diff --git a/objects/objaverse/cake/.DS_Store b/objects/objaverse/cake/.DS_Store
new file mode 100644
index 0000000000000000000000000000000000000000..5ed16dcccf9d9e84af9a394aa3e699f02e4d4d5a
Binary files /dev/null and b/objects/objaverse/cake/.DS_Store differ
diff --git a/objects/objaverse/cake/cake_9/collision/model_normalized_collision_1.obj b/objects/objaverse/cake/cake_9/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8edd80afb820c6f495b2f3f62a4cb36384b3bae1
--- /dev/null
+++ b/objects/objaverse/cake/cake_9/collision/model_normalized_collision_1.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v 0.04928951 0.10991331 0.09022877
+v 0.10950757 0.14393939 0.04544154
+v 0.08247305 0.15280904 0.16054683
+v -0.00626868 0.16846897 0.18406143
+v -0.02418279 0.16102466 0.06126943
+v 0.10903779 0.17278196 0.11027522
+v -0.00548729 0.11728494 0.14264627
+v 0.07979005 0.12576988 0.12355503
+v -0.02685606 0.11363636 0.04544154
+v 0.10950757 0.15909090 0.04544154
+v 0.01201961 0.14964027 0.17299076
+v 0.06405302 0.11363636 0.04544154
+v 0.01177560 0.11051030 0.13059050
+v 0.10902041 0.16440527 0.12384580
+v -0.03336320 0.15994693 0.16965141
+v 0.04187450 0.12776782 0.15088091
+v 0.08027985 0.15089677 0.16177300
+v -0.02941680 0.13412975 0.16340760
+v 0.05281201 0.11083353 0.08567498
+v 0.09071432 0.13142114 0.10640494
+v -0.01459943 0.10732045 0.08471419
+v 0.06845331 0.12518310 0.13107009
+v 0.00574049 0.15679347 0.17720812
+v -0.02399094 0.12678136 0.15722692
+v -0.03092357 0.10740127 0.11112475
+v 0.10477223 0.14077447 0.08519373
+v 0.00003946 0.16106062 0.17986960
+v 0.09225936 0.13341049 0.10638465
+f 6 4 3
+f 6 5 4
+f 10 5 6
+f 10 9 5
+f 10 2 9
+f 12 9 2
+f 13 1 8
+f 14 6 3
+f 14 3 8
+f 14 10 6
+f 14 2 10
+f 15 4 5
+f 15 5 9
+f 16 7 13
+f 17 3 4
+f 17 11 16
+f 17 8 3
+f 18 4 15
+f 19 12 8
+f 19 8 1
+f 19 1 12
+f 20 8 12
+f 21 12 1
+f 21 9 12
+f 22 16 13
+f 22 13 8
+f 22 17 16
+f 22 8 17
+f 23 17 4
+f 23 11 17
+f 24 16 11
+f 24 11 18
+f 24 7 16
+f 25 18 15
+f 25 15 9
+f 25 24 18
+f 25 9 21
+f 25 7 24
+f 25 13 7
+f 25 21 1
+f 25 1 13
+f 26 2 14
+f 26 20 12
+f 26 12 2
+f 27 18 11
+f 27 11 23
+f 27 23 4
+f 27 4 18
+f 28 26 14
+f 28 20 26
+f 28 14 8
+f 28 8 20
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_9/collision/model_normalized_collision_10.obj b/objects/objaverse/cake/cake_9/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d59602700253b2dbedf5c77bd9e4e99b6c5989e3
--- /dev/null
+++ b/objects/objaverse/cake/cake_9/collision/model_normalized_collision_10.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.13606633 0.17857871 0.10263787
+v 0.15976861 0.24948400 0.08580249
+v 0.14309702 0.24268035 0.16157339
+v 0.13505840 0.34989552 0.11526633
+v 0.13855394 0.31341504 0.07396368
+v 0.15443169 0.27433324 0.13389083
+v 0.13287537 0.24010402 0.16731442
+v 0.15501866 0.22085822 0.12338309
+v 0.13648475 0.18913301 0.08450289
+v 0.15349210 0.30981224 0.08900279
+v 0.14275064 0.30102288 0.16133215
+v 0.13656955 0.20442369 0.14400405
+v 0.14383084 0.18948383 0.08595150
+v 0.15271376 0.26574017 0.13990495
+v 0.15712167 0.23192796 0.10912695
+v 0.14683514 0.31422483 0.08146292
+v 0.15616213 0.29678109 0.10887320
+v 0.13909818 0.29876905 0.16394236
+v 0.15631681 0.25386960 0.08216795
+v 0.14087687 0.34332711 0.12305350
+v 0.13865482 0.34609649 0.11866827
+v 0.13902985 0.34504352 0.12297885
+f 9 4 5
+f 9 7 4
+f 9 1 7
+f 12 7 1
+f 12 3 7
+f 12 8 3
+f 12 1 8
+f 13 8 1
+f 13 1 9
+f 14 8 6
+f 14 3 8
+f 14 11 3
+f 14 6 11
+f 15 2 6
+f 15 6 8
+f 15 13 2
+f 15 8 13
+f 16 5 4
+f 16 4 10
+f 17 6 2
+f 17 2 10
+f 17 11 6
+f 18 7 3
+f 18 3 11
+f 18 4 7
+f 19 13 9
+f 19 9 5
+f 19 2 13
+f 19 5 16
+f 19 16 10
+f 19 10 2
+f 20 17 10
+f 20 11 17
+f 21 20 10
+f 21 10 4
+f 22 18 11
+f 22 11 20
+f 22 4 18
+f 22 21 4
+f 22 20 21
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_9/collision/model_normalized_collision_11.obj b/objects/objaverse/cake/cake_9/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..06edfda412f7e8f967840cedf55c5ab12574a5c0
--- /dev/null
+++ b/objects/objaverse/cake/cake_9/collision/model_normalized_collision_11.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v -0.11690976 0.22757093 0.10135030
+v -0.09576233 0.23973650 0.05561418
+v -0.10203271 0.35391889 0.10261173
+v -0.13568072 0.34807958 0.10231608
+v -0.14806818 0.24999999 0.04544154
+v -0.12220718 0.27936422 0.10545882
+v -0.13291667 0.23484848 0.04544154
+v -0.14846414 0.23515391 0.10118142
+v -0.10261364 0.34090908 0.04544154
+v -0.10198539 0.23447850 0.05727465
+v -0.14147161 0.33235234 0.08308249
+v -0.13827052 0.22920971 0.08206769
+v -0.09550465 0.36015427 0.07073428
+v -0.13942613 0.34150305 0.09440369
+v -0.14806818 0.28030302 0.04544154
+v -0.09233894 0.28671386 0.05805152
+v -0.13291667 0.34090908 0.04544154
+f 1 2 3
+f 6 1 3
+f 6 3 4
+f 8 6 4
+f 8 1 6
+f 9 7 5
+f 9 2 7
+f 10 7 2
+f 10 2 1
+f 12 1 8
+f 12 10 1
+f 12 7 10
+f 12 8 5
+f 12 5 7
+f 13 4 3
+f 14 11 8
+f 14 8 4
+f 15 5 8
+f 15 8 11
+f 15 9 5
+f 16 13 3
+f 16 3 2
+f 16 2 9
+f 16 9 13
+f 17 11 14
+f 17 15 11
+f 17 9 15
+f 17 13 9
+f 17 14 4
+f 17 4 13
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_9/collision/model_normalized_collision_12.obj b/objects/objaverse/cake/cake_9/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe8d5530bf2ed6b6944197f015deb7813bac0d33
--- /dev/null
+++ b/objects/objaverse/cake/cake_9/collision/model_normalized_collision_12.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.03471879 0.31805654 0.24881218
+v 0.04464270 0.34489993 0.21136514
+v 0.02029174 0.38781368 0.19369187
+v -0.01217509 0.40801910 0.17047111
+v -0.11777054 0.31488006 0.17170759
+v 0.00968922 0.39524669 0.18513036
+v -0.01669904 0.36498603 0.22097159
+v 0.01608011 0.35977330 0.22760202
+v -0.10443156 0.30237387 0.19054693
+v -0.09761190 0.36164937 0.17251600
+v -0.03452749 0.35182750 0.22559774
+v -0.05604697 0.39267421 0.17339813
+v -0.10925432 0.32721981 0.17983008
+v -0.04138785 0.30968547 0.23759480
+v -0.03489988 0.37538838 0.20623383
+v -0.07682799 0.32943459 0.20963371
+v -0.07681320 0.30212511 0.21507866
+v -0.06320492 0.35730948 0.20551720
+v -0.08542914 0.34379267 0.19375798
+f 5 4 2
+f 6 3 2
+f 6 2 4
+f 8 1 2
+f 8 2 3
+f 8 4 7
+f 8 6 4
+f 8 3 6
+f 9 5 2
+f 9 2 1
+f 10 4 5
+f 11 8 7
+f 11 1 8
+f 12 4 10
+f 13 10 5
+f 13 5 9
+f 14 1 11
+f 15 7 4
+f 15 4 12
+f 15 11 7
+f 16 14 11
+f 16 13 9
+f 17 9 1
+f 17 1 14
+f 17 16 9
+f 17 14 16
+f 18 15 12
+f 18 12 10
+f 18 11 15
+f 18 16 11
+f 19 10 13
+f 19 13 16
+f 19 18 10
+f 19 16 18
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_9/collision/model_normalized_collision_13.obj b/objects/objaverse/cake/cake_9/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9bf86191b6f09abd2d9b9db402ba2f73c5210069
--- /dev/null
+++ b/objects/objaverse/cake/cake_9/collision/model_normalized_collision_13.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v -0.08363907 0.23526185 0.17511395
+v -0.11690976 0.22757093 0.10135030
+v -0.08893479 0.39560724 0.10611736
+v -0.08488575 0.39995711 0.11577425
+v -0.14541575 0.29441975 0.15561131
+v -0.14207090 0.24453359 0.16140547
+v -0.08663850 0.35798363 0.17459377
+v -0.15617204 0.29872652 0.11182292
+v -0.15686355 0.23076810 0.10662608
+v -0.12034204 0.35541667 0.16121891
+v -0.13785377 0.30653483 0.16409253
+v -0.15900497 0.24452736 0.12321518
+v -0.13568072 0.34807958 0.10231608
+v -0.08736461 0.38569271 0.14740847
+v -0.15326945 0.31147206 0.12497983
+v -0.09402971 0.39262302 0.10061902
+v -0.10600913 0.37798013 0.13917558
+v -0.13232966 0.35344091 0.11149200
+f 1 2 3
+f 1 3 4
+f 7 1 4
+f 9 2 1
+f 9 1 6
+f 11 6 1
+f 11 1 7
+f 11 7 10
+f 11 5 6
+f 12 9 6
+f 12 6 5
+f 12 8 9
+f 13 9 8
+f 13 2 9
+f 14 10 7
+f 14 7 4
+f 15 11 10
+f 15 5 11
+f 15 12 5
+f 15 8 12
+f 15 13 8
+f 16 3 2
+f 16 2 13
+f 16 4 3
+f 17 14 4
+f 17 10 14
+f 17 4 16
+f 18 15 10
+f 18 13 15
+f 18 10 17
+f 18 17 16
+f 18 16 13
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_9/collision/model_normalized_collision_16.obj b/objects/objaverse/cake/cake_9/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8984335720f2baf8b52260d433c48f1ec959d798
--- /dev/null
+++ b/objects/objaverse/cake/cake_9/collision/model_normalized_collision_16.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.08917496 0.15578683 0.15462599
+v 0.09431004 0.16102396 0.13252442
+v 0.08215624 0.19620812 0.18110417
+v -0.02705535 0.19415461 0.19923537
+v -0.03344506 0.15527939 0.12969876
+v 0.03781716 0.20297886 0.20340175
+v 0.09434655 0.18979180 0.16183613
+v -0.03336320 0.15994693 0.16965141
+v 0.05768540 0.16527694 0.17430629
+v 0.09416936 0.18920138 0.13161265
+v -0.04276175 0.16529757 0.14048841
+v -0.00626868 0.16846897 0.18406143
+v 0.02832200 0.18147541 0.19012970
+f 5 2 1
+f 7 1 2
+f 7 3 1
+f 8 5 1
+f 9 1 3
+f 9 3 6
+f 9 8 1
+f 10 7 2
+f 10 2 5
+f 10 4 6
+f 10 6 3
+f 10 3 7
+f 11 8 4
+f 11 5 8
+f 11 10 5
+f 11 4 10
+f 12 6 4
+f 12 4 8
+f 12 8 9
+f 13 12 9
+f 13 9 6
+f 13 6 12
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_9/collision/model_normalized_collision_2.obj b/objects/objaverse/cake/cake_9/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d888d5c946cfbce8dfc237c2e575b0168a2e097f
--- /dev/null
+++ b/objects/objaverse/cake/cake_9/collision/model_normalized_collision_2.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.08676913 0.15256373 0.15623336
+v 0.13981060 0.18939394 0.04544154
+v 0.12634950 0.16493159 0.12351989
+v 0.10883380 0.23082499 0.13911359
+v 0.09274800 0.23476774 0.05882008
+v 0.13710428 0.22840503 0.12597473
+v 0.10950757 0.15909090 0.04544154
+v 0.09434655 0.18979180 0.16183613
+v 0.13326301 0.17464150 0.10866236
+v 0.13550533 0.24092272 0.07779039
+v 0.12465909 0.23484848 0.04544154
+v 0.09240733 0.16193275 0.06442453
+v 0.10949277 0.19001359 0.16165989
+v 0.13981060 0.21969697 0.04544154
+f 7 2 3
+f 7 3 1
+f 8 5 1
+f 8 4 5
+f 9 6 3
+f 9 3 2
+f 9 2 6
+f 10 5 4
+f 10 4 6
+f 11 7 5
+f 11 2 7
+f 11 5 10
+f 12 7 1
+f 12 1 5
+f 12 5 7
+f 13 6 4
+f 13 4 8
+f 13 3 6
+f 13 8 1
+f 13 1 3
+f 14 10 6
+f 14 6 2
+f 14 11 10
+f 14 2 11
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_9/collision/model_normalized_collision_20.obj b/objects/objaverse/cake/cake_9/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..681882faaf2fe86574f6ff325a6bcd102cf364af
--- /dev/null
+++ b/objects/objaverse/cake/cake_9/collision/model_normalized_collision_20.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.20041665 -0.00757576 0.04544154
+v 0.21538468 -0.00757576 0.01071141
+v 0.21538468 0.15909090 0.01071141
+v -0.21323425 0.15909090 0.04470974
+v -0.21538526 -0.00757576 0.01059527
+v 0.20041665 0.15909090 0.04544154
+v -0.21323425 -0.00757576 0.04470974
+v -0.21538526 0.15909090 0.01059527
+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 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/cake/cake_9/collision/model_normalized_collision_22.obj b/objects/objaverse/cake/cake_9/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0521ec35ec350e3c96ddf1a3c0e79df1f39b6a93
--- /dev/null
+++ b/objects/objaverse/cake/cake_9/collision/model_normalized_collision_22.obj
@@ -0,0 +1,15 @@
+# https://github.com/mikedh/trimesh
+v -0.10261364 0.15909090 0.04544154
+v -0.10261364 0.35606060 0.04544154
+v -0.21323425 0.35606060 0.04470974
+v -0.21538526 0.35606060 0.01059527
+v -0.21538526 0.15909090 0.01059527
+v -0.21323425 0.15909090 0.04470974
+f 3 2 4
+f 2 1 4
+f 5 3 4
+f 5 4 1
+f 6 5 1
+f 6 3 5
+f 6 1 2
+f 6 2 3
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_9/collision/model_normalized_collision_23.obj b/objects/objaverse/cake/cake_9/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8d5eadece71a646bd52e83d9adb97a44f6ae5174
--- /dev/null
+++ b/objects/objaverse/cake/cake_9/collision/model_normalized_collision_23.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.09431004 0.16102396 0.13252442
+v 0.09435605 0.15909090 0.04544154
+v 0.11439070 0.23593008 0.13086627
+v -0.10636391 0.22688123 0.14015825
+v -0.08933958 0.16048266 0.12915877
+v -0.08746212 0.23484848 0.04544154
+v 0.10883380 0.23082499 0.13911359
+v 0.09435605 0.23484848 0.04544154
+v -0.08746212 0.15909090 0.04544154
+f 1 2 3
+f 5 2 1
+f 5 1 4
+f 6 4 3
+f 7 1 3
+f 7 3 4
+f 7 4 1
+f 8 6 3
+f 8 3 2
+f 8 2 6
+f 9 5 4
+f 9 4 6
+f 9 6 2
+f 9 2 5
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_9/collision/model_normalized_collision_25.obj b/objects/objaverse/cake/cake_9/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7ab6ed21c61fad4cce7d4a219eced3d03e4bde19
--- /dev/null
+++ b/objects/objaverse/cake/cake_9/collision/model_normalized_collision_25.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.20041665 0.15909090 0.04544154
+v 0.21538468 0.15909090 0.01071141
+v 0.20041665 0.23484848 0.04544154
+v 0.09274800 0.23476774 0.05882008
+v 0.09435605 0.15909090 0.04544154
+v 0.21538468 0.23484848 0.01071141
+v 0.09240733 0.16193275 0.06442453
+v 0.09435605 0.23484848 0.04544154
+f 1 2 3
+f 5 2 1
+f 6 3 2
+f 6 2 5
+f 7 1 3
+f 7 3 4
+f 7 5 1
+f 7 4 5
+f 8 4 3
+f 8 3 6
+f 8 6 5
+f 8 5 4
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_9/collision/model_normalized_collision_26.obj b/objects/objaverse/cake/cake_9/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f9d75d32c4a7012235d6926f9b7872ef1fd9430f
--- /dev/null
+++ b/objects/objaverse/cake/cake_9/collision/model_normalized_collision_26.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.13981060 0.28030302 0.04544154
+v 0.13981060 0.31060605 0.04544154
+v 0.13098900 0.28575595 0.08055280
+v 0.09763683 0.31412047 0.06814309
+v 0.09435605 0.31060605 0.04544154
+v 0.13849909 0.31087529 0.07265769
+v 0.09435605 0.28030302 0.04544154
+v 0.10024747 0.27665172 0.06032064
+v 0.09442118 0.28026266 0.05597095
+f 5 2 1
+f 5 4 2
+f 6 2 4
+f 6 4 3
+f 6 1 2
+f 6 3 1
+f 7 5 1
+f 8 7 1
+f 8 1 3
+f 8 3 4
+f 9 4 5
+f 9 5 7
+f 9 8 4
+f 9 7 8
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_9/collision/model_normalized_collision_28.obj b/objects/objaverse/cake/cake_9/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a6879e90e9b89e09f93832e723f361fafbdc0ba6
--- /dev/null
+++ b/objects/objaverse/cake/cake_9/collision/model_normalized_collision_28.obj
@@ -0,0 +1,18 @@
+# https://github.com/mikedh/trimesh
+v 0.11173291 0.21314852 0.09541386
+v 0.09435605 0.23484848 0.04544154
+v 0.09435605 0.35606060 0.04544154
+v 0.01277999 0.38841315 0.10448930
+v 0.01859848 0.23484848 0.04544154
+v 0.09178154 0.35542210 0.10259641
+v 0.01859848 0.35606060 0.04544154
+f 1 2 3
+f 5 2 1
+f 5 1 4
+f 5 3 2
+f 6 1 3
+f 6 3 4
+f 6 4 1
+f 7 5 4
+f 7 4 3
+f 7 3 5
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_9/collision/model_normalized_collision_29.obj b/objects/objaverse/cake/cake_9/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9ce94bb7042b9c309a0ab8e8ebad40cc04f7e535
--- /dev/null
+++ b/objects/objaverse/cake/cake_9/collision/model_normalized_collision_29.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.01980737 0.21411848 0.19469056
+v 0.01859848 0.23484848 0.04544154
+v 0.02893660 0.37184479 0.18318483
+v -0.08663850 0.35798363 0.17459377
+v -0.08746212 0.23484848 0.04544154
+v -0.08363907 0.23526185 0.17511395
+v 0.00344697 0.35606060 0.04544154
+v 0.01859848 0.35606060 0.04544154
+v -0.08746212 0.35606060 0.04544154
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 6 5 1
+f 6 1 4
+f 6 4 5
+f 7 2 5
+f 8 7 3
+f 8 3 2
+f 8 2 7
+f 9 7 5
+f 9 5 4
+f 9 4 3
+f 9 3 7
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_9/collision/model_normalized_collision_31.obj b/objects/objaverse/cake/cake_9/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..922b15c3870dd13a57310d5a116d9f770063d414
--- /dev/null
+++ b/objects/objaverse/cake/cake_9/collision/model_normalized_collision_31.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.21429726 -0.49579601 0.04307836
+v 0.21124124 -0.49722711 -0.29766837
+v 0.21599502 -0.00757576 -0.18415423
+v -0.21323425 -0.00757576 0.04470974
+v -0.21310945 -0.49704603 0.04309080
+v -0.21438254 -0.00757576 -0.29806633
+v 0.21490050 -0.00757576 0.04315920
+v 0.21536691 -0.49670398 -0.18415423
+v 0.21307836 -0.00757570 -0.29936252
+v -0.21291667 -0.49659825 -0.29759328
+f 5 2 1
+f 5 1 4
+f 6 5 4
+f 7 1 3
+f 7 4 1
+f 8 1 2
+f 8 3 1
+f 9 8 2
+f 9 3 8
+f 9 6 4
+f 9 7 3
+f 9 4 7
+f 10 2 5
+f 10 5 6
+f 10 9 2
+f 10 6 9
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_9/collision/model_normalized_collision_4.obj b/objects/objaverse/cake/cake_9/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..48a81858e7150b1382e9002a2d3c918c105b9375
--- /dev/null
+++ b/objects/objaverse/cake/cake_9/collision/model_normalized_collision_4.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v -0.01767419 0.12357595 0.15217940
+v -0.02082940 0.13531188 0.13524833
+v -0.03613481 0.23641616 0.21982029
+v -0.08586671 0.23894871 0.19807270
+v -0.09245679 0.14764193 0.12469165
+v -0.10636391 0.22688123 0.14015825
+v -0.08229478 0.15215174 0.16177239
+v -0.02380032 0.19047846 0.19513708
+v -0.04499405 0.11511596 0.12720003
+v -0.04276175 0.16529757 0.14048841
+v -0.06333804 0.22609078 0.20620290
+v -0.02983831 0.12978234 0.16183458
+v -0.05666456 0.12388263 0.13620471
+v -0.03539073 0.22398560 0.21467493
+v -0.06154544 0.23757037 0.21132731
+v -0.02399094 0.12678136 0.15722692
+f 6 4 3
+f 6 2 5
+f 7 6 5
+f 7 4 6
+f 8 1 2
+f 8 2 3
+f 9 5 2
+f 9 2 1
+f 10 6 3
+f 10 3 2
+f 10 2 6
+f 11 4 7
+f 13 7 5
+f 13 5 9
+f 13 12 7
+f 13 9 12
+f 14 11 7
+f 14 3 11
+f 14 7 12
+f 14 12 8
+f 14 8 3
+f 15 11 3
+f 15 3 4
+f 15 4 11
+f 16 1 8
+f 16 8 12
+f 16 12 9
+f 16 9 1
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_9/collision/model_normalized_collision_5.obj b/objects/objaverse/cake/cake_9/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4ca8c07bdbeb9f79c1362370f0bc1f54c9864c7b
--- /dev/null
+++ b/objects/objaverse/cake/cake_9/collision/model_normalized_collision_5.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v 0.01918747 0.23463664 0.22369109
+v 0.05590676 0.26206772 0.22645655
+v 0.01427239 0.28743782 0.29996892
+v -0.02398685 0.35053050 0.23244751
+v -0.06825923 0.32778445 0.21536144
+v 0.05464111 0.32457356 0.23223863
+v -0.07121774 0.26915335 0.21564047
+v -0.04922019 0.33451405 0.22763338
+v 0.03257091 0.29316675 0.27215103
+v 0.02580744 0.34883315 0.23562424
+v -0.03613481 0.23641616 0.21982029
+v -0.06897181 0.27519873 0.21938415
+v -0.03000094 0.31636617 0.25160456
+v -0.01989648 0.32808154 0.25229042
+v -0.05480188 0.33508421 0.22110034
+v 0.04981405 0.31866311 0.24077047
+v -0.01713708 0.34968766 0.23689880
+v 0.02573234 0.34497558 0.24074131
+v -0.04213224 0.33969854 0.22290197
+v 0.01259062 0.23700933 0.22839563
+v -0.05802188 0.31436998 0.22761294
+v 0.00083928 0.30221817 0.28212499
+v 0.02086144 0.29988779 0.28444738
+f 1 2 3
+f 6 2 5
+f 7 5 2
+f 7 2 1
+f 9 3 2
+f 9 2 6
+f 10 6 5
+f 11 7 1
+f 11 3 7
+f 12 7 3
+f 12 5 7
+f 13 8 5
+f 13 5 3
+f 14 4 8
+f 15 8 4
+f 15 5 8
+f 16 9 6
+f 16 6 3
+f 16 3 9
+f 17 10 4
+f 17 14 3
+f 17 4 14
+f 18 6 10
+f 18 17 3
+f 18 10 17
+f 19 10 5
+f 19 4 10
+f 19 15 4
+f 19 5 15
+f 20 11 1
+f 20 1 3
+f 20 3 11
+f 21 12 3
+f 21 3 5
+f 21 5 12
+f 22 14 8
+f 22 3 14
+f 22 13 3
+f 22 8 13
+f 23 18 3
+f 23 3 6
+f 23 6 18
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_9/collision/model_normalized_collision_6.obj b/objects/objaverse/cake/cake_9/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f626e0f933c72e1bc9aa987cbfe111eb96f8d60
--- /dev/null
+++ b/objects/objaverse/cake/cake_9/collision/model_normalized_collision_6.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.11173291 0.21314852 0.09541386
+v 0.14129890 0.23162129 0.09925990
+v 0.09178154 0.35542210 0.10259641
+v 0.09435605 0.37121211 0.04544154
+v 0.13981060 0.31060605 0.04544154
+v 0.09899744 0.23377456 0.06247397
+v 0.13166771 0.35480466 0.10487919
+v 0.09438022 0.30690034 0.05926349
+v 0.13550533 0.24092272 0.07779039
+v 0.13981060 0.32575757 0.04544154
+v 0.12688500 0.36033097 0.09564114
+v 0.10950757 0.37121211 0.04544154
+f 1 2 3
+f 6 1 3
+f 6 4 5
+f 7 3 2
+f 8 6 3
+f 8 3 4
+f 8 4 6
+f 9 6 5
+f 9 5 2
+f 9 2 1
+f 9 1 6
+f 10 7 2
+f 10 2 5
+f 10 5 4
+f 11 4 3
+f 11 3 7
+f 11 7 10
+f 12 11 10
+f 12 10 4
+f 12 4 11
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_9/collision/model_normalized_collision_7.obj b/objects/objaverse/cake/cake_9/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..52541bfc73b17ae8bb264932062184732103155d
--- /dev/null
+++ b/objects/objaverse/cake/cake_9/collision/model_normalized_collision_7.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.21490050 0.28030302 0.04315920
+v 0.21538506 0.28030302 0.01063624
+v 0.21488183 0.49582710 0.02830224
+v 0.09435605 0.49709838 0.04371652
+v 0.09438022 0.30690034 0.05926349
+v 0.09435605 0.49801064 0.01052793
+v 0.21539863 0.28030302 0.02729965
+v 0.13981060 0.28030302 0.04544154
+v 0.21429726 0.49579601 0.04307836
+v 0.21259394 0.49746335 0.01050746
+v 0.09435605 0.31060605 0.04544154
+f 7 1 2
+f 7 2 3
+f 7 3 1
+f 8 2 1
+f 8 1 5
+f 9 5 1
+f 9 1 3
+f 9 4 5
+f 10 3 2
+f 10 2 6
+f 10 9 3
+f 10 6 4
+f 10 4 9
+f 11 6 2
+f 11 5 4
+f 11 4 6
+f 11 8 5
+f 11 2 8
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_9/collision/model_normalized_collision_8.obj b/objects/objaverse/cake/cake_9/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ee14b40c14115b7f0bd683e3f57519334292d9a6
--- /dev/null
+++ b/objects/objaverse/cake/cake_9/collision/model_normalized_collision_8.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.11777295 0.19076931 0.16319298
+v 0.13710428 0.22840503 0.12597473
+v 0.03296077 0.24488775 0.22834912
+v -0.03081203 0.24203928 0.22437205
+v -0.04709392 0.16995593 0.14550547
+v 0.13287537 0.24010402 0.16731442
+v 0.13277333 0.20507446 0.13805027
+v -0.06124727 0.20913639 0.17395167
+v 0.00225437 0.19896966 0.20569736
+v 0.06950969 0.22599988 0.20411664
+v 0.12656828 0.19551452 0.15518269
+v 0.02266623 0.22455195 0.21920399
+v -0.03319692 0.20009377 0.20195554
+v -0.00101383 0.20206218 0.20716560
+v 0.05834322 0.19984445 0.19307945
+v -0.03613481 0.23641616 0.21982029
+v -0.03253173 0.23001369 0.21848701
+v -0.03536031 0.21214162 0.20841605
+f 6 2 4
+f 6 4 3
+f 7 5 2
+f 7 2 6
+f 8 4 2
+f 8 2 5
+f 9 5 1
+f 10 6 3
+f 10 1 6
+f 11 1 5
+f 11 5 7
+f 11 7 6
+f 11 6 1
+f 12 3 4
+f 13 8 5
+f 13 5 9
+f 14 12 4
+f 14 9 12
+f 14 13 9
+f 15 10 3
+f 15 3 12
+f 15 1 10
+f 15 12 9
+f 15 9 1
+f 16 4 8
+f 17 14 4
+f 17 4 16
+f 18 16 8
+f 18 8 13
+f 18 17 16
+f 18 13 14
+f 18 14 17
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_9/collision/model_normalized_collision_9.obj b/objects/objaverse/cake/cake_9/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..95464e6044fc659001af71d30520b9befc425b5e
--- /dev/null
+++ b/objects/objaverse/cake/cake_9/collision/model_normalized_collision_9.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.21490050 0.23484848 0.04315920
+v 0.21538506 0.23484848 0.01063624
+v 0.21539863 0.28030302 0.02729965
