diff --git a/objects/objaverse/bagged_food/bagged_food_3/collision/model_normalized_collision_1.obj b/objects/objaverse/bagged_food/bagged_food_3/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5bc06ca2100017c35864e0d4a21927d794d29f6d
--- /dev/null
+++ b/objects/objaverse/bagged_food/bagged_food_3/collision/model_normalized_collision_1.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v 0.27677366 -0.27027885 -0.23489139
+v 0.31977808 -0.22960733 -0.47664820
+v 0.32267523 0.02706326 -0.23505197
+v 0.18411748 0.13668426 -0.23248125
+v 0.18397679 -0.26449634 -0.49533295
+v 0.31510834 0.14012456 -0.49079058
+v 0.32259813 -0.18468715 -0.23483631
+v 0.27700488 -0.26301733 -0.49636288
+v 0.18242080 -0.26284188 -0.23494504
+v 0.31972241 0.04068004 -0.44603991
+v 0.27345778 0.13911496 -0.23407874
+v 0.18440957 0.08761250 -0.49808564
+v 0.31644958 -0.24497669 -0.44751117
+v 0.32183623 0.04179960 -0.35574817
+v 0.31234413 -0.24534629 -0.49510586
+v 0.31870906 0.01174686 -0.47533642
+v 0.28666783 0.14845769 -0.48724391
+v 0.31647774 0.13467500 -0.35644705
+v 0.18372354 0.13490580 -0.35830409
+v 0.31993155 -0.22655228 -0.44769857
+v 0.31959284 -0.21532459 -0.49004445
+v 0.25964581 0.14609276 -0.49549337
+v 0.27209336 0.14763089 -0.37272908
+v 0.29907529 0.14557319 -0.47778040
+v 0.23002034 0.14685289 -0.49533113
+v 0.23061513 0.14635608 -0.41838163
+f 7 4 1
+f 8 1 5
+f 9 5 1
+f 9 1 4
+f 11 7 3
+f 11 4 7
+f 12 5 9
+f 12 8 5
+f 13 7 1
+f 13 1 8
+f 14 7 2
+f 14 3 7
+f 14 10 6
+f 15 13 8
+f 15 2 13
+f 16 6 10
+f 18 11 3
+f 18 14 6
+f 18 3 14
+f 19 12 9
+f 19 9 4
+f 20 13 2
+f 20 2 7
+f 20 7 13
+f 21 14 2
+f 21 10 14
+f 21 16 10
+f 21 6 16
+f 21 15 6
+f 21 2 15
+f 22 6 15
+f 22 17 6
+f 22 15 8
+f 22 8 12
+f 23 4 11
+f 23 11 18
+f 24 18 6
+f 24 6 17
+f 24 23 18
+f 24 17 23
+f 25 22 12
+f 25 12 19
+f 25 19 4
+f 25 23 17
+f 25 17 22
+f 26 25 4
+f 26 4 23
+f 26 23 25
\ No newline at end of file
diff --git a/objects/objaverse/bagged_food/bagged_food_3/collision/model_normalized_collision_11.obj b/objects/objaverse/bagged_food/bagged_food_3/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a268bf7f0af848e9f506b66762458b20c7792b28
--- /dev/null
+++ b/objects/objaverse/bagged_food/bagged_food_3/collision/model_normalized_collision_11.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v -0.14895645 -0.06374459 0.00757576
+v -0.14870580 -0.06370054 -0.49727100
+v -0.14894560 0.15340712 0.00761654
+v -0.29654624 0.14791829 0.00874479
+v -0.31989462 -0.06461381 -0.09850539
+v -0.29965531 0.14803258 -0.49326796
+v -0.14851302 0.15241136 -0.03754978
+v -0.31782316 -0.06468803 -0.48279092
+v -0.31986092 -0.06460447 0.00756293
+v -0.31657890 0.15118258 -0.48345729
+v -0.14911016 0.14835490 -0.41752682
+v -0.31829732 -0.00268803 -0.49184031
+v -0.31500436 0.14350957 0.00872367
+v -0.31954843 0.14802375 -0.28277383
+v -0.14896466 0.08766059 -0.49826309
+v -0.22480014 0.15074811 -0.48620406
+v -0.26859443 -0.06362339 -0.49118675
+v -0.31426292 0.14419945 -0.49284712
+v -0.22460198 0.14575091 -0.49443776
+v -0.31187826 -0.02957518 -0.48942923
+v -0.27058874 0.14739234 -0.49398210
+f 1 3 4
+f 7 1 2
+f 7 3 1
+f 8 2 1
+f 9 8 1
+f 9 5 8
+f 10 4 3
+f 11 3 7
+f 12 8 5
+f 13 9 1
+f 13 1 4
+f 14 5 9
+f 14 9 13
+f 14 13 4
+f 14 4 10
+f 14 12 5
+f 14 10 12
+f 15 11 7
+f 15 7 2
+f 15 2 12
+f 16 6 10
+f 16 10 3
+f 16 3 11
+f 17 12 2
+f 17 2 8
+f 18 12 10
+f 18 10 6
+f 18 15 12
+f 18 6 15
+f 19 16 11
+f 19 11 15
+f 20 17 8
+f 20 8 12
+f 20 12 17
+f 21 19 15
+f 21 15 6
+f 21 6 16
+f 21 16 19
\ No newline at end of file
diff --git a/objects/objaverse/bagged_food/bagged_food_3/collision/model_normalized_collision_16.obj b/objects/objaverse/bagged_food/bagged_food_3/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2db595f14918b115044d269f462de64ebc6254fc
--- /dev/null
+++ b/objects/objaverse/bagged_food/bagged_food_3/collision/model_normalized_collision_16.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.31756162 -0.26740531 0.14334463
+v 0.32088790 -0.24329699 0.14296482
+v 0.29201457 0.11120907 0.27667778
+v 0.28613498 0.14301701 0.14630757
+v 0.27528589 -0.27204461 0.14373432
+v 0.32077399 0.11807422 0.14394002
+v 0.31645010 -0.20907049 0.26148513
+v 0.27391395 0.10675713 0.22592656
+v 0.32016228 -0.09492123 0.14331280
+v 0.31744477 -0.25724129 0.18012975
+v 0.27525830 -0.21351810 0.26407528
+v 0.30678047 0.06215747 0.26010753
+v 0.31946781 -0.09453773 0.20335911
+v 0.27769324 0.11276393 0.27643304
+v 0.31708089 -0.24200189 0.20847964
+v 0.27475637 -0.26243812 0.18463860
+v 0.27485254 -0.24684827 0.21090335
+f 5 2 1
+f 6 4 3
+f 6 5 4
+f 8 4 5
+f 9 6 2
+f 9 2 5
+f 9 5 6
+f 10 1 2
+f 11 7 3
+f 12 7 6
+f 12 6 3
+f 12 3 7
+f 13 7 2
+f 13 2 6
+f 13 6 7
+f 14 3 4
+f 14 4 8
+f 14 11 3
+f 14 8 11
+f 15 10 2
+f 15 2 7
+f 16 5 1
+f 16 1 10
+f 16 10 15
+f 16 8 5
+f 17 15 7
+f 17 7 11
+f 17 16 15
+f 17 11 8
+f 17 8 16
\ No newline at end of file
diff --git a/objects/objaverse/bagged_food/bagged_food_3/collision/model_normalized_collision_20.obj b/objects/objaverse/bagged_food/bagged_food_3/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c89442907737ddfbadb90ae72a0639a8afd2a6e
--- /dev/null
+++ b/objects/objaverse/bagged_food/bagged_food_3/collision/model_normalized_collision_20.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.18396499 -0.19942960 0.28609321
+v 0.18437689 -0.16980520 0.00757576
+v 0.18309094 0.13589040 0.18426614
+v -0.14818980 0.14593711 0.16383961
+v -0.15214347 -0.19820925 0.27794770
+v 0.18536978 0.14692959 0.00852078
+v -0.14895645 -0.16980520 0.00757576
+v -0.14858079 0.09101455 0.25889758
+v 0.13566449 0.14552176 0.16816464
+v 0.18402871 0.09450998 0.26029488
+v -0.14894560 0.15340712 0.00761654
+v 0.18411043 0.14560252 0.05293987
+v 0.18362250 0.11596790 0.22454311
+v 0.10817144 0.15363437 0.00769371
+v 0.04776842 0.14487272 0.18140911
+v 0.01822543 0.14504050 0.18080933
+f 6 1 2
+f 7 2 1
+f 7 1 5
+f 8 5 1
+f 10 1 6
+f 10 8 1
+f 11 7 5
+f 11 2 7
+f 11 8 4
+f 11 5 8
+f 12 9 3
+f 12 3 6
+f 13 10 6
+f 13 6 3
+f 14 6 2
+f 14 2 11
+f 14 12 6
+f 14 9 12
+f 14 11 4
+f 15 13 3
+f 15 3 9
+f 15 10 13
+f 16 14 4
+f 16 9 14
+f 16 15 9
+f 16 4 8
+f 16 8 10
+f 16 10 15
\ No newline at end of file
diff --git a/objects/objaverse/bagged_food/bagged_food_3/collision/model_normalized_collision_25.obj b/objects/objaverse/bagged_food/bagged_food_3/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a3fec9591b29837a68068b2994a4912628527395
--- /dev/null
+++ b/objects/objaverse/bagged_food/bagged_food_3/collision/model_normalized_collision_25.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.18242080 -0.26284188 -0.23494504
+v 0.18397679 -0.26449634 -0.49533295
+v 0.18396998 -0.06370989 -0.49594785
+v -0.32022109 -0.06450907 -0.23487987
+v -0.31985938 -0.26409415 -0.48536509
+v 0.18437689 -0.06374459 -0.23484848
+v -0.30829317 -0.26369535 -0.23540016
+v -0.31500066 -0.25690576 -0.49377635
+v -0.25409045 -0.06359787 -0.49223048
+v -0.31386775 -0.26172008 -0.25238521
+v -0.22235333 -0.26157099 -0.49163230
+v -0.31782316 -0.06468803 -0.48279092
+v -0.31266827 -0.25699096 -0.23587117
+v -0.31247056 -0.15559259 -0.49016531
+v -0.31969895 -0.20098174 -0.49098392
+v -0.29733456 -0.12592651 -0.49034488
+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 3 2
+f 9 6 3
+f 9 4 6
+f 9 3 8
+f 10 4 5
+f 10 5 7
+f 11 8 2
+f 11 2 5
+f 11 5 8
+f 12 4 9
+f 13 10 7
+f 13 7 4
+f 13 4 10
+f 14 9 8
+f 15 8 5
+f 15 5 4
+f 15 4 12
+f 15 14 8
+f 15 12 14
+f 16 14 12
+f 16 12 9
+f 16 9 14
\ No newline at end of file
diff --git a/objects/objaverse/bagged_food/bagged_food_3/collision/model_normalized_collision_29.obj b/objects/objaverse/bagged_food/bagged_food_3/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f3d5b0d15a0fa072580b54b988dcd7ca35f734e3
--- /dev/null
+++ b/objects/objaverse/bagged_food/bagged_food_3/collision/model_normalized_collision_29.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.32004949 -0.26800267 0.00720957
+v 0.31789186 -0.26544112 -0.23445436
+v 0.32165441 -0.06352309 0.00752778
+v -0.31986092 -0.06460447 0.00756293
+v -0.30829317 -0.26369535 -0.23540016
+v -0.31179046 -0.26089339 0.00791508
+v 0.31993446 -0.26605043 -0.20357415
+v 0.31886125 -0.06355320 -0.23485888
+v -0.31497334 -0.26236603 -0.11203910
+v -0.31545751 -0.24272103 -0.23571189
+v 0.32089023 -0.09566139 -0.23496336
+v -0.32022109 -0.06450907 -0.23487987
+v -0.32018214 -0.25874491 0.00789880
+v 0.31923752 -0.25892755 -0.23405002
+v -0.31997491 -0.25904651 -0.00834868
+f 6 1 3
+f 6 3 4
+f 7 3 1
+f 7 5 2
+f 7 1 5
+f 9 5 1
+f 9 1 6
+f 10 2 5
+f 10 5 9
+f 11 10 8
+f 11 2 10
+f 11 8 3
+f 11 3 7
+f 12 4 3
+f 12 3 8
+f 12 8 10
+f 13 9 6
+f 13 6 4
+f 13 4 12
+f 14 11 7
+f 14 7 2
+f 14 2 11
+f 15 13 12
+f 15 12 10
+f 15 10 9
+f 15 9 13
\ No newline at end of file
diff --git a/objects/objaverse/bagged_food/bagged_food_3/collision/model_normalized_collision_31.obj b/objects/objaverse/bagged_food/bagged_food_3/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d175cf68866905325ed352f600f3aca2afa9ba70
--- /dev/null
+++ b/objects/objaverse/bagged_food/bagged_food_3/collision/model_normalized_collision_31.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.31756162 -0.26740531 0.14334463
+v 0.32004949 -0.26800267 0.00720957
+v 0.32026841 -0.01767433 0.14299189
+v 0.18437689 -0.01829004 0.14393940
+v 0.18430559 -0.27422290 0.14394932
+v 0.18437689 -0.01829004 0.00757576
+v 0.31872339 -0.25850224 0.14305854
+v 0.31914689 -0.26841151 0.03748016
+v 0.32233841 -0.01815153 0.00768209
+v 0.18324912 -0.26444920 0.00828883
+f 1 3 4
+f 5 1 4
+f 6 4 3
+f 7 1 2
+f 7 3 1
+f 8 5 2
+f 8 2 1
+f 8 1 5
+f 9 6 3
+f 9 2 6
+f 9 7 2
+f 9 3 7
+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/bagged_food/bagged_food_3/collision/model_normalized_collision_5.obj b/objects/objaverse/bagged_food/bagged_food_3/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..34d17210516172209ffd08cd72e6cbe18d8ff503
--- /dev/null
+++ b/objects/objaverse/bagged_food/bagged_food_3/collision/model_normalized_collision_5.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.30450627 -0.21037635 0.26213423
+v 0.31554639 -0.18296563 0.26465544
+v 0.30957733 -0.12090987 0.38382553
+v -0.31269914 -0.11878218 0.39839345
+v -0.30315367 -0.12514923 0.26051469
+v 0.30897290 -0.16950188 0.33009747
+v -0.29560609 -0.19052583 0.25488349
+v 0.29531859 -0.11620681 0.27287048
+v 0.30779297 -0.13124909 0.37960412
+v -0.25320816 -0.15088858 0.36154543
+v 0.31112965 -0.18301282 0.30843662
+v -0.31533238 -0.17698940 0.26125207
+v -0.08995931 -0.11592253 0.39712096
+v -0.17683566 -0.19743696 0.27229420
+v -0.29197357 -0.13797719 0.37924561
+v 0.30382055 -0.19747930 0.28621897
+v -0.31670847 -0.12259776 0.38532370
+v -0.17659672 -0.20200799 0.26019688
+v 0.07956723 -0.19856827 0.28180355
+v -0.29165281 -0.15138802 0.34820900
+v -0.30746559 -0.12349388 0.39468233
+v -0.18102375 -0.15209144 0.35974377
+v -0.31761358 -0.13701731 0.34877634
+v -0.31601135 -0.16809400 0.27475091
+v -0.31613009 -0.17016922 0.27202797
+f 7 5 2
+f 7 2 1
+f 8 3 2
+f 8 2 5
+f 8 5 4
+f 11 1 2
+f 11 2 3
+f 11 9 6
+f 11 3 9
+f 12 5 7
+f 13 8 4
+f 13 3 8
+f 13 9 3
+f 13 4 9
+f 14 10 7
+f 16 1 11
+f 16 11 6
+f 17 12 7
+f 17 4 5
+f 18 14 7
+f 18 7 1
+f 18 1 14
+f 19 14 1
+f 19 10 14
+f 19 16 10
+f 19 1 16
+f 20 15 7
+f 20 7 10
+f 20 10 15
+f 21 15 9
+f 21 9 4
+f 21 4 17
+f 21 17 7
+f 21 7 15
+f 22 15 10
+f 22 6 9
+f 22 9 15
+f 22 16 6
+f 22 10 16
+f 23 17 5
+f 23 12 17
+f 24 23 5
+f 25 24 5
+f 25 5 12
+f 25 12 23
+f 25 23 24
\ No newline at end of file
diff --git a/objects/objaverse/bagged_food/bagged_food_3/collision/model_normalized_collision_6.obj b/objects/objaverse/bagged_food/bagged_food_3/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..457f360af1ca48741cd01562c16e738514d18880
--- /dev/null
+++ b/objects/objaverse/bagged_food/bagged_food_3/collision/model_normalized_collision_6.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.22902866 -0.02498570 0.46861286
+v 0.30350574 0.00867945 0.38449870
+v 0.18266627 0.06588569 0.37825380
+v -0.28261050 0.07710267 0.37927008
+v -0.31112144 -0.01717045 0.38751345
+v 0.03203835 -0.01766275 0.47658319
+v 0.30165365 0.01233269 0.42069250
+v 0.27418936 0.04775375 0.37917477
+v 0.22914870 -0.00275134 0.44882183
+v -0.16516610 0.08023985 0.37842404
+v -0.29520266 -0.02370982 0.48501304
+v 0.30269306 0.00649540 0.42740255
+v 0.30222039 0.03734807 0.38303209
+v 0.22850463 -0.01646714 0.46207504
+v 0.04573395 -0.00444576 0.46205076
+v -0.30633614 0.06234807 0.37969231
+v -0.31183703 -0.02305016 0.47260143
+v 0.03227541 -0.02474903 0.48286933
+v -0.29222759 -0.01440538 0.47994962
+v 0.29912309 0.02410220 0.40449014
+v -0.28091207 0.07041576 0.38997517
+v -0.30001769 0.02683290 0.43308503
+v -0.29349574 0.05651184 0.40432733
+v -0.30099738 -0.00238649 0.46120079
+v -0.30228766 0.05864327 0.39071429
+f 5 2 1
+f 8 2 5
+f 8 3 7
+f 12 1 2
+f 12 7 3
+f 12 3 9
+f 13 2 8
+f 13 12 2
+f 13 7 12
+f 14 9 6
+f 14 12 9
+f 14 1 12
+f 15 9 3
+f 15 6 9
+f 15 10 6
+f 15 3 10
+f 16 10 3
+f 16 3 8
+f 16 8 5
+f 16 4 10
+f 17 5 1
+f 17 1 11
+f 17 16 5
+f 18 11 1
+f 18 14 6
+f 18 1 14
+f 19 17 11
+f 19 6 10
+f 19 18 6
+f 19 11 18
+f 20 13 8
+f 20 8 7
+f 20 7 13
+f 21 19 10
+f 21 10 4
+f 22 16 17
+f 23 21 4
+f 23 4 16
+f 23 22 19
+f 23 19 21
+f 24 22 17
+f 24 17 19
+f 24 19 22
+f 25 23 16
+f 25 16 22
+f 25 22 23
\ No newline at end of file
diff --git a/objects/objaverse/beer/beer_0/collision/model_normalized_collision_0.obj b/objects/objaverse/beer/beer_0/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bec4b33b2810571c8fea25a9a43665458eb87613
--- /dev/null
+++ b/objects/objaverse/beer/beer_0/collision/model_normalized_collision_0.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.04501850 -0.12368750 0.12292350
+v 0.07791349 -0.10215042 -0.49410505
+v 0.07245496 -0.10784720 0.12292350
+v 0.06163192 -0.00546439 0.26646241
+v 0.00756839 -0.00546439 -0.50000000
+v 0.08332597 -0.00546439 -0.50000000
+v 0.04952206 -0.04798134 0.26444957
+v 0.05778029 -0.12382476 -0.43194964
+v 0.07334215 -0.09423222 0.14755754
+v 0.00545260 -0.12982857 -0.49299499
+v 0.00764026 -0.00552469 0.20842829
+v 0.07431735 -0.11107288 -0.48592871
+v 0.06900779 -0.00546439 0.26295233
+v 0.00550406 -0.13012064 0.12432535
+v 0.03484191 -0.12464653 -0.49299499
+v 0.06325414 -0.02846201 0.26187075
+v 0.00698843 -0.07793295 0.21897137
+v 0.06067978 -0.11369551 -0.49299499
+v 0.05766600 -0.12362695 -0.47475251
+v 0.05598726 -0.04069262 0.26270793
+f 7 1 3
+f 8 3 1
+f 9 3 2
+f 9 2 6
+f 9 7 3
+f 10 6 2
+f 10 5 6
+f 11 7 4
+f 11 4 5
+f 12 2 3
+f 12 3 8
+f 13 9 6
+f 13 6 5
+f 13 5 4
+f 14 10 8
+f 14 8 1
+f 14 1 7
+f 14 11 5
+f 14 5 10
+f 15 10 2
+f 16 13 4
+f 16 4 7
+f 16 9 13
+f 17 14 7
+f 17 7 11
+f 17 11 14
+f 18 15 2
+f 18 2 12
+f 19 12 8
+f 19 8 10
+f 19 10 15
+f 19 18 12
+f 19 15 18
+f 20 16 7
+f 20 7 9
+f 20 9 16
\ No newline at end of file
diff --git a/objects/objaverse/beer/beer_0/collision/model_normalized_collision_1.obj b/objects/objaverse/beer/beer_0/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f81fdec07e131b3de48ebd770808bfabd8ed95e
--- /dev/null
+++ b/objects/objaverse/beer/beer_0/collision/model_normalized_collision_1.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.06900779 -0.00546439 0.26295233
+v 0.13401393 -0.00546439 -0.09816419
+v 0.10993743 0.07747128 -0.09826510
+v -0.07641718 0.07475901 0.16580398
+v -0.05303767 -0.00546439 -0.09848485
+v 0.02404774 0.05744151 0.26555589
+v 0.06668558 0.01878215 0.26243163
+v 0.00764026 -0.00552469 0.20842829
+v -0.09742191 0.09238493 -0.09811833
+v 0.06163192 -0.00546439 0.26646241
+v 0.05395590 0.04321083 0.26230065
+v -0.09877989 -0.00546439 0.17671001
+v 0.06762000 0.04196264 0.21524237
+v 0.03045990 0.05339608 0.26750862
+v 0.06469999 0.03321098 0.24569348
+f 5 3 2
+f 6 3 4
+f 7 1 2
+f 7 2 3
+f 8 5 2
+f 8 2 1
+f 9 4 3
+f 9 3 5
+f 10 1 7
+f 10 8 1
+f 11 3 6
+f 12 5 8
+f 12 9 5
+f 12 4 9
+f 12 6 4
+f 12 10 6
+f 12 8 10
+f 13 7 3
+f 13 3 11
+f 14 10 7
+f 14 7 11
+f 14 11 6
+f 14 6 10
+f 15 13 11
+f 15 11 7
+f 15 7 13
\ No newline at end of file
diff --git a/objects/objaverse/beer/beer_0/collision/model_normalized_collision_10.obj b/objects/objaverse/beer/beer_0/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e3bb527bef72e7de702f3a1e8050b3859e66bf82
--- /dev/null
+++ b/objects/objaverse/beer/beer_0/collision/model_normalized_collision_10.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v -0.04685575 -0.05584071 0.24739450
+v -0.02278027 0.04006919 0.20873371
+v -0.01872805 0.04820223 0.38538581
+v -0.05020519 -0.06116431 0.21846615
+v -0.07061020 0.03535676 0.21675355
+v -0.04845915 0.06236269 0.21770743
+v -0.06916948 -0.03993511 0.21577776
+v -0.04145478 0.03027118 0.38451851
+v -0.02197069 0.06596048 0.26447579
+v -0.05384099 0.05825348 0.21562750
+v -0.05582655 -0.05569685 0.21619062
+v -0.03014736 0.04173754 0.38447497
+v -0.05125429 -0.01445219 0.36901300
+v -0.01993715 0.05477656 0.33848586
+v -0.02744113 0.06329348 0.22113026
+v -0.03969161 0.01585929 0.38947567
+v -0.04991703 0.01818820 0.36883929
+v -0.06587703 -0.01425977 0.27744858
+v -0.03843950 -0.02081732 0.38646518
+v -0.04757375 -0.01862723 0.38565411
+v -0.06455116 0.01799993 0.27723186
+f 1 2 3
+f 2 1 4
+f 7 5 2
+f 9 6 3
+f 10 6 2
+f 10 2 5
+f 10 5 8
+f 11 7 2
+f 11 2 4
+f 12 3 6
+f 12 10 8
+f 12 6 10
+f 14 9 3
+f 14 3 2
+f 14 2 9
+f 15 9 2
+f 15 2 6
+f 15 6 9
+f 16 12 8
+f 16 3 12
+f 17 8 5
+f 18 5 7
+f 18 13 17
+f 19 1 3
+f 19 3 16
+f 20 7 11
+f 20 11 4
+f 20 4 1
+f 20 1 19
+f 20 19 16
+f 20 17 13
+f 20 16 8
+f 20 8 17
+f 20 18 7
+f 20 13 18
+f 21 18 17
+f 21 17 5
+f 21 5 18
\ No newline at end of file
diff --git a/objects/objaverse/beer/beer_0/collision/model_normalized_collision_11.obj b/objects/objaverse/beer/beer_0/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..82bf9b541aa3392a142c86c626fa541105646c7a
--- /dev/null
+++ b/objects/objaverse/beer/beer_0/collision/model_normalized_collision_11.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v -0.04706408 -0.11633004 0.13717300
+v -0.04802211 -0.11798942 -0.49509249
+v -0.05303767 -0.08122197 -0.50000000
+v -0.10569397 -0.07455135 0.12489209
+v -0.05783909 -0.12390136 -0.44710060
+v -0.06185157 -0.09648836 0.15412167
+v -0.04730888 -0.12998071 -0.44705377
+v -0.07246601 -0.10784082 0.12292350
+v -0.10504527 -0.07400696 -0.49360806
+v -0.09430507 -0.07770855 0.14078219
+v -0.04716011 -0.12957168 -0.47562554
+v -0.10385151 -0.08815679 -0.44705061
+v -0.08150730 -0.09713634 0.13557601
+v -0.08444804 -0.09974046 -0.49299499
+v -0.05767718 -0.12362066 -0.47475165
+v -0.09879942 -0.08391767 0.12292350
+v -0.06069082 -0.11368913 -0.49299499
+v -0.09842314 -0.08360181 -0.49255614
+f 1 2 3
+f 6 1 3
+f 8 7 1
+f 8 5 7
+f 9 4 3
+f 10 6 3
+f 10 3 4
+f 11 2 1
+f 11 1 7
+f 12 5 8
+f 12 4 9
+f 13 8 1
+f 13 1 6
+f 13 6 10
+f 13 10 4
+f 14 9 3
+f 14 3 2
+f 15 11 7
+f 15 7 5
+f 15 14 11
+f 15 5 12
+f 15 12 14
+f 16 12 8
+f 16 4 12
+f 16 13 4
+f 16 8 13
+f 17 14 2
+f 17 2 11
+f 17 11 14
+f 18 14 12
+f 18 12 9
+f 18 9 14
\ No newline at end of file
diff --git a/objects/objaverse/beer/beer_0/collision/model_normalized_collision_12.obj b/objects/objaverse/beer/beer_0/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..83ef4954391b96e171e2f344f48f7a294d90ceed
--- /dev/null
+++ b/objects/objaverse/beer/beer_0/collision/model_normalized_collision_12.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.12398472 -0.03402188 0.12687200
+v 0.12592058 -0.04436317 -0.48551462
+v 0.13045902 0.03508636 -0.18948464
+v 0.12279517 0.03781165 0.12639671
+v 0.12045210 -0.03273605 -0.49654580
+v 0.12715000 -0.02965922 0.12292350
+v 0.12382281 -0.04911447 0.03784541
+v 0.12880300 -0.00546439 -0.49299499
+v 0.12424850 -0.00546439 -0.49665499
+v 0.12579283 0.03338797 0.12292350
+v 0.12328235 -0.04891773 -0.48800089
+v 0.12559575 -0.04424504 0.03775535
+v 0.12868608 0.03995578 -0.18939458
+v 0.12637667 -0.02937780 -0.49299499
+f 5 1 4
+f 7 1 5
+f 7 6 1
+f 8 6 2
+f 8 3 6
+f 9 5 4
+f 10 6 3
+f 10 4 1
+f 10 1 6
+f 11 7 5
+f 11 2 7
+f 12 7 2
+f 12 2 6
+f 12 6 7
+f 13 9 4
+f 13 3 8
+f 13 8 9
+f 13 10 3
+f 13 4 10
+f 14 9 8
+f 14 5 9
+f 14 11 5
+f 14 8 2
+f 14 2 11
\ No newline at end of file
diff --git a/objects/objaverse/beer/beer_0/collision/model_normalized_collision_13.obj b/objects/objaverse/beer/beer_0/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..39556a4539d92a6ae7f06d93abcd40a37304e46a
--- /dev/null
+++ b/objects/objaverse/beer/beer_0/collision/model_normalized_collision_13.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v -0.00658349 -0.04525056 0.49789074
+v -0.02052982 -0.04710005 0.38582553
+v -0.00640143 0.04844004 0.45999872
+v -0.00604588 0.04642479 0.49725899
+v -0.04928031 -0.01373329 0.45383647
+v -0.00704618 -0.04787381 0.46154966
+v -0.03672906 -0.03723403 0.48771951
+v -0.04145478 0.03027118 0.38451851
+v -0.01872805 0.04820223 0.38538581
+v -0.04350367 -0.02776733 0.38484487
+v -0.04080483 -0.02550307 0.49603803
+v -0.01878237 -0.05160408 0.44413579
+v -0.03943876 0.02857943 0.49474954
+v -0.03014736 0.04173754 0.38447497
+v -0.03636686 0.04115338 0.44290620
+v -0.05291689 -0.01505708 0.42281750
+v -0.03009240 -0.03741987 0.49631304
+v -0.01905800 -0.05236150 0.42281750
+v -0.03194887 -0.04063552 0.38491466
+v -0.02889119 0.03956178 0.49457702
+v -0.03698752 0.04167424 0.42356545
+v -0.03887814 -0.03903791 0.42281750
+v -0.05155970 0.01878582 0.42281750
+v -0.02737066 -0.04785690 0.42359242
+v -0.04811981 0.01753373 0.45332801
+v -0.02696270 -0.04714988 0.44289031
+f 1 3 4
+f 6 3 1
+f 9 6 2
+f 9 3 6
+f 11 1 4
+f 12 6 1
+f 12 1 7
+f 13 11 4
+f 13 5 11
+f 14 9 2
+f 15 4 3
+f 15 3 9
+f 16 8 10
+f 16 11 5
+f 16 7 11
+f 17 11 7
+f 17 7 1
+f 17 1 11
+f 18 2 6
+f 18 6 12
+f 19 10 8
+f 19 8 14
+f 19 14 2
+f 20 15 13
+f 20 13 4
+f 20 4 15
+f 21 15 9
+f 21 9 14
+f 21 14 8
+f 22 16 10
+f 22 7 16
+f 22 10 19
+f 23 8 16
+f 23 21 8
+f 23 13 15
+f 23 15 21
+f 24 19 2
+f 24 2 18
+f 24 22 19
+f 24 18 12
+f 25 23 16
+f 25 16 5
+f 25 5 13
+f 25 13 23
+f 26 24 12
+f 26 12 7
+f 26 7 22
+f 26 22 24
\ No newline at end of file
diff --git a/objects/objaverse/beer/beer_0/collision/model_normalized_collision_14.obj b/objects/objaverse/beer/beer_0/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2c896377374d217f742198693f8ec9e58a945dc9
--- /dev/null
+++ b/objects/objaverse/beer/beer_0/collision/model_normalized_collision_14.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.06974430 0.05645895 0.19069979
+v 0.08332597 0.05514167 -0.50000000
+v 0.08425318 0.08622271 0.14463851
+v -0.04949375 0.07930645 0.18487752
+v -0.06092492 0.06176000 0.19595454
+v -0.07060172 0.11586617 -0.35583836
+v 0.06193915 0.07464483 0.18144749
+v 0.09544155 0.06530782 0.15307483
+v 0.00756839 0.05514167 -0.50000000
+v 0.08234820 0.08462425 -0.49906029
+v -0.09867046 0.09343202 -0.35568374
+v 0.00756839 0.08544470 -0.50000000
+f 6 4 3
+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 9 2 1
+f 9 1 5
+f 10 6 3
+f 10 8 2
+f 10 3 8
+f 11 5 4
+f 11 4 6
+f 11 9 5
+f 12 6 10
+f 12 11 6
+f 12 9 11
+f 12 10 2
+f 12 2 9
\ No newline at end of file
diff --git a/objects/objaverse/beer/beer_0/collision/model_normalized_collision_15.obj b/objects/objaverse/beer/beer_0/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..17fa90dc1434d5ec2b0a8d4b07eab3352e19c288
--- /dev/null
+++ b/objects/objaverse/beer/beer_0/collision/model_normalized_collision_15.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.13401393 -0.00546439 -0.09816419
+v 0.13487896 -0.00546439 -0.23490575
+v 0.11059820 0.07802573 -0.23462328
+v -0.11973211 0.06287238 -0.09834186
+v -0.13487715 -0.00546439 -0.23461831
+v 0.10993743 0.07747128 -0.09826510
+v -0.13401454 -0.00546439 -0.09826013
+v -0.12054269 0.06316741 -0.23470004
+v 0.13045902 0.03508636 -0.18948464
+v 0.12585979 0.04856389 -0.23497014
+v 0.12363653 0.05326940 -0.15912554
+f 6 3 4
+f 7 6 4
+f 7 1 6
+f 7 5 2
+f 7 2 1
+f 8 4 3
+f 8 7 4
+f 8 5 7
+f 9 1 2
+f 10 8 3
+f 10 2 5
+f 10 5 8
+f 10 9 2
+f 11 6 1
+f 11 1 9
+f 11 9 10
+f 11 10 3
+f 11 3 6
\ No newline at end of file
diff --git a/objects/objaverse/beer/beer_0/collision/model_normalized_collision_16.obj b/objects/objaverse/beer/beer_0/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b324d8008bde23c94fc9d609c7cc9a5e37427414
--- /dev/null
+++ b/objects/objaverse/beer/beer_0/collision/model_normalized_collision_16.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v -0.10905788 -0.00546439 0.16236368
+v -0.12054269 0.06316741 -0.23470004
+v -0.09544993 0.06530231 0.15306999
+v -0.13487896 -0.00546439 -0.23490585
+v -0.12579456 0.03338324 0.12292350
+v -0.10994328 0.07746416 -0.09826517
+v -0.12586150 0.04855915 -0.23497023
+v -0.10480292 0.05743857 0.14781847
+v -0.12946539 -0.00546439 0.12335132
+v -0.11853037 0.05140553 0.12468715
+v -0.12568137 0.04849359 -0.20466842
+v -0.11489590 -0.00546439 0.15341397
+v -0.13401393 -0.00546439 -0.09816429
+f 1 2 3
+f 2 1 4
+f 6 3 2
+f 7 2 4
+f 8 1 3
+f 10 6 2
+f 10 2 5
+f 10 5 8
+f 10 8 3
+f 10 3 6
+f 11 5 2
+f 11 2 7
+f 11 7 4
+f 12 8 5
+f 12 1 8
+f 12 5 9
+f 12 9 4
+f 12 4 1
+f 13 9 5
+f 13 4 9
+f 13 11 4
+f 13 5 11
\ No newline at end of file
diff --git a/objects/objaverse/beer/beer_0/collision/model_normalized_collision_17.obj b/objects/objaverse/beer/beer_0/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..854cc55164edf9d687566d434233d9b87fc131f3
--- /dev/null
+++ b/objects/objaverse/beer/beer_0/collision/model_normalized_collision_17.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v -0.05201271 -0.10974974 0.14275538
+v -0.04558522 -0.09861696 0.16356455
+v -0.11252659 0.03406867 0.14909123
+v -0.05064162 0.11159768 0.14117141
+v -0.04845915 0.06236269 0.21770743
+v -0.11971991 -0.04761576 0.12516225
+v -0.04512601 0.08689280 0.17805790
+v -0.08636212 0.09041789 0.13717300
+v -0.06295285 0.10667820 0.13789023
+v -0.05020519 -0.06116431 0.21846615
+v -0.04736044 0.10591456 0.15253242
+v -0.06762644 0.04195578 0.21524003
+v -0.11853037 0.05140553 0.12468715
+v -0.10216229 -0.07158793 0.13717300
+v -0.05384099 0.05825348 0.21562750
+v -0.06916948 -0.03993511 0.21577776
+v -0.11168043 0.05994182 0.13405646
+v -0.07635209 -0.09942047 0.13717300
+v -0.08212471 0.08686229 0.14674977
+v -0.11286996 -0.05615199 0.13453165
+v -0.09775140 0.01905431 0.17727762
+v -0.11412580 0.04980245 0.13717300
+v -0.07335395 -0.09422758 0.14755436
+v -0.10989311 -0.04403892 0.14747205
+v -0.09721770 -0.05612850 0.16027795
+v -0.09543010 -0.02913821 0.17550822
+f 2 1 4
+f 7 5 2
+f 9 4 1
+f 9 1 6
+f 9 8 5
+f 9 5 4
+f 10 1 2
+f 10 2 5
+f 11 7 2
+f 11 2 4
+f 11 4 5
+f 11 5 7
+f 13 6 3
+f 13 9 6
+f 13 8 9
+f 15 12 5
+f 16 10 5
+f 16 5 12
+f 16 14 10
+f 17 12 8
+f 17 8 13
+f 18 14 6
+f 18 6 1
+f 18 1 10
+f 19 15 5
+f 19 5 8
+f 19 8 12
+f 19 12 15
+f 20 6 14
+f 21 16 12
+f 21 12 3
+f 22 17 13
+f 22 13 3
+f 22 3 12
+f 22 12 17
+f 23 18 10
+f 23 10 14
+f 23 14 18
+f 24 6 20
+f 24 21 3
+f 24 3 6
+f 25 20 14
+f 25 14 16
+f 25 24 20
+f 25 16 24
+f 26 24 16
+f 26 16 21
+f 26 21 24
\ No newline at end of file
diff --git a/objects/objaverse/beer/beer_0/collision/model_normalized_collision_18.obj b/objects/objaverse/beer/beer_0/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a17970e4c36259777b2079dba1e8749173332341
--- /dev/null
+++ b/objects/objaverse/beer/beer_0/collision/model_normalized_collision_18.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.02025512 -0.12784958 0.12345969
+v 0.09096989 -0.08763596 0.13253379
+v 0.02170364 -0.07545860 0.21842549
+v -0.04736084 -0.07138951 0.19731089
+v -0.06185157 -0.09648836 0.15412167
+v 0.04734875 -0.07139409 0.19731417
+v 0.05850872 -0.10993510 0.13668237
+v -0.04706408 -0.11633004 0.13717300
+v 0.07634104 -0.09942685 0.13717300
+v 0.08581235 -0.08330828 0.14581413
+v 0.04380005 -0.11070213 0.14843637
+v 0.07858331 -0.10331054 0.12522710
+v 0.00466658 -0.12537115 0.13717300
+v -0.02171794 -0.07545616 0.21842492
+v 0.06100135 -0.11425222 0.12340259
+v 0.00550406 -0.13012064 0.12432535
+v 0.01938945 -0.12294020 0.13673986
+v -0.04381221 -0.11069728 0.14843318
+v -0.01950400 -0.10835520 0.16091459
+f 5 4 2
+f 8 5 2
+f 10 2 4
+f 10 4 6
+f 10 9 2
+f 10 6 3
+f 10 3 9
+f 11 9 3
+f 11 7 9
+f 12 8 2
+f 12 2 9
+f 12 9 7
+f 14 4 5
+f 14 6 4
+f 14 3 6
+f 14 13 3
+f 15 11 1
+f 15 7 11
+f 15 12 7
+f 16 8 12
+f 16 13 8
+f 16 1 13
+f 16 15 1
+f 16 12 15
+f 17 11 3
+f 17 3 13
+f 17 13 1
+f 17 1 11
+f 18 14 5
+f 18 5 8
+f 19 18 8
+f 19 8 13
+f 19 13 14
+f 19 14 18
\ No newline at end of file
diff --git a/objects/objaverse/beer/beer_0/collision/model_normalized_collision_19.obj b/objects/objaverse/beer/beer_0/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2638a2ceaea64309ffc9a7e0366dc3330754b499
--- /dev/null
+++ b/objects/objaverse/beer/beer_0/collision/model_normalized_collision_19.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.07634104 -0.09942685 0.13717300
+v 0.11558403 -0.07014867 -0.03798776
+v 0.11252167 0.03407245 0.14909728
+v 0.07698072 0.10475732 0.12402381
+v 0.08101897 -0.10752917 -0.03790798
+v 0.11350476 0.07262685 -0.03800493
+v 0.07545361 0.03712484 0.20098910
+v 0.11251422 -0.06757297 0.12292350
+v 0.07919057 0.10858502 -0.03793112
+v 0.11230028 0.07161601 0.11133700
+v 0.08814187 -0.10285241 -0.03796415
+v 0.07479092 -0.04375703 0.19744601
+v 0.09804962 0.04947124 0.16236501
+v 0.08460750 0.10083100 0.12292350
+v 0.08722276 0.10394795 -0.03798333
+v 0.08150653 -0.09713542 0.13557916
+v 0.10988791 -0.04404263 0.14747798
+v 0.09774531 0.01905727 0.17728418
+v 0.09671405 0.08640293 0.12292350
+v 0.09721388 -0.05612629 0.16028402
+v 0.09542416 -0.02914141 0.17551456
+v 0.09775432 -0.06790180 0.14712109
+f 8 2 3
+f 9 5 1
+f 10 3 2
+f 10 2 6
+f 11 6 2
+f 11 5 9
+f 11 2 8
+f 12 9 1
+f 12 7 4
+f 12 4 9
+f 13 7 3
+f 13 3 10
+f 14 9 4
+f 14 4 7
+f 14 7 13
+f 15 11 9
+f 15 6 11
+f 15 9 14
+f 15 14 10
+f 15 10 6
+f 16 11 8
+f 16 1 5
+f 16 5 11
+f 16 12 1
+f 17 8 3
+f 18 3 7
+f 18 7 12
+f 18 17 3
+f 19 14 13
+f 19 13 10
+f 19 10 14
+f 20 12 16
+f 20 8 17
+f 21 18 12
+f 21 17 18
+f 21 20 17
+f 21 12 20
+f 22 20 16
+f 22 16 8
+f 22 8 20
\ No newline at end of file
diff --git a/objects/objaverse/beer/beer_0/collision/model_normalized_collision_2.obj b/objects/objaverse/beer/beer_0/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf53dbabb7660a0928bb46fb8c47375761ccf60f
--- /dev/null
+++ b/objects/objaverse/beer/beer_0/collision/model_normalized_collision_2.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v -0.07262186 -0.11514239 -0.41641898
+v -0.05303767 -0.08122197 -0.50000000
+v -0.05303767 -0.00546439 -0.35606061
+v -0.09867046 0.09343202 -0.35568374
+v -0.12637839 -0.02937307 -0.49299499
+v -0.05303767 0.05514167 -0.50000000
+v -0.13564572 -0.00546439 -0.35611312
+v -0.08240843 -0.08043970 -0.49945654
+v -0.11801800 0.05121908 -0.49330392
+v -0.09864380 -0.09406276 -0.41654027
+v -0.12658201 0.04882139 -0.35617750
+v -0.12880300 0.02271150 -0.49299499
+v -0.12847954 -0.04528945 -0.44707378
+v -0.12592341 -0.04435884 -0.48551101
+v -0.12472270 0.04814454 -0.48504943
+v -0.11855102 -0.04719035 -0.49400862
+f 1 2 3
+f 6 3 2
+f 6 4 3
+f 7 1 3
+f 7 3 4
+f 8 2 1
+f 8 6 2
+f 9 4 6
+f 10 1 7
+f 10 8 1
+f 11 7 4
+f 12 8 5
+f 12 9 6
+f 12 6 8
+f 13 10 7
+f 13 12 5
+f 13 7 12
+f 14 8 10
+f 14 13 5
+f 14 10 13
+f 15 11 4
+f 15 4 9
+f 15 9 12
+f 15 12 7
+f 15 7 11
+f 16 14 5
+f 16 5 8
+f 16 8 14
\ No newline at end of file
diff --git a/objects/objaverse/beer/beer_0/collision/model_normalized_collision_20.obj b/objects/objaverse/beer/beer_0/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..95fdc59623f569b22e9f49c173ecba973f76f57b
--- /dev/null
+++ b/objects/objaverse/beer/beer_0/collision/model_normalized_collision_20.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.06376176 0.10401922 0.14117665
+v -0.00593297 0.13669230 -0.35612073
+v -0.01326756 0.11768254 0.14769607
+v -0.01958223 0.12817262 0.12292350
+v -0.04710926 0.12943216 -0.35617396
+v -0.00488545 0.13075157 0.12295626
+v -0.04757869 0.12144392 0.12468949
+v -0.07060172 0.11586617 -0.35583836
+v -0.03482246 0.12867580 0.09757817
+v -0.06921185 0.11345903 0.08353788
+v -0.04704267 0.12924923 -0.32587218
+f 6 3 2
+f 6 4 3
+f 7 1 3
+f 7 3 4
+f 8 2 3
+f 8 3 1
+f 8 5 2
+f 9 6 2
+f 9 4 6
+f 9 7 4
+f 10 5 8
+f 10 7 9
+f 10 8 1
+f 10 1 7
+f 11 10 9
+f 11 5 10
+f 11 9 2
+f 11 2 5
\ No newline at end of file
diff --git a/objects/objaverse/beer/beer_0/collision/model_normalized_collision_21.obj b/objects/objaverse/beer/beer_0/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a8f660df1c4ead5fa9b7117f57f6535e7411eb37
--- /dev/null
+++ b/objects/objaverse/beer/beer_0/collision/model_normalized_collision_21.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.09700891 -0.06238789 0.15424555
+v -0.11371136 -0.07640307 -0.44671873
+v -0.10905788 -0.00546439 0.16236368
+v -0.11489590 -0.00546439 0.15341397
+v -0.12715172 -0.02965448 0.12292350
+v -0.13622066 -0.00546439 -0.44701854
+v -0.10582058 -0.05358633 0.14844403
+v -0.12946539 -0.00546439 0.12335132
+v -0.12847954 -0.04528945 -0.44707378
+v -0.11971991 -0.04761576 0.12516225
+v -0.12568754 -0.04427309 0.02260435
+f 1 2 3
+f 6 3 2
+f 7 1 3
+f 7 3 4
+f 7 4 5
+f 8 6 5
+f 8 5 4
+f 8 4 3
+f 8 3 6
+f 9 6 2
+f 10 7 5
+f 10 2 1
+f 10 1 7
+f 11 5 6
+f 11 6 9
+f 11 10 5
+f 11 9 2
+f 11 2 10
\ No newline at end of file
diff --git a/objects/objaverse/beer/beer_0/collision/model_normalized_collision_22.obj b/objects/objaverse/beer/beer_0/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c8be997ff4a73a8e4c2c4657e7592c13987b164
--- /dev/null
+++ b/objects/objaverse/beer/beer_0/collision/model_normalized_collision_22.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.08101897 -0.10752917 -0.03790798
+v 0.11532239 -0.06992928 -0.48609106
+v 0.11558403 -0.07014867 -0.03798776
+v 0.13363055 -0.00546439 -0.03756056
+v 0.08332597 -0.00546439 -0.50000000
+v 0.08814187 -0.10285241 -0.03796415
+v 0.07791349 -0.10215042 -0.49410505
+v 0.12424850 -0.00546439 -0.49665499
+v 0.08444196 -0.09974772 -0.49299499
+v 0.11486509 -0.06100566 -0.49299499
+v 0.09841482 -0.08360719 -0.49256006
+f 1 3 4
+f 3 2 4
+f 5 1 4
+f 6 2 3
+f 6 3 1
+f 7 1 5
+f 8 5 4
+f 8 4 2
+f 8 7 5
+f 9 6 1
+f 9 1 7
+f 9 2 6
+f 10 8 2
+f 10 9 7
+f 10 7 8
+f 11 10 2
+f 11 2 9
+f 11 9 10
\ No newline at end of file
diff --git a/objects/objaverse/beer/beer_0/collision/model_normalized_collision_23.obj b/objects/objaverse/beer/beer_0/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6109018e356cb148c965b7717f0143c4b68f74de
--- /dev/null
+++ b/objects/objaverse/beer/beer_0/collision/model_normalized_collision_23.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v -0.08582055 -0.08330277 0.14580919
+v -0.08240843 -0.08043970 -0.49945654
+v -0.08334070 -0.05091894 -0.50000000
+v -0.11548295 -0.04607368 0.13717300
+v -0.11532939 -0.06992300 -0.48608746
+v -0.09700891 -0.06238789 0.15424555
+v -0.10504527 -0.07400696 -0.49360806
+v -0.11252030 -0.06756571 0.12292350
+v -0.11855102 -0.04719035 -0.49400862
+v -0.11076706 -0.05950876 0.13673731
+v -0.11486681 -0.06100093 -0.49299499
+v -0.10216229 -0.07158793 0.13717300
+v -0.10203594 -0.06660605 0.14288453
+f 1 2 3
+f 6 1 3
+f 6 3 4
+f 7 2 1
+f 7 1 5
+f 8 5 1
+f 8 4 5
+f 9 5 4
+f 9 4 3
+f 9 3 2
+f 10 6 4
+f 10 4 8
+f 11 7 5
+f 11 5 9
+f 11 9 2
+f 11 2 7
+f 12 10 8
+f 12 8 1
+f 13 6 10
+f 13 10 12
+f 13 12 1
+f 13 1 6
\ No newline at end of file
diff --git a/objects/objaverse/beer/beer_0/collision/model_normalized_collision_24.obj b/objects/objaverse/beer/beer_0/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5fa7ca553617f91535378017427848e1977ec09e
--- /dev/null
+++ b/objects/objaverse/beer/beer_0/collision/model_normalized_collision_24.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.01226821 -0.10787516 0.16332839
+v 0.00698843 -0.07793295 0.21897137
+v -0.07641718 0.07475901 0.16580398
+v 0.01521548 0.09851001 0.17548790
+v -0.05430425 0.05620447 0.22005620
+v -0.06185157 -0.09648836 0.15412167
+v 0.00758412 0.05523089 0.20881378
+v -0.04394022 -0.06546425 0.21574378
+f 2 1 4
+f 5 4 3
+f 6 3 4
+f 6 4 1
+f 6 1 2
+f 7 5 2
+f 7 2 4
+f 7 4 5
+f 8 5 3
+f 8 3 6
+f 8 6 2
+f 8 2 5
\ No newline at end of file
diff --git a/objects/objaverse/beer/beer_0/collision/model_normalized_collision_25.obj b/objects/objaverse/beer/beer_0/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..323baff5c27f1b562bc2d74cc5ea8fa2b4523b57
--- /dev/null
+++ b/objects/objaverse/beer/beer_0/collision/model_normalized_collision_25.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.13363055 -0.00546439 -0.03756056
+v 0.13439913 -0.00546439 -0.15905537
+v 0.11409211 0.07311970 -0.15921220
+v 0.07919057 0.10858502 -0.03793112
+v 0.07957394 0.10924911 -0.15913838
+v 0.11350476 0.07262685 -0.03800493
+v 0.08772331 0.10454439 -0.15919045
+v 0.08722276 0.10394795 -0.03798333
+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 7 6 3
+f 8 4 6
+f 8 6 7
+f 8 7 5
+f 8 5 4
\ No newline at end of file
diff --git a/objects/objaverse/beer/beer_0/collision/model_normalized_collision_26.obj b/objects/objaverse/beer/beer_0/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..64c6e7d287d13dfcbb8eeaa9a13622e646cf6d3d
--- /dev/null
+++ b/objects/objaverse/beer/beer_0/collision/model_normalized_collision_26.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.13487896 -0.00546439 -0.23490575
+v 0.13564572 -0.00546439 -0.35611303
+v 0.12658029 0.04882613 -0.35617742
+v -0.12586150 0.04855915 -0.23497023
+v -0.13564572 -0.00546439 -0.35611312
+v 0.12585979 0.04856389 -0.23497014
+v -0.13487896 -0.00546439 -0.23490585
+v -0.12658201 0.04882139 -0.35617750
+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 5 4
+f 8 3 2
+f 8 2 5
+f 8 6 3
+f 8 4 6
\ No newline at end of file
diff --git a/objects/objaverse/beer/beer_0/collision/model_normalized_collision_27.obj b/objects/objaverse/beer/beer_0/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4777a31be9f36183158508fe1393f3af795c9d95
--- /dev/null
+++ b/objects/objaverse/beer/beer_0/collision/model_normalized_collision_27.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.13564572 -0.00546439 -0.35611303
+v 0.12880300 -0.00546439 -0.49299499
+v 0.11800892 0.05122114 -0.49331019
+v 0.00756839 0.05514167 -0.35606061
+v 0.00756839 -0.00546439 -0.35606061
+v 0.12658029 0.04882613 -0.35617742
+v 0.00756839 -0.00546439 -0.50000000
+v 0.12880300 0.02271150 -0.49299499
+v 0.00756839 0.05514167 -0.50000000
+v 0.12471906 0.04814857 -0.48505471
+f 5 2 1
+f 5 1 4
+f 6 3 4
+f 6 4 1
+f 7 2 5
+f 7 5 4
+f 8 1 2
+f 9 7 4
+f 9 4 3
+f 9 3 8
+f 9 8 2
+f 9 2 7
+f 10 6 1
+f 10 1 8
+f 10 8 3
+f 10 3 6
\ No newline at end of file
diff --git a/objects/objaverse/beer/beer_0/collision/model_normalized_collision_28.obj b/objects/objaverse/beer/beer_0/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..297f76f7c41b6a21f3234f0644a8ec24ea0da8f2
--- /dev/null
+++ b/objects/objaverse/beer/beer_0/collision/model_normalized_collision_28.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.12363653 0.05326940 -0.15912554
+v 0.11800892 0.05122114 -0.49331019
+v 0.11348216 0.07260811 -0.48522512
+v 0.07957394 0.10924911 -0.15913838
+v 0.08332597 0.05514167 -0.50000000
+v 0.11409211 0.07311970 -0.15921220
+v 0.07677568 0.10440243 -0.49299499
+v 0.11423895 0.07324291 -0.18951402
+v 0.11023111 0.07771770 -0.15886873
+v 0.11350793 0.06473443 -0.49299499
+v 0.08459095 0.10081172 -0.49193941
+v 0.08772331 0.10454439 -0.15919045
+f 1 2 3
+f 5 2 1
+f 5 1 4
+f 7 5 4
+f 8 6 1
+f 8 1 3
+f 9 4 1
+f 9 1 6
+f 9 6 8
+f 10 3 2
+f 10 2 5
+f 10 5 7
+f 11 7 4
+f 11 10 7
+f 11 3 10
+f 12 9 8
+f 12 8 3
+f 12 4 9
+f 12 11 4
+f 12 3 11
\ No newline at end of file
diff --git a/objects/objaverse/beer/beer_0/collision/model_normalized_collision_29.obj b/objects/objaverse/beer/beer_0/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8cccf09ec4fdec87df2e0c99c0ae4bcbb8d61b64
--- /dev/null
+++ b/objects/objaverse/beer/beer_0/collision/model_normalized_collision_29.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.00466658 -0.12537115 0.13717300
+v 0.00545260 -0.12982857 -0.49299499
+v 0.00756839 -0.00546439 -0.50000000
+v -0.09877989 -0.00546439 0.17671001
+v -0.04624184 -0.12704865 -0.48648933
+v 0.00756839 -0.00546439 0.14393939
+v -0.04501850 -0.12368750 0.12292350
+v -0.04802211 -0.11798942 -0.49509249
+v -0.04706408 -0.11633004 0.13717300
+v -0.03485620 -0.12464401 -0.49299499
+v -0.05303767 -0.00546439 -0.50000000
+v -0.01940379 -0.12293798 0.13673904
+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 4 5
+f 8 3 2
+f 8 5 4
+f 9 4 7
+f 10 8 2
+f 10 2 5
+f 10 5 8
+f 11 8 4
+f 11 4 3
+f 11 3 8
+f 12 9 7
+f 12 7 1
+f 12 1 4
+f 12 4 9
\ No newline at end of file
diff --git a/objects/objaverse/beer/beer_0/collision/model_normalized_collision_3.obj b/objects/objaverse/beer/beer_0/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c36f77b188a33963b70943ebbfd853af83e65f3e
--- /dev/null
+++ b/objects/objaverse/beer/beer_0/collision/model_normalized_collision_3.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.04749070 0.05049955 0.26404228
+v 0.11852706 0.05140969 0.12469158
+v 0.04756710 0.12144953 0.12469191
+v -0.04757869 0.12144392 0.12468949
+v -0.06092492 0.06176000 0.19595454
+v 0.11425895 0.06500773 0.12298645
+v -0.01943906 0.06675611 0.26223678
+v -0.04749698 0.05049246 0.26404058
+v -0.06376176 0.10401922 0.14117665
+v 0.10958687 0.06327014 0.13626463
+v 0.01942477 0.06675860 0.26223724
+v -0.03477768 0.11327075 0.14875127
+v 0.11412407 0.04980719 0.13717300
+v -0.04389109 0.05445124 0.26234183
+v 0.08996677 0.09345490 0.12461719
+v 0.04388035 0.05445721 0.26234294
+v 0.04522453 0.11739211 0.13717300
+v -0.04523558 0.11738573 0.13717300
+v 0.09804962 0.04947124 0.16236501
+v 0.03476335 0.11327260 0.14875237
+f 6 2 4
+f 6 4 3
+f 8 1 7
+f 9 4 2
+f 9 2 5
+f 9 5 8
+f 10 2 6
+f 11 7 1
+f 12 7 11
+f 13 8 5
+f 13 5 2
+f 13 10 1
+f 13 2 10
+f 14 8 7
+f 14 9 8
+f 15 10 6
+f 15 6 3
+f 15 1 10
+f 16 11 1
+f 16 1 15
+f 17 3 4
+f 17 11 16
+f 17 16 15
+f 17 15 3
+f 18 7 12
+f 18 14 7
+f 18 4 9
+f 18 9 14
+f 18 17 4
+f 18 12 17
+f 19 13 1
+f 19 1 8
+f 19 8 13
+f 20 17 12
+f 20 12 11
+f 20 11 17
\ No newline at end of file
diff --git a/objects/objaverse/beer/beer_0/collision/model_normalized_collision_30.obj b/objects/objaverse/beer/beer_0/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a023a7edec4f5eecc2ce3751c9dcb331b17e2f6f
--- /dev/null
+++ b/objects/objaverse/beer/beer_0/collision/model_normalized_collision_30.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.07161528 -0.11339928 -0.09824977
+v -0.07262186 -0.11514239 -0.41641898
+v -0.05303767 -0.00546439 -0.41666667
+v -0.13401393 -0.00546439 -0.09816429
+v -0.09864380 -0.09406276 -0.41654027
+v -0.05303767 -0.00546439 -0.09848485
+v -0.09710182 -0.09276906 -0.09837120
+v -0.13602666 -0.00546439 -0.41633357
+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/beer/beer_0/collision/model_normalized_collision_31.obj b/objects/objaverse/beer/beer_0/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2cdf45bb103614f883e08b38062e37111e3a9cfc
--- /dev/null
+++ b/objects/objaverse/beer/beer_0/collision/model_normalized_collision_31.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.00756839 -0.00546439 -0.35606061
+v 0.00756839 -0.00546439 -0.50000000
+v 0.00593533 0.13678924 -0.37127162
+v -0.04710926 0.12943216 -0.35617396
+v -0.05303767 -0.00546439 -0.35606061
+v -0.04730473 0.12096953 -0.49330688
+v 0.00591869 0.13669484 -0.35612071
+v 0.00473048 0.12995590 -0.49299499
+v -0.05301801 0.00980378 -0.50000000
+v -0.04640224 0.12748927 -0.48520842
+v -0.05303767 -0.00546439 -0.50000000
+v -0.00474477 0.12995338 -0.49299499
+f 1 2 3
+f 7 1 3
+f 7 3 4
+f 7 5 1
+f 7 4 5
+f 8 3 2
+f 9 5 4
+f 9 4 6
+f 9 8 2
+f 10 6 4
+f 10 4 3
+f 11 9 2
+f 11 5 9
+f 11 2 1
+f 11 1 5
+f 12 9 6
+f 12 8 9
+f 12 6 10
+f 12 10 3
+f 12 3 8
\ No newline at end of file
diff --git a/objects/objaverse/beer/beer_0/collision/model_normalized_collision_4.obj b/objects/objaverse/beer/beer_0/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4401a75b629a420f2c12f2f4a8eae125740b882e
--- /dev/null
+++ b/objects/objaverse/beer/beer_0/collision/model_normalized_collision_4.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.01780196 -0.04891007 0.38415706
+v 0.05687401 -0.03899889 0.22046247
+v 0.05311213 -0.01513374 0.35359866
+v -0.04757375 -0.01862723 0.38565411
+v -0.04394022 -0.06546425 0.21574378
+v -0.06593278 -0.01979466 0.26478270
+v 0.04757176 -0.01863187 0.38565574
+v 0.04392900 -0.06547034 0.21574529
+v -0.03615222 -0.03675070 0.38367395
+v 0.06593075 -0.01979928 0.26478478
+v -0.05311415 -0.01512912 0.35359657
+v -0.05688030 -0.03899181 0.22046078
+v 0.00493493 -0.05113476 0.38451296
+v 0.03614633 -0.03675758 0.38367531
+v -0.05599355 -0.04068554 0.26270625
+v 0.05598726 -0.04069262 0.26270793
+v 0.05969251 -0.02304353 0.25108076
+v -0.02740583 -0.04791845 0.35284134
+v 0.00463555 -0.06459039 0.29286063
+v -0.04854838 -0.02802941 0.35280432
+v 0.04854812 -0.02802926 0.35280627
+v -0.05969451 -0.02303890 0.25107870
+v -0.02781720 -0.06378143 0.26205836
+v 0.02780608 -0.06378768 0.26205957
+v -0.00465021 -0.06458797 0.29286025
+f 7 3 4
+f 8 5 2
+f 10 3 7
+f 11 6 4
+f 11 4 3
+f 11 10 6
+f 11 3 10
+f 12 2 5
+f 13 7 4
+f 13 1 7
+f 13 4 9
+f 14 7 1
+f 14 1 8
+f 15 5 9
+f 15 12 5
+f 15 6 12
+f 16 8 2
+f 16 2 10
+f 16 14 8
+f 17 10 2
+f 17 2 12
+f 18 13 9
+f 18 9 5
+f 19 1 13
+f 19 5 8
+f 20 15 9
+f 20 9 4
+f 20 4 6
+f 20 6 15
+f 21 16 10
+f 21 10 7
+f 21 7 14
+f 21 14 16
+f 22 17 12
+f 22 12 6
+f 22 6 10
+f 22 10 17
+f 23 18 5
+f 23 13 18
+f 24 19 8
+f 24 8 1
+f 24 1 19
+f 25 19 13
+f 25 13 23
+f 25 23 5
+f 25 5 19
\ No newline at end of file
diff --git a/objects/objaverse/beer/beer_0/collision/model_normalized_collision_5.obj b/objects/objaverse/beer/beer_0/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f52caa70b7a62d920fda9b5216526759818e4a28
--- /dev/null
+++ b/objects/objaverse/beer/beer_0/collision/model_normalized_collision_5.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.08425318 0.08622271 0.14463851
+v 0.08234820 0.08462425 -0.49906029
+v 0.04704267 0.12924923 -0.32587215
+v -0.00488545 0.13075157 0.12295626
+v 0.00756839 0.08544470 -0.50000000
+v 0.03480817 0.12867830 0.09757855
+v 0.07269888 0.11249231 -0.48476305
+v -0.01326756 0.11768254 0.14769607
+v -0.01629682 0.13486244 -0.35574310
+v 0.04522453 0.11739211 0.13717300
+v 0.07677568 0.10440243 -0.49299499
+v 0.07296544 0.11295450 -0.14407048
+v 0.00539578 0.13372968 -0.48791389
+v -0.00593297 0.13669230 -0.35612073
+v 0.01956794 0.12817513 0.12292350
+v 0.07451254 0.10048254 0.13717300
+v 0.06046856 0.09834112 0.15254096
+v 0.00653060 0.12501351 -0.49665499
+v 0.04640204 0.12748871 -0.48521005
+v 0.05690596 0.11138180 0.13547957
+v 0.05885127 0.11475121 -0.49299499
+f 5 2 1
+f 8 5 1
+f 9 8 4
+f 9 5 8
+f 11 1 2
+f 12 11 7
+f 12 1 11
+f 12 7 3
+f 12 3 6
+f 14 9 4
+f 14 4 6
+f 14 13 9
+f 14 6 3
+f 14 3 13
+f 15 10 6
+f 15 6 4
+f 15 4 8
+f 15 8 10
+f 16 12 6
+f 16 1 12
+f 17 10 8
+f 17 8 1
+f 17 16 10
+f 17 1 16
+f 18 5 9
+f 18 9 13
+f 18 2 5
+f 19 7 11
+f 19 18 13
+f 19 13 3
+f 19 3 7
+f 20 16 6
+f 20 6 10
+f 20 10 16
+f 21 11 2
+f 21 2 18
+f 21 19 11
+f 21 18 19
\ No newline at end of file
diff --git a/objects/objaverse/beer/beer_0/collision/model_normalized_collision_6.obj b/objects/objaverse/beer/beer_0/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2ae6d38a2358bbf513e7e733071b0c66c2f41265
--- /dev/null
+++ b/objects/objaverse/beer/beer_0/collision/model_normalized_collision_6.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.06185157 -0.09648836 0.15412167
+v -0.07161528 -0.11339928 -0.09824977
+v -0.04523558 0.11738573 0.13717300
+v -0.04953018 0.12482411 0.08328899
+v -0.10994328 0.07746416 -0.09826517
+v -0.09710182 -0.09276906 -0.09837120
+v -0.09742191 0.09238493 -0.09811833
+v -0.07452359 0.10047616 0.13717300
+v -0.08582055 -0.08330277 0.14580919
+v -0.05691757 0.11137639 0.13547668
+v -0.07881824 0.10791465 0.08327614
+f 1 2 3
+f 3 2 4
+f 6 5 2
+f 7 4 2
+f 7 2 5
+f 8 1 3
+f 9 6 2
+f 9 2 1
+f 9 5 6
+f 9 8 5
+f 9 1 8
+f 10 8 3
+f 10 3 4
+f 11 7 5
+f 11 5 8
+f 11 4 7
+f 11 10 4
+f 11 8 10
\ No newline at end of file
diff --git a/objects/objaverse/beer/beer_0/collision/model_normalized_collision_7.obj b/objects/objaverse/beer/beer_0/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b7b5a446f34d4e5df958159c67338d0f508964f4
--- /dev/null
+++ b/objects/objaverse/beer/beer_0/collision/model_normalized_collision_7.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v 0.04555305 -0.01789709 0.45964180
+v 0.06801144 -0.01504198 0.26264834
+v 0.03942966 0.02858428 0.49475490
+v -0.00604588 0.04642479 0.49725899
+v -0.03367076 0.03401490 0.35823437
+v 0.04388035 0.05445721 0.26234294
+v 0.03255077 -0.00904273 0.49797899
+v 0.04676950 -0.00546439 0.49725899
+v 0.05126023 -0.02548930 0.29762412
+v 0.06668558 0.01878215 0.26243163
+v 0.01929350 0.05300800 0.43130049
+v -0.02405886 0.05743530 0.26555479
+v -0.02305164 0.02510462 0.46215721
+v 0.04927668 -0.01373745 0.45384134
+v -0.00895535 0.03262093 0.49797899
+v 0.03843738 -0.02082189 0.38646749
+v 0.05395590 0.04321083 0.26230065
+v 0.04811608 0.01753774 0.45333310
+v 0.02887877 0.03956607 0.49458051
+v -0.02197069 0.06596048 0.26447579
+v -0.02934363 0.05143714 0.28231570
+v 0.05757366 -0.02227230 0.26588893
+v -0.01929350 0.05300800 0.43130049
+v 0.03636038 0.04116048 0.44290824
+v 0.00471774 0.05412768 0.44390544
+v -0.01773690 0.04648550 0.45900364
+v -0.00473246 0.05412529 0.44390499
+f 8 7 1
+f 8 3 4
+f 9 2 1
+f 10 8 2
+f 14 8 1
+f 14 1 2
+f 14 2 8
+f 15 8 4
+f 15 7 8
+f 15 13 7
+f 15 4 13
+f 16 9 1
+f 16 1 7
+f 16 7 13
+f 16 13 5
+f 16 5 9
+f 17 3 10
+f 17 10 2
+f 17 2 6
+f 18 10 3
+f 18 3 8
+f 18 8 10
+f 19 4 3
+f 20 6 2
+f 20 2 12
+f 20 11 6
+f 21 20 12
+f 22 12 2
+f 22 2 9
+f 22 21 12
+f 22 9 5
+f 22 5 21
+f 23 21 5
+f 23 20 21
+f 24 17 6
+f 24 3 17
+f 24 19 3
+f 24 6 11
+f 24 11 19
+f 25 19 11
+f 25 4 19
+f 25 11 20
+f 26 13 4
+f 26 4 23
+f 26 23 5
+f 26 5 13
+f 27 23 4
+f 27 4 25
+f 27 25 20
+f 27 20 23
\ No newline at end of file
diff --git a/objects/objaverse/beer/beer_0/collision/model_normalized_collision_8.obj b/objects/objaverse/beer/beer_0/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d753247fab0d14ab9afd5de2995c5c73eb1c2b34
--- /dev/null
+++ b/objects/objaverse/beer/beer_0/collision/model_normalized_collision_8.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v -0.11412580 0.04980245 0.13717300
+v -0.05303767 0.05514167 -0.50000000
+v -0.09544993 0.06530231 0.15306999
+v -0.04953018 0.12482411 0.08328899
+v -0.11348932 0.07260152 -0.48522151
+v -0.08460750 0.10083100 0.12292350
+v -0.11801800 0.05121908 -0.49330392
+v -0.04730473 0.12096953 -0.49330688
+v -0.10958827 0.06327095 0.13626039
+v -0.07994803 0.09527812 0.14027099
+v -0.11230637 0.07160876 0.11133700
+v -0.08459321 0.10081441 -0.49193484
+v -0.07699218 0.10475167 0.12402166
+v -0.08636212 0.09041789 0.13717300
+v -0.09672014 0.08639568 0.12292350
+v -0.09654115 0.09164533 0.08369297
+v -0.11350965 0.06472969 -0.49299499
+v -0.07297653 0.11294801 -0.14407053
+v -0.05886232 0.11474483 -0.49299499
+v -0.06089393 0.11826358 0.08324108
+v -0.07271026 0.11248688 -0.48476074
+f 1 2 3
+f 3 2 4
+f 7 2 1
+f 8 4 2
+f 9 1 3
+f 10 3 4
+f 11 7 1
+f 11 5 7
+f 11 1 9
+f 13 10 4
+f 13 4 6
+f 13 6 10
+f 14 10 6
+f 14 9 3
+f 14 3 10
+f 15 11 9
+f 15 6 11
+f 15 14 6
+f 15 9 14
+f 16 11 6
+f 16 5 11
+f 17 7 5
+f 17 5 12
+f 17 2 7
+f 18 16 6
+f 19 8 2
+f 19 17 12
+f 19 2 17
+f 20 18 6
+f 20 6 4
+f 20 4 18
+f 21 18 4
+f 21 4 8
+f 21 8 19
+f 21 19 12
+f 21 16 18
+f 21 12 5
+f 21 5 16
\ No newline at end of file
diff --git a/objects/objaverse/beer/beer_0/collision/model_normalized_collision_9.obj b/objects/objaverse/beer/beer_0/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..935252d29f1fb85bc68ae1853beb14e6df417544
--- /dev/null
+++ b/objects/objaverse/beer/beer_0/collision/model_normalized_collision_9.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.01808350 -0.04968450 0.48771951
+v 0.04349733 -0.02777468 0.38484623
+v 0.03672297 -0.03724129 0.48771951
+v 0.04676950 -0.00546439 0.49725899
+v -0.03210177 -0.02847566 0.38847236
+v 0.04079583 -0.02550776 0.49604339
+v 0.00677227 -0.06155578 0.30990194
+v -0.01360084 -0.03103825 0.49797899
+v 0.04184856 0.01113476 0.38709349
+v 0.03887205 -0.03904516 0.42281750
+v 0.03008019 -0.03742399 0.49631654
+v -0.01808350 -0.04968450 0.48771951
+v 0.05102063 0.00899622 0.38610444
+v -0.02887578 -0.04640423 0.31247627
+v -0.02511538 -0.02261350 0.46239160
+v 0.02735952 -0.04786311 0.42359166
+v 0.03255077 -0.00904273 0.49797899
+v -0.00449436 -0.04855575 0.49472714
+v 0.04919973 0.00867507 0.40102685
+v -0.02050174 -0.04705147 0.49093801
+v -0.02148294 -0.05902356 0.30950655
+v 0.00815396 -0.05423988 0.31111954
+v 0.02695153 -0.04715605 0.44289150
+v 0.03946414 0.01026679 0.40180745
+v 0.00448075 -0.04855744 0.49472839
+f 6 2 4
+f 10 6 3
+f 10 2 6
+f 10 7 2
+f 11 1 3
+f 11 3 6
+f 11 6 4
+f 12 7 1
+f 13 4 2
+f 13 2 7
+f 14 5 9
+f 14 9 13
+f 15 9 5
+f 16 1 7
+f 16 7 10
+f 17 11 4
+f 17 8 11
+f 17 15 8
+f 19 13 9
+f 19 4 13
+f 20 5 14
+f 20 15 5
+f 20 8 15
+f 20 18 8
+f 20 12 18
+f 21 7 12
+f 21 20 14
+f 21 12 20
+f 22 14 13
+f 22 13 7
+f 22 21 14
+f 22 7 21
+f 23 3 1
+f 23 1 16
+f 23 16 10
+f 23 10 3
+f 24 17 4
+f 24 9 15
+f 24 15 17
+f 24 19 9
+f 24 4 19
+f 25 11 8
+f 25 8 18
+f 25 1 11
+f 25 18 12
+f 25 12 1
\ No newline at end of file
diff --git a/objects/objaverse/beer/beer_0/model.xml b/objects/objaverse/beer/beer_0/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..3ce24e7060a0641fdbdc9a670f63167bac035b6f
--- /dev/null
+++ b/objects/objaverse/beer/beer_0/model.xml
@@ -0,0 +1,81 @@
+<mujoco model="beer_18">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.16999999999999993 0.16999999999999993 0.16999999999999993" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.16999999999999993 0.16999999999999993 0.16999999999999993" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.16999999999999993 0.16999999999999993 0.16999999999999993" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.16999999999999993 0.16999999999999993 0.16999999999999993" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.16999999999999993 0.16999999999999993 0.16999999999999993" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.16999999999999993 0.16999999999999993 0.16999999999999993" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.16999999999999993 0.16999999999999993 0.16999999999999993" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.16999999999999993 0.16999999999999993 0.16999999999999993" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.16999999999999993 0.16999999999999993 0.16999999999999993" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.16999999999999993 0.16999999999999993 0.16999999999999993" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.16999999999999993 0.16999999999999993 0.16999999999999993" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.16999999999999993 0.16999999999999993 0.16999999999999993" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.16999999999999993 0.16999999999999993 0.16999999999999993" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.16999999999999993 0.16999999999999993 0.16999999999999993" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.16999999999999993 0.16999999999999993 0.16999999999999993" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.16999999999999993 0.16999999999999993 0.16999999999999993" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.16999999999999993 0.16999999999999993 0.16999999999999993" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.16999999999999993 0.16999999999999993 0.16999999999999993" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.16999999999999993 0.16999999999999993 0.16999999999999993" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.16999999999999993 0.16999999999999993 0.16999999999999993" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.16999999999999993 0.16999999999999993 0.16999999999999993" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.16999999999999993 0.16999999999999993 0.16999999999999993" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.16999999999999993 0.16999999999999993 0.16999999999999993" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.16999999999999993 0.16999999999999993 0.16999999999999993" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.16999999999999993 0.16999999999999993 0.16999999999999993" refquat="1.0 0.0 0.0 0.0"/>
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+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="material.029" texture="image0" specular="0.5" shininess="0.25"/>
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+  <worldbody>
+    <body>
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diff --git a/objects/objaverse/beer/beer_0/visual/material.mtl b/objects/objaverse/beer/beer_0/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fbcf6b4b1af9257e08a0fd6e283841743ce8fad5
--- /dev/null
+++ b/objects/objaverse/beer/beer_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.png
\ No newline at end of file
diff --git a/objects/objaverse/beer/beer_0/visual/model_normalized_0.obj b/objects/objaverse/beer/beer_0/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..245cdb9e175fa061f32875c05cf37aafcf82f2a7
--- /dev/null
+++ b/objects/objaverse/beer/beer_0/visual/model_normalized_0.obj
@@ -0,0 +1,4785 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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+f 1019/1019/1019 1020/1020/1020 1018/1018/1018
+f 1020/1020/1020 1019/1019/1019 1021/1021/1021
+f 1021/1021/1021 1022/1022/1022 1020/1020/1020
+f 1022/1022/1022 1021/1021/1021 1023/1023/1023
+f 1023/1023/1023 1024/1024/1024 1022/1022/1022
+f 1024/1024/1024 1023/1023/1023 987/987/987
+f 987/987/987 990/990/990 1024/1024/1024
\ No newline at end of file
diff --git a/objects/objaverse/beer/beer_1/collision/model_normalized_collision_0.obj b/objects/objaverse/beer/beer_1/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..66431c9ec64cb6400a22e5de8456f47dbcc1b9e9
--- /dev/null
+++ b/objects/objaverse/beer/beer_1/collision/model_normalized_collision_0.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v -0.10499061 -0.07617743 -0.28050306
+v -0.04862127 -0.01284018 -0.49978544
+v -0.04854972 0.04774786 -0.35606060
+v -0.12358784 0.04028810 -0.35589791
+v -0.10944301 -0.05294696 -0.47985404
+v -0.04840370 0.04757014 -0.49916065
+v -0.12901621 -0.01206361 -0.28020885
+v -0.04854972 -0.01285820 -0.35606060
+v -0.07651415 -0.05653745 -0.49769238
+v -0.11218749 0.04190551 -0.48169307
+v -0.11765117 -0.05594121 -0.28024718
+v -0.12158046 -0.01149128 -0.47476126
+v -0.09937456 0.04301927 -0.49237323
+v -0.12145235 0.01414462 -0.47469916
+v -0.12130552 -0.03667861 -0.44429121
+v -0.09884003 -0.05205712 -0.49068147
+v -0.12281044 0.04005724 -0.38586056
+v -0.12414915 -0.03770608 -0.28017445
+v -0.12087254 0.02919063 -0.45946410
+v -0.12866232 -0.01664975 -0.28075268
+f 7 1 3
+f 7 3 4
+f 8 3 1
+f 8 6 3
+f 8 2 6
+f 9 1 5
+f 9 8 1
+f 9 2 8
+f 9 6 2
+f 10 4 3
+f 10 3 6
+f 11 5 1
+f 11 1 7
+f 13 10 6
+f 13 6 9
+f 14 12 7
+f 14 13 12
+f 14 10 13
+f 15 7 12
+f 15 12 5
+f 15 5 11
+f 16 13 9
+f 16 9 5
+f 16 5 12
+f 16 12 13
+f 17 14 7
+f 17 7 4
+f 17 4 10
+f 18 15 11
+f 18 11 7
+f 19 17 10
+f 19 10 14
+f 19 14 17
+f 20 18 7
+f 20 7 15
+f 20 15 18
\ No newline at end of file
diff --git a/objects/objaverse/beer/beer_1/collision/model_normalized_collision_1.obj b/objects/objaverse/beer/beer_1/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b35d41206567f071043a4db3fad4030d97675439
--- /dev/null
+++ b/objects/objaverse/beer/beer_1/collision/model_normalized_collision_1.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v 0.01199571 -0.11809693 0.08312204
+v 0.10539667 -0.05219775 0.08009558
+v 0.03480724 -0.04726292 0.21987843
+v 0.01171596 0.06104567 0.21973680
+v 0.01205634 0.04774786 0.08333333
+v 0.05686500 0.01399717 0.21989548
+v 0.01223424 -0.05881164 0.21968882
+v 0.04862878 -0.10101614 0.10840233
+v 0.05218099 -0.10754375 0.08004701
+v 0.00917771 0.06220712 0.20180343
+v 0.10016082 -0.03451845 0.11966070
+v 0.03237596 0.05116936 0.21994847
+v 0.01107787 -0.10532392 0.12264932
+v 0.04740982 -0.08885598 0.13233395
+v 0.10917555 0.04454835 0.08084797
+v 0.07829172 -0.08979722 0.07993128
+v 0.05669274 -0.00993017 0.21987787
+v 0.03577439 -0.10022847 0.11980754
+v 0.07060004 0.07560770 0.12734283
+v 0.09800160 0.04052688 0.11903301
+v 0.06107030 -0.08670134 0.11939420
+v 0.08742323 -0.06019156 0.11944789
+v 0.00962539 0.06467432 0.18707850
+v 0.04477142 0.03904490 0.21991713
+v 0.07784883 0.07119407 0.12329034
+v 0.07604022 -0.08715647 0.09316057
+v 0.08927642 -0.07695190 0.08000310
+v 0.09878126 -0.04901495 0.10798920
+v 0.04702753 -0.03424425 0.21986395
+v 0.07447453 0.06883615 0.13230396
+v 0.08639967 0.05148057 0.13237729
+v 0.08670945 -0.07475553 0.09288032
+v 0.08605157 -0.05016685 0.13260276
+f 9 1 5
+f 9 8 1
+f 10 5 1
+f 10 7 4
+f 12 3 6
+f 12 7 3
+f 12 4 7
+f 13 1 8
+f 13 10 1
+f 13 7 10
+f 14 3 7
+f 14 7 8
+f 15 9 5
+f 15 11 2
+f 16 15 2
+f 16 9 15
+f 17 11 6
+f 17 6 3
+f 18 13 8
+f 18 8 7
+f 18 7 13
+f 19 15 5
+f 19 4 12
+f 20 6 11
+f 20 11 15
+f 21 14 8
+f 21 3 14
+f 22 3 21
+f 23 19 5
+f 23 5 10
+f 23 10 4
+f 23 4 19
+f 24 12 6
+f 25 20 15
+f 25 15 19
+f 26 21 8
+f 26 22 21
+f 26 8 9
+f 26 9 16
+f 27 16 2
+f 27 26 16
+f 28 2 11
+f 29 17 3
+f 29 3 22
+f 29 11 17
+f 30 19 12
+f 30 12 24
+f 30 25 19
+f 31 24 6
+f 31 6 20
+f 31 30 24
+f 31 20 25
+f 31 25 30
+f 32 22 26
+f 32 26 27
+f 32 28 22
+f 32 27 2
+f 32 2 28
+f 33 28 11
+f 33 22 28
+f 33 29 22
+f 33 11 29
\ No newline at end of file
diff --git a/objects/objaverse/beer/beer_1/collision/model_normalized_collision_10.obj b/objects/objaverse/beer/beer_1/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5923d9fc3c661d216b606c663460128a090de31d
--- /dev/null
+++ b/objects/objaverse/beer/beer_1/collision/model_normalized_collision_10.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.11645163 0.04715391 0.00747437
+v 0.12181059 0.04367366 -0.44547511
+v 0.10072400 0.08131310 -0.11398430
+v 0.07992181 0.09906958 -0.00822921
+v 0.07962485 0.09874812 -0.46052265
+v 0.09335012 0.08658830 0.00692555
+v 0.11494719 0.05637114 -0.02307946
+v 0.11973618 0.04292604 -0.02298740
+v 0.10088489 0.08144702 -0.44437222
+v 0.08873588 0.09161416 -0.00875393
+v 0.08685251 0.09207140 0.00749615
+v 0.10958643 0.06264160 0.00904657
+v 0.11709899 0.05714954 -0.44486026
+v 0.10523273 0.06923729 0.00670538
+v 0.11324185 0.05957367 -0.46138636
+v 0.10330445 0.07346441 -0.46445421
+v 0.11178311 0.06409920 -0.45058269
+v 0.08849741 0.09138674 -0.45929969
+f 5 1 4
+f 8 5 2
+f 8 1 5
+f 8 7 1
+f 9 5 4
+f 10 6 3
+f 10 9 4
+f 10 3 9
+f 11 4 1
+f 11 10 4
+f 11 6 10
+f 12 1 7
+f 12 11 1
+f 12 6 11
+f 13 8 2
+f 13 7 8
+f 13 9 3
+f 13 3 7
+f 14 12 7
+f 14 6 12
+f 14 7 3
+f 14 3 6
+f 15 13 2
+f 15 2 5
+f 16 15 5
+f 17 9 13
+f 17 13 15
+f 17 16 9
+f 17 15 16
+f 18 16 5
+f 18 5 9
+f 18 9 16
\ No newline at end of file
diff --git a/objects/objaverse/beer/beer_1/collision/model_normalized_collision_11.obj b/objects/objaverse/beer/beer_1/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..01120acbf063e5d9db42641f1cd4b37a3f2cde27
--- /dev/null
+++ b/objects/objaverse/beer/beer_1/collision/model_normalized_collision_11.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.11357375 -0.01757699 0.09023152
+v 0.13038843 -0.01233020 -0.41664132
+v 0.10186523 0.05738811 0.08776412
+v 0.01205634 0.04774786 0.08333333
+v 0.01205634 -0.01285820 -0.41666666
+v 0.11820472 0.04237688 0.00665945
+v 0.01205634 -0.01285820 0.08333333
+v 0.01205634 0.04774786 -0.41666666
+v 0.12517657 -0.01137504 0.00709164
+v 0.12256705 0.04393557 -0.41655080
+f 1 3 4
+f 5 2 1
+f 6 3 1
+f 7 5 1
+f 7 1 4
+f 7 4 5
+f 8 2 5
+f 8 5 4
+f 8 4 3
+f 9 6 1
+f 9 1 2
+f 9 2 6
+f 10 6 2
+f 10 2 8
+f 10 8 3
+f 10 3 6
\ No newline at end of file
diff --git a/objects/objaverse/beer/beer_1/collision/model_normalized_collision_12.obj b/objects/objaverse/beer/beer_1/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ecd855cd327e6af32d0f0f2a58037f5e52603dbf
--- /dev/null
+++ b/objects/objaverse/beer/beer_1/collision/model_normalized_collision_12.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v -0.04250767 -0.12150157 0.00691401
+v -0.04423603 -0.10976557 -0.48447715
+v -0.04710288 -0.08538303 -0.49731039
+v -0.09994654 -0.08232627 0.00709574
+v -0.05493721 -0.11581152 -0.43141178
+v -0.04522768 -0.09655936 -0.49405507
+v -0.04262166 -0.12171993 -0.43154329
+v -0.08013147 -0.10261475 -0.06830895
+v -0.09891789 -0.08161655 -0.41636350
+v -0.06662496 -0.10435974 -0.47818298
+v -0.06021863 -0.11288521 0.00885255
+v -0.08709685 -0.08094050 -0.48423447
+v -0.09500853 -0.08734278 -0.41618037
+v -0.05828771 -0.09382479 -0.49186160
+v -0.05482145 -0.11559846 0.00660321
+v -0.09535695 -0.08756044 0.00661533
+v -0.08012602 -0.10260533 -0.20445454
+v -0.08276063 -0.09037071 -0.47861618
+v -0.06125870 -0.08557582 -0.49458112
+f 1 3 4
+f 6 3 1
+f 7 6 1
+f 7 2 6
+f 10 7 5
+f 10 2 7
+f 11 8 5
+f 11 1 4
+f 12 9 4
+f 12 4 3
+f 13 4 9
+f 13 10 5
+f 14 6 2
+f 14 2 10
+f 14 10 12
+f 15 11 5
+f 15 1 11
+f 15 7 1
+f 15 5 7
+f 16 11 4
+f 16 8 11
+f 16 4 13
+f 17 13 5
+f 17 5 8
+f 17 16 13
+f 17 8 16
+f 18 12 10
+f 18 10 13
+f 18 13 9
+f 18 9 12
+f 19 14 12
+f 19 12 3
+f 19 3 6
+f 19 6 14
\ No newline at end of file
diff --git a/objects/objaverse/beer/beer_1/collision/model_normalized_collision_13.obj b/objects/objaverse/beer/beer_1/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe05ef5a538bc333d48862b4076340d0d9ea9823
--- /dev/null
+++ b/objects/objaverse/beer/beer_1/collision/model_normalized_collision_13.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.04973102 -0.01143268 0.45945125
+v 0.05468055 -0.01233975 0.34058582
+v 0.04054628 0.03611205 0.45719535
+v -0.00341869 0.05889775 0.46080452
+v -0.04536634 -0.04468188 0.34502755
+v 0.02148990 0.05094058 0.38407002
+v 0.04224756 0.01740476 0.49237513
+v 0.05456181 0.01639206 0.34056218
+v 0.02939527 0.04759597 0.45706649
+v -0.04104533 0.05076711 0.34477361
+v -0.00328135 -0.01387098 0.49959757
+v 0.04403162 0.01386785 0.49018719
+v 0.03715008 0.02907483 0.49143073
+v -0.01751129 0.05683393 0.38533458
+v -0.04003465 -0.03839338 0.40710908
+v 0.04049562 0.02414322 0.48941086
+f 5 2 1
+f 8 1 2
+f 8 2 5
+f 9 6 4
+f 9 8 6
+f 9 3 8
+f 10 8 5
+f 10 6 8
+f 12 1 8
+f 12 11 1
+f 12 7 11
+f 12 8 3
+f 13 3 9
+f 13 9 4
+f 13 11 7
+f 13 4 11
+f 14 10 4
+f 14 4 6
+f 14 6 10
+f 15 5 1
+f 15 1 11
+f 15 10 5
+f 15 11 4
+f 15 4 10
+f 16 12 3
+f 16 7 12
+f 16 13 7
+f 16 3 13
\ No newline at end of file
diff --git a/objects/objaverse/beer/beer_1/collision/model_normalized_collision_14.obj b/objects/objaverse/beer/beer_1/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5811f3fc4a8906d0928eef7e0d3bbc7f37a13b59
--- /dev/null
+++ b/objects/objaverse/beer/beer_1/collision/model_normalized_collision_14.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v -0.09045685 -0.08707323 0.05537911
+v -0.10499061 -0.07617743 -0.28050306
+v -0.12901621 -0.01206361 -0.28020885
+v -0.12165027 -0.01265819 0.08268385
+v -0.12129495 -0.03670295 0.05057081
+v -0.11978963 -0.01479918 0.08963635
+v -0.10215159 -0.07902853 0.00800043
+v -0.11765117 -0.05594121 -0.28024718
+v -0.12495279 -0.01634436 0.05887776
+v -0.11108529 -0.05362057 0.07989786
+v -0.12339171 -0.02489729 0.06608578
+v -0.09269044 -0.08971676 0.00853889
+v -0.12414915 -0.03770608 -0.28017445
+v -0.12436541 -0.01171681 0.06626733
+v -0.10241582 -0.06404008 0.08584192
+v -0.09950892 -0.07721897 0.05389124
+v -0.12866232 -0.01664975 -0.28075268
+f 1 2 3
+f 6 1 3
+f 6 3 4
+f 8 7 5
+f 8 2 7
+f 10 5 7
+f 11 6 4
+f 11 10 6
+f 11 5 10
+f 12 7 2
+f 12 2 1
+f 13 8 5
+f 14 4 3
+f 14 3 9
+f 14 11 4
+f 14 9 11
+f 15 1 6
+f 15 6 10
+f 16 10 7
+f 16 15 10
+f 16 1 15
+f 16 12 1
+f 16 7 12
+f 17 11 9
+f 17 9 3
+f 17 5 11
+f 17 13 5
+f 17 3 2
+f 17 2 8
+f 17 8 13
\ No newline at end of file
diff --git a/objects/objaverse/beer/beer_1/collision/model_normalized_collision_15.obj b/objects/objaverse/beer/beer_1/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f96df0a821e60090f3c7e9805b0be8e4ebaa1b9
--- /dev/null
+++ b/objects/objaverse/beer/beer_1/collision/model_normalized_collision_15.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.11978963 -0.01479918 0.08963635
+v -0.04854972 -0.01285820 -0.35606060
+v -0.04854972 -0.01285820 0.00757576
+v -0.10827736 0.05459342 0.08718694
+v -0.12358784 0.04028810 -0.35589791
+v -0.04854972 0.04774786 0.00757576
+v -0.12833646 -0.01201156 -0.35596020
+v -0.12188999 0.03943411 0.05057496
+v -0.04854972 0.04774786 -0.35606060
+v -0.12266249 0.01436377 0.07917993
+v -0.11532266 0.04343872 0.08090757
+v -0.12258060 -0.01158770 0.07920759
+f 1 2 3
+f 1 3 4
+f 6 3 2
+f 6 4 3
+f 7 2 1
+f 8 4 5
+f 8 5 7
+f 9 5 4
+f 9 4 6
+f 9 6 2
+f 9 7 5
+f 9 2 7
+f 10 1 4
+f 10 8 7
+f 11 10 4
+f 11 4 8
+f 11 8 10
+f 12 10 7
+f 12 7 1
+f 12 1 10
\ No newline at end of file
diff --git a/objects/objaverse/beer/beer_1/collision/model_normalized_collision_16.obj b/objects/objaverse/beer/beer_1/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8e4fb8b9b701c8711a91437ac2d96e4a52f5b23d
--- /dev/null
+++ b/objects/objaverse/beer/beer_1/collision/model_normalized_collision_16.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v 0.08514863 0.04591724 -0.49715867
+v 0.11178311 0.06409920 -0.45058269
+v -0.10907672 0.06227148 -0.45167756
+v -0.02842966 0.12466690 -0.44494717
+v 0.05104217 0.11028000 -0.48095256
+v -0.06773952 0.10721483 -0.44424623
+v 0.08243856 0.07192075 -0.49325983
+v 0.03942607 0.12276637 -0.44484434
+v -0.07239604 0.08357555 -0.49142917
+v 0.09557390 0.08715130 -0.44848303
+v 0.00899585 0.12263562 -0.47964833
+v -0.07099748 0.09673572 -0.48128945
+v -0.01744786 0.11095041 -0.49020604
+v -0.07702962 0.04685198 -0.49799989
+v 0.05403403 0.11628732 -0.44593643
+v 0.03907046 0.12083997 -0.45973820
+v -0.05444933 0.10982156 -0.47930972
+v 0.05223684 0.09771490 -0.49134733
+v 0.05319999 0.11455560 -0.46083996
+v -0.06658237 0.10551860 -0.45911417
+v -0.02707340 0.12084750 -0.47469822
+v -0.05645878 0.09755327 -0.48946733
+v 0.02465100 0.11051398 -0.48938415
+v -0.00195679 0.12215103 -0.47940040
+f 1 2 3
+f 6 3 2
+f 7 2 1
+f 8 4 6
+f 10 7 5
+f 10 2 7
+f 10 8 6
+f 10 6 2
+f 11 4 8
+f 12 9 3
+f 12 3 6
+f 14 1 3
+f 14 3 9
+f 14 9 13
+f 15 8 10
+f 16 11 8
+f 16 5 11
+f 16 8 15
+f 17 6 4
+f 18 7 1
+f 18 14 13
+f 18 1 14
+f 18 5 7
+f 19 15 10
+f 19 10 5
+f 19 16 15
+f 19 5 16
+f 20 17 12
+f 20 12 6
+f 20 6 17
+f 21 17 4
+f 21 13 17
+f 22 17 13
+f 22 13 9
+f 22 9 12
+f 22 12 17
+f 23 18 13
+f 23 13 11
+f 23 11 5
+f 23 5 18
+f 24 21 4
+f 24 4 11
+f 24 11 13
+f 24 13 21
\ No newline at end of file
diff --git a/objects/objaverse/beer/beer_1/collision/model_normalized_collision_17.obj b/objects/objaverse/beer/beer_1/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9dbc939619793e77b4ec1da4dad9e5d90b83a4b6
--- /dev/null
+++ b/objects/objaverse/beer/beer_1/collision/model_normalized_collision_17.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.07060004 0.07560770 0.12734283
+v 0.08243856 0.07192075 -0.49325983
+v 0.09551013 0.08331470 0.00809525
+v 0.05125271 0.11043066 0.06618684
+v 0.05643686 0.07697666 -0.49764293
+v 0.07394130 0.10720498 -0.41636990
+v 0.06363249 0.10463994 0.06530330
+v 0.05067314 0.09396252 0.12163093
+v 0.07702158 0.09583439 -0.47959947
+v 0.05104217 0.11028000 -0.48095256
+v 0.07395336 0.10721301 -0.15918183
+v 0.06068339 0.08180920 0.13101077
+v 0.05819704 0.09121749 0.11865239
+v 0.05223684 0.09771490 -0.49134733
+v 0.06437370 0.10655899 -0.47772497
+v 0.07939708 0.09845229 0.00687886
+v 0.06521531 0.09627371 -0.48807286
+v 0.07881407 0.08286788 -0.48893954
+f 1 2 3
+f 5 2 1
+f 7 1 3
+f 9 6 3
+f 9 3 2
+f 10 4 6
+f 10 8 4
+f 11 6 4
+f 11 4 7
+f 11 3 6
+f 12 8 5
+f 12 5 1
+f 13 1 7
+f 13 7 4
+f 13 4 8
+f 13 12 1
+f 13 8 12
+f 14 5 8
+f 14 8 10
+f 14 2 5
+f 15 10 6
+f 15 6 9
+f 16 11 7
+f 16 7 3
+f 16 3 11
+f 17 2 14
+f 17 15 9
+f 17 14 10
+f 17 10 15
+f 18 17 9
+f 18 9 2
+f 18 2 17
\ No newline at end of file
diff --git a/objects/objaverse/beer/beer_1/collision/model_normalized_collision_18.obj b/objects/objaverse/beer/beer_1/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7634492baaaedca51d3b76d4819237adb22a04bc
--- /dev/null
+++ b/objects/objaverse/beer/beer_1/collision/model_normalized_collision_18.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.08522684 -0.09610220 0.00801941
+v -0.07208394 -0.08046968 -0.49291238
+v -0.07651415 -0.05653745 -0.49769238
+v -0.11108529 -0.05362057 0.07989786
+v -0.10671065 -0.06141319 -0.47434299
+v -0.09577096 -0.07466718 0.08386022
+v -0.09438443 -0.07840188 -0.47849628
+v -0.11182971 -0.06494107 0.00692464
+v -0.11073881 -0.05346706 -0.47527043
+v -0.10241582 -0.06404008 0.08584192
+v -0.08992420 -0.05541263 -0.49455840
+v -0.10653021 -0.06135889 0.07816732
+v -0.09994654 -0.08232627 0.00709574
+v -0.08444431 -0.07859560 -0.48824783
+v -0.10435665 -0.07573079 0.00890512
+f 1 2 3
+f 6 1 3
+f 7 2 1
+f 9 4 3
+f 9 7 5
+f 9 8 4
+f 9 5 8
+f 10 6 3
+f 10 3 4
+f 11 3 2
+f 11 9 3
+f 12 4 8
+f 12 10 4
+f 12 6 10
+f 13 1 6
+f 13 6 12
+f 13 7 1
+f 13 8 5
+f 13 5 7
+f 14 11 2
+f 14 2 7
+f 14 7 9
+f 14 9 11
+f 15 13 12
+f 15 12 8
+f 15 8 13
\ No newline at end of file
diff --git a/objects/objaverse/beer/beer_1/collision/model_normalized_collision_19.obj b/objects/objaverse/beer/beer_1/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..632a1f104660a730d4b3f573de6b5d7e3b3896ed
--- /dev/null
+++ b/objects/objaverse/beer/beer_1/collision/model_normalized_collision_19.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.10733339 -0.07491778 -0.41691374
+v 0.11531276 -0.04972340 -0.47714822
+v 0.12256705 0.04393557 -0.41655080
+v 0.08698683 0.09223244 -0.46195991
+v 0.08560470 -0.05644768 -0.49452925
+v 0.11666625 0.04190721 -0.47887444
+v 0.11297839 0.06494161 -0.41702583
+v 0.11980492 -0.05184806 -0.41653443
+v 0.09520892 -0.05462088 -0.49285722
+v 0.08243856 0.07192075 -0.49325983
+v 0.11364173 0.05592015 -0.47471226
+v 0.10670233 -0.03771820 -0.49055472
+v 0.08169747 0.08610846 -0.48515990
+v 0.09586011 0.08486974 -0.46073554
+v 0.09130251 0.07024189 -0.48857018
+v 0.11709899 0.05714954 -0.44486026
+v 0.10546134 0.04333983 -0.48949167
+v 0.09281838 0.08143142 -0.48036628
+v 0.10342879 0.06813106 -0.47873513
+f 5 1 4
+f 6 3 2
+f 7 1 3
+f 7 4 1
+f 8 1 2
+f 8 2 3
+f 8 3 1
+f 9 2 1
+f 9 1 5
+f 10 9 5
+f 12 6 2
+f 12 2 9
+f 12 9 10
+f 13 10 5
+f 13 5 4
+f 14 4 7
+f 15 10 13
+f 16 7 3
+f 16 3 6
+f 16 6 11
+f 16 14 7
+f 16 11 14
+f 17 12 10
+f 17 6 12
+f 17 10 15
+f 17 11 6
+f 18 13 4
+f 18 4 14
+f 18 15 13
+f 19 17 15
+f 19 11 17
+f 19 15 18
+f 19 18 14
+f 19 14 11
\ No newline at end of file
diff --git a/objects/objaverse/beer/beer_1/collision/model_normalized_collision_2.obj b/objects/objaverse/beer/beer_1/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9825acdec1020a8e470a15268118781a45e4d719
--- /dev/null
+++ b/objects/objaverse/beer/beer_1/collision/model_normalized_collision_2.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v 0.10218720 0.04204772 0.10920848
+v 0.11645163 0.04715391 0.00747437
+v 0.05049331 0.10880420 0.07922859
+v -0.02842098 0.12137197 0.06581247
+v -0.04854972 0.04774786 0.00757576
+v 0.01008063 0.12785162 0.00703951
+v -0.06223794 0.05931168 0.15837964
+v 0.08489618 0.07988312 0.09263214
+v 0.07939708 0.09845229 0.00687886
+v 0.00888453 0.12111870 0.07882964
+v -0.04243665 0.12151754 0.00677187
+v 0.10083720 0.06621698 0.06520654
+v 0.04870807 0.08976710 0.13194462
+v 0.10523273 0.06923729 0.00670538
+v 0.07259003 0.09038009 0.09241269
+v -0.00176113 0.12162925 0.07906123
+v -0.07163903 0.08270980 0.12320528
+v 0.09875177 0.05268105 0.10787918
+v 0.07544616 0.04967109 0.14636790
+v 0.02395236 0.10531529 0.12054326
+v 0.07431518 0.07721111 0.11932966
+v 0.04893477 0.10553821 0.09340105
+v -0.04198625 0.12025878 0.03701513
+v -0.02720662 0.10632228 0.12073966
+v -0.07637387 0.07595015 0.12736883
+v 0.09395792 0.04451436 0.12441971
+v 0.06177609 0.08025084 0.13208606
+v 0.08447777 0.06532982 0.11858861
+v -0.04255207 0.10681126 0.10789089
+v -0.05231698 0.09183974 0.13101063
+v -0.06922381 0.07924451 0.13211030
+v -0.07171120 0.07201222 0.13743348
+f 5 2 1
+f 7 5 1
+f 9 6 3
+f 10 3 6
+f 11 4 6
+f 11 6 9
+f 12 1 2
+f 12 9 8
+f 14 2 5
+f 14 11 9
+f 14 5 11
+f 14 12 2
+f 14 9 12
+f 15 9 3
+f 15 8 9
+f 16 10 6
+f 16 6 4
+f 18 12 8
+f 18 1 12
+f 19 13 7
+f 20 10 16
+f 20 7 13
+f 21 15 13
+f 21 8 15
+f 22 15 3
+f 22 13 15
+f 22 20 13
+f 22 3 10
+f 22 10 20
+f 23 4 11
+f 23 11 17
+f 24 16 4
+f 24 20 16
+f 24 7 20
+f 25 17 11
+f 25 11 5
+f 25 5 7
+f 26 19 7
+f 26 7 1
+f 26 1 18
+f 27 21 13
+f 27 13 19
+f 27 19 21
+f 28 18 8
+f 28 8 21
+f 28 26 18
+f 28 21 19
+f 28 19 26
+f 29 23 17
+f 29 4 23
+f 29 24 4
+f 30 7 24
+f 30 29 17
+f 30 24 29
+f 31 7 30
+f 31 30 17
+f 31 17 25
+f 32 31 25
+f 32 25 7
+f 32 7 31
\ No newline at end of file
diff --git a/objects/objaverse/beer/beer_1/collision/model_normalized_collision_20.obj b/objects/objaverse/beer/beer_1/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..01b6f739317312e0ce31f7bcf75ef8e5c73b0e99
--- /dev/null
+++ b/objects/objaverse/beer/beer_1/collision/model_normalized_collision_20.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.07053752 0.09343057 0.08852910
+v 0.07782433 0.10187862 -0.45093501
+v 0.04872152 0.12034881 -0.11388263
+v 0.00917538 0.12282753 0.06600838
+v 0.01010455 0.12808382 -0.44555560
+v 0.03677221 0.12148610 0.03696586
+v 0.01886104 0.11567678 0.09299538
+v 0.03942607 0.12276637 -0.44484434
+v 0.01137866 0.11975822 0.08237108
+v 0.05049331 0.10880420 0.07922859
+v 0.04874949 0.12041929 -0.38603694
+v 0.02073949 0.12509006 -0.45326115
+v 0.02384981 0.12020619 0.06564846
+v 0.05403403 0.11628732 -0.44593643
+f 1 2 3
+f 5 2 1
+f 6 1 3
+f 6 5 4
+f 6 3 5
+f 7 5 1
+f 8 5 3
+f 9 4 5
+f 9 5 7
+f 10 7 1
+f 10 1 6
+f 11 8 3
+f 11 3 2
+f 12 2 5
+f 12 5 8
+f 13 9 7
+f 13 6 4
+f 13 4 9
+f 13 10 6
+f 13 7 10
+f 14 11 2
+f 14 8 11
+f 14 12 8
+f 14 2 12
\ No newline at end of file
diff --git a/objects/objaverse/beer/beer_1/collision/model_normalized_collision_21.obj b/objects/objaverse/beer/beer_1/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d8913d031e4969c770d9be2bf8341edc6acf821c
--- /dev/null
+++ b/objects/objaverse/beer/beer_1/collision/model_normalized_collision_21.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.08151741 -0.09454713 0.03724863
+v 0.10792162 -0.05343686 -0.48374724
+v 0.10142038 -0.07440486 0.00630730
+v 0.10539667 -0.05219775 0.08009558
+v 0.08560470 -0.05644768 -0.49452925
+v 0.09948449 -0.06451033 0.08006873
+v 0.08760668 -0.09078896 -0.47695911
+v 0.08259646 -0.08416724 0.08153453
+v 0.09520892 -0.05462088 -0.49285722
+v 0.08624198 -0.08953349 0.03660829
+v 0.10176938 -0.07472467 -0.47464743
+v 0.08001080 -0.09246956 -0.48183385
+v 0.09659399 -0.06579885 0.08636041
+v 0.08927642 -0.07695190 0.08000310
+v 0.10420892 -0.06681117 -0.48059182
+v 0.08379707 -0.07012854 -0.49292747
+v 0.09303276 -0.06511107 -0.49007978
+f 3 2 4
+f 6 3 4
+f 7 3 1
+f 8 4 5
+f 9 5 4
+f 9 4 2
+f 10 1 3
+f 10 3 6
+f 10 8 1
+f 11 3 7
+f 12 7 1
+f 12 8 5
+f 12 1 8
+f 13 6 4
+f 13 4 8
+f 14 10 6
+f 14 8 10
+f 14 13 8
+f 14 6 13
+f 15 11 7
+f 15 2 3
+f 15 3 11
+f 15 7 12
+f 16 12 5
+f 16 5 9
+f 17 9 2
+f 17 2 15
+f 17 16 9
+f 17 15 12
+f 17 12 16
\ No newline at end of file
diff --git a/objects/objaverse/beer/beer_1/collision/model_normalized_collision_22.obj b/objects/objaverse/beer/beer_1/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e2c011826a94ffaed9dc95a93f33032df21c8633
--- /dev/null
+++ b/objects/objaverse/beer/beer_1/collision/model_normalized_collision_22.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v -0.00331799 -0.05526292 0.46111080
+v -0.00355231 -0.05217875 0.40044448
+v -0.00303536 0.05544515 0.40024967
+v -0.00341869 0.05889775 0.46080452
+v -0.06301645 0.01453768 0.45701940
+v -0.03887802 -0.04700847 0.45732505
+v -0.04835002 0.03470369 0.39824531
+v -0.06008002 -0.02135447 0.45639908
+v -0.03607790 -0.04369658 0.39831301
+v -0.03931420 0.04944691 0.45691625
+v -0.06204421 -0.01030511 0.44092582
+v -0.04800539 -0.03246092 0.39838978
+v -0.05182574 0.03767095 0.45717160
+v -0.02889137 0.05030480 0.39929921
+v -0.06139035 0.01424841 0.44087690
+v -0.06043818 -0.02144252 0.44880218
+f 1 2 3
+f 1 3 4
+f 5 1 4
+f 6 2 1
+f 8 6 1
+f 8 1 5
+f 9 7 3
+f 9 3 2
+f 9 2 6
+f 11 8 5
+f 12 9 6
+f 12 11 7
+f 12 7 9
+f 13 10 7
+f 13 7 5
+f 13 5 4
+f 13 4 10
+f 14 10 4
+f 14 4 3
+f 14 3 7
+f 14 7 10
+f 15 11 5
+f 15 5 7
+f 15 7 11
+f 16 12 6
+f 16 6 8
+f 16 8 11
+f 16 11 12
\ No newline at end of file
diff --git a/objects/objaverse/beer/beer_1/collision/model_normalized_collision_23.obj b/objects/objaverse/beer/beer_1/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..738d0e22275f743eda4d4f3db2a057c991c4437e
--- /dev/null
+++ b/objects/objaverse/beer/beer_1/collision/model_normalized_collision_23.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.05626353 0.02673649 0.18627482
+v 0.08649972 0.03212250 0.14293330
+v 0.05122209 0.08498537 0.13651526
+v -0.02938547 0.09728897 0.13569540
+v -0.09285820 0.03204786 0.14305711
+v 0.03395543 0.06026577 0.17617024
+v 0.07915120 0.05691524 0.13638324
+v -0.08001266 0.02590446 0.16176447
+v 0.02521641 0.09706612 0.13583151
+v 0.07125722 0.03903577 0.15854785
+v 0.07324693 0.05283539 0.14638291
+v -0.08594335 0.05608310 0.13659607
+v 0.07312440 0.02729125 0.16122852
+v -0.06426781 0.02559889 0.18678443
+v 0.02397532 0.09003141 0.14593008
+v 0.04723540 0.07901219 0.14650339
+v -0.03737909 0.06185313 0.17642625
+v -0.02695820 0.09059589 0.14586020
+v -0.05735862 0.08400829 0.13614753
+v -0.06203630 0.03876316 0.17682259
+v -0.05332034 0.07815780 0.14633757
+v -0.08051971 0.05149689 0.14680675
+f 8 5 2
+f 9 7 4
+f 9 3 7
+f 10 7 1
+f 10 1 2
+f 10 2 7
+f 11 6 1
+f 11 1 7
+f 12 7 2
+f 12 2 5
+f 12 4 7
+f 13 8 2
+f 13 2 1
+f 14 12 5
+f 14 5 8
+f 14 13 1
+f 14 8 13
+f 15 3 9
+f 16 6 11
+f 16 15 6
+f 16 3 15
+f 16 11 7
+f 16 7 3
+f 17 14 1
+f 17 1 6
+f 17 6 15
+f 18 15 9
+f 18 9 4
+f 18 17 15
+f 19 4 12
+f 20 14 17
+f 21 18 4
+f 21 4 19
+f 21 17 18
+f 21 20 17
+f 21 19 12
+f 22 12 14
+f 22 14 20
+f 22 21 12
+f 22 20 21
\ No newline at end of file
diff --git a/objects/objaverse/beer/beer_1/collision/model_normalized_collision_24.obj b/objects/objaverse/beer/beer_1/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..108aecaa54c167b83fcf2ff72017ee998e14f6f9
--- /dev/null
+++ b/objects/objaverse/beer/beer_1/collision/model_normalized_collision_24.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.09659399 -0.06579885 0.08636041
+v 0.11513775 -0.04960420 0.00639522
+v 0.11498363 -0.02465926 0.08012190
+v 0.10186523 0.05738811 0.08776412
+v 0.10353851 -0.07169639 0.00877037
+v 0.11820472 0.04237688 0.00665945
+v 0.11479916 -0.03756900 0.06535507
+v 0.11590406 0.02639116 0.08001585
+v 0.10958643 0.06264160 0.00904657
+v 0.10539667 -0.05219775 0.08009558
+v 0.11433889 -0.04922049 0.02149472
+v 0.11513009 0.04126952 0.05026258
+v 0.10917555 0.04454835 0.08084797
+f 1 3 4
+f 5 1 4
+f 6 2 5
+f 7 6 3
+f 7 2 6
+f 8 4 3
+f 8 3 6
+f 9 6 5
+f 9 5 4
+f 10 7 3
+f 10 3 1
+f 10 1 5
+f 11 5 2
+f 11 2 7
+f 11 10 5
+f 11 7 10
+f 12 8 6
+f 12 6 9
+f 12 9 4
+f 13 12 4
+f 13 4 8
+f 13 8 12
\ No newline at end of file
diff --git a/objects/objaverse/beer/beer_1/collision/model_normalized_collision_25.obj b/objects/objaverse/beer/beer_1/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3326395b94e3232546f55c61352f5adaf2cd66c2
--- /dev/null
+++ b/objects/objaverse/beer/beer_1/collision/model_normalized_collision_25.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.01408198 -0.11607383 0.09039257
+v 0.12890708 -0.02039183 -0.41702822
+v 0.11357375 -0.01757699 0.09023152
+v 0.01205634 -0.01285820 0.08333333
+v 0.01510166 -0.12854510 -0.41727449
+v 0.01205634 -0.01285820 -0.41666666
+v 0.09237931 -0.09249941 -0.41672448
+v 0.08259646 -0.08416724 0.08153453
+f 1 3 4
+f 6 3 2
+f 6 4 3
+f 6 2 5
+f 6 5 1
+f 6 1 4
+f 7 5 2
+f 7 1 5
+f 8 7 2
+f 8 2 3
+f 8 3 1
+f 8 1 7
\ No newline at end of file
diff --git a/objects/objaverse/beer/beer_1/collision/model_normalized_collision_26.obj b/objects/objaverse/beer/beer_1/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1754c5b0b04c94acc7cfd135b33d0284128786db
--- /dev/null
+++ b/objects/objaverse/beer/beer_1/collision/model_normalized_collision_26.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.10353851 -0.07169639 0.00877037
+v 0.12890708 -0.02039183 -0.41702822
+v 0.11513775 -0.04960420 0.00639522
+v 0.12517657 -0.01137504 0.00709164
+v 0.10733339 -0.07491778 -0.41691374
+v 0.12354739 -0.01940778 0.00971360
+v 0.13038843 -0.01233020 -0.41664132
+v 0.11980492 -0.05184806 -0.41653443
+f 5 1 4
+f 6 3 2
+f 6 2 4
+f 6 1 3
+f 6 4 1
+f 7 5 4
+f 7 4 2
+f 7 2 5
+f 8 5 2
+f 8 2 3
+f 8 3 1
+f 8 1 5
\ No newline at end of file
diff --git a/objects/objaverse/beer/beer_1/collision/model_normalized_collision_27.obj b/objects/objaverse/beer/beer_1/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f6a59bf00cd257ead0f715c06d9d287f67e84f00
--- /dev/null
+++ b/objects/objaverse/beer/beer_1/collision/model_normalized_collision_27.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.06021863 -0.11288521 0.00885255
+v -0.04710288 -0.08538303 -0.49731039
+v -0.04854972 -0.01285820 0.00757576
+v -0.12862002 -0.01663765 0.00958940
+v -0.07208394 -0.08046968 -0.49291238
+v -0.08522684 -0.09610220 0.00801941
+v -0.04862127 -0.01284018 -0.49978544
+v -0.07855713 -0.01304551 -0.49960778
+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 8 7 2
+f 8 2 5
+f 8 5 4
+f 8 4 3
+f 8 3 7
\ No newline at end of file
diff --git a/objects/objaverse/beer/beer_1/collision/model_normalized_collision_28.obj b/objects/objaverse/beer/beer_1/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a8d02dab777787868535943cc58096d37feedae7
--- /dev/null
+++ b/objects/objaverse/beer/beer_1/collision/model_normalized_collision_28.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.10958643 0.06264160 0.00904657
+v 0.11178311 0.06409920 -0.45058269
+v 0.09557390 0.08715130 -0.44848303
+v 0.02077823 0.12575151 0.00994303
+v 0.01253888 0.04762860 -0.49935831
+v 0.09551013 0.08331470 0.00809525
+v 0.01205634 0.04774786 0.00757576
+v 0.02073949 0.12509006 -0.45326115
+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/beer/beer_1/collision/model_normalized_collision_29.obj b/objects/objaverse/beer/beer_1/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9055f31e1b886355a72e6a14ad714839ac726ca5
--- /dev/null
+++ b/objects/objaverse/beer/beer_1/collision/model_normalized_collision_29.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.02403553 -0.09470450 0.13706387
+v 0.05704666 -0.07277839 0.14334403
+v 0.03670905 -0.06510258 0.16584849
+v -0.04417143 -0.06452169 0.16611193
+v -0.06289953 -0.07253321 0.14307710
+v 0.05322364 -0.06712039 0.15272187
+v 0.02166602 -0.08793524 0.14707986
+v 0.05240981 -0.08107787 0.13739756
+v -0.04272712 -0.09184419 0.13458119
+v -0.05844018 -0.06736594 0.15254463
+v 0.03405193 -0.07319463 0.15957687
+v 0.04838456 -0.07513222 0.14738657
+v -0.03959602 -0.08543163 0.14469923
+v -0.05788009 -0.08185541 0.13767828
+v -0.04058140 -0.07234064 0.15944525
+v -0.05362153 -0.07615254 0.14779521
+f 6 4 3
+f 6 2 5
+f 8 5 2
+f 9 8 1
+f 10 6 5
+f 10 4 6
+f 11 3 4
+f 11 4 7
+f 11 7 1
+f 11 1 8
+f 11 6 3
+f 12 8 2
+f 12 2 6
+f 12 11 8
+f 12 6 11
+f 13 9 1
+f 13 1 7
+f 14 5 8
+f 14 8 9
+f 15 13 7
+f 15 7 4
+f 16 14 9
+f 16 9 13
+f 16 13 15
+f 16 15 4
+f 16 4 10
+f 16 10 5
+f 16 5 14
\ No newline at end of file
diff --git a/objects/objaverse/beer/beer_1/collision/model_normalized_collision_3.obj b/objects/objaverse/beer/beer_1/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d098f664796f7f4bce468e651e1c34a8aaacb795
--- /dev/null
+++ b/objects/objaverse/beer/beer_1/collision/model_normalized_collision_3.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v -0.08204352 0.04927471 0.14639595
+v -0.04945453 0.04884912 -0.49911540
+v -0.06223794 0.05931168 0.15837964
+v -0.04365010 0.10983957 0.09488773
+v -0.10483601 0.06869430 -0.45908825
+v -0.05025721 0.08052604 0.14603704
+v -0.11218749 0.04190551 -0.48169307
+v -0.10615875 0.06785089 0.06553261
+v -0.04660635 0.11803345 -0.44617862
+v -0.04494673 0.09835424 0.12410405
+v -0.07171120 0.07201222 0.13743348
+v -0.10001128 0.04336635 0.12436930
+v -0.07099748 0.09673572 -0.48128945
+v -0.06641978 0.10534523 0.06535517
+v -0.06570607 0.08923162 0.11861384
+v -0.09937456 0.04301927 -0.49237323
+v -0.11218298 0.04193289 0.09521140
+v -0.09186500 0.06339795 0.11888994
+v -0.08126595 0.09221807 -0.47875913
+v -0.05643508 0.10557474 0.09367594
+v -0.08081898 0.08912777 0.09275525
+v -0.07456956 0.07433480 -0.49470915
+v -0.10660568 0.05440935 0.09370546
+v -0.10824933 0.05516024 -0.47892468
+v -0.06773952 0.10721483 -0.44424623
+v -0.07702962 0.04685198 -0.49799989
+v -0.09736602 0.05719896 -0.48925426
+v -0.08498405 0.07028351 -0.49095126
+f 1 2 3
+f 6 3 2
+f 8 5 7
+f 9 4 2
+f 10 6 2
+f 10 2 4
+f 11 1 3
+f 11 3 6
+f 12 2 1
+f 13 9 2
+f 14 4 9
+f 15 11 6
+f 15 6 10
+f 16 2 12
+f 17 8 7
+f 17 16 12
+f 17 7 16
+f 18 11 15
+f 18 12 1
+f 18 1 11
+f 19 9 13
+f 20 15 10
+f 20 10 4
+f 20 4 14
+f 21 14 8
+f 21 18 15
+f 21 8 18
+f 21 20 14
+f 21 15 20
+f 22 13 2
+f 22 19 13
+f 23 17 12
+f 23 12 18
+f 23 18 8
+f 23 8 17
+f 24 7 5
+f 24 5 19
+f 25 14 9
+f 25 9 19
+f 25 8 14
+f 25 19 5
+f 25 5 8
+f 26 22 2
+f 26 2 16
+f 26 16 22
+f 27 16 7
+f 27 7 24
+f 27 22 16
+f 27 24 19
+f 28 27 19
+f 28 19 22
+f 28 22 27
\ No newline at end of file
diff --git a/objects/objaverse/beer/beer_1/collision/model_normalized_collision_30.obj b/objects/objaverse/beer/beer_1/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1295a48c6e2a0e3c15ef0cae2386db5ca5275515
--- /dev/null
+++ b/objects/objaverse/beer/beer_1/collision/model_normalized_collision_30.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.01510166 -0.12854510 -0.41727449
+v 0.09237931 -0.09249941 -0.41672448
+v 0.01205634 0.04774786 -0.41666666
+v 0.11297839 0.06494161 -0.41702583
+v 0.01198071 0.04776656 -0.49936377
+v 0.07838212 -0.08068378 -0.49096215
+v 0.01180467 -0.08821295 -0.49785821
+v 0.08514863 0.04591724 -0.49715867
+f 1 2 3
+f 3 2 4
+f 5 3 4
+f 6 2 1
+f 6 4 2
+f 7 1 3
+f 7 3 5
+f 7 6 1
+f 8 5 4
+f 8 4 6
+f 8 7 5
+f 8 6 7
\ No newline at end of file
diff --git a/objects/objaverse/beer/beer_1/collision/model_normalized_collision_31.obj b/objects/objaverse/beer/beer_1/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..94bd2b922fd4db2cae95f94cfd015d4f8a3053cb
--- /dev/null
+++ b/objects/objaverse/beer/beer_1/collision/model_normalized_collision_31.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v 0.01761592 -0.04293750 0.49437106
+v 0.04973102 -0.01143268 0.45945125
+v 0.04260092 0.01348682 0.49461523
+v -0.02788048 0.04773616 0.49394779
+v -0.05163720 -0.03495610 0.45745381
+v 0.02205781 0.05208862 0.45818368
+v -0.05082457 -0.02072347 0.49555941
+v 0.04217667 -0.01005326 0.49494108
+v 0.03183464 -0.04285946 0.45729337
+v 0.04999054 0.01475002 0.45943901
+v 0.01886179 0.04548447 0.49418259
+v -0.05182574 0.03767095 0.45717160
+v -0.02695226 -0.04383829 0.49503125
+v 0.03021231 -0.03274933 0.49463308
+v 0.03644505 0.04075554 0.45908415
+v -0.05032465 0.02562706 0.49487153
+v -0.03931420 0.04944691 0.45691625
+v -0.04666451 -0.03198064 0.48949801
+v -0.03887802 -0.04700847 0.45732505
+v 0.02829440 -0.04104758 0.47678051
+v 0.03011769 0.03673105 0.49430664
+v -0.04748506 0.03396282 0.48939220
+v -0.03641423 -0.04138996 0.48933490
+v -0.03584117 0.04460130 0.48986352
+f 8 2 3
+f 8 3 7
+f 10 3 2
+f 10 9 6
+f 10 2 9
+f 11 6 4
+f 12 5 7
+f 13 8 7
+f 14 13 1
+f 14 8 13
+f 14 9 2
+f 14 2 8
+f 15 10 6
+f 15 6 11
+f 15 3 10
+f 16 7 3
+f 16 11 4
+f 16 12 7
+f 17 4 6
+f 17 6 9
+f 17 5 12
+f 18 13 7
+f 18 7 5
+f 19 9 1
+f 19 1 13
+f 19 17 9
+f 19 5 17
+f 19 18 5
+f 20 14 1
+f 20 1 9
+f 20 9 14
+f 21 15 11
+f 21 3 15
+f 21 16 3
+f 21 11 16
+f 22 12 16
+f 22 17 12
+f 23 19 13
+f 23 13 18
+f 23 18 19
+f 24 22 16
+f 24 16 4
+f 24 4 17
+f 24 17 22
\ No newline at end of file
diff --git a/objects/objaverse/beer/beer_1/collision/model_normalized_collision_4.obj b/objects/objaverse/beer/beer_1/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2fc1e763dc474f02dc22f41a3ec5694f2546aa42
--- /dev/null
+++ b/objects/objaverse/beer/beer_1/collision/model_normalized_collision_4.obj
@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
+v 0.01068440 -0.11547322 0.09370369
+v 0.01146350 -0.12622862 0.00716424
+v 0.02372302 0.07252889 0.16648653
+v -0.07637387 0.07595015 0.12736883
+v -0.10699010 -0.07198493 0.00746275
+v 0.01205634 0.04774786 0.00757576
+v -0.09410904 -0.04813894 0.13124870
+v 0.01153910 -0.09633888 0.13863286
+v -0.04099537 -0.11671163 0.06563349
+v -0.11297005 0.06412736 0.00909327
+v -0.09535695 -0.08756044 0.00661533
+v -0.07171120 0.07201222 0.13743348
+v 0.01107787 -0.10532392 0.12264932
+v -0.05593022 -0.08785438 0.13144967
+v -0.01486734 -0.11588328 0.09378838
+v -0.10480702 0.03840418 0.11936507
+v -0.04250767 -0.12150157 0.00691401
+v -0.09160802 -0.07666772 0.09325157
+v -0.01493695 -0.10149536 0.13178917
+v -0.03997347 -0.10124725 0.12005730
+v -0.11532266 0.04343872 0.08090757
+v -0.09160204 0.05449891 0.13073355
+v -0.06917118 -0.10121534 0.07860081
+v -0.11108529 -0.05362057 0.07989786
+v -0.09146317 -0.06145353 0.11939328
+v -0.00426001 -0.10218632 0.13198677
+v -0.08411955 0.06967403 0.12312930
+v -0.08090902 0.06697797 0.13200971
+v -0.09491465 -0.08704096 0.02173606
+v -0.06539908 -0.08807147 0.11965515
+v -0.05456164 -0.10000279 0.10824592
+v -0.10451217 -0.03615952 0.11960237
+v -0.10481542 -0.05095208 0.10767314
+v -0.07992405 -0.08728601 0.09309359
+f 6 3 2
+f 8 2 3
+f 10 4 3
+f 10 3 6
+f 11 6 2
+f 11 10 6
+f 11 5 10
+f 12 7 3
+f 12 3 4
+f 13 1 2
+f 13 2 8
+f 14 8 3
+f 14 3 7
+f 15 9 2
+f 15 2 1
+f 15 1 13
+f 17 11 2
+f 17 2 9
+f 19 8 14
+f 20 9 15
+f 20 19 14
+f 20 15 19
+f 22 21 16
+f 22 16 7
+f 22 7 12
+f 23 17 9
+f 23 11 17
+f 24 21 10
+f 24 10 5
+f 25 14 7
+f 26 13 8
+f 26 8 19
+f 26 19 15
+f 26 15 13
+f 27 4 10
+f 27 10 21
+f 27 21 22
+f 28 22 12
+f 28 12 4
+f 28 27 22
+f 28 4 27
+f 29 23 18
+f 29 11 23
+f 29 18 24
+f 29 24 5
+f 29 5 11
+f 30 25 18
+f 30 14 25
+f 31 23 9
+f 31 9 20
+f 31 30 23
+f 31 20 14
+f 31 14 30
+f 32 7 16
+f 32 16 21
+f 32 21 24
+f 33 24 18
+f 33 18 25
+f 33 25 7
+f 33 32 24
+f 33 7 32
+f 34 30 18
+f 34 18 23
+f 34 23 30
\ No newline at end of file
diff --git a/objects/objaverse/beer/beer_1/collision/model_normalized_collision_5.obj b/objects/objaverse/beer/beer_1/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5cfcd6a0f2be9f3147ed3843c745227d8a4b89c9
--- /dev/null
+++ b/objects/objaverse/beer/beer_1/collision/model_normalized_collision_5.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.00757508 -0.05948050 0.33932053
+v 0.01286691 -0.08525736 0.15369036
+v 0.02854575 0.06749454 0.16988570
+v -0.01711912 0.05438191 0.40006757
+v -0.09918007 -0.02449593 0.13657407
+v 0.03233852 0.04134881 0.39186275
+v -0.07372970 -0.06751403 0.13842831
+v -0.05829145 -0.01093548 0.40057996
+v -0.09839849 0.03062018 0.13634737
+v 0.00872172 0.05977026 0.35416067
+v -0.02560212 -0.05726854 0.33909687
+v -0.04003465 -0.03839338 0.40710908
+v -0.08594453 -0.05286318 0.13714166
+v -0.02754961 0.06170424 0.18651902
+v -0.04835002 0.03470369 0.39824531
+v -0.06142901 -0.01041780 0.38349439
+v 0.01072404 0.05556989 0.38509384
+v -0.02661795 0.05906998 0.33894305
+v -0.06077923 0.01412645 0.38339936
+v -0.01690601 0.06063255 0.35431651
+v -0.03675071 0.04567571 0.39809618
+v -0.04777473 0.04860348 0.32372994
+f 6 1 2
+f 6 2 3
+f 9 3 2
+f 9 2 7
+f 11 7 2
+f 11 2 1
+f 12 6 4
+f 12 1 6
+f 12 11 1
+f 12 7 11
+f 13 8 5
+f 13 12 8
+f 13 7 12
+f 13 9 7
+f 13 5 9
+f 14 3 9
+f 15 12 4
+f 15 8 12
+f 16 9 5
+f 16 5 8
+f 17 6 3
+f 17 3 10
+f 17 4 6
+f 18 14 9
+f 19 15 9
+f 19 9 16
+f 19 16 8
+f 19 8 15
+f 20 17 10
+f 20 4 17
+f 20 18 4
+f 20 10 3
+f 20 3 14
+f 20 14 18
+f 21 15 4
+f 21 4 18
+f 22 21 18
+f 22 18 9
+f 22 9 15
+f 22 15 21
\ No newline at end of file
diff --git a/objects/objaverse/beer/beer_1/collision/model_normalized_collision_6.obj b/objects/objaverse/beer/beer_1/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8d64de4b46de119cf32e314ad657edaf7ae4364b
--- /dev/null
+++ b/objects/objaverse/beer/beer_1/collision/model_normalized_collision_6.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.02231755 -0.11827170 0.07948040
+v 0.08337351 -0.08487296 -0.48612838
+v 0.05101760 -0.11582431 0.00651775
+v 0.08259646 -0.08416724 0.08153453
+v 0.01180467 -0.08821295 -0.49785821
+v 0.07592487 -0.10151151 -0.00876620
+v 0.06090676 -0.10167949 0.07979809
+v 0.01408198 -0.11607383 0.09039257
+v 0.06962087 -0.08432998 -0.49302623
+v 0.01092654 -0.12047415 -0.48181483
+v 0.05064747 -0.11487116 -0.47471103
+v 0.03579697 -0.11558854 0.06541789
+v 0.07829172 -0.08979722 0.07993128
+v 0.01095258 -0.11910848 0.07948677
+v 0.01110628 -0.10818884 -0.49288768
+v 0.07533440 -0.10068929 -0.47453889
+v 0.03651164 -0.11797464 -0.47916376
+v 0.06348489 -0.10562981 -0.47997020
+v 0.08001080 -0.09246956 -0.48183385
+v 0.03783584 -0.10664158 -0.48981950
+v 0.06511338 -0.09292277 -0.48971547
+f 6 2 4
+f 7 3 6
+f 8 4 5
+f 8 1 7
+f 9 5 4
+f 9 4 2
+f 10 3 1
+f 11 6 3
+f 12 7 1
+f 12 1 3
+f 12 3 7
+f 13 7 6
+f 13 6 4
+f 13 8 7
+f 13 4 8
+f 14 8 5
+f 14 10 1
+f 14 1 8
+f 15 5 9
+f 15 14 5
+f 15 10 14
+f 16 6 11
+f 17 11 3
+f 17 3 10
+f 18 16 11
+f 18 11 17
+f 19 2 6
+f 19 6 16
+f 19 16 18
+f 20 17 10
+f 20 10 15
+f 20 15 9
+f 20 18 17
+f 21 9 2
+f 21 19 18
+f 21 2 19
+f 21 20 9
+f 21 18 20
\ No newline at end of file
diff --git a/objects/objaverse/beer/beer_1/collision/model_normalized_collision_7.obj b/objects/objaverse/beer/beer_1/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8a96571537cbf70126665d10fb37d20e52445b04
--- /dev/null
+++ b/objects/objaverse/beer/beer_1/collision/model_normalized_collision_7.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.01005728 -0.05267815 0.38530902
+v 0.05669274 -0.00993017 0.21987787
+v 0.05552962 0.01421248 0.33894923
+v 0.01072404 0.05556989 0.38509384
+v 0.00970336 -0.06327423 0.18754522
+v 0.03237596 0.05116936 0.21994847
+v 0.04206090 -0.02999603 0.38271448
+v 0.00757508 -0.05948050 0.33932053
+v 0.05686500 0.01399717 0.21989548
+v 0.03967797 0.03552974 0.38252531
+v 0.01171596 0.06104567 0.21973680
+v 0.05535516 -0.00968792 0.33893235
+v 0.04702753 -0.03424425 0.21986395
+v 0.02061527 -0.05490886 0.33878086
+v 0.04477142 0.03904490 0.21991713
+v 0.02626554 -0.05693040 0.18909580
+v 0.02858262 0.04665857 0.38262877
+v 0.03124686 -0.04201260 0.38284590
+v 0.02208988 -0.05903835 0.18669536
+f 7 4 1
+f 8 1 4
+f 9 3 2
+f 10 7 3
+f 10 4 7
+f 11 4 6
+f 11 8 4
+f 11 5 8
+f 12 2 3
+f 12 3 7
+f 13 12 7
+f 13 2 12
+f 14 1 8
+f 15 3 9
+f 15 10 3
+f 16 9 2
+f 16 15 9
+f 16 2 13
+f 17 6 4
+f 17 4 10
+f 17 15 6
+f 17 10 15
+f 18 7 1
+f 18 1 14
+f 18 13 7
+f 18 16 13
+f 18 14 16
+f 19 14 8
+f 19 8 5
+f 19 16 14
+f 19 5 11
+f 19 11 6
+f 19 6 15
+f 19 15 16
\ No newline at end of file
diff --git a/objects/objaverse/beer/beer_1/collision/model_normalized_collision_8.obj b/objects/objaverse/beer/beer_1/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fc3cda63a2ed3b59e418221bc0102e581a2e5dfe
--- /dev/null
+++ b/objects/objaverse/beer/beer_1/collision/model_normalized_collision_8.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v -0.00331799 -0.05526292 0.46111080
+v 0.04140508 -0.03784937 0.34520035
+v 0.04217667 -0.01005326 0.49494108
+v -0.05829145 -0.01093548 0.40057996
+v -0.02560212 -0.05726854 0.33909687
+v 0.04923846 -0.01134219 0.38484334
+v 0.03765261 -0.01188557 0.49808073
+v 0.03183464 -0.04285946 0.45729337
+v 0.00757508 -0.05948050 0.33932053
+v -0.04800539 -0.03246092 0.39838978
+v -0.06599572 -0.01156912 0.33969321
+v 0.03475662 -0.02400304 0.49681282
+v 0.04274184 -0.03056829 0.45736610
+v -0.03607790 -0.04369658 0.39831301
+v -0.06228868 -0.02211765 0.33924218
+v -0.06322711 -0.01085717 0.36972412
+v 0.03925838 -0.01935687 0.49451742
+v -0.02494622 -0.05590596 0.35409592
+v -0.05960607 -0.02116274 0.36927541
+f 7 3 4
+f 9 1 5
+f 9 8 1
+f 9 2 8
+f 10 1 4
+f 11 2 9
+f 11 6 2
+f 12 7 4
+f 12 4 1
+f 12 1 8
+f 12 3 7
+f 13 6 3
+f 13 12 8
+f 13 8 2
+f 13 2 6
+f 14 10 5
+f 14 1 10
+f 15 11 9
+f 15 9 5
+f 15 5 10
+f 16 4 3
+f 16 3 6
+f 16 6 11
+f 16 11 15
+f 17 13 3
+f 17 3 12
+f 17 12 13
+f 18 14 5
+f 18 5 1
+f 18 1 14
+f 19 16 15
+f 19 15 10
+f 19 10 4
+f 19 4 16
\ No newline at end of file
diff --git a/objects/objaverse/beer/beer_1/collision/model_normalized_collision_9.obj b/objects/objaverse/beer/beer_1/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae5c0473e2d9f3f9f296df651d693a1264352925
--- /dev/null
+++ b/objects/objaverse/beer/beer_1/collision/model_normalized_collision_9.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.01146350 -0.12622862 0.00716424
+v 0.01092654 -0.12047415 -0.48181483
+v 0.01008063 0.12785162 0.00703951
+v -0.04243665 0.12151754 0.00677187
+v -0.04250767 -0.12150157 0.00691401
+v 0.01010455 0.12808382 -0.44555560
+v -0.04058996 -0.11718273 -0.47791350
+v 0.01198071 0.04776656 -0.49936377
+v -0.04840370 0.04757014 -0.49916065
+v 0.01110628 -0.10818884 -0.49288768
+v -0.04269034 -0.10630729 -0.48841532
+v -0.04191507 0.11997563 -0.44426896
+f 5 1 3
+f 5 3 4
+f 6 4 3
+f 7 2 1
+f 7 1 5
+f 8 6 3
+f 8 3 1
+f 9 5 4
+f 9 6 8
+f 10 8 1
+f 10 1 2
+f 10 9 8
+f 11 7 5
+f 11 5 9
+f 11 9 10
+f 11 10 2
+f 11 2 7
+f 12 9 4
+f 12 4 6
+f 12 6 9
\ No newline at end of file
diff --git a/objects/objaverse/beer/beer_1/model.xml b/objects/objaverse/beer/beer_1/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..5435dd9f49eb6c05d6b0306ac4d83557829d1c26
--- /dev/null
+++ b/objects/objaverse/beer/beer_1/model.xml
@@ -0,0 +1,81 @@
+<mujoco model="beer_2">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.16999999999999993 0.16999999999999993 0.16999999999999993" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.16999999999999993 0.16999999999999993 0.16999999999999993" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.16999999999999993 0.16999999999999993 0.16999999999999993" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.16999999999999993 0.16999999999999993 0.16999999999999993" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.16999999999999993 0.16999999999999993 0.16999999999999993" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.16999999999999993 0.16999999999999993 0.16999999999999993" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.16999999999999993 0.16999999999999993 0.16999999999999993" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.16999999999999993 0.16999999999999993 0.16999999999999993" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.16999999999999993 0.16999999999999993 0.16999999999999993" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.16999999999999993 0.16999999999999993 0.16999999999999993" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.16999999999999993 0.16999999999999993 0.16999999999999993" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.16999999999999993 0.16999999999999993 0.16999999999999993" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.16999999999999993 0.16999999999999993 0.16999999999999993" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.16999999999999993 0.16999999999999993 0.16999999999999993" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.16999999999999993 0.16999999999999993 0.16999999999999993" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.16999999999999993 0.16999999999999993 0.16999999999999993" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.16999999999999993 0.16999999999999993 0.16999999999999993" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.16999999999999993 0.16999999999999993 0.16999999999999993" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.16999999999999993 0.16999999999999993 0.16999999999999993" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.16999999999999993 0.16999999999999993 0.16999999999999993" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.16999999999999993 0.16999999999999993 0.16999999999999993" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.16999999999999993 0.16999999999999993 0.16999999999999993" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.16999999999999993 0.16999999999999993 0.16999999999999993" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.16999999999999993 0.16999999999999993 0.16999999999999993" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.16999999999999993 0.16999999999999993 0.16999999999999993" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.16999999999999993 0.16999999999999993 0.16999999999999993" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.16999999999999993 0.16999999999999993 0.16999999999999993" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.16999999999999993 0.16999999999999993 0.16999999999999993" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.16999999999999993 0.16999999999999993 0.16999999999999993" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.16999999999999993 0.16999999999999993 0.16999999999999993" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.16999999999999993 0.16999999999999993 0.16999999999999993" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.16999999999999993 0.16999999999999993 0.16999999999999993" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.16999999999999993 0.16999999999999993 0.16999999999999993" refquat="1.0 0.0 0.0 0.0"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="heineken_biane_em_0_bmp" texture="image0" specular="0.5" shininess="0.008385636"/>
