diff --git a/objects/objaverse/cereal/.DS_Store b/objects/objaverse/cereal/.DS_Store
new file mode 100644
index 0000000000000000000000000000000000000000..3497354b12efb2ed9409baddd03b502d9da9335d
Binary files /dev/null and b/objects/objaverse/cereal/.DS_Store differ
diff --git a/objects/objaverse/cereal/cereal_2/collision/model_normalized_collision_0.obj b/objects/objaverse/cereal/cereal_2/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a4485398316ad337df7dc664bf30f0effa978b93
--- /dev/null
+++ b/objects/objaverse/cereal/cereal_2/collision/model_normalized_collision_0.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.30944100 -0.08404840 0.50000000
+v 0.30944100 -0.08404840 -0.50000000
+v 0.30944100 0.08404840 0.50000000
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+v -0.30944100 0.08404840 -0.50000000
+v 0.30944100 0.08404840 -0.50000000
+v -0.30944100 -0.08404840 -0.50000000
+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/cereal/cereal_2/model.xml b/objects/objaverse/cereal/cereal_2/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..aa13aa094bb5d538cc76cd728642d965d692bc1d
--- /dev/null
+++ b/objects/objaverse/cereal/cereal_2/model.xml
@@ -0,0 +1,18 @@
+<mujoco model="cereal_52">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865476 0.0 -0.0 -0.7071067811865476" />
+    <texture type="2d" name="image0" file="visual/image0.png" />
+    <material name="Cube.1" 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="Cube.1" />
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" group="0" rgba="0.8 0.8 0.8 0.0" size="0.014288227999999998 0.05260497 0.08499999999999999" pos="0.0 0.0 0.0" />
+      </body>
+      <site rgba="0 0 0 0" size="0.005" pos="0.0 0.0 -0.08499999999999999" name="bottom_site" />
+      <site rgba="0 0 0 0" size="0.005" pos="0.0 0.0 0.08499999999999999" name="top_site" />
+      <site rgba="0 0 0 0" size="0.005" pos="0.014288227999999998 0.05260497 0.0" name="horizontal_radius_site" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/objects/objaverse/cereal/cereal_2/visual/material.mtl b/objects/objaverse/cereal/cereal_2/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6b5d0f127cc1df2efd6b4835e0300358bb6dde72
--- /dev/null
+++ b/objects/objaverse/cereal/cereal_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/cereal/cereal_2/visual/model_normalized_0.obj b/objects/objaverse/cereal/cereal_2/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..31b0c85a2baad1c6b8a8d4ae74b690a175e6b45b
--- /dev/null
+++ b/objects/objaverse/cereal/cereal_2/visual/model_normalized_0.obj
@@ -0,0 +1,3381 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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+f 653/653/653 664/664/664 652/652/652
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+f 657/657/657 668/668/668 655/655/655
+f 658/658/658 669/669/669 657/657/657
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+f 669/669/669 680/680/680 668/668/668
+f 670/670/670 681/681/681 669/669/669
+f 671/671/671 682/682/682 670/670/670
+f 672/672/672 683/683/683 671/671/671
+f 673/673/673 684/684/684 672/672/672
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+f 695/695/695 706/706/706 694/694/694
+f 696/696/696 707/707/707 695/695/695
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+f 702/702/702 713/713/713 701/701/701
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+f 704/704/704 715/715/715 703/703/703
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+f 706/706/706 717/717/717 705/705/705
+f 707/707/707 718/718/718 706/706/706
+f 708/708/708 719/719/719 707/707/707
+f 709/709/709 720/720/720 708/708/708
\ No newline at end of file
diff --git a/objects/objaverse/chocolate/chocolate_1/collision/model_normalized_collision_0.obj b/objects/objaverse/chocolate/chocolate_1/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..209a2df378d8bb0fc35fd6e10e7e1fa5b8b287ee
--- /dev/null
+++ b/objects/objaverse/chocolate/chocolate_1/collision/model_normalized_collision_0.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.33333333 -0.09090906 0.01944446
+v -0.31060606 -0.09090906 -0.01944443
+v -0.32146464 0.10606064 0.00757574
+v -0.46212121 0.10185185 0.01944444
+v -0.46212121 -0.09090906 -0.01944443
+v -0.33333333 0.10185185 0.01944444
+v -0.32146462 -0.09090906 0.00757575
+v -0.46212121 -0.09090906 0.01944446
+v -0.46212121 0.10606064 -0.01944446
+v -0.31060606 0.10606064 -0.01944446
+v -0.48967452 0.01958473 0.01125140
+v -0.48148148 0.03030306 0.01944444
+v -0.48745793 0.03030306 0.01346799
+v -0.48462402 0.02463524 0.01630191
+f 6 3 4
+f 6 4 1
+f 7 6 1
+f 7 3 6
+f 7 5 2
+f 8 1 4
+f 8 7 1
+f 8 5 7
+f 9 4 3
+f 10 9 3
+f 10 2 5
+f 10 5 9
+f 10 7 2
+f 10 3 7
+f 11 9 5
+f 11 5 8
+f 12 8 4
+f 13 4 9
+f 13 9 11
+f 13 12 4
+f 13 11 12
+f 14 12 11
+f 14 11 8
+f 14 8 12
\ No newline at end of file
diff --git a/objects/objaverse/chocolate/chocolate_1/collision/model_normalized_collision_1.obj b/objects/objaverse/chocolate/chocolate_1/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..71c14cce1c51abe6ca3563e5a3ac8d9b1aa8a626
--- /dev/null
+++ b/objects/objaverse/chocolate/chocolate_1/collision/model_normalized_collision_1.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.31060606 0.12121215 -0.00092594
+v -0.31060606 0.12121216 -0.01944446
+v -0.31060606 0.25000003 -0.01944448
+v -0.49921437 0.24921441 0.00171154
+v -0.50000000 0.12037037 0.00092591
+v -0.33187429 0.23294056 0.01798539
+v -0.50000000 0.12121216 -0.01944446
+v -0.31672278 0.24809207 0.00283387
+v -0.33333333 0.15740741 0.01944443
+v -0.50000000 0.25000003 -0.01944448
+v -0.48406286 0.23406289 0.01686305
+v -0.48237934 0.15650954 0.01854656
+f 1 2 3
+f 5 2 1
+f 7 3 2
+f 7 2 5
+f 8 6 1
+f 8 1 3
+f 8 3 4
+f 9 5 1
+f 9 1 6
+f 10 7 5
+f 10 5 4
+f 10 4 3
+f 10 3 7
+f 11 8 4
+f 11 6 8
+f 12 9 6
+f 12 6 11
+f 12 5 9
+f 12 11 4
+f 12 4 5
\ No newline at end of file
diff --git a/objects/objaverse/chocolate/chocolate_1/collision/model_normalized_collision_10.obj b/objects/objaverse/chocolate/chocolate_1/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7b4c59a0f1bfccd738b80dc63cb951d960ce7a08
--- /dev/null
+++ b/objects/objaverse/chocolate/chocolate_1/collision/model_normalized_collision_10.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.49503369 -0.01515148 0.00589224
+v 0.50000000 -0.01515148 -0.01944444
+v 0.50000000 0.12121216 -0.01944446
+v 0.31060606 0.12121216 -0.01944446
+v 0.31060606 -0.01515148 -0.01944444
+v 0.33333333 0.10185185 0.01944444
+v 0.49696971 0.11734008 0.00395620
+v 0.32121210 -0.01565654 0.00732321
+v 0.48181820 0.10218857 0.01910772
+v 0.31896744 0.11621775 0.00507853
+v 0.48462402 0.02463524 0.01630191
+v 0.33131313 0.02575757 0.01742424
+f 5 3 2
+f 5 4 3
+f 7 1 2
+f 7 2 3
+f 7 3 4
+f 8 5 2
+f 8 2 1
+f 9 7 6
+f 9 1 7
+f 10 7 4
+f 10 6 7
+f 10 8 6
+f 10 4 5
+f 10 5 8
+f 11 8 1
+f 11 1 9
+f 12 11 9
+f 12 9 6
+f 12 6 8
+f 12 8 11
\ No newline at end of file
diff --git a/objects/objaverse/chocolate/chocolate_1/collision/model_normalized_collision_11.obj b/objects/objaverse/chocolate/chocolate_1/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc76383823a8284cccce678363deb603c8fc223f
--- /dev/null
+++ b/objects/objaverse/chocolate/chocolate_1/collision/model_normalized_collision_11.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v -0.31060606 -0.13636360 -0.00092591
+v -0.31060606 -0.13636360 -0.01944442
+v -0.31060606 -0.09090906 -0.01944443
+v -0.48745794 -0.09090906 0.01346800
+v -0.46212121 -0.13888891 0.00092594
+v -0.33333333 -0.09090906 0.01944446
+v -0.46212121 -0.13636360 -0.01944442
+v -0.32146462 -0.09090906 0.00757575
+v -0.33333333 -0.10185187 0.01944446
+v -0.48745794 -0.10606057 0.01346800
+v -0.46212121 -0.09090906 -0.01944443
+v -0.48148148 -0.09090906 0.01944446
+v -0.48181818 -0.10218857 0.01910776
+f 1 2 3
+f 5 2 1
+f 6 3 4
+f 7 2 5
+f 8 6 1
+f 8 1 3
+f 8 3 6
+f 9 5 1
+f 9 1 6
+f 10 7 5
+f 11 4 3
+f 11 3 2
+f 11 2 7
+f 11 10 4
+f 11 7 10
+f 12 9 6
+f 12 6 4
+f 13 10 5
+f 13 5 9
+f 13 9 12
+f 13 12 4
+f 13 4 10
\ No newline at end of file
diff --git a/objects/objaverse/chocolate/chocolate_1/collision/model_normalized_collision_12.obj b/objects/objaverse/chocolate/chocolate_1/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8f8da4b0d7ab09ecc1ce790452f2091c1480fc02
--- /dev/null
+++ b/objects/objaverse/chocolate/chocolate_1/collision/model_normalized_collision_12.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.50000000 -0.13888891 0.00092594
+v 0.50000000 -0.13636360 -0.01944442
+v 0.50000000 -0.01515148 -0.01944444
+v 0.32626260 -0.02070705 0.01237371
+v 0.34090909 -0.13888891 0.00092594
+v 0.48462404 -0.02463522 0.01630188
+v 0.34090909 -0.01515148 -0.01944444
+v 0.49503369 -0.01515148 0.00589224
+v 0.33333333 -0.10185187 0.01944446
+v 0.34090909 -0.13636360 -0.01944442
+v 0.48181818 -0.10218857 0.01910776
+v 0.33131311 -0.02575755 0.01742422
+v 0.32904038 -0.10606057 0.01515151
+f 1 2 3
+f 5 2 1
+f 7 3 2
+f 8 1 3
+f 8 4 6
+f 8 7 4
+f 8 3 7
+f 9 5 1
+f 10 7 2
+f 10 2 5
+f 10 4 7
+f 11 9 1
+f 11 8 6
+f 11 1 8
+f 12 6 4
+f 12 4 9
+f 12 11 6
+f 12 9 11
+f 13 9 4
+f 13 4 10
+f 13 10 5
+f 13 5 9
\ No newline at end of file
diff --git a/objects/objaverse/chocolate/chocolate_1/collision/model_normalized_collision_13.obj b/objects/objaverse/chocolate/chocolate_1/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..836bd71ec8dafa0c282305dc2751c4836b6f5c3e
--- /dev/null
+++ b/objects/objaverse/chocolate/chocolate_1/collision/model_normalized_collision_13.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.50000000 0.12037037 0.00092591
+v 0.50000000 0.12121216 -0.01944446
+v 0.50000000 0.19696973 -0.01944447
+v 0.32146464 0.19696973 0.00757573
+v 0.31060606 0.12121216 -0.01944446
+v 0.46212121 0.19696973 0.01944443
+v 0.34090909 0.16666670 0.01944443
+v 0.31060606 0.19696973 -0.01944447
+v 0.49503368 0.19696973 0.00589223
+v 0.31060606 0.12121215 -0.00092594
+v 0.34090909 0.19696973 0.01944443
+v 0.46212121 0.16666670 0.01944443
+v 0.49753086 0.14135803 0.00339505
+f 1 2 3
+f 5 2 1
+f 5 3 2
+f 8 3 5
+f 8 6 3
+f 9 1 3
+f 9 3 6
+f 10 5 1
+f 10 1 7
+f 10 7 4
+f 10 8 5
+f 10 4 8
+f 11 7 6
+f 11 4 7
+f 11 8 4
+f 11 6 8
+f 12 7 1
+f 12 6 7
+f 12 9 6
+f 13 12 1
+f 13 1 9
+f 13 9 12
\ No newline at end of file
diff --git a/objects/objaverse/chocolate/chocolate_1/collision/model_normalized_collision_14.obj b/objects/objaverse/chocolate/chocolate_1/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8399daff9abbc7eceee5dfd734663b5ad6d180fc
--- /dev/null
+++ b/objects/objaverse/chocolate/chocolate_1/collision/model_normalized_collision_14.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.31060606 -0.13636360 -0.00092591
+v 0.31060606 -0.13636360 -0.01944442
+v 0.31060606 -0.09090906 -0.01944443
+v 0.12112792 -0.09090906 0.01094275
+v 0.12878788 -0.13888891 0.00092594
+v 0.27777778 -0.09090906 0.01944446
+v 0.12878788 -0.13636360 -0.01944442
+v 0.31060606 -0.09090906 -0.00092591
+v 0.27777778 -0.10185187 0.01944446
+v 0.12112792 -0.10606057 0.01094275
+v 0.12878788 -0.09090906 -0.01944443
+v 0.12870368 -0.09090906 0.01851851
+v 0.12760943 -0.10387207 0.01742426
+f 1 2 3
+f 5 2 1
+f 7 3 2
+f 7 2 5
+f 8 1 3
+f 8 3 4
+f 8 4 6
+f 9 5 1
+f 9 8 6
+f 9 1 8
+f 10 7 5
+f 11 4 3
+f 11 3 7
+f 11 10 4
+f 11 7 10
+f 12 9 6
+f 12 6 4
+f 13 10 5
+f 13 5 9
+f 13 9 12
+f 13 12 4
+f 13 4 10
\ No newline at end of file
diff --git a/objects/objaverse/chocolate/chocolate_1/collision/model_normalized_collision_15.obj b/objects/objaverse/chocolate/chocolate_1/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b9bdf451bdc6da63394d7e91c4859b403cc93b45
--- /dev/null
+++ b/objects/objaverse/chocolate/chocolate_1/collision/model_normalized_collision_15.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.07946127 0.15202021 0.01405723
+v 0.07441077 0.15707071 0.01910773
+v -0.07946127 0.15202021 0.01405723
+v -0.08114479 0.23855223 0.01237371
+v 0.08114479 0.23855223 0.01237371
+v -0.07441077 0.15707071 0.01910773
+v 0.07609428 0.23350172 0.01742422
+v -0.07609428 0.23350172 0.01742422
+f 1 2 3
+f 1 3 4
+f 5 1 4
+f 6 3 2
+f 6 4 3
+f 7 6 2
+f 7 2 1
+f 7 1 5
+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/chocolate/chocolate_1/collision/model_normalized_collision_16.obj b/objects/objaverse/chocolate/chocolate_1/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..87b610c5803853db5d796987bd9fbe79e26af5ad
--- /dev/null
+++ b/objects/objaverse/chocolate/chocolate_1/collision/model_normalized_collision_16.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.31672278 -0.24809207 0.00283393
+v -0.31060606 -0.25000004 -0.01944441
+v -0.31060606 -0.13636360 -0.01944442
+v -0.50000000 -0.13636360 -0.01944442
+v -0.50000000 -0.25000004 -0.01944441
+v -0.33333333 -0.15740743 0.01944446
+v -0.49921437 -0.24921440 0.00171160
+v -0.31840625 -0.14248034 0.00451738
+v -0.33187430 -0.23294055 0.01798544
+v -0.48237938 -0.15650952 0.01854656
+v -0.49753090 -0.14135801 0.00339504
+v -0.48406285 -0.23406289 0.01686311
+f 1 2 3
+f 5 3 2
+f 5 4 3
+f 7 5 2
+f 7 2 1
+f 7 4 5
+f 8 1 3
+f 9 8 6
+f 9 1 8
+f 10 9 6
+f 11 8 3
+f 11 3 4
+f 11 4 7
+f 11 10 6
+f 11 6 8
+f 12 9 10
+f 12 7 1
+f 12 1 9
+f 12 11 7
+f 12 10 11
\ No newline at end of file
diff --git a/objects/objaverse/chocolate/chocolate_1/collision/model_normalized_collision_17.obj b/objects/objaverse/chocolate/chocolate_1/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e3bbc716d6b2ae39a3507dc88148605a30fa49e
--- /dev/null
+++ b/objects/objaverse/chocolate/chocolate_1/collision/model_normalized_collision_17.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.48745792 0.15151519 0.01346799
+v 0.48237934 0.15650954 0.01854656
+v 0.32850730 0.15258137 0.01461839
+v 0.32682379 0.23799106 0.01293488
+v 0.48911336 0.23911340 0.01181255
+v 0.33187429 0.23294056 0.01798539
+v 0.33333333 0.15740741 0.01944443
+v 0.48406286 0.23406289 0.01686305
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 5 1 4
+f 6 5 4
+f 7 3 2
+f 7 2 6
+f 7 6 4
+f 7 4 3
+f 8 6 2
+f 8 2 5
+f 8 5 6
\ No newline at end of file
diff --git a/objects/objaverse/chocolate/chocolate_1/collision/model_normalized_collision_18.obj b/objects/objaverse/chocolate/chocolate_1/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d5e8f40f8917fb60ae816a0b1dda5e5a33af579
--- /dev/null
+++ b/objects/objaverse/chocolate/chocolate_1/collision/model_normalized_collision_18.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.26515152 -0.21212118 0.01944448
+v 0.26515152 -0.21212118 -0.01944441
+v 0.26515152 -0.13636360 -0.01944442
+v 0.12878788 -0.13636360 -0.01944442
+v 0.12112791 -0.21212118 0.01094276
+v 0.26515152 -0.15740743 0.01944446
+v 0.12878788 -0.21212118 -0.01944441
+v 0.26515152 -0.14638044 0.00841747
+v 0.12870367 -0.21212118 0.01851851
+v 0.12704822 -0.15482602 0.01686306
+v 0.12878788 -0.14638044 0.00841747
+v 0.12112792 -0.15151512 0.01094275
+f 1 2 3
+f 6 1 3
+f 7 5 4
+f 7 3 2
+f 7 4 3
+f 8 6 3
+f 8 3 4
+f 9 1 6
+f 9 5 7
+f 9 7 2
+f 9 2 1
+f 10 6 8
+f 10 9 6
+f 11 10 8
+f 11 8 4
+f 12 4 5
+f 12 5 9
+f 12 9 10
+f 12 11 4
+f 12 10 11
\ No newline at end of file
diff --git a/objects/objaverse/chocolate/chocolate_1/collision/model_normalized_collision_19.obj b/objects/objaverse/chocolate/chocolate_1/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8e2bdb4169c41a2f1374025607a13bcaf93bf12b
--- /dev/null
+++ b/objects/objaverse/chocolate/chocolate_1/collision/model_normalized_collision_19.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.26515152 0.10446131 0.01683498
+v 0.26515152 0.10606064 -0.01944446
+v 0.26515152 0.12121216 -0.01944446
+v -0.49696971 0.11734008 0.00395620
+v -0.50000000 0.10606064 -0.01944446
+v 0.26515152 0.11203706 0.00925922
+v -0.49503368 0.10606064 0.00589224
+v -0.50000000 0.12121216 -0.01944446
+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 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/chocolate/chocolate_1/collision/model_normalized_collision_2.obj b/objects/objaverse/chocolate/chocolate_1/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8e316065193f0d3266b256fc8fc6b04fadedf91
--- /dev/null
+++ b/objects/objaverse/chocolate/chocolate_1/collision/model_normalized_collision_2.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.26515152 -0.24503371 0.00589229
+v 0.28030303 -0.23745795 0.01346805
+v -0.07609428 -0.23350172 0.01742428
+v -0.08678455 -0.21212118 0.00673400
+v 0.26515152 -0.21212118 -0.01944441
+v 0.27777778 -0.21212118 0.01944448
+v 0.26515152 -0.25000004 -0.01944441
+v 0.27777778 -0.23148152 0.01944448
+v -0.07407407 -0.21212118 0.01944448
+v 0.27954549 -0.21212118 0.01767676
+v -0.09124579 -0.24865324 0.00227276
+v -0.09848485 -0.21212118 -0.01944441
+v -0.09848485 -0.25000004 -0.01944441
+f 1 2 3
+f 7 5 2
+f 7 2 1
+f 8 3 2
+f 9 4 3
+f 9 8 6
+f 9 3 8
+f 10 2 5
+f 10 9 6
+f 10 8 2
+f 10 6 8
+f 11 7 1
+f 11 1 3
+f 11 3 4
+f 12 11 4
+f 12 5 7
+f 12 10 5
+f 12 4 9
+f 12 9 10
+f 13 12 7
+f 13 7 11
+f 13 11 12
\ No newline at end of file
diff --git a/objects/objaverse/chocolate/chocolate_1/collision/model_normalized_collision_20.obj b/objects/objaverse/chocolate/chocolate_1/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e9e9b279ce070014a50db6e349eaa14d7024da6
--- /dev/null
+++ b/objects/objaverse/chocolate/chocolate_1/collision/model_normalized_collision_20.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.11363636 -0.13888891 0.00092594
+v -0.11363636 -0.13636360 -0.01944442
+v -0.11363636 -0.01515148 -0.01944444
+v -0.28030303 -0.01515148 -0.01944444
+v -0.28030303 -0.13888891 0.00092594
+v -0.27811450 -0.02744106 0.01910772
+v -0.28030303 -0.13636360 -0.01944442
+v -0.12480357 -0.02295172 0.01461838
+v -0.27777778 -0.10185187 0.01944446
+v -0.12760943 -0.10387207 0.01742426
+f 1 2 3
+f 5 2 1
+f 6 4 5
+f 7 5 4
+f 7 2 5
+f 7 3 2
+f 7 4 3
+f 8 1 3
+f 8 3 4
+f 8 4 6
+f 9 6 5
+f 9 5 1
+f 10 8 6
+f 10 6 9
+f 10 9 1
+f 10 1 8
\ No newline at end of file
diff --git a/objects/objaverse/chocolate/chocolate_1/collision/model_normalized_collision_21.obj b/objects/objaverse/chocolate/chocolate_1/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4ba3a2166e351808f0e143cf05a86f1f96581c5b
--- /dev/null
+++ b/objects/objaverse/chocolate/chocolate_1/collision/model_normalized_collision_21.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.09124579 -0.24865324 0.00227276
+v -0.09848485 -0.25000004 -0.01944441
+v -0.09848485 -0.15151512 -0.01944442
+v -0.27777778 -0.15740743 0.01944446
+v -0.28030303 -0.24503371 0.00589229
+v -0.12704822 -0.15482602 0.01686306
+v -0.08678454 -0.15151512 0.00673400
+v -0.28030303 -0.25000004 -0.01944441
+v -0.27777778 -0.23148152 0.01944448
+v -0.12536476 -0.23574639 0.01517961
+v -0.28030303 -0.15151512 -0.01944442
+f 7 1 2
+f 7 2 3
+f 7 4 6
+f 8 2 1
+f 8 1 5
+f 8 3 2
+f 9 4 5
+f 9 6 4
+f 10 7 6
+f 10 1 7
+f 10 6 9
+f 10 9 5
+f 10 5 1
+f 11 7 3
+f 11 4 7
+f 11 3 8
+f 11 8 5
+f 11 5 4
\ No newline at end of file
diff --git a/objects/objaverse/chocolate/chocolate_1/collision/model_normalized_collision_22.obj b/objects/objaverse/chocolate/chocolate_1/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..75671737356cd7d92bc5df60de3a9c1064db4c85
--- /dev/null
+++ b/objects/objaverse/chocolate/chocolate_1/collision/model_normalized_collision_22.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.31060606 -0.25000004 -0.00092589
+v 0.31060606 -0.25000004 -0.01944441
+v 0.31060606 -0.13636360 -0.01944442
+v 0.26515152 -0.13636360 -0.01944442
+v 0.26515152 -0.25000004 -0.01944441
+v 0.27777778 -0.15740743 0.01944446
+v 0.31060606 -0.13636360 -0.00092591
+v 0.26515152 -0.21212118 0.01944448
+v 0.26515152 -0.14638044 0.00841747
+v 0.26515152 -0.24503371 0.00589229
+v 0.27777778 -0.21212118 0.01944448
+v 0.26515152 -0.15740743 0.01944446
+v 0.29270483 -0.24640857 0.00451743
+f 1 2 3
+f 3 2 4
+f 5 2 1
+f 5 4 2
+f 7 1 3
+f 7 3 4
+f 9 7 4
+f 9 4 5
+f 9 5 8
+f 10 8 5
+f 10 5 1
+f 11 6 8
+f 11 7 6
+f 11 1 7
+f 11 8 10
+f 12 6 7
+f 12 7 9
+f 12 9 8
+f 12 8 6
+f 13 11 10
+f 13 10 1
+f 13 1 11
\ No newline at end of file
diff --git a/objects/objaverse/chocolate/chocolate_1/collision/model_normalized_collision_23.obj b/objects/objaverse/chocolate/chocolate_1/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3fbc88f44baae9512a7c2350b53cddfe2958ad1b
--- /dev/null
+++ b/objects/objaverse/chocolate/chocolate_1/collision/model_normalized_collision_23.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.07407407 -0.21212118 0.01944448
+v 0.08333333 -0.21212118 -0.01944441
+v 0.08333333 -0.15151512 -0.01944442
+v -0.08678454 -0.15151512 0.00673400
+v -0.09848485 -0.21212118 -0.01944441
+v 0.07441081 -0.15707069 0.01910773
+v -0.07407407 -0.21212118 0.01944448
+v -0.09848485 -0.15151512 -0.01944442
+v -0.08678455 -0.21212118 0.00673400
+v -0.07441081 -0.15707069 0.01910773
+f 5 3 2
+f 6 3 4
+f 6 1 2
+f 6 2 3
+f 8 4 3
+f 8 3 5
+f 9 7 4
+f 9 1 7
+f 9 5 2
+f 9 2 1
+f 9 8 5
+f 9 4 8
+f 10 6 4
+f 10 4 7
+f 10 7 1
+f 10 1 6
\ No newline at end of file
diff --git a/objects/objaverse/chocolate/chocolate_1/collision/model_normalized_collision_24.obj b/objects/objaverse/chocolate/chocolate_1/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad577fc0a088eeccb8e1dc75765f7740274d481d
--- /dev/null
+++ b/objects/objaverse/chocolate/chocolate_1/collision/model_normalized_collision_24.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.49503368 0.19696973 0.00589223
+v 0.50000000 0.19696973 -0.01944447
+v 0.50000000 0.25000003 -0.01944448
+v -0.28030303 0.24503371 0.00589223
+v -0.28030303 0.19696973 -0.01944447
+v 0.49921437 0.24921441 0.00171154
+v -0.27954546 0.19696973 0.01767674
+v -0.28030303 0.25000003 -0.01944448
+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/chocolate/chocolate_1/collision/model_normalized_collision_25.obj b/objects/objaverse/chocolate/chocolate_1/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e5c4bcdffec68cfdf0783e75538611187eed2859
--- /dev/null
+++ b/objects/objaverse/chocolate/chocolate_1/collision/model_normalized_collision_25.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.12870367 -0.21212118 0.01851852
+v 0.12878788 -0.21212118 -0.01944441
+v 0.12878788 0.10606064 -0.01944446
+v 0.07920877 0.10606064 0.01430975
+v 0.07920879 -0.21212118 0.01430976
+v 0.12878788 0.10446131 0.01683498
+v 0.08333333 0.10606064 -0.01944446
+v 0.08333333 -0.21212118 -0.01944441
+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 4 3
+f 8 7 2
+f 8 2 5
+f 8 5 4
+f 8 4 7
\ No newline at end of file
diff --git a/objects/objaverse/chocolate/chocolate_1/collision/model_normalized_collision_26.obj b/objects/objaverse/chocolate/chocolate_1/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f09dead887e4d2b4cc60e68c3ae261bac3951b7
--- /dev/null
+++ b/objects/objaverse/chocolate/chocolate_1/collision/model_normalized_collision_26.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.31060606 -0.09090906 -0.00092591
+v 0.31060606 -0.09090906 -0.01944443
+v 0.31060606 0.19696973 -0.00092595
+v 0.26515152 0.19696973 0.01944443
+v 0.26515152 -0.09090906 -0.01944443
+v 0.28712122 0.19696973 0.01010098
+v 0.26515152 -0.09090906 0.01944446
+v 0.26515152 0.19696973 -0.01944447
+v 0.28712124 -0.09090906 0.01010100
+v 0.31060606 0.19696973 -0.01944447
+f 1 2 3
+f 6 1 3
+f 7 4 5
+f 7 6 4
+f 8 2 5
+f 8 5 4
+f 9 1 6
+f 9 6 7
+f 9 7 5
+f 9 5 2
+f 9 2 1
+f 10 3 2
+f 10 2 8
+f 10 6 3
+f 10 8 4
+f 10 4 6
\ No newline at end of file
diff --git a/objects/objaverse/chocolate/chocolate_1/collision/model_normalized_collision_27.obj b/objects/objaverse/chocolate/chocolate_1/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..95ff428cdd2971a27ce67ea8a8e4baeb88cdafa8
--- /dev/null
+++ b/objects/objaverse/chocolate/chocolate_1/collision/model_normalized_collision_27.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.28030303 -0.24503371 0.00589229
+v -0.28030303 -0.25000004 -0.01944441
+v -0.28030303 -0.01515148 -0.01944444
+v -0.31060606 -0.01515148 -0.00092593
+v -0.31060606 -0.25000004 -0.00092589
+v -0.31060606 -0.01515148 -0.01944444
+v -0.28030303 -0.02095956 0.01262623
+v -0.31060606 -0.25000004 -0.01944441
+v -0.28821551 -0.01734004 0.00900671
+v -0.29270483 -0.24640857 0.00451743
+f 1 2 3
+f 5 2 1
+f 6 3 2
+f 6 4 3
+f 6 5 4
+f 7 1 3
+f 7 4 5
+f 8 6 2
+f 8 2 5
+f 8 5 6
+f 9 7 3
+f 9 3 4
+f 9 4 7
+f 10 7 5
+f 10 5 1
+f 10 1 7
\ No newline at end of file
diff --git a/objects/objaverse/chocolate/chocolate_1/collision/model_normalized_collision_28.obj b/objects/objaverse/chocolate/chocolate_1/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da0da162626b40dc6c99a40999f127ba231d06a5
--- /dev/null
+++ b/objects/objaverse/chocolate/chocolate_1/collision/model_normalized_collision_28.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.27954547 0.03030306 0.01767675
+v -0.28030303 0.03030307 -0.01944445
+v -0.28030303 0.25000003 -0.01944448
+v -0.31060606 0.25000003 -0.00092596
+v -0.31060606 0.03030306 -0.00092593
+v -0.31060606 0.06060610 -0.01944445
+v -0.28030303 0.24503371 0.00589223
+v -0.31060606 0.25000003 -0.01944448
+v -0.31060606 0.03030307 -0.01944445
+v -0.29270483 0.24640857 0.00451737
+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 8 4 3
+f 8 3 6
+f 8 5 4
+f 9 6 2
+f 9 2 5
+f 9 8 6
+f 9 5 8
+f 10 7 4
+f 10 4 1
+f 10 1 7
\ No newline at end of file
diff --git a/objects/objaverse/chocolate/chocolate_1/collision/model_normalized_collision_29.obj b/objects/objaverse/chocolate/chocolate_1/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1cd8fcd4e0a59911f50244b88fe08b8d624e162b
--- /dev/null
+++ b/objects/objaverse/chocolate/chocolate_1/collision/model_normalized_collision_29.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.07946132 -0.15202019 0.01405722
+v 0.08333333 -0.15151512 -0.01944442
+v 0.08333333 -0.13636360 -0.01944442
+v -0.28030303 -0.13636360 -0.01944442
+v -0.28030303 -0.15395619 0.01599323
+v 0.08333333 -0.13888891 0.00092594
+v -0.28030303 -0.15151512 -0.01944442
+v -0.28030303 -0.14638044 0.00841747
+v 0.08333333 -0.14638044 0.00841747
+f 3 2 4
+f 5 2 1
+f 6 3 4
+f 6 2 3
+f 7 4 2
+f 7 2 5
+f 8 6 4
+f 8 5 6
+f 8 7 5
+f 8 4 7
+f 9 1 2
+f 9 2 6
+f 9 6 5
+f 9 5 1
\ No newline at end of file
diff --git a/objects/objaverse/chocolate/chocolate_1/collision/model_normalized_collision_3.obj b/objects/objaverse/chocolate/chocolate_1/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2511e15d71617e61e4c7effa53c89ce6a6505d13
--- /dev/null
+++ b/objects/objaverse/chocolate/chocolate_1/collision/model_normalized_collision_3.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.08333333 -0.13888891 0.00092594
+v 0.08333333 -0.13636360 -0.01944442
+v 0.08333333 0.10606064 -0.01944446
+v -0.12112793 0.10606064 0.01094274
+v -0.11363636 -0.13888891 0.00092594
+v 0.07407407 0.10185185 0.01944444
+v -0.11363636 0.10606064 -0.01944446
+v -0.07407407 -0.10185187 0.01944446
+v -0.11363636 -0.13636360 -0.01944442
+v 0.07407407 -0.10185187 0.01944446
+v -0.07407407 0.10185185 0.01944444
+v -0.11750842 -0.11397308 0.00732325
+f 1 2 3
+f 5 2 1
+f 6 1 3
+f 6 3 4
+f 7 3 2
+f 7 4 3
+f 8 5 1
+f 9 7 2
+f 9 2 5
+f 9 4 7
+f 10 8 1
+f 10 1 6
+f 10 6 8
+f 11 8 6
+f 11 6 4
+f 11 4 8
+f 12 8 4
+f 12 5 8
+f 12 9 5
+f 12 4 9
\ No newline at end of file
diff --git a/objects/objaverse/chocolate/chocolate_1/collision/model_normalized_collision_30.obj b/objects/objaverse/chocolate/chocolate_1/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fec8557bafbd0c66907e0d60d4b12687dcbdcd9f
--- /dev/null
+++ b/objects/objaverse/chocolate/chocolate_1/collision/model_normalized_collision_30.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.27777778 0.19696973 0.01944443
+v 0.27954546 0.19696973 0.01767674
+v 0.28030303 0.23745796 0.01346799
+v 0.12031425 0.24079690 0.01012904
+v 0.12112794 0.19696973 0.01094273
+v 0.27777778 0.23148152 0.01944443
+v 0.12870369 0.19696973 0.01851849
+v 0.12536475 0.23574639 0.01517955
+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 1 6
+f 8 7 6
+f 8 6 4
+f 8 4 5
+f 8 5 7
\ No newline at end of file
diff --git a/objects/objaverse/chocolate/chocolate_1/collision/model_normalized_collision_31.obj b/objects/objaverse/chocolate/chocolate_1/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f610dae26bba77db85a82ca234d119d1936be7a
--- /dev/null
+++ b/objects/objaverse/chocolate/chocolate_1/collision/model_normalized_collision_31.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.12870369 0.19696973 0.01851849
+v -0.12112794 0.19696973 0.01094273
+v -0.12031425 0.24079690 0.01012904
+v -0.28030303 0.23745796 0.01346799
+v -0.27954546 0.19696973 0.01767674
+v -0.27777778 0.23148152 0.01944443
+v -0.12536475 0.23574639 0.01517955
+v -0.27777778 0.19696973 0.01944443
+f 3 2 4
+f 5 4 2
+f 6 4 5
+f 7 6 1
+f 7 3 4
+f 7 4 6
+f 7 1 2
+f 7 2 3
+f 8 6 5
+f 8 1 6
+f 8 5 2
+f 8 2 1
\ No newline at end of file
diff --git a/objects/objaverse/chocolate/chocolate_1/collision/model_normalized_collision_4.obj b/objects/objaverse/chocolate/chocolate_1/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5431e453ab47013af310a29dc0196c8f4038de14
--- /dev/null
+++ b/objects/objaverse/chocolate/chocolate_1/collision/model_normalized_collision_4.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.49921437 -0.24921440 0.00171160
+v 0.50000000 -0.25000004 -0.01944441
+v 0.50000000 -0.13636360 -0.01944442
+v 0.34090909 -0.13636360 -0.01944442
+v 0.31060606 -0.25000004 -0.01944441
+v 0.34090909 -0.15740743 0.01944446
+v 0.48237938 -0.15650952 0.01854656
+v 0.34090909 -0.23148152 0.01944448
+v 0.31060606 -0.21212118 -0.01944441
+v 0.49753090 -0.14135801 0.00339504
+v 0.31672278 -0.24809207 0.00283393
+v 0.48406285 -0.23406289 0.01686311
+v 0.34090909 -0.14638044 0.00841747
+v 0.32146461 -0.21212118 0.00757575
+f 1 2 3
+f 3 2 4
+f 5 2 1
+f 5 4 2
+f 8 7 6
+f 9 4 5
+f 10 1 3
+f 10 3 4
+f 10 6 7
+f 11 5 1
+f 11 9 5
+f 12 7 8
+f 12 10 7
+f 12 1 10
+f 12 11 1
+f 12 8 11
+f 13 9 6
+f 13 4 9
+f 13 10 4
+f 13 6 10
+f 14 11 8
+f 14 8 6
+f 14 6 9
+f 14 9 11
\ No newline at end of file
diff --git a/objects/objaverse/chocolate/chocolate_1/collision/model_normalized_collision_5.obj b/objects/objaverse/chocolate/chocolate_1/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f4c3aac4ae0db37dd1c5c9d269d56510e1f4f9bb
--- /dev/null
+++ b/objects/objaverse/chocolate/chocolate_1/collision/model_normalized_collision_5.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v -0.11975306 -0.01790121 0.00956788
+v -0.11363636 -0.01515148 -0.01944444
+v -0.11363636 0.10606064 -0.01944446
+v -0.27777778 0.10185185 0.01944444
+v -0.31060606 -0.01515148 -0.01944444
+v -0.12760941 0.10387207 0.01742422
+v -0.28821551 -0.01734004 0.00900671
+v -0.28030303 0.10606064 -0.01944446
+v -0.27811448 0.02744108 0.01910774
+v -0.31060606 0.03030306 -0.00092593
+v -0.12480359 0.02295174 0.01461841
+v -0.31060606 -0.01515148 -0.00092593
+v -0.31060606 0.03030307 -0.01944445
+f 1 2 3
+f 5 2 1
+f 6 1 3
+f 7 5 1
+f 8 3 2
+f 8 2 5
+f 8 6 3
+f 8 4 6
+f 9 6 4
+f 9 7 1
+f 10 4 8
+f 11 9 1
+f 11 1 6
+f 11 6 9
+f 12 10 5
+f 12 5 7
+f 12 7 9
+f 12 9 4
+f 12 4 10
+f 13 10 8
+f 13 8 5
+f 13 5 10
\ No newline at end of file
diff --git a/objects/objaverse/chocolate/chocolate_1/collision/model_normalized_collision_6.obj b/objects/objaverse/chocolate/chocolate_1/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..466d5e4a468f4792376723ec18cfc546a09a618a
--- /dev/null
+++ b/objects/objaverse/chocolate/chocolate_1/collision/model_normalized_collision_6.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.26515152 0.11961282 0.00168346
+v 0.28030303 0.15395624 0.01599326
+v -0.27777778 0.15740741 0.01944443
+v -0.27777778 0.19696973 0.01944443
+v 0.26515152 0.19696973 -0.01944447
+v 0.27777778 0.15740741 0.01944443
+v 0.26515152 0.12121216 -0.01944446
+v -0.28030303 0.19696973 -0.01944447
+v 0.27777778 0.19696973 0.01944443
+v -0.28030303 0.12121216 -0.01944446
+v 0.27954546 0.19696973 0.01767674
+v -0.28030303 0.11961282 0.00168346
+f 6 4 3
+f 6 1 2
+f 6 3 1
+f 7 5 2
+f 7 2 1
+f 8 4 5
+f 9 5 4
+f 9 4 6
+f 10 7 1
+f 10 8 5
+f 10 5 7
+f 11 9 6
+f 11 6 2
+f 11 2 5
+f 11 5 9
+f 12 10 1
+f 12 1 3
+f 12 3 4
+f 12 4 8
+f 12 8 10
\ No newline at end of file
diff --git a/objects/objaverse/chocolate/chocolate_1/collision/model_normalized_collision_7.obj b/objects/objaverse/chocolate/chocolate_1/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a6c56f00884f9a78c09ee004c939dee6ac891d39
--- /dev/null
+++ b/objects/objaverse/chocolate/chocolate_1/collision/model_normalized_collision_7.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.46212121 -0.13888891 0.00092594
+v -0.46212121 -0.13636360 -0.01944442
+v -0.46212121 0.10185185 0.01944444
+v -0.49503368 0.10606064 0.00589224
+v -0.50000000 -0.13888891 0.00092594
+v -0.46212121 0.10606064 -0.01944446
+v -0.48148148 -0.09090906 0.01944446
+v -0.50000000 0.10606064 -0.01944446
+v -0.46212121 -0.09090906 0.01944446
+v -0.48181820 0.10218857 0.01910772
+v -0.50000000 -0.13636360 -0.01944442
+f 5 2 1
+f 6 3 2
+f 6 4 3
+f 8 5 4
+f 8 4 6
+f 8 6 2
+f 9 3 7
+f 9 1 2
+f 9 2 3
+f 9 7 5
+f 9 5 1
+f 10 7 3
+f 10 3 4
+f 10 4 5
+f 10 5 7
+f 11 8 2
+f 11 2 5
+f 11 5 8
\ No newline at end of file
diff --git a/objects/objaverse/chocolate/chocolate_1/collision/model_normalized_collision_8.obj b/objects/objaverse/chocolate/chocolate_1/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b44983683ebf6f462355af3d27e66c26494b598e
--- /dev/null
+++ b/objects/objaverse/chocolate/chocolate_1/collision/model_normalized_collision_8.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.27777778 -0.09090906 0.01944446
+v 0.12112794 0.10606064 0.01094274
+v 0.26515152 0.10606064 -0.01944446
+v 0.12760941 0.10387207 0.01742422
+v 0.12112792 -0.09090906 0.01094275
+v 0.28030303 0.10446131 0.01683498
+v 0.12870368 -0.09090906 0.01851851
+v 0.12878788 0.10606064 -0.01944446
+v 0.26515152 -0.09090906 -0.01944443
+v 0.27777778 0.10185185 0.01944444
+v 0.27954548 -0.09090906 0.01767676
+v 0.12878788 -0.09090906 -0.01944443
+f 5 4 2
+f 6 3 2
+f 6 2 4
+f 7 4 5
+f 8 5 2
+f 8 2 3
+f 9 1 7
+f 9 3 6
+f 9 8 3
+f 10 6 4
+f 10 7 1
+f 10 4 7
+f 11 9 6
+f 11 1 9
+f 11 10 1
+f 11 6 10
+f 12 5 8
+f 12 8 9
+f 12 9 7
+f 12 7 5
\ No newline at end of file
diff --git a/objects/objaverse/chocolate/chocolate_1/collision/model_normalized_collision_9.obj b/objects/objaverse/chocolate/chocolate_1/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..08544042d48d0e0597a7d0438af84036835de73f
--- /dev/null
+++ b/objects/objaverse/chocolate/chocolate_1/collision/model_normalized_collision_9.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.34090909 -0.23745795 0.01346805
+v 0.34090909 -0.21212118 -0.01944441
+v 0.34090909 -0.02095956 0.01262623
+v 0.32121210 -0.01565654 0.00732321
+v 0.31060606 -0.21212118 -0.01944441
+v 0.34090909 -0.01515148 -0.01944444
+v 0.33333333 -0.15740743 0.01944446
+v 0.32682379 -0.23799106 0.01293494
+v 0.31060606 -0.01515148 -0.01944444
+v 0.34090909 -0.15740743 0.01944446
+v 0.34090909 -0.23148152 0.01944448
+v 0.32146461 -0.21212118 0.00757575
+v 0.33187430 -0.23294055 0.01798544
+f 6 3 2
+f 6 4 3
+f 7 3 4
+f 8 5 2
+f 8 2 1
+f 9 5 4
+f 9 4 6
+f 9 6 2
+f 9 2 5
+f 10 3 7
+f 11 10 7
+f 11 3 10
+f 11 1 2
+f 11 2 3
+f 12 8 4
+f 12 4 5
+f 12 5 8
+f 13 11 7
+f 13 8 1
+f 13 1 11
+f 13 7 4
+f 13 4 8
\ No newline at end of file
diff --git a/objects/objaverse/chocolate/chocolate_1/model.xml b/objects/objaverse/chocolate/chocolate_1/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..089086f610762da8fc767a0446b89809b064018a
--- /dev/null
+++ b/objects/objaverse/chocolate/chocolate_1/model.xml
@@ -0,0 +1,80 @@
+<mujoco model="chocolate_4">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <material name="Scene_-_Root.004" specular="0.5" shininess="0.15999998099999999" rgba="0.049995 0.007483 0.007483 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="Scene_-_Root.004"/>
+        <geom solimp="0.998 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"/>
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+      </body>
+      <site rgba="0 0 0 0" size="0.005" pos="-7.249999996183918e-10 0.0 -0.0028194495999999993" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="-7.249999996183918e-10 0.0 0.0028194495999999993" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.03625000435 0.07249999999999998 0.0" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/objects/objaverse/chocolate/chocolate_1/visual/material.mtl b/objects/objaverse/chocolate/chocolate_1/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bd93e3cbce6afc866945a94de4c86e703c52afa9
--- /dev/null
+++ b/objects/objaverse/chocolate/chocolate_1/visual/material.mtl
@@ -0,0 +1,7 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.05098039 0.00784314 0.00784314
+Ks 0.50196078 0.50196078 0.50196078
+Ns 159.99998100
\ No newline at end of file
diff --git a/objects/objaverse/chocolate/chocolate_1/visual/model_normalized_0.obj b/objects/objaverse/chocolate/chocolate_1/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..69def39cfc088acd93b48fef6e30829a17aba65e
--- /dev/null
+++ b/objects/objaverse/chocolate/chocolate_1/visual/model_normalized_0.obj
@@ -0,0 +1,1783 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/objects/objaverse/chocolate/chocolate_14/collision/model_normalized_collision_1.obj b/objects/objaverse/chocolate/chocolate_14/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b178096a0b1ed06e4336bbb0185f41b6ddfbdcd1
--- /dev/null
+++ b/objects/objaverse/chocolate/chocolate_14/collision/model_normalized_collision_1.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
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+v 0.12755006 0.23192600 0.09591538
+v 0.23501076 0.39841416 0.14185546
+v 0.02028760 0.28644964 0.08921816
+v 0.00704089 0.23445893 0.05483823
+v 0.00621536 0.19381801 0.07998800
+v 0.39809352 0.22572442 0.08291278
+v 0.34056962 0.25928383 0.11061502
+v 0.05370533 0.29007939 0.11086462
+v 0.01609173 0.28791789 0.07096142
+v 0.00964765 0.24587529 0.09640093
+v 0.18683313 0.39457552 0.14417182
+v 0.17477454 0.38104161 0.14156868
+v 0.02182449 0.27053673 0.10062049
+v 0.21279374 0.43252488 0.13846611
+v 0.06622469 0.30305688 0.11331714
+v 0.21744511 0.43612453 0.13939697
+f 5 2 1
+f 7 2 5
+f 7 6 2
+f 10 7 5
+f 10 4 7
+f 11 5 1
+f 11 10 5
+f 12 6 3
+f 13 3 6
+f 15 11 1
+f 15 8 11
+f 15 12 8
+f 16 10 11
+f 17 12 3
+f 17 8 12
+f 18 3 13
+f 19 14 9
+f 19 4 14
+f 19 7 4
+f 19 6 7
+f 20 14 4
+f 20 4 10
+f 20 10 16
+f 21 15 1
+f 21 12 15
+f 21 1 2
+f 21 2 6
+f 21 6 12
+f 22 16 11
+f 22 11 8
+f 24 18 13
+f 24 9 18
+f 24 13 6
+f 24 19 9
+f 24 6 19
+f 25 18 9
+f 25 9 14
+f 25 14 20
+f 25 20 16
+f 25 16 22
+f 26 8 17
+f 26 17 3
+f 27 22 8
+f 27 26 23
+f 27 8 26
+f 27 25 22
+f 27 23 25
+f 28 25 23
+f 28 18 25
+f 30 18 28
+f 30 29 18
+f 30 26 29
+f 30 28 23
+f 30 23 26
+f 31 29 26
+f 31 26 3
+f 31 3 18
+f 31 18 29
\ No newline at end of file
diff --git a/objects/objaverse/chocolate/chocolate_14/collision/model_normalized_collision_11.obj b/objects/objaverse/chocolate/chocolate_14/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..11f124a01dade5de0c86ba1426a7f558675e3ce4
--- /dev/null
+++ b/objects/objaverse/chocolate/chocolate_14/collision/model_normalized_collision_11.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v -0.11444776 -0.36255120 -0.10728923
+v -0.06993291 -0.32412084 -0.11308453
+v -0.11700996 -0.28259605 -0.06426977
+v -0.21923710 -0.28631752 -0.08336768
+v -0.23492983 -0.35210676 -0.12648425
+v -0.06848960 -0.29366931 -0.10401525
+v -0.22803131 -0.35763704 -0.09159196
+v -0.07580131 -0.32357330 -0.07610457
+v -0.11864364 -0.36108293 -0.12554597
+v -0.23500968 -0.29226548 -0.10875214
+v -0.23441770 -0.33205119 -0.08242604
+v -0.07738559 -0.33442813 -0.09780779
+v -0.09203823 -0.33589399 -0.08025838
+v -0.06785521 -0.28759372 -0.07906140
+v -0.22427493 -0.31621240 -0.07917064
+v -0.23480592 -0.29031402 -0.08503387
+v -0.20401370 -0.34623570 -0.08568895
+v -0.23531269 -0.31031890 -0.11411184
+v -0.11639521 -0.30349476 -0.07057849
+f 9 2 1
+f 9 7 5
+f 9 1 7
+f 9 6 2
+f 9 5 6
+f 10 4 3
+f 10 3 6
+f 11 5 7
+f 12 8 1
+f 12 1 2
+f 12 2 8
+f 13 7 1
+f 13 1 8
+f 14 6 3
+f 14 3 8
+f 14 8 2
+f 14 2 6
+f 15 11 3
+f 16 4 10
+f 16 11 15
+f 16 15 3
+f 16 3 4
+f 17 11 7
+f 17 7 13
+f 17 3 11
+f 18 16 10
+f 18 5 11
+f 18 11 16
+f 18 10 6
+f 18 6 5
+f 19 17 13
+f 19 13 8
+f 19 8 3
+f 19 3 17
\ No newline at end of file
diff --git a/objects/objaverse/chocolate/chocolate_14/collision/model_normalized_collision_16.obj b/objects/objaverse/chocolate/chocolate_14/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b98688b75d6c92c7d24ee93a6ac3654bd9d23bb8
--- /dev/null
+++ b/objects/objaverse/chocolate/chocolate_14/collision/model_normalized_collision_16.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v -0.35067304 -0.27027433 -0.07158936
+v -0.35570851 -0.27690980 -0.10793633
+v -0.35645029 -0.20354467 -0.08621678
+v -0.42208860 -0.19024866 -0.05892222
+v -0.37191111 -0.26303266 -0.08576304
+v -0.42283553 -0.19584532 -0.08598927
+v -0.35066292 -0.20748074 -0.06686126
+v -0.41175108 -0.19329279 -0.04725081
+v -0.42202361 -0.20251537 -0.06937884
+v -0.40517403 -0.20220061 -0.05019634
+v -0.39323100 -0.20222520 -0.05029691
+v -0.38444274 -0.22396766 -0.05503689
+v -0.39157913 -0.21765301 -0.05384598
+f 5 2 1
+f 6 3 2
+f 6 4 3
+f 6 2 5
+f 7 1 2
+f 7 2 3
+f 8 7 3
+f 8 3 4
+f 9 6 5
+f 9 4 6
+f 9 8 4
+f 10 5 1
+f 10 9 5
+f 10 8 9
+f 11 7 8
+f 12 11 8
+f 12 1 7
+f 12 7 11
+f 13 10 1
+f 13 1 12
+f 13 12 8
+f 13 8 10
\ No newline at end of file
diff --git a/objects/objaverse/chocolate/chocolate_14/collision/model_normalized_collision_2.obj b/objects/objaverse/chocolate/chocolate_14/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ab6306faf76f2ba81d6e2c7c1c3d1faca9f1606c
--- /dev/null
+++ b/objects/objaverse/chocolate/chocolate_14/collision/model_normalized_collision_2.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.26472521 0.14458953 0.03617850
+v 0.26459758 0.15851881 0.04030263
+v 0.26767709 0.17030444 0.08194737
+v 0.00621536 0.19381801 0.07998800
+v 0.00712075 0.17461765 0.03710613
+v 0.25851245 0.21927308 0.09446573
+v 0.01102540 0.14929237 0.06768466
+v 0.27205321 0.16103749 0.07712033
+v 0.07132963 0.19505167 0.08311204
+v 0.00742375 0.19267107 0.04246582
+v 0.00737599 0.14675908 0.02885786
+v 0.26464535 0.20443080 0.05391061
+v 0.16851871 0.21911115 0.09067663
+v 0.06653002 0.18504994 0.08013496
+v 0.14353984 0.20545177 0.05046559
+f 8 7 1
+f 8 3 7
+f 8 6 3
+f 9 3 6
+f 10 5 4
+f 11 1 7
+f 11 10 1
+f 11 5 10
+f 11 7 4
+f 11 4 5
+f 12 8 1
+f 12 1 2
+f 12 6 8
+f 13 9 6
+f 13 4 9
+f 13 10 4
+f 14 7 3
+f 14 3 9
+f 14 9 4
+f 14 4 7
+f 15 10 13
+f 15 12 2
+f 15 2 1
+f 15 1 10
+f 15 13 6
+f 15 6 12
\ No newline at end of file
diff --git a/objects/objaverse/chocolate/chocolate_14/collision/model_normalized_collision_20.obj b/objects/objaverse/chocolate/chocolate_14/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2da1398325f1b129ae610667e10f77f4c821fafa
--- /dev/null
+++ b/objects/objaverse/chocolate/chocolate_14/collision/model_normalized_collision_20.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.00030934 -0.26421634 -0.06155298
+v 0.00737673 -0.26232471 -0.09237828
+v 0.00407528 -0.19153676 -0.03391631
+v -0.19310470 -0.19387906 -0.04129828
+v -0.19888104 -0.26537693 -0.06405832
+v 0.00729688 -0.20248343 -0.07464617
+v 0.01494624 -0.23667100 -0.04741148
+v -0.07681021 -0.19087094 -0.03612802
+v -0.18993021 -0.20494850 -0.08147989
+v -0.01186239 -0.25963800 -0.05419821
+v -0.18941973 -0.26066564 -0.09797644
+v 0.00485598 -0.21261949 -0.04003104
+v -0.08130702 -0.21128128 -0.04189669
+v -0.12992080 -0.25300464 -0.05576616
+v -0.18151898 -0.23488822 -0.05245355
+f 5 2 1
+f 7 1 2
+f 7 6 3
+f 7 2 6
+f 8 3 6
+f 9 5 4
+f 9 8 6
+f 9 4 8
+f 9 6 2
+f 10 5 1
+f 10 1 7
+f 11 9 2
+f 11 2 5
+f 11 5 9
+f 12 10 7
+f 12 7 3
+f 13 3 8
+f 13 8 4
+f 13 12 3
+f 13 10 12
+f 14 5 10
+f 14 10 13
+f 15 14 13
+f 15 13 4
+f 15 4 5
+f 15 5 14
\ No newline at end of file
diff --git a/objects/objaverse/chocolate/chocolate_14/collision/model_normalized_collision_22.obj b/objects/objaverse/chocolate/chocolate_14/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8e7bcb132b040e90afd912486fcafe7d88d7d04b
--- /dev/null
+++ b/objects/objaverse/chocolate/chocolate_14/collision/model_normalized_collision_22.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.26640960 0.10566336 0.06267145
+v 0.26510807 0.10280168 0.02380609
+v 0.26907627 0.15655312 0.06421350
+v 0.08523558 0.15343745 0.07122560
+v 0.08693182 0.09757160 0.05327176
+v 0.08306694 0.14612098 0.03101097
+v 0.24273818 0.14550149 0.07250905
+v 0.21926288 0.09906040 0.02127865
+v 0.26472521 0.14458953 0.03617850
+v 0.08301917 0.10020899 0.01740301
+v 0.22020557 0.12324018 0.06657242
+v 0.08517191 0.10105756 0.05068867
+v 0.08289155 0.11413828 0.02152715
+v 0.25572178 0.11675726 0.06542361
+f 1 2 3
+f 5 1 4
+f 6 4 3
+f 7 1 3
+f 7 3 4
+f 8 2 1
+f 8 1 5
+f 8 6 2
+f 9 6 3
+f 9 3 2
+f 9 2 6
+f 10 8 5
+f 11 7 4
+f 11 4 1
+f 12 10 5
+f 12 5 4
+f 13 4 6
+f 13 6 8
+f 13 8 10
+f 13 12 4
+f 13 10 12
+f 14 11 1
+f 14 1 7
+f 14 7 11
\ No newline at end of file
diff --git a/objects/objaverse/chocolate/chocolate_14/collision/model_normalized_collision_23.obj b/objects/objaverse/chocolate/chocolate_14/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..88517cd3136a471113e43dcd68713e782643c857
--- /dev/null
+++ b/objects/objaverse/chocolate/chocolate_14/collision/model_normalized_collision_23.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.05458102 0.07299023 0.04641956
+v 0.08301917 0.10020899 0.01740301
+v 0.08475147 0.15006624 0.06704547
+v 0.02315391 0.15275777 0.06922254
+v 0.00715284 0.06886438 0.00576607
+v 0.00737599 0.14675908 0.02885786
+v 0.08301189 0.09237180 0.05317883
+v 0.05299803 0.07260566 0.00829350
+v 0.00779255 0.07499072 0.04570011
+v 0.08306694 0.14612098 0.03101097
+v 0.05133772 0.13691856 0.06528110
+v 0.08333881 0.08836984 0.05196337
+v 0.02229103 0.06873676 0.00619669
+v 0.00553028 0.13762487 0.06367909
+v 0.00707299 0.12870566 0.02349816
+v 0.00813838 0.14829194 0.06678564
+v 0.00702522 0.08279367 0.00989021
+f 9 5 1
+f 9 7 4
+f 10 3 2
+f 10 6 4
+f 10 4 3
+f 11 7 3
+f 11 3 4
+f 11 4 7
+f 12 2 3
+f 12 3 7
+f 12 8 2
+f 12 1 8
+f 12 9 1
+f 12 7 9
+f 13 8 1
+f 13 1 5
+f 13 5 2
+f 13 2 8
+f 14 5 9
+f 14 9 4
+f 15 14 6
+f 15 10 2
+f 15 6 10
+f 16 14 4
+f 16 4 6
+f 16 6 14
+f 17 5 14
+f 17 14 15
+f 17 15 2
+f 17 2 5
\ No newline at end of file
diff --git a/objects/objaverse/chocolate/chocolate_14/collision/model_normalized_collision_25.obj b/objects/objaverse/chocolate/chocolate_14/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b175aecdb880fe60490ded4caade7b02ebbb1d27
--- /dev/null
+++ b/objects/objaverse/chocolate/chocolate_14/collision/model_normalized_collision_25.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.24037243 -0.09331078 -0.01651725
+v 0.24977882 -0.08071866 -0.03105641
+v 0.15745806 -0.07561106 0.00476649
+v 0.00777685 -0.07667451 0.00075209
+v 0.00739241 -0.11065945 -0.04743024
+v 0.13432291 -0.09333068 -0.00135000
+v 0.24886596 -0.07859133 -0.00893646
+v 0.22458305 -0.10063973 -0.03773990
+v 0.00713717 -0.08280088 -0.03918197
+v 0.00802681 -0.10458386 -0.02247641
+v 0.23614247 -0.09216878 -0.03367301
+v 0.00222523 -0.08358806 -0.00198189
+v 0.23158819 -0.09532417 -0.03594780
+v 0.03706148 -0.09376116 -0.00483717
+f 3 2 4
+f 6 3 4
+f 7 1 2
+f 7 2 3
+f 7 6 1
+f 7 3 6
+f 8 1 6
+f 9 4 2
+f 9 2 5
+f 10 8 6
+f 10 5 8
+f 11 2 1
+f 12 9 5
+f 12 4 9
+f 12 5 10
+f 12 6 4
+f 13 2 11
+f 13 8 5
+f 13 5 2
+f 13 11 1
+f 13 1 8
+f 14 12 10
+f 14 10 6
+f 14 6 12
\ No newline at end of file
diff --git a/objects/objaverse/chocolate/chocolate_14/collision/model_normalized_collision_26.obj b/objects/objaverse/chocolate/chocolate_14/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c3273ee0a10f9dbe99de006618e87256c7f7daa
--- /dev/null
+++ b/objects/objaverse/chocolate/chocolate_14/collision/model_normalized_collision_26.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.22693723 -0.24898557 -0.05809886
+v -0.18954735 -0.24673635 -0.09385230
+v -0.19310470 -0.19387906 -0.04129828
+v -0.38109093 -0.19757495 -0.06064477
+v -0.35606743 -0.24533253 -0.09858919
+v -0.18993021 -0.20494850 -0.08147989
+v -0.39323100 -0.20222520 -0.05029691
+v -0.18202824 -0.23802684 -0.05756968
+v -0.35645029 -0.20354467 -0.08621678
+v -0.38444274 -0.22396766 -0.05503689
+v -0.18763811 -0.22560979 -0.04947634
+v -0.37735682 -0.24431446 -0.07511900
+v -0.26406974 -0.24061057 -0.05624428
+v -0.38371017 -0.22882326 -0.05995664
+f 5 2 1
+f 6 2 5
+f 7 3 4
+f 8 1 2
+f 8 6 3
+f 8 2 6
+f 9 4 3
+f 9 3 6
+f 9 6 5
+f 9 7 4
+f 9 5 7
+f 10 3 7
+f 11 8 3
+f 11 1 8
+f 11 3 10
+f 12 7 5
+f 12 5 1
+f 13 11 10
+f 13 10 1
+f 13 1 11
+f 14 10 7
+f 14 7 12
+f 14 12 1
+f 14 1 10
\ No newline at end of file
diff --git a/objects/objaverse/chocolate/chocolate_14/collision/model_normalized_collision_29.obj b/objects/objaverse/chocolate/chocolate_14/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..72bdeb61bdb7f8c5e56e35bcb5ddb02e63f40c21
--- /dev/null
+++ b/objects/objaverse/chocolate/chocolate_14/collision/model_normalized_collision_29.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.11688872 -0.29220176 -0.07298753
+v -0.06798283 -0.27366443 -0.07493728
+v -0.07414411 -0.25185441 -0.05545173
+v -0.38371017 -0.22882326 -0.05995664
+v -0.38097496 -0.25208688 -0.08279963
+v -0.35699264 -0.26038584 -0.06594917
+v -0.11700996 -0.28259605 -0.06426977
+v -0.21923710 -0.28631752 -0.08336768
+v -0.18580797 -0.24174223 -0.07055854
+v -0.36877280 -0.24751238 -0.06411836
+v -0.35921863 -0.26378086 -0.07536909
+v -0.06811045 -0.25973514 -0.07081315
+v -0.18202824 -0.23802684 -0.05756968
+v -0.06755219 -0.26954031 -0.07370173
+f 6 3 4
+f 7 1 2
+f 7 2 3
+f 7 6 1
+f 7 3 6
+f 8 5 2
+f 8 2 1
+f 8 1 6
+f 9 5 4
+f 10 6 4
+f 10 4 5
+f 10 5 6
+f 11 8 6
+f 11 6 5
+f 11 5 8
+f 12 9 3
+f 12 5 9
+f 13 9 4
+f 13 4 3
+f 13 3 9
+f 14 12 3
+f 14 3 2
+f 14 2 5
+f 14 5 12
\ No newline at end of file
diff --git a/objects/objaverse/chocolate/chocolate_14/collision/model_normalized_collision_31.obj b/objects/objaverse/chocolate/chocolate_14/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..15823cbf1e9df52a9f1747956a1760d09083ef87
--- /dev/null
+++ b/objects/objaverse/chocolate/chocolate_14/collision/model_normalized_collision_31.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.24200359 -0.08153703 -0.00120907
+v 0.24977882 -0.08071866 -0.03105641
+v 0.24895972 -0.03340938 0.02019363
+v 0.00079682 -0.03585249 0.01166532
+v 0.00756779 -0.07867674 -0.03794641
+v 0.00777685 -0.07667451 0.00075209
+v 0.25660644 -0.05562792 0.01372063
+v 0.24982659 -0.03480667 -0.01744845
+v 0.00321470 -0.04305383 0.01033022
+v 0.23044418 -0.07801919 0.00678434
+v 0.00718493 -0.03688889 -0.02557400
+v 0.09960563 -0.07400327 0.00438536
+f 5 2 1
+f 6 5 1
+f 6 4 5
+f 7 1 2
+f 8 2 5
+f 8 7 2
+f 8 3 7
+f 9 3 4
+f 9 4 6
+f 10 6 1
+f 10 1 7
+f 10 7 3
+f 11 8 5
+f 11 5 4
+f 11 4 3
+f 11 3 8
+f 12 9 6
+f 12 6 10
+f 12 10 3
+f 12 3 9
\ No newline at end of file
diff --git a/objects/objaverse/chocolate/chocolate_14/collision/model_normalized_collision_4.obj b/objects/objaverse/chocolate/chocolate_14/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c6430b71ab9e4db135dc8657f201e5b0ae808cbc
--- /dev/null
+++ b/objects/objaverse/chocolate/chocolate_14/collision/model_normalized_collision_4.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.00690351 0.03013555 0.03224593
+v 0.00753570 0.02707652 -0.00660633
+v 0.01287543 0.04134369 0.03575023
+v 0.01328246 0.28113408 0.08742607
+v -0.15957472 0.14403876 0.02288543
+v -0.15958416 0.12339870 0.05486690
+v 0.00708866 0.28037092 0.06844620
+v 0.00964765 0.24587529 0.09640093
+v -0.14903157 0.15796886 0.04590205
+v -0.15911200 0.04240963 -0.00721909
+v 0.01537360 0.26382645 0.10079878
+v -0.14858404 0.16296061 0.02883321
+v -0.16236319 0.04875044 0.03213651
+v -0.04913354 0.02663040 0.02713943
+v -0.11468796 0.16577887 0.06703508
+v -0.00937695 0.26859205 0.06444588
+v -0.15962249 0.09812677 0.00927746
+v -0.15682706 0.06036238 0.03614654
+v -0.03787887 0.02745938 -0.00789821
+f 1 2 3
+f 3 2 4
+f 7 4 2
+f 8 6 1
+f 8 1 3
+f 9 5 6
+f 11 8 3
+f 11 3 4
+f 11 6 8
+f 11 4 9
+f 12 5 9
+f 12 9 4
+f 13 6 5
+f 14 2 1
+f 14 13 10
+f 14 1 13
+f 15 11 9
+f 15 9 6
+f 15 6 11
+f 16 12 4
+f 16 4 7
+f 16 5 12
+f 16 7 2
+f 16 2 10
+f 17 13 5
+f 17 10 13
+f 17 16 10
+f 17 5 16
+f 18 13 1
+f 18 1 6
+f 18 6 13
+f 19 14 10
+f 19 10 2
+f 19 2 14
\ No newline at end of file
diff --git a/objects/objaverse/chocolate/chocolate_14/collision/model_normalized_collision_5.obj b/objects/objaverse/chocolate/chocolate_14/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e32afcae0a9874466a389b87b57ba1a5ee092b04
--- /dev/null
+++ b/objects/objaverse/chocolate/chocolate_14/collision/model_normalized_collision_5.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.24737757 -0.08799522 -0.01472516
+v 0.39626395 0.02963312 0.00618042
+v 0.39700678 0.03579479 0.04560656
+v 0.32799871 0.03198078 0.04286239
+v 0.24944372 0.00698118 -0.00507604
+v 0.26978710 -0.06133801 0.01230568
+v 0.36098085 -0.00179209 0.01433744
+v 0.24318168 -0.08652693 -0.03298190
+v 0.29405882 -0.04063802 0.02029081
+v 0.24998137 0.01232755 0.02241893
+v 0.39039556 0.03018059 0.04316040
+v 0.30422875 -0.03460595 0.02187157
+v 0.34267260 0.00108534 0.03416031
+v 0.26321188 -0.06421938 0.01079821
+v 0.35397165 0.00394091 0.03522068
+f 3 2 4
+f 5 4 2
+f 7 1 2
+f 7 2 3
+f 8 5 2
+f 8 2 1
+f 9 4 6
+f 10 8 1
+f 10 5 8
+f 10 4 5
+f 11 7 3
+f 11 6 1
+f 11 1 7
+f 12 9 6
+f 12 11 3
+f 12 6 11
+f 13 3 4
+f 13 4 9
+f 14 10 1
+f 14 1 6
+f 14 6 4
+f 14 4 10
+f 15 12 3
+f 15 9 12
+f 15 13 9
+f 15 3 13
\ No newline at end of file
diff --git a/objects/objaverse/chocolate/chocolate_14/collision/model_normalized_collision_6.obj b/objects/objaverse/chocolate/chocolate_14/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d9a9f3631151bbe5355a539dcb821239c87dbbc7
--- /dev/null
+++ b/objects/objaverse/chocolate/chocolate_14/collision/model_normalized_collision_6.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v -0.28544008 -0.09595718 -0.01546774
+v -0.23489848 -0.04877624 -0.03658816
+v -0.23019150 -0.03374494 0.00597526
+v -0.22793445 0.09809677 0.02571670
+v -0.41540472 -0.03950503 -0.03942628
+v -0.41295424 -0.06307421 -0.00837233
+v -0.23616341 -0.04495309 0.00247099
+v -0.41703514 -0.09728092 -0.05659921
+v -0.23449203 0.09777293 0.00685577
+v -0.28614752 0.03502981 0.02366202
+v -0.40184196 -0.03386566 -0.01877326
+v -0.27984872 -0.07424975 -0.00742983
+v -0.28036081 -0.09430537 -0.05148801
+v -0.41640075 -0.09120533 -0.03164538
+v -0.29642951 0.01955935 0.01985838
+v -0.23850385 0.01406076 0.01990184
+v -0.40675597 -0.05648883 -0.00719268
+v -0.37590220 -0.10321084 -0.02073752
+v -0.41716276 -0.08335164 -0.05247507
+v -0.34134420 -0.09791903 -0.05444607
+f 3 2 4
+f 7 1 2
+f 7 2 3
+f 9 5 4
+f 9 4 2
+f 9 2 5
+f 11 4 5
+f 11 5 6
+f 12 1 7
+f 12 7 3
+f 13 2 1
+f 13 5 2
+f 14 6 5
+f 15 10 6
+f 15 6 12
+f 16 3 4
+f 16 4 10
+f 16 10 15
+f 16 15 12
+f 16 12 3
+f 17 11 6
+f 17 6 10
+f 17 10 4
+f 17 4 11
+f 18 12 6
+f 18 1 12
+f 18 6 14
+f 18 14 8
+f 18 13 1
+f 19 14 5
+f 19 8 14
+f 19 13 8
+f 19 5 13
+f 20 18 8
+f 20 8 13
+f 20 13 18
\ No newline at end of file
diff --git a/objects/objaverse/chocolate/chocolate_14/collision/model_normalized_collision_7.obj b/objects/objaverse/chocolate/chocolate_14/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..151833d4caa1838e58175cb587be477d73f31f06
--- /dev/null
+++ b/objects/objaverse/chocolate/chocolate_14/collision/model_normalized_collision_7.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.00616069 -0.27103256 -0.07643453
+v 0.12832254 -0.14366312 -0.05346906
+v 0.11816174 -0.17696817 -0.02915348
+v 0.04401991 -0.10034937 -0.00556197
+v 0.00739241 -0.11065945 -0.04743024
+v 0.12468371 -0.10001808 -0.00306160
+v -0.00472490 -0.26562375 -0.05660064
+v 0.11552296 -0.18379352 -0.06416979
+v 0.12573315 -0.12205843 -0.00946710
+v 0.12849792 -0.11168041 -0.04398524
+v 0.02857023 -0.24437537 -0.04940368
+v 0.00196480 -0.26956428 -0.09469127
+v 0.00692458 -0.14916528 -0.02075768
+v 0.11976399 -0.18482945 -0.04737192
+v 0.08887446 -0.19861604 -0.03397634
+v 0.11097976 -0.18684285 -0.06680248
+v 0.00802681 -0.10458386 -0.02247641
+v 0.02580730 -0.16754853 -0.02575696
+v 0.03930140 -0.11976259 -0.01104198
+f 6 5 4
+f 10 5 6
+f 10 9 2
+f 10 6 9
+f 11 7 1
+f 12 7 5
+f 12 1 7
+f 12 5 10
+f 14 8 2
+f 14 12 8
+f 14 1 12
+f 14 9 3
+f 14 2 9
+f 15 9 7
+f 15 7 11
+f 15 3 9
+f 15 14 3
+f 15 11 1
+f 15 1 14
+f 16 2 8
+f 16 8 12
+f 16 12 10
+f 16 10 2
+f 17 13 4
+f 17 4 5
+f 17 5 7
+f 17 7 13
+f 18 13 7
+f 18 7 9
+f 19 9 6
+f 19 6 4
+f 19 4 13
+f 19 18 9
+f 19 13 18
\ No newline at end of file
diff --git a/objects/objaverse/chocolate/chocolate_14/collision/model_normalized_collision_9.obj b/objects/objaverse/chocolate/chocolate_14/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a2192d89b8e7dc15c27385b8c2ab6562c6fd70e
--- /dev/null
+++ b/objects/objaverse/chocolate/chocolate_14/collision/model_normalized_collision_9.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.00615501 -0.15233423 -0.02350153
+v 0.00721702 -0.14264215 -0.05691407
+v 0.01826201 -0.00749010 0.01628798
+v -0.23890431 -0.00932962 0.01255534
+v -0.28036081 -0.09430537 -0.05148801
+v -0.02219657 -0.05836579 0.00525055
+v 0.01427964 -0.06594824 0.00361055
+v -0.18957944 -0.14098309 -0.06251222
+v -0.28544008 -0.09595718 -0.01546774
+v 0.00705731 -0.02295961 -0.02144986
+v 0.00692458 -0.14916528 -0.02075768
+v -0.14382819 -0.15329301 -0.02664598
+v -0.28297160 -0.04276826 0.00128180
+v -0.23515372 -0.02091768 -0.02833988
+v -0.28074367 -0.05251752 -0.03911560
+v -0.27984872 -0.07424975 -0.00742983
+v -0.23019150 -0.03374494 0.00597526
+f 6 3 4
+f 7 2 3
+f 7 3 6
+f 8 5 2
+f 9 5 8
+f 10 3 2
+f 10 2 5
+f 11 1 2
+f 11 2 7
+f 11 7 6
+f 12 8 2
+f 12 2 1
+f 12 9 8
+f 12 1 11
+f 12 11 6
+f 14 4 3
+f 14 3 10
+f 15 5 9
+f 15 9 13
+f 15 13 4
+f 15 4 14
+f 15 14 10
+f 15 10 5
+f 16 13 9
+f 16 9 12
+f 16 12 6
+f 16 4 13
+f 17 16 6
+f 17 6 4
+f 17 4 16
\ No newline at end of file
diff --git a/objects/objaverse/chocolate/chocolate_14/model.xml b/objects/objaverse/chocolate/chocolate_14/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..7f19b3df8afb0fb63f98a55cfe82295f6808854d
--- /dev/null
+++ b/objects/objaverse/chocolate/chocolate_14/model.xml
@@ -0,0 +1,80 @@
+<mujoco model="chocolate_8">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.16499999999999998 0.16499999999999998 0.16499999999999998" refquat="0.46912683269234623 0.04620496010437073 -0.08644340032725636 0.8776745724069159"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.16499999999999998 0.16499999999999998 0.16499999999999998" refquat="0.46912683269234623 0.04620496010437073 -0.08644340032725636 0.8776745724069159"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.16499999999999998 0.16499999999999998 0.16499999999999998" refquat="0.46912683269234623 0.04620496010437073 -0.08644340032725636 0.8776745724069159"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.16499999999999998 0.16499999999999998 0.16499999999999998" refquat="0.46912683269234623 0.04620496010437073 -0.08644340032725636 0.8776745724069159"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.16499999999999998 0.16499999999999998 0.16499999999999998" refquat="0.46912683269234623 0.04620496010437073 -0.08644340032725636 0.8776745724069159"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.16499999999999998 0.16499999999999998 0.16499999999999998" refquat="0.46912683269234623 0.04620496010437073 -0.08644340032725636 0.8776745724069159"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.16499999999999998 0.16499999999999998 0.16499999999999998" refquat="0.46912683269234623 0.04620496010437073 -0.08644340032725636 0.8776745724069159"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.16499999999999998 0.16499999999999998 0.16499999999999998" refquat="0.46912683269234623 0.04620496010437073 -0.08644340032725636 0.8776745724069159"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.16499999999999998 0.16499999999999998 0.16499999999999998" refquat="0.46912683269234623 0.04620496010437073 -0.08644340032725636 0.8776745724069159"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.16499999999999998 0.16499999999999998 0.16499999999999998" refquat="0.46912683269234623 0.04620496010437073 -0.08644340032725636 0.8776745724069159"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.16499999999999998 0.16499999999999998 0.16499999999999998" refquat="0.46912683269234623 0.04620496010437073 -0.08644340032725636 0.8776745724069159"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.16499999999999998 0.16499999999999998 0.16499999999999998" refquat="0.46912683269234623 0.04620496010437073 -0.08644340032725636 0.8776745724069159"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.16499999999999998 0.16499999999999998 0.16499999999999998" refquat="0.46912683269234623 0.04620496010437073 -0.08644340032725636 0.8776745724069159"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.16499999999999998 0.16499999999999998 0.16499999999999998" refquat="0.46912683269234623 0.04620496010437073 -0.08644340032725636 0.8776745724069159"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.16499999999999998 0.16499999999999998 0.16499999999999998" refquat="0.46912683269234623 0.04620496010437073 -0.08644340032725636 0.8776745724069159"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.16499999999999998 0.16499999999999998 0.16499999999999998" refquat="0.46912683269234623 0.04620496010437073 -0.08644340032725636 0.8776745724069159"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.16499999999999998 0.16499999999999998 0.16499999999999998" refquat="0.46912683269234623 0.04620496010437073 -0.08644340032725636 0.8776745724069159"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.16499999999999998 0.16499999999999998 0.16499999999999998" refquat="0.46912683269234623 0.04620496010437073 -0.08644340032725636 0.8776745724069159"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.16499999999999998 0.16499999999999998 0.16499999999999998" refquat="0.46912683269234623 0.04620496010437073 -0.08644340032725636 0.8776745724069159"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.16499999999999998 0.16499999999999998 0.16499999999999998" refquat="0.46912683269234623 0.04620496010437073 -0.08644340032725636 0.8776745724069159"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.16499999999999998 0.16499999999999998 0.16499999999999998" refquat="0.46912683269234623 0.04620496010437073 -0.08644340032725636 0.8776745724069159"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.16499999999999998 0.16499999999999998 0.16499999999999998" refquat="0.46912683269234623 0.04620496010437073 -0.08644340032725636 0.8776745724069159"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.16499999999999998 0.16499999999999998 0.16499999999999998" refquat="0.46912683269234623 0.04620496010437073 -0.08644340032725636 0.8776745724069159"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.16499999999999998 0.16499999999999998 0.16499999999999998" refquat="0.46912683269234623 0.04620496010437073 -0.08644340032725636 0.8776745724069159"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.16499999999999998 0.16499999999999998 0.16499999999999998" refquat="0.46912683269234623 0.04620496010437073 -0.08644340032725636 0.8776745724069159"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.16499999999999998 0.16499999999999998 0.16499999999999998" refquat="0.46912683269234623 0.04620496010437073 -0.08644340032725636 0.8776745724069159"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.16499999999999998 0.16499999999999998 0.16499999999999998" refquat="0.46912683269234623 0.04620496010437073 -0.08644340032725636 0.8776745724069159"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.16499999999999998 0.16499999999999998 0.16499999999999998" refquat="0.46912683269234623 0.04620496010437073 -0.08644340032725636 0.8776745724069159"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.16499999999999998 0.16499999999999998 0.16499999999999998" refquat="0.46912683269234623 0.04620496010437073 -0.08644340032725636 0.8776745724069159"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.16499999999999998 0.16499999999999998 0.16499999999999998" refquat="0.46912683269234623 0.04620496010437073 -0.08644340032725636 0.8776745724069159"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.16499999999999998 0.16499999999999998 0.16499999999999998" refquat="0.46912683269234623 0.04620496010437073 -0.08644340032725636 0.8776745724069159"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.16499999999999998 0.16499999999999998 0.16499999999999998" refquat="0.46912683269234623 0.04620496010437073 -0.08644340032725636 0.8776745724069159"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.16499999999999998 0.16499999999999998 0.16499999999999998" refquat="0.46912683269234623 0.04620496010437073 -0.08644340032725636 0.8776745724069159"/>
+    <material name=".003" specular="0.5" shininess="0.705927238" rgba="0.101141 0.015163 0.003294 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=".003"/>
+        <geom solimp="0.998 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="-0.000224692214842791 6.264168282589591e-05 -0.010399456128785227" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="-0.000224692214842791 6.264168282589591e-05 0.010856934949452604" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.04257220053108912 0.07903782366544773 0.00022873941033368778" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/objects/objaverse/chocolate/chocolate_6/collision/model_normalized_collision_0.obj b/objects/objaverse/chocolate/chocolate_6/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2bc5892dc77f75389518b3502890fd734cf5dc4d
--- /dev/null
+++ b/objects/objaverse/chocolate/chocolate_6/collision/model_normalized_collision_0.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v -0.20530867 -0.38152383 0.02711078
+v -0.20633835 -0.38296816 -0.02635590
+v -0.20876242 -0.26515079 -0.02909687
+v -0.32997426 -0.26514985 0.02903213
+v -0.32249457 -0.30012186 -0.02634143
+v -0.20876214 -0.26514985 0.02902331
+v -0.28738706 -0.32368702 0.02189644
+v -0.32997454 -0.26515079 -0.02911307
+v -0.32145464 -0.29866488 0.02711077
+f 1 2 3
+f 6 1 3
+f 6 4 1
+f 7 5 2
+f 7 2 1
+f 8 3 2
+f 8 2 5
+f 8 5 4
+f 8 6 3
+f 8 4 6
+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/chocolate/chocolate_6/collision/model_normalized_collision_17.obj b/objects/objaverse/chocolate/chocolate_6/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a2d84b0ff95eafa27f02afe53852488197dc355f
--- /dev/null
+++ b/objects/objaverse/chocolate/chocolate_6/collision/model_normalized_collision_17.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.13972271 -0.20454379 0.02900804
+v 0.21294644 -0.14213164 -0.02905227
+v 0.21294700 -0.14213089 0.02901310
+v 0.13972271 -0.14393773 0.02901813
+v 0.13972242 -0.14393867 -0.02906188
+v 0.17477551 -0.19712527 0.02840160
+v 0.13972242 -0.20454473 -0.02905610
+v 0.19931844 -0.16271467 -0.02842966
+v 0.19931880 -0.16271417 0.02840404
+v 0.17477516 -0.19712577 -0.02842966
+f 1 3 4
+f 3 2 4
+f 5 4 2
+f 6 3 1
+f 7 5 2
+f 7 1 4
+f 7 4 5
+f 7 6 1
+f 8 2 3
+f 9 8 3
+f 9 3 6
+f 10 7 2
+f 10 2 8
+f 10 6 7
+f 10 9 6
+f 10 8 9
\ No newline at end of file
diff --git a/objects/objaverse/chocolate/chocolate_6/collision/model_normalized_collision_18.obj b/objects/objaverse/chocolate/chocolate_6/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c30be44a51ac3614ea3e1d12c1bf9f09e4abf241
--- /dev/null
+++ b/objects/objaverse/chocolate/chocolate_6/collision/model_normalized_collision_18.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.08755005 0.23485023 0.02910010
+v -0.08755030 0.23484921 -0.02912838
+v -0.08755005 0.28030477 0.02910806
+v -0.15276625 0.22733052 0.02880882
+v -0.12106013 0.27178434 -0.02880888
+v -0.08755030 0.28030375 -0.02913271
+v -0.15276624 0.22733052 -0.02880888
+v -0.12122357 0.27190091 0.02853250
+v -0.14611358 0.23773018 -0.02762032
+v -0.14591823 0.23760362 0.02827192
+f 1 3 4
+f 2 1 4
+f 6 1 2
+f 6 3 1
+f 7 2 4
+f 7 6 2
+f 7 5 6
+f 8 4 3
+f 8 6 5
+f 8 3 6
+f 9 7 4
+f 9 8 5
+f 9 5 7
+f 10 9 4
+f 10 4 8
+f 10 8 9
\ No newline at end of file
diff --git a/objects/objaverse/chocolate/chocolate_6/collision/model_normalized_collision_21.obj b/objects/objaverse/chocolate/chocolate_6/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d20498bf5b9af868045971bd4607946a4cfc9a7
--- /dev/null
+++ b/objects/objaverse/chocolate/chocolate_6/collision/model_normalized_collision_21.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.32997429 -0.14393765 0.02905232
+v -0.32997454 -0.14393867 -0.02912463
+v -0.32997454 -0.08333261 -0.02913041
+v -0.37981787 -0.09100899 0.02880887
+v -0.41919374 -0.14514397 0.00874255
+v -0.32997429 -0.08333159 0.02906293
+v -0.41862452 -0.14554917 0.02883359
+v -0.41868683 -0.14550552 -0.02880882
+v -0.37388892 -0.08443111 -0.02913618
+v -0.40441154 -0.12537877 0.02871938
+v -0.38032796 -0.09065191 -0.02787040
+v -0.40487124 -0.12506300 -0.02789661
+f 1 2 3
+f 6 1 3
+f 7 2 1
+f 7 6 4
+f 7 1 6
+f 8 7 5
+f 8 2 7
+f 9 6 3
+f 9 4 6
+f 9 3 2
+f 9 2 8
+f 10 7 4
+f 10 4 5
+f 10 5 7
+f 11 9 8
+f 11 5 4
+f 11 4 9
+f 12 11 8
+f 12 8 5
+f 12 5 11
\ No newline at end of file
diff --git a/objects/objaverse/chocolate/chocolate_6/collision/model_normalized_collision_3.obj b/objects/objaverse/chocolate/chocolate_6/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..471ff7380bfcaac5b0358dbe0499dc98f1d4e2e9
--- /dev/null
+++ b/objects/objaverse/chocolate/chocolate_6/collision/model_normalized_collision_3.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.07911662 0.23485023 0.02908734
+v 0.07911637 0.23484921 -0.02910611
+v 0.06996365 0.47959018 0.02678714
+v 0.03950043 0.49689953 0.02880878
+v -0.08755005 0.23485023 0.02910010
+v 0.04008845 0.49772396 -0.02829297
+v 0.06867492 0.47778880 -0.02842650
+v 0.05275810 0.49186183 0.02678714
+v -0.07042973 0.34384331 -0.02753951
+v -0.08755030 0.23484921 -0.02912838
+v 0.05147062 0.49006300 -0.02842854
+v -0.07031192 0.34377179 0.02814104
+v 0.00525412 0.44995644 -0.02745870
+v 0.00529440 0.44993995 0.02801017
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 5 1 4
+f 7 3 2
+f 8 6 4
+f 8 4 3
+f 10 9 6
+f 10 2 5
+f 10 5 9
+f 11 6 8
+f 11 10 6
+f 11 7 2
+f 11 2 10
+f 11 8 3
+f 11 3 7
+f 12 9 5
+f 12 5 4
+f 13 4 6
+f 13 6 9
+f 14 12 4
+f 14 4 13
+f 14 13 9
+f 14 9 12
\ No newline at end of file
diff --git a/objects/objaverse/chocolate/chocolate_6/collision/model_normalized_collision_30.obj b/objects/objaverse/chocolate/chocolate_6/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2179e626078e361679893ee75d99a4fd0c087a35
--- /dev/null
+++ b/objects/objaverse/chocolate/chocolate_6/collision/model_normalized_collision_30.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.27608632 0.21969872 0.02906962
+v 0.27608606 0.21969770 -0.02907836
+v 0.27084036 0.33355633 -0.02840253
+v 0.07911662 0.34091083 0.02910591
+v 0.07911662 0.21969871 0.02908469
+v 0.27062591 0.33325612 0.02877134
+v 0.07911637 0.21969769 -0.02910466
+v 0.26001488 0.33962038 -0.02909195
+v 0.07911637 0.34090981 -0.02911623
+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 6 3
+f 8 4 6
+f 8 3 2
+f 9 7 4
+f 9 4 8
+f 9 8 2
+f 9 2 7
\ No newline at end of file
diff --git a/objects/objaverse/chocolate/chocolate_6/visual/material.mtl b/objects/objaverse/chocolate/chocolate_6/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f68742fe8420aadeab267568817d347d5678c9d5
--- /dev/null
+++ b/objects/objaverse/chocolate/chocolate_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 0.00000000
+map_Kd material_0.jpeg
\ No newline at end of file
diff --git a/objects/objaverse/chocolate/chocolate_6/visual/model_normalized_0.obj b/objects/objaverse/chocolate/chocolate_6/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..19c0b591556579113ff7c5ab17c115cddae7f0a1
--- /dev/null
+++ b/objects/objaverse/chocolate/chocolate_6/visual/model_normalized_0.obj
@@ -0,0 +1,6768 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
+v -0.03825022 -0.49621885 -0.02792592
+v -0.03815516 -0.49608557 -0.02795183
+v -0.03808688 -0.49613428 -0.02742221
+v -0.45671649 -0.19775303 -0.02792595
+v -0.45668976 -0.19757108 -0.02742227
+v -0.45662144 -0.19761979 -0.02795187
+v -0.03833595 -0.49633906 -0.02785068
+v -0.45680222 -0.19787324 -0.02785075
+v -0.45668976 -0.19757108 -0.02742227
+v -0.03840399 -0.49643445 -0.02773352
+v -0.45687026 -0.19796860 -0.02773355
+v -0.45668976 -0.19757108 -0.02742227
+v -0.03844766 -0.49649571 -0.02758588
+v -0.03840399 -0.49643445 -0.02773352
+v -0.03808688 -0.49613428 -0.02742221
+v -0.45691393 -0.19802985 -0.02758592
+v -0.45668976 -0.19757108 -0.02742227
+v -0.03846271 -0.49651675 -0.02742221
+v -0.45692898 -0.19805097 -0.02742227
+v -0.45668976 -0.19757108 -0.02742227
+v -0.03844766 -0.49649571 0.02758599
+v -0.03846271 -0.49651675 0.02742234
+v -0.03808688 -0.49613428 0.02742234
+v -0.45691393 -0.19802985 0.02758595
+v -0.45668976 -0.19757108 0.02742231
+v -0.45692898 -0.19805097 0.02742231
+v -0.03840399 -0.49643445 0.02773365
+v -0.45687026 -0.19796860 0.02773359
+v -0.03833595 -0.49633906 0.02785082
+v -0.03840399 -0.49643445 0.02773365
+v -0.03808688 -0.49613428 0.02742234
+v -0.45680222 -0.19787324 0.02785078
+v -0.45668976 -0.19757108 0.02742231
+v -0.45687026 -0.19796860 0.02773359
+v -0.03825022 -0.49621885 0.02792606
+v -0.45671649 -0.19775303 0.02792599
+v -0.03815516 -0.49608557 0.02795197
+v -0.45662144 -0.19761979 0.02795194
+v -0.45668976 -0.19757108 0.02742231
+v -0.45671649 -0.19775303 0.02792599
+v 0.45755486 0.19892845 0.02792595
+v 0.45745981 0.19879521 0.02795187
+v 0.45752812 0.19874650 0.02742224
+v 0.03908858 0.49739434 0.02792592
+v 0.03892525 0.49730977 0.02742221
+v 0.03899353 0.49726106 0.02795183
+v 0.45764059 0.19904866 0.02785071
+v 0.03917431 0.49751451 0.02785068
+v 0.03892525 0.49730977 0.02742221
+v 0.45770867 0.19914405 0.02773355
+v 0.03924235 0.49760991 0.02773352
+v 0.03892525 0.49730977 0.02742221
+v 0.45775234 0.19920531 0.02758592
+v 0.45770867 0.19914405 0.02773355
+v 0.45752812 0.19874650 0.02742224
+v 0.03928602 0.49767116 0.02758585
+v 0.03892525 0.49730977 0.02742221
+v 0.45776735 0.19922639 0.02742224
+v 0.03930107 0.49769224 0.02742221
+v 0.03892525 0.49730977 0.02742221
+v 0.45775234 0.19920528 -0.02758599
+v 0.45776735 0.19922639 -0.02742231
+v 0.45752812 0.19874650 -0.02742231
+v 0.03928602 0.49767116 -0.02758602
+v 0.03892525 0.49730977 -0.02742234
+v 0.03930107 0.49769224 -0.02742234
+v 0.45770867 0.19914402 -0.02773362
+v 0.03924235 0.49760991 -0.02773365
+v 0.45764059 0.19904866 -0.02785078
+v 0.45770867 0.19914402 -0.02773362
+v 0.45752812 0.19874650 -0.02742231
+v 0.03917431 0.49751451 -0.02785082
+v 0.03892525 0.49730977 -0.02742234
+v 0.03924235 0.49760991 -0.02773365
+v 0.45755486 0.19892845 -0.02792602
+v 0.03908858 0.49739434 -0.02792606
+v 0.45745981 0.19879521 -0.02795194
+v 0.03899353 0.49726106 -0.02795197
+v 0.03892525 0.49730977 -0.02742234
+v 0.03908858 0.49739434 -0.02792606
+v -0.03808688 -0.49613428 -0.02742221
+v -0.03815516 -0.49608557 -0.02795183
+v 0.45745981 0.19879521 -0.02795194
+v 0.45752812 0.19874650 -0.02742231
+v -0.03835336 -0.49594425 -0.02842963
+v 0.45726165 0.19893657 -0.02842970
+v -0.03866207 -0.49572411 -0.02880878
+v 0.45695291 0.19915674 -0.02880888
+v -0.03905105 -0.49544663 -0.02905222
+v 0.45656399 0.19943418 -0.02905232
+v -0.03948223 -0.49513909 -0.02913610
+v 0.45613281 0.19974172 -0.02913620
+v -0.45529441 -0.19856630 -0.02913617
+v 0.04032060 0.49631458 -0.02913624
+v -0.45572559 -0.19825873 -0.02905225
+v 0.03988942 0.49662209 -0.02905236
+v -0.45611454 -0.19798132 -0.02880881
+v 0.03950043 0.49689953 -0.02880892
+v -0.45642325 -0.19776115 -0.02842967
+v 0.03919173 0.49711970 -0.02842977
+v -0.45662144 -0.19761979 -0.02795187
+v 0.03899353 0.49726106 -0.02795197
+v -0.45668976 -0.19757108 -0.02742227
+v 0.03892525 0.49730977 -0.02742234
+v -0.03853414 -0.49619770 -0.02838031
+v -0.03835336 -0.49594425 -0.02842963
+v -0.03891085 -0.49607289 -0.02874091
+v -0.03866207 -0.49572411 -0.02880878
+v -0.03934351 -0.49585677 -0.02897246
+v -0.03905105 -0.49544663 -0.02905222
+v -0.03978977 -0.49557027 -0.02905222
+v -0.03948223 -0.49513909 -0.02913610
+v -0.03978977 -0.49557027 -0.02905222
+v -0.45560195 -0.19899745 -0.02905225
+v -0.45560195 -0.19899745 -0.02905225
+v -0.45601808 -0.19866883 -0.02897249
+v -0.45572559 -0.19825873 -0.02905225
+v -0.45529441 -0.19856630 -0.02913617
+v -0.45636336 -0.19833013 -0.02874098
+v -0.45611454 -0.19798132 -0.02880881
+v -0.45660403 -0.19801457 -0.02838034
+v -0.45642325 -0.19776115 -0.02842967
+v -0.45660403 -0.19801457 -0.02838034
+v -0.45642325 -0.19776115 -0.02842967
+v -0.03869720 -0.49642633 -0.02823723
+v -0.03913531 -0.49638756 -0.02854398
+v -0.03960738 -0.49622666 -0.02874091
+v -0.04006718 -0.49595926 -0.02880878
+v -0.04006718 -0.49595926 -0.02880878
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+f 798/798/798 1600/1600/1600 802/802/802
+f 802/802/802 1600/1600/1600 1601/1601/1601
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+f 805/805/805 1601/1601/1601 1602/1602/1602
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+f 343/343/343 1184/1184/1184 1185/1185/1185
+f 343/343/343 1185/1185/1185 1187/1187/1187
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+f 343/343/343 972/972/972 968/968/968
+f 343/343/343 968/968/968 962/962/962
+f 343/343/343 962/962/962 950/950/950
+f 343/343/343 950/950/950 949/949/949
+f 343/343/343 949/949/949 1000/1000/1000
+f 343/343/343 1000/1000/1000 1011/1011/1011
+f 343/343/343 1011/1011/1011 1013/1013/1013
+f 343/343/343 1013/1013/1013 1016/1016/1016
+f 1100/1100/1100 1612/1612/1612 1173/1173/1173
+f 1173/1173/1173 1612/1612/1612 1177/1177/1177
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+f 1279/1279/1279 349/349/349 1275/1275/1275
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+f 1478/1478/1478 349/349/349 1477/1477/1477
+f 1477/1477/1477 349/349/349 1475/1475/1475
+f 1475/1475/1475 349/349/349 1467/1467/1467
+f 1467/1467/1467 349/349/349 1410/1410/1410
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+f 1411/1411/1411 349/349/349 1420/1420/1420
+f 1420/1420/1420 349/349/349 1429/1429/1429
+f 1429/1429/1429 349/349/349 1437/1437/1437
+f 1644/1644/1644 1320/1320/1320 1643/1643/1643
\ No newline at end of file
diff --git a/objects/objaverse/chocolate/chocolate_8/collision/model_normalized_collision_0.obj b/objects/objaverse/chocolate/chocolate_8/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2a1a21a7cb419d04b88c8571fe10549b90d6e3b7
--- /dev/null
+++ b/objects/objaverse/chocolate/chocolate_8/collision/model_normalized_collision_0.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.28032042 -0.02731126 0.20860429
+v -0.28030303 -0.00448208 0.23746737
+v -0.49734970 -0.00613646 0.23785996
+v -0.49482813 0.02762078 0.23595803
+v -0.28030303 0.03018951 0.20800518
+v -0.28030303 0.02205370 0.23826175
+v -0.49912277 -0.00694219 0.20800518
+v -0.49733245 0.02013081 0.23698628
+v -0.28030303 0.03018951 0.23595803
+v -0.49482813 0.02762078 0.20800518
+v -0.31060606 0.02205370 0.23826175
+f 1 2 3
+f 5 2 1
+f 6 3 2
+f 6 2 5
+f 7 1 3
+f 7 5 1
+f 8 7 3
+f 9 6 5
+f 9 5 4
+f 10 4 5
+f 10 5 7
+f 10 8 4
+f 10 7 8
+f 11 4 8
+f 11 9 4
+f 11 6 9
+f 11 8 3
+f 11 3 6
\ No newline at end of file
diff --git a/objects/objaverse/chocolate/chocolate_8/collision/model_normalized_collision_1.obj b/objects/objaverse/chocolate/chocolate_8/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1942cc917b357e76a71478162ac1d6b18eff4c3f
--- /dev/null
+++ b/objects/objaverse/chocolate/chocolate_8/collision/model_normalized_collision_1.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.49698123 -0.00601721 0.23722089
+v 0.49900677 -0.00682120 0.20800518
+v 0.49510937 0.02644663 0.20800518
+v 0.21969697 0.03018951 0.23595803
+v 0.21971439 -0.02735892 0.20860481
+v 0.49504726 0.02651503 0.23541049
+v 0.21969697 -0.00448208 0.23746737
+v 0.21969697 0.03018951 0.20800518
+v 0.49174303 0.02203911 0.23786652
+v 0.49763195 0.00586629 0.23742624
+v 0.21969697 0.02205370 0.23826175
+f 5 2 1
+f 7 5 1
+f 8 3 2
+f 8 2 5
+f 8 6 3
+f 8 4 6
+f 8 5 7
+f 9 6 4
+f 10 1 2
+f 10 2 3
+f 10 3 6
+f 10 9 1
+f 10 6 9
+f 11 7 1
+f 11 1 9
+f 11 9 4
+f 11 8 7
+f 11 4 8
\ No newline at end of file
diff --git a/objects/objaverse/chocolate/chocolate_8/collision/model_normalized_collision_10.obj b/objects/objaverse/chocolate/chocolate_8/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0801f3a1002773695f0965b676c3b3d1794ca02f
--- /dev/null
+++ b/objects/objaverse/chocolate/chocolate_8/collision/model_normalized_collision_10.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.46195000 -0.02622405 0.20780835
+v 0.46195093 -0.02697116 0.14737588
+v 0.46212121 0.03018951 0.14739912
+v 0.40151515 0.03018951 0.20800518
+v 0.40135934 -0.02790730 0.14737786
+v 0.46212121 0.03018951 0.20800518
+v 0.40143077 -0.02686870 0.20767409
+v 0.40151515 0.03018951 0.14739912
+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 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/chocolate/chocolate_8/collision/model_normalized_collision_11.obj b/objects/objaverse/chocolate/chocolate_8/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f070b927fe0de7321a87b741adbfbca745978aca
--- /dev/null
+++ b/objects/objaverse/chocolate/chocolate_8/collision/model_normalized_collision_11.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.40143077 -0.02686870 0.20767409
+v 0.40135934 -0.02790730 0.14737786
+v 0.40151515 0.03018951 0.14739912
+v 0.34090909 0.03018951 0.20800518
+v 0.34088931 -0.02883859 0.14736162
+v 0.40151515 0.03018951 0.20800518
+v 0.34089960 -0.02727984 0.20767862
+v 0.34090909 0.03018951 0.14739912
+f 1 2 3
+f 5 2 1
+f 5 3 2
+f 6 1 3
+f 6 3 4
+f 7 5 1
+f 7 4 5
+f 7 6 4
+f 7 1 6
+f 8 5 4
+f 8 4 3
+f 8 3 5
\ No newline at end of file
diff --git a/objects/objaverse/chocolate/chocolate_8/collision/model_normalized_collision_12.obj b/objects/objaverse/chocolate/chocolate_8/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ff336552e5382d49ae446fe0bede99f986068df
--- /dev/null
+++ b/objects/objaverse/chocolate/chocolate_8/collision/model_normalized_collision_12.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.34089960 -0.02727984 0.20767862
+v 0.34088931 -0.02883859 0.14736162
+v 0.34090909 0.03018951 0.14739912
+v 0.26515151 0.03018951 0.20800518
+v 0.26513487 -0.02898538 0.14735608
+v 0.34090909 0.03018951 0.20800518
+v 0.26514209 -0.02734687 0.20768066
+v 0.26515151 0.03018951 0.14739912
+f 1 2 3
+f 5 2 1
+f 5 3 2
+f 6 1 3
+f 6 3 4
+f 7 5 1
+f 7 4 5
+f 7 6 4
+f 7 1 6
+f 8 5 4
+f 8 4 3
+f 8 3 5
\ No newline at end of file
diff --git a/objects/objaverse/chocolate/chocolate_8/collision/model_normalized_collision_13.obj b/objects/objaverse/chocolate/chocolate_8/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..00afd0b04f09457e8c3b0fe313e2faf22b6ebf89
--- /dev/null
+++ b/objects/objaverse/chocolate/chocolate_8/collision/model_normalized_collision_13.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.26514209 -0.02734687 0.20768066
+v 0.26513487 -0.02898538 0.14735608
+v 0.26515151 0.03018951 0.14739912
+v 0.21969697 0.03018951 0.20800518
+v 0.21968799 -0.02784854 0.19254444
+v 0.26515151 0.03018951 0.20800518
+v 0.21968758 -0.02738708 0.20768189
+v 0.21969697 0.03018951 0.14739912
+v 0.21968048 -0.02906940 0.14735648
+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 4 3
+f 9 8 2
+f 9 2 5
+f 9 5 7
+f 9 7 4
+f 9 4 8
\ No newline at end of file
diff --git a/objects/objaverse/chocolate/chocolate_8/collision/model_normalized_collision_14.obj b/objects/objaverse/chocolate/chocolate_8/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9af6fca144d755a9cab135f3e17d8e435fe6457c
--- /dev/null
+++ b/objects/objaverse/chocolate/chocolate_8/collision/model_normalized_collision_14.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.21968758 -0.02738708 0.20768189
+v 0.21968048 -0.02906940 0.14735648
+v 0.21969697 0.03018951 0.14739912
+v 0.14393939 0.03018951 0.20800518
+v 0.14392316 -0.02920944 0.14735715
+v 0.21969697 0.03018951 0.20800518
+v 0.14393006 -0.02745410 0.20768393
+v 0.14393939 0.03018951 0.14739912
+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/chocolate/chocolate_8/collision/model_normalized_collision_15.obj b/objects/objaverse/chocolate/chocolate_8/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..93e78c62f80a0a09115d141c695711b42c492f35
--- /dev/null
+++ b/objects/objaverse/chocolate/chocolate_8/collision/model_normalized_collision_15.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.14393006 -0.02745410 0.20768393
+v 0.14392316 -0.02920944 0.14735715
+v 0.14393939 0.03018951 0.14739912
+v 0.08333333 0.03018951 0.20800518
+v 0.08331731 -0.02932147 0.14735768
+v 0.14393939 0.03018951 0.20800518
+v 0.08332405 -0.02750772 0.20768557
+v 0.08333333 0.03018951 0.14739912
+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/chocolate/chocolate_8/collision/model_normalized_collision_16.obj b/objects/objaverse/chocolate/chocolate_8/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8c3dd585117eebc079c218e778495ed82c0414a0
--- /dev/null
+++ b/objects/objaverse/chocolate/chocolate_8/collision/model_normalized_collision_16.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.08332405 -0.02750772 0.20768557
+v 0.08331731 -0.02932147 0.14735768
+v 0.08333333 0.03018951 0.14739912
+v 0.00757576 0.03018951 0.20800518
+v 0.00755999 -0.02946150 0.14735835
+v 0.08333333 0.03018951 0.20800518
+v 0.00755886 -0.02761960 0.20764595
+v 0.00757576 0.03018951 0.14739912
+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/chocolate/chocolate_8/collision/model_normalized_collision_17.obj b/objects/objaverse/chocolate/chocolate_8/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..76fdaa11d1d0e5402d84a43751b31ec939bd2f0e
--- /dev/null
+++ b/objects/objaverse/chocolate/chocolate_8/collision/model_normalized_collision_17.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.00755886 -0.02761960 0.20764595
+v 0.00755999 -0.02946150 0.14735835
+v 0.00757576 0.03018951 0.14739912
+v -0.03787879 0.03018951 0.20800518
+v -0.03786272 -0.02810600 0.19251096
+v 0.00757576 0.03018951 0.20800518
+v -0.03786186 -0.02758141 0.20764429
+v -0.03787879 0.03018951 0.14739912
+v -0.03786292 -0.02941983 0.14735811
+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 4 3
+f 9 2 5
+f 9 5 4
+f 9 4 8
+f 9 8 3
+f 9 3 2
\ No newline at end of file
diff --git a/objects/objaverse/chocolate/chocolate_8/collision/model_normalized_collision_18.obj b/objects/objaverse/chocolate/chocolate_8/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2426535fc70c7b196c22c43a0104cf3860b3ce0b
--- /dev/null
+++ b/objects/objaverse/chocolate/chocolate_8/collision/model_normalized_collision_18.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.15908156 -0.02744688 0.20768321
+v -0.15907462 -0.02919543 0.14735704
+v -0.15909091 0.03018951 0.14739912
+v -0.23484848 0.03018951 0.20800518
+v -0.23483907 -0.02737977 0.20768116
+v -0.15909091 0.03018951 0.20800518
+v -0.23483194 -0.02905518 0.14735637
+v -0.23484848 0.03018951 0.14739912
+f 5 2 1
+f 5 1 4
+f 6 3 4
+f 6 4 1
+f 6 1 2
+f 6 2 3
+f 7 3 2
+f 7 2 5
+f 8 4 3
+f 8 3 7
+f 8 7 5
+f 8 5 4
\ No newline at end of file
diff --git a/objects/objaverse/chocolate/chocolate_8/collision/model_normalized_collision_19.obj b/objects/objaverse/chocolate/chocolate_8/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0bba78e76d7d9917d16f0a6a0434eb1f131ac589
--- /dev/null
+++ b/objects/objaverse/chocolate/chocolate_8/collision/model_normalized_collision_19.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.35597817 -0.02726049 0.20768407
+v -0.35589342 -0.02872308 0.14736267
+v -0.35606060 0.03018951 0.14739912
+v -0.41666666 0.03018951 0.20800518
+v -0.41658066 -0.02679543 0.20767015
+v -0.35606060 0.03018951 0.20800518
+v -0.41666666 0.03018951 0.14739912
+v -0.41650591 -0.02776508 0.14737735
+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 7 4 3
+f 8 7 2
+f 8 2 5
+f 8 5 7
\ No newline at end of file
diff --git a/objects/objaverse/chocolate/chocolate_8/collision/model_normalized_collision_2.obj b/objects/objaverse/chocolate/chocolate_8/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a4b94c5427a195d0f2ed1795cdeb5f07eb2a8c12
--- /dev/null
+++ b/objects/objaverse/chocolate/chocolate_8/collision/model_normalized_collision_2.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.03786186 -0.02758141 0.20764429
+v -0.03786292 -0.02941983 0.14735811
+v -0.03787879 0.03018951 0.14739912
+v -0.15909091 0.03018951 0.20800518
+v -0.15908156 -0.02744688 0.20768321
+v -0.03787879 0.03018951 0.20800518
+v -0.15907462 -0.02919543 0.14735704
+v -0.15909091 0.03018951 0.14739912
+f 1 2 3
+f 5 2 1
+f 6 1 3
+f 6 3 4
+f 6 5 1
+f 6 4 5
+f 7 3 2
+f 7 2 5
+f 8 4 3
+f 8 3 7
+f 8 7 5
+f 8 5 4
\ No newline at end of file
diff --git a/objects/objaverse/chocolate/chocolate_8/collision/model_normalized_collision_20.obj b/objects/objaverse/chocolate/chocolate_8/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef2362c1b8071979e197a0df319132db0277dd33
--- /dev/null
+++ b/objects/objaverse/chocolate/chocolate_8/collision/model_normalized_collision_20.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.21971439 -0.02735892 0.20860481
+v 0.21969697 -0.00448208 0.23746737
+v 0.00760817 -0.02758321 0.20869416
+v 0.00757576 0.03018951 0.23595803
+v 0.21969697 0.03018951 0.20800518
+v 0.00759703 -0.00410516 0.23739617
+v 0.21969697 0.03018951 0.23595803
+v 0.00757576 0.03018951 0.20800518
+v 0.00757576 0.02205370 0.23826175
+v 0.21969697 0.02205370 0.23826175
+f 1 2 3
+f 6 3 2
+f 7 5 4
+f 7 1 5
+f 8 5 1
+f 8 1 3
+f 8 4 5
+f 9 6 2
+f 9 3 6
+f 9 8 3
+f 9 4 8
+f 9 7 4
+f 10 9 2
+f 10 7 9
+f 10 2 1
+f 10 1 7
\ No newline at end of file
diff --git a/objects/objaverse/chocolate/chocolate_8/collision/model_normalized_collision_21.obj b/objects/objaverse/chocolate/chocolate_8/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..68a35c02ec47dcbbea427d2ffe3b8d0554ad2422
--- /dev/null
+++ b/objects/objaverse/chocolate/chocolate_8/collision/model_normalized_collision_21.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.41658066 -0.02679543 0.20767015
+v -0.41650591 -0.02776508 0.14737735
+v -0.41666666 0.03018951 0.14739912
+v -0.49482813 0.02762078 0.20800518
+v -0.49278395 -0.02422301 0.20800518
+v -0.49482813 0.02762078 0.14739912
+v -0.41666666 0.03018951 0.20800518
+v -0.49278395 -0.02422301 0.14739912
+f 5 2 1
+f 6 3 2
+f 7 5 1
+f 7 4 5
+f 7 6 4
+f 7 3 6
+f 7 1 2
+f 7 2 3
+f 8 6 2
+f 8 2 5
+f 8 5 4
+f 8 4 6
\ No newline at end of file
diff --git a/objects/objaverse/chocolate/chocolate_8/collision/model_normalized_collision_22.obj b/objects/objaverse/chocolate/chocolate_8/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a42fada2025071b8b8f08b61c38e16ec07fed488
--- /dev/null
+++ b/objects/objaverse/chocolate/chocolate_8/collision/model_normalized_collision_22.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.49202828 -0.02387371 0.14739912
+v 0.49202828 -0.02387371 0.01103549
+v 0.49510937 0.02644663 0.13224761
+v 0.40151515 0.03018951 0.14739912
+v 0.40134399 -0.02832481 0.01099789
+v 0.40151515 0.03018951 0.01103549
+v 0.49510937 0.02644663 0.14739912
+v 0.40135934 -0.02790730 0.14737786
+v 0.49510937 0.02644663 0.01103549
+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 4 1
+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 6
\ No newline at end of file
diff --git a/objects/objaverse/chocolate/chocolate_8/collision/model_normalized_collision_23.obj b/objects/objaverse/chocolate/chocolate_8/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca61f2aaecd242da57ff69dcc6b100f6971bcfa1
--- /dev/null
+++ b/objects/objaverse/chocolate/chocolate_8/collision/model_normalized_collision_23.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.40135934 -0.02790730 0.14737786
+v 0.40134399 -0.02832481 0.01099789
+v 0.40151515 0.03018951 0.01103549
+v 0.26515151 0.03018951 0.14739912
+v 0.26513330 -0.02956091 0.01100095
+v 0.40151515 0.03018951 0.14739912
+v 0.26513487 -0.02898538 0.14735608
+v 0.26515151 0.03018951 0.01103549
+f 1 2 3
+f 5 2 1
+f 6 1 3
+f 6 3 4
+f 6 4 1
+f 7 5 1
+f 7 1 4
+f 7 4 5
+f 8 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/chocolate/chocolate_8/collision/model_normalized_collision_24.obj b/objects/objaverse/chocolate/chocolate_8/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f062a6822f85a4851eafbe68aa1c13488dfd4c02
--- /dev/null
+++ b/objects/objaverse/chocolate/chocolate_8/collision/model_normalized_collision_24.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.26513487 -0.02898538 0.14735608
+v 0.26513330 -0.02956091 0.01100095
+v 0.26515151 0.03018951 0.01103549
+v 0.14393939 0.03018951 0.14739912
+v 0.14392175 -0.02982277 0.01100202
+v 0.26515151 0.03018951 0.14739912
+v 0.14392316 -0.02920944 0.14735715
+v 0.14393939 0.03018951 0.01103549
+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/chocolate/chocolate_8/collision/model_normalized_collision_25.obj b/objects/objaverse/chocolate/chocolate_8/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8e90b090d47c7d0f83963122249f3dbcf89e6578
--- /dev/null
+++ b/objects/objaverse/chocolate/chocolate_8/collision/model_normalized_collision_25.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.14392316 -0.02920944 0.14735715
+v 0.14392175 -0.02982277 0.01100202
+v 0.14393939 0.03018951 0.01103549
+v 0.00757576 0.03018951 0.14739912
+v 0.00756119 -0.03011320 0.01099783
+v 0.14393939 0.03018951 0.14739912
+v 0.00755999 -0.02946150 0.14735835
+v 0.00757576 0.03018951 0.01103549
+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/chocolate/chocolate_8/collision/model_normalized_collision_26.obj b/objects/objaverse/chocolate/chocolate_8/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..212671b2c22e43d5f1c8969aea98bc3d482069d5
--- /dev/null
+++ b/objects/objaverse/chocolate/chocolate_8/collision/model_normalized_collision_26.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.00755999 -0.02946150 0.14735835
+v 0.00756119 -0.03011320 0.01099783
+v 0.00757576 0.03018951 0.01103549
+v -0.09848485 0.03018951 0.14739912
+v -0.09846890 -0.02938012 0.13220641
+v 0.00757576 0.03018951 0.14739912
+v -0.09846877 -0.02930763 0.14735757
+v -0.09848485 0.03018951 0.01103549
+v -0.09846743 -0.02993845 0.01100241
+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 5 4
+f 8 4 3
+f 9 8 2
+f 9 2 5
+f 9 5 8
\ No newline at end of file
diff --git a/objects/objaverse/chocolate/chocolate_8/collision/model_normalized_collision_27.obj b/objects/objaverse/chocolate/chocolate_8/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..62aef751a605567bc33434045f7f1da3ac5d3395
--- /dev/null
+++ b/objects/objaverse/chocolate/chocolate_8/collision/model_normalized_collision_27.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v -0.09846877 -0.02930763 0.14735757
+v -0.09846743 -0.02993845 0.01100241
+v -0.09848485 0.03018951 0.01103549
+v -0.23484848 0.03018951 0.14739912
+v -0.23483207 -0.02912767 0.13220520
+v -0.09848485 0.03018951 0.14739912
+v -0.23483194 -0.02905518 0.14735637
+v -0.23483043 -0.02964364 0.01100120
+v -0.23484848 0.03018951 0.01103549
+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 9 4 3
+f 9 3 8
+f 9 8 5
+f 9 5 4
\ No newline at end of file
diff --git a/objects/objaverse/chocolate/chocolate_8/collision/model_normalized_collision_28.obj b/objects/objaverse/chocolate/chocolate_8/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be2c75e06ba942c9d7f8144e579f5b810e4d3d0c
--- /dev/null
+++ b/objects/objaverse/chocolate/chocolate_8/collision/model_normalized_collision_28.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.49202828 -0.02387371 0.01103549
+v 0.49175215 -0.02417778 -0.23280116
+v 0.49481181 0.02677436 -0.23265604
+v 0.26515151 0.03018951 0.01103549
+v 0.26513331 -0.02959129 -0.00408164
+v 0.49510937 0.02644663 0.01103549
+v 0.48307357 -0.02459736 -0.23149033
+v 0.26513330 -0.02956091 0.01100095
+v 0.26515151 0.02953226 -0.23360967
+v 0.26517946 -0.02608283 -0.22304743
+v 0.26516442 -0.01809799 -0.23467903
+f 6 3 4
+f 6 4 1
+f 6 1 2
+f 6 2 3
+f 7 2 1
+f 8 1 4
+f 8 7 1
+f 8 5 7
+f 9 4 3
+f 9 8 4
+f 9 5 8
+f 10 7 5
+f 10 2 7
+f 11 9 3
+f 11 3 2
+f 11 2 10
+f 11 10 5
+f 11 5 9
\ No newline at end of file
diff --git a/objects/objaverse/chocolate/chocolate_8/collision/model_normalized_collision_29.obj b/objects/objaverse/chocolate/chocolate_8/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2917ff95ebdf27efe1a37220d445daaf7509f233
--- /dev/null
+++ b/objects/objaverse/chocolate/chocolate_8/collision/model_normalized_collision_29.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.26513330 -0.02956091 0.01100095
+v 0.26516442 -0.01809799 -0.23467903
+v 0.26515151 0.03018951 0.01103549
+v 0.00757576 0.03018951 0.01103549
+v 0.00758228 -0.02547493 -0.22319898
+v 0.26515151 0.02953226 -0.23360967
+v 0.26517946 -0.02608283 -0.22304743
+v 0.00756119 -0.03011320 0.01099783
+v 0.00757576 0.02953226 -0.23360967
+v 0.00758905 -0.01816462 -0.23437218
+f 1 3 4
+f 6 4 3
+f 7 3 1
+f 7 6 3
+f 7 2 6
+f 8 1 4
+f 8 7 1
+f 8 5 7
+f 9 4 6
+f 9 8 4
+f 9 5 8
+f 9 6 2
+f 10 7 5
+f 10 2 7
+f 10 9 2
+f 10 5 9
\ No newline at end of file
diff --git a/objects/objaverse/chocolate/chocolate_8/collision/model_normalized_collision_3.obj b/objects/objaverse/chocolate/chocolate_8/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d103fed33f4dcb7dd6877fa0d2f920039e1c9763
--- /dev/null
+++ b/objects/objaverse/chocolate/chocolate_8/collision/model_normalized_collision_3.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.23483907 -0.02737977 0.20768116
+v -0.23483194 -0.02905518 0.14735637
+v -0.23484848 0.03018951 0.14739912
+v -0.35606060 0.03018951 0.20800518
+v -0.35597817 -0.02726049 0.20768407
+v -0.23484848 0.03018951 0.20800518
+v -0.35606060 0.03018951 0.14739912
+v -0.35589342 -0.02872308 0.14736267
+f 5 2 1
+f 6 3 4
+f 6 5 1
+f 6 4 5
+f 6 1 2
+f 6 2 3
+f 7 3 2
+f 7 5 4
+f 7 4 3
+f 8 7 2
+f 8 2 5
+f 8 5 7
\ No newline at end of file
diff --git a/objects/objaverse/chocolate/chocolate_8/collision/model_normalized_collision_30.obj b/objects/objaverse/chocolate/chocolate_8/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..96f4a7a02c0561a697aa3efd96082d2e2f0735c7
--- /dev/null
+++ b/objects/objaverse/chocolate/chocolate_8/collision/model_normalized_collision_30.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.00756119 -0.03011320 0.01099783
+v 0.00758905 -0.01816462 -0.23437218
+v 0.00757576 0.03018951 0.01103549
+v -0.23484848 0.03018951 0.01103549
+v -0.23486988 -0.02588874 -0.22305144
+v -0.23484848 0.02953226 -0.23360967
+v 0.00758228 -0.02547493 -0.22319898
+v -0.23483043 -0.02964364 0.01100120
+v 0.00757576 0.02953226 -0.23360967
+v -0.23485927 -0.01810711 -0.23459350
+v -0.23483039 -0.02967287 -0.00408190
+v 0.00757576 0.03018951 -0.00411603
+f 1 2 3
+f 6 5 4
+f 7 5 2
+f 7 2 1
+f 7 1 5
+f 8 4 5
+f 8 1 3
+f 8 3 4
+f 10 2 5
+f 10 5 6
+f 10 9 2
+f 10 6 9
+f 11 8 5
+f 11 5 1
+f 11 1 8
+f 12 9 6
+f 12 6 4
+f 12 4 3
+f 12 3 2
+f 12 2 9
\ No newline at end of file
diff --git a/objects/objaverse/chocolate/chocolate_8/collision/model_normalized_collision_31.obj b/objects/objaverse/chocolate/chocolate_8/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b83360e4bcd5f2270e0847ccb440a2959c9feb9f
--- /dev/null
+++ b/objects/objaverse/chocolate/chocolate_8/collision/model_normalized_collision_31.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.23483043 -0.02964364 0.01100120
+v -0.23485927 -0.01810711 -0.23459350
+v -0.23484848 0.03018951 0.01103549
+v -0.49482813 0.02762078 0.01103549
+v -0.49278395 -0.02422301 -0.23319119
+v -0.49482813 0.02762078 -0.23319119
+v -0.23486988 -0.02588874 -0.22305144
+v -0.49278395 -0.02422301 0.01103549
+v -0.23484848 0.02953226 -0.23360967
+v -0.48522746 -0.02464294 -0.23138189
+f 6 4 3
+f 6 5 4
+f 6 2 5
+f 7 5 2
+f 7 2 1
+f 8 4 5
+f 8 1 3
+f 8 3 4
+f 9 6 3
+f 9 2 6
+f 9 1 2
+f 9 3 1
+f 10 7 1
+f 10 5 7
+f 10 8 5
+f 10 1 8
\ No newline at end of file
diff --git a/objects/objaverse/chocolate/chocolate_8/collision/model_normalized_collision_4.obj b/objects/objaverse/chocolate/chocolate_8/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8bf151b06d4773386baafc43873b9ed6eb2ce9be
--- /dev/null
+++ b/objects/objaverse/chocolate/chocolate_8/collision/model_normalized_collision_4.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v -0.23483194 -0.02905518 0.14735637
+v -0.23483043 -0.02964364 0.01100120
+v -0.23484848 0.03018951 0.01103549
+v -0.49482813 0.02762078 0.14739912
+v -0.49278395 -0.02422301 0.14739912
+v -0.49482813 0.02762078 0.01103549
+v -0.23484848 0.03018951 0.14739912
+v -0.35606060 0.03018951 0.01103549
+v -0.49278395 -0.02422301 0.01103549
+f 5 2 1
+f 6 5 4
+f 7 5 1
+f 7 4 5
+f 7 1 2
+f 7 2 3
+f 8 6 4
+f 8 3 2
+f 8 2 6
+f 8 7 3
+f 8 4 7
+f 9 6 2
+f 9 2 5
+f 9 5 6
\ No newline at end of file
diff --git a/objects/objaverse/chocolate/chocolate_8/collision/model_normalized_collision_5.obj b/objects/objaverse/chocolate/chocolate_8/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..60ea413d85b66804e831d6dda0837ff575885b93
--- /dev/null
+++ b/objects/objaverse/chocolate/chocolate_8/collision/model_normalized_collision_5.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.46245130 -0.02469590 0.22891889
+v -0.46194813 -0.02629329 0.20780779
+v -0.46213301 -0.00756015 0.23732043
+v -0.49734970 -0.00613646 0.23785996
+v -0.49278395 -0.02422301 0.23595803
+v -0.49912277 -0.00694219 0.20800518
+v -0.46239622 -0.02627804 0.20831882
+v -0.47747304 -0.01780660 0.23616437
+v -0.47746042 -0.00563639 0.23775508
+v -0.49819660 -0.01742145 0.23595803
+v -0.49278395 -0.02422301 0.20800518
+f 1 2 3
+f 6 3 2
+f 7 2 1
+f 7 1 5
+f 8 5 1
+f 8 1 3
+f 8 3 5
+f 9 5 3
+f 9 4 5
+f 9 6 4
+f 9 3 6
+f 10 5 4
+f 10 4 6
+f 11 6 2
+f 11 10 6
+f 11 5 10
+f 11 7 5
+f 11 2 7
\ No newline at end of file
diff --git a/objects/objaverse/chocolate/chocolate_8/collision/model_normalized_collision_6.obj b/objects/objaverse/chocolate/chocolate_8/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6a75fa2a9056609787fac11aac05dbde91a70d2e
--- /dev/null
+++ b/objects/objaverse/chocolate/chocolate_8/collision/model_normalized_collision_6.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.00760817 -0.02758321 0.20869416
+v 0.00759703 -0.00410516 0.23739617
+v -0.03788091 -0.00733255 0.23670962
+v -0.03787879 0.03018951 0.23595803
+v 0.00757576 0.03018951 0.20800518
+v -0.03787879 0.00692273 0.23881934
+v -0.03791106 -0.02754496 0.20869348
+v 0.00757576 0.03018951 0.23595803
+v -0.03790004 -0.00411190 0.23742832
+v -0.03787879 0.03018951 0.20800518
+v 0.00757576 0.02205370 0.23826175
+v -0.03787879 0.02205370 0.23826175
+f 1 2 3
+f 5 2 1
+f 7 1 3
+f 7 5 1
+f 8 5 4
+f 8 2 5
+f 9 3 2
+f 9 2 6
+f 9 7 3
+f 10 4 5
+f 10 5 7
+f 10 9 4
+f 10 7 9
+f 11 6 2
+f 11 2 8
+f 11 8 4
+f 12 9 6
+f 12 4 9
+f 12 11 4
+f 12 6 11
\ No newline at end of file
diff --git a/objects/objaverse/chocolate/chocolate_8/collision/model_normalized_collision_7.obj b/objects/objaverse/chocolate/chocolate_8/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5def955e271227c50856fea5fa8cabc4f1f3308c
--- /dev/null
+++ b/objects/objaverse/chocolate/chocolate_8/collision/model_normalized_collision_7.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.03791106 -0.02754496 0.20869348
+v -0.03790004 -0.00411190 0.23742832
+v -0.28030303 -0.00448208 0.23746737
+v -0.28030303 0.03018951 0.23595803
+v -0.03787879 0.03018951 0.20800518
+v -0.03787879 0.02205370 0.23826175
+v -0.28032042 -0.02731126 0.20860429
+v -0.28030303 0.02205370 0.23826175
+v -0.03787879 0.03018951 0.23595803
+v -0.28030303 0.03018951 0.20800518
+f 1 2 3
+f 6 3 2
+f 6 2 1
+f 6 1 5
+f 7 1 3
+f 7 5 1
+f 8 3 6
+f 8 7 3
+f 8 4 7
+f 9 6 5
+f 9 5 4
+f 9 8 6
+f 9 4 8
+f 10 7 4
+f 10 4 5
+f 10 5 7
\ No newline at end of file
diff --git a/objects/objaverse/chocolate/chocolate_8/collision/model_normalized_collision_8.obj b/objects/objaverse/chocolate/chocolate_8/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..323e29e44c1f0f01d7170abae40a32340f3bd664
--- /dev/null
+++ b/objects/objaverse/chocolate/chocolate_8/collision/model_normalized_collision_8.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.49202828 -0.02387371 0.20800518
+v 0.49202828 -0.02387371 0.14739912
+v 0.49510937 0.02644663 0.20800518
+v 0.46212121 0.03018951 0.20800518
+v 0.46195093 -0.02697116 0.14737588
+v 0.49175215 0.03014428 0.14739912
+v 0.46195000 -0.02622405 0.20780835
+v 0.49510937 0.02644663 0.14739912
+v 0.46212121 0.03018951 0.14739912
+v 0.46195368 -0.02647735 0.19266107
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 6 4 3
+f 7 1 4
+f 8 6 3
+f 8 3 2
+f 8 2 5
+f 8 5 6
+f 9 6 5
+f 9 4 6
+f 9 7 4
+f 9 5 7
+f 10 7 5
+f 10 5 1
+f 10 1 7
\ No newline at end of file
diff --git a/objects/objaverse/chocolate/chocolate_8/collision/model_normalized_collision_9.obj b/objects/objaverse/chocolate/chocolate_8/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..82da3e658c99b06e5eaa00ac455e63b20de3deb8
--- /dev/null
+++ b/objects/objaverse/chocolate/chocolate_8/collision/model_normalized_collision_9.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.49196929 -0.02393866 0.23555649
+v 0.49900677 -0.00682120 0.20800518
+v 0.49900528 -0.00683588 0.23522274
+v -0.46213301 -0.00756015 0.23732043
+v -0.46194813 -0.02629329 0.20780779
+v 0.49202828 -0.02387371 0.20800518
+v -0.46245130 -0.02469590 0.22891889
+v -0.46239622 -0.02627804 0.20831882
+f 1 3 4
+f 3 2 4
+f 5 4 2
+f 6 5 2
+f 6 1 5
+f 6 2 3
+f 6 3 1
+f 7 1 4
+f 8 7 4
+f 8 4 5
+f 8 5 1
+f 8 1 7
\ No newline at end of file
diff --git a/objects/objaverse/chocolate/chocolate_8/model.xml b/objects/objaverse/chocolate/chocolate_8/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..50ba9c8fb2b4673e831e190ac57249a1bd22c090
--- /dev/null
+++ b/objects/objaverse/chocolate/chocolate_8/model.xml
@@ -0,0 +1,84 @@
+<mujoco model="chocolate_14">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.15999999999999998 0.15999999999999998 0.15999999999999998" refquat="0.4999999999999999 0.4999999999999999 -0.49999999999999994 0.49999999999999994"/>
+    <mesh file="visual/model_normalized_1.obj" name="model_normalized_1_vis" scale="0.15999999999999998 0.15999999999999998 0.15999999999999998" refquat="0.4999999999999999 0.4999999999999999 -0.49999999999999994 0.49999999999999994"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.15999999999999998 0.15999999999999998 0.15999999999999998" refquat="0.4999999999999999 0.4999999999999999 -0.49999999999999994 0.49999999999999994"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.15999999999999998 0.15999999999999998 0.15999999999999998" refquat="0.4999999999999999 0.4999999999999999 -0.49999999999999994 0.49999999999999994"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.15999999999999998 0.15999999999999998 0.15999999999999998" refquat="0.4999999999999999 0.4999999999999999 -0.49999999999999994 0.49999999999999994"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.15999999999999998 0.15999999999999998 0.15999999999999998" refquat="0.4999999999999999 0.4999999999999999 -0.49999999999999994 0.49999999999999994"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.15999999999999998 0.15999999999999998 0.15999999999999998" refquat="0.4999999999999999 0.4999999999999999 -0.49999999999999994 0.49999999999999994"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.15999999999999998 0.15999999999999998 0.15999999999999998" refquat="0.4999999999999999 0.4999999999999999 -0.49999999999999994 0.49999999999999994"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.15999999999999998 0.15999999999999998 0.15999999999999998" refquat="0.4999999999999999 0.4999999999999999 -0.49999999999999994 0.49999999999999994"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.15999999999999998 0.15999999999999998 0.15999999999999998" refquat="0.4999999999999999 0.4999999999999999 -0.49999999999999994 0.49999999999999994"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.15999999999999998 0.15999999999999998 0.15999999999999998" refquat="0.4999999999999999 0.4999999999999999 -0.49999999999999994 0.49999999999999994"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.15999999999999998 0.15999999999999998 0.15999999999999998" refquat="0.4999999999999999 0.4999999999999999 -0.49999999999999994 0.49999999999999994"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.15999999999999998 0.15999999999999998 0.15999999999999998" refquat="0.4999999999999999 0.4999999999999999 -0.49999999999999994 0.49999999999999994"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.15999999999999998 0.15999999999999998 0.15999999999999998" refquat="0.4999999999999999 0.4999999999999999 -0.49999999999999994 0.49999999999999994"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.15999999999999998 0.15999999999999998 0.15999999999999998" refquat="0.4999999999999999 0.4999999999999999 -0.49999999999999994 0.49999999999999994"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.15999999999999998 0.15999999999999998 0.15999999999999998" refquat="0.4999999999999999 0.4999999999999999 -0.49999999999999994 0.49999999999999994"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.15999999999999998 0.15999999999999998 0.15999999999999998" refquat="0.4999999999999999 0.4999999999999999 -0.49999999999999994 0.49999999999999994"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.15999999999999998 0.15999999999999998 0.15999999999999998" refquat="0.4999999999999999 0.4999999999999999 -0.49999999999999994 0.49999999999999994"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.15999999999999998 0.15999999999999998 0.15999999999999998" refquat="0.4999999999999999 0.4999999999999999 -0.49999999999999994 0.49999999999999994"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.15999999999999998 0.15999999999999998 0.15999999999999998" refquat="0.4999999999999999 0.4999999999999999 -0.49999999999999994 0.49999999999999994"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.15999999999999998 0.15999999999999998 0.15999999999999998" refquat="0.4999999999999999 0.4999999999999999 -0.49999999999999994 0.49999999999999994"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.15999999999999998 0.15999999999999998 0.15999999999999998" refquat="0.4999999999999999 0.4999999999999999 -0.49999999999999994 0.49999999999999994"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.15999999999999998 0.15999999999999998 0.15999999999999998" refquat="0.4999999999999999 0.4999999999999999 -0.49999999999999994 0.49999999999999994"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.15999999999999998 0.15999999999999998 0.15999999999999998" refquat="0.4999999999999999 0.4999999999999999 -0.49999999999999994 0.49999999999999994"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.15999999999999998 0.15999999999999998 0.15999999999999998" refquat="0.4999999999999999 0.4999999999999999 -0.49999999999999994 0.49999999999999994"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.15999999999999998 0.15999999999999998 0.15999999999999998" refquat="0.4999999999999999 0.4999999999999999 -0.49999999999999994 0.49999999999999994"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.15999999999999998 0.15999999999999998 0.15999999999999998" refquat="0.4999999999999999 0.4999999999999999 -0.49999999999999994 0.49999999999999994"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.15999999999999998 0.15999999999999998 0.15999999999999998" refquat="0.4999999999999999 0.4999999999999999 -0.49999999999999994 0.49999999999999994"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.15999999999999998 0.15999999999999998 0.15999999999999998" refquat="0.4999999999999999 0.4999999999999999 -0.49999999999999994 0.49999999999999994"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.15999999999999998 0.15999999999999998 0.15999999999999998" refquat="0.4999999999999999 0.4999999999999999 -0.49999999999999994 0.49999999999999994"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.15999999999999998 0.15999999999999998 0.15999999999999998" refquat="0.4999999999999999 0.4999999999999999 -0.49999999999999994 0.49999999999999994"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.15999999999999998 0.15999999999999998 0.15999999999999998" refquat="0.4999999999999999 0.4999999999999999 -0.49999999999999994 0.49999999999999994"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.15999999999999998 0.15999999999999998 0.15999999999999998" refquat="0.4999999999999999 0.4999999999999999 -0.49999999999999994 0.49999999999999994"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.15999999999999998 0.15999999999999998 0.15999999999999998" refquat="0.4999999999999999 0.4999999999999999 -0.49999999999999994 0.49999999999999994"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="Material.007" texture="image0" specular="0.5" shininess="0.359999993"/>
+    <material name="Material.008" 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.008"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_1_vis" conaffinity="0" contype="0" group="1" material="Material.007"/>
+        <geom solimp="0.998 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="0.0003312258640397991 9.279933817909479e-06 -0.004830321351343916" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.0003312258640397991 9.279933817909479e-06 0.004818111817701625" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.038211091761200994 0.07985963837378844 -6.104766821145856e-06" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/objects/objaverse/chocolate/chocolate_8/visual/material.mtl b/objects/objaverse/chocolate/chocolate_8/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..842b70538fc6029daec10eabd1278717f12035ab
--- /dev/null
+++ b/objects/objaverse/chocolate/chocolate_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 359.99999300
+map_Kd material_0.jpeg
\ No newline at end of file
diff --git a/objects/objaverse/chocolate/chocolate_8/visual/model_normalized_0.obj b/objects/objaverse/chocolate/chocolate_8/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ebbb40763eba8a6c7f7c76371e182afce6dbace0
--- /dev/null
+++ b/objects/objaverse/chocolate/chocolate_8/visual/model_normalized_0.obj
@@ -0,0 +1,497 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/objects/objaverse/chocolate/chocolate_8/visual/model_normalized_1.obj b/objects/objaverse/chocolate/chocolate_8/visual/model_normalized_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..616cba43cb507b1b4ecacfa4f640c0466fc8e65f
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\ No newline at end of file
diff --git a/objects/objaverse/chocolate/chocolate_9/collision/model_normalized_collision_11.obj b/objects/objaverse/chocolate/chocolate_9/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..95d996e5c47fcd339cc3df364bf94f1d1f1938a1
--- /dev/null
+++ b/objects/objaverse/chocolate/chocolate_9/collision/model_normalized_collision_11.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.07386366 -0.02083333 0.04696970
+v 0.07386366 0.00000000 0.01666667
+v 0.08333331 0.03787877 0.06666670
+v -0.29166665 0.03787877 0.06666670
+v -0.31249998 -0.00757578 0.01666667
+v -0.31249998 0.03787877 0.01666667
+v 0.08333331 0.02083333 0.06666670
+v -0.29166665 0.02083333 0.06666670
+v 0.07386366 0.03787877 0.02916663
+v -0.31249998 -0.00757578 0.03333332
+v 0.08333331 0.02083333 0.06212121
+v 0.08333331 0.03787877 0.06212121
+v -0.31249998 0.03787877 0.03333332
+f 5 2 1
+f 6 2 5
+f 7 3 4
+f 8 7 4
+f 8 1 7
+f 9 2 6
+f 9 6 4
+f 9 4 3
+f 10 6 5
+f 10 8 4
+f 10 5 1
+f 10 1 8
+f 11 7 1
+f 11 1 2
+f 11 3 7
+f 12 9 3
+f 12 2 9
+f 12 11 2
+f 12 3 11
+f 13 10 4
+f 13 4 6
+f 13 6 10
\ No newline at end of file
diff --git a/objects/objaverse/chocolate/chocolate_9/collision/model_normalized_collision_29.obj b/objects/objaverse/chocolate/chocolate_9/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..83e87d0aebdfec29d91bbc6533d4a35bb6a48a8e
--- /dev/null
+++ b/objects/objaverse/chocolate/chocolate_9/collision/model_normalized_collision_29.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.01325759 -0.21969699 0.06666670
+v 0.01325759 -0.21969699 0.02916663
+v 0.01325759 -0.14393941 0.02916663
+v -0.04734847 -0.14393941 0.06666670
+v -0.04734847 -0.21969699 0.02916663
+v 0.01325759 -0.14393941 0.06666670
+v -0.04734847 -0.21969699 0.06666670
+v -0.04734847 -0.14393941 0.02916663
+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/chocolate/chocolate_9/collision/model_normalized_collision_31.obj b/objects/objaverse/chocolate/chocolate_9/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d6ce3ee77a92c41a670f38736c9089062b7fa21
--- /dev/null
