0.30720751 -0.07016609 -0.50000000
+v -0.26283833 -0.07049533 0.50000000
+v -0.27526854 -0.15185112 0.50000000
+v -0.29123350 -0.12198291 -0.50000000
+v -0.27526851 -0.15185113 -0.50000000
+f 1 2 3
+f 5 1 4
+f 6 3 2
+f 6 5 4
+f 7 1 3
+f 7 4 1
+f 7 6 4
+f 7 3 6
+f 8 2 1
+f 8 1 5
+f 9 6 2
+f 9 5 6
+f 10 9 2
+f 10 2 8
+f 10 8 5
+f 10 5 9
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_3/collision/model_normalized_collision_7.obj b/objects/objaverse/canned_food/canned_food_3/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7ca8ebffac79105c147f513d56d07b7293f295e3
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_3/collision/model_normalized_collision_7.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.28115230 0.14084340 0.50000000
+v 0.28115230 0.14084340 -0.50000000
+v 0.25146312 0.18909995 0.50000000
+v 0.15815004 0.27190161 0.50000000
+v 0.16140410 0.14162588 0.50000000
+v 0.19413351 0.24733217 -0.50000000
+v 0.26855424 0.16441258 0.50000000
+v 0.25146312 0.18909995 -0.50000000
+v 0.19413351 0.24733217 0.50000000
+v 0.15815004 0.27190161 -0.50000000
+v 0.26855424 0.16441258 -0.50000000
+v 0.16993467 0.26560260 0.50000000
+v 0.16140410 0.14162588 -0.50000000
+v 0.16993467 0.26560260 -0.50000000
+f 1 3 4
+f 5 1 4
+f 7 1 2
+f 7 3 1
+f 8 6 3
+f 8 2 6
+f 8 3 7
+f 9 4 3
+f 9 3 6
+f 10 5 4
+f 10 6 2
+f 11 8 7
+f 11 7 2
+f 11 2 8
+f 12 9 6
+f 12 4 9
+f 12 10 4
+f 13 10 2
+f 13 5 10
+f 13 2 1
+f 13 1 5
+f 14 12 6
+f 14 6 10
+f 14 10 12
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_3/collision/model_normalized_collision_8.obj b/objects/objaverse/canned_food/canned_food_3/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..141027c52330fc0c22bc64d1a6afc633559616c6
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_3/collision/model_normalized_collision_8.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.00860360 -0.31502093 0.50000000
+v 0.00860361 -0.31502081 -0.50000000
+v 0.00988894 -0.17655594 0.50000000
+v -0.05071712 -0.17655594 0.50000000
+v -0.05051749 -0.31089271 -0.50000000
+v -0.03403360 -0.31251621 -0.50000000
+v -0.05051749 -0.31089273 0.50000000
+v 0.00988894 -0.17655594 -0.50000000
+v -0.03403357 -0.31251627 0.50000000
+v -0.05071712 -0.17655594 -0.50000000
+f 1 2 3
+f 1 3 4
+f 6 5 2
+f 6 2 1
+f 7 1 4
+f 7 4 5
+f 8 3 2
+f 8 2 5
+f 8 4 3
+f 9 6 1
+f 9 1 7
+f 9 7 5
+f 9 5 6
+f 10 8 5
+f 10 5 4
+f 10 4 8
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_3/collision/model_normalized_collision_9.obj b/objects/objaverse/canned_food/canned_food_3/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..711cecc11e5dea81ceb92ed2724e20dc89d04716
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_3/collision/model_normalized_collision_9.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.17431022 -0.26326413 0.50000000
+v 0.27922847 -0.14444211 -0.50000000
+v 0.27922847 -0.14444211 0.50000000
+v 0.17655561 -0.14625291 0.50000000
+v 0.17431022 -0.26326413 -0.50000000
+v 0.26663040 -0.16801129 0.50000000
+v 0.17655561 -0.14625291 -0.50000000
+v 0.26663040 -0.16801129 -0.50000000
+v 0.18281073 -0.25662487 0.50000000
+v 0.18281073 -0.25662487 -0.50000000
+f 1 3 4
+f 3 2 4
+f 5 1 4
+f 6 2 3
+f 6 3 1
+f 7 5 4
+f 7 4 2
+f 7 2 5
+f 8 5 2
+f 8 2 6
+f 9 6 1
+f 9 1 5
+f 9 8 6
+f 10 9 5
+f 10 5 8
+f 10 8 9
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_3/model.xml b/objects/objaverse/canned_food/canned_food_3/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..83fc9aa3761e9d36d8280759c4579f5f0fcb5300
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_3/model.xml
@@ -0,0 +1,81 @@
+<mujoco model="more_canned_food_2">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.09499999999999997 0.09499999999999997 0.09499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.09499999999999997 0.09499999999999997 0.09499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.09499999999999997 0.09499999999999997 0.09499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.09499999999999997 0.09499999999999997 0.09499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.09499999999999997 0.09499999999999997 0.09499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.09499999999999997 0.09499999999999997 0.09499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.09499999999999997 0.09499999999999997 0.09499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.09499999999999997 0.09499999999999997 0.09499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.09499999999999997 0.09499999999999997 0.09499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.09499999999999997 0.09499999999999997 0.09499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.09499999999999997 0.09499999999999997 0.09499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.09499999999999997 0.09499999999999997 0.09499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.09499999999999997 0.09499999999999997 0.09499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.09499999999999997 0.09499999999999997 0.09499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.09499999999999997 0.09499999999999997 0.09499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.09499999999999997 0.09499999999999997 0.09499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.09499999999999997 0.09499999999999997 0.09499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.09499999999999997 0.09499999999999997 0.09499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.09499999999999997 0.09499999999999997 0.09499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.09499999999999997 0.09499999999999997 0.09499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.09499999999999997 0.09499999999999997 0.09499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.09499999999999997 0.09499999999999997 0.09499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.09499999999999997 0.09499999999999997 0.09499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.09499999999999997 0.09499999999999997 0.09499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.09499999999999997 0.09499999999999997 0.09499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.09499999999999997 0.09499999999999997 0.09499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.09499999999999997 0.09499999999999997 0.09499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.09499999999999997 0.09499999999999997 0.09499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.09499999999999997 0.09499999999999997 0.09499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.09499999999999997 0.09499999999999997 0.09499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.09499999999999997 0.09499999999999997 0.09499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.09499999999999997 0.09499999999999997 0.09499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.09499999999999997 0.09499999999999997 0.09499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="07_-_Default" texture="image0" specular="0.5" shininess="0.768579204"/>
+  </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="07_-_Default"/>
+        <geom solimp="0.998 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"/>
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+      </body>
+      <site rgba="0 0 0 0" size="0.005" pos="-4.8041499999999775e-06 -2.111374999998749e-06 -0.04749999999999999" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="-4.8041499999999775e-06 -2.111374999998749e-06 0.04749999999999999" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.029913181999999996 0.02992276559999999 0.0" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/objects/objaverse/canned_food/canned_food_3/visual/material.mtl b/objects/objaverse/canned_food/canned_food_3/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6677b1cc8bfef870d0ffee5fe7c7324ca6eb3096
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_3/visual/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.23137255 0.23137255 0.23137255
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 768.57920400
+map_Kd material_0.png
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_3/visual/model_normalized_0.obj b/objects/objaverse/canned_food/canned_food_3/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..27a887d18000358ebb13cf626121c6301598552c
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_3/visual/model_normalized_0.obj
@@ -0,0 +1,517 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/objects/objaverse/canned_food/canned_food_5/visual/model_normalized_0.obj b/objects/objaverse/canned_food/canned_food_5/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..58d3ba64bd4d52986ab9f3b8583eaa74c24f1f2f
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_5/visual/model_normalized_0.obj
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\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_8/collision/model_normalized_collision_1.obj b/objects/objaverse/canned_food/canned_food_8/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bbf131b39f7f9c3a9e53a00774c01bcdf4153893
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_8/collision/model_normalized_collision_1.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.32786947 -0.19175453 0.46692053
+v 0.38845205 -0.11377171 -0.50000000
+v 0.40367822 0.01763607 0.49529357
+v 0.32837700 0.08071415 0.46692053
+v 0.32837700 0.08071415 -0.50000000
+v 0.37383154 -0.07080101 0.49529357
+v 0.32837700 -0.19201313 -0.50000000
+v 0.39394338 0.07910004 -0.50000000
+v 0.38056137 0.02117398 0.49529357
+v 0.38845205 -0.11377171 0.46212124
+v 0.40286892 -0.02274626 -0.50000000
+v 0.39394338 0.07910004 0.46212124
+v 0.39547510 -0.06942949 0.49529357
+v 0.35708864 -0.18348219 -0.50000000
+v 0.40367822 0.01763607 -0.50000000
+v 0.35708864 -0.18348219 0.46212124
+v 0.40286892 -0.02274626 0.49529357
+v 0.37246931 -0.15329592 0.46212124
+v 0.37246931 -0.15329592 -0.50000000
+f 5 1 4
+f 6 4 1
+f 7 5 2
+f 7 1 5
+f 8 2 5
+f 9 6 3
+f 9 3 4
+f 9 4 6
+f 11 2 8
+f 11 10 2
+f 12 4 3
+f 12 3 8
+f 12 8 5
+f 12 5 4
+f 13 6 1
+f 13 3 6
+f 14 7 2
+f 15 11 8
+f 15 8 3
+f 15 3 11
+f 16 13 1
+f 16 1 7
+f 16 7 14
+f 17 11 3
+f 17 3 13
+f 17 13 10
+f 17 10 11
+f 18 2 10
+f 18 16 14
+f 18 10 13
+f 18 13 16
+f 19 18 14
+f 19 14 2
+f 19 2 18
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_8/collision/model_normalized_collision_11.obj b/objects/objaverse/canned_food/canned_food_8/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8708320762ab142962a9aa093980ccd3b0553d97
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_8/collision/model_normalized_collision_11.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.18545236 -0.35608490 0.49529357
+v -0.18545236 -0.35608490 -0.50000000
+v -0.18677453 -0.19201313 0.46692053
+v -0.35288604 -0.19173026 0.49529357
+v -0.23891813 -0.32884272 0.49529357
+v -0.35288604 -0.19173026 -0.50000000
+v -0.19372479 -0.32686599 0.49529357
+v -0.18677453 -0.19201313 -0.50000000
+v -0.32671567 -0.24104518 0.49529357
+v -0.23891813 -0.32884272 -0.50000000
+v -0.32366686 -0.20000261 0.49529357
+v -0.34062820 -0.21578761 0.49529357
+v -0.32671567 -0.24104518 -0.50000000
+v -0.34062820 -0.21578761 -0.50000000
+f 1 2 3
+f 5 2 1
+f 5 1 4
+f 6 4 3
+f 7 1 3
+f 7 4 1
+f 8 6 3
+f 8 3 2
+f 8 2 6
+f 9 5 4
+f 10 6 2
+f 10 2 5
+f 10 5 9
+f 11 7 3
+f 11 3 4
+f 11 4 7
+f 12 9 4
+f 12 4 6
+f 13 10 9
+f 13 6 10
+f 13 9 12
+f 14 13 12
+f 14 12 6
+f 14 6 13
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_8/collision/model_normalized_collision_16.obj b/objects/objaverse/canned_food/canned_food_8/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5cdbf52e9b83b2a6fbec741a8b9ad3a50160d69b
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_8/collision/model_normalized_collision_16.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v -0.18677453 -0.25261919 0.46692053
+v -0.18677453 -0.19201313 0.40151518
+v -0.18677453 -0.11625555 0.46692053
+v -0.29283514 -0.11625555 0.46692053
+v -0.34039468 -0.21624593 0.40151518
+v -0.18677453 -0.11625555 0.40151518
+v -0.29581065 -0.24044317 0.47727275
+v -0.29283514 -0.11625555 0.40151518
+v -0.26253211 -0.25261919 0.46692053
+f 1 2 3
+f 5 2 1
+f 6 3 2
+f 6 4 3
+f 6 2 5
+f 7 1 3
+f 7 3 4
+f 7 4 5
+f 8 6 5
+f 8 5 4
+f 8 4 6
+f 9 7 5
+f 9 5 1
+f 9 1 7
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_8/collision/model_normalized_collision_20.obj b/objects/objaverse/canned_food/canned_food_8/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..132a4f6e9f2b41a82775bf13cbf46658affa02a1
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_8/collision/model_normalized_collision_20.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.37260078 -0.07143582 0.49529357
+v -0.33828969 -0.07080101 -0.50000000
+v -0.33828969 0.06556263 0.46692053
+v -0.39615619 0.06512873 0.49529357
+v -0.39534689 -0.07023893 -0.50000000
+v -0.37341008 0.06632563 0.49529357
+v -0.33828969 -0.01019494 0.46692053
+v -0.39386379 -0.07960300 0.40151518
+v -0.33828969 0.06556263 -0.50000000
+v -0.39534689 -0.07023893 0.49529357
+v -0.39615619 0.06512873 -0.50000000
+v -0.39886799 0.04800698 0.49529357
+v -0.39805869 -0.05311717 -0.50000000
+v -0.39805869 -0.05311717 0.49529357
+v -0.39886799 0.04800698 -0.50000000
+f 6 1 3
+f 6 4 1
+f 7 1 2
+f 7 2 3
+f 7 3 1
+f 8 5 2
+f 8 2 1
+f 9 3 2
+f 9 2 5
+f 9 6 3
+f 10 8 1
+f 10 1 4
+f 11 9 5
+f 11 4 6
+f 11 6 9
+f 12 10 4
+f 12 4 11
+f 13 5 8
+f 13 11 5
+f 14 10 12
+f 14 12 13
+f 14 13 8
+f 14 8 10
+f 15 13 12
+f 15 12 11
+f 15 11 13
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_8/collision/model_normalized_collision_23.obj b/objects/objaverse/canned_food/canned_food_8/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e837256e22bdbc773ceae5af6676ffb7695995c4
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_8/collision/model_normalized_collision_23.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v -0.32678971 -0.19387368 0.49529357
+v -0.29283514 -0.11625555 -0.09848484
+v -0.29283514 -0.11625555 0.46692053
+v -0.33828969 -0.11625555 0.46692053
+v -0.38040778 -0.13771580 -0.09848484
+v -0.34217040 -0.16368742 0.49529357
+v -0.29283514 -0.19201313 0.46692053
+v -0.33828969 -0.19201313 0.49529357
+v -0.34039468 -0.21624593 -0.09848484
+f 3 2 4
+f 5 4 2
+f 6 1 3
+f 6 3 4
+f 6 4 5
+f 7 2 3
+f 7 3 1
+f 8 6 5
+f 8 1 6
+f 9 5 2
+f 9 2 7
+f 9 7 1
+f 9 8 5
+f 9 1 8
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_8/collision/model_normalized_collision_25.obj b/objects/objaverse/canned_food/canned_food_8/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ce10481b62e818473aefd667901d6e48aa841ce3
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_8/collision/model_normalized_collision_25.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.22231639 -0.01019494 0.26515154
+v 0.22231639 -0.01019494 -0.50000000
+v 0.22231639 0.18677476 0.26515154
+v 0.01019517 0.18677476 0.26515154
+v 0.01019517 -0.01019494 -0.50000000
+v 0.01019517 0.18677476 -0.50000000
+v 0.01019517 -0.01019494 0.26515154
+v 0.22231639 0.18677476 -0.50000000
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 6 4 3
+f 6 2 5
+f 7 5 1
+f 7 1 4
+f 7 6 5
+f 7 4 6
+f 8 6 3
+f 8 3 2
+f 8 2 6
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_8/collision/model_normalized_collision_29.obj b/objects/objaverse/canned_food/canned_food_8/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..138d90105af34bc8d15bc88cfc1f48117794922e
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_8/collision/model_normalized_collision_29.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.38040778 -0.13771580 0.40151518
+v -0.29283514 -0.11625555 0.08333335
+v -0.29283514 0.06556263 0.40151518
+v -0.39467308 0.07449280 0.40151518
+v -0.39467308 0.07449280 0.08333335
+v -0.29283514 -0.11625555 0.40151518
+v -0.38040778 -0.13771580 0.08333335
+v -0.29283514 0.06556263 0.08333335
+f 1 3 4
+f 5 4 3
+f 6 2 3
+f 6 3 1
+f 7 5 2
+f 7 1 4
+f 7 4 5
+f 7 6 1
+f 7 2 6
+f 8 5 3
+f 8 3 2
+f 8 2 5
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_8/collision/model_normalized_collision_31.obj b/objects/objaverse/canned_food/canned_food_8/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2654c62c0f7b4bcfdbef5bf1b982d052bf8610f2
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_8/collision/model_normalized_collision_31.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.01019517 -0.01019494 -0.23484848
+v 0.01019517 -0.01019494 -0.50000000
+v 0.01019517 0.18677476 -0.24999999
+v -0.18677453 0.18677476 -0.23484848
+v -0.18677453 -0.01019494 -0.23484848
+v -0.18677453 0.18677476 -0.50000000
+v 0.01019517 0.18677476 -0.23484848
+v 0.01019517 0.18677476 -0.50000000
+v -0.18677453 -0.01019494 -0.50000000
+f 5 1 4
+f 6 4 3
+f 7 3 4
+f 7 4 1
+f 7 1 2
+f 7 2 3
+f 8 6 3
+f 8 3 2
+f 8 2 6
+f 9 6 2
+f 9 5 4
+f 9 4 6
+f 9 2 1
+f 9 1 5
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_8/collision/model_normalized_collision_4.obj b/objects/objaverse/canned_food/canned_food_8/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..478eb1cb60d9c4065aabd8765cc175644bbdae6d
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_8/collision/model_normalized_collision_4.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.18677453 -0.11625555 0.46692053
+v -0.18677453 -0.11625555 0.40151518
+v -0.18677453 0.17162324 0.40151518
+v -0.29283514 0.17162324 0.46692053
+v -0.38832385 -0.11458114 0.40151518
+v -0.18677453 0.17162324 0.46692053
+v -0.38832385 -0.11458114 0.46212124
+v -0.29283514 0.17162324 0.40151518
+v -0.29283514 0.11101718 0.46692053
+v -0.39534689 -0.07023893 0.46212124
+v -0.39534689 -0.07023893 0.40151518
+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 8 4 3
+f 8 3 5
+f 9 7 1
+f 9 1 4
+f 10 5 7
+f 10 4 8
+f 10 9 4
+f 10 7 9
+f 11 10 8
+f 11 8 5
+f 11 5 10
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_8/collision/model_normalized_collision_5.obj b/objects/objaverse/canned_food/canned_food_8/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3959e5b8880fbb30ad75c1a9df258307f71b7a97
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_8/collision/model_normalized_collision_5.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.39394338 0.07910004 0.34090911
+v 0.39394338 0.07910004 -0.50000000
+v 0.38657754 0.12560653 0.49529357
+v 0.34983891 0.19771015 0.34090911
+v 0.32837700 0.08071415 0.34090911
+v 0.37458810 0.14913713 -0.50000000
+v 0.37146526 0.15526604 0.49529357
+v 0.38926134 0.10866151 -0.50000000
+v 0.32837700 0.18677476 -0.50000000
+v 0.37383154 0.12616870 0.49529357
+v 0.35920743 0.17932340 -0.50000000
+v 0.32837700 0.08071415 -0.50000000
+f 1 2 3
+f 5 1 3
+f 7 4 5
+f 7 6 4
+f 7 3 6
+f 8 6 3
+f 8 3 2
+f 8 2 6
+f 9 5 4
+f 9 6 2
+f 10 7 5
+f 10 5 3
+f 10 3 7
+f 11 9 4
+f 11 4 6
+f 11 6 9
+f 12 9 2
+f 12 5 9
+f 12 2 1
+f 12 1 5
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_8/collision/model_normalized_collision_6.obj b/objects/objaverse/canned_food/canned_food_8/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..653f176405477c10c716fafd621d8e80c312a303
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_8/collision/model_normalized_collision_6.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.34039468 -0.21624593 -0.09848484
+v -0.29283514 -0.19201313 -0.50000000
+v -0.29283514 -0.11625555 0.08333335
+v -0.33828969 -0.01019494 0.08333335
+v -0.33828969 -0.11625555 -0.50000000
+v -0.29283514 -0.01019494 -0.35606060
+v -0.38040778 -0.13771580 0.08333335
+v -0.33828969 -0.19201313 -0.50000000
+v -0.29283514 -0.01019494 0.08333335
+v -0.33828969 -0.01019494 -0.35606060
+v -0.29283514 -0.11625555 -0.50000000
+v -0.34976320 -0.19785918 -0.09848484
+f 1 2 3
+f 7 1 3
+f 7 3 4
+f 8 5 2
+f 8 2 1
+f 8 7 5
+f 9 6 4
+f 9 4 3
+f 9 3 2
+f 9 2 6
+f 10 6 5
+f 10 4 6
+f 10 7 4
+f 10 5 7
+f 11 6 2
+f 11 2 5
+f 11 5 6
+f 12 8 1
+f 12 1 7
+f 12 7 8
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_8/collision/model_normalized_collision_7.obj b/objects/objaverse/canned_food/canned_food_8/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..680e9cd9922f4f1552de4783c58456fc341c10dc
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_8/collision/model_normalized_collision_7.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.01019517 -0.22231616 0.46692053
+v 0.01019517 -0.22231616 -0.23484848
+v 0.01019517 0.18677476 0.46692053
+v -0.18677453 0.18677476 0.46692053
+v -0.18677453 -0.22231616 0.46692053
+v -0.18677453 0.18677476 -0.23484848
+v -0.03407602 -0.02552220 0.50000003
+v 0.01019517 0.18677476 -0.23484848
+v -0.18863586 0.08224383 0.48386279
+v -0.18677453 -0.22231616 -0.23484848
+v -0.00160149 0.05617088 0.48386279
+v -0.08523412 -0.02909917 0.50000003
+v -0.05264163 0.03531285 0.50000003
+v -0.00377415 -0.05867404 0.48386279
+v -0.18730607 -0.08206257 0.48386279
+v -0.07370939 0.03483925 0.50000003
+v -0.03146339 0.02308492 0.50000003
+v -0.09800718 0.01300131 0.50000003
+v -0.09580348 -0.01703589 0.50000003
+f 1 2 3
+f 6 4 3
+f 8 6 3
+f 8 3 2
+f 8 2 6
+f 9 4 6
+f 10 6 2
+f 10 9 6
+f 10 5 9
+f 10 2 1
+f 10 1 5
+f 11 1 3
+f 12 5 1
+f 12 1 7
+f 13 3 4
+f 13 12 7
+f 14 7 1
+f 14 1 11
+f 15 9 5
+f 15 5 12
+f 16 13 4
+f 16 4 9
+f 16 12 13
+f 17 11 3
+f 17 3 13
+f 17 13 7
+f 17 14 11
+f 17 7 14
+f 18 9 15
+f 18 16 9
+f 18 12 16
+f 19 18 15
+f 19 15 12
+f 19 12 18
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_8/collision/model_normalized_collision_9.obj b/objects/objaverse/canned_food/canned_food_8/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2c8f6387d305492f59de98eaedcd38428f39e50b
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_8/collision/model_normalized_collision_9.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.18677453 0.17162324 0.46692053
+v -0.18677453 0.17162324 -0.50000000
+v -0.18144223 0.35812772 0.49529357
+v -0.36425658 0.16941387 -0.50000000
+v -0.18144223 0.35812772 -0.50000000
+v -0.36425658 0.16941387 0.49529357
+v -0.33661807 0.22365749 0.49529357
+v -0.33503742 0.17768622 0.49529357
+v -0.33661807 0.22365749 -0.50000000
+v -0.22365717 0.33661812 0.49529357
+v -0.19584368 0.32578606 0.49529357
+v -0.22365717 0.33661812 -0.50000000
+f 1 2 3
+f 5 3 2
+f 5 2 4
+f 6 2 1
+f 6 4 2
+f 7 6 3
+f 7 4 6
+f 8 6 1
+f 8 3 6
+f 9 5 4
+f 9 4 7
+f 10 7 3
+f 10 3 5
+f 10 9 7
+f 11 8 1
+f 11 1 3
+f 11 3 8
+f 12 10 5
+f 12 5 9
+f 12 9 10
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_8/model.xml b/objects/objaverse/canned_food/canned_food_8/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..349cd102bdc4cd7fcc3cc2830b249d35bb9872c5
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_8/model.xml
@@ -0,0 +1,81 @@
+<mujoco model="more_canned_food_16">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.08499999999999996 0.08499999999999996 0.08499999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.08499999999999996 0.08499999999999996 0.08499999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.08499999999999996 0.08499999999999996 0.08499999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.08499999999999996 0.08499999999999996 0.08499999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.08499999999999996 0.08499999999999996 0.08499999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.08499999999999996 0.08499999999999996 0.08499999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.08499999999999996 0.08499999999999996 0.08499999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.08499999999999996 0.08499999999999996 0.08499999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.08499999999999996 0.08499999999999996 0.08499999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.08499999999999996 0.08499999999999996 0.08499999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.08499999999999996 0.08499999999999996 0.08499999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.08499999999999996 0.08499999999999996 0.08499999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.08499999999999996 0.08499999999999996 0.08499999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.08499999999999996 0.08499999999999996 0.08499999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.08499999999999996 0.08499999999999996 0.08499999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.08499999999999996 0.08499999999999996 0.08499999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.08499999999999996 0.08499999999999996 0.08499999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.08499999999999996 0.08499999999999996 0.08499999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.08499999999999996 0.08499999999999996 0.08499999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.08499999999999996 0.08499999999999996 0.08499999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.08499999999999996 0.08499999999999996 0.08499999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.08499999999999996 0.08499999999999996 0.08499999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.08499999999999996 0.08499999999999996 0.08499999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.08499999999999996 0.08499999999999996 0.08499999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.08499999999999996 0.08499999999999996 0.08499999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.08499999999999996 0.08499999999999996 0.08499999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.08499999999999996 0.08499999999999996 0.08499999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.08499999999999996 0.08499999999999996 0.08499999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.08499999999999996 0.08499999999999996 0.08499999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.08499999999999996 0.08499999999999996 0.08499999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.08499999999999996 0.08499999999999996 0.08499999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.08499999999999996 0.08499999999999996 0.08499999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.08499999999999996 0.08499999999999996 0.08499999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="lambert1.001" texture="image0" specular="0.5" shininess="0.25"/>
+  </asset>
+  <worldbody>
+    <body>
+      <body name="object">
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_0_vis" conaffinity="0" contype="0" group="1" material="lambert1.001"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_22._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_23._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_21._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_20._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_24._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_30._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_18._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_19._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_31._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_25._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_27._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_26._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_9._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_8._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_6._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_7._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_5._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_4._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_0._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_1._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_3._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_2._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_17._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_16._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_28._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_14._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_15._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_29._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_11._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_10._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_12._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_13._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+      </body>
+      <site rgba="0 0 0 0" size="0.005" pos="0.00020443477499999867 -0.00020444115000000005 -0.04249999999999998" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.00020443477499999867 -0.00020444115000000005 0.042500002549999985" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.03431264869999998 0.033903790199999985 1.2750000016881197e-09" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/objects/objaverse/fork/fork_0/collision/model_normalized_collision_17.obj b/objects/objaverse/fork/fork_0/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..56a4dc7c748319042a4e83c217b6dc9d23a0e29d
--- /dev/null
+++ b/objects/objaverse/fork/fork_0/collision/model_normalized_collision_17.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.45599959 0.06432929 0.03686178
+v -0.44145750 0.06370910 0.01394868
+v -0.44128418 0.06965601 0.01414360
+v -0.46673812 0.06837176 0.04371535
+v -0.46667218 0.06437993 0.04367577
+v -0.45214708 0.06873404 0.02077292
+v -0.45598095 0.06841336 0.03685348
+v -0.45216369 0.06402670 0.02077937
+f 1 2 3
+f 5 2 1
+f 6 3 2
+f 6 4 3
+f 7 1 3
+f 7 3 4
+f 7 5 1
+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/fork/fork_0/collision/model_normalized_collision_18.obj b/objects/objaverse/fork/fork_0/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..59c5ff8ed0c3ed2b00ac9dea4b234bb8f6606a3d
--- /dev/null
+++ b/objects/objaverse/fork/fork_0/collision/model_normalized_collision_18.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.45869476 0.06327579 0.02562328
+v -0.45867054 0.06948584 0.02561359
+v -0.46673812 0.06837176 0.04371535
+v -0.49819601 0.06870414 0.05919432
+v -0.49574562 0.06570149 0.05038838
+v -0.46948100 0.06511628 0.03184318
+v -0.49575285 0.06707820 0.05039700
+v -0.49821063 0.06406350 0.05919285
+v -0.46939112 0.06766340 0.03179221
+v -0.47380315 0.06561356 0.04914966
+v -0.47379534 0.06712862 0.04914609
+f 1 2 3
+f 3 2 4
+f 6 1 5
+f 7 4 2
+f 7 6 5
+f 8 5 1
+f 8 7 5
+f 8 4 7
+f 9 7 2
+f 9 6 7
+f 9 2 1
+f 9 1 6
+f 10 8 1
+f 10 1 3
+f 10 4 8
+f 11 10 3
+f 11 3 4
+f 11 4 10
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_0/collision/model_normalized_collision_21.obj b/objects/objaverse/fork/fork_0/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c40a862f6e1b11da2bf67ca96855f8c69f44a0d0
--- /dev/null
+++ b/objects/objaverse/fork/fork_0/collision/model_normalized_collision_21.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.05133027 -0.01699690 -0.02805236
+v -0.05135110 -0.01694760 -0.03767077
+v -0.05292853 -0.01579710 -0.02521689
+v -0.06792618 -0.01455778 -0.02618605
+v -0.06639193 -0.01540660 -0.02843109
+v -0.06795183 -0.01466430 -0.03911324
+v -0.05297416 -0.01612040 -0.03981439
+v -0.06640707 -0.01534188 -0.03739404
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 5 1 4
+f 6 4 3
+f 6 5 4
+f 7 6 3
+f 7 3 2
+f 7 2 6
+f 8 6 2
+f 8 2 5
+f 8 5 6
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_0/collision/model_normalized_collision_3.obj b/objects/objaverse/fork/fork_0/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bfa0825d58dd172b480c728262566a7247128fa9
--- /dev/null
+++ b/objects/objaverse/fork/fork_0/collision/model_normalized_collision_3.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.41226614 -0.07269019 -0.00267057
+v -0.42351160 -0.07096028 0.00334508
+v -0.41285757 0.02638168 -0.00346834
+v -0.44931791 0.02538926 0.03189357
+v -0.44955341 -0.07050989 0.03118585
+v -0.44146996 0.02479224 0.01395092
+v -0.42726631 0.02434608 0.01866572
+v -0.44106192 -0.07024646 0.01432043
+v -0.44161040 -0.06437060 0.01385115
+v -0.42725995 -0.06927663 0.01848823
+v -0.42389853 0.02528787 0.00295957
+f 1 2 3
+f 6 4 3
+f 6 5 4
+f 7 1 3
+f 7 3 4
+f 8 2 1
+f 8 1 5
+f 9 2 8
+f 9 8 5
+f 9 5 6
+f 10 5 1
+f 10 1 7
+f 10 7 4
+f 10 4 5
+f 11 9 6
+f 11 6 3
+f 11 3 2
+f 11 2 9
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_0/visual/material.mtl b/objects/objaverse/fork/fork_0/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..33616803300962094e8955deb30562079542847b
--- /dev/null
+++ b/objects/objaverse/fork/fork_0/visual/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 250.00000000
+map_Kd material_0.jpeg
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_0/visual/model_normalized_0.obj b/objects/objaverse/fork/fork_0/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b4f6d572bf7a3ad5b79a1a2e45ecc1c28a0a9155
--- /dev/null
+++ b/objects/objaverse/fork/fork_0/visual/model_normalized_0.obj
@@ -0,0 +1,31104 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
+v -0.05310500 0.01611750 -0.02589000
+v -0.05311450 0.01571400 -0.02515050
+v -0.03421000 0.01760300 -0.02440000
+v -0.03420400 0.01805550 -0.02520450
+v -0.05312050 0.01525300 -0.02462050
+v -0.03421300 0.01708600 -0.02382350
+v -0.05312350 0.01474400 -0.02426500
+v -0.03421400 0.01651600 -0.02343700
+v -0.05312400 0.01419600 -0.02404950
+v -0.03421250 0.01590300 -0.02320300
+v -0.05312200 0.01362000 -0.02393900
+v -0.03420900 0.01525750 -0.02308250
+v -0.05311850 0.01302400 -0.02389800
+v -0.03420450 0.01459100 -0.02303800
+v -0.01410650 0.01966200 -0.02357900
+v -0.01410300 0.02016800 -0.02445450
+v -0.01410750 0.01908500 -0.02295150
+v -0.01410650 0.01844800 -0.02253100
+v -0.01410350 0.01776350 -0.02227600
+v -0.01409900 0.01704350 -0.02214500
+v -0.01409300 0.01629950 -0.02209650
+v 0.00666600 0.02180500 -0.02272100
+v 0.00666700 0.02236650 -0.02367050
+v 0.00666650 0.02116500 -0.02204050
+v 0.00666900 0.02045900 -0.02158450
+v 0.00667300 0.01970050 -0.02130800
+v 0.00667850 0.01890250 -0.02116550
+v 0.00668550 0.01807800 -0.02111300
+v 0.02757750 0.02394600 -0.02186050
+v 0.02757800 0.02456200 -0.02288350
+v 0.02757900 0.02324300 -0.02112700
+v 0.02758250 0.02246800 -0.02063500
+v 0.02758750 0.02163550 -0.02033700
+v 0.02759400 0.02075950 -0.02018350
+v 0.02760200 0.01985500 -0.02012700
+v 0.04809900 0.02599750 -0.02103050
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diff --git a/objects/objaverse/fork/fork_0/visual/model_normalized_1.obj b/objects/objaverse/fork/fork_0/visual/model_normalized_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..282fb3c62f0d79a2b7eb25312306155626b43c24
--- /dev/null
+++ b/objects/objaverse/fork/fork_0/visual/model_normalized_1.obj
@@ -0,0 +1,46038 @@
+# https://github.com/mikedh/trimesh
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+f 6143/6143/6143 6141/6141/6141 9562/9562/9562
+f 9572/9572/9572 9562/9562/9562 6141/6141/6141
+f 6141/6141/6141 6142/6142/6142 9572/9572/9572
+f 9573/9573/9573 9561/9561/9561 9562/9562/9562
+f 9562/9562/9562 9572/9572/9572 9573/9573/9573
+f 9574/9574/9574 9560/9560/9560 9561/9561/9561
+f 9561/9561/9561 9573/9573/9573 9574/9574/9574
+f 9575/9575/9575 9559/9559/9559 9560/9560/9560
+f 9560/9560/9560 9574/9574/9574 9575/9575/9575
+f 9576/9576/9576 9558/9558/9558 9559/9559/9559
+f 9559/9559/9559 9575/9575/9575 9576/9576/9576
+f 9577/9577/9577 9556/9556/9556 9558/9558/9558
+f 9558/9558/9558 9576/9576/9576 9577/9577/9577
+f 9578/9578/9578 9557/9557/9557 9556/9556/9556
+f 9556/9556/9556 9577/9577/9577 9578/9578/9578
+f 9580/9580/9580 9579/9579/9579 9557/9557/9557
+f 9557/9557/9557 9578/9578/9578 9580/9580/9580
+f 9579/9579/9579 9581/9581/9581 9550/9550/9550
+f 9550/9550/9550 9557/9557/9557 9579/9579/9579
+f 9581/9581/9581 9582/9582/9582 9543/9543/9543
+f 9543/9543/9543 9550/9550/9550 9581/9581/9581
+f 9582/9582/9582 9583/9583/9583 9536/9536/9536
+f 9536/9536/9536 9543/9543/9543 9582/9582/9582
+f 9583/9583/9583 9584/9584/9584 9529/9529/9529
+f 9529/9529/9529 9536/9536/9536 9583/9583/9583
+f 9584/9584/9584 9585/9585/9585 9517/9517/9517
+f 9517/9517/9517 9529/9529/9529 9584/9584/9584
+f 9585/9585/9585 9565/9565/9565 9514/9514/9514
+f 9514/9514/9514 9517/9517/9517 9585/9585/9585
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_1/collision/model_normalized_collision_0.obj b/objects/objaverse/fork/fork_1/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..40a0ae52edf972c1cf5ac9494276fe702e7e6055
--- /dev/null
+++ b/objects/objaverse/fork/fork_1/collision/model_normalized_collision_0.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.05045315 0.02782041 0.34230927
+v 0.04626467 0.02843844 0.22014358
+v 0.04878730 0.04309692 0.31006363
+v -0.06211070 0.04067120 0.31933177
+v -0.06062169 0.02759735 0.34151414
+v -0.05750384 0.04164758 0.24497314
+v 0.03330970 0.03523693 0.33351384
+v 0.04878581 0.03591847 0.22563805
+v -0.04678265 0.02880741 0.22234891
+v 0.05035340 0.03251874 0.33812293
+v 0.05040671 0.04067703 0.31984942
+v -0.06088834 0.03264533 0.33754179
+v -0.05480430 0.03401596 0.23927649
+v -0.04780753 0.03535166 0.22451166
+v -0.03858636 0.03479801 0.33342079
+f 5 2 1
+f 6 4 3
+f 6 5 4
+f 8 1 2
+f 8 6 3
+f 9 2 5
+f 11 3 4
+f 11 4 7
+f 11 7 10
+f 11 8 3
+f 11 10 1
+f 11 1 8
+f 12 4 5
+f 12 10 7
+f 12 5 1
+f 12 1 10
+f 13 9 5
+f 13 5 6
+f 14 8 2
+f 14 2 9
+f 14 6 8
+f 14 13 6
+f 14 9 13
+f 15 12 7
+f 15 7 4
+f 15 4 12
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_1/collision/model_normalized_collision_1.obj b/objects/objaverse/fork/fork_1/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0bdab61a63d1e199c1766b7f90e2fb07e6008cf6
--- /dev/null
+++ b/objects/objaverse/fork/fork_1/collision/model_normalized_collision_1.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.03321696 0.00647107 0.39211817
+v 0.06076302 0.03273632 0.33781329
+v -0.05734893 0.01128919 0.38645720
+v -0.06088834 0.03264533 0.33754179
+v 0.06003667 0.02616615 0.34627755
+v 0.03459263 0.03307336 0.33865723
+v -0.06032414 0.02615789 0.34594690
+v 0.05663403 0.01120004 0.38681238
+v -0.03917914 0.00680083 0.39214099
+v -0.05919149 0.02150400 0.36282049
+v -0.05779948 0.01362580 0.38100372
+f 5 4 2
+f 6 2 4
+f 6 4 3
+f 7 5 1
+f 7 4 5
+f 8 5 2
+f 8 1 5
+f 8 2 6
+f 8 6 3
+f 9 7 1
+f 9 3 7
+f 9 8 3
+f 9 1 8
+f 10 3 4
+f 10 4 7
+f 11 10 7
+f 11 7 3
+f 11 3 10
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_1/collision/model_normalized_collision_10.obj b/objects/objaverse/fork/fork_1/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..083b069f1c8163a31014cc9bf37a7227554fd184
--- /dev/null
+++ b/objects/objaverse/fork/fork_1/collision/model_normalized_collision_10.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.00503583 -0.02341794 0.05304646
+v 0.02363181 -0.01392784 -0.09859015
+v 0.02269138 -0.01328155 0.05291641
+v 0.00415165 0.01764943 0.05280813
+v 0.00530278 -0.02488502 -0.09845542
+v 0.02255355 0.01384832 -0.09887026
+v 0.00508994 -0.02387870 0.00759665
+v 0.02124018 0.00956595 0.05251236
+v 0.00480505 0.02321442 -0.09849953
+f 1 3 4
+f 5 2 3
+f 6 3 2
+f 6 2 5
+f 7 1 4
+f 7 4 5
+f 7 5 3
+f 7 3 1
+f 8 4 3
+f 8 3 6
+f 9 6 5
+f 9 5 4
+f 9 8 6
+f 9 4 8