+v 0.12190832 0.28200336 0.07414613
+v 0.09435605 0.23484848 0.04544154
+v 0.21490050 0.28030302 0.04315920
+v 0.21539863 0.23484848 0.02729965
+v 0.09899744 0.23377456 0.06247397
+v 0.21538506 0.28030302 0.01063624
+v 0.15079292 0.25293144 0.07656047
+v 0.09435605 0.28030302 0.04544154
+v 0.13550533 0.24092272 0.07779039
+v 0.10024747 0.27665172 0.06032064
+f 6 1 3
+f 6 3 4
+f 7 2 3
+f 7 3 1
+f 8 5 2
+f 8 7 1
+f 8 2 7
+f 9 3 2
+f 9 2 5
+f 9 4 3
+f 10 6 4
+f 10 1 6
+f 11 5 8
+f 11 9 5
+f 11 4 9
+f 12 8 1
+f 12 1 10
+f 12 10 4
+f 12 4 8
+f 13 11 8
+f 13 8 4
+f 13 4 11
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_9/model.xml b/objects/objaverse/cake/cake_9/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..c6326db3d1c74c58b9ea5bd1fab49bd634a4de10
--- /dev/null
+++ b/objects/objaverse/cake/cake_9/model.xml
@@ -0,0 +1,81 @@
+<mujoco model="cake_22">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.11999999999999995 0.11999999999999995 0.11999999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.11999999999999995 0.11999999999999995 0.11999999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.11999999999999995 0.11999999999999995 0.11999999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.11999999999999995 0.11999999999999995 0.11999999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.11999999999999995 0.11999999999999995 0.11999999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.11999999999999995 0.11999999999999995 0.11999999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.11999999999999995 0.11999999999999995 0.11999999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.11999999999999995 0.11999999999999995 0.11999999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.11999999999999995 0.11999999999999995 0.11999999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.11999999999999995 0.11999999999999995 0.11999999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.11999999999999995 0.11999999999999995 0.11999999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.11999999999999995 0.11999999999999995 0.11999999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.11999999999999995 0.11999999999999995 0.11999999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.11999999999999995 0.11999999999999995 0.11999999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.11999999999999995 0.11999999999999995 0.11999999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.11999999999999995 0.11999999999999995 0.11999999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.11999999999999995 0.11999999999999995 0.11999999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.11999999999999995 0.11999999999999995 0.11999999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.11999999999999995 0.11999999999999995 0.11999999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.11999999999999995 0.11999999999999995 0.11999999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.11999999999999995 0.11999999999999995 0.11999999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.11999999999999995 0.11999999999999995 0.11999999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.11999999999999995 0.11999999999999995 0.11999999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.11999999999999995 0.11999999999999995 0.11999999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.11999999999999995 0.11999999999999995 0.11999999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.11999999999999995 0.11999999999999995 0.11999999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.11999999999999995 0.11999999999999995 0.11999999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.11999999999999995 0.11999999999999995 0.11999999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.11999999999999995 0.11999999999999995 0.11999999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.11999999999999995 0.11999999999999995 0.11999999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.11999999999999995 0.11999999999999995 0.11999999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.11999999999999995 0.11999999999999995 0.11999999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.11999999999999995 0.11999999999999995 0.11999999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="Cake_Baked" 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="Cake_Baked"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_22._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_23._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_21._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_20._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_24._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_30._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_18._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_19._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_31._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_25._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_27._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_26._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_9._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_8._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_6._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_7._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_5._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_4._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_0._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_1._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_3._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_2._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_17._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_16._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_28._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_14._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_15._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_29._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_11._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_10._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_12._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_13._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+      </body>
+      <site rgba="0 0 0 0" size="0.005" pos="3.207480000000039e-05 4.7011799999998587e-05 -0.035923502399999994" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="3.207480000000039e-05 4.7011799999998587e-05 0.03599627039999998" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.025919402399999993 0.05976127679999998 3.638399999999707e-05" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/objects/objaverse/chips/chips_15/collision/model_normalized_collision_0.obj b/objects/objaverse/chips/chips_15/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0759a5ccfe53b2eb2be51c016f242a97a71bf074
--- /dev/null
+++ b/objects/objaverse/chips/chips_15/collision/model_normalized_collision_0.obj
@@ -0,0 +1,120 @@
+# https://github.com/mikedh/trimesh
+v 0.32571058 -0.44499906 0.05926694
+v 0.32043285 -0.40350458 -0.06275748
+v 0.29986291 -0.26667286 0.04736938
+v 0.18001413 -0.26483206 0.17137692
+v 0.21070907 -0.40609901 -0.10542123
+v 0.25663051 -0.30062491 0.12868350
+v 0.30453220 -0.39957803 -0.08558999
+v 0.18066467 -0.39065420 0.11816981
+v 0.24373964 -0.26520430 -0.13747366
+v 0.28385725 -0.26615718 0.08769727
+v 0.26083457 -0.35405395 0.12599210
+v 0.26955297 -0.39785671 -0.10648003
+v 0.27126700 -0.44847806 0.06846270
+v 0.17863417 -0.30685100 0.16186750
+v 0.29908507 -0.26667404 -0.04898212
+v 0.27303770 -0.26605017 -0.10573623
+v 0.31402644 -0.40495612 0.07278574
+v 0.21690146 -0.26525087 0.15733892
+v 0.27726566 -0.37982206 -0.10991480
+v 0.26574271 -0.38139739 -0.11448198
+v 0.29570862 -0.43672800 0.07969640
+v 0.20698517 -0.30595831 0.15642161
+v 0.26832397 -0.26536051 -0.11187639
+v 0.31657893 -0.39488878 -0.06747518
+v 0.29800117 -0.38096573 0.08945197
+v 0.31632882 -0.39639905 0.06389379
+v 0.26824914 -0.32858516 -0.12082520
+v 0.29149236 -0.39622950 -0.09713115
+v 0.27107855 -0.43470639 0.08415685
+v 0.23890805 -0.37668081 0.12467769
+v 0.31860968 -0.44282277 0.06534835
+v 0.21787031 -0.29374224 0.15500425
+v 0.28298011 -0.26654587 -0.08959324
+v 0.30054628 -0.37494964 -0.08720445
+v 0.26551124 -0.32678488 -0.12312592
+v 0.28907039 -0.41218225 0.09392352
+v 0.17957094 -0.34873090 0.14481382
+v 0.18002392 -0.37645729 0.12841414
+v 0.22267394 -0.34849695 0.14006415
+v 0.19655303 -0.27289645 0.16537544
+v 0.23508850 -0.33656473 0.14056190
+f 1 2 3
+f 7 2 1
+f 9 5 4
+f 12 7 1
+f 12 1 5
+f 13 8 5
+f 13 5 1
+f 14 4 5
+f 14 5 8
+f 15 3 2
+f 18 6 10
+f 18 11 6
+f 20 12 5
+f 20 5 9
+f 20 19 12
+f 22 4 14
+f 23 10 3
+f 23 3 15
+f 23 18 10
+f 23 9 4
+f 23 4 18
+f 24 2 7
+f 25 17 10
+f 25 10 6
+f 25 6 11
+f 25 11 1
+f 25 1 17
+f 26 17 1
+f 26 1 3
+f 26 3 10
+f 26 10 17
+f 27 9 23
+f 28 7 12
+f 28 12 19
+f 28 27 7
+f 28 19 27
+f 29 8 13
+f 29 13 21
+f 30 29 21
+f 31 21 13
+f 31 13 1
+f 31 1 11
+f 32 11 18
+f 33 23 15
+f 33 16 23
+f 33 24 16
+f 33 15 2
+f 33 2 24
+f 34 23 16
+f 34 27 23
+f 34 7 27
+f 34 24 7
+f 34 16 24
+f 35 20 9
+f 35 9 27
+f 35 27 19
+f 35 19 20
+f 36 30 21
+f 36 11 30
+f 36 31 11
+f 36 21 31
+f 38 8 29
+f 38 29 30
+f 38 30 37
+f 38 37 14
+f 38 14 8
+f 39 22 14
+f 39 37 30
+f 39 14 37
+f 40 32 18
+f 40 18 4
+f 40 4 22
+f 40 22 32
+f 41 32 22
+f 41 11 32
+f 41 22 39
+f 41 39 30
+f 41 30 11
\ No newline at end of file
diff --git a/objects/objaverse/chips/chips_15/collision/model_normalized_collision_10.obj b/objects/objaverse/chips/chips_15/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f72da8eedf7f51cabcdb40d0e1b17801e621f726
--- /dev/null
+++ b/objects/objaverse/chips/chips_15/collision/model_normalized_collision_10.obj
@@ -0,0 +1,165 @@
+# https://github.com/mikedh/trimesh
+v 0.19322347 0.23420555 0.16769906
+v 0.20463368 0.23393407 -0.16284289
+v 0.21136439 0.45890392 0.00654664
+v -0.17018254 0.44813806 0.03230297
+v -0.16462920 0.23332887 -0.17836912
+v 0.02845007 0.33202849 0.17017336
+v 0.21092834 0.23484848 0.00687388
+v 0.11719458 0.23188624 0.18794469
+v -0.01784561 0.33099971 -0.17242475
+v 0.19488071 0.37592487 0.12520967
+v 0.17561112 0.23282642 0.17413549
+v 0.21299209 0.43391569 -0.07267603
+v 0.10234367 0.23213977 -0.19084241
+v -0.16473360 0.23317687 0.17704107
+v -0.16887160 0.41786151 -0.08842769
+v 0.19718685 0.43364319 0.07338931
+v 0.17745597 0.31946009 0.15448983
+v 0.21137519 0.39042996 -0.11384709
+v 0.21334109 0.44844556 -0.04842079
+v -0.11939216 0.23191393 -0.18854849
+v 0.17522207 0.23258385 -0.17428110
+v -0.00686788 0.30049037 0.18522963
+v -0.17014308 0.42982315 0.07209966
+v -0.16541182 0.31950297 -0.15764008
+v 0.19741111 0.44766334 0.04707686
+v 0.02518258 0.30404658 0.18561189
+v 0.17490832 0.26163857 0.16997829
+v 0.19113324 0.30538253 0.15609495
+v 0.07117634 0.27463291 -0.18707075
+v -0.16988024 0.44772655 -0.03348754
+v -0.11941330 0.23172929 0.18723836
+v 0.20648484 0.33474264 -0.14289916
+v -0.16748721 0.37489980 0.12590652
+v -0.16734294 0.37497699 -0.12769872
+v -0.16388342 0.27559046 -0.17123746
+v 0.19323768 0.34721122 0.14058213
+v -0.00869685 0.33101857 0.17193015
+v 0.14706499 0.29006205 0.16910187
+v -0.02789972 0.29741947 -0.18778716
+v 0.20454842 0.29198855 -0.15573819
+v 0.01079995 0.30161669 -0.18616856
+v -0.16533601 0.31919872 0.15560013
+v -0.13499497 0.33177467 -0.15589599
+v 0.10171684 0.26058335 0.18484619
+v -0.11894042 0.24662543 -0.18604468
+v -0.05863603 0.28898461 -0.18554309
+v 0.17457024 0.24746217 -0.17237327
+v 0.10187538 0.24678874 -0.18816987
+v 0.19089058 0.30473184 -0.15604749
+v 0.00650044 0.32979826 -0.17106548
+v 0.19313385 0.34608181 -0.14050240
+v -0.07387674 0.27460935 0.18551227
+v -0.07394059 0.31698070 0.16913963
+v -0.16389164 0.27526113 0.16948550
+v 0.11680022 0.24660347 0.18530663
+v -0.11893306 0.24638010 0.18457281
+f 7 3 1
+f 10 1 3
+f 11 7 1
+f 11 2 7
+f 15 12 9
+f 16 10 3
+f 16 6 10
+f 18 12 7
+f 18 7 2
+f 18 9 12
+f 19 3 7
+f 19 7 12
+f 19 12 15
+f 20 13 8
+f 21 11 8
+f 21 8 13
+f 21 2 11
+f 23 5 14
+f 25 16 3
+f 25 3 4
+f 25 23 16
+f 25 4 23
+f 26 10 6
+f 27 8 11
+f 27 11 1
+f 28 27 1
+f 30 19 15
+f 30 4 3
+f 30 3 19
+f 30 23 4
+f 30 15 5
+f 30 5 23
+f 31 20 8
+f 31 14 5
+f 31 5 20
+f 31 26 22
+f 31 8 26
+f 32 18 2
+f 33 23 14
+f 34 15 9
+f 34 24 5
+f 34 5 15
+f 35 20 5
+f 35 5 24
+f 36 26 17
+f 36 10 26
+f 36 17 28
+f 36 28 1
+f 36 1 10
+f 37 26 6
+f 37 22 26
+f 37 6 16
+f 37 16 23
+f 37 23 33
+f 38 28 17
+f 38 17 26
+f 38 27 28
+f 39 13 20
+f 40 32 2
+f 40 2 21
+f 41 32 29
+f 41 39 9
+f 41 29 13
+f 41 13 39
+f 42 37 33
+f 42 33 14
+f 43 34 9
+f 43 24 34
+f 43 39 24
+f 43 9 39
+f 44 38 26
+f 44 26 8
+f 45 39 20
+f 45 20 35
+f 46 35 24
+f 46 24 39
+f 46 45 35
+f 46 39 45
+f 47 40 21
+f 47 21 13
+f 48 13 29
+f 48 47 13
+f 49 29 32
+f 49 32 40
+f 49 48 29
+f 49 40 47
+f 49 47 48
+f 50 41 9
+f 50 9 18
+f 51 18 32
+f 51 32 41
+f 51 50 18
+f 51 41 50
+f 52 31 22
+f 52 22 42
+f 53 42 22
+f 53 22 37
+f 53 37 42
+f 54 42 14
+f 54 14 31
+f 54 52 42
+f 55 44 8
+f 55 8 27
+f 55 27 38
+f 55 38 44
+f 56 54 31
+f 56 31 52
+f 56 52 54
\ No newline at end of file
diff --git a/objects/objaverse/chips/chips_15/collision/model_normalized_collision_12.obj b/objects/objaverse/chips/chips_15/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..35eaa8788df4274b96b973582a64a223e1bde0a2
--- /dev/null
+++ b/objects/objaverse/chips/chips_15/collision/model_normalized_collision_12.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v -0.13625182 -0.26301277 0.17977438
+v -0.13755650 -0.26515151 0.11293448
+v -0.13755650 0.23484848 0.11293448
+v -0.27354690 0.35602396 0.11243713
+v -0.27005858 -0.26513202 0.10924338
+v -0.13430441 0.20278468 0.18838298
+v -0.22025928 -0.26442002 0.15488507
+v -0.16823938 0.36775608 0.13061568
+v -0.13451446 -0.21735541 0.18803027
+v -0.20364023 0.08273777 0.17022387
+v -0.26198125 -0.26389476 0.11946782
+v -0.13651522 0.23391456 0.18348892
+v -0.17802313 -0.26182679 0.17145661
+v -0.21946346 0.24865169 0.15503195
+v -0.20376611 -0.12774511 0.17033140
+v -0.22381838 0.33490249 0.13932263
+v -0.16166041 0.15790002 0.18513395
+v -0.17825529 0.26130018 0.16904966
+v -0.19044430 -0.23357465 0.17106933
+v -0.16625574 0.34743163 0.14244881
+v -0.25208867 0.35140097 0.12563414
+v -0.19048862 0.21823005 0.17041292
+v -0.16188334 -0.17286872 0.18557569
+v -0.14811948 0.20253375 0.18516345
+v -0.19383598 0.30553341 0.15520310
+v -0.26670818 0.35525208 0.11750628
+v -0.23707096 0.32095416 0.13903515
+v -0.19565929 0.34727549 0.13954091
+v -0.14832467 -0.21711125 0.18510988
+v -0.16396702 0.26194861 0.17234904
+f 5 3 2
+f 5 4 3
+f 6 2 3
+f 7 5 2
+f 7 2 1
+f 8 3 4
+f 9 1 2
+f 9 2 6
+f 11 4 5
+f 11 5 7
+f 12 6 3
+f 12 3 8
+f 13 7 1
+f 13 1 9
+f 14 4 10
+f 15 10 4
+f 15 11 7
+f 15 4 11
+f 19 15 7
+f 19 7 13
+f 20 12 8
+f 22 14 10
+f 22 10 17
+f 23 17 10
+f 23 10 15
+f 23 9 6
+f 23 6 17
+f 23 15 19
+f 24 6 12
+f 24 12 18
+f 24 18 22
+f 24 22 17
+f 24 17 6
+f 26 21 8
+f 26 8 4
+f 26 4 14
+f 27 16 21
+f 27 25 16
+f 27 18 25
+f 27 22 18
+f 27 14 22
+f 27 26 14
+f 27 21 26
+f 28 20 8
+f 28 8 21
+f 28 21 16
+f 28 25 20
+f 28 16 25
+f 29 23 19
+f 29 19 13
+f 29 13 9
+f 29 9 23
+f 30 25 18
+f 30 18 12
+f 30 12 20
+f 30 20 25
\ No newline at end of file
diff --git a/objects/objaverse/chips/chips_15/collision/model_normalized_collision_13.obj b/objects/objaverse/chips/chips_15/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ba3f04fa84a092fcf2d9108f5bc256349b0399e3
--- /dev/null
+++ b/objects/objaverse/chips/chips_15/collision/model_normalized_collision_13.obj
@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
+v -0.18545497 -0.45914633 0.01909532
+v -0.16785893 -0.39849521 -0.11057743
+v -0.16629683 -0.42445953 0.08544704
+v -0.31407987 -0.40735382 0.06722080
+v -0.37240498 -0.49606202 0.00069052
+v -0.16992197 -0.44380484 -0.05783534
+v -0.28542985 -0.39677233 -0.10133959
+v -0.26240543 -0.46122365 0.05517090
+v -0.16902548 -0.43411083 -0.07342748
+v -0.16999721 -0.44425742 0.05681913
+v -0.18530529 -0.45908857 -0.02079866
+v -0.33124601 -0.42375766 -0.04598221
+v -0.32851800 -0.47683069 -0.03975505
+v -0.32169769 -0.48557482 0.02207543
+v -0.33004293 -0.46889278 0.04796768
+v -0.35965302 -0.48571510 -0.02229935
+v -0.33142464 -0.42412252 0.04664262
+v -0.31515861 -0.40607129 -0.06572564
+v -0.28422112 -0.43381045 -0.08399582
+v -0.27913228 -0.46168103 -0.05588201
+v -0.32186207 -0.48562630 -0.02347512
+v -0.20069310 -0.45932347 0.03096331
+v -0.36018401 -0.48613463 0.02313398
+v -0.32820042 -0.47785895 0.03951817
+v -0.37099022 -0.49008304 -0.00358267
+v -0.30063028 -0.40166138 -0.08874634
+v -0.28415151 -0.41025903 -0.09677684
+v -0.23057519 -0.43060532 -0.08503336
+v -0.35685250 -0.48782204 -0.01882599
+v -0.20037131 -0.45910889 -0.03128097
+v -0.35681670 -0.48843433 0.01841483
+v -0.37120381 -0.48975023 0.00453133
+v -0.31133737 -0.47491893 0.04123944
+v -0.30366317 -0.41163295 -0.08444851
+v -0.16825143 -0.40639307 -0.10389268
+f 3 2 4
+f 7 4 2
+f 9 2 3
+f 9 3 6
+f 10 6 3
+f 10 3 8
+f 11 1 5
+f 11 10 1
+f 11 6 10
+f 14 5 1
+f 14 10 8
+f 15 8 3
+f 15 3 4
+f 18 4 7
+f 18 17 4
+f 18 12 17
+f 19 13 16
+f 20 9 6
+f 20 13 19
+f 21 11 5
+f 21 20 6
+f 21 13 20
+f 22 14 1
+f 22 1 10
+f 22 10 14
+f 23 15 4
+f 23 4 17
+f 24 8 15
+f 24 15 23
+f 25 16 5
+f 25 12 16
+f 26 16 12
+f 26 12 18
+f 26 18 7
+f 27 7 2
+f 27 2 19
+f 27 19 16
+f 27 16 7
+f 28 20 19
+f 28 9 20
+f 29 16 13
+f 29 13 21
+f 29 21 5
+f 29 5 16
+f 30 21 6
+f 30 6 11
+f 30 11 21
+f 31 23 5
+f 31 5 14
+f 31 24 23
+f 31 14 24
+f 32 23 17
+f 32 5 23
+f 32 25 5
+f 32 17 12
+f 32 12 25
+f 33 24 14
+f 33 14 8
+f 33 8 24
+f 34 26 7
+f 34 7 16
+f 34 16 26
+f 35 28 19
+f 35 19 2
+f 35 2 9
+f 35 9 28
\ No newline at end of file
diff --git a/objects/objaverse/chips/chips_15/collision/model_normalized_collision_14.obj b/objects/objaverse/chips/chips_15/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1e7a36467803caa337c06fe24e4acff6bb28ccc7
--- /dev/null
+++ b/objects/objaverse/chips/chips_15/collision/model_normalized_collision_14.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v -0.02241216 -0.42336561 0.06299612
+v -0.02099455 -0.41508063 0.06674185
+v -0.06164247 -0.38413702 0.12553483
+v -0.29191842 -0.39602774 0.09818569
+v -0.32589774 -0.42329197 0.06018207
+v -0.31312293 -0.40602847 0.06747673
+v -0.03223898 -0.40908084 0.09404934
+v -0.16838569 -0.38003601 0.12597678
+v -0.30163444 -0.40134973 0.09133500
+v -0.02355711 -0.41441020 0.08104603
+v -0.31508725 -0.45641733 0.06124201
+v -0.02323116 -0.41747580 0.07520005
+v -0.23270560 -0.45093408 0.05821683
+v -0.32876758 -0.44606850 0.05792449
+v -0.26955345 -0.41989468 0.09570499
+v -0.29466891 -0.41122457 0.09310801
+v -0.06211106 -0.40430483 0.10313070
+v -0.10860296 -0.43515400 0.06132124
+v -0.31493849 -0.41726223 0.07518280
+v -0.21481453 -0.41728984 0.09709261
+v -0.31481152 -0.45152897 0.06543808
+v -0.06084821 -0.40886461 0.09734095
+v -0.10883733 -0.42879529 0.07360848
+v -0.31693501 -0.44148916 0.06762509
+v -0.30091675 -0.43537897 0.07956763
+f 6 2 1
+f 6 1 5
+f 8 3 2
+f 8 2 6
+f 8 6 4
+f 9 6 5
+f 9 4 6
+f 10 1 2
+f 10 2 3
+f 10 3 7
+f 12 10 7
+f 12 1 10
+f 13 5 1
+f 13 7 11
+f 14 13 11
+f 14 5 13
+f 15 8 4
+f 15 3 8
+f 16 4 9
+f 16 9 14
+f 16 15 4
+f 17 7 3
+f 17 3 11
+f 18 13 1
+f 18 1 12
+f 18 12 7
+f 19 14 9
+f 19 9 5
+f 19 5 14
+f 20 15 11
+f 20 11 3
+f 20 3 15
+f 21 14 11
+f 21 11 15
+f 22 17 11
+f 22 11 7
+f 22 7 17
+f 23 18 7
+f 23 7 13
+f 23 13 18
+f 24 21 16
+f 24 16 14
+f 24 14 21
+f 25 21 15
+f 25 15 16
+f 25 16 21
\ No newline at end of file
diff --git a/objects/objaverse/chips/chips_15/collision/model_normalized_collision_15.obj b/objects/objaverse/chips/chips_15/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed30287aafdb08cce075422d705f57aaef1db332
--- /dev/null
+++ b/objects/objaverse/chips/chips_15/collision/model_normalized_collision_15.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.28590974 -0.26520890 -0.08364034
+v 0.27303770 -0.26605017 -0.10573623
+v 0.27198215 0.23559354 -0.10507323
+v 0.18062531 0.23484848 -0.08403521
+v 0.18062531 -0.26515151 -0.08403521
+v 0.17531419 0.21813420 -0.17584575
+v 0.28469254 0.23498753 -0.08303962
+v 0.20153116 0.12740922 -0.17133608
+v 0.17977403 0.23449169 -0.17245269
+v 0.17928850 -0.26430390 -0.16988359
+v 0.18847123 0.21805422 -0.17122689
+v 0.21657290 -0.26477005 -0.15671703
+v 0.17587399 -0.23328515 -0.17528729
+v 0.21577495 0.23347221 -0.15661414
+v 0.20133657 -0.08277282 -0.17190830
+v 0.18886790 -0.23344016 -0.17110027
+f 1 2 3
+f 5 2 1
+f 6 5 4
+f 7 1 3
+f 7 3 4
+f 7 5 1
+f 7 4 5
+f 8 3 2
+f 9 6 4
+f 9 4 3
+f 10 2 5
+f 11 8 6
+f 11 6 9
+f 12 2 10
+f 13 10 5
+f 13 5 6
+f 14 11 9
+f 14 9 3
+f 14 3 8
+f 14 8 11
+f 15 8 2
+f 15 2 12
+f 15 13 6
+f 15 6 8
+f 16 12 10
+f 16 10 13
+f 16 15 12
+f 16 13 15
\ No newline at end of file
diff --git a/objects/objaverse/chips/chips_15/collision/model_normalized_collision_16.obj b/objects/objaverse/chips/chips_15/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c3cde531baae0aa4a96d6e74eb25406fa57d22cf
--- /dev/null
+++ b/objects/objaverse/chips/chips_15/collision/model_normalized_collision_16.obj
@@ -0,0 +1,138 @@
+# https://github.com/mikedh/trimesh
+v 0.37234393 -0.49311447 0.00003758
+v 0.21098982 -0.40004332 0.11107546
+v 0.31143686 -0.45107492 0.06622281
+v 0.21134435 -0.40833223 0.10428121
+v 0.21090893 -0.39892468 -0.11065883
+v 0.27046604 -0.41961809 0.09556870
+v 0.18260349 -0.44434560 0.05695358
+v 0.22683072 -0.41708047 0.09697363
+v 0.32021144 -0.40378120 0.06099603
+v 0.31953338 -0.47517975 0.04332214
+v 0.21287342 -0.46124022 -0.03204546
+v 0.18136646 -0.44030988 0.06353613
+v 0.28089977 -0.39758968 -0.10229556
+v 0.26983133 -0.39883025 0.10710122
+v 0.35027790 -0.47100284 0.03400606
+v 0.33521222 -0.49166937 0.01483959
+v 0.17889078 -0.45944905 0.00908486
+v 0.30319747 -0.47186325 -0.04506291
+v 0.22772224 -0.43001163 0.08362461
+v 0.32959094 -0.40978558 -0.03455604
+v 0.30453220 -0.39957803 -0.08558999
+v 0.36275327 -0.48443547 0.01704750
+v 0.33873839 -0.47878224 0.03565407
+v 0.33484782 -0.45640016 0.04913637
+v 0.21259749 -0.44807159 -0.05965905
+v 0.21317582 -0.46019484 0.03029906
+v 0.33411581 -0.49195808 -0.01687597
+v 0.32703156 -0.46494938 -0.05155598
+v 0.32935345 -0.41032555 0.03271686
+v 0.31432138 -0.40438991 -0.07474639
+v 0.37240499 -0.49309562 0.00004336
+v 0.32892408 -0.43416171 0.05505846
+v 0.21141760 -0.40770531 -0.10420732
+v 0.18090444 -0.46011511 0.00662605
+v 0.32972247 -0.47686953 -0.03937326
+v 0.30454114 -0.42603298 -0.08004089
+v 0.29584102 -0.43561867 -0.07981337
+v 0.35679393 -0.48331297 -0.02387761
+v 0.34315395 -0.43793032 0.02895414
+v 0.34304673 -0.43774279 -0.03007347
+v 0.34536302 -0.46486333 0.03936341
+v 0.22792374 -0.43046469 -0.08457748
+v 0.28185986 -0.40889503 -0.09773850