+++ b/objects/objaverse/chocolate/chocolate_9/collision/model_normalized_collision_31.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.13825756 0.09848483 0.06666670
+v -0.13825756 0.09848483 -0.06666667
+v -0.13825756 0.23484847 -0.06666667
+v -0.31249998 0.23484847 0.03333332
+v -0.31249998 0.09848483 -0.06666667
+v -0.13825756 0.22916667 0.06666670
+v -0.29166665 0.09848483 0.06666670
+v -0.31249998 0.23484847 -0.06666667
+v -0.31249998 0.09848483 0.03333332
+v -0.29166665 0.22916667 0.06666670
+f 1 2 3
+f 5 2 1
+f 5 3 2
+f 6 1 3
+f 6 3 4
+f 7 1 6
+f 8 5 4
+f 8 4 3
+f 8 3 5
+f 9 7 4
+f 9 4 5
+f 9 5 1
+f 9 1 7
+f 10 7 6
+f 10 6 4
+f 10 4 7
\ No newline at end of file
diff --git a/objects/objaverse/chocolate/chocolate_9/collision/model_normalized_collision_5.obj b/objects/objaverse/chocolate/chocolate_9/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a7361f6399bec712d6080f2a0b5fe96b5083bd43
--- /dev/null
+++ b/objects/objaverse/chocolate/chocolate_9/collision/model_normalized_collision_5.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.13825756 -0.27083333 0.02916663
+v -0.13825756 -0.26515153 -0.06666667
+v -0.13825756 -0.00757578 -0.06666667
+v -0.31249998 -0.00757578 0.03333332
+v -0.31249998 -0.26515153 -0.06666667
+v -0.13825756 -0.02083333 0.06666670
+v -0.12499998 -0.22916667 0.06666670
+v -0.31249998 -0.00757578 -0.06666667
+v -0.12499998 -0.22916667 0.06212121
+v -0.12499998 -0.21969699 0.06666670
+v -0.29166665 -0.22916667 0.06666670
+v -0.12499998 -0.21969699 0.06212121
+v -0.29166665 -0.02083333 0.06666670
+v -0.31249998 -0.26515153 0.03333332
+v -0.27462119 -0.27083333 0.04696970
+f 5 2 1
+f 5 3 2
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+f 8 3 5
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+f 9 1 2
+f 9 2 3
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+f 12 9 3
+f 12 3 10
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+f 13 6 4
+f 13 4 11
+f 14 11 4
+f 14 4 5
+f 15 1 7
+f 15 7 11
+f 15 11 14
+f 15 14 5
+f 15 5 1
\ No newline at end of file
diff --git a/objects/objaverse/condiment/.DS_Store b/objects/objaverse/condiment/.DS_Store
new file mode 100644
index 0000000000000000000000000000000000000000..aa0b7e2142d43ece8105ba819d3b2320ab49d48c
Binary files /dev/null and b/objects/objaverse/condiment/.DS_Store differ
diff --git a/objects/objaverse/condiment/condiment_0/collision/model_normalized_collision_0.obj b/objects/objaverse/condiment/condiment_0/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f7d0f12f731fe3b0be086c7078067b091d0bb01
--- /dev/null
+++ b/objects/objaverse/condiment/condiment_0/collision/model_normalized_collision_0.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v -0.08408716 0.04621643 0.12776641
+v -0.08989490 0.10659540 -0.35596465
+v -0.05646635 0.07276788 0.13267450
+v -0.05759075 0.13026536 0.09518710
+v -0.12177690 0.07205586 0.09324485
+v -0.05769955 0.13045558 -0.09833456
+v -0.13140866 0.04895909 -0.35594792
+v -0.10853249 0.09885997 0.04045664
+v -0.06670532 0.05350138 0.14432119
+v -0.06366814 0.12655036 -0.15908292
+v -0.12799782 0.04782152 0.10423556
+v -0.09560354 0.11021630 0.06665654
+v -0.12164273 0.07188756 -0.21953795
+v -0.06075574 0.10575185 0.11417410
+v -0.10912643 0.08421910 0.10359947
+v -0.10759069 0.09804454 0.06672076
+v -0.06958873 0.12433129 0.09357440
+v -0.06957156 0.12417105 -0.09826502
+v -0.09904707 0.09918661 -0.35583455
+v -0.11533316 0.06154370 0.10910490
+v -0.12420657 0.05824580 0.10415374
+v -0.08167520 0.11174438 0.10364353
+v -0.11061741 0.08534279 -0.35579175
+v -0.07301054 0.10446880 0.11154889
+v -0.12281413 0.06682244 -0.35653648
+v -0.12673572 0.05957299 -0.35584285
+f 6 4 3
+f 9 1 7
+f 9 7 2
+f 9 2 3
+f 10 6 3
+f 10 3 2
+f 11 7 1
+f 11 5 7
+f 11 1 9
+f 13 7 5
+f 13 5 8
+f 14 9 3
+f 14 3 4
+f 16 12 8
+f 16 8 5
+f 16 15 12
+f 16 5 15
+f 17 4 6
+f 18 6 10
+f 18 10 2
+f 18 2 12
+f 18 17 6
+f 18 12 17
+f 19 12 2
+f 19 8 12
+f 20 9 15
+f 21 15 5
+f 21 5 11
+f 21 20 15
+f 21 11 9
+f 21 9 20
+f 22 15 9
+f 22 14 4
+f 22 4 17
+f 22 17 12
+f 22 12 15
+f 23 8 19
+f 24 22 9
+f 24 9 14
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+f 25 2 7
+f 25 23 19
+f 25 19 2
+f 26 25 7
+f 26 7 13
+f 26 13 25
\ No newline at end of file
diff --git a/objects/objaverse/condiment/condiment_0/collision/model_normalized_collision_1.obj b/objects/objaverse/condiment/condiment_0/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..937ff7f140fb78b6e4ec35724bfc365c16857d4a
--- /dev/null
+++ b/objects/objaverse/condiment/condiment_0/collision/model_normalized_collision_1.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.08578551 -0.00891562 0.14382889
+v 0.14247298 -0.01457201 0.00835891
+v 0.07711747 0.11488922 0.10292515
+v 0.01014538 0.14195717 0.09432264
+v 0.01174062 -0.00915205 0.00757575
+v 0.06476260 0.12837500 -0.15889953
+v 0.01091503 0.08817803 0.14361158
+v 0.01174062 -0.00915205 0.14393939
+v 0.09594808 0.10674417 -0.15924099
+v 0.05136563 0.13817875 0.06606043
+v 0.01038501 0.14246177 -0.15888160
+v 0.07674162 0.05785679 0.12903019
+v 0.06207049 0.12372528 0.10232800
+v 0.07717817 0.12341078 0.07952851
+v 0.02541466 0.14110851 -0.15886278
+v 0.05206188 0.11793043 0.10990398
+v 0.03607265 0.13802028 0.09294340
+v 0.08102416 0.11956955 -0.15897429
+v 0.01579804 0.14196267 -0.15971740
+v 0.07762776 0.12392624 0.02383637
+f 1 2 3
+f 8 5 2
+f 8 2 1
+f 8 1 7
+f 8 7 4
+f 8 4 5
+f 9 2 5
+f 11 5 4
+f 11 9 5
+f 12 7 1
+f 12 1 3
+f 12 3 7
+f 14 3 2
+f 14 2 9
+f 14 13 3
+f 15 10 6
+f 15 11 4
+f 15 4 10
+f 16 7 3
+f 16 3 13
+f 16 13 4
+f 16 4 7
+f 17 10 4
+f 17 4 13
+f 17 14 10
+f 17 13 14
+f 19 15 6
+f 19 9 11
+f 19 11 15
+f 19 18 9
+f 19 6 18
+f 20 14 9
+f 20 9 18
+f 20 10 14
+f 20 18 6
+f 20 6 10
\ No newline at end of file
diff --git a/objects/objaverse/condiment/condiment_0/collision/model_normalized_collision_10.obj b/objects/objaverse/condiment/condiment_0/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..28c9add1978c1e333126bafa6de25a38d4d1ed89
--- /dev/null
+++ b/objects/objaverse/condiment/condiment_0/collision/model_normalized_collision_10.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.11470453 0.08820394 -0.03843014
+v 0.11353882 0.08674912 -0.15952378
+v 0.01535985 0.14111835 -0.23542657
+v -0.08096784 0.11797576 -0.03812577
+v 0.01174062 0.06660552 -0.23484849
+v 0.09688100 0.10821111 -0.03810176
+v -0.10288634 0.09901785 -0.03822364
+v 0.09594808 0.10674417 -0.15924099
+v -0.09460025 0.10462084 -0.23537270
+v -0.07975182 0.11654241 -0.23510958
+f 5 2 1
+f 5 3 2
+f 6 3 4
+f 7 5 1
+f 7 6 4
+f 7 1 6
+f 8 6 1
+f 8 1 2
+f 8 2 3
+f 8 3 6
+f 9 7 4
+f 9 3 5
+f 9 5 7
+f 10 9 4
+f 10 4 3
+f 10 3 9
\ No newline at end of file
diff --git a/objects/objaverse/condiment/condiment_0/collision/model_normalized_collision_11.obj b/objects/objaverse/condiment/condiment_0/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..94530fc0430928de880b0adb2ac0dd0c331fc7fc
--- /dev/null
+++ b/objects/objaverse/condiment/condiment_0/collision/model_normalized_collision_11.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v 0.09605113 -0.11083958 -0.44813700
+v 0.13163395 -0.04931503 -0.47859771
+v 0.13179997 0.05803291 -0.44553922
+v 0.08096529 0.11934812 -0.44624023
+v 0.01212526 -0.07101058 -0.48815856
+v 0.08203854 0.09043931 -0.49249068
+v 0.11776643 -0.08723827 -0.44539962
+v 0.10910922 -0.06480589 -0.49002135
+v 0.00826353 -0.05880414 -0.48420970
+v 0.13112717 0.04655755 -0.47927735
+v 0.08995288 0.11194551 -0.44550759
+v 0.09521937 -0.10975727 -0.46326286
+v 0.13271094 -0.06124085 -0.44548449
+v 0.04513172 -0.07346206 -0.49343731
+v 0.01183695 0.06754372 -0.48957303
+v 0.12185063 0.03316028 -0.48980359
+v 0.11678466 0.08389514 -0.44537950
+v 0.09424575 0.10203310 -0.47955114
+v 0.13019418 -0.05983841 -0.47368507
+v 0.12187850 -0.03582779 -0.48978143
+v 0.02843417 0.07165646 -0.49260075
+v 0.01100747 0.05370044 -0.48483956
+v 0.10650009 0.07277191 -0.48825579
+v 0.12929570 0.05675642 -0.47337429
+v 0.08240315 0.10598804 -0.48395230
+v 0.10127136 0.09878457 -0.47341252
+v 0.11670308 -0.08635929 -0.46007933
+v 0.09277136 0.08906375 -0.48870952
+v 0.11573065 0.08305507 -0.45987969
+v 0.11784936 0.07390175 -0.47942560
+v 0.08010108 0.11833597 -0.46097217
+v 0.08910325 0.11095754 -0.46001388
+f 7 4 1
+f 9 5 1
+f 9 1 4
+f 11 4 7
+f 12 7 1
+f 12 1 5
+f 13 10 3
+f 13 2 10
+f 14 12 5
+f 14 8 12
+f 15 5 9
+f 17 11 7
+f 17 13 3
+f 17 7 13
+f 19 2 13
+f 19 12 8
+f 19 8 2
+f 20 14 6
+f 20 8 14
+f 20 6 16
+f 20 2 8
+f 20 16 10
+f 20 10 2
+f 21 14 5
+f 21 5 15
+f 21 6 14
+f 22 15 9
+f 22 9 4
+f 22 4 15
+f 23 16 6
+f 23 10 16
+f 24 3 10
+f 25 6 21
+f 25 21 15
+f 26 11 17
+f 27 7 12
+f 27 12 19
+f 27 19 13
+f 27 13 7
+f 28 23 6
+f 28 25 18
+f 28 6 25
+f 29 17 3
+f 29 3 24
+f 29 26 17
+f 30 18 26
+f 30 29 24
+f 30 26 29
+f 30 28 18
+f 30 23 28
+f 30 24 10
+f 30 10 23
+f 31 18 25
+f 31 26 18
+f 31 25 15
+f 31 15 4
+f 32 11 26
+f 32 26 31
+f 32 31 4
+f 32 4 11
\ No newline at end of file
diff --git a/objects/objaverse/condiment/condiment_0/collision/model_normalized_collision_12.obj b/objects/objaverse/condiment/condiment_0/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..03ee5f5227dce928fd09827922e4529bc6ec52bd
--- /dev/null
+++ b/objects/objaverse/condiment/condiment_0/collision/model_normalized_collision_12.obj
@@ -0,0 +1,153 @@
+# https://github.com/mikedh/trimesh
+v 0.04590677 -0.06868770 0.49547687
+v 0.08414313 -0.03128780 0.39858703
+v 0.07473588 0.05831262 0.49633308
+v -0.01664599 0.09519613 0.48998627
+v -0.06685337 -0.03234676 0.34053460
+v 0.04537362 0.06790826 0.34019307
+v -0.08115878 0.04583039 0.49511008
+v 0.08691467 -0.00595850 0.49540055
+v 0.02196866 -0.06791253 0.34020096
+v 0.08637741 0.04291814 0.38901112
+v 0.03403155 0.09386663 0.39865553
+v -0.06500671 -0.05464911 0.49547082
+v -0.05155924 0.08027316 0.49510995
+v 0.07146898 -0.04415317 0.49542518
+v 0.04743193 -0.06920005 0.39155923
+v 0.07322986 -0.01955912 0.34017171
+v 0.08969833 0.01625724 0.38189268
+v 0.08561298 0.02998343 0.49499900
+v 0.04684073 0.08115322 0.49536512
+v 0.07323996 0.05843103 0.38293769
+v -0.04293337 -0.07161161 0.49553539
+v -0.08049713 -0.03246990 0.49537589
+v -0.05531490 0.08524638 0.39832502
+v 0.08429563 -0.02002413 0.49012590
+v 0.05969943 -0.04370076 0.34015787
+v 0.07276872 0.03223118 0.34020155
+v 0.08423378 0.04441949 0.46076141
+v 0.08867288 0.03093935 0.38619233
+v 0.01076130 0.09569813 0.49012105
+v 0.02208626 -0.08387410 0.39860929
+v -0.05419505 -0.06961970 0.39855567
+v -0.09251785 0.03264696 0.39827231
+v -0.02836304 0.09401321 0.46154557
+v -0.01543837 0.08173433 0.34047018
+v -0.06519496 0.06864362 0.49509416
+v 0.04673221 -0.05580659 0.34018135
+v 0.05851306 0.05575838 0.34015665
+v 0.02257862 0.09413250 0.47683383
+v -0.02940477 0.09733000 0.39842441
+v 0.02140932 -0.08173104 0.41457321
+v -0.05252570 -0.06728357 0.47699675
+v -0.02935023 -0.08211268 0.39859681
+v -0.08028682 -0.04364890 0.39846936
+v 0.00993532 0.08196412 0.34041497
+v -0.06722384 0.04507825 0.34063291
+v -0.08124401 0.05830765 0.39826152
+v -0.04298504 0.07060434 0.34059900
+v -0.01521472 -0.06976355 0.34031577
+v -0.04264730 -0.05817365 0.34043963
+v -0.09178854 -0.01859500 0.39838992
+v -0.07745310 -0.04190183 0.47684674
+v -0.07682340 0.05525930 0.48929078
+f 14 8 3
+f 14 3 1
+f 15 14 1
+f 15 2 14
+f 17 8 2
+f 17 2 16
+f 18 3 8
+f 18 8 17
+f 19 3 11
+f 19 13 3
+f 20 6 11
+f 20 11 3
+f 20 3 10
+f 21 1 3
+f 21 3 12
+f 22 12 3
+f 22 3 7
+f 24 14 2
+f 24 2 8
+f 24 8 14
+f 25 16 2
+f 25 2 15
+f 26 17 16
+f 27 10 3
+f 27 3 18
+f 28 18 17
+f 28 27 18
+f 28 10 27
+f 28 26 10
+f 28 17 26
+f 29 4 13
+f 29 13 19
+f 30 15 1
+f 32 22 7
+f 33 23 13
+f 33 13 4
+f 35 13 23
+f 35 7 3
+f 35 3 13
+f 36 25 15
+f 36 9 25
+f 36 30 9
+f 36 15 30
+f 37 16 25
+f 37 26 16
+f 37 6 20
+f 37 20 10
+f 37 10 26
+f 37 25 9
+f 37 9 6
+f 38 29 19
+f 38 19 11
+f 38 11 29
+f 39 29 11
+f 39 4 29
+f 39 33 4
+f 39 23 33
+f 40 30 1
+f 40 1 21
+f 40 21 30
+f 41 31 21
+f 41 21 12
+f 41 12 31
+f 42 30 21
+f 42 21 31
+f 43 31 12
+f 44 11 6
+f 44 6 34
+f 44 39 11
+f 44 34 39
+f 45 5 32
+f 45 34 6
+f 45 6 5
+f 46 32 7
+f 46 35 23
+f 46 45 32
+f 47 39 34
+f 47 23 39
+f 47 34 45
+f 47 46 23
+f 47 45 46
+f 48 9 30
+f 48 30 42
+f 48 5 6
+f 48 6 9
+f 49 43 5
+f 49 31 43
+f 49 5 48
+f 49 48 42
+f 49 42 31
+f 50 32 5
+f 50 5 43
+f 50 22 32
+f 51 43 12
+f 51 12 22
+f 51 50 43
+f 51 22 50
+f 52 46 7
+f 52 7 35
+f 52 35 46
\ No newline at end of file
diff --git a/objects/objaverse/condiment/condiment_0/collision/model_normalized_collision_13.obj b/objects/objaverse/condiment/condiment_0/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f5e7956139b92bbdfe4aee5943b6e0d0cbcb3c1d
--- /dev/null
+++ b/objects/objaverse/condiment/condiment_0/collision/model_normalized_collision_13.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.12233930 0.06100817 0.10306078
+v 0.12844731 0.06423662 -0.44657441
+v 0.11511415 0.08268436 0.09219020
+v 0.07953885 0.11773299 0.09498658
+v 0.08389608 0.06367982 0.12196726
+v 0.08995288 0.11194551 -0.44550759
+v 0.09383190 0.08978100 0.10891589
+v 0.11678466 0.08389514 -0.44537950
+v 0.08888821 0.11082334 0.09243644
+v 0.08096529 0.11934812 -0.44624023
+v 0.11611266 0.07289891 0.10301629
+v 0.08240521 0.09079533 0.11276209
+v 0.11341958 0.08746206 -0.44993540
+v 0.09714872 0.06363506 0.11591365
+f 1 2 3
+f 5 2 1
+f 8 3 2
+f 9 3 8
+f 9 4 7
+f 10 5 4
+f 10 9 6
+f 10 4 9
+f 10 2 5
+f 11 1 3
+f 11 9 7
+f 11 3 9
+f 12 7 4
+f 12 4 5
+f 12 5 7
+f 13 8 2
+f 13 2 10
+f 13 10 6
+f 13 9 8
+f 13 6 9
+f 14 11 7
+f 14 7 5
+f 14 5 1
+f 14 1 11
\ No newline at end of file
diff --git a/objects/objaverse/condiment/condiment_0/collision/model_normalized_collision_14.obj b/objects/objaverse/condiment/condiment_0/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d345219a04624f29ef5bee01418b41e502335487
--- /dev/null
+++ b/objects/objaverse/condiment/condiment_0/collision/model_normalized_collision_14.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v -0.09158913 -0.11730853 -0.44866156
+v 0.01212526 -0.07101058 -0.48815856
+v 0.01100747 0.05370044 -0.48483956
+v -0.13822256 0.04632957 -0.44639487
+v -0.12840896 -0.02317940 -0.48974774
+v 0.00826353 -0.05880414 -0.48420970
+v -0.06510901 -0.08612970 -0.49858561
+v -0.13870610 -0.04993379 -0.44630320
+v -0.06539336 0.06835491 -0.49777740
+v -0.12321816 -0.07630391 -0.47803382
+v -0.12604751 -0.07784987 -0.44638263
+v -0.13956506 -0.03495223 -0.47836475
+v -0.11673586 0.04730873 -0.49208202
+v 0.01183695 0.06754372 -0.48957303
+v -0.10193760 -0.07883607 -0.49101012
+v -0.13705406 -0.04947275 -0.47468212
+v -0.11446046 -0.06440547 -0.48942301
+v -0.13642291 0.04577571 -0.47440226
+v -0.03604953 0.07107928 -0.49304145
+v -0.13898451 0.03148776 -0.47886286
+v -0.12804518 0.02001028 -0.48998503
+f 1 3 4
+f 6 1 2
+f 6 2 3
+f 6 3 1
+f 7 2 1
+f 11 1 4
+f 11 4 8
+f 11 10 1
+f 12 8 4
+f 13 9 7
+f 13 7 5
+f 14 4 3
+f 14 3 2
+f 14 2 7
+f 14 7 9
+f 15 7 1
+f 15 1 10
+f 15 5 7
+f 16 11 8
+f 16 10 11
+f 16 12 10
+f 16 8 12
+f 17 12 5
+f 17 10 12
+f 17 15 10
+f 17 5 15
+f 18 4 9
+f 18 9 13
+f 19 14 9
+f 19 9 4
+f 19 4 14
+f 20 12 4
+f 20 4 18
+f 20 5 12
+f 20 18 13
+f 21 20 13
+f 21 13 5
+f 21 5 20
\ No newline at end of file
diff --git a/objects/objaverse/condiment/condiment_0/collision/model_normalized_collision_15.obj b/objects/objaverse/condiment/condiment_0/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f5b58b62e723e1cffb81c634a998832837c7502d
--- /dev/null
+++ b/objects/objaverse/condiment/condiment_0/collision/model_normalized_collision_15.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.08646301 -0.11142056 -0.15870756
+v -0.05259532 -0.00803993 -0.48288943
+v -0.06366814 0.12655036 -0.15908292
+v -0.12788378 0.06952213 -0.41556682
+v -0.06254605 0.12442985 -0.35601681
+v -0.11127958 -0.09827389 -0.44779159
+v -0.10526203 -0.09361374 -0.15896212
+v -0.08248612 0.11259757 -0.35580399
+v -0.07919038 -0.00817096 -0.49141940
+v -0.09158913 -0.11730853 -0.44866156
+v -0.08390315 0.11421332 -0.15894508
+f 1 2 3
+f 5 3 2
+f 7 4 6
+f 8 5 4
+f 8 3 5
+f 9 5 2
+f 9 4 5
+f 9 6 4
+f 10 2 1
+f 10 7 6
+f 10 1 7
+f 10 9 2
+f 10 6 9
+f 11 7 1
+f 11 1 3
+f 11 4 7
+f 11 8 4
+f 11 3 8
\ No newline at end of file
diff --git a/objects/objaverse/condiment/condiment_0/collision/model_normalized_collision_16.obj b/objects/objaverse/condiment/condiment_0/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..043623ee4c05a8b85953111f02dddeede4839c2e
--- /dev/null
+++ b/objects/objaverse/condiment/condiment_0/collision/model_normalized_collision_16.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.08604622 -0.11331229 0.00753329
+v 0.14360165 -0.01428486 -0.35658336
+v 0.13071494 -0.06021459 0.00721704
+v 0.14306475 -0.00867493 0.00751519
+v 0.08037986 -0.12033456 -0.12897262
+v 0.14247298 -0.01457201 0.00835891
+v 0.14410989 -0.00878661 -0.35602339
+v 0.12303667 -0.07955497 -0.35594986
+v 0.13279250 -0.06148980 -0.35588960
+v 0.10185684 -0.10149534 0.00686890
+v 0.10649630 -0.10090878 -0.35626578
+v 0.11660351 -0.08617956 -0.09870187
+v 0.08963632 -0.11352550 -0.12892884
+v 0.08136048 -0.12243504 -0.31056223
+v 0.11819228 -0.08760677 -0.31045462
+v 0.09083510 -0.11510123 -0.31052168
+f 5 1 4
+f 6 2 4
+f 6 1 3
+f 6 4 1
+f 7 5 4
+f 7 4 2
+f 9 6 3
+f 9 2 6
+f 9 8 2
+f 9 3 8
+f 10 3 1
+f 11 7 2
+f 11 2 8
+f 12 3 10
+f 13 10 1
+f 13 1 5
+f 14 5 7
+f 14 7 11
+f 14 13 5
+f 15 8 3
+f 15 3 12
+f 15 11 8
+f 15 12 10
+f 15 10 11
+f 16 11 10
+f 16 10 13
+f 16 14 11
+f 16 13 14
\ No newline at end of file
diff --git a/objects/objaverse/condiment/condiment_0/collision/model_normalized_collision_17.obj b/objects/objaverse/condiment/condiment_0/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d1bfd8b896b79ae72439ed0799a01e3c9c957766
--- /dev/null
+++ b/objects/objaverse/condiment/condiment_0/collision/model_normalized_collision_17.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.12156962 -0.06885150 0.08942579
+v -0.12897217 -0.07239189 -0.41556508
+v -0.09354607 -0.00908361 0.12765020
+v -0.10468689 0.04887810 0.11660542
+v -0.13129780 0.06320358 -0.41595144
+v -0.10516025 -0.00878868 0.12075144
+v -0.12527101 -0.06286588 0.08686577
+v -0.09097530 0.04971396 0.12269095
+v -0.13214022 -0.06624388 -0.41593626
+v -0.12788378 0.06952213 -0.41556682
+f 1 2 3
+f 6 1 3
+f 6 3 4
+f 7 2 1
+f 7 4 5
+f 7 6 4
+f 7 1 6
+f 8 3 2
+f 8 4 3
+f 9 7 5
+f 9 2 7
+f 10 8 2
+f 10 5 4
+f 10 4 8
+f 10 9 5
+f 10 2 9
\ No newline at end of file
diff --git a/objects/objaverse/condiment/condiment_0/collision/model_normalized_collision_18.obj b/objects/objaverse/condiment/condiment_0/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9f237eadf04d223b55dd591a38dbb63f0eda2210
--- /dev/null
+++ b/objects/objaverse/condiment/condiment_0/collision/model_normalized_collision_18.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v 0.01058205 -0.14447593 -0.35615453
+v 0.10910319 -0.09272470 -0.47528234
+v 0.11160646 -0.09484425 -0.35599371
+v -0.07633731 -0.12186332 -0.35567423
+v -0.05787060 -0.13302877 -0.47886004
+v -0.06238804 -0.09703648 -0.49656690
+v 0.09067077 -0.11495449 -0.35595740
+v 0.02372180 -0.14442660 -0.47459633
+v -0.04308394 -0.14250200 -0.40256250
+v 0.10415104 -0.10369510 -0.35592056
+v 0.06500534 -0.13070580 -0.35603392
+v 0.06941539 -0.09626344 -0.49442416
+v -0.00437752 -0.14544711 -0.47753938
+v -0.01648378 -0.14351898 -0.35621907
+v 0.08904503 -0.11327963 -0.47360717
+v 0.10184230 -0.10175276 -0.47370243
+v 0.03705282 -0.14222933 -0.37581356
+v -0.05797501 -0.11931319 -0.48889254
+v 0.05154129 -0.11933006 -0.48908035
+v -0.04294042 -0.14192075 -0.46077421
+v -0.05687444 -0.13284854 -0.35627913
+v -0.03027012 -0.14376918 -0.37586383
+v 0.03663704 -0.14215190 -0.46051189
+v 0.09699443 -0.09522368 -0.48393374
+v -0.01677334 -0.14411159 -0.47753490
+v 0.06339430 -0.12817793 -0.47781249
+v 0.09451661 -0.10488085 -0.47941967
+v 0.06647594 -0.10769994 -0.49108060
+f 6 3 2
+f 6 4 3
+f 6 5 4
+f 9 4 5
+f 10 3 4
+f 10 4 7
+f 11 7 4
+f 11 4 1
+f 12 6 2
+f 13 8 1
+f 14 1 4
+f 15 10 7
+f 15 7 11
+f 16 2 3
+f 16 3 10
+f 16 10 15
+f 17 11 1
+f 17 1 8
+f 18 5 6
+f 19 8 13
+f 19 13 18
+f 19 18 6
+f 19 6 12
+f 20 13 9
+f 20 9 5
+f 21 14 4
+f 21 4 9
+f 22 13 1
+f 22 1 14
+f 22 9 13
+f 22 21 9
+f 22 14 21
+f 23 17 8
+f 23 11 17
+f 24 12 2
+f 25 18 13
+f 25 5 18
+f 25 20 5
+f 25 13 20
+f 26 8 19
+f 26 23 8
+f 26 15 11
+f 26 11 23
+f 27 16 15
+f 27 15 26
+f 27 24 2
+f 27 2 16
+f 28 19 12
+f 28 12 24
+f 28 24 27
+f 28 27 26
+f 28 26 19
\ No newline at end of file
diff --git a/objects/objaverse/condiment/condiment_0/collision/model_normalized_collision_19.obj b/objects/objaverse/condiment/condiment_0/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a06cc395800283fe6ec4013e1052aca652a83b48
--- /dev/null
+++ b/objects/objaverse/condiment/condiment_0/collision/model_normalized_collision_19.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.05316807 -0.13116236 0.08110394
+v 0.10221099 -0.09730931 0.08751200
+v 0.03731050 -0.08972807 0.12505103
+v -0.08009504 -0.01079664 0.14625860
+v -0.09389274 -0.01179400 0.12725133
+v 0.08578551 -0.00891562 0.14382889
+v -0.04300661 -0.12700893 0.10310578
+v 0.05148429 -0.12552762 0.10250123
+v -0.05588056 -0.12935198 0.08067519
+v -0.03009824 -0.08878239 0.12652935
+v 0.10865654 -0.01146102 0.11936696
+v -0.05979029 -0.10752797 0.11195114
+v -0.03088973 -0.12139525 0.11082336
+v 0.08297865 -0.08112220 0.11559328
+v -0.05508386 -0.12720213 0.09297969
+v -0.05703416 -0.07655902 0.12570287
+v 0.03922238 -0.12077606 0.10988625
+v 0.06471077 -0.07522411 0.12393555
+f 6 5 4
+f 8 1 2
+f 8 7 1
+f 9 2 1
+f 9 1 7
+f 10 6 4
+f 10 3 6
+f 11 5 6
+f 11 9 5
+f 11 2 9
+f 12 4 5
+f 13 3 10
+f 13 12 7
+f 13 10 12
+f 14 8 2
+f 14 11 6
+f 14 2 11
+f 15 9 7
+f 15 7 12
+f 15 12 5
+f 15 5 9
+f 16 12 10
+f 16 10 4
+f 16 4 12
+f 17 3 13
+f 17 8 14
+f 17 13 7
+f 17 7 8
+f 18 14 6
+f 18 6 3
+f 18 17 14
+f 18 3 17
\ No newline at end of file
diff --git a/objects/objaverse/condiment/condiment_0/collision/model_normalized_collision_2.obj b/objects/objaverse/condiment/condiment_0/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d4425809d8146b25f334432164030f53c96a128d
--- /dev/null
+++ b/objects/objaverse/condiment/condiment_0/collision/model_normalized_collision_2.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.01174062 -0.00915205 0.14393939
+v 0.01174062 -0.00915205 -0.09848485
+v 0.01056638 0.14414673 -0.03768686
+v -0.02861398 0.14008910 0.09389998
+v -0.08009504 -0.01079664 0.14625860
+v 0.01014538 0.14195717 0.09432264
+v 0.01174062 0.06660552 -0.09848485
+v -0.09535481 0.10570934 -0.09892357
+v 0.01026287 0.09896345 0.12651777
+v -0.05890245 0.11735927 0.10924927
+v -0.02870521 0.14117776 -0.03765727
+v -0.06401695 -0.00915205 -0.09848485
+v -0.05597903 0.12715296 0.10344726
+v -0.05604523 0.08724785 0.12412977
+v -0.01748611 0.09900121 0.12622540
+v -0.05801621 0.13105245 -0.03773603
+v -0.04316587 0.13852109 0.08056440
+v -0.04281452 0.13784669 0.02435395
+f 5 2 1
+f 6 3 4
+f 7 1 2
+f 7 6 1
+f 7 3 6
+f 8 3 7
+f 8 7 2
+f 9 5 1
+f 9 1 6
+f 10 8 5
+f 11 4 3
+f 11 3 8
+f 12 8 2
+f 12 2 5
+f 12 5 8
+f 13 6 4
+f 13 8 10
+f 14 10 5
+f 15 9 6
+f 15 6 13
+f 15 13 10
+f 15 10 14
+f 15 14 5
+f 15 5 9
+f 16 11 8
+f 17 16 8
+f 17 8 13
+f 17 13 4
+f 17 4 11
+f 18 17 11
+f 18 11 16
+f 18 16 17
\ No newline at end of file
diff --git a/objects/objaverse/condiment/condiment_0/collision/model_normalized_collision_20.obj b/objects/objaverse/condiment/condiment_0/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ee2b2bb14b82e4378bc22f33b6850c8ba6ab834e
--- /dev/null
+++ b/objects/objaverse/condiment/condiment_0/collision/model_normalized_collision_20.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.08096784 0.11797576 -0.03812577
+v 0.01535985 0.14111835 -0.23542657
+v 0.01584819 0.14367038 -0.03855019
+v -0.02870521 0.14117776 -0.03765727
+v -0.05700510 0.12907147 -0.23467223
+v -0.00176844 0.14188382 -0.23464492
+v 0.01056638 0.14414673 -0.03768686
+v -0.07975182 0.11654241 -0.23510958
+v -0.05801621 0.13105245 -0.03773603
+v -0.01681603 0.14089479 -0.18917750
+v 0.01043221 0.14153204 -0.23463950
+v -0.02859008 0.14080223 -0.06795521
+f 1 2 3
+f 6 2 5
+f 7 1 3
+f 7 6 4
+f 7 3 2
+f 8 5 2
+f 8 2 1
+f 9 4 5
+f 9 7 4
+f 9 1 7
+f 9 8 1
+f 9 5 8
+f 10 6 5
+f 10 4 6
+f 11 7 2
+f 11 2 6
+f 11 6 7
+f 12 10 5
+f 12 5 4
+f 12 4 10
\ No newline at end of file
diff --git a/objects/objaverse/condiment/condiment_0/collision/model_normalized_collision_21.obj b/objects/objaverse/condiment/condiment_0/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4bca4cd52f01bac5a075bf022a83823106cfabd9
--- /dev/null
+++ b/objects/objaverse/condiment/condiment_0/collision/model_normalized_collision_21.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v 0.07961275 -0.11960562 0.06694493
+v 0.13071494 -0.06021459 0.00721704
+v 0.13146476 -0.03431972 0.10362490
+v 0.08389608 0.06367982 0.12196726
+v 0.11494121 0.08830252 0.00749848
+v 0.07770012 -0.03345940 0.14299340
+v 0.11606318 -0.08569451 0.06580473
+v 0.08604622 -0.11331229 0.00753329
+v 0.13205988 0.05844098 0.00755397
+v 0.08116212 -0.10729538 0.10438388
+v 0.07595042 0.04551416 0.14369879
+v 0.12976222 -0.05973282 0.07992084
+v 0.10185684 -0.10149534 0.00686890
+v 0.12920513 0.05676683 0.09295756
+v 0.11432335 -0.07467848 0.10245823
+v 0.10095673 -0.10099598 0.07974059
+v 0.12258784 0.03310807 0.11026039
+v 0.08089143 -0.12112767 0.04010329
+v 0.11540799 -0.08496700 0.02194947
+v 0.10911071 0.06193641 0.11111304
+v 0.10890342 -0.06491261 0.11032379
+v 0.09080001 -0.10031219 0.10339270
+v 0.09013033 -0.11403314 0.04001155
+v 0.12870253 0.04572110 0.10312476
+v 0.12253498 -0.03629418 0.10977955
+v 0.09555733 -0.07901054 0.11168463
+v 0.08879487 -0.11255778 0.06590096
+f 9 3 2
+f 10 6 1
+f 11 1 6
+f 11 4 5
+f 11 5 8
+f 12 7 2
+f 12 2 3
+f 13 8 5
+f 13 9 2
+f 13 5 9
+f 14 9 5
+f 14 3 9
+f 15 12 3
+f 15 7 12
+f 16 10 1
+f 16 7 15
+f 17 11 6
+f 17 6 3
+f 18 11 8
+f 18 1 11
+f 18 8 13
+f 19 13 2
+f 19 2 7
+f 19 7 13
+f 20 14 5
+f 20 5 4
+f 20 4 11
+f 21 15 3
+f 22 16 15
+f 22 10 16
+f 22 6 10
+f 23 13 7
+f 23 7 16
+f 23 18 13
+f 23 1 18
+f 24 17 3
+f 24 3 14
+f 24 14 20
+f 24 20 11
+f 24 11 17
+f 25 21 3
+f 25 3 6
+f 25 6 21
+f 26 22 15
+f 26 15 21
+f 26 21 6
+f 26 6 22
+f 27 23 16
+f 27 16 1
+f 27 1 23
\ No newline at end of file
diff --git a/objects/objaverse/condiment/condiment_0/collision/model_normalized_collision_22.obj b/objects/objaverse/condiment/condiment_0/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..49ee6b245db0b54c1b29089424b150ad52395bc6
--- /dev/null
+++ b/objects/objaverse/condiment/condiment_0/collision/model_normalized_collision_22.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.10467028 -0.09320838 0.08600478
+v -0.11127958 -0.09827389 -0.44779159
+v -0.13752318 -0.05395800 -0.44687719
+v -0.13223856 -0.05111079 0.08219411
+v -0.12216393 -0.07567001 0.04061933
+v -0.11699160 -0.07878848 0.08196668
+v -0.12604751 -0.07784987 -0.44638263
+v -0.12122651 -0.07521318 0.06673763
+v -0.12156962 -0.06885150 0.08942579
+v -0.12879469 -0.07233683 -0.44844409
+v -0.12631362 -0.06272151 0.08123668
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 5 4 3
+f 7 2 5
+f 8 5 1
+f 8 1 6
+f 8 4 5
+f 9 6 1
+f 9 1 4
+f 10 7 5
+f 10 5 3
+f 10 3 2
+f 10 2 7
+f 11 8 6
+f 11 6 9
+f 11 9 4
+f 11 4 8
\ No newline at end of file
diff --git a/objects/objaverse/condiment/condiment_0/collision/model_normalized_collision_23.obj b/objects/objaverse/condiment/condiment_0/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5630f6a4f8a55018d1c8e33972b95f78976ebd49
--- /dev/null
+++ b/objects/objaverse/condiment/condiment_0/collision/model_normalized_collision_23.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.07271833 -0.09528872 0.11367212
+v -0.08646301 -0.11142056 -0.15870756
+v -0.06055682 -0.05180235 0.14322373
+v -0.06670532 0.05350138 0.14432119
+v -0.12436230 0.06780763 -0.15921613
+v -0.10467028 -0.09320838 0.08600478
+v -0.10962747 0.08970593 -0.15946425
+v -0.08421244 -0.04933332 0.12485570
+v -0.08408716 0.04621643 0.12776641
+v -0.10526203 -0.09361374 -0.15896212
+f 1 2 3
+f 3 2 4
+f 6 2 1
+f 7 4 2
+f 8 6 1
+f 8 1 3
+f 8 3 4
+f 9 5 6
+f 9 7 5
+f 9 4 7
+f 9 8 4
+f 9 6 8
+f 10 6 5
+f 10 2 6
+f 10 7 2
+f 10 5 7
\ No newline at end of file
diff --git a/objects/objaverse/condiment/condiment_0/collision/model_normalized_collision_24.obj b/objects/objaverse/condiment/condiment_0/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..077f7db49b41b14a65c6b8663e7db5710ccb7601
--- /dev/null
+++ b/objects/objaverse/condiment/condiment_0/collision/model_normalized_collision_24.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.11789393 -0.08737945 -0.35589798
+v 0.13271094 -0.06124085 -0.44548449
+v 0.13057756 0.05732821 -0.35583270
+v -0.09381693 0.10340646 -0.35670683
+v -0.07882582 -0.12664833 -0.44825492
+v -0.05434461 0.05447208 -0.49171825
+v -0.07633731 -0.12186332 -0.35567423
+v 0.13279250 -0.06148980 -0.35588960
+v 0.11776643 -0.08723827 -0.44539962
+v 0.13179997 0.05803291 -0.44553922
+f 6 5 4
+f 7 3 4
+f 7 5 1
+f 7 4 5
+f 8 7 1
+f 8 3 7
+f 9 1 5
+f 9 8 1
+f 9 2 8
+f 9 6 2
+f 9 5 6
+f 10 2 6
+f 10 8 2
+f 10 3 8
+f 10 6 4
+f 10 4 3
\ No newline at end of file
diff --git a/objects/objaverse/condiment/condiment_0/collision/model_normalized_collision_25.obj b/objects/objaverse/condiment/condiment_0/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9898d6f7f1d04cd3e27c3386d35044ec59eef849
--- /dev/null
+++ b/objects/objaverse/condiment/condiment_0/collision/model_normalized_collision_25.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.14409265 -0.00880238 -0.23488008
+v 0.14410989 -0.00878661 -0.35602339
+v 0.12127501 0.07577310 -0.23488115
+v 0.01707312 0.14096664 -0.23552346
+v 0.01174062 -0.00915205 -0.35606061
+v 0.12099595 0.07542801 -0.35590513
+v 0.01174062 -0.00915205 -0.23484849
+v 0.13058666 0.05761437 -0.23489459
+v 0.01676057 0.13877311 -0.35738062
+v 0.13057756 0.05732821 -0.35583270
+f 5 2 1
+f 6 4 3
+f 7 1 3
+f 7 3 4
+f 7 5 1
+f 8 1 2
+f 8 3 1
+f 9 4 6
+f 9 7 4
+f 9 5 7
+f 9 6 2
+f 9 2 5
+f 10 6 3
+f 10 3 8
+f 10 8 2
+f 10 2 6
\ No newline at end of file
diff --git a/objects/objaverse/condiment/condiment_0/collision/model_normalized_collision_26.obj b/objects/objaverse/condiment/condiment_0/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b87298528963d73f2f013f627c8ae5e5a917e634
--- /dev/null
+++ b/objects/objaverse/condiment/condiment_0/collision/model_normalized_collision_26.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.09605113 -0.11083958 -0.44813700
+v 0.12779060 -0.06690144 -0.46153422
+v -0.07882582 -0.12664833 -0.44825492
+v -0.05444047 -0.05887139 -0.49056280
+v 0.09288389 -0.09166622 -0.48812841
+v 0.11346494 -0.09168745 -0.45004128
+v 0.09780118 -0.06696852 -0.49434344
+v -0.06238804 -0.09703648 -0.49656690
+v 0.10744539 -0.09121661 -0.47887642
+v 0.12313481 -0.06423349 -0.48059341
+v -0.06633295 -0.07240441 -0.49655956
+v 0.12143321 -0.07853665 -0.46081832
+v 0.11032595 -0.09375792 -0.46118189
+v 0.11860068 -0.07686230 -0.47835598
+f 3 2 4
+f 5 1 3
+f 6 2 3
+f 6 3 1
+f 8 5 3
+f 8 7 5
+f 9 1 5
+f 10 7 4
+f 10 4 2
+f 10 5 7
+f 11 8 3
+f 11 3 4
+f 11 4 7
+f 11 7 8
+f 12 2 6
+f 13 6 1
+f 13 1 9
+f 13 12 6
+f 14 9 5
+f 14 5 10
+f 14 10 2
+f 14 2 12
+f 14 13 9
+f 14 12 13
\ No newline at end of file
diff --git a/objects/objaverse/condiment/condiment_0/collision/model_normalized_collision_27.obj b/objects/objaverse/condiment/condiment_0/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7b3025afa42100554a2a4cb41206afef703e6c12
--- /dev/null
+++ b/objects/objaverse/condiment/condiment_0/collision/model_normalized_collision_27.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v -0.06401695 -0.00915205 -0.41666667
+v -0.05259532 -0.00803993 -0.48288943
+v -0.06401695 0.05145401 -0.41666667
+v -0.12760146 0.06940606 -0.44889189
+v -0.14640975 -0.00838562 -0.44661360
+v -0.05334922 0.04234258 -0.48860849
+v -0.14650213 -0.00840902 -0.41693680
+v -0.13822256 0.04632957 -0.44639487
+v -0.13836657 0.04637297 -0.41720441
+f 1 2 3
+f 5 2 1
+f 6 3 2
+f 6 4 3
+f 6 2 5
+f 7 5 1
+f 7 1 3
+f 8 6 5
+f 8 4 6
+f 9 7 3
+f 9 3 4
+f 9 4 8
+f 9 8 5
+f 9 5 7
\ No newline at end of file
diff --git a/objects/objaverse/condiment/condiment_0/collision/model_normalized_collision_28.obj b/objects/objaverse/condiment/condiment_0/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..80341f8e49b7fa766e896fb3f5410192e2ff86db
--- /dev/null
+++ b/objects/objaverse/condiment/condiment_0/collision/model_normalized_collision_28.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.05887451 -0.13377251 -0.31060811
+v 0.12303667 -0.07955497 -0.35594986
+v 0.09067077 -0.11495449 -0.35595740
+v 0.12343738 -0.07977911 -0.31049683
+v 0.11789393 -0.08737945 -0.35589798
+v 0.09083510 -0.11510123 -0.31052168
+v 0.05887167 -0.13374623 -0.35606670
+v 0.08436173 -0.11985665 -0.35629467
+v 0.11907126 -0.08597918 -0.35607432
+v 0.11819228 -0.08760677 -0.31045462
+v 0.08441267 -0.12007111 -0.31080045
+f 2 1 4
+f 7 1 2
+f 8 3 6
+f 9 2 4
+f 9 5 3
+f 9 3 8
+f 9 8 7
+f 9 7 2
+f 10 4 1
+f 10 1 6
+f 10 9 4
+f 10 5 9
+f 10 6 3
+f 10 3 5
+f 11 8 6
+f 11 6 1
+f 11 1 7
+f 11 7 8
\ No newline at end of file
diff --git a/objects/objaverse/condiment/condiment_0/collision/model_normalized_collision_29.obj b/objects/objaverse/condiment/condiment_0/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d918dded56c0dc62e9afa7dc0501dbcd13fbfbda
--- /dev/null
+++ b/objects/objaverse/condiment/condiment_0/collision/model_normalized_collision_29.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.14360610 -0.00879682 -0.09848458
+v 0.14409265 -0.00880238 -0.23488008
+v 0.13127009 0.05798018 -0.09822567
+v -0.09535481 0.10570934 -0.09892357
+v -0.06401695 -0.00915205 -0.23484849
+v 0.13058666 0.05761437 -0.23489459
+v -0.06401695 -0.00915205 -0.09848485
+v -0.09460025 0.10462084 -0.23537270
+f 1 2 3
+f 6 3 2
+f 6 4 3
+f 7 1 3
+f 7 3 4
+f 7 4 5
+f 7 5 2
+f 7 2 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/condiment/condiment_0/collision/model_normalized_collision_3.obj b/objects/objaverse/condiment/condiment_0/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..94db308a13d1c569736bea54dae85db173b08c5d
--- /dev/null
+++ b/objects/objaverse/condiment/condiment_0/collision/model_normalized_collision_3.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v -0.05824211 -0.11987025 0.10510337
+v -0.05787060 -0.13302877 -0.47886004
+v -0.06510901 -0.08612970 -0.49858561
+v -0.11495289 -0.07714432 0.09521925
+v -0.09532915 -0.11370956 -0.40284480
+v -0.06157614 -0.08199120 0.12166447
+v -0.05772164 -0.13437930 -0.37477795
+v -0.08009131 -0.11336390 0.09254549
+v -0.11696941 -0.07879570 -0.48242996
+v -0.08796265 -0.09248308 0.10979927
+v -0.06095620 -0.10957375 -0.49274213
+v -0.06951731 -0.12799808 -0.47762060
+v -0.10804209 -0.08676032 0.09284351
+v -0.06947559 -0.12836311 -0.37672998
+v -0.10786730 -0.10200982 -0.40281819
+v -0.09052144 -0.08180803 -0.49430966
+v -0.08904478 -0.08070313 0.11371412
+v -0.07337346 -0.10511667 0.10964182
+v -0.07337337 -0.10732734 -0.49074239
+v -0.07025957 -0.11417630 0.10361727
+v -0.09558208 -0.11404330 -0.44611743
+v -0.11298472 -0.09077147 -0.47804753
+v -0.05979029 -0.10752797 0.11195114
+v -0.08899098 -0.09364416 -0.49104637
+v -0.10766425 -0.10184545 -0.46095025
+f 6 1 2
+f 7 2 1
+f 8 7 1
+f 9 4 6
+f 11 6 2
+f 11 3 6
+f 12 2 7
+f 13 10 4
+f 14 8 5
+f 14 7 8
+f 14 12 7
+f 15 13 4
+f 15 5 8
+f 15 8 13
+f 16 9 6
+f 16 6 3
+f 17 10 6
+f 17 6 4
+f 17 4 10
+f 18 6 10
+f 19 11 2
+f 19 2 12
+f 19 16 3
+f 19 3 11
+f 20 13 8
+f 20 10 13
+f 20 18 10
+f 20 8 1
+f 20 1 18
+f 21 14 5
+f 21 12 14
+f 21 5 15
+f 22 15 4
+f 22 4 9
+f 22 19 12
+f 23 18 1
+f 23 1 6
+f 23 6 18
+f 24 9 16
+f 24 16 19
+f 24 22 9
+f 24 19 22
+f 25 21 15
+f 25 15 22
+f 25 22 12
+f 25 12 21
\ No newline at end of file
diff --git a/objects/objaverse/condiment/condiment_0/collision/model_normalized_collision_30.obj b/objects/objaverse/condiment/condiment_0/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f63ff7eeb64bc5e164622ef38c35766a5cdd9c02
--- /dev/null
+++ b/objects/objaverse/condiment/condiment_0/collision/model_normalized_collision_30.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.14306475 -0.00867493 0.00751519
+v 0.14360610 -0.00879682 -0.09848458
+v 0.13205988 0.05844098 0.00755397
+v 0.01174062 0.06660552 0.00757575
+v 0.01174062 -0.00915205 -0.09848485
+v 0.01174062 0.06660552 -0.09848485
+v 0.01174062 -0.00915205 0.00757575
+v 0.13127009 0.05798018 -0.09822567
+v 0.13207622 0.05844929 -0.00759752
+f 1 2 3
+f 6 5 4
+f 6 2 5
+f 7 1 3
+f 7 3 4
+f 7 4 5
+f 7 5 2
+f 7 2 1
+f 8 2 6
+f 9 8 6
+f 9 3 2
+f 9 2 8
+f 9 6 4
+f 9 4 3
\ No newline at end of file
diff --git a/objects/objaverse/condiment/condiment_0/collision/model_normalized_collision_31.obj b/objects/objaverse/condiment/condiment_0/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ca248dceed49ace6e3c60d3a265118c03169716
--- /dev/null
+++ b/objects/objaverse/condiment/condiment_0/collision/model_normalized_collision_31.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.01174062 -0.00915205 -0.23484849
+v 0.01174062 -0.00915205 -0.35606061
+v 0.01166412 0.14142862 -0.23483627
+v -0.05700510 0.12907147 -0.23467223
+v -0.06401695 -0.00915205 -0.23484849
+v -0.05630018 0.12773261 -0.35583747
+v 0.01146840 0.13927127 -0.35598903
+v -0.06401695 -0.00915205 -0.35606061
+v 0.01164801 0.14123185 -0.24998521
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 5 1 4
+f 6 4 3
+f 8 5 4
+f 8 4 6
+f 8 2 5
+f 8 7 2
+f 8 6 7
+f 9 7 6
+f 9 6 3
+f 9 3 2
+f 9 2 7
\ No newline at end of file
diff --git a/objects/objaverse/condiment/condiment_0/collision/model_normalized_collision_4.obj b/objects/objaverse/condiment/condiment_0/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e8515b39787004458b5b9df2d24a388085c7d339
--- /dev/null
+++ b/objects/objaverse/condiment/condiment_0/collision/model_normalized_collision_4.obj
@@ -0,0 +1,105 @@
+# https://github.com/mikedh/trimesh
+v 0.02196866 -0.06791253 0.34020096
+v 0.07765840 -0.04880546 0.13035640
+v 0.07276872 0.03223118 0.34020155
+v -0.01543837 0.08173433 0.34047018
+v -0.08404017 -0.02129307 0.13315340
+v 0.06959912 0.07840927 0.12241177
+v -0.06722384 0.04507825 0.34063291
+v 0.06964455 -0.02838459 0.33990806
+v -0.04386746 -0.07588002 0.13099335
+v 0.07674162 0.05785679 0.12903019
+v 0.04537362 0.06790826 0.34019307
+v -0.05646635 0.07276788 0.13267450
+v 0.04673221 -0.05580659 0.34018135
+v -0.04298504 0.07060434 0.34059900
+v 0.03771307 -0.07624806 0.13426100
+v -0.06685337 -0.03234676 0.34053460
+v -0.08322356 0.03314228 0.13258500
+v 0.02122622 0.07946139 0.34029095
+v 0.05851306 0.05575838 0.34015665
+v -0.02942211 0.08322688 0.14294420
+v -0.05053477 0.06521606 0.32522922
+v -0.02803348 0.07893037 0.31010981
+v 0.06445084 -0.06269990 0.13110540
+v -0.01521472 -0.06976355 0.34031577
+v -0.07893173 0.00477243 0.29519470
+v -0.07103724 -0.04804559 0.13341266
+v -0.06972691 0.05922323 0.13238265
+v 0.03439517 0.08255883 0.14356765
+v 0.06877078 0.04195445 0.32482574
+v 0.05640500 0.08079304 0.12718700
+v -0.04264730 -0.05817365 0.34043963
+v -0.07761424 -0.00690654 0.29511099
+v -0.07795770 0.01978052 0.28002274
+v -0.02773898 -0.06639785 0.32502732
+v -0.05080559 -0.05307255 0.30986468
+v -0.06268018 -0.04040873 0.30995303
+f 8 2 3
+f 9 6 2
+f 10 6 3
+f 10 3 2
+f 10 2 6
+f 13 8 3
+f 13 2 8
+f 14 3 4
+f 14 13 3
+f 15 13 1
+f 17 9 5
+f 17 6 9
+f 18 11 6
+f 18 4 3
+f 18 3 11
+f 19 11 3
+f 19 6 11
+f 21 14 12
+f 21 7 14
+f 22 14 4
+f 22 12 14
+f 22 20 12
+f 22 4 20
+f 23 15 9
+f 23 9 2
+f 23 2 13
+f 23 13 15
+f 24 15 1
+f 24 9 15
+f 24 1 13
+f 25 16 7
+f 25 17 5
+f 26 16 5
+f 26 5 9
+f 27 12 6
+f 27 6 17
+f 27 17 7
+f 27 21 12
+f 27 7 21
+f 28 4 18
+f 28 20 4
+f 29 19 3
+f 29 3 6
+f 29 6 19
+f 30 6 12
+f 30 12 20
+f 30 20 28
+f 30 28 18
+f 30 18 6
+f 31 24 13
+f 31 13 14
+f 31 14 7
+f 31 7 16
+f 32 25 5
+f 32 5 16
+f 32 16 25
+f 33 25 7
+f 33 7 17
+f 33 17 25
+f 34 31 9
+f 34 9 24
+f 34 24 31
+f 35 26 9
+f 35 9 31
+f 36 16 26
+f 36 26 35
+f 36 35 31
+f 36 31 16
\ No newline at end of file
diff --git a/objects/objaverse/condiment/condiment_0/collision/model_normalized_collision_5.obj b/objects/objaverse/condiment/condiment_0/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8485f1e41d245b4c8b00dff74699327ad1706a48
--- /dev/null
+++ b/objects/objaverse/condiment/condiment_0/collision/model_normalized_collision_5.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v 0.11237131 0.08676307 -0.35673093
+v 0.08539120 0.06496577 -0.49806450
+v 0.05310323 0.12930386 -0.47963851
+v -0.02870311 0.14076896 -0.38784206
+v -0.13140866 0.04895909 -0.35594792
+v 0.05384970 0.13063262 -0.35571407
+v 0.08203854 0.09043931 -0.49249068
+v -0.11673586 0.04730873 -0.49208202
+v 0.09460000 0.10556255 -0.35637378
+v 0.03640833 0.13923403 -0.44580773
+v -0.05630018 0.12773261 -0.35583747
+v -0.05816366 0.11637178 -0.48884725
+v 0.02518800 0.13867179 -0.37569743
+v -0.11061741 0.08534279 -0.35579175
+v 0.05153826 0.11693189 -0.48954393
+v -0.06735689 0.05428591 -0.49494900
+v -0.01697093 0.14086686 -0.47454099
+v 0.03670093 0.13964981 -0.40225664
+v -0.01675971 0.13954165 -0.37724550
+v -0.12673572 0.05957299 -0.35584285
+v -0.08337903 0.11390331 -0.47941969
+v 0.01003626 0.14123666 -0.47452103
+v -0.12199036 0.07225260 -0.47914492
+v -0.08248612 0.11259757 -0.35580399
+v -0.11408442 0.06104669 -0.48966247
+v -0.05686937 0.12904811 -0.47952256
+v -0.02899219 0.14097198 -0.46076745
+v -0.13032617 0.04861526 -0.48223213
+v -0.12201072 0.07215709 -0.37831261
+v -0.10834923 0.08806342 -0.35691162
+v -0.06959800 0.12443718 -0.47411301
+v -0.06902872 0.12314304 -0.37877232
+f 5 2 1
+f 6 5 1
+f 7 1 2
+f 7 3 1
+f 8 2 5
+f 9 6 1
+f 9 1 3
+f 9 3 6
+f 10 6 3
+f 15 7 2
+f 15 2 12
+f 15 3 7
+f 16 12 2
+f 16 2 8
+f 16 8 12
+f 17 15 12
+f 18 4 13
+f 18 13 6
+f 18 6 10
+f 19 11 6
+f 19 6 13
+f 19 13 4
+f 19 4 11
+f 20 5 6
+f 20 6 14
+f 22 10 3
+f 22 3 15
+f 22 15 17
+f 22 18 10
+f 22 4 18
+f 24 14 6
+f 24 6 11
+f 25 21 12
+f 25 12 8
+f 25 23 21
+f 26 17 12
+f 26 12 21
+f 27 22 17
+f 27 4 22
+f 27 17 26
+f 28 8 5
+f 28 5 23
+f 28 25 8
+f 28 23 25
+f 29 23 5
+f 29 5 20
+f 29 20 14
+f 30 21 23
+f 30 24 21
+f 30 14 24
+f 30 29 14
+f 30 23 29
+f 31 21 24
+f 31 26 21
+f 31 27 26
+f 31 4 27
+f 32 31 24
+f 32 24 11
+f 32 11 4
+f 32 4 31
\ No newline at end of file
diff --git a/objects/objaverse/condiment/condiment_0/collision/model_normalized_collision_6.obj b/objects/objaverse/condiment/condiment_0/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed3829d87fb423605f3ee53052c9bec7067482ce
--- /dev/null
+++ b/objects/objaverse/condiment/condiment_0/collision/model_normalized_collision_6.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.12527101 -0.06286588 0.08686577
+v -0.07919038 -0.00817096 -0.49141940
+v -0.12867706 0.06180858 0.08752519
+v -0.13417721 0.04974951 0.08256779
+v -0.14640975 -0.00838562 -0.44661360
+v -0.13985582 0.03170795 0.08125229
+v -0.12879469 -0.07233683 -0.44844409
+v -0.13129780 0.06320358 -0.41595144
+v -0.13735137 -0.03430673 0.08084873
+v -0.13870610 -0.04993379 -0.44630320
+v -0.12265260 -0.06923385 -0.23472395
+v -0.13680597 0.04593045 0.06698042
+v -0.13223856 -0.05111079 0.08219411
+v -0.13836657 0.04637297 -0.41720441
+f 1 2 3
+f 6 1 3
+f 6 3 4
+f 8 3 2
+f 8 2 5
+f 9 6 5
+f 9 1 6
+f 10 5 2
+f 10 2 7
+f 10 9 5
+f 11 7 2
+f 11 2 1
+f 11 1 7
+f 12 4 3
+f 12 3 8
+f 12 6 4
+f 13 10 7
+f 13 7 1
+f 13 1 9
+f 13 9 10
+f 14 12 8
+f 14 8 5
+f 14 5 6
+f 14 6 12
\ No newline at end of file
diff --git a/objects/objaverse/condiment/condiment_0/collision/model_normalized_collision_7.obj b/objects/objaverse/condiment/condiment_0/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9b6378662a3d377d6115bb508af3c7f4a8989cb5
--- /dev/null
+++ b/objects/objaverse/condiment/condiment_0/collision/model_normalized_collision_7.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.06274415 -0.12660976 0.08002829
+v 0.14360165 -0.01428486 -0.35658336
+v 0.10865654 -0.01146102 0.11936696
+v -0.09389274 -0.01179400 0.12725133
+v -0.05687444 -0.13284854 -0.35627913
+v -0.06401695 -0.00915205 -0.35606061
+v 0.05565601 -0.08238396 0.12391311
+v 0.07538640 -0.11329988 0.10233096
+v 0.06500534 -0.13070580 -0.35603392
+v -0.05588056 -0.12935198 0.08067519
+v 0.08178219 -0.09298672 0.11171932
+v 0.10649630 -0.10090878 -0.35626578
+v 0.05346838 -0.12321940 0.10462935
+v 0.05378722 -0.10878566 0.11286042
+v 0.08297865 -0.08112220 0.11559328
+v 0.08136048 -0.12243504 -0.31056223
+v 0.06779839 -0.10660641 0.11047130
+f 6 3 2
+f 6 4 3
+f 6 5 4
+f 6 2 5
+f 7 3 4
+f 10 4 5
+f 10 9 1
+f 10 5 9
+f 11 8 2
+f 11 2 3
+f 12 9 5
+f 12 5 2
+f 12 2 8
+f 12 8 1
+f 13 10 1
+f 13 1 8
+f 14 7 4
+f 14 4 10
+f 14 10 13
+f 15 11 3
+f 15 3 7
+f 15 7 11
+f 16 12 1
+f 16 1 9
+f 16 9 12
+f 17 11 7
+f 17 7 14
+f 17 8 11
+f 17 14 13
+f 17 13 8
\ No newline at end of file
diff --git a/objects/objaverse/condiment/condiment_0/collision/model_normalized_collision_8.obj b/objects/objaverse/condiment/condiment_0/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2c7e2ac4f349b337d28bd1af2d8ae1278967d9ee
--- /dev/null
+++ b/objects/objaverse/condiment/condiment_0/collision/model_normalized_collision_8.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.11353882 0.08674912 -0.15952378
+v 0.08203854 0.09043931 -0.49249068
+v 0.05310323 0.12930386 -0.47963851
+v 0.01173827 0.14233699 -0.15909055
+v 0.01174062 0.06660552 -0.15909091
+v 0.08102416 0.11956955 -0.15897429
+v 0.07785859 0.11570320 -0.47960143
+v 0.11347776 0.08670368 -0.23484135
+v 0.05576340 0.09433744 -0.49762785
+v 0.01146840 0.13927127 -0.35598903
+v 0.06476260 0.12837500 -0.15889953
+v 0.05402839 0.10632838 -0.49404463
+v 0.01174062 0.06660552 -0.23484849
+v 0.01676057 0.13877311 -0.35738062
+v 0.07855858 0.10143174 -0.48875816
+f 6 5 1
+f 7 3 6
+f 8 1 5
+f 8 2 7
+f 8 7 6
+f 8 6 1
+f 10 5 4
+f 11 6 3
+f 11 3 4
+f 11 4 5
+f 11 5 6
+f 12 2 9
+f 12 10 3
+f 12 9 10
+f 13 8 5
+f 13 2 8
+f 13 9 2
+f 13 10 9
+f 13 5 10
+f 14 10 4
+f 14 4 3
+f 14 3 10
+f 15 7 2
+f 15 2 12
+f 15 12 3
+f 15 3 7
\ No newline at end of file
diff --git a/objects/objaverse/condiment/condiment_0/collision/model_normalized_collision_9.obj b/objects/objaverse/condiment/condiment_0/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b08294498f49867ebf91da66b212b80cd412815
--- /dev/null
+++ b/objects/objaverse/condiment/condiment_0/collision/model_normalized_collision_9.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v -0.07271833 -0.09528872 0.11367212
+v -0.06157614 -0.08199120 0.12166447
+v -0.11615014 -0.05022241 0.11069177
+v -0.12867706 0.06180858 0.08752519
+v -0.11699160 -0.07878848 0.08196668
+v -0.06055682 -0.05180235 0.14322373
+v -0.11174934 -0.07457705 0.10478620
+v -0.13735137 -0.03430673 0.08084873
+v -0.05762085 -0.06211046 0.13389116
+v -0.11595653 0.04872742 0.11184433
+v -0.10131881 -0.07840707 0.10957032
+v -0.13417721 0.04974951 0.08256779
+v -0.13523123 -0.03369553 0.09317212
+v -0.10468689 0.04887810 0.11660542
+v -0.13985582 0.03170795 0.08125229
+v -0.12134061 -0.06012216 0.10256534
+v -0.12799782 0.04782152 0.10423556
+v -0.12631362 -0.06272151 0.08123668
+v -0.13761913 0.03101947 0.09383885
+f 5 2 1
+f 5 4 2
+f 6 1 2
+f 7 5 1
+f 7 6 3
+f 9 6 2
+f 9 2 4
+f 10 3 6
+f 11 7 1
+f 11 1 6
+f 11 6 7
+f 12 4 5
+f 14 9 4
+f 14 4 10
+f 14 10 6
+f 14 6 9
+f 15 12 5
+f 15 8 13
+f 16 7 3
+f 16 3 13
+f 16 5 7
+f 17 13 3
+f 17 3 10
+f 17 10 4
+f 18 13 8
+f 18 16 13
+f 18 5 16
+f 18 15 5
+f 18 8 15
+f 19 15 13
+f 19 13 17
+f 19 12 15
+f 19 17 4
+f 19 4 12
\ No newline at end of file
diff --git a/objects/objaverse/condiment/condiment_0/model.xml b/objects/objaverse/condiment/condiment_0/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..896dc415453d26c659cc8c46fbbfd82be35c37c2
--- /dev/null
+++ b/objects/objaverse/condiment/condiment_0/model.xml
@@ -0,0 +1,81 @@
+<mujoco model="condiment_2">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="1.0 0.0 0.0 0.0"/>
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+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="1.0 0.0 0.0 0.0"/>
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+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" 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__25" texture="image0" specular="0.5" shininess="0.25"/>
+  </asset>
+  <worldbody>
+    <body>
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+      </body>
+      <site rgba="0 0 0 0" size="0.005" pos="-0.00017941800000000128 -9.752849999999921e-05 -0.07478784149999998" name="bottom_site"/>
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diff --git a/objects/objaverse/condiment/condiment_0/visual/material.mtl b/objects/objaverse/condiment/condiment_0/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..33616803300962094e8955deb30562079542847b
--- /dev/null
+++ b/objects/objaverse/condiment/condiment_0/visual/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 250.00000000
+map_Kd material_0.jpeg
\ No newline at end of file
diff --git a/objects/objaverse/condiment/condiment_0/visual/model_normalized_0.obj b/objects/objaverse/condiment/condiment_0/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ab6f358f9343d13bf446e45318348ee2f957c4b
--- /dev/null
+++ b/objects/objaverse/condiment/condiment_0/visual/model_normalized_0.obj
@@ -0,0 +1,25378 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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\ No newline at end of file
diff --git a/objects/objaverse/condiment/condiment_2/collision/model_normalized_collision_1.obj b/objects/objaverse/condiment/condiment_2/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8af0f863f810bc8f9895c2ea062332be392e912c
--- /dev/null
+++ b/objects/objaverse/condiment/condiment_2/collision/model_normalized_collision_1.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.00757875 -0.00135176 -0.09848486
+v 0.08333632 0.05925430 -0.35606061
+v 0.08207523 0.12546606 -0.09904554
+v -0.11125377 0.12101481 -0.09901167
+v -0.11363337 0.05925430 -0.35606061
+v 0.08333632 0.05925430 -0.09848486
+v -0.11363337 -0.00135176 -0.23484849
+v 0.08198340 0.13879649 -0.35638936
+v -0.11363337 -0.00135176 -0.09848486
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+v -0.03688609 0.13389328 -0.19024328
+v -0.09535965 0.13300659 -0.29618032
+v 0.03729644 0.13391436 -0.19026640
+v -0.08094170 0.13271722 -0.23634655
+f 6 3 4
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+f 15 13 3
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+f 16 13 11
+f 16 11 14
+f 16 14 4
+f 16 4 13
\ No newline at end of file
diff --git a/objects/objaverse/condiment/condiment_2/collision/model_normalized_collision_11.obj b/objects/objaverse/condiment/condiment_2/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4867452e4f566abdc0d1ef63d4422fc51fa661fb
--- /dev/null
+++ b/objects/objaverse/condiment/condiment_2/collision/model_normalized_collision_11.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.14071532 -0.12195942 -0.23602245
+v 0.25085169 -0.02052194 -0.41783477
+v 0.25195993 -0.02621420 -0.23500119
+v -0.11363337 -0.01650328 -0.23484849
+v -0.11251708 -0.13387771 -0.41731861
+v -0.11880867 -0.12519974 -0.23344405
+v 0.21728846 -0.09055537 -0.41679134
+v -0.11363337 -0.01650328 -0.41666667
+v 0.08260665 -0.13103080 -0.23517599
+v 0.20906073 -0.09073412 -0.23609302
+v 0.09619845 -0.13931127 -0.42192173
+v -0.05173846 -0.13633657 -0.28096048
+v 0.14316481 -0.13064417 -0.41946160
+v -0.09575948 -0.13765642 -0.41880918
+v 0.03694095 -0.13672241 -0.28108816
+v 0.05192296 -0.13643971 -0.29607206
+f 3 2 4
+f 6 3 4
+f 7 2 3
+f 8 4 2
+f 8 6 4
+f 8 5 6
+f 9 3 6
+f 10 7 3
+f 10 9 1
+f 10 3 9
+f 11 2 7
+f 11 8 2
+f 11 1 9
+f 12 9 6
+f 13 10 1
+f 13 7 10
+f 13 11 7
+f 13 1 11
+f 14 5 8
+f 14 8 11
+f 14 11 12
+f 14 12 6
+f 14 6 5
+f 15 12 11
+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/condiment/condiment_2/collision/model_normalized_collision_16.obj b/objects/objaverse/condiment/condiment_2/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c4255bfe6ea0f385754474bd1254834956db0843
--- /dev/null
+++ b/objects/objaverse/condiment/condiment_2/collision/model_normalized_collision_16.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.10782802 -0.15063013 -0.45165684
+v 0.17267713 -0.13526978 -0.49984966
+v 0.14394238 -0.01650328 -0.41666667
+v -0.11363337 -0.01650328 -0.41666667
+v -0.10934322 -0.15272940 -0.49999495
+v -0.11363386 -0.01650343 -0.49999336
+v -0.10855898 -0.13542173 -0.41963026
+v 0.14316481 -0.13064417 -0.41946160
+v 0.10965995 -0.15321173 -0.49999045
+v 0.14389739 -0.01650698 -0.49979917
+v -0.10814992 -0.15275741 -0.45747052
+v 0.16687619 -0.13513879 -0.45317147
+v 0.02198892 -0.14988040 -0.43763689
+v 0.17212181 -0.13132693 -0.44899346
+v 0.16646468 -0.13885458 -0.49988958
+v 0.12752096 -0.13240197 -0.42052614
+v -0.02077437 -0.14991860 -0.43728474
+f 6 4 3
+f 6 5 4
+f 7 4 5
+f 8 3 4
+f 8 4 7
+f 9 5 6
+f 10 6 3
+f 10 9 6
+f 11 7 5
+f 11 9 1
+f 11 5 9
+f 12 8 1
+f 13 1 8
+f 13 11 1
+f 14 10 3
+f 14 2 10
+f 14 12 2
+f 14 3 8
+f 14 8 12
+f 15 2 12
+f 15 10 2
+f 15 9 10
+f 15 12 1
+f 15 1 9
+f 16 13 8
+f 16 8 7
+f 16 7 13
+f 17 13 7
+f 17 7 11
+f 17 11 13
\ No newline at end of file
diff --git a/objects/objaverse/condiment/condiment_2/collision/model_normalized_collision_20.obj b/objects/objaverse/condiment/condiment_2/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ab24d52b25fd036521274263d3b23d24082829ab
--- /dev/null
+++ b/objects/objaverse/condiment/condiment_2/collision/model_normalized_collision_20.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.15067572 -0.12687590 -0.40888730
+v 0.23443358 -0.05359045 -0.49829629
+v 0.24850296 0.05555407 -0.41590959
+v 0.14394238 0.05925430 -0.41666667
+v 0.14389760 -0.09226454 -0.49983524
+v 0.23861239 0.05650979 -0.49999279
+v 0.21728846 -0.09055537 -0.41679134
+v 0.21187134 -0.08515414 -0.49939309
+v 0.24852001 -0.01539828 -0.46228535
+v 0.24734602 0.05582682 -0.42944306
+v 0.14370787 0.05916060 -0.49969970
+v 0.25171395 -0.01468046 -0.41603205
+v 0.24056396 -0.05757428 -0.44705092
+v 0.24842460 0.02759599 -0.46121349
+f 1 3 4
+f 5 1 4
+f 8 1 5
+f 8 7 1
+f 8 6 2
+f 8 5 6
+f 9 2 6
+f 10 6 4
+f 10 4 3
+f 11 6 5
+f 11 5 4
+f 11 4 6
+f 12 3 1
+f 12 1 7
+f 13 8 2
+f 13 7 8
+f 13 12 7
+f 13 2 9
+f 13 9 12
+f 14 9 6
+f 14 6 10
+f 14 10 3
+f 14 12 9
+f 14 3 12
\ No newline at end of file
diff --git a/objects/objaverse/condiment/condiment_2/collision/model_normalized_collision_23.obj b/objects/objaverse/condiment/condiment_2/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ce59f4145f588ff02be53aa28519891367e96387
--- /dev/null
+++ b/objects/objaverse/condiment/condiment_2/collision/model_normalized_collision_23.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.08775812 -0.13034030 -0.23310734
+v 0.08860536 -0.13234764 -0.27947613
+v -0.12069665 -0.12647016 -0.27874185
+v -0.11880867 -0.12519974 -0.23344405
+v -0.03696650 -0.13727688 -0.28112291
+v 0.02190392 -0.13758583 -0.28101047
+v -0.03706948 -0.13655094 -0.26580389
+v -0.11191027 -0.12823395 -0.28062592
+v 0.08260665 -0.13103080 -0.23517599
+v 0.08285336 -0.13301306 -0.28043112
+v -0.11150867 -0.12666514 -0.23541473
+v 0.02224707 -0.13678070 -0.26603475
+f 1 2 3
+f 1 3 4
+f 7 5 6
+f 8 4 3
+f 8 6 5
+f 8 3 2
+f 9 2 1
+f 10 8 2
+f 10 6 8
+f 10 9 6
+f 10 2 9
+f 11 4 8
+f 11 7 9
+f 11 9 1
+f 11 1 4
+f 11 8 5
+f 11 5 7
+f 12 9 7
+f 12 7 6
+f 12 6 9
\ No newline at end of file
diff --git a/objects/objaverse/condiment/condiment_2/collision/model_normalized_collision_25.obj b/objects/objaverse/condiment/condiment_2/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3e2e2cf4b16ecb80f099899b83bb70bd5b7ba101
--- /dev/null
+++ b/objects/objaverse/condiment/condiment_2/collision/model_normalized_collision_25.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.07986451 -0.11983291 0.09485296
+v 0.12709722 -0.11504902 0.00734201
+v 0.12378557 0.04187043 0.13888879
+v -0.10611924 0.04779416 0.14869616
+v -0.09559184 -0.12106868 0.00684684
+v 0.06240005 -0.10511514 0.13271753
+v 0.11507511 -0.09355590 0.11406499
+v 0.09590856 -0.12168050 0.00815480
+v -0.09848186 0.04410278 0.00757575
+v -0.06554612 -0.12013358 0.10757138
+v 0.11933497 -0.10667017 0.09172907
+v 0.11405326 -0.07972803 0.12664619
+v 0.12879087 0.04410278 0.00757575
+v 0.02164352 -0.11971523 0.11983600
+v -0.08062682 -0.12065406 0.09635871
+v -0.09202688 -0.09054567 0.12800317
+v 0.09134665 -0.10730870 0.11603354
+v -0.01993672 -0.11996594 0.11822427
+v -0.04758953 -0.10529573 0.13052187
+v -0.08992604 -0.10860405 0.11229228
+v -0.09524424 -0.11990759 0.05246142
+v 0.06404047 -0.11943033 0.10783581
+f 6 3 4
+f 8 5 2
+f 8 2 1
+f 9 5 4
+f 11 1 2
+f 11 2 3
+f 12 3 6
+f 12 11 3
+f 12 7 11
+f 13 3 2
+f 13 2 5
+f 13 5 9
+f 13 9 4
+f 13 4 3
+f 14 8 1
+f 15 5 8
+f 17 11 7
+f 17 1 11
+f 17 12 6
+f 17 7 12
+f 18 10 15
+f 18 15 8
+f 18 8 14
+f 19 6 4
+f 19 4 16
+f 19 10 18
+f 19 18 14
+f 19 14 6
+f 20 15 10
+f 20 19 16
+f 20 10 19
+f 21 16 4
+f 21 4 5
+f 21 20 16
+f 21 5 15
+f 21 15 20
+f 22 14 1
+f 22 1 17
+f 22 17 6
+f 22 6 14
\ No newline at end of file
diff --git a/objects/objaverse/condiment/condiment_2/collision/model_normalized_collision_26.obj b/objects/objaverse/condiment/condiment_2/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7bcc9664ee894fd2fa8021622cc8005e1ea5da57
--- /dev/null
+++ b/objects/objaverse/condiment/condiment_2/collision/model_normalized_collision_26.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.14394238 -0.01650328 -0.23484849
+v 0.14389739 -0.01650698 -0.49979917
+v 0.15954727 0.11672707 -0.23253386
+v -0.11363337 0.05925430 -0.23484849
+v 0.14370787 0.05916060 -0.49969970
+v -0.11363337 -0.01650328 -0.23484849
+v -0.11363386 0.05925415 -0.49999186
+v -0.11363386 -0.01650343 -0.49999336
+f 1 2 3
+f 5 3 2
+f 6 2 1
+f 6 1 3
+f 6 3 4
+f 7 4 3
+f 7 3 5
+f 7 6 4
+f 7 5 2
+f 8 7 2
+f 8 2 6
+f 8 6 7
\ No newline at end of file
diff --git a/objects/objaverse/condiment/condiment_2/collision/model_normalized_collision_29.obj b/objects/objaverse/condiment/condiment_2/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..32510f8048f30fa6e5822384372fec867149691e
--- /dev/null
+++ b/objects/objaverse/condiment/condiment_2/collision/model_normalized_collision_29.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.12203412 -0.11992838 -0.09726476
+v -0.12269623 -0.12451849 -0.23332927
+v -0.11363337 -0.00135176 -0.23484849
+v -0.23955027 -0.00507587 -0.09490456
+v -0.21276112 -0.08300579 -0.23476583
+v -0.11363337 -0.00135176 -0.09848486
+v -0.20867920 -0.08083494 -0.09757988
+v -0.24519413 -0.01037588 -0.23297062
+f 1 2 3
+f 5 3 2
+f 6 1 3
+f 6 3 4
+f 6 4 1
+f 7 5 2
+f 7 2 1
+f 7 1 4
+f 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/condiment/condiment_2/collision/model_normalized_collision_31.obj b/objects/objaverse/condiment/condiment_2/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9dfd903e3fb11c1bb6fa1521126f9a5e1f688a68
--- /dev/null
+++ b/objects/objaverse/condiment/condiment_2/collision/model_normalized_collision_31.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.00751449 -0.12796296 0.00750813
+v 0.00753667 -0.13590112 -0.23493467
+v 0.00757875 -0.00135176 -0.23484849
+v -0.11363337 -0.00135176 0.00757575
+v -0.11150867 -0.12666514 -0.23541473
+v 0.00757875 -0.00135176 0.00757575
+v -0.09559184 -0.12106868 0.00684684
+v -0.11363337 -0.00135176 -0.23484849
+v -0.11189450 -0.11750216 0.00717451
+v -0.11034137 -0.11978597 -0.03861292
+f 5 3 2
+f 6 3 4
+f 6 4 1
+f 6 1 2
+f 6 2 3
+f 7 5 2
+f 7 2 1
+f 8 4 3
+f 8 3 5
+f 9 7 1
+f 9 1 4
+f 9 8 5
+f 9 4 8
+f 10 9 5
+f 10 5 7
+f 10 7 9
\ No newline at end of file
diff --git a/objects/objaverse/condiment/condiment_2/collision/model_normalized_collision_4.obj b/objects/objaverse/condiment/condiment_2/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e7efa95e85f98475fc820928538d2d4666e4671
--- /dev/null
+++ b/objects/objaverse/condiment/condiment_2/collision/model_normalized_collision_4.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v 0.08262956 0.04366636 0.18923098
+v 0.12879087 0.04410278 0.00757575
+v 0.12697876 0.11270529 0.00711960
+v -0.07987774 0.11861521 0.09601385
+v -0.09848186 0.04410278 0.00757575
+v 0.06126131 0.11692239 0.12005227
+v 0.12378557 0.04187043 0.13888879
+v -0.10611924 0.04779416 0.14869616
+v -0.09579357 0.11922876 0.00636113
+v -0.04445403 0.08687451 0.18045146
+v 0.11407476 0.09075107 0.11517616
+v 0.09568512 0.11955818 0.00668414
+v -0.10850742 0.08493628 0.12282215
+v -0.04959626 0.11629235 0.12074194
+v 0.04641635 0.08658301 0.17989926
+v -0.07015640 0.06077809 0.19608121
+v 0.11357293 0.07682065 0.12846067
+v 0.11973262 0.10386456 0.09030409
+v 0.07816431 0.11687750 0.10779568
+v -0.09096975 0.10703442 0.11715068
+v -0.11236704 0.07351107 0.12746799
+v -0.06539460 0.11802416 0.10836384
+v 0.07192949 0.07467851 0.17727895
+v 0.09589019 0.11782200 0.03712217
+v 0.06142134 0.10109190 0.14679860
+v -0.09489956 0.11722408 0.03686755
+v 0.09951411 0.10218006 0.11614762
+v 0.07205903 0.08714622 0.16061857
+f 7 2 3
+f 7 5 2
+f 7 1 5
+f 8 5 1
+f 9 2 5
+f 12 3 2
+f 12 2 9
+f 12 9 4
+f 12 4 6
+f 14 10 6
+f 15 6 10
+f 16 8 1
+f 16 15 10
+f 16 1 15
+f 17 1 7
+f 17 7 11
+f 18 11 7
+f 18 7 3
+f 19 12 6
+f 19 18 3
+f 20 10 14
+f 20 16 10
+f 20 13 16
+f 21 13 9
+f 21 9 5
+f 21 5 8
+f 21 16 13
+f 21 8 16
+f 22 14 6
+f 22 6 4
+f 22 20 14
+f 22 4 20
+f 23 15 1
+f 23 17 11
+f 23 1 17
+f 24 19 3
+f 24 3 12
+f 24 12 19
+f 25 19 6
+f 25 6 15
+f 26 20 4
+f 26 4 9
+f 26 9 13
+f 26 13 20
+f 27 23 11
+f 27 11 18
+f 27 18 19
+f 27 19 25
+f 28 27 25
+f 28 25 15
+f 28 15 23
+f 28 23 27
\ No newline at end of file
diff --git a/objects/objaverse/condiment/condiment_2/collision/model_normalized_collision_5.obj b/objects/objaverse/condiment/condiment_2/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2088200dd1518e28f3df06ba7f1aa5bd954e0a41
--- /dev/null
+++ b/objects/objaverse/condiment/condiment_2/collision/model_normalized_collision_5.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.11880867 -0.12519974 -0.23344405
+v -0.11363386 -0.09226100 -0.49999487
+v -0.11363337 0.05925430 -0.35606061
+v -0.20798042 0.09662312 -0.35527247
+v -0.18428203 -0.11022302 -0.27946648
+v -0.11363386 0.05925415 -0.49999186
+v -0.11363337 -0.01650328 -0.23484849
+v -0.17423971 -0.09226084 -0.49999742
+v -0.18177282 -0.10908629 -0.23407830
+v -0.17423992 0.05925415 -0.49999575
+v -0.17423943 -0.01650328 -0.23484849
+f 6 3 2
+f 6 4 3
+f 7 3 4
+f 7 1 2
+f 7 2 3
+f 8 2 1
+f 8 1 5
+f 8 5 4
+f 9 5 1
+f 9 4 5
+f 10 8 4
+f 10 4 6
+f 10 6 2
+f 10 2 8
+f 11 9 1
+f 11 1 7
+f 11 7 4
+f 11 4 9
\ No newline at end of file
diff --git a/objects/objaverse/condiment/condiment_2/collision/model_normalized_collision_6.obj b/objects/objaverse/condiment/condiment_2/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..46047f8c16907685546471423316714ec01fbfe0
--- /dev/null
+++ b/objects/objaverse/condiment/condiment_2/collision/model_normalized_collision_6.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.08210627 -0.09000909 0.14217271
+v 0.12047121 -0.05694256 0.13509198
+v 0.04492262 0.07489805 0.26531660
+v -0.07897314 0.09678399 0.13835363
+v -0.12125158 -0.05742220 0.13574162
+v 0.09000743 0.09458644 0.13496501
+v 0.05997079 -0.06907081 0.26514126
+v 0.09391802 -0.08567340 0.13818309
+v -0.04615970 0.07616422 0.26460069
+v 0.08143312 0.03570220 0.26472541
+v 0.00585244 0.08768947 0.21960674
+v -0.11958764 0.05163899 0.13439426
+v -0.05243579 -0.07608726 0.26505318
+v -0.10824922 -0.07124992 0.13686968
+v 0.10383860 0.08127245 0.13452764
+v 0.08267743 -0.04022787 0.26376497
+v -0.01730501 0.08651092 0.22173725
+v -0.13694080 -0.00185110 0.13637270
+v 0.12055197 0.05475362 0.13602043
+v -0.13712948 -0.01594252 0.13558497
+v -0.08302656 0.03648721 0.22111901
+f 8 7 1
+f 8 2 7
+f 10 3 7
+f 11 6 4
+f 11 3 6
+f 11 9 3
+f 12 4 6
+f 12 9 4
+f 12 2 5
+f 13 1 7
+f 13 7 3
+f 13 3 9
+f 14 5 2
+f 14 2 8
+f 14 8 1
+f 14 13 5
+f 14 1 13
+f 15 6 3
+f 15 3 10
+f 15 12 6
+f 15 2 12
+f 16 10 7
+f 16 7 2
+f 17 11 4
+f 17 4 9
+f 17 9 11
+f 19 15 10
+f 19 2 15
+f 19 16 2
+f 19 10 16
+f 20 18 12
+f 20 12 5
+f 20 5 13
+f 20 13 18
+f 21 18 13
+f 21 13 9
+f 21 9 12
+f 21 12 18
\ No newline at end of file
diff --git a/objects/objaverse/condiment/condiment_2/collision/model_normalized_collision_7.obj b/objects/objaverse/condiment/condiment_2/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ff83a1c8e8817d3c345bc18dcd9591ac22188dab
--- /dev/null
+++ b/objects/objaverse/condiment/condiment_2/collision/model_normalized_collision_7.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.23269040 0.07681741 -0.35293047
+v 0.20455326 0.05926989 -0.49986121
+v 0.12678306 0.14845678 -0.49999379
+v -0.11021336 0.13225051 -0.35693757
+v -0.17423992 0.05925415 -0.49999575
+v 0.08198340 0.13879649 -0.35638936
+v 0.19236892 0.12134885 -0.49999360
+v -0.20798042 0.09662312 -0.35527247
+v -0.12489406 0.14746688 -0.49999255
+v 0.21360911 0.10573699 -0.35645847
+v -0.08138769 0.14639528 -0.43845147
+v -0.16700043 0.13332817 -0.45359488
+v 0.12548674 0.14800259 -0.45346633
+v -0.12390378 0.14574939 -0.45380889
+v -0.16887332 0.11769244 -0.35640333
+v -0.17192287 0.12883885 -0.49999903
+v 0.16761746 0.13535170 -0.49999379
+v -0.15276926 0.13713350 -0.49999866
+v -0.21083286 0.09585623 -0.41052876
+v 0.16784537 0.13030065 -0.43485794
+f 5 2 1
+f 7 1 2
+f 7 2 5
+f 8 5 1
+f 8 6 4
+f 8 1 6
+f 10 6 1
+f 10 1 7
+f 11 4 6
+f 13 6 10
+f 13 11 6
+f 13 3 9
+f 13 9 11
+f 14 11 9
+f 14 4 11
+f 14 9 12
+f 15 12 8
+f 15 8 4
+f 15 14 12
+f 15 4 14
+f 16 7 5
+f 17 10 7
+f 17 3 13
+f 18 16 12
+f 18 12 9
+f 18 9 3
+f 18 3 17
+f 18 17 7
+f 18 7 16
+f 19 16 5
+f 19 5 8
+f 19 8 12
+f 19 12 16
+f 20 17 13
+f 20 13 10
+f 20 10 17
\ No newline at end of file
diff --git a/objects/objaverse/condiment/condiment_2/collision/model_normalized_collision_9.obj b/objects/objaverse/condiment/condiment_2/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..285a236b71b9589cc97736423291447ab97598f2
--- /dev/null
+++ b/objects/objaverse/condiment/condiment_2/collision/model_normalized_collision_9.obj
@@ -0,0 +1,105 @@
+# https://github.com/mikedh/trimesh
+v 0.15606416 -0.10688163 0.01251071
+v 0.24742514 -0.03872972 -0.23591485
+v 0.23186763 0.00851105 -0.03013023
+v 0.14026760 0.10881808 0.00664002
+v 0.15318968 -0.11893328 -0.23153669
+v 0.24121478 0.05477182 -0.23510310
+v 0.21589960 0.03713957 0.00214037
+v 0.21721655 -0.05235274 -0.02790030
+v 0.21808163 -0.07532192 -0.23501580
+v 0.24724905 0.02359820 -0.13011339
+v 0.15954727 0.11672707 -0.23253386
+v 0.17902566 0.08993937 0.00498906
+v 0.24606555 -0.02547765 -0.13151240
+v 0.21733444 -0.02817297 0.00246858
+v 0.21815747 -0.06265831 -0.08481924
+v 0.24870134 0.03779960 -0.23538268
+v 0.23067215 0.03653776 -0.05674275
+v 0.14331578 0.11709823 -0.15921465
+v 0.18407924 0.10549877 -0.15987778
+v 0.23117413 -0.01362005 -0.02910740
+v 0.24733858 -0.03822388 -0.22036279
+v 0.20086528 -0.06712502 0.00204998
+v 0.23233054 -0.03829802 -0.07047312
+v 0.24732131 0.03731061 -0.20565939
+v 0.20250212 0.06488254 0.00257149
+v 0.23091791 0.04837922 -0.08555316
+v 0.16665370 0.10140040 -0.02454835
+v 0.20751144 0.09247104 -0.16063126
+v 0.23242937 -0.02568347 -0.04218558
+v 0.21901677 -0.06308910 -0.09970145
+v 0.15166167 0.10445233 0.00596053
+v 0.22048001 0.07803323 -0.16054733
+v 0.20266100 0.07556107 -0.04016884
+v 0.19030008 0.08759951 -0.03958102
+v 0.21853121 0.07582089 -0.13199408
+v 0.21656146 0.06108784 -0.05655008
+f 5 1 4
+f 9 1 5
+f 11 9 5
+f 11 6 2
+f 11 2 9
+f 12 4 1
+f 12 1 7
+f 14 7 1
+f 14 3 7
+f 15 1 9
+f 16 2 6
+f 17 7 3
+f 17 3 10
+f 18 11 5
+f 18 5 4
+f 18 4 11
+f 19 11 4
+f 20 13 10
+f 20 10 3
+f 20 3 14
+f 21 10 13
+f 21 16 10
+f 21 2 16
+f 21 9 2
+f 22 14 1
+f 22 8 14
+f 22 15 8
+f 22 1 15
+f 23 8 15
+f 23 21 13
+f 23 15 21
+f 24 16 6
+f 24 10 16
+f 25 12 7
+f 25 7 17
+f 26 17 10
+f 26 25 17
+f 26 24 6
+f 26 10 24
+f 27 19 4
+f 28 6 11
+f 28 11 19
+f 28 27 12
+f 28 19 27
+f 29 20 14
+f 29 14 8
+f 29 8 23
+f 29 23 13
+f 29 13 20
+f 30 21 15
+f 30 15 9
+f 30 9 21
+f 31 27 4
+f 31 4 12
+f 31 12 27
+f 32 26 6
+f 32 6 28
+f 33 12 25
+f 34 33 28
+f 34 28 12
+f 34 12 33
+f 35 32 28
+f 35 28 33
+f 35 26 32
+f 36 33 25
+f 36 25 26
+f 36 35 33
+f 36 26 35
\ No newline at end of file
diff --git a/objects/objaverse/condiment/condiment_2/model.xml b/objects/objaverse/condiment/condiment_2/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..945863639ad05fda319b50d6600900070fe87b2d
--- /dev/null
+++ b/objects/objaverse/condiment/condiment_2/model.xml
@@ -0,0 +1,81 @@
+<mujoco model="condiment_3">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="BBQsauce_u1_v1" 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="BBQsauce_u1_v1"/>
+        <geom solimp="0.998 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="0.0004426844999999998 -0.0003566212499999984 -0.07499999999999998" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.0004426844999999998 -0.0003566212499999984 0.07396136999999997" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.03817275149999999 0.022268516999999998 -0.0005193149999999993" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/objects/objaverse/condiment/condiment_3/collision/model_normalized_collision_0.obj b/objects/objaverse/condiment/condiment_3/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..44f8b6592d46baeaffc2a90e0e3a59992ad5d94d
--- /dev/null
+++ b/objects/objaverse/condiment/condiment_3/collision/model_normalized_collision_0.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.00373046 -0.15092158 0.26520027
+v 0.09254766 -0.12496902 0.00792937
+v 0.09463161 -0.00024891 0.14393939
+v -0.13264112 -0.00024891 0.26515152
+v -0.21374861 -0.08336528 0.00594322
+v 0.00372252 -0.00024891 0.26515152
+v 0.09385455 -0.13286143 0.14419008
+v -0.05239657 -0.13430874 0.00808452
+v -0.21396396 -0.11422678 0.26502430
+v 0.09463161 -0.00024891 0.00757576
+v -0.12919070 -0.13533556 0.26733243
+v 0.04663807 -0.13560853 0.00807492
+v -0.23786431 -0.07550696 0.12906003
+v -0.18618312 -0.11053864 0.00660259
+v -0.13264112 -0.00024891 0.00757576
+v -0.19015776 -0.12258344 0.26632024
+v 0.07605854 -0.13688869 0.14512748
+v -0.24239034 -0.09290680 0.21890847
+v -0.22048876 -0.07387950 0.00707005
+v -0.21832095 -0.11043541 0.22030650
+v -0.22792763 -0.06958415 0.08644257
+f 6 1 3
+f 6 3 4
+f 7 3 1
+f 10 2 5
+f 10 7 2
+f 10 3 7
+f 10 4 3
+f 11 6 4
+f 11 1 6
+f 11 8 1
+f 12 2 7
+f 12 1 8
+f 14 8 11
+f 14 12 8
+f 14 5 2
+f 14 2 12
+f 15 10 5
+f 15 4 10
+f 15 13 4
+f 16 11 4
+f 16 4 9
+f 16 14 11
+f 17 12 7
+f 17 7 1
+f 17 1 12
+f 18 9 4
+f 18 4 13
+f 18 5 14
+f 19 15 5
+f 19 18 13
+f 19 5 18
+f 20 18 14
+f 20 9 18
+f 20 16 9
+f 20 14 16
+f 21 19 13
+f 21 13 15
+f 21 15 19
\ No newline at end of file
diff --git a/objects/objaverse/condiment/condiment_3/collision/model_normalized_collision_1.obj b/objects/objaverse/condiment/condiment_3/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..23a87f97f2579a8528ba6baa67b04e051a93875a
--- /dev/null
+++ b/objects/objaverse/condiment/condiment_3/collision/model_normalized_collision_1.obj
@@ -0,0 +1,117 @@
+# https://github.com/mikedh/trimesh
+v 0.18029909 -0.10742984 -0.23244017
+v 0.26171065 -0.02151033 -0.23018767
+v 0.09463161 -0.00024891 -0.23484848
+v 0.15406203 0.11725840 -0.27964556
+v 0.15124662 -0.04393304 -0.35648934
+v 0.24732086 0.05034673 -0.23042676
+v 0.21702294 -0.06327979 -0.25690766
+v 0.09433388 -0.11583581 -0.27986342
+v 0.15201203 0.05887042 -0.35608427
+v 0.18727009 0.10682696 -0.25148338
+v 0.09454335 -0.11903503 -0.23468274
+v 0.24410038 -0.01991005 -0.27051251
+v 0.14822399 -0.09811402 -0.30505054
+v 0.09463161 -0.00024891 -0.28030303
+v 0.17078225 0.10471885 -0.28374106
+v 0.24382319 -0.03318319 -0.25491577
+v 0.23072226 -0.00738265 -0.29643151
+v 0.17398000 -0.10284932 -0.25778418
+v 0.21449550 -0.04649479 -0.28218712
+v 0.16024241 -0.10530983 -0.27334924
+v 0.14750051 0.10961895 -0.30369315
+v 0.17557744 0.10612823 -0.27433917
+v 0.21463805 0.04703776 -0.29577490
+v 0.25817192 -0.01935066 -0.24288973
+v 0.15372005 -0.03835716 -0.35648923
+v 0.17142792 -0.09089964 -0.28437145
+v 0.21578255 -0.03318274 -0.29414744
+v 0.14584693 0.08356885 -0.32863626
+v 0.15694536 0.10571240 -0.29848085
+v 0.21382041 0.06017393 -0.28343568
+v 0.21632996 0.02546976 -0.30823694
+v 0.25874463 0.01170303 -0.25621590
+v 0.15402503 0.05450529 -0.35622913
+v 0.24475417 0.04800775 -0.24323770
+v 0.22858809 0.02618844 -0.29483106
+v 0.21630708 -0.00747703 -0.30908957
+v 0.25843379 -0.00760929 -0.25480977
+v 0.26283773 0.02489952 -0.23052595
+v 0.24275559 0.03310243 -0.26927370
+v 0.25896907 0.02344743 -0.24445708
+f 6 1 2
+f 7 2 1
+f 10 4 3
+f 10 3 6
+f 11 6 3
+f 11 1 6
+f 11 8 1
+f 11 3 8
+f 13 8 5
+f 14 8 3
+f 14 9 5
+f 14 5 8
+f 16 2 7
+f 18 7 1
+f 19 16 7
+f 19 12 16
+f 19 13 5
+f 20 1 8
+f 20 8 13
+f 20 18 1
+f 20 13 18
+f 21 14 3
+f 21 3 4
+f 21 4 15
+f 22 15 4
+f 22 4 10
+f 24 16 12
+f 24 2 16
+f 25 17 5
+f 26 18 13
+f 26 7 18
+f 26 19 7
+f 26 13 19
+f 27 17 12
+f 27 12 19
+f 27 19 5
+f 27 5 17
+f 28 21 9
+f 28 9 14
+f 28 14 21
+f 29 21 15
+f 29 15 9
+f 29 9 21
+f 30 22 10
+f 30 15 22
+f 30 23 9
+f 30 9 15
+f 33 25 5
+f 33 5 9
+f 33 9 31
+f 34 30 10
+f 34 10 6
+f 35 31 9
+f 35 9 23
+f 35 32 17
+f 35 17 31
+f 36 31 17
+f 36 17 25
+f 36 33 31
+f 36 25 33
+f 37 24 12
+f 37 12 17
+f 37 17 32
+f 37 32 2
+f 37 2 24
+f 38 6 2
+f 38 2 32
+f 38 34 6
+f 39 32 35
+f 39 30 34
+f 39 35 23
+f 39 23 30
+f 40 38 32
+f 40 32 39
+f 40 39 34
+f 40 34 38
\ No newline at end of file
diff --git a/objects/objaverse/condiment/condiment_3/collision/model_normalized_collision_10.obj b/objects/objaverse/condiment/condiment_3/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bf525e15dee33e63890ffe237dce8322cda7ff30
--- /dev/null
+++ b/objects/objaverse/condiment/condiment_3/collision/model_normalized_collision_10.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v 0.25653541 -0.01694101 -0.04561366
+v 0.26524377 -0.01171910 -0.23126319
+v 0.25693024 0.05097104 -0.08596430
+v 0.16745024 0.12277065 0.00737975
+v 0.17038918 -0.01540043 -0.23484848
+v 0.16589153 0.12178759 -0.23297672
+v 0.23722712 0.04701191 0.00884602
+v 0.27569572 0.01422252 -0.14411537
+v 0.27411163 -0.01302629 -0.17281583
+v 0.17038918 -0.01540043 -0.09848485
+v 0.19396148 0.11769109 -0.09861336
+v 0.19957434 0.10605940 0.00541874
+v 0.25897018 0.02710215 -0.05752666
+v 0.24347450 0.06138557 -0.21553009
+v 0.27513237 -0.01359824 -0.14414408
+v 0.27529584 0.01407344 -0.17355039
+v 0.19240262 0.11774893 -0.17281187
+v 0.22070117 0.07822640 0.01245219
+v 0.18071444 0.11911610 0.00734243
+v 0.24360386 0.06391053 -0.05616137
+v 0.26019982 -0.01442116 -0.05773625
+v 0.25838697 0.03413132 -0.22918555
+v 0.25876341 0.04797476 -0.18672445
+v 0.20240222 0.10242018 -0.23043180
+v 0.21374512 0.09257635 -0.01037052
+v 0.21519670 0.09012766 -0.22917445
+v 0.17789197 0.11716854 -0.23164308
+v 0.21898716 0.08243490 0.00570472
+f 6 2 5
+f 9 5 2
+f 9 1 5
+f 10 5 1
+f 10 6 5
+f 10 4 6
+f 10 7 4
+f 10 1 7
+f 13 7 1
+f 13 8 3
+f 13 3 7
+f 15 1 9
+f 16 9 2
+f 16 15 9
+f 16 8 15
+f 17 6 4
+f 17 4 11
+f 18 4 7
+f 19 12 11
+f 19 11 4
+f 19 18 12
+f 19 4 18
+f 20 3 11
+f 20 18 7
+f 20 7 3
+f 21 13 1
+f 21 8 13
+f 21 15 8
+f 21 1 15
+f 22 2 6
+f 22 16 2
+f 23 3 8
+f 23 8 16
+f 23 17 11
+f 23 11 3
+f 23 22 14
+f 23 16 22
+f 24 22 6
+f 25 20 11
+f 25 11 12
+f 26 23 14
+f 26 17 23
+f 26 24 17
+f 26 14 22
+f 26 22 24
+f 27 24 6
+f 27 6 17
+f 27 17 24
+f 28 25 12
+f 28 12 18
+f 28 18 20
+f 28 20 25
\ No newline at end of file
diff --git a/objects/objaverse/condiment/condiment_3/collision/model_normalized_collision_11.obj b/objects/objaverse/condiment/condiment_3/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7e3988ce94bc08dc5edb4ddc278b40343c8a3791
--- /dev/null
+++ b/objects/objaverse/condiment/condiment_3/collision/model_normalized_collision_11.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.14417665 -0.13093066 0.25786024
+v -0.13637040 -0.11966664 0.00666380
+v -0.13205735 0.13271250 0.14411485
+v -0.23813496 0.10066703 0.26819423
+v -0.21396396 -0.11422678 0.26502430
+v -0.18865956 0.11458584 0.00707580
+v -0.13264112 0.06035715 0.26515152
+v -0.13168440 0.12591008 0.00776689
+v -0.19058708 0.12320369 0.14448604
+v -0.20907220 -0.08856051 0.00952735
+v -0.13195927 0.13184627 0.12909094
+v -0.17395546 0.12099273 0.00723944
+f 5 2 1
+f 7 3 4
+f 7 5 1
+f 7 4 5
+f 7 1 2
+f 8 7 2
+f 9 6 4
+f 9 4 3
+f 10 5 4
+f 10 4 6
+f 10 6 2
+f 10 2 5
+f 11 8 3
+f 11 3 7
+f 11 7 8
+f 12 6 9
+f 12 8 2
+f 12 2 6
+f 12 9 3
+f 12 3 8
\ No newline at end of file
diff --git a/objects/objaverse/condiment/condiment_3/collision/model_normalized_collision_12.obj b/objects/objaverse/condiment/condiment_3/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca38232bc619ceb44a43e13201e7bfad3d5442ad
--- /dev/null
+++ b/objects/objaverse/condiment/condiment_3/collision/model_normalized_collision_12.obj
@@ -0,0 +1,120 @@
+# https://github.com/mikedh/trimesh
+v 0.09401883 -0.14869958 0.40083196
+v 0.07725687 -0.15215072 0.39930337
+v 0.09463161 0.06035715 0.40151515
+v -0.08551220 0.12915661 0.45875944
+v -0.04082727 -0.08878522 0.49063772
+v -0.13264112 0.06035715 0.40151515
+v 0.04738470 -0.13274221 0.46825817
+v -0.12845607 -0.13921474 0.39841944
+v 0.06200288 -0.14778941 0.42588718
+v 0.09261938 0.05961975 0.49225408
+v -0.08412406 -0.15122842 0.39836374
+v -0.12571206 -0.09854666 0.47306124
+v 0.07671443 -0.14927300 0.41257107
+v 0.09094456 -0.11437449 0.47627580
+v -0.08487762 0.08840312 0.49092366
+v -0.05473021 -0.14861510 0.42606117
+v -0.06734972 -0.12100737 0.47787886
+v 0.08918811 -0.13302193 0.45240892
+v 0.09213922 -0.04411960 0.49026403
+v -0.08392305 0.11243190 0.48205457
+v -0.05558218 0.08880296 0.49448810
+v -0.09983497 -0.02925263 0.49042640
+v -0.12542499 0.09629550 0.47810777
+v -0.11102839 -0.13230623 0.43892952
+v -0.06991462 -0.07346753 0.49002427
+v 0.07445216 -0.11986628 0.47681527
+v -0.03999325 -0.13331095 0.46852770
+v -0.08349082 0.12375612 0.46929691
+v 0.04762878 -0.08870581 0.49017751
+v -0.09957534 0.07441113 0.49031109
+v -0.12928333 0.11455426 0.45835659
+v -0.08370649 -0.14816532 0.41247792
+v -0.11045745 -0.12092794 0.46146692
+v -0.08486812 -0.05893665 0.48980945
+v -0.08384727 -0.13418478 0.45307114
+v -0.11302933 0.12335854 0.45500968
+v -0.11105734 0.10902197 0.47566136
+v -0.12508900 -0.13242198 0.42549216
+v -0.12682546 0.10861567 0.46722230
+v -0.11068168 0.11845016 0.46448840
+v -0.12424638 -0.11993952 0.45177629
+f 1 2 3
+f 6 4 3
+f 8 6 3
+f 10 1 3
+f 10 3 4
+f 11 8 3
+f 11 3 2
+f 12 6 8
+f 13 9 2
+f 13 2 1
+f 16 11 2
+f 16 2 9
+f 18 7 9
+f 18 9 13
+f 18 13 1
+f 18 1 14
+f 19 14 1
+f 19 1 10
+f 21 20 15
+f 21 10 20
+f 22 5 21
+f 23 12 22
+f 23 15 20
+f 25 17 5
+f 25 12 17
+f 25 5 22
+f 26 17 7
+f 26 18 14
+f 26 7 18
+f 27 7 17
+f 27 16 9
+f 27 9 7
+f 28 20 10
+f 28 10 4
+f 29 19 10
+f 29 10 21
+f 29 21 5
+f 29 5 17
+f 29 17 26
+f 29 26 14
+f 29 14 19
+f 30 22 21
+f 30 21 15
+f 30 23 22
+f 30 15 23
+f 31 6 12
+f 31 12 23
+f 32 8 11
+f 32 11 16
+f 33 17 12
+f 34 25 22
+f 34 22 12
+f 34 12 25
+f 35 16 27
+f 35 32 16
+f 35 24 32
+f 35 33 24
+f 35 27 17
+f 35 17 33
+f 36 4 6
+f 36 6 31
+f 36 28 4
+f 37 23 20
+f 37 20 28
+f 38 32 24
+f 38 8 32
+f 39 31 23
+f 39 23 37
+f 40 36 31
+f 40 39 37
+f 40 31 39
+f 40 37 28
+f 40 28 36
+f 41 38 24
+f 41 24 33
+f 41 33 12
+f 41 12 8
+f 41 8 38
\ No newline at end of file
diff --git a/objects/objaverse/condiment/condiment_3/collision/model_normalized_collision_13.obj b/objects/objaverse/condiment/condiment_3/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..23351a6db05c607f963ec5c07fde18597d9798cf
--- /dev/null
+++ b/objects/objaverse/condiment/condiment_3/collision/model_normalized_collision_13.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.24204506 -0.01585135 0.01000834
+v 0.26675209 -0.02462237 -0.09055648
+v 0.16745024 0.12277065 0.00737975
+v -0.11648126 0.12730679 0.00780563
+v -0.11748960 -0.01540043 -0.09848485
+v 0.07527593 0.13389079 0.00790416
+v 0.25187627 0.06003980 -0.09661493
+v -0.11748960 -0.01540043 0.00757576
+v 0.23722712 0.04701191 0.00884602
+v -0.06824252 0.13559198 0.00787201
+v 0.16884146 0.12316462 -0.09900425
+v -0.11659723 0.12684223 -0.09872037
+v 0.03433591 0.13422156 -0.09580933
+v -0.06949536 0.13358364 -0.08276449
+v 0.06194449 0.13466703 -0.08279934
+v -0.02665996 0.13422600 -0.09549334
+f 7 2 5
+f 8 5 2
+f 8 2 1
+f 8 1 4
+f 9 6 1
+f 9 3 6
+f 9 7 3
+f 9 1 2
+f 9 2 7
+f 10 4 1
+f 10 1 6
+f 11 6 3
+f 11 3 7
+f 11 7 5
+f 12 8 4
+f 12 5 8
+f 12 11 5
+f 12 4 10
+f 13 11 12
+f 14 12 10
+f 15 10 6
+f 15 6 11
+f 15 11 13
+f 16 13 12
+f 16 12 14
+f 16 14 10
+f 16 15 13
+f 16 10 15
\ No newline at end of file
diff --git a/objects/objaverse/condiment/condiment_3/collision/model_normalized_collision_14.obj b/objects/objaverse/condiment/condiment_3/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6a0692c74af083531b8b9cfb2a651d90617310b7
--- /dev/null
+++ b/objects/objaverse/condiment/condiment_3/collision/model_normalized_collision_14.obj
@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
+v -0.14166904 0.06404748 0.48232260
+v -0.13264112 0.06035715 0.14393939
+v -0.12983992 0.14292122 0.38469784
+v -0.12955749 0.13676354 0.20547194
+v -0.26224036 0.05821586 0.19052743
+v -0.21129811 0.05668726 0.43881788
+v -0.19077687 0.11676429 0.08385622
+v -0.24036834 0.05569815 0.10239800
+v -0.14331064 0.10512905 0.45983120
+v -0.22222858 0.10563973 0.35139432
+v -0.13205735 0.13271250 0.14411485
+v -0.17365808 0.13354236 0.29627600
+v -0.25513920 0.05689420 0.32304869
+v -0.23458448 0.05882334 0.08421840
+v -0.19729394 0.08041621 0.43778469
+v -0.22863596 0.10726078 0.19065801
+v -0.19807621 0.11784964 0.36640073
+v -0.18882211 0.12200304 0.11480762
+v -0.25058947 0.08014017 0.29331888
+v -0.23605895 0.07008689 0.38007351
+v -0.22401965 0.07832240 0.07632460
+v -0.21417939 0.11792614 0.30972369
+v -0.15619883 0.13414001 0.38238895
+v -0.21223851 0.10414395 0.38000703
+v -0.19847889 0.11710970 0.11599355
+v -0.25276496 0.08007612 0.19180101
+v -0.23979611 0.05729402 0.38115587
+v -0.23713025 0.09253374 0.33798414
+v -0.22004794 0.08063273 0.40577775
+v -0.20724847 0.10413906 0.08697857
+v -0.23534801 0.08009891 0.11949317
+v -0.21563854 0.11778472 0.25027387
+v -0.17110604 0.13350387 0.35356495
+v -0.25091949 0.06919151 0.32265905
+v -0.20863259 0.06736443 0.43571820
+v -0.23582142 0.08177512 0.36561301
+v -0.23601180 0.06912071 0.10383950
+v -0.22436559 0.08244122 0.08746572
+f 1 2 3
+f 3 2 4
+f 6 2 1
+f 8 2 6
+f 9 1 3
+f 11 4 2
+f 11 2 7
+f 12 3 4
+f 13 8 6
+f 13 5 8
+f 14 2 8
+f 14 8 5
+f 15 6 1
+f 15 1 9
+f 18 11 7
+f 18 12 4
+f 18 4 11
+f 19 5 13
+f 21 7 2
+f 21 2 14
+f 22 10 17
+f 22 16 19
+f 23 9 3
+f 24 15 9
+f 24 23 17
+f 24 9 23
+f 24 17 10
+f 25 18 7
+f 25 16 18
+f 26 19 16
+f 26 5 19
+f 27 20 13
+f 27 13 6
+f 28 22 19
+f 28 10 22
+f 29 15 24
+f 29 27 6
+f 29 20 27
+f 30 7 21
+f 30 25 7
+f 30 16 25
+f 30 26 16
+f 31 5 26
+f 31 26 30
+f 32 18 16
+f 32 16 22
+f 32 22 12
+f 32 12 18
+f 33 22 17
+f 33 17 23
+f 33 12 22
+f 33 23 3
+f 33 3 12
+f 34 28 19
+f 34 19 13
+f 35 29 6
+f 35 6 15
+f 35 15 29
+f 36 20 29
+f 36 28 34
+f 36 34 13
+f 36 13 20
+f 36 10 28
+f 36 29 24
+f 36 24 10
+f 37 31 21
+f 37 21 14
+f 37 14 5
+f 37 5 31
+f 38 31 30
+f 38 30 21
+f 38 21 31
\ No newline at end of file
diff --git a/objects/objaverse/condiment/condiment_3/collision/model_normalized_collision_15.obj b/objects/objaverse/condiment/condiment_3/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..36a114fc97710eaafea4553d9400971d7dabbd96
--- /dev/null
+++ b/objects/objaverse/condiment/condiment_3/collision/model_normalized_collision_15.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.15744066 -0.11789577 0.00720243
+v 0.15413031 -0.11472862 -0.23408837
+v 0.15523767 -0.01540043 0.00757576
+v -0.11748960 -0.01540043 0.00757576
+v -0.11582367 -0.12172775 0.00799953
+v 0.15523767 -0.01540043 -0.23484848
+v 0.03332526 -0.13542275 -0.03647960
+v -0.11733258 -0.11812180 -0.23461114
+v 0.04663807 -0.13560853 0.00807492
+v 0.15502346 -0.11852809 -0.18925609
+v -0.03937232 -0.13674933 0.00803967
+v 0.09447851 -0.12105823 -0.18907527
+v -0.11748960 -0.01540043 -0.23484848
+v 0.12332924 -0.12094499 0.00788392
+v -0.03939600 -0.13459739 -0.03647058
+v 0.13990877 -0.11938436 0.00761913
+f 6 4 3
+f 6 3 1
+f 8 5 4
+f 8 6 2
+f 9 3 4
+f 9 4 5
+f 10 6 1
+f 10 2 6
+f 10 1 9
+f 10 9 7
+f 11 5 8
+f 11 9 5
+f 11 7 9
+f 12 8 2
+f 12 7 8
+f 12 10 7
+f 12 2 10
+f 13 8 4
+f 13 4 6
+f 13 6 8
+f 14 3 9
+f 15 11 8
+f 15 8 7
+f 15 7 11
+f 16 14 9
+f 16 9 1
+f 16 1 3
+f 16 3 14
\ No newline at end of file
diff --git a/objects/objaverse/condiment/condiment_3/collision/model_normalized_collision_16.obj b/objects/objaverse/condiment/condiment_3/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..59352e47667838671fc4dcf3e16ee1ac2d924b2a
--- /dev/null
+++ b/objects/objaverse/condiment/condiment_3/collision/model_normalized_collision_16.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.15324623 -0.12004139 0.08404261
+v 0.23359181 -0.05328603 0.00468365
+v 0.23019749 -0.06649927 0.08793605
+v 0.15903619 0.12577254 0.08180631
+v 0.09463161 -0.00024891 0.00757576
+v 0.23111820 0.07012831 0.08738301
+v 0.19144467 -0.10716254 0.00630179
+v 0.09463161 -0.00024891 0.08333333
+v 0.15846940 0.12365070 0.00749136
+v 0.19338007 -0.10865186 0.08508698
+v 0.09254766 -0.12496902 0.00792937
+v 0.21612311 0.09427058 0.08783188
+v 0.09308836 -0.12864179 0.08387011
+v 0.22930817 0.06665452 0.00491316
+v 0.13852278 -0.11977241 0.02317934
+v 0.21044140 0.10047858 0.08474348
+v 0.12332924 -0.12094499 0.00788392
+v 0.15327182 -0.11945158 0.06878426
+v 0.21898716 0.08243490 0.00570472
+f 6 3 2
+f 7 2 3
+f 8 4 5
+f 9 5 4
+f 10 7 3
+f 10 1 7
+f 11 5 2
+f 11 2 7
+f 11 8 5
+f 12 4 8
+f 12 3 6
+f 13 12 8
+f 13 3 12
+f 13 10 3
+f 13 1 10
+f 13 8 11
+f 14 2 5
+f 14 5 9
+f 14 6 2
+f 14 12 6
+f 15 13 11
+f 16 9 4
+f 16 4 12
+f 17 15 11
+f 17 11 7
+f 17 7 15
+f 18 15 7
+f 18 7 1
+f 18 1 13
+f 18 13 15
+f 19 14 9
+f 19 9 16
+f 19 16 12
+f 19 12 14
\ No newline at end of file
diff --git a/objects/objaverse/condiment/condiment_3/collision/model_normalized_collision_17.obj b/objects/objaverse/condiment/condiment_3/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5887f39ac27592ea16d5d795e550b35e1731ec8f
--- /dev/null
+++ b/objects/objaverse/condiment/condiment_3/collision/model_normalized_collision_17.obj
@@ -0,0 +1,108 @@
+# https://github.com/mikedh/trimesh
+v -0.19015776 -0.12258344 0.26632024
+v -0.20261687 -0.11004880 0.13033245
+v -0.21570818 0.11091735 0.14567127
+v -0.23813496 0.10066703 0.26819423
+v -0.26690280 -0.04186347 0.26360565
+v -0.21878863 0.11431505 0.18987242
+v -0.19029616 -0.12133857 0.25117195
+v -0.25113813 -0.08126233 0.26390903
+v -0.23521795 -0.05399946 0.08787116
+v -0.26749883 0.04189693 0.20631021
+v -0.25276496 0.08007612 0.19180101
+v -0.22658296 -0.10685781 0.26464249
+v -0.20333203 -0.11884057 0.26649276
+v -0.22401965 0.07832240 0.07632460
+v -0.25205358 -0.06761231 0.16294000
+v -0.26783692 0.04109819 0.26398431
+v -0.22863596 0.10726078 0.19065801
+v -0.22557099 -0.10425824 0.19124909
+v -0.20364060 -0.11777861 0.25083103
+v -0.21159929 -0.09035734 0.07910737
+v -0.23697691 0.09090679 0.14811777
+v -0.23680873 0.05499013 0.08761912
+v -0.26684505 -0.04250242 0.20653775
+v -0.26330059 0.05809251 0.26466993
+v -0.25058249 -0.07988955 0.19246711
+v -0.22792763 -0.06958415 0.08644257
+v -0.21088106 -0.10560408 0.13204328
+v -0.24951965 0.06872875 0.14895180
+v -0.22489228 0.10406783 0.14763178
+v -0.25101969 -0.04286293 0.13415742
+v -0.23794799 -0.09201110 0.17762665
+v -0.23624052 -0.08102453 0.13439126
+v -0.23504850 -0.06684739 0.10461099
+v -0.25116329 0.07925365 0.17764724
+v -0.24936651 0.05708732 0.13454257
+v -0.26689299 -0.02927378 0.19251626
+v -0.26709230 0.02861111 0.19271744
+f 6 1 3
+f 6 4 1
+f 7 1 2
+f 7 2 3
+f 7 3 1
+f 13 1 4
+f 13 4 5
+f 13 5 8
+f 13 8 12
+f 16 5 4
+f 17 6 3
+f 17 11 4
+f 17 4 6
+f 18 13 12
+f 19 2 1
+f 19 1 13
+f 19 18 2
+f 19 13 18
+f 20 14 3
+f 20 3 2
+f 20 9 14
+f 21 11 17
+f 22 14 9
+f 23 8 5
+f 23 5 16
+f 24 11 10
+f 24 10 16
+f 24 16 4
+f 24 4 11
+f 25 12 8
+f 25 23 15
+f 25 8 23
+f 26 9 20
+f 27 20 2
+f 27 2 18
+f 28 21 14
+f 28 14 22
+f 29 3 14
+f 29 14 21
+f 29 21 17
+f 29 17 3
+f 30 9 15
+f 30 22 9
+f 31 18 12
+f 31 12 25
+f 31 27 18
+f 31 20 27
+f 32 26 20
+f 32 20 31
+f 32 31 25
+f 32 25 15
+f 33 15 9
+f 33 9 26
+f 33 32 15
+f 33 26 32
+f 34 11 21
+f 34 21 28
+f 34 28 10
+f 34 10 11
+f 35 28 22
+f 35 10 28
+f 36 30 15
+f 36 15 23
+f 36 23 16
+f 36 16 10
+f 37 36 10
+f 37 10 35
+f 37 35 22
+f 37 22 30
+f 37 30 36
\ No newline at end of file
diff --git a/objects/objaverse/condiment/condiment_3/collision/model_normalized_collision_18.obj b/objects/objaverse/condiment/condiment_3/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e3dd72fa30f1145f79b877a1866aced253b4a133
--- /dev/null
+++ b/objects/objaverse/condiment/condiment_3/collision/model_normalized_collision_18.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.09123846 -0.14994662 0.39773211
+v 0.09077285 -0.13357723 0.14526646
+v 0.09463161 -0.00024891 0.26515152
+v 0.00372252 -0.01540043 0.40151515
+v 0.00361492 -0.14527003 0.14426293
+v 0.09463161 -0.01540043 0.40151515
+v 0.09463161 -0.00024891 0.14393939
+v 0.09016636 -0.14903783 0.29776840
+v 0.00336706 -0.15734261 0.40043912
+v 0.00372252 -0.00024891 0.14393939
+v 0.06277551 -0.15021786 0.26698727
+v 0.00372252 -0.00024891 0.26515152
+f 6 3 4
+f 7 1 2
+f 7 6 1
+f 7 3 6
+f 7 2 5
+f 8 2 1
+f 9 6 4
+f 9 1 6
+f 9 8 1
+f 10 7 5
+f 10 3 7
+f 10 5 9
+f 11 5 2
+f 11 2 8
+f 11 9 5
+f 11 8 9
+f 12 4 3
+f 12 3 10
+f 12 10 9
+f 12 9 4
\ No newline at end of file
diff --git a/objects/objaverse/condiment/condiment_3/collision/model_normalized_collision_19.obj b/objects/objaverse/condiment/condiment_3/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..84ddb99adc27db2303767305df24c9d2f0615b38
--- /dev/null
+++ b/objects/objaverse/condiment/condiment_3/collision/model_normalized_collision_19.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v 0.09161937 -0.15187067 0.38438269
+v 0.15324623 -0.12004139 0.08404261
+v 0.14636038 -0.09485685 0.46459959
+v 0.09460069 -0.01538686 0.49220547
+v 0.09463161 -0.00024891 0.08333333
+v 0.09094456 -0.11437449 0.47627580
+v 0.14643530 -0.13245248 0.39644934
+v 0.09308836 -0.12864179 0.08387011
+v 0.15523767 -0.00024891 0.08333333
+v 0.14838110 -0.07032088 0.47522204
+v 0.09031161 -0.12471581 0.46605911
+v 0.15106501 -0.13259957 0.28281994
+v 0.09135550 -0.15223602 0.32720680
+v 0.09463161 -0.00024891 0.26515152
+v 0.10378522 -0.11125126 0.47434545
+v 0.15253363 -0.01483508 0.48120312
+v 0.09104541 -0.13669160 0.19054935
+v 0.10397176 -0.13431534 0.43974574
+v 0.10508718 -0.14886527 0.38400820
+v 0.09070264 -0.13723416 0.44139506
+v 0.10538368 -0.14904852 0.32747781
+v 0.13021330 -0.11778679 0.45040381
+v 0.15523767 -0.00024891 0.26515152
+v 0.10345242 -0.12250227 0.46301975
+v 0.14452169 -0.11733960 0.43750159
+v 0.13104432 -0.10756728 0.46294927
+f 9 8 5
+f 9 2 8
+f 10 4 6
+f 10 3 7
+f 11 6 4
+f 12 10 7
+f 13 8 2
+f 14 9 5
+f 14 11 4
+f 14 5 11
+f 15 10 6
+f 15 3 10
+f 15 6 11
+f 16 4 10
+f 16 10 12
+f 17 11 5
+f 17 5 8
+f 17 8 13
+f 19 12 7
+f 19 1 13
+f 19 7 18
+f 20 13 1
+f 20 17 13
+f 20 11 17
+f 20 18 11
+f 20 19 18
+f 20 1 19
+f 21 13 2
+f 21 2 12
+f 21 19 13
+f 21 12 19
+f 23 14 4
+f 23 4 16
+f 23 9 14
+f 23 2 9
+f 23 16 12
+f 23 12 2
+f 24 15 11
+f 24 11 18
+f 24 18 22
+f 25 22 18
+f 25 18 7
+f 25 7 3
+f 26 24 22
+f 26 3 15
+f 26 15 24
+f 26 25 3
+f 26 22 25
\ No newline at end of file
diff --git a/objects/objaverse/condiment/condiment_3/collision/model_normalized_collision_2.obj b/objects/objaverse/condiment/condiment_3/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c035a63e86292c6dd65053533d53485a25945274
--- /dev/null
+++ b/objects/objaverse/condiment/condiment_3/collision/model_normalized_collision_2.obj
@@ -0,0 +1,171 @@
+# https://github.com/mikedh/trimesh
+v -0.18618312 -0.11053864 0.00660259
+v -0.16924547 -0.03878085 -0.32907958
+v -0.17065232 0.10908762 -0.27494485
+v -0.19077687 0.11676429 0.08385622
+v -0.26636624 -0.00944491 -0.23008997
+v -0.17161128 -0.09712985 -0.27567233
+v -0.23801092 -0.04247926 0.08715401
+v -0.19662415 0.02714249 -0.32346469
+v -0.23707876 0.07649798 -0.18687663
+v -0.23638296 -0.02021572 -0.28135605
+v -0.22382978 -0.09052613 -0.14316773
+v -0.21159929 -0.09035734 0.07910737
+v -0.16984876 0.05357576 -0.32937288
+v -0.20990260 0.10284221 -0.20177260
+v -0.25121753 0.01120140 -0.27130982
+v -0.26590481 0.03642832 -0.09964156
+v -0.23761297 -0.06176350 -0.21396893
+v -0.17232822 -0.08537382 -0.29090810
+v -0.19617170 -0.00930112 -0.32332139
+v -0.17401626 -0.10957158 -0.23265242
+v -0.26663478 -0.03528302 -0.11525146
+v -0.22792763 -0.06958415 0.08644257
+v -0.22357927 -0.09097003 -0.09919545
+v -0.22222478 0.03548491 -0.29595854
+v -0.19926038 0.11153205 0.08537675
+v -0.17663340 0.11727445 -0.23431860
+v -0.26638624 0.03516781 -0.18681063
+v -0.25059303 -0.00629364 -0.27055440
+v -0.20698666 -0.07501307 -0.25546315
+v -0.24948774 -0.03371312 -0.24158115
+v -0.20875822 -0.02159417 -0.30899202
+v -0.19740836 -0.10411435 -0.20089710
+v -0.26720804 -0.03471000 -0.15826261
+v -0.26575042 -0.02580494 -0.08741446
+v -0.19452819 -0.10523107 0.00559691
+v -0.18116537 0.05013017 -0.32351001
+v -0.22232676 0.07604646 -0.24368625
+v -0.20709991 0.10570028 -0.04039495
+v -0.23617928 0.07695066 -0.07050666
+v -0.23887755 0.04250169 0.08688868
+v -0.22436559 0.08244122 0.08746572
+v -0.19580018 0.10322300 -0.24426488
+v -0.26435047 0.02255408 -0.22855911
+v -0.17948728 -0.09221573 -0.27154656
+v -0.23560800 -0.03263140 -0.26961618
+v -0.17955698 -0.03558417 -0.32315757
+v -0.20974076 -0.09108203 -0.21501451
+v -0.18122942 -0.10309297 -0.24396110
+v -0.25236704 -0.04822346 -0.20062397
+v -0.26626346 0.02665372 -0.08719226
+v -0.20781681 0.03651602 -0.30931105
+v -0.17980455 0.10425851 -0.27192820
+v -0.22269694 0.09007006 -0.20108516
+v -0.22133045 0.06137377 -0.27095722
+v -0.25024959 0.04692499 -0.22891534
+v -0.19254756 -0.08932081 -0.25626455
+v -0.17317862 -0.10713955 -0.24734792
+v -0.26630156 -0.02081584 -0.21490124
+f 1 3 4
+f 6 2 3
+f 6 3 1
+f 12 1 4
+f 13 3 2
+f 13 2 8
+f 18 2 6
+f 19 8 2
+f 19 15 8
+f 22 12 4
+f 22 7 21
+f 23 12 22
+f 23 22 21
+f 24 8 15
+f 25 4 14
+f 25 22 4
+f 26 14 4
+f 26 4 3
+f 27 16 9
+f 28 5 15
+f 28 15 19
+f 30 29 17
+f 30 5 28
+f 31 18 10
+f 31 19 2
+f 31 28 19
+f 31 10 28
+f 32 20 1
+f 32 23 11
+f 32 1 23
+f 33 23 21
+f 33 11 23
+f 33 27 5
+f 34 21 7
+f 35 23 1
+f 35 1 12
+f 35 12 23
+f 36 13 8
+f 36 3 13
+f 38 25 14
+f 38 14 9
+f 39 9 16
+f 39 38 9
+f 39 25 38
+f 41 7 22
+f 41 22 25
+f 41 40 7
+f 41 16 40
+f 41 39 16
+f 41 25 39
+f 42 26 3
+f 42 14 26
+f 43 15 5
+f 43 5 27
+f 44 29 18
+f 44 18 6
+f 45 10 18
+f 45 18 29
+f 45 29 30
+f 45 30 28
+f 45 28 10
+f 46 31 2
+f 46 2 18
+f 46 18 31
+f 47 32 11
+f 47 11 17
+f 47 17 29
+f 48 32 47
+f 49 17 11
+f 49 11 33
+f 49 30 17
+f 50 33 21
+f 50 16 27
+f 50 27 33
+f 50 21 34
+f 50 40 16
+f 50 34 7
+f 50 7 40
+f 51 36 8
+f 51 8 24
+f 51 24 36
+f 52 36 24
+f 52 3 36
+f 52 42 3
+f 52 37 42
+f 53 9 14
+f 53 42 37
+f 53 14 42
+f 54 24 15
+f 54 52 24
+f 54 37 52
+f 55 43 27
+f 55 27 9
+f 55 37 54
+f 55 54 15
+f 55 15 43
+f 55 53 37
+f 55 9 53
+f 56 47 29
+f 56 29 44
+f 56 48 47
+f 56 44 6
+f 56 6 48
+f 57 48 6
+f 57 20 32
+f 57 32 48
+f 57 6 1
+f 57 1 20
+f 58 49 33
+f 58 33 5
+f 58 5 30
+f 58 30 49
\ No newline at end of file
diff --git a/objects/objaverse/condiment/condiment_3/collision/model_normalized_collision_20.obj b/objects/objaverse/condiment/condiment_3/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..daa916bf6cb3ac8dada3e3b5548d2ab0ba22cc3a
--- /dev/null
+++ b/objects/objaverse/condiment/condiment_3/collision/model_normalized_collision_20.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.09618722 -0.11876432 -0.23776976
+v 0.18380769 -0.01459432 -0.32933222
+v 0.09463161 -0.00024891 -0.23484848
+v -0.04173203 -0.00024891 -0.23484848
+v -0.03732981 -0.09808148 -0.40312634
+v 0.15743000 -0.00517887 -0.40394235
+v -0.03866253 -0.11653961 -0.23315693
+v 0.16880624 -0.08922119 -0.29015040
+v 0.16232671 -0.00097461 -0.35602503
+v -0.04012142 -0.00300307 -0.36054784
+v 0.12005815 -0.08617446 -0.41428751
+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 9 3 2
+f 9 2 6
+f 9 4 3
+f 10 6 5
+f 10 5 4
+f 10 9 6
+f 10 4 9
+f 11 6 2
+f 11 2 8
+f 11 5 6
+f 11 8 1
+f 11 1 5
\ No newline at end of file
diff --git a/objects/objaverse/condiment/condiment_3/collision/model_normalized_collision_21.obj b/objects/objaverse/condiment/condiment_3/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ccf003bf97f5209af48d24e0295d957f215d0ef3
--- /dev/null
+++ b/objects/objaverse/condiment/condiment_3/collision/model_normalized_collision_21.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v 0.09261938 0.05961975 0.49225408
+v 0.09463161 0.06035715 0.40151515
+v 0.09408639 0.14835227 0.40094087
+v -0.08424410 0.15069144 0.39841585
+v -0.13264112 0.06035715 0.40151515
+v 0.07765729 0.15162527 0.39860221
+v -0.13773332 0.06276578 0.48342668
+v -0.12921163 0.14030993 0.39837432
+v 0.04789831 0.11290437 0.48932040
+v -0.05583842 0.05982381 0.49648347
+v 0.09113291 0.11146101 0.48062396
+v -0.04042309 0.14868387 0.42507385
+v -0.04049327 0.11333972 0.48964692
+v 0.07678002 0.10008400 0.48966504
+v 0.07672478 0.13339754 0.45338646
+v -0.08268876 0.13257490 0.45309060
+v -0.07034901 0.08849509 0.49286369
+v 0.09156983 0.08848415 0.48991801
+v 0.09158395 0.13611694 0.44040034
+v 0.07605672 0.11997993 0.47767055
+v 0.04783286 0.14820607 0.42489214
+v -0.08377475 0.14771665 0.41135771
+v -0.12543632 0.11966796 0.45249745
+v -0.08163152 0.11921206 0.47719951
+v 0.09106561 0.12259844 0.46783722
+v 0.07713360 0.14862204 0.41161106
+v -0.11193157 0.13203418 0.43820743
+v -0.06948538 0.10040304 0.49066269
+v -0.12617033 0.13276148 0.42473354
+f 1 2 3
+f 5 2 1
+f 6 3 2
+f 8 2 5
+f 8 6 2
+f 8 4 6
+f 8 5 7
+f 10 7 5
+f 10 5 1
+f 12 6 4
+f 13 10 9
+f 14 10 1
+f 14 9 10
+f 14 11 9
+f 15 12 13
+f 16 13 12
+f 17 7 10
+f 17 10 13
+f 18 14 1
+f 18 11 14
+f 18 1 3
+f 18 3 11
+f 20 9 11
+f 20 15 13
+f 20 13 9
+f 21 6 12
+f 21 12 15
+f 21 15 19
+f 22 16 12
+f 22 12 4
+f 22 4 8
+f 23 8 7
+f 24 23 7
+f 24 13 16
+f 25 11 3
+f 25 3 19
+f 25 20 11
+f 25 19 15
+f 25 15 20
+f 26 21 19
+f 26 19 3
+f 26 3 6
+f 26 6 21
+f 27 16 22
+f 27 24 16
+f 27 23 24
+f 28 17 13
+f 28 13 24
+f 28 24 7
+f 28 7 17
+f 29 27 22
+f 29 22 8
+f 29 8 23
+f 29 23 27
\ No newline at end of file
diff --git a/objects/objaverse/condiment/condiment_3/collision/model_normalized_collision_22.obj b/objects/objaverse/condiment/condiment_3/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1eb1b66b3e7f23cbf6e232c9fd5ea4b07786e852
--- /dev/null
+++ b/objects/objaverse/condiment/condiment_3/collision/model_normalized_collision_22.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.10485345 -0.09988503 -0.35600507
+v 0.15141555 -0.03803839 -0.48666024
+v 0.15372005 -0.03835716 -0.35648923
+v 0.10923422 0.07468202 -0.35312068
+v 0.10161144 -0.09643878 -0.49801121
+v 0.15402503 0.05450529 -0.35622913
+v 0.13808624 -0.06356613 -0.48680710
+v 0.10950958 0.07527647 -0.49985851
+v 0.15552183 0.01371335 -0.49198119
+v 0.13912370 -0.06506155 -0.35734461
+v 0.14117424 -0.05297512 -0.49487186
+v 0.11102607 -0.08962847 -0.49645227
+v 0.14626642 0.07044415 -0.35618070
+v 0.15425905 -0.01291371 -0.49294561
+v 0.11335796 -0.09316850 -0.35641127
+v 0.12348944 -0.07761865 -0.49537363
+v 0.15135741 0.05407675 -0.48462245
+v 0.14051489 0.06648297 -0.49185136
+f 1 3 4
+f 5 1 4
+f 6 4 3
+f 7 2 3
+f 8 5 4
+f 9 6 3
+f 10 7 3
+f 11 2 7
+f 11 5 8
+f 12 1 5
+f 13 8 4
+f 13 4 6
+f 14 9 3
+f 14 3 2
+f 14 2 11
+f 14 11 8
+f 14 8 9
+f 15 10 3
+f 15 3 1
+f 15 7 10
+f 15 1 12
+f 16 11 7
+f 16 15 12
+f 16 7 15
+f 16 12 5
+f 16 5 11
+f 17 13 6
+f 17 6 9
+f 18 17 9
+f 18 9 8
+f 18 8 13
+f 18 13 17
\ No newline at end of file
diff --git a/objects/objaverse/condiment/condiment_3/collision/model_normalized_collision_23.obj b/objects/objaverse/condiment/condiment_3/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..35e8a2d4d35593d170ced04027a45b9c5b0ff54d
--- /dev/null
+++ b/objects/objaverse/condiment/condiment_3/collision/model_normalized_collision_23.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.15523767 -0.00024891 0.26515152
+v 0.15523767 -0.00024891 0.00757576
+v 0.15190910 0.13623429 0.26633762
+v -0.09762348 0.14963238 0.26673103
+v -0.13264112 -0.00024891 0.26515152
+v 0.07527593 0.13389079 0.00790416
+v 0.15416159 0.12405960 0.00772770
+v 0.09054194 0.15158160 0.26644955
+v -0.13168440 0.12591008 0.00776689
+v -0.01114072 0.14994431 0.11500931
+v 0.04703157 0.14871368 0.13065921
+v -0.13028932 0.14122239 0.26605311
+v -0.13264112 -0.00024891 0.00757576
+v -0.06824252 0.13559198 0.00787201
+v 0.00342749 0.15008176 0.11498842
+v -0.06779904 0.14763349 0.16109867
+v -0.03944139 0.14968563 0.13027976
+f 1 3 4
+f 5 2 1
+f 5 1 4
+f 7 1 2
+f 7 3 1
+f 8 4 3
+f 8 3 7
+f 10 4 8
+f 11 8 7
+f 11 7 6
+f 12 9 5
+f 12 5 4
+f 12 4 9
+f 13 2 5
+f 13 5 9
+f 13 9 7
+f 13 7 2
+f 14 6 7
+f 14 7 9
+f 15 10 8
+f 15 8 11
+f 15 11 6
+f 15 14 10
+f 15 6 14
+f 16 9 4
+f 17 14 9
+f 17 9 16
+f 17 10 14
+f 17 16 4
+f 17 4 10
\ No newline at end of file
diff --git a/objects/objaverse/condiment/condiment_3/collision/model_normalized_collision_24.obj b/objects/objaverse/condiment/condiment_3/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..34cec1261ed68b3a174fefd104b99e64643e29f4
--- /dev/null
+++ b/objects/objaverse/condiment/condiment_3/collision/model_normalized_collision_24.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.11582367 -0.12172775 0.00799953
+v -0.11733258 -0.11812180 -0.23461114
+v -0.11697260 0.12875655 -0.23439162
+v -0.17395546 0.12099273 0.00723944
+v -0.18618312 -0.11053864 0.00660259
+v -0.11648126 0.12730679 0.00780563
+v -0.11554458 -0.12139426 -0.00723602
+v -0.13095568 -0.12016383 0.00789928
+v -0.18740831 0.11254102 -0.23254379
+v -0.18865956 0.11458584 0.00707580
+v -0.18323407 -0.10600428 -0.23067722
+v -0.18739307 0.12009062 -0.09859662
+v -0.17146522 0.11969088 -0.23206982
+v -0.18794048 0.11790961 -0.03820701
+v -0.18485007 0.11649253 -0.21660002
+f 6 3 4
+f 7 1 2
+f 7 2 3
+f 7 6 1
+f 7 3 6
+f 8 5 2
+f 8 2 1
+f 8 6 4
+f 8 1 6
+f 9 3 2
+f 10 8 4
+f 10 5 8
+f 10 9 5
+f 11 9 2
+f 11 2 5
+f 11 5 9
+f 12 4 3
+f 12 9 10
+f 13 12 3
+f 13 3 9
+f 14 12 10
+f 14 10 4
+f 14 4 12
+f 15 13 9
+f 15 9 12
+f 15 12 13
\ No newline at end of file
diff --git a/objects/objaverse/condiment/condiment_3/collision/model_normalized_collision_25.obj b/objects/objaverse/condiment/condiment_3/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b49ad5ef24a1cd322ceb47945c8ac6d622238308
--- /dev/null
+++ b/objects/objaverse/condiment/condiment_3/collision/model_normalized_collision_25.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.00336706 -0.15734261 0.40043912
+v 0.00387280 -0.15097350 0.26607411
+v 0.00337573 0.15604093 0.39975108
+v -0.09804851 0.14830805 0.39769407
+v -0.12919070 -0.13533556 0.26733243
+v -0.12921163 0.14030993 0.39837432
+v -0.09848777 -0.14897438 0.31297562
+v 0.00378042 0.15857238 0.26520400
+v -0.06940811 -0.14960582 0.26703152
+v -0.12845607 -0.13921474 0.39841944
+v -0.13028932 0.14122239 0.26605311
+v -0.11326937 0.14765097 0.38372117
+v -0.09859174 -0.14855377 0.39736812
+v -0.09762348 0.14963238 0.26673103
+v -0.11276376 0.14831177 0.29695173
+f 1 2 3
+f 6 1 3
+f 6 3 4
+f 8 3 2
+f 9 7 5
+f 9 5 2
+f 9 2 1
+f 9 1 7
+f 10 5 7
+f 10 1 6
+f 11 8 2
+f 11 2 5
+f 11 10 6
+f 11 5 10
+f 12 4 3
+f 12 3 8
+f 12 11 6
+f 12 6 4
+f 13 10 7
+f 13 7 1
+f 13 1 10
+f 14 8 11
+f 15 12 8
+f 15 8 14
+f 15 14 11
+f 15 11 12
\ No newline at end of file
diff --git a/objects/objaverse/condiment/condiment_3/collision/model_normalized_collision_26.obj b/objects/objaverse/condiment/condiment_3/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae2262d7a7ef68ce0fc9b3cd5ce5fefa03b0f3be
--- /dev/null
+++ b/objects/objaverse/condiment/condiment_3/collision/model_normalized_collision_26.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.15523767 -0.01540043 0.40151515
+v 0.15523767 -0.01540043 0.26515152
+v 0.15190910 0.13623429 0.26633762
+v 0.00337573 0.15604093 0.39975108
+v 0.00372252 -0.01540043 0.40151515
+v 0.00372252 -0.01540043 0.26515152
+v 0.14799726 0.13408256 0.39555842
+v 0.00378042 0.15857238 0.26520400
+v 0.12029805 0.14853830 0.35516781
+v 0.10539405 0.14663803 0.39758738
+v 0.10452854 0.14770993 0.26691194
+v 0.12042986 0.14837782 0.32660049
+f 1 2 3
+f 5 2 1
+f 5 1 4
+f 6 5 4
+f 6 2 5
+f 7 1 3
+f 8 3 2
+f 8 2 6
+f 8 6 4
+f 9 7 3
+f 9 8 4
+f 10 4 1
+f 10 1 7
+f 10 9 4
+f 10 7 9
+f 11 3 8
+f 12 9 3
+f 12 3 11
+f 12 11 8
+f 12 8 9
\ No newline at end of file
diff --git a/objects/objaverse/condiment/condiment_3/collision/model_normalized_collision_27.obj b/objects/objaverse/condiment/condiment_3/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..93af67c28659c8c50e78c8704108a88658417a05
--- /dev/null
+++ b/objects/objaverse/condiment/condiment_3/collision/model_normalized_collision_27.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.15253363 -0.01483508 0.48120312
+v 0.15523767 -0.01540043 0.40151515
+v 0.15291683 0.13060666 0.39960578
+v 0.09408639 0.14835227 0.40094087
+v 0.09463161 -0.01540043 0.40151515
+v 0.09113291 0.11146101 0.48062396
+v 0.13539854 0.13825161 0.39778143
+v 0.14684663 0.08158629 0.47635024
+v 0.09250927 -0.01446893 0.49255796
+v 0.09158395 0.13611694 0.44040034
+v 0.13027692 0.11804645 0.45149891
+v 0.09261938 0.05961975 0.49225408
+v 0.09106561 0.12259844 0.46783722
+v 0.10508339 0.13346041 0.43926965
+v 0.14498738 0.11830907 0.43781443
+v 0.11673668 0.10809062 0.47388603
+v 0.10675180 0.05914380 0.49013199
+v 0.10382807 0.11998993 0.46590458
+v 0.13140110 0.13101371 0.42409677
+v 0.10683042 -0.01437668 0.49032534
+f 1 2 3
+f 5 2 1
+f 7 3 2
+f 7 2 5
+f 7 5 4
+f 8 1 3
+f 9 5 1
+f 10 4 5
+f 12 6 9
+f 13 9 6
+f 13 10 5
+f 13 5 9
+f 14 7 4
+f 14 4 10
+f 14 10 13
+f 15 11 8
+f 15 8 3
+f 16 6 8
+f 16 8 11
+f 17 8 6
+f 17 6 12
+f 17 1 8
+f 17 12 9
+f 18 14 13
+f 18 11 14
+f 18 16 11
+f 18 13 6
+f 18 6 16
+f 19 3 7
+f 19 7 14
+f 19 15 3
+f 19 14 11
+f 19 11 15
+f 20 17 9
+f 20 9 1
+f 20 1 17
\ No newline at end of file
diff --git a/objects/objaverse/condiment/condiment_3/collision/model_normalized_collision_28.obj b/objects/objaverse/condiment/condiment_3/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..23830a2669c4868d85b6822cdcb169c442de59fd
--- /dev/null
+++ b/objects/objaverse/condiment/condiment_3/collision/model_normalized_collision_28.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.07336104 -0.11802360 -0.41911822
+v 0.15743000 -0.00517887 -0.40394235
+v 0.09856687 -0.10424731 -0.41821388
+v -0.04012142 -0.00300307 -0.36054784
+v -0.04173251 -0.00024830 -0.49998422
+v -0.04380812 -0.12587162 -0.43867781
+v 0.10978270 -0.00024807 -0.49998414
+v -0.04537119 -0.11388709 -0.42197381
+v 0.10161144 -0.09643878 -0.49801121
+v -0.04020153 -0.12486248 -0.49962001
+v 0.07068109 -0.11786189 -0.48926264
+v 0.05796700 -0.11997784 -0.49895571
+v 0.09730034 -0.10324619 -0.48898114
+v 0.08598970 -0.10715684 -0.49800557
+v 0.04278547 -0.12036902 -0.43232109
+f 1 3 4
+f 3 2 4
+f 7 5 4
+f 7 4 2
+f 8 6 1
+f 8 1 4
+f 8 4 5
+f 9 7 2
+f 9 2 3
+f 10 8 5
+f 10 6 8
+f 10 5 7
+f 11 3 1
+f 12 10 7
+f 12 7 9
+f 12 6 10
+f 12 11 1
+f 13 9 3
+f 13 3 11
+f 14 12 9
+f 14 11 12
+f 14 13 11
+f 14 9 13
+f 15 12 1
+f 15 1 6
+f 15 6 12
\ No newline at end of file
diff --git a/objects/objaverse/condiment/condiment_3/collision/model_normalized_collision_29.obj b/objects/objaverse/condiment/condiment_3/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..58940be7aa73fb4873d478bd28f29593fd32b44e
--- /dev/null
+++ b/objects/objaverse/condiment/condiment_3/collision/model_normalized_collision_29.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.22300325 -0.07045394 0.00625561
+v 0.24843161 -0.05288512 -0.05557925
+v 0.24257419 0.02765813 0.00374135
+v 0.22271307 0.08420578 -0.02430093
+v 0.23098161 -0.07599545 -0.05303278
+v 0.25006023 0.05340072 -0.05542662
+v 0.22568069 0.07201258 0.00674522
+v 0.24349163 -0.01467377 0.00365569
+v 0.23715998 -0.06873078 -0.05466498
+v 0.22603117 0.08659431 -0.05374577
+v 0.23167568 0.07987132 -0.05517183
+v 0.24390061 0.05259906 -0.02714223
+v 0.24316879 -0.03923343 -0.01234567
+v 0.22773418 0.07782794 -0.02626391
+v 0.22930817 0.06665452 0.00491316
+v 0.22686004 -0.06540487 0.00409726
+v 0.24199152 -0.05255246 -0.02758128
+f 7 4 1
+f 8 7 1
+f 8 3 7
+f 8 6 3
+f 8 2 6
+f 9 2 1
+f 9 1 5
+f 10 5 1
+f 10 1 4
+f 11 7 6
+f 11 10 4
+f 11 6 2
+f 11 2 9
+f 11 9 5
+f 11 5 10
+f 12 3 6
+f 13 2 8
+f 14 11 4
+f 14 4 7
+f 14 7 11
+f 15 7 3
+f 15 3 12
+f 15 12 6
+f 15 6 7
+f 16 13 8
+f 16 8 1
+f 16 1 2
+f 17 16 2
+f 17 2 13
+f 17 13 16
\ No newline at end of file
diff --git a/objects/objaverse/condiment/condiment_3/collision/model_normalized_collision_3.obj b/objects/objaverse/condiment/condiment_3/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4ba280efdb77a07bef8f365f27d365560d160ea9
--- /dev/null
+++ b/objects/objaverse/condiment/condiment_3/collision/model_normalized_collision_3.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.12680271 -0.13625245 0.41173175
+v -0.13218789 -0.13445458 0.26543799
+v -0.12945133 -0.13738347 0.28227575
+v -0.12983992 0.14292122 0.38469784
+v -0.26783692 0.04109819 0.26398431
+v -0.13264112 0.06035715 0.26515152
+v -0.12542499 0.09629550 0.47810777
+v -0.24012958 -0.09509209 0.26444671
+v -0.26330059 0.05809251 0.26466993
+v -0.26690280 -0.04186347 0.26360565
+v -0.12555751 -0.10907295 0.46479817
+v -0.12836757 0.13652335 0.41244192
+v -0.20333203 -0.11884057 0.26649276
+v -0.20499629 0.05486939 0.44805271
+v -0.22055894 -0.08170298 0.39318950
+v -0.18454080 0.12110844 0.38133920
+v -0.22658296 -0.10685781 0.26464249
+v -0.15861303 -0.13284456 0.29763299
+v -0.23525018 0.05593935 0.39378084
+v -0.17148101 -0.02803344 0.47450819
+v -0.24974173 -0.06713536 0.32155808
+v -0.18073987 -0.10292053 0.42040089
+v -0.15619883 0.13414001 0.38238895
+v -0.19254813 0.07589541 0.44785801
+v -0.21079521 -0.10443038 0.36548907
+v -0.15422252 -0.13258264 0.38225411
+v -0.24902564 0.05587815 0.35075777
+v -0.22074198 0.00028458 0.43613675
+v -0.12739871 -0.08528476 0.47777453
+v -0.17040039 0.05752418 0.47363486
+v -0.16645711 -0.11794518 0.40841101
+v -0.18078320 -0.06577448 0.46028086
+v -0.14069035 0.13239985 0.41100700
+v -0.20984574 0.09150204 0.40722683
+v -0.22490383 -0.10460499 0.30870957
+v -0.23569921 -0.08257845 0.35071298
+v -0.26635438 0.04058312 0.27821184
+v -0.25124161 -0.01251010 0.36521725
+v -0.22049363 0.01352376 0.43615586
+v -0.19257272 0.05422975 0.46128267
+v -0.15232517 0.08058527 0.47388402
+v -0.13911856 -0.13162150 0.41011438
+v -0.13743809 -0.10555015 0.46086976
+v -0.18192521 -0.11848686 0.38054514
+v -0.20772146 -0.07703291 0.42136577
+v -0.19361921 -0.04020719 0.46076121
+v -0.14067050 -0.08440168 0.47335165
+v -0.15464942 0.13158033 0.39469102
+v -0.13808714 0.10517716 0.46357572
+v -0.19526275 0.10320882 0.40715171
+v -0.19778106 -0.11890570 0.33806356
+v -0.22309005 -0.09314218 0.36541885
+v -0.23688102 -0.09293803 0.30796184
+v -0.26661843 0.02713801 0.29316465
+v -0.26600975 -0.02780839 0.29252759
+v -0.23545345 -0.04176318 0.39367301
+v -0.25061703 0.02707920 0.36490453
+v -0.20516380 -0.06589593 0.43530896
+v -0.18228733 0.11780191 0.39401421
+v -0.12682546 0.10861567 0.46722230
+v -0.13910303 0.09365283 0.47329163
+v -0.26522838 -0.04114805 0.27797705
+v -0.25047268 -0.04137713 0.35035268
+v -0.20662681 -0.04113943 0.44677967
+f 6 3 2
+f 7 3 6
+f 9 6 5
+f 9 4 6
+f 10 6 2
+f 10 5 6
+f 11 1 3
+f 11 3 7
+f 12 7 6
+f 12 6 4
+f 13 2 3
+f 17 2 13
+f 17 10 2
+f 17 8 10
+f 18 13 3
+f 21 10 8
+f 23 12 4
+f 23 4 9
+f 23 9 16
+f 25 22 15
+f 26 18 3
+f 26 3 1
+f 26 13 18
+f 29 11 7
+f 29 7 20
+f 30 20 7
+f 31 22 25
+f 34 19 14
+f 34 14 24
+f 34 27 19
+f 34 16 9
+f 34 9 27
+f 35 8 17
+f 37 27 9
+f 37 9 5
+f 39 14 19
+f 39 38 28
+f 40 39 28
+f 40 14 39
+f 40 20 30
+f 40 24 14
+f 41 30 7
+f 41 40 30
+f 41 24 40
+f 42 1 11
+f 42 31 26
+f 42 26 1
+f 43 22 31
+f 43 42 11
+f 43 31 42
+f 44 31 25
+f 44 26 31
+f 45 15 22
+f 45 43 32
+f 45 22 43
+f 46 32 20
+f 46 40 28
+f 46 20 40
+f 47 29 20
+f 47 20 32
+f 47 32 43
+f 47 43 11
+f 47 11 29
+f 48 23 16
+f 48 33 12
+f 48 12 23
+f 50 16 34
+f 50 49 33
+f 50 34 24
+f 50 24 49
+f 51 35 17
+f 51 17 13
+f 51 13 26
+f 51 26 44
+f 51 44 25
+f 51 25 35
+f 52 25 15
+f 52 15 36
+f 52 35 25
+f 53 36 21
+f 53 21 8
+f 53 8 35
+f 53 52 36
+f 53 35 52
+f 54 37 5
+f 54 5 10
+f 54 27 37
+f 55 54 10
+f 55 38 54
+f 56 28 38
+f 56 36 15
+f 57 19 27
+f 57 54 38
+f 57 27 54
+f 57 39 19
+f 57 38 39
+f 58 45 32
+f 58 32 46
+f 58 56 15
+f 58 15 45
+f 59 48 16
+f 59 33 48
+f 59 50 33
+f 59 16 50
+f 60 7 12
+f 60 12 33
+f 60 33 49
+f 61 41 7
+f 61 60 49
+f 61 7 60
+f 61 49 24
+f 61 24 41
+f 62 55 10
+f 62 10 21
+f 62 21 55
+f 63 55 21
+f 63 38 55
+f 63 56 38
+f 63 21 36
+f 63 36 56
+f 64 58 46
+f 64 46 28
+f 64 28 56
+f 64 56 58
\ No newline at end of file
diff --git a/objects/objaverse/condiment/condiment_3/collision/model_normalized_collision_30.obj b/objects/objaverse/condiment/condiment_3/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4857e288edb4880064cf8cd927978609bd63083b
--- /dev/null
+++ b/objects/objaverse/condiment/condiment_3/collision/model_normalized_collision_30.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.22680573 0.10035575 0.14110112
+v 0.21374016 0.08907325 0.00725048
+v 0.18071444 0.11911610 0.00734243
+v 0.15410531 0.12919690 0.14421120
+v 0.15416159 0.12405960 0.00772770
+v 0.19469503 0.12238260 0.14508319
+v 0.20698648 0.09777730 0.00633524
+v 0.21125285 0.11427245 0.14495879
+v 0.15846940 0.12365070 0.00749136
+v 0.16022214 0.12820633 0.14326972
+f 2 1 4
+f 5 2 4
+f 7 1 2
+f 7 2 5
+f 8 3 6
+f 8 7 3
+f 8 1 7
+f 8 6 4
+f 8 4 1
+f 9 5 4
+f 9 6 3
+f 9 7 5
+f 9 3 7
+f 10 9 4
+f 10 4 6
+f 10 6 9
\ No newline at end of file
diff --git a/objects/objaverse/condiment/condiment_3/collision/model_normalized_collision_31.obj b/objects/objaverse/condiment/condiment_3/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cedb8bfb5751917abc809c28b3f3d36f50ea348d
--- /dev/null
+++ b/objects/objaverse/condiment/condiment_3/collision/model_normalized_collision_31.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.17038918 -0.01540043 -0.09848485
+v 0.17038918 -0.01540043 -0.23484848
+v 0.16884146 0.12316462 -0.09900425
+v -0.11659723 0.12684223 -0.09872037
+v -0.11748960 -0.01540043 -0.23484848
+v -0.11697260 0.12875655 -0.23439162
+v -0.11748960 -0.01540043 -0.09848485
+v 0.16589153 0.12178759 -0.23297672
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 6 4 3
+f 6 2 5
+f 7 5 1
+f 7 1 4
+f 7 6 5
+f 7 4 6
+f 8 6 3
+f 8 3 2
+f 8 2 6
\ No newline at end of file
diff --git a/objects/objaverse/condiment/condiment_3/collision/model_normalized_collision_4.obj b/objects/objaverse/condiment/condiment_3/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e6fb6baf18bbc81da790d25995a6949623b16c9
--- /dev/null
+++ b/objects/objaverse/condiment/condiment_3/collision/model_normalized_collision_4.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.03866253 -0.11653961 -0.23315693
+v -0.04020153 -0.12486248 -0.49962001
+v -0.04173251 -0.00024830 -0.49998422
+v -0.17809566 -0.00024891 -0.23484848
+v -0.17401626 -0.10957158 -0.23265242
+v -0.15195862 0.00004017 -0.49609221
+v -0.04173203 -0.00024891 -0.23484848
+v -0.11733258 -0.11812180 -0.23461114
+v -0.13260190 -0.06516210 -0.49604920
+v -0.16257236 0.00136945 -0.35620768
+v -0.09037991 -0.10454071 -0.49790468
+v -0.14548133 -0.05105390 -0.48739090
+v -0.06478387 -0.11753593 -0.49863721
+v -0.14711662 -0.04028349 -0.49443708
+f 1 2 3
+f 6 3 2
+f 6 5 4
+f 7 1 3
+f 7 5 1
+f 7 4 5
+f 8 5 2
+f 8 2 1
+f 8 1 5
+f 10 6 4
+f 10 4 7
+f 10 7 3
+f 10 3 6
+f 11 9 6
+f 11 6 2
+f 11 5 9
+f 12 9 5
+f 13 11 2
+f 13 2 5
+f 13 5 11
+f 14 12 5
+f 14 5 6
+f 14 6 9
+f 14 9 12
\ No newline at end of file
diff --git a/objects/objaverse/condiment/condiment_3/collision/model_normalized_collision_5.obj b/objects/objaverse/condiment/condiment_3/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd8bb7b0672c22dd09f132c772957dfe302c6e94
--- /dev/null
+++ b/objects/objaverse/condiment/condiment_3/collision/model_normalized_collision_5.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v 0.19894590 -0.10446756 0.08371272
+v 0.26524377 -0.01171910 -0.23126319
+v 0.24204506 -0.01585135 0.01000834
+v 0.15523767 -0.01540043 0.00757576
+v 0.15413031 -0.11472862 -0.23408837
+v 0.26019982 -0.01442116 -0.05773625
+v 0.22557806 -0.07277735 0.08489665
+v 0.20435105 -0.10404522 -0.17214011
+v 0.13990877 -0.11938436 0.00761913
+v 0.15523767 -0.01540043 -0.23484848
+v 0.22013799 -0.08234834 0.08662935