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_1/collision/model_normalized_collision_11.obj b/objects/objaverse/fork/fork_1/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..20561bbe208232c8d95ea3c8bf4dacce624daac4
--- /dev/null
+++ b/objects/objaverse/fork/fork_1/collision/model_normalized_collision_11.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.00485350 -0.00013182 -0.28019246
+v 0.00485393 0.00114414 -0.35592854
+v 0.00399295 0.03298253 -0.35627867
+v -0.01970295 0.02673191 -0.28079170
+v -0.03603799 -0.00592408 -0.35614905
+v 0.00357786 0.03018864 -0.28062655
+v -0.03461146 -0.00568324 -0.28041912
+v -0.02730835 0.02458674 -0.35670180
+v -0.03084129 0.01719402 -0.28065806
+v -0.02594171 0.02312984 -0.29616165
+f 1 2 3
+f 5 2 1
+f 6 1 3
+f 6 3 4
+f 7 5 1
+f 8 3 2
+f 8 2 5
+f 8 4 3
+f 9 6 4
+f 9 8 5
+f 9 5 7
+f 9 7 1
+f 9 1 6
+f 10 9 4
+f 10 4 8
+f 10 8 9
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_1/collision/model_normalized_collision_12.obj b/objects/objaverse/fork/fork_1/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..24aa081f304282b09c83f346206cb055f519160d
--- /dev/null
+++ b/objects/objaverse/fork/fork_1/collision/model_normalized_collision_12.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.02809598 -0.00566318 0.16592865
+v 0.02733650 -0.00727219 0.14411248
+v 0.03784777 0.01986634 0.19590063
+v -0.03691532 0.01800825 0.19426082
+v -0.02821573 -0.00540145 0.16749715
+v -0.02764467 -0.00136151 0.14343854
+v 0.03655973 0.01139206 0.19194187
+v -0.02763378 -0.00724792 0.14386957
+v 0.02734119 -0.00138575 0.14368043
+v -0.03352684 0.00530120 0.18383641
+f 6 4 3
+f 7 1 2
+f 7 2 3
+f 7 5 1
+f 7 3 4
+f 8 2 1
+f 8 1 5
+f 8 4 6
+f 9 6 3
+f 9 3 2
+f 9 8 6
+f 9 2 8
+f 10 7 4
+f 10 5 7
+f 10 8 5
+f 10 4 8
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_1/collision/model_normalized_collision_13.obj b/objects/objaverse/fork/fork_1/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..302e40cc5fa79dbb0c28e9c741bcd1a9c7cd84ed
--- /dev/null
+++ b/objects/objaverse/fork/fork_1/collision/model_normalized_collision_13.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.03655973 0.01139206 0.19194187
+v 0.04722183 0.03492513 0.22222957
+v 0.04297984 0.02432916 0.21167398
+v -0.04780753 0.03535166 0.22451166
+v -0.03901735 0.02224414 0.20072757
+v -0.04309015 0.02457264 0.21325724
+v 0.03995240 0.02410736 0.20236918
+v -0.03562888 0.00953710 0.19030316
+v -0.04326955 0.03081292 0.21380915
+f 1 2 3
+f 3 2 4
+f 6 3 4
+f 7 2 1
+f 8 1 3
+f 8 3 6
+f 8 7 1
+f 8 5 7
+f 8 6 4
+f 8 4 5
+f 9 7 5
+f 9 5 4
+f 9 4 2
+f 9 2 7
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_1/collision/model_normalized_collision_14.obj b/objects/objaverse/fork/fork_1/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7280b138144782d809c844e8e64d631a716540d2
--- /dev/null
+++ b/objects/objaverse/fork/fork_1/collision/model_normalized_collision_14.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.01268780 -0.01760756 0.11705932
+v 0.01742830 -0.01837400 0.05299612
+v 0.01429365 -0.01412268 0.11912339
+v -0.02097562 -0.01579019 0.11235021
+v -0.01745214 -0.02009491 0.05281148
+v -0.02170197 -0.01678872 0.05295913
+v -0.00831321 -0.01654205 0.12019599
+v 0.01383593 -0.02067384 0.05287068
+v -0.01650874 -0.01953049 0.11028389
+v -0.00831056 -0.01987588 0.11707688
+f 1 2 3
+f 6 3 2
+f 6 4 3
+f 7 1 3
+f 7 3 4
+f 8 2 1
+f 8 6 2
+f 8 5 6
+f 9 6 5
+f 9 4 6
+f 10 7 4
+f 10 4 9
+f 10 1 7
+f 10 8 1
+f 10 9 5
+f 10 5 8
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_1/collision/model_normalized_collision_15.obj b/objects/objaverse/fork/fork_1/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6aff16a128225ef39d09f5a9a56ef73039d41cd3
--- /dev/null
+++ b/objects/objaverse/fork/fork_1/collision/model_normalized_collision_15.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.01422373 -0.02490807 -0.46222425
+v 0.03090469 -0.00597741 -0.46216159
+v -0.03803514 -0.00626127 -0.46217097
+v 0.02574624 -0.01568645 -0.46220405
+v 0.00412968 -0.00516912 -0.49698542
+v 0.01409114 -0.00352121 -0.49448439
+v -0.01802851 -0.02156162 -0.48386585
+v -0.01980638 -0.00369206 -0.49517236
+v -0.03299486 -0.00425397 -0.48576946
+v 0.02563845 -0.00426921 -0.48584250
+v -0.02638273 -0.02183952 -0.46241903
+v 0.01234656 -0.02098246 -0.48351263
+v -0.01821141 -0.01312645 -0.49243145
+v 0.02196259 -0.01274539 -0.48426989
+v -0.02584903 -0.02128062 -0.47414029
+v 0.01134646 -0.01263481 -0.49245411
+v -0.02903516 -0.01249433 -0.48493126
+f 1 2 3
+f 2 1 4
+f 8 6 5
+f 9 3 2
+f 9 2 6
+f 9 6 8
+f 10 6 2
+f 11 7 1
+f 11 1 3
+f 12 1 7
+f 12 4 1
+f 13 8 5
+f 13 9 8
+f 14 10 2
+f 14 2 4
+f 14 4 12
+f 15 7 11
+f 15 11 3
+f 16 5 6
+f 16 14 12
+f 16 6 10
+f 16 10 14
+f 16 13 5
+f 16 12 7
+f 16 7 13
+f 17 13 7
+f 17 9 13
+f 17 7 15
+f 17 15 3
+f 17 3 9
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_1/collision/model_normalized_collision_16.obj b/objects/objaverse/fork/fork_1/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eeabc4867f34664f672b42aef10863c8cf869bbb
--- /dev/null
+++ b/objects/objaverse/fork/fork_1/collision/model_normalized_collision_16.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.06042050 0.02763951 0.34180481
+v 0.05661486 0.04089093 0.24270036
+v 0.06229204 0.04070242 0.31999547
+v 0.05040671 0.04067703 0.31984942
+v 0.04626467 0.02843844 0.22014358
+v 0.05035340 0.03251874 0.33812293
+v 0.04872714 0.03000242 0.22551017
+v 0.04853476 0.03987659 0.23933581
+v 0.06076302 0.03273632 0.33781329
+v 0.05045315 0.02782041 0.34230927
+v 0.04722183 0.03492513 0.22222957
+f 1 2 3
+f 3 2 4
+f 6 4 5
+f 7 2 1
+f 7 1 5
+f 8 4 2
+f 9 1 3
+f 9 3 4
+f 9 4 6
+f 10 6 5
+f 10 5 1
+f 10 9 6
+f 10 1 9
+f 11 5 4
+f 11 4 8
+f 11 8 2
+f 11 7 5
+f 11 2 7
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_1/collision/model_normalized_collision_17.obj b/objects/objaverse/fork/fork_1/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..84fed1f9a896652e4e6ae3f6784aecba12982b75
--- /dev/null
+++ b/objects/objaverse/fork/fork_1/collision/model_normalized_collision_17.obj
@@ -0,0 +1,9 @@
+# https://github.com/mikedh/trimesh
+v 0.05515519 0.00346905 0.40499819
+v 0.05707516 0.01350619 0.38138755
+v -0.05779948 0.01362580 0.38100372
+v -0.05584683 0.00349909 0.40463871
+f 1 2 3
+f 1 3 4
+f 3 2 4
+f 2 1 4
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_1/collision/model_normalized_collision_18.obj b/objects/objaverse/fork/fork_1/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4bbf9c737a7457e3a7d4b5173d14931c3406485f
--- /dev/null
+++ b/objects/objaverse/fork/fork_1/collision/model_normalized_collision_18.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.01301785 -0.02238539 -0.09860939
+v 0.02372586 -0.01399247 -0.11374080
+v 0.02255355 0.01384832 -0.09887026
+v -0.01683271 0.02072672 -0.09921750
+v -0.02712687 -0.01452686 -0.11388484
+v 0.01325930 0.02090686 -0.11427254
+v -0.02691120 -0.01440972 -0.09873730
+v 0.02363181 -0.01392784 -0.09859015
+v 0.01306810 -0.02249050 -0.11376001
+v 0.02268488 0.01427655 -0.11400852
+v 0.01308102 0.02043488 -0.09913784
+v -0.02673677 0.01407797 -0.11415655
+v -0.02635109 0.01381290 -0.09901950
+v -0.01950212 -0.02124830 -0.11381858
+v -0.01944418 -0.02109492 -0.09866883
+v -0.01707189 0.02122715 -0.11434868
+f 8 3 7
+f 9 8 1
+f 9 2 8
+f 9 6 2
+f 10 6 3
+f 10 2 6
+f 10 8 2
+f 10 3 8
+f 11 4 3
+f 11 3 6
+f 12 5 7
+f 13 7 3
+f 13 3 4
+f 13 12 7
+f 14 9 1
+f 15 8 7
+f 15 1 8
+f 15 14 1
+f 15 7 5
+f 15 5 14
+f 16 11 6
+f 16 4 11
+f 16 5 12
+f 16 14 5
+f 16 6 9
+f 16 9 14
+f 16 13 4
+f 16 12 13
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_1/collision/model_normalized_collision_19.obj b/objects/objaverse/fork/fork_1/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d690ae591dcf075d25ee14e600279337c5de05fd
--- /dev/null
+++ b/objects/objaverse/fork/fork_1/collision/model_normalized_collision_19.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.02733650 -0.00727219 0.14411248
+v 0.02750084 -0.00700417 0.12896750
+v 0.00447973 0.00534055 0.12220913
+v -0.02764467 -0.00136151 0.14343854
+v -0.02801625 -0.00698053 0.12873244
+v 0.02734119 -0.00138575 0.14368043
+v -0.02763378 -0.00724792 0.14386957
+v -0.02802714 -0.00109412 0.12830141
+v 0.02750553 -0.00111773 0.12853545
+f 5 2 1
+f 5 3 2
+f 6 3 4
+f 6 4 1
+f 6 1 2
+f 7 5 1
+f 7 1 4
+f 7 4 5
+f 8 5 4
+f 8 4 3
+f 8 3 5
+f 9 6 2
+f 9 2 3
+f 9 3 6
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_1/collision/model_normalized_collision_2.obj b/objects/objaverse/fork/fork_1/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c1ce776cb0d6a5b3f00480027d1fc32e134c454b
--- /dev/null
+++ b/objects/objaverse/fork/fork_1/collision/model_normalized_collision_2.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.00338923 -0.02454710 -0.03800675
+v 0.00341798 -0.02516653 -0.09860561
+v 0.00454369 0.02098842 -0.03797647
+v 0.00305266 0.02344092 -0.09905603
+v -0.02691120 -0.01440972 -0.09873730
+v -0.01944418 -0.02109492 -0.09866883
+v -0.02604854 -0.01394118 -0.03814714
+v -0.01876224 -0.02065150 -0.03807532
+v -0.02635109 0.01381290 -0.09901950
+v -0.01898059 -0.02074427 -0.05322312
+v -0.02522982 0.01214000 -0.03848103
+v -0.00793329 0.02282830 -0.08394980
+v 0.00298732 0.02288442 -0.08392526
+v -0.00801839 0.02340109 -0.09907915
+f 1 2 3
+f 3 2 4
+f 8 6 2
+f 8 2 1
+f 8 1 3
+f 8 3 7
+f 8 7 5
+f 9 6 5
+f 9 2 6
+f 9 5 7
+f 10 8 5
+f 10 5 6
+f 10 6 8
+f 11 9 7
+f 11 7 3
+f 12 11 3
+f 13 12 3
+f 13 3 4
+f 14 9 11
+f 14 11 12
+f 14 4 2
+f 14 2 9
+f 14 13 4
+f 14 12 13
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_1/collision/model_normalized_collision_20.obj b/objects/objaverse/fork/fork_1/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a7682a2dab4cf4a39931471349517142058f0a1
--- /dev/null
+++ b/objects/objaverse/fork/fork_1/collision/model_normalized_collision_20.obj
@@ -0,0 +1,15 @@
+# https://github.com/mikedh/trimesh
+v 0.05122047 -0.02734577 0.46669715
+v 0.05248191 -0.01392714 0.44231763
+v -0.00887761 -0.01854211 0.45554428
+v -0.00945770 -0.01216168 0.44392553
+v -0.00894419 -0.02368860 0.45421077
+v -0.00836409 -0.03006903 0.46582952
+f 1 2 3
+f 3 2 4
+f 5 4 2
+f 6 5 2
+f 6 2 1
+f 6 1 3
+f 6 3 4
+f 6 4 5
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_1/collision/model_normalized_collision_21.obj b/objects/objaverse/fork/fork_1/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f62505ef8072bfda059d865cb0b5a51c6f87a92f
--- /dev/null
+++ b/objects/objaverse/fork/fork_1/collision/model_normalized_collision_21.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.00503583 -0.02341794 0.05304646
+v 0.01814192 -0.01933649 -0.09850956
+v 0.01301785 -0.02238539 -0.09860939
+v 0.01742830 -0.01837400 0.05299612
+v 0.00328102 -0.02362558 0.05289287
+v 0.01383593 -0.02067384 0.05287068
+v 0.00341798 -0.02516653 -0.09860561
+v 0.00530278 -0.02488502 -0.09845542
+f 5 1 4
+f 5 4 2
+f 6 3 2
+f 6 2 4
+f 6 4 1
+f 7 5 2
+f 7 2 3
+f 7 1 5
+f 8 6 1
+f 8 3 6
+f 8 7 3
+f 8 1 7
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_1/collision/model_normalized_collision_22.obj b/objects/objaverse/fork/fork_1/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..60ef5256cea4330ffe4384b0dafa78e50c71fa12
--- /dev/null
+++ b/objects/objaverse/fork/fork_1/collision/model_normalized_collision_22.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.03095485 -0.00137099 -0.18934529
+v 0.02926760 -0.00543727 -0.28036013
+v 0.01522036 0.02609859 -0.28075420
+v -0.01826783 0.02372931 -0.19000460
+v -0.03605483 -0.00136067 -0.18941464
+v 0.01415069 0.02326673 -0.18994602
+v 0.02470332 0.01793190 -0.28055427
+v -0.03461146 -0.00568324 -0.28041912
+v -0.01970295 0.02673191 -0.28079170
+v 0.02334156 0.01641774 -0.18969983
+v -0.03084129 0.01719402 -0.28065806
+v -0.02866514 0.01540331 -0.18984178
+f 7 1 2
+f 7 2 3
+f 8 2 1
+f 8 1 5
+f 8 3 2
+f 9 6 3
+f 9 4 6
+f 9 3 8
+f 10 5 1
+f 10 1 7
+f 10 7 3
+f 10 3 6
+f 10 6 4
+f 10 4 5
+f 11 9 8
+f 11 8 5
+f 12 11 5
+f 12 5 4
+f 12 4 9
+f 12 9 11
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_1/collision/model_normalized_collision_23.obj b/objects/objaverse/fork/fork_1/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8428d93a1b737b6392c17346eb6fe893b7a1e4fb
--- /dev/null
+++ b/objects/objaverse/fork/fork_1/collision/model_normalized_collision_23.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.00354824 -0.02822823 -0.41675160
+v 0.00361223 -0.02865888 -0.46220197
+v 0.00481089 0.00293673 -0.46195835
+v -0.03717922 -0.00611676 -0.41673300
+v -0.02638273 -0.02183952 -0.46241903
+v 0.00481411 0.00216838 -0.41651680
+v -0.02593721 -0.02136462 -0.41697381
+v -0.03803514 -0.00626127 -0.46217097
+f 5 2 1
+f 5 3 2
+f 6 3 4
+f 6 4 1
+f 6 1 2
+f 6 2 3
+f 7 5 1
+f 7 1 4
+f 8 4 3
+f 8 3 5
+f 8 7 4
+f 8 5 7
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_1/collision/model_normalized_collision_24.obj b/objects/objaverse/fork/fork_1/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..65b071a24045845fcfc0dd67fb12f5a9536386c6
--- /dev/null
+++ b/objects/objaverse/fork/fork_1/collision/model_normalized_collision_24.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.00503583 -0.02341794 0.05304646
+v 0.00521747 -0.02431082 -0.03785492
+v -0.02170197 -0.01678872 0.05295913
+v -0.02231394 -0.01761413 -0.03793834
+v -0.01876224 -0.02065150 -0.03807532
+v 0.00338923 -0.02454710 -0.03800675
+v -0.01745214 -0.02009491 0.05281148
+v 0.00328102 -0.02362558 0.05289287
+f 1 2 3
+f 3 2 4
+f 5 3 4
+f 6 2 1
+f 6 5 4
+f 6 4 2
+f 7 1 3
+f 7 3 5
+f 7 5 6
+f 8 7 6
+f 8 6 1
+f 8 1 7
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_1/collision/model_normalized_collision_25.obj b/objects/objaverse/fork/fork_1/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..55dcb507407959b89dd6c2f9cdd88089c8823a81
--- /dev/null
+++ b/objects/objaverse/fork/fork_1/collision/model_normalized_collision_25.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.00503583 -0.02341794 0.05304646
+v 0.00521747 -0.02431082 -0.03785492
+v 0.00454369 0.02098842 -0.03797647
+v -0.01814403 0.01375078 0.05259239
+v -0.02604854 -0.01394118 -0.03814714
+v 0.00415165 0.01764943 0.05280813
+v -0.02594121 -0.01176994 0.05279332
+v -0.02522982 0.01214000 -0.03848103
+v -0.02993948 0.00024282 0.05261577
+v -0.02386228 0.00999935 0.03719128
+f 1 2 3
+f 5 2 1
+f 6 1 3
+f 6 3 4
+f 7 5 1
+f 7 1 6
+f 8 3 2
+f 8 2 5
+f 8 4 3
+f 9 7 6
+f 9 6 4
+f 9 8 5
+f 9 5 7
+f 10 9 4
+f 10 4 8
+f 10 8 9
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_1/collision/model_normalized_collision_26.obj b/objects/objaverse/fork/fork_1/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd77fe93b36b25af98a0f9454f2f7c7ec5ba8d86
--- /dev/null
+++ b/objects/objaverse/fork/fork_1/collision/model_normalized_collision_26.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.03013316 -0.00271109 -0.11362035
+v 0.03095485 -0.00137099 -0.18934529
+v 0.02334156 0.01641774 -0.18969983
+v 0.00311800 0.02399742 -0.11418679
+v 0.00484773 -0.00166340 -0.18930913
+v 0.02268488 0.01427655 -0.11400852
+v 0.00484863 -0.00293995 -0.11357307
+v 0.01415069 0.02326673 -0.18994602
+v 0.00307975 0.02683598 -0.18984401
+v 0.01325930 0.02090686 -0.11427254
+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 6 3
+f 9 8 5
+f 9 5 4
+f 10 4 6
+f 10 6 8
+f 10 9 4
+f 10 8 9
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_1/collision/model_normalized_collision_27.obj b/objects/objaverse/fork/fork_1/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad1c26b295adf7b1f61d4e217a5d79fe9dccc066
--- /dev/null
+++ b/objects/objaverse/fork/fork_1/collision/model_normalized_collision_27.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.00312969 -0.02535603 -0.11374926
+v 0.00318564 -0.02578787 -0.15919947
+v 0.00331402 0.02566691 -0.15957909
+v -0.01707189 0.02122715 -0.11434868
+v -0.02777386 -0.01487826 -0.15932745
+v 0.00311800 0.02399742 -0.11418679
+v -0.01967595 -0.02170846 -0.15926780
+v -0.02712687 -0.01452686 -0.11388484
+v -0.02789379 0.01487317 -0.15956769
+v -0.02673677 0.01407797 -0.11415655
+v -0.01950212 -0.02124830 -0.11381858
+v -0.01778945 0.02272845 -0.15974223
+f 1 2 3
+f 6 1 3
+f 6 3 4
+f 7 2 1
+f 8 1 6
+f 9 5 8
+f 10 8 6
+f 10 6 4
+f 10 9 8
+f 11 7 1
+f 11 1 8
+f 11 8 5
+f 11 5 7
+f 12 4 3
+f 12 3 2
+f 12 2 7
+f 12 7 5
+f 12 5 9
+f 12 10 4
+f 12 9 10
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_1/collision/model_normalized_collision_28.obj b/objects/objaverse/fork/fork_1/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b2f6bdc9264ad855fcc3a87c0feb59ac04297d8b
--- /dev/null
+++ b/objects/objaverse/fork/fork_1/collision/model_normalized_collision_28.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.03090469 -0.00597741 -0.46216159
+v 0.02002412 -0.00228635 -0.49176988
+v 0.02292632 0.02570248 -0.47488563
+v 0.00457409 0.03689397 -0.46219164
+v 0.00481089 0.00293673 -0.46195835
+v 0.00295276 0.02558126 -0.49233725
+v 0.02343150 0.02626329 -0.46260166
+v 0.01965113 0.01498745 -0.49025277
+v 0.00412968 -0.00516912 -0.49698542
+v 0.01162826 0.02357684 -0.49067997
+v 0.02106794 0.02361883 -0.48240232
+f 5 1 4
+f 6 5 4
+f 7 1 3
+f 7 3 4
+f 7 4 1
+f 8 1 2
+f 9 2 1
+f 9 1 5
+f 9 5 6
+f 9 8 2
+f 9 6 8
+f 10 6 4
+f 10 8 6
+f 11 3 1
+f 11 1 8
+f 11 8 10
+f 11 10 4
+f 11 4 3
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_1/collision/model_normalized_collision_29.obj b/objects/objaverse/fork/fork_1/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..deaf5903af10d883d739d074b0efe433220b4341
--- /dev/null
+++ b/objects/objaverse/fork/fork_1/collision/model_normalized_collision_29.obj
@@ -0,0 +1,15 @@
+# https://github.com/mikedh/trimesh
+v -0.03247471 -0.02971446 0.46571454
+v -0.03136595 -0.01196205 0.44381453
+v -0.05188726 -0.02750974 0.46706963
+v -0.05312047 -0.01430326 0.44271125
+v -0.03188305 -0.02337843 0.45402820
+v -0.03195761 -0.01829808 0.45550087
+f 1 3 4
+f 5 1 4
+f 5 4 2
+f 6 2 4
+f 6 4 3
+f 6 3 1
+f 6 5 2
+f 6 1 5
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_1/collision/model_normalized_collision_3.obj b/objects/objaverse/fork/fork_1/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3496f1b1b9563926d817b9a919303f8eb275ab9c
--- /dev/null
+++ b/objects/objaverse/fork/fork_1/collision/model_normalized_collision_3.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.05215142 -0.01744278 0.44870499
+v 0.05559633 0.00577521 0.39957336
+v -0.03833597 -0.00938995 0.43717895
+v -0.05629738 0.00583571 0.39918523
+v -0.05279969 -0.01773849 0.44904727
+v 0.04757784 -0.01008246 0.43690681
+v -0.05358838 -0.00479408 0.42379396
+v 0.05352094 -0.00507446 0.42509531
+v -0.05312047 -0.01430326 0.44271125
+v -0.05479528 -0.00195439 0.41736674
+v 0.05248191 -0.01392714 0.44231763
+f 3 2 4
+f 5 2 1
+f 5 4 2
+f 5 1 3
+f 6 3 1
+f 8 2 3
+f 8 3 6
+f 9 5 3
+f 9 3 7
+f 9 4 5
+f 10 7 3
+f 10 3 4
+f 10 9 7
+f 10 4 9
+f 11 8 6
+f 11 6 1
+f 11 1 2
+f 11 2 8
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_1/collision/model_normalized_collision_30.obj b/objects/objaverse/fork/fork_1/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a64c4a71eddcf6d9f1b07974acc82f19406e5bb4
--- /dev/null
+++ b/objects/objaverse/fork/fork_1/collision/model_normalized_collision_30.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.00484809 -0.00217402 -0.15901471
+v 0.00484773 -0.00166340 -0.18930913
+v 0.00307975 0.02683598 -0.18984401
+v -0.01778945 0.02272845 -0.15974223
+v -0.03605483 -0.00136067 -0.18941464
+v 0.00331402 0.02566691 -0.15957909
+v -0.03528989 -0.00189544 -0.15914038
+v -0.01826783 0.02372931 -0.19000460
+v 0.00299673 0.02627720 -0.17471359
+v -0.02789379 0.01487317 -0.15956769
+v -0.02866514 0.01540331 -0.18984178
+f 6 1 2
+f 6 2 3
+f 7 5 2
+f 7 2 1
+f 7 1 6
+f 8 3 2
+f 8 4 3
+f 9 6 3
+f 9 3 4
+f 9 4 6
+f 10 7 6
+f 10 6 4
+f 10 4 8
+f 11 8 2
+f 11 2 5
+f 11 10 8
+f 11 5 7
+f 11 7 10
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_1/collision/model_normalized_collision_31.obj b/objects/objaverse/fork/fork_1/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cbbb87d9cbe41e692db61f5d9f760c38bbdc00d9
--- /dev/null
+++ b/objects/objaverse/fork/fork_1/collision/model_normalized_collision_31.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.04241060 -0.04619156 0.49977579
+v -0.03247471 -0.02971446 0.46571454
+v -0.03227530 -0.02184637 0.46177575
+v -0.05220804 -0.02407452 0.46073361
+v -0.03338715 -0.03948571 0.48373689
+v -0.03346171 -0.03440535 0.48520956
+v -0.05097483 -0.03728099 0.48509199
+v -0.03700752 -0.04069735 0.49402131
+v -0.03987044 -0.04541884 0.49730804
+v -0.04631271 -0.04331660 0.49529604
+f 3 2 4
+f 5 4 2
+f 5 2 3
+f 6 3 4
+f 6 5 3
+f 7 4 5
+f 7 6 4
+f 8 5 6
+f 8 6 7
+f 9 7 5
+f 9 8 1
+f 9 5 8
+f 10 8 7
+f 10 1 8
+f 10 9 1
+f 10 7 9
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_1/collision/model_normalized_collision_4.obj b/objects/objaverse/fork/fork_1/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c03373ed3dd2706efe41ee7bb2c1d7a1905a4e0f
--- /dev/null
+++ b/objects/objaverse/fork/fork_1/collision/model_normalized_collision_4.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.04312641 -0.04633545 0.50000000
+v 0.05155096 -0.02383013 0.46030979
+v 0.05002394 -0.04007383 0.48982200
+v -0.00855905 -0.02204591 0.46192471
+v -0.00836409 -0.03006903 0.46582952
+v 0.04987745 -0.02385683 0.46099248
+v -0.00739887 -0.03480675 0.48516221
+v 0.00060795 -0.04633545 0.50000000
+v -0.00746544 -0.03995325 0.48382870
+v -0.00213347 -0.04309964 0.49627252
+f 1 2 3
+f 5 2 1
+f 5 4 2
+f 6 3 2
+f 6 2 4
+f 7 1 3
+f 7 6 4
+f 7 3 6
+f 9 5 1
+f 9 1 8
+f 9 7 4
+f 9 4 5
+f 10 8 1
+f 10 1 7
+f 10 9 8
+f 10 7 9
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_1/collision/model_normalized_collision_5.obj b/objects/objaverse/fork/fork_1/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6101a3b151db02db99f6eecc056010bde52c2713
--- /dev/null
+++ b/objects/objaverse/fork/fork_1/collision/model_normalized_collision_5.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.00485393 0.00114414 -0.35592854
+v 0.00412968 -0.00516912 -0.49698542
+v 0.00399295 0.03298253 -0.35627867
+v 0.00295276 0.02558126 -0.49233725
+v -0.04142993 0.00827593 -0.40214793
+v -0.04027163 0.00158736 -0.35630552
+v -0.04161105 0.00944079 -0.47242282
+v -0.02730835 0.02458674 -0.35670180
+v -0.02578231 0.01542102 -0.49109257
+v -0.04161105 0.00356199 -0.47242282
+v -0.04027577 0.00746904 -0.35646916
+v -0.02715156 0.02436614 -0.48295952
+v -0.01813974 0.02339574 -0.49117819
+v -0.02675081 -0.00202681 -0.49241478
+f 1 2 3
+f 3 2 4
+f 6 2 1
+f 6 1 3
+f 8 7 5
+f 10 6 5
+f 10 5 7
+f 11 8 5
+f 11 5 6
+f 11 6 3
+f 11 3 8
+f 12 8 3
+f 12 3 4
+f 12 9 7
+f 12 7 8
+f 13 4 2
+f 13 2 9
+f 13 12 4
+f 13 9 12
+f 14 2 6
+f 14 6 10
+f 14 9 2
+f 14 10 7
+f 14 7 9
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_1/collision/model_normalized_collision_6.obj b/objects/objaverse/fork/fork_1/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bf2f602617bb53d1e23b86504b021f10603047c4
--- /dev/null
+++ b/objects/objaverse/fork/fork_1/collision/model_normalized_collision_6.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.00318564 -0.02578787 -0.15919947
+v 0.00354824 -0.02822823 -0.41675160
+v 0.00481411 0.00216838 -0.41651680
+v -0.03528989 -0.00189544 -0.15914038
+v -0.01973925 -0.02504716 -0.41683769
+v 0.00484809 -0.00217402 -0.15901471
+v -0.01967595 -0.02170846 -0.15926780
+v -0.03717922 -0.00611676 -0.41673300
+v -0.02777386 -0.01487826 -0.15932745
+v -0.03206717 -0.01571480 -0.41682506
+f 5 2 1
+f 5 3 2
+f 6 3 4
+f 6 4 1
+f 6 1 2
+f 6 2 3
+f 7 5 1
+f 7 1 4
+f 8 4 3
+f 9 7 4
+f 10 9 4
+f 10 4 8
+f 10 5 7
+f 10 7 9
+f 10 8 3
+f 10 3 5
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_1/collision/model_normalized_collision_7.obj b/objects/objaverse/fork/fork_1/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f030971866666020e832ce4bea0913fbad42b16a
--- /dev/null
+++ b/objects/objaverse/fork/fork_1/collision/model_normalized_collision_7.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.02750084 -0.00700417 0.12896750
+v 0.02269138 -0.01328155 0.05291641
+v 0.02124018 0.00956595 0.05251236
+v -0.01525451 0.00973564 0.11717333
+v -0.02801625 -0.00698053 0.12873244
+v 0.01351159 0.00972637 0.11715463
+v 0.02750553 -0.00111773 0.12853545
+v -0.02993948 0.00024282 0.05261577
+v -0.01814403 0.01375078 0.05259239
+v 0.02065209 0.00785934 0.10967021
+v -0.02802714 -0.00109412 0.12830141
+v -0.02594121 -0.01176994 0.05279332
+f 5 2 1
+f 7 1 2
+f 7 2 3
+f 7 6 4
+f 9 6 3
+f 9 4 6
+f 9 3 8
+f 10 7 3
+f 10 3 6
+f 10 6 7
+f 11 7 4
+f 11 5 1
+f 11 1 7
+f 11 8 5
+f 11 9 8
+f 11 4 9
+f 12 8 3
+f 12 3 2
+f 12 2 5
+f 12 5 8
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_1/collision/model_normalized_collision_8.obj b/objects/objaverse/fork/fork_1/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2aa16ccf7c54a9941475fc4d6e69ff05a058433f
--- /dev/null
+++ b/objects/objaverse/fork/fork_1/collision/model_normalized_collision_8.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.00335628 -0.02693628 -0.28040047
+v 0.02574624 -0.01568645 -0.46220405
+v 0.02476034 -0.01470339 -0.28039802
+v 0.00357786 0.03018864 -0.28062655
+v 0.00361223 -0.02865888 -0.46220197
+v 0.02343150 0.02626329 -0.46260166
+v 0.01422373 -0.02490807 -0.46222425
+v 0.02470332 0.01793190 -0.28055427
+v 0.00457409 0.03689397 -0.46219164
+v 0.01362079 -0.02364673 -0.28041682
+v 0.01522036 0.02609859 -0.28075420
+v 0.02023664 0.02285761 -0.29606593
+f 1 3 4
+f 5 1 4
+f 7 6 2
+f 7 5 6
+f 8 3 2
+f 8 2 6
+f 8 4 3
+f 9 6 5
+f 9 5 4
+f 10 7 2
+f 10 2 3
+f 10 3 1
+f 10 1 5
+f 10 5 7
+f 11 4 8
+f 11 9 4
+f 11 6 9
+f 12 11 8
+f 12 8 6
+f 12 6 11
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_1/collision/model_normalized_collision_9.obj b/objects/objaverse/fork/fork_1/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..382163c39e5d3aee818f8a59a72411f8db6d0304
--- /dev/null
+++ b/objects/objaverse/fork/fork_1/collision/model_normalized_collision_9.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.00312969 -0.02535603 -0.11374926
+v 0.02926760 -0.00543727 -0.28036013
+v 0.03013316 -0.00271109 -0.11362035
+v 0.00484863 -0.00293995 -0.11357307
+v 0.00485350 -0.00013182 -0.28019246
+v 0.02372586 -0.01399247 -0.11374080
+v 0.00335628 -0.02693628 -0.28040047
+v 0.02476034 -0.01470339 -0.28039802
+v 0.01306810 -0.02249050 -0.11376001
+v 0.01362079 -0.02364673 -0.28041682
+f 1 3 4
+f 5 1 4
+f 5 3 2
+f 5 4 3
+f 7 5 2
+f 7 1 5
+f 8 2 3
+f 8 3 6
+f 9 6 3
+f 9 3 1
+f 9 1 7
+f 10 8 6
+f 10 6 9
+f 10 9 7
+f 10 7 2
+f 10 2 8
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_1/model.xml b/objects/objaverse/fork/fork_1/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..2f5b4449c5ca13f3e998a42e00c8859058795587
--- /dev/null
+++ b/objects/objaverse/fork/fork_1/model.xml
@@ -0,0 +1,84 @@
+<mujoco model="fork_3">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="visual/model_normalized_1.obj" name="model_normalized_1_vis" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="lambert2.005" texture="image0" specular="0.5" shininess="0.15999998099999999"/>
+    <material name="phongE1" texture="image0" specular="0.5" shininess="0.0333562"/>
+  </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="lambert2.005"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_1_vis" conaffinity="0" contype="0" group="1" material="phongE1"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_22._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_23._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_21._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_20._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_24._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_30._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_18._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_19._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_31._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_25._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_27._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_26._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_9._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_8._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_6._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_7._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_5._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_4._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_0._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_1._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_3._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_2._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_17._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_16._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_28._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_14._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_15._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_29._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_11._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_10._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_12._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_13._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+      </body>
+      <site rgba="0 0 0 0" size="0.005" pos="1.994740000000023e-05 0.00033160379999999884 -0.0094813224" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="1.994740000000023e-05 0.00033160379999999884 0.010193799000000002" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.013704248800000002 0.11000000000000001 0.0003562383000000004" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/objects/objaverse/fork/fork_1/visual/material.mtl b/objects/objaverse/fork/fork_1/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7c7e931d3520b7747ee8754c17c2051fe03b61e2
--- /dev/null
+++ b/objects/objaverse/fork/fork_1/visual/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.52549020 0.52549020 0.52549020
+Ks 0.50196078 0.50196078 0.50196078
+Ns 33.35620000
+map_Kd material_0.jpeg
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_1/visual/model_normalized_0.obj b/objects/objaverse/fork/fork_1/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aac98d731bdae997aebc4c958e82a2d78bf13063
--- /dev/null
+++ b/objects/objaverse/fork/fork_1/visual/model_normalized_0.obj
@@ -0,0 +1,1425 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
+v 0.01120641 -0.00358436 0.12288544
+v 0.01042180 -0.00235638 0.12288544
+v -0.00084198 -0.00388800 0.12288544
+v 0.00803167 -0.00054120 0.12288544
+v 0.00405511 0.00098310 0.12288544
+v -0.00084201 0.00157106 0.12288544
+v -0.00574414 0.00100397 0.12288544
+v -0.00973717 -0.00050150 0.12288544
+v -0.01215734 -0.00230622 0.12288544
+v -0.01297949 -0.00354574 0.12288544
+v -0.01301590 -0.00388800 0.12288544
+v -0.01291299 -0.00420141 0.12288544
+v -0.01206619 -0.00538108 0.12288544
+v -0.00966085 -0.00713350 0.12288544
+v -0.00570261 -0.00860802 0.12288544
+v -0.00084201 -0.00916570 0.12288544
+v 0.00401394 -0.00858868 0.12288544
+v 0.00795685 -0.00709656 0.12288544
+v 0.01033376 -0.00533397 0.12288544
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diff --git a/objects/objaverse/fork/fork_1/visual/model_normalized_1.obj b/objects/objaverse/fork/fork_1/visual/model_normalized_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ea50397fe8a933d0b0c73c4f200ec43c7949966
--- /dev/null
+++ b/objects/objaverse/fork/fork_1/visual/model_normalized_1.obj
@@ -0,0 +1,1076 @@
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\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_3/collision/model_normalized_collision_0.obj b/objects/objaverse/fork/fork_3/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ab9af3fd3b4fa7fcad626f29ca97c9ca6af66a4
--- /dev/null
+++ b/objects/objaverse/fork/fork_3/collision/model_normalized_collision_0.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.07967607 0.01011785 0.26443454
+v 0.07712048 0.00730208 0.22241065
+v 0.08097303 0.01727659 0.26548474
+v -0.08097146 0.01724580 0.26552760
+v -0.07977432 0.00993240 0.26425452
+v -0.07881763 0.01435890 0.22309733
+v 0.07841432 0.01448419 0.22435424
+v -0.07783791 0.00714264 0.22086809
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 5 1 4
+f 7 3 2
+f 7 6 4
+f 7 4 3
+f 8 5 4
+f 8 4 6
+f 8 2 5
+f 8 7 2
+f 8 6 7
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_3/collision/model_normalized_collision_1.obj b/objects/objaverse/fork/fork_3/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..764d91c500fba5dfe3be2f537aa0260266928267
--- /dev/null
+++ b/objects/objaverse/fork/fork_3/collision/model_normalized_collision_1.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.03651875 -0.00955201 -0.28102716
+v 0.03337240 -0.00598521 -0.48061609
+v 0.03704483 0.00222027 -0.28099941
+v -0.04258611 0.00181474 -0.28141320
+v -0.04513495 -0.00598556 -0.46979858
+v -0.02290157 0.00181481 -0.49494490
+v 0.04203981 0.00265982 -0.35646492
+v -0.02238215 -0.00595682 -0.49374741
+v -0.04206991 -0.00900823 -0.28141993
+v -0.04506978 0.00181481 -0.47087297
+v 0.03396135 0.00181481 -0.48115028
+v 0.02172023 -0.00596004 -0.49127690
+v 0.02233572 0.00181481 -0.49226557
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+f 7 3 1
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+f 9 3 4
+f 9 8 1
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+f 10 5 4
+f 10 7 6
+f 10 4 7
+f 11 7 2
+f 12 2 1
+f 12 1 8
+f 12 8 6
+f 13 6 7
+f 13 7 11
+f 13 12 6
+f 13 11 2
+f 13 2 12
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_3/collision/model_normalized_collision_10.obj b/objects/objaverse/fork/fork_3/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..37f744ab99f4c79bdd81a0308ece79f599007fa6
--- /dev/null
+++ b/objects/objaverse/fork/fork_3/collision/model_normalized_collision_10.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.04799257 0.00141164 0.49841743
+v 0.05603234 0.00718897 0.46056601
+v 0.04794006 0.00247914 0.49824290
+v -0.04785595 0.00244466 0.49824265
+v -0.05489663 0.00278467 0.46213677
+v -0.05581956 0.00816846 0.46115447
+v 0.05529210 0.00348964 0.46175338
+v -0.04790729 0.00139781 0.49841736
+f 1 2 3
+f 6 3 2
+f 6 4 3
+f 6 2 5
+f 7 5 2
+f 7 2 1
+f 7 1 5
+f 8 5 1
+f 8 6 5
+f 8 4 6
+f 8 1 3
+f 8 3 4
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_3/collision/model_normalized_collision_11.obj b/objects/objaverse/fork/fork_3/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cabb58baf5ea00acafe905cafa51b1fda07a2576
--- /dev/null
+++ b/objects/objaverse/fork/fork_3/collision/model_normalized_collision_11.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.01198828 -0.01861406 -0.03795784
+v 0.01944519 -0.01295220 -0.05384698
+v 0.01884210 0.00266008 -0.03879419
+v -0.02393205 0.00266009 -0.03818994
+v -0.02080823 -0.01704772 -0.05331982
+v 0.01988338 0.00265975 -0.05393282
+v 0.01846637 -0.01297807 -0.03875901
+v 0.01228219 -0.01859455 -0.05307054
+v -0.01999068 -0.01716402 -0.03821345
+v -0.02497350 0.00265976 -0.05326953
+f 1 3 4
+f 6 4 3
+f 6 2 5
+f 7 1 2
+f 7 3 1
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+f 7 2 6
+f 8 5 2
+f 8 2 1
+f 9 1 4
+f 9 8 1
+f 9 5 8
+f 10 6 5
+f 10 4 6
+f 10 9 4
+f 10 5 9
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_3/collision/model_normalized_collision_12.obj b/objects/objaverse/fork/fork_3/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ffcd7415f65b4bd13841aac7910290fc9ee0cb6
--- /dev/null
+++ b/objects/objaverse/fork/fork_3/collision/model_normalized_collision_12.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.05529210 0.00348964 0.46175338
+v 0.05798734 0.00916802 0.44596415
+v 0.05603234 0.00718897 0.46056601
+v -0.05706173 0.00735442 0.45883644
+v -0.05918914 0.00641970 0.44554711
+v -0.05686651 0.00487659 0.46024101
+v 0.05704309 0.00475362 0.44686916
+v -0.05938769 0.00901464 0.44431299
+f 1 2 3
+f 3 2 4
+f 6 1 3
+f 6 3 4
+f 7 2 1
+f 7 6 5
+f 7 1 6
+f 8 4 2
+f 8 7 5
+f 8 2 7
+f 8 6 4
+f 8 5 6
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_3/collision/model_normalized_collision_13.obj b/objects/objaverse/fork/fork_3/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cd5de75cbb4d13395464b1fc218f30f70a25917a
--- /dev/null
+++ b/objects/objaverse/fork/fork_3/collision/model_normalized_collision_13.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.01804086 0.00611383 0.40199798
+v 0.01707567 0.00668488 0.26467719
+v 0.01700518 0.01805854 0.26571749
+v -0.02134378 0.01481331 0.40001321
+v -0.02835889 0.00667615 0.26466788
+v 0.01699615 0.01468412 0.40029523
+v -0.02021970 0.00698827 0.40175529
+v -0.02845171 0.01809462 0.26572630
+f 1 2 3
+f 5 2 1
+f 5 3 2
+f 6 1 3
+f 6 3 4
+f 7 5 1
+f 7 4 5
+f 7 6 4
+f 7 1 6
+f 8 5 4
+f 8 4 3
+f 8 3 5
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_3/collision/model_normalized_collision_14.obj b/objects/objaverse/fork/fork_3/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..999ed06ed5d5808c7b4703438637e094dff3f8b0
--- /dev/null
+++ b/objects/objaverse/fork/fork_3/collision/model_normalized_collision_14.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.04616704 0.00696447 0.40218771
+v -0.04704836 0.00771177 0.38705438
+v -0.04584832 0.01633008 0.38559202
+v -0.06596301 0.01449715 0.39916757
+v -0.06652963 0.00890714 0.38591190
+v -0.04511950 0.01507943 0.40039214
+v -0.06494665 0.00844100 0.40091656
+v -0.06828274 0.01558045 0.38459999
+f 1 2 3
+f 5 2 1
+f 6 1 3
+f 6 3 4
+f 7 5 1
+f 7 6 4
+f 7 1 6
+f 8 3 2
+f 8 2 5
+f 8 4 3
+f 8 7 4
+f 8 5 7
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_3/collision/model_normalized_collision_15.obj b/objects/objaverse/fork/fork_3/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c0d7d92f69e6d5d3e79e7feb71b67f3bf5d08ca
--- /dev/null
+++ b/objects/objaverse/fork/fork_3/collision/model_normalized_collision_15.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.02461003 0.00931840 0.32555757
+v -0.02599906 0.00915140 0.31032381
+v -0.02788467 0.01959611 0.31040806
+v -0.04772194 0.01910443 0.32551531
+v -0.05090221 0.00953560 0.32627804
+v -0.02577356 0.01930057 0.32522667
+v -0.04944974 0.00933410 0.30773474
+v -0.04711123 0.01945481 0.30996309
+f 5 2 1
+f 6 5 1
+f 6 4 5
+f 6 1 2
+f 6 2 3
+f 7 3 2
+f 7 2 5
+f 8 6 3
+f 8 4 6
+f 8 3 7
+f 8 7 5
+f 8 5 4
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_3/collision/model_normalized_collision_16.obj b/objects/objaverse/fork/fork_3/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2c59cd92f591dee4262eb662e8140a35a4f782d1
--- /dev/null
+++ b/objects/objaverse/fork/fork_3/collision/model_normalized_collision_16.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.07027452 0.00963787 0.34013027
+v 0.07937663 0.01530558 0.30861609
+v 0.07320348 0.01875207 0.33992565
+v 0.06245136 0.01919983 0.34069702
+v 0.06171222 0.00857641 0.31066038
+v 0.07909025 0.01902527 0.30827828
+v 0.06181219 0.00814904 0.34109775
+v 0.07716415 0.01549178 0.32332507
+v 0.07385114 0.01004368 0.31034145
+v 0.06252953 0.01980117 0.31061109
+v 0.07676670 0.01865081 0.32294288
+f 6 2 5
+f 7 1 3