+v 0.31867575 -0.44131078 -0.06585281
+v 0.36165289 -0.48454369 -0.01842218
+v 0.34116685 -0.49176685 -0.01627797
+v 0.24223985 -0.44324441 -0.07105746
+f 6 2 4
+f 8 6 4
+f 10 3 6
+f 10 6 8
+f 12 4 2
+f 12 2 5
+f 12 7 10
+f 14 2 6
+f 14 6 3
+f 14 13 5
+f 14 5 2
+f 16 10 7
+f 17 12 5
+f 17 7 12
+f 19 8 4
+f 19 4 12
+f 19 12 10
+f 19 10 8
+f 21 14 9
+f 21 13 14
+f 21 9 20
+f 22 9 15
+f 23 15 3
+f 23 3 10
+f 23 22 15
+f 23 10 16
+f 23 16 1
+f 24 14 3
+f 26 17 16
+f 26 16 7
+f 26 7 17
+f 27 25 18
+f 27 11 25
+f 27 1 16
+f 29 20 9
+f 30 21 20
+f 31 9 22
+f 31 20 29
+f 31 23 1
+f 31 22 23
+f 32 9 14
+f 32 14 24
+f 33 25 17
+f 33 17 5
+f 34 25 11
+f 34 17 25
+f 34 11 27
+f 34 27 16
+f 34 16 17
+f 35 27 18
+f 35 18 28
+f 36 13 21
+f 37 36 28
+f 37 33 5
+f 37 28 18
+f 38 21 30
+f 38 35 28
+f 38 31 1
+f 39 31 29
+f 39 29 9
+f 39 9 31
+f 40 31 30
+f 40 30 20
+f 40 20 31
+f 41 32 24
+f 41 15 9
+f 41 9 32
+f 41 24 3
+f 41 3 15
+f 42 25 33
+f 42 37 18
+f 42 33 37
+f 43 37 5
+f 43 5 13
+f 43 13 36
+f 43 36 37
+f 44 36 21
+f 44 21 38
+f 44 38 28
+f 44 28 36
+f 45 38 30
+f 45 30 31
+f 45 31 38
+f 46 38 1
+f 46 1 27
+f 46 27 35
+f 46 35 38
+f 47 42 18
+f 47 18 25
+f 47 25 42
\ No newline at end of file
diff --git a/objects/objaverse/chips/chips_15/collision/model_normalized_collision_17.obj b/objects/objaverse/chips/chips_15/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e1a85482f6e636c833db4d8a6ebc6b798e976f43
--- /dev/null
+++ b/objects/objaverse/chips/chips_15/collision/model_normalized_collision_17.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v -0.16061788 -0.45637373 0.01553871
+v -0.16785747 -0.39109820 -0.11651723
+v -0.16785953 -0.26515151 0.00687388
+v -0.30584155 -0.26558280 0.00593170
+v -0.31272958 -0.40639838 -0.07596803
+v -0.16724731 -0.26452717 -0.17219221
+v -0.26914857 -0.39127025 -0.11028576
+v -0.31301940 -0.40188216 0.00480210
+v -0.20721184 -0.26377508 -0.16059180
+v -0.16602129 -0.30557639 -0.16189095
+v -0.27514193 -0.26622718 -0.10532259
+v -0.28605386 -0.37094573 -0.10599905
+v -0.23716803 -0.32352897 -0.14066815
+v -0.16680609 -0.34720165 -0.14442553
+v -0.30185986 -0.26685016 -0.04872379
+v -0.28822616 -0.39571417 -0.09976347
+v -0.23426154 -0.26505332 -0.14522694
+v -0.20725593 -0.29223908 -0.15686868
+v -0.25390765 -0.36590750 -0.12396562
+v -0.16755724 -0.37517554 -0.12783770
+v -0.28588096 -0.28109138 -0.08995865
+v -0.27483887 -0.34552530 -0.11500731
+v -0.19416232 -0.30492775 -0.15737685
+v -0.27697574 -0.36842039 -0.11275506
+v -0.19638161 -0.34720284 -0.14205064
+v -0.19809879 -0.37550243 -0.12674998
+f 1 3 4
+f 6 3 1
+f 7 2 1
+f 8 5 1
+f 8 1 4
+f 8 4 5
+f 9 4 3
+f 9 3 6
+f 10 6 1
+f 11 4 9
+f 12 5 11
+f 14 10 1
+f 15 5 4
+f 15 4 11
+f 16 5 12
+f 16 7 1
+f 16 1 5
+f 17 11 9
+f 17 9 13
+f 18 13 9
+f 18 9 6
+f 20 14 1
+f 20 1 2
+f 21 15 11
+f 21 11 5
+f 21 5 15
+f 22 12 11
+f 22 11 17
+f 23 18 6
+f 23 6 10
+f 23 13 18
+f 23 19 13
+f 24 19 7
+f 24 7 16
+f 24 16 12
+f 24 13 19
+f 24 12 22
+f 24 22 17
+f 24 17 13
+f 25 7 19
+f 25 10 14
+f 25 23 10
+f 25 19 23
+f 26 20 2
+f 26 2 7
+f 26 14 20
+f 26 25 14
+f 26 7 25
\ No newline at end of file
diff --git a/objects/objaverse/chips/chips_15/collision/model_normalized_collision_18.obj b/objects/objaverse/chips/chips_15/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0337fa4e77aaa68ad54c3a7c7b28b897172cb077
--- /dev/null
+++ b/objects/objaverse/chips/chips_15/collision/model_normalized_collision_18.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v 0.21105012 -0.43031761 -0.08271283
+v 0.27265137 -0.40331386 -0.10302867
+v 0.21092834 -0.26515151 -0.08403521
+v -0.16785953 -0.26515151 -0.08403521
+v -0.16593889 -0.31932317 -0.15684673
+v -0.16812325 -0.42792163 -0.08091766
+v 0.27550999 -0.26488974 -0.10169240
+v -0.16755724 -0.37517554 -0.12783770
+v 0.04256974 -0.26133023 -0.19096091
+v -0.16859313 -0.42078875 -0.08987260
+v 0.00570279 -0.33368175 -0.17299280
+v 0.20608011 -0.26376864 -0.16164914
+v -0.16418581 -0.26140505 -0.17358155
+v 0.16218604 -0.26177122 -0.17401510
+v 0.21155939 -0.42361911 -0.09009602
+v 0.26084214 -0.35236528 -0.12552759
+v -0.02838077 -0.28926028 -0.18614138
+v 0.13267033 -0.28913723 -0.17106246
+v -0.05981926 -0.26103170 -0.18948394
+v 0.23223418 -0.26547924 -0.14701862
+v 0.20610104 -0.29208743 -0.15760177
+v 0.19417477 -0.34708287 -0.14163916
+v 0.01191494 -0.28938846 -0.18730220
+v 0.16229443 -0.27568303 -0.17080321
+v -0.13529600 -0.28941588 -0.17125172
+v 0.26167221 -0.26548403 -0.12009621
+v 0.25108436 -0.36451129 -0.12543040
+v 0.04168106 -0.27586671 -0.18734490
+v -0.05915239 -0.27507077 -0.18587050
+v -0.16426421 -0.27644041 -0.17034243
+v 0.25690275 -0.31283595 -0.12920990
+v 0.26656901 -0.39234725 -0.10979739
+f 6 1 3
+f 6 3 4
+f 7 1 2
+f 7 3 1
+f 8 4 5
+f 10 6 4
+f 10 4 8
+f 10 1 6
+f 11 10 8
+f 11 8 5
+f 13 5 4
+f 13 4 3
+f 14 3 7
+f 14 7 12
+f 14 13 3
+f 15 11 2
+f 15 2 1
+f 15 1 10
+f 15 10 11
+f 16 7 2
+f 17 11 5
+f 19 14 9
+f 19 13 14
+f 20 16 12
+f 21 14 12
+f 21 12 16
+f 22 11 18
+f 23 11 17
+f 23 18 11
+f 23 19 9
+f 23 17 19
+f 24 9 14
+f 24 14 21
+f 24 22 18
+f 24 21 22
+f 25 17 5
+f 26 20 12
+f 26 12 7
+f 27 22 21
+f 27 21 16
+f 28 23 9
+f 28 9 24
+f 28 24 18
+f 28 18 23
+f 29 25 19
+f 29 19 17
+f 29 17 25
+f 30 25 5
+f 30 5 13
+f 30 13 19
+f 30 19 25
+f 31 26 7
+f 31 7 16
+f 31 16 20
+f 31 20 26
+f 32 27 16
+f 32 16 2
+f 32 2 11
+f 32 11 22
+f 32 22 27
\ No newline at end of file
diff --git a/objects/objaverse/chips/chips_15/collision/model_normalized_collision_19.obj b/objects/objaverse/chips/chips_15/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..69543562441512b58baa631d12c836abffa92748
--- /dev/null
+++ b/objects/objaverse/chips/chips_15/collision/model_normalized_collision_19.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.26383347 -0.26569830 0.11673621
+v -0.21331408 -0.21969697 0.06747994
+v -0.23801540 0.23467988 0.14269281
+v -0.27330148 0.23587378 0.10343349
+v -0.29570862 -0.26613982 0.06399804
+v -0.21331408 0.23484848 0.06747994
+v -0.23939278 -0.21909739 0.14110517
+v -0.27442745 -0.26525351 0.10401496
+v -0.29287258 0.23541081 0.06336885
+v -0.29116101 -0.26648166 0.07555579
+v -0.28838414 0.23557355 0.07569149
+f 1 3 4
+f 5 2 1
+f 6 3 2
+f 6 4 3
+f 7 1 2
+f 7 2 3
+f 7 3 1
+f 8 1 4
+f 9 6 2
+f 9 2 5
+f 10 5 1
+f 10 1 8
+f 10 8 4
+f 11 9 5
+f 11 5 10
+f 11 10 4
+f 11 4 6
+f 11 6 9
\ No newline at end of file
diff --git a/objects/objaverse/chips/chips_15/collision/model_normalized_collision_2.obj b/objects/objaverse/chips/chips_15/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7bcc473024381ad80a8e5ad99a32f303d8e5a699
--- /dev/null
+++ b/objects/objaverse/chips/chips_15/collision/model_normalized_collision_2.obj
@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
+v 0.21300894 -0.46445688 0.00496884
+v 0.21173967 -0.43697234 -0.07522495
+v 0.23991157 -0.26462747 0.13852631
+v -0.16466435 -0.26203142 0.17458738
+v -0.16940473 -0.44858137 -0.04864902
+v -0.16785953 -0.26515151 -0.08403521
+v 0.21084674 -0.38325987 0.12319887
+v 0.21287342 -0.46124022 -0.03204546
+v 0.21092834 -0.26515151 -0.08403521
+v -0.16947085 -0.44876606 0.04722119
+v -0.16902548 -0.43411083 -0.07342748
+v 0.21176366 -0.43635718 0.07394718
+v 0.07278422 -0.26120390 0.18904454
+v 0.21259749 -0.44807159 -0.05965905
+v -0.16753778 -0.37639478 0.12846451
+v 0.21083564 -0.39279600 0.11660083
+v 0.18207190 -0.44931883 0.04699378
+v 0.19255671 -0.30679577 0.15950490
+v 0.17651584 -0.26249325 0.17271044
+v -0.07503690 -0.26135868 0.18900572
+v -0.00535839 -0.33231640 0.17123535
+v -0.16782746 -0.39227382 0.11680286
+v 0.16252558 -0.28994596 0.16939604
+v -0.16608719 -0.32030782 0.15801092
+v 0.01029959 -0.30328216 0.18509170
+v 0.17644173 -0.27673784 0.17000884
+v -0.15025486 -0.29009573 0.17039400
+v -0.15117297 -0.33194229 0.15460883
+v -0.01286156 -0.30311519 0.18492523
+v 0.07227271 -0.27542113 0.18535167
+v 0.19282969 -0.31989162 0.15528630
+v -0.16462622 -0.27700839 0.17149790
+v -0.12010542 -0.30284493 0.17052934
+v -0.07445870 -0.27550825 0.18545761
+v 0.14859106 -0.33217326 0.15529917
+f 8 3 1
+f 8 1 5
+f 9 3 2
+f 9 2 6
+f 10 6 5
+f 10 5 1
+f 11 6 2
+f 11 5 6
+f 12 1 3
+f 13 9 6
+f 14 2 3
+f 14 3 8
+f 14 8 5
+f 14 11 2
+f 14 5 11
+f 15 6 10
+f 16 12 3
+f 16 3 7
+f 17 12 10
+f 17 10 1
+f 17 1 12
+f 18 7 3
+f 19 3 9
+f 19 9 13
+f 19 18 3
+f 20 13 6
+f 20 6 4
+f 21 16 7
+f 22 15 10
+f 22 10 12
+f 22 12 16
+f 22 21 15
+f 22 16 21
+f 24 4 6
+f 24 6 15
+f 25 13 20
+f 25 21 7
+f 26 19 13
+f 26 13 23
+f 26 23 18
+f 26 18 19
+f 28 24 15
+f 28 15 21
+f 29 21 25
+f 29 28 21
+f 29 24 28
+f 29 25 20
+f 30 25 23
+f 30 23 13
+f 30 13 25
+f 31 18 23
+f 31 23 25
+f 31 7 18
+f 32 27 20
+f 32 20 4
+f 32 4 24
+f 32 24 27
+f 33 27 24
+f 33 24 29
+f 34 29 20
+f 34 20 27
+f 34 33 29
+f 34 27 33
+f 35 31 25
+f 35 25 7
+f 35 7 31
\ No newline at end of file
diff --git a/objects/objaverse/chips/chips_15/collision/model_normalized_collision_22.obj b/objects/objaverse/chips/chips_15/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd706c5da4df722894c142e848ccea33e594c3b9
--- /dev/null
+++ b/objects/objaverse/chips/chips_15/collision/model_normalized_collision_22.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.10486774 -0.26515151 -0.09918673
+v 0.10389590 -0.26305231 -0.18257576
+v 0.10486774 -0.14393939 -0.09918673
+v -0.13755650 -0.14393939 -0.09918673
+v -0.13755650 -0.26515151 -0.09918673
+v 0.05815469 -0.14270642 -0.20544204
+v 0.10415394 -0.14352298 -0.20011136
+v -0.13504651 -0.14309066 -0.19395004
+v 0.10242235 -0.24599785 -0.18682370
+v -0.13573814 -0.26215487 -0.17867088
+v -0.06046236 -0.14274165 -0.20523905
+v 0.05802693 -0.15777590 -0.20421899
+v -0.07469362 -0.26042595 -0.18773646
+v -0.13403465 -0.21689113 -0.18707259
+v -0.01611940 -0.18786085 -0.20382433
+v 0.07226670 -0.26018979 -0.18752126
+v -0.06034591 -0.15779055 -0.20405962
+v -0.10478282 -0.24617931 -0.18689676
+v 0.01371370 -0.18786955 -0.20381995
+v 0.04324019 -0.17259253 -0.20394384
+v -0.04559469 -0.17267832 -0.20388589
+f 1 3 4
+f 5 2 1
+f 5 1 4
+f 6 4 3
+f 7 1 2
+f 7 3 1
+f 7 6 3
+f 9 7 2
+f 10 5 4
+f 10 4 8
+f 10 2 5
+f 11 8 4
+f 11 4 6
+f 12 6 7
+f 12 7 9
+f 13 2 10
+f 14 10 8
+f 15 11 6
+f 16 9 2
+f 16 2 13
+f 17 14 8
+f 17 8 11
+f 18 13 10
+f 18 10 14
+f 18 14 17
+f 19 15 6
+f 19 16 13
+f 19 13 15
+f 20 12 9
+f 20 9 16
+f 20 16 19
+f 20 19 6
+f 20 6 12
+f 21 15 13
+f 21 18 17
+f 21 13 18
+f 21 17 11
+f 21 11 15
\ No newline at end of file
diff --git a/objects/objaverse/chips/chips_15/collision/model_normalized_collision_24.obj b/objects/objaverse/chips/chips_15/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..29d8b8b03b042910b846acd4cfa5b313c4c59681
--- /dev/null
+++ b/objects/objaverse/chips/chips_15/collision/model_normalized_collision_24.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.18062531 -0.26515151 -0.09918673
+v 0.17587359 -0.26181141 -0.17120312
+v 0.17676339 0.15845588 -0.18048213
+v 0.10486774 0.15909091 -0.09918673
+v 0.10486774 -0.26515151 -0.09918673
+v 0.18062531 0.15909091 -0.09918673
+v 0.10926232 -0.27464398 -0.17864646
+v 0.10394688 0.15865457 -0.19935567
+v 0.15950499 -0.15791488 -0.18675097
+v 0.10278494 -0.23222073 -0.18964693
+v 0.15939269 0.15782414 -0.18653834
+v 0.10389590 -0.26305231 -0.18257576
+v 0.14616460 -0.20238209 -0.18652486
+v 0.11743011 -0.23187044 -0.18757727
+f 1 2 3
+f 5 1 4
+f 6 1 3
+f 6 4 1
+f 7 2 1
+f 7 1 5
+f 8 6 3
+f 8 4 6
+f 9 3 2
+f 10 5 4
+f 10 4 8
+f 10 8 9
+f 11 9 8
+f 11 8 3
+f 11 3 9
+f 12 7 5
+f 12 5 10
+f 12 2 7
+f 13 10 9
+f 13 9 2
+f 14 12 10
+f 14 2 12
+f 14 13 2
+f 14 10 13
\ No newline at end of file
diff --git a/objects/objaverse/chips/chips_15/collision/model_normalized_collision_26.obj b/objects/objaverse/chips/chips_15/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9f95c34f8b9df112312b380866693a099521bcc4
--- /dev/null
+++ b/objects/objaverse/chips/chips_15/collision/model_normalized_collision_26.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.19242228 -0.27088785 0.16692671
+v 0.18062531 -0.26515151 0.00687388
+v 0.19699140 0.23896942 0.16552774
+v 0.01395865 0.23484848 0.12808600
+v 0.01395865 -0.26515151 0.12808600
+v 0.18062531 0.23484848 0.00687388
+v 0.01395865 -0.26515151 0.00687388
+v 0.01395865 0.23484848 0.00687388
+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 5 4
+f 7 6 2
+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/chips/chips_15/collision/model_normalized_collision_27.obj b/objects/objaverse/chips/chips_15/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d232b9de58eb1d21b0b71f41dd3f32bc0345bd6b
--- /dev/null
+++ b/objects/objaverse/chips/chips_15/collision/model_normalized_collision_27.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.18062531 -0.26515151 0.00687388
+v 0.18062531 -0.26515151 -0.09918673
+v 0.18062531 0.09848485 0.00687388
+v 0.01395865 0.09848485 0.00687388
+v 0.01395865 -0.26515151 -0.09918673
+v 0.01395865 0.09848485 -0.09918673
+v 0.01395865 -0.26515151 0.00687388
+v 0.18062531 0.09848485 -0.09918673
+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/chips/chips_15/collision/model_normalized_collision_28.obj b/objects/objaverse/chips/chips_15/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8dedc7445b48a89d9ea3db6e640bc37d747b487
--- /dev/null
+++ b/objects/objaverse/chips/chips_15/collision/model_normalized_collision_28.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.25737122 -0.08332051 0.11343412
+v 0.27287765 -0.08130000 -0.08502877
+v 0.26272745 0.23450815 0.11791910
+v 0.20054633 0.23881207 0.16409238
+v 0.18062531 -0.08333333 -0.08403521
+v 0.18062531 -0.08333333 0.11293448
+v 0.27682485 0.23361731 -0.09723716
+v 0.18062531 0.23484848 -0.08403521
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 6 5 1
+f 6 1 4
+f 7 3 2
+f 7 2 5
+f 7 4 3
+f 8 6 4
+f 8 5 6
+f 8 7 5
+f 8 4 7
\ No newline at end of file
diff --git a/objects/objaverse/chips/chips_15/collision/model_normalized_collision_3.obj b/objects/objaverse/chips/chips_15/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ccb0289d97f1d2cc5578c195dec534289d65d76f
--- /dev/null
+++ b/objects/objaverse/chips/chips_15/collision/model_normalized_collision_3.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.13755650 -0.26515151 0.11293448
+v -0.13755650 -0.26515151 -0.08403521
+v -0.13755650 0.23484848 0.11293448
+v -0.23801540 0.23467988 0.14269281
+v -0.30584155 -0.26558280 0.00593170
+v -0.28899018 0.23599729 -0.07688270
+v -0.30465526 -0.26649326 -0.03624626
+v -0.26383347 -0.26569830 0.11673621
+v -0.13755650 0.23484848 -0.08403521
+v -0.29287258 0.23541081 0.06336885
+v -0.29126907 -0.26600986 -0.07750540
+v -0.29240742 -0.22061943 0.06288225
+f 1 2 3
+f 1 3 4
+f 7 2 1
+f 7 5 6
+f 8 1 4
+f 8 7 1
+f 8 5 7
+f 9 6 3
+f 9 3 2
+f 10 4 3
+f 10 3 6
+f 10 6 5
+f 10 8 4
+f 11 7 6
+f 11 2 7
+f 11 9 2
+f 11 6 9
+f 12 10 5
+f 12 5 8
+f 12 8 10
\ No newline at end of file
diff --git a/objects/objaverse/chips/chips_15/collision/model_normalized_collision_30.obj b/objects/objaverse/chips/chips_15/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f3011a757a603ae5e5e67bcc8a8bd4bd4579a92f
--- /dev/null
+++ b/objects/objaverse/chips/chips_15/collision/model_normalized_collision_30.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.01395865 -0.26515151 0.12808600
+v 0.01395865 -0.26515151 -0.09918673
+v 0.01395865 -0.14393939 0.12808600
+v -0.13755650 -0.14393939 0.12808600
+v -0.14516141 -0.27553688 0.17528084
+v -0.13755650 -0.14393939 -0.09918673
+v 0.01395865 -0.14393939 -0.09918673
+v -0.13755650 -0.26515151 -0.09918673
+f 1 2 3
+f 5 2 1
+f 5 1 3
+f 5 3 4
+f 6 4 3
+f 6 5 4
+f 7 6 3
+f 7 3 2
+f 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/chips/chips_15/collision/model_normalized_collision_8.obj b/objects/objaverse/chips/chips_15/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d9a8d4a8a66e53c083dea5aeeddeb476655d11b9
--- /dev/null
+++ b/objects/objaverse/chips/chips_15/collision/model_normalized_collision_8.obj
@@ -0,0 +1,162 @@
+# https://github.com/mikedh/trimesh
+v 0.21656392 0.23356218 0.15644523
+v 0.36700569 0.48562394 0.00230320
+v 0.28135868 0.40710671 0.09652013
+v 0.33244709 0.49310200 0.01079588
+v 0.21069130 0.23481682 -0.15937113
+v 0.32571394 0.46774755 0.04817508
+v 0.29839879 0.37301622 0.08724432
+v 0.30289724 0.23598381 0.00623177
+v 0.21137519 0.39042996 -0.11384709
+v 0.36471132 0.49909428 -0.00100406
+v 0.19777102 0.44349270 0.05662801
+v 0.25728548 0.32356663 0.12678352
+v 0.30076181 0.41241731 0.08298274
+v 0.28776455 0.23583014 -0.07700650
+v 0.28264772 0.23620010 0.08871755
+v 0.35375093 0.48495751 0.02195127
+v 0.21422593 0.44372412 -0.05739054
+v 0.28128501 0.40705197 -0.09580336
+v 0.29196366 0.46197941 0.05384852
+v 0.19323768 0.34721122 0.14058213
+v 0.19674017 0.45650129 0.00659066
+v 0.31225032 0.45020764 0.06426914
+v 0.26780338 0.32704341 0.11886978
+v 0.27377856 0.36664211 0.11057203
+v 0.30000827 0.23624719 -0.03541737
+v 0.23198335 0.23461552 -0.14599261
+v 0.30067179 0.23624695 0.03463201
+v 0.35097065 0.49185486 0.01323984
+v 0.31269951 0.46735743 -0.05244289
+v 0.20648484 0.33474264 -0.14289916
+v 0.35539092 0.48393459 -0.02430385
+v 0.19564546 0.39163250 0.11458660
+v 0.20580307 0.29237988 0.15544398
+v 0.19322347 0.23420555 0.16769906
+v 0.33269805 0.49391962 -0.00140416
+v 0.27761344 0.44542878 0.07163903
+v 0.25603369 0.31105659 0.12796762
+v 0.28693698 0.39684004 0.09571695
+v 0.23436657 0.30800140 -0.14114472
+v 0.27473309 0.44549072 -0.07162914
+v 0.25107353 0.39081435 -0.11078403
+v 0.27198215 0.23559354 -0.10507323
+v 0.31179532 0.44901412 -0.06579548
+v 0.25127262 0.39218728 0.11108502
+v 0.23425381 0.32025441 0.13980963
+v 0.19110940 0.29237202 0.15944644
+v 0.22944524 0.45987140 -0.02108519
+v 0.28149470 0.43298961 0.08225303
+v 0.25094558 0.35139813 -0.12494836
+v 0.21971234 0.33486997 -0.14024898
+v 0.29194323 0.46168498 -0.05466444
+v 0.21754312 0.26394186 0.15404168
+v 0.20718847 0.34700488 0.13871892
+v 0.19577683 0.23484848 0.00687388
+v 0.27083278 0.42955190 0.08522708
+f 15 2 7
+f 16 2 10
+f 16 13 7
+f 16 7 2
+f 19 6 4
+f 19 4 11
+f 21 17 9
+f 21 11 4
+f 22 3 13
+f 22 16 6
+f 22 13 16
+f 23 7 13
+f 23 15 7
+f 23 1 15
+f 24 23 13
+f 24 12 23
+f 25 14 2
+f 25 2 8
+f 25 8 14
+f 26 14 8
+f 26 8 1
+f 26 1 5
+f 27 15 1
+f 27 1 8
+f 27 8 2
+f 27 2 15
+f 28 16 10
+f 28 10 4
+f 28 4 6
+f 28 6 16
+f 30 21 9
+f 31 10 2
+f 31 26 18
+f 31 2 14
+f 31 29 10
+f 32 21 20
+f 32 11 21
+f 34 5 1
+f 35 21 4
+f 35 4 10
+f 35 29 17
+f 35 10 29
+f 36 6 19
+f 36 19 11
+f 36 11 32
+f 37 23 12
+f 37 12 1
+f 37 1 23
+f 38 24 13
+f 38 13 3
+f 38 3 24
+f 39 26 5
+f 40 9 17
+f 41 30 9
+f 41 9 40
+f 42 31 14
+f 42 14 26
+f 42 26 31
+f 43 31 18
+f 43 29 31
+f 43 18 41
+f 43 41 40
+f 43 40 29
+f 44 32 20
+f 45 12 24
+f 45 24 3
+f 45 3 44
+f 46 34 33
+f 46 20 21
+f 46 33 45
+f 47 35 17
+f 47 17 21
+f 47 21 35
+f 48 22 6
+f 48 6 36
+f 48 44 3
+f 48 3 22
+f 49 18 26
+f 49 26 39
+f 49 41 18
+f 50 39 5
+f 50 5 30
+f 50 49 39
+f 50 30 41
+f 50 41 49
+f 51 40 17
+f 51 17 29
+f 51 29 40
+f 52 1 12
+f 52 12 45
+f 52 34 1
+f 52 45 33
+f 52 33 34
+f 53 45 44
+f 53 44 20
+f 53 46 45
+f 53 20 46
+f 54 46 21
+f 54 21 30
+f 54 30 5
+f 54 5 34
+f 54 34 46
+f 55 48 36
+f 55 36 32
+f 55 32 44
+f 55 44 48
\ No newline at end of file
diff --git a/objects/objaverse/chips/chips_15/collision/model_normalized_collision_9.obj b/objects/objaverse/chips/chips_15/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3452a71f1a627bf09b842848728b12b591f8ac39
--- /dev/null
+++ b/objects/objaverse/chips/chips_15/collision/model_normalized_collision_9.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v 0.18062531 0.09848485 0.00687388
+v 0.17676339 0.15845588 -0.18048213
+v 0.18062531 0.23484848 0.00687388
+v -0.13755650 0.23484848 0.00687388
+v -0.13543409 0.09814144 -0.19618867
+v -0.13650005 0.23397353 -0.18485187
+v 0.18062531 0.09848485 -0.09918673
+v -0.13755650 0.09848485 0.00687388
+v 0.17522207 0.23258385 -0.17428110
+v 0.04266244 0.20287881 -0.20309354
+v 0.10443668 0.09838083 -0.20291667
+v 0.08748093 0.09783360 -0.20550183
+v -0.05990287 0.18765034 -0.20292736
+v 0.11688461 0.23165193 -0.18826195
+v -0.08968054 0.09786099 -0.20491810
+v 0.08707309 0.14270231 -0.20313433
+v -0.03055653 0.20320232 -0.20405007
+v 0.14632159 0.15803094 -0.19025380
+v -0.08946603 0.12791607 -0.20357322
+v 0.07229141 0.17274908 -0.20272732
+v -0.11939216 0.23191393 -0.18854849
+v 0.14558950 0.20259803 -0.18617322
+v -0.13384707 0.21748000 -0.18772733
+f 1 3 4
+f 6 4 3
+f 7 3 1
+f 8 1 4
+f 8 6 5
+f 8 4 6
+f 9 6 3
+f 9 7 2
+f 9 3 7
+f 11 2 7
+f 12 1 8
+f 12 11 7
+f 12 7 1
+f 14 6 9
+f 15 12 8
+f 15 8 5
+f 16 11 12
+f 17 15 13
+f 17 10 12
+f 17 12 15
+f 17 14 10
+f 18 9 2
+f 18 2 11
+f 18 11 16
+f 19 15 5
+f 19 13 15
+f 20 16 12
+f 20 12 10
+f 20 10 14
+f 21 17 13
+f 21 6 14
+f 21 14 17
+f 22 14 9
+f 22 9 18
+f 22 18 16
+f 22 20 14
+f 22 16 20
+f 23 19 5
+f 23 5 6
+f 23 6 21
+f 23 21 13
+f 23 13 19
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_10/collision/model_normalized_collision_0.obj b/objects/objaverse/pear/pear_10/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ddafef11a8669fa0071a5b107b912de2b25ef0e3
--- /dev/null
+++ b/objects/objaverse/pear/pear_10/collision/model_normalized_collision_0.obj
@@ -0,0 +1,159 @@
+# https://github.com/mikedh/trimesh
+v -0.04216998 -0.28384723 -0.16054044
+v 0.18286024 -0.15818438 -0.34062045
+v 0.13795636 -0.15858484 -0.23489475
+v -0.11957447 -0.15858484 -0.15915039
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\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_10/collision/model_normalized_collision_1.obj b/objects/objaverse/pear/pear_10/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9bed8c62aa238c3ba81f2e9cf28c9e7bc12736c3
--- /dev/null
+++ b/objects/objaverse/pear/pear_10/collision/model_normalized_collision_1.obj
@@ -0,0 +1,141 @@
+# https://github.com/mikedh/trimesh
+v 0.13195276 -0.25245312 -0.16013184
+v 0.26006274 -0.09388312 -0.21950330
+v 0.24228133 -0.10577739 -0.10420971
+v 0.16825411 -0.09798935 -0.09855490
+v 0.16746908 -0.09750329 -0.41597809
+v 0.24701701 -0.09327446 -0.10357413
+v 0.16657019 -0.19407744 -0.07302837
+v 0.22532720 -0.16271147 -0.14565870
+v 0.18175316 -0.20140572 -0.27528865
+v 0.12982767 -0.22156448 -0.31864343
+v 0.20001050 -0.09101009 -0.37721592
+v 0.13190259 -0.23755548 -0.10339650
+v 0.21332027 -0.16264453 -0.10583484
+v 0.25582424 -0.10573316 -0.16116507
+v 0.15669261 -0.23223791 -0.24548039
+v 0.22476258 -0.16290439 -0.23148913
+v 0.15807561 -0.12093429 -0.40834704
+v 0.17492801 -0.09295459 -0.41016663
+v 0.26058096 -0.09300612 -0.16074483
+v 0.16845315 -0.21916004 -0.11937356
+v 0.13153534 -0.25317329 -0.20252073
+v 0.24222334 -0.11919269 -0.12029954
+v 0.14287081 -0.23325130 -0.27460901
+v 0.21078036 -0.17486008 -0.25851464
+v 0.24063522 -0.13477099 -0.23169416
+v 0.13269695 -0.21051944 -0.33611247
+v 0.15942002 -0.17579434 -0.35574157