+v 0.25946501 -0.03719249 -0.07138744
+v 0.19429073 -0.08511000 -0.26120001
+v 0.20310793 -0.10459199 -0.04019462
+v 0.14214876 -0.11939953 -0.19072129
+v 0.20717830 -0.09712218 0.08564983
+v 0.25853521 -0.02709778 -0.05816751
+v 0.24471078 -0.06186407 -0.18689945
+v 0.18858568 -0.10277277 -0.22980515
+v 0.20056072 -0.07587924 -0.26506082
+v 0.14247728 -0.11915185 0.00699103
+v 0.14002068 -0.11960968 -0.18932153
+v 0.25903031 -0.03413733 -0.21416846
+v 0.24395308 -0.06305083 -0.07156188
+v 0.21577985 -0.08960432 -0.20074031
+v 0.19144467 -0.10716254 0.00630179
+v 0.24417520 -0.04750970 -0.22893027
+v 0.21484919 -0.09289373 -0.04098309
+v 0.20050076 -0.08921572 -0.24195260
+v 0.26171065 -0.02151033 -0.23018767
+v 0.22950970 -0.07554914 -0.20031555
+v 0.21409699 -0.07524659 -0.24215761
+v 0.20884196 -0.06956616 -0.26106808
+f 6 2 4
+f 6 4 3
+f 7 3 4
+f 7 6 3
+f 9 1 4
+f 10 4 2
+f 10 9 4
+f 11 7 4
+f 12 2 6
+f 12 7 11
+f 13 5 10
+f 15 5 8
+f 15 8 14
+f 16 11 4
+f 16 4 1
+f 16 1 14
+f 17 12 6
+f 17 6 7
+f 17 7 12
+f 19 8 5
+f 19 5 13
+f 20 13 10
+f 20 10 2
+f 21 1 9
+f 21 15 14
+f 22 10 5
+f 22 5 15
+f 22 9 10
+f 22 21 9
+f 22 15 21
+f 23 2 12
+f 23 12 18
+f 24 8 18
+f 24 11 16
+f 24 18 12
+f 24 12 11
+f 25 18 8
+f 25 8 19
+f 26 21 14
+f 26 14 1
+f 26 1 21
+f 27 23 18
+f 28 14 8
+f 28 8 24
+f 28 24 16
+f 28 16 14
+f 29 25 19
+f 29 19 13
+f 30 2 23
+f 30 23 27
+f 31 27 18
+f 31 18 25
+f 32 29 13
+f 32 27 31
+f 32 31 25
+f 32 25 29
+f 33 30 27
+f 33 20 2
+f 33 2 30
+f 33 27 32
+f 33 32 13
+f 33 13 20
\ No newline at end of file
diff --git a/objects/objaverse/condiment/condiment_3/collision/model_normalized_collision_6.obj b/objects/objaverse/condiment/condiment_3/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eb85e881091c9a02ffe122ea0a346f83106780fd
--- /dev/null
+++ b/objects/objaverse/condiment/condiment_3/collision/model_normalized_collision_6.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.09454335 -0.11903503 -0.23468274
+v 0.16880624 -0.08922119 -0.29015040
+v -0.16264744 -0.07574791 -0.31031510
+v -0.15656152 -0.07188371 -0.31938248
+v -0.07113433 -0.11846699 -0.41698449
+v 0.14580250 -0.06978895 -0.33112073
+v 0.07154332 -0.11818275 -0.38401515
+v -0.11733258 -0.11812180 -0.23461114
+v 0.12005815 -0.08617446 -0.41428751
+v 0.15087319 -0.10817847 -0.27729915
+v -0.06547750 -0.12080750 -0.38391700
+v -0.15205386 -0.09668661 -0.30185432
+v -0.05398071 -0.10343100 -0.40240769
+v 0.09856687 -0.10424731 -0.41821388
+v 0.09618722 -0.11876432 -0.23776976
+v -0.11949964 -0.11777268 -0.23793846
+v -0.06505922 -0.12044241 -0.35022082
+v -0.12886201 -0.10737556 -0.30702439
+f 1 2 3
+f 5 3 4
+f 6 3 2
+f 6 4 3
+f 8 1 3
+f 9 4 6
+f 9 6 2
+f 10 2 1
+f 11 7 1
+f 11 5 7
+f 12 3 5
+f 13 9 5
+f 13 5 4
+f 13 4 9
+f 14 7 5
+f 14 5 9
+f 14 10 7
+f 14 9 2
+f 14 2 10
+f 15 10 1
+f 15 1 7
+f 15 7 10
+f 16 11 8
+f 16 5 11
+f 16 8 3
+f 16 3 12
+f 17 11 1
+f 17 1 8
+f 17 8 11
+f 18 16 12
+f 18 12 5
+f 18 5 16
\ No newline at end of file
diff --git a/objects/objaverse/condiment/condiment_3/collision/model_normalized_collision_7.obj b/objects/objaverse/condiment/condiment_3/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..15e8bf357a14dcc2eba4d5e4a362a5ba9efff232
--- /dev/null
+++ b/objects/objaverse/condiment/condiment_3/collision/model_normalized_collision_7.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v 0.10983900 -0.00020175 -0.35768684
+v 0.14421619 0.06885241 -0.48473503
+v 0.09897143 0.12121641 -0.35635104
+v -0.06710694 0.13768367 -0.35622424
+v -0.15195862 0.00004017 -0.49609221
+v 0.04575688 0.13751585 -0.49208608
+v -0.16240812 -0.00019303 -0.35606569
+v 0.14626642 0.07044415 -0.35618070
+v 0.10978270 -0.00024807 -0.49998414
+v 0.09850449 0.11843712 -0.48403009
+v 0.04172367 0.15116924 -0.39496034
+v -0.09328405 0.12184144 -0.48387515
+v 0.13171343 0.07050345 -0.49660535
+v -0.05180985 0.13597266 -0.49171324
+v 0.14042020 0.08018612 -0.35626799
+v 0.07255218 0.13540711 -0.35643825
+v 0.07119028 0.13349964 -0.48384170
+v -0.13152416 0.09201346 -0.35632349
+v 0.12945265 0.08243260 -0.49203092
+v -0.13256600 0.07900243 -0.49171675
+v 0.04079982 0.15198289 -0.40826182
+v -0.04877900 0.14837003 -0.40722210
+v 0.13846900 0.07848250 -0.48463649
+v 0.08631149 0.12092349 -0.49104690
+v -0.11806941 0.10627222 -0.35638257
+v -0.10655166 0.10696016 -0.49140662
+v -0.14532200 0.06699950 -0.48475400
+v -0.06578729 0.13560817 -0.48404401
+v -0.04615526 0.14885222 -0.39569382
+v -0.14687766 0.05316329 -0.49168022
+v -0.14812971 0.06714540 -0.35625929
+v -0.13136164 0.09131372 -0.46139456
+v -0.11792055 0.10541782 -0.46144994
+f 8 7 1
+f 8 3 4
+f 8 4 7
+f 9 7 5
+f 9 1 7
+f 9 8 1
+f 9 2 8
+f 13 2 9
+f 14 9 5
+f 14 13 9
+f 14 6 13
+f 15 10 3
+f 15 3 8
+f 16 11 4
+f 16 4 3
+f 17 3 10
+f 19 2 13
+f 21 6 14
+f 21 17 6
+f 21 11 16
+f 21 16 3
+f 21 3 17
+f 22 12 4
+f 22 21 14
+f 23 10 15
+f 23 19 10
+f 23 2 19
+f 23 15 8
+f 23 8 2
+f 24 17 10
+f 24 6 17
+f 24 10 19
+f 24 19 13
+f 24 13 6
+f 25 18 4
+f 25 4 12
+f 26 14 5
+f 26 5 20
+f 26 12 14
+f 28 22 14
+f 28 14 12
+f 28 12 22
+f 29 22 4
+f 29 4 11
+f 29 11 21
+f 29 21 22
+f 30 27 20
+f 30 20 5
+f 30 5 7
+f 30 7 27
+f 31 27 7
+f 31 7 4
+f 31 4 18
+f 32 26 20
+f 32 20 27
+f 32 18 25
+f 32 31 18
+f 32 27 31
+f 33 12 26
+f 33 26 32
+f 33 32 25
+f 33 25 12
\ No newline at end of file
diff --git a/objects/objaverse/condiment/condiment_3/collision/model_normalized_collision_8.obj b/objects/objaverse/condiment/condiment_3/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aa92a5592a50b5131518f046add6ad11aadcf5ca
--- /dev/null
+++ b/objects/objaverse/condiment/condiment_3/collision/model_normalized_collision_8.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.14964432 -0.13805969 0.35508700
+v 0.25892685 -0.04301599 0.16309022
+v 0.22807375 -0.01267265 0.42171875
+v 0.14948116 0.13665060 0.38297161
+v 0.15903619 0.12577254 0.08180631
+v 0.24532865 0.09166319 0.27904347
+v 0.15063826 -0.05831636 0.47684542
+v 0.24248904 -0.08204754 0.32193914
+v 0.15503791 -0.11979877 0.08340448
+v 0.21252458 0.07953943 0.41945461
+v 0.20703709 0.11785473 0.16074175
+v 0.14664624 0.10800764 0.45329736
+v 0.18566195 -0.08963664 0.43495955
+v 0.25841803 0.02720448 0.33641249
+v 0.23019749 -0.06649927 0.08793605
+v 0.21728609 -0.10377637 0.14765559
+v 0.21861537 0.10440686 0.36609136
+v 0.17862212 0.01498289 0.47425802
+v 0.15190910 0.13623429 0.26633762
+v 0.25709820 0.05702792 0.16330961
+v 0.14937648 -0.11239579 0.44099478
+v 0.15304341 -0.12131923 0.11431115
+v 0.21713552 -0.10327998 0.35147866
+v 0.22652322 -0.08218709 0.37923556
+v 0.18684635 -0.05356906 0.46158997
+v 0.25744273 -0.02732636 0.33563210
+v 0.24331432 0.04162472 0.37986935
+v 0.21044140 0.10047858 0.08474348
+v 0.16483345 -0.13350010 0.32650782
+v 0.19986164 -0.10451636 0.08760576
+v 0.24410374 -0.08106116 0.16277247
+v 0.20447804 0.10381340 0.39309202
+v 0.20530936 0.11710907 0.35248351
+v 0.21388472 0.05523201 0.43558538
+v 0.15046048 0.07222135 0.47774692
+v 0.19469503 0.12238260 0.14508319
+v 0.24296941 0.04202018 0.10335174
+v 0.25856175 0.06854147 0.19200441
+v 0.14914815 -0.12555840 0.41280530
+v 0.14734464 0.09510801 0.46775814
+v 0.15172144 -0.13722509 0.32664048
+v 0.15410531 0.12919690 0.14421120
+v 0.22869108 -0.09191840 0.35076678
+v 0.18682709 -0.10485655 0.40792868
+v 0.15075371 -0.08682904 0.46870945
+v 0.17908478 0.00039223 0.47401968
+v 0.21465118 -0.04063717 0.43555766
+v 0.25890907 -0.06671831 0.26353762
+v 0.24289634 -0.06756584 0.35036333
+v 0.23099917 0.09143853 0.36651423
+v 0.16820361 -0.11940084 0.11432738
+v 0.18981964 -0.11789087 0.36674784
+v 0.24410806 -0.06746382 0.13390464
+v 0.21311330 -0.09180390 0.08875830
+v 0.20093830 0.09076518 0.42044142
+v 0.14838536 0.12282835 0.42564952
+v 0.22955567 0.10635852 0.30864271
+v 0.22730649 0.02750454 0.42193054
+v 0.22671923 0.08091734 0.39195907
+v 0.18673404 0.06497444 0.46103955
+v 0.21655391 0.10405654 0.11795737
+v 0.16649754 0.13305900 0.26659583
+v 0.24211067 -0.04235681 0.10402972
+v 0.22653706 0.07941786 0.08898582
+f 22 1 12
+f 23 16 8
+f 26 14 3
+f 27 3 14
+f 28 15 9
+f 28 9 5
+f 29 16 23
+f 30 9 15
+f 31 8 16
+f 33 32 17
+f 35 7 18
+f 36 5 19
+f 36 28 5
+f 37 20 2
+f 38 2 20
+f 38 6 14
+f 39 21 12
+f 39 12 1
+f 40 21 7
+f 40 12 21
+f 40 7 35
+f 41 22 9
+f 41 1 22
+f 41 29 1
+f 42 22 12
+f 42 19 5
+f 42 5 9
+f 42 9 22
+f 42 12 4
+f 42 4 19
+f 43 24 23
+f 43 23 8
+f 43 8 24
+f 44 24 13
+f 44 23 24
+f 44 13 21
+f 44 21 39
+f 45 21 13
+f 45 13 25
+f 45 25 7
+f 45 7 21
+f 46 18 7
+f 46 7 25
+f 47 46 25
+f 47 3 46
+f 47 25 13
+f 47 13 24
+f 48 14 26
+f 48 38 14
+f 48 2 38
+f 48 31 2
+f 48 8 31
+f 49 24 8
+f 49 48 26
+f 49 8 48
+f 49 26 3
+f 49 47 24
+f 49 3 47
+f 50 17 32
+f 50 27 14
+f 50 14 6
+f 51 16 29
+f 51 30 16
+f 51 9 30
+f 51 41 9
+f 51 29 41
+f 52 29 23
+f 52 1 29
+f 52 39 1
+f 52 44 39
+f 52 23 44
+f 53 31 15
+f 53 2 31
+f 54 30 15
+f 54 15 31
+f 54 31 16
+f 54 16 30
+f 55 10 32
+f 55 12 40
+f 56 4 12
+f 56 55 32
+f 56 12 55
+f 56 33 4
+f 56 32 33
+f 57 33 17
+f 57 6 11
+f 57 11 33
+f 57 50 6
+f 57 17 50
+f 58 34 18
+f 58 3 27
+f 58 27 34
+f 58 46 3
+f 58 18 46
+f 59 34 27
+f 59 10 34
+f 59 27 50
+f 59 50 32
+f 59 32 10
+f 60 35 18
+f 60 18 34
+f 60 40 35
+f 60 34 10
+f 60 55 40
+f 60 10 55
+f 61 36 11
+f 61 28 36
+f 61 11 6
+f 61 6 38
+f 62 36 19
+f 62 19 4
+f 62 4 33
+f 62 33 11
+f 62 11 36
+f 63 37 2
+f 63 15 37
+f 63 53 15
+f 63 2 53
+f 64 20 37
+f 64 38 20
+f 64 61 38
+f 64 28 61
+f 64 37 15
+f 64 15 28
\ No newline at end of file
diff --git a/objects/objaverse/condiment/condiment_3/collision/model_normalized_collision_9.obj b/objects/objaverse/condiment/condiment_3/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c72c28822f499e5f0d245ce9aed24c69769302ba
--- /dev/null
+++ b/objects/objaverse/condiment/condiment_3/collision/model_normalized_collision_9.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v 0.15523767 -0.00024891 -0.23484848
+v 0.24155533 0.05702602 -0.23343646
+v 0.23465627 0.06652617 -0.23152637
+v -0.17146522 0.11969088 -0.23206982
+v 0.07255218 0.13540711 -0.35643825
+v -0.17809566 -0.00024891 -0.23484848
+v 0.16232671 -0.00097461 -0.35602503
+v 0.14042020 0.08018612 -0.35626799
+v 0.16589153 0.12178759 -0.23297672
+v -0.16257236 0.00136945 -0.35620768
+v 0.18853313 0.10332388 -0.25883713
+v 0.23530714 0.05184295 -0.25894059
+v -0.06710694 0.13768367 -0.35622424
+v 0.19231493 0.10923370 -0.23209987
+v -0.16640756 0.06554448 -0.32479725
+v 0.09897143 0.12121641 -0.35635104
+v 0.22908853 0.06129839 -0.25651212
+v -0.11806941 0.10627222 -0.35638257
+v 0.16365938 0.11750277 -0.26163636
+v -0.17098025 0.11750695 -0.24682200
+v -0.15848809 0.04073767 -0.35612135
+v -0.16674050 0.10619946 -0.28678014
+v -0.13152416 0.09201346 -0.35632349
+v -0.15683644 0.11686748 -0.27688733
+f 1 2 3
+f 6 1 3
+f 6 3 4
+f 7 2 1
+f 7 1 6
+f 10 7 6
+f 10 8 7
+f 10 5 8
+f 12 2 7
+f 12 7 8
+f 13 9 5
+f 13 4 9
+f 14 9 4
+f 14 4 3
+f 14 3 11
+f 15 10 6
+f 16 11 8
+f 16 8 5
+f 17 12 8
+f 17 8 11
+f 17 11 3
+f 17 3 2
+f 17 2 12
+f 18 13 5
+f 18 5 10
+f 19 14 11
+f 19 5 9
+f 19 9 14
+f 19 16 5
+f 19 11 16
+f 20 15 6
+f 20 6 4
+f 20 4 13
+f 21 10 15
+f 22 15 20
+f 23 18 10
+f 23 10 21
+f 23 21 15
+f 23 22 18
+f 23 15 22
+f 24 22 20
+f 24 20 13
+f 24 13 18
+f 24 18 22
\ No newline at end of file
diff --git a/objects/objaverse/condiment/condiment_3/model.xml b/objects/objaverse/condiment/condiment_3/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..fd4c49009472ec4a946500a2f2260fad4b14932e
--- /dev/null
+++ b/objects/objaverse/condiment/condiment_3/model.xml
@@ -0,0 +1,85 @@
+<mujoco model="condiment_4">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.12999999999999995 0.12999999999999995 0.12999999999999995" refquat="-1.1102230246251565e-16 1.0 0.0 0.0"/>
+    <mesh file="visual/model_normalized_1.obj" name="model_normalized_1_vis" scale="0.12999999999999995 0.12999999999999995 0.12999999999999995" refquat="-1.1102230246251565e-16 1.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.12999999999999995 0.12999999999999995 0.12999999999999995" refquat="-1.1102230246251565e-16 1.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.12999999999999995 0.12999999999999995 0.12999999999999995" refquat="-1.1102230246251565e-16 1.0 0.0 0.0"/>
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+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.12999999999999995 0.12999999999999995 0.12999999999999995" refquat="-1.1102230246251565e-16 1.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.12999999999999995 0.12999999999999995 0.12999999999999995" refquat="-1.1102230246251565e-16 1.0 0.0 0.0"/>
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+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.12999999999999995 0.12999999999999995 0.12999999999999995" refquat="-1.1102230246251565e-16 1.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.12999999999999995 0.12999999999999995 0.12999999999999995" refquat="-1.1102230246251565e-16 1.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.12999999999999995 0.12999999999999995 0.12999999999999995" refquat="-1.1102230246251565e-16 1.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.12999999999999995 0.12999999999999995 0.12999999999999995" refquat="-1.1102230246251565e-16 1.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.12999999999999995 0.12999999999999995 0.12999999999999995" refquat="-1.1102230246251565e-16 1.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.12999999999999995 0.12999999999999995 0.12999999999999995" refquat="-1.1102230246251565e-16 1.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.12999999999999995 0.12999999999999995 0.12999999999999995" refquat="-1.1102230246251565e-16 1.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.12999999999999995 0.12999999999999995 0.12999999999999995" refquat="-1.1102230246251565e-16 1.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.12999999999999995 0.12999999999999995 0.12999999999999995" refquat="-1.1102230246251565e-16 1.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.12999999999999995 0.12999999999999995 0.12999999999999995" refquat="-1.1102230246251565e-16 1.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.12999999999999995 0.12999999999999995 0.12999999999999995" refquat="-1.1102230246251565e-16 1.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.12999999999999995 0.12999999999999995 0.12999999999999995" refquat="-1.1102230246251565e-16 1.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.12999999999999995 0.12999999999999995 0.12999999999999995" refquat="-1.1102230246251565e-16 1.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.12999999999999995 0.12999999999999995 0.12999999999999995" refquat="-1.1102230246251565e-16 1.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.12999999999999995 0.12999999999999995 0.12999999999999995" refquat="-1.1102230246251565e-16 1.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.12999999999999995 0.12999999999999995 0.12999999999999995" refquat="-1.1102230246251565e-16 1.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.12999999999999995 0.12999999999999995 0.12999999999999995" refquat="-1.1102230246251565e-16 1.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.12999999999999995 0.12999999999999995 0.12999999999999995" refquat="-1.1102230246251565e-16 1.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.12999999999999995 0.12999999999999995 0.12999999999999995" refquat="-1.1102230246251565e-16 1.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.12999999999999995 0.12999999999999995 0.12999999999999995" refquat="-1.1102230246251565e-16 1.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.12999999999999995 0.12999999999999995 0.12999999999999995" refquat="-1.1102230246251565e-16 1.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.12999999999999995 0.12999999999999995 0.12999999999999995" refquat="-1.1102230246251565e-16 1.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.12999999999999995 0.12999999999999995 0.12999999999999995" refquat="-1.1102230246251565e-16 1.0 0.0 0.0"/>
+    <texture type="2d" name="image3" file="visual/image3.png"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="Bottle_low" texture="image3" specular="0.5" shininess="0.25"/>
+    <material name="Lid_low" 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="Lid_low"/>
+        <geom solimp="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="Bottle_low"/>
+        <geom solimp="0.998 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"/>
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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="0.0005108219999999998 -7.993504047100957e-05 -0.06454284340589254" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.0005108219999999998 -7.993504047100957e-05 0.06499794085164069" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.03584044359999998 0.020454536861628878 0.00022754872287407627" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/objects/objaverse/condiment/condiment_3/visual/material.mtl b/objects/objaverse/condiment/condiment_3/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..33616803300962094e8955deb30562079542847b
--- /dev/null
+++ b/objects/objaverse/condiment/condiment_3/visual/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 250.00000000
+map_Kd material_0.jpeg
\ No newline at end of file
diff --git a/objects/objaverse/condiment/condiment_3/visual/model_normalized_0.obj b/objects/objaverse/condiment/condiment_3/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5eb52427b2e0551d0be0c3272fbf051d96cb3ba5
--- /dev/null
+++ b/objects/objaverse/condiment/condiment_3/visual/model_normalized_0.obj
@@ -0,0 +1,23734 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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+v -0.04715650 0.15089600 -0.40378750
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diff --git a/objects/objaverse/condiment/condiment_3/visual/model_normalized_1.obj b/objects/objaverse/condiment/condiment_3/visual/model_normalized_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..47526e85d1237c361ca24b3294549e064408912b
--- /dev/null
+++ b/objects/objaverse/condiment/condiment_3/visual/model_normalized_1.obj
@@ -0,0 +1,23524 @@
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\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_11/collision/model_normalized_collision_0.obj b/objects/objaverse/cupcake/cupcake_11/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f194cd654472e0a198675e9d39ca8d96749750a
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_11/collision/model_normalized_collision_0.obj
@@ -0,0 +1,144 @@
+# https://github.com/mikedh/trimesh
+v 0.18720982 -0.26816908 0.20586071
+v 0.19539321 -0.23312752 0.22338075
+v -0.23324687 -0.26555439 0.27363222
+v -0.23413503 0.08820561 0.31918615
+v 0.14393941 0.09253790 0.21043219
+v 0.00128014 -0.05620803 0.37684513
+v -0.23484847 0.09253790 0.21043219
+v -0.26231812 -0.10084430 0.31568711
+v 0.02920143 0.08512658 0.32500671
+v 0.07570070 -0.17420534 0.31312097
+v -0.24613808 -0.30713404 0.25008103
+v -0.04834849 0.00892598 0.37515831
+v -0.27987941 -0.16428792 0.29852918
+v 0.13612841 0.04377885 0.29939421
+v 0.16533462 -0.25915116 0.22209083
+v -0.01876839 -0.19836807 0.31507564
+v -0.01816108 -0.05626588 0.37312357
+v -0.21575276 0.01369649 0.32844418
+v 0.00966153 0.05045148 0.35892714
+v -0.01862658 -0.11102605 0.35901221
+v -0.28026860 -0.14985422 0.30110343
+v 0.13848735 0.08676704 0.28433471
+v 0.11872504 -0.09874698 0.31453576
+v 0.18279281 -0.26224490 0.21176726
+v 0.13410489 -0.18383185 0.28161023
+v 0.01893098 -0.25884994 0.26944587
+v -0.27779278 -0.16059382 0.29982866
+v -0.10873255 0.00485111 0.35965594
+v -0.15590908 0.08675389 0.32808906
+v 0.01133092 0.02165401 0.37640045
+v -0.21740774 -0.24802269 0.28339250
+v 0.01659633 -0.11156725 0.35771076
+v 0.18632756 -0.22181883 0.23411680
+v 0.18108810 -0.24558604 0.22280813
+v 0.07855505 -0.19769029 0.29816505
+v 0.08824661 -0.11327103 0.32763643
+v 0.07907795 -0.25969729 0.25471613
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+v -0.21591860 -0.02788752 0.32905919
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+v 0.07473738 -0.07196422 0.34399313
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+v 0.02951821 -0.09787705 0.35680890
+v 0.12010672 0.01310767 0.31264084
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\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_11/collision/model_normalized_collision_1.obj b/objects/objaverse/cupcake/cupcake_11/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1446d1d35254dcadc9c563494609ded34da9f3fb
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_11/collision/model_normalized_collision_1.obj
@@ -0,0 +1,123 @@
+# https://github.com/mikedh/trimesh
+v 0.22640080 0.34343450 0.15130335
+v 0.23484851 0.35011364 0.01346248
+v 0.22722635 0.44184953 0.06680527
+v -0.12366185 0.48360998 0.06829306
+v -0.20454544 0.35011364 0.01346248
+v 0.12371200 0.46892482 0.01754021
+v 0.00397697 0.45529185 0.13659694
+v 0.22678858 0.39700746 0.11627317
+v 0.22840433 0.42888068 0.01643819
+v -0.19870151 0.44541990 0.01654577
+v -0.19898807 0.35734547 0.18440059
+v 0.10878787 0.48455571 0.06624577
+v 0.09060730 0.42335892 0.15203491
+v 0.18371437 0.45168575 0.01802517
+v -0.08258178 0.48358649 0.03262287
+v -0.10863009 0.44219231 0.13467968
+v -0.20081691 0.38282923 0.15876349
+v 0.03691729 0.48365682 0.07885300
+v 0.16556098 0.39535193 0.14830847
+v 0.10863581 0.46768408 0.09180365
+v 0.19541398 0.45412026 0.04798214
+v -0.13825554 0.46681003 0.01842477
+v 0.05176819 0.48336071 0.03273389
+v -0.02123662 0.45524231 0.13630398
+v -0.19599555 0.45555766 0.08105584
+v -0.18419602 0.45338376 0.09635936
+v 0.22473978 0.35228099 0.14735232
+v 0.22659058 0.42479064 0.09355520
+v 0.21044037 0.43873299 0.01773687
+v 0.15357696 0.46740997 0.04819516
+v -0.16967209 0.47040461 0.06865600
+v -0.10826789 0.48305281 0.04845247
+v 0.09724083 0.48362274 0.04782630
+v -0.10724517 0.46816425 0.10495571
+v -0.10807961 0.48244818 0.08065473
+v -0.19699767 0.44032092 0.10402214
+v 0.16881697 0.44148053 0.10366661
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+v -0.19443805 0.45272553 0.03394671
+v -0.13829381 0.46699002 0.09566931
+v 0.12400957 0.45338692 0.10457622
+v 0.19459790 0.45264229 0.07637602
+f 5 2 1
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+f 42 3 12
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+f 42 28 3
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_11/collision/model_normalized_collision_10.obj b/objects/objaverse/cupcake/cupcake_11/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..01cb9478321911ac0b61764b4404d7ef0f2bbb79
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_11/collision/model_normalized_collision_10.obj
@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
+v -0.27596856 0.32923433 0.19200577
+v -0.20033259 0.38781543 -0.18128450
+v -0.20018314 0.35382844 0.18605204
+v -0.19864472 0.46044449 0.06884326
+v -0.35313663 0.32993542 0.00928094
+v -0.19694658 0.41188735 -0.10374044
+v -0.24323089 0.35531083 0.18972740
+v -0.20454544 0.31981062 0.01346248
+v -0.29816021 0.39497843 0.07939253
+v -0.19698787 0.44226635 0.00229838
+v -0.25169954 0.33636640 0.19969390
+v -0.19863976 0.44567641 0.09677609
+v -0.19778277 0.39827461 -0.14963616
+v -0.30227644 0.31291344 -0.18065867
+v -0.30790359 0.32725271 0.17247700
+v -0.28088632 0.40853006 0.04957209
+v -0.20065072 0.40161572 0.13984505
+v -0.28202702 0.40850162 0.07779408
+v -0.19786533 0.45903263 0.06244149
+v -0.23075848 0.36596564 -0.19707900
+v -0.30373354 0.34826393 0.15130340
+v -0.33588983 0.31565453 -0.07573015
+v -0.22422226 0.43661925 0.03422044
+v -0.33201268 0.35467539 0.01700839
+v -0.21034626 0.45409077 0.06886034
+v -0.25052996 0.36301202 -0.16252787
+v -0.30538416 0.33521687 0.16534301
+v -0.26985576 0.40741233 0.09335432
+v -0.25056167 0.37820130 -0.11708596
+v -0.32670482 0.33454201 -0.05685631
+v -0.29715750 0.39471133 0.04912582
+v -0.29720672 0.31880750 -0.17815307
+v -0.21059949 0.44010024 0.09477776
+v -0.20968631 0.39229752 -0.14792252
+v -0.28086295 0.33252157 -0.17767666
+f 10 3 6
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+f 28 21 12
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+f 31 24 9
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+f 34 2 29
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+f 34 4 10
+f 34 25 4
+f 34 23 25
+f 35 32 26
+f 35 26 20
+f 35 20 32
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_11/collision/model_normalized_collision_12.obj b/objects/objaverse/cupcake/cupcake_11/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4e12889f3ed226ce489d6f9ee503a41b139002bd
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_11/collision/model_normalized_collision_12.obj
@@ -0,0 +1,108 @@
+# https://github.com/mikedh/trimesh
+v -0.22927007 -0.42395104 0.10164307
+v -0.22795409 -0.34903449 -0.19428285
+v -0.23484847 -0.24079543 0.16497764
+v -0.38921067 -0.23632052 0.20623382
+v -0.41597272 -0.27462057 0.06837820
+v -0.23169323 -0.38313938 0.15829190
+v -0.22829763 -0.42543850 0.03277183
+v -0.34011592 -0.33350432 0.14648762
+v -0.34997956 -0.23729728 -0.18137765
+v -0.22988276 -0.40888999 0.12419114
+v -0.38054288 -0.24542014 0.21544064
+v -0.35489691 -0.34852429 0.06837820
+v -0.23484847 -0.24079543 -0.18350721
+v -0.43559583 -0.23466779 0.06278055
+v -0.27353365 -0.40459671 0.10913523
+v -0.36269728 -0.28025090 0.20544680
+v -0.40663366 -0.23528358 0.17535320
+v -0.28288257 -0.40699456 0.06805454
+v -0.28165135 -0.31462984 -0.17700222
+v -0.34422091 -0.24616237 -0.17894653
+v -0.23372122 -0.34473492 -0.19794326
+v -0.35835770 -0.23340084 -0.16385413
+v -0.25843893 -0.37740183 0.15354014
+v -0.36961063 -0.27444675 0.20062339
+v -0.43510365 -0.23151130 0.09864909
+v -0.25688169 -0.42211034 0.06794026
+v -0.23908165 -0.34378080 -0.19232635
+v -0.35382253 -0.24254016 -0.16179158
+v -0.31132170 -0.31384720 -0.11609800
+v -0.24341888 -0.33892201 -0.19562859
+v -0.41228594 -0.26057550 0.03524880
+v -0.38619260 -0.24835251 0.20220754
+v -0.42978858 -0.24669065 0.06475318
+v -0.32648228 -0.35931297 0.03541289
+v -0.32366815 -0.27200167 -0.17686595
+v -0.32280591 -0.30134030 -0.11584995
+v -0.33833127 -0.33195750 -0.00993495
+f 7 2 3
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+f 10 1 7
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+f 11 3 4
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+f 13 3 2
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+f 16 6 11
+f 16 8 15
+f 17 11 4
+f 18 15 12
+f 21 13 2
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+f 37 36 29
+f 37 29 12
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+f 37 35 36
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_11/collision/model_normalized_collision_13.obj b/objects/objaverse/cupcake/cupcake_11/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4fd69276fb873fc0b1d87b5ccc5a2353bc8cb5c9
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_11/collision/model_normalized_collision_13.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.38574514 0.22211655 -0.18708082
+v 0.36968476 0.21287071 -0.27404073
+v 0.16959924 0.40981499 -0.17977710
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+v -0.37591038 0.20773862 -0.18024672
+v 0.12240351 0.37642656 -0.38531879
+v 0.31358180 0.31997541 -0.17948789
+v -0.37260090 0.20583542 -0.19436598
+v 0.00831034 0.42338782 -0.25534643
+v 0.35356121 0.24904305 -0.25492449
+v 0.36036148 0.26538257 -0.18060500
+v 0.12316791 0.42410552 -0.17971057
+v -0.36958981 0.21987375 -0.17820782
+v 0.23910642 0.33092042 -0.36070671
+v -0.25044774 0.28694345 -0.38538013
+v 0.30794735 0.28969115 -0.29989449
+v 0.10742463 0.39202113 -0.34597745
+v 0.32588117 0.30718095 -0.17943610
+v -0.32104099 0.24839933 -0.28328126
+v 0.17889306 0.36191446 -0.37392776
+v 0.25722452 0.36548067 -0.17984679
+v 0.34401450 0.20680134 -0.38533451
+v -0.07816468 0.38007479 -0.38533689
+v 0.35343590 0.25965509 -0.22420716
+v 0.29606286 0.30190992 -0.29991850
+v 0.10751059 0.42258291 -0.20967189
+v -0.31496979 0.20754668 -0.37529526
+v -0.24113156 0.36537979 -0.17903642
+v 0.18251552 0.39214637 -0.23975331
+v 0.13737223 0.37579970 -0.37392766
+v 0.30820378 0.25960096 -0.38533451
+v 0.33682494 0.23297920 -0.36059540
+v 0.05117473 0.39352482 -0.37405012
+v -0.07810371 0.42292721 -0.22439603
+v 0.26549405 0.34741033 -0.22418176
+v -0.29321893 0.24459627 -0.37403765
+v -0.30746034 0.21193706 -0.38540977
+v -0.34359083 0.26387924 -0.17924550
+v -0.16378318 0.34689558 -0.38535490
+v 0.19433196 0.39272470 -0.20947990
+v 0.26569583 0.30220578 -0.38533451
+v 0.33745660 0.21817000 -0.38533451
+v -0.02084601 0.39336150 -0.37393462
+v 0.10698100 0.40583726 -0.28507171
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+v -0.05099657 0.42226222 -0.23962001
+v -0.17902465 0.39163753 -0.20833936
+v -0.20867765 0.33071123 -0.35962015
+v -0.28090285 0.31741817 -0.22314716
+v -0.16320999 0.36099115 -0.34446185
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+f 64 28 61
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\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_11/collision/model_normalized_collision_14.obj b/objects/objaverse/cupcake/cupcake_11/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..82d643046861bcfac1944f85f9891073009ff414
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_11/collision/model_normalized_collision_14.obj
@@ -0,0 +1,126 @@
+# https://github.com/mikedh/trimesh
+v -0.23385723 -0.14803284 0.30941731
+v -0.23484847 -0.14988634 0.18012915
+v -0.22972173 0.21668410 0.25560376
+v -0.25381221 0.24329785 0.22557732
+v -0.46578955 -0.07845117 0.17197422
+v -0.23289801 -0.10196223 0.32065966
+v -0.43607000 -0.14411603 0.17800214
+v -0.38042408 0.22602823 0.17184835
+v -0.40554729 -0.14593423 0.25794969
+v -0.25969379 0.16954150 0.28296476
+v -0.36085019 -0.14674663 0.28282516
+v -0.45890442 -0.09597525 0.18754314
+v -0.24391079 0.21439050 0.25270623
+v -0.29996501 0.21764398 0.22449137
+v -0.36213479 0.01149802 0.30167805
+v -0.23413503 0.08820561 0.31918615
+v -0.29300438 -0.14760010 0.29956451
+v -0.46164040 -0.09615602 0.17707859
+v -0.42936793 -0.14056398 0.20416023
+v -0.27175694 0.19912892 0.25323048
+v -0.35594306 0.07081292 0.28432272
+v -0.36238386 -0.07277642 0.29925603
+v -0.43026988 -0.09746974 0.24817102
+v -0.23100157 0.17364097 0.28837841
+v -0.28668804 0.08419877 0.31424965
+v -0.44581304 -0.12610125 0.17694671
+v -0.44329172 -0.12476223 0.18857124
+v -0.41238042 -0.14178285 0.24690603
+v -0.34716908 0.20447962 0.20666768
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+v -0.40526096 -0.07819420 0.26942248
+v -0.45787839 -0.07920898 0.18992861
+v -0.41606656 0.00881908 0.24170880
+v -0.35720564 0.09438878 0.26918025
+v -0.27616051 -0.10015483 0.31335910
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+v -0.41383539 -0.12778291 0.25638940
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+v -0.40468656 -0.09955870 0.26704324
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+v -0.43190933 0.06026369 0.17622240
+v -0.41525417 0.03871150 0.22582605
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+f 40 21 8
+f 41 36 33
+f 41 38 5
+f 41 5 36
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+f 42 5 38
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+f 43 40 38
+f 43 38 41
+f 43 41 33
+f 43 33 40
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_11/collision/model_normalized_collision_15.obj b/objects/objaverse/cupcake/cupcake_11/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3cede36623a4f1d7ac5b40308b5e28755ebdee24
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_11/collision/model_normalized_collision_15.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.25923778 -0.41077945 0.08168974
+v 0.49108901 -0.08765825 0.06679023
+v 0.25836249 -0.09992443 0.22956604
+v 0.25768014 0.22081345 0.19663481
+v 0.26515153 0.22890153 0.01346248
+v 0.42081199 0.17829086 0.13271847
+v 0.25854593 -0.33859938 0.13471572
+v 0.26306524 -0.40344163 0.01463055
+v 0.25894452 -0.41065217 0.03208915
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+v 0.27167533 0.10318993 0.23655735
+v 0.44687724 0.22069558 0.06700613
+v 0.47399549 0.11722809 0.01755548
+v 0.41556421 -0.27421205 0.06721554
+v 0.46553754 -0.04296136 0.10192518
+v 0.36157069 -0.24261672 0.14623917
+v 0.25941237 0.16525976 0.22758238
+v 0.28236698 -0.07242114 0.22287804
+v 0.39265072 0.22402115 0.13443744
+v 0.49120803 0.09091574 0.06654388
+v 0.43418755 0.22202244 0.01649285
+v 0.44250361 -0.19991564 0.01877471
+v 0.28275691 -0.40706703 0.06683473
+v 0.44531424 -0.18630000 0.09288923
+v 0.47323021 -0.09861185 0.09227984
+v 0.38933034 0.06434169 0.16292351
+v 0.26049430 -0.24898919 0.18430971
+v 0.28128924 -0.39000173 0.09135240
+v 0.25959977 0.10439861 0.24071360
+v 0.27446803 0.06351838 0.23734309
+v 0.39067000 -0.17551249 0.14505194
+v 0.43039728 0.22033080 0.09526616
+v 0.39042235 0.19249126 0.14572047
+v 0.46205573 0.19249442 0.06701130
+v 0.48975757 0.03017179 0.03251530
+v 0.47438225 0.09053493 0.09162653
+v 0.47284260 -0.11357946 0.01823298
+v 0.35303331 -0.33187419 0.01913770
+v 0.46182007 -0.18836219 0.06710555
+v 0.27082654 -0.40498630 0.03380984
+v 0.41370287 -0.24620924 0.09201775
+v 0.40275486 -0.18864474 0.13539204
+v 0.29977774 0.08786981 0.22324660
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+v 0.48945601 -0.02686411 0.03271137
+v 0.34135586 -0.34398908 0.01923775
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+v 0.45920748 -0.17470085 0.07787156
+v 0.47519181 -0.14463892 0.06696565
+v 0.38621687 -0.27351661 0.10329559
+v 0.43083664 -0.14669136 0.12004800
+v 0.38855856 0.10036414 0.16105507
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+f 9 1 7
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+f 19 4 17
+f 21 13 8
+f 21 8 5
+f 21 19 12
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+f 23 1 9
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+f 29 17 4
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+f 63 10 42
+f 64 43 26
+f 64 26 6
+f 64 6 43
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_11/collision/model_normalized_collision_16.obj b/objects/objaverse/cupcake/cupcake_11/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d6525f52ae6531f20a113301a3cefba3bccd665c
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_11/collision/model_normalized_collision_16.obj
@@ -0,0 +1,159 @@
+# https://github.com/mikedh/trimesh
+v 0.26253969 -0.34365563 -0.18248141
+v 0.42814387 -0.08294493 -0.20929039
+v 0.43000275 -0.09872199 -0.17943365
+v 0.36694487 0.25674793 -0.18245791
+v 0.26511658 0.21372958 -0.38787870
+v 0.43003644 0.11768358 -0.17974636
+v 0.32445321 -0.21180555 -0.38536626
+v 0.26515153 0.21375001 -0.18350721
+v 0.42855224 0.04506528 -0.24004227
+v 0.31406572 -0.30245700 -0.17894267
+v 0.36687837 -0.15382481 -0.36008835
+v 0.25921657 -0.27909402 -0.38538164
+v 0.37121079 0.25048118 -0.17978118
+v 0.42805017 -0.02659836 -0.23986502
+v 0.36702654 0.16176570 -0.38533199
+v 0.27198598 -0.33666474 -0.18024071
+v 0.38284045 -0.15429125 -0.29970014
+v 0.25608631 -0.32059646 -0.27085595
+v 0.29278492 -0.25610557 -0.37402099
+v 0.39940153 -0.07070030 -0.34616923
+v 0.34401450 0.20680134 -0.38533451
+v 0.39789588 0.10197241 -0.34600492
+v 0.39848275 0.18881229 -0.20949923
+v 0.38390620 -0.08332949 -0.38533757
+v 0.41512302 -0.14476750 -0.17943993
+v 0.37120543 -0.23262295 -0.17940254
+v 0.25648762 -0.29095605 -0.36194298
+v 0.25805826 -0.33816432 -0.21102438
+v 0.26819334 -0.27164893 -0.38538164
+v 0.41300775 -0.07224966 -0.28531425
+v 0.39956896 -0.01164724 -0.37397923
+v 0.38173266 -0.11292601 -0.36057586
+v 0.34753186 0.23914310 -0.30262214
+v 0.42818408 0.10196788 -0.20963800
+v 0.41552735 0.16282004 -0.17977744
+v 0.36683378 0.18735529 -0.34537156
+v 0.38235983 0.11637256 -0.38532280
+v 0.36856190 -0.12871887 -0.38534676
+v 0.32626061 -0.28932912 -0.17893412
+v 0.33602006 -0.21483913 -0.34474712
+v 0.39839310 -0.16967360 -0.20889886
+v 0.26582494 -0.28394631 -0.35967310
+v 0.41427807 0.00355333 -0.31593233
+v 0.36426814 0.25520696 -0.19695121
+v 0.39894972 0.04514204 -0.37392766
+v 0.38146053 0.16155501 -0.33043087
+v 0.35435525 0.18887478 -0.38533451
+v 0.38265677 0.21804489 -0.20917302
+v 0.38166245 0.13132024 -0.37393464
+v 0.33688056 -0.19945563 -0.37399981
+v 0.32289688 -0.22564149 -0.35969143
+v 0.35263971 -0.22955854 -0.25406552
+v 0.41346316 0.02992061 -0.31581364
+v 0.39710078 0.17687079 -0.23963368
+f 8 4 5
+f 9 6 3
+f 13 4 8
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+f 14 9 3
+f 14 3 2
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+f 16 13 8
+f 16 10 13
+f 18 10 16
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+f 25 17 20
+f 26 11 17
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+f 29 7 19
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+f 29 5 7
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+f 37 5 15
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+f 39 26 25
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+f 43 9 14
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+f 44 4 33
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+f 45 22 34
+f 45 43 31
+f 45 37 22
+f 45 31 37
+f 46 15 36
+f 47 36 15
+f 47 21 36
+f 47 15 5
+f 47 5 21
+f 48 13 23
+f 48 23 36
+f 48 36 33
+f 48 33 13
+f 49 37 15
+f 49 22 37
+f 49 15 46
+f 49 35 22
+f 50 38 11
+f 50 7 38
+f 50 40 7
+f 51 19 7
+f 51 7 40
+f 51 39 19
+f 52 26 39
+f 52 51 40
+f 52 39 51
+f 52 40 50
+f 52 50 11
+f 52 11 26
+f 53 45 9
+f 53 9 43
+f 53 43 45
+f 54 46 36
+f 54 36 23
+f 54 23 35
+f 54 49 46
+f 54 35 49
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_11/collision/model_normalized_collision_17.obj b/objects/objaverse/cupcake/cupcake_11/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..813475902ed426e3ea820e689bba4eaaa92b5ed5
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_11/collision/model_normalized_collision_17.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.23283355 0.22585049 0.20482640
+v 0.24784293 0.24296850 0.18897436
+v 0.08106904 0.40365468 0.17741259
+v -0.05170920 0.42083127 0.15704676
+v -0.20454544 0.22890153 0.16497764
+v 0.22922262 0.33051405 0.15587102
+v -0.12738100 0.22115109 0.27559371
+v 0.09450016 0.41693635 0.15843084
+v -0.20081691 0.38282923 0.15876349
+v 0.16357077 0.33873466 0.19241409
+v -0.20157630 0.22133298 0.26103315
+v -0.10951084 0.29563630 0.23683303
+v 0.18385355 0.37330029 0.15531751
+v 0.09164775 0.41054044 0.16889589
+v 0.01927502 0.22244737 0.27663332
+v 0.06520165 0.22257059 0.26049888
+v -0.20580908 0.37025480 0.18154567
+v 0.17921060 0.36733664 0.16237369
+v -0.20222715 0.32360459 0.20933677
+v -0.19918256 0.37724531 0.17119114
+f 5 2 1
+f 6 2 5
+f 9 6 5
+f 10 1 2
+f 10 2 6
+f 11 5 1
+f 13 4 8
+f 13 9 4
+f 13 6 9
+f 13 10 6
+f 14 8 4
+f 14 4 3
+f 14 13 8
+f 14 3 10
+f 15 1 10
+f 15 10 3
+f 15 12 7
+f 15 3 12
+f 16 11 1
+f 16 7 11
+f 16 15 7
+f 16 1 15
+f 17 9 5
+f 17 5 11
+f 17 12 3
+f 17 3 4
+f 18 14 10
+f 18 10 13
+f 18 13 14
+f 19 17 11
+f 19 11 7
+f 19 7 12
+f 19 12 17
+f 20 17 4
+f 20 4 9
+f 20 9 17
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_11/collision/model_normalized_collision_18.obj b/objects/objaverse/cupcake/cupcake_11/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e344ec7cce3f6b5f019c6c80b5fd441e631b10f9
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_11/collision/model_normalized_collision_18.obj
@@ -0,0 +1,135 @@
+# https://github.com/mikedh/trimesh
+v -0.23566651 -0.34839534 -0.18402643
+v -0.22755102 -0.27745187 -0.38541929
+v -0.23484847 0.21375001 -0.18350721
+v -0.37591038 0.20773862 -0.18024672
+v -0.41692945 -0.08469649 -0.17884807
+v -0.23481543 0.21372963 -0.38785537
+v -0.22788538 -0.33375368 -0.23969379
+v -0.34422091 -0.24616237 -0.17894653
+v -0.22572071 -0.29039726 -0.36112269
+v -0.35375087 0.10178781 -0.38538164
+v -0.33575648 -0.14304481 -0.37396342
+v -0.25550322 -0.33522429 -0.17906484
+v -0.27740562 -0.27108286 -0.29768925
+v -0.41634528 0.10248204 -0.17893759
+v -0.31130674 0.20542160 -0.38538164
+v -0.35531066 -0.06875001 -0.38538175
+v -0.38712359 -0.17243594 -0.17861862
+v -0.38655331 0.18999433 -0.17884045
+v -0.23556695 -0.32945588 -0.23746785
+v -0.23652368 -0.27000602 -0.38542243
+v -0.30636640 -0.21448902 -0.34338317
+v -0.29343115 -0.28696884 -0.22227211
+v -0.32163955 0.18749293 -0.38538164
+v -0.36592755 -0.08239429 -0.34361806
+v -0.36863925 0.00357344 -0.37402388
+v -0.36572631 -0.09747800 -0.32840199
+v -0.37113671 -0.20228893 -0.17833487
+v -0.35171362 0.17727427 -0.31398996
+v -0.28067809 -0.29827441 -0.22199810
+v -0.23518774 -0.28354417 -0.35850537
+v -0.30694765 -0.18449288 -0.38540667
+v -0.33784704 -0.24089484 -0.20679432
+v -0.27854206 -0.22657546 -0.38541866
+v -0.35104325 -0.09763585 -0.37400682
+v -0.41295415 -0.08347261 -0.19275559
+v -0.36720091 0.07528626 -0.35972976
+v -0.41357281 0.01478072 -0.22363399
+v -0.33615693 -0.15358813 -0.35835520
+v -0.36775268 0.10142593 -0.34467750
+v -0.38324383 0.18809113 -0.19295970
+v -0.32257306 0.20320543 -0.35960618
+v -0.32384648 -0.15519780 -0.38539960
+v -0.41354454 0.00336298 -0.22352534
+v -0.36799948 0.02991923 -0.37402193
+v -0.41261787 0.10122759 -0.19298829
+v -0.33652545 0.18736434 -0.34408065
+f 6 4 3
+f 7 3 1
+f 9 6 3
+f 9 2 6
+f 9 3 7
+f 12 1 3
+f 15 4 6
+f 16 10 6
+f 18 12 3
+f 18 3 4
+f 19 9 7
+f 19 7 1
+f 19 1 12
+f 20 2 9
+f 20 6 2
+f 22 12 8
+f 23 15 6
+f 23 6 10
+f 25 10 16
+f 26 17 5
+f 26 11 17
+f 26 5 24
+f 27 8 12
+f 27 12 18
+f 27 18 14
+f 27 14 5
+f 27 5 17
+f 28 23 10
+f 29 19 12
+f 29 9 19
+f 29 12 22
+f 29 22 13
+f 30 20 9
+f 30 13 20
+f 30 29 13
+f 30 9 29
+f 32 21 13
+f 32 27 21
+f 32 8 27
+f 32 22 8
+f 32 13 22
+f 33 20 13
+f 33 13 21
+f 33 21 31
+f 33 31 6
+f 33 6 20
+f 34 24 16
+f 34 16 11
+f 34 26 24
+f 34 11 26
+f 35 24 5
+f 35 16 24
+f 35 25 16
+f 37 5 14
+f 38 27 17
+f 38 17 11
+f 38 21 27
+f 38 31 21
+f 38 11 31
+f 39 28 10
+f 39 10 36
+f 40 28 14
+f 40 14 18
+f 40 18 28
+f 41 4 15
+f 41 15 23
+f 41 18 4
+f 42 31 11
+f 42 11 16
+f 42 16 6
+f 42 6 31
+f 43 35 5
+f 43 25 35
+f 43 37 25
+f 43 5 37
+f 44 36 10
+f 44 10 25
+f 44 37 36
+f 44 25 37
+f 45 37 14
+f 45 36 37
+f 45 39 36
+f 45 14 28
+f 45 28 39
+f 46 41 23
+f 46 23 28
+f 46 28 18
+f 46 18 41
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_11/collision/model_normalized_collision_19.obj b/objects/objaverse/cupcake/cupcake_11/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1967b36f43fa97966784483377159fc59fd39cb1
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_11/collision/model_normalized_collision_19.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v 0.14060285 -0.45588467 0.01678274
+v 0.42034109 -0.23579384 0.00836464
+v 0.38736511 -0.28973991 0.01787996
+v 0.26515153 -0.22564392 0.01346248
+v 0.14393941 -0.27109847 -0.18350721
+v 0.14393941 -0.27109847 0.01346248
+v 0.37719432 -0.22070031 -0.18102426
+v 0.15476561 -0.45227422 0.01776666
+v 0.13962713 -0.40686723 -0.16406448
+v 0.26515153 -0.22564392 -0.18350721
+v 0.39026159 -0.21957660 -0.13500533
+v 0.37023862 -0.24238073 -0.16331202
+v 0.13961892 -0.45229185 0.00261034
+v 0.14189720 -0.40131221 -0.18175607
+v 0.38374397 -0.27160408 -0.04159562
+v 0.28143230 -0.32967387 -0.17800000
+v 0.35379402 -0.25644435 -0.17805908
+v 0.25725709 -0.40740032 0.01788240
+v 0.37120543 -0.23262295 -0.17940254
+v 0.34026553 -0.33015242 -0.02630524
+v 0.29903518 -0.37813220 0.01800693
+v 0.19540309 -0.43529848 0.00342958
+v 0.33820880 -0.28668912 -0.14763105
+v 0.26917602 -0.38786174 -0.02608110
+v 0.19709053 -0.43855033 0.01763633
+v 0.31159573 -0.31463063 -0.14767534
+v 0.28062604 -0.37414046 -0.04131971
+v 0.22434898 -0.37207708 -0.16247726
+v 0.18314446 -0.38864240 -0.17814846
+v 0.23960122 -0.35884148 -0.17798309
+v 0.19426569 -0.38765208 -0.16260029
+v 0.16757718 -0.40254189 -0.14748892
+f 3 2 4
+f 6 3 4
+f 6 4 5
+f 8 6 1
+f 8 3 6
+f 9 6 5
+f 10 5 4
+f 11 4 2
+f 11 2 7
+f 11 10 4
+f 11 7 10
+f 13 1 6
+f 13 6 9
+f 13 9 8
+f 13 8 1
+f 14 9 5
+f 14 8 9
+f 14 10 7
+f 14 5 10
+f 15 12 2
+f 15 2 3
+f 15 3 12
+f 16 14 7
+f 17 16 7
+f 19 17 7
+f 19 12 17
+f 19 7 2
+f 19 2 12
+f 20 12 3
+f 21 3 8
+f 21 8 18
+f 21 20 3
+f 21 16 20
+f 22 8 14
+f 23 17 12
+f 23 12 20
+f 24 21 18
+f 25 18 8
+f 25 8 22
+f 26 23 20
+f 26 20 16
+f 26 16 17
+f 26 17 23
+f 27 24 16
+f 27 16 21
+f 27 21 24
+f 28 24 18
+f 28 18 25
+f 30 16 24
+f 30 24 28
+f 30 28 29
+f 30 29 14
+f 30 14 16
+f 31 29 28
+f 31 22 29
+f 31 28 25
+f 31 25 22
+f 32 29 22
+f 32 22 14
+f 32 14 29
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_11/collision/model_normalized_collision_2.obj b/objects/objaverse/cupcake/cupcake_11/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4420b3c749d95f6312c52c79a58a5f76634869a4
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_11/collision/model_normalized_collision_2.obj
@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
+v -0.37336676 -0.25509768 -0.08411300
+v -0.34997956 -0.23729728 -0.18137765
+v -0.35606059 0.21375001 0.01346248
+v -0.43723287 0.20850960 0.01653867
+v -0.47809201 -0.07276864 0.01772631
+v -0.36682797 0.21994205 -0.18686568
+v -0.35606059 -0.14988634 0.01346248
+v -0.44640545 -0.18687404 0.01880088
+v -0.39108004 0.23259773 -0.08851040
+v -0.42787014 0.09062601 -0.14758810
+v -0.41301845 -0.09864392 -0.17762419
+v -0.38971539 -0.23400756 -0.07331438
+v -0.42748100 -0.21631864 0.00978902
+v -0.46064845 0.14810494 0.01846757
+v -0.38655331 0.18999433 -0.17884045
+v -0.44176644 -0.09816518 -0.08622848
+v -0.38131636 -0.18445882 -0.17664600
+v -0.42869880 -0.02694031 -0.16292010
+v -0.43622581 -0.20470416 0.01711201
+v -0.47794793 0.07593729 0.01771913
+v -0.44764576 0.19050628 0.01796828
+v -0.41209765 0.11620402 -0.17768314
+v -0.44274394 -0.18490141 0.00489313
+v -0.36673584 -0.22950442 -0.14633059
+v -0.42851182 -0.07210345 -0.14764540
+v -0.45684316 0.11664848 -0.02584133
+v -0.47397126 0.03008467 -0.01141457
+v -0.39726157 0.16241355 -0.17766491
+v -0.42801785 0.04500633 -0.16282164
+v -0.35470733 -0.23130095 -0.17772730
+v -0.47380825 -0.02690755 -0.01130228
+v -0.39771346 0.18769901 -0.14729246
+v -0.44367640 -0.01177229 -0.11741382
+v -0.44297071 0.02983305 -0.11730908
+v -0.44361055 0.18994971 0.00400507
+f 6 3 2
+f 7 1 2
+f 7 2 3
+f 8 7 3
+f 9 4 3
+f 9 3 6
+f 11 6 2
+f 12 2 1
+f 13 1 7
+f 13 12 1
+f 14 5 8
+f 15 9 6
+f 16 8 5
+f 17 11 2
+f 17 12 13
+f 19 13 7
+f 19 7 8
+f 20 5 14
+f 21 14 8
+f 21 8 3
+f 21 3 4
+f 22 6 11
+f 22 11 18
+f 22 14 21
+f 23 16 11
+f 23 8 16
+f 23 11 17
+f 23 17 13
+f 23 19 8
+f 23 13 19
+f 24 2 12
+f 24 12 17
+f 25 16 5
+f 25 5 18
+f 25 18 11
+f 25 11 16
+f 26 20 14
+f 26 10 20
+f 26 22 10
+f 26 14 22
+f 27 5 20
+f 28 15 6
+f 28 6 22
+f 29 22 18
+f 29 10 22
+f 30 24 17
+f 30 17 2
+f 30 2 24
+f 31 5 27
+f 32 15 28
+f 32 4 9
+f 32 9 15
+f 33 29 18
+f 33 31 27
+f 33 18 5
+f 33 5 31
+f 34 27 20
+f 34 20 10
+f 34 10 29
+f 34 33 27
+f 34 29 33
+f 35 32 28
+f 35 21 4
+f 35 4 32
+f 35 28 22
+f 35 22 21
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_11/collision/model_normalized_collision_20.obj b/objects/objaverse/cupcake/cupcake_11/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..286bb1c0c848293a42f18c2843134646a2377154
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_11/collision/model_normalized_collision_20.obj
@@ -0,0 +1,135 @@
+# https://github.com/mikedh/trimesh
+v 0.41852214 0.22200907 0.10827458
+v 0.43490832 0.20725882 -0.01398105
+v 0.35502153 0.35183394 0.06673400
+v 0.22927160 0.43003491 0.08259710
+v 0.23484851 0.21375001 -0.18350721
+v 0.31793181 0.31038488 0.13036291
+v 0.43082764 0.25051524 0.06700068
+v 0.25768014 0.22081345 0.19663481
+v 0.29709723 0.33348613 -0.17904784
+v 0.38737350 0.26174748 0.12074366
+v 0.28202570 0.39369990 0.09244281
+v 0.43607715 0.22303768 0.08252416
+v 0.23484851 0.21375001 0.01346248
+v 0.44024638 0.21013167 0.01505644
+v 0.39386848 0.20963473 -0.18169434
+v 0.22875865 0.38409372 -0.16554360
+v 0.41581561 0.27840714 0.06699557
+v 0.39265072 0.22402115 0.13443744
+v 0.39071835 0.23810877 0.13108280
+v 0.28315277 0.41072650 0.06671379
+v 0.22640080 0.34343450 0.15130335
+v 0.31542579 0.33555463 0.11707861
+v 0.39913195 0.26526635 0.10468865
+v 0.40310004 0.20644873 -0.14998782
+v 0.23328311 0.37746719 -0.18278437
+v 0.35322361 0.27463105 -0.17869585
+v 0.29667874 0.39306813 0.07684851
+v 0.25692972 0.40973318 0.09298900
+v 0.22840433 0.42888068 0.01643819
+v 0.32641676 0.36257861 0.01824652
+v 0.22631955 0.28258767 0.18162279
+v 0.41456418 0.23510884 0.10492615
+v 0.39911734 0.28988284 0.07818799
+v 0.25722452 0.36548067 -0.17984679
+v 0.36919051 0.26015385 -0.16376242
+v 0.32333894 0.32019596 -0.14844438
+v 0.25713790 0.42596121 0.06675089
+v 0.22928704 0.38572341 0.12399612
+v 0.26600013 0.36317200 -0.16373904
+v 0.23283355 0.22585049 0.20482640
+v 0.38174347 0.23267063 -0.17864541
+v 0.28077530 0.40780308 0.04861126
+v 0.27043897 0.36651675 0.11787517
+v 0.25756258 0.39780872 0.10219692
+v 0.23075409 0.23785325 0.19904112
+v 0.24310686 0.38384096 0.11893700
+f 13 2 8
+f 14 8 2
+f 14 1 8
+f 14 12 1
+f 14 7 12
+f 15 14 2
+f 17 7 14
+f 17 14 15
+f 17 12 7
+f 18 8 1
+f 19 10 6
+f 19 6 8
+f 19 8 18
+f 19 18 1
+f 19 1 10
+f 22 10 3
+f 22 3 11
+f 22 6 10
+f 22 21 6
+f 23 10 1
+f 23 12 17
+f 23 3 10
+f 24 13 5
+f 24 2 13
+f 24 15 2
+f 24 5 15
+f 25 15 5
+f 25 5 16
+f 26 3 17
+f 26 25 9
+f 26 15 25
+f 27 20 11
+f 27 11 3
+f 27 3 20
+f 28 11 20
+f 29 21 4
+f 29 16 21
+f 29 25 16
+f 30 20 3
+f 31 6 21
+f 31 21 16
+f 31 16 5
+f 32 23 1
+f 32 1 12
+f 32 12 23
+f 33 23 17
+f 33 17 3
+f 33 3 23
+f 34 9 25
+f 34 25 29
+f 35 26 17
+f 36 26 9
+f 36 3 26
+f 36 30 3
+f 37 28 20
+f 37 4 28
+f 37 29 4
+f 37 34 29
+f 38 28 4
+f 38 4 21
+f 39 20 30
+f 39 9 34
+f 39 36 9
+f 39 30 36
+f 40 13 8
+f 40 8 6
+f 40 6 31
+f 41 35 17
+f 41 17 15
+f 41 15 26
+f 41 26 35
+f 42 37 20
+f 42 34 37
+f 42 39 34
+f 42 20 39
+f 43 38 21
+f 43 21 22
+f 44 11 28
+f 44 28 38
+f 44 43 22
+f 44 22 11
+f 45 40 31
+f 45 31 5
+f 45 5 13
+f 45 13 40
+f 46 44 38
+f 46 38 43
+f 46 43 44
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_11/collision/model_normalized_collision_21.obj b/objects/objaverse/cupcake/cupcake_11/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d8bbb84c4079745468befee8064a27b6fc1b4dc
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_11/collision/model_normalized_collision_21.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v -0.23169323 -0.38313938 0.15829190
+v -0.22794561 -0.37465203 0.17303505
+v -0.33837148 -0.31924176 0.20007529
+v -0.41730974 -0.14220229 0.23556549
+v -0.23484847 -0.14988634 0.18012915
+v -0.23580776 -0.15168009 0.30818861
+v -0.43607000 -0.14411603 0.17800214
+v -0.22945706 -0.35064340 0.21693032
+v -0.23484847 -0.24079543 0.16497764
+v -0.35330062 -0.23660967 0.26899722
+v -0.23045404 -0.30511809 0.25667498
+v -0.35609443 -0.30609432 0.16208521
+v -0.40663366 -0.23528358 0.17535320
+v -0.43320380 -0.14259556 0.19037553
+v -0.33343049 -0.32859295 0.19222649
+v -0.34889317 -0.14697089 0.28988634
+v -0.30473411 -0.30009605 0.23979301
+v -0.23352371 -0.23676011 0.28526819
+v -0.24575772 -0.37997978 0.15598856
+v -0.39985732 -0.15839556 0.25902087
+v -0.35501197 -0.24453325 0.26155315
+v -0.39166728 -0.25646146 0.17129669
+v -0.33179898 -0.18835663 0.28411346
+v -0.24533732 -0.30265145 0.25438313
+v -0.33092213 -0.31625262 0.20919707
+v -0.26262978 -0.23611363 0.28221095
+v -0.33516609 -0.33283135 0.16263226
+v -0.40554729 -0.14593423 0.25794969
+v -0.35305048 -0.27345431 0.23010167
+v -0.34673694 -0.25667280 0.25573994
+v -0.32177023 -0.32995582 0.19692931
+v -0.33068912 -0.30074060 0.22396627
+f 6 5 4
+f 8 1 2
+f 9 5 2
+f 9 2 1
+f 9 7 5
+f 11 2 5
+f 11 5 6
+f 11 8 2
+f 12 7 9
+f 14 4 5
+f 14 5 7
+f 14 13 4
+f 14 7 13
+f 15 3 13
+f 16 6 4
+f 17 8 11
+f 18 11 6
+f 19 12 9
+f 19 9 1
+f 19 1 8
+f 20 10 16
+f 21 20 13
+f 21 10 20
+f 22 13 7
+f 22 7 12
+f 22 15 13
+f 22 12 15
+f 23 16 10
+f 23 10 6
+f 23 6 16
+f 24 17 11
+f 24 11 10
+f 24 10 17
+f 25 8 17
+f 25 3 15
+f 25 21 3
+f 26 18 6
+f 26 6 10
+f 26 10 11
+f 26 11 18
+f 27 19 15
+f 27 15 12
+f 27 12 19
+f 28 4 13
+f 28 13 20
+f 28 20 16
+f 28 16 4
+f 29 21 13
+f 29 13 3
+f 29 3 21
+f 30 17 10
+f 30 10 21
+f 30 21 25
+f 31 25 15
+f 31 8 25
+f 31 19 8
+f 31 15 19
+f 32 30 25
+f 32 25 17
+f 32 17 30
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_11/collision/model_normalized_collision_22.obj b/objects/objaverse/cupcake/cupcake_11/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..106eb85de4931f8b676496e04ba40a7fabc15291
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_11/collision/model_normalized_collision_22.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.24784293 0.24296850 0.18897436
+v 0.23484851 0.22890153 0.01346248
+v 0.23484851 0.35011364 0.01346248
+v -0.31322126 0.34143165 0.15502960
+v -0.32967316 0.23839132 0.19579191
+v -0.32747814 0.35504572 0.00673763
+v 0.22640080 0.34343450 0.15130335
+v -0.20454544 0.22890153 0.16497764
+v -0.19898807 0.35734547 0.18440059
+v -0.31060604 0.22890153 0.01346248
+f 1 2 3
+f 6 3 2
+f 6 5 4
+f 7 1 3
+f 8 2 1
+f 8 1 5
+f 9 5 1
+f 9 1 7
+f 9 4 5
+f 9 6 4
+f 9 7 3
+f 9 3 6
+f 10 6 2
+f 10 2 8
+f 10 8 5
+f 10 5 6
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_11/collision/model_normalized_collision_24.obj b/objects/objaverse/cupcake/cupcake_11/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..52f525552490a7d2e264935d194ab6888817b4ee
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_11/collision/model_normalized_collision_24.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.23484851 0.21375001 0.01346248
+v 0.23484851 0.21375001 -0.18350721
+v 0.25126289 0.36589006 -0.19108682
+v -0.33431540 0.34839537 0.00398862
+v -0.31060604 0.21375001 0.01346248
+v -0.35422333 0.23722514 -0.19728734
+v 0.23484851 0.33496213 0.01346248
+v -0.22465131 0.37036389 -0.19391703
+v -0.20454544 0.33496213 0.01346248
+v -0.30227644 0.31291344 -0.18065867
+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 3 4
+f 7 5 1
+f 8 4 3
+f 8 3 6
+f 9 7 4
+f 9 4 5
+f 9 5 7
+f 10 8 6
+f 10 6 4
+f 10 4 8
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_11/collision/model_normalized_collision_25.obj b/objects/objaverse/cupcake/cupcake_11/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4aa545f27c377073596b8d252b85af797048ca7f
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_11/collision/model_normalized_collision_25.obj
@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
+v 0.18720982 -0.26816908 0.20586071
+v 0.26163431 -0.17868966 0.20072906
+v 0.13827549 0.01438416 0.30409426
+v 0.12837019 0.28884965 0.20849892
+v 0.20163958 0.25713889 0.20014370
+v 0.13806662 -0.21877117 0.25925562
+v 0.20025100 -0.26533865 0.20144370
+v 0.25858159 0.11894660 0.23793091
+v 0.12511232 0.25100547 0.22706461
+v 0.15708118 -0.24102335 0.23679859
+v 0.13639658 -0.10017062 0.30366871
+v 0.24600168 -0.22393905 0.19940183
+v 0.14377739 0.28865635 0.20582907
+v 0.26061844 0.20884277 0.20206095
+v 0.12555410 0.28441402 0.21061693
+v 0.18261485 0.17902696 0.25269629
+v 0.19583397 -0.25941448 0.20735025
+v 0.23933515 -0.02711683 0.25225249
+v 0.17611232 -0.16100759 0.26914680
+v 0.24600903 0.22373997 0.20123928
+v 0.14040922 0.19111886 0.25835088
+v 0.25745800 0.17403389 0.22417747
+v 0.16442285 -0.18384934 0.26648869
+v 0.23565805 -0.22087933 0.20725835
+v 0.18279281 -0.26224490 0.21176726
+v 0.23958247 0.01313204 0.25262664
+v 0.25477769 -0.08239291 0.23881994
+v 0.12850966 0.22831201 0.23973524
+v 0.16906585 0.18763055 0.25243381
+v 0.22712606 0.17236800 0.23778377
+v 0.13885853 -0.18939490 0.27599598
+v 0.15088944 0.01331062 0.29853941
+v 0.20890229 -0.05777532 0.26773899
+v 0.14794892 -0.09813732 0.29754951
+f 7 1 4
+f 11 9 6
+f 11 3 9
+f 12 7 5
+f 13 7 4
+f 13 5 7
+f 14 8 2
+f 14 2 12
+f 15 6 9
+f 15 10 6
+f 15 4 1
+f 15 1 10
+f 16 3 8
+f 17 6 10
+f 20 14 12
+f 20 12 5
+f 20 5 13
+f 20 13 16
+f 21 3 16
+f 21 13 4
+f 22 8 14
+f 22 20 16
+f 22 14 20
+f 24 17 7
+f 24 7 12
+f 24 23 17
+f 24 12 19
+f 24 19 23
+f 25 17 10
+f 25 10 1
+f 25 1 7
+f 25 7 17
+f 27 2 8
+f 27 26 18
+f 27 8 26
+f 27 19 12
+f 27 12 2
+f 28 15 9
+f 28 9 3
+f 28 3 21
+f 28 21 4
+f 28 4 15
+f 29 21 16
+f 29 16 13
+f 29 13 21
+f 30 22 16
+f 30 16 8
+f 30 8 22
+f 31 6 17
+f 31 17 23
+f 31 11 6
+f 31 23 19
+f 31 19 11
+f 32 26 8
+f 32 8 3
+f 32 3 11
+f 33 27 18
+f 33 32 11
+f 33 18 26
+f 33 26 32
+f 34 11 19
+f 34 19 27
+f 34 33 11
+f 34 27 33
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_11/collision/model_normalized_collision_26.obj b/objects/objaverse/cupcake/cupcake_11/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c9ce987f829eebd157fec43808dab749abc82a82
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_11/collision/model_normalized_collision_26.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v -0.38169436 -0.26204066 0.18826687
+v -0.37336676 -0.25509768 -0.08411300
+v -0.35606059 -0.14988634 0.18012915
+v -0.43607000 -0.14411603 0.17800214
+v -0.46110276 -0.18825438 0.06425761
+v -0.35606059 -0.14988634 -0.07744661
+v -0.42827282 -0.23072253 0.03496504
+v -0.46211859 -0.18770229 0.11370707
+v -0.46428393 -0.14588749 0.03267860
+v -0.39970477 -0.21650572 -0.07168491
+v -0.40663366 -0.23528358 0.17535320
+v -0.43073282 -0.22836010 0.11450716
+v -0.44211397 -0.21486505 0.05056167
+v -0.45965605 -0.14820587 0.12379728
+v -0.38971539 -0.23400756 -0.07331438
+v -0.42645425 -0.15318432 -0.08058643
+v -0.44377527 -0.21159331 0.11385564
+f 1 2 3
+f 1 3 4
+f 6 3 2
+f 6 4 3
+f 7 2 1
+f 9 4 6
+f 9 5 8
+f 10 7 5
+f 11 1 4
+f 11 4 8
+f 12 7 1
+f 12 1 11
+f 13 8 5
+f 13 5 7
+f 13 7 12
+f 14 9 8
+f 14 8 4
+f 14 4 9
+f 15 10 2
+f 15 2 7
+f 15 7 10
+f 16 10 5
+f 16 5 9
+f 16 9 6
+f 16 6 2
+f 16 2 10
+f 17 13 12
+f 17 8 13
+f 17 12 11
+f 17 11 8
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_11/collision/model_normalized_collision_27.obj b/objects/objaverse/cupcake/cupcake_11/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1da840b882fcdc3c0babeea9bd005e629ad234fe
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_11/collision/model_normalized_collision_27.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.14033248 -0.46934690 0.06590992
+v 0.25725709 -0.40740032 0.01788240
+v 0.27443423 -0.28430329 0.15491318
+v 0.14393941 -0.27109847 0.13467461
+v 0.14393941 -0.27109847 0.01346248
+v 0.14769835 -0.40052878 0.14408448
+v 0.25639361 -0.40509086 0.09286317
+v 0.14060285 -0.45588467 0.01678274
+v 0.13994418 -0.46863099 0.06289275
+v 0.26515153 -0.27109847 0.01346248
+v 0.25688502 -0.42180978 0.06681501
+v 0.18476761 -0.45022163 0.07786984
+v 0.25734671 -0.36724679 0.11954288
+v 0.14156181 -0.45830425 0.08252118
+v 0.25813779 -0.39350753 0.10087518
+v 0.19465726 -0.44901271 0.04930168
+v 0.22605581 -0.42017140 0.09298859
+v 0.24190662 -0.37835378 0.11864422
+v 0.20922809 -0.43274217 0.01932378
+v 0.16892837 -0.44866377 0.01875059
+v 0.19673972 -0.45300112 0.06674922
+v 0.15445484 -0.46554134 0.06613734
+f 6 3 4
+f 9 4 5
+f 9 8 1
+f 9 5 8
+f 10 3 2
+f 10 8 5
+f 10 2 8
+f 10 5 4
+f 10 4 3
+f 11 2 3
+f 13 3 6
+f 14 6 4
+f 14 4 9
+f 14 9 1
+f 14 12 6
+f 14 1 12
+f 15 11 3
+f 15 7 11
+f 15 3 13
+f 15 6 7
+f 17 7 6
+f 17 6 12
+f 18 15 13
+f 18 13 6
+f 18 6 15
+f 19 8 2
+f 19 2 11
+f 19 11 16
+f 20 19 16
+f 20 8 19
+f 21 20 16
+f 21 16 11
+f 21 17 12
+f 21 11 7
+f 21 7 17
+f 22 21 12
+f 22 12 1
+f 22 20 21
+f 22 1 8
+f 22 8 20
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_11/collision/model_normalized_collision_28.obj b/objects/objaverse/cupcake/cupcake_11/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..93141c286311299a786b65c75072d41168965955
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_11/collision/model_normalized_collision_28.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.15584827 -0.45555934 0.08126457
+v 0.22566747 -0.40418950 0.10509419
+v 0.08154563 -0.41772688 0.16083719
+v 0.08333334 -0.39231059 0.08922006
+v 0.21604965 -0.43072170 0.08428866
+v 0.21546609 -0.38504060 0.12601651
+v 0.08326107 -0.46771464 0.08897994
+v 0.19874666 -0.44171843 0.08137973
+v 0.19571802 -0.43525192 0.09311402
+v 0.13160668 -0.39782671 0.15458599
+v 0.07811528 -0.43612609 0.14075615
+v 0.21390655 -0.42621065 0.09303882
+v 0.09207000 -0.40940741 0.16457898
+v 0.07855224 -0.42469596 0.15390439
+v 0.08051843 -0.45415927 0.11052586
+v 0.15447167 -0.44909859 0.09135682
+f 5 4 2
+f 6 2 4
+f 7 4 1
+f 8 1 4
+f 8 4 5
+f 9 1 8
+f 10 6 4
+f 11 7 1
+f 11 9 3
+f 12 5 2
+f 12 2 6
+f 12 9 8
+f 12 8 5
+f 13 10 4
+f 13 4 3
+f 13 3 9
+f 13 9 12
+f 13 12 6
+f 13 6 10
+f 14 11 3
+f 14 3 4
+f 14 4 11
+f 15 11 4
+f 15 4 7
+f 15 7 11
+f 16 11 1
+f 16 1 9
+f 16 9 11
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_11/collision/model_normalized_collision_3.obj b/objects/objaverse/cupcake/cupcake_11/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b980a54f634c204d5974e2e6d20f9e76f0ea8f98
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_11/collision/model_normalized_collision_3.obj
@@ -0,0 +1,114 @@
+# https://github.com/mikedh/trimesh
+v -0.35606059 -0.14988634 0.18012915
+v -0.35606059 -0.14988634 0.01346248
+v -0.36006186 0.23082147 0.18480124
+v -0.40354839 0.24824716 0.12476399
+v -0.49158923 -0.08780731 0.06789231
+v -0.40588161 0.25571555 -0.00227761
+v -0.47336284 -0.14754838 0.09711291
+v -0.46164040 -0.09615602 0.17707859
+v -0.49108176 0.09087943 0.06747224
+v -0.47448976 -0.09891030 0.01907474
+v -0.45965605 -0.14820587 0.12379728
+v -0.41486676 0.19218259 0.15159361
+v -0.43607000 -0.14411603 0.17800214
+v -0.46194576 0.19247871 0.06745121
+v -0.48842878 0.06027061 0.08099266
+v -0.46030863 -0.14466361 0.01877108
+v -0.47492307 0.10179942 0.01863110
+v -0.42711350 0.08489944 0.16969560
+v -0.40126324 0.22297139 0.15406377
+v -0.44221918 0.21827458 0.07839712
+v -0.45781179 0.16285129 0.09341503
+v -0.48843836 -0.05752660 0.08199712
+v -0.47468264 -0.14442424 0.06446894
+v -0.45676470 0.16207924 0.01963685
+v -0.47543258 0.14799161 0.06745869
+v -0.48887723 0.01490857 0.03411217
+v -0.40134689 0.19306733 0.16470315
+v -0.47425555 0.10260673 0.09414257
+v -0.38815905 0.22407935 0.16668045
+v -0.44250124 0.21834192 0.04996410
+v -0.43136403 0.22050245 0.01839283
+v -0.47405538 0.13259314 0.07959820
+v -0.48878583 -0.01173953 0.03420400
+v -0.48879072 0.06035446 0.04928911
+v -0.45885985 -0.05075656 0.16705300
+v -0.45673854 0.17722283 0.03479623
+v -0.48896251 -0.05721085 0.04930296
+v -0.46091750 0.19233688 0.06389310
+v -0.49044933 -0.08765498 0.06401215
+f 1 2 3
+f 6 3 2
+f 6 4 3
+f 8 5 7
+f 11 7 2
+f 11 2 1
+f 13 1 3
+f 13 3 8
+f 13 11 1
+f 13 8 7
+f 13 7 11
+f 15 9 5
+f 15 8 9
+f 16 10 6
+f 16 6 2
+f 16 2 7
+f 17 6 10
+f 18 8 3
+f 19 14 12
+f 19 4 14
+f 20 14 4
+f 20 4 6
+f 21 12 14
+f 22 15 5
+f 22 5 8
+f 22 8 15
+f 23 16 7
+f 23 7 5
+f 23 5 10
+f 23 10 16
+f 24 6 17
+f 25 17 9
+f 25 14 17
+f 26 17 10
+f 26 5 9
+f 27 18 3
+f 27 12 18
+f 27 19 12
+f 28 18 12
+f 28 9 8
+f 28 12 21
+f 29 3 4
+f 29 4 19
+f 29 27 3
+f 29 19 27
+f 30 20 6
+f 30 14 20
+f 31 6 24
+f 32 21 14
+f 32 14 25
+f 32 28 21
+f 32 25 9
+f 32 9 28
+f 33 26 10
+f 33 5 26
+f 34 26 9
+f 34 9 17
+f 34 17 26
+f 35 28 8
+f 35 8 18
+f 35 18 28
+f 36 31 24
+f 36 24 17
+f 37 33 10
+f 38 31 36
+f 38 6 31
+f 38 30 6
+f 38 14 30
+f 38 36 17
+f 38 17 14
+f 39 37 10
+f 39 10 5
+f 39 5 33
+f 39 33 37
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_11/collision/model_normalized_collision_30.obj b/objects/objaverse/cupcake/cupcake_11/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..27d749dd6dd3aabe64a434e4befa87c9182add6e
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_11/collision/model_normalized_collision_30.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.25791652 -0.26028960 0.17823730
+v 0.26515153 -0.27109847 0.01346248
+v 0.26515153 0.22890153 0.01346248
+v -0.24131185 0.24430428 0.22989071
+v -0.24613808 -0.30713404 0.25008103
+v -0.23484847 -0.27109847 0.01346248
+v 0.25768014 0.22081345 0.19663481
+v -0.23484847 0.22890153 0.01346248
+v 0.25861023 -0.23679215 0.19284483
+v 0.22633334 -0.25967781 0.19260967
+f 5 2 1
+f 6 3 2
+f 6 2 5
+f 7 3 4
+f 7 4 5
+f 8 4 3
+f 8 3 6
+f 8 6 5
+f 8 5 4
+f 9 7 5
+f 9 1 2
+f 9 2 3
+f 9 3 7
+f 10 9 5
+f 10 5 1
+f 10 1 9
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_11/collision/model_normalized_collision_31.obj b/objects/objaverse/cupcake/cupcake_11/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..66df307f4067ac48598a319d74351b5f01f7dc9a
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_11/collision/model_normalized_collision_31.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.26515153 -0.27109847 0.01346248
+v 0.26451262 -0.27030844 -0.38687405
+v 0.26515153 0.21375001 0.01346248
+v -0.23484847 0.21375001 0.01346248
+v -0.23484847 -0.27109847 0.01346248
+v 0.26511658 0.21372958 -0.38787870
+v -0.23481543 0.21372963 -0.38785537
+v -0.23283638 -0.26858770 -0.38688829
+f 1 3 4
+f 5 2 1
+f 5 1 4
+f 6 1 2
+f 6 3 1
+f 7 5 4
+f 7 4 3
+f 7 3 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/cupcake/cupcake_11/collision/model_normalized_collision_5.obj b/objects/objaverse/cupcake/cupcake_11/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..04c169d78242d9491350e80919834071fe23eefe
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_11/collision/model_normalized_collision_5.obj
@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
+v 0.00747865 -0.45258159 0.14967506
+v 0.26299222 -0.34415702 0.12973518
+v 0.05041742 -0.26266815 0.25951389
+v -0.23324687 -0.26555439 0.27363222
+v -0.23484847 -0.27109847 0.16497764
+v -0.09290329 -0.40392254 0.21471833
+v 0.01669340 -0.41463418 0.19248869
+v 0.15609251 -0.41605817 0.12716857
+v 0.26198115 -0.26636202 0.17266073
+v 0.21329218 -0.26250823 0.19702668
+v -0.13083559 -0.29493725 0.26804151
+v -0.23169323 -0.38313938 0.15829190
+v -0.05482995 -0.41005110 0.20829689
+v 0.14393941 -0.27109847 0.13467461
+v 0.06412838 -0.43893373 0.14352198
+v 0.18097895 -0.38005697 0.14705375
+v 0.13968818 -0.26387240 0.22900203
+v -0.06973488 -0.26534766 0.27215057
+v -0.19927284 -0.31806899 0.25587148
+v -0.10973376 -0.42487798 0.15531727
+v -0.20040464 -0.39542622 0.15620356
+v 0.01666996 -0.43744788 0.16642681
+v -0.07319839 -0.35241212 0.23877780
+v 0.21546609 -0.38504060 0.12601651
+v 0.27443423 -0.28430329 0.15491318
+v 0.24449046 -0.26286738 0.18230192
+v 0.06208175 -0.40874124 0.17984643
+v -0.08550473 -0.32500025 0.25221703
+v -0.18665098 -0.29387925 0.26781440
+v -0.21147422 -0.36000355 0.21565071
+v -0.03530153 -0.44271197 0.15805934
+v -0.13740221 -0.40206505 0.18712727
+v -0.18097912 -0.37475433 0.21541869
+v 0.21165717 -0.37849566 0.13337344
+v -0.23045404 -0.30511809 0.25667498
+v -0.22708835 -0.36096872 0.20105802
+v -0.16847957 -0.34950831 0.24012461
+v -0.23254245 -0.27826756 0.26810926
+f 10 5 4
+f 10 4 3
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+f 13 7 3
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+f 17 16 10
+f 18 3 4
+f 18 4 11
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+f 21 8 1
+f 21 1 20
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+f 22 1 15
+f 23 11 6
+f 23 6 13
+f 23 13 3
+f 24 14 2
+f 24 8 14
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+f 25 9 2
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+f 26 10 9
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+f 26 14 5
+f 26 5 10
+f 27 15 8
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+f 27 7 22
+f 27 24 16
+f 27 8 24
+f 27 17 7
+f 27 16 17
+f 28 18 11
+f 28 3 18
+f 28 23 3
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+f 29 19 11
+f 29 11 4
+f 29 4 19
+f 31 20 1
+f 31 1 6
+f 31 6 20
+f 32 21 20
+f 32 20 6
+f 33 12 21
+f 33 32 6
+f 33 21 32
+f 34 24 2
+f 34 2 16
+f 34 16 24
+f 35 19 4
+f 35 30 33
+f 36 33 30
+f 36 12 33
+f 36 35 12
+f 36 30 35
+f 37 33 6
+f 37 6 19
+f 37 35 33
+f 37 19 35
+f 38 35 4
+f 38 4 12
+f 38 12 35
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_11/collision/model_normalized_collision_6.obj b/objects/objaverse/cupcake/cupcake_11/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..87a74a7d10330aaba950cc8b0e6f97a2d2e2944c
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_11/collision/model_normalized_collision_6.obj
@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
+v 0.40143505 -0.27103106 0.01348754
+v 0.47702492 -0.09924954 0.01715968
+v 0.26515153 -0.22564392 0.01346248
+v 0.26515153 0.21375001 0.01346248
+v 0.43003644 0.11768358 -0.17974636
+v 0.41645011 -0.24766131 0.01762398
+v 0.44024638 0.21013167 0.01505644
+v 0.26515153 -0.22564392 -0.18350721
+v 0.40641781 -0.26557282 0.01623777
+v 0.39798364 -0.18458951 -0.17848578
+v 0.26515153 0.21375001 -0.18350721
+v 0.47803606 0.10330721 0.01665808
+v 0.44331424 -0.01145920 -0.17928424
+v 0.44877161 -0.18765869 0.01705045
+v 0.37719432 -0.22070031 -0.18102426
+v 0.39776198 0.20357590 -0.17902531
+v 0.44486065 0.18930923 -0.01274844
+v 0.45998878 0.16303131 0.01730121
+v 0.43000275 -0.09872199 -0.17943365
+v 0.47466370 0.01502599 -0.04325489
+v 0.41435517 -0.17014006 -0.14851065
+v 0.39739396 -0.26070765 -0.02677323
+v 0.44336747 0.03007939 -0.17940106
+v 0.41305237 0.18849912 -0.14875521
+v 0.45019871 0.19218205 0.01628905
+v 0.42800064 0.14676836 -0.14886123
+v 0.44381265 -0.07229980 -0.14906410
+v 0.45719888 -0.12858005 -0.02710166
+v 0.47391512 -0.01149188 -0.04298748
+v 0.42673890 -0.14368345 -0.13312403
+v 0.39356112 -0.26440661 -0.02950415
+v 0.44366838 0.09051595 -0.14912535
+v 0.42762199 0.18818597 -0.08801120
+v 0.47391814 -0.09820403 0.00275406
+v 0.44296817 -0.18431901 -0.01169279
+v 0.45847227 0.10196338 -0.07327106
+v 0.47381955 0.09049931 -0.01272815
+v 0.47508961 0.10240981 0.00216097
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+f 9 6 3
+f 9 3 1
+f 11 4 7
+f 11 8 4
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+f 14 6 9
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+f 16 5 11
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+f 18 2 12
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+f 29 20 2
+f 29 13 20
+f 29 27 13
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+f 32 23 5
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+f 33 24 17
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+f 34 27 2
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+f 35 9 21
+f 35 30 28
+f 35 28 14
+f 36 32 5
+f 37 12 20
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+f 37 23 32
+f 38 12 37
+f 38 18 12
+f 38 36 5
+f 38 5 18
+f 38 37 32
+f 38 32 36
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_11/collision/model_normalized_collision_8.obj b/objects/objaverse/cupcake/cupcake_11/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..22f070ebf50ba549d95de3635103c201097ea184
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_11/collision/model_normalized_collision_8.obj
@@ -0,0 +1,156 @@
+# https://github.com/mikedh/trimesh
+v 0.12448044 -0.40688488 -0.17922080
+v 0.31771961 -0.26447406 -0.27190694
+v -0.27030480 -0.31495833 -0.20021664
+v -0.28361558 -0.27388213 -0.27570655
+v 0.06623367 -0.35918018 -0.38536593
+v 0.29774572 -0.31039490 -0.19623210
+v -0.23283638 -0.26858770 -0.38688829
+v -0.10830960 -0.40657902 -0.17861421
+v 0.20851087 -0.31203964 -0.38537325
+v -0.27408609 -0.26587416 -0.31744934
+v -0.00597305 -0.42298240 -0.17927574
+v -0.07677743 -0.35742424 -0.37402385
+v -0.22989938 -0.35269491 -0.18036601
+v 0.25177149 -0.28526877 -0.38538164
+v 0.26451262 -0.27030844 -0.38687405
+v 0.25738390 -0.34832481 -0.17938086
+v 0.10729450 -0.35806117 -0.37400622
+v 0.31505724 -0.26227991 -0.28622729
+v -0.26908513 -0.27237335 -0.31458422
+v -0.10696037 -0.34198961 -0.38538984
+v -0.06646103 -0.40407485 -0.22361162
+v 0.02046047 -0.38964760 -0.29978066
+v 0.13756269 -0.34289272 -0.38536593
+v 0.19501152 -0.37393783 -0.20847241
+v -0.21204560 -0.36276159 -0.17865088
+v 0.26562483 -0.29885657 -0.31414043
+v 0.25387165 -0.32795910 -0.25352385
+v 0.30310907 -0.26491990 -0.31753037
+v -0.22010516 -0.28363074 -0.38541670
+v -0.03588790 -0.35886612 -0.38537588
+v -0.14877480 -0.34290603 -0.34381730
+v -0.09199496 -0.40307777 -0.20784882
+v 0.05102886 -0.37376750 -0.34509881
+v 0.02084467 -0.42297002 -0.17940559
+v 0.17910607 -0.32876985 -0.38536620
+v 0.16939537 -0.39286566 -0.17935100
+v 0.22355821 -0.32696809 -0.31387316
+v 0.29831898 -0.27143634 -0.31507392
+v -0.25088823 -0.29935752 -0.28300057
+v -0.14800888 -0.32739757 -0.38539827
+v -0.06643509 -0.37349227 -0.32959154
+v -0.15441310 -0.39206717 -0.17876209
+v -0.17799139 -0.37222149 -0.20706753
+v -0.19359842 -0.31241795 -0.35885204
+v 0.09640798 -0.37306865 -0.32975603
+v 0.17940086 -0.34251427 -0.34451428
+v 0.31069129 -0.27383328 -0.26971279
+v -0.22600880 -0.34537407 -0.20819968
+v -0.00553757 -0.38866249 -0.29933806
+v 0.10834983 -0.40330970 -0.20854952
+v 0.22423392 -0.35846138 -0.20817150
+v 0.08129224 -0.40370309 -0.22378613
+v 0.19406992 -0.35697175 -0.26855128
+f 3 2 4
+f 6 2 3
+f 10 4 2
+f 11 1 8
+f 13 6 3
+f 15 14 9
+f 16 6 13
+f 16 8 1
+f 18 10 2
+f 18 7 10
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+f 19 3 4
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+f 44 31 13
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+f 47 2 6
+f 47 6 38
+f 48 39 29
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+f 48 44 13
+f 48 29 44
+f 49 11 21
+f 49 21 41
+f 49 22 11
+f 49 41 30
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+f 50 17 1
+f 50 1 34
+f 51 46 37
+f 51 37 16
+f 51 16 24
+f 52 50 34
+f 52 34 45
+f 52 45 50
+f 53 51 24
+f 53 24 46
+f 53 46 51
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_11/collision/model_normalized_collision_9.obj b/objects/objaverse/cupcake/cupcake_11/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..555352d2817be666aac5181756019271b6882c74
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_11/collision/model_normalized_collision_9.obj
@@ -0,0 +1,138 @@
+# https://github.com/mikedh/trimesh
+v 0.08112240 -0.48280992 0.06626321
+v 0.13864320 -0.40327442 -0.17823687
+v 0.16574105 -0.30036395 0.19547618
+v -0.23484847 -0.27109847 0.16497764
+v -0.27030480 -0.31495833 -0.20021664
+v 0.00252841 -0.45065660 0.15712771
+v 0.14033248 -0.46934690 0.06590992
+v -0.09164138 -0.41716494 -0.16206948
+v 0.14393941 -0.27109847 -0.18350721
+v -0.22853362 -0.38910700 0.15159691
+v 0.09643985 -0.46427314 0.00349645
+v 0.14478560 -0.39396649 0.15125499
+v -0.05125620 -0.41865184 -0.17799126
+v 0.00757578 -0.27109847 0.16497764
+v -0.24990457 -0.39213104 -0.03193150
+v -0.10864654 -0.48187872 0.06750269
+v 0.08132137 -0.48255947 0.06330047
+v 0.14156181 -0.45830425 0.08252118
+v -0.16605953 -0.38890988 -0.17752432
+v 0.05069882 -0.41944232 -0.17842762
+v 0.00219299 -0.46465102 0.12630300
+v -0.12387214 -0.43420240 0.13711534
+v -0.22454168 -0.43338359 0.07887478
+v -0.09650280 -0.47998606 0.04909039
+v -0.05130809 -0.47981700 0.03396859
+v 0.07811528 -0.43612609 0.14075615
+v -0.12207172 -0.40239666 -0.17733795
+v -0.22413223 -0.35699445 -0.17670559
+v -0.19453535 -0.44923230 0.05011894
+v -0.15295283 -0.46301887 0.04999194
+v 0.09642392 -0.41867090 -0.16312980
+v -0.08129512 -0.48048025 0.07907986
+v 0.05045132 -0.48021957 0.08011545
+v -0.07993318 -0.46471015 0.10898489
+v -0.13835628 -0.41932860 0.15115739
+v -0.19794114 -0.43466444 0.10558026
+v -0.22912778 -0.42195497 0.10744572
+v 0.03556217 -0.48016530 0.03366117
+v -0.00554869 -0.44937129 -0.08724625
+v -0.24601400 -0.38481020 -0.05976517
+v -0.22447577 -0.43339847 0.05034909
+v -0.19452234 -0.44907275 0.07915952
+v -0.02051790 -0.46376712 0.12575098
+v -0.01827252 -0.45042953 0.15301948
+v -0.12355056 -0.46353920 0.09295365
+v 0.02025090 -0.44860673 -0.08720287
+v -0.06352684 -0.44963671 0.13733047
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+f 14 4 3
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+f 15 4 5
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+f 17 7 1
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+f 20 13 5
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+f 25 1 16
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+f 30 24 16
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+f 31 2 11
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+f 33 32 1
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+f 35 6 10
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+f 37 10 15
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+f 37 36 10
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+f 46 39 20
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+f 47 44 22
+f 47 22 34
+f 47 34 44
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_11/visual/material.mtl b/objects/objaverse/cupcake/cupcake_11/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fbcf6b4b1af9257e08a0fd6e283841743ce8fad5
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_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/cupcake/cupcake_11/visual/model_normalized_0.obj b/objects/objaverse/cupcake/cupcake_11/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad82803bf52a1a541009ae1bf988a0ede5c0490b
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_11/visual/model_normalized_0.obj
@@ -0,0 +1,3528 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
+v -0.38948245 0.16697829 0.18584043
+v -0.35490054 0.24222261 0.18453634
+v -0.38564874 0.25831160 0.15689910
+v -0.42199038 0.17605977 0.15030010
+v -0.33856016 0.16245326 0.23131069
+v -0.31331113 0.23590642 0.20309210
+v -0.28883198 0.28667159 0.20120667
+v -0.30573799 0.30409609 0.19657166
+v -0.32853596 0.32628131 0.16616912
+v 0.16242969 0.38768344 0.15700908
+v 0.23729692 0.35187600 0.14044873
+v 0.25069918 0.37800490 0.11996041
+v 0.17047419 0.41558778 0.12709361
+v 0.15814034 0.33776671 0.19624171
+v 0.23140496 0.31085221 0.16412658
+v 0.28220155 0.28654589 0.15215410
+v 0.30045879 0.30403325 0.14046444
+v 0.32259686 0.32555856 0.12113880
+v 0.38491029 -0.16081922 0.15163561
+v 0.34712315 -0.23408384 0.15974295
+v 0.37166515 -0.24555353 0.13895610
+v 0.41374163 -0.16853376 0.13413255
+v 0.33595198 -0.15795965 0.16811740
+v 0.30713635 -0.23051724 0.17622474
+v 0.28215442 -0.28052823 0.15383528
+v 0.29931182 -0.29675863 0.13975741
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+f 697/697/697 607/607/607 910/910/910
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_12/collision/model_normalized_collision_0.obj b/objects/objaverse/cupcake/cupcake_12/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..60605ec997d8a3cc3d40617207c01ccc3e2b0327
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_12/collision/model_normalized_collision_0.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v -0.15646341 -0.17898644 -0.10566383
+v -0.16556090 -0.17755114 -0.25120491
+v -0.14395161 0.23877919 -0.23408978
+v -0.23210651 0.24583150 -0.09765950
+v -0.24198032 -0.16912195 -0.09879015
+v -0.23838546 0.16728547 -0.23279023
+v -0.14631197 0.20566200 -0.07247108
+v -0.23300575 -0.17110690 -0.23358700
+v -0.20816892 0.21729683 -0.23039542
+v -0.23456420 0.20949618 -0.09765950
+v -0.14298683 0.22798861 -0.08965793
+v -0.21041529 0.22273257 -0.21373019
+v -0.14421176 0.21512859 -0.07845922
+v -0.17738566 0.25331054 -0.09765950
+v -0.20338768 0.22083641 -0.23002255
+v -0.16837468 0.25276744 -0.14205704
+f 1 2 3
+f 6 3 2
+f 7 5 1
+f 8 2 1
+f 8 1 5
+f 8 6 2
+f 8 5 6
+f 9 3 6
+f 10 6 5
+f 10 4 6
+f 10 7 4
+f 10 5 7
+f 11 1 3
+f 12 9 6
+f 12 6 4
+f 13 7 1
+f 13 1 11
+f 14 13 11
+f 14 4 7
+f 14 7 13
+f 15 12 4
+f 15 4 3
+f 15 3 9
+f 15 9 12
+f 16 14 11
+f 16 11 3
+f 16 3 4
+f 16 4 14
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_12/collision/model_normalized_collision_1.obj b/objects/objaverse/cupcake/cupcake_12/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8a1fd2f26b8fe34b1d20563818774e0153e93049
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_12/collision/model_normalized_collision_1.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v 0.01492642 -0.13256826 0.17519648
+v 0.01736307 -0.13649187 -0.00400950
+v 0.01790771 -0.00320412 0.01314856
+v -0.05755450 -0.00381200 0.29612601
+v -0.22335911 -0.13012228 0.00523175
+v 0.01374140 -0.01056845 0.33830222
+v -0.19477417 -0.13195092 0.08685474
+v -0.25355149 -0.00325112 0.00725084
+v 0.01438378 -0.00622825 0.29564183
+v -0.15224870 -0.13213303 0.12696190
+v -0.24114549 -0.08950309 0.00591163
+v -0.03706050 -0.00353350 0.31061149
+v -0.22521973 -0.00382155 0.08785565
+v 0.01384282 -0.02447400 0.34582707
+v -0.04557794 -0.03923960 0.29661441
+v -0.22191019 -0.11534068 0.04834712
+v -0.22380965 -0.06038478 0.08506442
+v -0.09306883 -0.12389424 0.17565773
+v 0.00694950 -0.01037500 0.33814999
+v 0.00838642 -0.02341098 0.34538724
+v -0.22176273 -0.12921367 0.02015721
+v -0.05649544 -0.01549113 0.29614345
+v -0.22304833 -0.08752297 0.07387841
+v -0.23594035 -0.06054940 0.06099743
+v -0.00997462 -0.07613134 0.27283428
+v -0.03423000 -0.05105350 0.29603300
+v -0.23702653 -0.08827519 0.03345962
+v -0.20882461 -0.13010029 0.06154918
+v -0.20931458 -0.10307107 0.08494174
+v -0.23768438 -0.00429781 0.06125415
+v 0.01181669 -0.07505529 0.27160786
+v -0.03355852 -0.06210904 0.28423338
+f 7 5 2
+f 8 3 2
+f 10 7 2
+f 10 2 1
+f 11 8 2
+f 11 2 5
+f 12 3 8
+f 12 9 3
+f 12 6 9
+f 13 12 8
+f 13 4 12
+f 14 2 3
+f 14 3 9
+f 14 1 2
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+f 17 4 13
+f 18 10 1
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+f 20 12 4
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+f 22 20 4
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+f 29 23 7
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+f 30 8 24
+f 31 25 1
+f 31 1 14
+f 31 14 25
+f 32 25 14
+f 32 14 20
+f 32 20 26
+f 32 18 25
+f 32 26 10
+f 32 10 18
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_12/collision/model_normalized_collision_10.obj b/objects/objaverse/cupcake/cupcake_12/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d586d0e0d210f63dabfd3ce4650f19596c027c79
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_12/collision/model_normalized_collision_10.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v 0.29039088 -0.01833160 -0.09765950
+v 0.33821658 0.02029100 -0.09765950
+v 0.26453795 0.05417977 -0.08887504
+v 0.28216211 0.15138318 -0.09765950
+v 0.28507020 0.02427876 -0.27880461
+v 0.32131313 0.10470288 -0.09765950
+v 0.32204865 -0.00238923 -0.09765950
+v 0.28042529 -0.01300298 -0.21715199
+v 0.26960720 0.10413338 -0.23215383
+v 0.28824867 0.09232102 -0.22946757
+v 0.33734141 0.01719281 -0.09765950
+v 0.27295097 0.14905838 -0.14350815
+v 0.27097668 0.05846767 -0.23386025
+v 0.31940307 0.10295096 -0.10809505
+v 0.28912231 0.01834533 -0.27567875
+v 0.28093673 0.09980674 -0.23079087
+v 0.27523937 0.14833507 -0.09765950
+v 0.27475807 0.15327629 -0.14099342
+v 0.28272859 0.00484946 -0.27830871
+v 0.33524750 0.01975535 -0.10921898
+v 0.31893710 0.00868607 -0.15464056
+v 0.31883334 0.01872264 -0.16946332
+v 0.32016815 -0.00133700 -0.10955595
+v 0.28647289 0.00766588 -0.27526239
+f 6 3 2
+f 6 4 3
+f 7 3 1
+f 8 1 3
+f 8 7 1
+f 11 2 3
+f 11 3 7
+f 12 9 3
+f 13 8 3
+f 13 3 9
+f 14 6 2
+f 15 5 10
+f 16 10 5
+f 16 5 9
+f 17 12 3
+f 17 3 4
+f 18 4 6
+f 18 6 14
+f 18 14 10
+f 18 10 16
+f 18 16 9
+f 18 9 12
+f 18 17 4
+f 18 12 17
+f 19 13 9
+f 19 9 5
+f 19 8 13
+f 19 5 15
+f 20 14 2
+f 20 10 14
+f 20 2 11
+f 21 11 7
+f 22 15 10
+f 22 10 20
+f 22 20 11
+f 22 11 21
+f 23 21 7
+f 23 7 8
+f 23 8 21
+f 24 21 8
+f 24 8 19
+f 24 19 15
+f 24 22 21
+f 24 15 22
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_12/collision/model_normalized_collision_11.obj b/objects/objaverse/cupcake/cupcake_12/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7bb87e70707ade675cc143f92861d7cabfa2a053
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_12/collision/model_normalized_collision_11.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.16150398 0.21474082 -0.08932844
+v 0.16809031 0.21872663 -0.23361543
+v 0.16888587 0.28834989 -0.09765950
+v 0.01484075 0.32777963 -0.09765950
+v 0.02000402 0.23585033 -0.10491029
+v 0.07325896 0.28398740 -0.26061684
+v 0.01730031 0.26585864 -0.08708104
+v 0.17860156 0.25115867 -0.09765950
+v 0.02924702 0.23937710 -0.25106868
+v 0.15174460 0.25656443 -0.22944971
+v 0.08181827 0.31578853 -0.13935329
+v 0.15146814 0.22097434 -0.08741225
+v 0.09330500 0.31982151 -0.09765950
+v 0.08890431 0.25249004 -0.27946803
+v 0.01228592 0.28017685 -0.27904054
+v 0.15604032 0.28249912 -0.15321204
+v 0.07987606 0.27359884 -0.27641526
+v 0.02499587 0.26309054 -0.28265157
+v 0.01013461 0.32114959 -0.14145248
+v 0.15059368 0.27085974 -0.19879047
+v 0.00923390 0.29248770 -0.24794716
+f 8 1 2
+f 8 2 3
+f 8 3 1
+f 9 2 1
+f 9 1 5
+f 10 3 2
+f 12 1 3
+f 12 7 5
+f 12 5 1
+f 13 4 7
+f 13 11 4
+f 13 12 3
+f 13 7 12
+f 14 2 9
+f 14 10 2
+f 15 9 5
+f 16 3 10
+f 16 6 11
+f 16 13 3
+f 16 11 13
+f 17 10 14
+f 17 15 6
+f 18 14 9
+f 18 9 15
+f 18 17 14
+f 18 15 17
+f 19 11 6
+f 19 4 11
+f 19 7 4
+f 20 16 10
+f 20 6 16
+f 20 17 6
+f 20 10 17
+f 21 19 6
+f 21 6 15
+f 21 15 5
+f 21 5 7
+f 21 7 19
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_12/collision/model_normalized_collision_12.obj b/objects/objaverse/cupcake/cupcake_12/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3812926f156e5274e4469caff4f7f49333450464
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_12/collision/model_normalized_collision_12.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.25105729 -0.01796957 -0.02988275
+v 0.28103951 -0.00752596 -0.23241454
+v 0.21767389 0.16217374 0.01145931
+v -0.17725822 0.17322766 0.01010896
+v -0.14900306 -0.01833160 -0.18343250
+v -0.17875249 0.15338965 -0.26004017
+v -0.14525540 -0.01796247 -0.00665105
+v 0.29039088 0.05742598 -0.09765950
+v 0.29039088 -0.01833160 -0.09765950
+v 0.25605550 0.14960962 -0.23408860
+v 0.18538229 -0.01694294 -0.02368839
+v 0.27679913 0.06684610 -0.23203177
+v 0.27523937 0.14833507 -0.09765950
+v 0.20289788 0.15750024 -0.23679695
+v 0.26024998 0.15257476 -0.21680396
+v 0.26960720 0.10413338 -0.23215383
+f 6 5 4
+f 6 2 5
+f 7 3 4
+f 7 4 5
+f 8 3 1
+f 9 5 2
+f 9 7 5
+f 9 1 7
+f 9 8 1
+f 9 2 8
+f 10 2 6
+f 11 7 1
+f 11 1 3
+f 11 3 7
+f 12 8 2
+f 12 2 10
+f 13 3 8
+f 13 8 12
+f 14 10 6
+f 14 6 4
+f 14 4 3
+f 15 3 13
+f 15 14 3
+f 15 10 14
+f 16 15 13
+f 16 13 12
+f 16 12 10
+f 16 10 15
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_12/collision/model_normalized_collision_13.obj b/objects/objaverse/cupcake/cupcake_12/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..36709d987cb9f88f990e251d920d2fd5b7eccec2
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_12/collision/model_normalized_collision_13.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.11314041 -0.28088324 -0.23120198
+v 0.16914870 -0.15094485 -0.49953899
+v 0.18285234 0.15002985 -0.25560882
+v -0.13385154 0.13318355 -0.18343250
+v -0.13130361 -0.18759946 -0.49953899
+v 0.16943372 -0.24686016 -0.23516676
+v 0.02874550 -0.22888200 -0.49953899
+v -0.11971758 -0.27118917 -0.23217102
+v -0.13383513 0.13317683 -0.49961435
+v 0.13481051 -0.18688750 -0.49953899
+v -0.11132390 -0.28250919 -0.23193706
+v 0.16872720 0.12788825 -0.49953899
+v 0.16352234 -0.22640599 -0.32060976
+v 0.08443050 -0.21458450 -0.49953899
+v -0.03434835 -0.27323336 -0.33578709
+v 0.10853696 -0.27547022 -0.25966840
+v -0.08443050 -0.21458450 -0.49953899
+v 0.03627982 -0.27215541 -0.33538931
+v -0.03153655 -0.22715637 -0.49953899
+f 6 3 4
+f 6 4 1
+f 6 2 3
+f 8 4 5
+f 9 5 4
+f 9 4 3
+f 10 9 2
+f 11 1 4
+f 11 4 8
+f 11 8 5
+f 12 9 3
+f 12 3 2
+f 12 2 9
+f 13 6 1
+f 13 10 2
+f 13 2 6
+f 14 7 9
+f 14 9 10
+f 14 10 13
+f 15 1 11
+f 16 7 14
+f 16 14 13
+f 16 13 1
+f 17 15 11
+f 17 11 5
+f 17 5 9
+f 18 15 7
+f 18 7 16
+f 18 16 1
+f 18 1 15
+f 19 7 15
+f 19 15 17
+f 19 17 9
+f 19 9 7
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_12/collision/model_normalized_collision_14.obj b/objects/objaverse/cupcake/cupcake_12/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fcb2d6e3aae95700f547c9602f2a3c8778577b57
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_12/collision/model_normalized_collision_14.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v -0.24212897 -0.16906986 -0.09765950
+v -0.23064017 -0.15341403 -0.23274054
+v -0.23752089 0.07178086 -0.05214509
+v -0.23967634 0.19330329 -0.09765950
+v -0.33105855 0.01949180 -0.12459355
+v -0.23880976 -0.07872290 -0.05246965
+v -0.30679601 -0.14570400 -0.09765950
+v -0.26715243 0.03767740 -0.27936219
+v -0.31901759 0.10720562 -0.09765950
+v -0.23916966 -0.17355306 -0.20176570
+v -0.24214463 -0.07641056 -0.04674820
+v -0.23838546 0.16728547 -0.23279023
+v -0.28613356 0.00765521 -0.27652318
+v -0.28628299 0.18034400 -0.09765950
+v -0.33074146 -0.06814294 -0.09765950
+v -0.29621768 -0.15363766 -0.09765950
+v -0.24034732 0.06793496 -0.04776428
+v -0.23856560 0.17800118 -0.17154347
+v -0.26372713 -0.01486243 -0.27864614
+v -0.28793347 0.09221861 -0.23068156
+v -0.27387698 -0.13021361 -0.23092583
+v -0.25274350 0.17653659 -0.17111441
+v -0.33295351 0.03013650 -0.09765950
+v -0.31378405 -0.06119442 -0.16954111
+v -0.29816438 0.01742224 -0.24532393
+v -0.31433689 0.10291245 -0.12323242
+v -0.25600611 0.16112971 -0.22901216
+v -0.26549393 -0.13690042 -0.23154039
+v -0.32857704 -0.06660897 -0.10834082
+v -0.29703058 -0.06572720 -0.21402286
+v -0.28520467 0.02562287 -0.27577586
+v -0.29986717 0.09609609 -0.18471866
+v -0.27392454 0.17621875 -0.13873170
+f 3 2 4
+f 6 1 2
+f 6 2 3
+f 10 2 1
+f 11 1 6
+f 11 6 3
+f 15 7 11
+f 16 10 1
+f 16 7 10
+f 16 11 7
+f 16 1 11
+f 17 11 3
+f 17 14 9
+f 17 3 4
+f 17 4 14
+f 18 12 4
+f 18 4 2
+f 18 2 12
+f 19 12 2
+f 19 8 12
+f 19 13 8
+f 21 10 7
+f 21 13 19
+f 22 14 4
+f 22 4 12
+f 23 9 5
+f 23 5 15
+f 23 17 9
+f 23 15 11
+f 23 11 17
+f 24 21 7
+f 25 24 5
+f 25 13 24
+f 26 5 9
+f 26 9 14
+f 27 12 8
+f 28 2 10
+f 28 10 21
+f 28 21 19
+f 28 19 2
+f 29 15 5
+f 29 5 24
+f 29 24 7
+f 29 7 15
+f 30 24 13
+f 30 13 21
+f 30 21 24
+f 31 25 20
+f 31 13 25
+f 31 20 27
+f 31 27 8
+f 31 8 13
+f 32 5 26
+f 32 25 5
+f 32 20 25
+f 32 26 14
+f 32 27 20
+f 32 14 27
+f 33 22 12
+f 33 12 27
+f 33 27 14
+f 33 14 22
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_12/collision/model_normalized_collision_15.obj b/objects/objaverse/cupcake/cupcake_12/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fdd9cdedc4e137a0fee438e4af31066391323a75
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_12/collision/model_normalized_collision_15.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v 0.20376250 -0.24536263 -0.11178436
+v 0.32735569 -0.07292035 -0.09765950
+v 0.22035663 -0.11805930 -0.02775225
+v 0.18979400 -0.01886972 -0.02576356
+v 0.28672971 -0.04952899 -0.26421547
+v 0.25105729 -0.01796957 -0.02988275
+v 0.18272475 -0.15310085 -0.03645287
+v 0.26125500 -0.21746551 -0.09765950
+v 0.18392436 -0.21495539 -0.23219805
+v 0.23602708 -0.09001509 -0.02816036
+v 0.28103951 -0.00752596 -0.23241454
+v 0.19250115 -0.14819932 -0.03093803
+v 0.27416228 -0.13034786 -0.22977085
+v 0.18433028 -0.01833160 -0.18343250
+v 0.17738918 -0.19169203 -0.07924509
+v 0.19811257 -0.24550717 -0.14369275
+v 0.25080726 -0.03275627 -0.02894306
+v 0.30679601 -0.14570400 -0.09765950
+v 0.30857864 -0.00433223 -0.14078607
+v 0.28940503 -0.05654383 -0.26045358
+v 0.23313712 -0.19420435 -0.23133193
+v 0.18687650 -0.20119245 -0.23546813
+v 0.20332807 -0.24568984 -0.11429163
+v 0.31089361 -0.01309136 -0.09765950
+v 0.29316794 -0.00403274 -0.20132467
+v 0.31901617 -0.06700952 -0.13881622
+v 0.25533497 -0.13678289 -0.24666994
+v 0.22398531 -0.19880645 -0.23073978
+v 0.32264645 -0.04422560 -0.09765950
+v 0.31932738 -0.05266970 -0.13971626
+v 0.28565796 -0.06043157 -0.26371072
+v 0.24176439 -0.13986645 -0.24741718
+f 10 4 3
+f 12 3 4
+f 12 4 7
+f 12 8 3
+f 12 7 1
+f 12 1 8
+f 14 11 5
+f 15 1 7
+f 15 14 9
+f 15 7 4
+f 15 4 14
+f 16 15 9
+f 17 10 2
+f 17 2 6
+f 17 6 4
+f 17 4 10
+f 18 2 10
+f 18 8 13
+f 18 10 3
+f 18 3 8
+f 19 4 6
+f 20 18 13
+f 21 13 8
+f 21 8 16
+f 22 14 5
+f 22 9 14
+f 23 16 8
+f 23 8 1
+f 23 1 15
+f 23 15 16
+f 24 19 6
+f 25 5 11
+f 25 11 14
+f 25 14 4
+f 25 4 19
+f 25 20 5
+f 26 2 18
+f 26 18 20
+f 27 13 21
+f 27 21 9
+f 28 21 16
+f 28 16 9
+f 28 9 21
+f 29 24 6
+f 29 6 2
+f 29 19 24
+f 30 25 19
+f 30 20 25
+f 30 26 20
+f 30 2 26
+f 30 29 2
+f 30 19 29
+f 31 20 13
+f 31 13 27
+f 31 5 20
+f 31 22 5
+f 32 27 9
+f 32 9 22
+f 32 31 27
+f 32 22 31
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_12/collision/model_normalized_collision_16.obj b/objects/objaverse/cupcake/cupcake_12/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9447d11be32e0f8428ee679c5bfae1bae229b0dc
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_12/collision/model_normalized_collision_16.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v 0.18392436 -0.21495539 -0.23219805
+v 0.27326594 -0.05346515 -0.32063732
+v 0.28341290 0.09648025 -0.23249680
+v 0.18285234 0.15002985 -0.25560882
+v 0.16914870 -0.15094485 -0.49953899
+v 0.25189655 0.13621779 -0.23336066
+v 0.26977559 -0.13309500 -0.23274926
+v 0.17250871 -0.21518846 -0.23534681
+v 0.21439211 0.07361057 -0.49953899
+v 0.23313712 -0.19420435 -0.23133193
+v 0.28512951 -0.06954677 -0.23291425
+v 0.20660794 -0.09976794 -0.49953899
+v 0.17541372 -0.21574400 -0.28142623
+v 0.16872720 0.12788825 -0.49953899
+v 0.27336686 0.01586209 -0.33633742
+v 0.21405371 0.13450591 -0.41101770
+v 0.25936953 -0.12338698 -0.28965643
+v 0.17671999 -0.14753200 -0.49953899
+v 0.16904191 -0.15277540 -0.48935665
+v 0.22913798 0.07323862 -0.45679694
+v 0.22843649 -0.04491353 -0.48780923
+v 0.24429340 0.13817587 -0.27732660
+v 0.19242797 0.12235253 -0.49953899
+v 0.18050459 0.16388381 -0.38570855
+v 0.21418157 -0.10212332 -0.47259116
+v 0.27557658 0.08929271 -0.27531040
+v 0.22611100 0.00576900 -0.49953899
+v 0.19657809 0.12341554 -0.48683364
+v 0.21266879 0.14887485 -0.35341155
+v 0.18549345 0.16336581 -0.35625978
+v 0.22077450 -0.05068600 -0.49953899
+v 0.22661988 0.01733183 -0.49953899
+v 0.21231686 0.14626114 -0.36808911
+f 8 6 4
+f 8 1 6
+f 10 6 1
+f 10 3 6
+f 11 7 2
+f 11 10 7
+f 11 3 10
+f 12 5 9
+f 13 1 8
+f 13 10 1
+f 14 8 4
+f 14 9 5
+f 15 11 2
+f 15 3 11
+f 17 2 7
+f 17 7 10
+f 18 5 12
+f 18 13 5
+f 18 10 13
+f 19 14 5
+f 19 8 14
+f 19 13 8
+f 19 5 13
+f 21 15 2
+f 22 6 3
+f 22 3 16
+f 23 9 14
+f 24 14 4
+f 24 23 14
+f 25 18 12
+f 25 17 10
+f 25 10 18
+f 25 12 21
+f 25 21 2
+f 25 2 17
+f 26 3 15
+f 26 15 20
+f 26 20 16
+f 26 16 3
+f 27 12 9
+f 28 20 9
+f 28 9 23
+f 28 16 20
+f 28 24 16
+f 28 23 24
+f 29 24 22
+f 30 24 4
+f 30 4 6
+f 30 6 22
+f 30 22 24
+f 31 27 21
+f 31 21 12
+f 31 12 27
+f 32 27 9
+f 32 9 20
+f 32 20 15
+f 32 15 21
+f 32 21 27
+f 33 29 22
+f 33 22 16
+f 33 16 24
+f 33 24 29
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_12/collision/model_normalized_collision_17.obj b/objects/objaverse/cupcake/cupcake_12/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..90ad3f7cce450c6be82dd541c22201222ed35f96
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_12/collision/model_normalized_collision_17.obj
@@ -0,0 +1,108 @@
+# https://github.com/mikedh/trimesh
+v -0.09703040 -0.23202493 0.04931113
+v -0.09770128 -0.23529516 -0.04871372
+v -0.09755011 -0.13223484 -0.01328893
+v -0.19907901 -0.13368828 0.07799751
+v -0.16882852 -0.20154899 0.00644239
+v -0.10213825 -0.13804307 0.15666515
+v -0.12542761 -0.22796069 0.01845996
+v -0.13679032 -0.18249240 0.10269250
+v -0.21946024 -0.13662322 0.00679803
+v -0.09689954 -0.16099591 0.14477563
+v -0.12491528 -0.13265649 0.14524459
+v -0.12107278 -0.22929026 -0.01818200
+v -0.16441001 -0.16895323 0.08864757
+v -0.13753051 -0.21261332 0.04467947
+v -0.15043151 -0.20202074 -0.05320260
+v -0.19312768 -0.17195056 0.01780724
+v -0.21257255 -0.13186416 0.04973411
+v -0.09780920 -0.20316098 0.10558808
+v -0.15135158 -0.15939954 0.11231244
+v -0.10901014 -0.22704127 0.04707830
+v -0.13681024 -0.19822603 0.07459138
+v -0.16350063 -0.19820974 0.03131005
+v -0.10480311 -0.20249697 -0.04895572
+v -0.19506129 -0.17384497 0.00463593
+v -0.14329889 -0.20700364 -0.05235736
+v -0.19171865 -0.15537009 0.06090838
+v -0.12296877 -0.18329249 0.11489006
+v -0.12250405 -0.14472407 0.14046433
+v -0.17749561 -0.15596882 0.08809484
+v -0.11013913 -0.21519237 0.07474421
+v -0.17774010 -0.18406094 0.03190152
+v -0.21318921 -0.14738694 0.00571873
+v -0.10866412 -0.22898704 -0.04783236
+v -0.20640098 -0.14235484 0.04804571
+v -0.10882015 -0.15837475 0.14037060
+v -0.19395400 -0.14386143 0.07528141
+v -0.11023446 -0.19860748 0.10285869
+f 1 2 3
+f 7 2 1
+f 10 1 3
+f 10 3 6
+f 11 6 3
+f 12 7 5
+f 12 2 7
+f 14 5 7
+f 15 9 3
+f 15 12 5
+f 17 3 9
+f 17 11 3
+f 17 4 11
+f 18 1 10
+f 19 13 8
+f 19 11 4
+f 20 14 7
+f 20 7 1
+f 21 8 13
+f 21 13 14
+f 22 14 13
+f 22 5 14
+f 23 15 3
+f 23 3 2
+f 23 2 15
+f 24 15 5
+f 24 5 16
+f 25 15 2
+f 25 12 15
+f 27 18 10
+f 27 19 8
+f 28 6 11
+f 28 11 19
+f 29 19 4
+f 29 13 19
+f 29 26 13
+f 30 20 1
+f 30 1 18
+f 30 8 21
+f 30 21 14
+f 30 14 20
+f 31 16 5
+f 31 5 22
+f 31 26 16
+f 31 22 13
+f 31 13 26
+f 32 9 15
+f 32 15 24
+f 32 17 9
+f 33 25 2
+f 33 2 12
+f 33 12 25
+f 34 16 26
+f 34 17 32
+f 34 32 24
+f 34 24 16
+f 35 28 19
+f 35 19 27
+f 35 27 10
+f 35 10 6
+f 35 6 28
+f 36 29 4
+f 36 26 29
+f 36 34 26
+f 36 4 17
+f 36 17 34
+f 37 27 8
+f 37 8 30
+f 37 30 18
+f 37 18 27
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_12/collision/model_normalized_collision_18.obj b/objects/objaverse/cupcake/cupcake_12/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f644d6df2ef78b3c680c931de7b1f1fdf82f4a74
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_12/collision/model_normalized_collision_18.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v 0.28216211 0.15138318 -0.09765950
+v 0.26024998 0.15257476 -0.21680396
+v 0.23210651 0.24583150 -0.09765950
+v 0.16765094 0.28356104 -0.11316326
+v 0.17087131 0.14972410 -0.04967819
+v 0.20745101 0.21957593 -0.22959214
+v 0.28301916 0.18246941 -0.09765950
+v 0.25605550 0.14960962 -0.23408860
+v 0.18753388 0.18006874 -0.04587393
+v 0.16480806 0.28144416 -0.12743446
+v 0.27947372 0.17702494 -0.12381913
+v 0.27224334 0.15407115 -0.15567104
+v 0.21263309 0.14706366 -0.05205776
+v 0.18647897 0.15300045 -0.25080964
+v 0.16881523 0.28160994 -0.11079382
+v 0.16816631 0.19251517 -0.05251163
+v 0.25950474 0.16335001 -0.21383378
+v 0.20655336 0.15739781 -0.04896830
+v 0.15761887 0.23752191 -0.21770632
+v 0.27325472 0.17207601 -0.15418111
+v 0.25065682 0.16415557 -0.23055612
+v 0.16809031 0.21872663 -0.23361543
+v 0.18646324 0.22119512 -0.23158271
+f 9 7 3
+f 10 4 3
+f 10 3 6
+f 11 7 1
+f 11 3 7
+f 12 8 2
+f 12 1 8
+f 12 11 1
+f 12 2 11
+f 13 8 1
+f 13 1 7
+f 14 6 8
+f 14 13 5
+f 14 8 13
+f 15 9 3
+f 15 3 4
+f 16 4 10
+f 16 15 4
+f 16 5 9
+f 16 9 15
+f 17 2 8
+f 18 9 5
+f 18 5 13
+f 18 13 7
+f 18 7 9
+f 19 10 6
+f 19 14 5
+f 19 16 10
+f 19 5 16
+f 20 11 2
+f 20 2 17
+f 20 3 11
+f 20 17 6
+f 20 6 3
+f 21 17 8
+f 21 8 6
+f 21 6 17
+f 22 14 19
+f 23 22 19
+f 23 19 6
+f 23 6 14
+f 23 14 22
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_12/collision/model_normalized_collision_19.obj b/objects/objaverse/cupcake/cupcake_12/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..80db74589d8436b749db26b10bedfcb73e7f4e62
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_12/collision/model_normalized_collision_19.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v 0.05437103 -0.00186381 0.29844882
+v 0.09697617 0.09064493 0.18113528
+v 0.03668315 0.05378347 0.28299684
+v -0.07105704 0.12733426 0.16701081
+v -0.14248197 -0.00252788 0.16699834
+v 0.07535905 0.12708801 0.16702328
+v 0.04884439 0.03204726 0.29455291
+v 0.05272055 -0.00330236 0.18637674
+v -0.04510171 0.03146969 0.29598643
+v -0.03256283 0.05437386 0.28303266
+v -0.12696706 0.08422374 0.16446796
+v 0.09123987 0.11474980 0.16987241
+v -0.01620121 -0.00520339 0.31070996
+v 0.03713492 0.04347002 0.29477247
+v -0.14230867 0.02623522 0.16653579
+v -0.09999035 0.11307184 0.16614110
+v -0.07102822 -0.00387226 0.27387662
+v -0.03388185 0.04386649 0.29412326
+v 0.04892021 0.04362903 0.28392314
+v -0.05579227 0.03122084 0.28399818
+v -0.03706050 -0.00353350 0.31061149
+v -0.06989564 0.00900412 0.27344143
+v -0.03814368 0.00810263 0.30912389
+v -0.01629849 0.00850324 0.30840273
+f 7 1 2
+f 8 2 1
+f 10 6 4
+f 10 3 6
+f 11 6 5
+f 12 6 3
+f 12 7 2
+f 12 2 8
+f 12 8 5
+f 12 5 6
+f 13 8 1
+f 13 5 8
+f 13 1 7
+f 14 3 10
+f 14 12 3
+f 14 13 7
+f 15 11 5
+f 16 10 4
+f 16 4 6
+f 16 6 11
+f 16 11 9
+f 17 5 13
+f 17 15 5
+f 18 14 10
+f 18 16 9
+f 18 10 16
+f 19 14 7
+f 19 7 12
+f 19 12 14
+f 20 9 11
+f 21 17 13
+f 22 9 20
+f 22 15 17
+f 22 20 11
+f 22 11 15
+f 23 18 9
+f 23 9 22
+f 23 22 17
+f 23 17 21
+f 23 14 18
+f 23 21 13
+f 24 23 13
+f 24 13 14
+f 24 14 23
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_12/collision/model_normalized_collision_2.obj b/objects/objaverse/cupcake/cupcake_12/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7ef4bc6791235b028e65932400dd6cf0b92a7c8e
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_12/collision/model_normalized_collision_2.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v -0.13047565 -0.24309081 -0.23390062
+v -0.13130361 -0.18759946 -0.49953899
+v -0.12510782 0.19248710 -0.44546403
+v -0.20816892 0.21729683 -0.23039542
+v -0.29117064 -0.06642113 -0.23165685
+v -0.14520670 0.21232813 -0.23700006
+v -0.11551931 -0.24045996 -0.30736297
+v -0.23293023 -0.19403320 -0.23231546
+v -0.22550330 0.01942065 -0.49953899
+v -0.13784493 0.20953595 -0.35674825
+v -0.16325513 0.21965847 -0.23382955
+v -0.17640192 -0.24644541 -0.23122185
+v -0.13587845 0.16655949 -0.49953899
+v -0.21041318 -0.10035006 -0.48784676
+v -0.28793347 0.09221861 -0.23068156
+v -0.20488893 0.21595337 -0.24466661
+v -0.15386537 -0.24457653 -0.23197105
+v -0.13481051 -0.18688750 -0.49953899
+v -0.22560524 -0.10750641 -0.42632139
+v -0.22529100 -0.04431350 -0.49953899
+v -0.28465279 0.01864184 -0.29098647
+v -0.19364950 0.12155700 -0.49953899
+v -0.15700351 0.16585450 -0.49953899
+v -0.17557801 -0.24299922 -0.24548003
+v -0.17671999 -0.14753200 -0.49953899
+v -0.28528725 -0.05575838 -0.27580800
+v -0.25276375 0.01456584 -0.41195633
+v -0.22407185 0.07320004 -0.47193431
+v -0.25553067 0.16082799 -0.23107480
+v -0.19622285 0.20761908 -0.28967456
+v -0.21284850 0.07529350 -0.49953899
+f 7 2 3
+f 7 6 1
+f 7 3 6
+f 10 6 3
+f 11 1 6
+f 11 10 4
+f 11 6 10
+f 12 5 8
+f 12 7 1
+f 13 3 2
+f 13 2 9
+f 15 12 4
+f 15 5 12
+f 16 10 3
+f 16 4 10
+f 17 11 4
+f 17 1 11
+f 17 12 1
+f 17 4 12
+f 18 2 7
+f 18 9 2
+f 19 14 8
+f 19 8 5
+f 20 9 18
+f 21 5 15
+f 22 13 9
+f 23 3 13
+f 23 13 22
+f 24 12 8
+f 24 18 7
+f 24 7 12
+f 25 8 14
+f 25 20 18
+f 25 14 20
+f 25 24 8
+f 25 18 24
+f 26 19 5
+f 26 5 21
+f 26 20 14
+f 26 14 19
+f 27 21 15
+f 27 9 20
+f 27 26 21
+f 27 20 26
+f 28 15 22
+f 28 27 15
+f 28 9 27
+f 29 22 15
+f 29 15 4
+f 29 4 16
+f 29 23 22
+f 30 16 3
+f 30 3 23
+f 30 29 16
+f 30 23 29
+f 31 28 22
+f 31 22 9
+f 31 9 28
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_12/collision/model_normalized_collision_20.obj b/objects/objaverse/cupcake/cupcake_12/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..56bace694e33b9cee44492dceacb260ebd709b5c
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_12/collision/model_normalized_collision_20.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.04249600 -0.33772901 -0.09765950
+v 0.12596129 -0.28674794 -0.17179600
+v 0.13845184 -0.29093993 -0.09765950
+v -0.06046485 -0.29210882 -0.09765950
+v -0.04001976 -0.28633141 -0.27892262
+v 0.12918798 -0.31204776 -0.09765950
+v 0.03735215 -0.28904142 -0.27528972
+v -0.04754750 -0.33460599 -0.09765950
+v -0.04758015 -0.28426765 -0.26290247
+v -0.03640886 -0.28954408 -0.27556550
+v 0.11456498 -0.29069520 -0.19968679
+v 0.04373514 -0.28421482 -0.27830457
+v -0.06267737 -0.31524227 -0.09765950
+v -0.04548291 -0.28850502 -0.25991144
+v 0.04211341 -0.33470046 -0.10884135
+v -0.04619485 -0.33241807 -0.10801632
+v 0.12194634 -0.30508540 -0.13810661
+v 0.12396620 -0.29187585 -0.16910555
+v 0.11825063 -0.28579638 -0.20265961
+v -0.05626524 -0.32554531 -0.09765950
+v -0.06068680 -0.31408960 -0.11116458
+v -0.05446026 -0.32437941 -0.10961795
+f 1 3 4
+f 3 2 4
+f 6 2 3
+f 6 3 1
+f 8 1 4
+f 9 4 2
+f 10 5 7
+f 12 7 5
+f 12 5 9
+f 12 11 7
+f 13 8 4
+f 13 4 9
+f 14 9 5
+f 14 5 8
+f 15 10 7
+f 15 1 10
+f 15 11 1
+f 15 7 11
+f 16 10 1
+f 16 1 8
+f 16 8 5
+f 16 5 10
+f 17 6 1
+f 17 1 11
+f 18 2 6
+f 18 6 17
+f 19 12 9
+f 19 9 2
+f 19 11 12
+f 19 2 18
+f 19 18 17
+f 19 17 11
+f 20 8 13
+f 21 20 13
+f 21 13 9
+f 21 9 20
+f 22 14 8
+f 22 8 20
+f 22 20 9
+f 22 9 14
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_12/collision/model_normalized_collision_21.obj b/objects/objaverse/cupcake/cupcake_12/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c51e1cda241b7fb870a25f7f3efb61de883dc4b2
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_12/collision/model_normalized_collision_21.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v 0.19646993 -0.27622107 -0.09765950
+v 0.19957546 -0.19784234 -0.23445514
+v 0.20616768 -0.24541610 -0.09765950
+v 0.20023039 -0.20076413 -0.11315646
+v 0.13343585 -0.23542695 -0.08905208
+v 0.20289912 -0.26927540 -0.09765950
+v 0.16302261 -0.22571817 -0.32372403
+v 0.16851380 -0.19890372 -0.24350913
+v 0.13887573 -0.26075584 -0.09765950
+v 0.18787447 -0.25992387 -0.16884973
+v 0.16679508 -0.22054214 -0.32075492
+v 0.16833912 -0.20013111 -0.32561453
+v 0.15499960 -0.24168687 -0.24927472
+v 0.17333668 -0.27430859 -0.09765950
+v 0.19590142 -0.27342030 -0.10916617
+v 0.19794461 -0.25652524 -0.14028497
+v 0.16877355 -0.19980390 -0.32310726
+v 0.17362163 -0.25800917 -0.18608028
+v 0.15965662 -0.25717630 -0.17091122
+v 0.19724130 -0.26607770 -0.12382609
+v 0.15843163 -0.24301268 -0.24671504
+v 0.18057134 -0.25738911 -0.18470080
+v 0.17387664 -0.27213338 -0.11013251
+f 3 2 4
+f 5 3 4
+f 6 2 3
+f 6 5 1
+f 6 3 5
+f 8 5 4
+f 8 4 2
+f 11 10 7
+f 12 7 5
+f 12 5 8
+f 12 11 7
+f 12 2 11
+f 13 9 5
+f 13 5 7
+f 14 1 5
+f 14 5 9
+f 15 6 1
+f 15 7 10
+f 16 11 2
+f 16 2 6
+f 16 10 11
+f 17 12 8
+f 17 8 2
+f 17 2 12
+f 19 14 9
+f 19 9 13
+f 19 13 14
+f 20 15 10
+f 20 6 15
+f 20 16 6
+f 20 10 16
+f 21 18 13
+f 21 13 7
+f 21 7 18
+f 22 18 7
+f 22 1 18
+f 22 15 1
+f 22 7 15
+f 23 18 1
+f 23 1 14
+f 23 14 13
+f 23 13 18
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_12/collision/model_normalized_collision_22.obj b/objects/objaverse/cupcake/cupcake_12/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..657bdf9a9d6a8f14213dc6dd3dae6a3fc4813bfd
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_12/collision/model_normalized_collision_22.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v 0.03175436 -0.15385268 0.49692366
+v 0.03266001 -0.14213046 0.44238118
+v 0.01720465 -0.01773502 0.34219374
+v 0.00694950 -0.01037500 0.33814999
+v 0.01966876 -0.12351264 0.43036030
+v 0.02121405 -0.09823839 0.40279507
+v 0.01367494 -0.03175904 0.37041230
+v 0.03213109 -0.12850059 0.42971555
+v 0.02691828 -0.15097146 0.45509123
+v 0.02830650 -0.15128499 0.49898401
+v 0.00838642 -0.02341098 0.34538724
+v 0.01961050 -0.11225742 0.41495315
+v 0.01796971 -0.02792664 0.36379291
+v 0.03336473 -0.15499617 0.46657979
+v 0.02558954 -0.09902884 0.40380312
+v 0.00958672 -0.03166050 0.37024442
+v 0.02915700 -0.15369549 0.49818751
+v 0.01716739 -0.10389249 0.41489574
+v 0.01309250 -0.01524850 0.34989250
+v 0.03056700 -0.15184849 0.49932900
+v 0.03254129 -0.13532134 0.43957093
+v 0.02983150 -0.15203249 0.45550451
+v 0.00761732 -0.01539959 0.34959718
+v 0.01374140 -0.01056845 0.33830222
+f 10 5 9
+f 11 4 3
+f 12 11 6
+f 12 9 5
+f 12 2 9
+f 12 8 2
+f 12 6 8
+f 13 8 3
+f 13 1 8
+f 15 8 6
+f 15 3 8
+f 15 11 3
+f 15 6 11
+f 16 10 7
+f 17 10 9
+f 17 14 1
+f 17 9 14
+f 18 4 11
+f 18 5 10
+f 18 10 16
+f 18 12 5
+f 18 11 12
+f 19 7 13
+f 19 16 7
+f 20 1 13
+f 20 17 1
+f 20 10 17
+f 20 13 7
+f 20 7 10
+f 21 8 1
+f 21 1 14
+f 21 14 2
+f 21 2 8
+f 22 14 9
+f 22 9 2
+f 22 2 14
+f 23 18 16
+f 23 4 18
+f 23 19 4
+f 23 16 19
+f 24 19 13
+f 24 13 3
+f 24 3 4
+f 24 4 19
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_12/collision/model_normalized_collision_23.obj b/objects/objaverse/cupcake/cupcake_12/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..53958b1c7d4e757767dc376fd70c7562705c9f84
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_12/collision/model_normalized_collision_23.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v -0.14880528 -0.21500050 0.00759388
+v -0.14329889 -0.20700364 -0.05235736
+v -0.14525981 0.20419037 0.00760093
+v -0.23456420 0.20949618 -0.09765950
+v -0.24198032 -0.16912195 -0.09879015
+v -0.15763654 0.21946115 -0.09174084
+v -0.25314156 -0.03160580 0.00460181
+v -0.15646341 -0.17898644 -0.10566383
+v -0.20691211 -0.15751082 0.00434417
+v -0.23648603 -0.10207431 0.00536841
+v -0.23724348 0.07972841 0.00367404
+v -0.27021518 0.13318355 -0.09765950
+v -0.16882852 -0.20154899 0.00644239
+v -0.15361588 0.19696580 0.00753046
+v -0.25321777 -0.04601216 -0.00856098
+v -0.24212897 -0.16906986 -0.09765950
+v -0.26559700 0.07117660 -0.10087643
+v -0.25255706 0.02467315 0.00310691
+v -0.20685462 0.13572366 0.00562793
+f 1 2 3
+f 5 2 1
+f 6 3 2
+f 6 4 3
+f 8 4 6
+f 8 6 2
+f 8 2 5
+f 12 11 4
+f 13 10 9
+f 13 1 10
+f 14 10 1
+f 14 1 3
+f 14 7 10
+f 14 3 4
+f 15 10 7
+f 15 7 12
+f 16 9 10
+f 16 13 9
+f 16 5 1
+f 16 1 13
+f 16 10 15
+f 17 8 5
+f 17 5 16
+f 17 16 15
+f 17 15 12
+f 17 12 4
+f 17 4 8
+f 18 12 7
+f 18 7 11
+f 18 11 12
+f 19 11 7
+f 19 7 14
+f 19 14 4
+f 19 4 11
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_12/collision/model_normalized_collision_24.obj b/objects/objaverse/cupcake/cupcake_12/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8125c0488f8615c4fa2287bce20478c1facc1223
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_12/collision/model_normalized_collision_24.obj
@@ -0,0 +1,162 @@
+# https://github.com/mikedh/trimesh
+v 0.15129613 -0.21096623 0.00841654
+v 0.25859061 -0.07256306 0.00439076
+v 0.14493009 -0.04576449 0.15153151
+v 0.15275853 0.22208775 0.00715039
+v 0.17345775 0.20878686 0.00379047
+v 0.14634517 0.21198153 0.04857106
+v 0.19636981 -0.15857740 0.03910231
+v 0.19929031 -0.17082056 0.00605710
+v 0.14579010 -0.20364818 0.04709265
+v 0.17176634 0.20635992 0.01667310
+v 0.24248227 -0.04275601 0.05438173
+v 0.19743800 -0.17027250 0.01735850
+v 0.14552936 0.16946431 0.09993456
+v 0.15551614 -0.15857018 0.08144915
+v 0.15755780 0.20571484 0.04630183
+v 0.24250510 -0.07072597 0.03945560
+v 0.26020075 0.08280950 0.00650811
+v 0.25602749 -0.07157373 0.01551053
+v 0.15547144 -0.19808165 0.04381125
+v 0.18387413 -0.18448583 0.01802186
+v 0.24246065 0.08334232 0.05710122
+v 0.14579484 -0.16251291 0.08570811
+v 0.18420169 -0.11574925 0.08117854
+v 0.14779832 0.19963682 0.07636708
+v 0.22638431 0.13705462 0.04589909
+v 0.25577144 -0.05702605 0.02756148
+v 0.16145011 -0.20429724 0.00955231
+v 0.14642911 0.07017171 0.15092377
+v 0.25702128 -0.01569112 0.04412264
+v 0.21301390 -0.08578318 0.06762220
+v 0.19786598 -0.11517764 0.06761781
+v 0.15838218 0.19420111 0.07358695
+v 0.21527489 0.16697629 0.00532361
+v 0.23998284 0.11077631 0.04442696
+v 0.18551779 -0.18473763 0.00730035
+v 0.14592840 0.11304533 0.13392500
+v 0.25667523 0.03976494 0.04516358
+v 0.18364632 -0.08591024 0.09634569
+v 0.17036002 0.19104192 0.06124835
+v 0.24283804 0.12409245 0.00637248
+v 0.19835981 0.17790116 0.03169101
+v 0.22753928 0.12448442 0.05727721
+v 0.25759335 0.06874978 0.03091272
+v 0.15495062 0.06804071 0.14366348
+v 0.21170101 0.15152749 0.05747550
+v 0.24164177 0.12295447 0.01927468
+v 0.18388030 0.19155971 0.03137953
+v 0.18470454 0.12529205 0.09599798
+v 0.22940298 0.09755480 0.06652336
+v 0.25846632 0.08288735 0.01784064
+v 0.21362789 0.16523044 0.01912267
+v 0.18600371 0.15422133 0.08099495
+v 0.15540823 0.11038729 0.12747099
+v 0.16870872 0.08200554 0.12679131
+v 0.15658140 0.16691246 0.09479479
+f 5 1 4
+f 6 4 1
+f 8 5 2
+f 8 1 5
+f 9 6 1
+f 10 5 4
+f 12 8 2
+f 13 9 3
+f 13 6 9
+f 15 10 4
+f 15 4 6
+f 18 12 2
+f 18 7 12
+f 18 16 7
+f 19 14 9
+f 19 7 14
+f 20 8 12
+f 20 12 7
+f 20 7 19
+f 22 14 3
+f 22 3 9
+f 22 9 14
+f 23 3 14
+f 24 6 13
+f 26 11 16
+f 26 16 18
+f 26 18 2
+f 27 19 9
+f 27 9 1
+f 27 20 19
+f 29 3 11
+f 29 11 26
+f 29 26 2
+f 29 2 17
+f 30 11 3
+f 30 16 11
+f 31 23 14
+f 31 14 7
+f 31 30 23
+f 31 7 16
+f 31 16 30
+f 32 15 6
+f 32 6 24
+f 33 17 2
+f 33 2 5
+f 35 27 1
+f 35 1 8
+f 35 8 20
+f 35 20 27
+f 36 13 3
+f 36 3 28
+f 37 29 17
+f 38 30 3
+f 38 3 23
+f 38 23 30
+f 39 10 15
+f 39 15 32
+f 40 17 33
+f 41 33 5
+f 42 34 25
+f 42 21 34
+f 43 34 21
+f 43 37 17
+f 43 21 37
+f 44 37 21
+f 44 28 3
+f 44 3 29
+f 44 29 37
+f 45 39 32
+f 45 41 39
+f 45 42 25
+f 46 40 33
+f 46 25 34
+f 46 17 40
+f 47 41 5
+f 47 5 10
+f 47 10 39
+f 47 39 41
+f 49 21 42
+f 49 44 21
+f 49 28 44
+f 49 42 48
+f 50 43 17
+f 50 34 43
+f 50 46 34
+f 50 17 46
+f 51 45 25
+f 51 33 41
+f 51 41 45
+f 51 46 33
+f 51 25 46
+f 52 45 32
+f 52 48 42
+f 52 42 45
+f 53 36 28
+f 53 28 48
+f 53 52 36
+f 53 48 52
+f 54 49 48
+f 54 48 28
+f 54 28 49
+f 55 52 32
+f 55 13 36
+f 55 36 52
+f 55 32 24
+f 55 24 13
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_12/collision/model_normalized_collision_25.obj b/objects/objaverse/cupcake/cupcake_12/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c956aba5d8669d51bd2f0fe1d6e3cfe3760ab4b6
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_12/collision/model_normalized_collision_25.obj
@@ -0,0 +1,183 @@
+# https://github.com/mikedh/trimesh
+v 0.14401565 -0.00161998 0.16098381
+v 0.15005053 -0.00278839 -0.00752050
+v 0.14663411 0.22614907 0.00481317
+v -0.03971689 0.25198643 0.03452167
+v -0.25355149 -0.00325112 0.00725084
+v 0.08651071 0.13380016 0.15692108
+v 0.14490733 0.19593318 0.08141442
+v -0.23768438 -0.00429781 0.06125415
+v -0.22298664 0.10876653 0.00430925
+v 0.12646650 0.09493382 0.15878101
+v 0.08734618 0.23608274 0.06167724
+v -0.15058024 -0.00180075 0.15960330
+v 0.07436427 0.25405838 0.00480368
+v -0.24185259 0.06737098 0.00452629
+v 0.11391916 0.13579065 0.14189788
+v 0.13996797 0.10843544 0.14100410
+v 0.14262021 0.20459695 0.07374442
+v -0.04060304 0.16450106 0.14273227
+v 0.11459701 0.21988554 0.07336727
+v -0.22521973 -0.00382155 0.08785565
+v -0.08289225 0.13505902 0.15717409
+v 0.11803686 0.23955408 0.00445761
+v -0.08299336 0.24081802 0.00811947
+v 0.03256476 0.25166782 0.04493352
+v -0.23524397 0.06637632 0.03230297
+v 0.13920890 0.06788559 0.15831436
+v 0.03074036 0.16342222 0.14350648
+v 0.11661825 0.19436626 0.09532826
+v 0.14329260 0.21994140 0.03108752
+v -0.13639242 0.08241938 0.15812064
+v -0.09672151 0.22410366 0.05312554
+v 0.07324627 0.25159563 0.01902761
+v -0.03930945 0.25392694 0.00701482
+v -0.02670553 0.19263578 0.11498023
+v -0.23671372 0.01013227 0.06078485
+v -0.22050342 0.09430377 0.04827292
+v 0.03127282 0.19326405 0.11385165
+v 0.11662251 0.23691321 0.01777808
+v -0.14797708 0.03905377 0.15854249
+v -0.04065678 0.17876022 0.12895485
+v -0.08353116 0.23848676 0.04185274
+v -0.16271358 0.17794618 0.05843254
+v 0.05948691 0.25170253 0.03363892
+v -0.13781580 0.21014332 0.00771666
+v 0.00324893 0.25148389 0.04426039
+v -0.22059539 0.10808982 0.01919321
+v -0.20996179 0.08127969 0.08388141
+v 0.10039496 0.23519211 0.04711859
+v -0.07945146 0.19091099 0.09848499
+v -0.05459833 0.23707543 0.05347076
+v -0.10919928 0.12096398 0.15612070
+v -0.13646451 0.20798750 0.04689300
+v -0.19487775 0.15241752 0.00604788
+v -0.20624339 0.12308306 0.04842535
+v -0.17990470 0.15037003 0.06793861
+v -0.22258080 0.02481643 0.08757518
+v -0.22123428 0.06688978 0.07365908
+v -0.12151687 0.10808637 0.15668320
+v -0.15002553 0.19188067 0.05529106
+v -0.19201719 0.15078159 0.03496721
+v -0.20487535 0.10802899 0.07254907
+v -0.16737408 0.16603175 0.06561149
+f 7 1 2
+f 7 2 3
+f 8 5 2
+f 8 2 1
+f 13 2 9
+f 14 9 2
+f 14 2 5
+f 15 7 6
+f 15 6 10
+f 16 1 7
+f 16 15 10
+f 16 7 15
+f 17 7 3
+f 19 7 17
+f 20 8 1
+f 20 1 12
+f 21 10 6
+f 21 1 10
+f 22 3 2
+f 22 2 13
+f 25 14 5
+f 26 16 10
+f 26 10 1
+f 26 1 16
+f 27 6 19
+f 27 21 6
+f 27 18 21
+f 28 19 6
+f 28 6 7
+f 28 7 19
+f 29 19 17
+f 29 17 3
+f 30 12 1
+f 30 1 21
+f 32 22 13
+f 33 13 9
+f 33 24 13
+f 33 4 24
+f 35 25 5
+f 35 5 8
+f 35 8 20
+f 36 14 25
+f 37 27 19
+f 37 19 11
+f 37 11 24
+f 37 24 34
+f 38 29 3
+f 38 3 22
+f 38 32 11
+f 38 22 32
+f 39 20 12
+f 39 12 30
+f 40 21 18
+f 40 18 27
+f 40 37 34
+f 40 27 37
+f 41 33 23
+f 41 4 33
+f 41 31 40
+f 43 24 11
+f 43 11 32
+f 43 32 13
+f 43 13 24
+f 44 23 33
+f 44 41 23
+f 45 34 24
+f 45 24 4
+f 46 9 14
+f 46 14 36
+f 48 38 11
+f 48 11 19
+f 48 19 29
+f 48 29 38
+f 49 40 31
+f 49 31 21
+f 49 21 40
+f 50 41 40
+f 50 40 34
+f 50 4 41
+f 50 45 4
+f 50 34 45
+f 52 31 41
+f 52 41 44
+f 52 51 21
+f 52 21 31
+f 53 52 44
+f 53 44 33
+f 53 33 9
+f 54 46 36
+f 54 9 46
+f 56 39 30
+f 56 30 47
+f 56 20 39
+f 56 35 20
+f 57 36 25
+f 57 56 47
+f 57 25 35
+f 57 35 56
+f 58 30 21
+f 58 21 51
+f 59 52 42
+f 59 42 51
+f 59 51 52
+f 60 42 52
+f 60 52 53
+f 60 53 9
+f 60 9 54
+f 60 55 42
+f 60 54 55
+f 61 54 36
+f 61 55 54