+f 7 3 4
+f 7 4 5
+f 8 1 2
+f 8 3 1
+f 8 2 6
+f 9 5 2
+f 9 2 1
+f 9 7 5
+f 9 1 7
+f 10 4 3
+f 10 3 6
+f 10 6 5
+f 10 5 4
+f 11 8 6
+f 11 6 3
+f 11 3 8
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_3/collision/model_normalized_collision_17.obj b/objects/objaverse/fork/fork_3/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd20eb7101019ce52384ca2a021b7e81b78fa619
--- /dev/null
+++ b/objects/objaverse/fork/fork_3/collision/model_normalized_collision_17.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.06171222 0.00857641 0.31066038
+v 0.07967607 0.01011785 0.26443454
+v 0.07909025 0.01902527 0.30827828
+v 0.06252953 0.01980117 0.31061109
+v 0.06249453 0.01809345 0.26572658
+v 0.07742380 0.01181392 0.30864441
+v 0.06221014 0.00670599 0.26461561
+v 0.08097303 0.01727659 0.26548474
+f 5 1 4
+f 5 4 3
+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 3
+f 8 3 2
+f 8 2 5
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_3/collision/model_normalized_collision_18.obj b/objects/objaverse/fork/fork_3/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8106fc497fd89cb5c47600092e53fe6db981fa43
--- /dev/null
+++ b/objects/objaverse/fork/fork_3/collision/model_normalized_collision_18.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.02021970 0.00698827 0.40175529
+v -0.02164078 0.00837318 0.37122064
+v -0.02261133 0.01702542 0.37021880
+v -0.04511950 0.01507943 0.40039214
+v -0.04805507 0.00834670 0.37194866
+v -0.02134378 0.01481331 0.40001321
+v -0.04616704 0.00696447 0.40218771
+v -0.04671611 0.01737337 0.37081725
+f 1 2 3
+f 6 1 3
+f 6 4 1
+f 7 5 2
+f 7 2 1
+f 7 1 4
+f 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/fork/fork_3/collision/model_normalized_collision_19.obj b/objects/objaverse/fork/fork_3/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..418871a15e5026117c0db3815609a63a598181fe
--- /dev/null
+++ b/objects/objaverse/fork/fork_3/collision/model_normalized_collision_19.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v -0.02599906 0.00915140 0.31032381
+v -0.02835889 0.00667615 0.26466788
+v -0.02845171 0.01809462 0.26572630
+v -0.07910219 0.01893860 0.30906562
+v -0.07773351 0.01179918 0.30940119
+v -0.08097146 0.01724580 0.26552760
+v -0.02788467 0.01959611 0.31040806
+v -0.07977432 0.00993240 0.26425452
+v -0.04358666 0.01811250 0.26572911
+f 1 2 3
+f 5 2 1
+f 7 1 3
+f 7 5 1
+f 7 4 5
+f 8 6 3
+f 8 3 2
+f 8 2 5
+f 8 5 4
+f 8 4 6
+f 9 6 4
+f 9 3 6
+f 9 7 3
+f 9 4 7
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_3/collision/model_normalized_collision_2.obj b/objects/objaverse/fork/fork_3/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0f1c909414aa97f0ad6df939f705a2db6d038af5
--- /dev/null
+++ b/objects/objaverse/fork/fork_3/collision/model_normalized_collision_2.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.06225412 0.00350230 0.21905712
+v 0.06112769 0.00043069 0.18956133
+v 0.06251119 0.01480011 0.22093095
+v -0.07881763 0.01435890 0.22309733
+v -0.07000615 0.00393883 0.19676633
+v 0.06147336 0.01170477 0.19158548
+v -0.07783791 0.00714264 0.22086809
+v -0.06794282 0.01185569 0.19428261
+v -0.07576375 0.01307494 0.21044916
+v -0.07104360 0.01043912 0.19775198
+f 1 3 4
+f 5 2 1
+f 6 1 2
+f 6 3 1
+f 7 5 1
+f 7 1 4
+f 8 6 2
+f 8 2 5
+f 8 4 3
+f 8 3 6
+f 9 7 4
+f 9 5 7
+f 9 4 8
+f 10 9 8
+f 10 8 5
+f 10 5 9
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_3/collision/model_normalized_collision_20.obj b/objects/objaverse/fork/fork_3/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8f184aaccae969f438ef0ab63ed51ccdbbe5086
--- /dev/null
+++ b/objects/objaverse/fork/fork_3/collision/model_normalized_collision_20.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.05778425 0.00511935 0.43185678
+v 0.06481895 0.01462452 0.39835923
+v 0.06387254 0.00848034 0.40028726
+v 0.06033679 0.01047971 0.43132797
+v 0.06173802 0.01528875 0.40024502
+v 0.06080055 0.00985572 0.42909669
+v 0.06069530 0.01380810 0.41494739
+v 0.06015183 0.00662278 0.40174080
+v 0.06012683 0.00716988 0.43010805
+v 0.06213799 0.01371177 0.41296147
+v 0.05968497 0.00612017 0.41690354
+f 6 3 2
+f 6 2 4
+f 7 5 1
+f 7 1 4
+f 8 5 2
+f 8 2 3
+f 8 1 5
+f 9 1 3
+f 9 3 6
+f 9 6 4
+f 9 4 1
+f 10 7 4
+f 10 4 2
+f 10 2 5
+f 10 5 7
+f 11 8 3
+f 11 3 1
+f 11 1 8
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_3/collision/model_normalized_collision_21.obj b/objects/objaverse/fork/fork_3/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..66d8a07653b9c8e0aa54d885c4a948b426158a60
--- /dev/null
+++ b/objects/objaverse/fork/fork_3/collision/model_normalized_collision_21.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.06181219 0.00814904 0.34109775
+v 0.06221014 0.00670599 0.26461561
+v 0.06249453 0.01809345 0.26572658
+v 0.01695440 0.01848261 0.34060551
+v 0.01707567 0.00668488 0.26467719
+v 0.06245136 0.01919983 0.34069702
+v 0.01960822 0.00829855 0.34112954
+v 0.01700518 0.01805854 0.26571749
+f 5 2 1
+f 6 1 2
+f 6 2 3
+f 7 5 1
+f 7 4 5
+f 7 6 4
+f 7 1 6
+f 8 3 2
+f 8 2 5
+f 8 5 4
+f 8 6 3
+f 8 4 6
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_3/collision/model_normalized_collision_22.obj b/objects/objaverse/fork/fork_3/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..67be74a8cac5859f9ccfde6cd81bcd734b0cba5b
--- /dev/null
+++ b/objects/objaverse/fork/fork_3/collision/model_normalized_collision_22.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.06225412 0.00350230 0.21905712
+v 0.07866573 0.01159053 0.22334734
+v 0.07712048 0.00730208 0.22241065
+v 0.06251119 0.01480011 0.22093095
+v 0.05600944 0.00970370 0.17891305
+v 0.05547086 0.00053302 0.17838755
+v 0.07623979 0.01470342 0.22130158
+v 0.07379334 0.00597488 0.21050407
+v 0.06147336 0.01170477 0.19158548
+v 0.06790826 0.01154186 0.19675990
+v 0.06017839 0.00181953 0.18528868
+v 0.07532683 0.01044812 0.21153859
+v 0.07229136 0.01328600 0.20812655
+v 0.06123558 0.00914678 0.18593505
+f 1 3 4
+f 3 2 4
+f 6 1 4
+f 6 4 5
+f 7 4 2
+f 8 3 1
+f 8 2 3
+f 9 5 4
+f 9 4 7
+f 10 5 9
+f 11 8 1
+f 11 1 6
+f 12 7 2
+f 12 2 8
+f 12 11 10
+f 12 8 11
+f 13 10 9
+f 13 9 7
+f 13 12 10
+f 13 7 12
+f 14 11 6
+f 14 6 5
+f 14 5 10
+f 14 10 11
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_3/collision/model_normalized_collision_23.obj b/objects/objaverse/fork/fork_3/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..516e37fa184ff68b7daa56597c267fc966cff3b7
--- /dev/null
+++ b/objects/objaverse/fork/fork_3/collision/model_normalized_collision_23.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.03620293 -0.00638327 0.14840954
+v 0.03783070 0.00683943 0.14970087
+v 0.01701481 0.00732040 0.14440719
+v 0.01700574 -0.00993783 0.14290259
+v 0.01688262 -0.01146421 0.12814030
+v 0.03017522 -0.00763395 0.13550152
+v 0.01701753 0.00595006 0.12931044
+v 0.03147020 0.00562662 0.13688814
+f 1 2 3
+f 1 3 4
+f 5 1 4
+f 5 4 3
+f 6 2 1
+f 6 1 5
+f 7 5 3
+f 7 3 2
+f 8 6 5
+f 8 5 7
+f 8 7 2
+f 8 2 6
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_3/collision/model_normalized_collision_24.obj b/objects/objaverse/fork/fork_3/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6aaa186ea7824139fad5dfee7656b1404b6d1170
--- /dev/null
+++ b/objects/objaverse/fork/fork_3/collision/model_normalized_collision_24.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.02665054 -0.00978340 0.13035318
+v 0.01567853 -0.01088252 0.08570556
+v 0.02793625 0.00584980 0.13093601
+v 0.01701753 0.00595006 0.12931044
+v 0.01688262 -0.01146421 0.12814030
+v 0.01421824 0.00330525 0.08369500
+v 0.01328425 -0.01414334 0.08362721
+v 0.01604439 0.00235811 0.08655747
+v 0.01655222 -0.01264967 0.11328208
+f 1 2 3
+f 1 3 4
+f 5 1 4
+f 6 4 3
+f 7 2 1
+f 7 6 2
+f 7 5 4
+f 7 4 6
+f 8 6 3
+f 8 3 2
+f 8 2 6
+f 9 7 1
+f 9 1 5
+f 9 5 7
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_3/collision/model_normalized_collision_25.obj b/objects/objaverse/fork/fork_3/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f039b83ad92cbb90380dd5b607b1a63fb39baea6
--- /dev/null
+++ b/objects/objaverse/fork/fork_3/collision/model_normalized_collision_25.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.01695086 -0.01450106 -0.15888008
+v 0.02903756 -0.01172041 -0.18955275
+v 0.02793889 0.00265982 -0.15941835
+v 0.01701414 0.00294147 -0.15909093
+v 0.01701414 0.00294151 -0.18939394
+v 0.02703154 -0.01197258 -0.15939558
+v 0.01745291 -0.01269036 -0.18904782
+v 0.03023734 0.00265982 -0.18953782
+v 0.01733566 -0.01367453 -0.17396716
+v 0.02910565 0.00265982 -0.17447948
+f 1 3 4
+f 5 1 4
+f 6 1 2
+f 6 3 1
+f 7 5 2
+f 7 1 5
+f 8 2 5
+f 8 6 2
+f 8 5 4
+f 9 7 2
+f 9 2 1
+f 9 1 7
+f 10 3 6
+f 10 6 8
+f 10 8 4
+f 10 4 3
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_3/collision/model_normalized_collision_26.obj b/objects/objaverse/fork/fork_3/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb4a8784be95481cbc08054e48e243e1d17909dd
--- /dev/null
+++ b/objects/objaverse/fork/fork_3/collision/model_normalized_collision_26.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.01745291 -0.01269036 -0.18904782
+v 0.03381842 -0.00920268 -0.23575458
+v 0.03107742 0.00181474 -0.19062232
+v 0.01701414 0.00294151 -0.18939394
+v 0.01701414 0.00294151 -0.23484848
+v 0.03072415 -0.00918454 -0.19057960
+v 0.01788841 -0.01017670 -0.23457164
+v 0.03435334 0.00181474 -0.23576392
+v 0.01804097 -0.01184004 -0.20418473
+v 0.03221696 0.00181474 -0.20568764
+f 1 3 4
+f 5 1 4
+f 6 1 2
+f 6 3 1
+f 7 5 2
+f 7 1 5
+f 8 2 5
+f 8 6 2
+f 8 5 4
+f 9 7 2
+f 9 2 1
+f 9 1 7
+f 10 3 6
+f 10 6 8
+f 10 8 4
+f 10 4 3
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_3/collision/model_normalized_collision_27.obj b/objects/objaverse/fork/fork_3/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a1b6e2644d32f5b572e3c86f75e88de2b5e9df74
--- /dev/null
+++ b/objects/objaverse/fork/fork_3/collision/model_normalized_collision_27.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.06387254 0.00848034 0.40028726
+v 0.07320348 0.01875207 0.33992565
+v 0.06481895 0.01462452 0.39835923
+v 0.01699615 0.01468412 0.40029523
+v 0.01960822 0.00829855 0.34112954
+v 0.06245136 0.01919983 0.34069702
+v 0.07027452 0.00963787 0.34013027
+v 0.01804086 0.00611383 0.40199798
+v 0.01695440 0.01848261 0.34060551
+f 1 2 3
+f 1 3 4
+f 6 3 2
+f 6 4 3
+f 7 2 1
+f 8 1 4
+f 8 7 1
+f 8 5 7
+f 9 4 6
+f 9 8 4
+f 9 5 8
+f 9 6 2
+f 9 7 5
+f 9 2 7
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_3/collision/model_normalized_collision_28.obj b/objects/objaverse/fork/fork_3/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2ce395078d3e76ba3fd6a8d69a7f47ff9c3653ac
--- /dev/null
+++ b/objects/objaverse/fork/fork_3/collision/model_normalized_collision_28.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.01328425 -0.01414334 0.08362721
+v 0.01296481 -0.01430928 0.05291654
+v 0.01421824 0.00330525 0.08369500
+v -0.02084926 0.00228829 0.08410302
+v -0.01970253 -0.01288010 0.08441160
+v 0.00186263 0.00295441 0.05308097
+v -0.01866636 -0.01312922 0.05292727
+v 0.01312740 0.00295465 0.05309436
+v -0.01964423 0.00188331 0.05313861
+f 1 2 3
+f 5 1 3
+f 5 3 4
+f 6 4 3
+f 7 2 1
+f 7 1 5
+f 7 6 2
+f 7 5 4
+f 8 6 3
+f 8 3 2
+f 8 2 6
+f 9 7 4
+f 9 4 6
+f 9 6 7
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_3/collision/model_normalized_collision_29.obj b/objects/objaverse/fork/fork_3/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a8a1d328868d4caf60aa52e68faa23790e12af9
--- /dev/null
+++ b/objects/objaverse/fork/fork_3/collision/model_normalized_collision_29.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.01433100 -0.01534395 0.00742249
+v 0.01846637 -0.01297807 -0.03875901
+v 0.01577235 -0.01286080 0.00672106
+v 0.01577969 0.00269959 0.00757451
+v 0.01701414 0.00294144 -0.03787879
+v 0.01650438 0.00182644 0.00675616
+v 0.01568072 -0.01648044 -0.03795254
+v 0.01884210 0.00266008 -0.03879419
+v 0.01481247 -0.01572710 -0.00770226
+f 1 2 3
+f 1 3 4
+f 5 1 4
+f 6 3 2
+f 6 4 3
+f 7 1 5
+f 8 5 4
+f 8 4 6
+f 8 6 2
+f 8 7 5
+f 8 2 7
+f 9 7 2
+f 9 2 1
+f 9 1 7
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_3/collision/model_normalized_collision_3.obj b/objects/objaverse/fork/fork_3/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ceb0ca1caa2d8fe05a5f6270f493efcfbca644f5
--- /dev/null
+++ b/objects/objaverse/fork/fork_3/collision/model_normalized_collision_3.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.05814774 -0.00091907 0.18826936
+v 0.06213444 0.01139345 0.18970208
+v -0.06689669 0.00210043 0.19227733
+v -0.06814480 0.01070909 0.19279748
+v 0.03783070 0.00683943 0.14970087
+v 0.03620293 -0.00638327 0.14840954
+v -0.04402087 0.00709243 0.15225008
+v 0.04642228 -0.00391927 0.16659643
+v -0.04233423 -0.00609939 0.15086270
+v -0.06109621 0.00108720 0.18139162
+v -0.05773628 -0.00196972 0.18630055
+v -0.06194575 0.00884840 0.18204148
+f 1 2 3
+f 3 2 4
+f 6 5 2
+f 7 4 2
+f 7 2 5
+f 7 5 6
+f 8 6 2
+f 8 2 1
+f 9 7 6
+f 10 9 3
+f 10 3 4
+f 10 7 9
+f 11 9 6
+f 11 6 8
+f 11 8 1
+f 11 1 3
+f 11 3 9
+f 12 10 4
+f 12 4 7
+f 12 7 10
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_3/collision/model_normalized_collision_30.obj b/objects/objaverse/fork/fork_3/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f2aa7b107c9e722db0416f8ac74121ff37c019f8
--- /dev/null
+++ b/objects/objaverse/fork/fork_3/collision/model_normalized_collision_30.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.01695086 -0.01450106 -0.15888008
+v 0.01788841 -0.01017670 -0.23457164
+v 0.01701414 0.00294147 -0.15909093
+v -0.03314908 0.00265982 -0.15990314
+v -0.03742410 -0.01127189 -0.23521449
+v 0.01701414 0.00294151 -0.23484848
+v -0.03216754 -0.01196712 -0.15985557
+v -0.03870591 0.00265982 -0.23519038
+v -0.03326967 -0.01178826 -0.17492435
+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 8 4 3
+f 8 3 6
+f 8 6 5
+f 8 7 4
+f 9 8 5
+f 9 5 7
+f 9 7 8
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_3/collision/model_normalized_collision_31.obj b/objects/objaverse/fork/fork_3/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..10c6b99a95bdab5f3ab99d92a2174007103d9120
--- /dev/null
+++ b/objects/objaverse/fork/fork_3/collision/model_normalized_collision_31.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.03381842 -0.00920268 -0.23575458
+v 0.03651875 -0.00955201 -0.28102716
+v 0.03704483 0.00222027 -0.28099941
+v -0.03870591 0.00265982 -0.23519038
+v -0.04032525 -0.01115587 -0.28051729
+v 0.03435334 0.00181474 -0.23576392
+v -0.03742410 -0.01127189 -0.23521449
+v -0.04172009 0.00267092 -0.28043013
+f 5 3 2
+f 6 3 4
+f 6 4 1
+f 6 1 2
+f 6 2 3
+f 7 5 2
+f 7 2 1
+f 7 1 4
+f 8 4 3
+f 8 3 5
+f 8 7 4
+f 8 5 7
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_3/collision/model_normalized_collision_4.obj b/objects/objaverse/fork/fork_3/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9530b3779130d0c08abecc614da069293693d724
--- /dev/null
+++ b/objects/objaverse/fork/fork_3/collision/model_normalized_collision_4.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.01700574 -0.00993783 0.14290259
+v 0.01328425 -0.01414334 0.08362721
+v 0.01421824 0.00330525 0.08369500
+v -0.04014077 0.00727084 0.14624904
+v -0.03805871 -0.00835488 0.14546075
+v -0.02084926 0.00228829 0.08410302
+v 0.01701481 0.00732040 0.14440719
+v -0.01970253 -0.01288010 0.08441160
+f 1 2 3
+f 5 2 1
+f 6 3 2
+f 6 4 3
+f 7 1 3
+f 7 3 4
+f 7 5 1
+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/fork/fork_3/collision/model_normalized_collision_5.obj b/objects/objaverse/fork/fork_3/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7021f7a6139cdd7855cd4fb97fd32dbb3fda186c
--- /dev/null
+++ b/objects/objaverse/fork/fork_3/collision/model_normalized_collision_5.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.01228219 -0.01859455 -0.05307054
+v 0.02370569 -0.01250008 -0.11419678
+v 0.01988338 0.00265975 -0.05393282
+v -0.02497350 0.00265976 -0.05326953
+v -0.02429778 -0.01579194 -0.11334770
+v 0.00186263 0.00294144 -0.11363637
+v 0.01944519 -0.01295220 -0.05384698
+v 0.01472537 -0.01701494 -0.11293638
+v -0.02080823 -0.01704772 -0.05331982
+v 0.02441551 0.00265975 -0.11423237
+v -0.02989918 0.00226674 -0.11470391
+v -0.02884116 -0.01249556 -0.11465345
+v -0.02691683 -0.01203019 -0.08452706
+v -0.02787826 0.00181474 -0.08450382
+f 1 3 4
+f 6 4 3
+f 7 1 2
+f 7 3 1
+f 8 2 1
+f 8 1 5
+f 9 5 1
+f 9 1 4
+f 10 6 3
+f 10 7 2
+f 10 3 7
+f 11 4 6
+f 11 6 10
+f 11 10 2
+f 12 8 5
+f 12 2 8
+f 12 11 2
+f 12 5 9
+f 13 12 9
+f 13 9 4
+f 13 11 12
+f 14 13 4
+f 14 4 11
+f 14 11 13
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_3/collision/model_normalized_collision_6.obj b/objects/objaverse/fork/fork_3/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a0ab138f5a93aa75338da694cc795d511703b9af
--- /dev/null
+++ b/objects/objaverse/fork/fork_3/collision/model_normalized_collision_6.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.00989547 -0.01672324 0.05229125
+v 0.01701414 0.00294144 -0.03787879
+v 0.01312740 0.00295465 0.05309436
+v -0.01964423 0.00188331 0.05313861
+v -0.01999068 -0.01716402 -0.03821345
+v -0.02393205 0.00266009 -0.03818994
+v -0.01866636 -0.01312922 0.05292727
+v 0.01198828 -0.01861406 -0.03795784
+v -0.01148230 -0.01754168 0.05221123
+v -0.01678829 -0.01635470 0.03708419
+f 1 2 3
+f 6 3 2
+f 6 4 3
+f 6 2 5
+f 7 1 3
+f 7 3 4
+f 7 6 5
+f 7 4 6
+f 8 5 2
+f 8 2 1
+f 9 1 7
+f 9 8 1
+f 9 5 8
+f 10 9 7
+f 10 7 5
+f 10 5 9
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_3/collision/model_normalized_collision_7.obj b/objects/objaverse/fork/fork_3/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ee4f25c902ab710b2ddd82bdcd197d229a78122c
--- /dev/null
+++ b/objects/objaverse/fork/fork_3/collision/model_normalized_collision_7.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.02370569 -0.01250008 -0.11419678
+v 0.02703154 -0.01197258 -0.15939558
+v 0.02441551 0.00265975 -0.11423237
+v -0.02989918 0.00226674 -0.11470391
+v -0.03216754 -0.01196712 -0.15985557
+v 0.02793889 0.00265982 -0.15941835
+v -0.02884116 -0.01249556 -0.11465345
+v -0.03314908 0.00265982 -0.15990314
+v 0.00186263 0.00294147 -0.15909093
+f 6 1 2
+f 6 3 1
+f 7 4 5
+f 7 1 3
+f 7 3 4
+f 7 5 2
+f 7 2 1
+f 8 6 2
+f 8 2 5
+f 8 5 4
+f 9 8 4
+f 9 4 3
+f 9 3 6
+f 9 6 8
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_3/collision/model_normalized_collision_8.obj b/objects/objaverse/fork/fork_3/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..884862e3fa7c312604bc5cc943ab57ed7b04e8f2
--- /dev/null
+++ b/objects/objaverse/fork/fork_3/collision/model_normalized_collision_8.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.05704309 0.00475362 0.44686916
+v 0.06173802 0.01528875 0.40024502
+v 0.05798734 0.00916802 0.44596415
+v -0.06098587 0.01201053 0.42818503
+v -0.06494665 0.00844100 0.40091656
+v 0.05865205 0.01222865 0.42964513
+v -0.05918914 0.00641970 0.44554711
+v 0.06015183 0.00662278 0.40174080
+v -0.06596301 0.01449715 0.39916757
+v -0.05938769 0.00901464 0.44431299
+f 6 3 2
+f 6 2 4
+f 7 1 3
+f 8 2 3
+f 8 3 1
+f 8 7 5
+f 8 1 7
+f 9 4 2
+f 9 8 5
+f 9 2 8
+f 9 5 7
+f 10 6 4
+f 10 3 6
+f 10 7 3
+f 10 9 7
+f 10 4 9
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_3/collision/model_normalized_collision_9.obj b/objects/objaverse/fork/fork_3/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..168cf922a5bd055e99c829e69136dcd82b8c2832
--- /dev/null
+++ b/objects/objaverse/fork/fork_3/collision/model_normalized_collision_9.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.04704836 0.00771177 0.38705438
+v -0.04944974 0.00933410 0.30773474
+v -0.04711123 0.01945481 0.30996309
+v -0.06828274 0.01558045 0.38459999
+v -0.07773351 0.01179918 0.30940119
+v -0.04584832 0.01633008 0.38559202
+v -0.06652963 0.00890714 0.38591190
+v -0.07910219 0.01893860 0.30906562
+v -0.07161662 0.01062045 0.35406808
+v -0.07288327 0.01745686 0.35328806
+f 1 2 3
+f 6 1 3
+f 7 5 2
+f 7 2 1
+f 7 6 4
+f 7 1 6
+f 8 3 2
+f 8 2 5
+f 9 7 4
+f 9 5 7
+f 9 8 5
+f 10 6 3
+f 10 3 8
+f 10 4 6
+f 10 9 4
+f 10 8 9
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_3/model.xml b/objects/objaverse/fork/fork_3/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..a26a03e913992e0be8f23cd681b480a021ad3595
--- /dev/null
+++ b/objects/objaverse/fork/fork_3/model.xml
@@ -0,0 +1,80 @@
+<mujoco model="fork_5">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865471 0.7071067811865471 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865471 0.7071067811865471 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865471 0.7071067811865471 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865471 0.7071067811865471 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865471 0.7071067811865471 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865471 0.7071067811865471 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865471 0.7071067811865471 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865471 0.7071067811865471 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865471 0.7071067811865471 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865471 0.7071067811865471 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865471 0.7071067811865471 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865471 0.7071067811865471 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865471 0.7071067811865471 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865471 0.7071067811865471 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865471 0.7071067811865471 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865471 0.7071067811865471 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865471 0.7071067811865471 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865471 0.7071067811865471 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865471 0.7071067811865471 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865471 0.7071067811865471 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865471 0.7071067811865471 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865471 0.7071067811865471 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865471 0.7071067811865471 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865471 0.7071067811865471 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865471 0.7071067811865471 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865471 0.7071067811865471 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865471 0.7071067811865471 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865471 0.7071067811865471 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865471 0.7071067811865471 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865471 0.7071067811865471 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865471 0.7071067811865471 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865471 0.7071067811865471 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865471 0.7071067811865471 0.0 0.0"/>
+    <material name="Scene_-_Root.011" specular="0.5" shininess="0.587641447" rgba="0.810370 0.778284 0.778284 1.0"/>
+  </asset>
+  <worldbody>
+    <body>
+      <body name="object">
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+      <site rgba="0 0 0 0" size="0.005" pos="1.3345000000053452e-07 0.00029516504999999775 -0.0033661989" name="bottom_site"/>
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diff --git a/objects/objaverse/fork/fork_3/visual/material.mtl b/objects/objaverse/fork/fork_3/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b4b7a943f4b70d8913420b3a0102ab326db4e677
--- /dev/null
+++ b/objects/objaverse/fork/fork_3/visual/material.mtl
@@ -0,0 +1,7 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.82352941 0.82352941 0.82352941
+Kd 0.81176471 0.77647059 0.77647059
+Ks 0.50196078 0.50196078 0.50196078
+Ns 587.64144700
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_3/visual/model_normalized_0.obj b/objects/objaverse/fork/fork_3/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a9b21dc5037f1234507317356b8972f5c100aa12
--- /dev/null
+++ b/objects/objaverse/fork/fork_3/visual/model_normalized_0.obj
@@ -0,0 +1,18969 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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+f 3079/3079/3079 3793/3793/3793 3792/3792/3792
+f 3042/3042/3042 3792/3792/3792 3791/3791/3791
+f 3042/3042/3042 3791/3791/3791 3028/3028/3028
+f 3792/3792/3792 3793/3793/3793 3789/3789/3789
+f 3792/3792/3792 3789/3789/3789 3791/3791/3791
+f 3075/3075/3075 3016/3016/3016 3019/3019/3019
+f 3075/3075/3075 3019/3019/3019 3794/3794/3794
+f 3794/3794/3794 3019/3019/3019 3014/3014/3014
+f 3794/3794/3794 3014/3014/3014 3788/3788/3788
+f 3077/3077/3077 3075/3075/3075 3794/3794/3794
+f 3077/3077/3077 3794/3794/3794 3793/3793/3793
+f 3793/3793/3793 3794/3794/3794 3788/3788/3788
+f 3793/3793/3793 3788/3788/3788 3789/3789/3789
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_9/collision/model_normalized_collision_1.obj b/objects/objaverse/fork/fork_9/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cb42f1eb12202bc376663add19ab56a2ff146b3b
--- /dev/null
+++ b/objects/objaverse/fork/fork_9/collision/model_normalized_collision_1.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.04776048 0.44601396 0.00748490
+v -0.04777331 0.45437794 0.02125266
+v -0.06727635 0.44526948 0.00740708
+v -0.05154018 0.49830001 0.04583814
+v -0.05018875 0.49831551 0.04260458
+v -0.06584309 0.45070888 0.01909565
+v -0.04820689 0.46691605 0.02053464
+v -0.04913009 0.48511670 0.03862501
+v -0.05847846 0.49616601 0.04145399
+v -0.06402189 0.46688911 0.02050870
+v -0.06092535 0.48308730 0.03750024
+v -0.05722407 0.49719286 0.04503052
+f 6 1 2
+f 6 3 1
+f 7 2 1
+f 8 5 4
+f 8 7 5
+f 8 2 7
+f 10 7 1
+f 10 1 3
+f 10 3 6
+f 10 9 5
+f 10 5 7
+f 11 6 2
+f 11 2 8
+f 11 8 4
+f 11 10 6
+f 11 9 10
+f 12 4 5
+f 12 5 9
+f 12 11 4
+f 12 9 11
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_9/collision/model_normalized_collision_11.obj b/objects/objaverse/fork/fork_9/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..acc8b05643eaa552a0b39bc290e338ecc3ab1cf2
--- /dev/null
+++ b/objects/objaverse/fork/fork_9/collision/model_normalized_collision_11.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.01653997 0.09876941 0.01379267
+v 0.02585809 0.09843446 -0.01589545
+v 0.02826812 0.16003499 -0.01482082
+v 0.00444808 0.15893075 0.01807223
+v 0.00443036 0.09864638 0.01653262
+v 0.02624909 0.15809946 -0.01479140
+v 0.01775565 0.16085843 0.01437885
+v 0.01904658 0.09815761 -0.00238579
+v 0.02471305 0.09820867 -0.01568290
+v 0.02496458 0.11334721 -0.01540092
+f 1 2 3
+f 5 1 4
+f 6 3 2
+f 6 4 3
+f 7 1 3
+f 7 3 4
+f 7 4 1
+f 8 1 5
+f 9 5 4
+f 9 8 5
+f 9 2 1
+f 9 1 8
+f 9 6 2
+f 10 9 4
+f 10 4 6
+f 10 6 9
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_9/collision/model_normalized_collision_16.obj b/objects/objaverse/fork/fork_9/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..02b337e5e7305c1582692eb36958e30763303029
--- /dev/null
+++ b/objects/objaverse/fork/fork_9/collision/model_normalized_collision_16.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.01512935 -0.21915478 0.00517159
+v 0.02091111 -0.21978242 -0.02211621
+v 0.02118338 -0.12891881 -0.02007817
+v -0.01547523 -0.12833086 0.00785650
+v -0.02222636 -0.21964983 -0.02122611
+v 0.01437816 -0.12830633 0.00848285
+v -0.01647385 -0.21954738 0.00253552
+v -0.02359695 -0.12880030 -0.01939479
+v -0.01054085 -0.21917587 0.00598319
+v -0.01513704 -0.20401413 0.00566773
+f 1 2 3
+f 6 1 3
+f 7 5 2
+f 7 2 1
+f 8 3 2
+f 8 2 5
+f 8 6 3
+f 8 4 6
+f 8 7 4
+f 8 5 7
+f 9 6 4
+f 9 1 6
+f 9 7 1
+f 10 9 4
+f 10 4 7
+f 10 7 9
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_9/collision/model_normalized_collision_2.obj b/objects/objaverse/fork/fork_9/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..94e7c842dd0aba8d66656a34a51044bfbf65c16b
--- /dev/null
+++ b/objects/objaverse/fork/fork_9/collision/model_normalized_collision_2.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.01708506 0.28025520 -0.02635174
+v 0.01708497 0.28050319 -0.02991842
+v 0.01719349 0.31297209 -0.02373638
+v -0.04370029 0.31067873 -0.02484841
+v -0.04351909 0.28025533 -0.02635245
+v -0.04256956 0.30915130 -0.04392573
+v -0.02562888 0.31298594 -0.02409220
+v 0.00944579 0.31072003 -0.04241298
+v -0.04336199 0.28055265 -0.02973912
+v 0.00623748 0.30322467 -0.04413639
+v -0.03811695 0.30441618 -0.04477406
+f 1 2 3
+f 5 2 1
+f 5 1 3
+f 7 5 3
+f 7 4 5
+f 7 6 4
+f 8 3 2
+f 8 7 3
+f 8 6 7
+f 9 5 4
+f 9 4 6
+f 9 2 5
+f 10 8 2
+f 10 6 8
+f 11 9 6
+f 11 6 10
+f 11 10 2
+f 11 2 9
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_9/collision/model_normalized_collision_20.obj b/objects/objaverse/fork/fork_9/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6baa04ba4c01fafa3daadd9a9e93b4901e06a47a
--- /dev/null
+++ b/objects/objaverse/fork/fork_9/collision/model_normalized_collision_20.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.06250609 0.28025798 -0.02645374
+v 0.06231931 0.28055714 -0.02936255
+v 0.07462889 0.35445858 -0.03140783
+v 0.01711918 0.35747385 -0.01456910
+v 0.01708506 0.28025520 -0.02635174
+v 0.06246370 0.35747561 -0.01458744
+v 0.01708497 0.28050319 -0.02991842
+v 0.03958588 0.30521252 -0.04463136
+v 0.00623748 0.30322467 -0.04413639
+v 0.01053021 0.35338281 -0.03157711
+v 0.00899972 0.33546139 -0.03815487
+v 0.04506712 0.33638174 -0.03789071
+f 1 2 3
+f 6 1 3
+f 6 3 4
+f 6 5 1
+f 6 4 5
+f 7 2 1
+f 7 1 5
+f 8 3 2
+f 9 7 5
+f 9 5 4
+f 9 8 2
+f 9 2 7
+f 10 9 4
+f 10 4 3
+f 11 10 3
+f 11 8 9
+f 11 9 10
+f 12 11 3
+f 12 3 8
+f 12 8 11
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_9/collision/model_normalized_collision_22.obj b/objects/objaverse/fork/fork_9/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ba52505b405f929436f64930593ab93e2bb1deff
--- /dev/null
+++ b/objects/objaverse/fork/fork_9/collision/model_normalized_collision_22.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v -0.03738057 0.19342342 0.00294543
+v -0.04646935 0.19322965 -0.02231772
+v -0.04345284 0.23612826 -0.02117678
+v -0.07350636 0.23831221 -0.02860096
+v -0.07038213 0.22588162 -0.02999132
+v -0.06808687 0.23330515 -0.01802159
+v -0.04403963 0.19984794 -0.00142414
+v -0.07647711 0.23860219 -0.03943661
+v -0.04346445 0.23172929 -0.01596762
+v -0.05303037 0.20046002 -0.02521480
+v -0.05535665 0.21426910 -0.00750696
+v -0.07244809 0.22782636 -0.03653795
+v -0.04323154 0.21265341 -0.00563169
+f 1 2 3
+f 6 3 4
+f 6 4 5
+f 7 2 1
+f 8 3 2
+f 8 5 4
+f 8 4 3
+f 9 1 3
+f 9 3 6
+f 10 2 7
+f 11 6 5
+f 11 10 7
+f 11 5 10
+f 11 7 1
+f 12 8 2
+f 12 2 10
+f 12 10 5
+f 12 5 8
+f 13 9 6
+f 13 6 11
+f 13 11 1
+f 13 1 9
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_9/collision/model_normalized_collision_23.obj b/objects/objaverse/fork/fork_9/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7348bcd944ace911d44dc3a5ac52c211f2b788d4
--- /dev/null
+++ b/objects/objaverse/fork/fork_9/collision/model_normalized_collision_23.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v -0.04351909 0.28025533 -0.02635245
+v -0.03811695 0.30441618 -0.04477406
+v -0.04559001 0.31286987 -0.02418743
+v -0.07279738 0.31300296 -0.02407580
+v -0.08005742 0.28032047 -0.04694453
+v -0.04256956 0.30915130 -0.04392573
+v -0.04371777 0.29651872 -0.02587221
+v -0.04336199 0.28055265 -0.02973912
+v -0.07766903 0.28063178 -0.02912331
+v -0.08070108 0.30899862 -0.04384200
+v -0.08139758 0.28025750 -0.04584267
+v -0.07271903 0.29693844 -0.02612441
+v -0.07739332 0.31060438 -0.02737847
+f 1 3 4
+f 6 3 2
+f 6 4 3
+f 7 1 2
+f 7 2 3
+f 7 3 1
+f 8 5 2
+f 8 2 1
+f 8 1 5
+f 10 4 6
+f 10 6 2
+f 10 2 5
+f 11 5 1
+f 11 1 9
+f 11 10 5
+f 12 9 1
+f 12 1 4
+f 12 4 9
+f 13 9 4
+f 13 4 10
+f 13 11 9
+f 13 10 11
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_9/collision/model_normalized_collision_25.obj b/objects/objaverse/fork/fork_9/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..923477ef2dbe0907d43e930542175e4cf32207a4
--- /dev/null
+++ b/objects/objaverse/fork/fork_9/collision/model_normalized_collision_25.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.00807488 0.45674350 0.01414697
+v 0.00833155 0.46764027 0.02099543
+v 0.00832413 0.46678832 0.02797811
+v -0.02200857 0.49829755 0.04607235
+v -0.02713898 0.46763742 0.02096006
+v 0.00826683 0.47772910 0.03353048
+v -0.01637533 0.49840133 0.04196791
+v -0.02672673 0.46661940 0.02815229
+v -0.01789615 0.49810097 0.04640565
+v -0.02379684 0.49824566 0.04266746
+v -0.02743387 0.45695729 0.01432067
+v -0.02641957 0.48532000 0.03907952
+f 1 2 3
+f 5 2 1
+f 6 3 2
+f 7 2 5
+f 7 6 2
+f 8 1 3
+f 9 3 6
+f 9 7 4
+f 9 6 7
+f 10 7 5
+f 10 4 7
+f 11 5 1
+f 11 1 8
+f 12 8 3
+f 12 3 9
+f 12 9 4
+f 12 4 10
+f 12 10 5
+f 12 11 8
+f 12 5 11
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_9/collision/model_normalized_collision_26.obj b/objects/objaverse/fork/fork_9/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d784153c5fbb9e8b65d2a5426f148e6d5d358ce5
--- /dev/null
+++ b/objects/objaverse/fork/fork_9/collision/model_normalized_collision_26.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.04346445 0.23172929 -0.01596762
+v -0.04318812 0.24077008 -0.02297394
+v -0.04351909 0.28025533 -0.02635245
+v -0.07766903 0.28063178 -0.02912331
+v -0.07706930 0.24185961 -0.04070112
+v -0.06808687 0.23330515 -0.01802159
+v -0.07244062 0.23592572 -0.03808048
+v -0.08005742 0.28032047 -0.04694453
+v -0.07350636 0.23831221 -0.02860096
+v -0.08139758 0.28025750 -0.04584267
+v -0.04336199 0.28055265 -0.02973912
+v -0.07597606 0.24963054 -0.04206175
+f 1 2 3
+f 6 1 3
+f 6 3 4
+f 7 2 1
+f 7 1 6
+f 9 6 4
+f 9 4 5
+f 9 7 6
+f 9 5 7
+f 10 8 5
+f 10 5 4
+f 10 4 8
+f 11 8 4
+f 11 4 3
+f 11 3 2
+f 11 2 7
+f 12 7 5
+f 12 5 8
+f 12 11 7
+f 12 8 11
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_9/collision/model_normalized_collision_29.obj b/objects/objaverse/fork/fork_9/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d721445336e80156112bf1152abe1ed722c8ebf1
--- /dev/null
+++ b/objects/objaverse/fork/fork_9/collision/model_normalized_collision_29.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.01719349 0.31297209 -0.02373638
+v 0.00944579 0.31072003 -0.04241298
+v 0.01711918 0.35747385 -0.01456910
+v -0.07431453 0.35708947 -0.01669904
+v -0.07666529 0.31274079 -0.02547306
+v 0.01053021 0.35338281 -0.03157711
+v -0.08070108 0.30899862 -0.04384200
+v 0.00899972 0.33546139 -0.03815487
+v -0.07772716 0.35292274 -0.03285255
+v -0.07918374 0.33561665 -0.03803703
+f 5 1 3
+f 5 3 4
+f 6 4 3
+f 6 1 2
+f 6 3 1
+f 7 2 1
+f 7 1 5
+f 8 6 2
+f 8 2 7
+f 9 4 6
+f 9 6 8
+f 10 4 9
+f 10 7 5
+f 10 5 4
+f 10 9 8
+f 10 8 7
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_9/collision/model_normalized_collision_31.obj b/objects/objaverse/fork/fork_9/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..160438a9715c735d1fd7a0b5c18c58ed25caf458
--- /dev/null
+++ b/objects/objaverse/fork/fork_9/collision/model_normalized_collision_31.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.01448888 -0.40126873 -0.00063114
+v 0.01641869 -0.40149434 -0.02383160
+v 0.01773398 -0.31064243 -0.02202908
+v -0.01576920 -0.31042070 0.00129297
+v -0.01926244 -0.40161420 -0.02541360
+v 0.01508282 -0.31045914 0.00216958
+v -0.01810832 -0.40183387 -0.02565368
+v -0.01567847 -0.40122701 -0.00167978
+v -0.02085805 -0.31049971 -0.02305292
+v -0.01927416 -0.32589579 -0.02418606
+f 1 2 3
+f 6 1 3
+f 6 4 1
+f 7 2 1
+f 7 3 2
+f 8 1 4
+f 8 7 1
+f 8 5 7
+f 9 6 3
+f 9 4 6
+f 9 8 4
+f 9 5 8
+f 10 7 5
+f 10 5 9
+f 10 9 3
+f 10 3 7
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_9/collision/model_normalized_collision_4.obj b/objects/objaverse/fork/fork_9/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..50c83818759488b480cefce0a5cbaac3af0a06ad
--- /dev/null
+++ b/objects/objaverse/fork/fork_9/collision/model_normalized_collision_4.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.00444808 0.15893075 0.01807223
+v 0.04731884 0.23615829 -0.02110424
+v 0.00471737 0.19511824 0.00565620
+v 0.00193388 0.23591386 -0.02163242
+v 0.02624909 0.15809946 -0.01479140
+v 0.00236102 0.23171425 -0.01590705
+v 0.04075348 0.19926020 0.00190560
+v 0.00193388 0.15968093 0.01444333
+v 0.03217984 0.23604196 -0.02137645
+v 0.02810528 0.18342312 0.00914737
+v 0.04730113 0.23172815 -0.01599991
+v 0.00107623 0.18197071 0.00861116
+v 0.01775565 0.16085843 0.01437885
+v 0.03038409 0.16632837 -0.01508801
+v 0.02959288 0.16357824 -0.01385006
+f 6 2 4
+f 8 5 1
+f 8 4 5
+f 9 5 4
+f 9 4 2
+f 9 2 5
+f 10 7 3
+f 10 3 1
+f 11 6 3
+f 11 3 7
+f 11 2 6
+f 12 6 4
+f 12 4 8
+f 12 3 6
+f 12 8 1
+f 12 1 3
+f 13 10 1
+f 13 1 5
+f 13 7 10
+f 14 11 7
+f 14 5 2
+f 14 2 11
+f 15 13 5
+f 15 5 14
+f 15 14 7
+f 15 7 13
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_9/collision/model_normalized_collision_5.obj b/objects/objaverse/fork/fork_9/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8f2ab31a93f8cfb340aa1b512cb1e57d2f657e98
--- /dev/null
+++ b/objects/objaverse/fork/fork_9/collision/model_normalized_collision_5.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.00441640 0.18463104 0.01130684
+v 0.00559168 0.19428440 0.00199053
+v 0.00236102 0.23171425 -0.01590705
+v -0.04345284 0.23612826 -0.02117678
+v -0.03740541 0.18458177 -0.01812504
+v -0.04346445 0.23172929 -0.01596762
+v 0.00471737 0.19511824 0.00565620
+v 0.00193388 0.23591386 -0.02163242
+v -0.03311782 0.19068212 0.00662041
+v -0.04384082 0.19019050 -0.02121359
+v 0.00226485 0.21316909 -0.00995078
+v -0.03850780 0.19814927 0.00296036
+f 5 2 1
+f 6 3 4
+f 7 1 2
+f 7 2 3
+f 7 3 6
+f 8 3 2
+f 8 4 3
+f 9 5 1
+f 10 6 4
+f 10 5 9
+f 10 8 5
+f 10 4 8
+f 11 8 2
+f 11 2 5
+f 11 5 8
+f 12 7 6
+f 12 10 9
+f 12 6 10
+f 12 9 1
+f 12 1 7
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_9/collision/model_normalized_collision_6.obj b/objects/objaverse/fork/fork_9/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d59a8a1168dc9eb990ab837423b33a410f170115
--- /dev/null
+++ b/objects/objaverse/fork/fork_9/collision/model_normalized_collision_6.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.00444808 0.15893075 0.01807223
+v 0.00193388 0.15968093 0.01444333
+v 0.00559168 0.19428440 0.00199053
+v -0.04781986 0.19720681 -0.01394687
+v -0.01736639 0.16027803 0.01504653
+v -0.02617651 0.15757127 -0.01477665
+v -0.03311782 0.19068212 0.00662041
+v -0.05125672 0.19671716 -0.02294633
+v -0.02671161 0.18153004 0.00994660
+v 0.00441640 0.18463104 0.01130684
+v -0.02966387 0.16357571 -0.01410096
+f 1 2 3
+f 6 3 2
+f 6 2 1
+f 6 1 5
+f 7 3 4
+f 7 4 5
+f 8 4 3
+f 8 3 6
+f 8 5 4
+f 9 7 5
+f 9 5 1
+f 10 1 3
+f 10 3 7
+f 10 9 1
+f 10 7 9
+f 11 8 6
+f 11 6 5
+f 11 5 8
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_9/collision/model_normalized_collision_7.obj b/objects/objaverse/fork/fork_9/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..24c424838e9fe1c12dbb0eae0f519b49310a255c
--- /dev/null
+++ b/objects/objaverse/fork/fork_9/collision/model_normalized_collision_7.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.01437816 -0.12830633 0.00848285
+v 0.01729452 -0.12877872 -0.00900147