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+v 0.20967802 -0.17564922 -0.11974011
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\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_10/collision/model_normalized_collision_10.obj b/objects/objaverse/pear/pear_10/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd831e7cc044aeeeb795dbc49115d69eb26d7c8a
--- /dev/null
+++ b/objects/objaverse/pear/pear_10/collision/model_normalized_collision_10.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.25936618 -0.00640147 -0.09383670
+v 0.27641087 -0.00741583 -0.23326013
+v 0.25616268 0.10475884 -0.16085245
+v 0.20332434 0.15499356 -0.08196378
+v 0.16825411 -0.00709612 -0.34093686
+v 0.25419153 0.05514352 -0.09462701
+v 0.16825411 -0.00709612 -0.09855490
+v 0.18592742 0.14252480 -0.35650065
+v 0.22826916 0.12896749 -0.09879385
+v 0.27303575 0.04871469 -0.16046034
+v 0.27612412 -0.00788020 -0.16058828
+v 0.25598790 0.09154634 -0.25831590
+v 0.24119694 -0.00663686 -0.33941449
+v 0.23856708 0.12057956 -0.27607055
+v 0.24772641 0.12361481 -0.16109527
+v 0.27250921 0.06258185 -0.20492283
+v 0.25827811 0.05073417 -0.28926324
+v 0.25548708 0.10737720 -0.23195158
+v 0.27194220 0.06515293 -0.18990803
+v 0.27204361 0.05087623 -0.23260776
+v 0.24035888 0.07684075 -0.31921232
+v 0.25531976 0.06530185 -0.28859192
+v 0.21327014 0.12124476 -0.33453974
+v 0.24619681 0.05028178 -0.32002529
+v 0.22720507 0.09318020 -0.33356443
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+f 25 23 14
+f 25 14 21
+f 25 24 13
+f 25 21 24
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_10/collision/model_normalized_collision_11.obj b/objects/objaverse/pear/pear_10/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d19bcbbd796da8d15a5119308b91d8ccdcbee6b
--- /dev/null
+++ b/objects/objaverse/pear/pear_10/collision/model_normalized_collision_11.obj
@@ -0,0 +1,156 @@
+# https://github.com/mikedh/trimesh
+v -0.11333505 -0.24869672 -0.10417437
+v -0.11360102 -0.23757465 -0.30530125
+v -0.12424544 -0.14961313 0.01417934
+v -0.18778613 -0.12367640 -0.02877526
+v -0.20785431 -0.19087128 -0.23152014
+v -0.20468658 -0.14065141 -0.32238277
+v -0.16546819 -0.20198363 -0.07961415
+v -0.11201441 -0.17698491 -0.00386443
+v -0.13961734 -0.24552883 -0.24611179
+v -0.15660218 -0.17739923 -0.35550775
+v -0.22740145 -0.13744031 -0.10325180
+v -0.15148133 -0.14692621 -0.00664763
+v -0.16610212 -0.23149878 -0.14675079
+v -0.11150088 -0.19151036 -0.01884429
+v -0.11686489 -0.22783898 -0.32206922
+v -0.11306479 -0.25105333 -0.27434773
+v -0.18096692 -0.20087246 -0.28777148
+v -0.22788989 -0.13577939 -0.27558379
+v -0.19331797 -0.16076457 -0.06545528
+v -0.15576235 -0.13645670 -0.00236692
+v -0.12362062 -0.18755351 -0.02252737
+v -0.13817566 -0.23072386 -0.09377259
+v -0.13899332 -0.24643186 -0.13437497
+v -0.16675713 -0.23101236 -0.23157042
+v -0.20802492 -0.19079593 -0.14830935
+v -0.19389084 -0.16458906 -0.31707135
+v -0.14096313 -0.21790706 -0.31590270
+v -0.19364017 -0.17666697 -0.30221902
+v -0.19601213 -0.13614690 -0.04845340
+v -0.17997749 -0.18842532 -0.07932412
+v -0.19212859 -0.14719094 -0.05159696
+v -0.12363932 -0.17346715 -0.00836001
+v -0.16578530 -0.21723895 -0.10707077
+v -0.13793958 -0.20288009 -0.05161352
+v -0.12495656 -0.24494605 -0.10764419
+v -0.15132087 -0.21853318 -0.30165195
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+v -0.12532655 -0.23033230 -0.07979206
+v -0.22266847 -0.14786352 -0.27355023
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+f 15 10 3
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+f 46 1 16
+f 46 35 1
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+f 47 36 9
+f 47 9 24
+f 48 16 9
+f 48 9 36
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+f 48 40 2
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+f 49 5 38
+f 49 28 5
+f 50 39 18
+f 50 6 39
+f 50 18 4
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+f 51 30 19
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+f 51 45 30
+f 51 42 38
+f 51 38 25
+f 51 25 45
+f 52 46 34
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+f 52 22 35
+f 52 35 46
+f 53 49 18
+f 53 18 39
+f 53 39 28
+f 53 28 49
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_10/collision/model_normalized_collision_12.obj b/objects/objaverse/pear/pear_10/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5c1be811307c03e4a972c44de39307b11308053c
--- /dev/null
+++ b/objects/objaverse/pear/pear_10/collision/model_normalized_collision_12.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.11032111 -0.16257372 -0.42069461
+v 0.12613839 -0.11527316 -0.44345183
+v 0.07736087 0.05349937 -0.41668122
+v -0.14314300 0.06077246 -0.44270235
+v -0.07146819 -0.15341965 -0.44182820
+v 0.08361605 0.05032866 -0.48945960
+v 0.10194840 -0.15043819 -0.43728773
+v -0.07763649 -0.16696504 -0.42453024
+v -0.12844131 -0.00735997 -0.46046857
+v 0.11551973 -0.10530712 -0.45768865
+v -0.12674816 0.05553785 -0.45721723
+v -0.14554718 -0.00653941 -0.44659745
+f 1 2 3
+f 6 3 2
+f 6 4 3
+f 7 2 1
+f 8 1 3
+f 8 3 4
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+f 9 6 5
+f 10 6 2
+f 10 2 7
+f 10 7 5
+f 10 5 6
+f 11 4 6
+f 11 6 9
+f 12 8 4
+f 12 11 9
+f 12 4 11
+f 12 9 5
+f 12 5 8
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_10/collision/model_normalized_collision_13.obj b/objects/objaverse/pear/pear_10/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f52f2e5913a4b0f28e3b8af83ec5b1ab4d188c5
--- /dev/null
+++ b/objects/objaverse/pear/pear_10/collision/model_normalized_collision_13.obj
@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
+v -0.02496784 -0.12869281 0.46970616
+v 0.02022314 -0.03884203 0.26623717
+v -0.01250999 -0.06686332 0.46711798
+v -0.01107327 0.01026277 0.25780208
+v -0.06070600 -0.12016823 0.45644107
+v 0.02402008 0.00213574 0.26156333
+v 0.00008028 -0.09430487 0.45698858
+v -0.05195826 -0.13026397 0.45683685
+v -0.01495049 -0.03858831 0.26513369
+v -0.02237178 -0.09870582 0.49963759
+v -0.05826103 -0.08077694 0.48196505
+v 0.01433345 0.01038848 0.26014435
+v -0.01015490 -0.10908349 0.42502091
+v 0.01615475 -0.04325284 0.36850804
+v -0.02231948 0.00341464 0.25940148
+v -0.00784976 -0.04966599 0.28507681
+v -0.00048098 -0.07504239 0.45351429
+v -0.01380381 -0.11873167 0.46893405
+v -0.05124622 -0.13078971 0.46513740
+v -0.04696139 -0.06987955 0.48015473
+v 0.01536647 -0.02298112 0.33162662
+v 0.01536542 -0.06134815 0.37160325
+v -0.02298889 -0.12547426 0.45042764
+v -0.05508048 -0.07464979 0.43420891
+v -0.02130709 -0.09940566 0.49886908
+v 0.00109308 -0.06640842 0.44025299
+v -0.06220690 -0.11917773 0.46327642
+v -0.00860841 0.00482477 0.27423128
+v -0.02189159 -0.06956927 0.47879405
+v -0.04250158 -0.08193855 0.49035732
+v -0.00964485 -0.05567744 0.43945461
+v 0.00932831 -0.04906834 0.28448131
+v -0.01497122 -0.10991383 0.47934648
+v -0.01444210 -0.07774588 0.47945241
+v -0.05860250 -0.10691717 0.44369302
+v -0.05994034 -0.10106054 0.47872016
+v -0.02158711 -0.09204036 0.49663100
+v -0.04951353 -0.11521457 0.47708207
+f 6 2 4
+f 9 4 2
+f 9 8 5
+f 12 6 4
+f 15 9 5
+f 15 4 9
+f 16 9 2
+f 16 8 9
+f 17 7 14
+f 18 13 7
+f 19 8 1
+f 19 1 10
+f 20 15 11
+f 20 4 15
+f 21 6 12
+f 21 14 6
+f 21 3 14
+f 22 13 2
+f 22 7 13
+f 22 14 7
+f 22 2 6
+f 22 6 14
+f 23 2 13
+f 23 1 8
+f 23 18 1
+f 23 13 18
+f 24 11 15
+f 25 7 17
+f 25 10 1
+f 25 1 18
+f 26 17 14
+f 26 14 3
+f 26 3 17
+f 27 5 8
+f 27 8 19
+f 27 11 24
+f 28 20 12
+f 28 12 4
+f 28 4 20
+f 29 12 20
+f 30 20 11
+f 30 11 10
+f 30 29 20
+f 31 21 12
+f 31 3 21
+f 31 29 3
+f 31 12 29
+f 32 16 2
+f 32 2 23
+f 32 23 8
+f 32 8 16
+f 33 25 18
+f 33 18 7
+f 33 7 25
+f 34 25 17
+f 34 17 3
+f 34 3 29
+f 35 27 24
+f 35 24 15
+f 35 15 5
+f 35 5 27
+f 36 27 19
+f 36 10 11
+f 36 11 27
+f 37 30 10
+f 37 29 30
+f 37 34 29
+f 37 10 25
+f 37 25 34
+f 38 36 19
+f 38 19 10
+f 38 10 36
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_10/collision/model_normalized_collision_14.obj b/objects/objaverse/pear/pear_10/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b4bf71cefc115b8735805ad357da643d90f58c9e
--- /dev/null
+++ b/objects/objaverse/pear/pear_10/collision/model_normalized_collision_14.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.05961267 -0.27945631 -0.16001142
+v 0.07497582 -0.27151054 -0.24283356
+v 0.01676539 -0.15858484 -0.15915039
+v -0.04383010 -0.15858484 -0.15915039
+v -0.04142987 -0.28204799 -0.23269250
+v -0.04383010 -0.15858484 -0.23489475
+v 0.07411496 -0.27467409 -0.15125807
+v 0.05866063 -0.27771353 -0.23212406
+v -0.04216998 -0.28384723 -0.16054044
+v 0.01676539 -0.15858484 -0.23489475
+f 6 4 3
+f 6 2 5
+f 7 3 4
+f 7 2 3
+f 8 5 2
+f 8 1 5
+f 8 7 1
+f 8 2 7
+f 9 5 1
+f 9 6 5
+f 9 4 6
+f 9 7 4
+f 9 1 7
+f 10 6 3
+f 10 3 2
+f 10 2 6
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_10/collision/model_normalized_collision_15.obj b/objects/objaverse/pear/pear_10/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..279e3279b51beed84385edf85617fbc276bfc998
--- /dev/null
+++ b/objects/objaverse/pear/pear_10/collision/model_normalized_collision_15.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.07969322 -0.07389823 -0.48339276
+v 0.07734996 -0.06628912 -0.48489667
+v 0.09221011 0.14940237 -0.43958119
+v -0.05512798 0.15740446 -0.44560736
+v -0.04364052 -0.06814832 -0.48675314
+v 0.04541883 0.09461909 -0.49015209
+v 0.07408608 0.06745826 -0.49126038
+v 0.03447467 -0.01091199 -0.49728887
+v -0.04383010 0.05349937 -0.41668122
+v 0.05848097 0.15220391 -0.45397030
+v -0.03998939 0.12071223 -0.47573563
+v 0.07480170 0.05498359 -0.49129553
+v 0.01941292 0.08269368 -0.49185654
+v 0.07736087 0.05349937 -0.41668122
+v -0.04484763 -0.06565544 -0.48640787
+v 0.06188240 0.15897632 -0.44629374
+v 0.06922155 0.11994587 -0.47425180
+v 0.03219129 0.09488681 -0.49075903
+v -0.00158351 0.01507791 -0.49374487
+v 0.07573969 0.15572412 -0.44344614
+v 0.07294383 0.14901405 -0.45028109
+f 8 2 1
+f 8 1 5
+f 9 5 1
+f 9 3 4
+f 11 4 10
+f 12 1 2
+f 12 8 7
+f 12 2 8
+f 12 7 3
+f 12 3 1
+f 14 9 1
+f 14 1 3
+f 14 3 9
+f 15 9 4
+f 15 5 9
+f 15 4 11
+f 16 10 4
+f 17 7 6
+f 17 11 10
+f 17 3 7
+f 18 6 7
+f 18 7 8
+f 18 8 13
+f 18 13 11
+f 18 17 6
+f 18 11 17
+f 19 13 8
+f 19 8 5
+f 19 5 15
+f 19 15 11
+f 19 11 13
+f 20 16 4
+f 20 4 3
+f 20 10 16
+f 21 17 10
+f 21 10 20
+f 21 20 3
+f 21 3 17
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_10/collision/model_normalized_collision_16.obj b/objects/objaverse/pear/pear_10/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b6fd706dbf3c94457f58ac3ee5d6d447d30eda47
--- /dev/null
+++ b/objects/objaverse/pear/pear_10/collision/model_normalized_collision_16.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v 0.24768583 -0.09943940 -0.11244496
+v 0.27148887 -0.03407339 -0.24719812
+v 0.27612412 -0.00788020 -0.16058828
+v 0.26975598 0.05771752 -0.23866401
+v 0.23746659 -0.05155744 -0.33768183
+v 0.27420507 0.03531305 -0.23353470
+v 0.25917419 -0.05592698 -0.10831783
+v 0.27221691 -0.05087912 -0.16137685
+v 0.25444125 -0.09079853 -0.26072541
+v 0.23735813 0.05124796 -0.33756799
+v 0.27160395 0.05319466 -0.23448197
+v 0.27553167 -0.00501170 -0.15794894
+v 0.27139587 -0.04720438 -0.23308250
+v 0.25661109 -0.07764949 -0.11797691
+v 0.26347684 -0.05042385 -0.11749903
+v 0.25508377 -0.06289041 -0.29001663
+v 0.23741895 -0.09497964 -0.30807196
+v 0.25558427 -0.09255946 -0.13294071
+v 0.25555653 0.03398991 -0.30425928
+v 0.24115965 -0.09016373 -0.30363179
+v 0.23680718 -0.08044956 -0.32284305
+v 0.25033159 -0.09519953 -0.11596419
+v 0.25827811 0.05073417 -0.28926324
+v 0.27224121 0.03533631 -0.24615836
+v 0.24035086 -0.04939063 -0.33270345
+v 0.25620068 -0.03525257 -0.30187658
+v 0.24038537 -0.07724028 -0.31733124
+v 0.24033539 0.05044873 -0.33192053
+f 6 3 2
+f 10 7 4
+f 10 1 7
+f 11 3 6
+f 12 4 7
+f 12 11 4
+f 12 3 11
+f 13 2 3
+f 13 3 8
+f 13 8 9
+f 14 7 1
+f 15 8 3
+f 15 14 8
+f 15 7 14
+f 15 12 7
+f 15 3 12
+f 16 13 9
+f 16 2 13
+f 17 9 1
+f 17 1 10
+f 18 9 8
+f 18 1 9
+f 18 8 14
+f 20 16 9
+f 20 9 17
+f 21 17 10
+f 21 10 5
+f 22 18 14
+f 22 14 1
+f 22 1 18
+f 23 10 4
+f 24 6 2
+f 24 19 23
+f 24 11 6
+f 24 23 4
+f 24 4 11
+f 25 5 10
+f 25 10 19
+f 26 2 16
+f 26 25 19
+f 26 16 25
+f 26 24 2
+f 26 19 24
+f 27 16 20
+f 27 20 17
+f 27 17 21
+f 27 25 16
+f 27 21 5
+f 27 5 25
+f 28 23 19
+f 28 19 10
+f 28 10 23
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_10/collision/model_normalized_collision_17.obj b/objects/objaverse/pear/pear_10/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc5f3b3d9987c0c172f6b9be9be1d42bc8693fc5
--- /dev/null
+++ b/objects/objaverse/pear/pear_10/collision/model_normalized_collision_17.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v 0.11978400 -0.24302600 -0.10125469
+v 0.18826335 -0.17883937 -0.08381728
+v 0.07110800 -0.20269607 -0.00563380
+v -0.12000148 -0.15920420 0.00817962
+v -0.11957447 -0.15858484 -0.09855490
+v 0.14509059 -0.14989018 -0.00160527
+v -0.12304247 -0.24051213 -0.09587716
+v 0.15874943 -0.22082137 -0.10492715
+v 0.15999458 -0.15081862 -0.01713839
+v 0.05776602 -0.21746206 -0.01950940
+v 0.13190259 -0.23755548 -0.10339650
+v 0.13908737 -0.20273015 -0.05182323
+v 0.11337837 -0.21725120 -0.04983240
+v -0.06760365 -0.20118438 -0.00706813
+v 0.12363404 -0.17536228 -0.00655623
+v 0.15713451 -0.21626477 -0.09158745
+v 0.15339961 -0.20209492 -0.06554077
+v 0.11717017 -0.23869262 -0.08869596
+v 0.09909107 -0.20294020 -0.02075950
+v -0.05450900 -0.21722956 -0.02150639
+v -0.11056962 -0.21853776 -0.05066017
+v 0.15558608 -0.16047058 -0.02131145
+v 0.12955317 -0.23326013 -0.09080510
+v 0.12570480 -0.18817384 -0.02216282
+v -0.09645183 -0.18889705 -0.00677113
+v -0.09662725 -0.20312637 -0.02298944
+v 0.13888433 -0.15956088 -0.00446765
+v -0.11201441 -0.17698491 -0.00386443
+f 6 4 3
+f 6 5 4
+f 7 4 5
+f 8 5 2
+f 8 7 5
+f 9 2 5
+f 9 5 6
+f 10 7 1
+f 11 1 7
+f 11 7 8
+f 14 3 4
+f 15 6 3
+f 16 11 8
+f 16 8 2
+f 17 16 2
+f 17 12 16
+f 18 13 10
+f 18 10 1
+f 19 3 10
+f 19 10 13
+f 19 15 3
+f 20 10 3
+f 20 3 14
+f 20 7 10
+f 21 4 7
+f 21 7 20
+f 22 9 6
+f 22 12 17
+f 22 17 2
+f 22 2 9
+f 23 16 12
+f 23 12 13
+f 23 13 18
+f 23 11 16
+f 23 18 1
+f 23 1 11
+f 24 19 13
+f 24 13 12
+f 24 15 19
+f 24 22 15
+f 24 12 22
+f 25 14 4
+f 26 21 20
+f 26 20 14
+f 26 14 25
+f 27 22 6
+f 27 6 15
+f 27 15 22
+f 28 25 4
+f 28 4 21
+f 28 26 25
+f 28 21 26
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_10/collision/model_normalized_collision_18.obj b/objects/objaverse/pear/pear_10/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..062c1b8d9fa9dae67ce0c718d29c8437fd3da51b
--- /dev/null
+++ b/objects/objaverse/pear/pear_10/collision/model_normalized_collision_18.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.15516837 -0.14489257 -0.00667073
+v 0.17016641 -0.16005598 -0.35763666
+v 0.16341798 0.12655838 0.00285463
+v -0.13533960 0.14510110 0.02475281
+v -0.12000148 -0.15920420 0.00817962
+v -0.12498378 0.13322373 -0.42220910
+v 0.15892663 0.12149651 -0.40871047
+v -0.11576152 -0.15509762 -0.41296759
+v 0.16746908 -0.09750329 -0.41597809
+v 0.11032111 -0.16257372 -0.42069461
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 5 1 4
+f 7 6 4
+f 7 4 3
+f 8 5 4
+f 8 4 6
+f 9 7 3
+f 9 3 2
+f 9 6 7
+f 10 2 5
+f 10 5 8
+f 10 9 2
+f 10 8 6
+f 10 6 9
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_10/collision/model_normalized_collision_19.obj b/objects/objaverse/pear/pear_10/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e6b948ad6797367d9cb4b57fe08eaeb35120c4ee
--- /dev/null
+++ b/objects/objaverse/pear/pear_10/collision/model_normalized_collision_19.obj
@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
+v 0.24000128 -0.10123208 -0.09458797
+v 0.27168824 -0.05200305 -0.15960427
+v 0.24144905 0.04887158 -0.06374006
+v 0.21891064 0.12486537 -0.07431800
+v 0.24125081 0.13508589 -0.15616445
+v 0.22111446 -0.03671968 -0.02724317
+v 0.24768583 -0.09943940 -0.11244496
+v 0.22246410 -0.09580470 -0.05706266
+v 0.27303575 0.04871469 -0.16046034
+v 0.22159048 0.03679760 -0.02699141
+v 0.25424773 -0.04869787 -0.09065251
+v 0.22007934 -0.07970642 -0.04344691
+v 0.26091077 0.09302040 -0.16305930
+v 0.22666542 -0.03401463 -0.03464254
+v 0.22066825 0.08100715 -0.04359445
+v 0.25509428 0.04928361 -0.09278115
+v 0.27282583 -0.03603080 -0.14882755
+v 0.24248602 -0.09183629 -0.09108921
+v 0.27451878 -0.03523538 -0.16070659
+v 0.24772641 0.12361481 -0.16109527
+v 0.22613345 0.03480245 -0.03397496
+v 0.24023220 -0.05073837 -0.06247589
+v 0.22556035 -0.07645458 -0.04998488
+v 0.22590999 0.07896233 -0.05061573
+v 0.25635809 0.09322163 -0.13537931
+v 0.27079883 0.05024191 -0.14781012
+v 0.25659768 -0.06382920 -0.10576060
+v 0.24168429 -0.07767265 -0.07855538
+v 0.24118980 0.07791112 -0.07734309
+v 0.22445132 0.11806120 -0.07736064
+v 0.24147093 0.11931647 -0.11858653
+v 0.26924268 0.06198066 -0.15632935
+v 0.26953452 -0.05797972 -0.15328421
+v 0.25033159 -0.09519953 -0.11596419
+v 0.22719248 -0.09134622 -0.06203564
+f 7 5 2
+f 8 4 5
+f 8 7 1
+f 8 5 7
+f 12 6 4
+f 12 4 8
+f 14 10 6
+f 14 11 3
+f 15 4 6
+f 15 6 10
+f 16 3 11
+f 17 16 11
+f 18 1 7
+f 19 13 9
+f 19 2 13
+f 19 17 2
+f 19 9 17
+f 20 13 2
+f 20 2 5
+f 21 14 3
+f 21 3 10
+f 21 10 14
+f 22 11 14
+f 23 14 6
+f 23 6 12
+f 23 22 14
+f 23 12 8
+f 24 15 10
+f 24 10 3
+f 25 13 20
+f 26 17 9
+f 26 16 17
+f 26 25 16
+f 27 17 11
+f 28 11 22
+f 28 27 11
+f 28 18 27
+f 28 22 23
+f 29 24 3
+f 29 3 16
+f 29 16 25
+f 30 4 15
+f 30 15 24
+f 30 24 29
+f 31 25 20
+f 31 20 5
+f 31 5 4
+f 31 4 30
+f 31 30 29
+f 31 29 25
+f 32 26 9
+f 32 9 13
+f 32 13 25
+f 32 25 26
+f 33 7 2
+f 33 2 17
+f 33 17 27
+f 34 27 18
+f 34 18 7
+f 34 33 27
+f 34 7 33
+f 35 28 23
+f 35 23 8
+f 35 18 28
+f 35 8 1
+f 35 1 18
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_10/collision/model_normalized_collision_2.obj b/objects/objaverse/pear/pear_10/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8417b93d2493afc99658588e3e915fae782e816e
--- /dev/null
+++ b/objects/objaverse/pear/pear_10/collision/model_normalized_collision_2.obj
@@ -0,0 +1,117 @@
+# https://github.com/mikedh/trimesh
+v 0.16423794 -0.21453355 -0.10082238
+v 0.24329012 -0.09775478 -0.09883213
+v 0.14952827 0.12649559 0.01935526
+v 0.15085933 0.21682476 -0.10039027
+v 0.22894572 -0.13643359 -0.10608506
+v 0.21718866 0.15201287 -0.10376646
+v 0.14324401 0.18001418 -0.03032991
+v 0.15827998 -0.13496525 -0.00181687
+v 0.17177367 -0.20873655 -0.10336814
+v 0.21092653 0.06322010 -0.02008150
+v 0.16048995 0.21058920 -0.10304632
+v 0.14419447 0.20852326 -0.07500556
+v 0.16879842 0.16029569 -0.03569265
+v 0.15899634 -0.19424096 -0.06218581
+v 0.14444939 0.13818515 0.01525227
+v 0.20978957 -0.09149190 -0.03515421
+v 0.21213269 0.09139994 -0.03628802
+v 0.19631055 -0.07531248 -0.00628827
+v 0.20057636 -0.17899708 -0.10494001
+v 0.15402780 0.20261486 -0.07778715
+v 0.16871762 -0.20536261 -0.09097848
+v 0.16120844 -0.21082725 -0.08884474
+v 0.16534505 0.13498559 -0.00599204
+v 0.22424054 -0.12000931 -0.07879491
+v 0.19838553 0.15883235 -0.07754571
+v 0.19632683 0.07638061 -0.00589363
+v 0.16624857 -0.13055269 -0.00697917
+v 0.21083017 -0.06303983 -0.02123973
+v 0.15298748 0.17465519 -0.03502631
+v 0.17019780 -0.18736504 -0.06717097
+v 0.15453097 0.13249395 0.00890257
+v 0.22469928 -0.13275900 -0.09266353
+v 0.23317410 -0.09372900 -0.07383510
+v 0.21291490 0.14943635 -0.09162210
+v 0.19614875 0.10412362 -0.02119111
+v 0.21069144 -0.13189181 -0.06631709
+v 0.19677497 -0.17583490 -0.09295706
+v 0.18165937 -0.16154429 -0.05299982
+v 0.15793309 0.12223105 0.01342958
+v 0.20944317 -0.14663956 -0.07874562
+f 6 2 5
+f 9 1 4
+f 11 6 5
+f 11 9 4
+f 12 4 1
+f 14 7 12
+f 15 8 3
+f 15 14 8
+f 15 7 14
+f 15 13 7
+f 17 10 2
+f 17 2 6
+f 18 3 8
+f 19 11 5
+f 19 9 11
+f 20 11 4
+f 20 4 12
+f 20 12 7
+f 21 1 9
+f 21 9 19
+f 22 14 12
+f 22 12 1
+f 22 1 21
+f 23 13 15
+f 25 13 23
+f 25 20 13
+f 25 6 11
+f 25 11 20
+f 26 10 17
+f 26 18 10
+f 26 3 18
+f 27 18 8
+f 27 16 18
+f 28 18 16
+f 28 10 18
+f 29 20 7
+f 29 7 13
+f 29 13 20
+f 30 22 21
+f 30 14 22
+f 31 23 15
+f 31 15 3
+f 32 5 2
+f 32 2 24
+f 33 24 2
+f 33 16 24
+f 33 28 16
+f 33 2 10
+f 33 10 28
+f 34 17 6
+f 34 6 25
+f 35 25 23
+f 35 34 25
+f 35 17 34
+f 35 26 17
+f 36 24 16
+f 36 16 27
+f 37 30 21
+f 37 21 19
+f 38 27 8
+f 38 8 14
+f 38 14 30
+f 38 36 27
+f 38 30 37
+f 39 31 3
+f 39 23 31
+f 39 35 23
+f 39 3 26
+f 39 26 35
+f 40 32 24
+f 40 24 36
+f 40 38 37
+f 40 36 38
+f 40 5 32
+f 40 37 19
+f 40 19 5
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_10/collision/model_normalized_collision_20.obj b/objects/objaverse/pear/pear_10/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ffa89a3c702185f12412a6dd0b41ec0d0240a280
--- /dev/null
+++ b/objects/objaverse/pear/pear_10/collision/model_normalized_collision_20.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v 0.06003190 -0.27757854 -0.14727934
+v 0.07411496 -0.27467409 -0.15125807
+v 0.08860333 -0.22462642 -0.04444784
+v -0.08553223 -0.22545248 -0.04477524
+v -0.13174434 -0.25462802 -0.15497813
+v -0.05564452 -0.26188515 -0.09181863
+v 0.05933827 -0.25994255 -0.09217978
+v -0.07054986 -0.27879709 -0.16067866
+v -0.11729811 -0.22924209 -0.07130302
+v 0.04557008 -0.22619906 -0.02826764
+v 0.08778271 -0.23597581 -0.06099915
+v 0.04447517 -0.27669334 -0.13242873
+v 0.05961267 -0.27945631 -0.16001142
+v -0.09763828 -0.26059934 -0.11903733
+v -0.11040651 -0.24497294 -0.09233394
+v -0.04250655 -0.22580461 -0.02884788
+v 0.05739189 -0.24585586 -0.06312592
+v 0.09106618 -0.23098084 -0.05540949
+v 0.08555531 -0.23010134 -0.05064416
+v -0.05553374 -0.27624117 -0.13264172
+v -0.11311703 -0.26385134 -0.16029134
+v -0.05654196 -0.24685702 -0.06392094
+v -0.08364193 -0.23095260 -0.05141530
+v -0.08350460 -0.26080787 -0.10557051
+v -0.06989907 -0.27664686 -0.14727905
+v -0.11342064 -0.26179572 -0.14749107
+v -0.04005253 -0.23147530 -0.03588165
+v 0.04406259 -0.23149833 -0.03569254
+v -0.11292787 -0.23559649 -0.07790343
+f 5 3 2
+f 7 1 2
+f 9 4 3
+f 9 3 5
+f 11 7 2
+f 12 7 6
+f 12 1 7
+f 13 5 2
+f 13 2 1
+f 13 1 12
+f 15 9 5
+f 16 10 3
+f 16 3 4
+f 17 6 7
+f 17 7 11
+f 18 11 2
+f 18 2 3
+f 19 3 10
+f 19 17 11
+f 19 18 3
+f 19 11 18
+f 20 12 6
+f 20 13 12
+f 20 8 13
+f 21 13 8
+f 21 5 13
+f 23 4 9
+f 23 15 22
+f 23 16 4
+f 24 15 14
+f 24 22 15
+f 24 6 22
+f 24 20 6
+f 25 8 20
+f 25 24 14
+f 25 20 24
+f 26 5 21
+f 26 15 5
+f 26 14 15
+f 26 25 14
+f 26 21 8
+f 26 8 25
+f 27 10 16
+f 27 23 22
+f 27 16 23
+f 28 22 6
+f 28 6 17
+f 28 27 22
+f 28 10 27
+f 28 19 10
+f 28 17 19
+f 29 23 9
+f 29 9 15
+f 29 15 23
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_10/collision/model_normalized_collision_21.obj b/objects/objaverse/pear/pear_10/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5142f11b8bf28f42714fc3cfce23d88d6f641a12
--- /dev/null
+++ b/objects/objaverse/pear/pear_10/collision/model_normalized_collision_21.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v -0.23915553 -0.13360954 -0.23675664