+f 61 58 55
+f 61 47 30
+f 61 30 58
+f 61 57 47
+f 61 36 57
+f 62 51 42
+f 62 42 55
+f 62 58 51
+f 62 55 58
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_12/collision/model_normalized_collision_26.obj b/objects/objaverse/cupcake/cupcake_12/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..53c40afe1cec86dd300a2638edea6ce0386aef7c
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_12/collision/model_normalized_collision_26.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v 0.01727689 0.23531754 -0.05701993
+v 0.02499503 0.24891806 -0.24511464
+v 0.01050500 0.33293599 -0.09765950
+v -0.09330500 0.31982151 -0.09765950
+v -0.18118285 0.22805926 -0.18746223
+v -0.00535036 0.29902609 -0.23048716
+v -0.05650645 0.24960107 -0.03779257
+v 0.01533327 0.26243456 -0.04949987
+v 0.00938555 0.29731319 -0.23001779
+v -0.08146726 0.31595658 -0.13971500
+v -0.15489082 0.23786432 -0.23325330
+v -0.01157202 0.33166701 -0.09765950
+v -0.08749015 0.23713484 -0.03777998
+v -0.00437485 0.31203955 -0.18444893
+v -0.07925154 0.28852789 -0.23123370
+v -0.16709377 0.29075659 -0.09765950
+v -0.08169860 0.23973574 -0.03738844
+v 0.00907945 0.32649060 -0.12365164
+v -0.00487065 0.32827772 -0.12413952
+v -0.07738483 0.30005659 -0.19984598
+v -0.14976428 0.25883178 -0.23039244
+v -0.17930609 0.23924416 -0.09765950
+v 0.00858409 0.31025225 -0.18396101
+v -0.15595945 0.28235200 -0.15382699
+v -0.16249597 0.27342918 -0.15417476
+v -0.14809784 0.26805179 -0.21360276
+f 5 2 1
+f 8 1 2
+f 8 2 3
+f 8 7 1
+f 8 3 7
+f 9 3 2
+f 9 2 6
+f 11 2 5
+f 12 7 3
+f 12 4 7
+f 12 10 4
+f 13 5 1
+f 14 9 6
+f 15 6 2
+f 15 2 11
+f 16 4 10
+f 17 13 1
+f 17 1 7
+f 17 16 13
+f 17 7 4
+f 17 4 16
+f 18 3 9
+f 19 12 3
+f 19 18 14
+f 19 3 18
+f 19 14 10
+f 19 10 12
+f 20 14 6
+f 20 10 14
+f 20 6 15
+f 21 11 5
+f 21 15 11
+f 22 16 5
+f 22 5 13
+f 22 13 16
+f 23 18 9
+f 23 9 14
+f 23 14 18
+f 24 16 10
+f 25 21 5
+f 25 5 16
+f 25 16 24
+f 26 20 15
+f 26 15 21
+f 26 25 24
+f 26 21 25
+f 26 24 10
+f 26 10 20
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_12/collision/model_normalized_collision_27.obj b/objects/objaverse/cupcake/cupcake_12/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd636be95d3443aeca0cd7688070a45561e3d91e
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_12/collision/model_normalized_collision_27.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.21592585 -0.15248127 -0.23578094
+v -0.19371720 -0.13971637 -0.41653718
+v -0.23133636 -0.08458828 -0.25174534
+v -0.19970859 -0.11863836 -0.42094251
+v -0.27387698 -0.13021361 -0.23092583
+v -0.22007234 -0.15932166 -0.29198470
+v -0.22789654 -0.11021072 -0.41205020
+v -0.26281690 -0.09794475 -0.23342753
+v -0.19489676 -0.14293783 -0.41408797
+v -0.25198569 -0.14030578 -0.23234218
+v -0.22827891 -0.09945016 -0.41436509
+v -0.24040353 -0.11446233 -0.36643661
+v -0.26934030 -0.11662619 -0.24682926
+v -0.27173552 -0.11552239 -0.23215163
+v -0.25113515 -0.10288112 -0.30683112
+f 1 2 3
+f 3 2 4
+f 7 4 2
+f 8 1 3
+f 9 2 1
+f 9 1 6
+f 9 7 2
+f 9 6 5
+f 10 6 1
+f 10 5 6
+f 10 8 5
+f 10 1 8
+f 11 3 4
+f 11 4 7
+f 11 8 3
+f 12 9 5
+f 12 7 9
+f 12 11 7
+f 12 5 11
+f 13 11 5
+f 14 13 5
+f 14 5 8
+f 15 14 8
+f 15 8 11
+f 15 11 13
+f 15 13 14
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_12/collision/model_normalized_collision_28.obj b/objects/objaverse/cupcake/cupcake_12/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5258b04aa2e867df9fffa8dfd4060aaebedad74c
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_12/collision/model_normalized_collision_28.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v 0.17726205 -0.19206355 0.00813962
+v 0.24498970 -0.10176983 -0.01310512
+v 0.22893795 -0.07854634 0.05238750
+v 0.17190545 -0.07254203 -0.02330488
+v 0.17703099 -0.16280200 -0.03192321
+v 0.24700451 -0.07386474 -0.02417043
+v 0.20948596 -0.12162820 0.04910171
+v 0.19980846 -0.16945676 -0.00039179
+v 0.17598997 -0.18935044 -0.00013896
+v 0.24844083 -0.07372124 0.02953549
+v 0.18715431 -0.08044711 -0.03297650
+v 0.22901992 -0.11393557 -0.02201105
+v 0.20531517 -0.13442849 0.04546798
+v 0.18527885 -0.18346683 0.00164209
+v 0.22763798 -0.10048595 0.03986351
+v 0.22773611 -0.12866905 0.01645029
+v 0.23568394 -0.07459706 0.04597832
+v 0.24448815 -0.08659600 -0.02170030
+v 0.23015035 -0.12820883 -0.01017552
+v 0.18551779 -0.18473763 0.00730035
+v 0.21248007 -0.13025551 0.03934656
+v 0.24304782 -0.10093015 0.01646969
+v 0.24451031 -0.08657476 0.02669742
+v 0.18815079 -0.15769757 -0.02589066
+v 0.19929031 -0.17082056 0.00605710
+v 0.21293411 -0.14390469 0.02795991
+f 7 3 4
+f 9 1 4
+f 9 4 5
+f 10 2 6
+f 10 6 4
+f 11 6 5
+f 11 5 4
+f 11 4 6
+f 12 5 6
+f 13 7 4
+f 13 4 1
+f 14 1 9
+f 14 9 5
+f 14 5 8
+f 15 3 7
+f 17 10 4
+f 17 4 3
+f 18 12 6
+f 18 6 2
+f 18 2 12
+f 19 12 2
+f 19 2 16
+f 20 14 8
+f 20 1 14
+f 21 15 7
+f 21 7 13
+f 22 16 2
+f 22 2 10
+f 23 10 17
+f 23 22 10
+f 23 15 21
+f 23 17 3
+f 23 3 15
+f 24 19 8
+f 24 8 5
+f 24 5 12
+f 24 12 19
+f 25 19 16
+f 25 8 19
+f 25 20 8
+f 26 13 1
+f 26 1 20
+f 26 20 25
+f 26 25 16
+f 26 21 13
+f 26 16 22
+f 26 23 21
+f 26 22 23
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_12/collision/model_normalized_collision_29.obj b/objects/objaverse/cupcake/cupcake_12/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fbc48e720706188d223bb36e9c6faf82fd281647
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_12/collision/model_normalized_collision_29.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.13955769 -0.28699881 -0.09765950
+v 0.16851380 -0.19890372 -0.24350913
+v 0.16272781 -0.21075142 -0.08461720
+v -0.05838131 -0.20045276 -0.11868230
+v -0.05201096 -0.28712966 -0.23354725
+v -0.06031658 -0.29204316 -0.09882349
+v 0.15779595 -0.24557230 -0.23203738
+v -0.05809599 -0.22703952 -0.26016464
+v 0.11314041 -0.28088324 -0.23120198
+v 0.12180424 -0.28280927 -0.20068112
+v 0.11343812 -0.21229324 -0.25470259
+v 0.13500478 -0.28572129 -0.12542277
+f 3 2 4
+f 6 1 3
+f 6 3 4
+f 6 5 1
+f 7 2 3
+f 7 3 1
+f 8 4 2
+f 8 6 4
+f 8 5 6
+f 9 5 8
+f 10 9 7
+f 10 1 5
+f 10 5 9
+f 11 9 8
+f 11 8 2
+f 11 2 7
+f 11 7 9
+f 12 10 7
+f 12 7 1
+f 12 1 10
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_12/collision/model_normalized_collision_3.obj b/objects/objaverse/cupcake/cupcake_12/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f8b24091638af30d2aea8c328ed3bed710172d7
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_12/collision/model_normalized_collision_3.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.01954269 -0.16268861 0.15519712
+v 0.14613609 -0.07503736 0.13652254
+v 0.01460280 -0.00613284 0.31030268
+v 0.09123987 0.11474980 0.16987241
+v 0.01391405 -0.00334198 0.16817666
+v 0.05980962 0.03088220 0.28270195
+v 0.02174880 -0.06328458 0.28225070
+v 0.08797501 -0.14823564 0.13842370
+v 0.10295697 0.11204631 0.16541961
+v 0.01122248 -0.05466872 0.29626921
+v 0.06093487 0.08398766 0.19552332
+v 0.05353522 0.03504901 0.28738727
+v 0.06272602 -0.02400375 0.28265658
+v 0.01221306 -0.06668645 0.28476762
+v 0.15735069 -0.00345289 0.14739638
+v 0.01655700 -0.14891510 0.16509417
+v 0.06715373 0.09355653 0.19004552
+v 0.11673627 0.09763897 0.16499539
+v 0.05198119 -0.02315022 0.29289679
+v 0.11699862 -0.11898022 0.13781326
+v 0.08358174 -0.14317202 0.14826445
+v 0.05437103 -0.00186381 0.29844882
+v 0.13080287 0.06983450 0.16548066
+v 0.02089353 -0.05169760 0.29286034
+v 0.13018446 -0.10339880 0.13615642
+f 8 1 5
+f 9 5 4
+f 9 8 5
+f 9 2 8
+f 10 3 5
+f 11 5 3
+f 12 9 4
+f 14 7 10
+f 15 2 9
+f 15 13 2
+f 16 10 5
+f 16 5 1
+f 16 14 10
+f 16 1 14
+f 17 4 5
+f 17 5 11
+f 17 12 4
+f 17 11 3
+f 17 3 12
+f 18 12 6
+f 18 9 12
+f 18 15 9
+f 19 7 13
+f 19 3 10
+f 21 13 7
+f 21 20 13
+f 21 8 20
+f 21 7 14
+f 21 14 1
+f 21 1 8
+f 22 15 6
+f 22 13 15
+f 22 19 13
+f 22 6 12
+f 22 12 3
+f 22 3 19
+f 23 18 6
+f 23 6 15
+f 23 15 18
+f 24 19 10
+f 24 10 7
+f 24 7 19
+f 25 20 8
+f 25 8 2
+f 25 2 13
+f 25 13 20
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_12/collision/model_normalized_collision_30.obj b/objects/objaverse/cupcake/cupcake_12/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6738fdfd37fa3294f070a9c1fe8fa76801952e03
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_12/collision/model_normalized_collision_30.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.17726205 -0.19206355 0.00813962
+v 0.18687650 -0.20119245 -0.23546813
+v 0.18433028 -0.01833160 -0.18343250
+v -0.14525540 -0.01796247 -0.00665105
+v -0.15569197 -0.21051780 0.00671597
+v -0.16734353 -0.19857288 -0.24555597
+v 0.17278733 -0.01719473 -0.01801950
+v -0.14900306 -0.01833160 -0.18343250
+f 1 2 3
+f 5 2 1
+f 5 1 4
+f 6 3 2
+f 6 5 4
+f 6 2 5
+f 7 1 3
+f 7 4 1
+f 8 6 4
+f 8 3 6
+f 8 7 3
+f 8 4 7
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_12/collision/model_normalized_collision_31.obj b/objects/objaverse/cupcake/cupcake_12/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..74612bb83d27c5d91decf5908d97c2cab548d375
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_12/collision/model_normalized_collision_31.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.02239874 -0.15953207 0.15695905
+v 0.14221216 -0.12984721 -0.02615280
+v 0.16486038 -0.00467197 0.14000807
+v 0.01391405 -0.00334198 0.16817666
+v 0.01736307 -0.13649187 -0.00400950
+v 0.01790771 -0.00320412 0.01314856
+v 0.15735069 -0.00345289 0.14739638
+v 0.14647835 -0.13264250 0.10249363
+v 0.02104832 -0.15137474 0.16277961
+v 0.15005053 -0.00278839 -0.00752050
+v 0.13935164 -0.09997990 0.12903466
+v 0.12584145 -0.11459338 0.13203181
+v 0.11228111 -0.12909460 0.13345273
+f 5 2 1
+f 6 5 4
+f 6 2 5
+f 8 1 2
+f 8 2 3
+f 9 5 1
+f 9 4 5
+f 9 7 4
+f 10 3 2
+f 10 2 6
+f 10 7 3
+f 10 6 4
+f 10 4 7
+f 11 8 3
+f 11 3 7
+f 12 11 7
+f 12 7 9
+f 12 8 11
+f 13 12 9
+f 13 9 1
+f 13 1 8
+f 13 8 12
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_12/collision/model_normalized_collision_4.obj b/objects/objaverse/cupcake/cupcake_12/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..788acf05c379a98e3ede727d6dcb2f82a35175fe
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_12/collision/model_normalized_collision_4.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v -0.05809397 -0.32136190 -0.09765950
+v -0.05201096 -0.28712966 -0.23354725
+v -0.05838131 -0.20045276 -0.11868230
+v -0.26715325 -0.15553232 -0.12629465
+v -0.19929799 -0.27564701 -0.09765950
+v -0.16556090 -0.17755114 -0.25120491
+v -0.04980677 -0.31580481 -0.15726388
+v -0.15057068 -0.17175688 -0.04924731
+v -0.05809599 -0.22703952 -0.26016464
+v -0.23053559 -0.19596850 -0.22951192
+v -0.04975213 -0.30082212 -0.20276102
+v -0.05504644 -0.26586090 -0.08857300
+v -0.12677435 -0.31455808 -0.09765950
+v -0.26125500 -0.21746551 -0.09765950
+v -0.23300575 -0.17110690 -0.23358700
+v -0.17820374 -0.24661323 -0.22911676
+v -0.10348657 -0.23034974 -0.05299410
+v -0.11451776 -0.29057592 -0.20015669
+v -0.26533414 -0.16234984 -0.09765950
+v -0.23702958 -0.19529331 -0.21505841
+v -0.11831086 -0.27611711 -0.22949408
+v -0.24000238 -0.19988380 -0.19869444
+v -0.12637008 -0.21768151 -0.05119245
+v -0.10480311 -0.20249697 -0.04895572
+v -0.12068819 -0.30616059 -0.13875800
+v -0.19132825 -0.16709536 -0.05146098
+v -0.18424388 -0.17552214 -0.04894550
+f 8 6 4
+f 8 3 6
+f 9 6 3
+f 11 3 7
+f 11 9 3
+f 11 2 9
+f 12 7 3
+f 12 1 7
+f 13 7 1
+f 15 4 6
+f 15 6 10
+f 16 10 6
+f 16 6 9
+f 17 1 12
+f 17 13 1
+f 18 11 7
+f 18 5 16
+f 18 2 11
+f 19 4 14
+f 20 14 4
+f 20 15 10
+f 20 4 15
+f 21 16 9
+f 21 9 2
+f 21 18 16
+f 21 2 18
+f 22 10 16
+f 22 20 10
+f 22 14 20
+f 22 16 5
+f 22 5 14
+f 23 5 13
+f 23 13 17
+f 24 17 12
+f 24 12 3
+f 24 3 8
+f 24 23 17
+f 25 18 7
+f 25 7 13
+f 25 13 5
+f 25 5 18
+f 26 19 14
+f 26 8 4
+f 26 4 19
+f 27 24 8
+f 27 23 24
+f 27 8 26
+f 27 5 23
+f 27 26 14
+f 27 14 5
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_12/collision/model_normalized_collision_5.obj b/objects/objaverse/cupcake/cupcake_12/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..22c5e9632ff9773e4b629f95716fcc2e2f210df9
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_12/collision/model_normalized_collision_5.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.20147485 0.17929275 0.01865616
+v 0.18647897 0.15300045 -0.25080964
+v 0.10857270 0.26954719 -0.09765950
+v -0.03930945 0.25392694 0.00701482
+v -0.17725822 0.17322766 0.01010896
+v 0.08730705 0.25042507 0.00395888
+v 0.16809031 0.21872663 -0.23361543
+v -0.08299336 0.24081802 0.00811947
+v 0.16318915 0.21566077 0.00549046
+v -0.17875249 0.15338965 -0.26004017
+v 0.13013036 0.23503769 0.00256191
+v 0.02499503 0.24891806 -0.24511464
+v -0.14395161 0.23877919 -0.23408978
+v -0.14109710 0.22445319 -0.08514015
+v 0.01787719 0.27171564 -0.09740507
+v -0.13781580 0.21014332 0.00771666
+f 5 2 1
+f 6 3 4
+f 6 4 1
+f 7 1 2
+f 8 5 1
+f 8 1 4
+f 9 7 3
+f 9 1 7
+f 10 2 5
+f 11 6 1
+f 11 1 9
+f 11 9 3
+f 11 3 6
+f 12 7 2
+f 12 2 10
+f 12 3 7
+f 13 10 5
+f 13 12 10
+f 13 8 4
+f 14 13 5
+f 14 8 13
+f 15 13 4
+f 15 4 3
+f 15 3 12
+f 15 12 13
+f 16 14 5
+f 16 5 8
+f 16 8 14
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_12/collision/model_normalized_collision_6.obj b/objects/objaverse/cupcake/cupcake_12/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db5eecf49ec1897850e3261bc25728e2cb94bd5b
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_12/collision/model_normalized_collision_6.obj
@@ -0,0 +1,120 @@
+# https://github.com/mikedh/trimesh
+v 0.05641495 -0.24060426 0.06183374
+v 0.16831229 -0.19903748 0.00775454
+v 0.10289215 -0.13403531 0.13867366
+v -0.09777005 -0.13062657 0.16538179
+v -0.09755011 -0.13223484 -0.01328893
+v 0.02925400 -0.15768793 0.15701652
+v 0.14266497 -0.20002376 0.05734002
+v 0.09152715 -0.22420926 -0.05962758
+v -0.10156878 -0.24036590 0.00658921
+v 0.14221216 -0.12984721 -0.02615280
+v -0.01388467 -0.13288926 0.17827155
+v -0.05216696 -0.24142956 0.07554762
+v 0.11493017 -0.22768419 0.03229434
+v 0.14647835 -0.13264250 0.10249363
+v 0.06870058 -0.15558991 0.14671465
+v 0.08659206 -0.24414860 0.00809389
+v 0.13398302 -0.20614751 -0.06352531
+v -0.07092793 -0.12984442 0.18029635
+v 0.02790662 -0.24440053 0.07087584
+v -0.09587256 -0.19693339 0.11553356
+v 0.07164724 -0.22964455 0.06967583
+v 0.14300936 -0.21264276 0.03121589
+v 0.14222985 -0.17297296 0.08162933
+v 0.07405195 -0.14809639 0.15013900
+v -0.08388695 -0.24662328 0.00539996
+v 0.08677732 -0.24272496 0.01924213
+v 0.10389488 -0.22170116 -0.06306434
+v 0.16122202 -0.18972957 -0.01536895
+v 0.11450443 -0.22866661 -0.00069183
+v -0.01348877 -0.14356308 0.17165514
+v 0.04232403 -0.16917826 0.14557872
+v -0.09645023 -0.18638172 0.12732348
+v -0.09543846 -0.22860026 0.06228482
+v 0.12856590 -0.20038810 0.06868316
+v 0.16145011 -0.20429724 0.00955231
+v -0.06625362 -0.24125003 0.06330457
+v 0.13617424 -0.19685801 -0.05733615
+v -0.06713786 -0.14081535 0.17143454
+v 0.12839884 -0.18647422 0.08075652
+v 0.14316436 -0.21331863 0.00222763
+v -0.08159430 -0.24189143 0.03425384
+f 9 4 5
+f 9 5 8
+f 14 2 10
+f 17 5 10
+f 18 10 5
+f 18 5 4
+f 18 14 10
+f 18 11 3
+f 18 3 14
+f 21 13 7
+f 21 1 13
+f 21 19 1
+f 22 2 7
+f 22 7 13
+f 23 7 2
+f 23 2 14
+f 23 14 3
+f 24 11 6
+f 24 3 11
+f 24 23 3
+f 25 9 8
+f 25 8 16
+f 25 16 19
+f 25 19 12
+f 26 16 13
+f 26 13 1
+f 26 19 16
+f 26 1 19
+f 27 8 5
+f 27 5 17
+f 27 16 8
+f 28 10 2
+f 28 2 17
+f 29 27 17
+f 29 16 27
+f 30 6 11
+f 30 11 18
+f 31 12 19
+f 31 30 12
+f 31 6 30
+f 31 24 6
+f 31 15 24
+f 31 21 15
+f 31 19 21
+f 32 4 9
+f 32 9 20
+f 32 18 4
+f 32 20 12
+f 32 12 30
+f 33 20 9
+f 33 12 20
+f 34 21 7
+f 34 15 21
+f 34 24 15
+f 34 7 23
+f 35 2 22
+f 35 16 29
+f 35 17 2
+f 35 22 13
+f 35 13 16
+f 36 25 12
+f 36 33 9
+f 36 12 33
+f 37 28 17
+f 37 17 10
+f 37 10 28
+f 38 32 30
+f 38 30 18
+f 38 18 32
+f 39 34 23
+f 39 23 24
+f 39 24 34
+f 40 35 29
+f 40 29 17
+f 40 17 35
+f 41 36 9
+f 41 9 25
+f 41 25 36
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_12/collision/model_normalized_collision_7.obj b/objects/objaverse/cupcake/cupcake_12/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f8538ac0111f2c1b9561385a7983a1f146866c0
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_12/collision/model_normalized_collision_7.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.06018917 -0.31947004 -0.09765950
+v 0.23020998 -0.21998618 -0.11185218
+v 0.08659206 -0.24414860 0.00809389
+v -0.11765032 -0.23229391 0.01452656
+v -0.10713596 -0.20827012 -0.10508196
+v 0.22881299 -0.21016559 -0.09765950
+v -0.02585843 -0.25939750 0.00619696
+v 0.20616768 -0.24541610 -0.09765950
+v 0.15182063 -0.25082440 -0.11442586
+v -0.09298785 -0.28976335 -0.09765950
+v 0.10973170 -0.22852205 -0.00640968
+v 0.22905997 -0.20762018 -0.11475887
+v 0.01676315 -0.25980891 0.00673911
+v 0.20376250 -0.24536263 -0.11178436
+v 0.13955769 -0.28699881 -0.09765950
+v 0.23011187 -0.22240154 -0.09765950
+v -0.09917148 -0.26147816 -0.10595698
+v -0.09686343 -0.24249261 0.00444927
+v 0.06016010 -0.31945126 -0.09785210
+f 6 5 4
+f 10 1 7
+f 11 6 4
+f 11 4 3
+f 12 5 6
+f 12 9 5
+f 13 7 1
+f 13 1 3
+f 13 3 4
+f 13 4 7
+f 14 2 8
+f 14 12 2
+f 14 9 12
+f 15 8 3
+f 15 3 1
+f 15 14 8
+f 16 3 8
+f 16 11 3
+f 16 6 11
+f 16 8 2
+f 16 12 6
+f 16 2 12
+f 17 10 4
+f 17 4 5
+f 17 5 9
+f 18 10 7
+f 18 7 4
+f 18 4 10
+f 19 9 14
+f 19 17 9
+f 19 1 10
+f 19 10 17
+f 19 15 1
+f 19 14 15
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_12/collision/model_normalized_collision_8.obj b/objects/objaverse/cupcake/cupcake_12/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e5b919f3d892d2def9482334bf399d95e60caad8
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_12/collision/model_normalized_collision_8.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v 0.25859061 -0.07256306 0.00439076
+v 0.25767143 -0.07284507 -0.01256746
+v 0.26020075 0.08280950 0.00650811
+v 0.16318915 0.21566077 0.00549046
+v 0.17190545 -0.07254203 -0.02330488
+v 0.21860005 0.14114841 -0.04753777
+v 0.20147485 0.17929275 0.01865616
+v 0.18715431 -0.08044711 -0.03297650
+v 0.25619734 0.08258145 -0.01531513
+v 0.16179494 0.19853964 -0.04882752
+v 0.21404027 0.16616595 -0.01892203
+v 0.24700451 -0.07386474 -0.02417043
+v 0.17087131 0.14972410 -0.04967819
+v 0.17345775 0.20878686 0.00379047
+v 0.19854530 0.17841221 -0.02915765
+v 0.24283804 0.12409245 0.00637248
+v 0.24122345 0.11099158 -0.02924634
+v 0.21527489 0.16697629 0.00532361
+v 0.16306847 0.21446850 -0.01731983
+v 0.21349725 0.15106003 -0.04474785
+v 0.24026879 0.12373878 -0.01827992
+v 0.17299798 0.20837384 -0.01570258
+v 0.17242316 0.19294111 -0.04492022
+v 0.18428193 0.19259107 -0.02825182
+f 1 2 3
+f 7 1 3
+f 7 5 1
+f 7 4 5
+f 8 2 1
+f 8 1 5
+f 9 3 2
+f 10 5 4
+f 12 8 6
+f 12 2 8
+f 12 9 2
+f 13 8 5
+f 13 5 10
+f 13 10 6
+f 13 6 8
+f 14 4 7
+f 16 7 3
+f 17 12 6
+f 17 9 12
+f 18 14 7
+f 18 16 11
+f 18 7 16
+f 19 10 4
+f 20 15 11
+f 20 11 6
+f 20 6 10
+f 21 16 3
+f 21 3 9
+f 21 9 17
+f 21 11 16
+f 21 17 6
+f 21 6 11
+f 22 18 11
+f 22 14 18
+f 22 11 15
+f 22 10 19
+f 22 19 4
+f 22 4 14
+f 23 20 10
+f 23 15 20
+f 23 10 22
+f 24 23 22
+f 24 22 15
+f 24 15 23
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_12/collision/model_normalized_collision_9.obj b/objects/objaverse/cupcake/cupcake_12/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c34fdb8adda6cdb774c08a5bb96843e089458671
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_12/collision/model_normalized_collision_9.obj
@@ -0,0 +1,105 @@
+# https://github.com/mikedh/trimesh
+v 0.25189655 0.13621779 -0.23336066
+v 0.22881460 0.13398386 -0.35243371
+v 0.14577340 0.26340115 -0.23229263
+v -0.07925154 0.28852789 -0.23123370
+v -0.13385154 0.13318355 -0.18343250
+v 0.00710600 0.22477449 -0.49953899
+v 0.20692661 0.21901749 -0.23239827
+v 0.20307850 0.12754082 -0.45863240
+v 0.00000000 0.30129793 -0.23110737
+v -0.13383513 0.13317683 -0.49961435
+v 0.25065682 0.16415557 -0.23055612
+v 0.11076004 0.19928705 -0.49953899
+v -0.00535036 0.29902609 -0.23048716
+v -0.05977751 0.22256935 -0.48710070
+v -0.14976428 0.25883178 -0.23039244
+v 0.16872720 0.12788825 -0.49953899
+v 0.24527932 0.15432228 -0.27554910
+v 0.11414610 0.20629379 -0.47175499
+v 0.15700351 0.16585450 -0.49953899
+v 0.00000000 0.25195187 -0.41186317
+v -0.06507255 0.25210349 -0.38119625
+v -0.11049200 0.19964699 -0.49953899
+v -0.16735168 0.20503898 -0.30731536
+v 0.24255389 0.14591020 -0.29105826
+v 0.06917653 0.26808741 -0.32074782
+v -0.00622189 0.22517786 -0.49953899
+v -0.07479721 0.28301331 -0.25977614
+v -0.16522972 0.20511971 -0.23429545
+v -0.11579164 0.19019446 -0.49953899
+v -0.13999233 0.25330792 -0.27523302
+v 0.24177867 0.13897072 -0.29200422
+v 0.14007321 0.25345504 -0.27461808
+v 0.05782158 0.22386283 -0.48799748
+v -0.06311400 0.21590351 -0.49953899
+v -0.11683936 0.19627261 -0.48715615
+v 0.06311400 0.21590351 -0.49953899
+f 7 3 5
+f 8 2 1
+f 8 1 5
+f 9 5 3
+f 11 7 5
+f 11 5 1
+f 13 9 4
+f 13 4 5
+f 13 5 9
+f 15 5 4
+f 16 8 5
+f 16 5 10
+f 17 11 1
+f 17 2 8
+f 17 7 11
+f 19 8 16
+f 19 16 10
+f 19 10 12
+f 19 17 8
+f 19 7 17
+f 19 12 18
+f 21 20 14
+f 21 9 20
+f 22 21 14
+f 23 10 5
+f 24 17 1
+f 24 2 17
+f 25 9 3
+f 25 20 9
+f 26 20 6
+f 26 14 20
+f 26 6 10
+f 27 4 9
+f 27 9 21
+f 28 23 5
+f 28 5 15
+f 28 15 23
+f 29 22 10
+f 29 10 23
+f 30 23 15
+f 30 22 23
+f 30 15 4
+f 30 4 27
+f 30 27 21
+f 30 21 22
+f 31 24 1
+f 31 1 2
+f 31 2 24
+f 32 25 3
+f 32 18 25
+f 32 3 7
+f 32 19 18
+f 32 7 19
+f 33 25 18
+f 33 18 12
+f 33 6 20
+f 33 20 25
+f 34 22 14
+f 34 14 26
+f 34 26 10
+f 34 10 22
+f 35 29 23
+f 35 23 22
+f 35 22 29
+f 36 33 12
+f 36 6 33
+f 36 12 10
+f 36 10 6
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_12/model.xml b/objects/objaverse/cupcake/cupcake_12/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..0ec4c4525f30926bc53455790178ac46ef7cddf0
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_12/model.xml
@@ -0,0 +1,97 @@
+<mujoco model="cupcake_24">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.09499999999999999 0.09499999999999999 0.09499999999999999" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="visual/model_normalized_1.obj" name="model_normalized_1_vis" scale="0.09499999999999999 0.09499999999999999 0.09499999999999999" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="visual/model_normalized_2.obj" name="model_normalized_2_vis" scale="0.09499999999999999 0.09499999999999999 0.09499999999999999" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="visual/model_normalized_3.obj" name="model_normalized_3_vis" scale="0.09499999999999999 0.09499999999999999 0.09499999999999999" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="visual/model_normalized_4.obj" name="model_normalized_4_vis" scale="0.09499999999999999 0.09499999999999999 0.09499999999999999" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.09499999999999999 0.09499999999999999 0.09499999999999999" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.09499999999999999 0.09499999999999999 0.09499999999999999" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.09499999999999999 0.09499999999999999 0.09499999999999999" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.09499999999999999 0.09499999999999999 0.09499999999999999" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.09499999999999999 0.09499999999999999 0.09499999999999999" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.09499999999999999 0.09499999999999999 0.09499999999999999" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.09499999999999999 0.09499999999999999 0.09499999999999999" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.09499999999999999 0.09499999999999999 0.09499999999999999" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.09499999999999999 0.09499999999999999 0.09499999999999999" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.09499999999999999 0.09499999999999999 0.09499999999999999" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.09499999999999999 0.09499999999999999 0.09499999999999999" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.09499999999999999 0.09499999999999999 0.09499999999999999" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.09499999999999999 0.09499999999999999 0.09499999999999999" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.09499999999999999 0.09499999999999999 0.09499999999999999" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.09499999999999999 0.09499999999999999 0.09499999999999999" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.09499999999999999 0.09499999999999999 0.09499999999999999" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.09499999999999999 0.09499999999999999 0.09499999999999999" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.09499999999999999 0.09499999999999999 0.09499999999999999" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.09499999999999999 0.09499999999999999 0.09499999999999999" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.09499999999999999 0.09499999999999999 0.09499999999999999" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.09499999999999999 0.09499999999999999 0.09499999999999999" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.09499999999999999 0.09499999999999999 0.09499999999999999" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.09499999999999999 0.09499999999999999 0.09499999999999999" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.09499999999999999 0.09499999999999999 0.09499999999999999" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.09499999999999999 0.09499999999999999 0.09499999999999999" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.09499999999999999 0.09499999999999999 0.09499999999999999" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.09499999999999999 0.09499999999999999 0.09499999999999999" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.09499999999999999 0.09499999999999999 0.09499999999999999" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.09499999999999999 0.09499999999999999 0.09499999999999999" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.09499999999999999 0.09499999999999999 0.09499999999999999" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.09499999999999999 0.09499999999999999 0.09499999999999999" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.09499999999999999 0.09499999999999999 0.09499999999999999" refquat="1.0 0.0 0.0 0.0"/>
+    <texture type="2d" name="image11" file="visual/image11.png"/>
+    <texture type="2d" name="image4" file="visual/image4.png"/>
+    <texture type="2d" name="image8" file="visual/image8.png"/>
+    <texture type="2d" name="image14" file="visual/image14.png"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="02___Default.001" texture="image11" specular="0.5" shininess="0.25"/>
+    <material name="03___Default.001" texture="image4" specular="0.5" shininess="0.25"/>
+    <material name="07___Default" texture="image8" specular="0.5" shininess="0.25"/>
+    <material name="08___Default" texture="image14" specular="0.5" shininess="0.25"/>
+    <material name="09___Default" 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="09___Default"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_1_vis" conaffinity="0" contype="0" group="1" material="07___Default"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_2_vis" conaffinity="0" contype="0" group="1" material="02___Default.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_3_vis" conaffinity="0" contype="0" group="1" material="08___Default"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_4_vis" conaffinity="0" contype="0" group="1" material="03___Default.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"/>
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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="0.00024999582499999907 -0.00022766844999999909 -0.047463363249999994" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.00024999582499999907 -0.00022766844999999909 0.047436255" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.032130575099999996 0.03162891905 -1.3554124999998194e-05" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/objects/objaverse/cupcake/cupcake_12/visual/material.mtl b/objects/objaverse/cupcake/cupcake_12/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..33616803300962094e8955deb30562079542847b
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_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 250.00000000
+map_Kd material_0.jpeg
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_12/visual/model_normalized_0.obj b/objects/objaverse/cupcake/cupcake_12/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f160748f02baa0e8fa258056f7bff122dd361e06
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_12/visual/model_normalized_0.obj
@@ -0,0 +1,28484 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/objects/objaverse/cupcake/cupcake_12/visual/model_normalized_1.obj b/objects/objaverse/cupcake/cupcake_12/visual/model_normalized_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d101f9ac1152a4c0524a3a8996f339caf638c4c1
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_12/visual/model_normalized_1.obj
@@ -0,0 +1,23204 @@
+# https://github.com/mikedh/trimesh
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diff --git a/objects/objaverse/cupcake/cupcake_12/visual/model_normalized_2.obj b/objects/objaverse/cupcake/cupcake_12/visual/model_normalized_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aa84180778426055559b79e134a3d782ccf07fc1
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_12/visual/model_normalized_2.obj
@@ -0,0 +1,28225 @@
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diff --git a/objects/objaverse/cupcake/cupcake_12/visual/model_normalized_3.obj b/objects/objaverse/cupcake/cupcake_12/visual/model_normalized_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..23346b043cffd1815b1f195f51e20a3e08ed7022
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_12/visual/model_normalized_3.obj
@@ -0,0 +1,1497 @@
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diff --git a/objects/objaverse/cupcake/cupcake_12/visual/model_normalized_4.obj b/objects/objaverse/cupcake/cupcake_12/visual/model_normalized_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e4b900d320ff2e64d96434a55c255d2ebfb6d8cf
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_12/visual/model_normalized_4.obj
@@ -0,0 +1,5833 @@
+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_15/collision/model_normalized_collision_0.obj b/objects/objaverse/cupcake/cupcake_15/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a027d99197415b0d5028b25d99dda312c13c6012
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_15/collision/model_normalized_collision_0.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.31622007 0.21054504 0.31087751
+v 0.43974249 0.21568535 0.00017769
+v 0.25522522 0.41285914 0.02377420
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+v -0.12348615 0.46220270 -0.00805309
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+v 0.39936364 0.28378142 0.00157104
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\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_15/collision/model_normalized_collision_1.obj b/objects/objaverse/cupcake/cupcake_15/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d942bd6e3a6eacd2d9686ba0c8f4838d6b2d30fd
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_15/collision/model_normalized_collision_1.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.43045621 0.23399863 0.00032992
+v 0.42733918 0.22498771 -0.05727476
+v 0.21778827 0.44832550 -0.05618880
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+v -0.30335644 0.23306938 -0.49218431
+v 0.12449747 0.38701949 -0.49218431
+v 0.36925346 0.31600779 -0.06983687
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+v 0.33537644 0.22646035 -0.46774349
+v 0.14072529 0.47491367 -0.10238665
+v -0.15515106 0.35631127 -0.49218431
+v 0.22661273 0.34451465 -0.49218431
+v 0.39936364 0.28378142 0.00157104
+v 0.39977897 0.28157119 -0.02497297
+v 0.27029895 0.41346526 -0.03579700
+v 0.16839321 0.46014829 -0.00350745
+v -0.07879244 0.47460802 -0.00605372
+v -0.40538100 0.27230939 -0.03262435
+v -0.31105363 0.23184967 -0.46506400
+v 0.31054554 0.25709697 -0.49218431
+v 0.15216554 0.47648438 -0.04256553
+v -0.00170088 0.47541565 -0.16188528
+v -0.27801657 0.40538482 -0.05655869
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+v 0.32494062 0.37192628 -0.03967106
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+v -0.16579841 0.46679260 -0.04398315
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+f 64 36 51
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_15/collision/model_normalized_collision_10.obj b/objects/objaverse/cupcake/cupcake_15/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..68240eabc4a83efae84b8b4fb27cd60845355c86
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_15/collision/model_normalized_collision_10.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.29035496 -0.23661701 0.30316518
+v 0.26069494 -0.21478640 0.35240741
+v -0.15578306 -0.21400010 0.38348692
+v -0.16002612 -0.02287830 0.38787806
+v 0.26515151 -0.02291878 0.27296721
+v 0.14987159 -0.02457512 0.42940918
+v 0.14208401 -0.22480155 0.40394097
+v 0.26904198 -0.02297224 0.36886339
+v -0.15909091 -0.21988848 0.27296721
+v -0.08143328 -0.08308986 0.40864823
+v -0.17317507 -0.18830877 0.39102521
+v -0.15909091 -0.02291878 0.27296721
+v -0.08089844 -0.05366407 0.40908681
+v -0.15684005 -0.19788309 0.39120616
+v -0.17337286 -0.09869847 0.39012026
+v -0.16996569 -0.18499036 0.39316726
+f 7 1 2
+f 7 3 1
+f 7 2 6
+f 8 2 1
+f 8 1 5
+f 8 6 2
+f 8 5 4
+f 8 4 6
+f 9 5 1
+f 9 1 3
+f 11 9 3
+f 12 4 5
+f 12 5 9
+f 13 10 6
+f 13 6 4
+f 14 11 3
+f 14 3 7
+f 15 4 12
+f 15 13 4
+f 15 12 9
+f 15 9 11
+f 16 10 13
+f 16 11 14
+f 16 6 10
+f 16 14 7
+f 16 7 6
+f 16 15 11
+f 16 13 15
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_15/collision/model_normalized_collision_11.obj b/objects/objaverse/cupcake/cupcake_15/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ff3fdaaf2da4f195da7390e54d9f1f22a716c7ba
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_15/collision/model_normalized_collision_11.obj
@@ -0,0 +1,138 @@
+# https://github.com/mikedh/trimesh
+v 0.09383554 -0.48071316 -0.03129292
+v 0.27655035 -0.39351166 -0.03228891
+v 0.12772757 -0.44205942 0.02619539
+v -0.19311127 -0.39432015 0.02127087
+v -0.11541333 -0.41826400 -0.27280975
+v 0.26659634 -0.39019431 0.01597369
+v -0.08326334 -0.44428378 0.00625803
+v 0.15943372 -0.41104464 -0.23184533
+v -0.17642257 -0.39617207 -0.22812665
+v 0.20187000 -0.44568797 -0.02594569
+v 0.01085206 -0.44700121 0.02029292
+v -0.10686315 -0.47547414 -0.05746705
+v 0.07958497 -0.44575180 -0.22268503
+v 0.26116520 -0.41026376 -0.02950136
+v 0.22369643 -0.41466234 0.00962632
+v 0.16341466 -0.46129567 -0.02669867
+v 0.08074883 -0.45760079 0.00674229
+v 0.00826927 -0.44198880 0.02607991
+v -0.10673372 -0.47563105 -0.04175641
+v -0.16685795 -0.43121013 -0.19277461
+v -0.09641483 -0.43394947 -0.26949505
+v -0.03317735 -0.45936199 -0.19186634
+v 0.25986641 -0.40830978 -0.01693126
+v 0.20293431 -0.44599182 -0.04199957
+v 0.12828558 -0.44479620 0.02201600
+v 0.15992232 -0.45968553 -0.07207621
+v 0.02356891 -0.48114588 -0.03257196
+v -0.13384882 -0.42786922 0.01014103
+v -0.15916509 -0.42550048 -0.22618996
+v -0.20230068 -0.42783666 -0.03186436
+v -0.10757690 -0.42654984 -0.27517494
+v -0.10364730 -0.44650924 -0.20788629
+v 0.09067287 -0.47687762 -0.08431403
+v 0.09821083 -0.47933287 -0.05228245
+v 0.14325754 -0.43283956 -0.19237297
+v 0.02719192 -0.45691652 0.00675606
+v -0.20095424 -0.40988819 -0.01440796
+v -0.17547290 -0.42802132 -0.16447877
+v -0.19294924 -0.43958694 -0.03488999
+v -0.04390907 -0.45881185 -0.19314781
+v 0.02819521 -0.46134733 -0.17766083
+v -0.04801445 -0.47630001 -0.08701600
+v 0.08237555 -0.46023084 -0.16312626
+v 0.14141469 -0.42336364 -0.22474585
+v -0.16605264 -0.41711645 0.00716401
+v -0.17206534 -0.43471082 -0.16310011
+v 0.03176349 -0.47482235 -0.10300896
+f 6 4 3
+f 9 6 2
+f 9 4 6
+f 9 2 8
+f 9 8 5
+f 14 8 2
+f 15 10 6
+f 15 6 3
+f 17 3 11
+f 18 11 3
+f 18 3 4
+f 18 7 11
+f 19 11 7
+f 21 8 13
+f 22 21 13
+f 23 14 2
+f 23 2 6
+f 23 6 10
+f 23 10 14
+f 24 14 10
+f 24 8 14
+f 24 10 16
+f 25 15 3
+f 25 10 15
+f 25 16 10
+f 25 1 16
+f 25 17 1
+f 25 3 17
+f 26 24 16
+f 27 1 17
+f 27 19 12
+f 28 18 4
+f 28 7 18
+f 28 19 7
+f 29 20 9
+f 29 21 20
+f 31 5 8
+f 31 8 21
+f 31 21 29
+f 31 29 9
+f 31 9 5
+f 32 12 20
+f 32 20 21
+f 34 26 16
+f 34 16 1
+f 34 33 26
+f 34 1 27
+f 34 27 33
+f 35 26 13
+f 35 8 24
+f 35 24 26
+f 36 27 17
+f 36 17 11
+f 36 11 19
+f 36 19 27
+f 37 30 4
+f 37 4 9
+f 37 9 30
+f 38 30 9
+f 38 9 20
+f 39 4 30
+f 39 19 28
+f 39 12 19
+f 40 12 32
+f 40 32 21
+f 40 21 22
+f 41 22 13
+f 42 33 27
+f 42 27 12
+f 42 40 22
+f 42 12 40
+f 43 13 26
+f 43 26 33
+f 43 41 13
+f 43 33 41
+f 44 35 13
+f 44 13 8
+f 44 8 35
+f 45 39 28
+f 45 28 4
+f 45 4 39
+f 46 20 12
+f 46 12 39
+f 46 38 20
+f 46 39 30
+f 46 30 38
+f 47 41 33
+f 47 22 41
+f 47 42 22
+f 47 33 42
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_15/collision/model_normalized_collision_12.obj b/objects/objaverse/cupcake/cupcake_15/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..663816c936d8ef2ec09bc6012bad352615f39e73
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_15/collision/model_normalized_collision_12.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v -0.23484849 -0.02291878 0.00023993
+v -0.23484849 -0.02291878 -0.36339643
+v -0.23484849 0.23465698 0.00023993
+v -0.42992024 0.23837138 -0.05744860
+v -0.49598876 -0.02192096 -0.03956318
+v -0.23484849 0.23465698 -0.36339643
+v -0.49407453 -0.02203017 -0.07112079
+v -0.43040591 0.15182232 -0.00659275
+v -0.38949488 0.10597609 -0.42127222
+v -0.47603882 0.13529037 -0.04982440
+v -0.44731887 -0.02205961 -0.01211231
+v -0.38781543 0.23375172 -0.00724352
+v -0.36912147 0.15693062 -0.42357935
+v -0.41982056 -0.02197713 -0.36122726
+v -0.49040410 0.06212127 -0.05654335
+v -0.45164637 0.19694156 -0.04382453
+v -0.48929352 0.06382312 -0.04269276
+v -0.44436551 0.09530200 -0.00949012
+v -0.38030644 0.11787916 -0.42537807
+v -0.32945641 0.23539366 -0.36237634
+v -0.37425103 0.15162411 -0.42124758
+v -0.47559569 0.12310964 -0.07086255
+v -0.46167177 0.05263546 -0.17488533
+v -0.47618809 0.12653406 -0.04332862
+v -0.43078095 0.22595632 -0.03966310
+v -0.44565617 0.19279447 -0.08385130
+v -0.35857666 0.20815443 -0.35895238
+v -0.41462592 0.04484102 -0.35931200
+v -0.44733586 0.20332733 -0.05552414
+v -0.47497750 0.13440424 -0.05608808
+f 1 2 3
+f 6 3 2
+f 6 4 3
+f 7 2 1
+f 8 1 3
+f 11 1 8
+f 11 7 1
+f 11 5 7
+f 12 8 3
+f 12 3 4
+f 13 6 2
+f 14 9 2
+f 14 2 7
+f 15 7 5
+f 16 8 12
+f 17 15 5
+f 17 10 15
+f 18 11 8
+f 18 5 11
+f 18 17 5
+f 18 8 17
+f 19 13 2
+f 19 2 9
+f 20 4 6
+f 20 6 13
+f 21 19 9
+f 21 13 19
+f 22 15 10
+f 22 9 15
+f 22 21 9
+f 23 14 7
+f 23 7 15
+f 23 15 9
+f 24 16 10
+f 24 8 16
+f 24 17 8
+f 24 10 17
+f 25 16 12
+f 25 12 4
+f 25 4 16
+f 26 4 21
+f 26 21 22
+f 27 20 13
+f 27 13 21
+f 27 21 4
+f 27 4 20
+f 28 23 9
+f 28 9 14
+f 28 14 23
+f 29 26 10
+f 29 10 16
+f 29 16 4
+f 29 4 26
+f 30 26 22
+f 30 22 10
+f 30 10 26
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_15/collision/model_normalized_collision_13.obj b/objects/objaverse/cupcake/cupcake_15/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a9e4edbfe6df0b7a7e7498c8c6ec7210d0aca325
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_15/collision/model_normalized_collision_13.obj
@@ -0,0 +1,147 @@
+# https://github.com/mikedh/trimesh
+v 0.02859767 -0.45031520 -0.22578824
+v 0.41242789 -0.04611251 -0.48062934
+v 0.43344841 -0.02732567 -0.22545515
+v -0.23484849 -0.02291878 -0.22703280
+v -0.22921112 -0.32910552 -0.49218431
+v 0.41279493 -0.02343861 -0.49218431
+v 0.34709847 -0.29580438 -0.22313186
+v 0.19763636 -0.35702367 -0.49218431
+v -0.23765882 -0.36184584 -0.22737669
+v 0.43173959 -0.11799596 -0.22400770
+v 0.42839614 -0.02344300 -0.25354194
+v -0.23484849 -0.02291878 -0.49218431
+v -0.06759061 -0.40002352 -0.49218431
+v 0.25321457 -0.37620436 -0.22451516
+v 0.35749013 -0.20891798 -0.49218431
+v 0.15019681 -0.42030739 -0.22384764
+v 0.43053938 -0.06032698 -0.27075168
+v 0.41487339 -0.02361309 -0.48012013
+v 0.23484848 -0.02291878 -0.49218431
+v 0.09283250 -0.39875461 -0.49218431
+v -0.15916509 -0.42550048 -0.22618996
+v 0.29534970 -0.32588910 -0.34448850
+v 0.39851892 -0.18079069 -0.34486069
+v 0.38580310 -0.13640197 -0.49218431
+v 0.30929098 -0.33380692 -0.22337625
+v 0.19290352 -0.40410237 -0.22404279
+v 0.42951718 -0.10892014 -0.25566713
+v 0.03114675 -0.41338635 -0.45238403
+v 0.07916525 -0.41462547 -0.42309045
+v -0.19340176 -0.35375115 -0.49218431
+v -0.04656710 -0.45135974 -0.22571144
+v 0.23764744 -0.35365231 -0.40599495
+v 0.32743923 -0.27932084 -0.40574029
+v 0.37054370 -0.23498175 -0.34680983
+v 0.40043520 -0.08141473 -0.49218431
+v 0.37105566 -0.18389381 -0.49218431
+v 0.39842576 -0.11784432 -0.45251911
+v 0.19459970 -0.39832767 -0.25523886
+v -0.09047833 -0.39907018 -0.48093431
+v 0.02752096 -0.44594557 -0.25333989
+v -0.04245187 -0.41306274 -0.43506768
+v 0.33829568 -0.28381623 -0.33161049
+v 0.31456784 -0.26965505 -0.49218431
+v 0.36767772 -0.19466042 -0.48127692
+v -0.14800157 -0.38420392 -0.44902495
+v -0.10394918 -0.43203578 -0.26644223
+v 0.22580239 -0.34269363 -0.49218431
+v 0.31274896 -0.27918533 -0.46573643
+v 0.28416109 -0.29629011 -0.49218431
+v 0.28173666 -0.31033788 -0.44956860
+f 8 5 6
+f 10 3 4
+f 10 4 7
+f 11 4 3
+f 12 6 5
+f 12 9 4
+f 12 5 9
+f 13 5 8
+f 15 8 6
+f 16 7 4
+f 17 3 10
+f 18 2 6
+f 18 17 10
+f 18 3 17
+f 18 11 3
+f 18 6 11
+f 19 11 6
+f 19 6 12
+f 19 12 4
+f 19 4 11
+f 20 13 8
+f 21 9 5
+f 21 16 4
+f 21 4 9
+f 23 10 7
+f 24 15 6
+f 25 7 16
+f 25 22 7
+f 25 14 22
+f 26 25 16
+f 26 14 25
+f 26 16 20
+f 27 18 10
+f 27 2 18
+f 27 23 2
+f 27 10 23
+f 28 13 20
+f 29 20 16
+f 29 16 1
+f 29 28 20
+f 30 21 5
+f 30 5 13
+f 31 1 16
+f 31 16 21
+f 32 22 14
+f 34 23 7
+f 34 33 15
+f 35 24 6
+f 35 6 2
+f 35 2 24
+f 36 24 23
+f 36 15 24
+f 37 24 2
+f 37 2 23
+f 37 23 24
+f 38 26 20
+f 38 20 8
+f 38 8 32
+f 38 32 14
+f 38 14 26
+f 39 30 13
+f 39 13 31
+f 40 31 28
+f 40 1 31
+f 40 29 1
+f 40 28 29
+f 41 31 13
+f 41 13 28
+f 41 28 31
+f 42 7 22
+f 42 22 33
+f 42 34 7
+f 42 33 34
+f 43 8 15
+f 43 15 33
+f 44 34 15
+f 44 15 36
+f 44 36 23
+f 44 23 34
+f 45 39 21
+f 45 21 30
+f 45 30 39
+f 46 39 31
+f 46 31 21
+f 46 21 39
+f 47 32 8
+f 47 8 43
+f 47 22 32
+f 48 43 33
+f 48 33 22
+f 49 47 43
+f 49 43 48
+f 50 49 48
+f 50 48 22
+f 50 22 47
+f 50 47 49
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_15/collision/model_normalized_collision_14.obj b/objects/objaverse/cupcake/cupcake_15/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b7ec8a032d130b1490b8a1a690009d42f908c01b
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_15/collision/model_normalized_collision_14.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.41809036 -0.24543487 0.02133070
+v 0.43171161 -0.02089158 -0.22975200
+v 0.40151515 -0.02291878 0.01539145
+v 0.00757576 -0.02291878 0.01539145
+v 0.00757576 -0.26534302 -0.22703280
+v 0.37544844 -0.23398719 -0.22687212
+v 0.00757576 -0.26534302 0.01539145
+v 0.00757576 -0.02291878 -0.22703280
+v 0.39114730 -0.19022199 -0.22968980
+v 0.26515151 -0.26534302 -0.22703280
+v 0.38525014 -0.23589113 -0.17726301
+v 0.26515151 -0.26534302 0.01539145
+f 1 2 3
+f 1 3 4
+f 3 2 4
+f 7 1 4
+f 7 4 5
+f 8 5 4
+f 8 4 2
+f 9 2 1
+f 9 8 2
+f 9 5 8
+f 10 6 1
+f 10 9 6
+f 10 5 9
+f 10 7 5
+f 11 9 1
+f 11 1 6
+f 11 6 9
+f 12 10 1
+f 12 1 7
+f 12 7 10
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_15/collision/model_normalized_collision_15.obj b/objects/objaverse/cupcake/cupcake_15/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3e681b9ef6e7c0230ebc8f10dd1b61be29f52a70
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_15/collision/model_normalized_collision_15.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v 0.31792842 0.08027441 0.35047886
+v 0.33857593 0.11369804 0.34210324
+v 0.07436181 0.19127899 0.41526736
+v -0.18603030 0.25124128 0.29256756
+v 0.26515151 0.08314183 0.25781569
+v 0.28905238 0.24648172 0.27310467
+v -0.15922261 0.08432994 0.40352960
+v 0.10542353 0.07986337 0.42714393
+v 0.32463968 0.08272432 0.34641872
+v 0.27660627 0.21415523 0.34170390
+v -0.06235435 0.22125264 0.39285721
+v -0.15909091 0.08314183 0.25781569
+v 0.29065883 0.08240964 0.36385642
+v 0.28939057 0.15332453 0.36148238
+v -0.05887856 0.07566250 0.42421029
+v 0.31924521 0.17019248 0.34009052
+v 0.12022224 0.21101566 0.39650300
+v -0.15360895 0.14877667 0.39032201
+v 0.10759514 0.19960066 0.40883664
+v 0.32859453 0.13857767 0.34688935
+v 0.06521244 0.10195479 0.42649343
+v -0.05315132 0.08675565 0.42277419
+v 0.33469398 0.14063703 0.34152557
+v 0.31397633 0.16582910 0.34570330
+v 0.22991553 0.21226267 0.36066895
+v -0.15659930 0.21368063 0.35027438
+v 0.27208925 0.20960832 0.34695716
+v -0.10393699 0.21032981 0.37905181
+f 6 2 5
+f 9 5 2
+f 9 2 1
+f 9 1 5
+f 11 6 4
+f 12 6 5
+f 12 4 6
+f 12 7 4
+f 13 8 1
+f 13 1 2
+f 14 8 13
+f 15 7 12
+f 15 1 8
+f 15 12 5
+f 15 5 1
+f 15 11 7
+f 16 6 10
+f 17 6 11
+f 18 4 7
+f 18 7 11
+f 19 3 8
+f 19 8 14
+f 19 17 11
+f 19 11 3
+f 20 14 13
+f 20 13 2
+f 21 15 8
+f 21 8 3
+f 21 3 15
+f 22 15 3
+f 22 3 11
+f 22 11 15
+f 23 2 6
+f 23 6 16
+f 23 20 2
+f 23 16 20
+f 24 16 10
+f 24 20 16
+f 24 14 20
+f 25 10 6
+f 25 6 17
+f 25 17 19
+f 26 11 4
+f 26 4 18
+f 27 24 10
+f 27 14 24
+f 27 10 25
+f 27 25 19
+f 27 19 14
+f 28 26 18
+f 28 18 11
+f 28 11 26
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_15/collision/model_normalized_collision_16.obj b/objects/objaverse/cupcake/cupcake_15/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e1329ab0db681e5ccaf481a0b63887da8f1b2660
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_15/collision/model_normalized_collision_16.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v 0.45539387 -0.02964022 -0.10304257
+v 0.46455757 0.00865880 -0.11878114
+v 0.48393455 0.09581352 0.00126633
+v 0.43889088 0.20012349 0.04389416
+v 0.43238966 0.16063573 -0.12129813
+v 0.44560451 0.14338307 0.07503504
+v 0.46502139 0.00779154 -0.10601860
+v 0.44541766 -0.02407663 -0.12060123
+v 0.46118591 0.08542395 -0.11494451
+v 0.46130913 0.15917983 -0.05496425
+v 0.44985198 0.14031364 0.06930395
+v 0.43428435 0.10186787 -0.12216851
+v 0.45322360 -0.03229999 -0.11847933
+v 0.44797246 -0.02218152 -0.10613859
+v 0.48120792 0.09198218 -0.04187738
+v 0.43792654 0.20600626 -0.02900747
+v 0.45776394 0.17099384 0.02212732
+v 0.44683426 0.15206964 -0.11565624
+v 0.44343078 0.18333439 0.05098752
+v 0.44216480 0.15715113 0.07312678
+v 0.47469219 0.12469208 0.00025380
+v 0.46448919 0.13828613 0.03959905
+v 0.44849017 0.15722269 -0.10089993
+v 0.45951122 0.15216378 -0.07259404
+v 0.44169354 0.19451803 0.04301913
+v 0.43990523 0.18600395 0.05558572
+f 7 1 2
+f 7 2 3
+f 7 3 1
+f 9 2 5
+f 11 6 1
+f 11 1 3
+f 12 5 2
+f 12 2 8
+f 13 8 2
+f 13 2 1
+f 14 1 6
+f 14 6 8
+f 14 13 1
+f 14 8 13
+f 15 3 2
+f 15 2 9
+f 15 10 3
+f 16 5 4
+f 17 16 4
+f 17 10 16
+f 18 9 5
+f 18 5 16
+f 20 12 8
+f 20 8 6
+f 20 6 11
+f 20 11 19
+f 21 17 3
+f 21 3 10
+f 21 10 17
+f 22 11 3
+f 22 3 17
+f 22 19 11
+f 22 17 19
+f 23 18 16
+f 23 16 10
+f 23 10 18
+f 24 15 9
+f 24 9 18
+f 24 18 10
+f 24 10 15
+f 25 19 17
+f 25 17 4
+f 25 4 19
+f 26 12 20
+f 26 4 5
+f 26 5 12
+f 26 20 19
+f 26 19 4
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_15/collision/model_normalized_collision_17.obj b/objects/objaverse/cupcake/cupcake_15/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4d3ffeaf828234d8dc3ab1fc337614f080c55286
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_15/collision/model_normalized_collision_17.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.26515151 -0.02291878 0.25781569
+v 0.26515151 -0.02291878 0.00023993
+v 0.28905238 0.24648172 0.27310467
+v -0.29916617 0.21251166 0.24706515
+v -0.40860458 -0.03322245 0.03339912
+v -0.38426343 0.22200552 0.00384542
+v -0.34869659 -0.02252222 0.25068631
+v 0.26515151 0.21950546 0.00023993
+v -0.41396532 0.07912680 0.17587756
+v -0.41406943 0.07903757 0.16418449
+v -0.41586569 -0.02233570 0.17211271
+v -0.38480198 0.11139219 0.23205192
+v -0.41624815 0.03348186 0.15350142
+v -0.36133796 0.13645237 0.24240637
+v -0.40201719 0.11998534 0.17556902
+v -0.38607878 0.04787744 0.23061850
+v -0.41593086 -0.02127462 0.14830492
+v -0.33761502 0.20751935 0.21637004
+v -0.36928636 0.14554807 0.23011860
+f 1 2 3
+f 5 2 1
+f 6 4 3
+f 6 2 5
+f 7 1 3
+f 7 3 4
+f 7 5 1
+f 8 6 3
+f 8 3 2
+f 8 2 6
+f 10 9 6
+f 10 6 5
+f 11 5 7
+f 13 10 5
+f 13 11 9
+f 13 9 10
+f 14 12 7
+f 14 7 4
+f 15 6 9
+f 15 9 12
+f 16 11 7
+f 16 7 12
+f 16 12 9
+f 16 9 11
+f 17 13 5
+f 17 5 11
+f 17 11 13
+f 18 4 6
+f 18 6 15
+f 19 18 15
+f 19 15 12
+f 19 12 14
+f 19 14 4
+f 19 4 18
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_15/collision/model_normalized_collision_18.obj b/objects/objaverse/cupcake/cupcake_15/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4081c30b6d05ad69e433a1d758ee1da067d5fe72
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_15/collision/model_normalized_collision_18.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v -0.15751741 -0.45439671 -0.03391340
+v -0.15588316 -0.39869599 -0.34741464
+v -0.19311127 -0.39432015 0.02127087
+v -0.23055996 -0.37949528 0.01023158
+v -0.25051716 -0.41918356 -0.04232423
+v -0.20977887 -0.34813874 -0.43786768
+v -0.17281920 -0.42203254 -0.01498154
+v -0.18586531 -0.45302552 -0.05639596
+v -0.18841279 -0.44858725 -0.03936133
+v -0.16646332 -0.37306675 -0.42211104
+v -0.23464854 -0.34543072 -0.34703648
+v -0.15380584 -0.40332904 -0.33004543
+v -0.18509131 -0.40612481 0.00972049
+v -0.18741007 -0.36880222 -0.42191698
+v -0.24715696 -0.41777582 -0.07042303
+v -0.26216284 -0.39832522 -0.03334515
+v -0.16960440 -0.37744894 -0.35314355
+v -0.17593943 -0.44387974 -0.11466518
+v -0.17641869 -0.36702717 -0.44125322
+v -0.20295364 -0.35668843 -0.43615214
+v -0.23754338 -0.41486280 -0.11714927
+v -0.16222779 -0.44697096 -0.11658714
+v -0.17366349 -0.36802269 -0.43876015
+v -0.22151625 -0.39913731 -0.21945232
+v -0.15627897 -0.41573115 -0.27095221
+f 5 3 4
+f 9 1 3
+f 9 3 5
+f 9 8 1
+f 9 5 8
+f 10 6 3
+f 11 4 3
+f 11 3 6
+f 12 7 1
+f 12 3 7
+f 12 2 10
+f 13 7 3
+f 13 3 1
+f 13 1 7
+f 15 11 6
+f 15 8 5
+f 16 5 4
+f 16 4 11
+f 16 15 5
+f 16 11 15
+f 17 12 10
+f 17 10 3
+f 17 3 12
+f 18 14 2
+f 18 8 14
+f 19 2 14
+f 20 19 14
+f 20 6 19
+f 21 8 15
+f 21 15 6
+f 21 6 20
+f 22 1 8
+f 22 8 18
+f 23 10 2
+f 23 2 19
+f 23 19 6
+f 23 6 10
+f 24 14 8
+f 24 8 21
+f 24 21 20
+f 24 20 14
+f 25 22 18
+f 25 12 1
+f 25 1 22
+f 25 18 2
+f 25 2 12
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_15/collision/model_normalized_collision_19.obj b/objects/objaverse/cupcake/cupcake_15/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9bf514aa545ed7df74afacc39d648fd09479b663
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_15/collision/model_normalized_collision_19.obj
@@ -0,0 +1,120 @@
+# https://github.com/mikedh/trimesh
+v 0.39886324 -0.27015627 -0.02752655
+v 0.47427954 -0.12050983 -0.04130925
+v 0.42620465 -0.15400483 0.09578154
+v 0.40151515 -0.02291878 0.01539145
+v 0.43171161 -0.02089158 -0.22975200
+v 0.48899441 -0.02184025 0.05563034
+v 0.39168283 -0.24362468 0.07047467
+v 0.41648631 -0.16832087 -0.22523101
+v 0.47294592 -0.13830013 0.02679327
+v 0.47942041 -0.02086564 0.07173327
+v 0.49077019 -0.05054951 -0.01240033
+v 0.41957572 -0.25728277 -0.02799446
+v 0.39917653 -0.18522766 -0.22749187
+v 0.47681468 -0.10590975 0.04994235
+v 0.44291922 -0.19698528 0.03892547
+v 0.49209722 -0.02270938 0.00916556
+v 0.44598745 -0.04937044 -0.20820904
+v 0.48884951 -0.07761425 0.00759573
+v 0.44662187 -0.18871560 -0.05468031
+v 0.40973305 -0.26747548 -0.02712129
+v 0.40916674 -0.17941184 -0.22673800
+v 0.39404558 -0.25600471 -0.11863779
+v 0.48958590 -0.03869401 0.05398205
+v 0.41522213 -0.22253889 0.06034529
+v 0.44446396 -0.16832925 0.06368879
+v 0.45617666 -0.16543548 0.04182072
+v 0.43173959 -0.11799596 -0.22400770
+v 0.47490637 -0.04497760 -0.08540569
+v 0.44483858 -0.04144717 -0.20754936
+v 0.47533340 -0.13566422 0.00669315
+v 0.48988859 -0.07800174 0.04123936
+v 0.41261595 -0.23784615 0.04996324
+v 0.39819524 -0.26551435 -0.05670251
+v 0.41294694 -0.25728777 -0.05592114
+v 0.45091713 -0.14129716 0.06901821
+v 0.47480198 -0.05657348 -0.08566005
+v 0.49017772 -0.04324004 -0.01320538
+v 0.40151549 -0.24081199 0.06107557
+v 0.42950656 -0.22502877 0.02541175
+v 0.40694269 -0.26295610 -0.05657494
+v 0.39860842 -0.25313283 -0.11560918
+f 7 3 4
+f 10 4 3
+f 10 6 5
+f 10 5 4
+f 13 4 5
+f 14 10 3
+f 15 12 9
+f 16 5 6
+f 18 2 11
+f 19 12 8
+f 19 8 2
+f 20 7 1
+f 21 13 5
+f 22 7 4
+f 22 4 13
+f 22 1 7
+f 22 13 21
+f 23 6 10
+f 23 10 14
+f 23 16 6
+f 24 3 7
+f 25 24 15
+f 25 3 24
+f 26 15 9
+f 26 9 14
+f 26 25 15
+f 26 14 25
+f 27 5 17
+f 27 21 5
+f 27 8 21
+f 27 2 8
+f 29 17 5
+f 29 5 16
+f 29 28 17
+f 29 16 28
+f 30 2 18
+f 30 19 2
+f 30 9 12
+f 30 12 19
+f 31 14 9
+f 31 30 18
+f 31 9 30
+f 31 23 14
+f 31 16 23
+f 31 18 11
+f 31 11 16
+f 32 20 12
+f 32 7 20
+f 32 15 24
+f 33 22 20
+f 33 20 1
+f 33 1 22
+f 34 12 20
+f 34 8 12
+f 35 25 14
+f 35 14 3
+f 35 3 25
+f 36 27 17
+f 36 2 27
+f 36 17 28
+f 36 28 11
+f 36 11 2
+f 37 28 16
+f 37 16 11
+f 37 11 28
+f 38 32 24
+f 38 24 7
+f 38 7 32
+f 39 32 12
+f 39 12 15
+f 39 15 32
+f 40 34 20
+f 40 20 22
+f 41 22 21
+f 41 21 8
+f 41 8 34
+f 41 40 22
+f 41 34 40
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_15/collision/model_normalized_collision_2.obj b/objects/objaverse/cupcake/cupcake_15/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf1ea35771262d326aad85d8064629aadb4a18e8
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_15/collision/model_normalized_collision_2.obj
@@ -0,0 +1,120 @@
+# https://github.com/mikedh/trimesh
+v 0.14530469 -0.45418748 -0.02001237
+v 0.41957572 -0.25728277 -0.02799446
+v 0.37704587 -0.29701245 0.09086602
+v 0.26515151 -0.23503999 0.01539145
+v 0.14393939 -0.26534302 -0.22703280
+v 0.39168283 -0.24362468 0.07047467
+v 0.14393939 -0.26534302 0.01539145
+v 0.26458197 -0.40337828 -0.07180140
+v 0.37544844 -0.23398719 -0.22687212
+v 0.42720461 -0.23268421 0.01553369
+v 0.15150631 -0.42421725 0.03807805
+v 0.14141469 -0.42336364 -0.22474585
+v 0.38262005 -0.25618207 0.07836326
+v 0.32992594 -0.35613792 0.01074096
+v 0.26515151 -0.23503999 -0.22703280
+v 0.34709847 -0.29580438 -0.22313186
+v 0.40606807 -0.24344167 0.05399858
+v 0.42153217 -0.23787118 -0.02682736
+v 0.14431636 -0.45850673 -0.08953888
+v 0.37308300 -0.31349815 -0.01012885
+v 0.22104474 -0.43105889 -0.02198088
+v 0.37000328 -0.24910029 -0.22344471
+v 0.25321457 -0.37620436 -0.22451516
+v 0.42051723 -0.24108257 0.02645294
+v 0.36954420 -0.31290336 -0.05592031
+v 0.31481114 -0.36993588 -0.00955213
+v 0.21690389 -0.43559170 -0.04015641
+v 0.18419260 -0.43393249 -0.00057338
+v 0.30301540 -0.33990778 -0.22313572
+v 0.15113349 -0.44347381 -0.14584402
+v 0.31349446 -0.35377143 -0.13355537
+v 0.31335987 -0.36934354 -0.04285000
+v 0.20625081 -0.42928575 -0.10014112
+v 0.14325754 -0.43283956 -0.19237297
+v 0.30825409 -0.34287762 -0.19347368
+v 0.35569562 -0.30985366 -0.13159577
+v 0.32382783 -0.35776836 -0.05863667
+v 0.25141665 -0.38490084 -0.19256223
+v 0.15994950 -0.45231193 -0.08674180
+v 0.14513233 -0.44432511 -0.14696035
+v 0.14835517 -0.43111833 -0.19129649
+f 7 4 5
+f 7 6 4
+f 10 4 6
+f 11 7 1
+f 11 3 7
+f 12 7 5
+f 12 1 7
+f 12 5 9
+f 13 7 3
+f 13 3 6
+f 13 6 7
+f 15 9 5
+f 15 5 4
+f 15 10 9
+f 15 4 10
+f 17 10 6
+f 17 6 3
+f 18 10 2
+f 18 2 9
+f 18 9 10
+f 19 1 12
+f 20 2 3
+f 20 3 14
+f 21 14 3
+f 22 16 9
+f 22 9 2
+f 22 2 16
+f 23 12 9
+f 24 17 3
+f 24 10 17
+f 24 3 2
+f 24 2 10
+f 25 2 20
+f 26 14 21
+f 26 20 14
+f 27 26 21
+f 27 8 26
+f 27 21 1
+f 27 1 19
+f 28 11 1
+f 28 1 21
+f 28 21 3
+f 28 3 11
+f 29 23 9
+f 29 9 16
+f 31 8 23
+f 31 23 29
+f 32 20 26
+f 32 26 8
+f 32 8 31
+f 33 8 27
+f 33 30 23
+f 34 19 12
+f 35 31 29
+f 35 29 16
+f 35 16 31
+f 36 31 16
+f 36 25 31
+f 36 16 2
+f 36 2 25
+f 37 25 20
+f 37 20 32
+f 37 32 31
+f 37 31 25
+f 38 33 23
+f 38 23 8
+f 38 8 33
+f 39 33 27
+f 39 27 19
+f 39 19 30
+f 39 30 33
+f 40 34 30
+f 40 30 19
+f 40 19 34
+f 41 34 12
+f 41 12 23
+f 41 23 30
+f 41 30 34
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_15/collision/model_normalized_collision_20.obj b/objects/objaverse/cupcake/cupcake_15/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..10e5eb3234b129dd3e0196ae05966e97f2c0429a
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_15/collision/model_normalized_collision_20.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.13823846 -0.23646403 0.39733854
+v 0.26216204 -0.20215199 0.35696834
+v 0.18513187 -0.01150957 0.42149650
+v 0.12875877 0.14549679 0.38976558
+v 0.24560893 -0.21715373 0.35874152
+v 0.26722896 0.08364697 0.37051303
+v 0.12576554 0.02074606 0.43560000
+v 0.16648867 -0.21628200 0.40794881
+v 0.22522024 -0.06494960 0.40556304
+v 0.12219823 0.09139467 0.41007469
+v 0.14450990 0.14548905 0.38964333
+v 0.22822887 0.00729277 0.40656607
+v 0.14584878 -0.21449717 0.40910740
+v 0.18501932 -0.05167499 0.42164806
+v 0.22620939 -0.21425174 0.37964586
+v 0.25812134 -0.15363470 0.37417583
+v 0.12310044 0.04949548 0.42685473
+v 0.21394598 0.07925338 0.39154165
+v 0.14359345 -0.08141261 0.42447135
+v 0.21039994 -0.11208675 0.40537407
+v 0.23745523 -0.21436509 0.36934962
+v 0.23477707 -0.19968223 0.37849317
+v 0.19834499 0.04755493 0.40589324
+v 0.17117348 -0.08066817 0.42149767
+v 0.22541956 -0.17163268 0.39159275
+f 5 1 4
+f 5 4 2
+f 6 2 4
+f 10 4 1
+f 11 6 4
+f 12 7 3
+f 13 7 1
+f 13 1 8
+f 14 3 7
+f 14 12 3
+f 14 9 12
+f 15 8 1
+f 15 1 5
+f 16 2 6
+f 16 12 9
+f 16 6 12
+f 17 10 1
+f 17 1 7
+f 17 7 11
+f 17 11 4
+f 17 4 10
+f 18 11 7
+f 18 6 11
+f 18 12 6
+f 19 13 8
+f 19 7 13
+f 20 14 8
+f 20 9 14
+f 21 15 5
+f 21 5 2
+f 21 2 15
+f 22 15 2
+f 22 2 16
+f 23 18 7
+f 23 7 12
+f 23 12 18
+f 24 14 7
+f 24 7 19
+f 24 19 8
+f 24 8 14
+f 25 16 9
+f 25 9 20
+f 25 22 16
+f 25 20 8
+f 25 8 15
+f 25 15 22
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_15/collision/model_normalized_collision_21.obj b/objects/objaverse/cupcake/cupcake_15/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..60453d0bfaf256d3cfa46dc3d9ed5ad839b211f7
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_15/collision/model_normalized_collision_21.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.40840456 -0.25730306 0.23128703
+v 0.40979760 -0.25782397 0.01944157
+v 0.43054601 0.23353835 -0.00167824
+v 0.30175413 0.24234617 0.20844792
+v 0.26515151 -0.25019151 0.01539145
+v 0.39295360 0.14927136 0.22016713
+v 0.26515151 -0.25019151 0.21236115
+v 0.40151515 -0.02291878 0.00023993
+v 0.26515151 0.21950546 0.00023993
+v 0.33374555 0.21294533 0.21492446
+v 0.26515151 -0.02291878 0.00023993
+f 1 2 3
+f 6 1 3
+f 7 5 2
+f 7 2 1
+f 8 3 2
+f 8 2 5
+f 9 4 3
+f 9 7 4
+f 9 5 7
+f 10 6 3
+f 10 3 4
+f 10 1 6
+f 10 7 1
+f 10 4 7
+f 11 8 5
+f 11 5 9
+f 11 9 3
+f 11 3 8
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_15/collision/model_normalized_collision_22.obj b/objects/objaverse/cupcake/cupcake_15/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..25fd8580a9905d18c9953c756abaa26a760bfc83
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_15/collision/model_normalized_collision_22.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v 0.41484650 -0.25012216 0.12419003
+v 0.46918958 -0.14752493 0.01541129
+v 0.47345856 0.02000864 0.08130357
+v 0.39587021 0.21730500 0.09996447
+v 0.40151515 -0.02291878 0.00023993
+v 0.44597177 -0.06323796 0.12759339
+v 0.40151515 -0.14413090 0.01539145
+v 0.43054601 0.23353835 -0.00167824
+v 0.44445490 0.08804511 0.10949704
+v 0.39292973 0.19999696 0.11529793
+v 0.48061094 -0.09328461 0.05493705
+v 0.40753946 -0.22746875 0.06393779
+v 0.47469219 0.12469208 0.00025380
+v 0.46023715 0.06383378 0.09537499
+v 0.42621790 -0.21950365 0.12990317
+v 0.39672928 -0.23143048 0.07336293
+v 0.42790630 0.18030270 0.08380516
+v 0.47471413 -0.02216244 0.08102074
+v 0.49209722 -0.02270938 0.00916556
+v 0.48898727 0.04966702 0.04230673
+v 0.39758807 -0.24917592 0.11128737
+v 0.41320243 0.19660902 0.09517435
+v 0.45854625 0.12049086 0.06585457
+v 0.49412602 -0.02225607 0.04006678
+v 0.48978659 0.06537668 0.00544702
+v 0.40470743 -0.25030684 0.11706344
+v 0.40318428 0.21402033 0.09451280
+v 0.47418457 0.06536201 0.06544640
+v 0.47230691 0.11868391 0.03796479
+v 0.48987312 0.06435215 0.02709090
+v 0.42936376 0.21145853 0.05610791
+v 0.43974249 0.21568535 0.00017769
+v 0.41499077 0.21027494 0.08181851
+f 7 5 2
+f 8 5 4
+f 10 4 5
+f 10 6 9
+f 12 7 2
+f 12 2 1
+f 13 5 8
+f 14 9 6
+f 14 6 3
+f 15 10 1
+f 15 6 10
+f 15 11 6
+f 15 1 2
+f 15 2 11
+f 16 10 5
+f 16 5 7
+f 16 7 12
+f 18 3 6
+f 18 6 11
+f 19 2 5
+f 19 5 13
+f 20 14 3
+f 21 16 12
+f 21 10 16
+f 22 10 9
+f 22 9 17
+f 23 17 9
+f 23 9 14
+f 24 11 2
+f 24 2 19
+f 24 18 11
+f 24 20 3
+f 24 3 18
+f 25 19 13
+f 25 24 19
+f 26 21 12
+f 26 12 1
+f 26 1 10
+f 26 10 21
+f 27 4 10
+f 27 10 22
+f 28 23 14
+f 28 14 20
+f 29 28 20
+f 29 23 28
+f 30 20 24
+f 30 24 25
+f 30 29 20
+f 30 25 13
+f 30 13 29
+f 31 8 4
+f 31 4 27
+f 31 17 23
+f 31 23 29
+f 32 29 13
+f 32 13 8
+f 32 31 29
+f 32 8 31
+f 33 31 27
+f 33 27 22
+f 33 22 17
+f 33 17 31
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_15/collision/model_normalized_collision_23.obj b/objects/objaverse/cupcake/cupcake_15/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cd9a19abc1df494b688b0e8e30136d94fa44abe3
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_15/collision/model_normalized_collision_23.obj
@@ -0,0 +1,180 @@
+# https://github.com/mikedh/trimesh
+v 0.09071843 -0.48962555 0.18460220
+v 0.26153352 -0.39252466 0.01394102
+v 0.26515151 -0.02291878 0.27296721
+v -0.34049876 -0.02087415 0.25929131
+v -0.40058223 -0.19671408 0.00906266
+v 0.08128427 -0.39713317 0.26694982
+v -0.11024849 -0.43669519 0.00691914
+v -0.22555853 -0.37059177 0.19777315
+v 0.26515151 -0.02291878 0.01539145
+v -0.31295465 -0.16399612 0.27079745
+v 0.25437844 -0.36101427 0.25558552
+v 0.18324686 -0.43213218 0.00999418
+v -0.10549815 -0.43905596 0.22739840
+v -0.24226774 -0.37488261 0.00668676
+v -0.40811176 -0.02863361 0.03529909
+v -0.41378485 -0.04956056 0.17225289
+v -0.32332334 -0.26949592 0.18494679
+v 0.22691942 -0.39113387 0.25657517
+v 0.26115571 -0.42932323 0.14183708
+v 0.07140378 -0.48974128 0.12872165
+v 0.24090490 -0.40254006 0.01094876
+v 0.00495611 -0.43812212 0.23860794
+v -0.19611383 -0.32935176 0.25399003
+v -0.11770604 -0.44518966 0.20656241
+v -0.41132727 -0.09798637 0.01003587
+v -0.41593086 -0.02127462 0.14830492
+v -0.35420699 -0.04947031 0.24394023
+v -0.29496679 -0.31173892 0.18018788
+v -0.38399669 -0.13800995 0.18753084
+v 0.05942796 -0.44933008 0.22568421
+v 0.25856871 -0.42123623 0.20448472
+v 0.01019216 -0.45255355 0.01081386
+v 0.22757903 -0.44553000 0.11753963
+v -0.01465374 -0.47389734 0.20374391
+v -0.07662758 -0.40579440 0.25873559
+v -0.10659032 -0.44630960 0.21936357
+v -0.20601457 -0.38694005 0.19271267
+v -0.15525989 -0.41998909 0.00929223
+v -0.31684355 -0.30343543 0.00748852
+v -0.40256812 -0.19104566 0.03742229
+v -0.41586569 -0.02233570 0.17211271
+v -0.39822387 -0.09331392 0.18350979
+v -0.23780967 -0.36893281 0.13165071
+v -0.26720828 -0.33140664 0.19674538
+v 0.24207270 -0.43184097 0.20133952
+v 0.04422318 -0.48786873 0.13081081
+v -0.00777327 -0.45054591 0.00832082
+v 0.09049601 -0.48985183 0.17402430
+v 0.26017806 -0.43307229 0.11702248
+v -0.06303204 -0.43184192 0.23989193
+v -0.12152669 -0.44434156 0.17182796
+v -0.28038870 -0.32556499 0.18881954
+v -0.41494598 -0.04844298 0.15898751
+v -0.35394981 -0.02315862 0.24449302
+v -0.23925638 -0.28782047 0.25324994
+v 0.21697873 -0.44383233 0.19145004
+v 0.04196743 -0.48824773 0.18701733
+v 0.22947511 -0.44493288 0.12861256
+v -0.07547351 -0.46078343 0.12647454
+v -0.29427828 -0.25188376 0.22931906
+v -0.03558991 -0.47668085 0.14049005
+f 9 3 2
+f 9 4 3
+f 10 6 3
+f 10 3 4
+f 12 7 9
+f 14 9 7
+f 18 11 3
+f 18 3 6
+f 19 2 3
+f 21 12 9
+f 21 9 2
+f 23 8 13
+f 25 9 14
+f 25 15 9
+f 26 4 9
+f 26 9 15
+f 26 15 25
+f 27 10 4
+f 29 17 10
+f 30 18 6
+f 30 1 18
+f 30 6 22
+f 31 19 3
+f 31 3 11
+f 31 11 18
+f 32 12 20
+f 33 20 12
+f 34 30 22
+f 34 1 30
+f 35 22 6
+f 35 23 13
+f 35 6 10
+f 35 10 23
+f 36 13 8
+f 36 8 24
+f 36 34 13
+f 36 24 34
+f 37 24 8
+f 37 14 24
+f 38 14 7
+f 39 25 14
+f 39 5 25
+f 40 25 5
+f 40 17 29
+f 40 28 17
+f 40 39 28
+f 40 5 39
+f 41 4 26
+f 41 16 27
+f 42 27 16
+f 42 10 27
+f 42 29 10
+f 42 40 29
+f 42 16 40
+f 43 37 8
+f 43 14 37
+f 44 8 23
+f 45 31 18
+f 45 18 1
+f 45 19 31
+f 47 7 12
+f 47 12 32
+f 47 46 7
+f 47 32 20
+f 47 20 46
+f 48 20 33
+f 49 33 12
+f 49 12 21
+f 49 21 2
+f 49 2 19
+f 49 19 45
+f 50 34 22
+f 50 13 34
+f 50 35 13
+f 50 22 35
+f 51 24 14
+f 51 14 38
+f 52 39 14
+f 52 28 39
+f 52 14 43
+f 52 43 8
+f 52 8 44
+f 52 17 28
+f 53 40 16
+f 53 25 40
+f 53 16 41
+f 53 41 26
+f 53 26 25
+f 54 41 27
+f 54 27 4
+f 54 4 41
+f 55 44 23
+f 55 23 10
+f 56 45 1
+f 56 49 45
+f 57 46 20
+f 57 1 34
+f 57 48 1
+f 57 20 48
+f 58 48 33
+f 58 1 48
+f 58 56 1
+f 58 33 49
+f 58 49 56
+f 59 51 38
+f 59 38 7
+f 60 10 17
+f 60 17 52
+f 60 55 10
+f 60 52 44
+f 60 44 55
+f 61 59 7
+f 61 7 46
+f 61 46 57
+f 61 57 34
+f 61 34 24
+f 61 24 51
+f 61 51 59
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_15/collision/model_normalized_collision_24.obj b/objects/objaverse/cupcake/cupcake_15/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0f61d2ed7b5f4f7b406089bd36ab562618fb85c3
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_15/collision/model_normalized_collision_24.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v 0.25856871 -0.42123623 0.20448472
+v 0.43434483 -0.27256318 0.14585594
+v 0.39404893 -0.34503059 0.20031874
+v 0.27001016 -0.24507701 0.32747628
+v 0.26515151 -0.25019151 0.01539145
+v 0.43503440 -0.24448731 0.22197563
+v 0.31742010 -0.38774451 0.21620383
+v 0.25955912 -0.26240603 0.32989225
+v 0.30174939 -0.37058645 0.01193115
+v 0.41526430 -0.29944121 0.21192825
+v 0.43550785 -0.24404834 0.13594140
+v 0.27457913 -0.43124387 0.13250633
+v 0.26153352 -0.39252466 0.01394102
+v 0.26407031 -0.24966473 0.33276816
+v 0.36044492 -0.31734927 0.01259114
+v 0.39214269 -0.35211183 0.18969637
+v 0.37354978 -0.27160002 0.25504698
+v 0.42599866 -0.24446368 0.23039709
+v 0.33223149 -0.39819138 0.14975770
+v 0.26017806 -0.43307229 0.11702248
+v 0.27244112 -0.38769109 0.01324420
+v 0.39697154 -0.27346164 0.01912296
+v 0.38127863 -0.24511097 0.26228980
+v 0.42363077 -0.25807179 0.22566115
+v 0.29674880 -0.41852958 0.11815823
+v 0.34493223 -0.38857617 0.13436166
+v 0.26261022 -0.43458730 0.13148363
+v 0.38503215 -0.35767886 0.17234652
+v 0.27567085 -0.42768300 0.11489799
+v 0.33089113 -0.39886628 0.13936336
+v 0.40177892 -0.31487995 0.12529665
+f 8 1 7
+f 8 7 3
+f 10 2 6
+f 11 5 4
+f 11 6 2
+f 13 8 5
+f 13 1 8
+f 14 4 5
+f 14 5 8
+f 15 9 5
+f 16 10 3
+f 16 2 10
+f 16 3 7
+f 17 8 3
+f 17 3 10
+f 18 11 4
+f 18 6 11
+f 19 7 1
+f 19 1 12
+f 19 16 7
+f 20 1 13
+f 21 13 5
+f 21 5 9
+f 22 11 2
+f 22 15 5
+f 22 5 11
+f 23 14 8
+f 23 8 17
+f 23 17 10
+f 23 18 4
+f 23 4 14
+f 24 10 6
+f 24 6 18
+f 24 23 10
+f 24 18 23
+f 25 19 12
+f 25 21 9
+f 26 25 9
+f 26 9 15
+f 27 20 12
+f 27 12 1
+f 27 1 20
+f 28 15 22
+f 28 26 15
+f 28 16 19
+f 28 19 26
+f 28 2 16
+f 29 25 12
+f 29 12 20
+f 29 20 13
+f 29 13 21
+f 29 21 25
+f 30 26 19
+f 30 19 25
+f 30 25 26
+f 31 28 22
+f 31 22 2
+f 31 2 28
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_15/collision/model_normalized_collision_25.obj b/objects/objaverse/cupcake/cupcake_15/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..00168c065b498ea1284b03ee8c9bd2d8020de824
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_15/collision/model_normalized_collision_25.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v 0.40840456 -0.25730306 0.23128703
+v 0.46253074 -0.23124576 0.14902141
+v 0.47182392 0.02197598 0.21135802
+v 0.38657087 0.14406611 0.21195564
+v 0.40470743 -0.25030684 0.11706344
+v 0.40590572 0.13484247 0.21688978
+v 0.49092356 -0.10225306 0.18503225
+v 0.43550785 -0.24404834 0.13594140
+v 0.41043010 0.15713415 0.11253202
+v 0.44813109 -0.21452508 0.21747848
+v 0.45453211 -0.23674474 0.14495382
+v 0.41820325 0.11907822 0.21478968
+v 0.43741664 0.09440106 0.11427587
+v 0.38600424 0.14330690 0.13055714
+v 0.43596473 -0.24609235 0.21324156
+v 0.46364150 -0.23189560 0.15534955
+v 0.47760030 -0.09314486 0.20218968
+v 0.44991764 -0.02216282 0.10923454
+v 0.49426149 -0.08446662 0.17851292
+v 0.39993816 0.15808865 0.11915033
+v 0.48924407 -0.08031701 0.19088743
+v 0.49265275 -0.10145772 0.17518506
+v 0.39411450 0.15364802 0.12530182
+f 5 1 4
+f 6 1 3
+f 6 4 1
+f 8 1 5
+f 9 4 6
+f 10 3 1
+f 11 8 5
+f 12 9 6
+f 12 6 3
+f 12 3 9
+f 13 9 3
+f 14 5 4
+f 15 10 1
+f 15 1 8
+f 15 8 11
+f 16 7 10
+f 16 10 15
+f 16 15 11
+f 16 11 2
+f 17 3 10
+f 18 11 5
+f 18 2 11
+f 18 5 9
+f 18 9 13
+f 19 13 3
+f 19 18 13
+f 20 9 5
+f 20 5 14
+f 20 4 9
+f 21 17 10
+f 21 10 7
+f 21 3 17
+f 21 19 3
+f 21 7 19
+f 22 2 18
+f 22 18 19
+f 22 16 2
+f 22 19 7
+f 22 7 16
+f 23 20 14
+f 23 14 4
+f 23 4 20
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_15/collision/model_normalized_collision_26.obj b/objects/objaverse/cupcake/cupcake_15/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..541d672efb1938614818e92fc4c26215c79aa037
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_15/collision/model_normalized_collision_26.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v -0.23484849 -0.20473696 -0.34824492
+v -0.23484849 -0.20473696 -0.49218431
+v -0.23484849 0.23465698 -0.36339643
+v -0.32945641 0.23539366 -0.36237634
+v -0.42251497 -0.02160220 -0.34628004
+v -0.30335644 0.23306938 -0.49218431
+v -0.37673697 -0.20002321 -0.34656390
+v -0.23484849 -0.02291878 -0.34824492
+v -0.23484849 0.23465698 -0.49218431
+v -0.39906676 0.10275026 -0.38963707
+v -0.37124615 -0.13637622 -0.49218431
+v -0.35857666 0.20815443 -0.35895238
+v -0.40013787 -0.10557819 -0.34425815
+v -0.38579211 -0.14611905 -0.40406779
+v -0.34776172 -0.19834791 -0.49218431
+v -0.38397759 0.04876654 -0.49218431
+v -0.42052894 -0.02765937 -0.34576423
+v -0.40664808 0.09773614 -0.36111478
+v -0.35505160 0.15028006 -0.49218431
+v -0.38563851 -0.07940807 -0.49218431
+v -0.36908104 0.14881480 -0.44921720
+v -0.39924753 0.03443344 -0.43625411
+v -0.38651840 0.09303488 -0.46646426
+v -0.39891556 -0.08875049 -0.40643037
+v -0.33919182 0.18131162 -0.49218431
+v -0.41577028 -0.02817340 -0.37440263
+v -0.37230122 0.10703222 -0.49215416
+v -0.34179243 0.20311104 -0.43212992
+f 1 2 3
+f 7 2 1
+f 8 1 3
+f 9 3 2
+f 9 2 6
+f 9 6 4
+f 9 4 3
+f 11 6 2
+f 12 8 3
+f 12 3 4
+f 12 4 6
+f 13 7 1
+f 13 1 8
+f 13 5 7
+f 14 7 5
+f 15 11 2
+f 15 2 7
+f 15 14 11
+f 15 7 14
+f 16 6 11
+f 17 12 5
+f 17 8 12
+f 17 13 8
+f 17 5 13
+f 18 5 12
+f 19 6 16
+f 20 11 14
+f 20 16 11
+f 21 18 12
+f 21 10 18
+f 22 5 18
+f 22 16 20
+f 23 18 10
+f 23 22 18
+f 23 16 22
+f 23 10 21
+f 23 21 19
+f 24 20 14
+f 24 14 5
+f 24 5 20
+f 25 21 12
+f 25 6 19
+f 25 19 21
+f 26 22 20
+f 26 20 5
+f 26 5 22
+f 27 23 19
+f 27 19 16
+f 27 16 23
+f 28 25 12
+f 28 12 6
+f 28 6 25
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_15/collision/model_normalized_collision_27.obj b/objects/objaverse/cupcake/cupcake_15/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..462270f67cc196c483aa0b9468a5e530957d547b
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_15/collision/model_normalized_collision_27.obj
@@ -0,0 +1,132 @@
+# https://github.com/mikedh/trimesh
+v 0.12444173 -0.38706143 0.26960355
+v 0.29035496 -0.23661701 0.30316518
+v 0.07920272 -0.24306234 0.40698000
+v -0.24078367 -0.21257398 0.34180775
+v -0.25602939 -0.23597568 0.27580950
+v 0.22620939 -0.21425174 0.37964586
+v -0.08069828 -0.35323587 0.33796877
+v 0.26422718 -0.32393908 0.26780684
+v 0.26069494 -0.21478640 0.35240741
+v 0.05782654 -0.22055224 0.41090186
+v 0.22967883 -0.31256372 0.33333293
+v -0.07696115 -0.39886271 0.26140328
+v -0.22068712 -0.28588979 0.33169272
+v -0.16905633 -0.21256185 0.37965531
+v 0.17979355 -0.21658622 0.39902977
+v 0.23351742 -0.35396065 0.26265519
+v 0.23669686 -0.30363094 0.33502957
+v 0.11061671 -0.35559275 0.33483411
+v -0.24697190 -0.21784517 0.33023100
+v -0.21312316 -0.29461095 0.32770108
+v -0.21402678 -0.21662022 0.36826639
+v -0.10323401 -0.28649224 0.39311549
+v 0.07956935 -0.22269932 0.40881272
+v 0.16356697 -0.25197688 0.39224152
+v 0.23485018 -0.31380993 0.32727781
+v -0.22648097 -0.28864825 0.26040515
+v 0.18363563 -0.35541855 0.30772811
+v 0.09630159 -0.38381968 0.29030640
+v -0.24427663 -0.23073381 0.32523354
+v 0.11017466 -0.30053055 0.37621488
+v 0.06645424 -0.32483759 0.36420461
+v -0.20988948 -0.22603756 0.36624193
+v -0.11716274 -0.29367409 0.37910571
+v 0.22397072 -0.22619181 0.37582983
+v 0.17449821 -0.23943489 0.39308605
+v -0.18024988 -0.32932964 0.26362492
+v 0.15347331 -0.32888070 0.34608353
+v 0.22522270 -0.32385992 0.32273314
+v 0.16813870 -0.36919274 0.28396055
+v 0.12457798 -0.38385651 0.28120864
+v -0.04644851 -0.37195014 0.32361835
+v -0.08180066 -0.29100514 0.39257601
+v 0.16895065 -0.37374464 0.26708449
+v 0.08075610 -0.36782429 0.32295204
+v -0.05674977 -0.38623569 0.29194350
+f 8 5 2
+f 9 5 4
+f 9 2 5
+f 9 4 6
+f 14 6 4
+f 15 14 10
+f 15 6 14
+f 16 1 12
+f 17 9 6
+f 17 2 9
+f 17 8 2
+f 19 13 4
+f 19 4 5
+f 20 12 7
+f 21 14 4
+f 21 4 13
+f 22 3 10
+f 22 10 14
+f 22 14 21
+f 22 13 20
+f 23 15 10
+f 23 10 3
+f 23 3 15
+f 24 15 3
+f 24 11 17
+f 25 16 8
+f 25 17 11
+f 25 8 17
+f 26 16 12
+f 26 5 8
+f 26 8 16
+f 26 20 13
+f 26 13 5
+f 28 12 1
+f 29 19 5
+f 29 5 13
+f 29 13 19
+f 30 24 3
+f 31 18 30
+f 32 22 21
+f 32 21 13
+f 32 13 22
+f 33 22 20
+f 33 20 7
+f 33 7 22
+f 34 17 6
+f 35 6 15
+f 35 15 24
+f 35 34 6
+f 35 24 17
+f 35 17 34
+f 36 26 12
+f 36 12 20
+f 36 20 26
+f 37 27 11
+f 37 18 27
+f 37 30 18
+f 37 11 24
+f 37 24 30
+f 38 25 11
+f 38 11 27
+f 38 27 16
+f 38 16 25
+f 39 16 27
+f 40 27 18
+f 40 18 28
+f 40 28 1
+f 40 39 27
+f 41 7 12
+f 41 18 31
+f 42 30 3
+f 42 3 22
+f 42 31 30
+f 42 41 31
+f 42 22 7
+f 42 7 41
+f 43 1 16
+f 43 16 39
+f 43 40 1
+f 43 39 40
+f 44 41 28
+f 44 28 18
+f 44 18 41
+f 45 41 12
+f 45 12 28
+f 45 28 41
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_15/collision/model_normalized_collision_28.obj b/objects/objaverse/cupcake/cupcake_15/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1fc4e07bf9ed06ed5ecbce3728b1fe50c9db0594
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_15/collision/model_normalized_collision_28.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.26904198 -0.02297224 0.36886339
+v 0.26515151 -0.02291878 0.25781569
+v 0.26722896 0.08364697 0.37051303
+v -0.15893075 0.08033645 0.40270510
+v -0.15782595 -0.02297354 0.38755090
+v -0.15909091 0.08314183 0.25781569
+v 0.15234722 -0.02526634 0.42895982
+v 0.26515151 0.08314183 0.25781569
+v 0.14942799 0.08911665 0.40155672
+v -0.15909091 -0.02291878 0.25781569
+f 7 1 3
+f 7 4 5
+f 7 2 1
+f 8 1 2
+f 8 3 1
+f 8 2 6
+f 9 6 4
+f 9 8 6
+f 9 3 8
+f 9 7 3
+f 9 4 7
+f 10 5 4
+f 10 4 6
+f 10 6 2
+f 10 7 5
+f 10 2 7
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_15/collision/model_normalized_collision_29.obj b/objects/objaverse/cupcake/cupcake_15/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..228901fb4e58e44f026dc1e4ebd7649dc8df4b8a
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_15/collision/model_normalized_collision_29.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v -0.37999896 -0.09588773 0.03673933
+v -0.44127724 -0.02314025 -0.00401361
+v -0.38426343 0.22200552 0.00384542
+v -0.36130201 0.21596193 0.03618710
+v -0.41132727 -0.09798637 0.01003587
+v -0.36984900 -0.02271283 0.07464637
+v -0.38827880 0.21623834 -0.00486428
+v -0.42936867 0.13758001 0.00338967
+v -0.39492686 -0.09913536 0.02528433
+v -0.40860458 -0.03322245 0.03339912
+v -0.41428805 0.15124885 0.01807906
+v -0.43511998 0.13972603 -0.00707091
+v -0.42289997 -0.06548201 0.00680608
+v -0.39878950 0.12136968 0.04784054
+v -0.37101700 0.21207532 0.02877586
+v -0.42206081 0.16499188 -0.00598607
+v -0.43449748 -0.02150088 0.00533362
+v -0.41628818 0.03654259 0.03090520
+v -0.36383910 0.15244397 0.06322788
+v -0.38739132 0.12195585 0.05890042
+v -0.41460825 -0.00438970 0.03368935
+v -0.37182336 0.14845346 0.06000216
+v -0.40163882 -0.01852110 0.04418163
+f 6 1 4
+f 7 4 1
+f 7 3 4
+f 7 1 5
+f 7 5 2
+f 9 6 5
+f 9 5 1
+f 9 1 6
+f 10 5 6
+f 12 7 2
+f 12 2 8
+f 12 8 11
+f 13 2 5
+f 13 5 10
+f 14 11 8
+f 15 11 4
+f 15 4 3
+f 15 3 11
+f 16 3 7
+f 16 7 12
+f 16 12 11
+f 16 11 3
+f 17 13 10
+f 17 2 13
+f 18 14 8
+f 18 8 2
+f 19 6 4
+f 20 4 11
+f 20 11 14
+f 20 6 19
+f 21 18 2
+f 21 2 17
+f 21 17 10
+f 21 6 20
+f 21 20 14
+f 21 14 18
+f 22 20 19
+f 22 19 4
+f 22 4 20
+f 23 21 10
+f 23 10 6
+f 23 6 21
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_15/collision/model_normalized_collision_3.obj b/objects/objaverse/cupcake/cupcake_15/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d5fcbe2c1faaeec8d5873dba802ef96207f973f7
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_15/collision/model_normalized_collision_3.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v 0.14208401 -0.22480155 0.40394097
+v 0.14584878 -0.21449717 0.40910740
+v -0.03475010 -0.07505201 0.48478956
+v -0.15922261 0.08432994 0.40352960
+v 0.13696258 0.09170098 0.40431046
+v -0.02178548 -0.20335395 0.39084006
+v -0.00338138 -0.07876329 0.48926896
+v 0.15475069 0.03173231 0.41965899
+v -0.16002612 -0.02287830 0.38787806
+v -0.08606740 -0.13222367 0.37792355
+v 0.12752192 -0.19554333 0.42167399
+v 0.05048996 -0.21712617 0.40686609
+v 0.08930849 0.07722278 0.47111717
+v -0.05321454 -0.09471532 0.46944711
+v -0.16122434 0.03968720 0.39402656
+v -0.00655487 -0.21758045 0.38762761
+v 0.08036618 0.10401295 0.43257777
+v -0.03081251 -0.04679382 0.48141733
+v 0.03176615 -0.09160567 0.48101534
+v 0.15234722 -0.02526634 0.42895982
+v -0.15782595 -0.02297354 0.38755090
+v 0.08873881 0.08395737 0.46257897
+v 0.07895122 0.07370386 0.47091624
+v 0.03188713 -0.05576398 0.48294346
+v 0.13229336 -0.18577013 0.42298012
+v 0.07340497 0.10330802 0.43311155
+v 0.09447035 0.03008949 0.46749173
+f 8 2 1
+f 8 1 5
+f 10 5 1
+f 11 1 2
+f 12 11 7
+f 12 1 11
+f 13 8 5
+f 14 3 4
+f 14 4 9
+f 14 12 7
+f 14 7 3
+f 14 10 6
+f 14 9 10
+f 15 9 4
+f 15 4 5
+f 16 10 1
+f 16 6 10
+f 16 1 12
+f 16 14 6
+f 16 12 14
+f 17 5 4
+f 18 4 3
+f 18 3 7
+f 19 7 11
+f 20 2 8
+f 20 8 13
+f 21 10 9
+f 21 9 15
+f 21 15 5
+f 21 5 10
+f 22 13 5
+f 22 5 17
+f 22 4 13
+f 23 13 4
+f 23 4 18
+f 23 18 7
+f 23 7 13
+f 24 13 7
+f 24 7 19
+f 25 11 2
+f 25 2 20
+f 25 19 11
+f 26 22 17
+f 26 17 4
+f 26 4 22
+f 27 24 19
+f 27 13 24
+f 27 19 25
+f 27 25 20
+f 27 20 13
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_15/collision/model_normalized_collision_30.obj b/objects/objaverse/cupcake/cupcake_15/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c16799282931f8bd04492753750e02a93194990a
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_15/collision/model_normalized_collision_30.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.15150631 -0.42421725 0.03807805
+v 0.15943372 -0.41104464 -0.23184533
+v 0.14393939 -0.26534302 0.01539145
+v 0.00757576 -0.26534302 0.01539145
+v -0.00716287 -0.43063974 -0.23712351
+v 0.00757576 -0.26534302 -0.22703280
+v 0.00330140 -0.42846467 0.04395911
+v 0.14393939 -0.26534302 -0.22703280
+v 0.00072771 -0.43599796 0.03143073
+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 8 6 3
+f 8 3 2
+f 8 2 5
+f 8 5 6
+f 9 5 1
+f 9 1 7
+f 9 7 4
+f 9 4 5
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_15/collision/model_normalized_collision_31.obj b/objects/objaverse/cupcake/cupcake_15/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..632b97c54d7d412cbe83d82c0f9022127d2fd223
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_15/collision/model_normalized_collision_31.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.00330140 -0.42846467 0.04395911
+v -0.00716287 -0.43063974 -0.23712351
+v 0.00757576 -0.02291878 -0.22703280
+v -0.23484849 -0.02291878 0.01539145
+v -0.23055996 -0.37949528 0.01023158
+v -0.23484849 -0.02291878 -0.22703280
+v 0.00757576 -0.02291878 0.01539145
+v -0.22861217 -0.38418649 -0.22610831
+f 1 2 3
+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 2 1
+f 8 1 5
+f 8 6 2
+f 8 5 6
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_15/collision/model_normalized_collision_4.obj b/objects/objaverse/cupcake/cupcake_15/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fccb893f6d3473045fc04346f426174a5f5c59b3
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_15/collision/model_normalized_collision_4.obj
@@ -0,0 +1,114 @@
+# https://github.com/mikedh/trimesh
+v -0.23017581 -0.27823410 0.31865081
+v -0.15909091 -0.21988848 0.27296721
+v -0.16104418 0.10193188 0.40814795
+v -0.15876629 0.27964464 0.28759892
+v -0.34928371 0.13837971 0.25117695
+v -0.15176173 0.25337910 0.32559235
+v -0.15578306 -0.21400010 0.38348692
+v -0.26806012 -0.22645143 0.26423580
+v -0.15909091 -0.02291878 0.25781569
+v -0.31203687 -0.07568634 0.36726774
+v -0.34206516 0.11748919 0.29393986
+v -0.23476795 -0.26527669 0.27293629
+v -0.29050152 0.21722539 0.25370142
+v -0.34869659 -0.02252222 0.25068631
+v -0.24156174 -0.26008452 0.26774681
+v -0.15404952 0.27352759 0.29667909
+v -0.26872016 -0.01583858 0.39073325
+v -0.22395702 -0.21070638 0.36472997
+v -0.30898382 -0.16593604 0.30881090
+v -0.16906176 0.12103986 0.40694202
+v -0.22856288 -0.27547830 0.30591154
+v -0.31557550 0.18310010 0.24927159
+v -0.18575235 0.27430596 0.27731330
+v -0.17726774 0.23178409 0.33559751
+v -0.34236058 0.10472463 0.29155412
+v -0.21144533 -0.18524894 0.37448982
+v -0.17117472 0.10223293 0.40827899
+v -0.31029178 -0.03200718 0.36636235
+v -0.25093580 -0.17998853 0.36348204
+v -0.18725682 -0.21718213 0.37388735
+v -0.31295465 -0.16399612 0.27079745
+v -0.16155021 0.12147074 0.40747987
+v -0.26661427 0.01344145 0.39266508
+v -0.27767189 0.21219577 0.27235368
+v -0.15553064 0.24070847 0.33701363
+v -0.23330873 0.11906146 0.36646432
+v -0.29766610 -0.18013893 0.31595662
+v -0.23995024 0.09076482 0.37641174
+v -0.28019772 -0.13309899 0.36378881
+f 7 1 2
+f 7 6 3
+f 7 2 6
+f 9 6 2
+f 13 5 11
+f 14 9 8
+f 14 11 5
+f 15 9 2
+f 15 8 9
+f 15 2 12
+f 15 12 1
+f 15 1 8
+f 16 9 4
+f 16 4 6
+f 16 6 9
+f 19 10 14
+f 21 12 2
+f 21 2 1
+f 21 1 12
+f 22 13 9
+f 22 5 13
+f 22 14 5
+f 22 9 14
+f 23 4 9
+f 23 9 13
+f 23 6 4
+f 24 6 23
+f 25 14 10
+f 25 10 11
+f 25 11 14
+f 26 17 10
+f 26 7 17
+f 27 17 7
+f 27 7 3
+f 28 11 10
+f 29 1 18
+f 29 26 10
+f 29 18 26
+f 30 18 1
+f 30 1 7
+f 30 26 18
+f 30 7 26
+f 31 8 1
+f 31 1 19
+f 31 19 14
+f 31 14 8
+f 32 3 6
+f 32 27 3
+f 32 20 27
+f 33 27 20
+f 33 17 27
+f 33 11 28
+f 33 28 10
+f 33 10 17
+f 34 13 11
+f 34 11 24
+f 34 24 23
+f 34 23 13
+f 35 24 20
+f 35 6 24
+f 35 32 6
+f 35 20 32
+f 36 24 11
+f 36 20 24
+f 37 19 1
+f 37 1 29
+f 37 10 19
+f 38 33 20
+f 38 20 36
+f 38 36 11
+f 38 11 33
+f 39 37 29
+f 39 29 10
+f 39 10 37
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_15/collision/model_normalized_collision_5.obj b/objects/objaverse/cupcake/cupcake_15/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2bf3da5e46c999f1b4ed937e73bcfa01993e2b7a
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_15/collision/model_normalized_collision_5.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.48342860 -0.03243284 -0.02689944
+v 0.41279493 -0.02343861 -0.49218431
+v 0.43369745 0.22762851 0.00030810
+v -0.23484849 0.23465698 0.00023993
+v -0.23484849 -0.02291878 0.00023993
+v -0.23484849 0.23465698 -0.49218431
+v 0.49271615 0.04961851 0.00430158
+v -0.23484849 -0.02291878 -0.49218431
+v 0.34140352 0.21926993 -0.49218431
+v 0.49133140 0.03341967 -0.02536312
+v 0.48831423 -0.02281788 0.00266544
+v 0.49375152 -0.00397276 0.00721055
+v 0.38769232 0.10727595 -0.49218431
+v 0.41487339 -0.02361309 -0.48012013
+v 0.47350042 0.08894792 -0.07018176
+v 0.42964623 0.21913946 -0.06873740
+v 0.35334395 0.19661918 -0.49218431
+f 6 4 3
+f 6 5 4
+f 8 2 1
+f 8 1 5
+f 8 6 2
+f 8 5 6
+f 9 6 3
+f 9 2 6
+f 11 5 1
+f 12 7 3
+f 12 3 4
+f 12 4 5
+f 12 5 11
+f 12 10 7
+f 12 11 1
+f 13 2 9
+f 14 12 1
+f 14 1 2
+f 14 2 10
+f 14 10 12
+f 15 10 2
+f 15 2 13
+f 15 7 10
+f 15 3 7
+f 16 9 3
+f 16 15 13
+f 16 3 15
+f 17 16 13
+f 17 13 9
+f 17 9 16
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_15/collision/model_normalized_collision_6.obj b/objects/objaverse/cupcake/cupcake_15/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db9200a8c1b924b869f31f106a5ab278d1270024
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_15/collision/model_normalized_collision_6.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v -0.28312321 0.21532711 0.26425115
+v -0.26515152 0.21950546 0.00023993
+v -0.26227143 0.30353045 0.20867005
+v -0.27649606 0.36669013 -0.00249801
+v -0.38582601 0.21938641 0.00008419
+v -0.26014384 0.31715217 0.07135409
+v -0.27388399 0.23105947 0.26645121
+v -0.37590321 0.21517070 0.02218503
+v -0.36066742 0.28793724 -0.00724723
+v -0.27239666 0.36375632 0.01180072
+v -0.27738135 0.21795946 0.27002595
+v -0.33267453 0.21299796 0.21782131
+v -0.28794273 0.36039488 -0.00664776
+v -0.37727292 0.26072312 -0.00670233
+v -0.28513411 0.28500144 0.21467153
+v -0.27281425 0.29960904 0.20697760
+v -0.29557955 0.27055518 0.21411399
+v -0.31518824 0.34121655 -0.00655538
+v -0.32619282 0.22420381 0.21540276
+f 6 3 2
+f 7 2 3
+f 8 5 2
+f 10 6 2
+f 10 2 4
+f 10 3 6
+f 11 1 2
+f 11 2 7
+f 12 11 7
+f 12 1 11
+f 12 5 8
+f 12 8 2
+f 12 2 1
+f 13 4 2
+f 13 2 9
+f 14 9 2
+f 14 2 5
+f 14 12 9
+f 14 5 12
+f 15 12 7
+f 15 7 3
+f 16 4 13
+f 16 10 4
+f 16 3 10
+f 16 15 3
+f 17 15 9
+f 17 12 15
+f 18 13 9
+f 18 9 15
+f 18 16 13
+f 18 15 16
+f 19 17 9
+f 19 9 12
+f 19 12 17
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_15/collision/model_normalized_collision_7.obj b/objects/objaverse/cupcake/cupcake_15/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ee8d6eefe59a2e0fd9a04540c34b1610b75295d0
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_15/collision/model_normalized_collision_7.obj
@@ -0,0 +1,129 @@
+# https://github.com/mikedh/trimesh
+v 0.43596473 -0.24609235 0.21324156
+v 0.48639545 -0.20047125 0.23584060
+v 0.25933727 -0.18478572 0.36401657
+v 0.26375610 0.21764815 0.34595774
+v 0.30175413 0.24234617 0.20844792
+v 0.40944670 -0.03329759 0.31544040
+v 0.25906916 -0.24542829 0.33905417
+v 0.44755478 0.02334993 0.18128806
+v 0.25866405 -0.11209108 0.38298292
+v 0.43197523 -0.24109690 0.22859823
+v 0.27046290 -0.18260557 0.35996057
+v 0.26515151 -0.25019151 0.21236115
+v 0.48730068 -0.09637701 0.19107351
+v 0.41473043 0.11566667 0.26890101
+v 0.31896216 0.03486388 0.35990213
+v 0.25874023 0.03598304 0.38104416
+v 0.38912170 -0.24048598 0.25891592
+v 0.48034992 -0.20188569 0.22740405
+v 0.40043330 0.14399554 0.22188546
+v 0.34086311 0.20781916 0.27972305
+v 0.45904355 0.04846436 0.23720342
+v 0.32297114 -0.00506462 0.36120640
+v 0.38864853 0.10405733 0.31778747
+v 0.36014905 0.12060717 0.33132866
+v 0.46816856 0.01578223 0.18933152
+v 0.34542334 0.20394755 0.24986955
+v 0.39853699 0.14725198 0.23871205
+v 0.47421304 -0.02568673 0.23860085
+v 0.36979599 0.16142128 0.30628381
+v 0.42828867 0.08998614 0.27444112
+v 0.40081103 0.01376280 0.31761332
+v 0.43885454 0.04948551 0.18854385
+v 0.46195456 0.04042135 0.20658762
+v 0.33374555 0.21294533 0.21492446
+v 0.38730382 0.15848932 0.22513675
+v 0.44601065 0.07465644 0.25247169
+v 0.45773382 0.01436890 0.26685368
+v 0.29786110 0.20663138 0.33458009
+v 0.36831928 0.17382757 0.28311263
+v 0.39966844 0.10250990 0.30716634
+v 0.41808586 0.06385851 0.30154327
+v 0.32500175 0.20459638 0.30655527
+v 0.31239208 0.19285198 0.33306730
+v 0.42868436 0.05945321 0.29131433
+f 9 2 6
+f 9 7 3
+f 10 7 1
+f 10 1 2
+f 11 7 2
+f 11 3 7
+f 11 9 3
+f 11 2 9
+f 12 1 7
+f 12 5 8
+f 12 4 5
+f 13 12 8
+f 13 1 12
+f 16 7 9
+f 16 12 7
+f 16 4 12
+f 17 10 2
+f 17 2 7
+f 17 7 10
+f 18 13 2
+f 18 2 1
+f 18 1 13
+f 20 5 4
+f 22 9 6
+f 22 16 9
+f 22 15 16
+f 24 16 15
+f 24 4 16
+f 24 15 22
+f 24 22 23
+f 25 5 19
+f 25 13 8
+f 26 5 20
+f 27 26 20
+f 28 2 13
+f 28 25 21
+f 28 13 25
+f 29 24 23
+f 30 14 29
+f 31 23 22
+f 31 22 6
+f 32 25 8
+f 32 8 5
+f 32 5 25
+f 33 25 19
+f 33 21 25
+f 34 19 5
+f 34 5 26
+f 35 27 19
+f 35 26 27
+f 35 34 26
+f 35 19 34
+f 36 19 27
+f 36 33 19
+f 36 21 33
+f 36 27 14
+f 36 14 30
+f 37 6 2
+f 37 2 28
+f 37 36 30
+f 37 28 21
+f 37 21 36
+f 38 20 4
+f 39 27 20
+f 39 20 29
+f 39 29 14
+f 39 14 27
+f 40 30 29
+f 40 29 23
+f 41 31 6
+f 41 6 37
+f 41 23 31
+f 41 40 23
+f 42 38 29
+f 42 29 20
+f 42 20 38
+f 43 38 4
+f 43 4 24
+f 43 24 29
+f 43 29 38
+f 44 41 37
+f 44 37 30
+f 44 30 40
+f 44 40 41
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_15/collision/model_normalized_collision_8.obj b/objects/objaverse/cupcake/cupcake_15/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..938a5265f5d6f2b2e2919f7684fb6a1e95ffc1d2
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_15/collision/model_normalized_collision_8.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v -0.23479494 -0.41639615 -0.03605651
+v -0.22921112 -0.32910552 -0.49218431
+v -0.23484849 -0.23503999 0.01539145
+v -0.37974288 -0.22857830 0.01078834
+v -0.42987166 -0.30201674 -0.03250144
+v -0.34776172 -0.19834791 -0.49218431
+v -0.23055996 -0.37949528 0.01023158
+v -0.31136189 -0.39238303 -0.03875471
+v -0.23484849 -0.20473696 -0.49218431
+v -0.23484849 -0.20473696 -0.22703280
+v -0.39316698 -0.20262951 -0.27049332
+v -0.31242532 -0.24816562 -0.49218431
+v -0.42219319 -0.30071216 -0.01436394
+v -0.22575094 -0.40156296 -0.02202863
+v -0.23672643 -0.32435737 -0.49218431
+v -0.24770317 -0.41479223 -0.03677688
+v -0.43093716 -0.28506366 -0.04013942
+v -0.38715171 -0.20098845 -0.29832063
+v -0.36352142 -0.34601066 -0.01612543
+v -0.42277272 -0.30875606 -0.03180452
+v -0.31091554 -0.39084484 -0.02906106
+v -0.38938704 -0.22922416 -0.00625790
+v -0.42857637 -0.27728440 -0.02221306
+v -0.42326765 -0.30786098 -0.02396852
+v -0.42058919 -0.27596210 -0.01467139
+v -0.43045162 -0.27763419 -0.03007075
+v -0.43105192 -0.29984405 -0.02426020
+f 7 3 4
+f 9 2 6
+f 10 4 3
+f 10 9 6
+f 11 4 10
+f 12 6 2
+f 12 5 6
+f 13 7 4
+f 14 7 1
+f 14 1 2
+f 14 3 7
+f 14 10 3
+f 14 2 9
+f 14 9 10
+f 15 2 8
+f 15 12 2
+f 15 5 12
+f 16 8 2
+f 16 2 1
+f 16 1 7
+f 17 11 6
+f 17 6 5
+f 18 11 10
+f 18 10 6
+f 18 6 11
+f 19 7 13
+f 20 15 8
+f 20 5 15
+f 21 16 7
+f 21 8 16
+f 21 7 19
+f 22 4 11
+f 23 4 22
+f 24 19 13
+f 24 5 20
+f 24 21 19
+f 24 20 8
+f 24 8 21
+f 25 23 13
+f 25 13 4
+f 25 4 23
+f 26 23 22
+f 26 22 11
+f 26 11 17
+f 27 13 23
+f 27 24 13
+f 27 5 24
+f 27 23 26
+f 27 26 17
+f 27 17 5
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_15/collision/model_normalized_collision_9.obj b/objects/objaverse/cupcake/cupcake_15/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aefc3ed1c7c74e86259777940aaf7bf60fd4651a
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_15/collision/model_normalized_collision_9.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v -0.23484849 -0.23503999 0.01539145
+v -0.23484849 -0.20473696 -0.34824492
+v -0.23484849 -0.02291878 0.01539145
+v -0.49598876 -0.02192096 -0.03956318
+v -0.43214051 -0.20750534 -0.09967395
+v -0.23484849 -0.02291878 -0.34824492
+v -0.41574526 -0.15748886 0.01376632
+v -0.36530683 -0.23553580 -0.24082654
+v -0.43417612 -0.02030254 -0.29870802
+v -0.43449748 -0.02150088 0.00533362
+v -0.38445134 -0.22599543 0.00593836
+v -0.46501776 -0.15130857 -0.03754117
+v -0.23484849 -0.23503999 -0.22703280
+v -0.42251497 -0.02160220 -0.34628004
+v -0.47517113 -0.02098070 -0.13230440
+v -0.41709577 -0.21918997 -0.03441940
+v -0.40058223 -0.19671408 0.00906266
+v -0.37673697 -0.20002321 -0.34656390
+v -0.49407453 -0.02203017 -0.07112079
+v -0.41048163 -0.21784647 -0.14989962
+v -0.44534622 -0.20027608 -0.04760947
+v -0.45790660 -0.15450609 -0.09882292
+v -0.41859755 -0.21803038 -0.05989076
+v -0.41492661 -0.20975235 -0.17648848
+v -0.43614942 -0.20533550 -0.03795362
+v -0.41473412 -0.08190592 -0.34347638
+v -0.44570716 -0.19794828 -0.05740678
+v -0.43522016 -0.19816288 -0.03154000
+v -0.45995755 -0.08087357 -0.16170818
+v -0.39932263 -0.14130780 -0.34400313
+v -0.42864613 -0.15236985 -0.21976592
+f 1 2 3
+f 6 3 2
+f 7 1 3
+f 9 3 6
+f 10 7 3
+f 10 4 7
+f 10 3 9
+f 11 1 7
+f 11 8 1
+f 12 7 4
+f 13 8 2
+f 13 2 1
+f 13 1 8
+f 14 9 6
+f 14 6 2
+f 15 10 9
+f 15 4 10
+f 16 8 11
+f 17 11 7
+f 17 7 12
+f 18 14 2
+f 18 2 8
+f 19 15 9
+f 19 9 14
+f 19 12 4
+f 19 4 15
+f 22 12 19
+f 23 5 20
+f 23 21 5
+f 23 16 21
+f 23 20 8
+f 23 8 16
+f 24 18 8
+f 24 8 20
+f 24 20 5
+f 24 22 18
+f 25 21 16
+f 25 16 11
+f 25 12 21
+f 26 19 14
+f 27 21 12
+f 27 12 22
+f 27 5 21
+f 27 24 5
+f 27 22 24
+f 28 17 12
+f 28 12 25
+f 28 25 11
+f 28 11 17
+f 29 22 19
+f 29 19 26
+f 30 26 14
+f 30 14 18
+f 31 29 26
+f 31 22 29
+f 31 26 30
+f 31 30 18
+f 31 18 22
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_15/model.xml b/objects/objaverse/cupcake/cupcake_15/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..9f1e8d9bd80d4e89d033ebdf7b43eb3d3376f064
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_15/model.xml
@@ -0,0 +1,84 @@
+<mujoco model="cupcake_5">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.065 0.065 0.065" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="visual/model_normalized_1.obj" name="model_normalized_1_vis" scale="0.065 0.065 0.065" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.065 0.065 0.065" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.065 0.065 0.065" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.065 0.065 0.065" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.065 0.065 0.065" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.065 0.065 0.065" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.065 0.065 0.065" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.065 0.065 0.065" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.065 0.065 0.065" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.065 0.065 0.065" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.065 0.065 0.065" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.065 0.065 0.065" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.065 0.065 0.065" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.065 0.065 0.065" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.065 0.065 0.065" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.065 0.065 0.065" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.065 0.065 0.065" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.065 0.065 0.065" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.065 0.065 0.065" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.065 0.065 0.065" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.065 0.065 0.065" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.065 0.065 0.065" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.065 0.065 0.065" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.065 0.065 0.065" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.065 0.065 0.065" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.065 0.065 0.065" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.065 0.065 0.065" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.065 0.065 0.065" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.065 0.065 0.065" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.065 0.065 0.065" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.065 0.065 0.065" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.065 0.065 0.065" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.065 0.065 0.065" refquat="1.0 0.0 0.0 0.0"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="material0000" texture="image0" specular="0.5" shininess="0.359999993"/>
+    <material name="material0001" 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="material0001"/>
+        <geom solimp="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="material0000"/>
+        <geom solimp="0.998 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="-5.61362749999983e-05 6.344227500000091e-05 -0.03199198015000001" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="-5.61362749999983e-05 6.344227500000091e-05 0.0318024824" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.032126996850000006 0.0319672535 -9.474887500000127e-05" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/objects/objaverse/cupcake/cupcake_15/visual/material.mtl b/objects/objaverse/cupcake/cupcake_15/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..842b70538fc6029daec10eabd1278717f12035ab
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_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.jpeg
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_15/visual/model_normalized_0.obj b/objects/objaverse/cupcake/cupcake_15/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b465f9eb598b79a22919ff938af593e9c015684c
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_15/visual/model_normalized_0.obj
@@ -0,0 +1,25723 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
+v 0.36293086 0.16993916 -0.48773662
+v 0.36786533 0.16258011 -0.48376086
+v 0.36673324 0.16352584 -0.49099752
+v -0.37265423 -0.13379387 -0.48928223
+v -0.37231581 -0.13639183 -0.48004471
+v -0.37429627 -0.12812507 -0.48040075
+v 0.30986077 -0.29420576 -0.37598420
+v 0.31453841 -0.29541202 -0.36446581
+v 0.30599720 -0.30193475 -0.36824501
+v 0.48393192 0.09710339 0.01906983
+v 0.48397921 0.09453416 0.02517626
+v 0.48651784 0.08946248 0.01938322
+v 0.48584563 0.08573335 0.02850299
+v 0.38607705 -0.19741622 -0.29801741
+v 0.38149399 -0.20338171 -0.30192919
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\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_17/collision/model_normalized_collision_1.obj b/objects/objaverse/cupcake/cupcake_17/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c90c381b62cc3206cbcfb403879fe8b199593cd4
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_17/collision/model_normalized_collision_1.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v 0.23394540 -0.13806036 0.15303979
+v 0.22761186 -0.13837809 0.14482440
+v 0.22711953 0.14707891 0.13789288
+v 0.12268698 0.23772056 0.13958536
+v 0.19291561 -0.01999375 0.24049945
+v 0.21112522 0.17627563 0.13545188
+v 0.19813236 -0.10817891 0.20295344
+v 0.21886232 0.02188988 0.21600360
+v 0.20196779 -0.14057653 0.15023503
+v 0.21368926 -0.01622443 0.22833532
+v 0.11716756 0.17605653 0.17558684
+v 0.21610282 0.07618536 0.20598793
+v 0.20671640 -0.02121037 0.23277966
+v 0.19720624 -0.13737658 0.15286305
+v 0.15857565 0.21711993 0.16376283
+v 0.20915874 0.05639463 0.22177647
+v 0.11994046 0.23261586 0.14254976
+v 0.16673815 0.23703245 0.14065335
+v 0.14150792 0.13046527 0.19796633
+v 0.12053028 0.18920072 0.16007730
+v 0.14496017 0.21750195 0.16463522
+v 0.19193130 0.07369464 0.21863179
+v 0.16217026 0.23115361 0.14916133
+v 0.19149278 -0.00547076 0.23806097
+f 1 2 3
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\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_17/collision/model_normalized_collision_10.obj b/objects/objaverse/cupcake/cupcake_17/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..285aac73d19eda2d49b2b3e54e493455c401c088
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_17/collision/model_normalized_collision_10.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v -0.22466830 0.05800179 -0.35606061
+v -0.14891073 0.13375937 -0.49999995
+v -0.14891073 0.13375937 -0.35606061
+v -0.14826791 0.26885241 -0.35579248
+v -0.26772476 0.08292852 -0.49999996
+v -0.14200572 0.25677496 -0.42903749
+v -0.25635023 0.17005736 -0.35293462
+v -0.22466830 0.05800180 -0.49999995
+v -0.14218945 0.24368735 -0.48999323
+v -0.28591162 0.11239882 -0.35312859
+v -0.16999616 0.25639682 -0.35293551
+v -0.29872158 0.05766688 -0.37088383
+v -0.14790306 0.23812829 -0.49999993
+v -0.25105737 0.12467768 -0.49999996
+v -0.28538717 0.05504493 -0.44413257
+v -0.29472204 0.08648951 -0.35494050
+v -0.19470085 0.20838846 -0.47326779
+v -0.15272015 0.25086722 -0.42766895
+v -0.26568321 0.12454232 -0.42787901
+v -0.26543063 0.09629603 -0.48857425
+v -0.27465100 0.05585912 -0.49999996
+v -0.29760599 0.06921623 -0.36439206
+v -0.22367846 0.19449037 -0.41261493
+v -0.16787362 0.22444365 -0.49999996
+v -0.25082537 0.15270437 -0.42770205
+v -0.28175871 0.08236629 -0.42819362
+v -0.28255950 0.06853241 -0.44354337
+v -0.19465912 0.22333599 -0.41261671
+v -0.22450113 0.16778722 -0.49999994
+v -0.15257152 0.23767463 -0.48856824
+v -0.20838669 0.19468052 -0.47325276
+v -0.23769862 0.15257629 -0.48858447
+f 1 2 3
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+f 32 29 14
+f 32 14 25
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\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_17/collision/model_normalized_collision_11.obj b/objects/objaverse/cupcake/cupcake_17/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7647f4b98682f01e69a432b99aedc9a1c9adf230
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_17/collision/model_normalized_collision_11.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v 0.18442261 0.19436543 -0.09848485
+v 0.22523335 0.23735966 -0.24634985
+v 0.10266093 0.34412805 -0.09369457
+v -0.09792494 0.34471861 -0.09481426
+v -0.23099698 0.23187906 -0.24498765
+v -0.04046971 0.32837045 -0.23137097
+v -0.17188070 0.31531740 -0.09392728
+v 0.20999513 0.28811748 -0.10755989
+v 0.10315343 0.31397267 -0.23140163
+v 0.04588367 0.34258361 -0.15509056
+v -0.19436527 0.19436543 -0.09848485
+v -0.16968276 0.28407757 -0.23112447
+v 0.04578206 0.32738220 -0.23120652
+v 0.19353018 0.26686514 -0.23780441
+v -0.05552579 0.34183604 -0.15489523
+v -0.18873633 0.30568006 -0.09542945
+v -0.11130683 0.31073467 -0.23072096
+v 0.07471334 0.34155297 -0.13964299
+v -0.18620450 0.27331924 -0.23199984
+v -0.06913300 0.32666664 -0.21583383
+v -0.15412777 0.29590449 -0.21539042
+v -0.14208636 0.32849679 -0.09450839
+v -0.08286148 0.32623022 -0.20056107
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+f 11 1 7
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+f 13 2 6
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+f 15 4 10
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+f 16 5 11
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+f 22 7 4
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+f 22 17 21
+f 23 20 17
+f 23 17 4
+f 23 4 20
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_17/collision/model_normalized_collision_12.obj b/objects/objaverse/cupcake/cupcake_17/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a344b406bc4b7a8780ef507fa48842d51ff4ffd
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_17/collision/model_normalized_collision_12.obj
@@ -0,0 +1,135 @@
+# https://github.com/mikedh/trimesh
+v 0.11961204 -0.38056296 0.01981844
+v 0.26338249 -0.26356127 0.04055665
+v 0.10532013 -0.26676954 0.14320598
+v -0.17439545 -0.22341757 0.13086926
+v -0.17921376 -0.22987699 0.00757576
+v 0.20888816 -0.22340048 0.11644395
+v -0.03271289 -0.37188640 0.08473187
+v 0.20077012 -0.31520747 0.08246683
+v 0.21805633 -0.33393044 0.01153231
+v -0.02761491 -0.22905062 0.15727773
+v 0.22565335 -0.22563060 0.10640615
+v -0.14778402 -0.36373749 -0.00669619
+v 0.04244031 -0.36724838 0.08336808
+v 0.22376818 -0.28983358 0.08997412
+v 0.15999035 -0.36359293 0.02314828
+v 0.12078741 -0.22417236 0.14603095
+v -0.01966003 -0.31905204 0.14252644
+v -0.05419327 -0.39522308 0.01606340
+v 0.04712421 -0.39570355 0.01061195
+v -0.15449567 -0.31522466 0.11184546
+v 0.20218778 -0.32084816 0.07550060
+v 0.13879543 -0.27419788 0.13148962
+v 0.23323281 -0.25378699 0.09266448
+v 0.21918253 -0.33327252 0.01204374
+v 0.16142221 -0.36298859 0.01132132
+v 0.17875488 -0.22293207 0.12940063
+v -0.02451039 -0.31475035 0.14391467
+v 0.12792728 -0.30928138 0.11142686
+v -0.05599665 -0.39404329 0.01092506
+v 0.04481294 -0.39641704 0.01365833
+v -0.22144054 -0.33095523 0.00870302
+v -0.05916887 -0.35172907 0.10111906
+v -0.15819725 -0.36423468 0.02459630
+v 0.11797500 -0.37937427 0.01098892
+v -0.11570214 -0.38173625 0.01476381
+v 0.01444372 -0.39451715 0.02519532
+v -0.21954336 -0.32930503 0.01657255
+v -0.16066749 -0.35857774 -0.00489653
+v -0.13609644 -0.33939359 0.08840394
+v -0.11344375 -0.38167697 0.01055864
+v -0.03825348 -0.39338623 0.02410061
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+v -0.14285606 -0.36736768 -0.00267776
+v -0.21476719 -0.33580578 0.01103362
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+f 21 13 1
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+f 38 5 12
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+f 41 7 18
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+f 43 20 37
+f 44 35 33
+f 44 33 43
+f 45 12 29
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+f 45 40 35
+f 45 35 44
+f 45 44 38
+f 45 38 12
+f 46 43 31
+f 46 31 38
+f 46 44 43
+f 46 38 44
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_17/collision/model_normalized_collision_13.obj b/objects/objaverse/cupcake/cupcake_17/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bf6f59f651f3fc401f5163c8eb889ad4c31b86d8
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_17/collision/model_normalized_collision_13.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v 0.26338249 -0.26356127 0.04055665
+v 0.22124488 -0.22119856 0.11145839
+v -0.17921376 -0.22987699 0.00757576
+v -0.08587945 0.38963982 0.01303347
+v 0.21209071 0.29259148 0.03563863
+v -0.18381982 0.23089377 0.14231484
+v 0.22987715 0.17921392 0.00757576
+v -0.17439545 -0.22341757 0.13086926
+v 0.22363498 0.17411971 0.13087180
+v -0.17171804 0.35856919 0.01117832
+v 0.16273291 0.36185972 0.01052122
+v 0.19178971 -0.22124046 0.12508157
+v 0.22360940 -0.19093032 0.13122441
+v -0.14808017 0.31603659 0.12069386
+v 0.11442742 0.31967649 0.11675945
+v 0.07556288 0.39128996 0.01050993
+v -0.17671727 0.27493700 0.11945331
+v -0.12902533 0.37453539 0.02505363
+v 0.19324297 0.23449294 0.12905766
+v 0.08595504 0.32853720 0.12215649
+v -0.08467007 0.38947975 0.01087806
+v -0.16714276 0.32922230 0.07034250
+v -0.16774440 0.35879842 0.02277877
+v 0.16162012 0.36195587 0.02602858
+v 0.17089342 0.24509580 0.13061030
+v -0.03863564 0.38934863 0.02509051
+v -0.13336922 0.30449647 0.12725207
+v 0.07449915 0.39189022 0.01260403
+v 0.18989553 0.27087280 0.09613289
+v -0.01840754 0.33182227 0.11526190
+v 0.05766122 0.38815694 0.02399799
+v 0.13417202 0.37564424 0.01857077
+v 0.13232043 0.37483864 0.01092284
+f 7 1 3
+f 8 3 1
+f 8 6 3
+f 9 7 5
+f 9 1 7
+f 10 3 6
+f 10 7 3
+f 11 5 7
+f 12 8 1
+f 12 1 2
+f 13 2 1
+f 13 1 9
+f 13 12 2
+f 13 9 6
+f 13 6 8
+f 13 8 12
+f 16 11 7
+f 17 10 6
+f 17 6 14
+f 18 14 4
+f 18 4 10
+f 19 9 5
+f 20 19 15
+f 21 10 4
+f 21 16 7
+f 21 7 10
+f 22 17 14
+f 22 10 17
+f 23 18 10
+f 23 14 18
+f 23 22 14
+f 23 10 22
+f 24 5 11
+f 24 20 15
+f 25 6 9
+f 25 9 19
+f 25 20 6
+f 25 19 20
+f 26 4 14
+f 27 20 14
+f 27 14 6
+f 27 6 20
+f 28 21 4
+f 28 16 21
+f 28 4 26
+f 29 19 5
+f 29 5 24
+f 29 24 15
+f 29 15 19
+f 30 26 14
+f 30 14 20
+f 30 20 26
+f 31 28 26
+f 31 26 20
+f 31 20 28
+f 32 28 20
+f 32 20 24
+f 32 24 11
+f 32 16 28
+f 33 32 11
+f 33 11 16
+f 33 16 32
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_17/collision/model_normalized_collision_15.obj b/objects/objaverse/cupcake/cupcake_17/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..11ee5f9a4824b2850cc0aef1c452fd59f2a319b7
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_17/collision/model_normalized_collision_15.obj
@@ -0,0 +1,117 @@
+# https://github.com/mikedh/trimesh
+v 0.09325503 -0.01309697 0.42356871
+v 0.19091731 0.00711875 0.27628748
+v 0.11076711 0.17441545 0.26967585
+v -0.05548650 0.19212826 0.25875992
+v -0.07315315 -0.01775578 0.26515151
+v 0.19292861 0.05490015 0.25871044
+v -0.00922011 0.08787716 0.45788680
+v 0.18644283 -0.01797100 0.28507493
+v 0.11450527 0.17479853 0.26384103
+v -0.07024483 0.17690754 0.25863211
+v 0.17096602 0.03097754 0.34052900
+v 0.02339175 0.19552103 0.29556541
+v -0.08964856 -0.01534274 0.43458684
+v 0.18390062 -0.00913989 0.27574329
+v -0.11644705 0.10243508 0.33805490
+v 0.05500524 0.06823777 0.44344434
+v 0.15371027 0.12276407 0.29679580
+v 0.05312160 0.18703462 0.29960831
+v -0.06523295 0.17102897 0.30367032
+v 0.08672180 0.18328606 0.26665417
+v -0.00562059 -0.01387179 0.49149506
+v -0.11321323 -0.02228121 0.39186548
+v -0.09119385 0.04723326 0.42414126
+v -0.11474354 0.08754139 0.33447685
+v 0.05396323 0.07238497 0.44067435
+v 0.02148876 0.19528554 0.29625753
+v -0.04335657 0.12483177 0.38962039
+v 0.02625706 0.19556213 0.29030578
+v 0.00427287 0.00585725 0.49341425
+v -0.06439273 0.02826082 0.45437136
+v -0.08609875 0.00555530 0.44023021
+v -0.10333674 0.02458116 0.40543947
+v -0.06479285 0.15518377 0.32601844
+v -0.01592825 0.08803796 0.45696449
+v 0.05226691 -0.01188743 0.46171772
+v -0.00462055 0.00343194 0.49479919
+v -0.08390181 0.00333643 0.44415278
+v -0.10329961 -0.00502999 0.40903724
+v 0.00839709 -0.00563162 0.49095790
+v 0.05323157 -0.00630422 0.45995936
+f 9 6 4
+f 10 6 5
+f 10 4 6
+f 11 2 6
+f 11 8 2
+f 11 1 8
+f 14 6 2
+f 14 2 8
+f 14 8 5
+f 14 5 6
+f 16 1 11
+f 17 9 3
+f 17 16 11
+f 17 11 6
+f 17 6 9
+f 18 12 7
+f 18 3 9
+f 19 4 10
+f 19 10 15
+f 20 9 4
+f 20 18 9
+f 20 12 18
+f 21 8 1
+f 22 5 8
+f 22 21 13
+f 22 8 21
+f 24 15 10
+f 24 10 5
+f 24 22 15
+f 24 5 22
+f 25 17 3
+f 25 16 17
+f 25 3 18
+f 25 18 7
+f 25 7 16
+f 26 12 4
+f 26 4 19
+f 26 7 12
+f 27 26 19
+f 27 15 23
+f 28 20 4
+f 28 4 12
+f 28 12 20
+f 29 16 7
+f 31 22 13
+f 32 23 15
+f 32 15 22
+f 32 31 23
+f 33 27 19
+f 33 19 15
+f 33 15 27
+f 34 7 26
+f 34 26 27
+f 34 27 23
+f 34 23 30
+f 35 21 1
+f 36 34 30
+f 36 29 7
+f 36 7 34
+f 37 30 23
+f 37 23 31
+f 37 36 30
+f 37 21 36
+f 37 31 13
+f 37 13 21
+f 38 32 22
+f 38 22 31
+f 38 31 32
+f 39 35 29
+f 39 21 35
+f 39 36 21
+f 39 29 36
+f 40 35 1
+f 40 1 16
+f 40 16 29
+f 40 29 35
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_17/collision/model_normalized_collision_16.obj b/objects/objaverse/cupcake/cupcake_17/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d5c8e83ddbf7a503527792cecd7d037363b6c473
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_17/collision/model_normalized_collision_16.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v 0.18704209 0.24329552 -0.35688074
+v 0.18538251 0.24109358 -0.37151266
+v 0.07397882 0.29863520 -0.35276280
+v -0.06904553 0.29973455 -0.35297772
+v -0.14891074 0.22466845 -0.49999994
+v 0.17372443 0.25403159 -0.35240832
+v -0.16909813 0.25473011 -0.36290487
+v 0.08769030 0.26626597 -0.49999998
+v -0.12479352 0.25103457 -0.49999996
+v -0.14228156 0.27245588 -0.35336008
+v 0.10866504 0.22466846 -0.49999996
+v 0.10448114 0.26009807 -0.49999997
+v -0.04020671 0.28226101 -0.47387514
+v -0.14124162 0.24209610 -0.49999995
+v -0.11264349 0.28571415 -0.35312052
+v 0.17219359 0.25172901 -0.36703721
+v 0.11689698 0.28407104 -0.35277165
+v -0.02619488 0.29786595 -0.39822617
+v -0.08302753 0.26770449 -0.49999996
+v -0.13951477 0.25195972 -0.45833740
+v -0.12477687 0.26560861 -0.42784599
+v 0.13212329 0.27454242 -0.36629836
+v 0.10150582 0.28122842 -0.39775076
+v -0.05428647 0.29711374 -0.38287728
+v 0.04520577 0.28153996 -0.47373743
+v -0.09640632 0.26539912 -0.48857559
+v 0.10183232 0.26633842 -0.47359884
+v -0.06835381 0.29706659 -0.36761008
+v 0.03125290 0.29731116 -0.39816724
+v 0.07328821 0.29596579 -0.36739471
+f 5 2 1
+f 6 3 4
+f 6 1 2
+f 7 5 1
+f 10 7 1
+f 10 1 6
+f 11 2 5
+f 11 9 8
+f 11 5 9
+f 12 11 8
+f 12 2 11
+f 14 9 5
+f 14 5 7
+f 15 10 6
+f 15 6 4
+f 16 6 2
+f 16 2 12
+f 17 3 6
+f 18 4 3
+f 19 15 4
+f 19 13 8
+f 19 8 9
+f 20 10 9
+f 20 9 14
+f 20 14 7
+f 20 7 10
+f 21 9 10
+f 21 10 15
+f 22 16 12
+f 22 6 16
+f 22 17 6
+f 22 12 17
+f 23 8 3
+f 23 3 17
+f 24 18 13
+f 24 4 18
+f 25 8 13
+f 25 13 18
+f 26 19 9
+f 26 15 19
+f 26 21 15
+f 26 9 21
+f 27 23 17
+f 27 17 12
+f 27 12 8
+f 27 8 23
+f 28 19 4
+f 28 4 24
+f 28 24 13
+f 28 13 19
+f 29 25 18
+f 29 18 3
+f 29 3 25
+f 30 25 3
+f 30 3 8
+f 30 8 25
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_17/collision/model_normalized_collision_19.obj b/objects/objaverse/cupcake/cupcake_17/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..56ea222c55e13156aca62713e564e89c9440c483
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_17/collision/model_normalized_collision_19.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v -0.08514954 -0.02321244 0.40985797
+v -0.07288284 -0.01739521 0.16898448
+v -0.06605373 0.15626904 0.32191778
+v -0.13213453 0.23676023 0.13761224
+v -0.19113946 -0.01915273 0.26888668
+v -0.06440783 0.17528534 0.16512002
+v -0.06989870 0.08700909 0.39710757
+v -0.17671736 -0.01676240 0.17254543
+v -0.11782610 0.23815589 0.14058162
+v -0.14226028 0.05777220 0.35793988
+v -0.18651196 0.20999082 0.15080044
+v -0.16150630 0.22120278 0.13607461
+v -0.07024483 0.17690754 0.25863211
+v -0.12780892 -0.01677125 0.38014547
+v -0.10679130 0.01991848 0.40197750
+v -0.18866261 0.07709663 0.16873567
+v -0.17927673 0.10125516 0.27073834
+v -0.13321492 0.11317478 0.32082572
+v -0.17988299 0.21008905 0.14374994
+v -0.15405239 0.00330637 0.33573460
+v -0.11321323 -0.02228121 0.39186548
+v -0.17917591 0.03656296 0.29254638
+f 5 2 1
+f 6 3 2
+f 7 1 2
+f 7 2 3
+f 8 2 5
+f 9 6 2
+f 9 2 4
+f 9 4 3
+f 11 3 4
+f 12 4 2
+f 12 2 8
+f 12 11 4
+f 13 9 3
+f 13 3 6
+f 13 6 9
+f 15 1 7
+f 15 7 10
+f 15 10 14
+f 16 8 5
+f 16 5 11
+f 17 11 5
+f 18 10 7
+f 18 7 3
+f 18 3 11
+f 18 17 10
+f 18 11 17
+f 19 12 8
+f 19 11 12
+f 19 16 11
+f 19 8 16
+f 20 14 10
+f 20 5 14
+f 21 14 5
+f 21 5 1
+f 21 15 14
+f 21 1 15
+f 22 17 5
+f 22 10 17
+f 22 20 10
+f 22 5 20
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_17/collision/model_normalized_collision_2.obj b/objects/objaverse/cupcake/cupcake_17/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..31ffed166861cc6a89414d96c65621eec94150b4
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_17/collision/model_normalized_collision_2.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v -0.18584847 -0.34964031 0.00419414
+v -0.17622967 -0.32316801 0.07163963
+v -0.36410614 -0.16305820 0.02023290
+v -0.29341297 0.16748435 0.11596657
+v -0.17921376 0.16406240 0.00757576
+v -0.19859244 -0.05582467 0.26287679
+v -0.28732437 -0.27560770 0.02335846
+v -0.35431030 0.17474775 0.00182990
+v -0.34396264 0.05085383 0.09742771
+v -0.17735738 0.10255696 0.26589759
+v -0.20444988 -0.32245094 0.06498442
+v -0.29975966 -0.26059898 0.01161922
+v -0.28376220 -0.21857882 0.10178603
+v -0.17712924 0.16216288 0.15293456
+v -0.33052147 -0.06808311 0.11317934
+v -0.35301259 0.08333860 0.07578894
+v -0.17942984 0.10034473 0.26978863
+v -0.17453466 -0.08709903 0.25163850
+v -0.23202614 -0.32392458 0.01221214
+v -0.29914192 -0.26235541 0.02253835
+v -0.36203769 -0.16323794 0.01045474
+v -0.24168403 -0.27361268 0.10053104
+v -0.33320188 0.01933022 0.11103682
+v -0.34795833 0.07799515 0.08437841
+v -0.32412106 0.15292516 0.08475768
+v -0.17614548 0.13345390 0.21340539
+v -0.25810364 -0.30417208 0.01606398
+v -0.23125524 -0.32485205 0.01024231
+v -0.35849031 -0.17501283 0.01764832
+v -0.18437965 -0.11786553 0.23989655
+v -0.25601137 -0.30489665 0.01158223
+v -0.35675661 -0.17615548 0.01154903
+v -0.17969827 -0.11914773 0.24127710
+f 5 2 1
+f 8 5 1
+f 11 1 2
+f 14 8 4
+f 14 5 8
+f 15 9 3
+f 15 13 6
+f 15 3 13
+f 16 8 3
+f 16 3 9
+f 17 9 6
+f 18 2 5
+f 18 5 14
+f 18 17 6
+f 18 10 17
+f 19 1 11
+f 20 12 7
+f 21 8 1
+f 21 1 12
+f 21 3 8
+f 22 11 2
+f 22 20 7
+f 22 13 20
+f 23 15 6
+f 23 6 9
+f 23 9 15
+f 24 16 9
+f 24 17 4
+f 24 9 17
+f 25 4 8
+f 25 8 16
+f 25 24 4
+f 25 16 24
+f 26 14 4
+f 26 4 17
+f 26 17 10
+f 26 18 14
+f 26 10 18
+f 27 19 11
+f 27 7 12
+f 27 22 7
+f 27 11 22
+f 28 1 19
+f 28 19 27
+f 29 12 20
+f 29 3 21
+f 29 20 13
+f 29 13 3
+f 30 6 13
+f 30 13 22
+f 31 12 1
+f 31 1 28
+f 31 28 27
+f 31 27 12
+f 32 29 21
+f 32 21 12
+f 32 12 29
+f 33 18 6
+f 33 6 30
+f 33 2 18
+f 33 30 22
+f 33 22 2
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_17/collision/model_normalized_collision_20.obj b/objects/objaverse/cupcake/cupcake_17/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f9bdbd235364ae3fcaa1f0655d7a852ba39d8b4b
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_17/collision/model_normalized_collision_20.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v 0.10866503 0.28527452 0.00757576
+v 0.12690406 0.33144172 -0.10906289
+v 0.10659684 0.38370748 0.00907643
+v -0.07015732 0.39246862 0.01029770
+v -0.23240748 0.27695693 -0.08039724
+v 0.03322710 0.38966943 -0.01197653
+v -0.20954557 0.30812519 0.04055671
+v -0.22120334 0.28132064 -0.09736458
+v 0.07510617 0.38852548 -0.00346048
+v -0.09792494 0.34471861 -0.09481426
+v 0.07556288 0.39128996 0.01050993
+v -0.23736903 0.28254519 -0.05205851
+v 0.10307355 0.37445013 -0.02282860
+v 0.06136397 0.35820950 -0.07850955
+v -0.05584676 0.38811661 -0.01669571
+v -0.18668405 0.34414407 -0.01665650
+v 0.10266093 0.34412805 -0.09369457
+v -0.06901955 0.35713895 -0.07811711