+v 0.02104818 0.09840752 -0.00747054
+v -0.01661626 0.09875117 0.01364211
+v -0.02359695 -0.12880030 -0.01939479
+v 0.01434901 0.09864878 0.01595961
+v -0.01547523 -0.12833086 0.00785650
+v -0.02114655 -0.12897920 -0.02001166
+v -0.02585710 0.09837265 -0.01589664
+f 1 2 3
+f 6 1 3
+f 6 3 4
+f 7 2 1
+f 7 6 4
+f 7 1 6
+f 8 3 2
+f 8 7 5
+f 8 2 7
+f 9 4 3
+f 9 8 5
+f 9 3 8
+f 9 7 4
+f 9 5 7
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_9/collision/model_normalized_collision_9.obj b/objects/objaverse/fork/fork_9/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8182776fd67efda3ad65657b65660ac3e7d1c111
--- /dev/null
+++ b/objects/objaverse/fork/fork_9/collision/model_normalized_collision_9.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.01668928 -0.44694649 -0.00912003
+v 0.01852925 -0.44699511 -0.02630551
+v 0.02085892 -0.31044158 -0.02305176
+v 0.01508282 -0.31045914 0.00216958
+v 0.01431633 -0.41640479 -0.00107749
+v 0.01773398 -0.31064243 -0.02202908
+v 0.01587487 -0.31040622 0.00095479
+v 0.01699563 -0.44678278 -0.01126014
+v 0.01742126 -0.44719405 -0.02651401
+v 0.01566335 -0.41635778 -0.00217997
+v 0.02062664 -0.32588724 -0.02336186
+v 0.01927149 -0.32606950 -0.02418944
+f 6 5 4
+f 7 6 4
+f 7 3 6
+f 8 1 2
+f 8 3 1
+f 9 2 1
+f 9 1 5
+f 9 5 6
+f 10 1 3
+f 10 3 7
+f 10 5 1
+f 10 7 4
+f 10 4 5
+f 11 8 2
+f 11 2 3
+f 11 3 8
+f 12 9 6
+f 12 6 3
+f 12 3 2
+f 12 2 9
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_9/model.xml b/objects/objaverse/fork/fork_9/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..e2bb7dd6cb4100757d74ec6dfa2ab3572709fc22
--- /dev/null
+++ b/objects/objaverse/fork/fork_9/model.xml
@@ -0,0 +1,80 @@
+<mujoco model="fork_14">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <material name="Plastic_Glass_Shader.002" specular="0.5" shininess="0.009186467" rgba="1.000000 1.000000 1.000000 1.0"/>
+  </asset>
+  <worldbody>
+    <body>
+      <body name="object">
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_0_vis" conaffinity="0" contype="0" group="1" material="Plastic_Glass_Shader.002"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_22._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_23._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_21._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_20._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_24._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_30._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_18._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_19._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_31._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_25._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_27._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_26._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_9._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_8._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_6._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_7._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_5._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_4._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_0._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_1._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_3._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_2._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_17._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_16._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_28._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_14._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_15._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_29._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_11._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_10._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_12._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_13._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+      </body>
+      <site rgba="0 0 0 0" size="0.005" pos="1.1000000009475653e-09 8.153419999999857e-05 -0.010327796600000001" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="1.1000000009475653e-09 8.153419999999857e-05 0.010228141000000003" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.0179074698 0.10984100160000002 -4.982779999999986e-05" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/objects/objaverse/knife/knife_16/collision/model_normalized_collision_0.obj b/objects/objaverse/knife/knife_16/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a2c2dbae7f9570b973a7a6d2906f0453bd97430d
--- /dev/null
+++ b/objects/objaverse/knife/knife_16/collision/model_normalized_collision_0.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.02070048 -0.14398319 -0.02533118
+v 0.01120038 -0.14400788 -0.06693572
+v 0.00809580 -0.00686544 -0.07381451
+v -0.00252487 -0.00749379 -0.02523214
+v 0.00023899 -0.14378857 -0.02496294
+v 0.01844886 -0.00764921 -0.02522587
+v 0.00933426 -0.14344819 -0.06541293
+v 0.00971815 -0.09816766 -0.07055312
+f 1 2 3
+f 5 2 1
+f 5 4 3
+f 6 1 3
+f 6 3 4
+f 6 5 1
+f 6 4 5
+f 7 5 3
+f 7 2 5
+f 8 7 3
+f 8 3 2
+f 8 2 7
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_16/collision/model_normalized_collision_1.obj b/objects/objaverse/knife/knife_16/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3768c975f856c869cf7f7e0c2e933c98a6b67c4e
--- /dev/null
+++ b/objects/objaverse/knife/knife_16/collision/model_normalized_collision_1.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.01695780 -0.44573382 0.03672545
+v 0.01579733 -0.44029273 0.02820840
+v 0.02162810 -0.38628480 0.02008094
+v 0.00801785 -0.38636320 0.01993924
+v 0.00886600 -0.41514455 0.03687543
+v 0.01478771 -0.38347414 -0.00361352
+v 0.01470295 -0.44538862 0.03686642
+v 0.01116627 -0.41435175 0.02478925
+v 0.02229080 -0.40147056 0.03518742
+v 0.01525260 -0.40963616 0.00711796
+v 0.00881343 -0.39914270 0.02370306
+v 0.00745531 -0.40012721 0.03671808
+f 1 2 3
+f 6 4 3
+f 7 2 1
+f 7 1 5
+f 8 7 5
+f 8 2 7
+f 9 1 3
+f 10 6 3
+f 10 3 2
+f 10 2 8
+f 10 4 6
+f 11 8 5
+f 11 5 4
+f 11 10 8
+f 11 4 10
+f 12 5 1
+f 12 1 9
+f 12 4 5
+f 12 9 3
+f 12 3 4
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_16/collision/model_normalized_collision_10.obj b/objects/objaverse/knife/knife_16/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..95fa965cc85473ab9eceb6da745a25627c838b80
--- /dev/null
+++ b/objects/objaverse/knife/knife_16/collision/model_normalized_collision_10.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.01727749 0.41658228 0.06995517
+v 0.02419757 0.41676362 0.04673331
+v 0.01131524 0.48764125 0.06598926
+v -0.00894406 0.49185447 0.06087476
+v -0.02314917 0.41725283 0.04654466
+v 0.02170297 0.47239069 0.04697969
+v -0.01617283 0.41680498 0.06993750
+v 0.01194147 0.49087058 0.05298115
+v 0.02029501 0.41668238 0.06015245
+v 0.01783409 0.47169416 0.05900947
+v -0.00068123 0.49147834 0.06728257
+v -0.02200450 0.47325225 0.04747212
+v -0.01267778 0.48721491 0.06598926
+v 0.00945378 0.49071908 0.06054842
+v -0.01140976 0.49185932 0.05357511
+v -0.01853969 0.47279561 0.05888445
+v 0.00124306 0.49100990 0.06689664
+f 6 2 5
+f 7 5 2
+f 7 2 1
+f 8 3 6
+f 9 6 1
+f 9 1 2
+f 9 2 6
+f 10 6 3
+f 10 3 1
+f 10 1 6
+f 11 7 1
+f 11 1 3
+f 11 8 4
+f 12 5 7
+f 12 8 6
+f 12 6 5
+f 13 11 4
+f 13 7 11
+f 14 3 8
+f 14 8 11
+f 15 4 8
+f 15 8 12
+f 15 13 4
+f 15 12 13
+f 16 13 12
+f 16 12 7
+f 16 7 13
+f 17 14 11
+f 17 11 3
+f 17 3 14
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_16/collision/model_normalized_collision_11.obj b/objects/objaverse/knife/knife_16/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c2d416fa08ac13d0cf192f23c821c9a0df5b50e5
--- /dev/null
+++ b/objects/objaverse/knife/knife_16/collision/model_normalized_collision_11.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.02260425 -0.40133215 0.06381750
+v 0.02024618 -0.40115028 0.02070860
+v 0.02410297 -0.34017965 0.02125448
+v 0.00508262 -0.34033257 0.06445787
+v 0.00783160 -0.40100098 0.06389061
+v 0.00391807 -0.34000104 0.02096472
+v 0.02297401 -0.34083714 0.06422010
+v 0.02251447 -0.40070842 0.03684817
+v 0.00881343 -0.39914270 0.02370306
+v 0.02179598 -0.38551580 0.02146805
+f 5 2 1
+f 5 1 4
+f 6 3 2
+f 6 4 3
+f 6 5 4
+f 7 1 3
+f 7 3 4
+f 7 4 1
+f 8 1 2
+f 8 3 1
+f 9 6 2
+f 9 2 5
+f 9 5 6
+f 10 8 2
+f 10 2 3
+f 10 3 8
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_16/collision/model_normalized_collision_12.obj b/objects/objaverse/knife/knife_16/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b33d3a769a6935ddb44665d89f705ca620b923fe
--- /dev/null
+++ b/objects/objaverse/knife/knife_16/collision/model_normalized_collision_12.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.02419757 0.41676362 0.04673331
+v 0.02233070 0.41799209 0.04134944
+v 0.02546148 0.45893070 0.04577696
+v -0.02536346 0.45944323 0.04651021
+v -0.02314917 0.41725283 0.04654466
+v 0.00241221 0.45704337 0.01338846
+v 0.02168549 0.45342286 0.02927301
+v 0.00052655 0.41911782 0.01997458
+v -0.01926059 0.43629649 0.02709931
+v 0.02097409 0.43581791 0.02954316
+v -0.02091575 0.45547800 0.02906303
+v -0.01189951 0.42043761 0.02586420
+v -0.01067792 0.45352863 0.01874590
+v 0.01383658 0.43576420 0.02344640
+v -0.02134291 0.41881664 0.04141804
+v 0.01145600 0.45427345 0.01921934
+f 1 3 4
+f 5 1 4
+f 6 4 3
+f 7 3 1
+f 7 6 3
+f 8 2 1
+f 8 1 5
+f 10 7 1
+f 10 1 2
+f 10 2 8
+f 11 9 5
+f 11 5 4
+f 11 4 6
+f 12 8 5
+f 13 6 8
+f 13 12 9
+f 13 8 12
+f 13 11 6
+f 13 9 11
+f 14 10 8
+f 14 8 6
+f 15 12 5
+f 15 5 9
+f 15 9 12
+f 16 14 6
+f 16 6 7
+f 16 7 10
+f 16 10 14
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_16/collision/model_normalized_collision_13.obj b/objects/objaverse/knife/knife_16/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..484dab40bcb9bd9a1fe16dfc405dc22e55ce34b4
--- /dev/null
+++ b/objects/objaverse/knife/knife_16/collision/model_normalized_collision_13.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.01964931 -0.44680447 0.07706783
+v 0.02056920 -0.42927211 0.03799145
+v 0.02128546 -0.40148732 0.07694915
+v 0.00888927 -0.40075491 0.07695081
+v 0.01058236 -0.42882939 0.03764594
+v 0.02180763 -0.43096116 0.06373880
+v 0.01695780 -0.44573382 0.03672545
+v 0.01215150 -0.44662403 0.07706609
+v 0.02251447 -0.40070842 0.03684817
+v 0.00938765 -0.43037010 0.06373285
+v 0.01470295 -0.44538862 0.03686642
+v 0.02260425 -0.40133215 0.06381750
+v 0.00745531 -0.40012721 0.03671808
+v 0.00960045 -0.41587292 0.07692436
+f 1 3 4
+f 6 1 2
+f 6 3 1
+f 7 2 1
+f 8 1 4
+f 8 7 1
+f 9 2 7
+f 9 6 2
+f 9 4 3
+f 10 5 8
+f 11 8 5
+f 11 7 8
+f 12 9 3
+f 12 3 6
+f 12 6 9
+f 13 4 9
+f 13 10 4
+f 13 5 10
+f 13 11 5
+f 13 9 7
+f 13 7 11
+f 14 10 8
+f 14 8 4
+f 14 4 10
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_16/collision/model_normalized_collision_14.obj b/objects/objaverse/knife/knife_16/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c7cc76d8360ca8b551c3f674a9b162513b05f61d
--- /dev/null
+++ b/objects/objaverse/knife/knife_16/collision/model_normalized_collision_14.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.01862335 0.37128971 0.06382336
+v 0.02294980 0.38710839 0.05093496
+v 0.02029501 0.41668238 0.06015245
+v -0.01787511 0.41690444 0.06410809
+v -0.01359664 0.37398486 0.03501186
+v 0.02028283 0.40153087 0.06014891
+v 0.01570520 0.37362303 0.03488674
+v -0.01606110 0.37139037 0.06323819
+v -0.01626230 0.41829201 0.02839883
+v 0.01731449 0.41808892 0.02851807
+v -0.02314917 0.41725283 0.04654466
+v 0.02233070 0.41799209 0.04134944
+v -0.02200135 0.40248820 0.04864102
+v -0.02134291 0.41881664 0.04141804
+v 0.01977519 0.38805068 0.04149134
+f 1 3 4
+f 6 1 2
+f 6 2 3
+f 6 3 1
+f 7 2 1
+f 8 1 4
+f 8 7 1
+f 8 5 7
+f 9 7 5
+f 10 7 9
+f 11 9 5
+f 12 3 2
+f 13 8 4
+f 13 4 11
+f 13 11 5
+f 13 5 8
+f 14 11 4
+f 14 9 11
+f 14 4 3
+f 14 3 12
+f 14 12 10
+f 14 10 9
+f 15 12 2
+f 15 2 7
+f 15 7 10
+f 15 10 12
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_16/collision/model_normalized_collision_15.obj b/objects/objaverse/knife/knife_16/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d00bb6a9065b709e539498adc10c93919813176
--- /dev/null
+++ b/objects/objaverse/knife/knife_16/collision/model_normalized_collision_15.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.02295804 -0.14394308 0.00480266
+v 0.02070048 -0.14398319 -0.02533118
+v 0.01844886 -0.00764921 -0.02522587
+v -0.00438070 -0.00752677 0.00495677
+v -0.00196755 -0.14384753 0.00510516
+v -0.00252487 -0.00749379 -0.02523214
+v 0.02054928 -0.00762224 0.00498318
+v 0.00023899 -0.14378857 -0.02496294
+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 7 4 5
+f 7 6 4
+f 7 3 6
+f 8 6 2
+f 8 2 5
+f 8 5 6
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_16/collision/model_normalized_collision_16.obj b/objects/objaverse/knife/knife_16/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c92855ec22227e44854fea353e0e0e4eabcc8df2
--- /dev/null
+++ b/objects/objaverse/knife/knife_16/collision/model_normalized_collision_16.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.01639820 0.35594037 0.07095473
+v 0.01883881 0.35598373 0.06389692
+v 0.01727749 0.41658228 0.06995517
+v -0.01617283 0.41680498 0.06993750
+v -0.01580394 0.35617585 0.06314965
+v -0.01310493 0.35622381 0.07095473
+v 0.01911351 0.41667019 0.06421514
+v -0.01787511 0.41690444 0.06410809
+f 1 2 3
+f 5 2 1
+f 6 1 3
+f 6 3 4
+f 6 5 1
+f 6 4 5
+f 7 3 2
+f 7 2 5
+f 7 4 3
+f 8 7 5
+f 8 5 4
+f 8 4 7
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_16/collision/model_normalized_collision_17.obj b/objects/objaverse/knife/knife_16/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f16a2fec9e2939add2954dbe1e3bf36da42a7828
--- /dev/null
+++ b/objects/objaverse/knife/knife_16/collision/model_normalized_collision_17.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.01495007 0.11349039 0.07818970
+v 0.02646216 0.15772267 0.05067945
+v 0.02110754 0.15849184 0.07303986
+v -0.01169524 0.16098817 0.07257268
+v -0.00454444 0.11368245 0.05010270
+v -0.01783918 0.16139772 0.04906338
+v -0.00435178 0.13149980 0.07718925
+v 0.01646674 0.11351734 0.04988275
+v -0.00303955 0.11370919 0.07818970
+v -0.00774718 0.13387318 0.04945769
+f 1 2 3
+f 6 3 2
+f 6 4 3
+f 7 1 3
+f 7 3 4
+f 8 2 1
+f 8 1 5
+f 8 6 2
+f 9 5 1
+f 9 1 7
+f 9 6 5
+f 9 7 4
+f 9 4 6
+f 10 8 5
+f 10 5 6
+f 10 6 8
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_16/collision/model_normalized_collision_18.obj b/objects/objaverse/knife/knife_16/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..382d4ca65e1093f9254897fcfcfa5581c1af4df8
--- /dev/null
+++ b/objects/objaverse/knife/knife_16/collision/model_normalized_collision_18.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.01911563 -0.34030912 -0.00872623
+v 0.02194899 -0.31058114 -0.01027054
+v 0.00688724 -0.33837746 -0.00465671
+v 0.00486398 -0.30987024 -0.00925095
+v 0.01344573 -0.30795095 -0.03426916
+v 0.00783130 -0.30833136 -0.02008744
+v 0.01391393 -0.33430112 -0.02373192
+v 0.01203318 -0.33744861 -0.01771413
+f 1 2 3
+f 3 2 4
+f 5 2 1
+f 6 4 2
+f 6 2 5
+f 6 5 3
+f 6 3 4
+f 7 5 1
+f 8 7 1
+f 8 1 3
+f 8 3 5
+f 8 5 7
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_16/collision/model_normalized_collision_19.obj b/objects/objaverse/knife/knife_16/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..00c51489394c95cc26cbb9768c4145f87956f3d7
--- /dev/null
+++ b/objects/objaverse/knife/knife_16/collision/model_normalized_collision_19.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.02194899 -0.31058114 -0.01027054
+v 0.01344985 -0.30818299 -0.03417637
+v 0.02171372 -0.26512177 -0.02540390
+v 0.00236243 -0.26468406 -0.00963035
+v 0.00486398 -0.30987024 -0.00925095
+v 0.01265682 -0.26355154 -0.05202415
+v 0.02287538 -0.26514560 -0.01034202
+v 0.00660775 -0.26306274 -0.03568264
+v 0.01033157 -0.29230120 -0.03355810
+v 0.01261409 -0.30704072 -0.03262925
+f 5 2 1
+f 6 1 2
+f 6 3 1
+f 7 1 3
+f 7 5 1
+f 7 4 5
+f 7 3 6
+f 8 5 4
+f 8 7 6
+f 8 4 7
+f 9 8 6
+f 9 6 2
+f 9 5 8
+f 10 9 2
+f 10 2 5
+f 10 5 9
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_16/collision/model_normalized_collision_2.obj b/objects/objaverse/knife/knife_16/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4cdc14d8bed048f494416eae14206f2c594b96fd
--- /dev/null
+++ b/objects/objaverse/knife/knife_16/collision/model_normalized_collision_2.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.01915378 0.18894114 0.07244481
+v 0.01890498 0.18901053 0.02853753
+v 0.01862335 0.37128971 0.06382336
+v -0.01606110 0.37139037 0.06323819
+v -0.01218679 0.18907421 0.07128949
+v 0.01570520 0.37362303 0.03488674
+v -0.01310493 0.35622381 0.07095473
+v -0.01218733 0.18916046 0.02980779
+v -0.01359664 0.37398486 0.03501186
+v 0.01639820 0.35594037 0.07095473
+f 1 2 3
+f 5 2 1
+f 6 3 2
+f 7 3 4
+f 7 5 1
+f 7 4 5
+f 8 5 4
+f 8 2 5
+f 9 4 3
+f 9 3 6
+f 9 8 4
+f 9 6 2
+f 9 2 8
+f 10 7 1
+f 10 1 3
+f 10 3 7
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_16/collision/model_normalized_collision_20.obj b/objects/objaverse/knife/knife_16/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3599028c728899e51f980d11bf75a0caa022d30a
--- /dev/null
+++ b/objects/objaverse/knife/knife_16/collision/model_normalized_collision_20.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.02102905 -0.14397735 0.05012728
+v 0.02304739 -0.14421072 0.00593144
+v 0.02242781 -0.12907021 0.01908715
+v -0.00025050 -0.12866550 0.04987256
+v -0.00196755 -0.14384753 0.00510516
+v 0.02076068 -0.12883061 0.05011289
+v 0.02269618 -0.14421696 0.01910153
+v 0.00001787 -0.14381225 0.04985818
+v -0.00223568 -0.12870078 0.00508867
+v 0.02277975 -0.12906396 0.00595150
+f 6 4 1
+f 7 6 1
+f 7 3 6
+f 7 5 2
+f 8 1 4
+f 8 4 5
+f 8 7 1
+f 8 5 7
+f 9 2 5
+f 9 5 4
+f 9 4 6
+f 10 2 9
+f 10 7 2
+f 10 3 7
+f 10 9 6
+f 10 6 3
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_16/collision/model_normalized_collision_21.obj b/objects/objaverse/knife/knife_16/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d03c22fe880c29239adec3c7494bd4c961daf964
--- /dev/null
+++ b/objects/objaverse/knife/knife_16/collision/model_normalized_collision_21.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.02076068 -0.12883061 0.05011289
+v 0.02269040 -0.12879632 0.00482272
+v 0.02076505 -0.08337598 0.03496161
+v -0.00105561 -0.08322526 0.04991571
+v -0.00223568 -0.12870078 0.00508867
+v 0.01995557 -0.08339037 0.05006974
+v -0.00025050 -0.12866550 0.04987256
+v -0.00304006 -0.08326052 0.00503921
+v -0.00105998 -0.12867988 0.03476443
+v 0.02188748 -0.08335604 0.00488289
+f 1 2 3
+f 5 2 1
+f 6 1 3
+f 6 3 4
+f 6 4 1
+f 7 1 4
+f 8 2 5
+f 9 7 4
+f 9 5 1
+f 9 1 7
+f 9 8 5
+f 9 4 8
+f 10 3 2
+f 10 2 8
+f 10 8 4
+f 10 4 3
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_16/collision/model_normalized_collision_22.obj b/objects/objaverse/knife/knife_16/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..633ea4d2fe001c120d5a1ef700734c98f5cd8957
--- /dev/null
+++ b/objects/objaverse/knife/knife_16/collision/model_normalized_collision_22.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.02202557 0.16203492 0.07250542
+v 0.02835665 0.16133651 0.04770339
+v 0.02837918 0.18927742 0.04778157
+v -0.01218679 0.18907421 0.07128949
+v -0.01783918 0.16139772 0.04906338
+v 0.02143831 0.18851862 0.07133721
+v -0.01169524 0.16098817 0.07257268
+v -0.01876643 0.18948254 0.04931697
+v 0.02706196 0.18940511 0.05158952
+f 1 2 3
+f 5 3 2
+f 6 1 3
+f 7 5 2
+f 7 2 1
+f 7 6 4
+f 7 1 6
+f 8 3 5
+f 8 7 4
+f 8 5 7
+f 9 6 3
+f 9 4 6
+f 9 8 4
+f 9 3 8
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_16/collision/model_normalized_collision_23.obj b/objects/objaverse/knife/knife_16/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..703191a9648dc205f5fb648ce91a950295d86f71
--- /dev/null
+++ b/objects/objaverse/knife/knife_16/collision/model_normalized_collision_23.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.02128546 -0.40148732 0.07694915
+v 0.02245135 -0.40150686 0.06532172
+v 0.01952548 -0.14400407 0.07818970
+v 0.00153586 -0.14378527 0.07818970
+v 0.00783160 -0.40100098 0.06389061
+v 0.00888927 -0.40075491 0.07695081
+v 0.02021957 -0.14399174 0.06523540
+v 0.00082736 -0.14379786 0.06496631
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 6 5 1
+f 6 1 4
+f 6 4 5
+f 7 3 2
+f 7 2 5
+f 7 4 3
+f 8 7 5
+f 8 5 4
+f 8 4 7
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_16/collision/model_normalized_collision_24.obj b/objects/objaverse/knife/knife_16/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..42f8f9ce36d5b0235260b0d30ff2895a75fa423c
--- /dev/null
+++ b/objects/objaverse/knife/knife_16/collision/model_normalized_collision_24.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.02162810 -0.38628480 0.02008094
+v 0.02124414 -0.36907763 0.00929090
+v 0.02410297 -0.34017965 0.02125448
+v 0.00391807 -0.34000104 0.02096472
+v 0.01479180 -0.38370453 -0.00351902
+v 0.00769913 -0.38495250 0.02159376
+v 0.02271586 -0.34010846 0.00623138
+v 0.02256497 -0.37040375 0.02139686
+v 0.00688724 -0.33837746 -0.00465671
+v 0.01400260 -0.33929130 -0.02173638
+v 0.00998532 -0.38255322 0.01176073
+f 5 2 1
+f 6 3 4
+f 6 5 1
+f 7 1 2
+f 8 6 1
+f 8 3 6
+f 8 7 3
+f 8 1 7
+f 9 6 4
+f 9 4 3
+f 9 3 7
+f 10 7 2
+f 10 2 5
+f 10 9 7
+f 10 5 9
+f 11 9 5
+f 11 5 6
+f 11 6 9
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_16/collision/model_normalized_collision_25.obj b/objects/objaverse/knife/knife_16/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c9498344e04824ca69ee23d6c8b82e218964442
--- /dev/null
+++ b/objects/objaverse/knife/knife_16/collision/model_normalized_collision_25.obj
@@ -0,0 +1,18 @@
+# https://github.com/mikedh/trimesh
+v 0.01680385 0.09838578 -0.02512472
+v 0.00622376 0.09848902 -0.07757787
+v 0.01484468 0.13481786 -0.02265578
+v -0.00427614 0.13351430 -0.02254520
+v -0.00440177 0.09853347 -0.02534756
+v 0.00574210 0.12559595 -0.07854615
+v 0.00810998 0.12743425 -0.06579518
+f 1 3 4
+f 5 2 1
+f 5 1 4
+f 6 4 3
+f 6 5 4
+f 6 2 5
+f 6 1 2
+f 7 6 3
+f 7 3 1
+f 7 1 6
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_16/collision/model_normalized_collision_26.obj b/objects/objaverse/knife/knife_16/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf7fe5e430a95bb683668eda8bdc96263139d23e
--- /dev/null
+++ b/objects/objaverse/knife/knife_16/collision/model_normalized_collision_26.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.01952548 -0.14400407 0.07818970
+v 0.02102905 -0.14397735 0.05012728
+v 0.01995557 -0.08339037 0.05006974
+v 0.00045929 -0.08319834 0.07818970
+v 0.00001787 -0.14381225 0.04985818
+v 0.01844891 -0.08341714 0.07818970
+v 0.00153586 -0.14378527 0.07818970
+v -0.00105561 -0.08322526 0.04991571
+f 1 2 3
+f 5 2 1
+f 5 3 2
+f 6 1 3
+f 6 3 4
+f 6 4 1
+f 7 5 1
+f 7 1 4
+f 8 4 3
+f 8 3 5
+f 8 7 4
+f 8 5 7
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_16/collision/model_normalized_collision_27.obj b/objects/objaverse/knife/knife_16/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..29b1eaa26e14b7ca064a5027f9659fb195e6e586
--- /dev/null
+++ b/objects/objaverse/knife/knife_16/collision/model_normalized_collision_27.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.01842475 0.11356254 0.00507864
+v 0.01656885 0.11353364 -0.02511027
+v 0.01784426 0.14071126 0.00590903
+v -0.00194733 0.15127428 0.01378019
+v -0.00652573 0.11364724 0.00482486
+v 0.01484468 0.13481786 -0.02265578
+v 0.00525931 0.15276760 0.01147330
+v -0.00427614 0.13351430 -0.02254520
+v -0.00466989 0.11368022 -0.02536404
+f 1 2 3
+f 5 2 1
+f 5 1 4
+f 6 3 2
+f 7 1 3
+f 7 4 1
+f 7 3 6
+f 8 5 4
+f 8 7 6
+f 8 4 7
+f 9 8 6
+f 9 6 2
+f 9 2 5
+f 9 5 8
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_16/collision/model_normalized_collision_28.obj b/objects/objaverse/knife/knife_16/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..10842ea49d4b1e2cf17c667de186acbd098386d5
--- /dev/null
+++ b/objects/objaverse/knife/knife_16/collision/model_normalized_collision_28.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.01521921 0.09834366 0.07818970
+v 0.01680385 0.09838578 -0.02512472
+v 0.01656885 0.11353364 -0.02511027
+v -0.00303955 0.11370919 0.07818970
+v -0.00440177 0.09853347 -0.02534756
+v 0.01495007 0.11349039 0.07818970
+v -0.00277041 0.09856245 0.07818970
+v -0.00466989 0.11368022 -0.02536404
+f 1 2 3
+f 5 2 1
+f 6 1 3
+f 6 3 4
+f 6 4 1
+f 7 5 1
+f 7 1 4
+f 7 4 5
+f 8 3 2
+f 8 2 5
+f 8 5 4
+f 8 4 3
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_16/collision/model_normalized_collision_29.obj b/objects/objaverse/knife/knife_16/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a1b2dd95cf7f335a00e0e1efc54491b8530c4a76
--- /dev/null
+++ b/objects/objaverse/knife/knife_16/collision/model_normalized_collision_29.obj
@@ -0,0 +1,18 @@
+# https://github.com/mikedh/trimesh
+v 0.01757511 0.14455078 0.07512087
+v 0.02123962 0.14073832 0.02208926
+v 0.02202557 0.16203492 0.07250542
+v 0.02073974 0.15642204 0.02399355
+v 0.02010593 0.14208354 0.02058365
+v 0.02122175 0.15850170 0.02565061
+v 0.02110754 0.15849184 0.07303986
+f 1 2 3
+f 5 2 1
+f 5 1 4
+f 5 4 2
+f 6 3 2
+f 6 2 4
+f 6 4 1
+f 7 6 1
+f 7 1 3
+f 7 3 6
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_16/collision/model_normalized_collision_3.obj b/objects/objaverse/knife/knife_16/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e8dfe2e66428ffdb1c355ccc90a73df8b58cb832
--- /dev/null
+++ b/objects/objaverse/knife/knife_16/collision/model_normalized_collision_3.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.02297401 -0.34083714 0.06422010
+v 0.02271586 -0.34010846 0.00623138
+v 0.02269618 -0.14421696 0.01910153
+v 0.00082736 -0.14379786 0.06496631
+v 0.00508262 -0.34033257 0.06445787
+v -0.00088972 -0.14381165 -0.00989602
+v 0.02021957 -0.14399174 0.06523540
+v 0.01911563 -0.34030912 -0.00872623
+v 0.02226787 -0.25027921 0.06437056
+v 0.02191861 -0.14423077 -0.00913548
+v 0.00688724 -0.33837746 -0.00465671
+v 0.02204495 -0.31027235 -0.00910888
+f 1 2 3
+f 6 5 4
+f 7 5 1
+f 7 4 5
+f 7 6 4
+f 8 2 1
+f 8 1 5
+f 9 7 1
+f 9 1 3
+f 9 3 7
+f 10 7 3
+f 10 6 7
+f 10 3 2
+f 11 8 5
+f 11 5 6
+f 11 6 8
+f 12 8 6
+f 12 6 10
+f 12 10 2
+f 12 2 8
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_16/collision/model_normalized_collision_30.obj b/objects/objaverse/knife/knife_16/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..94df9b69f7d170221e85adecb4337e476d2846a9
--- /dev/null
+++ b/objects/objaverse/knife/knife_16/collision/model_normalized_collision_30.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.01844891 -0.08341714 0.07818970
+v 0.02188748 -0.08335604 0.00488289
+v 0.01780422 -0.00767102 0.06510595
+v -0.00088642 -0.00746468 0.07818970
+v -0.00304006 -0.08326052 0.00503921
+v 0.01710320 -0.00768347 0.07818970
+v 0.00045929 -0.08319834 0.07818970
+v -0.00438070 -0.00752677 0.00495677
+v 0.02054928 -0.00762224 0.00498318
+f 1 2 3
+f 5 2 1
+f 6 1 3
+f 6 3 4
+f 6 4 1
+f 7 5 1
+f 7 1 4
+f 7 4 5
+f 8 2 5
+f 8 5 4
+f 9 3 2
+f 9 2 8
+f 9 8 4
+f 9 4 3
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_16/collision/model_normalized_collision_31.obj b/objects/objaverse/knife/knife_16/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7838228c25ee2129f6239daa6022ff58cf4a1cf9
--- /dev/null
+++ b/objects/objaverse/knife/knife_16/collision/model_normalized_collision_31.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.01710320 -0.00768347 0.07818970
+v 0.00810535 -0.00740304 -0.07379531
+v 0.01673511 0.09837059 0.04989714
+v -0.00277041 0.09856245 0.07818970
+v -0.00088642 -0.00746468 0.07818970
+v 0.00621421 0.09902661 -0.07759707
+v 0.01521921 0.09834366 0.07818970
+v -0.00239747 -0.00749153 0.04998763
+f 1 2 3
+f 5 1 4
+f 6 3 2
+f 7 1 3
+f 7 4 1
+f 7 6 4
+f 7 3 6
+f 8 2 1
+f 8 1 5
+f 8 6 2
+f 8 5 4
+f 8 4 6
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_16/collision/model_normalized_collision_4.obj b/objects/objaverse/knife/knife_16/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1754b45f6f570d2a43691eefb63d07a4358dc8ad
--- /dev/null
+++ b/objects/objaverse/knife/knife_16/collision/model_normalized_collision_4.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.02646216 0.15772267 0.05067945
+v 0.02835665 0.16133651 0.04770339
+v 0.02297684 0.18938639 0.06534396
+v 0.02173946 0.23479412 0.06490011
+v 0.01863670 0.20413790 0.02907912
+v 0.02337725 0.23427865 0.06022388
+v 0.02073974 0.15642204 0.02399355
+v 0.02122802 0.23471925 0.03576068
+v 0.02290330 0.23382003 0.04042629
+v 0.02099306 0.20372877 0.03022814
+v 0.02122175 0.15850170 0.02565061
+f 1 2 3
+f 5 3 4
+f 6 3 2
+f 6 4 3
+f 7 2 1
+f 7 1 3
+f 7 3 5
+f 8 5 4
+f 8 4 6
+f 9 8 6
+f 9 6 2
+f 10 7 5
+f 10 5 8
+f 10 8 9
+f 10 9 2
+f 11 10 2
+f 11 2 7
+f 11 7 10
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_16/collision/model_normalized_collision_5.obj b/objects/objaverse/knife/knife_16/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..502d6f8f23b008a4708c1ad237a4a592602cbe8e
--- /dev/null
+++ b/objects/objaverse/knife/knife_16/collision/model_normalized_collision_5.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.02287538 -0.26514560 -0.01034202
+v 0.01266094 -0.26378358 -0.05193136
+v 0.01120038 -0.14400788 -0.06693572
+v -0.00088972 -0.14381165 -0.00989602
+v 0.00236243 -0.26468406 -0.00963035
+v 0.02182926 -0.14396314 -0.01026426
+v 0.01157958 -0.20292569 -0.06350197
+v 0.00933426 -0.14344819 -0.06541293
+v 0.01237299 -0.24757820 -0.05580610
+v 0.01136644 -0.26233963 -0.04910854
+f 5 2 1
+f 6 1 3
+f 6 5 1
+f 6 4 5
+f 7 3 1
+f 8 6 3
+f 8 4 6
+f 8 3 7
+f 8 7 5
+f 8 5 4
+f 9 7 1
+f 9 1 2
+f 10 9 2
+f 10 2 5
+f 10 5 7
+f 10 7 9
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_16/collision/model_normalized_collision_6.obj b/objects/objaverse/knife/knife_16/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df10913d456c4541f29def6cdcd35aa738616815
--- /dev/null
+++ b/objects/objaverse/knife/knife_16/collision/model_normalized_collision_6.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.02703874 0.45622279 0.04141988
+v 0.02546148 0.45893070 0.04577696
+v -0.02585784 0.45731463 0.03935120
+v -0.01140976 0.49185932 0.05357511
+v 0.01076349 0.48851957 0.03949565
+v -0.02536346 0.45944323 0.04651021
+v 0.02170297 0.47239069 0.04697969
+v -0.00058944 0.45727513 0.01265968
+v -0.02200450 0.47325225 0.04747212
+v 0.01194147 0.49087058 0.05298115
+v 0.01090528 0.48420736 0.03504968
+v 0.00241221 0.45704337 0.01338846
+v -0.01317829 0.48491197 0.03647929
+v -0.00034411 0.46828742 0.01923442
+v -0.01090889 0.48910007 0.04015275
+v -0.02090001 0.47038032 0.04076797
+v 0.00086110 0.46784974 0.01953915
+f 6 2 4
+f 6 1 2
+f 6 3 1
+f 7 2 1
+f 7 1 5
+f 9 6 4
+f 9 3 6
+f 10 7 5
+f 10 5 4
+f 10 4 2
+f 10 2 7
+f 11 5 1
+f 12 1 3
+f 12 3 8
+f 12 11 1
+f 13 9 4
+f 13 8 3
+f 14 12 8
+f 14 8 13
+f 15 13 4
+f 15 4 5
+f 15 5 11
+f 15 14 13
+f 15 11 14
+f 16 13 3
+f 16 3 9
+f 16 9 13
+f 17 14 11
+f 17 11 12
+f 17 12 14
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_16/collision/model_normalized_collision_7.obj b/objects/objaverse/knife/knife_16/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d8e2aa76381d408cd125b44c7e5d3edda0ab17a
--- /dev/null
+++ b/objects/objaverse/knife/knife_16/collision/model_normalized_collision_7.obj
@@ -0,0 +1,12 @@
+# https://github.com/mikedh/trimesh
+v 0.01685824 -0.50000002 0.07736145
+v 0.01683532 -0.49870992 0.07629940
+v 0.01964931 -0.44680447 0.07706783
+v 0.01215150 -0.44662403 0.07706609
+v 0.01579448 -0.44013229 0.02807632
+f 1 2 3
+f 1 3 4
+f 2 1 4
+f 5 3 2
+f 5 2 4
+f 5 4 3
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_16/collision/model_normalized_collision_8.obj b/objects/objaverse/knife/knife_16/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0f9c2946e6b223ea72767d6e2278a6367a7d83a4
--- /dev/null
+++ b/objects/objaverse/knife/knife_16/collision/model_normalized_collision_8.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.02173946 0.23479412 0.06490011
+v 0.02290330 0.23382003 0.04042629
+v 0.02304863 0.32548628 0.05329332
+v 0.01931959 0.32568925 0.06406322
+v 0.01791535 0.29536126 0.03690598
+v 0.02337725 0.23427865 0.06022388
+v 0.02122802 0.23471925 0.03576068
+v 0.02211424 0.32573890 0.05060505
+f 5 1 4
+f 6 1 2
+f 6 2 3
+f 6 3 4
+f 6 4 1
+f 7 2 1
+f 7 1 5
+f 8 5 4
+f 8 4 3
+f 8 7 5
+f 8 3 2
+f 8 2 7
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_16/collision/model_normalized_collision_9.obj b/objects/objaverse/knife/knife_16/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b1b4047b1cac7ef014497f6e26f2489757f9f20b
--- /dev/null
+++ b/objects/objaverse/knife/knife_16/collision/model_normalized_collision_9.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.01646674 0.11351734 0.04988275
+v 0.01842475 0.11356254 0.00507864
+v 0.02706196 0.18940511 0.05158952
+v -0.01876643 0.18948254 0.04931697
+v -0.00658755 0.11391537 0.00575278
+v 0.01890498 0.18901053 0.02853753
+v -0.00454444 0.11368245 0.05010270
+v -0.01218733 0.18916046 0.02980779
+v 0.00488898 0.17361001 0.02090780
+v -0.00540208 0.11393643 0.03418509
+f 1 2 3
+f 6 3 2
+f 7 1 3
+f 7 3 4
+f 7 5 2
+f 7 2 1
+f 8 4 3
+f 8 3 6
+f 8 5 4
+f 9 6 2
+f 9 2 5
+f 9 8 6
+f 9 5 8
+f 10 7 4
+f 10 4 5
+f 10 5 7
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_16/visual/material.mtl b/objects/objaverse/knife/knife_16/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..3e963f5e154ef1e7766d3c2c065b16bfeea95307
--- /dev/null
+++ b/objects/objaverse/knife/knife_16/visual/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 0.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_16/visual/model_normalized_0.obj b/objects/objaverse/knife/knife_16/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b170f5ca33c00e1066812a4f46a4f63e8f9ec596
--- /dev/null
+++ b/objects/objaverse/knife/knife_16/visual/model_normalized_0.obj
@@ -0,0 +1,847 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
+v -0.00068123 0.48742808 0.07219868
+v -0.00068123 0.50000000 0.05693914
+v -0.01267779 0.48721493 0.06598926
+v 0.01131523 0.48764124 0.06598926
+v -0.00068123 0.48742808 0.07219868
+v 0.01628438 0.48772954 0.05161938
+v 0.01131523 0.48764124 0.03724951
+v -0.01764693 0.48712663 0.05161938
+v -0.01267779 0.48721493 0.03724951
+v -0.00068123 0.48742808 0.03129730
+v 0.02107793 -0.41957623 0.07691753
+v 0.01685824 -0.50000000 0.07736145
+v 0.02341694 -0.41953459 0.05359986
+v 0.01685824 -0.50000000 0.07736145
+v 0.02107793 -0.41957623 0.07691753
+v 0.01543101 -0.41967655 0.07727991
+v 0.00978410 -0.41977687 0.07691753
+v 0.02107793 -0.41957623 0.03259434
+v 0.00978410 -0.41977687 0.03259434
+v 0.01685824 -0.50000000 0.07736145
+v 0.00744499 -0.41981843 0.05359986
+v 0.00978410 -0.41977687 0.07691753
+v 0.01543101 -0.41967655 0.01123645
+v 0.01543101 -0.41967655 0.01123645
+v 0.02739535 0.21817951 0.05038669
+v 0.02927968 0.16282330 0.04539710
+v 0.02219419 0.16269736 0.02899367
+v 0.02057358 0.21805833 0.03065926
+v 0.00410438 0.21776564 0.02248796
+v 0.00508828 0.16239349 0.02050640
+v -0.01201763 0.16208953 0.02899367
+v -0.01236481 0.21747303 0.03065926
+v -0.01918658 0.21735185 0.05038669
+v -0.01910312 0.16196359 0.04539710
+v -0.01201763 0.16208945 0.07240633
+v -0.01236481 0.21747303 0.07011413
+v 0.00410438 0.21776564 0.07828542
+v 0.00508828 0.16239340 0.07846102
+v 0.02219419 0.16269736 0.07240633
+v 0.02057358 0.21805833 0.07011413
+v 0.02057358 0.21805833 0.03065926
+v 0.02219419 0.16269736 0.02899367
+v 0.00508828 0.16239349 0.02050640
+v 0.00410438 0.21776564 0.02248796
+v -0.01236481 0.21747303 0.03065926
+v -0.01201763 0.16208953 0.02899367
+v -0.01918658 0.21735185 0.05038669
+v -0.01236481 0.21747303 0.07011413
+v -0.01201763 0.16208945 0.07240633
+v 0.00508828 0.16239340 0.07846102
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diff --git a/objects/objaverse/knife/knife_4/collision/model_normalized_collision_0.obj b/objects/objaverse/knife/knife_4/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..806bbe60bbbaa1abae410cc095f80ef646631cae
--- /dev/null
+++ b/objects/objaverse/knife/knife_4/collision/model_normalized_collision_0.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_4/collision/model_normalized_collision_1.obj b/objects/objaverse/knife/knife_4/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8b0659da40e46d555897914b8111f1b917f881b
--- /dev/null
+++ b/objects/objaverse/knife/knife_4/collision/model_normalized_collision_1.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
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+f 17 15 16
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_4/collision/model_normalized_collision_10.obj b/objects/objaverse/knife/knife_4/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad136975fc982454133ef631a435e6c4f7861be3
--- /dev/null
+++ b/objects/objaverse/knife/knife_4/collision/model_normalized_collision_10.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v -0.44696970 -0.02625048 -0.01718208
+v -0.45097245 -0.01483985 -0.04560865
+v -0.44697755 0.02625985 -0.01690702
+v -0.48486017 0.02675863 -0.01603964
+v -0.48486018 -0.02675865 -0.01603959
+v -0.47959013 0.02323182 -0.03920983
+v -0.44845133 0.02158028 -0.03926994
+v -0.46060350 -0.02576451 -0.03179948
+v -0.46060350 -0.02628142 -0.01666562
+v -0.47979217 0.01083532 -0.04734404
+v -0.48010645 -0.01508812 -0.04450719
+v -0.45070599 0.01213549 -0.04732023
+v -0.48280038 -0.02584519 -0.02663840
+f 5 3 4
+f 6 4 3
+f 7 1 2
+f 7 3 1
+f 7 6 3
+f 8 2 1
+f 8 1 5
+f 9 5 1
+f 9 1 3
+f 9 3 5
+f 10 5 4
+f 10 4 6
+f 11 5 10
+f 11 10 2
+f 11 2 8
+f 12 7 2
+f 12 2 10
+f 12 10 6
+f 12 6 7
+f 13 11 8
+f 13 8 5
+f 13 5 11
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_4/collision/model_normalized_collision_11.obj b/objects/objaverse/knife/knife_4/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ccd325bde119242458830c6f04cff95d154a42d
--- /dev/null
+++ b/objects/objaverse/knife/knife_4/collision/model_normalized_collision_11.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.44301900 -0.00272987 0.01387366
+v 0.44597269 -0.00021364 -0.02814090
+v 0.44301928 0.00272648 0.01387358
+v 0.40071830 0.00272793 0.02524768
+v 0.39986989 -0.00021424 -0.03746573
+v 0.44695681 0.00258580 -0.00193416
+v 0.42822252 -0.00021394 -0.03236023
+v 0.40071813 -0.00273132 0.02524773
+v 0.39986997 0.00085566 -0.03746569
+v 0.44597286 0.00085566 -0.02814083
+v 0.42822270 0.00085566 -0.03236013
+f 1 3 4
+f 6 1 2
+f 6 3 1
+f 6 4 3
+f 7 2 1
+f 7 1 5
+f 8 5 1
+f 8 1 4
+f 8 4 5
+f 9 5 4
+f 9 4 6
+f 9 7 5
+f 10 6 2
+f 10 2 7
+f 11 9 6
+f 11 6 10
+f 11 10 7
+f 11 7 9
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_4/collision/model_normalized_collision_12.obj b/objects/objaverse/knife/knife_4/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..02851c9929e75fa0bdee14069b39d047d757f627
--- /dev/null
+++ b/objects/objaverse/knife/knife_4/collision/model_normalized_collision_12.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.00757575 -0.02580199 0.01312023
+v 0.06054012 -0.00275453 -0.04749253
+v 0.05913747 -0.00310800 0.01320165