+  </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="heineken_biane_em_0_bmp"/>
+        <geom solimp="0.998 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="0.00011663870000000057 -3.9208800000000694e-05 -0.08496352479999997" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.00011663870000000057 -3.9208800000000694e-05 0.08493158689999997" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.02216603309999999 0.021774249399999987 -1.5968950000002916e-05" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/objects/objaverse/beer/beer_1/visual/material.mtl b/objects/objaverse/beer/beer_1/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..162bf3b270e84f47deabd40baf9ca1a30b88e1fc
--- /dev/null
+++ b/objects/objaverse/beer/beer_1/visual/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 8.38563600
+map_Kd material_0.png
\ No newline at end of file
diff --git a/objects/objaverse/beer/beer_1/visual/model_normalized_0.obj b/objects/objaverse/beer/beer_1/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e91702fd046b1338c1c79f025c106d37ccc7816c
--- /dev/null
+++ b/objects/objaverse/beer/beer_1/visual/model_normalized_0.obj
@@ -0,0 +1,8458 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
+v -0.03119145 -0.00471728 0.49905121
+v -0.03504098 -0.00458007 0.49890297
+v -0.04569030 -0.00688385 0.49825928
+v -0.03164679 -0.00269713 0.49904218
+v -0.04569030 -0.00688385 0.49825928
+v -0.02473285 -0.01602775 0.49913666
+v -0.02813526 -0.01783346 0.49899645
+v -0.03620821 -0.02515540 0.49838786
+v -0.02614080 -0.01450427 0.49911961
+v -0.03620821 -0.02515540 0.49838786
+v -0.01348818 -0.02259226 0.49925380
+v -0.01553018 -0.02585786 0.49913044
+v -0.01886018 -0.03623860 0.49857240
+v -0.01546579 -0.02197885 0.49923395
+v -0.01886018 -0.03623860 0.49857240
+v -0.00046567 -0.02265524 0.49937416
+v -0.00060187 -0.02650577 0.49926945
+v 0.00170552 -0.03716212 0.49876336
+v -0.00248561 -0.02311058 0.49935591
+v 0.00170552 -0.03716212 0.49876336
+v 0.01084500 -0.01619584 0.49946322
+v 0.01265172 -0.01960066 0.49937576
+v 0.01997686 -0.02767922 0.49890999
+v 0.00932132 -0.01760378 0.49945199
+v 0.01997686 -0.02767922 0.49890999
+v 0.01741011 -0.00495157 0.49949812
+v 0.02067793 -0.00699478 0.49942110
+v 0.03105946 -0.01033019 0.49897278
+v 0.01679591 -0.00692818 0.49949772
+v 0.03105946 -0.01033019 0.49897278
+v 0.01747310 0.00807235 0.49946924
+v 0.02132282 0.00793474 0.49939301
+v 0.03198378 0.01023611 0.49893527
+v 0.01792884 0.00605321 0.49947847
+v 0.03198378 0.01023611 0.49893527
+v 0.01101410 0.01938322 0.49938439
+v 0.01441952 0.02118853 0.49930014
+v 0.02250149 0.02850766 0.49880689
+v 0.01242164 0.01785934 0.49940124
+v 0.02250149 0.02850766 0.49880689
+v -0.00023138 0.02594773 0.49926684
+v 0.00181303 0.02921454 0.49916575
+v 0.00515366 0.03959066 0.49862255
+v 0.00174684 0.02533452 0.49928650
+v 0.00515366 0.03959066 0.49862255
+v -0.01325369 0.02601091 0.49914689
+v -0.01311508 0.02986044 0.49902734
+v -0.01541224 0.04051398 0.49843098
+v -0.01123314 0.02646545 0.49916414
+v -0.01541224 0.04051398 0.49843098
+v -0.02456416 0.01955151 0.49905662
+v -0.02636766 0.02295492 0.49892123
+v -0.03368298 0.03103148 0.49828455
+v -0.02304128 0.02095945 0.49906826
+v -0.03368298 0.03103148 0.49828455
+v -0.03112847 0.00830663 0.49902273
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\ No newline at end of file
diff --git a/objects/objaverse/beer/beer_10/collision/model_normalized_collision_1.obj b/objects/objaverse/beer/beer_10/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5c5d072f5780396795b82d59c1df9118fd0090c7
--- /dev/null
+++ b/objects/objaverse/beer/beer_10/collision/model_normalized_collision_1.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v -0.01948397 -0.05187828 0.49895968
+v -0.03403633 -0.07964145 0.14172632
+v -0.01814629 -0.07213471 0.21878961
+v -0.01575895 0.05399122 0.49874675
+v -0.08255471 0.03313458 0.14154613
+v -0.01833498 -0.05795451 0.45354465
+v -0.08239433 -0.03412886 0.14132795
+v -0.04928107 0.02810484 0.49811470
+v -0.03560127 0.08090154 0.14384537
+v -0.01773492 -0.07006296 0.24876796
+v -0.06511495 -0.05928955 0.13931361
+v -0.03958079 -0.04004427 0.49874728
+v -0.08016433 0.00235609 0.20277343
+v -0.01949343 0.07499657 0.21900675
+v -0.02810480 0.04928105 0.49811481
+v -0.06728802 0.05680813 0.14109306
+v -0.05680807 0.06728807 0.14109306
+v -0.04971662 -0.02851085 0.49700009
+v -0.02598947 -0.05529839 0.45354465
+v -0.01762967 0.06562681 0.30890057
+v -0.07942010 -0.00614147 0.20269280
+v -0.04424760 -0.07411672 0.14140924
+f 6 4 1
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+f 14 3 2
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+f 15 4 9
+f 16 5 8
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+f 17 8 15
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+f 18 8 13
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+f 21 13 7
+f 21 7 18
+f 22 19 11
+f 22 11 2
+f 22 2 19
\ No newline at end of file
diff --git a/objects/objaverse/beer/beer_10/collision/model_normalized_collision_11.obj b/objects/objaverse/beer/beer_10/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4ad65e067a2a11f5a3c5f11781a928c5b7730ae4
--- /dev/null
+++ b/objects/objaverse/beer/beer_10/collision/model_normalized_collision_11.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.01086703 -0.06165580 0.26587303
+v 0.08981987 -0.03720462 0.11933307
+v 0.06845090 0.02835330 0.26315136
+v 0.00776574 0.07243420 0.26418364
+v 0.00774107 0.08746167 0.14238716
+v 0.06835745 -0.02852478 0.26298601
+v 0.01360439 -0.07541743 0.14749124
+v 0.00645214 0.08098175 0.18771048
+v 0.09011099 0.03385521 0.11976287
+v 0.05650558 -0.04567429 0.26353548
+v 0.08347956 0.00223309 0.17240341
+v 0.05956085 0.06552095 0.14073579
+v 0.07361654 -0.04719032 0.14157727
+v 0.03412884 0.08239435 0.14132795
+v 0.03032156 0.06711298 0.26332970
+v 0.05356926 0.05356928 0.24776080
+f 1 3 4
+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 2 5
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+f 10 2 6
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+f 11 2 9
+f 11 9 3
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+f 13 7 2
+f 13 2 10
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+f 14 9 5
+f 14 5 4
+f 15 4 3
+f 15 14 4
+f 15 12 14
+f 16 3 9
+f 16 9 12
+f 16 15 3
+f 16 12 15
\ No newline at end of file
diff --git a/objects/objaverse/beer/beer_10/collision/model_normalized_collision_23.obj b/objects/objaverse/beer/beer_10/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a7655c669a4a3d96174b90b83c4f58372edb53e
--- /dev/null
+++ b/objects/objaverse/beer/beer_10/collision/model_normalized_collision_23.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.01267774 -0.10106186 0.09714761
+v 0.11687656 -0.01582344 -0.35557161
+v 0.10106189 -0.01267769 0.09714758
+v 0.00954252 -0.00954247 0.08333333
+v 0.01582350 -0.11687657 -0.35557159
+v 0.00954252 -0.00954247 -0.35606061
+v 0.08639424 -0.08603113 0.08384681
+v 0.08487525 -0.08487527 -0.35606991
+f 1 3 4
+f 6 3 2
+f 6 4 3
+f 6 5 1
+f 6 1 4
+f 7 2 3
+f 7 3 1
+f 7 1 5
+f 8 6 2
+f 8 5 6
+f 8 7 5
+f 8 2 7
\ No newline at end of file
diff --git a/objects/objaverse/beer/beer_10/collision/model_normalized_collision_29.obj b/objects/objaverse/beer/beer_10/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ec64d885d1a2245ef938c3f227c605004287f1f7
--- /dev/null
+++ b/objects/objaverse/beer/beer_10/collision/model_normalized_collision_29.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v -0.06273492 -0.10276749 -0.41488394
+v -0.05496448 -0.08771045 -0.49940483
+v -0.05026020 0.12278249 -0.41701398
+v -0.04727057 0.11412124 -0.49428463
+v -0.07927905 -0.07927907 -0.49785612
+v -0.07197504 0.09761424 -0.49428463
+v -0.06898489 0.10829066 -0.47360963
+v -0.08375154 -0.08886939 -0.41630238
+v -0.07008345 0.10993478 -0.41837961
+f 1 2 3
+f 3 2 4
+f 5 2 1
+f 6 4 2
+f 6 2 5
+f 7 3 4
+f 7 4 6
+f 8 1 3
+f 8 5 1
+f 8 6 5
+f 9 8 3
+f 9 3 7
+f 9 7 6
+f 9 6 8
\ No newline at end of file
diff --git a/objects/objaverse/beer/beer_10/collision/model_normalized_collision_31.obj b/objects/objaverse/beer/beer_10/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fc3677f77c59525e741c91d3a1cf0d25755e7201
--- /dev/null
+++ b/objects/objaverse/beer/beer_10/collision/model_normalized_collision_31.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.00780319 -0.12201041 0.07985451
+v 0.00902589 -0.12815733 -0.35610045
+v 0.00954252 -0.00954247 -0.35606061
+v -0.08576452 -0.01644490 0.11374659
+v -0.04894393 -0.12009858 0.00757671
+v -0.05106354 -0.00954247 -0.35606061
+v 0.00954252 -0.00954247 0.08333333
+v -0.04770556 -0.11517145 0.07709434
+v -0.04896697 -0.12021443 -0.35622230
+f 5 2 1
+f 7 4 1
+f 7 6 4
+f 7 3 6
+f 7 1 2
+f 7 2 3
+f 8 5 1
+f 8 1 4
+f 8 4 5
+f 9 6 3
+f 9 3 2
+f 9 2 5
+f 9 5 4
+f 9 4 6
\ No newline at end of file
diff --git a/objects/objaverse/beer/beer_10/collision/model_normalized_collision_4.obj b/objects/objaverse/beer/beer_10/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9fffe77be324d769fdeb64f551c58e2b758572fb
--- /dev/null
+++ b/objects/objaverse/beer/beer_10/collision/model_normalized_collision_4.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v -0.08315135 -0.08797115 0.08458686
+v -0.07927905 -0.07927907 -0.49785612
+v -0.07257977 0.09851928 0.07716199
+v -0.07469869 0.10169046 -0.48562762
+v -0.12552918 0.01748975 -0.48478639
+v -0.12358544 -0.03618805 -0.47419130
+v -0.10928991 0.05450114 -0.49428463
+v -0.12386327 -0.00594028 0.07612861
+v -0.11412122 -0.04727057 -0.49428463
+v -0.07897413 0.09293760 -0.49428463
+v -0.10887967 0.06937854 -0.40333512
+v -0.11065422 0.05541275 0.07574638
+v -0.10907732 -0.05829250 0.07500635
+v -0.12487453 -0.02129295 0.06591081
+v -0.12477655 -0.02127347 -0.48478639
+v -0.11194522 -0.06020878 -0.48478639
+v -0.09508743 0.08543830 -0.48478639
+v -0.08734460 0.08734462 -0.49428463
+v -0.12425198 0.04753873 -0.44573938
+v -0.09244498 0.08367266 0.07431143
+v -0.12434886 -0.03633991 -0.40303073
+v -0.09579719 -0.07469444 -0.49428463
+v -0.09694231 -0.07545958 0.07642197
+v -0.08543824 0.09508747 -0.48478639
+v -0.12431827 0.03240040 -0.47431411
+v -0.12200041 0.01678783 0.07538749
+v -0.10829062 0.06898494 -0.47360960
+v -0.08367261 0.09244502 0.07431143
+f 1 2 3
+f 3 2 4
+f 9 7 2
+f 9 5 7
+f 10 4 2
+f 12 8 1
+f 12 1 3
+f 13 1 8
+f 14 13 8
+f 15 9 6
+f 15 5 9
+f 15 14 5
+f 16 6 9
+f 18 10 2
+f 18 2 7
+f 18 7 17
+f 19 14 8
+f 19 5 14
+f 20 12 3
+f 20 19 12
+f 20 11 19
+f 20 17 11
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+f 21 16 13
+f 21 6 16
+f 21 15 6
+f 21 14 15
+f 22 16 9
+f 22 9 2
+f 22 2 1
+f 22 1 16
+f 23 16 1
+f 23 1 13
+f 23 13 16
+f 24 18 17
+f 24 4 10
+f 24 10 18
+f 25 7 5
+f 25 5 19
+f 26 19 8
+f 26 8 12
+f 26 12 19
+f 27 17 7
+f 27 25 19
+f 27 7 25
+f 27 19 11
+f 27 11 17
+f 28 20 3
+f 28 3 4
+f 28 4 24
+f 28 24 17
+f 28 17 20
\ No newline at end of file
diff --git a/objects/objaverse/beer/beer_10/collision/model_normalized_collision_5.obj b/objects/objaverse/beer/beer_10/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..73ed4502af2681843584fe455e8ea4a9531bcc86
--- /dev/null
+++ b/objects/objaverse/beer/beer_10/collision/model_normalized_collision_5.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.07538361 0.04443762 0.14193453
+v 0.11224116 0.04881720 0.08175560
+v 0.04759423 0.11490270 0.07782551
+v -0.04751553 0.11471266 0.07834254
+v -0.05756623 0.09109860 0.08790579
+v 0.07545960 0.09694233 0.07642196
+v 0.03412884 0.08239435 0.14132795
+v 0.10396117 0.04328470 0.10165091
+v 0.10616691 0.05991004 0.07890502
+v -0.01758480 0.11085581 0.09970221
+v -0.04620467 0.07409481 0.14246922
+v 0.06001868 0.09650917 0.09802855
+v 0.08436564 0.08436566 0.09054086
+v 0.02143192 0.11042144 0.09932311
+v 0.07041910 0.05124435 0.14399409
+v -0.03939794 0.07905931 0.14040966
+v -0.04552395 0.10990458 0.09142358
+v 0.04560267 0.11009462 0.09090655
+v 0.09992186 0.05573724 0.09749242
+v 0.08804557 0.08804560 0.07745981
+f 5 4 2
+f 6 4 3
+f 8 5 2
+f 9 2 4
+f 9 4 6
+f 10 3 4
+f 11 8 1
+f 11 5 8
+f 13 6 3
+f 13 12 7
+f 14 10 7
+f 14 3 10
+f 15 11 1
+f 15 7 11
+f 15 13 7
+f 15 1 8
+f 16 11 7
+f 16 7 10
+f 17 4 5
+f 17 5 11
+f 17 11 16
+f 17 16 10
+f 17 10 4
+f 18 7 12
+f 18 14 7
+f 18 3 14
+f 18 13 3
+f 18 12 13
+f 19 8 2
+f 19 2 13
+f 19 15 8
+f 19 13 15
+f 20 9 6
+f 20 6 13
+f 20 13 2
+f 20 2 9
\ No newline at end of file
diff --git a/objects/objaverse/beer/beer_10/collision/model_normalized_collision_7.obj b/objects/objaverse/beer/beer_10/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc5b1cd72bddbd79bccf0657e4877234f5163ec2
--- /dev/null
+++ b/objects/objaverse/beer/beer_10/collision/model_normalized_collision_7.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.05598981 -0.09267273 0.08679731
+v -0.06123974 -0.10052977 0.00757420
+v -0.06468701 0.07145252 0.10441207
+v -0.07705490 0.08996240 0.00757175
+v -0.09558569 -0.05437401 0.08289526
+v -0.08315135 -0.08797115 0.08458686
+v -0.10136370 -0.05823475 -0.03802755
+v -0.09716212 0.05149392 0.08363592
+v -0.09849606 0.06250914 -0.03840466
+v -0.08218947 -0.08653159 0.00757563
+v -0.10317952 0.05551461 -0.03808329
+v -0.09668024 -0.06522927 -0.03834892
+f 1 2 3
+f 3 2 4
+f 6 2 1
+f 6 1 3
+f 6 3 5
+f 7 6 5
+f 8 5 3
+f 8 3 4
+f 9 4 2
+f 10 2 6
+f 11 7 5
+f 11 5 8
+f 11 8 4
+f 11 4 9
+f 12 9 2
+f 12 11 9
+f 12 7 11
+f 12 2 10
+f 12 10 6
+f 12 6 7
\ No newline at end of file
diff --git a/objects/objaverse/beer/beer_10/model.xml b/objects/objaverse/beer/beer_10/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..e0cc9470de39d6bdc737ed0d4ad2450d23a0257d
--- /dev/null
+++ b/objects/objaverse/beer/beer_10/model.xml
@@ -0,0 +1,93 @@
+<mujoco model="beer_11">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.15999999999999992 0.15999999999999992 0.15999999999999992" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="visual/model_normalized_1.obj" name="model_normalized_1_vis" scale="0.15999999999999992 0.15999999999999992 0.15999999999999992" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="visual/model_normalized_2.obj" name="model_normalized_2_vis" scale="0.15999999999999992 0.15999999999999992 0.15999999999999992" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="visual/model_normalized_3.obj" name="model_normalized_3_vis" scale="0.15999999999999992 0.15999999999999992 0.15999999999999992" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="visual/model_normalized_4.obj" name="model_normalized_4_vis" scale="0.15999999999999992 0.15999999999999992 0.15999999999999992" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.15999999999999992 0.15999999999999992 0.15999999999999992" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.15999999999999992 0.15999999999999992 0.15999999999999992" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.15999999999999992 0.15999999999999992 0.15999999999999992" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.15999999999999992 0.15999999999999992 0.15999999999999992" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.15999999999999992 0.15999999999999992 0.15999999999999992" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.15999999999999992 0.15999999999999992 0.15999999999999992" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.15999999999999992 0.15999999999999992 0.15999999999999992" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.15999999999999992 0.15999999999999992 0.15999999999999992" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.15999999999999992 0.15999999999999992 0.15999999999999992" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.15999999999999992 0.15999999999999992 0.15999999999999992" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.15999999999999992 0.15999999999999992 0.15999999999999992" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.15999999999999992 0.15999999999999992 0.15999999999999992" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.15999999999999992 0.15999999999999992 0.15999999999999992" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.15999999999999992 0.15999999999999992 0.15999999999999992" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.15999999999999992 0.15999999999999992 0.15999999999999992" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.15999999999999992 0.15999999999999992 0.15999999999999992" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.15999999999999992 0.15999999999999992 0.15999999999999992" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.15999999999999992 0.15999999999999992 0.15999999999999992" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.15999999999999992 0.15999999999999992 0.15999999999999992" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.15999999999999992 0.15999999999999992 0.15999999999999992" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.15999999999999992 0.15999999999999992 0.15999999999999992" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.15999999999999992 0.15999999999999992 0.15999999999999992" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.15999999999999992 0.15999999999999992 0.15999999999999992" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.15999999999999992 0.15999999999999992 0.15999999999999992" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.15999999999999992 0.15999999999999992 0.15999999999999992" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.15999999999999992 0.15999999999999992 0.15999999999999992" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.15999999999999992 0.15999999999999992 0.15999999999999992" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.15999999999999992 0.15999999999999992 0.15999999999999992" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.15999999999999992 0.15999999999999992 0.15999999999999992" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.15999999999999992 0.15999999999999992 0.15999999999999992" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.15999999999999992 0.15999999999999992 0.15999999999999992" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.15999999999999992 0.15999999999999992 0.15999999999999992" refquat="1.0 0.0 0.0 0.0"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="LIMITE_LIQUIDO" texture="image0" specular="0.5" shininess="0.432701178"/>
+    <material name="LIQUIDO" texture="image0" specular="0.5" shininess="0.15999998099999999"/>
+    <material name="TAMPA" texture="image0" specular="0.5" shininess="0.7161993609999999"/>
+    <material name="VIDRO_DENTRO" texture="image0" specular="0.5" shininess="0.15999998099999999"/>
+    <material name="VIDRO_FORA" specular="0.5" shininess="0.7792769829999999" rgba="0.033466 0.105560 0.017979 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="LIMITE_LIQUIDO"/>
+        <geom solimp="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="TAMPA"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_2_vis" conaffinity="0" contype="0" group="1" material="LIQUIDO"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_3_vis" conaffinity="0" contype="0" group="1" material="VIDRO_DENTRO"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_4_vis" conaffinity="0" contype="0" group="1" material="VIDRO_FORA"/>
+        <geom solimp="0.998 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="0.0003526112000000013 0.00011872079999999835 -0.07998287679999996" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.0003526112000000013 0.00011872079999999835 0.07983354879999996" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.02078989119999999 0.021145611199999987 -7.466399999999759e-05" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/objects/objaverse/beer/beer_2/collision/model_normalized_collision_21.obj b/objects/objaverse/beer/beer_2/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f0686b3d266296b3ed168256b17909accf2353d
--- /dev/null
+++ b/objects/objaverse/beer/beer_2/collision/model_normalized_collision_21.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.04100743 -0.11866784 0.07800653
+v 0.13782352 -0.00204167 0.00755201
+v 0.12513122 -0.00233277 0.07992986
+v -0.05857748 -0.00202862 0.08333335
+v -0.05407915 -0.12678641 0.00705589
+v 0.13768616 -0.00065469 0.01007832
+v -0.05339474 -0.11299157 0.08038640
+v 0.10591955 -0.07936870 0.04910014
+v -0.05857748 -0.00202862 0.00757577
+v 0.11912240 -0.04001428 0.07803056
+v 0.06703735 -0.10627020 0.07817271
+v -0.03818659 -0.11959483 0.07832633
+v 0.08346001 -0.10973743 0.00688672
+v 0.12589805 -0.05631661 0.00699100
+v 0.10616540 -0.06693468 0.07814216
+v -0.05106712 -0.11901600 0.06284966
+v 0.05692717 -0.12546030 0.00698537
+v 0.08033254 -0.10528157 0.04911111
+v 0.12095509 -0.05386652 0.04954374
+v 0.11020356 -0.08272463 0.00688404
+v 0.05470141 -0.12041674 0.04952078
+v 0.09128919 -0.09204255 0.06222072
+f 6 4 3
+f 7 3 4
+f 7 4 5
+f 9 5 4
+f 9 6 2
+f 9 4 6
+f 10 6 3
+f 10 2 6
+f 11 7 1
+f 11 3 7
+f 12 1 7
+f 14 9 2
+f 15 10 3
+f 15 3 11
+f 16 12 7
+f 16 7 5
+f 16 5 12
+f 17 5 13
+f 17 12 5
+f 17 1 12
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\ No newline at end of file
diff --git a/objects/objaverse/beer/beer_2/visual/material.mtl b/objects/objaverse/beer/beer_2/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9b69ee017d934c5b09e3ee53e590b4276cccd4fc
--- /dev/null
+++ b/objects/objaverse/beer/beer_2/visual/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 159.99998100
+map_Kd material_0.png
\ No newline at end of file
diff --git a/objects/objaverse/beer/beer_2/visual/model_normalized_0.obj b/objects/objaverse/beer/beer_2/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..74abd52b2741c98a73ccad10638f02120bf588c5
--- /dev/null
+++ b/objects/objaverse/beer/beer_2/visual/model_normalized_0.obj
@@ -0,0 +1,1160 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/objects/objaverse/beer/beer_2/visual/model_normalized_1.obj b/objects/objaverse/beer/beer_2/visual/model_normalized_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0a0801c6c2c4fcafeddd25a14658f6ef4fd974ec
--- /dev/null
+++ b/objects/objaverse/beer/beer_2/visual/model_normalized_1.obj
@@ -0,0 +1,16210 @@
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+f 4025/4025/4025 4026/4026/4026 4027/4027/4027
+f 4025/4025/4025 4027/4027/4027 4028/4028/4028
+f 4025/4025/4025 4028/4028/4028 4029/4029/4029
+f 4025/4025/4025 4029/4029/4029 4030/4030/4030
+f 4025/4025/4025 4030/4030/4030 4031/4031/4031
+f 4025/4025/4025 4031/4031/4031 4032/4032/4032
+f 4025/4025/4025 4032/4032/4032 4033/4033/4033
+f 4025/4025/4025 4033/4033/4033 4026/4026/4026
+f 4034/4034/4034 4035/4035/4035 4036/4036/4036
+f 4034/4034/4034 4036/4036/4036 4037/4037/4037
+f 4034/4034/4034 4037/4037/4037 4038/4038/4038
+f 4034/4034/4034 4038/4038/4038 4039/4039/4039
+f 4034/4034/4034 4039/4039/4039 4040/4040/4040
+f 4034/4034/4034 4040/4040/4040 4041/4041/4041
+f 4034/4034/4034 4041/4041/4041 4042/4042/4042
+f 4034/4034/4034 4042/4042/4042 4035/4035/4035
+f 4043/4043/4043 4044/4044/4044 4045/4045/4045
+f 4043/4043/4043 4045/4045/4045 4046/4046/4046
+f 4043/4043/4043 4046/4046/4046 4047/4047/4047
+f 4043/4043/4043 4047/4047/4047 4048/4048/4048
+f 4043/4043/4043 4048/4048/4048 4049/4049/4049
+f 4043/4043/4043 4049/4049/4049 4050/4050/4050
+f 4043/4043/4043 4050/4050/4050 4051/4051/4051
+f 4043/4043/4043 4051/4051/4051 4044/4044/4044
+f 4052/4052/4052 4053/4053/4053 4054/4054/4054
+f 4052/4052/4052 4054/4054/4054 4055/4055/4055
+f 4052/4052/4052 4055/4055/4055 4056/4056/4056
+f 4052/4052/4052 4056/4056/4056 4057/4057/4057
+f 4052/4052/4052 4057/4057/4057 4058/4058/4058
+f 4052/4052/4052 4058/4058/4058 4059/4059/4059
+f 4052/4052/4052 4059/4059/4059 4060/4060/4060
+f 4052/4052/4052 4060/4060/4060 4053/4053/4053
+f 4061/4061/4061 4062/4062/4062 4063/4063/4063
+f 4061/4061/4061 4063/4063/4063 4064/4064/4064
+f 4061/4061/4061 4064/4064/4064 4065/4065/4065
+f 4061/4061/4061 4065/4065/4065 4066/4066/4066
+f 4061/4061/4061 4066/4066/4066 4067/4067/4067
+f 4061/4061/4061 4067/4067/4067 4068/4068/4068
+f 4061/4061/4061 4068/4068/4068 4069/4069/4069
+f 4061/4061/4061 4069/4069/4069 4062/4062/4062
\ No newline at end of file
diff --git a/objects/objaverse/beer/beer_9/collision/model_normalized_collision_0.obj b/objects/objaverse/beer/beer_9/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e4caa9a0cef824a5777993dfb081f7ff78d93784
--- /dev/null
+++ b/objects/objaverse/beer/beer_9/collision/model_normalized_collision_0.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v -0.01646025 -0.05344575 0.40133068
+v -0.01325813 -0.06086694 0.26462243
+v -0.01238039 0.06479312 0.43023124
+v -0.01575119 0.05777917 0.50000000
+v -0.06389459 -0.00596298 0.26448787
+v -0.01817412 -0.01212891 0.50000000
+v -0.01278143 -0.05971570 0.29487411
+v -0.04582479 -0.05118000 0.41508658
+v -0.01647223 0.05952001 0.26496834
+v -0.05060350 0.05060350 0.41574851
+v -0.04693295 -0.04693295 0.26428948
+v -0.04806786 0.04806786 0.48645440
+v -0.04882441 0.04234491 0.26449154
+v -0.01296135 0.06619565 0.41574851
+v -0.05540016 -0.03902352 0.41574851
+v -0.06213534 -0.00523442 0.50000000
+v -0.04234505 0.04882429 0.26449154
+v -0.06176092 0.01112459 0.26439275
+v -0.04706547 0.04161648 0.50000000
+v -0.06083872 0.02589392 0.41574851
+v -0.02619445 -0.05551907 0.26438402
+v -0.04161648 0.04706547 0.50000000
+v -0.05999804 0.01039434 0.50000000
+f 6 3 4
+f 7 2 3
+f 7 6 1
+f 7 3 6
+f 8 1 6
+f 8 7 1
+f 8 2 7
+f 9 3 2
+f 14 3 9
+f 14 10 12
+f 14 12 4
+f 14 4 3
+f 15 11 8
+f 15 5 11
+f 16 6 4
+f 16 5 15
+f 16 15 8
+f 16 8 6
+f 17 13 10
+f 17 14 9
+f 17 10 14
+f 18 10 13
+f 18 11 5
+f 18 17 11
+f 18 13 17
+f 19 16 4
+f 20 12 10
+f 20 10 18
+f 20 18 5
+f 20 5 16
+f 21 17 9
+f 21 9 2
+f 21 11 17
+f 21 2 8
+f 21 8 11
+f 22 19 4
+f 22 4 12
+f 22 12 19
+f 23 19 12
+f 23 16 19
+f 23 20 16
+f 23 12 20
\ No newline at end of file
diff --git a/objects/objaverse/beer/beer_9/collision/model_normalized_collision_10.obj b/objects/objaverse/beer/beer_9/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a664a114a652314ee412fb5cb110924500fadbe9
--- /dev/null
+++ b/objects/objaverse/beer/beer_9/collision/model_normalized_collision_10.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.05139785 -0.11840765 0.07745791
+v 0.08251268 -0.10521610 0.07822899
+v 0.08130416 -0.08130416 0.14027690
+v 0.04003246 -0.05179070 0.21943871
+v -0.06599311 -0.09359474 0.08559368
+v 0.00437651 -0.11462506 0.13657574
+v -0.04346948 -0.12125143 0.07857674
+v 0.08637957 -0.08637957 0.08248947
+v 0.01415983 -0.06248644 0.21991556
+v 0.05135325 -0.05135325 0.19806546
+v -0.04513608 -0.06466895 0.18346172
+v -0.04887585 -0.07369749 0.14464028
+v -0.06319076 -0.08682928 0.14316186
+v 0.01182381 -0.05684687 0.18885758
+v -0.06139275 -0.11279152 0.08120952
+v -0.00963967 -0.11273720 0.13583298
+v 0.00881196 -0.06472730 0.21933996
+v -0.05867778 -0.09108559 0.13923681
+v -0.02589871 -0.10025946 0.14590410
+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 2 5
+f 9 6 3
+f 9 3 4
+f 10 4 3
+f 10 3 8
+f 11 9 4
+f 12 10 8
+f 12 8 5
+f 12 5 11
+f 13 11 5
+f 14 11 4
+f 14 4 10
+f 14 12 11
+f 14 10 12
+f 15 13 5
+f 15 5 7
+f 16 7 6
+f 16 15 7
+f 17 9 11
+f 17 11 13
+f 17 16 6
+f 17 6 9
+f 18 13 15
+f 18 15 16
+f 19 17 13
+f 19 16 17
+f 19 18 16
+f 19 13 18
\ No newline at end of file
diff --git a/objects/objaverse/beer/beer_9/collision/model_normalized_collision_14.obj b/objects/objaverse/beer/beer_9/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..59598ad8ce7eb1ede797124afba9bd7868330bf5
--- /dev/null
+++ b/objects/objaverse/beer/beer_9/collision/model_normalized_collision_14.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.07138468 -0.08462662 0.14154192
+v 0.10616512 -0.02229972 0.13920849
+v 0.04410086 -0.02537198 0.22076907
+v 0.01172363 0.10810478 0.14321980
+v 0.09084825 0.07373099 0.12399194
+v 0.01619215 -0.08254447 0.15108246
+v 0.05179074 -0.04003247 0.21943873
+v 0.08824176 -0.06660612 0.13811793
+v 0.04836297 0.04836297 0.21892509
+v 0.00667826 0.06562141 0.21911035
+v 0.07131160 0.09049542 0.12743591
+v 0.01242966 -0.07346104 0.18992793
+v 0.09557996 0.06053943 0.12585359
+v 0.08130416 -0.08130416 0.14027690
+v 0.05724572 0.02690966 0.21900641
+v 0.07839219 0.07839219 0.14607216
+v 0.00633285 0.09509055 0.16395156
+v 0.08606856 -0.00509980 0.17691368
+v 0.08450315 0.08576369 0.12557425
+v 0.08635386 0.07186934 0.13737518
+v 0.05152672 0.09446085 0.13818625
+v 0.05403160 -0.03468460 0.21886317
+v 0.10427724 0.02756294 0.13846574
+v 0.10172169 -0.02045918 0.14697951
+v 0.10025944 0.02589871 0.14590415
+f 6 5 1
+f 8 1 5
+f 10 9 4
+f 10 3 9
+f 11 6 4
+f 11 5 6
+f 12 6 1
+f 12 1 7
+f 12 7 3
+f 12 3 10
+f 13 8 5
+f 13 2 8
+f 14 7 1
+f 14 1 8
+f 14 8 2
+f 14 2 7
+f 15 9 3
+f 15 3 7
+f 17 12 10
+f 17 10 4
+f 17 4 6
+f 17 6 12
+f 19 5 11
+f 20 13 5
+f 20 19 16
+f 20 5 19
+f 20 16 9
+f 21 11 4
+f 21 4 9
+f 21 9 16
+f 21 19 11
+f 21 16 19
+f 22 18 15
+f 22 15 7
+f 22 7 2
+f 23 18 2
+f 23 2 13
+f 23 13 20
+f 23 20 9
+f 23 9 15
+f 24 22 2
+f 24 2 18
+f 24 18 22
+f 25 23 15
+f 25 15 18
+f 25 18 23
\ No newline at end of file
diff --git a/objects/objaverse/beer/beer_9/collision/model_normalized_collision_15.obj b/objects/objaverse/beer/beer_9/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..694a5f6530af926fe199d83927c3430c42c29d45
--- /dev/null
+++ b/objects/objaverse/beer/beer_9/collision/model_normalized_collision_15.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.06599311 -0.09359474 0.08559368
+v -0.07008383 -0.10347058 0.00757522
+v -0.09232278 0.06036267 0.09469560
+v -0.10527497 0.06572766 0.00757432
+v -0.13758111 -0.02025671 0.06151036
+v -0.09924694 -0.09008814 0.08542458
+v -0.13842633 -0.02060681 0.00757576
+v -0.13569320 0.02551988 0.06076760
+v -0.13781842 -0.00520349 0.07675524
+v -0.12549364 -0.05182891 0.00757576
+v -0.12273885 0.04158150 0.07678357
+v -0.13628898 0.02576667 0.00757576
+v -0.09577945 -0.08865185 0.00757569
+v -0.12871315 0.04405616 0.00757576
+v -0.13593054 0.01046670 0.07601247
+f 1 2 3
+f 3 2 4
+f 6 2 1
+f 6 1 3
+f 9 6 3
+f 9 5 6
+f 9 7 5
+f 10 6 5
+f 10 5 7
+f 10 7 4
+f 10 4 2
+f 11 3 4
+f 12 4 7
+f 12 9 8
+f 12 7 9
+f 13 10 2
+f 13 2 6
+f 13 6 10
+f 14 11 4
+f 14 8 11
+f 14 12 8
+f 14 4 12
+f 15 9 3
+f 15 3 11
+f 15 11 8
+f 15 8 9
\ No newline at end of file
diff --git a/objects/objaverse/beer/beer_9/collision/model_normalized_collision_17.obj b/objects/objaverse/beer/beer_9/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f2307bae49295c891078b22446ebefa9d3ee43a9
--- /dev/null
+++ b/objects/objaverse/beer/beer_9/collision/model_normalized_collision_17.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.10380257 0.05766936 0.10797596
+v 0.11279136 0.06139266 0.08120947
+v 0.09834102 0.09834102 0.07903810
+v -0.02838992 0.12747050 0.07864510
+v -0.08759822 0.07355720 0.09282477
+v 0.10332791 0.08777578 0.07748618
+v 0.02041183 0.10765236 0.13741509
+v -0.05950474 0.11427879 0.07941619
+v 0.03631828 0.12462674 0.07752634
+v 0.08637499 0.08637499 0.12204986
+v -0.06471624 0.06625432 0.14585132
+v -0.05678993 0.09257293 0.13744361
+v 0.00000000 0.12216708 0.12201303
+v 0.07000966 0.06249981 0.14195488
+v -0.02567505 0.10576443 0.13667246
+v 0.06471834 0.08972921 0.13632459
+v 0.09557996 0.06053943 0.12585359
+f 5 2 1
+f 6 3 2
+f 8 2 5
+f 8 6 2
+f 9 3 6
+f 9 8 4
+f 9 6 8
+f 10 3 9
+f 10 2 3
+f 11 5 1
+f 12 4 8
+f 12 8 5
+f 12 5 11
+f 13 9 4
+f 13 4 12
+f 14 7 11
+f 14 11 1
+f 15 12 11
+f 15 11 7
+f 15 13 12
+f 15 7 13
+f 16 7 14
+f 16 10 9
+f 16 13 7
+f 16 9 13
+f 17 14 1
+f 17 16 14
+f 17 10 16
+f 17 1 2
+f 17 2 10
\ No newline at end of file
diff --git a/objects/objaverse/beer/beer_9/collision/model_normalized_collision_18.obj b/objects/objaverse/beer/beer_9/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb3ea6f7326413c685a904a21fe2fb8c9011c474
--- /dev/null
+++ b/objects/objaverse/beer/beer_9/collision/model_normalized_collision_18.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.08724438 -0.10148783 0.08272343
+v 0.11840755 -0.05139777 0.07745787
+v 0.08130416 -0.08130416 0.14027690
+v 0.08682928 0.06319076 0.14316187
+v 0.09359474 0.06599311 0.08559368
+v 0.11462507 -0.00437645 0.13657575
+v 0.09793584 -0.09793620 0.08049452
+v 0.08165937 -0.08800452 0.12287301
+v 0.12125133 0.04346938 0.07857674
+v 0.11279136 0.06139266 0.08120947
+v 0.11273718 0.00963967 0.13583301
+v 0.10521591 -0.08251261 0.07822896
+v 0.09108558 0.05867778 0.13923683
+f 6 4 3
+f 7 3 1
+f 7 6 3
+f 8 5 1
+f 8 1 3
+f 8 3 4
+f 8 4 5
+f 9 6 2
+f 10 9 5
+f 10 5 4
+f 11 4 6
+f 11 6 9
+f 12 9 2
+f 12 7 1
+f 12 1 5
+f 12 5 9
+f 12 2 6
+f 12 6 7
+f 13 10 4
+f 13 4 11
+f 13 11 9
+f 13 9 10
\ No newline at end of file
diff --git a/objects/objaverse/beer/beer_9/collision/model_normalized_collision_19.obj b/objects/objaverse/beer/beer_9/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f020d1d575f72783792fa1618a36e22896e88120
--- /dev/null
+++ b/objects/objaverse/beer/beer_9/collision/model_normalized_collision_19.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.06278145 0.10648079 -0.41666710
+v 0.05758345 0.09393170 -0.50000000
+v 0.02025862 0.13758581 -0.48605556
+v -0.01283408 0.14164589 -0.41666667
+v -0.01817412 0.09393170 -0.50000000
+v 0.05182885 0.12549356 -0.41666667
+v -0.02914348 0.12041409 -0.41666758
+v 0.00547397 0.13847114 -0.50000000
+v 0.02060677 0.13842631 -0.41666667
+v 0.04962882 0.12018182 -0.50000000
+v -0.01063391 0.13633385 -0.50000000
+v 0.05182885 0.12549356 -0.44696970
+f 5 2 1
+f 6 4 1
+f 7 5 1
+f 7 1 4
+f 8 2 5
+f 8 4 3
+f 9 3 4
+f 9 4 6
+f 10 1 2
+f 10 8 3
+f 10 2 8
+f 11 7 4
+f 11 4 8
+f 11 8 5
+f 11 5 7
+f 12 9 6
+f 12 3 9
+f 12 10 3
+f 12 6 1
+f 12 1 10
\ No newline at end of file
diff --git a/objects/objaverse/beer/beer_9/collision/model_normalized_collision_21.obj b/objects/objaverse/beer/beer_9/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d4599ce236f27609edaa0d23f81631d8e9beae4
--- /dev/null
+++ b/objects/objaverse/beer/beer_9/collision/model_normalized_collision_21.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.09359474 0.06599311 0.08559368
+v 0.08788648 0.06362867 -0.50000000
+v 0.09008811 0.09924684 0.08542453
+v -0.06410809 0.09508911 0.08379164
+v -0.06362867 0.06362867 -0.50000000
+v -0.08759822 0.07355720 0.09282477
+v 0.08788648 0.09393170 -0.50000000
+v -0.06362867 0.09393170 -0.50000000
+f 5 2 1
+f 6 1 3
+f 6 3 4
+f 6 5 1
+f 7 1 2
+f 7 3 1
+f 7 2 5
+f 8 6 4
+f 8 5 6
+f 8 7 5
+f 8 4 3
+f 8 3 7
\ No newline at end of file
diff --git a/objects/objaverse/beer/beer_9/collision/model_normalized_collision_24.obj b/objects/objaverse/beer/beer_9/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bce6e642a7b2b41589fff41364fcbc1b322208de
--- /dev/null
+++ b/objects/objaverse/beer/beer_9/collision/model_normalized_collision_24.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.08251268 -0.10521610 0.07822899
+v 0.11172087 -0.07005560 -0.50000000
+v 0.10361701 -0.10361750 0.06007362
+v 0.09075520 -0.07392323 0.08446929
+v 0.08788648 -0.07273497 -0.50000000
+v 0.10994761 -0.06932104 0.08009062
+v 0.08298827 -0.10636405 -0.50000000
+v 0.10048420 -0.09570417 0.07636731
+v 0.10358981 -0.10359028 -0.48466821
+v 0.09570425 -0.10048440 0.07636732
+v 0.10100723 -0.09592095 -0.50000000
+v 0.09592095 -0.10100723 -0.50000000
+f 5 1 4
+f 6 3 2
+f 6 5 4
+f 6 2 5
+f 7 5 2
+f 7 3 1
+f 7 1 5
+f 8 3 6
+f 8 6 4
+f 9 2 3
+f 9 3 7
+f 10 1 3
+f 10 3 8
+f 10 8 4
+f 10 4 1
+f 11 7 2
+f 11 2 9
+f 12 11 9
+f 12 9 7
+f 12 7 11
\ No newline at end of file
diff --git a/objects/objaverse/beer/beer_9/collision/model_normalized_collision_27.obj b/objects/objaverse/beer/beer_9/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..004f355157bd5ce8e342e45b7f9e2eb1bd581f33
--- /dev/null
+++ b/objects/objaverse/beer/beer_9/collision/model_normalized_collision_27.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.09008811 0.09924684 0.08542453
+v 0.08788648 0.09393170 -0.50000000
+v 0.08085099 0.10724933 -0.50000000
+v 0.05424156 0.11616677 0.08015907
+v 0.05884367 0.09697414 0.08453807
+v 0.08062466 0.10670332 0.07643576
+v 0.05758345 0.09393170 -0.50000000
+v 0.05498564 0.11796298 -0.50000000
+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/beer/beer_9/collision/model_normalized_collision_28.obj b/objects/objaverse/beer/beer_9/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7103b79bfdb06d2f739be2add3b23c7f5c454476
--- /dev/null
+++ b/objects/objaverse/beer/beer_9/collision/model_normalized_collision_28.obj
@@ -0,0 +1,15 @@
+# https://github.com/mikedh/trimesh
+v -0.01235458 -0.13444303 0.07780566
+v -0.01277120 -0.13544856 -0.50000000
+v -0.01708629 -0.13071479 0.08230006
+v -0.03027789 -0.12598310 0.08043839
+v -0.02554622 -0.12971134 0.07594395
+v -0.03106069 -0.12787290 -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 6 5 4
+f 6 2 5
\ No newline at end of file
diff --git a/objects/objaverse/beer/beer_9/collision/model_normalized_collision_3.obj b/objects/objaverse/beer/beer_9/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a8b492c17468629248fd152dfabe96a48c3c965
--- /dev/null
+++ b/objects/objaverse/beer/beer_9/collision/model_normalized_collision_3.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.09075520 -0.07392323 0.08446929
+v 0.13222903 -0.02054394 -0.50000000
+v 0.13136190 -0.03533615 0.06144189
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+v 0.13544856 0.01277120 -0.50000000
+v 0.12810827 -0.00996141 0.09642606
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+v 0.11367585 -0.06458934 0.07559621
+v 0.08788648 -0.07273497 -0.50000000
+v 0.13183651 -0.00522970 0.09193166
+v 0.12622038 0.01522462 0.09568328
+f 5 1 4
+f 7 5 2
+f 8 2 5
+f 8 5 4
+f 9 4 1
+f 10 7 2
+f 10 3 7
+f 10 8 3
+f 10 2 8
+f 11 7 3
+f 11 1 7
+f 11 9 1
+f 12 7 1
+f 12 1 5
+f 12 5 7
+f 13 8 6
+f 13 3 8
+f 13 11 3
+f 13 9 11
+f 14 8 4
+f 14 6 8
+f 14 4 9
+f 14 13 6
+f 14 9 13
\ No newline at end of file
diff --git a/objects/objaverse/beer/beer_9/collision/model_normalized_collision_30.obj b/objects/objaverse/beer/beer_9/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..861f3471f624ffced435bd86dc686632ee2dae53
--- /dev/null
+++ b/objects/objaverse/beer/beer_9/collision/model_normalized_collision_30.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.02612161 -0.12166788 -0.35606177
+v 0.02612087 -0.12166610 -0.41666783
+v 0.01212891 -0.01212891 -0.35606061
+v -0.11811541 -0.03469804 -0.35606248
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+v -0.07007867 -0.10345818 -0.41666720
+v 0.01212891 -0.01212891 -0.41666667
+v -0.11811363 -0.03469730 -0.41666854
+f 5 2 1
+f 5 1 3
+f 5 3 4
+f 6 4 3
+f 7 5 4
+f 7 2 5
+f 8 6 3
+f 8 1 2
+f 8 3 1
+f 9 7 4
+f 9 4 6
+f 9 2 7
+f 9 8 2
+f 9 6 8
\ No newline at end of file
diff --git a/objects/objaverse/beer/beer_9/visual/material.mtl b/objects/objaverse/beer/beer_9/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fbcf6b4b1af9257e08a0fd6e283841743ce8fad5
--- /dev/null
+++ b/objects/objaverse/beer/beer_9/visual/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 250.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/objects/objaverse/beer/beer_9/visual/model_normalized_0.obj b/objects/objaverse/beer/beer_9/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..859b3a855c479d7d882930988b5b6c551a55a896
--- /dev/null
+++ b/objects/objaverse/beer/beer_9/visual/model_normalized_0.obj
@@ -0,0 +1,1091 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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+v -0.14073850 0.00000000 -0.50000000
+v 0.00000000 0.00000000 -0.50000000
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\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_11/collision/model_normalized_collision_11.obj b/objects/objaverse/cupcake/cupcake_11/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3e22ab80b32fdaa37b7c379369488ed6b572d3b9
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_11/collision/model_normalized_collision_11.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v -0.31026580 0.22860624 0.20996798
+v -0.30227644 0.31291344 -0.18065867
+v -0.30587966 0.30282049 0.19669366
+v -0.30425678 0.38735488 0.08381722
+v -0.43723287 0.20850960 0.01653867
+v -0.30181490 0.38510370 0.03211796
+v -0.37591038 0.20773862 -0.18024672
+v -0.38815905 0.22407935 0.16668045
+v -0.30184032 0.32439390 -0.14970155
+v -0.41581561 0.27843854 0.06787545
+v -0.31060604 0.21375001 0.01346248
+v -0.35072202 0.22182417 0.19649738
+v -0.35519858 0.35219104 0.06919821
+v -0.43665209 0.22339231 0.08360924
+v -0.32853595 0.32628129 0.16616912
+v -0.35327067 0.25928204 -0.16222394
+v -0.35422333 0.23722514 -0.19728734
+v -0.43378779 0.20665544 0.00247555
+v -0.37294154 0.26559215 0.16320773
+v -0.34140494 0.34759584 0.01931864
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+v -0.31356528 0.38100184 0.08141146
+v -0.35360505 0.24972831 -0.17794457
+v -0.31355485 0.29832167 0.19316656
+v -0.38649747 0.23809190 0.16330623
+v -0.38388087 0.26065607 0.15678387
+v -0.30781147 0.32010221 -0.14706704
+v -0.32272855 0.28960507 -0.17728990
+f 6 4 3
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+f 29 16 2
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+f 29 17 24
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_11/collision/model_normalized_collision_23.obj b/objects/objaverse/cupcake/cupcake_11/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..84c26e8add9320fded2a3bbdf2a7cfecda9bfbda
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_11/collision/model_normalized_collision_23.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.23484847 -0.24079543 0.18012915
+v -0.23484847 -0.24079543 -0.18350721
+v -0.23484847 0.22890153 0.01346248
+v -0.36006186 0.23082147 0.18480124
+v -0.38169436 -0.26204066 0.18826687
+v -0.36682797 0.21994205 -0.18686568
+v -0.25381221 0.24329785 0.22557732
+v -0.23484847 0.21375001 -0.18350721
+v -0.40588161 0.25571555 -0.00227761
+v -0.34997956 -0.23729728 -0.18137765
+f 1 2 3
+f 5 2 1
+f 7 1 3
+f 7 5 1
+f 7 4 5
+f 8 3 2
+f 8 2 6
+f 9 5 4
+f 9 4 7
+f 9 7 3
+f 9 8 6
+f 9 3 8
+f 10 6 2
+f 10 2 5
+f 10 9 6
+f 10 5 9
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_11/collision/model_normalized_collision_29.obj b/objects/objaverse/cupcake/cupcake_11/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..897fc3f36af68ab1896a3037e590ffafd6c2e7d5
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_11/collision/model_normalized_collision_29.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.20424113 0.22817632 0.25497056
+v -0.20454544 0.22890153 0.14982612
+v -0.19965393 0.24754773 0.24116047
+v -0.20336851 0.39281710 0.14680998
+v -0.32967316 0.23839132 0.19579191
+v -0.20081691 0.38282923 0.15876349
+v -0.30454688 0.22364292 0.21731700
+v -0.31322126 0.34143165 0.15502960
+v -0.20222715 0.32360459 0.20933677
+v -0.24680831 0.22129554 0.24627796
+v -0.23134618 0.38738152 0.14085074
+v -0.30107828 0.30752897 0.19673488
+v -0.24158629 0.35135749 0.19881848
+v -0.20580908 0.37025480 0.18154567
+f 1 2 3
+f 6 3 2
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+f 8 2 5
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+f 9 3 6
+f 10 7 2
+f 10 2 1
+f 11 4 2
+f 11 2 8
+f 12 8 5
+f 12 5 7
+f 12 7 10
+f 13 4 11
+f 13 11 8
+f 13 8 12
+f 13 1 9
+f 13 12 10
+f 13 10 1
+f 14 6 4
+f 14 4 13
+f 14 13 9
+f 14 9 6
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_11/collision/model_normalized_collision_4.obj b/objects/objaverse/cupcake/cupcake_11/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..16560ecb2176b53282c76b504e24bd37d2ec2672
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_11/collision/model_normalized_collision_4.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v 0.12461441 0.08812037 0.28832294
+v 0.14393941 0.09253790 0.21043219
+v 0.11186426 0.27040304 0.21899266
+v -0.24131185 0.24430428 0.22989071
+v -0.23484847 0.09253790 0.21043219
+v 0.01586926 0.19336252 0.29646037
+v 0.14875505 0.23910472 0.22773939
+v 0.01361503 0.08431999 0.33412258
+v -0.10893877 0.21704822 0.28194337
+v 0.14247558 0.09098848 0.28162367
+v 0.12795711 0.25735133 0.22249373
+v -0.24918020 0.08708269 0.31870631
+v 0.08309097 0.27381542 0.22468224
+v -0.14243795 0.14673995 0.31364532
+v 0.13866505 0.20257493 0.25208244
+v 0.01582527 0.21599789 0.28223533
+v -0.24965003 0.10536068 0.31096979
+v -0.14166457 0.18606656 0.29935971
+v -0.12638563 0.08817106 0.33267250
+v 0.13991764 0.15012032 0.26775251
+v -0.24999255 0.09248847 0.31637555
+v -0.18452030 0.21647832 0.26976715
+v -0.18534896 0.17832816 0.29796103
+v -0.12573639 0.10276534 0.32849196
+v -0.17197150 0.20123954 0.28423753
+v -0.22929432 0.20020165 0.26879271
+v -0.21460510 0.18561899 0.28418326
+v -0.22972173 0.21668410 0.25560376
+f 5 3 2
+f 5 4 3
+f 8 5 2
+f 8 2 1
+f 10 1 2
+f 10 2 7
+f 10 8 1
+f 11 7 2
+f 11 2 3
+f 12 5 8
+f 13 3 4
+f 13 4 9
+f 14 8 6
+f 15 7 6
+f 15 6 8
+f 16 11 3
+f 16 6 7
+f 16 7 11
+f 16 3 13
+f 16 13 9
+f 16 9 6
+f 17 4 5
+f 18 14 6
+f 18 6 9
+f 19 12 8
+f 20 10 7
+f 20 7 15
+f 20 15 8
+f 20 8 10
+f 21 17 5
+f 21 5 12
+f 22 9 4
+f 23 12 14
+f 23 14 18
+f 23 21 12
+f 23 17 21
+f 24 19 8
+f 24 8 14
+f 24 14 12
+f 24 12 19
+f 25 23 18
+f 25 18 9
+f 25 9 22
+f 25 22 23
+f 26 4 17
+f 27 23 22
+f 27 22 26
+f 27 26 17
+f 27 17 23
+f 28 26 22
+f 28 22 4
+f 28 4 26
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_11/collision/model_normalized_collision_7.obj b/objects/objaverse/cupcake/cupcake_11/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6631320e33ae283aa961d9210e7ba9e97c790e6c
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_11/collision/model_normalized_collision_7.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v 0.23484851 0.33496213 0.01346248
+v 0.25126289 0.36589006 -0.19108682
+v 0.16967668 0.45553735 0.01713039
+v -0.12420715 0.47062702 0.01746171
+v -0.22465131 0.37036389 -0.19391703
+v 0.03584951 0.43736967 -0.17943244
+v -0.20454544 0.33496213 0.01346248
+v 0.22840433 0.42888068 0.01643819
+v 0.18363691 0.40596339 -0.17888230
+v 0.10967431 0.47277642 0.01664541
+v -0.08126998 0.43714053 -0.16379700
+v -0.26113275 0.40001887 -0.02260453
+v 0.12316791 0.42410552 -0.17971057
+v 0.19363215 0.43694627 -0.02736500
+v -0.03713564 0.46863677 -0.04317954
+v -0.03594711 0.43835517 -0.17923943
+v -0.16622941 0.40718152 -0.17837416
+v -0.19870151 0.44541990 0.01654577
+v -0.25394956 0.38737097 -0.07949150
+v 0.09721137 0.45289324 -0.08844114
+v 0.10706696 0.43639904 -0.14876613
+v -0.09322111 0.46826368 -0.02739654
+v 0.02078778 0.46850470 -0.04324908
+v -0.12244180 0.42171403 -0.17841926
+v -0.19435548 0.39196752 -0.17813094
+v -0.17016934 0.45723213 0.01701849
+v -0.24293908 0.41287734 -0.01311518
+v -0.18055165 0.43845550 -0.04214623
+v -0.16920628 0.45389968 0.00270779
+f 6 2 5
+f 7 5 2
+f 7 2 1
+f 8 1 2
+f 8 7 1
+f 8 3 4
+f 8 4 7
+f 9 8 2
+f 10 4 3
+f 13 9 2
+f 13 2 6
+f 14 9 3
+f 14 3 8
+f 14 8 9
+f 15 4 10
+f 16 6 5
+f 18 12 7
+f 19 12 5
+f 19 5 7
+f 19 7 12
+f 20 10 3
+f 21 3 9
+f 21 9 13
+f 21 20 3
+f 21 13 6
+f 21 6 20
+f 22 4 15
+f 22 16 11
+f 22 15 16
+f 23 16 15
+f 23 6 16
+f 23 20 6
+f 23 15 10
+f 23 10 20
+f 24 11 16
+f 24 16 5
+f 24 5 17
+f 24 22 11
+f 24 4 22
+f 25 17 5
+f 25 5 12
+f 26 18 7
+f 26 7 4
+f 26 4 24
+f 27 25 12
+f 27 12 18
+f 28 18 26
+f 28 17 25
+f 28 27 18
+f 28 25 27
+f 28 24 17
+f 29 28 26
+f 29 26 24
+f 29 24 28
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_11/model.xml b/objects/objaverse/cupcake/cupcake_11/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..1a5bd0c206c62ca24981e7bcb2521beca18b14e6
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_11/model.xml
@@ -0,0 +1,81 @@
+<mujoco model="cupcake_25">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.075 0.075 0.075" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.075 0.075 0.075" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.075 0.075 0.075" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.075 0.075 0.075" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.075 0.075 0.075" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.075 0.075 0.075" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.075 0.075 0.075" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.075 0.075 0.075" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.075 0.075 0.075" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.075 0.075 0.075" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.075 0.075 0.075" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.075 0.075 0.075" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.075 0.075 0.075" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.075 0.075 0.075" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.075 0.075 0.075" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.075 0.075 0.075" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.075 0.075 0.075" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.075 0.075 0.075" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.075 0.075 0.075" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.075 0.075 0.075" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.075 0.075 0.075" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.075 0.075 0.075" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.075 0.075 0.075" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.075 0.075 0.075" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.075 0.075 0.075" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.075 0.075 0.075" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.075 0.075 0.075" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.075 0.075 0.075" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.075 0.075 0.075" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.075 0.075 0.075" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.075 0.075 0.075" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.075 0.075 0.075" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.075 0.075 0.075" refquat="1.0 0.0 0.0 0.0"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="CupCake_PBR" 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="CupCake_PBR"/>
+        <geom solimp="0.998 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="-1.4294999999998892e-05 6.546712499999885e-05 -0.0290909025" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="-1.4294999999998892e-05 6.546712499999885e-05 0.028263384749999995" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.03684060225 0.036341678249999995 -0.0004137588750000018" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/objects/objaverse/cupcake/cupcake_18/collision/model_normalized_collision_0.obj b/objects/objaverse/cupcake/cupcake_18/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..627cf7ecbc5dc60de49703a5c7b0c038b8be3596
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_18/collision/model_normalized_collision_0.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.07697962 -0.26593745 -0.22880230
+v 0.24464981 -0.14087001 -0.23385420
+v 0.23362145 -0.16383143 -0.22710473
+v -0.28604508 0.13809321 -0.22805298
+v -0.07566235 0.11400891 -0.38104912
+v 0.24730426 0.15247269 -0.24255773
+v -0.19660454 -0.21959616 -0.22753731
+v 0.13074948 -0.18481868 -0.34617345
+v -0.22543128 0.13265843 -0.34791715
+v 0.16266835 -0.23374687 -0.22703879
+v 0.18449749 -0.13041918 -0.34616692
+v -0.10998199 -0.21572597 -0.34779095
+v 0.20161900 0.13453525 -0.34758921
+v -0.23415462 0.13427225 -0.33059326
+v -0.25117191 -0.01680018 -0.34778607
+v -0.12684885 -0.26554682 -0.22884066
+v 0.17075192 -0.20285909 -0.26962770
+v 0.11616895 -0.24476271 -0.25473768
+v 0.07848815 -0.05719473 -0.37274322
+v 0.21451261 -0.07426561 -0.34714438
+v -0.30071827 -0.03280090 -0.22881931
+v -0.25173552 0.09026663 -0.34702781
+v -0.20682592 -0.12933275 -0.34731596
+v 0.13287587 -0.25005468 -0.22776280
+v -0.05813435 -0.25934748 -0.27251935
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\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_18/collision/model_normalized_collision_1.obj b/objects/objaverse/cupcake/cupcake_18/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..082414f97726cc5717c2595c6c33d83730600dfc
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_18/collision/model_normalized_collision_1.obj
@@ -0,0 +1,141 @@
+# https://github.com/mikedh/trimesh
+v -0.11730242 -0.00559544 -0.36262415
+v 0.06885073 0.07300433 -0.49993573
+v 0.04936106 0.10044618 -0.36258092
+v -0.06742692 0.20865145 -0.44107268
+v -0.16698848 -0.00445198 -0.49792168
+v 0.08004678 0.18342093 -0.43459506
+v -0.21650715 0.13905301 -0.35187251
+v 0.07150021 0.07571619 -0.41920481
+v -0.11699469 -0.00832082 -0.47459597
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+v -0.11938716 0.17236127 -0.45188888
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+v -0.07954395 0.19189709 -0.46899711
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+v -0.20401224 0.11852589 -0.40654869
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+v -0.06806470 0.16451248 -0.49110937
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\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_18/collision/model_normalized_collision_10.obj b/objects/objaverse/cupcake/cupcake_18/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aeea4b07722e62b8f1697c88e48eba61355977ac
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_18/collision/model_normalized_collision_10.obj
@@ -0,0 +1,105 @@
+# https://github.com/mikedh/trimesh
+v 0.13675959 -0.33333960 -0.02878630
+v 0.26263643 -0.25909108 -0.01972878
+v 0.00390714 -0.30863073 -0.02976284
+v 0.00398815 0.19229835 -0.03164239
+v 0.00821361 0.20883483 -0.25074284
+v 0.00391097 -0.24803257 -0.02976494
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+v 0.23118172 0.19137295 -0.02975969
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+v 0.00294109 -0.32527109 -0.10817418
+v 0.00349503 -0.27185904 -0.23206235
+v 0.22807262 -0.17530308 -0.22372469
+v 0.16043678 -0.30664527 -0.07723207
+v 0.24633979 -0.02075106 -0.02976300
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+v 0.18689741 -0.23046909 -0.20849507
+v 0.22911634 -0.23365136 -0.13531314
+v 0.16645614 -0.31722337 -0.02721689
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+v 0.00342136 -0.33054830 -0.09496488
+v 0.00325455 -0.30767100 -0.15185557
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+v 0.14622250 -0.30451380 -0.10683961
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\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_18/collision/model_normalized_collision_11.obj b/objects/objaverse/cupcake/cupcake_18/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d99d2ac1dcf1824baeb3536465882bbbead46451
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_18/collision/model_normalized_collision_11.obj
@@ -0,0 +1,186 @@
+# https://github.com/mikedh/trimesh
+v 0.38092482 -0.00579788 0.26405094
+v 0.42652568 -0.00842989 0.01549901
+v 0.32570408 0.37229799 0.07331947
+v -0.14443454 0.43005815 0.07802921
+v -0.22407047 -0.00658493 -0.03157468
+v 0.01534021 0.37084696 0.26423071
+v 0.41105252 0.15656145 0.06746730
+v 0.42610377 -0.00822616 0.10797050
+v 0.17359577 0.40168693 0.01929818
+v 0.26730309 0.31499276 0.22104794
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+v -0.22855806 -0.00325536 0.28946042
+v 0.39398746 0.16474720 0.01832273
+v 0.31865464 0.36036515 0.11806865
+v 0.40995326 0.12790659 0.09284470
+v 0.42636458 0.06745500 0.04237578
+v -0.21484579 0.38982716 0.01708060
+v 0.24458930 0.28786382 0.24966669
+v -0.18773713 0.35698967 0.26044632
+v 0.02994038 0.44631988 0.03337676
+v 0.33807450 0.12157616 0.26305464
+v 0.41193128 0.15725384 0.04206694
+v 0.31244903 0.35195896 0.04012579
+v 0.40891837 0.09721607 0.01604219
+v 0.31978133 0.28690030 0.01741746
+v 0.32483371 0.37167591 0.08030119
+v 0.29859386 0.35790041 0.14783361
+v 0.42640422 0.05235334 0.07809591
+v 0.39671141 0.15126344 0.11911079
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+v -0.05354055 0.44538360 0.07801283
+v -0.18424854 0.41965803 0.03256045
+v -0.19779343 0.40192823 0.01920185
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\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_18/collision/model_normalized_collision_12.obj b/objects/objaverse/cupcake/cupcake_18/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8211b505e20e80e395019bb130d26f48925ba6d1
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_18/collision/model_normalized_collision_12.obj
@@ -0,0 +1,156 @@
+# https://github.com/mikedh/trimesh
+v 0.07832058 -0.39840467 0.27220064
+v 0.38227743 -0.16325046 0.26073444
+v 0.11487857 -0.25293193 0.43210266
+v 0.00438301 -0.00643688 0.49248767
+v 0.00265579 -0.00364406 0.30969220
+v 0.25376798 -0.07809026 0.41299217
+v 0.00391176 -0.29297213 0.43123525
+v 0.25495163 -0.29258546 0.29652137
+v 0.00279230 -0.41095195 0.26413107
+v 0.08624332 -0.07863361 0.48952220
+v 0.38092482 -0.00579788 0.26405094
+v 0.11265232 -0.36861557 0.31442321
+v -0.00092453 -0.40233657 0.29036141
+v 0.25205522 -0.30614616 0.26351279
+v 0.23251556 -0.21930041 0.37888094
+v 0.11222748 -0.00624653 0.47642592
+v 0.15032117 -0.16720173 0.44335883
+v 0.00420664 -0.12681799 0.49964826
+v 0.36938650 -0.12146198 0.31297670
+v 0.38647915 -0.02204532 0.25809276
+v 0.05674197 -0.30693437 0.40852328
+v 0.15450397 -0.27972701 0.38994109
+v 0.26057697 -0.29441185 0.28519037
+v 0.11847429 -0.38557451 0.25986137
+v 0.08918658 -0.05089207 0.49054405
+v 0.27743240 -0.01543720 0.38339366
+v 0.06814144 -0.11620607 0.48980899
+v 0.19190255 -0.19498549 0.41395929
+v 0.00303826 -0.31563728 0.40936665
+v 0.24803112 -0.13527376 0.39957524
+v 0.26005958 -0.25345839 0.33275839
+v 0.37949443 -0.10982025 0.29281362
+v 0.15476320 -0.29328304 0.37347977
+v 0.29086228 -0.26691413 0.26228404
+v 0.37924087 -0.16149314 0.27502461
+v 0.07609586 -0.39896914 0.26575000
+v 0.25179913 -0.30388494 0.27228783
+v 0.21933162 -0.04141921 0.42950954
+v 0.06289242 -0.00646105 0.49152625
+v 0.36674859 -0.00720918 0.30438829
+v 0.02666679 -0.36557646 0.34520674
+v 0.29573955 -0.07544549 0.38498153
+v 0.35787169 -0.11494465 0.32442470
+v 0.21854185 -0.19513398 0.39751763
+v 0.37511046 -0.14730240 0.29330383
+v 0.22342962 -0.06292381 0.42805750
+v 0.07685160 -0.02170698 0.49105849
+v 0.37922212 -0.06808621 0.28819275
+v 0.00299813 -0.36860631 0.34392111
+v 0.31032831 -0.04353180 0.37259122
+v 0.29493898 -0.04353968 0.38478713
+v 0.35016917 -0.05576389 0.32860992
+v 0.25033115 -0.05605570 0.41322517
+f 13 4 5
+f 13 5 9
+f 13 9 1
+f 13 1 12
+f 16 11 5
+f 16 5 4
+f 17 6 10
+f 18 7 3
+f 18 4 13
+f 20 9 5
+f 20 5 11
+f 21 3 7
+f 22 21 12
+f 22 3 21
+f 22 15 3
+f 23 8 12
+f 24 20 2
+f 24 9 20
+f 24 12 1
+f 24 23 12
+f 25 10 6
+f 25 18 10
+f 27 17 10
+f 27 3 17
+f 27 18 3
+f 27 10 18
+f 28 6 17
+f 28 17 3
+f 28 3 15
+f 29 18 13
+f 29 7 18
+f 29 21 7
+f 30 6 28
+f 31 22 8
+f 31 15 22
+f 32 2 20
+f 33 22 12
+f 33 12 8
+f 33 8 22
+f 34 23 14
+f 34 2 23
+f 34 24 2
+f 34 14 24
+f 35 23 2
+f 35 8 23
+f 35 31 8
+f 35 2 32
+f 36 24 1
+f 36 1 9
+f 36 9 24
+f 37 24 14
+f 37 14 23
+f 37 23 24
+f 38 16 25
+f 38 26 16
+f 39 16 4
+f 39 4 18
+f 40 11 16
+f 40 16 26
+f 40 19 32
+f 40 20 11
+f 41 13 12
+f 41 12 21
+f 41 21 29
+f 42 6 30
+f 43 30 15
+f 43 15 19
+f 43 42 30
+f 44 30 28
+f 44 28 15
+f 44 15 30
+f 45 19 15
+f 45 15 31
+f 45 31 35
+f 45 35 32
+f 45 32 19
+f 46 38 25
+f 46 25 6
+f 46 6 38
+f 47 25 16
+f 47 16 39
+f 47 39 18
+f 47 18 25
+f 48 40 32
+f 48 32 20
+f 48 20 40
+f 49 41 29
+f 49 29 13
+f 49 13 41
+f 50 40 26
+f 50 42 43
+f 50 43 19
+f 51 50 26
+f 51 26 38
+f 51 6 42
+f 51 42 50
+f 52 50 19
+f 52 19 40
+f 52 40 50
+f 53 51 38
+f 53 38 6
+f 53 6 51
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_18/collision/model_normalized_collision_13.obj b/objects/objaverse/cupcake/cupcake_18/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..406234691314398c26d1f02476eda3ee4006b5be
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_18/collision/model_normalized_collision_13.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.00391097 -0.23288106 -0.02977017
+v 0.00290656 -0.22884646 -0.23163237
+v 0.00623693 0.21596714 -0.24344297
+v -0.22407229 0.20720423 -0.02990200
+v -0.20821083 -0.23286705 -0.02976026
+v -0.23556504 -0.00832808 -0.24574598
+v 0.00398744 0.20744145 -0.03128557
+v -0.22180635 0.20491999 -0.23392350
+v -0.22407047 -0.00658493 -0.03157468
+v -0.19660454 -0.21959616 -0.22753731
+f 1 2 3
+f 5 2 1
+f 5 1 4
+f 6 3 2
+f 7 1 3
+f 7 3 4
+f 7 4 1
+f 8 6 4
+f 8 4 3
+f 8 3 6
+f 9 6 5
+f 9 5 4
+f 9 4 6
+f 10 6 2
+f 10 2 5
+f 10 5 6
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_18/collision/model_normalized_collision_14.obj b/objects/objaverse/cupcake/cupcake_18/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b68448230c1f2c436fe92f1205743f64d90757b
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_18/collision/model_normalized_collision_14.obj
@@ -0,0 +1,123 @@
+# https://github.com/mikedh/trimesh
+v -0.33734564 -0.21294861 0.19883543
+v -0.35009584 -0.22125573 -0.00722265
+v -0.35205292 0.19642928 -0.01289505
+v -0.38186448 0.24631694 0.09578815
+v -0.46384661 -0.03260359 0.07846527
+v -0.33880077 0.18742620 0.21241258
+v -0.43392631 -0.17637113 0.07783110
+v -0.44844604 -0.06282010 0.01803711
+v -0.38274946 0.24695627 0.02750692
+v -0.37393261 -0.12646092 0.26575464
+v -0.40474368 0.12667744 0.21937001
+v -0.40401115 -0.20693358 0.10734273
+v -0.44839164 -0.12340930 0.03837798
+v -0.43213218 0.14188963 0.01863314
+v -0.34339313 -0.18634808 0.26667077
+v -0.43252618 -0.15364322 0.10719861
+v -0.37855476 0.18371221 0.21881921
+v -0.40898092 -0.00091083 0.22499670
+v -0.40328655 -0.20662541 0.01902978
+v -0.44657297 -0.12310360 0.07786086
+v -0.46331834 -0.03239529 0.03287909
+v -0.42077020 0.18136246 0.01803574
+v -0.44824165 0.06636681 0.01823784
+v -0.43371320 0.18012930 0.07779944
+v -0.36366839 -0.16819556 0.27313338
+v -0.35229779 -0.18089457 0.27045400
+v -0.46259954 -0.01721168 0.09326160
+v -0.39023826 0.16624503 0.21855394
+v -0.43337347 -0.17618177 0.03432650
+v -0.43117423 -0.15324138 0.01878829
+v -0.38269557 0.23183848 0.01278947
+v -0.46375324 0.03611609 0.03299702
+v -0.43343916 0.18026538 0.03480705
+v -0.40287633 0.22473417 0.07751873
+v -0.44800874 -0.00219270 0.13544296
+v -0.46323351 0.02091466 0.09338767
+v -0.44707759 -0.07777061 0.10713006
+v -0.46318670 0.05111409 0.03865098
+v -0.38995683 0.24147406 0.03272246
+v -0.43118145 0.17210340 0.09310770
+v -0.46134676 0.05081350 0.07769298
+v -0.40264641 0.22462358 0.03433878
+f 1 2 3
+f 6 1 3
+f 8 3 2
+f 9 6 3
+f 9 4 6
+f 12 2 1
+f 15 1 6
+f 17 6 4
+f 18 10 11
+f 19 12 7
+f 19 2 12
+f 20 13 7
+f 20 5 13
+f 20 16 5
+f 20 7 16
+f 21 13 5
+f 22 3 14
+f 23 14 3
+f 23 3 8
+f 24 17 4
+f 25 16 7
+f 25 7 12
+f 25 17 10
+f 25 6 17
+f 26 12 1
+f 26 1 15
+f 26 25 12
+f 26 15 6
+f 26 6 25
+f 28 11 10
+f 28 10 17
+f 28 24 11
+f 28 17 24
+f 29 19 7
+f 29 7 13
+f 30 8 2
+f 30 2 19
+f 30 19 29
+f 30 29 13
+f 30 21 8
+f 30 13 21
+f 31 9 3
+f 31 3 22
+f 32 23 8
+f 32 8 21
+f 32 21 5
+f 32 14 23
+f 33 22 14
+f 33 14 32
+f 33 31 22
+f 33 9 31
+f 34 24 4
+f 34 33 24
+f 35 10 18
+f 35 18 11
+f 36 32 5
+f 36 5 27
+f 36 35 11
+f 36 27 35
+f 37 25 10
+f 37 35 27
+f 37 10 35
+f 37 16 25
+f 37 27 5
+f 37 5 16
+f 38 33 32
+f 38 24 33
+f 38 32 36
+f 39 34 4
+f 39 4 9
+f 40 36 11
+f 40 11 24
+f 41 38 36
+f 41 24 38
+f 41 40 24
+f 41 36 40
+f 42 33 34
+f 42 34 39
+f 42 39 9
+f 42 9 33
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_18/collision/model_normalized_collision_15.obj b/objects/objaverse/cupcake/cupcake_18/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..63da034d67a3a2eaa389b3f6e16689be084a1f11
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_18/collision/model_normalized_collision_15.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v -0.00118187 -0.41282588 0.26130669
+v -0.00301950 -0.41017103 0.27335297
+v -0.18758735 -0.39178853 0.26220125
+v -0.20002062 0.17767339 0.41545218
+v 0.01536299 0.18891602 0.44810164
+v -0.19597761 0.17911831 0.27270787
+v -0.06726374 -0.41746075 0.26129118
+v 0.01259902 -0.24666485 0.45432596
+v -0.19969275 -0.23782421 0.41612599
+v 0.00343345 0.18091898 0.30161815
+v -0.01880354 -0.41052027 0.28748783
+v -0.14690602 -0.40057049 0.26049932
+v 0.00299813 -0.36860631 0.34392111
+v -0.14197102 -0.35435606 0.35703681
+v -0.00278132 -0.39760575 0.30351814
+v -0.05002725 -0.41205945 0.28719823
+v -0.18934548 -0.31285353 0.36849434
+v 0.00266063 -0.35552466 0.36176355
+v -0.15612360 -0.38458687 0.29711774
+v -0.14563455 -0.39612761 0.27571635
+v -0.18228008 -0.35547642 0.32645809
+v -0.16487525 -0.35695804 0.33803115
+v -0.18270278 -0.38214250 0.28408746
+f 6 4 5
+f 8 1 5
+f 8 5 4
+f 9 6 3
+f 9 4 6
+f 9 8 4
+f 10 6 5
+f 10 5 1
+f 10 1 6
+f 11 7 1
+f 11 1 2
+f 12 6 1
+f 12 1 7
+f 12 7 3
+f 12 3 6
+f 13 1 8
+f 14 8 9
+f 15 2 1
+f 15 1 13
+f 15 13 11
+f 15 11 2
+f 16 7 11
+f 16 11 13
+f 17 14 9
+f 17 9 3
+f 18 13 8
+f 18 8 14
+f 18 16 13
+f 18 14 16
+f 19 16 14
+f 20 3 7
+f 20 7 16
+f 20 19 3
+f 20 16 19
+f 21 17 3
+f 22 14 17
+f 22 17 21
+f 22 19 14
+f 23 22 21
+f 23 21 3
+f 23 3 19
+f 23 19 22
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_18/collision/model_normalized_collision_16.obj b/objects/objaverse/cupcake/cupcake_18/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3dc011f195b8119c4d341e193c4e585529227064
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_18/collision/model_normalized_collision_16.obj
@@ -0,0 +1,108 @@
+# https://github.com/mikedh/trimesh
+v 0.36323918 -0.18303169 0.26383526
+v 0.45688143 -0.09713788 0.01829669
+v 0.43931525 -0.05494864 0.16939764
+v 0.37689167 0.09959790 0.17019581
+v 0.35986104 -0.19727544 0.00497034
+v 0.39345825 0.09981408 0.14174062
+v 0.37914051 -0.00385582 0.26782616
+v 0.45337396 -0.10267085 0.10888429
+v 0.36537398 -0.02018148 -0.01949032
+v 0.45972328 -0.06747319 0.07801701
+v 0.39468055 -0.12665462 0.25692553
+v 0.37968761 0.00921236 0.26328285
+v 0.39710216 -0.19139138 0.04307257
+v 0.36148345 -0.12530377 -0.00888863
+v 0.39021128 0.10157931 0.14770197
+v 0.42652568 -0.00842989 0.01549901
+v 0.45638175 -0.07244443 0.11090703
+v 0.38227743 -0.16325046 0.26073444
+v 0.41112988 -0.05434754 0.22530194
+v 0.42484827 -0.11905914 0.19595112
+v 0.42817278 -0.03300806 0.18543085
+v 0.38170799 -0.19136000 0.01719967
+v 0.36092690 -0.19777361 0.13989829
+v 0.44715768 -0.09688732 0.00623764
+v 0.37699672 -0.00388552 -0.01354953
+v 0.38304054 0.00693107 0.25830169
+v 0.45616206 -0.06448426 0.01597446
+v 0.39797793 -0.15827902 0.21716555
+v 0.42730926 -0.04281530 0.19394965
+v 0.39457903 -0.09834591 0.25767798
+v 0.44008682 -0.09010319 0.16712234
+v 0.39502997 -0.14732701 0.24585400
+v 0.37135184 -0.19475573 0.01094659
+v 0.39591996 -0.19025283 0.07696519
+v 0.45197507 -0.06381764 0.00891889
+v 0.42362496 -0.13199299 0.18212310
+v 0.37127247 -0.17578944 0.26165981
+f 9 1 4
+f 10 8 2
+f 12 4 1
+f 12 1 7
+f 13 2 8
+f 14 1 9
+f 15 4 12
+f 17 10 6
+f 17 6 3
+f 17 8 10
+f 18 11 7
+f 18 7 1
+f 21 3 6
+f 22 2 13
+f 23 5 13
+f 23 14 5
+f 23 1 14
+f 24 14 9
+f 24 5 14
+f 24 2 22
+f 25 9 4
+f 25 4 15
+f 25 15 6
+f 25 6 16
+f 26 15 12
+f 26 6 15
+f 26 21 6
+f 26 12 7
+f 26 7 19
+f 27 10 2
+f 27 16 6
+f 27 6 10
+f 29 3 21
+f 29 26 19
+f 29 21 26
+f 30 19 7
+f 30 7 11
+f 30 29 19
+f 30 11 29
+f 31 11 20
+f 31 29 11
+f 31 3 29
+f 31 17 3
+f 31 20 8
+f 31 8 17
+f 32 20 11
+f 32 11 18
+f 33 22 13
+f 33 13 5
+f 33 24 22
+f 33 5 24
+f 34 23 13
+f 34 1 23
+f 34 13 8
+f 35 24 9
+f 35 9 25
+f 35 25 16
+f 35 16 27
+f 35 27 2
+f 35 2 24
+f 36 18 28
+f 36 32 18
+f 36 20 32
+f 36 8 20
+f 36 34 8
+f 36 28 34
+f 37 28 18
+f 37 18 1
+f 37 34 28
+f 37 1 34
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_18/collision/model_normalized_collision_17.obj b/objects/objaverse/cupcake/cupcake_18/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..adfa66cc412e56afdaa29732c1fc3e9ebb8025d7
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_18/collision/model_normalized_collision_17.obj
@@ -0,0 +1,129 @@
+# https://github.com/mikedh/trimesh
+v 0.00214109 -0.22067666 -0.35094479
+v 0.05499054 -0.16122145 -0.45590800
+v 0.00390971 -0.08135302 -0.36262415
+v -0.25062007 -0.00491415 -0.35463226
+v -0.10674855 -0.15904842 -0.46857889
+v -0.12118539 -0.00780135 -0.49995073
+v -0.24129168 -0.04671145 -0.35033163
+v 0.00038191 -0.17138510 -0.46409292
+v 0.00696779 -0.09260166 -0.49995150
+v -0.10215090 -0.00559544 -0.36262415
+v -0.19030651 -0.04560472 -0.46205380
+v -0.15184460 -0.18952560 -0.34874582
+v 0.02904615 -0.16972511 -0.45391322
+v -0.07914176 -0.21449125 -0.37715854
+v 0.05202418 -0.15134868 -0.47082890
+v 0.00262654 -0.14171740 -0.49387914
+v -0.19806350 -0.00277653 -0.46644863
+v -0.16204100 -0.04575258 -0.49263327
+v -0.23448753 -0.03004349 -0.37745190
+v -0.16570646 -0.10250316 -0.46382638
+v 0.04660642 -0.16282028 -0.45773993
+v 0.04818532 -0.16822589 -0.44509677
+v 0.00137811 -0.21549597 -0.36330144
+v -0.08008930 -0.16888876 -0.46880645
+v -0.09678307 -0.22029834 -0.34999673
+v -0.16698848 -0.00445198 -0.49792168
+v -0.23953047 -0.00244308 -0.37987471
+v -0.12164944 -0.11463333 -0.48876002
+v -0.16175390 -0.15658787 -0.39143695
+v -0.21905174 -0.07453025 -0.37739385
+v -0.01464419 -0.19848113 -0.40847116
+v -0.05767988 -0.21428032 -0.37846738
+v -0.13579162 -0.10026336 -0.48861977
+v -0.06708075 -0.14441310 -0.48956986
+v -0.15993640 -0.12749429 -0.43750072
+v -0.14831464 -0.18530753 -0.36153113
+v -0.21021431 -0.12030355 -0.34980649
+v -0.10824040 -0.14645314 -0.47587167
+v -0.17614634 -0.15934787 -0.36179679
+v -0.13292344 -0.15462179 -0.43720849
+v -0.22525560 -0.08994600 -0.34975406
+v -0.19138782 -0.12842967 -0.37727504
+v -0.18032221 -0.16264555 -0.34926200
+v -0.22033954 -0.08751067 -0.36272268
+f 1 2 3
+f 7 1 3
+f 10 9 6
+f 10 3 9
+f 10 7 3
+f 10 4 7
+f 12 1 7
+f 15 9 3
+f 15 3 2
+f 16 15 8
+f 16 9 15
+f 18 11 17
+f 19 11 7
+f 19 7 4
+f 19 17 11
+f 20 11 18
+f 21 13 8
+f 21 2 13
+f 21 15 2
+f 21 8 15
+f 22 13 2
+f 22 2 1
+f 22 1 13
+f 23 13 1
+f 23 8 13
+f 24 14 5
+f 24 16 8
+f 25 12 5
+f 25 5 14
+f 25 14 1
+f 25 1 12
+f 26 17 10
+f 26 10 6
+f 26 18 17
+f 26 6 9
+f 27 4 10
+f 27 10 17
+f 27 19 4
+f 27 17 19
+f 28 18 26
+f 30 7 11
+f 30 11 20
+f 31 8 23
+f 31 23 1
+f 32 24 8
+f 32 14 24
+f 32 8 31
+f 32 31 1
+f 32 1 14
+f 33 20 18
+f 33 18 28
+f 33 28 5
+f 33 5 20
+f 34 24 5
+f 34 16 24
+f 34 9 16
+f 34 28 26
+f 34 26 9
+f 35 20 5
+f 36 29 5
+f 36 5 12
+f 36 12 29
+f 38 34 5
+f 38 5 28
+f 38 28 34
+f 39 35 29
+f 39 20 35
+f 40 35 5
+f 40 5 29
+f 40 29 35
+f 41 20 37
+f 41 7 30
+f 41 12 7
+f 42 37 20
+f 43 39 29
+f 43 29 12
+f 43 37 42
+f 43 42 20
+f 43 20 39
+f 43 41 37
+f 43 12 41
+f 44 41 30
+f 44 30 20
+f 44 20 41
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_18/collision/model_normalized_collision_18.obj b/objects/objaverse/cupcake/cupcake_18/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b59601c1e058f08eaa280139fc476c2274fee792
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_18/collision/model_normalized_collision_18.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v -0.21544045 -0.40294517 0.07934951
+v -0.21451942 -0.40152090 0.03144598
+v -0.22526418 -0.21972061 0.27087669
+v -0.31381655 -0.21716597 0.26582334
+v -0.41028192 -0.21109023 0.07996484
+v -0.22120445 -0.36648260 0.26449861
+v -0.33370996 -0.32259895 0.03289962
+v -0.22336234 -0.21771553 -0.02976008
+v -0.37815959 -0.20988807 0.14971577
+v -0.31013986 -0.22780281 0.27198206
+v -0.31783001 -0.33674932 0.03842992
+v -0.34036940 -0.31101514 0.09199733
+v -0.39621644 -0.21188365 0.01359955
+v -0.21635209 -0.38899775 0.01413963
+v -0.26011003 -0.33103996 0.26736376
+v -0.39353832 -0.21001399 0.12224262
+v -0.22605324 -0.39613525 0.03501258
+v -0.31678990 -0.33537626 0.07693615
+v -0.34294621 -0.31272612 0.03327506
+v -0.40871677 -0.21015864 0.03053250
+v -0.34319473 -0.29773827 0.01796733
+v -0.33182773 -0.32005643 0.09203009
+v -0.35537846 -0.28058776 0.10721532
+v -0.22619914 -0.39643505 0.07714060
+v -0.30179782 -0.33533204 0.01925461
+v -0.40382468 -0.22198452 0.07780072
+v -0.23077243 -0.35937128 0.26280975
+v -0.40314992 -0.22155205 0.03352797
+f 1 2 3
+f 6 1 3
+f 8 3 2
+f 9 4 3
+f 9 3 8
+f 10 3 4
+f 14 8 2
+f 15 6 3
+f 15 3 10
+f 16 10 4
+f 16 4 9
+f 16 15 10
+f 16 5 15
+f 17 11 7
+f 17 2 1
+f 18 7 11
+f 19 7 12
+f 20 9 8
+f 20 8 13
+f 20 16 9
+f 20 5 16
+f 21 13 8
+f 21 8 14
+f 21 7 19
+f 21 20 13
+f 22 15 12
+f 22 18 6
+f 22 12 7
+f 22 7 18
+f 23 15 5
+f 23 12 15
+f 24 17 1
+f 24 11 17
+f 24 18 11
+f 24 1 6
+f 24 6 18
+f 25 14 2
+f 25 2 17
+f 25 17 7
+f 25 21 14
+f 25 7 21
+f 26 19 12
+f 26 23 5
+f 26 12 23
+f 27 22 6
+f 27 6 15
+f 27 15 22
+f 28 19 26
+f 28 21 19
+f 28 20 21
+f 28 26 5
+f 28 5 20
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_18/collision/model_normalized_collision_19.obj b/objects/objaverse/cupcake/cupcake_18/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3e347fbc5b068d8ec783d7b8054eb0be19e82c31
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_18/collision/model_normalized_collision_19.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v -0.31536715 0.11017156 -0.03238037
+v -0.16767216 0.33928388 -0.03235655
+v -0.22322302 0.17608882 -0.03048136
+v -0.17761113 0.40302160 0.00846260
+v -0.41331631 0.18660012 0.01256361
+v -0.18034570 0.31689532 -0.01839344
+v -0.32639915 0.13005958 -0.05112819
+v -0.32187120 0.31802122 0.01136577
+v -0.43303664 0.11506377 0.01134476
+v -0.17397717 0.39723020 0.00414968
+v -0.17781183 0.31242542 -0.03762556
+v -0.20283730 0.39487103 0.01357313
+v -0.20184342 0.39334672 0.01141761
+v -0.35503846 0.11696725 -0.05160721
+v -0.36476636 0.26025151 0.01476409
+v -0.27733424 0.34746706 0.01221321
+v -0.36363416 0.25948645 0.01243914
+v -0.42776569 0.14425010 0.01226614
+v -0.42621908 0.11352369 0.00669152
+v -0.27780881 0.31776356 -0.00409097
+v -0.39538711 0.21501314 0.01453823
+v -0.27801138 0.34848009 0.01422429
+v -0.32329069 0.31951072 0.01320538
+f 6 3 2
+f 7 3 1
+f 9 1 3
+f 10 6 2
+f 10 2 4
+f 10 4 3
+f 10 3 6
+f 11 2 3
+f 11 3 7
+f 12 9 3
+f 12 3 4
+f 13 4 2
+f 13 12 4
+f 14 7 1
+f 14 11 7
+f 14 2 11
+f 16 12 13
+f 16 13 2
+f 16 2 8
+f 17 14 5
+f 17 8 14
+f 18 14 9
+f 18 5 14
+f 19 14 1
+f 19 1 9
+f 19 9 14
+f 20 14 8
+f 20 8 2
+f 20 2 14
+f 21 9 12
+f 21 12 15
+f 21 18 9
+f 21 5 18
+f 21 17 5
+f 21 15 17
+f 22 15 12
+f 22 12 16
+f 23 17 15
+f 23 8 17
+f 23 15 22
+f 23 22 16
+f 23 16 8
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_18/collision/model_normalized_collision_2.obj b/objects/objaverse/cupcake/cupcake_18/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f71a89ecd484597ea8698c28514937085c595977
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_18/collision/model_normalized_collision_2.obj
@@ -0,0 +1,141 @@
+# https://github.com/mikedh/trimesh
+v -0.20797761 -0.29309845 -0.03728461
+v -0.20013375 -0.22363164 -0.21460883
+v -0.21738265 0.28773504 -0.03819418
+v -0.23482709 0.29145403 -0.02873095
+v -0.38736035 0.07302279 -0.01766118
+v -0.28047566 0.14991108 -0.22515849
+v -0.20821083 -0.20256402 -0.02975936
+v -0.32882637 -0.21204899 -0.01794651
+v -0.21527454 0.21384731 -0.23019788
+v -0.34551616 0.18721032 -0.01791105
+v -0.22122400 0.29396549 -0.03257230
+v -0.20031960 -0.28410232 -0.09493527
+v -0.23526070 -0.28824665 -0.02961302
+v -0.30927037 -0.00106275 -0.22579047
+v -0.21515406 0.27521739 -0.13904785
+v -0.37631064 0.10701094 -0.07808354
+v -0.38434714 0.11781559 -0.01449060
+v -0.20892389 -0.00659185 -0.03184821
+v -0.27875502 -0.25993716 -0.02949871
+v -0.23674371 -0.17453558 -0.22590441
+v -0.22861345 -0.01016446 -0.25306924
+v -0.27776815 0.26289799 -0.02805797
+v -0.31545933 0.17739185 -0.13452235
+v -0.31235943 0.09707357 -0.22626656
+v -0.35792749 -0.07530062 -0.06502450
+v -0.38681469 0.09971857 -0.01523510
+v -0.19901275 -0.26804774 -0.13831652
+v -0.26496969 -0.27214076 -0.02810398
+v -0.21079873 -0.20693980 -0.22797825
+v -0.29389735 -0.05866307 -0.22554377
+v -0.20301113 -0.21177027 -0.23157279
+v -0.28112950 0.16229694 -0.20963537
+v -0.32795965 0.16773804 -0.12253978
+v -0.34146173 0.02602541 -0.16645056
+v -0.36984232 -0.06517088 -0.03027618
+v -0.38291267 0.10188581 -0.05027057
+v -0.32545718 -0.14677802 -0.08796159
+v -0.32481697 -0.04632981 -0.16605992
+v -0.35841236 0.10852370 -0.12237648
+v -0.34161754 -0.12229726 -0.07482189
+v -0.35513587 0.01408742 -0.12399690
+v -0.37148110 0.04215817 -0.07861717
+v -0.35732047 -0.06048655 -0.07624219
+v -0.34022713 0.12016642 -0.14911369
+v -0.34124873 0.03952689 -0.16638065
+v -0.38707486 0.06950113 -0.01839286
+v -0.32624856 0.10403518 -0.19349133
+v -0.32576693 0.11921095 -0.17839004
+f 8 7 4
+f 10 8 4
+f 12 7 1
+f 13 1 7
+f 13 7 8
+f 13 12 1
+f 15 2 9
+f 15 11 3
+f 15 4 11
+f 17 8 10
+f 17 10 16
+f 18 3 11
+f 18 7 12
+f 18 11 4
+f 18 4 7
+f 22 10 4
+f 22 4 15
+f 23 22 15
+f 24 21 14
+f 24 6 9
+f 24 9 21
+f 24 23 6
+f 26 5 8
+f 26 8 17
+f 27 15 3
+f 27 3 18
+f 27 2 15
+f 27 18 12
+f 28 13 8
+f 28 8 19
+f 28 19 27
+f 28 27 12
+f 28 12 13
+f 29 19 8
+f 29 8 20
+f 30 14 21
+f 31 21 9
+f 31 9 2
+f 31 2 27
+f 31 27 19
+f 31 19 29
+f 31 29 20
+f 31 30 21
+f 31 20 30
+f 32 23 15
+f 32 15 9
+f 32 9 6
+f 32 6 23
+f 33 10 22
+f 33 22 23
+f 33 16 10
+f 33 23 24
+f 34 24 14
+f 35 8 5
+f 36 26 17
+f 36 17 16
+f 36 5 26
+f 37 30 20
+f 37 20 8
+f 38 14 30
+f 38 34 14
+f 39 16 33
+f 39 34 16
+f 40 35 25
+f 40 8 35
+f 40 37 8
+f 40 38 30
+f 40 30 37
+f 41 16 34
+f 42 41 35
+f 42 36 16
+f 42 16 41
+f 43 34 38
+f 43 41 34
+f 43 25 35
+f 43 35 41
+f 43 40 25
+f 43 38 40
+f 44 39 33
+f 45 39 24
+f 45 24 34
+f 45 34 39
+f 46 42 35
+f 46 35 5
+f 46 5 36
+f 46 36 42
+f 47 24 39
+f 47 39 44
+f 48 33 24
+f 48 24 47
+f 48 47 44
+f 48 44 33
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_18/collision/model_normalized_collision_20.obj b/objects/objaverse/cupcake/cupcake_18/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a0bab47622ad5ac6e2679b60d2b7fc1f85ace00
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_18/collision/model_normalized_collision_20.obj
@@ -0,0 +1,108 @@
+# https://github.com/mikedh/trimesh
+v -0.29239068 -0.21245116 0.36606828
+v -0.29960906 -0.21939413 0.26133023
+v -0.29656511 0.15945762 0.25801801
+v -0.34665710 0.19252236 0.26705564
+v -0.40344527 -0.06031742 0.29027038
+v -0.36971759 -0.12569312 0.21423103
+v -0.29278884 0.05088218 0.40239969
+v -0.33880077 0.18742620 0.21241258
+v -0.37677590 -0.17616626 0.31505610
+v -0.29086494 -0.10414031 0.40587858
+v -0.29505258 0.15517547 0.36967311
+v -0.40474368 0.12667744 0.21937001
+v -0.34513480 -0.20352502 0.28992487
+v -0.40161167 -0.05935545 0.26037920
+v -0.29095260 -0.16880899 0.39244783
+v -0.38699717 -0.00832528 0.31900006
+v -0.37855476 0.18371221 0.21881921
+v -0.38835746 0.15043562 0.26481466
+v -0.37162041 -0.17677227 0.29091150
+v -0.33212756 -0.20679353 0.27403620
+v -0.34309447 -0.20309873 0.32721123
+v -0.40349305 -0.02472850 0.23508132
+v -0.30173198 -0.10023984 0.40027985
+v -0.29373506 -0.20147584 0.37813675
+v -0.38580419 -0.07219895 0.31494963
+v -0.37116908 0.09763010 0.31873784
+v -0.39023826 0.16624503 0.21855394
+v -0.37423717 0.17913271 0.25822014
+v -0.40338264 0.09790625 0.27173683
+v -0.40705515 0.02005241 0.27717739
+v -0.32787748 -0.17452408 0.35935483
+v -0.30279990 0.04791901 0.39881418
+v -0.35772598 0.13664475 0.31380635
+v -0.38813109 0.16519416 0.24498138
+v -0.37555725 0.05219835 0.32529627
+v -0.30000812 0.15060474 0.37007985
+v -0.40222645 0.12473445 0.24747487
+f 1 2 3
+f 8 3 2
+f 8 2 6
+f 8 4 3
+f 10 3 7
+f 11 7 3
+f 11 3 4
+f 12 8 6
+f 14 9 5
+f 15 1 3
+f 15 3 10
+f 17 4 8
+f 19 13 9
+f 19 14 6
+f 19 9 14
+f 20 6 2
+f 20 2 13
+f 20 19 6
+f 20 13 19
+f 21 13 2
+f 21 2 1
+f 21 9 13
+f 22 12 6
+f 22 6 14
+f 22 14 5
+f 23 15 10
+f 24 1 15
+f 24 21 1
+f 24 9 21
+f 25 16 5
+f 25 5 9
+f 25 23 16
+f 25 9 23
+f 27 17 8
+f 27 8 12
+f 28 11 4
+f 28 4 17
+f 29 26 18
+f 30 22 5
+f 30 12 22
+f 30 29 12
+f 30 5 16
+f 30 16 29
+f 31 23 9
+f 31 15 23
+f 31 24 15
+f 31 9 24
+f 32 23 10
+f 32 10 7
+f 32 16 23
+f 33 18 26
+f 33 28 18
+f 34 27 12
+f 34 18 28
+f 34 28 17
+f 34 17 27
+f 35 29 16
+f 35 26 29
+f 35 32 26
+f 35 16 32
+f 36 32 7
+f 36 7 11
+f 36 26 32
+f 36 33 26
+f 36 11 28
+f 36 28 33
+f 37 29 18
+f 37 18 34
+f 37 34 12
+f 37 12 29
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_18/collision/model_normalized_collision_21.obj b/objects/objaverse/cupcake/cupcake_18/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ee2b7c3ccc09d10939bdc9f048d8aac0a7a6e350
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_18/collision/model_normalized_collision_21.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v -0.22086795 0.18897049 0.25893686
+v -0.22407747 0.19205768 -0.03017610
+v -0.21484579 0.38982716 0.01708060
+v -0.21579355 0.39156232 0.10696111
+v -0.39960613 0.18750261 0.14076788
+v -0.21508529 0.33358099 0.25905489
+v -0.39523198 0.18447126 0.15115075
+v -0.39235160 0.19295300 0.00335364
+v -0.33132210 0.32789743 0.07775195
+v -0.31089668 0.27279554 0.26013686
+v -0.31864240 0.32585221 0.01850538
+v -0.37178504 0.26969281 0.03470535
+v -0.24185587 0.38483225 0.03470001
+v -0.36904289 0.18619862 0.25757571
+v -0.30544541 0.27970945 0.25634792
+v -0.37182528 0.26967044 0.07726957
+v -0.37222025 0.25501385 0.02023622
+v -0.33113839 0.32780779 0.03388007
+v -0.24182146 0.38482937 0.07717120
+v -0.22685429 0.38478329 0.02058806
+v -0.31900409 0.32644616 0.10633062
+v -0.34219207 0.31570964 0.03872260
+v -0.37241071 0.25490971 0.10636700
+v -0.34119034 0.29979456 0.01974532
+v -0.34077422 0.31460672 0.07702041
+f 1 2 3
+f 6 1 3
+f 6 3 4
+f 7 2 1
+f 8 7 5
+f 8 2 7
+f 10 1 6
+f 11 3 2
+f 11 2 8
+f 12 8 5
+f 13 4 3
+f 14 5 7
+f 14 7 1
+f 14 1 10
+f 15 10 6
+f 15 6 4
+f 15 9 10
+f 16 12 5
+f 17 8 12
+f 18 13 11
+f 18 9 13
+f 19 13 9
+f 19 4 13
+f 20 13 3
+f 20 3 11
+f 20 11 13
+f 21 15 4
+f 21 9 15
+f 21 19 9
+f 21 4 19
+f 22 12 16
+f 22 18 12
+f 22 9 18
+f 23 16 5
+f 23 5 14
+f 23 14 10
+f 23 10 16
+f 24 11 8
+f 24 8 17
+f 24 18 11
+f 24 17 12
+f 24 12 18
+f 25 22 16
+f 25 9 22
+f 25 16 10
+f 25 10 9
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_18/collision/model_normalized_collision_22.obj b/objects/objaverse/cupcake/cupcake_18/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..947a919ea61aa3943cde4e1df395e477de177f2e
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_18/collision/model_normalized_collision_22.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v -0.18791781 -0.21005518 0.43239224
+v -0.19767171 -0.22257774 0.27903927
+v -0.19574182 0.16298915 0.27770660
+v -0.29505258 0.15517547 0.36967311
+v -0.29960906 -0.21939413 0.26133023
+v -0.18863675 0.16014939 0.42296168
+v -0.18404788 0.03638230 0.45353165
+v -0.28563918 -0.19686571 0.38654938
+v -0.29656511 0.15945762 0.25801801
+v -0.29126950 0.06504305 0.39897624
+v -0.28753478 -0.20789251 0.37940004
+v -0.28786521 -0.07818243 0.41353966
+v -0.21414765 0.15636764 0.41724927
+v -0.25654100 -0.19198153 0.41462156
+v -0.28351227 -0.04094356 0.41438170
+v -0.23934818 0.11057692 0.41467906
+v -0.24299325 -0.20352711 0.41356766
+v -0.19042892 -0.14035874 0.44711847
+v -0.20172329 -0.20804968 0.42857639
+v -0.20194548 -0.14094282 0.44382682
+v -0.23313282 -0.18285951 0.42887992
+f 5 2 1
+f 7 1 2
+f 7 2 3
+f 7 3 6
+f 9 3 2
+f 9 2 5
+f 9 5 4
+f 9 6 3
+f 9 4 6
+f 10 4 5
+f 11 5 1
+f 12 11 8
+f 12 10 5
+f 12 5 11
+f 13 7 6
+f 13 6 4
+f 13 4 10
+f 14 8 11
+f 14 12 8
+f 15 12 7
+f 15 7 10
+f 15 10 12
+f 16 13 10
+f 16 10 7
+f 16 7 13
+f 17 14 11
+f 18 1 7
+f 19 17 11
+f 19 11 1
+f 19 14 17
+f 20 18 7
+f 20 7 12
+f 21 20 12
+f 21 12 14
+f 21 14 19
+f 21 19 1
+f 21 1 18
+f 21 18 20
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_18/collision/model_normalized_collision_23.obj b/objects/objaverse/cupcake/cupcake_18/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b7e0e03a726f8d24dbb65a19117c36edb2353547
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_18/collision/model_normalized_collision_23.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v -0.29907150 -0.32370295 0.00770602
+v -0.29518010 -0.31781328 0.00287997
+v -0.32419965 0.06813801 -0.02975939
+v -0.43303664 0.11506377 0.01134476
+v -0.42747151 -0.15553516 0.01323682
+v -0.30488104 0.00095250 -0.02975988
+v -0.33640898 -0.30331249 0.01312556
+v -0.37505717 0.07359281 -0.04124705
+v -0.29404627 -0.19804522 -0.05319106
+v -0.32255000 -0.31337395 0.01066276
+v -0.32451880 -0.31639962 0.01313060
+v -0.45460443 -0.00324236 0.01013503
+v -0.37347968 0.11530383 -0.02067584
+v -0.39414167 -0.21055900 0.01175161
+v -0.29105614 -0.21271466 -0.04006905
+v -0.31418046 -0.11167089 -0.05313978
+v -0.30821908 -0.28959389 -0.00650195
+v -0.33393896 -0.30172110 0.01112938
+v -0.45518510 0.02241421 0.01401846
+v -0.39908708 0.11420149 -0.00852563
+v -0.38434714 0.11781559 -0.01449060
+v -0.34478317 0.07024272 -0.03728745
+v -0.39621644 -0.21188365 0.01359955
+v -0.39714952 -0.16710084 -0.00262008
+v -0.44147539 0.08333216 0.01314230
+v -0.45687550 -0.00385772 0.01295190
+v -0.45340058 0.02191555 0.01090435
+v -0.32660706 0.06907107 -0.03073347
+v -0.34956437 -0.10957627 -0.03768832
+v -0.34859533 -0.13678007 -0.03464241
+v -0.42575637 -0.03387992 -0.00418025
+v -0.42347199 -0.15468141 0.01051988
+f 6 1 2
+f 6 3 4
+f 6 4 1
+f 10 2 1
+f 11 1 4
+f 11 10 1
+f 11 7 10
+f 14 9 7
+f 15 9 6
+f 15 6 2
+f 15 2 9
+f 16 3 6
+f 16 6 9
+f 17 10 9
+f 17 9 2
+f 17 2 10
+f 18 10 7
+f 18 7 9
+f 18 9 10
+f 20 8 4
+f 21 4 3
+f 21 3 13
+f 21 20 4
+f 21 13 8
+f 21 8 20
+f 22 8 13
+f 22 16 8
+f 23 14 7
+f 23 19 5
+f 23 7 11
+f 23 11 19
+f 24 9 14
+f 24 23 5
+f 24 14 23
+f 25 19 11
+f 25 11 4
+f 26 12 5
+f 26 5 19
+f 27 4 8
+f 27 8 12
+f 27 26 19
+f 27 12 26
+f 27 25 4
+f 27 19 25
+f 28 22 13
+f 28 13 3
+f 28 3 16
+f 28 16 22
+f 29 16 9
+f 29 8 16
+f 30 29 9
+f 30 9 24
+f 31 12 8
+f 31 8 29
+f 31 29 30
+f 32 30 24
+f 32 24 5
+f 32 31 30
+f 32 5 12
+f 32 12 31
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_18/collision/model_normalized_collision_24.obj b/objects/objaverse/cupcake/cupcake_18/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa44cf060030c3aa1a1e0feadda1b1cfb9c58610
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_18/collision/model_normalized_collision_24.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v 0.00359135 -0.35058676 0.36880397
+v 0.10909994 -0.25900782 0.42745632
+v -0.00700520 -0.26951934 0.44460679
+v -0.17169412 -0.22558444 0.43132981
+v 0.00390971 -0.23286816 0.37121212
+v 0.00379979 -0.21762936 0.46139591
+v -0.13471343 -0.34319706 0.37163196
+v 0.01712778 -0.30855079 0.41532592
+v 0.02662148 -0.27045679 0.44332971
+v -0.09753252 -0.25681709 0.44483607
+v 0.10329522 -0.21257807 0.44747874
+v -0.14010623 -0.34829115 0.36305686
+v 0.06070650 -0.30377144 0.40855433
+v -0.05623026 -0.30754717 0.41770139
+v 0.00822630 -0.22114474 0.46030201
+v -0.12876930 -0.22869803 0.44559260
+v -0.18465023 -0.26714150 0.41301019
+v 0.11371303 -0.22041052 0.43998085
+v 0.10814580 -0.25436102 0.43208206
+v -0.02497116 -0.32325036 0.40123362
+v -0.13983831 -0.32527919 0.38621484
+v 0.10138173 -0.22876567 0.44391539
+v -0.21010527 -0.24560453 0.40876001
+v -0.14349469 -0.26621172 0.42847143
+v 0.00225691 -0.34609149 0.37458819
+v 0.00214492 -0.32244421 0.40188313
+v -0.18667045 -0.31241373 0.37391813
+v -0.18946377 -0.23046514 0.42242439
+v -0.17013429 -0.24282491 0.42666253
+v -0.12707374 -0.24115796 0.44224553
+v -0.09857128 -0.28102655 0.42853580
+v -0.18934548 -0.31285353 0.36849434
+f 5 2 1
+f 10 3 6
+f 11 5 4
+f 11 4 6
+f 12 5 1
+f 12 1 7
+f 13 1 2
+f 13 9 8
+f 14 3 10
+f 14 9 3
+f 14 8 9
+f 15 6 3
+f 15 3 9
+f 15 11 6
+f 16 10 6
+f 16 6 4
+f 18 2 5
+f 18 5 11
+f 19 2 18
+f 19 13 2
+f 19 9 13
+f 20 14 7
+f 21 7 14
+f 22 15 9
+f 22 11 15
+f 22 9 19
+f 22 19 18
+f 22 18 11
+f 24 17 21
+f 25 20 7
+f 25 7 1
+f 25 13 8
+f 25 1 13
+f 26 8 14
+f 26 14 20
+f 26 25 8
+f 26 20 25
+f 27 21 17
+f 27 12 7
+f 27 7 21
+f 27 17 23
+f 28 23 17
+f 28 4 5
+f 28 5 23
+f 29 16 4
+f 29 17 24
+f 29 28 17
+f 29 4 28
+f 30 24 10
+f 30 10 16
+f 30 29 24
+f 30 16 29
+f 31 24 21
+f 31 21 14
+f 31 14 10
+f 31 10 24
+f 32 27 23
+f 32 23 5
+f 32 5 12
+f 32 12 27
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_18/collision/model_normalized_collision_25.obj b/objects/objaverse/cupcake/cupcake_18/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..93977364c42b9048b9540fcb8641e3ea972d7bbf
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_18/collision/model_normalized_collision_25.obj
@@ -0,0 +1,141 @@
+# https://github.com/mikedh/trimesh
+v 0.25586719 0.14363608 -0.23216190
+v 0.25057169 0.14183493 -0.24448046
+v 0.20740668 0.21169024 -0.22886431
+v -0.00983078 0.31535497 -0.22891618
+v -0.28019824 0.14366263 -0.23288873
+v 0.06445220 0.14580207 -0.49226453
+v 0.24625097 0.15487892 -0.24271507
+v -0.27052993 0.13786178 -0.25797909
+v 0.23336516 0.18051630 -0.22760541
+v 0.09878440 0.15980703 -0.46791930
+v 0.10491607 0.13773884 -0.48093137
+v -0.15350685 0.26757135 -0.22712245
+v -0.27462882 0.15548050 -0.22999424
+v 0.05937211 0.29994977 -0.22762687
+v 0.25144889 0.15699170 -0.23004913
+v 0.01106079 0.21882955 -0.42218990
+v 0.13914758 0.14824668 -0.43776530
+v -0.15412669 0.13728009 -0.45685732
+v 0.23008258 0.13983094 -0.28746915
+v 0.16245324 0.23832496 -0.22757154
+v 0.08705638 0.28597115 -0.22800150
+v 0.07276664 0.17235664 -0.46594446
+v 0.01498133 0.31569907 -0.22893915
+v -0.08125637 0.20475611 -0.43930919
+v 0.18377666 0.19064123 -0.30045410
+v -0.18351314 0.13622976 -0.41078676
+v -0.14108941 0.13905987 -0.46853708
+v -0.17706129 0.23518367 -0.25528881
+v 0.14459826 0.13814430 -0.44108595
+v 0.07458232 0.16081701 -0.47658610
+v 0.01312231 0.31021355 -0.24139806
+v -0.08282335 0.30062891 -0.22914418
+v -0.06529507 0.21752170 -0.42307753
+v 0.06019294 0.16312604 -0.47895994
+v -0.25157896 0.14543748 -0.28512018
+v -0.13674433 0.14960119 -0.46350035
+v -0.11983839 0.18816935 -0.42193920
+v 0.22857668 0.14668630 -0.28507615
+v -0.12467171 0.28505749 -0.22834847
+v -0.00916509 0.30951296 -0.24126896
+v -0.06529855 0.29381447 -0.25635972
+v -0.06420375 0.24657160 -0.36215706
+v -0.25477239 0.13753232 -0.28799644
+v -0.26497547 0.14972877 -0.25506575
+v -0.14807820 0.14543883 -0.45289618
+v -0.13263760 0.15999310 -0.45243468
+v -0.11056915 0.27813570 -0.25611278
+v -0.10556791 0.18945132 -0.43778064
+f 7 1 2
+f 8 2 1
+f 8 1 5
+f 11 6 10
+f 13 5 1
+f 13 9 12
+f 14 4 12
+f 15 7 3
+f 15 3 9
+f 15 1 7
+f 15 13 1
+f 15 9 13
+f 17 11 10
+f 19 2 8
+f 20 9 3
+f 20 14 12
+f 20 12 9
+f 21 3 10
+f 21 10 14
+f 21 20 3
+f 21 14 20
+f 22 16 14
+f 22 14 10
+f 23 4 14
+f 25 17 10
+f 25 10 3
+f 25 3 7
+f 26 18 11
+f 27 6 11
+f 27 11 18
+f 28 13 12
+f 29 11 17
+f 29 26 11
+f 29 19 26
+f 30 22 10
+f 30 10 6
+f 31 4 23
+f 31 23 14
+f 31 14 16
+f 33 16 24
+f 33 31 16
+f 34 6 24
+f 34 30 6
+f 34 22 30
+f 34 24 16
+f 34 16 22
+f 35 13 28
+f 35 28 18
+f 35 18 26
+f 36 24 6
+f 36 6 27
+f 36 27 18
+f 37 28 12
+f 38 29 17
+f 38 19 29
+f 38 7 2
+f 38 2 19
+f 38 25 7
+f 38 17 25
+f 39 24 12
+f 39 12 4
+f 39 4 32
+f 40 33 4
+f 40 4 31
+f 40 31 33
+f 41 32 4
+f 42 33 24
+f 42 32 41
+f 42 41 4
+f 42 4 33
+f 43 35 26
+f 43 8 35
+f 43 26 19
+f 43 19 8
+f 44 35 8
+f 44 13 35
+f 44 8 5
+f 44 5 13
+f 45 36 18
+f 45 18 28
+f 46 28 37
+f 46 45 28
+f 46 36 45
+f 47 39 32
+f 47 24 39
+f 47 42 24
+f 47 32 42
+f 48 46 37
+f 48 24 36
+f 48 36 46
+f 48 37 12
+f 48 12 24
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_18/collision/model_normalized_collision_26.obj b/objects/objaverse/cupcake/cupcake_18/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..18e42359cd6a31d7b9cb44526f413f9a30cb5e23
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_18/collision/model_normalized_collision_26.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.36674859 -0.00720918 0.30438829
+v 0.38092482 -0.00579788 0.26405094
+v 0.30912112 0.16701079 0.25993497
+v 0.01536299 0.18891602 0.44810164
+v 0.00265579 -0.00364406 0.30969220
+v 0.21956217 0.16708019 0.38343205
+v 0.33668630 0.11985535 0.27565805
+v 0.00390971 -0.00559544 0.40151515
+v 0.00343345 0.18091898 0.30161815
+v 0.26668290 -0.00411999 0.38980691
+v 0.36431941 0.02300787 0.30321010
+v 0.33807450 0.12157616 0.26305464
+v 0.30839387 0.14611519 0.30123124
+v 0.36618839 0.04287865 0.27074664
+v 0.30894113 0.04468743 0.36079157
+v 0.36701202 0.04398087 0.26366523
+v 0.29271918 0.16069547 0.30087318
+v 0.31214929 -0.00238050 0.35395240
+v 0.26774709 0.06974176 0.37964575
+v 0.27703399 0.13490619 0.34421880
+v 0.33596772 0.04226584 0.32822453
+v 0.23130475 0.15960903 0.37822097
+f 5 2 1
+f 5 3 2
+f 6 3 4
+f 8 5 1
+f 9 4 3
+f 9 3 5
+f 9 8 4
+f 9 5 8
+f 10 6 4
+f 10 8 1
+f 10 4 8
+f 11 1 2
+f 12 3 7
+f 13 7 3
+f 13 11 7
+f 14 11 2
+f 14 7 11
+f 15 1 11
+f 16 2 3
+f 16 3 12
+f 16 14 2
+f 16 12 7
+f 16 7 14
+f 17 13 3
+f 17 3 6
+f 17 6 13
+f 18 15 10
+f 18 10 1
+f 18 1 15
+f 19 6 10
+f 19 10 15
+f 20 15 13
+f 21 15 11
+f 21 11 13
+f 21 13 15
+f 22 19 15
+f 22 6 19
+f 22 15 20
+f 22 20 13
+f 22 13 6
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_18/collision/model_normalized_collision_27.obj b/objects/objaverse/cupcake/cupcake_18/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0203123e55b2455a32ee4427574314e661f9d019
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_18/collision/model_normalized_collision_27.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v -0.18758735 -0.39178853 0.26220125
+v -0.18601240 -0.38770018 0.27256828
+v -0.31101206 -0.27168287 0.31815908
+v -0.27707640 -0.20855279 0.38972864
+v -0.19767171 -0.22257774 0.27903927
+v -0.18667045 -0.31241373 0.37391813
+v -0.27121805 -0.32216091 0.29201797
+v -0.33519942 -0.21037679 0.28417536
+v -0.21536238 -0.26796234 0.39878964
+v -0.18751424 -0.24387585 0.41960182
+v -0.19605709 -0.38181904 0.27174081
+v -0.24262932 -0.29570545 0.35846465
+v -0.33449987 -0.20986214 0.33039434
+v -0.31495085 -0.26998354 0.29764768
+v -0.32404224 -0.21294099 0.27026643
+v -0.18958738 -0.26909234 0.40863406
+v -0.19173365 -0.21574050 0.42805817
+v -0.21203855 -0.36536672 0.28302590
+v -0.27411592 -0.30812849 0.31033523
+v -0.19991003 -0.30877663 0.37044182
+v -0.27073301 -0.22258549 0.38662565
+v -0.28378452 -0.30924306 0.29476451
+v -0.19813934 -0.38527809 0.25972168
+v -0.21934461 -0.21172952 0.42042648
+v -0.19803128 -0.36549148 0.29766996
+v -0.23723915 -0.28258380 0.37188088
+v -0.22858159 -0.25669298 0.39636565
+v -0.27238997 -0.31985151 0.27580067
+v -0.18680265 -0.37028270 0.29788234
+v -0.28291712 -0.30952756 0.28264801
+f 5 2 1
+f 8 4 5
+f 10 6 2
+f 10 2 5
+f 11 7 1
+f 11 1 2
+f 13 3 4
+f 13 4 8
+f 14 13 8
+f 14 3 13
+f 15 8 5
+f 15 14 8
+f 16 9 6
+f 16 6 10
+f 17 10 5
+f 18 11 2
+f 18 7 11
+f 19 12 3
+f 19 3 7
+f 20 6 9
+f 20 9 12
+f 21 4 3
+f 21 3 12
+f 22 7 3
+f 22 3 14
+f 23 15 5
+f 23 5 1
+f 23 1 7
+f 24 16 10
+f 24 9 16
+f 24 10 17
+f 24 17 5
+f 24 5 4
+f 25 18 2
+f 25 12 19
+f 25 19 7
+f 25 7 18
+f 25 20 12
+f 25 6 20
+f 26 21 12
+f 26 12 9
+f 27 4 21
+f 27 24 4
+f 27 9 24
+f 27 26 9
+f 27 21 26
+f 28 23 7
+f 28 14 15
+f 28 15 23
+f 29 25 2
+f 29 2 6
+f 29 6 25
+f 30 28 7
+f 30 7 22
+f 30 22 14
+f 30 14 28
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_18/collision/model_normalized_collision_28.obj b/objects/objaverse/cupcake/cupcake_18/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..128a826aa3a05cec9a3c8852d21e92041781381d
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_18/collision/model_normalized_collision_28.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.00342136 -0.33054830 -0.09496488
+v 0.00349503 -0.27185904 -0.23206235
+v 0.00390971 -0.23286816 -0.09848485
+v -0.20534155 -0.22845877 -0.11023663
+v -0.13829536 -0.30515111 -0.13765166
+v 0.00290656 -0.22884646 -0.23163237
+v -0.12591586 -0.32555956 -0.09416014
+v -0.18705588 -0.22600275 -0.23106653
+v -0.20013375 -0.22363164 -0.21460883
+v -0.14388480 -0.31616919 -0.09602377
+v -0.10853757 -0.30649857 -0.16521904
+v -0.17961525 -0.27847840 -0.15057872
+v -0.10989355 -0.32377893 -0.12388717
+v -0.05819840 -0.30545151 -0.16602341
+v -0.10885823 -0.27549282 -0.22565835
+v -0.16860017 -0.29000316 -0.13765286
+v -0.19771111 -0.28100465 -0.10891356
+v -0.16740124 -0.30276576 -0.10162145
+v -0.01242099 -0.27509419 -0.22692587
+v 0.00257220 -0.32006960 -0.12124543
+v -0.16474018 -0.24850152 -0.22639377
+v -0.19510262 -0.27790698 -0.12289184
+f 1 2 3
+f 6 3 2
+f 7 1 3
+f 8 6 2
+f 9 4 3
+f 9 3 6
+f 9 6 8
+f 10 7 3
+f 10 3 4
+f 12 9 8
+f 12 11 5
+f 13 7 10
+f 13 5 11
+f 13 1 7
+f 14 13 11
+f 14 1 13
+f 15 8 2
+f 16 12 5
+f 17 4 9
+f 17 12 16
+f 18 13 10
+f 18 5 13
+f 18 16 5
+f 18 17 16
+f 18 10 4
+f 18 4 17
+f 19 14 11
+f 19 2 14
+f 19 15 2
+f 19 11 15
+f 20 14 2
+f 20 2 1
+f 20 1 14
+f 21 12 8
+f 21 8 15
+f 21 15 11
+f 21 11 12
+f 22 17 9
+f 22 9 12
+f 22 12 17
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_18/collision/model_normalized_collision_29.obj b/objects/objaverse/cupcake/cupcake_18/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1db60d979cad994526ab0ddefab42617f0d399f2
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_18/collision/model_normalized_collision_29.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.09422760 0.30845098 0.32674843
+v 0.09402300 0.30907356 0.26165154
+v 0.09234711 0.35134575 0.26423659
+v 0.04675561 0.36111118 0.27654858
+v 0.06448081 0.31243208 0.26499778
+v 0.09147188 0.32635599 0.31365169
+v 0.06449916 0.31247020 0.32578541
+v 0.04825151 0.36726444 0.21941918
+v 0.09157242 0.34322291 0.28739261
+v 0.04862242 0.33922485 0.30792284
+v 0.06288844 0.36452298 0.21929071
+v 0.06619443 0.35010933 0.22700569
+v 0.07583592 0.35570427 0.27078836
+v 0.07608069 0.34059663 0.29845796
+v 0.05143692 0.35180395 0.22872115
+v 0.04667761 0.34476920 0.30088841
+v 0.06195624 0.33024561 0.31649970
+v 0.07414047 0.35822171 0.26310571
+f 1 2 3
+f 5 2 1
+f 7 5 1
+f 9 6 1
+f 9 1 3
+f 10 5 7
+f 11 3 2
+f 12 2 5
+f 12 11 2
+f 12 8 11
+f 13 9 3
+f 13 4 9
+f 14 9 4
+f 14 6 9
+f 15 12 5
+f 15 8 12
+f 16 4 8
+f 16 8 15
+f 16 15 5
+f 16 5 10
+f 16 14 4
+f 16 6 14
+f 17 10 7
+f 17 7 1
+f 17 1 6
+f 17 16 10
+f 17 6 16
+f 18 11 8
+f 18 8 4
+f 18 4 13
+f 18 13 3
+f 18 3 11
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_18/collision/model_normalized_collision_3.obj b/objects/objaverse/cupcake/cupcake_18/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d3ab3a0cec28c2167b399865be5a24cb7f41c6e
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_18/collision/model_normalized_collision_3.obj
@@ -0,0 +1,171 @@
+# https://github.com/mikedh/trimesh
+v 0.28326245 0.16691343 0.30477075
+v 0.30269156 0.17342479 0.26232826
+v 0.12783750 0.32676566 0.30303820
+v -0.08220233 0.37422794 0.26211645
+v -0.38228023 0.15436078 0.26629652
+v 0.22807013 0.28724335 0.25592292
+v 0.29797604 0.16932796 0.27456723
+v -0.08153929 0.17328850 0.44735247
+v 0.01534021 0.37084696 0.26423071
+v -0.31906712 0.26142070 0.25567965
+v 0.25065385 0.26227896 0.25619514
+v 0.13057019 0.23409972 0.40512013
+v -0.21414765 0.15636764 0.41724927
+v 0.11907428 0.34165965 0.26291295
+v -0.19908669 0.34767441 0.25925906
+v -0.38081104 0.16980948 0.25970800
+v 0.21793730 0.26690873 0.30047919
+v 0.12085696 0.17291154 0.43341659
+v -0.01039883 0.28426180 0.40000771
+v 0.10440899 0.33999044 0.28816493
+v 0.14527006 0.32926364 0.26416160
+v -0.21065383 0.24941303 0.37926071
+v -0.38520119 0.15853868 0.26267881
+v 0.27737496 0.21093186 0.25804799
+v 0.18892653 0.26693381 0.32565912
+v 0.20981904 0.17373684 0.38632752
+v 0.03092039 0.17257395 0.44872953
+v 0.07024865 0.31779107 0.35298073
+v -0.12023672 0.28316466 0.38960776
+v 0.11813138 0.33912067 0.27449121
+v -0.20563571 0.32936276 0.29360012
+v -0.12215979 0.23728908 0.42000417
+v -0.33072855 0.21230870 0.29383224
+v -0.28154244 0.15710397 0.37134679
+v 0.29667614 0.18372141 0.26002425
+v 0.11922501 0.23367932 0.41340787
+v -0.02894391 0.36356129 0.30635432
+v -0.31002724 0.27561237 0.25801957
+v -0.19598153 0.34444494 0.27574524
+v -0.20935270 0.21350441 0.39848577
+v -0.16127565 0.16992108 0.43408016
+v -0.21175515 0.24337004 0.38320890
+v -0.02561013 0.24559715 0.42920163
+v -0.28530066 0.17972728 0.35897320
+v 0.15772428 0.20932874 0.40180907
+v 0.01702500 0.20012020 0.44570438
+v 0.05706372 0.26954018 0.39932883
+v 0.01482891 0.36871978 0.27421715
+v -0.31583080 0.25680992 0.27215253
+v -0.08037611 0.37038643 0.27247792
+v -0.09693736 0.32652120 0.33939245
+v -0.21209082 0.17046933 0.41399755
+v -0.08059305 0.18793150 0.44479304
+v -0.27937178 0.16963860 0.36838607
+v 0.05954201 0.22327336 0.42885335
+v 0.00196657 0.28424619 0.39868307
+v -0.08304295 0.35575866 0.29939563
+v 0.04276870 0.25578780 0.41188590
+f 7 5 2
+f 7 2 1
+f 7 1 5
+f 9 6 4
+f 11 1 2
+f 11 10 6
+f 13 5 1
+f 14 6 9
+f 15 4 6
+f 15 6 10
+f 17 6 3
+f 17 11 6
+f 17 1 11
+f 18 13 1
+f 21 3 6
+f 21 6 14
+f 23 16 2
+f 23 2 5
+f 24 16 10
+f 24 10 11
+f 25 17 3
+f 25 3 12
+f 25 12 17
+f 26 17 12
+f 26 1 17
+f 26 18 1
+f 27 8 13
+f 27 13 18
+f 28 12 3
+f 28 3 20
+f 30 20 3
+f 30 14 20
+f 30 21 14
+f 30 3 21
+f 31 22 29
+f 33 16 23
+f 34 23 5
+f 34 5 13
+f 35 24 11
+f 35 11 2
+f 35 2 16
+f 35 16 24
+f 36 12 28
+f 37 9 4
+f 37 19 28
+f 37 29 19
+f 38 15 10
+f 38 22 31
+f 38 10 16
+f 39 4 15
+f 39 38 31
+f 39 15 38
+f 41 13 8
+f 41 32 40
+f 42 32 29
+f 42 29 22
+f 42 40 32
+f 43 19 29
+f 43 29 32
+f 44 33 23
+f 44 23 34
+f 44 42 33
+f 45 26 12
+f 45 12 36
+f 45 36 18
+f 45 18 26
+f 46 27 18
+f 46 18 36
+f 46 8 27
+f 47 36 28
+f 48 37 28
+f 48 28 20
+f 48 9 37
+f 48 20 14
+f 48 14 9
+f 49 22 38
+f 49 42 22
+f 49 33 42
+f 49 38 16
+f 49 16 33
+f 50 39 37
+f 50 37 4
+f 50 4 39
+f 51 39 31
+f 51 31 29
+f 51 29 37
+f 52 34 13
+f 52 41 40
+f 52 13 41
+f 53 41 8
+f 53 32 41
+f 53 43 32
+f 53 46 43
+f 53 8 46
+f 54 44 34
+f 54 40 42
+f 54 42 44
+f 54 52 40
+f 54 34 52
+f 55 46 36
+f 55 36 43
+f 55 43 46
+f 56 47 28
+f 56 28 19
+f 56 19 43
+f 57 51 37
+f 57 37 39
+f 57 39 51
+f 58 56 43
+f 58 43 36
+f 58 36 47
+f 58 47 56
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_18/collision/model_normalized_collision_30.obj b/objects/objaverse/cupcake/cupcake_18/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c8051dcc34dbe7de9ded2c43b6e20e3c3af7bd83
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_18/collision/model_normalized_collision_30.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.22526418 -0.21972061 0.27087669
+v -0.22336234 -0.21771553 -0.02976008
+v -0.22086795 0.18897049 0.25893686
+v -0.34665710 0.19252236 0.26705564
+v -0.35009584 -0.22125573 -0.00722265
+v -0.22407747 0.19205768 -0.03017610
+v -0.33796031 -0.19676043 0.26987297
+v -0.22550870 0.19344141 0.25534438
+v -0.35205292 0.19642928 -0.01289505
+v -0.32404224 -0.21294099 0.27026643
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 6 3 2
+f 7 4 5
+f 8 4 3
+f 8 3 6
+f 9 5 4
+f 9 8 6
+f 9 4 8
+f 9 6 2
+f 9 2 5
+f 10 7 5
+f 10 5 1
+f 10 1 4
+f 10 4 7
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_18/collision/model_normalized_collision_31.obj b/objects/objaverse/cupcake/cupcake_18/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af4acd0a1e0efd49ded5e6d8208faf08f61fbc9a
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_18/collision/model_normalized_collision_31.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.42398654 -0.01974801 0.01334503
+v 0.41693453 -0.01805687 0.00796045
+v 0.39375711 0.15861953 0.01404970
+v 0.33713944 0.23676737 0.00774403
+v 0.34598448 -0.02721010 -0.02677012
+v 0.34849391 0.23451570 0.01391197
+v 0.40752806 0.09953883 0.01496442
+v 0.33741947 -0.02079289 -0.03814173
+v 0.38755020 0.15490068 0.00871816
+v 0.42276257 0.00864379 0.01485237
+v 0.36033831 0.21736092 0.01494098
+v 0.33088409 0.23301886 0.00248476
+v 0.38967544 0.03838024 -0.00445649
+v 0.33028632 0.12927736 -0.02700431
+v 0.37438860 0.12924319 -0.00393038
+v 0.41558863 0.00742945 0.00938662
+v 0.34523807 0.18718465 -0.00436581
+v 0.40035412 0.09832450 0.00949867
+f 6 5 1
+f 6 4 5
+f 8 2 1
+f 8 1 5
+f 9 3 7
+f 10 1 2
+f 10 6 1
+f 11 7 3
+f 11 10 7
+f 11 6 10
+f 11 9 6
+f 11 3 9
+f 12 8 5
+f 12 5 4
+f 12 4 6
+f 12 6 9
+f 13 2 8
+f 14 8 12
+f 15 14 9
+f 15 13 8
+f 15 8 14
+f 16 10 2
+f 16 2 13
+f 17 14 12
+f 17 12 9
+f 17 9 14
+f 18 15 9
+f 18 9 7
+f 18 7 10
+f 18 10 16
+f 18 16 13
+f 18 13 15