+v -0.22334064 -0.05185510 -0.33930990
+v -0.22000737 0.11158353 -0.32285315
+v -0.24680415 0.12464212 -0.24078306
+v -0.27176309 -0.02111382 -0.23153937
+v -0.22880581 -0.12965559 -0.28126353
+v -0.25516085 0.10995663 -0.23238527
+v -0.25293346 0.06412107 -0.28765239
+v -0.21919845 0.09583505 -0.33671803
+v -0.25096155 -0.05047819 -0.28940829
+v -0.24429261 -0.12372369 -0.23330683
+v -0.27081338 0.05055321 -0.23185449
+v -0.25293536 0.10784419 -0.24714804
+v -0.23589239 0.07853018 -0.31717579
+v -0.23856232 -0.05048677 -0.31526893
+v -0.26881648 -0.02019931 -0.24532113
+v -0.25666935 -0.09316456 -0.23245319
+v -0.23671000 -0.11864270 -0.27274426
+v -0.23847379 0.10650709 -0.28949113
+v -0.26805157 0.05109692 -0.24460296
+v -0.22557677 0.10651083 -0.31698200
+v -0.22329231 0.09265190 -0.33196979
+v -0.22818416 -0.04941847 -0.33315472
+v -0.25094091 -0.07617760 -0.27482194
+v -0.25132004 -0.09092263 -0.25881936
+f 1 3 4
+f 6 3 1
+f 7 1 4
+f 9 6 2
+f 9 3 6
+f 11 1 7
+f 12 5 7
+f 13 7 4
+f 13 12 7
+f 15 10 8
+f 15 8 14
+f 16 8 10
+f 16 5 12
+f 17 11 7
+f 17 7 5
+f 18 6 1
+f 18 1 11
+f 19 13 4
+f 19 4 3
+f 19 14 8
+f 19 8 13
+f 20 13 8
+f 20 12 13
+f 20 16 12
+f 20 8 16
+f 21 3 9
+f 21 19 3
+f 21 14 19
+f 22 9 2
+f 22 2 14
+f 22 21 9
+f 22 14 21
+f 23 2 6
+f 23 6 15
+f 23 15 14
+f 23 14 2
+f 24 16 10
+f 24 10 15
+f 24 15 6
+f 24 6 18
+f 24 17 5
+f 24 5 16
+f 25 18 11
+f 25 11 17
+f 25 24 18
+f 25 17 24
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_10/collision/model_normalized_collision_22.obj b/objects/objaverse/pear/pear_10/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5fa623c226839a81501a6954a3662563c45f1d2d
--- /dev/null
+++ b/objects/objaverse/pear/pear_10/collision/model_normalized_collision_22.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.10194840 -0.15043819 -0.43728773
+v 0.11551973 -0.10530712 -0.45768865
+v -0.08414820 -0.15056017 -0.43775208
+v -0.04484763 -0.06565544 -0.48640787
+v 0.04302645 -0.13222263 -0.47379520
+v 0.07182967 -0.11960322 -0.47331591
+v 0.05719841 -0.14627498 -0.46097590
+v -0.03717087 -0.13236405 -0.47361221
+v 0.09778012 -0.11927689 -0.46143332
+v 0.07734996 -0.06628912 -0.48489667
+v 0.09824394 -0.14400472 -0.44480015
+v -0.08425954 -0.13598337 -0.45092137
+v -0.04364052 -0.06814832 -0.48675314
+v -0.05132778 -0.14423203 -0.45994813
+v 0.10410078 -0.09453425 -0.47019402
+v 0.07969322 -0.07389823 -0.48339276
+v -0.08767342 -0.14103995 -0.44450679
+v -0.08036265 -0.14349407 -0.44659360
+v 0.08471123 -0.10731358 -0.47403007
+v 0.08746710 -0.09368310 -0.47768124
+f 1 2 3
+f 3 2 4
+f 7 1 3
+f 7 5 6
+f 8 5 7
+f 10 4 2
+f 11 7 6
+f 11 1 7
+f 11 6 9
+f 11 9 2
+f 11 2 1
+f 13 5 8
+f 13 10 5
+f 13 4 10
+f 13 12 4
+f 13 8 12
+f 14 8 7
+f 14 7 3
+f 14 12 8
+f 15 2 9
+f 15 10 2
+f 16 5 10
+f 16 10 15
+f 17 3 4
+f 17 4 12
+f 18 14 3
+f 18 12 14
+f 18 17 12
+f 18 3 17
+f 19 15 9
+f 19 9 6
+f 20 16 15
+f 20 15 19
+f 20 19 6
+f 20 6 5
+f 20 5 16
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_10/collision/model_normalized_collision_23.obj b/objects/objaverse/pear/pear_10/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2fc4f65b578c7221c4dcaaf452d553c5f34431cb
--- /dev/null
+++ b/objects/objaverse/pear/pear_10/collision/model_normalized_collision_23.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v -0.07763649 -0.16696504 -0.42453024
+v -0.04000680 -0.12211745 -0.47817698
+v -0.04383010 -0.09798935 -0.41668122
+v -0.05512798 0.15740446 -0.44560736
+v -0.09942798 0.01101850 -0.47499649
+v -0.03998939 0.12071223 -0.47573563
+v -0.12498378 0.13322373 -0.42220910
+v -0.04787135 -0.15119900 -0.45489032
+v -0.10781819 -0.09275440 -0.46001041
+v -0.11576152 -0.15509762 -0.41296759
+v -0.10631368 0.08974223 -0.45899344
+v -0.04142583 -0.13694928 -0.46908976
+v -0.08005262 -0.10416540 -0.47297266
+v -0.09662365 -0.14673179 -0.43406306
+v -0.09871988 0.04947923 -0.47387012
+v -0.10785460 0.11974649 -0.44455008
+v -0.05243211 -0.12032214 -0.47555528
+v -0.07146819 -0.15341965 -0.44182820
+v -0.10808850 -0.11894709 -0.44745640
+v -0.06506547 0.10852334 -0.47324368
+v -0.06802362 -0.13182659 -0.46246331
+v -0.11286483 -0.14929565 -0.42064879
+v -0.09223973 -0.11790293 -0.45902073
+v -0.05169277 0.12008717 -0.47299896
+f 6 3 2
+f 6 4 3
+f 6 2 5
+f 7 3 4
+f 8 3 1
+f 9 7 5
+f 10 1 3
+f 10 3 7
+f 10 7 9
+f 11 5 7
+f 12 2 3
+f 12 3 8
+f 13 9 5
+f 13 5 2
+f 14 1 10
+f 15 6 5
+f 15 5 11
+f 16 11 7
+f 16 7 4
+f 17 13 2
+f 17 2 12
+f 18 8 1
+f 18 1 14
+f 19 10 9
+f 20 15 11
+f 20 6 15
+f 20 11 16
+f 21 13 17
+f 21 17 12
+f 21 18 14
+f 21 12 8
+f 21 8 18
+f 22 19 14
+f 22 14 10
+f 22 10 19
+f 23 19 9
+f 23 9 13
+f 23 13 21
+f 23 21 14
+f 23 14 19
+f 24 20 16
+f 24 16 4
+f 24 4 6
+f 24 6 20
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_10/collision/model_normalized_collision_24.obj b/objects/objaverse/pear/pear_10/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3e3ebb4ee4710418972a221ace96f542e1dd11d7
--- /dev/null
+++ b/objects/objaverse/pear/pear_10/collision/model_normalized_collision_24.obj
@@ -0,0 +1,129 @@
+# https://github.com/mikedh/trimesh
+v -0.20586640 -0.15936508 -0.08383518
+v -0.18179030 -0.14443368 -0.03656040
+v -0.25244484 0.05147388 -0.07778780
+v -0.18000849 0.20475785 -0.09866560
+v -0.17038918 0.13651888 -0.00142101
+v -0.25680557 -0.04993819 -0.10312863
+v -0.19171501 -0.07760146 -0.00686496
+v -0.17248812 0.19707984 -0.07241473
+v -0.25517777 0.09494432 -0.10365105
+v -0.22740145 -0.13744031 -0.10325180
+v -0.22412428 0.08080835 -0.03582265
+v -0.17196962 -0.10875952 0.00000973
+v -0.23767353 -0.00431395 -0.04935065
+v -0.22269395 -0.10501627 -0.06549406
+v -0.22533116 0.14888414 -0.09086943
+v -0.19727538 0.19149563 -0.10464131
+v -0.24029333 -0.10871637 -0.10451919
+v -0.19372354 0.10490261 -0.00721112
+v -0.23723041 0.09322927 -0.06174449
+v -0.17151342 0.17989459 -0.04524807
+v -0.17389722 -0.12469156 -0.01303326
+v -0.25302168 -0.00436148 -0.07747180
+v -0.23818428 0.03707773 -0.04877931
+v -0.20767238 -0.13442881 -0.06380493
+v -0.23623785 -0.06268301 -0.06459164
+v -0.22880211 0.15144882 -0.10362462
+v -0.19426734 0.18800317 -0.09170727
+v -0.23641743 -0.10571342 -0.09236554
+v -0.19388184 0.14621569 -0.03562783
+v -0.25082346 0.09302490 -0.09086618
+v -0.20888859 0.11949134 -0.03501721
+v -0.19601213 -0.13614690 -0.04845340
+v -0.22348306 -0.13531624 -0.09211682
+v -0.25238780 -0.04879637 -0.09088200
+v -0.20698031 -0.06395781 -0.02177601
+v -0.20779909 0.16359263 -0.07664223
+v -0.18295038 0.19077109 -0.07770659
+v -0.17890545 0.13266081 -0.00747483
+v -0.17785137 0.17583583 -0.04760965
+v -0.18146142 -0.12062250 -0.01895270
+v -0.20707783 -0.11879376 -0.05160545
+v -0.19381167 0.16022153 -0.05021581
+v -0.19240320 -0.10445834 -0.02215252
+v -0.17880530 -0.10517448 -0.00610859
+f 2 1 4
+f 8 2 4
+f 9 6 3
+f 10 4 1
+f 16 4 10
+f 17 6 9
+f 17 16 10
+f 17 9 16
+f 18 12 5
+f 18 7 12
+f 20 12 8
+f 20 5 12
+f 21 2 8
+f 21 8 12
+f 22 3 6
+f 23 22 13
+f 23 3 22
+f 23 19 3
+f 23 11 19
+f 23 13 7
+f 23 18 11
+f 23 7 18
+f 25 13 22
+f 26 16 9
+f 26 9 15
+f 27 4 16
+f 28 17 10
+f 28 14 25
+f 30 9 3
+f 30 3 19
+f 30 19 15
+f 30 15 9
+f 31 19 11
+f 31 11 18
+f 31 29 15
+f 31 15 19
+f 32 24 1
+f 32 1 2
+f 33 24 14
+f 33 10 1
+f 33 1 24
+f 33 28 10
+f 33 14 28
+f 34 25 22
+f 34 22 6
+f 34 28 25
+f 34 6 17
+f 34 17 28
+f 35 25 14
+f 35 14 7
+f 35 7 13
+f 35 13 25
+f 36 26 15
+f 36 16 26
+f 36 27 16
+f 36 15 29
+f 37 8 4
+f 37 4 27
+f 37 27 36
+f 38 18 5
+f 38 5 29
+f 38 31 18
+f 38 29 31
+f 39 29 5
+f 39 5 20
+f 39 37 36
+f 39 20 8
+f 39 8 37
+f 40 32 2
+f 40 2 21
+f 40 21 12
+f 41 14 24
+f 41 24 32
+f 42 39 36
+f 42 36 29
+f 42 29 39
+f 43 40 12
+f 43 7 14
+f 43 14 41
+f 43 41 32
+f 43 32 40
+f 44 43 12
+f 44 12 7
+f 44 7 43
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_10/collision/model_normalized_collision_25.obj b/objects/objaverse/pear/pear_10/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f8147b05b1943244cce7c66e8377c85f5fbf83d5
--- /dev/null
+++ b/objects/objaverse/pear/pear_10/collision/model_normalized_collision_25.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v 0.05961267 -0.27945631 -0.16001142
+v 0.13775334 -0.23397830 -0.28022976
+v 0.12856319 -0.24509519 -0.11903776
+v 0.10437445 -0.22701710 -0.05792143
+v 0.06294041 -0.23740934 -0.05122329
+v 0.13714817 -0.23283434 -0.09914545
+v 0.11546611 -0.26139283 -0.20368677
+v 0.09789708 -0.25118886 -0.28598619
+v 0.07270358 -0.26209551 -0.10494367
+v 0.11964558 -0.22862195 -0.07237526
+v 0.12799815 -0.24614804 -0.25920001
+v 0.11489422 -0.26072553 -0.16095505
+v 0.06149451 -0.27670801 -0.23448913
+v 0.05827934 -0.26553081 -0.10456354
+v 0.08487196 -0.24636373 -0.07780149
+v 0.11468132 -0.24823642 -0.27479883
+v 0.07306272 -0.27663869 -0.16101848
+v 0.09927729 -0.26270081 -0.24583272
+v 0.05854787 -0.27972779 -0.21709011
+v 0.10109400 -0.23229569 -0.06386873
+v 0.05939190 -0.25150212 -0.07429375
+v 0.13190259 -0.23755548 -0.10339650
+v 0.13164000 -0.23863049 -0.27699108
+v 0.10027625 -0.26167912 -0.13211386
+v 0.09013012 -0.25737899 -0.27767021
+v 0.07164950 -0.27600945 -0.21886358
+v 0.05996378 -0.24202486 -0.05750351
+v 0.11501630 -0.23333740 -0.07682510
+v 0.07497582 -0.27151054 -0.24283356
+f 5 4 2
+f 6 3 2
+f 8 5 2
+f 10 6 2
+f 10 2 4
+f 11 2 3
+f 11 3 7
+f 12 7 3
+f 13 5 8
+f 16 8 2
+f 17 7 12
+f 17 14 1
+f 17 9 14
+f 18 11 7
+f 18 16 11
+f 19 1 14
+f 19 17 1
+f 20 4 5
+f 20 5 15
+f 20 10 4
+f 21 14 9
+f 21 9 15
+f 22 15 9
+f 22 9 3
+f 22 3 6
+f 23 16 2
+f 23 2 11
+f 23 11 16
+f 24 17 12
+f 24 12 3
+f 24 3 9
+f 24 9 17
+f 25 13 8
+f 25 8 16
+f 25 16 18
+f 26 7 17
+f 26 17 19
+f 26 18 7
+f 26 19 13
+f 27 5 13
+f 27 13 19
+f 27 19 14
+f 27 14 21
+f 27 21 15
+f 27 15 5
+f 28 20 15
+f 28 10 20
+f 28 15 22
+f 28 22 6
+f 28 6 10
+f 29 25 18
+f 29 13 25
+f 29 26 13
+f 29 18 26
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_10/collision/model_normalized_collision_26.obj b/objects/objaverse/pear/pear_10/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8a4c56f0be38fb157ccae5e409325a571ab5fd93
--- /dev/null
+++ b/objects/objaverse/pear/pear_10/collision/model_normalized_collision_26.obj
@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
+v 0.19606696 -0.11442682 -0.36213406
+v 0.23115020 -0.07842746 -0.33522147
+v 0.22318168 -0.09525013 -0.33743359
+v 0.18592742 0.14252480 -0.35650065
+v 0.15996545 0.03797160 -0.45387804
+v 0.21327014 0.12124476 -0.33453974
+v 0.16744149 -0.07396421 -0.43186663
+v 0.18095475 0.07557186 -0.41747220
+v 0.20969119 -0.07539081 -0.37350158
+v 0.16164944 -0.09357683 -0.42573870
+v 0.15786894 0.10753647 -0.42193838
+v 0.19530250 0.09011688 -0.38986805
+v 0.22617360 -0.07701056 -0.34556005
+v 0.21291045 -0.08941218 -0.35907714
+v 0.18236073 -0.00747317 -0.43288228
+v 0.15892663 0.12149651 -0.40871047
+v 0.16036400 -0.03509296 -0.45380786
+v 0.18219881 -0.08876561 -0.40389848
+v 0.15910505 0.07877163 -0.43977575
+v 0.20863453 0.11935888 -0.34491060
+v 0.23236349 0.07859661 -0.33506862
+v 0.16520402 0.10329299 -0.41726759
+v 0.19704852 -0.04790312 -0.40528218
+v 0.19497411 0.06105769 -0.40607550
+v 0.15996301 -0.07766201 -0.43801752
+v 0.16732928 0.03393466 -0.44720816
+v 0.16868683 -0.09021294 -0.42006074
+v 0.16749571 0.07714620 -0.43217002
+v 0.18027903 0.11690011 -0.38800114
+v 0.22594508 -0.04941902 -0.35979197
+v 0.22634727 0.07875269 -0.34645677
+v 0.16629876 0.11831874 -0.40317352
+v 0.16750167 -0.03389374 -0.44702184
+v 0.18203356 0.00880852 -0.43319571
+v 0.21109641 -0.02141072 -0.39020439
+v 0.20956692 0.07971168 -0.37462684
+v 0.21122751 0.02252291 -0.38999197
+v 0.22505709 0.05073517 -0.35905895
+f 1 3 4
+f 6 3 2
+f 6 4 3
+f 13 2 3
+f 14 3 1
+f 14 13 3
+f 14 9 13
+f 16 10 1
+f 16 1 4
+f 17 11 5
+f 18 7 9
+f 18 9 14
+f 18 14 1
+f 19 5 11
+f 20 4 6
+f 21 6 2
+f 22 12 8
+f 22 19 11
+f 23 9 7
+f 24 8 12
+f 25 16 11
+f 25 10 16
+f 25 11 17
+f 25 17 7
+f 26 17 5
+f 26 8 24
+f 27 7 18
+f 27 25 7
+f 27 10 25
+f 27 18 1
+f 27 1 10
+f 28 5 19
+f 28 26 5
+f 28 8 26
+f 28 22 8
+f 28 19 22
+f 29 20 12
+f 29 4 20
+f 29 12 22
+f 30 21 2
+f 30 2 13
+f 30 13 9
+f 30 9 23
+f 31 20 6
+f 31 6 21
+f 32 22 11
+f 32 11 16
+f 32 29 22
+f 32 16 4
+f 32 4 29
+f 33 15 23
+f 33 26 15
+f 33 17 26
+f 33 23 7
+f 33 7 17
+f 34 26 24
+f 34 15 26
+f 35 30 23
+f 35 23 15
+f 36 12 20
+f 36 20 31
+f 36 24 12
+f 37 35 15
+f 37 15 34
+f 37 34 24
+f 37 30 35
+f 38 36 31
+f 38 24 36
+f 38 37 24
+f 38 31 21
+f 38 21 30
+f 38 30 37
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_10/collision/model_normalized_collision_27.obj b/objects/objaverse/pear/pear_10/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae01688a5d15e08b4a3cbe35ee037abc3464a691
--- /dev/null
+++ b/objects/objaverse/pear/pear_10/collision/model_normalized_collision_27.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v 0.10535083 -0.12223647 -0.45433320
+v 0.16746908 -0.09750329 -0.41597809
+v 0.09221011 0.14940237 -0.43958119
+v 0.15892663 0.12149651 -0.40871047
+v 0.15308428 0.01962821 -0.46224218
+v 0.12895568 -0.04709506 -0.47519704
+v 0.15447453 0.07444972 -0.44666148
+v 0.15284832 -0.03498729 -0.46072115
+v 0.15420644 -0.07318545 -0.44609162
+v 0.07329749 0.10786032 -0.47991375
+v 0.12658518 0.11712757 -0.44440402
+v 0.15591570 -0.09003167 -0.43419485
+v 0.12626280 -0.08891682 -0.45986959
+v 0.07453814 -0.09570363 -0.48080489
+v 0.12872409 0.04911570 -0.47440506
+v 0.15216787 0.10444044 -0.43009332
+v 0.10136771 0.11815696 -0.46143633
+v 0.07492364 0.12459408 -0.46916576
+v 0.09892446 -0.09082320 -0.47424624
+v 0.15407964 0.11646973 -0.41864153
+v 0.13827273 0.10259602 -0.44500606
+v 0.09799516 0.10200092 -0.47321687
+v 0.11374952 -0.07513538 -0.47370714
+v 0.13979166 0.07571600 -0.45834383
+f 1 2 3
+f 3 2 4
+f 7 4 2
+f 7 2 5
+f 8 6 5
+f 8 5 2
+f 9 8 2
+f 9 6 8
+f 11 3 4
+f 12 9 2
+f 12 2 1
+f 13 6 9
+f 13 12 1
+f 13 9 12
+f 14 10 6
+f 14 1 3
+f 15 5 6
+f 15 6 10
+f 16 4 7
+f 17 3 11
+f 18 14 3
+f 18 10 14
+f 18 3 17
+f 19 13 1
+f 19 1 14
+f 20 11 4
+f 20 4 16
+f 21 16 7
+f 21 20 16
+f 21 11 20
+f 21 17 11
+f 22 15 10
+f 22 18 17
+f 22 10 18
+f 22 17 21
+f 23 19 14
+f 23 14 6
+f 23 6 13
+f 23 13 19
+f 24 22 21
+f 24 21 7
+f 24 15 22
+f 24 7 5
+f 24 5 15
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_10/collision/model_normalized_collision_28.obj b/objects/objaverse/pear/pear_10/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cda3f15b6d2116988ffd021a4420d572cf7247ff
--- /dev/null
+++ b/objects/objaverse/pear/pear_10/collision/model_normalized_collision_28.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.12790750 -0.18724687 -0.37765958
+v 0.19165585 -0.11284950 -0.37004617
+v 0.17016641 -0.16005598 -0.35763666
+v 0.10765862 -0.09798935 -0.35608573
+v 0.10410078 -0.09453425 -0.47019402
+v 0.10194840 -0.15043819 -0.43728773
+v 0.16164944 -0.09357683 -0.42573870
+v 0.09945150 -0.13520917 -0.45033433
+v 0.11640291 -0.09172328 -0.46458108
+v 0.15460767 -0.14767662 -0.38950216
+v 0.10144002 -0.10799497 -0.46545732
+v 0.12426152 -0.11623949 -0.44449318
+v 0.11184438 -0.14714951 -0.43262227
+v 0.11209082 -0.10385469 -0.46119795
+v 0.11052356 -0.13267857 -0.44432910
+v 0.15229097 -0.11600472 -0.41882072
+f 1 3 4
+f 3 2 4
+f 6 1 4
+f 7 4 2
+f 8 6 4
+f 9 5 4
+f 9 4 7
+f 10 7 2
+f 10 2 3
+f 10 3 1
+f 11 8 4
+f 11 4 5
+f 11 5 9
+f 12 9 7
+f 13 10 1
+f 13 1 6
+f 14 11 9
+f 14 9 12
+f 14 8 11
+f 15 13 6
+f 15 6 8
+f 15 12 13
+f 15 14 12
+f 15 8 14
+f 16 13 12
+f 16 12 7
+f 16 7 10
+f 16 10 13
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_10/collision/model_normalized_collision_29.obj b/objects/objaverse/pear/pear_10/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b20f68886473798e0d3c599c0afcca6ebf8a4fa0
--- /dev/null
+++ b/objects/objaverse/pear/pear_10/collision/model_normalized_collision_29.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.01826797 -0.26320013 -0.08690142
+v 0.14323057 -0.24245281 -0.23627175
+v 0.16657019 -0.19407744 -0.07302837
+v 0.01676539 -0.15858484 -0.09855490
+v 0.02269840 -0.28157606 -0.24058294
+v 0.13795636 -0.15858484 -0.23489475
+v 0.13714817 -0.23283434 -0.09914545
+v 0.01676539 -0.15858484 -0.23489475
+f 1 3 4
+f 6 3 2
+f 6 4 3
+f 6 2 5
+f 7 2 3
+f 7 3 1
+f 7 5 2
+f 7 1 5
+f 8 5 1
+f 8 1 4
+f 8 6 5
+f 8 4 6
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_10/collision/model_normalized_collision_3.obj b/objects/objaverse/pear/pear_10/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7423a130e4dc691d4f255cf5b9f5a15ab1785ec7
--- /dev/null
+++ b/objects/objaverse/pear/pear_10/collision/model_normalized_collision_3.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.17828775 0.11299015 0.00591668
+v -0.11655700 0.11188672 -0.44271703
+v -0.11580057 0.18356470 0.00163500
+v -0.11335033 0.25257966 -0.11781122
+v -0.25800753 0.10890554 -0.21842030
+v -0.11085488 0.15065730 -0.42055905
+v -0.22249601 0.16219312 -0.10607626
+v -0.14296872 0.13050403 0.03040043
+v -0.12655290 0.10804409 -0.43715255
+v -0.11415934 0.12362328 -0.43767000
+v -0.11228336 0.22077803 -0.04609940
+v -0.15274568 0.23132791 -0.25921669
+v -0.24820265 0.11137533 -0.10116160
+v -0.16456006 0.18980936 -0.05040257
+v -0.24339373 0.10781664 -0.27556911
+v -0.16279276 0.13211738 -0.38783254
+v -0.11294196 0.25441433 -0.26221066
+v -0.16771020 0.23339055 -0.17413404
+v -0.25325657 0.12271716 -0.13340819
+v -0.25808752 0.10956727 -0.13256110
+v -0.23838169 0.13512094 -0.10420724
+v -0.16658484 0.14715173 -0.00566615
+v -0.13756969 0.18814251 -0.02055333
+v -0.13873292 0.23092642 -0.09250422
+v -0.20919373 0.18825865 -0.22973220
+v -0.13432701 0.13230055 -0.41503779
+v -0.19729791 0.10814986 -0.36170813
+v -0.15062391 0.18806159 -0.34475186
+v -0.13773389 0.24788293 -0.23160264
+v -0.23605431 0.14897110 -0.11922944
+v -0.12454864 0.21606938 -0.04926076
+v -0.13889864 0.17332061 -0.00505069
+v -0.11278443 0.23618790 -0.07509818
+v -0.14176959 0.24736777 -0.14852520
+v -0.17915720 0.21937390 -0.13398005
+v -0.23674292 0.14937543 -0.23012145
+v -0.18106443 0.21914567 -0.21921019
+v -0.12300098 0.12106891 -0.43213178
+v -0.12246537 0.14679467 -0.41438377
+v -0.11374542 0.22276449 -0.33342269
+v -0.18021983 0.20280623 -0.27287427
+v -0.19277124 0.16090496 -0.31621339
+v -0.12594036 0.24832894 -0.26029501
+v -0.13920563 0.21531347 -0.06292708
+v -0.12691950 0.24722837 -0.11918646
+v -0.12484395 0.23129936 -0.07759065
+v -0.16592702 0.21841246 -0.10406401
+v -0.22368754 0.17720089 -0.14752318
+v -0.23605445 0.13633366 -0.25945093
+v -0.25343622 0.12124470 -0.21673231
+v -0.16824770 0.23264216 -0.18939758
+v -0.12313933 0.18851204 -0.37356429
+v -0.11177778 0.19315487 -0.37696411
+v -0.16389035 0.20448934 -0.30124811
+v -0.19498474 0.20354814 -0.22977559
+v -0.16470258 0.17490098 -0.34302708
+v -0.19323793 0.11999471 -0.35879680
+v -0.13764752 0.23184071 -0.28646810
+v -0.21068643 0.18948118 -0.13466013
+v -0.15524492 0.23152953 -0.11819905
+v -0.22419069 0.17750131 -0.20111095
+v -0.20698017 0.16298665 -0.28646203
+v -0.12307917 0.21819229 -0.33137784
+v -0.11269640 0.23782887 -0.30586153
+f 8 1 2
+f 8 2 3
+f 9 2 1
+f 10 6 3
+f 10 3 2
+f 10 2 9
+f 11 3 6
+f 15 9 1
+f 17 11 6
+f 20 1 13
+f 20 15 1
+f 20 5 15
+f 20 19 5
+f 20 13 19
+f 21 13 1
+f 21 19 13
+f 22 14 7
+f 22 1 8
+f 22 21 1
+f 22 7 21
+f 23 3 11
+f 26 9 16
+f 27 16 9
+f 27 9 15
+f 30 21 7
+f 30 19 21
+f 31 23 11
+f 32 23 14
+f 32 14 22
+f 32 22 8
+f 32 8 3
+f 32 3 23
+f 33 17 4
+f 33 11 17
+f 34 29 18
+f 34 4 17
+f 34 17 29
+f 35 34 18
+f 37 29 12
+f 38 26 10
+f 38 10 9
+f 38 9 26
+f 39 26 16
+f 39 6 10
+f 39 10 26
+f 43 29 17
+f 43 12 29
+f 44 14 23
+f 44 23 31
+f 45 33 4
+f 45 24 33
+f 45 4 34
+f 46 31 11
+f 46 11 33
+f 46 44 31
+f 46 33 24
+f 46 24 44
+f 47 7 14
+f 47 44 24
+f 47 14 44
+f 48 30 7
+f 48 19 30
+f 49 15 5
+f 49 36 25
+f 50 5 19
+f 50 49 5
+f 50 36 49
+f 51 18 29
+f 51 29 37
+f 52 6 39
+f 52 39 16
+f 53 17 6
+f 53 52 40
+f 53 6 52
+f 54 41 12
+f 55 41 25
+f 55 37 12
+f 55 12 41
+f 56 52 16
+f 56 28 52
+f 56 54 28
+f 56 42 54
+f 57 27 15
+f 57 49 42
+f 57 15 49
+f 57 42 56
+f 57 56 16
+f 57 16 27
+f 58 12 43
+f 58 54 12
+f 59 47 35
+f 59 7 47
+f 59 48 7
+f 59 35 18
+f 59 18 48
+f 60 47 24
+f 60 24 45
+f 60 45 34
+f 60 34 35
+f 60 35 47
+f 61 25 36
+f 61 36 50
+f 61 50 19
+f 61 19 48
+f 61 55 25
+f 61 37 55
+f 61 51 37
+f 61 48 18
+f 61 18 51
+f 62 49 25
+f 62 25 41
+f 62 42 49
+f 62 54 42
+f 62 41 54
+f 63 52 28
+f 63 40 52
+f 63 28 54
+f 63 54 58
+f 64 53 40
+f 64 17 53
+f 64 63 58
+f 64 40 63
+f 64 58 43
+f 64 43 17
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_10/collision/model_normalized_collision_30.obj b/objects/objaverse/pear/pear_10/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..81837835b054beb6569e449a0ac620defa7ceb6c
--- /dev/null
+++ b/objects/objaverse/pear/pear_10/collision/model_normalized_collision_30.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.24329012 -0.09775478 -0.09883213
+v 0.22884134 -0.09020246 -0.33190939
+v 0.25936618 -0.00640147 -0.09383670
+v 0.16825411 -0.00709612 -0.09855490
+v 0.16825411 -0.09798935 -0.09855490
+v 0.24119694 -0.00663686 -0.33941449
+v 0.19606696 -0.11442682 -0.36213406
+v 0.16825411 -0.00709612 -0.34093686
+f 1 2 3
+f 5 1 3
+f 5 3 4
+f 6 3 2
+f 7 2 1
+f 7 1 5
+f 7 6 2
+f 8 4 3
+f 8 3 6
+f 8 6 7
+f 8 7 5
+f 8 5 4
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_10/collision/model_normalized_collision_31.obj b/objects/objaverse/pear/pear_10/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f40cc3047de9d2571f3db7e8d56bfd4c9c7408c
--- /dev/null
+++ b/objects/objaverse/pear/pear_10/collision/model_normalized_collision_31.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.02073189 -0.28364695 -0.15303076
+v 0.01826797 -0.26320013 -0.08690142
+v -0.13174434 -0.25462802 -0.15497813
+v -0.11957447 -0.15858484 -0.09855490
+v 0.01676539 -0.15858484 -0.15915039
+v -0.12304247 -0.24051213 -0.09587716
+v 0.01676539 -0.15858484 -0.09855490
+v -0.11957447 -0.15858484 -0.15915039
+f 5 1 3
+f 6 2 4
+f 6 4 3
+f 6 1 2
+f 6 3 1
+f 7 2 1
+f 7 1 5
+f 7 5 4
+f 7 4 2
+f 8 5 3
+f 8 3 4
+f 8 4 5
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_10/collision/model_normalized_collision_4.obj b/objects/objaverse/pear/pear_10/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c0536cdce4591c1914deb929e00f0c0bdde96cf7
--- /dev/null
+++ b/objects/objaverse/pear/pear_10/collision/model_normalized_collision_4.obj
@@ -0,0 +1,126 @@
+# https://github.com/mikedh/trimesh
+v 0.07446634 -0.19607375 0.00049616
+v 0.20300489 -0.03520272 0.00073897
+v 0.10549743 -0.05703695 0.13842374
+v -0.05564599 0.20922726 -0.00015240
+v -0.12857756 -0.16471600 -0.00325003
+v 0.14464382 0.15245590 0.00077889
+v 0.15827998 -0.13496525 -0.00181687
+v -0.03676308 -0.11039419 0.13634273
+v 0.11939176 0.03042724 0.13372791
+v 0.18954184 -0.07889042 0.00063225
+v 0.13114180 -0.16429376 -0.00204121
+v 0.18670252 0.09233661 -0.00194151
+v -0.07015836 -0.19464260 -0.00035274
+v 0.03936208 -0.11076958 0.13586944
+v -0.20009190 0.06698897 -0.00064502