+v 0.00757575 0.02591762 0.01312023
+v 0.00627185 -0.00863056 -0.03657832
+v 0.05321236 0.02661249 0.01312023
+v 0.00616713 0.01248301 -0.03571155
+v 0.06054012 0.00275114 -0.04749624
+v 0.00674877 0.02474464 -0.02556549
+v 0.05165997 0.02093090 -0.02382294
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 6 4 3
+f 7 5 1
+f 7 1 4
+f 8 6 3
+f 8 3 2
+f 8 2 5
+f 8 5 7
+f 9 7 4
+f 9 4 6
+f 9 8 7
+f 10 9 6
+f 10 6 8
+f 10 8 9
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_4/collision/model_normalized_collision_13.obj b/objects/objaverse/knife/knife_4/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..627339a3b091dc4d58b668d99648fc81609b87af
--- /dev/null
+++ b/objects/objaverse/knife/knife_4/collision/model_normalized_collision_13.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.35606059 -0.02675869 -0.00203129
+v -0.35528205 -0.01707041 -0.03340597
+v -0.35606059 0.02675863 -0.00203131
+v -0.37121210 0.02675863 -0.00203131
+v -0.37166742 -0.02642523 -0.02222928
+v -0.35531766 0.01258231 -0.03623555
+v -0.35564197 -0.02653379 -0.02270511
+v -0.37121211 -0.02675869 -0.00203129
+v -0.35578242 0.02444053 -0.02593574
+v -0.37174632 0.01254750 -0.03527112
+v -0.37186580 -0.01695866 -0.03252966
+v -0.37151950 0.02420890 -0.02551209
+f 1 2 3
+f 6 3 2
+f 7 5 2
+f 7 2 1
+f 8 4 5
+f 8 1 3
+f 8 3 4
+f 8 7 1
+f 8 5 7
+f 9 4 3
+f 9 3 6
+f 11 5 4
+f 11 4 10
+f 11 2 5
+f 11 10 6
+f 11 6 2
+f 12 9 6
+f 12 6 10
+f 12 10 4
+f 12 4 9
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_4/collision/model_normalized_collision_14.obj b/objects/objaverse/knife/knife_4/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..efa7d81f88d1a6a7826e33991396994623c209be
--- /dev/null
+++ b/objects/objaverse/knife/knife_4/collision/model_normalized_collision_14.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.35607985 -0.02675869 0.04248755
+v -0.35606059 -0.02675869 -0.00203129
+v -0.35620203 -0.01009986 0.05170268
+v -0.37134727 -0.01014514 0.05200768
+v -0.37121211 -0.02675869 -0.00203129
+v -0.35626390 -0.01868231 0.04869590
+v -0.37122495 -0.02675869 0.04279923
+v -0.37141138 -0.01883291 0.04889194
+f 1 2 3
+f 5 2 1
+f 5 3 2
+f 5 4 3
+f 6 1 3
+f 6 3 4
+f 7 5 1
+f 8 4 5
+f 8 5 7
+f 8 6 4
+f 8 7 1
+f 8 1 6
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_4/collision/model_normalized_collision_15.obj b/objects/objaverse/knife/knife_4/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ad70d069e3b02ea3fcf8a5b2977cf7ab12cb44c
--- /dev/null
+++ b/objects/objaverse/knife/knife_4/collision/model_normalized_collision_15.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.35606059 -0.02675869 -0.00203129
+v -0.35606059 0.02675863 -0.00203131
+v -0.35620203 -0.01009986 0.05170268
+v -0.41693398 0.02435596 0.04558585
+v -0.41666665 -0.02675868 -0.00203132
+v -0.35634404 0.02375346 0.04480171
+v -0.41666665 0.02675863 -0.00203129
+v -0.41678298 -0.01028091 0.05292262
+f 1 2 3
+f 5 2 1
+f 6 3 2
+f 6 2 4
+f 7 5 4
+f 7 4 2
+f 7 2 5
+f 8 5 1
+f 8 1 3
+f 8 4 5
+f 8 6 4
+f 8 3 6
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_4/collision/model_normalized_collision_16.obj b/objects/objaverse/knife/knife_4/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d754e9d2c5ba006e1b0163ba81fe1aba1ab0c58a
--- /dev/null
+++ b/objects/objaverse/knife/knife_4/collision/model_normalized_collision_16.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.49783937 -0.00104750 -0.00170252
+v 0.49896967 -0.00024044 -0.00631164
+v 0.49895125 -0.00023955 -0.00211943
+v 0.44688529 0.00272632 0.01281289
+v 0.44597269 -0.00021364 -0.02814090
+v 0.48288235 -0.00021718 -0.01538112
+v 0.44688501 -0.00272971 0.01281296
+v 0.44597286 0.00085566 -0.02814083
+v 0.48272530 0.00068873 -0.01546965
+f 1 2 3
+f 1 3 4
+f 6 2 1
+f 6 1 5
+f 7 5 1
+f 7 1 4
+f 7 4 5
+f 8 5 4
+f 9 6 5
+f 9 5 8
+f 9 2 6
+f 9 8 4
+f 9 3 2
+f 9 4 3
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_4/collision/model_normalized_collision_17.obj b/objects/objaverse/knife/knife_4/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dbd433347216bf5209f5c9fd45d0c31b245157d0
--- /dev/null
+++ b/objects/objaverse/knife/knife_4/collision/model_normalized_collision_17.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.08333333 -0.00273768 0.01311851
+v 0.08331908 -0.00264579 -0.04881956
+v 0.06986389 0.01837791 -0.02315743
+v 0.05321236 0.02661249 0.01312023
+v 0.05913747 -0.00310800 0.01320165
+v 0.06053961 -0.00275514 -0.04881956
+v 0.06986645 0.01832821 0.01312023
+v 0.08333099 0.00264238 -0.04881956
+v 0.05955703 -0.00311989 -0.01709560
+v 0.05165997 0.02093090 -0.02382294
+v 0.06053961 0.00275175 -0.04881956
+f 7 3 4
+f 7 5 1
+f 7 4 5
+f 8 1 2
+f 8 7 1
+f 8 3 7
+f 8 2 6
+f 9 2 1
+f 9 1 5
+f 9 6 2
+f 10 4 3
+f 10 3 8
+f 10 6 9
+f 10 9 5
+f 10 5 4
+f 11 10 8
+f 11 8 6
+f 11 6 10
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_4/collision/model_normalized_collision_18.obj b/objects/objaverse/knife/knife_4/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..77f364fa08882f2b6a6cd8708c5ca27d020dcf33
--- /dev/null
+++ b/objects/objaverse/knife/knife_4/collision/model_normalized_collision_18.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.05333268 -0.02663441 -0.00203129
+v 0.05262997 -0.01059488 -0.02958046
+v 0.05934723 -0.00311393 -0.00194694
+v -0.03856849 -0.00988877 -0.04165145
+v -0.03838733 -0.02675865 -0.02797736
+v 0.03560884 -0.00899107 -0.03236070
+v 0.05114734 -0.02300527 -0.02063880
+v -0.03766495 -0.02624897 -0.00188840
+v -0.03919158 -0.02017549 -0.03671190
+v -0.03809936 -0.02625668 -0.00205507
+v 0.03544890 -0.01627688 -0.02962636
+f 6 3 2
+f 6 2 4
+f 6 4 3
+f 7 2 3
+f 7 3 1
+f 7 1 5
+f 8 1 3
+f 9 7 5
+f 10 8 3
+f 10 3 4
+f 10 4 9
+f 10 9 5
+f 10 5 1
+f 10 1 8
+f 11 9 4
+f 11 4 2
+f 11 2 7
+f 11 7 9
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_4/collision/model_normalized_collision_19.obj b/objects/objaverse/knife/knife_4/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2c743e00656a92a15ed120f07baaa9e6e14b7ecb
--- /dev/null
+++ b/objects/objaverse/knife/knife_4/collision/model_normalized_collision_19.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.03800747 -0.02628079 -0.01737538
+v -0.03838733 -0.02675865 -0.02797736
+v -0.03793854 0.02633687 -0.01727222
+v -0.05313089 0.02651057 -0.01718280
+v -0.05324887 -0.02647821 -0.01718277
+v -0.05419973 0.02128560 -0.03791252
+v -0.03926911 0.02127989 -0.03609646
+v -0.05417459 -0.02095798 -0.03809482
+v -0.05333519 -0.02675864 -0.02972211
+v -0.03919158 -0.02017549 -0.03671190
+f 1 2 3
+f 5 2 1
+f 5 1 3
+f 5 3 4
+f 6 4 3
+f 6 5 4
+f 7 6 3
+f 7 3 2
+f 8 5 6
+f 9 8 2
+f 9 2 5
+f 9 5 8
+f 10 7 2
+f 10 2 8
+f 10 8 6
+f 10 6 7
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_4/collision/model_normalized_collision_2.obj b/objects/objaverse/knife/knife_4/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3381d27cccc199b95b02d6ac40c1c885f45261f8
--- /dev/null
+++ b/objects/objaverse/knife/knife_4/collision/model_normalized_collision_2.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.05941046 -0.02675864 0.01312017
+v 0.08330901 -0.00265627 -0.03232024
+v 0.08333333 -0.00273768 0.01311851
+v 0.05913747 -0.00310800 0.01320165
+v 0.05262997 -0.01059488 -0.02958046
+v 0.06986645 -0.01832821 0.01312023
+v 0.05962860 -0.02658380 -0.01360130
+v 0.05342790 -0.02659819 0.01312017
+v 0.06986389 -0.01837791 -0.02315743
+v 0.05257387 -0.02675869 -0.01461092
+v 0.05203105 -0.01998087 -0.02525927
+f 3 2 4
+f 5 4 2
+f 6 3 4
+f 6 4 1
+f 8 1 4
+f 8 4 5
+f 9 2 3
+f 9 3 6
+f 9 6 1
+f 9 1 7
+f 10 7 1
+f 10 1 8
+f 11 5 2
+f 11 2 9
+f 11 9 7
+f 11 7 10
+f 11 10 8
+f 11 8 5
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_4/collision/model_normalized_collision_20.obj b/objects/objaverse/knife/knife_4/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ce8ffd5394ecad9837874cf420fc2bcccff74d01
--- /dev/null
+++ b/objects/objaverse/knife/knife_4/collision/model_normalized_collision_20.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.05342790 -0.02659819 0.01312017
+v 0.05934723 -0.00311393 -0.00194694
+v 0.05913747 -0.00310800 0.01320165
+v 0.05333268 -0.02663441 -0.00203129
+v 0.00821051 -0.01112010 -0.00522249
+v 0.00757575 -0.02580199 0.01312023
+v 0.00757575 -0.02580199 -0.00203129
+v 0.02311735 -0.02600200 -0.00261508
+f 1 2 3
+f 2 1 4
+f 5 3 2
+f 5 2 4
+f 6 1 3
+f 6 3 5
+f 6 4 1
+f 7 6 5
+f 7 4 6
+f 8 7 5
+f 8 5 4
+f 8 4 7
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_4/collision/model_normalized_collision_21.obj b/objects/objaverse/knife/knife_4/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..34659d86a4b0750f5aefa15aec01fabc85a41f42
--- /dev/null
+++ b/objects/objaverse/knife/knife_4/collision/model_normalized_collision_21.obj
@@ -0,0 +1,15 @@
+# https://github.com/mikedh/trimesh
+v -0.09848485 -0.02580199 0.01312023
+v -0.09848471 -0.02621722 -0.01718456
+v -0.09839038 -0.01112010 0.01310144
+v -0.11363636 -0.02580199 0.01312023
+v -0.11595215 -0.01108132 -0.00554022
+v -0.11363613 -0.02617959 -0.01718577
+f 1 2 3
+f 4 2 1
+f 4 1 3
+f 5 4 3
+f 5 3 2
+f 6 5 2
+f 6 2 4
+f 6 4 5
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_4/collision/model_normalized_collision_22.obj b/objects/objaverse/knife/knife_4/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cfc97eb328370ff9132afc0ab811c4d18c42ed51
--- /dev/null
+++ b/objects/objaverse/knife/knife_4/collision/model_normalized_collision_22.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.11363636 -0.02580199 0.01312023
+v -0.11363613 -0.02617959 -0.01718577
+v -0.11595215 -0.01108132 -0.00554022
+v -0.12469146 -0.01107162 -0.00437527
+v -0.15909091 -0.02675864 0.01312019
+v -0.15909091 -0.02675866 -0.01718283
+v -0.12878788 -0.02580199 0.01312023
+v -0.12886902 -0.02617929 -0.01759074
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 6 4 3
+f 6 5 4
+f 6 2 5
+f 7 5 1
+f 7 1 4
+f 7 4 5
+f 8 6 3
+f 8 3 2
+f 8 2 6
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_4/collision/model_normalized_collision_23.obj b/objects/objaverse/knife/knife_4/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..91bf7b0178dc2710f7ee52aedc8f6f6c4a2d744f
--- /dev/null
+++ b/objects/objaverse/knife/knife_4/collision/model_normalized_collision_23.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v -0.28030302 -0.02675866 -0.01718277
+v -0.27871977 -0.02455971 -0.03660494
+v -0.28029361 -0.01110386 -0.04742421
+v -0.30994140 -0.01001249 -0.04316809
+v -0.31006786 -0.02675863 -0.02863565
+v -0.30912846 -0.02007995 -0.03782591
+v -0.31060604 -0.02675865 -0.01718277
+v -0.28191674 -0.01819803 -0.04313620
+v -0.29370311 -0.02365973 -0.03580633
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 6 4 3
+f 6 5 4
+f 7 5 1
+f 7 1 4
+f 7 4 5
+f 8 6 3
+f 8 3 2
+f 9 2 5
+f 9 5 6
+f 9 8 2
+f 9 6 8
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_4/collision/model_normalized_collision_24.obj b/objects/objaverse/knife/knife_4/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0182f12b3959e881ab1a14d8541ccc914abbc299
--- /dev/null
+++ b/objects/objaverse/knife/knife_4/collision/model_normalized_collision_24.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v -0.28030302 -0.02675866 -0.01718283
+v -0.27817668 -0.00744877 -0.04871100
+v -0.28030302 0.02675863 -0.01718280
+v -0.31060606 0.02675866 -0.01718282
+v -0.30994140 -0.01001249 -0.04316809
+v -0.27918679 0.02244504 -0.03981439
+v -0.27797205 0.01260464 -0.04738303
+v -0.31060605 -0.02675865 -0.01718283
+v -0.28030303 0.02675863 -0.03233433
+v -0.30903834 0.02135054 -0.03701875
+v -0.29309894 0.00166120 -0.04744761
+v -0.29297866 -0.00699418 -0.04655354
+v -0.29277924 0.01259380 -0.04512506
+f 7 1 2
+f 7 3 1
+f 7 6 3
+f 8 5 2
+f 8 2 1
+f 8 4 5
+f 8 1 3
+f 8 3 4
+f 9 4 3
+f 9 3 6
+f 10 5 4
+f 10 9 6
+f 10 4 9
+f 10 6 7
+f 11 7 2
+f 11 5 10
+f 12 11 2
+f 12 2 5
+f 12 5 11
+f 13 11 10
+f 13 10 7
+f 13 7 11
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_4/collision/model_normalized_collision_25.obj b/objects/objaverse/knife/knife_4/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..22575d7d2e3b3adec065f9ef4f897416cdbaf172
--- /dev/null
+++ b/objects/objaverse/knife/knife_4/collision/model_normalized_collision_25.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.37121211 -0.02675869 -0.00203129
+v -0.37170210 -0.00835470 -0.03630640
+v -0.37121210 0.02675863 -0.00203131
+v -0.41666665 0.02675863 -0.00203129
+v -0.41666668 -0.02675865 -0.01718280
+v -0.41901604 0.02135118 -0.03432348
+v -0.37121210 0.02675867 -0.01718282
+v -0.41666665 -0.02675868 -0.00203132
+v -0.41796346 -0.00930601 -0.04062077
+v -0.37174632 0.01254750 -0.03527112
+v -0.37151950 0.02420890 -0.02551209
+v -0.38713204 0.02131537 -0.03051013
+f 1 3 4
+f 5 2 1
+f 7 1 2
+f 7 3 1
+f 7 6 4
+f 7 4 3
+f 8 5 1
+f 8 1 4
+f 8 4 6
+f 9 2 5
+f 9 8 6
+f 9 5 8
+f 10 7 2
+f 10 9 6
+f 10 2 9
+f 11 6 7
+f 11 7 10
+f 12 11 10
+f 12 10 6
+f 12 6 11
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_4/collision/model_normalized_collision_26.obj b/objects/objaverse/knife/knife_4/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c39d9a6a6dfcd38adee288a85d89a8b939bd330
--- /dev/null
+++ b/objects/objaverse/knife/knife_4/collision/model_normalized_collision_26.obj
@@ -0,0 +1,15 @@
+# https://github.com/mikedh/trimesh
+v 0.00757575 -0.02580199 0.01312023
+v 0.00757575 -0.02580199 -0.00203129
+v 0.00821051 -0.01112010 -0.00522249
+v -0.03763334 -0.02621145 0.01316905
+v -0.03787905 -0.02625334 -0.00203146
+v -0.03787970 -0.02621562 0.01312005
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 5 3 2
+f 6 4 3
+f 6 3 5
+f 6 5 1
+f 6 1 4
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_4/collision/model_normalized_collision_27.obj b/objects/objaverse/knife/knife_4/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..902213118f8e7dbb0264f320157963368f1784b0
--- /dev/null
+++ b/objects/objaverse/knife/knife_4/collision/model_normalized_collision_27.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v -0.09854902 -0.02620277 -0.01674179
+v -0.09839038 -0.01112010 0.01310144
+v -0.15909090 -0.02675864 0.01312027
+v -0.15909090 0.02675863 0.01312023
+v -0.09846726 0.02628913 -0.01741110
+v -0.09824366 0.02592199 0.01307226
+v -0.15909091 -0.02675866 -0.01718283
+v -0.15909090 0.02675863 -0.01718280
+v -0.11361870 0.02625604 -0.01741204
+f 1 2 3
+f 3 2 4
+f 6 2 1
+f 6 1 5
+f 6 5 4
+f 6 4 2
+f 7 5 1
+f 7 1 3
+f 7 3 4
+f 8 7 4
+f 8 4 5
+f 9 8 5
+f 9 5 7
+f 9 7 8
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_4/collision/model_normalized_collision_28.obj b/objects/objaverse/knife/knife_4/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0adbcf2ea88d495bb10d09bbf73cc14535665788
--- /dev/null
+++ b/objects/objaverse/knife/knife_4/collision/model_normalized_collision_28.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.00757575 -0.02580199 0.01312023
+v 0.00627185 -0.00863056 -0.03657832
+v 0.00757575 0.02591762 0.01312023
+v -0.03799391 0.02628295 0.01309733
+v -0.03856849 -0.00988877 -0.04165145
+v -0.03763334 -0.02621145 0.01316905
+v -0.03926911 0.02127989 -0.03609646
+v 0.00552274 0.02126275 -0.03064828
+v -0.03844555 0.00351245 -0.04268652
+f 1 2 3
+f 5 2 1
+f 6 1 3
+f 6 3 4
+f 6 5 1
+f 7 4 3
+f 7 6 4
+f 7 5 6
+f 8 7 3
+f 8 3 2
+f 9 2 5
+f 9 5 7
+f 9 8 2
+f 9 7 8
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_4/collision/model_normalized_collision_29.obj b/objects/objaverse/knife/knife_4/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..42797b928e8ae1ba05fc3cd96a06c891af58b4ab
--- /dev/null
+++ b/objects/objaverse/knife/knife_4/collision/model_normalized_collision_29.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.03812606 -0.02621978 0.01307104
+v -0.03800747 -0.02628079 -0.01737538
+v -0.03793854 0.02633687 -0.01727222
+v -0.09824366 0.02592199 0.01307226
+v -0.09844708 -0.02623309 -0.01767310
+v -0.03799391 0.02628295 0.01309733
+v -0.09782272 -0.02582490 0.01325193
+v -0.09846726 0.02628913 -0.01741110
+f 5 2 1
+f 5 3 2
+f 6 1 2
+f 6 2 3
+f 7 5 1
+f 7 4 5
+f 7 6 4
+f 7 1 6
+f 8 5 4
+f 8 3 5
+f 8 6 3
+f 8 4 6
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_4/collision/model_normalized_collision_3.obj b/objects/objaverse/knife/knife_4/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a814729bf9007059fff5a0180f1a93a05b7d9ca9
--- /dev/null
+++ b/objects/objaverse/knife/knife_4/collision/model_normalized_collision_3.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v -0.41666662 -0.02675865 -0.01718280
+v -0.41772996 -0.02675865 -0.02587516
+v -0.41666663 0.02675863 -0.01718282
+v -0.44697755 0.02625985 -0.01690702
+v -0.44698446 -0.02626815 -0.01666517
+v -0.45070599 0.01213549 -0.04732023
+v -0.41870979 -0.01872611 -0.03599241
+v -0.44845133 0.02158028 -0.03926994
+v -0.41901604 0.02135118 -0.03432348
+v -0.44668409 -0.02617121 -0.03111349
+v -0.43626716 -0.00653076 -0.04526996
+v -0.45054300 -0.00743406 -0.04868830
+v -0.43648052 0.01245208 -0.04370454
+f 5 2 1
+f 5 1 3
+f 5 3 4
+f 6 5 4
+f 7 1 2
+f 7 3 1
+f 8 6 4
+f 8 4 3
+f 9 3 7
+f 9 8 3
+f 9 6 8
+f 10 7 2
+f 10 2 5
+f 11 9 7
+f 12 10 5
+f 12 5 6
+f 12 6 11
+f 12 11 7
+f 12 7 10
+f 13 11 6
+f 13 6 9
+f 13 9 11
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_4/collision/model_normalized_collision_30.obj b/objects/objaverse/knife/knife_4/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ddaec72a79da3b561fe67912abb8ecee92a6770
--- /dev/null
+++ b/objects/objaverse/knife/knife_4/collision/model_normalized_collision_30.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.39698509 -0.00273141 0.02623133
+v 0.39986989 -0.00021424 -0.03746573
+v 0.40071830 0.00272793 0.02524768
+v 0.34018377 0.00272803 0.03919459
+v 0.34064664 -0.00021428 -0.04425692
+v 0.39698526 0.00272802 0.02623128
+v 0.34018377 -0.00273142 0.03919459
+v 0.34064664 0.00085566 -0.04425692
+v 0.34090901 -0.00273191 0.02827137
+v 0.39986997 0.00085566 -0.03746569
+f 1 2 3
+f 5 2 1
+f 6 1 3
+f 6 3 4
+f 6 4 1
+f 7 1 4
+f 7 4 5
+f 8 2 5
+f 8 5 4
+f 8 4 3
+f 9 7 5
+f 9 5 1
+f 9 1 7
+f 10 8 3
+f 10 3 2
+f 10 2 8
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_4/collision/model_normalized_collision_31.obj b/objects/objaverse/knife/knife_4/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d6b40dcbb19bea081b0d69393dafa2c181980e1c
--- /dev/null
+++ b/objects/objaverse/knife/knife_4/collision/model_normalized_collision_31.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.26514943 -0.00273142 0.04309633
+v 0.26454976 -0.00021428 -0.04853161
+v 0.26514943 0.00272803 0.04309633
+v 0.14394001 0.00272803 0.04296838
+v 0.14394001 -0.00273142 0.04296838
+v 0.14402643 0.00085566 -0.04885211
+v 0.26515150 0.00272859 0.02827169
+v 0.14402518 -0.00022104 -0.04885210
+v 0.26454975 0.00085566 -0.04853166
+f 1 3 4
+f 5 1 4
+f 7 1 2
+f 7 3 1
+f 7 6 4
+f 7 4 3
+f 8 5 4
+f 8 4 6
+f 8 2 1
+f 8 1 5
+f 9 7 2
+f 9 6 7
+f 9 8 6
+f 9 2 8
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_4/collision/model_normalized_collision_4.obj b/objects/objaverse/knife/knife_4/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e2883118902b30b7f98add7474754224edf9b9eb
--- /dev/null
+++ b/objects/objaverse/knife/knife_4/collision/model_normalized_collision_4.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.14394001 -0.00273142 0.04296838
+v 0.14402518 -0.00022104 -0.04885210
+v 0.14394001 0.00272803 0.04296838
+v 0.08333333 0.00272803 0.04360028
+v 0.07082450 -0.00994226 0.04784403
+v 0.08333099 0.00264238 -0.04881956
+v 0.11335295 0.00272803 0.04332200
+v 0.14402643 0.00085566 -0.04885211
+v 0.14393938 0.00273113 0.01312009
+v 0.08331908 -0.00264579 -0.04881956
+f 5 2 1
+f 5 1 3
+f 6 5 4
+f 7 5 3
+f 7 4 5
+f 8 1 2
+f 8 3 1
+f 9 6 4
+f 9 8 6
+f 9 3 8
+f 9 7 3
+f 9 4 7
+f 10 2 5
+f 10 5 6
+f 10 8 2
+f 10 6 8
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_4/collision/model_normalized_collision_5.obj b/objects/objaverse/knife/knife_4/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a0b008003065a1d384cbc8543c6d8113e77cbfa9
--- /dev/null
+++ b/objects/objaverse/knife/knife_4/collision/model_normalized_collision_5.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.05949531 -0.02669028 0.03826948
+v 0.06986645 -0.01832821 0.01312023
+v 0.06986645 0.01832821 0.04469353
+v -0.15927546 0.02258242 0.04327734
+v -0.15909091 -0.02675864 0.01312019
+v 0.05321236 0.02661249 0.01312023
+v -0.15923603 -0.01832826 0.04654511
+v 0.06986645 -0.01832821 0.04469353
+v 0.05941046 -0.02675864 0.01312017
+v 0.06986645 0.01832821 0.01312023
+v -0.15909090 0.02675863 0.01312023
+v -0.15913139 -0.02675869 0.04006729
+f 6 4 3
+f 7 3 4
+f 7 4 5
+f 8 1 2
+f 8 2 3
+f 8 3 7
+f 9 2 1
+f 10 6 3
+f 10 3 2
+f 10 9 6
+f 10 2 9
+f 11 5 4
+f 11 4 6
+f 11 9 5
+f 11 6 9
+f 12 7 5
+f 12 8 7
+f 12 1 8
+f 12 9 1
+f 12 5 9
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_4/collision/model_normalized_collision_6.obj b/objects/objaverse/knife/knife_4/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..22623f0cefb8bd5fdbf9d7b7819a7e1c7728b8b3
--- /dev/null
+++ b/objects/objaverse/knife/knife_4/collision/model_normalized_collision_6.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.41697195 -0.02675869 0.04374078
+v -0.41666662 -0.02675865 -0.01718280
+v -0.41666663 0.02675863 -0.01718282
+v -0.49268097 0.01832827 0.04481048
+v -0.48486018 -0.02675865 -0.01603959
+v -0.41693398 0.02435596 0.04558585
+v -0.48465361 -0.02552023 0.04358104
+v -0.48486017 0.02675863 -0.01603964
+v -0.49328592 -0.01666071 0.04536952
+v -0.49109886 0.01398328 -0.01464243
+v -0.48975786 -0.01832827 -0.01443201
+v -0.48906615 0.02403527 0.00114978
+f 5 2 1
+f 6 1 2
+f 6 2 3
+f 7 5 1
+f 8 3 2
+f 8 2 5
+f 8 6 3
+f 8 4 6
+f 9 5 7
+f 9 6 4
+f 9 7 1
+f 9 1 6
+f 10 8 5
+f 10 9 4
+f 11 10 5
+f 11 5 9
+f 11 9 10
+f 12 10 4
+f 12 4 8
+f 12 8 10
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_4/collision/model_normalized_collision_7.obj b/objects/objaverse/knife/knife_4/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..251900dca6f92332c2ee78b6a226d3be4edea291
--- /dev/null
+++ b/objects/objaverse/knife/knife_4/collision/model_normalized_collision_7.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.31062438 -0.02675869 0.04186407
+v -0.30912846 -0.02007995 -0.03782591
+v -0.31077264 0.02345041 0.04440732
+v -0.35634404 0.02375346 0.04480171
+v -0.35564197 -0.02653379 -0.02270511
+v -0.30903834 0.02135054 -0.03701875
+v -0.35626390 -0.01868231 0.04869590
+v -0.31006786 -0.02675863 -0.02863565
+v -0.35512394 0.02135132 -0.03061713
+v -0.31072685 -0.01837985 0.04830221
+v -0.35607985 -0.02675869 0.04248755
+v -0.35528205 -0.01707041 -0.03340597
+f 6 4 3
+f 6 1 2
+f 7 4 5
+f 8 5 2
+f 8 2 1
+f 9 5 4
+f 9 4 6
+f 10 6 3
+f 10 1 6
+f 10 7 1
+f 10 3 4
+f 10 4 7
+f 11 7 5
+f 11 1 7
+f 11 8 1
+f 11 5 8
+f 12 9 6
+f 12 6 2
+f 12 2 5
+f 12 5 9
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_4/collision/model_normalized_collision_8.obj b/objects/objaverse/knife/knife_4/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c8456a59f129e23d903ac3342ce7bb50c40771a7
--- /dev/null
+++ b/objects/objaverse/knife/knife_4/collision/model_normalized_collision_8.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.15913139 -0.02675869 0.04006729
+v -0.15909090 -0.02675866 -0.01718277
+v -0.15909090 0.02675863 -0.01718280
+v -0.31077264 0.02345041 0.04440732
+v -0.31060604 -0.02675865 -0.01718277
+v -0.15927546 0.02258242 0.04327734
+v -0.31062438 -0.02675869 0.04186407
+v -0.31060606 0.02675866 -0.01718282
+v -0.31072685 -0.01837985 0.04830221
+v -0.15923603 -0.01832826 0.04654511
+f 1 2 3
+f 6 1 3
+f 6 3 4
+f 7 5 2
+f 7 2 1
+f 8 5 4
+f 8 4 3
+f 8 3 2
+f 8 2 5
+f 9 4 5
+f 9 5 7
+f 9 6 4
+f 10 1 6
+f 10 6 9
+f 10 9 7
+f 10 7 1
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_4/collision/model_normalized_collision_9.obj b/objects/objaverse/knife/knife_4/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a7bf6242b8f498d29cf6e7c2e8543e6b7c7b58b7
--- /dev/null
+++ b/objects/objaverse/knife/knife_4/collision/model_normalized_collision_9.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.37153667 -0.02675869 0.04280564
+v -0.37166742 -0.02642523 -0.02222928
+v -0.37170210 -0.00835470 -0.03630640
+v -0.41678298 -0.01028091 0.05292262
+v -0.41772996 -0.02675865 -0.02587516
+v -0.37134727 -0.01014514 0.05200768
+v -0.37121211 -0.02675865 0.01312027
+v -0.41697195 -0.02675869 0.04374078
+v -0.41870979 -0.01872611 -0.03599241
+v -0.37186580 -0.01695866 -0.03252966
+v -0.41796346 -0.00930601 -0.04062077
+f 6 3 4
+f 6 4 1
+f 7 5 2
+f 7 1 5
+f 7 6 1
+f 7 2 3
+f 7 3 6
+f 8 5 1
+f 8 1 4
+f 9 2 5
+f 9 8 4
+f 9 5 8
+f 10 3 2
+f 10 2 9
+f 11 9 4
+f 11 4 3
+f 11 10 9
+f 11 3 10
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_4/model.xml b/objects/objaverse/knife/knife_4/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..cd401eff6f1aa8a54a3f18906be461915a4d54d5
--- /dev/null
+++ b/objects/objaverse/knife/knife_4/model.xml
@@ -0,0 +1,81 @@
+<mujoco model="kitchen_knife_3">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.195 0.195 0.195" refquat="0.500000000000003 -0.5000000000000031 -0.5000000000000031 -0.5000000000000031"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.195 0.195 0.195" refquat="0.500000000000003 -0.5000000000000031 -0.5000000000000031 -0.5000000000000031"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.195 0.195 0.195" refquat="0.500000000000003 -0.5000000000000031 -0.5000000000000031 -0.5000000000000031"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.195 0.195 0.195" refquat="0.500000000000003 -0.5000000000000031 -0.5000000000000031 -0.5000000000000031"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.195 0.195 0.195" refquat="0.500000000000003 -0.5000000000000031 -0.5000000000000031 -0.5000000000000031"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.195 0.195 0.195" refquat="0.500000000000003 -0.5000000000000031 -0.5000000000000031 -0.5000000000000031"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.195 0.195 0.195" refquat="0.500000000000003 -0.5000000000000031 -0.5000000000000031 -0.5000000000000031"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.195 0.195 0.195" refquat="0.500000000000003 -0.5000000000000031 -0.5000000000000031 -0.5000000000000031"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.195 0.195 0.195" refquat="0.500000000000003 -0.5000000000000031 -0.5000000000000031 -0.5000000000000031"/>
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diff --git a/objects/objaverse/knife/knife_4/visual/material.mtl b/objects/objaverse/knife/knife_4/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..33616803300962094e8955deb30562079542847b
--- /dev/null
+++ b/objects/objaverse/knife/knife_4/visual/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 250.00000000
+map_Kd material_0.jpeg
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_4/visual/model_normalized_0.obj b/objects/objaverse/knife/knife_4/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3e29606ef10a17d49fbf39de46c049283c50271b
--- /dev/null
+++ b/objects/objaverse/knife/knife_4/visual/model_normalized_0.obj
@@ -0,0 +1,6022 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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+f 1298/1298/1298 1360/1360/1360 1318/1318/1318
+f 1318/1318/1318 1299/1299/1299 1298/1298/1298
+f 1422/1422/1422 1420/1420/1420 1250/1250/1250
+f 1250/1250/1250 1254/1254/1254 1422/1422/1422
+f 1357/1357/1357 1360/1360/1360 1359/1359/1359
+f 1359/1359/1359 1358/1358/1358 1357/1357/1357
+f 1270/1270/1270 1269/1269/1269 1259/1259/1259
+f 1259/1259/1259 1072/1072/1072 1270/1270/1270
+f 1072/1072/1072 1259/1259/1259 1158/1158/1158
+f 1079/1079/1079 1078/1078/1078 1431/1431/1431
+f 1431/1431/1431 1432/1432/1432 1079/1079/1079
+f 1079/1079/1079 1432/1432/1432 1433/1433/1433
+f 1433/1433/1433 1306/1306/1306 1079/1079/1079
+f 1430/1430/1430 1303/1303/1303 1302/1302/1302
+f 1369/1369/1369 1302/1302/1302 1300/1300/1300
+f 1300/1300/1300 1366/1366/1366 1369/1369/1369
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_8/collision/model_normalized_collision_0.obj b/objects/objaverse/knife/knife_8/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..83658d35321924ca74271105f31e2f1018237b0e
--- /dev/null
+++ b/objects/objaverse/knife/knife_8/collision/model_normalized_collision_0.obj
@@ -0,0 +1,15 @@
+# https://github.com/mikedh/trimesh
+v 0.03627308 -0.00759867 0.00168033
+v -0.03678052 0.23484850 0.00318648
+v -0.03678052 -0.00757575 0.00318648
+v -0.03678052 0.23484850 -0.00042089
+v 0.03627308 0.23485585 0.00117938
+v -0.03678052 -0.00757575 -0.00042057
+f 1 2 3
+f 3 2 4
+f 5 2 1
+f 5 4 2
+f 6 1 3
+f 6 3 4
+f 6 5 1
+f 6 4 5
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_8/collision/model_normalized_collision_1.obj b/objects/objaverse/knife/knife_8/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..41204132007e6ab6a98d2838ac6e3661a322e19d
--- /dev/null
+++ b/objects/objaverse/knife/knife_8/collision/model_normalized_collision_1.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.01917151 -0.40038606 0.00666464
+v 0.01802187 -0.40027212 -0.00839317
+v 0.02442172 -0.26576032 -0.00839317
+v -0.03685321 -0.26515151 0.00719921
+v -0.03761637 -0.40151515 -0.00237846
+v 0.02442172 -0.26576032 0.00839317
+v -0.03605489 -0.40151513 -0.00839317
+v -0.03685321 -0.40151515 0.00719921
+v -0.03605509 -0.26515150 -0.00839317
+f 1 2 3
+f 6 1 3
+f 7 2 1
+f 7 3 2
+f 8 4 5
+f 8 6 4
+f 8 1 6
+f 8 7 1
+f 8 5 7
+f 9 7 5
+f 9 5 4
+f 9 3 7
+f 9 6 3
+f 9 4 6
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_8/collision/model_normalized_collision_10.obj b/objects/objaverse/knife/knife_8/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe871ca7314bce3042d7cae82b89ae2f3dd28796
--- /dev/null
+++ b/objects/objaverse/knife/knife_8/collision/model_normalized_collision_10.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.01276159 -0.49742603 0.00666464
+v 0.03120771 -0.48253071 -0.00666414
+v 0.03120771 -0.48253071 0.00666464
+v 0.01541394 -0.46212121 0.00995422
+v 0.01541394 -0.46212121 -0.00995422
+v 0.03413309 -0.46323601 0.00666464
+v 0.02048704 -0.49416316 0.00666464
+v 0.01246907 -0.49630811 -0.00839317
+v 0.02909313 -0.46226292 -0.00995422
+v 0.02048704 -0.49416316 -0.00666414
+v 0.03298296 -0.46334602 -0.00839317
+f 6 3 2
+f 6 4 3
+f 7 3 4
+f 7 4 1
+f 7 2 3
+f 8 1 4
+f 8 4 5
+f 9 5 4
+f 9 4 6
+f 9 8 5
+f 9 2 8
+f 10 7 1
+f 10 1 8
+f 10 8 2
+f 10 2 7
+f 11 9 6
+f 11 6 2
+f 11 2 9
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_8/collision/model_normalized_collision_11.obj b/objects/objaverse/knife/knife_8/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4177e6038b90cc3fa082aa9740b292f724d83fc8
--- /dev/null
+++ b/objects/objaverse/knife/knife_8/collision/model_normalized_collision_11.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.01006861 0.45773548 0.00114514
+v -0.01550068 0.46919810 0.00114496
+v -0.03678052 0.50000001 0.00318597
+v -0.03678052 0.46212123 -0.00042094
+v -0.03678052 0.50000001 -0.00042094
+v -0.03678052 0.46212118 0.00318614
+v -0.03057687 0.49357870 0.00084919
+v -0.03124404 0.49429762 0.00231482
+f 1 2 3
+f 5 2 1
+f 5 1 4
+f 5 4 3
+f 6 1 3
+f 6 3 4
+f 6 4 1
+f 7 2 5
+f 8 7 5
+f 8 5 3
+f 8 3 2
+f 8 2 7
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_8/collision/model_normalized_collision_12.obj b/objects/objaverse/knife/knife_8/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..44a0d4951dec11e838202acabe01da2b7c7691b4
--- /dev/null
+++ b/objects/objaverse/knife/knife_8/collision/model_normalized_collision_12.obj
@@ -0,0 +1,15 @@
+# https://github.com/mikedh/trimesh
+v -0.00461865 0.44489759 0.00114514
+v -0.03678052 0.46212118 0.00318614
+v -0.03678052 0.44696971 -0.00042094
+v -0.03678052 0.46212123 -0.00042094
+v -0.01006861 0.45773548 0.00114514
+v -0.03678052 0.44696967 0.00318621
+f 1 3 4
+f 3 2 4
+f 5 2 1
+f 5 1 4
+f 5 4 2
+f 6 1 2
+f 6 2 3
+f 6 3 1
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_8/collision/model_normalized_collision_13.obj b/objects/objaverse/knife/knife_8/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..91218a009869202a5bad4ec263549d5a742126fc
--- /dev/null
+++ b/objects/objaverse/knife/knife_8/collision/model_normalized_collision_13.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.02028440 0.36877701 0.00114514
+v 0.01269029 0.39618449 0.00114514
+v -0.00016187 0.37111164 0.00192308
+v -0.00017853 0.41650891 0.00138835
+v 0.00017429 0.37119126 0.00055897
+v 0.00016967 0.38633599 0.00067569
+v 0.00016292 0.41663108 0.00097000
+v 0.00710765 0.41369483 0.00114514
+f 1 2 3
+f 3 2 4
+f 5 1 3
+f 5 3 4
+f 6 2 1
+f 6 1 5
+f 6 5 4
+f 7 6 4
+f 8 7 4
+f 8 4 2
+f 8 2 6
+f 8 6 7
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_8/collision/model_normalized_collision_14.obj b/objects/objaverse/knife/knife_8/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e7e815055d446e131cbd3e204cf74e8596503d15
--- /dev/null
+++ b/objects/objaverse/knife/knife_8/collision/model_normalized_collision_14.obj
@@ -0,0 +1,15 @@
+# https://github.com/mikedh/trimesh
+v 0.02368248 0.35443035 0.00114514
+v 0.02028440 0.36877701 0.00114514
+v -0.00016187 0.37111164 0.00192308
+v -0.00013624 0.35599534 0.00203106
+v 0.00018118 0.35604732 0.00047476
+v 0.00017429 0.37119126 0.00055897
+f 1 2 3
+f 1 3 4
+f 5 1 4
+f 5 4 3
+f 6 2 1
+f 6 1 5
+f 6 5 3
+f 6 3 2
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_8/collision/model_normalized_collision_15.obj b/objects/objaverse/knife/knife_8/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b25c3c55cd10d0b4fc8efdf0eea0c6fc7fbbb87
--- /dev/null
+++ b/objects/objaverse/knife/knife_8/collision/model_normalized_collision_15.obj
@@ -0,0 +1,18 @@
+# https://github.com/mikedh/trimesh
+v 0.03123404 0.30847386 0.00114514
+v 0.02905071 0.32330393 0.00114514
+v 0.01488667 0.31040477 0.00211532
+v 0.01499443 0.35599193 0.00146954
+v 0.01535012 0.31062302 0.00096547
+v 0.02368248 0.35443035 0.00114514
+v 0.01532043 0.35604531 0.00090580
+f 1 2 3
+f 5 1 3
+f 5 3 4
+f 6 3 2
+f 6 4 3
+f 7 2 1
+f 7 1 5
+f 7 6 2
+f 7 5 4
+f 7 4 6
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_8/collision/model_normalized_collision_16.obj b/objects/objaverse/knife/knife_8/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..844c4889ae17e2fb44b19162c93a3c1834f1164d
--- /dev/null
+++ b/objects/objaverse/knife/knife_8/collision/model_normalized_collision_16.obj
@@ -0,0 +1,15 @@
+# https://github.com/mikedh/trimesh
+v 0.03478212 0.27916900 0.00114514
+v 0.03123404 0.30847386 0.00114514
+v 0.01491491 0.28011252 0.00268609
+v 0.01488667 0.31040477 0.00211532
+v 0.01534719 0.28032077 0.00111901
+v 0.01535012 0.31062302 0.00096547
+f 1 2 3
+f 3 2 4
+f 5 1 3
+f 5 3 4
+f 6 2 1
+f 6 1 5
+f 6 5 4
+f 6 4 2
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_8/collision/model_normalized_collision_17.obj b/objects/objaverse/knife/knife_8/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f4630ad121f3d4d757e854728c631f93cde4d0c
--- /dev/null
+++ b/objects/objaverse/knife/knife_8/collision/model_normalized_collision_17.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.03699965 -0.12869691 0.00694799
+v 0.03603396 -0.12868634 -0.00839317
+v 0.03627308 -0.08332462 0.00183679
+v 0.01522647 -0.08333333 0.00225919
+v 0.01541394 -0.12878787 0.00995422
+v 0.01541394 -0.10612260 -0.00839317
+v 0.03634650 -0.10645956 -0.00666464
+v 0.01541394 -0.12878787 -0.00995422
+v 0.01530049 -0.08333265 0.00121812
+f 5 1 3
+f 5 3 4
+f 7 1 2
+f 7 3 1
+f 7 6 3
+f 7 2 6
+f 8 2 1
+f 8 1 5
+f 8 6 2
+f 8 5 4
+f 8 4 6
+f 9 6 4
+f 9 4 3
+f 9 3 6
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_8/collision/model_normalized_collision_19.obj b/objects/objaverse/knife/knife_8/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f7e507d61f081456960af83b78f1607565f37512
--- /dev/null
+++ b/objects/objaverse/knife/knife_8/collision/model_normalized_collision_19.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.01827870 -0.18931480 0.00666464
+v 0.03457101 -0.14171195 -0.00839317
+v 0.03570401 -0.14193845 0.00666464
+v 0.01541394 -0.14393939 0.00995422
+v 0.01388532 -0.18938401 -0.00984854
+v 0.01479590 -0.18938995 0.00966736
+v 0.03170393 -0.15256859 -0.00715769
+v 0.01541394 -0.14393939 -0.00995422
+v 0.03200131 -0.15271376 0.00666464
+v 0.01712340 -0.18930730 -0.00839317
+v 0.03011354 -0.14376890 -0.00995422
+f 3 2 4
+f 6 3 4
+f 6 5 1
+f 6 4 5
+f 7 2 3
+f 8 5 4
+f 8 4 2
+f 9 6 1
+f 9 3 6
+f 9 7 3
+f 9 1 7
+f 10 5 2
+f 10 2 7
+f 10 7 1
+f 10 1 5
+f 11 8 2
+f 11 2 5
+f 11 5 8
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_8/collision/model_normalized_collision_2.obj b/objects/objaverse/knife/knife_8/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..34b0a7d173d2d1b9da4a8e40753b0cfd99c4cd82
--- /dev/null
+++ b/objects/objaverse/knife/knife_8/collision/model_normalized_collision_2.obj
@@ -0,0 +1,15 @@
+# https://github.com/mikedh/trimesh
+v 0.03627308 0.23482454 0.00117944
+v -0.03678052 0.28030304 0.00318648
+v -0.03678052 0.23484850 0.00318648
+v -0.03678052 0.28030304 -0.00042094
+v 0.03478212 0.27916900 0.00114514
+v -0.03678052 0.23484850 -0.00042089
+f 1 2 3
+f 3 2 4
+f 5 2 1
+f 5 4 2
+f 6 1 3
+f 6 3 4
+f 6 5 1
+f 6 4 5
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_8/collision/model_normalized_collision_20.obj b/objects/objaverse/knife/knife_8/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c4d22f145a4898e4366eee73262dbf8f06c964e4
--- /dev/null
+++ b/objects/objaverse/knife/knife_8/collision/model_normalized_collision_20.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.02111087 -0.22063385 0.00666464
+v 0.01996122 -0.22074779 -0.00839317
+v 0.01712340 -0.18930730 -0.00839317
+v 0.01479590 -0.18938995 0.00966736
+v 0.01541394 -0.21969696 0.00995422
+v 0.01827870 -0.18931480 0.00666464
+v 0.01541394 -0.21969696 -0.00995422
+v 0.01388532 -0.18938401 -0.00984854
+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 2 5
+f 8 3 2
+f 8 2 7
+f 8 4 3
+f 8 7 5
+f 8 5 4
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_8/collision/model_normalized_collision_22.obj b/objects/objaverse/knife/knife_8/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..060ffc32303569262061b8054f61042b9710a3e2
--- /dev/null
+++ b/objects/objaverse/knife/knife_8/collision/model_normalized_collision_22.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.03413309 -0.46323601 0.00666464
+v 0.03298296 -0.46334602 -0.00839317
+v 0.03228686 -0.45262434 -0.00237846
+v 0.01541394 -0.44696969 0.00995422
+v 0.01541394 -0.46212121 0.00995422
+v 0.01541394 -0.44696969 -0.00995422
+v 0.03191250 -0.45278083 0.00666464
+v 0.02709220 -0.44889640 -0.00954837
+v 0.01541394 -0.46212121 -0.00995422
+v 0.03154592 -0.45293515 -0.00725958
+f 1 2 3
+f 5 2 1
+f 5 1 4
+f 6 5 4
+f 7 1 3
+f 7 4 1
+f 8 6 4
+f 8 7 3
+f 8 4 7
+f 9 2 5
+f 9 5 6
+f 9 8 2
+f 9 6 8
+f 10 8 3
+f 10 3 2
+f 10 2 8
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_8/collision/model_normalized_collision_23.obj b/objects/objaverse/knife/knife_8/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..724ef314ee7abcfdf647817a751abd68a5556c4c