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_18/collision/model_normalized_collision_4.obj b/objects/objaverse/cupcake/cupcake_18/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd6b08230283d7e3825b2c69edfad9d82bc5ad31
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_18/collision/model_normalized_collision_4.obj
@@ -0,0 +1,135 @@
+# https://github.com/mikedh/trimesh
+v 0.01259902 -0.24666485 0.45432596
+v 0.25783014 -0.00505363 0.39721567
+v 0.06260360 0.00876952 0.49074962
+v -0.20002062 0.17767339 0.41545218
+v -0.19969275 -0.23782421 0.41612599
+v 0.18013054 0.19257558 0.39507000
+v 0.17637838 -0.17957416 0.42792249
+v -0.11194321 -0.12138378 0.49176728
+v 0.19476575 0.06606698 0.42801186
+v 0.01497494 0.12984316 0.47659444
+v 0.18367615 0.19159804 0.39409668
+v 0.11222748 -0.00624653 0.47642592
+v 0.18527339 -0.21728465 0.40100414
+v -0.14108932 -0.22533399 0.44360697
+v 0.05342520 -0.13294756 0.48977053
+v -0.16292296 -0.07608670 0.47622859
+v 0.08998741 0.17157009 0.44276955
+v -0.01040731 0.00875355 0.49110001
+v 0.25504275 0.06513293 0.39191962
+v 0.11608097 -0.21075686 0.44228920
+v -0.05466511 -0.16112792 0.48893639
+v -0.19019188 -0.16987755 0.44368064
+v -0.15112620 0.06421500 0.47352125
+v -0.09650106 0.17002487 0.44273024
+v 0.13380172 0.16891141 0.43032044
+v -0.11699269 -0.08197063 0.49186435
+v 0.20384184 0.15633369 0.40070101
+v 0.24926295 0.06050814 0.39814394
+v 0.17624557 -0.20937031 0.41572416
+v -0.03950034 -0.22620066 0.45816046
+v -0.08180890 -0.14792700 0.49030374
+v -0.00080555 -0.16073502 0.48993460
+v -0.17702830 0.03367419 0.46199271
+v -0.09496133 0.11823316 0.47532608
+v 0.16592997 0.19237149 0.39873910
+v -0.06812724 0.13213086 0.47442322
+v 0.08181144 0.07506699 0.47468219
+v -0.16394606 0.03525804 0.47380092
+v 0.21106898 0.15797423 0.39469661
+v 0.14957562 0.15652994 0.42838169
+v 0.04055432 -0.14423765 0.48845056
+v -0.17899097 -0.07621771 0.46150077
+v -0.17100277 0.17237393 0.43049628
+v 0.09708504 0.04849730 0.47391413
+v 0.04175731 0.11679003 0.47548402
+v 0.11140928 0.00554155 0.47500164
+f 11 5 4
+f 11 4 6
+f 12 7 2
+f 12 2 9
+f 13 1 5
+f 14 8 5
+f 14 5 1
+f 15 3 8
+f 15 12 3
+f 15 7 12
+f 18 3 10
+f 19 2 13
+f 19 13 5
+f 19 5 11
+f 20 15 1
+f 20 7 15
+f 22 4 5
+f 22 5 8
+f 22 8 16
+f 25 11 6
+f 25 6 17
+f 26 8 3
+f 26 3 18
+f 26 16 8
+f 28 9 2
+f 28 2 19
+f 28 27 9
+f 29 7 20
+f 29 13 2
+f 29 2 7
+f 29 20 1
+f 29 1 13
+f 30 21 14
+f 30 14 1
+f 30 1 21
+f 31 8 14
+f 31 14 21
+f 32 21 1
+f 32 31 21
+f 32 15 8
+f 32 8 31
+f 33 4 22
+f 34 26 18
+f 34 23 26
+f 35 24 17
+f 35 17 6
+f 35 6 4
+f 35 4 24
+f 36 10 17
+f 36 17 24
+f 36 34 18
+f 36 18 10
+f 38 26 23
+f 38 16 26
+f 38 33 16
+f 38 23 4
+f 38 4 33
+f 39 19 11
+f 39 11 27
+f 39 28 19
+f 39 27 28
+f 40 9 27
+f 40 25 37
+f 40 27 11
+f 40 11 25
+f 41 32 1
+f 41 1 15
+f 41 15 32
+f 42 33 22
+f 42 22 16
+f 42 16 33
+f 43 4 23
+f 43 23 34
+f 43 34 36
+f 43 36 24
+f 43 24 4
+f 44 40 37
+f 44 9 40
+f 44 37 3
+f 44 3 12
+f 45 10 3
+f 45 3 37
+f 45 17 10
+f 45 37 25
+f 45 25 17
+f 46 44 12
+f 46 12 9
+f 46 9 44
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_18/collision/model_normalized_collision_5.obj b/objects/objaverse/cupcake/cupcake_18/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a86940c33df3c7808ad1a8e7fb049960faa29763
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_18/collision/model_normalized_collision_5.obj
@@ -0,0 +1,138 @@
+# https://github.com/mikedh/trimesh
+v 0.20855281 -0.42942851 0.12301223
+v 0.38662463 -0.19477312 0.02941971
+v 0.37914051 -0.00385582 0.26782616
+v -0.22855806 -0.00325536 0.28946042
+v -0.22407047 -0.00658493 -0.03157468
+v 0.07609586 -0.39896914 0.26575000
+v 0.35643091 -0.18986893 0.26335064
+v -0.03773344 -0.44141427 0.01852929
+v 0.37699672 -0.00388552 -0.01354953
+v 0.22854673 -0.42920013 0.09141528
+v 0.38649773 -0.19438269 0.09425274
+v 0.25205522 -0.30614616 0.26351279
+v -0.08073159 -0.41291486 0.25987335
+v 0.24633979 -0.00559955 -0.02976466
+v 0.21885057 -0.42121157 0.02009144
+v 0.04603286 -0.44186165 0.07798568
+v 0.36551770 -0.23591938 0.04218704
+v 0.20755366 -0.41051093 0.16327172
+v 0.21789163 -0.41379945 0.14815723
+v -0.00118187 -0.41282588 0.26130669
+v -0.17604015 -0.39803456 0.26322305
+v 0.00027462 -0.44112494 0.01828421
+v 0.37590668 -0.19787036 0.01504981
+v 0.23034296 -0.43004024 0.06952522
+v -0.03777249 -0.44213097 0.10841876
+v 0.36525426 -0.23563063 0.05221537
+v 0.13111877 -0.38030956 0.25786626
+v 0.22993579 -0.41473126 0.12248913
+v 0.21577820 -0.38712834 0.18984964
+v -0.21095282 -0.39621131 0.01981070
+v 0.22856429 -0.42233279 0.03043527
+v 0.22086410 -0.43064339 0.03397207
+v -0.08313032 -0.44154027 0.07782372
+v 0.00048647 -0.44109323 0.10786340
+v -0.21409313 -0.37257698 0.26234764
+v -0.18822911 -0.41053723 0.01839394
+v 0.29190943 -0.32194669 0.01876485
+v 0.04570703 -0.44100911 0.03350096
+v 0.21163773 -0.42813096 0.02216681
+v -0.19596272 -0.41168529 0.09232561
+v -0.15905686 -0.42741536 0.03799748
+v -0.21101643 -0.39640742 0.10738457
+v -0.18489585 -0.39864009 0.24903784
+v -0.19759995 -0.41404046 0.03318897
+v -0.08295559 -0.44076138 0.03339490
+v -0.19813934 -0.38527809 0.25972168
+v -0.15877633 -0.42585241 0.07766485
+f 7 3 4
+f 9 3 2
+f 9 5 4
+f 9 4 3
+f 11 2 3
+f 11 3 7
+f 11 7 10
+f 12 7 4
+f 12 4 6
+f 14 5 9
+f 15 14 9
+f 17 2 11
+f 18 6 1
+f 19 7 12
+f 19 18 1
+f 19 1 10
+f 20 1 6
+f 21 6 4
+f 21 20 6
+f 21 13 20
+f 22 8 5
+f 22 5 14
+f 22 14 15
+f 22 16 8
+f 23 15 9
+f 23 9 2
+f 24 10 1
+f 24 1 16
+f 25 8 16
+f 25 20 13
+f 26 17 11
+f 26 11 10
+f 26 24 17
+f 26 10 24
+f 27 12 6
+f 27 6 18
+f 28 19 10
+f 28 10 7
+f 28 7 19
+f 29 19 12
+f 29 18 19
+f 29 27 18
+f 29 12 27
+f 30 4 5
+f 31 17 24
+f 32 24 16
+f 32 31 24
+f 33 25 13
+f 33 13 21
+f 33 8 25
+f 34 25 16
+f 34 16 1
+f 34 1 20
+f 34 20 25
+f 35 21 4
+f 35 4 30
+f 36 30 5
+f 36 5 8
+f 37 31 15
+f 37 15 23
+f 37 23 2
+f 37 2 17
+f 37 17 31
+f 38 32 16
+f 38 16 22
+f 38 22 32
+f 39 32 22
+f 39 22 15
+f 39 15 31
+f 39 31 32
+f 42 40 35
+f 42 35 30
+f 43 35 40
+f 43 33 21
+f 44 30 36
+f 44 36 41
+f 44 42 30
+f 44 40 42
+f 45 41 36
+f 45 36 8
+f 45 8 33
+f 45 33 41
+f 46 43 21
+f 46 21 35
+f 46 35 43
+f 47 43 40
+f 47 41 33
+f 47 33 43
+f 47 44 41
+f 47 40 44
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_18/collision/model_normalized_collision_6.obj b/objects/objaverse/cupcake/cupcake_18/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..15dc70ff013c0c9b5d21b1fe2aac74033173237c
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_18/collision/model_normalized_collision_6.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v 0.30580346 0.19972549 -0.01704527
+v 0.28092337 0.18430090 -0.14136159
+v 0.17904376 0.39415142 0.01403416
+v -0.17441042 0.41166385 0.01224867
+v -0.22407229 0.20720423 -0.02990200
+v 0.04258595 0.30824023 -0.22507605
+v 0.31440259 0.29281847 0.01420900
+v 0.00398815 0.19229835 -0.03164239
+v 0.00191171 0.44052308 0.01244306
+v -0.22180635 0.20491999 -0.23392350
+v -0.10060158 0.42480834 0.01295791
+v 0.32128164 0.26665157 0.00889133
+v 0.21340830 0.20741840 -0.22445947
+v 0.13792931 0.40876059 0.01328604
+v -0.22820277 0.32063419 -0.01432948
+v -0.11049797 0.29285044 -0.22534761
+v 0.24961451 0.18185106 -0.19760686
+v -0.00975647 0.44033111 0.01273565
+v 0.09838084 0.28031927 -0.22462577
+v 0.28506434 0.31833790 0.01407283
+v 0.00821361 0.20883483 -0.25074284
+v 0.01305305 0.32516070 -0.21099472
+v -0.20893176 0.28501298 -0.13534011
+v 0.22574089 0.18681839 -0.23180938
+v 0.08250407 0.30955123 -0.19368301
+v 0.17452515 0.23250742 -0.22507699
+v -0.06512023 0.30847427 -0.22565879
+v -0.17886899 0.25225906 -0.22528636
+v -0.00872094 0.32400882 -0.21109475
+v -0.13623894 0.27935680 -0.22535475
+v -0.20880660 0.22273759 -0.22647903
+v -0.18573391 0.30899540 -0.13146347
+v -0.19239247 0.28227472 -0.16250032
+f 7 4 5
+f 8 2 1
+f 8 1 5
+f 10 8 5
+f 11 7 3
+f 11 4 7
+f 12 7 5
+f 12 5 1
+f 12 1 2
+f 12 2 7
+f 14 3 6
+f 15 10 5
+f 15 5 4
+f 17 2 8
+f 17 8 10
+f 17 7 2
+f 18 11 3
+f 18 14 9
+f 18 3 14
+f 20 13 3
+f 20 3 7
+f 20 7 13
+f 21 10 16
+f 22 14 6
+f 22 9 14
+f 22 18 9
+f 23 15 4
+f 23 10 15
+f 24 13 7
+f 24 7 17
+f 24 17 10
+f 24 10 21
+f 24 21 6
+f 24 6 19
+f 25 19 6
+f 25 6 3
+f 25 3 19
+f 26 19 3
+f 26 3 13
+f 26 24 19
+f 26 13 24
+f 27 21 16
+f 27 6 21
+f 27 22 6
+f 27 16 4
+f 27 4 11
+f 27 11 18
+f 29 27 18
+f 29 18 22
+f 29 22 27
+f 30 16 10
+f 30 10 28
+f 30 28 4
+f 30 4 16
+f 31 28 10
+f 31 10 23
+f 31 23 28
+f 32 23 4
+f 32 4 28
+f 33 32 28
+f 33 28 23
+f 33 23 32
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_18/collision/model_normalized_collision_7.obj b/objects/objaverse/cupcake/cupcake_18/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..83a7a8f1033e179cff1639b1fff57cc9dcff0232
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_18/collision/model_normalized_collision_7.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.21469620 -0.41316730 0.01155012
+v 0.26263643 -0.25909108 -0.01972878
+v -0.29656627 -0.33506959 0.01324543
+v -0.29956189 -0.20283885 -0.03858805
+v -0.15315080 -0.30456849 -0.11738152
+v -0.31704208 -0.21424315 -0.02385126
+v 0.24353017 -0.34971901 0.01382467
+v 0.08178502 -0.31978628 -0.10300590
+v -0.05466019 -0.43498505 0.01342746
+v 0.25880419 -0.23104725 -0.03338802
+v -0.19771111 -0.28100465 -0.10891356
+v -0.20821083 -0.20256402 -0.02975936
+v -0.18823550 -0.40742554 0.01369044
+v 0.01717036 -0.43502169 0.01309829
+v 0.25098836 -0.22321811 -0.05133579
+v -0.18472521 -0.29195084 -0.10800732
+v -0.20534155 -0.22845877 -0.11023663
+v -0.14210113 -0.31252188 -0.10999545
+v -0.16977632 -0.24362095 -0.12059465
+v 0.00390971 -0.23286816 -0.09848485
+f 7 1 2
+f 7 6 3
+f 11 3 6
+f 12 7 2
+f 12 6 7
+f 12 2 10
+f 12 4 6
+f 13 3 5
+f 13 5 9
+f 13 9 7
+f 13 7 3
+f 14 1 7
+f 14 7 9
+f 14 8 1
+f 15 10 2
+f 15 2 1
+f 15 1 8
+f 15 12 10
+f 16 11 5
+f 16 5 3
+f 16 3 11
+f 17 11 6
+f 17 6 4
+f 17 4 12
+f 17 12 15
+f 18 14 9
+f 18 9 5
+f 18 5 8
+f 18 8 14
+f 19 5 11
+f 19 11 17
+f 19 8 5
+f 20 19 17
+f 20 17 15
+f 20 15 8
+f 20 8 19
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_18/collision/model_normalized_collision_8.obj b/objects/objaverse/cupcake/cupcake_18/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a01b2aff145b289aefddf49a8a81efb4f47712d
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_18/collision/model_normalized_collision_8.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v 0.24605288 -0.33848427 0.00830309
+v 0.36331758 -0.21480613 0.01447892
+v 0.33195758 0.26398130 0.01448874
+v 0.29649284 0.26988589 -0.00449426
+v 0.22452242 -0.03413617 -0.35263185
+v 0.23118172 0.19137295 -0.02975969
+v 0.27210257 -0.33181192 0.01414679
+v 0.33443267 0.05638245 -0.12357053
+v 0.22589601 0.14393909 -0.29285697
+v 0.22283661 -0.13642563 -0.27538156
+v 0.34465894 -0.24266444 0.01479533
+v 0.37668059 -0.02302054 -0.01335511
+v 0.22574089 0.18681839 -0.23180938
+v 0.22285783 0.06827792 -0.35196770
+v 0.23118828 -0.02075106 -0.02976537
+v 0.22439928 -0.06332847 -0.33729200
+v 0.22231964 -0.10790184 -0.30581587
+v 0.31341122 -0.28745853 0.01454086
+v 0.30231614 -0.03240108 -0.19527794
+v 0.28667805 0.26414191 -0.00963823
+v 0.22194364 0.09702364 -0.33633381
+v 0.24220806 -0.33240367 0.00310132
+v 0.28743173 -0.07598537 -0.20951238
+v 0.31778342 -0.06312924 -0.15039761
+v 0.30366169 0.05010648 -0.19556165
+v 0.31771873 0.11115613 -0.13727377
+v 0.22816173 -0.06139298 -0.33155353
+v 0.22832504 -0.03113316 -0.34678912
+v 0.30232013 0.13672208 -0.14874559
+v 0.33296638 0.06591454 -0.12198236
+v 0.31898253 0.08130977 -0.14933761
+v 0.22614762 0.09294560 -0.33091231
+v 0.22629091 0.06562553 -0.34620617
+f 6 1 3
+f 6 3 4
+f 7 3 1
+f 10 7 1
+f 11 2 3
+f 12 8 3
+f 12 3 2
+f 13 4 3
+f 13 3 9
+f 15 6 10
+f 17 2 11
+f 17 16 2
+f 17 5 16
+f 17 14 5
+f 18 7 10
+f 18 17 11
+f 18 10 17
+f 18 11 3
+f 18 3 7
+f 19 8 12
+f 20 13 6
+f 20 6 4
+f 20 4 13
+f 21 10 6
+f 21 6 13
+f 21 17 10
+f 21 14 17
+f 21 13 9
+f 22 15 10
+f 22 10 1
+f 22 1 6
+f 22 6 15
+f 24 19 12
+f 24 12 2
+f 24 23 19
+f 24 2 23
+f 25 8 19
+f 27 16 5
+f 27 5 23
+f 27 23 2
+f 27 2 16
+f 28 23 5
+f 28 19 23
+f 28 25 19
+f 28 5 14
+f 29 26 21
+f 29 21 9
+f 29 9 3
+f 29 3 26
+f 30 26 3
+f 30 3 8
+f 30 8 26
+f 31 26 8
+f 31 8 25
+f 31 25 14
+f 31 14 26
+f 32 26 14
+f 32 14 21
+f 32 21 26
+f 33 28 14
+f 33 14 25
+f 33 25 28
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_18/collision/model_normalized_collision_9.obj b/objects/objaverse/cupcake/cupcake_18/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e47c58b2baab54e4c640cae4f1c064ffd7a6be02
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_18/collision/model_normalized_collision_9.obj
@@ -0,0 +1,147 @@
+# https://github.com/mikedh/trimesh
+v 0.09064959 -0.20426985 -0.34925551
+v 0.21887956 -0.06099057 -0.34950014
+v 0.21652214 0.09500409 -0.34880046
+v 0.19416052 0.14061224 -0.35211122
+v 0.00696779 -0.09260166 -0.49995150
+v 0.00214109 -0.22067666 -0.35094479
+v 0.11842758 -0.18984705 -0.34890312
+v 0.14174870 -0.01773028 -0.49165010
+v 0.01702624 -0.21884057 -0.35017433
+v 0.20415873 0.12633784 -0.35018665
+v 0.04491735 0.11091366 -0.36782454
+v 0.05700972 -0.12803185 -0.49237381
+v 0.16772365 0.06552128 -0.46776377
+v 0.00390971 -0.08135302 -0.36262415
+v 0.05993541 -0.15659540 -0.46276472
+v 0.12721114 -0.06030211 -0.49191894
+v 0.21144196 0.06569829 -0.37730291
+v 0.16831219 -0.03171187 -0.46569633
+v 0.16617093 0.09354825 -0.45184846
+v 0.06090700 0.13924079 -0.49850864
+v 0.03157511 0.11306981 -0.40707873
+v 0.00262654 -0.14171740 -0.49387914
+v 0.08448020 -0.16793014 -0.42107214
+v 0.02880136 -0.18403855 -0.42322130
+v 0.12585515 -0.11284180 -0.46435812
+v 0.15627889 -0.03235724 -0.47608793
+v 0.21286955 -0.03105738 -0.37711553
+v 0.15382133 0.10394050 -0.46801670
+v 0.00135358 -0.18818427 -0.42536480
+v 0.01450674 -0.14153279 -0.49294590
+v 0.01626773 -0.21369880 -0.36248308
+v 0.11121107 -0.12540617 -0.46403579
+v 0.08395998 -0.11372141 -0.49081665
+v 0.15297048 -0.07306609 -0.46504322
+v 0.19023278 -0.11930777 -0.34963069
+v 0.18482751 0.13440609 -0.37665494
+v 0.14141238 0.05317418 -0.48988064
+v 0.00137811 -0.21549597 -0.36330144
+v 0.12717701 -0.17040509 -0.37555354
+v 0.11200521 -0.08681364 -0.49045734
+v 0.16731747 -0.05787565 -0.45208028
+v 0.15272947 -0.11376090 -0.42086357
+v 0.19874057 0.12432740 -0.36264950
+v 0.11768388 0.13655541 -0.47615883
+v 0.14066320 -0.07428820 -0.47494055
+v 0.16804123 -0.12903562 -0.37599344
+v 0.14005183 0.13487915 -0.45376669
+v 0.12884282 0.09271175 -0.48811649
+v 0.08756883 0.13418482 -0.49109003
+v 0.14407690 0.10800744 -0.47309239
+f 7 2 3
+f 9 7 3
+f 9 1 7
+f 10 4 6
+f 10 9 3
+f 10 6 9
+f 11 6 4
+f 14 6 11
+f 16 12 5
+f 16 5 8
+f 17 13 3
+f 17 3 2
+f 18 8 13
+f 19 10 3
+f 19 3 13
+f 20 8 5
+f 20 11 4
+f 21 14 11
+f 21 5 14
+f 21 20 5
+f 21 11 20
+f 22 14 5
+f 22 5 12
+f 23 7 1
+f 23 1 15
+f 24 15 1
+f 26 16 8
+f 26 8 18
+f 27 17 2
+f 27 2 18
+f 27 18 13
+f 27 13 17
+f 28 19 13
+f 29 14 22
+f 29 15 24
+f 30 22 12
+f 30 12 15
+f 30 29 22
+f 30 15 29
+f 31 24 1
+f 31 1 9
+f 31 29 24
+f 31 9 6
+f 32 15 12
+f 32 23 15
+f 33 12 16
+f 33 32 12
+f 33 25 32
+f 34 26 18
+f 34 16 26
+f 35 2 7
+f 37 28 13
+f 37 13 8
+f 37 8 20
+f 38 6 14
+f 38 14 29
+f 38 31 6
+f 38 29 31
+f 39 32 25
+f 39 7 23
+f 39 23 32
+f 39 35 7
+f 40 33 16
+f 40 25 33
+f 41 34 18
+f 41 18 2
+f 41 35 34
+f 41 2 35
+f 42 25 34
+f 42 34 35
+f 43 28 36
+f 43 10 19
+f 43 19 28
+f 43 36 4
+f 43 4 10
+f 44 20 4
+f 45 34 25
+f 45 25 40
+f 45 40 16
+f 45 16 34
+f 46 39 25
+f 46 25 42
+f 46 42 35
+f 46 35 39
+f 47 36 28
+f 47 28 44
+f 47 44 4
+f 47 4 36
+f 48 37 20
+f 48 28 37
+f 49 48 20
+f 49 20 44
+f 49 44 48
+f 50 48 44
+f 50 44 28
+f 50 28 48
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_18/model.xml b/objects/objaverse/cupcake/cupcake_18/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..7eabbec71798cd834069a846214cc275597309f0
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_18/model.xml
@@ -0,0 +1,89 @@
+<mujoco model="cupcake_19">
+  <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="visual/model_normalized_1.obj" name="model_normalized_1_vis" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="visual/model_normalized_2.obj" name="model_normalized_2_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="image3" file="visual/image3.png"/>
+    <texture type="2d" name="image5" file="visual/image5.png"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="cake" texture="image3" specular="0.5" shininess="0.200000368"/>
+    <material name="emballage_vrai" texture="image5" specular="0.5" shininess="0.200000368"/>
+    <material name="glacage" 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="emballage_vrai"/>
+        <geom solimp="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="cake"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_2_vis" conaffinity="0" contype="0" group="1" material="glacage"/>
+        <geom solimp="0.998 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"/>
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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_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_13._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+      </body>
+      <site rgba="0 0 0 0" size="0.005" pos="-0.00014431654999999934 0.0001541973999999996 -0.034996605" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="-0.00014431654999999934 0.0001541973999999996 0.0349753782" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.0321806296 0.031257562700000005 -1.0613399999999386e-05" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/objects/objaverse/cupcake/cupcake_18/visual/material.mtl b/objects/objaverse/cupcake/cupcake_18/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fbcf6b4b1af9257e08a0fd6e283841743ce8fad5
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_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/cupcake/cupcake_18/visual/model_normalized_0.obj b/objects/objaverse/cupcake/cupcake_18/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe64c49b3a3ecb0202c425729f29e3263baf558c
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_18/visual/model_normalized_0.obj
@@ -0,0 +1,3088 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/objects/objaverse/cupcake/cupcake_18/visual/model_normalized_1.obj b/objects/objaverse/cupcake/cupcake_18/visual/model_normalized_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..511639d45cf62387f0f92f5344cafe0323dad838
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_18/visual/model_normalized_1.obj
@@ -0,0 +1,1639 @@
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diff --git a/objects/objaverse/cupcake/cupcake_18/visual/model_normalized_2.obj b/objects/objaverse/cupcake/cupcake_18/visual/model_normalized_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..980308521ef7e72144c55ad8941fccaedaf984ac
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_18/visual/model_normalized_2.obj
@@ -0,0 +1,7237 @@
+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_2/collision/model_normalized_collision_0.obj b/objects/objaverse/cupcake/cupcake_2/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef0b2f77ce6a27a0ce71851a381ec834185ba908
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_2/collision/model_normalized_collision_0.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v 0.26058687 -0.31358654 0.08280901
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\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_2/collision/model_normalized_collision_1.obj b/objects/objaverse/cupcake/cupcake_2/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b57e50664fc1538b79ba9f3ce46da9ff4d9ac70e
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_2/collision/model_normalized_collision_1.obj
@@ -0,0 +1,117 @@
+# https://github.com/mikedh/trimesh
+v 0.25841796 0.20187331 0.25955639
+v 0.35332575 0.20272316 0.00760623
+v 0.31330553 0.29984721 0.07448439
+v -0.00152224 0.43290910 0.07621428
+v -0.21741292 0.21298471 -0.01398954
+v 0.27264116 0.32246489 0.00646760
+v 0.02084431 0.36869796 0.20822653
+v 0.34875274 0.20115318 0.07609980
+v 0.31103283 0.30376506 0.00771986
+v 0.02999350 0.42810506 0.07598598
+v -0.00136499 0.43327881 0.00748069
+v 0.30347745 0.30849047 0.00654021
+v 0.25222855 0.23250990 0.25366969
+v -0.20987415 0.20740509 0.28093826
+v 0.34037806 0.22829580 0.07417676
+v -0.20032299 0.34695218 0.00751366
+v 0.01640739 0.43010569 0.00864880
+v 0.03074199 0.42813641 0.06938382
+v 0.27756071 0.22918321 0.20954173
+v 0.04784146 0.25481510 0.29413453
+v 0.26743169 0.20029841 0.24262107
+v -0.19747133 0.29266274 0.20752248
+v -0.12094916 0.38319982 0.07751905
+v -0.19900231 0.34308569 0.08601371
+v 0.16713039 0.36759003 0.00877385
+v 0.01250418 0.33860791 0.25503171
+v 0.10992850 0.21193724 0.29843953
+v 0.28373763 0.20062439 0.21295617
+v -0.18250254 0.30674276 0.19377118
+v -0.18216011 0.35406605 0.08185128
+v 0.08013136 0.30135600 0.26029702
+v -0.12654842 0.21269475 0.29930250
+v -0.15479616 0.26875901 0.26493771
+v 0.12047418 0.29031838 0.25495505
+v -0.01941376 0.25563626 0.29211608
+v -0.07601432 0.30716586 0.25252507
+v -0.19715101 0.26151159 0.25238585
+v -0.01949634 0.31650548 0.26235145
+v -0.15804884 0.21712901 0.29183315
+v -0.07946820 0.29969650 0.26136929
+f 8 5 2
+f 9 3 2
+f 10 7 3
+f 10 4 7
+f 11 6 5
+f 12 2 5
+f 12 5 6
+f 12 9 2
+f 12 3 9
+f 12 10 3
+f 12 6 10
+f 13 3 7
+f 14 5 8
+f 15 8 2
+f 15 2 3
+f 16 11 5
+f 17 6 11
+f 18 11 4
+f 18 4 10
+f 18 17 11
+f 18 10 6
+f 19 13 1
+f 19 8 15
+f 19 15 3
+f 19 3 13
+f 21 14 8
+f 21 1 14
+f 23 4 11
+f 23 11 16
+f 24 16 5
+f 24 5 14
+f 24 14 22
+f 25 18 6
+f 25 6 17
+f 25 17 18
+f 26 13 7
+f 27 14 1
+f 27 1 13
+f 27 13 20
+f 28 19 1
+f 28 1 21
+f 28 21 8
+f 28 8 19
+f 29 7 4
+f 29 4 23
+f 29 24 22
+f 29 26 7
+f 29 22 26
+f 30 23 16
+f 30 16 24
+f 30 29 23
+f 30 24 29
+f 31 26 20
+f 31 20 13
+f 32 27 20
+f 32 14 27
+f 34 31 13
+f 34 13 26
+f 34 26 31
+f 35 32 20
+f 35 20 26
+f 36 26 22
+f 37 22 14
+f 37 14 33
+f 37 36 22
+f 37 33 36
+f 38 35 26
+f 38 32 35
+f 39 33 14
+f 39 14 32
+f 39 32 38
+f 40 36 33
+f 40 26 36
+f 40 38 26
+f 40 39 38
+f 40 33 39
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_2/collision/model_normalized_collision_10.obj b/objects/objaverse/cupcake/cupcake_2/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cb579b11a18ff2867589d903c34da307cac9b9de
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_2/collision/model_normalized_collision_10.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.23378210 -0.33907594 -0.23389489
+v 0.41735233 -0.02023246 -0.22962063
+v 0.25571700 -0.32655218 -0.22872678
+v 0.33947069 0.23309061 -0.23405779
+v 0.33923389 -0.00461132 -0.50000000
+v 0.35729250 0.20959940 -0.22890722
+v 0.23532612 0.20406784 -0.23484847
+v 0.38724329 -0.16486473 -0.22876186
+v 0.24052289 -0.24052289 -0.50000000
+v 0.31181537 0.13382670 -0.50000000
+v 0.34525066 0.22682873 -0.23019047
+v 0.32184602 -0.11022709 -0.48698746
+v 0.29823730 -0.29823751 -0.22849279
+v 0.38763808 0.16417328 -0.22892477
+v 0.23233165 -0.24599612 -0.50000000
+v 0.23532612 0.20406784 -0.50000000
+v 0.26978894 0.19672337 -0.50000000
+v 0.32416160 -0.08038466 -0.50000000
+v 0.31137410 -0.13448710 -0.50000000
+v 0.41751586 0.01930975 -0.22967784
+v 0.22709407 -0.25330909 -0.48838089
+v 0.33941667 0.00369243 -0.50000000
+v 0.22861398 -0.33134131 -0.26100610
+v 0.32201610 0.10930568 -0.48703481
+v 0.32434438 0.07946577 -0.50000000
+f 7 1 3
+f 7 3 6
+f 10 5 9
+f 11 7 6
+f 11 4 7
+f 12 2 8
+f 13 6 3
+f 14 8 2
+f 14 13 8
+f 14 6 13
+f 14 10 6
+f 15 3 1
+f 15 10 9
+f 15 13 3
+f 15 9 13
+f 16 7 4
+f 16 10 15
+f 17 4 11
+f 17 16 4
+f 17 10 16
+f 17 11 6
+f 17 6 10
+f 18 5 2
+f 18 2 12
+f 18 9 5
+f 19 12 8
+f 19 18 12
+f 19 9 18
+f 19 13 9
+f 19 8 13
+f 20 14 2
+f 21 15 1
+f 21 16 15
+f 21 7 16
+f 22 20 2
+f 22 2 5
+f 22 5 10
+f 23 21 1
+f 23 1 7
+f 23 7 21
+f 24 10 14
+f 24 14 20
+f 25 22 10
+f 25 10 24
+f 25 24 20
+f 25 20 22
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_2/collision/model_normalized_collision_11.obj b/objects/objaverse/cupcake/cupcake_2/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4478cf9529b9b6d44f99392c3006cfc930fd3e27
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_2/collision/model_normalized_collision_11.obj
@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
+v 0.00969584 -0.14981974 0.42527625
+v 0.17874497 -0.00681641 0.42434320
+v -0.00069269 0.01190706 0.49251891
+v 0.01086345 0.21005038 0.39434914
+v -0.09383132 -0.16716895 0.39413486
+v 0.12587654 0.13610235 0.41365066
+v 0.00423318 -0.01036548 0.49030943
+v -0.08072915 -0.17087469 0.39775679
+v 0.16442000 0.12515355 0.39218901
+v -0.15157638 0.09366898 0.41360934
+v 0.15815813 0.09067392 0.41601753
+v 0.01299232 0.20310409 0.40407175
+v 0.01170714 0.00056968 0.49133917
+v -0.16320463 -0.01103728 0.42014761
+v -0.13692737 -0.13260116 0.40511807
+v -0.07920709 0.17988392 0.39209720
+v 0.15610722 0.13675760 0.39550616
+v 0.05147470 0.16884492 0.41312563
+v 0.01158445 -0.00294591 0.49037799
+v -0.01136683 0.00100274 0.49238132
+v -0.14077474 -0.13935568 0.39634667
+v -0.07710722 -0.16432532 0.40650705
+v -0.12400000 -0.15144967 0.39322441
+v 0.01852240 0.21039837 0.39324536
+v -0.12416427 0.13967646 0.41324165
+v 0.15153833 0.13116038 0.40438265
+v -0.00098087 -0.01098353 0.49100346
+v -0.13872418 -0.09588352 0.41259225
+v -0.15116854 0.12435832 0.39415416
+v 0.07876793 0.17914855 0.39276021
+v -0.03563962 0.16855664 0.41354410
+v -0.07637125 0.17286361 0.39992871
+v -0.01287747 0.01331552 0.48843556
+v -0.09407255 -0.13957658 0.41377386
+v -0.13916320 0.14117994 0.39726496
+f 7 1 2
+f 8 2 1
+f 9 8 5
+f 9 2 8
+f 11 6 3
+f 11 2 9
+f 13 11 3
+f 13 2 11
+f 16 12 4
+f 18 12 3
+f 18 3 6
+f 18 6 12
+f 19 13 7
+f 19 7 2
+f 19 2 13
+f 20 13 3
+f 20 10 14
+f 21 5 8
+f 21 15 14
+f 22 8 1
+f 22 21 8
+f 22 15 21
+f 23 16 9
+f 23 9 5
+f 23 5 21
+f 24 16 4
+f 24 4 12
+f 24 12 6
+f 25 10 20
+f 26 11 9
+f 26 9 17
+f 26 6 11
+f 26 24 6
+f 26 17 24
+f 27 7 13
+f 27 13 20
+f 27 20 15
+f 27 22 1
+f 27 1 7
+f 28 20 14
+f 28 14 15
+f 28 15 20
+f 29 23 21
+f 29 16 23
+f 29 21 14
+f 29 14 10
+f 30 9 16
+f 30 16 24
+f 30 24 17
+f 30 17 9
+f 31 25 3
+f 31 3 12
+f 31 12 25
+f 32 25 12
+f 32 12 16
+f 32 16 25
+f 33 25 20
+f 33 20 3
+f 33 3 25
+f 34 27 15
+f 34 15 22
+f 34 22 27
+f 35 25 16
+f 35 16 29
+f 35 29 10
+f 35 10 25
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_2/collision/model_normalized_collision_12.obj b/objects/objaverse/cupcake/cupcake_2/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9bf06e3c89016d7bf045bb721ed795ab6feade81
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_2/collision/model_normalized_collision_12.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v -0.07761040 -0.40408752 0.07523975
+v -0.07793683 -0.40516728 0.00743401
+v -0.08841926 -0.24500585 0.27474434
+v -0.20358697 -0.23371211 0.26200097
+v -0.20204088 -0.35156781 -0.01710719
+v -0.07850662 -0.32840632 0.20806406
+v -0.18466251 -0.36532348 -0.04691894
+v -0.19735795 -0.35509498 0.07666945
+v -0.08007053 -0.28721134 0.25344608
+v -0.11147432 -0.39352468 -0.04807288
+v -0.20078166 -0.23040802 -0.01504223
+v -0.19874082 -0.24972999 0.25090286
+v -0.09011196 -0.32337254 0.20934214
+v -0.19773808 -0.35622583 -0.01453945
+v -0.09302603 -0.28645599 -0.01398954
+v -0.09656369 -0.39473566 -0.04661507
+f 6 1 2
+f 8 4 5
+f 8 7 1
+f 9 3 4
+f 9 6 2
+f 10 2 1
+f 10 1 7
+f 11 7 5
+f 11 5 4
+f 11 4 3
+f 11 10 7
+f 12 4 8
+f 12 9 4
+f 13 8 1
+f 13 1 6
+f 13 12 8
+f 13 6 9
+f 13 9 12
+f 14 8 5
+f 14 5 7
+f 14 7 8
+f 15 9 2
+f 15 3 9
+f 15 11 3
+f 16 15 2
+f 16 2 10
+f 16 10 11
+f 16 11 15
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_2/collision/model_normalized_collision_13.obj b/objects/objaverse/cupcake/cupcake_2/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a7d2651a3153bd357d5a86904242e8919682f94
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_2/collision/model_normalized_collision_13.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.20502309 0.20406784 -0.35606060
+v 0.20502309 0.20406784 -0.50000000
+v 0.16446553 0.34023601 -0.35102384
+v -0.04967839 0.37143591 -0.35204017
+v -0.20406784 0.20406784 -0.50000000
+v 0.01936895 0.33629841 -0.50000000
+v -0.20406784 0.20406784 -0.35606060
+v 0.19909154 0.31640279 -0.35314718
+v 0.05059981 0.37126584 -0.35199287
+v -0.13426796 0.31152052 -0.50000000
+v 0.13492836 0.31107926 -0.50000000
+v -0.00358180 0.36820825 -0.39659671
+v -0.20492465 0.31141075 -0.35648144
+v 0.12637205 0.35618818 -0.35201340
+v 0.19782503 0.26905283 -0.50000000
+v 0.00450324 0.36803814 -0.39654938
+v -0.09422339 0.32140890 -0.50000000
+v -0.12514601 0.33967511 -0.41224064
+v -0.19716463 0.26949409 -0.50000000
+v 0.14725298 0.33715147 -0.39546606
+v 0.09514228 0.32122612 -0.50000000
+v -0.01845006 0.33648119 -0.50000000
+v -0.14667255 0.32256100 -0.44110473
+v -0.12439530 0.33590101 -0.42634210
+v 0.12531668 0.33573093 -0.42629477
+f 5 2 1
+f 6 2 5
+f 7 1 3
+f 7 3 4
+f 7 5 1
+f 8 1 2
+f 8 3 1
+f 9 4 3
+f 10 6 5
+f 11 2 6
+f 12 4 9
+f 13 7 4
+f 13 5 7
+f 14 9 3
+f 15 11 8
+f 15 8 2
+f 15 2 11
+f 16 12 9
+f 16 6 12
+f 16 14 6
+f 16 9 14
+f 17 6 10
+f 18 13 4
+f 18 4 12
+f 19 13 10
+f 19 10 5
+f 19 5 13
+f 20 14 3
+f 20 3 8
+f 20 8 11
+f 21 11 6
+f 22 12 6
+f 22 6 17
+f 22 18 12
+f 22 17 18
+f 23 18 10
+f 23 10 13
+f 23 13 18
+f 24 18 17
+f 24 17 10
+f 24 10 18
+f 25 20 11
+f 25 14 20
+f 25 11 21
+f 25 21 6
+f 25 6 14
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_2/collision/model_normalized_collision_14.obj b/objects/objaverse/cupcake/cupcake_2/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c68aea7f0791e00afb7186c6027dfc912cd206d3
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_2/collision/model_normalized_collision_14.obj
@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
+v -0.14315758 -0.24945662 0.26315850
+v -0.14135896 -0.24341965 0.26652569
+v -0.25038912 0.02981829 0.34456117
+v -0.15567789 0.27205328 0.25973396
+v -0.14346178 -0.00805338 0.26515155
+v -0.27913004 0.12799363 0.26465897
+v -0.13692737 -0.13260116 0.40511807
+v -0.24825006 -0.20447439 0.26206260
+v -0.15258498 0.18168052 0.36194685
+v -0.13753430 -0.19385802 0.34465915
+v -0.15479616 0.26875901 0.26493771
+v -0.24937094 0.01178895 0.34541326
+v -0.26702031 0.16793426 0.25608085
+v -0.19679500 0.01777568 0.41421588
+v -0.18778856 -0.24669237 0.25776262
+v -0.17931021 -0.17177752 0.34456309
+v -0.14202647 -0.00712058 0.42599350
+v -0.23202152 0.22640220 0.26790605
+v -0.21990679 0.01528438 0.38930060
+v -0.18949010 -0.15272054 0.35515635
+v -0.16950226 0.26853939 0.25728459
+v -0.14848084 0.10705141 0.40787837
+v -0.19543783 -0.00345747 0.41341870
+v -0.26074054 0.16507488 0.26678398
+v -0.17608360 -0.14833105 0.36920084
+v -0.21448929 0.25215000 0.25642173
+v -0.15528396 0.06559969 0.41670024
+v -0.16886995 0.06464408 0.41384131
+v -0.15412959 -0.06574549 0.41362258
+v -0.20034890 -0.01723753 0.40308237
+v -0.14980869 -0.12988491 0.40092443
+v -0.23747337 0.22835086 0.25799664
+v -0.21203991 0.24566475 0.26705268
+v -0.16898461 -0.05040129 0.41241936
+v -0.13982494 -0.06629587 0.41705933
+f 5 2 1
+f 5 1 4
+f 10 1 2
+f 10 2 5
+f 10 5 7
+f 11 7 5
+f 11 5 4
+f 12 3 6
+f 12 6 8
+f 13 8 6
+f 15 1 10
+f 15 8 13
+f 16 10 7
+f 16 15 10
+f 16 8 15
+f 17 7 11
+f 18 13 6
+f 19 3 12
+f 19 12 8
+f 19 6 3
+f 20 8 16
+f 21 4 1
+f 21 1 15
+f 21 11 4
+f 22 17 11
+f 22 11 9
+f 22 9 18
+f 23 17 14
+f 23 14 19
+f 24 18 6
+f 24 6 19
+f 24 19 14
+f 24 14 18
+f 25 20 16
+f 25 16 7
+f 26 21 15
+f 26 15 13
+f 26 11 21
+f 27 14 17
+f 27 17 22
+f 28 22 18
+f 28 18 14
+f 28 27 22
+f 28 14 27
+f 30 23 19
+f 30 19 8
+f 30 8 20
+f 30 20 23
+f 31 25 7
+f 31 23 20
+f 31 20 25
+f 32 26 13
+f 32 13 18
+f 32 18 26
+f 33 26 18
+f 33 18 9
+f 33 9 11
+f 33 11 26
+f 34 7 29
+f 34 31 7
+f 34 23 31
+f 34 17 23
+f 35 29 7
+f 35 7 17
+f 35 34 29
+f 35 17 34
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_2/collision/model_normalized_collision_15.obj b/objects/objaverse/cupcake/cupcake_2/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8381016a21d52815b036c5c16795eb4b1df319ec
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_2/collision/model_normalized_collision_15.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v 0.02023247 -0.41735234 -0.22962063
+v 0.23532612 -0.23532612 -0.50000000
+v 0.23532612 -0.23532612 -0.23484847
+v -0.20406784 -0.23532612 -0.23484847
+v -0.19672337 -0.26978894 -0.50000000
+v 0.21029089 -0.35689774 -0.22874431
+v 0.00461132 -0.33923389 -0.50000000
+v -0.22682872 -0.34525064 -0.23019046
+v -0.20406784 -0.23532612 -0.50000000
+v 0.22752023 -0.34485591 -0.23002757
+v 0.16486475 -0.38724328 -0.22876186
+v -0.20959939 -0.35729249 -0.22890721
+v -0.23309060 -0.33947067 -0.23405778
+v 0.22533255 -0.25067280 -0.50000000
+v 0.11022709 -0.32184599 -0.48698748
+v -0.16417327 -0.38763808 -0.22892477
+v 0.08038466 -0.32416160 -0.50000000
+v 0.13448710 -0.31137410 -0.50000000
+v -0.01930974 -0.41751585 -0.22967783
+v -0.13382670 -0.31181537 -0.50000000
+v -0.00369243 -0.33941667 -0.50000000
+v -0.07946577 -0.32434438 -0.50000000
+v -0.10930568 -0.32201613 -0.48703479
+f 3 2 4
+f 6 3 4
+f 7 5 2
+f 9 4 2
+f 9 2 5
+f 10 2 3
+f 10 3 6
+f 12 6 4
+f 12 4 8
+f 12 11 6
+f 12 8 5
+f 13 8 4
+f 13 4 9
+f 13 9 5
+f 13 5 8
+f 14 10 6
+f 14 2 10
+f 14 7 2
+f 15 11 1
+f 16 1 11
+f 16 11 12
+f 17 15 1
+f 17 1 7
+f 17 7 14
+f 18 11 15
+f 18 14 6
+f 18 6 11
+f 18 17 14
+f 18 15 17
+f 19 1 16
+f 20 5 7
+f 20 16 12
+f 20 12 5
+f 21 7 1
+f 21 1 19
+f 21 20 7
+f 22 21 19
+f 22 20 21
+f 23 16 20
+f 23 20 22
+f 23 22 19
+f 23 19 16
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_2/collision/model_normalized_collision_16.obj b/objects/objaverse/cupcake/cupcake_2/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c3ac683456406e1e4c7cfdf3e841bf0c7af3041d
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_2/collision/model_normalized_collision_16.obj
@@ -0,0 +1,150 @@
+# https://github.com/mikedh/trimesh
+v -0.19840880 -0.26901336 0.21449469
+v -0.19876164 -0.27088670 0.14737483
+v -0.19853586 0.28032979 0.22463869
+v -0.20000633 0.29838982 0.19772268
+v -0.37073366 0.04502209 0.18339386
+v -0.19924015 0.29356231 0.16907179
+v -0.27935414 -0.22917242 0.18204252
+v -0.23616092 -0.01262812 0.30714449
+v -0.24851727 0.28352077 0.19297949
+v -0.35840082 0.04694796 0.13164692
+v -0.26851572 -0.24661312 0.12787026
+v -0.20644951 -0.12535107 0.31117041
+v -0.22756945 0.29212020 0.19199278
+v -0.23274868 0.24114180 0.25519105
+v -0.25551753 0.27367123 0.13261840
+v -0.21510549 -0.27267162 0.13079489
+v -0.25655551 -0.24874790 0.19708231
+v -0.35961215 -0.01827775 0.13239296
+v -0.19940943 -0.25528892 0.24445006
+v -0.32618090 -0.00249889 0.26584057
+v -0.22960309 0.29376790 0.18409944
+v -0.22831366 0.24863610 0.25397236
+v -0.36821552 0.04423237 0.19273788
+v -0.28265250 0.21361885 0.13165615
+v -0.22986150 0.28385173 0.13283750
+v -0.26664766 -0.23774934 0.21098220
+v -0.22605751 -0.26349400 0.19690307
+v -0.35330597 -0.04674077 0.18623546
+v -0.36963625 0.01398770 0.16439533
+v -0.20066491 0.25566389 0.25887110
+v -0.24093812 0.09414367 0.29345603
+v -0.20205242 0.28953927 0.13781237
+v -0.32279197 0.02938194 0.26640801
+v -0.27799745 -0.22895241 0.19563939
+v -0.24711098 -0.22740527 0.25563174
+v -0.29221619 -0.19796758 0.18318559
+v -0.36677289 -0.00069125 0.19391176
+v -0.36972811 0.02937082 0.16884966
+v -0.22952347 0.09522112 0.29742654
+v -0.33801505 0.01327522 0.25527082
+v -0.28021055 0.12161010 0.26723688
+v -0.27044912 0.03323758 0.29220012
+v -0.27098532 -0.15582953 0.26133893
+v -0.20178835 -0.22767514 0.26536817
+v -0.36927483 -0.00151036 0.18253600
+v -0.30552764 0.13359300 0.22311927
+v -0.23949816 -0.21728766 0.26493395
+v -0.23993577 -0.23054339 0.25633865
+v -0.29170275 0.11992048 0.25209941
+v -0.20363118 -0.20355745 0.27744211
+v -0.23154234 -0.22583231 0.26177091
+f 1 2 3
+f 6 3 2
+f 6 4 3
+f 13 3 4
+f 15 5 9
+f 16 2 1
+f 17 11 16
+f 18 10 11
+f 19 1 3
+f 19 17 1
+f 20 12 8
+f 21 13 4
+f 21 15 9
+f 21 9 13
+f 22 9 14
+f 23 14 9
+f 23 9 5
+f 24 11 10
+f 24 10 5
+f 24 5 15
+f 25 16 11
+f 25 15 21
+f 25 24 15
+f 25 11 24
+f 26 11 17
+f 27 17 16
+f 27 16 1
+f 27 1 17
+f 28 18 11
+f 29 10 18
+f 30 19 3
+f 30 12 19
+f 30 3 13
+f 30 13 9
+f 30 9 22
+f 30 22 14
+f 32 21 4
+f 32 4 6
+f 32 25 21
+f 32 6 2
+f 32 2 16
+f 32 16 25
+f 34 7 11
+f 34 11 26
+f 34 26 28
+f 35 28 26
+f 36 28 11
+f 36 11 7
+f 36 34 28
+f 36 7 34
+f 37 23 5
+f 37 28 35
+f 38 29 5
+f 38 5 10
+f 38 10 29
+f 39 8 12
+f 39 12 30
+f 39 30 14
+f 39 14 31
+f 40 20 33
+f 40 23 37
+f 41 40 33
+f 41 23 40
+f 41 31 14
+f 42 33 20
+f 42 20 8
+f 42 41 33
+f 42 31 41
+f 42 39 31
+f 42 8 39
+f 43 12 20
+f 43 20 40
+f 43 40 37
+f 43 37 35
+f 44 19 12
+f 45 37 5
+f 45 5 29
+f 45 29 18
+f 45 18 28
+f 45 28 37
+f 46 14 23
+f 47 43 35
+f 47 12 43
+f 48 17 19
+f 48 35 26
+f 48 26 17
+f 48 47 35
+f 49 41 14
+f 49 14 46
+f 49 46 23
+f 49 23 41
+f 50 47 44
+f 50 44 12
+f 50 12 47
+f 51 48 19
+f 51 19 44
+f 51 44 47
+f 51 47 48
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_2/collision/model_normalized_collision_17.obj b/objects/objaverse/cupcake/cupcake_2/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..200a49e6f3d3a2239d42e52466cd448bb9f92ce4
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_2/collision/model_normalized_collision_17.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v 0.00291212 -0.35497930 0.19371352
+v 0.24534262 -0.23303921 0.21768421
+v 0.22435120 -0.24654405 0.25589317
+v -0.07661839 -0.22447412 0.31304377
+v -0.08285571 -0.23532612 0.14393942
+v 0.23655701 -0.22912648 0.24454350
+v -0.01697725 -0.31049908 0.25104895
+v 0.23536054 -0.25889666 0.21377148
+v -0.07788287 -0.34673601 0.12805028
+v 0.06643808 -0.22709976 0.29996084
+v 0.12926551 -0.23532612 0.14393942
+v 0.00339957 -0.30821254 0.25029529
+v 0.23155062 -0.25582009 0.22698683
+v -0.07356749 -0.33722447 0.19600689
+v 0.12290926 -0.31112149 0.14687265
+v 0.23035014 -0.23317135 0.25578265
+v 0.00446218 -0.25232991 0.29339632
+v 0.09133780 -0.32097033 0.19609486
+v -0.06241814 -0.29530681 0.25101243
+v -0.04370811 -0.35227845 0.19443655
+v 0.01688735 -0.35473075 0.14309716
+v -0.04371721 -0.25025675 0.29537178
+v 0.09177267 -0.32429099 0.14725731
+v -0.06186788 -0.32396753 0.21923758
+v -0.03104497 -0.35851632 0.14490625
+v 0.01639609 -0.35341201 0.17333469
+f 9 4 5
+f 10 6 4
+f 11 5 4
+f 11 4 6
+f 11 6 2
+f 11 9 5
+f 12 7 1
+f 12 1 3
+f 13 8 3
+f 14 4 9
+f 15 9 11
+f 15 11 2
+f 15 2 8
+f 16 10 3
+f 16 6 10
+f 16 2 6
+f 16 8 2
+f 16 3 8
+f 17 10 4
+f 17 7 12
+f 17 12 3
+f 17 3 10
+f 18 8 13
+f 18 13 3
+f 18 3 1
+f 19 7 4
+f 19 4 14
+f 20 14 9
+f 20 1 7
+f 21 9 15
+f 22 17 4
+f 22 4 7
+f 22 7 17
+f 23 15 8
+f 23 8 18
+f 23 21 15
+f 24 19 14
+f 24 14 20
+f 24 20 7
+f 24 7 19
+f 25 20 9
+f 25 9 21
+f 25 21 1
+f 25 1 20
+f 26 18 1
+f 26 1 21
+f 26 23 18
+f 26 21 23
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_2/collision/model_normalized_collision_18.obj b/objects/objaverse/cupcake/cupcake_2/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1f55dbd09a301751aecad77914568174ef613241
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_2/collision/model_normalized_collision_18.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.00210213 -0.43295381 0.00628159
+v 0.44620738 -0.03509596 -0.13868911
+v 0.34792958 0.21561595 0.00765737
+v -0.21563923 0.21563923 -0.01398954
+v -0.20959939 -0.35729249 -0.22890721
+v 0.35729250 0.20959940 -0.22890722
+v -0.21591768 -0.34849895 0.00748062
+v 0.29930369 -0.30189853 0.00746744
+v 0.41493897 0.17731884 -0.10481430
+v -0.21921936 0.21921936 -0.23484847
+v 0.28391378 -0.30824844 -0.22742597
+v -0.17785129 -0.41573587 -0.13868911
+v 0.40287283 -0.07719386 0.00675640
+v 0.18216532 -0.35453017 0.00818675
+v 0.38432171 0.20741189 -0.16695016
+v 0.41216484 -0.04950364 -0.22780583
+v 0.16486475 -0.38724328 -0.22876186
+v 0.41529461 -0.17851169 -0.13868911
+v -0.20741188 -0.38432170 -0.16695015
+v -0.17003423 -0.41354101 -0.08913132
+v 0.40013843 0.09088893 0.00773696
+v -0.01541724 -0.43073883 0.00727599
+v 0.38400575 0.20720080 -0.07474105
+v 0.39724784 0.12435262 -0.22788789
+v 0.38724329 -0.16486473 -0.22876186
+v -0.16417327 -0.38763808 -0.22892477
+v 0.03509596 -0.44620738 -0.13868911
+v 0.17851169 -0.41529461 -0.13868911
+v 0.32424282 -0.31477999 -0.13868911
+v 0.41337362 -0.17095618 -0.08918307
+v -0.20720081 -0.38400576 -0.07474108
+v 0.40130320 0.17833164 -0.06927766
+v 0.44369893 0.01849021 -0.08917624
+v -0.17833164 -0.40130320 -0.06927766
+v -0.03393441 -0.44517035 -0.10387281
+v 0.41573587 0.17785129 -0.13868911
+v 0.42875133 0.01853081 -0.19800481
+v 0.38763808 0.16417328 -0.22892477
+v 0.39963295 -0.16553340 -0.19765569
+v -0.04858092 -0.41232837 -0.22786304
+v 0.15558236 -0.41225589 -0.16723163
+v 0.17095619 -0.41337361 -0.08918307
+v 0.30824839 -0.28391375 -0.22742594
+v 0.31477999 -0.32424282 -0.13868911
+v 0.40086194 -0.17899204 -0.06927766
+v 0.32349517 -0.31428045 -0.10500926
+v 0.41453486 -0.17800407 -0.10496167
+v -0.17731884 -0.41493897 -0.10481430
+v 0.41354100 0.17003424 -0.08913132
+v 0.44500296 -0.03485636 -0.10392456
+v 0.03485636 -0.44500296 -0.10392461
+v 0.44639015 0.03417707 -0.13868911
+v 0.42858779 -0.01945351 -0.19794760
+v 0.41232839 0.04858094 -0.22786305
+v 0.39959612 0.16551815 -0.19776963
+v 0.39708430 -0.12527535 -0.22783067
+v 0.41225588 -0.15558237 -0.16723163
+v 0.04950366 -0.41216486 -0.22780584
+v -0.15465965 -0.41241941 -0.16728884
+v -0.03417707 -0.44639015 -0.13868911
+v 0.16553340 -0.39963295 -0.19765569
+v 0.17899204 -0.40086194 -0.06927766
+v 0.30990770 -0.30990780 -0.18131593
+v 0.31428051 -0.32349525 -0.10500929
+f 7 3 4
+f 10 4 3
+f 10 3 6
+f 10 7 4
+f 10 5 7
+f 14 3 7
+f 15 6 3
+f 19 7 5
+f 19 5 12
+f 21 8 13
+f 21 14 8
+f 21 3 14
+f 22 14 7
+f 22 1 14
+f 23 15 3
+f 25 17 10
+f 25 11 17
+f 26 5 10
+f 26 10 17
+f 26 12 5
+f 28 17 11
+f 31 19 12
+f 31 7 19
+f 32 3 21
+f 32 23 3
+f 32 9 23
+f 33 21 13
+f 34 22 7
+f 34 20 22
+f 35 1 22
+f 36 23 9
+f 36 15 23
+f 36 6 15
+f 38 25 10
+f 38 10 6
+f 40 26 17
+f 41 28 27
+f 43 11 25
+f 43 25 39
+f 43 39 18
+f 44 28 11
+f 45 30 13
+f 45 13 8
+f 45 8 30
+f 46 29 18
+f 47 18 2
+f 47 46 18
+f 47 30 8
+f 47 8 46
+f 48 31 12
+f 48 20 34
+f 48 34 7
+f 48 7 31
+f 48 35 22
+f 48 22 20
+f 49 32 21
+f 49 9 32
+f 49 33 9
+f 49 21 33
+f 50 47 2
+f 50 30 47
+f 50 33 13
+f 50 13 30
+f 51 1 35
+f 51 42 1
+f 51 27 28
+f 51 28 42
+f 52 2 37
+f 52 50 2
+f 52 33 50
+f 52 36 9
+f 52 9 33
+f 53 37 2
+f 53 16 37
+f 54 37 16
+f 54 52 37
+f 54 24 52
+f 54 38 24
+f 54 16 25
+f 54 25 38
+f 55 24 38
+f 55 52 24
+f 55 36 52
+f 55 38 6
+f 55 6 36
+f 56 39 25
+f 56 25 16
+f 56 16 53
+f 56 53 2
+f 56 2 39
+f 57 39 2
+f 57 2 18
+f 57 18 39
+f 58 40 17
+f 59 12 26
+f 59 26 40
+f 60 59 40
+f 60 12 59
+f 60 48 12
+f 60 35 48
+f 60 51 35
+f 60 27 51
+f 60 58 27
+f 60 40 58
+f 61 17 28
+f 61 28 41
+f 61 58 17
+f 61 41 27
+f 61 27 58
+f 62 42 8
+f 62 8 14
+f 62 14 1
+f 62 1 42
+f 63 11 43
+f 63 44 11
+f 63 29 44
+f 63 43 18
+f 63 18 29
+f 64 46 8
+f 64 8 42
+f 64 42 28
+f 64 28 44
+f 64 44 29
+f 64 29 46
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_2/collision/model_normalized_collision_19.obj b/objects/objaverse/cupcake/cupcake_2/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..11216309e97a41e8cbc2d1aef298491f6d2c10b0
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_2/collision/model_normalized_collision_19.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v -0.27745330 -0.24889263 -0.37043360
+v -0.20406784 -0.20502309 -0.50000000
+v -0.20406784 0.17376481 -0.35606060
+v -0.34064647 0.16378454 -0.35115858
+v -0.33629841 -0.01936895 -0.50000000
+v -0.20406784 -0.20502309 -0.35606060
+v -0.26905283 -0.19782503 -0.50000000
+v -0.37126580 -0.05059980 -0.35199284
+v -0.20406784 0.17376481 -0.50000000
+v -0.34023600 -0.16446546 -0.35102383
+v -0.27105423 -0.24461690 -0.39863650
+v -0.37143583 0.04967834 -0.35204017
+v -0.29284565 0.16221675 -0.50000000
+v -0.31100011 -0.20560551 -0.35634667
+v -0.33573090 -0.12531671 -0.42629477
+v -0.36820825 0.00358178 -0.39659671
+v -0.31152052 0.13426796 -0.50000000
+v -0.28285590 -0.24237861 -0.36723407
+v -0.35618814 -0.12637207 -0.35201339
+v -0.31107926 -0.13492836 -0.50000000
+v -0.36803814 -0.00450321 -0.39654938
+v -0.35635798 0.12545058 -0.35206067
+v -0.33648119 0.01845006 -0.50000000
+v -0.32122612 -0.09514228 -0.50000000
+v -0.33715148 -0.14725293 -0.39546606
+v -0.33756199 0.14657204 -0.39560083
+v -0.32140890 0.09422339 -0.50000000
+v -0.33590088 0.12439523 -0.42634210
+f 6 1 2
+f 6 2 3
+f 7 5 2
+f 9 3 2
+f 9 2 5
+f 9 4 3
+f 10 6 3
+f 10 3 4
+f 10 4 8
+f 11 7 2
+f 11 2 1
+f 11 1 7
+f 12 8 4
+f 13 9 5
+f 13 4 9
+f 14 6 10
+f 16 8 12
+f 17 4 13
+f 17 13 5
+f 18 1 6
+f 18 6 14
+f 19 10 8
+f 20 5 7
+f 20 7 1
+f 20 1 18
+f 21 16 5
+f 21 8 16
+f 21 19 8
+f 21 5 19
+f 22 12 4
+f 23 17 5
+f 23 5 16
+f 24 20 15
+f 24 5 20
+f 24 19 5
+f 24 15 19
+f 25 19 15
+f 25 15 20
+f 25 10 19
+f 25 14 10
+f 25 20 18
+f 25 18 14
+f 26 22 4
+f 26 4 17
+f 27 17 23
+f 27 23 16
+f 27 16 12
+f 28 26 17
+f 28 22 26
+f 28 17 27
+f 28 27 12
+f 28 12 22
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_2/collision/model_normalized_collision_2.obj b/objects/objaverse/cupcake/cupcake_2/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..407b0abefae003e2f1bfabae4124f0db00d5a064
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_2/collision/model_normalized_collision_2.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v 0.17874497 -0.00681641 0.42434320
+v 0.26559175 0.14345126 0.26508900
+v 0.04487352 0.20295368 0.38626582
+v -0.16152825 0.23001427 0.28385327
+v -0.15861329 -0.00805338 0.26515155
+v 0.18713388 0.25842739 0.25944045
+v 0.17472006 -0.00805338 0.26515155
+v -0.16320463 -0.01103728 0.42014761
+v 0.01269641 0.24952413 0.34456117
+v 0.16244464 0.13857535 0.38982765
+v 0.25841796 0.20187331 0.25955639
+v -0.13253269 0.13766022 0.40586052
+v 0.02519381 0.25833548 0.29763840
+v 0.03042078 0.24972459 0.34456117
+v 0.24884583 0.23060312 0.26029080
+v 0.13951955 0.13397593 0.40816443
+v -0.15242346 0.18874449 0.35523466
+v -0.03208668 0.20187870 0.38796254
+v 0.14432800 0.26446166 0.26466751
+v 0.18837308 0.15351048 0.35613643
+v -0.14404905 0.15088207 0.38711473
+v -0.13854387 0.20317270 0.34456117
+v -0.13054504 0.14910685 0.40172539
+v 0.10556050 0.15719768 0.40181739
+v 0.17652714 0.14814976 0.37103387
+v -0.14833985 0.17540648 0.36960863
+v -0.07648736 0.18830255 0.38507689
+v -0.10719676 0.15900551 0.40127734
+f 6 5 4
+f 7 2 1
+f 8 4 5
+f 8 7 1
+f 8 5 7
+f 11 2 7
+f 11 1 2
+f 11 7 5
+f 11 5 6
+f 12 8 1
+f 13 4 9
+f 14 13 9
+f 15 14 3
+f 15 6 14
+f 15 11 6
+f 15 1 11
+f 16 1 10
+f 16 12 1
+f 16 10 15
+f 17 4 8
+f 18 14 9
+f 18 3 14
+f 19 6 4
+f 19 4 13
+f 19 14 6
+f 19 13 14
+f 20 1 15
+f 21 8 12
+f 22 9 4
+f 22 4 17
+f 22 18 9
+f 22 17 18
+f 24 3 18
+f 24 16 15
+f 24 15 3
+f 25 20 15
+f 25 15 10
+f 25 10 1
+f 25 1 20
+f 26 17 8
+f 26 8 21
+f 26 21 12
+f 26 12 23
+f 27 18 17
+f 28 23 12
+f 28 18 27
+f 28 26 23
+f 28 27 17
+f 28 17 26
+f 28 24 18
+f 28 12 16
+f 28 16 24
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_2/collision/model_normalized_collision_20.obj b/objects/objaverse/cupcake/cupcake_2/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d5892febf2e6ef81a1f3f36aa827450748eda4a2
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_2/collision/model_normalized_collision_20.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v -0.20406784 0.17376481 -0.23484847
+v -0.20406784 0.17376481 -0.50000000
+v -0.19716463 0.26949409 -0.50000000
+v -0.19902669 0.36318993 -0.23173508
+v -0.38149344 0.17082978 -0.23303580
+v -0.19644262 0.35932262 -0.24529069
+v -0.29884269 0.16622386 -0.47356882
+v -0.35692789 0.20999408 -0.22915096
+v -0.37375880 0.16566167 -0.26014701
+v -0.28816897 0.16921585 -0.50000000
+v -0.37523158 0.18179726 -0.23045175
+v -0.20999413 0.35692805 -0.22915101
+v -0.29813315 0.29813315 -0.22891379
+v -0.24686512 0.23762288 -0.48657953
+v -0.23762288 0.24686512 -0.48657953
+v -0.26249499 0.20763947 -0.50000000
+v -0.24917484 0.24917484 -0.45602273
+v -0.20763947 0.26249499 -0.50000000
+f 1 2 3
+f 6 1 3
+f 6 3 4
+f 6 4 1
+f 7 2 1
+f 9 7 1
+f 9 1 5
+f 9 5 7
+f 10 3 2
+f 10 2 7
+f 10 7 5
+f 11 5 1
+f 11 1 8
+f 11 10 5
+f 11 8 10
+f 12 8 1
+f 12 1 4
+f 12 4 3
+f 13 10 8
+f 13 12 3
+f 13 8 12
+f 16 3 10
+f 16 10 13
+f 16 13 14
+f 17 15 14
+f 17 14 13
+f 17 13 15
+f 18 15 13
+f 18 13 3
+f 18 3 16
+f 18 16 14
+f 18 14 15
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_2/collision/model_normalized_collision_21.obj b/objects/objaverse/cupcake/cupcake_2/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..461577bba1852fd36d1024857c32b5f80b8033d8
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_2/collision/model_normalized_collision_21.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.21577672 -0.21577672 -0.01403942
+v -0.21921936 -0.22017460 -0.23484847
+v -0.21431798 0.27248998 -0.02615933
+v -0.31113570 0.28027120 0.00759154
+v -0.34324864 -0.22708502 0.00802870
+v -0.24756539 0.32224815 -0.25235494
+v -0.35211178 0.20684473 -0.24592104
+v -0.34725672 0.19864250 0.00791974
+v -0.30876058 0.27891144 -0.23428400
+v -0.33919340 -0.22947128 -0.24059007
+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 8 7 5
+f 8 5 4
+f 8 4 7
+f 9 7 4
+f 9 4 6
+f 9 6 7
+f 10 7 6
+f 10 6 2
+f 10 2 5
+f 10 5 7
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_2/collision/model_normalized_collision_22.obj b/objects/objaverse/cupcake/cupcake_2/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe7da93ec44f53a31139b07d2a37bd2cfdeff157
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_2/collision/model_normalized_collision_22.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.16951590 -0.17195750 0.35195839
+v 0.25730029 -0.08773237 0.27470482
+v 0.18816948 0.01497900 0.41969133
+v 0.18574658 0.16367485 0.30124366
+v 0.18177084 -0.17121462 0.29505563
+v 0.25434927 0.14455037 0.27162653
+v 0.16916215 0.14175842 0.38133127
+v 0.25052369 -0.03033789 0.34456117
+v 0.22780019 -0.13256534 0.27978992
+v 0.16836815 -0.17134823 0.31203197
+v 0.16483408 -0.09314468 0.40750471
+v 0.20349979 0.13835136 0.34456117
+v 0.18700160 -0.15000208 0.34456117
+v 0.21928324 -0.01491485 0.39119626
+v 0.25774701 -0.02533332 0.29713419
+v 0.17670613 -0.16773136 0.34568278
+v 0.17184363 0.05076166 0.41841360
+v 0.19120151 -0.03022255 0.41900883
+v 0.16543915 -0.13895530 0.37776243
+v 0.24985121 -0.01288893 0.34456117
+v 0.17575414 0.04629310 0.41817152
+v 0.21748525 -0.02888583 0.38745185
+v 0.16939923 -0.06541636 0.42018610
+v 0.17371991 -0.13491192 0.37139484
+v 0.20184274 -0.05892823 0.38706482
+f 6 5 4
+f 7 6 4
+f 9 6 2
+f 9 5 6
+f 10 5 1
+f 10 4 5
+f 10 7 4
+f 12 7 3
+f 12 6 7
+f 13 8 1
+f 13 2 8
+f 14 12 3
+f 14 6 12
+f 15 8 2
+f 15 2 6
+f 16 1 5
+f 16 5 9
+f 16 13 1
+f 16 9 2
+f 16 2 13
+f 17 7 11
+f 18 14 3
+f 19 10 1
+f 19 11 7
+f 19 7 10
+f 20 14 8
+f 20 6 14
+f 20 15 6
+f 20 8 15
+f 21 17 3
+f 21 3 7
+f 21 7 17
+f 22 8 14
+f 22 14 18
+f 23 17 11
+f 23 19 18
+f 23 11 19
+f 23 18 3
+f 23 3 17
+f 24 19 1
+f 24 18 19
+f 25 22 18
+f 25 18 24
+f 25 24 1
+f 25 1 8
+f 25 8 22
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_2/collision/model_normalized_collision_23.obj b/objects/objaverse/cupcake/cupcake_2/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d0f1be687a62452c5aa1693b2b5d11ac21c1f90d
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_2/collision/model_normalized_collision_23.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v 0.00021347 -0.42835422 0.06647694
+v 0.14683141 -0.26161528 -0.01398954
+v 0.12290926 -0.31112149 0.14687265
+v -0.08285571 -0.23532612 0.14393942
+v -0.09302603 -0.28645599 -0.01398954
+v 0.12926551 -0.23532612 0.14393942
+v -0.01292385 -0.37344281 0.12939364
+v 0.12606390 -0.37971222 0.00782961
+v -0.07761040 -0.40408752 0.07523975
+v 0.00173262 -0.41775882 0.08270306
+v 0.02985790 -0.34982228 0.14464159
+v 0.12499733 -0.37628048 0.07583560
+v 0.00210213 -0.43295381 0.00628159
+v -0.07788287 -0.34673601 0.12805028
+v -0.01503639 -0.42980746 0.06786535
+v 0.03126685 -0.41485472 0.07485975
+v 0.04633075 -0.41481670 0.00601500
+v -0.07793683 -0.40516728 0.00743401
+v -0.06150585 -0.35676131 0.12699107
+v -0.03094201 -0.41601523 0.08158635
+v 0.10779620 -0.38792491 0.00807667
+v -0.01541724 -0.43073883 0.00727599
+v -0.04634615 -0.41687873 0.07486647
+v -0.01655139 -0.37247856 0.12903157
+f 5 4 2
+f 6 3 2
+f 6 2 4
+f 6 4 3
+f 11 3 4
+f 11 7 10
+f 12 8 2
+f 12 2 3
+f 13 5 2
+f 14 4 5
+f 14 5 9
+f 14 11 4
+f 14 7 11
+f 15 1 10
+f 15 13 1
+f 16 10 1
+f 16 1 12
+f 16 11 10
+f 16 12 3
+f 16 3 11
+f 17 13 2
+f 17 2 8
+f 17 12 1
+f 17 1 13
+f 18 9 5
+f 18 5 13
+f 19 14 9
+f 19 7 14
+f 20 15 10
+f 20 10 7
+f 21 17 8
+f 21 8 12
+f 21 12 17
+f 22 18 13
+f 22 13 15
+f 22 15 9
+f 22 9 18
+f 23 9 15
+f 23 15 20
+f 24 20 7
+f 24 7 19
+f 24 23 20
+f 24 19 9
+f 24 9 23
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_2/collision/model_normalized_collision_24.obj b/objects/objaverse/cupcake/cupcake_2/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d54dd5527a35c2e18154d564c1310946f938abd0
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_2/collision/model_normalized_collision_24.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.30635188 -0.27869480 0.07871789
+v 0.34692231 -0.20057775 -0.01514626
+v 0.32148262 -0.27760509 -0.05977899
+v 0.34929906 -0.18668041 0.07627217
+v 0.31376234 -0.20625970 -0.04103798
+v 0.35164898 -0.18760462 0.00729507
+v 0.31017557 -0.27355933 0.07711869
+v 0.32502806 -0.19601850 0.09693484
+v 0.34099776 -0.20476319 -0.03966759
+v 0.31070651 -0.28052864 -0.05356589
+v 0.33823824 -0.21194676 0.07619319
+f 6 3 2
+f 6 4 3
+f 7 1 3
+f 8 5 1
+f 8 6 5
+f 8 4 6
+f 8 7 4
+f 8 1 7
+f 9 2 3
+f 9 3 5
+f 9 6 2
+f 9 5 6
+f 10 5 3
+f 10 3 1
+f 10 1 5
+f 11 7 3
+f 11 3 4
+f 11 4 7
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_2/collision/model_normalized_collision_25.obj b/objects/objaverse/cupcake/cupcake_2/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e5f240ea4c21c7b2f9d7d48fa162ebcf966d8769
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_2/collision/model_normalized_collision_25.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v -0.19931908 -0.34456879 0.08606112
+v -0.20295265 -0.35382285 0.00754364
+v -0.20406784 -0.18987157 0.14393942
+v -0.36185844 -0.18676188 0.07656813
+v -0.31673022 -0.30274407 0.08043715
+v -0.22397073 -0.20317021 -0.01398954
+v -0.19897917 -0.28590163 0.12768019
+v -0.22862220 -0.34230377 0.07704272
+v -0.31435123 -0.30713706 0.00822126
+v -0.28470120 -0.18531948 0.13327187
+v -0.19921821 -0.32923601 0.10087179
+v -0.32455498 -0.29028206 0.07792699
+v -0.30412810 -0.31141190 0.07794421
+v -0.30435564 -0.31217894 0.00740940
+v -0.35969810 -0.18552134 0.00691740
+v -0.27120658 -0.25547638 0.12384485
+v -0.21330133 -0.32647007 0.09815357
+v -0.22888270 -0.34317505 0.00741760
+v -0.35454483 -0.19864159 0.00660999
+v -0.27310168 -0.32501505 0.00738199
+f 6 3 2
+f 7 1 2
+f 7 2 3
+f 8 2 1
+f 11 1 7
+f 12 9 5
+f 12 10 4
+f 12 5 10
+f 13 5 9
+f 13 8 1
+f 13 1 11
+f 13 2 8
+f 14 9 6
+f 14 13 9
+f 14 2 13
+f 15 4 10
+f 15 10 3
+f 15 3 6
+f 15 12 4
+f 15 9 12
+f 16 7 3
+f 16 3 10
+f 16 10 5
+f 16 11 7
+f 16 5 11
+f 17 13 11
+f 17 11 5
+f 17 5 13
+f 18 6 2
+f 19 15 6
+f 19 6 9
+f 19 9 15
+f 20 14 6
+f 20 6 18
+f 20 18 2
+f 20 2 14
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_2/collision/model_normalized_collision_26.obj b/objects/objaverse/cupcake/cupcake_2/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..87a4fe873858a18e9ba81d1e33fc7c0e4735f1ea
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_2/collision/model_normalized_collision_26.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.21577672 0.21577672 -0.01403942
+v 0.22017460 0.21921936 -0.23484847
+v 0.22730748 0.34247481 0.00644982
+v -0.22413871 0.33661768 0.00765738
+v -0.21921936 0.21921936 -0.23484847
+v -0.21563923 0.21563923 -0.01398954
+v -0.22877978 0.33958809 -0.24075295
+v 0.22947126 0.33919340 -0.24059005
+f 1 2 3
+f 1 3 4
+f 6 5 2
+f 6 2 1
+f 6 1 4
+f 7 2 5
+f 7 4 3
+f 7 6 4
+f 7 5 6
+f 8 7 3
+f 8 3 2
+f 8 2 7
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_2/collision/model_normalized_collision_27.obj b/objects/objaverse/cupcake/cupcake_2/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..66497d0c35ec8d249ee336000f1d381ffd5ac965
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_2/collision/model_normalized_collision_27.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.20502309 0.20406784 -0.23484847
+v 0.20502309 0.20406784 -0.35606060
+v 0.22476568 0.33967532 -0.24704141
+v -0.22407423 0.34006999 -0.24720433
+v -0.20406784 0.20406784 -0.35606060
+v -0.20492465 0.31141075 -0.35648144
+v -0.20406784 0.20406784 -0.23484847
+v 0.20560557 0.31100019 -0.35634670
+f 1 2 3
+f 5 2 1
+f 6 4 3
+f 6 5 4
+f 6 2 5
+f 7 1 3
+f 7 3 4
+f 7 5 1
+f 7 4 5
+f 8 6 3
+f 8 3 2
+f 8 2 6
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_2/collision/model_normalized_collision_28.obj b/objects/objaverse/cupcake/cupcake_2/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d291b1c4e3b138626a5e4473209056b24df5a463
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_2/collision/model_normalized_collision_28.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.20406784 -0.20502309 -0.23484847
+v -0.20406784 -0.20502309 -0.35606060
+v -0.20406784 0.17376481 -0.23484847
+v -0.35259370 0.20213913 -0.25237242
+v -0.33967531 -0.22476570 -0.24704145
+v -0.20406784 0.17376481 -0.35606060
+v -0.32443873 0.18332663 -0.36075709
+v -0.31100011 -0.20560551 -0.35634667
+f 1 2 3
+f 5 2 1
+f 5 1 3
+f 5 3 4
+f 6 3 2
+f 6 4 3
+f 7 5 4
+f 7 6 2
+f 7 4 6
+f 8 7 2
+f 8 2 5
+f 8 5 7
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_2/collision/model_normalized_collision_29.obj b/objects/objaverse/cupcake/cupcake_2/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7673994f88a8c32463a9ab077c618193d6166c8a
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_2/collision/model_normalized_collision_29.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.20406784 -0.18987157 0.14393942
+v -0.22397073 -0.20317021 -0.01398954
+v -0.20036187 0.24397602 -0.01793151
+v -0.21542022 0.27766991 0.14394906
+v -0.30262474 -0.18730756 0.11812640
+v -0.28470120 -0.18531948 0.13327187
+v -0.32234798 0.25493034 0.00776703
+v -0.29404631 0.19675974 0.12791100
+v -0.30231978 -0.18465399 -0.02833570
+v -0.29614135 -0.16852385 0.12941900
+v -0.29996517 0.24511990 0.10272848
+v -0.26871314 0.24470881 0.13201298
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 6 5 1
+f 6 1 4
+f 7 4 3
+f 8 6 4
+f 9 7 3
+f 9 3 2
+f 9 2 5
+f 9 5 7
+f 10 8 5
+f 10 5 6
+f 10 6 8
+f 11 7 5
+f 11 5 8
+f 11 4 7
+f 12 11 8
+f 12 8 4
+f 12 4 11
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_2/collision/model_normalized_collision_3.obj b/objects/objaverse/cupcake/cupcake_2/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad0467bf768950a2e3f5041399da39be94d8f731
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_2/collision/model_normalized_collision_3.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v 0.15824057 -0.26025886 0.25782251
+v 0.26123413 -0.15766668 0.25671470
+v 0.12444249 -0.14383151 0.41795642
+v -0.14889999 -0.01158766 0.42358437
+v -0.14346178 -0.00805338 0.26515155
+v 0.17357790 -0.00840440 0.42534027
+v -0.12735917 -0.26243688 0.25892015
+v 0.21886058 -0.24516372 0.25789945
+v 0.15846649 -0.08939741 0.41675495
+v 0.01416008 -0.02857751 0.47457047
+v 0.14167846 -0.00795424 0.43094023
+v 0.17472006 -0.00805338 0.26515155
+v -0.02973456 -0.25118830 0.34456124
+v -0.14315758 -0.24945662 0.26315850
+v 0.12977485 -0.13580024 0.41824833
+v 0.25730029 -0.08773237 0.27470482
+v -0.04369517 -0.17398519 0.41552874
+v 0.09362929 -0.21792444 0.34456117
+v -0.01181442 -0.25024035 0.34456117
+v -0.13753430 -0.19385802 0.34465915
+v 0.26392550 -0.12852828 0.26188115
+v 0.03306149 -0.17324624 0.41757514
+v -0.07956456 -0.14036824 0.41672504
+v 0.15452303 -0.18856007 0.35671088
+v -0.13731449 -0.14798943 0.38969089
+v -0.07877290 -0.15454586 0.41309449
+f 7 5 2
+f 7 2 1
+f 8 1 2
+f 9 2 6
+f 9 8 2
+f 10 9 6
+f 11 5 4
+f 11 10 6
+f 11 4 10
+f 12 2 5
+f 12 11 6
+f 12 5 11
+f 13 7 1
+f 14 4 5
+f 14 5 7
+f 15 3 8
+f 15 8 9
+f 15 10 3
+f 15 9 10
+f 16 12 6
+f 19 13 1
+f 19 1 8
+f 19 8 18
+f 20 14 7
+f 20 7 13
+f 20 13 17
+f 21 16 6
+f 21 6 2
+f 21 2 12
+f 21 12 16
+f 22 3 10
+f 22 10 17
+f 22 17 13
+f 22 13 19
+f 22 19 18
+f 23 10 4
+f 24 18 8
+f 24 8 3
+f 24 22 18
+f 24 3 22
+f 25 4 14
+f 25 14 20
+f 25 20 17
+f 26 17 10
+f 26 10 23
+f 26 25 17
+f 26 23 4
+f 26 4 25
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_2/collision/model_normalized_collision_30.obj b/objects/objaverse/cupcake/cupcake_2/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..428a1b6f224755aae4c95d4e83dbd933802d12c0
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_2/collision/model_normalized_collision_30.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.23532612 -0.23532612 -0.23484847
+v 0.23532612 -0.23532612 -0.50000000
+v 0.23532612 0.20406784 -0.23484847
+v -0.20406784 0.20406784 -0.23484847
+v -0.20406784 -0.23532612 -0.50000000
+v -0.20406784 0.20406784 -0.50000000
+v -0.20406784 -0.23532612 -0.23484847
+v 0.23532612 0.20406784 -0.50000000
+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/cupcake/cupcake_2/collision/model_normalized_collision_31.obj b/objects/objaverse/cupcake/cupcake_2/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..08aedc739931c79cfb6155fd5f0d90cffe656255
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_2/collision/model_normalized_collision_31.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.23035014 -0.23317135 0.25578265
+v 0.23044112 -0.23044112 -0.01935867
+v 0.23871036 0.20501939 0.27081140
+v -0.20987415 0.20740509 0.28093826
+v -0.20358697 -0.23371211 0.26200097
+v -0.21741292 0.21298471 -0.01398954
+v 0.23040800 0.20078165 -0.01504223
+v -0.20078166 -0.23040802 -0.01504223
+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/cupcake/cupcake_2/collision/model_normalized_collision_4.obj b/objects/objaverse/cupcake/cupcake_2/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed48f4c1fd2fb242e31e702eb29e2466a023e3af
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_2/collision/model_normalized_collision_4.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v -0.26871314 0.24470881 0.13201298
+v -0.21625601 0.35114806 -0.23301832
+v -0.20036187 0.24397602 -0.01793151
+v -0.21227986 0.39065182 -0.10227216
+v -0.34833695 0.27498378 -0.10112728
+v -0.20032299 0.34695218 0.00751366
+v -0.29686365 0.30997861 0.07944096
+v -0.30980355 0.30980355 -0.18173695
+v -0.32062155 0.24640973 -0.04449376
+v -0.21257819 0.36079536 -0.21559541
+v -0.19902016 0.29767517 0.13151219
+v -0.31559119 0.24532544 0.08808623
+v -0.26857402 0.35389555 -0.10462544
+v -0.31454055 0.27264957 -0.23041667
+v -0.21039073 0.38782461 -0.15363835
+v -0.21542022 0.27766991 0.14394906
+v -0.19900231 0.34308569 0.08601371
+v -0.30730301 0.28691746 0.07902186
+v -0.22314850 0.38424203 -0.10460960
+v -0.34192719 0.28585244 -0.10346476
+v -0.24756539 0.32224815 -0.25235494
+v -0.32805516 0.27155583 -0.19943815
+v -0.26913809 0.35473984 -0.13868911
+v -0.25785977 0.27816559 0.12716325
+v -0.22746323 0.33886527 0.07868274
+v -0.31199331 0.31199331 -0.06927766
+v -0.28361703 0.30827871 -0.22783261
+v -0.32326608 0.29865890 -0.16715882
+v -0.26590778 0.25864511 0.12900207
+v -0.30827868 0.28361704 -0.22783261
+v -0.28351136 0.29825353 0.09661405
+v -0.30588413 0.29716857 -0.21169294
+v -0.29716855 0.30588416 -0.21169295
+f 10 6 3
+f 10 3 2
+f 12 5 9
+f 12 9 3
+f 12 3 1
+f 14 3 9
+f 15 6 10
+f 15 10 2
+f 16 1 3
+f 16 3 11
+f 17 11 3
+f 17 3 6
+f 17 15 4
+f 17 6 15
+f 18 7 5
+f 18 5 12
+f 18 12 1
+f 18 1 7
+f 19 13 7
+f 19 7 4
+f 19 4 15
+f 20 5 7
+f 21 2 3
+f 21 3 14
+f 22 14 9
+f 22 9 5
+f 23 19 15
+f 23 13 19
+f 23 20 13
+f 23 15 2
+f 23 2 8
+f 24 16 11
+f 24 1 16
+f 25 17 4
+f 25 4 7
+f 25 11 17
+f 26 20 7
+f 26 7 13
+f 26 13 20
+f 27 2 21
+f 28 8 22
+f 28 23 8
+f 28 20 23
+f 28 22 5
+f 28 5 20
+f 29 1 24
+f 30 27 21
+f 30 21 14
+f 30 22 8
+f 30 14 22
+f 31 29 24
+f 31 7 1
+f 31 1 29
+f 31 25 7
+f 31 24 11
+f 31 11 25
+f 32 30 8
+f 32 27 30
+f 33 32 8
+f 33 27 32
+f 33 8 2
+f 33 2 27
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_2/collision/model_normalized_collision_5.obj b/objects/objaverse/cupcake/cupcake_2/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5569a508dbbfd9270d3fdbdc23138ed47e0d7b88
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_2/collision/model_normalized_collision_5.obj
@@ -0,0 +1,141 @@
+# https://github.com/mikedh/trimesh
+v -0.34324864 -0.22708502 0.00802870
+v -0.30140152 -0.19919192 -0.39865102
+v -0.30262474 -0.18730756 0.11812640
+v -0.30313087 0.32995886 -0.10230393
+v -0.44182165 0.03345830 -0.15215636
+v -0.30030606 0.16930129 0.13414985
+v -0.41499976 -0.17895296 -0.13868911
+v -0.32443873 0.18332663 -0.36075709
+v -0.30204475 -0.14083599 0.13554749
+v -0.43034577 0.01510864 0.07408215
+v -0.38202302 -0.01942270 -0.33561871
+v -0.33919340 -0.22947128 -0.24059007
+v -0.41190803 0.17593194 -0.15107175
+v -0.30876058 0.27891144 -0.23428400
+v -0.32426644 0.24252007 0.08113546
+v -0.37105230 -0.00148212 0.12854009
+v -0.44488923 -0.03502375 -0.10366445
+v -0.36843112 -0.16852213 0.07632871
+v -0.44165819 -0.03438108 -0.15209918
+v -0.35215266 -0.14715247 -0.34996217
+v -0.31663269 -0.16894210 -0.41382869
+v -0.38356251 -0.20849813 -0.16703107
+v -0.42922831 0.12487627 -0.11081933
+v -0.35256308 0.14647153 -0.35009692
+v -0.30382703 0.33100076 -0.14004763
+v -0.30471603 -0.18625509 -0.41489035
+v -0.32438921 0.31456088 -0.13868911
+v -0.36979463 0.03008886 0.12790177
+v -0.30691594 0.24813080 0.09503699
+v -0.44430063 0.04910293 -0.11081933
+v -0.42904553 -0.12579516 -0.11081933
+v -0.41418441 -0.17840818 -0.10474112
+v -0.35763344 -0.18539495 0.07987048
+v -0.42854318 -0.00170619 0.07413900
+v -0.36586944 -0.07982944 -0.35049142
+v -0.41212275 -0.15574589 -0.16751924
+v -0.41458852 0.17772296 -0.10459375
+v -0.38219311 0.01850123 -0.33566606
+v -0.31123007 -0.17545613 -0.41702821
+v -0.31456086 0.32438924 -0.13868911
+v -0.32354907 0.31399953 -0.10464142
+v -0.30277054 0.23118360 0.10573938
+v -0.44358522 0.01865761 -0.08891607
+v -0.38325119 -0.20829014 -0.07466787
+v -0.42657763 -0.11015277 -0.15212401
+v -0.38278204 0.12017976 0.07599166
+v -0.36603939 0.07890794 -0.35053873
+v -0.31399951 0.32354909 -0.10464142
+f 1 2 3
+f 6 2 4
+f 9 3 2
+f 9 2 6
+f 12 2 1
+f 16 9 6
+f 19 17 5
+f 21 7 20
+f 22 2 12
+f 22 12 1
+f 23 13 5
+f 24 5 13
+f 24 13 8
+f 24 8 21
+f 25 4 2
+f 25 2 14
+f 26 14 2
+f 26 8 14
+f 26 22 7
+f 26 2 22
+f 27 14 8
+f 27 8 13
+f 28 16 6
+f 28 10 16
+f 29 4 15
+f 29 28 6
+f 29 15 28
+f 30 5 17
+f 30 23 5
+f 30 10 23
+f 31 19 7
+f 31 17 19
+f 32 31 7
+f 33 1 3
+f 33 3 9
+f 33 9 16
+f 33 16 18
+f 33 18 32
+f 34 18 16
+f 34 16 10
+f 34 32 18
+f 34 31 32
+f 34 10 17
+f 34 17 31
+f 35 19 11
+f 35 21 20
+f 35 11 21
+f 36 20 7
+f 36 35 20
+f 37 13 23
+f 37 27 13
+f 37 23 10
+f 38 19 5
+f 38 11 19
+f 38 21 11
+f 39 21 8
+f 39 8 26
+f 39 26 7
+f 39 7 21
+f 40 25 14
+f 40 14 27
+f 41 40 27
+f 41 37 15
+f 41 27 37
+f 42 29 6
+f 42 6 4
+f 42 4 29
+f 43 30 17
+f 43 17 10
+f 43 10 30
+f 44 22 1
+f 44 33 32
+f 44 1 33
+f 44 32 7
+f 44 7 22
+f 45 36 7
+f 45 7 19
+f 45 19 35
+f 45 35 36
+f 46 37 10
+f 46 15 37
+f 46 28 15
+f 46 10 28
+f 47 38 5
+f 47 5 24
+f 47 24 21
+f 47 21 38
+f 48 4 25
+f 48 25 40
+f 48 40 41
+f 48 41 15
+f 48 15 4
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_2/collision/model_normalized_collision_6.obj b/objects/objaverse/cupcake/cupcake_2/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..641745ddeee8c37b5dc3ff65e00675680c571389
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_2/collision/model_normalized_collision_6.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v 0.34792958 0.21561595 0.00765737
+v 0.39205633 0.21258001 -0.13983894
+v 0.31103283 0.30376506 0.00771986
+v 0.21296504 0.39024766 -0.10241956
+v 0.20502309 0.20406784 -0.50000000
+v 0.31522126 0.32394797 -0.13868911
+v 0.21577672 0.21577672 -0.01403942
+v 0.39100221 0.21187568 -0.10249273
+v 0.31468463 0.32314480 -0.10478874
+v 0.19782503 0.26905283 -0.50000000
+v 0.21662163 0.34701804 0.00813664
+v 0.32895569 0.19576167 -0.32167778
+v 0.22437573 0.38464917 -0.13868911
+v 0.22383367 0.38383787 -0.10475701
+v 0.32389928 0.31359523 -0.10486190
+v 0.20502309 0.20406784 -0.23484847
+v 0.22955676 0.34167512 0.00848650
+v 0.26978894 0.19672337 -0.50000000
+v 0.37646560 0.21228655 -0.06776384
+v 0.19713411 0.35892786 -0.24512779
+v 0.21366626 0.39129714 -0.13991984
+v 0.38459241 0.22274430 -0.10483018
+v 0.32468409 0.31411959 -0.13868911
+v 0.30347745 0.30849047 0.00654021
+v 0.23830373 0.24645446 -0.48644471
+v 0.21330295 0.37560188 -0.06763384
+v 0.38538528 0.22327406 -0.13868911
+v 0.20829987 0.26205372 -0.50000000
+v 0.24720573 0.23721223 -0.48637779
+v 0.24920915 0.24920925 -0.45584829
+v 0.26278984 0.20719821 -0.50000000
+f 8 3 1
+f 11 7 1
+f 12 2 8
+f 12 1 7
+f 13 9 6
+f 13 6 10
+f 14 4 3
+f 14 3 9
+f 14 9 13
+f 15 9 3
+f 15 6 9
+f 16 10 5
+f 16 12 7
+f 17 11 1
+f 17 1 3
+f 17 4 11
+f 18 5 10
+f 18 2 12
+f 18 16 5
+f 18 12 16
+f 19 12 8
+f 19 8 1
+f 19 1 12
+f 20 10 16
+f 20 16 7
+f 20 7 11
+f 21 14 13
+f 21 4 14
+f 21 20 4
+f 21 13 10
+f 21 10 20
+f 22 15 3
+f 22 3 8
+f 22 8 2
+f 23 6 15
+f 24 17 3
+f 24 3 4
+f 24 4 17
+f 26 20 11
+f 26 11 4
+f 26 4 20
+f 27 22 2
+f 27 2 18
+f 27 18 23
+f 27 23 15
+f 27 15 22
+f 28 18 10
+f 28 10 6
+f 28 6 25
+f 30 25 6
+f 30 6 23
+f 30 29 25
+f 30 23 29
+f 31 29 23
+f 31 23 18
+f 31 18 28
+f 31 28 25
+f 31 25 29
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_2/collision/model_normalized_collision_7.obj b/objects/objaverse/cupcake/cupcake_2/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..edc573e8870ce6645ded34fafe0be92f15baf7bf
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_2/collision/model_normalized_collision_7.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v -0.21187570 -0.39100222 -0.10249274
+v -0.19672337 -0.26978894 -0.50000000
+v -0.21577672 -0.21577672 -0.01403942
+v -0.34731376 -0.21691511 0.00708248
+v -0.39129714 -0.21366625 -0.13991985
+v -0.21591768 -0.34849895 0.00748062
+v -0.31411959 -0.32468409 -0.13868911
+v -0.26905283 -0.19782503 -0.50000000
+v -0.19576171 -0.32895572 -0.32167781
+v -0.31435123 -0.30713706 0.00822126
+v -0.20406784 -0.20502309 -0.50000000
+v -0.32394797 -0.31522126 -0.13868911
+v -0.35892787 -0.19713413 -0.24512779
+v -0.21228654 -0.37646559 -0.06776382
+v -0.20406784 -0.20502309 -0.23484847
+v -0.21258001 -0.39205633 -0.13983894
+v -0.39024765 -0.21296502 -0.10241955
+v -0.33723149 -0.24385045 0.00865967
+v -0.31359529 -0.32389936 -0.10486192
+v -0.30435564 -0.31217894 0.00740940
+v -0.24645443 -0.23830375 -0.48644472
+v -0.32314472 -0.31468457 -0.10478871
+v -0.37560189 -0.21330296 -0.06763386
+v -0.22274433 -0.38459243 -0.10483019
+v -0.26205372 -0.20829987 -0.50000000
+v -0.23721221 -0.24720577 -0.48637778
+v -0.24920916 -0.24920925 -0.45584829
+v -0.38383785 -0.22383364 -0.10475699
+v -0.22327406 -0.38538528 -0.13868911
+v -0.20719821 -0.26278984 -0.50000000
+v -0.38464917 -0.22437573 -0.13868911
+f 6 3 4
+f 9 3 6
+f 11 2 8
+f 13 8 5
+f 13 4 3
+f 14 9 6
+f 14 6 1
+f 14 1 9
+f 15 9 2
+f 15 3 9
+f 15 2 11
+f 15 11 8
+f 15 13 3
+f 15 8 13
+f 16 2 9
+f 16 9 1
+f 17 13 5
+f 18 10 6
+f 18 6 4
+f 18 17 10
+f 18 4 17
+f 19 12 7
+f 20 10 1
+f 20 1 6
+f 20 6 10
+f 22 19 10
+f 22 12 19
+f 23 17 4
+f 23 4 13
+f 23 13 17
+f 24 1 10
+f 24 10 19
+f 24 16 1
+f 25 21 12
+f 25 12 8
+f 25 8 2
+f 27 7 12
+f 27 12 21
+f 27 26 7
+f 27 21 26
+f 28 22 10
+f 28 10 17
+f 28 17 5
+f 29 16 24
+f 29 7 2
+f 29 2 16
+f 29 24 19
+f 29 19 7
+f 30 2 7
+f 30 7 26
+f 30 25 2
+f 30 26 21
+f 30 21 25
+f 31 28 5
+f 31 12 22
+f 31 22 28
+f 31 5 8
+f 31 8 12
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_2/collision/model_normalized_collision_8.obj b/objects/objaverse/cupcake/cupcake_2/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc785d6ade64a0c244b5616344d2299888387d90
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_2/collision/model_normalized_collision_8.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.12499733 -0.37628048 0.07583560
+v 0.24957964 -0.32423565 0.00764697
+v 0.23536054 -0.25889666 0.21377148
+v 0.27962855 -0.18148713 0.14301535
+v 0.14683141 -0.26161528 -0.01398954
+v 0.28994006 -0.20180978 0.12014602
+v 0.24463943 -0.32704247 0.07708122
+v 0.12853600 -0.38317383 -0.04229374
+v 0.13638106 -0.26410138 0.25896772
+v 0.24139796 -0.23803025 0.22207701
+v 0.23044112 -0.23044112 -0.01935867
+v 0.22867257 -0.26296461 0.21232269
+v 0.23906838 -0.26550629 0.19680235
+v 0.12526337 -0.30036728 0.21526133
+v 0.14344664 -0.38196286 -0.04375155
+v 0.29235283 -0.18795212 0.12362574
+v 0.12927404 -0.37173265 -0.03771157
+f 7 2 6
+f 9 4 5
+f 10 9 3
+f 10 4 9
+f 11 5 4
+f 11 8 5
+f 12 7 3
+f 12 1 7
+f 12 3 9
+f 13 7 6
+f 13 3 7
+f 13 10 3
+f 13 6 10
+f 14 8 1
+f 14 9 5
+f 14 12 9
+f 14 1 12
+f 15 7 1
+f 15 1 8
+f 15 2 7
+f 15 11 2
+f 15 8 11
+f 16 10 6
+f 16 4 10
+f 16 11 4
+f 16 6 2
+f 16 2 11
+f 17 14 5
+f 17 5 8
+f 17 8 14
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_2/collision/model_normalized_collision_9.obj b/objects/objaverse/cupcake/cupcake_2/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..95e24092600eef3645acfd579ec72e85407acf1c
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_2/collision/model_normalized_collision_9.obj
@@ -0,0 +1,114 @@
+# https://github.com/mikedh/trimesh
+v 0.22730748 0.34247481 0.00644982
+v 0.20560557 0.31100019 -0.35634670
+v 0.17895296 0.41499976 -0.13868911
+v -0.00136499 0.43327881 0.00748069
+v -0.22413871 0.33661768 0.00765738
+v -0.13959495 0.33701230 -0.41148136
+v 0.17840818 0.41418441 -0.10474112
+v 0.22947126 0.33919340 -0.24059005
+v -0.19851107 0.30181220 -0.39878581
+v 0.19834358 0.35463257 0.00863018
+v 0.01942270 0.38202304 -0.33561874
+v -0.17593205 0.41190833 -0.15107186
+v 0.20829015 0.38325120 -0.07466789
+v 0.03502375 0.44488924 -0.10366440
+v 0.20849813 0.38356251 -0.16703106
+v -0.08939609 0.34300938 -0.42581506
+v 0.21662163 0.34701804 0.00813664
+v 0.01640739 0.43010569 0.00864880
+v 0.14715252 0.35215263 -0.34996217
+v -0.17772299 0.41458851 -0.10459375
+v -0.22877978 0.33958809 -0.24075295
+v -0.18557425 0.30512672 -0.41502513
+v 0.12579516 0.42904553 -0.11081933
+v 0.03438108 0.44165818 -0.15209917
+v -0.03345836 0.44182171 -0.15215639
+v 0.17943330 0.40056709 -0.06927766
+v 0.09176889 0.39884786 0.00871133
+v 0.07982945 0.36586948 -0.35049146
+v -0.17877290 0.40100836 -0.06927766
+v -0.20780666 0.38395728 -0.16719395
+v 0.15574590 0.41212274 -0.16751924
+v -0.12487627 0.42922831 -0.11081933
+v -0.04910293 0.44430063 -0.11081933
+v -0.01850129 0.38219313 -0.33566604
+v 0.15567938 0.41178852 -0.07422627
+v -0.20760496 0.38365537 -0.07452064
+v -0.15475744 0.41195589 -0.07417452
+v 0.11015277 0.42657762 -0.15212400
+v -0.01865760 0.44358521 -0.08891608
+f 8 1 2
+f 9 2 1
+f 9 1 5
+f 13 7 1
+f 13 3 7
+f 15 8 2
+f 15 2 3
+f 15 3 13
+f 15 13 1
+f 15 1 8
+f 17 10 5
+f 17 5 1
+f 18 4 5
+f 18 14 4
+f 19 3 2
+f 19 2 16
+f 21 9 5
+f 22 12 6
+f 22 6 16
+f 22 16 2
+f 22 2 9
+f 23 7 3
+f 23 18 7
+f 23 14 18
+f 24 23 3
+f 24 14 23
+f 25 16 6
+f 25 6 12
+f 25 14 24
+f 26 17 1
+f 26 1 7
+f 26 10 17
+f 27 18 5
+f 27 5 10
+f 27 26 18
+f 27 10 26
+f 28 19 16
+f 28 16 11
+f 28 11 24
+f 29 5 4
+f 30 20 12
+f 30 12 22
+f 30 22 9
+f 30 9 21
+f 31 3 19
+f 31 19 28
+f 32 25 12
+f 32 12 20
+f 32 20 4
+f 33 14 25
+f 33 32 4
+f 33 25 32
+f 34 25 24
+f 34 24 11
+f 34 11 16
+f 34 16 25
+f 35 26 7
+f 35 7 18
+f 35 18 26
+f 36 29 20
+f 36 5 29
+f 36 20 30
+f 36 30 21
+f 36 21 5
+f 37 29 4
+f 37 4 20
+f 37 20 29
+f 38 24 3
+f 38 3 31
+f 38 31 28
+f 38 28 24
+f 39 33 4
+f 39 4 14
+f 39 14 33
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_2/model.xml b/objects/objaverse/cupcake/cupcake_2/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..33b52acb7fb3bd630602997a8ddddb20788c4291
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_2/model.xml
@@ -0,0 +1,81 @@
+<mujoco model="cupcake_13">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.07500000000000001 0.07500000000000001 0.07500000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.07500000000000001 0.07500000000000001 0.07500000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.07500000000000001 0.07500000000000001 0.07500000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.07500000000000001 0.07500000000000001 0.07500000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.07500000000000001 0.07500000000000001 0.07500000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.07500000000000001 0.07500000000000001 0.07500000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.07500000000000001 0.07500000000000001 0.07500000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.07500000000000001 0.07500000000000001 0.07500000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.07500000000000001 0.07500000000000001 0.07500000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.07500000000000001 0.07500000000000001 0.07500000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.07500000000000001 0.07500000000000001 0.07500000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.07500000000000001 0.07500000000000001 0.07500000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.07500000000000001 0.07500000000000001 0.07500000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.07500000000000001 0.07500000000000001 0.07500000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.07500000000000001 0.07500000000000001 0.07500000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.07500000000000001 0.07500000000000001 0.07500000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.07500000000000001 0.07500000000000001 0.07500000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.07500000000000001 0.07500000000000001 0.07500000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.07500000000000001 0.07500000000000001 0.07500000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.07500000000000001 0.07500000000000001 0.07500000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.07500000000000001 0.07500000000000001 0.07500000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.07500000000000001 0.07500000000000001 0.07500000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.07500000000000001 0.07500000000000001 0.07500000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.07500000000000001 0.07500000000000001 0.07500000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.07500000000000001 0.07500000000000001 0.07500000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.07500000000000001 0.07500000000000001 0.07500000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.07500000000000001 0.07500000000000001 0.07500000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.07500000000000001 0.07500000000000001 0.07500000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.07500000000000001 0.07500000000000001 0.07500000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.07500000000000001 0.07500000000000001 0.07500000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.07500000000000001 0.07500000000000001 0.07500000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.07500000000000001 0.07500000000000001 0.07500000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.07500000000000001 0.07500000000000001 0.07500000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="Material.041" 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.041"/>
+        <geom solimp="0.998 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="5.628449999999855e-05 -5.628412499999875e-05 -0.037500000000000006" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="5.628449999999855e-05 -5.628412499999875e-05 0.03693891825000001" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.03347926125000001 0.03336669300000001 -0.0002805408750000009" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/objects/objaverse/cupcake/cupcake_2/visual/material.mtl b/objects/objaverse/cupcake/cupcake_2/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6b5d0f127cc1df2efd6b4835e0300358bb6dde72
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_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 359.99999300
+map_Kd material_0.png
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_2/visual/model_normalized_0.obj b/objects/objaverse/cupcake/cupcake_2/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a44ca34b2a2341108b92fdd4257ffca20d431004
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_2/visual/model_normalized_0.obj
@@ -0,0 +1,1318 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
+v -0.00848773 0.38752124 -0.06475806
+v 0.24307075 0.26690472 -0.06475806
+v 0.24307075 0.26690472 -0.06475806
+v 0.36445060 0.01419443 -0.06475806
+v 0.26596778 -0.24736482 -0.06547246
+v 0.00798267 -0.37118955 -0.06475806
+v -0.26587885 -0.27165577 -0.06475806
+v -0.38330758 -0.00357584 -0.06475806
+v -0.25403484 0.24794604 -0.06475806
+v 0.43888671 -0.00219299 -0.01482480
+v 0.30944845 0.30705675 -0.01407210
+v 0.30944845 0.30705675 -0.01407210
+v 0.00169899 0.43475900 -0.01346578
+v 0.30059905 -0.30050587 -0.01530816
+v -0.00218873 -0.43653075 -0.01404487
+v -0.31224393 -0.30920251 -0.01482906
+v -0.43472837 0.00175090 -0.01341770
+v -0.30123176 0.30330050 -0.01081411
+v 0.43039473 -0.00961401 0.07315388
+v 0.31330554 0.29984721 0.07448440
+v 0.31330554 0.29984721 0.07448440
+v 0.00936850 0.43744216 0.07609531
+v 0.29531443 -0.30618747 0.07760879
+v -0.00989185 -0.43179332 0.07443121
+v -0.31915649 -0.30526330 0.07812364
+v -0.43271579 0.00987313 0.07398700
+v -0.29686365 0.30997861 0.07944096
+v 0.36562794 -0.01490543 0.13716202
+v 0.26802206 0.24688614 0.14456303
+v 0.26802206 0.24688614 0.14456303
+v 0.26802206 0.24688614 0.14456303
+v 0.01392893 0.37017263 0.13729605
+v 0.01392893 0.37017263 0.13729605
+v 0.24024718 -0.25913692 0.13328620
+v -0.01342812 -0.36637085 0.13610977
+v -0.01342812 -0.36637085 0.13610977
+v -0.25461819 -0.23825247 0.13966221
+v -0.25461819 -0.23825247 0.13966221
+v -0.36231676 0.01306986 0.14316444
+v -0.36231676 0.01306986 0.14316444
+v -0.24601771 0.26532912 0.14483663
+v -0.24601771 0.26532912 0.14483663
+v 0.36067308 -0.01915270 0.18604516
+v 0.27828579 0.24973949 0.19772919
+v 0.27828579 0.24973949 0.19772919
+v 0.02272428 0.37548065 0.19767600
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+v -0.02076191 -0.36657211 0.18706592
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+v 0.32853562 -0.01429825 0.25397378
+v 0.24914253 0.23046936 0.26029490
+v 0.24914253 0.23046936 0.26029490
+v 0.01214824 0.33732374 0.25702924
+v 0.22435120 -0.24654404 0.25589318
+v -0.01300476 -0.31179461 0.25108852
+v -0.24552243 -0.22656419 0.25926223
+v -0.33114474 0.01129045 0.26624541
+v -0.22572128 0.23962979 0.26829757
+v 0.24750480 -0.03269911 0.30429041
+v 0.24750480 -0.03269911 0.30429041
+v 0.19770898 0.15170897 0.30429041
+v 0.19770898 0.15170897 0.30429041
+v 0.19770898 0.15170897 0.30429041
+v 0.19770898 0.15170897 0.30429041
+v 0.03210172 0.24689380 0.30429041
+v 0.03210172 0.24689380 0.30429041
+v 0.15231998 -0.19830637 0.30429041
+v 0.15231998 -0.19830637 0.30429041
+v -0.03208810 -0.24810220 0.30429041
+v -0.03208810 -0.24810220 0.30429041
+v -0.19769536 -0.15291737 0.30429041
+v -0.19769536 -0.15291737 0.30429041
+v -0.24749119 0.03149071 0.30429041
+v -0.24749119 0.03149071 0.30429041
+v -0.15230636 0.19709797 0.30429041
+v -0.15230636 0.19709797 0.30429041
+v 0.25348766 -0.02475431 0.34456116
+v 0.19636357 0.16163614 0.34456116
+v 0.19636357 0.16163614 0.34456116
+v 0.02417266 0.25304131 0.34456116
+v 0.16208248 -0.19694522 0.34456116
+v -0.02430797 -0.25406931 0.34456116
+v -0.19648952 -0.16265690 0.34456329
+v -0.25362296 0.02372632 0.34456116
+v -0.16221779 0.19591723 0.34456116
+v 0.19933308 -0.01317793 0.42105793
+v 0.14410882 0.12610921 0.41429770
+v 0.14410882 0.12610921 0.41429770
+v 0.01205591 0.19848763 0.40961133
+v 0.12504462 -0.14282085 0.41889430
+v -0.01409402 -0.18762182 0.41832541
+v -0.14569421 -0.12699636 0.40589209
+v -0.20108696 0.01057222 0.41427345
+v -0.12416428 0.13967646 0.41324163
+v 0.08529000 -0.00284527 0.44060548
+v 0.08529000 -0.00284527 0.44060548
+v 0.05732322 0.05524596 0.44238872
+v 0.05732322 0.05524596 0.44238872
+v 0.05732322 0.05524596 0.44238872
+v 0.00043698 0.08703920 0.44025445
+v 0.00043698 0.08703920 0.44025445
+v 0.05770361 -0.05843035 0.44273763
+v 0.05770361 -0.05843035 0.44273763
+v -0.00165772 -0.07592831 0.44285974
+v -0.00165772 -0.07592831 0.44285974
+v -0.06146326 -0.06073822 0.44203301
+v -0.06146326 -0.06073822 0.44203301
+v -0.08045895 0.00001745 0.44230788
+v -0.08045895 0.00001745 0.44230788
+v -0.06186237 0.06286994 0.44131904
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\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_5/collision/model_normalized_collision_0.obj b/objects/objaverse/cupcake/cupcake_5/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..412c7f5dc2104486d72498e0f0b7c8888064d122
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_5/collision/model_normalized_collision_0.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v 0.31500293 -0.30538620 -0.11111666
+v 0.46262521 -0.18437839 -0.09175772
+v 0.26185792 -0.24146740 -0.01272072
+v 0.25788955 -0.02058404 0.02088489
+v 0.26515152 -0.01698067 -0.33932924
+v 0.25952772 -0.09265656 0.03103705
+v 0.36474778 -0.25644777 -0.09175772
+v 0.36156754 -0.14835633 -0.33932924
+v 0.44750280 -0.04968149 -0.12432577
+v 0.26294705 -0.24804738 -0.31818160
+v 0.26761991 -0.23431688 -0.01284390
+v 0.31188972 -0.03428499 -0.00326219
+v 0.25421165 -0.30311909 -0.18017300
+v 0.38420946 -0.01527591 -0.08838501
+v 0.36902072 -0.01943916 -0.33932924
+v 0.25935977 -0.21363759 -0.33932924
+v 0.28761370 -0.03655172 0.01138498
+v 0.44585865 -0.05692090 -0.09025308
+v 0.25600465 -0.29386848 -0.08706745
+v 0.30365725 -0.01984959 -0.00087316
+v 0.38487021 -0.01534038 -0.13312830
+v 0.44812622 -0.05248544 -0.10973993
+v 0.25916280 -0.09214598 0.02877095
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+f 23 6 4
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+f 23 19 3
+f 23 3 6
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_5/collision/model_normalized_collision_10.obj b/objects/objaverse/cupcake/cupcake_5/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c19a734ea9fac654b5a3f42577134880f0b4c60e
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_5/collision/model_normalized_collision_10.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v -0.23264014 -0.38011813 -0.16854013
+v -0.23399860 -0.29385248 -0.33932924
+v -0.23156066 0.36106443 -0.18328273
+v -0.23848236 0.36247338 -0.15537032
+v -0.45544714 -0.01456720 -0.14961326
+v -0.23484847 -0.01698067 -0.15414507
+v -0.22819803 -0.37911458 -0.18217003
+v -0.40706713 -0.20196019 -0.16250416
+v -0.37489977 0.10654107 -0.33932924
+v -0.23482362 -0.37718844 -0.16409803
+v -0.27890742 0.35185768 -0.14818643
+v -0.23331303 0.30003631 -0.31648988
+v -0.29575293 -0.34101346 -0.16595292
+v -0.38512122 -0.10031689 -0.33053366
+v -0.34987679 -0.28221851 -0.16466762
+v -0.42361748 0.20005397 -0.14604176
+v -0.30205781 0.34529580 -0.14964752
+v -0.23428029 0.29384240 -0.33932924
+v -0.25414272 -0.29435706 -0.33932924
+v -0.44042218 -0.11610108 -0.16541687
+v -0.38639145 0.00486388 -0.33932924
+v -0.45381736 0.11486182 -0.14790873
+v -0.38399661 -0.00977660 -0.34127915
+v -0.29962217 0.24417805 -0.33932924
+v -0.25414272 0.29435705 -0.33932924
+v -0.35911989 -0.16753767 -0.33932924
+v -0.38505996 0.10031637 -0.33073561
+v -0.29962217 -0.24416640 -0.33932924
+v -0.37307487 -0.10816282 -0.33932924
+v -0.40287056 -0.18156274 -0.20512086
+v -0.41611504 0.18733911 -0.17581583
+f 6 3 4
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+f 12 3 7
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+f 13 1 10
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+f 31 27 16
+f 31 16 24
+f 31 24 27
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_5/collision/model_normalized_collision_14.obj b/objects/objaverse/cupcake/cupcake_5/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9cdcfb6019181d3616f6db90fea15723618483ab
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_5/collision/model_normalized_collision_14.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v -0.04847686 -0.46633579 -0.09171949
+v -0.03886243 -0.45738525 -0.10940060
+v -0.16127689 -0.35737588 -0.06864519
+v -0.33000764 -0.35094996 -0.08983359
+v -0.20002648 -0.41229872 -0.16213927
+v -0.21522107 -0.45689067 -0.09175772
+v -0.05297717 -0.39517595 -0.07921391
+v -0.26441835 -0.34448472 -0.16675890
+v -0.13270766 -0.48084999 -0.09104547
+v -0.32689654 -0.37669327 -0.09088847
+v -0.04533850 -0.46501917 -0.09018469
+v -0.05257926 -0.39118456 -0.16715853
+v -0.04490120 -0.46226000 -0.10220813
+v -0.13180560 -0.47631904 -0.09991401
+v -0.25579864 -0.43101699 -0.09175772
+v -0.32878086 -0.36349215 -0.09033845
+v -0.30187806 -0.34811721 -0.14913254
+v -0.16293047 -0.36297375 -0.17543737
+v -0.04623365 -0.41863990 -0.16554010
+v -0.23245153 -0.39005156 -0.16253940
+v -0.32443975 -0.37458154 -0.09824902
+v -0.31142085 -0.34782727 -0.13134333
+v -0.10849543 -0.42588550 -0.16272610
+v -0.12777435 -0.45779652 -0.12734876
+v -0.32534820 -0.36276646 -0.10038708
+v -0.04414847 -0.43145163 -0.14719038
+v -0.16867691 -0.42303371 -0.15992250
+f 8 4 3
+f 9 3 6
+f 11 2 7
+f 11 9 1
+f 11 7 3
+f 11 3 9
+f 12 3 7
+f 13 1 9
+f 13 11 1
+f 13 2 11
+f 14 9 6
+f 14 6 5
+f 14 13 9
+f 14 2 13
+f 15 6 3
+f 15 3 10
+f 15 5 6
+f 16 10 3
+f 16 3 4
+f 18 8 3
+f 18 3 12
+f 19 12 7
+f 19 7 2
+f 19 18 12
+f 20 17 8
+f 20 5 15
+f 20 18 5
+f 20 8 18
+f 21 15 10
+f 21 20 15
+f 21 17 20
+f 22 4 8
+f 22 8 17
+f 22 17 21
+f 23 5 18
+f 23 18 19
+f 24 2 14
+f 24 23 19
+f 25 21 10
+f 25 10 16
+f 25 16 4
+f 25 22 21
+f 25 4 22
+f 26 24 19
+f 26 19 2
+f 26 2 24
+f 27 24 14
+f 27 14 5
+f 27 5 23
+f 27 23 24
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_5/collision/model_normalized_collision_15.obj b/objects/objaverse/cupcake/cupcake_5/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d832577e4386e9e244a485faa6e9bff4f279c26b
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_5/collision/model_normalized_collision_15.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v -0.35142773 -0.01729859 -0.03746117
+v -0.33890169 0.25809761 -0.15411380
+v -0.33986524 0.32713385 -0.08982223
+v -0.36825785 0.32175413 -0.09102048
+v -0.41890295 -0.01720104 -0.15493322
+v -0.33715057 0.29978194 -0.14455605
+v -0.34334676 0.32628647 -0.08981618
+v -0.40787849 -0.02208706 -0.17831391
+v -0.42213688 0.25093000 -0.09175772
+v -0.33726786 0.31668183 -0.11527412
+v -0.40807478 -0.01611460 -0.07253694
+v -0.42802047 0.19254692 -0.15103094
+v -0.38711769 0.31197742 -0.09175772
+v -0.36506378 0.31877931 -0.09983278
+v -0.35976701 0.29007786 -0.14335775
+v -0.42150714 0.21047660 -0.09099972
+v -0.34460228 0.30001030 -0.14099864
+f 6 1 2
+f 7 1 3
+f 7 3 4
+f 7 4 1
+f 8 2 1
+f 10 3 1
+f 10 1 6
+f 11 8 1
+f 11 5 8
+f 11 1 9
+f 12 2 8
+f 12 8 5
+f 13 9 1
+f 13 1 4
+f 13 12 9
+f 14 4 3
+f 14 3 10
+f 14 13 4
+f 15 6 2
+f 15 2 12
+f 15 12 13
+f 15 13 14
+f 16 11 9
+f 16 9 12
+f 16 12 5
+f 16 5 11
+f 17 15 14
+f 17 6 15
+f 17 14 10
+f 17 10 6
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_5/collision/model_normalized_collision_17.obj b/objects/objaverse/cupcake/cupcake_5/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c4774d3af3ad50f0fa80bfb862330ff0f1f93bf
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_5/collision/model_normalized_collision_17.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v 0.09059576 -0.48016584 -0.09054607
+v 0.34521825 -0.31196575 -0.09175772
+v 0.28474776 -0.37594516 -0.09037414
+v 0.00768108 -0.25956701 -0.04952585
+v 0.00757577 -0.25940491 -0.16929658
+v 0.26841714 -0.26199517 -0.07361986
+v 0.17662939 -0.45587908 -0.09175772
+v -0.04101076 -0.47298511 -0.09175772
+v 0.25482053 -0.34212556 -0.16294587
+v 0.00720321 -0.37766543 -0.06744227
+v -0.05257926 -0.39118456 -0.16715853
+v 0.28206395 -0.37402273 -0.09932346
+v 0.12346801 -0.42383139 -0.16033303
+v 0.26876831 -0.26237292 -0.17146824
+v -0.01896588 -0.48885363 -0.09175772
+v -0.03731623 -0.38855556 -0.07348010
+v 0.21184144 -0.42742018 -0.09778276
+v 0.15847169 -0.41311652 -0.16034801
+v 0.08984415 -0.47608028 -0.10026766
+v 0.34690986 -0.27380728 -0.08986014
+v 0.31774183 -0.28997317 -0.14357695
+v -0.02047530 -0.44286237 -0.16263616
+v -0.02494142 -0.48709105 -0.09175772
+v -0.05297717 -0.39517595 -0.07921391
+v 0.34352431 -0.27328799 -0.10140058
+v 0.31626601 -0.27370209 -0.14874970
+v -0.02094970 -0.48629739 -0.09800386
+v 0.08581780 -0.45755707 -0.12770342
+v -0.03929588 -0.42683634 -0.16201104
+v 0.32650561 -0.27325997 -0.13080608
+v -0.02388756 -0.44106649 -0.16175094
+f 6 3 2
+f 6 4 3
+f 6 5 4
+f 7 3 4
+f 10 7 4
+f 10 1 7
+f 11 4 5
+f 12 9 2
+f 12 2 3
+f 14 5 6
+f 14 11 5
+f 15 1 10
+f 16 10 4
+f 17 12 3
+f 17 3 7
+f 17 9 12
+f 18 7 13
+f 18 17 7
+f 18 9 17
+f 18 14 9
+f 18 13 14
+f 19 13 7
+f 19 7 1
+f 19 1 15
+f 20 6 2
+f 21 2 9
+f 22 14 13
+f 22 11 14
+f 23 15 10
+f 23 10 16
+f 23 16 8
+f 24 11 8
+f 24 8 16
+f 24 16 4
+f 24 4 11
+f 25 14 6
+f 25 6 20
+f 25 20 2
+f 25 2 21
+f 26 21 9
+f 26 9 14
+f 26 25 21
+f 27 22 19
+f 27 19 15
+f 27 15 23
+f 28 22 13
+f 28 13 19
+f 28 19 22
+f 29 8 11
+f 29 11 22
+f 30 26 14
+f 30 14 25
+f 30 25 26
+f 31 27 23
+f 31 22 27
+f 31 29 22
+f 31 23 8
+f 31 8 29
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_5/collision/model_normalized_collision_18.obj b/objects/objaverse/cupcake/cupcake_5/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..817938ee8ef87e0200fd623cdc4b17c117dd8646
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_5/collision/model_normalized_collision_18.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v 0.21800223 0.22385687 -0.05186891
+v 0.21969698 0.22544356 -0.15414507
+v 0.21366279 0.43015134 -0.09114143
+v -0.02676042 0.48549737 -0.09175772
+v -0.09848483 0.22544356 -0.15414507
+v 0.12364009 0.43588382 -0.14201710
+v 0.13914837 0.46735340 -0.09175772
+v -0.09840076 0.22532627 -0.04639243
+v 0.19548541 0.39868002 -0.14594517
+v -0.10377229 0.42946369 -0.14935490
+v 0.17662939 0.45589076 -0.09175772
+v -0.01714794 0.48725980 -0.09175772
+v 0.20169180 0.37289617 -0.14537980
+v -0.10307186 0.46067804 -0.08984405
+v -0.10597978 0.44102190 -0.13219942
+v -0.02006150 0.45363569 -0.14435524
+v 0.21133588 0.42654314 -0.09927143
+v 0.16295464 0.42370066 -0.14224908
+v -0.09741761 0.38412429 -0.07338471
+v -0.10508027 0.45757694 -0.10271180
+v -0.01968454 0.48436841 -0.09919627
+v -0.02094970 0.46610586 -0.12735931
+v 0.20198659 0.40294421 -0.13040161
+v 0.08809293 0.46803540 -0.11220061
+f 1 2 3
+f 5 2 1
+f 8 5 1
+f 10 9 2
+f 10 2 5
+f 11 7 1
+f 11 1 3
+f 12 1 7
+f 12 8 1
+f 13 2 9
+f 15 10 5
+f 15 5 8
+f 16 6 9
+f 16 9 10
+f 17 11 3
+f 17 3 2
+f 17 2 13
+f 18 9 6
+f 18 6 7
+f 18 7 11
+f 18 17 9
+f 18 11 17
+f 19 12 4
+f 19 8 12
+f 19 14 8
+f 19 4 14
+f 20 15 8
+f 20 8 14
+f 20 14 4
+f 21 4 12
+f 21 20 4
+f 21 15 20
+f 22 16 10
+f 22 10 15
+f 22 15 21
+f 23 17 13
+f 23 13 9
+f 23 9 17
+f 24 21 12
+f 24 12 7
+f 24 22 21
+f 24 7 6
+f 24 6 16
+f 24 16 22
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_5/collision/model_normalized_collision_19.obj b/objects/objaverse/cupcake/cupcake_5/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ac3ba5825cf0857b6f89a104f4ec0082e2e18e7
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_5/collision/model_normalized_collision_19.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v -0.01532939 -0.40316134 -0.24265366
+v 0.09177604 -0.35431840 -0.30606920
+v 0.00757577 -0.27455642 -0.24505416
+v -0.23918896 -0.27984467 -0.24823000
+v -0.17506671 -0.35248915 -0.33932924
+v -0.18496625 -0.38130542 -0.24039721
+v 0.09109687 -0.35472379 -0.29095908
+v -0.02094970 -0.38130269 -0.33149035
+v 0.00757577 -0.27455642 -0.33932924
+v 0.00006902 -0.38825689 -0.24262795
+v -0.22087345 -0.33252318 -0.24197482
+v 0.05560286 -0.37681739 -0.28951169
+v 0.08168637 -0.31458062 -0.29979709
+v -0.11592706 -0.40188474 -0.24153794
+v 0.05474037 -0.36298738 -0.33932924
+v -0.23484847 -0.27455642 -0.33932924
+v 0.06098869 -0.36908418 -0.33280686
+v 0.08300803 -0.31893837 -0.28998834
+v -0.15342694 -0.36211316 -0.33000772
+v -0.02094970 -0.39545313 -0.28572626
+v -0.11003111 -0.37222020 -0.33932924
+v 0.05303031 -0.32001096 -0.33932924
+v -0.23399860 -0.29385248 -0.33932924
+v -0.02814181 -0.37133459 -0.33932924
+v -0.21502374 -0.36018602 -0.24291804
+v -0.19974226 -0.33470547 -0.33932924
+v -0.18371895 -0.37723107 -0.25423683
+f 10 6 1
+f 10 3 6
+f 10 7 3
+f 10 1 7
+f 11 6 3
+f 11 3 4
+f 12 7 1
+f 12 2 7
+f 13 9 3
+f 14 1 6
+f 15 5 9
+f 16 9 5
+f 16 4 3
+f 16 3 9
+f 17 12 1
+f 17 8 15
+f 17 15 2
+f 17 2 12
+f 18 7 2
+f 18 2 13
+f 18 13 3
+f 18 3 7
+f 19 14 6
+f 19 6 5
+f 20 1 14
+f 20 17 1
+f 20 8 17
+f 21 5 15
+f 21 19 5
+f 21 14 19
+f 21 20 14
+f 21 8 20
+f 22 13 2
+f 22 2 15
+f 22 15 9
+f 22 9 13
+f 23 4 16
+f 23 16 5
+f 24 21 15
+f 24 15 8
+f 24 8 21
+f 25 11 4
+f 25 4 23
+f 25 6 11
+f 26 25 23
+f 26 23 5
+f 26 5 25
+f 27 25 5
+f 27 5 6
+f 27 6 25
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_5/collision/model_normalized_collision_21.obj b/objects/objaverse/cupcake/cupcake_5/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..59f4234258cea58bd2a0876d9543b18ab59078bb
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_5/collision/model_normalized_collision_21.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.31702364 0.22077415 -0.08413795
+v 0.33844990 0.22531723 -0.16824553
+v 0.32339582 0.32171821 -0.09041011
+v 0.21777558 0.40686830 -0.08981589
+v 0.21969698 0.22544356 -0.33932924
+v 0.21503392 0.21969508 -0.01600967
+v 0.33336712 0.22222295 -0.18050991
+v 0.25771109 0.24417805 -0.33932924
+v 0.26196348 0.22533251 -0.03335217
+v 0.21402214 0.27867346 -0.02914739
+v 0.26479913 0.22460652 -0.31668264
+v 0.21599468 0.27047762 -0.33506170
+v 0.28541860 0.37796928 -0.09175772
+v 0.25157949 0.24680922 -0.03451697
+v 0.25874125 0.22509748 -0.33932924
+v 0.21666771 0.25540254 -0.33932924
+v 0.21334064 0.40571216 -0.10560684
+v 0.21365607 0.31803355 -0.24061175
+v 0.22446577 0.27273002 -0.03129644
+f 1 2 3
+f 7 2 1
+f 7 1 6
+f 8 3 2
+f 8 2 7
+f 9 6 1
+f 9 1 3
+f 11 7 6
+f 11 6 5
+f 13 3 8
+f 13 4 10
+f 13 8 12
+f 14 9 3
+f 14 3 13
+f 14 6 9
+f 15 8 7
+f 15 7 11
+f 15 11 5
+f 15 5 8
+f 16 12 8
+f 16 8 5
+f 16 5 6
+f 16 6 12
+f 17 10 4
+f 17 13 12
+f 17 4 13
+f 18 12 6
+f 18 6 10
+f 18 17 12
+f 18 10 17
+f 19 14 13
+f 19 13 10
+f 19 10 6
+f 19 6 14
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_5/collision/model_normalized_collision_24.obj b/objects/objaverse/cupcake/cupcake_5/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2c69d2068d1d95be6fcc5c0246d13b67f5fb2e51
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_5/collision/model_normalized_collision_24.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.00657551 -0.38784406 -0.07452910
+v 0.00715274 -0.39146921 -0.16729100
+v 0.00757577 -0.27455642 -0.16929658
+v -0.23409087 -0.27411467 -0.00334917
+v -0.15004384 -0.40170781 -0.17074748
+v 0.00759804 -0.27487006 -0.00190129
+v -0.15908536 -0.34567138 -0.01012121
+v -0.25754491 -0.30220868 -0.18590305
+v 0.00807097 -0.34270158 -0.00556483
+v -0.13976032 -0.38226801 -0.08186079
+v -0.22915209 -0.33952967 -0.07979637
+v -0.20649419 -0.32164037 -0.00930520
+v -0.18258112 -0.36771272 -0.08213019
+v -0.23599162 -0.35050148 -0.16967319
+v -0.21843580 -0.30825018 -0.01041453
+v -0.15461286 -0.38144671 -0.08744596
+v -0.21362798 -0.35390504 -0.08594224
+f 5 2 1
+f 6 3 4
+f 8 3 2
+f 8 2 5
+f 8 4 3
+f 9 1 2
+f 9 2 3
+f 9 3 6
+f 9 7 1
+f 9 6 4
+f 9 4 7
+f 10 5 1
+f 10 1 7
+f 11 4 8
+f 12 7 4
+f 13 7 12
+f 14 11 8
+f 14 8 5
+f 15 12 4
+f 15 4 11
+f 15 11 12
+f 16 10 7
+f 16 7 13
+f 16 13 5
+f 16 5 10
+f 17 13 12
+f 17 12 11
+f 17 11 14
+f 17 14 5
+f 17 5 13
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_5/collision/model_normalized_collision_27.obj b/objects/objaverse/cupcake/cupcake_5/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..82eb4105b3a77ba10f1257e56f80d4e3fe998e88
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_5/collision/model_normalized_collision_27.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v 0.21510523 0.22232511 -0.01049807
+v 0.21800223 0.22385687 -0.05186891
+v 0.18671069 0.32644748 -0.07137858
+v -0.05243743 0.38577018 -0.07094102
+v -0.23319809 0.22394148 -0.04377986
+v 0.10751721 0.33350389 -0.01941579
+v 0.21750521 0.29854233 -0.06779889
+v -0.21665464 0.22046373 0.01430609
+v -0.23154789 0.32627168 -0.07199459
+v 0.08174572 0.37157709 -0.07061566
+v 0.20771082 0.28436245 -0.03053512
+v 0.17731742 0.27070773 -0.00145186
+v -0.09406381 0.33183138 -0.01590384
+v 0.00694827 0.38580010 -0.07109403
+v -0.23527989 0.22525095 -0.01185187
+v 0.12713437 0.35709936 -0.06982243
+v 0.13280632 0.32969623 -0.02850561
+v 0.19750441 0.22237277 -0.00118697
+v 0.19360549 0.25250839 -0.00442950
+v -0.23219673 0.27953863 -0.02575990
+v -0.20178528 0.34157530 -0.07060927
+v -0.05037021 0.29913058 0.00041846
+v 0.10570024 0.34514081 -0.03001402
+v 0.02207341 0.35272443 -0.02049086
+v 0.13647867 0.31986462 -0.02148518
+v -0.21163286 0.22458068 0.01840690
+v -0.15225603 0.31594615 -0.01909796
+v -0.02115476 0.34949492 -0.01951587
+v 0.13841637 0.28682670 -0.00356876
+f 7 1 2
+f 8 5 2
+f 8 2 1
+f 9 3 7
+f 9 7 2
+f 9 2 5
+f 11 1 7
+f 11 7 3
+f 14 9 4
+f 14 3 9
+f 14 10 3
+f 15 9 5
+f 15 5 8
+f 16 3 10
+f 17 11 3
+f 18 8 1
+f 19 1 11
+f 19 11 12
+f 19 18 1
+f 19 12 18
+f 20 15 8
+f 20 9 15
+f 21 13 4
+f 21 4 9
+f 21 9 20
+f 23 10 14
+f 23 16 10
+f 23 6 17
+f 23 17 3
+f 23 3 16
+f 24 14 4
+f 24 23 14
+f 24 6 23
+f 25 12 11
+f 25 11 17
+f 25 17 6
+f 25 6 12
+f 26 18 12
+f 26 8 18
+f 26 12 22
+f 26 22 13
+f 26 20 8
+f 27 21 20
+f 27 13 21
+f 27 26 13
+f 27 20 26
+f 28 24 4
+f 28 4 13
+f 28 13 22
+f 28 22 24
+f 29 24 22
+f 29 22 12
+f 29 12 6
+f 29 6 24
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_5/collision/model_normalized_collision_3.obj b/objects/objaverse/cupcake/cupcake_5/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a344b5802df35a584bd599e06faabcc81f7063e1
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_5/collision/model_normalized_collision_3.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v 0.03729088 -0.34716342 -0.00740492
+v 0.08235066 -0.33300826 -0.00966147
+v -0.04683182 -0.23845664 0.16051041
+v -0.15921041 -0.19310361 0.17217795
+v -0.17699736 -0.20216383 0.00578309
+v -0.18425734 -0.33271062 -0.00205398
+v 0.08598074 -0.32197777 0.03064974
+v 0.07835724 -0.18911289 0.09729503
+v -0.08505980 -0.34427388 0.01197317
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\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_5/collision/model_normalized_collision_30.obj b/objects/objaverse/cupcake/cupcake_5/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..122960f00562e807d44119d374fd9b5735ed81a2
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_5/collision/model_normalized_collision_30.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
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+f 19 11 9
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_5/visual/material.mtl b/objects/objaverse/cupcake/cupcake_5/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..85ceee744d4014a97c9b3468dc657747b66ec957
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_5/visual/material.mtl
@@ -0,0 +1,7 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 38.39998900
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_5/visual/model_normalized_0.obj b/objects/objaverse/cupcake/cupcake_5/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..064a5d8b17bc18cd6b44356e6fad71f75cf929a5
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_5/visual/model_normalized_0.obj
@@ -0,0 +1,1769 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/objects/objaverse/cupcake/cupcake_5/visual/model_normalized_1.obj b/objects/objaverse/cupcake/cupcake_5/visual/model_normalized_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..54572ddc67be69630b9230e529d1ddfcea85eafa
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_5/visual/model_normalized_1.obj
@@ -0,0 +1,98782 @@
+# https://github.com/mikedh/trimesh
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diff --git a/objects/objaverse/cupcake/cupcake_5/visual/model_normalized_2.obj b/objects/objaverse/cupcake/cupcake_5/visual/model_normalized_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4ef83edd1c334597663ce8e6bf2c2b77811852e3