+v 0.12029044 -0.01889482 0.13614129
+v 0.02791635 0.12422647 0.13400702
+v 0.20292202 0.03622186 0.00096798
+v 0.09175669 0.08780930 0.13399740
+v 0.11542891 0.17994705 -0.00155177
+v -0.06356585 -0.09714028 0.13559541
+v -0.01311369 -0.18829199 0.02293478
+v 0.06692496 -0.09614767 0.13561351
+v -0.06314982 0.11021053 0.13542185
+v 0.17900650 0.06270399 0.02503210
+v 0.15384442 0.11743693 0.02217373
+v 0.04429998 0.21020349 0.00020150
+v 0.06736108 0.10953629 0.13195165
+v -0.10001292 0.19569270 -0.00160524
+v -0.18569892 -0.07864348 0.00008729
+v 0.01413569 -0.18781606 0.02367120
+v -0.02333119 0.12617665 0.13369775
+v -0.11606914 -0.01783964 0.13654712
+v 0.08803046 0.19533918 -0.00021696
+v -0.17038918 0.13651888 -0.00142101
+v -0.15576235 -0.13645670 -0.00236692
+v -0.10238267 0.07352947 0.13091653
+v -0.19973173 -0.02054584 0.00001344
+v -0.18602259 0.10962646 -0.00122554
+v -0.12632211 0.17998411 -0.00146248
+v -0.10139218 -0.05787824 0.13479393
+v -0.11662374 0.02023600 0.13480031
+v -0.11658830 0.05893037 0.11870108
+f 10 7 2
+f 10 3 7
+f 11 7 3
+f 12 2 7
+f 12 11 5
+f 12 7 11
+f 13 11 1
+f 13 5 11
+f 14 3 8
+f 16 10 2
+f 16 3 10
+f 18 2 12
+f 18 16 2
+f 18 9 16
+f 19 9 12
+f 19 16 9
+f 19 17 3
+f 19 3 16
+f 20 6 12
+f 20 19 6
+f 21 13 8
+f 21 5 13
+f 22 13 1
+f 22 8 13
+f 23 11 3
+f 23 3 14
+f 23 14 1
+f 23 1 11
+f 24 3 17
+f 25 18 12
+f 25 12 9
+f 25 9 18
+f 26 19 12
+f 26 12 6
+f 26 6 19
+f 28 17 19
+f 28 19 20
+f 29 20 12
+f 29 12 5
+f 29 27 20
+f 29 4 27
+f 31 22 1
+f 31 1 14
+f 31 14 8
+f 31 8 22
+f 32 24 17
+f 32 29 24
+f 32 4 29
+f 32 27 4
+f 32 17 27
+f 33 21 8
+f 33 8 3
+f 33 3 24
+f 34 27 17
+f 34 17 28
+f 34 28 20
+f 34 20 27
+f 35 29 5
+f 36 5 21
+f 37 24 35
+f 38 33 15
+f 38 30 33
+f 38 36 30
+f 38 15 36
+f 39 35 5
+f 39 37 35
+f 39 36 15
+f 39 5 36
+f 40 35 24
+f 40 24 29
+f 40 29 35
+f 41 33 30
+f 41 30 36
+f 41 36 21
+f 41 21 33
+f 42 33 24
+f 42 24 37
+f 42 15 33
+f 43 39 15
+f 43 37 39
+f 43 42 37
+f 43 15 42
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_10/collision/model_normalized_collision_5.obj b/objects/objaverse/pear/pear_10/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb4ce7cf467a641d2caa469e574724f932f6f870
--- /dev/null
+++ b/objects/objaverse/pear/pear_10/collision/model_normalized_collision_5.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.23316120 0.12382982 -0.10301436
+v 0.24568926 0.12282662 -0.24771834
+v 0.09929858 0.26188978 -0.14718676
+v -0.05665751 0.27759902 -0.14813030
+v -0.11415934 0.12362328 -0.43767000
+v 0.01572048 0.21815166 -0.00496349
+v 0.22595129 0.16305716 -0.16134926
+v 0.18636708 0.12024769 -0.37741709
+v 0.05683290 0.23167633 -0.35917176
+v 0.12439547 0.18836479 -0.02084809
+v 0.04389474 0.26232089 -0.09064791
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\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_10/collision/model_normalized_collision_6.obj b/objects/objaverse/pear/pear_10/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..09633e30ac2c53dc9f1af08fe89ffc53d80288c0
--- /dev/null
+++ b/objects/objaverse/pear/pear_10/collision/model_normalized_collision_6.obj
@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
+v -0.21240416 -0.15375996 -0.08956450
+v -0.19311256 -0.14234722 -0.33971116
+v -0.18828818 0.09654959 -0.38115771
+v -0.22847550 0.13452028 -0.08010008
+v -0.26818439 -0.04971412 -0.23129654
+v -0.23696431 -0.13432589 -0.24623566
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+v -0.24402741 -0.05080696 -0.30456412
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+v -0.25302160 -0.10644445 -0.14714785
+v -0.25087724 -0.07827127 -0.10568302
+v -0.19454938 0.06849342 -0.38573860
+v -0.23595653 -0.10606178 -0.28814723
+v -0.19080756 0.11184339 -0.36808013
+v -0.26869101 0.06337972 -0.23001885
+v -0.23723410 -0.13664283 -0.13236896
+v -0.25163987 -0.10684318 -0.23313018
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\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_10/collision/model_normalized_collision_7.obj b/objects/objaverse/pear/pear_10/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e4eef57381b678a8e1fd3e4b63fc216bb89dca4
--- /dev/null
+++ b/objects/objaverse/pear/pear_10/collision/model_normalized_collision_7.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.12424544 -0.14961313 0.01417934
+v -0.14347218 -0.17421189 -0.37192163
+v -0.11957447 0.11409486 -0.34093686
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+v -0.20281038 0.11757045 -0.34595136
+v -0.17828775 0.11299015 0.00591668
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+f 8 5 6
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+f 9 2 5
+f 10 4 3
+f 10 3 7
+f 10 8 4
+f 10 5 8
+f 10 9 5
+f 10 7 9
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_10/collision/model_normalized_collision_8.obj b/objects/objaverse/pear/pear_10/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8051fb603697aae455615c2c5196c04cb7125156
--- /dev/null
+++ b/objects/objaverse/pear/pear_10/collision/model_normalized_collision_8.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.02757462 -0.11391433 0.13808493
+v 0.11096657 -0.04681977 0.13868512
+v 0.02022314 -0.03884203 0.26623717
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+v -0.10595757 -0.04617603 0.13754393
+v 0.07961057 -0.08082370 0.14739636
+v 0.08110175 -0.08557130 0.13673961
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+v 0.02454782 -0.09550295 0.17881817
+v 0.09398441 -0.07324742 0.13684181
+v 0.05097918 0.04325526 0.21897630
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+v 0.04284613 0.11846479 0.13661398
+v -0.01495049 -0.03858831 0.26513369
+v -0.10852191 0.05032606 0.13755391
+v -0.04746099 0.07151440 0.20333096
+v -0.07836051 -0.08572471 0.13511314
+v 0.09109345 -0.06877505 0.14857966
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+v 0.03491500 -0.08297311 0.18785350
+v 0.02662402 -0.10864484 0.15070575
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+v -0.02592470 0.10983161 0.16512953
+v 0.08514736 0.09173450 0.13771120
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+v -0.01968472 0.00838819 0.25616694
+v -0.01236728 -0.11486647 0.13912757
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+v 0.07688393 0.03165608 0.20169049
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+v -0.05046973 0.08002608 0.19279127
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+v -0.04739797 -0.09359883 0.16612334
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\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_10/collision/model_normalized_collision_9.obj b/objects/objaverse/pear/pear_10/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5c9cb38489ac64c37905a1a8282677858a77ce12
--- /dev/null
+++ b/objects/objaverse/pear/pear_10/collision/model_normalized_collision_9.obj
@@ -0,0 +1,138 @@
+# https://github.com/mikedh/trimesh
+v -0.11686489 -0.22783898 -0.32206922
+v -0.11054190 -0.13424168 -0.43515644
+v -0.11957447 0.11409486 -0.34093686
+v -0.20281038 0.11757045 -0.34595136
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+v -0.11309251 0.09493515 -0.45272828
+v -0.11244014 -0.20541334 -0.36007197
+v -0.19983111 -0.15245886 -0.31964000
+v -0.11655700 0.11188672 -0.44271703
+v -0.19356521 -0.03272374 -0.38814739
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+v -0.12901132 -0.22355537 -0.31931931
+v -0.22912940 0.06631772 -0.33579624
+v -0.16306708 -0.13297915 -0.38614917
+v -0.17870246 0.07790099 -0.40214184
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+v -0.18301092 -0.17977176 -0.31802920
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+v -0.23011523 -0.03569457 -0.33386218
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+v -0.19402003 0.06445677 -0.38749246
+v -0.11158641 -0.06518323 -0.46520429
+v -0.14927460 -0.07643048 -0.42966639
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+v -0.20820569 -0.06380540 -0.35826326
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+f 42 27 41
+f 43 30 5
+f 43 20 30
+f 43 5 19
+f 43 19 32
+f 43 38 20
+f 43 32 38
+f 44 31 10
+f 44 19 31
+f 44 32 19
+f 44 10 32
+f 45 25 16
+f 45 16 37
+f 45 39 25
+f 45 14 39
+f 46 40 26
+f 46 17 8
+f 46 8 40
+f 46 26 41
+f 46 41 18
+f 46 18 17
+f 47 41 14
+f 47 42 41
+f 47 2 42
+f 47 14 45
+f 47 45 37
+f 47 37 2
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_10/model.xml b/objects/objaverse/pear/pear_10/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..5efcc96f238ddd53855ac1ab3b6feaaf1e1291c7
--- /dev/null
+++ b/objects/objaverse/pear/pear_10/model.xml
@@ -0,0 +1,81 @@
+<mujoco model="pear_11">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.12 0.12 0.12" refquat="0.4999999999999999 0.4999999999999999 0.5 0.5"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.12 0.12 0.12" refquat="0.4999999999999999 0.4999999999999999 0.5 0.5"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.12 0.12 0.12" refquat="0.4999999999999999 0.4999999999999999 0.5 0.5"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.12 0.12 0.12" refquat="0.4999999999999999 0.4999999999999999 0.5 0.5"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.12 0.12 0.12" refquat="0.4999999999999999 0.4999999999999999 0.5 0.5"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.12 0.12 0.12" refquat="0.4999999999999999 0.4999999999999999 0.5 0.5"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.12 0.12 0.12" refquat="0.4999999999999999 0.4999999999999999 0.5 0.5"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.12 0.12 0.12" refquat="0.4999999999999999 0.4999999999999999 0.5 0.5"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.12 0.12 0.12" refquat="0.4999999999999999 0.4999999999999999 0.5 0.5"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.12 0.12 0.12" refquat="0.4999999999999999 0.4999999999999999 0.5 0.5"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.12 0.12 0.12" refquat="0.4999999999999999 0.4999999999999999 0.5 0.5"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.12 0.12 0.12" refquat="0.4999999999999999 0.4999999999999999 0.5 0.5"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.12 0.12 0.12" refquat="0.4999999999999999 0.4999999999999999 0.5 0.5"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.12 0.12 0.12" refquat="0.4999999999999999 0.4999999999999999 0.5 0.5"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.12 0.12 0.12" refquat="0.4999999999999999 0.4999999999999999 0.5 0.5"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.12 0.12 0.12" refquat="0.4999999999999999 0.4999999999999999 0.5 0.5"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.12 0.12 0.12" refquat="0.4999999999999999 0.4999999999999999 0.5 0.5"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.12 0.12 0.12" refquat="0.4999999999999999 0.4999999999999999 0.5 0.5"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.12 0.12 0.12" refquat="0.4999999999999999 0.4999999999999999 0.5 0.5"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.12 0.12 0.12" refquat="0.4999999999999999 0.4999999999999999 0.5 0.5"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.12 0.12 0.12" refquat="0.4999999999999999 0.4999999999999999 0.5 0.5"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.12 0.12 0.12" refquat="0.4999999999999999 0.4999999999999999 0.5 0.5"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.12 0.12 0.12" refquat="0.4999999999999999 0.4999999999999999 0.5 0.5"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.12 0.12 0.12" refquat="0.4999999999999999 0.4999999999999999 0.5 0.5"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.12 0.12 0.12" refquat="0.4999999999999999 0.4999999999999999 0.5 0.5"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.12 0.12 0.12" refquat="0.4999999999999999 0.4999999999999999 0.5 0.5"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.12 0.12 0.12" refquat="0.4999999999999999 0.4999999999999999 0.5 0.5"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.12 0.12 0.12" refquat="0.4999999999999999 0.4999999999999999 0.5 0.5"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.12 0.12 0.12" refquat="0.4999999999999999 0.4999999999999999 0.5 0.5"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.12 0.12 0.12" refquat="0.4999999999999999 0.4999999999999999 0.5 0.5"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.12 0.12 0.12" refquat="0.4999999999999999 0.4999999999999999 0.5 0.5"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.12 0.12 0.12" refquat="0.4999999999999999 0.4999999999999999 0.5 0.5"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.12 0.12 0.12" refquat="0.4999999999999999 0.4999999999999999 0.5 0.5"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="material.105" texture="image0" specular="0.5" shininess="0.0"/>
+  </asset>
+  <worldbody>
+    <body>
+      <body name="object">
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_0_vis" conaffinity="0" contype="0" group="1" material="material.105"/>
+        <geom solimp="0.998 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="-0.00030587783212180253 0.00014092279957648722 -0.03261157051229753" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="-0.00030587783212180253 0.00014092279957648722 0.03316930075454893" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.033449910207146 0.05995650652031443 0.0002788651211256998" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/objects/objaverse/pear/pear_10/visual/material.mtl b/objects/objaverse/pear/pear_10/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f68742fe8420aadeab267568817d347d5678c9d5
--- /dev/null
+++ b/objects/objaverse/pear/pear_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 0.00000000
+map_Kd material_0.jpeg
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_16/collision/model_normalized_collision_0.obj b/objects/objaverse/pear/pear_16/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..95bc467b50b94c1ecb97004e78b0ff9329310bc6
--- /dev/null
+++ b/objects/objaverse/pear/pear_16/collision/model_normalized_collision_0.obj
@@ -0,0 +1,186 @@
+# https://github.com/mikedh/trimesh
+v 0.07107900 -0.11816290 0.00383062
+v 0.12625331 -0.05090221 0.00411422
+v 0.04938563 -0.01366033 0.25266869
+v -0.04990293 -0.00290944 0.25943318
+v -0.13274048 -0.01014514 0.00718124
+v -0.02189136 -0.06663680 0.19459322
+v 0.06172994 -0.05462939 0.18020576
+v -0.10492574 -0.07260550 0.00229599
+v 0.13281809 -0.01022658 0.00531053
+v -0.02970032 -0.02696009 0.25408132
+v 0.09606492 -0.10196038 0.00182365
+v 0.09390833 -0.00631500 0.17009148
+v 0.04053783 -0.09634296 0.10535596
+v 0.02587675 -0.04001686 0.23995422
+v -0.05604487 -0.05462968 0.18206510
+v -0.11776183 -0.05056488 0.00283937
+v -0.11893017 -0.00788087 0.04946317
+v 0.05351148 -0.00390013 0.25667931
+v 0.08034215 -0.09804310 0.04609440
+v 0.10591003 -0.07558136 0.03306791
+v -0.06097313 -0.11673290 0.00290474
+v 0.04864485 -0.02612615 0.23868847
+v 0.03922549 -0.06717995 0.18136914
+v 0.00220779 -0.05273157 0.22691645
+v 0.03789282 -0.02641369 0.24927880
+v -0.07329898 -0.00605074 0.21388466
+v -0.05253479 -0.01756957 0.24248415
+v -0.03496893 -0.03615949 0.23871181
+v -0.09851723 -0.04664781 0.07679182
+v 0.06536155 -0.00273207 0.24156916
+v 0.09098074 -0.07319450 0.07506638
+v 0.06928018 -0.11501115 0.01789564
+v 0.08855880 -0.03196772 0.15356104
+v -0.02362989 -0.11436072 0.06186028
+v -0.07279134 -0.07060452 0.10643491
+v 0.03895251 -0.05313758 0.20857886
+v 0.05432742 -0.06595001 0.16780258
+v 0.01449676 -0.06800146 0.19495352
+v -0.10313364 -0.00738602 0.11002646
+v -0.04551231 -0.01363681 0.25433340
+v -0.06961242 -0.02825405 0.19627648
+v -0.06120262 -0.00468556 0.23898014
+v -0.04538629 -0.03842239 0.22378609
+v -0.01205655 -0.05294205 0.22396033
+v -0.10216810 -0.06963126 0.01808371
+v -0.09977626 -0.02037103 0.10947454
+v 0.07856320 -0.00415215 0.21283542
+v 0.06044659 -0.01366582 0.23794135
+v 0.09275272 -0.09950598 0.01552305
+v 0.10451258 -0.06091071 0.06167178
+v 0.09028847 -0.01818752 0.16815346
+v -0.04748072 -0.11140065 0.04649400
+v 0.02914747 -0.11420828 0.06301029
+v -0.06177025 -0.09772050 0.06020428
+v 0.05347378 -0.09643350 0.09080351
+v -0.06998177 -0.01508183 0.21306559
+v -0.05655933 -0.02754805 0.22284727
+v 0.07467459 -0.02783062 0.19503170
+v -0.04564825 -0.06784434 0.16653797
+v 0.05532562 -0.11182593 0.04659123
+v -0.08694209 -0.08595046 0.01880064
+v -0.05948208 -0.11352208 0.01725064
+v 0.07443128 -0.01541465 0.21069445
+f 11 9 2
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+f 59 15 54
+f 60 13 53
+f 60 55 13
+f 60 32 55
+f 60 53 1
+f 60 1 32
+f 61 54 35
+f 61 35 8
+f 61 8 21
+f 61 21 54
+f 62 54 21
+f 62 21 52
+f 62 52 54
+f 63 58 51
+f 63 51 47
+f 63 47 30
+f 63 30 48
+f 63 48 58
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_16/collision/model_normalized_collision_1.obj b/objects/objaverse/pear/pear_16/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6bdaea683804baed0469e747eb6204c1f886c52a
--- /dev/null
+++ b/objects/objaverse/pear/pear_16/collision/model_normalized_collision_1.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.09086442 -0.14389229 -0.10045320
+v 0.15538829 -0.07723084 -0.10640176
+v 0.12172402 -0.06257401 0.00311143
+v 0.02343615 0.16036599 -0.07432148
+v 0.00253922 -0.10134038 -0.09848486
+v 0.15557153 0.05959308 -0.10556193
+v 0.09606492 -0.10196038 0.00182365
+v 0.10023356 -0.13755902 -0.10380539
+v 0.15155896 -0.03729042 -0.05807359
+v 0.09307743 0.09568224 0.00388792
+v 0.12875133 0.10247181 -0.10423091
+v 0.10729677 -0.08967180 0.00094098
+v 0.00245417 -0.13059108 0.01557047
+v 0.08751178 -0.10775600 0.00519138
+v 0.10787422 -0.10134943 -0.02801246
+v 0.13674946 -0.03588411 -0.01379020
+v 0.10491593 0.08212152 0.00298872
+v 0.14098100 0.08661635 -0.10567576
+v 0.01042481 0.13907642 0.01221450
+v 0.14968095 0.02934014 -0.05765206
+v 0.12044005 0.05655439 0.00189963
+v 0.13494260 0.03000135 -0.01381124
+f 8 1 5
+f 9 2 6
+f 11 5 4
+f 11 4 10
+f 12 2 3
+f 13 5 1
+f 14 8 7
+f 14 1 8
+f 14 13 1
+f 14 3 13
+f 14 12 3
+f 14 7 12
+f 15 8 2
+f 15 7 8
+f 15 12 7
+f 15 2 12
+f 16 3 2
+f 16 2 9
+f 17 11 10
+f 18 6 2
+f 18 2 8
+f 18 8 5
+f 18 5 11
+f 18 11 17
+f 19 10 4
+f 19 4 5
+f 19 5 13
+f 19 17 10
+f 19 13 3
+f 20 16 9
+f 20 9 6
+f 21 3 16
+f 21 18 17
+f 21 6 18
+f 21 19 3
+f 21 17 19
+f 22 21 16
+f 22 16 20
+f 22 20 6
+f 22 6 21
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_16/collision/model_normalized_collision_10.obj b/objects/objaverse/pear/pear_16/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8a5a0a861298147bec7a55c5a55f2b4b8fed640c
--- /dev/null
+++ b/objects/objaverse/pear/pear_16/collision/model_normalized_collision_10.obj
@@ -0,0 +1,174 @@
+# https://github.com/mikedh/trimesh
+v -0.09600101 -0.19658283 -0.23658713
+v -0.09984830 -0.18644091 -0.35391365
+v -0.10352139 0.09562932 -0.35606062
+v -0.12506679 0.13375453 -0.08144979
+v -0.22151207 -0.05079479 -0.23877727
+v -0.10352139 0.11078083 -0.23484850
+v -0.09826408 -0.19542787 -0.32452587
+v -0.11033645 -0.12523770 -0.09416523
+v -0.20561885 -0.07941123 -0.34989493
+v -0.20776050 0.08882904 -0.33298529
+v -0.09466433 -0.17962346 -0.18068058
+v -0.19085760 -0.02229291 -0.12297389
+v -0.19168539 -0.10557685 -0.35180172
+v -0.19935425 0.09295912 -0.35184495
+v -0.22214689 0.04805247 -0.32101995
+v -0.10134488 -0.14236870 -0.11540915
+v -0.17695147 -0.10198505 -0.18072371
+v -0.17446494 -0.04715123 -0.10798229
+v -0.17791609 -0.13231929 -0.32295180
+v -0.21025355 0.10548396 -0.23654161
+v -0.22145489 -0.05323894 -0.30706593
+v -0.20545123 0.07604174 -0.35061700
+v -0.09655197 -0.16282417 -0.15218509
+v -0.12026109 -0.13262716 -0.12224850
+v -0.14829824 -0.14484112 -0.20942204
+v -0.17762203 0.07490465 -0.10718765
+v -0.13583632 -0.10635651 -0.10578340
+v -0.19002081 -0.07503347 -0.16702778
+v -0.11907910 -0.17469317 -0.35016621
+v -0.16512002 -0.14558937 -0.30843459
+v -0.20653530 -0.09006071 -0.25303336
+v -0.22321549 0.07583837 -0.27903240
+v -0.22116384 -0.03887018 -0.32170031
+v -0.12017435 -0.17643603 -0.22506543
+v -0.16296995 -0.13010801 -0.20968325
+v -0.22153730 0.01901833 -0.19451439
+v -0.17538372 0.09992954 -0.12440758
+v -0.16061717 -0.07415632 -0.10861963
+v -0.14737886 -0.10365144 -0.12245069
+v -0.19005197 -0.04793593 -0.13867632
+v -0.10655816 -0.19071310 -0.32199930
+v -0.20639039 -0.09285232 -0.32092686
+v -0.20485793 -0.07571185 -0.21012334
+v -0.17830955 -0.13184233 -0.28141349
+v -0.10419448 -0.17380431 -0.18278919
+v -0.10574333 -0.19041124 -0.23873064
+v -0.20770886 0.06072431 -0.16631047
+v -0.22194517 0.06074858 -0.22370510
+v -0.22230795 0.00522177 -0.19539478
+v -0.16465484 0.10211804 -0.10660283
+v -0.20534823 0.10375684 -0.20913138
+v -0.20628555 -0.03590393 -0.16562682
+v -0.16341506 -0.14640753 -0.28219956
+v -0.20644070 0.03425358 -0.15188309
+v -0.22248197 0.07604624 -0.25207706
+v -0.22226318 0.04575925 -0.20730222
+v -0.22031443 -0.03623752 -0.21007536
+v -0.20578881 -0.00897292 -0.15176757
+v -0.18954682 0.06027699 -0.12282086
+f 6 3 4
+f 7 2 3
+f 11 3 6
+f 11 7 3
+f 11 1 7
+f 13 3 2
+f 14 4 3
+f 14 13 9
+f 14 3 13
+f 16 6 4
+f 16 4 8
+f 18 8 4
+f 20 14 10
+f 20 4 14
+f 22 14 9
+f 22 9 15
+f 22 15 10
+f 22 10 14
+f 23 16 11
+f 23 11 6
+f 23 6 16
+f 24 16 8
+f 24 11 16
+f 26 18 4
+f 26 12 18
+f 27 24 8
+f 29 19 13
+f 29 13 2
+f 32 20 10
+f 32 10 15
+f 32 15 21
+f 33 21 15
+f 33 15 9
+f 33 9 21
+f 34 1 11
+f 35 25 24
+f 35 24 17
+f 35 17 31
+f 38 27 8
+f 38 8 18
+f 39 17 24
+f 39 24 27
+f 39 28 17
+f 39 38 28
+f 39 27 38
+f 40 18 12
+f 40 38 18
+f 40 28 38
+f 41 29 2
+f 41 2 7
+f 41 7 1
+f 41 30 19
+f 41 19 29
+f 42 31 5
+f 42 5 21
+f 42 21 9
+f 42 9 13
+f 42 13 19
+f 43 5 31
+f 43 31 17
+f 43 17 28
+f 44 19 30
+f 44 35 31
+f 44 34 25
+f 44 25 35
+f 44 42 19
+f 44 31 42
+f 45 34 11
+f 45 11 24
+f 45 24 25
+f 45 25 34
+f 46 1 34
+f 46 41 1
+f 46 30 41
+f 47 26 37
+f 49 32 21
+f 49 21 5
+f 50 37 26
+f 50 26 4
+f 50 4 37
+f 51 37 4
+f 51 4 20
+f 51 47 37
+f 51 48 47
+f 51 20 48
+f 52 40 12
+f 52 43 28
+f 52 28 40
+f 53 44 30
+f 53 30 46
+f 53 46 34
+f 53 34 44
+f 54 47 36
+f 54 36 49
+f 55 48 20
+f 55 20 32
+f 56 36 47
+f 56 47 48
+f 56 49 36
+f 56 48 55
+f 56 55 32
+f 56 32 49
+f 57 5 43
+f 57 43 52
+f 57 52 49
+f 57 49 5
+f 58 52 12
+f 58 49 52
+f 58 54 49
+f 58 12 54
+f 59 54 12
+f 59 12 26
+f 59 26 47
+f 59 47 54
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_16/collision/model_normalized_collision_12.obj b/objects/objaverse/pear/pear_16/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4160c973627d267364a4c5b098f5236e833f657c
--- /dev/null
+++ b/objects/objaverse/pear/pear_16/collision/model_normalized_collision_12.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.08568213 0.10229551 0.00552366
+v 0.12106702 0.10835824 -0.09999508
+v 0.02819870 0.17529881 -0.10542378
+v -0.08465535 0.17552206 -0.10475624
+v -0.11829652 0.11040897 -0.03810668
+v 0.11521401 0.11737244 -0.10395942