--- /dev/null
+++ b/objects/objaverse/knife/knife_8/collision/model_normalized_collision_23.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.00008240 -0.49920843 0.00701620
+v 0.00006187 -0.49826104 -0.00839317
+v 0.00026242 -0.46212121 0.00995422
+v -0.03645688 -0.46140161 0.00691564
+v -0.02069632 -0.49554636 -0.00237846
+v 0.00026242 -0.46212121 -0.00995422
+v -0.03153259 -0.48405707 0.00666464
+v -0.03547253 -0.46132020 -0.00839317
+v -0.02044739 -0.49522632 0.00666464
+v -0.03150731 -0.48404284 -0.00670713
+v -0.02033533 -0.49507139 -0.00695007
+f 5 2 1
+f 6 1 2
+f 6 3 1
+f 7 3 4
+f 8 4 3
+f 8 3 6
+f 8 6 2
+f 9 1 3
+f 9 3 7
+f 9 7 5
+f 9 5 1
+f 10 7 4
+f 10 4 8
+f 10 5 7
+f 11 10 8
+f 11 8 2
+f 11 2 5
+f 11 5 10
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_8/collision/model_normalized_collision_24.obj b/objects/objaverse/knife/knife_8/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e39afd5ae8c0a328931d6c3fb1d7b13a8a186901
--- /dev/null
+++ b/objects/objaverse/knife/knife_8/collision/model_normalized_collision_24.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.01276159 -0.49742603 0.00666464
+v 0.01246907 -0.49630811 -0.00839317
+v 0.01541394 -0.46212121 0.00995422
+v 0.00026242 -0.46212121 0.00995422
+v 0.00008240 -0.49920843 0.00701620
+v 0.00026242 -0.46212121 -0.00995422
+v 0.01541394 -0.46212121 -0.00995422
+v 0.00006187 -0.49826104 -0.00839317
+f 5 1 3
+f 5 3 4
+f 6 4 3
+f 7 1 2
+f 7 3 1
+f 7 6 3
+f 8 2 1
+f 8 1 5
+f 8 5 4
+f 8 4 6
+f 8 7 2
+f 8 6 7
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_8/collision/model_normalized_collision_25.obj b/objects/objaverse/knife/knife_8/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d4eaf8191b9d9d6aedee621f093601c7321f9d9e
--- /dev/null
+++ b/objects/objaverse/knife/knife_8/collision/model_normalized_collision_25.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.00026242 -0.12878787 0.00995422
+v 0.00026242 -0.12878787 -0.00995422
+v 0.00016403 -0.08333274 0.00074066
+v -0.03678052 -0.08333333 0.00318648
+v -0.03685286 -0.12878787 0.00719980
+v -0.01488909 -0.10612260 -0.00839317
+v 0.00007977 -0.08333333 0.00252925
+v 0.00026242 -0.10612260 -0.00839317
+v -0.03678052 -0.08333332 -0.00042047
+v -0.03605529 -0.12878786 -0.00839317
+v -0.03605531 -0.11363634 -0.00839317
+v -0.03680869 -0.10646609 -0.00666464
+f 5 2 1
+f 5 1 4
+f 7 1 3
+f 7 3 4
+f 7 4 1
+f 8 1 2
+f 8 3 1
+f 8 2 6
+f 9 4 3
+f 9 8 6
+f 9 3 8
+f 9 5 4
+f 10 2 5
+f 11 6 2
+f 11 2 10
+f 12 10 5
+f 12 5 9
+f 12 11 10
+f 12 9 6
+f 12 6 11
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_8/collision/model_normalized_collision_26.obj b/objects/objaverse/knife/knife_8/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c5c46541b5e7db0c04d128e0b8ef0bfdc1605580
--- /dev/null
+++ b/objects/objaverse/knife/knife_8/collision/model_normalized_collision_26.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.00026242 -0.14393939 0.00995422
+v 0.00026242 -0.14393939 -0.00995422
+v 0.00026242 -0.12878787 -0.00995422
+v -0.03685286 -0.12878787 0.00719980
+v -0.03685285 -0.14393938 0.00719979
+v 0.00026242 -0.12878787 0.00995422
+v -0.03605529 -0.12878786 -0.00839317
+v -0.03605527 -0.14393937 -0.00839317
+f 5 2 1
+f 5 1 4
+f 6 4 1
+f 6 1 2
+f 6 2 3
+f 7 3 2
+f 7 5 4
+f 7 6 3
+f 7 4 6
+f 8 7 2
+f 8 2 5
+f 8 5 7
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_8/collision/model_normalized_collision_27.obj b/objects/objaverse/knife/knife_8/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9fd70b7636e83834126e345336a9f74a5e50df16
--- /dev/null
+++ b/objects/objaverse/knife/knife_8/collision/model_normalized_collision_27.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.01541394 -0.12878787 0.00995422
+v 0.01541394 -0.12878787 -0.00995422
+v 0.01530049 -0.08333265 0.00121812
+v 0.00007977 -0.08333333 0.00252925
+v 0.00026242 -0.12878787 0.00995422
+v 0.00026242 -0.10612260 -0.00839317
+v 0.01522647 -0.08333333 0.00225919
+v 0.01541394 -0.10612260 -0.00839317
+v 0.00016403 -0.08333274 0.00074066
+v 0.00026242 -0.12878787 -0.00995422
+f 5 2 1
+f 5 1 4
+f 7 1 3
+f 7 3 4
+f 7 4 1
+f 8 1 2
+f 8 3 1
+f 8 2 6
+f 9 6 4
+f 9 4 3
+f 9 8 6
+f 9 3 8
+f 10 5 4
+f 10 4 6
+f 10 6 2
+f 10 2 5
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_8/collision/model_normalized_collision_28.obj b/objects/objaverse/knife/knife_8/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..45b72ad6923e7e8b047efc449568960ad4868d05
--- /dev/null
+++ b/objects/objaverse/knife/knife_8/collision/model_normalized_collision_28.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.01541394 -0.14393939 0.00995422
+v 0.01541394 -0.14393939 -0.00995422
+v 0.01541394 -0.12878787 -0.00995422
+v 0.00026242 -0.12878787 0.00995422
+v 0.00026242 -0.14393939 0.00995422
+v 0.01541394 -0.12878787 0.00995422
+v 0.00026242 -0.14393939 -0.00995422
+v 0.00026242 -0.12878787 -0.00995422
+f 5 2 1
+f 5 1 4
+f 6 4 1
+f 6 1 2
+f 6 2 3
+f 7 3 2
+f 7 2 5
+f 8 3 7
+f 8 6 3
+f 8 4 6
+f 8 7 5
+f 8 5 4
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_8/collision/model_normalized_collision_4.obj b/objects/objaverse/knife/knife_8/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df881cc22fc06df291ea87cbfb3b2483288fa70a
--- /dev/null
+++ b/objects/objaverse/knife/knife_8/collision/model_normalized_collision_4.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.02442172 -0.26576032 0.00839317
+v 0.02442172 -0.26576032 -0.00839317
+v 0.02111087 -0.22063385 0.00666464
+v -0.03685321 -0.21969696 0.00719921
+v -0.03685321 -0.26515151 0.00719921
+v 0.01541394 -0.21969696 -0.00995422
+v 0.01996122 -0.22074779 -0.00839317
+v -0.03605515 -0.21969695 -0.00839317
+v -0.03605509 -0.26515150 -0.00839317
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 5 1 4
+f 6 4 3
+f 7 6 3
+f 7 3 2
+f 7 2 6
+f 8 5 4
+f 8 4 6
+f 9 8 6
+f 9 6 2
+f 9 2 5
+f 9 5 8
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_8/collision/model_normalized_collision_5.obj b/objects/objaverse/knife/knife_8/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..03c02ce7dbaf863b62e93d2d6966cc1af790bc2a
--- /dev/null
+++ b/objects/objaverse/knife/knife_8/collision/model_normalized_collision_5.obj
@@ -0,0 +1,18 @@
+# https://github.com/mikedh/trimesh
+v 0.00710765 0.41369483 0.00114514
+v -0.00230502 0.43944763 0.00114514
+v -0.03678052 0.44696967 0.00318621
+v -0.03678052 0.41666668 -0.00042094
+v -0.03678052 0.44696971 -0.00042094
+v -0.03678052 0.41666664 0.00318635
+v -0.00461865 0.44489759 0.00114514
+f 1 2 3
+f 5 2 1
+f 5 1 4
+f 5 4 3
+f 6 1 3
+f 6 3 4
+f 6 4 1
+f 7 5 3
+f 7 3 2
+f 7 2 5
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_8/collision/model_normalized_collision_6.obj b/objects/objaverse/knife/knife_8/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..429d84ce85b1cc36a910f74b053fa7abda6e03c7
--- /dev/null
+++ b/objects/objaverse/knife/knife_8/collision/model_normalized_collision_6.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.00013624 0.35599534 0.00203106
+v 0.00018118 0.35604732 0.00047476
+v 0.00016292 0.41663108 0.00097000
+v -0.03678052 0.41666664 0.00318635
+v -0.03678052 0.35606062 -0.00042094
+v -0.00017853 0.41650891 0.00138835
+v -0.03678052 0.35606062 0.00318648
+v -0.03678052 0.41666668 -0.00042094
+f 1 2 3
+f 5 2 1
+f 6 1 3
+f 6 3 4
+f 6 4 1
+f 7 5 1
+f 7 1 4
+f 7 4 5
+f 8 3 2
+f 8 2 5
+f 8 5 4
+f 8 4 3
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_8/collision/model_normalized_collision_7.obj b/objects/objaverse/knife/knife_8/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ff148bb2b0eccd6e8cf41303558909a7bb30fcf
--- /dev/null
+++ b/objects/objaverse/knife/knife_8/collision/model_normalized_collision_7.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.01491491 0.28011252 0.00268609
+v 0.01534719 0.28032077 0.00111901
+v 0.01532043 0.35604531 0.00090580
+v -0.03678052 0.35606062 0.00318648
+v -0.03678052 0.28030304 -0.00042094
+v 0.01499443 0.35599193 0.00146954
+v -0.03678052 0.28030304 0.00318648
+v -0.03678052 0.35606062 -0.00042094
+v 0.00018118 0.35604732 0.00047476
+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 9 8 3
+f 9 3 5
+f 9 5 8
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_8/collision/model_normalized_collision_8.obj b/objects/objaverse/knife/knife_8/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e3b33320b73e1045dccf745fb737099fca371cac
--- /dev/null
+++ b/objects/objaverse/knife/knife_8/collision/model_normalized_collision_8.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.01541394 -0.21969696 0.00995422
+v 0.01541394 -0.21969696 -0.00995422
+v 0.01541394 -0.14393939 -0.00995422
+v -0.03685285 -0.14393938 0.00719979
+v -0.03685321 -0.21969696 0.00719921
+v 0.01541394 -0.14393939 0.00995422
+v -0.03605527 -0.14393937 -0.00839317
+v 0.00026242 -0.14393939 -0.00995422
+v -0.03605515 -0.21969695 -0.00839317
+f 1 2 3
+f 5 2 1
+f 5 1 4
+f 6 1 3
+f 6 4 1
+f 7 5 4
+f 7 6 3
+f 7 4 6
+f 8 7 3
+f 8 3 2
+f 9 2 5
+f 9 5 7
+f 9 8 2
+f 9 7 8
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_8/collision/model_normalized_collision_9.obj b/objects/objaverse/knife/knife_8/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..39da4eb6dd0813744b983438653e23b3aab34958
--- /dev/null
+++ b/objects/objaverse/knife/knife_8/collision/model_normalized_collision_9.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.01541394 -0.46212121 0.00995422
+v 0.01541394 -0.46212121 -0.00995422
+v 0.01482863 -0.40145715 0.00981361
+v -0.03685321 -0.40151515 0.00719921
+v -0.03645688 -0.46140161 0.00691564
+v 0.01412460 -0.40138740 -0.00995422
+v -0.03605489 -0.40151513 -0.00839317
+v -0.03605482 -0.44696968 -0.00839317
+v -0.03547253 -0.46132020 -0.00839317
+v 0.00026242 -0.40151515 -0.00995422
+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 8 5 4
+f 8 4 7
+f 9 2 5
+f 9 5 8
+f 10 8 7
+f 10 7 6
+f 10 6 2
+f 10 9 8
+f 10 2 9
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_8/model.xml b/objects/objaverse/knife/knife_8/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..6b2f44ce721b8235dc856b596c591531f0ba6c7b
--- /dev/null
+++ b/objects/objaverse/knife/knife_8/model.xml
@@ -0,0 +1,75 @@
+<mujoco model="kitchen_knife_11">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="-1.1102230246251565e-16 0.0 -1.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="-1.1102230246251565e-16 0.0 -1.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="-1.1102230246251565e-16 0.0 -1.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="-1.1102230246251565e-16 0.0 -1.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="-1.1102230246251565e-16 0.0 -1.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="-1.1102230246251565e-16 0.0 -1.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="-1.1102230246251565e-16 0.0 -1.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="-1.1102230246251565e-16 0.0 -1.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="-1.1102230246251565e-16 0.0 -1.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="-1.1102230246251565e-16 0.0 -1.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="-1.1102230246251565e-16 0.0 -1.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="-1.1102230246251565e-16 0.0 -1.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="-1.1102230246251565e-16 0.0 -1.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="-1.1102230246251565e-16 0.0 -1.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="-1.1102230246251565e-16 0.0 -1.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="-1.1102230246251565e-16 0.0 -1.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="-1.1102230246251565e-16 0.0 -1.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="-1.1102230246251565e-16 0.0 -1.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="-1.1102230246251565e-16 0.0 -1.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="-1.1102230246251565e-16 0.0 -1.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="-1.1102230246251565e-16 0.0 -1.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="-1.1102230246251565e-16 0.0 -1.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="-1.1102230246251565e-16 0.0 -1.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="-1.1102230246251565e-16 0.0 -1.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="-1.1102230246251565e-16 0.0 -1.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="-1.1102230246251565e-16 0.0 -1.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="-1.1102230246251565e-16 0.0 -1.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="-1.1102230246251565e-16 0.0 -1.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="-1.1102230246251565e-16 0.0 -1.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="-1.1102230246251565e-16 0.0 -1.0 0.0"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="Knife.001" texture="image0" specular="0.5" shininess="0.25"/>
+  </asset>
+  <worldbody>
+    <body>
+      <body name="object">
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_0_vis" conaffinity="0" contype="0" group="1" material="Knife.001"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_22._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_23._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_21._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_20._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_24._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_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_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"/>
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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_4._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_0._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_1._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_3._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_2._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_17._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_16._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_28._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
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+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_15._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_11._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_10._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_12._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_13._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+      </body>
+      <site rgba="0 0 0 0" size="0.005" pos="2.706249677390631e-06 9.894750000000871e-05 -0.0024885547033411267" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="2.706249677390631e-06 9.894750000000871e-05 0.0024885547033411284" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.009404091378944818 0.12500000250000004 8.673617379884037e-19" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_21.obj b/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d0913a2d34755157a5c5a9be2c32a7c470d6754
--- /dev/null
+++ b/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_21.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/objects/objaverse/tomato/tomato_2/visual/material.mtl b/objects/objaverse/tomato/tomato_2/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8b281b2f23a3ed54c57834ad4d46aedf3f546a53
--- /dev/null
+++ b/objects/objaverse/tomato/tomato_2/visual/material.mtl
@@ -0,0 +1,7 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.72549020 0.04705882 0.04705882
+Ks 0.50196078 0.50196078 0.50196078
+Ns 70.71068000
\ No newline at end of file
diff --git a/objects/objaverse/tomato/tomato_2/visual/model_normalized_1.obj b/objects/objaverse/tomato/tomato_2/visual/model_normalized_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a65d18ca063777dcc41f4d112260e4d19c6e41a
--- /dev/null
+++ b/objects/objaverse/tomato/tomato_2/visual/model_normalized_1.obj
@@ -0,0 +1,7347 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/objects/objaverse/tomato/tomato_2/visual/model_normalized_2.obj b/objects/objaverse/tomato/tomato_2/visual/model_normalized_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..337b4a085415bec365c3d61133f0f7eaaca16c9b
--- /dev/null
+++ b/objects/objaverse/tomato/tomato_2/visual/model_normalized_2.obj
@@ -0,0 +1,438 @@
+# https://github.com/mikedh/trimesh
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diff --git a/objects/objaverse/tomato/tomato_2/visual/model_normalized_3.obj b/objects/objaverse/tomato/tomato_2/visual/model_normalized_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac6c577b29ec466b6bada55aa73ad9eb61e96ffa
--- /dev/null
+++ b/objects/objaverse/tomato/tomato_2/visual/model_normalized_3.obj
@@ -0,0 +1,2268 @@
+# https://github.com/mikedh/trimesh
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+f 133/133/133 511/511/511 134/134/134
\ No newline at end of file
diff --git a/objects/objaverse/yogurt/yogurt_2/collision/model_normalized_collision_0.obj b/objects/objaverse/yogurt/yogurt_2/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e449432a2c9872b8c24958bb99e005df9499d936
--- /dev/null
+++ b/objects/objaverse/yogurt/yogurt_2/collision/model_normalized_collision_0.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.14393940 0.17200248 0.01784977
+v 0.14393940 0.17200248 -0.10336235
+v 0.13669039 0.31080444 0.01968011
+v -0.10975912 0.36818292 0.02013377
+v -0.23484848 0.17200248 -0.10336235
+v 0.04742314 0.33515296 -0.10070208
+v 0.11877986 0.32111724 0.02037674
+v -0.23484848 0.17200248 0.01784977
+v 0.13313998 0.29359871 -0.10087968
+v -0.25456984 0.29455820 -0.10957052
+v -0.02317760 0.36913925 0.02050623
+v 0.11872978 0.30587789 -0.08567122
+v -0.15614185 0.34048597 -0.10149697
+v -0.26559638 0.30694857 0.01112001
+v 0.04799709 0.35221532 0.02023773
+v 0.13081820 0.30557537 -0.03973987
+v 0.08944538 0.32049779 -0.08544732
+v -0.05364421 0.35138547 -0.08508330
+v -0.15560919 0.35718958 0.01938032
+v 0.08982841 0.33641928 0.02049619
+v 0.00576934 0.35218400 -0.07022678
+v -0.12452857 0.34971293 -0.08551667
+v -0.10927006 0.36617223 0.00527035
+v -0.15519929 0.35137553 -0.02514319
+v 0.06249577 0.33494787 -0.07037206
+f 1 2 3
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+f 8 1 7
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+f 11 4 8
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+f 14 10 5
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+f 23 13 4
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+f 25 21 15
+f 25 6 21
\ No newline at end of file
diff --git a/objects/objaverse/yogurt/yogurt_2/collision/model_normalized_collision_1.obj b/objects/objaverse/yogurt/yogurt_2/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e7614f8b9d6b93b26476997912ef80b9d6b515cc
--- /dev/null
+++ b/objects/objaverse/yogurt/yogurt_2/collision/model_normalized_collision_1.obj
@@ -0,0 +1,114 @@
+# https://github.com/mikedh/trimesh
+v -0.26515151 -0.35830055 0.22959475
+v -0.22855383 -0.32969685 0.01970436
+v -0.23484848 0.33866914 0.24730173
+v -0.26515151 0.35382066 0.22959475
+v -0.43028618 -0.03731514 0.02003920
+v -0.23009465 0.32878835 0.01921897
+v -0.46212121 0.08109339 0.22959475
+v -0.23484848 -0.32799752 0.24730171
+v -0.41666667 -0.22193692 0.22959475
+v -0.22830445 0.34021896 0.09549215
+v -0.38636364 0.24776006 0.24730172
+v -0.23243103 -0.35313425 0.21481946
+v -0.35516273 -0.22489238 0.02040075
+v -0.46212121 -0.08557328 0.22959475
+v -0.32575757 -0.32799752 0.24730171
+v -0.23411742 0.35230116 0.21481946
+v -0.28030303 0.33866914 0.24730172
+v -0.30994124 0.27692445 0.03585896
+v -0.22811161 -0.34390329 0.11305009
+v -0.39953033 -0.15221900 0.02032192
+v -0.41666667 0.18715399 0.24730171
+v -0.41666667 -0.22193692 0.24730171
+v -0.32575757 -0.32799752 0.22959475
+v -0.29545454 0.33866915 0.22959475
+v -0.40103070 0.14875162 0.02009275
+v -0.38364127 -0.18212986 0.02042832
+v -0.41478255 -0.11008688 0.02015878
+v -0.44696970 -0.14617934 0.22959475
+v -0.28383578 -0.29581798 0.02043273
+v -0.23937180 -0.32477080 0.02069073
+v -0.34090909 0.29321460 0.24730172
+v -0.40151515 0.23260854 0.22959475
+v -0.24244192 0.32295976 0.02002664
+v -0.41595628 0.10619568 0.01999198
+v -0.33962772 0.24810771 0.03589483
+v -0.44696970 0.14169945 0.22959475
+v -0.26837569 0.30643535 0.02046029
+v -0.42841847 0.04787790 0.02028005
+v -0.36986268 0.20519579 0.02045140
+f 6 2 5
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+f 39 32 35
+f 39 35 37
+f 39 37 6
+f 39 6 25
\ No newline at end of file
diff --git a/objects/objaverse/yogurt/yogurt_2/collision/model_normalized_collision_10.obj b/objects/objaverse/yogurt/yogurt_2/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b42201e3cc699b4850a69cc9ffe2caa68cc40262
--- /dev/null
+++ b/objects/objaverse/yogurt/yogurt_2/collision/model_normalized_collision_10.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.32492128 0.20186337 0.24730171
+v 0.30921077 0.20146580 0.22959475
+v 0.12068130 0.39674921 0.24730171
+v -0.14125446 0.43004921 0.24730171
+v -0.23484848 0.20230551 0.24730171
+v 0.01949993 0.38302056 0.15421340
+v 0.17603969 0.31059171 0.15421340
+v 0.01982165 0.42925550 0.24730171
+v -0.22819796 0.35514912 0.15421340
+v 0.31231080 0.22441195 0.24730171
+v 0.07659872 0.36607350 0.15421340
+v -0.23484848 0.20230551 0.15421340
+v -0.23484848 0.35382066 0.24730173
+v -0.15386018 0.38157377 0.15421340
+v 0.19374990 0.35391268 0.24730171
+v 0.14966913 0.38202000 0.24730171
+v 0.07801991 0.41382181 0.24730171
+v 0.17424243 0.20230551 0.15421340
+v -0.23484848 0.36897218 0.22959475
+v -0.19978211 0.36800396 0.15421340
+v 0.29464414 0.25158273 0.24730171
+f 5 2 1
+f 8 6 4
+f 10 1 2
+f 10 2 7
+f 12 2 5
+f 12 9 11
+f 13 5 1
+f 13 8 4
+f 13 1 10
+f 14 4 6
+f 14 6 11
+f 16 11 3
+f 16 7 11
+f 16 15 7
+f 16 3 13
+f 16 13 15
+f 17 3 11
+f 17 13 3
+f 17 8 13
+f 17 11 6
+f 17 6 8
+f 18 7 2
+f 18 2 12
+f 18 12 11
+f 18 11 7
+f 19 13 4
+f 19 4 9
+f 19 9 12
+f 19 12 5
+f 19 5 13
+f 20 9 4
+f 20 4 14
+f 20 14 11
+f 20 11 9
+f 21 10 7
+f 21 7 15
+f 21 15 13
+f 21 13 10
\ No newline at end of file
diff --git a/objects/objaverse/yogurt/yogurt_2/collision/model_normalized_collision_12.obj b/objects/objaverse/yogurt/yogurt_2/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad7828fd7143029f1b6b29016a71fec90eb72012
--- /dev/null
+++ b/objects/objaverse/yogurt/yogurt_2/collision/model_normalized_collision_12.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v -0.38636364 0.18715399 0.24730171
+v -0.15797786 0.38035701 0.21481946
+v -0.15909091 0.38412369 0.24730174
+v -0.15843041 0.42656522 0.24730171
+v -0.40194928 0.25267755 0.22959475
+v -0.18939394 0.35382066 0.24730173
+v -0.40268085 0.19560622 0.21481947
+v -0.38615492 0.29422420 0.24730171
+v -0.29789223 0.35247809 0.22959475
+v -0.45866000 0.18556679 0.24730171
+v -0.19408273 0.36968811 0.21481946
+v -0.35713824 0.32323729 0.24730171
+v -0.44281246 0.18512341 0.22959475
+v -0.43016584 0.23699888 0.24730171
+v -0.19932256 0.40012706 0.22959475
+v -0.24274430 0.39840557 0.24730171
+v -0.43086217 0.20958937 0.22959475
+v -0.24162333 0.38406645 0.22959475
+v -0.15858531 0.41189282 0.22959474
+v -0.29993095 0.36727944 0.24730171
+v -0.19975479 0.41514681 0.24730171
+v -0.44675035 0.20906419 0.24730171
+f 3 2 4
+f 6 1 2
+f 6 2 3
+f 6 3 1
+f 7 2 1
+f 9 7 5
+f 10 1 3
+f 11 2 7
+f 11 7 9
+f 12 9 5
+f 12 5 8
+f 12 8 3
+f 13 7 1
+f 13 1 10
+f 14 8 5
+f 14 3 8
+f 15 2 11
+f 17 5 7
+f 17 7 13
+f 17 14 5
+f 17 13 10
+f 18 15 11
+f 18 11 9
+f 19 4 2
+f 19 2 15
+f 20 9 12
+f 20 12 3
+f 20 3 16
+f 20 18 9
+f 20 16 18
+f 21 18 16
+f 21 15 18
+f 21 19 15
+f 21 4 19
+f 21 16 3
+f 21 3 4
+f 22 17 10
+f 22 14 17
+f 22 10 3
+f 22 3 14
\ No newline at end of file
diff --git a/objects/objaverse/yogurt/yogurt_2/collision/model_normalized_collision_13.obj b/objects/objaverse/yogurt/yogurt_2/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..81ac977f5e7dc02b9dcc78d6d35bb92eeef30c32
--- /dev/null
+++ b/objects/objaverse/yogurt/yogurt_2/collision/model_normalized_collision_13.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v 0.17424243 0.20230551 0.15421340
+v 0.21599027 0.23969388 0.01077779
+v 0.07659872 0.36607350 0.15421340
+v -0.15386018 0.38157377 0.15421340
+v -0.23484848 0.20230551 0.01784977
+v 0.00197445 0.36657029 0.02040164
+v 0.18344560 0.30461111 0.15421340
+v -0.23484848 0.20230551 0.15421340
+v 0.01949993 0.38302056 0.15421340
+v -0.23009465 0.32878835 0.01921897
+v 0.11877986 0.32111724 0.02037674
+v -0.06880028 0.38155795 0.08160659
+v 0.07659872 0.36607350 0.14128057
+v -0.22819796 0.35514912 0.15421340
+v -0.12408043 0.36476965 0.02062283
+v 0.16897914 0.28669693 0.01890167
+v 0.08982841 0.33641928 0.02049619
+v -0.01259285 0.38222826 0.09613223
+v -0.19978211 0.36800396 0.15421340
+v -0.09398076 0.38075724 0.08110909
+v 0.06096223 0.34962220 0.03557683
+v -0.15386018 0.38157377 0.14128057
+v -0.21191879 0.33765381 0.02009004
+v -0.18404260 0.35086254 0.03535371
+f 5 2 1
+f 7 1 2
+f 7 4 1
+f 8 5 1
+f 8 1 4
+f 9 7 3
+f 9 4 7
+f 10 5 8
+f 10 2 5
+f 13 9 3
+f 13 6 9
+f 13 3 7
+f 13 7 11
+f 14 10 8
+f 14 8 4
+f 15 6 2
+f 15 2 10
+f 15 12 6
+f 16 11 7
+f 16 7 2
+f 16 2 11
+f 17 11 2
+f 17 2 6
+f 17 13 11
+f 18 9 6
+f 18 6 12
+f 19 14 4
+f 20 12 15
+f 21 17 6
+f 21 6 13
+f 21 13 17
+f 22 18 12
+f 22 4 9
+f 22 9 18
+f 22 12 20
+f 22 20 15
+f 22 19 4
+f 23 10 14
+f 23 14 19
+f 23 15 10
+f 24 23 19
+f 24 19 22
+f 24 22 15
+f 24 15 23
\ No newline at end of file
diff --git a/objects/objaverse/yogurt/yogurt_2/collision/model_normalized_collision_14.obj b/objects/objaverse/yogurt/yogurt_2/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2a5622f3203edec77e101998aa7559b4060cc50b
--- /dev/null
+++ b/objects/objaverse/yogurt/yogurt_2/collision/model_normalized_collision_14.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v -0.32575757 0.06594187 0.01784977
+v -0.32575757 0.06594187 -0.10336235
+v -0.32575757 0.15685096 0.01784977
+v -0.40103070 0.14875162 0.02009275
+v -0.42552716 0.06495421 0.01867392
+v -0.36537730 0.15363253 -0.14608922
+v -0.39021171 0.06297825 -0.15607382
+v -0.41595628 0.10619568 0.01999198
+v -0.36533640 0.17868229 -0.11088763
+v -0.41585460 0.06329301 -0.05577379
+v -0.37693170 0.06694804 -0.17050577
+v -0.39763954 0.10478869 -0.11405990
+v -0.41344968 0.07804548 -0.05545230
+v -0.38312909 0.10644437 -0.15010473
+v -0.36368652 0.13823940 -0.15837258
+v -0.39765806 0.14700461 -0.00972647
+v -0.38254648 0.14638801 -0.11405989
+v -0.40338624 0.06373823 -0.12938314
+v -0.41232086 0.10500371 -0.00982007
+v -0.37086436 0.13457334 -0.15107289
+v -0.37121854 0.14849705 -0.14043926
+v -0.39882749 0.09004973 -0.12765833
+f 1 2 3
+f 1 3 4
+f 6 3 2
+f 7 2 1
+f 8 5 1
+f 8 1 4
+f 9 4 3
+f 9 3 6
+f 10 7 1
+f 10 1 5
+f 11 2 7
+f 13 10 5
+f 13 5 8
+f 14 11 7
+f 15 6 2
+f 15 2 11
+f 15 11 14
+f 16 8 4
+f 16 4 9
+f 17 16 9
+f 17 12 16
+f 18 7 10
+f 18 10 13
+f 19 13 8
+f 19 12 13
+f 19 16 12
+f 19 8 16
+f 20 15 14
+f 20 6 15
+f 21 17 9
+f 21 9 6
+f 21 20 14
+f 21 6 20
+f 22 12 17
+f 22 14 7
+f 22 7 18
+f 22 18 13
+f 22 13 12
+f 22 21 14
+f 22 17 21
\ No newline at end of file
diff --git a/objects/objaverse/yogurt/yogurt_2/collision/model_normalized_collision_15.obj b/objects/objaverse/yogurt/yogurt_2/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..238bea57dc5a8a797b58c73d7e693c8267e5e2a6
--- /dev/null
+++ b/objects/objaverse/yogurt/yogurt_2/collision/model_normalized_collision_15.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.18882301 -0.37144055 0.15421340
+v -0.18459208 -0.33101071 -0.10158261
+v -0.18516376 -0.35854806 0.09553734
+v -0.24765507 -0.31874670 0.01449972
+v -0.22661473 -0.35585586 0.14128057
+v -0.23924612 -0.30492358 -0.10451272
+v -0.18398013 -0.34461532 -0.01044671
+v -0.20677390 -0.36513993 0.15421340
+v -0.24406362 -0.34769104 0.15421340
+v -0.22603533 -0.31350996 -0.10105694
+v -0.19979215 -0.32397952 -0.10806874
+f 6 3 2
+f 6 4 3
+f 7 1 2
+f 7 2 3
+f 7 3 1
+f 8 5 2
+f 8 2 1
+f 9 4 6
+f 9 5 8
+f 9 3 4
+f 9 8 1
+f 9 1 3
+f 10 9 6
+f 10 5 9
+f 11 10 6
+f 11 6 2
+f 11 2 5
+f 11 5 10
\ No newline at end of file
diff --git a/objects/objaverse/yogurt/yogurt_2/collision/model_normalized_collision_16.obj b/objects/objaverse/yogurt/yogurt_2/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0a95aed5aa9699aa5252b6eb6007a6da660074cb
--- /dev/null
+++ b/objects/objaverse/yogurt/yogurt_2/collision/model_normalized_collision_16.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v 0.14103904 -0.30788433 0.01856856
+v 0.22475887 -0.20004485 -0.11558983
+v 0.24463166 -0.20343098 0.01865337
+v 0.14393940 -0.20678540 0.01784977
+v 0.12314761 -0.24379452 -0.18504732
+v 0.23813651 -0.19885979 -0.04083938
+v 0.15046829 -0.30131778 0.01980337
+v 0.14670640 -0.28113671 -0.11405991
+v 0.12127550 -0.28765064 -0.14274187
+v 0.16822685 -0.20056103 -0.18640927
+v 0.21774499 -0.22209963 -0.07018954
+v 0.23791275 -0.21386183 0.01980283
+v 0.12830151 -0.29704423 -0.10325216
+v 0.12878788 -0.20678540 -0.10336235
+v 0.19002812 -0.22272656 -0.15045726
+v 0.19412838 -0.19930229 -0.16636555
+v 0.21806679 -0.21072559 -0.11405991
+v 0.17483926 -0.26491135 -0.08534009
+v 0.23126196 -0.20941865 -0.03972859
+v 0.13581703 -0.30198661 -0.04091603
+v 0.13655335 -0.21521216 -0.20149915
+v 0.16160032 -0.26564081 -0.12695140
+v 0.14776914 -0.25140616 -0.16373436
+v 0.20444663 -0.22262887 -0.12698052
+v 0.14563131 -0.29485087 -0.03970678
+v 0.18960939 -0.20952977 -0.16381073
+v 0.13202435 -0.28176439 -0.13918158
+v 0.13430514 -0.24227130 -0.17973517
+v 0.15983916 -0.25314244 -0.15056343
+f 6 4 3
+f 7 4 1
+f 9 1 4
+f 10 4 6
+f 12 3 4
+f 12 4 7
+f 12 6 3
+f 13 9 8
+f 13 1 9
+f 14 9 4
+f 14 5 9
+f 14 4 10
+f 16 10 6
+f 16 6 2
+f 16 2 15
+f 17 2 6
+f 17 6 11
+f 18 13 8
+f 18 12 7
+f 18 11 12
+f 19 12 11
+f 19 11 6
+f 19 6 12
+f 20 13 7
+f 20 7 1
+f 20 1 13
+f 21 14 10
+f 21 5 14
+f 22 18 8
+f 23 9 5
+f 24 15 2
+f 24 2 17
+f 24 18 22
+f 24 17 11
+f 24 11 18
+f 25 18 7
+f 25 7 13
+f 25 13 18
+f 26 21 10
+f 26 10 16
+f 26 23 21
+f 26 16 15
+f 27 22 8
+f 27 8 9
+f 28 23 5
+f 28 5 21
+f 28 21 23
+f 29 22 27
+f 29 27 9
+f 29 9 23
+f 29 24 22
+f 29 15 24
+f 29 26 15
+f 29 23 26
\ No newline at end of file
diff --git a/objects/objaverse/yogurt/yogurt_2/collision/model_normalized_collision_17.obj b/objects/objaverse/yogurt/yogurt_2/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9b8e3a94026f3d88ae1596f1bd05a0774033b496
--- /dev/null
+++ b/objects/objaverse/yogurt/yogurt_2/collision/model_normalized_collision_17.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.17603968 0.31059170 0.21481947
+v 0.16897914 0.28669693 0.01890167
+v 0.17424243 0.33866915 0.22959475
+v 0.11363637 0.36897218 0.22959475
+v 0.09848485 0.30836611 0.24730171
+v 0.14267411 0.30663593 0.01814064
+v 0.18344560 0.30461111 0.15421340
+v 0.14976295 0.30117787 0.01651099
+v 0.09510691 0.34476708 0.09481241
+v 0.09486107 0.35925969 0.21481946
+v 0.10355882 0.35129833 0.13183027
+v 0.09315021 0.35467419 0.12985105
+f 5 2 1
+f 5 1 3
+f 5 3 4
+f 6 4 3
+f 7 1 2
+f 7 2 3
+f 7 3 1
+f 8 6 3
+f 8 3 2
+f 8 2 5
+f 8 5 6
+f 9 6 5
+f 10 5 4
+f 11 4 6
+f 11 6 9
+f 12 9 5
+f 12 5 10
+f 12 10 4
+f 12 11 9
+f 12 4 11
\ No newline at end of file
diff --git a/objects/objaverse/yogurt/yogurt_2/collision/model_normalized_collision_18.obj b/objects/objaverse/yogurt/yogurt_2/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f26f092c3470d5ed284415b6081281a5f7832e2c
--- /dev/null
+++ b/objects/objaverse/yogurt/yogurt_2/collision/model_normalized_collision_18.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.14393940 -0.34314904 0.24730171
+v 0.13945833 -0.33548320 0.15421341
+v 0.14393940 -0.23708843 0.24730171
+v -0.23484848 -0.23708843 0.24730171
+v -0.23243103 -0.35313425 0.15421340
+v -0.23484848 -0.23708843 0.15421340
+v 0.14393940 -0.23708843 0.15421340
+v 0.01303613 -0.38433162 0.15421340
+v -0.23484848 -0.35830055 0.24730171
+v 0.00757576 -0.35830055 0.24730168
+f 1 3 4
+f 6 4 3
+f 7 1 2
+f 7 3 1
+f 7 6 3
+f 7 5 6
+f 8 2 1
+f 8 7 2
+f 8 5 7
+f 9 1 4
+f 9 6 5
+f 9 4 6
+f 9 5 8
+f 10 9 8
+f 10 8 1
+f 10 1 9
\ No newline at end of file
diff --git a/objects/objaverse/yogurt/yogurt_2/collision/model_normalized_collision_19.obj b/objects/objaverse/yogurt/yogurt_2/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7261f70049494ad9c3cefbbd0e246d3a080b0921
--- /dev/null
+++ b/objects/objaverse/yogurt/yogurt_2/collision/model_normalized_collision_19.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.27494992 0.19887993 0.21481946
+v 0.27038287 0.19595737 0.12849512
+v 0.26515152 0.24776005 0.22959475
+v 0.18939394 0.32351763 0.22959475
+v 0.17424243 0.20230551 0.24730171
+v 0.21599027 0.23969388 0.01077779
+v 0.24202980 0.20690100 0.01676743
+v 0.16897914 0.28669693 0.01890167
+v 0.16863377 0.31657229 0.21481946
+v 0.17824290 0.27940597 0.02007838
+v 0.16543986 0.31261718 0.12936459
+f 1 2 3
+f 5 2 1
+f 5 1 3
+f 5 3 4
+f 6 4 3
+f 7 6 3
+f 7 3 2
+f 7 2 5
+f 8 7 5
+f 8 6 7
+f 9 5 4
+f 10 8 4
+f 10 4 6
+f 10 6 8
+f 11 8 5
+f 11 5 9
+f 11 9 4
+f 11 4 8
\ No newline at end of file
diff --git a/objects/objaverse/yogurt/yogurt_2/collision/model_normalized_collision_2.obj b/objects/objaverse/yogurt/yogurt_2/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b4ea6328eb6278b29a3588add29b9b838228bef0
--- /dev/null
+++ b/objects/objaverse/yogurt/yogurt_2/collision/model_normalized_collision_2.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.26229419 -0.32259291 0.24730171
+v 0.49188246 -0.18404262 0.24730171
+v 0.31060606 0.20230551 0.24730171
+v 0.35543898 -0.06682013 0.22959472
+v 0.26475239 -0.26706590 0.22959475
+v 0.31323931 0.19477183 0.22959475
+v 0.45379917 -0.22134736 0.24730171
+v 0.32444123 -0.16994806 0.22959475
+v 0.26515152 -0.00981570 0.24730171
+v 0.48984934 -0.11009646 0.24730171
+v 0.34198885 -0.12572431 0.22959475
+v 0.29385616 -0.22725217 0.22959475
+v 0.30921077 0.20146580 0.22959475
+v 0.32823111 0.19560287 0.24730171
+v 0.35592669 0.06468554 0.22959475
+v 0.27080581 -0.25964467 0.22959475
+v 0.33875358 0.13461557 0.22959475
+f 1 2 3
+f 7 5 2
+f 7 2 1
+f 7 1 5
+f 9 5 1
+f 9 1 3
+f 10 3 2
+f 11 8 4
+f 11 4 2
+f 11 2 8
+f 12 8 2
+f 12 4 8
+f 13 5 9
+f 13 6 4
+f 13 4 5
+f 13 9 3
+f 14 10 6
+f 14 3 10
+f 14 13 3
+f 14 6 13
+f 15 10 2
+f 15 2 4
+f 16 12 2
+f 16 2 5
+f 16 5 4
+f 16 4 12
+f 17 6 10
+f 17 10 15
+f 17 15 4
+f 17 4 6
\ No newline at end of file
diff --git a/objects/objaverse/yogurt/yogurt_2/collision/model_normalized_collision_20.obj b/objects/objaverse/yogurt/yogurt_2/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9911509d4ede9d6f9624db5a95b945197f2c4e5b
--- /dev/null
+++ b/objects/objaverse/yogurt/yogurt_2/collision/model_normalized_collision_20.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v -0.15909091 0.26291157 0.01784977
+v -0.15909091 0.26291157 -0.10336235
+v -0.15524852 0.35343621 -0.01033457
+v -0.15560919 0.35718958 0.01938032
+v -0.26559638 0.30694857 0.01112001
+v -0.25456984 0.29455820 -0.10957052
+v -0.23009465 0.32878835 0.01921897
+v -0.18373983 0.31156083 -0.15503281
+v -0.21191879 0.33765381 0.02009004
+v -0.22605626 0.32039461 -0.05537548
+v -0.15614185 0.34048597 -0.10149697
+v -0.23050012 0.28680882 -0.15856555
+v -0.16956254 0.35313483 0.01990703
+v -0.26005517 0.30336045 -0.03408423
+v -0.22499366 0.30770369 -0.12773823
+v -0.16884968 0.33761837 -0.10116442
+v -0.19147399 0.29761332 -0.16753874
+v -0.21209806 0.32004887 -0.10062038
+v -0.22751124 0.29285001 -0.15237298
+v -0.19696733 0.32009984 -0.12728576
+v -0.21111111 0.33597506 0.00517115
+v -0.19720658 0.30799806 -0.15132224
+f 1 2 3
+f 1 3 4
+f 6 2 1
+f 6 1 5
+f 7 5 1
+f 9 7 1
+f 10 5 7
+f 11 3 2
+f 11 2 8
+f 12 2 6
+f 13 9 1
+f 13 1 4
+f 14 10 6
+f 14 6 5
+f 14 5 10
+f 16 9 13
+f 16 3 11
+f 16 13 4
+f 16 4 3
+f 17 12 8
+f 17 8 2
+f 17 2 12
+f 18 15 6
+f 18 6 10
+f 19 12 6
+f 19 6 15
+f 20 16 11
+f 20 11 8
+f 20 18 16
+f 20 15 18
+f 21 18 10
+f 21 9 16
+f 21 16 18
+f 21 10 7
+f 21 7 9
+f 22 19 15
+f 22 8 12
+f 22 12 19
+f 22 20 8
+f 22 15 20
\ No newline at end of file
diff --git a/objects/objaverse/yogurt/yogurt_2/collision/model_normalized_collision_21.obj b/objects/objaverse/yogurt/yogurt_2/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dba2c231c0a6d13301222d533608a8fbe1d3ebcf
--- /dev/null
+++ b/objects/objaverse/yogurt/yogurt_2/collision/model_normalized_collision_21.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.15909091 -0.34314904 0.22959475
+v 0.25491422 -0.23069163 0.14128057
+v 0.26515152 -0.25223995 0.22959475
+v 0.14393940 -0.23708843 0.24730171
+v 0.14103904 -0.30788433 0.01856856
+v 0.25491422 -0.23069163 0.21481946
+v 0.20454546 -0.31284601 0.22959475
+v 0.13945834 -0.33548322 0.21481947
+v 0.22623733 -0.22954197 0.01929463
+v 0.13688963 -0.33108890 0.12934840
+v 0.21071340 -0.24436712 0.00420560
+v 0.13736426 -0.31674934 0.06493383
+v 0.18914399 -0.26715447 0.00274479
+v 0.18199324 -0.27357772 0.00415796
+v 0.20388921 -0.25161773 0.00282043
+v 0.15046829 -0.30131778 0.01980337
+f 6 3 2
+f 6 4 3
+f 7 3 4
+f 7 4 1
+f 7 1 5
+f 8 1 4
+f 9 2 3
+f 9 6 2
+f 9 4 6
+f 10 5 1
+f 10 1 8
+f 10 8 4
+f 11 5 4
+f 11 4 9
+f 11 9 3
+f 12 10 4
+f 12 4 5
+f 12 5 10
+f 13 3 7
+f 14 13 7
+f 15 11 3
+f 15 3 13
+f 15 13 14
+f 15 14 5
+f 15 5 11
+f 16 14 7
+f 16 7 5
+f 16 5 14
\ No newline at end of file
diff --git a/objects/objaverse/yogurt/yogurt_2/collision/model_normalized_collision_22.obj b/objects/objaverse/yogurt/yogurt_2/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c76aa3301aa33801b222b3ad0bcc320df083976
--- /dev/null
+++ b/objects/objaverse/yogurt/yogurt_2/collision/model_normalized_collision_22.obj
@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
+v -0.23428083 -0.32678440 0.01801702
+v -0.22683589 -0.22570715 -0.23637498
+v -0.23484848 -0.17648237 0.01784977
+v -0.38629349 -0.17644508 0.01785989
+v -0.31159490 -0.25112381 -0.10044150
+v -0.28510547 -0.16975244 -0.23675391
+v -0.35516273 -0.22489238 0.02040075
+v -0.22813757 -0.31696574 -0.07130383
+v -0.23484848 -0.17648237 -0.24730175
+v -0.37429622 -0.16965561 -0.08635393
+v -0.28048206 -0.26534514 -0.13777259
+v -0.25671085 -0.31412229 0.02005774
+v -0.37368402 -0.19961230 0.01980088
+v -0.22685648 -0.29970832 -0.14136867
+v -0.24292929 -0.21189353 -0.24730175
+v -0.35353890 -0.18163580 -0.13898205
+v -0.25383417 -0.29424189 -0.11405991
+v -0.28383578 -0.29581798 0.02043273
+v -0.35333093 -0.20834887 -0.07021718
+v -0.23279883 -0.21902554 -0.24730175
+v -0.27878119 -0.17501558 -0.24730175
+v -0.35879847 -0.16945975 -0.14190874
+v -0.32356007 -0.22292514 -0.13796921
+v -0.23927085 -0.31036034 -0.07025271
+v -0.23869316 -0.29425920 -0.13827936
+v -0.32561457 -0.25129563 -0.02481024
+v -0.28278228 -0.29427402 0.00551542
+v -0.36791727 -0.18119843 -0.08537235
+v -0.25365807 -0.26593916 -0.16325907
+v -0.35129807 -0.19551969 -0.12638739
+v -0.33916592 -0.19481956 -0.14838477
+v -0.27121057 -0.18287032 -0.24730175
+v -0.25355750 -0.30893862 -0.02457193
+v -0.32373219 -0.23821717 -0.10037449