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_5/visual/model_normalized_2.obj
@@ -0,0 +1,16804 @@
+# https://github.com/mikedh/trimesh
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+f 4717/4717/4717 4715/4715/4715 4716/4716/4716
+f 4715/4715/4715 4717/4717/4717 4711/4711/4711
+f 4718/4718/4718 4719/4719/4719 4717/4717/4717
+f 4705/4705/4705 4724/4724/4724 4704/4704/4704
+f 4724/4724/4724 4705/4705/4705 4723/4723/4723
+f 4723/4723/4723 4705/4705/4705 4721/4721/4721
+f 4723/4723/4723 4721/4721/4721 4722/4722/4722
+f 4726/4726/4726 4724/4724/4724 4725/4725/4725
+f 4724/4724/4724 4726/4726/4726 4704/4704/4704
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_11/collision/model_normalized_collision_0.obj b/objects/objaverse/fork/fork_11/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b7be6aa314f5eb341086188d19dcc0ea82a1a75
--- /dev/null
+++ b/objects/objaverse/fork/fork_11/collision/model_normalized_collision_0.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.07885758 0.30826287 -0.03778378
+v 0.08005245 0.31171009 -0.03119502
+v -0.02766146 0.31186684 -0.02905203
+v -0.02772358 0.35960205 -0.01846323
+v 0.07645726 0.35965289 -0.01896453
+v -0.02790586 0.33681438 -0.03374321
+v 0.07839039 0.35304369 -0.02743438
+v -0.02811170 0.30875106 -0.03894170
+v 0.07818973 0.35567561 -0.02194713
+v 0.06291494 0.33680986 -0.03369716
+v -0.02784330 0.35432249 -0.02952843
+v 0.07660332 0.33676269 -0.03319048
+v 0.07804791 0.32237245 -0.03590196
+f 1 2 3
+f 5 3 2
+f 5 4 3
+f 7 2 1
+f 8 1 3
+f 8 3 4
+f 9 7 5
+f 9 5 2
+f 9 2 7
+f 10 8 6
+f 11 4 5
+f 11 5 7
+f 11 8 4
+f 11 6 8
+f 11 10 6
+f 11 7 10
+f 12 10 7
+f 13 1 8
+f 13 8 10
+f 13 10 12
+f 13 12 7
+f 13 7 1
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_11/collision/model_normalized_collision_1.obj b/objects/objaverse/fork/fork_11/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5177c26a17070ba8ac7e73467cd62782cac59ba7
--- /dev/null
+++ b/objects/objaverse/fork/fork_11/collision/model_normalized_collision_1.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.08076247 0.27962730 -0.03950042
+v 0.07968522 0.28108839 -0.03367338
+v -0.02785175 0.28096837 -0.03251260
+v -0.02766146 0.31186684 -0.02905203
+v 0.08005245 0.31171009 -0.03119502
+v -0.02811170 0.30875106 -0.03894170
+v -0.02791585 0.27977102 -0.04192507
+v 0.06284016 0.30879949 -0.03877251
+v 0.07885758 0.30826287 -0.03778378
+f 1 2 3
+f 3 2 4
+f 5 2 1
+f 5 4 2
+f 6 3 4
+f 6 4 5
+f 7 1 3
+f 7 3 6
+f 8 6 5
+f 8 7 6
+f 8 1 7
+f 9 8 5
+f 9 5 1
+f 9 1 8
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_11/collision/model_normalized_collision_10.obj b/objects/objaverse/fork/fork_11/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7063ff16c1388b7725d5013ed0483bc1a01c97ff
--- /dev/null
+++ b/objects/objaverse/fork/fork_11/collision/model_normalized_collision_10.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.03369230 -0.40181241 -0.03242652
+v 0.03372729 -0.40239989 -0.04077086
+v 0.03108989 -0.34070734 -0.03078770
+v -0.03110828 -0.34114180 -0.03079935
+v -0.03371826 -0.40219072 -0.04076525
+v -0.03368328 -0.40160324 -0.03242091
+v 0.01758173 -0.34121201 -0.03967968
+v 0.03073287 -0.34130955 -0.03919898
+v -0.03114259 -0.34172925 -0.03914368
+v 0.03179081 -0.35704792 -0.03955451
+f 1 2 3
+f 5 2 1
+f 6 5 1
+f 6 4 5
+f 6 1 3
+f 6 3 4
+f 7 2 5
+f 7 4 3
+f 8 7 3
+f 8 2 7
+f 9 7 5
+f 9 5 4
+f 9 4 7
+f 10 8 3
+f 10 3 2
+f 10 2 8
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_11/collision/model_normalized_collision_11.obj b/objects/objaverse/fork/fork_11/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b7135a5b4399705f61fd11acaedaf48c3f3eebc1
--- /dev/null
+++ b/objects/objaverse/fork/fork_11/collision/model_normalized_collision_11.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.02031020 0.09897700 -0.01919684
+v 0.02030139 0.09851148 -0.02750710
+v 0.02960350 0.16166542 -0.02753333
+v 0.00242940 0.15848177 -0.01869803
+v 0.00242939 0.09875888 -0.01865342
+v 0.00242939 0.16001630 -0.02805902
+v 0.02801216 0.16006915 -0.01919152
+v 0.00242940 0.09831578 -0.02805947
+f 1 2 3
+f 5 2 1
+f 6 4 3
+f 6 5 4
+f 7 1 3
+f 7 3 4
+f 7 5 1
+f 7 4 5
+f 8 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/fork/fork_11/collision/model_normalized_collision_12.obj b/objects/objaverse/fork/fork_11/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..35046f64f59f44af7a6a9ffa7a0ab6ebfcba9453
--- /dev/null
+++ b/objects/objaverse/fork/fork_11/collision/model_normalized_collision_12.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.02806434 -0.26511090 -0.02876005
+v 0.02809497 -0.26569868 -0.03710440
+v 0.02635158 -0.21975366 -0.02754356
+v -0.02634468 -0.21957057 -0.02753864
+v -0.02810962 -0.26608652 -0.03711480
+v 0.00242986 -0.22008713 -0.03643104
+v -0.02807900 -0.26549874 -0.02877046
+v 0.02638221 -0.22034144 -0.03588790
+v -0.02481556 -0.22020855 -0.03620770
+v -0.02765384 -0.23548360 -0.03444762
+v -0.02753870 -0.25096744 -0.03670930
+f 1 2 3
+f 1 3 4
+f 6 4 3
+f 6 2 5
+f 7 1 4
+f 7 5 2
+f 7 2 1
+f 8 6 3
+f 8 3 2
+f 8 2 6
+f 9 6 5
+f 9 4 6
+f 10 7 4
+f 10 5 7
+f 10 4 9
+f 11 10 9
+f 11 9 5
+f 11 5 10
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_11/collision/model_normalized_collision_13.obj b/objects/objaverse/fork/fork_11/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1547ef80ba08a2064e6d32ab73f7ed5c3c3bc0e2
--- /dev/null
+++ b/objects/objaverse/fork/fork_11/collision/model_normalized_collision_13.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v -0.05472518 0.44161204 0.00380428
+v -0.05520498 0.45348632 0.01002397
+v -0.05524384 0.45019586 0.01767469
+v -0.07065033 0.46876753 0.02824067
+v -0.07291820 0.44138013 0.00368281
+v -0.05954470 0.46869831 0.02871421
+v -0.05489245 0.46265690 0.02252515
+v -0.05900523 0.45409005 0.00976981
+v -0.07287295 0.45038210 0.01662060
+v -0.07048156 0.45713352 0.02177629
+v -0.07233231 0.45324693 0.00989858
+v -0.05920205 0.45704091 0.02207434
+v -0.07254069 0.46235452 0.02235469
+f 5 1 3
+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 4 6
+f 9 5 3
+f 10 6 4
+f 10 9 3
+f 10 4 9
+f 11 8 5
+f 11 4 8
+f 12 10 3
+f 12 3 6
+f 12 6 10
+f 13 9 4
+f 13 4 11
+f 13 11 5
+f 13 5 9
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_11/collision/model_normalized_collision_14.obj b/objects/objaverse/fork/fork_11/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b1c065f8bd165940bb0566cde61172262f64c376
--- /dev/null
+++ b/objects/objaverse/fork/fork_11/collision/model_normalized_collision_14.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.05448494 0.45846932 0.01485120
+v -0.05624688 0.46815549 0.02778853
+v -0.07195199 0.45984458 0.01351267
+v -0.06354402 0.50000000 0.03945062
+v -0.05826399 0.49014971 0.03815672
+v -0.05701732 0.48146907 0.02603117
+v -0.07065033 0.46876753 0.02824067
+v -0.06655067 0.49615036 0.03495426
+v -0.06102169 0.49639865 0.03510193
+v -0.06623848 0.49816202 0.03832836
+v -0.06984371 0.48214218 0.02635983
+f 5 2 1
+f 6 1 3
+f 6 5 1
+f 7 1 2
+f 7 3 1
+f 7 2 5
+f 9 4 5
+f 9 5 6
+f 9 8 4
+f 10 7 5
+f 10 5 4
+f 10 4 8
+f 11 6 3
+f 11 3 7
+f 11 10 8
+f 11 7 10
+f 11 9 6
+f 11 8 9
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_11/collision/model_normalized_collision_15.obj b/objects/objaverse/fork/fork_11/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0285654b7c8ba896a92bb0138a11de082b357d34
--- /dev/null
+++ b/objects/objaverse/fork/fork_11/collision/model_normalized_collision_15.obj
@@ -0,0 +1,18 @@
+# https://github.com/mikedh/trimesh
+v -0.05922897 0.48001092 0.03522944
+v -0.06029951 0.48618353 0.03886785
+v -0.06999117 0.47979564 0.03465598
+v -0.06354402 0.50000000 0.03945062
+v -0.06354402 0.49757619 0.04340047
+v -0.06623848 0.49816202 0.03832836
+v -0.06880537 0.48618163 0.03838369
+f 1 2 3
+f 2 1 4
+f 5 2 4
+f 6 1 3
+f 6 4 1
+f 6 5 4
+f 7 3 2
+f 7 2 5
+f 7 6 3
+f 7 5 6
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_11/collision/model_normalized_collision_16.obj b/objects/objaverse/fork/fork_11/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..51bf5818b11284140ca2d8044e4b08b1ae0a866d
--- /dev/null
+++ b/objects/objaverse/fork/fork_11/collision/model_normalized_collision_16.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v -0.05203198 0.36796265 -0.02524181
+v -0.05235383 0.37384109 -0.01479573
+v -0.07623187 0.36779099 -0.02528384
+v -0.07468639 0.42003769 0.00112153
+v -0.05254784 0.41619124 -0.00534125
+v -0.07610666 0.37374732 -0.01517434
+v -0.05404184 0.41962494 0.00247828
+v -0.07429667 0.41150579 -0.00993076
+v -0.07499484 0.39243301 -0.00847957
+v -0.05360542 0.41172183 -0.00983990
+v -0.05826432 0.38173951 -0.02146178
+v -0.07565182 0.38107641 -0.02113981
+v -0.05250597 0.38128068 -0.02107409
+f 1 2 3
+f 5 2 1
+f 6 3 2
+f 6 4 3
+f 7 5 4
+f 7 2 5
+f 7 6 2
+f 8 4 5
+f 9 7 4
+f 9 4 6
+f 9 6 7
+f 10 8 5
+f 11 1 3
+f 11 8 10
+f 12 3 4
+f 12 4 8
+f 12 11 3
+f 12 8 11
+f 13 10 5
+f 13 5 1
+f 13 11 10
+f 13 1 11
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_11/collision/model_normalized_collision_17.obj b/objects/objaverse/fork/fork_11/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8d48dba313da58c2729cd1a140b36adf1563aaa
--- /dev/null
+++ b/objects/objaverse/fork/fork_11/collision/model_normalized_collision_17.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.02645385 0.44216817 0.00357835
+v -0.02581986 0.45406677 0.00975759
+v -0.02532405 0.46866715 0.02867548
+v -0.05826399 0.49014971 0.03815672
+v -0.05520498 0.45348632 0.01002397
+v -0.02485103 0.48247600 0.02607094
+v -0.05472518 0.44161204 0.00380428
+v -0.02569286 0.49180329 0.03945707
+v -0.05701732 0.48146907 0.02603117
+v -0.02683108 0.45039834 0.01819645
+v -0.05624688 0.46815549 0.02778853
+v -0.05524384 0.45019586 0.01767469
+f 1 2 3
+f 6 3 2
+f 7 5 2
+f 7 2 1
+f 8 6 4
+f 8 4 3
+f 8 3 6
+f 9 4 6
+f 9 7 4
+f 9 5 7
+f 9 6 2
+f 9 2 5
+f 10 7 1
+f 10 1 3
+f 11 3 4
+f 12 10 3
+f 12 3 11
+f 12 7 10
+f 12 11 4
+f 12 4 7
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_11/collision/model_normalized_collision_18.obj b/objects/objaverse/fork/fork_11/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d9c3d23b1dd457b4cd278b4dc865dbd2f52eaa0e
--- /dev/null
+++ b/objects/objaverse/fork/fork_11/collision/model_normalized_collision_18.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.00242939 0.09875888 -0.01865342
+v 0.00242940 0.09831578 -0.02805947
+v 0.00242940 0.11351931 -0.02777040
+v -0.02085618 0.11423575 -0.01893224
+v -0.02030005 0.09843055 -0.02750886
+v 0.00242940 0.11379670 -0.01839087
+v -0.02030887 0.09889645 -0.01919853
+v -0.02084157 0.11394893 -0.02721729
+f 5 2 1
+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 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/fork/fork_11/collision/model_normalized_collision_19.obj b/objects/objaverse/fork/fork_11/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d996cd8968033d98c9fd76d6db473161859b3c0
--- /dev/null
+++ b/objects/objaverse/fork/fork_11/collision/model_normalized_collision_19.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.00242940 0.11379670 -0.01839087
+v 0.00242940 0.11351931 -0.02777040
+v 0.00242939 0.16001630 -0.02805902
+v -0.03392718 0.16802399 -0.02844001
+v -0.02084157 0.11394893 -0.02721729
+v 0.00242940 0.15848177 -0.01869803
+v -0.02085618 0.11423575 -0.01893224
+v -0.03049269 0.16470282 -0.01959061
+v -0.02424815 0.14679869 -0.01878543
+f 3 2 4
+f 5 2 1
+f 5 4 2
+f 6 3 4
+f 6 1 2
+f 6 2 3
+f 7 5 1
+f 7 4 5
+f 8 6 4
+f 8 4 7
+f 9 7 1
+f 9 1 6
+f 9 8 7
+f 9 6 8
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_11/collision/model_normalized_collision_2.obj b/objects/objaverse/fork/fork_11/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bbbe2da556df03acfd0f5582ded381b19c968581
--- /dev/null
+++ b/objects/objaverse/fork/fork_11/collision/model_normalized_collision_2.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.02530699 -0.18948590 -0.02673168
+v 0.02587998 -0.18969745 -0.03349941
+v 0.02140909 -0.00767127 -0.02370168
+v -0.02111667 -0.00762500 -0.02275693
+v -0.02537229 -0.18950432 -0.03490560
+v -0.02530130 -0.18931971 -0.02672723
+v 0.02084613 -0.00791176 -0.03019022
+v -0.02084496 -0.00783625 -0.03018820
+f 1 2 3
+f 1 3 4
+f 6 5 2
+f 6 2 1
+f 6 1 4
+f 6 4 5
+f 7 3 2
+f 7 2 5
+f 8 7 5
+f 8 5 4
+f 8 4 3
+f 8 3 7
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_11/collision/model_normalized_collision_20.obj b/objects/objaverse/fork/fork_11/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..254be52b2ccfe1c1324b89d19223ddfc20f217d1
--- /dev/null
+++ b/objects/objaverse/fork/fork_11/collision/model_normalized_collision_20.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v -0.02785175 0.28096837 -0.03251260
+v -0.02791585 0.27977102 -0.04192507
+v -0.02781904 0.31103144 -0.03858442
+v -0.07870533 0.31161474 -0.02975082
+v -0.07902404 0.27971555 -0.04132767
+v -0.02766146 0.31186684 -0.02905203
+v -0.07902571 0.28104444 -0.03298338
+v -0.02811170 0.30875106 -0.03894170
+v -0.07848548 0.30844676 -0.03815956
+f 5 2 1
+f 6 3 4
+f 6 1 2
+f 6 2 3
+f 7 5 1
+f 7 4 5
+f 7 6 4
+f 7 1 6
+f 8 3 2
+f 8 2 5
+f 9 5 4
+f 9 4 3
+f 9 8 5
+f 9 3 8
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_11/collision/model_normalized_collision_21.obj b/objects/objaverse/fork/fork_11/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf894c715ffe9817954d7bd6185debd426d5c9f2
--- /dev/null
+++ b/objects/objaverse/fork/fork_11/collision/model_normalized_collision_21.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.02635158 -0.21975366 -0.02754356
+v 0.02638221 -0.22034144 -0.03588790
+v 0.02530699 -0.18948590 -0.02673168
+v -0.02530130 -0.18931971 -0.02672723
+v -0.02634468 -0.21957057 -0.02753864
+v 0.01758164 -0.18980581 -0.03561881
+v -0.02481556 -0.22020855 -0.03620770
+v 0.02533479 -0.19007395 -0.03507604
+v -0.02435233 -0.18993532 -0.03529183
+v -0.02470986 -0.20505249 -0.03572246
+f 1 2 3
+f 1 3 4
+f 5 1 4
+f 6 4 3
+f 7 2 1
+f 7 1 5
+f 7 6 2
+f 8 6 3
+f 8 3 2
+f 8 2 6
+f 9 5 4
+f 9 4 6
+f 9 6 7
+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_11/collision/model_normalized_collision_22.obj b/objects/objaverse/fork/fork_11/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..730355bd487de514d602e970e651a8343f3d6c0b
--- /dev/null
+++ b/objects/objaverse/fork/fork_11/collision/model_normalized_collision_22.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.02140909 -0.00767127 -0.02370168
+v 0.02084613 -0.00791176 -0.03019022
+v 0.02019647 0.03752546 -0.02897831
+v 0.01735798 0.03826325 -0.02010909
+v 0.01757107 -0.00755847 -0.02132328
+v 0.02018554 0.03810897 -0.02063528
+v 0.01750355 -0.00771399 -0.03071513
+v 0.01748498 0.03770907 -0.02949400
+v 0.02059896 0.00783295 -0.02143960
+v 0.01734796 0.00798112 -0.02090687
+f 1 2 3
+f 5 2 1
+f 6 1 3
+f 7 2 5
+f 8 6 3
+f 8 4 6
+f 8 3 2
+f 8 2 7
+f 9 5 1
+f 9 1 6
+f 9 6 4
+f 9 4 5
+f 10 7 5
+f 10 5 4
+f 10 8 7
+f 10 4 8
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_11/collision/model_normalized_collision_23.obj b/objects/objaverse/fork/fork_11/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9da6a52bd97580befdbc53e21d3c1bbff3dedaf2
--- /dev/null
+++ b/objects/objaverse/fork/fork_11/collision/model_normalized_collision_23.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.01757107 -0.00755847 -0.02132328
+v 0.01750355 -0.00771399 -0.03071513
+v 0.01735798 0.03826325 -0.02010909
+v -0.02018464 0.03817526 -0.02063352
+v -0.02111667 -0.00762500 -0.02275693
+v 0.01748498 0.03770907 -0.02949400
+v 0.01734796 0.00798112 -0.02090687
+v -0.02084496 -0.00783625 -0.03018820
+v -0.02059807 0.00789924 -0.02143784
+v 0.00242940 0.03771117 -0.02952324
+v -0.02019557 0.03759176 -0.02897655
+f 6 1 2
+f 6 3 1
+f 7 1 3
+f 7 3 4
+f 8 2 1
+f 8 1 5
+f 9 5 1
+f 9 4 5
+f 9 7 4
+f 9 1 7
+f 10 4 3
+f 10 3 6
+f 10 6 2
+f 10 2 8
+f 11 8 5
+f 11 5 4
+f 11 10 8
+f 11 4 10
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_11/collision/model_normalized_collision_24.obj b/objects/objaverse/fork/fork_11/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5abe415549d205f59424b3c9292957d779f3f0bc
--- /dev/null
+++ b/objects/objaverse/fork/fork_11/collision/model_normalized_collision_24.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.07758165 0.23627379 -0.03424685
+v 0.07875398 0.23768857 -0.04010670
+v 0.07968522 0.28108839 -0.03367338
+v 0.01764795 0.28097205 -0.03249982
+v 0.01758090 0.23536583 -0.04234654
+v 0.01758091 0.23408709 -0.03289614
+v 0.08076247 0.27962730 -0.03950042
+v 0.01753802 0.27975892 -0.04192536
+v 0.01758091 0.25014721 -0.04283227
+f 5 2 1
+f 6 1 3
+f 6 3 4
+f 6 5 1
+f 7 1 2
+f 7 3 1
+f 8 6 4
+f 8 5 6
+f 8 4 3
+f 8 3 7
+f 9 8 7
+f 9 7 2
+f 9 2 5
+f 9 5 8
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_11/collision/model_normalized_collision_25.obj b/objects/objaverse/fork/fork_11/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0f992a559bd0260b31ba5d94f571497f3bce79aa
--- /dev/null
+++ b/objects/objaverse/fork/fork_11/collision/model_normalized_collision_25.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.06423741 0.19656544 -0.02826251
+v 0.07648886 0.22482708 -0.03915901
+v 0.07758165 0.23627379 -0.03424685
+v -0.07692759 0.23571337 -0.03354643
+v -0.06520591 0.19713659 -0.03652331
+v -0.07709590 0.23697329 -0.04189403
+v -0.06296550 0.19511120 -0.02749684
+v 0.07551327 0.22255760 -0.03375348
+v 0.06627462 0.19909815 -0.03697356
+v 0.06303546 0.23535920 -0.04235003
+v 0.07875398 0.23768857 -0.04010670
+v -0.07154131 0.20975853 -0.03197591
+v -0.07154582 0.21143950 -0.03932689
+f 7 1 3
+f 7 3 4
+f 7 5 1
+f 8 3 1
+f 9 1 5
+f 9 8 1
+f 9 2 8
+f 10 2 9
+f 11 6 4
+f 11 4 3
+f 11 10 6
+f 11 2 10
+f 11 8 2
+f 11 3 8
+f 12 4 6
+f 12 7 4
+f 12 5 7
+f 13 10 9
+f 13 9 5
+f 13 6 10
+f 13 12 6
+f 13 5 12
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_11/collision/model_normalized_collision_26.obj b/objects/objaverse/fork/fork_11/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..27725ce4aa46f5baee119957b0c58b9fe06d8957
--- /dev/null
+++ b/objects/objaverse/fork/fork_11/collision/model_normalized_collision_26.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.01758091 0.23408709 -0.03289614
+v 0.01758090 0.23536583 -0.04234654
+v 0.01764795 0.28097205 -0.03249982
+v -0.07902571 0.28104444 -0.03298338
+v -0.07692759 0.23571337 -0.03354643
+v 0.01753802 0.27975892 -0.04192536
+v -0.07841357 0.25091892 -0.04225577
+v -0.07709590 0.23697329 -0.04189403
+v -0.07902404 0.27971555 -0.04132767
+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 8 7 2
+f 8 2 5
+f 8 5 7
+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_11/collision/model_normalized_collision_27.obj b/objects/objaverse/fork/fork_11/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e80ae356fd5e0a39806cd1ab956f33a3d31e5247
--- /dev/null
+++ b/objects/objaverse/fork/fork_11/collision/model_normalized_collision_27.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.07621425 0.36820122 -0.02517117
+v 0.07582109 0.37405179 -0.01472832
+v -0.05203198 0.36796265 -0.02524181
+v -0.05404184 0.41962494 0.00247828
+v 0.07374054 0.41979695 0.00255951
+v -0.05235383 0.37384109 -0.01479573
+v 0.06311597 0.41226185 -0.01019878
+v 0.07427870 0.41190186 -0.00976420
+v -0.05250597 0.38128068 -0.02107409
+v 0.07563392 0.38148470 -0.02100845
+v -0.05360542 0.41172183 -0.00983990
+f 1 2 3
+f 6 3 2
+f 6 4 3
+f 6 5 4
+f 6 2 5
+f 7 4 5
+f 8 5 2
+f 8 2 1
+f 8 7 5
+f 9 1 3
+f 9 3 4
+f 10 8 1
+f 10 7 8
+f 10 9 7
+f 10 1 9
+f 11 9 4
+f 11 4 7
+f 11 7 9
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_11/collision/model_normalized_collision_28.obj b/objects/objaverse/fork/fork_11/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c4a0732ecd17704a8a59edf99224e5d1d25a160a
--- /dev/null
+++ b/objects/objaverse/fork/fork_11/collision/model_normalized_collision_28.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.03497619 -0.46013890 -0.03403122
+v 0.03488436 -0.46084158 -0.04227475
+v 0.03372729 -0.40239989 -0.04077086
+v -0.03368328 -0.40160324 -0.03242091
+v -0.03492863 -0.46061656 -0.03405617
+v 0.03369230 -0.40181241 -0.03242652
+v -0.03514308 -0.44712303 -0.04196316
+v 0.03133287 -0.40182873 -0.04111006
+v -0.03483680 -0.46131989 -0.04227545
+v -0.03371826 -0.40219072 -0.04076525
+f 1 2 3
+f 5 1 4
+f 6 1 3
+f 6 4 1
+f 7 5 4
+f 8 6 3
+f 8 4 6
+f 8 3 2
+f 9 5 7
+f 9 2 1
+f 9 1 5
+f 9 8 2
+f 9 7 8
+f 10 8 7
+f 10 7 4
+f 10 4 8
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_11/collision/model_normalized_collision_29.obj b/objects/objaverse/fork/fork_11/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c6aa607295689c3f51c6ddde8e29e54ba249c3d0
--- /dev/null
+++ b/objects/objaverse/fork/fork_11/collision/model_normalized_collision_29.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.07427870 0.41190186 -0.00976420
+v 0.07372781 0.42402096 -0.00460814
+v 0.07226508 0.45035506 0.01775809
+v -0.07287295 0.45038210 0.01662060
+v -0.07429667 0.41150579 -0.00993076
+v 0.06311336 0.44223096 0.00351697
+v 0.07374054 0.41979695 0.00255951
+v 0.06315854 0.42441909 -0.00501942
+v 0.07289854 0.44177813 0.00389126
+v -0.07291820 0.44138013 0.00368281
+v -0.07287536 0.43808935 0.01133116
+v -0.07468639 0.42003769 0.00112153
+v -0.07374584 0.42363174 -0.00479205
+v 0.06316276 0.43845153 0.01213519
+f 6 4 3
+f 7 1 2
+f 7 5 1
+f 8 2 1
+f 8 1 5
+f 8 6 2
+f 9 6 3
+f 9 2 6
+f 9 7 2
+f 9 3 7
+f 10 4 6
+f 10 6 8
+f 11 3 4
+f 12 4 10
+f 12 11 4
+f 12 5 7
+f 12 7 11
+f 13 10 8
+f 13 8 5
+f 13 12 10
+f 13 5 12
+f 14 11 7
+f 14 7 3
+f 14 3 11
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_11/collision/model_normalized_collision_3.obj b/objects/objaverse/fork/fork_11/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..695b3da466102b0061efd5ede7f18c7723aa69fc
--- /dev/null
+++ b/objects/objaverse/fork/fork_11/collision/model_normalized_collision_3.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.07839039 0.35304369 -0.02743438
+v 0.07818973 0.35567561 -0.02194713
+v -0.07821053 0.35330515 -0.02757087
+v -0.07610666 0.37374732 -0.01517434
+v 0.07582109 0.37405179 -0.01472832
+v -0.07647558 0.35923439 -0.01907873
+v 0.07763450 0.37030309 -0.02026557
+v 0.07645726 0.35965289 -0.01896453
+v 0.06309641 0.36841815 -0.02567046
+v 0.07771710 0.36710524 -0.02357779
+v -0.07623187 0.36779099 -0.02528384
+f 1 2 3
+f 6 3 2
+f 6 4 3
+f 6 5 4
+f 7 5 2
+f 7 2 1
+f 8 6 2
+f 8 2 5
+f 8 5 6
+f 9 1 3
+f 9 4 5
+f 9 5 7
+f 10 9 7
+f 10 7 1
+f 10 1 9
+f 11 9 3
+f 11 3 4
+f 11 4 9
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_11/collision/model_normalized_collision_30.obj b/objects/objaverse/fork/fork_11/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f53f2f75b85cff678d51c7b9cabce37863604da0
--- /dev/null
+++ b/objects/objaverse/fork/fork_11/collision/model_normalized_collision_30.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.03108989 -0.34070734 -0.03078770
+v 0.03073287 -0.34130955 -0.03919898
+v 0.02809497 -0.26569868 -0.03710440
+v -0.02807900 -0.26549874 -0.02877046
+v -0.03110828 -0.34114180 -0.03079935
+v 0.02806434 -0.26511090 -0.02876005
+v -0.03114259 -0.34172925 -0.03914368
+v -0.02810962 -0.26608652 -0.03711480
+f 1 2 3
+f 5 2 1
+f 5 1 4
+f 6 1 3
+f 6 4 1
+f 7 2 5
+f 7 5 4
+f 8 3 2
+f 8 2 7
+f 8 7 4
+f 8 6 3
+f 8 4 6
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_11/collision/model_normalized_collision_31.obj b/objects/objaverse/fork/fork_11/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1f8ee2b991b25089af8b0d4ab5e612dde6874f6c
--- /dev/null
+++ b/objects/objaverse/fork/fork_11/collision/model_normalized_collision_31.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.02018554 0.03810897 -0.02063528
+v 0.02019647 0.03752546 -0.02897831
+v 0.02093220 0.09870942 -0.02104260
+v -0.02030887 0.09889645 -0.01919853
+v -0.02019557 0.03759176 -0.02897655
+v 0.02031020 0.09897700 -0.01919684
+v -0.02018464 0.03817526 -0.02063352
+v 0.02030139 0.09851148 -0.02750710
+v -0.02030005 0.09843055 -0.02750886
+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 8 4 6
+f 9 8 5
+f 9 5 4
+f 9 4 8
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_11/collision/model_normalized_collision_4.obj b/objects/objaverse/fork/fork_11/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ed8f4400d49ec583f17c4c23abde1880af1a5be
--- /dev/null
+++ b/objects/objaverse/fork/fork_11/collision/model_normalized_collision_4.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.07289854 0.44177813 0.00389126
+v 0.07231265 0.45364492 0.01010704
+v 0.07107322 0.46849496 0.02798888
+v -0.02532405 0.46866715 0.02867548
+v -0.02645385 0.44216817 0.00357835
+v -0.02581986 0.45406677 0.00975759
+v -0.02560501 0.45701098 0.02205741
+v 0.07186119 0.45699470 0.02145259
+f 6 3 2
+f 6 4 3
+f 6 5 4
+f 6 2 1
+f 6 1 5
+f 7 3 4
+f 7 5 1
+f 7 4 5
+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/fork/fork_11/collision/model_normalized_collision_5.obj b/objects/objaverse/fork/fork_11/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e687777dc472e78628d151f80d03c2b38825f851
--- /dev/null
+++ b/objects/objaverse/fork/fork_11/collision/model_normalized_collision_5.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.02125221 -0.49244531 -0.03670428
+v 0.03317652 -0.47182063 -0.04212077
+v 0.03497619 -0.46013890 -0.03403122
+v -0.03492863 -0.46061656 -0.03405617
+v -0.01784001 -0.49498699 -0.04140643
+v 0.03488436 -0.46084158 -0.04227475
+v 0.03322205 -0.47142806 -0.03449254
+v 0.02085636 -0.49263038 -0.04134391
+v -0.01823590 -0.49480188 -0.03676840
+v -0.03483680 -0.46131989 -0.04227545
+v -0.02821509 -0.48404763 -0.04111285
+v -0.02824229 -0.48339039 -0.03605058
+f 6 4 3
+f 7 3 4
+f 7 1 2
+f 7 6 3
+f 7 2 6
+f 8 5 2
+f 8 2 1
+f 8 1 5
+f 9 5 1
+f 9 7 4
+f 9 1 7
+f 10 4 6
+f 10 6 2
+f 10 2 5
+f 11 4 10
+f 11 10 5
+f 11 5 9
+f 12 11 9
+f 12 9 4
+f 12 4 11
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_11/collision/model_normalized_collision_6.obj b/objects/objaverse/fork/fork_11/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d4bd87fd59f0d041b04870983944d626dcce6e9a
--- /dev/null
+++ b/objects/objaverse/fork/fork_11/collision/model_normalized_collision_6.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v -0.02811170 0.30875106 -0.03894170
+v -0.02766146 0.31186684 -0.02905203
+v -0.07870533 0.31161474 -0.02975082
+v -0.07647558 0.35923439 -0.01907873
+v -0.02772358 0.35960205 -0.01846323
+v -0.07804191 0.32254007 -0.03587040
+v -0.07848548 0.30844676 -0.03815956
+v -0.02784330 0.35432249 -0.02952843
+v -0.07821053 0.35330515 -0.02757087
+v -0.02765570 0.34485909 -0.02230521
+v -0.02790586 0.33681438 -0.03374321
+v -0.07178078 0.33685764 -0.03359775
+v -0.05152967 0.35390491 -0.02913073
+f 3 2 4
+f 5 4 2
+f 7 1 2
+f 7 2 3
+f 7 6 1
+f 8 4 5
+f 9 3 4
+f 9 7 3
+f 9 6 7
+f 10 8 5
+f 10 5 2
+f 10 2 8
+f 11 8 2
+f 11 2 1
+f 12 6 9
+f 12 8 11
+f 12 11 1
+f 12 1 6
+f 13 9 4
+f 13 4 8
+f 13 12 9
+f 13 8 12
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_11/collision/model_normalized_collision_7.obj b/objects/objaverse/fork/fork_11/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d230f8e4e3803c5804018460f27824feeff904bb
--- /dev/null
+++ b/objects/objaverse/fork/fork_11/collision/model_normalized_collision_7.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.03457055 0.16886210 -0.02106406
+v 0.06119819 0.19089985 -0.03492954
+v 0.05964215 0.19074361 -0.02628227
+v -0.06296550 0.19511120 -0.02749684
+v -0.04743655 0.17717009 -0.03029731
+v -0.03988283 0.17507252 -0.02135459
+v 0.05345603 0.18294278 -0.02571562
+v 0.04012076 0.17284098 -0.02932738
+v -0.06475620 0.19523179 -0.03417841
+v 0.04312610 0.17722183 -0.02189824
+v -0.03049269 0.16470282 -0.01959061
+v 0.04789332 0.18960698 -0.03505281
+v 0.05483756 0.18349785 -0.03269305
+v -0.05714322 0.18662831 -0.02692403
+v -0.05881132 0.18756302 -0.03276266
+v -0.04631897 0.17646297 -0.02598677
+f 3 2 4
+f 7 2 3
+f 9 4 2
+f 10 3 4
+f 10 4 6
+f 10 7 3
+f 10 1 7
+f 11 10 6
+f 11 1 10
+f 11 8 1
+f 11 5 8
+f 12 8 5
+f 12 9 2
+f 13 7 1
+f 13 1 8
+f 13 2 7
+f 13 12 2
+f 13 8 12
+f 14 4 9
+f 14 11 6
+f 14 6 4
+f 15 12 5
+f 15 9 12
+f 15 14 9
+f 16 5 11
+f 16 11 14
+f 16 15 5
+f 16 14 15
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_11/collision/model_normalized_collision_8.obj b/objects/objaverse/fork/fork_11/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4bab19ecf8b3e701629aaf439cedddbb9a6bda28
--- /dev/null
+++ b/objects/objaverse/fork/fork_11/collision/model_normalized_collision_8.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.07196667 0.45961225 0.01338166
+v 0.07107322 0.46849496 0.02798888
+v -0.02728610 0.46001758 0.01330320
+v -0.02194712 0.49946914 0.03912648
+v 0.06639982 0.49805194 0.03826116
+v -0.02532405 0.46866715 0.02867548
+v 0.07022085 0.48179628 0.02622580
+v -0.02413564 0.49615036 0.03495426
+v 0.06317638 0.48257508 0.02610082
+v 0.06671035 0.49586000 0.03479754
+v -0.02485103 0.48247600 0.02607094
+f 6 5 4
+f 6 2 5
+f 6 1 2
+f 6 3 1
+f 7 5 2
+f 7 2 1
+f 8 6 4
+f 8 3 6
+f 9 7 1
+f 9 1 3
+f 10 8 4
+f 10 4 5
+f 10 9 8
+f 10 5 7
+f 10 7 9
+f 11 9 3
+f 11 3 8
+f 11 8 9
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_11/collision/model_normalized_collision_9.obj b/objects/objaverse/fork/fork_11/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ddec6f54370df4d50ee0e5fe66af34d52add1b9
--- /dev/null
+++ b/objects/objaverse/fork/fork_11/collision/model_normalized_collision_9.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.07001517 0.47963884 0.03456583
+v 0.06909056 0.48567990 0.03803881
+v -0.02443611 0.48612628 0.03883600
+v -0.02194712 0.49946914 0.03912648
+v 0.06639982 0.49805194 0.03826116
+v 0.06533641 0.49635687 0.04264830
+v -0.02668471 0.48002271 0.03497035
+v -0.02117689 0.49757619 0.04340047
+f 1 2 3
+f 5 2 1
+f 6 3 2
+f 6 5 4
+f 6 2 5
+f 7 1 3
+f 7 5 1
+f 7 4 5
+f 8 6 4
+f 8 3 6
+f 8 7 3
+f 8 4 7
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_11/model.xml b/objects/objaverse/fork/fork_11/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..2cc5f6306385bbeecc874dd86f16dcf8fb273447
--- /dev/null
+++ b/objects/objaverse/fork/fork_11/model.xml
@@ -0,0 +1,80 @@
+<mujoco model="fork_18">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.21000000000000002 0.21000000000000002 0.21000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.21000000000000002 0.21000000000000002 0.21000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.21000000000000002 0.21000000000000002 0.21000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.21000000000000002 0.21000000000000002 0.21000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.21000000000000002 0.21000000000000002 0.21000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.21000000000000002 0.21000000000000002 0.21000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.21000000000000002 0.21000000000000002 0.21000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.21000000000000002 0.21000000000000002 0.21000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.21000000000000002 0.21000000000000002 0.21000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.21000000000000002 0.21000000000000002 0.21000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.21000000000000002 0.21000000000000002 0.21000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.21000000000000002 0.21000000000000002 0.21000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.21000000000000002 0.21000000000000002 0.21000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.21000000000000002 0.21000000000000002 0.21000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.21000000000000002 0.21000000000000002 0.21000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.21000000000000002 0.21000000000000002 0.21000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.21000000000000002 0.21000000000000002 0.21000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.21000000000000002 0.21000000000000002 0.21000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.21000000000000002 0.21000000000000002 0.21000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.21000000000000002 0.21000000000000002 0.21000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.21000000000000002 0.21000000000000002 0.21000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.21000000000000002 0.21000000000000002 0.21000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.21000000000000002 0.21000000000000002 0.21000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.21000000000000002 0.21000000000000002 0.21000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.21000000000000002 0.21000000000000002 0.21000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.21000000000000002 0.21000000000000002 0.21000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.21000000000000002 0.21000000000000002 0.21000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.21000000000000002 0.21000000000000002 0.21000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.21000000000000002 0.21000000000000002 0.21000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.21000000000000002 0.21000000000000002 0.21000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.21000000000000002 0.21000000000000002 0.21000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.21000000000000002 0.21000000000000002 0.21000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.21000000000000002 0.21000000000000002 0.21000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <material name="Material.191" specular="0.5" shininess="0.010397179" rgba="0.352104 0.352104 0.352104 1.0"/>
+  </asset>
+  <worldbody>
+    <body>
+      <body name="object">
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_0_vis" conaffinity="0" contype="0" group="1" material="Material.191"/>
+        <geom solimp="0.998 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="0.00018235980000000043 0.0005263660499999984 -0.008994776700000002" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.00018235980000000043 0.0005263660499999984 0.0091140987" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.016960118700000002 0.10500000000000001 5.966099999999978e-05" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/objects/objaverse/fork/fork_11/visual/material.mtl b/objects/objaverse/fork/fork_11/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ad06ff1b0e2b77d5d6da6a3f989d0dba0333f969
--- /dev/null
+++ b/objects/objaverse/fork/fork_11/visual/material.mtl
@@ -0,0 +1,7 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.35294118 0.35294118 0.35294118
+Ks 0.50196078 0.50196078 0.50196078
+Ns 10.39717900
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_11/visual/model_normalized_0.obj b/objects/objaverse/fork/fork_11/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..535c047c7f586c7a931bce1da500eb0cf5d37294
--- /dev/null
+++ b/objects/objaverse/fork/fork_11/visual/model_normalized_0.obj
@@ -0,0 +1,11911 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
+v 0.01835041 0.49805194 0.03826116
+v 0.01835442 0.49705671 0.04036302
+v 0.02117688 0.49902913 0.04157336
+v 0.02117688 0.49999996 0.03945062
+v 0.01835041 0.49563349 0.04220206
+v 0.02117688 0.49757619 0.04340047
+v 0.02399934 0.49705666 0.04036302
+v 0.02400335 0.49805194 0.03826116
+v 0.02400335 0.49563347 0.04220206
+v 0.01609892 0.49221938 0.03283285
+v 0.01591585 0.49222972 0.03470603
+v 0.01821813 0.49615040 0.03495426
+v 0.01589184 0.49113926 0.03673166
+v 0.01591584 0.48982726 0.03862108
+v 0.01609892 0.48815239 0.03946023
+v 0.01821813 0.49182398 0.04200420
+v 0.02117688 0.49347676 0.04305016
+v 0.02413563 0.49182402 0.04200420
+v 0.02625484 0.48815239 0.03946023
+v 0.02643791 0.48982726 0.03862108
+v 0.02646192 0.49113926 0.03673166
+v 0.02643791 0.49222972 0.03470603
+v 0.02413563 0.49615040 0.03495426
+v 0.02625484 0.49221934 0.03283285
+v 0.02117688 0.49783131 0.03595415
+v 0.07743801 0.22891319 -0.03957954
+v 0.07755114 0.22895181 -0.03727452
+v 0.07516019 0.21880759 -0.03622393
+v 0.07505855 0.21866951 -0.03852530
+v 0.07743801 0.22899072 -0.03496950
+v 0.07505855 0.21894797 -0.03392321
+v 0.07219045 0.20993495 -0.03491581
+v 0.07210318 0.20969947 -0.03721023
+v 0.07210318 0.21017818 -0.03262438
+v 0.07759288 0.24057009 -0.04211257
+v 0.07917871 0.24052085 -0.04027684
+v 0.07596723 0.22888425 -0.04141626
+v 0.07930071 0.24045905 -0.03797249
+v 0.07917871 0.24039724 -0.03566780
+v 0.07759288 0.24034800 -0.03383207
+v 0.07596723 0.22902339 -0.03313411
+v 0.07373717 0.21907323 -0.03209511
+v 0.07096884 0.21041728 -0.03081417
+v 0.06772840 0.20297533 -0.02939040
+v 0.06863477 0.20259055 -0.03116813
+v 0.06870450 0.20224245 -0.03344531
+v 0.06863477 0.20191270 -0.03572878
+v 0.07096885 0.20956102 -0.03905391
+v 0.06772840 0.20176652 -0.03758606
+v 0.07373717 0.21857408 -0.04036368
+v 0.05570086 0.19602007 -0.03692587
+v 0.05884017 0.19640553 -0.03704618
+v 0.05764850 0.19265991 -0.03609135
+v 0.05533227 0.19121234 -0.03567310
+v 0.06178308 0.19584451 -0.03682744
+v 0.05892528 0.19103836 -0.03557501
+v 0.05584565 0.18761811 -0.03456683
+v 0.05309299 0.20183207 -0.03817498
+v 0.05652810 0.20219543 -0.03829529
+v 0.05273065 0.19527814 -0.03668261
+v 0.06043612 0.20235106 -0.03834666
+v 0.05261036 0.18976358 -0.03520647
+v 0.06411063 0.19512622 -0.03606186
+v 0.06446374 0.20209709 -0.03822238
+v 0.06032491 0.18963261 -0.03459003
+v 0.05332570 0.18199207 -0.03220050
+v 0.05290109 0.18516924 -0.03377308
+v 0.05662471 0.18527780 -0.03327529
+v 0.06178308 0.19752621 -0.02767630
+v 0.05884016 0.19805793 -0.02780820
+v 0.05764851 0.19454717 -0.02689746
+v 0.05892529 0.19302268 -0.02648253
+v 0.05570087 0.19769673 -0.02769320
+v 0.05533227 0.19319447 -0.02649976
+v 0.05584565 0.18983143 -0.02552440
+v 0.06446374 0.20342389 -0.02901424
+v 0.06411063 0.19667790 -0.02792320
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\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_2/collision/model_normalized_collision_1.obj b/objects/objaverse/fork/fork_2/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7853ab28cbe39c2d2cbff6eb31156a004733c135
--- /dev/null
+++ b/objects/objaverse/fork/fork_2/collision/model_normalized_collision_1.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.14004093 0.01316613 0.01961673
+v 0.19395582 0.03146786 -0.01634462
+v 0.18354132 0.03296924 0.03317394
+v 0.19209718 0.04906545 0.04300682
+v 0.14704959 0.02178555 0.00009550
+v 0.19180592 0.02321247 -0.01625174
+v 0.14394160 0.01932561 0.02686344
+v 0.17920135 0.04129011 0.03012990
+v 0.19368840 0.04489197 0.02863293
+v 0.15195050 0.01685976 0.01887047
+v 0.14146144 0.01048565 0.00111823
+v 0.18101150 0.04528563 0.04150275
+v 0.14966916 0.02733442 0.01516717
+v 0.15614198 0.01455583 0.00070021
+v 0.15357829 0.03067005 0.02755787
+f 7 1 3
+f 8 4 2
+f 9 6 2
+f 9 2 4
+f 9 4 3
+f 9 3 6
+f 10 6 3
+f 10 3 1
+f 11 5 2
+f 11 2 6
+f 11 1 5
+f 12 7 3
+f 12 3 4
+f 12 4 8
+f 13 5 1
+f 13 1 7
+f 13 12 8
+f 13 8 2
+f 13 2 5
+f 14 10 1
+f 14 6 10
+f 14 11 6
+f 14 1 11
+f 15 13 7
+f 15 7 12
+f 15 12 13
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_2/collision/model_normalized_collision_11.obj b/objects/objaverse/fork/fork_2/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e9f1e4b5b03af8524df3685a3c14bfb139789ead
--- /dev/null
+++ b/objects/objaverse/fork/fork_2/collision/model_normalized_collision_11.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v -0.46602601 0.00160748 -0.07087587
+v -0.45884154 0.00322864 -0.11663939
+v -0.46373099 0.00778053 -0.05709556
+v -0.46197479 0.02676228 -0.05014054
+v -0.49601717 0.01400657 -0.06202282
+v -0.49771320 -0.00021636 -0.07011615
+v -0.47487211 0.01290064 -0.09647667
+v -0.49837838 0.00531920 -0.05940627
+v -0.46267744 0.00158270 -0.09962034
+v -0.49298963 0.01792542 -0.05505093
+v -0.45880560 0.00877150 -0.11633331
+v -0.49320084 0.00608810 -0.08634688
+v -0.49414053 0.00012991 -0.08459954
+v -0.46067990 0.01469918 -0.09449255
+v -0.46824804 0.00792595 -0.11235773
+v -0.46814393 0.00418373 -0.11252141
+f 1 2 3
+f 3 2 4
+f 6 1 3
+f 8 3 4
+f 8 6 3
+f 8 5 6
+f 9 2 1
+f 9 1 6
+f 10 7 5
+f 10 4 7
+f 10 8 4
+f 10 5 8
+f 11 4 2
+f 12 6 5
+f 12 5 7
+f 13 9 6
+f 13 2 9
+f 13 6 12
+f 14 11 7
+f 14 7 4
+f 14 4 11
+f 15 12 7
+f 15 7 11
+f 15 11 2
+f 16 13 12
+f 16 12 15
+f 16 15 2
+f 16 2 13
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_2/collision/model_normalized_collision_23.obj b/objects/objaverse/fork/fork_2/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2c0254f2f9d12bb79881f8276cc1f323954c1f9c
--- /dev/null
+++ b/objects/objaverse/fork/fork_2/collision/model_normalized_collision_23.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.40761364 -0.00657436 0.04756187
+v 0.40543077 -0.00727267 0.03967408
+v 0.39779398 0.00658577 0.04025031
+v 0.33678032 0.04855963 0.09423221
+v 0.35038180 0.03309454 0.09551134
+v 0.34639818 0.02239262 0.03195951
+v 0.39810713 0.01886072 0.10663382
+v 0.38050831 0.01762867 0.09652329
+v 0.39388581 -0.00203803 0.03691663
+v 0.33661273 0.03870289 0.04467449
+v 0.34155137 0.04222882 0.09851290
+v 0.40658774 0.00752250 0.10922591
+v 0.37745484 0.02733401 0.08854710
+v 0.36679954 0.01748150 0.06424130
+v 0.33398984 0.04653983 0.07481520
+v 0.37901154 0.02774214 0.10370009
+v 0.39479296 0.01295404 0.10683025
+v 0.34905928 0.04297523 0.09600818
+v 0.36314825 0.01369305 0.03512779
+v 0.34595081 0.04125593 0.07801604
+v 0.34727226 0.03721434 0.09937996
+v 0.36459019 0.02795052 0.10167490
+f 1 2 3
+f 9 6 3
+f 9 3 2
+f 10 3 6
+f 11 6 5
+f 12 1 3
+f 12 3 7
+f 12 7 11
+f 12 8 2
+f 12 2 1
+f 13 7 3
+f 14 5 6
+f 14 8 5
+f 14 9 2
+f 14 2 8
+f 15 10 6
+f 15 6 11
+f 15 11 4
+f 16 11 7
+f 16 4 11
+f 17 5 8
+f 17 8 12
+f 18 7 13
+f 18 16 7
+f 18 4 16
+f 18 15 4
+f 19 14 6
+f 19 6 9
+f 19 9 14
+f 20 13 3
+f 20 3 10
+f 20 10 15
+f 20 18 13
+f 20 15 18
+f 21 17 12
+f 21 12 11
+f 21 11 5
+f 22 21 5
+f 22 5 17
+f 22 17 21
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_2/collision/model_normalized_collision_29.obj b/objects/objaverse/fork/fork_2/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2070e92a92d97d2ad625daf90f44e67ba33dff80
--- /dev/null
+++ b/objects/objaverse/fork/fork_2/collision/model_normalized_collision_29.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.39276977 -0.00685634 0.01590608
+v 0.39044723 -0.00781445 0.00754036
+v 0.38246191 0.00664741 0.00909809
+v 0.33661273 0.03870289 0.04467449
+v 0.34639818 0.02239262 0.03195951
+v 0.37986640 0.01500740 0.03779929
+v 0.36314825 0.01369305 0.03512779
+v 0.34410093 0.01731932 0.00307375
+v 0.33463463 0.03395800 0.01535583
+v 0.38051979 -0.00137057 0.01312925
+v 0.38754841 0.00165296 0.03884682
+v 0.34890907 0.03352398 0.04872783
+v 0.37840743 0.01446625 0.02958757
+v 0.37832084 -0.00161385 0.00647265
+v 0.34577073 0.02898554 0.01861797
+f 1 2 3
+f 6 1 3
+f 8 3 2
+f 8 5 4
+f 9 8 4
+f 9 3 8
+f 10 7 5
+f 10 2 1
+f 11 1 6
+f 11 10 1
+f 11 7 10
+f 12 4 5
+f 12 5 7
+f 12 7 11
+f 12 11 6
+f 12 9 4
+f 13 6 3
+f 13 12 6
+f 14 8 2
+f 14 2 10
+f 14 10 5
+f 14 5 8
+f 15 13 3
+f 15 3 9
+f 15 9 12
+f 15 12 13
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_2/collision/model_normalized_collision_31.obj b/objects/objaverse/fork/fork_2/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d724f4788e25e10dcf6c413e5f3b4973a446f021
--- /dev/null
+++ b/objects/objaverse/fork/fork_2/collision/model_normalized_collision_31.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.35606095 0.01476418 -0.05159989
+v -0.35631029 0.02849089 -0.04643636
+v -0.35369524 0.02577534 -0.01903007
+v -0.41810740 0.03513648 -0.01691140
+v -0.41668793 0.01540016 -0.05179941
+v -0.35452894 0.03363898 -0.02024741
+v -0.37202637 0.02885939 -0.04693450
+v -0.41652854 0.02430688 -0.02482076
+v -0.41677459 0.02929629 -0.04656448
+v -0.41730526 0.02731663 -0.01696748
+f 1 2 3
+f 6 3 2
+f 6 4 3
+f 7 2 1
+f 7 1 5
+f 7 6 2
+f 7 4 6
+f 8 5 1
+f 8 1 3
+f 9 7 5
+f 9 5 4
+f 9 4 7
+f 10 8 3
+f 10 3 4
+f 10 4 5
+f 10 5 8
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_2/collision/model_normalized_collision_4.obj b/objects/objaverse/fork/fork_2/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..84fa797c2b89fecb8bca776f56bf4f0ce7eb6863
--- /dev/null
+++ b/objects/objaverse/fork/fork_2/collision/model_normalized_collision_4.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.23392090 0.01087627 -0.03909823
+v -0.24061834 0.01022526 -0.06420212
+v -0.23518419 0.02453187 -0.03467328
+v -0.35613993 0.02723784 -0.05072724
+v -0.35729503 0.00632081 -0.09213642
+v -0.35680660 0.01714737 -0.09156425
+v -0.31064178 0.02933250 -0.03626441
+v -0.24009785 0.01650512 -0.06426408
+v -0.35599296 0.01361475 -0.05561079
+v -0.28646584 0.01625168 -0.07876207
+v -0.30952445 0.01543883 -0.04142783
+v -0.28637639 0.00959684 -0.07886369
+f 5 2 1
+f 6 5 4
+f 7 1 3
+f 7 6 4
+f 8 1 2
+f 8 3 1
+f 9 5 1
+f 9 4 5
+f 9 7 4
+f 10 7 3
+f 10 6 7
+f 10 3 8
+f 10 5 6
+f 11 9 1
+f 11 1 7
+f 11 7 9
+f 12 10 8
+f 12 8 2
+f 12 2 5
+f 12 5 10
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_2/collision/model_normalized_collision_5.obj b/objects/objaverse/fork/fork_2/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..68b08ec8426879a183f47c461ad3cb42d9eb4675
--- /dev/null
+++ b/objects/objaverse/fork/fork_2/collision/model_normalized_collision_5.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.46724390 -0.02108691 0.11817830
+v 0.46484609 -0.02969003 0.06313461
+v 0.45897850 -0.01122646 0.11695362
+v 0.43180931 -0.00069849 0.11449105
+v 0.43694213 -0.01647762 0.07604221
+v 0.44105911 -0.01004270 0.07511454
+v 0.43399363 -0.00220782 0.11486207
+v 0.45248500 -0.01535927 0.07839978
+v 0.43232006 -0.01309624 0.07271058
+v 0.43856737 -0.00705172 0.11477325
+v 0.45617602 -0.01629806 0.11663640
+v 0.43947622 -0.01054829 0.10426924
+f 1 2 3
+f 5 2 1
+f 6 4 3
+f 7 1 3
+f 7 3 4
+f 8 6 3
+f 8 3 2
+f 8 2 6
+f 9 4 6
+f 9 6 2
+f 9 2 5
+f 10 1 7
+f 10 7 4
+f 10 9 5
+f 10 4 9
+f 11 5 1
+f 11 1 10
+f 12 11 10
+f 12 10 5
+f 12 5 11
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_2/collision/model_normalized_collision_6.obj b/objects/objaverse/fork/fork_2/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fdb5af66cd508546d3754c5bfdfdd865e11af94e
--- /dev/null
+++ b/objects/objaverse/fork/fork_2/collision/model_normalized_collision_6.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.46904322 -0.03422125 0.06252828
+v 0.46018241 -0.03812486 0.02212558
+v 0.45223752 -0.02868708 0.01880868
+v 0.44598851 -0.01584679 0.07485680
+v 0.44258259 -0.03067497 0.02963504
+v 0.45711942 -0.01913616 0.07835428
+v 0.45720693 -0.02902712 0.05936232
+v 0.43273260 -0.02686631 0.01194629
+v 0.44028285 -0.02317900 0.01456720
+v 0.43652618 -0.02964263 0.01523054
+v 0.43678710 -0.02589868 0.02958583
+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 9 6 3
+f 9 4 6
+f 9 8 4
+f 9 3 8
+f 10 8 2
+f 10 2 5
+f 11 5 4
+f 11 4 8
+f 11 10 5
+f 11 8 10
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_2/collision/model_normalized_collision_7.obj b/objects/objaverse/fork/fork_2/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a69f75d3a4b06e1a77d89f37383f7777d6e5a37
--- /dev/null
+++ b/objects/objaverse/fork/fork_2/collision/model_normalized_collision_7.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.31531138 0.04089061 0.05169984
+v 0.31235300 0.03987804 0.04011304
+v 0.30593151 0.06161947 0.08628086
+v 0.21597473 0.06018674 0.07023085
+v 0.20204203 0.03943040 0.03622572
+v 0.26436003 0.05781767 0.04415573
+v 0.30848854 0.05063800 0.04157432
+v 0.31237394 0.04891648 0.08390569
+v 0.20630037 0.05203710 0.04184815
+v 0.27785570 0.05653669 0.04370852
+v 0.21033260 0.05372971 0.06790385
+v 0.23586990 0.05703205 0.04416581
+v 0.20145048 0.04362765 0.04959919
+v 0.20792108 0.05788704 0.05953940
+f 5 2 1
+f 6 4 3
+f 7 1 2
+f 7 3 1
+f 7 2 5
+f 8 5 1
+f 8 1 3
+f 9 6 5
+f 10 6 3
+f 10 3 7
+f 10 7 5
+f 10 5 6
+f 11 8 3
+f 11 3 4
+f 12 4 6
+f 12 6 9
+f 13 5 8
+f 13 8 11
+f 13 9 5
+f 14 11 4
+f 14 13 11
+f 14 9 13
+f 14 12 9
+f 14 4 12
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_2/model.xml b/objects/objaverse/fork/fork_2/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..f37e19bee66c61a9ad84a6cd59f145ef91778add
--- /dev/null
+++ b/objects/objaverse/fork/fork_2/model.xml
@@ -0,0 +1,80 @@
+<mujoco model="fork_15">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.185 0.185 0.185" refquat="0.597545161008064 0.4903926402016151 0.40245483899193585 -0.4903926402016152"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.185 0.185 0.185" refquat="0.597545161008064 0.4903926402016151 0.40245483899193585 -0.4903926402016152"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.185 0.185 0.185" refquat="0.597545161008064 0.4903926402016151 0.40245483899193585 -0.4903926402016152"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.185 0.185 0.185" refquat="0.597545161008064 0.4903926402016151 0.40245483899193585 -0.4903926402016152"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.185 0.185 0.185" refquat="0.597545161008064 0.4903926402016151 0.40245483899193585 -0.4903926402016152"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.185 0.185 0.185" refquat="0.597545161008064 0.4903926402016151 0.40245483899193585 -0.4903926402016152"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.185 0.185 0.185" refquat="0.597545161008064 0.4903926402016151 0.40245483899193585 -0.4903926402016152"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.185 0.185 0.185" refquat="0.597545161008064 0.4903926402016151 0.40245483899193585 -0.4903926402016152"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.185 0.185 0.185" refquat="0.597545161008064 0.4903926402016151 0.40245483899193585 -0.4903926402016152"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.185 0.185 0.185" refquat="0.597545161008064 0.4903926402016151 0.40245483899193585 -0.4903926402016152"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.185 0.185 0.185" refquat="0.597545161008064 0.4903926402016151 0.40245483899193585 -0.4903926402016152"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.185 0.185 0.185" refquat="0.597545161008064 0.4903926402016151 0.40245483899193585 -0.4903926402016152"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.185 0.185 0.185" refquat="0.597545161008064 0.4903926402016151 0.40245483899193585 -0.4903926402016152"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.185 0.185 0.185" refquat="0.597545161008064 0.4903926402016151 0.40245483899193585 -0.4903926402016152"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.185 0.185 0.185" refquat="0.597545161008064 0.4903926402016151 0.40245483899193585 -0.4903926402016152"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.185 0.185 0.185" refquat="0.597545161008064 0.4903926402016151 0.40245483899193585 -0.4903926402016152"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.185 0.185 0.185" refquat="0.597545161008064 0.4903926402016151 0.40245483899193585 -0.4903926402016152"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.185 0.185 0.185" refquat="0.597545161008064 0.4903926402016151 0.40245483899193585 -0.4903926402016152"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.185 0.185 0.185" refquat="0.597545161008064 0.4903926402016151 0.40245483899193585 -0.4903926402016152"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.185 0.185 0.185" refquat="0.597545161008064 0.4903926402016151 0.40245483899193585 -0.4903926402016152"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.185 0.185 0.185" refquat="0.597545161008064 0.4903926402016151 0.40245483899193585 -0.4903926402016152"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.185 0.185 0.185" refquat="0.597545161008064 0.4903926402016151 0.40245483899193585 -0.4903926402016152"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.185 0.185 0.185" refquat="0.597545161008064 0.4903926402016151 0.40245483899193585 -0.4903926402016152"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.185 0.185 0.185" refquat="0.597545161008064 0.4903926402016151 0.40245483899193585 -0.4903926402016152"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.185 0.185 0.185" refquat="0.597545161008064 0.4903926402016151 0.40245483899193585 -0.4903926402016152"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.185 0.185 0.185" refquat="0.597545161008064 0.4903926402016151 0.40245483899193585 -0.4903926402016152"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.185 0.185 0.185" refquat="0.597545161008064 0.4903926402016151 0.40245483899193585 -0.4903926402016152"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.185 0.185 0.185" refquat="0.597545161008064 0.4903926402016151 0.40245483899193585 -0.4903926402016152"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.185 0.185 0.185" refquat="0.597545161008064 0.4903926402016151 0.40245483899193585 -0.4903926402016152"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.185 0.185 0.185" refquat="0.597545161008064 0.4903926402016151 0.40245483899193585 -0.4903926402016152"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.185 0.185 0.185" refquat="0.597545161008064 0.4903926402016151 0.40245483899193585 -0.4903926402016152"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.185 0.185 0.185" refquat="0.597545161008064 0.4903926402016151 0.40245483899193585 -0.4903926402016152"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.185 0.185 0.185" refquat="0.597545161008064 0.4903926402016151 0.40245483899193585 -0.4903926402016152"/>
+    <material name="material_0.017" specular="0.5" shininess="0.524312816" rgba="0.398046 0.398046 0.398046 1.0"/>
+  </asset>
+  <worldbody>
+    <body>
+      <body name="object">
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_0_vis" conaffinity="0" contype="0" group="1" material="material_0.017"/>
+        <geom solimp="0.998 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="0.0006830414086931161 0.00025218504670683207 -0.00925126229687711" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.0006830414086931161 0.00025218504670683207 0.011855695984093287" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.01589830730710034 0.09329558626523232 0.001302216843608089" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/objects/objaverse/fork/fork_6/collision/model_normalized_collision_0.obj b/objects/objaverse/fork/fork_6/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b0fe707df390b857f36f5094430620899c0b8bd7
--- /dev/null
+++ b/objects/objaverse/fork/fork_6/collision/model_normalized_collision_0.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.01578558 0.11389475 -0.00317157
+v 0.05905439 0.19050202 -0.02903252
+v 0.06169294 0.18912988 -0.00747077
+v 0.01657501 0.18852353 -0.01388288
+v 0.01450809 0.19063768 -0.03996454
+v 0.04545482 0.12358585 -0.01158182
+v 0.01416466 0.11877003 -0.02150172
+v 0.04087399 0.19204947 -0.03591674
+v 0.04533321 0.12375449 -0.00481987
+v 0.01401347 0.14957141 -0.03207341
+v 0.03671645 0.12102694 -0.01759452
+v 0.02569663 0.14924544 -0.03021549
+v 0.04694356 0.13786079 -0.01802106
+v 0.04087080 0.16437364 -0.03030267
+f 1 3 4
+f 6 2 3
+f 7 1 4
+f 8 3 2
+f 8 5 4
+f 8 4 3
+f 9 6 3
+f 9 3 1
+f 9 1 6
+f 10 7 4
+f 10 4 5
+f 11 6 1
+f 11 1 7
+f 12 10 5
+f 12 5 8
+f 12 11 7
+f 12 7 10
+f 13 2 6
+f 13 6 11
+f 14 12 8
+f 14 8 2
+f 14 11 12
+f 14 13 11
+f 14 2 13
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_6/collision/model_normalized_collision_1.obj b/objects/objaverse/fork/fork_6/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0dfa5edd6ca43c32095d7864520d6ee6ed7e3b78
--- /dev/null
+++ b/objects/objaverse/fork/fork_6/collision/model_normalized_collision_1.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.05723263 0.14543354 -0.00407610
+v 0.07496251 0.18957291 -0.00486061
+v 0.06169294 0.18912988 -0.00747077
+v 0.05974242 0.15106540 -0.00417701
+v 0.05905439 0.19050202 -0.02903252
+v 0.06863405 0.19330236 -0.02606924
+v 0.05299689 0.16336276 -0.02606924
+v 0.05991622 0.15124927 -0.01166234
+v 0.07100613 0.17634075 -0.00462991
+v 0.05590193 0.14666694 -0.01450137
+f 1 2 3
+f 6 5 3
+f 6 3 2
+f 7 1 3
+f 7 3 5
+f 7 5 6
+f 8 4 1
+f 9 8 6
+f 9 6 2
+f 9 4 8
+f 9 2 1
+f 9 1 4
+f 10 7 6
+f 10 6 8
+f 10 8 1
+f 10 1 7
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_6/collision/model_normalized_collision_10.obj b/objects/objaverse/fork/fork_6/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8aad944815719c91a61b4792eb00ea14a1bb5f6f
--- /dev/null
+++ b/objects/objaverse/fork/fork_6/collision/model_normalized_collision_10.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.04689457 0.23507324 -0.01249525
+v -0.04379867 0.23433161 -0.03177691
+v -0.04662982 0.31052354 -0.02794691
+v -0.07448840 0.30841283 -0.00698493
+v -0.08124125 0.23605863 -0.00564595
+v -0.04896327 0.31071275 -0.01298759
+v -0.06790723 0.23320347 -0.02153499
+v -0.06646467 0.31000826 -0.01780857
+v -0.08246752 0.24907749 -0.01175248
+v -0.07986239 0.23623589 -0.01462035
+v -0.07447302 0.30852637 -0.01223403
+f 5 1 4
+f 6 4 1
+f 6 1 2
+f 6 2 3
+f 7 2 1
+f 7 1 5
+f 7 3 2
+f 8 6 3
+f 8 4 6
+f 8 3 7
+f 9 5 4
+f 10 9 8
+f 10 8 7
+f 10 7 5
+f 10 5 9
+f 11 9 4
+f 11 4 8
+f 11 8 9
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_6/collision/model_normalized_collision_11.obj b/objects/objaverse/fork/fork_6/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..106372f4428fc732352ceea61c0cd5f1663e9fe3
--- /dev/null
+++ b/objects/objaverse/fork/fork_6/collision/model_normalized_collision_11.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.01717300 0.35598416 -0.01714572
+v 0.01040221 0.35572413 -0.03467346
+v 0.01468228 0.41660093 -0.03185073
+v -0.01608943 0.41658758 -0.01763400
+v -0.01604782 0.35598370 -0.01727273
+v -0.01411634 0.41662281 -0.03281279
+v 0.01721478 0.41658802 -0.01750846
+v 0.01009308 0.40115912 -0.03378303
+v -0.01110498 0.35573288 -0.03481726
+v -0.01089148 0.40116730 -0.03388516
+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 7 6 4
+f 7 3 6
+f 8 6 3
+f 8 3 2
+f 9 2 5
+f 9 5 6
+f 9 8 2
+f 10 9 6
+f 10 6 8
+f 10 8 9
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_6/collision/model_normalized_collision_12.obj b/objects/objaverse/fork/fork_6/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3dfc8932c17517a12d7ffaf0a24b015aaa6c170c
--- /dev/null
+++ b/objects/objaverse/fork/fork_6/collision/model_normalized_collision_12.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.01821657 0.05110294 0.00582320
+v 0.02858174 0.10083344 -0.01317649
+v 0.02916290 0.09855464 -0.00049150
+v -0.02883324 0.09804030 -0.00044400
+v -0.01904560 0.05727714 -0.00420781
+v -0.02693910 0.10063625 -0.01368298
+v -0.01820336 0.05122408 0.00580868
+v 0.01904732 0.05723524 -0.00419515
+f 6 3 2
+f 6 4 3
+f 6 5 4
+f 7 1 3
+f 7 3 4
+f 7 5 1
+f 7 4 5
+f 8 2 3
+f 8 3 1
+f 8 1 5
+f 8 6 2
+f 8 5 6
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_6/collision/model_normalized_collision_13.obj b/objects/objaverse/fork/fork_6/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2fbf3c2840d88f1eec1ef85a1d4705403550cf8d
--- /dev/null
+++ b/objects/objaverse/fork/fork_6/collision/model_normalized_collision_13.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v -0.03094914 0.18823122 -0.01214178
+v -0.02769992 0.19051076 -0.03836951
+v -0.03094902 0.28023926 -0.01509916
+v -0.04911313 0.28041364 -0.01329794
+v -0.04563701 0.18901653 -0.00993575
+v -0.02915340 0.28024838 -0.03231307
+v -0.02591507 0.24566702 -0.03535372
+v -0.03992611 0.19195003 -0.03624572
+v -0.04754465 0.28025981 -0.02854047
+f 5 2 1
+f 5 1 3
+f 5 3 4
+f 6 4 3
+f 7 1 2
+f 7 3 1
+f 7 6 3
+f 8 2 5
+f 8 7 2
+f 8 6 7
+f 9 8 5
+f 9 5 4
+f 9 4 6
+f 9 6 8
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_6/collision/model_normalized_collision_14.obj b/objects/objaverse/fork/fork_6/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..76268f9a2e05ed0ab3a93004c428e616ac318429
--- /dev/null
+++ b/objects/objaverse/fork/fork_6/collision/model_normalized_collision_14.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.04717073 -0.45687569 0.03951894
+v 0.04742694 -0.45701852 0.02650992
+v 0.04700625 -0.44759235 0.02591688
+v -0.04704615 -0.44767350 0.03894247
+v -0.04702695 -0.45725330 0.03954131
+v 0.04704856 -0.44772402 0.03894565
+v -0.04734023 -0.45724613 0.02652340
+v -0.04700384 -0.44754183 0.02591370
+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 7 5 4
+f 8 7 4
+f 8 3 7
+f 8 6 3
+f 8 4 6
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_6/collision/model_normalized_collision_15.obj b/objects/objaverse/fork/fork_6/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8e896963978d46d371bdbf7d1a424ca1b83b0bc6
--- /dev/null
+++ b/objects/objaverse/fork/fork_6/collision/model_normalized_collision_15.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.01523074 0.09650826 0.00013500
+v 0.01591462 0.09926302 -0.00041682
+v 0.01576134 0.12866378 -0.00541932
+v -0.03001838 0.14366021 -0.00653645
+v -0.02944556 0.09866759 -0.00455593
+v -0.03210108 0.14162191 -0.00595354
+v 0.01643496 0.12656918 -0.00509277
+v 0.00040802 0.14328725 -0.00799720
+v -0.02883324 0.09804030 -0.00044400
+f 5 2 1
+f 6 1 3
+f 6 4 5
+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 8 6 3
+f 8 4 6
+f 9 6 5
+f 9 5 1
+f 9 1 6
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_6/collision/model_normalized_collision_16.obj b/objects/objaverse/fork/fork_6/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c6cc28cb9e897f33479d8303dc1e6294df2208d
--- /dev/null
+++ b/objects/objaverse/fork/fork_6/collision/model_normalized_collision_16.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.01982915 0.03632015 0.00751150
+v 0.01999349 0.03742299 -0.00240416
+v 0.01924541 0.05251438 -0.00299387
+v -0.01820336 0.05122408 0.00580868
+v -0.01999068 0.03747928 -0.00240636
+v 0.01821657 0.05110294 0.00582320
+v -0.01981593 0.03644136 0.00749727
+v -0.01924262 0.05257067 -0.00299607
+f 1 2 3
+f 5 2 1
+f 5 3 2
+f 6 1 3
+f 6 3 4
+f 7 5 1
+f 7 6 4
+f 7 1 6
+f 8 4 3
+f 8 3 5
+f 8 7 4
+f 8 5 7
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_6/collision/model_normalized_collision_17.obj b/objects/objaverse/fork/fork_6/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8487987f9119f43f2b57a100f4c3c520ebac0406
--- /dev/null
+++ b/objects/objaverse/fork/fork_6/collision/model_normalized_collision_17.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.01591462 0.09926302 -0.00041682
+v 0.01411170 0.10520764 -0.01648108
+v 0.01578558 0.11389475 -0.00317157
+v -0.02654699 0.11888391 -0.02039795
+v -0.02944556 0.09866759 -0.00455593
+v 0.01416466 0.11877003 -0.02150172
+v -0.02683362 0.10554489 -0.01548931
+v -0.02943560 0.11392753 -0.00245986
+f 5 2 1
+f 6 4 3
+f 6 1 2
+f 6 3 1
+f 7 5 4
+f 7 2 5
+f 7 6 2
+f 7 4 6
+f 8 5 1
+f 8 1 3
+f 8 3 4
+f 8 4 5
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_6/collision/model_normalized_collision_18.obj b/objects/objaverse/fork/fork_6/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4267ecb3916ba166cc790a3f9fdc94fdcfd140ae
--- /dev/null
+++ b/objects/objaverse/fork/fork_6/collision/model_normalized_collision_18.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.01523074 0.09650826 0.00013500
+v 0.04013934 0.11738802 -0.01273619
+v 0.03432700 0.10590306 -0.01145946
+v 0.04038106 0.11607524 -0.00210929
+v 0.01510170 0.11114000 -0.00261976
+v 0.03354191 0.10539380 -0.00112300
+v 0.01570095 0.11372189 -0.01945889
+v 0.01527505 0.10034911 -0.01460036
+f 3 2 4
+f 5 1 4
+f 6 1 3
+f 6 3 4
+f 6 4 1
+f 7 5 4
+f 7 4 2
+f 7 2 3
+f 8 7 3
+f 8 3 1
+f 8 1 5
+f 8 5 7
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_6/collision/model_normalized_collision_19.obj b/objects/objaverse/fork/fork_6/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cd4e10e5b4f5276a6358c1c57fe39bbccb81bee6
--- /dev/null
+++ b/objects/objaverse/fork/fork_6/collision/model_normalized_collision_19.obj
@@ -0,0 +1,18 @@
+# https://github.com/mikedh/trimesh
+v 0.07423602 0.31027611 -0.00702010
+v 0.07282667 0.31019442 -0.01299184
+v 0.06011279 0.41453052 -0.01322463
+v 0.05985906 0.41640412 -0.00901586
+v 0.06245880 0.31062374 -0.01022335
+v 0.06091452 0.31057532 -0.01919206
+v 0.05824822 0.41632241 -0.01408871
+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 5
+f 7 5 4
+f 7 4 3
+f 7 3 6
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_6/collision/model_normalized_collision_2.obj b/objects/objaverse/fork/fork_6/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..23229715a94a3c54d8f020c57603d547a98720ba
--- /dev/null
+++ b/objects/objaverse/fork/fork_6/collision/model_normalized_collision_2.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.06241226 0.23478462 -0.01016642
+v 0.05639965 0.23369961 -0.02776866
+v 0.06245880 0.31062374 -0.01022335
+v 0.01714167 0.31053127 -0.01687367
+v 0.01836886 0.23581692 -0.01673786
+v 0.01563137 0.31059555 -0.03445185
+v 0.04037037 0.23193467 -0.03316587
+v 0.05471430 0.30984627 -0.02247621
+v 0.01241687 0.29506873 -0.03560639
+v 0.01435743 0.23298083 -0.04189152
+f 1 2 3
+f 1 3 4
+f 5 1 4
+f 6 4 3
+f 7 2 1
+f 7 1 5
+f 8 6 3
+f 8 3 2
+f 9 5 4
+f 9 4 6
+f 10 6 8
+f 10 9 6
+f 10 7 5
+f 10 5 9
+f 10 8 2
+f 10 2 7
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_6/collision/model_normalized_collision_20.obj b/objects/objaverse/fork/fork_6/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a8ab005602109679d09d9b47c8355e4e77cb617
--- /dev/null
+++ b/objects/objaverse/fork/fork_6/collision/model_normalized_collision_20.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.01510170 0.11114000 -0.00261976
+v 0.06286449 0.15807122 -0.00430254
+v 0.01576134 0.12866378 -0.00541932
+v 0.04628164 0.15884340 -0.00696995
+v 0.04533321 0.12375449 -0.00481987
+v 0.06120339 0.15907593 -0.00469526
+v 0.04476007 0.12291439 -0.00274080
+v 0.01578558 0.11389475 -0.00317157
+v 0.04785195 0.15733209 -0.00664969
+f 1 2 3
+f 5 3 4
+f 6 3 2
+f 6 4 3
+f 6 2 5
+f 7 5 2
+f 7 2 1
+f 7 1 5
+f 8 5 1
+f 8 1 3
+f 8 3 5
+f 9 6 5
+f 9 5 4
+f 9 4 6
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_6/collision/model_normalized_collision_21.obj b/objects/objaverse/fork/fork_6/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d38af0660b4396f466e86676ede9c105ba12041a
--- /dev/null
+++ b/objects/objaverse/fork/fork_6/collision/model_normalized_collision_21.obj
@@ -0,0 +1,18 @@
+# https://github.com/mikedh/trimesh
+v -0.02883324 0.09804030 -0.00044400
+v -0.02693910 0.10063625 -0.01368298
+v -0.02859968 0.11436377 -0.01764960
+v -0.04005158 0.11556084 -0.00206178
+v -0.03400361 0.10538933 -0.01145590
+v -0.03151830 0.11188924 -0.00187694
+v -0.04050017 0.11645021 -0.01178994
+f 1 2 3
+f 5 2 1
+f 5 1 4
+f 6 1 3
+f 6 3 4
+f 6 4 1
+f 7 5 4
+f 7 4 3
+f 7 3 2
+f 7 2 5
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_6/collision/model_normalized_collision_22.obj b/objects/objaverse/fork/fork_6/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..950679d7bf5b3f99c70d63259665c45a73d6ac8b
--- /dev/null
+++ b/objects/objaverse/fork/fork_6/collision/model_normalized_collision_22.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v -0.03151830 0.11188924 -0.00187694
+v -0.02654699 0.11888391 -0.02039795
+v -0.03030977 0.15852654 -0.00857475
+v -0.06518557 0.16327935 -0.00439583
+v -0.04513148 0.12307210 -0.01157827
+v -0.02903779 0.15980365 -0.03216577
+v -0.03464051 0.12021081 -0.01638000
+v -0.04443071 0.12240005 -0.00269329
+v -0.05275260 0.16289503 -0.02606924
+v -0.05955372 0.15064167 -0.00416939
+v -0.06535901 0.16346877 -0.01166234
+v -0.04505012 0.12315996 -0.00531973
+v -0.05972752 0.15082562 -0.01166234
+f 1 2 3
+f 1 3 4
+f 6 3 2
+f 7 2 1
+f 7 1 5
+f 8 5 1
+f 8 1 4
+f 9 4 3
+f 9 3 6
+f 9 6 2
+f 9 7 5
+f 9 2 7
+f 10 8 4
+f 11 4 9
+f 12 10 5
+f 12 5 8
+f 12 8 10
+f 13 11 9
+f 13 9 5
+f 13 5 10
+f 13 10 4
+f 13 4 11
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_6/collision/model_normalized_collision_23.obj b/objects/objaverse/fork/fork_6/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..57a4766db93562c616eed4193bb97ed900da7b3f
--- /dev/null
+++ b/objects/objaverse/fork/fork_6/collision/model_normalized_collision_23.obj
@@ -0,0 +1,15 @@
+# https://github.com/mikedh/trimesh
+v -0.06251699 0.15771767 -0.00432774
+v -0.06008824 0.15906207 -0.00485468
+v -0.07091834 0.17614347 -0.00462634
+v -0.06528742 0.16350067 -0.00466241
+v -0.06034790 0.17408296 -0.00619542
+v -0.06518557 0.16327935 -0.00439583
+f 1 2 3
+f 2 1 4
+f 5 3 2
+f 5 2 4
+f 5 4 3
+f 6 1 3
+f 6 3 4
+f 6 4 1
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_6/collision/model_normalized_collision_24.obj b/objects/objaverse/fork/fork_6/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8dc668d87782a7e272a14db0c07c6df842daa4a8
--- /dev/null
+++ b/objects/objaverse/fork/fork_6/collision/model_normalized_collision_24.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.03030977 0.15852654 -0.00857475
+v -0.02558188 0.16334616 -0.03400572
+v -0.03094914 0.18823122 -0.01214178
+v -0.07494221 0.18942174 -0.00485803
+v -0.06528742 0.16350067 -0.00466241
+v -0.03992611 0.19195003 -0.03624572
+v -0.03979947 0.16430348 -0.03056418
+v -0.02769992 0.19051076 -0.03836951
+v -0.06843481 0.19292089 -0.02606924
+v -0.05828855 0.16791715 -0.02218164
+f 1 2 3
+f 1 3 4
+f 5 1 4
+f 7 2 1
+f 7 1 5
+f 7 6 2
+f 8 6 3
+f 8 3 2
+f 8 2 6
+f 9 4 3
+f 9 3 6
+f 9 6 7
+f 9 5 4
+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_6/collision/model_normalized_collision_25.obj b/objects/objaverse/fork/fork_6/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2c88e06d9df32b7948859b33d3aef32c41d4ea06
--- /dev/null
+++ b/objects/objaverse/fork/fork_6/collision/model_normalized_collision_25.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v -0.04563701 0.18901653 -0.00993575
+v -0.03992611 0.19195003 -0.03624572
+v -0.04689457 0.23507324 -0.01249525
+v -0.08124125 0.23605863 -0.00564595
+v -0.07491247 0.19147141 -0.01235353
+v -0.04379867 0.23433161 -0.03177691
+v -0.03894249 0.21711351 -0.03667817
+v -0.07521358 0.19143096 -0.00489197
+v -0.07986239 0.23623589 -0.01462035
+v -0.05433244 0.21815583 -0.03048960
+v -0.06790723 0.23320347 -0.02153499
+v -0.06843481 0.19292089 -0.02606924
+v -0.05333321 0.19289483 -0.03157622
+f 1 3 4
+f 5 2 1
+f 7 1 2
+f 7 3 1
+f 7 6 3
+f 8 5 1
+f 8 1 4
+f 8 4 5
+f 9 4 3
+f 9 3 6
+f 9 5 4
+f 10 6 7
+f 11 9 6
+f 11 6 10
+f 12 10 7
+f 12 2 5
+f 12 5 9
+f 12 11 10
+f 12 9 11
+f 13 12 7
+f 13 7 2
+f 13 2 12
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_6/collision/model_normalized_collision_26.obj b/objects/objaverse/fork/fork_6/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3873450fdcf7da606d9858811ea8ba1d8cc87054
--- /dev/null
+++ b/objects/objaverse/fork/fork_6/collision/model_normalized_collision_26.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.03094902 0.28023926 -0.01509916
+v -0.02915340 0.28024838 -0.03231307
+v -0.02901106 0.31053800 -0.03169167
+v -0.04896327 0.31071275 -0.01298759
+v -0.04754465 0.28025981 -0.02854047
+v -0.03096982 0.31054120 -0.01527980
+v -0.04911313 0.28041364 -0.01329794
+v -0.04662982 0.31052354 -0.02794691
+f 1 2 3
+f 5 2 1
+f 5 3 2
+f 6 1 3
+f 6 3 4
+f 6 4 1
+f 7 5 1
+f 7 1 4
+f 7 4 5
+f 8 5 4
+f 8 4 3
+f 8 3 5
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_6/collision/model_normalized_collision_27.obj b/objects/objaverse/fork/fork_6/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bbe6152d3fccf9efd7f7b7740034b13343368e63
--- /dev/null
+++ b/objects/objaverse/fork/fork_6/collision/model_normalized_collision_27.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.06169294 0.18912988 -0.00747077
+v 0.05435834 0.19295472 -0.03121456
+v 0.06170988 0.23477659 -0.02082125
+v 0.01836886 0.23581692 -0.01673786
+v 0.01521378 0.18991160 -0.01413659
+v 0.01435743 0.23298083 -0.04189152
+v 0.06241226 0.23478462 -0.01016642
+v 0.01450809 0.19063768 -0.03996454
+v 0.05639965 0.23369961 -0.02776866
+v 0.01657501 0.18852353 -0.01388288
+v 0.05193593 0.21648605 -0.03072045
+f 1 2 3
+f 6 4 3
+f 6 5 4
+f 7 1 3
+f 7 3 4
+f 7 5 1
+f 7 4 5
+f 8 2 1
+f 8 6 2
+f 8 5 6
+f 9 6 3
+f 9 3 2
+f 10 8 1
+f 10 1 5
+f 10 5 8
+f 11 9 2
+f 11 2 6
+f 11 6 9
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_6/collision/model_normalized_collision_28.obj b/objects/objaverse/fork/fork_6/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..32ab7ef72ea8211708aded99c31ae538a89d5f3d
--- /dev/null
+++ b/objects/objaverse/fork/fork_6/collision/model_normalized_collision_28.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.03096982 0.31054120 -0.01527980
+v -0.02901106 0.31053800 -0.03169167
+v -0.02819565 0.35590152 -0.03041527
+v -0.06817085 0.35504761 -0.00786181
+v -0.07421545 0.31042769 -0.00702281
+v -0.03021639 0.35592339 -0.01564068
+v -0.06646467 0.31000826 -0.01780857
+v -0.04525757 0.35591915 -0.02705657
+v -0.06452007 0.35516417 -0.01721971
+v -0.06624919 0.32514501 -0.01738774
+f 1 2 3
+f 5 1 4
+f 6 1 3
+f 6 4 1
+f 7 2 1
+f 7 1 5
+f 8 6 3
+f 8 4 6
+f 8 3 2
+f 8 2 7
+f 9 5 4
+f 9 8 7
+f 9 4 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_6/collision/model_normalized_collision_29.obj b/objects/objaverse/fork/fork_6/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be05456a84f8f8a17e735e5aa4bf684136fb9740
--- /dev/null
+++ b/objects/objaverse/fork/fork_6/collision/model_normalized_collision_29.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.03311737 -0.49229610 0.04164976
+v 0.04557421 -0.46188853 0.02679838
+v 0.04526092 -0.46189573 0.03981630
+v -0.04702695 -0.45725330 0.03954131
+v -0.03372382 -0.49264908 0.02862879
+v 0.03081212 -0.46313595 0.03997927
+v 0.03393238 -0.49248982 0.02861099
+v -0.03240098 -0.49284342 0.04171095
+v -0.04734023 -0.45724613 0.02652340
+v 0.03994353 -0.47587274 0.04064421
+v -0.04200691 -0.47044870 0.04032292
+v -0.04397044 -0.46272971 0.03992080
+v -0.04232021 -0.47044155 0.02730500
+f 3 2 4
+f 6 1 3
+f 6 3 4
+f 7 2 3
+f 8 1 6
+f 8 7 1
+f 8 5 7
+f 9 4 2
+f 9 2 7
+f 10 7 3
+f 10 3 1
+f 10 1 7
+f 11 8 4
+f 11 5 8
+f 12 8 6
+f 12 6 4
+f 12 4 8
+f 13 5 11
+f 13 9 7
+f 13 7 5
+f 13 11 4
+f 13 4 9
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_6/collision/model_normalized_collision_3.obj b/objects/objaverse/fork/fork_6/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d522960fb19e0ce0da134cbc25b35b7301cd0d08
--- /dev/null
+++ b/objects/objaverse/fork/fork_6/collision/model_normalized_collision_3.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.02960780 -0.18963314 0.02270797
+v 0.02953727 -0.18855272 0.00961950
+v 0.01999349 0.03742299 -0.00240416
+v -0.01981593 0.03644136 0.00749727
+v -0.02960610 -0.18959098 0.02270531
+v 0.01982915 0.03632015 0.00751150
+v 0.02232061 0.00629001 0.01038152
+v -0.02953557 -0.18851055 0.00961688
+v -0.01400146 0.02125121 0.00960915
+v -0.02231902 0.00633219 0.01037887
+v -0.01999068 0.03747928 -0.00240636
+v 0.01496309 0.02079780 0.00959188
+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 2 5
+f 9 5 1
+f 9 6 4
+f 10 8 5
+f 10 9 4
+f 10 5 9
+f 11 4 3
+f 11 3 8
+f 11 10 4
+f 11 8 10
+f 12 9 1
+f 12 1 7
+f 12 7 6
+f 12 6 9
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_6/collision/model_normalized_collision_30.obj b/objects/objaverse/fork/fork_6/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c4a38a15343560670d5e28391e8743dce7ddd354
--- /dev/null
+++ b/objects/objaverse/fork/fork_6/collision/model_normalized_collision_30.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.01721478 0.41658802 -0.01750846
+v 0.01468228 0.41660093 -0.03185073
+v 0.01664710 0.50000000 -0.01966849
+v -0.04798338 0.49999983 -0.01291234
+v -0.05983844 0.41655570 -0.00901835
+v 0.01363247 0.49999983 -0.02882669
+v -0.05294909 0.41618098 -0.02100345
+v -0.04250868 0.49999983 -0.02018351
+f 1 2 3
+f 5 1 3
+f 5 3 4
+f 6 3 2
+f 7 2 1
+f 7 1 5
+f 7 5 4
+f 8 6 2
+f 8 2 7
+f 8 7 4
+f 8 4 3
+f 8 3 6
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_6/collision/model_normalized_collision_31.obj b/objects/objaverse/fork/fork_6/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c48a3ed430d40efd844e369ea11b37d752514d4
--- /dev/null
+++ b/objects/objaverse/fork/fork_6/collision/model_normalized_collision_31.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.04704856 -0.44772402 0.03894565
+v 0.04696396 -0.44664475 0.02585726
+v 0.04461845 -0.40196433 0.03606670
+v -0.04476356 -0.40338129 0.03615585
+v -0.04704615 -0.44767350 0.03894247
+v 0.04442568 -0.40090099 0.02297932
+v 0.04561953 -0.41652095 0.02396205
+v -0.04696155 -0.44659422 0.02585408
+v 0.04570411 -0.41760023 0.03705043
+v -0.04457078 -0.40231794 0.02306847
+f 5 2 1
+f 6 4 3
+f 7 1 2
+f 7 6 3
+f 7 2 6
+f 8 5 4
+f 8 6 2
+f 8 2 5
+f 9 7 3
+f 9 1 7
+f 9 3 4
+f 9 5 1
+f 9 4 5
+f 10 8 4
+f 10 4 6
+f 10 6 8
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_6/collision/model_normalized_collision_4.obj b/objects/objaverse/fork/fork_6/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b3b478fc505cfd071d70c9a8f9688ffded156cbb
--- /dev/null
+++ b/objects/objaverse/fork/fork_6/collision/model_normalized_collision_4.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.04461845 -0.40196433 0.03606670
+v 0.04442568 -0.40090099 0.02297932
+v 0.03074975 -0.22033571 0.02463960
+v -0.03074801 -0.22029352 0.02463695
+v -0.04460637 -0.40184909 0.03605945
+v 0.03071449 -0.22020348 0.01161079
+v -0.02943521 -0.22072882 0.02468873
+v -0.03071275 -0.22016129 0.01160817
+v -0.04441360 -0.40078575 0.02297207
+f 5 2 1
+f 6 1 2
+f 6 3 1
+f 7 1 3
+f 7 3 4
+f 7 5 1
+f 7 4 5
+f 8 5 4
+f 8 4 3
+f 8 3 6
+f 9 2 5
+f 9 5 8
+f 9 8 6
+f 9 6 2
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_6/collision/model_normalized_collision_5.obj b/objects/objaverse/fork/fork_6/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2bb6643519b107f55065453c51b4222fc4ea226e
--- /dev/null
+++ b/objects/objaverse/fork/fork_6/collision/model_normalized_collision_5.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.01578558 0.11389475 -0.00317157
+v 0.01416466 0.11877003 -0.02150172
+v 0.01717300 0.35598416 -0.01714572
+v -0.03021639 0.35592339 -0.01564068
+v -0.02943560 0.11392753 -0.00245986
+v -0.01110498 0.35573288 -0.03481726
+v 0.01401347 0.14957141 -0.03207341
+v -0.02819565 0.35590152 -0.03041527
+v 0.01040221 0.35572413 -0.03467346
+v -0.02654699 0.11888391 -0.02039795
+v -0.02462517 0.14917526 -0.03047705
+v -0.02564387 0.32537210 -0.03214264
+f 1 3 4
+f 5 2 1
+f 5 1 4
+f 7 1 2
+f 7 3 1
+f 8 4 3
+f 8 5 4
+f 9 7 6
+f 9 3 7
+f 9 8 3
+f 9 6 8
+f 10 7 2
+f 10 2 5
+f 10 5 8
+f 11 10 8
+f 11 6 7
+f 11 7 10
+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_6/collision/model_normalized_collision_6.obj b/objects/objaverse/fork/fork_6/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3aae6a2e8b97661ab6d236b5f918c24459d938bd
--- /dev/null
+++ b/objects/objaverse/fork/fork_6/collision/model_normalized_collision_6.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.06245880 0.31062374 -0.01022335
+v 0.05471430 0.30984627 -0.02247621
+v 0.04798338 0.49999983 -0.01291286
+v 0.01664710 0.50000000 -0.01966849
+v 0.01714167 0.31053127 -0.01687367
+v 0.01363247 0.49999983 -0.02882669
+v 0.04428365 0.47649744 -0.02134878
+v 0.01563137 0.31059555 -0.03445185
+v 0.04232150 0.49915668 -0.02073632
+f 5 2 1
+f 5 1 3
+f 5 3 4
+f 6 4 3
+f 6 5 4
+f 7 1 2
+f 7 3 1
+f 8 2 5
+f 8 5 6
+f 8 7 2
+f 8 6 7
+f 9 7 6
+f 9 6 3
+f 9 3 7
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_6/collision/model_normalized_collision_7.obj b/objects/objaverse/fork/fork_6/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a644eeb49966fa6b2b57aa45915caa6c0cb8ad1c
--- /dev/null
+++ b/objects/objaverse/fork/fork_6/collision/model_normalized_collision_7.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.03072890 -0.21977516 0.02460433
+v 0.03069364 -0.21964293 0.01157552
+v 0.02953727 -0.18855272 0.00961950
+v -0.02962695 -0.19015153 0.02274058
+v -0.03074801 -0.22029352 0.02463695
+v 0.02960780 -0.18963314 0.02270797
+v -0.03071275 -0.22016129 0.01160817
+v -0.02955642 -0.18907110 0.00965214
+f 5 1 4
+f 6 3 4
+f 6 4 1
+f 6 1 2
+f 6 2 3
+f 7 3 2
+f 7 2 1
+f 7 1 5
+f 7 5 4
+f 8 7 4
+f 8 4 3
+f 8 3 7
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_6/collision/model_normalized_collision_8.obj b/objects/objaverse/fork/fork_6/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9127f8449197f0a5a8d33c44bca3d2a36a6941fc
--- /dev/null
+++ b/objects/objaverse/fork/fork_6/collision/model_normalized_collision_8.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.01604782 0.35598370 -0.01727273
+v -0.01440101 0.35604358 -0.03405559
+v -0.01411634 0.41662281 -0.03281279
+v -0.06011139 0.41454083 -0.00898046
+v -0.06817085 0.35504761 -0.00786181
+v -0.01608943 0.41658758 -0.01763400
+v -0.05381104 0.35563399 -0.02268677
+v -0.05294909 0.41618098 -0.02100345
+v -0.06747723 0.35507363 -0.01353266
+v -0.06613843 0.37005054 -0.01280876
+v -0.06009225 0.41468212 -0.01322569
+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 8 6 3
+f 8 4 6
+f 8 3 7
+f 9 7 2
+f 9 2 5
+f 9 8 7
+f 10 9 5
+f 10 5 4
+f 11 10 4
+f 11 4 8
+f 11 8 9
+f 11 9 10
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_6/collision/model_normalized_collision_9.obj b/objects/objaverse/fork/fork_6/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..169f97258a123f55cb6a023540d27103e2b4c21c
--- /dev/null
+++ b/objects/objaverse/fork/fork_6/collision/model_normalized_collision_9.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.07523389 0.19158216 -0.00489455
+v 0.07525574 0.19157868 -0.01166234
+v 0.07652382 0.29338795 -0.00670251
+v 0.06245880 0.31062374 -0.01022335
+v 0.05905439 0.19050202 -0.02903252
+v 0.07423602 0.31027611 -0.00702010
+v 0.06169294 0.18912988 -0.00747077
+v 0.06863405 0.19330236 -0.02606924
+v 0.05471430 0.30984627 -0.02247621
+v 0.07650895 0.29349757 -0.01209373
+v 0.06662645 0.30946537 -0.01627599
+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 2 5
+f 9 7 4
+f 9 5 7
+f 9 8 5
+f 9 4 6
+f 10 3 2
+f 10 2 8
+f 10 6 3
+f 11 9 6
+f 11 6 10
+f 11 10 8
+f 11 8 9
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_6/model.xml b/objects/objaverse/fork/fork_6/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..48a78f7d99fa38bad34edddb7bd49bc61fc37f4e
--- /dev/null
+++ b/objects/objaverse/fork/fork_6/model.xml
@@ -0,0 +1,81 @@
+<mujoco model="fork_19">
+  <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"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="lambert1.012" 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="lambert1.012"/>
+        <geom solimp="0.998 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="-0.0006538069999999996 0.0007872238000000026 -0.009216134400000001" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="-0.0006538069999999996 0.0007872238000000026 0.009176409" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.016835240400000003 0.11000000000000001 -1.986270000000054e-05" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/objects/objaverse/fork/fork_6/visual/material.mtl b/objects/objaverse/fork/fork_6/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..33616803300962094e8955deb30562079542847b
--- /dev/null
+++ b/objects/objaverse/fork/fork_6/visual/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 250.00000000
+map_Kd material_0.jpeg
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_6/visual/model_normalized_0.obj b/objects/objaverse/fork/fork_6/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..86cdaa63b601f370a3312ba81d780999f1e9c7ed
--- /dev/null
+++ b/objects/objaverse/fork/fork_6/visual/model_normalized_0.obj
@@ -0,0 +1,1419 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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+f 161/161/161 175/175/175 176/176/176
+f 178/178/178 177/177/177 156/156/156
+f 156/156/156 158/158/158 178/178/178
+f 180/180/180 179/179/179 177/177/177
+f 177/177/177 178/178/178 180/180/180
+f 182/182/182 181/181/181 179/179/179
+f 179/179/179 180/180/180 182/182/182
+f 181/181/181 182/182/182 183/183/183
+f 183/183/183 184/184/184 181/181/181
+f 184/184/184 183/183/183 185/185/185
+f 185/185/185 186/186/186 184/184/184
+f 188/188/188 187/187/187 186/186/186
+f 186/186/186 185/185/185 188/188/188
+f 187/187/187 188/188/188 189/189/189
+f 189/189/189 190/190/190 187/187/187
+f 190/190/190 189/189/189 191/191/191
+f 191/191/191 192/192/192 190/190/190
+f 195/195/195 193/193/193 192/192/192
+f 192/192/192 194/194/194 195/195/195
+f 197/197/197 187/187/187 190/190/190
+f 190/190/190 196/196/196 197/197/197
+f 187/187/187 197/197/197 198/198/198
+f 198/198/198 186/186/186 187/187/187
+f 199/199/199 184/184/184 186/186/186
+f 186/186/186 198/198/198 199/199/199
+f 200/200/200 181/181/181 184/184/184
+f 184/184/184 199/199/199 200/200/200
+f 181/181/181 200/200/200 201/201/201
+f 201/201/201 179/179/179 181/181/181
+f 179/179/179 201/201/201 202/202/202
+f 202/202/202 177/177/177 179/179/179
+f 177/177/177 202/202/202 157/157/157
+f 157/157/157 156/156/156 177/177/177
+f 206/206/206 203/203/203 204/204/204
+f 204/204/204 205/205/205 206/206/206
+f 209/209/209 207/207/207 205/205/205
+f 205/205/205 208/208/208 209/209/209
+f 146/146/146 145/145/145 132/132/132
+f 132/132/132 131/131/131 146/146/146
+f 134/134/134 133/133/133 136/136/136
+f 136/136/136 135/135/135 134/134/134
+f 138/138/138 137/137/137 148/148/148
+f 148/148/148 147/147/147 138/138/138
+f 205/205/205 207/207/207 206/206/206
+f 192/192/192 210/210/210 194/194/194
+f 169/169/169 205/205/205 204/204/204
+f 204/204/204 171/171/171 169/169/169
+f 170/170/170 208/208/208 205/205/205
+f 205/205/205 169/169/169 170/170/170
+f 196/196/196 190/190/190 192/192/192
+f 192/192/192 193/193/193 196/196/196
+f 210/210/210 192/192/192 191/191/191
+f 191/191/191 211/211/211 210/210/210
+f 214/214/214 150/150/150 149/149/149
+f 214/214/214 149/149/149 212/212/212
+f 212/212/212 213/213/213 214/214/214
+f 127/127/127 154/154/154 153/153/153
+f 153/153/153 128/128/128 127/127/127
+f 218/218/218 215/215/215 216/216/216
+f 216/216/216 217/217/217 218/218/218
+f 220/220/220 218/218/218 217/217/217
+f 217/217/217 219/219/219 220/220/220
+f 220/220/220 96/96/96 95/95/95
+f 95/95/95 218/218/218 220/220/220
+f 218/218/218 95/95/95 94/94/94
+f 94/94/94 215/215/215 218/218/218
+f 162/162/162 217/217/217 216/216/216
+f 216/216/216 159/159/159 162/162/162
+f 219/219/219 217/217/217 162/162/162
+f 162/162/162 176/176/176 219/219/219
+f 149/149/149 125/125/125 212/212/212
+f 153/153/153 152/152/152 128/128/128
+f 224/224/224 221/221/221 222/222/222
+f 222/222/222 223/223/223 224/224/224
+f 228/228/228 225/225/225 226/226/226
+f 226/226/226 227/227/227 228/228/228
+f 232/232/232 229/229/229 230/230/230
+f 230/230/230 231/231/231 232/232/232
+f 244/244/244 241/241/241 242/242/242
+f 242/242/242 243/243/243 244/244/244
+f 248/248/248 245/245/245 246/246/246
+f 246/246/246 247/247/247 248/248/248
+f 252/252/252 249/249/249 250/250/250
+f 250/250/250 251/251/251 252/252/252
+f 254/254/254 44/44/44 43/43/43
+f 43/43/43 253/253/253 254/254/254
+f 256/256/256 16/16/16 15/15/15
+f 15/15/15 255/255/255 256/256/256
+f 258/258/258 91/91/91 73/73/73
+f 73/73/73 257/257/257 258/258/258
+f 262/262/262 259/259/259 260/260/260
+f 260/260/260 261/261/261 262/262/262
+f 264/264/264 61/61/61 60/60/60
+f 60/60/60 263/263/263 264/264/264
+f 268/268/268 265/265/265 266/266/266
+f 266/266/266 267/267/267 268/268/268
+f 270/270/270 100/100/100 26/26/26
+f 26/26/26 269/269/269 270/270/270
+f 276/276/276 57/57/57 58/58/58
+f 58/58/58 275/275/275 276/276/276
+f 282/282/282 18/18/18 108/108/108
+f 108/108/108 281/281/281 282/282/282
+f 286/286/286 283/283/283 284/284/284
+f 284/284/284 285/285/285 286/286/286
+f 288/288/288 27/27/27 30/30/30
+f 30/30/30 287/287/287 288/288/288
+f 292/292/292 289/289/289 290/290/290
+f 290/290/290 291/291/291 292/292/292
+f 294/294/294 89/89/89 99/99/99
+f 99/99/99 293/293/293 294/294/294
+f 296/296/296 1/1/1 4/4/4
+f 4/4/4 295/295/295 296/296/296
+f 51/51/51 64/64/64 63/63/63
+f 63/63/63 49/49/49 51/51/51
+f 53/53/53 65/65/65 64/64/64
+f 64/64/64 51/51/51 53/53/53
+f 55/55/55 66/66/66 65/65/65
+f 65/65/65 53/53/53 55/55/55
+f 57/57/57 67/67/67 66/66/66
+f 66/66/66 55/55/55 57/57/57
+f 298/298/298 247/247/247 246/246/246
+f 246/246/246 297/297/297 298/298/298
+f 107/107/107 88/88/88 90/90/90
+f 90/90/90 108/108/108 107/107/107
+f 106/106/106 86/86/86 88/88/88
+f 88/88/88 107/107/107 106/106/106
+f 105/105/105 84/84/84 86/86/86
+f 86/86/86 106/106/106 105/105/105
+f 104/104/104 82/82/82 84/84/84
+f 84/84/84 105/105/105 104/104/104
+f 103/103/103 80/80/80 82/82/82
+f 82/82/82 104/104/104 103/103/103
+f 102/102/102 78/78/78 80/80/80
+f 80/80/80 103/103/103 102/102/102
+f 101/101/101 75/75/75 78/78/78
+f 78/78/78 102/102/102 101/101/101
+f 100/100/100 76/76/76 75/75/75
+f 75/75/75 101/101/101 100/100/100
+f 300/300/300 299/299/299 226/226/226
+f 226/226/226 225/225/225 300/300/300
+f 59/59/59 69/69/69 68/68/68
+f 68/68/68 60/60/60 59/59/59
+f 46/46/46 70/70/70 69/69/69
+f 69/69/69 59/59/59 46/46/46
+f 45/45/45 71/71/71 70/70/70
+f 70/70/70 46/46/46 45/45/45
+f 49/49/49 63/63/63 71/71/71
+f 71/71/71 45/45/45 49/49/49
+f 304/304/304 301/301/301 302/302/302
+f 302/302/302 303/303/303 304/304/304
+f 222/222/222 305/305/305 306/306/306
+f 306/306/306 223/223/223 222/222/222
+f 310/310/310 307/307/307 308/308/308
+f 308/308/308 309/309/309 310/310/310
+f 224/224/224 311/311/311 312/312/312
+f 312/312/312 221/221/221 224/224/224
+f 316/316/316 313/313/313 314/314/314
+f 314/314/314 315/315/315 316/316/316
+f 230/230/230 317/317/317 318/318/318
+f 318/318/318 231/231/231 230/230/230
+f 322/322/322 319/319/319 320/320/320
+f 320/320/320 321/321/321 322/322/322
+f 232/232/232 323/323/323 324/324/324
+f 324/324/324 229/229/229 232/232/232
+f 328/328/328 325/325/325 326/326/326
+f 326/326/326 327/327/327 328/328/328
+f 242/242/242 329/329/329 330/330/330
+f 330/330/330 243/243/243 242/242/242
+f 334/334/334 331/331/331 332/332/332
+f 332/332/332 333/333/333 334/334/334
+f 244/244/244 335/335/335 336/336/336
+f 336/336/336 241/241/241 244/244/244
+f 340/340/340 337/337/337 338/338/338
+f 338/338/338 339/339/339 340/340/340
+f 250/250/250 341/341/341 342/342/342
+f 342/342/342 251/251/251 250/250/250
+f 346/346/346 343/343/343 344/344/344
+f 344/344/344 345/345/345 346/346/346
+f 252/252/252 347/347/347 348/348/348
+f 348/348/348 249/249/249 252/252/252
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_9/collision/model_normalized_collision_0.obj b/objects/objaverse/fork/fork_9/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e20024cbb711cc14875fa125e53d8c46102c655
--- /dev/null
+++ b/objects/objaverse/fork/fork_9/collision/model_normalized_collision_0.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.00443036 0.09864638 0.01653262
+v 0.00193388 0.09826813 0.01292798
+v 0.00193388 0.15968093 0.01444333
+v -0.01736639 0.16027803 0.01504653
+v -0.01661626 0.09875117 0.01364211
+v -0.02617651 0.15757127 -0.01477665
+v 0.00444808 0.15893075 0.01807223
+v -0.02471205 0.09814673 -0.01568407
+v -0.02966387 0.16357571 -0.01410096
+v -0.02585710 0.09837265 -0.01589664
+f 1 2 3
+f 5 2 1
+f 7 1 3
+f 7 3 4
+f 7 5 1
+f 7 4 5
+f 8 6 3
+f 8 3 2
+f 8 2 5
+f 9 4 3
+f 9 3 6
+f 9 5 4
+f 10 8 5
+f 10 5 9
+f 10 9 6
+f 10 6 8
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_9/collision/model_normalized_collision_10.obj b/objects/objaverse/fork/fork_9/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..20d0b65de0cca00ff9cc20481d2269c0ded0ba5c
--- /dev/null
+++ b/objects/objaverse/fork/fork_9/collision/model_normalized_collision_10.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.07522953 0.36717362 -0.02832146
+v 0.07409693 0.38014626 -0.02367364
+v 0.07231385 0.37577159 -0.01035090
+v -0.06992466 0.41740342 0.00348112
+v -0.07656171 0.36673412 -0.02814077
+v 0.06995940 0.41706921 0.00333465
+v -0.07064757 0.41029673 -0.01105063
+v -0.07354288 0.37162499 -0.01330462
+v -0.07080760 0.37575395 -0.00984535
+v -0.07377788 0.39656184 -0.01654395
+v 0.07070275 0.40987693 -0.01124006
+v -0.07557839 0.37918727 -0.02342092
+v -0.07282827 0.40066620 -0.01113082
+f 5 2 1
+f 6 1 2
+f 6 3 1
+f 7 4 6
+f 8 5 1
+f 8 1 3
+f 9 6 4
+f 9 3 6
+f 9 8 3
+f 9 4 8
+f 10 4 7
+f 10 7 2
+f 11 7 6
+f 11 6 2
+f 11 2 7
+f 12 8 4
+f 12 5 8
+f 12 10 2
+f 12 2 5
+f 13 12 4
+f 13 4 10
+f 13 10 12
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_9/collision/model_normalized_collision_12.obj b/objects/objaverse/fork/fork_9/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..67da7076a295397da5ce49d84d5407ca2a039b5e
--- /dev/null
+++ b/objects/objaverse/fork/fork_9/collision/model_normalized_collision_12.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.07635911 0.35378269 -0.03290018
+v 0.07522953 0.36717362 -0.02832146
+v 0.07351082 0.35748820 -0.01556972
+v -0.07354288 0.37162499 -0.01330462
+v -0.07772716 0.35292274 -0.03285255
+v 0.07304864 0.37187666 -0.01201828
+v -0.07656171 0.36673412 -0.02814077
+v -0.07431453 0.35708947 -0.01669904
+f 5 1 3
+f 6 2 4
+f 6 1 2
+f 6 3 1
+f 7 5 4
+f 7 4 2
+f 7 2 1
+f 7 1 5
+f 8 5 3
+f 8 4 5
+f 8 6 4
+f 8 3 6
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_9/collision/model_normalized_collision_13.obj b/objects/objaverse/fork/fork_9/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..844db90b6ef754cfbf5419949eaabe28f8df3dec
--- /dev/null
+++ b/objects/objaverse/fork/fork_9/collision/model_normalized_collision_13.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.01587487 -0.31040622 0.00095479
+v 0.02085892 -0.31044158 -0.02305176
+v 0.02222723 -0.21959153 -0.02122494
+v -0.01647385 -0.21954738 0.00253552
+v -0.02085805 -0.31049971 -0.02305292
+v 0.01663530 -0.21952116 0.00193025
+v -0.01576920 -0.31042070 0.00129297
+v -0.02222636 -0.21964983 -0.02122611
+f 1 2 3
+f 5 2 1
+f 6 1 3
+f 6 3 4
+f 6 4 1
+f 7 5 1
+f 7 1 4
+f 8 4 3
+f 8 3 2
+f 8 2 5
+f 8 7 4
+f 8 5 7
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_9/collision/model_normalized_collision_14.obj b/objects/objaverse/fork/fork_9/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e3cc76c586857ffc964c6d3a66dea4f6140dfb38
--- /dev/null
+++ b/objects/objaverse/fork/fork_9/collision/model_normalized_collision_14.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.01526128 -0.21964388 0.00494418
+v 0.02222723 -0.21959153 -0.02122494
+v 0.02428424 -0.08331720 -0.01847689
+v 0.01698306 -0.08332021 0.00605039
+v 0.02188448 -0.08349334 -0.01919461
+v 0.01663530 -0.21952116 0.00193025
+v 0.02091111 -0.21978242 -0.02211621
+v 0.01830723 -0.08313378 0.00182219
+f 5 1 4
+f 6 4 1
+f 6 1 2
+f 6 2 3
+f 7 2 1
+f 7 1 5
+f 7 5 3
+f 7 3 2
+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/fork/fork_9/collision/model_normalized_collision_15.obj b/objects/objaverse/fork/fork_9/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9874a0b708d9326271cda4a116aaaa255959e65b
--- /dev/null
+++ b/objects/objaverse/fork/fork_9/collision/model_normalized_collision_15.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.01581586 -0.08292519 0.00892686
+v 0.02428424 -0.08331720 -0.01847689
+v 0.02106047 0.09868477 0.00196783
+v 0.01434901 0.09864878 0.01595961
+v 0.02188448 -0.08349334 -0.01919461
+v 0.01653997 0.09876941 0.01379267
+v 0.01408678 -0.08295485 0.01010057
+v 0.02585809 0.09843446 -0.01589545
+v 0.02471305 0.09820867 -0.01568290
+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 8 4 6
+f 9 8 5
+f 9 5 4
+f 9 4 8
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_9/collision/model_normalized_collision_17.obj b/objects/objaverse/fork/fork_9/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ba900afa65efdf46c3bfe0aa880bbef26aea7879
--- /dev/null
+++ b/objects/objaverse/fork/fork_9/collision/model_normalized_collision_17.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.06217578 0.23158370 -0.01631159
+v 0.07098982 0.23296727 -0.03601631
+v 0.06250609 0.28025798 -0.02645374
+v -0.04351909 0.28025533 -0.02635245
+v -0.04346445 0.23172929 -0.01596762
+v -0.04336199 0.28055265 -0.02973912
+v 0.06231931 0.28055714 -0.02936255
+v -0.04350475 0.26286898 -0.02492809
+v -0.04318812 0.24077008 -0.02297394
+f 1 2 3
+f 5 2 1
+f 5 1 3
+f 5 3 4
+f 7 3 2
+f 7 2 6
+f 7 6 4
+f 7 4 3
+f 8 5 4
+f 8 4 6
+f 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/fork/fork_9/collision/model_normalized_collision_18.obj b/objects/objaverse/fork/fork_9/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..45e6e9521fd16e0de200185b8353cae271c73e53
--- /dev/null
+++ b/objects/objaverse/fork/fork_9/collision/model_normalized_collision_18.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.02324988 0.44567859 0.00766240
+v 0.02283385 0.45620340 0.01388652
+v 0.02296980 0.45424463 0.02118648
+v -0.02672673 0.46661940 0.02815229
+v -0.02783015 0.44626227 0.00764606
+v 0.02264724 0.46525052 0.02691533
+v -0.02743387 0.45695729 0.01432067
+v -0.02627079 0.45408105 0.02169851
+f 5 2 1
+f 6 2 4
+f 6 1 2
+f 6 3 1
+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/fork/fork_9/collision/model_normalized_collision_19.obj b/objects/objaverse/fork/fork_9/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca34ecb63bcaf420823309dec0238ad818995801
--- /dev/null
+++ b/objects/objaverse/fork/fork_9/collision/model_normalized_collision_19.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.07796591 0.28067771 -0.02980142
+v 0.08139759 0.28025267 -0.04584269
+v 0.07688958 0.35586188 -0.02765869
+v 0.06246370 0.35747561 -0.01458744
+v 0.06250609 0.28025798 -0.02645374
+v 0.07602853 0.33707776 -0.03672741
+v 0.07351082 0.35748820 -0.01556972
+v 0.07915853 0.33582040 -0.03799939
+v 0.07462889 0.35445858 -0.03140783
+v 0.06231388 0.29690092 -0.02580931
+v 0.07834395 0.28026611 -0.04549133
+v 0.07775214 0.35262897 -0.03295100
+f 1 2 3
+f 5 2 1
+f 7 1 3
+f 7 3 4
+f 7 5 1
+f 7 4 5
+f 8 3 2
+f 9 6 4
+f 9 4 3
+f 10 5 4
+f 10 4 6
+f 11 8 2
+f 11 6 8
+f 11 10 6
+f 11 2 5
+f 11 5 10
+f 12 8 6
+f 12 6 9
+f 12 9 3
+f 12 3 8
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_9/collision/model_normalized_collision_21.obj b/objects/objaverse/fork/fork_9/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d4cb32dde63f376d4ff7d541ca659c0691e0a466
--- /dev/null
+++ b/objects/objaverse/fork/fork_9/collision/model_normalized_collision_21.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.01506406 -0.49853606 -0.02723865
+v 0.01661682 -0.49791235 -0.02722169
+v 0.01313062 -0.49468989 -0.01384409
+v 0.01668928 -0.44694649 -0.00912003
+v 0.01742126 -0.44719405 -0.02651401
+v 0.01682666 -0.49301316 -0.01470905
+v 0.01852925 -0.44699511 -0.02630551
+v 0.01699563 -0.44678278 -0.01126014
+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 6 2
+f 7 2 5
+f 8 7 5
+f 8 5 4
+f 8 4 6
+f 8 6 7
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_9/collision/model_normalized_collision_24.obj b/objects/objaverse/fork/fork_9/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e6d2d74c4b56367cf6df133bdacd386de4e24f2d
--- /dev/null
+++ b/objects/objaverse/fork/fork_9/collision/model_normalized_collision_24.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.02283385 0.45620340 0.01388652
+v 0.02244366 0.46691106 0.02053365
+v 0.02264724 0.46525052 0.02691533
+v 0.01204137 0.49750820 0.04623700
+v 0.00807488 0.45674350 0.01414697
+v 0.01991494 0.49646338 0.04070455
+v 0.00832413 0.46678832 0.02797811
+v 0.02140283 0.48471989 0.03811695
+v 0.01056645 0.49726371 0.04220941
+v 0.00833155 0.46764027 0.02099543
+v 0.01878353 0.49738127 0.04478261
+v 0.00914132 0.48581737 0.03903532
+f 1 2 3
+f 5 2 1
+f 5 1 3
+f 7 5 3
+f 7 3 4
+f 8 3 2
+f 8 2 6
+f 8 4 3
+f 10 6 2
+f 10 2 5
+f 10 9 6
+f 10 5 7
+f 11 8 6
+f 11 4 8
+f 11 9 4
+f 11 6 9
+f 12 7 4
+f 12 4 9
+f 12 10 7
+f 12 9 10
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_9/collision/model_normalized_collision_27.obj b/objects/objaverse/fork/fork_9/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..68af3722cd310a373673e3927a173a8028c858c0
--- /dev/null
+++ b/objects/objaverse/fork/fork_9/collision/model_normalized_collision_27.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.03903448 0.19500652 0.00178428
+v 0.07560184 0.23581491 -0.03852075
+v 0.06918736 0.23403920 -0.01891589
+v 0.04704627 0.24086231 -0.02292820
+v 0.04815209 0.19510508 -0.02303541
+v 0.04730113 0.23172815 -0.01599991
+v 0.07098982 0.23296727 -0.03601631
+v 0.06627299 0.21537935 -0.03101631
+v 0.04693854 0.21270697 -0.00578392
+v 0.06054093 0.21500870 -0.01527749
+v 0.05662241 0.21582132 -0.00843590
+v 0.05572878 0.20165719 -0.02504524
+v 0.04573161 0.20144708 -0.00249638
+f 3 2 4
+f 5 1 4
+f 6 3 4
+f 6 4 1
+f 7 5 4
+f 7 4 2
+f 7 2 5
+f 8 5 2
+f 8 2 3
+f 9 6 1
+f 9 3 6
+f 10 8 3
+f 11 9 1
+f 11 3 9
+f 11 10 3
+f 12 1 5
+f 12 5 8
+f 12 8 10
+f 13 11 1
+f 13 10 11
+f 13 12 10
+f 13 1 12
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_9/collision/model_normalized_collision_28.obj b/objects/objaverse/fork/fork_9/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..34576ca64cb487879955fb18d316c10b8e1494c1
--- /dev/null
+++ b/objects/objaverse/fork/fork_9/collision/model_normalized_collision_28.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.07140097 0.41544868 -0.00825641
+v 0.06935655 0.42263817 0.00580125
+v -0.06677430 0.42234263 0.00696348
+v -0.06633805 0.44672618 0.01713873
+v 0.06633805 0.44672618 0.01713873
+v -0.07134403 0.41587263 -0.00806244
+v -0.06787484 0.44031855 0.00418876
+v 0.06822388 0.43853630 0.00352472
+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 1 6
+f 7 6 4
+f 7 4 5
+f 8 7 5
+f 8 5 1
+f 8 1 7
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_9/collision/model_normalized_collision_3.obj b/objects/objaverse/fork/fork_9/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..562951a71ef154e21c42de2f6c6cd6f46c101e70
--- /dev/null
+++ b/objects/objaverse/fork/fork_9/collision/model_normalized_collision_3.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.06733231 0.44486881 0.00717040
+v 0.06427044 0.45293369 0.02110250
+v 0.04780341 0.44596036 0.00776212
+v 0.05127755 0.49927728 0.04323162
+v 0.05701750 0.49824466 0.04221639
+v 0.04886230 0.45412150 0.02168208
+v 0.06221566 0.47684967 0.03308395
+v 0.06411154 0.46643201 0.02024473
+v 0.04931066 0.48517261 0.03866412
+v 0.04860923 0.46707092 0.02057040
+v 0.05549105 0.49805349 0.04649155
+v 0.05171624 0.49811600 0.04639268
+v 0.06009172 0.48509157 0.03861016
+f 1 2 3
+f 6 3 2
+f 7 2 1
+f 8 7 1
+f 8 5 7
+f 9 3 6
+f 10 4 5
+f 10 5 8
+f 10 9 4
+f 10 3 9
+f 10 8 1
+f 10 1 3
+f 11 6 2
+f 11 5 4
+f 12 9 6
+f 12 6 11
+f 12 11 4
+f 12 4 9
+f 13 11 2
+f 13 2 7
+f 13 7 5
+f 13 5 11
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_9/collision/model_normalized_collision_30.obj b/objects/objaverse/fork/fork_9/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cb42bfabf276b0d181eca2268621a493527e7812
--- /dev/null
+++ b/objects/objaverse/fork/fork_9/collision/model_normalized_collision_30.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.06217578 0.23158370 -0.01631159
+v 0.07760704 0.24272458 -0.04067621
+v 0.07796591 0.28067771 -0.02980142
+v 0.06250609 0.28025798 -0.02645374
+v 0.07434432 0.23601419 -0.03970527
+v 0.08005742 0.28032047 -0.04694453
+v 0.06918736 0.23403920 -0.01891589
+v 0.06221518 0.26291243 -0.02507852
+v 0.08139759 0.28025267 -0.04584269
+v 0.07834395 0.28026611 -0.04549133
+v 0.07389561 0.23880023 -0.02961115
+f 1 3 4
+f 6 4 3
+f 6 2 5
+f 7 3 1
+f 7 1 5
+f 8 5 1
+f 8 1 4
+f 8 4 5
+f 9 6 3
+f 9 3 2
+f 9 2 6
+f 10 6 5
+f 10 5 4
+f 10 4 6
+f 11 2 3
+f 11 3 7
+f 11 7 5
+f 11 5 2
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_9/collision/model_normalized_collision_8.obj b/objects/objaverse/fork/fork_9/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..365bf48a561dbadee9ea48a0c6d4cf7b53523478
--- /dev/null
+++ b/objects/objaverse/fork/fork_9/collision/model_normalized_collision_8.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.01506406 -0.49853606 -0.02723865
+v 0.01399928 -0.49125921 -0.00548406
+v -0.01733333 -0.49758306 -0.02669778
+v -0.01567847 -0.40122701 -0.00167978
+v 0.01641869 -0.40149434 -0.02383160
+v -0.01538439 -0.49100476 -0.00600497
+v 0.01787777 -0.41691687 -0.02594262
+v 0.01448888 -0.40126873 -0.00063114
+v -0.01926244 -0.40161420 -0.02541360
+v -0.01810832 -0.40183387 -0.02565368
+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 8 6 2
+f 8 4 6
+f 9 4 5
+f 9 6 4
+f 9 3 6
+f 10 9 5
+f 10 5 7
+f 10 7 1
+f 10 1 3
+f 10 3 9
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_9/visual/material.mtl b/objects/objaverse/fork/fork_9/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ab939302da5d1e90b71881bc3dd7198373f26bb8
--- /dev/null
+++ b/objects/objaverse/fork/fork_9/visual/material.mtl
@@ -0,0 +1,7 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 1.00000000 1.00000000 1.00000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 9.18646700
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_23/.DS_Store b/objects/objaverse/pan/pan_23/.DS_Store
new file mode 100644
index 0000000000000000000000000000000000000000..4cab1573726c7bd8d2b7eba99562592ef30e1f92
Binary files /dev/null and b/objects/objaverse/pan/pan_23/.DS_Store differ