+v -0.14208636 0.32849679 -0.09450839
+v -0.12683137 0.37330960 -0.00172572
+v -0.18912672 0.35021756 0.00985323
+v -0.19860507 0.29984590 -0.09336032
+v -0.09634028 0.37616782 -0.02034366
+v -0.15813478 0.35826375 -0.01069014
+v -0.12795102 0.37577208 0.01068309
+v -0.21441462 0.28750575 -0.09494443
+v -0.06953115 0.38975020 -0.00370583
+v -0.17068385 0.35584170 -0.00267628
+v -0.17171804 0.35856919 0.01117832
+f 1 2 3
+f 7 1 3
+f 8 2 1
+f 8 1 5
+f 10 2 8
+f 11 7 3
+f 11 4 7
+f 11 3 9
+f 11 9 6
+f 11 6 4
+f 12 5 1
+f 12 1 7
+f 13 9 3
+f 13 3 2
+f 14 6 9
+f 14 2 10
+f 15 4 6
+f 15 6 14
+f 16 8 5
+f 16 5 12
+f 17 13 2
+f 17 2 14
+f 17 14 9
+f 17 9 13
+f 18 15 14
+f 18 14 10
+f 18 10 15
+f 19 10 8
+f 21 16 12
+f 21 12 7
+f 22 19 8
+f 22 16 19
+f 23 15 10
+f 23 10 20
+f 24 19 16
+f 24 20 10
+f 24 10 19
+f 25 7 4
+f 26 22 8
+f 26 8 16
+f 26 16 22
+f 27 23 20
+f 27 4 15
+f 27 15 23
+f 27 25 4
+f 27 20 25
+f 28 24 16
+f 28 16 21
+f 28 25 20
+f 28 20 24
+f 29 21 7
+f 29 7 25
+f 29 28 21
+f 29 25 28
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_17/collision/model_normalized_collision_22.obj b/objects/objaverse/cupcake/cupcake_17/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..579dfc3d59bb20b6d7cf73618eb2b5732e550838
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_17/collision/model_normalized_collision_22.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v -0.19252196 -0.34734468 0.00836122
+v -0.19082626 -0.26995691 -0.23357854
+v -0.19436527 -0.18442245 0.00757576
+v -0.35398890 -0.18100385 0.00905177
+v -0.27777862 -0.28326640 0.00951752
+v -0.27774376 -0.17931688 -0.23305301
+v -0.18732086 -0.27971084 -0.20201245
+v -0.22734775 -0.32016374 -0.01615406
+v -0.21476719 -0.33580578 0.01103362
+v -0.23666977 -0.22573238 -0.24628253
+v -0.34812305 -0.17919124 -0.01506780
+v -0.19029426 -0.34071370 -0.01556957
+v -0.21330649 -0.33344181 -0.00284386
+v -0.33213103 -0.22040489 0.01074610
+v -0.20028518 -0.26319498 -0.23184773
+v -0.20165468 -0.33557384 -0.01589036
+v -0.34824475 -0.19337986 0.01026861
+v -0.32732138 -0.21678975 -0.01530394
+v -0.34235183 -0.19108449 -0.01606065
+v -0.27101600 -0.18977279 -0.23144335
+f 7 2 3
+f 9 1 3
+f 9 5 8
+f 10 6 3
+f 10 3 2
+f 10 8 5
+f 11 4 3
+f 11 3 6
+f 12 2 7
+f 12 7 3
+f 12 3 1
+f 13 8 2
+f 13 9 8
+f 13 1 9
+f 14 9 3
+f 14 5 9
+f 15 10 2
+f 15 2 8
+f 15 8 10
+f 16 12 1
+f 16 1 13
+f 16 13 2
+f 16 2 12
+f 17 14 3
+f 17 3 4
+f 18 10 5
+f 18 5 14
+f 18 14 17
+f 19 17 4
+f 19 4 11
+f 19 18 17
+f 19 11 6
+f 19 6 18
+f 20 18 6
+f 20 6 10
+f 20 10 18
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_17/collision/model_normalized_collision_23.obj b/objects/objaverse/cupcake/cupcake_17/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3667dd58597c9943176210f112db4066ec581738
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_17/collision/model_normalized_collision_23.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.02585989 -0.28444253 0.14074063
+v -0.02583116 -0.28035159 0.14529916
+v -0.22456910 -0.22474331 0.13096246
+v -0.23835082 -0.16258024 0.13862647
+v -0.02761491 -0.22905062 0.15727773
+v -0.20948727 -0.21584177 0.14913736
+v -0.02819297 -0.23475832 0.15464971
+v -0.03793063 -0.27763094 0.14525391
+v -0.11887047 -0.17733348 0.18205677
+v -0.22724931 -0.17504800 0.15178093
+v -0.03847958 -0.28043716 0.14074451
+v -0.17667055 -0.16697866 0.15161685
+v -0.22796841 -0.17282505 0.15111515
+v -0.13034131 -0.17984037 0.16101882
+f 1 3 4
+f 5 2 1
+f 7 5 1
+f 7 1 4
+f 7 4 5
+f 8 1 2
+f 8 6 3
+f 9 6 8
+f 9 8 2
+f 9 2 5
+f 10 4 3
+f 10 3 6
+f 10 6 9
+f 11 8 3
+f 11 3 1
+f 11 1 8
+f 12 5 4
+f 12 4 9
+f 13 10 9
+f 13 9 4
+f 13 4 10
+f 14 12 9
+f 14 9 5
+f 14 5 12
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_17/collision/model_normalized_collision_24.obj b/objects/objaverse/cupcake/cupcake_17/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..040680e37dcdb84d25170391dde9403e7554481e
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_17/collision/model_normalized_collision_24.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v -0.23666977 -0.22573238 -0.24628253
+v -0.19436527 -0.18442245 -0.09848485
+v -0.34566141 0.09799696 -0.09412917
+v -0.18873633 0.30568006 -0.09542945
+v -0.18620450 0.27331924 -0.23199984
+v -0.19860507 0.29984590 -0.09336032
+v -0.31893340 -0.16353585 -0.09565393
+v -0.18705511 0.30283873 -0.11045255
+v -0.32790437 0.04134695 -0.23132669
+v -0.29944545 0.19913895 -0.09335059
+v -0.30965910 -0.18102624 -0.09700569
+v -0.31109844 0.11106952 -0.23076863
+v -0.34715203 -0.08955022 -0.09538658
+v -0.23917173 0.25314498 -0.13901348
+v -0.33173203 -0.13341370 -0.09524848
+v -0.29658442 -0.14582655 -0.23080424
+v -0.26712276 0.19561741 -0.23033729
+v -0.32667507 0.06946761 -0.21583775
+v -0.32859256 0.14137003 -0.09446886
+v -0.34298021 0.04157023 -0.15521211
+v -0.21054939 0.28263530 -0.12391286
+v -0.28187056 -0.17368488 -0.23061827
+v -0.31374465 -0.10270378 -0.23135688
+v -0.19541400 0.26695604 -0.23030320
+v -0.26758825 0.22430349 -0.13888914
+v -0.32649018 0.08312999 -0.20058543
+v -0.34306572 -0.04569737 -0.15517288
+v -0.34245316 0.06967330 -0.13984157
+v -0.31178114 -0.11683086 -0.21579169
+v -0.32770100 -0.04558739 -0.23123806
+v -0.34150033 -0.07420141 -0.13962147
+f 5 2 1
+f 6 2 4
+f 6 4 5
+f 7 2 6
+f 8 5 4
+f 8 4 2
+f 8 2 5
+f 11 1 2
+f 11 2 7
+f 12 1 9
+f 14 10 6
+f 15 7 6
+f 15 6 10
+f 15 10 3
+f 15 3 13
+f 16 11 7
+f 16 7 15
+f 17 5 1
+f 17 1 12
+f 17 12 10
+f 18 12 9
+f 19 12 3
+f 19 3 10
+f 19 10 12
+f 20 13 3
+f 21 14 6
+f 22 16 1
+f 22 1 11
+f 22 11 16
+f 23 15 13
+f 23 1 16
+f 24 17 14
+f 24 5 17
+f 24 14 21
+f 24 21 6
+f 24 6 5
+f 25 17 10
+f 25 10 14
+f 25 14 17
+f 26 18 3
+f 26 3 12
+f 26 12 18
+f 27 20 9
+f 27 13 20
+f 28 18 9
+f 28 9 20
+f 28 20 3
+f 28 3 18
+f 29 23 16
+f 29 16 15
+f 29 15 23
+f 30 9 1
+f 30 1 23
+f 30 27 9
+f 31 30 23
+f 31 23 13
+f 31 13 27
+f 31 27 30
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_17/collision/model_normalized_collision_25.obj b/objects/objaverse/cupcake/cupcake_17/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92c3cd8d55ac350cc450bbb2a0205c23ad3ef7d4
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_17/collision/model_normalized_collision_25.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v 0.31315697 0.16541869 0.09149117
+v 0.35868968 0.17458848 0.01774017
+v 0.29003809 0.27296066 0.02332129
+v 0.19861354 0.34414622 0.00794955
+v 0.19957412 0.17921392 0.00757576
+v 0.30426814 0.25560447 0.01169278
+v 0.23219405 0.27074310 0.09898883
+v 0.30463958 0.25758972 0.02018399
+v 0.33950839 0.17064031 0.04259582
+v 0.26076925 0.30065071 0.01150096
+v 0.35675664 0.17517800 0.00951554
+v 0.19808224 0.17786924 0.14027122
+v 0.26277197 0.30020523 0.01726313
+v 0.33627912 0.21446558 0.01099073
+v 0.22363498 0.17411971 0.13087180
+v 0.20250239 0.25473915 0.11395538
+v 0.19296737 0.33784844 0.03034287
+v 0.27700880 0.28514429 0.02290763
+v 0.21996463 0.33276570 0.01247898
+v 0.33565429 0.21559685 0.01166085
+v 0.35135364 0.18715407 0.01071091
+v 0.21816169 0.25332860 0.11124478
+v 0.19495020 0.20444261 0.13140124
+v 0.21898950 0.27016429 0.10120079
+v 0.22078386 0.33184413 0.01075147
+v 0.35302390 0.18570056 0.01529874
+v 0.21227105 0.25844687 0.11132470
+f 8 1 2
+f 8 7 1
+f 8 3 7
+f 9 2 1
+f 9 1 5
+f 10 6 4
+f 11 5 4
+f 11 9 5
+f 11 2 9
+f 13 3 8
+f 13 8 6
+f 13 6 10
+f 14 11 4
+f 14 4 6
+f 15 12 5
+f 15 5 1
+f 17 4 5
+f 18 13 7
+f 18 7 3
+f 18 3 13
+f 19 4 17
+f 19 17 7
+f 19 7 13
+f 20 14 6
+f 20 6 8
+f 21 11 14
+f 22 15 1
+f 22 1 7
+f 22 12 15
+f 23 17 5
+f 23 5 12
+f 23 12 16
+f 23 16 17
+f 24 17 16
+f 24 7 17
+f 25 19 13
+f 25 13 10
+f 25 10 4
+f 25 4 19
+f 26 20 8
+f 26 8 2
+f 26 14 20
+f 26 21 14
+f 26 2 11
+f 26 11 21
+f 27 16 12
+f 27 12 22
+f 27 22 7
+f 27 24 16
+f 27 7 24
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_17/collision/model_normalized_collision_26.obj b/objects/objaverse/cupcake/cupcake_17/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0667537c00831d98040d85ae375383b19d5e88ac
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_17/collision/model_normalized_collision_26.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.34804855 0.19289250 0.00821612
+v 0.33847122 0.19053057 -0.02269458
+v 0.19412770 0.30023344 -0.10234039
+v -0.20954557 0.30812519 0.04055671
+v -0.19436527 0.19436543 0.00757576
+v 0.28290813 0.27801313 0.00979470
+v -0.19436527 0.19436543 -0.09848485
+v 0.33627912 0.21446558 0.01099073
+v 0.24782673 0.25822107 -0.09483229
+v 0.30721722 0.18664844 -0.09429602
+v -0.20149577 0.29563980 -0.10120517
+v 0.33405698 0.21286979 -0.00289326
+v 0.27776108 0.27391861 -0.01183524
+v 0.33281153 0.20003210 -0.02362978
+v 0.32000304 0.22649911 -0.01597902
+v 0.30177275 0.19632896 -0.09229130
+f 5 2 1
+f 5 1 4
+f 6 3 4
+f 7 5 4
+f 8 6 4
+f 8 4 1
+f 10 2 5
+f 10 5 7
+f 10 7 3
+f 10 3 9
+f 11 7 4
+f 11 4 3
+f 11 3 7
+f 12 8 1
+f 12 1 2
+f 13 9 3
+f 13 3 6
+f 14 12 2
+f 14 2 10
+f 15 9 13
+f 15 13 6
+f 15 6 8
+f 15 8 12
+f 15 14 10
+f 15 12 14
+f 16 15 10
+f 16 10 9
+f 16 9 15
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_17/collision/model_normalized_collision_28.obj b/objects/objaverse/cupcake/cupcake_17/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ccc361c910a982f81bb47e8b9c422669f6e8495b
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_17/collision/model_normalized_collision_28.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.30279705 0.19241334 -0.09774011
+v 0.29502841 0.18710560 -0.14115295
+v 0.20994764 0.22177744 -0.36302044
+v 0.20073680 0.29526884 -0.10496599
+v 0.18442261 0.19436543 -0.09848485
+v 0.23343449 0.27220221 -0.09471344
+v 0.24060498 0.19067464 -0.35498310
+v 0.17678611 0.25863674 -0.32315052
+v 0.27652705 0.22758949 -0.09453057
+v 0.22465708 0.27938894 -0.09678684
+v 0.25085115 0.18719812 -0.32355593
+v 0.18090502 0.29417109 -0.15754154
+v 0.17998720 0.24913587 -0.35467535
+v 0.29603812 0.20291526 -0.09596626
+v 0.23346684 0.19969971 -0.35324203
+v 0.24338166 0.25393846 -0.12382104
+v 0.17796761 0.28902486 -0.18683380
+v 0.18986007 0.24208285 -0.35301923
+v 0.22860648 0.20960139 -0.33678117
+v 0.17621671 0.27281237 -0.26220690
+f 5 2 1
+f 7 5 3
+f 9 6 5
+f 10 4 5
+f 10 5 6
+f 10 6 3
+f 11 1 2
+f 11 2 5
+f 11 5 7
+f 12 5 4
+f 12 4 8
+f 13 3 5
+f 13 5 8
+f 13 8 4
+f 13 4 10
+f 14 9 5
+f 14 5 1
+f 14 7 9
+f 14 11 7
+f 14 1 11
+f 15 9 7
+f 15 7 3
+f 16 9 3
+f 16 3 6
+f 16 6 9
+f 17 5 12
+f 18 13 10
+f 18 10 3
+f 18 3 13
+f 19 15 3
+f 19 3 9
+f 19 9 15
+f 20 8 5
+f 20 5 17
+f 20 17 12
+f 20 12 8
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_17/collision/model_normalized_collision_29.obj b/objects/objaverse/cupcake/cupcake_17/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..134b1f7dcdc3e47f259ab105f6d2c1344da02939
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_17/collision/model_normalized_collision_29.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.10866503 0.14891089 -0.23484849
+v 0.10866503 0.14891089 -0.49999995
+v 0.10866504 0.22466846 -0.49999996
+v -0.18166369 0.27297849 -0.24636672
+v -0.14891073 0.14891088 -0.49999994
+v 0.10866503 0.22466846 -0.23484849
+v -0.14891073 0.14891089 -0.23484849
+v -0.14891074 0.22466845 -0.49999994
+f 1 2 3
+f 5 2 1
+f 5 3 2
+f 6 1 3
+f 6 3 4
+f 7 5 1
+f 7 4 5
+f 7 6 4
+f 7 1 6
+f 8 5 4
+f 8 4 3
+f 8 3 5
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_17/collision/model_normalized_collision_31.obj b/objects/objaverse/cupcake/cupcake_17/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4e1a75998f3e07e8bda76f3c0e6121edb068a9cf
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_17/collision/model_normalized_collision_31.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.08204166 -0.05497535 0.42265215
+v 0.08969267 -0.02351315 0.42849586
+v 0.08000999 -0.00829503 0.45494446
+v 0.06076917 0.02666172 0.44440349
+v 0.08952671 0.02415851 0.42554976
+v 0.05933757 -0.05344487 0.44123453
+v 0.06028339 -0.05589124 0.43116718
+v 0.05551831 0.01965525 0.45661059
+v 0.07776972 0.02712212 0.43096216
+v 0.05830235 -0.02945033 0.44907017
+f 1 2 3
+f 5 2 1
+f 5 3 2
+f 6 1 3
+f 7 5 1
+f 7 1 6
+f 8 5 4
+f 8 3 5
+f 8 7 6
+f 8 4 7
+f 9 7 4
+f 9 4 5
+f 9 5 7
+f 10 8 6
+f 10 6 3
+f 10 3 8
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_17/collision/model_normalized_collision_4.obj b/objects/objaverse/cupcake/cupcake_17/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f252d3817a339ca385662c7a5df616e4a41c6e22
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_17/collision/model_normalized_collision_4.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.13579816 0.17379748 0.21443668
+v 0.12766207 0.18493611 0.15988776
+v 0.07927558 0.32738208 0.12669815
+v -0.06882178 0.31129826 0.12059483
+v -0.13922523 0.17498499 0.18203725
+v 0.12268698 0.23772056 0.13958536
+v -0.08105996 0.18806656 0.24958586
+v -0.12267537 0.18533688 0.16094417
+v 0.07151984 0.32455006 0.12351505
+v 0.08672180 0.18328606 0.26665417
+v -0.10954569 0.18539074 0.24159965
+v -0.11782610 0.23815589 0.14058162
+v 0.09266898 0.17829154 0.26534571
+v -0.07263915 0.28319895 0.12531982
+v -0.13524430 0.18467398 0.18758921
+v -0.08279807 0.17544156 0.25335651
+v -0.11148349 0.18130233 0.24178847
+f 5 2 1
+f 6 1 2
+f 6 3 1
+f 7 3 4
+f 8 2 5
+f 8 6 2
+f 9 6 4
+f 9 4 3
+f 9 3 6
+f 10 3 7
+f 11 7 4
+f 12 8 5
+f 12 6 8
+f 12 11 4
+f 13 1 3
+f 13 3 10
+f 14 12 4
+f 14 4 6
+f 14 6 12
+f 15 12 5
+f 15 11 12
+f 16 5 1
+f 16 1 13
+f 16 7 11
+f 16 13 10
+f 16 10 7
+f 17 15 5
+f 17 11 15
+f 17 16 11
+f 17 5 16
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_17/collision/model_normalized_collision_5.obj b/objects/objaverse/cupcake/cupcake_17/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a08bb397f3d5485c7308519e846c20483b967df1
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_17/collision/model_normalized_collision_5.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v 0.26733897 0.26267478 -0.03362198
+v 0.28251706 0.27700283 0.00537309
+v 0.12366470 0.28491070 0.11307821
+v 0.10659684 0.38370748 0.00907643
+v 0.11974002 0.28114819 -0.36132469
+v 0.11932413 0.32208409 0.10915365
+v 0.19391826 0.27685858 0.08898346
+v 0.17998720 0.24913587 -0.35467535
+v 0.10866503 0.25497149 -0.09848485
+v 0.17567948 0.35814529 0.02120361
+v 0.16478865 0.27784126 0.10315786
+v 0.10434540 0.28884710 -0.35376423
+v 0.10866503 0.28527452 0.00757576
+v 0.10866503 0.25497149 -0.15909091
+v 0.22078386 0.33184413 0.01075147
+v 0.13112244 0.37215822 -0.00297353
+v 0.10469432 0.37734676 -0.01787410
+v 0.26805114 0.29299198 0.00952373
+v 0.17372443 0.25403159 -0.35240832
+v 0.19113101 0.34173737 -0.01360598
+v 0.18866973 0.34634568 0.02452785
+v 0.13232043 0.37483864 0.01092284
+v 0.21771407 0.32664790 -0.01528863
+v 0.14093104 0.31558920 0.09820740
+v 0.17536026 0.35632977 0.01165836
+v 0.15867091 0.26688911 -0.33693745
+f 7 1 2
+f 8 2 1
+f 9 8 1
+f 10 4 6
+f 11 7 6
+f 11 6 3
+f 11 3 9
+f 11 9 1
+f 11 1 7
+f 13 6 4
+f 13 12 9
+f 13 9 3
+f 13 3 6
+f 14 5 8
+f 14 8 9
+f 14 12 5
+f 14 9 12
+f 16 5 12
+f 17 13 4
+f 17 12 13
+f 17 16 12
+f 17 4 16
+f 18 2 8
+f 18 7 2
+f 19 8 5
+f 21 15 10
+f 21 10 6
+f 21 18 15
+f 22 16 4
+f 22 4 10
+f 23 18 8
+f 23 15 18
+f 23 8 19
+f 23 20 15
+f 24 6 7
+f 24 7 18
+f 24 21 6
+f 24 18 21
+f 25 10 15
+f 25 15 20
+f 25 22 10
+f 25 16 22
+f 25 20 5
+f 25 5 16
+f 26 23 19
+f 26 19 5
+f 26 5 20
+f 26 20 23
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_17/collision/model_normalized_collision_6.obj b/objects/objaverse/cupcake/cupcake_17/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d420557af6e26b4fccab05e330f8acaeb694286
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_17/collision/model_normalized_collision_6.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v 0.07462485 -0.32207847 -0.23202630
+v 0.17529973 -0.21869826 -0.50000000
+v 0.18442261 0.14891089 -0.23484849
+v -0.14891073 0.14891089 -0.23484849
+v -0.13887754 -0.24354192 -0.49999998
+v 0.18442261 0.14891089 -0.49999997
+v 0.16101859 -0.28899873 -0.23119860
+v 0.05994915 -0.27385529 -0.50000000
+v -0.14457718 -0.29631608 -0.23285569
+v 0.17698837 -0.27951771 -0.23223409
+v -0.14891073 0.14891088 -0.49999994
+v 0.08755607 -0.27138429 -0.47362085
+v -0.12681801 -0.30457655 -0.23143865
+v 0.14279641 -0.24116982 -0.49999998
+v 0.11647786 -0.30247486 -0.26148763
+v -0.08408521 -0.31992058 -0.23158895
+v -0.11109762 -0.25733670 -0.49999995
+v 0.17169223 -0.22776710 -0.47330290
+v 0.10185034 -0.30186820 -0.29171948
+v -0.02612442 -0.30335709 -0.36793912
+v -0.09650315 -0.27121348 -0.45838262
+v 0.03140640 -0.30307933 -0.36788679
+v 0.04570681 -0.31868369 -0.27701211
+v -0.09710198 -0.30082074 -0.30668531
+v -0.06841725 -0.27179491 -0.49999996
+v -0.04035963 -0.28786912 -0.44367207
+v -0.05538208 -0.31721566 -0.27674218
+v 0.04546726 -0.28719145 -0.44351179
+f 6 4 3
+f 6 2 5
+f 7 3 4
+f 8 5 2
+f 10 6 3
+f 10 2 6
+f 10 3 7
+f 11 6 5
+f 11 4 6
+f 11 9 4
+f 11 5 9
+f 12 1 8
+f 13 7 4
+f 13 4 9
+f 14 10 7
+f 14 7 12
+f 14 12 8
+f 14 8 2
+f 15 12 7
+f 15 7 1
+f 16 1 7
+f 16 7 13
+f 17 13 9
+f 17 9 5
+f 18 14 2
+f 18 2 10
+f 18 10 14
+f 19 15 1
+f 19 1 12
+f 19 12 15
+f 21 13 17
+f 23 1 16
+f 23 20 22
+f 24 21 16
+f 24 16 13
+f 24 13 21
+f 25 16 21
+f 25 21 17
+f 25 17 5
+f 25 5 8
+f 26 22 20
+f 26 25 8
+f 27 23 16
+f 27 20 23
+f 27 26 20
+f 27 16 25
+f 27 25 26
+f 28 23 22
+f 28 8 1
+f 28 1 23
+f 28 26 8
+f 28 22 26
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_17/collision/model_normalized_collision_7.obj b/objects/objaverse/cupcake/cupcake_17/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ebdf351ebbe2102fa8c84d1da8c005821828098e
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_17/collision/model_normalized_collision_7.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.18442261 0.14891089 -0.23484849
+v 0.18442261 0.14891089 -0.49999997
+v 0.19353018 0.26686514 -0.23780441
+v 0.07761580 0.30973755 -0.29100516
+v 0.10866503 0.14891089 -0.49999995
+v 0.11657363 0.25491763 -0.49999995
+v 0.10866503 0.14891089 -0.23484849
+v 0.17113370 0.22200475 -0.49999998
+v 0.12842956 0.30112671 -0.24455769
+v 0.06321049 0.22466846 -0.35606061
+v 0.15777053 0.25105153 -0.41254458
+v 0.10448114 0.26009807 -0.49999997
+v 0.06321049 0.22466846 -0.28030303
+v 0.12891558 0.25130169 -0.48851039
+v 0.17178526 0.23820166 -0.42791952
+v 0.14498993 0.26785631 -0.36753403
+v 0.10819045 0.28400238 -0.37095983
+v 0.07393709 0.29643318 -0.36413108
+v 0.10364884 0.27137271 -0.44427253
+f 1 2 3
+f 5 2 1
+f 7 1 3
+f 7 5 1
+f 8 3 2
+f 9 7 3
+f 12 9 6
+f 12 5 10
+f 12 6 8
+f 12 8 2
+f 12 2 5
+f 13 9 4
+f 13 7 9
+f 13 10 5
+f 13 5 7
+f 14 11 8
+f 14 8 6
+f 14 6 9
+f 15 11 3
+f 15 3 8
+f 15 8 11
+f 16 9 3
+f 16 3 11
+f 16 14 9
+f 16 11 14
+f 17 4 9
+f 18 12 10
+f 18 13 4
+f 18 10 13
+f 19 4 17
+f 19 18 4
+f 19 12 18
+f 19 17 9
+f 19 9 12
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_17/collision/model_normalized_collision_8.obj b/objects/objaverse/cupcake/cupcake_17/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aa7dcefbc669309ecff28e2c0f581a868259d038
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_17/collision/model_normalized_collision_8.obj
@@ -0,0 +1,153 @@
+# https://github.com/mikedh/trimesh
+v -0.14457718 -0.29631608 -0.23285569
+v -0.14142823 -0.24746716 -0.47456108
+v -0.14891073 0.20951695 -0.23484849
+v -0.21944720 0.23412928 -0.27887261
+v -0.31374465 -0.10270378 -0.23135688
+v -0.14891073 0.13375937 -0.49999995
+v -0.14217386 -0.29116390 -0.26219507
+v -0.27101600 -0.18977279 -0.23144335
+v -0.28379313 0.16964617 -0.23107586
+v -0.17796434 0.24802359 -0.36514676
+v -0.26644507 -0.08722032 -0.49999998
+v -0.21052739 -0.24341950 -0.27619948
+v -0.26116285 0.20270156 -0.23263313
+v -0.18412778 -0.27493559 -0.23117486
+v -0.14557780 -0.23950150 -0.49999998
+v -0.31339023 0.04057811 -0.30733349
+v -0.27465100 0.05585912 -0.49999996
+v -0.28130366 -0.14423040 -0.30657757
+v -0.23789703 0.19511126 -0.35188023
+v -0.15645097 -0.29076637 -0.23158790
+v -0.22195540 -0.17124731 -0.49999998
+v -0.18116424 -0.21388141 -0.49999998
+v -0.31293356 -0.04563286 -0.30721188
+v -0.31546177 0.09843458 -0.23170797
+v -0.22466830 0.13375937 -0.49999996
+v -0.29686704 -0.13064053 -0.26117801
+v -0.22429705 0.21021425 -0.35211941
+v -0.26669339 0.15334939 -0.35204671
+v -0.25125621 -0.12895003 -0.48849834
+v -0.20850524 -0.19864853 -0.45797394
+v -0.15591396 -0.23290402 -0.49999996
+v -0.18073652 -0.24209466 -0.38215912
+v -0.29584443 -0.07324568 -0.36737229
+v -0.28153454 -0.04540415 -0.47373079
+v -0.29838023 0.14091341 -0.23117080
+v -0.31165243 0.06940460 -0.29177993
+v -0.22729967 0.22700776 -0.27697591
+v -0.21709562 0.21698060 -0.35406204
+v -0.25259123 0.18104037 -0.33674746
+v -0.25101502 -0.15800077 -0.41254781
+v -0.25235544 -0.19963914 -0.27597166
+v -0.19397321 -0.21281931 -0.45790963
+v -0.29776397 0.02608517 -0.39825026
+v -0.28064878 0.12531558 -0.35207770
+v -0.29641662 0.08289626 -0.35230807
+v -0.28228380 0.04010946 -0.47387670
+v -0.21577862 0.23013075 -0.30817056
+v -0.26605860 0.18170085 -0.27596590
+v -0.26553675 -0.14390911 -0.38225185
+v -0.29744136 -0.03136760 -0.39814735
+v -0.29564388 0.11117148 -0.30665278
+v -0.31112250 0.08314764 -0.27647164
+f 6 3 2
+f 7 1 2
+f 7 2 3
+f 7 3 1
+f 10 4 3
+f 10 3 6
+f 13 9 3
+f 13 3 4
+f 14 9 5
+f 14 5 8
+f 14 8 12
+f 15 6 2
+f 15 2 14
+f 20 1 3
+f 20 3 9
+f 20 9 14
+f 20 14 2
+f 20 2 1
+f 21 11 15
+f 22 21 15
+f 24 23 5
+f 24 16 23
+f 25 10 6
+f 25 11 17
+f 25 15 11
+f 25 6 15
+f 26 18 8
+f 26 8 5
+f 26 5 11
+f 27 19 13
+f 27 25 19
+f 28 25 17
+f 28 19 25
+f 29 11 21
+f 29 26 11
+f 29 18 26
+f 30 21 22
+f 31 22 15
+f 31 15 14
+f 32 14 12
+f 32 12 22
+f 32 31 14
+f 32 22 31
+f 33 11 5
+f 33 5 23
+f 34 17 11
+f 34 33 23
+f 34 11 33
+f 35 24 5
+f 35 5 9
+f 35 9 28
+f 36 16 24
+f 37 27 13
+f 37 13 4
+f 38 10 25
+f 38 25 27
+f 38 27 37
+f 39 13 19
+f 39 19 28
+f 40 29 21
+f 40 21 8
+f 41 30 12
+f 41 12 8
+f 41 8 21
+f 41 21 30
+f 42 30 22
+f 42 22 12
+f 42 12 30
+f 43 23 16
+f 44 35 28
+f 44 28 17
+f 45 44 17
+f 46 36 17
+f 46 16 36
+f 46 43 16
+f 46 17 34
+f 47 4 10
+f 47 10 38
+f 47 38 37
+f 47 37 4
+f 48 39 28
+f 48 28 9
+f 48 9 13
+f 48 13 39
+f 49 18 29
+f 49 29 40
+f 49 40 8
+f 49 8 18
+f 50 34 23
+f 50 23 43
+f 50 46 34
+f 50 43 46
+f 51 24 35
+f 51 35 44
+f 51 45 24
+f 51 44 45
+f 52 36 24
+f 52 24 45
+f 52 45 17
+f 52 17 36
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_17/collision/model_normalized_collision_9.obj b/objects/objaverse/cupcake/cupcake_17/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d307568f398dff228e80a3534ab8d07339945f55
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_17/collision/model_normalized_collision_9.obj
@@ -0,0 +1,114 @@
+# https://github.com/mikedh/trimesh
+v 0.15191977 -0.22656567 0.13667880
+v 0.24496367 -0.15406831 0.14388936
+v 0.00882837 -0.07349440 0.46933244
+v -0.11287918 0.00039776 0.39214004
+v -0.17671736 -0.01676240 0.17254543
+v 0.20671640 -0.02121037 0.23277966
+v 0.15996055 -0.15550828 0.23309818
+v -0.17945738 -0.18466477 0.14463418
+v 0.12654774 -0.05689387 0.37743470
+v 0.20877738 -0.01868786 0.16634223
+v 0.23957460 -0.16498224 0.13974129
+v 0.03303341 -0.12883883 0.38622744
+v -0.16433821 -0.07138658 0.32066711
+v 0.18644283 -0.01797100 0.28507493
+v 0.09687609 -0.15389037 0.29413387
+v 0.01016153 -0.22019499 0.23646365
+v -0.12244657 -0.15919875 0.28108353
+v -0.09044327 -0.02453611 0.43117966
+v -0.19139594 -0.01558123 0.27340003
+v 0.18249697 -0.02873065 0.28934848
+v 0.01437478 -0.01000616 0.48428754
+v 0.11125714 -0.01284682 0.39711720
+v -0.11862944 -0.22991741 0.14403219
+v -0.04957508 -0.17148299 0.31073302
+v -0.16405223 -0.15431763 0.22487620
+v -0.06948849 -0.11051725 0.38773618
+v -0.19859244 -0.05582467 0.26287679
+v -0.12991630 -0.01044544 0.37674864
+v 0.04246396 -0.01337903 0.46750170
+v -0.04701077 -0.04332241 0.46116866
+v -0.02203607 -0.00958023 0.47958750
+v 0.02620550 -0.12931034 0.38804475
+v 0.00647953 -0.21891891 0.23753964
+v -0.13965274 -0.12102264 0.30027784
+v -0.19413122 -0.02886412 0.26783840
+v -0.08964856 -0.01534274 0.43458684
+v -0.11797251 -0.00127121 0.38835954
+v 0.05348087 -0.05341957 0.44519609
+v -0.00607359 -0.06760675 0.47060963
+f 10 5 4
+f 10 6 2
+f 11 7 1
+f 11 9 7
+f 11 2 9
+f 11 1 8
+f 11 10 2
+f 11 8 5
+f 11 5 10
+f 12 9 3
+f 12 7 9
+f 14 2 6
+f 14 6 10
+f 15 12 1
+f 15 1 7
+f 15 7 12
+f 16 1 12
+f 19 4 5
+f 20 14 9
+f 20 9 2
+f 20 2 14
+f 22 14 10
+f 22 10 4
+f 22 4 21
+f 22 9 14
+f 23 8 1
+f 23 1 16
+f 23 17 8
+f 24 17 23
+f 25 8 17
+f 26 24 3
+f 26 17 24
+f 26 18 13
+f 27 5 8
+f 27 25 13
+f 27 8 25
+f 28 27 13
+f 28 19 27
+f 29 21 3
+f 29 22 21
+f 29 9 22
+f 30 18 26
+f 31 21 4
+f 32 24 16
+f 32 16 12
+f 32 12 3
+f 32 3 24
+f 33 24 23
+f 33 23 16
+f 33 16 24
+f 34 25 17
+f 34 13 25
+f 34 26 13
+f 34 17 26
+f 35 27 19
+f 35 19 5
+f 35 5 27
+f 36 31 4
+f 36 18 30
+f 36 30 31
+f 36 28 13
+f 36 13 18
+f 37 4 19
+f 37 19 28
+f 37 36 4
+f 37 28 36
+f 38 29 3
+f 38 3 9
+f 38 9 29
+f 39 30 26
+f 39 26 3
+f 39 31 30
+f 39 3 21
+f 39 21 31
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_17/model.xml b/objects/objaverse/cupcake/cupcake_17/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..683f14f6750eab1ff3d40477515c3e468ed91d47
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_17/model.xml
@@ -0,0 +1,89 @@
+<mujoco model="cupcake_7">
+  <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="visual/model_normalized_3.obj" name="model_normalized_3_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"/>
+    <material name="Cake" specular="0.5" shininess="0.011325706999999999" rgba="0.800000 0.417087 0.104630 1.0"/>
+    <material name="Icing" specular="0.5" shininess="0.005804952" rgba="0.800000 0.134492 0.200871 1.0"/>
+    <material name="Sprinkle" specular="0.5" shininess="0.012799996000000001" rgba="0.800000 0.800000 0.800000 1.0"/>
+    <material name="Wrapping.001" specular="0.5" shininess="3.226e-06" rgba="0.015205 0.006986 0.003309 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="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_1_vis" conaffinity="0" contype="0" group="1" material="Sprinkle"/>
+        <geom solimp="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="Icing"/>
+        <geom solimp="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="Wrapping.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="0.0001684056499999992 -0.0001381947000000003 -0.035" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.0001684056499999992 -0.0001381947000000003 0.0346359433" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.027741995400000004 0.027472803400000006 -0.00018202835000000002" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/objects/objaverse/cupcake/cupcake_20/collision/model_normalized_collision_0.obj b/objects/objaverse/cupcake/cupcake_20/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7e28a13e9f93aa7fc9b381e33d6d70d42cad0c9a
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_20/collision/model_normalized_collision_0.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v 0.36083702 -0.21881635 -0.23073383
+v 0.37452058 -0.10950680 -0.50000000
+v 0.42458144 0.08653006 -0.23359464
+v 0.24007446 0.20392847 -0.23484847
+v 0.24007446 -0.23546549 -0.50000000
+v 0.33090225 0.19494775 -0.49980469
+v 0.42479258 -0.09959899 -0.22920531
+v 0.32010720 -0.22700516 -0.50000000
+v 0.24007446 -0.23546549 -0.23484847
+v 0.38994886 0.01768080 -0.49017229
+v 0.38116069 0.19954514 -0.23430727
+v 0.24007446 0.20392847 -0.50000000
+v 0.38068643 -0.21382048 -0.23281683
+v 0.36013728 0.14856771 -0.50000000
+v 0.39066368 -0.03462888 -0.48903304
+v 0.40930706 0.13857512 -0.23239354
+v 0.36037471 -0.15032813 -0.50000000
+v 0.37602495 0.09238714 -0.50000000
+v 0.34483497 0.17802756 -0.50000000
+v 0.41942827 0.02759186 -0.30905260
+v 0.37651289 0.19315914 -0.28480721
+v 0.42413037 0.08502860 -0.24310607
+v 0.34395528 -0.19516197 -0.47528125
+v 0.37487856 -0.14881608 -0.43069839
+v 0.41880662 -0.04091341 -0.30843192
+v 0.33053290 -0.21034580 -0.50000000
+v 0.39241471 -0.15804664 -0.30847471
+f 7 4 1
+f 8 5 2
+f 9 1 4
+f 9 4 5
+f 9 8 1
+f 9 5 8
+f 12 5 4
+f 12 11 6
+f 12 4 11
+f 12 2 5
+f 13 7 1
+f 13 1 8
+f 14 2 12
+f 15 7 2
+f 15 2 10
+f 16 7 3
+f 16 11 4
+f 16 4 7
+f 17 8 2
+f 18 10 2
+f 18 2 14
+f 19 14 12
+f 19 12 6
+f 20 15 10
+f 21 16 14
+f 21 11 16
+f 21 14 19
+f 21 19 6
+f 21 6 11
+f 22 16 3
+f 22 14 16
+f 22 18 14
+f 22 10 18
+f 22 20 10
+f 22 3 7
+f 22 7 20
+f 24 17 2
+f 24 2 7
+f 24 23 17
+f 24 13 23
+f 25 20 7
+f 25 7 15
+f 25 15 20
+f 26 23 13
+f 26 13 8
+f 26 8 17
+f 26 17 23
+f 27 24 7
+f 27 7 13
+f 27 13 24
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_20/collision/model_normalized_collision_1.obj b/objects/objaverse/cupcake/cupcake_20/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8eb3361c808cd67193142a39b0809b8c31023478
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_20/collision/model_normalized_collision_1.obj
@@ -0,0 +1,117 @@
+# https://github.com/mikedh/trimesh
+v 0.37283492 -0.26763225 -0.01128529
+v 0.46662623 -0.10350637 -0.03466600
+v 0.40459507 0.19703775 0.00702553
+v -0.22962252 0.23423150 0.00757577
+v -0.27094556 -0.30316134 -0.23664102
+v -0.38827066 -0.23000858 0.03397385
+v 0.44257978 -0.10911937 -0.00832733
+v 0.34954531 -0.26471978 -0.23349038
+v -0.22962252 -0.26576852 0.00757577
+v -0.36095915 0.20074939 -0.23767420
+v 0.44444665 -0.17179457 -0.01769675
+v 0.42811986 0.15303846 0.00477680
+v 0.36200127 -0.26959819 -0.15856116
+v 0.37061292 -0.26654929 -0.00973371
+v -0.35083465 0.20392847 0.00757577
+v -0.34761832 -0.22235858 -0.23455779
+v 0.35148708 0.24049207 -0.23377635
+v 0.46656513 -0.10430097 -0.01718238
+v 0.40514582 -0.16058731 -0.22930598
+v 0.39489773 -0.19713828 0.00073202
+v 0.41308920 -0.23639533 -0.01759824
+v -0.22962252 0.23423150 -0.23484847
+v 0.39170659 0.22222045 0.00510602
+v 0.43485476 0.02808562 -0.23292445
+v 0.42691272 0.21251385 -0.01459235
+v 0.43893396 -0.17215730 -0.06422544
+v 0.41059656 -0.23304203 -0.06473590
+v 0.43549514 -0.03527471 -0.23164520
+v 0.46680252 -0.09356775 -0.01793416
+v 0.40785395 0.14240242 -0.23062155
+v 0.41487689 0.21856570 -0.01293810
+v 0.43529821 -0.09649299 -0.18849861
+v 0.38064336 -0.21860514 -0.21587580
+v 0.43325026 0.08745928 -0.18704055
+v 0.37928193 0.20238868 -0.23136720
+v 0.42479258 -0.09959899 -0.22920531
+v 0.39081735 -0.22231763 -0.16915508
+v 0.46552903 -0.09206086 -0.03549741
+v 0.41924860 0.15028486 -0.17000266
+v 0.42042548 0.20999065 -0.06221748
+f 6 3 4
+f 9 6 5
+f 9 5 1
+f 10 8 5
+f 13 1 5
+f 13 5 8
+f 14 9 1
+f 14 6 9
+f 15 10 6
+f 15 6 4
+f 16 10 5
+f 16 5 6
+f 16 6 10
+f 17 8 10
+f 18 11 2
+f 18 12 7
+f 20 12 3
+f 20 3 6
+f 20 6 14
+f 20 7 12
+f 20 18 7
+f 20 11 18
+f 21 1 13
+f 21 11 20
+f 21 20 14
+f 21 14 1
+f 22 15 4
+f 22 10 15
+f 22 17 10
+f 22 4 17
+f 23 17 4
+f 23 4 3
+f 24 8 17
+f 25 23 3
+f 25 3 12
+f 26 2 11
+f 27 21 13
+f 27 13 8
+f 27 26 11
+f 27 11 21
+f 28 24 2
+f 28 19 8
+f 28 8 24
+f 29 18 2
+f 29 25 12
+f 29 12 18
+f 30 24 17
+f 31 25 17
+f 31 17 23
+f 31 23 25
+f 32 26 19
+f 32 2 26
+f 32 28 2
+f 33 8 19
+f 34 25 29
+f 34 24 30
+f 35 30 17
+f 36 32 19
+f 36 19 28
+f 36 28 32
+f 37 27 8
+f 37 8 33
+f 37 33 19
+f 37 19 26
+f 37 26 27
+f 38 34 29
+f 38 29 2
+f 38 2 24
+f 38 24 34
+f 39 34 30
+f 40 35 17
+f 40 17 25
+f 40 25 34
+f 40 34 39
+f 40 39 30
+f 40 30 35
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_20/collision/model_normalized_collision_10.obj b/objects/objaverse/cupcake/cupcake_20/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0783d5d182aadb333cb4583be6a2897659245921
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_20/collision/model_normalized_collision_10.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.23518539 -0.36334399 0.00550533
+v 0.43830254 -0.05821856 0.00025161
+v 0.32690210 -0.16588115 0.22272481
+v 0.23884216 0.23341906 0.25502575
+v 0.24007446 0.23423150 0.00757577
+v 0.37301304 0.12505918 0.18136306
+v 0.22977622 -0.19836343 0.25519452
+v 0.39489773 -0.19713828 0.00073202
+v 0.35821353 -0.06580398 0.22328842
+v 0.39170659 0.22222045 0.00510602
+v 0.23256273 -0.31447451 0.18241323
+v 0.23314452 -0.36024791 0.01569002
+v 0.30262269 -0.31844459 0.00049816
+v 0.43458985 -0.00595794 0.04266870
+v 0.34155974 -0.18124730 0.19353812
+v 0.33031596 0.06418050 0.24925059
+v 0.30946839 -0.03738371 0.26196883
+v 0.31546626 0.22245000 0.20876180
+v 0.24450142 -0.27011410 0.21725817
+v 0.24699772 -0.35773422 0.00292978
+v 0.35698693 -0.10978467 0.21072723
+v 0.37356091 0.05155218 0.19340174
+v 0.43407462 0.12264457 0.01651279
+v 0.29848179 -0.26807728 0.17064843
+v 0.24752480 -0.12704536 0.27277540
+v 0.33545563 -0.06577148 0.24587617
+v 0.23997785 0.06758821 0.27986716
+v 0.28810298 0.22731715 0.23562360
+v 0.35564342 0.16746891 0.19567363
+v 0.28958005 -0.19566386 0.23110268
+v 0.23383477 -0.27269589 0.22140805
+v 0.27686915 -0.34421214 0.00263520
+v 0.34684684 -0.12337322 0.22027912
+v 0.43446587 0.05058756 0.04260881
+v 0.37506394 0.02529831 0.19030526
+v 0.35775432 0.01911795 0.22470022
+v 0.43588524 0.12702300 0.00391291
+v 0.32796450 -0.22558616 0.17070344
+v 0.27151315 -0.28102250 0.19072670
+v 0.30754930 -0.12436310 0.24703486
+v 0.30920443 0.06382601 0.26171837
+v 0.23754581 0.12704022 0.27391737
+v 0.38908201 0.22201341 0.01828467
+v 0.33309478 0.18353544 0.21839692
+v 0.28923665 -0.22588424 0.21628760
+v 0.23447444 -0.24494771 0.23548512
+v 0.27171704 -0.29463491 0.16829607
+v 0.34757658 -0.08042142 0.23397163
+v 0.43341529 0.10827406 0.02942909
+v 0.35925456 0.10972722 0.20602670
+v 0.32893307 -0.20830520 0.19218800
+v 0.32074390 -0.15712365 0.23007396
+v 0.26398107 0.22894969 0.24878535
+v 0.34119192 0.19345852 0.19882749
+v 0.41823885 0.16452079 0.01490513
+v 0.30568240 0.19810731 0.23217607
+v 0.31877927 0.20694285 0.21913832
+v 0.24603433 -0.24270732 0.23155730
+v 0.24423375 -0.30874860 0.18035891
+v 0.33315833 -0.12308736 0.23219691
+v 0.34253896 0.06138522 0.23633730
+v 0.34361768 0.18052918 0.20810748
+v 0.30002427 -0.25199402 0.18933303
+v 0.32755938 0.22124450 0.18387494
+f 7 4 5
+f 10 5 4
+f 10 2 5
+f 12 7 5
+f 12 5 1
+f 12 11 7
+f 12 1 11
+f 13 5 2
+f 13 2 8
+f 15 8 2
+f 20 1 5
+f 20 5 13
+f 21 14 9
+f 21 2 14
+f 21 15 2
+f 24 13 8
+f 26 16 17
+f 26 17 25
+f 27 25 17
+f 27 7 25
+f 28 10 4
+f 29 6 23
+f 30 25 7
+f 31 7 11
+f 32 20 13
+f 32 11 1
+f 32 1 20
+f 32 13 24
+f 33 3 15
+f 33 15 21
+f 34 6 22
+f 34 14 2
+f 35 9 14
+f 35 34 22
+f 35 14 34
+f 36 35 22
+f 36 9 35
+f 36 16 26
+f 36 22 6
+f 37 2 10
+f 37 34 2
+f 38 24 8
+f 38 8 15
+f 39 31 11
+f 39 19 31
+f 40 26 25
+f 40 25 30
+f 41 27 17
+f 41 17 16
+f 41 16 28
+f 42 4 7
+f 42 7 27
+f 42 27 41
+f 43 28 18
+f 43 10 28
+f 45 3 30
+f 45 19 39
+f 46 7 31
+f 47 32 24
+f 47 24 39
+f 48 36 26
+f 48 9 36
+f 48 33 21
+f 48 21 9
+f 49 23 6
+f 49 6 34
+f 49 37 23
+f 49 34 37
+f 50 36 6
+f 50 6 29
+f 51 38 15
+f 51 24 38
+f 51 15 3
+f 52 40 30
+f 52 30 3
+f 53 41 28
+f 53 28 4
+f 53 42 41
+f 53 4 42
+f 54 29 43
+f 55 43 29
+f 55 29 23
+f 55 23 37
+f 55 37 10
+f 55 10 43
+f 56 44 28
+f 56 28 16
+f 56 16 44
+f 57 18 28
+f 57 28 44
+f 58 46 31
+f 58 31 19
+f 58 19 45
+f 58 45 30
+f 58 30 7
+f 58 7 46
+f 59 11 32
+f 59 32 47
+f 59 47 39
+f 59 39 11
+f 60 3 33
+f 60 33 48
+f 60 52 3
+f 60 48 26
+f 60 26 40
+f 60 40 52
+f 61 16 36
+f 61 36 50
+f 62 50 29
+f 62 61 50
+f 62 44 16
+f 62 16 61
+f 62 29 54
+f 62 57 44
+f 62 54 18
+f 62 18 57
+f 63 51 3
+f 63 3 45
+f 63 45 39
+f 63 39 24
+f 63 24 51
+f 64 54 43
+f 64 43 18
+f 64 18 54
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_20/collision/model_normalized_collision_11.obj b/objects/objaverse/cupcake/cupcake_20/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4670c397d3f7f6e1c117d79386874e592ca05793
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_20/collision/model_normalized_collision_11.obj
@@ -0,0 +1,126 @@
+# https://github.com/mikedh/trimesh
+v 0.26107679 0.36931414 -0.03456208
+v 0.21633539 0.35450873 -0.23477730
+v 0.11942356 0.45886714 -0.07863761
+v -0.10327111 0.47687075 0.00936527
+v -0.33236964 0.35281568 0.00793838
+v -0.17873315 0.37162799 -0.35406119
+v 0.18734420 0.42952060 0.01080204
+v 0.23567864 0.42215617 -0.01895743
+v -0.32842271 0.34916546 -0.02046474
+v 0.05962330 0.40647884 -0.30883872
+v -0.24432239 0.41606821 -0.01417309
+v 0.03568204 0.47921818 0.00754103
+v 0.25475444 0.38512944 0.00779625
+v -0.29381133 0.38393490 0.00885532
+v 0.21175563 0.37228383 -0.23264480
+v -0.18689391 0.35101238 -0.35619818
+v -0.00856518 0.41395767 -0.30885948
+v -0.19370455 0.44721717 0.00752612
+v -0.30974188 0.36788295 -0.01405114
+v 0.18291846 0.44801505 -0.02312022
+v 0.24768989 0.39152709 0.00789354
+v 0.23847740 0.41437425 -0.03581690
+v 0.16810458 0.39896176 -0.21474025
+v -0.18409965 0.36605879 -0.35503547
+v 0.07148934 0.38689431 -0.30014244
+v -0.15350160 0.36247350 -0.35579826
+v -0.17415511 0.37143149 -0.35435906
+v -0.13094721 0.39985859 -0.29174487
+v -0.02680813 0.47582415 -0.06291551
+v 0.05165020 0.47636419 -0.06422446
+v -0.15539297 0.44591774 -0.06230212
+v -0.19316049 0.44325760 -0.01226379
+v -0.24632605 0.41678476 0.00628908
+v -0.32403240 0.35504035 -0.01596272
+v -0.32609257 0.35930904 0.00781780
+v 0.22800141 0.41337481 -0.07902807
+v 0.05240344 0.41501018 -0.29228806
+v -0.15541432 0.36267053 -0.35613954
+v -0.01844050 0.41398136 -0.30517938
+v 0.05072054 0.47992931 -0.02382756
+v -0.09550304 0.46007802 -0.07614044
+v 0.18279216 0.44327455 -0.05112979
+v 0.12034582 0.46341835 -0.02383967
+f 9 2 1
+f 9 1 5
+f 12 4 7
+f 13 7 5
+f 13 5 1
+f 13 1 8
+f 14 7 4
+f 14 5 7
+f 15 1 2
+f 15 2 10
+f 16 2 9
+f 18 14 4
+f 19 11 6
+f 19 14 11
+f 20 12 7
+f 20 7 8
+f 21 13 8
+f 21 8 7
+f 21 7 13
+f 22 8 1
+f 22 1 15
+f 23 15 10
+f 24 16 9
+f 24 9 6
+f 25 10 2
+f 26 10 25
+f 26 25 2
+f 26 2 16
+f 27 17 10
+f 27 6 17
+f 27 24 6
+f 30 17 29
+f 31 18 4
+f 32 6 11
+f 32 11 18
+f 32 31 6
+f 32 18 31
+f 33 18 11
+f 33 11 14
+f 33 14 18
+f 34 19 6
+f 34 6 9
+f 34 9 5
+f 35 5 14
+f 35 14 19
+f 35 34 5
+f 35 19 34
+f 36 15 23
+f 36 22 15
+f 36 8 22
+f 37 23 10
+f 37 3 23
+f 37 30 3
+f 37 10 17
+f 37 17 30
+f 38 26 16
+f 38 16 24
+f 38 24 27
+f 38 27 10
+f 38 10 26
+f 39 17 6
+f 39 6 28
+f 39 29 17
+f 39 28 29
+f 40 29 4
+f 40 4 12
+f 40 30 29
+f 41 29 28
+f 41 4 29
+f 41 31 4
+f 41 28 6
+f 41 6 31
+f 42 20 8
+f 42 8 36
+f 42 3 20
+f 42 36 23
+f 42 23 3
+f 43 40 12
+f 43 12 20
+f 43 20 3
+f 43 3 30
+f 43 30 40
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_20/collision/model_normalized_collision_12.obj b/objects/objaverse/cupcake/cupcake_20/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..391b61c275ff282d7676fccb894ef0efd42eacb0
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_20/collision/model_normalized_collision_12.obj
@@ -0,0 +1,138 @@
+# https://github.com/mikedh/trimesh
+v -0.22264713 -0.40330364 0.01789510
+v -0.23201858 -0.40378935 -0.09628555
+v -0.22962252 -0.22031397 -0.23484847
+v -0.28796242 -0.20302084 0.28972256
+v -0.39351792 -0.25748309 -0.00802746
+v -0.22933021 -0.20487546 0.30942355
+v -0.29689116 -0.37419147 -0.02681951
+v -0.35682372 -0.25312041 -0.23147788
+v -0.22385305 -0.24191282 0.29536891
+v -0.36478566 -0.20821902 -0.23354071
+v -0.24903042 -0.40997553 -0.03028711
+v -0.27859989 -0.30945055 0.17967322
+v -0.27172542 -0.32680967 -0.23467394
+v -0.39531535 -0.26063394 -0.04954709
+v -0.22224235 -0.34217969 0.18148361
+v -0.24186292 -0.22226442 0.29935174
+v -0.27018512 -0.20100305 0.29673732
+v -0.40050595 -0.21127809 0.03268312
+v -0.24312979 -0.40539200 -0.07771073
+v -0.36877028 -0.21083350 0.19894077
+v -0.25151421 -0.26289346 0.26645467
+v -0.30662380 -0.29427013 0.16803180
+v -0.27048920 -0.32335191 -0.23635052
+v -0.33751459 -0.32585443 -0.07883451
+v -0.34072110 -0.33167122 -0.02745328
+v -0.41021733 -0.21402898 -0.08278773
+v -0.23504122 -0.33758896 0.17754586
+v -0.28220093 -0.22498566 0.28146592
+v -0.26920397 -0.21377039 0.29315469
+v -0.29197863 -0.37151007 -0.06489797
+v -0.23886852 -0.40310815 -0.09435572
+v -0.38566067 -0.21447658 0.12590986
+v -0.22393434 -0.28218124 0.25879785
+v -0.31846434 -0.29569600 -0.23208311
+v -0.38226715 -0.26569567 -0.09409975
+v -0.33412705 -0.26424431 0.18149330
+v -0.25109969 -0.30983333 0.20294070
+v -0.23791453 -0.23929460 0.29165857
+v -0.32548614 -0.21170836 0.25926351
+v -0.29907107 -0.21419197 0.27909939
+v -0.39247743 -0.24832026 0.01693757
+v -0.38016857 -0.26766718 0.03173345
+v -0.25043202 -0.25175498 0.27806162
+v -0.30704558 -0.28103938 0.19240676
+v -0.36216725 -0.22271578 0.19611676
+v -0.32030229 -0.22021554 0.25514382
+v -0.29434997 -0.28068071 0.20465112
+f 1 2 3
+f 9 3 6
+f 11 2 1
+f 15 1 3
+f 15 3 9
+f 15 11 1
+f 16 9 6
+f 17 6 3
+f 17 3 10
+f 18 17 10
+f 19 2 11
+f 20 4 17
+f 20 17 18
+f 22 7 11
+f 22 11 12
+f 23 3 2
+f 23 2 13
+f 23 10 3
+f 23 8 10
+f 25 5 14
+f 25 24 7
+f 25 14 24
+f 26 10 8
+f 26 8 14
+f 26 18 10
+f 26 14 5
+f 26 5 18
+f 27 12 11
+f 27 11 15
+f 29 16 6
+f 29 6 17
+f 29 17 4
+f 30 19 11
+f 30 11 7
+f 30 7 24
+f 31 13 2
+f 31 2 19
+f 32 20 18
+f 33 21 15
+f 33 15 9
+f 34 23 13
+f 34 8 23
+f 34 13 31
+f 34 31 19
+f 34 19 30
+f 34 30 24
+f 34 24 8
+f 35 24 14
+f 35 14 8
+f 35 8 24
+f 36 25 7
+f 36 7 22
+f 37 21 12
+f 37 12 27
+f 37 27 15
+f 37 15 21
+f 38 9 16
+f 38 29 28
+f 38 16 29
+f 39 4 20
+f 40 29 4
+f 40 28 29
+f 40 4 39
+f 40 21 28
+f 41 32 18
+f 41 18 5
+f 41 5 32
+f 42 32 5
+f 42 20 32
+f 42 5 25
+f 42 25 36
+f 43 33 9
+f 43 21 33
+f 43 9 38
+f 43 38 28
+f 43 28 21
+f 44 36 22
+f 44 22 12
+f 45 39 20
+f 45 36 39
+f 45 42 36
+f 45 20 42
+f 46 40 39
+f 46 21 40
+f 46 44 21
+f 46 39 36
+f 46 36 44
+f 47 44 12
+f 47 12 21
+f 47 21 44
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_20/collision/model_normalized_collision_13.obj b/objects/objaverse/cupcake/cupcake_20/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..687e72d243e99012be009ceabf15331fe3b0e4cc
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_20/collision/model_normalized_collision_13.obj
@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
+v -0.03225776 -0.44974484 0.00930264
+v 0.00356983 -0.41377839 -0.23483761
+v 0.01280173 -0.26576852 0.00757577
+v -0.22962252 -0.26576852 0.00757577
+v -0.29147569 -0.36482348 -0.09382228
+v 0.01280173 -0.26576852 -0.23484847
+v 0.00319583 -0.41828157 0.03581136
+v -0.11377455 -0.44642763 -0.13625030
+v -0.22548281 -0.40750885 0.00461574
+v -0.27439363 -0.29944941 -0.23613144
+v -0.02697650 -0.45141214 -0.09938753
+v -0.30222454 -0.32494140 -0.09630105
+v -0.09154671 -0.44736936 0.00343665
+v -0.23886852 -0.40310815 -0.09435572
+v -0.27094556 -0.30316134 -0.23664102
+v -0.04701415 -0.43201911 -0.23473523
+v -0.31434093 -0.31397962 -0.12926132
+v -0.09866260 -0.46565517 -0.01956635
+v -0.26624928 -0.34226414 -0.23302372
+v -0.04848924 -0.44774923 -0.15928561
+v -0.10270020 -0.44529680 0.00229794
+v -0.16326541 -0.44519557 -0.03785555
+v -0.27172542 -0.32680967 -0.23467394
+v -0.27549163 -0.34376256 -0.20023661
+v -0.16754973 -0.40537257 -0.23246149
+v -0.10855561 -0.46069984 -0.06460102
+v -0.10911690 -0.43095933 -0.21655569
+v -0.17153682 -0.43241936 -0.10846221
+v -0.16110078 -0.44569340 -0.02139636
+v -0.27390000 -0.33869494 -0.21642863
+v -0.22824370 -0.38742712 -0.16811843
+v -0.11511087 -0.46105008 -0.05085229
+v -0.10008935 -0.43091080 -0.22073198
+v -0.10896663 -0.42594965 -0.23197113
+f 6 3 2
+f 6 4 3
+f 7 3 4
+f 7 2 3
+f 9 7 4
+f 10 4 6
+f 11 7 1
+f 11 2 7
+f 12 9 4
+f 12 5 9
+f 13 1 7
+f 13 7 9
+f 14 9 5
+f 15 10 6
+f 15 6 2
+f 16 15 2
+f 17 5 12
+f 17 12 4
+f 17 4 10
+f 18 11 1
+f 18 1 13
+f 19 14 5
+f 20 16 2
+f 20 2 11
+f 20 11 18
+f 21 18 13
+f 21 13 9
+f 21 9 18
+f 22 9 14
+f 23 10 15
+f 23 17 10
+f 24 19 5
+f 24 5 17
+f 25 19 23
+f 25 23 15
+f 25 15 16
+f 26 20 18
+f 26 8 20
+f 27 20 8
+f 28 22 14
+f 28 14 25
+f 28 27 8
+f 28 25 27
+f 29 18 9
+f 29 9 22
+f 30 23 19
+f 30 17 23
+f 30 24 17
+f 30 19 24
+f 31 25 14
+f 31 14 19
+f 31 19 25
+f 32 26 18
+f 32 22 28
+f 32 28 8
+f 32 8 26
+f 32 29 22
+f 32 18 29
+f 33 16 20
+f 33 20 27
+f 34 33 27
+f 34 27 25
+f 34 25 16
+f 34 16 33
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_20/collision/model_normalized_collision_14.obj b/objects/objaverse/cupcake/cupcake_20/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e3fffa77564cb15dadb2d68cf8b4876a63639dc
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_20/collision/model_normalized_collision_14.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.37621883 0.20358061 -0.23478310
+v 0.37569291 0.20157343 -0.24967923
+v 0.12769897 0.37337907 -0.35359818
+v -0.19484164 0.35403559 -0.23391701
+v -0.19931949 0.20392847 -0.23484847
+v 0.12657533 0.38095027 -0.23817669
+v 0.30306637 0.29368730 -0.28779535
+v 0.37317799 0.20479840 -0.23238528
+v -0.19931949 0.20392847 -0.35606060
+v -0.18689391 0.35101238 -0.35619818
+v 0.35090500 0.25424258 -0.23240433
+v 0.34225211 0.19673553 -0.35679469
+v 0.30324491 0.29509220 -0.27786156
+v 0.29949054 0.28263103 -0.35318963
+v 0.26165763 0.30954253 -0.35517474
+v 0.33588675 0.23899345 -0.35440792
+v 0.34602218 0.24224644 -0.29353442
+f 5 2 1
+f 8 5 1
+f 8 4 5
+f 9 5 4
+f 10 6 3
+f 10 4 6
+f 10 9 4
+f 11 1 2
+f 11 8 1
+f 11 6 4
+f 11 4 8
+f 12 2 5
+f 12 5 9
+f 12 9 10
+f 13 3 6
+f 13 11 7
+f 13 6 11
+f 14 7 11
+f 15 12 10
+f 15 10 3
+f 15 7 14
+f 15 13 7
+f 15 3 13
+f 16 14 11
+f 16 2 12
+f 16 15 14
+f 16 12 15
+f 17 16 11
+f 17 11 2
+f 17 2 16
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_20/collision/model_normalized_collision_15.obj b/objects/objaverse/cupcake/cupcake_20/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ea8a031615fe22cb8a15e8e4347a8c75de5afd4
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_20/collision/model_normalized_collision_15.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v 0.11886233 0.29483756 -0.35606060
+v 0.11886233 0.29483756 -0.50000000
+v 0.05962330 0.40647884 -0.30883872
+v -0.13273979 0.39416761 -0.30957635
+v -0.24106081 0.30560828 -0.41638019
+v -0.06950539 0.36906813 -0.49982128
+v 0.07148934 0.38689431 -0.30014244
+v -0.19931949 0.29483756 -0.50000000
+v -0.24385374 0.30913317 -0.35586835
+v 0.05259298 0.38274602 -0.46906921
+v -0.17602044 0.34122348 -0.50000000
+v -0.07292980 0.40421699 -0.30840365
+v 0.12898022 0.37273519 -0.35350630
+v -0.23482881 0.34102641 -0.35255114
+v -0.15413396 0.36451469 -0.31170442
+v 0.07439609 0.35990251 -0.49989553
+v -0.12673340 0.36762405 -0.45643467
+v -0.19577610 0.32770258 -0.50000000
+v 0.04621756 0.39940695 -0.39849184
+v -0.06982606 0.40060975 -0.33771920
+v -0.17873315 0.37162799 -0.35406119
+v -0.01314417 0.38458853 -0.47343535
+v -0.12838464 0.35330298 -0.50000000
+v 0.11886233 0.34029211 -0.50000000
+v -0.23016359 0.33083513 -0.41419628
+v -0.01794596 0.39960687 -0.38363520
+v 0.05157892 0.39897273 -0.39729234
+v -0.12909262 0.38250496 -0.38169111
+v -0.17444568 0.35440878 -0.44419711
+v 0.06076763 0.38281112 -0.45745407
+v -0.17874491 0.36902200 -0.36784559
+v 0.05768172 0.40199172 -0.35376153
+f 8 2 1
+f 9 8 1
+f 9 5 8
+f 11 2 8
+f 12 7 3
+f 12 4 7
+f 13 7 1
+f 13 1 2
+f 13 3 7
+f 14 5 9
+f 15 7 4
+f 15 14 9
+f 15 4 14
+f 15 9 1
+f 15 1 7
+f 17 6 11
+f 18 11 8
+f 18 8 5
+f 20 4 12
+f 21 14 4
+f 22 16 6
+f 22 10 16
+f 22 19 10
+f 23 11 6
+f 23 6 16
+f 23 2 11
+f 24 13 2
+f 24 23 16
+f 24 2 23
+f 24 16 10
+f 25 11 18
+f 25 18 5
+f 25 5 14
+f 26 12 3
+f 26 3 19
+f 26 20 12
+f 26 22 20
+f 26 19 22
+f 27 10 19
+f 27 19 3
+f 28 4 20
+f 28 21 4
+f 28 20 22
+f 28 22 6
+f 28 6 17
+f 29 17 11
+f 30 24 10
+f 30 13 24
+f 30 27 13
+f 30 10 27
+f 31 25 14
+f 31 14 21
+f 31 21 28
+f 31 28 17
+f 31 17 29
+f 31 29 11
+f 31 11 25
+f 32 27 3
+f 32 3 13
+f 32 13 27
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_20/collision/model_normalized_collision_16.obj b/objects/objaverse/cupcake/cupcake_20/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bbc0805b26ccf41148858282f9d45326d9b814ed
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_20/collision/model_normalized_collision_16.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v -0.00164133 0.17371320 0.34076462
+v 0.07328968 0.19789903 0.29539428
+v 0.08591203 0.30175642 0.30999633
+v -0.10794947 0.38108009 0.25953475
+v 0.00595312 0.17702389 0.31175767
+v 0.08527353 0.34810658 0.26005934
+v -0.11095472 0.30912137 0.31139576
+v 0.07615996 0.21655211 0.33647480
+v 0.06658828 0.19061572 0.31573321
+v -0.11089323 0.30248164 0.28434117
+v 0.05584024 0.36194453 0.25750809
+v -0.03385276 0.35984534 0.27801300
+v 0.05982397 0.20240556 0.34149811
+v -0.10796016 0.29490359 0.31050561
+v 0.08442660 0.32297218 0.29743311
+v -0.07634187 0.35911859 0.27780592
+v 0.01048287 0.37627398 0.25714293
+v -0.00420896 0.18747714 0.34114872
+v -0.10635971 0.37397167 0.26541324
+v 0.00960278 0.36925153 0.26571626
+f 6 3 2
+f 8 2 3
+f 9 5 2
+f 9 1 5
+f 9 2 8
+f 10 4 2
+f 10 2 5
+f 10 7 4
+f 10 5 1
+f 11 6 2
+f 11 2 4
+f 13 9 8
+f 13 1 9
+f 13 8 3
+f 13 3 7
+f 14 10 1
+f 14 1 7
+f 14 7 10
+f 15 3 6
+f 15 6 11
+f 15 12 7
+f 15 7 3
+f 16 7 12
+f 17 11 4
+f 17 15 11
+f 18 13 7
+f 18 7 1
+f 18 1 13
+f 19 16 12
+f 19 12 4
+f 19 4 7
+f 19 7 16
+f 20 17 4
+f 20 4 12
+f 20 12 15
+f 20 15 17
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_20/collision/model_normalized_collision_17.obj b/objects/objaverse/cupcake/cupcake_20/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad64e26d76c02595f6f232fa4159d28ae8845d39
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_20/collision/model_normalized_collision_17.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v 0.31164897 0.28049703 -0.23481996
+v 0.30695293 0.28135392 -0.27840634
+v 0.21175563 0.37228383 -0.23264480
+v 0.06110033 0.41166159 -0.23477336
+v 0.11886233 0.29483756 -0.35606060
+v 0.11886233 0.30998908 -0.23484847
+v 0.30991052 0.30034612 -0.23206433
+v 0.11886233 0.29483756 -0.50000000
+v 0.09496491 0.41703228 -0.23153871
+v 0.07340779 0.34029211 -0.50000000
+v 0.21377780 0.32490010 -0.50000000
+v 0.27062869 0.33208350 -0.23209839
+v 0.06172112 0.38782861 -0.41532466
+v 0.24799272 0.28947062 -0.50000000
+v 0.13965080 0.36727757 -0.48755588
+v 0.10645151 0.41715811 -0.23164894
+v 0.22771309 0.32278860 -0.47228548
+v 0.05730398 0.40732871 -0.32530265
+v 0.30324491 0.29509220 -0.27786156
+v 0.12863743 0.36886156 -0.49820440
+v 0.21154988 0.37031690 -0.24551893
+v 0.24041212 0.30001693 -0.50000000
+v 0.23879836 0.31169119 -0.47324002
+v 0.07439609 0.35990251 -0.49989553
+v 0.09403824 0.38362759 -0.44442956
+v 0.11111310 0.38230903 -0.44569957
+v 0.07238255 0.36826283 -0.48235190
+v 0.11023666 0.36882150 -0.49780244
+f 6 5 1
+f 7 1 2
+f 7 6 1
+f 8 2 1
+f 8 1 5
+f 9 4 6
+f 9 6 7
+f 10 6 4
+f 10 5 6
+f 10 8 5
+f 11 8 10
+f 12 9 7
+f 14 2 8
+f 14 8 11
+f 16 12 3
+f 16 9 12
+f 16 3 15
+f 17 3 12
+f 17 11 15
+f 17 12 7
+f 18 13 10
+f 18 10 4
+f 18 4 9
+f 18 9 16
+f 19 7 2
+f 19 2 14
+f 20 15 11
+f 21 17 15
+f 21 15 3
+f 21 3 17
+f 22 14 11
+f 22 11 17
+f 22 19 14
+f 23 17 7
+f 23 7 19
+f 23 22 17
+f 23 19 22
+f 24 20 11
+f 24 11 10
+f 24 10 13
+f 25 13 18
+f 26 16 15
+f 26 15 20
+f 26 20 25
+f 26 25 18
+f 26 18 16
+f 27 24 13
+f 27 13 25
+f 28 27 25
+f 28 25 20
+f 28 20 24
+f 28 24 27
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_20/collision/model_normalized_collision_18.obj b/objects/objaverse/cupcake/cupcake_20/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d4be21ff57324dc5ae40a18e89d689bee602d233
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_20/collision/model_normalized_collision_18.obj
@@ -0,0 +1,105 @@
+# https://github.com/mikedh/trimesh
+v 0.03726309 -0.48124440 -0.01769675
+v 0.20576356 -0.38501238 -0.23428681
+v 0.20747001 -0.38385288 0.00503379
+v -0.02492779 -0.41655026 0.03673882
+v -0.06124126 -0.41061921 -0.23679142
+v 0.15826105 -0.44928646 -0.01837708
+v 0.01848468 -0.42611248 -0.27950017
+v -0.09866260 -0.46565517 -0.01956635
+v 0.18682222 -0.40202671 0.00185248
+v -0.04003258 -0.46936303 0.00871382
+v 0.21667392 -0.42036857 -0.01700431
+v 0.03781022 -0.41460878 -0.28003133
+v 0.09727866 -0.46203822 -0.08123761
+v -0.09288519 -0.44592046 0.00680345
+v -0.05208226 -0.47567356 -0.05088524
+v 0.10590354 -0.46459623 -0.01807265
+v 0.21057235 -0.41589068 -0.07973779
+v 0.22153690 -0.40302308 -0.01725939
+v 0.01235199 -0.41768680 -0.28033079
+v 0.03154192 -0.42509310 -0.27778104
+v 0.02965194 -0.47569322 -0.06507348
+v -0.06884648 -0.42434221 -0.10268393
+v -0.10065057 -0.45397174 -0.08027838
+v -0.06450560 -0.46666457 0.00867527
+v -0.05169549 -0.47731761 -0.02002138
+v 0.10179293 -0.46522030 -0.05046795
+v 0.21034678 -0.39791280 -0.15792057
+v 0.15461218 -0.44504281 -0.06593460
+v -0.04433790 -0.43772641 -0.23243171
+v 0.09342737 -0.43039167 -0.21400211
+v 0.03130317 -0.42991082 -0.26136073
+v -0.09682865 -0.44564189 -0.08236669
+v -0.09805206 -0.46378851 -0.03553652
+v 0.20312866 -0.38956427 -0.23288211
+v -0.04116979 -0.44675186 -0.19890680
+v 0.02284020 -0.43018640 -0.26326090
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+f 18 3 11
+f 19 12 7
+f 19 5 12
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+f 21 1 15
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+f 22 4 5
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+f 24 4 14
+f 24 14 8
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+f 25 24 8
+f 25 8 15
+f 26 6 16
+f 26 16 1
+f 26 1 13
+f 27 11 17
+f 27 18 11
+f 27 2 18
+f 28 17 6
+f 28 26 13
+f 28 6 26
+f 29 19 7
+f 29 5 19
+f 29 23 5
+f 31 13 21
+f 31 30 13
+f 31 20 30
+f 31 7 20
+f 32 23 14
+f 32 14 5
+f 32 5 23
+f 33 23 15
+f 33 15 8
+f 33 8 23
+f 34 27 17
+f 34 2 27
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+f 34 28 13
+f 34 13 30
+f 34 30 20
+f 34 20 2
+f 35 15 23
+f 35 23 29
+f 35 21 15
+f 35 29 7
+f 36 31 21
+f 36 7 31
+f 36 35 7
+f 36 21 35
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_20/collision/model_normalized_collision_19.obj b/objects/objaverse/cupcake/cupcake_20/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ece64f6238a1a21f04d7507064cafc73f65ceb7b
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_20/collision/model_normalized_collision_19.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.31919429 0.22555367 0.19823454
+v 0.32290512 0.22755905 0.14639893
+v 0.09804998 0.38344563 0.19821745
+v -0.19423713 0.41206113 0.18588003
+v -0.30538010 0.23423150 0.14393941
+v 0.08645098 0.38675396 0.12761266
+v -0.30662775 0.23508757 0.27119617
+v 0.24150429 0.30875245 0.19905497
+v -0.03468529 0.41498080 0.16660122
+v -0.29619265 0.37093896 0.14827521
+v 0.18207466 0.34501456 0.12669520
+v -0.10635971 0.37397167 0.26541324
+v 0.31624658 0.23812916 0.14942826
+v 0.05442799 0.40002244 0.16393658
+v -0.18116730 0.41498526 0.15036189
+v -0.27882848 0.34026904 0.23378566
+v 0.17100076 0.35221441 0.17479417
+v -0.06487683 0.41291010 0.21267444
+v 0.15795486 0.32595149 0.24736247
+v 0.31257603 0.23552587 0.19680367
+v 0.25956023 0.29407165 0.15346603
+v -0.09430342 0.41248241 0.14962728
+v -0.23807648 0.40124052 0.14967377
+v -0.29415891 0.35384343 0.20724909
+v -0.20731658 0.36851851 0.24903319
+v 0.17030344 0.35222994 0.20020168
+v 0.20011400 0.33746460 0.17691555
+v -0.13723097 0.41320025 0.21102397
+v -0.03477263 0.41325957 0.20189310
+v -0.00531768 0.38327428 0.25229079
+v -0.10834854 0.34021730 0.27964474
+v 0.26398107 0.22894969 0.24878535
+v -0.19529644 0.41417972 0.16113965
+v -0.29485951 0.37014104 0.18116561
+v -0.29449020 0.31222830 0.24757769
+v -0.23571837 0.36815271 0.23412229
+v 0.18415125 0.32471589 0.23481650
+v 0.24349228 0.30872740 0.16383395
+v 0.19915357 0.33710923 0.19927794
+v -0.10754259 0.39967807 0.23628484
+v -0.18004269 0.39915410 0.22296036
+v 0.05445988 0.39679502 0.19909964
+v 0.11263907 0.36723524 0.22395854
+v 0.00806335 0.39662855 0.22644770
+v -0.16958631 0.33413892 0.28104287
+v 0.05342692 0.36884207 0.25041332
+v 0.27273706 0.25349533 0.23460846
+v 0.20149768 0.29823611 0.24697031
+v -0.23896725 0.39786189 0.18345775
+v -0.17952199 0.41210013 0.19810919
+v -0.27991738 0.38269450 0.16975461
+v -0.23523816 0.35468811 0.24850721
+v -0.27847128 0.35422110 0.22056884
+v 0.22672945 0.30842804 0.22048158
+v -0.04876267 0.39874146 0.23836387
+v -0.15133634 0.38448028 0.25071827
+v -0.20782858 0.39840372 0.21019836
+v 0.12687308 0.35410878 0.23440788
+v 0.12719610 0.36787214 0.21209718
+v 0.03734477 0.38273638 0.23821511
+v 0.30750963 0.22835804 0.21442968
+v 0.28448214 0.26278965 0.21007708
+v 0.26136785 0.24403254 0.24601260
+v -0.28241294 0.38174469 0.16101766
+f 5 2 1
+f 7 5 1
+f 10 6 5
+f 10 5 7
+f 11 2 5
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+f 13 1 2
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+f 14 6 9
+f 17 11 6
+f 17 6 3
+f 20 13 8
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+f 21 13 11
+f 21 8 13
+f 22 15 9
+f 22 9 6
+f 22 6 15
+f 23 15 6
+f 23 6 10
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+f 28 9 15
+f 29 14 9
+f 29 9 18
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+f 34 10 7
+f 34 7 24
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+f 38 21 11
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+f 38 27 8
+f 38 8 21
+f 39 27 26
+f 39 8 27
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+f 43 3 42
+f 44 29 18
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+f 46 31 19
+f 46 30 31
+f 48 19 31
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+f 48 37 19
+f 49 33 23
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+f 50 33 4
+f 50 28 33
+f 50 41 28
+f 51 49 23
+f 51 34 49
+f 52 16 35
+f 52 25 36
+f 52 45 25
+f 52 35 45
+f 53 52 36
+f 53 16 52
+f 53 35 16
+f 53 24 35
+f 53 34 24
+f 54 39 37
+f 54 8 39
+f 54 48 47
+f 54 37 48
+f 55 18 40
+f 55 44 18
+f 55 30 44
+f 55 40 12
+f 55 12 30
+f 56 40 28
+f 56 28 41
+f 56 12 40
+f 56 41 25
+f 56 45 12
+f 56 25 45
+f 57 36 25
+f 57 25 41
+f 57 41 50
+f 57 50 4
+f 57 4 49
+f 57 49 34
+f 57 53 36
+f 57 34 53
+f 58 19 37
+f 58 46 19
+f 58 43 46
+f 59 26 3
+f 59 3 43
+f 59 43 58
+f 59 58 37
+f 59 37 26
+f 60 43 42
+f 60 42 44
+f 60 46 43
+f 60 44 30
+f 60 30 46
+f 61 47 32
+f 61 32 1
+f 62 20 8
+f 62 54 47
+f 62 8 54
+f 62 47 61
+f 62 61 1
+f 62 1 20
+f 63 48 32
+f 63 32 47
+f 63 47 48
+f 64 51 23
+f 64 23 10
+f 64 10 34
+f 64 34 51
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_20/collision/model_normalized_collision_2.obj b/objects/objaverse/cupcake/cupcake_20/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..614200c5e9bac5c1cc099eb8ae6d060d44e4015f
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_20/collision/model_normalized_collision_2.obj
@@ -0,0 +1,135 @@
+# https://github.com/mikedh/trimesh
+v -0.04093110 -0.46962522 0.00977275
+v 0.27198572 -0.27770905 0.05109143
+v 0.14414645 -0.32642960 0.21828705
+v -0.22633393 -0.25812381 0.28457577
+v -0.22962252 -0.25061700 0.00757577
+v 0.18778929 -0.24332680 0.25828619
+v -0.09124810 -0.36877857 0.19187724
+v 0.18682222 -0.40202671 0.00185248
+v -0.22548281 -0.40750885 0.00461574
+v 0.23009422 -0.30994637 0.19089626
+v -0.01888268 -0.28805574 0.29282032
+v 0.23447444 -0.24494771 0.23548512
+v 0.07070039 -0.35359029 0.20692322
+v 0.14587002 -0.35236969 0.18065204
+v 0.23518539 -0.36334399 0.00550533
+v -0.23804132 -0.27007572 0.26608601
+v -0.20830834 -0.35480732 0.16821795
+v 0.10082217 -0.43652234 0.00087970
+v 0.23082450 -0.28279401 0.21667928
+v 0.00579602 -0.25554168 0.29868477
+v 0.05366399 -0.30917322 0.26707354
+v -0.14932573 -0.29345089 0.28061937
+v -0.01925387 -0.36911772 0.19461160
+v 0.11397387 -0.35346478 0.19397078
+v 0.17210293 -0.33750782 0.19178636
+v 0.22968942 -0.32250977 0.16882367
+v -0.06450560 -0.46666457 0.00867527
+v -0.22224235 -0.34217969 0.18148361
+v 0.18714110 -0.33891287 0.17894085
+v -0.19524336 -0.41740515 0.00208812
+v 0.23197971 -0.25591590 0.23183425
+v -0.00504553 -0.27539651 0.29572466
+v -0.18080714 -0.25807551 0.29959020
+v 0.17290946 -0.29752233 0.23118644
+v -0.19197156 -0.28046399 0.27839079
+v -0.14980307 -0.36769211 0.17877131
+v -0.10579714 -0.30848505 0.27235660
+v -0.04003258 -0.46936303 0.00871382
+v 0.21651739 -0.26992744 0.23101207
+v -0.00428852 -0.26310420 0.29901090
+v -0.13462830 -0.28354713 0.29236663
+v -0.22299320 -0.26647635 0.27890556
+v -0.17897246 -0.34094602 0.20484918
+v -0.22147598 -0.27884509 0.26602128
+v -0.17916226 -0.26873019 0.29279559
+v -0.19840277 -0.35280271 0.17790298
+f 6 5 4
+f 12 2 5
+f 12 5 6
+f 15 8 5
+f 15 5 2
+f 16 4 5
+f 16 5 9
+f 18 14 1
+f 18 5 8
+f 19 3 10
+f 19 10 2
+f 19 2 12
+f 23 7 1
+f 23 1 13
+f 23 13 21
+f 24 13 1
+f 24 1 14
+f 24 21 13
+f 24 3 21
+f 25 10 3
+f 25 24 14
+f 25 3 24
+f 26 8 15
+f 26 15 2
+f 26 2 10
+f 27 17 9
+f 28 16 9
+f 28 9 17
+f 29 18 8
+f 29 14 18
+f 29 8 26
+f 29 25 14
+f 29 26 10
+f 29 10 25
+f 30 9 5
+f 30 5 18
+f 30 27 9
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+f 31 12 6
+f 32 21 6
+f 32 11 21
+f 33 20 6
+f 33 6 4
+f 34 6 21
+f 34 21 3
+f 34 3 19
+f 36 17 27
+f 36 27 1
+f 36 1 7
+f 37 23 21
+f 37 21 11
+f 37 7 23
+f 37 36 7
+f 37 22 36
+f 38 18 1
+f 38 1 27
+f 38 30 18
+f 38 27 30
+f 39 31 6
+f 39 19 31
+f 39 34 19
+f 39 6 34
+f 40 20 33
+f 40 32 6
+f 40 6 20
+f 40 33 11
+f 40 11 32
+f 41 11 33
+f 41 37 11
+f 41 22 37
+f 42 4 16
+f 43 22 35
+f 43 36 22
+f 44 16 28
+f 44 43 35
+f 44 28 43
+f 44 42 16
+f 44 35 42
+f 45 33 4
+f 45 42 35
+f 45 4 42
+f 45 35 22
+f 45 41 33
+f 45 22 41
+f 46 28 17
+f 46 17 36
+f 46 43 28
+f 46 36 43
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_20/collision/model_normalized_collision_20.obj b/objects/objaverse/cupcake/cupcake_20/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..08120e40740ee1c92816beaab897e99c795a6de0
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_20/collision/model_normalized_collision_20.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v -0.35157752 -0.20726165 -0.23501850
+v -0.30538010 -0.20516246 -0.50000000
+v -0.30538010 -0.11425336 -0.35606060
+v -0.41282278 -0.05653771 -0.23755903
+v -0.38993147 -0.20139009 -0.23322112
+v -0.38503557 -0.06731354 -0.50000000
+v -0.33539599 -0.21274585 -0.35774918
+v -0.39500281 -0.11376773 -0.23072217
+v -0.30538010 -0.11425336 -0.50000000
+v -0.35083465 -0.06879882 -0.50000000
+v -0.42921451 -0.08893912 -0.23324308
+v -0.33665374 -0.19708876 -0.50000000
+v -0.40700550 -0.05433760 -0.28332608
+v -0.39584626 -0.07861216 -0.44237176
+v -0.42913905 -0.07666392 -0.23342013
+v -0.39453305 -0.14747555 -0.32029042
+v -0.37896358 -0.09334961 -0.50000000
+v -0.39717737 -0.06710178 -0.44354493
+v -0.42518596 -0.08675085 -0.26150545
+v -0.34635907 -0.18204820 -0.48738878
+v -0.37640620 -0.10754890 -0.48852037
+v -0.34737309 -0.19322441 -0.45795478
+v -0.37970380 -0.19775352 -0.29156682
+v -0.36341155 -0.13374836 -0.50000000
+f 1 2 3
+f 1 3 4
+f 7 2 1
+f 7 1 5
+f 8 5 1
+f 8 1 4
+f 9 3 2
+f 9 2 6
+f 10 9 6
+f 10 3 9
+f 11 5 8
+f 12 6 2
+f 12 7 5
+f 12 2 7
+f 13 10 6
+f 13 4 3
+f 13 3 10
+f 15 11 8
+f 15 8 4
+f 15 4 13
+f 16 5 11
+f 17 14 6
+f 17 6 12
+f 18 15 13
+f 18 13 6
+f 18 6 14
+f 19 16 11
+f 19 14 16
+f 19 18 14
+f 19 11 15
+f 19 15 18
+f 21 16 14
+f 21 14 17
+f 21 20 16
+f 22 20 12
+f 23 5 16
+f 23 16 20
+f 23 20 22
+f 23 22 12
+f 23 12 5
+f 24 17 12
+f 24 12 20
+f 24 21 17
+f 24 20 21
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_20/collision/model_normalized_collision_21.obj b/objects/objaverse/cupcake/cupcake_20/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0245c4944063aa0e32b165682e8d3898a0c45b79
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_20/collision/model_normalized_collision_21.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v 0.27147547 -0.38578688 -0.01489731
+v 0.34954531 -0.26471978 -0.23349038
+v 0.33953979 -0.26191281 0.00376533
+v 0.01280173 -0.26576852 0.00757577
+v 0.00356983 -0.41377839 -0.23483761
+v 0.01280173 -0.26576852 -0.23484847
+v 0.00319583 -0.41828157 0.03581136
+v 0.38034505 -0.29033096 -0.01663778
+v 0.20576356 -0.38501238 -0.23428681
+v 0.20183801 -0.39204930 0.00075960
+v 0.20568859 -0.39569995 -0.18904013
+v 0.33174733 -0.34053093 -0.04852017
+v 0.37566224 -0.27075685 -0.01482360
+v 0.33297365 -0.34405062 -0.01665727
+v 0.37473024 -0.28458750 -0.08067597
+v 0.25706072 -0.35640094 -0.23260516
+v 0.26993697 -0.38609513 -0.03587551
+v 0.34831008 -0.26853914 -0.23249576
+v 0.37334502 -0.27434748 -0.08113980
+v 0.26100629 -0.36999024 -0.15543442
+v 0.35958980 -0.27387675 -0.17189395
+v 0.31559373 -0.32699825 -0.15149567
+v 0.36016325 -0.26982047 -0.17167834
+f 6 3 2
+f 6 4 3
+f 7 3 4
+f 7 6 5
+f 7 4 6
+f 9 6 2
+f 9 5 6
+f 10 7 1
+f 10 3 7
+f 11 7 5
+f 11 1 7
+f 11 5 9
+f 13 2 3
+f 13 3 8
+f 14 8 3
+f 14 12 8
+f 14 10 1
+f 14 3 10
+f 15 8 12
+f 16 9 2
+f 16 11 9
+f 17 14 1
+f 17 12 14
+f 17 1 11
+f 18 15 12
+f 18 16 2
+f 19 13 8
+f 19 8 15
+f 19 2 13
+f 20 16 12
+f 20 12 17
+f 20 17 11
+f 20 11 16
+f 21 18 2
+f 21 15 18
+f 22 18 12
+f 22 12 16
+f 22 16 18
+f 23 19 15
+f 23 2 19
+f 23 21 2
+f 23 15 21
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_20/collision/model_normalized_collision_22.obj b/objects/objaverse/cupcake/cupcake_20/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d4cb07e6e347d6b1156f744e3ea74948f4a74c05
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_20/collision/model_normalized_collision_22.obj
@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
+v -0.28934391 0.23321992 0.27502797
+v -0.32053161 0.23423150 0.00757577
+v -0.28634498 0.28915430 0.26452845
+v -0.29759378 0.35936829 0.19630126
+v -0.41399481 0.22920723 0.18413688
+v -0.31741058 0.36686470 0.00733308
+v -0.34272550 0.22923639 0.26364632
+v -0.30233164 0.36558603 0.14562314
+v -0.43296787 0.22989795 0.00704354
+v -0.29173008 0.23594838 0.27410457
+v -0.33626772 0.26836655 0.24868864
+v -0.39343822 0.28254498 0.17054456
+v -0.33881751 0.30964337 -0.04762835
+v -0.42904746 0.22863545 0.03433865
+v -0.29769296 0.28542898 0.26240855
+v -0.39899736 0.22861168 0.21025552
+v -0.32174398 0.35266608 0.17924801
+v -0.40878163 0.25637500 0.16767122
+v -0.39625685 0.28380548 0.00536676
+v -0.33153628 0.33732942 -0.03796040
+v -0.33977949 0.24060734 0.26042305
+v -0.30916464 0.29773440 0.24859943
+v -0.40979539 0.24136767 0.18124932
+v -0.37867449 0.26809321 0.20664536
+v -0.32609257 0.35930904 0.00781780
+v -0.42724062 0.24223238 0.00720790
+v -0.28908849 0.29329482 0.26195766
+v -0.30850116 0.35415221 0.19284415
+v -0.39472854 0.24015690 0.20750230
+v -0.37815197 0.29668883 0.17882418
+v -0.36924721 0.30391693 -0.03809417
+v -0.37242957 0.29521377 -0.03598403
+v -0.32842271 0.34916546 -0.02046474
+v -0.33664019 0.34248810 -0.01606418
+f 1 2 3
+f 6 3 2
+f 7 2 1
+f 8 4 3
+f 8 3 6
+f 10 7 1
+f 10 1 3
+f 10 3 7
+f 13 2 9
+f 14 5 9
+f 14 9 2
+f 14 2 7
+f 15 7 3
+f 16 14 7
+f 16 5 14
+f 17 8 6
+f 17 4 8
+f 18 9 5
+f 20 6 2
+f 20 2 13
+f 21 15 11
+f 21 7 15
+f 21 16 7
+f 21 11 16
+f 22 11 15
+f 23 5 16
+f 23 18 5
+f 23 12 18
+f 24 16 11
+f 24 11 22
+f 25 17 6
+f 25 12 17
+f 25 19 12
+f 26 18 12
+f 26 9 18
+f 26 12 19
+f 27 22 15
+f 27 15 3
+f 27 3 4
+f 27 4 22
+f 28 22 4
+f 28 4 17
+f 29 23 16
+f 29 12 23
+f 29 24 12
+f 29 16 24
+f 30 17 12
+f 30 12 24
+f 30 28 17
+f 30 24 22
+f 30 22 28
+f 31 19 25
+f 31 26 19
+f 31 20 13
+f 31 9 26
+f 32 31 13
+f 32 13 9
+f 32 9 31
+f 33 25 6
+f 33 6 20
+f 33 20 31
+f 34 33 31
+f 34 31 25
+f 34 25 33
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_20/collision/model_normalized_collision_23.obj b/objects/objaverse/cupcake/cupcake_20/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..60048886b6552f63ef45a84bcbe5d8ad21451b87
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_20/collision/model_normalized_collision_23.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v -0.22962252 0.20392847 0.00757577
+v -0.22962252 0.20392847 -0.23484847
+v -0.21365687 0.40433491 -0.09861314
+v -0.26938828 0.39613465 -0.00564832
+v -0.45118319 0.20108615 0.00692085
+v -0.22925658 0.39924769 -0.05154308
+v -0.38574808 0.19177000 -0.23437699
+v -0.33236964 0.35281568 0.00793838
+v -0.44673286 0.19784724 -0.04396309
+v -0.23482566 0.36167088 -0.23443755
+v -0.37645353 0.23010096 -0.24910213
+v -0.39625685 0.28380548 0.00536676
+v -0.25995516 0.38617796 -0.09529523
+v -0.40599727 0.19922440 -0.18781180
+v -0.33458153 0.23279605 -0.24997973
+v -0.43945049 0.22159773 -0.02982685
+v -0.42724062 0.24223238 0.00720790
+v -0.34943276 0.29391078 -0.15180834
+v -0.26527357 0.39166286 -0.05072596
+v -0.24427983 0.36858356 -0.20206283
+v -0.33170496 0.28243432 -0.24730517
+v -0.44039094 0.22196682 -0.01179124
+v -0.39846685 0.27754761 -0.01142498
+v -0.30581056 0.32873067 -0.18069679
+v -0.25496382 0.38653103 -0.10802414
+v -0.24594429 0.36001763 -0.23143275
+v -0.33436829 0.28033259 -0.24658807
+f 1 2 3
+f 6 1 3
+f 6 3 4
+f 6 4 1
+f 7 2 1
+f 8 1 4
+f 9 7 1
+f 9 1 5
+f 10 3 2
+f 14 11 7
+f 14 7 9
+f 14 9 11
+f 15 10 2
+f 15 2 7
+f 15 7 11
+f 16 9 5
+f 16 11 9
+f 17 8 12
+f 17 5 1
+f 17 1 8
+f 17 12 16
+f 18 11 16
+f 19 13 8
+f 19 8 4
+f 19 4 3
+f 21 15 11
+f 21 10 15
+f 22 17 16
+f 22 16 5
+f 22 5 17
+f 23 12 8
+f 23 8 18
+f 23 18 16
+f 23 16 12
+f 24 18 8
+f 24 8 13
+f 25 19 3
+f 25 13 19
+f 25 3 20
+f 25 24 13
+f 26 10 21
+f 26 20 3
+f 26 3 10
+f 26 21 24
+f 26 25 20
+f 26 24 25
+f 27 21 11
+f 27 11 18
+f 27 24 21
+f 27 18 24
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_20/collision/model_normalized_collision_24.obj b/objects/objaverse/cupcake/cupcake_20/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..838048be8949004615aace1998c81e04a8f78f08
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_20/collision/model_normalized_collision_24.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v 0.46101570 -0.08689103 -0.01620305
+v 0.45227156 -0.03272332 -0.15746337
+v 0.46978000 0.08477449 -0.01549084
+v 0.41637604 0.17130422 0.00726747
+v 0.43097746 -0.06516192 0.00595368
+v 0.41977336 0.15325051 -0.15784942
+v 0.47297512 -0.04473171 -0.01315633
+v 0.43705857 -0.08245000 -0.09857038
+v 0.45142050 0.02746932 -0.15429510
+v 0.45510716 0.15221622 -0.01664783
+v 0.40336404 0.15837331 -0.09632032
+v 0.45848373 -0.09093510 -0.06716937
+v 0.44824661 -0.01441283 0.00299861
+v 0.43562298 -0.08003508 -0.01543150
+v 0.43359032 -0.04583639 -0.16006317
+v 0.46697754 0.02943734 -0.07874870
+v 0.44523748 0.16060507 -0.01519607
+v 0.42334709 0.15935993 0.00786342
+v 0.43588040 0.15260868 -0.10663593
+v 0.40923514 0.15718495 -0.12869966
+v 0.46474241 -0.03991080 -0.08079956
+v 0.44491566 -0.03966209 -0.16001711
+v 0.44952186 -0.08611536 -0.09791429
+v 0.46493394 0.07787044 -0.04809715
+v 0.42629292 0.15662981 -0.12378970
+v 0.42300225 0.15079275 -0.15503481
+v 0.43843670 0.15668791 -0.08029641
+v 0.40673474 0.15687593 -0.12862231
+v 0.41548738 0.13500133 -0.15866737
+v 0.44952218 0.15189820 -0.04851205
+f 7 5 1
+f 9 2 6
+f 11 5 4
+f 12 7 1
+f 13 7 3
+f 13 5 7
+f 14 1 5
+f 14 5 8
+f 14 12 1
+f 14 8 12
+f 15 8 5
+f 15 5 11
+f 16 2 9
+f 16 3 7
+f 17 4 10
+f 18 10 4
+f 18 3 10
+f 18 13 3
+f 18 4 5
+f 18 5 13
+f 21 12 2
+f 21 7 12
+f 21 16 7
+f 21 2 16
+f 22 6 2
+f 23 12 8
+f 23 8 15
+f 23 15 22
+f 23 22 2
+f 23 2 12
+f 24 16 9
+f 24 3 16
+f 25 4 17
+f 25 20 4
+f 25 6 20
+f 25 19 6
+f 26 19 9
+f 26 9 6
+f 26 6 19
+f 27 17 10
+f 27 25 17
+f 27 19 25
+f 28 11 4
+f 28 4 20
+f 28 15 11
+f 28 20 6
+f 29 22 15
+f 29 6 22
+f 29 28 6
+f 29 15 28
+f 30 24 9
+f 30 9 19
+f 30 10 3
+f 30 3 24
+f 30 27 10
+f 30 19 27
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_20/collision/model_normalized_collision_25.obj b/objects/objaverse/cupcake/cupcake_20/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6300712ab51dd94f817e51cc47f65ff673165de4
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_20/collision/model_normalized_collision_25.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.34225211 0.19673553 -0.35679469
+v 0.33505343 0.19475774 -0.46116066
+v 0.29949054 0.28263103 -0.35318963
+v -0.19822966 0.33442015 -0.35782111
+v -0.19931949 0.20392847 -0.35606060
+v 0.25980617 0.27847162 -0.50000000
+v 0.33588675 0.23899345 -0.35440792
+v -0.19931949 0.20392847 -0.50000000
+v 0.29973560 0.25042044 -0.50000000
+v -0.19931949 0.29483756 -0.50000000
+v 0.28898835 0.27760010 -0.42988902
+v 0.31678621 0.22702150 -0.50000000
+v 0.28640941 0.26391665 -0.50000000
+v 0.31309252 0.23680754 -0.48738785
+v 0.32698509 0.20215307 -0.50000000
+v 0.27717925 0.27622499 -0.47314673
+v 0.33118022 0.23431213 -0.39819850
+f 5 2 1
+f 5 3 4
+f 6 4 3
+f 7 1 2
+f 7 5 1
+f 7 3 5
+f 8 2 5
+f 9 3 7
+f 9 8 6
+f 10 8 5
+f 10 5 4
+f 10 4 6
+f 10 6 8
+f 11 6 3
+f 11 3 9
+f 12 8 9
+f 13 11 9
+f 13 9 6
+f 14 12 9
+f 14 9 7
+f 15 2 8
+f 15 8 12
+f 16 13 6
+f 16 6 11
+f 16 11 13
+f 17 14 7
+f 17 12 14
+f 17 15 12
+f 17 7 2
+f 17 2 15
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_20/collision/model_normalized_collision_26.obj b/objects/objaverse/cupcake/cupcake_20/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a392448713e05d0b0cb8dcc43ed7da6edb9325c2
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_20/collision/model_normalized_collision_26.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v 0.39585250 0.21903108 -0.06588992
+v 0.35148708 0.24049207 -0.23377635
+v 0.34587780 0.32943767 -0.04715167
+v 0.23466399 0.40046483 0.00811847
+v 0.22492294 0.23423150 0.00757577
+v 0.27062869 0.33208350 -0.23209839
+v 0.38559478 0.23183045 0.00685453
+v 0.39087219 0.27952472 -0.03293651
+v 0.22492294 0.23423150 -0.23484847
+v 0.35090500 0.25424258 -0.23240433
+v 0.30080522 0.37317532 -0.04583944
+v 0.39388398 0.27780093 -0.01491023
+v 0.22333950 0.33811081 -0.23455819
+v 0.31472072 0.30064798 -0.21618647
+v 0.38980291 0.27436732 -0.04821964
+v 0.35867684 0.25001074 -0.20458295
+v 0.21665798 0.35385538 -0.21918730
+v 0.35848040 0.27967304 0.00670112
+v 0.30515767 0.37341116 -0.01549084
+v 0.26966439 0.33808837 -0.21719702
+v 0.22277861 0.37060527 -0.14360614
+v 0.27713880 0.37162016 0.00626947
+v 0.29108593 0.36819595 -0.07799420
+f 7 5 1
+f 7 4 5
+f 9 2 1
+f 9 1 5
+f 10 2 6
+f 10 3 8
+f 12 7 1
+f 12 8 3
+f 13 6 2
+f 13 2 9
+f 14 10 6
+f 14 3 10
+f 14 11 3
+f 14 6 11
+f 15 10 8
+f 15 12 1
+f 15 8 12
+f 16 1 2
+f 16 2 10
+f 16 15 1
+f 16 10 15
+f 17 6 13
+f 17 5 4
+f 17 13 9
+f 17 9 5
+f 18 4 7
+f 18 7 12
+f 19 11 4
+f 19 12 3
+f 19 3 11
+f 20 11 6
+f 20 6 17
+f 21 17 4
+f 21 4 11
+f 22 18 12
+f 22 12 19
+f 22 19 4
+f 22 4 18
+f 23 20 17
+f 23 11 20
+f 23 21 11
+f 23 17 21
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_20/collision/model_normalized_collision_27.obj b/objects/objaverse/cupcake/cupcake_20/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d52663bc0384813c2cbaa8d4457ec56fa298d07a
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_20/collision/model_normalized_collision_27.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v -0.27315790 -0.00970102 0.32779764
+v -0.22962252 -0.00819276 0.25000003
+v -0.24004867 0.00899101 0.31674120
+v -0.25760407 0.23473055 0.32601373
+v -0.41577227 0.05268967 0.24289899
+v -0.24525687 0.24033601 0.28065823
+v -0.26666137 0.01146912 0.33503580
+v -0.41050527 -0.00813353 0.24946133
+v -0.37178379 0.22858994 0.24060497
+v -0.35854851 -0.00898817 0.29419734
+v -0.41448342 0.00761561 0.24376107
+v -0.38232028 0.15288760 0.26268189
+v -0.39803295 0.08075036 0.26284141
+v -0.40875350 0.00831517 0.25387292
+v -0.40206834 0.15600526 0.24214677
+v -0.35417472 0.21253005 0.26226884
+v -0.40939751 0.05225355 0.25243759
+v -0.39778054 -0.00717198 0.26578401
+v -0.38713397 0.19908082 0.24131946
+v -0.39537512 0.15460080 0.24937263
+v -0.36569522 0.22639069 0.24784728
+v -0.38128687 0.19623111 0.24777838
+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 9 4 6
+f 9 6 2
+f 10 7 4
+f 10 8 1
+f 10 1 7
+f 11 2 8
+f 11 9 2
+f 11 5 9
+f 13 10 4
+f 13 4 12
+f 14 11 8
+f 14 5 11
+f 16 12 4
+f 17 5 14
+f 17 15 5
+f 17 13 15
+f 18 14 8
+f 18 8 10
+f 18 10 13
+f 18 17 14
+f 18 13 17
+f 19 9 5
+f 19 5 15
+f 20 15 13
+f 20 13 12
+f 20 19 15
+f 20 12 19
+f 21 16 4
+f 21 4 9
+f 21 9 19
+f 22 19 12
+f 22 12 16
+f 22 21 19
+f 22 16 21
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_20/collision/model_normalized_collision_28.obj b/objects/objaverse/cupcake/cupcake_20/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca2cca7901ee8525a5ace87025bc17d74801862f
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_20/collision/model_normalized_collision_28.obj
@@ -0,0 +1,144 @@
+# https://github.com/mikedh/trimesh
+v 0.31574662 0.23414963 0.14398126
+v 0.38559478 0.23183045 0.00685453
+v 0.18566855 0.42932178 0.03430844
+v -0.10327111 0.47687075 0.00936527
+v -0.32053161 0.23423150 0.00757577
+v 0.21239370 0.41450999 0.00677976
+v -0.22611728 0.40524029 0.14875995
+v 0.32897272 0.31182711 0.02685562
+v 0.34849933 0.22729788 0.07336709
+v 0.03568204 0.47921818 0.00754103
+v 0.37792175 0.25573101 0.00244828
+v 0.02454566 0.40215530 0.14807558
+v -0.32053161 0.23423150 0.14393941
+v -0.31117210 0.37159625 0.00760192
+v 0.25554545 0.36993413 0.05805343
+v 0.38033654 0.22706490 0.03153614
+v 0.18734420 0.42952060 0.01080204
+v 0.02809785 0.47447731 0.04614759
+v 0.25796663 0.38349033 0.01007751
+v 0.34530717 0.29742295 0.01932771
+v 0.28914057 0.26702785 0.15162464
+v -0.19370455 0.44721717 0.00752612
+v -0.31242006 0.35906792 0.14726919
+v -0.24632605 0.41678476 0.00628908
+v 0.05405448 0.47472972 0.03852632
+v -0.07397081 0.47367803 0.04456680
+v 0.05453194 0.45730043 0.07237109
+v 0.25673401 0.38301368 0.03284084
+v 0.37458265 0.25312926 0.01491220
+v 0.34567811 0.29788194 0.00863459
+v 0.28517395 0.34156408 0.05451241
+v 0.30349383 0.25297264 0.14895281
+v 0.18439046 0.38716888 0.09944467
+v -0.19275494 0.44277331 0.03124470
+v -0.26886939 0.38627164 0.14924593
+v -0.29619265 0.37093896 0.14827521
+v -0.10389263 0.47193568 0.03257202
+v -0.07427024 0.45893973 0.07053642
+v 0.09631628 0.45716664 0.06136735
+v 0.19613890 0.41293612 0.05878272
+v 0.37403791 0.24221248 0.02799549
+v 0.12945204 0.40514435 0.11084834
+v -0.29381133 0.38393490 0.00885532
+v 0.07033763 0.44602249 0.08262453
+v 0.22721071 0.38520017 0.06909408
+v 0.12426511 0.44212855 0.07195594
+v 0.14266478 0.37375645 0.12867275
+v 0.18682962 0.39989819 0.08323630
+v 0.16670967 0.42775167 0.05844690
+f 11 2 5
+f 11 10 6
+f 13 9 1
+f 13 5 9
+f 16 9 5
+f 16 5 2
+f 16 1 9
+f 16 2 11
+f 17 3 6
+f 17 6 10
+f 19 11 6
+f 21 12 7
+f 22 4 10
+f 23 14 5
+f 23 5 13
+f 24 11 5
+f 24 5 14
+f 24 22 10
+f 24 10 11
+f 25 17 10
+f 25 3 17
+f 25 10 18
+f 26 18 10
+f 26 10 4
+f 27 7 12
+f 28 8 20
+f 28 19 6
+f 28 6 3
+f 29 16 11
+f 29 11 20
+f 30 20 11
+f 30 11 19
+f 30 28 20
+f 30 19 28
+f 31 15 21
+f 31 28 15
+f 31 8 28
+f 32 20 8
+f 32 31 21
+f 32 8 31
+f 32 29 20
+f 32 1 16
+f 32 21 13
+f 32 13 1
+f 34 22 7
+f 34 4 22
+f 35 7 22
+f 35 21 7
+f 35 13 21
+f 36 14 23
+f 36 23 13
+f 36 13 35
+f 36 35 22
+f 36 22 24
+f 37 26 4
+f 37 7 26
+f 37 34 7
+f 37 4 34
+f 38 26 7
+f 38 18 26
+f 38 27 18
+f 38 7 27
+f 39 25 18
+f 39 18 27
+f 39 3 25
+f 40 28 3
+f 41 32 16
+f 41 16 29
+f 41 29 32
+f 42 21 33
+f 43 36 24
+f 43 24 14
+f 43 14 36
+f 44 39 27
+f 44 27 12
+f 45 15 28
+f 45 28 40
+f 45 21 15
+f 45 33 21
+f 46 3 39
+f 46 39 44
+f 46 44 12
+f 46 12 42
+f 46 42 33
+f 47 42 12
+f 47 12 21
+f 47 21 42
+f 48 45 40
+f 48 33 45
+f 48 46 33
+f 48 40 46
+f 49 46 40
+f 49 40 3
+f 49 3 46
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_20/collision/model_normalized_collision_29.obj b/objects/objaverse/cupcake/cupcake_20/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..94fef45861c97c12056b22bb7ecc0e10ccebee4d
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_20/collision/model_normalized_collision_29.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.24007446 -0.23546549 -0.23484847
+v 0.24007446 -0.23546549 -0.50000000
+v 0.24007446 0.20392847 -0.23484847
+v -0.19931949 0.20392847 -0.23484847
+v -0.19931949 -0.23546549 -0.50000000
+v -0.19931949 0.20392847 -0.50000000
+v -0.19931949 -0.23546549 -0.23484847
+v 0.24007446 0.20392847 -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_20/collision/model_normalized_collision_3.obj b/objects/objaverse/cupcake/cupcake_20/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8cc46b3ac41d6b3319ca907330350595d9cdd699
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_20/collision/model_normalized_collision_3.obj
@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
+v 0.00294521 -0.27982670 0.29325302
+v 0.00397482 -0.14980068 0.47090189
+v -0.25296779 -0.01151163 0.45511415
+v -0.40415286 -0.00773338 0.25857653
+v -0.31180508 -0.17761046 0.41839115
+v -0.00234979 -0.00819276 0.25000003
+v -0.28558004 -0.18902569 0.41859473
+v -0.26741067 -0.10596281 0.47642522
+v -0.23658945 -0.27815236 0.25346064
+v -0.16031588 -0.00595011 0.46998712
+v -0.26644953 -0.19099375 0.41664440
+v -0.27316703 -0.07420975 0.47015592
+v -0.29839302 -0.16817141 0.43017390
+v -0.33951314 -0.19636642 0.25805367
+v -0.29945227 -0.18937213 0.40939773
+v -0.27128420 -0.20193469 0.39842106
+v -0.22962252 -0.00819276 0.25000003
+v -0.39778054 -0.00717198 0.26578401
+v -0.00487647 -0.01040335 0.45335352
+v -0.25261810 -0.07020123 0.47601198
+v -0.34753412 -0.11858823 0.38187165
+v -0.29652239 -0.23800632 0.25951065
+v -0.40179340 -0.03631243 0.25704372
+v -0.25528232 -0.10693298 0.47686264
+v -0.26793889 -0.07359572 0.47601783
+v -0.33214646 -0.10558094 0.40408719
+v -0.34724823 -0.15345976 0.38288823
+v -0.32271052 -0.17498215 0.40912911
+v -0.38645650 -0.09617543 0.25759614
+v -0.17366171 -0.00756858 0.47022610
+v -0.33403889 -0.16457641 0.40548174
+v -0.36979202 -0.14023881 0.25856663
+v -0.25646729 -0.03096200 0.46287737
+v -0.32290956 -0.16702916 0.41703665
+f 6 2 1
+f 9 6 1
+f 11 7 1
+f 11 1 2
+f 11 2 7
+f 12 3 4
+f 13 8 5
+f 13 5 7
+f 13 7 8
+f 15 9 7
+f 15 7 5
+f 16 9 1
+f 16 1 7
+f 16 7 9
+f 17 6 9
+f 18 10 6
+f 18 4 3
+f 18 3 10
+f 18 17 4
+f 18 6 17
+f 19 10 2
+f 19 2 6
+f 19 6 10
+f 20 2 10
+f 22 14 9
+f 23 17 9
+f 23 4 17
+f 24 2 20
+f 24 8 7
+f 24 7 2
+f 25 24 20
+f 25 8 24
+f 25 3 12
+f 26 12 4
+f 26 4 21
+f 27 21 4
+f 27 4 23
+f 28 15 5
+f 28 14 22
+f 28 22 9
+f 28 9 15
+f 29 23 9
+f 29 9 14
+f 29 27 23
+f 30 25 20
+f 30 20 10
+f 30 10 3
+f 31 25 12
+f 31 12 26
+f 31 8 25
+f 31 27 14
+f 31 14 28
+f 31 26 21
+f 31 21 27
+f 32 29 14
+f 32 14 27
+f 32 27 29
+f 33 30 3
+f 33 3 25
+f 33 25 30
+f 34 31 28
+f 34 28 5
+f 34 5 8
+f 34 8 31
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_20/collision/model_normalized_collision_30.obj b/objects/objaverse/cupcake/cupcake_20/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a01d943ddc51498baf32595d0690731a0c031d10
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_20/collision/model_normalized_collision_30.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.22492294 0.23423150 0.00757577
+v 0.22492294 0.23423150 -0.23484847
+v 0.24640048 0.38074106 -0.01077714
+v -0.26938828 0.39613465 -0.00564832
+v -0.22962252 0.23423150 -0.23484847
+v 0.01527885 0.40141938 -0.24194113
+v -0.22962252 0.23423150 0.00757577
+v 0.21633539 0.35450873 -0.23477730
+v -0.22817183 0.35674475 -0.23513842
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 6 4 3
+f 6 2 5
+f 7 5 1
+f 7 1 4
+f 7 4 5
+f 8 6 3
+f 8 3 2
+f 8 2 6
+f 9 6 5
+f 9 5 4
+f 9 4 6
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_20/collision/model_normalized_collision_31.obj b/objects/objaverse/cupcake/cupcake_20/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ce7ef3c9cc44801008b296615dc537d50aa7d161
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_20/collision/model_normalized_collision_31.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v -0.07810737 -0.34152610 -0.23484847
+v -0.07810737 -0.34152610 -0.50000000
+v -0.07810737 -0.23546549 -0.23484847
+v -0.19931949 -0.23546549 -0.23484847
+v -0.22114544 -0.34705390 -0.23449273
+v -0.07810737 -0.23546549 -0.50000000
+v -0.19931949 -0.23546549 -0.50000000
+v -0.19484828 -0.33509462 -0.50000000
+v -0.22028546 -0.34600159 -0.25089942
+f 1 2 3
+f 5 2 1
+f 5 1 3
+f 5 3 4
+f 6 3 2
+f 6 4 3
+f 7 5 4
+f 7 4 6
+f 7 6 2
+f 8 7 2
+f 8 2 5
+f 9 8 5
+f 9 5 7
+f 9 7 8
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_20/collision/model_normalized_collision_4.obj b/objects/objaverse/cupcake/cupcake_20/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7ea387fc75f9738121a5befc4ac8187ca18c7f4d
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_20/collision/model_normalized_collision_4.obj
@@ -0,0 +1,153 @@
+# https://github.com/mikedh/trimesh
+v -0.11332537 -0.07566266 0.45545880
+v -0.00234979 -0.00819276 0.26515155
+v -0.00432157 0.24170696 0.42538565
+v -0.20326380 0.33837907 0.38951243
+v -0.29444942 -0.01784643 0.34524725
+v -0.00187724 0.29939697 0.28536360
+v -0.19502047 0.24722550 0.47490944
+v -0.00487647 -0.01040335 0.45335352
+v -0.11057224 -0.07645745 0.43115148
+v -0.14606715 0.34161664 0.39134026
+v -0.28908849 0.29329482 0.26195766
+v -0.25296779 -0.01151163 0.45511415
+v -0.16031588 -0.00595011 0.46998712
+v 0.00282669 0.18783011 0.43383201
+v -0.04786543 -0.06656307 0.42962567
+v -0.13458198 0.33995602 0.38043245
+v -0.18929831 0.29741458 0.46004219
+v -0.18234987 0.36650512 0.25932909
+v -0.23969255 0.01184942 0.31107307
+v -0.28869785 -0.01776743 0.40401950
+v -0.17972935 0.20568992 0.47545491
+v -0.17366171 -0.00756858 0.47022610
+v -0.18141156 0.24363029 0.47389455
+v 0.02793084 0.12018091 0.41354157
+v -0.04656364 -0.06434485 0.43176515
+v -0.07993659 -0.07209574 0.42834243
+v -0.18883979 0.30589128 0.45235912
+v -0.25716269 0.21676338 0.42126151
+v -0.16822196 0.36808469 0.26140321
+v -0.24235479 0.33624465 0.25738356
+v -0.29173008 0.23594838 0.27410457
+v -0.18536009 0.19023803 0.47574759
+v -0.18201061 0.28680258 0.46231254
+v -0.00133352 0.26782669 0.34754055
+v 0.01116881 0.23272464 0.30204429
+v 0.02192068 0.06643710 0.39567099
+v -0.19723618 0.30862033 0.45013453
+v -0.30349571 0.02784645 0.37580760
+v -0.29109938 0.01758856 0.40527418
+v -0.23370009 0.22999036 0.46083095
+v -0.24669766 0.32369922 0.33894530
+v -0.19034147 0.19191824 0.47479358
+v -0.19371664 0.29717591 0.46065591
+v 0.02760817 0.11338987 0.40121217
+v -0.30392015 0.01899381 0.36743817
+v -0.30318317 0.01159032 0.38184282
+v -0.23840929 0.17388502 0.46038033
+v -0.21824410 0.33870563 0.36674649
+v -0.22921825 0.28542534 0.43306143
+v -0.20636320 0.30980700 0.44149369
+v -0.24120079 0.31374510 0.37523590
+v -0.23036469 0.32514920 0.37759496
+f 9 5 2
+f 9 1 5
+f 13 1 8
+f 15 2 8
+f 16 10 3
+f 16 3 6
+f 19 2 5
+f 20 5 1
+f 20 1 12
+f 21 13 8
+f 22 12 1
+f 22 1 13
+f 23 14 3
+f 23 7 21
+f 23 21 8
+f 23 8 14
+f 24 3 14
+f 24 14 8
+f 25 15 8
+f 25 8 1
+f 25 1 15
+f 26 15 1
+f 26 1 9
+f 26 9 2
+f 26 2 15
+f 27 17 3
+f 27 3 10
+f 29 6 2
+f 29 2 18
+f 29 16 6
+f 29 10 16
+f 29 18 4
+f 29 4 10
+f 30 18 2
+f 30 2 11
+f 31 11 2
+f 31 2 19
+f 31 19 5
+f 32 12 22
+f 32 21 7
+f 32 22 13
+f 32 13 21
+f 33 7 23
+f 33 23 3
+f 33 3 17
+f 34 24 6
+f 34 6 3
+f 34 3 24
+f 35 2 6
+f 35 6 24
+f 36 24 8
+f 36 8 2
+f 37 27 10
+f 37 10 4
+f 38 28 11
+f 39 20 12
+f 40 28 39
+f 41 30 11
+f 42 32 7
+f 42 7 12
+f 42 12 32
+f 43 33 17
+f 43 7 33
+f 43 40 7
+f 43 17 27
+f 43 27 37
+f 44 35 24
+f 44 2 35
+f 44 36 2
+f 44 24 36
+f 45 38 11
+f 45 11 31
+f 45 31 5
+f 46 20 39
+f 46 38 45
+f 46 45 5
+f 46 5 20
+f 46 39 28
+f 46 28 38
+f 47 12 7
+f 47 7 40
+f 47 40 39
+f 47 39 12
+f 48 4 18
+f 48 18 30
+f 48 30 41
+f 49 28 40
+f 50 37 4
+f 50 43 37
+f 50 49 40
+f 50 40 43
+f 51 41 11
+f 51 11 28
+f 51 28 49
+f 51 49 50
+f 52 50 4
+f 52 4 48
+f 52 51 50
+f 52 48 41
+f 52 41 51
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_20/collision/model_normalized_collision_5.obj b/objects/objaverse/cupcake/cupcake_20/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f830f23a6ff6142e752cd5700d778a19ef9b6be1
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_20/collision/model_normalized_collision_5.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.27198572 -0.27770905 0.05109143
+v 0.23447444 -0.24494771 0.23548512
+v -0.38827066 -0.23000858 0.03397385
+v -0.35349806 0.23577998 0.25348022
+v 0.24007446 0.23423150 0.00757577
+v -0.23804132 -0.27007572 0.26608601
+v 0.23884216 0.23341906 0.25502575
+v -0.22962252 -0.25061700 0.00757577
+v -0.35083465 0.23423150 0.00757577
+v -0.36411841 -0.00677213 0.29124066
+v 0.00579602 -0.25554168 0.29868477
+v -0.24519471 0.23729590 0.28129526
+v -0.33951314 -0.19636642 0.25805367
+v 0.23171016 -0.21492974 0.24644704
+v -0.32548614 -0.21170836 0.25926351
+v 0.19824619 -0.23837593 0.25333069
+f 7 2 1
+f 7 1 5
+f 8 5 1
+f 8 6 3
+f 8 1 6
+f 9 3 4
+f 9 8 3
+f 9 5 8
+f 10 4 3
+f 11 6 1
+f 11 1 2
+f 11 10 6
+f 12 7 5
+f 12 4 10
+f 12 11 7
+f 12 10 11
+f 12 9 4
+f 12 5 9
+f 13 10 3
+f 14 2 7
+f 14 7 11
+f 15 13 3
+f 15 3 6
+f 15 6 10
+f 15 10 13
+f 16 14 11
+f 16 11 2
+f 16 2 14
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_20/collision/model_normalized_collision_6.obj b/objects/objaverse/cupcake/cupcake_20/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0da9f3ea1ced5c9aa1c9336f32c7ccdb836a1002
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_20/collision/model_normalized_collision_6.obj
@@ -0,0 +1,156 @@
+# https://github.com/mikedh/trimesh
+v 0.09900870 -0.29775098 0.25856441
+v 0.25073939 -0.17152354 0.25295846
+v 0.11955446 0.15194027 0.49628064
+v 0.08848609 0.34018959 0.26501722
+v 0.11569454 0.33375387 0.25773481
+v 0.00760802 -0.14643472 0.47457815
+v 0.15631650 -0.26961067 0.25520330
+v -0.00183918 -0.31578294 0.26851540
+v 0.26683095 0.25241851 0.37702904
+v -0.00432157 0.24170696 0.42538565
+v 0.22191668 0.16548238 0.46337993
+v 0.25104441 0.23203331 0.25225507
+v 0.12550405 -0.23663429 0.34234642
+v 0.23029647 0.27899293 0.37713640
+v 0.04304000 -0.12109772 0.49121590
+v -0.00363342 -0.30140832 0.28264092
+v 0.00595312 0.17702389 0.31175767
+v 0.26952512 0.19832830 0.37477055
+v 0.19221064 0.29057892 0.25431344
+v 0.13807777 -0.23462398 0.33442367
+v 0.05445397 -0.29848238 0.27735904
+v 0.05029558 -0.14569403 0.48136837
+v 0.21860381 0.29262861 0.33820187
+v 0.19583348 0.27936324 0.38665766
+v 0.17345586 0.22585352 0.46508131
+v 0.03373258 -0.14109850 0.48884301
+v 0.05985248 -0.12275272 0.48927945
+v 0.00907727 -0.15020147 0.47421588
+v -0.00485971 0.24410251 0.40739089
+v 0.22750910 0.15866759 0.45075950
+v 0.26866159 0.14228151 0.26013034
+v 0.22977622 -0.19836343 0.25519452
+v 0.11351046 -0.24841766 0.33171767
+v 0.20654192 0.29285907 0.34925162
+v 0.25656424 0.26363055 0.37560439
+v 0.25510586 0.26462442 0.34581977
+v 0.25900332 0.25351085 0.38485251
+v 0.20709058 0.27830859 0.38760739
+v 0.14331512 0.18182992 0.49227487
+v 0.04968824 -0.13531971 0.49073491
+v 0.16784188 -0.10083242 0.38912832
+v 0.26787480 0.25101101 0.34742846
+v 0.26949147 0.12773559 0.26277996
+v 0.15007595 -0.22467038 0.33325432
+v 0.09617431 -0.29307541 0.26857847
+v 0.24529143 0.26352240 0.38734025
+v 0.16035234 0.21133188 0.47669248
+v 0.13206782 0.14008915 0.49401536
+v 0.13270045 0.17682091 0.49350952
+v 0.26737609 0.21024275 0.30388965
+v 0.26999120 0.18636308 0.36167111
+v 0.14917368 -0.21201832 0.34422403
+v 0.14718872 0.20167568 0.48175982
+f 7 1 5
+f 8 5 1
+f 8 4 5
+f 12 2 7
+f 15 3 10
+f 16 6 10
+f 17 4 8
+f 17 8 16
+f 18 9 11
+f 19 12 7
+f 19 7 5
+f 20 13 1
+f 20 1 7
+f 21 8 1
+f 22 13 20
+f 23 5 4
+f 23 19 5
+f 24 4 10
+f 25 24 10
+f 26 15 10
+f 26 10 6
+f 26 8 22
+f 28 16 8
+f 28 6 16
+f 28 26 6
+f 28 8 26
+f 29 10 4
+f 29 4 17
+f 29 17 16
+f 29 16 10
+f 30 18 11
+f 30 11 2
+f 30 2 18
+f 31 2 12
+f 32 7 2
+f 33 8 21
+f 33 22 8
+f 33 13 22
+f 33 1 13
+f 34 23 4
+f 34 14 23
+f 35 23 14
+f 36 12 19
+f 36 19 23
+f 36 23 35
+f 37 25 11
+f 37 11 9
+f 37 9 35
+f 38 25 14
+f 38 24 25
+f 38 14 34
+f 38 34 4
+f 38 4 24
+f 40 3 15
+f 40 15 26
+f 40 26 22
+f 40 22 20
+f 41 2 11
+f 41 11 27
+f 42 9 18
+f 42 12 36
+f 42 36 35
+f 42 35 9
+f 43 2 31
+f 43 31 42
+f 44 20 7
+f 44 7 32
+f 44 32 2
+f 44 40 20
+f 45 33 21
+f 45 21 1
+f 45 1 33
+f 46 37 35
+f 46 35 14
+f 46 14 25
+f 46 25 37
+f 47 39 11
+f 47 11 25
+f 47 25 10
+f 48 27 11
+f 48 11 39
+f 48 39 3
+f 48 40 27
+f 48 3 40
+f 49 10 3
+f 49 3 39
+f 50 42 31
+f 50 31 12
+f 50 12 42
+f 51 18 2
+f 51 2 43
+f 51 43 42
+f 51 42 18
+f 52 44 2
+f 52 2 41
+f 52 41 27
+f 52 27 40
+f 52 40 44
+f 53 47 10
+f 53 10 49
+f 53 49 39
+f 53 39 47
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_20/collision/model_normalized_collision_7.obj b/objects/objaverse/cupcake/cupcake_20/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..36b0e83acc810809b73985961d21c6725cc24970
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_20/collision/model_normalized_collision_7.obj
@@ -0,0 +1,165 @@
+# https://github.com/mikedh/trimesh
+v -0.20654448 -0.37731228 -0.23358946
+v -0.19484828 -0.33509462 -0.50000000
+v -0.18689391 0.35101238 -0.35619818
+v -0.19612758 0.37371007 -0.23320319
+v -0.43524810 -0.02461689 -0.23312236
+v -0.19484164 0.35403559 -0.23391701
+v -0.19266661 -0.34584796 -0.45932902
+v -0.35682372 -0.25312041 -0.23147788
+v -0.36143914 0.15063161 -0.50000000
+v -0.19388147 0.37127214 -0.26411100
+v -0.19647194 -0.35819124 -0.38420101
+v -0.38503557 -0.06731354 -0.50000000
+v -0.21728923 -0.37759564 -0.23229855
+v -0.40000637 0.19288317 -0.23030128
+v -0.19577610 0.32770258 -0.50000000
+v -0.38713563 -0.20505459 -0.23129231
+v -0.32022169 -0.22145447 -0.50000000
+v -0.40864916 0.04646670 -0.39915860
+v -0.24549330 -0.31061889 -0.46558729
+v -0.33152421 0.28514147 -0.23136960
+v -0.24594429 0.36001763 -0.23143275
+v -0.39417648 -0.06704738 -0.45956187
+v -0.33186933 -0.20773119 -0.48935809
+v -0.39347974 0.00476725 -0.48566059
+v -0.42526183 0.10865831 -0.27849888
+v -0.26624928 -0.34226414 -0.23302372
+v -0.23447043 -0.30910767 -0.50000000
+v -0.27579306 -0.28113760 -0.46861746
+v -0.30653266 0.24981282 -0.47156056
+v -0.20993670 0.32465707 -0.50000000
+v -0.42509444 -0.01923871 -0.32420616
+v -0.38506366 -0.20353599 -0.24625952
+v -0.31919012 -0.23679195 -0.45771813
+v -0.37790229 0.12417428 -0.47078866
+v -0.37807976 0.04030472 -0.49672683
+v -0.39208514 -0.05012764 -0.48734906
+v -0.39570545 0.17519264 -0.30704593
+v -0.42761483 0.11649976 -0.23330155
+v -0.30804138 -0.29387965 -0.27790040
+v -0.36410302 0.22377417 -0.32243276
+v -0.27401072 0.29556281 -0.43160533
+v -0.23852839 0.35491580 -0.27679918
+v -0.30398954 0.24027379 -0.50000000
+v -0.40926911 -0.01149263 -0.41388648
+v -0.42571768 0.05324135 -0.30751900
+v -0.39328137 0.03188537 -0.47160954
+v -0.40769019 0.12147545 -0.35061290
+v -0.40811847 -0.02981917 -0.41422295
+v -0.32774866 0.27760950 -0.27743435
+v -0.33948529 0.20264665 -0.48351996
+v -0.28843033 0.31252824 -0.29216951
+v -0.25162228 0.29209008 -0.50000000
+v -0.22827897 0.32694696 -0.44479690
+v -0.40665363 0.13403565 -0.33482644
+v -0.37790018 0.14983583 -0.44300910
+v -0.21961042 0.32235751 -0.48937514
+f 6 1 3
+f 6 4 1
+f 7 2 3
+f 10 6 3
+f 10 4 6
+f 11 7 3
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+f 13 11 1
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+f 45 5 25
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+f 47 34 18
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+f 49 41 29
+f 49 20 41
+f 50 40 29
+f 50 37 40
+f 50 43 9
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+f 51 20 21
+f 51 21 41
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+f 52 43 29
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+f 55 47 54
+f 55 54 37
+f 55 50 9
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+f 56 30 52
+f 56 41 53
+f 56 53 42
+f 56 42 30
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_20/collision/model_normalized_collision_8.obj b/objects/objaverse/cupcake/cupcake_20/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..15890f4daf64fc7cee4cd7d205877e4289549262
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_20/collision/model_normalized_collision_8.obj
@@ -0,0 +1,171 @@
+# https://github.com/mikedh/trimesh
+v -0.34279196 -0.21459030 0.22138885
+v -0.34761832 -0.22235858 -0.23455779
+v -0.35083465 0.23423150 0.00757577
+v -0.35349806 0.23577998 0.25348022
+v -0.47270339 -0.08904361 -0.04813976
+v -0.42897558 -0.20912619 -0.03175326
+v -0.45331197 -0.03742999 0.16928931
+v -0.40000637 0.19288317 -0.23030128
+v -0.41056662 -0.14990361 -0.23185811
+v -0.36411841 -0.00677213 0.29124066
+v -0.44235943 -0.16165568 0.10190718
+v -0.36095915 0.20074939 -0.23767420
+v -0.43296787 0.22989795 0.00704354
+v -0.42514988 -0.20890583 -0.06511965
+v -0.44155625 -0.01810074 -0.23036442
+v -0.37903168 -0.12360497 0.25439995
+v -0.34489895 -0.18625808 0.26063500
+v -0.42318993 0.12425649 0.22306170
+v -0.36460518 -0.21154483 0.20553341
+v -0.45848970 -0.11515189 0.11236265
+v -0.42921451 -0.08893912 -0.23324308
+v -0.47110727 0.14049081 -0.00721242
+v -0.44054218 -0.16015393 -0.08071771
+v -0.38713563 -0.20505459 -0.23129231
+v -0.42761483 0.11649976 -0.23330155
+v -0.40415286 -0.00773338 0.25857653
+v -0.40969872 0.13915505 0.23767996
+v -0.42194236 0.22622548 0.16728467
+v -0.40389733 -0.20262274 0.10692299
+v -0.43972810 -0.09395195 0.17970705
+v -0.44139444 -0.08987802 -0.18343597
+v -0.43864207 0.15369364 0.18178250
+v -0.46999029 -0.05072187 0.03422783
+v -0.47108334 0.06057859 -0.07660321
+v -0.45585439 0.19712684 -0.03134768
+v -0.39555880 -0.20443644 -0.20144423
+v -0.39348779 -0.07891893 0.25503491
+v -0.45443902 0.02153585 0.16987176
+v -0.40893819 0.21114390 0.20741002
+v -0.35087493 -0.18045683 0.25703482
+v -0.45336305 -0.08083182 0.15568456
+v -0.43860039 -0.06523167 0.19219458
+v -0.43917862 0.16906538 0.17046304
+v -0.46882167 -0.01300242 -0.08230189
+v -0.43908624 0.05473712 -0.23029192
+v -0.45480091 0.12125511 -0.10929903
+v -0.45140266 0.19544584 0.01713675
+v -0.42342081 0.00912444 0.22596745
+v -0.43805517 0.12486908 0.19470344
+v -0.46898810 0.07788169 0.04232142
+v -0.39362599 0.19638537 0.23557268
+v -0.40986418 0.22677027 0.19495427
+v -0.42284620 0.16789523 0.20818943
+v -0.40671196 -0.05044896 0.24363544
+v -0.46909018 0.13940945 0.01964535
+v -0.43917894 0.11772414 -0.18494251
+v -0.37924228 0.22481461 0.23482779
+v -0.42198534 0.19754657 0.19406218
+f 1 2 3
+f 1 3 4
+f 6 2 1
+f 11 5 6
+f 12 3 2
+f 13 4 3
+f 13 12 8
+f 13 3 12
+f 14 6 5
+f 14 2 6
+f 17 1 4
+f 17 4 10
+f 17 10 16
+f 19 6 1
+f 19 1 17
+f 20 5 11
+f 21 12 2
+f 21 2 9
+f 23 14 5
+f 23 5 9
+f 23 9 14
+f 24 9 2
+f 24 2 14
+f 25 8 12
+f 25 21 15
+f 25 12 21
+f 27 10 4
+f 27 26 10
+f 27 18 26
+f 28 4 13
+f 29 19 11
+f 29 11 6
+f 29 6 19
+f 30 20 11
+f 30 11 19
+f 31 21 9
+f 31 9 5
+f 31 5 15
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+f 33 20 7
+f 33 22 5
+f 33 5 20
+f 34 5 22
+f 35 13 8
+f 35 8 25
+f 35 28 13
+f 36 24 14
+f 36 14 9
+f 36 9 24
+f 37 16 10
+f 37 10 26
+f 37 30 16
+f 38 33 7
+f 40 30 19
+f 40 19 17
+f 40 17 16
+f 40 16 30
+f 41 7 20
+f 41 20 30
+f 42 26 7
+f 42 41 30
+f 42 7 41
+f 42 30 37
+f 43 38 32
+f 44 34 15
+f 44 15 5
+f 44 5 34
+f 45 25 15
+f 45 15 34
+f 46 34 22
+f 46 22 35
+f 47 28 35
+f 48 26 18
+f 48 18 38
+f 48 38 7
+f 48 7 26
+f 49 38 18
+f 49 32 38
+f 50 22 33
+f 50 33 38
+f 51 27 4
+f 52 4 28
+f 53 18 27
+f 53 51 39
+f 53 27 51
+f 53 49 18
+f 53 32 49
+f 54 42 37
+f 54 37 26
+f 54 26 42
+f 55 38 43
+f 55 50 38
+f 55 22 50
+f 55 43 28
+f 55 28 47
+f 55 47 35
+f 55 35 22
+f 56 46 35
+f 56 35 25
+f 56 25 45
+f 56 45 34
+f 56 34 46
+f 57 51 4
+f 57 39 51
+f 57 52 39
+f 57 4 52
+f 58 52 28
+f 58 28 43
+f 58 43 32
+f 58 32 53
+f 58 53 39
+f 58 39 52
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_20/collision/model_normalized_collision_9.obj b/objects/objaverse/cupcake/cupcake_20/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..499bcf5edd1280c098eb3ab8b0ede603096c0118
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_20/collision/model_normalized_collision_9.obj
@@ -0,0 +1,117 @@
+# https://github.com/mikedh/trimesh
+v 0.09232298 -0.42630345 -0.23372285
+v 0.32024837 -0.22763656 -0.49346601
+v 0.33967242 -0.23713593 -0.23421064
+v -0.07810737 -0.23546549 -0.23484847
+v -0.19484828 -0.33509462 -0.50000000
+v -0.16568309 -0.40691308 -0.23150948
+v 0.25433935 -0.35726932 -0.23269371
+v 0.06777086 -0.38472200 -0.50000000
+v -0.07810737 -0.23546549 -0.50000000
+v 0.34831008 -0.26853914 -0.23249576
+v -0.22114544 -0.34705390 -0.23449273
+v -0.04149449 -0.44043986 -0.23281252
+v 0.17073578 -0.35425289 -0.50000000
+v 0.27077627 -0.28339895 -0.50000000
+v 0.34777870 -0.25572859 -0.23457656
+v -0.20654448 -0.37731228 -0.23358946
+v -0.10896663 -0.42594965 -0.23197113
+v 0.20312866 -0.38956427 -0.23288211
+v 0.02665331 -0.40041976 -0.44450911
+v 0.30403001 -0.30911426 -0.26150437
+v 0.31520913 -0.23887009 -0.48385858
+v 0.24134151 -0.30989434 -0.50000000
+v 0.31429779 -0.23414070 -0.50000000
+v 0.34514170 -0.25420047 -0.26169922
+v -0.19284834 -0.35340116 -0.41276832
+v -0.11437902 -0.38436911 -0.46977857
+v 0.03204579 -0.41513674 -0.35198105
+v 0.30656007 -0.31226542 -0.23300345
+v 0.19482108 -0.35513428 -0.42672021
+v -0.18887746 -0.33924559 -0.50000000
+v -0.10099015 -0.41657044 -0.32338788
+v -0.04245067 -0.38418242 -0.50000000
+v 0.24223584 -0.34018772 -0.35242720
+v -0.13221344 -0.38355040 -0.44172949
+v -0.02296711 -0.39923491 -0.45492551
+v -0.12893206 -0.36860571 -0.50000000
+v -0.16268350 -0.40058604 -0.27476952
+v -0.03841189 -0.39787459 -0.45542787
+v -0.04043784 -0.43255920 -0.27502578
+v -0.09897831 -0.39969236 -0.41317366
+f 3 2 4
+f 9 4 2
+f 9 8 5
+f 10 3 4
+f 10 4 6
+f 10 6 7
+f 11 6 4
+f 11 9 5
+f 11 4 9
+f 13 1 8
+f 13 8 9
+f 14 13 9
+f 15 2 3
+f 15 3 10
+f 16 11 5
+f 16 6 11
+f 17 7 6
+f 18 12 1
+f 18 17 12
+f 18 7 17
+f 18 1 13
+f 19 8 1
+f 20 14 10
+f 21 2 10
+f 21 10 14
+f 22 13 14
+f 22 20 7
+f 22 14 20
+f 23 14 9
+f 23 9 2
+f 23 21 14
+f 23 2 21
+f 24 15 10
+f 24 10 2
+f 24 2 15
+f 25 16 5
+f 25 6 16
+f 27 19 1
+f 27 1 12
+f 27 12 19
+f 28 20 10
+f 28 10 7
+f 28 7 20
+f 29 18 13
+f 29 13 22
+f 29 7 18
+f 30 25 5
+f 30 6 25
+f 30 5 8
+f 31 17 6
+f 31 12 17
+f 32 30 8
+f 33 29 22
+f 33 22 7
+f 33 7 29
+f 34 30 26
+f 34 26 31
+f 35 32 8
+f 35 8 19
+f 35 19 12
+f 36 32 26
+f 36 26 30
+f 36 30 32
+f 37 6 30
+f 37 30 34
+f 37 34 31
+f 37 31 6
+f 38 26 32
+f 38 32 35
+f 39 38 35
+f 39 35 12
+f 39 12 31
+f 40 31 26
+f 40 26 38
+f 40 39 31
+f 40 38 39
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_20/model.xml b/objects/objaverse/cupcake/cupcake_20/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..5955da6c572a773d3b9542bbb74fab52ff54004b
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_20/model.xml
@@ -0,0 +1,89 @@
+<mujoco model="cupcake_3">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.065 0.065 0.065" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="visual/model_normalized_1.obj" name="model_normalized_1_vis" scale="0.065 0.065 0.065" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="visual/model_normalized_2.obj" name="model_normalized_2_vis" scale="0.065 0.065 0.065" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.065 0.065 0.065" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.065 0.065 0.065" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.065 0.065 0.065" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.065 0.065 0.065" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.065 0.065 0.065" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.065 0.065 0.065" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.065 0.065 0.065" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.065 0.065 0.065" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.065 0.065 0.065" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.065 0.065 0.065" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.065 0.065 0.065" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.065 0.065 0.065" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.065 0.065 0.065" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.065 0.065 0.065" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.065 0.065 0.065" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.065 0.065 0.065" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.065 0.065 0.065" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.065 0.065 0.065" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.065 0.065 0.065" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.065 0.065 0.065" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.065 0.065 0.065" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.065 0.065 0.065" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.065 0.065 0.065" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.065 0.065 0.065" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.065 0.065 0.065" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.065 0.065 0.065" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.065 0.065 0.065" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.065 0.065 0.065" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.065 0.065 0.065" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.065 0.065 0.065" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.065 0.065 0.065" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.065 0.065 0.065" 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"/>
+    <texture type="2d" name="image2" file="visual/image2.png"/>
+    <material name="material_0.022" texture="image0" specular="0.5" shininess="0.010000005"/>
+    <material name="material_1.003" texture="image1" specular="0.5" shininess="0.010000005"/>
+    <material name="material_2.003" texture="image2" specular="0.5" shininess="0.010000005"/>
+  </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_2.003"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_1_vis" conaffinity="0" contype="0" group="1" material="material_1.003"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_2_vis" conaffinity="0" contype="0" group="1" material="material_0.022"/>
+        <geom solimp="0.998 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"/>
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+      </body>
+      <site rgba="0 0 0 0" size="0.005" pos="8.831225000000831e-06 -4.274042500000061e-05 -0.0325" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="8.831225000000831e-06 -4.274042500000061e-05 0.032258241599999994" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.030743382800000003 0.031195405149999998 -0.00012087920000000017" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/objects/objaverse/cupcake/cupcake_20/visual/material.mtl b/objects/objaverse/cupcake/cupcake_20/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9920e13f65fe0f05899975c2e27dfdace639c0ed
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_20/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 10.00000500
+map_Kd material_0.jpeg
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_20/visual/model_normalized_0.obj b/objects/objaverse/cupcake/cupcake_20/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f7f08ed67fe22a99b65c501a1d88db5563305f56
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_20/visual/model_normalized_0.obj
@@ -0,0 +1,100995 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_20/visual/model_normalized_1.obj b/objects/objaverse/cupcake/cupcake_20/visual/model_normalized_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..00bb72cf5aace1920704d920aff740a03ea615fc
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_20/visual/model_normalized_1.obj
@@ -0,0 +1,221503 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/objects/objaverse/cupcake/cupcake_20/visual/model_normalized_2.obj b/objects/objaverse/cupcake/cupcake_20/visual/model_normalized_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8427d498a8162819fd900d810991f418434b0962
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_20/visual/model_normalized_2.obj
@@ -0,0 +1,182108 @@
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+f 3946/3946/3946 3947/3947/3947 3945/3945/3945
+f 589/589/589 590/590/590 588/588/588
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_3/collision/model_normalized_collision_0.obj b/objects/objaverse/cupcake/cupcake_3/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..83d6c53b8457f95ac09da8baaf5188f54ef7658a
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_3/collision/model_normalized_collision_0.obj
@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
+v 0.06279443 -0.23591665 0.04289424
+v 0.31796451 -0.05537587 0.00478838
+v 0.14307699 -0.07994248 0.22391914
+v -0.19823865 -0.05120476 0.15238452
+v -0.11876599 -0.05638163 0.00757577
+v 0.15256176 -0.05598453 0.22033209
+v -0.06553010 -0.12981539 0.22269833
+v 0.21672899 -0.15430425 0.05899698
+v -0.00217096 -0.24560076 -0.00049728
+v 0.31087881 -0.05270020 0.01252448
+v 0.24749719 -0.05206163 0.10536978
+v 0.07306633 -0.13397040 0.22263340
+v -0.13297490 -0.05591556 0.22002841
+v 0.31099213 -0.08202122 -0.00014942
+v -0.11673519 -0.21161328 0.01010643
+v -0.11684691 -0.18253632 0.12204429
+v -0.15530658 -0.05249586 0.18869864
+v -0.00459543 -0.17968739 0.14720353
+v 0.10164373 -0.12046318 0.22391200
+v -0.12179031 -0.07873295 0.22341812
+v -0.07152930 -0.22661500 0.00025514
+v 0.25198695 -0.14928868 0.00067012
+v 0.24403877 -0.07686905 0.09764563
+v -0.20956598 -0.05632763 0.12872652
+v 0.01076853 -0.23591058 0.02965132
+v -0.01948968 -0.19234419 0.11923295
+v -0.15021021 -0.13021491 0.14978848
+v 0.29600237 -0.10855129 -0.00050982
+v -0.11716386 -0.20577086 0.04754520
+v 0.06565078 -0.24188786 0.00049973
+v -0.12635183 -0.17264135 0.12760109
+v -0.18029949 -0.10855869 0.14004288
+v -0.16542541 -0.11947392 0.14569844
+v -0.19963555 -0.07998155 0.12225995
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+f 10 2 5
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+f 32 4 24
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+f 33 31 27
+f 34 32 24
+f 34 24 15
+f 34 15 32
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_3/collision/model_normalized_collision_10.obj b/objects/objaverse/cupcake/cupcake_3/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7e030e267cd2cad15c66d92eecae230be1d7f362
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_3/collision/model_normalized_collision_10.obj
@@ -0,0 +1,117 @@
+# https://github.com/mikedh/trimesh
+v 0.23676316 -0.19904059 -0.06885333
+v 0.34937223 -0.04575648 -0.09353033
+v 0.33836477 0.04744412 0.01497817
+v 0.24225089 0.24367513 -0.10180977
+v 0.25569872 -0.20209030 -0.12096789
+v 0.34379128 0.10773606 -0.10603664
+v 0.24514228 0.21070545 0.01119227
+v 0.31807132 -0.07811448 -0.00662112
+v 0.24357076 -0.20650625 -0.11449581
+v 0.35742931 0.04846737 -0.10655064
+v 0.31163701 0.17905526 -0.10872752
+v 0.23896310 0.22271016 -0.01220733
+v 0.34675097 -0.03640968 -0.04187688
+v 0.24068955 -0.15365204 0.00454319
+v 0.32433281 -0.10979021 -0.11166367
+v 0.29038635 -0.11744495 -0.00330691
+v 0.23775082 0.23773244 -0.09294978
+v 0.25371089 0.23930909 -0.10687354
+v 0.28784373 0.16133599 -0.00296090
+v 0.32691335 0.15072655 -0.10756109
+v 0.28594539 -0.17296930 -0.11989547
+v 0.33472406 -0.05168096 -0.01689114
+v 0.34815733 -0.00899261 -0.02855226
+v 0.23649261 -0.18279289 -0.03304519
+v 0.25470773 -0.09173808 0.01558881
+v 0.34804929 -0.04841832 -0.08360121
+v 0.31355563 -0.03926304 0.01404856
+v 0.24894012 0.20910873 0.00841657
+v 0.30196132 0.13321922 -0.00188140
+v 0.31663590 -0.08995502 -0.01603432
+v 0.25988072 -0.17668906 -0.06108964
+v 0.34791791 0.01694537 -0.02824258
+v 0.33824429 0.03344054 0.01504917
+v 0.26201524 -0.14432013 -0.00183230
+v 0.31707338 0.01931075 0.01904755
+v 0.32192796 -0.03465681 0.01110705
+v 0.27466749 0.18810999 -0.01483498
+v 0.24475736 -0.17812475 -0.03525311
+v 0.33412577 0.05015849 0.01523706
+v 0.28718902 0.17526411 -0.02638098
+f 9 5 1
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+f 36 27 16
+f 36 16 8
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+f 36 22 33
+f 37 28 19
+f 37 11 28
+f 38 24 1
+f 38 1 31
+f 38 34 24
+f 38 31 34
+f 39 35 3
+f 39 3 7
+f 39 7 35
+f 40 37 19
+f 40 19 11
+f 40 11 37
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_3/collision/model_normalized_collision_12.obj b/objects/objaverse/cupcake/cupcake_3/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c82cf98c73159f7a02becf0f0d683bd9a0e1b2c6
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_3/collision/model_normalized_collision_12.obj
@@ -0,0 +1,120 @@
+# https://github.com/mikedh/trimesh
+v 0.38876028 -0.16440302 -0.16196726
+v 0.43011704 -0.08008489 -0.15339476
+v 0.28585581 0.18259827 -0.08599433
+v 0.23837801 0.33156210 -0.17310436
+v 0.40801368 0.01843834 -0.23074385
+v 0.24318250 -0.16093651 -0.10206968
+v 0.37855773 -0.12257853 -0.22858252
+v 0.40186294 0.17720740 -0.15719617
+v 0.23843564 0.25244859 -0.10762284
+v 0.29137557 -0.15123330 -0.10307270
+v 0.40755912 -0.02434416 -0.22947662
+v 0.39412332 -0.15402707 -0.16415096
+v 0.24522967 -0.16289728 -0.23307664
+v 0.44429913 0.01252447 -0.15186707
+v 0.32249251 0.24550666 -0.22939194
+v 0.23741703 0.31010938 -0.23211646
+v 0.29397029 0.30566719 -0.15559476
+v 0.39624134 -0.15515582 -0.15588208
+v 0.39456449 -0.08140761 -0.22956040
+v 0.42538651 -0.08089653 -0.16408795
+v 0.36130978 -0.15161232 -0.22898073
+v 0.37112849 -0.17011623 -0.18424523
+v 0.42994773 0.10268031 -0.15732450
+v 0.43879960 0.00622941 -0.16386028
+v 0.34968908 -0.06420596 -0.11502567
+v 0.39177246 0.11928587 -0.22950678
+v 0.23754535 0.32774646 -0.18483964
+v 0.28171725 0.31191921 -0.15968819
+v 0.35032028 0.24895129 -0.15999640
+v 0.25050688 0.30297381 -0.22993445
+v 0.38325806 -0.16596188 -0.16604407
+v 0.43847403 0.02810004 -0.16273021
+v 0.35148660 0.10505502 -0.11240712
+v 0.33095541 0.23599685 -0.22923288
+v 0.40636000 0.08923752 -0.21162885
+v 0.42578875 0.10476505 -0.16512971
+v 0.34914857 0.24807486 -0.16566621
+v 0.29140916 0.30423978 -0.16492206
+v 0.44257119 0.02341847 -0.15397626
+v 0.39783008 0.17767409 -0.16579497
+v 0.35399901 0.24354662 -0.16071961
+f 9 6 3
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+f 34 16 15
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+f 37 8 34
+f 38 15 30
+f 38 37 15
+f 38 17 37
+f 38 28 17
+f 38 30 16
+f 38 16 28
+f 39 32 23
+f 39 23 14
+f 39 14 32
+f 40 34 8
+f 40 8 26
+f 40 26 34
+f 41 37 29
+f 41 29 8
+f 41 8 37
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_3/collision/model_normalized_collision_13.obj b/objects/objaverse/cupcake/cupcake_3/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f8a7973821448d137371189be61862132c75fcfa
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_3/collision/model_normalized_collision_13.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v -0.13590010 -0.06619392 0.26390316
+v -0.09410184 -0.04805622 0.15320153
+v -0.11210774 0.10071837 0.25046296
+v -0.11850360 0.12508204 0.21950091
+v -0.23376407 0.06761117 0.12575557
+v -0.11112594 0.11455696 0.23977751
+v -0.21501488 -0.05152488 0.12326698
+v -0.13599436 0.12931625 0.15128753
+v -0.14795897 0.01816193 0.26604440
+v -0.13677301 0.08357415 0.24649246
+v -0.14890267 -0.02420186 0.26535717
+v -0.21221387 0.10528991 0.12150598
+v -0.12185998 0.09990230 0.24644399
+v -0.22566639 0.06512231 0.14590046
+v -0.14154115 -0.05339292 0.26514950
+v -0.22710035 -0.02233033 0.12137028
+v -0.13261503 0.11059386 0.22531808
+v -0.22713224 0.05760382 0.14671799
+v -0.12255421 0.10996090 0.23585339
+v -0.20634364 0.10296506 0.13326833
+f 1 2 3
+f 6 3 2
+f 7 2 1
+f 8 6 2
+f 8 4 6
+f 9 1 3
+f 10 9 3
+f 12 4 8
+f 12 8 2
+f 12 2 7
+f 13 10 3
+f 13 3 6
+f 14 9 10
+f 14 12 5
+f 15 7 1
+f 15 1 9
+f 15 9 11
+f 16 12 7
+f 16 5 12
+f 16 15 11
+f 16 7 15
+f 17 4 12
+f 17 10 13
+f 17 14 10
+f 18 11 9
+f 18 9 14
+f 18 16 11
+f 18 14 5
+f 18 5 16
+f 19 17 13
+f 19 13 6
+f 19 6 4
+f 19 4 17
+f 20 17 12
+f 20 12 14
+f 20 14 17
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_3/collision/model_normalized_collision_14.obj b/objects/objaverse/cupcake/cupcake_3/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..45a0c9c3f705e43028d90fc6872b65d327101177
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_3/collision/model_normalized_collision_14.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v 0.19211171 -0.32039456 -0.17455916
+v 0.38625385 -0.16452549 -0.16276911
+v 0.25906355 -0.29648566 -0.15530503
+v 0.24828700 -0.16542556 -0.10632166
+v 0.24522967 -0.16289728 -0.23307664
+v 0.24744205 -0.19606596 -0.09742138
+v 0.18769723 -0.19702915 -0.09510987
+v 0.31083431 -0.15449481 -0.12677164
+v 0.29045985 -0.23718952 -0.22894262
+v 0.33834079 -0.23179298 -0.16056037
+v 0.20960074 -0.19371419 -0.22776142
+v 0.18391401 -0.23743667 -0.09820078
+v 0.35707857 -0.15739436 -0.23235137
+v 0.19213443 -0.30179316 -0.23251500
+v 0.26931433 -0.29004790 -0.15627174
+v 0.20788180 -0.22561061 -0.09785639
+v 0.37130322 -0.15662566 -0.19864514
+v 0.33369614 -0.19213300 -0.22791543
+v 0.35133348 -0.16833980 -0.23039725
+v 0.25182595 -0.29704700 -0.16669986
+v 0.17960700 -0.27272085 -0.15108581
+v 0.23477409 -0.27893017 -0.23091218
+v 0.32734986 -0.24134117 -0.16023029
+v 0.19316415 -0.31711037 -0.18436098
+f 7 4 5
+f 7 6 4
+f 8 5 4
+f 8 6 2
+f 8 4 6
+f 10 2 6
+f 11 7 5
+f 12 1 3
+f 13 5 8
+f 14 11 5
+f 14 5 13
+f 15 10 6
+f 15 6 3
+f 16 12 3
+f 16 3 6
+f 16 6 7
+f 16 7 12
+f 17 13 8
+f 17 8 2
+f 17 2 13
+f 18 10 9
+f 19 13 2
+f 19 2 10
+f 19 10 18
+f 19 18 9
+f 19 9 13
+f 20 3 1
+f 20 15 3
+f 21 14 1
+f 21 1 12
+f 21 12 7
+f 21 7 11
+f 21 11 14
+f 22 14 13