+v -0.28070797 -0.28075614 -0.08516956
+v -0.31050020 -0.26569016 -0.02462246
+v -0.36847872 -0.19666757 -0.02485269
+v -0.35366012 -0.22375054 0.00548807
+f 8 3 1
+f 9 6 3
+f 9 3 2
+f 10 4 3
+f 10 3 6
+f 12 1 3
+f 12 8 1
+f 13 7 3
+f 13 3 4
+f 13 4 10
+f 14 2 3
+f 14 3 8
+f 17 5 11
+f 17 14 8
+f 18 12 3
+f 18 3 7
+f 19 7 13
+f 20 9 2
+f 20 2 14
+f 21 6 9
+f 21 20 15
+f 21 9 20
+f 22 10 6
+f 22 6 21
+f 23 11 5
+f 23 15 11
+f 24 17 8
+f 24 8 12
+f 25 17 11
+f 25 14 17
+f 25 20 14
+f 26 18 7
+f 27 17 12
+f 27 12 18
+f 29 11 15
+f 29 15 20
+f 29 25 11
+f 29 20 25
+f 30 22 16
+f 30 10 22
+f 30 28 10
+f 30 19 28
+f 31 22 21
+f 31 16 22
+f 31 21 23
+f 31 30 16
+f 31 23 30
+f 32 23 21
+f 32 21 15
+f 32 15 23
+f 33 24 12
+f 33 12 17
+f 33 17 24
+f 34 5 26
+f 34 19 30
+f 34 30 23
+f 34 23 5
+f 35 5 17
+f 35 17 27
+f 36 26 5
+f 36 35 27
+f 36 5 35
+f 36 27 18
+f 36 18 26
+f 37 28 19
+f 37 19 13
+f 37 13 10
+f 37 10 28
+f 38 34 26
+f 38 26 7
+f 38 7 19
+f 38 19 34
\ No newline at end of file
diff --git a/objects/objaverse/yogurt/yogurt_2/collision/model_normalized_collision_24.obj b/objects/objaverse/yogurt/yogurt_2/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..121dbe84be5cc31413c82ff220e42e2e50738067
--- /dev/null
+++ b/objects/objaverse/yogurt/yogurt_2/collision/model_normalized_collision_24.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v -0.41666667 -0.22193692 0.24730171
+v -0.41666667 -0.22193692 0.22959475
+v -0.40909158 0.18323014 0.21481946
+v -0.46129254 0.17982599 0.24730171
+v -0.49215045 -0.08247291 0.24730171
+v -0.41666667 0.18715399 0.24730171
+v -0.44498136 -0.21229298 0.24730171
+v -0.47757482 -0.08319775 0.22959475
+v -0.44411306 -0.18259646 0.22959475
+v -0.49291412 0.07834020 0.24730171
+v -0.46144987 -0.14107802 0.22959475
+v -0.42891671 -0.21287698 0.22959475
+v -0.47619738 0.09382788 0.22959475
+v -0.47665327 -0.14094381 0.24730171
+v -0.45956795 -0.18361575 0.24730171
+v -0.47802430 0.13684339 0.24730171
+v -0.44573100 0.17914826 0.22959475
+f 1 2 3
+f 5 1 4
+f 6 1 3
+f 6 3 4
+f 6 4 1
+f 7 2 1
+f 7 1 5
+f 10 8 5
+f 10 5 4
+f 11 8 3
+f 11 3 9
+f 12 9 3
+f 12 3 2
+f 12 2 7
+f 13 3 8
+f 13 8 10
+f 14 5 8
+f 14 8 11
+f 14 7 5
+f 15 12 7
+f 15 9 12
+f 15 7 14
+f 15 14 11
+f 15 11 9
+f 16 13 10
+f 16 10 4
+f 17 4 3
+f 17 3 13
+f 17 16 4
+f 17 13 16
\ No newline at end of file
diff --git a/objects/objaverse/yogurt/yogurt_2/collision/model_normalized_collision_25.obj b/objects/objaverse/yogurt/yogurt_2/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8e0611ed939289127b33c0cd2724e73e6a186f62
--- /dev/null
+++ b/objects/objaverse/yogurt/yogurt_2/collision/model_normalized_collision_25.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.14393940 -0.37345207 0.24730171
+v 0.25603368 -0.32590274 0.24730171
+v 0.14393940 -0.23708843 0.24730171
+v 0.25491422 -0.23069163 0.21481946
+v 0.14227547 -0.37091273 0.22959475
+v 0.26515152 -0.23708843 0.24730171
+v 0.19614592 -0.35756442 0.24730171
+v 0.20537446 -0.32725108 0.22959475
+v 0.16347578 -0.35702099 0.22959475
+v 0.24990994 -0.28526210 0.22959475
+f 1 2 3
+f 5 1 3
+f 5 3 4
+f 6 3 2
+f 6 2 4
+f 6 4 3
+f 7 5 2
+f 7 2 1
+f 7 1 5
+f 9 5 4
+f 9 4 8
+f 9 8 2
+f 9 2 5
+f 10 8 4
+f 10 4 2
+f 10 2 8
\ No newline at end of file
diff --git a/objects/objaverse/yogurt/yogurt_2/collision/model_normalized_collision_26.obj b/objects/objaverse/yogurt/yogurt_2/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..080adaee6d5c4e5970b1ebfeaffc4e04a7321d8e
--- /dev/null
+++ b/objects/objaverse/yogurt/yogurt_2/collision/model_normalized_collision_26.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v -0.23484848 0.15685096 0.01784977
+v -0.23484848 0.15685096 -0.10336235
+v -0.22799686 0.31252291 -0.10160112
+v -0.23009465 0.32878835 0.01921897
+v -0.39763461 0.15484086 0.01840643
+v -0.22847929 0.32543086 -0.01061881
+v -0.38920300 0.15047334 -0.05614162
+v -0.36986268 0.20519579 0.02045140
+v -0.24244192 0.32295976 0.02002664
+v -0.38059975 0.15367165 -0.10248074
+v -0.38545613 0.17883551 0.02015344
+v -0.23872759 0.32058044 -0.00955566
+v -0.32491791 0.24644134 -0.05501854
+v -0.38328076 0.16194452 -0.05511876
+v -0.36695166 0.19159800 -0.05493865
+v -0.28564022 0.29431009 0.01999782
+v -0.33922737 0.21916572 -0.10045962
+v -0.26871483 0.28977067 -0.08523206
+v -0.28152696 0.27756050 -0.10052491
+v -0.36800989 0.17703020 -0.10055505
+v -0.35411564 0.20380398 -0.08526271
+v -0.23898713 0.30584540 -0.10053146
+v -0.29546174 0.27619293 -0.03967096
+v -0.28350011 0.29124503 -0.00983681
+v -0.36834786 0.20407019 0.00553871
+v -0.33823854 0.23352756 -0.03968304
+f 1 2 3
+f 6 1 3
+f 6 4 1
+f 7 2 1
+f 7 1 5
+f 9 4 6
+f 9 8 1
+f 9 1 4
+f 10 3 2
+f 10 2 7
+f 11 5 1
+f 11 1 8
+f 11 7 5
+f 12 9 6
+f 12 6 3
+f 14 10 7
+f 14 7 11
+f 15 11 8
+f 15 14 11
+f 15 10 14
+f 16 13 8
+f 16 8 9
+f 18 16 9
+f 18 9 12
+f 19 3 10
+f 19 10 17
+f 19 17 13
+f 20 17 10
+f 20 10 15
+f 21 20 15
+f 21 17 20
+f 22 19 18
+f 22 3 19
+f 22 18 12
+f 22 12 3
+f 23 19 13
+f 23 13 16
+f 24 16 18
+f 24 18 19
+f 24 23 16
+f 24 19 23
+f 25 21 15
+f 25 15 8
+f 25 8 21
+f 26 21 8
+f 26 8 13
+f 26 13 17
+f 26 17 21
\ No newline at end of file
diff --git a/objects/objaverse/yogurt/yogurt_2/collision/model_normalized_collision_27.obj b/objects/objaverse/yogurt/yogurt_2/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cb9a6fd99ffc15ce8b1d90ffe1cf8b09e7bd2f67
--- /dev/null
+++ b/objects/objaverse/yogurt/yogurt_2/collision/model_normalized_collision_27.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v -0.36680448 -0.20767422 0.01132553
+v -0.35683317 -0.19406243 -0.10930668
+v -0.32575757 0.06594187 0.01784977
+v -0.42552716 0.06495421 0.01867392
+v -0.41389021 -0.09463211 -0.02517482
+v -0.32575757 0.06594187 -0.10336235
+v -0.39953033 -0.15221900 0.02032192
+v -0.40938407 0.06473346 -0.10238882
+v -0.38982170 -0.17026465 0.01953671
+v -0.41478255 -0.11008688 0.02015878
+v -0.38281576 -0.15075226 -0.10048493
+v -0.41441125 -0.03703745 -0.10103109
+v -0.38337721 -0.16622139 -0.03996527
+v -0.39833306 -0.10928743 -0.10077178
+v -0.41485197 0.03282361 -0.10109431
+v -0.37256112 -0.16867403 -0.10123845
+v -0.41297136 -0.10947136 0.00525276
+v -0.41316689 -0.06712021 -0.07056140
+v -0.39732064 -0.12407509 -0.07032569
+v -0.39785351 -0.15132739 0.00541230
+f 1 2 3
+f 6 3 2
+f 6 4 3
+f 8 4 6
+f 8 6 2
+f 9 1 3
+f 9 3 7
+f 10 7 3
+f 10 3 4
+f 12 10 4
+f 12 5 10
+f 12 8 2
+f 13 2 1
+f 13 1 9
+f 14 12 2
+f 14 2 11
+f 15 12 4
+f 15 4 8
+f 15 8 12
+f 16 13 11
+f 16 11 2
+f 16 2 13
+f 17 10 5
+f 17 5 14
+f 18 14 5
+f 18 5 12
+f 18 12 14
+f 19 14 11
+f 19 17 14
+f 20 7 10
+f 20 10 17
+f 20 17 19
+f 20 19 11
+f 20 11 13
+f 20 13 9
+f 20 9 7
\ No newline at end of file
diff --git a/objects/objaverse/yogurt/yogurt_2/collision/model_normalized_collision_28.obj b/objects/objaverse/yogurt/yogurt_2/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a236639f45a415dac8848ac092f20a2e4eaae8d1
--- /dev/null
+++ b/objects/objaverse/yogurt/yogurt_2/collision/model_normalized_collision_28.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.14605953 -0.33162447 0.15421340
+v 0.17783561 -0.27815052 0.01116412
+v 0.14393940 -0.23708843 0.15421340
+v -0.23484848 -0.23708843 0.15421340
+v -0.23428083 -0.32678440 0.01801702
+v -0.23484848 -0.23708843 0.01784977
+v 0.13453951 -0.31191699 0.02017935
+v -0.24406362 -0.34769104 0.15421340
+f 1 2 3
+f 6 3 2
+f 6 4 3
+f 6 2 5
+f 7 5 2
+f 7 2 1
+f 7 1 5
+f 8 5 1
+f 8 6 5
+f 8 4 6
+f 8 1 3
+f 8 3 4
\ No newline at end of file
diff --git a/objects/objaverse/yogurt/yogurt_2/collision/model_normalized_collision_29.obj b/objects/objaverse/yogurt/yogurt_2/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1260b768608f071482e8339e6ad95f8bba6c740f
--- /dev/null
+++ b/objects/objaverse/yogurt/yogurt_2/collision/model_normalized_collision_29.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.36680448 -0.20767422 0.01132553
+v -0.23484848 -0.17648237 -0.10336235
+v -0.23484848 0.15685096 0.01784977
+v -0.36533640 0.17868229 -0.11088763
+v -0.35683317 -0.19406243 -0.10930668
+v -0.23484848 0.15685096 -0.10336235
+v -0.32575757 0.15685096 0.01784977
+v -0.23484848 -0.17648237 0.01784977
+f 5 2 1
+f 5 1 4
+f 5 4 2
+f 6 3 2
+f 6 2 4
+f 6 4 3
+f 7 3 4
+f 7 4 1
+f 8 1 2
+f 8 2 3
+f 8 7 1
+f 8 3 7
\ No newline at end of file
diff --git a/objects/objaverse/yogurt/yogurt_2/collision/model_normalized_collision_3.obj b/objects/objaverse/yogurt/yogurt_2/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0989c26d7caa31ab3b9a4d8f9508bb35b905faef
--- /dev/null
+++ b/objects/objaverse/yogurt/yogurt_2/collision/model_normalized_collision_3.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.26515152 -0.23708843 0.24730171
+v 0.34090911 -0.07042176 0.22959473
+v 0.26515152 -0.00981570 0.24730171
+v -0.23484848 -0.00981570 0.24730171
+v -0.23484848 -0.23708843 0.01784977
+v 0.22623733 -0.22954197 0.01929463
+v -0.23484848 -0.23708843 0.24730171
+v 0.32575758 -0.13102783 0.22959475
+v 0.30577978 -0.00945223 0.01847902
+v 0.28030303 -0.22193692 0.22959475
+v 0.32931343 -0.00894240 0.21481946
+v 0.27860891 -0.13910899 0.02018526
+v -0.23484848 -0.00981570 0.01784977
+v 0.32459858 -0.00858732 0.13027771
+v 0.24905909 -0.19673000 0.02025869
+v 0.26179282 -0.18006773 0.03577213
+v 0.29310948 -0.09626948 0.02024102
+v 0.30997899 -0.00862738 0.05021001
+v 0.32409137 -0.06637248 0.14128057
+f 1 2 3
+f 1 3 4
+f 6 1 5
+f 7 5 1
+f 7 1 4
+f 8 2 1
+f 9 6 5
+f 10 8 1
+f 10 1 6
+f 11 3 2
+f 11 4 3
+f 12 6 9
+f 13 9 5
+f 13 7 4
+f 13 5 7
+f 14 11 2
+f 14 2 9
+f 14 13 4
+f 14 4 11
+f 15 10 6
+f 15 6 12
+f 16 12 8
+f 16 8 10
+f 16 15 12
+f 16 10 15
+f 17 12 9
+f 17 2 8
+f 17 8 12
+f 18 14 9
+f 18 9 13
+f 18 13 14
+f 19 17 9
+f 19 9 2
+f 19 2 17
\ No newline at end of file
diff --git a/objects/objaverse/yogurt/yogurt_2/collision/model_normalized_collision_30.obj b/objects/objaverse/yogurt/yogurt_2/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a7428fb835d15273441714353380fcf04592750e
--- /dev/null
+++ b/objects/objaverse/yogurt/yogurt_2/collision/model_normalized_collision_30.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.32142291 -0.35247144 0.24730171
+v -0.31997205 -0.33547380 0.22959475
+v -0.32575757 -0.22193692 0.24730171
+v -0.44137626 -0.21865990 0.24730171
+v -0.41690295 -0.25640916 0.24730171
+v -0.38070543 -0.22915095 0.21481946
+v -0.32963376 -0.32819088 0.22959475
+v -0.42605304 -0.21858319 0.22959475
+v -0.33089531 -0.34531390 0.24730171
+v -0.43479823 -0.22966924 0.24730171
+v -0.39984338 -0.25542233 0.22959475
+f 1 2 3
+f 1 3 4
+f 5 1 4
+f 6 3 2
+f 7 2 1
+f 7 6 2
+f 8 4 3
+f 8 3 6
+f 9 7 1
+f 9 1 5
+f 9 5 7
+f 10 8 5
+f 10 5 4
+f 10 4 8
+f 11 7 5
+f 11 5 8
+f 11 8 6
+f 11 6 7
\ No newline at end of file
diff --git a/objects/objaverse/yogurt/yogurt_2/collision/model_normalized_collision_31.obj b/objects/objaverse/yogurt/yogurt_2/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9011d0d3275b2caf67a376cef1ebe11becbec9db
--- /dev/null
+++ b/objects/objaverse/yogurt/yogurt_2/collision/model_normalized_collision_31.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.23484849 -0.00981570 0.24730171
+v 0.23484849 -0.00981570 0.01784977
+v 0.24202980 0.20690100 0.01676743
+v -0.23484848 0.20230551 0.24730171
+v -0.23484848 -0.00981570 0.24730171
+v -0.23484848 0.20230551 0.01784977
+v 0.23484849 0.20230551 0.24730171
+v -0.23484848 -0.00981570 0.01784977
+f 1 2 3
+f 5 2 1
+f 5 1 4
+f 6 4 3
+f 6 5 4
+f 7 1 3
+f 7 3 4
+f 7 4 1
+f 8 6 3
+f 8 3 2
+f 8 2 5
+f 8 5 6
\ No newline at end of file
diff --git a/objects/objaverse/yogurt/yogurt_2/collision/model_normalized_collision_5.obj b/objects/objaverse/yogurt/yogurt_2/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d8d6aad696828fabbc6b4e77a3be1e0e18fb492
--- /dev/null
+++ b/objects/objaverse/yogurt/yogurt_2/collision/model_normalized_collision_5.obj
@@ -0,0 +1,126 @@
+# https://github.com/mikedh/trimesh
+v 0.14393940 0.17200248 -0.10336235
+v 0.14393940 0.17200248 -0.24730173
+v 0.07634266 0.32461632 -0.10122518
+v -0.16884968 0.33761837 -0.10116442
+v -0.23484848 0.17200248 -0.10336235
+v -0.04019940 0.27643368 -0.24730173
+v 0.13313998 0.29359871 -0.10087968
+v 0.00539999 0.33607203 -0.14015585
+v -0.22763526 0.22259353 -0.24730173
+v -0.28152696 0.27756050 -0.10052491
+v 0.03350255 0.33925103 -0.10128608
+v -0.12493499 0.33639904 -0.14017475
+v 0.10398263 0.29258193 -0.15180168
+v -0.23484848 0.17200248 -0.24730173
+v -0.26882675 0.27539115 -0.13853751
+v 0.06250517 0.31977018 -0.13925912
+v -0.00926658 0.32209977 -0.16564651
+v -0.15520335 0.26240669 -0.24730173
+v 0.13284506 0.26203580 -0.16380977
+v 0.08946368 0.23193886 -0.24730173
+v -0.30369342 0.25702026 -0.10504085
+v -0.25377524 0.29011073 -0.12682321
+v 0.07390463 0.31971527 -0.12693151
+v 0.03191684 0.33397191 -0.12707299
+v 0.03183963 0.26030532 -0.24730173
+v -0.08243526 0.27628033 -0.24730173
+v -0.19563983 0.24368557 -0.24730173
+v 0.11714739 0.29244860 -0.13926559
+v 0.13662089 0.19376706 -0.24730173
+v -0.28014213 0.27600402 -0.11405989
+v -0.28944681 0.24181665 -0.15825911
+v -0.18214220 0.32089961 -0.13952098
+v 0.10423558 0.30461989 -0.12695145
+v 0.03337903 0.32150678 -0.15198181
+v 0.07543814 0.30634561 -0.15095734
+v 0.13193767 0.29195463 -0.11405989
+v -0.28216970 0.26313141 -0.13913660
+v -0.28424548 0.25182254 -0.15331616
+v -0.16770305 0.33592480 -0.11405988
+v -0.16917238 0.32014689 -0.14996622
+v -0.21149725 0.29102604 -0.16405439
+v -0.15492625 0.33498943 -0.12753065
+v -0.23833179 0.27674013 -0.16326368
+f 5 2 1
+f 7 1 2
+f 10 5 1
+f 10 1 7
+f 10 7 4
+f 11 7 3
+f 11 4 7
+f 12 11 8
+f 12 4 11
+f 14 2 5
+f 14 6 2
+f 17 12 8
+f 17 8 6
+f 17 6 12
+f 21 14 5
+f 21 5 10
+f 22 10 4
+f 23 11 3
+f 24 16 8
+f 24 8 11
+f 24 23 16
+f 24 11 23
+f 25 6 8
+f 25 13 20
+f 25 20 2
+f 25 2 6
+f 26 18 12
+f 26 12 6
+f 26 6 14
+f 26 14 18
+f 27 9 15
+f 27 18 14
+f 27 14 9
+f 28 13 16
+f 28 20 13
+f 28 19 20
+f 29 20 19
+f 29 19 2
+f 29 2 20
+f 30 21 10
+f 30 22 15
+f 30 10 22
+f 31 9 14
+f 31 14 21
+f 32 15 22
+f 33 23 3
+f 33 28 16
+f 33 16 23
+f 34 25 8
+f 34 8 16
+f 34 16 25
+f 35 25 16
+f 35 16 13
+f 35 13 25
+f 36 19 28
+f 36 7 2
+f 36 2 19
+f 36 28 33
+f 36 33 3
+f 36 3 7
+f 37 30 15
+f 37 21 30
+f 38 15 9
+f 38 9 31
+f 38 37 15
+f 38 31 21
+f 38 21 37
+f 39 32 22
+f 39 22 4
+f 39 4 12
+f 40 12 18
+f 40 18 27
+f 41 15 32
+f 41 40 27
+f 41 32 40
+f 42 39 12
+f 42 12 40
+f 42 40 32
+f 42 32 39
+f 43 41 27
+f 43 27 15
+f 43 15 41
\ No newline at end of file
diff --git a/objects/objaverse/yogurt/yogurt_2/collision/model_normalized_collision_6.obj b/objects/objaverse/yogurt/yogurt_2/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..70bc4f3c52b9f63e9f7ad64e27b1a7e6d0ee79e9
--- /dev/null
+++ b/objects/objaverse/yogurt/yogurt_2/collision/model_normalized_collision_6.obj
@@ -0,0 +1,123 @@
+# https://github.com/mikedh/trimesh
+v -0.23484848 -0.17648237 -0.10336235
+v -0.23484848 -0.17648237 -0.24730175
+v -0.22591353 0.23421446 -0.21865345
+v -0.26118733 0.29002570 -0.11165367
+v -0.40307168 -0.09583892 -0.10144136
+v -0.37256112 -0.16867403 -0.10123845
+v -0.29749340 0.26332493 -0.10069093
+v -0.33852839 0.03235758 -0.24730174
+v -0.28891578 0.27071375 -0.10203022
+v -0.32590598 0.23577875 -0.10077520
+v -0.22763526 0.22259353 -0.24730173
+v -0.32368509 -0.09372154 -0.24730174
+v -0.40938407 0.06473346 -0.10238882
+v -0.29799338 0.24873539 -0.13962639
+v -0.38219778 -0.12408539 -0.13887440
+v -0.28347946 -0.16869505 -0.24730175
+v -0.39832604 -0.06717522 -0.13979546
+v -0.37430482 0.16535092 -0.10151790
+v -0.32430726 0.23450200 -0.11405989
+v -0.28741960 0.26903211 -0.11560097
+v -0.30805322 0.13045575 -0.24730174
+v -0.38174589 -0.13907447 -0.12698316
+v -0.35471120 -0.16836857 -0.15139563
+v -0.39896085 0.06300392 -0.14012372
+v -0.39784994 -0.09396227 -0.12730499
+v -0.33964603 -0.02487885 -0.24730174
+v -0.38500916 -0.09620667 -0.15099520
+v -0.35797572 0.19500441 -0.10133778
+v -0.29612351 0.26178524 -0.11405989
+v -0.28039772 0.17295130 -0.24730173
+v -0.38688954 -0.14092307 -0.10129573
+v -0.36781957 -0.16599166 -0.12688817
+v -0.36989165 -0.13839010 -0.15019461
+v -0.29490714 -0.15112195 -0.24730175
+v -0.32504044 0.08999095 -0.24730174
+v -0.36939660 0.16264361 -0.12750152
+v -0.38441688 -0.05348260 -0.16607527
+v -0.23761158 0.21540817 -0.24730173
+v -0.36838551 0.11828211 -0.16357816
+v -0.35315656 0.19234621 -0.12710608
+v -0.33888687 0.20374227 -0.13817183
+v -0.33938007 0.17560746 -0.16318582
+f 1 2 3
+f 1 3 4
+f 6 2 1
+f 7 6 1
+f 9 7 1
+f 9 1 4
+f 10 6 7
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\ No newline at end of file
diff --git a/objects/objaverse/yogurt/yogurt_2/collision/model_normalized_collision_8.obj b/objects/objaverse/yogurt/yogurt_2/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bece41f2957a0d246cbab769575d4d97a1e982c1
--- /dev/null
+++ b/objects/objaverse/yogurt/yogurt_2/collision/model_normalized_collision_8.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/objects/objaverse/yogurt/yogurt_2/collision/model_normalized_collision_9.obj b/objects/objaverse/yogurt/yogurt_2/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..01ad72ac92e60e76249e2af746d2cb3b6c96f180
--- /dev/null
+++ b/objects/objaverse/yogurt/yogurt_2/collision/model_normalized_collision_9.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v 0.00757576 -0.40375510 0.22959475
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\ No newline at end of file
diff --git a/objects/objaverse/yogurt/yogurt_2/visual/material.mtl b/objects/objaverse/yogurt/yogurt_2/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d2d2fe319b3fdc0943cf1402de77c394e294aa15
--- /dev/null
+++ b/objects/objaverse/yogurt/yogurt_2/visual/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 11.45513500
+map_Kd material_0.jpeg
\ No newline at end of file
diff --git a/objects/objaverse/yogurt/yogurt_2/visual/model_normalized_0.obj b/objects/objaverse/yogurt/yogurt_2/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..03785377e922b0d3a2e3b04e1a9829be3b80f24f
--- /dev/null
+++ b/objects/objaverse/yogurt/yogurt_2/visual/model_normalized_0.obj
@@ -0,0 +1,7700 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/objects/objaverse/yogurt/yogurt_3/collision/model_normalized_collision_0.obj b/objects/objaverse/yogurt/yogurt_3/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a368277d6b4a646a89162a7573ce32f6df9988ad
--- /dev/null
+++ b/objects/objaverse/yogurt/yogurt_3/collision/model_normalized_collision_0.obj
@@ -0,0 +1,165 @@
+# https://github.com/mikedh/trimesh
+v 0.24299430 0.12532646 0.26568322
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\ No newline at end of file
diff --git a/objects/objaverse/yogurt/yogurt_3/collision/model_normalized_collision_1.obj b/objects/objaverse/yogurt/yogurt_3/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2a65ed9aec816bdaf6138b0286d98954c987a0d6
--- /dev/null
+++ b/objects/objaverse/yogurt/yogurt_3/collision/model_normalized_collision_1.obj
@@ -0,0 +1,129 @@
+# https://github.com/mikedh/trimesh
+v 0.28540490 0.13831045 0.49278194
+v 0.28818300 0.14099077 0.48257375
+v 0.15400364 0.27608308 0.49397381
+v -0.07797036 0.30781119 0.48845127
+v -0.25317781 0.12838181 0.39720268
+v -0.28461514 0.13044631 0.49171669
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+v -0.16193394 0.26534384 0.49326282
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+v -0.28987936 0.12463605 0.48815897
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+v -0.27159357 0.15342308 0.49256934
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+v -0.05355010 0.31176895 0.49145141
+v 0.14578297 0.27619739 0.48309075
+v -0.15149384 0.27752093 0.48413181
+v 0.00511252 0.27794088 0.40280368
+v -0.25535004 0.19226425 0.48484285
+v 0.17435929 0.26475983 0.49316770
+v 0.26056446 0.17796131 0.48458110
+v -0.14966813 0.27942913 0.48862202
+v 0.07454795 0.30758988 0.49045835
+v -0.09296826 0.26397908 0.40404747
+v 0.01808589 0.27793793 0.40200913
+v -0.07933366 0.30670657 0.48609007
+v -0.28192515 0.14820039 0.47182381
+v -0.19642597 0.23923727 0.49207615
+v -0.25238599 0.15786445 0.40094062
+v 0.17346995 0.26406084 0.48976263
+v -0.19388324 0.24722288 0.48012016
+v 0.06404257 0.26993025 0.40246149
+v -0.10763366 0.29553155 0.47775404
+v -0.28232684 0.14820807 0.47917656
+v -0.25277344 0.19135438 0.47456995
+v -0.28347576 0.13488355 0.46397057
+v -0.19448712 0.24668867 0.48449747
+v -0.16612996 0.26372271 0.47609538
+f 10 1 2
+f 10 6 1
+f 10 7 3
+f 12 2 1
+f 12 1 8
+f 12 11 2
+f 12 8 5
+f 12 5 11
+f 13 1 6
+f 14 10 3
+f 14 9 10
+f 15 11 5
+f 16 10 2
+f 16 7 10
+f 16 2 11
+f 17 10 9
+f 17 6 10
+f 19 5 8
+f 19 8 13
+f 20 13 8
+f 20 8 1
+f 20 1 13
+f 21 9 14
+f 25 13 6
+f 25 6 17
+f 26 3 7
+f 26 7 18
+f 27 16 11
+f 27 11 18
+f 27 18 7
+f 27 7 16
+f 28 21 4
+f 28 9 21
+f 29 14 3
+f 29 3 22
+f 29 22 11
+f 30 15 23
+f 31 11 15
+f 31 30 24
+f 31 15 30
+f 31 14 29
+f 31 24 21
+f 31 21 14
+f 32 4 21
+f 32 21 24
+f 32 24 30
+f 33 19 13
+f 34 25 17
+f 34 17 9
+f 34 9 28
+f 35 15 5
+f 35 5 19
+f 36 22 3
+f 36 3 26
+f 36 11 22
+f 36 26 18
+f 36 18 11
+f 37 28 23
+f 37 15 35
+f 38 31 29
+f 38 29 11
+f 38 11 31
+f 39 32 30
+f 39 30 23
+f 39 23 28
+f 39 28 4
+f 39 4 32
+f 40 33 13
+f 40 13 25
+f 40 25 33
+f 41 35 33
+f 41 33 25
+f 41 37 35
+f 41 25 37
+f 42 35 19
+f 42 19 33
+f 42 33 35
+f 43 34 28
+f 43 28 37
+f 43 37 25
+f 43 25 34
+f 44 37 23
+f 44 23 15
+f 44 15 37
\ No newline at end of file
diff --git a/objects/objaverse/yogurt/yogurt_3/collision/model_normalized_collision_10.obj b/objects/objaverse/yogurt/yogurt_3/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..301e30284ababc95ff3653b421edf9b4faae9876
--- /dev/null
+++ b/objects/objaverse/yogurt/yogurt_3/collision/model_normalized_collision_10.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.26434969 -0.00804309 0.48864825
+v 0.26742667 0.05866576 0.26209429
+v 0.26401789 0.14441559 0.49290614
+v -0.23890849 0.14082952 0.44052121
+v -0.26242497 -0.00469833 0.26916023
+v 0.23286216 0.14300034 0.26510497
+v -0.21154897 -0.00172001 0.48059047
+v 0.28036720 -0.00968127 0.40199831
+v -0.14625532 0.14279503 0.26515150
+v 0.15971863 0.06843058 0.49037341
+v -0.14630137 0.14281087 0.47713118
+v -0.14792922 -0.00946813 0.47060772
+v 0.17192649 -0.00872011 0.26515150
+v 0.20341448 0.14582577 0.49291824
+v -0.24218982 0.13298624 0.26348481
+v 0.26401804 0.09922216 0.49208763
+f 6 3 2
+f 7 4 5
+f 8 2 3
+f 8 3 1
+f 10 7 1
+f 11 4 7
+f 11 9 4
+f 12 7 5
+f 12 1 7
+f 12 8 1
+f 13 2 8
+f 13 12 5
+f 13 8 12
+f 14 3 6
+f 14 6 9
+f 14 9 11
+f 14 11 7
+f 14 7 10
+f 15 5 4
+f 15 4 9
+f 15 13 5
+f 15 2 13
+f 15 9 6
+f 15 6 2
+f 16 14 10
+f 16 10 1
+f 16 1 3
+f 16 3 14
\ No newline at end of file
diff --git a/objects/objaverse/yogurt/yogurt_3/collision/model_normalized_collision_11.obj b/objects/objaverse/yogurt/yogurt_3/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c0fb3c7ca868424a974d221a0a462db1534e8876
--- /dev/null
+++ b/objects/objaverse/yogurt/yogurt_3/collision/model_normalized_collision_11.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v -0.14603464 -0.23558183 0.38651563
+v -0.11134009 -0.21515174 -0.09786660
+v -0.11595229 -0.00872011 0.26515150
+v -0.27320969 0.03643964 0.26442176
+v -0.21887285 -0.11827615 0.00866793
+v -0.14625532 -0.00872011 0.38636362
+v -0.11314886 -0.24439662 0.26505235
+v -0.15236133 -0.18995024 -0.09806442
+v -0.26602385 -0.08033022 0.38551240
+v -0.25315115 0.05435611 0.14679110
+v -0.10751488 -0.22632515 -0.02237392
+v -0.22575969 -0.16670704 0.38396379
+v -0.23530055 -0.05125355 -0.08184370
+v -0.27738958 -0.00806143 0.38390939
+v -0.16592165 -0.22305464 0.38980582
+v -0.12307442 -0.23962336 0.26604372
+v -0.11595229 -0.00872011 -0.09848486
+v -0.10982378 -0.23927244 0.17741692
+v -0.12577270 -0.20795550 -0.09718542
+v -0.18946259 -0.14809188 -0.09651626
+v -0.23440373 -0.12009326 0.20562860
+v -0.22199981 -0.09233545 -0.09567190
+v -0.25828685 0.03508287 0.05281070
+v -0.17633542 -0.20515143 0.29900262
+v -0.13572190 -0.21750447 0.08101865
+v -0.20409827 -0.14701873 0.02541314
+v -0.23547897 -0.00561184 -0.09299481
+v -0.25329096 0.04805508 0.05112169
+v -0.20519490 -0.13221395 -0.05066207
+v -0.23352270 -0.02306502 -0.09417353
+f 7 6 1
+f 7 3 6
+f 10 6 3
+f 10 4 6
+f 14 9 6
+f 14 6 4
+f 14 13 9
+f 15 1 6
+f 15 6 9
+f 15 9 12
+f 16 11 7
+f 16 7 1
+f 16 1 11
+f 17 11 2
+f 17 3 11
+f 17 2 8
+f 17 10 3
+f 18 11 3
+f 18 3 7
+f 18 7 11
+f 19 8 2
+f 19 2 11
+f 21 12 9
+f 21 5 12
+f 22 9 13
+f 22 21 9
+f 22 5 21
+f 22 17 8
+f 22 8 20
+f 23 14 4
+f 23 13 14
+f 24 15 12
+f 24 12 8
+f 24 8 15
+f 25 11 1
+f 25 1 15
+f 25 19 11
+f 25 15 8
+f 25 8 19
+f 26 12 5
+f 26 20 8
+f 26 8 12
+f 27 13 23
+f 28 23 4
+f 28 4 10
+f 28 10 17
+f 28 27 23
+f 28 17 27
+f 29 22 20
+f 29 20 26
+f 29 26 5
+f 29 5 22
+f 30 22 13
+f 30 13 27
+f 30 27 17
+f 30 17 22
\ No newline at end of file
diff --git a/objects/objaverse/yogurt/yogurt_3/collision/model_normalized_collision_12.obj b/objects/objaverse/yogurt/yogurt_3/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..de9da4ceee92a1dadace0dc472f79e380b238039
--- /dev/null
+++ b/objects/objaverse/yogurt/yogurt_3/collision/model_normalized_collision_12.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v -0.11134009 -0.21515174 -0.09786660
+v -0.10920299 -0.21002306 -0.20213392
+v -0.11595229 -0.00872011 -0.09848486
+v -0.22759021 0.04412844 -0.19123652
+v -0.22199981 -0.09233545 -0.09567190
+v -0.22686169 0.04170510 -0.35689150
+v -0.17783451 -0.16321424 -0.09904635
+v -0.12577270 -0.20795550 -0.09718542
+v -0.23376201 -0.00813330 -0.09754985
+v -0.11595229 -0.00872011 -0.23484849
+v -0.18170992 -0.12519792 -0.35535335
+v -0.20658994 -0.12344958 -0.09649828
+v -0.13736463 -0.18733166 -0.23332563
+v -0.22041170 -0.04925931 -0.29472566
+v -0.23251246 0.03352150 -0.23275859
+v -0.17132291 -0.13859601 -0.35580844
+v -0.15236133 -0.18995024 -0.09806442
+v -0.18893163 -0.13192381 -0.23433066
+v -0.18838505 -0.12172843 -0.31069475
+v -0.21104523 -0.05803792 -0.36247014
+v -0.23117899 0.03509738 -0.18979739
+v -0.11479914 -0.20352591 -0.23473071
+v -0.20300826 -0.12053587 -0.15669182
+v -0.20197320 -0.09121346 -0.32094556
+v -0.21912128 -0.08021670 -0.18630525
+v -0.12043242 -0.20328874 -0.20362216
+f 1 2 3
+f 8 1 3
+f 8 3 5
+f 8 2 1
+f 9 5 3
+f 9 3 4
+f 10 3 2
+f 10 6 4
+f 10 4 3
+f 12 8 5
+f 14 5 9
+f 15 4 6
+f 15 14 9
+f 15 6 14
+f 16 6 10
+f 17 12 7
+f 17 8 12
+f 17 16 13
+f 17 7 16
+f 18 7 12
+f 18 16 7
+f 18 11 16
+f 19 11 18
+f 20 14 6
+f 20 16 11
+f 20 6 16
+f 21 15 9
+f 21 9 4
+f 21 4 15
+f 22 16 10
+f 22 10 2
+f 22 13 16
+f 23 12 5
+f 23 5 19
+f 23 19 18
+f 23 18 12
+f 24 20 11
+f 24 11 19
+f 24 19 5
+f 25 5 14
+f 25 14 20
+f 25 24 5
+f 25 20 24
+f 26 17 13
+f 26 13 22
+f 26 8 17
+f 26 22 2
+f 26 2 8
\ No newline at end of file
diff --git a/objects/objaverse/yogurt/yogurt_3/collision/model_normalized_collision_13.obj b/objects/objaverse/yogurt/yogurt_3/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4478bc0076c7f8c464486fbb0f0cded13f0f9496
--- /dev/null
+++ b/objects/objaverse/yogurt/yogurt_3/collision/model_normalized_collision_13.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v -0.14625532 -0.00872011 0.26515150
+v -0.13110381 -0.00872011 -0.23484849
+v -0.13110381 -0.00872011 0.00757575
+v -0.14231654 0.22764416 0.26585257
+v -0.29813510 0.11394856 0.21114466
+v -0.12368107 0.20808804 -0.12711866
+v -0.22788220 -0.01193825 -0.23618796
+v -0.29892949 0.09362208 0.26683685
+v -0.12883656 0.21543765 0.00827479
+v -0.24052343 0.12886531 -0.23559273
+v -0.26242497 -0.00469833 0.26916023
+v -0.28605145 0.13080848 0.26282758
+v -0.26663675 0.08431046 -0.20202532
+v -0.15005918 0.21555368 0.16524187
+v -0.12686009 0.19719240 -0.23523403
+v -0.24871275 -0.00826303 0.05393716
+v -0.29714586 0.10473700 0.26279067
+v -0.28144683 0.12995548 0.19696604
+v -0.29758650 0.09643664 0.20892012
+v -0.25766699 0.07695117 -0.23358113
+v -0.25479245 0.11307970 -0.23648795
+v -0.23395543 -0.00806956 -0.17063606
+v -0.29764496 0.11320447 0.22920745
+v -0.26557421 0.09195202 -0.20451256
+f 1 3 4
+f 6 3 2
+f 7 2 3
+f 7 3 1
+f 9 6 4
+f 9 4 3
+f 9 3 6
+f 11 1 4
+f 11 4 8
+f 12 8 4
+f 14 10 4
+f 14 4 6
+f 14 6 10
+f 15 10 6
+f 15 6 2
+f 15 2 7
+f 16 7 1
+f 16 1 11
+f 17 8 12
+f 18 10 5
+f 18 5 12
+f 18 12 4
+f 18 4 10
+f 19 8 5
+f 19 5 13
+f 19 13 16
+f 19 16 11
+f 19 11 8
+f 20 7 13
+f 21 5 10
+f 21 7 20
+f 21 15 7
+f 21 10 15
+f 22 16 13
+f 22 13 7
+f 22 7 16
+f 23 17 12
+f 23 12 5
+f 23 5 8
+f 23 8 17
+f 24 13 5
+f 24 5 21
+f 24 21 20
+f 24 20 13
\ No newline at end of file
diff --git a/objects/objaverse/yogurt/yogurt_3/collision/model_normalized_collision_14.obj b/objects/objaverse/yogurt/yogurt_3/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..767cb4c252955a811f368e983e3349e1e55a7032
--- /dev/null
+++ b/objects/objaverse/yogurt/yogurt_3/collision/model_normalized_collision_14.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v 0.00525983 0.14279503 0.40151513
+v 0.00525983 0.14279503 0.26515150
+v 0.00521072 0.27777444 0.40172406
+v -0.09296826 0.26397908 0.40404747
+v -0.25317781 0.12838181 0.39720268
+v -0.05462397 0.26106835 0.21990847
+v -0.14625532 0.12764352 0.40151513
+v 0.00501466 0.27031735 0.26316363
+v -0.05297537 0.26319728 0.25260046
+v -0.23879471 0.16256000 0.27085125
+v -0.14625532 0.12764352 0.26515150
+v -0.05534623 0.18824958 0.21969696
+v -0.06585068 0.26120121 0.25212971
+v -0.25191887 0.16597338 0.39600482
+v -0.25267817 0.12789170 0.26523571
+v -0.12389947 0.23528339 0.21841678
+v -0.15139893 0.23400293 0.40155763
+v -0.10719327 0.24467107 0.23760780
+v -0.14015883 0.22492917 0.22219885
+v -0.12209639 0.24561352 0.34500396
+v -0.08184962 0.25310461 0.22007845
+v -0.13736651 0.22943189 0.25028365
+v -0.15896785 0.21062124 0.21805515
+f 1 2 3
+f 1 3 4
+f 7 2 1
+f 7 1 4
+f 7 4 5
+f 8 3 2
+f 9 4 3
+f 9 8 6
+f 9 3 8
+f 11 2 7
+f 12 8 2
+f 12 6 8
+f 12 2 11
+f 13 9 6
+f 13 4 9
+f 15 11 7
+f 15 7 5
+f 15 12 11
+f 15 14 10
+f 15 5 14
+f 16 6 12
+f 17 14 5
+f 17 5 4
+f 18 16 4
+f 19 10 14
+f 20 17 4
+f 20 4 16
+f 20 16 17
+f 21 18 4
+f 21 4 13
+f 21 13 6
+f 21 6 16
+f 21 16 18
+f 22 17 16
+f 22 16 19
+f 22 19 14
+f 22 14 17
+f 23 15 10
+f 23 10 19
+f 23 12 15
+f 23 19 16
+f 23 16 12
\ No newline at end of file
diff --git a/objects/objaverse/yogurt/yogurt_3/collision/model_normalized_collision_15.obj b/objects/objaverse/yogurt/yogurt_3/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..35ce33a7ccb855845ec299e5983eaae9a72b5c8c
--- /dev/null
+++ b/objects/objaverse/yogurt/yogurt_3/collision/model_normalized_collision_15.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v -0.11595229 -0.00872011 -0.23484849
+v -0.10589216 -0.00817891 -0.46296405
+v -0.10926445 0.20735954 -0.24905634
+v -0.11003178 0.20772968 -0.23462312
+v -0.25766699 0.07695117 -0.23358113
+v -0.22775549 -0.01318403 -0.23661679
+v -0.12501651 0.17934385 -0.49219374
+v -0.21209914 -0.00851055 -0.49330811
+v -0.19811908 -0.01251678 -0.49491578
+v -0.10829304 0.19414914 -0.48619358
+v -0.24052343 0.12886531 -0.23559273
+v -0.21739248 -0.00885534 -0.46223194
+v -0.17566678 0.12076842 -0.49108063
+v -0.11573908 0.18460395 -0.49141677
+v -0.23533178 0.11574328 -0.38547811
+v -0.11922468 0.20264300 -0.23585886
+v -0.12738893 0.15215171 -0.49148117
+v -0.12052816 0.18599176 -0.48885337
+v -0.23914158 0.10672167 -0.40725087
+v -0.24383604 0.12353747 -0.26485010
+v -0.17401740 0.12900512 -0.48616395
+v -0.21064337 0.03367483 -0.49103389
+v -0.24878214 0.07662788 -0.33907693
+v -0.19216371 0.13379666 -0.44909496
+v -0.24964192 0.11687101 -0.27798919
+v -0.25479245 0.11307970 -0.23648795
+v -0.24874907 0.10447752 -0.33608156
+f 1 2 3
+f 1 3 4
+f 5 1 4
+f 6 1 5
+f 9 2 1
+f 9 1 6
+f 10 3 2
+f 11 5 4
+f 12 6 5
+f 12 9 6
+f 12 8 9
+f 13 9 8
+f 13 7 9
+f 14 9 7
+f 14 10 2
+f 16 11 4
+f 16 4 3
+f 16 3 10
+f 16 10 11
+f 17 14 2
+f 17 2 9
+f 17 9 14
+f 18 14 7
+f 18 10 14
+f 18 11 10
+f 19 15 18
+f 20 18 15
+f 20 11 18
+f 21 7 13
+f 21 13 19
+f 22 19 13
+f 22 13 8
+f 22 8 19
+f 23 19 8
+f 23 8 12
+f 23 12 5
+f 24 19 18
+f 24 18 7
+f 24 21 19
+f 24 7 21
+f 25 20 15
+f 25 15 19
+f 25 11 20
+f 26 5 11
+f 26 11 25
+f 27 23 5
+f 27 5 26
+f 27 19 23
+f 27 26 25
+f 27 25 19
\ No newline at end of file
diff --git a/objects/objaverse/yogurt/yogurt_3/collision/model_normalized_collision_16.obj b/objects/objaverse/yogurt/yogurt_3/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..61ab4a20b8792055ce81a636c0a8e0629629d684
--- /dev/null
+++ b/objects/objaverse/yogurt/yogurt_3/collision/model_normalized_collision_16.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.18115848 -0.19705190 0.25429013
+v 0.25996459 -0.01031765 0.00734653
+v 0.27261165 -0.00794672 0.25765509
+v -0.11595229 -0.00872011 0.26515150
+v -0.15432680 -0.19338417 0.00515324
+v -0.11595229 -0.00872011 0.00757575
+v 0.23803720 -0.13226551 0.26560976
+v 0.17717544 -0.18396678 0.00342038
+v -0.11595229 -0.16023526 0.26515150
+v 0.15677498 -0.00872011 0.00757575
+v 0.23206078 -0.11450532 0.00760034
+v 0.23263141 -0.12998758 0.14392570
+f 6 4 3
+f 6 5 4
+f 7 3 4
+f 8 1 5
+f 8 6 2
+f 8 5 6
+f 9 5 1
+f 9 4 5
+f 9 7 4
+f 9 1 7
+f 10 6 3
+f 10 3 2
+f 10 2 6
+f 11 2 3
+f 11 3 7
+f 11 8 2
+f 12 11 7
+f 12 8 11
+f 12 7 1
+f 12 1 8
\ No newline at end of file
diff --git a/objects/objaverse/yogurt/yogurt_3/collision/model_normalized_collision_17.obj b/objects/objaverse/yogurt/yogurt_3/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c1955c2552e9020af85973682d955b5150606cc
--- /dev/null
+++ b/objects/objaverse/yogurt/yogurt_3/collision/model_normalized_collision_17.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.26500827 -0.10122729 0.44663807
+v 0.24752097 -0.07878607 0.00847590
+v 0.27717012 -0.00867036 0.34097217
+v 0.25785043 0.05746428 0.08289998
+v 0.23263141 -0.12998758 0.14392570
+v 0.26196416 -0.02491373 0.05031775
+v 0.27713408 -0.05394183 0.44710418
+v 0.27223106 -0.09377463 0.45014937
+v 0.23803720 -0.13226551 0.26560976
+v 0.23206078 -0.11450532 0.00760034
+v 0.25389511 0.05665590 0.00822855
+v 0.27617326 -0.05704877 0.44638897
+v 0.27698237 -0.01082408 0.34023953
+v 0.24298774 -0.12608154 0.26576276
+v 0.24415168 -0.09339569 0.03935139
+v 0.25546065 0.05011460 0.00772885
+v 0.23525895 -0.10848983 0.00815230
+v 0.26212455 0.02033043 0.05485251
+v 0.26136644 0.03581486 0.06955882
+v 0.25934144 0.05101048 0.08327008
+v 0.26204189 0.03527823 0.08491834
+f 7 3 4
+f 8 7 1
+f 8 2 6
+f 8 6 7
+f 9 1 4
+f 9 8 1
+f 11 10 5
+f 11 9 4
+f 11 5 9
+f 12 7 4
+f 12 4 1
+f 12 1 7
+f 13 7 6
+f 13 6 3
+f 13 3 7
+f 14 9 5
+f 14 8 9
+f 14 10 8
+f 14 5 10
+f 15 2 8
+f 16 6 2
+f 16 2 10
+f 16 10 11
+f 16 11 4
+f 17 10 2
+f 17 2 15
+f 17 15 8
+f 17 8 10
+f 18 3 6
+f 18 6 16
+f 19 18 16
+f 19 3 18
+f 20 19 16
+f 20 16 4
+f 20 4 3
+f 21 20 3
+f 21 3 19
+f 21 19 20
\ No newline at end of file
diff --git a/objects/objaverse/yogurt/yogurt_3/collision/model_normalized_collision_18.obj b/objects/objaverse/yogurt/yogurt_3/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e79596696735489250935a3d7bda30b4b2512081
--- /dev/null
+++ b/objects/objaverse/yogurt/yogurt_3/collision/model_normalized_collision_18.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.19376124 -0.19971218 0.38112100
+v 0.27261165 -0.00794672 0.25765509
+v 0.17192649 -0.00872011 0.38636362
+v -0.14625532 -0.00872011 0.38636362
+v -0.17122648 -0.20379030 0.25470379
+v 0.27698237 -0.01082408 0.34023953
+v 0.18539581 -0.19624319 0.26045781
+v -0.16706494 -0.21281282 0.37199272
+v -0.14625532 -0.00872011 0.26515150
+v 0.22462872 -0.15473230 0.26511297
+v 0.22768243 -0.15664389 0.34061048
+f 1 3 4
+f 3 2 4
+f 6 2 3
+f 6 3 1
+f 7 5 2
+f 8 1 4
+f 8 4 5
+f 8 7 1
+f 8 5 7
+f 9 5 4
+f 9 4 2
+f 9 2 5
+f 10 2 6
+f 10 7 2
+f 10 1 7
+f 11 10 6
+f 11 6 1
+f 11 1 10
\ No newline at end of file
diff --git a/objects/objaverse/yogurt/yogurt_3/collision/model_normalized_collision_19.obj b/objects/objaverse/yogurt/yogurt_3/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c7d83a7766305aa924df0fb9e87efec10f7c03b
--- /dev/null
+++ b/objects/objaverse/yogurt/yogurt_3/collision/model_normalized_collision_19.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.16803425 -0.18812140 0.02073567
+v 0.21155040 -0.12634252 -0.23437373
+v 0.23081134 0.11948306 0.00740897
+v -0.16854720 0.15913236 -0.23314872
+v -0.14013466 -0.18432177 -0.24174059
+v 0.22016902 0.11413746 -0.23487178
+v -0.13110381 0.11249200 0.00757575
+v 0.22154121 -0.13301627 0.00742917
+v 0.15992515 -0.17529261 -0.23653689
+v -0.11595229 -0.14508375 0.00757575
+v -0.13110381 -0.00872011 0.00757575
+f 6 3 2
+f 6 4 3
+f 6 5 4
+f 7 1 3
+f 7 3 4
+f 8 1 2
+f 8 2 3
+f 8 3 1
+f 9 2 1
+f 9 1 5
+f 9 6 2
+f 9 5 6
+f 10 5 1
+f 11 10 1
+f 11 1 7
+f 11 7 4
+f 11 4 5
+f 11 5 10
\ No newline at end of file
diff --git a/objects/objaverse/yogurt/yogurt_3/collision/model_normalized_collision_2.obj b/objects/objaverse/yogurt/yogurt_3/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..437c45fab909103f8eb5c351a948bcd2baaf69e3
--- /dev/null
+++ b/objects/objaverse/yogurt/yogurt_3/collision/model_normalized_collision_2.obj
@@ -0,0 +1,108 @@
+# https://github.com/mikedh/trimesh
+v 0.16401957 -0.27323439 0.48115093
+v 0.30907271 -0.12634239 0.49031594
+v 0.16857454 -0.26173406 0.49289635
+v 0.26401789 0.14441559 0.49290614
+v 0.19548454 -0.18896952 0.26052918
+v 0.26428013 -0.18969031 0.49727640
+v 0.17097330 -0.00670885 0.48510360
+v 0.27382686 0.05090634 0.34131264
+v 0.30615636 0.09244774 0.49292197
+v 0.17497018 -0.26660263 0.48344394
+v 0.29744450 -0.16350152 0.48995637
+v 0.16440536 -0.27058204 0.48774551
+v 0.16646423 -0.21062818 0.26754486
+v 0.25484222 -0.09722304 0.26492530
+v 0.17192649 0.05188595 0.34090907
+v 0.30978553 -0.09995501 0.49142650
+v 0.28540490 0.13831045 0.49278194
+v 0.29545319 -0.16574212 0.49255603
+v 0.24968729 -0.20776754 0.48889453
+v 0.17382455 -0.26767052 0.48253697
+v 0.18129946 -0.25529886 0.49143951
+v 0.24457332 -0.12410548 0.26673221
+v 0.17192649 0.05188595 0.40151513
+v 0.25866605 0.11105768 0.40113482
+v 0.31131071 0.05007021 0.47889093
+v 0.29219139 0.13665000 0.48548874
+v 0.17639230 -0.20492691 0.26955914
+v 0.21845271 -0.16447169 0.26748439
+v 0.25606441 0.13545484 0.46901057
+v 0.30805304 0.09110629 0.48389966
+v 0.27720332 0.02179427 0.34289499
+v 0.30797141 -0.09334930 0.47559167
+v 0.29360709 0.13508168 0.48998637
+v 0.28474350 0.13805631 0.47988598
+v 0.30886787 -0.12552745 0.48896757
+v 0.27643619 -0.02215887 0.34337488
+v 0.29571953 0.12498462 0.49218709
+f 6 4 3
+f 7 3 4
+f 12 7 1
+f 12 3 7
+f 14 2 11
+f 15 8 14
+f 15 14 5
+f 15 5 13
+f 15 13 1
+f 16 9 6
+f 17 4 6
+f 17 6 9
+f 18 11 2
+f 18 16 6
+f 18 2 16
+f 19 5 11
+f 19 11 18
+f 19 18 6
+f 20 12 1
+f 20 10 12
+f 20 1 13
+f 20 19 10
+f 20 5 19
+f 21 6 3
+f 21 3 12
+f 21 19 6
+f 21 12 10
+f 21 10 19
+f 22 14 11
+f 22 5 14
+f 23 7 4
+f 23 4 15
+f 23 15 1
+f 23 1 7
+f 24 8 15
+f 25 9 16
+f 26 8 24
+f 26 4 17
+f 27 20 13
+f 27 13 5
+f 27 5 20
+f 28 22 11
+f 28 11 5
+f 28 5 22