diff --git a/objects/objaverse/pan/pan_23/collision/model_normalized_collision_0.obj b/objects/objaverse/pan/pan_23/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d4068f4bf23e06a76d021256c4da2491d3ec8409
--- /dev/null
+++ b/objects/objaverse/pan/pan_23/collision/model_normalized_collision_0.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.04958631 -0.10578271 -0.17011277
+v -0.05725895 -0.10977536 -0.18604227
+v -0.05432379 -0.05652972 -0.14023821
+v -0.35559085 -0.05547746 -0.14255680
+v -0.35369716 -0.11359540 -0.20020211
+v -0.04996781 -0.08551019 -0.15757577
+v -0.36038522 -0.09792746 -0.17786109
+v -0.07473042 -0.10513437 -0.19135772
+v -0.06003680 -0.09098018 -0.17656799
+v -0.35787916 -0.07995684 -0.16007129
+v -0.35257264 -0.10273422 -0.19370426
+v -0.07358738 -0.11143454 -0.19511249
+v -0.05543410 -0.06420200 -0.14880425
+v -0.35517298 -0.06278009 -0.15210464
+f 5 2 1
+f 6 3 4
+f 6 4 1
+f 6 1 2
+f 7 5 1
+f 9 6 2
+f 10 7 1
+f 10 1 4
+f 10 4 7
+f 11 5 7
+f 11 9 8
+f 12 2 5
+f 12 11 8
+f 12 5 11
+f 12 9 2
+f 12 8 9
+f 13 3 6
+f 13 6 9
+f 13 9 11
+f 14 11 7
+f 14 7 4
+f 14 13 11
+f 14 4 3
+f 14 3 13
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_23/collision/model_normalized_collision_1.obj b/objects/objaverse/pan/pan_23/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fc929185a1243535b597c7a5578db503476abdd2
--- /dev/null
+++ b/objects/objaverse/pan/pan_23/collision/model_normalized_collision_1.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.05279862 -0.07585719 -0.15037980
+v -0.05179198 -0.06840967 -0.14184841
+v -0.35630936 -0.03923856 -0.10987476
+v -0.35584273 -0.02233943 -0.09958854
+v -0.09989705 -0.04943244 -0.13578333
+v -0.09849651 -0.02196277 -0.09965292
+v -0.05319899 -0.06360803 -0.14778929
+v -0.35613542 -0.06111230 -0.14985943
+v -0.09826021 -0.03892195 -0.11002569
+v -0.33951176 -0.04929569 -0.13588192
+v -0.05292443 -0.06163648 -0.13440089
+v -0.09858694 -0.02927458 -0.10949313
+v -0.35776069 -0.06576395 -0.14378365
+v -0.35667189 -0.07326125 -0.15264584
+v -0.35592792 -0.02930778 -0.10940500
+f 1 2 3
+f 6 4 3
+f 7 2 1
+f 8 5 7
+f 9 6 3
+f 10 5 8
+f 11 7 6
+f 11 2 7
+f 11 6 9
+f 11 9 3
+f 11 3 2
+f 12 7 5
+f 12 6 7
+f 12 5 10
+f 13 3 4
+f 14 8 7
+f 14 7 1
+f 14 13 8
+f 14 1 3
+f 14 3 13
+f 15 10 8
+f 15 12 10
+f 15 4 6
+f 15 6 12
+f 15 13 4
+f 15 8 13
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_23/collision/model_normalized_collision_10.obj b/objects/objaverse/pan/pan_23/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c77fae72fe8de3185fb2204d023e6a674bd4ac12
--- /dev/null
+++ b/objects/objaverse/pan/pan_23/collision/model_normalized_collision_10.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v -0.41591787 -0.09311175 -0.16284778
+v -0.41166641 -0.07207274 -0.15122417
+v -0.41722054 -0.00857495 -0.06424563
+v -0.49751126 -0.01457303 0.00156330
+v -0.47626216 -0.02636313 -0.07595777
+v -0.45984680 -0.08846664 -0.10079023
+v -0.44610675 -0.06986235 -0.13247356
+v -0.41390724 -0.03157884 -0.10642571
+v -0.49198016 -0.02210902 -0.05154938
+v -0.42359215 -0.08854299 -0.14483308
+v -0.49533995 -0.02134642 -0.00426788
+v -0.43791200 -0.04652220 -0.11786258
+v -0.42517603 -0.07490328 -0.14799079
+v -0.44602700 -0.08981352 -0.13627825
+v -0.42842159 -0.03371439 -0.10540709
+v -0.49317193 -0.01354492 -0.00076390
+v -0.47510692 -0.04275865 -0.08802818
+v -0.48147728 -0.06344012 -0.06322462
+v -0.46357410 -0.04494727 -0.10198468
+v -0.43412098 -0.08371132 -0.14719958
+v -0.43754726 -0.06225380 -0.13237615
+v -0.43449121 -0.09247781 -0.15011151
+v -0.47267980 -0.07044283 -0.09701360
+v -0.46993166 -0.08014353 -0.08662222
+v -0.49039093 -0.04344812 -0.05540802
+v -0.46830548 -0.03321176 -0.08750594
+v -0.46128327 -0.08574319 -0.11175136
+v -0.47270698 -0.07673852 -0.08185213
+v -0.48985458 -0.04589542 -0.03865023
+v -0.48895925 -0.04797134 -0.04155790
+v -0.49358438 -0.03277589 -0.02027466
+f 1 2 3
+f 8 3 2
+f 9 3 5
+f 10 6 1
+f 10 1 3
+f 10 3 6
+f 11 6 3
+f 12 8 2
+f 13 2 1
+f 15 5 3
+f 15 3 8
+f 15 12 5
+f 15 8 12
+f 16 9 4
+f 16 3 9
+f 16 11 3
+f 16 4 11
+f 17 9 5
+f 19 17 5
+f 19 7 17
+f 20 13 1
+f 20 7 13
+f 21 12 2
+f 21 2 13
+f 21 13 7
+f 21 19 12
+f 21 7 19
+f 22 1 6
+f 22 6 14
+f 22 20 1
+f 22 14 7
+f 22 7 20
+f 23 17 7
+f 23 7 14
+f 23 9 17
+f 24 6 11
+f 25 4 9
+f 25 23 18
+f 25 9 23
+f 26 19 5
+f 26 5 12
+f 26 12 19
+f 27 23 14
+f 27 14 6
+f 27 24 23
+f 27 6 24
+f 28 18 23
+f 28 23 24
+f 28 24 11
+f 30 29 25
+f 30 25 18
+f 30 18 29
+f 31 11 4
+f 31 4 25
+f 31 25 29
+f 31 28 11
+f 31 29 18
+f 31 18 28
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_23/collision/model_normalized_collision_11.obj b/objects/objaverse/pan/pan_23/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eda865ef1b8029d4c7d8554af8050359e1756475
--- /dev/null
+++ b/objects/objaverse/pan/pan_23/collision/model_normalized_collision_11.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.01477893 -0.07759519 -0.10869389
+v 0.00030458 -0.08106837 -0.13964994
+v 0.00789016 -0.00031171 -0.05919341
+v -0.09847770 -0.00126493 -0.05834698
+v -0.09837595 -0.06059149 -0.15028685
+v 0.01376531 -0.02029134 -0.06852772
+v -0.03918534 -0.08028087 -0.16053664
+v -0.09794122 -0.05185414 -0.12660280
+v -0.09910083 -0.01691836 -0.09268896
+v -0.00192062 -0.06258712 -0.13137182
+v -0.04062237 -0.07116159 -0.15421407
+v -0.03919118 -0.01860555 -0.09098441
+v -0.09911329 -0.05497388 -0.14303863
+v 0.00516317 -0.01456903 -0.07749263
+v -0.01553435 -0.08122047 -0.15204290
+v -0.02599381 -0.01904919 -0.08996121
+v -0.09836570 -0.03130855 -0.09996193
+v -0.00132483 -0.04743004 -0.11732872
+v -0.01479234 -0.07563075 -0.14761156
+f 6 3 4
+f 6 4 1
+f 7 2 1
+f 7 1 5
+f 8 5 1
+f 8 1 4
+f 9 4 3
+f 10 6 1
+f 10 1 2
+f 11 7 5
+f 12 9 3
+f 13 4 9
+f 13 5 8
+f 13 12 5
+f 13 9 12
+f 14 3 6
+f 15 10 2
+f 15 2 7
+f 16 11 5
+f 16 5 12
+f 16 14 11
+f 16 12 3
+f 16 3 14
+f 17 13 8
+f 17 8 4
+f 17 4 13
+f 18 14 6
+f 18 6 10
+f 18 10 11
+f 18 11 14
+f 19 11 10
+f 19 10 15
+f 19 15 7
+f 19 7 11
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_23/collision/model_normalized_collision_12.obj b/objects/objaverse/pan/pan_23/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..00d8f0fe0d0df4b97bfd6c693dd56a265e250408
--- /dev/null
+++ b/objects/objaverse/pan/pan_23/collision/model_normalized_collision_12.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v -0.46053748 0.06575595 0.11773032
+v -0.35638009 0.12231433 0.12224124
+v -0.35360510 0.12738887 0.20405621
+v -0.35080118 0.15210239 0.18263908
+v -0.42392660 0.11807576 0.12635290
+v -0.34893036 0.14222191 0.20160158
+v -0.37268793 0.11696314 0.11651353
+v -0.35434603 0.13633883 0.13099099
+v -0.38835498 0.13482133 0.17359187
+v -0.45118864 0.09671853 0.11915794
+v -0.36580712 0.14608146 0.15913717
+v -0.38263261 0.13285833 0.13154651
+v -0.36378805 0.14685456 0.18188257
+v -0.41209762 0.10227124 0.16887477
+v -0.41535975 0.11852413 0.15873176
+v -0.35274131 0.14849095 0.15768898
+v -0.35889887 0.13961726 0.19673094
+v -0.44687829 0.09539322 0.13146360
+v -0.38763496 0.12541632 0.18313632
+v -0.45106672 0.07490543 0.13054823
+v -0.37448259 0.12004643 0.19377471
+v -0.39404658 0.11162548 0.18197700
+v -0.36473255 0.12349993 0.19861068
+v -0.40377773 0.10665192 0.17501057
+f 1 2 3
+f 6 3 2
+f 7 2 1
+f 8 2 7
+f 8 6 2
+f 8 4 6
+f 10 7 1
+f 10 5 7
+f 12 8 7
+f 12 7 5
+f 12 5 11
+f 13 6 4
+f 13 4 11
+f 13 11 5
+f 13 5 9
+f 15 9 5
+f 15 5 10
+f 16 11 4
+f 16 4 8
+f 16 12 11
+f 16 8 12
+f 17 13 9
+f 17 6 13
+f 17 3 6
+f 18 10 1
+f 18 15 10
+f 18 14 15
+f 19 15 14
+f 19 17 9
+f 19 9 15
+f 20 18 1
+f 20 14 18
+f 20 1 3
+f 21 17 19
+f 21 14 20
+f 22 21 19
+f 23 3 17
+f 23 17 21
+f 23 21 20
+f 23 20 3
+f 24 22 19
+f 24 19 14
+f 24 14 21
+f 24 21 22
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_23/collision/model_normalized_collision_13.obj b/objects/objaverse/pan/pan_23/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fed0dd94813991b520a8f6d62df7dbe4592d965e
--- /dev/null
+++ b/objects/objaverse/pan/pan_23/collision/model_normalized_collision_13.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v -0.27841098 -0.16878964 -0.21078218
+v -0.27563671 -0.15839086 -0.22399812
+v -0.28043005 -0.10634030 -0.19575054
+v -0.35702425 -0.10496666 -0.18361408
+v -0.35448003 -0.15219925 -0.18754502
+v -0.29284949 -0.13106002 -0.22259903
+v -0.27592391 -0.16861391 -0.21377909
+v -0.31100934 -0.10011846 -0.18644141
+v -0.27889377 -0.11439659 -0.21477078
+v -0.34801583 -0.13308226 -0.20698343
+v -0.34650806 -0.15200541 -0.19643003
+v -0.27828007 -0.13151335 -0.22483007
+v -0.35369716 -0.11359540 -0.20020211
+v -0.28989962 -0.15632232 -0.22110066
+v -0.33019801 -0.15917242 -0.19731494
+v -0.33742849 -0.11881630 -0.20705861
+v -0.29018678 -0.16654544 -0.21088149
+v -0.34914348 -0.12633610 -0.20549989
+v -0.29266713 -0.16671370 -0.20787445
+f 7 2 3
+f 7 3 1
+f 8 5 1
+f 8 1 3
+f 8 4 5
+f 9 3 2
+f 9 8 3
+f 11 5 10
+f 12 9 2
+f 12 2 6
+f 12 6 9
+f 13 4 8
+f 13 8 9
+f 13 10 5
+f 13 5 4
+f 14 10 6
+f 14 6 2
+f 14 11 10
+f 14 2 7
+f 15 5 11
+f 16 13 9
+f 16 9 6
+f 17 7 1
+f 17 14 7
+f 17 15 11
+f 17 11 14
+f 18 16 6
+f 18 6 10
+f 18 10 13
+f 18 13 16
+f 19 17 1
+f 19 15 17
+f 19 1 5
+f 19 5 15
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_23/collision/model_normalized_collision_14.obj b/objects/objaverse/pan/pan_23/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..83a426222a42d8d1c21cbf1dc64f19c8829a04e4
--- /dev/null
+++ b/objects/objaverse/pan/pan_23/collision/model_normalized_collision_14.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v -0.04634700 0.11095275 0.18103451
+v -0.03534306 0.11264669 0.12085592
+v -0.05189705 0.13383521 0.17286961
+v -0.11838389 0.15386334 0.20626788
+v -0.12826726 0.13152442 0.13261625
+v -0.08117926 0.13903772 0.19577066
+v -0.04337405 0.13211067 0.14452686
+v -0.09797859 0.12349738 0.12152744
+v -0.11044448 0.13367612 0.21286549
+v -0.05266655 0.12482980 0.18207548
+v -0.07595715 0.14596661 0.18176668
+v -0.05172009 0.11554659 0.11750025
+v -0.09955002 0.13727409 0.13011416
+v -0.12850680 0.14109678 0.15071533
+v -0.10691739 0.14995753 0.20351502
+v -0.07533445 0.12283285 0.19767778
+v -0.04059326 0.12539521 0.12689226
+v -0.07376631 0.14543186 0.15930318
+v -0.12877510 0.13484772 0.13886531
+v -0.06581929 0.11933443 0.19277720
+v -0.05810722 0.13211642 0.13050615
+v -0.11477936 0.14727502 0.14791351
+v -0.10006304 0.14644015 0.14827254
+f 7 1 2
+f 7 3 1
+f 8 1 5
+f 9 5 1
+f 10 1 3
+f 10 3 6
+f 11 6 3
+f 11 3 7
+f 12 2 1
+f 12 1 8
+f 13 8 5
+f 13 12 8
+f 14 9 4
+f 15 9 6
+f 15 4 9
+f 15 11 4
+f 15 6 11
+f 16 6 9
+f 17 7 2
+f 17 2 12
+f 17 12 13
+f 18 11 7
+f 18 4 11
+f 19 5 9
+f 19 9 14
+f 20 10 6
+f 20 6 16
+f 20 1 10
+f 20 16 9
+f 20 9 1
+f 21 17 13
+f 21 18 7
+f 21 7 17
+f 22 14 4
+f 22 19 14
+f 22 13 5
+f 22 5 19
+f 23 22 4
+f 23 4 18
+f 23 18 21
+f 23 21 13
+f 23 13 22
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_23/collision/model_normalized_collision_15.obj b/objects/objaverse/pan/pan_23/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..95da27a786a27294e0c25340c7e8d980ba926095
--- /dev/null
+++ b/objects/objaverse/pan/pan_23/collision/model_normalized_collision_15.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v -0.48477861 0.04374589 0.07497850
+v -0.35609007 0.06086044 0.01636742
+v -0.35603524 0.10362875 0.07881688
+v -0.45555962 0.08970616 0.08525874
+v -0.48686054 0.03914055 0.02020878
+v -0.45485894 0.06958378 0.04291957
+v -0.47561062 0.04769284 0.08144283
+v -0.41698384 0.04829149 0.01466671
+v -0.47768134 0.06728620 0.07671016
+v -0.41360839 0.08710471 0.05929002
+v -0.47895288 0.05681927 0.04055291
+v -0.35624997 0.07652968 0.05135646
+v -0.46781578 0.05533388 0.02721742
+v -0.35548970 0.09030674 0.05813220
+v -0.45330198 0.08470313 0.07246141
+v -0.48352498 0.04611516 0.02555842
+v -0.35668261 0.08864492 0.06892081
+v -0.35590303 0.06590049 0.02354566
+f 7 3 4
+f 7 1 2
+f 8 2 1
+f 8 1 5
+f 9 5 1
+f 9 7 4
+f 9 1 7
+f 10 2 6
+f 10 4 3
+f 11 9 4
+f 12 7 2
+f 13 6 2
+f 13 2 8
+f 13 8 5
+f 13 11 6
+f 14 10 3
+f 14 2 10
+f 14 3 12
+f 15 10 6
+f 15 4 10
+f 15 11 4
+f 15 6 11
+f 16 5 9
+f 16 9 11
+f 16 13 5
+f 16 11 13
+f 17 12 3
+f 17 3 7
+f 17 7 12
+f 18 14 12
+f 18 12 2
+f 18 2 14
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_23/collision/model_normalized_collision_16.obj b/objects/objaverse/pan/pan_23/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..185eea189741ad4185c3701c70a46f52419b5043
--- /dev/null
+++ b/objects/objaverse/pan/pan_23/collision/model_normalized_collision_16.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v -0.38274305 -0.10058673 -0.18303191
+v -0.35488136 -0.09610752 -0.18898312
+v -0.35611764 -0.01372502 -0.07541479
+v -0.41596039 -0.01179397 -0.08062099
+v -0.41082419 -0.08885017 -0.16422248
+v -0.35587624 -0.01671188 -0.09203061
+v -0.35787916 -0.07995684 -0.16007129
+v -0.38060914 -0.09007012 -0.17638436
+v -0.42359215 -0.08854299 -0.14483308
+v -0.35450412 -0.08976079 -0.18262402
+v -0.35590360 -0.00983407 -0.08251675
+v -0.38421575 -0.06383268 -0.14883918
+v -0.40992812 -0.09619557 -0.16764968
+v -0.41681585 -0.01608424 -0.07382988
+v -0.41433750 -0.01901723 -0.09032058
+v -0.35517298 -0.06278009 -0.15210464
+v -0.41827198 -0.02225097 -0.08101979
+f 7 1 2
+f 7 2 3
+f 8 2 1
+f 8 1 5
+f 9 7 3
+f 9 1 7
+f 10 3 2
+f 11 6 4
+f 11 4 3
+f 11 3 10
+f 12 8 5
+f 12 10 2
+f 12 2 8
+f 13 9 5
+f 13 5 1
+f 13 1 9
+f 14 9 3
+f 14 3 4
+f 15 9 4
+f 15 5 9
+f 15 12 5
+f 15 4 6
+f 16 11 10
+f 16 6 11
+f 16 10 12
+f 16 15 6
+f 16 12 15
+f 17 14 4
+f 17 4 9
+f 17 9 14
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_23/collision/model_normalized_collision_17.obj b/objects/objaverse/pan/pan_23/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..56cab4f2eb4013dc7f243880954f8c97e7160bec
--- /dev/null
+++ b/objects/objaverse/pan/pan_23/collision/model_normalized_collision_17.obj
@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
+v 0.01067683 -0.09852609 -0.11236853
+v 0.08295131 -0.00580833 -0.01255267
+v 0.05351916 -0.02117594 -0.00426504
+v 0.00557944 0.04934733 0.00922872
+v 0.00206910 -0.05615118 -0.12356601
+v 0.08327417 0.01141348 0.00340647
+v 0.03981150 -0.06296809 -0.06256346
+v 0.00807956 -0.08045967 -0.13327795
+v 0.00148310 -0.10364954 -0.13116736
+v 0.08336539 -0.00544335 -0.00241916
+v 0.02028812 0.04725218 0.01068605
+v 0.02856558 -0.03384672 -0.08690017
+v 0.03542038 -0.06925318 -0.08392605
+v 0.05168630 -0.03255694 -0.01997108
+v -0.00090644 -0.09116117 -0.14214429
+v 0.04409760 0.03382491 0.00834744
+v 0.01945000 -0.00329135 -0.05988259
+v 0.08277459 0.00010647 -0.01191972
+v 0.01189494 -0.05719824 -0.11914663
+v 0.02844479 -0.07956796 -0.08581569
+v 0.02002159 -0.08494217 -0.11096047
+v 0.04804950 -0.04554433 -0.03815846
+v 0.00428005 0.04247396 -0.00071836
+v 0.00030458 -0.08106837 -0.13964994
+v 0.00511784 -0.08948084 -0.13492200
+v 0.01903575 0.04051414 0.00069570
+v 0.02769499 -0.01917767 -0.07234821
+v 0.02847671 0.02565323 -0.01505473
+v 0.03122018 -0.07616286 -0.08104559
+v 0.00697467 -0.09904286 -0.12565113
+v 0.01470087 -0.09463741 -0.10692284
+v 0.04715417 -0.04762024 -0.04106613
+v 0.00454014 -0.00116366 -0.06106519
+v 0.04264420 -0.00363255 -0.04431004
+f 1 3 4
+f 9 1 4
+f 10 6 3
+f 10 2 6
+f 11 4 3
+f 14 3 1
+f 14 10 3
+f 16 11 3
+f 16 3 6
+f 16 6 11
+f 18 6 2
+f 18 2 8
+f 18 17 6
+f 19 5 12
+f 19 18 8
+f 19 12 18
+f 21 8 2
+f 21 2 13
+f 22 10 14
+f 22 14 1
+f 23 15 9
+f 23 9 4
+f 23 5 15
+f 24 15 5
+f 24 8 15
+f 24 19 8
+f 24 5 19
+f 25 15 8
+f 25 9 15
+f 25 8 21
+f 26 4 11
+f 26 11 17
+f 26 23 4
+f 26 17 23
+f 27 12 5
+f 27 5 17
+f 27 18 12
+f 28 17 11
+f 28 11 6
+f 28 6 17
+f 29 10 7
+f 29 7 1
+f 29 2 10
+f 29 20 13
+f 29 13 2
+f 30 1 9
+f 30 25 21
+f 30 9 25
+f 31 30 21
+f 31 1 30
+f 31 29 1
+f 31 20 29
+f 31 21 13
+f 31 13 20
+f 32 7 10
+f 32 10 22
+f 32 22 1
+f 32 1 7
+f 33 23 17
+f 33 17 5
+f 33 5 23
+f 34 27 17
+f 34 17 18
+f 34 18 27
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_23/collision/model_normalized_collision_19.obj b/objects/objaverse/pan/pan_23/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd6e2b50c51bc7e6cb63884ea27c37aebd604a65
--- /dev/null
+++ b/objects/objaverse/pan/pan_23/collision/model_normalized_collision_19.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.00778889 0.04483435 0.01697652
+v 0.01367990 0.05767480 0.04059971
+v -0.09822140 0.06933082 0.04048469
+v -0.09849724 0.10401939 0.07856744
+v 0.00032388 0.08876615 0.07089719
+v 0.01789751 0.07166610 0.07511939
+v -0.09845356 0.06098174 0.01628275
+v 0.00512223 0.06053590 0.02637246
+v -0.09810881 0.08894527 0.06882007
+v 0.00301032 0.09333502 0.08305252
+v -0.03752156 0.04887890 0.01426962
+v -0.09863907 0.06606365 0.02342975
+v -0.02605618 0.08673018 0.05945566
+v 0.00466569 0.07155513 0.04389273
+v -0.09859820 0.09025522 0.05780057
+f 6 1 2
+f 8 2 1
+f 9 6 4
+f 9 4 3
+f 9 3 6
+f 10 5 4
+f 10 4 6
+f 11 6 3
+f 11 1 6
+f 11 3 7
+f 11 8 1
+f 11 7 8
+f 12 7 3
+f 13 4 5
+f 13 8 7
+f 13 7 12
+f 14 6 2
+f 14 2 8
+f 14 10 6
+f 14 5 10
+f 14 13 5
+f 14 8 13
+f 15 12 3
+f 15 3 4
+f 15 13 12
+f 15 4 13
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_23/collision/model_normalized_collision_2.obj b/objects/objaverse/pan/pan_23/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7452d339870c5909424875dcce0b65e9837955a3
--- /dev/null
+++ b/objects/objaverse/pan/pan_23/collision/model_normalized_collision_2.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v -0.10967115 -0.15859788 -0.19650791
+v -0.05507857 -0.13984372 -0.17024123
+v -0.27841098 -0.16878964 -0.21078218
+v -0.28043005 -0.10634030 -0.19575054
+v -0.10204863 -0.11903484 -0.20669740
+v -0.06636729 -0.13202763 -0.19116135
+v -0.06490667 -0.10009359 -0.17419640
+v -0.16391672 -0.15804138 -0.22350867
+v -0.09331679 -0.15126221 -0.19580797
+v -0.27889377 -0.11439659 -0.21477078
+v -0.04958631 -0.10578271 -0.17011277
+v -0.16361948 -0.16824656 -0.21331803
+v -0.10653197 -0.14710152 -0.20818604
+v -0.06504151 -0.14041362 -0.18359680
+v -0.08558326 -0.15155346 -0.18664319
+v -0.14674210 -0.13067147 -0.22205662
+v -0.27563671 -0.15839086 -0.22399812
+v -0.28191620 -0.11630723 -0.20503986
+v -0.06367515 -0.11188964 -0.18997526
+v -0.16113441 -0.16843859 -0.21029048
+v -0.12089827 -0.15501871 -0.20924103
+v -0.14825371 -0.14734034 -0.22348780
+v -0.27592391 -0.16861391 -0.21377909
+v -0.27828007 -0.13151335 -0.22483007
+f 3 2 4
+f 10 7 5
+f 10 4 7
+f 11 7 4
+f 11 4 2
+f 11 2 6
+f 13 5 6
+f 13 6 9
+f 14 9 6
+f 14 6 2
+f 15 2 1
+f 15 1 9
+f 15 14 2
+f 15 9 14
+f 16 10 5
+f 17 8 12
+f 18 3 4
+f 18 4 10
+f 19 11 6
+f 19 6 5
+f 19 5 7
+f 19 7 11
+f 20 12 1
+f 20 1 2
+f 20 2 3
+f 21 12 8
+f 21 1 12
+f 21 13 9
+f 21 9 1
+f 22 21 8
+f 22 13 21
+f 22 16 5
+f 22 5 13
+f 23 17 12
+f 23 3 17
+f 23 20 3
+f 23 12 20
+f 24 10 16
+f 24 16 22
+f 24 22 8
+f 24 8 17
+f 24 18 10
+f 24 17 3
+f 24 3 18
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_23/collision/model_normalized_collision_20.obj b/objects/objaverse/pan/pan_23/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..605b6cfcc02d4dd8372edd06402a78059357d2c6
--- /dev/null
+++ b/objects/objaverse/pan/pan_23/collision/model_normalized_collision_20.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v -0.11742455 0.13651163 0.21552362
+v -0.11365682 0.13420005 0.13920605
+v -0.13129711 0.16309593 0.18861848
+v -0.30436987 0.16216196 0.20654900
+v -0.31062253 0.13493356 0.13881996
+v -0.16448209 0.16341399 0.21598791
+v -0.11477936 0.14727502 0.14791351
+v -0.30860052 0.13878382 0.22001954
+v -0.29272874 0.16246821 0.17325528
+v -0.12189355 0.15195591 0.21068784
+v -0.30803073 0.16343632 0.18818986
+v -0.26201338 0.15419242 0.22676643
+v -0.30957400 0.14809783 0.14767778
+v -0.14707991 0.16212388 0.17342414
+v -0.17744629 0.15403166 0.22642573
+v -0.13531153 0.16167309 0.20586515
+v -0.27518868 0.16389055 0.21631026
+v -0.17534448 0.14490175 0.22858464
+v -0.30434269 0.15522048 0.21526027
+v -0.26410056 0.14511152 0.22888095
+f 5 2 1
+f 7 1 2
+f 7 2 5
+f 8 5 1
+f 10 7 3
+f 10 1 7
+f 11 8 4
+f 11 5 8
+f 11 3 9
+f 13 7 5
+f 13 11 9
+f 13 5 11
+f 14 9 3
+f 14 3 7
+f 14 13 9
+f 14 7 13
+f 15 10 6
+f 15 1 10
+f 16 10 3
+f 16 3 6
+f 16 6 10
+f 17 11 4
+f 17 6 3
+f 17 3 11
+f 17 15 6
+f 17 12 15
+f 18 15 12
+f 18 8 1
+f 18 1 15
+f 19 17 4
+f 19 4 8
+f 19 8 12
+f 19 12 17
+f 20 18 12
+f 20 12 8
+f 20 8 18
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_23/collision/model_normalized_collision_22.obj b/objects/objaverse/pan/pan_23/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da8c8bb9be192bbfb38997b70a367cf299494af6
--- /dev/null
+++ b/objects/objaverse/pan/pan_23/collision/model_normalized_collision_22.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v -0.35608513 -0.01498346 -0.08976266
+v -0.35590360 -0.00983407 -0.08251675
+v -0.49822194 -0.01697385 -0.02592318
+v -0.47276151 0.01985236 -0.02162261
+v -0.44347529 0.01112565 -0.04524594
+v -0.35588928 0.03436750 -0.02094526
+v -0.35624378 -0.00655844 -0.06538621
+v -0.47176653 -0.02631836 -0.07855986
+v -0.49397275 0.00368737 -0.02002931
+v -0.40079369 0.03342488 -0.01998026
+v -0.35575890 0.02712511 -0.03114052
+v -0.35641412 0.01293243 -0.03869293
+v -0.46749510 -0.01848355 -0.07297124
+v -0.49198016 -0.02210902 -0.05154938
+v -0.48251219 -0.00285202 -0.04492453
+v -0.40011949 0.02579723 -0.03076852
+v -0.46962465 0.01384666 -0.03258714
+v -0.49483246 -0.01869126 -0.03933638
+v -0.48930397 0.00037517 -0.03256732
+v -0.48934138 -0.01303175 -0.04675163
+f 7 1 2
+f 7 3 1
+f 8 1 3
+f 9 3 6
+f 10 5 4
+f 10 9 6
+f 10 4 9
+f 11 2 1
+f 11 7 2
+f 12 6 3
+f 12 3 7
+f 12 11 6
+f 12 7 11
+f 13 5 1
+f 13 1 8
+f 14 8 3
+f 15 13 8
+f 16 1 5
+f 16 5 10
+f 16 11 1
+f 16 10 6
+f 16 6 11
+f 17 4 5
+f 17 5 13
+f 17 15 4
+f 17 13 15
+f 18 14 3
+f 18 3 9
+f 18 9 14
+f 19 9 4
+f 19 4 15
+f 19 14 9
+f 20 15 8
+f 20 8 14
+f 20 19 15
+f 20 14 19
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_23/collision/model_normalized_collision_23.obj b/objects/objaverse/pan/pan_23/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e6458c2c60849bb8b7d48f506dcad7e89896622d
--- /dev/null
+++ b/objects/objaverse/pan/pan_23/collision/model_normalized_collision_23.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v -0.49822194 -0.01697385 -0.02592318
+v -0.44879266 0.00827093 -0.03478520
+v -0.49409661 -0.00775748 0.01225447
+v -0.48021043 0.04502889 0.06320275
+v -0.48352498 0.04611516 0.02555842
+v -0.48730241 0.02461416 0.05828029
+v -0.48719143 -0.01465894 -0.03101917
+v -0.46829549 0.02671620 -0.01527140
+v -0.44649561 0.05627937 0.01934233
+v -0.48984892 0.04247066 0.05866406
+v -0.49397275 0.00368737 -0.02002931
+v -0.45849547 0.04084926 0.00046289
+v -0.44846833 0.05213079 0.02751577
+v -0.49521445 -0.00218024 0.02257503
+v -0.48185763 0.04006364 0.01448339
+v -0.49020137 0.02975665 0.01035037
+v -0.44441685 0.03035745 -0.01779146
+v -0.49525109 -0.00261264 0.02196939
+v -0.49188665 0.02155791 0.05258453
+v -0.44373999 0.04280915 -0.00095220
+f 6 3 2
+f 7 2 3
+f 7 3 1
+f 9 5 4
+f 10 6 4
+f 10 4 5
+f 11 7 1
+f 11 8 2
+f 11 2 7
+f 12 5 9
+f 13 6 2
+f 13 9 4
+f 13 4 6
+f 14 10 1
+f 15 8 11
+f 15 12 8
+f 15 5 12
+f 16 10 5
+f 16 15 11
+f 16 5 15
+f 16 11 1
+f 16 1 10
+f 17 2 8
+f 17 8 12
+f 18 14 1
+f 18 1 3
+f 18 3 6
+f 18 6 14
+f 19 14 6
+f 19 6 10
+f 19 10 14
+f 20 17 12
+f 20 12 9
+f 20 9 13
+f 20 13 2
+f 20 2 17
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_23/collision/model_normalized_collision_24.obj b/objects/objaverse/pan/pan_23/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b1b9a3e7e6897bf8f2bfa8e939ca1cc06dca64a0
--- /dev/null
+++ b/objects/objaverse/pan/pan_23/collision/model_normalized_collision_24.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.48938182 0.02185667 0.05624606
+v -0.44873838 0.07847207 0.07614018
+v -0.48730241 0.02461416 0.05828029
+v -0.45045995 0.07615778 0.12486152
+v -0.47768134 0.06728620 0.07671016
+v -0.48883478 0.04340730 0.06232876
+v -0.46327797 0.07244231 0.11463366
+v -0.45294972 0.07410234 0.07072002
+v -0.47618651 0.06576691 0.08996722
+v -0.47963546 0.04576513 0.08644793
+v -0.48557890 0.03067443 0.06859644
+v -0.46527720 0.06457280 0.11277126
+v -0.45509111 0.07030667 0.12162012
+v -0.48084778 0.03934805 0.08074360
+f 1 2 3
+f 1 3 4
+f 3 2 4
+f 7 4 2
+f 7 2 5
+f 8 6 5
+f 8 5 2
+f 8 2 1
+f 8 1 6
+f 9 7 5
+f 9 5 6
+f 10 9 6
+f 11 10 6
+f 11 6 1
+f 12 7 9
+f 12 9 10
+f 13 1 4
+f 13 4 7
+f 13 7 12
+f 14 12 10
+f 14 10 11
+f 14 13 12
+f 14 11 1
+f 14 1 13
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_23/collision/model_normalized_collision_25.obj b/objects/objaverse/pan/pan_23/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..792610be81f893fe6219067245a3984b0b58d1bd
--- /dev/null
+++ b/objects/objaverse/pan/pan_23/collision/model_normalized_collision_25.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.03757795 0.09080056 0.07733836
+v -0.03586794 0.10394178 0.10026618
+v -0.09837820 0.09334992 0.07569492
+v -0.09855779 0.13405008 0.12414371
+v -0.03966806 0.10529238 0.08614044
+v -0.05195901 0.12331134 0.13760156
+v -0.05371520 0.10712610 0.08627962
+v -0.09769129 0.11895655 0.11428260
+v -0.04059326 0.12539521 0.12689226
+v -0.03534306 0.11264669 0.12085592
+v -0.09931916 0.10874322 0.08560056
+v -0.06587980 0.12696876 0.13630282
+v -0.03985029 0.12142719 0.11553585
+v -0.09928044 0.12029999 0.10282216
+f 5 2 1
+f 7 5 1
+f 7 1 3
+f 7 4 5
+f 8 3 6
+f 10 1 2
+f 10 9 6
+f 10 6 3
+f 10 3 1
+f 11 7 3
+f 12 8 6
+f 12 4 8
+f 12 9 4
+f 12 6 9
+f 13 5 4
+f 13 4 9
+f 13 9 10
+f 13 10 2
+f 13 2 5
+f 14 4 7
+f 14 7 11
+f 14 8 4
+f 14 11 3
+f 14 3 8
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_23/collision/model_normalized_collision_26.obj b/objects/objaverse/pan/pan_23/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f0802fe1d310da355385cb1c87f48524f7454dcd
--- /dev/null
+++ b/objects/objaverse/pan/pan_23/collision/model_normalized_collision_26.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v -0.00014664 0.08242882 0.14108414
+v 0.00906848 0.07776147 0.07649609
+v -0.01678576 0.11733405 0.12531152
+v -0.04646650 0.12695761 0.17567394
+v -0.03570980 0.08623742 0.07064312
+v -0.00886779 0.10596792 0.14549046
+v -0.03676794 0.10591414 0.17397717
+v -0.01143199 0.10206939 0.08842164
+v -0.03985029 0.12142719 0.11553585
+v -0.02210459 0.12032337 0.14794826
+v -0.00028701 0.10233008 0.10092971
+v -0.03897901 0.12326288 0.17049901
+v -0.02844053 0.10153391 0.16784197
+v 0.00301032 0.09333502 0.08305252
+v -0.03966806 0.10529238 0.08614044
+v -0.02832067 0.11751778 0.11428918
+f 5 2 1
+f 7 5 1
+f 7 4 5
+f 10 9 4
+f 10 3 9
+f 11 6 1
+f 11 1 2
+f 11 10 6
+f 11 3 10
+f 11 8 3
+f 12 4 7
+f 12 10 4
+f 12 6 10
+f 13 7 1
+f 13 1 6
+f 13 12 7
+f 13 6 12
+f 14 2 5
+f 14 11 2
+f 14 8 11
+f 15 5 4
+f 15 4 9
+f 15 9 8
+f 15 14 5
+f 15 8 14
+f 16 9 3
+f 16 3 8
+f 16 8 9
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_23/collision/model_normalized_collision_27.obj b/objects/objaverse/pan/pan_23/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e697979b1769b7c6aa84d12652b924f8cbca8c4
--- /dev/null
+++ b/objects/objaverse/pan/pan_23/collision/model_normalized_collision_27.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.30860052 0.13878382 0.22001954
+v -0.31113038 0.13161034 0.13257095
+v -0.30434269 0.15522048 0.21526027
+v -0.34927060 0.15131888 0.19136240
+v -0.35360510 0.12738887 0.20405621
+v -0.30957400 0.14809783 0.14767778
+v -0.35708071 0.12870880 0.13381848
+v -0.33153597 0.14157207 0.21138600
+v -0.35274131 0.14849095 0.15768898
+v -0.35514263 0.14254713 0.14283460
+v -0.33434637 0.13552717 0.21217233
+v -0.31778026 0.15243206 0.21135438
+v -0.34893036 0.14222191 0.20160158
+v -0.33943141 0.14661538 0.14841054
+v -0.32941727 0.13425309 0.21367311
+f 1 2 3
+f 5 2 1
+f 6 3 2
+f 7 2 5
+f 8 1 3
+f 9 4 3
+f 9 3 6
+f 9 5 4
+f 10 6 2
+f 10 2 7
+f 10 7 5
+f 10 5 9
+f 11 1 8
+f 12 8 3
+f 12 3 4
+f 13 4 5
+f 13 11 8
+f 13 5 11
+f 13 12 4
+f 13 8 12
+f 14 10 9
+f 14 9 6
+f 14 6 10
+f 15 11 5
+f 15 5 1
+f 15 1 11
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_23/collision/model_normalized_collision_28.obj b/objects/objaverse/pan/pan_23/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2f736e947cc6740dd6bb2e801e1b9e3313fae990
--- /dev/null
+++ b/objects/objaverse/pan/pan_23/collision/model_normalized_collision_28.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.09844299 0.10499821 0.09307112
+v -0.09928044 0.12029999 0.10282216
+v -0.09903213 0.14331637 0.14223026
+v -0.35514263 0.14254713 0.14283460
+v -0.35607033 0.10444468 0.09343597
+v -0.32528089 0.13196140 0.11983997
+v -0.35708071 0.12870880 0.13381848
+v -0.09769129 0.11895655 0.11428260
+v -0.11414351 0.13190584 0.11976994
+v -0.35515066 0.11981323 0.10323501
+v -0.09764852 0.13009462 0.13344433
+v -0.09955002 0.13727409 0.13011416
+v -0.35434603 0.13633883 0.13099099
+v -0.35796804 0.11836791 0.11564700
+f 5 2 1
+f 6 4 3
+f 7 3 4
+f 7 5 1
+f 8 1 2
+f 8 2 3
+f 9 2 6
+f 10 6 2
+f 10 2 5
+f 11 7 1
+f 11 1 8
+f 11 8 3
+f 11 3 7
+f 12 9 6
+f 12 6 3
+f 12 3 2
+f 12 2 9
+f 13 10 4
+f 13 4 6
+f 13 6 10
+f 14 7 4
+f 14 4 10
+f 14 10 5
+f 14 5 7
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_23/collision/model_normalized_collision_29.obj b/objects/objaverse/pan/pan_23/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b9d6c52d2aa9d53a88140659331b1cab5bb76478
--- /dev/null
+++ b/objects/objaverse/pan/pan_23/collision/model_normalized_collision_29.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.48982450 -0.01509625 -0.00480500
+v 0.49638491 -0.00939558 -0.00584493
+v 0.49434643 0.00452164 0.01002249
+v 0.40146468 0.01173240 0.01662939
+v 0.40133725 -0.01361403 -0.01685313
+v 0.40159439 -0.00561479 0.00904037
+v 0.49758114 -0.00548740 0.00658822
+v 0.48587826 -0.01087828 -0.01329750
+v 0.41712791 -0.01523435 -0.00546694
+v 0.40119379 0.00316873 -0.00463552
+v 0.49742243 0.00051448 -0.00129133
+v 0.48688096 -0.01581204 -0.00796889
+v 0.40132927 -0.00689123 -0.01605935
+v 0.48812941 -0.00702050 -0.01249132
+v 0.46164176 -0.01671254 -0.01311775
+v 0.41674186 -0.01680530 -0.01176334
+v 0.43182392 -0.01633629 -0.01407419
+f 7 1 2
+f 7 6 1
+f 7 3 4
+f 7 4 6
+f 9 6 5
+f 9 1 6
+f 10 6 4
+f 10 5 6
+f 11 7 2
+f 11 3 7
+f 11 10 4
+f 11 4 3
+f 12 8 2
+f 12 2 1
+f 13 8 5
+f 13 5 10
+f 14 11 2
+f 14 2 8
+f 14 8 13
+f 14 13 10
+f 14 10 11
+f 15 5 8
+f 15 8 12
+f 16 12 1
+f 16 1 9
+f 16 15 12
+f 16 9 5
+f 17 16 5
+f 17 5 15
+f 17 15 16
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_23/collision/model_normalized_collision_3.obj b/objects/objaverse/pan/pan_23/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..adbdc0ceb78822f265345d4530df8ff9b19d7649
--- /dev/null
+++ b/objects/objaverse/pan/pan_23/collision/model_normalized_collision_3.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.09838469 0.01842460 -0.03116938
+v -0.09828457 0.02548174 -0.02107124
+v -0.44939350 0.02748252 -0.00751724
+v -0.42969599 0.06269471 0.02466756
+v -0.09863907 0.06606365 0.02342975
+v -0.44441685 0.03035745 -0.01779146
+v -0.09865280 0.03451924 -0.02105553
+v -0.09829023 0.04520773 0.00635040
+v -0.44700734 0.01354607 -0.02779150
+v -0.44649561 0.05627937 0.01934233
+v -0.11383382 0.03478644 -0.02111282
+v -0.44901643 0.03995088 0.00980160
+v -0.43055890 0.05615033 0.01466683
+v -0.44373999 0.04280915 -0.00095220
+f 1 2 3
+f 7 5 2
+f 7 2 1
+f 8 3 2
+f 8 2 5
+f 9 1 3
+f 9 3 6
+f 10 6 3
+f 11 7 1
+f 11 5 7
+f 11 9 6
+f 11 1 9
+f 12 8 5
+f 12 5 4
+f 12 4 10
+f 12 10 3
+f 12 3 8
+f 13 10 4
+f 13 11 6
+f 13 4 5
+f 13 5 11
+f 14 13 6
+f 14 6 10
+f 14 10 13
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_23/collision/model_normalized_collision_30.obj b/objects/objaverse/pan/pan_23/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f4f551c66cb109490e8698b9c6ad2bde42d3a87
--- /dev/null
+++ b/objects/objaverse/pan/pan_23/collision/model_normalized_collision_30.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v -0.09847770 -0.00126493 -0.05834698
+v -0.09865880 0.01539100 -0.04816960
+v -0.09865280 0.03451924 -0.02105553
+v -0.35588928 0.03436750 -0.02094526
+v -0.35558531 0.01493666 -0.04855934
+v -0.09818322 0.01350580 -0.03826107
+v -0.12878786 0.01525734 -0.04849975
+v -0.35606637 -0.00137204 -0.05826897
+v -0.35641412 0.01293243 -0.03869293
+f 6 3 4
+f 6 1 2
+f 6 2 3
+f 7 2 1
+f 7 3 2
+f 7 5 4
+f 7 4 3
+f 8 7 1
+f 8 5 7
+f 9 4 5
+f 9 5 8
+f 9 6 4
+f 9 8 1
+f 9 1 6
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_23/collision/model_normalized_collision_31.obj b/objects/objaverse/pan/pan_23/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8f7c2a81d68c741e2e8d8b3de8fb672c10ce2145
--- /dev/null
+++ b/objects/objaverse/pan/pan_23/collision/model_normalized_collision_31.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.03752156 0.04887890 0.01426962
+v -0.03781327 0.05971913 0.01718529
+v -0.03776874 0.06059659 0.03175231
+v -0.41674450 0.06006822 0.03210658
+v -0.41698384 0.04829149 0.01466671
+v -0.03714156 0.05588411 0.02478015
+v -0.41668908 0.05910915 0.01759674
+v -0.41746175 0.05529901 0.02508119
+f 3 2 4
+f 5 2 1
+f 6 1 2
+f 6 2 3
+f 6 5 1
+f 7 4 2
+f 7 2 5
+f 8 7 5
+f 8 4 7
+f 8 5 6
+f 8 6 3
+f 8 3 4
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_23/collision/model_normalized_collision_4.obj b/objects/objaverse/pan/pan_23/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..41c58434526730cca80f572117f498d116db1cf6
--- /dev/null
+++ b/objects/objaverse/pan/pan_23/collision/model_normalized_collision_4.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v -0.09845356 0.06098174 0.01628275
+v -0.09863907 0.06606365 0.02342975
+v -0.09780344 0.10014663 0.08602156
+v -0.35580302 0.11522676 0.09630460
+v -0.35609007 0.06086044 0.01636742
+v -0.09877156 0.11573675 0.09603687
+v -0.35631890 0.06912440 0.04063411
+v -0.35633142 0.10000064 0.08659290
+v -0.33971747 0.10196064 0.07510575
+v -0.09897846 0.10145356 0.07460227
+v -0.09822140 0.06933082 0.04048469
+v -0.35668261 0.08864492 0.06892081
+v -0.35548970 0.09030674 0.05813220
+f 5 2 1
+f 6 3 1
+f 7 5 1
+f 8 6 4
+f 8 3 6
+f 9 4 6
+f 10 6 1
+f 10 1 2
+f 10 9 6
+f 11 7 1
+f 11 1 3
+f 11 8 7
+f 11 3 8
+f 12 8 4
+f 12 4 5
+f 12 5 7
+f 12 7 8
+f 13 5 4
+f 13 4 9
+f 13 2 5
+f 13 10 2
+f 13 9 10
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_23/collision/model_normalized_collision_5.obj b/objects/objaverse/pan/pan_23/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6bbfede8af259dbc369fcc5252c84fef2443476a
--- /dev/null
+++ b/objects/objaverse/pan/pan_23/collision/model_normalized_collision_5.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v -0.05507857 -0.13984372 -0.17024123
+v 0.01067683 -0.09852609 -0.11236853
+v -0.05192267 -0.05419061 -0.12587605
+v -0.00866251 -0.10434634 -0.14844670
+v -0.02485094 -0.12325479 -0.15387389
+v 0.00540792 -0.07010123 -0.11816718
+v -0.05682171 -0.10095011 -0.18251692
+v -0.00764724 -0.11069090 -0.14072984
+v -0.01485155 -0.11817126 -0.13988745
+v -0.06033801 -0.13179112 -0.18674160
+v 0.01477893 -0.07759519 -0.10869389
+v -0.00646361 -0.08432358 -0.14623206
+v -0.02963512 -0.12729352 -0.15266445
+v 0.00081224 -0.10680963 -0.12397171
+v -0.05020596 -0.13739663 -0.17011635
+v -0.05055072 -0.12758091 -0.18084454
+v -0.05997922 -0.14160948 -0.17601676
+v -0.05432190 -0.07109161 -0.15631014
+v -0.03677258 -0.05535798 -0.12477817
+v -0.04628575 -0.13605180 -0.16493175
+v -0.04723438 -0.09906851 -0.17779196
+v -0.04062237 -0.07116159 -0.15421407
+v -0.02922078 -0.08884674 -0.16347266
+f 1 2 3
+f 8 5 4
+f 8 4 2
+f 9 5 8
+f 11 3 2
+f 11 2 4
+f 12 11 4
+f 12 6 11
+f 13 5 9
+f 14 9 8
+f 14 8 2
+f 14 13 9
+f 14 2 1
+f 14 1 13
+f 15 5 13
+f 16 4 5
+f 16 5 15
+f 17 1 3
+f 17 3 10
+f 17 15 1
+f 17 16 15
+f 17 10 16
+f 18 10 3
+f 18 7 10
+f 19 11 6
+f 19 3 11
+f 20 15 13
+f 20 13 1
+f 20 1 15
+f 21 12 4
+f 21 4 16
+f 21 16 10
+f 21 10 7
+f 22 18 3
+f 22 3 19
+f 22 21 7
+f 22 7 18
+f 22 19 6
+f 22 6 12
+f 23 22 12
+f 23 12 21
+f 23 21 22
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_23/collision/model_normalized_collision_6.obj b/objects/objaverse/pan/pan_23/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aa0bf6e926b751162ef4677721e8dc39ea3b39ee
--- /dev/null
+++ b/objects/objaverse/pan/pan_23/collision/model_normalized_collision_6.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.05144916 -0.01409653 -0.00023077
+v 0.06037049 -0.01157234 -0.00109351
+v 0.01381538 0.07036038 0.12418078
+v 0.00034554 0.09933040 0.13595569
+v 0.00557944 0.04934733 0.00922872
+v 0.05515113 0.03632142 0.04239247
+v 0.05152071 0.00869516 0.03755511
+v 0.00832208 0.03252691 -0.00032957
+v 0.03469925 0.06519121 0.08916099
+v 0.05777794 0.02789081 0.01293899
+v 0.05330651 -0.00268993 0.02186107
+v 0.00979117 0.07424807 0.12962729
+v 0.01883327 0.08304535 0.11416840
+v 0.03917569 0.03886647 0.08007070
+v 0.01560015 0.08891480 0.08550863
+v 0.02944807 0.04422650 0.01232748
+v 0.02377426 0.06396921 0.11198421
+v 0.00582772 0.09468738 0.13047472
+v 0.04466913 0.02824739 0.06519706
+v 0.03797871 0.05994836 0.05282345
+v 0.00301032 0.09333502 0.08305252
+v 0.04377382 0.03032333 0.06810467
+v 0.02881908 0.06958233 0.05770469
+v 0.00512223 0.06053590 0.02637246
+v 0.02793195 0.05484464 0.02801068
+f 7 2 6
+f 8 2 1
+f 8 4 5
+f 10 6 2
+f 10 2 8
+f 11 1 2
+f 11 2 7
+f 12 8 1
+f 12 4 8
+f 12 1 11
+f 14 6 9
+f 14 3 12
+f 15 13 9
+f 16 10 8
+f 16 8 5
+f 17 9 13
+f 17 14 9
+f 17 3 14
+f 17 12 3
+f 18 4 12
+f 18 17 13
+f 18 12 17
+f 18 15 4
+f 18 13 15
+f 19 7 6
+f 19 11 7
+f 19 14 12
+f 19 12 11
+f 20 15 9
+f 20 9 6
+f 20 6 10
+f 21 5 4
+f 21 4 15
+f 22 19 6
+f 22 6 14
+f 22 14 19
+f 23 15 20
+f 23 21 15
+f 23 20 10
+f 24 5 21
+f 25 21 23
+f 25 24 21
+f 25 16 5
+f 25 5 24
+f 25 23 10
+f 25 10 16
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_23/collision/model_normalized_collision_7.obj b/objects/objaverse/pan/pan_23/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd028d71632bec34ea7fedadaf8b59dc80fd7f28
--- /dev/null
+++ b/objects/objaverse/pan/pan_23/collision/model_normalized_collision_7.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.00842561 -0.01215934 -0.06172846
+v 0.00643834 -0.00758506 -0.06851180
+v 0.00703830 0.05594049 0.01954760
+v -0.09863907 0.06606365 0.02342975
+v -0.09849838 -0.00250437 -0.07260481
+v 0.00956883 0.03964970 0.01001186
+v -0.09829023 0.04520773 0.00635040
+v -0.03874060 0.00160927 -0.06424846
+v -0.00976074 0.06234980 0.02487252
+v 0.01060833 0.01496274 -0.02437225
+v -0.09818322 0.01350580 -0.03826107
+v -0.09884428 0.02719315 -0.03142916
+v -0.00895850 0.05600215 0.01469946
+v 0.00996294 -0.00464334 -0.05179912
+v -0.06762593 -0.00716925 -0.06562560
+v -0.09870074 0.05883538 0.01320183
+v -0.09869477 0.00262288 -0.06543833
+v -0.03909751 0.02579552 -0.03067966
+v 0.00400417 0.01067984 -0.04537467
+v 0.00454014 -0.00116366 -0.06106519
+v 0.00428005 0.04247396 -0.00071836
+f 5 2 1
+f 7 6 4
+f 7 1 6
+f 8 2 5
+f 9 6 3
+f 9 4 6
+f 10 6 1
+f 10 2 3
+f 10 3 6
+f 11 1 7
+f 12 11 7
+f 12 8 5
+f 13 4 9
+f 13 9 3
+f 14 10 1
+f 14 1 2
+f 14 2 10
+f 15 11 5
+f 15 5 1
+f 15 1 11
+f 16 12 7
+f 16 7 4
+f 17 12 5
+f 17 5 11
+f 17 11 12
+f 18 13 8
+f 18 4 13
+f 18 16 4
+f 18 8 12
+f 18 12 16
+f 19 8 13
+f 19 3 2
+f 20 19 2
+f 20 2 8
+f 20 8 19
+f 21 19 13
+f 21 13 3
+f 21 3 19
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_23/collision/model_normalized_collision_8.obj b/objects/objaverse/pan/pan_23/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..99b22f8b6e87c6878fb98d599de0d8d484ec038a
--- /dev/null
+++ b/objects/objaverse/pan/pan_23/collision/model_normalized_collision_8.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.49090776 -0.00007117 0.01475640
+v 0.48898809 0.00737469 0.01238054
+v 0.15962750 0.01679075 0.02113800
+v 0.06163335 0.01323550 0.01743456
+v 0.40133725 -0.01361403 -0.01685313
+v 0.05550401 -0.00832703 0.01085913
+v 0.48458418 0.00477500 0.01663109
+v 0.15975683 0.01276003 -0.00280941
+v 0.15966950 0.00610975 0.02001900
+v 0.40159439 -0.00561479 0.00904037
+v 0.37081794 0.01309546 0.01581837
+v 0.40132927 -0.00689123 -0.01605935
+v 0.06813439 0.01181749 0.00324581
+v 0.48741032 0.00142707 0.01618197
+v 0.32519061 0.01229912 0.01923021
+v 0.37088985 0.01247002 0.00972058
+v 0.08277459 0.00010647 -0.01191972
+v 0.35554230 -0.00123803 -0.01194349
+v 0.06037049 -0.01157234 -0.00109351
+v 0.24938987 0.01052411 -0.00138101
+v 0.08295131 -0.00580833 -0.01255267
+f 5 2 1
+f 7 1 2
+f 9 3 4
+f 9 4 6
+f 10 6 5
+f 10 5 1
+f 10 1 6
+f 11 7 2
+f 12 2 5
+f 13 4 3
+f 13 3 8
+f 13 6 4
+f 14 9 6
+f 14 6 1
+f 14 1 7
+f 15 3 9
+f 15 11 3
+f 15 7 11
+f 15 14 7
+f 15 9 14
+f 16 8 3
+f 16 3 11
+f 16 11 2
+f 17 12 5
+f 17 8 12
+f 17 13 8
+f 18 12 8
+f 18 16 2
+f 18 2 12
+f 19 5 6
+f 19 6 13
+f 19 13 17
+f 20 18 8
+f 20 8 16
+f 20 16 18
+f 21 19 17
+f 21 17 5
+f 21 5 19
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_23/collision/model_normalized_collision_9.obj b/objects/objaverse/pan/pan_23/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d137a06b88ebc6c78c9de993a33b938456be20b
--- /dev/null
+++ b/objects/objaverse/pan/pan_23/collision/model_normalized_collision_9.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v -0.36306618 -0.14725523 -0.18273334
+v -0.35035675 -0.14531390 -0.20039627
+v -0.35677408 -0.08754990 -0.16871035
+v -0.46063543 -0.09097195 -0.10355510
+v -0.41614625 -0.11518680 -0.16348475
+v -0.39010255 -0.13810408 -0.17110689
+v -0.36519960 -0.10462440 -0.19172387
+v -0.37533619 -0.13181304 -0.19139454
+v -0.41089551 -0.12803829 -0.15370664
+v -0.35257264 -0.10273422 -0.19370426
+v -0.44602700 -0.08981352 -0.13627825
+v -0.36053368 -0.14138069 -0.19609660
+v -0.37629785 -0.11166994 -0.19100200
+v -0.39500323 -0.13634438 -0.16533729
+v -0.41671636 -0.12371094 -0.15382740
+v -0.41996700 -0.09819372 -0.16188918
+v -0.45597646 -0.09529493 -0.10784385
+v -0.44275093 -0.09772376 -0.13846494
+v -0.42594923 -0.11891191 -0.14092483
+f 1 2 3
+f 1 3 4
+f 6 2 1
+f 8 6 5
+f 10 3 2
+f 11 4 3
+f 12 8 2
+f 12 2 6
+f 12 6 8
+f 13 2 8
+f 13 10 2
+f 13 7 10
+f 14 6 1
+f 15 5 6
+f 15 14 9
+f 15 6 14
+f 16 10 7
+f 16 3 10
+f 16 11 3
+f 16 7 13
+f 16 5 11
+f 16 13 8
+f 16 8 5
+f 17 14 1
+f 17 1 4
+f 18 11 5
+f 18 5 15
+f 18 17 4
+f 18 4 11
+f 19 15 9
+f 19 9 14
+f 19 14 17
+f 19 18 15
+f 19 17 18
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_23/model.xml b/objects/objaverse/pan/pan_23/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..f57169cd81cf6e97a9c0d3696a5f736313cf65d7
--- /dev/null
+++ b/objects/objaverse/pan/pan_23/model.xml
@@ -0,0 +1,83 @@
+<mujoco model="pan_42">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="-0.6177513383942405 -0.32094459970594336 0.3298039495285394 -0.6376575904881091" />
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="-0.6177513383942405 -0.32094459970594336 0.3298039495285394 -0.6376575904881091" />
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="-0.6177513383942405 -0.32094459970594336 0.3298039495285394 -0.6376575904881091" />
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="-0.6177513383942405 -0.32094459970594336 0.3298039495285394 -0.6376575904881091" />
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="-0.6177513383942405 -0.32094459970594336 0.3298039495285394 -0.6376575904881091" />
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="-0.6177513383942405 -0.32094459970594336 0.3298039495285394 -0.6376575904881091" />
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="-0.6177513383942405 -0.32094459970594336 0.3298039495285394 -0.6376575904881091" />
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="-0.6177513383942405 -0.32094459970594336 0.3298039495285394 -0.6376575904881091" />
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="-0.6177513383942405 -0.32094459970594336 0.3298039495285394 -0.6376575904881091" />
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="-0.6177513383942405 -0.32094459970594336 0.3298039495285394 -0.6376575904881091" />
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="-0.6177513383942405 -0.32094459970594336 0.3298039495285394 -0.6376575904881091" />
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="-0.6177513383942405 -0.32094459970594336 0.3298039495285394 -0.6376575904881091" />
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="-0.6177513383942405 -0.32094459970594336 0.3298039495285394 -0.6376575904881091" />
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="-0.6177513383942405 -0.32094459970594336 0.3298039495285394 -0.6376575904881091" />
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="-0.6177513383942405 -0.32094459970594336 0.3298039495285394 -0.6376575904881091" />
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="-0.6177513383942405 -0.32094459970594336 0.3298039495285394 -0.6376575904881091" />
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="-0.6177513383942405 -0.32094459970594336 0.3298039495285394 -0.6376575904881091" />
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="-0.6177513383942405 -0.32094459970594336 0.3298039495285394 -0.6376575904881091" />
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="-0.6177513383942405 -0.32094459970594336 0.3298039495285394 -0.6376575904881091" />
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="-0.6177513383942405 -0.32094459970594336 0.3298039495285394 -0.6376575904881091" />
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="-0.6177513383942405 -0.32094459970594336 0.3298039495285394 -0.6376575904881091" />
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="-0.6177513383942405 -0.32094459970594336 0.3298039495285394 -0.6376575904881091" />
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="-0.6177513383942405 -0.32094459970594336 0.3298039495285394 -0.6376575904881091" />
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="-0.6177513383942405 -0.32094459970594336 0.3298039495285394 -0.6376575904881091" />
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="-0.6177513383942405 -0.32094459970594336 0.3298039495285394 -0.6376575904881091" />
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="-0.6177513383942405 -0.32094459970594336 0.3298039495285394 -0.6376575904881091" />
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="-0.6177513383942405 -0.32094459970594336 0.3298039495285394 -0.6376575904881091" />
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="-0.6177513383942405 -0.32094459970594336 0.3298039495285394 -0.6376575904881091" />
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="-0.6177513383942405 -0.32094459970594336 0.3298039495285394 -0.6376575904881091" />
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="-0.6177513383942405 -0.32094459970594336 0.3298039495285394 -0.6376575904881091" />
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="-0.6177513383942405 -0.32094459970594336 0.3298039495285394 -0.6376575904881091" />
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="-0.6177513383942405 -0.32094459970594336 0.3298039495285394 -0.6376575904881091" />
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="-0.6177513383942405 -0.32094459970594336 0.3298039495285394 -0.6376575904881091" />
+    <texture type="2d" name="image0" file="visual/image0.png" />
+    <material name="PM3D_Cube3D_1" texture="image0" specular="0.5" shininess="0.25" />
+  </asset>
+  <worldbody>
+    <body>
+      <body name="object">
+        <body pos="0 -0.052 0">
+          <geom solimp="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="PM3D_Cube3D_1" />
+          <geom solimp="0.998 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>
+      </body>
+      <site rgba="0 0 0 0" size="0.005" pos="0.0016251745610712989 -0.052 -0.009827601096419766" name="bottom_site" />
+      <site rgba="0 0 0 0" size="0.005" pos="0.0016251745610712989 -0.052 0.0038687703617633364" name="top_site" />
+      <site rgba="0 0 0 0" size="0.005" pos="0.06770673228614801 0.11974460684111125 -0.0029794153673282147" name="horizontal_radius_site" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_7/.DS_Store b/objects/objaverse/pan/pan_7/.DS_Store
new file mode 100644
index 0000000000000000000000000000000000000000..9ea9f981f6d22f2b8a4355230d25c28f9bf3e1e6
Binary files /dev/null and b/objects/objaverse/pan/pan_7/.DS_Store differ
diff --git a/objects/objaverse/pan/pan_7/collision/model_normalized_collision_0.obj b/objects/objaverse/pan/pan_7/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea9f4f358983e7c41804482d71c4e4af8610ceab
--- /dev/null
+++ b/objects/objaverse/pan/pan_7/collision/model_normalized_collision_0.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v 0.00281875 0.11627637 0.04005870
+v -0.00179028 0.11280247 -0.01183811
+v -0.08119232 0.21251108 0.04131800
+v -0.11822524 0.23166727 0.04131800
+v -0.09848486 0.11946097 -0.02286151
+v -0.09256954 0.19824151 -0.03506641
+v -0.02314971 0.15430353 0.04130101
+v -0.01947926 0.12883621 0.03976870
+v -0.12042032 0.22735865 -0.00176226
+v -0.02740089 0.11707962 -0.03715333
+v -0.03679996 0.15084284 -0.02482905
+v -0.10963187 0.21822898 0.04105601
+v -0.08335067 0.21035273 0.01411974
+v -0.11363638 0.18006703 -0.04131804
+v -0.09848486 0.11946097 -0.04131804
+v -0.02560690 0.15244783 0.01420244
+v -0.03702102 0.14248128 -0.03452201
+v -0.10835273 0.22130601 -0.00099992
+v -0.10619675 0.22553821 0.04131800
+v -0.09338163 0.20580041 -0.02382995
+v -0.05088929 0.18220805 0.04131800
+v -0.11848240 0.21601032 -0.02896131
+v -0.11363638 0.18006703 -0.02286151
+v -0.06381590 0.16928107 -0.03522991
+v -0.00885587 0.12308956 -0.01149452
+v -0.11590219 0.20592332 -0.03772313
+f 5 2 1
+f 7 1 2
+f 8 5 1
+f 8 1 7
+f 12 4 5
+f 12 5 8
+f 12 8 7
+f 12 7 4
+f 15 10 2
+f 15 2 5
+f 15 14 10
+f 15 5 14
+f 16 7 2
+f 16 11 13
+f 17 11 2
+f 17 2 10
+f 18 9 4
+f 19 4 3
+f 19 3 13
+f 19 18 4
+f 19 13 18
+f 20 13 11
+f 20 11 6
+f 20 18 13
+f 20 9 18
+f 21 13 3
+f 21 16 13
+f 21 7 16
+f 21 3 4
+f 21 4 7
+f 22 14 9
+f 22 20 6
+f 22 9 20
+f 23 14 5
+f 23 5 4
+f 23 4 9
+f 23 9 14
+f 24 10 14
+f 24 17 10
+f 24 6 11
+f 24 11 17
+f 25 16 2
+f 25 2 11
+f 25 11 16
+f 26 22 6
+f 26 14 22
+f 26 24 14
+f 26 6 24
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_7/collision/model_normalized_collision_1.obj b/objects/objaverse/pan/pan_7/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..457e6e7ee923c2f0dcb453d60169ea893f5d4b90
--- /dev/null
+++ b/objects/objaverse/pan/pan_7/collision/model_normalized_collision_1.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v -0.46585260 -0.09456147 -0.00389475
+v -0.44696971 -0.09266024 -0.04131804
+v -0.44696971 -0.09266024 -0.02286151
+v -0.48473325 0.04488514 0.04119375
+v -0.49149351 -0.01435538 -0.01129824
+v -0.46212122 0.04370340 -0.02286151
+v -0.48186416 -0.06308449 0.04131800
+v -0.47308447 -0.08280602 -0.02402079
+v -0.44696971 -0.06235721 -0.02286151
+v -0.47605571 0.04111070 -0.03404265
+v -0.49343249 0.04146319 0.04131800
+v -0.46399020 -0.08589273 -0.03553593
+v -0.49055015 -0.05966045 0.04131800
+v -0.46212122 0.04370340 -0.04131804
+v -0.48999436 0.02576715 -0.01061818
+v -0.49036756 0.04097778 0.01366747
+v -0.47933595 -0.08599135 -0.00179071
+v -0.47575475 -0.04456533 -0.03377146
+v -0.44696971 -0.06235721 -0.04131804
+v -0.48917972 -0.05944339 0.02895395
+f 1 2 3
+f 7 1 3
+f 9 3 2
+f 9 6 4
+f 9 7 3
+f 9 4 7
+f 11 7 4
+f 12 2 1
+f 13 11 5
+f 13 7 11
+f 13 1 7
+f 14 6 9
+f 14 10 4
+f 14 4 6
+f 15 10 5
+f 15 5 11
+f 16 11 4
+f 16 4 10
+f 16 15 11
+f 16 10 15
+f 17 12 1
+f 17 8 12
+f 17 1 13
+f 17 5 8
+f 18 12 8
+f 18 8 5
+f 18 5 10
+f 18 10 14
+f 18 14 2
+f 18 2 12
+f 19 14 9
+f 19 9 2
+f 19 2 14
+f 20 17 13
+f 20 13 5
+f 20 5 17
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_7/collision/model_normalized_collision_10.obj b/objects/objaverse/pan/pan_7/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2afeced0056482a22eabdda23b156e79e66caf61
--- /dev/null
+++ b/objects/objaverse/pan/pan_7/collision/model_normalized_collision_10.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.02693740 -0.14368969 0.04067978
+v 0.00806919 -0.03453231 -0.00516209
+v -0.00586263 -0.12898791 0.04047401
+v 0.01022148 -0.03247326 0.01142091
+v -0.03129059 -0.14147163 -0.00424341
+v 0.01058111 -0.05008175 0.04001589
+v 0.00861285 -0.03221845 -0.00355346
+v -0.00959586 -0.12624110 -0.00106776
+v 0.01109185 -0.04776264 0.04131800
+v -0.02523333 -0.12940643 -0.00498277
+f 5 1 4
+f 5 3 1
+f 6 2 4
+f 7 5 4
+f 7 4 2
+f 7 2 5
+f 8 3 5
+f 8 6 3
+f 8 2 6
+f 9 1 3
+f 9 3 6
+f 9 6 4
+f 9 4 1
+f 10 8 5
+f 10 5 2
+f 10 2 8
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_7/collision/model_normalized_collision_11.obj b/objects/objaverse/pan/pan_7/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1c98a5cfc281b4a1e0ff6f00fdcd9e19efcf2bb5
--- /dev/null
+++ b/objects/objaverse/pan/pan_7/collision/model_normalized_collision_11.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.34033962 -0.04726371 0.01588926
+v 0.35466007 -0.01994403 0.00055111
+v 0.35372085 0.01830640 0.02549690
+v 0.14200403 0.04583178 0.02955918
+v 0.14281925 -0.05086813 0.00057475
+v 0.34072287 0.04693870 0.00525518
+v 0.14173284 -0.04752408 0.02783059
+v 0.35459634 -0.01991448 0.02542486
+v 0.34068366 -0.04693952 0.00525496
+v 0.35378534 0.01833630 0.00057865
+v 0.31000039 0.03823970 0.02677201
+v 0.14310906 0.05084394 0.00058639
+v 0.30996411 -0.03834575 0.02677278
+v 0.34038401 0.04726413 0.01589697
+v 0.34031960 0.01295293 0.02613778
+v 0.34031627 -0.01645570 0.02603918
+f 7 5 1
+f 9 5 2
+f 9 1 5
+f 9 8 1
+f 9 2 8
+f 10 6 3
+f 10 8 2
+f 10 3 8
+f 12 7 4
+f 12 5 7
+f 12 6 10
+f 12 10 2
+f 12 2 5
+f 13 7 1
+f 13 1 8
+f 13 4 7
+f 13 11 4
+f 14 4 11
+f 14 12 4
+f 14 6 12
+f 14 11 3
+f 14 3 6
+f 15 8 3
+f 15 3 11
+f 15 11 13
+f 16 15 13
+f 16 13 8
+f 16 8 15
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_7/collision/model_normalized_collision_12.obj b/objects/objaverse/pan/pan_7/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..772173d6a24d77344dafcea8b7778bef99c9fabc
--- /dev/null
+++ b/objects/objaverse/pan/pan_7/collision/model_normalized_collision_12.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v -0.41645998 -0.18336263 0.01174507
+v -0.40890331 -0.17580596 -0.02882519
+v -0.41666668 -0.09266024 -0.02286151
+v -0.47606345 -0.09204407 -0.00328694
+v -0.44239949 -0.14321746 -0.02382877
+v -0.45612899 -0.13506155 0.01246700
+v -0.41774474 -0.16949588 -0.02482856
+v -0.41666668 -0.09266024 -0.04131804
+v -0.42588545 -0.16248507 0.01029442
+v -0.45007626 -0.14712900 0.01322937
+v -0.43483873 -0.14402882 -0.03506882
+v -0.42412996 -0.17588110 0.01293248
+v -0.46399020 -0.08589273 -0.03553593
+v -0.44260542 -0.14361103 0.01039557
+v -0.46395800 -0.11617900 -0.00176219
+v -0.41252252 -0.16427365 -0.03670388
+v -0.46058781 -0.09931026 -0.03212080
+v -0.42103216 -0.15763178 -0.03522954
+v -0.45774199 -0.11301174 -0.02392477
+f 1 2 3
+f 6 3 4
+f 7 2 1
+f 8 3 2
+f 9 1 3
+f 11 7 5
+f 11 2 7
+f 12 7 1
+f 12 5 7
+f 12 10 5
+f 12 1 9
+f 12 9 6
+f 12 6 10
+f 13 4 3
+f 13 3 8
+f 14 9 3
+f 14 3 6
+f 14 6 9
+f 15 4 5
+f 15 5 10
+f 15 10 6
+f 15 6 4
+f 16 8 2
+f 16 13 8
+f 16 11 13
+f 17 13 11
+f 17 11 5
+f 17 4 13
+f 18 16 2
+f 18 2 11
+f 18 11 16
+f 19 17 5
+f 19 5 4
+f 19 4 17
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_7/collision/model_normalized_collision_13.obj b/objects/objaverse/pan/pan_7/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f31b1ccbbb68bad6c341fdb3d57dc6f96f77ba1b
--- /dev/null
+++ b/objects/objaverse/pan/pan_7/collision/model_normalized_collision_13.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v -0.03129059 -0.14147163 -0.00424341
+v -0.00259826 -0.11592823 -0.00203417
+v -0.01462751 -0.13323870 -0.00246537
+v -0.02056974 0.12056027 -0.00370264
+v -0.03883007 0.11897625 -0.04131804
+v -0.00098043 0.11354477 -0.00225761
+v -0.03787880 0.11946097 -0.02286151
+v -0.04180660 -0.13611345 -0.03902684
+v -0.00646623 0.08200312 -0.03478059
+v -0.03405099 -0.13234500 -0.03670388
+v -0.03787880 -0.10781175 -0.02286151
+v -0.00725129 -0.08510580 -0.03398861
+v -0.02174499 0.11224131 -0.03465269
+v -0.00662670 -0.11260792 -0.01577231
+v -0.00581156 0.10970029 -0.01680398
+v -0.02450861 -0.12948742 -0.02523223
+v -0.02252967 -0.11534419 -0.03386107
+f 1 3 4
+f 6 3 2
+f 6 4 3
+f 6 5 4
+f 7 1 4
+f 7 4 5
+f 8 3 1
+f 8 7 5
+f 10 3 8
+f 11 8 1
+f 11 1 7
+f 11 7 8
+f 12 9 6
+f 12 6 2
+f 12 10 8
+f 12 8 5
+f 12 5 9
+f 13 9 5
+f 13 5 6
+f 14 2 3
+f 14 12 2
+f 15 13 6
+f 15 6 9
+f 15 9 13
+f 16 14 3
+f 16 3 10
+f 16 10 14
+f 17 14 10
+f 17 10 12
+f 17 12 14
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_7/collision/model_normalized_collision_14.obj b/objects/objaverse/pan/pan_7/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5545f4bc368814c30732730e30ef5acd45c481b5
--- /dev/null
+++ b/objects/objaverse/pan/pan_7/collision/model_normalized_collision_14.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.35606062 -0.13811478 -0.02286151
+v -0.35606062 -0.13811478 -0.04131804
+v -0.35606062 0.11946097 -0.02286151
+v -0.45042397 0.12122097 -0.01901244
+v -0.46212122 -0.06235721 -0.02286151
+v -0.44275885 0.11731552 -0.03831506
+v -0.41666668 -0.13811478 -0.04131804
+v -0.41666668 -0.13811478 -0.02286151
+v -0.35606062 0.11946097 -0.04131804
+v -0.46212122 0.04370340 -0.04131804
+v -0.44696971 -0.09266024 -0.02286151
+v -0.46212122 0.04370340 -0.02286151
+v -0.45987765 -0.06200189 -0.04131804
+v -0.44696971 -0.09266024 -0.04131804
+f 1 2 3
+f 1 3 4
+f 7 2 1
+f 8 1 4
+f 8 7 1
+f 9 3 2
+f 9 2 7
+f 9 6 4
+f 9 4 3
+f 10 4 6
+f 10 9 7
+f 10 6 9
+f 11 8 4
+f 11 4 5
+f 11 7 8
+f 12 10 5
+f 12 5 4
+f 12 4 10
+f 13 10 7
+f 13 5 10
+f 14 11 5
+f 14 5 13
+f 14 13 7
+f 14 7 11
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_7/collision/model_normalized_collision_15.obj b/objects/objaverse/pan/pan_7/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9c8f7ddac94e27c109dad17555662aabbdf87c25
--- /dev/null
+++ b/objects/objaverse/pan/pan_7/collision/model_normalized_collision_15.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v -0.49343249 0.04146319 0.04131800
+v -0.44696971 0.04370340 -0.04131804
+v -0.44696971 0.04370340 -0.02286151
+v -0.45622888 0.12417862 0.04088498
+v -0.47426449 0.07990498 -0.02461394
+v -0.44275885 0.11731552 -0.03831506
+v -0.48473325 0.04488514 0.04119375
+v -0.47962131 0.04167548 -0.02793677
+v -0.47893444 0.09743614 0.04131800
+v -0.49202616 0.04124043 0.02863062
+v -0.47213195 0.04288918 -0.03724585
+v -0.45892199 0.11011070 -0.02451794
+v -0.46968279 0.11559375 0.04131800
+v -0.48971410 0.05602573 0.02889333
+v -0.46137518 0.09620916 -0.03290922
+v -0.47374786 0.09479351 -0.01055032
+v -0.49109132 0.05624388 0.04131800
+v -0.44949449 0.11302760 -0.03620317
+f 6 3 2
+f 6 4 3
+f 7 1 3
+f 7 3 4
+f 8 2 3
+f 10 8 3
+f 10 3 1
+f 10 5 8
+f 11 6 2
+f 11 2 8
+f 11 8 5
+f 12 4 6
+f 13 7 4
+f 13 4 12
+f 13 9 1
+f 13 1 7
+f 14 5 10
+f 15 11 5
+f 15 5 12
+f 16 12 5
+f 16 13 12
+f 16 9 13
+f 16 5 14
+f 17 1 9
+f 17 16 14
+f 17 9 16
+f 17 14 10
+f 17 10 1
+f 18 6 11
+f 18 11 15
+f 18 15 12
+f 18 12 6
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_7/collision/model_normalized_collision_16.obj b/objects/objaverse/pan/pan_7/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..24889e5785ff1ce8ba5159fc745ddcab0463bc97
--- /dev/null
+++ b/objects/objaverse/pan/pan_7/collision/model_normalized_collision_16.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.39607950 -0.20843670 0.04131800
+v -0.38694368 -0.19930088 -0.00352846
+v -0.39039236 -0.20274956 0.04131800
+v -0.45901389 -0.13653150 0.04131800
+v -0.44695146 -0.15324806 0.01411989
+v -0.44550752 -0.14508982 0.04034422
+v -0.40779104 -0.18984520 -0.00203058
+v -0.44910980 -0.15540639 0.04131800
+v -0.44260542 -0.14361103 0.01039557
+v -0.39382693 -0.20618413 0.01293248
+v -0.45612899 -0.13506155 0.01246700
+v -0.41724672 -0.16899785 -0.00352847
+v -0.40958240 -0.17648506 -0.00467999
+v -0.39443089 -0.19163657 -0.00467999
+f 1 2 3
+f 1 3 4
+f 6 3 2
+f 6 4 3
+f 7 1 5
+f 8 5 1
+f 8 1 4
+f 8 4 5
+f 9 6 2
+f 10 7 2
+f 10 2 1
+f 10 1 7
+f 11 5 4
+f 11 4 6
+f 11 6 9
+f 11 7 5
+f 12 11 9
+f 12 7 11
+f 13 12 9
+f 13 7 12
+f 14 13 9
+f 14 9 2
+f 14 2 7
+f 14 7 13
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_7/collision/model_normalized_collision_17.obj b/objects/objaverse/pan/pan_7/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..46304c9c03894fbe40980255c0ebb85e6256d1ff
--- /dev/null
+++ b/objects/objaverse/pan/pan_7/collision/model_normalized_collision_17.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.15909092 -0.22902387 -0.02286151
+v -0.16105339 -0.22517225 -0.03921824
+v -0.15909092 -0.15326630 -0.02286151
+v -0.35606062 -0.15326630 -0.02286151
+v -0.35642048 -0.21457865 -0.01867699
+v -0.35606062 -0.15326630 -0.04131804
+v -0.15909092 -0.15326630 -0.04131804
+v -0.27986281 -0.22624458 -0.04131804
+v -0.28030304 -0.22902387 -0.02286151
+v -0.35367925 -0.20919847 -0.03715279
+f 5 1 3
+f 5 3 4
+f 6 4 3
+f 6 5 4
+f 7 1 2
+f 7 3 1
+f 7 6 3
+f 8 2 1
+f 8 7 2
+f 8 6 7
+f 9 8 1
+f 9 1 5
+f 9 5 8
+f 10 8 5
+f 10 5 6
+f 10 6 8
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_7/collision/model_normalized_collision_18.obj b/objects/objaverse/pan/pan_7/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..50cfdfece3832866b02aa25d7928fc5f6ec81146
--- /dev/null
+++ b/objects/objaverse/pan/pan_7/collision/model_normalized_collision_18.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v -0.10963187 0.21822898 0.04105601
+v -0.11590219 0.20592332 -0.03772313
+v -0.13854054 0.23668365 -0.00102840
+v -0.19171939 0.25629262 0.04131800
+v -0.18939395 0.21037006 -0.02286151
+v -0.13638279 0.24091934 0.04131800
+v -0.11822524 0.23166727 0.04131800
+v -0.18829691 0.24759987 0.04125253
+v -0.19022227 0.23544330 -0.03704206
+v -0.17693860 0.25395177 0.04131800
+v -0.12358716 0.22114276 -0.02392507
+v -0.18939395 0.21037006 -0.04131804
+v -0.19149327 0.24257091 -0.02773237
+v -0.13728965 0.22398676 -0.03212294
+v -0.19194105 0.25489300 0.02869124
+v -0.12046868 0.21211294 -0.03540890
+v -0.15379316 0.23648472 -0.02402080
+v -0.17715565 0.25258126 0.02895391
+f 5 2 1
+f 7 1 2
+f 7 3 6
+f 7 6 4
+f 8 5 1
+f 8 4 5
+f 8 7 4
+f 8 1 7
+f 10 6 3
+f 10 4 6
+f 11 7 2
+f 11 3 7
+f 12 9 2
+f 12 2 5
+f 13 9 12
+f 13 12 5
+f 15 13 5
+f 15 5 4
+f 16 14 11
+f 16 11 2
+f 16 2 9
+f 16 9 14
+f 17 14 9
+f 17 9 13
+f 17 3 11
+f 17 11 14
+f 18 17 13
+f 18 13 15
+f 18 10 3
+f 18 3 17
+f 18 15 4
+f 18 4 10
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_7/collision/model_normalized_collision_19.obj b/objects/objaverse/pan/pan_7/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6b9d1fb242c4fbb30caaecb210578a1bf0818c14
--- /dev/null
+++ b/objects/objaverse/pan/pan_7/collision/model_normalized_collision_19.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.10905670 -0.05984907 0.02497260
+v 0.14281925 -0.05086813 0.00057475
+v 0.14200403 0.04583178 0.02955918
+v 0.07992168 0.06270589 0.03115230
+v 0.07926942 -0.06546957 -0.00635566
+v 0.07987696 0.06401711 -0.00752061
+v 0.07940229 -0.06450347 0.02942298
+v 0.14173284 -0.04752408 0.02783059
+v 0.14310906 0.05084394 0.00058639
+v 0.14266175 -0.03186727 -0.00198951
+v 0.10885415 0.05816614 0.02678833
+v 0.12510008 -0.05300800 -0.00333497
+v 0.14266477 0.02836541 -0.00202870
+v 0.10844560 0.05836617 -0.00365438
+v 0.09345825 -0.06201508 -0.00504198
+v 0.12589841 0.05281384 -0.00326108
+f 5 2 1
+f 6 5 4
+f 7 3 4
+f 7 5 1
+f 7 4 5
+f 8 1 2
+f 8 2 3
+f 8 7 1
+f 8 3 7
+f 9 3 2
+f 10 9 2
+f 11 6 4
+f 11 4 3
+f 11 3 9
+f 12 10 2
+f 12 5 6
+f 12 6 10
+f 13 10 6
+f 13 9 10
+f 14 11 9
+f 14 6 11
+f 15 12 2
+f 15 2 5
+f 15 5 12
+f 16 13 6
+f 16 9 13
+f 16 14 9
+f 16 6 14
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_7/collision/model_normalized_collision_2.obj b/objects/objaverse/pan/pan_7/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..677f966fa5800f7564329895af4b1681d15ca8cd
--- /dev/null
+++ b/objects/objaverse/pan/pan_7/collision/model_normalized_collision_2.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v -0.27986284 -0.25654773 0.04131800
+v -0.27782436 -0.24367820 -0.02664635
+v -0.28030304 -0.21387236 -0.02286151
+v -0.40151516 -0.19872084 0.04131800
+v -0.31789070 -0.24388743 -0.01082982
+v -0.28094550 -0.24823190 0.04131800
+v -0.33261884 -0.24305656 0.04131800
+v -0.38221949 -0.19457669 -0.03670388
+v -0.39060935 -0.21197709 0.02915915
+v -0.28030304 -0.21387236 -0.04131804
+v -0.31860431 -0.23013646 -0.03477516
+v -0.39375179 -0.19095748 -0.02882519
+v -0.39142145 -0.21309475 0.04131800
+v -0.33123229 -0.24033535 0.01410435
+v -0.30750975 -0.23977830 -0.02487763
+v -0.37907999 -0.19957677 -0.03452296
+v -0.27913737 -0.23681579 -0.03670388
+v -0.35557562 -0.19776894 -0.04131804
+v -0.37830214 -0.21320245 -0.01063782
+v -0.38744171 -0.19979891 -0.02482856
+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 10 3 2
+f 12 4 3
+f 12 9 4
+f 13 9 7
+f 13 7 4
+f 13 4 9
+f 14 5 7
+f 14 7 9
+f 15 2 5
+f 15 5 11
+f 16 11 5
+f 16 8 11
+f 16 12 8
+f 17 10 2
+f 17 15 11
+f 17 2 15
+f 18 11 8
+f 18 17 11
+f 18 10 17
+f 18 8 12
+f 18 12 3
+f 18 3 10
+f 19 14 9
+f 19 5 14
+f 19 16 5
+f 20 19 9
+f 20 9 12
+f 20 12 16
+f 20 16 19
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_7/collision/model_normalized_collision_20.obj b/objects/objaverse/pan/pan_7/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1501b4657426bd26616633b4c8c372849854ee44
--- /dev/null
+++ b/objects/objaverse/pan/pan_7/collision/model_normalized_collision_20.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.09848486 -0.15326630 -0.02286151
+v -0.09848486 -0.15326630 -0.04131804
+v -0.11258949 0.21242464 -0.01884158
+v -0.34090910 0.21037006 -0.02286151
+v -0.35606062 -0.15326630 -0.02286151
+v -0.09848486 0.18006703 -0.04131804
+v -0.35606062 0.11946097 -0.02286151
+v -0.33928305 0.20717879 -0.04087707
+v -0.09848486 0.18006703 -0.02286151
+v -0.11590219 0.20592332 -0.03772313
+v -0.35606062 0.11946097 -0.04131804
+v -0.35606062 -0.15326630 -0.04131804
+f 5 2 1
+f 5 1 3
+f 7 5 3
+f 7 3 4
+f 8 4 3
+f 9 6 3
+f 9 3 1
+f 9 1 2
+f 9 2 6
+f 10 8 3
+f 10 3 6
+f 10 6 8
+f 11 7 4
+f 11 4 8
+f 11 8 6
+f 11 6 2
+f 12 11 2
+f 12 2 5
+f 12 5 7
+f 12 7 11
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_7/collision/model_normalized_collision_21.obj b/objects/objaverse/pan/pan_7/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..883c02ebdfea6dbd461c417ff89f619b51b65c33
--- /dev/null
+++ b/objects/objaverse/pan/pan_7/collision/model_normalized_collision_21.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.01075693 0.02905571 0.01136195
+v 0.00914817 0.02880095 -0.00361245
+v -0.00098043 0.11354477 -0.00225761
+v -0.01621561 0.12277891 0.04122021
+v -0.02056974 0.12056027 -0.00370264
+v 0.00281875 0.11627637 0.04005870
+v -0.00845555 0.09642991 -0.00518184
+v 0.00929313 0.05912691 0.04131800
+v 0.00860444 0.03111479 -0.00522145
+f 1 2 3
+f 2 1 4
+f 5 2 4
+f 6 1 3
+f 6 5 4
+f 6 3 5
+f 7 5 3
+f 8 6 4
+f 8 4 1
+f 8 1 6
+f 9 7 3
+f 9 3 2
+f 9 2 5
+f 9 5 7
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_7/collision/model_normalized_collision_22.obj b/objects/objaverse/pan/pan_7/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f8f1381474212a9245d4fb1e93e27083f810d053
--- /dev/null
+++ b/objects/objaverse/pan/pan_7/collision/model_normalized_collision_22.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.44660817 -0.03921409 0.01932745
+v 0.44687621 -0.04184617 0.00217257
+v 0.44871305 -0.02078299 0.00108909
+v 0.34087727 -0.01687868 0.02600653
+v 0.34033962 -0.04726371 0.01588926
+v 0.44864893 -0.02081273 0.02201631
+v 0.35547049 -0.04707539 0.01536312
+v 0.34083099 -0.04272838 0.00124883
+v 0.34073575 -0.04714691 0.01217168
+v 0.34088983 -0.01699036 0.00053800
+v 0.35588530 -0.04697443 0.01217689
+f 5 1 4
+f 6 3 4
+f 6 4 1
+f 6 1 2
+f 6 2 3
+f 7 2 1
+f 7 1 5
+f 8 3 2
+f 9 5 8
+f 10 8 5
+f 10 5 4
+f 10 4 3
+f 10 3 8
+f 11 2 7
+f 11 7 5
+f 11 5 9
+f 11 9 8
+f 11 8 2
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_7/collision/model_normalized_collision_23.obj b/objects/objaverse/pan/pan_7/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..50ad729b7931a2925a2e71da3fba85533437ae7d
--- /dev/null
+++ b/objects/objaverse/pan/pan_7/collision/model_normalized_collision_23.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.44405649 -0.14435036 0.02536997
+v -0.44115436 -0.14287169 -0.00457882
+v -0.48186416 -0.06308449 0.04131800
+v -0.49017932 -0.06200163 0.04131800
+v -0.46213679 -0.13040254 0.04131800
+v -0.47651507 -0.06463716 -0.00502427
+v -0.44872471 -0.13900900 0.04131800
+v -0.48530802 -0.06123006 -0.00263067
+v -0.47751762 -0.10021635 0.04131800
+v -0.44721154 -0.13080639 -0.00531816
+v -0.45790528 -0.12824647 -0.00099982
+v -0.47328323 -0.09805881 -0.00102834
+f 1 2 3
+f 5 2 1
+f 5 3 4
+f 6 3 2
+f 7 5 1
+f 7 1 3
+f 7 3 5
+f 8 4 3
+f 8 3 6
+f 9 5 4
+f 9 4 8
+f 10 8 6
+f 10 6 2
+f 11 2 5
+f 11 5 9
+f 11 10 2
+f 12 11 9
+f 12 9 8
+f 12 8 10
+f 12 10 11
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_7/collision/model_normalized_collision_24.obj b/objects/objaverse/pan/pan_7/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2497ee26c090c2ed28abd162a910972cf364a05e
--- /dev/null
+++ b/objects/objaverse/pan/pan_7/collision/model_normalized_collision_24.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.18939395 0.21037006 -0.02286151
+v -0.18939395 0.21037006 -0.04131804
+v -0.19015486 0.25102062 -0.00289325
+v -0.27962674 0.25155481 -0.00295409
+v -0.28030304 0.21037006 -0.02286151
+v -0.27770971 0.23945205 -0.03404844
+v -0.18906121 0.24277409 -0.00367062
+v -0.19203465 0.23915301 -0.03377436
+v -0.28030304 0.22552158 -0.04131804
+v -0.26252942 0.25442147 -0.00155821
+v -0.28072047 0.24330879 -0.00372949
+v -0.28030304 0.21037006 -0.04131804
+v -0.22203748 0.25619936 -0.00175978
+v -0.26236678 0.25339462 -0.01061841
+v -0.22224425 0.25489395 -0.01129803
+f 5 2 1
+f 7 1 2
+f 7 5 1
+f 8 7 2
+f 8 3 7
+f 9 4 6
+f 9 8 2
+f 9 6 8
+f 11 5 7
+f 11 4 9
+f 11 10 4
+f 11 7 10
+f 12 9 2
+f 12 2 5
+f 12 11 9
+f 12 5 11
+f 13 10 7
+f 13 7 3
+f 14 6 4
+f 14 4 10
+f 14 10 13
+f 15 13 3
+f 15 3 8
+f 15 14 13
+f 15 8 6
+f 15 6 14
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_7/collision/model_normalized_collision_25.obj b/objects/objaverse/pan/pan_7/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..22ad2b7eda6acd08c49fe1742f883006a56849a0
--- /dev/null
+++ b/objects/objaverse/pan/pan_7/collision/model_normalized_collision_25.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v -0.40728071 0.18583277 0.04112853
+v -0.34998938 0.22875774 -0.00193803
+v -0.36077858 0.21962915 0.04088501
+v -0.35219338 0.23308370 0.04131800
+v -0.39142145 0.21309475 0.04131800
+v -0.40382614 0.18237802 -0.00379475
+v -0.36461768 0.21201224 -0.00548912
+v -0.38858996 0.20919787 -0.00107547
+v -0.39616161 0.18986532 -0.00494621
+f 1 3 4
+f 3 2 4
+f 5 1 4
+f 6 3 1
+f 7 2 3
+f 7 3 6
+f 8 2 7
+f 8 5 4
+f 8 4 2
+f 8 6 1
+f 8 1 5
+f 9 8 7
+f 9 7 6
+f 9 6 8
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_7/collision/model_normalized_collision_26.obj b/objects/objaverse/pan/pan_7/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc80e2521c20988dccd69665af37b8cea4e11a30
--- /dev/null
+++ b/objects/objaverse/pan/pan_7/collision/model_normalized_collision_26.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.18829691 0.24759987 0.04125253
+v -0.18906121 0.24277409 -0.00367062
+v -0.20725216 0.25388737 -0.00149701
+v -0.29284408 0.25449286 0.04131800
+v -0.29626766 0.24580708 0.04131800
+v -0.19171939 0.25629262 0.04131800
+v -0.29576034 0.24260386 0.01149965
+v -0.26252942 0.25442147 -0.00155821
+v -0.19015486 0.25102062 -0.00289325
+v -0.29467490 0.25090164 0.01227178
+v -0.28072047 0.24330879 -0.00372949
+v -0.27962674 0.25155481 -0.00295409
+f 6 5 1
+f 6 4 5
+f 7 2 1
+f 7 1 5
+f 8 6 3
+f 8 4 6
+f 9 6 1
+f 9 1 2
+f 9 3 6
+f 9 8 3
+f 10 7 5
+f 10 5 4
+f 11 2 7
+f 11 7 10
+f 12 11 10
+f 12 8 9
+f 12 9 2
+f 12 2 11
+f 12 10 4
+f 12 4 8
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_7/collision/model_normalized_collision_27.obj b/objects/objaverse/pan/pan_7/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b0a0c920541b35fe9690bce9edaabc2772968d33
--- /dev/null
+++ b/objects/objaverse/pan/pan_7/collision/model_normalized_collision_27.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.37528238 -0.20670919 -0.00441432
+v -0.35557562 -0.19776894 -0.04131804
+v -0.35606062 -0.13811478 -0.02286151
+v -0.41666668 -0.13811478 -0.02286151
+v -0.40588064 -0.17278330 -0.03522954
+v -0.42473392 -0.16133354 -0.00467999
+v -0.35606062 -0.19872084 -0.02286151
+v -0.39072913 -0.18793481 -0.03522954
+v -0.35606062 -0.13811478 -0.04131804
+v -0.41666668 -0.13811478 -0.04131804
+v -0.40779104 -0.18984520 -0.00203058
+v -0.40259323 -0.18464739 -0.02482856
+f 6 1 3
+f 6 3 4
+f 7 1 2
+f 7 2 3
+f 7 3 1
+f 8 2 1
+f 9 3 2
+f 9 4 3
+f 10 6 4
+f 10 5 6
+f 10 4 9
+f 10 9 2
+f 10 8 5
+f 10 2 8
+f 11 8 1
+f 11 1 6
+f 12 11 6
+f 12 6 5
+f 12 5 8
+f 12 8 11
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_7/collision/model_normalized_collision_28.obj b/objects/objaverse/pan/pan_7/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fbfdfa5fe66b36b2f5b7d3d9155140a9ddcdf194
--- /dev/null
+++ b/objects/objaverse/pan/pan_7/collision/model_normalized_collision_28.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.05303031 -0.15326630 -0.02286151
+v -0.03787880 -0.13811478 -0.02286151
+v -0.09848486 0.11946097 -0.02286151
+v -0.09848486 -0.15326630 -0.04131804
+v -0.05596096 -0.15033566 -0.03961739
+v -0.09848486 -0.15326630 -0.02286151
+v -0.03883007 0.11897625 -0.04131804
+v -0.03787880 0.11946097 -0.02286151
+v -0.04180660 -0.13611345 -0.03902684
+v -0.09848486 0.11946097 -0.04131804
+f 1 2 3
+f 5 2 1
+f 5 1 4
+f 6 1 3
+f 6 3 4
+f 6 4 1
+f 7 5 4
+f 8 3 2
+f 8 2 7
+f 9 7 2
+f 9 2 5
+f 9 5 7
+f 10 7 4
+f 10 4 3
+f 10 8 7
+f 10 3 8
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_7/collision/model_normalized_collision_29.obj b/objects/objaverse/pan/pan_7/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea2cdee3613007a6df24fc530bac77d4e6de8fc9
--- /dev/null
+++ b/objects/objaverse/pan/pan_7/collision/model_normalized_collision_29.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.03560123 -0.15554387 0.04131800
+v -0.01534261 -0.13253250 -0.01117909
+v -0.01772914 -0.14636425 0.04104169
+v -0.01067796 -0.13603909 0.04070437
+v -0.05303031 -0.13811478 -0.04131804
+v -0.01322991 -0.13420511 0.01249313
+v -0.04554222 -0.16075439 0.01056060
+v -0.02693740 -0.14368969 0.04067978
+v -0.03405099 -0.13234500 -0.03670388
+v -0.02240828 -0.14281942 -0.01083550
+v -0.03732330 -0.14478204 -0.03365645
+v -0.05596096 -0.15033566 -0.03961739
+f 1 3 4
+f 6 2 4
+f 6 4 3
+f 7 3 1
+f 7 1 5
+f 8 5 1
+f 8 1 4
+f 8 4 5
+f 9 5 4
+f 9 4 2
+f 10 6 3
+f 10 2 6
+f 10 3 7
+f 11 9 2
+f 11 2 10
+f 11 10 7
+f 12 5 9
+f 12 9 11
+f 12 11 7
+f 12 7 5
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_7/collision/model_normalized_collision_3.obj b/objects/objaverse/pan/pan_7/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f5b29eaa2f9fbd86e6bcab0365bd40746de14879
--- /dev/null
+++ b/objects/objaverse/pan/pan_7/collision/model_normalized_collision_3.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v -0.16035850 -0.25132422 0.04131800
+v -0.01882989 -0.14548439 0.02841803
+v -0.08177600 -0.21309475 0.04131800
+v -0.01772914 -0.14636425 0.04104169
+v -0.15328528 -0.24041813 0.04062438
+v -0.02350489 -0.15482180 0.04131800
+v -0.13738116 -0.22674394 -0.00501036
+v -0.04554222 -0.16075439 0.01056060
+v -0.03214494 -0.15900046 0.01320694
+v -0.15200740 -0.24349275 -0.00144486
+v -0.04323917 -0.16305745 0.04050942
+v -0.15550352 -0.23606456 -0.00429872
+v -0.02525916 -0.15151558 0.01206193
+v -0.13779974 -0.24163993 0.04131800
+v -0.12181974 -0.22811480 -0.00141634
+v -0.16111874 -0.24652455 -0.00198464
+v -0.02460133 -0.15402513 0.02939009
+v -0.11325057 -0.21462956 -0.00353168
+v -0.08257307 -0.21199835 0.02939050
+f 5 1 4
+f 6 2 4
+f 6 1 3
+f 6 4 1
+f 8 4 2
+f 9 6 3
+f 11 5 4
+f 11 4 8
+f 12 8 7
+f 12 11 8
+f 12 5 11
+f 12 1 5
+f 13 2 6
+f 13 8 2
+f 14 10 3
+f 14 3 1
+f 14 1 10
+f 15 10 7
+f 15 13 9
+f 16 12 7
+f 16 7 10
+f 16 10 1
+f 16 1 12
+f 17 13 6
+f 17 6 9
+f 17 9 13
+f 18 7 8
+f 18 8 13
+f 18 15 7
+f 18 13 15
+f 19 15 9
+f 19 9 3
+f 19 3 10
+f 19 10 15
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_7/collision/model_normalized_collision_30.obj b/objects/objaverse/pan/pan_7/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f44bb83a8e0f947164ebd6b78ef8c387936e9725
--- /dev/null
+++ b/objects/objaverse/pan/pan_7/collision/model_normalized_collision_30.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.44952610 0.01920361 0.02201431
+v 0.44958997 0.01917400 0.00111662
+v 0.44676627 0.04575002 0.00589712
+v 0.34038401 0.04726413 0.01589697
+v 0.34088090 0.01337898 0.02610494
+v 0.34072287 0.04693870 0.00525518
+v 0.44631776 0.04487475 0.01334087
+v 0.34088931 0.01348902 0.00061554
+f 1 2 3
+f 5 2 1
+f 5 1 4
+f 6 3 2
+f 6 4 3
+f 7 1 3
+f 7 3 4
+f 7 4 1
+f 8 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/pan/pan_7/collision/model_normalized_collision_31.obj b/objects/objaverse/pan/pan_7/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..48925841f926dff32345f129ddbf07ca7e8c3523
--- /dev/null
+++ b/objects/objaverse/pan/pan_7/collision/model_normalized_collision_31.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.48193363 -0.03620833 0.01239218
+v 0.49495630 -0.02577401 0.00390313
+v 0.49489929 0.02232010 0.01231351
+v 0.44631776 0.04487475 0.01334087
+v 0.44687621 -0.04184617 0.00217257
+v 0.47125466 0.04484627 0.00544433
+v 0.44660817 -0.03921409 0.01932745
+v 0.49422819 -0.02548511 0.01154002
+v 0.48283151 -0.03704390 0.00365105
+v 0.49624396 0.02314067 0.00394755
+v 0.47139093 0.04522894 0.01151538
+v 0.44676627 0.04575002 0.00589712
+f 7 3 4
+f 7 5 1
+f 7 4 5
+f 8 7 1
+f 8 3 7
+f 9 5 2
+f 9 1 5
+f 9 8 1
+f 9 2 8
+f 10 2 5
+f 10 8 2
+f 10 3 8
+f 11 4 3
+f 11 10 6
+f 11 3 10
+f 12 5 4
+f 12 11 6
+f 12 4 11
+f 12 10 5
+f 12 6 10
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_7/collision/model_normalized_collision_4.obj b/objects/objaverse/pan/pan_7/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c81332a711f5f7e1dbd1784130d7b828d4d9051e
--- /dev/null
+++ b/objects/objaverse/pan/pan_7/collision/model_normalized_collision_4.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v -0.16111874 -0.24652455 -0.00198464
+v -0.02525916 -0.15151558 0.01206193
+v -0.11500461 -0.22633852 0.01205054
+v -0.15909092 -0.15326630 -0.02286151
+v -0.04377411 -0.14737099 -0.03670388
+v -0.03214494 -0.15900046 0.01320694
+v -0.16133659 -0.23163278 -0.03670388
+v -0.03455544 -0.14679305 -0.02767868
+v -0.16137444 -0.24491026 -0.01205329
+v -0.15909092 -0.15326630 -0.04131804
+v -0.03825901 -0.15288556 -0.02390612
+v -0.09181905 -0.19927313 -0.03365916
+v -0.15247132 -0.24258225 -0.01055032
+v -0.04963434 -0.15666187 -0.03399640
+v -0.08371387 -0.19834032 -0.02390473
+v -0.15200740 -0.24349275 -0.00144486
+v -0.15149347 -0.22934949 -0.03398680
+v -0.09209892 -0.21182065 -0.01055032
+v -0.09086944 -0.21423328 0.01357545
+f 1 3 4
+f 6 2 4
+f 6 4 3
+f 8 4 2
+f 9 1 4
+f 9 4 7
+f 10 7 4
+f 10 5 7
+f 10 8 5
+f 10 4 8
+f 11 8 2
+f 11 2 6
+f 12 7 5
+f 13 1 9
+f 13 9 7
+f 14 12 5
+f 14 5 8
+f 14 8 12
+f 15 12 8
+f 15 8 11
+f 16 3 1
+f 16 1 13
+f 17 13 7
+f 17 7 12
+f 17 12 13
+f 18 15 11
+f 18 11 6
+f 18 13 12
+f 18 12 15
+f 19 18 6
+f 19 6 3
+f 19 13 18
+f 19 16 13
+f 19 3 16
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_7/collision/model_normalized_collision_5.obj b/objects/objaverse/pan/pan_7/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..847df50b7a04339d86738e9e00191655064c196d
--- /dev/null
+++ b/objects/objaverse/pan/pan_7/collision/model_normalized_collision_5.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v -0.34090910 0.11946097 -0.02286151
+v -0.34090910 0.11946097 -0.04131804
+v -0.34090910 0.19521855 -0.02286151
+v -0.35604205 0.22548515 -0.00343467
+v -0.43181819 0.11946097 -0.02286151
+v -0.40382614 0.18237802 -0.00379475
+v -0.39170237 0.18540542 -0.03645831
+v -0.38017671 0.21337980 -0.00190993
+v -0.34090910 0.19521855 -0.04131804
+v -0.43181819 0.11946097 -0.04131804
+v -0.43297743 0.15092325 -0.01876909
+v -0.36304836 0.20949861 -0.03278006
+v -0.34962690 0.21289519 -0.03620331
+v -0.39436910 0.20322377 -0.00230507
+v -0.42821024 0.14615605 -0.03747203
+v -0.37691652 0.20697978 -0.02442361
+v -0.38890083 0.19775533 -0.02575366
+f 1 2 3
+f 1 3 4
+f 6 5 1
+f 8 6 1
+f 8 1 4
+f 9 3 2
+f 10 2 1
+f 10 1 5
+f 10 9 2
+f 10 7 9
+f 11 10 5
+f 11 5 6
+f 13 4 3
+f 13 3 9
+f 13 12 4
+f 13 9 7
+f 13 7 12
+f 14 11 6
+f 14 6 8
+f 15 7 10
+f 15 10 11
+f 16 8 4
+f 16 4 12
+f 16 14 8
+f 17 7 15
+f 17 14 16
+f 17 16 12
+f 17 12 7
+f 17 15 11
+f 17 11 14
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_7/collision/model_normalized_collision_6.obj b/objects/objaverse/pan/pan_7/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea985fb2dc51dc0b9675733f332a02affbbbc05c
--- /dev/null
+++ b/objects/objaverse/pan/pan_7/collision/model_normalized_collision_6.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.00118854 -0.11866275 0.04013669
+v 0.07926942 -0.06546957 -0.00635566
+v 0.07992168 0.06270589 0.03115230
+v 0.00281875 0.11627637 0.04005870
+v 0.00264605 0.01261970 -0.03772289
+v 0.00763389 0.10922527 0.03982835
+v 0.07940229 -0.06450347 0.02942298
+v 0.00042658 -0.08744761 -0.02469664
+v 0.07987696 0.06401711 -0.00752061
+v 0.00600387 -0.11161157 0.03990633
+v 0.00255624 -0.01610775 -0.03751869
+v 0.00301984 -0.10448993 -0.01282630
+v 0.00039628 0.11452714 0.01266210
+v 0.00012622 -0.11784390 0.02784845
+v 0.00124170 0.08453979 -0.02572812
+v 0.00383504 0.10158211 -0.01385783
+f 6 3 4
+f 6 4 1
+f 7 1 2
+f 9 7 2
+f 9 3 7
+f 9 4 3
+f 10 6 1
+f 10 3 6
+f 10 7 3
+f 10 1 7
+f 11 8 5
+f 11 2 8
+f 11 9 2
+f 11 5 9
+f 12 8 2
+f 13 1 4
+f 13 4 9
+f 14 12 2
+f 14 2 1
+f 14 8 12
+f 14 13 8
+f 14 1 13
+f 15 5 8
+f 15 8 13
+f 15 9 5
+f 16 15 13
+f 16 13 9
+f 16 9 15
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_7/collision/model_normalized_collision_7.obj b/objects/objaverse/pan/pan_7/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6b9c1960570c08188d163569a9bc96f07251a8f6
--- /dev/null
+++ b/objects/objaverse/pan/pan_7/collision/model_normalized_collision_7.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v -0.46968279 0.11559375 0.04131800
+v -0.39939527 0.16279563 -0.04131804
+v -0.45622888 0.12417862 0.04088498
+v -0.39783081 0.20668559 0.04131800
+v -0.44579751 0.15199216 -0.00107559
+v -0.41476791 0.17816870 0.03997698
+v -0.43181819 0.11946097 -0.04131804
+v -0.44969440 0.15482365 0.04131800
+v -0.39289704 0.20175167 -0.01313294
+v -0.44609646 0.12644738 -0.03278132
+v -0.40129080 0.19499369 -0.01055032
+v -0.40685403 0.17025405 -0.03645849
+v -0.44949449 0.11302760 -0.03620317
+v -0.46535737 0.11338988 -0.00193848
+v -0.39790682 0.17645857 -0.03747203
+v -0.43159432 0.16469115 -0.01055032
+v -0.44357982 0.14031683 -0.02442134
+f 1 3 4
+f 6 2 4
+f 6 4 3
+f 7 3 1
+f 7 6 3
+f 7 2 6
+f 8 5 1
+f 8 1 4
+f 8 4 5
+f 9 4 2
+f 11 4 9
+f 12 2 7
+f 13 7 1
+f 13 12 7
+f 13 10 12
+f 14 1 5
+f 14 13 1
+f 14 10 13
+f 15 12 9
+f 15 9 2
+f 15 2 12
+f 16 11 9
+f 16 9 12
+f 16 5 4
+f 16 4 11
+f 17 14 5
+f 17 10 14
+f 17 5 16
+f 17 16 12
+f 17 12 10
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_7/collision/model_normalized_collision_8.obj b/objects/objaverse/pan/pan_7/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..32b69aa74786e40bd4a3808413b8fb901e8e4f00
--- /dev/null
+++ b/objects/objaverse/pan/pan_7/collision/model_normalized_collision_8.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v -0.34090910 0.19521855 -0.02286151
+v -0.28030304 0.21037006 -0.04131804
+v -0.28030304 0.21037006 -0.02286151
+v -0.29518493 0.25412214 0.04131800
+v -0.31650463 0.23766484 -0.02461394
+v -0.27988945 0.25321339 0.01200896
+v -0.36077858 0.21962915 0.04088501
+v -0.35606062 0.19521855 -0.04131804
+v -0.27827514 0.24302179 -0.02793662
+v -0.29626766 0.24580708 0.04131800
+v -0.33139287 0.23714816 -0.01055032
+v -0.34090910 0.19521855 -0.04131804
+v -0.35606062 0.19521855 -0.02286151
+v -0.27948905 0.23553378 -0.03724585
+v -0.28097522 0.24491738 0.01124489
+v -0.35219338 0.23308370 0.04131800
+v -0.34962690 0.21289519 -0.03620331
+v -0.33403588 0.24233599 0.04131800
+v -0.34671053 0.22232175 -0.02451933
+v -0.33280995 0.22477695 -0.03290760
+f 1 2 3
+f 7 1 3
+f 9 6 3
+f 9 3 2
+f 9 5 6
+f 10 6 4
+f 10 7 3
+f 11 6 5
+f 11 4 6
+f 12 8 2
+f 12 2 1
+f 12 1 8
+f 13 8 1
+f 13 1 7
+f 13 7 8
+f 14 5 9
+f 14 9 2
+f 14 2 8
+f 15 10 3
+f 15 3 6
+f 15 6 10
+f 16 10 4
+f 16 7 10
+f 17 8 7
+f 17 14 8
+f 18 16 4
+f 18 4 11
+f 18 11 16
+f 19 11 5
+f 19 16 11
+f 19 17 7
+f 19 7 16
+f 20 5 14
+f 20 14 17
+f 20 19 5
+f 20 17 19
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_7/collision/model_normalized_collision_9.obj b/objects/objaverse/pan/pan_7/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d597bc9e2027e0058dc6219ab96f246436ef1172
--- /dev/null
+++ b/objects/objaverse/pan/pan_7/collision/model_normalized_collision_9.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v -0.16035850 -0.25132422 0.04131800
+v -0.16133659 -0.23163278 -0.03670388
+v -0.15328528 -0.24041813 0.04062438
+v -0.27986281 -0.22624458 -0.04131804
+v -0.24720962 -0.25686166 -0.00143753
+v -0.16105339 -0.22517225 -0.03921824
+v -0.16137444 -0.24491026 -0.01205329
+v -0.24751851 -0.24366040 -0.03467960
+v -0.28094550 -0.24823190 0.04131800
+v -0.22257196 -0.25632726 -0.00137681
+v -0.27782436 -0.24367820 -0.02664635
+v -0.22222584 -0.24336033 -0.03440734
+v -0.26274098 -0.25925973 0.04131800
+v -0.27913737 -0.23681579 -0.03670388
+v -0.17710136 -0.24127760 -0.02555751
+v -0.20704173 -0.25871857 0.04131800
+v -0.27986284 -0.25654773 0.04131800
+v -0.28275375 -0.24449778 0.01000832
+v -0.26225763 -0.25620819 0.01378823
+f 6 3 2
+f 6 4 3
+f 7 2 3
+f 7 3 1
+f 9 1 3
+f 9 3 4
+f 10 7 1
+f 11 8 5
+f 12 7 10
+f 12 10 5
+f 12 5 8
+f 12 6 2
+f 12 8 4
+f 12 4 6
+f 13 1 9
+f 14 4 8
+f 14 8 11
+f 15 12 2
+f 15 2 7
+f 15 7 12
+f 16 10 1
+f 16 1 13
+f 16 13 5
+f 16 5 10
+f 17 13 9
+f 18 9 4
+f 18 4 14
+f 18 17 9
+f 18 14 11
+f 18 11 17
+f 19 17 11
+f 19 11 5
+f 19 5 13
+f 19 13 17
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_7/model.xml b/objects/objaverse/pan/pan_7/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..dd14791ff421439e7d5b1ae4b8f9336d4ff8fac9
--- /dev/null
+++ b/objects/objaverse/pan/pan_7/model.xml
@@ -0,0 +1,83 @@
+<mujoco model="pan_7">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
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+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
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diff --git a/objects/objaverse/pan/pan_7/visual/material.mtl b/objects/objaverse/pan/pan_7/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..33616803300962094e8955deb30562079542847b
--- /dev/null
+++ b/objects/objaverse/pan/pan_7/visual/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 250.00000000
+map_Kd material_0.jpeg
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_7/visual/model_normalized_0.obj b/objects/objaverse/pan/pan_7/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b94b59c988de6db0f51241a8d0bfc010e551883e
--- /dev/null
+++ b/objects/objaverse/pan/pan_7/visual/model_normalized_0.obj
@@ -0,0 +1,2297 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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+f 552/552/552 555/555/555 554/554/554
+f 489/489/489 561/561/561 562/562/562
+f 562/562/562 490/490/490 489/489/489
+f 529/529/529 532/532/532 527/527/527
+f 527/527/527 526/526/526 529/529/529
+f 544/544/544 531/531/531 530/530/530
+f 530/530/530 541/541/541 544/544/544
+f 538/538/538 563/563/563 564/564/564
+f 564/564/564 539/539/539 538/538/538
+f 542/542/542 565/565/565 566/566/566
+f 542/542/542 566/566/566 567/567/567
+f 567/567/567 543/543/543 542/542/542
+f 492/492/492 568/568/568 569/569/569
+f 569/569/569 493/493/493 492/492/492
+f 525/525/525 528/528/528 570/570/570
+f 525/525/525 570/570/570 571/571/571
+f 571/571/571 572/572/572 525/525/525
+f 391/391/391 405/405/405 392/392/392
+f 472/472/472 471/471/471 520/520/520
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_8/collision/model_normalized_collision_0.obj b/objects/objaverse/pan/pan_8/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c9e049db205420d80b62207972547e9c742c26c
--- /dev/null
+++ b/objects/objaverse/pan/pan_8/collision/model_normalized_collision_0.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.08423163 -0.19401574 0.00227103
+v 0.08753754 -0.17555759 -0.03053400
+v 0.08333334 -0.01309499 -0.00276813
+v 0.00757576 -0.01309499 -0.00276813
+v 0.00554878 -0.13533989 0.00056554
+v 0.08333334 -0.01309499 -0.03731325
+v 0.05374933 -0.19419414 0.00056554
+v 0.01224741 -0.01235502 -0.03346947
+v 0.01817740 -0.12890533 -0.01987856
+v 0.08485911 -0.19338745 -0.02452782
+v 0.03002785 -0.13058730 -0.02510749
+v 0.01484278 -0.10030136 -0.02519840
+v 0.06282361 -0.18512018 -0.01826172
+v 0.07349535 -0.17444830 -0.02674628
+f 1 2 3
+f 1 3 4
+f 5 1 4
+f 6 3 2
+f 7 1 5
+f 8 4 3
+f 8 3 6
+f 8 5 4
+f 8 6 2
+f 9 7 5
+f 10 2 1
+f 10 1 7
+f 11 8 2
+f 12 9 5
+f 12 5 8
+f 12 11 9
+f 12 8 11
+f 13 10 7
+f 13 7 9
+f 13 11 10
+f 13 9 11
+f 14 11 2
+f 14 2 10
+f 14 10 11
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_8/collision/model_normalized_collision_10.obj b/objects/objaverse/pan/pan_8/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d4d9a49547543af43b17f697a2e6b18864e44217
--- /dev/null
+++ b/objects/objaverse/pan/pan_8/collision/model_normalized_collision_10.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.48779264 0.07708059 0.03731325
+v 0.47659407 0.07530681 -0.01645718
+v 0.44896803 0.15706069 -0.00277344
+v 0.42401072 0.17606702 0.03731325
+v 0.43181819 0.09296562 -0.00276813
+v 0.44896803 0.15706069 0.03731325
+v 0.47772349 0.10062651 -0.00277344
+v 0.44253763 0.07555586 -0.03287988
+v 0.47998513 0.08691643 0.03731325
+v 0.47553863 0.08436172 -0.01403474
+v 0.47772349 0.10062651 0.03731325
+v 0.45592764 0.07465833 -0.02810694
+v 0.45043638 0.07958430 -0.00226900
+v 0.42407832 0.16098333 -0.02066780
+v 0.43122798 0.12296792 -0.02813825
+v 0.41853399 0.17059050 0.01425105
+v 0.44496311 0.14482923 -0.01378255
+v 0.45503012 0.08935254 -0.02567502
+v 0.43473733 0.15649119 -0.01540476
+f 6 3 4
+f 6 4 1
+f 7 1 2
+f 7 3 6
+f 9 5 1
+f 9 1 4
+f 9 4 5
+f 10 7 2
+f 11 7 6
+f 11 6 1
+f 11 1 7
+f 12 2 1
+f 12 1 8
+f 13 8 1
+f 13 1 5
+f 13 5 8
+f 14 4 3
+f 15 8 5
+f 15 5 14
+f 15 12 8
+f 16 14 5
+f 16 5 4
+f 16 4 14
+f 17 10 2
+f 17 3 7
+f 17 7 10
+f 18 2 12
+f 18 12 15
+f 18 17 2
+f 18 15 14
+f 18 14 17
+f 19 17 14
+f 19 14 3
+f 19 3 17
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_8/collision/model_normalized_collision_12.obj b/objects/objaverse/pan/pan_8/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b421853eeda246366aaa1cfc773f803a758d0a9
--- /dev/null
+++ b/objects/objaverse/pan/pan_8/collision/model_normalized_collision_12.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.30816715 -0.25527076 0.03731325
+v 0.31452474 -0.23290950 0.00407203
+v 0.31219088 -0.25037329 0.03731325
+v 0.18929600 -0.22583092 -0.00230818
+v 0.19099078 -0.26058793 0.00056554
+v 0.31075040 -0.22549975 -0.00090807
+v 0.18696674 -0.25569167 0.03731325
+v 0.30816715 -0.25527076 0.00056554
+v 0.19099078 -0.26058793 0.03731325
+v 0.18880655 -0.22891495 -0.00163258
+f 6 3 2
+f 6 4 3
+f 7 1 3
+f 7 3 4
+f 8 2 3
+f 8 3 1
+f 8 1 5
+f 8 6 2
+f 8 5 4
+f 8 4 6
+f 9 7 5
+f 9 5 1
+f 9 1 7
+f 10 7 4
+f 10 4 5
+f 10 5 7
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_8/collision/model_normalized_collision_13.obj b/objects/objaverse/pan/pan_8/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f7c53f1a6185f6027efaba527d1b1cca2c92a455
--- /dev/null
+++ b/objects/objaverse/pan/pan_8/collision/model_normalized_collision_13.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.48624073 -0.05996980 0.03731325
+v 0.49113968 -0.05594653 -0.00277344
+v 0.49050422 0.05995894 0.03731325
+v 0.47667591 0.08523034 0.02566167
+v 0.45651922 -0.02735922 -0.03119529
+v 0.49050422 0.05995894 -0.00277344
+v 0.48326444 0.07876302 0.03731325
+v 0.49113968 -0.05594653 0.03731325
+v 0.46112431 -0.05839166 -0.02730070
+v 0.46244978 -0.05860164 -0.00097644
+v 0.46070058 0.07709026 -0.02588813
+v 0.46975609 0.01601750 -0.02651507
+v 0.48779264 0.07708059 0.03731325
+v 0.47076223 -0.05991858 0.00391417
+v 0.47659407 0.07530681 -0.01645718
+v 0.45676898 0.01636032 -0.03180579
+v 0.47835894 -0.05632177 -0.01793778
+v 0.46950634 -0.02701641 -0.02590457
+f 6 3 2
+f 7 1 3
+f 8 1 2
+f 8 2 3
+f 8 3 1
+f 10 7 4
+f 10 1 7
+f 10 5 9
+f 11 10 4
+f 13 4 7
+f 13 7 3
+f 13 3 6
+f 14 9 2
+f 14 2 1
+f 14 10 9
+f 14 1 10
+f 15 11 4
+f 15 12 11
+f 15 6 12
+f 15 13 6
+f 15 4 13
+f 16 5 10
+f 16 10 11
+f 16 12 5
+f 16 11 12
+f 17 12 6
+f 17 6 2
+f 17 2 9
+f 18 9 5
+f 18 5 12
+f 18 17 9
+f 18 12 17
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_8/collision/model_normalized_collision_14.obj b/objects/objaverse/pan/pan_8/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c67833ef13a6b647bfc759d0c4db04544bb7a49e
--- /dev/null
+++ b/objects/objaverse/pan/pan_8/collision/model_normalized_collision_14.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.35745859 -0.22795995 0.03731325
+v 0.37069772 -0.19390358 -0.02700180
+v 0.37561621 -0.21870839 0.03731325
+v 0.26515152 -0.19491317 -0.00276813
+v 0.26434262 -0.22010850 -0.03240414
+v 0.34090910 -0.19491317 -0.00276813
+v 0.36530813 -0.21362890 -0.01896196
+v 0.26526039 -0.22590752 -0.00266537
+v 0.26515152 -0.19491317 -0.03731325
+v 0.37505383 -0.20246031 0.00432096
+v 0.35357163 -0.19002824 -0.03165231
+v 0.37121213 -0.22521621 0.03731325
+v 0.32238796 -0.21860328 -0.02697056
+v 0.35267416 -0.20341837 -0.02687950
+f 1 3 4
+f 6 4 3
+f 8 1 4
+f 8 4 5
+f 9 5 4
+f 10 6 3
+f 10 2 6
+f 10 7 2
+f 10 3 7
+f 11 6 2
+f 11 4 6
+f 11 9 4
+f 11 5 9
+f 12 7 3
+f 12 3 1
+f 12 1 7
+f 13 7 1
+f 13 5 11
+f 13 11 2
+f 13 8 5
+f 13 1 8
+f 14 13 2
+f 14 2 7
+f 14 7 13
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_8/collision/model_normalized_collision_15.obj b/objects/objaverse/pan/pan_8/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7194e4345ca8a0bdd50ea6f7dc6253da5d094582
--- /dev/null
+++ b/objects/objaverse/pan/pan_8/collision/model_normalized_collision_15.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.05303030 0.04751107 -0.00276813
+v 0.05303030 0.04751107 -0.03731325
+v 0.05615398 0.12167707 -0.03642514
+v 0.01097443 0.12925717 0.02666639
+v 0.00698967 0.04760368 -0.00217728
+v 0.05303030 0.12326865 -0.00276813
+v 0.01302635 0.04664775 -0.03156582
+v 0.00117891 0.11137642 0.02858196
+v 0.00674327 0.12369281 0.03057099
+v 0.01502931 0.11947090 -0.02166251
+v 0.01418889 0.08959609 -0.02697014
+f 1 2 3
+f 6 1 3
+f 6 3 4
+f 7 2 1
+f 7 1 5
+f 7 3 2
+f 8 5 1
+f 8 7 5
+f 9 6 4
+f 9 1 6
+f 9 8 1
+f 10 4 3
+f 10 9 4
+f 10 8 9
+f 11 10 3
+f 11 3 7
+f 11 7 8
+f 11 8 10
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_8/collision/model_normalized_collision_16.obj b/objects/objaverse/pan/pan_8/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ad413d007e439c2e761afd63af5558fda5292c9
--- /dev/null
+++ b/objects/objaverse/pan/pan_8/collision/model_normalized_collision_16.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.02481862 0.06059385 0.03731325
+v 0.00807835 0.06258298 -0.02850898
+v -0.00228895 0.06422341 0.00227755
+v 0.01334138 0.15063401 0.03731325
+v -0.02247694 0.07537513 -0.00277344
+v -0.01992436 0.06461843 0.03731325
+v -0.02440198 0.06052819 -0.00328150
+v -0.02247736 0.07537451 0.03731325
+v 0.01616514 0.14919525 -0.00659812
+v -0.01066365 0.06075193 -0.01961612
+v -0.00516181 0.11431877 -0.00277344
+v 0.01502931 0.11947090 -0.02166251
+v -0.00516181 0.11431877 0.03731325
+v 0.01021863 0.14450516 -0.00277344
+v -0.00777685 0.08534804 -0.01583444
+f 1 2 3
+f 3 2 4
+f 6 1 3
+f 6 3 4
+f 6 4 1
+f 7 1 5
+f 8 5 1
+f 8 1 4
+f 10 7 5
+f 10 2 1
+f 10 1 7
+f 11 5 8
+f 12 9 4
+f 12 4 2
+f 12 2 10
+f 13 11 8
+f 13 8 4
+f 13 4 11
+f 14 11 4
+f 14 4 9
+f 14 9 12
+f 15 12 10
+f 15 10 5
+f 15 5 11
+f 15 14 12
+f 15 11 14
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_8/collision/model_normalized_collision_17.obj b/objects/objaverse/pan/pan_8/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2246e8ea00537ab2b5b242fb5fc974f0357793f7
--- /dev/null
+++ b/objects/objaverse/pan/pan_8/collision/model_normalized_collision_17.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.30988218 0.22790862 -0.02588811
+v 0.31802262 0.24388542 0.02566187
+v 0.20543268 0.22372701 -0.03119532
+v 0.19162623 0.26068857 0.03731325
+v 0.29275091 0.25771226 -0.00277344
+v 0.18760228 0.25579234 0.03731325
+v 0.24915234 0.22397676 -0.03180577
+v 0.30809900 0.24380201 -0.01645717
+v 0.30987255 0.25500068 0.03731325
+v 0.19162623 0.26068857 -0.00277344
+v 0.18789109 0.23881011 0.00277736
+v 0.24880954 0.23696370 -0.02651487
+v 0.29275091 0.25771226 0.03731325
+v 0.31155534 0.25047395 0.03731325
+v 0.18949754 0.22867512 -0.02813855
+v 0.19140169 0.24695454 -0.01910171
+v 0.20577548 0.23671396 -0.02590442
+f 7 1 2
+f 7 2 3
+f 8 2 1
+f 9 8 5
+f 9 2 8
+f 9 4 6
+f 10 4 5
+f 10 6 4
+f 11 3 2
+f 11 2 6
+f 11 6 10
+f 12 8 1
+f 12 1 7
+f 12 7 3
+f 13 9 5
+f 13 5 4
+f 13 4 9
+f 14 9 6
+f 14 6 2
+f 14 2 9
+f 15 11 10
+f 15 3 11
+f 16 10 5
+f 16 5 8
+f 16 8 12
+f 16 15 10
+f 17 12 3
+f 17 3 15
+f 17 16 12
+f 17 15 16
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_8/collision/model_normalized_collision_18.obj b/objects/objaverse/pan/pan_8/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..271c2bc386ea8a4c7797c551efeb9eb8ce10fad8
--- /dev/null
+++ b/objects/objaverse/pan/pan_8/collision/model_normalized_collision_18.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.09848513 -0.02768948 0.02536326
+v -0.09848485 -0.02257787 -0.00219546
+v -0.09848489 0.02709548 0.02705813
+v -0.48207314 0.02164245 0.02507954
+v -0.47403297 -0.02801920 0.00496898
+v -0.11363637 0.02418140 -0.00146184
+v -0.49829340 -0.00413194 0.02838609
+v -0.09848485 -0.02840902 0.00496860
+v -0.09848485 0.02418140 -0.00146184
+v -0.48079364 0.02186174 0.00115528
+v -0.49630475 0.00633109 0.02788188
+v -0.47449966 -0.02718663 0.02563321
+v -0.49663241 -0.00400172 0.00095695
+v -0.48203499 -0.01886948 0.00012461
+v -0.49513859 0.00598164 0.00116381
+f 7 1 3
+f 8 5 2
+f 8 1 5
+f 8 3 1
+f 9 6 3
+f 9 2 6
+f 9 8 2
+f 9 3 8
+f 10 4 3
+f 10 3 6
+f 11 7 3
+f 11 3 4
+f 11 4 10
+f 12 7 5
+f 12 5 1
+f 12 1 7
+f 13 5 7
+f 14 10 6
+f 14 6 2
+f 14 2 5
+f 14 5 13
+f 15 11 10
+f 15 14 13
+f 15 10 14
+f 15 13 7
+f 15 7 11
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_8/collision/model_normalized_collision_19.obj b/objects/objaverse/pan/pan_8/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..701ebc5ac4123ebadd4d2d16907bf5fa6a289ec7
--- /dev/null
+++ b/objects/objaverse/pan/pan_8/collision/model_normalized_collision_19.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v -0.03787879 -0.04128515 0.01571706
+v -0.03787879 -0.03461656 -0.00447325
+v -0.02579011 0.04559652 -0.00444588
+v -0.05994442 0.03746880 0.03349690
+v -0.09848485 -0.02840902 0.00496860
+v -0.05303030 0.03746880 0.03349690
+v -0.05942772 -0.03544332 -0.00323805
+v -0.09848502 -0.02351657 0.02930522
+v -0.09848485 0.02418140 -0.00146184
+v -0.03787879 0.04128515 0.01571706
+v -0.05997362 -0.03723380 0.03359419
+v -0.05932428 0.03805710 -0.00148563
+v -0.09848485 -0.02257787 -0.00219546
+v -0.09848489 0.02709548 0.02705813
+v -0.09848513 -0.02768948 0.02536326
+v -0.05303030 -0.03746880 0.03349690
+v -0.09846257 0.01360217 0.03175563
+v -0.03787879 0.01117471 -0.01654944
+v -0.05592030 -0.02254765 -0.01134650
+v -0.03787879 -0.02030275 -0.01237350
+v -0.05573958 0.01285727 -0.01420576
+f 1 2 3
+f 7 2 1
+f 7 1 5
+f 10 1 3
+f 10 3 4
+f 10 4 6
+f 11 5 1
+f 11 6 4
+f 12 4 3
+f 12 3 9
+f 13 7 5
+f 14 12 9
+f 14 4 12
+f 15 11 8
+f 15 5 11
+f 15 13 5
+f 15 9 13
+f 15 14 9
+f 15 8 14
+f 16 11 1
+f 16 6 11
+f 16 10 6
+f 16 1 10
+f 17 11 4
+f 17 8 11
+f 17 14 8
+f 17 4 14
+f 19 2 7
+f 19 7 13
+f 20 18 3
+f 20 3 2
+f 20 19 18
+f 20 2 19
+f 21 13 9
+f 21 9 3
+f 21 3 18
+f 21 19 13
+f 21 18 19
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_8/collision/model_normalized_collision_2.obj b/objects/objaverse/pan/pan_8/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..470b1e663ca1c678a35ffe2a1ba5684161fa9f67
--- /dev/null
+++ b/objects/objaverse/pan/pan_8/collision/model_normalized_collision_2.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v 0.44213765 0.16389128 0.03731325
+v 0.44000089 0.16175459 -0.00642058
+v 0.38985442 0.21617608 -0.00277344
+v 0.30987255 0.25500068 0.03731325
+v 0.33980332 0.18170461 -0.03731325
+v 0.38985442 0.21617608 0.03731325
+v 0.43456189 0.17146727 -0.00277344
+v 0.38266668 0.16502609 -0.03226584
+v 0.34090910 0.18387471 -0.00276813
+v 0.30809900 0.24380201 -0.01645717
+v 0.33341871 0.24493163 -0.00277344
+v 0.42407832 0.16098333 -0.02066780
+v 0.31970846 0.24719413 0.03731325
+v 0.38044800 0.19311036 -0.02469023
+v 0.30834770 0.20974568 -0.03287984
+v 0.33341871 0.24493163 0.03731325
+v 0.31715393 0.24274660 -0.01403476
+v 0.39670864 0.16391668 -0.02847822
+v 0.37762142 0.21217174 -0.01378223
+v 0.31236705 0.21763724 -0.00226257
+v 0.30745014 0.22313572 -0.02810694
+v 0.39559923 0.17795878 -0.02469038
+v 0.32214431 0.22223816 -0.02567490
+v 0.32575758 0.19902623 -0.00276813
+f 6 4 1
+f 7 1 2
+f 7 2 3
+f 7 6 1
+f 7 3 6
+f 9 8 1
+f 9 5 8
+f 11 6 3
+f 11 10 4
+f 12 2 1
+f 12 1 8
+f 12 3 2
+f 13 9 1
+f 13 1 4
+f 13 4 9
+f 14 8 5
+f 15 5 9
+f 16 11 4
+f 16 4 6
+f 16 6 11
+f 17 10 11
+f 18 12 8
+f 18 8 14
+f 19 3 12
+f 19 12 14
+f 19 10 17
+f 19 17 11
+f 19 11 3
+f 20 4 15
+f 21 15 4
+f 21 4 10
+f 21 5 15
+f 22 18 14
+f 22 14 12
+f 22 12 18
+f 23 19 14
+f 23 10 19
+f 23 21 10
+f 23 14 5
+f 23 5 21
+f 24 20 15
+f 24 15 9
+f 24 9 4
+f 24 4 20
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_8/collision/model_normalized_collision_21.obj b/objects/objaverse/pan/pan_8/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c11e11eba592aa5949b2509be965011431e4b9f9
--- /dev/null
+++ b/objects/objaverse/pan/pan_8/collision/model_normalized_collision_21.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.00251482 -0.06014609 0.00196982
+v 0.01293417 -0.04254861 -0.03179381
+v -0.00228895 0.06422341 0.00227755
+v -0.02481782 0.06059409 0.01571715
+v -0.03787879 -0.02030275 -0.01237350
+v -0.02545348 -0.05658233 0.01571766
+v 0.00807835 0.06258298 -0.02850898
+v -0.01104042 -0.05669843 -0.01993245
+v 0.01302635 0.04664775 -0.03156582
+v -0.03787879 0.01117471 -0.01654944
+v -0.02440198 0.06052819 -0.00328150
+v -0.02477880 -0.05647481 -0.00359758
+v 0.00798528 -0.05848467 -0.02873647
+v -0.01066365 0.06075193 -0.01961612
+v -0.02545319 -0.05658162 0.00056554
+f 1 2 3
+f 6 1 3
+f 6 3 4
+f 6 4 5
+f 9 7 3
+f 9 3 2
+f 10 5 4
+f 10 7 9
+f 10 9 2
+f 11 4 3
+f 11 3 7
+f 11 10 4
+f 12 5 8
+f 13 2 1
+f 13 12 8
+f 13 1 12
+f 13 10 2
+f 13 8 5
+f 13 5 10
+f 14 11 7
+f 14 7 10
+f 14 10 11
+f 15 6 5
+f 15 5 12
+f 15 12 1
+f 15 1 6
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_8/collision/model_normalized_collision_22.obj b/objects/objaverse/pan/pan_8/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c0d30866074d9fa9ca93922883ffb3302f794e75
--- /dev/null
+++ b/objects/objaverse/pan/pan_8/collision/model_normalized_collision_22.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.31050801 -0.25490004 0.03731325
+v 0.36868746 -0.22026128 -0.00997825
+v 0.37121213 -0.22521621 0.03731325
+v 0.31012583 -0.22427374 -0.02718377
+v 0.30847578 -0.24206801 -0.01845300
+v 0.35226357 -0.21776405 -0.02166251
+v 0.31219088 -0.25037329 0.03731325
+v 0.34711113 -0.23795496 -0.00277344
+v 0.33340099 -0.24021760 0.03731325
+v 0.36505341 -0.22828060 -0.00334582
+v 0.34711113 -0.23795496 0.03731325
+v 0.31814042 -0.24056964 -0.01583521
+v 0.36526872 -0.22870317 0.03731325
+f 5 1 4
+f 6 3 2
+f 6 4 3
+f 6 5 4
+f 7 1 3
+f 7 4 1
+f 8 1 5
+f 8 6 2
+f 9 7 3
+f 9 3 4
+f 9 4 7
+f 10 8 2
+f 10 2 3
+f 11 3 1
+f 11 1 8
+f 12 8 5
+f 12 5 6
+f 12 6 8
+f 13 10 3
+f 13 8 10
+f 13 11 8
+f 13 3 11
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_8/collision/model_normalized_collision_24.obj b/objects/objaverse/pan/pan_8/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..82fd1a5a191913e27fec89470e27603be0983358
--- /dev/null
+++ b/objects/objaverse/pan/pan_8/collision/model_normalized_collision_24.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.09848499 -0.02620695 0.02761744
+v -0.41666860 0.01858928 0.02755886
+v -0.09848482 0.01720222 0.03084555
+v -0.40893721 0.01463318 0.03020999
+v -0.40141873 -0.02655192 0.02684043
+v -0.40861642 -0.01056867 0.03093090
+v -0.41666969 -0.01596119 0.02646208
+v -0.09848502 -0.02351657 0.02930522
+v -0.09846257 0.01360217 0.03175563
+v -0.40065521 -0.02311215 0.02858271
+f 1 2 3