+f 22 13 9
+f 22 20 14
+f 22 9 15
+f 22 15 20
+f 23 15 9
+f 23 9 10
+f 23 10 15
+f 24 20 1
+f 24 1 14
+f 24 14 20
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_3/collision/model_normalized_collision_15.obj b/objects/objaverse/cupcake/cupcake_3/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..91ac47c4ee338f7a28ab7eefa6d9494a4bcadaeb
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_3/collision/model_normalized_collision_15.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.02836350 0.08775308 0.15652389
+v 0.03274917 0.11028504 0.00757577
+v 0.03139702 0.29919908 0.00490549
+v -0.05323083 0.29370647 0.00439302
+v -0.11876599 0.11028504 0.00757577
+v -0.02753399 0.19874197 0.15718536
+v 0.03211131 0.19749283 0.15573586
+v 0.01222650 0.23513729 0.12632115
+v -0.13599436 0.12931625 0.15128753
+v 0.03211246 0.29402797 0.01435946
+v 0.01085461 0.29045452 0.03455606
+v -0.10810654 0.23464318 0.08949392
+v 0.01712384 0.23452127 0.12737892
+v -0.11219546 0.20149125 0.11974745
+v -0.10755029 0.26214865 0.00919501
+v -0.05329695 0.28973179 0.01604838
+v 0.02396104 0.23489061 0.12285164
+v -0.12411891 0.22630384 0.02789989
+v -0.08084974 0.27374302 0.02885000
+v -0.10565610 0.25938464 0.02996263
+f 3 2 4
+f 5 2 1
+f 5 4 2
+f 7 1 2
+f 7 6 1
+f 9 5 1
+f 9 1 6
+f 10 7 2
+f 10 2 3
+f 11 3 4
+f 11 10 3
+f 12 6 8
+f 13 8 6
+f 13 6 7
+f 13 11 8
+f 14 12 9
+f 14 9 6
+f 14 6 12
+f 15 4 5
+f 16 11 4
+f 16 12 8
+f 16 8 11
+f 17 13 7
+f 17 7 10
+f 17 10 11
+f 17 11 13
+f 18 15 5
+f 18 5 9
+f 18 9 12
+f 19 12 16
+f 19 16 4
+f 19 4 15
+f 20 18 12
+f 20 15 18
+f 20 19 15
+f 20 12 19
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_3/collision/model_normalized_collision_17.obj b/objects/objaverse/cupcake/cupcake_3/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1632283963e1be256ea2f30dda7ae38a5094b474
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_3/collision/model_normalized_collision_17.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.15029006 0.21938562 0.02838981
+v 0.16619908 0.24467472 -0.09626860
+v 0.08100580 0.31597684 0.00741666
+v -0.05657935 0.32463213 -0.10368963
+v -0.22081547 0.21547347 -0.10143871
+v 0.09611749 0.31743854 -0.09976791
+v 0.13947091 0.26309109 0.00805350
+v 0.04606033 0.32550216 -0.10379745
+v -0.21020789 0.20179760 0.00785477
+v -0.20174371 0.27942315 -0.10496874
+v 0.13892076 0.26204522 -0.09807366
+v -0.06634161 0.28886265 0.00425014
+v -0.17326672 0.29377544 -0.10475664
+v -0.18291043 0.22680807 -0.00005405
+v -0.02468521 0.30482528 -0.01163523
+v -0.13019507 0.30907359 -0.10401943
+v -0.17109539 0.28892368 -0.09221558
+v -0.19877903 0.27477717 -0.09230351
+v -0.19678521 0.21689979 0.00082507
+f 5 2 1
+f 7 1 2
+f 7 3 1
+f 7 6 3
+f 7 2 6
+f 8 4 3
+f 8 3 6
+f 9 5 1
+f 10 8 5
+f 10 5 9
+f 11 2 5
+f 11 5 8
+f 11 8 6
+f 11 6 2
+f 12 9 1
+f 12 1 3
+f 13 4 8
+f 13 8 10
+f 14 9 12
+f 15 12 3
+f 15 3 4
+f 16 13 12
+f 16 4 13
+f 16 15 4
+f 16 12 15
+f 17 13 10
+f 17 12 13
+f 18 10 9
+f 18 17 10
+f 18 14 12
+f 18 12 17
+f 19 18 9
+f 19 9 14
+f 19 14 18
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_3/collision/model_normalized_collision_18.obj b/objects/objaverse/cupcake/cupcake_3/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..104c54088200824e63f4aa69ebe484e691c604a1
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_3/collision/model_normalized_collision_18.obj
@@ -0,0 +1,168 @@
+# https://github.com/mikedh/trimesh
+v 0.07270432 -0.12875090 0.28923288
+v 0.17302279 -0.02304669 0.19764327
+v 0.09765932 0.02663865 0.35176419
+v 0.03175107 0.16583801 0.20166121
+v 0.03222702 -0.14350382 0.22059636
+v 0.15705786 0.08897273 0.19748287
+v 0.14952717 -0.04881889 0.31534663
+v 0.11032809 -0.11455252 0.22519674
+v 0.03516480 -0.06020793 0.20091862
+v 0.02778971 -0.03585540 0.37827181
+v 0.08107642 0.09324586 0.31195602
+v 0.14970052 0.02552121 0.30205514
+v 0.16221519 -0.05182462 0.19749664
+v 0.08448383 -0.12949817 0.22298735
+v 0.13722953 -0.08662503 0.29919208
+v 0.07268853 0.15695137 0.19625660
+v 0.03983697 -0.10414207 0.34844013
+v 0.02809625 0.12790591 0.29096646
+v 0.10265311 -0.03561232 0.35270198
+v 0.12633005 0.01366539 0.33807848
+v 0.10906394 0.07991861 0.30170727
+v 0.15167482 0.00251803 0.31419675
+v 0.11336069 -0.11515470 0.27716745
+v 0.08561668 -0.12888180 0.27562460
+v 0.15052624 -0.07549379 0.28756672
+v 0.17347109 0.04765272 0.19694319
+v 0.03346657 -0.13329663 0.28664656
+v 0.05457071 -0.11015351 0.35251867
+v 0.03050048 0.15951379 0.21229987
+v 0.02862333 0.04308259 0.37233754
+v 0.06971532 0.10610464 0.30049111
+v 0.07357451 -0.00769062 0.36805628
+v 0.12461646 -0.04925010 0.33912380
+v 0.13573246 0.05110150 0.30027659
+v 0.09712919 0.05505203 0.33832027
+v 0.10068000 0.14326034 0.19650448
+v 0.13708041 0.03684715 0.31416624
+v 0.13715417 -0.07329183 0.31463481
+v 0.13893245 -0.08909199 0.22818187
+v 0.09887922 -0.11357941 0.30044857
+v 0.02829608 0.11454980 0.31731695
+v 0.04142266 0.12343620 0.28937637
+v 0.05442849 0.02888306 0.36830400
+v 0.08366822 0.07981277 0.32529005
+v 0.11183475 0.03928356 0.33762412
+v 0.04050882 0.04149721 0.36932398
+v 0.13788481 0.01408565 0.32637416
+v 0.12432574 -0.07574740 0.32532015
+v 0.15127173 -0.07557128 0.23910062
+v 0.12540638 -0.08806052 0.31259224
+v 0.04081130 0.11071826 0.31445612
+v 0.07176599 0.00174019 0.36758446
+v 0.05507760 0.09491814 0.32606856
+v 0.06921343 0.05343824 0.35147972
+v 0.02898936 0.07146237 0.35668322
+v 0.05466690 0.08148605 0.33906640
+v 0.04090162 0.06946965 0.35396284
+f 9 5 4
+f 13 5 9
+f 14 13 8
+f 14 5 13
+f 16 9 4
+f 16 13 9
+f 18 5 10
+f 18 16 4
+f 22 7 2
+f 23 14 8
+f 24 1 5
+f 24 5 14
+f 24 14 23
+f 25 13 2
+f 25 2 7
+f 25 15 23
+f 26 2 13
+f 26 13 16
+f 26 22 2
+f 26 6 12
+f 26 12 22
+f 27 17 10
+f 27 10 5
+f 27 5 1
+f 28 19 10
+f 28 10 17
+f 28 27 1
+f 28 17 27
+f 29 18 4
+f 29 4 5
+f 29 5 18
+f 32 10 19
+f 32 30 10
+f 32 20 3
+f 32 19 20
+f 33 20 19
+f 33 22 20
+f 33 7 22
+f 33 19 28
+f 34 12 6
+f 34 6 21
+f 36 11 21
+f 36 31 11
+f 36 16 31
+f 36 21 6
+f 36 26 16
+f 36 6 26
+f 37 22 12
+f 37 12 34
+f 37 34 21
+f 37 21 35
+f 38 25 7
+f 38 15 25
+f 38 7 33
+f 39 25 23
+f 39 23 8
+f 39 8 13
+f 40 23 15
+f 40 24 23
+f 40 28 1
+f 40 1 24
+f 41 18 10
+f 41 10 30
+f 42 31 16
+f 42 16 18
+f 42 41 31
+f 42 18 41
+f 44 35 21
+f 44 21 11
+f 45 35 3
+f 45 3 20
+f 45 37 35
+f 45 20 37
+f 46 43 3
+f 46 30 43
+f 47 37 20
+f 47 20 22
+f 47 22 37
+f 48 38 33
+f 48 33 28
+f 49 39 13
+f 49 13 25
+f 49 25 39
+f 50 40 15
+f 50 28 40
+f 50 48 28
+f 50 15 38
+f 50 38 48
+f 51 41 11
+f 51 11 31
+f 51 31 41
+f 52 32 3
+f 52 3 43
+f 52 43 30
+f 52 30 32
+f 53 44 11
+f 53 11 41
+f 54 46 3
+f 54 3 35
+f 55 41 30
+f 56 53 41
+f 56 41 55
+f 56 44 53
+f 56 35 44
+f 57 55 30
+f 57 30 46
+f 57 46 54
+f 57 56 55
+f 57 54 35
+f 57 35 56
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_3/collision/model_normalized_collision_19.obj b/objects/objaverse/cupcake/cupcake_3/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bdbbfd0edbfad4e05c1c82fef18e1b75f07bc05b
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_3/collision/model_normalized_collision_19.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v -0.11716386 -0.20577086 0.04754520
+v -0.11673519 -0.21161328 0.01010643
+v -0.11684691 -0.18253632 0.12204429
+v -0.11043019 0.25314074 0.03510115
+v -0.29077438 0.13513694 0.00256924
+v -0.28669831 -0.05142136 0.00333319
+v -0.11659654 0.25537725 0.00525508
+v -0.15061772 0.18594301 0.12849503
+v -0.18541740 -0.17649757 0.00241678
+v -0.17124162 0.23275815 0.00223409
+v -0.11219546 0.20149125 0.11974745
+v -0.24031827 0.05815387 0.12267665
+v -0.12750812 -0.20887724 0.01027243
+v -0.12600050 -0.18147410 0.11996031
+v -0.14308009 0.24656624 0.00190771
+v -0.27388941 0.15974793 0.00068046
+v -0.20424425 0.19464519 0.06887815
+v -0.29095543 0.11828884 0.04338834
+v -0.12558286 -0.20381147 0.04616905
+v -0.23752206 -0.12023742 0.02772537
+v -0.22334807 -0.03565028 0.12043961
+v -0.25652099 -0.10710175 0.00254433
+v -0.25995016 0.17149479 0.00081273
+v -0.28183631 -0.03493560 0.02823215
+v -0.23867732 0.06571178 0.12185645
+v -0.28982594 0.12181143 0.04127995
+v -0.19666937 -0.15999640 0.02742064
+v -0.13316181 -0.17096280 0.12129435
+v -0.26577347 -0.07565474 0.02673024
+v -0.23529747 -0.02043296 0.10662360
+v -0.20580713 -0.07442532 0.11812620
+v -0.25294906 -0.10506734 0.01707987
+v -0.28350381 -0.05055877 0.01479720
+f 1 2 3
+f 3 2 4
+f 7 4 2
+f 11 8 3
+f 11 3 4
+f 11 4 8
+f 12 3 8
+f 13 9 2
+f 13 2 1
+f 14 1 3
+f 15 7 2
+f 15 2 9
+f 15 10 4
+f 15 4 7
+f 16 6 5
+f 16 15 9
+f 17 8 4
+f 17 4 10
+f 18 5 6
+f 18 8 17
+f 19 13 1
+f 19 9 13
+f 19 14 9
+f 19 1 14
+f 21 3 12
+f 22 16 9
+f 22 6 16
+f 22 9 20
+f 23 10 15
+f 23 15 16
+f 23 17 10
+f 23 16 17
+f 24 18 6
+f 24 12 18
+f 25 18 12
+f 25 12 8
+f 25 8 18
+f 26 18 17
+f 26 17 16
+f 26 16 5
+f 26 5 18
+f 27 20 9
+f 27 9 14
+f 27 14 20
+f 28 14 3
+f 28 3 21
+f 28 20 14
+f 29 21 24
+f 30 24 21
+f 30 21 12
+f 30 12 24
+f 31 28 21
+f 31 20 28
+f 31 29 20
+f 31 21 29
+f 32 22 20
+f 32 20 29
+f 33 29 24
+f 33 24 6
+f 33 32 29
+f 33 6 22
+f 33 22 32
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_3/collision/model_normalized_collision_2.obj b/objects/objaverse/cupcake/cupcake_3/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..866a77172cef62ad0d36f17d0a9ef90bdf190fcd
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_3/collision/model_normalized_collision_2.obj
@@ -0,0 +1,129 @@
+# https://github.com/mikedh/trimesh
+v 0.08254935 -0.36676741 -0.15525945
+v 0.22721216 -0.27781227 -0.26447571
+v 0.15008914 -0.27461563 -0.13466242
+v -0.19350839 -0.28190853 -0.23467022
+v -0.07091709 -0.32670549 -0.36651813
+v 0.13416056 -0.27324919 -0.36715149
+v -0.16805796 -0.33931705 -0.15485164
+v 0.16727393 -0.34119496 -0.15525506
+v 0.19471526 -0.27592200 -0.17684088
+v -0.19224742 -0.27928717 -0.35501183
+v 0.11840661 -0.34032661 -0.32914776
+v -0.02688828 -0.29118791 -0.12114611
+v -0.08884866 -0.36342542 -0.15897103
+v 0.21136639 -0.27637666 -0.32457979
+v 0.22857003 -0.28136819 -0.23437688
+v 0.18741591 -0.32341776 -0.16858202
+v -0.07453975 -0.28848638 -0.37298457
+v -0.21238694 -0.30285804 -0.17808861
+v -0.14278828 -0.34142508 -0.29231415
+v 0.13672934 -0.30612972 -0.36904466
+v 0.14296254 -0.34189551 -0.29298934
+v -0.10177878 -0.29193015 -0.13564927
+v 0.03172575 -0.29107107 -0.12142550
+v -0.11618041 -0.34257882 -0.31856076
+v 0.17598883 -0.33118117 -0.15938891
+v 0.19081412 -0.31826051 -0.17188858
+v -0.20654916 -0.29325685 -0.23365792
+v -0.18221640 -0.31279699 -0.31882705
+v -0.16288305 -0.34227208 -0.15627555
+v 0.07178342 -0.32658948 -0.36639682
+v 0.19613999 -0.27736903 -0.35455119
+v 0.12945230 -0.34082534 -0.31864393
+v 0.15458745 -0.33110475 -0.30537708
+v -0.17371472 -0.33312232 -0.15791042
+v 0.13700488 -0.27943398 -0.13356394
+v 0.05609361 -0.34167284 -0.33059440
+v 0.17051513 -0.33805250 -0.15682643
+v -0.15233404 -0.32484324 -0.33065047
+v -0.16898267 -0.32616318 -0.30694379
+v 0.13099885 -0.32840601 -0.33933140
+v -0.15220022 -0.31568502 -0.34226060
+v -0.19785296 -0.31595794 -0.17811696
+v -0.17971727 -0.33052699 -0.16329595
+v -0.20086768 -0.31307581 -0.18397907
+f 9 6 3
+f 10 4 3
+f 10 3 6
+f 13 12 7
+f 13 1 12
+f 14 9 2
+f 14 6 9
+f 15 2 9
+f 17 10 6
+f 17 5 10
+f 20 17 6
+f 21 8 1
+f 22 12 3
+f 22 3 4
+f 22 4 18
+f 22 7 12
+f 23 3 12
+f 23 12 1
+f 23 1 8
+f 24 1 13
+f 24 13 19
+f 25 16 3
+f 26 16 15
+f 26 15 9
+f 26 9 3
+f 26 3 16
+f 27 18 4
+f 27 4 10
+f 27 10 18
+f 28 18 10
+f 29 19 13
+f 29 13 7
+f 30 20 11
+f 30 5 17
+f 30 17 20
+f 31 20 6
+f 31 6 14
+f 32 21 1
+f 32 1 11
+f 33 2 15
+f 33 15 16
+f 33 16 8
+f 33 8 21
+f 33 14 2
+f 33 31 14
+f 33 32 31
+f 33 21 32
+f 34 22 18
+f 34 18 7
+f 34 7 22
+f 35 23 8
+f 35 8 3
+f 35 3 23
+f 36 11 1
+f 36 1 24
+f 36 24 5
+f 36 30 11
+f 36 5 30
+f 37 8 16
+f 37 16 25
+f 37 25 3
+f 37 3 8
+f 38 24 19
+f 38 5 24
+f 38 28 10
+f 39 29 7
+f 39 19 29
+f 39 38 19
+f 39 28 38
+f 40 32 11
+f 40 11 20
+f 40 20 31
+f 40 31 32
+f 41 38 10
+f 41 10 5
+f 41 5 38
+f 43 42 39
+f 43 39 7
+f 43 7 18
+f 43 18 42
+f 44 42 18
+f 44 18 28
+f 44 28 39
+f 44 39 42
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_3/collision/model_normalized_collision_21.obj b/objects/objaverse/cupcake/cupcake_3/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..51e6ccc5c652bbdf93146b81ea4202e3f75bd8d1
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_3/collision/model_normalized_collision_21.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v 0.02836350 0.08775308 0.15652389
+v 0.07789695 0.17010741 0.17365253
+v -0.14269625 0.10497697 0.21646122
+v -0.06875989 0.21897062 0.12052728
+v 0.03205139 0.19599164 0.12487772
+v 0.03050048 0.15951379 0.21229987
+v -0.20715971 0.10880772 0.12719891
+v 0.07444848 0.17644916 0.16702099
+v -0.08251958 0.15135675 0.20932503
+v 0.03416981 0.11381051 0.22781990
+v -0.18202482 0.10272145 0.16194453
+v -0.15726503 0.16979809 0.14893430
+v -0.19701425 0.13327464 0.12068129
+v -0.02704588 0.22397144 0.12439703
+v 0.07530674 0.16347721 0.18382429
+v -0.20235902 0.10561089 0.13772476
+v -0.14934489 0.18608786 0.13131101
+v -0.10909498 0.13776148 0.20974840
+v 0.04427667 0.16769525 0.19407294
+v -0.02562395 0.21875821 0.13334561
+v -0.06735601 0.21306268 0.13009256
+v -0.15061772 0.18594301 0.12849503
+v -0.13669837 0.11427732 0.21253170
+f 8 2 1
+f 8 1 5
+f 10 3 1
+f 10 9 3
+f 10 6 9
+f 11 1 3
+f 13 5 1
+f 13 1 7
+f 13 4 5
+f 14 8 5
+f 14 5 4
+f 15 10 1
+f 15 1 2
+f 15 6 10
+f 15 8 6
+f 15 2 8
+f 16 7 1
+f 16 1 11
+f 16 11 3
+f 16 3 12
+f 16 13 7
+f 16 12 13
+f 17 12 9
+f 18 3 9
+f 18 9 12
+f 19 6 8
+f 20 9 6
+f 20 6 19
+f 20 19 8
+f 20 8 14
+f 20 14 4
+f 21 17 9
+f 21 4 17
+f 21 20 4
+f 21 9 20
+f 22 13 12
+f 22 12 17
+f 22 17 4
+f 22 4 13
+f 23 18 12
+f 23 12 3
+f 23 3 18
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_3/collision/model_normalized_collision_22.obj b/objects/objaverse/cupcake/cupcake_3/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b1df35f980d6cec0de8ad795f51299e3a7e78c35
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_3/collision/model_normalized_collision_22.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.18528736 -0.31046563 -0.23844426
+v -0.18718864 -0.25547308 -0.42419574
+v -0.18722804 0.29398651 -0.40948047
+v -0.19393089 0.33580911 -0.23456533
+v -0.40719376 -0.02466777 -0.23065502
+v -0.18892099 0.32371424 -0.32300722
+v -0.18754713 0.26508293 -0.45119802
+v -0.34500376 -0.14860991 -0.33685272
+v -0.20031685 -0.29740163 -0.23079982
+v -0.32968794 0.23774575 -0.23042275
+v -0.18766808 -0.30930546 -0.30854989
+v -0.30357778 -0.05306890 -0.47424497
+v -0.35995702 -0.15353625 -0.23002313
+v -0.26821972 0.27659609 -0.30606371
+v -0.21596962 0.32471063 -0.23172720
+v -0.28741554 -0.19137617 -0.40606336
+v -0.28794474 -0.23899629 -0.23051498
+v -0.19076403 -0.17329174 -0.49442584
+v -0.37331730 -0.05085124 -0.37951506
+v -0.39377048 -0.08268183 -0.23083729
+v -0.37722390 -0.12421993 -0.22987305
+v -0.24446037 0.27426706 -0.37835948
+v -0.24501590 0.30572021 -0.23114130
+v -0.22640059 -0.25038165 -0.39341753
+v -0.31621815 -0.21026332 -0.23122650
+v -0.29943154 -0.20715928 -0.33671302
+v -0.19447001 0.18505797 -0.47729168
+v -0.18906099 -0.20027112 -0.48130816
+v -0.37218212 0.07656403 -0.37954975
+v -0.32720519 -0.13548804 -0.40713719
+v -0.37190676 -0.07832862 -0.35110253
+v -0.38823211 -0.05386574 -0.30781090
+v -0.39106202 0.12058724 -0.23063699
+v -0.35660610 -0.13959637 -0.30758525
+v -0.25457476 0.27597337 -0.34989541
+v -0.22894940 0.28775239 -0.36528672
+v -0.24257526 0.26047331 -0.40643113
+v -0.31984859 0.24716198 -0.23088192
+v -0.21420602 -0.23534130 -0.43272241
+v -0.32717590 -0.17985010 -0.30689699
+v -0.23928805 -0.26928025 -0.29454712
+v -0.25454050 -0.23601874 -0.36553924
+v -0.29847925 -0.19310595 -0.37952216
+v -0.25357265 -0.05681930 -0.49108698
+v -0.18776644 0.25114105 -0.46385297
+v -0.27298756 -0.12495949 -0.47463248
+v -0.38807382 0.04653986 -0.33709740
+v -0.35856924 0.04711346 -0.42184612
+v -0.34348086 -0.05218749 -0.43430707
+v -0.34442651 -0.13843304 -0.36555960
+v -0.38833114 -0.00875250 -0.33709841
+v -0.38718004 -0.06813691 -0.29388377
+v -0.34260617 0.16067864 -0.38020410
+v -0.29830688 0.23380919 -0.36504196
+v -0.19864912 0.28895867 -0.40673497
+v -0.22614396 -0.23660801 -0.41994739
+v -0.19452717 -0.05733209 -0.49202796
+v -0.29156801 0.10691258 -0.47445317
+v -0.27077510 0.20419770 -0.44630970
+v -0.20383561 -0.17128908 -0.49096784
+v -0.24940469 -0.11424481 -0.49012535
+v -0.29883312 -0.15121760 -0.43357333
+v -0.38762367 0.10397724 -0.27741036
+v -0.40748595 0.03380900 -0.23104967
+f 6 1 3
+f 6 4 1
+f 7 1 2
+f 7 3 1
+f 9 1 4
+f 11 2 1
+f 15 9 4
+f 15 4 6
+f 15 6 14
+f 17 11 1
+f 17 1 9
+f 17 9 13
+f 21 5 20
+f 21 13 9
+f 21 9 10
+f 23 10 9
+f 23 9 15
+f 23 15 14
+f 24 2 11
+f 25 17 13
+f 26 17 25
+f 32 19 31
+f 33 21 10
+f 33 5 21
+f 34 8 13
+f 34 13 21
+f 34 21 20
+f 35 14 6
+f 36 6 3
+f 36 35 6
+f 36 22 35
+f 38 23 14
+f 38 10 23
+f 39 28 2
+f 40 25 13
+f 40 13 8
+f 40 26 25
+f 40 8 26
+f 41 26 11
+f 41 11 17
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+f 42 24 11
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+f 43 16 24
+f 43 42 26
+f 43 24 42
+f 43 26 8
+f 45 18 27
+f 45 28 18
+f 45 7 2
+f 45 2 28
+f 48 47 29
+f 49 30 19
+f 49 12 46
+f 49 48 12
+f 49 19 48
+f 50 34 31
+f 50 8 34
+f 50 43 8
+f 50 30 16
+f 50 16 43
+f 50 31 19
+f 50 19 30
+f 51 32 5
+f 51 19 32
+f 51 48 19
+f 51 47 48
+f 52 32 31
+f 52 20 5
+f 52 5 32
+f 52 34 20
+f 52 31 34
+f 53 33 10
+f 53 48 29
+f 54 14 35
+f 54 38 14
+f 54 10 38
+f 54 53 10
+f 54 35 22
+f 54 22 37
+f 55 36 3
+f 55 22 36
+f 55 37 22
+f 55 3 7
+f 55 7 37
+f 56 24 16
+f 56 16 39
+f 56 39 2
+f 56 2 24
+f 57 44 27
+f 57 27 18
+f 57 18 44
+f 58 44 12
+f 58 27 44
+f 58 12 48
+f 58 45 27
+f 58 48 53
+f 59 37 7
+f 59 7 45
+f 59 45 58
+f 59 58 53
+f 59 54 37
+f 59 53 54
+f 60 18 28
+f 60 28 46
+f 61 46 12
+f 61 12 44
+f 61 60 46
+f 61 44 18
+f 61 18 60
+f 62 16 30
+f 62 49 46
+f 62 30 49
+f 62 39 16
+f 62 46 28
+f 62 28 39
+f 63 29 47
+f 63 53 29
+f 63 33 53
+f 64 5 33
+f 64 63 47
+f 64 33 63
+f 64 51 5
+f 64 47 51
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_3/collision/model_normalized_collision_24.obj b/objects/objaverse/cupcake/cupcake_3/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cb45782252425dc388ce0838dafed99b45970d6b
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_3/collision/model_normalized_collision_24.obj
@@ -0,0 +1,162 @@
+# https://github.com/mikedh/trimesh
+v 0.10451601 -0.31543528 -0.36753295
+v 0.25998102 -0.20784984 -0.41663938
+v -0.21947443 -0.22564916 -0.37086172
+v -0.19193487 -0.18949577 -0.48685851
+v 0.06149844 -0.24343663 -0.48905880
+v 0.24372886 -0.20987693 -0.36516014
+v -0.13446769 -0.32145001 -0.34487673
+v 0.13243490 -0.27991394 -0.43371021
+v 0.18000631 -0.18739492 -0.49257942
+v 0.22734844 -0.26279275 -0.35451890
+v -0.18360914 -0.26555985 -0.40870235
+v -0.18564542 -0.28378136 -0.35223157
+v -0.08233457 -0.29511771 -0.43458835
+v -0.17568679 -0.18766977 -0.49369670
+v 0.13316715 -0.24008703 -0.47617484
+v 0.22490947 -0.18750876 -0.46990952
+v 0.22204463 -0.25184475 -0.39475772
+v 0.15992677 -0.29980617 -0.35249959
+v -0.18434736 -0.25049929 -0.43465876
+v -0.18407409 -0.28099024 -0.36613013
+v 0.07246506 -0.29804476 -0.43512748
+v -0.12823008 -0.28044813 -0.43489803
+v -0.05716224 -0.24392711 -0.48911736
+v 0.11921366 -0.22705689 -0.48978109
+v 0.25155700 -0.19861940 -0.43826881
+v 0.18971260 -0.20931802 -0.47436561
+v 0.20836035 -0.18548133 -0.48123325
+v 0.25352293 -0.21594923 -0.41247276
+v 0.20893975 -0.27138931 -0.35301226
+v -0.07317908 -0.32874612 -0.35597267
+v 0.14591809 -0.29451175 -0.39378580
+v -0.15295126 -0.29623525 -0.38069246
+v 0.10311475 -0.26734896 -0.46143072
+v -0.12854806 -0.29435953 -0.40834241
+v -0.14160775 -0.23852083 -0.47406576
+v 0.17665367 -0.19659173 -0.48918334
+v 0.23022917 -0.22277760 -0.43293803
+v 0.18962762 -0.23678419 -0.44856672
+v 0.20517350 -0.19581828 -0.47598511
+v 0.07189771 -0.31189523 -0.40944003
+v -0.08114771 -0.30900041 -0.40829073
+v 0.15818163 -0.29721067 -0.36651267
+v 0.17328885 -0.26560695 -0.42109597
+v 0.08953313 -0.25532724 -0.47637395
+v -0.14120900 -0.26578430 -0.44729549
+v -0.18606207 -0.21001860 -0.47568911
+v -0.17295917 -0.19860831 -0.48947259
+v -0.09904525 -0.25417961 -0.47506085
+v 0.23209846 -0.20857500 -0.44641004
+v 0.24590123 -0.20757316 -0.43397980
+v 0.15830912 -0.26647891 -0.43442456
+v 0.10338552 -0.31178831 -0.38102537
+v -0.09785402 -0.28039442 -0.44834185
+v -0.16965630 -0.23721763 -0.46074066
+v -0.11513703 -0.22747944 -0.49052277
+f 6 4 3
+f 10 2 6
+f 12 6 3
+f 12 10 6
+f 12 7 10
+f 14 9 5
+f 14 4 6
+f 16 14 6
+f 19 11 3
+f 19 3 4
+f 20 7 12
+f 20 12 3
+f 20 3 11
+f 22 11 19
+f 23 21 13
+f 23 5 21
+f 24 5 9
+f 25 16 6
+f 25 6 2
+f 27 9 14
+f 27 14 16
+f 28 2 10
+f 28 10 17
+f 29 18 10
+f 29 10 7
+f 29 7 18
+f 30 18 7
+f 30 1 18
+f 32 20 11
+f 32 7 20
+f 33 15 8
+f 33 8 21
+f 34 22 13
+f 34 7 32
+f 34 32 11
+f 34 11 22
+f 36 24 9
+f 36 15 24
+f 36 26 15
+f 36 9 27
+f 37 28 17
+f 37 2 28
+f 38 15 26
+f 39 27 16
+f 39 36 27
+f 39 26 36
+f 40 1 30
+f 40 21 8
+f 40 8 31
+f 40 13 21
+f 41 30 7
+f 41 40 30
+f 41 13 40
+f 41 34 13
+f 41 7 34
+f 42 31 17
+f 42 17 10
+f 42 10 18
+f 42 18 1
+f 42 1 31
+f 43 17 31
+f 43 37 17
+f 44 33 21
+f 44 21 5
+f 44 5 24
+f 44 24 15
+f 44 15 33
+f 45 22 19
+f 46 19 4
+f 47 4 14
+f 47 46 4
+f 47 35 46
+f 48 45 35
+f 49 16 25
+f 49 25 37
+f 49 39 16
+f 49 26 39
+f 49 38 26
+f 49 37 38
+f 50 37 25
+f 50 25 2
+f 50 2 37
+f 51 8 15
+f 51 15 38
+f 51 38 37
+f 51 37 43
+f 51 43 31
+f 51 31 8
+f 52 40 31
+f 52 31 1
+f 52 1 40
+f 53 13 22
+f 53 22 45
+f 53 45 48
+f 53 48 23
+f 53 23 13
+f 54 45 19
+f 54 19 46
+f 54 46 35
+f 54 35 45
+f 55 47 14
+f 55 23 48
+f 55 48 35
+f 55 35 47
+f 55 14 5
+f 55 5 23
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_3/collision/model_normalized_collision_26.obj b/objects/objaverse/cupcake/cupcake_3/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..36f96ca7b51d4576239b98d494202263fc09ee5f
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_3/collision/model_normalized_collision_26.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.22857003 -0.28136819 -0.23437688
+v 0.35224645 -0.14308104 -0.32322024
+v 0.36321445 -0.14573961 -0.23417203
+v 0.23846265 -0.15802669 -0.23090773
+v 0.22971603 -0.14687288 -0.43597445
+v 0.35133348 -0.16833980 -0.23039725
+v 0.22350287 -0.24386588 -0.41135946
+v 0.22457817 -0.27084399 -0.32372816
+v 0.32381508 -0.13848180 -0.40983666
+v 0.25049087 -0.26911047 -0.23138691
+v 0.30389022 -0.19301927 -0.36552033
+v 0.23447952 -0.26711924 -0.32250199
+v 0.30713591 -0.20685869 -0.30701968
+v 0.30207888 -0.18090368 -0.39426381
+v 0.22407319 -0.25574865 -0.38179415
+v 0.34692344 -0.15030716 -0.32252225
+v 0.29188042 -0.20488391 -0.36553361
+v 0.23245505 -0.23798832 -0.40887420
+v 0.23117966 -0.25215846 -0.37971183
+v 0.31770785 -0.14855697 -0.40729026
+f 6 3 4
+f 6 2 3
+f 8 1 4
+f 8 4 5
+f 8 5 7
+f 9 3 2
+f 9 7 5
+f 9 5 4
+f 9 4 3
+f 10 6 4
+f 10 4 1
+f 12 10 1
+f 12 1 8
+f 13 6 10
+f 13 10 12
+f 14 9 2
+f 14 2 11
+f 15 12 8
+f 15 8 7
+f 16 13 11
+f 16 11 2
+f 16 2 6
+f 16 6 13
+f 17 13 12
+f 17 11 13
+f 17 14 11
+f 18 7 9
+f 18 14 17
+f 19 17 12
+f 19 12 15
+f 19 18 17
+f 19 15 7
+f 19 7 18
+f 20 18 9
+f 20 9 14
+f 20 14 18
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_3/collision/model_normalized_collision_27.obj b/objects/objaverse/cupcake/cupcake_3/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e4702011f99aa40df02b086d40aebef7e84718a
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_3/collision/model_normalized_collision_27.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.20665503 -0.18226938 -0.01074992
+v 0.24478841 -0.19263468 -0.23693420
+v 0.24487223 0.20151671 0.00813641
+v -0.21020789 0.20179760 0.00785477
+v -0.20967508 -0.19274528 -0.23484848
+v 0.24503943 0.20109797 -0.23171352
+v 0.24068955 -0.15365204 0.00454319
+v -0.20085725 -0.16537447 0.00347980
+v -0.21386258 0.21183937 -0.19718203
+v 0.23174203 -0.17714945 -0.02374440
+v -0.20098064 -0.18115934 -0.01816967
+v -0.18541740 -0.17649757 0.00241678
+f 5 2 1
+f 6 3 2
+f 6 2 5
+f 7 3 4
+f 7 2 3
+f 8 4 5
+f 8 7 4
+f 9 4 3
+f 9 3 6
+f 9 6 5
+f 9 5 4
+f 10 7 1
+f 10 1 2
+f 10 2 7
+f 11 8 5
+f 11 5 1
+f 12 1 7
+f 12 7 8
+f 12 11 1
+f 12 8 11
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_3/collision/model_normalized_collision_28.obj b/objects/objaverse/cupcake/cupcake_3/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7535e842404cba04e45a32a9c58f9db18fbe1909
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_3/collision/model_normalized_collision_28.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.22975204 -0.19273768 -0.23465297
+v 0.22027620 -0.18255318 -0.47638484
+v 0.22971888 0.00422443 -0.23484848
+v -0.19452357 0.00422443 -0.23484848
+v -0.19452357 -0.19274528 -0.23484848
+v 0.22971159 0.00400327 -0.48841499
+v -0.18834546 -0.18453168 -0.49091124
+v 0.22963956 -0.05730025 -0.49198427
+v 0.19231484 -0.18412976 -0.48954054
+v -0.19452717 -0.05733209 -0.49202796
+v 0.22283437 -0.15623721 -0.48937090
+v -0.19452199 0.00400682 -0.48840657
+f 1 3 4
+f 5 1 4
+f 6 3 1
+f 7 1 5
+f 8 6 1
+f 9 2 1
+f 9 1 7
+f 9 7 8
+f 10 7 5
+f 10 5 4
+f 10 8 7
+f 10 6 8
+f 11 8 1
+f 11 1 2
+f 11 9 8
+f 11 2 9
+f 12 10 4
+f 12 6 10
+f 12 4 3
+f 12 3 6
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_3/collision/model_normalized_collision_3.obj b/objects/objaverse/cupcake/cupcake_3/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4e2e508d289b2b1d7e4dd8d089bcdd1285730532
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_3/collision/model_normalized_collision_3.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.22971888 0.00422443 -0.23484848
+v 0.22971159 0.00400327 -0.48841499
+v 0.22174937 0.31097208 -0.27793000
+v -0.08497266 0.36919099 -0.23186260
+v -0.19452357 0.00422443 -0.23484848
+v -0.08597417 0.29445075 -0.46033390
+v 0.22466971 0.25231142 -0.22106514
+v 0.21993306 0.23419795 -0.45989733
+v 0.03085405 0.34967630 -0.37999509
+v -0.18517652 0.30315176 -0.39325864
+v -0.19452199 0.00400682 -0.48840657
+v 0.08958398 0.36807842 -0.23162225
+v -0.18959432 0.33770791 -0.23218809
+v 0.22869170 0.18416149 -0.47647617
+v 0.09007395 0.29341056 -0.46049603
+v -0.09943605 0.33367429 -0.39340970
+v -0.18776644 0.25114105 -0.46385297
+v -0.01013812 0.36597713 -0.30789942
+v 0.11701210 0.35030887 -0.32264830
+v -0.19447001 0.18505797 -0.47729168
+v 0.21919468 0.28854161 -0.37985547
+v 0.06002116 0.31962898 -0.43597452
+v 0.17601955 0.26271479 -0.46007386
+v -0.12764645 0.30382965 -0.43474643
+v -0.12724423 0.34930118 -0.30698050
+v -0.02695174 0.34986173 -0.38011270
+v 0.13348845 0.35222065 -0.27797310
+v 0.05896492 0.36477253 -0.29255122
+v 0.04788952 0.20027399 -0.47641990
+v 0.21805180 0.25948346 -0.43444570
+v 0.17749549 0.31811340 -0.36465985
+v 0.14785644 0.27624867 -0.45977291
+v -0.06960109 0.31845847 -0.43518856
+v -0.12795731 0.31883302 -0.40786264
+v -0.17090363 0.27611798 -0.44905213
+v -0.14318980 0.35562027 -0.23229658
+v -0.05419137 0.36581512 -0.29287948
+v -0.18396078 0.31971826 -0.35075472
+v 0.06008972 0.33477666 -0.40799524
+v 0.20453806 0.32311799 -0.27716261
+v 0.01492437 0.36527358 -0.30778764
+v 0.10675052 0.34985502 -0.33754738
+v -0.04299824 0.20026054 -0.47642743
+v 0.13249001 0.35017231 -0.29237197
+v 0.17509127 0.27478871 -0.44796448
+v 0.08968044 0.30541825 -0.44786780
+v -0.08491891 0.30602272 -0.44837497
+v -0.07002666 0.33307794 -0.40808814
+v -0.17047110 0.30363232 -0.40683583
+v -0.18455501 0.28883447 -0.42095378
+v -0.14327444 0.27703201 -0.46066145
+v -0.18832167 0.33351874 -0.26261721
+v -0.07000435 0.34837210 -0.36576760
+v -0.14200528 0.33370724 -0.35125704
+v 0.21876018 0.30434316 -0.32204880
+v 0.05954446 0.35012357 -0.36604724
+v 0.10304463 0.33307341 -0.39295585
+v 0.16228730 0.33251420 -0.32202084
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\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_3/collision/model_normalized_collision_30.obj b/objects/objaverse/cupcake/cupcake_3/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..167c7cecf2e1fa45937cb65d67a1e83ca781ca9b
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_3/collision/model_normalized_collision_30.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.16619908 0.24467472 -0.09626860
+v 0.16655418 0.24913820 -0.22587209
+v 0.13970632 0.29599772 -0.09637767
+v -0.20174371 0.27942315 -0.10496874
+v -0.21386258 0.21183937 -0.19718203
+v -0.21564273 0.30223132 -0.23476297
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+v 0.13866337 0.28870529 -0.22130857
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+f 7 3 4
+f 7 5 1
+f 7 6 5
+f 7 4 6
+f 8 6 3
+f 8 3 2
+f 8 2 6
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_3/collision/model_normalized_collision_8.obj b/objects/objaverse/cupcake/cupcake_3/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d73eb3b7ef5b899e33a4e03b9e8db889f6f85ab4
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_3/collision/model_normalized_collision_8.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.22466971 0.25231142 -0.22106514
+v 0.24326322 0.27775487 -0.28288775
+v 0.22258558 0.35119618 -0.15598345
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\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_3/collision/model_normalized_collision_9.obj b/objects/objaverse/cupcake/cupcake_3/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..238e42e61697862d2c0d3e31fb57643f0b63fd77
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_3/collision/model_normalized_collision_9.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.03346657 -0.13329663 0.28664656
+v 0.03222702 -0.14350382 0.22059636
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\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_3/visual/material.mtl b/objects/objaverse/cupcake/cupcake_3/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..33616803300962094e8955deb30562079542847b
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_3/visual/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 250.00000000
+map_Kd material_0.jpeg
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_3/visual/model_normalized_0.obj b/objects/objaverse/cupcake/cupcake_3/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aa8917275e1a2fb6b98fdeaeae9a3554d4574ded
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_3/visual/model_normalized_0.obj
@@ -0,0 +1,1737 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/objects/objaverse/cupcake/cupcake_3/visual/model_normalized_2.obj b/objects/objaverse/cupcake/cupcake_3/visual/model_normalized_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9811511cb70b16ee61c3cb5021c47b5925dce696
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_3/visual/model_normalized_2.obj
@@ -0,0 +1,15103 @@
+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_3/visual/model_normalized_3.obj b/objects/objaverse/cupcake/cupcake_3/visual/model_normalized_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..144b303966330ff8f0d12b22a1b59e7ac7c58f52
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_3/visual/model_normalized_3.obj
@@ -0,0 +1,16597 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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+v -0.14212474 0.03038912 0.17713546
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diff --git a/objects/objaverse/cupcake/cupcake_3/visual/model_normalized_4.obj b/objects/objaverse/cupcake/cupcake_3/visual/model_normalized_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bce6719da8382aaf5a88ae133572eb1f354a0bcf
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_3/visual/model_normalized_4.obj
@@ -0,0 +1,22215 @@
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diff --git a/objects/objaverse/cupcake/cupcake_3/visual/model_normalized_5.obj b/objects/objaverse/cupcake/cupcake_3/visual/model_normalized_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..251b7bb7ae4993f139bb049a6b8c1e8667c210d8
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_3/visual/model_normalized_5.obj
@@ -0,0 +1,92976 @@
+# https://github.com/mikedh/trimesh
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diff --git a/objects/objaverse/cupcake/cupcake_3/visual/model_normalized_6.obj b/objects/objaverse/cupcake/cupcake_3/visual/model_normalized_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..02b4e5ce0d4e34e1a4e8f743c52cf06917a01f09
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_3/visual/model_normalized_6.obj
@@ -0,0 +1,11653 @@
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diff --git a/objects/objaverse/cupcake/cupcake_3/visual/model_normalized_7.obj b/objects/objaverse/cupcake/cupcake_3/visual/model_normalized_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d45a577bc08a95869a17aad3f2fac27e77bda9ab
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_3/visual/model_normalized_7.obj
@@ -0,0 +1,5709 @@
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+f 1533/1533/1533 1534/1534/1534 1535/1535/1535
+f 1533/1533/1533 1535/1535/1535 1536/1536/1536
+f 1537/1537/1537 1538/1538/1538 1539/1539/1539
+f 1537/1537/1537 1539/1539/1539 1540/1540/1540
+f 1541/1541/1541 1542/1542/1542 1543/1543/1543
+f 1541/1541/1541 1543/1543/1543 1544/1544/1544
+f 1545/1545/1545 1546/1546/1546 1547/1547/1547
+f 1545/1545/1545 1547/1547/1547 1548/1548/1548
+f 1549/1549/1549 1550/1550/1550 1551/1551/1551
+f 1549/1549/1549 1551/1551/1551 1552/1552/1552
+f 1553/1553/1553 1554/1554/1554 1555/1555/1555
+f 1553/1553/1553 1555/1555/1555 1556/1556/1556
+f 1557/1557/1557 1558/1558/1558 1559/1559/1559
+f 1557/1557/1557 1559/1559/1559 1560/1560/1560
+f 1561/1561/1561 1562/1562/1562 1563/1563/1563
+f 1561/1561/1561 1563/1563/1563 1564/1564/1564
+f 1565/1565/1565 1566/1566/1566 1567/1567/1567
+f 1565/1565/1565 1567/1567/1567 1568/1568/1568
+f 1569/1569/1569 1570/1570/1570 1571/1571/1571
+f 1569/1569/1569 1571/1571/1571 1572/1572/1572
+f 1573/1573/1573 1574/1574/1574 1575/1575/1575
+f 1573/1573/1573 1575/1575/1575 1576/1576/1576
+f 1577/1577/1577 1578/1578/1578 1579/1579/1579
+f 1577/1577/1577 1579/1579/1579 1580/1580/1580
+f 1581/1581/1581 1582/1582/1582 1583/1583/1583
+f 1581/1581/1581 1583/1583/1583 1584/1584/1584
+f 1585/1585/1585 1586/1586/1586 1587/1587/1587
+f 1585/1585/1585 1587/1587/1587 1588/1588/1588
+f 1589/1589/1589 1590/1590/1590 1591/1591/1591
+f 1589/1589/1589 1591/1591/1591 1592/1592/1592
+f 1593/1593/1593 1594/1594/1594 1595/1595/1595
+f 1593/1593/1593 1595/1595/1595 1596/1596/1596
+f 1597/1597/1597 1598/1598/1598 1599/1599/1599
+f 1597/1597/1597 1599/1599/1599 1600/1600/1600
+f 1601/1601/1601 1602/1602/1602 1603/1603/1603
+f 1601/1601/1601 1603/1603/1603 1604/1604/1604
+f 1605/1605/1605 1606/1606/1606 1607/1607/1607
+f 1605/1605/1605 1607/1607/1607 1608/1608/1608
+f 1609/1609/1609 1610/1610/1610 1611/1611/1611
+f 1609/1609/1609 1611/1611/1611 1612/1612/1612
+f 1613/1613/1613 1614/1614/1614 1615/1615/1615
+f 1613/1613/1613 1615/1615/1615 1616/1616/1616
+f 1617/1617/1617 1618/1618/1618 1619/1619/1619
+f 1617/1617/1617 1619/1619/1619 1620/1620/1620
+f 1621/1621/1621 1622/1622/1622 1623/1623/1623
+f 1621/1621/1621 1623/1623/1623 1624/1624/1624
+f 1625/1625/1625 1626/1626/1626 1627/1627/1627
+f 1625/1625/1625 1627/1627/1627 1628/1628/1628
+f 1629/1629/1629 1630/1630/1630 1631/1631/1631
+f 1629/1629/1629 1631/1631/1631 1632/1632/1632
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_5/collision/model_normalized_collision_1.obj b/objects/objaverse/cupcake/cupcake_5/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..28e295a47a4d8202ebf8380e62b910ad15b02579
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_5/collision/model_normalized_collision_1.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.25472514 -0.24933005 -0.01263717
+v 0.25771109 -0.24416640 -0.33932924
+v 0.26372421 -0.01683924 -0.00594825
+v -0.24045341 -0.01753333 0.01838129
+v -0.23484847 -0.27455642 -0.33932924
+v -0.23484847 -0.01698067 -0.33932924
+v 0.00757577 -0.27455642 -0.33932924
+v -0.23409087 -0.27411467 -0.00334917
+v 0.26515152 -0.01698067 -0.33932924
+v 0.00759804 -0.27487006 -0.00190129
+f 1 2 3
+f 1 3 4
+f 6 4 3
+f 6 5 4
+f 6 2 5
+f 7 5 2
+f 7 2 1
+f 8 4 5
+f 9 6 3
+f 9 3 2
+f 9 2 6
+f 10 1 4
+f 10 4 8
+f 10 7 1
+f 10 8 5
+f 10 5 7
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_5/collision/model_normalized_collision_11.obj b/objects/objaverse/cupcake/cupcake_5/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b3b6e3dc1802c4686d82871e01eb6cb9c3777fa2
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_5/collision/model_normalized_collision_11.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v -0.32779008 -0.36576965 -0.08983359
+v -0.23599162 -0.35050148 -0.16967319
+v -0.22499141 -0.29916193 -0.01155585
+v -0.35761537 -0.01593457 0.00003255
+v -0.41334290 -0.01665313 -0.16774633
+v -0.23484847 -0.01698067 -0.16929658
+v -0.30471546 -0.13669061 0.02522097
+v -0.23099864 -0.34298064 -0.08317983
+v -0.39215386 -0.21420417 -0.16196717
+v -0.40807478 -0.01611460 -0.07253694
+v -0.41608488 -0.13759185 -0.16894727
+v -0.38711769 -0.31196575 -0.09175772
+v -0.24045341 -0.01753333 0.01838129
+v -0.29701644 -0.34246649 -0.16202401
+v -0.43290027 -0.23557195 -0.09175772
+v -0.30769279 -0.12175294 0.02695159
+v -0.35206105 -0.27283265 -0.16141356
+v -0.32172028 -0.36476523 -0.10653619
+v -0.34069599 -0.15669635 -0.00288796
+v -0.36033206 -0.29051864 -0.14229170
+v -0.34930117 -0.12296570 0.00131651
+f 6 3 2
+f 8 1 2
+f 8 2 3
+f 8 3 1
+f 10 6 5
+f 10 4 6
+f 11 6 2
+f 11 5 6
+f 12 1 3
+f 12 3 7
+f 13 6 4
+f 13 7 3
+f 13 3 6
+f 14 11 2
+f 15 10 5
+f 15 5 11
+f 15 11 9
+f 15 9 12
+f 15 4 10
+f 16 13 4
+f 16 7 13
+f 17 9 11
+f 17 11 14
+f 18 14 2
+f 18 2 1
+f 18 1 12
+f 18 12 14
+f 19 15 12
+f 19 12 7
+f 20 17 14
+f 20 14 12
+f 20 12 9
+f 20 9 17
+f 21 19 7
+f 21 7 16
+f 21 16 4
+f 21 4 15
+f 21 15 19
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_5/collision/model_normalized_collision_12.obj b/objects/objaverse/cupcake/cupcake_5/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..88049f640145743b9d266a6d8af73307930879b3
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_5/collision/model_normalized_collision_12.obj
@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
+v -0.40378591 -0.25070831 -0.09718419
+v -0.38585690 -0.19815300 -0.19924339
+v -0.39993861 0.17104158 -0.10605461
+v -0.43290027 0.23558359 -0.09175772
+v -0.49569144 -0.00922825 -0.09313661
+v -0.41818345 0.07404214 -0.18515493
+v -0.39471638 -0.15152522 -0.08325044
+v -0.46529565 -0.20912388 -0.09175772
+v -0.41670967 0.19519117 -0.15417461
+v -0.44636505 -0.11313885 -0.16068651
+v -0.40809988 0.10179995 -0.08396365
+v -0.37848059 -0.18824789 -0.16700323
+v -0.40131740 -0.23814444 -0.12803294
+v -0.48453554 -0.13024192 -0.09175772
+v -0.41993063 -0.24476724 -0.08991785
+v -0.40492271 0.20204255 -0.11895776
+v -0.47780298 0.12046333 -0.11191039
+v -0.40729426 -0.18349074 -0.19533289
+v -0.46449336 0.20979055 -0.09175772
+v -0.39788348 -0.23603753 -0.13401612
+v -0.39750132 -0.13719403 -0.08226841
+v -0.47686465 -0.12212043 -0.11097082
+v -0.43708965 -0.23215167 -0.09175772
+v -0.42633366 0.23213186 -0.10276431
+v -0.43389557 0.19516152 -0.14168861
+v -0.43421802 0.02173052 -0.17821630
+v -0.39069740 -0.18898742 -0.20260031
+v -0.48996140 0.01932294 -0.09175772
+v -0.47878884 0.13594882 -0.09175772
+v -0.44992826 0.12193971 -0.14392292
+v -0.46321955 0.20823030 -0.09503547
+v -0.42361748 0.20005397 -0.14604176
+v -0.47427280 0.00389240 -0.12666838
+v -0.42250173 0.21381253 -0.12978774
+v -0.49255830 0.00552056 -0.09849339
+f 9 2 6
+f 11 7 3
+f 11 3 4
+f 12 7 1
+f 12 3 7
+f 15 1 7
+f 15 13 1
+f 16 2 9
+f 16 12 2
+f 16 3 12
+f 16 4 3
+f 18 13 8
+f 18 2 13
+f 19 11 4
+f 20 12 1
+f 20 2 12
+f 20 13 2
+f 20 1 13
+f 21 14 8
+f 21 7 11
+f 21 15 7
+f 21 8 15
+f 22 8 14
+f 22 18 8
+f 22 10 18
+f 22 14 5
+f 22 5 10
+f 23 15 8
+f 23 8 13
+f 23 13 15
+f 24 16 9
+f 24 4 16
+f 25 9 6
+f 26 18 10
+f 26 6 18
+f 27 18 6
+f 27 6 2
+f 27 2 18
+f 28 21 11
+f 28 5 14
+f 28 14 21
+f 29 19 17
+f 29 17 5
+f 29 5 28
+f 29 28 11
+f 29 11 19
+f 30 25 6
+f 30 17 25
+f 30 26 17
+f 30 6 26
+f 31 25 17
+f 31 17 19
+f 31 19 4
+f 31 4 25
+f 32 9 25
+f 32 25 4
+f 33 26 10
+f 33 10 5
+f 33 17 26
+f 34 24 9
+f 34 9 32
+f 34 32 4
+f 34 4 24
+f 35 33 5
+f 35 5 17
+f 35 17 33
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_5/collision/model_normalized_collision_13.obj b/objects/objaverse/cupcake/cupcake_5/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1280e94ba3c1c9dadbee535bb12f8bee60824fc6
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_5/collision/model_normalized_collision_13.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.43467402 -0.06295026 -0.09033471
+v 0.50000000 -0.04629577 -0.09175772
+v 0.46628205 -0.01311440 -0.09004129
+v 0.37281533 0.03012473 -0.16195977
+v 0.37045886 -0.04401743 -0.33932924
+v 0.43529089 -0.05925159 -0.09034671
+v 0.42780011 -0.06431525 -0.10068505
+v 0.39122246 -0.03922895 -0.33932924
+v 0.36713479 -0.06203341 -0.16739451
+v 0.34931359 0.02477231 -0.28837545
+v 0.36791247 -0.04814686 -0.30422158
+v 0.48200248 -0.02641538 -0.09175772
+v 0.40747939 0.02361791 -0.14790672
+v 0.35305160 -0.00520489 -0.33932924
+v 0.35606060 -0.01698067 -0.33932924
+f 1 2 3
+f 6 1 3
+f 6 3 4
+f 6 4 1
+f 7 2 1
+f 8 7 5
+f 8 2 7
+f 9 7 1
+f 9 1 4
+f 10 9 4
+f 11 5 7
+f 11 7 9
+f 12 3 2
+f 12 2 8
+f 12 8 10
+f 13 10 4
+f 13 4 3
+f 13 12 10
+f 13 3 12
+f 14 10 8
+f 14 8 5
+f 14 9 10
+f 15 14 5
+f 15 5 11
+f 15 11 9
+f 15 9 14
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_5/collision/model_normalized_collision_16.obj b/objects/objaverse/cupcake/cupcake_5/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..45a474b64cd769abbbf25067311c04de2d5bbd0e
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_5/collision/model_normalized_collision_16.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.47347032 -0.02068003 -0.08998478
+v 0.47056004 -0.02305760 -0.10413247
+v 0.42045605 0.21152645 -0.09175772
+v 0.32339582 0.32171821 -0.09041011
+v 0.25031693 -0.01655557 -0.05233573
+v 0.27924489 0.24944255 -0.17170656
+v 0.44933122 0.12359917 -0.09175772
+v 0.25663710 0.23124166 -0.05150399
+v 0.32267452 0.29393303 -0.13427414
+v 0.25000001 -0.01698067 -0.15414507
+v 0.38996706 0.19587493 -0.14285005
+v 0.34520964 0.31195590 -0.09174365
+v 0.32256067 0.31822557 -0.10104730
+v 0.45360422 -0.02551841 -0.13381596
+v 0.40156803 0.19942365 -0.12645952
+v 0.34943309 0.21379788 -0.16386574
+v 0.32717805 0.32246102 -0.09175772
+v 0.41542452 0.11568073 -0.14264591
+v 0.41891587 0.20933580 -0.09607097
+v 0.32580811 0.22559773 -0.16935819
+v 0.44095465 -0.02301038 -0.15048844
+f 5 2 1
+f 7 1 2
+f 8 4 6
+f 8 7 3
+f 8 5 1
+f 8 1 7
+f 10 8 6
+f 10 5 8
+f 12 8 3
+f 12 4 8
+f 13 9 6
+f 13 6 4
+f 14 2 5
+f 14 5 10
+f 14 7 2
+f 15 11 9
+f 15 9 12
+f 16 9 11
+f 17 12 9
+f 17 9 13
+f 17 13 4
+f 17 4 12
+f 18 7 14
+f 18 15 7
+f 18 11 15
+f 18 16 11
+f 19 3 7
+f 19 7 15
+f 19 15 12
+f 19 12 3
+f 20 6 9
+f 20 9 16
+f 20 10 6
+f 21 18 14
+f 21 16 18
+f 21 20 16
+f 21 14 10
+f 21 10 20
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_5/collision/model_normalized_collision_2.obj b/objects/objaverse/cupcake/cupcake_5/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d3cdc67a6235ee17973b52793656bb884019d927
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_5/collision/model_normalized_collision_2.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v 0.21969698 0.22544356 -0.15414507
+v 0.26401879 0.26482956 -0.25869114
+v 0.14078874 0.42725488 -0.14671883
+v -0.20251133 0.41818595 -0.15089911
+v -0.23484847 0.22544356 -0.33932924
+v -0.23766564 0.39917042 -0.14512370
+v 0.21865541 0.35352277 -0.14923198
+v 0.21969698 0.22544356 -0.33932924
+v -0.02094970 0.37889053 -0.33932924
+v -0.02975399 0.44383237 -0.14803410
+v -0.23484847 0.22544356 -0.15414507
+v 0.26466212 0.26827618 -0.24439980
+v 0.19548541 0.39868002 -0.14594517
+v 0.15784285 0.33471715 -0.33932924
+v -0.17506671 0.35248913 -0.33932924
+v -0.12126803 0.42759468 -0.17885324
+v 0.08282953 0.44382122 -0.14806565
+v -0.24359461 0.36036013 -0.15110474
+v 0.21224332 0.29435705 -0.33932924
+v 0.13605967 0.35947504 -0.31488316
+v -0.23428029 0.29384240 -0.33932924
+v -0.02094970 0.43651245 -0.17646094
+v -0.11056031 0.37488277 -0.33055191
+v 0.22044040 0.30340006 -0.29972115
+v 0.10846200 0.36004893 -0.33932924
+v -0.19974226 0.33471715 -0.33932924
+v -0.15361112 0.35905662 -0.33932924
+v 0.06868969 0.37507727 -0.32991073
+f 8 2 1
+f 8 1 5
+f 9 8 5
+f 10 6 3
+f 10 4 6
+f 11 5 1
+f 11 1 6
+f 12 7 1
+f 12 1 2
+f 13 3 6
+f 13 6 1
+f 13 1 7
+f 13 12 2
+f 13 7 12
+f 14 8 9
+f 15 6 4
+f 15 9 5
+f 16 4 10
+f 17 10 3
+f 18 11 6
+f 18 5 11
+f 19 2 8
+f 19 8 14
+f 19 14 13
+f 20 3 13
+f 20 13 14
+f 21 15 5
+f 21 18 6
+f 21 5 18
+f 22 16 10
+f 22 17 9
+f 22 10 17
+f 23 4 16
+f 23 22 9
+f 23 16 22
+f 24 19 13
+f 24 13 2
+f 24 2 19
+f 25 17 3
+f 25 3 20
+f 25 20 14
+f 25 14 9
+f 26 21 6
+f 26 6 15
+f 26 15 21
+f 27 15 4
+f 27 4 23
+f 27 23 9
+f 27 9 15
+f 28 25 9
+f 28 9 17
+f 28 17 25
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_5/collision/model_normalized_collision_20.obj b/objects/objaverse/cupcake/cupcake_5/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd343b94e6ef624dd19886b7ae251744d0cf0f41
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_5/collision/model_normalized_collision_20.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.15509483 -0.41300760 -0.16256350
+v 0.26637301 -0.25058678 -0.30434435
+v 0.26876831 -0.26237292 -0.17146824
+v 0.00757577 -0.25940491 -0.24505416
+v 0.06812007 -0.37222020 -0.33932924
+v 0.08333334 -0.25940491 -0.16929658
+v 0.25482053 -0.34212556 -0.16294587
+v 0.00730798 -0.38033669 -0.24496022
+v 0.00757577 -0.25940491 -0.33932924
+v 0.13316735 -0.35248915 -0.33932924
+v 0.08263712 -0.42580913 -0.16908931
+v 0.00024047 -0.37327693 -0.28803811
+v 0.21224332 -0.29435706 -0.33932924
+v 0.19037834 -0.38975131 -0.16324463
+v 0.07763440 -0.41939625 -0.19578693
+v 0.00757577 -0.32001096 -0.33932924
+v 0.21625636 -0.25901424 -0.33932924
+v 0.06182314 -0.36787493 -0.33932924
+f 6 3 2
+f 6 2 4
+f 7 2 3
+f 7 6 1
+f 7 3 6
+f 9 4 2
+f 10 5 9
+f 10 1 5
+f 11 1 6
+f 11 6 4
+f 11 4 8
+f 12 8 4
+f 12 4 9
+f 12 11 8
+f 13 2 7
+f 13 10 9
+f 14 7 1
+f 14 1 10
+f 14 13 7
+f 14 10 13
+f 15 5 1
+f 15 1 11
+f 15 12 5
+f 15 11 12
+f 16 12 9
+f 16 9 5
+f 17 13 9
+f 17 9 2
+f 17 2 13
+f 18 16 5
+f 18 5 12
+f 18 12 16
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_5/collision/model_normalized_collision_22.obj b/objects/objaverse/cupcake/cupcake_5/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ee89b42721e416d25f35c0dbcd5c2dfd276dc03
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_5/collision/model_normalized_collision_22.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.08073127 -0.43402387 -0.16554763
+v 0.07401586 -0.40182539 -0.24173357
+v 0.08333334 -0.25940491 -0.16929658
+v -0.23918896 -0.27984467 -0.24823000
+v -0.20002648 -0.41229872 -0.16213927
+v 0.08333334 -0.25940491 -0.24505416
+v -0.12266064 -0.43416539 -0.16525507
+v -0.18496625 -0.38130542 -0.24039721
+v -0.25754491 -0.30220868 -0.18590305
+v 0.00757577 -0.25940491 -0.24505416
+v -0.02094970 -0.40961095 -0.23996135
+v -0.11592706 -0.40188474 -0.24153794
+v 0.00757577 -0.25940491 -0.16929658
+v -0.23171105 -0.38877198 -0.16554501
+v -0.02038020 -0.42781048 -0.19298830
+v -0.21537084 -0.36076548 -0.24072652
+f 5 1 3
+f 6 2 4
+f 6 1 2
+f 6 3 1
+f 7 1 5
+f 10 6 4
+f 10 3 6
+f 11 2 1
+f 12 8 4
+f 12 4 2
+f 12 2 11
+f 12 11 7
+f 12 7 5
+f 12 5 8
+f 13 5 3
+f 13 4 9
+f 13 10 4
+f 13 3 10
+f 14 13 9
+f 14 5 13
+f 15 11 1
+f 15 1 7
+f 15 7 11
+f 16 8 5
+f 16 5 14
+f 16 4 8
+f 16 14 9
+f 16 9 4
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_5/collision/model_normalized_collision_23.obj b/objects/objaverse/cupcake/cupcake_5/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..071df0b7aec618f4e0113a05e8554dd96d443bab
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_5/collision/model_normalized_collision_23.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.13878100 -0.37092188 -0.08483483
+v 0.26841714 -0.26199517 -0.07361986
+v 0.22503586 -0.27501078 -0.01263513
+v 0.00783582 -0.26197902 0.00351948
+v 0.00768108 -0.25956701 -0.04952585
+v 0.24732272 -0.25662379 -0.01258032
+v 0.02568266 -0.34678445 -0.00754882
+v 0.19874556 -0.33946551 -0.08552616
+v 0.23996630 -0.26328832 -0.01253117
+v 0.25665285 -0.25266381 -0.06049208
+v 0.17918519 -0.30433930 -0.01878873
+v 0.00807097 -0.34270158 -0.00556483
+v 0.26144992 -0.28533215 -0.08196301
+v 0.04831468 -0.34630853 -0.01010067
+v -0.05381643 -0.34339531 -0.02540622
+v 0.00809773 -0.38475227 -0.07249439
+v -0.05222404 -0.34927262 -0.03032096
+v -0.05290897 -0.34872890 -0.03258969
+f 8 1 5
+f 9 6 4
+f 9 4 3
+f 9 3 8
+f 10 5 4
+f 10 4 6
+f 10 6 2
+f 10 2 5
+f 11 8 3
+f 11 1 8
+f 12 7 3
+f 12 3 4
+f 13 2 6
+f 13 9 8
+f 13 6 9
+f 13 8 5
+f 13 5 2
+f 14 1 11
+f 14 11 3
+f 14 3 7
+f 15 12 4
+f 15 4 5
+f 16 14 7
+f 16 1 14
+f 16 5 1
+f 17 16 7
+f 17 7 12
+f 17 12 15
+f 18 17 15
+f 18 15 5
+f 18 5 16
+f 18 16 17
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_5/collision/model_normalized_collision_25.obj b/objects/objaverse/cupcake/cupcake_5/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..55c554c21a7e41eead2b2e16b97dd41fe56863ea
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_5/collision/model_normalized_collision_25.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.03972920 -0.17166961 0.18001307
+v 0.12250411 -0.01739356 0.16157463
+v 0.02833066 -0.11736226 0.22383386
+v 0.05180455 0.01445640 0.20879356
+v 0.00615281 -0.17986296 0.16228996
+v 0.01912709 -0.05285735 0.23869546
+v 0.07878853 -0.15325603 0.16071796
+v 0.02803370 -0.00672494 0.20557042
+v 0.00713135 -0.13187153 0.22480927
+v 0.11952496 -0.01766672 0.16460926
+v 0.04038161 -0.12678135 0.21189431
+v 0.06765487 0.01354777 0.19373428
+v 0.01568704 -0.01170423 0.22679381
+v 0.01032900 -0.16892419 0.18560965
+v 0.01834985 -0.13201503 0.22332508
+v 0.05874085 0.01662551 0.20207533
+v 0.06965788 -0.15641910 0.16746033
+v 0.06708221 -0.10529176 0.19415826
+v 0.00458994 -0.05987522 0.23531502
+v 0.11127166 -0.05542526 0.16536057
+v 0.07985548 -0.09797741 0.18328296
+v 0.11235704 -0.05435839 0.16365703
+f 7 5 2
+f 7 1 5
+f 10 6 3
+f 10 4 6
+f 12 2 5
+f 12 5 8
+f 13 6 4
+f 13 4 8
+f 13 8 5
+f 14 9 5
+f 14 5 1
+f 14 1 9
+f 15 3 6
+f 15 6 9
+f 15 11 3
+f 15 9 1
+f 15 1 11
+f 16 10 2
+f 16 4 10
+f 16 2 12
+f 16 12 8
+f 16 8 4
+f 17 11 1
+f 17 1 7
+f 17 7 11
+f 18 10 3
+f 18 3 11
+f 18 11 7
+f 19 9 6
+f 19 6 13
+f 19 13 5
+f 19 5 9
+f 20 2 10
+f 20 10 18
+f 21 20 18
+f 21 18 7
+f 21 7 20
+f 22 20 7
+f 22 7 2
+f 22 2 20
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_5/collision/model_normalized_collision_26.obj b/objects/objaverse/cupcake/cupcake_5/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d6231ed4f8f5c9ddc775456471869a0bc9f6003f
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_5/collision/model_normalized_collision_26.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v 0.10938750 -0.32090925 0.02936750
+v 0.24985644 -0.22863197 -0.00468693
+v 0.18387049 -0.20518133 0.05655935
+v 0.17407244 -0.16896544 0.04213167
+v 0.08567285 -0.20317739 0.01589094
+v 0.24048246 -0.19347057 0.02144704
+v 0.19078706 -0.27533209 0.02420293
+v 0.08298620 -0.31911398 -0.00577273
+v 0.08227804 -0.19757948 0.08637819
+v 0.20203900 -0.17153719 0.03576187
+v 0.07631865 -0.25202957 0.07591799
+v 0.22075611 -0.24456285 0.01970195
+v 0.24982845 -0.19964217 -0.00511405
+v 0.14173848 -0.31489279 -0.01125908
+v 0.18589797 -0.20118898 0.05587763
+v 0.16995436 -0.17440017 0.04810140
+v 0.16602863 -0.29340357 0.02637518
+v 0.11760953 -0.23006660 0.07080780
+v 0.08598074 -0.32197777 0.03064974
+v 0.23571174 -0.22429430 0.01648754
+v 0.19175441 -0.27443426 0.02408709
+v 0.18836192 -0.28882594 -0.01201429
+v 0.19766992 -0.17838541 0.04093787
+v 0.17111355 -0.18950942 0.05599222
+v 0.14852825 -0.30377617 0.02772219
+v 0.07733178 -0.27752666 0.05987189
+v 0.08444454 -0.31772224 0.02290541
+f 9 4 5
+f 11 9 5
+f 11 5 8
+f 13 8 5
+f 13 5 4
+f 13 4 10
+f 13 10 6
+f 13 6 2
+f 14 1 8
+f 14 8 13
+f 15 3 6
+f 15 9 3
+f 16 10 4
+f 16 4 9
+f 17 7 3
+f 18 3 9
+f 18 9 11
+f 18 17 3
+f 18 11 17
+f 19 8 1
+f 20 6 3
+f 20 3 12
+f 20 12 2
+f 20 2 6
+f 21 12 3
+f 21 3 7
+f 21 7 2
+f 21 2 12
+f 22 2 7
+f 22 7 17
+f 22 14 13
+f 22 13 2
+f 23 15 6
+f 23 6 10
+f 24 16 9
+f 24 9 15
+f 24 15 23
+f 24 23 10
+f 24 10 16
+f 25 17 11
+f 25 11 1
+f 25 1 14
+f 25 22 17
+f 25 14 22
+f 26 11 8
+f 26 19 1
+f 26 1 11
+f 27 26 8
+f 27 8 19
+f 27 19 26
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_5/collision/model_normalized_collision_28.obj b/objects/objaverse/cupcake/cupcake_5/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eea47aba0efd91e1267c6b21c4cd06dcda33b771
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_5/collision/model_normalized_collision_28.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v -0.35036069 -0.11804960 -0.03274668
+v -0.34827557 -0.11417900 -0.02247023
+v -0.39986701 -0.01681454 -0.06502012
+v -0.35405844 0.17887928 -0.06630576
+v -0.34767893 0.17511808 -0.06059452
+v -0.36089378 -0.11953135 -0.04846699
+v -0.36401163 -0.00444136 0.01988968
+v -0.36506800 0.17658351 -0.07265640
+v -0.35092506 -0.10691355 0.00095793
+v -0.35145393 0.14807625 -0.01307734
+v -0.37211024 -0.06952069 -0.01695644
+v -0.39440832 0.10220442 -0.07281212
+v -0.35576713 -0.00190632 0.01281605
+v -0.36571231 -0.01812181 0.01718336
+v -0.37181864 -0.08515554 -0.02428949
+v -0.38001167 0.14787428 -0.07179497
+v -0.36875773 0.11421721 -0.02213581
+v -0.37165635 0.08522357 -0.01728128
+v -0.35392723 0.14324343 -0.01391850
+f 5 2 1
+f 6 5 1
+f 6 4 5
+f 8 6 3
+f 8 4 6
+f 9 6 1
+f 9 1 2
+f 10 5 4
+f 10 4 8
+f 10 9 2
+f 10 2 5
+f 12 8 3
+f 12 3 7
+f 13 10 7
+f 13 7 9
+f 13 9 10
+f 14 11 9
+f 14 9 7
+f 14 7 3
+f 14 3 11
+f 15 11 3
+f 15 3 6
+f 15 6 9
+f 15 9 11
+f 16 10 8
+f 16 8 12
+f 17 16 12
+f 18 17 12
+f 18 12 7
+f 18 7 17
+f 19 17 7
+f 19 7 10
+f 19 10 16
+f 19 16 17
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_5/collision/model_normalized_collision_29.obj b/objects/objaverse/cupcake/cupcake_5/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..485a2848bdc409657bfb1888ac3b958c07b339a9
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_5/collision/model_normalized_collision_29.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v -0.23668254 -0.01716151 0.01939699
+v -0.23484847 -0.01698067 -0.15414507
+v -0.23141617 0.29718929 -0.05547992
+v -0.34197125 0.30554730 -0.12634927
+v -0.40787849 -0.02208706 -0.17831391
+v -0.25047049 0.32023427 -0.16557570
+v -0.32915383 0.09941793 0.02273485
+v -0.22831632 0.26203692 -0.01431215
+v -0.35656144 0.25579168 -0.15442968
+v -0.35813927 -0.01635052 0.01040493
+v -0.27118711 0.18550755 0.02480479
+v -0.23336154 0.28258368 -0.02675061
+v -0.36585732 0.27966093 -0.10230197
+v -0.33952041 0.29554831 -0.15087750
+v -0.34499164 0.05514220 0.02366293
+v -0.23388297 0.20888213 0.01282754
+v -0.34062369 0.16813406 -0.01294997
+v -0.25573200 0.27043952 -0.02623204
+v -0.24334417 0.20277884 0.01764265
+f 5 2 1
+f 6 3 2
+f 6 4 3
+f 6 2 5
+f 8 1 2
+f 8 2 3
+f 9 6 5
+f 10 5 1
+f 12 8 3
+f 12 3 4
+f 12 11 8
+f 13 9 5
+f 13 5 10
+f 13 12 4
+f 14 4 6
+f 14 6 9
+f 14 13 4
+f 14 9 13
+f 15 10 1
+f 15 13 10
+f 15 11 7
+f 15 1 11
+f 16 1 8
+f 17 7 11
+f 17 11 13
+f 17 15 7
+f 17 13 15
+f 18 13 11
+f 18 11 12
+f 18 12 13
+f 19 11 1
+f 19 1 16
+f 19 16 8
+f 19 8 11
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_5/collision/model_normalized_collision_31.obj b/objects/objaverse/cupcake/cupcake_5/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..965a8f95317aabe50085ab29696eb532cc86ca80
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_5/collision/model_normalized_collision_31.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.25586678 -0.01257633 0.01736810
+v 0.25000001 -0.01698067 -0.33932924
+v 0.25000001 0.22544356 -0.33932924
+v -0.22876122 0.21432981 0.01719968
+v -0.23668254 -0.01716151 0.01939699
+v 0.24759114 0.22556969 -0.03097185
+v -0.23484847 -0.01698067 -0.33932924
+v -0.23484847 0.22544356 -0.33932924
+v 0.20864371 0.22080143 -0.00693580
+v 0.23040720 0.19950735 -0.01265087
+v 0.23204618 0.14086797 -0.00167635
+f 1 2 3
+f 5 2 1
+f 5 1 4
+f 6 1 3
+f 7 3 2
+f 7 2 5
+f 8 6 3
+f 8 4 6
+f 8 3 7
+f 8 7 5
+f 8 5 4
+f 9 6 4
+f 9 4 1
+f 10 1 6
+f 10 6 9
+f 11 10 9
+f 11 9 1
+f 11 1 10
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_5/collision/model_normalized_collision_4.obj b/objects/objaverse/cupcake/cupcake_5/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..482911baec166e69d7241d6a8ea8099761a46712
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_5/collision/model_normalized_collision_4.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v -0.09840076 0.22532627 -0.04639243
+v -0.09848483 0.22544356 -0.15414507
+v -0.10907239 0.46649952 -0.09175772
+v -0.18429882 0.46635916 -0.09175772
+v -0.33952041 0.29554831 -0.15087750
+v -0.09683267 0.34127478 -0.04284811
+v -0.23319809 0.22394148 -0.04377986
+v -0.16145514 0.39954751 -0.20343824
+v -0.09548250 0.35199437 -0.04844060
+v -0.23484847 0.22544356 -0.15414507
+v -0.32731798 0.37796928 -0.09175772
+v -0.09876074 0.37786825 -0.18488932
+v -0.13005224 0.46827446 -0.11184652
+v -0.18952039 0.39250939 -0.19980580
+v -0.11166603 0.34023858 -0.04475747
+v -0.34334676 0.32628647 -0.08981618
+v -0.15528822 0.40998843 -0.19319856
+v -0.10957013 0.42058062 -0.17736438
+v -0.30368281 0.35024581 -0.14506228
+v -0.21624744 0.45658846 -0.09175772
+v -0.34503933 0.31810100 -0.10328826
+v -0.18351026 0.40316576 -0.18968031
+v -0.12299032 0.43573292 -0.16203594
+f 6 3 4
+f 7 2 1
+f 7 1 6
+f 9 6 1
+f 9 1 2
+f 9 3 6
+f 10 7 5
+f 10 2 7
+f 10 8 2
+f 12 2 8
+f 12 9 2
+f 12 3 9
+f 13 4 3
+f 14 10 5
+f 14 8 10
+f 15 11 7
+f 15 7 6
+f 16 7 11
+f 17 4 13
+f 18 13 3
+f 18 3 12
+f 18 12 8
+f 18 8 17
+f 19 14 5
+f 19 5 11
+f 19 11 14
+f 20 14 11
+f 20 4 17
+f 20 11 15
+f 20 15 6
+f 20 6 4
+f 21 16 11
+f 21 11 5
+f 21 5 7
+f 21 7 16
+f 22 17 8
+f 22 8 14
+f 22 20 17
+f 22 14 20
+f 23 18 17
+f 23 17 13
+f 23 13 18
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_5/collision/model_normalized_collision_5.obj b/objects/objaverse/cupcake/cupcake_5/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f04a66652550d6c38034af37542cb1d83c7ada4
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_5/collision/model_normalized_collision_5.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v 0.24302736 -0.02475361 0.04268180
+v 0.26510263 -0.01702718 0.01244416
+v 0.05439299 0.21056553 0.16906694
+v -0.09492190 0.28719955 0.00607930
+v -0.17759664 -0.01731156 0.03409364
+v 0.15835296 0.25516334 0.00843358
+v 0.12994012 0.09518170 0.14857582
+v 0.25788955 -0.02058404 0.02088489
+v 0.26056790 0.00716269 0.00188397
+v -0.17076486 0.13085002 0.19478793
+v 0.12672270 0.28021463 0.00418839
+v 0.14346435 0.17083950 0.08933216
+v -0.15030362 0.26046474 0.00736923
+v 0.21109860 0.17838122 -0.00230767
+v -0.07344234 0.20067095 0.21423948
+v -0.18623837 -0.02033748 0.21184683
+v 0.06651486 0.19867199 0.16410594
+v 0.20182061 0.16825868 0.01648424
+v -0.00886671 0.29366335 0.00543609
+v -0.17190804 0.23793154 0.06293671
+v 0.00582353 0.13255340 0.26540810
+v -0.04552627 0.20261417 0.21182613
+v -0.15010884 0.16704427 0.18757084
+v -0.16769389 0.24772036 0.01115563
+v 0.00475581 0.14519954 0.25996630
+v -0.05343948 0.13246207 0.26482739
+v 0.07222409 -0.02316374 0.18670476
+v 0.18473259 -0.01922187 0.10865623
+v -0.16403953 0.15459152 0.18766064
+v 0.11952496 -0.01766672 0.16460926
+v -0.16641773 0.14139287 0.19308045
+f 7 1 2
+f 8 5 2
+f 8 2 1
+f 8 1 5
+f 9 2 5
+f 11 3 6
+f 13 9 5
+f 14 2 9
+f 14 6 12
+f 14 11 6
+f 14 13 4
+f 14 9 13
+f 16 5 1
+f 17 12 6
+f 17 6 3
+f 17 7 12
+f 18 14 12
+f 18 12 7
+f 18 7 2
+f 18 2 14
+f 19 14 4
+f 19 11 14
+f 19 4 15
+f 20 16 10
+f 20 5 16
+f 20 15 4
+f 20 4 13
+f 22 19 15
+f 22 3 11
+f 22 11 19
+f 23 15 20
+f 24 20 13
+f 24 13 5
+f 24 5 20
+f 25 17 3
+f 25 3 22
+f 25 22 15
+f 25 21 7
+f 25 7 17
+f 26 10 16
+f 26 16 21
+f 26 25 15
+f 26 21 25
+f 27 21 16
+f 27 16 1
+f 28 1 7
+f 28 7 21
+f 28 27 1
+f 29 23 20
+f 29 20 10
+f 29 26 15
+f 29 15 23
+f 30 28 21
+f 30 21 27
+f 30 27 28
+f 31 29 10
+f 31 10 26
+f 31 26 29
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_5/collision/model_normalized_collision_6.obj b/objects/objaverse/cupcake/cupcake_5/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..71fa48f120c0c0d31b99f0230e72eed002bdb9dc
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_5/collision/model_normalized_collision_6.obj
@@ -0,0 +1,117 @@
+# https://github.com/mikedh/trimesh
+v -0.08358981 -0.21328263 0.17591477
+v 0.06940282 0.01272259 0.19190582
+v 0.00441384 0.00586568 0.34245450
+v 0.00746897 0.19282472 0.19202223
+v 0.04540801 0.19007365 0.18021035
+v -0.17360696 0.13400640 0.19287869
+v 0.01032900 -0.16892419 0.18560965
+v 0.04337458 -0.00553916 0.31515514
+v 0.01837034 0.08062478 0.31243501
+v -0.17295260 -0.13000925 0.22073770
+v -0.15921041 -0.19310361 0.17217795
+v -0.03391717 -0.17123598 0.20886149
+v 0.00400917 -0.17659011 0.16950283
+v 0.06842325 0.01748043 0.19452964
+v -0.01236694 0.14153441 0.26733178
+v 0.02738686 0.07249658 0.31362472
+v -0.08962334 0.06957453 0.29837544
+v -0.13176797 -0.12940654 0.24045224
+v -0.20296081 -0.01477500 0.19399321
+v 0.03895720 0.17835015 0.19747300
+v 0.01557185 0.18034894 0.20885603
+v 0.00429745 0.18022678 0.21299488
+v 0.00995389 0.03641989 0.33676591
+v -0.10904289 -0.00832535 0.29759691
+v -0.06094020 0.12215437 0.27004651
+v -0.01325648 0.10744421 0.30162736
+v -0.07299494 -0.16274820 0.22427277
+v -0.09947104 -0.21403644 0.17762070
+v -0.17201406 -0.17548354 0.18379679
+v -0.00766737 0.12032232 0.28751763
+v 0.00946599 0.00867566 0.34171336
+v 0.03987621 0.00195143 0.31798562
+v -0.00026240 0.03230207 0.33590078
+v -0.10479517 0.01842501 0.29784964
+v -0.17459267 -0.02775843 0.23835215
+v -0.07941553 0.07993419 0.29753251
+v -0.00355977 0.08530704 0.31557085
+v -0.17157822 -0.18108639 0.17745379
+v -0.17442543 0.05693095 0.23800332
+v -0.02487927 0.10539615 0.29936843
+f 6 4 5
+f 8 7 2
+f 11 6 5
+f 12 1 7
+f 12 8 3
+f 12 7 8
+f 13 5 2
+f 13 2 7
+f 13 7 1
+f 13 11 5
+f 13 1 11
+f 14 8 2
+f 14 2 5
+f 14 5 8
+f 16 8 5
+f 19 6 11
+f 20 16 5
+f 20 9 16
+f 21 5 4
+f 21 20 5
+f 21 15 20
+f 22 4 6
+f 22 6 15
+f 22 21 4
+f 22 15 21
+f 23 16 9
+f 24 18 3
+f 24 10 18
+f 25 15 6
+f 26 15 25
+f 27 12 3
+f 27 3 18
+f 27 1 12
+f 28 11 1
+f 28 27 18
+f 28 1 27
+f 29 18 10
+f 29 28 18
+f 29 11 28
+f 29 10 19
+f 30 20 15
+f 30 9 20
+f 30 26 9
+f 30 15 26
+f 31 23 3
+f 31 3 8
+f 32 8 16
+f 32 16 23
+f 32 31 8
+f 32 23 31
+f 33 17 3
+f 33 3 23
+f 34 24 3
+f 34 3 17
+f 35 19 10
+f 35 10 24
+f 36 25 6
+f 36 6 17
+f 36 17 33
+f 37 23 9
+f 37 9 26
+f 37 26 36
+f 37 36 33
+f 37 33 23
+f 38 29 19
+f 38 19 11
+f 38 11 29
+f 39 34 17
+f 39 17 6
+f 39 6 19
+f 39 19 35
+f 39 35 24
+f 39 24 34
+f 40 36 26
+f 40 26 25
+f 40 25 36
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_5/collision/model_normalized_collision_7.obj b/objects/objaverse/cupcake/cupcake_5/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da869c32dbc01d367cbcb0bac1a6133d660d59b2
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_5/collision/model_normalized_collision_7.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.33900162 -0.06578304 -0.29460745
+v 0.35606060 -0.01698067 -0.33932924
+v 0.40567880 0.12318448 -0.14505776
+v 0.27924489 0.24944255 -0.17170656
+v 0.25000001 -0.01698067 -0.33932924
+v 0.31671034 0.16793101 -0.33932924
+v 0.25000001 -0.01698067 -0.15414507
+v 0.40103346 0.02821928 -0.15381799
+v 0.33495817 -0.06476094 -0.30850761
+v 0.34055368 0.09979826 -0.33932924
+v 0.37912576 0.20125599 -0.14706581
+v 0.25000001 0.22544356 -0.33932924
+v 0.40542910 0.06320426 -0.14696566
+v 0.37373695 -0.01872259 -0.16239112
+v 0.30539093 -0.06192223 -0.29979709
+v 0.36284170 0.21519090 -0.14593745
+v 0.25874125 0.22509748 -0.33932924
+v 0.30984542 -0.06236040 -0.29015393
+f 6 2 5
+f 8 1 2
+f 9 5 2
+f 9 2 1
+f 10 3 2
+f 10 2 6
+f 11 10 6
+f 11 3 10
+f 12 6 5
+f 12 7 4
+f 12 5 7
+f 13 8 2
+f 13 2 3
+f 13 3 7
+f 13 7 8
+f 14 8 7
+f 14 7 1
+f 14 1 8
+f 15 7 5
+f 15 5 9
+f 15 9 1
+f 16 7 3
+f 16 3 11
+f 16 4 7
+f 17 11 6
+f 17 6 12
+f 17 16 11
+f 17 12 4
+f 17 4 16
+f 18 15 1
+f 18 1 7
+f 18 7 15
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_5/collision/model_normalized_collision_8.obj b/objects/objaverse/cupcake/cupcake_5/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5506db519e93b91e2eb9393d5a7c07f2f6e44203
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_5/collision/model_normalized_collision_8.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.24982845 -0.19964217 -0.00511405
+v 0.28047008 -0.13950499 -0.00733304
+v 0.02189570 -0.00820048 0.20895812
+v -0.20296081 -0.01477500 0.19399321
+v -0.17989640 -0.01753843 0.03373257
+v -0.16589010 -0.18835571 0.17458269
+v 0.07878853 -0.15325603 0.16071796
+v -0.17699736 -0.20216383 0.00578309
+v 0.26372421 -0.01683924 -0.00594825
+v 0.18600815 -0.00178430 0.09058011
+v 0.24048246 -0.19347057 0.02144704
+v -0.01276815 -0.18231047 0.17171290
+v 0.26554262 -0.18470892 -0.00872280
+v 0.25004956 -0.03996363 0.04592842
+v 0.07700027 -0.18960106 0.11830665
+v 0.24967738 -0.17786014 0.01868281
+v 0.28162703 -0.12528884 -0.00905891
+v 0.18630816 -0.00315187 0.10112201
+v 0.25000293 -0.06677315 0.04669809
+v 0.17433942 -0.06098241 0.11980559
+v 0.24798170 -0.02361468 0.03519005
+v 0.12250411 -0.01739356 0.16157463
+v 0.18100006 -0.03535423 0.11477278
+v 0.11235704 -0.05435839 0.16365703
+v 0.18790596 -0.02029082 0.10740733
+f 6 3 4
+f 8 1 6
+f 8 6 4
+f 8 4 5
+f 9 8 5
+f 10 5 4
+f 10 4 3
+f 10 9 5
+f 12 7 3
+f 12 3 6
+f 13 1 8
+f 13 11 1
+f 15 11 7
+f 15 7 12
+f 15 1 11
+f 15 12 6
+f 15 6 1
+f 16 13 2
+f 16 11 13
+f 17 2 13
+f 17 9 14
+f 17 13 8
+f 17 8 9
+f 18 9 10
+f 18 10 3
+f 19 16 2
+f 19 17 14
+f 19 2 17
+f 20 7 11
+f 20 11 16
+f 20 16 19
+f 21 18 14
+f 21 14 9
+f 21 9 18
+f 22 18 3
+f 23 20 19
+f 23 19 14
+f 23 22 20
+f 24 22 3
+f 24 3 7
+f 24 7 20
+f 24 20 22
+f 25 23 14
+f 25 14 18
+f 25 18 22
+f 25 22 23
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_5/collision/model_normalized_collision_9.obj b/objects/objaverse/cupcake/cupcake_5/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db0511024dadf7ccee517058b034eea09b7414d3
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_5/collision/model_normalized_collision_9.obj
@@ -0,0 +1,141 @@
+# https://github.com/mikedh/trimesh
+v -0.17064839 -0.24802008 0.08204806
+v -0.17093016 -0.25462489 -0.01392397
+v -0.16445541 -0.00961833 0.24274018
+v -0.17301895 0.24365462 0.05239989
+v -0.36862801 -0.01727719 -0.00652108
+v -0.16769389 0.24772036 0.01115563
+v -0.26059082 -0.26015673 -0.01201995
+v -0.24916904 0.10902026 0.15141222
+v -0.16678323 0.09761356 0.21834645
+v -0.29500034 0.19383547 -0.00729967
+v -0.20466280 -0.13055474 0.21120171
+v -0.17128907 0.14654305 0.18814900
+v -0.20510838 0.02257830 0.22375152
+v -0.18510373 0.24053716 0.05513828
+v -0.34173525 0.08338780 0.04517128
+v -0.32138795 0.15077153 -0.00828232
+v -0.25365296 -0.23312303 0.05882595
+v -0.17373202 -0.14138062 0.21201715
+v -0.17185869 0.22771517 0.07348204
+v -0.23911912 0.08089974 0.18143110
+v -0.17400405 0.05690552 0.23809020
+v -0.18317012 -0.03007806 0.23769519
+v -0.29474820 0.18263941 0.04055644
+v -0.29836654 -0.07262527 0.13152455
+v -0.35559028 0.05336756 0.03368238
+v -0.25943756 -0.25665833 0.01700842
+v -0.17201406 -0.17548354 0.18379679
+v -0.17921822 0.13982018 0.18806923
+v -0.32544817 0.12725727 0.04324745
+v -0.20999301 0.00429546 0.22203616
+v -0.17278001 -0.11801952 0.22592272
+v -0.22401820 0.22221817 0.05979093
+v -0.29538908 0.18189451 0.04062250
+v -0.31367412 -0.10943056 0.09548938
+v -0.29168920 -0.00905644 0.14045320
+v -0.23838463 -0.25084338 0.04363067
+v -0.34930117 -0.12296570 0.00131651
+v -0.19418045 -0.14076428 0.21429289
+v -0.25008396 0.16441342 0.10481853
+v -0.19589345 -0.12026632 0.22071610
+v -0.28358777 0.19332268 0.03929307
+v -0.31049811 0.15564793 0.04182514
+v -0.31228741 -0.09822943 0.10449934
+v -0.35481893 0.05252283 0.03653086
+v -0.27922510 0.05358871 0.13842634
+v -0.35699789 -0.03822736 0.02847709
+v -0.35664837 -0.08713506 0.00127382
+v -0.35664804 -0.08647965 0.00002833
+f 1 2 3
+f 6 3 2
+f 7 2 1
+f 9 3 6
+f 10 6 2
+f 12 9 6
+f 14 4 6
+f 14 6 10
+f 14 12 4
+f 16 7 5
+f 16 10 2
+f 16 2 7
+f 19 12 6
+f 19 6 4
+f 19 4 12
+f 21 3 9
+f 21 20 13
+f 21 9 12
+f 22 21 13
+f 22 3 21
+f 25 16 5
+f 26 7 1
+f 27 1 3
+f 28 8 20
+f 28 21 12
+f 28 20 21
+f 29 20 8
+f 29 15 20
+f 29 25 15
+f 29 16 25
+f 30 22 13
+f 30 13 20
+f 31 3 22
+f 31 27 3
+f 31 18 27
+f 32 14 10
+f 32 12 14
+f 33 23 10
+f 33 10 16
+f 34 17 11
+f 34 26 17
+f 35 30 20
+f 35 24 30
+f 36 26 1
+f 36 17 26
+f 36 27 17
+f 36 1 27
+f 37 5 7
+f 37 7 26
+f 37 26 34
+f 38 11 17
+f 38 17 27
+f 38 27 18
+f 38 18 31
+f 39 8 28
+f 39 33 8
+f 39 23 33
+f 39 28 12
+f 39 12 32
+f 40 22 30
+f 40 11 38
+f 40 38 31
+f 40 31 22
+f 40 30 24
+f 40 24 11
+f 41 32 10
+f 41 10 23
+f 41 39 32
+f 41 23 39
+f 42 33 16
+f 42 16 29
+f 42 29 8
+f 42 8 33
+f 43 34 11
+f 43 11 24
+f 44 24 35
+f 44 25 5
+f 44 35 15
+f 44 15 25
+f 45 35 20
+f 45 20 15
+f 45 15 35
+f 46 37 34
+f 46 34 43
+f 46 44 5
+f 46 43 24
+f 46 24 44
+f 47 46 5
+f 47 37 46
+f 48 47 5
+f 48 5 37
+f 48 37 47
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_5/model.xml b/objects/objaverse/cupcake/cupcake_5/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..45eede8cf522d8d0c0917b3697a85949fbb1d8fb
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_5/model.xml
@@ -0,0 +1,86 @@
+<mujoco model="cupcake_23">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.08999999999999996 0.08999999999999996 0.08999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="visual/model_normalized_1.obj" name="model_normalized_1_vis" scale="0.08999999999999996 0.08999999999999996 0.08999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="visual/model_normalized_2.obj" name="model_normalized_2_vis" scale="0.08999999999999996 0.08999999999999996 0.08999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.08999999999999996 0.08999999999999996 0.08999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.08999999999999996 0.08999999999999996 0.08999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.08999999999999996 0.08999999999999996 0.08999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.08999999999999996 0.08999999999999996 0.08999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.08999999999999996 0.08999999999999996 0.08999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.08999999999999996 0.08999999999999996 0.08999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.08999999999999996 0.08999999999999996 0.08999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.08999999999999996 0.08999999999999996 0.08999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.08999999999999996 0.08999999999999996 0.08999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.08999999999999996 0.08999999999999996 0.08999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.08999999999999996 0.08999999999999996 0.08999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.08999999999999996 0.08999999999999996 0.08999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.08999999999999996 0.08999999999999996 0.08999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.08999999999999996 0.08999999999999996 0.08999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.08999999999999996 0.08999999999999996 0.08999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.08999999999999996 0.08999999999999996 0.08999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.08999999999999996 0.08999999999999996 0.08999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.08999999999999996 0.08999999999999996 0.08999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.08999999999999996 0.08999999999999996 0.08999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.08999999999999996 0.08999999999999996 0.08999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.08999999999999996 0.08999999999999996 0.08999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.08999999999999996 0.08999999999999996 0.08999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.08999999999999996 0.08999999999999996 0.08999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.08999999999999996 0.08999999999999996 0.08999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.08999999999999996 0.08999999999999996 0.08999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.08999999999999996 0.08999999999999996 0.08999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.08999999999999996 0.08999999999999996 0.08999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.08999999999999996 0.08999999999999996 0.08999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.08999999999999996 0.08999999999999996 0.08999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.08999999999999996 0.08999999999999996 0.08999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.08999999999999996 0.08999999999999996 0.08999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.08999999999999996 0.08999999999999996 0.08999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <material name="Material.042" specular="0.5" shininess="0.028802427999999998" rgba="0.685239 0.552134 0.800000 1.0"/>
+    <material name="Material.043" specular="0.5" shininess="0.032000008" rgba="0.635807 0.395261 0.231037 1.0"/>
+    <material name="foil.002" specular="0.5" shininess="0.038399988999999995" rgba="0.800000 0.800000 0.800000 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.043"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_1_vis" conaffinity="0" contype="0" group="1" material="Material.042"/>
+        <geom solimp="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="foil.002"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_22._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_23._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_21._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_20._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_24._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_30._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_18._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_19._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_31._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_25._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_27._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_26._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_9._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_8._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_6._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_7._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_5._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_4._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_0._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_1._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_3._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_2._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_17._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_16._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_28._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_14._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_15._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_29._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_11._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_10._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_12._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_13._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+      </body>
+      <site rgba="0 0 0 0" size="0.005" pos="0.00019388520000000067 -7.172234999999829e-05 -0.030715123499999983" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.00019388520000000067 -7.172234999999829e-05 0.030820904999999985" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.04499999999999998 0.04385338199999998 5.289075000000085e-05" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/objects/objaverse/cupcake/cupcake_6/collision/model_normalized_collision_0.obj b/objects/objaverse/cupcake/cupcake_6/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..94268232987abfdcb30addcbeee8e93a7df713e5
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_6/collision/model_normalized_collision_0.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v -0.38533713 -0.08238519 -0.35960288
+v -0.19835870 -0.01376251 -0.35606061
+v -0.19835870 -0.01376251 -0.23484849
+v -0.19497281 0.35838028 -0.23327420
+v -0.19459874 0.34249450 -0.50000000
+v -0.41140915 -0.01151008 -0.23180863
+v -0.38395047 -0.08216557 -0.41581778
+v -0.19219266 0.35292401 -0.26228459
+v -0.20713491 0.35251285 -0.23188393
+v -0.33472233 -0.01376251 -0.50000000
+v -0.32232557 0.23418257 -0.50000000
+v -0.19835870 0.16805567 -0.50000000
+v -0.23418257 0.32232557 -0.50000000
+v -0.33714197 0.23732591 -0.23183208
+v -0.39658409 -0.01156170 -0.50000000
+v -0.39430886 0.12004006 -0.23139249
+v -0.23732628 0.33714220 -0.23183201
+v -0.41099805 0.01422270 -0.23172076
+v -0.37939734 0.12007797 -0.50000000
+v -0.39381391 0.02905248 -0.50000000
+f 6 1 3
+f 7 2 3
+f 7 3 1
+f 7 1 6
+f 8 3 2
+f 8 2 5
+f 8 5 4
+f 8 4 3
+f 9 6 3
+f 9 3 4
+f 9 4 5
+f 10 2 7
+f 11 5 10
+f 12 10 5
+f 12 5 2
+f 12 2 10
+f 13 5 11
+f 15 11 10
+f 15 10 7
+f 15 7 6
+f 16 6 9
+f 17 13 11
+f 17 11 14
+f 17 9 5
+f 17 5 13
+f 17 16 9
+f 17 14 16
+f 18 15 6
+f 18 6 16
+f 19 16 14
+f 19 14 11
+f 19 11 15
+f 20 19 15
+f 20 15 18
+f 20 18 16
+f 20 16 19
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_6/collision/model_normalized_collision_1.obj b/objects/objaverse/cupcake/cupcake_6/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..351678425d981dee7273f58df7767bfe595563d5
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_6/collision/model_normalized_collision_1.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.33511043 -0.02531836 0.42689696
+v 0.37602906 0.00538094 0.38250746
+v 0.35943202 0.07400327 0.46580988
+v 0.28133327 0.15140466 0.43820227
+v 0.23289874 0.04822420 0.30023978
+v 0.36062026 0.11562645 0.35471977
+v 0.23341154 -0.00327534 0.46638624
+v 0.36022001 0.01410645 0.45113878
+v 0.28978590 -0.02598726 0.34940160
+v 0.37673329 0.10372336 0.38209560
+v 0.30183369 0.15140466 0.36103914
+v 0.36010565 0.05010451 0.32676680
+v 0.27596063 0.08806765 0.48975467
+v 0.19755329 0.08844065 0.42236418
+v 0.36213294 -0.00048747 0.42488673
+v 0.37383781 0.03613417 0.44211760
+v 0.31331643 0.00010517 0.47753641
+v 0.33654977 -0.02423872 0.36654486
+v 0.24090640 -0.03357226 0.39687052
+v 0.34543169 0.12399471 0.43809592
+v 0.31184775 0.08777317 0.31451687
+v 0.31169578 0.02120458 0.31510318
+v 0.37554663 0.07084690 0.35023927
+v 0.23658842 0.12154731 0.35350946
+v 0.23341332 0.11488986 0.46638624
+v 0.33882585 -0.01176076 0.44805934
+v 0.35941073 0.03557693 0.46528564
+v 0.37442437 0.07284387 0.44226853
+v 0.37413406 0.02091144 0.42704204
+v 0.26242717 -0.02773088 0.44932218
+v 0.27611282 0.02090993 0.48916833
+v 0.34739349 -0.00361393 0.33844889
+v 0.23690593 -0.01118794 0.35485350
+v 0.19825638 0.02066305 0.42195065
+v 0.32141530 -0.02426805 0.35137866
+v 0.32116969 0.11053524 0.47410468
+v 0.32834751 0.15140466 0.41055112
+v 0.34723739 0.11520416 0.33824765
+v 0.26402748 0.11053524 0.32393801
+v 0.26402748 0.00107838 0.32393801
+v 0.32388752 0.07185795 0.31386229
+v 0.37484389 0.03825626 0.35065285
+v 0.37576098 0.10166034 0.37781342
+v 0.21095776 0.08701245 0.35251745
+v 0.24828461 0.15140466 0.39253193
+v 0.21239032 0.07015941 0.46343432
+v 0.28738297 -0.02704188 0.45084064
+v 0.33576466 0.01336400 0.47315729
+v 0.36135775 0.09654764 0.45046931
+v 0.27392448 0.00023250 0.47676417
+v 0.22207895 -0.01093699 0.44049838
+v 0.36030109 -0.00555932 0.35511151
+v 0.32318452 0.03724566 0.31427573
+v 0.26087203 -0.02499331 0.36402718
+v 0.21100276 0.00282248 0.38881772
+v 0.32364681 0.07450047 0.48967493
+v 0.26145292 0.10627836 0.47798430
+v 0.33952789 0.12205721 0.44925338
+v 0.32265710 0.15059422 0.38044738
+v 0.36105143 0.12547173 0.39131851
+v 0.35696988 0.07270372 0.32861011
+v 0.23633455 0.05112073 0.29821911
+v 0.32559072 0.10592034 0.32664657
+v 0.26365618 0.12225861 0.33845820
+f 15 1 2
+f 18 2 1
+f 19 18 1
+f 23 10 2
+f 26 15 8
+f 26 1 15
+f 27 8 16
+f 28 27 16
+f 28 3 27
+f 28 16 2
+f 28 2 10
+f 29 15 2
+f 29 2 16
+f 29 16 8
+f 29 8 15
+f 35 19 9
+f 35 18 19
+f 35 32 18
+f 37 11 4
+f 38 6 23
+f 40 33 5
+f 40 9 33
+f 40 35 9
+f 40 22 32
+f 40 32 35
+f 41 21 38
+f 42 23 2
+f 42 12 23
+f 42 32 12
+f 43 23 6
+f 43 6 10
+f 43 10 23
+f 44 34 14
+f 45 4 11
+f 45 25 4
+f 45 14 25
+f 45 44 14
+f 45 24 44
+f 46 25 14
+f 46 13 25
+f 46 31 13
+f 46 7 31
+f 46 34 7
+f 46 14 34
+f 47 26 17
+f 47 1 26
+f 47 30 19
+f 47 19 1
+f 48 26 8
+f 48 17 26
+f 48 8 27
+f 49 3 28
+f 49 36 3
+f 49 28 10
+f 50 7 30
+f 50 31 7
+f 50 17 31
+f 50 47 17
+f 50 30 47
+f 51 30 7
+f 51 19 30
+f 51 7 34
+f 52 2 18
+f 52 18 32
+f 52 42 2
+f 52 32 42
+f 53 32 22
+f 53 12 32
+f 53 41 12
+f 54 33 9
+f 54 9 19
+f 54 19 33
+f 55 33 19
+f 55 51 34
+f 55 19 51
+f 55 5 33
+f 55 44 5
+f 55 34 44
+f 56 36 13
+f 56 3 36
+f 56 13 31
+f 56 31 17
+f 56 17 48
+f 56 48 27
+f 56 27 3
+f 57 25 13
+f 57 13 36
+f 57 36 4
+f 57 4 25
+f 58 20 37
+f 58 49 20
+f 58 36 49
+f 58 37 4
+f 58 4 36
+f 59 11 37
+f 59 38 11
+f 59 6 38
+f 60 37 20
+f 60 10 6
+f 60 59 37
+f 60 6 59
+f 60 49 10
+f 60 20 49
+f 61 38 23
+f 61 23 12
+f 61 41 38
+f 61 12 41
+f 62 39 21
+f 62 24 39
+f 62 44 24
+f 62 5 44
+f 62 21 41
+f 62 41 53
+f 62 53 22
+f 62 40 5
+f 62 22 40
+f 63 38 21
+f 63 21 39
+f 63 39 11
+f 63 11 38
+f 64 39 24
+f 64 11 39
+f 64 45 11
+f 64 24 45
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_6/collision/model_normalized_collision_10.obj b/objects/objaverse/cupcake/cupcake_6/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..715be3e1c5e3c12d4ccd8032b043425842a3dc73
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_6/collision/model_normalized_collision_10.obj
@@ -0,0 +1,150 @@
+# https://github.com/mikedh/trimesh
+v -0.13928238 -0.33695446 0.13711346
+v -0.00246833 -0.29689328 0.13659633
+v 0.01481910 -0.08660468 0.29908278
+v -0.06688412 0.30809359 0.14508419
+v -0.16321344 0.25146858 0.13417735
+v -0.00169383 0.30054791 0.14078347
+v -0.11150794 -0.27619335 0.18668228
+v -0.17822546 -0.33393233 0.13527560
+v -0.12240212 0.06077803 0.26058886
+v -0.07024248 0.30700927 0.14136660
+v -0.08238826 -0.31788315 0.14352748
+v -0.08264351 -0.30204691 0.15792112
+v -0.03457200 -0.30906709 0.13538829
+v -0.18046187 -0.26448741 0.20033773
+v -0.15760423 0.24279531 0.15617206
+v 0.00026358 0.16060752 0.23569963
+v -0.03928749 0.31350580 0.14260100
+v -0.14128445 -0.31639232 0.15989534
+v -0.07898446 -0.32385139 0.13647347
+v -0.15440591 -0.26091156 0.20121734
+v -0.15686050 -0.05584109 0.25726620
+v -0.23907087 -0.22385974 0.18441173
+v -0.03901245 0.25333619 0.18942936
+v -0.04254137 0.10358460 0.25542969
+v 0.00202480 0.13182040 0.24755351
+v -0.16526525 -0.31775415 0.15834107
+v -0.19283636 -0.14619420 0.23244354
+v -0.18822471 0.17465795 0.17338795
+v -0.19548886 0.22443744 0.13809829
+v -0.19324378 -0.31842888 0.15019548
+v -0.10679907 0.07544806 0.26045465
+v -0.04084933 0.28080664 0.17428898
+v -0.00277268 0.23203499 0.20238924
+v -0.08344503 0.08978527 0.25844051
+v -0.17583142 -0.32760641 0.14626360
+v -0.14142457 -0.33092685 0.14417464
+v -0.18057751 -0.21932144 0.21630468
+v -0.15025144 0.00945054 0.25568488
+v -0.15941466 0.20608012 0.17472602
+v -0.19403638 -0.09030666 0.23210301
+v -0.19563782 -0.32475480 0.13920748
+v -0.18555377 0.20316295 0.15978137
+v -0.23624195 -0.23780391 0.18143975
+v -0.18881934 -0.27730539 0.18910921
+v -0.04132441 0.31178357 0.15104223
+v -0.01022608 0.15481617 0.23750377
+v -0.20166221 -0.24477963 0.20052497
+v -0.19183787 -0.00387030 0.21604557
+v -0.23357164 -0.22023517 0.19093834
+v -0.00209431 0.29349656 0.14947209
+v -0.23084911 -0.23388513 0.18732116
+f 6 3 2
+f 6 2 5
+f 10 6 5
+f 10 5 4
+f 12 2 3
+f 12 3 7
+f 12 11 2
+f 13 8 5
+f 13 5 2
+f 15 4 5
+f 17 10 4
+f 17 6 10
+f 18 12 7
+f 18 11 12
+f 19 1 8
+f 19 8 13
+f 19 11 18
+f 19 13 2
+f 19 2 11
+f 20 7 3
+f 20 3 14
+f 20 18 7
+f 20 14 18
+f 21 3 9
+f 25 3 6
+f 25 24 3
+f 26 18 14
+f 27 3 21
+f 29 5 8
+f 29 22 28
+f 29 15 5
+f 31 23 15
+f 31 9 3
+f 32 4 15
+f 32 15 23
+f 33 16 25
+f 33 32 23
+f 34 24 25
+f 34 23 31
+f 34 31 3
+f 34 3 24
+f 35 8 1
+f 35 30 8
+f 35 26 30
+f 36 18 26
+f 36 19 18
+f 36 1 19
+f 36 35 1
+f 36 26 35
+f 37 14 3
+f 37 3 27
+f 38 21 9
+f 38 9 28
+f 39 28 9
+f 39 15 28
+f 39 31 15
+f 39 9 31
+f 40 27 21
+f 40 21 38
+f 41 29 8
+f 41 8 30
+f 42 29 28
+f 42 28 15
+f 42 15 29
+f 43 41 30
+f 43 22 29
+f 43 29 41
+f 44 30 26
+f 44 26 14
+f 44 43 30
+f 45 17 4
+f 45 4 32
+f 45 6 17
+f 45 32 33
+f 46 34 25
+f 46 25 16
+f 46 23 34
+f 46 33 23
+f 46 16 33
+f 47 37 27
+f 47 14 37
+f 47 44 14
+f 47 43 44
+f 48 28 22
+f 48 22 40
+f 48 40 38
+f 48 38 28
+f 49 40 22
+f 49 27 40
+f 49 47 27
+f 49 22 43
+f 50 45 33
+f 50 6 45
+f 50 33 25
+f 50 25 6
+f 51 49 43
+f 51 43 47
+f 51 47 49
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_6/collision/model_normalized_collision_11.obj b/objects/objaverse/cupcake/cupcake_6/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..710d1bb55656367302ce7c51bd2c40c89a1a26ba
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_6/collision/model_normalized_collision_11.obj
@@ -0,0 +1,117 @@
+# https://github.com/mikedh/trimesh
+v 0.19273996 0.32914715 -0.00491626
+v 0.23555707 0.35370744 -0.16612329
+v 0.14211481 0.43740017 -0.04260198
+v -0.14472255 0.43987702 -0.05721227
+v -0.22562519 0.35849982 -0.16685131
+v 0.02603776 0.45292627 -0.07726516
+v -0.08973471 0.43975157 -0.01730443
+v 0.21936175 0.39767972 -0.04121250
+v -0.19540176 0.32891888 -0.00543584
+v 0.13186890 0.43632578 -0.07678101
+v -0.08942873 0.43781832 -0.09243136
+v 0.18877870 0.38197867 -0.15414597
+v 0.15646996 0.42349658 -0.01730343
+v -0.05927578 0.45391738 -0.05706349
+v 0.23005356 0.34290600 -0.01954209
+v -0.07568135 0.38607820 -0.01113020
+v -0.20701961 0.39774131 -0.01730363
+v 0.05656227 0.45432456 -0.05696710
+v 0.20234381 0.40916814 -0.06208361
+v -0.15797803 0.42100403 -0.09115864
+v -0.20890322 0.37113495 -0.15574173
+v 0.10152917 0.43609408 -0.09185511
+v 0.10180653 0.43784143 -0.01730370
+v -0.11965172 0.43731487 -0.02710239
+v -0.05909419 0.45277087 -0.06206185
+v 0.18665643 0.40811629 -0.01730387
+v -0.15867579 0.42237383 -0.01730398
+v -0.20460548 0.40815477 -0.06170849
+v -0.21268089 0.33309466 -0.01122508
+v 0.05637749 0.45315795 -0.06219106
+v 0.14279259 0.43947050 -0.06219232
+v 0.02591968 0.45217707 -0.02717048
+v 0.21611169 0.39130106 -0.09138075
+v 0.20135776 0.40723288 -0.04267055
+v -0.14421002 0.43887090 -0.06186139
+v 0.07291712 0.38616409 -0.01095236
+v -0.02875448 0.45253928 -0.07713598
+v -0.20359248 0.40616661 -0.04294817
+v 0.15571612 0.42201721 -0.09153378
+v -0.02863273 0.45177063 -0.02726477
+f 9 5 2
+f 9 2 1
+f 12 2 5
+f 12 11 6
+f 15 1 2
+f 15 2 8
+f 16 9 1
+f 16 7 9
+f 18 6 14
+f 21 12 5
+f 21 11 12
+f 21 20 11
+f 22 12 6
+f 22 6 10
+f 22 10 12
+f 23 1 13
+f 23 13 3
+f 23 3 18
+f 24 14 4
+f 26 13 1
+f 26 1 15
+f 26 15 8
+f 26 3 13
+f 27 17 9
+f 27 9 7
+f 27 7 24
+f 27 24 4
+f 28 5 17
+f 29 17 5
+f 29 5 9
+f 29 9 17
+f 30 10 6
+f 30 6 18
+f 31 18 3
+f 31 30 18
+f 31 10 30
+f 31 3 19
+f 32 18 14
+f 32 23 18
+f 32 7 23
+f 33 19 8
+f 33 8 2
+f 33 2 12
+f 34 19 3
+f 34 8 19
+f 34 26 8
+f 34 3 26
+f 35 11 20
+f 35 25 11
+f 35 4 14
+f 35 14 25
+f 35 28 4
+f 35 5 28
+f 35 21 5
+f 35 20 21
+f 36 16 1
+f 36 1 23
+f 36 23 7
+f 36 7 16
+f 37 25 14
+f 37 14 6
+f 37 6 11
+f 37 11 25
+f 38 28 17
+f 38 4 28
+f 38 27 4
+f 38 17 27
+f 39 12 10
+f 39 10 31
+f 39 33 12
+f 39 31 19
+f 39 19 33
+f 40 32 14
+f 40 7 32
+f 40 24 7
+f 40 14 24
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_6/collision/model_normalized_collision_12.obj b/objects/objaverse/cupcake/cupcake_6/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..151e20989c9d71dec77baa93d564d28e2fb2576f
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_6/collision/model_normalized_collision_12.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.25527053 -0.25527055 0.00498922
+v 0.28678445 -0.28678464 -0.24398299
+v 0.22880184 0.34044936 -0.23620535
+v -0.20992758 0.32769084 -0.00818916
+v -0.21738228 -0.26005873 0.01735643
+v -0.21351021 -0.25618675 -0.23484849
+v 0.22179025 0.32668854 -0.01042513
+v -0.21886962 0.34524099 -0.23734065
+v 0.26191518 0.21858155 0.00240665
+v 0.25618675 0.21351021 -0.23484849
+f 5 2 1
+f 6 2 5
+f 8 3 2
+f 8 2 6
+f 8 7 3
+f 8 4 7
+f 8 6 5
+f 8 5 4
+f 9 5 1
+f 9 1 2
+f 9 3 7
+f 9 7 4
+f 9 4 5
+f 10 9 2
+f 10 2 3
+f 10 3 9
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_6/collision/model_normalized_collision_13.obj b/objects/objaverse/cupcake/cupcake_6/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6a358f942bdfe971ce2ca23742a7add4973a141d
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_6/collision/model_normalized_collision_13.obj
@@ -0,0 +1,156 @@
+# https://github.com/mikedh/trimesh
+v -0.34245406 -0.29422140 -0.02516314
+v -0.32525545 -0.27702290 -0.15467222
+v -0.33014502 0.18087490 -0.00269029
+v -0.35068386 0.29007778 -0.03761294
+v -0.45292638 -0.02603778 -0.07726538
+v -0.35697598 0.19454619 -0.24012077
+v -0.32914248 -0.19273758 -0.00493920
+v -0.43947048 -0.14279258 -0.06219246
+v -0.43975127 0.08973484 -0.01730614
+v -0.34234338 0.26658594 -0.14042471
+v -0.39320058 -0.12775836 -0.23085969
+v -0.32480118 -0.29172015 -0.12415716
+v -0.34846468 0.19695047 0.00730184
+v -0.43887211 0.14421021 -0.06186145
+v -0.45217777 -0.02591921 -0.02716926
+v -0.34044896 -0.22880164 -0.23620521
+v -0.34507749 0.28447152 -0.09624625
+v -0.40651552 0.04381573 -0.23076267
+v -0.40692713 -0.04110328 -0.23085065
+v -0.33209039 -0.22454266 -0.01347891
+v -0.37845172 -0.26273918 -0.06193038
+v -0.39161447 0.21904938 -0.01730568
+v -0.40828087 -0.03449473 0.00869080
+v -0.45432470 -0.05656229 -0.05696792
+v -0.42349788 -0.15647065 -0.01730388
+v -0.45391732 0.05927571 -0.05706417
+v -0.37743824 0.26500053 -0.06155481
+v -0.39275841 0.12872310 -0.23065016
+v -0.35100699 -0.28762304 -0.07679014
+v -0.40785837 0.09850976 0.00882397
+v -0.42237596 0.15867692 -0.01730651
+v -0.34791858 -0.28453433 -0.01696048
+v -0.43739867 -0.14211881 -0.04260165
+v -0.45315793 -0.05637749 -0.06219124
+v -0.43784080 -0.10180583 -0.01730436
+v -0.45253945 0.02875464 -0.07713605
+v -0.45277122 0.05909437 -0.06206198
+v -0.45176932 0.02863255 -0.02726615
+v -0.43987671 0.14472233 -0.05721146
+v -0.36490557 0.27399675 -0.07620577
+v -0.37542870 0.26397685 -0.04306022
+v -0.33117852 -0.29809748 -0.09683077
+v -0.36615853 -0.27247143 -0.07679024
+v -0.36744832 0.17650580 0.00524869
+v -0.37735595 -0.24702950 -0.01730258
+v -0.36556836 -0.27188139 -0.02752223
+v -0.43731456 0.11965191 -0.02710212
+v -0.36186239 0.26290798 -0.10648402
+v -0.36660952 0.27570063 -0.04233169
+v -0.35631548 -0.27777964 -0.01730249
+v -0.37649501 -0.26174227 -0.04278326
+v -0.35041691 -0.28703296 -0.02752221
+v -0.35066312 0.25975428 -0.13723612
+f 10 3 2
+f 12 2 3
+f 12 3 7
+f 13 3 4
+f 13 7 3
+f 16 10 2
+f 16 6 10
+f 16 8 11
+f 16 2 12
+f 17 4 3
+f 17 3 10
+f 19 5 18
+f 19 18 6
+f 19 16 11
+f 19 6 16
+f 20 12 7
+f 20 7 1
+f 20 1 12
+f 21 8 16
+f 22 13 4
+f 23 7 13
+f 26 24 15
+f 26 5 24
+f 27 6 14
+f 28 14 6
+f 28 6 18
+f 29 1 21
+f 30 23 13
+f 30 9 15
+f 30 15 23
+f 31 30 22
+f 31 9 30
+f 32 1 7
+f 32 7 23
+f 33 24 8
+f 33 15 24
+f 33 8 21
+f 34 8 24
+f 34 19 11
+f 34 11 8
+f 34 24 5
+f 34 5 19
+f 35 25 23
+f 35 23 15
+f 35 33 25
+f 35 15 33
+f 36 18 5
+f 36 5 26
+f 37 26 14
+f 37 36 26
+f 37 18 36
+f 37 28 18
+f 37 14 28
+f 38 26 15
+f 38 15 9
+f 39 14 26
+f 39 27 14
+f 39 31 22
+f 40 27 4
+f 40 4 17
+f 41 39 22
+f 41 27 39
+f 42 12 1
+f 42 1 29
+f 42 29 16
+f 42 16 12
+f 43 29 21
+f 43 21 16
+f 43 16 29
+f 44 30 13
+f 44 13 22
+f 44 22 30
+f 45 23 25
+f 45 25 33
+f 47 39 26
+f 47 9 31
+f 47 31 39
+f 47 38 9
+f 47 26 38
+f 48 6 27
+f 48 27 40
+f 49 41 22
+f 49 22 4
+f 49 4 27
+f 49 27 41
+f 50 32 23
+f 50 23 45
+f 50 45 46
+f 50 1 32
+f 51 45 33
+f 51 33 21
+f 51 46 45
+f 51 21 46
+f 52 46 21
+f 52 21 1
+f 52 50 46
+f 52 1 50
+f 53 10 6
+f 53 6 48
+f 53 17 10
+f 53 48 40
+f 53 40 17
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_6/collision/model_normalized_collision_14.obj b/objects/objaverse/cupcake/cupcake_6/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd257594767d8f1cd5eb44a65718e8d2e3c94a97
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_6/collision/model_normalized_collision_14.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.01376251 -0.01376251 -0.23484849
+v 0.01376251 -0.01376251 -0.50000000
+v 0.01150984 0.41140848 -0.23180862
+v -0.12003991 0.39430887 -0.23139244
+v -0.19835870 -0.01376251 -0.50000000
+v -0.19835870 -0.01376251 -0.23484849
+v 0.01156170 0.39658409 -0.50000000
+v -0.19497281 0.35838028 -0.23327420
+v -0.01422293 0.41099768 -0.23172082
+v -0.17694347 0.36788382 -0.23193614
+v -0.19459874 0.34249450 -0.50000000
+v -0.02905248 0.39381391 -0.50000000
+v -0.12007797 0.37939734 -0.50000000
+v -0.17644115 0.35174624 -0.50000000
+f 1 2 3
+f 1 3 4
+f 6 1 4
+f 6 5 2
+f 6 2 1
+f 7 3 2
+f 7 2 5
+f 8 5 6
+f 9 4 3
+f 9 3 7
+f 10 8 6
+f 10 6 4
+f 11 7 5
+f 11 5 8
+f 11 8 10
+f 12 9 7
+f 12 4 9
+f 12 7 11
+f 13 10 4
+f 13 12 11
+f 13 4 12
+f 14 13 11
+f 14 11 10
+f 14 10 13
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_6/collision/model_normalized_collision_15.obj b/objects/objaverse/cupcake/cupcake_6/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ab3fb2440c4a3f717993708e671eb190b3c47e11
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_6/collision/model_normalized_collision_15.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.01376251 -0.22588372 -0.23484849
+v 0.01376251 -0.22588372 -0.50000000
+v 0.01376251 -0.01376251 -0.23484849
+v -0.41040779 -0.01375109 -0.23483307
+v -0.35358861 -0.20490478 -0.23213896
+v -0.39658409 -0.01156170 -0.50000000
+v -0.18320718 -0.22588372 -0.23484849
+v -0.36309221 -0.18687543 -0.23080091
+v 0.01376251 -0.01376251 -0.50000000
+v -0.33748932 -0.20442198 -0.50000000
+v -0.39472016 -0.11732696 -0.23148029
+v -0.18320718 -0.22588372 -0.50000000
+v -0.37846335 -0.15668431 -0.23085295
+v -0.37982655 -0.11736794 -0.50000000
+v -0.36212171 -0.15607811 -0.50000000
+f 6 4 3
+f 7 2 1
+f 7 1 5
+f 8 5 1
+f 8 1 3
+f 9 6 3
+f 9 2 6
+f 9 1 2
+f 9 3 1
+f 10 6 2
+f 10 5 8
+f 11 3 4
+f 11 4 6
+f 12 7 5
+f 12 5 10
+f 12 10 2
+f 12 2 7
+f 13 8 3
+f 13 3 11
+f 14 11 6
+f 14 6 10
+f 14 13 11
+f 15 14 10
+f 15 13 14
+f 15 10 8
+f 15 8 13
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_6/collision/model_normalized_collision_16.obj b/objects/objaverse/cupcake/cupcake_6/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cb1106f67ce1397f35710fbedb2a46fd3a1d52be
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_6/collision/model_normalized_collision_16.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v 0.39716785 0.20814279 -0.01730362
+v 0.39502551 0.20705128 -0.09378932
+v 0.26273938 0.37845199 -0.06193058
+v 0.19278523 0.40499361 -0.01730395
+v 0.22588372 0.21351021 -0.23484849
+v 0.27188157 0.36556807 -0.02752290
+v 0.37474332 0.26504294 -0.04251746
+v 0.32535764 0.21015416 -0.00717820
+v 0.33284874 0.24471751 -0.23059535
+v 0.26174232 0.37649514 -0.04278377
+v 0.24702937 0.37735572 -0.01730473
+v 0.39011250 0.23485082 -0.04246076
+v 0.37565790 0.25035748 -0.01730332
+v 0.35184664 0.20821080 -0.23238442
+v 0.23343163 0.22105820 0.02655884
+v 0.37263155 0.26396713 -0.07595509
+v 0.22293433 0.34408545 -0.23347708
+v 0.19498517 0.40931110 -0.03818323
+v 0.36279152 0.27466044 -0.02752101
+v 0.19549440 0.33455297 -0.00795524
+v 0.34597919 0.22037271 -0.23099434
+v 0.38798970 0.23376938 -0.07603163
+v 0.27247181 0.36615891 -0.07679038
+v 0.23155004 0.39186401 -0.04272716
+v 0.22020613 0.39933693 -0.06405432
+v 0.24305052 0.33453020 -0.23054518
+v 0.23254159 0.39381006 -0.06200709
+f 7 3 6
+f 8 2 1
+f 10 6 3
+f 11 6 10
+f 12 7 1
+f 12 1 2
+f 13 1 7
+f 13 6 11
+f 14 8 5
+f 14 2 8
+f 15 5 8
+f 15 11 4
+f 15 13 11
+f 15 8 1
+f 15 1 13
+f 16 7 12
+f 16 3 7
+f 17 14 5
+f 17 9 14
+f 18 4 11
+f 18 17 5
+f 18 5 4
+f 19 13 7
+f 19 7 6
+f 19 6 13
+f 20 15 4
+f 20 4 5
+f 20 5 15
+f 21 16 14
+f 21 14 9
+f 21 9 16
+f 22 2 14
+f 22 14 16
+f 22 16 12
+f 22 12 2
+f 23 16 9
+f 23 3 16
+f 24 10 3
+f 24 18 11
+f 24 11 10
+f 25 17 18
+f 26 17 3
+f 26 3 23
+f 26 23 9
+f 26 9 17
+f 27 24 3
+f 27 18 24
+f 27 25 18
+f 27 3 17
+f 27 17 25
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_6/collision/model_normalized_collision_17.obj b/objects/objaverse/cupcake/cupcake_6/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c27cfdad859c818c8d91443ae6114ec526af9683
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_6/collision/model_normalized_collision_17.obj
@@ -0,0 +1,114 @@
+# https://github.com/mikedh/trimesh
+v 0.14207553 -0.43726723 -0.04201332
+v 0.28678445 -0.28678464 -0.24398299
+v 0.25527053 -0.25527055 0.00498922
+v -0.21738228 -0.26005873 0.01735643
+v -0.20821041 -0.35184606 -0.23238428
+v -0.21351021 -0.25618675 -0.23484849
+v 0.01120971 -0.45219029 -0.01730494
+v 0.24815234 -0.37678235 -0.01730411
+v 0.05631028 -0.40450110 -0.23092619
+v -0.22777814 -0.36051323 -0.15844855
+v -0.16108972 -0.36106185 0.01121503
+v 0.23150772 -0.38900281 -0.07640696
+v 0.28419885 -0.34480494 -0.09741557
+v 0.15759400 -0.42292526 -0.01730411
+v -0.12979873 -0.39209161 -0.23115025
+v 0.01090225 -0.45024909 -0.09245022
+v -0.22454253 -0.35416305 -0.18747869
+v -0.20159727 -0.34116391 0.01402980
+v 0.23110131 -0.38820595 -0.02780561
+v 0.12772259 -0.39308939 -0.23139931
+v 0.24326902 -0.33417803 -0.23099209
+v 0.27736724 -0.35312494 -0.09422695
+v 0.11701577 -0.43543173 -0.01730426
+v -0.05902348 -0.40409062 -0.23083852
+v -0.20357160 -0.40334751 -0.07610818
+v 0.07176923 -0.45189673 -0.05688566
+v -0.20814331 -0.39716856 -0.01730327
+v 0.14130240 -0.43488654 -0.07661593
+v 0.26000285 -0.35786247 -0.12128006
+v -0.07429837 -0.45032553 -0.06217273
+v 0.07158167 -0.45071259 -0.06230213
+v -0.20465879 -0.40548126 -0.04240295
+v -0.15979910 -0.42180006 -0.01730258
+v -0.01361890 -0.44986200 -0.09232087
+v -0.14317596 -0.43406351 -0.07626115
+v -0.07448272 -0.45148939 -0.05698120
+v -0.11972630 -0.43500174 -0.01730269
+v -0.14427415 -0.43621848 -0.04229047
+v -0.01391974 -0.45175747 -0.01730474
+f 6 3 2
+f 6 4 3
+f 6 2 5
+f 10 4 6
+f 13 2 3
+f 13 3 8
+f 14 8 3
+f 14 3 11
+f 15 5 2
+f 17 10 6
+f 17 6 5
+f 18 11 3
+f 18 3 4
+f 19 12 8
+f 19 1 12
+f 19 14 1
+f 19 8 14
+f 20 9 2
+f 21 20 2
+f 21 12 20
+f 22 13 8
+f 22 8 12
+f 22 21 2
+f 22 2 13
+f 23 1 14
+f 23 14 11
+f 23 11 7
+f 24 15 2
+f 24 2 9
+f 24 9 16
+f 25 17 5
+f 25 10 17
+f 26 23 7
+f 26 1 23
+f 27 18 4
+f 27 4 10
+f 28 20 12
+f 28 12 1
+f 28 1 26
+f 29 22 12
+f 29 12 21
+f 29 21 22
+f 30 15 24
+f 31 26 16
+f 31 16 9
+f 31 9 20
+f 31 28 26
+f 31 20 28
+f 32 27 10
+f 32 10 25
+f 33 11 18
+f 33 18 27
+f 34 30 24
+f 34 24 16
+f 35 15 30
+f 35 25 5
+f 35 5 15
+f 36 26 7
+f 36 35 30
+f 36 16 26
+f 36 34 16
+f 36 30 34
+f 37 11 33
+f 38 32 25
+f 38 25 35
+f 38 33 27
+f 38 27 32
+f 38 37 33
+f 38 35 36
+f 38 36 37
+f 39 7 11
+f 39 11 37
+f 39 37 36
+f 39 36 7
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_6/collision/model_normalized_collision_18.obj b/objects/objaverse/cupcake/cupcake_6/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0773cf7c03da8fdb599e87e6ab233340b7139717
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_6/collision/model_normalized_collision_18.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v 0.22694662 -0.07757096 0.17819619
+v 0.24272008 0.09231245 0.22321395
+v 0.01792696 -0.07670467 0.30558902
+v -0.00169383 0.30054791 0.14078347
+v 0.17759766 0.26604468 0.13920550
+v 0.05957539 0.17694920 0.23404250
+v -0.00138900 -0.04406554 0.14393939
+v 0.18522174 -0.03952328 0.23114691
+v 0.22127641 0.18923040 0.18167462
+v 0.17901194 0.10040355 0.24719458
+v 0.00026358 0.16060752 0.23569963
+v 0.17664181 0.21822963 0.20660954
+v 0.10148480 0.29411470 0.13591133
+v 0.14364423 0.00054866 0.26186651
+v 0.24036949 0.15137153 0.21769695
+v 0.11754153 0.05887039 0.26509818
+v -0.00277268 0.23203499 0.20238924
+v 0.00202480 0.13182040 0.24755351
+v 0.14621351 0.27811431 0.13739801
+v 0.11469439 0.26029131 0.17202575
+v 0.17040136 -0.00820920 0.24612746
+v 0.11322336 -0.04196163 0.26940166
+v 0.21909644 0.09203527 0.23318910
+v 0.18586507 0.22945969 0.19498883
+v 0.23984659 0.14665494 0.22112393
+v 0.13237262 0.05843157 0.26296285
+v -0.00209431 0.29349656 0.14947209
+v 0.14041605 -0.00838515 0.26188173
+v 0.23695980 0.09223485 0.22597377
+v 0.21893201 0.12233194 0.23278183
+v 0.17619402 0.26073078 0.14910562
+v 0.09934069 0.28718167 0.14566151
+v 0.07309409 0.24710346 0.18646546
+f 7 1 3
+f 7 5 1
+f 8 1 2
+f 8 3 1
+f 9 1 5
+f 12 6 10
+f 13 7 4
+f 14 10 3
+f 15 2 1
+f 15 1 9
+f 15 9 5
+f 16 10 6
+f 16 6 3
+f 17 11 6
+f 17 7 11
+f 17 6 12
+f 18 3 6
+f 18 6 11
+f 18 11 7
+f 18 7 3
+f 19 5 7
+f 19 7 13
+f 21 8 2
+f 21 2 14
+f 22 14 3
+f 22 3 8
+f 22 8 21
+f 24 15 5
+f 24 19 13
+f 24 20 12
+f 25 12 10
+f 25 2 15
+f 25 24 12
+f 25 15 24
+f 26 16 3
+f 26 3 10
+f 26 10 16
+f 27 4 7
+f 27 7 17
+f 27 12 20
+f 28 22 21
+f 28 21 14
+f 28 14 22
+f 29 23 14
+f 29 14 2
+f 30 10 14
+f 30 14 23
+f 30 25 10
+f 30 23 29
+f 30 29 2
+f 30 2 25
+f 31 24 5
+f 31 5 19
+f 31 19 24
+f 32 24 13
+f 32 20 24
+f 32 27 20
+f 32 13 4
+f 32 4 27
+f 33 27 17
+f 33 17 12
+f 33 12 27
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_6/collision/model_normalized_collision_19.obj b/objects/objaverse/cupcake/cupcake_6/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a1cb88b88ef1f82d7d245658dbf9ec943a5f73a6
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_6/collision/model_normalized_collision_19.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.13497463 0.33472233 -0.09848485
+v 0.22880184 0.34044936 -0.23620535
+v 0.14338066 0.42754407 -0.09358100
+v -0.14564252 0.42653087 -0.09320581
+v -0.21886962 0.34524099 -0.23734065
+v -0.20603807 0.39581489 -0.09305294
+v 0.20249449 0.39374608 -0.10351107
+v -0.13775264 0.33472233 -0.09848485
+v 0.04110294 0.40692618 -0.23085062
+v 0.17357844 0.41218600 -0.09350449
+v 0.23555707 0.35370744 -0.16612329
+v -0.22562519 0.35849982 -0.16685131
+v 0.12775829 0.39320036 -0.23085974
+v -0.12872296 0.39275842 -0.23065009
+v -0.05979445 0.44204057 -0.09384222
+v 0.19144077 0.40235479 -0.09547520
+v -0.21709188 0.38720635 -0.10108856
+v 0.05707772 0.44242744 -0.09397140
+v -0.04381612 0.40651565 -0.23076288
+v 0.02603255 0.43774184 -0.12270871
+v -0.02874938 0.43735491 -0.12257941
+f 6 4 5
+f 8 5 2
+f 8 2 1
+f 8 1 6
+f 9 2 5
+f 10 6 1
+f 10 3 4
+f 10 4 6
+f 10 2 3
+f 11 7 1
+f 11 1 2
+f 11 2 7
+f 12 5 8
+f 13 3 2
+f 13 2 9
+f 14 5 4
+f 15 14 4
+f 16 10 1
+f 16 1 7
+f 16 7 2
+f 16 2 10
+f 17 12 8
+f 17 8 6
+f 17 6 5
+f 17 5 12
+f 18 13 9
+f 18 3 13
+f 18 15 4
+f 18 4 3
+f 19 9 5
+f 19 5 14
+f 19 14 15
+f 20 18 9
+f 20 15 18
+f 20 9 19
+f 21 20 19
+f 21 19 15
+f 21 15 20
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_6/collision/model_normalized_collision_2.obj b/objects/objaverse/cupcake/cupcake_6/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..378128a6b57a1c53b3f2e9f2a805316204194523
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_6/collision/model_normalized_collision_2.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.04136035 -0.43384659 0.40784583
+v 0.01698600 -0.38412533 0.33556712
+v -0.00023996 -0.30189608 0.43174384
+v -0.11279338 -0.25682120 0.39715914
+v -0.09362449 -0.26871390 0.18560297
+v -0.11006990 -0.38461921 0.45943446
+v 0.01800847 -0.36483333 0.41504999
+v -0.09630201 -0.43672759 0.32329899
+v -0.03178475 -0.22575995 0.18910728
+v -0.08916742 -0.31285596 0.46120293
+v 0.01425516 -0.39865456 0.39198399
+v -0.05362722 -0.39591181 0.46024915
+v -0.03669414 -0.25947880 0.17338988
+v -0.02876155 -0.43534547 0.33281902
+v -0.09893670 -0.43573705 0.41177449
+v -0.17153114 -0.37052746 0.38728832
+v 0.02898641 -0.33058520 0.36783646
+v -0.09570475 -0.22215375 0.20827305
+v -0.04301746 -0.25935989 0.40866038
+v -0.01599172 -0.38218418 0.44741074
+v -0.09696859 -0.42318150 0.30925293
+v -0.02399136 -0.43821999 0.36434107
+v -0.02750270 -0.41786894 0.31045178
+v -0.10254254 -0.41131855 0.44578170
+v -0.15486581 -0.31068476 0.42060216
+v -0.14476811 -0.41990334 0.36218624
+v 0.02633792 -0.34500726 0.35921965
+v 0.02615172 -0.35675030 0.39908914
+v 0.00330544 -0.28825783 0.40927444
+v -0.16883468 -0.34139787 0.33606941
+v -0.03558053 -0.22069254 0.19252306
+v -0.04262653 -0.28680311 0.44772393
+v -0.08027516 -0.22094565 0.20455119
+v -0.00257148 -0.38110356 0.43408427
+v -0.02213891 -0.33570843 0.45817864
+v -0.03690825 -0.42030031 0.43241882
+v -0.00635642 -0.41282484 0.40754845
+v -0.11278155 -0.43726965 0.34785094
+v 0.01526829 -0.39596504 0.34931313
+v -0.04987907 -0.42057131 0.30890442
+v -0.08668059 -0.39830895 0.45959298
+v -0.13786384 -0.39360468 0.43455465
+v -0.12219481 -0.28472012 0.43738829
+v -0.15711820 -0.28937916 0.36742812
+v -0.14156142 -0.40681162 0.32553904
+v 0.02607730 -0.35961471 0.37356575
+v 0.00973532 -0.32204462 0.42253449
+v 0.01078260 -0.29551529 0.38560161
+v -0.01156998 -0.27308217 0.39558271
+v -0.02819314 -0.27504080 0.42358060
+v -0.02900574 -0.35983375 0.45973955
+v -0.05486154 -0.31087063 0.46040019
+v -0.04036149 -0.40994682 0.44395090
+v -0.10031167 -0.42087576 0.43530697
+v -0.02598781 -0.41913628 0.42319969
+v -0.11292033 -0.43334705 0.39595165
+v -0.06511855 -0.43521653 0.32444752
+v -0.15106662 -0.39442035 0.40785871
+v -0.14065608 -0.35024715 0.44465641
+v -0.12044825 -0.27107082 0.42116111
+v -0.08920179 -0.28139771 0.44589038
+v -0.11388637 -0.25658780 0.39182481
+v -0.16585789 -0.31933140 0.39924467
+v -0.14908801 -0.41354982 0.34492073
+f 12 10 6
+f 18 13 5
+f 21 5 13
+f 22 1 15
+f 22 8 14
+f 23 13 2
+f 27 13 9
+f 27 9 17
+f 27 2 13
+f 28 7 11
+f 30 18 5
+f 31 9 13
+f 33 18 4
+f 33 4 19
+f 33 19 31
+f 33 31 13
+f 33 13 18
+f 34 11 7
+f 35 3 32
+f 35 34 7
+f 35 20 34
+f 36 15 1
+f 37 22 11
+f 37 1 22
+f 37 11 34
+f 38 22 15
+f 38 8 22
+f 39 22 14
+f 39 11 22
+f 39 23 2
+f 39 14 23
+f 40 21 13
+f 40 13 23
+f 40 8 21
+f 40 23 14
+f 41 12 6
+f 41 6 24
+f 41 36 12
+f 42 24 6
+f 44 18 30
+f 45 21 8
+f 45 5 21
+f 45 30 5
+f 46 27 17
+f 46 17 28
+f 46 2 27
+f 46 39 2
+f 46 28 11
+f 46 11 39
+f 47 7 28
+f 47 35 7
+f 47 3 35
+f 47 29 3
+f 47 28 17
+f 47 17 29
+f 48 29 17
+f 48 17 9
+f 48 31 29
+f 48 9 31
+f 49 31 19
+f 49 19 29
+f 49 29 31
+f 50 29 19
+f 50 19 32
+f 50 32 3
+f 50 3 29
+f 51 12 20
+f 51 20 35
+f 51 10 12
+f 52 35 32
+f 52 51 35
+f 52 10 51
+f 53 36 20
+f 53 20 12
+f 53 12 36
+f 54 15 36
+f 54 42 15
+f 54 24 42
+f 54 41 24
+f 54 36 41
+f 55 36 1
+f 55 1 37
+f 55 20 36
+f 55 37 34
+f 55 34 20
+f 56 38 15
+f 56 26 38
+f 56 15 42
+f 57 40 14
+f 57 14 8
+f 57 8 40
+f 58 42 16
+f 58 16 26
+f 58 56 42
+f 58 26 56
+f 59 25 16
+f 59 16 42
+f 59 42 6
+f 59 43 25
+f 59 6 10
+f 59 10 43
+f 60 25 43
+f 60 44 25
+f 60 4 44
+f 61 43 10
+f 61 60 43
+f 61 32 19
+f 61 19 4
+f 61 4 60
+f 61 52 32
+f 61 10 52
+f 62 44 4
+f 62 4 18
+f 62 18 44
+f 63 44 30
+f 63 30 16
+f 63 16 25
+f 63 25 44
+f 64 38 26
+f 64 26 16
+f 64 16 30
+f 64 30 45
+f 64 45 8
+f 64 8 38
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_6/collision/model_normalized_collision_20.obj b/objects/objaverse/cupcake/cupcake_6/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0f39be6ab5acad978b60713d167eafbabde2311d
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_6/collision/model_normalized_collision_20.obj
@@ -0,0 +1,120 @@
+# https://github.com/mikedh/trimesh
+v -0.00218856 -0.14496866 0.24419312
+v 0.11993396 -0.04410324 0.26535800
+v -0.11469779 -0.01618226 0.40226153
+v -0.07102068 0.09522673 0.26050782
+v 0.11923803 0.07634530 0.26125243
+v -0.16766159 -0.08924977 0.23644390
+v -0.04199259 -0.04460158 0.36931607
+v -0.09860462 0.00137921 0.40184195
+v -0.10421569 -0.14338347 0.24164758
+v -0.13681621 0.03781804 0.26319822
+v 0.02692177 0.09818587 0.25685174
+v 0.05489416 -0.09736699 0.27125314
+v -0.10164682 -0.07143080 0.34672860
+v -0.02781294 -0.02028170 0.37170442
+v -0.13719684 -0.00651690 0.37505590
+v -0.10148115 0.08032675 0.26084387
+v -0.06515359 0.04557931 0.34227679
+v 0.02368496 -0.10353543 0.28041170
+v 0.07586685 -0.04602646 0.29651927
+v -0.09801839 -0.01731122 0.40154397
+v -0.05221889 -0.07249494 0.34040595
+v -0.12936072 -0.04394504 0.36960975
+v -0.08836860 -0.00549411 0.39995165
+v -0.15621502 -0.01404234 0.25882935
+v -0.11248701 -0.00055921 0.40374902
+v -0.13556089 0.02107615 0.35335748
+v -0.07595688 0.07349840 0.30047619
+v 0.09468525 -0.05357599 0.27812079
+v -0.02882123 -0.03330058 0.36722130
+v -0.08807246 -0.01099396 0.39980912
+v -0.13821391 -0.03159038 0.37220844
+v -0.16305419 -0.05909305 0.24695625
+v -0.12284224 0.04404046 0.32091478
+v -0.12280570 0.00238181 0.38859209
+v -0.02297672 0.07667678 0.29460548
+v -0.11645148 0.04334870 0.34249028
+v -0.12387379 -0.03102760 0.38397063
+v -0.13404882 0.03626550 0.29316525
+v -0.12292942 0.01654354 0.37293317
+v -0.07458955 0.08941436 0.27109883
+v -0.10969522 0.06022045 0.30534018
+f 5 2 1
+f 6 5 1
+f 9 6 1
+f 11 6 4
+f 11 5 6
+f 12 1 2
+f 13 9 1
+f 14 2 5
+f 16 4 6
+f 16 6 10
+f 17 8 5
+f 17 5 11
+f 18 12 7
+f 18 7 1
+f 18 1 12
+f 19 7 12
+f 19 2 14
+f 20 13 7
+f 20 3 13
+f 21 13 1
+f 21 1 7
+f 21 7 13
+f 22 13 3
+f 22 6 9
+f 22 9 13
+f 23 14 5
+f 23 5 8
+f 23 8 20
+f 24 10 6
+f 25 15 3
+f 25 20 8
+f 25 3 20
+f 26 24 15
+f 26 10 24
+f 27 11 4
+f 28 19 12
+f 28 12 2
+f 28 2 19
+f 29 19 14
+f 29 14 7
+f 29 7 19
+f 30 20 7
+f 30 7 14
+f 30 23 20
+f 30 14 23
+f 31 15 6
+f 31 6 22
+f 31 3 15
+f 32 24 6
+f 32 6 15
+f 32 15 24
+f 34 26 15
+f 34 15 25
+f 34 25 26
+f 35 27 17
+f 35 17 11
+f 35 11 27
+f 36 17 27
+f 36 25 8
+f 36 8 17
+f 36 33 26
+f 37 31 22
+f 37 22 3
+f 37 3 31
+f 38 33 16
+f 38 16 10
+f 38 10 26
+f 38 26 33
+f 39 36 26
+f 39 26 25
+f 39 25 36
+f 40 36 27
+f 40 27 4
+f 40 4 36
+f 41 36 4
+f 41 4 16
+f 41 16 33
+f 41 33 36
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_6/collision/model_normalized_collision_21.obj b/objects/objaverse/cupcake/cupcake_6/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b954fe4c5ecd425fcb7384b52a73e13000d056d6
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_6/collision/model_normalized_collision_21.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v -0.22609458 0.19579155 0.03935738
+v -0.21351021 0.18320718 -0.23484849
+v -0.20992758 0.32769084 -0.00818916
+v -0.20701961 0.39774131 -0.01730363
+v -0.38649213 0.17870492 -0.15581792
+v -0.20603807 0.39581489 -0.09305294
+v -0.38243250 0.17663641 -0.17118732
+v -0.38849160 0.22517832 -0.01730559
+v -0.35590285 0.18920902 0.00878244
+v -0.24338787 0.33429696 -0.23019808
+v -0.26500105 0.37743862 -0.06155547
+v -0.24923450 0.37623165 -0.01730333
+v -0.20713491 0.35251285 -0.23188393
+v -0.36788418 0.17694363 -0.23193613
+v -0.23480327 0.39279669 -0.06163198
+v -0.34975417 0.28914838 -0.07620582
+v -0.37623372 0.24923561 -0.01730526
+v -0.26397693 0.37542883 -0.04306169
+v -0.33429654 0.24338768 -0.23019819
+v -0.38124460 0.25178869 -0.04154590
+v -0.27399719 0.36490656 -0.07620612
+v -0.27334171 0.36425108 -0.02795443
+v -0.23378470 0.39079780 -0.04300505
+v -0.36660952 0.27570063 -0.04233169
+v -0.36425015 0.27334129 -0.02795454
+f 1 2 3
+f 1 3 4
+f 6 3 2
+f 6 4 3
+f 7 2 1
+f 9 7 1
+f 9 5 7
+f 9 8 5
+f 12 9 1
+f 12 1 4
+f 13 6 2
+f 13 10 11
+f 14 2 7
+f 14 7 5
+f 14 13 2
+f 15 4 6
+f 15 13 11
+f 15 6 13
+f 17 8 9
+f 17 9 12
+f 19 10 13
+f 19 13 14
+f 20 5 8
+f 20 8 17
+f 20 16 19
+f 20 19 14
+f 20 14 5
+f 21 16 11
+f 21 11 10
+f 21 19 16
+f 21 10 19
+f 22 17 12
+f 22 12 18
+f 22 18 11
+f 23 4 15
+f 23 15 11
+f 23 11 18
+f 23 18 12
+f 23 12 4
+f 24 11 16
+f 24 16 20
+f 24 22 11
+f 25 24 20
+f 25 20 17
+f 25 17 22
+f 25 22 24
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_6/collision/model_normalized_collision_22.obj b/objects/objaverse/cupcake/cupcake_6/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..13e79990fa24138fa6165c39e8997d38235cc5a2
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_6/collision/model_normalized_collision_22.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.22588372 -0.22588372 -0.23484849
+v 0.22588372 -0.22588372 -0.50000000
+v 0.24725282 0.32578840 -0.24575113
+v 0.01376251 0.28926779 -0.23484849
+v 0.01376251 -0.22588372 -0.50000000
+v 0.22588372 0.18320718 -0.23484849
+v 0.01376251 -0.22588372 -0.23484849
+v 0.21073221 0.28926779 -0.50000000
+v 0.22588372 0.18320718 -0.50000000
+v 0.01376251 0.28926779 -0.50000000
+v 0.23900295 0.31753881 -0.35882470
+f 1 2 3
+f 6 1 3
+f 6 3 4
+f 6 4 1
+f 7 1 4
+f 7 4 5
+f 7 5 2
+f 7 2 1
+f 8 2 5
+f 9 2 8
+f 10 8 5
+f 10 5 4
+f 10 4 3
+f 11 9 8
+f 11 3 2
+f 11 2 9
+f 11 10 3
+f 11 8 10
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_6/collision/model_normalized_collision_23.obj b/objects/objaverse/cupcake/cupcake_6/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..232c0931717792c907cebf28c5fd31a41e93871f
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_6/collision/model_normalized_collision_23.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.19309473 -0.34845527 0.10459049
+v -0.19209584 -0.34786628 0.01132791
+v -0.19136975 0.29280003 0.07423829
+v -0.22566282 0.30142040 -0.00089817
+v -0.40828087 -0.03449473 0.00869080
+v -0.19802489 0.30374698 0.00764085
+v -0.19088064 0.19200672 0.16240203
+v -0.23091392 -0.33495582 0.10316515
+v -0.34433992 -0.16245795 -0.00483622
+v -0.36109041 0.17325582 0.04930057
+v -0.19324378 -0.31842888 0.15019548
+v -0.21785793 -0.34411538 0.04380105
+v -0.39258233 0.12849113 0.00604161
+v -0.40785323 -0.03474217 0.03298491
+v -0.27830504 0.25598234 0.05458179
+v -0.22054023 -0.34323242 0.06624294
+v -0.20023844 -0.34522426 0.01505342
+v -0.22563110 -0.34067307 0.07001844
+v -0.40785837 0.09850976 0.00882397
+v -0.36744832 0.17650580 0.00524869
+v -0.39215373 -0.06475782 0.03283406
+v -0.32036895 -0.13568195 0.14962045
+v -0.21895017 0.28672204 0.06080940
+v -0.25990135 0.23101149 0.09862429
+v -0.20684565 -0.34478560 0.10218365
+v -0.40897308 -0.02439387 0.04863146
+v -0.28277501 0.26131012 0.00595383
+v -0.23338936 -0.26086829 0.17251511
+v -0.20518956 0.14774611 0.19460565
+v -0.26098507 0.24376814 0.08482926
+v -0.34998614 0.18364706 0.05362952
+v -0.21979047 0.24523129 0.11090321
+v -0.40802882 0.08312040 0.04959054
+v -0.34806334 -0.12219488 0.09466305
+v -0.24132992 -0.28992857 0.13203517
+v -0.21583215 -0.30487565 0.15606007
+v -0.23208622 -0.07953462 0.21868586
+v -0.19271087 -0.02490812 0.22162724
+v -0.32334002 0.16204367 0.09614984
+v -0.19126977 0.21822711 0.14466253
+v -0.21853454 0.25660603 0.10076664
+v -0.40651880 0.09748461 0.01899243
+v -0.39473416 -0.03635033 0.07971096
+v -0.33202205 -0.12341786 0.13815645
+v -0.36112387 -0.11037058 0.06432701
+v -0.37786141 -0.06754733 0.08660780
+v -0.24023729 -0.26063476 0.16247639
+v -0.20701871 -0.31479144 0.14780144
+v -0.19505067 -0.19233487 0.22105493
+v -0.36872869 0.07441549 0.09672564
+v -0.19784211 0.15055522 0.19071751
+v -0.28917492 0.19978134 0.09753711
+v -0.19494036 -0.28967301 0.17640258
+v -0.22266500 -0.17626299 0.21616481
+v -0.29158892 -0.07585633 0.18502918
+v -0.39413880 0.08372245 0.06679945
+v -0.33469544 0.18468924 0.06730374
+v -0.20282209 -0.29135089 0.17209881
+v -0.23273852 -0.11929010 0.21713922
+v -0.22973571 -0.20296803 0.20099341
+v -0.25760553 -0.00446879 0.19340484
+v -0.24330007 -0.16116463 0.20469379
+v -0.37825860 0.11317381 0.06702210
+v -0.21679799 -0.21934052 0.20393468
+f 6 3 2
+f 6 2 4
+f 6 4 3
+f 7 2 3
+f 9 4 2
+f 11 1 2
+f 11 2 7
+f 12 2 1
+f 14 5 9
+f 16 12 1
+f 17 12 9
+f 17 9 2
+f 17 2 12
+f 18 8 9
+f 18 9 12
+f 18 16 8
+f 18 12 16
+f 19 13 9
+f 19 9 5
+f 20 4 9
+f 20 9 13
+f 20 19 10
+f 20 13 19
+f 21 14 9
+f 21 9 8
+f 23 3 4
+f 23 4 15
+f 25 16 1
+f 25 1 8
+f 25 8 16
+f 26 19 5
+f 26 5 14
+f 27 20 15
+f 27 15 4
+f 27 4 20
+f 30 23 15
+f 30 3 23
+f 31 20 10
+f 31 15 20
+f 31 30 15
+f 31 24 30
+f 32 24 29
+f 33 19 26
+f 35 22 8
+f 36 35 8
+f 38 11 7
+f 38 29 37
+f 39 31 10
+f 40 7 3
+f 40 32 29
+f 40 29 7
+f 41 30 24
+f 41 24 32
+f 41 3 30
+f 41 40 3
+f 41 32 40
+f 42 33 10
+f 42 10 19
+f 42 19 33
+f 43 33 26
+f 44 34 8
+f 44 8 22
+f 44 22 43
+f 45 21 8
+f 45 8 34
+f 45 34 14
+f 45 14 21
+f 46 26 14
+f 46 14 34
+f 46 43 26
+f 46 44 43
+f 46 34 44
+f 47 28 22
+f 47 22 35
+f 47 36 28
+f 47 35 36