+v 0.01305319 0.13979050 0.00417117
+v 0.11375308 0.10125175 -0.07231672
+v -0.12506679 0.13375453 -0.08144979
+v 0.08416896 0.14385201 -0.10585847
+v 0.05508516 0.12353637 0.00437529
+v -0.00129853 0.16885464 -0.07624843
+v -0.09955359 0.10720854 0.00582516
+v -0.10042724 0.16662249 -0.10159957
+v 0.07953244 0.10784868 0.00416488
+v -0.03932238 0.15269434 -0.02907273
+v -0.11091649 0.10368155 -0.01148060
+v -0.06447329 0.13593174 0.00121855
+v -0.09304231 0.11484225 0.00321410
+v -0.01388320 0.15295476 -0.02826519
+f 6 1 2
+f 8 5 2
+f 8 2 1
+f 9 2 5
+f 9 6 2
+f 10 6 4
+f 10 4 3
+f 10 1 6
+f 11 7 1
+f 11 3 7
+f 11 10 3
+f 12 7 3
+f 12 3 4
+f 13 1 7
+f 14 4 6
+f 14 6 9
+f 15 11 1
+f 15 1 10
+f 15 10 11
+f 16 12 4
+f 17 8 1
+f 17 1 13
+f 17 5 8
+f 17 13 9
+f 17 9 5
+f 18 4 14
+f 18 16 4
+f 18 13 7
+f 18 7 16
+f 19 14 9
+f 19 9 13
+f 19 18 14
+f 19 13 18
+f 20 16 7
+f 20 7 12
+f 20 12 16
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_16/collision/model_normalized_collision_13.obj b/objects/objaverse/pear/pear_16/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e8dc9bd3461e6da28c31ab8adaef89f6f351f022
--- /dev/null
+++ b/objects/objaverse/pear/pear_16/collision/model_normalized_collision_13.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.15253509 -0.14453089 -0.36251899
+v 0.13495487 -0.12799948 -0.41351783
+v 0.17534530 0.11628065 -0.37451282
+v -0.06773898 0.21720945 -0.34891247
+v -0.11282608 -0.16894726 -0.37213700
+v 0.01635059 0.19812104 -0.40819033
+v 0.08620979 0.19985835 -0.35022500
+v 0.14594154 0.10429800 -0.42739798
+v -0.08087491 0.18538658 -0.40609272
+v 0.11951967 0.17998506 -0.35436750
+v 0.04529243 0.21750176 -0.35192791
+v -0.08645159 0.20860554 -0.35358045
+v -0.02299608 0.19985206 -0.40581586
+v -0.09543881 -0.14147102 -0.42728480
+v 0.11168337 0.15850248 -0.40622792
+v -0.06674570 0.19937597 -0.39351374
+v -0.01177187 0.21375699 -0.37798963
+v 0.11126288 0.16889505 -0.39001744
+v 0.07137034 0.18229769 -0.40727878
+v -0.08261854 0.19970008 -0.37793212
+v 0.04412471 0.21312271 -0.36512234
+v -0.02743786 0.21340928 -0.37695823
+v 0.08375296 0.19594842 -0.36489367
+v 0.09705210 0.16834127 -0.40512737
+v 0.05599483 0.19806107 -0.39166008
+f 1 2 3
+f 5 2 1
+f 5 1 4
+f 7 4 1
+f 8 3 2
+f 9 6 8
+f 10 7 1
+f 10 1 3
+f 11 4 7
+f 12 9 5
+f 12 5 4
+f 13 6 9
+f 14 9 8
+f 14 8 2
+f 14 2 5
+f 14 5 9
+f 15 3 8
+f 16 12 4
+f 16 13 9
+f 17 6 13
+f 17 4 11
+f 18 10 3
+f 18 3 15
+f 19 15 8
+f 19 8 6
+f 20 16 9
+f 20 9 12
+f 20 12 16
+f 21 17 11
+f 21 6 17
+f 22 16 4
+f 22 4 17
+f 22 17 13
+f 22 13 16
+f 23 7 10
+f 23 10 18
+f 23 18 19
+f 23 21 11
+f 23 11 7
+f 24 19 18
+f 24 18 15
+f 24 15 19
+f 25 19 6
+f 25 6 21
+f 25 23 19
+f 25 21 23
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_16/collision/model_normalized_collision_14.obj b/objects/objaverse/pear/pear_16/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1cb8fdecaeff326e808d60ff803b12f1e8115c87
--- /dev/null
+++ b/objects/objaverse/pear/pear_16/collision/model_normalized_collision_14.obj
@@ -0,0 +1,114 @@
+# https://github.com/mikedh/trimesh
+v 0.12262675 -0.19071025 -0.23525766
+v 0.21244770 -0.06387254 -0.23801457
+v 0.11601715 -0.12336445 -0.10381945
+v 0.15777559 0.14465155 -0.22329216
+v 0.19869511 0.10006390 -0.23915859
+v 0.12106702 0.10835824 -0.09999508
+v 0.16557321 -0.13364713 -0.19636058
+v 0.15448693 -0.16279501 -0.23839897
+v 0.11662485 -0.18275851 -0.19440751
+v 0.19610259 0.09918153 -0.22713752
+v 0.16647684 -0.05049476 -0.10644456
+v 0.21341172 0.07303581 -0.23882851
+v 0.13965847 -0.17730941 -0.23744153
+v 0.18379493 -0.12210959 -0.23735431
+v 0.11519986 -0.13693308 -0.12150760
+v 0.15276450 -0.16128428 -0.22342953
+v 0.13545478 0.09707877 -0.10880377
+v 0.16531596 0.01474352 -0.10508093
+v 0.17939756 -0.07733076 -0.15323712
+v 0.21127119 -0.03581952 -0.19623147
+v 0.13785048 -0.17548236 -0.22393498
+v 0.19572083 -0.07773906 -0.19564461
+v 0.12421458 -0.16320895 -0.16891456
+v 0.18152596 -0.12186452 -0.22409822
+v 0.19676090 0.04494717 -0.16821049
+v 0.15127281 0.07120186 -0.10792213
+v 0.13764499 -0.10327924 -0.10729801
+v 0.19595964 -0.04975197 -0.16667514
+v 0.12602287 -0.17603697 -0.19584179
+v 0.21016407 -0.06277751 -0.22361324
+v 0.11622602 -0.16811069 -0.16477079
+v 0.21022174 0.07226651 -0.22490473
+v 0.21144276 0.04394700 -0.19662038
+v 0.18143488 0.04491049 -0.14100884
+v 0.16466075 -0.07675104 -0.12414310
+v 0.15262693 -0.13296151 -0.16942709
+v 0.12427614 -0.13177054 -0.12579209
+v 0.16515100 -0.10396421 -0.15400349
+v 0.13756506 -0.11676405 -0.12488941
+f 5 1 4
+f 6 4 1
+f 9 6 1
+f 10 5 4
+f 12 8 5
+f 12 2 8
+f 12 5 10
+f 13 1 5
+f 13 5 8
+f 14 8 2
+f 15 3 6
+f 15 6 9
+f 16 13 8
+f 17 10 4
+f 17 4 6
+f 18 6 3
+f 18 3 11
+f 20 2 12
+f 21 1 13
+f 21 13 16
+f 22 19 7
+f 24 7 16
+f 24 22 7
+f 24 14 2
+f 24 16 8
+f 24 8 14
+f 26 17 6
+f 26 6 18
+f 26 10 17
+f 27 11 3
+f 28 20 11
+f 28 11 19
+f 28 22 20
+f 28 19 22
+f 29 9 1
+f 29 1 21
+f 29 21 16
+f 29 16 7
+f 30 2 20
+f 30 20 22
+f 30 24 2
+f 30 22 24
+f 31 15 9
+f 31 29 23
+f 31 9 29
+f 31 3 15
+f 32 12 10
+f 32 26 25
+f 32 10 26
+f 33 25 18
+f 33 18 11
+f 33 11 20
+f 33 32 25
+f 33 20 12
+f 33 12 32
+f 34 26 18
+f 34 18 25
+f 34 25 26
+f 35 19 11
+f 35 11 27
+f 36 29 7
+f 36 23 29
+f 37 27 3
+f 37 23 36
+f 37 31 23
+f 37 3 31
+f 38 35 27
+f 38 27 36
+f 38 19 35
+f 38 36 7
+f 38 7 19
+f 39 37 36
+f 39 36 27
+f 39 27 37
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_16/collision/model_normalized_collision_15.obj b/objects/objaverse/pear/pear_16/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d7c1ab31986d953ebbb214b5d1cb4d77f4a8e134
--- /dev/null
+++ b/objects/objaverse/pear/pear_16/collision/model_normalized_collision_15.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v 0.11730251 0.08831958 -0.46289830
+v 0.13979207 0.10668721 -0.43106739
+v -0.11930402 0.11328041 -0.44755092
+v -0.07055022 0.18687660 -0.41077808
+v 0.04179444 0.18532558 -0.42057951
+v 0.11767282 0.15002070 -0.41018334
+v -0.08357409 0.09125804 -0.47827075
+v -0.08462448 0.17928777 -0.41284853
+v 0.04459481 0.19157444 -0.41036279
+v 0.05697750 0.14589248 -0.45992301
+v -0.06817537 0.14488014 -0.45939081
+v 0.05523810 0.17048443 -0.43346842
+v -0.00968024 0.17175691 -0.44673857
+v 0.10264057 0.16231631 -0.40860584
+v 0.11513769 0.14320876 -0.41975141
+v 0.02931441 0.10450685 -0.49226801
+v -0.08134499 0.13143443 -0.46312309
+v -0.07196423 0.18223072 -0.42015164
+v 0.01683666 0.15823812 -0.46027987
+v 0.08323422 0.15496629 -0.43252322
+v 0.11094026 0.09953793 -0.45914198
+v 0.07183532 0.11662938 -0.47226790
+v 0.02993572 0.09603027 -0.49221887
+v -0.08070181 0.10603843 -0.47501658
+v -0.07932815 0.17523658 -0.42259332
+v -0.02410078 0.15267934 -0.46477321
+v 0.01636278 0.16813259 -0.44941136
+v 0.04303953 0.13043987 -0.47629005
+v 0.08353231 0.14395768 -0.44231393
+v 0.09825943 0.15639236 -0.41925959
+v -0.01159449 0.09589516 -0.49195359
+v -0.05378299 0.12805583 -0.47510477
+v -0.01357520 0.10928588 -0.49101835
+f 6 3 2
+f 7 1 2
+f 7 2 3
+f 8 6 4
+f 8 3 6
+f 12 5 9
+f 13 9 5
+f 13 4 9
+f 14 9 4
+f 14 4 6
+f 14 12 9
+f 15 6 2
+f 18 8 4
+f 18 4 13
+f 19 12 10
+f 20 10 12
+f 20 12 14
+f 21 15 2
+f 21 2 1
+f 22 1 16
+f 22 21 1
+f 22 10 21
+f 23 16 1
+f 23 1 7
+f 24 7 3
+f 24 3 17
+f 25 17 3
+f 25 3 8
+f 25 8 18
+f 25 18 11
+f 25 11 17
+f 26 18 13
+f 26 11 18
+f 26 13 19
+f 27 5 12
+f 27 12 19
+f 27 19 13
+f 27 13 5
+f 28 19 10
+f 28 22 16
+f 28 10 22
+f 29 20 15
+f 29 10 20
+f 29 21 10
+f 29 15 21
+f 30 20 14
+f 30 14 6
+f 30 6 15
+f 30 15 20
+f 31 23 7
+f 31 16 23
+f 32 24 17
+f 32 17 11
+f 32 11 26
+f 33 26 19
+f 33 19 28
+f 33 28 16
+f 33 32 26
+f 33 16 31
+f 33 31 7
+f 33 7 24
+f 33 24 32
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_16/collision/model_normalized_collision_16.obj b/objects/objaverse/pear/pear_16/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f1a49b3e847aa495834b86e5510e37cde79da9bf
--- /dev/null
+++ b/objects/objaverse/pear/pear_16/collision/model_normalized_collision_16.obj
@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
+v 0.03175434 -0.23692807 -0.23874572
+v 0.17369849 -0.13998494 -0.30929982
+v 0.17323514 -0.13947322 -0.23769952
+v -0.12767630 -0.17052260 -0.22992362
+v -0.11569520 -0.16891844 -0.36849626
+v 0.13965847 -0.17730941 -0.23744153
+v 0.05423093 -0.21928756 -0.35126780
+v -0.04959291 -0.21999000 -0.30758958
+v 0.16093818 -0.13999438 -0.35248263
+v 0.16654421 -0.14867257 -0.23726849
+v 0.00457613 -0.23589485 -0.23706355
+v 0.04415127 -0.23601474 -0.29113247
+v 0.12512723 -0.19013764 -0.30725965
+v -0.08126667 -0.20225496 -0.33764176
+v 0.16784279 -0.14791363 -0.30710289
+v 0.09921149 -0.20686160 -0.23791062
+v -0.08007164 -0.20766019 -0.23758380
+v -0.00915063 -0.23663667 -0.25199811
+v -0.02299745 -0.21886413 -0.35008717
+v 0.06678563 -0.22049053 -0.33675724
+v -0.09368007 -0.19045257 -0.35304447
+v 0.15270808 -0.16155146 -0.32166482
+v 0.07129389 -0.22198838 -0.23813902
+v 0.12621645 -0.19029214 -0.25198612
+v -0.05074585 -0.22185399 -0.23748241
+v -0.09600101 -0.19658283 -0.23658713
+v -0.00951637 -0.23502631 -0.29374468
+v -0.03621214 -0.21909550 -0.33658776
+v 0.09572367 -0.20460957 -0.33605430
+v -0.06548680 -0.20462667 -0.35129547
+v 0.04091830 -0.23510330 -0.25076148
+v 0.11000862 -0.18994182 -0.34918800
+v 0.13837546 -0.17531563 -0.32146382
+v 0.15459311 -0.14869224 -0.34961872
+f 9 3 2
+f 9 7 5
+f 9 5 4
+f 9 4 3
+f 10 3 4
+f 10 4 6
+f 10 2 3
+f 15 10 6
+f 15 2 10
+f 16 6 4
+f 16 4 11
+f 16 12 13
+f 17 14 8
+f 18 12 1
+f 18 1 11
+f 19 5 7
+f 20 12 7
+f 21 14 4
+f 21 4 5
+f 22 15 13
+f 22 9 2
+f 22 2 15
+f 23 16 11
+f 23 11 1
+f 23 12 16
+f 24 16 13
+f 24 6 16
+f 24 15 6
+f 24 13 15
+f 25 11 4
+f 25 4 17
+f 25 18 11
+f 25 17 8
+f 25 8 18
+f 26 17 4
+f 26 4 14
+f 26 14 17
+f 27 19 7
+f 27 7 12
+f 27 12 18
+f 27 18 8
+f 28 8 14
+f 28 27 8
+f 28 19 27
+f 29 13 12
+f 29 12 20
+f 30 14 21
+f 30 28 14
+f 30 19 28
+f 30 21 5
+f 30 5 19
+f 31 23 1
+f 31 1 12
+f 31 12 23
+f 32 13 29
+f 32 7 9
+f 32 29 20
+f 32 20 7
+f 33 22 13
+f 33 13 32
+f 34 33 32
+f 34 32 9
+f 34 9 22
+f 34 22 33
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_16/collision/model_normalized_collision_17.obj b/objects/objaverse/pear/pear_16/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..16671b88e7a0358a2965d17f122f64a84ca0f2f7
--- /dev/null
+++ b/objects/objaverse/pear/pear_16/collision/model_normalized_collision_17.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.06756259 -0.13980293 -0.45491268
+v 0.13650101 -0.08491257 -0.44460681
+v 0.13716761 0.09395245 -0.44486199
+v 0.08131008 0.10437073 -0.47163368
+v 0.11346308 -0.05069773 -0.47470370
+v 0.09364932 -0.13188408 -0.44727216
+v 0.06087333 -0.10904300 -0.47933439
+v 0.12577788 0.03017836 -0.47573467
+v 0.05958461 0.09454394 -0.48576341
+v 0.08344404 -0.12100948 -0.46114569
+v 0.12461336 0.02343339 -0.47687098
+v 0.12825047 0.08498597 -0.45939200
+v 0.05947046 -0.12821348 -0.46727693
+v 0.12369153 -0.07807008 -0.45949347
+v 0.11679687 0.05879468 -0.47392043
+v 0.09699561 -0.08182744 -0.47446279
+v 0.06981846 -0.10755722 -0.47591456
+f 1 3 4
+f 6 2 3
+f 6 3 1
+f 8 3 2
+f 9 1 4
+f 10 6 1
+f 11 8 2
+f 11 5 7
+f 11 9 8
+f 11 7 9
+f 12 4 3
+f 12 3 8
+f 12 9 4
+f 13 9 7
+f 13 1 9
+f 13 10 1
+f 13 7 10
+f 14 2 6
+f 14 6 10
+f 14 11 2
+f 14 5 11
+f 15 12 8
+f 15 8 9
+f 15 9 12
+f 16 14 10
+f 16 7 5
+f 16 5 14
+f 17 16 10
+f 17 10 7
+f 17 7 16
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_16/collision/model_normalized_collision_18.obj b/objects/objaverse/pear/pear_16/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..15b6a161ef9321fe31158dc51d26f58275361b8c
--- /dev/null
+++ b/objects/objaverse/pear/pear_16/collision/model_normalized_collision_18.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.08832440 -0.19214025 -0.35601208
+v -0.08143480 -0.10711581 -0.46340546
+v -0.08159612 -0.17808558 -0.39158558
+v -0.08645159 0.20860554 -0.35358045
+v -0.21100194 -0.05346258 -0.35117309
+v -0.07932815 0.17523658 -0.42259332
+v -0.08281310 0.20454159 -0.36790754
+v -0.11041014 -0.18062267 -0.35071400
+v -0.16319116 -0.11805655 -0.38967774
+v -0.19505792 0.10513675 -0.35232339
+v -0.10573304 -0.17871587 -0.36386249
+v -0.13720714 -0.02144427 -0.45884691
+v -0.12278771 -0.11734202 -0.43047006
+v -0.18203985 -0.11921320 -0.35047409
+v -0.15084020 0.16840322 -0.36312892
+v -0.09299851 -0.17374494 -0.38807629
+v -0.14960148 -0.14657984 -0.36430202
+v -0.17750201 -0.03809626 -0.41887974
+v -0.08357409 0.09125804 -0.47827075
+v -0.13733609 -0.07852213 -0.44554593
+v -0.18958236 -0.09183028 -0.37652226
+v -0.15386632 0.17323121 -0.34744604
+v -0.11033248 0.18207125 -0.38940484
+v -0.12231184 -0.14571486 -0.40188161
+v -0.17767727 -0.11876126 -0.36323017
+v -0.15100867 -0.14994926 -0.35196551
+v -0.20546726 0.05992151 -0.36186708
+v -0.08134499 0.13143443 -0.46312309
+v -0.10587646 -0.05088128 -0.47548635
+v -0.10682146 -0.09020283 -0.45911077
+v -0.14861617 -0.05177629 -0.44556143
+v -0.16298128 -0.09054459 -0.41638265
+v -0.19812980 -0.09452313 -0.35164825
+v -0.19152915 -0.06501929 -0.39062637
+v -0.20896541 0.06269775 -0.35056065
+v -0.16549717 0.15920454 -0.35245298
+v -0.09791947 0.20421770 -0.35126535
+v -0.13835708 -0.10470431 -0.42849843
+v -0.13372649 -0.14491166 -0.39028898
+v -0.16398206 0.04718096 -0.43209505
+v -0.08182618 -0.07917908 -0.47786562
+v -0.12000317 0.15640604 -0.41641649
+v -0.11172169 0.04996562 -0.47414970
+v -0.09316308 -0.10355886 -0.45940810
+v -0.09357670 -0.07798584 -0.47211465
+v -0.16323957 -0.05413165 -0.43137477
+v -0.20687225 -0.05329266 -0.36335416
+v -0.19154403 0.10319879 -0.36381227
+v -0.09621294 0.20129629 -0.36386693
+v -0.13525209 0.03020275 -0.46181556
+v -0.17836707 0.03443278 -0.41665899
+v -0.09904460 0.16893310 -0.41855058
+v -0.13478320 0.15532453 -0.40367978
+v -0.12090052 0.11703176 -0.44608561
+v -0.16381866 0.08301909 -0.42012132
+v -0.09448409 0.13361005 -0.45585838
+v -0.16263619 0.15758722 -0.36098378
+v -0.13292002 0.14409057 -0.41677851
+v -0.12351845 0.07276197 -0.46145306
+v -0.19029654 0.06317595 -0.38970564
+v -0.09248223 0.09093448 -0.47463452
+v -0.16078324 0.11670170 -0.40406996
+v -0.14997653 0.04749641 -0.44512925
+v -0.13629046 0.08728320 -0.44521313
+f 6 3 2
+f 7 1 3
+f 7 4 1
+f 7 3 6
+f 8 1 4
+f 11 1 8
+f 13 2 3
+f 16 3 1
+f 16 1 11
+f 17 11 8
+f 22 5 14
+f 22 14 8
+f 23 7 6
+f 23 15 22
+f 24 13 3
+f 24 3 16
+f 25 9 17
+f 25 21 9
+f 26 17 8
+f 26 8 14
+f 26 25 17
+f 26 14 25
+f 31 29 20
+f 31 12 29
+f 32 9 21
+f 33 14 5
+f 33 25 14
+f 33 21 25
+f 34 32 21
+f 35 22 10
+f 35 5 22
+f 35 27 5
+f 36 22 15
+f 36 10 22
+f 37 22 8
+f 37 8 4
+f 38 24 9
+f 38 13 24
+f 38 9 32
+f 38 32 20
+f 38 20 30
+f 39 17 9
+f 39 9 24
+f 39 11 17
+f 39 24 16
+f 39 16 11
+f 41 28 6
+f 41 6 2
+f 41 19 28
+f 41 29 19
+f 43 19 29
+f 44 2 13
+f 44 38 30
+f 44 13 38
+f 44 41 2
+f 44 30 41
+f 45 30 20
+f 45 20 29
+f 45 41 30
+f 45 29 41
+f 46 31 20
+f 46 20 32
+f 46 18 12
+f 46 12 31
+f 46 34 18
+f 46 32 34
+f 47 33 5
+f 47 21 33
+f 47 34 21
+f 47 5 27
+f 47 18 34
+f 48 35 10
+f 48 27 35
+f 48 10 36
+f 49 23 22
+f 49 22 37
+f 49 7 23
+f 49 37 4
+f 49 4 7
+f 50 12 18
+f 50 18 40
+f 50 43 29
+f 50 29 12
+f 51 40 18
+f 51 47 27
+f 51 18 47
+f 52 42 23
+f 52 23 6
+f 53 15 23
+f 53 23 42
+f 55 40 51
+f 56 52 6
+f 56 6 28
+f 56 42 52
+f 57 36 15
+f 57 15 53
+f 57 48 36
+f 58 53 42
+f 58 56 54
+f 58 42 56
+f 59 43 50
+f 60 55 51
+f 60 51 27
+f 60 27 48
+f 60 48 55
+f 61 56 28
+f 61 28 19
+f 61 19 43
+f 61 43 59
+f 61 59 54
+f 61 54 56
+f 62 58 54
+f 62 54 55
+f 62 55 48
+f 62 48 57
+f 62 57 53
+f 62 53 58
+f 63 59 50
+f 63 50 40
+f 64 55 54
+f 64 54 59
+f 64 40 55
+f 64 63 40
+f 64 59 63
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_16/collision/model_normalized_collision_19.obj b/objects/objaverse/pear/pear_16/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..32b93e3ade3912973064fb10a33a450a00f9bf66
--- /dev/null
+++ b/objects/objaverse/pear/pear_16/collision/model_normalized_collision_19.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v -0.06905716 -0.05270250 0.14283975
+v -0.07247615 -0.05545314 0.12838990
+v -0.05466153 0.11959409 0.08162063
+v -0.05105739 0.11417813 0.12754547
+v -0.09975148 0.04679589 0.13994618
+v -0.09967735 -0.00614348 0.12486995
+v -0.05661808 0.10861661 0.14362365
+v -0.09048147 -0.03328141 0.12428840
+v -0.08525770 -0.01937492 0.15601756
+v -0.10152082 0.07195014 0.07948959
+v -0.07596044 -0.04496838 0.14031049
+v -0.10048143 0.02230761 0.14035057
+v -0.07396796 0.09493485 0.14095364
+v -0.10966414 -0.00934594 0.08045508
+v -0.08624294 -0.03133772 0.13912043
+v -0.08614865 0.08348059 0.12541807
+v -0.06430109 0.11396965 0.07996357
+v -0.10305467 -0.02176376 0.09385785
+v -0.09939996 0.05801330 0.12590723
+v -0.07877965 -0.04849348 0.12460447
+v -0.09919731 0.07025038 0.09546776
+f 1 2 3
+f 1 3 4
+f 7 1 4
+f 7 4 3
+f 9 1 7
+f 9 6 8
+f 11 8 2
+f 11 2 1
+f 11 1 9
+f 12 9 5
+f 12 6 9
+f 13 9 7
+f 13 5 9
+f 14 6 12
+f 14 12 5
+f 14 5 10
+f 14 3 2
+f 15 11 9
+f 15 9 8
+f 15 8 11
+f 17 13 7
+f 17 7 3
+f 17 16 13
+f 17 10 16
+f 17 14 10
+f 17 3 14
+f 18 8 6
+f 18 6 14
+f 18 14 2
+f 19 10 5
+f 19 5 13
+f 19 13 16
+f 20 18 2
+f 20 2 8
+f 20 8 18
+f 21 19 16
+f 21 16 10
+f 21 10 19
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_16/collision/model_normalized_collision_2.obj b/objects/objaverse/pear/pear_16/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4cba42e8580946d40326bc52c4987c75c86072c3
--- /dev/null
+++ b/objects/objaverse/pear/pear_16/collision/model_normalized_collision_2.obj
@@ -0,0 +1,156 @@
+# https://github.com/mikedh/trimesh
+v 0.15399227 -0.16191348 -0.23198097
+v 0.22701533 -0.02214988 -0.30989296
+v 0.22614101 -0.02262308 -0.23845830
+v 0.16604053 0.13715517 -0.22588440
+v 0.12979883 0.06304491 -0.46608996
+v 0.21254298 0.08582928 -0.26867520
+v 0.18379493 -0.12210959 -0.23735431
+v 0.12897238 -0.13876673 -0.40938677
+v 0.22815332 0.03196150 -0.25213086
+v 0.16506124 0.13223534 -0.37108095
+v 0.21244770 -0.06387254 -0.23801457
+v 0.19633952 -0.02101503 -0.40391757
+v 0.13216841 -0.15527268 -0.38266226
+v 0.13210778 0.08866420 -0.45293237
+v 0.22770803 0.01720561 -0.23842324
+v 0.22761564 0.03291703 -0.30782515
+v 0.19499712 0.10177279 -0.34856044
+v 0.19651180 -0.09223323 -0.33449563
+v 0.13230521 -0.03799404 -0.46681892
+v 0.18122251 0.04702708 -0.42086841
+v 0.21341172 0.07303581 -0.23882851
+v 0.19598950 0.01779959 -0.40883994
+v 0.21053484 0.08566131 -0.30891284
+v 0.21179492 -0.06250277 -0.32115616
+v 0.18032904 -0.11977209 -0.33667896
+v 0.13933983 -0.07759730 -0.44652674
+v 0.12859998 -0.10906526 -0.43678400
+v 0.14296158 0.05622664 -0.45885854
+v 0.16628612 0.08525696 -0.41893597
+v 0.19869511 0.10006390 -0.23915859
+v 0.20933812 -0.03620632 -0.36732491
+v 0.14193465 -0.03459422 -0.46122653
+v 0.19472254 0.05929893 -0.39181284
+v 0.21023763 0.07342066 -0.33745619
+v 0.17323514 -0.13947322 -0.23769952
+v 0.14676819 -0.15515437 -0.35344493
+v 0.16548648 -0.11952091 -0.37659145
+v 0.13153484 -0.07962610 -0.45247015
+v 0.14250358 0.08514386 -0.44603695
+v 0.20963357 0.04534491 -0.36603870
+v 0.20942594 -0.05041139 -0.35267595
+v 0.16640795 -0.04853840 -0.43300462
+v 0.16725416 -0.13394019 -0.34894620
+v 0.13883188 -0.16187123 -0.35602975
+v 0.14189872 -0.14783846 -0.37850062
+v 0.18092666 -0.06265793 -0.40450063
+v 0.13763488 -0.10498201 -0.43099022
+v 0.15301867 -0.05037776 -0.44661151
+v 0.16893607 0.05638573 -0.43221721
+v 0.19401319 -0.06221959 -0.37958228
+v 0.13750055 -0.13286713 -0.40482470
+v 0.16522405 -0.09148839 -0.40457859
+v 0.19475218 -0.04793776 -0.39161359
+f 1 3 4
+f 11 2 3
+f 11 3 1
+f 11 1 7
+f 13 1 4
+f 13 4 8
+f 14 8 4
+f 14 5 8
+f 14 4 10
+f 15 3 2
+f 15 2 9
+f 15 4 3
+f 16 9 2
+f 16 6 9
+f 17 10 4
+f 17 4 6
+f 21 15 9
+f 21 9 6
+f 21 4 15
+f 23 17 6
+f 23 6 16
+f 24 11 7
+f 24 7 18
+f 24 2 11
+f 25 18 7
+f 27 8 5
+f 27 5 19
+f 28 5 14
+f 28 20 22
+f 28 19 5
+f 29 10 17
+f 30 21 6
+f 30 6 4
+f 30 4 21
+f 31 16 2
+f 31 12 22
+f 32 22 12
+f 32 28 22
+f 32 19 28
+f 33 22 20
+f 33 29 17
+f 33 20 29
+f 34 23 16
+f 34 17 23
+f 34 33 17
+f 35 25 7
+f 35 7 1
+f 37 18 25
+f 38 27 19
+f 38 19 32
+f 39 14 10
+f 39 10 29
+f 39 28 14
+f 40 31 22
+f 40 16 31
+f 40 22 33
+f 40 34 16
+f 40 33 34
+f 41 31 2
+f 41 2 24
+f 41 24 18
+f 42 32 12
+f 43 35 1
+f 43 25 35
+f 43 1 36
+f 43 37 25
+f 44 36 1
+f 44 1 13
+f 45 13 8
+f 45 37 43
+f 45 43 36
+f 45 44 13
+f 45 36 44
+f 46 42 12
+f 47 8 27
+f 47 26 42
+f 47 42 46
+f 47 38 26
+f 47 27 38
+f 48 38 32
+f 48 26 38
+f 48 42 26
+f 48 32 42
+f 49 39 29
+f 49 29 20
+f 49 20 28
+f 49 28 39
+f 50 41 18
+f 50 18 37
+f 50 37 46
+f 50 31 41
+f 51 45 8
+f 51 37 45
+f 51 8 47
+f 52 47 46
+f 52 46 37
+f 52 51 47
+f 52 37 51
+f 53 50 46
+f 53 46 12
+f 53 12 31
+f 53 31 50
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_16/collision/model_normalized_collision_20.obj b/objects/objaverse/pear/pear_16/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..629ced6be78e5a0b0cc468bb57b5b35e89072665
--- /dev/null
+++ b/objects/objaverse/pear/pear_16/collision/model_normalized_collision_20.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.13495487 -0.12799948 -0.41351783
+v 0.14947468 -0.09303739 -0.42541568
+v -0.09543881 -0.14147102 -0.42728480
+v -0.08182618 -0.07917908 -0.47786562
+v 0.04188515 -0.09448043 -0.49036577
+v -0.10798968 -0.10586660 -0.44785057
+v 0.11196051 -0.09260425 -0.46086590
+v 0.05592957 -0.12121267 -0.47384554
+v -0.06573018 -0.12092143 -0.46144942
+v 0.12474815 -0.11954001 -0.43207808
+v 0.11573851 -0.08063206 -0.46434791
+v -0.07928432 -0.09240426 -0.47273199
+v -0.08275441 -0.12240260 -0.45185349
+v -0.02382776 -0.12091169 -0.47414813
+v 0.12762327 -0.09368951 -0.44815552
+v 0.11011732 -0.11909759 -0.44536111
+v -0.01287567 -0.08046317 -0.49395970
+v 0.13153484 -0.07962610 -0.45247015
+v -0.01191519 -0.09449262 -0.48942098
+v 0.04476773 -0.08445256 -0.49279534
+f 1 2 3
+f 6 3 2
+f 6 2 4
+f 8 1 3
+f 10 2 1
+f 11 8 5
+f 11 7 8
+f 12 6 4
+f 13 9 3
+f 13 3 6
+f 13 12 9
+f 13 6 12
+f 14 8 3
+f 14 3 9
+f 14 5 8
+f 14 9 12
+f 15 2 10
+f 15 7 11
+f 16 8 7
+f 16 15 10
+f 16 7 15
+f 16 10 1
+f 16 1 8
+f 18 4 2
+f 18 15 11
+f 18 2 15
+f 18 17 4
+f 18 11 17
+f 19 14 12
+f 19 12 4
+f 19 4 17
+f 19 17 5
+f 19 5 14
+f 20 17 11
+f 20 11 5
+f 20 5 17
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_16/collision/model_normalized_collision_21.obj b/objects/objaverse/pear/pear_16/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c850787ac007473e54a31cbbe2dbbbf611be1e55
--- /dev/null
+++ b/objects/objaverse/pear/pear_16/collision/model_normalized_collision_21.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v 0.04349812 -0.21982444 -0.19511792
+v 0.15421736 -0.16087837 -0.22818288
+v 0.11601715 -0.12336445 -0.10381945
+v -0.10412584 -0.13241421 -0.09808870
+v -0.13391350 -0.16318123 -0.22529491
+v 0.05377151 -0.17363571 -0.11081104
+v 0.07129389 -0.22198838 -0.23813902