+f 3 2 4
+f 6 4 2
+f 7 2 1
+f 7 1 5
+f 7 6 2
+f 8 5 1
+f 9 3 4
+f 9 4 6
+f 9 6 8
+f 9 8 1
+f 9 1 3
+f 10 7 5
+f 10 6 7
+f 10 8 6
+f 10 5 8
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_8/collision/model_normalized_collision_25.obj b/objects/objaverse/pan/pan_8/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c73c49a6ff5250db9bca26aa23cc09e6358388c8
--- /dev/null
+++ b/objects/objaverse/pan/pan_8/collision/model_normalized_collision_25.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.14362044 -0.21068908 -0.00267094
+v 0.14628716 -0.20545681 -0.03240359
+v 0.14369514 0.21465591 -0.00191301
+v 0.08095807 0.21883934 0.00056554
+v 0.07929427 -0.21799157 0.00056554
+v 0.14653080 0.20909168 -0.03110791
+v 0.08864683 -0.18959985 -0.02674640
+v 0.08894796 0.19341178 -0.02571821
+v 0.08639933 -0.20404715 -0.02166251
+v 0.08793886 0.20513863 -0.02133227
+v 0.10220453 -0.20276479 -0.02510778
+v 0.11714235 0.20729666 -0.02624417
+f 5 2 1
+f 5 1 3
+f 5 3 4
+f 6 4 3
+f 6 1 2
+f 6 3 1
+f 8 5 4
+f 8 6 2
+f 8 2 7
+f 9 2 5
+f 9 8 7
+f 9 5 8
+f 10 8 4
+f 11 9 7
+f 11 7 2
+f 11 2 9
+f 12 10 4
+f 12 4 6
+f 12 6 8
+f 12 8 10
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_8/collision/model_normalized_collision_26.obj b/objects/objaverse/pan/pan_8/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bae84015047acf5ddcf7ee13092f9c7729e3791a
--- /dev/null
+++ b/objects/objaverse/pan/pan_8/collision/model_normalized_collision_26.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.41389160 -0.19213818 0.00056554
+v 0.41105191 -0.15899537 -0.02571864
+v 0.41690207 -0.14969442 -0.00097284
+v 0.26515152 -0.14945863 -0.00276813
+v 0.26515152 -0.19491317 -0.03731325
+v 0.41216132 -0.14495327 -0.02950647
+v 0.38074914 -0.18929845 -0.02571848
+v 0.26515152 -0.19491317 -0.00276813
+v 0.26515152 -0.14945863 -0.03731325
+v 0.40565435 -0.18390085 -0.01683309
+f 1 3 4
+f 6 4 3
+f 6 1 2
+f 6 3 1
+f 7 1 5
+f 7 6 2
+f 7 5 6
+f 8 5 1
+f 8 1 4
+f 9 6 5
+f 9 4 6
+f 9 8 4
+f 9 5 8
+f 10 7 2
+f 10 2 1
+f 10 1 7
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_8/collision/model_normalized_collision_27.obj b/objects/objaverse/pan/pan_8/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..378ff2f0cc176a391912669c6d454ff2575335dd
--- /dev/null
+++ b/objects/objaverse/pan/pan_8/collision/model_normalized_collision_27.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.08333334 0.04751107 -0.00276813
+v 0.08333334 0.04751107 -0.03731325
+v 0.08672945 0.16532695 -0.03329354
+v 0.05466187 0.16709205 0.00367375
+v 0.05303030 0.04751107 -0.00276813
+v 0.08333334 0.16872320 -0.00276813
+v 0.05303030 0.04751107 -0.03731325
+v 0.05864500 0.16310868 -0.02571798
+f 1 2 3
+f 5 1 4
+f 6 1 3
+f 6 3 4
+f 6 4 1
+f 7 3 2
+f 7 2 1
+f 7 1 5
+f 7 5 4
+f 8 7 4
+f 8 4 3
+f 8 3 7
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_8/collision/model_normalized_collision_28.obj b/objects/objaverse/pan/pan_8/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b14c78056cdb0fb9f604b084060b04425fb6d8ba
--- /dev/null
+++ b/objects/objaverse/pan/pan_8/collision/model_normalized_collision_28.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.30816715 -0.25527076 0.00056554
+v 0.30847578 -0.24206801 -0.01845300
+v 0.31075040 -0.22549975 -0.00090807
+v 0.26434262 -0.22010850 -0.03240414
+v 0.26345709 -0.25997166 -0.00561031
+v 0.31012583 -0.22427374 -0.02718377
+v 0.30816715 -0.25527076 -0.00277344
+v 0.26399986 -0.23309549 -0.02711323
+v 0.26382478 -0.26229334 0.00056554
+v 0.27943988 -0.21976573 -0.03156622
+v 0.27909709 -0.23275270 -0.02627534
+v 0.26526039 -0.22590752 -0.00266537
+f 7 5 2
+f 7 2 6
+f 7 6 3
+f 7 3 1
+f 8 5 4
+f 8 2 5
+f 9 1 3
+f 9 7 1
+f 9 5 7
+f 10 3 6
+f 11 6 2
+f 11 2 8
+f 11 10 6
+f 11 8 4
+f 11 4 10
+f 12 9 3
+f 12 4 5
+f 12 5 9
+f 12 10 4
+f 12 3 10
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_8/collision/model_normalized_collision_3.obj b/objects/objaverse/pan/pan_8/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9545b0705e68c689f5047638d9d313434e0f013a
--- /dev/null
+++ b/objects/objaverse/pan/pan_8/collision/model_normalized_collision_3.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.08542329 -0.22111455 0.03731325
+v 0.08720718 -0.21761312 -0.00751608
+v 0.05612517 -0.13121213 -0.03432210
+v 0.00554878 -0.13533989 0.01571706
+v 0.01739437 -0.15649515 -0.00392041
+v 0.05303030 -0.13430711 -0.00276813
+v 0.08333334 -0.16461014 -0.00276813
+v 0.07629710 -0.21539731 -0.00392098
+v 0.01661588 -0.15706069 0.03731325
+v 0.01817740 -0.12890533 -0.01987856
+v 0.08485911 -0.19338745 -0.02452782
+v 0.02641949 -0.16091793 0.03731325
+v 0.01167763 -0.14736866 0.03731325
+v 0.07573127 -0.21617608 0.03731325
+v 0.08639933 -0.20404715 -0.02166251
+v 0.07187403 -0.20637248 0.03731325
+v 0.07797521 -0.20027130 -0.01826238
+v 0.04767224 -0.16996852 -0.01826155
+v 0.04319245 -0.14414477 -0.02674642
+v 0.02181121 -0.14220544 -0.01649898
+v 0.04341786 -0.13148483 -0.02988044
+f 7 1 2
+f 7 3 6
+f 8 2 1
+f 9 4 5
+f 10 5 4
+f 10 6 3
+f 10 4 6
+f 11 3 7
+f 12 7 6
+f 12 9 1
+f 13 6 4
+f 13 4 9
+f 13 12 6
+f 13 9 12
+f 14 8 1
+f 14 1 9
+f 14 9 5
+f 14 5 8
+f 15 11 7
+f 15 7 2
+f 15 2 8
+f 16 12 1
+f 16 1 7
+f 16 7 12
+f 17 15 8
+f 17 8 5
+f 18 17 5
+f 18 15 17
+f 19 3 11
+f 19 11 15
+f 19 15 18
+f 20 18 5
+f 20 5 10
+f 20 19 18
+f 20 10 19
+f 21 19 10
+f 21 10 3
+f 21 3 19
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_8/collision/model_normalized_collision_30.obj b/objects/objaverse/pan/pan_8/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..13c0a8fa5a292613700fc6964e6eea6427680274
--- /dev/null
+++ b/objects/objaverse/pan/pan_8/collision/model_normalized_collision_30.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.08333334 -0.01309499 -0.00276813
+v 0.08333334 -0.01309499 -0.03731325
+v 0.08333334 0.04751107 -0.03731325
+v 0.00698967 0.04760368 -0.00217728
+v 0.00757576 -0.01309499 -0.00276813
+v 0.08333334 0.04751107 -0.00276813
+v 0.01199782 0.00135610 -0.03407996
+v 0.01224741 -0.01235502 -0.03346947
+v 0.01302635 0.04664775 -0.03156582
+f 5 2 1
+f 5 1 4
+f 6 3 4
+f 6 4 1
+f 6 1 2
+f 6 2 3
+f 7 3 2
+f 7 5 4
+f 8 7 2
+f 8 2 5
+f 8 5 7
+f 9 7 4
+f 9 4 3
+f 9 3 7
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_8/collision/model_normalized_collision_8.obj b/objects/objaverse/pan/pan_8/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..153a219b4b5f2d26c176195f065c6c4117440234
--- /dev/null
+++ b/objects/objaverse/pan/pan_8/collision/model_normalized_collision_8.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.40151516 -0.14945863 -0.00276813
+v 0.39811938 -0.14606272 -0.03329423
+v 0.38668761 0.18419895 -0.00005119
+v 0.14470628 0.22782607 0.00283340
+v 0.14393940 -0.14945863 -0.00276813
+v 0.30745014 0.22313572 -0.02810694
+v 0.40151516 0.12326865 -0.03731325
+v 0.14393940 -0.14945863 -0.03731325
+v 0.31064461 0.22940492 0.00045102
+v 0.40151516 0.12326865 -0.00276813
+v 0.38155734 0.17906822 -0.02847804
+v 0.14742831 0.22248168 -0.02633495
+v 0.34090803 0.21417564 0.00056873
+v 0.33773630 0.20795074 -0.02801573
+f 1 3 4
+f 5 1 4
+f 7 1 2
+f 8 2 1
+f 8 1 5
+f 8 5 4
+f 8 7 2
+f 10 7 3
+f 10 3 1
+f 10 1 7
+f 11 3 7
+f 12 8 4
+f 12 6 7
+f 12 7 8
+f 12 9 6
+f 12 4 9
+f 13 9 4
+f 13 4 3
+f 14 11 7
+f 14 7 6
+f 14 6 9
+f 14 9 13
+f 14 13 3
+f 14 3 11
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_8/collision/model_normalized_collision_9.obj b/objects/objaverse/pan/pan_8/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..182cf0e1ab1a9a746046bc8d1d1e20ac496b0833
--- /dev/null
+++ b/objects/objaverse/pan/pan_8/collision/model_normalized_collision_9.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.45163129 -0.15183389 0.00056554
+v 0.46244978 -0.05860164 -0.00097644
+v 0.44479017 0.12215776 0.00386615
+v 0.40151516 0.12326865 -0.00276813
+v 0.39811938 -0.14606272 -0.03329423
+v 0.40151516 -0.14945863 -0.00276813
+v 0.46220410 0.07785638 0.00044035
+v 0.45583344 -0.05755375 -0.02951953
+v 0.43793066 -0.14485303 -0.02133229
+v 0.45592764 0.07465833 -0.02810694
+v 0.44008869 -0.11564956 -0.02624429
+v 0.43984505 0.11963848 -0.02558412
+v 0.40151516 0.12326865 -0.03731325
+v 0.42620343 -0.14384386 -0.02571864
+f 6 1 3
+f 6 3 4
+f 6 5 1
+f 6 4 5
+f 7 1 2
+f 7 3 1
+f 8 2 1
+f 9 8 1
+f 9 1 5
+f 10 7 2
+f 10 2 8
+f 11 5 8
+f 11 8 9
+f 12 3 7
+f 12 7 10
+f 13 10 8
+f 13 8 5
+f 13 12 10
+f 13 5 4
+f 13 4 3
+f 13 3 12
+f 14 11 9
+f 14 9 5
+f 14 5 11
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_8/visual/material.mtl b/objects/objaverse/pan/pan_8/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..33616803300962094e8955deb30562079542847b
--- /dev/null
+++ b/objects/objaverse/pan/pan_8/visual/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 250.00000000
+map_Kd material_0.jpeg
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_8/visual/model_normalized_0.obj b/objects/objaverse/pan/pan_8/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..109481f19a3ae8db0ff43e8b27128d7e0db717a4
--- /dev/null
+++ b/objects/objaverse/pan/pan_8/visual/model_normalized_0.obj
@@ -0,0 +1,1592 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
+v 0.48692295 0.08257207 -0.00277344
+v 0.44896805 0.15706069 -0.00277344
+v 0.44896805 0.15706069 0.03731325
+v 0.48692295 0.08257207 0.03731325
+v 0.38985442 0.21617609 -0.00277344
+v 0.38985442 0.21617609 0.03731325
+v 0.38985442 0.21617609 -0.00277344
+v 0.31536403 0.25413099 -0.00277344
+v 0.31536403 0.25413099 0.03731325
+v 0.38985442 0.21617609 0.03731325
+v 0.23279196 0.26720804 -0.00277344
+v 0.23279196 0.26720804 0.03731325
+v 0.15021990 0.25413099 -0.00277344
+v 0.15021990 0.25413099 0.03731325
+v 0.07573128 0.21617609 -0.00277344
+v 0.07573128 0.21617609 0.03731325
+v 0.07573128 0.21617609 -0.00277344
+v 0.01661588 0.15706069 -0.00277344
+v 0.01661588 0.15706069 0.03731325
+v 0.07573128 0.21617609 0.03731325
+v -0.02133726 0.08257207 -0.00277344
+v -0.02133726 0.08257207 0.03731325
+v 0.50000000 0.00000000 -0.00277344
+v 0.50000000 0.00000000 0.03731325
+v 0.40519936 0.12526073 -0.03731325
+v 0.43546853 0.06585367 -0.03731325
+v 0.23279196 0.00000000 -0.03731325
+v 0.35805269 0.17240563 -0.03731325
+v 0.29864563 0.20267657 -0.03731325
+v 0.23279196 0.21310568 -0.03731325
+v 0.16694006 0.20267657 -0.03731325
+v 0.10753300 0.17240563 -0.03731325
+v 0.06038634 0.12526073 -0.03731325
+v 0.03011716 0.06585367 -0.03731325
+v 0.01968628 0.00000000 -0.03731325
+v 0.44589765 0.00000000 -0.03731325
+v 0.48692295 0.08257207 -0.00277344
+v 0.47185200 0.07767569 -0.02166251
+v 0.43614908 0.14774696 -0.02166251
+v 0.44896805 0.15706069 -0.00277344
+v 0.47185200 0.07767569 -0.02166251
+v 0.43614908 0.14774696 -0.02166251
+v 0.38053892 0.20335711 -0.02166251
+v 0.38985442 0.21617609 -0.00277344
+v 0.38053892 0.20335711 -0.02166251
+v 0.38985442 0.21617609 -0.00277344
+v 0.31046765 0.23906004 -0.02166251
+v 0.31536403 0.25413099 -0.00277344
+v 0.23279196 0.25136109 -0.02166251
+v 0.23279196 0.26720804 -0.00277344
+v 0.15511804 0.23906004 -0.02166251
+v 0.15021990 0.25413099 -0.00277344
+v 0.08504500 0.20335711 -0.02166251
+v 0.07573128 0.21617609 -0.00277344
+v 0.07573128 0.21617609 -0.00277344
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diff --git a/objects/objaverse/pan/pan_8/visual/model_normalized_1.obj b/objects/objaverse/pan/pan_8/visual/model_normalized_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..04d216b42d741ab00b47598412ef2ba6341e6157
--- /dev/null
+++ b/objects/objaverse/pan/pan_8/visual/model_normalized_1.obj
@@ -0,0 +1,1330 @@
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diff --git a/objects/objaverse/pan/pan_8/visual/model_normalized_2.obj b/objects/objaverse/pan/pan_8/visual/model_normalized_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..86c2cc80eafc0341cb757aab0a01eba668be57da
--- /dev/null
+++ b/objects/objaverse/pan/pan_8/visual/model_normalized_2.obj
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diff --git a/objects/objaverse/steak/.DS_Store b/objects/objaverse/steak/.DS_Store
new file mode 100644
index 0000000000000000000000000000000000000000..811d9c6f892aa0192a9cb17284df1b409d8c31f2
Binary files /dev/null and b/objects/objaverse/steak/.DS_Store differ
diff --git a/objects/objaverse/steak/steak_10/collision/model_normalized_collision_0.obj b/objects/objaverse/steak/steak_10/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..94546409111dbe36fb5a2664dc3b7af5638a2491
--- /dev/null
+++ b/objects/objaverse/steak/steak_10/collision/model_normalized_collision_0.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/objects/objaverse/steak/steak_10/collision/model_normalized_collision_1.obj b/objects/objaverse/steak/steak_10/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e39eb7700734ba79a5bff42bb043a123e654c410
--- /dev/null
+++ b/objects/objaverse/steak/steak_10/collision/model_normalized_collision_1.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/objects/objaverse/steak/steak_10/collision/model_normalized_collision_10.obj b/objects/objaverse/steak/steak_10/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5bc0d4c7cfe9ed85a1d26f4fe2ac457ea5e1b26d
--- /dev/null
+++ b/objects/objaverse/steak/steak_10/collision/model_normalized_collision_10.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v -0.17717096 -0.06090729 0.00393960
+v -0.29334751 -0.01817978 0.07393069
+v -0.32593324 0.00999106 0.08315462
+v -0.17717097 0.02902716 -0.00410294
+v -0.30046681 -0.03906948 -0.03251220
+v -0.20747399 -0.02101596 0.07425775
+v -0.26729996 -0.06609793 -0.03780649
+v -0.29892940 -0.03755882 0.01815916
+v -0.31189612 -0.00487638 -0.03464504
+v -0.17717095 -0.02295444 0.07084069
+v -0.20747398 -0.00994908 0.09376580
+v -0.28749797 -0.04710054 0.01402955
+v -0.22262555 -0.00154786 -0.05799864
+v -0.31226939 -0.00544257 0.07819756
+v -0.31102730 -0.02706778 -0.00872275
+v -0.32181952 0.00919092 0.00889825
+v -0.31031804 -0.01985547 -0.03434110
+v -0.28529966 -0.05420167 -0.03250864
+v -0.22262552 0.00583009 -0.04499326
+v -0.31028256 -0.02664832 0.00638039
+f 6 2 1
+f 10 1 4
+f 10 6 1
+f 11 2 6
+f 11 6 10
+f 11 10 4
+f 11 4 3
+f 12 7 1
+f 12 1 2
+f 13 4 1
+f 13 1 7
+f 14 3 8
+f 14 11 3
+f 14 2 11
+f 14 12 2
+f 14 8 12
+f 15 5 8
+f 16 3 4
+f 16 4 9
+f 16 15 3
+f 17 7 5
+f 17 5 15
+f 17 16 9
+f 17 15 16
+f 17 13 7
+f 17 9 13
+f 18 12 8
+f 18 8 5
+f 18 5 7
+f 18 7 12
+f 19 13 9
+f 19 9 4
+f 19 4 13
+f 20 15 8
+f 20 8 3
+f 20 3 15
\ No newline at end of file
diff --git a/objects/objaverse/steak/steak_10/collision/model_normalized_collision_11.obj b/objects/objaverse/steak/steak_10/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f3266881443df61891a643a23a701536ed4a78bc
--- /dev/null
+++ b/objects/objaverse/steak/steak_10/collision/model_normalized_collision_11.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.27167743 -0.14550062 -0.16263536
+v 0.30038590 -0.12219918 -0.15763478
+v 0.29097877 -0.11867850 -0.10311927
+v -0.26476751 -0.02247758 -0.09489228
+v -0.22026317 -0.05342910 -0.14945171
+v 0.29252602 -0.02386964 -0.09734613
+v -0.17386962 -0.13976792 -0.13880224
+v 0.30219199 -0.12093302 -0.12921503
+v 0.29252604 -0.05356931 -0.14969906
+v -0.25738663 -0.04767164 -0.09056340
+v 0.25945495 -0.14002904 -0.13732558
+v -0.18619210 -0.14732293 -0.16442785
+v 0.29529546 -0.12819860 -0.15954340
+v 0.29617983 -0.12577178 -0.13118761
+v -0.19849493 -0.11195342 -0.10630178
+v 0.27019906 -0.14219845 -0.14840360
+v -0.20844698 -0.12075422 -0.16119563
+v -0.24163523 -0.07309140 -0.09274611
+v -0.18351150 -0.14255579 -0.15160974
+v 0.28532531 -0.12699048 -0.11811630
+v -0.19498811 -0.12821295 -0.13549093
+f 8 6 3
+f 8 2 6
+f 9 6 2
+f 9 5 4
+f 9 4 6
+f 10 6 4
+f 10 3 6
+f 11 3 7
+f 12 11 7
+f 12 1 11
+f 13 2 8
+f 13 9 2
+f 13 1 9
+f 14 8 3
+f 14 13 8
+f 14 1 13
+f 15 7 3
+f 16 11 1
+f 16 1 14
+f 17 9 1
+f 17 1 12
+f 17 5 9
+f 17 4 5
+f 17 10 4
+f 18 15 3
+f 18 3 10
+f 18 17 12
+f 18 10 17
+f 19 12 7
+f 19 7 15
+f 20 3 11
+f 20 11 16
+f 20 16 14
+f 20 14 3
+f 21 18 12
+f 21 15 18
+f 21 19 15
+f 21 12 19
\ No newline at end of file
diff --git a/objects/objaverse/steak/steak_10/collision/model_normalized_collision_12.obj b/objects/objaverse/steak/steak_10/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..08cfcb13ec6f733fff53dedc4f8f22ba2aa81c03
--- /dev/null
+++ b/objects/objaverse/steak/steak_10/collision/model_normalized_collision_12.obj
@@ -0,0 +1,114 @@
+# https://github.com/mikedh/trimesh
+v 0.25264707 0.16698778 0.37762034
+v 0.24681706 0.17126897 0.38744876
+v 0.00464723 0.16349684 0.39950635
+v 0.02747247 0.30389522 0.48041862
+v 0.21538990 0.28223042 0.44222927
+v 0.15365533 0.24034204 0.49151859
+v 0.18646541 0.15699419 0.38804377
+v 0.23071859 0.20970544 0.43595789
+v 0.00464721 0.23955057 0.36699596
+v 0.03039244 0.22832288 0.49141382
+v 0.18536583 0.29535780 0.46536949
+v 0.21363192 0.17805166 0.41999543
+v 0.25063952 0.25183857 0.38865622
+v 0.01037597 0.29515769 0.46501674
+v 0.02747247 0.28650869 0.49028202
+v 0.19895801 0.26265956 0.47929534
+v 0.23697534 0.17657073 0.40222872
+v 0.19007034 0.21868434 0.47599981
+v 0.01168614 0.20360481 0.46188822
+v 0.24567854 0.18726081 0.40155896
+v 0.00464724 0.26449808 0.41097195
+v 0.02055966 0.26148170 0.49248535
+v 0.16700859 0.28641736 0.47496912
+v 0.19961281 0.28946855 0.46519643
+v 0.23045554 0.24635727 0.43672763
+v 0.15238859 0.25981657 0.49087112
+v 0.04534337 0.22638837 0.48957967
+v 0.19990760 0.23913291 0.47749649
+v 0.22125912 0.19265155 0.43172421
+v 0.00464722 0.17650220 0.42243147
+v 0.19268468 0.20565578 0.46165773
+v 0.01332114 0.21836945 0.47544442
+v 0.01981064 0.28909565 0.47969061
+v 0.18266298 0.29564392 0.46587384
+v 0.19751174 0.27172573 0.47578018
+v 0.24074137 0.26314950 0.40859447
+v 0.24376797 0.24693286 0.40973551
+v 0.01871910 0.25282969 0.49084070
+v 0.22963528 0.27173923 0.42373597
+f 7 3 1
+f 9 1 3
+f 12 7 1
+f 13 1 9
+f 13 9 4
+f 14 4 9
+f 15 4 14
+f 17 12 1
+f 17 1 2
+f 17 2 8
+f 20 1 13
+f 20 8 2
+f 20 2 1
+f 21 14 9
+f 22 10 6
+f 23 4 15
+f 24 5 11
+f 25 24 16
+f 25 16 8
+f 26 6 16
+f 26 22 6
+f 26 15 22
+f 26 23 15
+f 27 18 6
+f 27 6 10
+f 27 10 19
+f 28 16 6
+f 28 6 18
+f 28 18 8
+f 28 8 16
+f 29 17 8
+f 29 8 18
+f 29 12 17
+f 30 3 7
+f 30 7 12
+f 30 14 21
+f 30 21 9
+f 30 9 3
+f 31 27 19
+f 31 18 27
+f 31 29 18
+f 31 12 29
+f 31 30 12
+f 31 19 30
+f 32 19 10
+f 32 30 19
+f 32 14 30
+f 33 22 15
+f 33 15 14
+f 33 14 22
+f 34 4 23
+f 34 11 5
+f 34 24 11
+f 35 16 24
+f 35 26 16
+f 35 23 26
+f 35 34 23
+f 35 24 34
+f 36 13 4
+f 37 20 13
+f 37 36 25
+f 37 13 36
+f 37 25 8
+f 37 8 20
+f 38 32 10
+f 38 10 22
+f 38 22 14
+f 38 14 32
+f 39 25 36
+f 39 5 24
+f 39 24 25
+f 39 34 5
+f 39 36 4
+f 39 4 34
\ No newline at end of file
diff --git a/objects/objaverse/steak/steak_10/collision/model_normalized_collision_13.obj b/objects/objaverse/steak/steak_10/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c6b91d31235231955a570807e9b8499ac9afbd9e
--- /dev/null
+++ b/objects/objaverse/steak/steak_10/collision/model_normalized_collision_13.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.24574766 -0.17169065 -0.23495157
+v 0.30038590 -0.12219918 -0.15763478
+v 0.25890212 -0.15080828 -0.16115700
+v 0.24707148 -0.10083857 -0.23302257
+v 0.23985000 -0.14155067 -0.29276846
+v 0.26951743 -0.14421633 -0.15455266
+v 0.24155715 -0.17033707 -0.26416511
+v 0.28206631 -0.09794296 -0.22791840
+v 0.27901568 -0.14101131 -0.16014255
+v 0.29529546 -0.12819860 -0.15954340
+v 0.24549951 -0.13010308 -0.28460838
+v 0.29422820 -0.12207618 -0.18403579
+v 0.25169783 -0.16511590 -0.23274646
+v 0.27199561 -0.13414707 -0.22667022
+v 0.28954997 -0.12884471 -0.18577390
+f 1 3 4
+f 6 2 4
+f 6 4 3
+f 7 1 4
+f 7 4 5
+f 8 4 2
+f 9 6 3
+f 9 3 1
+f 10 7 2
+f 10 9 1
+f 10 2 6
+f 10 6 9
+f 11 8 5
+f 11 5 4
+f 11 4 8
+f 12 8 2
+f 13 10 1
+f 13 1 7
+f 13 7 10
+f 14 12 7
+f 14 7 5
+f 14 5 8
+f 14 8 12
+f 15 12 2
+f 15 2 7
+f 15 7 12
\ No newline at end of file
diff --git a/objects/objaverse/steak/steak_10/collision/model_normalized_collision_14.obj b/objects/objaverse/steak/steak_10/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..989f1b174da9ab548b15c14cd6530cabe0d01269
--- /dev/null
+++ b/objects/objaverse/steak/steak_10/collision/model_normalized_collision_14.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v 0.33139807 -0.01084354 0.07650159
+v 0.35423973 0.02548562 0.08102003
+v 0.32890284 0.02363639 0.13451794
+v -0.36319942 0.11475261 0.14700900
+v -0.34019316 0.04378470 0.08599180
+v 0.33798057 0.11337391 0.14457895
+v 0.34334336 0.00145794 0.07783552
+v -0.29499633 -0.00244051 0.10348046
+v 0.35070330 0.05565751 0.12623684
+v -0.34481097 0.04701606 0.14340895
+v 0.35400764 0.08313361 0.09127298
+v 0.33911347 0.00498772 0.09061137
+v -0.30674586 -0.00925399 0.07790881
+v 0.30444811 -0.00419702 0.10332987
+v 0.35219571 0.03013256 0.09335499
+v -0.35961496 0.08602849 0.14716563
+v -0.32076365 0.02339331 0.13778282
+v -0.34784277 0.08507875 0.09470167
+v 0.35213189 0.07041489 0.12658649
+v 0.33693863 0.02195426 0.11969286
+v -0.32961847 0.01644875 0.08241025
+v 0.32692761 0.01179134 0.11731640
+v -0.30436610 -0.00483474 0.09115915
+v -0.32842190 0.02422285 0.12436046
+v 0.35034089 0.10692048 0.13320323
+v 0.32817522 -0.00544863 0.08830822
+f 9 6 3
+f 10 3 6
+f 11 4 6
+f 11 2 5
+f 12 3 1
+f 12 1 7
+f 13 5 2
+f 13 2 7
+f 13 7 1
+f 14 13 1
+f 14 8 13
+f 15 7 2
+f 15 2 9
+f 16 10 6
+f 16 6 4
+f 16 5 10
+f 17 3 10
+f 17 14 3
+f 17 8 14
+f 18 11 5
+f 18 4 11
+f 18 16 4
+f 18 5 16
+f 19 9 2
+f 19 2 11
+f 20 12 7
+f 20 3 12
+f 20 7 15
+f 20 15 9
+f 20 9 3
+f 21 10 5
+f 21 5 13
+f 22 1 3
+f 22 3 14
+f 23 17 13
+f 23 13 8
+f 23 8 17
+f 24 17 10
+f 24 13 17
+f 24 21 13
+f 24 10 21
+f 25 19 11
+f 25 11 6
+f 25 6 9
+f 25 9 19
+f 26 22 14
+f 26 14 1
+f 26 1 22
\ No newline at end of file
diff --git a/objects/objaverse/steak/steak_10/collision/model_normalized_collision_15.obj b/objects/objaverse/steak/steak_10/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9f3fa2e66bf2017e4d4f6c116a6a939386165cab
--- /dev/null
+++ b/objects/objaverse/steak/steak_10/collision/model_normalized_collision_15.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.35694530 0.00957783 0.05138476
+v 0.35114720 0.01540731 0.07786914
+v -0.32961847 0.01644875 0.08241025
+v -0.34605054 0.08161560 0.08859704
+v 0.35457807 0.07946627 0.08480839
+v -0.32853393 0.01227219 0.05475255
+v -0.34425831 0.07090282 0.08660513
+v -0.33880458 0.06761413 0.06391607
+v 0.35658915 0.06653708 0.06201750
+f 1 2 3
+f 5 2 1
+f 5 3 2
+f 5 4 3
+f 6 1 3
+f 7 6 3
+f 7 3 4
+f 8 1 6
+f 8 7 4
+f 8 6 7
+f 9 5 1
+f 9 1 8
+f 9 8 4
+f 9 4 5
\ No newline at end of file
diff --git a/objects/objaverse/steak/steak_10/collision/model_normalized_collision_16.obj b/objects/objaverse/steak/steak_10/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..561f785893cb1045f643f6ae0a8115ac84226ead
--- /dev/null
+++ b/objects/objaverse/steak/steak_10/collision/model_normalized_collision_16.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.17559852 -0.23771596 -0.35729102
+v 0.25287740 -0.16278331 -0.23600802
+v 0.17131390 -0.18708395 -0.21847744
+v 0.17131390 -0.12403557 -0.27391293
+v 0.21574695 -0.16420311 -0.34471813
+v 0.17131390 -0.16761586 -0.35073377
+v 0.19205424 -0.21421179 -0.27166603
+v 0.21178256 -0.19641419 -0.33513024
+v 0.24707148 -0.12403557 -0.27391293
+v 0.17131370 -0.21853409 -0.27391589
+v 0.21304410 -0.16939455 -0.34903957
+v 0.20123618 -0.22008098 -0.32150840
+v 0.22482033 -0.18782235 -0.23926553
+v 0.24549951 -0.13010308 -0.28460838
+v 0.19853291 -0.19975930 -0.24415203
+v 0.19961168 -0.21022088 -0.34754040
+v 0.23840587 -0.17748744 -0.23552302
+v 0.20272839 -0.21774040 -0.31291805
+v 0.18944373 -0.22338001 -0.35256469
+f 3 2 4
+f 6 4 5
+f 9 5 4
+f 9 4 2
+f 10 6 1
+f 10 3 4
+f 10 4 6
+f 10 1 7
+f 11 6 5
+f 11 1 6
+f 12 7 1
+f 12 8 2
+f 14 2 8
+f 14 9 2
+f 14 5 9
+f 14 11 5
+f 14 8 11
+f 15 10 7
+f 15 3 10
+f 15 13 3
+f 15 7 13
+f 16 11 8
+f 16 8 12
+f 17 2 3
+f 17 3 13
+f 17 12 2
+f 18 13 7
+f 18 7 12
+f 18 17 13
+f 18 12 17
+f 19 1 11
+f 19 11 16
+f 19 16 12
+f 19 12 1
\ No newline at end of file
diff --git a/objects/objaverse/steak/steak_10/collision/model_normalized_collision_17.obj b/objects/objaverse/steak/steak_10/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cb3bb5b3a9cf4ac64112ab06179570cdc3e2d3e2
--- /dev/null
+++ b/objects/objaverse/steak/steak_10/collision/model_normalized_collision_17.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v -0.26808005 0.08652791 0.26382991
+v -0.26808005 0.09953328 0.28675502
+v -0.35914960 0.18340490 0.26802506
+v -0.25957393 0.22939164 0.34908805
+v -0.26032379 0.15159222 0.35773349
+v -0.26808006 0.18752931 0.27529541
+v -0.33782500 0.09430218 0.25901264
+v -0.35668504 0.14503418 0.28966829
+v -0.32347214 0.10166783 0.28519106
+v -0.26029961 0.20284407 0.36300992
+v -0.35862880 0.13134378 0.26314212
+v -0.26808046 0.11622787 0.31618317
+v -0.34542150 0.12521585 0.29479467
+v -0.33261117 0.13688024 0.30772205
+v -0.35785074 0.16642884 0.28015673
+v -0.34943051 0.10740041 0.25993753
+v -0.29604436 0.11700244 0.31284021
+v -0.33547893 0.11491627 0.29523868
+v -0.27159017 0.15350435 0.35182611
+v -0.26861374 0.20048250 0.35586220
+v -0.35908905 0.18382814 0.26896744
+v -0.34119448 0.11433789 0.28574747
+v -0.35750593 0.13589174 0.27563758
+v -0.28693157 0.13943195 0.33629812
+v -0.32801998 0.16989005 0.30908247
+v -0.35538091 0.18560704 0.27190688
+f 5 2 1
+f 5 1 4
+f 6 4 1
+f 7 6 1
+f 7 3 6
+f 9 7 1
+f 9 1 2
+f 10 5 4
+f 12 9 2
+f 12 2 5
+f 14 10 8
+f 14 8 13
+f 16 11 3
+f 16 3 7
+f 17 12 5
+f 17 9 12
+f 18 7 9
+f 18 9 17
+f 18 17 5
+f 19 5 10
+f 19 10 14
+f 19 14 13
+f 20 10 4
+f 20 4 15
+f 20 8 10
+f 21 3 11
+f 21 11 8
+f 21 8 15
+f 22 16 7
+f 22 13 16
+f 22 18 13
+f 22 7 18
+f 23 16 13
+f 23 13 8
+f 23 8 11
+f 23 11 16
+f 24 18 5
+f 24 13 18
+f 24 19 13
+f 24 5 19
+f 25 20 15
+f 25 15 8
+f 25 8 20
+f 26 3 21
+f 26 6 3
+f 26 4 6
+f 26 21 15
+f 26 15 4
\ No newline at end of file
diff --git a/objects/objaverse/steak/steak_10/collision/model_normalized_collision_18.obj b/objects/objaverse/steak/steak_10/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2fdf89a03057e2dc21d7039c9c8d64a3bd7cf271
--- /dev/null
+++ b/objects/objaverse/steak/steak_10/collision/model_normalized_collision_18.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v 0.07567786 -0.29167472 -0.41875021
+v 0.13844763 -0.21659707 -0.43707493
+v 0.14101087 -0.20469348 -0.41609204
+v -0.18493969 -0.20314288 -0.41335870
+v -0.10072985 -0.24788567 -0.49222855
+v 0.13403474 -0.25718797 -0.41370652
+v 0.05537208 -0.25542380 -0.49195272
+v -0.11056787 -0.29238189 -0.41967122
+v 0.06083200 -0.24780954 -0.49209451
+v 0.05493240 -0.28091860 -0.47602502
+v -0.14484702 -0.26694598 -0.43446160
+v -0.17583068 -0.24320251 -0.41196151
+v 0.09931045 -0.27702652 -0.43724567
+v -0.05400005 -0.29227662 -0.46579641
+v -0.02346707 -0.26918488 -0.48950204
+v 0.09759377 -0.25456391 -0.46013390
+v -0.13777526 -0.27899466 -0.41513788
+v -0.17292152 -0.21561783 -0.43534869
+v 0.10286207 -0.28216616 -0.41585649
+v 0.07210998 -0.29056744 -0.44351689
+v -0.10445337 -0.29406559 -0.45445982
+v 0.00300709 -0.26886381 -0.48893608
+v -0.10886669 -0.27124891 -0.47798902
+v 0.04862329 -0.29161038 -0.46533553
+v 0.06706610 -0.26954887 -0.47499182
+v 0.11439836 -0.23021895 -0.46108672
+v 0.12311692 -0.25332452 -0.43526616
+v -0.17512189 -0.23930179 -0.41936415
+v -0.13119570 -0.27712942 -0.43899179
+v -0.06887360 -0.28116918 -0.47561911
+v -0.12312179 -0.24037583 -0.47899063
+v 0.12451492 -0.22689282 -0.44962211
+v -0.18019061 -0.20864813 -0.42306298
+f 6 3 4
+f 6 2 3
+f 9 7 5
+f 9 3 2
+f 9 5 4
+f 9 4 3
+f 12 6 4
+f 15 5 7
+f 16 13 10
+f 17 12 11
+f 17 8 1
+f 17 6 12
+f 19 13 6
+f 19 17 1
+f 19 6 17
+f 20 10 13
+f 20 19 1
+f 20 13 19
+f 21 1 8
+f 21 8 17
+f 22 15 7
+f 22 7 10
+f 22 10 15
+f 23 5 15
+f 23 21 11
+f 24 15 10
+f 24 14 15
+f 24 10 20
+f 24 21 14
+f 24 20 1
+f 24 1 21
+f 25 16 10
+f 25 10 7
+f 26 9 2
+f 26 16 25
+f 26 25 7
+f 26 7 9
+f 27 6 13
+f 27 13 16
+f 27 16 26
+f 27 2 6
+f 28 12 4
+f 28 23 11
+f 28 11 12
+f 29 21 17
+f 29 17 11
+f 29 11 21
+f 30 23 15
+f 30 15 14
+f 30 14 21
+f 30 21 23
+f 31 5 23
+f 31 4 5
+f 31 28 18
+f 31 23 28
+f 32 27 26
+f 32 26 2
+f 32 2 27
+f 33 28 4
+f 33 18 28
+f 33 31 18
+f 33 4 31
\ No newline at end of file
diff --git a/objects/objaverse/steak/steak_10/collision/model_normalized_collision_19.obj b/objects/objaverse/steak/steak_10/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e3459687b5c476a108154c4c4b9a1d0da805105b
--- /dev/null
+++ b/objects/objaverse/steak/steak_10/collision/model_normalized_collision_19.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.35562822 -0.03186857 0.00354022
+v 0.35108370 -0.02266039 0.02821849
+v 0.06525329 -0.05352935 0.01694495
+v 0.11070784 0.06329097 0.05629553
+v 0.35715959 0.06286973 0.05555290
+v 0.06525329 -0.03402130 0.05133262
+v 0.06525329 0.03271605 0.00239981
+v 0.33923343 -0.02541542 0.04522420
+v 0.35035681 -0.01175572 0.04571510
+v 0.36074664 0.03980861 0.01490198
+v 0.06525330 0.05222410 0.03678748
+f 6 5 4
+f 7 1 3
+f 7 3 6
+f 8 1 2
+f 8 3 1
+f 8 6 3
+f 8 5 6
+f 9 2 1
+f 9 1 5
+f 9 8 2
+f 9 5 8
+f 10 5 1
+f 10 1 7
+f 10 4 5
+f 11 7 6
+f 11 6 4
+f 11 10 7
+f 11 4 10
\ No newline at end of file
diff --git a/objects/objaverse/steak/steak_10/collision/model_normalized_collision_2.obj b/objects/objaverse/steak/steak_10/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e92f906f013a8f665e5b38ab9e44a4e64ffef2bd
--- /dev/null
+++ b/objects/objaverse/steak/steak_10/collision/model_normalized_collision_2.obj
@@ -0,0 +1,105 @@
+# https://github.com/mikedh/trimesh
+v 0.06148487 -0.29533963 -0.41832719
+v 0.18252133 -0.23054784 -0.35492799
+v -0.17764437 -0.21626291 -0.29070019
+v -0.20324673 -0.12379136 -0.27348231
+v 0.14101087 -0.20100452 -0.40958935
+v 0.16975451 -0.22434144 -0.28500633
+v -0.18763385 -0.20001975 -0.40785345
+v 0.12707531 -0.26525970 -0.41075285
+v -0.19053004 -0.19634290 -0.28486278
+v 0.17131390 -0.12403557 -0.27391293
+v -0.14383985 -0.26072852 -0.35004124
+v -0.11056787 -0.29238189 -0.41967122
+v 0.10286207 -0.28216616 -0.41585649
+v -0.17817658 -0.24794457 -0.35840863
+v -0.19740119 -0.18869720 -0.38789485
+v 0.18313986 -0.22710767 -0.29772006
+v 0.17131390 -0.16761586 -0.35073377
+v -0.16673868 -0.23143034 -0.30574299
+v 0.06363479 -0.29250107 -0.40849976
+v 0.16064260 -0.24948512 -0.35611926
+v -0.19033416 -0.22546175 -0.33099370
+v -0.16309393 -0.26317565 -0.37354871
+v -0.19011050 -0.22773782 -0.38140937
+v -0.16759866 -0.24804061 -0.33519841
+v 0.12336107 -0.26016959 -0.34933791
+v 0.10781160 -0.27527780 -0.37926693
+v -0.11010928 -0.29005560 -0.40531629
+v 0.17593342 -0.23845205 -0.35389193
+v -0.18964476 -0.20877437 -0.30157811
+v -0.18931874 -0.21501891 -0.39479358
+v -0.17456675 -0.25200556 -0.39979273
+v -0.17833428 -0.23295029 -0.32011575
+v 0.17844696 -0.23019233 -0.30019338
+v -0.16229974 -0.26287054 -0.40909629
+v -0.17583068 -0.24320251 -0.41196151
+v 0.16287492 -0.24404169 -0.33064890
+f 8 5 2
+f 9 6 4
+f 9 3 6
+f 10 4 6
+f 12 7 5
+f 12 5 1
+f 13 1 5
+f 13 5 8
+f 15 4 10
+f 15 5 7
+f 16 10 6
+f 16 2 10
+f 17 10 2
+f 17 2 5
+f 17 15 10
+f 17 5 15
+f 18 11 6
+f 18 6 3
+f 20 13 8
+f 21 9 4
+f 21 4 15
+f 23 21 15
+f 23 14 21
+f 24 14 22
+f 24 22 11
+f 24 11 18
+f 25 6 11
+f 25 11 19
+f 26 19 1
+f 26 1 13
+f 26 25 19
+f 26 13 20
+f 27 12 1
+f 27 1 19
+f 27 19 11
+f 27 22 12
+f 27 11 22
+f 28 20 8
+f 28 8 2
+f 28 2 16
+f 28 16 20
+f 29 3 9
+f 29 9 21
+f 30 23 15
+f 30 15 7
+f 31 22 14
+f 31 14 23
+f 32 21 14
+f 32 14 24
+f 32 29 21
+f 32 3 29
+f 32 24 18
+f 32 18 3
+f 33 16 6
+f 33 6 25
+f 33 25 26
+f 33 20 16
+f 34 12 22
+f 34 22 31
+f 35 31 23
+f 35 23 30
+f 35 30 7
+f 35 34 31
+f 35 7 12
+f 35 12 34
+f 36 33 26
+f 36 26 20
+f 36 20 33
\ No newline at end of file
diff --git a/objects/objaverse/steak/steak_10/collision/model_normalized_collision_20.obj b/objects/objaverse/steak/steak_10/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..02bcfe7b18b7e47521c45396d8179f4a61d5c2fa
--- /dev/null
+++ b/objects/objaverse/steak/steak_10/collision/model_normalized_collision_20.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.17717095 0.02343958 0.15262139
+v -0.17717096 0.04294763 0.18700906
+v -0.34285285 0.05526189 0.18476079
+v -0.36433141 0.13997506 0.19146961
+v -0.17717094 0.12919315 0.17246385
+v -0.35676200 0.07370723 0.14639770
+v -0.20747399 0.14026004 0.19197190
+v -0.34481097 0.04701606 0.14340895
+v -0.35970733 0.07523565 0.18533473
+v -0.17717095 0.10968510 0.13807618
+v -0.36499165 0.11821575 0.15311362
+v -0.36587779 0.12701460 0.16862371
+f 1 2 3
+f 3 2 4
+f 5 2 1
+f 7 4 2
+f 7 2 5
+f 8 1 3
+f 9 3 4
+f 9 8 3
+f 9 6 8
+f 10 5 1
+f 10 8 6
+f 10 1 8
+f 10 7 5
+f 10 4 7
+f 11 6 9
+f 11 10 6
+f 11 4 10
+f 12 11 9
+f 12 9 4
+f 12 4 11
\ No newline at end of file
diff --git a/objects/objaverse/steak/steak_10/collision/model_normalized_collision_21.obj b/objects/objaverse/steak/steak_10/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b9924cedc5bf1c1369598db4a0e739ef5c35c50
--- /dev/null
+++ b/objects/objaverse/steak/steak_10/collision/model_normalized_collision_21.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.29097877 -0.11867850 -0.10311927
+v 0.34881636 -0.02313937 -0.09605916
+v 0.33715475 -0.07513444 -0.09634717
+v 0.29252602 -0.02386964 -0.09734613
+v 0.28449969 -0.11054949 -0.21578024
+v 0.29088015 -0.09019127 -0.21425418
+v 0.30638835 -0.11501735 -0.15580773
+v 0.31975619 -0.09102089 -0.15385050
+v 0.30863086 -0.10985813 -0.10313595
+v 0.28584047 -0.12501584 -0.20188227
+v 0.32012559 -0.06442918 -0.16884229
+v 0.33384895 -0.06405464 -0.12303726
+v 0.30300167 -0.10430839 -0.18140573
+v 0.33391636 -0.07641827 -0.10949381
+v 0.28975004 -0.12012740 -0.19740406
+f 1 3 4
+f 3 2 4
+f 5 1 4
+f 6 5 4
+f 6 4 2
+f 8 3 7
+f 9 7 3
+f 9 3 1
+f 9 1 7
+f 10 7 1
+f 10 1 5
+f 10 8 7
+f 11 6 2
+f 12 2 3
+f 12 11 2
+f 12 8 11
+f 13 8 10
+f 13 11 8
+f 13 5 6
+f 13 6 11
+f 14 12 3
+f 14 3 8
+f 14 8 12
+f 15 13 10
+f 15 10 5
+f 15 5 13
\ No newline at end of file
diff --git a/objects/objaverse/steak/steak_10/collision/model_normalized_collision_22.obj b/objects/objaverse/steak/steak_10/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..85d7a328a2b9f2f75853ec3401f118ce58f43e1f
--- /dev/null
+++ b/objects/objaverse/steak/steak_10/collision/model_normalized_collision_22.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.13915768 -0.25929509 -0.35703620
+v 0.21340445 -0.16690595 -0.34948255
+v 0.20441647 -0.19931843 -0.34888409
+v 0.14101086 -0.16761585 -0.35073378
+v 0.13104200 -0.22969842 -0.43941622
+v 0.13844763 -0.21659707 -0.43707493
+v 0.13403474 -0.25718797 -0.41370652
+v 0.17481643 -0.19599722 -0.40076281
+v 0.18944373 -0.22338001 -0.35256469
+v 0.20871661 -0.17141840 -0.35743685
+v 0.15275314 -0.23776605 -0.40452654
+v 0.16064260 -0.24948512 -0.35611926
+v 0.18341400 -0.18978959 -0.38982040
+v 0.14124588 -0.25224941 -0.40855519
+v 0.13757927 -0.22599565 -0.43288914
+v 0.17107783 -0.23535263 -0.37877042
+v 0.18447517 -0.22538037 -0.36269927
+v 0.15646379 -0.24917572 -0.38006235
+f 1 3 4
+f 3 2 4
+f 5 1 4
+f 6 5 4
+f 7 1 5
+f 9 3 1
+f 10 2 3
+f 10 8 6
+f 10 6 4
+f 10 4 2
+f 12 9 1
+f 12 1 7
+f 13 10 3
+f 13 3 8
+f 13 8 10
+f 14 7 5
+f 14 5 11
+f 15 11 5
+f 15 8 11
+f 15 5 6
+f 15 6 8
+f 16 11 8
+f 16 8 3
+f 16 14 11
+f 17 16 3
+f 17 3 9
+f 17 9 16
+f 18 16 9
+f 18 9 12
+f 18 12 7
+f 18 7 14
+f 18 14 16
\ No newline at end of file
diff --git a/objects/objaverse/steak/steak_10/collision/model_normalized_collision_23.obj b/objects/objaverse/steak/steak_10/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..755f54ea68e4564b2bad546b876949a971656c34
--- /dev/null
+++ b/objects/objaverse/steak/steak_10/collision/model_normalized_collision_23.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v -0.22104522 -0.08555470 -0.04317602
+v -0.21939923 -0.09319282 -0.09783740
+v -0.22262549 0.01320803 -0.03198787
+v -0.31353462 0.01320803 -0.03198789
+v -0.28529966 -0.05420167 -0.03250864
+v -0.22262548 -0.02018068 -0.09084342
+v -0.24550318 -0.07785347 -0.04182164
+v -0.27482772 -0.01664904 -0.08461809
+v -0.23864340 -0.08204294 -0.07818311
+v -0.30494181 -0.03184849 -0.03239513
+v -0.26744682 -0.03038043 -0.08679200
+v -0.30426824 0.00040779 -0.05455140
+v -0.28243676 -0.05133627 -0.04648159
+v -0.25302004 -0.05826298 -0.08887472
+v -0.31156233 0.00692084 -0.04307058
+v -0.29947475 -0.02856123 -0.04405840
+v -0.26507155 -0.05640035 -0.07174416
+v -0.28032192 -0.02942394 -0.06995403
+v -0.22715563 -0.08697569 -0.09412293
+v -0.29688741 -0.01486662 -0.05584996
+f 1 2 3
+f 5 1 3
+f 5 3 4
+f 6 3 2
+f 7 2 1
+f 7 1 5
+f 9 7 5
+f 9 5 2
+f 9 2 7
+f 10 5 4
+f 11 8 6
+f 11 6 2
+f 12 3 6
+f 12 6 8
+f 13 2 5
+f 13 5 10
+f 14 11 2
+f 15 12 10
+f 15 10 4
+f 15 4 3
+f 15 3 12
+f 16 10 12
+f 16 14 10
+f 17 13 10
+f 17 10 14
+f 18 11 14
+f 18 14 16
+f 18 8 11
+f 19 17 14
+f 19 14 2
+f 19 2 13
+f 19 13 17
+f 20 18 16
+f 20 16 12
+f 20 12 8
+f 20 8 18
\ No newline at end of file
diff --git a/objects/objaverse/steak/steak_10/collision/model_normalized_collision_24.obj b/objects/objaverse/steak/steak_10/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7718beb8d4a9f83970060b75c519ba48e7a5a53d
--- /dev/null
+++ b/objects/objaverse/steak/steak_10/collision/model_normalized_collision_24.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.32950926 0.06851481 0.21175177
+v 0.35238118 0.11697244 0.21894896
+v 0.31409013 0.08427356 0.24939621
+v -0.35914960 0.18340490 0.26802506
+v -0.35742494 0.09113418 0.21463064
+v 0.31210187 0.18009056 0.26218296
+v 0.34023255 0.09448868 0.23889972
+v 0.35355172 0.14275888 0.21609143
+v -0.33689744 0.06555785 0.21261107
+v 0.33984399 0.08084387 0.21355056
+v 0.32658405 0.07356307 0.22415975
+v 0.32560541 0.09306145 0.25004421
+v -0.36190779 0.16028798 0.22727598
+v 0.35158917 0.11548916 0.23088650
+v -0.33259448 0.08794372 0.25367004
+v -0.35647326 0.12183209 0.25979674
+v 0.34440319 0.15759203 0.22252391
+v 0.35030290 0.13851905 0.22376927
+v -0.33371854 0.07089984 0.22451693
+v -0.34307220 0.09760481 0.25646874
+v 0.32069136 0.16906380 0.25449838
+v -0.35379121 0.09263925 0.22868280
+f 9 8 1
+f 9 5 8
+f 10 7 1
+f 10 8 2
+f 10 1 8
+f 11 7 3
+f 11 1 7
+f 11 9 1
+f 11 3 9
+f 12 6 3
+f 12 3 7
+f 13 8 5
+f 14 2 8
+f 14 10 2
+f 14 7 10
+f 14 12 7
+f 14 6 12
+f 16 13 5
+f 16 4 13
+f 17 6 8
+f 17 8 13
+f 17 13 4
+f 17 4 6
+f 18 14 8
+f 19 15 9
+f 19 9 3
+f 19 3 15
+f 20 9 15
+f 20 15 3
+f 20 4 16
+f 20 6 4
+f 20 3 6
+f 21 6 14
+f 21 14 18
+f 21 18 8
+f 21 8 6
+f 22 5 9
+f 22 9 20
+f 22 20 16
+f 22 16 5
\ No newline at end of file
diff --git a/objects/objaverse/steak/steak_10/collision/model_normalized_collision_25.obj b/objects/objaverse/steak/steak_10/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7eb8b56782a8cc0730916be5720a207e5c8d4f79
--- /dev/null
+++ b/objects/objaverse/steak/steak_10/collision/model_normalized_collision_25.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.06525329 -0.02295442 0.07084067
+v 0.11070784 0.03271605 0.00239981
+v 0.11070784 0.06329097 0.05629553
+v -0.33718538 0.06401784 0.05757673
+v -0.32181952 0.00919092 0.00889825
+v 0.06525329 0.02902710 -0.00410288
+v -0.32853393 0.01227219 0.05475255
+v -0.32655379 0.04032698 0.01581584
+v -0.32530948 0.01277636 0.02498458
+f 1 2 3
+f 1 3 4
+f 6 2 1
+f 6 1 5
+f 6 3 2
+f 6 4 3
+f 7 5 1
+f 7 1 4
+f 8 6 5
+f 8 5 4
+f 8 4 6
+f 9 7 4
+f 9 4 5
+f 9 5 7
\ No newline at end of file
diff --git a/objects/objaverse/steak/steak_10/collision/model_normalized_collision_26.obj b/objects/objaverse/steak/steak_10/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a860021cc9253601ef0c22642a956b36c7129a09
--- /dev/null
+++ b/objects/objaverse/steak/steak_10/collision/model_normalized_collision_26.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.33191779 -0.05716912 0.00128395
+v 0.35192297 -0.03600487 0.00689667
+v 0.33264529 -0.02808377 0.04749348
+v -0.17717096 -0.03402132 0.05133263
+v -0.17717096 -0.06090729 0.00393960
+v 0.34346328 -0.02894524 0.03244836
+v 0.32744693 -0.03453435 0.04209875
+v 0.34563818 -0.04591172 0.00336685
+v 0.32869472 -0.05177439 0.01309064
+v 0.34056791 -0.03576708 0.02746748
+f 5 4 2
+f 6 2 4
+f 6 4 3
+f 7 3 4
+f 8 5 2
+f 8 1 5
+f 8 2 6
+f 9 5 1
+f 9 7 4
+f 9 4 5
+f 10 8 6
+f 10 6 3
+f 10 1 8
+f 10 3 7
+f 10 9 1
+f 10 7 9
\ No newline at end of file
diff --git a/objects/objaverse/steak/steak_10/collision/model_normalized_collision_27.obj b/objects/objaverse/steak/steak_10/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b61608bbaccebc79559a2ba4c8099659447fea2f
--- /dev/null
+++ b/objects/objaverse/steak/steak_10/collision/model_normalized_collision_27.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.33264529 -0.02808377 0.04749348
+v 0.35694530 0.00957783 0.05138476
+v 0.34795467 0.01054565 0.08168236
+v 0.06525329 -0.00994906 0.09376579
+v 0.06525329 -0.03402130 0.05133262
+v 0.35496052 0.01385704 0.06393356
+v 0.31956778 -0.01917262 0.07292426
+v 0.35391218 -0.00086785 0.04844755
+v 0.33705853 -0.00844894 0.07430571
+v 0.32942222 -0.02268904 0.05930017
+v 0.35009879 0.00068257 0.06238305
+f 5 4 2
+f 6 2 4
+f 6 4 3
+f 7 3 4
+f 7 5 1
+f 7 4 5
+f 8 6 3
+f 8 2 6
+f 8 5 2
+f 8 1 5
+f 9 3 7
+f 10 9 7
+f 10 7 1
+f 10 1 9
+f 11 8 3
+f 11 3 9
+f 11 9 1
+f 11 1 8
\ No newline at end of file
diff --git a/objects/objaverse/steak/steak_10/collision/model_normalized_collision_28.obj b/objects/objaverse/steak/steak_10/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..37ebb88d06aa9993fc5051f5f6ba49baf3ff185c
--- /dev/null
+++ b/objects/objaverse/steak/steak_10/collision/model_normalized_collision_28.obj
@@ -0,0 +1,15 @@
+# https://github.com/mikedh/trimesh
+v 0.06525329 -0.05352935 0.01694495
+v 0.06525329 0.02902710 -0.00410288
+v -0.17717095 -0.00994908 0.09376580
+v -0.17717097 0.02902716 -0.00410294
+v -0.17717095 -0.05352938 0.01694497
+v 0.06525329 -0.00994906 0.09376579
+f 2 1 4
+f 5 3 4
+f 5 4 1
+f 6 1 2
+f 6 5 1
+f 6 3 5
+f 6 2 4
+f 6 4 3
\ No newline at end of file
diff --git a/objects/objaverse/steak/steak_10/collision/model_normalized_collision_29.obj b/objects/objaverse/steak/steak_10/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f12c2a5c72250ed346225afbf3113b870293b040
--- /dev/null
+++ b/objects/objaverse/steak/steak_10/collision/model_normalized_collision_29.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.31173472 -0.07640612 -0.02572647
+v 0.35792252 -0.04555891 -0.03754232
+v 0.35325853 -0.03962693 -0.00086300
+v 0.30767754 0.03640497 0.00890251
+v 0.30767754 0.01320797 -0.03198785
+v 0.36131708 0.03614127 0.00843738
+v 0.30767754 -0.05721835 0.01044229
+v 0.36490413 0.01308014 -0.03221355
+f 1 2 3
+f 5 2 1
+f 7 1 3
+f 7 5 1
+f 7 4 5
+f 7 6 4
+f 7 3 6
+f 8 6 3
+f 8 3 2
+f 8 2 5
+f 8 5 4
+f 8 4 6
\ No newline at end of file
diff --git a/objects/objaverse/steak/steak_10/collision/model_normalized_collision_3.obj b/objects/objaverse/steak/steak_10/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..190041e4795917d0123c582de94c37fe21db2283
--- /dev/null
+++ b/objects/objaverse/steak/steak_10/collision/model_normalized_collision_3.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.27046190 0.13779136 0.33340603
+v 0.28287275 0.16277709 0.33527793
+v 0.18646542 0.17456375 0.41901437
+v -0.07111035 0.25061747 0.38650402
+v -0.07111035 0.22742052 0.34561363
+v 0.25336041 0.24872932 0.38317542
+v 0.24074144 0.17037297 0.39246291
+v 0.27795292 0.21745691 0.33543587
+v -0.07111035 0.13010826 0.34065071
+v 0.26141559 0.17167917 0.37179061
+v 0.25212522 0.14627492 0.35676973
+v 0.25846234 0.23168394 0.37926079
+v 0.27285100 0.22645679 0.34391470
+v -0.07111035 0.16349692 0.39950631
+v 0.26623374 0.14353641 0.34353310
+v 0.27690960 0.16416646 0.34591953
+v 0.23640929 0.16235553 0.38626550
+v 0.27315671 0.21643502 0.34878607
+v 0.00464724 0.17456371 0.41901440
+f 6 4 3
+f 6 5 4
+f 7 6 3
+f 8 2 1
+f 9 8 1
+f 9 5 8
+f 11 9 1
+f 11 3 9
+f 12 8 6
+f 12 6 7
+f 12 7 10
+f 13 8 5
+f 13 5 6
+f 13 6 8
+f 14 4 5
+f 14 5 9
+f 15 10 7
+f 15 11 1
+f 15 7 11
+f 16 1 2
+f 16 12 10
+f 16 2 12
+f 16 15 1
+f 16 10 15
+f 17 11 7
+f 17 7 3
+f 17 3 11
+f 18 12 2
+f 18 2 8
+f 18 8 12
+f 19 3 4
+f 19 4 14
+f 19 14 9
+f 19 9 3
\ No newline at end of file
diff --git a/objects/objaverse/steak/steak_10/collision/model_normalized_collision_30.obj b/objects/objaverse/steak/steak_10/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d74f2f3a52a6b2c519139d434b7409715c36cd2
--- /dev/null
+++ b/objects/objaverse/steak/steak_10/collision/model_normalized_collision_30.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.31685617 0.01843799 0.13774088
+v 0.33765797 0.03901290 0.14375821
+v 0.31794422 0.04717265 0.18481301
+v -0.33725173 0.04619646 0.17194810
+v -0.34094040 0.04170980 0.14310731
+v -0.32499708 0.04570623 0.18652721
+v 0.33137316 0.02910608 0.14022838
+v 0.32932409 0.04643104 0.17023752
+v 0.31349943 0.04170912 0.17949974
+v -0.32076365 0.02339331 0.13778282
+v 0.32765523 0.04087636 0.16352612
+v 0.31513837 0.02455896 0.14926841
+v -0.31848444 0.02769492 0.15116323
+v -0.33365936 0.03401134 0.14101695
+v -0.32318791 0.04223753 0.18043075
+f 6 3 4
+f 7 3 1
+f 7 5 2
+f 8 2 5
+f 8 7 2
+f 8 5 4
+f 8 4 3
+f 9 1 3
+f 9 3 6
+f 10 7 1
+f 10 5 7
+f 10 6 4
+f 11 8 3
+f 11 3 7
+f 11 7 8
+f 12 1 9
+f 13 10 1
+f 14 10 4
+f 14 4 5
+f 14 5 10
+f 15 1 12
+f 15 13 1
+f 15 6 10
+f 15 10 13
+f 15 12 9
+f 15 9 6
\ No newline at end of file
diff --git a/objects/objaverse/steak/steak_10/collision/model_normalized_collision_31.obj b/objects/objaverse/steak/steak_10/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..826cc96f5df22edf3c2dc474e002e89507b5f0c9
--- /dev/null
+++ b/objects/objaverse/steak/steak_10/collision/model_normalized_collision_31.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.17717096 -0.03402132 0.05133263
+v -0.17717096 -0.02101595 0.07425775
+v -0.20747399 -0.02101596 0.07425775
+v -0.20747399 0.07998542 0.08572326
+v -0.17717096 0.07998541 0.08572327
+v -0.20747399 -0.03402133 0.05133264
+v -0.17717096 0.06698005 0.06279815
+v -0.20747397 0.06698005 0.06279816
+f 5 2 1
+f 5 3 2
+f 5 4 3
+f 6 3 4
+f 6 1 2
+f 6 2 3
+f 7 5 1
+f 7 4 5
+f 7 1 6
+f 8 7 6
+f 8 6 4
+f 8 4 7
\ No newline at end of file
diff --git a/objects/objaverse/steak/steak_10/collision/model_normalized_collision_4.obj b/objects/objaverse/steak/steak_10/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..62d717471061d8d254108c7c281b186405511f01
--- /dev/null
+++ b/objects/objaverse/steak/steak_10/collision/model_normalized_collision_4.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v -0.07111035 0.13010826 0.34065071
+v -0.26701785 0.13182836 0.33835639
+v -0.19839521 0.25605534 0.39910795
+v -0.07111035 0.22742052 0.34561363
+v -0.19786468 0.19744024 0.41581614
+v -0.17717094 0.12448078 0.33073098
+v -0.06277945 0.25792525 0.41755578
+v -0.26808005 0.21072632 0.31618576
+v -0.20081852 0.17312736 0.40093304
+v -0.07111035 0.15980796 0.39300362
+v -0.07111037 0.25430641 0.39300669
+v -0.19783326 0.21662789 0.41795442
+v -0.17717096 0.21072628 0.31618578
+v -0.28585036 0.14667563 0.34019820
+v -0.21508298 0.15973138 0.38368450
+v -0.06900476 0.18326560 0.42001737
+v -0.20794331 0.25298727 0.39068117
+v -0.24559848 0.15832196 0.36959628
+v -0.25672565 0.16844124 0.36745566
+v -0.24646625 0.14244201 0.35593518
+v -0.25300396 0.22768158 0.35705422
+v -0.26358507 0.13854861 0.34543439
+v -0.26808002 0.22091791 0.33415097
+v -0.25310479 0.20046860 0.37057827
+v -0.24769132 0.23482209 0.35866056
+v -0.20882763 0.22836256 0.40370912
+f 7 1 4
+f 8 6 2
+f 10 2 6
+f 10 6 1
+f 11 7 4
+f 11 3 7
+f 12 7 3
+f 13 4 1
+f 13 1 6
+f 13 6 8
+f 14 8 2
+f 15 10 9
+f 16 5 9
+f 16 9 10
+f 16 12 5
+f 16 7 12
+f 16 10 1
+f 16 1 7
+f 17 3 11
+f 17 13 8
+f 17 11 4
+f 17 4 13
+f 18 9 5
+f 18 5 14
+f 18 15 9
+f 19 14 5
+f 19 5 12
+f 20 2 10
+f 20 10 15
+f 20 18 2
+f 20 15 18
+f 21 3 17
+f 22 18 14
+f 22 14 2
+f 22 2 18
+f 23 17 8
+f 23 8 14
+f 24 14 19
+f 24 19 12
+f 24 23 14
+f 24 21 23
+f 25 23 21
+f 25 21 17
+f 25 17 23
+f 26 24 12
+f 26 12 3
+f 26 3 21
+f 26 21 24
\ No newline at end of file
diff --git a/objects/objaverse/steak/steak_10/collision/model_normalized_collision_5.obj b/objects/objaverse/steak/steak_10/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eb44bf9d1eabb770598d0c51f29e7c69af307471
--- /dev/null
+++ b/objects/objaverse/steak/steak_10/collision/model_normalized_collision_5.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.33765797 0.03901290 0.14375821
+v 0.33798057 0.11706287 0.15108164
+v 0.29252602 0.15695422 0.22139978
+v -0.36234641 0.15661175 0.22079575
+v -0.20747398 0.10968511 0.13807617
+v 0.29252604 0.05595301 0.20993418
+v 0.33798057 0.14025993 0.19197196
+v -0.35742494 0.09113418 0.21463064
+v 0.32874756 0.05203228 0.18223517
+v -0.35970733 0.07523565 0.18533473
+v -0.36389279 0.14365129 0.19794984
+v -0.17717095 0.02343958 0.15262139
+v -0.33721568 0.05124172 0.18424805
+v -0.34326433 0.06810685 0.21057048
+v -0.35608311 0.07653705 0.19907419
+v -0.32522869 0.05766573 0.20872845
+v -0.33493651 0.05554333 0.19762843
+f 5 2 1
+f 7 1 2
+f 7 3 6
+f 7 2 5
+f 7 5 4
+f 7 4 3
+f 8 6 3
+f 8 3 4
+f 9 7 6
+f 9 6 1
+f 9 1 7
+f 10 8 4
+f 11 10 4
+f 11 4 5
+f 11 5 10
+f 12 5 1
+f 12 1 6
+f 13 10 5
+f 13 5 12
+f 14 6 8
+f 15 14 8
+f 15 8 10
+f 15 10 13
+f 15 13 14
+f 16 13 12
+f 16 12 6
+f 16 6 14
+f 17 16 14
+f 17 14 13
+f 17 13 16
\ No newline at end of file
diff --git a/objects/objaverse/steak/steak_10/collision/model_normalized_collision_6.obj b/objects/objaverse/steak/steak_10/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c54b11810b18558a84e047d0826a8a719f58f3d
--- /dev/null
+++ b/objects/objaverse/steak/steak_10/collision/model_normalized_collision_6.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.33560302 0.02557627 0.12745254
+v 0.34322342 0.03186105 0.12322270
+v 0.35238118 0.11697244 0.21894896
+v 0.29252602 0.15695422 0.22139978
+v 0.33798057 0.10687123 0.13311639
+v 0.29252604 0.05595301 0.20993418
+v 0.33984399 0.08084387 0.21355056
+v 0.29252603 0.14394884 0.19847467
+v 0.35034089 0.10692048 0.13320323
+v 0.32950926 0.06851481 0.21175177
+v 0.29252603 0.04294765 0.18700906
+v 0.35271381 0.11488159 0.20496991
+v 0.35299267 0.15160928 0.21197787
+v 0.30438862 0.05687711 0.20954527
+v 0.35304421 0.14421784 0.19894870
+v 0.33137316 0.02910608 0.14022838
+v 0.32705193 0.05760411 0.19429554
+f 5 2 1
+f 6 3 4
+f 7 1 2
+f 7 2 3
+f 9 2 5
+f 10 1 7
+f 10 7 3
+f 10 3 6
+f 11 8 5
+f 11 5 1
+f 11 6 4
+f 11 4 8
+f 12 3 2
+f 12 2 9
+f 13 4 3
+f 13 3 12
+f 13 8 4
+f 13 5 8
+f 14 10 6
+f 14 6 11
+f 15 13 12
+f 15 12 9
+f 15 9 5
+f 15 5 13
+f 16 14 11
+f 16 11 1
+f 16 1 10
+f 17 16 10
+f 17 10 14
+f 17 14 16
\ No newline at end of file
diff --git a/objects/objaverse/steak/steak_10/collision/model_normalized_collision_7.obj b/objects/objaverse/steak/steak_10/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..367ec96b904f3245f5ddc91c6458ec7a6f78d3ba
--- /dev/null
+++ b/objects/objaverse/steak/steak_10/collision/model_normalized_collision_7.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.22482033 -0.18782235 -0.23926553
+v 0.29369929 -0.12941800 -0.15899955
+v -0.17404348 -0.15589149 -0.16857789
+v -0.21937622 -0.05706538 -0.15586154
+v 0.28525656 -0.09513716 -0.22297251
+v -0.20844698 -0.12075422 -0.16119563
+v 0.25461602 -0.15386780 -0.16525221
+v 0.25169783 -0.16511590 -0.23274646
+v -0.20978491 -0.09638708 -0.22517566
+v 0.29252603 -0.05725827 -0.15620174
+v -0.19204563 -0.14379356 -0.16514333
+v -0.16843694 -0.18816651 -0.22732201
+v 0.27568583 -0.12326103 -0.22663073
+v -0.20556340 -0.13972101 -0.23445342
+v 0.29252604 -0.06376095 -0.16766430
+v 0.22334197 -0.18452019 -0.22503377
+v -0.17112693 -0.19294472 -0.24012506
+v -0.19605412 -0.16762377 -0.23657479
+v -0.19091958 -0.15789095 -0.19588864
+v -0.20421175 -0.13376383 -0.17697625
+f 6 2 4
+f 7 1 2
+f 8 2 1
+f 10 4 2
+f 10 9 4
+f 11 2 6
+f 11 7 2
+f 11 3 7
+f 12 7 3
+f 13 5 2
+f 13 2 8
+f 13 8 1
+f 13 1 5
+f 14 9 5
+f 14 5 1
+f 14 6 4
+f 14 4 9
+f 15 10 2
+f 15 2 5
+f 15 5 9
+f 15 9 10
+f 16 1 7
+f 16 7 12
+f 17 14 1
+f 17 12 3
+f 17 3 11
+f 17 16 12
+f 17 1 16
+f 18 6 14
+f 18 14 17
+f 19 18 17
+f 19 17 11
+f 20 19 11
+f 20 11 6
+f 20 6 18
+f 20 18 19
\ No newline at end of file
diff --git a/objects/objaverse/steak/steak_10/collision/model_normalized_collision_8.obj b/objects/objaverse/steak/steak_10/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1e4514b6cad31f0a17ee6d483f1529db1bab2d92
--- /dev/null
+++ b/objects/objaverse/steak/steak_10/collision/model_normalized_collision_8.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.16975451 -0.22434144 -0.28500633
+v 0.25287740 -0.16278331 -0.23600802
+v -0.15867401 -0.20014040 -0.24500173
+v -0.20889795 -0.10002336 -0.23158549
+v 0.24707148 -0.12403557 -0.27391293
+v -0.20715531 -0.12702906 -0.23327272
+v -0.19053004 -0.19634290 -0.28486278
+v 0.17131390 -0.20183981 -0.24448818
+v 0.24191156 -0.15713722 -0.27838376
+v 0.24707148 -0.10083857 -0.23302257
+v -0.18044030 -0.18854255 -0.24183629
+v -0.16895827 -0.22004571 -0.28840250
+v -0.20324673 -0.12379136 -0.27348231
+v 0.17131370 -0.21853409 -0.27391589
+v -0.19278521 -0.17481671 -0.24064948
+v -0.16587910 -0.21482001 -0.27628770
+v -0.20563288 -0.12694108 -0.24826916
+f 6 2 4
+f 9 5 2
+f 9 2 1
+f 10 5 4
+f 10 4 2
+f 10 2 5
+f 11 2 6
+f 11 8 2
+f 11 3 8
+f 12 11 7
+f 12 9 1
+f 12 7 5
+f 12 5 9
+f 13 4 5
+f 13 5 7
+f 14 1 2
+f 14 2 8
+f 14 8 3
+f 14 3 1
+f 15 11 6
+f 15 6 7
+f 15 7 11
+f 16 12 1
+f 16 1 3
+f 16 3 11
+f 16 11 12
+f 17 13 7
+f 17 7 6
+f 17 6 4
+f 17 4 13
\ No newline at end of file
diff --git a/objects/objaverse/steak/steak_10/collision/model_normalized_collision_9.obj b/objects/objaverse/steak/steak_10/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8ac4c4ffb8a3918498a25dd0a21066319963a0d4
--- /dev/null
+++ b/objects/objaverse/steak/steak_10/collision/model_normalized_collision_9.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.00464724 0.13748611 0.35365611
+v 0.00464725 0.22004258 0.33260831
+v 0.01322540 0.29223289 0.47006906
+v 0.01330476 0.26354920 0.48421396
+v -0.07040395 0.26381198 0.40976260
+v -0.07111035 0.22004260 0.33260826
+v -0.07044349 0.17043593 0.40844938
+v 0.00464720 0.28119242 0.44039983
+v 0.00862096 0.21294442 0.46858777
+v -0.06446112 0.19656798 0.42834678
+v -0.07111034 0.13748618 0.35365608
+v -0.00797937 0.28577681 0.44848079
+v 0.00464722 0.17650220 0.42243147
+v 0.01218473 0.23676582 0.48346023
+v -0.06047684 0.24152289 0.42820578
+v -0.05113074 0.18860733 0.42838664
+v -0.07111037 0.25430641 0.39300669
+v -0.05442179 0.17710086 0.41861371
+f 1 2 3
+f 1 3 4
+f 5 4 3
+f 6 2 1
+f 8 3 2
+f 10 5 7
+f 11 6 1
+f 12 5 3
+f 12 3 8
+f 12 8 2
+f 12 2 6
+f 13 1 9
+f 13 11 1
+f 13 7 11
+f 14 9 1
+f 14 1 4
+f 14 10 9
+f 14 4 10
+f 15 10 4
+f 15 4 5
+f 15 5 10
+f 16 10 7
+f 16 7 9
+f 16 9 10
+f 17 11 7
+f 17 7 5
+f 17 6 11
+f 17 12 6
+f 17 5 12
+f 18 13 9
+f 18 9 7
+f 18 7 13
\ No newline at end of file
diff --git a/objects/objaverse/steak/steak_10/model.xml b/objects/objaverse/steak/steak_10/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..966b51059fbf0093eeb65d50a715c1794c87d5a2
--- /dev/null
+++ b/objects/objaverse/steak/steak_10/model.xml
@@ -0,0 +1,81 @@
+<mujoco model="more_steak_5">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.11499999999999999 0.11499999999999999 0.11499999999999999" refquat="5.5243849865338296e-17 5.4410443000896516e-18 0.8819212643483545 0.4713967368259975"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.11499999999999999 0.11499999999999999 0.11499999999999999" refquat="5.5243849865338296e-17 5.4410443000896516e-18 0.8819212643483545 0.4713967368259975"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.11499999999999999 0.11499999999999999 0.11499999999999999" refquat="5.5243849865338296e-17 5.4410443000896516e-18 0.8819212643483545 0.4713967368259975"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.11499999999999999 0.11499999999999999 0.11499999999999999" refquat="5.5243849865338296e-17 5.4410443000896516e-18 0.8819212643483545 0.4713967368259975"/>
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diff --git a/objects/objaverse/steak/steak_10/visual/material.mtl b/objects/objaverse/steak/steak_10/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ac7612074176632fe5be688b8bc892b458617616
--- /dev/null
+++ b/objects/objaverse/steak/steak_10/visual/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 159.99998100
+map_Kd material_0.jpeg
\ No newline at end of file
diff --git a/objects/objaverse/steak/steak_10/visual/model_normalized_0.obj b/objects/objaverse/steak/steak_10/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1e413a500a7d81c5b1e6e01619459b182462b67c
--- /dev/null
+++ b/objects/objaverse/steak/steak_10/visual/model_normalized_0.obj
@@ -0,0 +1,3441 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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+v 0.02747247 0.30389522 0.48041861
+v 0.07705885 0.29478371 0.46435774
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+v 0.30559162 0.18462507 0.27017613
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+v 0.35033034 0.10677492 0.13294664
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+v -0.07825090 0.23706727 0.42035156
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+v 0.23973093 0.26430416 0.41062984
+v 0.19961281 0.29384965 0.46271101
+v 0.19961281 0.26907179 0.47676754
+v 0.19961281 0.26907179 0.47676754
+v 0.23973093 0.23952629 0.42468636
+v 0.35033034 0.10677492 0.13294664
+v 0.35355171 0.15121989 0.21129148
+v 0.35355171 0.12644202 0.22534801
+v 0.35033034 0.08199706 0.14700288
+v 0.21081239 -0.16989674 -0.35475454
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+v -0.16888350 0.25146210 0.38799255
+v -0.19839522 0.25735083 0.39837302
+v -0.19839522 0.23257296 0.41242955
+v -0.16888350 0.22668424 0.40204879
+v -0.01590392 -0.25229427 -0.50000000
+v -0.01590392 -0.25229427 -0.50000000
+v 0.05537208 -0.24960251 -0.49525508
+v 0.05537208 -0.27438038 -0.48119884
+v 0.05537208 -0.27438038 -0.48119884
+v -0.01590392 -0.27707214 -0.48594348
+v -0.19924668 -0.14064557 -0.30319191
+v -0.20105746 -0.18445875 -0.38042361
+v -0.20105746 -0.20923662 -0.36636708
+v -0.19924668 -0.16542344 -0.28913538
+v -0.33876463 0.06753694 0.06378000
+v -0.33876463 0.06753694 0.06378000
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\ No newline at end of file
diff --git a/objects/objaverse/steak/steak_11/collision/model_normalized_collision_0.obj b/objects/objaverse/steak/steak_11/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..54526b8a5b233ee8c256d5e6ef91bdcd5d43aeb2
--- /dev/null
+++ b/objects/objaverse/steak/steak_11/collision/model_normalized_collision_0.obj
@@ -0,0 +1,105 @@
+# https://github.com/mikedh/trimesh
+v 0.38542295 0.10271070 0.03241265
+v 0.41429155 0.16730651 -0.01317570
+v 0.41856969 0.23166289 0.04731834
+v 0.33471982 0.35078155 0.05514896
+v 0.29354155 0.18924552 -0.04103854
+v 0.38690102 0.31921273 0.01887884
+v 0.40119490 0.16796433 0.04816355
+v 0.33892420 0.09846436 -0.04184546
+v 0.28737554 0.18850289 0.02569481
+v 0.41744971 0.26388473 0.01643375
+v 0.37539519 0.34017427 0.05100356
+v 0.33066809 0.34928178 0.00835888
+v 0.41102238 0.20447898 0.05067997
+v 0.39759824 0.10175899 0.00471233
+v 0.39506475 0.17029646 -0.02354709
+v 0.34660982 0.22503937 0.04982665
+v 0.34528375 0.10045257 0.03064440
+v 0.41832229 0.24179217 0.00457911
+v 0.38526312 0.33030555 0.03884359
+v 0.28864336 0.23014728 0.03280213
+v 0.41210025 0.18018329 0.02884610
+v 0.38981562 0.10265930 -0.02763798
+v 0.29228132 0.23374783 -0.03693044
+v 0.37294173 0.16067341 0.04397604
+v 0.41739929 0.26940853 0.03379781
+v 0.40896508 0.21535082 -0.00830324
+v 0.38391294 0.32818659 0.02469980
+v 0.39495127 0.10109285 -0.01797328
+v 0.41377137 0.18484552 -0.01099732
+v 0.34679401 0.33315201 0.00290551
+v 0.37153516 0.33903743 0.02796704
+v 0.35964449 0.33906402 0.01684565
+v 0.33556637 0.33444923 0.00017015
+v 0.34827448 0.23131899 -0.02319849
+v 0.36475244 0.27305159 -0.00798992
+v 0.33423940 0.29234856 -0.01133865
+f 9 5 8
+f 12 4 11
+f 13 11 4
+f 13 3 11
+f 14 7 1
+f 16 13 4
+f 16 7 13
+f 17 9 8
+f 17 1 7
+f 17 14 1
+f 18 3 2
+f 18 6 10
+f 20 4 12
+f 20 16 4
+f 20 17 16
+f 20 9 17
+f 21 13 7
+f 21 7 14
+f 21 3 13
+f 21 14 2
+f 21 2 3
+f 22 15 2
+f 22 8 15
+f 23 15 8
+f 23 8 5
+f 23 20 12
+f 23 5 9
+f 23 9 20
+f 24 17 7
+f 24 7 16
+f 24 16 17
+f 25 18 10
+f 25 3 18
+f 25 10 19
+f 25 19 11
+f 25 11 3
+f 27 19 10
+f 27 10 6
+f 28 8 22
+f 28 17 8
+f 28 14 17
+f 28 22 2
+f 28 2 14
+f 29 26 18
+f 29 18 2
+f 29 2 15
+f 29 15 26
+f 30 6 18
+f 30 18 26
+f 31 12 11
+f 31 11 19
+f 31 19 27
+f 32 27 6
+f 32 6 30
+f 32 30 12
+f 32 31 27
+f 32 12 31
+f 33 23 12
+f 33 12 30
+f 34 15 23
+f 35 30 26
+f 35 26 15
+f 35 15 34
+f 36 34 23
+f 36 23 33
+f 36 35 34
+f 36 33 30
+f 36 30 35
\ No newline at end of file
diff --git a/objects/objaverse/steak/steak_11/collision/model_normalized_collision_1.obj b/objects/objaverse/steak/steak_11/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..173d4d990ca9931a20dc97acab0db85e566bb13a
--- /dev/null
+++ b/objects/objaverse/steak/steak_11/collision/model_normalized_collision_1.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v 0.19926391 -0.30783789 -0.00033275
+v 0.37529589 -0.00558662 -0.05107384
+v 0.36236664 -0.00405170 0.02646808
+v 0.16062420 -0.00731673 -0.01177822
+v 0.15673862 -0.18999695 -0.08246255
+v 0.37000737 -0.00172998 -0.02610796
+v 0.22346536 -0.00620513 0.00149193
+v 0.30716240 -0.14727970 -0.01660198
+v 0.20049550 -0.30479786 -0.06467171
+v 0.16024492 -0.19207136 -0.01191237
+v 0.15660062 -0.00773096 -0.08482836
+v 0.35247370 -0.04550983 0.01283300
+v 0.24663458 -0.20390385 -0.07007523
+v 0.24887690 -0.25555527 -0.05239357
+v 0.34000739 -0.08837832 -0.04870075
+v 0.35582221 -0.03054931 0.02176647
+v 0.29315032 -0.16254957 0.00456046
+v 0.17103790 -0.21915726 -0.07989886
+v 0.21238747 -0.30213402 -0.02915568
+v 0.26539117 -0.22174305 -0.05961832
+v 0.32828862 -0.08651311 0.01680839
+v 0.23225005 -0.27012202 -0.00684816
+v 0.20200950 -0.24759253 -0.07260158
+v 0.20723731 -0.30479051 -0.06076141
+v 0.22997085 -0.23415729 -0.06988596
+v 0.32357104 -0.11674159 -0.05651727
+v 0.26124774 -0.22058547 -0.00450772
+v 0.20793607 -0.30309614 -0.00485716
+v 0.21290962 -0.30000985 -0.05051051
+f 6 3 2
+f 7 1 3
+f 7 4 1
+f 7 6 4
+f 7 3 6
+f 9 1 5
+f 10 5 1
+f 10 1 4
+f 11 6 2
+f 11 4 6
+f 11 10 4
+f 11 5 10
+f 13 11 2
+f 13 5 11
+f 15 12 8
+f 15 2 12
+f 15 8 14
+f 16 12 2
+f 16 2 3
+f 17 8 12
+f 18 9 5
+f 18 5 13
+f 21 16 3
+f 21 3 1
+f 21 1 17
+f 21 17 12
+f 21 12 16
+f 22 14 8
+f 22 19 14
+f 23 9 18
+f 24 19 1
+f 24 1 9
+f 24 20 14
+f 24 9 20
+f 25 20 9
+f 25 13 20
+f 25 9 23
+f 25 23 18
+f 25 18 13
+f 26 15 14
+f 26 14 20
+f 26 2 15
+f 26 20 13
+f 26 13 2
+f 27 22 8
+f 27 8 17
+f 27 17 22
+f 28 22 17
+f 28 17 1
+f 28 1 19
+f 28 19 22
+f 29 24 14
+f 29 14 19
+f 29 19 24
\ No newline at end of file
diff --git a/objects/objaverse/steak/steak_11/collision/model_normalized_collision_10.obj b/objects/objaverse/steak/steak_11/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7b291399c83c0fd1af955728ea596b2ff0d4a533
--- /dev/null
+++ b/objects/objaverse/steak/steak_11/collision/model_normalized_collision_10.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v 0.23448216 -0.00632205 0.00404706
+v 0.22941887 -0.00729097 -0.07106775
+v 0.23215288 0.23284909 -0.04745184
+v 0.12758810 0.23655244 0.01041074
+v 0.08133939 -0.00816700 -0.02398000
+v 0.23453993 0.23664713 0.02473809
+v 0.22997463 0.06772000 -0.07074503
+v 0.14005319 -0.00951110 -0.08735622
+v 0.23494833 0.19269671 0.01795241
+v 0.19158506 0.23895171 0.01971677
+v 0.16062420 -0.00731673 -0.01177822
+v 0.15479606 0.00808632 -0.08533042
+v 0.08233956 0.18733015 -0.07480222
+v 0.12564069 0.23352709 -0.06067496
+v 0.08080801 -0.00804597 -0.09251894
+v 0.08220055 0.19061515 -0.00297917
+v 0.18292577 0.14153890 -0.07024714
+v 0.12602267 0.18505216 -0.07155831
+v 0.11071733 0.08111665 -0.08494029
+v 0.15282961 0.03385518 -0.08560040
+v 0.08073320 0.08315728 -0.08689646
+v 0.22857187 0.20007127 -0.05350922
+v 0.18403428 0.23280219 -0.05494596
+f 5 1 4
+f 7 1 2
+f 7 3 1
+f 8 2 1
+f 9 6 1
+f 9 1 3
+f 9 3 6
+f 10 6 3
+f 10 4 1
+f 10 1 6
+f 11 8 1
+f 11 1 5
+f 11 5 8
+f 12 7 2
+f 12 2 8
+f 14 10 3
+f 14 4 10
+f 15 8 5
+f 16 5 4
+f 16 14 13
+f 16 4 14
+f 18 13 14
+f 19 13 18
+f 19 18 17
+f 20 12 8
+f 20 8 15
+f 20 7 12
+f 20 19 17
+f 20 17 7
+f 21 15 5
+f 21 5 16
+f 21 16 13
+f 21 13 19
+f 21 20 15
+f 21 19 20
+f 22 3 7
+f 22 7 17
+f 23 18 14
+f 23 14 3
+f 23 3 22
+f 23 22 17
+f 23 17 18
\ No newline at end of file
diff --git a/objects/objaverse/steak/steak_11/collision/model_normalized_collision_12.obj b/objects/objaverse/steak/steak_11/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3e11333735489bbaedc271eb53da955c674be8da
--- /dev/null
+++ b/objects/objaverse/steak/steak_11/collision/model_normalized_collision_12.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v -0.19244773 0.23837636 0.00621484
+v -0.19080050 0.23431520 -0.06627278
+v -0.18837624 0.43900622 -0.00026418
+v -0.30182020 0.43203296 0.09924279
+v -0.29823808 0.23574922 0.02990984
+v -0.19257226 0.43190823 0.06445203
+v -0.18783504 0.27445360 -0.05708870
+v -0.24824137 0.23257720 -0.05612839
+v -0.30301446 0.39172642 0.09338868
+v -0.20566293 0.27595111 -0.05391381
+v -0.29071505 0.30494162 -0.02396365
+v -0.26936572 0.42197829 0.09278477
+v -0.24742523 0.24293960 -0.05405371
+v -0.18918086 0.38119802 -0.02626022
+v -0.29098788 0.23199538 -0.04279862
+v -0.29036077 0.43491662 0.03338776
+v -0.30213188 0.25396503 0.03665686
+v -0.19551931 0.39442289 0.06120672
+v -0.18799992 0.33707048 -0.03984208
+v -0.23152308 0.36259346 -0.02267547
+v -0.28963259 0.24806051 -0.04075437
+v -0.29034033 0.34933339 -0.00807951
+v -0.27233899 0.41026344 0.09117216
+v -0.22936787 0.42323655 0.07780564
+v -0.27567057 0.27427584 -0.03808708
+v -0.24449533 0.42231145 0.00613203
+v -0.20083807 0.33291440 -0.03851881
+v -0.26281839 0.28808303 -0.03716823
+v -0.26308668 0.43241962 0.01964883
+v -0.21623464 0.41007953 -0.00793574
+v -0.28559177 0.42270068 0.02221889
+v -0.24399312 0.39220041 -0.00665203
+v -0.21740117 0.43354819 0.00424384
+f 6 1 3
+f 6 3 4
+f 7 1 2
+f 7 3 1
+f 8 2 1
+f 8 1 5
+f 9 5 1
+f 10 7 2
+f 12 6 4
+f 12 4 9
+f 13 10 2
+f 13 2 8
+f 15 8 5
+f 16 4 3
+f 17 9 4
+f 17 4 11
+f 17 11 15
+f 17 15 5
+f 17 5 9
+f 18 1 6
+f 19 14 3
+f 19 3 7
+f 19 7 10
+f 21 13 8
+f 21 8 15
+f 21 15 11
+f 22 11 4
+f 22 4 16
+f 22 20 11
+f 23 18 12
+f 23 12 9
+f 23 9 1
+f 23 1 18
+f 24 18 6
+f 24 6 12
+f 24 12 18
+f 25 11 20
+f 25 21 11
+f 25 13 21
+f 27 20 14
+f 27 14 19
+f 27 19 10
+f 27 10 13
+f 27 13 20
+f 28 25 20
+f 28 20 13
+f 28 13 25
+f 29 16 3
+f 30 3 14
+f 30 14 20
+f 31 26 22
+f 31 22 16
+f 31 29 26
+f 31 16 29
+f 32 20 22
+f 32 22 26
+f 32 30 20
+f 32 26 30
+f 33 29 3
+f 33 26 29
+f 33 30 26
+f 33 3 30
\ No newline at end of file
diff --git a/objects/objaverse/steak/steak_11/collision/model_normalized_collision_13.obj b/objects/objaverse/steak/steak_11/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eef3f6e455600593de9d758d35db0e6d4b1d4577
--- /dev/null
+++ b/objects/objaverse/steak/steak_11/collision/model_normalized_collision_13.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v -0.13138308 0.32712674 0.02616973
+v -0.08571979 0.35542504 -0.03888824
+v -0.08610239 0.36276224 0.03269630
+v -0.07837127 0.46429537 0.05985661
+v -0.19144002 0.44541194 0.01090815
+v -0.19381171 0.40672510 0.06646884
+v -0.19058817 0.35449417 -0.03310240
+v -0.08214236 0.46631327 -0.00073799
+v -0.08783982 0.43844107 0.06367876
+v -0.19257226 0.43190823 0.06445203
+v -0.19405098 0.36173303 0.04661698
+v -0.10835153 0.46177032 -0.00617395
+v -0.08511641 0.45712614 0.06442615
+v -0.19143522 0.32593218 0.03291440
+v -0.18625364 0.44658149 0.00769450
+v -0.08756359 0.40880395 -0.02543180
+v -0.19376261 0.33090718 0.03499422
+v -0.18736725 0.42400605 -0.00816299
+v -0.09046162 0.45390996 -0.00914585
+v -0.12927583 0.40992403 -0.02329511
+v -0.17110384 0.44658043 0.00196987
+v -0.18918086 0.38119802 -0.02626022
+v -0.11113282 0.45744351 -0.00918069
+f 1 2 3
+f 3 2 4
+f 7 2 1
+f 8 4 2
+f 9 6 1
+f 9 1 3
+f 9 3 4
+f 10 4 5
+f 10 5 6
+f 11 6 5
+f 11 5 7
+f 12 4 8
+f 13 9 4
+f 13 4 10
+f 13 10 6
+f 13 6 9
+f 14 7 1
+f 14 1 6
+f 15 5 4
+f 15 4 12
+f 16 8 2
+f 17 11 7
+f 17 7 14
+f 17 14 6
+f 17 6 11
+f 18 5 15
+f 19 8 16
+f 20 16 2
+f 20 2 7
+f 21 18 15
+f 21 15 12
+f 22 7 5
+f 22 5 18
+f 22 20 7
+f 23 19 16
+f 23 12 8
+f 23 8 19
+f 23 16 20
+f 23 20 22
+f 23 22 18
+f 23 21 12
+f 23 18 21
\ No newline at end of file
diff --git a/objects/objaverse/steak/steak_11/collision/model_normalized_collision_14.obj b/objects/objaverse/steak/steak_11/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..117e9f996c7ca473d5bbd012f32599c911988f4b
--- /dev/null
+++ b/objects/objaverse/steak/steak_11/collision/model_normalized_collision_14.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.11196448 -0.26517948 -0.01343425
+v 0.15673862 -0.18999695 -0.08246255
+v 0.15736562 -0.00756222 -0.01251925
+v -0.00832038 -0.00856761 -0.03246841
+v -0.01034725 -0.21905968 -0.09503526
+v 0.15491269 -0.00917847 -0.08522629
+v -0.00865979 -0.26684229 -0.01972034
+v 0.15742165 -0.18960031 -0.01290670
+v 0.10975585 -0.26434418 -0.07946738
+v -0.01016112 -0.00763257 -0.09660126
+v 0.15520859 -0.12810120 -0.08564148
+v 0.06622802 -0.26511401 -0.08252320
+v 0.05440360 -0.00655715 -0.02731777
+v -0.01134330 -0.26296991 -0.02071838
+f 6 3 2
+f 7 1 3
+f 7 3 4
+f 8 1 2
+f 8 2 3
+f 8 3 1
+f 9 5 2
+f 9 2 1
+f 11 6 2
+f 11 2 5
+f 11 10 6
+f 11 5 10
+f 12 7 5
+f 12 5 9
+f 12 9 1
+f 12 1 7
+f 13 10 4
+f 13 4 3
+f 13 3 6
+f 13 6 10
+f 14 7 4
+f 14 4 10
+f 14 10 5
+f 14 5 7
\ No newline at end of file
diff --git a/objects/objaverse/steak/steak_11/collision/model_normalized_collision_15.obj b/objects/objaverse/steak/steak_11/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..97c1d4a156d65e1ad456db12a07fd719470f8761
--- /dev/null
+++ b/objects/objaverse/steak/steak_11/collision/model_normalized_collision_15.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v -0.14673281 -0.14432861 -0.03084495
+v -0.14386894 -0.14191851 -0.03157038
+v -0.16184353 0.10015222 -0.02250064
+v -0.20674081 0.09930018 -0.01814404
+v -0.21041445 0.10313004 -0.08758677
+v -0.16104289 -0.14417591 -0.02832958
+v -0.14254559 -0.00678946 -0.03568575
+v -0.20680928 -0.08398270 -0.02417302
+v -0.15853796 0.09486781 -0.02357826
+f 1 2 3
+f 5 2 1
+f 5 4 3
+f 6 1 3
+f 6 3 4
+f 6 5 1
+f 7 2 5
+f 8 6 4
+f 8 4 5
+f 8 5 6
+f 9 7 5
+f 9 5 3
+f 9 3 2
+f 9 2 7
\ No newline at end of file
diff --git a/objects/objaverse/steak/steak_11/collision/model_normalized_collision_16.obj b/objects/objaverse/steak/steak_11/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..69ef8ce369a3f41506813634de2f4b3fdc1dbc1e
--- /dev/null
+++ b/objects/objaverse/steak/steak_11/collision/model_normalized_collision_16.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v 0.34066764 0.09900613 0.02889886
+v 0.33178520 0.09550920 -0.04700238
+v 0.33253728 0.34347791 0.00354068
+v 0.22786450 0.37566459 -0.00850637
+v 0.23526471 0.09909223 0.00783843
+v 0.23003033 0.26269167 -0.04214541
+v 0.23691712 0.36363978 0.05088590
+v 0.33635030 0.14013536 -0.04012659
+v 0.27171982 0.36120555 -0.00892770
+v 0.23212760 0.09818044 -0.06628835
+v 0.33471982 0.35078155 0.05514896
+v 0.22823702 0.37095820 0.01338777
+v 0.33459443 0.24555744 -0.02330035
+v 0.23076610 0.36715432 -0.01384323
+v 0.30281934 0.35641530 0.00199085
+v 0.23074130 0.17168455 -0.05785355
+v 0.34060738 0.25381681 0.05001799
+v 0.33265919 0.30604745 -0.00883176
+v 0.27461869 0.30482973 -0.02413495
+v 0.22968740 0.32272615 -0.02679717
+v 0.26121428 0.15774860 -0.05483983
+v 0.27055721 0.35647110 0.05339663
+v 0.34287134 0.14807735 0.03464058
+v 0.29083754 0.23242058 -0.03728932
+v 0.24810072 0.32028259 -0.02449584
+v 0.28815063 0.09747425 -0.05607816
+v 0.24511952 0.26040766 -0.03992455
+f 5 2 1
+f 7 5 1
+f 8 1 2
+f 10 2 5
+f 11 4 7
+f 12 7 4
+f 12 5 7
+f 12 10 5
+f 14 4 9
+f 15 9 4
+f 15 3 9
+f 15 11 3
+f 15 4 11
+f 16 4 6
+f 16 12 4
+f 16 10 12
+f 17 7 1
+f 17 13 3
+f 17 3 11
+f 18 9 3
+f 18 3 13
+f 19 18 13
+f 19 9 18
+f 20 6 4
+f 20 4 14
+f 20 14 9
+f 21 8 2
+f 21 10 16
+f 22 17 11
+f 22 11 7
+f 22 7 17
+f 23 17 1
+f 23 1 8
+f 23 8 13
+f 23 13 17
+f 24 19 13
+f 24 13 8
+f 24 8 21
+f 24 21 16
+f 24 16 6
+f 25 19 6
+f 25 6 20
+f 25 20 9
+f 25 9 19
+f 26 21 2
+f 26 2 10
+f 26 10 21
+f 27 24 6
+f 27 6 19
+f 27 19 24
\ No newline at end of file
diff --git a/objects/objaverse/steak/steak_11/collision/model_normalized_collision_17.obj b/objects/objaverse/steak/steak_11/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8cab03f6a66e59457a44560905d397ab95c313dd
--- /dev/null
+++ b/objects/objaverse/steak/steak_11/collision/model_normalized_collision_17.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.23453993 0.23664713 0.02473809
+v 0.23215288 0.23284909 -0.04745184
+v 0.23351290 0.35287512 -0.01924784
+v 0.08257489 0.36049607 0.03471440
+v 0.08180729 0.23317222 -0.06470621
+v 0.23291473 0.35578535 0.05035985
+v 0.08362859 0.23764538 0.00511870
+v 0.16912532 0.32067113 -0.03803177
+v 0.23503738 0.28365219 0.03415289
+v 0.07822516 0.26094731 -0.05738349
+v 0.22569366 0.27595618 -0.04019589
+v 0.08037568 0.35297397 -0.03459984
+v 0.23177501 0.33749849 -0.02379434
+v 0.17370763 0.24491245 -0.05476055
+v 0.12445779 0.33877139 -0.03821299
+v 0.08191311 0.33572568 -0.04066500
+v 0.17089245 0.23379898 -0.05637790
+f 5 2 1
+f 6 3 4
+f 6 4 1
+f 7 5 1
+f 7 1 4
+f 9 6 1
+f 9 3 6
+f 9 1 2
+f 9 2 3
+f 10 7 4
+f 10 5 7
+f 12 4 3
+f 12 10 4
+f 13 11 8
+f 13 8 3
+f 13 3 2
+f 13 2 11
+f 14 11 2
+f 14 8 11
+f 15 12 3
+f 15 3 8
+f 15 14 5
+f 15 8 14
+f 16 5 10
+f 16 10 12
+f 16 15 5
+f 16 12 15
+f 17 14 2
+f 17 2 5
+f 17 5 14
\ No newline at end of file
diff --git a/objects/objaverse/steak/steak_11/collision/model_normalized_collision_19.obj b/objects/objaverse/steak/steak_11/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..874172201401d0c25b0b61d58affd9d83ac77cf2
--- /dev/null
+++ b/objects/objaverse/steak/steak_11/collision/model_normalized_collision_19.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.08362859 0.23764538 0.00511870
+v 0.08180729 0.23317222 -0.06470621
+v 0.08037568 0.35297397 -0.03459984
+v -0.18970401 0.35275305 0.04279175
+v -0.19244773 0.23837636 0.00621484
+v 0.08144397 0.35625925 0.03318386
+v 0.08191311 0.33572568 -0.04066500
+v -0.14390756 0.23184850 -0.07236321
+v -0.19058817 0.35449417 -0.03310240
+v 0.08356079 0.30028047 0.01885228
+v -0.11805666 0.24531384 -0.06979270
+v -0.17091523 0.34935101 -0.03986862
+v -0.19080050 0.23431520 -0.06627278
+v -0.19381658 0.28445788 0.01931681
+v 0.06491372 0.29079822 -0.05301485
+v -0.11707846 0.23256957 -0.07184033
+v -0.02512389 0.35068025 -0.03855869
+v -0.15795795 0.30547078 -0.05471316
+v -0.18932934 0.29169882 -0.05219989
+v -0.08707574 0.30627354 -0.05422415
+v -0.18799992 0.33707048 -0.03984208
+f 5 1 4
+f 6 4 1
+f 7 1 2
+f 7 3 6
+f 8 2 1
+f 8 1 5
+f 9 6 3
+f 9 4 6
+f 10 7 6
+f 10 6 1
+f 10 1 7
+f 13 8 5
+f 14 5 4
+f 14 4 9
+f 14 13 5
+f 14 9 13
+f 15 7 2
+f 15 2 11
+f 16 11 2
+f 16 2 8
+f 16 8 11
+f 17 12 9
+f 17 9 3
+f 17 3 7
+f 18 11 8
+f 18 8 13
+f 19 13 9
+f 19 18 13
+f 20 15 11
+f 20 7 15
+f 20 11 18
+f 20 17 7
+f 20 18 12
+f 20 12 17
+f 21 19 9
+f 21 9 12
+f 21 12 18
+f 21 18 19
\ No newline at end of file
diff --git a/objects/objaverse/steak/steak_11/collision/model_normalized_collision_2.obj b/objects/objaverse/steak/steak_11/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b24eddbb5da3ffbd39fb8534c437f178f41dcefd
--- /dev/null
+++ b/objects/objaverse/steak/steak_11/collision/model_normalized_collision_2.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v -0.20087771 -0.24505213 -0.01067835
+v -0.20040304 -0.21106826 -0.07673030
+v -0.20952286 -0.00738121 -0.02488426
+v -0.40910870 -0.00616099 0.03611447
+v -0.26961467 -0.17823393 -0.04809836
+v -0.37637953 -0.00660123 0.03212707
+v -0.20629313 -0.00765677 -0.10142001
+v -0.21433101 -0.23416162 -0.04902788
+v -0.28799811 -0.16172274 -0.00829808
+v -0.40969575 -0.00355850 -0.01781864
+v -0.37389265 -0.03333063 0.03184936
+v -0.21289134 -0.20777465 -0.07234223
+v -0.20213834 -0.24083349 -0.05128698
+v -0.40463471 -0.02376064 0.03255180
+v -0.21315920 -0.23421757 -0.01194677
+v -0.25772393 -0.13956337 -0.08434746
+v -0.40085254 -0.02682940 -0.00776107
+v -0.26751377 -0.14867369 -0.07359913
+v -0.30721636 -0.00792875 -0.07203539
+v -0.20109777 -0.18749817 -0.08983825
+v -0.40491498 -0.01411011 -0.01782365
+v -0.21583784 -0.18457489 -0.08542470
+v -0.39546703 -0.00528203 -0.02850869
+v -0.26226108 -0.00741949 -0.08665885
+v -0.38683322 -0.04181899 -0.01544896
+v -0.35654112 -0.06866669 -0.03295683
+v -0.33137554 -0.06346113 -0.05573069
+v -0.30463995 -0.06592811 -0.06857908
+f 6 1 3
+f 7 1 2
+f 7 3 1
+f 9 5 8
+f 10 6 3
+f 10 4 6
+f 10 3 7
+f 11 6 4
+f 11 1 6
+f 12 8 5
+f 13 2 1
+f 13 1 8
+f 13 12 2
+f 13 8 12
+f 14 9 1
+f 14 4 10
+f 14 11 4
+f 14 1 11
+f 15 9 8
+f 15 8 1
+f 15 1 9
+f 17 14 10
+f 17 5 9
+f 17 9 14
+f 18 12 5
+f 20 16 7
+f 20 7 2
+f 21 17 10
+f 22 18 16
+f 22 12 18
+f 22 16 20
+f 22 20 2
+f 22 2 12
+f 23 10 19
+f 23 21 10
+f 23 16 18
+f 23 18 21
+f 24 19 10
+f 24 10 7
+f 24 7 16
+f 24 16 19
+f 25 21 5
+f 25 5 17
+f 25 17 21
+f 26 21 18
+f 26 18 5
+f 26 5 21
+f 27 23 19
+f 27 16 23
+f 28 27 19
+f 28 19 16
+f 28 16 27
\ No newline at end of file
diff --git a/objects/objaverse/steak/steak_11/collision/model_normalized_collision_20.obj b/objects/objaverse/steak/steak_11/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8d82b8d53ef9310135bd75615dfaec42194b5080
--- /dev/null
+++ b/objects/objaverse/steak/steak_11/collision/model_normalized_collision_20.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.00542079 0.10117217 -0.02145520
+v 0.05109218 0.09830760 -0.08596521
+v 0.05106659 0.16249378 -0.07842174
+v -0.25243519 0.15915016 0.00189217
+v -0.25020225 0.09747391 -0.08187035
+v 0.00563966 0.15922940 -0.01411137
+v -0.26492843 0.09773329 -0.00345642
+v -0.20367633 0.14094388 -0.08414890
+v -0.19102058 0.16448217 -0.01003835
+v 0.05174398 0.10179952 -0.08554292
+v -0.22000673 0.09633945 -0.08775517
+v -0.24973465 0.15555950 -0.07244529
+v -0.26896424 0.09930164 -0.00217496
+v -0.10148896 0.14108244 -0.08492854
+v 0.01973403 0.09792386 -0.08663650
+v -0.26833864 0.11390266 -0.00182859
+v 0.02168676 0.11306893 -0.08588176
+v 0.05124990 0.15738109 -0.07939863
+v -0.02610868 0.12626672 -0.08533498
+f 7 2 1
+f 9 6 3
+f 9 4 6
+f 10 6 1
+f 10 1 2
+f 10 3 6
+f 11 7 5
+f 11 5 8
+f 12 8 5
+f 12 4 9
+f 12 9 3
+f 12 3 8
+f 13 6 4
+f 13 12 5
+f 13 5 7
+f 13 7 1
+f 13 1 6
+f 14 8 3
+f 14 11 8
+f 15 2 7
+f 15 7 11
+f 16 13 4
+f 16 4 12
+f 16 12 13
+f 17 2 15
+f 17 15 11
+f 17 11 14
+f 18 14 3
+f 18 3 10
+f 18 10 2
+f 18 2 17
+f 19 18 17
+f 19 17 14
+f 19 14 18
\ No newline at end of file
diff --git a/objects/objaverse/steak/steak_11/collision/model_normalized_collision_22.obj b/objects/objaverse/steak/steak_11/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f5c783c93724fca7ba67f71f8b92010b99ecb031
--- /dev/null
+++ b/objects/objaverse/steak/steak_11/collision/model_normalized_collision_22.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v -0.00319771 -0.48378914 -0.00774823
+v -0.00390455 -0.47847748 -0.04838366
+v -0.00993318 -0.34276815 -0.00333457
+v -0.12267241 -0.33279684 -0.00745661
+v -0.09850464 -0.40544960 -0.06695288
+v -0.01845806 -0.45417727 0.02102149
+v -0.06177021 -0.44367070 -0.04276680
+v -0.01576935 -0.34351016 -0.09208210
+v -0.01068087 -0.37670762 0.00373724
+v -0.08503750 -0.35537209 0.00135433
+v -0.08581607 -0.41778824 -0.07650538
+v -0.01655890 -0.47486726 -0.04602329
+v -0.07773634 -0.43123902 -0.02384240
+v -0.10700099 -0.34415763 -0.08910896
+v -0.04240176 -0.34118263 -0.09970301
+v -0.01221130 -0.47799046 -0.00978906
+v -0.02653436 -0.46102704 -0.06042557
+v -0.07224298 -0.43006512 -0.06720776
+v -0.10169363 -0.40125352 -0.02271487
+v -0.11579871 -0.37366654 -0.08635090
+v -0.05857170 -0.44600947 -0.03211596
+v -0.04182392 -0.39867611 -0.10210961
+v -0.12002724 -0.34729590 -0.07984945
+v -0.11292242 -0.38009497 -0.04509766
+v -0.03650067 -0.43437392 -0.08559910
+v -0.01185867 -0.43892059 -0.08541545
+v -0.07814747 -0.39636564 -0.09954508
+v -0.11762590 -0.35909626 -0.08583628
+v -0.07525571 -0.41636950 -0.08649672
+v -0.00758396 -0.45189262 -0.07647585
+v -0.08059387 -0.34469600 -0.10120970
+f 1 2 3
+f 8 3 2
+f 9 6 1
+f 9 1 3
+f 9 3 6
+f 10 6 3
+f 10 3 4
+f 10 4 6
+f 12 2 1
+f 13 11 7
+f 13 5 11
+f 15 4 3
+f 15 3 8
+f 15 14 4
+f 16 12 1
+f 16 1 6
+f 16 6 13
+f 17 12 11
+f 17 2 12
+f 18 12 7
+f 18 7 11
+f 18 11 12
+f 19 13 6
+f 19 6 4
+f 19 5 13
+f 20 5 19
+f 20 11 5
+f 21 7 12
+f 21 12 16
+f 21 16 13
+f 21 13 7
+f 22 15 8
+f 23 20 4
+f 23 4 14
+f 24 20 19
+f 24 19 4
+f 24 4 20
+f 26 22 8
+f 26 25 22
+f 27 22 25
+f 28 23 14
+f 28 20 23
+f 29 25 17
+f 29 17 11
+f 29 27 25
+f 29 11 20
+f 29 20 27
+f 30 2 17
+f 30 17 25
+f 30 25 26
+f 30 26 8
+f 30 8 2
+f 31 14 15
+f 31 15 22
+f 31 22 27
+f 31 28 14
+f 31 27 20
+f 31 20 28
\ No newline at end of file
diff --git a/objects/objaverse/steak/steak_11/collision/model_normalized_collision_24.obj b/objects/objaverse/steak/steak_11/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c010c514afff1a06e094c05bdf32d5d5164a152d
--- /dev/null
+++ b/objects/objaverse/steak/steak_11/collision/model_normalized_collision_24.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.08102630 0.09963254 -0.01576093
+v 0.08136774 0.09826464 -0.08551466
+v 0.08315551 0.19636682 -0.07288510
+v 0.00398344 0.18612588 -0.00998218
+v 0.00542079 0.10117217 -0.02145520
+v 0.00437173 0.15924803 -0.07929971
+v 0.07874537 0.18631240 -0.00418663
+v 0.08346784 0.11769278 -0.01098277
+v 0.05109218 0.09830760 -0.08596521
+v 0.08233956 0.18733015 -0.07480222
+v 0.00631999 0.18693006 -0.07602490
+v 0.08250094 0.15999032 -0.00842016
+v 0.00888977 0.10045839 -0.08733807
+f 6 5 4
+f 7 3 4
+f 8 1 2
+f 8 2 3
+f 8 7 4
+f 8 5 1
+f 8 4 5
+f 9 2 1
+f 9 1 5
+f 10 3 2
+f 11 6 4
+f 11 4 3
+f 11 3 10
+f 12 8 3
+f 12 3 7
+f 12 7 8
+f 13 9 5
+f 13 5 6
+f 13 6 11
+f 13 2 9
+f 13 11 10
+f 13 10 2
\ No newline at end of file
diff --git a/objects/objaverse/steak/steak_11/collision/model_normalized_collision_25.obj b/objects/objaverse/steak/steak_11/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..22c5ef07c09df618e2f4ae91f0092ddb7f17b913
--- /dev/null
+++ b/objects/objaverse/steak/steak_11/collision/model_normalized_collision_25.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.30398135 0.09662455 0.00551201
+v -0.30511731 0.15424512 0.01414681
+v -0.31637751 0.09934762 0.01318926
+v -0.39254655 0.16121760 0.05055418
+v -0.39186393 0.16074582 -0.01969983
+v -0.31229997 0.15867346 0.01932916
+v -0.39726334 0.09894827 -0.02545703
+v -0.38042099 0.16208775 0.04659843
+v -0.39079915 0.09921753 0.04237053
+v -0.39398121 0.14541512 0.04887948
+f 5 2 1
+f 6 2 5
+f 6 1 2
+f 6 3 1
+f 7 5 1
+f 8 3 6
+f 8 6 5
+f 8 5 4
+f 9 7 1
+f 9 1 3
+f 9 8 4
+f 9 3 8
+f 10 4 5
+f 10 5 7
+f 10 9 4
+f 10 7 9
\ No newline at end of file
diff --git a/objects/objaverse/steak/steak_11/collision/model_normalized_collision_26.obj b/objects/objaverse/steak/steak_11/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b0b9f699db59c10506b4775666d8af5bad69289
--- /dev/null
+++ b/objects/objaverse/steak/steak_11/collision/model_normalized_collision_26.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.20289161 -0.26559065 0.00064061
+v 0.20100703 -0.26304042 -0.07089814
+v 0.17500210 -0.18928858 -0.01055257
+v 0.11190118 -0.18980516 -0.01969454
+v 0.10975585 -0.26434418 -0.07946738
+v 0.17157235 -0.18987583 -0.08097250
+v 0.14481602 -0.19256754 -0.01459523
+v 0.20349270 -0.22053136 -0.00453797
+v 0.11196448 -0.26517948 -0.01343425
+v 0.11173172 -0.18940106 -0.08709405
+v 0.20019288 -0.21740414 -0.07655074
+v 0.12744903 -0.26586365 -0.01230059
+f 5 2 1
+f 7 1 3
+f 7 3 4
+f 7 4 1
+f 8 1 2
+f 8 3 1
+f 9 1 4
+f 9 4 5
+f 10 4 3
+f 10 3 6
+f 10 5 4
+f 11 6 3
+f 11 3 8
+f 11 8 2
+f 11 10 6
+f 11 2 5
+f 11 5 10
+f 12 9 5
+f 12 5 1
+f 12 1 9
\ No newline at end of file
diff --git a/objects/objaverse/steak/steak_11/collision/model_normalized_collision_27.obj b/objects/objaverse/steak/steak_11/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..82612b0ba5bca80e8fdd7aed09a5486d7725db31
--- /dev/null
+++ b/objects/objaverse/steak/steak_11/collision/model_normalized_collision_27.obj
@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
+v -0.36422691 0.33915633 0.08417657
+v -0.29640179 0.33999115 -0.00915953
+v -0.30706578 0.35098759 0.07650469
+v -0.33079671 0.44206248 0.10172822
+v -0.36869836 0.34959180 0.02959325
+v -0.29350869 0.43985111 0.04013615
+v -0.31320798 0.41801134 0.10946898
+v -0.37389010 0.33473065 0.02812761
+v -0.29139203 0.38053210 0.00449889
+v -0.33188832 0.43833809 0.05784344
+v -0.33394672 0.36431232 0.09170774
+v -0.32605160 0.41497179 0.10851256
+v -0.30182020 0.43203296 0.09924279
+v -0.36405479 0.33458777 0.01841701
+v -0.37499518 0.33624988 0.06297588
+v -0.32554550 0.44652266 0.07060753
+v -0.31840059 0.41983431 0.03666394
+v -0.35015259 0.36176550 0.09346869
+v -0.31372283 0.42609539 0.11020919
+v -0.34054683 0.41217461 0.09974100
+v -0.30482192 0.38158523 0.08909968
+v -0.29098539 0.40913009 0.01783807
+v -0.32222188 0.33584256 -0.00041428
+v -0.34285297 0.43169764 0.06881733
+v -0.31837507 0.44469183 0.07896825
+v -0.31890708 0.43641225 0.04726454
+v -0.35943130 0.34703833 0.02070148
+v -0.32371267 0.42654471 0.10773478
+v -0.35545231 0.37985216 0.08587380
+v -0.35552515 0.39213244 0.04474607
+v -0.34072498 0.43553125 0.07907707
+v -0.32353581 0.44631157 0.06995828
+v -0.30377374 0.40693374 0.02244072
+v -0.30466369 0.37739101 0.00890347
+v -0.37050961 0.35024103 0.06087383
+v -0.35830784 0.37716117 0.03661054
+v -0.32683390 0.44611815 0.07393217
+v -0.35360439 0.39479402 0.07834246
+f 1 2 3
+f 9 3 2
+f 11 1 3
+f 11 3 7
+f 14 8 5
+f 15 8 14
+f 16 6 10
+f 18 11 7
+f 18 1 11
+f 18 7 12
+f 19 12 7
+f 19 13 4
+f 19 7 13
+f 20 12 4
+f 20 18 12
+f 20 1 18
+f 21 13 7
+f 21 7 3
+f 21 3 9
+f 21 9 13
+f 22 13 9
+f 22 6 13
+f 23 9 2
+f 23 15 14
+f 23 2 1
+f 23 1 15
+f 24 16 10
+f 25 13 6
+f 25 4 13
+f 26 10 6
+f 26 22 17
+f 26 6 22
+f 27 14 5
+f 27 23 14
+f 28 19 4
+f 28 4 12
+f 28 12 19
+f 29 15 1
+f 29 1 20
+f 29 20 4
+f 30 5 8
+f 30 24 10
+f 31 24 15
+f 32 25 6
+f 32 6 16
+f 32 16 25
+f 33 27 17
+f 33 17 22
+f 33 22 9
+f 34 9 23
+f 34 23 27
+f 34 33 9
+f 34 27 33
+f 35 30 8
+f 35 8 15
+f 35 15 24
+f 35 24 30
+f 36 27 5
+f 36 5 30
+f 36 17 27
+f 36 26 17
+f 36 30 10
+f 36 10 26
+f 37 31 4
+f 37 16 24
+f 37 24 31
+f 37 25 16
+f 37 4 25
+f 38 29 4
+f 38 4 31
+f 38 31 15
+f 38 15 29
\ No newline at end of file
diff --git a/objects/objaverse/steak/steak_11/collision/model_normalized_collision_28.obj b/objects/objaverse/steak/steak_11/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c1b320976332b617436ae738455a8a7a2e20df8b
--- /dev/null
+++ b/objects/objaverse/steak/steak_11/collision/model_normalized_collision_28.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.00883284 -0.22210313 -0.02698427
+v -0.01034725 -0.21905968 -0.09503526
+v -0.01016112 -0.00763257 -0.09660126
+v -0.04091923 -0.00836049 -0.03628449
+v -0.03997751 -0.21921112 -0.09796761
+v -0.01705348 -0.01127188 -0.03512156
+v -0.00461978 -0.20725332 -0.02885895
+v -0.03550229 -0.22312000 -0.02859078
+v -0.04195786 -0.11208214 -0.10288684
+v -0.00844930 -0.08340238 -0.03449026
+v -0.03649082 -0.20603803 -0.02924500
+v -0.02540246 -0.11249363 -0.10055655
+v -0.04315732 -0.06948992 -0.10228492
+v -0.03984329 -0.00771082 -0.09867527
+f 6 3 4
+f 6 4 1
+f 7 1 2
+f 7 2 3
+f 7 6 1
+f 8 5 2
+f 8 2 1
+f 8 1 4
+f 9 2 5
+f 10 7 3
+f 10 3 6
+f 10 6 7
+f 11 8 4
+f 11 4 5
+f 11 5 8
+f 12 9 3
+f 12 3 2
+f 12 2 9
+f 13 9 5
+f 13 5 4
+f 13 3 9
+f 14 13 4
+f 14 4 3
+f 14 3 13
\ No newline at end of file
diff --git a/objects/objaverse/steak/steak_11/collision/model_normalized_collision_3.obj b/objects/objaverse/steak/steak_11/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3cbbaa2846618681d2270fc0f9cb289e7d8b6190
--- /dev/null
+++ b/objects/objaverse/steak/steak_11/collision/model_normalized_collision_3.obj
@@ -0,0 +1,141 @@
+# https://github.com/mikedh/trimesh
+v -0.31640692 -0.00783438 0.00846414
+v -0.31155625 -0.00748402 -0.07016466
+v -0.28881280 0.33430178 0.06055317
+v -0.35050790 0.34861804 0.01714836
+v -0.41788198 -0.00547242 0.00855101
+v -0.29185794 0.33381575 -0.01435708
+v -0.33609966 -0.00788960 -0.05899918
+v -0.40910870 -0.00616099 0.03611447
+v -0.29576113 0.23413412 -0.03936600
+v -0.40257417 0.16930871 -0.01120471
+v -0.37637953 -0.00660123 0.03212707
+v -0.39486468 0.23683032 0.06244949
+v -0.29276599 0.29086253 -0.02729180
+v -0.41754928 0.02982945 -0.01581838
+v -0.30846500 0.14185105 -0.05849667
+v -0.35796623 0.29547777 0.06400143
+v -0.39887239 0.26441907 0.02153351
+v -0.41451009 0.18788986 0.04224669
+v -0.38744881 0.21875317 0.06363367
+v -0.36572644 0.26062355 -0.00795812
+v -0.40508976 0.05070290 -0.02486007
+v -0.40969575 -0.00355850 -0.01781864
+v -0.39072363 0.28065430 0.05379183
+v -0.41973920 0.04352740 0.03358292
+v -0.41707258 0.13996083 -0.00137352
+v -0.39276534 0.21320303 0.06346261
+v -0.32143722 0.32114933 -0.00733159
+v -0.39344171 0.27494024 0.01375659
+v -0.39109445 0.21532340 -0.00780949
+v -0.31849801 0.21427216 -0.03879199
+v -0.39418470 0.14059587 -0.02215576
+v -0.39546703 -0.00528203 -0.02850869
+v -0.39940081 0.24647991 0.05444213
+v -0.41495470 -0.00421508 0.02779216
+v -0.41328514 0.10444685 0.04934114
+v -0.41671469 0.18655855 0.02121751
+v -0.41621475 0.05122755 -0.01496993
+v -0.30518212 0.28951942 -0.02333517
+v -0.39030294 0.25830867 0.00423443
+v -0.40382283 0.21397202 0.00331383
+v -0.34938785 0.23001302 -0.02209407
+v -0.32107540 0.14073195 -0.05413343
+v -0.40354704 0.00976337 -0.02514107
+v -0.40020883 0.25920903 0.04549585
+v -0.31771288 0.27377266 -0.02342190
+v -0.41596116 0.17066914 0.00985703
+v -0.40162912 0.24484794 0.01291438
+v -0.33420119 0.09678947 -0.05421194
+f 1 2 3
+f 6 4 3
+f 7 2 1
+f 8 7 1
+f 8 5 7
+f 9 3 2
+f 11 8 1
+f 11 1 3
+f 13 6 3
+f 13 3 9
+f 15 9 2
+f 15 13 9
+f 16 3 4
+f 19 11 3
+f 19 3 16
+f 19 8 11
+f 21 2 7
+f 22 5 14
+f 23 16 4
+f 23 12 16
+f 24 14 5
+f 25 14 24
+f 26 19 16
+f 26 16 12
+f 26 8 19
+f 27 20 4
+f 27 4 6
+f 28 23 4
+f 28 17 23
+f 30 13 15
+f 31 21 10
+f 31 10 29
+f 32 7 5
+f 32 5 22
+f 33 18 12
+f 33 12 23
+f 34 24 5
+f 34 5 8
+f 34 8 24
+f 35 12 18
+f 35 18 24
+f 35 26 12
+f 35 24 8
+f 35 8 26
+f 36 25 24
+f 36 24 18
+f 37 21 14
+f 37 14 25
+f 37 25 10
+f 37 10 21
+f 38 27 6
+f 38 6 13
+f 39 28 4
+f 39 4 20
+f 39 20 29
+f 39 29 10
+f 40 10 25
+f 40 39 10
+f 40 28 39
+f 41 30 29
+f 41 29 20
+f 41 20 30
+f 42 30 15
+f 42 29 30
+f 42 31 29
+f 43 21 7
+f 43 7 32
+f 43 14 21
+f 43 32 22
+f 43 22 14
+f 44 33 23
+f 44 23 17
+f 44 18 33
+f 44 36 18
+f 44 17 36
+f 45 20 27
+f 45 27 38
+f 45 30 20
+f 45 38 13
+f 45 13 30
+f 46 40 25
+f 46 25 36
+f 47 36 17
+f 47 17 28
+f 47 28 40
+f 47 46 36
+f 47 40 46
+f 48 42 15
+f 48 15 2
+f 48 2 21
+f 48 21 31
+f 48 31 42
\ No newline at end of file
diff --git a/objects/objaverse/steak/steak_11/collision/model_normalized_collision_30.obj b/objects/objaverse/steak/steak_11/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..99315cc81266ac4140fb85557945cdffd7e50de2
--- /dev/null
+++ b/objects/objaverse/steak/steak_11/collision/model_normalized_collision_30.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.23339271 0.34147859 0.04715544
+v 0.23351290 0.35287512 -0.01924784
+v 0.23691712 0.36363978 0.05088590
+v 0.17915126 0.39127191 0.04179692
+v 0.18682748 0.35552070 -0.02459700
+v 0.22880689 0.37384134 -0.00960245
+v 0.18295543 0.38266795 0.04876576
+v 0.23551905 0.34538071 0.04865750
+v 0.20365860 0.34225923 0.04339901
+v 0.18253139 0.39169368 -0.01178675
+v 0.19028929 0.36112798 0.04615628
+v 0.20792705 0.37038757 0.04998951
+v 0.19832070 0.38412681 -0.01379674
+f 6 3 2
+f 6 4 3
+f 7 3 4
+f 8 1 2
+f 8 2 3
+f 9 5 2
+f 9 2 1
+f 9 1 8
+f 10 5 4
+f 10 4 6
+f 11 7 4
+f 11 4 5
+f 11 5 9
+f 11 9 8
+f 12 8 3
+f 12 3 7
+f 12 11 8
+f 12 7 11
+f 13 10 6
+f 13 6 2
+f 13 2 5
+f 13 5 10
\ No newline at end of file
diff --git a/objects/objaverse/steak/steak_11/collision/model_normalized_collision_6.obj b/objects/objaverse/steak/steak_11/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9963bfa7f77874e57825cc4cded603aa79f53edd
--- /dev/null
+++ b/objects/objaverse/steak/steak_11/collision/model_normalized_collision_6.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v 0.18814909 0.35728527 0.04472778
+v 0.18296631 0.35023395 -0.02759515
+v 0.15537302 0.43414341 0.01035659
+v 0.03997134 0.49542217 0.06750889
+v -0.08610239 0.36276224 0.03269630
+v 0.15619114 0.41256294 0.05400220
+v 0.18253139 0.39169368 -0.01178675
+v -0.08571979 0.35542504 -0.03888824
+v -0.08783982 0.43844107 0.06367876
+v 0.19016843 0.37336987 0.04962184
+v 0.09557723 0.48157294 0.02863802
+v -0.08756359 0.40880395 -0.02543180
+v 0.15917688 0.43047780 0.01288407
+v 0.08510996 0.45130188 0.06413215
+v 0.07190901 0.49362581 0.02166943
+v 0.12704634 0.37896029 -0.02418304
+v -0.08214236 0.46631327 -0.00073799
+v 0.02915482 0.49233848 0.06882585
+v 0.10006052 0.47703391 0.02331353
+v 0.14942780 0.43490739 0.00362097
+v 0.07092701 0.49215318 0.03960415
+v 0.16873615 0.40212876 -0.01117115
+v -0.06731374 0.47603642 0.01811904
+v 0.06353013 0.46872523 0.00768660
+v 0.17513144 0.40225628 -0.00767952
+v 0.18262978 0.36493641 -0.02321466
+v 0.05320367 0.49184699 0.01822485
+v -0.06308291 0.47626061 0.04247428
+v 0.00510099 0.43929633 -0.00841528
+v -0.05642521 0.47444896 0.00778967
+v -0.07220669 0.46428012 0.06638652
+f 8 2 1
+f 8 1 5
+f 9 5 1
+f 10 1 2
+f 10 2 7
+f 10 9 1
+f 11 4 6
+f 12 8 5
+f 12 5 9
+f 13 6 10
+f 13 11 6
+f 13 3 11
+f 13 10 7
+f 13 7 3
+f 14 10 6
+f 14 6 4
+f 14 9 10
+f 16 2 8
+f 16 8 12
+f 17 12 9
+f 18 14 4
+f 19 15 11
+f 19 11 3
+f 20 19 3
+f 20 15 19
+f 21 15 4
+f 21 4 11
+f 21 11 15
+f 22 15 20
+f 24 22 16
+f 24 15 22
+f 25 20 3
+f 25 3 7
+f 25 22 20
+f 25 7 22
+f 26 22 7
+f 26 7 2
+f 26 2 16
+f 26 16 22
+f 27 23 4
+f 27 4 15
+f 27 24 17
+f 27 15 24
+f 28 18 4
+f 28 4 23
+f 28 23 17
+f 29 24 16
+f 29 16 12
+f 29 12 17
+f 29 17 24
+f 30 27 17
+f 30 17 23
+f 30 23 27
+f 31 18 28
+f 31 9 14
+f 31 14 18
+f 31 28 17
+f 31 17 9
\ No newline at end of file
diff --git a/objects/objaverse/steak/steak_11/collision/model_normalized_collision_8.obj b/objects/objaverse/steak/steak_11/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da3614dd5993a2330a896139787491d356b39590
--- /dev/null
+++ b/objects/objaverse/steak/steak_11/collision/model_normalized_collision_8.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.12751553 -0.00728085 -0.01717025
+v 0.12210976 -0.00828462 -0.01801747
+v 0.08090759 0.09659121 -0.08571614
+v -0.16184353 0.10015222 -0.02250064
+v -0.20161094 -0.00690412 -0.02619297
+v 0.08102630 0.09963254 -0.01576093
+v 0.08080801 -0.00804597 -0.09251894
+v -0.21041445 0.10313004 -0.08758677
+v 0.12727562 0.03818555 -0.01530341
+v -0.11585220 -0.00976070 -0.10189380
+v -0.16138917 -0.00744248 -0.03149830
+v -0.20436900 -0.00864724 -0.10173569
+v -0.19020575 0.02149699 -0.10119732
+v -0.20471874 0.09645546 -0.08934888
+v -0.13265762 0.01992746 -0.10078981
+v -0.20434270 0.00681877 -0.10086140
+f 5 2 1
+f 7 1 2
+f 8 5 4
+f 8 6 3
+f 8 4 6
+f 9 3 6
+f 9 7 3
+f 9 1 7
+f 9 5 1
+f 9 6 4
+f 9 4 5
+f 10 7 2
+f 11 10 2
+f 11 2 5
+f 11 5 10
+f 12 10 5
+f 12 5 8
+f 13 10 12
+f 14 8 3
+f 15 10 13
+f 15 3 7
+f 15 7 10
+f 15 14 3
+f 15 13 14
+f 16 13 12
+f 16 12 8
+f 16 14 13
+f 16 8 14
\ No newline at end of file
diff --git a/objects/objaverse/steak/steak_11/collision/model_normalized_collision_9.obj b/objects/objaverse/steak/steak_11/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..02bd4fe02682b4cae4d0b62e83993663852c8dd8
--- /dev/null
+++ b/objects/objaverse/steak/steak_11/collision/model_normalized_collision_9.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.06324957 -0.48521660 -0.00698233
+v 0.20723731 -0.30479051 -0.06076141
+v 0.20289161 -0.26559065 0.00064061
+v 0.06658134 -0.26580780 -0.01760511
+v 0.06622802 -0.26511401 -0.08252320
+v 0.06496703 -0.36139764 0.00149050
+v 0.20793607 -0.30309614 -0.00485716
+v 0.06119283 -0.48506875 -0.05065606
+v 0.20100703 -0.26304042 -0.07089814
+v 0.08191282 -0.45708312 0.00213484
+v 0.08123620 -0.47770164 -0.03720102
+v 0.05635528 -0.44303910 -0.06202730
+v 0.06497481 -0.47141476 0.00154322
+v 0.18558103 -0.31892010 0.00336338
+v 0.07960423 -0.47865065 -0.01827790
+v 0.17128647 -0.35835311 -0.03162737
+v 0.20548699 -0.30839278 -0.06054746
+v 0.06524916 -0.29785694 -0.01229836
+v 0.07314648 -0.46817412 0.00073695
+v 0.17834204 -0.33188380 0.00245012
+v 0.07186621 -0.48015699 -0.00840051
+v 0.20264283 -0.31095140 -0.00580952
+v 0.08364950 -0.46907258 -0.04267396
+v 0.17199534 -0.35726491 -0.04800849
+v 0.19881146 -0.27769915 -0.06909324
+f 6 3 4
+f 7 2 3
+f 9 3 2
+f 9 5 4
+f 9 4 3
+f 11 1 8
+f 12 8 1
+f 12 1 6
+f 12 4 5
+f 12 5 9
+f 13 10 6
+f 13 6 1
+f 14 3 6
+f 14 6 10
+f 14 7 3
+f 15 1 11
+f 16 15 11
+f 17 2 7
+f 17 7 16
+f 17 8 12
+f 18 12 6
+f 18 6 4
+f 18 4 12
+f 19 13 1
+f 19 10 13
+f 20 14 10
+f 20 10 7
+f 20 7 14
+f 21 10 19
+f 21 19 1
+f 21 1 15
+f 22 16 7
+f 22 15 16
+f 22 21 15
+f 22 7 10
+f 22 10 21
+f 23 17 11
+f 23 11 8
+f 23 8 17
+f 24 17 16
+f 24 16 11
+f 24 11 17
+f 25 17 12
+f 25 12 9
+f 25 9 2
+f 25 2 17
\ No newline at end of file
diff --git a/objects/objaverse/steak/steak_15/collision/model_normalized_collision_0.obj b/objects/objaverse/steak/steak_15/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a3060347eeab3fe15a7b4e8d6538956d80bb35e4
--- /dev/null
+++ b/objects/objaverse/steak/steak_15/collision/model_normalized_collision_0.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v 0.06585417 -0.05647565 0.24049110
+v 0.28320777 0.00170205 0.00658225
+v 0.22685294 0.07578821 0.27238232
+v 0.11697082 0.15471851 0.17310324
+v 0.08122750 -0.07413824 0.00900664
+v 0.22766450 0.11136912 0.00768054
+v 0.07522624 0.11400493 0.24790010
+v 0.16684506 -0.02530448 0.22681079
+v 0.29054155 0.05866118 0.00487363
+v 0.18057943 0.14110719 0.10599907
+v 0.07573365 0.15538888 0.00886170
+v 0.06946832 -0.03360466 0.25918015
+v 0.16178639 0.12480954 0.26514290
+v 0.22390253 0.04338968 0.27177579
+v 0.26136639 -0.01373242 0.00208596
+v 0.09242192 -0.05214935 0.23109875
+v 0.15560355 0.15538077 0.02408253
+v 0.07250022 0.15429708 0.09805351
+v 0.06747997 -0.06611908 0.08193820
+v 0.14241036 0.15573776 0.00724116
+v 0.08873671 0.13855213 0.22411881
+v 0.15475787 0.15215838 0.12334045
+v 0.17478073 0.12907075 0.19827463
+v 0.28232499 0.00077923 0.00801675
+v 0.14569153 -0.02618323 0.25074218
+v 0.28387317 0.02366553 0.02154023
+v 0.18348944 0.13995747 0.00864624
+v 0.07509516 0.12546964 0.24012698
+v 0.10348284 0.15413733 0.15768105
+v 0.14990798 0.14026672 0.21170334
+v 0.07971935 -0.05225904 0.24025591
+v 0.07761465 0.13752503 0.21556641
+f 10 9 6
+f 10 3 9
+f 12 7 1
+f 13 12 3
+f 13 7 12
+f 14 3 12
+f 15 9 2
+f 15 5 11
+f 16 1 5
+f 16 15 8
+f 16 5 15
+f 18 4 11
+f 19 11 5
+f 19 5 1
+f 19 18 11
+f 19 1 18
+f 20 6 9
+f 20 15 11
+f 20 9 15
+f 20 11 4
+f 20 4 17
+f 21 13 4
+f 22 17 4
+f 22 10 17
+f 23 13 3
+f 23 3 10
+f 24 14 8
+f 24 2 14
+f 24 15 2
+f 24 8 15
+f 25 14 12
+f 25 12 1
+f 25 8 14
+f 25 16 8
+f 26 9 3
+f 26 3 14
+f 26 14 2
+f 26 2 9
+f 27 17 10
+f 27 10 6
+f 27 20 17
+f 27 6 20
+f 28 18 1
+f 28 1 7
+f 28 7 13
+f 28 13 21
+f 29 4 18
+f 30 22 4
+f 30 4 13
+f 30 13 23
+f 30 23 10
+f 30 10 22
+f 31 25 1
+f 31 1 16
+f 31 16 25
+f 32 28 21
+f 32 18 28
+f 32 29 18
+f 32 21 4
+f 32 4 29
\ No newline at end of file
diff --git a/objects/objaverse/steak/steak_15/collision/model_normalized_collision_1.obj b/objects/objaverse/steak/steak_15/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d09d42b2ca7721460ba2d15cecdd3d0f65494c80
--- /dev/null
+++ b/objects/objaverse/steak/steak_15/collision/model_normalized_collision_1.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.00880651 -0.10335187 0.00566167
+v -0.00881239 -0.11586806 -0.23395209
+v -0.00522713 0.06504171 -0.23484849
+v -0.15975027 0.06807138 0.00937853
+v -0.15561328 -0.14560803 -0.22979355
+v -0.00522713 0.06504171 0.00757575
+v -0.00823751 -0.11344650 -0.10074623
+v -0.15019553 -0.11506528 0.00952754
+v -0.16538338 0.08841676 -0.24211083
+v -0.06583265 -0.13192962 -0.23484853
+v -0.06867797 -0.11769812 -0.05678051
+f 7 6 1
+f 7 2 3
+f 7 3 6
+f 8 4 5
+f 8 6 4
+f 8 1 6
+f 9 3 2
+f 9 5 4
+f 9 6 3
+f 9 4 6
+f 10 7 5
+f 10 2 7
+f 10 9 2
+f 10 5 9
+f 11 7 1
+f 11 5 7
+f 11 8 5
+f 11 1 8
\ No newline at end of file
diff --git a/objects/objaverse/steak/steak_15/collision/model_normalized_collision_10.obj b/objects/objaverse/steak/steak_15/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9c201df537504aabd2580e2cf63fb09c53feb585
--- /dev/null
+++ b/objects/objaverse/steak/steak_15/collision/model_normalized_collision_10.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v 0.06585417 -0.05647565 0.24049110
+v 0.06855433 -0.04608673 0.15680277
+v 0.07584554 0.08710544 0.26486510
+v 0.07153587 0.14716449 0.15700908
+v -0.08127593 -0.07673994 0.16875821
+v 0.07564798 0.14186617 0.18728573
+v 0.07298839 -0.02098896 0.26550160
+v -0.06642677 -0.08186705 0.15733408
+v -0.05908773 0.08553781 0.15333001
+v 0.06832658 -0.05375122 0.19349459
+v 0.04724686 -0.04108515 0.25266296
+v -0.06328335 0.01733438 0.20116892
+v 0.04789164 0.12315996 0.22316044
+v 0.03601234 -0.05708508 0.15440873
+v -0.07969399 -0.05486205 0.18626567
+v 0.04663813 -0.00915972 0.26298046
+v 0.07509516 0.12546964 0.24012698
+v 0.04661626 0.14091834 0.15552585
+v 0.05163709 0.10032564 0.24611472
+v -0.02431583 -0.07188728 0.15468474
+v -0.07536052 -0.05855425 0.18650943
+v 0.05820461 -0.02025910 0.26328714
+v 0.05293078 0.06283751 0.26232086
+v -0.05949010 -0.03511856 0.20469734
+v 0.02103645 0.12255618 0.18305243
+v -0.04221990 0.09561067 0.15342613
+v 0.06451399 0.12185427 0.23781535
+v -0.05572064 0.08064255 0.16560589
+v -0.08097434 -0.07129155 0.17420557
+v 0.02573942 0.08543179 0.23487582
+v 0.06483944 0.08613500 0.26047371
+v -0.07540533 -0.04885790 0.19086378
+v -0.05668888 0.05385322 0.18689663
+f 6 2 4
+f 7 6 3
+f 7 2 6
+f 8 1 5
+f 9 8 5
+f 10 7 1
+f 10 2 7
+f 10 1 8
+f 11 5 1
+f 11 1 7
+f 14 4 2
+f 14 2 10
+f 15 12 9
+f 16 7 3
+f 17 3 6
+f 17 6 13
+f 18 13 6
+f 18 6 4
+f 18 4 14
+f 19 3 17
+f 20 8 9
+f 20 9 14
+f 20 14 10
+f 20 10 8
+f 21 11 15
+f 22 16 11
+f 22 11 7
+f 22 7 16
+f 23 16 3
+f 23 12 16
+f 24 15 11
+f 24 11 16
+f 24 16 12
+f 25 9 13
+f 25 13 18
+f 26 18 14
+f 26 14 9
+f 26 25 18
+f 26 9 25
+f 27 19 17
+f 27 17 13
+f 27 13 19
+f 28 19 13
+f 28 13 9
+f 29 21 15
+f 29 5 11
+f 29 11 21
+f 29 15 9
+f 29 9 5
+f 30 23 19
+f 30 12 23
+f 31 23 3
+f 31 3 19
+f 31 19 23
+f 32 24 12
+f 32 12 15
+f 32 15 24
+f 33 28 9
+f 33 9 12
+f 33 12 30
+f 33 30 19
+f 33 19 28
\ No newline at end of file
diff --git a/objects/objaverse/steak/steak_15/collision/model_normalized_collision_11.obj b/objects/objaverse/steak/steak_15/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc25bfe8a824eb6088157035d35637e7d07f9f39
--- /dev/null
+++ b/objects/objaverse/steak/steak_15/collision/model_normalized_collision_11.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.08167829 -0.07407760 0.00704020
+v 0.20408737 -0.00623265 -0.22609808
+v 0.12988201 -0.03535756 0.08314206
+v 0.08568196 0.00443565 0.00757575
+v 0.08568196 0.00443565 -0.23484849
+v 0.16640159 -0.02937849 0.00821744
+v 0.11049415 -0.04301603 0.08155480
+v 0.08196903 -0.09310229 -0.23596808
+v 0.07770439 -0.08786942 -0.13294053
+v 0.09357104 -0.06989408 0.00773540
+v 0.11579762 -0.04057002 0.08327264
+v 0.16322876 -0.06093125 -0.23407414
+v 0.14411339 -0.03390918 0.05233486
+v 0.12693664 -0.07484983 -0.23645361
+v 0.09473816 -0.08763375 -0.23668647
+f 5 4 2
+f 6 2 4
+f 6 4 3
+f 7 4 1
+f 9 1 4
+f 9 4 5
+f 9 5 8
+f 10 1 9
+f 10 7 1
+f 11 3 4
+f 11 4 7
+f 11 10 3
+f 11 7 10
+f 12 5 2
+f 12 2 6
+f 12 6 10
+f 12 10 9
+f 12 9 8
+f 13 10 6
+f 13 6 3
+f 13 3 10
+f 14 12 8
+f 14 5 12
+f 15 14 8
+f 15 8 5
+f 15 5 14
\ No newline at end of file
diff --git a/objects/objaverse/steak/steak_15/collision/model_normalized_collision_12.obj b/objects/objaverse/steak/steak_15/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d8e2eea9bae5bb39cb8a6ffc6a70dc4951a6fe1c
--- /dev/null
+++ b/objects/objaverse/steak/steak_15/collision/model_normalized_collision_12.obj
@@ -0,0 +1,162 @@
+# https://github.com/mikedh/trimesh
+v 0.30642795 0.04956475 0.44065990
+v 0.32807282 0.07281280 0.40934026
+v 0.32598297 0.07000248 0.43716012
+v 0.28183864 0.14328383 0.49605514
+v 0.16019228 0.12499955 0.21839064
+v 0.32614913 0.10668874 0.43007723
+v 0.28405707 0.10139482 0.49353380
+v 0.19685878 0.01841470 0.26847014