+f 48 36 8
+f 48 11 36
+f 48 8 1
+f 48 1 11
+f 49 38 37
+f 49 11 38
+f 50 29 39
+f 51 38 7
+f 51 7 29
+f 51 29 38
+f 52 39 29
+f 52 29 24
+f 53 36 11
+f 53 11 49
+f 55 50 43
+f 55 43 22
+f 56 33 43
+f 56 43 50
+f 56 10 33
+f 56 50 39
+f 57 31 39
+f 57 39 52
+f 57 52 24
+f 57 24 31
+f 58 28 36
+f 58 36 53
+f 59 54 49
+f 59 49 37
+f 59 55 54
+f 59 37 55
+f 60 22 28
+f 61 55 37
+f 61 37 29
+f 61 29 50
+f 61 50 55
+f 62 55 22
+f 62 54 55
+f 62 60 54
+f 62 22 60
+f 63 56 39
+f 63 39 10
+f 63 10 56
+f 64 53 49
+f 64 49 54
+f 64 54 60
+f 64 58 53
+f 64 60 28
+f 64 28 58
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_6/collision/model_normalized_collision_24.obj b/objects/objaverse/cupcake/cupcake_6/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bfbbfac8eb5c01d0847d448c8b227a48360a8fd0
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_6/collision/model_normalized_collision_24.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.18399525 0.25534424 0.15292288
+v 0.18979710 0.25318117 0.03113593
+v 0.13341006 0.34680313 0.00069525
+v -0.07661986 0.36170012 0.00085138
+v -0.19243761 0.23509763 0.13188796
+v -0.19662980 0.31617758 -0.00003203
+v -0.07024248 0.30700927 0.14136660
+v 0.17944414 0.31763753 0.00324387
+v -0.13607047 0.34657245 0.00017364
+v -0.20551771 0.25097217 0.02565573
+v 0.09980604 0.30111730 0.12359138
+v 0.07385579 0.36178812 0.00103096
+v -0.18901401 0.30135377 0.06512077
+v 0.17505385 0.28606364 0.10659343
+v 0.16368970 0.33160571 0.00059240
+v 0.05810482 0.30204748 0.13316798
+v -0.17405942 0.27501659 0.11071514
+v 0.12870989 0.28656087 0.13346563
+v -0.18775685 0.28679349 0.08468816
+v -0.18945490 0.24518092 0.12598913
+v -0.16175320 0.30070649 0.08580928
+v 0.17397459 0.27086817 0.13314823
+f 5 2 1
+f 7 5 1
+f 8 1 2
+f 9 7 4
+f 10 2 5
+f 10 5 6
+f 10 8 2
+f 10 6 8
+f 12 4 7
+f 12 9 4
+f 12 3 9
+f 12 11 3
+f 13 6 5
+f 13 9 6
+f 13 7 9
+f 14 1 8
+f 14 3 11
+f 15 8 6
+f 15 14 8
+f 15 3 14
+f 15 9 3
+f 15 6 9
+f 16 7 1
+f 16 12 7
+f 16 11 12
+f 18 14 11
+f 18 16 1
+f 18 11 16
+f 19 17 13
+f 19 13 5
+f 20 5 7
+f 20 7 17
+f 20 19 5
+f 20 17 19
+f 21 17 7
+f 21 7 13
+f 21 13 17
+f 22 18 1
+f 22 1 14
+f 22 14 18
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_6/collision/model_normalized_collision_25.obj b/objects/objaverse/cupcake/cupcake_6/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea82041469c6d6039aa2bc00e96a844581dd934b
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_6/collision/model_normalized_collision_25.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v 0.10409616 -0.35861418 0.00022984
+v 0.19296521 -0.32681103 -0.00392669
+v 0.14433566 -0.22961668 0.17309468
+v -0.00440107 -0.04250977 0.32178595
+v -0.00138900 -0.04406554 0.00757575
+v -0.00444830 -0.33705166 0.10204428
+v 0.02824094 -0.37314909 -0.00101682
+v 0.19558069 -0.04406554 0.00757575
+v 0.02323097 -0.23636218 0.18986384
+v -0.00542210 -0.36102604 0.05905361
+v 0.15703968 -0.31563521 0.07600651
+v 0.16268557 -0.34200845 -0.00382385
+v 0.19109274 -0.04105784 0.22713342
+v 0.09932527 -0.24637621 0.17098434
+v -0.00320291 -0.12128058 0.27006191
+v -0.00503492 -0.30482266 0.13012453
+v -0.00085061 -0.37399957 0.00070125
+v 0.18974532 -0.22679390 0.15866484
+v 0.15650648 -0.32973112 0.04522926
+v 0.13079507 -0.31813096 0.08274605
+v 0.12562673 -0.04088676 0.26288922
+v 0.06960090 -0.23177966 0.18558058
+v 0.18841212 -0.28444214 0.09947323
+v 0.19024799 -0.20334588 0.17044901
+v 0.17386958 -0.21607581 0.16995982
+v 0.10018466 -0.34403208 0.04287489
+v 0.02469532 -0.33324514 0.09765114
+v 0.18675578 -0.31447322 0.04518146
+v 0.15814359 -0.28452492 0.11469292
+v 0.12421337 -0.05273805 0.26148454
+v 0.15896833 -0.24078870 0.15739959
+v 0.17347899 -0.04170211 0.23705280
+f 8 2 5
+f 10 4 5
+f 10 7 1
+f 12 7 5
+f 12 5 2
+f 12 1 7
+f 13 2 8
+f 13 8 5
+f 14 9 6
+f 14 3 4
+f 16 10 6
+f 16 4 10
+f 16 15 4
+f 16 6 9
+f 16 9 15
+f 17 10 5
+f 17 5 7
+f 17 7 10
+f 19 1 12
+f 19 12 2
+f 20 10 11
+f 21 13 5
+f 21 5 4
+f 22 15 9
+f 22 9 14
+f 22 14 4
+f 22 4 15
+f 23 2 18
+f 24 18 2
+f 24 2 13
+f 25 4 3
+f 25 3 18
+f 25 24 4
+f 25 18 24
+f 26 19 11
+f 26 11 10
+f 26 10 1
+f 26 1 19
+f 27 6 10
+f 27 10 20
+f 28 19 2
+f 28 2 23
+f 28 23 11
+f 28 11 19
+f 29 23 18
+f 29 3 14
+f 29 20 11
+f 29 11 23
+f 29 27 20
+f 29 14 6
+f 29 6 27
+f 30 21 4
+f 30 4 24
+f 31 29 18
+f 31 18 3
+f 31 3 29
+f 32 13 21
+f 32 21 30
+f 32 30 24
+f 32 24 13
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_6/collision/model_normalized_collision_26.obj b/objects/objaverse/cupcake/cupcake_6/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..83021668a5046d804936809be3e993499d40f4ab
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_6/collision/model_normalized_collision_26.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v -0.20814331 -0.39716856 -0.01730327
+v -0.20821041 -0.35184606 -0.23238428
+v -0.22099812 -0.23337146 0.02648991
+v -0.34483313 -0.22331532 -0.01888150
+v -0.33585553 -0.30277462 -0.07679017
+v -0.21351021 -0.22588372 -0.23484849
+v -0.34116389 -0.29293109 -0.01730277
+v -0.26396703 -0.37263155 -0.07595492
+v -0.31394505 -0.22301722 -0.00504218
+v -0.34408502 -0.22293411 -0.23347703
+v -0.20763538 -0.33042915 0.01624535
+v -0.20705126 -0.39502531 -0.09378933
+v -0.26504344 -0.37474367 -0.04251612
+v -0.35317742 -0.21984678 -0.20173852
+v -0.24471707 -0.33284815 -0.23059517
+v -0.25035876 -0.37565968 -0.01730387
+v -0.23376943 -0.38798951 -0.07603170
+v -0.33526567 -0.30218441 -0.02752303
+v -0.36231584 -0.22450311 -0.15808729
+v -0.33452956 -0.24305058 -0.23054519
+v -0.22037224 -0.34597854 -0.23099419
+v -0.27465918 -0.36279004 -0.02752317
+v -0.23485111 -0.39011247 -0.04245953
+v -0.35126193 -0.24917394 -0.15399267
+f 9 3 6
+f 9 7 3
+f 9 4 7
+f 10 6 2
+f 11 2 6
+f 11 6 3
+f 11 3 7
+f 12 11 1
+f 12 2 11
+f 13 5 8
+f 14 9 6
+f 14 6 10
+f 14 4 9
+f 15 8 5
+f 15 10 2
+f 16 11 7
+f 16 1 11
+f 17 8 2
+f 17 2 12
+f 18 7 5
+f 18 5 13
+f 19 7 4
+f 19 4 14
+f 19 5 7
+f 19 14 10
+f 20 15 5
+f 20 10 15
+f 21 15 2
+f 21 2 8
+f 21 8 15
+f 22 16 7
+f 22 13 16
+f 22 18 13
+f 22 7 18
+f 23 17 12
+f 23 12 1
+f 23 13 8
+f 23 8 17
+f 23 16 13
+f 23 1 16
+f 24 19 10
+f 24 10 20
+f 24 20 5
+f 24 5 19
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_6/collision/model_normalized_collision_27.obj b/objects/objaverse/cupcake/cupcake_6/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a629e2e4089e78315042cc7b8b809a0d61367d60
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_6/collision/model_normalized_collision_27.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.22694662 -0.07757096 0.17819619
+v 0.19558069 -0.04406554 0.00757575
+v 0.18979710 0.25318117 0.03113593
+v -0.02761637 0.25528068 0.17140614
+v -0.00138900 -0.04406554 0.14393939
+v -0.00138900 -0.04406554 0.00757575
+v 0.22127641 0.18923040 0.18167462
+v -0.00565963 0.27077619 0.05624503
+v 0.18399525 0.25534424 0.15292288
+v 0.21404848 0.17137194 0.05402192
+f 5 1 4
+f 6 3 2
+f 6 5 4
+f 6 2 1
+f 6 1 5
+f 7 4 1
+f 8 6 4
+f 8 3 6
+f 9 7 3
+f 9 4 7
+f 9 8 4
+f 9 3 8
+f 10 7 1
+f 10 1 2
+f 10 2 3
+f 10 3 7
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_6/collision/model_normalized_collision_28.obj b/objects/objaverse/cupcake/cupcake_6/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1df0721b17206cb83451f459692a8db02e2a4a63
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_6/collision/model_normalized_collision_28.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v -0.18860385 0.13085117 0.18359602
+v -0.18248686 0.17100561 0.17771684
+v -0.21901441 0.21771333 0.32170108
+v -0.24352952 0.24386728 0.30879653
+v -0.19986652 0.13425594 0.18802565
+v -0.22966589 0.24373367 0.31269233
+v -0.20375821 0.15413750 0.19938302
+v -0.23819495 0.19315215 0.30750613
+v -0.24584734 0.24342661 0.30841992
+v -0.22153999 0.18146277 0.28626987
+v -0.21412453 0.15616486 0.22275293
+v -0.22516218 0.19176152 0.30265142
+v -0.22789687 0.17732823 0.26568645
+f 1 2 3
+f 5 2 1
+f 6 3 2
+f 6 2 4
+f 7 2 5
+f 8 5 1
+f 9 6 4
+f 9 3 6
+f 9 8 3
+f 9 4 2
+f 9 2 7
+f 10 8 1
+f 10 1 3
+f 11 5 8
+f 11 9 7
+f 11 7 5
+f 12 10 3
+f 12 3 8
+f 12 8 10
+f 13 11 8
+f 13 8 9
+f 13 9 11
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_6/collision/model_normalized_collision_29.obj b/objects/objaverse/cupcake/cupcake_6/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c1878010188423cc92cea1c7ec5788657cd7af9
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_6/collision/model_normalized_collision_29.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v -0.00085061 -0.37399957 0.00070125
+v -0.00542210 -0.36102604 0.05905361
+v -0.19309473 -0.34845527 0.10459049
+v -0.19243761 0.23509763 0.13188796
+v -0.00565963 0.27077619 0.05624503
+v -0.02761637 0.25528068 0.17140614
+v -0.20551771 0.25097217 0.02565573
+v -0.17652702 -0.36215746 0.09334006
+v -0.00503492 -0.30482266 0.13012453
+v -0.19200039 -0.33029489 0.13288156
+v -0.09426862 -0.35926081 0.08840464
+v -0.19209584 -0.34786628 0.01132791
+v -0.00573516 -0.34460361 0.08864808
+v -0.10962609 -0.34409619 0.11840742
+v -0.16108972 -0.36106185 0.01121503
+v -0.17596107 -0.36271704 0.08293777
+v -0.03612973 -0.34387531 0.10338356
+v -0.17698206 -0.34579835 0.11796168
+v -0.08079295 -0.33103941 0.12912696
+v -0.17428751 -0.36062330 0.02946923
+v -0.02142045 -0.35758819 0.07228845
+v -0.02121668 -0.33174322 0.11106927
+v -0.03696118 -0.31780947 0.12829442
+f 7 5 1
+f 7 6 5
+f 7 4 6
+f 9 1 5
+f 9 5 6
+f 10 6 4
+f 10 9 6
+f 10 3 8
+f 10 7 3
+f 10 4 7
+f 11 8 1
+f 11 1 2
+f 12 7 1
+f 12 3 7
+f 13 2 1
+f 13 1 9
+f 14 8 11
+f 15 12 1
+f 16 8 3
+f 16 3 12
+f 16 15 1
+f 16 1 8
+f 17 2 13
+f 17 14 11
+f 18 14 10
+f 18 10 8
+f 18 8 14
+f 19 9 10
+f 19 10 14
+f 19 14 17
+f 20 16 12
+f 20 12 15
+f 20 15 16
+f 21 17 11
+f 21 11 2
+f 21 2 17
+f 22 17 13
+f 22 13 9
+f 22 19 17
+f 23 22 9
+f 23 9 19
+f 23 19 22
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_6/collision/model_normalized_collision_3.obj b/objects/objaverse/cupcake/cupcake_6/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4e69c847025587a84c7a75f7c12f0bf97c7982ac
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_6/collision/model_normalized_collision_3.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.39174170 0.07701850 -0.28024643
+v 0.38635227 0.07616492 -0.50000000
+v 0.33284874 0.24471751 -0.23059535
+v 0.20490501 0.35358905 -0.23213896
+v 0.22588372 0.07714658 -0.35606061
+v 0.23418257 0.32232557 -0.50000000
+v 0.21073221 0.18320718 -0.23484849
+v 0.37580607 0.12922100 -0.50000000
+v 0.25709086 0.32047493 -0.23059516
+v 0.21073221 0.18320718 -0.50000000
+v 0.35994562 0.18975449 -0.23789273
+v 0.38997752 0.08633748 -0.28436521
+v 0.32966412 0.21977984 -0.50000000
+v 0.21706682 0.34772154 -0.23074882
+v 0.21055089 0.33436649 -0.50000000
+v 0.20351486 0.35086078 -0.24664409
+v 0.22588372 0.07714658 -0.50000000
+v 0.37462136 0.14376886 -0.27891180
+f 5 2 1
+f 7 5 1
+f 8 2 6
+f 9 3 6
+f 10 5 7
+f 10 6 2
+f 11 7 1
+f 11 3 7
+f 11 8 3
+f 12 1 2
+f 12 2 8
+f 12 11 1
+f 13 8 6
+f 13 6 3
+f 13 3 8
+f 14 9 6
+f 14 4 7
+f 14 7 3
+f 14 3 9
+f 15 6 10
+f 15 14 6
+f 15 4 14
+f 16 10 7
+f 16 7 4
+f 16 15 10
+f 16 4 15
+f 17 10 2
+f 17 2 5
+f 17 5 10
+f 18 12 8
+f 18 8 11
+f 18 11 12
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_6/collision/model_normalized_collision_30.obj b/objects/objaverse/cupcake/cupcake_6/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b35b1d07b5616ecbfc81562a64641bba3ec710ec
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_6/collision/model_normalized_collision_30.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.19835870 -0.01376251 -0.35606061
+v -0.19835870 -0.01376251 -0.50000000
+v -0.19835870 0.16805567 -0.50000000
+v -0.35173969 0.17672653 -0.35738098
+v -0.33472233 -0.01376251 -0.35606061
+v -0.33472233 0.16805567 -0.50000000
+v -0.19835870 0.16805567 -0.35606061
+v -0.33472233 -0.01376251 -0.50000000
+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/cupcake/cupcake_6/collision/model_normalized_collision_31.obj b/objects/objaverse/cupcake/cupcake_6/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..13cf75ccdeae0028a1afec243abcff48c31ace37
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_6/collision/model_normalized_collision_31.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.22099812 -0.23337146 0.02648991
+v -0.21351021 -0.22588372 -0.23484849
+v -0.21351021 0.18320718 -0.23484849
+v -0.22609458 0.19579155 0.03935738
+v -0.35697598 0.19454619 -0.24012077
+v -0.34044896 -0.22880164 -0.23620521
+v -0.32668780 -0.22178988 -0.01044477
+v -0.33014502 0.18087490 -0.00269029
+f 1 2 3
+f 1 3 4
+f 5 3 2
+f 5 4 3
+f 6 5 2
+f 6 2 1
+f 7 1 4
+f 7 6 1
+f 7 5 6
+f 8 7 4
+f 8 4 5
+f 8 5 7
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_6/collision/model_normalized_collision_4.obj b/objects/objaverse/cupcake/cupcake_6/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2f2d8571396cfa9c0951d484e1062438e5953940
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_6/collision/model_normalized_collision_4.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.22400994 -0.34341828 -0.23397721
+v 0.37692979 -0.12701556 -0.50000000
+v 0.39309040 -0.12772256 -0.23139962
+v 0.34234324 0.22624017 -0.23372253
+v 0.22588372 0.07714658 -0.50000000
+v 0.39140496 0.04426245 -0.50000000
+v 0.24326902 -0.33417803 -0.23099209
+v 0.22370331 -0.32766501 -0.50000000
+v 0.22588372 0.18320718 -0.23484849
+v 0.39183418 -0.04155242 -0.50000000
+v 0.40857366 0.02943050 -0.23179634
+v 0.34505688 0.18988843 -0.35707804
+v 0.33417800 -0.24326902 -0.23099224
+v 0.34597919 0.22037271 -0.23099434
+v 0.21960402 -0.33477105 -0.29449829
+v 0.40674284 -0.04151375 -0.23140503
+v 0.38635227 0.07616492 -0.50000000
+v 0.22588372 0.18320718 -0.35606061
+v 0.33078784 -0.21757440 -0.50000000
+v 0.23418257 -0.32232557 -0.50000000
+v 0.39209193 0.12979894 -0.23115032
+v 0.33961505 0.22485009 -0.24822771
+f 6 2 5
+f 8 5 2
+f 8 7 1
+f 9 1 7
+f 10 3 2
+f 10 2 6
+f 11 10 6
+f 14 9 7
+f 14 4 9
+f 14 7 13
+f 14 12 4
+f 15 8 1
+f 15 1 9
+f 15 5 8
+f 16 3 10
+f 16 10 11
+f 16 13 3
+f 17 6 5
+f 17 5 12
+f 17 12 14
+f 17 11 6
+f 18 9 4
+f 18 12 5
+f 18 15 9
+f 18 5 15
+f 19 8 2
+f 19 2 3
+f 19 3 13
+f 20 13 7
+f 20 7 8
+f 20 19 13
+f 20 8 19
+f 21 16 11
+f 21 14 13
+f 21 13 16
+f 21 17 14
+f 21 11 17
+f 22 18 4
+f 22 4 12
+f 22 12 18
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_6/collision/model_normalized_collision_5.obj b/objects/objaverse/cupcake/cupcake_6/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..300ed1f595bcd04b6ee3e3be3f4f17f434fd0a29
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_6/collision/model_normalized_collision_5.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.12772259 -0.39308939 -0.23139931
+v 0.21757440 -0.33078784 -0.50000000
+v 0.22588372 -0.22588372 -0.23484849
+v -0.35358861 -0.20490478 -0.23213896
+v -0.12922100 -0.37580607 -0.50000000
+v -0.18320718 -0.21073221 -0.50000000
+v 0.21814252 -0.34705421 -0.23124896
+v 0.04155242 -0.39183418 -0.50000000
+v -0.12979873 -0.39209161 -0.23115025
+v 0.22588372 -0.22588372 -0.50000000
+v -0.35086045 -0.20351466 -0.24664416
+v -0.34772107 -0.21706658 -0.23074886
+v 0.12701556 -0.37692979 -0.50000000
+v -0.24471707 -0.33284815 -0.23059517
+v -0.02943029 -0.40857282 -0.23179640
+v -0.18320718 -0.21073221 -0.23484849
+v -0.33436649 -0.21055089 -0.50000000
+v -0.32047464 -0.25709058 -0.23059517
+v -0.21977984 -0.32966412 -0.50000000
+v 0.04151374 -0.40674231 -0.23140518
+v -0.04426245 -0.39140496 -0.50000000
+v -0.32232557 -0.23418257 -0.50000000
+f 6 2 5
+f 8 5 2
+f 10 2 6
+f 10 7 2
+f 10 3 7
+f 11 10 6
+f 11 3 10
+f 12 7 3
+f 12 3 4
+f 13 8 2
+f 13 1 8
+f 13 7 1
+f 13 2 7
+f 14 1 7
+f 16 11 4
+f 16 4 3
+f 16 3 11
+f 17 11 6
+f 17 6 5
+f 17 12 4
+f 17 4 11
+f 18 14 7
+f 18 7 12
+f 19 5 9
+f 19 9 14
+f 19 17 5
+f 20 15 8
+f 20 8 1
+f 20 9 15
+f 20 14 9
+f 20 1 14
+f 21 15 9
+f 21 9 5
+f 21 5 8
+f 21 8 15
+f 22 18 12
+f 22 12 17
+f 22 17 19
+f 22 19 14
+f 22 14 18
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_6/collision/model_normalized_collision_6.obj b/objects/objaverse/cupcake/cupcake_6/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..08f5bc1df08679c535f353f24dbadf689264d5f9
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_6/collision/model_normalized_collision_6.obj
@@ -0,0 +1,165 @@
+# https://github.com/mikedh/trimesh
+v 0.18964882 -0.30504920 0.06290603
+v 0.33832098 -0.20626113 -0.01208080
+v 0.25671805 0.07696006 0.31177655
+v 0.17944414 0.31763753 0.00324387
+v 0.19277801 -0.31220618 0.00798304
+v 0.35900367 0.09178437 0.00102152
+v 0.16138621 0.04699294 0.25432916
+v 0.29470536 -0.23987161 0.09959505
+v 0.22324486 -0.31161362 -0.00402954
+v 0.36223858 -0.15016940 0.06647269
+v 0.22316942 0.30170497 -0.00008646
+v 0.19149652 -0.21977708 0.16214226
+v 0.17664181 0.21822963 0.20660954
+v 0.17668983 0.31223175 0.00628275
+v 0.19396926 0.31640825 0.00048956
+v 0.27750366 -0.26869953 0.04503808
+v 0.34382968 0.10576724 0.13658879
+v 0.36185584 -0.15139607 0.05351244
+v 0.29909398 -0.24610633 0.08011454
+v 0.25613064 0.04683486 0.31045779
+v 0.29892702 0.22594746 -0.00008627
+v 0.19041001 -0.26308579 0.13301588
+v 0.16329250 0.08957938 0.25192209
+v 0.17641513 0.28919532 0.09419778
+v 0.28746173 -0.25755280 0.01295073
+v 0.21700507 -0.29921532 0.04513367
+v 0.36221354 -0.01341601 0.06546100
+v 0.31339506 0.20503687 0.11836357
+v 0.35057365 -0.17079734 0.01587615
+v 0.32898935 -0.19884899 0.08097362
+v 0.34702813 -0.17291777 0.07314524
+v 0.21805097 -0.28341989 0.08571311
+v 0.26468457 -0.21593512 0.13937802
+v 0.22386067 0.05179234 0.30288484
+v 0.34490043 0.00608761 0.12828613
+v 0.22404877 0.06049289 0.30277422
+v 0.23073733 0.27412368 0.09216438
+v 0.17619402 0.26073078 0.14910562
+v 0.29214590 -0.25119365 0.07705385
+v 0.34487121 0.12783008 0.11993016
+v 0.29224070 0.18177091 0.17487555
+v 0.34424481 0.13629995 0.00118944
+v 0.33204424 -0.14269252 0.11434962
+v 0.19122034 -0.29117975 0.08986998
+v 0.20367018 -0.26006698 0.12901987
+v 0.28708784 -0.23064012 0.11408429
+v 0.19159851 -0.19006497 0.17524687
+v 0.19064977 0.28571788 0.09321854
+v 0.27361314 0.24168192 0.09650702
+v 0.33702352 0.12943324 0.14192261
+v 0.18665257 0.23041853 0.19399664
+v 0.31363628 0.20633072 0.08588497
+v 0.29897032 -0.23316484 0.09863876
+v 0.20386056 0.26967929 0.11729945
+v 0.21641299 0.25630194 0.13260064
+v 0.25993562 0.21012586 0.16201625
+f 7 5 1
+f 9 5 4
+f 9 1 5
+f 14 4 5
+f 14 5 7
+f 15 9 4
+f 15 2 9
+f 15 11 2
+f 18 10 2
+f 19 16 2
+f 21 6 2
+f 21 2 11
+f 22 12 7
+f 22 7 1
+f 23 14 7
+f 24 4 14
+f 24 15 4
+f 24 14 23
+f 25 16 9
+f 25 9 2
+f 25 2 16
+f 26 1 9
+f 27 17 10
+f 27 18 6
+f 27 10 18
+f 28 21 11
+f 29 18 2
+f 29 2 6
+f 29 6 18
+f 30 8 19
+f 31 19 2
+f 31 2 10
+f 31 30 19
+f 32 1 26
+f 33 20 12
+f 33 12 22
+f 34 20 3
+f 34 12 20
+f 35 17 3
+f 35 3 20
+f 35 20 10
+f 35 10 17
+f 36 3 13
+f 36 13 23
+f 36 34 3
+f 36 23 7
+f 36 7 34
+f 37 11 15
+f 38 24 23
+f 38 23 13
+f 39 16 19
+f 39 32 26
+f 39 19 8
+f 39 8 32
+f 39 26 9
+f 39 9 16
+f 40 27 6
+f 40 17 27
+f 41 28 37
+f 42 6 21
+f 42 40 6
+f 42 28 40
+f 43 30 31
+f 43 31 10
+f 43 10 20
+f 44 32 22
+f 44 22 1
+f 44 1 32
+f 45 32 8
+f 45 22 32
+f 46 20 33
+f 46 43 20
+f 46 45 8
+f 46 33 22
+f 46 22 45
+f 47 34 7
+f 47 7 12
+f 47 12 34
+f 48 37 15
+f 48 15 24
+f 49 37 28
+f 49 28 11
+f 49 11 37
+f 50 3 17
+f 50 17 40
+f 50 41 3
+f 50 40 28
+f 50 28 41
+f 51 13 3
+f 51 3 41
+f 51 38 13
+f 52 42 21
+f 52 21 28
+f 52 28 42
+f 53 8 30
+f 53 30 43
+f 53 46 8
+f 53 43 46
+f 54 37 48
+f 54 48 24
+f 54 24 38
+f 55 41 37
+f 55 37 54
+f 55 54 38
+f 55 38 51
+f 56 55 51
+f 56 51 41
+f 56 41 55
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_6/collision/model_normalized_collision_7.obj b/objects/objaverse/cupcake/cupcake_6/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c239ec47ddc7c9dbfa510bdec41dcc3a0eb8712
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_6/collision/model_normalized_collision_7.obj
@@ -0,0 +1,129 @@
+# https://github.com/mikedh/trimesh
+v 0.24910522 -0.37865244 -0.02634744
+v 0.43488662 -0.14130316 -0.07661613
+v 0.36061551 -0.15085591 0.01495004
+v 0.26191518 0.21858155 0.00240665
+v 0.25618675 0.21351021 -0.23484849
+v 0.43500296 0.11972574 -0.01730424
+v 0.25071119 -0.29616573 -0.00788185
+v 0.36250251 -0.27159363 -0.01730497
+v 0.25052159 -0.32627913 -0.23315724
+v 0.43542954 -0.11701595 -0.01730350
+v 0.42180075 0.15979911 -0.01730397
+v 0.39209193 0.12979894 -0.23115032
+v 0.25428134 -0.37365939 -0.01730411
+v 0.24759929 -0.33850833 -0.20198180
+v 0.37364461 -0.26170521 -0.07633026
+v 0.45218539 -0.01120942 -0.01730487
+v 0.43726619 -0.14207888 -0.04201303
+v 0.42292621 -0.15759459 -0.01730345
+v 0.36051370 0.22777839 -0.15844874
+v 0.43406418 0.14317613 -0.07626130
+v 0.39309040 -0.12772256 -0.23139962
+v 0.27159381 -0.36250312 -0.01730415
+v 0.27053563 -0.36144493 -0.09103832
+v 0.45176222 0.01391980 -0.01730492
+v 0.45189688 -0.07176927 -0.05688620
+v 0.37283771 -0.26129417 -0.02786044
+v 0.39716785 0.20814279 -0.01730362
+v 0.35184664 0.20821080 -0.23238442
+v 0.43621926 0.14427424 -0.04229029
+v 0.33417800 -0.24326902 -0.23099224
+v 0.26129340 -0.37283671 -0.02786233
+v 0.26170554 -0.37364481 -0.07633047
+v 0.45071264 -0.07158170 -0.06230238
+v 0.45148946 0.07448276 -0.05698080
+v 0.40334785 0.20357164 -0.07610817
+v 0.35416376 0.22454294 -0.18747883
+v 0.36144437 -0.27053542 -0.09103807
+v 0.24937005 -0.37917165 -0.07837769
+v 0.40409165 0.05902370 -0.23083836
+v 0.45024949 -0.01090228 -0.09245065
+v 0.45032564 0.07429843 -0.06217295
+v 0.40548136 0.20465872 -0.04240356
+v 0.40450152 -0.05631055 -0.23092634
+v 0.44986238 0.01361890 -0.09232129
+f 7 3 4
+f 7 5 1
+f 7 4 5
+f 11 4 3
+f 11 3 6
+f 13 7 1
+f 13 3 7
+f 14 1 5
+f 14 5 9
+f 16 3 10
+f 17 15 2
+f 18 10 3
+f 18 3 8
+f 18 17 10
+f 19 5 4
+f 21 9 5
+f 21 2 15
+f 22 8 3
+f 22 3 13
+f 22 15 8
+f 24 6 3
+f 24 3 16
+f 25 17 2
+f 25 16 10
+f 25 10 17
+f 26 8 15
+f 26 15 17
+f 26 18 8
+f 26 17 18
+f 27 19 4
+f 27 4 11
+f 28 21 5
+f 28 20 12
+f 29 11 6
+f 30 21 15
+f 30 9 21
+f 31 22 13
+f 31 13 1
+f 32 14 9
+f 32 9 23
+f 32 31 1
+f 32 23 15
+f 32 15 22
+f 32 22 31
+f 33 25 2
+f 33 2 21
+f 34 24 16
+f 34 16 25
+f 34 20 29
+f 34 29 6
+f 34 6 24
+f 35 20 28
+f 35 29 20
+f 36 28 5
+f 36 5 19
+f 36 35 28
+f 36 19 35
+f 37 23 9
+f 37 9 30
+f 37 30 15
+f 37 15 23
+f 38 32 1
+f 38 1 14
+f 38 14 32
+f 39 28 12
+f 39 21 28
+f 40 34 25
+f 40 25 33
+f 41 12 20
+f 41 20 34
+f 41 39 12
+f 42 35 19
+f 42 19 27
+f 42 29 35
+f 42 27 11
+f 42 11 29
+f 43 40 33
+f 43 33 21
+f 43 21 39
+f 43 39 40
+f 44 40 39
+f 44 39 41
+f 44 41 34
+f 44 34 40
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_6/collision/model_normalized_collision_8.obj b/objects/objaverse/cupcake/cupcake_6/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..288f40e633751f59ecf5a21a999e5011f1249e5e
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_6/collision/model_normalized_collision_8.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.23284618 0.15449888 0.42540247
+v -0.16911216 0.21013069 0.42453529
+v -0.23833766 0.21857277 0.49129423
+v -0.28297369 0.33229785 0.44225875
+v -0.23946322 0.19869592 0.30154407
+v -0.17941402 0.29199613 0.43979937
+v -0.36278401 0.22302792 0.41409948
+v -0.21398582 0.16985475 0.45318548
+v -0.21306326 0.16843683 0.37666834
+v -0.18403474 0.22444066 0.46255690
+v -0.23360400 0.28069967 0.48731582
+v -0.23869029 0.32372923 0.34003024
+v -0.29261970 0.17040968 0.46341901
+v -0.22516218 0.19176152 0.30265142
+v -0.16913454 0.28124875 0.42718537
+v -0.18588118 0.19709361 0.43857165
+v -0.22254171 0.18793914 0.47725726
+v -0.23929076 0.31717453 0.46212284
+v -0.18137549 0.25223316 0.45877088
+v -0.31778342 0.28006788 0.47675481
+v -0.31944145 0.32281805 0.36326039
+v -0.27879916 0.15668680 0.45201975
+v -0.18425414 0.19862863 0.37685493
+v -0.23586815 0.26773302 0.31162222
+v -0.27219406 0.15503160 0.37823820
+v -0.19394739 0.31965180 0.37875478
+v -0.21467884 0.17921935 0.46224273
+v -0.29411396 0.22067037 0.49024735
+v -0.22412909 0.29640454 0.47554298
+v -0.17759838 0.28268129 0.44497359
+v -0.28478309 0.30739410 0.47504383
+v -0.27107808 0.33345782 0.35359916
+v -0.33433231 0.30477423 0.42640337
+v -0.31834620 0.23312499 0.32493820
+v -0.26232625 0.15591892 0.44807818
+v -0.24710273 0.17068092 0.46353042
+v -0.32640464 0.16794800 0.42379211
+v -0.17053484 0.27961975 0.38896548
+v -0.23669474 0.20474906 0.30205675
+v -0.25012018 0.15536393 0.37593151
+v -0.29454237 0.16920866 0.35498452
+v -0.20612505 0.33304237 0.41099572
+v -0.19634906 0.28085399 0.34054636
+v -0.28624404 0.28282663 0.48964576
+v -0.33221308 0.21577716 0.46412454
+v -0.21058901 0.28182671 0.47265435
+v -0.28462311 0.31786807 0.46499212
+v -0.24713491 0.30576410 0.47582863
+v -0.31493817 0.33232362 0.37644407
+v -0.30174794 0.30471165 0.32719112
+v -0.34998575 0.29270326 0.37829725
+v -0.34780941 0.26863679 0.43959011
+v -0.30073577 0.15370617 0.40393931
+v -0.17309504 0.23217294 0.38858482
+v -0.18676933 0.30933114 0.38912586
+v -0.29621843 0.19587732 0.32526769
+v -0.35085930 0.20491176 0.36262230
+v -0.24579102 0.33177006 0.43953140
+v -0.23951571 0.33024273 0.35138297
+v -0.22557773 0.28968962 0.32681472
+v -0.18556386 0.30144630 0.36806175
+v -0.20848620 0.26707870 0.32763582
+v -0.29790473 0.26879200 0.49028247
+v -0.31031758 0.29272332 0.47418194
+f 9 8 1
+f 9 2 8
+f 11 3 10
+f 16 10 8
+f 16 8 2
+f 16 2 10
+f 17 10 3
+f 19 11 10
+f 19 10 2
+f 19 2 15
+f 23 2 9
+f 23 9 14
+f 27 17 8
+f 27 8 10
+f 27 10 17
+f 28 17 3
+f 28 13 17
+f 30 19 15
+f 30 15 6
+f 30 6 29
+f 35 1 8
+f 36 17 13
+f 36 13 22
+f 36 22 35
+f 36 35 8
+f 36 8 17
+f 37 22 13
+f 38 15 2
+f 39 24 14
+f 39 14 5
+f 40 25 14
+f 40 14 9
+f 40 9 1
+f 41 14 25
+f 42 6 15
+f 42 29 6
+f 42 18 29
+f 42 32 4
+f 44 3 11
+f 45 13 28
+f 45 37 13
+f 45 7 37
+f 46 29 11
+f 46 11 19
+f 46 30 29
+f 46 19 30
+f 47 18 4
+f 47 4 33
+f 48 29 18
+f 48 47 31
+f 48 18 47
+f 48 11 29
+f 48 44 11
+f 48 31 44
+f 49 32 21
+f 49 4 32
+f 49 33 4
+f 50 21 32
+f 50 5 34
+f 50 39 5
+f 50 24 39
+f 50 32 12
+f 50 12 24
+f 51 50 34
+f 51 21 50
+f 51 49 21
+f 51 33 49
+f 52 20 33
+f 52 45 20
+f 52 7 45
+f 52 51 7
+f 52 33 51
+f 53 1 35
+f 53 40 1
+f 53 25 40
+f 53 35 22
+f 53 22 37
+f 53 41 25
+f 54 38 2
+f 54 2 23
+f 54 43 38
+f 54 23 14
+f 54 14 43
+f 55 38 26
+f 55 15 38
+f 55 42 15
+f 55 26 42
+f 56 5 14
+f 56 14 41
+f 56 34 5
+f 57 37 7
+f 57 56 41
+f 57 34 56
+f 57 51 34
+f 57 7 51
+f 57 53 37
+f 57 41 53
+f 58 42 4
+f 58 4 18
+f 58 18 42
+f 59 42 26
+f 59 26 12
+f 59 12 32
+f 59 32 42
+f 60 24 12
+f 60 12 43
+f 61 43 12
+f 61 12 26
+f 61 26 38
+f 61 38 43
+f 62 43 14
+f 62 14 24
+f 62 60 43
+f 62 24 60
+f 63 28 3
+f 63 3 44
+f 63 44 20
+f 63 45 28
+f 63 20 45
+f 64 44 31
+f 64 20 44
+f 64 31 47
+f 64 47 33
+f 64 33 20
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_6/collision/model_normalized_collision_9.obj b/objects/objaverse/cupcake/cupcake_6/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..33742925db1f962605beec0d504fe459601977bc
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_6/collision/model_normalized_collision_9.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.24725282 0.32578840 -0.24575113
+v 0.21073221 0.28926779 -0.50000000
+v 0.11736794 0.37982655 -0.50000000
+v 0.01375099 0.41040714 -0.23483294
+v -0.07714658 0.28926779 -0.35606061
+v 0.11732715 0.39471973 -0.23148030
+v 0.20442198 0.33748932 -0.50000000
+v 0.01376251 0.28926779 -0.23484849
+v -0.07714658 0.28926779 -0.50000000
+v 0.01156170 0.39658409 -0.50000000
+v 0.20490501 0.35358905 -0.23213896
+v -0.08509554 0.38490994 -0.35957296
+v 0.18687568 0.36309264 -0.23080084
+v -0.07714658 0.33472233 -0.50000000
+v 0.15668461 0.37846340 -0.23085308
+v 0.15607811 0.36212171 -0.50000000
+f 7 1 2
+f 7 2 3
+f 8 2 1
+f 8 6 4
+f 9 3 2
+f 9 8 5
+f 9 2 8
+f 10 6 3
+f 10 4 6
+f 10 3 9
+f 11 1 7
+f 11 8 1
+f 12 8 4
+f 12 5 8
+f 12 9 5
+f 12 4 10
+f 13 8 11
+f 13 11 7
+f 14 12 10
+f 14 10 9
+f 14 9 12
+f 15 6 8
+f 15 8 13
+f 15 3 6
+f 16 7 3
+f 16 3 15
+f 16 15 13
+f 16 13 7
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_6/model.xml b/objects/objaverse/cupcake/cupcake_6/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..bf46af0594cb39368485b39c2fa0450cd1cf95a1
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_6/model.xml
@@ -0,0 +1,81 @@
+<mujoco model="cupcake_16">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.08499999999999995 0.08499999999999995 0.08499999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.08499999999999995 0.08499999999999995 0.08499999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.08499999999999995 0.08499999999999995 0.08499999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.08499999999999995 0.08499999999999995 0.08499999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.08499999999999995 0.08499999999999995 0.08499999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.08499999999999995 0.08499999999999995 0.08499999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.08499999999999995 0.08499999999999995 0.08499999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.08499999999999995 0.08499999999999995 0.08499999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.08499999999999995 0.08499999999999995 0.08499999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.08499999999999995 0.08499999999999995 0.08499999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.08499999999999995 0.08499999999999995 0.08499999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.08499999999999995 0.08499999999999995 0.08499999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.08499999999999995 0.08499999999999995 0.08499999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.08499999999999995 0.08499999999999995 0.08499999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.08499999999999995 0.08499999999999995 0.08499999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.08499999999999995 0.08499999999999995 0.08499999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.08499999999999995 0.08499999999999995 0.08499999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.08499999999999995 0.08499999999999995 0.08499999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.08499999999999995 0.08499999999999995 0.08499999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.08499999999999995 0.08499999999999995 0.08499999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.08499999999999995 0.08499999999999995 0.08499999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.08499999999999995 0.08499999999999995 0.08499999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.08499999999999995 0.08499999999999995 0.08499999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.08499999999999995 0.08499999999999995 0.08499999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.08499999999999995 0.08499999999999995 0.08499999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.08499999999999995 0.08499999999999995 0.08499999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.08499999999999995 0.08499999999999995 0.08499999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.08499999999999995 0.08499999999999995 0.08499999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.08499999999999995 0.08499999999999995 0.08499999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.08499999999999995 0.08499999999999995 0.08499999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.08499999999999995 0.08499999999999995 0.08499999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.08499999999999995 0.08499999999999995 0.08499999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.08499999999999995 0.08499999999999995 0.08499999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="phong1.001" texture="image0" specular="0.5" shininess="0.25"/>
+  </asset>
+  <worldbody>
+    <body>
+      <body name="object">
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_0_vis" conaffinity="0" contype="0" group="1" material="phong1.001"/>
+        <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="-9.092067500000018e-05 9.070647499999968e-05 -0.042499999999999975" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="-9.092067500000018e-05 9.070647499999968e-05 0.041760009549999984" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.03843575814999998 0.038617587599999975 -0.00036999522499999983" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/objects/objaverse/cupcake/cupcake_6/visual/material.mtl b/objects/objaverse/cupcake/cupcake_6/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fbcf6b4b1af9257e08a0fd6e283841743ce8fad5
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_6/visual/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 250.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_6/visual/model_normalized_0.obj b/objects/objaverse/cupcake/cupcake_6/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8c19e4bbf7c2b99ffa1ec0e76ed6b9bdbf7e85ea
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_6/visual/model_normalized_0.obj
@@ -0,0 +1,6522 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
+v -0.27924043 -0.07512919 0.17259790
+v -0.29377399 -0.05983175 0.15829932
+v -0.29583068 -0.05573087 0.16477585
+v -0.28129624 -0.07102920 0.17907443
+v -0.32848673 -0.11614692 0.12332838
+v -0.30109482 -0.05683605 0.15894260
+v -0.32116590 -0.11914173 0.12268510
+v -0.30132622 -0.05622851 0.16983182
+v -0.30659214 -0.05733370 0.16399678
+v -0.31281851 -0.13928518 0.13808886
+v -0.32735206 -0.12398773 0.12379029
+v -0.30663056 -0.13443917 0.13698458
+v -0.33398227 -0.11664457 0.12838345
+v -0.33284849 -0.12448449 0.12884536
+v -0.28679267 -0.07152596 0.18412861
+v -0.30751238 -0.06107452 0.17093522
+v -0.29297883 -0.07637196 0.18523379
+v -0.33490429 -0.12038450 0.13532099
+v -0.32036895 -0.13568194 0.14962047
+v -0.31831405 -0.13978193 0.14314394
+v -0.28565800 -0.07936677 0.18459141
+v -0.28016246 -0.07887002 0.17953634
+v -0.31304812 -0.13867764 0.14897719
+v -0.30755259 -0.13818089 0.14392212
+v 0.05852822 -0.02611787 0.30053642
+v 0.05967629 -0.03764679 0.29692246
+v 0.05904999 -0.03954803 0.30007273
+v 0.05771251 -0.02612234 0.30428171
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\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_9/collision/model_normalized_collision_1.obj b/objects/objaverse/cupcake/cupcake_9/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da4ee05c0bbdc8dfbaa98ed759182ef34d129298
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_9/collision/model_normalized_collision_1.obj
@@ -0,0 +1,150 @@
+# https://github.com/mikedh/trimesh
+v 0.05526648 -0.31348328 0.25976717
+v 0.15789461 -0.27238365 0.25587753
+v 0.04960816 -0.13804066 0.49075287
+v -0.23620010 -0.00904207 0.44840699
+v -0.22951009 -0.01055251 0.25000000
+v -0.23695427 -0.16686970 0.42073154
+v 0.12375536 -0.23766985 0.34398640
+v -0.12043282 -0.31368897 0.24516561
+v 0.17764368 -0.00972379 0.32140472
+v -0.23090835 -0.08874503 0.46734229
+v -0.23908063 -0.02633655 0.45668270
+v 0.09730491 -0.29659435 0.26600329
+v 0.05393705 -0.31179610 0.26589075
+v -0.00223735 -0.01055251 0.25000000
+v -0.00234170 -0.32423883 0.24862825
+v -0.22417097 -0.28670054 0.24756706
+v 0.18151222 -0.09864831 0.36592354
+v 0.00557813 0.03045763 0.41391809
+v 0.03237055 -0.14328328 0.48843915
+v -0.23552593 -0.15240491 0.43246046
+v -0.17237777 -0.01059990 0.47156177
+v 0.09940217 -0.30010724 0.25788876
+v -0.10689315 -0.30878116 0.27340547
+v 0.14820034 -0.22745811 0.33532475
+v 0.18910298 -0.05910877 0.33659027
+v 0.08027919 -0.01171190 0.47926698
+v 0.04747679 -0.14611556 0.48272387
+v -0.22896384 -0.06508074 0.46535493
+v 0.04312685 -0.12125908 0.49165920
+v -0.12066138 -0.31086860 0.26129125
+v -0.17766466 -0.29605870 0.26810442
+v -0.13455747 -0.29831352 0.28174509
+v 0.13670735 -0.23658481 0.33482244
+v 0.15005061 -0.08820006 0.41548026
+v 0.18676748 -0.09362633 0.34295339
+v 0.05988035 0.01572344 0.39864908
+v 0.00098438 0.01817442 0.43991313
+v 0.14531193 -0.07891274 0.42256408
+v 0.06363685 -0.05654265 0.49133395
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+v -0.19350983 -0.29820350 0.24774559
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\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_9/collision/model_normalized_collision_10.obj b/objects/objaverse/cupcake/cupcake_9/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6489ad5140d5ef71e6807ae05e4cd2a775093b93
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_9/collision/model_normalized_collision_10.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v 0.00132234 -0.01250667 0.45219387
+v 0.04930555 0.00450001 0.41520515
+v -0.00668583 0.24526667 0.42304308
+v -0.23401590 0.22776526 0.46198077
+v -0.25981312 -0.01055251 0.25000000
+v -0.18096216 0.22976760 0.47847461
+v -0.00223735 -0.01055251 0.26515152
+v -0.25149097 -0.01387449 0.45842161
+v -0.24637908 0.23473094 0.28442276
+v -0.02185488 0.23321207 0.42935909
+v -0.07555502 0.25161591 0.36642152
+v 0.00585005 0.23815373 0.30434889
+v -0.19112826 0.23084767 0.47993978
+v -0.29486608 -0.01933947 0.34649407
+v -0.22951009 -0.01055251 0.25000000
+v -0.24897475 0.23374973 0.29981944
+v -0.05433148 0.25025614 0.37144584
+v -0.24216995 0.09760195 0.46130900
+v -0.16228673 0.02182465 0.47668851
+v -0.29403179 -0.01720286 0.39519005
+v -0.29298204 0.04716122 0.35751772
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+v -0.29017515 0.01014625 0.40555810
+v -0.24626822 0.22558825 0.43429166
+v -0.17237777 -0.01059990 0.47156177
+v -0.29188390 0.05437735 0.36284808
+v -0.28966667 0.01954860 0.40368998
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\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_9/collision/model_normalized_collision_11.obj b/objects/objaverse/cupcake/cupcake_9/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b0f5a182b01b50dd6c9a356b56235a95a33e564
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_9/collision/model_normalized_collision_11.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v 0.14041295 -0.38865448 0.03347044
+v 0.24120089 -0.36091984 0.00863169
+v 0.21473028 -0.31042506 0.20522812
+v 0.00371707 -0.25952966 0.30045438
+v 0.07352023 -0.25297676 0.00757575
+v 0.07209146 -0.34507229 0.21885022
+v 0.17495338 -0.34761033 0.14895299
+v 0.00177178 -0.35773693 0.09643528
+v 0.24018690 -0.25297676 0.00757575
+v 0.06782940 -0.31104000 0.25777796
+v 0.22978730 -0.31203395 0.19224440
+v 0.08587952 -0.34328786 0.21842379
+v 0.08472208 -0.38433925 0.04783945
+v -0.00223735 -0.25297676 0.08333332
+v -0.00243811 -0.32009115 0.26259294
+v 0.23470648 -0.24683454 0.23687338
+v 0.14398949 -0.32938876 0.21856738
+v 0.22997165 -0.28552312 0.21780266
+v 0.18994943 -0.24665836 0.25794667
+v 0.17300697 -0.30158552 0.23071487
+v 0.11205027 -0.29665608 0.25544652
+v 0.23267430 -0.25958900 0.23175368
+v 0.21737022 -0.27344605 0.23101042
+f 5 2 1
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+f 23 20 18
+f 23 19 20
+f 23 22 19
+f 23 18 22
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_9/collision/model_normalized_collision_12.obj b/objects/objaverse/cupcake/cupcake_9/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92997421e82abd3cc0af381f7e86c7a691359c15
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_9/collision/model_normalized_collision_12.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v 0.27969004 -0.28636654 0.04388189
+v 0.46513514 -0.10040361 -0.04860769
+v 0.44937133 -0.01554845 0.00437406
+v 0.25533842 0.09550811 -0.09848487
+v 0.30361326 -0.27739808 -0.23758451
+v 0.42089864 0.08683468 -0.23071451
+v 0.25533842 -0.01055251 0.00757575
+v 0.41233251 -0.23176201 -0.01659817
+v 0.44702845 0.08584818 -0.11258539
+v 0.25533842 0.09550811 -0.23484849
+v 0.37503615 -0.21206971 -0.26373666
+v 0.43548637 0.09317180 -0.09798045
+v 0.46869304 -0.09642224 -0.03018267
+v 0.44141751 -0.16944077 -0.01746299
+v 0.37649490 -0.27391708 -0.02034894
+v 0.43522266 0.02467355 -0.23265310
+v 0.37293484 -0.19443572 -0.26487181
+v 0.47127421 -0.02373637 -0.02080261
+v 0.43275527 0.08908998 -0.16928336
+v 0.46843101 -0.04437936 -0.01445993
+v 0.43498755 -0.17358525 -0.07972091
+v 0.36244826 -0.27160677 -0.15728603
+v 0.42649584 -0.09692614 -0.22867176
+v 0.46873294 -0.03253107 -0.07836050
+v 0.40320344 -0.23326955 -0.07532797
+v 0.34954045 -0.26451961 -0.23251927
+v 0.40669072 -0.16383114 -0.21648134
+v 0.45241394 -0.03398877 -0.15327970
+v 0.46901740 -0.02540710 -0.06162676
+v 0.43638343 -0.03991054 -0.21594171
+f 7 1 3
+f 10 7 4
+f 10 5 1
+f 10 1 7
+f 12 7 3
+f 12 4 7
+f 12 10 4
+f 12 6 10
+f 14 3 1
+f 14 1 8
+f 15 8 1
+f 15 1 5
+f 16 6 9
+f 17 10 6
+f 17 16 11
+f 17 6 16
+f 17 11 5
+f 17 5 10
+f 18 12 3
+f 18 9 12
+f 19 12 9
+f 19 9 6
+f 19 6 12
+f 20 14 13
+f 20 3 14
+f 20 18 3
+f 20 13 18
+f 21 2 13
+f 21 13 14
+f 21 14 8
+f 22 8 15
+f 22 15 5
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+f 23 2 21
+f 24 13 2
+f 24 18 13
+f 24 16 9
+f 25 21 8
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+f 26 22 5
+f 26 5 11
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+f 27 21 11
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+f 28 24 2
+f 28 2 23
+f 29 24 9
+f 29 9 18
+f 29 18 24
+f 30 28 23
+f 30 23 16
+f 30 16 28
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_9/collision/model_normalized_collision_13.obj b/objects/objaverse/cupcake/cupcake_9/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c937fa65a4a4e8c7fe2c129da8c0504c420439f6
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_9/collision/model_normalized_collision_13.obj
@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
+v -0.02648099 0.22610854 0.37197242
+v 0.04891615 0.30555492 0.29403071
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\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_9/collision/model_normalized_collision_15.obj b/objects/objaverse/cupcake/cupcake_9/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae31f8f9393c9422c8e3a288195474b3f79325d8
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_9/collision/model_normalized_collision_15.obj
@@ -0,0 +1,117 @@
+# https://github.com/mikedh/trimesh
+v 0.10266901 -0.46838027 -0.02342364
+v 0.20692316 -0.38818966 -0.21936916
+v 0.20755167 -0.38598999 0.00494895
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+v -0.21884848 -0.36579877 -0.21722043
+v -0.24294152 -0.39107515 0.01276423
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+v -0.17463854 -0.43254636 -0.08295297
+v 0.00570299 -0.40756635 0.05031521
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+v 0.15372078 -0.45020560 -0.01984461
+v 0.09472095 -0.46335104 -0.07795515
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+v 0.03558456 -0.47855883 -0.01540067
+v 0.15760776 -0.41672347 0.00059004
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+v -0.16408619 -0.40669691 -0.22851883
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+v -0.22442064 -0.40716937 0.00535611
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+v -0.17644016 -0.43321103 -0.02082578
+v -0.03903059 -0.46614507 0.00641974
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+f 40 11 34
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\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_9/collision/model_normalized_collision_16.obj b/objects/objaverse/cupcake/cupcake_9/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2152b6ad98b4b738c99f92525896c29537649836
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_9/collision/model_normalized_collision_16.obj
@@ -0,0 +1,180 @@
+# https://github.com/mikedh/trimesh
+v -0.20740668 -0.37764257 -0.23385521
+v -0.19406987 -0.33671217 -0.49947233
+v -0.18741396 0.35006800 -0.35618318
+v -0.23447884 0.36105309 -0.23430634
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+v -0.19547752 -0.35850920 -0.38307298
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+v -0.24625587 -0.31238768 -0.45807037
+v -0.18648801 0.34896515 -0.38558966
+v -0.39213466 -0.05232832 -0.48764733
+v -0.39869478 0.18848042 -0.24784126
+v -0.35377236 -0.25477469 -0.23155187
+v -0.20988285 -0.37391864 -0.26220337
+v -0.19575403 0.32903865 -0.49750651
+v -0.42857660 -0.08571531 -0.24021530
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+v -0.37106243 0.23293930 -0.23482038
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\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_9/collision/model_normalized_collision_19.obj b/objects/objaverse/cupcake/cupcake_9/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..77d93021e97392cb0f5131ce8a0bf73ae1c78eee
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_9/collision/model_normalized_collision_19.obj
@@ -0,0 +1,108 @@
+# https://github.com/mikedh/trimesh
+v -0.24637282 0.23442745 0.28447325
+v -0.21435857 0.23187174 0.00757575
+v -0.21058456 0.36127957 0.25639966
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+v -0.43497592 0.22766544 0.00792511
+v -0.20793321 0.42999460 0.04702746
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+v -0.40691514 0.25197391 0.17914166
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+f 37 34 27
+f 37 15 34
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_9/collision/model_normalized_collision_2.obj b/objects/objaverse/cupcake/cupcake_9/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d052f2009258d037aa8f83023a78b814a1312c63
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_9/collision/model_normalized_collision_2.obj
@@ -0,0 +1,117 @@
+# https://github.com/mikedh/trimesh
+v 0.07064414 -0.37159064 0.17167534
+v 0.22228074 -0.32361846 0.14775507
+v 0.00669900 -0.26202847 0.29947807
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+v -0.03314657 -0.37246447 0.19291408
+v -0.20676043 -0.35529022 0.16951929
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+v -0.13616043 -0.37210377 0.17938183
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+v -0.22206327 -0.34389826 0.18099761
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+v -0.22143943 -0.32790325 0.20349116
+v -0.16411496 -0.35707519 0.19333107
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+f 40 33 26
+f 40 26 34
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_9/collision/model_normalized_collision_20.obj b/objects/objaverse/cupcake/cupcake_9/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4fc8e9a9d1174fb3c2ea60a813e233e894c6f987
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_9/collision/model_normalized_collision_20.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.45435201 -0.01795879 -0.01469038
+v 0.46069212 -0.02082566 -0.06369325
+v 0.44009439 0.11147221 0.00828164
+v 0.25533842 0.09550811 0.00757575
+v 0.25533842 -0.01055251 -0.09848487
+v 0.44784804 -0.01242184 0.00727444
+v 0.46428426 0.08656355 -0.02164679
+v 0.25533842 -0.01055251 0.00757575
+v 0.46843715 0.01702584 -0.01882397
+v 0.43532222 0.09213446 -0.11321180
+v 0.46633908 0.03398563 -0.06413094
+v 0.43433353 0.00791577 -0.11404864
+v 0.25533842 0.09550811 -0.09848487
+v 0.45139510 0.09628794 -0.04993027
+v 0.46533509 0.01719850 -0.06687071
+v 0.46564228 0.07336846 -0.04668096
+v 0.44922193 -0.02020116 -0.09697915
+v 0.43344081 0.10464332 -0.05237398
+v 0.45586104 0.09602424 -0.01877043
+v 0.46486092 0.08269458 -0.03216585
+v 0.45025352 0.08397468 -0.11258394
+v 0.45313728 0.02917991 -0.11318569
+f 8 5 2
+f 8 2 1
+f 8 1 6
+f 8 4 5
+f 8 6 3
+f 8 3 4
+f 9 1 2
+f 9 6 1
+f 9 7 3
+f 9 3 6
+f 13 5 4
+f 13 4 3
+f 13 12 5
+f 13 10 12
+f 15 11 9
+f 15 9 2
+f 16 9 11
+f 17 2 5
+f 17 5 12
+f 18 13 3
+f 18 10 13
+f 18 14 10
+f 18 3 14
+f 19 14 3
+f 19 3 7
+f 19 7 14
+f 20 7 9
+f 20 9 16
+f 21 16 11
+f 21 20 16
+f 21 10 14
+f 21 14 7
+f 21 7 20
+f 22 15 2
+f 22 2 17
+f 22 17 12
+f 22 12 10
+f 22 10 21
+f 22 21 11
+f 22 11 15
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_9/collision/model_normalized_collision_22.obj b/objects/objaverse/cupcake/cupcake_9/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c9aa0da7f107ba003bdada976a5e16e1ae514477
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_9/collision/model_normalized_collision_22.obj
@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
+v -0.04871981 -0.46802648 0.00334110
+v 0.24120089 -0.36091984 0.00863169
+v 0.03832562 -0.36696172 0.07439407
+v -0.22715008 -0.35456717 0.07600832
+v -0.25367907 -0.37906308 0.01396793
+v 0.19019593 -0.34734238 0.05221566
+v -0.10868847 -0.36280859 0.09064466
+v -0.19389079 -0.41943942 0.00197543
+v 0.23563859 -0.35023561 0.02791603
+v 0.11141857 -0.41846374 0.02252426
+v 0.02477984 -0.40792672 0.05097058
+v -0.15041021 -0.38913458 0.06834486
+v 0.23529162 -0.36623501 0.00408876
+v -0.21934838 -0.40178979 0.02900800
+v 0.14231628 -0.41624032 0.01181824
+v -0.05245546 -0.46389658 0.00953314
+v 0.03512124 -0.37859104 0.06774634
+v 0.09850736 -0.40816939 0.03437873
+v -0.22442064 -0.40716937 0.00535611
+v 0.20252753 -0.39392391 -0.00070984
+v -0.22582436 -0.36494840 0.06962888
+v -0.05889514 -0.46740919 0.00434412
+v 0.19838057 -0.38937274 0.01000617
+v 0.10085917 -0.43652038 0.00196868
+v -0.04852402 -0.39112697 0.06665135
+v 0.05674034 -0.43370781 0.02257722
+v -0.19411172 -0.41536158 0.01674565
+v -0.20810246 -0.38876715 0.05441899
+v -0.21016005 -0.37516513 0.06648594
+v 0.23060698 -0.35769377 0.02283113
+v 0.09850351 -0.43136022 0.01233207
+v 0.14412935 -0.42112157 0.00236708
+v 0.05500901 -0.42102459 0.03503912
+v -0.19513314 -0.40405937 0.04046335
+f 7 6 4
+f 7 3 6
+f 9 5 4
+f 9 2 5
+f 9 4 6
+f 12 7 4
+f 13 5 2
+f 15 6 10
+f 16 7 12
+f 17 3 7
+f 17 7 11
+f 17 6 3
+f 18 10 6
+f 18 17 11
+f 18 6 17
+f 19 13 8
+f 19 5 13
+f 19 14 5
+f 20 1 8
+f 20 8 13
+f 20 13 2
+f 21 4 5
+f 21 5 14
+f 22 8 1
+f 22 1 16
+f 22 16 12
+f 23 9 6
+f 23 6 15
+f 23 15 20
+f 23 20 2
+f 24 1 20
+f 25 16 11
+f 25 11 7
+f 25 7 16
+f 26 16 1
+f 27 19 8
+f 27 14 19
+f 27 22 14
+f 27 8 22
+f 28 21 14
+f 28 22 12
+f 29 12 4
+f 29 4 21
+f 29 28 12
+f 29 21 28
+f 30 23 2
+f 30 2 9
+f 30 9 23
+f 31 15 10
+f 31 10 26
+f 31 26 1
+f 31 1 24
+f 32 24 20
+f 32 20 15
+f 32 31 24
+f 32 15 31
+f 33 11 16
+f 33 16 26
+f 33 18 11
+f 33 26 10
+f 33 10 18
+f 34 28 14
+f 34 14 22
+f 34 22 28
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_9/collision/model_normalized_collision_23.obj b/objects/objaverse/cupcake/cupcake_9/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dafc750b67d45dadbb3570a6017e8368dd95c504
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_9/collision/model_normalized_collision_23.obj
@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
+v 0.34406525 0.19962119 -0.35651958
+v 0.33423996 0.19456728 -0.49119763
+v 0.16285142 0.37183482 -0.35522258
+v -0.07296824 0.39310635 -0.35533102
+v -0.19920705 0.20156871 -0.35606063
+v 0.14282389 0.36461366 -0.49809735
+v 0.30199309 0.28003297 -0.35567933
+v -0.01977075 0.40138963 -0.35290508
+v -0.19920705 0.32278084 -0.49994679
+v 0.33732486 0.23665459 -0.35597286
+v 0.23957748 0.32262845 -0.42912992
+v -0.19949338 0.33641755 -0.35596915
+v 0.05988793 0.39938953 -0.35316411
+v -0.07141797 0.36841092 -0.49957727
+v 0.32645373 0.19903942 -0.49994679
+v 0.31380972 0.23472359 -0.49874204
+v 0.21818420 0.33456874 -0.44372530
+v 0.24761656 0.32201094 -0.35566720
+v -0.19920705 0.20156871 -0.49994679
+v -0.12938341 0.37245213 -0.41494605
+v 0.11407895 0.38109411 -0.46113187
+v -0.06659430 0.38266616 -0.44219403
+v 0.21566558 0.32364209 -0.49988377
+v 0.28821623 0.27387222 -0.45805750
+v -0.19834149 0.33390553 -0.41640880
+v -0.15255759 0.35051742 -0.49030525
+v 0.04598107 0.39664453 -0.41346263
+v 0.02442493 0.38189852 -0.47827494
+v -0.01414908 0.39724532 -0.39701587
+v -0.12565379 0.36854592 -0.45637410
+v 0.28827511 0.26332467 -0.49942639
+v 0.22711542 0.31982395 -0.48732011
+v -0.13255654 0.35298179 -0.49725659
+v -0.01550178 0.37902449 -0.48588454
+v -0.12057465 0.36573089 -0.47368033
+f 5 2 1
+f 8 5 1
+f 10 1 2
+f 10 8 1
+f 12 8 4
+f 12 5 8
+f 13 10 7
+f 13 8 10
+f 16 10 2
+f 16 7 10
+f 16 2 15
+f 17 6 3
+f 18 7 11
+f 18 13 7
+f 18 3 13
+f 18 17 3
+f 18 11 17
+f 19 12 9
+f 19 5 12
+f 19 9 15
+f 19 15 2
+f 19 2 5
+f 20 12 4
+f 21 13 3
+f 21 3 6
+f 23 14 6
+f 23 6 17
+f 23 15 9
+f 23 9 14
+f 24 11 7
+f 24 7 16
+f 25 9 12
+f 25 12 20
+f 26 25 20
+f 26 9 25
+f 27 8 13
+f 27 13 21
+f 28 21 6
+f 28 27 21
+f 29 22 4
+f 29 4 8
+f 29 8 27
+f 30 20 4
+f 30 4 22
+f 30 26 20
+f 31 16 15
+f 31 15 23
+f 31 24 16
+f 32 23 17
+f 32 17 11
+f 32 31 23
+f 32 11 24
+f 32 24 31
+f 33 26 14
+f 33 14 9
+f 33 9 26
+f 34 28 6
+f 34 6 14
+f 34 14 22
+f 34 22 29
+f 34 29 27
+f 34 27 28
+f 35 30 22
+f 35 22 14
+f 35 14 26
+f 35 26 30
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_9/collision/model_normalized_collision_25.obj b/objects/objaverse/cupcake/cupcake_9/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b4cbf9c63f9d2448f5438e9e00172e39ed09aaa1
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_9/collision/model_normalized_collision_25.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v 0.20910636 -0.42151533 -0.02308698
+v 0.34954045 -0.26451961 -0.23251927
+v 0.38107881 -0.28998526 -0.01943212
+v 0.20988386 -0.26812827 0.00757575
+v 0.20988386 -0.26812827 -0.23484849
+v 0.34068318 -0.26442696 0.00373600
+v 0.25219064 -0.35740935 -0.23219934
+v 0.20252753 -0.39392391 -0.00070984
+v 0.37673315 -0.27396296 -0.04521713
+v 0.31767602 -0.32807213 -0.13962460
+v 0.20781825 -0.37388715 -0.23468009
+v 0.26210909 -0.35381200 0.00198334
+v 0.37804520 -0.27730542 -0.01882009
+v 0.37551024 -0.28329528 -0.08101551
+v 0.30828400 -0.31098346 -0.23091330
+v 0.33019999 -0.34578695 -0.02372965
+v 0.21059571 -0.40263585 -0.13951559
+v 0.33030135 -0.34210755 -0.01651242
+v 0.37582851 -0.28358368 -0.07871296
+v 0.36036678 -0.27125365 -0.17062868
+v 0.21055187 -0.40246605 -0.14031151
+v 0.21301213 -0.41864634 -0.06453131
+v 0.26336833 -0.38838995 -0.01658488
+v 0.33461677 -0.34058331 -0.02848219
+v 0.21144587 -0.41831236 -0.06583363
+v 0.26039088 -0.38707213 -0.06678545
+v 0.20980638 -0.41908197 -0.02103878
+v 0.25416737 -0.35987457 -0.21487834
+f 6 5 4
+f 6 2 5
+f 8 4 5
+f 9 2 6
+f 11 5 2
+f 11 2 7
+f 11 8 5
+f 11 1 8
+f 12 6 4
+f 12 4 8
+f 13 9 6
+f 13 6 3
+f 13 3 9
+f 15 10 7
+f 15 7 2
+f 15 14 10
+f 15 2 14
+f 16 7 10
+f 18 3 6
+f 18 6 12
+f 18 16 3
+f 19 14 9
+f 19 9 3
+f 20 14 2
+f 20 2 9
+f 20 9 14
+f 21 11 7
+f 21 7 17
+f 21 1 11
+f 22 21 17
+f 22 17 7
+f 23 16 18
+f 23 22 16
+f 23 1 22
+f 23 18 12
+f 23 12 8
+f 24 19 3
+f 24 3 16
+f 24 16 10
+f 24 10 14
+f 24 14 19
+f 25 22 1
+f 25 1 21
+f 25 21 22
+f 26 16 22
+f 27 23 8
+f 27 8 1
+f 27 1 23
+f 28 26 22
+f 28 22 7
+f 28 7 16
+f 28 16 26
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_9/collision/model_normalized_collision_26.obj b/objects/objaverse/cupcake/cupcake_9/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3dbc533a66499019064252b4c78f6f6b9e4b0eba
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_9/collision/model_normalized_collision_26.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v -0.22951009 0.20156871 0.00757575
+v -0.22951009 0.20156871 -0.23484849
+v -0.22278077 0.41276321 -0.04915205
+v -0.24643504 0.41659842 0.00816413
+v -0.45197939 0.19816807 -0.03308084
+v -0.38336515 0.19092452 -0.23306951
+v -0.45191929 0.19880270 0.00678353
+v -0.23447884 0.36105309 -0.23430634
+v -0.29519515 0.38364495 0.01072473
+v -0.37106243 0.23293930 -0.23482038
+v -0.24512789 0.36793588 -0.20042535
+v -0.43914359 0.22102380 0.00735473
+v -0.39929991 0.20008087 -0.19448959
+v -0.36373843 0.30774612 -0.03851101
+v -0.25720805 0.39725112 -0.05051294
+v -0.29227696 0.32213377 -0.23244979
+v -0.43981896 0.22046465 -0.03000748
+v -0.41149853 0.26417160 0.00780833
+v -0.29375920 0.38150506 -0.00399447
+v -0.24658080 0.35785539 -0.23182536
+v -0.34683607 0.29624259 -0.14332310
+v -0.40926000 0.26225000 -0.01588821
+v -0.30086957 0.32769354 -0.18787851
+v -0.32129580 0.35097863 -0.03007294
+f 1 2 3
+f 1 3 4
+f 6 2 1
+f 7 6 1
+f 7 5 6
+f 8 3 2
+f 9 1 4
+f 10 8 2
+f 10 2 6
+f 11 4 3
+f 11 3 8
+f 12 7 1
+f 12 1 9
+f 13 10 6
+f 13 6 5
+f 13 5 10
+f 15 9 4
+f 15 4 11
+f 16 8 10
+f 17 5 7
+f 17 7 12
+f 17 10 5
+f 18 12 9
+f 18 9 14
+f 18 17 12
+f 19 15 11
+f 19 9 15
+f 20 16 11
+f 20 11 8
+f 20 8 16
+f 21 16 10
+f 21 10 17
+f 22 18 14
+f 22 17 18
+f 22 21 17
+f 22 14 21
+f 23 19 11
+f 23 11 16
+f 23 16 21
+f 24 14 9
+f 24 9 19
+f 24 19 23
+f 24 23 21
+f 24 21 14
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_9/collision/model_normalized_collision_28.obj b/objects/objaverse/cupcake/cupcake_9/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6bb7d04356748b02b8a68fc80a66362b98502cde
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_9/collision/model_normalized_collision_28.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.16188908 -0.26435730 0.26154511
+v 0.32763511 -0.01031493 0.25840859
+v 0.15750546 -0.20576486 0.33750718
+v 0.20480757 0.11818473 0.31539617
+v 0.28356323 0.12481917 0.26005542
+v 0.18676748 -0.09362633 0.34295339
+v 0.15941423 -0.01677123 0.33571930
+v 0.23413272 -0.20268818 0.25470561
+v 0.19160746 0.11090724 0.29346573
+v 0.31394754 0.07891671 0.25871294
+v 0.31388476 -0.05516427 0.25990922
+v 0.15420145 -0.22963613 0.30673748
+v 0.17386055 -0.26044466 0.25693015
+v 0.22995782 0.12851407 0.27869968
+v 0.18069470 0.10890520 0.30933542
+v 0.32672054 0.03435509 0.25859568
+v 0.15706622 -0.25881825 0.27290301
+f 7 6 4
+f 7 3 6
+f 10 5 4
+f 10 8 5
+f 11 6 3
+f 11 2 6
+f 11 8 2
+f 11 3 8
+f 12 3 7
+f 13 8 3
+f 13 5 8
+f 14 4 5
+f 14 5 13
+f 14 13 1
+f 14 1 9
+f 15 7 4
+f 15 14 9
+f 15 4 14
+f 15 9 1
+f 16 2 8
+f 16 8 10
+f 16 6 2
+f 16 10 4
+f 16 4 6
+f 17 12 7
+f 17 3 12
+f 17 13 3
+f 17 1 13
+f 17 15 1
+f 17 7 15
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_9/collision/model_normalized_collision_29.obj b/objects/objaverse/cupcake/cupcake_9/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e32f5f112accd4b2b725e601c31dd285ee7335e
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_9/collision/model_normalized_collision_29.obj
@@ -0,0 +1,150 @@
+# https://github.com/mikedh/trimesh
+v 0.30510222 0.22490516 0.22308004
+v 0.32368068 0.22629344 0.14758323
+v 0.11127028 0.37953005 0.20061881
+v -0.19330546 0.40999340 0.19697886
+v -0.21435857 0.23187174 0.14393938
+v 0.15883585 0.36100874 0.13175612
+v -0.24637282 0.23442745 0.28447325
+v 0.32139774 0.22422405 0.20044653
+v -0.01984515 0.41174559 0.16300271
+v 0.06600157 0.36440319 0.25235829
+v -0.21242841 0.40696244 0.14605072
+v 0.22862217 0.31957362 0.20088060
+v 0.06637607 0.39519155 0.16443550
+v 0.26414374 0.22877248 0.25058275
+v -0.16472413 0.38276485 0.25193661
+v -0.03493696 0.41104500 0.21280694
+v -0.20954703 0.39859030 0.21114706
+v -0.19647225 0.41125199 0.14836564
+v 0.31730326 0.23702324 0.15064833
+v 0.19919654 0.33390021 0.21071237
+v 0.29828642 0.24867915 0.20891761
+v 0.11079112 0.38036774 0.18006871
+v 0.05057288 0.39436878 0.15093898
+v 0.00822217 0.38187067 0.25364816
+v -0.16603337 0.40992774 0.21141251
+v -0.00600540 0.41179102 0.17500057
+v -0.20724791 0.36883160 0.25098423
+v 0.22857257 0.31935927 0.16623504
+v 0.12660480 0.36428917 0.22218856
+v 0.18710761 0.31095017 0.24721114
+v 0.29975262 0.23636017 0.22150520
+v 0.31433283 0.23456094 0.19845096
+v 0.06818474 0.39427125 0.19837055
+v -0.06466189 0.41134601 0.15561922
+v -0.02041986 0.39649752 0.23900053
+v -0.19357078 0.39638268 0.22403663
+v -0.20822011 0.38211115 0.23603936
+v 0.24291296 0.30451572 0.15242519
+v 0.14047382 0.36343286 0.21168173
+v 0.05092280 0.37845389 0.24019080
+v 0.21440634 0.30800979 0.23417355
+v 0.28567448 0.23751958 0.23527627
+v -0.00527516 0.40978593 0.20066483
+v -0.15116289 0.39622065 0.23783281
+v 0.02337402 0.39451934 0.22546414
+v 0.21292203 0.32020055 0.22085013
+v 0.24121669 0.30502284 0.21129627
+v 0.29001289 0.22754583 0.23591771
+v 0.24447074 0.26628237 0.24692295
+v 0.26326371 0.24289699 0.24762578
+v 0.23026926 0.28082887 0.24608816
+f 6 2 5
+f 8 5 2
+f 8 7 5
+f 8 1 7
+f 11 5 7
+f 11 6 5
+f 14 10 7
+f 14 7 1
+f 17 11 7
+f 17 4 11
+f 18 11 4
+f 18 6 11
+f 19 8 2
+f 19 2 6
+f 20 12 6
+f 20 6 3
+f 22 3 6
+f 22 6 13
+f 23 13 6
+f 23 9 13
+f 24 15 7
+f 24 7 10
+f 25 18 4
+f 25 16 18
+f 26 13 9
+f 26 18 16
+f 26 9 18
+f 27 7 15
+f 28 6 12
+f 28 12 19
+f 30 10 14
+f 30 29 10
+f 31 1 8
+f 31 8 21
+f 32 19 12
+f 32 12 21
+f 32 21 8
+f 32 8 19
+f 33 22 13
+f 33 3 22
+f 33 13 26
+f 33 29 3
+f 34 18 9
+f 34 9 23
+f 34 23 6
+f 34 6 18
+f 35 15 24
+f 36 25 4
+f 36 4 17
+f 37 17 7
+f 37 7 27
+f 37 36 17
+f 37 27 15
+f 37 15 36
+f 38 28 19
+f 38 19 6
+f 38 6 28
+f 39 29 20
+f 39 20 3
+f 39 3 29
+f 40 24 10
+f 40 10 29
+f 41 29 30
+f 42 1 31
+f 43 33 26
+f 43 26 16
+f 44 15 35
+f 44 36 15
+f 44 25 36
+f 44 35 16
+f 44 16 25
+f 45 40 29
+f 45 29 33
+f 45 35 24
+f 45 24 40
+f 45 33 43
+f 45 43 16
+f 45 16 35
+f 46 12 20
+f 46 20 29
+f 46 29 41
+f 47 31 21
+f 47 46 41
+f 47 21 12
+f 47 12 46
+f 47 42 31
+f 48 14 1
+f 48 1 42
+f 49 30 14
+f 49 42 47
+f 50 48 42
+f 50 14 48
+f 50 49 14
+f 50 42 49
+f 51 41 30
+f 51 30 49
+f 51 49 47
+f 51 47 41
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_9/collision/model_normalized_collision_31.obj b/objects/objaverse/cupcake/cupcake_9/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..545ffcc8d056122516ce9f3c2c4f3f1c754cea53
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_9/collision/model_normalized_collision_31.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v -0.07799493 -0.34388584 -0.23484849
+v -0.07800323 -0.34388409 -0.49994107
+v -0.07799493 -0.23782524 -0.49994679
+v -0.19920705 -0.23782524 -0.23484849
+v -0.22185233 -0.34821810 -0.23613972
+v -0.07799493 -0.23782524 -0.23484849
+v -0.19920705 -0.23782524 -0.49994679
+v -0.19406987 -0.33671217 -0.49947233
+v -0.22118200 -0.34759269 -0.25124423
+f 1 2 3
+f 5 2 1
+f 5 1 4
+f 6 1 3
+f 6 3 4
+f 6 4 1
+f 7 3 2
+f 7 5 4
+f 7 4 3
+f 8 7 2
+f 9 8 2
+f 9 2 5
+f 9 5 7
+f 9 7 8
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_9/collision/model_normalized_collision_4.obj b/objects/objaverse/cupcake/cupcake_9/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9b2021c25248182773cc8dd52c9c4ec3561fccdb
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_9/collision/model_normalized_collision_4.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.20988386 0.27732629 -0.23484849
+v 0.26939487 0.28334833 -0.43207855
+v 0.26544318 0.33645909 -0.23320736
+v 0.01089877 0.41934108 -0.22608962
+v 0.01291416 0.30762932 -0.35606063
+v 0.09892190 0.39795705 -0.35294363
+v 0.27690552 0.29478714 -0.23586071
+v 0.01291416 0.30762932 -0.23484849
+v 0.20441324 0.34975621 -0.37022287
+v 0.10587296 0.41753364 -0.23146319
+v 0.00732266 0.40037079 -0.35471425
+v 0.27110880 0.28437603 -0.35456466
+v 0.25306508 0.31358225 -0.39762058
+v 0.25087388 0.30563507 -0.43156938
+v 0.16715653 0.38200415 -0.29391642
+v 0.04898043 0.41300094 -0.30723811
+v 0.25513112 0.29242252 -0.43178877
+v 0.21442893 0.36571935 -0.24443323
+v 0.04895358 0.41288370 -0.30786435
+v 0.21509425 0.36568941 -0.23512926
+f 1 3 4
+f 5 2 1
+f 7 2 3
+f 7 3 1
+f 8 5 1
+f 8 1 4
+f 10 4 3
+f 11 8 4
+f 11 5 8
+f 12 7 1
+f 12 1 2
+f 12 2 7
+f 13 9 3
+f 13 3 2
+f 14 6 9
+f 14 11 6
+f 14 5 11
+f 14 13 2
+f 14 9 13
+f 15 9 6
+f 15 6 10
+f 16 10 6
+f 16 11 4
+f 16 4 10
+f 17 14 2
+f 17 2 5
+f 17 5 14
+f 18 15 10
+f 18 3 9
+f 18 9 15
+f 19 16 6
+f 19 6 11
+f 19 11 16
+f 20 18 10
+f 20 10 3
+f 20 3 18
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_9/collision/model_normalized_collision_5.obj b/objects/objaverse/cupcake/cupcake_9/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d6f0c137a03a33f1d2adb34d1ef330ae08562846
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_9/collision/model_normalized_collision_5.obj
@@ -0,0 +1,120 @@
+# https://github.com/mikedh/trimesh
+v 0.27033945 0.35601063 -0.10060513
+v 0.27237591 0.34806207 -0.17427720
+v 0.18382228 0.44311506 -0.04571629
+v -0.11672510 0.47167875 0.00826500
+v -0.22741696 0.35610946 -0.23507689
+v 0.21564804 0.41270123 0.00860605
+v 0.26942743 0.36687803 -0.09406449
+v 0.27151073 0.34789796 -0.17407958
+v 0.04721222 0.42797278 -0.23112386
+v 0.04855834 0.47256617 0.01061371
+v -0.27393994 0.39694401 0.00793967
+v 0.26262390 0.36547780 -0.12834455
+v 0.24397233 0.38415595 -0.01346704
+v 0.22631085 0.35434430 -0.23487465
+v -0.13160300 0.41373941 -0.21686559
+v 0.17985853 0.44563846 -0.02753175
+v -0.02828571 0.47499043 -0.06165783
+v -0.26729378 0.40175411 0.01030012
+v -0.13597932 0.40571858 -0.23384123
+v 0.16002437 0.39692448 -0.22859813
+v 0.18693226 0.42921481 0.00877907
+v 0.05293159 0.47367018 -0.06328677
+v -0.09661862 0.47145323 -0.02342505
+v -0.07584735 0.42758630 -0.20140084
+v -0.20721428 0.44192352 -0.00200697
+v 0.21509425 0.36568941 -0.23512926
+v -0.19548035 0.38610093 -0.23166115
+v 0.11433760 0.44392553 -0.13353686
+v 0.12259120 0.45631351 -0.07825169
+v 0.12108108 0.45925434 -0.02760458
+v -0.02369741 0.45658199 -0.12193216
+v -0.07926852 0.41366470 -0.23170676
+v -0.20668661 0.44239907 0.00796823
+v -0.23481093 0.42678575 0.00600142
+v 0.10587296 0.41753364 -0.23146319
+v 0.16611734 0.39966031 -0.21244406
+v 0.22273889 0.38298353 -0.16826880
+v -0.23447884 0.36105309 -0.23430634
+v -0.26729203 0.38979978 -0.03697359
+v -0.23272693 0.42515995 -0.01360733
+v -0.25993013 0.39710482 -0.03325006
+f 7 1 2
+f 7 3 6
+f 8 2 1
+f 8 1 5
+f 11 5 1
+f 12 7 2
+f 12 2 3
+f 12 3 7
+f 13 7 6
+f 13 1 7
+f 13 11 1
+f 13 6 11
+f 14 8 5
+f 14 2 8
+f 16 6 3
+f 17 4 10
+f 18 10 4
+f 18 11 6
+f 18 6 10
+f 21 16 10
+f 21 10 6
+f 21 6 16
+f 22 17 10
+f 22 9 17
+f 23 17 15
+f 23 4 17
+f 24 15 17
+f 24 19 15
+f 25 23 15
+f 25 4 23
+f 26 14 5
+f 26 5 19
+f 26 19 9
+f 26 2 14
+f 27 15 19
+f 27 25 15
+f 28 9 22
+f 29 22 16
+f 29 16 3
+f 29 28 22
+f 29 3 28
+f 30 22 10
+f 30 10 16
+f 30 16 22
+f 31 24 17
+f 31 17 9
+f 31 9 24
+f 32 24 9
+f 32 9 19
+f 32 19 24
+f 33 18 4
+f 33 4 25
+f 34 11 18
+f 34 33 25
+f 34 18 33
+f 35 26 9
+f 35 20 26
+f 35 9 28
+f 36 26 20
+f 36 20 35
+f 36 35 28
+f 36 28 3
+f 37 3 2
+f 37 2 26
+f 37 36 3
+f 37 26 36
+f 38 27 19
+f 38 19 5
+f 39 38 5
+f 39 5 11
+f 40 34 25
+f 40 25 27
+f 40 27 38
+f 40 11 34
+f 41 40 38
+f 41 38 39
+f 41 39 11
+f 41 11 40
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_9/collision/model_normalized_collision_6.obj b/objects/objaverse/cupcake/cupcake_9/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..317eb4673576a45baf2a1c7d9840643e68cc86de
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_9/collision/model_normalized_collision_6.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.22280682 -0.40425261 0.01912769
+v -0.22553326 -0.37407062 -0.18910778
+v -0.22951009 0.23187174 0.00757575
+v -0.34235280 0.22645530 0.26652860
+v -0.47100213 -0.05319473 0.03332792
+v -0.23580218 0.03728512 0.31022230
+v -0.22951009 0.20156871 -0.23484849
+v -0.39365500 -0.26339160 -0.05100494
+v -0.22205675 -0.28360545 0.26001857
+v -0.24500730 0.23017059 0.29085503
+v -0.45618623 0.19385569 -0.03192569
+v -0.29699038 -0.37284959 -0.04767888
+v -0.43434358 0.04091059 -0.23773507
+v -0.37842898 -0.19912426 0.19573136
+v -0.40552231 0.25604360 -0.03394083
+v -0.28342962 -0.01689171 0.33075632
+v -0.43934829 0.15267723 0.18236723
+v -0.31649274 -0.29679670 -0.23174072
+v -0.24178086 -0.40580524 -0.07838039
+v -0.44068850 -0.08802354 -0.18473144
+v -0.47047708 0.06636524 -0.06175467
+v -0.44020676 -0.15379396 0.10430557
+v -0.38087234 -0.26752723 0.03155472
+v -0.30650669 -0.29546054 0.17004678
+v -0.40064007 0.18006280 -0.24442800
+v -0.25516862 0.01614919 0.33205184
+v -0.35005306 -0.18226673 0.25867309
+v -0.42298897 0.22408095 0.16872493
+v -0.39578080 0.09323529 0.26469310
+v -0.33913722 -0.32813864 -0.06448320
+v -0.22865578 -0.34222583 -0.23460742
+v -0.23080005 -0.40140933 -0.09301409
+v -0.24931589 -0.40534895 -0.02926098
+v -0.25622378 -0.34235365 -0.23234982
+v -0.28792959 -0.36264455 -0.10821725
+v -0.42750037 -0.20962231 -0.04082675
+v -0.40875287 -0.14496267 -0.23405712
+v -0.43971494 0.05101859 -0.23012317
+v -0.46961942 0.13824046 0.01962804
+v -0.47104413 -0.01278721 -0.06575807
+v -0.45427621 -0.05404705 0.16606687
+v -0.35026663 -0.25526755 0.16838168
+v -0.22394194 -0.34769256 0.17178023
+v -0.40966451 0.24985815 -0.05352245
+v -0.34399411 -0.08497582 0.29822452
+v -0.27883220 -0.25220047 0.26004103
+v -0.41046356 0.25185524 -0.03317669
+v -0.36762840 0.22473478 0.24886055
+v -0.38351362 0.15115952 0.26414000
+v -0.35377236 -0.25477469 -0.23155187
+v -0.33871524 -0.33221573 -0.03376180
+v -0.24061238 -0.40188248 -0.09359441
+v -0.29090994 -0.37461907 -0.02446144
+v -0.33399633 -0.31905986 -0.11057110
+v -0.45325719 -0.12340565 0.01854643
+v -0.39332793 -0.25926465 -0.01078132
+v -0.43856444 -0.15993586 -0.08862082
+v -0.47120296 0.13786737 -0.00711639
+v -0.42851475 -0.08896416 -0.23163982
+v -0.45251124 0.19271459 0.01899525
+v -0.43980296 0.16705085 0.17070993
+v -0.43993685 -0.01846243 -0.21567080
+v -0.45307682 -0.08128500 0.15433960
+v -0.45569639 0.06417660 0.15826864
+f 7 1 2
+f 9 3 6
+f 9 7 3
+f 9 1 7
+f 10 6 3
+f 15 10 3
+f 15 4 10
+f 15 3 7
+f 26 10 4
+f 26 4 16
+f 26 6 10
+f 26 16 9
+f 26 9 6
+f 31 7 2
+f 31 25 7
+f 32 2 1
+f 32 1 19
+f 33 19 1
+f 33 12 19
+f 34 31 2
+f 34 18 31
+f 35 19 12
+f 35 18 34
+f 37 13 25
+f 37 31 18
+f 37 25 31
+f 38 25 13
+f 38 11 25
+f 40 21 38
+f 42 14 22
+f 42 22 23
+f 42 27 14
+f 43 1 9
+f 43 33 1
+f 43 24 33
+f 44 25 11
+f 44 15 7
+f 44 7 25
+f 45 16 29
+f 45 41 27
+f 45 29 41
+f 46 45 27
+f 46 9 16
+f 46 16 45
+f 46 43 9
+f 46 24 43
+f 46 42 24
+f 46 27 42
+f 47 28 15
+f 47 11 28
+f 47 44 11
+f 47 15 44
+f 48 4 15
+f 48 15 28
+f 48 28 17
+f 49 29 16
+f 49 16 4
+f 49 4 48
+f 49 48 17
+f 49 17 29
+f 50 30 8
+f 50 37 18
+f 50 8 36
+f 50 36 37
+f 51 8 30
+f 51 30 12
+f 51 42 23
+f 52 32 19
+f 52 2 32
+f 52 34 2
+f 52 35 34
+f 52 19 35
+f 53 33 24
+f 53 12 33
+f 53 51 12
+f 53 24 42
+f 53 42 51
+f 54 18 35
+f 54 50 18
+f 54 30 50
+f 54 35 12
+f 54 12 30
+f 55 36 22
+f 55 22 5
+f 56 23 22
+f 56 22 36
+f 56 36 8
+f 56 51 23
+f 56 8 51
+f 57 37 36
+f 57 20 37
+f 57 40 20
+f 57 36 55
+f 57 55 5
+f 57 5 40
+f 58 38 21
+f 58 11 38
+f 58 39 11
+f 58 5 39
+f 58 40 5
+f 58 21 40
+f 59 37 20
+f 59 38 13
+f 59 13 37
+f 60 39 28
+f 60 28 11
+f 60 11 39
+f 61 17 28
+f 61 28 39
+f 62 40 38
+f 62 20 40
+f 62 59 20
+f 62 38 59
+f 63 41 5
+f 63 5 22
+f 63 22 14
+f 63 14 27
+f 63 27 41
+f 64 39 5
+f 64 5 41
+f 64 61 39
+f 64 17 61
+f 64 41 29
+f 64 29 17
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_9/collision/model_normalized_collision_7.obj b/objects/objaverse/cupcake/cupcake_9/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f13564578bd4ae13dc657ca97218d8d9ca23e28
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_9/collision/model_normalized_collision_7.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.00787292 -0.42208808 0.03644577
+v 0.30361326 -0.27739808 -0.23758451
+v 0.24397233 0.38415595 -0.01346704
+v -0.26607412 0.40083092 0.00067382
+v -0.21809867 -0.36455915 -0.23474253
+v -0.22741696 0.35610946 -0.23507689
+v 0.27969004 -0.28636654 0.04388189
+v 0.20618322 -0.38579840 -0.23409649
+v -0.24294152 -0.39107515 0.01276423
+v 0.22631085 0.35434430 -0.23487465
+v 0.25533842 0.23187174 0.00757575
+v 0.00590991 -0.41810479 -0.22779515
+v 0.20755167 -0.38598999 0.00494895
+v 0.25533842 0.23187174 -0.23484849
+f 6 5 4
+f 6 2 5
+f 7 4 1
+f 8 5 2
+f 9 1 4
+f 9 4 5
+f 10 2 6
+f 10 6 4
+f 10 4 3
+f 11 3 4
+f 11 4 7
+f 11 7 2
+f 11 2 3
+f 12 8 1
+f 12 5 8
+f 12 9 5
+f 12 1 9
+f 13 7 1
+f 13 1 8
+f 13 8 2
+f 13 2 7
+f 14 10 3
+f 14 3 2
+f 14 2 10
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_9/collision/model_normalized_collision_8.obj b/objects/objaverse/cupcake/cupcake_9/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2799d1b123d1c58ae3e9eb9da69a922637c1c88b
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_9/collision/model_normalized_collision_8.obj
@@ -0,0 +1,108 @@
+# https://github.com/mikedh/trimesh
+v 0.44196211 0.09514175 0.00794450
+v 0.44566660 0.08621803 -0.09647916
+v 0.39304009 0.27344692 -0.01513459
+v 0.22445629 0.42001445 -0.02073796
+v 0.25533842 0.09550811 0.00757575
+v 0.27030769 0.32675098 -0.23395053
+v 0.26014606 0.38304131 0.00957342
+v 0.45110547 0.14680040 -0.04713579
+v 0.29918831 0.37141110 -0.04433554
+v 0.22503538 0.23187174 -0.23484849
+v 0.43496977 0.13776121 0.00526286
+v 0.22221288 0.40883705 0.00788554
+v 0.45160887 0.09509878 -0.05291740
+v 0.34916417 0.25201264 -0.22957179
+v 0.23509314 0.41720349 -0.04593572
+v 0.34603183 0.32975437 -0.01455880
+v 0.21873724 0.36201147 -0.23471938
+v 0.25533842 0.09550811 -0.23484849
+v 0.44780398 0.15215747 -0.01554708
+v 0.23253826 0.41543707 -0.01896961
+v 0.22503538 0.23187174 0.00757575
+v 0.41730863 0.21410606 -0.06312616
+v 0.31390434 0.30087235 -0.21542199
+v 0.41815731 0.09061919 -0.23361156
+v 0.27051343 0.33771506 -0.21507801
+v 0.22523848 0.41690501 -0.04655880
+v 0.44165930 0.10781763 0.00597578
+v 0.45138304 0.13941112 -0.01823472
+v 0.23319766 0.40226838 0.00698193
+v 0.29966471 0.36964306 -0.01886004
+v 0.38248924 0.27644562 -0.06313624
+v 0.40278858 0.14499836 -0.22965890
+v 0.39058922 0.20472061 -0.18562948
+v 0.38838222 0.27122403 -0.04806405
+v 0.34664602 0.32400294 -0.05134265
+v 0.37503449 0.26732000 -0.10952585
+v 0.44962193 0.14952704 -0.04965376
+f 5 2 1
+f 7 5 1
+f 11 7 1
+f 11 3 7
+f 13 1 2
+f 13 2 8
+f 16 7 3
+f 17 12 4
+f 18 2 5
+f 18 5 10
+f 18 10 17
+f 19 8 3
+f 19 3 11
+f 20 4 12
+f 20 15 4
+f 21 5 7
+f 21 7 12
+f 21 10 5
+f 21 17 10
+f 21 12 17
+f 23 14 6
+f 24 8 2
+f 24 2 18
+f 24 6 14
+f 24 18 17
+f 24 17 6
+f 25 15 9
+f 25 17 15
+f 25 6 17
+f 25 23 6
+f 25 9 23
+f 26 17 4
+f 26 4 15
+f 26 15 17
+f 27 19 11
+f 27 11 1
+f 28 13 8
+f 28 8 19
+f 28 1 13
+f 28 27 1
+f 28 19 27
+f 29 20 12
+f 29 12 7
+f 29 7 20
+f 30 20 7
+f 30 7 16
+f 30 16 9
+f 30 9 15
+f 30 15 20
+f 31 14 23
+f 32 24 14
+f 33 31 22
+f 33 32 14
+f 34 31 3
+f 34 3 22
+f 34 22 31
+f 35 16 3
+f 35 3 31
+f 35 9 16
+f 35 31 23
+f 35 23 9
+f 36 33 14
+f 36 14 31
+f 36 31 33
+f 37 33 22
+f 37 32 33
+f 37 8 24
+f 37 24 32
+f 37 22 3
+f 37 3 8
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_9/collision/model_normalized_collision_9.obj b/objects/objaverse/cupcake/cupcake_9/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4beedd474679a2a8bc9d48959d0b3632451b95a9
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_9/collision/model_normalized_collision_9.obj
@@ -0,0 +1,135 @@
+# https://github.com/mikedh/trimesh
+v 0.09301209 -0.42602794 -0.23315739
+v 0.31981394 -0.23021049 -0.49264847
+v 0.35086020 -0.22538238 -0.23201711
+v -0.07799493 -0.23782524 -0.23484849
+v -0.18348203 -0.34129901 -0.49934804
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+f 44 8 18
+f 44 18 37
+f 45 39 30
+f 45 30 38
+f 45 38 39
+f 46 33 21
+f 46 21 40
+f 46 40 7
+f 46 7 33
\ No newline at end of file
diff --git a/objects/objaverse/cupcake/cupcake_9/model.xml b/objects/objaverse/cupcake/cupcake_9/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..45e0bd7df76e12fc08a9983458fd6e43a63bf7f1
--- /dev/null
+++ b/objects/objaverse/cupcake/cupcake_9/model.xml
@@ -0,0 +1,81 @@
+<mujoco model="cupcake_14">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.07999999999999995 0.07999999999999995 0.07999999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.07999999999999995 0.07999999999999995 0.07999999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.07999999999999995 0.07999999999999995 0.07999999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.07999999999999995 0.07999999999999995 0.07999999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.07999999999999995 0.07999999999999995 0.07999999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.07999999999999995 0.07999999999999995 0.07999999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.07999999999999995 0.07999999999999995 0.07999999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.07999999999999995 0.07999999999999995 0.07999999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.07999999999999995 0.07999999999999995 0.07999999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.07999999999999995 0.07999999999999995 0.07999999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.07999999999999995 0.07999999999999995 0.07999999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.07999999999999995 0.07999999999999995 0.07999999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.07999999999999995 0.07999999999999995 0.07999999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.07999999999999995 0.07999999999999995 0.07999999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.07999999999999995 0.07999999999999995 0.07999999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.07999999999999995 0.07999999999999995 0.07999999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.07999999999999995 0.07999999999999995 0.07999999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.07999999999999995 0.07999999999999995 0.07999999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.07999999999999995 0.07999999999999995 0.07999999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.07999999999999995 0.07999999999999995 0.07999999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.07999999999999995 0.07999999999999995 0.07999999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.07999999999999995 0.07999999999999995 0.07999999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.07999999999999995 0.07999999999999995 0.07999999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.07999999999999995 0.07999999999999995 0.07999999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.07999999999999995 0.07999999999999995 0.07999999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.07999999999999995 0.07999999999999995 0.07999999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.07999999999999995 0.07999999999999995 0.07999999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.07999999999999995 0.07999999999999995 0.07999999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.07999999999999995 0.07999999999999995 0.07999999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.07999999999999995 0.07999999999999995 0.07999999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.07999999999999995 0.07999999999999995 0.07999999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.07999999999999995 0.07999999999999995 0.07999999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.07999999999999995 0.07999999999999995 0.07999999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="Object_4" 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="Object_4"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_22._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_23._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_21._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_20._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_24._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_30._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_18._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_19._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_31._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_25._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_27._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_26._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_9._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_8._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_6._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_7._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_5._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_4._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_0._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_1._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_3._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_2._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_17._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_16._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_28._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_14._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_15._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_29._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_11._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_10._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_12._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_13._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+      </body>
+      <site rgba="0 0 0 0" size="0.005" pos="2.8500000000009053e-06 -0.00020615999999999953 -0.03999574319999997" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="2.8500000000009053e-06 -0.00020615999999999953 0.03964114879999997" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.037701936799999974 0.03799923439999998 -0.00017729719999999937" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/objects/objaverse/fork/fork_10/collision/model_normalized_collision_17.obj b/objects/objaverse/fork/fork_10/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..73923dd9c9ad5d77b23d2f5ebc9db4faf1090ead
--- /dev/null
+++ b/objects/objaverse/fork/fork_10/collision/model_normalized_collision_17.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.01978443 -0.46756981 0.05023875
+v -0.01872812 -0.45373914 0.03062606
+v -0.01783497 -0.44204480 0.02433069
+v -0.02641255 -0.44210146 0.02418165
+v -0.02557579 -0.45377187 0.03050033
+v -0.02563079 -0.45588177 0.04394678
+v -0.01889128 -0.45587547 0.04394338
+v -0.02473764 -0.46757611 0.05024215
+f 3 2 4
+f 5 2 1
+f 5 4 2
+f 6 3 4
+f 6 4 5
+f 7 6 1
+f 7 3 6
+f 7 1 2
+f 7 2 3
+f 8 6 5
+f 8 5 1
+f 8 1 6
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_10/collision/model_normalized_collision_18.obj b/objects/objaverse/fork/fork_10/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..040404802fe733ebb1750338341b0d5581a11b2e
--- /dev/null
+++ b/objects/objaverse/fork/fork_10/collision/model_normalized_collision_18.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.09203864 -0.34055576 -0.01813623
+v 0.09764810 -0.30383241 -0.05007266
+v 0.09556363 -0.31747877 -0.03055918
+v -0.09762964 -0.30395327 -0.05000760
+v -0.09315585 -0.33324173 -0.03424085
+v -0.09554517 -0.31759962 -0.03049413
+v 0.09317431 -0.33312088 -0.03430591
+v -0.09202018 -0.34067662 -0.01807118
+f 1 2 3
+f 3 2 4
+f 6 3 4
+f 7 2 1
+f 7 5 4
+f 7 4 2
+f 8 1 3
+f 8 3 6
+f 8 7 1
+f 8 5 7
+f 8 6 4
+f 8 4 5
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_10/collision/model_normalized_collision_21.obj b/objects/objaverse/fork/fork_10/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b7c26ba6085b014b116591218b53011c54a3198
--- /dev/null
+++ b/objects/objaverse/fork/fork_10/collision/model_normalized_collision_21.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.02014574 -0.00608346 0.00837154
+v 0.02031408 -0.00887479 -0.01029042
+v 0.02039325 0.05298166 -0.00428210
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+v 0.02034485 0.05357448 0.01413207
+v -0.02014550 -0.00606825 0.00837501
+v -0.02039109 0.05293443 -0.00428449
+f 6 3 4
+f 6 4 1
+f 6 1 2
+f 6 2 3
+f 7 5 2
+f 7 2 1
+f 7 1 4
+f 7 4 5
+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/fork/fork_10/collision/model_normalized_collision_3.obj b/objects/objaverse/fork/fork_10/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a449d1069cd95d9f2b1903a8878181c065534ef2
--- /dev/null
+++ b/objects/objaverse/fork/fork_10/collision/model_normalized_collision_3.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.09763378 -0.26741288 -0.05259741
+v 0.09704634 -0.26298840 -0.06526699
+v 0.09636173 -0.22216621 -0.05164651
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+v -0.09501469 -0.22150386 -0.06310623
+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 2 5
+f 7 6 2
+f 8 7 4
+f 8 4 6
+f 8 6 7
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_10/visual/material.mtl b/objects/objaverse/fork/fork_10/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fbcf6b4b1af9257e08a0fd6e283841743ce8fad5
--- /dev/null
+++ b/objects/objaverse/fork/fork_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 250.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_10/visual/model_normalized_0.obj b/objects/objaverse/fork/fork_10/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a27a122ef160f6c8e6548aba2ceb95217036846b
--- /dev/null
+++ b/objects/objaverse/fork/fork_10/visual/model_normalized_0.obj
@@ -0,0 +1,2957 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_15/.DS_Store b/objects/objaverse/pan/pan_15/.DS_Store
new file mode 100644
index 0000000000000000000000000000000000000000..8fef97eaac85fa6a8ac141ea796a6bd49dbbb14d
Binary files /dev/null and b/objects/objaverse/pan/pan_15/.DS_Store differ
diff --git a/objects/objaverse/pan/pan_15/collision/model_normalized_collision_0.obj b/objects/objaverse/pan/pan_15/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..99a18dab5e5eacf4e5c8cca4113fff7758bc5494
--- /dev/null
+++ b/objects/objaverse/pan/pan_15/collision/model_normalized_collision_0.obj
@@ -0,0 +1,120 @@
+# https://github.com/mikedh/trimesh
+v -0.35466379 -0.22470813 0.05489695
+v -0.34810564 -0.19974164 -0.02484586
+v -0.41642433 -0.01462921 -0.01939106
+v -0.49015920 -0.01422687 0.01114432
+v -0.42885877 -0.16924271 0.02803848
+v -0.44481508 -0.01424884 -0.04481867
+v -0.47621821 -0.06293601 0.05667345
+v -0.35384418 -0.13257241 -0.05564240
+v -0.34928733 -0.21666169 0.00038228
+v -0.48150938 -0.01250630 -0.01194995
+v -0.45128967 -0.08357330 -0.03190639
+v -0.46420284 -0.01509148 0.02423355
+v -0.43003423 -0.17002815 0.05658625
+v -0.47549421 -0.09427418 0.01630721
+v -0.39023208 -0.06271677 -0.02788038
+v -0.37121213 -0.09043499 -0.05769797
+v -0.41618885 -0.16666318 -0.01024926
+v -0.41986048 -0.17859957 0.02800995
+v -0.45462032 -0.01318540 -0.03930642
+v -0.48661722 -0.05897687 0.05679680
+v -0.41017276 -0.18677674 0.05658625
+v -0.47905963 -0.09665654 0.05658625
+v -0.47294062 -0.08655944 0.00143680
+v -0.41127463 -0.08683219 -0.04961786
+v -0.37478959 -0.19432538 -0.01024926
+v -0.38175254 -0.14413996 -0.04523610
+v -0.37443726 -0.20894952 0.02800366
+v -0.36000487 -0.21002579 0.00143680
+v -0.37584242 -0.21105245 0.05390254
+v -0.42064765 -0.17977766 0.05658625
+v -0.45920880 -0.12381957 0.02803224
+v -0.45940537 -0.08688096 -0.02208911
+v -0.44458185 -0.12417009 -0.01024926
+v -0.35281923 -0.14618993 -0.05118827
+v -0.37925702 -0.17070825 -0.03203217
+v -0.39458215 -0.13125711 -0.04514365
+v -0.47399144 -0.05646543 -0.01024926
+v -0.41506985 -0.15500169 -0.02072752
+v -0.40557269 -0.16474082 -0.02085087
+v -0.41024963 -0.10129883 -0.04664175
+v -0.42110991 -0.12873449 -0.03190875
+f 8 1 2
+f 9 2 1
+f 12 7 1
+f 12 1 3
+f 12 10 4
+f 12 3 10
+f 15 3 1
+f 15 1 8
+f 16 6 3
+f 16 15 8
+f 16 3 15
+f 17 5 14
+f 18 5 17
+f 18 13 5
+f 19 10 3
+f 19 3 6
+f 19 11 10
+f 19 6 11
+f 20 12 4
+f 20 7 12
+f 20 4 14
+f 21 1 7
+f 21 7 20
+f 22 5 13
+f 22 20 14
+f 22 13 20
+f 23 14 4
+f 23 4 10
+f 24 11 6
+f 24 6 16
+f 24 16 8
+f 25 2 9
+f 27 9 1
+f 28 18 17
+f 28 27 18
+f 28 9 27
+f 28 25 9
+f 28 17 25
+f 29 1 21
+f 29 27 1
+f 29 18 27
+f 30 13 18
+f 30 29 21
+f 30 18 29
+f 30 21 20
+f 30 20 13
+f 31 22 14
+f 31 14 5
+f 31 5 22
+f 32 10 11
+f 33 17 14
+f 33 14 23
+f 33 23 32
+f 34 26 8
+f 34 8 2
+f 34 2 26
+f 35 26 2
+f 36 24 8
+f 36 8 26
+f 37 32 23
+f 37 23 10
+f 37 10 32
+f 38 33 32
+f 38 17 33
+f 39 35 2
+f 39 17 38
+f 39 26 35
+f 39 25 17
+f 39 2 25
+f 40 36 11
+f 40 11 24
+f 40 24 36
+f 41 38 32
+f 41 32 11
+f 41 11 36
+f 41 39 38
+f 41 36 26
+f 41 26 39
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_15/collision/model_normalized_collision_1.obj b/objects/objaverse/pan/pan_15/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6b0f0344c71d7f9cabd53e1ade07c9c7e6142d1a
--- /dev/null
+++ b/objects/objaverse/pan/pan_15/collision/model_normalized_collision_1.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v -0.07382454 -0.08163703 -0.00015629
+v -0.05923432 -0.07404942 -0.04117634
+v -0.05476050 0.06073600 0.01212516
+v -0.18939394 0.06108016 -0.04622296
+v -0.15909091 -0.06013196 -0.05769797
+v -0.05832843 0.06002629 -0.04248257
+v -0.05621721 -0.07464956 0.01350703
+v -0.10122183 -0.07345467 -0.05732687
+v -0.15669137 -0.06173528 -0.04354180
+v -0.04431796 0.06281315 -0.03238179
+v -0.18939394 0.06108016 -0.05769797
+v -0.06072989 -0.02829737 -0.04632138
+v -0.18939394 0.03077713 -0.04622296
+v -0.09336467 -0.07870467 -0.01533734
+v -0.06943903 0.06384391 -0.00269664
+v -0.07462266 0.05979900 -0.04941976
+v -0.07448005 -0.07250637 -0.04833494
+v -0.06075643 0.02924029 -0.04625595
+v -0.18939394 0.03077713 -0.05769797
+f 7 3 4
+f 7 1 2
+f 8 2 1
+f 9 1 7
+f 10 7 2
+f 10 3 7
+f 11 8 5
+f 12 10 2
+f 13 5 9
+f 13 4 11
+f 13 9 7
+f 13 7 4
+f 14 8 1
+f 14 1 9
+f 14 9 5
+f 14 5 8
+f 15 4 3
+f 15 3 10
+f 15 11 4
+f 15 10 11
+f 16 11 10
+f 16 10 6
+f 16 8 11
+f 17 12 2
+f 17 2 8
+f 17 8 12
+f 18 6 10
+f 18 10 12
+f 18 16 6
+f 18 12 8
+f 18 8 16
+f 19 13 11
+f 19 11 5
+f 19 5 13
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_15/collision/model_normalized_collision_10.obj b/objects/objaverse/pan/pan_15/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b1a2f8098df71d8a3aa81ef4447129b8356c35b8
--- /dev/null
+++ b/objects/objaverse/pan/pan_15/collision/model_normalized_collision_10.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.40917504 -0.06165563 -0.01819954
+v -0.37121213 -0.01467741 -0.05769797
+v -0.37409075 0.09330663 -0.02581776
+v -0.41230074 0.09858990 -0.00158507
+v -0.41352706 -0.01405290 -0.05754558
+v -0.42183766 0.09483834 0.00469759
+v -0.37717739 -0.01586397 -0.03788305
+v -0.40274141 -0.06037588 -0.02198547
+v -0.37121213 0.09138319 -0.05769797
+v -0.42068472 -0.06093121 -0.01176592
+v -0.41121059 0.08773756 -0.04943164
+v -0.42558922 0.08219353 0.00049965
+f 6 3 4
+f 7 2 3
+f 8 5 2
+f 8 1 5
+f 8 2 7
+f 8 7 3
+f 8 6 1
+f 8 3 6
+f 9 3 2
+f 9 2 5
+f 9 4 3
+f 10 5 1
+f 10 1 6
+f 11 6 4
+f 11 4 9
+f 11 9 5
+f 12 10 6
+f 12 5 10
+f 12 11 5
+f 12 6 11
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_15/collision/model_normalized_collision_11.obj b/objects/objaverse/pan/pan_15/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb2a30cbb6a7c5d39061b1a2548ec3869aa512ec
--- /dev/null
+++ b/objects/objaverse/pan/pan_15/collision/model_normalized_collision_11.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v -0.01359553 -0.01649385 0.05667345
+v 0.00763394 -0.01467741 -0.01420414
+v -0.00867781 0.04269560 0.05658625
+v -0.02305105 0.06402961 0.05667345
+v -0.04507559 -0.01324587 -0.03974490
+v 0.00758529 0.03134409 -0.00234732
+v -0.01327578 0.05994635 0.05706021
+v -0.00269813 -0.01263381 0.05658625
+v -0.02149432 -0.01793648 0.04490457
+v -0.04102990 0.06045337 -0.03042700
+v -0.04259050 -0.01675402 0.01573189
+v -0.02527776 0.05755903 -0.01024926
+v 0.00765147 0.02712807 -0.01100925
+v -0.06209977 0.06228996 0.00471426
+v -0.05000140 -0.01527990 0.00761055
+v -0.04513606 0.01418206 -0.03965771
+v -0.05468887 0.06376408 0.01283561
+v -0.05899187 0.03260512 0.00176601
+f 7 4 1
+f 7 3 6
+f 8 1 2
+f 8 7 1
+f 8 3 7
+f 8 6 3
+f 8 2 6
+f 9 2 1
+f 11 5 2
+f 11 2 9
+f 12 7 6
+f 12 10 4
+f 12 4 7
+f 13 6 2
+f 13 12 6
+f 13 10 12
+f 14 1 4
+f 15 11 9
+f 15 9 1
+f 15 1 14
+f 15 5 11
+f 16 13 2
+f 16 2 5
+f 16 10 13
+f 16 14 10
+f 16 5 14
+f 17 14 4
+f 17 4 10
+f 17 10 14
+f 18 15 14
+f 18 14 5
+f 18 5 15
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_15/collision/model_normalized_collision_12.obj b/objects/objaverse/pan/pan_15/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c2aa668717b4dbc45ab8fe4e2408bdea1efd17e3
--- /dev/null
+++ b/objects/objaverse/pan/pan_15/collision/model_normalized_collision_12.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v -0.10150049 -0.19198239 0.05769797
+v -0.03321732 -0.11372880 0.02708170
+v -0.03196068 -0.11456845 0.05658625
+v -0.02894973 -0.07705958 0.05180217
+v -0.10122183 -0.07345467 -0.05732687
+v -0.03089976 -0.09509823 0.05667345
+v -0.07047465 -0.16966058 0.02795197
+v -0.08336148 -0.08538860 -0.00643900
+v -0.03648336 -0.07556104 -0.02082523
+v -0.04012562 -0.12426434 0.02803419
+v -0.06931034 -0.17046609 0.05658625
+v -0.10626586 -0.16969892 -0.02506739
+v -0.07448005 -0.07250637 -0.04833494
+v -0.08286272 -0.16666318 -0.01024926
+v -0.07905983 -0.18021558 0.05658625
+v -0.10327183 -0.10238799 -0.05137452
+v -0.09318730 -0.15633860 -0.03002805
+v -0.05476248 -0.12460821 -0.01024926
+v -0.10503539 -0.18669205 0.00021636
+v -0.05923432 -0.07404942 -0.04117634
+v -0.08965433 -0.10136300 -0.04692043
+v -0.10471971 -0.15686138 -0.03425111
+v -0.09423211 -0.16503285 -0.02109926
+v -0.06467863 -0.11295486 -0.03030992
+v -0.08449302 -0.15529377 -0.02109926
+v -0.07985034 -0.17903239 0.02795228
+v -0.07501185 -0.08587137 -0.04544243
+v -0.09427967 -0.18011329 0.00143680
+f 3 2 4
+f 6 1 3
+f 6 3 4
+f 6 4 1
+f 8 5 1
+f 8 1 4
+f 8 4 5
+f 9 4 2
+f 10 7 2
+f 10 2 3
+f 11 3 1
+f 11 10 3
+f 11 7 10
+f 13 5 4
+f 13 4 9
+f 14 2 7
+f 15 11 1
+f 15 7 11
+f 16 12 1
+f 16 1 5
+f 18 9 2
+f 18 2 14
+f 19 1 12
+f 19 12 14
+f 20 13 9
+f 21 16 5
+f 21 5 13
+f 22 17 12
+f 22 12 16
+f 22 21 17
+f 22 16 21
+f 23 17 14
+f 23 14 12
+f 23 12 17
+f 24 9 18
+f 24 20 9
+f 25 18 14
+f 25 14 17
+f 25 24 18
+f 25 17 24
+f 26 14 7
+f 26 7 15
+f 26 15 1
+f 26 1 19
+f 27 17 21
+f 27 24 17
+f 27 20 24
+f 27 21 13
+f 27 13 20
+f 28 26 19
+f 28 19 14
+f 28 14 26
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_15/collision/model_normalized_collision_13.obj b/objects/objaverse/pan/pan_15/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..753fe69e45a102587c16a3efab49e30c4b96f97e
--- /dev/null
+++ b/objects/objaverse/pan/pan_15/collision/model_normalized_collision_13.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v -0.10591440 0.17870599 0.04676815
+v -0.11845836 0.15992411 -0.03784751
+v -0.15525171 0.22596833 0.01630704
+v -0.19054898 0.23709158 0.05679668
+v -0.16812365 0.17629819 0.00023689
+v -0.12492058 0.21085888 0.05658625
+v -0.18658984 0.22669237 0.05667345
+v -0.18770939 0.20591252 -0.03203053
+v -0.15286938 0.22953374 0.05658625
+v -0.12535573 0.19505598 -0.01024926
+v -0.10944288 0.18856829 0.05667345
+v -0.15971762 0.16620284 -0.04739891
+v -0.19213847 0.22910055 0.00115974
+v -0.18680675 0.21045048 0.03204239
+v -0.12570627 0.20968292 0.02803216
+v -0.12079134 0.17158406 -0.03190876
+v -0.16296637 0.22341492 0.00143680
+v -0.19078566 0.22075023 -0.01477494
+v -0.13995753 0.19587868 -0.02075449
+v -0.16390236 0.19024294 -0.03787443
+v -0.15030970 0.18790995 -0.03390630
+f 5 2 1
+f 7 5 1
+f 9 3 4
+f 9 4 6
+f 11 6 4
+f 11 4 7
+f 11 7 1
+f 12 2 5
+f 12 5 8
+f 13 4 3
+f 14 7 4
+f 14 4 13
+f 14 8 5
+f 14 5 7
+f 15 9 6
+f 15 3 9
+f 15 10 3
+f 15 6 11
+f 15 11 1
+f 15 1 10
+f 16 10 1
+f 16 1 2
+f 17 3 10
+f 17 13 3
+f 18 14 13
+f 18 8 14
+f 18 17 8
+f 18 13 17
+f 19 10 16
+f 19 17 10
+f 19 8 17
+f 20 12 8
+f 20 8 19
+f 20 16 2
+f 20 2 12
+f 21 20 19
+f 21 19 16
+f 21 16 20
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_15/collision/model_normalized_collision_14.obj b/objects/objaverse/pan/pan_15/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bafe2b3152de81a7b0cceac93de0234a76d398d0
--- /dev/null
+++ b/objects/objaverse/pan/pan_15/collision/model_normalized_collision_14.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.28057708 -0.19787330 0.00917693
+v -0.27981129 -0.19402341 -0.04403698
+v -0.28030304 -0.09043499 -0.04622296
+v -0.37420020 -0.09243156 -0.02604584
+v -0.36429236 -0.20881528 0.00624642
+v -0.37121213 -0.09043499 -0.05769797
+v -0.27919078 -0.17575239 -0.05150992
+v -0.36099540 -0.15842647 0.00221966
+v -0.37790549 -0.11005888 -0.01861554
+v -0.34973878 -0.18703425 -0.03402964
+v -0.28030304 -0.09043499 -0.05769797
+v -0.36831087 -0.13154744 -0.05266627
+v -0.37319382 -0.13885534 -0.00798636
+v -0.33630261 -0.17444991 -0.04525618
+v -0.35179425 -0.15980742 -0.04673418
+f 1 3 4
+f 5 2 1
+f 6 4 3
+f 7 1 2
+f 7 3 1
+f 8 5 1
+f 8 1 4
+f 9 4 6
+f 9 8 4
+f 10 2 5
+f 11 7 6
+f 11 6 3
+f 11 3 7
+f 12 9 6
+f 12 5 9
+f 12 10 5
+f 12 6 7
+f 13 9 5
+f 13 5 8
+f 13 8 9
+f 14 7 2
+f 14 2 10
+f 14 12 7
+f 15 14 10
+f 15 10 12
+f 15 12 14
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_15/collision/model_normalized_collision_15.obj b/objects/objaverse/pan/pan_15/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b9df9d223d793a28d1fbdb6c5ca2b7f3ec5b839e
--- /dev/null
+++ b/objects/objaverse/pan/pan_15/collision/model_normalized_collision_15.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v -0.11899756 -0.18847197 -0.01299570
+v -0.10229773 -0.17563768 -0.01496633
+v -0.09563479 -0.15294540 0.02337518
+v -0.15669137 -0.06173528 -0.04354180
+v -0.19066982 -0.17492981 -0.04948516
+v -0.09848485 -0.06013196 -0.05769797
+v -0.13657102 -0.18484727 -0.03030983
+v -0.18764893 -0.20526828 -0.03246895
+v -0.09208503 -0.14016575 0.01847410
+v -0.18939394 -0.09043499 -0.05769797
+v -0.10626586 -0.16969892 -0.02506739
+v -0.11820466 -0.14420416 -0.04542237
+v -0.10936017 -0.15744085 0.01847409
+v -0.16365459 -0.17451397 -0.04544251
+v -0.09059706 -0.06170096 -0.01860225
+v -0.15909091 -0.06013196 -0.05769797
+v -0.18782497 -0.15892884 -0.01860224
+v -0.12296570 -0.18253321 -0.02309677
+v -0.10471971 -0.15686138 -0.03425111
+v -0.19043579 -0.19125788 -0.04256977
+v -0.18779064 -0.09283452 -0.04354176
+v -0.10532180 -0.13132129 -0.04542235
+f 1 2 3
+f 8 7 1
+f 9 3 2
+f 10 6 5
+f 11 2 1
+f 12 5 6
+f 13 8 1
+f 13 1 3
+f 14 7 8
+f 14 5 12
+f 15 9 2
+f 15 2 6
+f 15 4 3
+f 15 3 9
+f 16 6 10
+f 16 15 6
+f 16 4 15
+f 17 10 5
+f 17 8 13
+f 17 13 3
+f 18 11 1
+f 18 1 7
+f 18 7 11
+f 19 6 2
+f 19 2 11
+f 19 11 7
+f 19 14 12
+f 19 7 14
+f 20 14 8
+f 20 5 14
+f 20 17 5
+f 20 8 17
+f 21 10 17
+f 21 16 10
+f 21 4 16
+f 21 17 3
+f 21 3 4
+f 22 19 12
+f 22 12 6
+f 22 6 19
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_15/collision/model_normalized_collision_16.obj b/objects/objaverse/pan/pan_15/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5bde220d91594aaa5e3a702cb95b4f00001b038d
--- /dev/null
+++ b/objects/objaverse/pan/pan_15/collision/model_normalized_collision_16.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v -0.47621821 -0.06293601 0.05667345
+v -0.45218714 -0.05815594 0.01990763
+v -0.45825301 0.09892816 0.04697389
+v -0.46800669 0.09531576 0.05667345
+v -0.48899015 0.02708021 0.01590328
+v -0.48211946 -0.05808220 0.01348872
+v -0.49041002 0.04251413 0.05658625
+v -0.44091149 0.08733522 0.01726290
+v -0.47659188 0.08823395 0.01510056
+v -0.48661722 -0.05897687 0.05679680
+v -0.44950969 -0.01518266 0.00807435
+v -0.48113589 0.08913777 0.05658625
+v -0.49059153 -0.04160207 0.05658625
+v -0.48900894 0.04223549 0.02780561
+v -0.48915790 -0.02616540 0.01585437
+v -0.48918802 -0.04132291 0.02778471
+f 1 2 3
+f 1 3 4
+f 6 2 1
+f 8 3 2
+f 9 4 3
+f 9 3 8
+f 10 1 4
+f 10 6 1
+f 11 8 2
+f 11 2 6
+f 11 9 8
+f 11 6 5
+f 11 5 9
+f 12 4 9
+f 12 10 4
+f 12 7 10
+f 13 10 7
+f 14 12 9
+f 14 9 5
+f 14 5 7
+f 14 7 12
+f 15 13 7
+f 15 7 5
+f 15 5 6
+f 16 6 10
+f 16 10 13
+f 16 15 6
+f 16 13 15
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_15/collision/model_normalized_collision_17.obj b/objects/objaverse/pan/pan_15/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f20a96915c9974acf45c1a193e281da8a18e6438
--- /dev/null
+++ b/objects/objaverse/pan/pan_15/collision/model_normalized_collision_17.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.15843999 -0.09140917 -0.03845044
+v -0.15909091 -0.09043499 -0.05769797
+v -0.18939394 0.12168622 -0.05769797
+v -0.23455584 0.12315746 -0.03942588
+v -0.28030304 -0.09043499 -0.04622296
+v -0.18926058 0.12188581 -0.03568362
+v -0.15909091 0.03077713 -0.05769797
+v -0.28030304 -0.09043499 -0.05769797
+v -0.28082849 0.10917634 -0.04297004
+v -0.15909091 0.03077713 -0.04622296
+v -0.23484849 0.12168622 -0.05769797
+v -0.28030304 0.10653471 -0.05769797
+f 6 3 4
+f 6 5 1
+f 7 1 2
+f 7 2 3
+f 7 3 6
+f 8 2 1
+f 8 1 5
+f 8 3 2
+f 9 6 4
+f 9 5 6
+f 9 8 5
+f 10 7 6
+f 10 6 1
+f 10 1 7
+f 11 9 4
+f 11 4 3
+f 11 3 8
+f 12 11 8
+f 12 8 9
+f 12 9 11
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_15/collision/model_normalized_collision_18.obj b/objects/objaverse/pan/pan_15/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dde74c51b21dd15bec488650ab60d134e686c109
--- /dev/null
+++ b/objects/objaverse/pan/pan_15/collision/model_normalized_collision_18.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v -0.20774240 -0.24102954 0.05658625
+v -0.19127597 -0.23248850 0.01324277
+v -0.18816480 -0.18752339 0.00462201
+v -0.31181586 -0.18742612 0.00471427
+v -0.30869067 -0.23232079 0.01329167
+v -0.18869976 -0.23028849 0.05769797
+v -0.23855831 -0.23845097 0.00143680
+v -0.31126416 -0.23010706 0.05769797
+v -0.19052246 -0.23627670 0.05712562
+v -0.18669068 -0.19493428 0.01274336
+v -0.20802753 -0.23959601 0.02760451
+v -0.29222150 -0.24084809 0.05658625
+v -0.28310327 -0.22572495 -0.01481731
+v -0.31328998 -0.19483702 0.01283561
+v -0.29193681 -0.23941674 0.02762463
+v -0.30947227 -0.23625012 0.05706018
+v -0.26140560 -0.23826953 0.00143680
+v -0.27866696 -0.23372501 -0.00119402
+f 8 6 3
+f 8 3 4
+f 9 2 6
+f 9 6 8
+f 10 6 2
+f 10 2 3
+f 10 3 6
+f 11 7 2
+f 11 1 7
+f 11 9 1
+f 11 2 9
+f 12 7 1
+f 12 1 9
+f 13 3 2
+f 13 2 7
+f 13 4 3
+f 13 5 4
+f 14 8 4
+f 14 4 5
+f 14 5 8
+f 15 7 12
+f 16 8 5
+f 16 15 12
+f 16 5 15
+f 16 12 9
+f 16 9 8
+f 17 13 7
+f 17 15 5
+f 17 7 15
+f 18 17 5
+f 18 5 13
+f 18 13 17
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_15/collision/model_normalized_collision_19.obj b/objects/objaverse/pan/pan_15/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d3e1cf2c9b1ad43a2c9903e9ad95c749fff7102c
--- /dev/null
+++ b/objects/objaverse/pan/pan_15/collision/model_normalized_collision_19.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.49723717 -0.02454012 0.02641861
+v 0.49796430 -0.02598736 0.00110272
+v 0.49764821 0.02630345 0.00078666
+v 0.04804719 0.02706530 0.01995411
+v 0.04804719 -0.02706552 0.01995411
+v 0.49723717 0.02537518 0.02611124
+v 0.14582654 0.01614185 0.02566467
+v 0.05034114 -0.02734448 -0.00363859
+v 0.13092852 -0.01621027 0.02373930
+v 0.13078148 0.01225038 0.02519427
+v 0.04990313 0.02788801 -0.00347096
+f 5 2 1
+f 6 3 4
+f 6 1 2
+f 6 2 3
+f 7 6 4
+f 7 1 6
+f 8 3 2
+f 8 2 5
+f 9 5 1
+f 9 1 7
+f 10 7 4
+f 10 4 5
+f 10 9 7
+f 10 5 9
+f 11 8 5
+f 11 5 4
+f 11 4 3
+f 11 3 8
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_15/collision/model_normalized_collision_2.obj b/objects/objaverse/pan/pan_15/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..687bf8c5770f676f9eff2686279117ddbf2e7925
--- /dev/null
+++ b/objects/objaverse/pan/pan_15/collision/model_normalized_collision_2.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v -0.15884321 0.13720846 -0.02059170
+v -0.15519886 0.14266260 -0.01680581
+v -0.36076061 0.15902329 0.00261290
+v -0.33775989 0.22706612 0.01510050
+v -0.15539084 0.20298137 -0.02452846
+v -0.16298199 0.19162038 0.01700014
+v -0.35681550 0.12281599 -0.02217343
+v -0.19144368 0.23259357 0.01348861
+v -0.15172728 0.16300970 -0.00184788
+v -0.34283254 0.12456486 -0.02581779
+v -0.34640277 0.21329290 -0.01024926
+v -0.36045986 0.12827016 -0.01838750
+v -0.35094767 0.22009480 0.01311588
+v -0.30690351 0.22428423 -0.01024926
+v -0.33699753 0.22323346 0.00143680
+v -0.19306048 0.22446553 -0.01024926
+f 5 2 1
+f 6 4 3
+f 8 6 5
+f 8 4 6
+f 9 2 5
+f 9 5 6
+f 9 6 3
+f 9 3 7
+f 9 7 1
+f 9 1 2
+f 10 5 1
+f 10 1 7
+f 11 10 7
+f 11 5 10
+f 12 11 7
+f 12 7 3
+f 12 3 11
+f 13 11 3
+f 13 3 4
+f 14 5 11
+f 14 4 8
+f 15 13 4
+f 15 11 13
+f 15 14 11
+f 15 4 14
+f 16 14 8
+f 16 8 5
+f 16 5 14
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_15/collision/model_normalized_collision_20.obj b/objects/objaverse/pan/pan_15/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c8a41b755fcc50b3e15b9c3aaf35f978bbcf6db
--- /dev/null
+++ b/objects/objaverse/pan/pan_15/collision/model_normalized_collision_20.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v -0.03886869 -0.12007659 0.05769797
+v 0.00765388 -0.02780398 -0.01072931
+v -0.02028493 -0.09709449 0.05658625
+v -0.00269813 -0.01263381 0.05658625
+v -0.03807036 -0.01463931 -0.03469446
+v -0.00849638 -0.04178349 0.05658625
+v -0.04467504 -0.11619690 -0.00128205
+v -0.02149432 -0.01793648 0.04490457
+v 0.00763394 -0.01467741 -0.01420414
+v -0.02389977 -0.09467912 0.01609865
+v -0.04482615 -0.08579291 -0.02906250
+v -0.01359553 -0.01649385 0.05667345
+v -0.03032270 -0.01316660 -0.02949476
+v -0.03906201 -0.10982347 0.00143680
+v -0.03196068 -0.11456845 0.05658625
+v -0.03993614 -0.08681483 -0.02250950
+f 6 3 2
+f 6 2 4
+f 6 1 3
+f 6 4 1
+f 8 5 1
+f 9 4 2
+f 10 2 3
+f 11 9 2
+f 11 5 9
+f 11 7 1
+f 11 1 5
+f 12 8 1
+f 12 1 4
+f 12 4 5
+f 12 5 8
+f 13 9 5
+f 13 5 4
+f 13 4 9
+f 14 10 7
+f 14 7 2
+f 14 2 10
+f 15 10 3
+f 15 3 1
+f 15 1 7
+f 15 7 10
+f 16 11 2
+f 16 2 7
+f 16 7 11
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_15/collision/model_normalized_collision_21.obj b/objects/objaverse/pan/pan_15/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f06bdc83a6369722f7e4775609152686f2fcacc
--- /dev/null
+++ b/objects/objaverse/pan/pan_15/collision/model_normalized_collision_21.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.15243136 -0.22924107 0.05658625
+v -0.08984513 -0.15681391 0.03393532
+v -0.20423940 -0.22833730 0.05457214
+v -0.10157940 -0.14794649 0.01463540
+v -0.10942156 -0.19527915 0.01611371
+v -0.09153090 -0.17659989 0.05667345
+v -0.19127597 -0.23248850 0.01324277
+v -0.20364610 -0.23131997 0.05707174
+v -0.10700862 -0.19889044 0.05658625
+v -0.15484678 -0.22562607 0.01609861
+v -0.18816480 -0.18752339 0.00462201
+v -0.19052246 -0.23627670 0.05712562
+v -0.12527355 -0.20938233 0.02794605
+v -0.20209206 -0.22398129 0.04764604
+v -0.13884770 -0.15866130 0.00195695
+f 3 2 4
+f 5 4 2
+f 6 2 3
+f 6 5 2
+f 8 6 3
+f 8 3 7
+f 9 5 6
+f 10 1 7
+f 12 8 7
+f 12 7 1
+f 12 1 9
+f 12 9 6
+f 12 6 8
+f 13 9 1
+f 13 5 9
+f 13 10 5
+f 13 1 10
+f 14 11 7
+f 14 7 3
+f 14 3 11
+f 15 11 3
+f 15 3 4
+f 15 4 5
+f 15 5 10
+f 15 10 7
+f 15 7 11
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_15/collision/model_normalized_collision_22.obj b/objects/objaverse/pan/pan_15/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..30d7d518406949aca30b4868bb375474d5dd213d
--- /dev/null
+++ b/objects/objaverse/pan/pan_15/collision/model_normalized_collision_22.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v -0.48113589 0.08913777 0.05658625
+v -0.41566464 0.09071364 -0.04721277
+v -0.42812032 0.09903628 0.01281890
+v -0.40973475 0.18706941 0.05658625
+v -0.41618885 0.16666318 -0.01024926
+v -0.46221051 0.10156681 0.05512733
+v -0.46628966 0.08919851 -0.01190086
+v -0.42844494 0.16991448 0.02818963
+v -0.40805970 0.15853402 -0.02619529
+v -0.43188067 0.14700343 0.05515599
+v -0.43962282 0.08647411 -0.03762624
+v -0.42959619 0.17068370 0.05658625
+v -0.40890485 0.18582743 0.02723708
+v -0.47508929 0.09495188 0.01644648
+v -0.40930398 0.13191814 -0.03759914
+v -0.46281866 0.09687680 -0.01024926
+v -0.47659188 0.08823395 0.01510056
+v -0.43728976 0.10006671 -0.03365805
+v -0.47862146 0.09731200 0.05658625
+v -0.42020964 0.18007033 0.05658625
+v -0.41944038 0.17891914 0.02818962
+v -0.40924886 0.17119078 -0.01037810
+v -0.44511257 0.11032141 -0.02050611
+v -0.42096393 0.12958515 -0.03166040
+v -0.45879493 0.12449123 0.02818291
+f 1 2 3
+f 3 2 4
+f 6 1 3
+f 6 4 1
+f 10 6 3
+f 10 3 4
+f 10 4 6
+f 11 2 1
+f 12 1 4
+f 13 4 9
+f 14 8 5
+f 15 9 4
+f 15 4 2
+f 15 2 11
+f 16 5 9
+f 16 14 5
+f 16 7 14
+f 17 11 1
+f 17 7 11
+f 17 14 7
+f 17 1 14
+f 18 11 7
+f 19 12 8
+f 19 1 12
+f 19 14 1
+f 20 12 4
+f 21 13 5
+f 21 5 8
+f 21 8 12
+f 21 12 20
+f 21 20 4
+f 21 4 13
+f 22 13 9
+f 22 9 5
+f 22 5 13
+f 23 16 9
+f 23 7 16
+f 23 18 7
+f 24 9 15
+f 24 15 11
+f 24 11 18
+f 24 23 9
+f 24 18 23
+f 25 19 8
+f 25 8 14
+f 25 14 19
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_15/collision/model_normalized_collision_23.obj b/objects/objaverse/pan/pan_15/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..693848ef1465194273890ed1535e1872b0322519
--- /dev/null
+++ b/objects/objaverse/pan/pan_15/collision/model_normalized_collision_23.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v -0.16203906 -0.22712868 0.01480563
+v -0.11378013 -0.19628045 0.01055785
+v -0.35135253 -0.21975249 0.01290741
+v -0.35325501 -0.19229671 -0.02955430
+v -0.16375635 -0.18951325 -0.03824609
+v -0.36429236 -0.20881528 0.00624642
+v -0.26168384 -0.22451712 -0.02240232
+v -0.12025002 -0.20174906 0.01388834
+v -0.16271104 -0.20958960 -0.02250940
+v -0.11899756 -0.18847197 -0.01299570
+v -0.34684078 -0.21300023 -0.01024926
+v -0.33792756 -0.22696094 0.01485455
+v -0.26274162 -0.21468322 -0.03265239
+v -0.19287905 -0.22442944 -0.01024926
+v -0.33614611 -0.18936724 -0.03799776
+v -0.13499945 -0.18719929 -0.02706490
+v -0.13970243 -0.21046389 0.00143680
+v -0.23829210 -0.22463808 -0.02248953
+v -0.30708494 -0.22424814 -0.01024926
+v -0.33717896 -0.22319737 0.00143680
+v -0.13754840 -0.21368757 0.01499348
+v -0.16278494 -0.22337884 0.00143680
+v -0.23724639 -0.21474368 -0.03273958
+v -0.33638827 -0.20970441 -0.02233717
+v -0.16608934 -0.20117318 -0.03230734
+v -0.12491772 -0.19476331 -0.01024926
+v -0.33381312 -0.20102716 -0.03205901
+f 6 2 4
+f 8 6 3
+f 8 2 6
+f 10 4 2
+f 11 6 4
+f 11 3 6
+f 12 8 3
+f 15 4 10
+f 16 15 10
+f 16 5 15
+f 17 2 8
+f 18 12 7
+f 18 1 12
+f 18 14 1
+f 18 9 14
+f 18 7 13
+f 19 7 12
+f 20 12 3
+f 20 3 11
+f 20 19 12
+f 21 12 1
+f 21 8 12
+f 21 17 8
+f 22 14 9
+f 22 1 14
+f 22 9 17
+f 22 21 1
+f 22 17 21
+f 23 15 5
+f 23 13 15
+f 23 18 13
+f 24 11 4
+f 24 13 7
+f 24 7 19
+f 24 20 11
+f 24 19 20
+f 25 16 9
+f 25 5 16
+f 25 23 5
+f 25 9 18
+f 25 18 23
+f 26 10 2
+f 26 2 17
+f 26 17 9
+f 26 16 10
+f 26 9 16
+f 27 24 4
+f 27 4 15
+f 27 15 13
+f 27 13 24
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_15/collision/model_normalized_collision_24.obj b/objects/objaverse/pan/pan_15/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..861d96c16594c9fd1ddbc5ec36f24d802ea7e4ed
--- /dev/null
+++ b/objects/objaverse/pan/pan_15/collision/model_normalized_collision_24.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v -0.23489669 0.16689844 -0.01939109
+v -0.23361697 0.17333207 -0.01560517
+v -0.28203378 0.19099332 0.00222981
+v -0.26198773 0.24214421 0.01512182
+v -0.23527707 0.19528918 -0.04481867
+v -0.23278930 0.19264452 0.00066344
+v -0.28010172 0.16612870 -0.01803125
+v -0.23797893 0.24231192 0.01507292
+v -0.27978471 0.19483803 -0.04370818
+v -0.26156294 0.22485726 -0.02196394
+v -0.28138145 0.17256231 -0.01424535
+v -0.27928608 0.23778571 0.01197466
+v -0.23841307 0.22497820 -0.02205113
+v -0.23873974 0.23848705 0.00143680
+v -0.26268114 0.21532739 -0.03221400
+v -0.27772343 0.22992974 -0.01046944
+v -0.23730683 0.21538786 -0.03230120
+v -0.27860678 0.20406767 -0.03782578
+v -0.26122417 0.23830562 0.00143680
+f 5 2 1
+f 6 2 5
+f 6 1 2
+f 6 3 1
+f 7 5 1
+f 7 1 3
+f 8 4 3
+f 8 3 6
+f 8 6 5
+f 9 5 7
+f 11 9 7
+f 11 7 3
+f 11 3 9
+f 12 9 3
+f 12 3 4
+f 14 4 8
+f 14 13 10
+f 15 5 9
+f 15 10 13
+f 16 9 12
+f 16 10 15
+f 17 8 5
+f 17 15 13
+f 17 5 15
+f 17 14 8
+f 17 13 14
+f 18 16 15
+f 18 15 9
+f 18 9 16
+f 19 16 12
+f 19 12 4
+f 19 4 14
+f 19 14 10
+f 19 10 16
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_15/collision/model_normalized_collision_25.obj b/objects/objaverse/pan/pan_15/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..86cdaf120b6533ed6b631838de98f70681fb7ab3
--- /dev/null
+++ b/objects/objaverse/pan/pan_15/collision/model_normalized_collision_25.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.29635043 -0.23130253 0.05712673
+v -0.29574008 -0.22823408 0.05466372
+v -0.42049248 -0.16874890 0.05709793
+v -0.41792943 -0.16703632 0.05461588
+v -0.37584242 -0.21105245 0.05390254
+v -0.29788088 -0.22386693 0.04772299
+v -0.37522481 -0.21012815 0.05658625
+v -0.41079036 -0.18770105 0.05390254
+v -0.39418897 -0.17790401 0.04663525
+v -0.41017276 -0.18677674 0.05658625
+f 1 2 3
+f 3 2 4
+f 6 2 1
+f 6 1 5
+f 6 4 2
+f 7 5 1
+f 7 1 3
+f 8 3 4
+f 8 5 7
+f 9 6 5
+f 9 5 8
+f 9 8 4
+f 9 4 6
+f 10 8 7
+f 10 7 3
+f 10 3 8
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_15/collision/model_normalized_collision_26.obj b/objects/objaverse/pan/pan_15/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1355cba4ce379a6bac9ff2d97405e53bea58751f
--- /dev/null
+++ b/objects/objaverse/pan/pan_15/collision/model_normalized_collision_26.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.05638779 -0.11849462 -0.01696389
+v -0.04821956 -0.11382854 -0.01102514
+v -0.04887793 -0.07309561 0.02091794
+v -0.04071056 0.11476652 0.00624628
+v -0.04849861 0.08428725 -0.03205903
+v -0.03524191 0.10829661 0.00957687
+v -0.04835263 -0.08343664 -0.03230735
+v -0.06015859 0.08662022 -0.03799775
+v -0.04978424 0.09857974 -0.02484602
+v -0.06232654 -0.11452647 -0.02706495
+v -0.05621721 -0.07464956 0.01350703
+v -0.05722904 0.10372920 -0.02955430
+v -0.05415831 -0.10986039 -0.02112620
+v -0.06001260 -0.08576960 -0.03824609
+f 1 2 3
+f 6 3 2
+f 6 4 3
+f 7 6 2
+f 7 5 6
+f 8 5 7
+f 9 6 5
+f 9 4 6
+f 10 2 1
+f 11 3 4
+f 11 8 10
+f 11 10 1
+f 11 1 3
+f 12 4 9
+f 12 11 4
+f 12 8 11
+f 12 9 5
+f 12 5 8
+f 13 10 7
+f 13 7 2
+f 13 2 10
+f 14 10 8
+f 14 8 7
+f 14 7 10
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_15/collision/model_normalized_collision_27.obj b/objects/objaverse/pan/pan_15/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd8367811b9f8d8a48151fbf11c0d89d69f3c744
--- /dev/null
+++ b/objects/objaverse/pan/pan_15/collision/model_normalized_collision_27.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.30947227 -0.23625012 0.05706018
+v -0.30869067 -0.23232079 0.01329167
+v -0.31181586 -0.18742612 0.00471427
+v -0.35724384 -0.16796339 0.00850232
+v -0.34789355 -0.22972723 0.05390254
+v -0.33195423 -0.17546652 0.00010645
+v -0.31126416 -0.23010706 0.05769797
+v -0.34488261 -0.22522109 0.01623791
+v -0.35295012 -0.22214343 0.05757412
+v -0.34727595 -0.22880294 0.05658625
+v -0.36098022 -0.20385832 0.05191517
+v -0.36144178 -0.17424605 0.01662365
+f 1 2 3
+f 5 2 1
+f 6 3 2
+f 6 4 3
+f 7 1 3
+f 7 3 4
+f 8 2 5
+f 8 6 2
+f 8 4 6
+f 9 1 7
+f 9 8 5
+f 10 9 5
+f 10 5 1
+f 10 1 9
+f 11 9 7
+f 11 7 4
+f 11 8 9
+f 12 11 4
+f 12 4 8
+f 12 8 11
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_15/collision/model_normalized_collision_28.obj b/objects/objaverse/pan/pan_15/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df4bf25ca6da71beb24f77d70012706bbb3fdf23
--- /dev/null
+++ b/objects/objaverse/pan/pan_15/collision/model_normalized_collision_28.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v -0.10295167 -0.18981055 0.01278328
+v -0.09296558 -0.15930126 -0.02684385
+v -0.10157940 -0.14794649 0.01463540
+v -0.28087146 -0.15389871 -0.02486752
+v -0.28057708 -0.19787330 0.00917693
+v -0.10744374 -0.18308762 -0.01024926
+v -0.27762884 -0.18305150 -0.00706575
+v -0.28213103 -0.19053402 0.00176603
+v -0.28215119 -0.16033235 -0.02108160
+f 1 2 3
+f 3 2 4
+f 5 1 3
+f 5 3 4
+f 6 2 1
+f 6 1 5
+f 7 6 5
+f 7 2 6
+f 8 7 5
+f 9 4 2
+f 9 2 7
+f 9 7 8
+f 9 8 5
+f 9 5 4
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_15/collision/model_normalized_collision_29.obj b/objects/objaverse/pan/pan_15/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc528c8fc6823fb28d5b0bd98bdda633bbbe68e5
--- /dev/null
+++ b/objects/objaverse/pan/pan_15/collision/model_normalized_collision_29.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.18764893 -0.20526828 -0.03246895
+v -0.19043579 -0.19125788 -0.04256977
+v -0.18779064 -0.09283452 -0.04354176
+v -0.28030304 -0.09043499 -0.04622296
+v -0.27876621 -0.18876942 -0.04625592
+v -0.27762884 -0.18305150 -0.00706575
+v -0.18939394 -0.09043499 -0.05769797
+v -0.22122852 -0.18879599 -0.04632133
+v -0.18667032 -0.12481422 -0.03437926
+v -0.28144569 -0.12648248 -0.03721446
+v -0.19066982 -0.17492981 -0.04948516
+v -0.28030304 -0.09043499 -0.05769797
+f 6 3 4
+f 6 5 1
+f 7 4 3
+f 8 2 1
+f 8 1 5
+f 9 6 1
+f 9 3 6
+f 9 7 3
+f 9 1 7
+f 10 6 4
+f 10 5 6
+f 11 7 1
+f 11 1 2
+f 11 2 8
+f 11 8 5
+f 12 4 7
+f 12 10 4
+f 12 5 10
+f 12 11 5
+f 12 7 11
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_15/collision/model_normalized_collision_3.obj b/objects/objaverse/pan/pan_15/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..13bff3713a984040896db8e961084afe65cff483
--- /dev/null
+++ b/objects/objaverse/pan/pan_15/collision/model_normalized_collision_3.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.28030304 -0.09043499 -0.04622296
+v -0.28030304 -0.09043499 -0.05769797
+v -0.28030304 0.03077713 -0.05769797
+v -0.37207449 0.04610018 -0.03758208
+v -0.45250725 -0.09413506 -0.02452845
+v -0.28030304 0.03077713 -0.04622296
+v -0.34562637 -0.09358697 -0.03666922
+v -0.42654407 -0.01362833 -0.05229161
+v -0.35799487 0.04722107 -0.04187982
+v -0.43468790 -0.01223438 -0.00816832
+v -0.37121213 0.04592865 -0.05769797
+v -0.42489210 -0.08580719 -0.04516374