+f 29 24 15
+f 29 15 4
+f 29 4 24
+f 30 25 8
+f 30 9 25
+f 30 8 26
+f 31 14 8
+f 31 8 25
+f 32 25 16
+f 32 16 2
+f 32 31 25
+f 33 26 17
+f 33 30 26
+f 33 9 30
+f 34 26 24
+f 34 24 4
+f 34 4 26
+f 35 32 2
+f 35 2 14
+f 35 14 32
+f 36 32 14
+f 36 14 31
+f 36 31 32
+f 37 33 17
+f 37 17 9
+f 37 9 33
\ No newline at end of file
diff --git a/objects/objaverse/yogurt/yogurt_3/collision/model_normalized_collision_20.obj b/objects/objaverse/yogurt/yogurt_3/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c1bad3556676d5470e1d5b1fcbdc1d4c904a288f
--- /dev/null
+++ b/objects/objaverse/yogurt/yogurt_3/collision/model_normalized_collision_20.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v -0.09800149 -0.19970325 -0.35858129
+v -0.09570459 -0.19477297 -0.49514712
+v -0.10080078 -0.00872011 -0.35606061
+v -0.22203251 0.02417247 -0.35890957
+v -0.17718138 -0.13218481 -0.35711640
+v -0.19811908 -0.01251678 -0.49491578
+v -0.12033692 -0.18743608 -0.37070121
+v -0.18910795 -0.10885471 -0.35340107
+v -0.10511319 -0.00930158 -0.46277734
+v -0.17653265 -0.11977985 -0.49738803
+v -0.12016694 -0.18657024 -0.35999060
+v -0.21994632 0.00913612 -0.35320502
+v -0.16389936 0.02260477 -0.44912662
+v -0.19369107 -0.02761464 -0.49570892
+v -0.20413426 -0.08183121 -0.37688806
+v -0.13157517 -0.17645604 -0.39664650
+v -0.21861912 0.02156544 -0.46195513
+v -0.20626561 -0.04966703 -0.49435441
+v -0.21104523 -0.05803792 -0.36247014
+v -0.17464975 -0.13083428 -0.40107607
+v -0.10649651 -0.18881216 -0.49410017
+v -0.22797001 0.02741231 -0.40263200
+v -0.18942661 -0.09512578 -0.49631615
+v -0.21209914 -0.00851055 -0.49330811
+f 1 2 3
+f 7 2 1
+f 8 5 1
+f 8 1 3
+f 9 3 2
+f 9 2 6
+f 11 7 1
+f 11 1 5
+f 11 5 7
+f 12 8 3
+f 12 3 4
+f 13 9 6
+f 13 4 3
+f 13 3 9
+f 14 6 2
+f 14 2 10
+f 15 10 5
+f 15 5 8
+f 16 7 5
+f 17 13 6
+f 19 15 8
+f 19 8 12
+f 19 18 15
+f 20 16 5
+f 20 5 10
+f 20 10 16
+f 21 16 10
+f 21 10 2
+f 21 2 7
+f 21 7 16
+f 22 4 13
+f 22 13 17
+f 22 18 19
+f 22 19 12
+f 22 12 4
+f 23 18 14
+f 23 14 10
+f 23 10 15
+f 23 15 18
+f 24 6 14
+f 24 14 18
+f 24 17 6
+f 24 22 17
+f 24 18 22
\ No newline at end of file
diff --git a/objects/objaverse/yogurt/yogurt_3/collision/model_normalized_collision_21.obj b/objects/objaverse/yogurt/yogurt_3/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0b73231c7288b85ccc69bbdf9931673975b8b883
--- /dev/null
+++ b/objects/objaverse/yogurt/yogurt_3/collision/model_normalized_collision_21.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.17207312 -0.16136819 -0.36059984
+v 0.23188793 -0.03511480 -0.48779169
+v 0.23072746 0.07530332 -0.35564843
+v 0.08101740 0.11249200 -0.35606061
+v 0.07876532 -0.12905405 -0.45388320
+v 0.18121266 0.11739831 -0.48923556
+v 0.08101740 -0.12993223 -0.35606061
+v 0.23262889 -0.06313596 -0.35619616
+v 0.20667802 -0.10866080 -0.48786900
+v 0.21570581 0.09010018 -0.48533380
+v 0.21805495 0.10449649 -0.35418519
+v 0.08100369 0.11258766 -0.46175307
+v 0.23286225 0.03126932 -0.48636520
+v 0.21586734 -0.10399564 -0.35688199
+v 0.18145524 -0.12000262 -0.48457092
+v 0.21480940 -0.09206045 -0.48860931
+v 0.20837385 0.10720827 -0.48567158
+v 0.22944076 0.05903622 -0.43030696
+f 7 5 1
+f 7 4 5
+f 11 6 4
+f 11 4 7
+f 11 8 3
+f 11 7 8
+f 12 5 4
+f 12 4 6
+f 13 8 2
+f 13 3 8
+f 13 2 6
+f 14 8 7
+f 14 7 1
+f 14 1 9
+f 15 9 1
+f 15 1 5
+f 15 6 9
+f 15 12 6
+f 15 5 12
+f 16 2 8
+f 16 14 9
+f 16 8 14
+f 16 9 6
+f 16 6 2
+f 17 6 11
+f 17 13 6
+f 17 10 13
+f 17 11 3
+f 17 3 10
+f 18 13 10
+f 18 10 3
+f 18 3 13
\ No newline at end of file
diff --git a/objects/objaverse/yogurt/yogurt_3/collision/model_normalized_collision_22.obj b/objects/objaverse/yogurt/yogurt_3/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b7e13dd3d685cf6486718cf47279c8f7c6b3ccec
--- /dev/null
+++ b/objects/objaverse/yogurt/yogurt_3/collision/model_normalized_collision_22.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v -0.22287041 -0.09891620 0.48197651
+v -0.25112236 -0.11069323 0.39757874
+v -0.24092240 0.13790962 0.39940010
+v -0.28987936 0.12463605 0.48815897
+v -0.31259188 -0.07463351 0.47917070
+v -0.22240494 0.12706776 0.48807696
+v -0.30256567 -0.09535037 0.48377438
+v -0.28886890 0.02831125 0.37840186
+v -0.30459501 -0.09685970 0.46991637
+v -0.31649655 0.07400709 0.47859795
+v -0.26166796 -0.09685421 0.38529449
+v -0.31076408 -0.07879465 0.47129514
+v -0.26689642 0.12744877 0.38634269
+v -0.26602385 -0.08033022 0.38551240
+v -0.29496506 0.12459072 0.47674015
+v -0.28234147 0.07916436 0.39038922
+v -0.30960566 0.09102758 0.47189485
+v -0.31024839 0.09134900 0.47542560
+f 1 2 3
+f 6 1 3
+f 6 3 4
+f 7 2 1
+f 7 6 4
+f 7 1 6
+f 9 7 5
+f 9 2 7
+f 10 7 4
+f 10 5 7
+f 11 3 2
+f 11 2 9
+f 12 9 5
+f 12 11 9
+f 12 10 8
+f 12 5 10
+f 13 11 8
+f 13 3 11
+f 14 12 8
+f 14 8 11
+f 14 11 12
+f 15 4 3
+f 15 3 13
+f 16 13 8
+f 16 8 10
+f 17 15 13
+f 17 16 10
+f 17 13 16
+f 18 17 10
+f 18 15 17
+f 18 10 4
+f 18 4 15
\ No newline at end of file
diff --git a/objects/objaverse/yogurt/yogurt_3/collision/model_normalized_collision_23.obj b/objects/objaverse/yogurt/yogurt_3/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..380edc23c643618724b109d0352e2ceff7a07d7d
--- /dev/null
+++ b/objects/objaverse/yogurt/yogurt_3/collision/model_normalized_collision_23.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v 0.08592047 -0.21744178 -0.35895698
+v 0.17207312 -0.16136819 -0.36059984
+v -0.14101403 -0.16568551 -0.34977307
+v -0.10849066 -0.12869487 -0.44763175
+v 0.11306680 -0.19906998 -0.49145578
+v 0.14415033 -0.19455788 -0.35581167
+v 0.14602236 -0.12791029 -0.45315866
+v -0.02342743 -0.21919020 -0.49338532
+v -0.06242651 -0.21839873 -0.35585947
+v 0.13133980 -0.18895618 -0.48958522
+v 0.08714921 -0.21980035 -0.38255060
+v -0.09570459 -0.19477297 -0.49514712
+v 0.12130820 -0.20586805 -0.35672638
+v 0.11985906 -0.20624881 -0.37853861
+v 0.14798541 -0.15422377 -0.48333096
+v 0.03350209 -0.22042575 -0.49053157
+v -0.10470062 -0.17635714 -0.49400943
+v -0.07911920 -0.20255274 -0.49497303
+v -0.09561610 -0.20196435 -0.36715299
+v 0.02056573 -0.22174959 -0.49199379
+v 0.10136279 -0.20370868 -0.49093764
+v 0.11410281 -0.18129906 -0.49036177
+v -0.09147178 -0.20312006 -0.36174261
+f 3 2 4
+f 6 2 3
+f 7 4 2
+f 9 6 3
+f 10 2 6
+f 11 1 9
+f 13 9 1
+f 13 6 9
+f 13 1 11
+f 14 10 6
+f 14 5 10
+f 14 6 13
+f 14 13 11
+f 14 11 5
+f 15 7 2
+f 15 2 10
+f 15 4 7
+f 17 12 3
+f 17 3 4
+f 17 4 15
+f 18 12 5
+f 18 5 8
+f 18 8 9
+f 18 9 12
+f 19 12 9
+f 19 3 12
+f 20 8 5
+f 20 9 8
+f 20 16 11
+f 20 11 9
+f 21 5 11
+f 21 11 16
+f 21 20 5
+f 21 16 20
+f 22 17 15
+f 22 15 10
+f 22 10 5
+f 22 5 12
+f 22 12 17
+f 23 19 9
+f 23 9 3
+f 23 3 19
\ No newline at end of file
diff --git a/objects/objaverse/yogurt/yogurt_3/collision/model_normalized_collision_24.obj b/objects/objaverse/yogurt/yogurt_3/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c0c156abe49ea8f49d755bd0079688602750bbf
--- /dev/null
+++ b/objects/objaverse/yogurt/yogurt_3/collision/model_normalized_collision_24.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.22154121 -0.13301627 0.00742917
+v 0.23221360 -0.07993814 -0.28247313
+v 0.25824444 0.03598581 0.00780170
+v 0.22871850 0.11863872 -0.03866058
+v 0.21155040 -0.12634252 -0.23437373
+v 0.23383485 0.07721456 -0.27911109
+v 0.25653222 0.04502203 0.00692053
+v 0.24752097 -0.07878607 0.00847590
+v 0.22153715 -0.10778157 -0.28199111
+v 0.22016902 0.11413746 -0.23487178
+v 0.24666187 -0.00785168 -0.26468851
+v 0.24641187 0.07682856 -0.03757865
+v 0.24460279 0.04787518 -0.21718187
+v 0.23525895 -0.10848983 0.00815230
+v 0.23087271 0.08511327 -0.28208656
+v 0.21683386 -0.11440925 -0.28039274
+v 0.24628414 0.02104469 -0.26598217
+v 0.24564261 -0.03648061 -0.23355874
+v 0.23438505 0.10754063 -0.03795108
+v 0.22541102 -0.12653799 0.00765467
+v 0.24500950 -0.05118492 -0.18746466
+v 0.23140664 0.09025640 -0.23348580
+v 0.22353509 0.10783431 -0.23458747
+v 0.24470944 -0.06498216 -0.12620375
+v 0.22981474 0.10354889 -0.15777470
+f 7 1 3
+f 7 4 1
+f 9 1 5
+f 9 2 8
+f 10 5 1
+f 10 1 4
+f 13 7 3
+f 13 12 7
+f 13 6 12
+f 14 8 3
+f 14 9 8
+f 15 6 2
+f 15 2 9
+f 15 12 6
+f 16 9 5
+f 16 5 10
+f 16 15 9
+f 16 10 15
+f 17 11 2
+f 17 2 6
+f 17 6 13
+f 17 13 3
+f 17 3 11
+f 18 2 11
+f 18 11 3
+f 18 3 8
+f 19 4 7
+f 19 7 12
+f 20 1 9
+f 20 9 14
+f 20 14 3
+f 20 3 1
+f 21 18 8
+f 21 2 18
+f 22 19 12
+f 22 12 15
+f 23 10 4
+f 23 4 19
+f 23 22 15
+f 23 15 10
+f 24 21 8
+f 24 8 2
+f 24 2 21
+f 25 23 19
+f 25 19 22
+f 25 22 23
\ No newline at end of file
diff --git a/objects/objaverse/yogurt/yogurt_3/collision/model_normalized_collision_25.obj b/objects/objaverse/yogurt/yogurt_3/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..24aabb3e3d3394d16611f44404a3e32b376bf238
--- /dev/null
+++ b/objects/objaverse/yogurt/yogurt_3/collision/model_normalized_collision_25.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.24723288 0.14258077 0.46234388
+v 0.23750864 0.13626692 0.26609838
+v 0.13991420 0.26036117 0.47595532
+v 0.00521072 0.27777444 0.40172406
+v 0.00525983 0.14279503 0.40151513
+v 0.06149862 0.26312724 0.26322674
+v 0.24522234 0.17190655 0.47711520
+v 0.06012184 0.21117082 0.48624210
+v 0.15920842 0.21695275 0.26638897
+v 0.10941486 0.27398764 0.47538289
+v 0.00501466 0.27031735 0.26316363
+v 0.18624854 0.23058940 0.47732640
+v 0.09106906 0.14612720 0.48684148
+v 0.09932600 0.24852686 0.26421025
+v 0.23109401 0.14590919 0.26684198
+v 0.06193709 0.27172870 0.46167071
+v 0.00525983 0.14279503 0.26515150
+f 5 2 1
+f 7 1 2
+f 8 4 5
+f 10 8 3
+f 11 5 4
+f 11 10 6
+f 11 4 10
+f 12 8 7
+f 12 3 8
+f 12 9 3
+f 13 8 5
+f 13 5 1
+f 13 1 7
+f 13 7 8
+f 14 3 9
+f 14 10 3
+f 14 6 10
+f 14 9 2
+f 14 2 6
+f 15 7 2
+f 15 2 9
+f 15 12 7
+f 15 9 12
+f 16 10 4
+f 16 4 8
+f 16 8 10
+f 17 11 6
+f 17 6 2
+f 17 2 5
+f 17 5 11
\ No newline at end of file
diff --git a/objects/objaverse/yogurt/yogurt_3/collision/model_normalized_collision_26.obj b/objects/objaverse/yogurt/yogurt_3/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e8728be07097a79dfc6f82b24926f9805bce98c6
--- /dev/null
+++ b/objects/objaverse/yogurt/yogurt_3/collision/model_normalized_collision_26.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.18394523 -0.14955193 -0.35070784
+v 0.23262889 -0.06313596 -0.35619616
+v 0.21813201 -0.11520983 -0.23488343
+v 0.16377439 0.18333501 -0.23559625
+v 0.18331921 0.15552495 -0.35077674
+v 0.23574517 0.07791469 -0.23454456
+v 0.14162346 -0.11478072 -0.23484849
+v 0.21586734 -0.10399564 -0.35688199
+v 0.23221360 -0.07993814 -0.28247313
+v 0.20045758 0.14561391 -0.23342113
+v 0.23072746 0.07530332 -0.35564843
+v 0.16228387 0.17952244 -0.31392113
+v 0.22153715 -0.10778157 -0.28199111
+v 0.18163746 0.16859586 -0.23451928
+v 0.23140664 0.09025640 -0.23348580
+v 0.20842720 0.12207236 -0.35520791
+v 0.23023180 -0.07771672 -0.33646926
+v 0.18548075 0.15825970 -0.29628717
+v 0.17840085 0.16578656 -0.29598724
+v 0.22925874 0.09173449 -0.27989014
+v 0.21805495 0.10449649 -0.35418519
+v 0.21644682 0.11875311 -0.28801518
+f 7 1 3
+f 8 1 5
+f 9 6 3
+f 9 2 6
+f 11 6 2
+f 11 2 8
+f 12 5 1
+f 12 1 7
+f 12 7 4
+f 13 3 1
+f 13 1 8
+f 13 9 3
+f 14 4 7
+f 14 7 10
+f 14 12 4
+f 15 10 7
+f 15 7 3
+f 15 3 6
+f 16 11 8
+f 16 8 5
+f 17 13 8
+f 17 8 2
+f 17 2 9
+f 17 9 13
+f 18 14 10
+f 18 10 5
+f 18 5 14
+f 19 14 5
+f 19 5 12
+f 19 12 14
+f 20 15 6
+f 20 6 11
+f 21 20 11
+f 21 11 16
+f 22 10 15
+f 22 15 20
+f 22 16 5
+f 22 5 10
+f 22 21 16
+f 22 20 21
\ No newline at end of file
diff --git a/objects/objaverse/yogurt/yogurt_3/collision/model_normalized_collision_27.obj b/objects/objaverse/yogurt/yogurt_3/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c63406fa6d3c56443a3aad0d9b09a65e970fdbc3
--- /dev/null
+++ b/objects/objaverse/yogurt/yogurt_3/collision/model_normalized_collision_27.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v -0.22223504 -0.15836852 0.48671893
+v -0.21674932 -0.15701643 0.26682559
+v -0.21972548 -0.10039083 0.48163558
+v -0.30256567 -0.09535037 0.48377438
+v -0.27309879 -0.15706060 0.48492553
+v -0.24697612 -0.09781309 0.26658907
+v -0.22287041 -0.09891620 0.48197651
+v -0.24267674 -0.10621087 0.26096401
+v -0.30024593 -0.10607389 0.46994215
+v -0.25044640 -0.10818513 0.28482876
+v -0.28304175 -0.13828759 0.47141708
+v -0.28462008 -0.13832295 0.48300377
+v -0.30459501 -0.09685970 0.46991637
+v -0.22306084 -0.14841111 0.26797092
+v -0.25298638 -0.09842357 0.28403683
+v -0.26992267 -0.15508022 0.46438135
+v -0.23857043 -0.12280696 0.27202733
+f 1 2 3
+f 5 2 1
+f 5 1 4
+f 7 1 3
+f 7 4 1
+f 7 6 4
+f 7 3 6
+f 8 6 3
+f 8 3 2
+f 11 9 10
+f 12 5 4
+f 12 11 5
+f 12 9 11
+f 13 4 6
+f 13 10 9
+f 13 12 4
+f 13 9 12
+f 14 8 2
+f 14 11 10
+f 15 6 8
+f 15 8 10
+f 15 13 6
+f 15 10 13
+f 16 2 5
+f 16 5 11
+f 16 14 2
+f 16 11 14
+f 17 14 10
+f 17 10 8
+f 17 8 14
\ No newline at end of file
diff --git a/objects/objaverse/yogurt/yogurt_3/collision/model_normalized_collision_28.obj b/objects/objaverse/yogurt/yogurt_3/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b57a3f63e43e58f7b640ae3ee76e2831c7d5a2e
--- /dev/null
+++ b/objects/objaverse/yogurt/yogurt_3/collision/model_normalized_collision_28.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v -0.27135331 -0.00910615 0.39840384
+v -0.26296591 -0.00884189 0.26501475
+v -0.24092240 0.13790962 0.39940010
+v -0.25191887 0.16597338 0.39600482
+v -0.29892949 0.09362208 0.26683685
+v -0.24241733 0.14334854 0.26662672
+v -0.28111405 0.09016847 0.39820399
+v -0.27738958 -0.00806143 0.38390939
+v -0.24218982 0.13298624 0.26348481
+v -0.24860711 0.16396203 0.36083398
+v -0.26325894 0.08073660 0.39936230
+v -0.25454396 0.16380324 0.39749711
+v -0.26908516 -0.01177606 0.29852371
+v -0.29822205 0.08579159 0.34717457
+v -0.28341619 0.08194004 0.39695645
+v -0.29714586 0.10473700 0.26279067
+v -0.26537864 0.13747665 0.39815389
+v -0.29503810 0.12955059 0.29993064
+v -0.29547867 0.13225565 0.33494494
+v -0.28605145 0.13080848 0.26282758
+v -0.29741674 0.10104210 0.34616819
+v -0.28660061 0.14059816 0.34230111
+f 1 2 3
+f 9 6 3
+f 9 3 2
+f 10 4 3
+f 10 3 6
+f 11 7 1
+f 11 1 3
+f 12 3 4
+f 13 8 5
+f 13 5 2
+f 13 2 1
+f 13 1 8
+f 14 5 8
+f 15 8 1
+f 15 1 7
+f 15 14 8
+f 16 9 2
+f 16 2 5
+f 17 11 3
+f 17 7 11
+f 17 3 12
+f 18 16 5
+f 19 15 7
+f 19 7 17
+f 19 17 12
+f 19 18 5
+f 20 6 9
+f 20 9 16
+f 20 16 18
+f 20 10 6
+f 21 14 15
+f 21 15 19
+f 21 19 5
+f 21 5 14
+f 22 19 12
+f 22 12 4
+f 22 18 19
+f 22 20 18
+f 22 4 10
+f 22 10 20
\ No newline at end of file
diff --git a/objects/objaverse/yogurt/yogurt_3/collision/model_normalized_collision_29.obj b/objects/objaverse/yogurt/yogurt_3/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8c0f0eba910b87152df808d8f63b99321b62142d
--- /dev/null
+++ b/objects/objaverse/yogurt/yogurt_3/collision/model_normalized_collision_29.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v -0.17836412 -0.16344349 0.48168046
+v -0.14312384 -0.13759908 0.47324910
+v -0.22240494 0.12706776 0.48807696
+v -0.23890849 0.14082952 0.44052121
+v -0.22986412 -0.16768794 0.44299966
+v -0.14337827 0.12811281 0.47434613
+v -0.14635701 -0.14558789 0.47580518
+v -0.22223504 -0.15836852 0.48671893
+v -0.14856689 0.12644408 0.47561738
+f 5 4 2
+f 6 2 4
+f 6 4 3
+f 7 5 2
+f 7 1 5
+f 7 2 6
+f 8 5 1
+f 8 1 3
+f 8 3 4
+f 8 4 5
+f 9 6 3
+f 9 3 1
+f 9 7 6
+f 9 1 7
\ No newline at end of file
diff --git a/objects/objaverse/yogurt/yogurt_3/collision/model_normalized_collision_3.obj b/objects/objaverse/yogurt/yogurt_3/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd4dcd1a4b0f8c0e0885b8fe0ac91a6101f57733
--- /dev/null
+++ b/objects/objaverse/yogurt/yogurt_3/collision/model_normalized_collision_3.obj
@@ -0,0 +1,129 @@
+# https://github.com/mikedh/trimesh
+v 0.04617576 -0.31236234 0.48899018
+v 0.19376124 -0.19971218 0.38112100
+v 0.17097330 -0.00670885 0.48510360
+v -0.21154897 -0.00172001 0.48059047
+v -0.22575969 -0.16670704 0.38396379
+v -0.12752692 -0.28493155 0.49394407
+v 0.17586707 -0.25496696 0.49233435
+v -0.09356662 -0.26452551 0.40331948
+v 0.17192649 -0.00872011 0.38636362
+v -0.07877244 -0.21095300 0.49254782
+v -0.27309879 -0.15706060 0.48492553
+v 0.14503141 -0.28295188 0.47526349
+v 0.13410609 -0.28550095 0.49146856
+v -0.14096462 -0.23921522 0.39019387
+v 0.08035002 -0.26184120 0.40429902
+v -0.05436341 -0.31059637 0.47746424
+v -0.27135331 -0.00910615 0.39840384
+v -0.19149422 -0.25026320 0.46880565
+v 0.16307400 -0.27061903 0.47615614
+v 0.10489846 -0.29816552 0.47880564
+v 0.15199023 -0.23565717 0.40157823
+v -0.05264597 -0.31082146 0.48657810
+v 0.04397686 -0.31203901 0.47628074
+v -0.27447516 -0.15615374 0.46886346
+v -0.21054079 -0.23542194 0.48197205
+v -0.15253807 -0.23406859 0.39113387
+v -0.10927688 -0.29269616 0.47291531
+v 0.15101260 -0.28237785 0.48286671
+v 0.10670970 -0.29682786 0.48765795
+v 0.11535627 -0.24957120 0.40351229
+v -0.12751768 -0.28618317 0.49355731
+v -0.01141899 -0.27989446 0.41939992
+v -0.23212603 -0.15708523 0.38592514
+v -0.25018542 -0.19486173 0.47118146
+v -0.24985093 -0.19359199 0.48340977
+v -0.07484458 -0.29997114 0.46484164
+v 0.16461669 -0.26942480 0.48977781
+v -0.16696683 -0.26579154 0.48383597
+v -0.10988719 -0.29508319 0.48769631
+v -0.04054439 -0.31002324 0.47371640
+v 0.03324731 -0.27917591 0.41946646
+v -0.26958252 -0.16593599 0.47019556
+v -0.19322365 -0.25005579 0.47408066
+v -0.26923520 -0.16622027 0.48473792
+f 7 2 3
+f 9 3 2
+f 9 2 5
+f 9 4 3
+f 10 3 4
+f 10 7 3
+f 10 6 7
+f 11 10 4
+f 11 6 10
+f 13 7 6
+f 13 6 1
+f 14 5 2
+f 15 14 2
+f 15 8 14
+f 17 9 5
+f 17 4 9
+f 17 11 4
+f 19 12 2
+f 19 2 7
+f 20 15 12
+f 21 15 2
+f 21 2 12
+f 22 16 1
+f 23 1 16
+f 23 20 1
+f 23 15 20
+f 24 11 17
+f 26 18 5
+f 26 5 14
+f 27 14 8
+f 27 26 14
+f 27 18 26
+f 28 12 19
+f 28 20 12
+f 29 13 1
+f 29 1 20
+f 29 28 13
+f 29 20 28
+f 30 21 12
+f 30 12 15
+f 30 15 21
+f 31 22 1
+f 31 1 6
+f 33 24 17
+f 33 17 5
+f 33 5 24
+f 34 5 18
+f 35 34 25
+f 35 31 6
+f 35 25 31
+f 36 27 8
+f 36 8 16
+f 36 16 27
+f 37 28 19
+f 37 19 7
+f 37 7 13
+f 37 13 28
+f 38 18 27
+f 38 31 25
+f 39 27 16
+f 39 16 22
+f 39 22 31
+f 39 38 27
+f 39 31 38
+f 40 32 23
+f 40 23 16
+f 40 16 8
+f 40 8 32
+f 41 32 8
+f 41 8 15
+f 41 15 23
+f 41 23 32
+f 42 24 5
+f 42 5 34
+f 43 34 18
+f 43 25 34
+f 43 38 25
+f 43 18 38
+f 44 35 6
+f 44 6 11
+f 44 11 24
+f 44 24 42
+f 44 42 34
+f 44 34 35
\ No newline at end of file
diff --git a/objects/objaverse/yogurt/yogurt_3/collision/model_normalized_collision_30.obj b/objects/objaverse/yogurt/yogurt_3/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc59d7b0b43f7f04038250527f78a4ab082d9919
--- /dev/null
+++ b/objects/objaverse/yogurt/yogurt_3/collision/model_normalized_collision_30.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.15677498 -0.00872011 0.26515150
+v 0.19567576 0.16823375 0.00312929
+v 0.15677498 0.12764352 0.26515150
+v -0.14625532 0.12764352 0.26515150
+v -0.14625532 -0.00872011 0.00757575
+v 0.15677498 -0.00872011 0.00757575
+v -0.14625532 -0.00872011 0.26515150
+v -0.18495603 0.16373453 0.00309365
+f 1 2 3
+f 1 3 4
+f 3 2 4
+f 6 2 1
+f 6 1 5
+f 7 5 1
+f 7 1 4
+f 8 4 2
+f 8 6 5
+f 8 2 6
+f 8 7 4
+f 8 5 7
\ No newline at end of file
diff --git a/objects/objaverse/yogurt/yogurt_3/collision/model_normalized_collision_31.obj b/objects/objaverse/yogurt/yogurt_3/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0ca7afae7282cec2a45737e598b56d43ad8346db
--- /dev/null
+++ b/objects/objaverse/yogurt/yogurt_3/collision/model_normalized_collision_31.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v 0.14054155 -0.18911465 -0.23460862
+v 0.20667802 -0.10866080 -0.48786900
+v 0.22159446 -0.10896500 -0.23456613
+v 0.14162346 -0.11478072 -0.23484849
+v 0.12012326 -0.19322578 -0.44512038
+v 0.22063829 -0.10668838 -0.26557812
+v 0.15743850 -0.19134271 -0.29907125
+v 0.12595960 -0.20422514 -0.35610869
+v 0.14467788 -0.11499665 -0.45430501
+v 0.17161676 -0.17658716 -0.30282440
+v 0.16293332 -0.17365537 -0.23480885
+v 0.14770505 -0.17784955 -0.49010870
+v 0.13472305 -0.19106551 -0.28317225
+v 0.15048169 -0.19531801 -0.29301512
+v 0.21546808 -0.11987001 -0.23490637
+v 0.20149427 -0.11792054 -0.48775618
+v 0.15726399 -0.14349708 -0.48240152
+v 0.13738103 -0.18467819 -0.49063840
+v 0.13165158 -0.20173631 -0.35557848
+v 0.17460485 -0.17182969 -0.29035460
+v 0.18705321 -0.14422489 -0.41421694
+v 0.16757481 -0.13085590 -0.48117548
+v 0.14605098 -0.19064933 -0.38011797
+f 1 3 4
+f 6 3 2
+f 6 2 4
+f 6 4 3
+f 8 4 5
+f 9 5 4
+f 9 4 2
+f 11 3 1
+f 12 10 7
+f 13 8 1
+f 13 1 4
+f 13 4 8
+f 14 1 8
+f 14 11 1
+f 14 7 11
+f 15 2 3
+f 15 3 11
+f 15 11 7
+f 16 12 2
+f 16 15 10
+f 16 2 15
+f 18 5 9
+f 18 9 17
+f 18 17 2
+f 18 2 12
+f 18 8 5
+f 19 14 8
+f 19 7 14
+f 19 8 18
+f 20 15 7
+f 20 7 10
+f 20 10 15
+f 21 16 10
+f 21 10 12
+f 21 12 16
+f 22 17 9
+f 22 9 2
+f 22 2 17
+f 23 18 12
+f 23 12 7
+f 23 19 18
+f 23 7 19
\ No newline at end of file
diff --git a/objects/objaverse/yogurt/yogurt_3/collision/model_normalized_collision_4.obj b/objects/objaverse/yogurt/yogurt_3/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..743634442c5ea7d4a175582dd3716691c17f4136
--- /dev/null
+++ b/objects/objaverse/yogurt/yogurt_3/collision/model_normalized_collision_4.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v 0.09305366 -0.25519663 0.26549912
+v 0.23525895 -0.10848983 0.00815230
+v 0.24298774 -0.12608154 0.26576276
+v 0.15677498 -0.12993223 0.26515150
+v 0.09616892 -0.16023526 0.14393938
+v 0.15677498 -0.11478072 0.14393938
+v 0.17639230 -0.20492691 0.26955914
+v 0.15587345 -0.20484044 0.00746094
+v 0.09616892 -0.16023526 0.26515150
+v 0.24167210 -0.11223569 0.14440430
+v 0.15677498 -0.11478072 0.00757575
+v 0.09409622 -0.24555478 0.14558427
+v 0.13558949 -0.23293558 0.20786593
+v 0.19718425 -0.16804845 -0.00530472
+v 0.09071677 -0.25321620 0.23768556
+v 0.17283663 -0.20456948 0.19302606
+v 0.10934112 -0.25104082 0.26578373
+v 0.21561573 -0.14662385 0.02452496
+v 0.21845271 -0.16447169 0.26748439
+v 0.18634951 -0.17441618 -0.00732217
+v 0.22923272 -0.11954301 0.00909420
+v 0.19993153 -0.17709104 0.16062041
+v 0.23511365 -0.13875932 0.26492652
+v 0.17880668 -0.18093812 -0.00590937
+f 6 4 3
+f 7 3 4
+f 9 6 5
+f 9 4 6
+f 9 7 4
+f 9 1 7
+f 10 6 3
+f 10 3 2
+f 10 2 6
+f 11 6 2
+f 11 5 6
+f 12 11 8
+f 12 5 11
+f 15 9 5
+f 15 1 9
+f 15 12 1
+f 15 5 12
+f 16 13 8
+f 16 7 13
+f 16 8 14
+f 17 13 7
+f 17 7 1
+f 17 1 12
+f 17 12 8
+f 17 8 13
+f 18 2 3
+f 19 3 7
+f 19 14 18
+f 20 11 2
+f 20 2 14
+f 21 18 14
+f 21 14 2
+f 21 2 18
+f 22 16 14
+f 22 14 19
+f 22 19 7
+f 22 7 16
+f 23 19 18
+f 23 18 3
+f 23 3 19
+f 24 20 14
+f 24 14 8
+f 24 8 11
+f 24 11 20
\ No newline at end of file
diff --git a/objects/objaverse/yogurt/yogurt_3/collision/model_normalized_collision_5.obj b/objects/objaverse/yogurt/yogurt_3/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c1c7a73f7a89b8544d7178affa89bbc9325ccd23
--- /dev/null
+++ b/objects/objaverse/yogurt/yogurt_3/collision/model_normalized_collision_5.obj
@@ -0,0 +1,117 @@
+# https://github.com/mikedh/trimesh
+v 0.04668891 -0.26505146 0.22098583
+v 0.21155040 -0.12634252 -0.23437373
+v 0.22541102 -0.12653799 0.00765467
+v -0.11595229 -0.16023526 0.21969696
+v -0.03918431 -0.22956778 -0.27965473
+v -0.11595229 -0.14508375 0.00757575
+v 0.09616892 -0.16023526 0.21969696
+v 0.13377370 -0.22149711 -0.01058801
+v -0.11240970 -0.24141039 0.21905836
+v 0.22082412 -0.12369318 -0.11347257
+v 0.14162346 -0.12993223 0.00757575
+v -0.04019472 -0.14508375 -0.28030303
+v 0.10163951 -0.24642342 0.22022581
+v 0.20022187 -0.16562864 0.00351671
+v 0.08671423 -0.22045414 -0.27652392
+v -0.02109446 -0.26736709 0.22023527
+v -0.14013466 -0.18432177 -0.24174059
+v 0.16386101 -0.19563745 0.13460580
+v 0.11288288 -0.21991286 -0.21562740
+v 0.20509834 -0.13653192 -0.23431806
+v 0.11018101 -0.20402270 -0.28041173
+v 0.03481428 -0.23509079 -0.28009043
+v -0.05231237 -0.24909020 0.02515334
+v -0.09570886 -0.24878736 0.22071727
+v -0.08139548 -0.22184472 -0.23477915
+v 0.21967980 -0.13555568 0.00802860
+v 0.07677922 -0.24619178 0.04116035
+v 0.14725798 -0.20223032 -0.13971941
+v 0.21473868 -0.13344627 -0.11216392
+v 0.00525983 -0.14508375 -0.28030303
+v 0.18560817 -0.16155089 -0.21926002
+v 0.10266512 -0.20928827 -0.28031732
+v -0.02278466 -0.23266956 -0.27929489
+v 0.01886366 -0.26596933 0.18891103
+v -0.10903737 -0.20628628 -0.23422872
+v -0.06319472 -0.23268810 -0.15632588
+v 0.06154513 -0.23384743 -0.21923404
+v -0.00799221 -0.25000799 -0.05131176
+v -0.09313444 -0.21870987 -0.20142401
+v 0.04654512 -0.23355074 -0.26454898
+f 7 3 4
+f 7 4 1
+f 10 2 6
+f 11 6 4
+f 11 4 3
+f 11 10 6
+f 11 3 10
+f 12 6 2
+f 13 7 1
+f 17 12 5
+f 17 6 12
+f 17 9 4
+f 17 4 6
+f 18 3 7
+f 18 7 13
+f 18 13 8
+f 18 8 14
+f 19 8 13
+f 21 2 20
+f 22 5 12
+f 22 12 21
+f 24 16 1
+f 24 1 4
+f 24 4 9
+f 24 23 16
+f 25 24 9
+f 25 23 24
+f 26 18 14
+f 26 3 18
+f 27 19 13
+f 27 13 1
+f 28 14 8
+f 28 8 19
+f 29 14 20
+f 29 26 14
+f 29 10 3
+f 29 3 26
+f 29 20 2
+f 29 2 10
+f 30 21 12
+f 30 12 2
+f 30 2 21
+f 31 21 20
+f 31 19 21
+f 31 28 19
+f 31 20 14
+f 31 14 28
+f 32 21 19
+f 32 19 15
+f 32 22 21
+f 32 15 22
+f 33 5 22
+f 33 23 5
+f 33 16 23
+f 34 22 1
+f 34 1 16
+f 35 17 5
+f 35 5 25
+f 35 9 17
+f 36 25 5
+f 36 5 23
+f 36 23 25
+f 37 19 27
+f 37 27 1
+f 37 1 22
+f 38 33 22
+f 38 16 33
+f 38 34 16
+f 38 22 34
+f 39 35 25
+f 39 25 9
+f 39 9 35
+f 40 37 22
+f 40 19 37
+f 40 22 15
+f 40 15 19
\ No newline at end of file
diff --git a/objects/objaverse/yogurt/yogurt_3/collision/model_normalized_collision_6.obj b/objects/objaverse/yogurt/yogurt_3/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da24f159d320c31638481ee02d674a2d6924428c
--- /dev/null
+++ b/objects/objaverse/yogurt/yogurt_3/collision/model_normalized_collision_6.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v 0.06317849 -0.26399036 0.40456440
+v 0.18539581 -0.19624319 0.26045781
+v 0.19546482 -0.19777106 0.40441791
+v -0.11595229 -0.16023526 0.26515150
+v 0.06214536 -0.25698008 0.14581047
+v 0.09616892 -0.16023526 0.26515150
+v -0.18028132 -0.21135413 0.40076159
+v 0.16434298 -0.22736881 0.40140000
+v 0.09616892 -0.16023526 0.21969696
+v -0.09356662 -0.26452551 0.40331948
+v -0.11240970 -0.24141039 0.21905836
+v 0.09920076 -0.24260424 0.14233868
+v 0.11535627 -0.24957120 0.40351229
+v 0.04668891 -0.26505146 0.22098583
+v -0.17122648 -0.20379030 0.25470379
+v -0.13891369 -0.24114864 0.40053324
+v 0.16172830 -0.21979449 0.28677678
+v -0.11595229 -0.16023526 0.21969696
+v 0.09060555 -0.26286862 0.35598456
+v -0.03767060 -0.26401594 0.22086301
+v -0.12082976 -0.25181340 0.40162196
+v -0.13718926 -0.23148694 0.26586390
+v 0.08994487 -0.24855228 0.15011367
+v 0.07110884 -0.25194477 0.13962283
+v 0.09376810 -0.26196139 0.38347482
+v -0.09570886 -0.24878736 0.22071727
+v -0.10793926 -0.24833271 0.27959046
+v -0.05272639 -0.26348010 0.24759304
+f 6 4 3
+f 7 3 4
+f 8 2 3
+f 9 6 3
+f 9 3 2
+f 9 4 6
+f 10 1 3
+f 10 3 7
+f 12 9 2
+f 13 8 3
+f 13 3 1
+f 14 1 10
+f 15 7 4
+f 17 12 2
+f 17 2 8
+f 18 4 9
+f 18 9 12
+f 18 15 4
+f 18 11 15
+f 19 14 5
+f 19 1 14
+f 20 5 14
+f 20 14 10
+f 21 10 7
+f 21 7 16
+f 22 15 11
+f 22 21 16
+f 22 11 21
+f 22 16 7
+f 22 7 15
+f 23 17 8
+f 23 12 17
+f 23 8 19
+f 23 19 5
+f 24 18 12
+f 24 5 11
+f 24 11 18
+f 24 23 5
+f 24 12 23
+f 25 19 8
+f 25 8 13
+f 25 13 1
+f 25 1 19
+f 26 11 5
+f 26 5 20
+f 27 21 11
+f 27 10 21
+f 27 26 10
+f 27 11 26
+f 28 26 20
+f 28 20 10
+f 28 10 26
\ No newline at end of file
diff --git a/objects/objaverse/yogurt/yogurt_3/collision/model_normalized_collision_7.obj b/objects/objaverse/yogurt/yogurt_3/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b5496e84fe1ba46829c5576afa85ed225b8e906f
--- /dev/null
+++ b/objects/objaverse/yogurt/yogurt_3/collision/model_normalized_collision_7.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.27717012 -0.00867036 0.34097217
+v 0.25996459 -0.01031765 0.00734653
+v 0.25965478 0.07751412 0.20719536
+v 0.23412999 0.14603586 0.40264872
+v 0.15677498 -0.00872011 0.26515150
+v 0.19567576 0.16823375 0.00312929
+v 0.27698596 0.05176258 0.40170151
+v 0.17192649 -0.00872011 0.34090907
+v 0.24641187 0.07682856 -0.03757865
+v 0.15677498 0.12764352 0.26515150
+v 0.15677498 -0.00872011 0.00757575
+v 0.26149668 0.10333510 0.40191565
+v 0.26204189 0.03527823 0.08491834
+v 0.27393016 0.06233649 0.40287748
+v 0.17192649 0.05188595 0.34090907
+v 0.25539516 0.03515574 -0.03711085
+v 0.21681220 0.13833417 -0.03993553
+v 0.26394613 -0.00872883 0.08420592
+v 0.24703708 0.13446124 0.40284537
+v 0.25420345 0.04165700 -0.03981984
+v 0.22936278 0.11771047 -0.03661545
+v 0.23286216 0.14300034 0.26510497
+v 0.22355521 0.12706670 -0.03980650
+v 0.24391034 0.09033244 0.00846476
+v 0.23750864 0.13626692 0.26609838
+f 8 5 2
+f 8 2 1
+f 8 1 7
+f 9 3 7
+f 10 4 6
+f 10 5 8
+f 11 2 5
+f 11 10 6
+f 11 5 10
+f 12 3 9
+f 13 7 1
+f 14 8 7
+f 14 4 8
+f 14 7 3
+f 14 3 12
+f 15 10 8
+f 15 8 4
+f 15 4 10
+f 16 2 11
+f 16 13 2
+f 16 7 13
+f 17 11 6
+f 18 13 1
+f 18 1 2
+f 18 2 13
+f 19 14 12
+f 19 4 14
+f 20 9 7
+f 20 7 16
+f 20 16 11
+f 20 11 17
+f 21 19 12
+f 22 17 6
+f 22 6 4
+f 22 4 19
+f 23 20 17
+f 23 9 20
+f 23 21 9
+f 23 17 21
+f 24 21 12
+f 24 12 9
+f 24 9 21
+f 25 21 17
+f 25 19 21
+f 25 22 19
+f 25 17 22
\ No newline at end of file
diff --git a/objects/objaverse/yogurt/yogurt_3/collision/model_normalized_collision_8.obj b/objects/objaverse/yogurt/yogurt_3/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..663320165b94b761cecfc4790bdf6ff6a3f3e823
--- /dev/null
+++ b/objects/objaverse/yogurt/yogurt_3/collision/model_normalized_collision_8.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.08101740 -0.12993223 -0.35606061
+v 0.07876532 -0.12905405 -0.45388320
+v 0.08100369 0.11258766 -0.46175307
+v -0.12843586 0.17744063 -0.42859713
+v -0.14101403 -0.16568551 -0.34977307
+v -0.11759496 0.15962180 -0.47726859
+v 0.08101740 0.11249200 -0.35606061
+v -0.07606821 0.16173989 -0.46415959
+v -0.16981393 -0.00014514 -0.44951170
+v -0.11595229 0.09734049 -0.35606061
+v -0.16045030 0.04079951 -0.45320889
+v -0.14410396 -0.01192435 -0.46285335
+v 0.00525983 0.11249200 -0.35606061
+v -0.15962056 -0.00971657 -0.45777086
+v -0.07317152 -0.05320515 -0.46090476
+v -0.10234474 -0.12999975 -0.44400516
+v -0.03791283 -0.13604944 -0.45033180
+v -0.10230750 -0.06228107 -0.45879996
+f 1 2 3
+f 5 2 1
+f 6 3 2
+f 7 1 3
+f 7 5 1
+f 8 6 4
+f 8 3 6
+f 8 7 3
+f 8 4 7
+f 10 9 5
+f 10 4 9
+f 11 9 4
+f 11 4 6
+f 11 6 9
+f 13 7 4
+f 13 4 10
+f 13 10 5
+f 13 5 7
+f 14 9 6
+f 14 6 12
+f 14 5 9
+f 15 12 6
+f 15 6 2
+f 16 14 12
+f 16 5 14
+f 17 15 2
+f 17 2 5
+f 17 5 16
+f 18 17 16
+f 18 16 12
+f 18 12 15
+f 18 15 17
\ No newline at end of file
diff --git a/objects/objaverse/yogurt/yogurt_3/collision/model_normalized_collision_9.obj b/objects/objaverse/yogurt/yogurt_3/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5b41990877744e0dff5e4ca2cbcda06b92cc41ea
--- /dev/null
+++ b/objects/objaverse/yogurt/yogurt_3/collision/model_normalized_collision_9.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.08671423 -0.22045414 -0.27652392
+v 0.13773146 -0.19857424 -0.35654648
+v 0.09926820 0.22195404 -0.23696950
+v -0.13125199 0.19367424 -0.23311606
+v -0.18170992 -0.12519792 -0.35535335
+v 0.13299284 -0.19558197 -0.23305098
+v -0.06242651 -0.21839873 -0.35585947
+v 0.10725286 0.21076648 -0.36021026
+v 0.14162346 0.11249200 -0.23484849
+v -0.17726720 -0.15161008 -0.23269154
+v 0.13205221 -0.20788029 -0.31823920
+v -0.13219203 -0.17748071 -0.35785776
+v -0.12602213 0.18595049 -0.35691207
+v 0.18692926 0.15128172 -0.35560983
+v -0.19088218 -0.12929516 -0.23486250
+v -0.03953311 -0.23356991 -0.23468160
+v 0.14072807 -0.20250817 -0.30444350
+v 0.07581212 -0.22195178 -0.35851181
+v -0.17517700 -0.14996518 -0.27269938
+v -0.17718138 -0.13218481 -0.35711640
+v -0.13736463 -0.18733166 -0.23332563
+v 0.12130820 -0.20586805 -0.35672638
+v -0.10757531 -0.20290454 -0.29136395
+v -0.15022015 -0.17495089 -0.27131480
+v -0.08139548 -0.22184472 -0.23477915
+f 9 3 4
+f 9 4 6
+f 10 6 4
+f 13 4 3
+f 13 3 8
+f 14 8 3
+f 14 3 9
+f 14 2 8
+f 14 9 6
+f 15 10 4
+f 15 13 5
+f 15 4 13
+f 16 1 6
+f 17 6 1
+f 17 1 11
+f 17 11 2
+f 17 14 6
+f 17 2 14
+f 18 7 12
+f 18 12 8
+f 18 8 2
+f 18 11 1
+f 18 16 7
+f 18 1 16
+f 19 15 5
+f 19 10 15
+f 20 5 13
+f 20 19 5
+f 20 12 19
+f 20 13 8
+f 20 8 12
+f 21 16 6
+f 21 6 10
+f 22 18 2
+f 22 2 11
+f 22 11 18
+f 23 12 7
+f 24 19 12
+f 24 23 21
+f 24 12 23
+f 24 21 10
+f 24 10 19
+f 25 23 7
+f 25 7 16
+f 25 16 21
+f 25 21 23
\ No newline at end of file
diff --git a/objects/objaverse/yogurt/yogurt_3/model.xml b/objects/objaverse/yogurt/yogurt_3/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..6b1083bd71c263c24eae3c5127d20856941c540c
--- /dev/null
+++ b/objects/objaverse/yogurt/yogurt_3/model.xml
@@ -0,0 +1,81 @@
+<mujoco model="yogurt_2">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.09500000000000003 0.09500000000000003 0.09500000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.09500000000000003 0.09500000000000003 0.09500000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.09500000000000003 0.09500000000000003 0.09500000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.09500000000000003 0.09500000000000003 0.09500000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.09500000000000003 0.09500000000000003 0.09500000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.09500000000000003 0.09500000000000003 0.09500000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.09500000000000003 0.09500000000000003 0.09500000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.09500000000000003 0.09500000000000003 0.09500000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.09500000000000003 0.09500000000000003 0.09500000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.09500000000000003 0.09500000000000003 0.09500000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.09500000000000003 0.09500000000000003 0.09500000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.09500000000000003 0.09500000000000003 0.09500000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.09500000000000003 0.09500000000000003 0.09500000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.09500000000000003 0.09500000000000003 0.09500000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.09500000000000003 0.09500000000000003 0.09500000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.09500000000000003 0.09500000000000003 0.09500000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.09500000000000003 0.09500000000000003 0.09500000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.09500000000000003 0.09500000000000003 0.09500000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.09500000000000003 0.09500000000000003 0.09500000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.09500000000000003 0.09500000000000003 0.09500000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.09500000000000003 0.09500000000000003 0.09500000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.09500000000000003 0.09500000000000003 0.09500000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.09500000000000003 0.09500000000000003 0.09500000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.09500000000000003 0.09500000000000003 0.09500000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.09500000000000003 0.09500000000000003 0.09500000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.09500000000000003 0.09500000000000003 0.09500000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.09500000000000003 0.09500000000000003 0.09500000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.09500000000000003 0.09500000000000003 0.09500000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.09500000000000003 0.09500000000000003 0.09500000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.09500000000000003 0.09500000000000003 0.09500000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.09500000000000003 0.09500000000000003 0.09500000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.09500000000000003 0.09500000000000003 0.09500000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.09500000000000003 0.09500000000000003 0.09500000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="material_0.013" texture="image0" specular="0.5" shininess="0.359999993"/>
+  </asset>
+  <worldbody>
+    <body>
+      <body name="object">
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_0_vis" conaffinity="0" contype="0" group="1" material="material_0.013"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_22._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_23._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_21._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_20._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_24._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_30._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_18._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_19._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_31._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_25._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_27._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_26._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_9._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_8._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_6._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_7._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_5._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_4._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_0._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_1._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_3._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_2._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_17._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_16._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_28._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_14._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_15._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_29._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_11._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_10._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_12._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_13._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+      </body>
+      <site rgba="0 0 0 0" size="0.005" pos="-0.00024632739999999993 -2.818602500000129e-05 -0.04725186285000001" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="-0.00024632739999999993 -2.818602500000129e-05 0.04724125800000002" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.029574517450000008 0.029618050250000007 -5.302424999998752e-06" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/objects/objaverse/yogurt/yogurt_3/visual/material.mtl b/objects/objaverse/yogurt/yogurt_3/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6b5d0f127cc1df2efd6b4835e0300358bb6dde72
--- /dev/null
+++ b/objects/objaverse/yogurt/yogurt_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