+v 0.32628441 0.09138205 0.43360831
+v 0.30057734 0.13842567 0.42617448
+v 0.16894290 0.12167285 0.21168654
+v 0.30252418 0.06139888 0.46176523
+v 0.12684442 0.00369194 0.27621284
+v 0.30226249 0.05211869 0.39206326
+v 0.21248427 0.13906550 0.34023156
+v 0.31160871 0.13224351 0.44077427
+v 0.32659869 0.10174490 0.41178827
+v 0.19577610 0.07699825 0.22750911
+v 0.31486965 0.06103707 0.44860152
+v 0.20856030 0.08619116 0.41924431
+v 0.17160504 0.08176413 0.21081953
+v 0.26270250 0.06404742 0.46222712
+v 0.21853399 0.03233771 0.27472674
+v 0.31353262 0.06026464 0.39658154
+v 0.29756511 0.14206184 0.46680023
+v 0.31276420 0.12721800 0.42202725
+v 0.31220113 0.08863474 0.38511571
+v 0.25281864 0.09811724 0.47783364
+v 0.14534376 0.11096754 0.28639820
+v 0.13351138 0.00587936 0.26665486
+v 0.27633444 0.08731400 0.49000328
+v 0.27262285 0.05305597 0.45091691
+v 0.25022856 0.05542817 0.30638264
+v 0.31072743 0.06900980 0.38397442
+v 0.27133220 0.13356817 0.49397843
+v 0.22463620 0.07311959 0.43295572
+v 0.21930235 0.13878625 0.38157154
+v 0.13820908 0.11368111 0.26334462
+v 0.14584245 0.08671778 0.31569188
+v 0.26296349 0.07955579 0.47699938
+v 0.29319576 0.05318344 0.45500955
+v 0.20871984 0.07556088 0.24513101
+v 0.25461251 0.11014377 0.47956817
+v 0.26712799 0.10078975 0.49088869
+v 0.28073663 0.14324192 0.49494265
+v 0.17418758 0.12605339 0.30445267
+v 0.14622321 0.04411665 0.31364447
+v 0.22379419 0.12503768 0.42332149
+v 0.22628798 0.11643440 0.43600648
+v 0.27622553 0.08848612 0.49051740
+v 0.15985057 0.12320254 0.25751654
+v 0.16416789 0.07666314 0.34616404
+v 0.20963286 0.12536214 0.39365548
+v 0.20967136 0.09314002 0.41962143
+v 0.19469866 0.10135036 0.39280759
+f 1 2 3
+f 7 3 4
+f 9 3 2
+f 9 2 6
+f 9 6 4
+f 9 4 3
+f 11 5 10
+f 13 8 1
+f 14 1 8
+f 15 10 5
+f 17 6 2
+f 19 12 1
+f 19 1 3
+f 19 3 7
+f 19 7 12
+f 21 5 11
+f 21 11 18
+f 21 18 8
+f 23 14 8
+f 23 8 18
+f 24 2 1
+f 24 1 14
+f 24 14 23
+f 25 15 4
+f 25 10 15
+f 25 16 10
+f 25 4 6
+f 25 6 16
+f 26 17 11
+f 26 11 10
+f 26 10 16
+f 26 16 6
+f 26 6 17
+f 27 17 2
+f 27 18 11
+f 27 11 17
+f 30 13 5
+f 30 5 21
+f 30 21 8
+f 30 8 13
+f 31 12 7
+f 32 22 13
+f 33 23 18
+f 34 24 23
+f 34 2 24
+f 34 23 33
+f 34 27 2
+f 35 7 4
+f 36 28 20
+f 36 20 13
+f 38 5 13
+f 38 29 37
+f 39 38 13
+f 39 29 38
+f 40 22 31
+f 40 28 36
+f 40 36 13
+f 40 13 22
+f 41 32 13
+f 41 13 1
+f 41 1 12
+f 41 12 31
+f 41 31 22
+f 41 22 32
+f 42 34 33
+f 42 33 18
+f 42 18 27
+f 42 27 34
+f 43 20 28
+f 44 7 35
+f 44 40 31
+f 44 28 40
+f 44 43 28
+f 44 35 43
+f 45 4 15
+f 45 15 37
+f 45 35 4
+f 46 38 37
+f 46 37 15
+f 47 39 13
+f 47 13 20
+f 48 29 39
+f 48 35 45
+f 48 45 37
+f 49 43 35
+f 49 35 48
+f 50 44 31
+f 50 31 7
+f 50 7 44
+f 51 46 15
+f 51 15 5
+f 51 5 38
+f 51 38 46
+f 52 47 20
+f 52 20 39
+f 52 39 47
+f 53 48 37
+f 53 37 29
+f 53 29 48
+f 54 20 43
+f 54 43 49
+f 54 39 20
+f 55 49 48
+f 55 48 39
+f 55 54 49
+f 55 39 54
\ No newline at end of file
diff --git a/objects/objaverse/steak/steak_15/collision/model_normalized_collision_13.obj b/objects/objaverse/steak/steak_15/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..78605229bcf4b2feee57bba948b2c9bb61b1ea55
--- /dev/null
+++ b/objects/objaverse/steak/steak_15/collision/model_normalized_collision_13.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v -0.15933415 -0.13140046 -0.10288340
+v -0.15676157 -0.14606944 -0.23493483
+v -0.15181987 0.10061099 -0.09985587
+v -0.15175169 0.09738546 -0.23055868
+v -0.28325149 0.00183116 -0.23642979
+v -0.23593209 -0.13885011 -0.23692831
+v -0.16316801 0.09184402 -0.23295213
+v -0.27118233 -0.02315949 -0.08918639
+v -0.23082633 -0.13395963 -0.11536491
+v -0.23524237 0.04903444 -0.23476061
+v -0.23270052 0.04794259 -0.12037837
+v -0.23057998 -0.13202836 -0.10046784
+v -0.19220698 0.07732304 -0.21843891
+v -0.23687995 0.03757105 -0.10334217
+v -0.16400660 0.09465707 -0.10068163
+v -0.18942377 0.07782471 -0.10176668
+f 1 2 3
+f 3 2 4
+f 7 4 2
+f 7 6 5
+f 7 2 6
+f 7 3 4
+f 8 1 3
+f 8 5 6
+f 9 6 2
+f 9 2 1
+f 9 8 6
+f 10 7 5
+f 11 10 5
+f 12 9 1
+f 12 1 8
+f 12 8 9
+f 13 7 10
+f 14 11 5
+f 14 5 8
+f 15 3 7
+f 15 7 13
+f 15 8 3
+f 15 13 10
+f 16 11 14
+f 16 14 8
+f 16 8 15
+f 16 15 10
+f 16 10 11
\ No newline at end of file
diff --git a/objects/objaverse/steak/steak_15/collision/model_normalized_collision_14.obj b/objects/objaverse/steak/steak_15/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e842bd4ae4e4f47d715ed5830d63fa9cb3e9ca5b
--- /dev/null
+++ b/objects/objaverse/steak/steak_15/collision/model_normalized_collision_14.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v -0.15975027 0.06807138 0.00937853
+v -0.06376060 0.12576989 -0.23197116
+v -0.10318431 0.09942721 -0.28480377
+v -0.06539346 0.12430607 0.00744696
+v -0.13311798 0.10767116 -0.08592021
+v -0.09392509 0.10528231 -0.27866509
+v -0.12927100 0.09548981 0.00228524
+v -0.09059306 0.12258101 -0.05362138
+v -0.16538338 0.08841676 -0.24211083
+v -0.14581321 0.09242164 -0.02591709
+v -0.08949969 0.11355843 0.01723047
+v -0.06137319 0.12719112 -0.00888201
+v -0.09168797 0.12212973 -0.21659235
+v -0.15711898 0.08129071 -0.28056340
+v -0.14673349 0.08175901 0.00148213
+v -0.11679066 0.10593409 -0.01149405
+v -0.09101771 0.11515473 0.00548766
+v -0.07627639 0.12276030 -0.00960301
+v -0.13308006 0.10745529 -0.21784736
+v -0.07677604 0.12313527 -0.23191108
+v -0.10332443 0.10937741 0.00434186
+v -0.09178695 0.11090025 -0.26110826
+v -0.10349846 0.10728031 -0.25938145
+v -0.08124007 0.11728338 -0.24917136
+f 1 3 4
+f 6 2 4
+f 6 4 3
+f 10 9 1
+f 10 5 9
+f 11 7 1
+f 11 1 4
+f 12 4 2
+f 13 5 8
+f 13 12 2
+f 13 8 12
+f 14 3 1
+f 14 1 9
+f 14 6 3
+f 15 10 1
+f 15 1 7
+f 15 7 10
+f 16 10 7
+f 16 5 10
+f 16 8 5
+f 17 11 4
+f 17 8 16
+f 18 12 8
+f 18 4 12
+f 18 17 4
+f 18 8 17
+f 19 9 5
+f 19 5 13
+f 19 14 9
+f 20 13 2
+f 21 16 7
+f 21 7 11
+f 21 17 16
+f 21 11 17
+f 22 13 20
+f 23 6 14
+f 23 14 19
+f 23 22 6
+f 23 19 13
+f 23 13 22
+f 24 20 2
+f 24 2 6
+f 24 22 20
+f 24 6 22
\ No newline at end of file
diff --git a/objects/objaverse/steak/steak_15/collision/model_normalized_collision_15.obj b/objects/objaverse/steak/steak_15/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c5d6132e9796a6fa79f25681c45903fbcf673442
--- /dev/null
+++ b/objects/objaverse/steak/steak_15/collision/model_normalized_collision_15.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.07053044 0.06504171 0.15909091
+v 0.07053044 0.06504171 0.00757575
+v 0.07153587 0.14716449 0.15700908
+v 0.07123940 0.15380979 0.00775097
+v -0.03954922 0.11167596 0.10882294
+v -0.02037865 0.06504171 0.00757575
+v -0.03514761 0.08628479 0.17743747
+v -0.01397125 0.14094801 -0.04923097
+v 0.03287696 0.13552532 0.15461423
+v -0.00208429 0.14500571 -0.05439588
+v -0.01272015 0.11217528 0.15396389
+v -0.01956671 0.13540835 0.00714042
+v 0.05560805 0.15429299 -0.05330675
+v 0.05537893 0.08019323 -0.03787879
+v -0.00918855 0.12357114 0.12355725
+v 0.00446114 0.12226799 0.15146505
+f 1 2 3
+f 3 2 4
+f 6 2 1
+f 7 1 3
+f 7 6 1
+f 7 5 6
+f 8 6 5
+f 9 7 3
+f 11 5 7
+f 11 7 9
+f 12 8 5
+f 12 9 3
+f 12 10 8
+f 12 3 10
+f 13 10 3
+f 13 3 4
+f 13 4 2
+f 14 2 6
+f 14 6 8
+f 14 8 10
+f 14 13 2
+f 14 10 13
+f 15 5 11
+f 15 12 5
+f 15 9 12
+f 16 15 11
+f 16 11 9
+f 16 9 15
\ No newline at end of file
diff --git a/objects/objaverse/steak/steak_15/collision/model_normalized_collision_16.obj b/objects/objaverse/steak/steak_15/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be8994e9f913b87fec345880b7c36047f574f1ee
--- /dev/null
+++ b/objects/objaverse/steak/steak_15/collision/model_normalized_collision_16.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v -0.01274966 -0.12063308 -0.32806273
+v 0.11214133 -0.06454092 -0.41372619
+v 0.00908010 -0.10976616 -0.32551363
+v -0.00576643 -0.06623533 -0.48437463
+v -0.01151786 -0.12186417 -0.42733635
+v 0.11805654 -0.07556498 -0.35720007
+v -0.00595534 -0.11568308 -0.32598073
+v -0.01041240 -0.10770890 -0.45543919
+v 0.09576404 -0.08599682 -0.35370556
+v 0.10687254 -0.06928186 -0.40968030
+v 0.07961815 -0.06272861 -0.45649955
+v 0.11257493 -0.07857291 -0.35512778
+v 0.03297431 -0.06871808 -0.47762146
+v 0.03697302 -0.06352638 -0.47979582
+v 0.07637259 -0.06872276 -0.45083769
+v -0.00642157 -0.07831733 -0.47749675
+f 6 2 4
+f 6 4 3
+f 7 1 3
+f 7 3 4
+f 7 4 1
+f 8 5 1
+f 8 1 4
+f 9 3 1
+f 9 1 5
+f 10 6 5
+f 10 2 6
+f 12 6 3
+f 12 3 9
+f 12 9 5
+f 12 5 6
+f 13 11 8
+f 14 4 2
+f 14 2 11
+f 14 13 4
+f 14 11 13
+f 15 11 2
+f 15 2 10
+f 15 10 5
+f 15 5 8
+f 15 8 11
+f 16 13 8
+f 16 8 4
+f 16 4 13
\ No newline at end of file
diff --git a/objects/objaverse/steak/steak_15/collision/model_normalized_collision_17.obj b/objects/objaverse/steak/steak_15/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2744f5f3951ff8dc6dbfbb31fa9f6f65bcf7862e
--- /dev/null
+++ b/objects/objaverse/steak/steak_15/collision/model_normalized_collision_17.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v -0.00880651 -0.10335187 0.00566167
+v 0.08196903 -0.09310229 -0.23596808
+v 0.08568196 0.00443565 0.00757575
+v -0.00522713 0.00443565 0.00757575
+v -0.00522713 0.00443565 -0.23484849
+v 0.04928534 -0.08518448 0.00685528
+v -0.00560003 -0.11510610 -0.23475526
+v 0.08568196 0.00443565 -0.23484849
+v 0.08167829 -0.07407760 0.00704020
+v 0.02211753 -0.11459331 -0.15990152
+v 0.06373136 -0.10116984 -0.23689868
+v -0.00750399 -0.11696587 -0.21724160
+v 0.04583432 -0.09745179 -0.07094907
+v 0.05891877 -0.09898206 -0.13294902
+v -0.00772088 -0.11684145 -0.13051439
+v 0.02060178 -0.11375267 -0.20190720
+v 0.00535364 -0.09964369 0.00518954
+v 0.00703274 -0.11443426 -0.13078987
+v 0.00731339 -0.11477017 -0.21688128
+f 5 1 4
+f 5 4 3
+f 6 4 1
+f 8 5 3
+f 8 3 2
+f 9 3 4
+f 9 4 6
+f 9 2 3
+f 11 7 5
+f 11 8 2
+f 11 5 8
+f 12 1 5
+f 12 5 7
+f 13 9 6
+f 14 11 2
+f 14 10 11
+f 14 13 10
+f 14 2 9
+f 14 9 13
+f 15 12 10
+f 15 1 12
+f 16 11 10
+f 16 10 12
+f 17 13 6
+f 17 6 1
+f 17 1 10
+f 17 10 13
+f 18 15 10
+f 18 10 1
+f 18 1 15
+f 19 16 12
+f 19 12 7
+f 19 7 11
+f 19 11 16
\ No newline at end of file
diff --git a/objects/objaverse/steak/steak_15/collision/model_normalized_collision_18.obj b/objects/objaverse/steak/steak_15/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a1ace8442e1447191a2a0ce69a9340b01479faf2
--- /dev/null
+++ b/objects/objaverse/steak/steak_15/collision/model_normalized_collision_18.obj
@@ -0,0 +1,177 @@
+# https://github.com/mikedh/trimesh
+v -0.15618743 -0.14583874 -0.23236419
+v -0.15313211 -0.11763764 -0.43722854
+v -0.14854957 0.04095211 -0.44248119
+v -0.15635841 0.09433627 -0.23451852
+v -0.32241737 -0.10809216 -0.28807645
+v -0.15163873 0.08047584 -0.29192709
+v -0.28731001 -0.14432684 -0.28999014
+v -0.32285127 -0.06099064 -0.23539764
+v -0.22150794 -0.05336552 -0.44412070
+v -0.14940079 0.05281627 -0.41240827
+v -0.15686967 -0.14652091 -0.38167584
+v -0.17943099 0.08328036 -0.23286319
+v -0.28921325 -0.14718022 -0.24090446
+v -0.14999032 -0.01480226 -0.48062861
+v -0.23664283 -0.08315344 -0.43031872
+v -0.27823320 -0.02515454 -0.36194882
+v -0.19569813 -0.13002592 -0.40316254
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+v -0.29238170 -0.00896235 -0.23428168
+v -0.18021749 0.07494935 -0.27503707
+v -0.32235506 -0.11834123 -0.23807497
+v -0.17530896 -0.00352779 -0.46020389
+v -0.30787167 -0.13018791 -0.28842806
+v -0.16933474 -0.06487381 -0.47655601
+v -0.21911996 0.03215397 -0.34830970
+v -0.32168117 -0.07708439 -0.29196585
+v -0.24517518 -0.04801863 -0.42215878
+v -0.18196001 -0.14349893 -0.37924733
+v -0.17694375 -0.09085169 -0.45933888
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+v -0.14963431 0.01286034 -0.46950091
+v -0.24774613 -0.02653295 -0.40566844
+v -0.30958150 -0.11019244 -0.30955833
+v -0.32170794 -0.12194758 -0.27229716
+v -0.29680222 -0.14452397 -0.27486370
+v -0.15451405 -0.06570740 -0.47860740
+v -0.15868758 0.04832150 -0.40930185
+v -0.23046236 0.00487099 -0.39009487
+v -0.20640268 0.04510062 -0.33494827
+v -0.23311611 0.04896464 -0.26116405
+v -0.28980841 -0.05669435 -0.34667916
+v -0.20700407 -0.08723719 -0.44457817
+v -0.15454978 -0.10544965 -0.45273334
+v -0.19207062 -0.07622301 -0.45916066
+v -0.31992056 -0.06253394 -0.27645044
+v -0.30673446 -0.05802751 -0.31601840
+v -0.16171255 -0.01687772 -0.47463767
+v -0.20257764 -0.01724870 -0.44479176
+v -0.15988423 0.00822158 -0.46414153
+v -0.24340332 -0.08008942 -0.42135716
+v -0.29624182 -0.14501588 -0.25369089
+v -0.15627007 -0.09267238 -0.46658567
+v -0.26301146 0.00309393 -0.33678996
+v -0.23524237 0.04903444 -0.23476061
+v -0.17782920 -0.10055748 -0.44768851
+v -0.27480349 -0.00729373 -0.33311827
+v -0.29000400 -0.00810670 -0.26134200
+v -0.28957904 -0.02059740 -0.31686542
+f 1 2 3
+f 6 1 3
+f 6 4 1
+f 10 6 3
+f 10 4 6
+f 12 1 4
+f 13 7 11
+f 14 3 2
+f 17 2 11
+f 17 7 15
+f 18 11 2
+f 18 2 1
+f 18 13 11
+f 18 1 13
+f 19 8 1
+f 19 1 12
+f 20 12 4
+f 20 4 10
+f 21 1 8
+f 21 8 5
+f 23 15 7
+f 24 15 9
+f 26 5 8
+f 27 9 15
+f 28 17 11
+f 28 11 7
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+f 31 13 1
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+f 32 9 27
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+f 34 3 22
+f 34 27 16
+f 35 23 5
+f 35 15 23
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+f 35 26 27
+f 36 21 5
+f 36 5 23
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+f 37 7 13
+f 37 36 23
+f 38 24 14
+f 38 14 2
+f 39 10 3
+f 39 3 25
+f 40 25 3
+f 40 34 16
+f 40 3 34
+f 41 20 10
+f 41 39 25
+f 41 10 39
+f 42 41 25
+f 42 12 20
+f 42 20 41
+f 43 27 26
+f 43 16 27
+f 44 29 17
+f 44 17 15
+f 44 15 29
+f 45 2 17
+f 45 38 2
+f 46 29 15
+f 46 15 24
+f 46 24 29
+f 47 30 26
+f 47 26 8
+f 47 8 30
+f 48 30 16
+f 48 26 30
+f 48 43 26
+f 48 16 43
+f 49 32 22
+f 49 14 24
+f 49 24 32
+f 49 33 14
+f 49 22 33
+f 50 32 27
+f 50 22 32
+f 50 34 22
+f 50 27 34
+f 51 33 22
+f 51 22 3
+f 51 3 33
+f 52 35 27
+f 52 27 15
+f 52 15 35
+f 53 37 13
+f 53 13 31
+f 53 31 36
+f 53 36 37
+f 54 29 24
+f 54 24 38
+f 54 45 29
+f 54 38 45
+f 55 40 16
+f 55 25 40
+f 55 42 25
+f 56 19 12
+f 56 12 42
+f 57 45 17
+f 57 17 29
+f 57 29 45
+f 58 55 16
+f 58 42 55
+f 59 56 42
+f 59 19 56
+f 59 42 58
+f 59 30 19
+f 60 58 16
+f 60 16 30
+f 60 59 58
+f 60 30 59
\ No newline at end of file
diff --git a/objects/objaverse/steak/steak_15/collision/model_normalized_collision_19.obj b/objects/objaverse/steak/steak_15/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f47b7cd7249ea42d3cdd0ade126b0ed07355740
--- /dev/null
+++ b/objects/objaverse/steak/steak_15/collision/model_normalized_collision_19.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v -0.06179199 -0.10607432 0.00898108
+v -0.05225191 -0.12740436 -0.23573113
+v -0.15019553 -0.11506528 0.00952754
+v -0.06775555 -0.10745255 0.00690726
+v -0.06858053 -0.12945396 -0.19352854
+v -0.16004131 -0.11752007 0.00659221
+v -0.06939752 -0.11409885 -0.04257756
+v -0.15676157 -0.14606944 -0.23493483
+v -0.09992406 -0.11586493 -0.00894941
+v -0.07035957 -0.13343804 -0.23455433
+v -0.15933415 -0.13140046 -0.10288340
+v -0.15561328 -0.14560803 -0.22979355
+v -0.12845352 -0.13035943 -0.11474475
+f 1 2 3
+f 5 2 1
+f 6 1 3
+f 6 4 1
+f 7 5 1
+f 8 6 3
+f 8 3 2
+f 9 7 1
+f 9 1 4
+f 9 4 6
+f 9 5 7
+f 10 8 2
+f 10 2 5
+f 11 9 6
+f 11 6 8
+f 12 5 9
+f 12 10 5
+f 12 8 10
+f 12 11 8
+f 13 12 9
+f 13 9 11
+f 13 11 12
\ No newline at end of file
diff --git a/objects/objaverse/steak/steak_15/collision/model_normalized_collision_2.obj b/objects/objaverse/steak/steak_15/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3774d8e30a8347b753651e073f88beca5df5fa1c
--- /dev/null
+++ b/objects/objaverse/steak/steak_15/collision/model_normalized_collision_2.obj
@@ -0,0 +1,105 @@
+# https://github.com/mikedh/trimesh
+v -0.00560003 -0.11510610 -0.23475526
+v 0.21921874 0.00334595 -0.31687125
+v 0.22083705 0.10490245 -0.23277259
+v -0.01494671 0.13211722 -0.24265846
+v -0.00476000 -0.11776689 -0.35619631
+v 0.18473759 0.10089651 -0.35407153
+v 0.19764149 0.13092592 -0.23365140
+v 0.19536037 -0.03117222 -0.23561079
+v 0.22069179 0.06904474 -0.33412641
+v -0.00829984 0.10897587 -0.35745455
+v 0.22102476 0.03939432 -0.23155074
+v 0.17566139 -0.05653177 -0.30554264
+v 0.20375189 -0.00555564 -0.35649656
+v 0.21725296 0.08562449 -0.31697393
+v 0.18597444 0.11506480 -0.32091583
+v 0.21834225 -0.00126468 -0.28355804
+v 0.06373136 -0.10116984 -0.23689868
+v 0.21769500 0.01272943 -0.33152441
+v 0.20428671 0.08488451 -0.35101826
+v 0.09576404 -0.08599682 -0.35370556
+v 0.18978928 -0.04083661 -0.30535444
+v 0.21908299 0.10356777 -0.24693364
+v 0.19299710 0.11156915 -0.31808412
+v 0.18893618 0.13531666 -0.23422476
+v 0.21830958 0.01295329 -0.25750569
+v 0.17556531 -0.05692547 -0.26619004
+v 0.19354995 0.09398429 -0.35295702
+v 0.17556303 -0.04148607 -0.35174375
+v 0.07791271 -0.09927879 -0.27976532
+v 0.19081109 -0.02476400 -0.35324242
+v 0.19087130 -0.04191142 -0.29648315
+v 0.20583733 -0.00605013 -0.23637314
+v 0.18185662 -0.04565603 -0.23785238
+v 0.10776956 -0.08259121 -0.33866175
+v 0.07721887 -0.09735028 -0.25255196
+v 0.10800581 -0.08221227 -0.23777264
+f 5 1 4
+f 7 4 1
+f 10 5 4
+f 11 7 1
+f 11 3 7
+f 11 1 8
+f 11 9 3
+f 11 2 9
+f 13 10 6
+f 13 5 10
+f 14 3 9
+f 15 6 10
+f 16 2 11
+f 17 8 1
+f 17 1 5
+f 18 13 9
+f 18 9 2
+f 18 2 13
+f 19 9 13
+f 19 14 9
+f 20 5 13
+f 22 14 7
+f 22 7 3
+f 22 3 14
+f 23 15 7
+f 23 7 14
+f 23 14 19
+f 23 6 15
+f 24 15 10
+f 24 10 4
+f 24 4 7
+f 24 7 15
+f 25 16 11
+f 27 19 13
+f 27 13 6
+f 27 23 19
+f 27 6 23
+f 28 20 13
+f 28 12 20
+f 29 17 5
+f 29 5 20
+f 29 12 26
+f 30 13 2
+f 30 2 21
+f 30 28 13
+f 30 21 12
+f 30 12 28
+f 31 21 2
+f 31 2 16
+f 31 16 8
+f 31 8 26
+f 31 26 12
+f 31 12 21
+f 32 25 11
+f 32 11 8
+f 32 8 16
+f 32 16 25
+f 33 26 8
+f 34 29 20
+f 34 20 12
+f 34 12 29
+f 35 29 26
+f 35 26 17
+f 35 17 29
+f 36 17 26
+f 36 26 33
+f 36 33 8
+f 36 8 17
\ No newline at end of file
diff --git a/objects/objaverse/steak/steak_15/collision/model_normalized_collision_20.obj b/objects/objaverse/steak/steak_15/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..76a8bf76474dce009beb820639637e1de3794fb0
--- /dev/null
+++ b/objects/objaverse/steak/steak_15/collision/model_normalized_collision_20.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.16640159 -0.02937849 0.00821744
+v 0.20408737 -0.00623265 -0.22609808
+v 0.15953646 0.15226292 0.00782260
+v 0.07573365 0.15538888 0.00886170
+v -0.00522713 0.00443565 -0.23484849
+v -0.01339685 0.13597936 0.01157665
+v 0.14267126 0.15176511 -0.23166519
+v -0.00522713 0.00443565 0.00757575
+v 0.15999195 0.14821122 -0.23357440
+v 0.14241036 0.15573776 0.00724116
+v 0.01274264 0.15275858 -0.18734527
+v -0.00057935 0.13836667 -0.23111386
+v 0.15812233 0.15382966 -0.20162159
+v 0.01572126 0.15343664 -0.08351030
+v 0.10188454 0.15360601 -0.23221664
+v -0.00208429 0.14500571 -0.05439588
+v 0.02870070 0.15263377 -0.20037787
+f 1 2 3
+f 5 2 1
+f 6 1 3
+f 6 3 4
+f 8 6 5
+f 8 5 1
+f 8 1 6
+f 9 3 2
+f 9 2 5
+f 10 4 3
+f 12 9 5
+f 12 5 6
+f 13 9 7
+f 13 10 3
+f 13 3 9
+f 14 6 4
+f 14 4 11
+f 15 7 9
+f 15 9 12
+f 15 13 7
+f 15 11 4
+f 15 4 10
+f 15 10 13
+f 16 12 6
+f 16 11 12
+f 16 14 11
+f 16 6 14
+f 17 15 12
+f 17 12 11
+f 17 11 15
\ No newline at end of file
diff --git a/objects/objaverse/steak/steak_15/collision/model_normalized_collision_21.obj b/objects/objaverse/steak/steak_15/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..949de088b37c1596e8512de8f9c4416f0f96e022
--- /dev/null
+++ b/objects/objaverse/steak/steak_15/collision/model_normalized_collision_21.obj
@@ -0,0 +1,156 @@
+# https://github.com/mikedh/trimesh
+v -0.09794684 -0.09870734 0.12205651
+v -0.06775555 -0.10745255 0.00690726
+v -0.06181259 -0.05209484 0.19480087
+v -0.05965759 0.11134157 0.07888876
+v -0.22068770 -0.02781681 0.00060294
+v -0.05773243 0.07049388 0.17754066
+v -0.06810690 -0.08398010 0.15236134
+v -0.20757686 -0.10850343 -0.00110701
+v -0.06539346 0.12430607 0.00744696
+v -0.05817862 0.09875376 0.12412851
+v -0.12819659 0.01218349 0.15689070
+v -0.07186115 -0.09795891 0.09733867
+v -0.11760202 -0.08441817 0.14438046
+v -0.16004131 -0.11752007 0.00659221
+v -0.19229377 0.04009226 0.00172994
+v -0.12927100 0.09548981 0.00228524
+v -0.06993048 0.00247733 0.20242765
+v -0.16878911 -0.05537363 0.10583313
+v -0.13512410 -0.09956588 0.11613590
+v -0.18620183 -0.11728633 0.00230491
+v -0.15872092 -0.11623349 0.02101052
+v -0.20137505 -0.00195976 0.03038235
+v -0.11073761 0.06405633 0.11821617
+v -0.10332443 0.10937741 0.00434186
+v -0.22162179 -0.08385751 -0.00109726
+v -0.06332304 0.00126777 0.20415098
+v -0.07238475 0.03936776 0.18794726
+v -0.11553396 -0.05140292 0.17248443
+v -0.15467742 -0.07721246 0.11961418
+v -0.20723383 0.01480905 0.00132739
+v -0.13734345 0.00013908 0.14799511
+v -0.16815477 -0.04197933 0.10572178
+v -0.12381929 0.03907138 0.13604296
+v -0.08274568 0.07830965 0.13452556
+v -0.12949038 0.07714300 0.06093174
+v -0.10219593 0.10700942 0.01901828
+v -0.06299139 -0.02364603 0.20581651
+v -0.08116725 0.05427366 0.17173846
+v -0.11444278 -0.00203112 0.17348731
+v -0.05978531 0.04317961 0.19205884
+v -0.11469324 -0.07336108 0.15890082
+v -0.15516980 -0.08974278 0.10513754
+v -0.14093228 -0.05181606 0.14577592
+v -0.18845075 0.03629005 0.01461292
+v -0.06956367 0.06625817 0.17292096
+v -0.11350918 0.07589496 0.09073765
+v -0.07209217 0.10626562 0.07794976
+v -0.09821325 0.09242783 0.07614986
+v -0.08882146 -0.04658346 0.18660832
+v -0.07186333 -0.02134388 0.20186282
+v -0.09440702 0.05061500 0.16104488
+v -0.08213168 0.02718945 0.18597625
+v -0.08031468 0.06393310 0.16358999
+f 6 3 2
+f 7 2 3
+f 9 4 2
+f 10 6 2
+f 10 2 4
+f 12 7 1
+f 12 1 2
+f 12 2 7
+f 13 7 3
+f 16 2 8
+f 19 1 7
+f 19 7 13
+f 20 8 2
+f 20 2 14
+f 20 19 8
+f 21 14 2
+f 21 2 1
+f 21 1 19
+f 21 20 14
+f 21 19 20
+f 24 9 2
+f 24 2 16
+f 25 16 8
+f 25 15 16
+f 25 18 5
+f 29 25 8
+f 29 18 25
+f 30 5 22
+f 30 25 5
+f 30 15 25
+f 30 22 11
+f 31 11 22
+f 32 22 5
+f 32 5 18
+f 32 31 22
+f 32 18 31
+f 35 16 15
+f 35 33 23
+f 35 15 33
+f 36 4 9
+f 36 9 24
+f 36 24 16
+f 37 26 17
+f 38 11 27
+f 39 11 31
+f 40 6 27
+f 40 26 37
+f 40 37 3
+f 40 3 6
+f 40 27 17
+f 40 17 26
+f 41 13 3
+f 41 3 28
+f 41 28 29
+f 41 29 19
+f 41 19 13
+f 42 29 8
+f 42 8 19
+f 42 19 29
+f 43 29 28
+f 43 18 29
+f 43 31 18
+f 43 39 31
+f 43 28 39
+f 44 30 11
+f 44 11 33
+f 44 33 15
+f 44 15 30
+f 45 6 10
+f 45 10 34
+f 45 38 27
+f 45 27 6
+f 46 35 23
+f 46 23 34
+f 47 10 4
+f 47 4 36
+f 48 36 16
+f 48 16 35
+f 48 47 36
+f 48 10 47
+f 48 35 46
+f 48 46 34
+f 48 34 10
+f 49 37 28
+f 49 28 3
+f 49 3 37
+f 50 37 17
+f 50 28 37
+f 50 39 28
+f 50 17 39
+f 51 33 11
+f 51 11 38
+f 51 38 45
+f 52 27 11
+f 52 11 39
+f 52 39 17
+f 52 17 27
+f 53 45 34
+f 53 34 23
+f 53 51 45
+f 53 23 33
+f 53 33 51
\ No newline at end of file
diff --git a/objects/objaverse/steak/steak_15/collision/model_normalized_collision_22.obj b/objects/objaverse/steak/steak_15/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae33e1d71a0435b751bcbaf1a26d224dff55cb3f
--- /dev/null
+++ b/objects/objaverse/steak/steak_15/collision/model_normalized_collision_22.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v -0.07055151 0.07190146 0.16312054
+v -0.00522713 0.06504171 -0.23484849
+v -0.00522713 0.06504171 0.00757575
+v -0.01272015 0.11217528 0.15396389
+v -0.08124007 0.11728338 -0.24917136
+v -0.00283902 0.14180265 -0.21519981
+v -0.03514761 0.08628479 0.17743747
+v -0.05966098 0.12205943 0.03429203
+v -0.00294431 0.14098960 -0.02529704
+v -0.00417119 0.13680430 -0.23400001
+v -0.05908773 0.08553781 0.15333001
+v -0.06285521 0.13101176 -0.05334785
+v -0.01687570 0.12539876 0.07986280
+v -0.06376060 0.12576989 -0.23197116
+v -0.05807366 0.10767228 0.09290033
+v -0.00474914 0.13762558 0.00731947
+v -0.04638408 0.13786242 -0.09998049
+v -0.04460291 0.12115280 0.06386474
+v -0.05660349 0.09448373 0.13678966
+v -0.01768647 0.13819626 -0.02412467
+v -0.04362353 0.13554552 -0.19886079
+v -0.02981884 0.12234039 0.07927721
+v -0.03164954 0.13811310 -0.05407642
+v -0.02876666 0.13639734 -0.21424961
+f 1 2 3
+f 5 2 1
+f 6 3 2
+f 7 1 3
+f 7 3 4
+f 9 4 3
+f 9 3 6
+f 10 6 2
+f 10 2 5
+f 11 7 4
+f 11 1 7
+f 12 5 1
+f 12 1 8
+f 14 10 5
+f 14 6 10
+f 15 8 1
+f 15 4 8
+f 16 8 13
+f 16 13 4
+f 16 4 9
+f 17 9 6
+f 17 14 5
+f 17 5 12
+f 18 13 8
+f 18 8 4
+f 19 15 1
+f 19 1 11
+f 19 11 4
+f 19 4 15
+f 20 12 8
+f 20 8 16
+f 20 16 9
+f 21 17 6
+f 21 14 17
+f 22 18 4
+f 22 4 13
+f 22 13 18
+f 23 17 12
+f 23 12 20
+f 23 20 9
+f 23 9 17
+f 24 21 6
+f 24 6 14
+f 24 14 21
\ No newline at end of file
diff --git a/objects/objaverse/steak/steak_15/collision/model_normalized_collision_23.obj b/objects/objaverse/steak/steak_15/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..65e35f19f872bd77e73596dc7184adb32ecc39d7
--- /dev/null
+++ b/objects/objaverse/steak/steak_15/collision/model_normalized_collision_23.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.00690152 -0.09253153 -0.46259939
+v 0.12835731 0.00178476 -0.46912766
+v 0.11195968 -0.05038357 -0.44251125
+v -0.00741132 0.07422723 -0.46562021
+v -0.00389153 -0.05414871 -0.49188662
+v 0.07632020 0.06354607 -0.46890342
+v 0.09528025 -0.06152490 -0.44272137
+v 0.07425089 -0.03131633 -0.48924605
+v -0.00576643 -0.06623533 -0.48437463
+v 0.10385225 -0.04004326 -0.46503642
+v 0.06426901 0.03196129 -0.48989399
+v -0.00519732 0.04126613 -0.49009896
+v 0.06432734 -0.05620839 -0.47726391
+v 0.10615071 -0.01752015 -0.47665499
+v 0.06808688 0.04412675 -0.48316715
+v 0.07875286 0.00653160 -0.48944534
+v 0.09085232 -0.05717715 -0.45286783
+v 0.05082547 -0.04458847 -0.48787829
+v 0.11011881 0.00649189 -0.47728567
+v 0.02426046 0.03845295 -0.48989558
+f 6 3 2
+f 6 4 3
+f 7 3 4
+f 7 4 1
+f 9 1 4
+f 10 2 3
+f 10 3 7
+f 12 9 4
+f 12 5 9
+f 12 11 5
+f 12 4 6
+f 13 1 9
+f 13 8 10
+f 13 7 1
+f 14 10 8
+f 14 8 2
+f 14 2 10
+f 15 6 2
+f 15 12 6
+f 16 8 5
+f 16 5 11
+f 17 13 10
+f 17 10 7
+f 17 7 13
+f 18 13 9
+f 18 9 5
+f 18 5 8
+f 18 8 13
+f 19 15 2
+f 19 11 15
+f 19 16 11
+f 19 2 8
+f 19 8 16
+f 20 15 11
+f 20 11 12
+f 20 12 15
\ No newline at end of file
diff --git a/objects/objaverse/steak/steak_15/collision/model_normalized_collision_24.obj b/objects/objaverse/steak/steak_15/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e678ba86b3f7e688bc12b58e0ed81190f1e6d3fd
--- /dev/null
+++ b/objects/objaverse/steak/steak_15/collision/model_normalized_collision_24.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.09998652 -0.03100723 0.25764151
+v 0.14232863 -0.02147653 0.25804949
+v 0.14012110 0.09007410 0.30445642
+v 0.11097132 0.10816378 0.25663143
+v 0.13207989 0.10911218 0.26475656
+v 0.07775358 0.05864335 0.27704439
+v 0.13925847 0.04239395 0.30363626
+v 0.15036331 0.01575165 0.27456389
+v 0.13938218 0.10240342 0.29080264
+v 0.07212844 0.09286758 0.26051006
+v 0.11248595 -0.01082793 0.28035353
+v 0.14741194 0.01082802 0.26276013
+v 0.06946832 -0.03360466 0.25918015
+v 0.10421415 -0.01615372 0.27696610
+v 0.07817222 -0.00129103 0.27510814
+v 0.07201402 -0.03091352 0.26206876
+f 2 1 4
+f 5 2 4
+f 7 3 6
+f 8 7 2
+f 8 3 7
+f 9 5 4
+f 9 8 5
+f 9 3 8
+f 10 9 4
+f 10 6 3
+f 10 3 9
+f 11 2 7
+f 12 8 2
+f 12 2 5
+f 12 5 8
+f 13 10 4
+f 13 4 1
+f 13 6 10
+f 14 1 2
+f 14 2 11
+f 14 13 1
+f 14 11 7
+f 15 7 6
+f 15 6 13
+f 15 14 7
+f 16 15 13
+f 16 13 14
+f 16 14 15
\ No newline at end of file
diff --git a/objects/objaverse/steak/steak_15/collision/model_normalized_collision_25.obj b/objects/objaverse/steak/steak_15/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..40bfdff2e57612cc4966af3f6dde2e3123afe8e1
--- /dev/null
+++ b/objects/objaverse/steak/steak_15/collision/model_normalized_collision_25.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v -0.00522713 -0.02586738 -0.41666668
+v -0.00467399 -0.02623672 -0.48886694
+v -0.00337864 0.09724892 -0.42577705
+v -0.00416413 0.10287815 -0.41319262
+v -0.09570742 -0.02660055 -0.49942977
+v -0.09613623 -0.02586738 -0.41666668
+v -0.00395706 0.06460063 -0.47858647
+v -0.08846672 0.07658893 -0.42459997
+v -0.00519732 0.04126613 -0.49009896
+v -0.06193107 0.07580472 -0.45479710
+v -0.09023370 0.07926043 -0.41473769
+v -0.00730550 -0.00881127 -0.49064930
+v -0.09039672 0.02519338 -0.48955204
+v -0.04647438 0.09336683 -0.41436826
+v -0.06191159 0.04177435 -0.48844215
+v -0.08718967 0.04889142 -0.47562169
+v -0.04664972 0.09030612 -0.42425039
+v -0.01882199 0.06284837 -0.47913215
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 6 5 1
+f 6 1 4
+f 7 3 2
+f 9 7 2
+f 10 4 3
+f 10 3 7
+f 11 6 4
+f 11 10 8
+f 11 5 6
+f 12 9 2
+f 12 2 5
+f 12 5 9
+f 13 5 11
+f 14 11 4
+f 15 9 5
+f 15 5 13
+f 16 8 10
+f 16 15 13
+f 16 13 11
+f 16 11 8
+f 17 14 4
+f 17 4 10
+f 17 10 11
+f 17 11 14
+f 18 7 9
+f 18 9 15
+f 18 10 7
+f 18 16 10
+f 18 15 16
\ No newline at end of file
diff --git a/objects/objaverse/steak/steak_15/collision/model_normalized_collision_26.obj b/objects/objaverse/steak/steak_15/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc82e08f3e3b42d89d96c9f2623a2bcc117c5605
--- /dev/null
+++ b/objects/objaverse/steak/steak_15/collision/model_normalized_collision_26.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.15375765 -0.04797364 -0.14677622
+v 0.21715072 0.02541792 -0.23070876
+v 0.24133349 0.06792432 -0.09083190
+v 0.15920286 0.14908281 -0.09783947
+v 0.15999195 0.14821122 -0.23357440
+v 0.15535820 -0.03242751 -0.09807809
+v 0.19536037 -0.03117222 -0.23561079
+v 0.22083705 0.10490245 -0.23277259
+v 0.22890648 0.02579971 -0.08937833
+v 0.15835227 -0.06310721 -0.23618462
+v 0.16627193 -0.06034683 -0.23798400
+v 0.21068196 0.12577093 -0.09224988
+v 0.18260539 0.14176338 -0.09486933
+v 0.15673818 -0.05879368 -0.20670093
+v 0.18285315 0.13858419 -0.23287277
+v 0.23918017 0.09039559 -0.09062096
+v 0.22596031 0.11170959 -0.09127090
+f 5 1 4
+f 6 4 1
+f 8 3 2
+f 8 2 7
+f 9 6 1
+f 9 7 2
+f 9 2 3
+f 11 8 7
+f 11 5 8
+f 11 10 5
+f 11 7 9
+f 11 9 1
+f 13 4 6
+f 13 6 9
+f 13 9 12
+f 13 5 4
+f 14 1 5
+f 14 5 10
+f 14 11 1
+f 14 10 11
+f 15 12 8
+f 15 8 5
+f 15 13 12
+f 15 5 13
+f 16 3 8
+f 16 9 3
+f 17 16 8
+f 17 8 12
+f 17 12 9
+f 17 9 16
\ No newline at end of file
diff --git a/objects/objaverse/steak/steak_15/collision/model_normalized_collision_27.obj b/objects/objaverse/steak/steak_15/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f1c86dd60c2e2932207dd7651141b947d01d55cb
--- /dev/null
+++ b/objects/objaverse/steak/steak_15/collision/model_normalized_collision_27.obj
@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
+v 0.18988061 -0.02549912 0.00794787
+v 0.29767580 0.01682612 -0.01692791
+v 0.29522009 0.02796219 0.00675688
+v 0.15953646 0.15226292 0.00782260
+v 0.16300085 -0.02671167 -0.10085946
+v 0.23864604 0.10948117 -0.07581656
+v 0.18348944 0.13995747 0.00864624
+v 0.27156684 -0.00848390 0.00132925
+v 0.15849228 -0.03076099 0.00780568
+v 0.29833862 0.04424183 -0.01436248
+v 0.15920286 0.14908281 -0.09783947
+v 0.24062857 0.04034024 -0.08262740
+v 0.22880383 0.12246493 -0.04006625
+v 0.28320777 0.00170205 0.00658225
+v 0.25699300 -0.00703175 -0.04167223
+v 0.15535820 -0.03242751 -0.09807809
+v 0.28344042 0.06767905 0.00266312
+v 0.23537847 0.10411829 -0.08835067
+v 0.19540084 0.13795979 -0.02644717
+v 0.22102113 0.12461970 -0.07481101
+v 0.27474880 -0.00536182 -0.01540274
+v 0.28460221 0.01706118 -0.04127109
+v 0.25514386 0.09301006 0.00584332
+v 0.29512863 0.04675957 -0.00050188
+v 0.27948132 0.07048591 -0.02914005
+v 0.21068196 0.12577093 -0.09224988
+v 0.19519035 0.13777826 -0.07870225
+v 0.28174946 0.00421137 -0.02741863
+v 0.28025687 0.05604306 -0.04303274
+v 0.25915579 0.00253832 -0.05190767
+v 0.21018742 0.12303723 0.00770610
+v 0.24111247 0.10862953 -0.01520813
+v 0.18260539 0.14176338 -0.09486933
+v 0.22480474 0.01372181 -0.08487294
+v 0.19447488 -0.00736372 -0.09243528
+f 7 1 3
+f 9 7 4
+f 9 1 7
+f 10 3 2
+f 14 2 3
+f 14 3 1
+f 14 1 8
+f 16 8 1
+f 16 5 15
+f 16 1 9
+f 16 11 5
+f 16 9 4
+f 16 4 11
+f 18 12 5
+f 19 4 7
+f 19 7 13
+f 20 13 6
+f 21 14 8
+f 21 2 14
+f 21 16 15
+f 21 8 16
+f 22 12 18
+f 22 10 2
+f 23 3 17
+f 24 17 3
+f 24 3 10
+f 24 10 17
+f 25 17 10
+f 25 6 13
+f 25 13 17
+f 26 18 5
+f 26 5 11
+f 26 20 6
+f 26 6 18
+f 27 4 19
+f 27 19 13
+f 27 13 20
+f 28 21 15
+f 28 15 22
+f 28 22 2
+f 28 2 21
+f 29 22 18
+f 29 10 22
+f 29 25 10
+f 29 18 6
+f 29 6 25
+f 30 22 15
+f 30 15 5
+f 31 7 3
+f 31 3 23
+f 31 13 7
+f 32 23 17
+f 32 17 13
+f 32 31 23
+f 32 13 31
+f 33 11 4
+f 33 4 27
+f 33 26 11
+f 33 27 20
+f 33 20 26
+f 34 5 12
+f 34 12 22
+f 34 22 30
+f 35 34 30
+f 35 30 5
+f 35 5 34
\ No newline at end of file
diff --git a/objects/objaverse/steak/steak_15/collision/model_normalized_collision_28.obj b/objects/objaverse/steak/steak_15/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c18d52170d601da39cee6d37eecb3a7187a27caf
--- /dev/null
+++ b/objects/objaverse/steak/steak_15/collision/model_normalized_collision_28.obj
@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
+v -0.16004131 -0.11752007 0.00659221
+v -0.15933415 -0.13140046 -0.10288340
+v -0.14960439 0.08565592 -0.01192150
+v -0.15016834 0.09729437 -0.07001282
+v -0.28069985 -0.04395387 -0.10427472
+v -0.23057998 -0.13202836 -0.10046784
+v -0.15181987 0.10061099 -0.09985587
+v -0.21675523 -0.00263836 -0.00115756
+v -0.26188182 0.00987684 -0.10431463
+v -0.28021307 -0.05334196 -0.10435863
+v -0.21156005 -0.13116953 -0.04031871
+v -0.15313417 0.07529565 0.00537904
+v -0.20076740 0.06443514 -0.07296433
+v -0.16400660 0.09465707 -0.10068163
+v -0.26050713 -0.00626115 -0.07796769
+v -0.24507515 -0.08175908 -0.03020289
+v -0.18800066 -0.13017052 -0.04176399
+v -0.18699746 0.06527996 -0.03151398
+v -0.20648574 0.06529365 -0.10127582
+v -0.17590079 0.07691381 -0.04113149
+v -0.27514851 -0.04526718 -0.09171400
+v -0.26945585 -0.09883020 -0.10142712
+v -0.21662431 -0.10353257 -0.00655261
+v -0.16004044 0.07925523 -0.01479241
+v -0.20031099 0.03454972 -0.00256197
+v -0.16065198 0.09168733 -0.07166948
+v -0.27471584 -0.05213597 -0.09171157
+v -0.24513827 -0.03174585 -0.03474523
+v -0.25966646 -0.09791030 -0.07528635
+v -0.23258696 -0.11959629 -0.04494906
+v -0.19440150 -0.11618240 -0.00209800
+v -0.22062623 -0.09341033 -0.00313659
+v -0.25915477 0.00716449 -0.09268959
+v -0.17085780 0.06388900 -0.00212594
+v -0.22480776 -0.13067816 -0.07121882
+v -0.24512580 -0.10334375 -0.04580902
+v -0.21944228 -0.11521030 -0.02085061
+v -0.23116120 -0.10281505 -0.02222862
+f 1 2 3
+f 3 2 4
+f 7 4 2
+f 10 2 6
+f 10 9 2
+f 10 5 9
+f 11 6 2
+f 12 8 1
+f 12 1 3
+f 14 7 2
+f 14 2 9
+f 14 4 7
+f 15 9 5
+f 17 11 2
+f 17 2 1
+f 17 1 11
+f 18 13 9
+f 19 14 9
+f 19 9 13
+f 20 3 4
+f 20 13 18
+f 20 19 13
+f 20 14 19
+f 21 5 10
+f 21 15 5
+f 22 10 6
+f 24 18 12
+f 24 12 3
+f 24 20 18
+f 24 3 20
+f 25 18 9
+f 25 15 8
+f 25 8 12
+f 26 20 4
+f 26 4 14
+f 26 14 20
+f 27 21 10
+f 27 10 16
+f 27 16 21
+f 28 21 16
+f 28 16 8
+f 28 8 15
+f 28 15 21
+f 29 16 10
+f 29 10 22
+f 30 22 6
+f 31 11 1
+f 32 1 8
+f 32 8 16
+f 32 31 1
+f 32 23 31
+f 33 25 9
+f 33 9 15
+f 33 15 25
+f 34 25 12
+f 34 12 18
+f 34 18 25
+f 35 30 6
+f 35 6 11
+f 35 11 30
+f 36 29 22
+f 36 22 30
+f 36 16 29
+f 37 30 11
+f 37 11 31
+f 37 31 23
+f 38 32 16
+f 38 16 36
+f 38 23 32
+f 38 37 23
+f 38 36 30
+f 38 30 37
\ No newline at end of file
diff --git a/objects/objaverse/steak/steak_15/collision/model_normalized_collision_29.obj b/objects/objaverse/steak/steak_15/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..42c7fe2c64fce58e222a1826146630aa8d864543
--- /dev/null
+++ b/objects/objaverse/steak/steak_15/collision/model_normalized_collision_29.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v -0.07035957 -0.13343804 -0.23455433
+v -0.05640771 -0.13553403 -0.27363738
+v -0.06130574 -0.13042120 -0.23514273
+v -0.23211076 -0.13672611 -0.23241066
+v -0.14418430 -0.14599943 -0.23718771
+v -0.22660518 -0.14252238 -0.27731926
+v -0.06692596 -0.13978685 -0.28128648
+v -0.23317487 -0.14483732 -0.28053790
+v -0.11428723 -0.14345873 -0.25270538
+v -0.17032851 -0.14545459 -0.23665183
+v -0.11374059 -0.14725698 -0.28226851
+v -0.20025822 -0.14678943 -0.28293900
+v -0.23593209 -0.13885011 -0.23692831
+f 1 2 3
+f 1 3 4
+f 5 1 4
+f 6 3 2
+f 6 4 3
+f 7 2 1
+f 7 6 2
+f 8 4 6
+f 8 6 7
+f 9 7 1
+f 9 1 5
+f 10 5 4
+f 11 9 5
+f 11 7 9
+f 12 10 8
+f 12 5 10
+f 12 11 5
+f 12 8 7
+f 12 7 11
+f 13 10 4
+f 13 4 8
+f 13 8 10
\ No newline at end of file
diff --git a/objects/objaverse/steak/steak_15/collision/model_normalized_collision_3.obj b/objects/objaverse/steak/steak_15/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..03d4a604167b11aa4a8eca9be263d9539631d99d
--- /dev/null
+++ b/objects/objaverse/steak/steak_15/collision/model_normalized_collision_3.obj
@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
+v -0.22842354 -0.12534547 -0.05508880
+v -0.23593209 -0.13885011 -0.23692831
+v -0.23859851 0.03987707 -0.27781956
+v -0.23897613 0.04080843 -0.11652401
+v -0.32556196 -0.11180679 -0.23784365
+v -0.30998141 -0.13248612 -0.23883440
+v -0.26596054 -0.02127804 -0.07907619
+v -0.32285127 -0.06099064 -0.23539764
+v -0.23057998 -0.13202836 -0.10046784
+v -0.23809964 -0.12016677 -0.05768979
+v -0.28421485 -0.00247129 -0.27949411
+v -0.24378001 0.03031104 -0.10023063
+v -0.32223234 -0.07398566 -0.20977126
+v -0.23951116 -0.12996704 -0.10242102
+v -0.31003733 -0.13135205 -0.23487066
+v -0.24215392 -0.10896102 -0.04869934
+v -0.26047045 0.01861449 -0.28381971
+v -0.27484138 0.00931018 -0.13621738
+v -0.24641611 -0.12029610 -0.07579291
+v -0.25208270 -0.09877412 -0.05755091
+v -0.27804161 0.00456760 -0.27630844
+v -0.29238170 -0.00896235 -0.23428168
+v -0.27752649 0.00916543 -0.23684851
+v -0.26214820 0.01949138 -0.11909600
+v -0.28883198 -0.01569303 -0.13602547
+v -0.24894726 -0.10624765 -0.05924617
+v -0.27536624 -0.08284179 -0.10591392
+v -0.30364975 -0.03018582 -0.17953344
+v -0.24726153 0.03362058 -0.11880946
+v -0.24715856 0.03258642 -0.27601131
+v -0.29042756 -0.00740278 -0.19166901
+v -0.25216394 0.02360119 -0.10202614
+v -0.27635115 -0.01363754 -0.10503974
+v -0.32100344 -0.05974735 -0.22123003
+v -0.26188182 0.00987684 -0.10431463
+f 1 2 3
+f 1 3 4
+f 9 6 2
+f 9 2 1
+f 11 6 5
+f 11 2 6
+f 11 5 8
+f 12 1 4
+f 13 8 5
+f 14 9 1
+f 14 1 6
+f 14 6 9
+f 15 6 1
+f 15 1 10
+f 15 5 6
+f 16 10 1
+f 16 12 7
+f 16 1 12
+f 17 3 2
+f 17 2 11
+f 19 15 10
+f 19 5 15
+f 19 10 16
+f 20 16 7
+f 20 13 5
+f 21 17 11
+f 22 11 8
+f 23 4 3
+f 23 21 11
+f 23 11 22
+f 26 19 16
+f 26 5 19
+f 26 20 5
+f 26 16 20
+f 27 20 7
+f 27 7 13
+f 27 13 20
+f 28 22 8
+f 28 25 18
+f 28 13 25
+f 29 23 18
+f 29 4 23
+f 29 24 4
+f 29 18 24
+f 30 23 3
+f 30 21 23
+f 30 3 17
+f 30 17 21
+f 31 23 22
+f 31 18 23
+f 31 28 18
+f 31 22 28
+f 32 12 4
+f 32 4 24
+f 32 7 12
+f 33 25 13
+f 33 13 7
+f 33 24 18
+f 33 18 25
+f 34 28 8
+f 34 8 13
+f 34 13 28
+f 35 32 24
+f 35 24 33
+f 35 33 7
+f 35 7 32
\ No newline at end of file
diff --git a/objects/objaverse/steak/steak_15/collision/model_normalized_collision_30.obj b/objects/objaverse/steak/steak_15/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e2aa830c4efd61a627eb2d1b41f8d3f410568fb4
--- /dev/null
+++ b/objects/objaverse/steak/steak_15/collision/model_normalized_collision_30.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.10654812 0.11515021 -0.03497854
+v -0.02027018 0.14008397 -0.05308661
+v -0.02009449 0.13892527 -0.03802629
+v -0.02679143 0.13763620 -0.03455020
+v -0.07672414 0.12679639 -0.05348461
+v -0.10685638 0.11674904 -0.05087915
+v -0.09467168 0.12083436 -0.03803496
+v -0.02972840 0.13832188 -0.05050986
+v -0.09480844 0.12128384 -0.05317189
+v -0.07709884 0.12591133 -0.03955192
+f 1 2 3
+f 1 3 4
+f 3 2 4
+f 6 2 1
+f 7 1 4
+f 7 6 1
+f 8 4 2
+f 8 2 5
+f 9 5 2
+f 9 2 6
+f 9 7 5
+f 9 6 7
+f 10 7 4
+f 10 5 7
+f 10 8 5
+f 10 4 8
\ No newline at end of file
diff --git a/objects/objaverse/steak/steak_15/collision/model_normalized_collision_31.obj b/objects/objaverse/steak/steak_15/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..46f642fd7a3ba1acca44d8f806a7c3c9749dec3b
--- /dev/null
+++ b/objects/objaverse/steak/steak_15/collision/model_normalized_collision_31.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.12412947 -0.05755629 -0.11832925
+v 0.17122032 -0.04848426 -0.33829207
+v 0.16627193 -0.06034683 -0.23798400
+v 0.13882524 -0.04841241 -0.11751213
+v 0.13609691 -0.06633055 -0.35878907
+v 0.17351935 -0.05290344 -0.23578184
+v 0.14773757 -0.05329071 -0.14706013
+v 0.12973721 -0.05342144 -0.11457353
+v 0.15912143 -0.05271519 -0.35528770
+v 0.15278946 -0.06838262 -0.30746262
+v 0.15375765 -0.04797364 -0.14677622
+v 0.12604496 -0.07292565 -0.22190053
+v 0.12480743 -0.07350992 -0.35257933
+v 0.13642652 -0.05194855 -0.12024101
+v 0.16462060 -0.05419082 -0.33507619
+v 0.13720305 -0.06786518 -0.35106346
+v 0.15445598 -0.06714568 -0.25266900
+v 0.15234533 -0.05776666 -0.35302839
+f 6 3 2
+f 9 4 2
+f 9 8 4
+f 9 5 8
+f 10 2 3
+f 11 6 2
+f 11 2 4
+f 11 7 3
+f 11 3 6
+f 12 7 1
+f 13 8 5
+f 13 1 8
+f 13 12 1
+f 13 10 12
+f 14 4 8
+f 14 11 4
+f 14 7 11
+f 14 8 1
+f 14 1 7
+f 15 9 2
+f 15 2 10
+f 16 13 5
+f 16 10 13
+f 17 3 7
+f 17 7 12
+f 17 12 10
+f 17 10 3
+f 18 16 5
+f 18 5 9
+f 18 9 15
+f 18 15 10
+f 18 10 16
\ No newline at end of file
diff --git a/objects/objaverse/steak/steak_15/collision/model_normalized_collision_4.obj b/objects/objaverse/steak/steak_15/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f7ac3311057abe30c6ae76ca576a861916825189
--- /dev/null
+++ b/objects/objaverse/steak/steak_15/collision/model_normalized_collision_4.obj
@@ -0,0 +1,147 @@
+# https://github.com/mikedh/trimesh
+v 0.01220685 -0.10626451 -0.35567250
+v 0.20728941 0.01324927 -0.40640931
+v 0.20685389 0.07846439 -0.35529518
+v -0.00186335 0.11072538 -0.35453463
+v -0.00521811 0.04727868 -0.48713198
+v 0.16875628 0.11135952 -0.34948580
+v 0.19806255 -0.01731833 -0.35449817
+v 0.00690152 -0.09253153 -0.46259939
+v 0.00855551 0.09222345 -0.43910529
+v 0.17069424 0.05440495 -0.44516485
+v 0.20731379 0.00710945 -0.35605081
+v 0.12480743 -0.07350992 -0.35257933
+v -0.00259315 0.09161968 -0.43836148
+v 0.01008145 0.10910857 -0.39709079
+v 0.19037513 0.08518451 -0.39305945
+v 0.09626812 0.06942525 -0.45997749
+v 0.07050460 0.00441370 -0.49233437
+v 0.20562632 -0.00213755 -0.39448568
+v 0.20707733 0.05365974 -0.40633484
+v 0.15234533 -0.05776666 -0.35302839
+v 0.11257493 -0.07857291 -0.35512778
+v -0.00395706 0.06460063 -0.47858647
+v 0.12670296 0.10757936 -0.39356384
+v -0.00120514 0.10780545 -0.38453906
+v 0.08080528 0.05353945 -0.47394961
+v 0.16605021 -0.00026318 -0.44691550
+v 0.20473700 -0.00459063 -0.38641237
+v 0.10701436 -0.05643414 -0.43912280
+v 0.02290807 0.06669905 -0.47539423
+v 0.12446961 0.09424286 -0.41985209
+v 0.15432661 0.10691193 -0.37745962
+v 0.11080607 0.03034002 -0.47441376
+v 0.10799029 -0.03395706 -0.46590725
+v 0.18974724 -0.00072243 -0.41959879
+v 0.14969150 -0.05334328 -0.38243536
+v 0.10946335 -0.07411513 -0.38418243
+v 0.08406305 0.07777598 -0.45096846
+v 0.14222603 0.07762212 -0.43627062
+v 0.16726996 0.10598180 -0.36590372
+v 0.15424470 0.09253531 -0.40700450
+v 0.11011881 0.00649189 -0.47728567
+v 0.14870856 -0.03775869 -0.42223697
+v 0.19163544 -0.00834105 -0.40973234
+v 0.13445472 -0.05263683 -0.40894530
+v 0.13990395 0.06749509 -0.44723781
+v 0.16924011 0.07794140 -0.42260154
+v 0.13379683 -0.01487773 -0.45958790
+v 0.11915589 -0.03043625 -0.46024077
+v 0.16295437 -0.03877448 -0.39561694
+v 0.11967362 -0.03969121 -0.44942485
+f 5 1 4
+f 6 4 1
+f 7 3 6
+f 8 1 5
+f 11 3 7
+f 12 6 1
+f 13 5 4
+f 14 4 6
+f 14 9 13
+f 15 6 3
+f 17 8 5
+f 18 2 11
+f 19 11 2
+f 19 3 11
+f 19 15 3
+f 19 2 10
+f 19 10 15
+f 20 7 6
+f 20 6 12
+f 20 18 7
+f 21 12 1
+f 21 1 8
+f 22 13 9
+f 22 5 13
+f 23 14 6
+f 23 9 14
+f 24 14 13
+f 24 13 4
+f 24 4 14
+f 25 16 10
+f 25 17 5
+f 26 10 2
+f 27 18 11
+f 27 11 7
+f 27 7 18
+f 29 22 9
+f 29 16 25
+f 29 25 5
+f 29 5 22
+f 30 9 23
+f 31 23 6
+f 32 25 10
+f 32 17 25
+f 33 8 17
+f 33 28 8
+f 34 26 2
+f 35 20 12
+f 35 18 20
+f 36 21 8
+f 36 8 28
+f 36 35 12
+f 36 12 21
+f 37 29 9
+f 37 9 30
+f 37 30 16
+f 37 16 29
+f 38 16 30
+f 39 31 6
+f 39 6 15
+f 39 15 31
+f 40 30 23
+f 40 23 31
+f 40 31 15
+f 41 17 32
+f 41 33 17
+f 41 32 10
+f 41 10 26
+f 43 34 2
+f 43 2 18
+f 43 42 26
+f 43 26 34
+f 44 36 28
+f 44 35 36
+f 44 42 35
+f 44 28 42
+f 45 38 10
+f 45 10 16
+f 45 16 38
+f 46 15 10
+f 46 10 38
+f 46 40 15
+f 46 38 30
+f 46 30 40
+f 47 41 26
+f 47 26 33
+f 47 33 41
+f 48 33 26
+f 49 43 18
+f 49 18 35
+f 49 35 42
+f 49 42 43
+f 50 48 26
+f 50 26 42
+f 50 42 28
+f 50 28 33
+f 50 33 48
\ No newline at end of file
diff --git a/objects/objaverse/steak/steak_15/collision/model_normalized_collision_5.obj b/objects/objaverse/steak/steak_15/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c884904d755236854b880d218c563e09f2783a7c
--- /dev/null
+++ b/objects/objaverse/steak/steak_15/collision/model_normalized_collision_5.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.13113650 0.06504171 -0.23484849
+v 0.19151130 0.09505858 -0.35600683
+v 0.18285315 0.13858419 -0.23287277
+v 0.01362278 0.14195850 -0.23187672
+v -0.00829984 0.10897587 -0.35745455
+v 0.21022792 0.11294650 -0.24377871
+v 0.07053044 0.06504171 -0.28030304
+v 0.12741559 0.12316820 -0.35098099
+v 0.13113650 0.06504171 -0.28030304
+v 0.07053044 0.06504171 -0.23484849
+v 0.15472650 0.12178180 -0.33514388
+v 0.05792248 0.13874659 -0.29022034
+v -0.01494671 0.13211722 -0.24265846
+v 0.16655625 0.13738482 -0.25644296
+v 0.18089563 0.10586624 -0.34695804
+v 0.05840581 0.12186777 -0.35021776
+v -0.00135087 0.12478144 -0.30690775
+v 0.09984104 0.13800690 -0.28979883
+v -0.00417119 0.13680430 -0.23400001
+v 0.01499313 0.13691719 -0.26208828
+v 0.14159447 0.13703038 -0.27320943
+f 1 3 4
+f 6 1 2
+f 6 2 3
+f 6 3 1
+f 7 5 2
+f 8 2 5
+f 9 7 2
+f 9 2 1
+f 9 1 7
+f 10 7 1
+f 10 1 4
+f 10 5 7
+f 13 5 10
+f 14 11 8
+f 14 3 11
+f 15 11 3
+f 15 3 2
+f 15 2 8
+f 15 8 11
+f 16 12 8
+f 16 8 5
+f 17 5 13
+f 17 16 5
+f 17 12 16
+f 18 12 4
+f 18 4 3
+f 18 3 14
+f 18 8 12
+f 19 13 10
+f 19 10 4
+f 19 17 13
+f 19 4 17
+f 20 17 4
+f 20 4 12
+f 20 12 17
+f 21 18 14
+f 21 14 8
+f 21 8 18
\ No newline at end of file
diff --git a/objects/objaverse/steak/steak_15/collision/model_normalized_collision_6.obj b/objects/objaverse/steak/steak_15/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..62ab462b45cf826d768b9d15cb1a33d8b2f537ad
--- /dev/null
+++ b/objects/objaverse/steak/steak_15/collision/model_normalized_collision_6.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.00302648 -0.11396456 -0.41400468
+v -0.00701616 -0.09362400 -0.46706733
+v -0.00522713 -0.02586738 -0.41666668
+v -0.09498990 0.07738988 -0.41558780
+v -0.15903853 -0.12212914 -0.42714845
+v -0.00467399 -0.02623672 -0.48886694
+v -0.12144066 0.06796913 -0.41196220
+v -0.12365487 -0.04915455 -0.49031033
+v -0.00642157 -0.07831733 -0.47749675
+v -0.14940079 0.05281627 -0.41240827
+v -0.15627007 -0.09267238 -0.46658567
+v -0.09123520 0.04132166 -0.48074355
+v -0.05312969 -0.05403649 -0.49083260
+v -0.15815450 -0.10610793 -0.45036455
+v -0.14459363 0.01187544 -0.47403956
+v -0.09134470 0.06857819 -0.44260150
+v -0.09332883 0.01377719 -0.49387838
+v -0.15368046 -0.07875851 -0.47343847
+v -0.09110023 0.05356015 -0.46862472
+v -0.13410984 0.04758568 -0.45151099
+v -0.13213842 0.02142018 -0.47809345
+v -0.03742537 -0.02390869 -0.49253246
+v -0.14389858 0.04661896 -0.43968593
+v -0.10433477 0.05059296 -0.46485726
+v -0.12032516 0.00941888 -0.48837571
+f 5 2 1
+f 6 4 3
+f 6 3 1
+f 7 1 3
+f 7 3 4
+f 9 6 1
+f 9 1 2
+f 10 5 1
+f 10 1 7
+f 11 9 2
+f 13 6 9
+f 13 11 8
+f 13 9 11
+f 14 11 2
+f 14 2 5
+f 14 5 10
+f 14 10 11
+f 15 11 10
+f 16 4 6
+f 16 7 4
+f 17 12 6
+f 17 13 8
+f 18 15 8
+f 18 8 11
+f 18 11 15
+f 19 16 6
+f 19 6 12
+f 20 7 16
+f 20 16 19
+f 21 15 20
+f 22 17 6
+f 22 6 13
+f 22 13 17
+f 23 10 7
+f 23 7 20
+f 23 20 15
+f 23 15 10
+f 24 20 19
+f 24 19 12
+f 24 21 20
+f 24 12 21
+f 25 21 12
+f 25 12 17
+f 25 17 8
+f 25 8 15
+f 25 15 21
\ No newline at end of file
diff --git a/objects/objaverse/steak/steak_15/collision/model_normalized_collision_7.obj b/objects/objaverse/steak/steak_15/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8624ada3e8cef35788bc1139ee6b48a7c0e47db3
--- /dev/null
+++ b/objects/objaverse/steak/steak_15/collision/model_normalized_collision_7.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v -0.00921964 -0.09949862 0.03633292
+v 0.12285229 -0.04947241 0.00827776
+v 0.07053044 0.06504171 0.15909091
+v -0.08949969 0.11355843 0.01723047
+v -0.06775555 -0.10745255 0.00690726
+v 0.07053044 0.06504171 0.00757575
+v 0.06855433 -0.04608673 0.15680277
+v 0.00535364 -0.09964369 0.00518954
+v 0.11579762 -0.04057002 0.08327264
+v -0.06642677 -0.08186705 0.15733408
+v 0.09393774 -0.06738126 0.03310682
+v 0.10804259 -0.06168160 0.00669059
+v -0.06904786 -0.08899835 0.13862654
+v -0.07055151 0.07190146 0.16312054
+v 0.05061254 -0.06845166 0.10875964
+v 0.00546477 -0.09747720 0.02100055
+v 0.09357104 -0.06989408 0.00773540
+v -0.06772020 -0.10039815 0.06474341
+v -0.01170526 -0.08201609 0.12253379
+v -0.05137820 -0.09910118 0.06635128
+v 0.00337145 -0.08186782 0.10733963
+v 0.04902005 -0.05312155 0.15410691
+v -0.00836195 -0.06897854 0.15547171
+f 6 3 2
+f 6 4 3
+f 6 5 4
+f 8 1 5
+f 8 5 6
+f 9 2 3
+f 9 3 7
+f 11 9 7
+f 12 8 6
+f 12 6 2
+f 12 2 9
+f 12 9 11
+f 13 4 5
+f 14 10 7
+f 14 7 3
+f 14 3 4
+f 14 13 10
+f 14 4 13
+f 15 11 7
+f 16 1 8
+f 16 8 11
+f 16 15 1
+f 16 11 15
+f 17 12 11
+f 17 11 8
+f 17 8 12
+f 18 13 5
+f 19 13 1
+f 19 10 13
+f 20 18 5
+f 20 5 1
+f 20 1 13
+f 20 13 18
+f 21 19 1
+f 21 1 15
+f 21 15 19
+f 22 19 15
+f 22 15 7
+f 23 22 7
+f 23 7 10
+f 23 10 19
+f 23 19 22
\ No newline at end of file
diff --git a/objects/objaverse/steak/steak_15/collision/model_normalized_collision_8.obj b/objects/objaverse/steak/steak_15/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..247363424cf93167f11a0f94f52b1fc17271d1af
--- /dev/null
+++ b/objects/objaverse/steak/steak_15/collision/model_normalized_collision_8.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v -0.06130574 -0.13042120 -0.23514273
+v 0.00302648 -0.11396456 -0.41400468
+v -0.00241554 -0.11437485 -0.23511960
+v -0.06376060 0.12576989 -0.23197116
+v -0.15903853 -0.12212914 -0.42714845
+v -0.00417119 0.13680430 -0.23400001
+v -0.15618743 -0.14583874 -0.23236419
+v -0.05671164 -0.14231088 -0.35536261
+v -0.00135087 0.12478144 -0.30690775
+v -0.16096513 0.09128708 -0.23847837
+v -0.15665298 -0.15056228 -0.36863754
+v -0.00416413 0.10287815 -0.41319262
+v -0.09389528 0.11804917 -0.23276521
+v -0.14940079 0.05281627 -0.41240827
+v -0.04647438 0.09336683 -0.41436826
+v -0.13179653 0.06388336 -0.41098557
+v -0.06112382 0.09182745 -0.39902475
+f 6 4 3
+f 7 1 3
+f 7 3 4
+f 8 2 3
+f 8 3 1
+f 8 1 7
+f 9 6 3
+f 9 3 2
+f 9 4 6
+f 10 5 7
+f 11 8 7
+f 11 7 5
+f 11 5 2
+f 11 2 8
+f 12 9 2
+f 12 2 5
+f 13 10 7
+f 13 7 4
+f 14 5 10
+f 15 4 9
+f 15 9 12
+f 15 13 4
+f 15 12 5
+f 15 5 14
+f 16 15 14
+f 16 14 10
+f 16 10 13
+f 17 16 13
+f 17 13 15
+f 17 15 16
\ No newline at end of file
diff --git a/objects/objaverse/steak/steak_15/collision/model_normalized_collision_9.obj b/objects/objaverse/steak/steak_15/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..efa555dec17ec05ef32b37709b63e686741068f8
--- /dev/null
+++ b/objects/objaverse/steak/steak_15/collision/model_normalized_collision_9.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v -0.05440023 -0.12876228 -0.20581633
+v -0.00701616 -0.09362400 -0.46706733
+v -0.15652254 -0.09899543 -0.45977143
+v -0.06605334 -0.13062710 -0.20466675
+v -0.12997043 -0.16063609 -0.33785355
+v -0.00241554 -0.11437485 -0.23511960
+v -0.13110638 -0.16028415 -0.32824932
+v -0.03830307 -0.12783906 -0.42458327
+v -0.05198798 -0.12799110 -0.20446057
+v -0.08176130 -0.09392635 -0.46765718
+v -0.15831900 -0.14942758 -0.27387173
+v -0.13756630 -0.12902355 -0.42195572
+v -0.06849352 -0.14500465 -0.35426989
+v -0.02402063 -0.12907859 -0.41387905
+v -0.01538182 -0.11430944 -0.45033849
+v -0.15609075 -0.15146742 -0.28264117
+v -0.06852509 -0.13117235 -0.20602856
+v -0.15686967 -0.14652091 -0.38167584
+v -0.07150036 -0.14385083 -0.32889817
+v -0.07978357 -0.10420436 -0.46037364
+v -0.00828173 -0.10311554 -0.45984789
+v -0.14894858 -0.15965097 -0.34096545
+v -0.15313211 -0.11763764 -0.43722854
+v -0.14893085 -0.15961062 -0.32581406
+v -0.15637342 -0.14978492 -0.37072380
+v -0.09085549 -0.11534054 -0.44700491
+v -0.15454978 -0.10544965 -0.45273334
+f 7 1 4
+f 9 6 3
+f 9 3 4
+f 9 4 1
+f 9 1 7
+f 10 6 2
+f 10 3 6
+f 13 6 9
+f 13 7 5
+f 14 6 13
+f 14 13 5
+f 14 5 8
+f 15 8 12
+f 15 14 8
+f 15 6 14
+f 17 4 3
+f 17 3 11
+f 17 11 16
+f 17 16 7
+f 17 7 4
+f 18 12 8
+f 18 8 5
+f 18 11 3
+f 19 13 9
+f 19 9 7
+f 19 7 13
+f 20 10 2
+f 20 3 10
+f 21 2 6
+f 21 6 15
+f 21 20 2
+f 21 15 20
+f 22 18 5
+f 23 18 3
+f 23 12 18
+f 24 22 5
+f 24 5 7
+f 24 7 16
+f 24 16 11
+f 24 11 22
+f 25 22 11
+f 25 11 18
+f 25 18 22
+f 26 20 15
+f 26 15 12
+f 26 12 23
+f 27 26 23
+f 27 23 3
+f 27 3 20
+f 27 20 26
\ No newline at end of file
diff --git a/objects/objaverse/steak/steak_15/model.xml b/objects/objaverse/steak/steak_15/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..885e4e116b8b00a819efe41f8a913a8f94184afe
--- /dev/null
+++ b/objects/objaverse/steak/steak_15/model.xml
@@ -0,0 +1,81 @@
+<mujoco model="more_steak_21">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.12499999999999999 0.12499999999999999 0.12499999999999999" refquat="0.7071067811865477 -0.6532814824381884 0.0 0.2705980500730985"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.12499999999999999 0.12499999999999999 0.12499999999999999" refquat="0.7071067811865477 -0.6532814824381884 0.0 0.2705980500730985"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.12499999999999999 0.12499999999999999 0.12499999999999999" refquat="0.7071067811865477 -0.6532814824381884 0.0 0.2705980500730985"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.12499999999999999 0.12499999999999999 0.12499999999999999" refquat="0.7071067811865477 -0.6532814824381884 0.0 0.2705980500730985"/>
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+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.12499999999999999 0.12499999999999999 0.12499999999999999" refquat="0.7071067811865477 -0.6532814824381884 0.0 0.2705980500730985"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.12499999999999999 0.12499999999999999 0.12499999999999999" refquat="0.7071067811865477 -0.6532814824381884 0.0 0.2705980500730985"/>
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+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.12499999999999999 0.12499999999999999 0.12499999999999999" refquat="0.7071067811865477 -0.6532814824381884 0.0 0.2705980500730985"/>
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+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.12499999999999999 0.12499999999999999 0.12499999999999999" refquat="0.7071067811865477 -0.6532814824381884 0.0 0.2705980500730985"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.12499999999999999 0.12499999999999999 0.12499999999999999" refquat="0.7071067811865477 -0.6532814824381884 0.0 0.2705980500730985"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.12499999999999999 0.12499999999999999 0.12499999999999999" refquat="0.7071067811865477 -0.6532814824381884 0.0 0.2705980500730985"/>
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+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.12499999999999999 0.12499999999999999 0.12499999999999999" refquat="0.7071067811865477 -0.6532814824381884 0.0 0.2705980500730985"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.12499999999999999 0.12499999999999999 0.12499999999999999" refquat="0.7071067811865477 -0.6532814824381884 0.0 0.2705980500730985"/>
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+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.12499999999999999 0.12499999999999999 0.12499999999999999" refquat="0.7071067811865477 -0.6532814824381884 0.0 0.2705980500730985"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.12499999999999999 0.12499999999999999 0.12499999999999999" refquat="0.7071067811865477 -0.6532814824381884 0.0 0.2705980500730985"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.12499999999999999 0.12499999999999999 0.12499999999999999" refquat="0.7071067811865477 -0.6532814824381884 0.0 0.2705980500730985"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.12499999999999999 0.12499999999999999 0.12499999999999999" refquat="0.7071067811865477 -0.6532814824381884 0.0 0.2705980500730985"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.12499999999999999 0.12499999999999999 0.12499999999999999" refquat="0.7071067811865477 -0.6532814824381884 0.0 0.2705980500730985"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="Default_OBJ" texture="image0" specular="0.5" shininess="0.359999993"/>
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+  <worldbody>
+    <body>
+      <body name="object">
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+      <site rgba="0 0 0 0" size="0.005" pos="0.0426184137572257 0.06313524524382338 -0.0019896152834221535" name="horizontal_radius_site"/>
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diff --git a/objects/objaverse/steak/steak_15/visual/material.mtl b/objects/objaverse/steak/steak_15/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6b5d0f127cc1df2efd6b4835e0300358bb6dde72
--- /dev/null
+++ b/objects/objaverse/steak/steak_15/visual/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 359.99999300
+map_Kd material_0.png
\ No newline at end of file
diff --git a/objects/objaverse/steak/steak_15/visual/model_normalized_0.obj b/objects/objaverse/steak/steak_15/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b005712aa8c7782bdea6f1de49382293ef43f73c
--- /dev/null
+++ b/objects/objaverse/steak/steak_15/visual/model_normalized_0.obj
@@ -0,0 +1,4954 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
+v 0.11395390 0.14328449 0.22362444
+v 0.08211746 0.13730994 0.22424857
+v 0.07509516 0.12546963 0.24012698
+v 0.07509516 0.12546963 0.24012698
+v 0.09508054 0.12821647 0.24371316
+v 0.09508054 0.12821647 0.24371316
+v 0.10956984 0.12743176 0.24790263
+v 0.10956984 0.12743176 0.24790263
+v 0.10956984 0.12743176 0.24790263
+v 0.12606404 0.13586226 0.23480726
+v 0.12606404 0.13586226 0.23480726
+v 0.11339690 0.14953547 0.20265887
+v 0.08898950 0.14424844 0.20508300
+v 0.14541455 0.14413283 0.21059993
+v 0.14541455 0.14413283 0.21059993
+v 0.14006149 0.14759221 0.19574033
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+v 0.15036307 0.13628105 0.21886700
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+v 0.20697767 -0.00116687 0.18594683
+v 0.20496816 0.00394969 0.20162274
+v 0.20496816 0.00394969 0.20162274
+v 0.17525135 -0.01355979 0.23044295
+v 0.17525135 -0.01355979 0.23044295
+v 0.17252316 -0.02271490 0.22498876
+v 0.21238864 0.00890699 0.14844472
+v 0.21238864 0.00890699 0.14844472
+v 0.21473028 0.03903688 0.14765188
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+v 0.21908122 0.03784566 0.18257805
+v 0.16585230 -0.03037011 0.21811080
+v 0.19248244 -0.01775519 0.18336167
+v 0.20241986 -0.01020878 0.14870336
+v 0.20241986 -0.01020878 0.14870336
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+v 0.12361227 -0.03562752 0.18843985
+v 0.14504446 -0.03327337 0.20017002
+v 0.10928158 -0.04551338 0.22213749
+v 0.07442057 -0.06204926 0.22086137
+v 0.08397363 -0.05254841 0.19675013
+v 0.09521393 -0.03830438 0.17549892
+v 0.27282744 0.08115670 -0.00064059
+v 0.21737533 0.11832645 0.01969164
+v 0.22719911 0.09507320 0.03577604
+v 0.23525096 0.09785272 0.02529567
+v 0.28288573 0.06672071 -0.02618481
+v 0.25850640 0.09378479 -0.04723528
+v 0.23479048 0.11819197 -0.02722291
+v 0.19365129 0.13400631 -0.00192088
+v 0.19365129 0.13400631 -0.00192088
+v 0.26640908 0.05966220 0.02970540
+v 0.29060807 0.05857672 0.00489434
+v 0.23554514 0.06674506 0.04712230
+v 0.28620558 0.03714474 0.02291629
+v 0.26815160 0.03774058 0.03690430
+v 0.26405295 0.01523804 0.03633502
+v 0.26405295 0.01523804 0.03633502
+v 0.29311689 0.02419636 0.01379167
+v 0.29311689 0.02419636 0.01379167
+v 0.30155792 0.03955879 -0.01189953
+v 0.24817784 0.01589091 -0.06841124
+v 0.26772798 0.03733297 -0.06133430
+v 0.28535966 0.01764265 -0.04104508
+v 0.28535966 0.01764265 -0.04104508
+v 0.28535966 0.01764265 -0.04104508
+v 0.26168169 -0.00053397 -0.04811038
+v 0.26168169 -0.00053397 -0.04811038
+v 0.22070594 -0.01215094 -0.05926644
+v 0.22070594 -0.01215094 -0.05926644
+v 0.23339721 0.01240059 -0.07614894
+v 0.23339721 0.01240059 -0.07614894
+v 0.23911992 0.04522621 -0.08546836
+v 0.16421639 0.10229997 0.21492718
+v 0.16421639 0.10229997 0.21492718
+v 0.15317989 0.10770194 0.22405530
+v 0.17072667 0.08618244 0.21059555
+v 0.18578482 0.09380146 0.20445953
+v 0.18578482 0.09380146 0.20445953
+v 0.17237727 0.11728506 0.21058480
+v 0.17237727 0.11728506 0.21058480
+v 0.15334179 0.12550934 0.22467834
+v 0.19244756 0.04859828 0.20407934
+v 0.19244756 0.04859828 0.20407934
+v 0.18196171 0.03616478 0.21208359
+v 0.18196171 0.03616478 0.21208359
+v 0.18196171 0.03616478 0.21208359
+v 0.19319499 0.02192733 0.21162816
+v 0.19319499 0.02192733 0.21162816
+v 0.20424706 0.04406197 0.20061689
+v 0.20424706 0.04406197 0.20061689
+v 0.19224201 0.06734791 0.20355920
+v 0.19224201 0.06734791 0.20355920
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\ No newline at end of file
diff --git a/objects/objaverse/steak/steak_4/collision/model_normalized_collision_1.obj b/objects/objaverse/steak/steak_4/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..00f035298a13207ccb0a71c70d577e5707235f10
--- /dev/null
+++ b/objects/objaverse/steak/steak_4/collision/model_normalized_collision_1.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.11386113 -0.03021503 0.13844947
+v -0.11363636 -0.03021503 0.09659110
+v -0.11386113 0.03021503 0.13844947
+v -0.18345121 0.03021503 0.11203640
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+v -0.11363636 0.03021503 0.09659110
+v -0.15340882 0.03021503 0.12784101
+v -0.18345121 -0.03021503 0.11203640
+v -0.18939393 0.03021503 0.09659110
+v -0.15340882 -0.03021503 0.12784101
+f 1 2 3
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+f 8 4 5
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+f 9 5 4
+f 9 4 6
+f 9 6 2
+f 9 2 5
+f 10 8 1
+f 10 1 7
+f 10 7 8
\ No newline at end of file
diff --git a/objects/objaverse/steak/steak_4/collision/model_normalized_collision_11.obj b/objects/objaverse/steak/steak_4/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..65778f1396351d8b59cececf3e521a5cca3a60a7
--- /dev/null
+++ b/objects/objaverse/steak/steak_4/collision/model_normalized_collision_11.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.41349366 -0.03021503 0.07853085
+v -0.41163214 -0.03021503 -0.10980917
+v -0.41163214 0.03021503 -0.10980917
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+v -0.43691741 0.03021503 -0.08530017
+v -0.41349366 0.03021503 0.07853085
+v -0.42017096 0.03021503 -0.10229487
+v -0.43691741 -0.03021503 -0.08530017
+v -0.42017096 -0.03021503 -0.10229487
+f 1 2 3
+f 5 2 1
+f 5 1 4
+f 6 4 3
+f 6 5 4
+f 7 1 3
+f 7 3 4
+f 7 4 1
+f 8 6 3
+f 8 3 2
+f 9 2 5
+f 9 5 6
+f 10 8 2
+f 10 2 9
+f 10 9 6
+f 10 6 8
\ No newline at end of file
diff --git a/objects/objaverse/steak/steak_4/collision/model_normalized_collision_12.obj b/objects/objaverse/steak/steak_4/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..42b198141f86f65b2a694badc23cbdbbcb0fbc59
--- /dev/null
+++ b/objects/objaverse/steak/steak_4/collision/model_normalized_collision_12.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.21865704 -0.03021503 0.12134805
+v 0.21969697 -0.03021503 0.09659110
+v 0.21865704 0.03021503 0.12134805
+v 0.14393940 0.03021503 0.14204565
+v 0.14393940 -0.03021503 0.09659110
+v 0.14393940 -0.03021503 0.14204565
+v 0.21969697 0.03021503 0.09659110
+v 0.14393940 0.03021503 0.09659110
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 6 5 1
+f 6 1 4
+f 7 3 2
+f 7 2 5
+f 7 4 3
+f 8 7 5
+f 8 4 7
+f 8 6 4
+f 8 5 6
\ No newline at end of file
diff --git a/objects/objaverse/steak/steak_4/collision/model_normalized_collision_16.obj b/objects/objaverse/steak/steak_4/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0033e917e839e902263fca0c37b5d61d178833a1
--- /dev/null
+++ b/objects/objaverse/steak/steak_4/collision/model_normalized_collision_16.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.00757576 -0.03021503 -0.10037859
+v 0.00746263 -0.03021503 -0.12898469
+v 0.00757576 0.03021503 -0.10037859
+v -0.05303030 0.03021503 -0.10037859
+v -0.05430347 -0.03021503 -0.14105895
+v -0.05303030 -0.03021503 -0.10037859
+v -0.05430347 0.03021503 -0.14105895
+v 0.00746263 0.03021503 -0.12898469
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 6 5 1
+f 6 1 4
+f 6 4 5
+f 7 2 5
+f 7 5 4
+f 7 4 3
+f 8 7 3
+f 8 3 2
+f 8 2 7
\ No newline at end of file
diff --git a/objects/objaverse/steak/steak_4/collision/model_normalized_collision_2.obj b/objects/objaverse/steak/steak_4/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..63f810257cfed5d0ec55528c007324d05082ba02
--- /dev/null
+++ b/objects/objaverse/steak/steak_4/collision/model_normalized_collision_2.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.34057654 -0.03021503 0.09384774
+v 0.34018956 -0.03021503 -0.07983079
+v 0.34057654 0.03021503 0.09384774
+v 0.26416125 0.03021503 0.10802925
+v 0.26416125 -0.03021503 0.10802925
+v 0.26496217 0.03021503 -0.08371191
+v 0.34018956 0.03021503 -0.07983079
+v 0.26496217 -0.03021503 -0.08371191
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 5 1 4
+f 6 4 3
+f 6 5 4
+f 7 6 3
+f 7 3 2
+f 7 2 6
+f 8 6 2
+f 8 2 5
+f 8 5 6
\ No newline at end of file
diff --git a/objects/objaverse/steak/steak_4/collision/model_normalized_collision_20.obj b/objects/objaverse/steak/steak_4/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..53d1904b5afa2b276fc09d48cd4a8ccb63dd3862
--- /dev/null
+++ b/objects/objaverse/steak/steak_4/collision/model_normalized_collision_20.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.15837686 -0.03021503 0.13983193
+v 0.15395016 -0.03021503 0.14125981
+v 0.14393940 -0.03021503 0.14204565
+v 0.14219105 0.03021503 0.14321086
+v 0.15395016 0.03021503 0.14125981
+v 0.14219105 -0.03021503 0.14321086
+v 0.14393940 0.03021503 0.14204565
+v 0.15837686 0.03021503 0.13983193
+f 1 2 3
+f 5 2 1
+f 6 3 2
+f 6 4 3
+f 6 5 4
+f 6 2 5
+f 7 3 4
+f 7 4 5
+f 8 7 5
+f 8 5 1
+f 8 1 3
+f 8 3 7
\ No newline at end of file
diff --git a/objects/objaverse/steak/steak_4/collision/model_normalized_collision_22.obj b/objects/objaverse/steak/steak_4/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d20e7c910253d52eeca016ed52b46ad31d2d2b1
--- /dev/null
+++ b/objects/objaverse/steak/steak_4/collision/model_normalized_collision_22.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.18896956 -0.03021503 0.11015129
+v -0.18939393 -0.03021503 0.09659110
+v -0.18939393 0.03021503 0.09659110
+v -0.24034084 0.03021503 0.11590894
+v -0.24034084 -0.03021503 0.11590894
+v -0.23484848 0.03021503 0.09659110
+v -0.18896956 0.03021503 0.11015129
+v -0.23484848 -0.03021503 0.09659110
+f 1 2 3
+f 5 2 1
+f 5 1 4
+f 6 3 2
+f 6 4 3
+f 6 5 4
+f 7 1 3
+f 7 3 4
+f 7 4 1
+f 8 6 2
+f 8 2 5
+f 8 5 6
\ No newline at end of file
diff --git a/objects/objaverse/steak/steak_4/collision/model_normalized_collision_23.obj b/objects/objaverse/steak/steak_4/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f4da71e515b5d947367573855ba52c7c997d8885
--- /dev/null
+++ b/objects/objaverse/steak/steak_4/collision/model_normalized_collision_23.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v -0.09848484 -0.03021503 0.09659110
+v -0.10027611 -0.03021503 -0.14710318
+v -0.09848484 0.03021503 0.00568202
+v -0.23484848 0.03021503 0.09659110
+v -0.23484848 -0.03021503 0.09659110
+v -0.23605820 0.03021503 -0.15160984
+v -0.09848484 0.03021503 0.09659110
+v -0.10027611 0.03021503 -0.14710318
+v -0.23605820 -0.03021503 -0.15160984
+f 1 2 3
+f 5 2 1
+f 5 1 4
+f 6 4 3
+f 7 1 3
+f 7 3 4
+f 7 4 1
+f 8 6 3
+f 8 3 2
+f 8 2 6
+f 9 6 2
+f 9 2 5
+f 9 5 4
+f 9 4 6
\ No newline at end of file
diff --git a/objects/objaverse/steak/steak_4/collision/model_normalized_collision_25.obj b/objects/objaverse/steak/steak_4/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..95dd78b41e031d352fc6128138d1b64f7258662d
--- /dev/null
+++ b/objects/objaverse/steak/steak_4/collision/model_normalized_collision_25.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.28030302 -0.03021503 -0.07007556
+v -0.28030302 -0.03021503 -0.10037859
+v -0.28030302 0.03021503 -0.10037859
+v -0.35606060 0.03021503 -0.07007556
+v -0.35606060 -0.03021503 -0.10037859
+v -0.28030302 0.03021503 -0.07007556
+v -0.35606060 -0.03021503 -0.07007556
+v -0.35606060 0.03021503 -0.10037859
+f 1 2 3
+f 5 2 1
+f 6 1 3
+f 6 3 4
+f 7 5 1
+f 7 4 5
+f 7 6 4
+f 7 1 6
+f 8 5 4
+f 8 4 3
+f 8 3 2
+f 8 2 5
\ No newline at end of file
diff --git a/objects/objaverse/steak/steak_4/collision/model_normalized_collision_26.obj b/objects/objaverse/steak/steak_4/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bf320729f51dfba5c63a6519ca60662f0d198685
--- /dev/null
+++ b/objects/objaverse/steak/steak_4/collision/model_normalized_collision_26.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.41714004 -0.03021503 0.08191294
+v 0.43100207 -0.03021503 0.06582174
+v 0.42471580 0.03021503 0.07433719
+v 0.39991245 0.03021503 0.08857791
+v 0.40151515 -0.03021503 0.06628808
+v 0.41714004 0.03021503 0.08191294
+v 0.39991245 -0.03021503 0.08857791
+v 0.43100207 0.03021503 0.06582174
+v 0.40151515 0.03021503 0.06628808
+f 1 2 3
+f 5 2 1
+f 6 1 3
+f 6 3 4
+f 7 5 1
+f 7 6 4
+f 7 1 6
+f 8 3 2
+f 8 2 5
+f 8 4 3
+f 9 8 5
+f 9 4 8
+f 9 7 4
+f 9 5 7
\ No newline at end of file
diff --git a/objects/objaverse/steak/steak_4/collision/model_normalized_collision_29.obj b/objects/objaverse/steak/steak_4/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b60cd99955fddb6dd0950058f07e5a18ae9b7632
--- /dev/null
+++ b/objects/objaverse/steak/steak_4/collision/model_normalized_collision_29.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.26515152 -0.03021503 0.09659110
+v 0.26515152 -0.03021503 0.02083353
+v 0.26515152 0.03021503 0.02083353
+v 0.14393940 0.03021503 0.09659110
+v 0.14393940 -0.03021503 0.09659110
+v 0.14393940 0.03021503 0.02083353
+v 0.26515152 0.03021503 0.09659110
+v 0.14393940 -0.03021503 0.02083353
+f 1 2 3
+f 5 2 1
+f 6 4 3
+f 7 1 3
+f 7 3 4
+f 7 5 1
+f 7 4 5
+f 8 2 5
+f 8 5 4
+f 8 4 6
+f 8 6 3
+f 8 3 2
\ No newline at end of file
diff --git a/objects/objaverse/steak/steak_4/collision/model_normalized_collision_31.obj b/objects/objaverse/steak/steak_4/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c890c9a809dd2f4b6eef4b7c0e030f20507a690
--- /dev/null
+++ b/objects/objaverse/steak/steak_4/collision/model_normalized_collision_31.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.14219105 -0.03021503 0.14321086
+v 0.14393940 -0.03021503 0.02083353
+v 0.14219105 0.03021503 0.14321086
+v 0.08696424 0.03021503 0.14358183
+v 0.08333334 -0.03021503 0.02083353
+v 0.08696424 -0.03021503 0.14358183
+v 0.12878788 0.03021503 0.02083353
+v 0.14393940 0.03021503 0.02083353
+v 0.08333334 0.03021503 0.02083353
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 6 5 1
+f 6 1 4
+f 7 2 5
+f 7 4 3
+f 8 7 3
+f 8 3 2
+f 8 2 7
+f 9 7 5
+f 9 4 7
+f 9 6 4
+f 9 5 6
\ No newline at end of file
diff --git a/objects/objaverse/steak/steak_4/collision/model_normalized_collision_4.obj b/objects/objaverse/steak/steak_4/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..049d73bb354b205281de78e6e90a296fea0f6615
--- /dev/null
+++ b/objects/objaverse/steak/steak_4/collision/model_normalized_collision_4.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.43473149 -0.03021503 0.05929504
+v 0.46212121 -0.03021503 -0.03977253
+v 0.44896313 0.03021503 0.03912267
+v 0.40151515 0.03021503 0.06628808
+v 0.40151515 -0.03021503 -0.03977253
+v 0.43473149 0.03021503 0.05929504
+v 0.44896313 -0.03021503 0.03912267
+v 0.40151515 -0.03021503 0.06628808
+v 0.40151515 0.03021503 -0.03977253
+v 0.46212121 0.03021503 -0.03977253
+f 5 2 1
+f 6 3 4
+f 6 4 1
+f 7 1 2
+f 7 6 1
+f 7 3 6
+f 8 5 1
+f 8 1 4
+f 8 4 5
+f 9 2 5
+f 9 5 4
+f 9 4 3
+f 10 9 3
+f 10 2 9
+f 10 7 2
+f 10 3 7
\ No newline at end of file
diff --git a/objects/objaverse/steak/steak_4/collision/model_normalized_collision_5.obj b/objects/objaverse/steak/steak_4/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e9a3830d78256bcfc66c7629205a1c374d87b9d2
--- /dev/null
+++ b/objects/objaverse/steak/steak_4/collision/model_normalized_collision_5.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.49469678 -0.03021503 -0.03106080
+v 0.49634113 -0.03021503 -0.05977662
+v 0.49469678 0.03021503 -0.03106080
+v 0.44696970 0.03021503 -0.03977253
+v 0.44563102 -0.03021503 -0.08107692
+v 0.46212121 -0.03021503 -0.02462102
+v 0.48287883 0.03021503 -0.07249961
+v 0.46212121 0.03021503 -0.02462102
+v 0.44696970 -0.03021503 -0.03977253
+v 0.49634113 0.03021503 -0.05977662
+v 0.48287883 -0.03021503 -0.07249961
+v 0.44563102 0.03021503 -0.08107692
+f 1 2 3
+f 5 2 1
+f 6 5 1
+f 7 4 3
+f 8 3 4
+f 8 4 6
+f 8 6 1
+f 8 1 3
+f 9 6 4
+f 9 4 5
+f 9 5 6
+f 10 7 3
+f 10 3 2
+f 10 2 7
+f 11 7 2
+f 11 2 5
+f 11 5 7
+f 12 7 5
+f 12 5 4
+f 12 4 7
\ No newline at end of file
diff --git a/objects/objaverse/steak/steak_4/collision/model_normalized_collision_6.obj b/objects/objaverse/steak/steak_4/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cbeccc74c1bc57ef50063cdff61421ef343bd367
--- /dev/null
+++ b/objects/objaverse/steak/steak_4/collision/model_normalized_collision_6.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.08333334 -0.03021503 0.14204565
+v 0.08333334 -0.03021503 0.02083353
+v 0.08333334 0.03021503 0.14204565
+v 0.00706587 0.03021503 0.13949574
+v 0.00706587 -0.03021503 0.13949574
+v 0.08333334 0.03021503 0.02083353
+v 0.00757576 0.03021503 0.02083353
+v 0.00757576 -0.03021503 0.02083353
+f 1 2 3
+f 5 2 1
+f 5 1 3
+f 5 3 4
+f 6 3 2
+f 6 4 3
+f 7 5 4
+f 7 4 6
+f 8 2 5
+f 8 5 7
+f 8 7 6
+f 8 6 2
\ No newline at end of file
diff --git a/objects/objaverse/steak/steak_4/collision/model_normalized_collision_7.obj b/objects/objaverse/steak/steak_4/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..457a96a03e34695644fbca3bf9d81d629b15e451
--- /dev/null
+++ b/objects/objaverse/steak/steak_4/collision/model_normalized_collision_7.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.26515152 -0.03021503 0.02083353
+v 0.26515152 -0.03021503 -0.03977253
+v 0.26515152 0.03021503 0.02083353
+v 0.00757576 0.03021503 0.02083353
+v 0.00757576 -0.03021503 0.02083353
+v 0.00757576 0.03021503 -0.03977253
+v 0.26515152 0.03021503 -0.03977253
+v 0.00757576 -0.03021503 -0.03977253
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 5 1 4
+f 6 4 3
+f 7 6 3
+f 7 3 2
+f 8 2 5
+f 8 5 4
+f 8 4 6
+f 8 7 2
+f 8 6 7
\ No newline at end of file
diff --git a/objects/objaverse/steak/steak_4/collision/model_normalized_collision_8.obj b/objects/objaverse/steak/steak_4/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e237652ef532d271f4b6bf5317c9cfed78b7f963
--- /dev/null
+++ b/objects/objaverse/steak/steak_4/collision/model_normalized_collision_8.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.24034084 -0.03021503 0.11590894
+v -0.23484848 -0.03021503 -0.07007556
+v -0.23484848 0.03021503 -0.07007556
+v -0.35639583 0.03021503 0.12186592
+v -0.35606060 -0.03021503 -0.07007556
+v -0.24034084 0.03021503 0.11590894
+v -0.35639583 -0.03021503 0.12186592
+v -0.35606060 0.03021503 -0.07007556
+f 1 2 3
+f 5 2 1
+f 6 1 3
+f 6 3 4
+f 6 4 1
+f 7 5 1
+f 7 1 4
+f 8 4 3
+f 8 3 2
+f 8 2 5
+f 8 7 4
+f 8 5 7
\ No newline at end of file
diff --git a/objects/objaverse/steak/steak_4/collision/model_normalized_collision_9.obj b/objects/objaverse/steak/steak_4/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8b7fafd352d68707fcc1535cf298558841c3d31
--- /dev/null
+++ b/objects/objaverse/steak/steak_4/collision/model_normalized_collision_9.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.39991245 -0.03021503 0.08857791
+v 0.40326344 -0.03021503 -0.09163755
+v 0.40326344 0.03021503 -0.09163755
+v 0.34057654 0.03021503 0.09384774
+v 0.34018956 -0.03021503 -0.07983079
+v 0.39991245 0.03021503 0.08857791
+v 0.34057654 -0.03021503 0.09384774
+v 0.34018956 0.03021503 -0.07983079
+f 1 2 3
+f 5 2 1
+f 5 3 2
+f 6 1 3
+f 6 3 4
+f 6 4 1
+f 7 5 1
+f 7 1 4
+f 7 4 5
+f 8 5 4
+f 8 4 3
+f 8 3 5
\ No newline at end of file
diff --git a/objects/objaverse/steak/steak_4/model.xml b/objects/objaverse/steak/steak_4/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..f5326e648a8e5a27b2866e7f9fd99760defc7d3d
--- /dev/null
+++ b/objects/objaverse/steak/steak_4/model.xml
@@ -0,0 +1,81 @@
+<mujoco model="more_steak_23">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.145 0.145 0.145" refquat="0.3333278292388732 -0.6236125064933354 0.3333278292388732 0.6236125064933354"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.145 0.145 0.145" refquat="0.3333278292388732 -0.6236125064933354 0.3333278292388732 0.6236125064933354"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.145 0.145 0.145" refquat="0.3333278292388732 -0.6236125064933354 0.3333278292388732 0.6236125064933354"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.145 0.145 0.145" refquat="0.3333278292388732 -0.6236125064933354 0.3333278292388732 0.6236125064933354"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.145 0.145 0.145" refquat="0.3333278292388732 -0.6236125064933354 0.3333278292388732 0.6236125064933354"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.145 0.145 0.145" refquat="0.3333278292388732 -0.6236125064933354 0.3333278292388732 0.6236125064933354"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.145 0.145 0.145" refquat="0.3333278292388732 -0.6236125064933354 0.3333278292388732 0.6236125064933354"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.145 0.145 0.145" refquat="0.3333278292388732 -0.6236125064933354 0.3333278292388732 0.6236125064933354"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.145 0.145 0.145" refquat="0.3333278292388732 -0.6236125064933354 0.3333278292388732 0.6236125064933354"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.145 0.145 0.145" refquat="0.3333278292388732 -0.6236125064933354 0.3333278292388732 0.6236125064933354"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.145 0.145 0.145" refquat="0.3333278292388732 -0.6236125064933354 0.3333278292388732 0.6236125064933354"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.145 0.145 0.145" refquat="0.3333278292388732 -0.6236125064933354 0.3333278292388732 0.6236125064933354"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.145 0.145 0.145" refquat="0.3333278292388732 -0.6236125064933354 0.3333278292388732 0.6236125064933354"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.145 0.145 0.145" refquat="0.3333278292388732 -0.6236125064933354 0.3333278292388732 0.6236125064933354"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.145 0.145 0.145" refquat="0.3333278292388732 -0.6236125064933354 0.3333278292388732 0.6236125064933354"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.145 0.145 0.145" refquat="0.3333278292388732 -0.6236125064933354 0.3333278292388732 0.6236125064933354"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.145 0.145 0.145" refquat="0.3333278292388732 -0.6236125064933354 0.3333278292388732 0.6236125064933354"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.145 0.145 0.145" refquat="0.3333278292388732 -0.6236125064933354 0.3333278292388732 0.6236125064933354"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.145 0.145 0.145" refquat="0.3333278292388732 -0.6236125064933354 0.3333278292388732 0.6236125064933354"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.145 0.145 0.145" refquat="0.3333278292388732 -0.6236125064933354 0.3333278292388732 0.6236125064933354"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.145 0.145 0.145" refquat="0.3333278292388732 -0.6236125064933354 0.3333278292388732 0.6236125064933354"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.145 0.145 0.145" refquat="0.3333278292388732 -0.6236125064933354 0.3333278292388732 0.6236125064933354"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.145 0.145 0.145" refquat="0.3333278292388732 -0.6236125064933354 0.3333278292388732 0.6236125064933354"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.145 0.145 0.145" refquat="0.3333278292388732 -0.6236125064933354 0.3333278292388732 0.6236125064933354"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.145 0.145 0.145" refquat="0.3333278292388732 -0.6236125064933354 0.3333278292388732 0.6236125064933354"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.145 0.145 0.145" refquat="0.3333278292388732 -0.6236125064933354 0.3333278292388732 0.6236125064933354"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.145 0.145 0.145" refquat="0.3333278292388732 -0.6236125064933354 0.3333278292388732 0.6236125064933354"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.145 0.145 0.145" refquat="0.3333278292388732 -0.6236125064933354 0.3333278292388732 0.6236125064933354"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.145 0.145 0.145" refquat="0.3333278292388732 -0.6236125064933354 0.3333278292388732 0.6236125064933354"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.145 0.145 0.145" refquat="0.3333278292388732 -0.6236125064933354 0.3333278292388732 0.6236125064933354"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.145 0.145 0.145" refquat="0.3333278292388732 -0.6236125064933354 0.3333278292388732 0.6236125064933354"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.145 0.145 0.145" refquat="0.3333278292388732 -0.6236125064933354 0.3333278292388732 0.6236125064933354"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.145 0.145 0.145" refquat="0.3333278292388732 -0.6236125064933354 0.3333278292388732 0.6236125064933354"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="Textured.001" texture="image0" specular="0.5" shininess="0.15999998099999999"/>
+  </asset>
+  <worldbody>
+    <body>
+      <body name="object">
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_0_vis" conaffinity="0" contype="0" group="1" material="Textured.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="0.0005820315997399797 -6.256079539530862e-05 -0.04362691397521294" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.0005820315997399797 -6.256079539530862e-05 0.043543311129656495" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.021983431970846123 0.062149357095983244 -4.1801422778229426e-05" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/objects/objaverse/wine/wine_11/collision/model_normalized_collision_0.obj b/objects/objaverse/wine/wine_11/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d999f7b91cd8f231dcb48e5d80d80c23636d1a0
--- /dev/null
+++ b/objects/objaverse/wine/wine_11/collision/model_normalized_collision_0.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v -0.00611286 -0.04688732 0.49933074
+v 0.05039306 0.00774047 0.21955221
+v 0.04695680 -0.00587059 0.49933074
+v -0.00781880 -0.00733275 0.50000000
+v 0.00725491 -0.05040913 0.21955318
+v 0.03794587 0.03162913 0.31086017
+v 0.02661577 -0.03861807 0.49915204
+v -0.00745210 -0.05151900 0.46212121
+v 0.04914746 0.00769966 0.31058219
+v 0.00733271 0.00781876 0.23974813
+v 0.04107390 -0.02969772 0.21884190
+v 0.02897206 -0.04164832 0.21884415
+v 0.03790231 -0.02754815 0.49913738
+f 6 4 3
+f 7 3 4
+f 7 4 1
+f 8 1 4
+f 8 7 1
+f 8 5 7
+f 9 6 3
+f 9 3 2
+f 9 2 6
+f 10 4 6
+f 10 8 4
+f 10 5 8
+f 10 6 2
+f 10 2 5
+f 11 2 3
+f 12 7 5
+f 12 5 2
+f 12 2 11
+f 13 11 3
+f 13 3 7
+f 13 12 11
+f 13 7 12
\ No newline at end of file
diff --git a/objects/objaverse/wine/wine_11/collision/model_normalized_collision_1.obj b/objects/objaverse/wine/wine_11/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9807ca20e9e7f3862a99a6693b5f586e70754006
--- /dev/null
+++ b/objects/objaverse/wine/wine_11/collision/model_normalized_collision_1.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.03118635 -0.12585482 -0.04149748
+v 0.08581004 -0.08658736 -0.09790043
+v 0.08256593 0.05286551 0.00727762
+v -0.06016667 0.09243937 -0.03593754
+v -0.04858937 -0.12749597 -0.09848485
+v 0.08635565 0.08611598 -0.09793912
+v -0.04769298 -0.10924420 0.00069714
+v 0.08257845 -0.08243223 0.00720157
+v 0.04697122 -0.12760707 -0.09848487
+v 0.07798854 0.07960851 -0.03899638
+v -0.06680763 0.10097845 -0.09557663
+v -0.06489287 0.06821305 0.01607020
+v -0.01785852 -0.12601635 -0.02631492
+v 0.04619346 -0.12545552 -0.06996128
+v -0.04795334 -0.12529630 -0.06993893
+v 0.04578981 -0.10918696 0.00052853
+v 0.00674875 -0.12584413 -0.02620891
+v -0.03266527 -0.12482436 -0.04162614
+f 8 6 3
+f 8 2 6
+f 9 2 8
+f 9 6 2
+f 9 5 6
+f 10 3 6
+f 11 6 5
+f 11 10 6
+f 11 4 10
+f 12 4 11
+f 12 11 5
+f 12 5 7
+f 12 10 4
+f 12 3 10
+f 12 8 3
+f 12 7 8
+f 13 5 9
+f 14 9 8
+f 14 1 9
+f 15 7 5
+f 15 5 13
+f 16 8 7
+f 16 7 13
+f 16 14 8
+f 16 1 14
+f 17 13 9
+f 17 9 1
+f 17 16 13
+f 17 1 16
+f 18 15 13
+f 18 13 7
+f 18 7 15
\ No newline at end of file
diff --git a/objects/objaverse/wine/wine_11/collision/model_normalized_collision_10.obj b/objects/objaverse/wine/wine_11/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..407b987e5d76ead6c421c3f32fa16cf5fb2b64bf
--- /dev/null
+++ b/objects/objaverse/wine/wine_11/collision/model_normalized_collision_10.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v -0.04898262 -0.11370467 -0.01286470
+v -0.05190567 -0.12381452 -0.49931456
+v -0.05327335 -0.08309033 -0.50000001
+v -0.08946799 -0.07588840 0.00355957
+v -0.07159314 -0.11086334 -0.05710480
+v -0.10792444 -0.07845886 -0.49931456
+v -0.05272548 -0.08228192 0.00713746
+v -0.08579041 -0.09430366 -0.02722239
+v -0.10058185 -0.08789968 -0.49931456
+v -0.05016368 -0.10696095 0.00509931
+v -0.05648725 -0.11093062 -0.01486065
+v -0.10425760 -0.07560696 -0.04020407
+v -0.07249270 -0.11219051 -0.49890057
+v -0.08289573 -0.08592831 0.00070906
+v -0.09717282 -0.08524828 -0.04191623
+v -0.07106386 -0.09493055 -0.00006030
+f 1 2 3
+f 5 2 1
+f 6 4 3
+f 7 1 3
+f 7 3 4
+f 9 6 3
+f 9 3 2
+f 10 7 4
+f 10 1 7
+f 11 8 5
+f 11 5 1
+f 11 1 10
+f 12 4 6
+f 13 9 2
+f 13 2 5
+f 13 5 9
+f 14 10 4
+f 14 12 8
+f 14 4 12
+f 15 12 6
+f 15 6 9
+f 15 9 5
+f 15 5 8
+f 15 8 12
+f 16 11 10
+f 16 10 14
+f 16 14 8
+f 16 8 11
\ No newline at end of file
diff --git a/objects/objaverse/wine/wine_11/collision/model_normalized_collision_12.obj b/objects/objaverse/wine/wine_11/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..42dab3e62b6212881b662c0cd36c48f8ce8b71fb
--- /dev/null
+++ b/objects/objaverse/wine/wine_11/collision/model_normalized_collision_12.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.08266611 -0.08238236 0.00705820
+v -0.08357638 -0.08309033 -0.50000001
+v -0.08357638 -0.05278730 -0.50000001
+v -0.11365470 -0.04722916 -0.01317331
+v -0.11372319 -0.07118476 -0.49906048
+v -0.08299618 -0.05233604 0.00724588
+v -0.11250123 -0.07023434 -0.05702499
+v -0.12345240 -0.05077078 -0.49931456
+v -0.10613132 -0.04998655 0.00475516
+v -0.10948595 -0.06037426 -0.01477448
+v -0.09616920 -0.06931614 -0.00010549
+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 8 7 4
+f 8 5 7
+f 9 6 4
+f 9 1 6
+f 10 7 1
+f 10 9 4
+f 10 4 7
+f 11 10 1
+f 11 1 9
+f 11 9 10
\ No newline at end of file
diff --git a/objects/objaverse/wine/wine_11/collision/model_normalized_collision_13.obj b/objects/objaverse/wine/wine_11/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1db804bb975be3d3eb9ddecf349902647274d2b6
--- /dev/null
+++ b/objects/objaverse/wine/wine_11/collision/model_normalized_collision_13.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.04736820 -0.11355365 -0.01303342
+v 0.08309029 -0.08309033 -0.50000001
+v 0.08257845 -0.08243223 0.00720157
+v 0.05253215 -0.08276232 0.00738925
+v 0.05278726 -0.08309033 -0.50000001
+v 0.05012558 -0.10603002 0.00489514
+v 0.07138189 -0.11349061 -0.49920325
+v 0.06035218 -0.10944614 -0.01464291
+v 0.05092617 -0.12339627 -0.49931456
+v 0.05948722 -0.10252647 0.00286266
+v 0.07046137 -0.11230698 -0.05695398
+v 0.06952715 -0.09595445 0.00001182
+f 5 1 4
+f 5 3 2
+f 5 4 3
+f 6 3 4
+f 6 4 1
+f 7 2 3
+f 8 6 1
+f 9 5 2
+f 9 2 7
+f 9 1 5
+f 10 3 6
+f 10 6 8
+f 11 7 3
+f 11 3 8
+f 11 9 7
+f 11 8 1
+f 11 1 9
+f 12 10 8
+f 12 8 3
+f 12 3 10
\ No newline at end of file
diff --git a/objects/objaverse/wine/wine_11/collision/model_normalized_collision_14.obj b/objects/objaverse/wine/wine_11/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f9df02d556ec4966e5066c97e0c0e6ed835a6c9d
--- /dev/null
+++ b/objects/objaverse/wine/wine_11/collision/model_normalized_collision_14.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.08223597 0.08291191 0.00709005
+v 0.08309029 0.08357634 -0.50000001
+v 0.07194560 0.11258660 -0.49885268
+v 0.04841407 0.11390538 -0.01296643
+v 0.05217888 0.08267864 0.00708904
+v 0.07103692 0.11124561 -0.05712832
+v 0.05017426 0.10698367 0.00502700
+v 0.05278726 0.08357634 -0.50000001
+v 0.05132741 0.12398164 -0.49931456
+v 0.05593610 0.11132070 -0.01490050
+v 0.07051258 0.09532053 -0.00010012
+f 1 2 3
+f 5 2 1
+f 6 1 3
+f 7 5 1
+f 7 4 5
+f 8 2 5
+f 8 5 4
+f 9 6 3
+f 9 4 6
+f 9 8 4
+f 9 3 2
+f 9 2 8
+f 10 6 4
+f 10 4 7
+f 11 10 7
+f 11 7 1
+f 11 1 6
+f 11 6 10
\ No newline at end of file
diff --git a/objects/objaverse/wine/wine_11/collision/model_normalized_collision_15.obj b/objects/objaverse/wine/wine_11/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..07ce0f0a8c4ddfe4f3b935a41f333fac37019385
--- /dev/null
+++ b/objects/objaverse/wine/wine_11/collision/model_normalized_collision_15.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v -0.11931696 0.05046469 -0.03980763
+v -0.08357638 0.05327331 -0.50000001
+v -0.09255425 0.05935784 -0.03600333
+v -0.07591634 0.10403034 -0.04025866
+v -0.11239681 0.07230320 -0.49875349
+v -0.12385192 0.05177582 -0.49931456
+v -0.11102805 0.07137533 -0.05717874
+v -0.07876179 0.10768899 -0.49931456
+v -0.09679669 0.08715065 -0.04181491
+v -0.12199592 0.05123926 -0.05442720
+v -0.08820258 0.10034639 -0.49931456
+v -0.11550910 0.05926073 -0.04099465
+v -0.08555766 0.09694551 -0.04197060
+f 1 2 3
+f 1 3 4
+f 3 2 4
+f 6 2 1
+f 7 5 6
+f 8 4 2
+f 9 1 4
+f 10 7 6
+f 10 6 1
+f 11 6 5
+f 11 5 7
+f 11 7 9
+f 11 8 2
+f 11 2 6
+f 12 9 7
+f 12 1 9
+f 12 10 1
+f 12 7 10
+f 13 11 9
+f 13 9 4
+f 13 4 8
+f 13 8 11
\ No newline at end of file
diff --git a/objects/objaverse/wine/wine_11/collision/model_normalized_collision_16.obj b/objects/objaverse/wine/wine_11/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0f02bf6408ba1102b724fd0df731b8946ac63bff
--- /dev/null
+++ b/objects/objaverse/wine/wine_11/collision/model_normalized_collision_16.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.07583424 -0.10406374 -0.04013317
+v 0.12854483 -0.00733275 -0.50000001
+v 0.11557847 -0.05915107 -0.04084984
+v 0.10971541 -0.00646145 -0.03327258
+v 0.08309029 -0.00733275 -0.50000001
+v 0.12857823 -0.00733166 -0.03787242
+v 0.08813532 -0.10039878 -0.49931456
+v 0.11237915 -0.07213470 -0.49900217
+v 0.09685849 -0.08702002 -0.04169069
+v 0.07869447 -0.10774137 -0.49931456
+v 0.08547558 -0.09697892 -0.04184512
+v 0.11108261 -0.07125559 -0.05703151
+f 1 3 4
+f 5 1 4
+f 5 4 2
+f 6 2 4
+f 6 4 3
+f 8 6 3
+f 8 2 6
+f 8 7 2
+f 9 3 1
+f 10 5 2
+f 10 2 7
+f 10 1 5
+f 11 9 1
+f 11 7 9
+f 11 10 7
+f 11 1 10
+f 12 8 3
+f 12 3 9
+f 12 9 7
+f 12 7 8
\ No newline at end of file
diff --git a/objects/objaverse/wine/wine_11/collision/model_normalized_collision_17.obj b/objects/objaverse/wine/wine_11/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..979e482aa0c099a69247a411852e9d80a911d8df
--- /dev/null
+++ b/objects/objaverse/wine/wine_11/collision/model_normalized_collision_17.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.11880932 0.04975414 -0.03985337
+v 0.12324081 0.05135602 -0.49931456
+v 0.11207963 0.07077044 -0.05700873
+v 0.07626191 0.10380394 -0.04020047
+v 0.08309029 0.05327331 -0.50000001
+v 0.08925105 0.10061327 -0.49931456
+v 0.11422024 0.06298516 -0.04080834
+v 0.09224745 0.06039539 -0.03587305
+v 0.11329354 0.07171465 -0.49909181
+v 0.08681198 0.09701440 -0.04176499
+v 0.07886839 0.10764985 -0.49931456
+v 0.09675156 0.08578464 -0.04189987
+f 1 2 3
+f 5 2 1
+f 6 2 5
+f 7 1 3
+f 8 5 1
+f 8 4 5
+f 8 7 4
+f 8 1 7
+f 9 6 3
+f 9 3 2
+f 9 2 6
+f 10 3 6
+f 10 4 7
+f 11 6 5
+f 11 5 4
+f 11 10 6
+f 11 4 10
+f 12 10 7
+f 12 7 3
+f 12 3 10
\ No newline at end of file
diff --git a/objects/objaverse/wine/wine_11/collision/model_normalized_collision_18.obj b/objects/objaverse/wine/wine_11/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..696b4c66547f8ff2ce7d9afb5aa898431d7db5b7
--- /dev/null
+++ b/objects/objaverse/wine/wine_11/collision/model_normalized_collision_18.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.09266810 -0.05985844 -0.03588748
+v -0.10120979 -0.06650150 -0.09553779
+v -0.09255425 0.05935784 -0.03600333
+v -0.10150499 0.06542388 -0.09562773
+v -0.12592589 -0.03103642 -0.04158169
+v -0.11903049 -0.04917235 -0.03990714
+v -0.12766328 -0.04681585 -0.09848485
+v -0.11931696 0.05046469 -0.03980763
+v -0.12551520 -0.04603972 -0.07000253
+v -0.12753344 0.04845957 -0.09848485
+v -0.12487766 0.03254016 -0.04171202
+v -0.12533761 0.04782483 -0.06998152
+f 1 2 3
+f 3 2 4
+f 6 2 1
+f 7 4 2
+f 7 2 6
+f 8 3 4
+f 8 5 6
+f 8 6 1
+f 8 1 3
+f 9 7 6
+f 9 6 5
+f 9 5 7
+f 10 7 5
+f 10 8 4
+f 10 4 7
+f 11 10 5
+f 11 5 8
+f 12 11 8
+f 12 8 10
+f 12 10 11
\ No newline at end of file
diff --git a/objects/objaverse/wine/wine_11/collision/model_normalized_collision_19.obj b/objects/objaverse/wine/wine_11/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e75ec4f7864d057d0a33adb9c2a456a3a559fbe7
--- /dev/null
+++ b/objects/objaverse/wine/wine_11/collision/model_normalized_collision_19.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.10739488 -0.00910328 -0.02498041
+v -0.05327335 -0.00733275 -0.09848485
+v -0.04960424 0.11888067 -0.03993750
+v -0.10926482 -0.00817311 -0.03343517
+v -0.12025386 -0.00853290 -0.09364319
+v -0.07591634 0.10403034 -0.04025866
+v -0.05208985 0.12575686 -0.09848485
+v -0.07302501 0.11546415 -0.09848485
+v -0.06299252 0.11423379 -0.04088777
+v -0.07054345 0.11227356 -0.05707945
+f 1 2 3
+f 5 2 1
+f 5 1 4
+f 6 1 3
+f 6 4 1
+f 6 5 4
+f 7 3 2
+f 8 7 2
+f 8 2 5
+f 8 5 6
+f 9 6 3
+f 9 3 7
+f 10 8 6
+f 10 6 9
+f 10 9 7
+f 10 7 8
\ No newline at end of file
diff --git a/objects/objaverse/wine/wine_11/collision/model_normalized_collision_2.obj b/objects/objaverse/wine/wine_11/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d3d040ec7b7663c4f6efca7a1b840c471d90685f
--- /dev/null
+++ b/objects/objaverse/wine/wine_11/collision/model_normalized_collision_2.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.12413936 -0.05151354 -0.06860251
+v 0.12762560 -0.04814075 -0.09848485
+v 0.12570469 0.03161821 -0.04152791
+v 0.09224745 0.06039539 -0.03587305
+v 0.12645670 -0.05218355 -0.09848485
+v 0.12745167 0.04740107 -0.09848485
+v 0.12445781 -0.02129982 -0.02355672
+v 0.12614341 -0.01739730 -0.02628957
+v 0.11880932 0.04975414 -0.03985337
+v 0.10078968 0.06703887 -0.09552690
+v 0.10971541 -0.00646145 -0.03327258
+v 0.12582863 0.00723425 -0.02621200
+v 0.12329908 -0.03612285 -0.03891426
+v 0.12542496 -0.04750442 -0.06992652
+v 0.12530125 0.04662372 -0.06997648
+v 0.12525840 0.00771125 -0.02336823
+v 0.12494830 -0.03222865 -0.04157949
+f 5 1 4
+f 6 2 5
+f 8 2 6
+f 10 6 5
+f 10 5 4
+f 10 9 6
+f 10 4 9
+f 11 7 4
+f 11 4 1
+f 12 8 6
+f 12 6 3
+f 13 8 7
+f 13 11 1
+f 13 7 11
+f 14 2 8
+f 14 5 2
+f 14 1 5
+f 15 9 3
+f 15 3 6
+f 15 6 9
+f 16 12 3
+f 16 3 9
+f 16 9 4
+f 16 4 7
+f 16 7 8
+f 16 8 12
+f 17 13 1
+f 17 1 14
+f 17 14 8
+f 17 8 13
\ No newline at end of file
diff --git a/objects/objaverse/wine/wine_11/collision/model_normalized_collision_20.obj b/objects/objaverse/wine/wine_11/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..28d8a8ee530036f460c7ae96a62d917eaff2d5fb
--- /dev/null
+++ b/objects/objaverse/wine/wine_11/collision/model_normalized_collision_20.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.06016667 0.09243937 -0.03593754
+v 0.00611740 0.12072482 -0.09358138
+v 0.00647706 0.10972996 -0.03335430
+v -0.03146830 0.12577611 -0.04161204
+v -0.04724582 0.12750788 -0.09848485
+v 0.00773355 0.13193033 -0.05536855
+v -0.04960424 0.11888067 -0.03993750
+v -0.06680763 0.10097845 -0.09557663
+v 0.00759070 0.13629625 -0.09848485
+v 0.00782473 0.12914324 -0.04074893
+v -0.04646982 0.12536120 -0.07001791
+f 7 1 3
+f 8 2 3
+f 8 3 1
+f 8 7 5
+f 8 1 7
+f 9 3 2
+f 9 5 4
+f 9 4 6
+f 9 8 5
+f 9 2 8
+f 10 6 4
+f 10 9 6
+f 10 3 9
+f 10 7 3
+f 10 4 7
+f 11 7 4
+f 11 4 5
+f 11 5 7
\ No newline at end of file
diff --git a/objects/objaverse/wine/wine_11/collision/model_normalized_collision_21.obj b/objects/objaverse/wine/wine_11/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..07e9646520bf1a67d16db3ddc7f9e3a3ac3048d2
--- /dev/null
+++ b/objects/objaverse/wine/wine_11/collision/model_normalized_collision_21.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.05902048 0.09277351 -0.03595763
+v 0.05278726 0.08357634 -0.50000001
+v 0.05132741 0.12398164 -0.49931456
+v 0.00782473 0.12914324 -0.04074893
+v 0.00733271 0.08357634 -0.50000001
+v 0.04801087 0.12766300 -0.09848485
+v 0.00647706 0.10972996 -0.03335430
+v 0.00767624 0.13368199 -0.49931456
+v 0.05001483 0.11944203 -0.03978267
+v 0.03330203 0.12919316 -0.49931456
+v 0.00639400 0.11227229 -0.04806582
+v 0.04737582 0.12546603 -0.06996934
+v 0.04753315 0.12600987 -0.49189224
+v 0.03209029 0.12500265 -0.04168695
+f 1 2 3
+f 5 2 1
+f 6 1 3
+f 7 5 1
+f 8 2 5
+f 8 4 6
+f 9 1 6
+f 9 7 1
+f 9 4 7
+f 10 8 6
+f 10 3 2
+f 10 2 8
+f 11 7 4
+f 11 4 8
+f 11 8 5
+f 11 5 7
+f 12 9 6
+f 12 6 4
+f 13 10 6
+f 13 6 3
+f 13 3 10
+f 14 12 4
+f 14 4 9
+f 14 9 12
\ No newline at end of file
diff --git a/objects/objaverse/wine/wine_11/collision/model_normalized_collision_22.obj b/objects/objaverse/wine/wine_11/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e1f2059d0a636fcd14fef3f11ba8a90f33cbeb2e
--- /dev/null
+++ b/objects/objaverse/wine/wine_11/collision/model_normalized_collision_22.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.00707492 -0.13581647 -0.09848485
+v 0.00698937 -0.13320232 -0.49931456
+v 0.00759070 0.13629625 -0.09848485
+v -0.04724582 0.12750788 -0.09848485
+v -0.04858937 -0.12749597 -0.09848485
+v -0.03295621 0.12989213 -0.49931456
+v 0.00767624 0.13368199 -0.49931456
+v -0.04789274 -0.12508661 -0.49906986
+v -0.05120072 0.12329714 -0.49931456
+v -0.04666085 0.12588980 -0.49187712
+f 1 3 4
+f 5 1 4
+f 6 4 3
+f 7 1 2
+f 7 3 1
+f 7 6 3
+f 7 2 6
+f 8 2 1
+f 8 1 5
+f 9 6 2
+f 9 2 8
+f 9 8 5
+f 9 5 4
+f 10 9 4
+f 10 4 6
+f 10 6 9
\ No newline at end of file
diff --git a/objects/objaverse/wine/wine_11/collision/model_normalized_collision_24.obj b/objects/objaverse/wine/wine_11/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..25d44027ded6293420366a3c9502e2520eea2ec3
--- /dev/null
+++ b/objects/objaverse/wine/wine_11/collision/model_normalized_collision_24.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.00854821 -0.12024493 -0.09358058
+v 0.08309029 -0.08309033 -0.50000001
+v 0.12071602 -0.00610147 -0.09351866
+v 0.00733271 -0.00733275 -0.09848485
+v 0.00733271 -0.08309033 -0.50000001
+v 0.08581004 -0.08658736 -0.09790043
+v 0.00733271 -0.00733275 -0.50000001
+v 0.08309029 -0.00733275 -0.50000001
+f 1 3 4
+f 5 2 1
+f 5 1 4
+f 6 1 2
+f 6 2 3
+f 6 3 1
+f 7 2 5
+f 7 5 4
+f 7 4 3
+f 8 7 3
+f 8 3 2
+f 8 2 7
\ No newline at end of file
diff --git a/objects/objaverse/wine/wine_11/collision/model_normalized_collision_25.obj b/objects/objaverse/wine/wine_11/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b2b78e6fdc44de057eb0d5facadc35104fcf7ad0
--- /dev/null
+++ b/objects/objaverse/wine/wine_11/collision/model_normalized_collision_25.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.05327335 -0.00733275 -0.09848485
+v -0.05327335 -0.00733275 -0.50000001
+v -0.05327335 0.05327331 -0.50000001
+v -0.08124187 0.08923372 -0.09247461
+v -0.13581702 -0.00705908 -0.09848485
+v -0.13320298 -0.00697338 -0.49931456
+v -0.12385192 0.05177582 -0.49931456
+v -0.12906391 0.03375034 -0.49931456
+v -0.12753344 0.04845957 -0.09848485
+v -0.12588016 0.04798155 -0.49188829
+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 4 3
+f 8 6 5
+f 8 7 3
+f 8 3 6
+f 9 5 4
+f 9 4 7
+f 9 8 5
+f 10 9 7
+f 10 7 8
+f 10 8 9
\ No newline at end of file
diff --git a/objects/objaverse/wine/wine_11/collision/model_normalized_collision_26.obj b/objects/objaverse/wine/wine_11/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a3c45b7ebcfc9b75dd79e6c2dc5a8090bd49d13f
--- /dev/null
+++ b/objects/objaverse/wine/wine_11/collision/model_normalized_collision_26.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.13629576 -0.00757486 -0.09848485
+v 0.13368127 -0.00766035 -0.49931456
+v 0.12745167 0.04740107 -0.09848485
+v 0.00733271 0.05327331 -0.09848485
+v 0.00733271 -0.00733275 -0.09848485
+v 0.00733271 0.05327331 -0.50000001
+v 0.12515445 0.04657082 -0.49892061
+v 0.00733271 -0.00733275 -0.50000001
+f 1 3 4
+f 5 2 1
+f 5 1 4
+f 6 4 3
+f 7 1 2
+f 7 3 1
+f 7 6 3
+f 7 2 6
+f 8 6 2
+f 8 2 5
+f 8 5 4
+f 8 4 6
\ No newline at end of file
diff --git a/objects/objaverse/wine/wine_11/collision/model_normalized_collision_27.obj b/objects/objaverse/wine/wine_11/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..08b5d955183d50469955ef75585eb722e4e0e239
--- /dev/null
+++ b/objects/objaverse/wine/wine_11/collision/model_normalized_collision_27.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.10078968 0.06703887 -0.09552690
+v 0.08309029 0.05327331 -0.50000001
+v 0.08309029 0.08357634 -0.50000001
+v 0.00611740 0.12072482 -0.09358138
+v 0.00733271 0.05327331 -0.09848485
+v 0.00733271 0.05327331 -0.50000001
+v 0.08635565 0.08611598 -0.09793912
+v 0.00733271 0.08357634 -0.50000001
+f 1 2 3
+f 5 2 1
+f 5 1 4
+f 6 3 2
+f 6 5 4
+f 6 2 5
+f 7 1 3
+f 7 3 4
+f 7 4 1
+f 8 6 4
+f 8 4 3
+f 8 3 6
\ No newline at end of file
diff --git a/objects/objaverse/wine/wine_11/collision/model_normalized_collision_28.obj b/objects/objaverse/wine/wine_11/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3518f7332843b4c54b6eec5307d8d2b78ccf6f4b
--- /dev/null
+++ b/objects/objaverse/wine/wine_11/collision/model_normalized_collision_28.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.00707492 -0.13581647 -0.09848485
+v 0.04613201 -0.12528503 -0.49898083
+v 0.04697122 -0.12760707 -0.09848487
+v 0.06673299 -0.10102111 -0.09548798
+v 0.00733271 -0.08309033 -0.50000001
+v 0.00854821 -0.12024493 -0.09358058
+v 0.00698937 -0.13320232 -0.49931456
+v 0.05278726 -0.08309033 -0.50000001
+f 1 2 3
+f 3 2 4
+f 6 1 3
+f 6 3 4
+f 6 5 1
+f 6 4 5
+f 7 2 1
+f 7 1 5
+f 8 5 4
+f 8 4 2
+f 8 7 5
+f 8 2 7
\ No newline at end of file
diff --git a/objects/objaverse/wine/wine_11/collision/model_normalized_collision_3.obj b/objects/objaverse/wine/wine_11/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a2d9e6e4a73edd6188ff16fac03781c4ecb4dd0
--- /dev/null
+++ b/objects/objaverse/wine/wine_11/collision/model_normalized_collision_3.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v 0.00683560 -0.05274482 0.18785473
+v 0.07145636 -0.04490273 0.07737498
+v 0.04141286 0.02927575 0.21882626
+v -0.04449903 0.07229475 0.07727406
+v -0.07249430 -0.04416834 0.07738118
+v 0.07206515 0.04469875 0.07741206
+v 0.04107390 -0.02969772 0.21884190
+v 0.05059179 -0.06511599 0.08181720
+v -0.07146876 0.04506791 0.07713241
+v 0.04471146 0.07166013 0.07723050
+v -0.04183229 -0.02873747 0.21882093
+v 0.05137608 0.00727712 0.20354406
+v 0.06090265 -0.05889210 0.07847438
+v -0.02890123 -0.05433329 0.13999499
+v 0.02897206 -0.04164832 0.21884415
+v 0.02947291 0.04122823 0.21881750
+v -0.04100374 0.02980631 0.21880130
+v -0.05054327 -0.01602068 0.18746904
+v 0.04881056 -0.01695297 0.20334216
+v -0.03003106 -0.04084943 0.21882557
+v 0.01720733 0.05017379 0.18747034
+v -0.06462645 -0.01563410 0.12089241
+v -0.05004568 0.01765627 0.18745701
+v -0.01778452 -0.05000342 0.18750364
+v -0.01607153 0.06449156 0.12083717
+v -0.02904107 0.04159776 0.21880305
+v -0.06386464 0.01727134 0.12074862
+v 0.01681732 0.06397709 0.12079451
+v -0.01645091 0.05038944 0.18745224
+f 9 2 5
+f 10 9 4
+f 10 6 2
+f 10 2 9
+f 12 6 3
+f 12 3 7
+f 12 2 6
+f 13 8 5
+f 13 5 2
+f 13 2 7
+f 14 8 1
+f 14 5 8
+f 15 1 8
+f 15 7 3
+f 15 3 11
+f 15 13 7
+f 15 8 13
+f 16 3 6
+f 16 6 10
+f 17 4 9
+f 18 5 11
+f 18 11 17
+f 19 12 7
+f 19 7 2
+f 19 2 12
+f 20 11 5
+f 20 5 14
+f 20 15 11
+f 20 1 15
+f 21 16 10
+f 22 9 5
+f 22 5 18
+f 23 18 17
+f 23 17 9
+f 23 22 18
+f 24 20 14
+f 24 14 1
+f 24 1 20
+f 25 10 4
+f 26 3 16
+f 26 17 11
+f 26 11 3
+f 26 4 17
+f 27 23 9
+f 27 9 22
+f 27 22 23
+f 28 25 21
+f 28 21 10
+f 28 10 25
+f 29 21 25
+f 29 25 4
+f 29 4 26
+f 29 26 16
+f 29 16 21
\ No newline at end of file
diff --git a/objects/objaverse/wine/wine_11/collision/model_normalized_collision_30.obj b/objects/objaverse/wine/wine_11/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..488bf9e819346ef301e2890583adfd609fe626ce
--- /dev/null