+v -0.44481508 -0.01424884 -0.04481867
+v -0.35606061 0.04592865 -0.05769797
+v -0.43976884 -0.08562353 -0.03787443
+f 1 2 3
+f 6 1 3
+f 7 5 2
+f 7 2 1
+f 9 6 3
+f 9 4 6
+f 10 6 4
+f 10 5 7
+f 10 7 1
+f 10 1 6
+f 11 3 2
+f 11 2 8
+f 11 4 9
+f 12 8 2
+f 12 2 5
+f 13 5 10
+f 13 8 12
+f 13 11 8
+f 13 10 4
+f 13 4 11
+f 14 11 9
+f 14 9 3
+f 14 3 11
+f 15 13 12
+f 15 12 5
+f 15 5 13
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_15/collision/model_normalized_collision_30.obj b/objects/objaverse/pan/pan_15/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..602546769f336c62128121f3ffecae935d66e776
--- /dev/null
+++ b/objects/objaverse/pan/pan_15/collision/model_normalized_collision_30.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.04801532 -0.02768813 0.01847319
+v 0.04745549 -0.02718686 -0.01042838
+v 0.04804719 0.03037910 -0.00230673
+v -0.01009061 0.04241459 0.02770028
+v 0.00764547 -0.02856134 0.01856958
+v 0.00765147 0.02712807 -0.01100925
+v 0.04779565 0.02788139 0.01816002
+v 0.04804719 0.02687044 -0.01038775
+v 0.00758529 0.03134409 -0.00234732
+v 0.00765388 -0.02780398 -0.01072931
+f 5 2 1
+f 5 1 4
+f 7 1 3
+f 7 3 4
+f 7 4 1
+f 8 1 2
+f 8 3 1
+f 8 2 6
+f 9 6 4
+f 9 4 3
+f 9 8 6
+f 9 3 8
+f 10 5 4
+f 10 4 6
+f 10 6 2
+f 10 2 5
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_15/collision/model_normalized_collision_31.obj b/objects/objaverse/pan/pan_15/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d5a13997281481d06aea307601fbc374d5ee147c
--- /dev/null
+++ b/objects/objaverse/pan/pan_15/collision/model_normalized_collision_31.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.03640234 -0.07557716 0.03979259
+v -0.03034674 -0.03132715 0.03571456
+v -0.05889462 -0.03167626 0.00167378
+v -0.04266212 -0.01372595 0.01502145
+v -0.04887793 -0.07309561 0.02091794
+v -0.05000140 -0.01527990 0.00761055
+v -0.03516210 -0.01521780 0.02380586
+v -0.06428767 -0.07788546 0.00612637
+v -0.04140602 -0.07759569 0.03295870
+v -0.04259050 -0.01675402 0.01573189
+v -0.05800500 -0.08208338 0.01424772
+f 1 2 3
+f 6 3 2
+f 6 2 4
+f 6 4 3
+f 7 2 1
+f 7 4 2
+f 8 1 3
+f 8 3 5
+f 9 7 1
+f 9 5 7
+f 10 7 5
+f 10 4 7
+f 10 5 3
+f 10 3 4
+f 11 8 5
+f 11 5 9
+f 11 9 1
+f 11 1 8
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_15/collision/model_normalized_collision_4.obj b/objects/objaverse/pan/pan_15/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cb5fac391adf38533a8d3cba4c29d496d44f5312
--- /dev/null
+++ b/objects/objaverse/pan/pan_15/collision/model_normalized_collision_4.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v -0.17341964 0.18642873 0.00655991
+v -0.17194553 0.19383963 0.01468126
+v -0.36231555 0.20680498 0.05667345
+v -0.29204007 0.24088418 0.05658625
+v -0.22336048 0.23963201 0.01585436
+v -0.18658984 0.22669237 0.05667345
+v -0.19144368 0.23259357 0.01348861
+v -0.33171946 0.17606334 0.00049967
+v -0.19054898 0.23709158 0.05679668
+v -0.35700903 0.16856019 0.00889554
+v -0.34447778 0.22556345 0.01644645
+v -0.27660619 0.23946432 0.01590326
+v -0.34683794 0.22909560 0.05658625
+v -0.20792383 0.24106563 0.05658625
+v -0.17341561 0.20160050 0.02284078
+v -0.36120696 0.17484285 0.01701685
+v -0.29176143 0.23948307 0.02780550
+v -0.20820299 0.23966211 0.02778468
+f 6 1 2
+f 6 3 1
+f 7 2 1
+f 8 7 1
+f 9 3 6
+f 10 8 1
+f 10 1 3
+f 11 8 10
+f 12 5 7
+f 12 7 8
+f 12 8 11
+f 12 4 5
+f 13 9 4
+f 13 3 9
+f 13 11 3
+f 14 5 4
+f 14 4 9
+f 15 9 6
+f 15 6 2
+f 15 2 7
+f 15 7 9
+f 16 11 10
+f 16 10 3
+f 16 3 11
+f 17 12 11
+f 17 4 12
+f 17 13 4
+f 17 11 13
+f 18 14 9
+f 18 9 7
+f 18 7 5
+f 18 5 14
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_15/collision/model_normalized_collision_5.obj b/objects/objaverse/pan/pan_15/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a353962b9bbddebc803427fb2641ad39c1b7814f
--- /dev/null
+++ b/objects/objaverse/pan/pan_15/collision/model_normalized_collision_5.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v -0.01327578 0.05994635 0.05706021
+v -0.02074982 0.05845967 0.00089627
+v -0.07090790 0.17034686 0.02810013
+v -0.11792148 0.20618221 0.05658625
+v -0.11363637 0.06108016 -0.05769797
+v -0.06974836 0.17112162 0.05658625
+v -0.02430468 0.09535680 0.01623792
+v -0.10425942 0.06734561 -0.02420778
+v -0.11845836 0.15992411 -0.03784751
+v -0.07949784 0.18050825 0.05658625
+v -0.02072295 0.09775002 0.05658625
+v -0.02305105 0.06402961 0.05667345
+v -0.12065498 0.20209124 0.01409679
+v -0.08286272 0.16666318 -0.01024926
+v -0.07507607 0.08677662 -0.04525624
+v -0.04055798 0.12492365 0.02809367
+v -0.11767728 0.13184840 -0.04955631
+v -0.08025477 0.17933104 0.02813011
+v -0.11928957 0.18898315 -0.01262405
+v -0.03624189 0.05839195 -0.02522727
+v -0.07881748 0.12973122 -0.03203209
+v -0.07462266 0.05979900 -0.04941976
+v -0.10982646 0.19562137 0.01632230
+v -0.09452412 0.16554403 -0.02072760
+v -0.10788175 0.18338029 -0.01024926
+v -0.03982149 0.08686232 -0.02233736
+v -0.10538603 0.13222652 -0.04523606
+v -0.10486569 0.15759113 -0.03387938
+v -0.08478503 0.15604686 -0.02085093
+v -0.02632848 0.08765303 0.00143680
+v -0.05520049 0.12526374 -0.01024926
+f 5 2 1
+f 7 1 2
+f 8 5 1
+f 8 4 5
+f 10 6 3
+f 10 4 1
+f 10 1 6
+f 11 6 1
+f 11 1 7
+f 11 3 6
+f 12 8 1
+f 12 1 4
+f 12 4 8
+f 13 5 4
+f 14 3 7
+f 16 11 7
+f 16 7 3
+f 16 3 11
+f 17 13 9
+f 17 5 13
+f 18 10 3
+f 18 3 14
+f 18 13 4
+f 18 4 10
+f 19 9 13
+f 20 2 5
+f 22 17 15
+f 22 5 17
+f 22 20 5
+f 22 15 20
+f 23 18 14
+f 23 14 13
+f 23 13 18
+f 25 19 13
+f 25 13 14
+f 25 24 19
+f 25 14 24
+f 26 2 20
+f 26 20 15
+f 26 15 21
+f 27 17 9
+f 27 21 15
+f 27 15 17
+f 28 9 19
+f 28 19 24
+f 28 27 9
+f 28 21 27
+f 29 24 14
+f 29 28 24
+f 29 21 28
+f 29 26 21
+f 29 14 26
+f 30 7 2
+f 30 2 26
+f 31 30 26
+f 31 26 14
+f 31 14 7
+f 31 7 30
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_15/collision/model_normalized_collision_6.obj b/objects/objaverse/pan/pan_15/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..31b05316c774b2a5decea7005d07543a8215a62a
--- /dev/null
+++ b/objects/objaverse/pan/pan_15/collision/model_normalized_collision_6.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v -0.10971358 0.06370128 -0.02799367
+v -0.11363637 0.06108016 -0.05769797
+v -0.10491010 0.16504908 0.03041274
+v -0.12167866 0.17778051 0.03233515
+v -0.18939394 0.06108016 -0.04622296
+v -0.11845836 0.15992411 -0.03784751
+v -0.10978330 0.17290731 0.03620620
+v -0.11826887 0.14505621 -0.04514354
+v -0.19027181 0.16272741 -0.05441036
+v -0.18987443 0.16472525 -0.01555191
+v -0.14822713 0.16072371 -0.04664170
+v -0.18939394 0.06108016 -0.05769797
+v -0.13863612 0.17507772 0.01675409
+f 1 2 3
+f 5 2 1
+f 7 5 1
+f 7 1 3
+f 7 4 5
+f 7 6 4
+f 7 3 6
+f 8 6 3
+f 8 3 2
+f 9 8 2
+f 10 9 5
+f 10 5 4
+f 11 9 4
+f 11 4 6
+f 11 6 8
+f 11 8 9
+f 12 9 2
+f 12 2 5
+f 12 5 9
+f 13 10 4
+f 13 4 9
+f 13 9 10
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_15/collision/model_normalized_collision_7.obj b/objects/objaverse/pan/pan_15/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8a98fd11a76aa0b11efca923ba10217e7fd83be5
--- /dev/null
+++ b/objects/objaverse/pan/pan_15/collision/model_normalized_collision_7.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v -0.35799487 0.04722107 -0.04187982
+v -0.35606061 0.04592865 -0.05769797
+v -0.35288595 0.22299562 0.05729536
+v -0.34891343 0.21705032 0.00066088
+v -0.42699975 0.12859057 0.03259242
+v -0.34781360 0.20025283 -0.02447425
+v -0.42183766 0.09483834 0.00469759
+v -0.36231555 0.20680498 0.05667345
+v -0.40973475 0.18706941 0.05658625
+v -0.37207449 0.04610018 -0.03758208
+v -0.41121059 0.08773756 -0.04943164
+v -0.42044974 0.16966854 0.05725426
+v -0.37401720 0.20926912 0.02818315
+v -0.35275502 0.14704209 -0.05090954
+v -0.37121213 0.04592865 -0.05769797
+v -0.40528070 0.16525198 -0.02047922
+v -0.37478680 0.21042082 0.05658625
+v -0.39451801 0.13216232 -0.04495727
+v -0.40498966 0.17996792 0.00143680
+v -0.37435157 0.19461805 -0.01024926
+v -0.40697099 0.14551080 -0.03363100
+v -0.38168826 0.14499203 -0.04495726
+v -0.35956686 0.21031846 0.00143680
+v -0.41018554 0.10220408 -0.04645553
+v -0.37911110 0.17143809 -0.03166037
+f 1 2 3
+f 6 3 2
+f 6 4 3
+f 8 1 3
+f 10 2 1
+f 10 5 7
+f 11 7 5
+f 12 1 8
+f 12 10 1
+f 12 5 10
+f 12 8 3
+f 12 3 9
+f 13 3 4
+f 14 6 2
+f 15 10 7
+f 15 7 11
+f 15 2 10
+f 15 14 2
+f 15 11 14
+f 16 5 12
+f 17 13 9
+f 17 9 3
+f 17 3 13
+f 18 14 11
+f 19 9 13
+f 19 16 12
+f 19 12 9
+f 20 4 6
+f 20 6 16
+f 20 19 4
+f 20 16 19
+f 21 5 16
+f 22 6 14
+f 22 14 18
+f 22 18 21
+f 23 19 13
+f 23 13 4
+f 23 4 19
+f 24 11 5
+f 24 5 21
+f 24 21 18
+f 24 18 11
+f 25 21 16
+f 25 16 6
+f 25 22 21
+f 25 6 22
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_15/collision/model_normalized_collision_8.obj b/objects/objaverse/pan/pan_15/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..15e60698b32c6ef061b94d516584e901d28cbc61
--- /dev/null
+++ b/objects/objaverse/pan/pan_15/collision/model_normalized_collision_8.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v -0.44217040 -0.01673662 0.00066346
+v -0.41352706 -0.01405290 -0.05754558
+v -0.42285796 -0.01590896 -0.01560515
+v -0.44459967 0.09992997 0.03063209
+v -0.48783151 0.01169822 0.00143680
+v -0.41121059 0.08773756 -0.04943164
+v -0.45246104 0.09505517 0.03642405
+v -0.47450411 -0.01111286 -0.02205092
+v -0.42812032 0.09903628 0.01281890
+v -0.49183781 -0.01154695 0.01507292
+v -0.47275919 0.08747155 0.00143680
+v -0.46491361 -0.01221904 -0.03230119
+v -0.45783257 0.07839244 0.03347153
+v -0.48801294 -0.01078611 0.00143680
+v -0.47659188 0.08823395 0.01510056
+v -0.47438317 0.01203703 -0.02196372
+v -0.45950697 0.08697701 -0.02192168
+v -0.43956109 -0.01320375 -0.04703762
+v -0.49167009 0.01246177 0.01512183
+v -0.46485314 0.01315526 -0.03221401
+v -0.47381001 0.05737754 -0.01024926
+v -0.43953451 0.01414664 -0.04697220
+v -0.45128270 0.08414105 -0.03168748
+v -0.42482805 0.08671245 -0.04497762
+f 1 2 3
+f 6 3 2
+f 7 1 3
+f 7 3 4
+f 9 4 3
+f 9 3 6
+f 12 1 10
+f 13 10 1
+f 13 1 7
+f 13 7 10
+f 14 12 10
+f 14 8 12
+f 15 7 4
+f 15 4 11
+f 15 11 5
+f 16 14 5
+f 16 8 14
+f 17 9 6
+f 17 11 4
+f 17 4 9
+f 18 2 1
+f 18 1 12
+f 19 10 7
+f 19 7 15
+f 19 15 5
+f 19 14 10
+f 19 5 14
+f 20 12 8
+f 20 8 16
+f 21 17 16
+f 21 16 5
+f 21 5 11
+f 21 11 17
+f 22 6 2
+f 22 2 18
+f 22 18 12
+f 22 12 20
+f 23 20 16
+f 23 16 17
+f 23 22 20
+f 24 23 17
+f 24 17 6
+f 24 6 22
+f 24 22 23
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_15/collision/model_normalized_collision_9.obj b/objects/objaverse/pan/pan_15/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc05c4c284eca3bb86e06018dafc4b08fac1ad74
--- /dev/null
+++ b/objects/objaverse/pan/pan_15/collision/model_normalized_collision_9.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v -0.28030304 0.03077713 -0.04622296
+v -0.16269378 0.16174871 -0.04961786
+v -0.16328186 0.16086858 -0.01066090
+v -0.33872445 0.21676389 -0.01190095
+v -0.35173000 0.16065953 -0.04645543
+v -0.16125154 0.21688470 -0.01198807
+v -0.35870224 0.03130259 -0.04297003
+v -0.18939394 0.12168622 -0.05769797
+v -0.26367257 0.19000861 -0.04697221
+v -0.36037937 0.07911738 -0.03524572
+v -0.18671492 0.12569567 -0.03414083
+v -0.35606061 0.03077713 -0.05769797
+v -0.33366714 0.20175696 -0.03168731
+v -0.23632215 0.19003518 -0.04703761
+v -0.35178177 0.20619159 -0.01437325
+v -0.28030304 0.03077713 -0.05769797
+v -0.33623836 0.17530201 -0.04497745
+v -0.23648029 0.21954331 -0.02905635
+v -0.34959278 0.18776401 -0.03365790
+v -0.33650276 0.20998125 -0.02192173
+v -0.16595260 0.20176377 -0.03190640
+v -0.34781360 0.20025283 -0.02447425
+v -0.16264498 0.20987946 -0.02208912
+v -0.16371877 0.17536619 -0.04516373
+f 6 3 2
+f 6 4 3
+f 7 1 3
+f 9 8 5
+f 10 7 3
+f 10 3 4
+f 11 3 1
+f 11 1 8
+f 11 8 2
+f 11 2 3
+f 12 5 8
+f 12 10 5
+f 12 7 10
+f 12 1 7
+f 14 2 8
+f 14 8 9
+f 15 10 4
+f 15 5 10
+f 16 12 8
+f 16 8 1
+f 16 1 12
+f 17 13 9
+f 17 9 5
+f 18 4 6
+f 18 14 9
+f 18 9 13
+f 19 5 15
+f 19 17 5
+f 19 13 17
+f 20 15 4
+f 20 18 13
+f 20 4 18
+f 21 14 18
+f 22 19 15
+f 22 15 20
+f 22 20 13
+f 22 13 19
+f 23 21 18
+f 23 18 6
+f 23 6 2
+f 24 2 14
+f 24 14 21
+f 24 23 2
+f 24 21 23
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_15/model.xml b/objects/objaverse/pan/pan_15/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..bccd5f2c43e4ced6fa28ca129ec48b2688bf0eb4
--- /dev/null
+++ b/objects/objaverse/pan/pan_15/model.xml
@@ -0,0 +1,83 @@
+<mujoco model="pan_9">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="None.001" texture="image0" specular="0.5" shininess="0.25"/>
+  </asset>
+  <worldbody>
+    <body>
+      <body name="object">
+        <body pos="0.0 -0.062 0">
+          <geom solimp="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="None.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>
+      </body>
+      <site rgba="0 0 0 0" size="0.005" pos="0.00016029749999999998 -0.0627658112500000052 -0.014424492500000004" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.00016029749999999998 -0.0627658112500000052 0.014424492500000004" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.06057798000000002 0.12295945250000004 0.0" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/objects/objaverse/pan/pan_15/visual/material.mtl b/objects/objaverse/pan/pan_15/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fbcf6b4b1af9257e08a0fd6e283841743ce8fad5
--- /dev/null
+++ b/objects/objaverse/pan/pan_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 250.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_15/visual/model_normalized_0.obj b/objects/objaverse/pan/pan_15/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f7b49ac007d466f60b7cfd33a320d448b9aebcd4
--- /dev/null
+++ b/objects/objaverse/pan/pan_15/visual/model_normalized_0.obj
@@ -0,0 +1,4785 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
+v -0.24952590 0.24660433 0.05769797
+v -0.34389721 0.22783280 0.05769797
+v -0.34228337 0.22393686 0.05769797
+v -0.24952590 0.24238767 0.05769797
+v -0.10662228 0.14290340 -0.04320480
+v -0.06281355 0.07733877 -0.04320480
+v -0.09577257 0.06368675 -0.05769797
+v -0.13184809 0.11767760 -0.05769797
+v -0.04742974 0.00000000 -0.04320480
+v -0.08310451 0.00000000 -0.05769797
+v -0.06281355 -0.07733877 -0.04320480
+v -0.09577257 -0.06368675 -0.05769797
+v -0.10662250 -0.14290340 -0.04320502
+v -0.13184830 -0.11767760 -0.05769797
+v -0.17218713 -0.18671235 -0.04320480
+v -0.18583915 -0.15375332 -0.05769797
+v -0.24952590 -0.20209594 -0.04320480
+v -0.24952590 -0.16642139 -0.05769797
+v -0.32686467 -0.18671235 -0.04320480
+v -0.31321243 -0.15375332 -0.05769797
+v -0.39242929 -0.14290340 -0.04320502
+v -0.36720349 -0.11767760 -0.05769797
+v -0.43623825 -0.07733877 -0.04320480
+v -0.40327901 -0.06368675 -0.05769797
+v -0.45162184 0.00000000 -0.04320480
+v -0.41594728 0.00000000 -0.05769797
+v -0.43623825 0.07733877 -0.04320502
+v -0.40327901 0.06368675 -0.05769797
+v -0.39242929 0.14290340 -0.04320480
+v -0.36720349 0.11767760 -0.05769797
+v -0.32686445 0.18671235 -0.04320480
+v -0.31321243 0.15375332 -0.05769797
+v -0.07515021 -0.17437569 0.05769797
+v -0.02169310 -0.09437153 0.05769797
+v -0.02558903 -0.09275769 0.05769797
+v -0.07813196 -0.17139394 0.05769797
+v -0.17218713 0.18671235 -0.04320480
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+f 1074/1074/1074 1160/1160/1160 1135/1135/1135
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_19/collision/model_normalized_collision_0.obj b/objects/objaverse/pan/pan_19/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..734f0f5222c2cef61d0a08bfd923d83429e71d5a
--- /dev/null
+++ b/objects/objaverse/pan/pan_19/collision/model_normalized_collision_0.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v 0.45517314 0.12404505 -0.01264136
+v 0.47141184 0.12965889 -0.01264136
+v 0.30656010 0.27394535 -0.01264142
+v 0.38636364 0.13363343 -0.05969970
+v 0.42389869 0.12826286 -0.05663320
+v 0.31060606 0.16393646 -0.05337096
+v 0.45111833 0.12129530 -0.02398575
+v 0.41719095 0.19673055 -0.02225943
+v 0.30740168 0.23082119 -0.05678341
+v 0.31542394 0.25303436 -0.01279475
+v 0.46987900 0.12861943 -0.01510491
+v 0.38636364 0.13363343 -0.05337096
+v 0.37425228 0.23926383 -0.01264140
+v 0.37654496 0.19675891 -0.04948098
+v 0.30652337 0.27384365 -0.01278525
+v 0.31060606 0.16393646 -0.05969970
+v 0.43256261 0.15416641 -0.03711402
+v 0.44552429 0.16783282 -0.01264136
+v 0.40394791 0.17046285 -0.05018372
+v 0.34407117 0.23942051 -0.03711405
+v 0.33291040 0.22799075 -0.05138644
+v 0.40407039 0.19318522 -0.03669360
+v 0.31996349 0.26910481 -0.01264142
+f 7 4 5
+f 9 5 4
+f 10 6 1
+f 10 1 3
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+f 11 2 1
+f 11 1 7
+f 11 8 2
+f 12 6 4
+f 12 4 7
+f 12 7 1
+f 12 1 6
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+f 15 6 3
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+f 16 4 6
+f 16 6 9
+f 17 11 5
+f 17 8 11
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+f 18 8 13
+f 18 13 3
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+f 18 3 1
+f 19 5 9
+f 19 17 5
+f 20 9 15
+f 21 19 9
+f 21 14 19
+f 21 20 14
+f 21 9 20
+f 22 19 14
+f 22 8 17
+f 22 17 19
+f 22 14 20
+f 22 20 13
+f 22 13 8
+f 23 20 15
+f 23 15 3
+f 23 3 13
+f 23 13 20
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_19/collision/model_normalized_collision_10.obj b/objects/objaverse/pan/pan_19/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c645da799e4bf524356d85ea93a40910b9caba0
--- /dev/null
+++ b/objects/objaverse/pan/pan_19/collision/model_normalized_collision_10.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.26003177 -0.28807219 -0.01264142
+v 0.36923170 -0.24223410 -0.01264142
+v 0.08261555 -0.24714194 -0.01264142
+v 0.08582186 -0.23826386 -0.04397585
+v 0.29289835 -0.23632303 -0.05705006
+v 0.36747216 -0.23963947 -0.01681157
+v 0.17473789 -0.29047990 -0.01264142
+v 0.33548650 -0.23715820 -0.04137843
+v 0.08666141 -0.26624218 -0.01264142
+v 0.29097007 -0.25996408 -0.03711405
+v 0.13149076 -0.23767033 -0.05842551
+v 0.33019001 -0.25965092 -0.02261472
+v 0.13462581 -0.27444403 -0.02405204
+v 0.33111029 -0.24585647 -0.03711405
+v 0.13365466 -0.24683022 -0.05134023
+v 0.34477671 -0.25881817 -0.01264142
+v 0.08807018 -0.24719000 -0.03711405
+v 0.10490535 -0.27283093 -0.01264142
+v 0.29108943 -0.24522494 -0.04981396
+v 0.11971744 -0.25861946 -0.03711405
+f 1 2 3
+f 6 3 2
+f 6 4 3
+f 7 1 3
+f 8 5 4
+f 8 4 6
+f 9 7 3
+f 9 3 4
+f 10 1 7
+f 11 4 5
+f 12 1 10
+f 14 10 5
+f 14 5 8
+f 14 12 10
+f 14 8 6
+f 14 6 12
+f 15 10 7
+f 15 7 13
+f 15 11 5
+f 16 2 1
+f 16 1 12
+f 16 12 6
+f 16 6 2
+f 17 9 4
+f 18 13 7
+f 18 7 9
+f 18 9 13
+f 19 15 5
+f 19 5 10
+f 19 10 15
+f 20 15 13
+f 20 13 9
+f 20 9 17
+f 20 11 15
+f 20 17 4
+f 20 4 11
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_19/collision/model_normalized_collision_12.obj b/objects/objaverse/pan/pan_19/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a1826b2f7f44b07c5701fe71cf4bc62422224e6
--- /dev/null
+++ b/objects/objaverse/pan/pan_19/collision/model_normalized_collision_12.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.00807121 -0.21421400 -0.01264142
+v 0.01506432 -0.20521706 -0.02779893
+v 0.00757577 -0.12394233 -0.05337100
+v -0.06080968 -0.12180848 -0.01264148
+v -0.00798150 -0.20173662 -0.01264142
+v -0.01514828 -0.11880266 -0.05709075
+v -0.03489743 -0.13219545 -0.01302003
+v 0.01531452 -0.16414886 -0.05687604
+v -0.04220817 -0.11709464 -0.03781610
+v -0.01022501 -0.16631685 -0.01595817
+v 0.00757575 -0.12394232 -0.05969974
+v 0.00560990 -0.18899876 -0.03711405
+v -0.05923647 -0.12135312 -0.01482004
+v 0.01414253 -0.19125144 -0.04022307
+v -0.05604416 -0.13086275 -0.01264148
+v -0.03621096 -0.12768788 -0.03684635
+f 1 2 3
+f 5 2 1
+f 5 1 4
+f 7 3 4
+f 7 4 1
+f 8 3 2
+f 9 3 6
+f 9 6 8
+f 10 7 1
+f 10 1 3
+f 10 3 7
+f 11 8 6
+f 11 6 3
+f 11 3 8
+f 12 2 5
+f 12 9 8
+f 13 4 3
+f 13 3 9
+f 14 12 8
+f 14 8 2
+f 14 2 12
+f 15 13 9
+f 15 5 4
+f 15 4 13
+f 16 15 9
+f 16 9 12
+f 16 12 5
+f 16 5 15
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_19/collision/model_normalized_collision_13.obj b/objects/objaverse/pan/pan_19/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..654c577b738a6f9402518c1bb14b14df15f70991
--- /dev/null
+++ b/objects/objaverse/pan/pan_19/collision/model_normalized_collision_13.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.21967054 -0.24596968 -0.05301111
+v 0.32575757 -0.21485141 -0.05969970
+v 0.32575757 -0.16939687 -0.05337096
+v 0.08333333 -0.16939687 -0.05337096
+v 0.08333333 -0.21485141 -0.05969970
+v 0.32575757 -0.16939687 -0.05969970
+v 0.08313471 -0.21510695 -0.05247600
+v 0.32575757 -0.21485141 -0.05337096
+v 0.21969697 -0.24515444 -0.05969970
+v 0.08333333 -0.16939687 -0.05969970
+v 0.18938208 -0.24552002 -0.05252181
+v 0.18939394 -0.24515444 -0.05969970
+f 6 3 2
+f 6 4 3
+f 6 2 5
+f 7 3 4
+f 8 1 2
+f 8 2 3
+f 9 5 2
+f 9 2 1
+f 10 6 5
+f 10 4 6
+f 10 7 4
+f 10 5 7
+f 11 7 5
+f 11 1 8
+f 11 8 3
+f 11 3 7
+f 12 9 1
+f 12 1 11
+f 12 11 5
+f 12 5 9
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_19/collision/model_normalized_collision_14.obj b/objects/objaverse/pan/pan_19/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..476e4c5618dcc01379e4e554de726ea39c53a191
--- /dev/null
+++ b/objects/objaverse/pan/pan_19/collision/model_normalized_collision_14.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.26515151 -0.16939687 -0.05337096
+v 0.26515151 -0.16939687 -0.05969970
+v 0.26515151 0.13363343 -0.05337096
+v 0.00757576 0.13363343 -0.05337100
+v 0.05303030 -0.16939687 -0.05969970
+v 0.26515151 0.13363343 -0.05969970
+v 0.05303030 -0.16939687 -0.05337096
+v 0.00757575 0.13363343 -0.05969975
+v 0.00757576 -0.10879081 -0.05337101
+v 0.00757575 -0.10879080 -0.05969975
+f 1 2 3
+f 5 2 1
+f 6 3 2
+f 6 4 3
+f 7 5 1
+f 7 1 3
+f 7 3 4
+f 8 4 6
+f 9 7 4
+f 9 4 8
+f 10 9 8
+f 10 5 7
+f 10 7 9
+f 10 2 5
+f 10 8 6
+f 10 6 2
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_19/collision/model_normalized_collision_15.obj b/objects/objaverse/pan/pan_19/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4e26f9f6b35105d3e112304229f17e783e05cc02
--- /dev/null
+++ b/objects/objaverse/pan/pan_19/collision/model_normalized_collision_15.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.32878428 -0.24961766 -0.01264142
+v 0.44552885 -0.16827693 -0.01264138
+v 0.41485842 -0.17976829 -0.01396798
+v 0.32575757 -0.16939687 -0.05337096
+v 0.32138683 -0.22355775 -0.05861433
+v 0.40740564 -0.21634656 -0.01264142
+v 0.32246859 -0.24030445 -0.04560647
+v 0.39520440 -0.16449169 -0.05838577
+v 0.38998886 -0.22815770 -0.01264142
+v 0.32575757 -0.16939687 -0.05969970
+v 0.43682201 -0.16150929 -0.02731014
+v 0.38864073 -0.18969294 -0.04913972
+v 0.37632256 -0.21519617 -0.03711405
+v 0.43084585 -0.18716717 -0.01264140
+v 0.41795502 -0.17377295 -0.03711405
+v 0.34850441 -0.23401194 -0.03715041
+v 0.34742263 -0.21726523 -0.05015828
+v 0.42301062 -0.16255100 -0.03971717
+f 1 2 3
+f 1 3 4
+f 3 2 4
+f 7 1 4
+f 7 4 5
+f 9 1 7
+f 9 2 1
+f 10 8 5
+f 10 5 4
+f 11 4 2
+f 11 10 4
+f 11 8 10
+f 12 5 8
+f 13 6 9
+f 13 12 6
+f 13 7 5
+f 14 9 6
+f 14 2 9
+f 15 6 12
+f 15 14 6
+f 15 11 2
+f 15 2 14
+f 16 13 9
+f 16 9 7
+f 16 7 13
+f 17 13 5
+f 17 5 12
+f 17 12 13
+f 18 8 11
+f 18 11 15
+f 18 15 12
+f 18 12 8
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_19/collision/model_normalized_collision_16.obj b/objects/objaverse/pan/pan_19/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4687f421089abef56cc10e391e05012921351383
--- /dev/null
+++ b/objects/objaverse/pan/pan_19/collision/model_normalized_collision_16.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.08666141 -0.26624218 -0.01264142
+v 0.08807018 -0.24719000 -0.03711405
+v 0.08333333 -0.16939687 -0.05337096
+v 0.01531452 -0.16414886 -0.05687604
+v 0.01541269 -0.21992036 -0.01264142
+v 0.08621678 -0.22201882 -0.05783426
+v 0.08695735 -0.26542275 -0.01380034
+v 0.04898598 -0.24601605 -0.01264142
+v 0.00266584 -0.18787802 -0.01264142
+v 0.08333333 -0.16939687 -0.05969970
+v 0.01936198 -0.19968794 -0.03711405
+v 0.07325806 -0.26140160 -0.01264142
+v 0.07791037 -0.24501884 -0.01356443
+v 0.00027119 -0.17435042 -0.02563262
+v 0.01836310 -0.17704669 -0.05263585
+v 0.07466687 -0.24234937 -0.03711405
+v 0.06313108 -0.21700784 -0.04896988
+f 7 2 3
+f 7 3 1
+f 8 1 5
+f 9 5 1
+f 10 3 2
+f 10 2 6
+f 10 6 4
+f 10 4 3
+f 11 8 5
+f 12 1 8
+f 12 7 1
+f 12 2 7
+f 13 9 1
+f 13 1 3
+f 13 3 9
+f 14 9 3
+f 14 3 4
+f 14 11 5
+f 14 5 9
+f 15 4 6
+f 15 14 4
+f 15 11 14
+f 16 6 2
+f 16 8 11
+f 16 12 8
+f 16 2 12
+f 17 15 6
+f 17 6 16
+f 17 16 11
+f 17 11 15
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_19/collision/model_normalized_collision_17.obj b/objects/objaverse/pan/pan_19/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a959771f3d1094863b5f9d1c1f2b2ffd71c48b83
--- /dev/null
+++ b/objects/objaverse/pan/pan_19/collision/model_normalized_collision_17.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.17399322 -0.25284035 -0.04533605
+v 0.18939394 -0.24515444 -0.05969970
+v 0.18939394 -0.21485141 -0.05337096
+v 0.08333333 -0.21485141 -0.05969970
+v 0.08838068 -0.23117864 -0.05074904
+v 0.18939394 -0.21485141 -0.05969970
+v 0.18938208 -0.24552002 -0.05252181
+v 0.08261555 -0.24714194 -0.01264142
+v 0.09601890 -0.25198253 -0.01264142
+v 0.07850186 -0.22106732 -0.04553487
+v 0.09158852 -0.24909851 -0.01543772
+v 0.07791037 -0.24501884 -0.01356443
+v 0.12878788 -0.21485141 -0.05337096
+f 5 2 1
+f 5 4 2
+f 6 3 2
+f 6 2 4
+f 6 4 3
+f 7 1 2
+f 7 2 3
+f 7 3 1
+f 9 5 1
+f 9 1 3
+f 9 3 8
+f 10 4 5
+f 11 9 8
+f 11 5 9
+f 12 8 3
+f 12 10 5
+f 12 11 8
+f 12 5 11
+f 13 3 4
+f 13 4 10
+f 13 12 3
+f 13 10 12
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_19/collision/model_normalized_collision_18.obj b/objects/objaverse/pan/pan_19/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..653e94797172af72e75a9c408194a3165199a0ee
--- /dev/null
+++ b/objects/objaverse/pan/pan_19/collision/model_normalized_collision_18.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v -0.09899108 -0.01888165 -0.03042696
+v -0.09892229 -0.01340957 -0.04285361
+v -0.08245765 0.05556876 -0.01264148
+v -0.16076950 0.04345514 -0.01094685
+v -0.15935457 -0.01743820 -0.02072289
+v -0.13203768 0.04455041 -0.04195206
+v -0.13230828 -0.01705474 -0.04136129
+v -0.11822089 -0.01010549 -0.01173906
+v -0.09976765 0.04189199 -0.04250807
+v -0.15838788 0.04340081 -0.03047559
+v -0.11504303 -0.01532482 -0.04269036
+v -0.11697642 -0.01646341 -0.01673300
+v -0.10108729 -0.01298670 -0.01727383
+v -0.16282953 0.03611745 -0.00353027
+v -0.15623228 -0.01022399 -0.03425727
+v -0.16347184 -0.01083290 -0.00566158
+v -0.10012783 -0.01779706 -0.02647472
+v -0.15652359 0.03547169 -0.03623026
+v -0.16123993 -0.01457096 -0.01214562
+f 1 2 3
+f 7 1 5
+f 9 6 3
+f 9 3 2
+f 10 4 3
+f 10 3 6
+f 11 2 1
+f 11 1 7
+f 11 7 6
+f 11 9 2
+f 11 6 9
+f 12 5 1
+f 13 1 3
+f 13 3 8
+f 13 8 12
+f 14 3 4
+f 14 4 10
+f 15 7 5
+f 16 12 8
+f 16 8 3
+f 16 3 14
+f 16 14 10
+f 16 15 5
+f 16 10 15
+f 17 13 12
+f 17 12 1
+f 17 1 13
+f 18 15 10
+f 18 10 6
+f 18 6 7
+f 18 7 15
+f 19 16 5
+f 19 5 12
+f 19 12 16
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_19/collision/model_normalized_collision_19.obj b/objects/objaverse/pan/pan_19/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..385e526cf2ea9861924ef6a52b976eeb69a3582c
--- /dev/null
+++ b/objects/objaverse/pan/pan_19/collision/model_normalized_collision_19.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.44717927 -0.10886649 -0.03721483
+v 0.45604956 -0.05146396 -0.04747182
+v 0.44696970 0.04272434 -0.05337096
+v 0.40151515 0.04272434 -0.05337096
+v 0.40151515 -0.10879081 -0.05969970
+v 0.43731705 -0.10530481 -0.05586122
+v 0.40151515 -0.10879081 -0.05337096
+v 0.40151515 0.04272434 -0.05969970
+v 0.41666667 -0.10879081 -0.05337096
+v 0.44696970 0.04272434 -0.05969970
+f 1 2 3
+f 1 3 4
+f 6 2 1
+f 7 5 1
+f 7 1 4
+f 7 4 5
+f 8 5 4
+f 9 6 1
+f 9 1 5
+f 9 5 6
+f 10 3 2
+f 10 2 6
+f 10 6 5
+f 10 5 8
+f 10 8 4
+f 10 4 3
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_19/collision/model_normalized_collision_2.obj b/objects/objaverse/pan/pan_19/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1247323add2948f180362ca78395f98f6ae303e2
--- /dev/null
+++ b/objects/objaverse/pan/pan_19/collision/model_normalized_collision_2.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v -0.03980567 -0.12524903 -0.01264142
+v -0.03189495 -0.11988441 -0.04408283
+v -0.02901070 0.08497619 -0.05678893
+v -0.04645141 0.10642640 -0.01264144
+v -0.09892229 -0.01340957 -0.04285361
+v -0.06080968 -0.12180848 -0.01264148
+v -0.03689808 -0.04790088 -0.05969976
+v -0.09976765 0.04189199 -0.04250807
+v -0.04220817 -0.11709464 -0.03781610
+v -0.03020446 -0.07626647 -0.05838983
+v -0.03393203 0.10190504 -0.04745693
+v -0.10084129 0.03836298 -0.01629594
+v -0.05224589 -0.11932971 -0.02450048
+v -0.06729989 0.09753999 -0.01264145
+v -0.08338493 -0.04381412 -0.01264148
+v -0.04309190 0.09974114 -0.04037170
+v -0.10007620 0.04594978 -0.02871726
+f 1 2 3
+f 1 3 4
+f 6 2 1
+f 8 7 5
+f 8 3 7
+f 9 5 2
+f 9 2 6
+f 10 7 3
+f 10 3 2
+f 10 2 5
+f 10 5 7
+f 11 4 3
+f 11 3 8
+f 12 8 5
+f 13 9 6
+f 13 6 5
+f 13 5 9
+f 14 4 11
+f 14 1 4
+f 15 12 5
+f 15 5 6
+f 15 14 12
+f 15 6 1
+f 15 1 14
+f 16 14 11
+f 16 11 8
+f 16 8 14
+f 17 14 8
+f 17 8 12
+f 17 12 14
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_19/collision/model_normalized_collision_20.obj b/objects/objaverse/pan/pan_19/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..77dc1aa30891d0b4a08ce7e64662a9c4df52698f
--- /dev/null
+++ b/objects/objaverse/pan/pan_19/collision/model_normalized_collision_20.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.31355069 0.24784749 -0.02556469
+v 0.31542394 0.25303436 -0.01279475
+v 0.14049614 0.26674166 -0.01264142
+v 0.14802303 0.28619179 -0.01264142
+v 0.27491278 0.28537453 -0.01264142
+v 0.14196632 0.26166232 -0.02488571
+v 0.30656010 0.27394535 -0.01264142
+v 0.29987254 0.25192720 -0.02743802
+v 0.30652337 0.27384365 -0.01278525
+f 1 2 3
+f 5 4 3
+f 6 1 3
+f 6 3 4
+f 6 4 5
+f 7 2 1
+f 7 5 3
+f 7 3 2
+f 8 6 5
+f 8 1 6
+f 9 7 1
+f 9 1 8
+f 9 8 5
+f 9 5 7
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_19/collision/model_normalized_collision_21.obj b/objects/objaverse/pan/pan_19/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f6ec0f602b915429eefa7b20bfd1e591b7d82a0
--- /dev/null
+++ b/objects/objaverse/pan/pan_19/collision/model_normalized_collision_21.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.00757576 0.10333040 -0.05337102
+v 0.00757576 0.10333040 -0.05969976
+v 0.01422540 0.15876786 -0.05790846
+v 0.01124748 0.21912814 -0.01264142
+v -0.06555174 0.10238056 -0.01264145
+v 0.01484140 0.18859208 -0.04188920
+v -0.05550977 0.09875389 -0.02684369
+v -0.04645141 0.10642640 -0.01264144
+v 0.01239630 0.21743407 -0.01536413
+v -0.05110558 0.14238141 -0.01264142
+v -0.02684681 0.09934622 -0.05423011
+v -0.00512859 0.17381127 -0.01361866
+v 0.00509889 0.21469081 -0.01264142
+v -0.03681835 0.12777848 -0.03711412
+v 0.00494185 0.18450986 -0.03711407
+v -0.02468292 0.11371624 -0.05167128
+v -0.02150081 0.15120625 -0.03652954
+v -0.01091497 0.13960353 -0.05063601
+f 1 2 3
+f 6 1 3
+f 8 7 1
+f 8 5 7
+f 9 4 1
+f 9 1 6
+f 10 8 4
+f 10 5 8
+f 10 7 5
+f 11 2 1
+f 11 1 7
+f 11 3 2
+f 12 8 1
+f 12 1 4
+f 12 4 8
+f 13 9 6
+f 13 10 4
+f 13 4 9
+f 14 11 7
+f 14 7 10
+f 15 13 6
+f 15 10 13
+f 15 6 3
+f 16 3 11
+f 16 11 14
+f 17 14 10
+f 17 10 15
+f 18 16 14
+f 18 3 16
+f 18 14 17
+f 18 17 15
+f 18 15 3
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_19/collision/model_normalized_collision_22.obj b/objects/objaverse/pan/pan_19/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2eb545d220c26c9df04e86adc4c45f2c64965367
--- /dev/null
+++ b/objects/objaverse/pan/pan_19/collision/model_normalized_collision_22.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.38674277 -0.16969156 -0.05264626
+v 0.40151515 -0.10879081 -0.05969970
+v 0.40151515 0.13363343 -0.05337096
+v 0.31060606 0.16393646 -0.05337096
+v 0.26515151 -0.16939687 -0.05969970
+v 0.38636364 0.16393646 -0.05969970
+v 0.38636364 0.16393646 -0.05337096
+v 0.40151515 -0.10879081 -0.05337096
+v 0.38636364 -0.16939687 -0.05969970
+v 0.26515151 -0.16939687 -0.05337096
+v 0.40151515 0.13363343 -0.05969970
+v 0.26515151 0.13363343 -0.05969970
+v 0.26515151 0.13363343 -0.05337096
+v 0.31060606 0.16393646 -0.05969970
+f 6 2 5
+f 7 1 3
+f 7 4 1
+f 7 6 4
+f 7 3 6
+f 8 1 2
+f 8 2 3
+f 8 3 1
+f 9 5 2
+f 9 2 1
+f 9 1 5
+f 10 5 1
+f 11 6 3
+f 11 3 2
+f 11 2 6
+f 12 6 5
+f 12 5 10
+f 13 10 1
+f 13 1 4
+f 13 12 10
+f 13 4 12
+f 14 12 4
+f 14 4 6
+f 14 6 12
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_19/collision/model_normalized_collision_24.obj b/objects/objaverse/pan/pan_19/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c87ee547bf754be77b6ced1a135055f8c913c01b
--- /dev/null
+++ b/objects/objaverse/pan/pan_19/collision/model_normalized_collision_24.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.14393939 0.19423949 -0.05337096
+v 0.18939394 0.20939101 -0.05969970
+v 0.18939394 0.20939101 -0.05337096
+v 0.09606276 0.24806198 -0.02558327
+v 0.09048543 0.22914748 -0.05310291
+v 0.18939394 0.23969404 -0.05337096
+v 0.08196962 0.24170498 -0.02287033
+v 0.08333333 0.19423949 -0.05969970
+v 0.15663998 0.24816161 -0.04655980
+v 0.18939394 0.23969404 -0.05969970
+v 0.08716671 0.24123234 -0.03053008
+v 0.14393939 0.19423949 -0.05969970
+v 0.07603782 0.23530054 -0.02743474
+v 0.08333333 0.19423949 -0.05337096
+f 1 2 3
+f 6 3 2
+f 6 4 3
+f 7 1 3
+f 7 3 4
+f 9 5 4
+f 9 4 6
+f 10 6 2
+f 10 9 6
+f 10 5 9
+f 10 8 5
+f 10 2 8
+f 11 7 4
+f 11 4 5
+f 12 8 2
+f 12 2 1
+f 12 1 8
+f 13 5 8
+f 13 11 5
+f 13 7 11
+f 14 13 8
+f 14 8 1
+f 14 1 7
+f 14 7 13
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_19/collision/model_normalized_collision_25.obj b/objects/objaverse/pan/pan_19/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad04f4add29cf4b8699da0e4fdc656a06238ff55
--- /dev/null
+++ b/objects/objaverse/pan/pan_19/collision/model_normalized_collision_25.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.26515151 0.23969404 -0.05969970
+v 0.26791839 0.24735535 -0.04583173
+v 0.14202504 0.24630782 -0.04446087
+v 0.16217753 0.28963629 -0.01347515
+v 0.26441958 0.28312185 -0.02020107
+v 0.14196632 0.26166232 -0.02488571
+v 0.16323102 0.25569352 -0.05071429
+v 0.14518896 0.28083152 -0.01844230
+v 0.26843657 0.26394166 -0.02599759
+v 0.14393939 0.23969404 -0.05969970
+v 0.26010072 0.27116348 -0.03711405
+v 0.14909173 0.26734789 -0.03711405
+v 0.20422299 0.29035553 -0.01434089
+v 0.25996378 0.25563280 -0.05028924
+v 0.16420089 0.28264575 -0.02315546
+v 0.20398714 0.28308181 -0.02402126
+f 1 2 3
+f 5 2 1
+f 6 3 2
+f 8 6 4
+f 8 3 6
+f 9 4 6
+f 9 6 2
+f 9 2 5
+f 10 7 1
+f 10 1 3
+f 10 3 8
+f 11 5 1
+f 12 10 8
+f 12 7 10
+f 13 9 5
+f 13 4 9
+f 13 5 11
+f 14 11 1
+f 14 1 7
+f 14 7 11
+f 15 7 12
+f 15 4 13
+f 15 12 8
+f 15 8 4
+f 16 15 13
+f 16 13 11
+f 16 11 7
+f 16 7 15
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_19/collision/model_normalized_collision_26.obj b/objects/objaverse/pan/pan_19/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7ec9fe1829ef611eceec1ba5d1136532695dbb0a
--- /dev/null
+++ b/objects/objaverse/pan/pan_19/collision/model_normalized_collision_26.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.00757576 -0.00273020 -0.05337101
+v 0.00757576 -0.00273020 -0.05969975
+v 0.00757576 0.10333040 -0.05969976
+v -0.03810623 0.10888453 -0.02888248
+v -0.03855038 -0.00270843 -0.05285481
+v 0.00757576 0.10333040 -0.05337102
+v -0.03787879 -0.00273020 -0.05969976
+v -0.04604102 0.09112669 -0.02556880
+v -0.04196131 0.10480480 -0.02369556
+v -0.02684681 0.09934622 -0.05423011
+v -0.04564588 0.02782463 -0.04542446
+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 9 6 4
+f 9 1 6
+f 9 8 1
+f 9 4 8
+f 10 4 3
+f 10 3 7
+f 10 8 4
+f 11 7 5
+f 11 5 8
+f 11 10 7
+f 11 8 10
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_19/collision/model_normalized_collision_27.obj b/objects/objaverse/pan/pan_19/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..136158125a1e931fb2bcc4820dbf1ca2c3fa3857
--- /dev/null
+++ b/objects/objaverse/pan/pan_19/collision/model_normalized_collision_27.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.29799042 -0.25391563 -0.02576002
+v 0.33236503 -0.23974637 -0.02690522
+v 0.32643321 -0.24615074 -0.02234086
+v 0.21969697 -0.21485141 -0.05337096
+v 0.32575757 -0.21485141 -0.05969970
+v 0.21969697 -0.24515444 -0.05969970
+v 0.29545454 -0.21485141 -0.05337096
+v 0.31824056 -0.23406974 -0.05237961
+v 0.23457011 -0.25373967 -0.04631462
+v 0.21969697 -0.21485141 -0.05969970
+v 0.33053067 -0.22188990 -0.04622172
+v 0.21967054 -0.24596968 -0.05301111
+f 1 3 4
+f 3 2 4
+f 7 5 4
+f 7 4 2
+f 8 5 2
+f 8 2 3
+f 8 3 1
+f 8 6 5
+f 9 1 4
+f 9 8 1
+f 9 6 8
+f 10 4 5
+f 10 5 6
+f 11 7 2
+f 11 2 5
+f 11 5 7
+f 12 9 4
+f 12 6 9
+f 12 10 6
+f 12 4 10
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_19/collision/model_normalized_collision_28.obj b/objects/objaverse/pan/pan_19/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..671e88a8c479ae1448a424fbc01fe421f19b8382
--- /dev/null
+++ b/objects/objaverse/pan/pan_19/collision/model_normalized_collision_28.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.31060606 0.20939101 -0.05337096
+v 0.31060606 0.20939101 -0.05969970
+v 0.30652337 0.27384365 -0.01278525
+v 0.26441958 0.28312185 -0.02020107
+v 0.26515151 0.20939101 -0.05337096
+v 0.30523779 0.23998095 -0.04969817
+v 0.31355069 0.24784749 -0.02556469
+v 0.26194764 0.27627708 -0.02988174
+v 0.26212765 0.24647280 -0.05737443
+v 0.30405143 0.26699887 -0.02246593
+v 0.26515151 0.20939101 -0.05969970
+f 5 2 1
+f 5 3 4
+f 7 1 2
+f 7 5 1
+f 7 3 5
+f 7 6 3
+f 7 2 6
+f 8 5 4
+f 9 6 2
+f 9 8 6
+f 9 5 8
+f 10 3 6
+f 10 6 8
+f 10 8 4
+f 10 4 3
+f 11 9 2
+f 11 2 5
+f 11 5 9
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_19/collision/model_normalized_collision_3.obj b/objects/objaverse/pan/pan_19/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e59c6596fc2875fc15aac11fa7732252692a7d37
--- /dev/null
+++ b/objects/objaverse/pan/pan_19/collision/model_normalized_collision_3.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v -0.41636595 -0.01777536 0.03513664
+v -0.41840877 -0.01014644 0.01202540
+v -0.41638817 0.04352446 0.05000724
+v -0.49284252 0.04352427 0.04313586
+v -0.49284242 -0.01608855 0.01257121
+v -0.49284252 0.04352427 0.00486894
+v -0.45495424 0.01426589 0.05640124
+v -0.41250034 0.02586440 0.05819336
+v -0.41703194 -0.01774483 0.02755325
+v -0.41716509 0.04352446 0.01383086
+v -0.49327181 0.01294200 0.05035524
+v -0.49284234 -0.01327161 0.00447244
+v -0.47529421 0.03276068 0.05097251
+v -0.41821206 0.03515657 0.00991485
+v -0.49284242 -0.01606845 0.03496678
+v -0.46274253 -0.01510290 0.01280891
+v -0.41565514 0.03487487 0.05481653
+v -0.49049981 0.02480975 0.05146768
+v -0.49062200 0.01482045 0.05258639
+f 8 7 1
+f 9 1 5
+f 9 8 1
+f 9 2 8
+f 10 8 2
+f 10 3 8
+f 10 6 4
+f 10 4 3
+f 11 4 6
+f 12 11 6
+f 12 5 11
+f 13 3 4
+f 14 10 2
+f 14 6 10
+f 14 12 6
+f 14 2 12
+f 15 11 5
+f 15 5 1
+f 15 1 7
+f 16 9 5
+f 16 5 12
+f 16 12 2
+f 16 2 9
+f 17 13 8
+f 17 8 3
+f 17 3 13
+f 18 7 8
+f 18 8 13
+f 18 13 4
+f 18 4 11
+f 19 15 7
+f 19 11 15
+f 19 18 11
+f 19 7 18
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_19/collision/model_normalized_collision_30.obj b/objects/objaverse/pan/pan_19/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8fe71247e95bbe844c0d6bae6bdd463ee816598f
--- /dev/null
+++ b/objects/objaverse/pan/pan_19/collision/model_normalized_collision_30.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.05303030 -0.16939687 -0.05337096
+v 0.05303030 -0.16939687 -0.05969970
+v 0.05303030 -0.10879081 -0.05337098
+v 0.00757576 -0.10879081 -0.05337101
+v 0.00661752 -0.17004669 -0.03823170
+v 0.05303030 -0.10879080 -0.05969972
+v 0.01531452 -0.16414886 -0.05687604
+v 0.00016889 -0.14411677 -0.04670574
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+f 10 2 7
+f 10 4 3
+f 10 3 6
+f 10 8 4
+f 10 7 8
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_19/collision/model_normalized_collision_8.obj b/objects/objaverse/pan/pan_19/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..210ed9ffb6d089fb354d6084bb02ac24cfb1b521
--- /dev/null
+++ b/objects/objaverse/pan/pan_19/collision/model_normalized_collision_8.obj
@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
+v -0.15935457 -0.01743820 -0.02072289
+v -0.15686092 0.00047998 -0.03863665
+v -0.16401985 0.04257766 -0.00671298
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\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_19/collision/model_normalized_collision_9.obj b/objects/objaverse/pan/pan_19/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e5dd207e30b7a66fb89630c6e51b16f1d48540f3
--- /dev/null
+++ b/objects/objaverse/pan/pan_19/collision/model_normalized_collision_9.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.31060606 0.13363343 -0.05337096
+v 0.31060606 0.13363343 -0.05969970
+v 0.31060606 0.20939101 -0.05969970
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+v 0.08333333 0.13363343 -0.05969970
+v 0.31060606 0.20939101 -0.05337096
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+v 0.18939394 0.23969404 -0.05969970
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+v 0.08333333 0.19423949 -0.05337096
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+v 0.08333333 0.19423949 -0.05969970
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\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_19/visual/material.mtl b/objects/objaverse/pan/pan_19/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..33616803300962094e8955deb30562079542847b
--- /dev/null
+++ b/objects/objaverse/pan/pan_19/visual/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 250.00000000
+map_Kd material_0.jpeg
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_19/visual/model_normalized_0.obj b/objects/objaverse/pan/pan_19/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..468df72d1be024ae858c83d9e8fc93390f22a98b
--- /dev/null
+++ b/objects/objaverse/pan/pan_19/visual/model_normalized_0.obj
@@ -0,0 +1,286 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_19/visual/model_normalized_1.obj b/objects/objaverse/pan/pan_19/visual/model_normalized_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a5f401604f03ee4f0777fb10e08b6daf1855a52f
--- /dev/null
+++ b/objects/objaverse/pan/pan_19/visual/model_normalized_1.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_19/visual/model_normalized_2.obj b/objects/objaverse/pan/pan_19/visual/model_normalized_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f1c6f96e8d349cf24deacb0ba57ce9f0b5ae353
--- /dev/null
+++ b/objects/objaverse/pan/pan_19/visual/model_normalized_2.obj
@@ -0,0 +1,286 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/objects/objaverse/pan/pan_19/visual/model_normalized_3.obj b/objects/objaverse/pan/pan_19/visual/model_normalized_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc082da25e4db92c9d4478da93856174905d1d3d
--- /dev/null
+++ b/objects/objaverse/pan/pan_19/visual/model_normalized_3.obj
@@ -0,0 +1,209 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_19/visual/model_normalized_4.obj b/objects/objaverse/pan/pan_19/visual/model_normalized_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..616669dfbd048692142981ec052bfda0e3819e0a
--- /dev/null
+++ b/objects/objaverse/pan/pan_19/visual/model_normalized_4.obj
@@ -0,0 +1,612 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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+f 118/118/118 117/117/117 88/88/88
+f 88/88/88 89/89/89 118/118/118
+f 119/119/119 107/107/107 88/88/88
+f 88/88/88 117/117/117 119/119/119
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_5/.DS_Store b/objects/objaverse/pan/pan_5/.DS_Store
new file mode 100644
index 0000000000000000000000000000000000000000..7b5815226ccb1f48b0eed7a7538871f364a8027c
Binary files /dev/null and b/objects/objaverse/pan/pan_5/.DS_Store differ
diff --git a/objects/objaverse/pan/pan_5/collision/model_normalized_collision_1.obj b/objects/objaverse/pan/pan_5/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1e5a8da41a9f7dc973eef1bad4a79c9c99bfb78c
--- /dev/null
+++ b/objects/objaverse/pan/pan_5/collision/model_normalized_collision_1.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.08018426 -0.00757575 -0.04160017
+v 0.08114319 -0.00440388 -0.03010025
+v -0.14591191 -0.00900940 -0.00258583
+v -0.03087636 0.09835990 -0.00170215
+v 0.03080134 0.09846292 -0.00292987
+v -0.14221611 -0.01351274 -0.04130941
+v 0.07646665 0.02562348 -0.03605875
+v 0.07751763 0.02908809 0.00183913
+v -0.14698002 0.02252438 -0.00360130
+v 0.08367816 0.01909360 -0.01100694
+v -0.01912323 0.09835417 -0.02391781
+v -0.08261817 0.05544312 0.00322760
+v 0.02216205 0.09839867 -0.02216774
+v -0.02878750 0.09832258 -0.01192778
+v -0.14044900 0.01030573 -0.02300861
+v -0.13858994 -0.00277975 -0.03545498
+f 1 2 3
+f 6 1 3
+f 8 3 2
+f 9 6 3
+f 10 2 1
+f 10 1 7
+f 10 8 2
+f 10 7 5
+f 10 5 8
+f 11 7 1
+f 11 1 6
+f 11 4 5
+f 12 8 5
+f 12 5 4
+f 12 3 8
+f 12 9 3
+f 12 4 9
+f 13 11 5
+f 13 5 7
+f 13 7 11
+f 14 11 9
+f 14 9 4
+f 14 4 11
+f 15 6 9
+f 15 9 11
+f 16 15 11
+f 16 11 6
+f 16 6 15
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_5/collision/model_normalized_collision_10.obj b/objects/objaverse/pan/pan_5/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb7abfda6f80befaf5f26624a40fe1fa2176030a
--- /dev/null
+++ b/objects/objaverse/pan/pan_5/collision/model_normalized_collision_10.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v -0.24002904 -0.15889083 -0.00502319
+v -0.19254301 -0.14393939 -0.04160013
+v -0.19254302 -0.14393940 -0.03075184
+v -0.23441155 -0.07715145 0.03355449
+v -0.22241560 -0.09166207 -0.03138255
+v -0.25659839 -0.13829690 0.02947789
+v -0.23262681 -0.14556859 -0.04160012
+v -0.19254302 -0.08333333 -0.04160015
+v -0.24652758 -0.15650335 0.00581007
+v -0.26478071 -0.09331340 0.03204763
+v -0.22174465 -0.07582340 0.01664595
+v -0.27086321 -0.14775819 0.00314588
+v -0.28259434 -0.14419973 0.04060558
+v -0.23590899 -0.09254835 -0.01873539
+v -0.20307780 -0.07770238 -0.01117118
+v -0.26613744 -0.09258838 0.03851592
+v -0.26414042 -0.11949449 0.00653889
+f 1 2 3
+f 6 3 4
+f 7 2 1
+f 8 3 2
+f 8 7 5
+f 8 2 7
+f 9 1 3
+f 9 3 6
+f 11 4 3
+f 12 7 1
+f 13 6 4
+f 13 9 6
+f 13 12 1
+f 13 1 9
+f 14 11 8
+f 14 8 5
+f 14 10 4
+f 14 4 11
+f 14 5 7
+f 14 7 12
+f 15 11 3
+f 15 3 8
+f 15 8 11
+f 16 13 4
+f 16 4 10
+f 16 10 13
+f 17 13 10
+f 17 12 13
+f 17 14 12
+f 17 10 14
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_5/collision/model_normalized_collision_11.obj b/objects/objaverse/pan/pan_5/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..552ced1753c2dfad1bd64724faae336f4e6a08b8
--- /dev/null
+++ b/objects/objaverse/pan/pan_5/collision/model_normalized_collision_11.obj
@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
+v 0.13439554 -0.46531079 0.03934780
+v 0.26819374 -0.32096827 0.03995807
+v 0.23315087 -0.33463205 0.02932546
+v 0.15594183 -0.32575758 -0.03075178
+v 0.18808518 -0.37543942 -0.03183393
+v 0.15079792 -0.42886093 0.03115677
+v 0.20286053 -0.41514010 0.03215197
+v 0.13564744 -0.41040006 -0.04087271
+v 0.22044972 -0.31974449 -0.03611088
+v 0.14079032 -0.34090909 -0.03075178
+v 0.24289812 -0.34584916 0.00653895
+v 0.20385216 -0.41634844 0.03820645
+v 0.15832763 -0.43141465 -0.00534139
+v 0.26287821 -0.31812707 0.01791076
+v 0.15594183 -0.32575757 -0.04160007
+v 0.13355892 -0.46374373 0.03054214
+v 0.21429608 -0.38723257 0.00653897
+v 0.21680546 -0.35898899 -0.01895520
+v 0.24613204 -0.36273171 0.03864055
+v 0.15989413 -0.40302042 -0.03139742
+v 0.24814100 -0.31834849 -0.00830365
+v 0.14079032 -0.34090909 -0.04160007
+v 0.13477365 -0.45086485 0.00294127
+v 0.15830684 -0.44589472 0.01869312
+v 0.18789232 -0.41536343 0.00653898
+v 0.21724940 -0.33318539 -0.03267501
+v 0.26208133 -0.33285265 0.03874716
+v 0.24470594 -0.36196694 0.03164516
+v 0.24380344 -0.33118153 -0.00499629
+v 0.14627634 -0.45918985 0.03820661
+v 0.14727926 -0.44591471 0.00587126
+v 0.25705321 -0.33016508 0.01942878
+v 0.21413198 -0.40224946 0.03244899
+v 0.14555396 -0.45783834 0.03227093
+v 0.21528101 -0.40319246 0.03820640
+f 1 2 3
+f 3 2 4
+f 6 1 3
+f 9 5 8
+f 10 6 3
+f 10 3 4
+f 10 1 6
+f 12 2 1
+f 14 4 2
+f 15 9 8
+f 15 4 9
+f 16 10 8
+f 16 1 10
+f 18 11 17
+f 19 2 12
+f 20 13 8
+f 20 8 5
+f 21 9 4
+f 21 4 14
+f 22 15 8
+f 22 8 10
+f 22 10 4
+f 22 4 15
+f 23 16 8
+f 23 8 13
+f 24 7 12
+f 25 18 17
+f 25 5 18
+f 25 20 5
+f 25 13 20
+f 25 17 7
+f 25 24 13
+f 25 7 24
+f 26 18 5
+f 26 5 9
+f 26 21 18
+f 26 9 21
+f 27 14 2
+f 27 2 19
+f 28 27 19
+f 28 14 27
+f 28 17 11
+f 29 21 14
+f 29 14 11
+f 29 11 18
+f 29 18 21
+f 30 24 12
+f 30 12 1
+f 30 1 16
+f 31 23 13
+f 31 13 24
+f 31 24 16
+f 31 16 23
+f 32 28 11
+f 32 11 14
+f 32 14 28
+f 33 7 17
+f 33 17 28
+f 34 30 16
+f 34 16 24
+f 34 24 30
+f 35 33 28
+f 35 28 19
+f 35 19 12
+f 35 12 7
+f 35 7 33
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_5/collision/model_normalized_collision_12.obj b/objects/objaverse/pan/pan_5/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..98f5eba8e3eb6abffbd17057eac98d09199ac521
--- /dev/null
+++ b/objects/objaverse/pan/pan_5/collision/model_normalized_collision_12.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v -0.05488009 -0.49438569 0.03937763
+v -0.05521427 -0.48655301 0.01382246
+v -0.05860619 -0.43981835 -0.00938479
+v -0.13618848 -0.40669564 -0.00821502
+v -0.12745252 -0.46888421 0.04004572
+v -0.08566717 -0.45943374 -0.01667642
+v -0.06184807 -0.46565697 0.02850424
+v -0.05470477 -0.49260384 0.03046569
+v -0.05916279 -0.47195623 -0.01063259
+v -0.12232444 -0.41187794 -0.01164824
+v -0.11191083 -0.45300143 -0.01191919
+v -0.14063458 -0.41211322 0.00223722
+v -0.13643829 -0.44023963 0.03529130
+v -0.10908706 -0.47233144 0.01901521
+v -0.12247392 -0.45956868 0.00653899
+v -0.06593509 -0.48978817 0.03138056
+v -0.10757326 -0.46003789 -0.00573156
+v -0.06641922 -0.49138412 0.03874157
+v -0.08277254 -0.46504289 -0.01027885
+v -0.11132779 -0.47772320 0.03894377
+f 7 1 3
+f 8 2 3
+f 8 3 1
+f 9 6 3
+f 9 3 2
+f 10 4 3
+f 10 3 6
+f 11 10 6
+f 11 4 10
+f 12 7 3
+f 12 3 4
+f 13 5 1
+f 13 1 7
+f 13 12 5
+f 13 7 12
+f 15 5 12
+f 15 14 5
+f 15 12 4
+f 15 4 11
+f 16 14 2
+f 16 2 8
+f 17 2 14
+f 17 11 6
+f 17 15 11
+f 17 14 15
+f 18 16 8
+f 18 8 1
+f 19 17 6
+f 19 6 9
+f 19 9 2
+f 19 2 17
+f 20 18 1
+f 20 1 5
+f 20 5 14
+f 20 14 16
+f 20 16 18
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_5/collision/model_normalized_collision_13.obj b/objects/objaverse/pan/pan_5/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d188331f272f38750839dee32f1724e2860f847
--- /dev/null
+++ b/objects/objaverse/pan/pan_5/collision/model_normalized_collision_13.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v -0.21458261 -0.01435900 0.03996741
+v -0.10082457 0.02121309 -0.03229533
+v -0.10433569 0.01263041 -0.00720709
+v -0.10004228 0.06293376 0.04060335
+v -0.13687723 0.03392643 0.00653884
+v -0.09676635 0.05213556 0.00503188
+v -0.10925031 0.03697654 0.03190683
+v -0.17127339 -0.01503070 -0.02431201
+v -0.15374494 0.03713656 0.03883442
+v -0.09895257 0.02992093 -0.02554599
+v -0.12119319 0.04808166 0.01942883
+v -0.15875357 0.00663820 0.03047457
+v -0.14702073 -0.00765830 -0.03391505
+v -0.12162763 0.00148336 -0.00996857
+v -0.19474468 -0.00820367 0.00653886
+v -0.12220956 0.03483163 -0.00499665
+v -0.10718550 0.04979699 0.00653884
+v -0.12386821 0.05308334 0.03895371
+v -0.15299508 0.03573427 0.03164491
+v -0.15001712 0.00783369 -0.01895542
+v -0.19862507 -0.01501887 0.00240320
+v -0.17826077 0.00532432 0.00653886
+v -0.19421005 0.00629599 0.03829863
+v -0.12347822 0.02205364 -0.01999019
+v -0.21313424 -0.01554602 0.02982530
+v -0.16599532 -0.00631053 -0.01997464
+v -0.19327764 0.00516028 0.03244881
+v -0.20616836 -0.00611126 0.03215178
+v -0.20734938 -0.00514505 0.03842180
+f 6 4 3
+f 7 3 4
+f 7 4 1
+f 9 1 4
+f 10 6 3
+f 10 3 2
+f 12 7 1
+f 12 3 7
+f 14 1 8
+f 14 12 1
+f 14 3 12
+f 14 8 13
+f 14 13 2
+f 14 2 3
+f 17 5 11
+f 17 16 5
+f 17 6 10
+f 17 10 16
+f 17 4 6
+f 18 9 4
+f 18 17 11
+f 18 4 17
+f 19 11 5
+f 19 18 11
+f 19 9 18
+f 20 2 13
+f 20 13 8
+f 20 5 16
+f 22 19 5
+f 22 20 15
+f 22 5 20
+f 23 1 9
+f 23 9 19
+f 24 10 2
+f 24 2 20
+f 24 20 16
+f 24 16 10
+f 25 21 8
+f 25 8 1
+f 26 20 8
+f 26 8 21
+f 26 21 15
+f 26 15 20
+f 27 22 15
+f 27 23 19
+f 27 19 22
+f 28 15 21
+f 28 21 25
+f 28 27 15
+f 28 23 27
+f 29 28 25
+f 29 25 1
+f 29 1 23
+f 29 23 28
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_5/collision/model_normalized_collision_14.obj b/objects/objaverse/pan/pan_5/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db5d2dc39b21f433f3374f507982a8e4f59deb71
--- /dev/null
+++ b/objects/objaverse/pan/pan_5/collision/model_normalized_collision_14.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.04908338 0.03524863 -0.00205769
+v 0.05492860 0.05451772 0.03120829
+v -0.10925031 0.03697654 0.03190683
+v -0.02602297 0.09837809 0.01651839
+v 0.02516730 0.09861520 -0.01767566
+v 0.04905613 0.07708926 0.04061166
+v -0.10433569 0.01263041 -0.00720709
+v 0.03080134 0.09846292 -0.00292987
+v -0.10004228 0.06293376 0.04060335
+v -0.10750664 0.01856284 0.00385341
+v -0.01149750 0.03432209 -0.01075995
+v -0.03087636 0.09835990 -0.00170215
+v 0.01200083 0.09839116 0.02908623
+v -0.09676635 0.05213556 0.00503188
+v -0.08958734 0.01781131 -0.01019617
+v 0.02407253 0.09841174 0.01943310
+v -0.01568698 0.09837992 0.02661097
+v -0.08202085 0.06862438 0.03926776
+f 6 3 2
+f 7 1 2
+f 8 2 1
+f 8 1 5
+f 8 6 2
+f 9 3 6
+f 10 7 2
+f 10 2 3
+f 11 5 1
+f 12 4 5
+f 12 9 4
+f 14 7 10
+f 14 12 7
+f 14 9 12
+f 14 10 3
+f 14 3 9
+f 15 5 11
+f 15 12 5
+f 15 7 12
+f 15 11 1
+f 15 1 7
+f 16 8 5
+f 16 5 13
+f 16 13 6
+f 16 6 8
+f 17 13 5
+f 17 5 4
+f 17 4 9
+f 18 9 6
+f 18 6 13
+f 18 17 9
+f 18 13 17
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_5/collision/model_normalized_collision_15.obj b/objects/objaverse/pan/pan_5/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e3dc130e0d4f83ec86ddeb5a5286c29bdb1038b5
--- /dev/null
+++ b/objects/objaverse/pan/pan_5/collision/model_normalized_collision_15.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v -0.08648241 -0.08333334 -0.03075186
+v -0.08648241 -0.08333333 -0.04160015
+v -0.08793220 -0.00485441 -0.02937157
+v -0.13749229 0.00281756 0.00426288
+v -0.25179286 -0.08405824 0.01204581
+v -0.08648241 -0.00757576 -0.04160017
+v -0.24149511 -0.08956250 -0.00998688
+v -0.24093524 -0.05955872 0.01697484
+v -0.21316084 -0.08851019 -0.03792785
+v -0.23694298 -0.06169263 0.00587111
+v -0.23715752 -0.07672949 -0.00667956
+v -0.20994069 -0.01816691 0.01800620
+v -0.21008674 -0.07500182 -0.03435768
+v -0.20639170 -0.02107949 0.00653886
+v -0.16646748 -0.02088674 -0.03183432
+v -0.22244284 -0.05064420 -0.00534155
+v -0.19404851 -0.04907775 -0.03139772
+f 1 3 4
+f 6 1 2
+f 6 3 1
+f 6 4 3
+f 7 1 5
+f 8 5 1
+f 8 1 4
+f 9 2 1
+f 9 1 7
+f 9 6 2
+f 10 5 8
+f 11 7 5
+f 11 5 10
+f 12 8 4
+f 13 9 7
+f 13 7 11
+f 14 10 8
+f 14 8 12
+f 14 12 4
+f 15 6 9
+f 15 14 4
+f 15 4 6
+f 16 13 11
+f 16 11 10
+f 16 10 14
+f 17 15 9
+f 17 9 13
+f 17 13 16
+f 17 16 14
+f 17 14 15
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_5/collision/model_normalized_collision_16.obj b/objects/objaverse/pan/pan_5/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..69a4552df814d5c15402a69ee078fc4965414fd4
--- /dev/null
+++ b/objects/objaverse/pan/pan_5/collision/model_normalized_collision_16.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v 0.21196584 -0.01133705 0.04060473
+v 0.20691488 -0.01548136 0.01641934
+v 0.14605705 0.03453718 0.01878934
+v 0.07624019 0.07033042 0.03954263
+v 0.08018426 -0.00757575 -0.04160017
+v 0.17393544 0.02287932 0.03855782
+v 0.08336285 0.04835718 0.03510510
+v 0.14933059 -0.01563160 -0.03850201
+v 0.09014748 0.06622845 0.03885159
+v 0.20565737 -0.00328842 0.03920781
+v 0.15801346 0.02194090 0.00653885
+v 0.08114319 -0.00440388 -0.03010025
+v 0.07603820 0.03936258 -0.02285370
+v 0.11614112 0.05041290 0.01850115
+v 0.17295521 0.02168532 0.03199006
+v 0.14561474 -0.00500787 -0.03278192
+v 0.07646665 0.02562348 -0.03605875
+v 0.10503344 0.05020288 0.00608616
+v 0.20154152 -0.00743024 0.01891399
+v 0.07572947 0.06864786 0.03054370
+v 0.09099508 0.02356944 -0.03386026
+v 0.14687880 0.02092306 -0.00594433
+v 0.18679763 0.00493863 0.01950623
+v 0.08968402 0.06470200 0.03160827
+v 0.09039754 0.03675114 -0.02071935
+v 0.11687516 0.03663468 -0.00637144
+f 5 2 1
+f 6 4 1
+f 7 1 4
+f 8 2 5
+f 9 4 6
+f 10 6 1
+f 10 1 2
+f 12 5 1
+f 12 1 7
+f 12 7 4
+f 12 4 5
+f 14 9 6
+f 14 6 3
+f 15 11 3
+f 15 3 6
+f 15 6 10
+f 16 2 8
+f 17 8 5
+f 18 14 3
+f 18 3 11
+f 19 15 10
+f 19 10 2
+f 19 2 16
+f 20 17 5
+f 20 5 4
+f 20 13 17
+f 20 18 13
+f 20 4 9
+f 21 16 8
+f 21 8 17
+f 21 17 13
+f 22 18 11
+f 22 16 21
+f 22 19 16
+f 22 11 19
+f 23 19 11
+f 23 11 15
+f 23 15 19
+f 24 20 9
+f 24 9 14
+f 24 14 18
+f 24 18 20
+f 25 21 13
+f 25 13 18
+f 26 22 21
+f 26 21 25
+f 26 25 18
+f 26 18 22
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_5/collision/model_normalized_collision_19.obj b/objects/objaverse/pan/pan_5/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f90bad870c8dcad73050081426c774c511eaaff
--- /dev/null
+++ b/objects/objaverse/pan/pan_5/collision/model_normalized_collision_19.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.24008655 -0.33024060 0.03546529
+v 0.28517090 -0.26444984 0.04052469
+v 0.26073773 -0.26936403 0.03226792
+v 0.23541642 -0.26627906 -0.00625490
+v 0.25876872 -0.31615727 0.00653894
+v 0.20779568 -0.32917807 -0.00850370
+v 0.26819374 -0.32096827 0.03995807
+v 0.27102996 -0.26329382 -0.00038074
+v 0.21393551 -0.33245989 0.00205941
+v 0.27202803 -0.28930343 0.01886682
+v 0.22704596 -0.28348758 -0.01087686
+v 0.21218713 -0.31637384 -0.01178551
+v 0.27761916 -0.29099954 0.03907255
+v 0.27883464 -0.26382475 0.01684947
+f 1 2 3
+f 3 2 4
+f 6 3 4
+f 7 2 1
+f 8 4 2
+f 9 1 3
+f 9 3 6
+f 9 6 5
+f 9 7 1
+f 9 5 7
+f 10 7 5
+f 11 4 8
+f 12 8 5
+f 12 5 6
+f 12 11 8
+f 12 6 4
+f 12 4 11
+f 13 2 7
+f 13 7 10
+f 14 8 2
+f 14 13 10
+f 14 2 13
+f 14 10 5
+f 14 5 8
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_5/collision/model_normalized_collision_2.obj b/objects/objaverse/pan/pan_5/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6e0d1a32205d3e19b80b0c71feb35c6d84680cb5
--- /dev/null
+++ b/objects/objaverse/pan/pan_5/collision/model_normalized_collision_2.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v 0.28517090 -0.26444984 0.04052469
+v 0.27430216 -0.26337834 0.00572203
+v 0.27358588 -0.13446640 0.01829542
+v 0.22551753 -0.02780183 0.04043282
+v 0.23541642 -0.26627906 -0.00625490
+v 0.27521941 -0.11881946 0.03872567
+v 0.27478499 -0.16081654 0.00546872
+v 0.26073773 -0.26936403 0.03226792
+v 0.23091300 -0.05095870 0.00653886
+v 0.23169941 -0.21969697 -0.04160011
+v 0.24205094 -0.26829161 0.00437453
+v 0.25917477 -0.10393876 0.00608624
+v 0.24350916 -0.06291515 0.01878931
+v 0.26116526 -0.21812221 -0.02145902
+v 0.22422313 -0.11609548 -0.04109857
+v 0.27367386 -0.11928819 0.03160829
+v 0.23065738 -0.03601694 0.03199022
+v 0.24814287 -0.21833192 -0.03491175
+v 0.22409189 -0.02897059 0.02964673
+v 0.22381627 -0.05942250 -0.01204423
+v 0.24572311 -0.11857464 -0.02071917
+v 0.25938486 -0.09283110 0.01850113
+v 0.23185559 -0.03503387 0.03852963
+v 0.22303579 -0.04498883 0.00212918
+v 0.22989509 -0.06209339 -0.00594422
+v 0.26054644 -0.13382570 -0.00720257
+v 0.24700019 -0.17572001 -0.03373568
+v 0.23254143 -0.11797710 -0.03386010
+v 0.24560673 -0.09209703 -0.00637131
+v 0.25971250 -0.17596025 -0.02031722
+f 6 4 1
+f 7 1 2
+f 7 6 1
+f 7 3 6
+f 8 2 1
+f 8 1 4
+f 10 2 5
+f 11 5 2
+f 11 2 8
+f 11 8 4
+f 11 4 5
+f 12 3 7
+f 13 12 9
+f 14 7 2
+f 15 10 5
+f 16 6 3
+f 16 3 12
+f 17 13 9
+f 18 14 2
+f 18 2 10
+f 18 10 15
+f 19 5 4
+f 19 17 9
+f 22 6 16
+f 22 16 12
+f 22 12 13
+f 23 4 6
+f 23 6 22
+f 23 22 13
+f 23 13 17
+f 23 19 4
+f 23 17 19
+f 24 15 5
+f 24 5 19
+f 24 20 15
+f 24 19 9
+f 24 9 20
+f 25 20 9
+f 25 9 12
+f 26 21 12
+f 26 12 7
+f 27 18 15
+f 27 14 18
+f 28 15 20
+f 28 20 21
+f 28 27 15
+f 28 21 27
+f 29 21 20
+f 29 20 25
+f 29 25 12
+f 29 12 21
+f 30 27 21
+f 30 21 26
+f 30 26 7
+f 30 7 14
+f 30 14 27
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_5/collision/model_normalized_collision_20.obj b/objects/objaverse/pan/pan_5/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f472aa31efd14a38a434d7aeb367479047d3bf96
--- /dev/null
+++ b/objects/objaverse/pan/pan_5/collision/model_normalized_collision_20.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v -0.16765019 -0.39295599 0.00571183
+v -0.13193695 -0.38636363 -0.04160006
+v -0.13193696 -0.34090909 -0.03075178
+v -0.24953592 -0.33897783 0.01307036
+v -0.18193526 -0.37765806 -0.03512073
+v -0.20335100 -0.34977896 0.00212807
+v -0.13500192 -0.39009693 -0.02454085
+v -0.15225914 -0.39266410 -0.00918650
+v -0.22746329 -0.37771838 0.01688616
+v -0.21188278 -0.33504911 -0.03644360
+v -0.23867828 -0.36347736 0.01799931
+v -0.13193695 -0.34090909 -0.04160007
+v -0.23969181 -0.33371604 -0.00861187
+v -0.23463174 -0.36131441 0.00653895
+v -0.23535424 -0.34654908 -0.00530452
+v -0.22394895 -0.37483421 0.00576572
+v -0.20872554 -0.34843768 -0.03300016
+f 6 1 3
+f 6 3 4
+f 6 4 1
+f 7 2 3
+f 7 3 1
+f 8 5 2
+f 8 1 5
+f 8 7 1
+f 8 2 7
+f 9 5 1
+f 10 2 5
+f 11 9 1
+f 11 1 4
+f 12 10 3
+f 12 3 2
+f 12 2 10
+f 13 4 3
+f 13 3 10
+f 14 11 4
+f 14 9 11
+f 15 14 4
+f 15 4 13
+f 16 5 9
+f 16 9 14
+f 16 14 15
+f 17 15 13
+f 17 13 10
+f 17 10 5
+f 17 16 15
+f 17 5 16
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_5/collision/model_normalized_collision_22.obj b/objects/objaverse/pan/pan_5/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..61a933a62191c399d2a529d47f7faf38a50f393c
--- /dev/null
+++ b/objects/objaverse/pan/pan_5/collision/model_normalized_collision_22.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.09803159 -0.47100814 0.00771207
+v 0.09604711 -0.46446617 -0.00536922
+v 0.09549383 -0.43211388 -0.00394756
+v -0.05860619 -0.43981835 -0.00938479
+v -0.05916279 -0.47195623 -0.01063259
+v -0.05692087 -0.46456561 0.02485123
+v 0.09880506 -0.43830879 0.00646561
+v -0.06064846 -0.44655085 0.00100072
+v 0.06526315 -0.46288078 0.02604396
+v -0.05980580 -0.45892447 0.01811873
+f 3 2 4
+f 5 2 1
+f 5 4 2
+f 6 5 1
+f 7 1 2
+f 7 2 3
+f 7 3 4
+f 8 4 5
+f 8 7 4
+f 9 7 6
+f 9 6 1
+f 9 1 7
+f 10 8 5
+f 10 5 6
+f 10 6 7
+f 10 7 8
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_5/collision/model_normalized_collision_23.obj b/objects/objaverse/pan/pan_5/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..79b4af6cac304a7554bb78ae0e46c4bfeadd377d
--- /dev/null
+++ b/objects/objaverse/pan/pan_5/collision/model_normalized_collision_23.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.25317735 -0.32104048 0.00150223
+v 0.26441484 -0.29159018 0.00322782
+v 0.20779568 -0.32917807 -0.00850370
+v 0.20139638 -0.21969697 -0.03075181
+v 0.24670031 -0.24849287 -0.03342706
+v 0.24045187 -0.22055902 -0.00939409
+v 0.24463739 -0.30533842 -0.01983186
+v 0.20139638 -0.32575757 -0.04160007
+v 0.24814287 -0.21833192 -0.03491175
+v 0.25934152 -0.29005121 -0.00635585
+v 0.23192343 -0.30503753 -0.03300019
+v 0.26116526 -0.21812221 -0.02145902
+v 0.20139638 -0.21969697 -0.04160010
+v 0.24814100 -0.31834849 -0.00830365
+v 0.22044972 -0.31974449 -0.03611088
+v 0.27442755 -0.21942844 -0.00229128
+v 0.26024823 -0.23318341 -0.02073834
+f 1 2 3
+f 6 3 2
+f 6 4 3
+f 8 3 4
+f 8 1 3
+f 9 5 8
+f 10 7 5
+f 10 2 1
+f 11 5 7
+f 12 9 4
+f 12 5 9
+f 13 9 8
+f 13 8 4
+f 13 4 9
+f 14 10 1
+f 14 7 10
+f 15 8 5
+f 15 5 11
+f 15 11 7
+f 15 7 14
+f 15 14 1
+f 15 1 8
+f 16 12 4
+f 16 4 6
+f 16 6 2
+f 16 2 10
+f 17 10 5
+f 17 5 12
+f 17 16 10
+f 17 12 16
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_5/collision/model_normalized_collision_24.obj b/objects/objaverse/pan/pan_5/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0712e74d0112420198258a59fb7a6b92d04da04f
--- /dev/null
+++ b/objects/objaverse/pan/pan_5/collision/model_normalized_collision_24.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.23292942 -0.21981777 -0.02028175
+v 0.23169941 -0.21969697 -0.04160011
+v 0.23922205 -0.17350150 -0.00854120
+v 0.22657452 -0.12574634 -0.01032640
+v 0.20139638 -0.21969697 -0.03075181
+v 0.22788727 -0.12994427 -0.04160013
+v 0.20139638 -0.21969697 -0.04160010
+v 0.23179691 -0.12875830 -0.00378562
+v 0.20139638 -0.12878787 -0.04160014
+v 0.20429521 -0.12790483 -0.02942107
+f 1 2 3
+f 5 1 3
+f 6 3 2
+f 7 2 1
+f 7 1 5
+f 8 5 3
+f 8 6 4
+f 8 3 6
+f 9 7 5
+f 9 4 6
+f 9 6 2
+f 9 2 7
+f 10 8 4
+f 10 5 8
+f 10 9 5
+f 10 4 9
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_5/collision/model_normalized_collision_25.obj b/objects/objaverse/pan/pan_5/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a6f96c594cccdc6091b20a1afe257365afd39f1c
--- /dev/null
+++ b/objects/objaverse/pan/pan_5/collision/model_normalized_collision_25.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.26246749 -0.08645218 0.04060531
+v -0.15019246 -0.00379353 0.00843430
+v -0.23441155 -0.07715145 0.03355449
+v -0.16946997 0.00123401 0.03475512
+v -0.20994069 -0.01816691 0.01800620
+v -0.15447302 0.00142233 0.01945444
+v -0.21458261 -0.01435900 0.03996741
+v -0.21574471 -0.07903043 0.00573736
+v -0.23692290 -0.05066496 0.01869290
+v -0.15559666 -0.01236002 0.00321843
+v -0.25019358 -0.06270887 0.03836870
+v -0.25678777 -0.08948705 0.01665660
+v -0.24886662 -0.06341798 0.03227084
+v -0.25105410 -0.07740024 0.01829312
+f 1 3 4
+f 6 3 2
+f 6 4 3
+f 6 5 4
+f 6 2 5
+f 7 1 4
+f 7 4 5
+f 8 2 3
+f 8 3 1
+f 9 7 5
+f 9 5 8
+f 10 8 5
+f 10 5 2
+f 10 2 8
+f 11 1 7
+f 11 7 9
+f 12 9 8
+f 12 8 1
+f 13 11 9
+f 13 12 1
+f 13 1 11
+f 14 13 9
+f 14 9 12
+f 14 12 13
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_5/collision/model_normalized_collision_26.obj b/objects/objaverse/pan/pan_5/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f32e4eb24e84e8313ad01d373d6faa7871fe70f4
--- /dev/null
+++ b/objects/objaverse/pan/pan_5/collision/model_normalized_collision_26.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.06063509 -0.49308061 0.03905532
+v 0.06267443 -0.48464991 0.01468270
+v 0.06322092 -0.45614840 0.01565814
+v -0.05487860 -0.45783311 0.01446572
+v -0.05429006 -0.48839357 0.01819454
+v 0.04955373 -0.45879619 0.01369823
+v -0.05896314 -0.47129810 0.03523674
+v 0.06730539 -0.46961316 0.03642978
+v 0.04804595 -0.48894221 0.01800635
+v -0.05488009 -0.49438569 0.03937763
+v 0.06013449 -0.49142838 0.03093805
+f 5 4 2
+f 6 3 2
+f 6 2 4
+f 6 4 3
+f 7 3 4
+f 7 4 5
+f 8 1 2
+f 8 2 3
+f 8 3 7
+f 9 5 2
+f 10 7 5
+f 10 8 7
+f 10 1 8
+f 10 9 1
+f 10 5 9
+f 11 9 2
+f 11 2 1
+f 11 1 9
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_5/collision/model_normalized_collision_27.obj b/objects/objaverse/pan/pan_5/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6337b4418450f18a78ee2b7cd36b268f86ea545d
--- /dev/null
+++ b/objects/objaverse/pan/pan_5/collision/model_normalized_collision_27.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.20165585 -0.32589626 -0.01906681
+v 0.20139638 -0.32575757 -0.04160007
+v 0.20429521 -0.12790483 -0.02942107
+v 0.15594183 -0.12878788 -0.03075184
+v 0.15594183 -0.32575758 -0.03075178
+v 0.20139638 -0.12878787 -0.04160014
+v 0.15594183 -0.32575757 -0.04160007
+v 0.15594183 -0.12878788 -0.04160014
+f 1 2 3
+f 1 3 4
+f 5 1 4
+f 6 3 2
+f 7 2 1
+f 7 1 5
+f 7 6 2
+f 7 5 4
+f 8 4 3
+f 8 3 6
+f 8 7 4
+f 8 6 7
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_5/collision/model_normalized_collision_28.obj b/objects/objaverse/pan/pan_5/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fda0e13b1cc7bd2fe7c8c1d43d1fb407f1afc1a3
--- /dev/null
+++ b/objects/objaverse/pan/pan_5/collision/model_normalized_collision_28.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.05617938 -0.14393940 -0.03075184
+v -0.05617938 -0.14393939 -0.04160013
+v -0.05617938 -0.08333333 -0.04160014
+v -0.19541207 -0.08179713 -0.02248526
+v -0.19254302 -0.14393940 -0.03075184
+v -0.05617938 -0.08333334 -0.03075186
+v -0.19254302 -0.08333333 -0.04160015
+v -0.19254301 -0.14393939 -0.04160013
+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 4 3
+f 8 7 2
+f 8 2 5
+f 8 5 4
+f 8 4 7
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_5/collision/model_normalized_collision_29.obj b/objects/objaverse/pan/pan_5/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..57569a79e9748d55d2d2714bb64fffbcbad2148d
--- /dev/null
+++ b/objects/objaverse/pan/pan_5/collision/model_normalized_collision_29.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.09440418 -0.47420163 0.01271502
+v 0.14771218 -0.39479796 -0.01103666
+v 0.14703209 -0.40912075 0.00483360
+v 0.09533577 -0.38636364 -0.03075176
+v 0.09219517 -0.43661653 -0.03809472
+v 0.10313417 -0.43125651 0.00027071
+v 0.09111218 -0.46334937 -0.00908879
+v 0.14079032 -0.38636363 -0.04160006
+v 0.09533577 -0.38636363 -0.04160006
+v 0.13339444 -0.43313293 -0.02175355
+v 0.11642362 -0.44488078 -0.01873517
+v 0.13397020 -0.41905862 -0.03435742
+v 0.13716344 -0.45533582 0.01451051
+v 0.10431541 -0.46081155 -0.00700070
+v 0.11730996 -0.43138751 -0.03138224
+v 0.11948488 -0.46575957 0.01665678
+v 0.13224248 -0.44612930 -0.00667934
+v 0.11731791 -0.46170547 0.00549290
+f 3 2 4
+f 6 1 3
+f 6 3 4
+f 6 4 1
+f 7 1 4
+f 7 4 5
+f 8 4 2
+f 9 8 5
+f 9 5 4
+f 9 4 8
+f 12 5 8
+f 12 8 2
+f 13 2 3
+f 13 12 2
+f 13 10 12
+f 14 7 5
+f 14 5 11
+f 14 1 7
+f 15 11 5
+f 15 10 11
+f 15 12 10
+f 15 5 12
+f 16 13 3
+f 16 3 1
+f 17 14 11
+f 17 11 10
+f 17 10 13
+f 18 13 16
+f 18 17 13
+f 18 14 17
+f 18 16 1
+f 18 1 14
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_5/collision/model_normalized_collision_31.obj b/objects/objaverse/pan/pan_5/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e0366d6d4f73cd57876ed37eba89ede0d78618f
--- /dev/null
+++ b/objects/objaverse/pan/pan_5/collision/model_normalized_collision_31.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.09077679 -0.47739515 0.01771803
+v 0.09803159 -0.47100814 0.00771207
+v -0.08966250 -0.47260459 0.00571134
+v -0.08566717 -0.45943374 -0.01667642
+v 0.05966924 -0.47474309 -0.00644813
+v 0.08947754 -0.47311219 0.00653898
+v 0.07777269 -0.45417135 -0.02565794
+v -0.08256638 -0.47951471 0.01683125
+v -0.06560193 -0.47353833 -0.00560154
+v 0.09111218 -0.46334937 -0.00908879
+v 0.09405766 -0.45790782 -0.01542928
+v -0.08277254 -0.46504289 -0.01027885
+v -0.06928970 -0.45539233 -0.02694291
+v -0.08124313 -0.47515262 0.00570044
+v 0.07495248 -0.46002592 -0.01992869
+v 0.06325504 -0.45626092 -0.02785701
+v -0.06656201 -0.46155186 -0.02117583
+f 1 2 3
+f 3 2 4
+f 6 2 1
+f 6 1 5
+f 8 5 1
+f 8 1 3
+f 9 5 8
+f 10 6 5
+f 10 2 6
+f 11 7 4
+f 11 4 2
+f 11 2 10
+f 11 10 5
+f 12 9 3
+f 12 3 4
+f 12 4 9
+f 13 4 7
+f 14 9 8
+f 14 8 3
+f 14 3 9
+f 15 11 5
+f 15 7 11
+f 16 13 7
+f 16 15 5
+f 16 7 15
+f 17 5 9
+f 17 9 4
+f 17 4 13
+f 17 16 5
+f 17 13 16
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_5/collision/model_normalized_collision_4.obj b/objects/objaverse/pan/pan_5/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d319297dd48b0b049cea5141ab824e622ba0671
--- /dev/null
+++ b/objects/objaverse/pan/pan_5/collision/model_normalized_collision_4.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v -0.12745252 -0.46888421 0.04004572
+v -0.12474385 -0.44866384 -0.00861188
+v -0.13193695 -0.38636363 -0.04160006
+v -0.21139870 -0.37696904 -0.00891467
+v -0.16454629 -0.44646932 0.03180919
+v -0.17173077 -0.38070257 -0.04093655
+v -0.18236165 -0.40757130 0.03647998
+v -0.12457683 -0.46350293 0.01768124
+v -0.17894934 -0.41525426 -0.00446375
+v -0.12607695 -0.42085488 -0.03644354
+v -0.19709041 -0.37766104 -0.02329534
+v -0.14076720 -0.43318696 0.02909622
+v -0.18304125 -0.39324787 0.02061016
+v -0.16556431 -0.44770979 0.03847513
+v -0.15234216 -0.44360374 0.00653899
+v -0.13933771 -0.46277207 0.03884104
+v -0.21371101 -0.39401821 0.01616145
+v -0.13946593 -0.41769736 -0.03300015
+v -0.19248028 -0.38902910 -0.01863088
+v -0.14131418 -0.39778980 -0.01363260
+v -0.13662372 -0.45769460 0.01922085
+v -0.13757688 -0.44432625 -0.00530454
+v -0.20628218 -0.38792152 -0.00446372
+v -0.22011473 -0.38412210 0.01284476
+v -0.18005696 -0.40145238 -0.01863085
+v -0.16868589 -0.39090737 -0.03512071
+f 8 3 1
+f 10 6 3
+f 10 8 2
+f 10 3 8
+f 11 4 3
+f 11 3 6
+f 12 7 1
+f 12 1 3
+f 13 3 4
+f 13 7 12
+f 14 1 7
+f 15 5 9
+f 16 8 1
+f 16 14 5
+f 16 1 14
+f 17 9 5
+f 17 5 14
+f 17 14 7
+f 18 6 10
+f 18 10 2
+f 19 4 11
+f 19 11 6
+f 20 13 12
+f 20 12 3
+f 20 3 13
+f 21 15 8
+f 21 5 15
+f 21 16 5
+f 21 8 16
+f 22 2 8
+f 22 8 15
+f 22 18 2
+f 22 15 9
+f 22 9 18
+f 23 9 17
+f 23 19 9
+f 23 4 19
+f 24 13 4
+f 24 23 17
+f 24 4 23
+f 24 17 7
+f 24 7 13
+f 25 18 9
+f 25 9 19
+f 25 19 6
+f 26 25 6
+f 26 6 18
+f 26 18 25
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_5/collision/model_normalized_collision_5.obj b/objects/objaverse/pan/pan_5/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e344898350509ce3e85e8e3474fea90b2684d55a
--- /dev/null
+++ b/objects/objaverse/pan/pan_5/collision/model_normalized_collision_5.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v -0.20335100 -0.34977896 0.00212807
+v -0.19794959 -0.34534614 -0.00837464
+v -0.21048903 -0.14308812 -0.02899468
+v -0.26330771 -0.13030245 -0.00099776
+v -0.26456640 -0.27457411 -0.00560164
+v -0.24351589 -0.14226542 0.00779434
+v -0.20385810 -0.33885848 -0.04160007
+v -0.23396296 -0.13001176 -0.00106317
+v -0.25453077 -0.33354901 0.01768109
+v -0.20769453 -0.14393939 -0.04160013
+v -0.27567819 -0.14629758 0.01468258
+v -0.25106587 -0.31654543 -0.00573160
+v -0.22969870 -0.13130530 -0.04029342
+v -0.26577127 -0.14930282 -0.00644842
+v -0.27054274 -0.29153852 0.01683117
+v -0.23708135 -0.29058044 -0.03226621
+v -0.25059663 -0.33144614 0.00653895
+v -0.25105420 -0.13401951 -0.01992880
+v -0.26618059 -0.29021529 0.00570025
+v -0.22435719 -0.31846664 -0.03333443
+v -0.23807894 -0.13335935 -0.03304597
+v -0.21188278 -0.33504911 -0.03644360
+f 1 2 3
+f 7 2 1
+f 8 6 1
+f 8 1 3
+f 9 1 6
+f 9 7 1
+f 10 3 2
+f 10 2 7
+f 10 8 3
+f 11 8 4
+f 11 6 8
+f 11 9 6
+f 13 4 8
+f 13 8 10
+f 13 10 7
+f 14 11 4
+f 14 5 11
+f 15 11 5
+f 15 9 11
+f 16 12 5
+f 16 13 7
+f 16 5 14
+f 17 7 9
+f 17 15 12
+f 17 9 15
+f 18 14 4
+f 18 4 13
+f 19 15 5
+f 19 5 12
+f 19 12 15
+f 20 16 7
+f 20 12 16
+f 21 16 14
+f 21 13 16
+f 21 18 13
+f 21 14 18
+f 22 17 12
+f 22 7 17
+f 22 20 7
+f 22 12 20
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_5/collision/model_normalized_collision_6.obj b/objects/objaverse/pan/pan_5/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ab0ee67d929bc62470ca63692d6924a28f3b84ef
--- /dev/null
+++ b/objects/objaverse/pan/pan_5/collision/model_normalized_collision_6.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.09661048 -0.40389336 -0.02862998
+v 0.15594183 -0.34090909 -0.04160007
+v 0.15594183 -0.14393940 -0.03075184
+v -0.21048903 -0.14308812 -0.02899468
+v -0.13193695 -0.38636363 -0.04160006
+v -0.20769453 -0.14393939 -0.04160013
+v 0.14235489 -0.38826938 -0.02177017
+v 0.09533577 -0.40151515 -0.04160005
+v 0.15594183 -0.14393939 -0.04160013
+v -0.21045340 -0.26598116 -0.02911122
+v -0.13500192 -0.39009693 -0.02454085
+v 0.15594183 -0.34090909 -0.03075178
+v 0.14079032 -0.38636363 -0.04160006
+v -0.20769453 -0.26515151 -0.04160009
+v -0.08789566 -0.40415564 -0.02970393
+v -0.16223999 -0.34090909 -0.04160007
+v -0.08648241 -0.40151515 -0.04160005
+f 7 3 4
+f 9 3 2
+f 9 8 5
+f 9 5 6
+f 9 6 4
+f 9 4 3
+f 11 7 4
+f 11 4 10
+f 12 7 2
+f 12 2 3
+f 12 3 7
+f 13 7 1
+f 13 1 8
+f 13 2 7
+f 13 9 2
+f 13 8 9
+f 14 6 5
+f 14 10 4
+f 14 4 6
+f 15 1 7
+f 15 7 11
+f 15 8 1
+f 16 11 10
+f 16 10 14
+f 16 14 5
+f 16 5 11
+f 17 15 11
+f 17 11 5
+f 17 5 8
+f 17 8 15
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_5/collision/model_normalized_collision_7.obj b/objects/objaverse/pan/pan_5/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..133300746d93668f5a853b98ea1da508f20437e3
--- /dev/null
+++ b/objects/objaverse/pan/pan_5/collision/model_normalized_collision_7.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.08059789 0.02409084 -0.00458391
+v 0.07864140 0.03279268 -0.02867177
+v 0.07624019 0.07033042 0.03954263
+v 0.04905613 0.07708926 0.04061166
+v 0.02034846 0.03385300 -0.01047511
+v 0.04870667 0.05624719 -0.01080870
+v 0.08336285 0.04835718 0.03510510
+v 0.04960829 0.03697903 -0.03306139
+v 0.07514649 0.05157449 -0.00720273
+v 0.02004830 0.04466893 0.00730827
+v 0.08449471 0.03693690 0.01759341
+v 0.04902169 0.04472064 -0.02560723
+v 0.04863065 0.07034047 0.01650916
+v 0.01958461 0.03797148 -0.00377765
+v 0.05492860 0.05451772 0.03120829
+v 0.07603820 0.03936258 -0.02285370
+v 0.07450581 0.06461401 0.01829530
+f 7 3 4
+f 7 2 3
+f 8 2 1
+f 8 1 5
+f 9 3 2
+f 11 1 2
+f 11 2 7
+f 11 10 1
+f 11 7 10
+f 12 2 8
+f 12 8 5
+f 12 5 6
+f 13 9 6
+f 13 4 3
+f 13 10 4
+f 13 6 10
+f 14 10 6
+f 14 6 5
+f 14 5 1
+f 14 1 10
+f 15 10 7
+f 15 7 4
+f 15 4 10
+f 16 9 2
+f 16 2 12
+f 16 12 6
+f 16 6 9
+f 17 13 3
+f 17 3 9
+f 17 9 13
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_5/collision/model_normalized_collision_8.obj b/objects/objaverse/pan/pan_5/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2598711b5522c0e9e9af4c10c03bbdb766d0ea50
--- /dev/null
+++ b/objects/objaverse/pan/pan_5/collision/model_normalized_collision_8.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.09604711 -0.46446617 -0.00536922
+v 0.09204110 -0.45126015 -0.02431142
+v 0.09661048 -0.40389336 -0.02862998
+v -0.13193695 -0.38636363 -0.04160006
+v -0.10879091 -0.44716448 -0.02076041
+v 0.09533577 -0.40151515 -0.04160005
+v -0.14131418 -0.39778980 -0.01363260
+v -0.08160829 -0.44605340 -0.03226606
+v -0.08648241 -0.38636364 -0.03075177
+v 0.09219517 -0.43661653 -0.03809472
+v 0.09982294 -0.42506160 -0.01014248
+v -0.12746637 -0.45375733 0.00122929
+v 0.07561269 -0.44705079 -0.03304575
+v -0.12607695 -0.42085488 -0.03644354
+v -0.08648241 -0.38636363 -0.04160006
+v -0.10949447 -0.43332924 -0.03333439
+v -0.12474385 -0.44866384 -0.00861188
+f 9 3 6
+f 9 7 3
+f 9 4 7
+f 10 1 2
+f 10 4 6
+f 11 6 3
+f 11 10 6
+f 11 1 10
+f 11 3 7
+f 12 11 7
+f 12 1 11
+f 12 8 1
+f 12 5 8
+f 13 2 1
+f 13 1 8
+f 13 10 2
+f 13 8 10
+f 14 10 8
+f 14 4 10
+f 14 12 7
+f 14 7 4
+f 15 9 6
+f 15 6 4
+f 15 4 9
+f 16 14 8
+f 16 8 5
+f 16 5 14
+f 17 14 5
+f 17 5 12
+f 17 12 14
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_5/collision/model_normalized_collision_9.obj b/objects/objaverse/pan/pan_5/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cdd0641cfac93d07873a1d2c2f5beb84d83109c8
--- /dev/null
+++ b/objects/objaverse/pan/pan_5/collision/model_normalized_collision_9.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.15594183 -0.14393940 -0.03075184
+v 0.15594183 -0.14393939 -0.04160013
+v 0.09663189 -0.00514721 -0.02824475
+v -0.08793220 -0.00485441 -0.02937157
+v -0.05617938 -0.14393939 -0.04160013
+v 0.09533577 -0.00757576 -0.04160017
+v -0.05617938 -0.14393940 -0.03075184
+v 0.15818008 -0.05118980 -0.02883205
+v -0.08648241 -0.00757576 -0.04160017
+v -0.08648241 -0.08333334 -0.03075186
+v 0.15594183 -0.05303030 -0.04160015
+v -0.08648241 -0.08333333 -0.04160015
+f 5 2 1
+f 6 4 3
+f 7 3 4
+f 7 5 1
+f 8 1 2
+f 8 7 1
+f 8 3 7
+f 8 6 3
+f 9 4 6
+f 9 6 2
+f 10 7 4
+f 10 5 7
+f 11 8 2
+f 11 2 6
+f 11 6 8
+f 12 5 10
+f 12 9 2
+f 12 2 5
+f 12 10 4
+f 12 4 9
\ No newline at end of file
diff --git a/objects/objaverse/pan/pan_5/model.xml b/objects/objaverse/pan/pan_5/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..072cec22c2192fb0fcc6ec2cc4a391e6ebca56f8
--- /dev/null
+++ b/objects/objaverse/pan/pan_5/model.xml
@@ -0,0 +1,83 @@
+<mujoco model="pan_38">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="material.038" texture="image0" specular="0.5" shininess="0.25"/>
+  </asset>
+  <worldbody>
+    <body>
+      <body name="object">
+        <body pos="0 -0.05 0">
+          <geom solimp="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.038"/>
+          <geom solimp="0.998 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="2.797439666520463e-05 -0.0506175919263772924 -0.009984040800000002" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="2.797439666520463e-05 -0.0506175919263772924 0.009746798400000003" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.06849695663452553 0.11865255145551197 -0.00011862119999999979" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/objects/objaverse/wine/wine_2/collision/model_normalized_collision_0.obj b/objects/objaverse/wine/wine_2/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7cde9d342f6710f1becf28c332c6e152e065394e
--- /dev/null
+++ b/objects/objaverse/wine/wine_2/collision/model_normalized_collision_0.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.00936929 -0.02937333 0.44146847
+v 0.01042661 -0.03469472 0.21838545
+v 0.01008622 0.03709043 0.21812785
+v -0.01463567 0.03144462 0.44146847
+v -0.03422149 -0.01874353 0.21717003
+v 0.00902190 0.03173153 0.44146847
+v -0.01463567 -0.02915548 0.44146847
+v -0.02324001 0.03246115 0.21702283
+v -0.00208525 0.03945733 0.21848418
+v -0.02406139 -0.02958433 0.21724328
+v -0.03267221 -0.00996258 0.44146847
+v -0.03340024 0.02230048 0.21702500
+v -0.03238530 0.01369499 0.44146847
+f 1 2 3
+f 6 1 3
+f 6 4 1
+f 7 2 1
+f 7 1 4
+f 8 3 2
+f 9 6 3
+f 9 4 6
+f 9 8 4
+f 9 3 8
+f 10 2 7
+f 10 8 2
+f 11 7 4
+f 11 10 7
+f 11 5 10
+f 12 10 5
+f 12 8 10
+f 13 12 5
+f 13 5 11
+f 13 11 4
+f 13 4 8
+f 13 8 12
\ No newline at end of file
diff --git a/objects/objaverse/wine/wine_2/collision/model_normalized_collision_1.obj b/objects/objaverse/wine/wine_2/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0bab7cba9583448af4490aaf189c5fa45ee46bc5
--- /dev/null
+++ b/objects/objaverse/wine/wine_2/collision/model_normalized_collision_1.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.05755247 -0.05849315 0.14388046
+v -0.08268379 -0.03590563 0.13642756
+v -0.04052398 0.08110174 0.13599971
+v 0.05195078 0.06933727 0.13800453
+v -0.03340024 0.02230048 0.21702500
+v -0.02406139 -0.02958433 0.21724328
+v 0.02864336 0.02312253 0.21724130
+v 0.03496469 0.08174321 0.13642755
+v -0.08204328 0.03958304 0.13599862
+v 0.02526743 -0.02620646 0.21603495
+v -0.07027794 -0.05289146 0.13800453
+v -0.03422149 -0.01874353 0.21717003
+v 0.03874508 0.01974963 0.19553891
+v 0.01780310 0.03328221 0.21717006
+v 0.01518759 -0.04041070 0.19588497
+v 0.03947035 -0.01612773 0.19588501
+v -0.07758296 -0.03249694 0.14572325
+v -0.07700933 0.03622049 0.14525368
+v -0.02324001 0.03246115 0.21702283
+v 0.03155586 0.07664177 0.14572608
+v -0.02069131 -0.03968590 0.19553661
+v -0.03715988 0.07606840 0.14525656
+f 8 4 1
+f 8 1 2
+f 9 5 3
+f 9 8 2
+f 9 3 8
+f 10 7 6
+f 11 2 1
+f 12 11 6
+f 12 2 11
+f 13 1 4
+f 13 4 7
+f 14 5 12
+f 14 12 6
+f 14 6 7
+f 14 7 4
+f 14 4 8
+f 15 10 6
+f 15 1 10
+f 16 10 1
+f 16 7 10
+f 16 13 7
+f 16 1 13
+f 17 9 2
+f 17 2 12
+f 18 12 5
+f 18 5 9
+f 18 17 12
+f 18 9 17
+f 19 3 5
+f 19 5 14
+f 20 14 8
+f 20 8 3
+f 21 11 1
+f 21 1 15
+f 21 15 6
+f 21 6 11
+f 22 19 14
+f 22 3 19
+f 22 20 3
+f 22 14 20
\ No newline at end of file
diff --git a/objects/objaverse/wine/wine_2/collision/model_normalized_collision_10.obj b/objects/objaverse/wine/wine_2/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d4a51154eec8d1e4c5c4b1023ca50aedfe19f6b5
--- /dev/null
+++ b/objects/objaverse/wine/wine_2/collision/model_normalized_collision_10.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.03036757 -0.08928259 0.12297067
+v -0.03075101 -0.09120959 -0.41663408
+v -0.03447529 -0.07546873 0.14538399
+v -0.05821630 -0.06564824 0.13800453
+v -0.06908600 -0.07376050 -0.39099987
+v -0.03905550 -0.08810985 0.12156480
+v -0.03173976 -0.08102929 0.13850554
+v -0.07144831 -0.06821849 -0.40149213
+v -0.03850377 -0.08149763 0.13400490
+v -0.06644535 -0.07044002 0.12020938
+v -0.03960990 -0.08944744 -0.41662384
+v -0.06965714 -0.06642732 0.12421651
+v -0.06346683 -0.07350601 -0.41666606
+v -0.05274656 -0.07261221 0.13306168
+v -0.04251752 -0.08750430 -0.41670806
+f 6 2 1
+f 7 1 2
+f 7 2 3
+f 7 6 1
+f 8 3 2
+f 8 4 3
+f 9 3 4
+f 9 7 3
+f 9 6 7
+f 10 5 6
+f 11 6 5
+f 11 2 6
+f 12 8 5
+f 12 5 10
+f 12 4 8
+f 12 10 6
+f 12 6 9
+f 13 8 2
+f 13 5 8
+f 14 12 9
+f 14 9 4
+f 14 4 12
+f 15 13 2
+f 15 2 11
+f 15 11 5
+f 15 5 13
\ No newline at end of file
diff --git a/objects/objaverse/wine/wine_2/collision/model_normalized_collision_11.obj b/objects/objaverse/wine/wine_2/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f375c0aed9454c7bf91af9c2e84d4307f4d1e5fb
--- /dev/null
+++ b/objects/objaverse/wine/wine_2/collision/model_normalized_collision_11.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v -0.08466283 0.03051806 0.13800453
+v -0.06258567 0.07629304 -0.44696514
+v -0.07116027 0.03740741 0.15094509
+v -0.05744830 0.06860460 0.13777450
+v -0.09154617 0.03820149 0.12099529
+v -0.09447138 0.02945537 -0.43178106
+v -0.06625313 0.06531245 0.13390513
+v -0.07136651 0.07042583 -0.44694311
+v -0.09280766 0.02912428 0.12237329
+v -0.07670056 0.05116509 0.13241984
+v -0.09264165 0.03865471 -0.43177096
+v -0.09385759 0.03234694 -0.44696957
+v -0.08655514 0.04769488 -0.44703861
+f 3 2 4
+f 6 2 3
+f 6 3 1
+f 7 4 2
+f 7 3 4
+f 8 7 2
+f 8 5 7
+f 9 6 1
+f 9 1 5
+f 9 5 6
+f 10 7 5
+f 10 5 1
+f 10 1 3
+f 10 3 7
+f 11 6 5
+f 11 5 8
+f 12 2 6
+f 12 6 11
+f 13 8 2
+f 13 2 12
+f 13 12 11
+f 13 11 8
\ No newline at end of file
diff --git a/objects/objaverse/wine/wine_2/collision/model_normalized_collision_12.obj b/objects/objaverse/wine/wine_2/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d19cdfb0e2a30433afe1911712e98bedca2ff7e
--- /dev/null
+++ b/objects/objaverse/wine/wine_2/collision/model_normalized_collision_12.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.07116027 0.03740741 0.15094509
+v -0.03328763 0.09291697 -0.44696957
+v -0.04651171 0.05213448 0.16393187
+v -0.03914226 0.09060829 0.12099133
+v -0.08655514 0.04769488 -0.44703861
+v -0.03145874 0.08372216 0.13800453
+v -0.05210549 0.07575844 0.13242269
+v -0.06263380 0.07626047 -0.44710141
+v -0.03039606 0.09353077 -0.43178105
+v -0.03959518 0.09170097 -0.43177099
+v -0.03006527 0.09186903 0.12237045
+v -0.05558652 0.08096999 -0.44693371
+f 5 3 1
+f 7 1 3
+f 7 5 1
+f 7 6 4
+f 7 3 6
+f 8 2 5
+f 8 7 4
+f 8 5 7
+f 9 5 2
+f 9 3 5
+f 9 6 3
+f 10 8 4
+f 10 9 2
+f 10 4 9
+f 11 9 4
+f 11 4 6
+f 11 6 9
+f 12 10 2
+f 12 2 8
+f 12 8 10
\ No newline at end of file
diff --git a/objects/objaverse/wine/wine_2/collision/model_normalized_collision_13.obj b/objects/objaverse/wine/wine_2/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cac44dd0a847b8fb605446c322c0cc6b8dcf76c6
--- /dev/null
+++ b/objects/objaverse/wine/wine_2/collision/model_normalized_collision_13.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.06470756 0.05727562 0.13800453
+v 0.06954217 0.06050618 0.12728714
+v 0.04654668 0.07640044 0.13284880
+v 0.01201205 0.09222832 0.12837149
+v 0.01459013 0.07488641 0.15354554
+v 0.04913147 0.08026964 0.12287565
+v 0.06186125 0.06509106 0.13445663
+v 0.01614135 0.08268549 0.14269136
+v 0.06548665 0.06871646 0.12421651
+v 0.01080489 0.08615926 0.13921663
+f 5 2 1
+f 5 4 2
+f 6 2 4
+f 6 4 3
+f 7 1 2
+f 7 5 1
+f 7 3 5
+f 8 5 3
+f 8 3 4
+f 9 6 3
+f 9 3 7
+f 9 7 2
+f 9 2 6
+f 10 8 4
+f 10 4 5
+f 10 5 8
\ No newline at end of file
diff --git a/objects/objaverse/wine/wine_2/collision/model_normalized_collision_14.obj b/objects/objaverse/wine/wine_2/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ce06c511fa45924fd80ad592cf55976a1d45c294
--- /dev/null
+++ b/objects/objaverse/wine/wine_2/collision/model_normalized_collision_14.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.01215797 -0.01309865 0.08333335
+v 0.01215797 -0.01309865 -0.49999999
+v 0.01015392 0.09803870 0.08335900
+v -0.03064651 0.09479173 0.08336724
+v -0.03329657 -0.01309865 -0.49999999
+v -0.03329657 -0.01309865 0.08333335
+v 0.00986997 0.09661024 -0.49999999
+v -0.03036283 0.09336370 -0.49999999
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 6 5 1
+f 6 1 4
+f 6 4 5
+f 7 3 2
+f 7 2 5
+f 7 4 3
+f 8 7 5
+f 8 5 4
+f 8 4 7
\ No newline at end of file
diff --git a/objects/objaverse/wine/wine_2/collision/model_normalized_collision_15.obj b/objects/objaverse/wine/wine_2/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8bb0f7552310e3224a989192d67f65044a6bc0fe
--- /dev/null
+++ b/objects/objaverse/wine/wine_2/collision/model_normalized_collision_15.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.01302280 -0.07805352 0.14695853
+v 0.06710238 -0.06804120 -0.49999999
+v 0.06163986 -0.06258054 0.13500812
+v 0.07711258 -0.01396343 0.14695897
+v 0.01215797 -0.01309865 -0.49999999
+v 0.04308490 -0.03376428 0.17537219
+v 0.01215797 -0.07370471 -0.49999999
+v 0.07276403 -0.01309865 -0.49999999
+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 5 2
+f 7 2 1
+f 7 1 5
+f 8 5 4
+f 8 4 2
+f 8 2 5
\ No newline at end of file
diff --git a/objects/objaverse/wine/wine_2/collision/model_normalized_collision_16.obj b/objects/objaverse/wine/wine_2/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..89a58fc8dd7dd723630499d4fda72616cb66ded4
--- /dev/null
+++ b/objects/objaverse/wine/wine_2/collision/model_normalized_collision_16.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.07452806 0.03353461 0.14538399
+v 0.07276403 0.03235589 -0.49999999
+v 0.07239249 0.06241066 -0.49999999
+v 0.01459013 0.07488641 0.15354554
+v 0.01215797 0.03235589 -0.49999999
+v 0.06470756 0.05727562 0.13800453
+v 0.02808058 0.05618365 0.16926228
+v 0.01215797 0.06265892 -0.49999999
+f 1 2 3
+f 5 2 1
+f 5 3 2
+f 6 1 3
+f 6 3 4
+f 7 5 1
+f 7 4 5
+f 7 6 4
+f 7 1 6
+f 8 5 4
+f 8 4 3
+f 8 3 5
\ No newline at end of file
diff --git a/objects/objaverse/wine/wine_2/collision/model_normalized_collision_17.obj b/objects/objaverse/wine/wine_2/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef69ad694838f3e368d746a1b765881715b73899
--- /dev/null
+++ b/objects/objaverse/wine/wine_2/collision/model_normalized_collision_17.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.04308490 -0.03376428 0.17537219
+v 0.09331129 -0.01115822 -0.49999999
+v 0.08374674 0.02851300 0.13297344
+v 0.02808058 0.05618365 0.16926228
+v 0.01215797 -0.01309865 -0.49999999
+v 0.09006475 0.02976972 -0.49999999
+v 0.08622536 -0.00974876 0.13438008
+v 0.01215797 0.03235589 -0.49999999
+f 1 3 4
+f 5 2 1
+f 5 1 4
+f 6 3 2
+f 6 4 3
+f 6 2 5
+f 7 1 2
+f 7 2 3
+f 7 3 1
+f 8 6 5
+f 8 5 4
+f 8 4 6
\ No newline at end of file
diff --git a/objects/objaverse/wine/wine_2/collision/model_normalized_collision_18.obj b/objects/objaverse/wine/wine_2/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3007c599bb8b10a2780ed2304ee71d3f4e4eb1db
--- /dev/null
+++ b/objects/objaverse/wine/wine_2/collision/model_normalized_collision_18.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.00880803 -0.08716602 0.13438006
+v 0.01050151 -0.09568041 0.08335455
+v 0.01015392 0.09803870 0.08335900
+v -0.03006527 0.09186903 0.12237045
+v -0.03099412 -0.09243343 0.08336279
+v 0.00854274 0.08993774 0.13362288
+v -0.02945336 -0.08468712 0.13297392
+v -0.03064651 0.09479173 0.08336724
+v 0.00948832 0.09469190 0.12348595
+v -0.03145874 0.08372216 0.13800453
+v -0.01447678 0.08967231 0.13347222
+f 5 3 2
+f 7 5 2
+f 7 2 1
+f 8 4 3
+f 8 3 5
+f 9 3 4
+f 9 2 3
+f 9 6 1
+f 9 1 2
+f 10 5 7
+f 10 8 5
+f 10 4 8
+f 10 7 1
+f 10 1 6
+f 11 9 4
+f 11 6 9
+f 11 10 6
+f 11 4 10
\ No newline at end of file
diff --git a/objects/objaverse/wine/wine_2/collision/model_normalized_collision_19.obj b/objects/objaverse/wine/wine_2/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..235bbc0ab7a9a47befa471649a38d49c7433ec16
--- /dev/null
+++ b/objects/objaverse/wine/wine_2/collision/model_normalized_collision_19.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.03329657 -0.01309865 0.08333335
+v -0.03329657 -0.01309865 -0.49999999
+v -0.03329657 0.03235589 -0.49999999
+v -0.06336783 0.07736188 0.08319823
+v -0.09897941 -0.01109460 0.08335899
+v -0.09573261 0.02970600 0.08336726
+v -0.09755092 -0.01081065 -0.49999999
+v -0.09430439 0.02942215 -0.49999999
+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 5 6
+f 8 7 6
+f 8 6 4
+f 8 4 3
+f 8 3 7
\ No newline at end of file
diff --git a/objects/objaverse/wine/wine_2/collision/model_normalized_collision_2.obj b/objects/objaverse/wine/wine_2/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..41f2265916449b01ff65357637c95fa5ca5292ec
--- /dev/null
+++ b/objects/objaverse/wine/wine_2/collision/model_normalized_collision_2.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.08008904 0.03079917 0.13850481
+v 0.09006475 0.02976972 -0.49999999
+v 0.08716859 0.03811520 0.12156640
+v 0.06548665 0.06871646 0.12421651
+v 0.07276403 0.03235589 -0.49999999
+v 0.06741416 0.07064398 -0.32573504
+v 0.06470756 0.05727562 0.13800453
+v 0.08834183 0.02942693 0.12297119
+v 0.08831074 0.03858822 -0.49999999
+v 0.06949892 0.06550507 0.12020938
+v 0.07452806 0.03353461 0.14538399
+v 0.07167262 0.05180546 0.13306195
+v 0.07043191 0.06612787 -0.32570507
+v 0.07239249 0.06241066 -0.49999999
+f 7 6 5
+f 7 4 6
+f 8 2 3
+f 8 3 1
+f 8 5 2
+f 8 1 5
+f 9 3 2
+f 9 2 5
+f 10 6 4
+f 10 4 3
+f 11 1 3
+f 11 7 5
+f 11 5 1
+f 12 3 4
+f 12 4 7
+f 12 11 3
+f 12 7 11
+f 13 9 6
+f 13 3 9
+f 13 10 3
+f 13 6 10
+f 14 9 5
+f 14 5 6
+f 14 6 9
\ No newline at end of file
diff --git a/objects/objaverse/wine/wine_2/collision/model_normalized_collision_20.obj b/objects/objaverse/wine/wine_2/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ab2b95144b721c15d463c58e71757200f141edaa
--- /dev/null
+++ b/objects/objaverse/wine/wine_2/collision/model_normalized_collision_20.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.06080972 0.06744396 0.13199225
+v 0.05761252 0.06265892 -0.49999999
+v 0.03535840 0.09154057 -0.49999999
+v 0.00948832 0.09469190 0.12348595
+v 0.01215797 0.06265892 -0.49999999
+v 0.03493616 0.09052106 0.12123034
+v 0.05008663 0.08169910 -0.49999999
+v 0.01614135 0.08268549 0.14269136
+v 0.00986997 0.09661024 -0.49999999
+v 0.04913147 0.08026964 0.12287565
+f 5 2 1
+f 5 3 2
+f 7 1 2
+f 7 2 3
+f 7 3 6
+f 8 5 1
+f 8 4 5
+f 8 6 4
+f 8 1 6
+f 9 5 4
+f 9 3 5
+f 9 6 3
+f 9 4 6
+f 10 7 6
+f 10 6 1
+f 10 1 7
\ No newline at end of file
diff --git a/objects/objaverse/wine/wine_2/collision/model_normalized_collision_21.obj b/objects/objaverse/wine/wine_2/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d2648eb5676a9ca4cbb0b49dec863f5fd4b362d
--- /dev/null
+++ b/objects/objaverse/wine/wine_2/collision/model_normalized_collision_21.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.04321005 -0.08854166 0.08328880
+v -0.04251752 -0.08750430 -0.41670806
+v -0.03329657 -0.01309865 0.08333335
+v -0.09724903 -0.01979213 0.08324772
+v -0.06416019 -0.07454371 0.08333083
+v -0.09602498 -0.01954809 -0.41674921
+v -0.03329657 -0.01309865 -0.41666666
+v -0.06346683 -0.07350601 -0.41666606
+f 1 2 3
+f 5 2 1
+f 5 1 3
+f 5 3 4
+f 6 4 3
+f 7 6 3
+f 7 3 2
+f 7 2 6
+f 8 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_2/collision/model_normalized_collision_22.obj b/objects/objaverse/wine/wine_2/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1419358c086d065a371278c49d242252dd6b1d45
--- /dev/null
+++ b/objects/objaverse/wine/wine_2/collision/model_normalized_collision_22.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.03329657 0.03235589 -0.49999999
+v -0.03326179 0.09278710 -0.49999999
+v -0.03328763 0.09291697 -0.44696957
+v -0.04503836 0.08785912 -0.49999999
+v -0.09385759 0.03234694 -0.44696957
+v -0.06263380 0.07626047 -0.44710141
+v -0.09372778 0.03232112 -0.49999999
+v -0.08191076 0.05464590 -0.44693369
+v -0.05558652 0.08096999 -0.44693371
+v -0.08180061 0.05457230 -0.49999999
+v -0.05551298 0.08085993 -0.49999999
+f 1 2 3
+f 3 2 4
+f 2 1 4
+f 5 1 3
+f 7 4 1
+f 7 1 5
+f 8 5 3
+f 8 7 5
+f 9 3 4
+f 9 4 6
+f 9 8 3
+f 9 6 8
+f 10 8 6
+f 10 4 7
+f 10 7 8
+f 11 10 6
+f 11 6 4
+f 11 4 10
\ No newline at end of file
diff --git a/objects/objaverse/wine/wine_2/collision/model_normalized_collision_23.obj b/objects/objaverse/wine/wine_2/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..08177d06bc3b9596c2e35a600520473a10b161b9
--- /dev/null
+++ b/objects/objaverse/wine/wine_2/collision/model_normalized_collision_23.obj
@@ -0,0 +1,18 @@
+# https://github.com/mikedh/trimesh
+v 0.06536411 -0.06630479 0.12465533
+v 0.07790890 -0.05186730 -0.49999999
+v 0.07022905 -0.06188654 0.12054929
+v 0.07631544 -0.05080240 0.12338315
+v 0.07027198 -0.05688809 0.12762679
+v 0.06710238 -0.06804120 -0.49999999
+v 0.07276403 -0.05855320 -0.49999999
+f 1 3 4
+f 3 2 4
+f 5 1 4
+f 5 4 2
+f 6 2 3
+f 6 3 1
+f 6 1 5
+f 7 6 5
+f 7 5 2
+f 7 2 6
\ No newline at end of file
diff --git a/objects/objaverse/wine/wine_2/collision/model_normalized_collision_24.obj b/objects/objaverse/wine/wine_2/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aaad54395a424032c0b60a099d8442b9a19c769c
--- /dev/null
+++ b/objects/objaverse/wine/wine_2/collision/model_normalized_collision_24.obj
@@ -0,0 +1,18 @@
+# https://github.com/mikedh/trimesh
+v 0.04986119 -0.07725597 0.12338301
+v 0.06710238 -0.06804120 -0.49999999
+v 0.06094622 -0.07116929 0.12054927
+v 0.06536411 -0.06630479 0.12465533
+v 0.05594733 -0.07121254 0.12762703
+v 0.05092635 -0.07884947 -0.49999999
+v 0.05761252 -0.07370471 -0.49999999
+f 1 3 4
+f 3 2 4
+f 5 1 4
+f 5 4 2
+f 6 2 3
+f 6 3 1
+f 6 1 5
+f 7 6 5
+f 7 5 2
+f 7 2 6
\ No newline at end of file
diff --git a/objects/objaverse/wine/wine_2/collision/model_normalized_collision_25.obj b/objects/objaverse/wine/wine_2/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b19bc0c89eea94cb91f51cc5ea0aed780056567e
--- /dev/null
+++ b/objects/objaverse/wine/wine_2/collision/model_normalized_collision_25.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.01025813 -0.09445602 -0.41664235
+v 0.01021754 -0.09425197 -0.49999999
+v 0.01215797 -0.01309865 -0.41666666
+v -0.09602498 -0.01954809 -0.41674921
+v -0.05646768 -0.07818296 -0.41663464
+v -0.06359960 -0.01309865 -0.49999999
+v 0.01215797 -0.01309865 -0.49999999
+v -0.03960990 -0.08944744 -0.41662384
+v -0.05635215 -0.07801006 -0.49999999
+v -0.03952890 -0.08925143 -0.49999999
+f 5 3 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 3
+f 8 3 5
+f 9 5 4
+f 9 4 6
+f 9 6 2
+f 10 9 2
+f 10 2 8
+f 10 8 5
+f 10 5 9
\ No newline at end of file
diff --git a/objects/objaverse/wine/wine_2/collision/model_normalized_collision_26.obj b/objects/objaverse/wine/wine_2/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e24bd594fc41fdda63ed1e9fefb46fbb5152383a
--- /dev/null
+++ b/objects/objaverse/wine/wine_2/collision/model_normalized_collision_26.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.05755247 -0.05849315 0.14388046
+v 0.07765552 -0.03654597 0.13706949
+v 0.04982973 -0.03820159 0.16637490
+v 0.05699232 0.06173076 0.14317931
+v 0.06553727 -0.05372430 0.13802123
+v 0.07188005 0.03679255 0.14595922
+v 0.05248622 -0.05342690 0.15339453
+v 0.07245342 -0.03306989 0.14642874
+v 0.06470756 0.05727562 0.13800453
+v 0.04933769 0.04197855 0.16587813
+v 0.06019313 -0.05015332 0.14743947
+v 0.05874005 -0.03403127 0.16028327
+v 0.07701534 0.04022393 0.13663982
+v 0.05945751 0.05376751 0.14727787
+v 0.05283356 0.05606215 0.15277158
+v 0.05824337 0.03780461 0.15978611
+f 5 1 4
+f 7 4 1
+f 8 5 2
+f 8 1 5
+f 9 5 4
+f 10 7 3
+f 11 8 7
+f 11 7 1
+f 11 1 8
+f 12 3 7
+f 12 7 8
+f 12 10 3
+f 13 8 2
+f 13 6 8
+f 13 9 6
+f 13 2 5
+f 13 5 9
+f 14 9 4
+f 14 6 9
+f 15 4 7
+f 15 7 10
+f 15 14 4
+f 15 6 14
+f 16 12 8
+f 16 8 6
+f 16 10 12
+f 16 15 10
+f 16 6 15
\ No newline at end of file
diff --git a/objects/objaverse/wine/wine_2/collision/model_normalized_collision_27.obj b/objects/objaverse/wine/wine_2/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..228a36ebe15fe0f7f642cadd71ddfed5499eca05
--- /dev/null
+++ b/objects/objaverse/wine/wine_2/collision/model_normalized_collision_27.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.01719172 -0.01813240 0.50000002
+v 0.02110457 -0.02204525 0.44146847
+v 0.02110457 0.02433439 0.44146847
+v -0.02136221 0.02042154 0.50000002
+v -0.02527507 -0.02204525 0.44146847
+v 0.01719172 0.02042154 0.50000002
+v -0.02136221 -0.01813240 0.50000002
+v -0.02527507 0.02433439 0.44146847
+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/wine/wine_2/collision/model_normalized_collision_28.obj b/objects/objaverse/wine/wine_2/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d203ad1c45ea09603c4df86d2517ed6f3183ac9a
--- /dev/null
+++ b/objects/objaverse/wine/wine_2/collision/model_normalized_collision_28.obj
@@ -0,0 +1,18 @@
+# https://github.com/mikedh/trimesh
+v 0.07310006 0.06288346 -0.15909191
+v 0.07239249 0.06241066 -0.49999999
+v 0.06771412 0.07094394 -0.15906945
+v 0.05755864 0.07772981 -0.15909066
+v 0.05761252 0.06265892 -0.49999999
+v 0.06710052 0.07033034 -0.49999999
+v 0.05708582 0.07702221 -0.49999999
+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 2 5
+f 7 6 5
+f 7 5 4
+f 7 4 6
\ No newline at end of file
diff --git a/objects/objaverse/wine/wine_2/collision/model_normalized_collision_29.obj b/objects/objaverse/wine/wine_2/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f8a59d82bfc68b992eedf2e41d4dba1ce1124a07
--- /dev/null
+++ b/objects/objaverse/wine/wine_2/collision/model_normalized_collision_29.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.01050151 -0.09568041 0.08335455
+v 0.01025813 -0.09445602 -0.41664235
+v 0.01215797 -0.01309865 0.08333335
+v -0.03329657 -0.01309865 0.08333335
+v -0.03099412 -0.09243343 0.08336279
+v -0.03329657 -0.01309865 -0.41666666
+v 0.01215797 -0.01309865 -0.41666666
+v -0.03075101 -0.09120959 -0.41663408
+f 5 2 1
+f 5 1 3
+f 5 3 4
+f 6 4 3
+f 6 5 4
+f 7 1 2
+f 7 3 1
+f 7 6 3
+f 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_2/collision/model_normalized_collision_3.obj b/objects/objaverse/wine/wine_2/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ccf7af231f27effefb9e98117ed9e1d5e9c6e189
--- /dev/null
+++ b/objects/objaverse/wine/wine_2/collision/model_normalized_collision_3.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.03484950 -0.08802261 0.12180384
+v 0.05761252 -0.07370471 -0.49999999
+v 0.04673873 -0.08702394 -0.00033735
+v 0.05278360 -0.06647791 0.13802128
+v 0.01215797 -0.07370471 -0.49999999
+v 0.04718708 -0.07325386 0.13349091
+v 0.01302280 -0.07805352 0.14695853
+v 0.01021754 -0.09425197 -0.49999999
+v 0.02351937 -0.08495277 0.13312403
+v 0.03535840 -0.08925143 -0.49999999
+v 0.00880803 -0.08716602 0.13438006
+v 0.04630558 -0.08634671 -0.20446284
+v 0.05092635 -0.07884947 -0.49999999
+f 3 2 4
+f 5 4 2
+f 6 1 3
+f 6 3 4
+f 7 4 5
+f 7 6 4
+f 8 5 2
+f 8 3 1
+f 9 1 6
+f 9 6 7
+f 10 8 2
+f 10 3 8
+f 11 7 5
+f 11 5 8
+f 11 9 7
+f 11 8 1
+f 11 1 9
+f 12 2 3
+f 12 3 10
+f 13 12 10
+f 13 10 2
+f 13 2 12
\ No newline at end of file
diff --git a/objects/objaverse/wine/wine_2/collision/model_normalized_collision_30.obj b/objects/objaverse/wine/wine_2/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2a9747b439a9a915fe525a9cf638b1be24bdb042
--- /dev/null
+++ b/objects/objaverse/wine/wine_2/collision/model_normalized_collision_30.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.06954217 0.06050618 0.12728714
+v 0.07310006 0.06288346 -0.15909191
+v 0.06125094 0.07573193 0.11050128
+v 0.05067162 0.08257449 0.11174632
+v 0.05060154 0.08246962 -0.12875637
+v 0.06548665 0.06871646 0.12421651
+v 0.06080972 0.06744396 0.13199225
+v 0.06771412 0.07094394 -0.15906945
+v 0.05521777 0.07422638 0.12711800
+v 0.05755864 0.07772981 -0.15909066
+v 0.06455778 0.07305285 -0.15912210
+f 5 4 3
+f 6 3 4
+f 6 1 2
+f 6 2 3
+f 7 5 2
+f 7 2 1
+f 7 1 6
+f 8 5 3
+f 8 3 2
+f 9 4 5
+f 9 5 7
+f 9 7 6
+f 9 6 4
+f 10 2 5
+f 10 5 8
+f 11 10 8
+f 11 8 2
+f 11 2 10
\ No newline at end of file
diff --git a/objects/objaverse/wine/wine_2/collision/model_normalized_collision_31.obj b/objects/objaverse/wine/wine_2/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5fa831b6ff42e9d6977ec2e0b672cf45620bc0b1
--- /dev/null
+++ b/objects/objaverse/wine/wine_2/collision/model_normalized_collision_31.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.03560555 -0.07859658 0.13706879
+v 0.05755247 -0.05849315 0.14388046
+v 0.03726072 -0.05077013 0.16637521
+v -0.04291917 -0.05027848 0.16587816
+v -0.05821630 -0.06564824 0.13800453
+v 0.05248622 -0.05342690 0.15339453
+v 0.03212925 -0.07339407 0.14642875
+v 0.05278360 -0.06647791 0.13802128
+v -0.06267138 -0.05793303 0.14317929
+v 0.03308963 -0.05967930 0.16028487
+v -0.04116394 -0.07795501 0.13664154
+v 0.04921184 -0.06113260 0.14744140
+v -0.05470819 -0.06039819 0.14727787
+v -0.05700392 -0.05377287 0.15277184
+v -0.03874576 -0.05918397 0.15978619
+v -0.03773318 -0.07282074 0.14595923
+f 6 4 3
+f 8 7 1
+f 8 2 7
+f 9 6 2
+f 9 8 5
+f 9 2 8
+f 10 3 4
+f 10 7 6
+f 10 6 3
+f 11 1 7
+f 11 8 1
+f 11 5 8
+f 12 7 2
+f 12 2 6
+f 12 6 7
+f 13 9 5
+f 14 4 6
+f 14 6 9
+f 14 9 13
+f 15 10 4
+f 15 7 10
+f 15 4 14
+f 16 13 5
+f 16 5 11
+f 16 11 7
+f 16 7 15
+f 16 15 14
+f 16 14 13
\ No newline at end of file
diff --git a/objects/objaverse/wine/wine_2/collision/model_normalized_collision_4.obj b/objects/objaverse/wine/wine_2/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf76ebc210c0b979591dfe3340c3a2999f5aa88c
--- /dev/null
+++ b/objects/objaverse/wine/wine_2/collision/model_normalized_collision_4.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.07449672 -0.06583465 0.08330063
+v -0.06359960 -0.05855320 -0.49999999
+v -0.06359960 -0.01309865 -0.49999999
+v -0.09897941 -0.01109460 0.08335899
+v -0.09248125 -0.03629908 -0.49999999
+v -0.08263978 -0.05102731 -0.49999999
+v -0.09257318 -0.04706189 -0.00033735
+v -0.09755092 -0.01081065 -0.49999999
+v -0.09385274 -0.03686758 0.08337545
+v -0.09170441 -0.04645518 -0.26506687
+f 1 2 3
+f 1 3 4
+f 5 3 2
+f 6 5 2
+f 6 2 1
+f 8 4 3
+f 8 3 5
+f 8 7 4
+f 9 7 1
+f 9 1 4
+f 9 4 7
+f 10 6 1
+f 10 1 7
+f 10 5 6
+f 10 8 5
+f 10 7 8
\ No newline at end of file
diff --git a/objects/objaverse/wine/wine_2/collision/model_normalized_collision_5.obj b/objects/objaverse/wine/wine_2/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1505c1dcfc973840348f9ab7056911ea2005bab0
--- /dev/null
+++ b/objects/objaverse/wine/wine_2/collision/model_normalized_collision_5.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.01205358 -0.02809396 0.44146847
+v 0.02852353 -0.01032545 0.31041761
+v 0.02821480 0.01369499 0.44146847
+v 0.01121437 0.03094394 0.44146847
+v 0.01126426 0.03101862 0.31058474
+v 0.02843197 -0.01030569 0.44146847
+v 0.01210345 -0.02816856 0.31060478
+v 0.02830146 0.01373113 0.31041121
+v 0.02117098 0.02440080 0.31047101
+v 0.02117081 -0.02211149 0.31048842
+v 0.02110457 0.02433439 0.44146847
+v 0.02110457 -0.02204525 0.44146847
+f 1 3 4
+f 6 2 3
+f 6 3 1
+f 7 1 4
+f 7 4 5
+f 8 3 2
+f 9 5 4
+f 9 3 8
+f 9 8 2
+f 10 1 7
+f 10 2 6
+f 10 9 2
+f 10 7 5
+f 10 5 9
+f 11 9 4
+f 11 4 3
+f 11 3 9
+f 12 10 6
+f 12 6 1
+f 12 1 10
\ No newline at end of file
diff --git a/objects/objaverse/wine/wine_2/collision/model_normalized_collision_6.obj b/objects/objaverse/wine/wine_2/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..707f9659cccef4781e93477b4503620633ec3fa9
--- /dev/null
+++ b/objects/objaverse/wine/wine_2/collision/model_normalized_collision_6.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.03447529 -0.07546873 0.14538399
+v -0.04321005 -0.08854166 0.08328880
+v -0.04651171 0.05213448 0.16393187
+v -0.06336783 0.07736188 0.08319823
+v -0.09145955 -0.03587647 0.12123276
+v -0.05821630 -0.06564824 0.13800453
+v -0.09385274 -0.03686758 0.08337545
+v -0.09280766 0.02912428 0.12237329
+v -0.06416019 -0.07454371 0.08333083
+v -0.09087840 -0.00948336 0.13362287
+v -0.08466283 0.03051806 0.13800453
+v -0.09573261 0.02970600 0.08336726
+v -0.07734082 -0.04748716 0.13285005
+v -0.08385054 -0.05183639 0.08336352
+v -0.09061307 0.01353637 0.13347227
+f 1 2 3
+f 3 2 4
+f 6 2 1
+f 6 1 3
+f 9 2 6
+f 9 7 4
+f 9 4 2
+f 10 8 5
+f 11 3 4
+f 11 4 8
+f 11 10 3
+f 12 7 5
+f 12 5 8
+f 12 8 4
+f 12 4 7
+f 13 9 6
+f 13 5 9
+f 13 10 5
+f 13 6 3
+f 13 3 10
+f 14 9 5
+f 14 5 7
+f 14 7 9
+f 15 11 8
+f 15 8 10
+f 15 10 11
\ No newline at end of file
diff --git a/objects/objaverse/wine/wine_2/collision/model_normalized_collision_7.obj b/objects/objaverse/wine/wine_2/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4dfb00373da3fe2480c2bbfe7a8b49fc0d2bf4e0
--- /dev/null
+++ b/objects/objaverse/wine/wine_2/collision/model_normalized_collision_7.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.05821630 -0.06564824 0.13800453
+v -0.06335134 -0.07333317 -0.49999999
+v -0.06359960 -0.05855320 -0.49999999
+v -0.07027794 -0.05289146 0.13800453
+v -0.07667277 -0.06219172 0.11049818
+v -0.06267138 -0.05793303 0.14317929
+v -0.08284426 -0.05116395 -0.40148194
+v -0.06603174 -0.06280193 0.13445663
+v -0.07796289 -0.05802650 -0.49999999
+v -0.08351502 -0.05161220 0.11174441
+v -0.07922543 -0.06347027 -0.39099987
+v -0.07127102 -0.06804120 -0.49999999
+f 1 2 3
+f 5 2 1
+f 6 1 3
+f 6 3 4
+f 7 4 3
+f 8 5 1
+f 8 1 6
+f 8 6 4
+f 9 7 3
+f 9 3 2
+f 10 4 7
+f 10 8 4
+f 10 5 8
+f 11 2 5
+f 11 7 9
+f 11 10 7
+f 11 5 10
+f 12 11 9
+f 12 9 2
+f 12 2 11
\ No newline at end of file
diff --git a/objects/objaverse/wine/wine_2/collision/model_normalized_collision_8.obj b/objects/objaverse/wine/wine_2/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b03103a033bf32ecb5066c4fcd50e50603b341d
--- /dev/null
+++ b/objects/objaverse/wine/wine_2/collision/model_normalized_collision_8.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.06553727 -0.05372430 0.13802123
+v 0.08831074 -0.03629908 -0.49999999
+v 0.08759641 -0.04776633 -0.00033735
+v 0.07711258 -0.01396343 0.14695897
+v 0.07276403 -0.01309865 -0.49999999
+v 0.09331129 -0.01115822 -0.49999999
+v 0.08708193 -0.03579018 0.12180384
+v 0.07276403 -0.05855320 -0.49999999
+v 0.08622536 -0.00974876 0.13438008
+v 0.07231245 -0.04812727 0.13349187
+v 0.08631412 -0.04687230 -0.39099987
+v 0.08401212 -0.02445999 0.13312405
+v 0.07790890 -0.05186730 -0.49999999
+f 5 1 4
+f 6 3 2
+f 6 2 5
+f 7 3 6
+f 8 3 1
+f 8 5 2
+f 8 1 5
+f 9 6 5
+f 9 5 4
+f 9 7 6
+f 10 1 3
+f 10 3 7
+f 10 4 1
+f 11 2 3
+f 11 3 8
+f 12 9 4
+f 12 7 9
+f 12 10 7
+f 12 4 10
+f 13 11 8
+f 13 8 2
+f 13 2 11
\ No newline at end of file
diff --git a/objects/objaverse/wine/wine_2/collision/model_normalized_collision_9.obj b/objects/objaverse/wine/wine_2/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a7484e0711e07fc1f78fa888fe08bce6591f7cc
--- /dev/null
+++ b/objects/objaverse/wine/wine_2/collision/model_normalized_collision_9.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.00938659 -0.02946370 0.31041761
+v 0.02946465 -0.01956562 0.21738799
+v 0.02830146 0.01373113 0.31041121
+v 0.01126426 0.03101862 0.31058474
+v 0.01008622 0.03709043 0.21812785
+v 0.02490814 -0.01652196 0.31032547
+v 0.01042661 -0.03469472 0.21838545
+v 0.00927620 0.03301653 0.26468495
+v 0.02864336 0.02312253 0.21724130
+v 0.01862437 -0.03040543 0.21738810
+v 0.01780310 0.03328221 0.21717006
+v 0.02117098 0.02440080 0.31047101
+v 0.01558148 -0.02584911 0.31032609
+f 1 3 4
+f 6 2 3
+f 6 3 1
+f 8 1 4
+f 8 4 5
+f 8 7 1
+f 8 5 7
+f 9 3 2
+f 10 1 7
+f 11 5 4
+f 11 9 2
+f 11 2 10
+f 11 10 7
+f 11 7 5
+f 12 4 3
+f 12 3 9
+f 12 11 4
+f 12 9 11
+f 13 6 1
+f 13 1 10
+f 13 10 2
+f 13 2 6
\ No newline at end of file
diff --git a/objects/objaverse/wine/wine_2/model.xml b/objects/objaverse/wine/wine_2/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..40959a4d0f209ef448d3ab252bee40021576dc28
--- /dev/null
+++ b/objects/objaverse/wine/wine_2/model.xml
@@ -0,0 +1,81 @@
+<mujoco model="wine_2">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.19000000000000006 0.19000000000000006 0.19000000000000006" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.19000000000000006 0.19000000000000006 0.19000000000000006" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.19000000000000006 0.19000000000000006 0.19000000000000006" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.19000000000000006 0.19000000000000006 0.19000000000000006" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.19000000000000006 0.19000000000000006 0.19000000000000006" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.19000000000000006 0.19000000000000006 0.19000000000000006" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.19000000000000006 0.19000000000000006 0.19000000000000006" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.19000000000000006 0.19000000000000006 0.19000000000000006" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.19000000000000006 0.19000000000000006 0.19000000000000006" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.19000000000000006 0.19000000000000006 0.19000000000000006" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.19000000000000006 0.19000000000000006 0.19000000000000006" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.19000000000000006 0.19000000000000006 0.19000000000000006" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.19000000000000006 0.19000000000000006 0.19000000000000006" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.19000000000000006 0.19000000000000006 0.19000000000000006" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.19000000000000006 0.19000000000000006 0.19000000000000006" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.19000000000000006 0.19000000000000006 0.19000000000000006" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.19000000000000006 0.19000000000000006 0.19000000000000006" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.19000000000000006 0.19000000000000006 0.19000000000000006" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.19000000000000006 0.19000000000000006 0.19000000000000006" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.19000000000000006 0.19000000000000006 0.19000000000000006" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.19000000000000006 0.19000000000000006 0.19000000000000006" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.19000000000000006 0.19000000000000006 0.19000000000000006" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.19000000000000006 0.19000000000000006 0.19000000000000006" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.19000000000000006 0.19000000000000006 0.19000000000000006" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.19000000000000006 0.19000000000000006 0.19000000000000006" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.19000000000000006 0.19000000000000006 0.19000000000000006" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.19000000000000006 0.19000000000000006 0.19000000000000006" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.19000000000000006 0.19000000000000006 0.19000000000000006" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.19000000000000006 0.19000000000000006 0.19000000000000006" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.19000000000000006 0.19000000000000006 0.19000000000000006" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.19000000000000006 0.19000000000000006 0.19000000000000006" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.19000000000000006 0.19000000000000006 0.19000000000000006" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.19000000000000006 0.19000000000000006 0.19000000000000006" refquat="1.0 0.0 0.0 0.0"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="wire_088088225" 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="wire_088088225"/>
+        <geom solimp="0.998 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="-0.0005384714 0.00022403755000000128 -0.09499999810000002" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="-0.0005384714 0.00022403755000000128 0.09500000380000002" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.017729145100000007 0.018627353000000006 2.8499999984998867e-09" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/objects/objaverse/wine/wine_2/visual/material.mtl b/objects/objaverse/wine/wine_2/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fbcf6b4b1af9257e08a0fd6e283841743ce8fad5
--- /dev/null
+++ b/objects/objaverse/wine/wine_2/visual/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 250.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/objects/objaverse/wine/wine_2/visual/model_normalized_0.obj b/objects/objaverse/wine/wine_2/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad4111afa47f1dea14766fd92b9b8bfffc3ae166
--- /dev/null
+++ b/objects/objaverse/wine/wine_2/visual/model_normalized_0.obj
@@ -0,0 +1,2304 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/objects/objaverse/wine/wine_6/visual/model_normalized_0.obj b/objects/objaverse/wine/wine_6/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..caecf4b8b3ccda82028b813f2b399b78db61cd7a
--- /dev/null
+++ b/objects/objaverse/wine/wine_6/visual/model_normalized_0.obj
@@ -0,0 +1,45535 @@
+# https://github.com/mikedh/trimesh
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