+++ b/objects/objaverse/wine/wine_11/collision/model_normalized_collision_30.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.12645670 -0.05218355 -0.09848485
+v 0.13368127 -0.00766035 -0.49931456
+v 0.13629576 -0.00757486 -0.09848485
+v 0.12154130 -0.00756194 -0.09940924
+v 0.12394396 -0.05145707 -0.49931456
+v 0.12854483 -0.00733275 -0.50000001
+v 0.12519765 -0.04743887 -0.49911360
+v 0.12762560 -0.04814075 -0.09848485
+f 1 3 4
+f 5 1 4
+f 6 3 2
+f 6 4 3
+f 6 5 4
+f 6 2 5
+f 7 2 3
+f 7 5 2
+f 7 1 5
+f 8 7 3
+f 8 3 1
+f 8 1 7
\ No newline at end of file
diff --git a/objects/objaverse/wine/wine_11/collision/model_normalized_collision_31.obj b/objects/objaverse/wine/wine_11/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d7b1eec97f43a57f760c23f68bcc4f16fbda7312
--- /dev/null
+++ b/objects/objaverse/wine/wine_11/collision/model_normalized_collision_31.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.10120979 -0.06650150 -0.09553779
+v -0.08357638 -0.05278730 -0.50000001
+v -0.08357638 -0.00733275 -0.50000001
+v -0.13581702 -0.00705908 -0.09848485
+v -0.12541034 -0.04600159 -0.49881329
+v -0.12025386 -0.00853290 -0.09364319
+v -0.12766328 -0.04681585 -0.09848485
+v -0.13320298 -0.00697338 -0.49931456
+f 1 2 3
+f 5 2 1
+f 6 1 3
+f 6 3 4
+f 7 5 1
+f 7 4 5
+f 7 6 4
+f 7 1 6
+f 8 3 2
+f 8 2 5
+f 8 5 4
+f 8 4 3
\ No newline at end of file
diff --git a/objects/objaverse/wine/wine_11/collision/model_normalized_collision_5.obj b/objects/objaverse/wine/wine_11/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d8b45fb1a3748ec2d94031904f2964ebf6b9942d
--- /dev/null
+++ b/objects/objaverse/wine/wine_11/collision/model_normalized_collision_5.obj
@@ -0,0 +1,171 @@
+# https://github.com/mikedh/trimesh
+v 0.03220558 -0.11352273 0.00210696
+v 0.11297880 -0.03313512 0.00202828
+v 0.07950291 -0.03221762 0.07506332
+v -0.03250222 0.11348492 0.00191632
+v -0.03358760 -0.11286286 0.00198699
+v 0.07078840 0.08057595 0.02803751
+v 0.08036707 -0.07097632 0.02818782
+v -0.03267218 -0.07939289 0.07501477
+v 0.10893585 0.03103314 0.01336909
+v -0.03120882 0.07960368 0.07471201
+v 0.05948722 -0.10252647 0.00286266
+v 0.10144289 -0.05983991 0.00260238
+v 0.03059428 -0.10906521 0.01343104
+v -0.11656611 0.01936627 0.00313329
+v 0.07948171 0.03134046 0.07487640
+v 0.10844105 -0.03182310 0.01333510
+v 0.05962953 0.10161880 0.00250482
+v 0.03210779 0.07960869 0.07489560
+v 0.06549187 -0.05601203 0.07432021
+v -0.03227793 -0.10833326 0.01328459
+v 0.05648225 -0.09866305 0.01435176
+v -0.11362395 -0.03206654 0.00196703
+v -0.08038803 0.07114708 0.02793560
+v -0.07949870 0.03256215 0.07484698
+v 0.10231531 0.05980887 0.00277056
+v 0.09741877 -0.05711259 0.01406651
+v 0.11338379 0.03264107 0.00205587
+v 0.05582073 0.06569565 0.07417583
+v 0.01891382 0.11668214 0.00317480
+v 0.03090208 -0.07961371 0.07493563
+v -0.06018077 -0.10122881 0.00254461
+v 0.06951729 -0.08078993 0.02795615
+v -0.10141677 0.05997876 0.00242111
+v -0.05959835 0.10253044 0.00265354
+v -0.06550435 0.05617703 0.07407790
+v -0.07973529 -0.03077043 0.07477120
+v 0.09846632 0.05681568 0.01424079
+v 0.05692469 0.09762767 0.01391622
+v 0.01753671 0.11191882 0.01473261
+v 0.05467876 -0.06604122 0.07417632
+v -0.05747138 -0.09723097 0.01396456
+v -0.09398406 0.03236939 0.04335492
+v -0.05661975 0.09870075 0.01409729
+v -0.09743975 0.05728337 0.01381430
+v -0.10274145 -0.05927623 0.00274505
+v -0.11181089 0.01799140 0.01468228
+v 0.06584127 0.05500973 0.07406934
+v 0.08059393 0.06985068 0.02784481
+v 0.03191428 0.09409045 0.04340660
+v -0.03090419 0.10906416 0.01319846
+v -0.05480995 0.06607076 0.07393137
+v -0.06965465 0.08082799 0.02770135
+v -0.09889698 -0.05628617 0.01420863
+v -0.07133509 -0.08017924 0.02808585
+v -0.10919348 -0.03046503 0.01326009
+v -0.08102402 -0.06932109 0.02781283
+v -0.05636854 -0.06530059 0.07422215
+v -0.06627053 -0.05447927 0.07403826
+f 5 2 1
+f 5 4 2
+f 12 7 11
+f 12 11 1
+f 12 1 2
+f 13 5 1
+f 15 3 9
+f 16 9 3
+f 16 2 9
+f 16 12 2
+f 18 8 3
+f 18 3 15
+f 20 13 8
+f 20 5 13
+f 21 13 1
+f 21 1 11
+f 22 4 5
+f 24 18 10
+f 24 8 18
+f 25 17 6
+f 26 16 3
+f 26 12 16
+f 26 3 19
+f 26 19 7
+f 26 7 12
+f 27 2 4
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+f 27 17 25
+f 27 9 2
+f 28 18 15
+f 29 17 4
+f 30 19 3
+f 30 3 8
+f 30 8 13
+f 30 13 21
+f 31 5 20
+f 31 22 5
+f 32 21 11
+f 32 11 7
+f 33 22 14
+f 33 4 22
+f 34 33 23
+f 34 4 33
+f 35 24 10
+f 36 8 24
+f 37 15 9
+f 37 27 25
+f 37 9 27
+f 38 28 6
+f 38 6 17
+f 38 18 28
+f 38 17 29
+f 39 10 18
+f 40 30 21
+f 40 19 30
+f 40 21 32
+f 40 32 7
+f 40 7 19
+f 41 31 20
+f 41 20 8
+f 42 33 14
+f 43 4 34
+f 44 24 35
+f 44 42 24
+f 44 33 42
+f 44 35 23
+f 44 23 33
+f 45 22 31
+f 46 36 24
+f 46 42 14
+f 46 24 42
+f 47 28 15
+f 47 15 37
+f 47 6 28
+f 48 37 25
+f 48 25 6
+f 48 47 37
+f 48 6 47
+f 49 38 29
+f 49 18 38
+f 49 39 18
+f 49 29 39
+f 50 10 39
+f 50 43 10
+f 50 4 43
+f 50 39 29
+f 50 29 4
+f 51 35 10
+f 51 10 43
+f 51 23 35
+f 52 43 34
+f 52 34 23
+f 52 51 43
+f 52 23 51
+f 53 22 45
+f 54 45 31
+f 54 31 41
+f 55 36 46
+f 55 53 36
+f 55 22 53
+f 55 46 14
+f 55 14 22
+f 56 53 45
+f 56 45 54
+f 57 54 41
+f 57 41 8
+f 57 8 36
+f 58 56 54
+f 58 54 57
+f 58 53 56
+f 58 57 36
+f 58 36 53
\ No newline at end of file
diff --git a/objects/objaverse/wine/wine_11/collision/model_normalized_collision_6.obj b/objects/objaverse/wine/wine_11/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d4674ae44e58a11904c069b2f5a5e19e462061f
--- /dev/null
+++ b/objects/objaverse/wine/wine_11/collision/model_normalized_collision_6.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.04695680 -0.00587059 0.49933074
+v 0.05039306 0.00774047 0.21955221
+v 0.03842467 0.02695129 0.49903815
+v 0.00587023 0.04695710 0.49933074
+v 0.03132615 -0.03818150 0.31086211
+v 0.02947291 0.04122823 0.21881750
+v 0.04954608 -0.00639577 0.31058394
+v 0.00733271 -0.00733275 0.50000000
+v 0.04141286 0.02927575 0.21882626
+v 0.02736340 0.03811580 0.49898151
+v 0.00733271 0.00781876 0.23974813
+v 0.00661227 0.05078174 0.21954024
+f 1 2 3
+f 1 3 4
+f 7 5 2
+f 7 2 1
+f 7 1 5
+f 8 5 1
+f 8 1 4
+f 9 3 2
+f 10 4 3
+f 10 9 6
+f 10 3 9
+f 11 2 5
+f 11 5 8
+f 11 8 4
+f 12 10 6
+f 12 4 10
+f 12 11 4
+f 12 2 11
+f 12 9 2
+f 12 6 9
\ No newline at end of file
diff --git a/objects/objaverse/wine/wine_11/collision/model_normalized_collision_8.obj b/objects/objaverse/wine/wine_11/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7cc0d59cdd8ccc4ce7607db6b34028fdb3c7c98c
--- /dev/null
+++ b/objects/objaverse/wine/wine_11/collision/model_normalized_collision_8.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.08256593 0.05286551 0.00727762
+v 0.09224745 0.06039539 -0.03587305
+v 0.05001483 0.11944203 -0.03978267
+v -0.06299252 0.11423379 -0.04088777
+v -0.11931696 0.05046469 -0.03980763
+v -0.04608640 0.10914908 0.00033788
+v 0.08223597 0.08291191 0.00709005
+v 0.07798854 0.07960851 -0.03899638
+v -0.10700362 0.05018374 0.00496300
+v 0.04712442 0.10944487 0.00059537
+v -0.11550910 0.05926073 -0.04099465
+v -0.11378952 0.04886661 -0.01300799
+v -0.06963832 0.09595829 -0.00019709
+v -0.11111876 0.05628526 -0.01498400
+v -0.06038634 0.10950795 -0.01484724
+v -0.09511858 0.07086192 -0.00018387
+f 5 2 1
+f 6 3 4
+f 7 1 2
+f 7 2 3
+f 8 3 2
+f 9 7 6
+f 9 1 7
+f 10 7 3
+f 10 3 6
+f 10 6 7
+f 11 4 3
+f 11 3 8
+f 11 8 2
+f 11 2 5
+f 12 5 1
+f 12 1 9
+f 13 9 6
+f 14 11 5
+f 14 5 12
+f 14 12 9
+f 15 13 6
+f 15 6 4
+f 16 4 11
+f 16 11 14
+f 16 14 9
+f 16 9 13
+f 16 15 4
+f 16 13 15
\ No newline at end of file
diff --git a/objects/objaverse/wine/wine_11/collision/model_normalized_collision_9.obj b/objects/objaverse/wine/wine_11/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9b15c876c421ac1b52d0e2724940732e9a835526
--- /dev/null
+++ b/objects/objaverse/wine/wine_11/collision/model_normalized_collision_9.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.00611286 -0.04688732 0.49933074
+v 0.00725491 -0.05040913 0.21955318
+v 0.00728572 -0.05135087 0.46212122
+v 0.00587023 0.04695710 0.49933074
+v -0.04100374 0.02980631 0.21880130
+v 0.00661227 0.05078174 0.21954024
+v 0.00733271 -0.00733275 0.50000000
+v -0.03003106 -0.04084943 0.21882557
+v -0.03792938 0.02772303 0.49888103
+v -0.02904107 0.04159776 0.21880305
+v -0.03885562 -0.02642207 0.49900570
+v -0.02675882 0.03866261 0.49889007
+v -0.02790818 -0.03771745 0.49903299
+v -0.04183229 -0.02873747 0.21882093
+f 7 1 3
+f 7 6 4
+f 7 3 2
+f 7 2 6
+f 8 2 3
+f 8 3 1
+f 9 7 4
+f 10 6 2
+f 10 2 8
+f 10 8 5
+f 10 5 9
+f 11 1 7
+f 11 7 9
+f 11 9 5
+f 12 10 9
+f 12 9 4
+f 12 4 6
+f 12 6 10
+f 13 8 1
+f 13 1 11
+f 14 11 5
+f 14 5 8
+f 14 13 11
+f 14 8 13
\ No newline at end of file
diff --git a/objects/objaverse/wine/wine_11/visual/material.mtl b/objects/objaverse/wine/wine_11/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fbcf6b4b1af9257e08a0fd6e283841743ce8fad5
--- /dev/null
+++ b/objects/objaverse/wine/wine_11/visual/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 250.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/objects/objaverse/wine/wine_11/visual/model_normalized_0.obj b/objects/objaverse/wine/wine_11/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a1c732eed78a7c6cc370bdf90cfbeeccf018b1c
--- /dev/null
+++ b/objects/objaverse/wine/wine_11/visual/model_normalized_0.obj
@@ -0,0 +1,6792 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
+v 0.04232590 0.09024921 0.00544176
+v 0.04505874 0.09607652 -0.01312591
+v 0.01316416 0.10529818 -0.01312591
+v 0.01236565 0.09891160 0.00544176
+v -0.02001865 0.10421261 -0.01312591
+v -0.01880447 0.09789188 0.00544176
+v -0.05124241 0.09292584 -0.01312591
+v -0.04813482 0.08728965 0.00544176
+v -0.07745027 0.07254290 -0.01312591
+v -0.07275287 0.06814299 0.00544176
+v -0.09607672 0.04505897 -0.01312591
+v -0.09024904 0.04232610 0.00544176
+v -0.10529815 0.01316430 -0.01312591
+v -0.09891174 0.01236604 0.00544176
+v -0.09891174 0.01236604 0.00544176
+v -0.10529815 0.01316430 -0.01312591
+v -0.10421259 -0.02001876 -0.01312591
+v -0.09789221 -0.01880478 0.00544176
+v -0.09292609 -0.05124241 -0.01312591
+v -0.08728965 -0.04813452 0.00544176
+v -0.07254293 -0.07745019 -0.01312591
+v -0.06814279 -0.07275275 0.00544176
+v -0.04505874 -0.09607644 -0.01312591
+v -0.04232590 -0.09024921 0.00544176
+v -0.01316419 -0.10529809 -0.01312591
+v -0.01236610 -0.09891174 0.00544176
+v 0.02001862 -0.10421270 -0.01312591
+v 0.01880445 -0.09789179 0.00544176
+v 0.05124241 -0.09292598 -0.01312591
+v 0.04813482 -0.08728965 0.00544176
+v 0.07745027 -0.07254304 -0.01312591
+v 0.07275287 -0.06814316 0.00544176
+v 0.09598515 -0.04501629 -0.01272196
+v 0.09024904 -0.04232610 0.00544176
+v 0.10529815 -0.01316438 -0.01312591
+v 0.09891174 -0.01236590 0.00544176
+v 0.10421259 0.02001881 -0.01312591
+v 0.09789135 0.01880464 0.00544176
+v 0.09292609 0.05124253 -0.01312591
+v 0.08728918 0.04813443 0.00544176
+v 0.07254293 0.07745010 -0.01312591
+v 0.06814321 0.07275259 0.00544176
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\ No newline at end of file
diff --git a/objects/objaverse/wine/wine_12/collision/model_normalized_collision_0.obj b/objects/objaverse/wine/wine_12/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c6f82926d9b638faa1fe19c758cf74b2188fec7
--- /dev/null
+++ b/objects/objaverse/wine/wine_12/collision/model_normalized_collision_0.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.09786529 -0.01767940 0.19600185
+v -0.02614802 -0.00916883 -0.47380091
+v -0.04403007 -0.01657597 0.14393940
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+v -0.10330398 0.03720223 0.18031534
+v -0.11557782 -0.01402721 0.16620881
+v -0.10769302 -0.01498380 0.18218146
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\ No newline at end of file
diff --git a/objects/objaverse/wine/wine_12/collision/model_normalized_collision_1.obj b/objects/objaverse/wine/wine_12/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f73d57044113aa89f70f6a923abfb2642020eab
--- /dev/null
+++ b/objects/objaverse/wine/wine_12/collision/model_normalized_collision_1.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v -0.05648146 -0.10724219 0.15451887
+v -0.04171045 -0.07224452 0.21261352
+v -0.10806167 0.01218342 0.18218146
+v -0.04250479 0.08580212 0.20071310
+v -0.03966998 0.07895882 0.20841655
+v -0.11004791 0.05254773 0.15117650
+v -0.09497327 -0.05483276 0.18218146
+v -0.04313879 0.02223329 0.26417089
+v -0.08735071 0.07727160 0.16640298
+v -0.07701548 -0.06761416 0.19225942
+v -0.09400976 -0.08065424 0.14523036
+v -0.03933416 -0.02812401 0.26481723
+v -0.04070572 0.02632782 0.26491487
+v -0.09846614 0.04147436 0.18514316
+v -0.06509653 -0.06514480 0.20510760
+v -0.10769302 -0.01498380 0.18218146
+v -0.08956730 -0.05171181 0.19190464
+v -0.05375430 0.08241165 0.19757633
+v -0.04224843 -0.02439212 0.26410732
+v -0.07722619 0.04977533 0.20483951
+v -0.08961719 0.02401288 0.20440698
+v -0.09267167 0.03907431 0.19442229
+v -0.10192589 0.01137528 0.19190464
+v -0.08949971 -0.02545807 0.20394467
+v -0.10155717 -0.01417564 0.19190464
+f 5 2 1
+f 5 1 4
+f 9 4 1
+f 9 1 6
+f 11 6 1
+f 11 10 7
+f 11 1 10
+f 12 2 5
+f 13 5 4
+f 13 12 5
+f 14 9 6
+f 14 6 3
+f 15 10 1
+f 15 1 2
+f 15 12 10
+f 15 2 12
+f 16 11 7
+f 16 3 6
+f 16 6 11
+f 17 7 10
+f 17 10 12
+f 18 13 4
+f 18 4 9
+f 19 13 8
+f 19 12 13
+f 19 17 12
+f 20 9 14
+f 20 18 9
+f 20 13 18
+f 22 8 13
+f 22 20 14
+f 22 13 20
+f 22 21 8
+f 23 3 16
+f 23 8 21
+f 23 21 22
+f 23 22 14
+f 23 14 3
+f 24 17 19
+f 25 19 8
+f 25 8 23
+f 25 23 16
+f 25 24 19
+f 25 17 24
+f 25 16 7
+f 25 7 17
\ No newline at end of file
diff --git a/objects/objaverse/wine/wine_12/collision/model_normalized_collision_10.obj b/objects/objaverse/wine/wine_12/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c59eeb1c895f6693f343c745e0d356d813fd37ac
--- /dev/null
+++ b/objects/objaverse/wine/wine_12/collision/model_normalized_collision_10.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.05856718 -0.11227788 -0.41666666
+v -0.04557479 -0.08091125 -0.49566068
+v -0.04403007 0.04403009 -0.41666667
+v -0.10635887 0.06860440 -0.41666667
+v -0.08809350 -0.07611456 -0.49953074
+v -0.06356018 0.04738981 -0.49128437
+v -0.12444412 -0.02117852 -0.41666666
+v -0.04534019 0.04573751 -0.48607148
+v -0.09320831 -0.01706619 -0.49648913
+v -0.07772989 0.04663647 -0.49493737
+v -0.09596280 -0.08215293 -0.41666666
+f 1 2 3
+f 5 2 1
+f 7 1 3
+f 7 3 4
+f 8 3 2
+f 8 2 6
+f 8 6 4
+f 8 4 3
+f 9 7 4
+f 9 5 7
+f 10 6 2
+f 10 2 5
+f 10 5 9
+f 10 9 4
+f 10 4 6
+f 11 7 5
+f 11 5 1
+f 11 1 7
\ No newline at end of file
diff --git a/objects/objaverse/wine/wine_12/collision/model_normalized_collision_11.obj b/objects/objaverse/wine/wine_12/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..82e5bd854b47ce3a67dff9d0813233f9319023c3
--- /dev/null
+++ b/objects/objaverse/wine/wine_12/collision/model_normalized_collision_11.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.01226735 -0.04578281 0.34053842
+v 0.04141820 -0.03563886 0.23728422
+v 0.03102219 -0.03540399 0.34142798
+v -0.04578155 -0.01226697 0.34059907
+v -0.04346896 -0.06129925 0.21850613
+v -0.01159941 -0.04587044 0.34055273
+v 0.01705976 -0.06570499 0.22448521
+v -0.05525905 -0.02122722 0.23126499
+v -0.03351552 -0.03351549 0.34053673
+v -0.04710448 -0.01262147 0.26442884
+v -0.04104896 -0.02369975 0.34047421
+f 3 2 4
+f 6 1 3
+f 7 2 3
+f 7 3 1
+f 7 5 2
+f 7 6 5
+f 7 1 6
+f 8 5 4
+f 8 2 5
+f 9 6 3
+f 9 3 4
+f 9 5 6
+f 10 8 4
+f 10 4 2
+f 10 2 8
+f 11 9 4
+f 11 4 5
+f 11 5 9
\ No newline at end of file
diff --git a/objects/objaverse/wine/wine_12/collision/model_normalized_collision_12.obj b/objects/objaverse/wine/wine_12/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b370f3c8fd0f6d3e7eb0220659db5b0a4ed1f2c6
--- /dev/null
+++ b/objects/objaverse/wine/wine_12/collision/model_normalized_collision_12.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.04141820 -0.03563886 0.23728422
+v 0.12526709 -0.01492753 -0.41666667
+v 0.11962729 0.03650772 0.14130075
+v 0.02122726 0.05525910 0.23126495
+v 0.00995031 -0.00995039 -0.47060913
+v 0.12115326 0.03713974 -0.41666666
+v 0.08039415 0.03908445 0.20727051
+v 0.12024407 -0.01426621 0.15333764
+v 0.00916886 0.02614803 -0.47380096
+v 0.10422135 0.03640213 0.17925146
+v 0.08484839 -0.01559060 0.20994301
+v 0.11880442 0.02637928 0.15286516
+v 0.10791465 -0.01463793 0.18183834
+f 5 2 1
+f 5 1 4
+f 6 3 2
+f 6 4 3
+f 7 4 1
+f 8 1 2
+f 8 2 3
+f 9 5 4
+f 9 4 6
+f 9 6 2
+f 9 2 5
+f 10 3 4
+f 10 4 7
+f 11 7 1
+f 11 10 7
+f 12 8 3
+f 12 3 10
+f 13 11 1
+f 13 1 8
+f 13 10 11
+f 13 12 10
+f 13 8 12
\ No newline at end of file
diff --git a/objects/objaverse/wine/wine_12/collision/model_normalized_collision_13.obj b/objects/objaverse/wine/wine_12/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7cb230e3d2e7e38ded3eebe4242d3edae4da824f
--- /dev/null
+++ b/objects/objaverse/wine/wine_12/collision/model_normalized_collision_13.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v 0.01211195 -0.04520225 0.47430213
+v 0.04384736 -0.01174879 0.43140332
+v 0.03459513 0.01997360 0.49606762
+v -0.01114726 0.04160192 0.48864466
+v -0.01261598 -0.04419690 0.40145168
+v 0.01192132 0.04449127 0.40117568
+v -0.01002033 -0.03739619 0.49745746
+v 0.03347084 -0.02143865 0.49606762
+v 0.03257157 -0.03257153 0.40106892
+v 0.03257087 0.03257091 0.40111333
+v 0.02343958 0.04059830 0.47382057
+v -0.01179560 0.04450746 0.40119156
+v -0.01065987 0.03662536 0.49790743
+v -0.01151981 -0.04526168 0.47441069
+v 0.04520229 -0.01211190 0.47430215
+v 0.02143867 -0.03347082 0.49606762
+v 0.01174883 -0.04384732 0.43140332
+v 0.04390074 0.01134078 0.43141839
+v 0.01115562 0.04163316 0.48849368
+v 0.02410973 0.04175936 0.44883683
+v 0.03062764 -0.03062759 0.48750211
+v 0.04526158 0.01151981 0.47441152
+v 0.02281465 0.03241505 0.49606762
+v 0.03056517 0.03056522 0.48791464
+f 12 5 4
+f 12 9 5
+f 12 10 9
+f 12 6 10
+f 13 8 3
+f 13 7 8
+f 14 5 1
+f 14 1 7
+f 14 4 5
+f 14 13 4
+f 14 7 13
+f 15 3 8
+f 15 9 2
+f 16 8 7
+f 16 7 1
+f 17 9 1
+f 17 1 5
+f 17 5 9
+f 18 2 9
+f 18 9 10
+f 19 4 13
+f 19 12 4
+f 19 6 12
+f 20 10 6
+f 20 19 11
+f 20 6 19
+f 21 15 8
+f 21 1 9
+f 21 9 15
+f 21 16 1
+f 21 8 16
+f 22 3 15
+f 22 15 2
+f 22 2 18
+f 22 18 10
+f 22 10 20
+f 23 19 13
+f 23 13 3
+f 23 11 19
+f 24 3 22
+f 24 23 3
+f 24 11 23
+f 24 22 20
+f 24 20 11
\ No newline at end of file
diff --git a/objects/objaverse/wine/wine_12/collision/model_normalized_collision_14.obj b/objects/objaverse/wine/wine_12/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..27d43a26a803f1dccb5453c9ef73ead594af20ea
--- /dev/null
+++ b/objects/objaverse/wine/wine_12/collision/model_normalized_collision_14.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.01705976 -0.06570499 0.22448521
+v 0.07236239 -0.04318080 0.21184831
+v 0.04356378 0.02122922 0.26402288
+v 0.01646328 0.07347694 0.21858128
+v 0.05848352 -0.05848352 0.21316036
+v 0.07224452 0.04171047 0.21261350
+v 0.01262149 0.04710450 0.26442884
+v 0.04369631 0.07018526 0.21294233
+v 0.04255969 -0.02366222 0.26396135
+v 0.01262379 -0.04711306 0.26427260
+v 0.02439213 0.04224845 0.26410733
+v 0.01550609 0.06620585 0.22425781
+v 0.02366206 -0.04255976 0.26396135
+f 5 1 4
+f 6 3 2
+f 8 5 4
+f 8 2 5
+f 8 6 2
+f 8 4 7
+f 9 5 2
+f 9 2 3
+f 9 3 7
+f 10 9 7
+f 10 1 5
+f 11 8 7
+f 11 7 3
+f 11 3 6
+f 11 6 8
+f 12 10 7
+f 12 7 4
+f 12 4 1
+f 12 1 10
+f 13 10 5
+f 13 5 9
+f 13 9 10
\ No newline at end of file
diff --git a/objects/objaverse/wine/wine_12/collision/model_normalized_collision_15.obj b/objects/objaverse/wine/wine_12/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0fdaeb5333fba38847a7b1661930135168df4162
--- /dev/null
+++ b/objects/objaverse/wine/wine_12/collision/model_normalized_collision_15.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.00000000 -0.04672871 0.37087464
+v 0.04441365 -0.01555469 0.34085075
+v 0.04319009 -0.01504783 0.40142786
+v -0.04277180 -0.01605473 0.40148537
+v -0.04399544 -0.01656163 0.34090827
+v 0.03257157 -0.03257153 0.40106892
+v 0.01226735 -0.04578281 0.34053842
+v -0.03351552 -0.03351549 0.34053673
+v -0.03257087 -0.03257084 0.40111333
+v 0.01218093 -0.04546023 0.35568257
+v 0.03351621 -0.03351619 0.34049232
+v -0.01159941 -0.04587044 0.34055273
+v -0.01151297 -0.04521389 0.37084128
+f 5 3 2
+f 5 4 3
+f 6 3 4
+f 6 2 3
+f 8 5 2
+f 9 6 4
+f 9 1 6
+f 9 4 5
+f 9 5 8
+f 10 6 1
+f 10 1 7
+f 11 2 6
+f 11 10 7
+f 11 6 10
+f 11 8 2
+f 12 7 1
+f 12 11 7
+f 12 8 11
+f 13 9 8
+f 13 8 12
+f 13 12 1
+f 13 1 9
\ No newline at end of file
diff --git a/objects/objaverse/wine/wine_12/collision/model_normalized_collision_16.obj b/objects/objaverse/wine/wine_12/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9b7a52e8a32a09ab4e98cca41edf9bbc7e72e3b8
--- /dev/null
+++ b/objects/objaverse/wine/wine_12/collision/model_normalized_collision_16.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.01372704 -0.01657597 0.50000000
+v -0.01214507 0.04716504 0.26446712
+v -0.01065987 0.03662536 0.49790743
+v -0.01188557 0.04519156 0.47453999
+v -0.04710448 -0.01262147 0.26442884
+v -0.02999108 -0.03777058 0.26665934
+v -0.04313879 0.02223329 0.26417089
+v -0.04160187 0.01114731 0.48864466
+v -0.02223313 0.04313889 0.26417090
+v -0.03572911 -0.01313757 0.49780776
+v -0.04136712 0.02149937 0.47401095
+v -0.02888041 0.02888046 0.49473933
+v -0.04163310 -0.01115558 0.48849367
+v -0.02149931 0.04136704 0.47401162
+f 1 2 3
+f 3 2 4
+f 6 5 2
+f 6 2 1
+f 9 2 5
+f 9 5 7
+f 10 1 3
+f 10 6 1
+f 11 7 5
+f 11 5 8
+f 11 9 7
+f 12 10 3
+f 12 8 10
+f 12 11 8
+f 13 10 8
+f 13 8 5
+f 13 5 6
+f 13 6 10
+f 14 9 11
+f 14 4 2
+f 14 2 9
+f 14 11 12
+f 14 12 3
+f 14 3 4
\ No newline at end of file
diff --git a/objects/objaverse/wine/wine_12/collision/model_normalized_collision_17.obj b/objects/objaverse/wine/wine_12/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..919746e1a3813785346ad192a6a3b1c3ab125a06
--- /dev/null
+++ b/objects/objaverse/wine/wine_12/collision/model_normalized_collision_17.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.01002033 -0.03739619 0.49745746
+v -0.01261598 -0.04419690 0.40145168
+v -0.01372704 -0.01657597 0.50000000
+v -0.03572911 -0.01313757 0.49780776
+v -0.03309196 -0.03309191 0.47428885
+v -0.04277180 -0.01605473 0.40148537
+v -0.01997355 -0.03459509 0.49606762
+v -0.04657435 -0.01247938 0.44881487
+v -0.03257087 -0.03257084 0.40111333
+v -0.03241500 -0.02281460 0.49606762
+v -0.04516309 -0.01210140 0.47453999
+v -0.02842223 -0.03572850 0.40204306
+v -0.04175931 -0.02410969 0.44883683
+v -0.03056517 -0.03056512 0.48791463
+v -0.04059825 -0.02343954 0.47382055
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 6 3 2
+f 7 5 1
+f 7 1 4
+f 8 3 6
+f 9 6 2
+f 10 7 4
+f 11 4 3
+f 11 3 8
+f 11 10 4
+f 12 9 2
+f 12 2 5
+f 12 5 9
+f 13 8 6
+f 13 6 9
+f 13 9 5
+f 14 5 7
+f 14 7 10
+f 15 11 8
+f 15 8 13
+f 15 13 5
+f 15 5 14
+f 15 14 10
+f 15 10 11
\ No newline at end of file
diff --git a/objects/objaverse/wine/wine_12/collision/model_normalized_collision_18.obj b/objects/objaverse/wine/wine_12/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..68859f105ed929d1a6cb98752213882c3e8d79ac
--- /dev/null
+++ b/objects/objaverse/wine/wine_12/collision/model_normalized_collision_18.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.11227779 0.05856714 -0.44696970
+v 0.08091126 0.04557480 -0.49566072
+v 0.06641863 0.10576065 -0.49504369
+v 0.01529622 0.12521848 -0.44696969
+v 0.01269302 0.03465594 -0.47692067
+v 0.06751762 0.10719277 -0.44696969
+v 0.01496371 0.12269218 -0.49582441
+v 0.04057869 0.11972877 -0.44696969
+v 0.01726807 0.07959011 -0.49192408
+v 0.03988794 0.11806094 -0.49504369
+f 1 2 3
+f 5 2 1
+f 5 1 4
+f 6 1 3
+f 7 3 2
+f 7 5 4
+f 8 6 3
+f 8 4 1
+f 8 1 6
+f 9 7 2
+f 9 2 5
+f 9 5 7
+f 10 7 4
+f 10 4 8
+f 10 8 3
+f 10 3 7
\ No newline at end of file
diff --git a/objects/objaverse/wine/wine_12/collision/model_normalized_collision_19.obj b/objects/objaverse/wine/wine_12/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d5c96c18821f51f13320d288efada8cb68ff21e
--- /dev/null
+++ b/objects/objaverse/wine/wine_12/collision/model_normalized_collision_19.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v -0.09267167 0.03907431 0.19442229
+v -0.07772989 0.04663647 -0.49493737
+v -0.07683752 0.04595181 0.20758086
+v -0.06644544 0.09435693 0.16891220
+v -0.10713658 0.06462552 -0.49504369
+v -0.06924623 0.06924625 0.19887332
+v -0.11401321 0.04163824 -0.49768653
+v -0.10466413 0.06272829 0.15289256
+v -0.07034017 0.09943240 -0.49740495
+v -0.08956730 0.05171182 0.19190464
+v -0.10840643 0.03931578 0.16917477
+v -0.08882599 0.08882600 0.14091281
+v -0.08809839 0.07679462 0.16566691
+v -0.10382484 0.05256952 0.16713472
+v -0.08911323 0.08911316 -0.49404788
+v -0.07786958 0.06542061 0.19310080
+v -0.07679458 0.08809845 0.16566691
+f 1 2 3
+f 6 3 2
+f 7 2 1
+f 8 5 7
+f 9 7 5
+f 9 2 7
+f 9 6 2
+f 9 4 6
+f 10 1 3
+f 10 3 6
+f 11 8 7
+f 11 7 1
+f 11 1 10
+f 12 4 9
+f 12 5 8
+f 13 12 8
+f 14 11 10
+f 14 8 11
+f 14 13 8
+f 14 10 13
+f 15 12 9
+f 15 9 5
+f 15 5 12
+f 16 13 10
+f 16 10 6
+f 17 6 4
+f 17 4 12
+f 17 12 13
+f 17 16 6
+f 17 13 16
\ No newline at end of file
diff --git a/objects/objaverse/wine/wine_12/collision/model_normalized_collision_2.obj b/objects/objaverse/wine/wine_12/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b6cc6441a2881547a711610e8e06b264833de823
--- /dev/null
+++ b/objects/objaverse/wine/wine_12/collision/model_normalized_collision_2.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v -0.08166946 -0.07118529 0.18312397
+v -0.08809350 -0.07611456 -0.49953074
+v -0.09320831 -0.01706619 -0.49648913
+v -0.10769302 -0.01498380 0.18218146
+v -0.11538702 -0.03878020 0.15220977
+v -0.09786529 -0.01767940 0.19600185
+v -0.10341963 -0.06462264 0.15238255
+v -0.10250390 -0.03971973 0.17987465
+v -0.12269400 -0.01496393 -0.49582275
+v -0.08891811 -0.06512126 0.17931336
+v -0.11806102 -0.03988797 -0.49504369
+v -0.11992800 -0.01459968 0.15416796
+v -0.10576074 -0.06641870 -0.49504369
+f 1 2 3
+f 6 1 3
+f 6 3 4
+f 7 2 1
+f 8 4 5
+f 8 6 4
+f 8 1 6
+f 8 5 7
+f 9 3 2
+f 9 4 3
+f 10 8 7
+f 10 7 1
+f 10 1 8
+f 11 7 5
+f 11 9 2
+f 12 5 4
+f 12 4 9
+f 12 11 5
+f 12 9 11
+f 13 11 2
+f 13 2 7
+f 13 7 11
\ No newline at end of file
diff --git a/objects/objaverse/wine/wine_12/collision/model_normalized_collision_20.obj b/objects/objaverse/wine/wine_12/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dcfd20f167234876f52f175152d4e609cdcf316e
--- /dev/null
+++ b/objects/objaverse/wine/wine_12/collision/model_normalized_collision_20.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v -0.03845429 -0.10917562 0.16824874
+v -0.04097471 -0.11526036 -0.49710732
+v -0.04171045 -0.07224452 0.21261352
+v -0.09318014 -0.06839140 0.16830200
+v -0.06148392 -0.10589139 0.15222791
+v -0.09842271 -0.07241437 -0.49710732
+v -0.03908420 -0.08039358 0.20727107
+v -0.04557479 -0.08091125 -0.49566068
+v -0.05362313 -0.06993817 0.20841658
+v -0.09282802 -0.08327277 -0.49504369
+v -0.03844909 -0.09401122 0.19314519
+v -0.04906038 -0.07914344 0.20371029
+v -0.08692166 -0.07874054 0.16505671
+v -0.06324965 -0.10819249 -0.49504369
+v -0.05171181 -0.08956730 0.19190466
+v -0.05170803 -0.10459403 0.16620868
+v -0.07561785 -0.08941375 0.16487169
+v -0.08166946 -0.07118529 0.18312397
+f 5 2 1
+f 8 2 6
+f 8 7 2
+f 8 3 7
+f 9 6 4
+f 9 8 6
+f 9 3 8
+f 10 4 6
+f 11 1 2
+f 11 2 7
+f 12 7 3
+f 12 3 9
+f 13 10 5
+f 13 4 10
+f 14 10 6
+f 14 6 2
+f 14 2 5
+f 14 5 10
+f 15 1 11
+f 15 11 7
+f 15 7 12
+f 15 12 9
+f 16 5 1
+f 16 1 15
+f 17 13 5
+f 17 16 15
+f 17 5 16
+f 18 15 9
+f 18 9 4
+f 18 4 13
+f 18 17 15
+f 18 13 17
\ No newline at end of file
diff --git a/objects/objaverse/wine/wine_12/collision/model_normalized_collision_21.obj b/objects/objaverse/wine/wine_12/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..405541dc56405b4ca4524987be4716274427569a
--- /dev/null
+++ b/objects/objaverse/wine/wine_12/collision/model_normalized_collision_21.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.09401144 0.03844919 0.19314480
+v 0.11526024 0.04097467 -0.49710732
+v 0.10589121 0.06148416 0.15222790
+v 0.06839137 0.09318010 0.16830207
+v 0.08091126 0.04557480 -0.49566072
+v 0.08327271 0.09282793 -0.49504369
+v 0.07960544 0.06456650 0.19200423
+v 0.10917562 0.03845430 0.16824870
+v 0.08039415 0.03908445 0.20727051
+v 0.10819239 0.06324958 -0.49504369
+v 0.07874057 0.08692162 0.16505670
+v 0.07241431 0.09842262 -0.49710732
+v 0.08956730 0.05171182 0.19190464
+v 0.06993817 0.05362315 0.20841657
+v 0.08941379 0.07561781 0.16487168
+v 0.10459403 0.05170803 0.16620867
+v 0.07224452 0.04171047 0.21261350
+v 0.07914344 0.04906040 0.20371027
+f 8 1 2
+f 8 2 3
+f 9 5 2
+f 9 2 1
+f 10 6 3
+f 10 3 2
+f 11 6 4
+f 11 3 6
+f 11 4 7
+f 12 4 6
+f 12 2 5
+f 12 10 2
+f 12 6 10
+f 13 1 8
+f 13 9 1
+f 14 7 4
+f 14 12 5
+f 14 4 12
+f 15 11 7
+f 15 7 13
+f 15 3 11
+f 16 13 8
+f 16 8 3
+f 16 15 13
+f 16 3 15
+f 17 14 5
+f 17 5 9
+f 18 13 7
+f 18 7 14
+f 18 9 13
+f 18 17 9
+f 18 14 17
\ No newline at end of file
diff --git a/objects/objaverse/wine/wine_12/collision/model_normalized_collision_22.obj b/objects/objaverse/wine/wine_12/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d49b07fe2926dba5d0c584effa52e653b981512
--- /dev/null
+++ b/objects/objaverse/wine/wine_12/collision/model_normalized_collision_22.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.08845004 -0.05905059 0.18627825
+v 0.09504212 -0.05487251 0.18202657
+v 0.08484839 -0.01559060 0.20994301
+v 0.08688708 0.04177419 0.19993720
+v 0.09958456 0.04075754 0.18395069
+v 0.08329352 -0.05509380 0.19563812
+v 0.09363674 0.04456988 0.19029175
+v 0.09128506 -0.01444302 0.20398640
+v 0.08498648 0.01275986 0.21012302
+v 0.08981667 -0.05185577 0.19145613
+v 0.09401144 0.03844919 0.19314480
+v 0.09147696 0.01161938 0.20417164
+f 5 2 1
+f 6 4 1
+f 7 5 1
+f 7 1 4
+f 8 2 5
+f 9 6 3
+f 9 4 6
+f 10 6 1
+f 10 1 2
+f 10 2 8
+f 10 8 3
+f 10 3 6
+f 11 7 4
+f 11 5 7
+f 12 9 3
+f 12 3 8
+f 12 8 5
+f 12 5 11
+f 12 11 4
+f 12 4 9
\ No newline at end of file
diff --git a/objects/objaverse/wine/wine_12/collision/model_normalized_collision_23.obj b/objects/objaverse/wine/wine_12/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4eb64a2b6b7bfa3f16b1d36ca78c37d174313681
--- /dev/null
+++ b/objects/objaverse/wine/wine_12/collision/model_normalized_collision_23.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.05119052 0.05336191 0.21974187
+v -0.04939073 0.04814294 -0.48763137
+v -0.03907436 0.09267186 0.19442193
+v -0.03931576 0.10840645 0.16917475
+v -0.10185405 0.06514792 0.15521881
+v -0.04163820 0.11401319 -0.49768653
+v -0.07683752 0.04595181 0.20758086
+v -0.06311097 0.09001110 0.18001432
+v -0.06272851 0.10466400 0.15289255
+v -0.07772989 0.04663647 -0.49493737
+v -0.05171181 0.08956732 0.19190462
+v -0.06542054 0.07786954 0.19310092
+v -0.06462549 0.10713659 -0.49504369
+v -0.05256949 0.10382486 0.16713472
+f 1 2 3
+f 6 3 2
+f 6 4 3
+f 7 2 1
+f 9 4 6
+f 9 5 8
+f 10 6 2
+f 10 7 5
+f 10 2 7
+f 11 3 4
+f 11 1 3
+f 12 8 5
+f 12 5 7
+f 12 11 8
+f 12 7 1
+f 12 1 11
+f 13 9 6
+f 13 5 9
+f 13 10 5
+f 13 6 10
+f 14 9 8
+f 14 4 9
+f 14 11 4
+f 14 8 11
\ No newline at end of file
diff --git a/objects/objaverse/wine/wine_12/collision/model_normalized_collision_24.obj b/objects/objaverse/wine/wine_12/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e8094e15c551c98f847aba49dae07e3a53ee503
--- /dev/null
+++ b/objects/objaverse/wine/wine_12/collision/model_normalized_collision_24.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.07124054 -0.10433622 -0.44696969
+v 0.09310616 -0.08587576 -0.44696969
+v -0.05321033 -0.11449676 -0.44696969
+v -0.03603628 -0.05161252 -0.48573178
+v 0.06217688 -0.09252426 -0.50000000
+v 0.06532969 -0.06456172 -0.49530123
+v -0.04461292 -0.09374070 -0.49917732
+v -0.04724815 -0.06622452 -0.49197120
+f 1 2 3
+f 3 2 4
+f 5 2 1
+f 5 1 3
+f 6 4 2
+f 6 2 5
+f 7 5 3
+f 7 6 5
+f 8 7 3
+f 8 3 4
+f 8 4 6
+f 8 6 7
\ No newline at end of file
diff --git a/objects/objaverse/wine/wine_12/collision/model_normalized_collision_25.obj b/objects/objaverse/wine/wine_12/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..392bd6550dfd5e546f424d06637c4a99a9c4c89c
--- /dev/null
+++ b/objects/objaverse/wine/wine_12/collision/model_normalized_collision_25.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.07037336 0.06910859 0.19783662
+v 0.09277941 0.08630143 -0.44696970
+v 0.06462237 0.10341976 0.15238254
+v 0.05676967 0.10708687 0.15462095
+v 0.05886819 0.11215305 -0.44696969
+v 0.05483277 0.09497329 0.18218144
+v 0.06048615 0.07232044 0.20210605
+v 0.06751762 0.10719277 -0.44696969
+v 0.06512143 0.08891835 0.17931295
+v 0.05594787 0.08155760 0.19673480
+v 0.07993401 0.09766531 -0.44696970
+v 0.06761421 0.07701555 0.19225929
+f 1 2 3
+f 5 4 3
+f 6 3 4
+f 6 4 5
+f 7 5 2
+f 7 2 1
+f 8 5 3
+f 9 1 3
+f 9 3 6
+f 10 6 5
+f 10 5 7
+f 10 7 1
+f 11 8 3
+f 11 3 2
+f 11 2 5
+f 11 5 8
+f 12 9 6
+f 12 1 9
+f 12 10 1
+f 12 6 10
\ No newline at end of file
diff --git a/objects/objaverse/wine/wine_12/collision/model_normalized_collision_26.obj b/objects/objaverse/wine/wine_12/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a18416fece377adf08810f9cd3b35b14dd1e6dc
--- /dev/null
+++ b/objects/objaverse/wine/wine_12/collision/model_normalized_collision_26.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.03178653 -0.03639957 0.26656174
+v 0.01657599 -0.01657597 0.14393940
+v 0.02227454 0.11761698 0.15813360
+v -0.06514753 0.10185442 0.15521887
+v -0.04521460 -0.01706663 0.26522391
+v -0.04403007 -0.01657597 0.14393940
+v 0.01262149 0.04710450 0.26442884
+v -0.03448447 0.03448449 0.26438304
+v -0.02223313 0.04313889 0.26417090
+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 1 3
+f 8 5 1
+f 8 1 7
+f 8 4 5
+f 9 7 3
+f 9 3 4
+f 9 8 7
+f 9 4 8
\ No newline at end of file
diff --git a/objects/objaverse/wine/wine_12/collision/model_normalized_collision_27.obj b/objects/objaverse/wine/wine_12/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..75706978da8f9cf49cf48bd97a6132162e0ec91b
--- /dev/null
+++ b/objects/objaverse/wine/wine_12/collision/model_normalized_collision_27.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.02016776 -0.11961521 0.15288651
+v 0.12449266 -0.02080984 -0.41666666
+v 0.11961515 -0.02016747 0.15288644
+v 0.01657599 -0.01657597 0.14393940
+v 0.00995031 -0.00995039 -0.47060913
+v 0.08861347 -0.08861347 0.14273837
+v 0.02080987 -0.12449274 -0.41666666
+v 0.08996687 -0.08996695 -0.41666667
+f 1 3 4
+f 5 1 4
+f 5 3 2
+f 5 4 3
+f 6 2 3
+f 6 3 1
+f 7 1 5
+f 7 6 1
+f 8 7 5
+f 8 5 2
+f 8 2 6
+f 8 6 7
\ No newline at end of file
diff --git a/objects/objaverse/wine/wine_12/collision/model_normalized_collision_28.obj b/objects/objaverse/wine/wine_12/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4bc788465ac817ef6197d72b91f063b44a03db89
--- /dev/null
+++ b/objects/objaverse/wine/wine_12/collision/model_normalized_collision_28.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.05648146 -0.10724219 0.15451887
+v -0.02614802 -0.00916883 -0.47380091
+v -0.04403007 -0.01657597 0.14393940
+v -0.11929891 -0.02050117 0.15371708
+v -0.09596280 -0.08215293 -0.41666666
+v -0.05856718 -0.11227788 -0.41666666
+v -0.09400976 -0.08065424 0.14523036
+v -0.12444412 -0.02117852 -0.41666666
+f 1 2 3
+f 1 3 4
+f 3 2 4
+f 6 5 2
+f 6 2 1
+f 7 1 4
+f 7 6 1
+f 7 5 6
+f 8 4 2
+f 8 2 5
+f 8 7 4
+f 8 5 7
\ No newline at end of file
diff --git a/objects/objaverse/wine/wine_12/collision/model_normalized_collision_29.obj b/objects/objaverse/wine/wine_12/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fbed91711098692a3704ce9ebdd7a4bd1315d69a
--- /dev/null
+++ b/objects/objaverse/wine/wine_12/collision/model_normalized_collision_29.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.07224452 0.04171047 0.21261350
+v 0.11227779 0.05856714 -0.44696970
+v 0.06514480 0.06509656 0.20510759
+v 0.01646328 0.07347694 0.21858128
+v 0.01269302 0.03465594 -0.47692067
+v 0.09277941 0.08630143 -0.44696970
+v 0.02122726 0.05525910 0.23126495
+v 0.01486349 0.06132999 -0.48568467
+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/wine/wine_12/collision/model_normalized_collision_3.obj b/objects/objaverse/wine/wine_12/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b3929952dfd3cf7be010c56165a69dd6be202ad7
--- /dev/null
+++ b/objects/objaverse/wine/wine_12/collision/model_normalized_collision_3.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.02918431 -0.11847100 0.15275581
+v 0.08713062 -0.08713071 -0.49710732
+v 0.08006953 -0.09150245 0.15253984
+v 0.07017457 -0.08320116 0.18218148
+v 0.01702826 -0.09576895 -0.49734747
+v 0.08572962 -0.08572963 0.15602769
+v 0.06337829 -0.10464684 0.15171790
+v 0.01469186 -0.12347747 -0.49504369
+v 0.01745058 -0.09897601 0.19463138
+v 0.08189687 -0.09388383 -0.49504369
+v 0.06402830 -0.09034265 0.17839983
+v 0.03954183 -0.12007447 -0.49040344
+v 0.01426641 -0.12024418 0.15333768
+v 0.06504279 -0.10681655 -0.49504369
+v 0.03891965 -0.10342126 0.17881079
+v 0.03936785 -0.11965407 0.12803787
+v 0.01463795 -0.10791467 0.18183830
+v 0.02958521 -0.12151662 -0.49504369
+f 5 4 2
+f 6 2 4
+f 7 3 6
+f 9 4 5
+f 10 6 3
+f 10 2 6
+f 10 3 7
+f 11 7 6
+f 11 6 4
+f 11 4 9
+f 14 2 10
+f 14 10 7
+f 15 11 9
+f 15 1 7
+f 15 7 11
+f 16 7 1
+f 16 13 8
+f 16 1 13
+f 16 14 7
+f 16 12 14
+f 17 13 1
+f 17 9 5
+f 17 5 8
+f 17 8 13
+f 17 15 9
+f 17 1 15
+f 18 2 14
+f 18 8 5
+f 18 5 2
+f 18 14 12
+f 18 16 8
+f 18 12 16
\ No newline at end of file
diff --git a/objects/objaverse/wine/wine_12/collision/model_normalized_collision_30.obj b/objects/objaverse/wine/wine_12/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..08ccaec935ba667d8481d2beee57838f4eb00b8c
--- /dev/null
+++ b/objects/objaverse/wine/wine_12/collision/model_normalized_collision_30.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.06496541 0.07815793 0.19316264
+v 0.07993401 0.09766531 -0.44696970
+v 0.05506161 0.10296337 0.16675113
+v 0.01459967 0.11992781 0.15416819
+v 0.01486349 0.06132999 -0.48568467
+v 0.05886819 0.11215305 -0.44696969
+v 0.01864881 0.09007648 0.20466164
+v 0.03878016 0.11538703 0.15220975
+v 0.01529622 0.12521848 -0.44696969
+v 0.05483277 0.09497329 0.18218144
+v 0.01498382 0.10769304 0.18218144
+v 0.04057869 0.11972877 -0.44696969
+v 0.03971974 0.10250388 0.17987469
+f 1 2 3
+f 5 2 1
+f 6 2 5
+f 7 5 1
+f 8 3 2
+f 8 2 6
+f 9 5 4
+f 9 4 8
+f 10 7 1
+f 10 1 3
+f 11 4 5
+f 11 5 7
+f 11 8 4
+f 12 6 5
+f 12 5 9
+f 12 9 8
+f 12 8 6
+f 13 11 7
+f 13 7 10
+f 13 10 3
+f 13 3 8
+f 13 8 11
\ No newline at end of file
diff --git a/objects/objaverse/wine/wine_12/collision/model_normalized_collision_31.obj b/objects/objaverse/wine/wine_12/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..833fdd06d107ba6fc9f898346b98a521888f8780
--- /dev/null
+++ b/objects/objaverse/wine/wine_12/collision/model_normalized_collision_31.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.12449266 -0.02080984 -0.41666666
+v 0.12347739 -0.01469183 -0.49504369
+v 0.12115326 0.03713974 -0.41666666
+v 0.11449665 0.05321029 -0.41666667
+v 0.09576897 -0.01702824 -0.49734750
+v 0.11948540 0.03644899 -0.49504369
+v 0.12526709 -0.01492753 -0.41666667
+v 0.09374059 0.04461289 -0.49917732
+f 1 3 4
+f 5 2 1
+f 5 1 4
+f 6 4 3
+f 7 1 2
+f 7 3 1
+f 7 6 3
+f 7 2 6
+f 8 5 4
+f 8 4 6
+f 8 6 2
+f 8 2 5
\ No newline at end of file
diff --git a/objects/objaverse/wine/wine_12/collision/model_normalized_collision_4.obj b/objects/objaverse/wine/wine_12/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e370230e6e80159274b2788f26d0d6000fc440a
--- /dev/null
+++ b/objects/objaverse/wine/wine_12/collision/model_normalized_collision_4.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.08572962 -0.08572963 0.15602769
+v 0.12151653 -0.02958518 -0.49504369
+v 0.11965407 -0.03936779 0.12803787
+v 0.09897605 -0.01745056 0.19463134
+v 0.09576897 -0.01702824 -0.49734750
+v 0.12024407 -0.01426621 0.15333764
+v 0.10681655 -0.06504276 -0.49504369
+v 0.08320118 -0.07017455 0.18218147
+v 0.12347739 -0.01469183 -0.49504369
+v 0.10791465 -0.01463793 0.18183834
+v 0.12007444 -0.03954161 -0.49040343
+v 0.10464702 -0.06337799 0.15171789
+v 0.08713062 -0.08713071 -0.49710732
+v 0.09388383 -0.08189683 -0.49504369
+v 0.09034292 -0.06402848 0.17839939
+v 0.11847094 -0.02918447 0.15275581
+v 0.09150220 -0.08006967 0.15253981
+v 0.10342123 -0.03891962 0.17881083
+f 8 4 5
+f 9 6 3
+f 9 3 2
+f 9 2 5
+f 10 5 4
+f 10 9 5
+f 10 6 9
+f 11 7 2
+f 11 2 3
+f 11 3 7
+f 12 7 3
+f 13 5 2
+f 13 2 7
+f 13 8 5
+f 13 1 8
+f 14 7 12
+f 14 13 7
+f 14 1 13
+f 15 8 1
+f 15 1 12
+f 15 4 8
+f 16 12 3
+f 16 3 6
+f 16 6 10
+f 17 14 12
+f 17 12 1
+f 17 1 14
+f 18 10 4
+f 18 4 15
+f 18 16 10
+f 18 15 12
+f 18 12 16
\ No newline at end of file
diff --git a/objects/objaverse/wine/wine_12/collision/model_normalized_collision_5.obj b/objects/objaverse/wine/wine_12/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c0045672e2b55a8757623c880c1a3f52eca2efda
--- /dev/null
+++ b/objects/objaverse/wine/wine_12/collision/model_normalized_collision_5.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.01469958 -0.12353507 0.14200988
+v 0.01469186 -0.12347747 -0.49504369
+v 0.01506556 0.12346613 0.14216317
+v -0.03749712 0.11916706 0.14164781
+v -0.03650769 -0.11962726 0.14130102
+v -0.03745619 0.11906818 -0.49504369
+v 0.01496371 0.12269218 -0.49582441
+v -0.03644902 -0.11948552 -0.49504369
+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 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/wine/wine_12/collision/model_normalized_collision_6.obj b/objects/objaverse/wine/wine_12/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c67126a9c2648676367213dac352a94622112516
--- /dev/null
+++ b/objects/objaverse/wine/wine_12/collision/model_normalized_collision_6.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.01469958 -0.12353507 0.14200988
+v 0.11961515 -0.02016747 0.15288644
+v 0.04145781 -0.05496535 0.22334320
+v -0.05525905 -0.02122722 0.23126499
+v -0.04403007 -0.01657597 0.14393940
+v 0.08484839 -0.01559060 0.20994301
+v -0.01161932 -0.09147664 0.20417222
+v 0.07855657 -0.07855658 0.17939495
+v 0.08861347 -0.08861347 0.14273837
+v -0.04178161 -0.11720826 0.14260893
+v -0.03900445 -0.05548091 0.22418265
+v 0.05185578 -0.08981667 0.19145614
+v 0.07842851 -0.05136073 0.20284377
+v -0.02679628 -0.12197135 0.14179718
+v 0.03871620 -0.06654412 0.21752484
+v -0.03640211 -0.10422134 0.17925149
+v 0.01444334 -0.09128489 0.20398635
+v 0.01426641 -0.12024418 0.15333768
+v 0.05136074 -0.07842851 0.20284378
+v -0.03805159 -0.06590711 0.21822917
+v -0.02637943 -0.11880437 0.15286515
+f 6 4 3
+f 6 5 4
+f 6 2 5
+f 9 5 2
+f 9 2 8
+f 10 4 5
+f 11 3 4
+f 12 9 8
+f 13 6 3
+f 13 8 2
+f 13 2 6
+f 14 9 1
+f 14 5 9
+f 14 10 5
+f 15 11 7
+f 15 3 11
+f 16 4 10
+f 17 15 7
+f 18 1 9
+f 18 9 12
+f 18 12 17
+f 18 17 7
+f 18 7 16
+f 19 12 8
+f 19 8 13
+f 19 13 3
+f 19 3 15
+f 19 17 12
+f 19 15 17
+f 20 16 7
+f 20 7 11
+f 20 11 4
+f 20 4 16
+f 21 16 10
+f 21 10 14
+f 21 18 16
+f 21 14 1
+f 21 1 18
\ No newline at end of file
diff --git a/objects/objaverse/wine/wine_12/collision/model_normalized_collision_7.obj b/objects/objaverse/wine/wine_12/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4143c267204862833c9aedb731a43e7b151f3df4
--- /dev/null
+++ b/objects/objaverse/wine/wine_12/collision/model_normalized_collision_7.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.05674407 0.06744369 0.20847778
+v 0.06496541 0.07815793 0.19316264
+v 0.01417566 0.10155719 0.19190462
+v -0.03749712 0.11916706 0.14164781
+v -0.06514753 0.10185442 0.15521887
+v 0.01506556 0.12346613 0.14216317
+v 0.05171181 0.08956732 0.19190462
+v -0.04124287 0.07070078 0.21378179
+v -0.01121957 0.11589345 0.16633897
+v 0.05207568 0.07651127 0.20397301
+v 0.02227454 0.11761698 0.15813360
+v -0.02401286 0.08961720 0.20440697
+v -0.03720221 0.10330401 0.18031533
+v 0.02545763 0.08949986 0.20394467
+v 0.05483277 0.09497329 0.18218144
+v 0.01402729 0.11557826 0.16620817
+v -0.01137525 0.10192591 0.19190462
+v -0.03630859 0.11629798 0.15253035
+v -0.03907436 0.09267186 0.19442193
+v -0.03966998 0.07895882 0.20841655
+f 5 2 1
+f 6 5 4
+f 6 2 5
+f 8 5 1
+f 9 6 4
+f 10 1 2
+f 10 2 7
+f 14 10 7
+f 14 7 3
+f 14 1 10
+f 14 12 8
+f 14 8 1
+f 15 11 3
+f 15 3 7
+f 15 7 2
+f 15 2 6
+f 15 6 11
+f 16 9 3
+f 16 3 11
+f 16 11 6
+f 16 6 9
+f 17 3 9
+f 17 13 12
+f 17 9 13
+f 17 14 3
+f 17 12 14
+f 18 13 9
+f 18 9 4
+f 18 4 5
+f 18 5 13
+f 19 13 5
+f 19 12 13
+f 20 19 5
+f 20 5 8
+f 20 8 12
+f 20 12 19
\ No newline at end of file
diff --git a/objects/objaverse/wine/wine_12/collision/model_normalized_collision_8.obj b/objects/objaverse/wine/wine_12/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..617ad983023fccfbe1ef5e90696f54a111fe462c
--- /dev/null
+++ b/objects/objaverse/wine/wine_12/collision/model_normalized_collision_8.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.01555492 -0.04441375 0.34085075
+v 0.04711307 -0.01262377 0.26427261
+v 0.04319009 -0.01504783 0.40142786
+v -0.01179560 0.04450746 0.40119156
+v -0.02999108 -0.03777058 0.26665934
+v 0.03257087 0.03257091 0.40111333
+v -0.02842223 -0.03572850 0.40204306
+v 0.03449367 -0.03449365 0.26415442
+v -0.01214507 0.04716504 0.26446712
+v 0.04521382 0.01151361 0.37084128
+v 0.01192132 0.04449127 0.40117568
+v 0.03351621 -0.03351619 0.34049232
+v 0.01606258 -0.04563955 0.26507576
+v 0.02439213 0.04224845 0.26410733
+v 0.04672874 0.00000003 0.37087464
+v 0.04722245 0.01177760 0.26430813
+v 0.02369977 0.04104899 0.34047421
+v 0.04546026 -0.01218090 0.35568257
+v 0.03448907 0.03448909 0.26426873
+f 7 1 3
+f 7 5 1
+f 7 4 5
+f 8 2 3
+f 9 5 4
+f 9 8 5
+f 10 6 3
+f 11 4 7
+f 11 9 4
+f 11 7 3
+f 11 3 6
+f 12 8 3
+f 12 3 1
+f 12 1 8
+f 13 8 1
+f 13 1 5
+f 13 5 8
+f 14 2 8
+f 14 8 9
+f 14 9 11
+f 15 10 3
+f 16 2 14
+f 16 15 2
+f 16 10 15
+f 17 14 11
+f 17 11 6
+f 18 15 3
+f 18 3 2
+f 18 2 15
+f 19 16 14
+f 19 6 10
+f 19 10 16
+f 19 17 6
+f 19 14 17
\ No newline at end of file
diff --git a/objects/objaverse/wine/wine_12/collision/model_normalized_collision_9.obj b/objects/objaverse/wine/wine_12/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6110572f3c54b1588f22418a4a6111d6a6181a8d
--- /dev/null
+++ b/objects/objaverse/wine/wine_12/collision/model_normalized_collision_9.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.02080987 -0.12449274 -0.41666666
+v 0.08713062 -0.08713071 -0.49710732
+v 0.11449665 0.05321029 -0.41666667
+v 0.01797926 0.04741781 -0.48160025
+v 0.01683098 -0.06396741 -0.48665748
+v 0.09374059 0.04461289 -0.49917732
+v 0.00916886 0.02614803 -0.47380096
+v 0.08996687 -0.08996695 -0.41666667
+v 0.02080987 -0.12449274 -0.44696969
+v 0.06622455 0.04724818 -0.49197123
+v 0.06217688 -0.09252426 -0.50000000
+f 6 3 2
+f 7 1 3
+f 7 3 4
+f 7 4 5
+f 8 2 3
+f 8 3 1
+f 9 7 5
+f 9 1 7
+f 9 8 1
+f 9 2 8
+f 10 6 4
+f 10 4 3
+f 10 3 6
+f 11 5 4
+f 11 4 6
+f 11 6 2
+f 11 9 5
+f 11 2 9
\ No newline at end of file
diff --git a/objects/objaverse/wine/wine_12/model.xml b/objects/objaverse/wine/wine_12/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..41f168ec15b90cb66b65c8ea7e4db2d7a28142ad
--- /dev/null
+++ b/objects/objaverse/wine/wine_12/model.xml
@@ -0,0 +1,85 @@
+<mujoco model="wine_15">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.16000000000000003 0.16000000000000003 0.16000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="visual/model_normalized_1.obj" name="model_normalized_1_vis" scale="0.16000000000000003 0.16000000000000003 0.16000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.16000000000000003 0.16000000000000003 0.16000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.16000000000000003 0.16000000000000003 0.16000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.16000000000000003 0.16000000000000003 0.16000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.16000000000000003 0.16000000000000003 0.16000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.16000000000000003 0.16000000000000003 0.16000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.16000000000000003 0.16000000000000003 0.16000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.16000000000000003 0.16000000000000003 0.16000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.16000000000000003 0.16000000000000003 0.16000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.16000000000000003 0.16000000000000003 0.16000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.16000000000000003 0.16000000000000003 0.16000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.16000000000000003 0.16000000000000003 0.16000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.16000000000000003 0.16000000000000003 0.16000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.16000000000000003 0.16000000000000003 0.16000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.16000000000000003 0.16000000000000003 0.16000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.16000000000000003 0.16000000000000003 0.16000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.16000000000000003 0.16000000000000003 0.16000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.16000000000000003 0.16000000000000003 0.16000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.16000000000000003 0.16000000000000003 0.16000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.16000000000000003 0.16000000000000003 0.16000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.16000000000000003 0.16000000000000003 0.16000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.16000000000000003 0.16000000000000003 0.16000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.16000000000000003 0.16000000000000003 0.16000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.16000000000000003 0.16000000000000003 0.16000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.16000000000000003 0.16000000000000003 0.16000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.16000000000000003 0.16000000000000003 0.16000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.16000000000000003 0.16000000000000003 0.16000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.16000000000000003 0.16000000000000003 0.16000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.16000000000000003 0.16000000000000003 0.16000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.16000000000000003 0.16000000000000003 0.16000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.16000000000000003 0.16000000000000003 0.16000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.16000000000000003 0.16000000000000003 0.16000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.16000000000000003 0.16000000000000003 0.16000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <texture type="2d" name="image1" file="visual/image1.png"/>
+    <material name="Mat_1" texture="image0" specular="0.5" shininess="0.07071068"/>
+    <material name="Material__27" texture="image1" specular="0.5" shininess="0.0"/>
+  </asset>
+  <worldbody>
+    <body>
+      <body name="object">
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_0_vis" conaffinity="0" contype="0" group="1" material="Material__27"/>
+        <geom solimp="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="Mat_1"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_22._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_23._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_21._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_20._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_24._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_30._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_18._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_19._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_31._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_25._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_27._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_26._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_9._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_8._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_6._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_7._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_5._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_4._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_0._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_1._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_3._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_2._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_17._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_16._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_28._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
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+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_29._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
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+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_12._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_13._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+      </body>
+      <site rgba="0 0 0 0" size="0.005" pos="6.58375999999994e-05 5.80591999999991e-05 -0.08000000000000002" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="6.58375999999994e-05 5.80591999999991e-05 0.08000000000000002" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.020042734400000005 0.020034956800000003 0.0" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/objects/objaverse/wine/wine_12/visual/material.mtl b/objects/objaverse/wine/wine_12/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..34f851be6ece0040c5ff6168928c4f4a0ee3f88c
--- /dev/null
+++ b/objects/objaverse/wine/wine_12/visual/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 70.71068000
+map_Kd material_0.jpeg
\ No newline at end of file
diff --git a/objects/objaverse/wine/wine_12/visual/model_normalized_0.obj b/objects/objaverse/wine/wine_12/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..29b8145b35e51543b147d5eda922ff344f039d64
--- /dev/null
+++ b/objects/objaverse/wine/wine_12/visual/model_normalized_0.obj
@@ -0,0 +1,4848 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/objects/objaverse/wine/wine_12/visual/model_normalized_1.obj b/objects/objaverse/wine/wine_12/visual/model_normalized_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..19534c9f4716ecc34bedff0fabb94695a89e2b2a
--- /dev/null
+++ b/objects/objaverse/wine/wine_12/visual/model_normalized_1.obj
@@ -0,0 +1,5340 @@
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\ No newline at end of file
diff --git a/objects/objaverse/wine/wine_9/collision/model_normalized_collision_0.obj b/objects/objaverse/wine/wine_9/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..71d4547cff4a70ce684def3d2a4b426c0612382b
--- /dev/null
+++ b/objects/objaverse/wine/wine_9/collision/model_normalized_collision_0.obj
@@ -0,0 +1,156 @@
+# https://github.com/mikedh/trimesh
+v -0.07438843 -0.14873759 -0.41806738
+v -0.07483141 -0.10476269 -0.48613531
+v -0.06827759 -0.13855285 -0.39348236
+v -0.06875078 0.15486479 -0.42314563
+v -0.16706001 0.04306362 -0.45311734
+v -0.06763618 0.15319843 -0.46709824
+v -0.14852811 -0.07957454 -0.46361815
+v -0.13337614 0.04258625 -0.36110605
+v -0.07320165 -0.07282990 -0.49206995
+v -0.06819016 0.12362740 -0.36023527
+v -0.13671285 0.11228902 -0.45276355
+v -0.11521918 -0.10115174 -0.47640420
+v -0.10746165 -0.10746176 -0.37927873
+v -0.16457746 -0.04236420 -0.43432256
+v -0.10357267 0.02941013 -0.49034210
+v -0.06834245 -0.12350945 -0.36015310
+v -0.11228903 0.13671297 -0.45276355
+v -0.14936208 0.08060072 -0.42611970
+v -0.09808831 -0.13773233 -0.42401533
+v -0.08790731 -0.07238405 -0.48954847
+v -0.16351438 0.02740728 -0.42518347
+v -0.16683823 -0.04265659 -0.45363924
+v -0.13343221 -0.04222382 -0.36109043
+v -0.14949710 -0.08030997 -0.42604673
+v -0.07314420 0.07286260 -0.49195109
+v -0.14327975 0.06982182 -0.47339538
+v -0.15788490 -0.01299044 -0.47390658
+v -0.10748894 0.10748905 -0.37937177
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\ No newline at end of file
diff --git a/objects/objaverse/wine/wine_9/collision/model_normalized_collision_1.obj b/objects/objaverse/wine/wine_9/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f3a790711861acd06e7555080fe37ca164a6ec34
--- /dev/null
+++ b/objects/objaverse/wine/wine_9/collision/model_normalized_collision_1.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.11310751 -0.11021437 0.01665998
+v 0.13813182 -0.02034178 -0.24134789
+v 0.12578614 -0.01828420 0.03693622
+v -0.13915180 -0.01792462 0.02657999
+v -0.08278652 -0.11727985 -0.23754477
+v -0.07594344 -0.01496563 -0.23484848
+v 0.10479063 -0.10479062 -0.23452810
+v -0.12229123 -0.10641067 0.00815147
+v -0.15402141 -0.02040292 -0.16627034
+v -0.12254715 -0.10656422 -0.15938763
+f 1 2 3
+f 1 3 4
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+f 7 2 1
+f 7 1 5
+f 8 5 1
+f 8 1 4
+f 9 6 5
+f 9 4 6
+f 9 8 4
+f 10 9 5
+f 10 5 8
+f 10 8 9
\ No newline at end of file
diff --git a/objects/objaverse/wine/wine_9/collision/model_normalized_collision_10.obj b/objects/objaverse/wine/wine_9/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c91aad4b4ed2c4f8e2083343d09c0c40b5e3da46
--- /dev/null
+++ b/objects/objaverse/wine/wine_9/collision/model_normalized_collision_10.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.01968492 -0.03170169 0.49557637
+v 0.02672129 -0.03455802 0.26950411
+v 0.03154511 0.01995297 0.49552114
+v -0.01979615 0.03163682 0.49555327
+v -0.03230487 -0.02211582 0.30981590
+v 0.01436078 0.04201136 0.26401344
+v 0.01952765 0.03179418 0.49560932
+v 0.03170183 -0.01968495 0.49557628
+v -0.00472152 -0.04217867 0.27030463
+v -0.03179344 -0.01952791 0.49560883
+v 0.03204249 0.02255324 0.30982236
+v -0.03214147 0.02238955 0.30980619
+v 0.00000020 0.04419057 0.26469687
+v -0.01995273 -0.03154472 0.49552114
+v 0.03220594 -0.02227950 0.30983204
+v -0.03163673 0.01979594 0.49555370
+v -0.02238967 0.03214144 0.30980625
+v -0.02255304 -0.03204211 0.30982239
+f 7 3 6
+f 8 1 2
+f 8 7 1
+f 8 3 7
+f 9 2 1
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+f 10 1 7
+f 11 6 3
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+f 18 10 5
\ No newline at end of file
diff --git a/objects/objaverse/wine/wine_9/collision/model_normalized_collision_11.obj b/objects/objaverse/wine/wine_9/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6bb19011471968b0a8f35fa20c37227ea0c6f502
--- /dev/null
+++ b/objects/objaverse/wine/wine_9/collision/model_normalized_collision_11.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v -0.12229123 -0.10641067 0.00815147
+v -0.12254715 -0.10656422 -0.15938763
+v -0.13255463 0.06748591 0.02158828
+v -0.12707847 -0.10019214 -0.15664535
+v -0.14969099 -0.08042624 -0.01100095
+v -0.14150702 0.07285732 -0.16428333
+v -0.13552585 -0.09616958 -0.00284917
+v -0.14902743 -0.08002809 -0.10999727
+v -0.16279219 -0.01176366 -0.00297710
+v -0.14888527 -0.06479140 -0.15445150
+v -0.15238424 -0.06689070 -0.00174913
+v -0.13378609 -0.09512583 -0.14028210
+v -0.16410743 0.04265770 -0.02577150
+v -0.16432086 -0.05747300 -0.05170517
+v -0.15329237 0.05853193 0.00012725
+v -0.16320128 0.01220358 -0.12551636
+v -0.16421536 -0.05745542 -0.04090466
+v -0.16274559 0.01212770 -0.00300270
+v -0.16450714 0.04272432 -0.08202216
+v -0.15014323 0.05800704 -0.15541370
+v -0.16325988 -0.01184164 -0.12552656
+v -0.16330617 0.02737264 -0.11038302
+v -0.16336478 -0.02701064 -0.11039329
+f 1 2 3
+f 6 3 2
+f 7 2 1
+f 8 7 5
+f 8 2 7
+f 10 6 2
+f 10 2 4
+f 11 7 1
+f 11 5 7
+f 11 1 3
+f 11 3 9
+f 12 4 2
+f 12 2 8
+f 12 10 4
+f 12 8 10
+f 14 10 8
+f 14 8 5
+f 15 3 6
+f 17 9 13
+f 17 13 14
+f 17 11 9
+f 17 14 5
+f 17 5 11
+f 18 15 13
+f 18 13 9
+f 18 9 3
+f 18 3 15
+f 19 15 6
+f 19 13 15
+f 19 14 13
+f 20 6 10
+f 20 19 6
+f 21 19 16
+f 21 14 19
+f 21 20 10
+f 21 16 20
+f 22 20 16
+f 22 16 19
+f 22 19 20
+f 23 21 10
+f 23 10 14
+f 23 14 21
\ No newline at end of file
diff --git a/objects/objaverse/wine/wine_9/collision/model_normalized_collision_12.obj b/objects/objaverse/wine/wine_9/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..61bce0cfe17205a6af278a50dc9273c4badf4a4c
--- /dev/null
+++ b/objects/objaverse/wine/wine_9/collision/model_normalized_collision_12.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.14949172 -0.06011391 0.00656641
+v 0.15324683 -0.05821452 0.00030645
+v 0.14694028 0.05753517 0.01199382
+v 0.09622592 0.07318418 0.04331052
+v 0.08697932 -0.01686691 0.06604560
+v 0.15320024 0.05857850 0.00028086
+v 0.14698687 -0.05717120 0.01201942
+v 0.07872549 0.06268420 0.05806437
+v 0.14436576 -0.05925959 0.01527328
+v 0.12409738 0.04362703 0.03521700
+v 0.13687560 0.05838301 0.02240706
+v 0.12569394 -0.01321832 0.03757134
+v 0.11317447 0.05608099 0.03944560
+f 5 2 1
+f 6 2 4
+f 6 4 3
+f 7 1 2
+f 7 6 3
+f 7 2 6
+f 8 4 2
+f 8 2 5
+f 9 5 1
+f 9 1 7
+f 9 7 3
+f 10 8 5
+f 11 3 4
+f 12 10 5
+f 12 5 9
+f 12 11 10
+f 12 9 3
+f 12 3 11
+f 13 11 4
+f 13 4 8
+f 13 8 10
+f 13 10 11
\ No newline at end of file
diff --git a/objects/objaverse/wine/wine_9/collision/model_normalized_collision_13.obj b/objects/objaverse/wine/wine_9/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cfdd8c7c20a329bf7ddd95fdcf9fb802e0f5e0b0
--- /dev/null
+++ b/objects/objaverse/wine/wine_9/collision/model_normalized_collision_13.obj
@@ -0,0 +1,117 @@
+# https://github.com/mikedh/trimesh
+v 0.01325093 -0.14104096 -0.23277554
+v 0.13797375 -0.01273972 -0.35973777
+v 0.13625560 0.04312817 -0.23181132
+v -0.04307010 0.13627946 -0.23174122
+v -0.13572048 -0.02745369 -0.36046042
+v 0.06790977 0.12377970 -0.36018602
+v -0.08124439 -0.11976014 -0.23096718
+v 0.11991768 -0.08096719 -0.23100439
+v 0.02750994 -0.13568575 -0.36036786
+v 0.12350936 0.06834240 -0.36015322
+v 0.08080967 0.12002687 -0.23094232
+v -0.09725150 0.10640649 -0.36090363
+v -0.13627929 0.04307014 -0.23174125
+v 0.13631361 -0.04276605 -0.23182300
+v 0.08096723 -0.11991769 -0.23100443
+v -0.09740386 -0.10628856 -0.36082161
+v -0.02787231 -0.13562958 -0.36038326
+v 0.10644083 -0.09712344 -0.36077266
+v 0.13791763 0.01310215 -0.35975329
+v 0.04270808 0.13633741 -0.23175290
+v 0.10628847 0.09740383 -0.36082187
+v 0.11976016 0.08124445 -0.23096718
+v -0.02781617 0.13566451 -0.36047607
+v -0.13633728 -0.04270804 -0.23175293
+v -0.13566439 0.02781611 -0.36047602
+v -0.08108684 0.11986934 -0.23090511
+v -0.04312814 -0.13625562 -0.23181133
+v 0.06806208 -0.12366177 -0.36010392
+v -0.10655875 -0.09697119 -0.36085443
+v 0.12366173 -0.06806204 -0.36010411
+v 0.09712348 -0.10644084 -0.36077255
+v 0.09697113 0.10655875 -0.36085457
+v -0.06819016 0.12362740 -0.36023527
+v 0.02745379 0.13572060 -0.36046051
+v -0.12362721 0.06819013 -0.36023515
+v -0.11986922 0.08108685 -0.23090512
+v -0.06834245 -0.12350945 -0.36015310
+v -0.10640639 0.09725159 -0.36090364
+v -0.12377959 -0.06790978 -0.36018606
+v -0.12002679 -0.08080962 -0.23094240
+f 14 2 3
+f 17 9 1
+f 19 10 3
+f 19 3 2
+f 19 2 18
+f 20 11 6
+f 21 19 18
+f 21 10 19
+f 22 11 8
+f 22 21 11
+f 22 3 10
+f 22 10 21
+f 22 14 3
+f 22 8 14
+f 24 13 5
+f 25 5 13
+f 26 20 4
+f 26 11 20
+f 27 15 7
+f 27 1 15
+f 27 17 1
+f 28 15 1
+f 28 1 9
+f 29 5 25
+f 30 14 8
+f 30 8 18
+f 30 18 2
+f 30 2 14
+f 31 29 18
+f 31 16 29
+f 31 17 16
+f 31 9 17
+f 31 28 9
+f 31 15 28
+f 31 18 8
+f 31 8 15
+f 32 6 11
+f 32 11 21
+f 32 12 23
+f 32 21 18
+f 32 18 29
+f 33 23 12
+f 33 4 23
+f 33 26 4
+f 33 12 26
+f 34 20 6
+f 34 32 23
+f 34 6 32
+f 34 23 4
+f 34 4 20
+f 35 25 13
+f 36 13 24
+f 36 11 26
+f 36 35 13
+f 37 27 7
+f 37 7 16
+f 37 16 17
+f 37 17 27
+f 38 29 25
+f 38 32 29
+f 38 12 32
+f 38 25 35
+f 38 35 36
+f 38 36 26
+f 38 26 12
+f 39 24 5
+f 39 5 29
+f 40 29 16
+f 40 16 7
+f 40 39 29
+f 40 24 39
+f 40 36 24
+f 40 7 15
+f 40 11 36
+f 40 15 8
+f 40 8 11
\ No newline at end of file
diff --git a/objects/objaverse/wine/wine_9/collision/model_normalized_collision_14.obj b/objects/objaverse/wine/wine_9/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..31db7752f1c1a186b24e36971ad5e0c1ebe27802
--- /dev/null
+++ b/objects/objaverse/wine/wine_9/collision/model_normalized_collision_14.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v 0.11922115 0.08395128 0.02433858
+v 0.13049248 0.09071413 -0.16544754
+v 0.05745543 0.16421535 -0.04090460
+v -0.04265766 0.16410754 -0.02577137
+v -0.12154098 0.10330182 -0.17086486
+v 0.01176374 0.16279235 -0.00297703
+v 0.09616968 0.13552599 -0.00284929
+v -0.09442430 0.08703181 0.03954958
+v 0.06479147 0.14888542 -0.15445154
+v 0.06689077 0.15238437 -0.00174920
+v -0.06718713 0.15225866 -0.00183013
+v 0.09512582 0.13378618 -0.14028209
+v -0.06506937 0.14872912 -0.15441117
+v 0.08042633 0.14969111 -0.01100083
+v -0.01212760 0.16274571 -0.00300264
+v 0.10019214 0.12707853 -0.15664538
+v 0.08002811 0.14902738 -0.10999737
+v -0.01220361 0.16320132 -0.12551637
+v -0.04272427 0.16450710 -0.08202217
+v 0.05747301 0.16432086 -0.05170517
+v -0.02737260 0.16330621 -0.11038310
+v 0.01184165 0.16325989 -0.12552656
+v 0.02701064 0.16336478 -0.11039330
+f 6 3 4
+f 7 1 2
+f 8 5 2
+f 8 2 1
+f 9 2 5
+f 10 1 7
+f 10 8 1
+f 10 6 8
+f 10 3 6
+f 11 5 8
+f 12 7 2
+f 13 9 5
+f 13 5 11
+f 14 10 7
+f 14 3 10
+f 15 11 8
+f 15 8 6
+f 15 6 4
+f 15 4 11
+f 16 12 2
+f 16 2 9
+f 16 9 12
+f 17 12 9
+f 17 14 7
+f 17 7 12
+f 19 13 11
+f 19 11 4
+f 20 17 9
+f 20 3 14
+f 20 14 17
+f 20 19 4
+f 20 4 3
+f 21 19 18
+f 21 18 13
+f 21 13 19
+f 22 18 19
+f 22 19 20
+f 22 9 13
+f 22 13 18
+f 23 22 20
+f 23 20 9
+f 23 9 22
\ No newline at end of file
diff --git a/objects/objaverse/wine/wine_9/collision/model_normalized_collision_15.obj b/objects/objaverse/wine/wine_9/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a1a1a5e6033de7e2f46b34b56c73c93e86721ae4
--- /dev/null
+++ b/objects/objaverse/wine/wine_9/collision/model_normalized_collision_15.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v 0.15106472 -0.07541295 -0.11358234
+v 0.14877425 -0.06494780 -0.15451882
+v 0.16577743 0.02784647 -0.09572622
+v 0.10558377 0.13606457 -0.09838583
+v 0.09854679 0.12433628 -0.17108881
+v 0.16023135 -0.05937861 -0.09739748
+v 0.14424293 -0.07131987 -0.15726112
+v 0.14678869 0.01458064 -0.20354620
+v 0.15096859 0.08178766 -0.09531800
+v 0.15540669 -0.06892721 -0.11137556
+v 0.14684625 -0.01421846 -0.20355888
+v 0.12499196 0.12499194 -0.09558289
+v 0.13222991 0.07963534 -0.18446220
+v 0.14861792 0.06522572 -0.15447845
+v 0.16583599 -0.02748445 -0.09573641
+v 0.15940006 -0.06176529 -0.09988908
+v 0.10327355 0.11706268 -0.18827450
+v 0.14600350 -0.05953255 -0.17307037
+v 0.16323948 -0.01190019 -0.12558767
+v 0.12124736 0.12124736 -0.12493034
+v 0.16318092 0.01226221 -0.12557748
+v 0.14701883 0.05754830 -0.16995944
+v 0.11218149 0.11218149 -0.18647916
+v 0.14791914 -0.01187203 -0.20046064
+v 0.14707639 -0.05718615 -0.16997211
+v 0.14876181 0.08046359 -0.11001900
+v 0.16328584 0.02743121 -0.11044422
+v 0.14786159 0.01223421 -0.20044794
+v 0.10987504 0.11796417 -0.16944346
+v 0.11769662 0.11030936 -0.16947038
+f 6 4 1
+f 7 2 1
+f 7 1 4
+f 7 4 5
+f 10 1 2
+f 12 4 6
+f 14 9 3
+f 15 3 9
+f 15 12 6
+f 15 9 12
+f 16 6 1
+f 16 1 10
+f 16 10 2
+f 16 15 6
+f 17 7 5
+f 17 8 11
+f 18 2 7
+f 18 17 11
+f 18 7 17
+f 19 3 15
+f 19 16 2
+f 19 15 16
+f 20 5 4
+f 20 4 12
+f 21 3 19
+f 22 8 13
+f 22 13 14
+f 22 14 21
+f 23 13 8
+f 23 8 17
+f 23 14 13
+f 24 11 8
+f 25 19 2
+f 25 2 18
+f 25 24 19
+f 25 18 11
+f 25 11 24
+f 26 9 14
+f 26 14 20
+f 26 20 12
+f 26 12 9
+f 27 21 14
+f 27 14 3
+f 27 3 21
+f 28 22 21
+f 28 8 22
+f 28 24 8
+f 28 21 19
+f 28 19 24
+f 29 5 20
+f 29 20 23
+f 29 23 17
+f 29 17 5
+f 30 23 20
+f 30 20 14
+f 30 14 23
\ No newline at end of file
diff --git a/objects/objaverse/wine/wine_9/collision/model_normalized_collision_16.obj b/objects/objaverse/wine/wine_9/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f58c48736c78959027cf91b0a26cdf0117b3f51d
--- /dev/null
+++ b/objects/objaverse/wine/wine_9/collision/model_normalized_collision_16.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v 0.01216070 -0.07389397 0.17096251
+v 0.06820795 -0.04085043 0.07619452
+v 0.05738158 -0.01445921 0.21863264
+v -0.05941176 -0.01221034 0.21390616
+v -0.05657965 -0.05657971 0.07845408
+v 0.07268175 -0.01448396 0.08094556
+v 0.01226426 -0.05936335 0.21401939
+v 0.05606218 -0.04871461 0.18349469
+v 0.04085043 -0.06820783 0.07619448
+v -0.04899406 -0.05590835 0.18344812
+v 0.06927009 -0.01391534 0.18776992
+v -0.06654272 -0.01592412 0.08808487
+v -0.02470238 -0.05763917 0.21302340
+v 0.02469611 -0.05762405 0.21306967
+v -0.04116392 -0.06811076 0.07610051
+v 0.04974775 -0.05778427 0.16194662
+v -0.05788775 -0.04958666 0.16198968
+v 0.05778433 -0.04974778 0.16194662
+v -0.06892604 -0.01379607 0.14625480
+v -0.04555918 -0.04555920 0.21196685
+v -0.01252240 -0.07383364 0.17096251
+v 0.04553771 -0.04553752 0.21205125
+v -0.05002287 -0.05762323 0.16197244
+v 0.04871453 -0.05606217 0.18349468
+v -0.05617771 -0.04856077 0.18341714
+v -0.06241265 -0.03715011 0.14917772
+v -0.05765910 -0.02471108 0.21296176
+f 6 2 5
+f 11 6 4
+f 11 4 3
+f 11 3 8
+f 11 2 6
+f 12 6 5
+f 13 7 3
+f 13 3 4
+f 14 7 1
+f 14 3 7
+f 15 5 2
+f 15 2 9
+f 15 9 1
+f 16 1 9
+f 18 11 8
+f 18 2 11
+f 18 8 16
+f 18 16 9
+f 18 9 2
+f 19 4 6
+f 19 6 12
+f 19 12 5
+f 20 10 13
+f 21 13 10
+f 21 1 7
+f 21 7 13
+f 21 15 1
+f 22 8 3
+f 22 3 14
+f 23 5 15
+f 23 17 5
+f 23 10 17
+f 23 21 10
+f 23 15 21
+f 24 14 1
+f 24 1 16
+f 24 16 8
+f 24 22 14
+f 24 8 22
+f 25 17 10
+f 25 10 20
+f 26 19 5
+f 26 5 17
+f 26 25 19
+f 26 17 25
+f 27 20 13
+f 27 13 4
+f 27 25 20
+f 27 4 19
+f 27 19 25
\ No newline at end of file
diff --git a/objects/objaverse/wine/wine_9/collision/model_normalized_collision_17.obj b/objects/objaverse/wine/wine_9/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae5ea9967fbcf9083363aa1de0c3ac41adbca715
--- /dev/null
+++ b/objects/objaverse/wine/wine_9/collision/model_normalized_collision_17.obj
@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
+v 0.11455124 0.08114938 -0.35459456
+v 0.10476271 0.07483144 -0.48613530
+v 0.07908681 0.14856291 -0.46350317
+v -0.04272617 0.16451851 -0.43433121
+v -0.10617578 0.09408279 -0.35095196
+v -0.07236280 0.08784167 -0.48941652
+v 0.04222394 0.13343240 -0.36109052
+v 0.09601694 0.13620695 -0.46560783
+v -0.07314420 0.07286260 -0.49195109
+v 0.01303085 0.15812922 -0.47372813
+v -0.11840371 0.10141950 -0.39300866
+v 0.09766257 0.13801407 -0.42406397
+v -0.04258630 0.13337629 -0.36110603
+v 0.10142299 0.11481492 -0.47620844
+v 0.07282993 0.07320168 -0.49206994
+v -0.06763618 0.15319843 -0.46709824
+v 0.04270231 0.16712154 -0.45311899
+v -0.06586976 0.15006310 -0.41113324
+v 0.09697113 0.10655875 -0.36085457
+v 0.02704390 0.16356440 -0.42516028
+v 0.06947966 0.14332052 -0.47348747
+v -0.02941011 0.10357270 -0.49034212
+v 0.07238407 0.08790734 -0.48954847
+v -0.07026746 0.14324429 -0.47342383
+v 0.08031000 0.14949715 -0.42604662
+v -0.04302015 0.16679071 -0.45361262
+v -0.06819016 0.12362740 -0.36023527
+v -0.02740731 0.16351444 -0.42518342
+v 0.01158915 0.16429657 -0.46736921
+v 0.04412159 0.10330915 -0.48965226
+v -0.01335880 0.15786955 -0.47387481
+v 0.04235869 0.16454400 -0.43418898
+v 0.07933640 0.11757160 -0.36219161
+v -0.01229954 0.16436622 -0.46740816
+v 0.06557731 0.15019524 -0.41105757
+f 7 5 1
+f 9 1 5
+f 11 9 5
+f 11 6 9
+f 12 8 3
+f 13 5 7
+f 14 1 2
+f 14 12 1
+f 14 8 12
+f 15 2 1
+f 15 1 9
+f 18 11 5
+f 18 16 11
+f 18 13 4
+f 19 7 1
+f 19 1 12
+f 20 13 7
+f 21 3 8
+f 21 8 14
+f 21 17 3
+f 22 15 9
+f 22 9 6
+f 23 14 2
+f 23 2 15
+f 23 21 14
+f 24 6 11
+f 24 11 16
+f 24 22 6
+f 25 12 3
+f 25 3 17
+f 25 19 12
+f 26 18 4
+f 26 16 18
+f 27 18 5
+f 27 5 13
+f 27 13 18
+f 28 4 13
+f 28 13 20
+f 28 20 17
+f 28 26 4
+f 28 17 26
+f 29 21 10
+f 29 17 21
+f 30 10 21
+f 30 21 23
+f 30 22 10
+f 30 23 15
+f 30 15 22
+f 31 24 16
+f 31 10 22
+f 31 22 24
+f 32 25 17
+f 32 17 20
+f 32 20 7
+f 33 7 19
+f 33 19 25
+f 34 26 17
+f 34 17 29
+f 34 29 10
+f 34 10 31
+f 34 31 16
+f 34 16 26
+f 35 32 7
+f 35 25 32
+f 35 33 25
+f 35 7 33
\ No newline at end of file
diff --git a/objects/objaverse/wine/wine_9/collision/model_normalized_collision_19.obj b/objects/objaverse/wine/wine_9/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc9cfe67d363a641db56ccf3d2724cd3d4574139
--- /dev/null
+++ b/objects/objaverse/wine/wine_9/collision/model_normalized_collision_19.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.05821454 -0.15324686 0.00030644
+v 0.10141584 -0.12874623 0.00278613
+v 0.03847845 -0.07940595 0.06818275
+v -0.06654272 -0.01592412 0.08808487
+v -0.06079193 -0.01496563 0.00757578
+v -0.05838296 -0.13687558 0.02240707
+v 0.05801601 -0.13690407 0.02243759
+v 0.08421612 -0.14048405 0.00058596
+v 0.12578614 -0.01828420 0.03693622
+v -0.03880763 -0.07933519 0.06808796
+v -0.05857849 -0.15320025 0.00028085
+v 0.09724826 -0.09724827 0.03437432
+v 0.05717121 -0.14698688 0.01201938
+v 0.01275763 -0.10777809 0.05015904
+v 0.07268175 -0.01448396 0.08094556
+v -0.05511279 -0.06610629 0.07066203
+v 0.09813027 -0.12327025 0.01434121
+v -0.05753516 -0.14694028 0.01199380
+v 0.04325849 -0.12411666 0.03524563
+v -0.01312579 -0.10775657 0.05012977
+v 0.10505114 -0.01482836 0.05190989
+v 0.06549309 -0.06549299 0.06646793
+v 0.08295619 -0.12323264 0.02162002
+v 0.08091593 -0.13498370 0.01219247
+v -0.04362702 -0.12409729 0.03521709
+f 8 5 2
+f 9 2 5
+f 10 3 4
+f 11 8 1
+f 11 5 8
+f 11 6 4
+f 11 4 5
+f 12 3 7
+f 13 7 6
+f 13 1 8
+f 13 11 1
+f 15 5 4
+f 15 4 3
+f 15 12 9
+f 16 10 4
+f 16 4 6
+f 16 6 10
+f 17 2 9
+f 17 9 12
+f 17 8 2
+f 18 13 6
+f 18 6 11
+f 18 11 13
+f 19 7 3
+f 19 3 14
+f 19 6 7
+f 20 14 3
+f 20 3 10
+f 21 15 9
+f 21 9 5
+f 21 5 15
+f 22 15 3
+f 22 3 12
+f 22 12 15
+f 23 17 12
+f 23 12 7
+f 23 7 17
+f 24 17 7
+f 24 7 13
+f 24 13 8
+f 24 8 17
+f 25 20 10
+f 25 10 6
+f 25 6 19
+f 25 19 14
+f 25 14 20
\ No newline at end of file
diff --git a/objects/objaverse/wine/wine_9/collision/model_normalized_collision_2.obj b/objects/objaverse/wine/wine_9/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..80a382713832675a082de36d49a2335ee1c00c42
--- /dev/null
+++ b/objects/objaverse/wine/wine_9/collision/model_normalized_collision_2.obj
@@ -0,0 +1,108 @@
+# https://github.com/mikedh/trimesh
+v 0.01181028 -0.16270020 -0.00282352
+v 0.05953257 -0.14600350 -0.17307038
+v 0.01828419 -0.12578611 0.03693628
+v -0.13886896 -0.09817546 -0.01013684
+v -0.06522572 -0.14861793 -0.15447845
+v -0.10915573 -0.09852937 -0.23195430
+v -0.06731269 -0.15209618 -0.00169513
+v 0.06176531 -0.15940000 -0.09988906
+v -0.12124727 -0.12124735 -0.12493040
+v 0.02034195 -0.13813193 -0.24134790
+v -0.01217425 -0.16265360 -0.00284911
+v -0.12890854 -0.10129013 0.00265115
+v -0.10543217 -0.10543230 -0.23018534
+v -0.14040650 -0.09909797 -0.09617901
+v -0.10986593 -0.13210915 -0.01141178
+v -0.01226218 -0.16318093 -0.12557751
+v 0.01190020 -0.16323948 -0.12558769
+v -0.11796412 -0.10987505 -0.16944339
+v -0.11030931 -0.11769664 -0.16947033
+v -0.05741763 -0.13397447 -0.23131287
+v -0.12433620 -0.09854677 -0.17108875
+v -0.13392075 -0.11035802 -0.09485491
+v -0.12141796 -0.12141813 -0.00446483
+v -0.05789470 -0.16424887 -0.05172765
+v 0.05718613 -0.14707640 -0.16997212
+v 0.01325093 -0.14104096 -0.23277554
+v 0.02748446 -0.16583596 -0.09573642
+v -0.05754830 -0.14701882 -0.16995944
+v -0.11079348 -0.13365506 -0.09487666
+v -0.13237467 -0.10943039 -0.01143301
+v -0.08086175 -0.14942540 -0.01097973
+v -0.02743117 -0.16328582 -0.11044425
+v -0.05787601 -0.16413674 -0.04085473
+v -0.01223418 -0.14786160 -0.20044798
+v 0.05937862 -0.16023129 -0.09739748
+v -0.08046351 -0.14876171 -0.11001904
+v 0.01187205 -0.14791919 -0.20046062
+f 6 3 2
+f 6 4 3
+f 8 2 3
+f 8 3 1
+f 10 6 2
+f 11 1 3
+f 11 3 7
+f 12 7 3
+f 12 3 4
+f 18 13 9
+f 18 6 13
+f 19 13 5
+f 19 5 9
+f 19 9 13
+f 20 5 13
+f 20 13 6
+f 20 6 10
+f 21 14 4
+f 21 4 6
+f 21 6 18
+f 21 18 9
+f 21 9 14
+f 22 14 9
+f 22 4 14
+f 23 12 4
+f 23 7 12
+f 25 10 2
+f 25 2 8
+f 25 8 17
+f 26 10 25
+f 26 20 10
+f 27 17 8
+f 27 16 17
+f 28 16 5
+f 28 5 20
+f 29 22 9
+f 29 23 22
+f 29 15 23
+f 30 23 4
+f 30 4 22
+f 30 22 23
+f 31 23 15
+f 31 7 23
+f 32 24 5
+f 32 5 16
+f 32 27 24
+f 32 16 27
+f 33 11 7
+f 33 7 31
+f 33 31 15
+f 33 29 24
+f 33 15 29
+f 33 1 11
+f 33 27 1
+f 33 24 27
+f 34 17 16
+f 34 20 26
+f 34 28 20
+f 34 16 28
+f 35 27 8
+f 35 8 1
+f 35 1 27
+f 36 29 9
+f 36 9 5
+f 36 5 24
+f 36 24 29
+f 37 34 26
+f 37 17 34
+f 37 26 25
+f 37 25 17
\ No newline at end of file
diff --git a/objects/objaverse/wine/wine_9/collision/model_normalized_collision_20.obj b/objects/objaverse/wine/wine_9/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fcb138f4271a03ee77f0f4659dd87d6239a70b9c
--- /dev/null
+++ b/objects/objaverse/wine/wine_9/collision/model_normalized_collision_20.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v -0.06047790 -0.14944511 0.00654082
+v -0.05962658 -0.14433723 0.01524277
+v -0.15523834 -0.04333298 0.00119617
+v -0.07609293 0.08629400 0.04828270
+v -0.05665835 0.05665841 0.07832419
+v -0.15519176 0.04369698 0.00117058
+v -0.12378800 -0.11336930 -0.00064905
+v -0.05608087 -0.11317445 0.03944567
+v -0.14953724 0.06043132 0.00638722
+v -0.11379135 -0.12350003 -0.00059509
+v -0.07965974 -0.03840760 0.06802489
+v -0.13707631 0.05835448 0.02222398
+v -0.08121222 -0.13485806 0.01211150
+v -0.08451243 -0.14035837 0.00050501
+v -0.05511279 -0.06610629 0.07066203
+v -0.13710481 -0.05798748 0.02225450
+v -0.07958899 0.03873686 0.06793015
+v -0.14893179 0.04265365 0.01288353
+v -0.10963435 -0.10963436 0.01970221
+v -0.14064639 -0.08409043 0.00045100
+v -0.14897836 -0.04228964 0.01290919
+v -0.12435292 0.04360769 0.03504590
+v -0.08328229 -0.12315670 0.02152462
+v -0.06997944 -0.11108621 0.03583273
+v -0.11049114 -0.11799969 0.01101143
+v -0.06560139 -0.06560148 0.06633826
+v -0.13514605 -0.08079022 0.01205751
+v -0.12437229 -0.04323911 0.03507444
+v -0.11828768 -0.11006910 0.01095749
+f 5 1 4
+f 7 3 6
+f 8 2 1
+f 8 1 5
+f 9 4 1
+f 9 1 6
+f 10 7 6
+f 12 5 4
+f 12 4 9
+f 13 1 2
+f 14 10 6
+f 14 6 1
+f 14 13 10
+f 14 1 13
+f 15 8 5
+f 15 5 11
+f 17 11 5
+f 17 5 12
+f 18 12 9
+f 18 9 6
+f 19 13 2
+f 19 11 16
+f 20 3 7
+f 21 3 20
+f 21 18 6
+f 21 6 3
+f 22 17 12
+f 22 12 18
+f 22 11 17
+f 22 18 21
+f 23 19 2
+f 24 8 15
+f 24 15 19
+f 24 19 23
+f 24 23 2
+f 24 2 8
+f 25 10 13
+f 25 13 19
+f 25 7 10
+f 26 19 15
+f 26 15 11
+f 26 11 19
+f 27 19 16
+f 27 21 20
+f 27 16 21
+f 28 22 21
+f 28 21 16
+f 28 16 11
+f 28 11 22
+f 29 25 19
+f 29 7 25
+f 29 19 27
+f 29 27 20
+f 29 20 7
\ No newline at end of file
diff --git a/objects/objaverse/wine/wine_9/collision/model_normalized_collision_22.obj b/objects/objaverse/wine/wine_9/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd1be992520b8ce1e679662bd0afcd0f341bd5b5
--- /dev/null
+++ b/objects/objaverse/wine/wine_9/collision/model_normalized_collision_22.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.13407066 0.07467919 -0.18884984
+v 0.12618078 0.06994529 -0.23248508
+v 0.08249179 0.13798198 -0.15554848
+v -0.04324664 0.15248983 -0.15593013
+v -0.12154098 0.10330182 -0.17086486
+v 0.05742075 0.13398168 -0.23127452
+v 0.10543231 0.10543231 -0.23018529
+v 0.13049248 0.09071413 -0.16544754
+v 0.04288451 0.15254739 -0.15594278
+v -0.05742304 0.13398709 -0.23124577
+v -0.07144147 0.14419776 -0.15715344
+v 0.10019214 0.12707853 -0.15664538
+v 0.01181447 0.14794550 -0.20038462
+v -0.10848812 0.09547020 -0.24254230
+v 0.12132646 0.09733574 -0.18555916
+v -0.01217661 0.14788794 -0.20037192
+v -0.06978771 0.12628997 -0.23242301
+f 5 2 1
+f 7 6 3
+f 7 2 6
+f 8 5 1
+f 8 1 2
+f 8 2 7
+f 9 4 3
+f 9 3 6
+f 11 3 4
+f 11 5 8
+f 11 4 10
+f 12 7 3
+f 12 11 8
+f 12 3 11
+f 13 9 6
+f 13 6 10
+f 13 4 9
+f 14 10 6
+f 14 6 2
+f 14 2 5
+f 14 5 11
+f 15 12 8
+f 15 8 7
+f 15 7 12
+f 16 13 10
+f 16 10 4
+f 16 4 13
+f 17 14 11
+f 17 11 10
+f 17 10 14
\ No newline at end of file
diff --git a/objects/objaverse/wine/wine_9/collision/model_normalized_collision_23.obj b/objects/objaverse/wine/wine_9/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be978f5d8ba3eece247ac8f4bb43fbbf7dc33774
--- /dev/null
+++ b/objects/objaverse/wine/wine_9/collision/model_normalized_collision_23.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.12578614 -0.01828420 0.03693622
+v 0.16406622 -0.02466409 -0.10860964
+v 0.15209621 0.06731274 -0.00169515
+v 0.09817555 0.13886909 -0.01013675
+v 0.09909805 0.14040650 -0.09617904
+v 0.10129020 0.12890859 0.00265116
+v 0.16270023 -0.01181025 -0.00282358
+v 0.15096859 0.08178766 -0.09531800
+v 0.12141813 0.12141814 -0.00446480
+v 0.16265364 0.01217430 -0.00284917
+v 0.13365517 0.11079355 -0.09487665
+v 0.14942545 0.08086180 -0.01097975
+v 0.11035816 0.13392078 -0.09485497
+v 0.16413674 0.05787604 -0.04085480
+v 0.13210922 0.10986601 -0.01141179
+v 0.10943047 0.13237480 -0.01143288
+v 0.16577743 0.02784647 -0.09572622
+v 0.16822267 -0.01273071 -0.09615167
+v 0.16424887 0.05789473 -0.05172765
+v 0.16449512 0.04278427 -0.08204915
+f 5 2 1
+f 5 1 4
+f 6 1 3
+f 6 4 1
+f 7 1 2
+f 9 6 3
+f 9 4 6
+f 10 3 1
+f 10 1 7
+f 11 8 2
+f 11 2 5
+f 12 9 3
+f 13 5 4
+f 13 11 5
+f 13 9 11
+f 14 3 10
+f 14 12 3
+f 14 8 11
+f 15 11 9
+f 15 9 12
+f 15 14 11
+f 15 12 14
+f 16 13 4
+f 16 4 9
+f 16 9 13
+f 17 2 8
+f 18 14 10
+f 18 10 7
+f 18 7 2
+f 18 2 17
+f 19 8 14
+f 19 18 17
+f 19 14 18
+f 20 19 17
+f 20 17 8
+f 20 8 19
\ No newline at end of file
diff --git a/objects/objaverse/wine/wine_9/collision/model_normalized_collision_24.obj b/objects/objaverse/wine/wine_9/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..014be69c24326b8b86284fde35eccdf69905d5a9
--- /dev/null
+++ b/objects/objaverse/wine/wine_9/collision/model_normalized_collision_24.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v -0.09651257 0.07313324 0.04316251
+v -0.07594344 0.06079195 -0.15909090
+v -0.07230763 0.14564133 0.00367023
+v -0.06945299 0.15603519 -0.00979905
+v -0.14872893 0.06506934 -0.15441113
+v -0.15329237 0.05853193 0.00012725
+v -0.07144147 0.14419776 -0.15715344
+v -0.15014323 0.05800704 -0.15541370
+v -0.12146348 0.12146366 -0.00457781
+v -0.06904431 0.15535399 -0.11128894
+v -0.14886829 0.08030450 -0.10996479
+v -0.12055004 0.11179839 -0.15495960
+v -0.15225860 0.06718707 -0.00183011
+v -0.11100274 0.13437560 -0.02618514
+v -0.12125314 0.12125321 -0.12488446
+v -0.13437561 0.11100273 -0.02618519
+v -0.08070240 0.14953171 -0.01103262
+v -0.11063434 0.13376159 -0.09482254
+v -0.09540208 0.13362708 -0.14024959
+v -0.14953164 0.08070241 -0.01103277
+v -0.13376160 0.11063431 -0.09482253
+v -0.11179833 0.12055010 -0.15495962
+v -0.08276972 0.13782566 -0.15550808
+f 1 2 3
+f 3 2 4
+f 6 2 1
+f 8 2 6
+f 8 7 2
+f 9 1 3
+f 9 3 4
+f 10 4 2
+f 10 2 7
+f 11 8 6
+f 11 5 8
+f 12 8 5
+f 12 7 8
+f 13 6 1
+f 13 1 9
+f 13 11 6
+f 14 4 10
+f 15 12 5
+f 15 5 11
+f 16 9 14
+f 17 14 9
+f 17 9 4
+f 17 4 14
+f 18 14 10
+f 18 16 14
+f 19 10 7
+f 19 18 10
+f 19 15 18
+f 20 13 9
+f 20 9 16
+f 20 16 11
+f 20 11 13
+f 21 15 11
+f 21 11 16
+f 21 18 15
+f 21 16 18
+f 22 7 12
+f 22 12 15
+f 22 15 19
+f 23 22 19
+f 23 19 7
+f 23 7 22
\ No newline at end of file
diff --git a/objects/objaverse/wine/wine_9/collision/model_normalized_collision_25.obj b/objects/objaverse/wine/wine_9/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..87f063ef416b9c60d945d32c308ce7a9c857305d
--- /dev/null
+++ b/objects/objaverse/wine/wine_9/collision/model_normalized_collision_25.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v -0.09071412 -0.13049250 -0.16544755
+v -0.08278652 -0.11727985 -0.23754477
+v -0.06815073 0.13871321 -0.18604028
+v -0.07144147 0.14419776 -0.15715344
+v -0.15248969 0.04324660 -0.15593008
+v -0.15254726 -0.04288443 -0.15594273
+v -0.13398695 0.05742304 -0.23124581
+v -0.12707847 -0.10019214 -0.15664535
+v -0.11179833 0.12055010 -0.15495962
+v -0.06978771 0.12628997 -0.23242301
+v -0.14794533 -0.01181442 -0.20038456
+v -0.10915573 -0.09852937 -0.23195430
+v -0.12055004 0.11179839 -0.15495960
+v -0.08276972 0.13782566 -0.15550808
+v -0.13798187 -0.08249177 -0.15554842
+v -0.14788777 0.01217660 -0.20037186
+v -0.13398155 -0.05742072 -0.23127457
+v -0.13782552 0.08276973 -0.15550804
+v -0.10543995 0.10544008 -0.23013270
+f 1 2 3
+f 1 3 4
+f 8 1 4
+f 10 3 2
+f 10 2 7
+f 10 4 3
+f 11 6 5
+f 12 2 1
+f 12 1 8
+f 13 5 6
+f 14 8 4
+f 14 10 9
+f 14 4 10
+f 15 14 9
+f 15 8 14
+f 15 12 8
+f 15 13 6
+f 15 9 13
+f 16 11 5
+f 16 5 7
+f 16 7 11
+f 17 6 11
+f 17 11 7
+f 17 7 2
+f 17 2 12
+f 17 15 6
+f 17 12 15
+f 18 13 7
+f 18 7 5
+f 18 5 13
+f 19 10 7
+f 19 7 13
+f 19 13 9
+f 19 9 10
\ No newline at end of file
diff --git a/objects/objaverse/wine/wine_9/collision/model_normalized_collision_26.obj b/objects/objaverse/wine/wine_9/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..06d948a5229809bc5a7b0474320d3c51aa9a17ae
--- /dev/null
+++ b/objects/objaverse/wine/wine_9/collision/model_normalized_collision_26.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.10342990 -0.11695148 -0.18834178
+v 0.13396906 -0.05741532 -0.23134162
+v 0.13875837 -0.06802917 -0.18614794
+v 0.12500800 0.08742338 -0.19433434
+v 0.11727988 0.08278654 -0.23754479
+v 0.13860202 0.06830709 -0.18610757
+v 0.10542453 -0.10542453 -0.23023793
+v 0.13397447 0.05741764 -0.23131286
+v 0.12148287 -0.09705776 -0.18559954
+v 0.09868698 -0.10904662 -0.23201635
+v 0.11217228 -0.11217229 -0.18653619
+f 5 1 4
+f 6 4 1
+f 6 5 4
+f 8 6 3
+f 8 3 2
+f 8 2 5
+f 8 5 6
+f 9 3 6
+f 9 7 2
+f 9 2 3
+f 10 5 2
+f 10 2 7
+f 10 1 5
+f 11 9 6
+f 11 6 1
+f 11 7 9
+f 11 10 7
+f 11 1 10
\ No newline at end of file
diff --git a/objects/objaverse/wine/wine_9/collision/model_normalized_collision_27.obj b/objects/objaverse/wine/wine_9/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bda899d73347eabc648eb1c2e8ffcd16bd4ac570
--- /dev/null
+++ b/objects/objaverse/wine/wine_9/collision/model_normalized_collision_27.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v -0.05729600 -0.04317112 0.14529277
+v -0.05985449 -0.04470620 0.08242454
+v -0.05331748 0.04115580 0.13132817
+v -0.05714831 0.04345425 0.14534994
+v -0.06832096 0.04106698 0.07594370
+v -0.06841797 -0.04075341 0.07603768
+v -0.06241265 -0.03715011 0.14917772
+v -0.05975752 0.04501979 0.08233053
+v -0.06226484 0.03743320 0.14923469
+f 1 2 3
+f 1 3 4
+f 6 5 2
+f 6 2 1
+f 7 6 1
+f 7 5 6
+f 8 3 2
+f 8 2 5
+f 8 5 4
+f 8 4 3
+f 9 7 1
+f 9 1 4
+f 9 4 5
+f 9 5 7
\ No newline at end of file
diff --git a/objects/objaverse/wine/wine_9/collision/model_normalized_collision_28.obj b/objects/objaverse/wine/wine_9/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..888f1fcb0c097286bed1dd05c9735c53c436b215
--- /dev/null
+++ b/objects/objaverse/wine/wine_9/collision/model_normalized_collision_28.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.01988807 -0.13540973 -0.35180698
+v 0.01394955 -0.10335629 -0.49134349
+v 0.02464569 0.13402473 -0.34769604
+v 0.01431913 0.07414021 -0.49595306
+v -0.10617578 0.09408279 -0.35095196
+v -0.08114943 -0.11455136 -0.35459447
+v -0.07275579 -0.08753556 -0.48954848
+v -0.07314420 0.07286260 -0.49195109
+v -0.07483141 -0.10476269 -0.48613531
+v -0.04449562 -0.10294328 -0.48968828
+f 1 2 3
+f 3 2 4
+f 5 1 3
+f 6 1 5
+f 7 4 2
+f 8 5 3
+f 8 3 4
+f 8 4 7
+f 9 6 5
+f 9 8 7
+f 9 5 8
+f 9 1 6
+f 9 2 1
+f 10 9 7
+f 10 7 2
+f 10 2 9
\ No newline at end of file
diff --git a/objects/objaverse/wine/wine_9/collision/model_normalized_collision_29.obj b/objects/objaverse/wine/wine_9/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2a4a3580b4875b717aa86aba2b01fb4a76139f71
--- /dev/null
+++ b/objects/objaverse/wine/wine_9/collision/model_normalized_collision_29.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.10700048 -0.02014174 0.04982600
+v -0.07594344 -0.01496563 -0.15909090
+v -0.09651257 0.07313324 0.04316251
+v -0.07594344 0.06079195 -0.15909090
+v -0.15402141 -0.02040292 -0.16627034
+v -0.13255463 0.06748591 0.02158828
+v -0.13915180 -0.01792462 0.02657999
+v -0.14150702 0.07285732 -0.16428333
+f 1 2 3
+f 3 2 4
+f 5 2 1
+f 5 4 2
+f 6 1 3
+f 7 6 5
+f 7 5 1
+f 7 1 6
+f 8 6 3
+f 8 3 4
+f 8 4 5
+f 8 5 6
\ No newline at end of file
diff --git a/objects/objaverse/wine/wine_9/collision/model_normalized_collision_30.obj b/objects/objaverse/wine/wine_9/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..88d2d0b44792bf237e0e9c7da7690721339f1311
--- /dev/null
+++ b/objects/objaverse/wine/wine_9/collision/model_normalized_collision_30.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.08663513 -0.08663515 0.04418926
+v 0.11527418 -0.01400695 0.04454859
+v 0.06820795 -0.04085043 0.07619452
+v 0.07872549 0.06268420 0.05806437
+v 0.10127413 0.05803164 0.04568678
+v 0.05630715 -0.08386810 0.05723970
+v 0.10133125 -0.05769412 0.04577795
+v 0.11525482 0.01437548 0.04452002
+v 0.05864438 -0.07261198 0.06421965
+v 0.06002041 -0.09005688 0.05196673
+v 0.07940590 -0.03847833 0.06818289
+v 0.10777811 -0.01275762 0.05015905
+v 0.06811095 0.04116401 0.07610051
+v 0.08132474 -0.08132476 0.04942929
+v 0.07254121 0.05897367 0.06412492
+v 0.07933513 0.03880765 0.06808816
+v 0.10775658 0.01312577 0.05012975
+f 7 1 2
+f 7 3 1
+f 8 2 1
+f 8 1 5
+f 10 5 1
+f 10 9 6
+f 10 1 9
+f 10 4 5
+f 11 7 2
+f 11 2 3
+f 11 3 7
+f 12 3 2
+f 12 2 8
+f 13 9 3
+f 13 6 9
+f 14 9 1
+f 14 1 3
+f 14 3 9
+f 15 10 6
+f 15 4 10
+f 15 6 13
+f 15 13 5
+f 15 5 4
+f 16 13 8
+f 16 8 5
+f 16 5 13
+f 17 12 8
+f 17 8 13
+f 17 13 3
+f 17 3 12
\ No newline at end of file
diff --git a/objects/objaverse/wine/wine_9/collision/model_normalized_collision_31.obj b/objects/objaverse/wine/wine_9/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ab5971c5d888c71cf79d83a456774890f4fe16a3
--- /dev/null
+++ b/objects/objaverse/wine/wine_9/collision/model_normalized_collision_31.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.12578614 -0.01828420 0.03693622
+v 0.13813182 -0.02034178 -0.24134789
+v 0.11922115 0.08395128 0.02433858
+v -0.09442430 0.08703181 0.03954958
+v -0.10700048 -0.02014174 0.04982600
+v -0.10848812 0.09547020 -0.24254230
+v 0.11727988 0.08278654 -0.23754479
+v -0.07594344 -0.01496563 -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/wine/wine_9/collision/model_normalized_collision_4.obj b/objects/objaverse/wine/wine_9/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bff2e1ad0d30b6dcabf45919628bd2a813ac336f
--- /dev/null
+++ b/objects/objaverse/wine/wine_9/collision/model_normalized_collision_4.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.07845874 -0.15614099 -0.44621997
+v 0.10118595 -0.11489218 -0.47652025
+v 0.11455124 0.08114938 -0.35459456
+v 0.02464569 0.13402473 -0.34769604
+v 0.01431913 0.07414021 -0.49595306
+v 0.01988807 -0.13540973 -0.35180698
+v 0.10226086 -0.10226107 -0.35682387
+v 0.01394955 -0.10335629 -0.49134349
+v 0.10476271 0.07483144 -0.48613530
+v 0.10082557 -0.14296338 -0.44819291
+v 0.07270986 -0.14693838 -0.47105003
+v 0.11724254 0.08276414 -0.36753957
+v 0.10321316 -0.02904329 -0.49042086
+v 0.07152478 -0.13014815 -0.47887710
+v 0.09661168 -0.13682028 -0.46498090
+v 0.10294331 0.04449565 -0.48968827
+v 0.08562598 -0.12858326 -0.47536116
+v 0.07201693 -0.08749332 -0.48954716
+v 0.08753559 0.07275583 -0.48954847
+v 0.08749334 -0.07201691 -0.48954716
+v 0.02904331 -0.10321314 -0.49042086
+f 6 3 4
+f 6 4 5
+f 7 6 1
+f 7 3 6
+f 8 6 5
+f 8 1 6
+f 9 5 4
+f 10 7 1
+f 11 1 8
+f 11 10 1
+f 12 10 2
+f 12 3 7
+f 12 7 10
+f 12 9 4
+f 12 4 3
+f 13 8 5
+f 13 12 2
+f 13 9 12
+f 14 11 8
+f 15 11 2
+f 15 2 10
+f 15 10 11
+f 16 13 5
+f 16 9 13
+f 17 14 2
+f 17 2 11
+f 17 11 14
+f 18 2 14
+f 19 16 5
+f 19 5 9
+f 19 9 16
+f 20 13 2
+f 20 2 18
+f 20 18 8
+f 20 8 13
+f 21 18 14
+f 21 14 8
+f 21 8 18
\ No newline at end of file
diff --git a/objects/objaverse/wine/wine_9/collision/model_normalized_collision_5.obj b/objects/objaverse/wine/wine_9/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..98b0f0b87558f4022c30dcc71547db75746c790d
--- /dev/null
+++ b/objects/objaverse/wine/wine_9/collision/model_normalized_collision_5.obj
@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
+v 0.05745848 -0.16411457 -0.44935027
+v 0.12505441 -0.11755278 -0.46292522
+v 0.10226086 -0.10226107 -0.35682387
+v -0.13801401 -0.09766253 -0.42406404
+v -0.11521918 -0.10115174 -0.47640420
+v -0.04264246 -0.13334138 -0.36101328
+v 0.10082557 -0.14296338 -0.44819291
+v 0.01300588 -0.15758316 -0.47405114
+v 0.07430669 -0.10472532 -0.48600850
+v 0.04228009 -0.13339756 -0.36099789
+v -0.08114943 -0.11455136 -0.35459447
+v 0.07969206 -0.14834955 -0.46376205
+v -0.05785211 -0.16455080 -0.45305002
+v -0.06986261 -0.14296406 -0.47352206
+v 0.02709388 -0.16349246 -0.42502229
+v 0.06570946 -0.15004368 -0.41093142
+v 0.05749079 -0.16461211 -0.45305167
+v 0.06995990 -0.14296811 -0.47363863
+v -0.11245359 -0.13661351 -0.45276265
+v -0.06600189 -0.14991155 -0.41100708
+v -0.01341395 -0.15780872 -0.47383802
+v 0.08044499 -0.14935040 -0.42592500
+v 0.07948870 -0.11745365 -0.36210947
+v 0.08436596 -0.14137171 -0.46883681
+v 0.02652873 -0.16294929 -0.46550374
+v -0.14232195 -0.10016845 -0.45513233
+v -0.07950219 -0.14825974 -0.46355484
+v -0.12231096 -0.12231104 -0.46274041
+v -0.10993825 -0.13222972 -0.42698935
+v -0.06834245 -0.12350945 -0.36015310
+v -0.02745728 -0.16344249 -0.42504519
+v -0.02674660 -0.16200640 -0.46629627
+v 0.09493545 -0.13309712 -0.41195968
+v -0.13687742 -0.11201671 -0.45276504
+v -0.11451345 -0.11451349 -0.47273712
+v -0.13251139 -0.10951248 -0.42703802
+v -0.08073574 -0.14921541 -0.42599798
+v -0.05785675 -0.16402112 -0.44936100
+f 7 2 3
+f 9 3 2
+f 9 5 4
+f 9 4 3
+f 11 3 4
+f 11 10 3
+f 11 6 10
+f 12 2 7
+f 14 5 9
+f 15 10 6
+f 16 15 1
+f 16 10 15
+f 17 12 7
+f 17 7 1
+f 17 15 13
+f 17 1 15
+f 18 9 2
+f 18 8 9
+f 18 12 17
+f 21 14 9
+f 21 9 8
+f 22 3 16
+f 22 16 1
+f 22 1 7
+f 23 16 3
+f 23 3 10
+f 23 10 16
+f 24 18 2
+f 24 2 12
+f 24 12 18
+f 25 18 17
+f 25 8 18
+f 25 21 8
+f 25 17 13
+f 26 4 5
+f 27 14 13
+f 27 13 19
+f 28 27 19
+f 28 14 27
+f 30 20 6
+f 30 6 11
+f 30 11 20
+f 31 15 6
+f 31 6 20
+f 31 13 15
+f 32 13 14
+f 32 14 21
+f 32 25 13
+f 32 21 25
+f 33 22 7
+f 33 7 3
+f 33 3 22
+f 34 4 26
+f 34 28 19
+f 34 26 28
+f 35 5 14
+f 35 14 28
+f 35 28 26
+f 35 26 5
+f 36 29 11
+f 36 11 4
+f 36 4 34
+f 36 34 19
+f 36 19 29
+f 37 20 11
+f 37 11 29
+f 37 29 19
+f 37 19 13
+f 38 31 20
+f 38 13 31
+f 38 37 13
+f 38 20 37
\ No newline at end of file
diff --git a/objects/objaverse/wine/wine_9/collision/model_normalized_collision_6.obj b/objects/objaverse/wine/wine_9/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..05950e6922defb641f393148b6c1b1e87a11f8cb
--- /dev/null
+++ b/objects/objaverse/wine/wine_9/collision/model_normalized_collision_6.obj
@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
+v 0.09833490 -0.13876283 -0.01008381
+v 0.16344932 -0.04223820 -0.09532115
+v 0.15222186 -0.06701635 -0.00161417
+v 0.10505114 -0.01482836 0.05190989
+v 0.10342990 -0.11695148 -0.18834178
+v 0.16648670 -0.01244134 -0.01015204
+v 0.10953187 -0.10953187 0.01983291
+v 0.09870315 -0.12422505 -0.17115609
+v 0.14994449 -0.01473483 -0.18908918
+v 0.13381421 -0.11051712 -0.09490916
+v 0.16419539 -0.05751404 -0.04084473
+v 0.14038943 -0.01314232 0.02616842
+v 0.12137259 -0.12137259 -0.00435173
+v 0.09946630 -0.07172669 0.04194303
+v 0.14672582 -0.02177412 -0.19838390
+v 0.16822267 -0.01273071 -0.09615167
+v 0.12124139 -0.12124149 -0.12497633
+v 0.16409696 -0.02719456 -0.01055854
+v 0.14892095 -0.08018728 -0.11005149
+v 0.13690411 -0.05801597 0.02243757
+v 0.09813027 -0.12327025 0.01434121
+v 0.11812538 -0.11019484 0.01109246
+v 0.14958478 -0.08058563 -0.01094785
+v 0.16430884 -0.05753295 -0.05173216
+v 0.12569394 -0.01321832 0.03757134
+v 0.11003142 -0.11785296 -0.16951075
+v 0.09925714 -0.14029991 -0.09623321
+v 0.12411666 -0.04325849 0.03524561
+v 0.11113747 -0.06963843 0.03592136
+v 0.11019486 -0.11812537 0.01109245
+v 0.09934563 -0.11014434 0.02421137
+v 0.13498371 -0.08091589 0.01219250
+v 0.13226854 -0.10958983 -0.01137989
+v 0.13238628 -0.07935745 -0.18450258
+v 0.11051722 -0.13381418 -0.09490916
+v 0.11785300 -0.11003136 -0.16951075
+v 0.11217228 -0.11217229 -0.18653619
+v 0.10958986 -0.13226856 -0.01137997
+f 8 4 5
+f 14 4 8
+f 15 5 4
+f 15 4 9
+f 15 9 2
+f 16 2 9
+f 16 6 11
+f 18 11 6
+f 18 6 3
+f 18 3 11
+f 19 15 2
+f 19 10 17
+f 20 3 6
+f 20 6 12
+f 21 1 13
+f 21 14 8
+f 21 8 1
+f 23 11 3
+f 23 3 13
+f 24 16 11
+f 24 2 16
+f 24 19 2
+f 24 11 10
+f 24 10 19
+f 25 12 6
+f 25 6 16
+f 25 16 9
+f 25 9 4
+f 26 17 8
+f 27 1 8
+f 27 8 17
+f 28 4 14
+f 28 25 4
+f 28 20 12
+f 28 12 25
+f 29 14 7
+f 29 7 20
+f 29 28 14
+f 29 20 28
+f 30 21 13
+f 30 7 21
+f 30 22 7
+f 30 13 22
+f 31 21 7
+f 31 7 14
+f 31 14 21
+f 32 20 7
+f 32 7 22
+f 32 3 20
+f 32 22 13
+f 32 13 3
+f 33 23 13
+f 33 13 10
+f 33 10 11
+f 33 11 23
+f 34 15 19
+f 35 1 27
+f 35 10 13
+f 35 27 17
+f 35 17 10
+f 36 34 19
+f 36 19 17
+f 37 5 15
+f 37 15 34
+f 37 34 36
+f 37 26 8
+f 37 8 5
+f 37 36 17
+f 37 17 26
+f 38 35 13
+f 38 13 1
+f 38 1 35
\ No newline at end of file
diff --git a/objects/objaverse/wine/wine_9/collision/model_normalized_collision_7.obj b/objects/objaverse/wine/wine_9/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..224b1fdf14dc2b3652c937932c5e1e5f4ce7d1c1
--- /dev/null
+++ b/objects/objaverse/wine/wine_9/collision/model_normalized_collision_7.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v 0.03825832 -0.04873644 0.21489505
+v 0.04873641 -0.03825839 0.21489507
+v -0.02238967 0.03214144 0.30980625
+v -0.03839671 0.04871913 0.21473517
+v 0.04859059 0.03854267 0.21483514
+v -0.04886487 -0.03811242 0.21479509
+v 0.03220594 -0.02227950 0.30983204
+v 0.03811260 0.04886503 0.21479516
+v -0.04871895 0.03839677 0.21473515
+v -0.02255304 -0.03204211 0.30982239
+v 0.03204249 0.02255324 0.30982236
+v 0.04249355 -0.01936089 0.25855501
+v 0.01921201 0.04261654 0.25846366
+v -0.03854257 -0.04859033 0.21483505
+v 0.02227956 -0.03220570 0.30983208
+v -0.03230487 -0.02211582 0.30981590
+v 0.04234443 0.01964323 0.25850032
+v -0.01949417 0.04246732 0.25840879
+v 0.02211609 0.03230518 0.30981595
+v 0.01936089 -0.04249336 0.25855509
+v -0.04370803 -0.01211849 0.25979393
+v -0.03214147 0.02238955 0.30980619
+v -0.01964311 -0.04234410 0.25850022
+v -0.04246740 0.01949407 0.25840880
+f 7 1 2
+f 8 5 2
+f 8 2 1
+f 8 1 6
+f 9 8 6
+f 9 4 8
+f 11 3 10
+f 11 5 8
+f 12 7 2
+f 12 2 5
+f 12 11 7
+f 13 8 4
+f 14 10 6
+f 14 6 1
+f 15 1 7
+f 15 11 10
+f 15 7 11
+f 16 6 10
+f 17 12 5
+f 17 5 11
+f 17 11 12
+f 18 13 4
+f 18 4 3
+f 18 3 13
+f 19 11 8
+f 19 8 13
+f 19 13 3
+f 19 3 11
+f 20 14 1
+f 20 1 15
+f 20 15 10
+f 21 9 6
+f 21 6 16
+f 22 21 16
+f 22 3 4
+f 22 4 9
+f 22 16 10
+f 22 10 3
+f 23 20 10
+f 23 10 14
+f 23 14 20
+f 24 22 9
+f 24 9 21
+f 24 21 22
\ No newline at end of file
diff --git a/objects/objaverse/wine/wine_9/collision/model_normalized_collision_8.obj b/objects/objaverse/wine/wine_9/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a35ce8613667b22c221e965eacfd50d5f28d5c2
--- /dev/null
+++ b/objects/objaverse/wine/wine_9/collision/model_normalized_collision_8.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.05751406 -0.16419540 -0.04084480
+v 0.10479063 -0.10479062 -0.23452810
+v 0.11310751 -0.11021437 0.01665998
+v 0.01828419 -0.12578611 0.03693628
+v 0.01233811 -0.13556427 -0.26396465
+v 0.06701639 -0.15222186 -0.00161419
+v 0.09528496 -0.13367965 -0.14033622
+v 0.01244137 -0.16648668 -0.01015198
+v 0.09629532 -0.13536353 -0.00271421
+v 0.06476535 -0.13331860 -0.21543906
+v 0.01273072 -0.16822265 -0.09615168
+v 0.01370969 -0.15894507 0.00343645
+v 0.02719460 -0.16409694 -0.01055847
+v 0.08058567 -0.14958481 -0.01094792
+v 0.02952592 -0.13263034 -0.26488444
+v 0.06494778 -0.14877425 -0.15451883
+v 0.08018727 -0.14892084 -0.11005152
+v 0.01478167 -0.13507391 -0.26506841
+v 0.08096723 -0.11991769 -0.23100443
+v 0.04223819 -0.16344927 -0.09532116
+v 0.05753297 -0.16430884 -0.05173213
+f 3 2 4
+f 5 4 2
+f 6 3 4
+f 7 2 3
+f 8 4 5
+f 9 3 6
+f 9 7 3
+f 11 8 5
+f 11 1 8
+f 12 6 4
+f 12 4 8
+f 13 8 1
+f 13 1 6
+f 13 12 8
+f 13 6 12
+f 14 9 6
+f 14 6 1
+f 16 2 7
+f 16 15 10
+f 17 7 9
+f 17 9 14
+f 17 16 7
+f 18 5 2
+f 18 2 15
+f 18 15 16
+f 18 16 11
+f 18 11 5
+f 19 15 2
+f 19 10 15
+f 19 16 10
+f 19 2 16
+f 20 11 16
+f 21 17 14
+f 21 14 1
+f 21 1 11
+f 21 11 20
+f 21 20 16
+f 21 16 17
\ No newline at end of file
diff --git a/objects/objaverse/wine/wine_9/collision/model_normalized_collision_9.obj b/objects/objaverse/wine/wine_9/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a57108bffae82a26c6793d933a185b8c85b67145
--- /dev/null
+++ b/objects/objaverse/wine/wine_9/collision/model_normalized_collision_9.obj
@@ -0,0 +1,135 @@
+# https://github.com/mikedh/trimesh
+v 0.09779759 -0.13786732 -0.42394240
+v 0.16461189 -0.05749071 -0.45305167
+v 0.13237490 0.02985511 -0.34116019
+v 0.09766257 0.13801407 -0.42406397
+v 0.10118595 -0.11489218 -0.47652025
+v 0.16455057 0.05785208 -0.45305003
+v 0.10226086 -0.10226107 -0.35682387
+v 0.13677798 -0.11218127 -0.45276414
+v 0.16349239 -0.02709379 -0.42502232
+v 0.13222964 0.10993826 -0.42698938
+v 0.10142299 0.11481492 -0.47620844
+v 0.15756776 0.01337421 -0.47401929
+v 0.10226492 0.10226512 -0.35686228
+v 0.09950745 0.11078589 -0.37619260
+v 0.14300474 -0.06952043 -0.47361406
+v 0.10028598 -0.14214336 -0.45527624
+v 0.13236466 -0.10964749 -0.42691641
+v 0.16344242 0.02745724 -0.42504534
+v 0.13243493 -0.02949334 -0.34115622
+v 0.14991138 0.06600178 -0.41100693
+v 0.13661341 0.11245358 -0.45276266
+v 0.16289942 0.02689085 -0.46547233
+v 0.10951251 0.13251143 -0.42703793
+v 0.09964862 -0.11064937 -0.37608219
+v 0.12224621 -0.12224630 -0.46286562
+v 0.14837959 -0.07920674 -0.46364509
+v 0.15782331 -0.01304541 -0.47386934
+v 0.11218132 -0.13677807 -0.45276414
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+v 0.14935036 -0.08044496 -0.42592509
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\ No newline at end of file
diff --git a/objects/objaverse/wine/wine_9/model.xml b/objects/objaverse/wine/wine_9/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..7041dc8ed2f165fa278d902bf775b46cfb7c963b
--- /dev/null
+++ b/objects/objaverse/wine/wine_9/model.xml
@@ -0,0 +1,81 @@
+<mujoco model="wine_5">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.16000000000000003 0.16000000000000003 0.16000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.16000000000000003 0.16000000000000003 0.16000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.16000000000000003 0.16000000000000003 0.16000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.16000000000000003 0.16000000000000003 0.16000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.16000000000000003 0.16000000000000003 0.16000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.16000000000000003 0.16000000000000003 0.16000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.16000000000000003 0.16000000000000003 0.16000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.16000000000000003 0.16000000000000003 0.16000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.16000000000000003 0.16000000000000003 0.16000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.16000000000000003 0.16000000000000003 0.16000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.16000000000000003 0.16000000000000003 0.16000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.16000000000000003 0.16000000000000003 0.16000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.16000000000000003 0.16000000000000003 0.16000000000000003" refquat="1.0 0.0 0.0 0.0"/>
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+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.16000000000000003 0.16000000000000003 0.16000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.16000000000000003 0.16000000000000003 0.16000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.16000000000000003 0.16000000000000003 0.16000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.16000000000000003 0.16000000000000003 0.16000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.16000000000000003 0.16000000000000003 0.16000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.16000000000000003 0.16000000000000003 0.16000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.16000000000000003 0.16000000000000003 0.16000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.16000000000000003 0.16000000000000003 0.16000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.16000000000000003 0.16000000000000003 0.16000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.16000000000000003 0.16000000000000003 0.16000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.16000000000000003 0.16000000000000003 0.16000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.16000000000000003 0.16000000000000003 0.16000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.16000000000000003 0.16000000000000003 0.16000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.16000000000000003 0.16000000000000003 0.16000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.16000000000000003 0.16000000000000003 0.16000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.16000000000000003 0.16000000000000003 0.16000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="standardSurface2SG" 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="standardSurface2SG"/>
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