+v -0.05148888 -0.21868847 -0.22395294
+v 0.10976606 -0.17574711 -0.16850440
+v -0.09600101 -0.19658283 -0.23658713
+v -0.03667926 -0.17216498 -0.10851697
+v -0.05074585 -0.22185399 -0.23748241
+v 0.08055883 -0.15806015 -0.10946097
+v 0.11250995 -0.19113246 -0.20902709
+v 0.05594305 -0.20459042 -0.16706786
+v 0.11593730 -0.19596748 -0.23736847
+v -0.09238460 -0.18808300 -0.19653997
+v -0.00955897 -0.20301816 -0.15272488
+v -0.02466325 -0.21910608 -0.19659259
+v -0.08007164 -0.20766019 -0.23758380
+v 0.09504950 -0.15916471 -0.12633021
+v 0.08402706 -0.20368350 -0.19534950
+v 0.09868806 -0.20401948 -0.22409517
+v -0.06366376 -0.20502508 -0.19781127
+v 0.03093680 -0.20417398 -0.15362042
+v -0.03482467 -0.20430788 -0.16843659
+v 0.09921149 -0.20686160 -0.23791062
+v -0.07783332 -0.20543466 -0.22353888
+v 0.10978191 -0.14589118 -0.12685236
+v 0.07070046 -0.21915777 -0.22426830
+v -0.09316310 -0.14287697 -0.10540022
+f 5 3 2
+f 5 4 3
+f 6 3 4
+f 9 2 3
+f 10 5 2
+f 11 6 4
+f 12 7 1
+f 13 3 6
+f 13 6 9
+f 14 2 9
+f 15 9 6
+f 16 10 2
+f 16 2 14
+f 17 4 5
+f 17 5 10
+f 19 12 1
+f 19 8 12
+f 20 7 12
+f 20 10 16
+f 20 12 8
+f 21 13 9
+f 21 3 13
+f 22 14 9
+f 22 9 15
+f 22 15 1
+f 23 16 14
+f 23 14 22
+f 24 8 19
+f 25 1 15
+f 25 15 6
+f 25 6 11
+f 25 11 18
+f 25 19 1
+f 25 18 19
+f 26 19 18
+f 26 18 11
+f 26 24 19
+f 27 20 16
+f 27 7 20
+f 27 23 7
+f 27 16 23
+f 28 17 10
+f 28 10 20
+f 28 24 17
+f 28 20 8
+f 28 8 24
+f 29 21 9
+f 29 9 3
+f 29 3 21
+f 30 22 1
+f 30 1 7
+f 30 23 22
+f 30 7 23
+f 31 11 4
+f 31 4 17
+f 31 17 24
+f 31 26 11
+f 31 24 26
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_16/collision/model_normalized_collision_22.obj b/objects/objaverse/pear/pear_16/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..faa43f297a20e80239eeefc14a584ca24aec1c21
--- /dev/null
+++ b/objects/objaverse/pear/pear_16/collision/model_normalized_collision_22.obj
@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
+v 0.19351966 0.10705507 -0.23638257
+v 0.20341759 0.10387906 -0.29547674
+v 0.06986229 0.21373463 -0.23865025
+v -0.05408279 0.23183880 -0.23696682
+v -0.10352139 0.11078083 -0.35606062
+v 0.02788845 0.23071735 -0.23663046
+v 0.12439878 0.18426647 -0.25452801
+v -0.10352139 0.11078083 -0.23484850
+v 0.09784917 0.19909474 -0.23838169
+v 0.00164913 0.22980443 -0.33631785
+v 0.18285612 0.12760787 -0.25399630
+v 0.20346778 0.10401951 -0.28158750
+v -0.09722527 0.21765133 -0.23764311
+v 0.09698585 0.19970217 -0.33501767
+v 0.16778615 0.14052322 -0.24027369
+v 0.15510174 0.15429335 -0.34940477
+v 0.19737535 0.11363034 -0.28225559
+v -0.09791947 0.20421770 -0.35126535
+v 0.12655663 0.18422060 -0.32074153
+v 0.04070627 0.22893119 -0.29323248
+v 0.15286560 0.15531891 -0.24135156
+v 0.18702072 0.11636788 -0.23795812
+v 0.19104587 0.10675186 -0.35273608
+v 0.05505470 0.21518289 -0.34954531
+v 0.19663242 0.11510751 -0.29579426
+v -0.06797507 0.22902386 -0.29274520
+v 0.11380368 0.18486884 -0.35016763
+v 0.04162814 0.22907239 -0.28252889
+v 0.06770762 0.21379572 -0.33407220
+v 0.02508676 0.22899305 -0.32126144
+v -0.08276078 0.20993693 -0.35213939
+v 0.18301640 0.12777359 -0.33614520
+v -0.09604537 0.21348978 -0.32354307
+v -0.06998774 0.22952172 -0.25218036
+v -0.02608648 0.22919462 -0.33455624
+v 0.18578205 0.11603507 -0.35363644
+v -0.05402096 0.22781100 -0.32191961
+v 0.16705726 0.14168834 -0.35048859
+f 8 5 2
+f 8 6 4
+f 8 1 6
+f 9 6 1
+f 9 3 6
+f 10 4 6
+f 12 8 2
+f 12 1 8
+f 13 8 4
+f 13 5 8
+f 15 9 1
+f 17 11 1
+f 17 1 12
+f 18 5 13
+f 19 9 7
+f 19 7 11
+f 20 10 6
+f 21 7 9
+f 21 9 15
+f 21 15 11
+f 21 11 7
+f 22 15 1
+f 22 1 11
+f 22 11 15
+f 23 2 5
+f 25 17 12
+f 25 12 2
+f 25 19 11
+f 25 11 17
+f 27 19 16
+f 27 14 19
+f 27 24 14
+f 28 19 14
+f 28 3 9
+f 28 9 19
+f 28 20 6
+f 28 6 3
+f 29 24 20
+f 29 14 24
+f 29 28 14
+f 29 20 28
+f 30 24 10
+f 30 10 20
+f 30 20 24
+f 31 10 24
+f 31 5 18
+f 32 16 19
+f 32 19 25
+f 32 25 2
+f 32 2 23
+f 33 18 13
+f 33 13 26
+f 33 31 18
+f 34 26 13
+f 34 13 4
+f 34 4 26
+f 35 26 4
+f 35 4 10
+f 35 10 31
+f 36 23 5
+f 36 5 31
+f 36 31 24
+f 36 24 27
+f 36 32 23
+f 37 33 26
+f 37 31 33
+f 37 35 31
+f 37 26 35
+f 38 36 27
+f 38 27 16
+f 38 16 32
+f 38 32 36
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_16/collision/model_normalized_collision_24.obj b/objects/objaverse/pear/pear_16/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..03062dbe7b7069e638aa69298d353bcd4fcba84e
--- /dev/null
+++ b/objects/objaverse/pear/pear_16/collision/model_normalized_collision_24.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v -0.10305467 -0.02176376 0.09385785
+v -0.05806684 -0.01043129 0.00757574
+v -0.05466153 0.11959409 0.08162063
+v -0.05661806 0.13777920 0.00661660
+v -0.13556068 0.04677449 0.00161639
+v -0.05256857 0.12894768 0.05008868
+v -0.13558668 -0.00750297 0.00195996
+v -0.10152082 0.07195014 0.07948959
+v -0.07894879 0.12677896 0.00297858
+v -0.10966414 -0.00934594 0.08045508
+v -0.06302500 0.12376922 0.04859581
+v -0.08849704 0.09716954 0.06344444
+v -0.10679428 0.10090734 0.00190816
+v -0.11539009 0.04504332 0.06387112
+v -0.06430109 0.11396965 0.07996357
+v -0.07552841 0.10995890 0.06351885
+v -0.08690521 0.10973187 0.03259745
+f 1 2 3
+f 6 3 2
+f 6 2 4
+f 7 2 1
+f 8 1 3
+f 9 4 2
+f 9 2 7
+f 10 7 1
+f 11 6 4
+f 11 4 9
+f 11 9 3
+f 11 3 6
+f 13 9 7
+f 13 7 5
+f 13 5 8
+f 13 8 12
+f 14 5 7
+f 14 7 10
+f 14 8 5
+f 14 10 1
+f 14 1 8
+f 15 12 8
+f 15 8 3
+f 15 3 9
+f 16 15 9
+f 16 12 15
+f 17 13 12
+f 17 12 16
+f 17 16 9
+f 17 9 13
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_16/collision/model_normalized_collision_25.obj b/objects/objaverse/pear/pear_16/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aa82b89047d9104e0f9f45a4340460ea025e87ff
--- /dev/null
+++ b/objects/objaverse/pear/pear_16/collision/model_normalized_collision_25.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.08696560 0.06204626 0.18767351
+v 0.10704397 0.06447573 0.05275062
+v 0.07826870 0.09457217 0.11047666
+v 0.05548713 0.09914876 0.18691732
+v 0.06261150 0.10996835 0.08326592
+v 0.07524591 0.08168262 0.18497457
+v 0.08123457 0.09806399 0.05069852
+v 0.06498156 0.09276571 0.18596511
+v 0.08962810 0.06953844 0.15570240
+v 0.07330250 0.10458768 0.05251189
+v 0.09410113 0.08435746 0.05093119
+v 0.07811325 0.07527121 0.19298605
+v 0.09459261 0.05936056 0.15667040
+v 0.08939719 0.08515735 0.08598679
+v 0.09745908 0.07886404 0.05597290
+f 5 2 1
+f 5 1 4
+f 8 5 4
+f 8 3 5
+f 8 6 3
+f 9 3 6
+f 10 5 3
+f 10 3 7
+f 10 7 2
+f 10 2 5
+f 11 7 3
+f 11 2 7
+f 12 8 4
+f 12 4 1
+f 12 6 8
+f 12 9 6
+f 12 1 9
+f 13 9 1
+f 13 1 2
+f 13 2 9
+f 14 9 2
+f 14 11 3
+f 14 3 9
+f 15 14 2
+f 15 2 11
+f 15 11 14
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_16/collision/model_normalized_collision_26.obj b/objects/objaverse/pear/pear_16/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e60118e91f502a714990878a7c3765673b18d72f
--- /dev/null
+++ b/objects/objaverse/pear/pear_16/collision/model_normalized_collision_26.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.19627261 0.09412984 -0.35512834
+v 0.18877887 0.08857993 -0.38067377
+v 0.16768842 0.12579873 -0.37625391
+v 0.11951967 0.17998506 -0.35436750
+v 0.12086403 0.09134361 -0.45763268
+v 0.18578205 0.11603507 -0.35363644
+v 0.14424051 0.11410912 -0.42079310
+v 0.12891909 0.17395930 -0.35226557
+v 0.18327677 0.10204197 -0.37765360
+v 0.17148679 0.08910577 -0.40808802
+v 0.11794694 0.16199124 -0.39533702
+v 0.14017492 0.15421479 -0.37660731
+v 0.18173362 0.11649401 -0.36262740
+v 0.13210778 0.08866420 -0.45293237
+v 0.16724134 0.10119912 -0.40379588
+v 0.11672104 0.17687793 -0.36668291
+v 0.12660009 0.15641255 -0.39242872
+v 0.12700633 0.10085056 -0.44887937
+v 0.11820309 0.10399598 -0.45187187
+v 0.12709261 0.17053888 -0.36570937
+v 0.16265080 0.12957485 -0.37893117
+f 5 2 1
+f 5 1 4
+f 8 4 1
+f 8 1 6
+f 9 6 1
+f 9 1 2
+f 10 9 2
+f 12 8 6
+f 12 6 3
+f 13 9 3
+f 13 3 6
+f 13 6 9
+f 14 10 2
+f 14 2 5
+f 14 7 10
+f 15 10 7
+f 15 7 3
+f 15 3 9
+f 15 9 10
+f 16 5 4
+f 17 7 11
+f 17 11 12
+f 18 11 7
+f 18 7 14
+f 18 14 5
+f 19 16 11
+f 19 5 16
+f 19 18 5
+f 19 11 18
+f 20 12 11
+f 20 11 16
+f 20 8 12
+f 20 16 4
+f 20 4 8
+f 21 17 12
+f 21 12 3
+f 21 3 7
+f 21 7 17
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_16/collision/model_normalized_collision_27.obj b/objects/objaverse/pear/pear_16/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..74479df187647cc747617dd0b963067e406e661d
--- /dev/null
+++ b/objects/objaverse/pear/pear_16/collision/model_normalized_collision_27.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.15399227 -0.16191348 -0.23198097
+v 0.14586153 -0.15379646 -0.35871902
+v 0.16604053 0.13715517 -0.22588440
+v -0.10352139 0.11078083 -0.23484850
+v -0.12767630 -0.17052260 -0.22992362
+v 0.16506124 0.13223534 -0.37108095
+v -0.11569520 -0.16891844 -0.36849626
+v -0.10352139 0.11078083 -0.35606062
+f 5 1 3
+f 5 3 4
+f 6 1 2
+f 6 3 1
+f 7 2 1
+f 7 1 5
+f 7 6 2
+f 8 4 3
+f 8 3 6
+f 8 6 7
+f 8 7 5
+f 8 5 4
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_16/collision/model_normalized_collision_28.obj b/objects/objaverse/pear/pear_16/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..58cc4738d775a70e4700802ec448133562849e1a
--- /dev/null
+++ b/objects/objaverse/pear/pear_16/collision/model_normalized_collision_28.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.14947468 -0.09303739 -0.42541568
+v 0.13650101 -0.08491257 -0.44460681
+v 0.14594154 0.10429800 -0.42739798
+v 0.01769073 0.09562932 -0.41666668
+v 0.01769073 -0.08618886 -0.41666668
+v 0.02284481 0.10987601 -0.48982411
+v 0.13716761 0.09395245 -0.44486199
+v 0.02128729 -0.10024428 -0.48684916
+f 1 3 4
+f 5 1 4
+f 6 4 3
+f 7 1 2
+f 7 3 1
+f 7 6 3
+f 7 2 6
+f 8 2 1
+f 8 1 5
+f 8 6 2
+f 8 5 4
+f 8 4 6
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_16/collision/model_normalized_collision_29.obj b/objects/objaverse/pear/pear_16/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d2c4d5ae6642be73b533eb62da2bbd4e0db6735
--- /dev/null
+++ b/objects/objaverse/pear/pear_16/collision/model_normalized_collision_29.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.20694647 -0.09463875 -0.27945923
+v -0.19703033 -0.08387228 -0.36788931
+v -0.18893939 0.10562694 -0.36743098
+v -0.20836541 0.11437306 -0.28844342
+v -0.21447624 -0.07990609 -0.27829308
+v -0.20378381 -0.07383616 -0.35941939
+v -0.21379527 0.10197208 -0.28106748
+v -0.19635160 0.09627424 -0.35686027
+f 1 2 3
+f 1 3 4
+f 6 3 2
+f 6 2 1
+f 6 1 5
+f 7 5 1
+f 7 1 4
+f 7 6 5
+f 8 7 4
+f 8 4 3
+f 8 3 6
+f 8 6 7
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_16/collision/model_normalized_collision_3.obj b/objects/objaverse/pear/pear_16/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f7d2011345750b43d4a5fc8fdb017374082b1660
--- /dev/null
+++ b/objects/objaverse/pear/pear_16/collision/model_normalized_collision_3.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.00403030 -0.16537542 -0.08240087
+v 0.00253922 -0.13164341 -0.23484850
+v 0.01042481 0.13907642 0.01221450
+v 0.00245417 -0.13059108 0.01557047
+v -0.13391350 -0.16318123 -0.22529491
+v -0.10412584 -0.13241421 -0.09808870
+v -0.10352139 0.11078083 -0.23484850
+v -0.09955359 0.10720854 0.00582516
+v 0.00253922 0.11078083 -0.23484850
+v -0.09031448 -0.08788068 0.00116604
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 6 5 1
+f 6 1 4
+f 7 2 5
+f 8 4 3
+f 8 3 7
+f 8 7 5
+f 9 7 3
+f 9 3 2
+f 9 2 7
+f 10 6 4
+f 10 4 8
+f 10 8 5
+f 10 5 6
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_16/collision/model_normalized_collision_30.obj b/objects/objaverse/pear/pear_16/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b6ecf52bff90e52c16f917e3e8640c33a26ac7d6
--- /dev/null
+++ b/objects/objaverse/pear/pear_16/collision/model_normalized_collision_30.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.00403030 -0.16537542 -0.08240087
+v 0.15421736 -0.16087837 -0.22818288
+v 0.11601715 -0.12336445 -0.10381945
+v 0.02343615 0.16036599 -0.07432148
+v 0.00253922 0.11078083 -0.23484850
+v 0.15777559 0.14465155 -0.22329216
+v 0.00253922 -0.13164341 -0.23484850
+v 0.12106702 0.10835824 -0.09999508
+f 1 2 3
+f 1 3 4
+f 5 1 4
+f 6 5 4
+f 6 2 5
+f 7 5 2
+f 7 2 1
+f 7 1 5
+f 8 3 2
+f 8 2 6
+f 8 6 4
+f 8 4 3
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_16/collision/model_normalized_collision_31.obj b/objects/objaverse/pear/pear_16/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..684df3debd003db688e3c9463aa2f4cf1e31822c
--- /dev/null
+++ b/objects/objaverse/pear/pear_16/collision/model_normalized_collision_31.obj
@@ -0,0 +1,105 @@
+# https://github.com/mikedh/trimesh
+v 0.06881926 -0.21431653 -0.35179740
+v 0.15253509 -0.14453089 -0.36251899
+v -0.11282608 -0.16894726 -0.37213700
+v -0.08275441 -0.12240260 -0.45185349
+v 0.07154250 -0.12525664 -0.46539114
+v 0.00267308 -0.20482078 -0.39082031
+v -0.08243650 -0.19690919 -0.35200832
+v 0.09706405 -0.16003076 -0.41750987
+v 0.12980872 -0.12396906 -0.42311166
+v -0.07901733 -0.16062968 -0.41879352
+v -0.03756532 -0.13505844 -0.46055448
+v 0.13205370 -0.16993312 -0.35279401
+v -0.05382729 -0.20916099 -0.35110644
+v 0.06852452 -0.17587985 -0.42196078
+v 0.10023757 -0.12178300 -0.45067880
+v 0.12431042 -0.14721833 -0.40444992
+v -0.07876723 -0.18807960 -0.37545525
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+v -0.05187428 -0.14636258 -0.44602926
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+v 0.12534792 -0.13323648 -0.41899200
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+f 26 13 7
+f 26 7 17
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+f 27 10 4
+f 27 4 18
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+f 28 19 11
+f 28 10 19
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+f 30 29 16
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+f 35 23 14
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+f 36 33 6
+f 36 6 26
+f 36 26 10
+f 36 10 33
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_16/collision/model_normalized_collision_5.obj b/objects/objaverse/pear/pear_16/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8a5e2f3d29b4152e3cabbbb72deb63a965fd7c32
--- /dev/null
+++ b/objects/objaverse/pear/pear_16/collision/model_normalized_collision_5.obj
@@ -0,0 +1,159 @@
+# https://github.com/mikedh/trimesh
+v 0.12875133 0.10247181 -0.10423091
+v 0.19351966 0.10705507 -0.23638257
+v 0.05503022 0.21413420 -0.20997573
+v -0.05435339 0.22911382 -0.22229992
+v -0.20825793 0.11023941 -0.23518320
+v 0.02788845 0.23071735 -0.23663046
+v 0.01233709 0.18310439 -0.10981545
+v 0.12592609 0.16907643 -0.21268815
+v -0.18020587 0.10282793 -0.13648357
+v -0.09722527 0.21765133 -0.23764311
+v 0.01424116 0.21327443 -0.16798535
+v 0.18160704 0.11226218 -0.21101470
+v 0.09415619 0.13811867 -0.10906593
+v 0.11359640 0.18819103 -0.23887043
+v 0.18739089 0.10306711 -0.20949264
+v -0.15864874 0.10771550 -0.10148034
+v -0.05408279 0.23183880 -0.23696682
+v -0.14822260 0.16953658 -0.16731689
+v -0.03972871 0.22924792 -0.20880221
+v 0.04016491 0.19716019 -0.15390124
+v 0.01322591 0.22789262 -0.21061515
+v 0.15225474 0.11140548 -0.15566152
+v 0.18702072 0.11636788 -0.23795812
+v 0.08242660 0.20008257 -0.21256457
+v -0.17937027 0.15819779 -0.23771907
+v -0.19602885 0.10532365 -0.17887673
+v 0.15677460 0.10234589 -0.15156610
+v -0.06865803 0.18202971 -0.10789416
+v -0.09583051 0.21304374 -0.20859681
+v -0.16149339 0.15597141 -0.16695993
+v 0.03814661 0.18224120 -0.12472459
+v 0.02737512 0.22773584 -0.22396719
+v 0.11021682 0.15247460 -0.15414104
+v 0.11156356 0.18559053 -0.22553501
+v 0.06692587 0.19664562 -0.18217932
+v -0.15141142 0.18531040 -0.23810718
+v -0.19679561 0.13402948 -0.23722040
+v -0.10707776 0.16804522 -0.11046177
+v -0.05309677 0.21343300 -0.16622323
+v -0.17541148 0.11465191 -0.13959844
+v -0.17793106 0.15704452 -0.22268667
+v 0.12303266 0.11228436 -0.10867643
+v 0.06628369 0.18329837 -0.15425454
+v -0.12223074 0.19768319 -0.19461567
+v -0.19209029 0.13224005 -0.20816715
+v -0.14725006 0.14304786 -0.12518143
+v -0.09439527 0.18208289 -0.12342216
+v -0.19140398 0.11719677 -0.17971134
+v -0.14906978 0.18409002 -0.22134698
+v -0.17699283 0.14469910 -0.18225136
+v -0.14859341 0.12855672 -0.10901911
+v -0.12162581 0.16764258 -0.12551475
+v -0.06928862 0.19786757 -0.13833506
+v -0.12195548 0.18296842 -0.15325777
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+f 14 6 3
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+f 15 2 12
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+f 17 14 10
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+f 33 22 8
+f 34 8 14
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+f 50 48 40
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+f 51 40 16
+f 51 46 30
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+f 53 47 28
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+f 53 39 29
+f 54 52 38
+f 54 38 47
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+f 54 18 52
+f 54 47 53
+f 54 53 29
+f 54 29 44
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_16/collision/model_normalized_collision_6.obj b/objects/objaverse/pear/pear_16/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf2c82b633ea5a16b061f5295fac6e3f5245421d
--- /dev/null
+++ b/objects/objaverse/pear/pear_16/collision/model_normalized_collision_6.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.07728120 -0.09505941 -0.47809989
+v 0.05817902 -0.08140340 -0.49051373
+v 0.08131008 0.10437073 -0.47163368
+v -0.11930402 0.11328041 -0.44755092
+v -0.10798968 -0.10586660 -0.44785057
+v -0.02376732 0.09535340 -0.49184318
+v 0.06383298 -0.04181641 -0.49069024
+v -0.05313869 -0.07894361 -0.48920143
+v 0.01769073 -0.08618886 -0.41666668
+v 0.02993572 0.09603027 -0.49221887
+v 0.04177367 0.07694797 -0.49269402
+v -0.08006108 -0.03744813 -0.48936232
+v 0.01769073 0.09562932 -0.41666668
+v 0.05958461 0.09454394 -0.48576341
+v -0.08182618 -0.07917908 -0.47786562
+v -0.08182090 0.02772378 -0.49009770
+v -0.06664154 -0.06433478 -0.48867896
+v -0.08357409 0.09125804 -0.47827075
+f 7 1 2
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+f 9 5 1
+f 9 1 3
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+f 10 4 3
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+f 11 7 2
+f 12 5 4
+f 12 11 8
+f 12 6 11
+f 13 9 3
+f 13 3 4
+f 13 4 9
+f 14 11 10
+f 14 10 3
+f 14 3 7
+f 14 7 11
+f 15 8 5
+f 15 5 12
+f 16 12 4
+f 16 6 12
+f 17 15 12
+f 17 12 8
+f 17 8 15
+f 18 16 4
+f 18 4 6
+f 18 6 16
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_16/collision/model_normalized_collision_7.obj b/objects/objaverse/pear/pear_16/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d9dc76822d59291a188bb5e422ee9948a81d6db9
--- /dev/null
+++ b/objects/objaverse/pear/pear_16/collision/model_normalized_collision_7.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v -0.10134488 -0.14236870 -0.11540915
+v -0.09469622 -0.13483861 -0.08877170
+v -0.18151974 -0.02255701 -0.10508396
+v -0.10042724 0.16662249 -0.10159957
+v -0.09955359 0.10720854 0.00582516
+v -0.12671207 -0.12468084 -0.11857375
+v -0.11382636 -0.06173182 0.00075268
+v -0.09547024 0.14345631 -0.06114972
+v -0.18118271 0.06115861 -0.10492877
+v -0.11199671 0.16133710 -0.10506137
+v -0.11159261 -0.13704272 -0.11818929
+v -0.09686851 -0.07950267 0.00548661
+v -0.16533206 -0.06358876 -0.10611192
+v -0.09809986 0.16073241 -0.08995015
+v -0.13171249 0.05817239 0.00106467
+v -0.15349910 0.11877665 -0.10494840
+v -0.09401282 -0.12089198 -0.05839176
+v -0.09387989 -0.09174992 -0.01329318
+v -0.13583632 -0.10635651 -0.10578340
+v -0.13206276 -0.01971308 0.00166855
+v -0.11754821 0.08668088 0.00038418
+v -0.10387991 -0.11447675 -0.06249720
+v -0.10492574 -0.07260550 0.00229599
+v -0.13280948 -0.11561617 -0.11417302
+v -0.14458490 -0.07482309 -0.07931213
+v -0.17597486 0.05936610 -0.09306757
+v -0.10679428 0.10090734 0.00190816
+v -0.11606360 -0.10115667 -0.06156226
+f 2 1 4
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+f 14 2 4
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+f 14 5 8
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+f 17 11 2
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+f 28 23 24
+f 28 22 12
+f 28 24 6
+f 28 6 22
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_16/collision/model_normalized_collision_8.obj b/objects/objaverse/pear/pear_16/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7e25c8797e4d33b338f5e946adebfe88cc055a1d
--- /dev/null
+++ b/objects/objaverse/pear/pear_16/collision/model_normalized_collision_8.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.09993157 -0.00841893 0.14220246
+v 0.13281809 -0.01022658 0.00531053
+v 0.05272401 0.10861487 0.14088689
+v -0.02376931 0.12308483 0.14195452
+v -0.08525770 -0.01937492 0.15601756
+v 0.01305319 0.13979050 0.00417117
+v 0.09649061 0.05996604 0.14217316
+v 0.01344344 0.12291394 0.14190299
+v -0.05188772 0.14060753 0.00354185
+v 0.10632021 0.03363561 0.12703430
+v 0.11134356 0.07234869 0.00438495
+v 0.02659408 0.12283417 0.11184467
+v -0.05007711 0.11303169 0.14212322
+v -0.00097966 0.13801122 0.03547286
+v -0.05806684 -0.01043129 0.00757574
+v 0.10620710 0.00708679 0.12552351
+v 0.05508516 0.12353637 0.00437529
+v 0.12502817 0.04508438 0.00272706
+v 0.06623988 0.10887019 0.06598432
+v 0.10615913 0.04540591 0.11134338
+f 5 2 1
+f 7 5 1
+f 8 4 5
+f 8 7 3
+f 8 5 7
+f 10 7 1
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+f 12 8 3
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+f 13 5 4
+f 13 4 9
+f 14 8 6
+f 14 6 9
+f 14 9 4
+f 14 4 8
+f 15 2 5
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+f 16 10 1
+f 16 1 2
+f 16 2 10
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+f 17 6 12
+f 18 17 11
+f 18 9 6
+f 18 6 17
+f 18 15 9
+f 18 2 15
+f 18 10 2
+f 18 11 7
+f 19 17 3
+f 19 3 11
+f 19 11 17
+f 20 18 7
+f 20 7 10
+f 20 10 18
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_16/collision/model_normalized_collision_9.obj b/objects/objaverse/pear/pear_16/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..56f5eafcc22c9dd6a46a66127bd32f4108239d8b
--- /dev/null
+++ b/objects/objaverse/pear/pear_16/collision/model_normalized_collision_9.obj
@@ -0,0 +1,144 @@
+# https://github.com/mikedh/trimesh
+v 0.04018522 -0.01704194 0.25787719
+v 0.09993157 -0.00841893 0.14220246
+v 0.06024384 0.06892677 0.25665019
+v -0.03547438 0.08635021 0.31774326
+v -0.09426588 -0.00748573 0.14098650
+v 0.03592138 0.03572332 0.29354088
+v -0.03707394 -0.01766724 0.25838075
+v 0.04237766 0.11346643 0.14222568
+v 0.03586284 0.08173847 0.28242600
+v 0.07320625 -0.00086651 0.22822017
+v -0.06962434 -0.00187084 0.22572533
+v -0.01596672 0.01221615 0.29595697
+v 0.09649061 0.05996604 0.14217316
+v -0.05007711 0.11303169 0.14212322
+v 0.04625223 0.05768786 0.28315276
+v 0.01370751 0.09421477 0.28406941
+v 0.04886951 0.09303230 0.22962696
+v 0.05905298 -0.00034661 0.25336964
+v 0.09036528 -0.00493382 0.18207066
+v -0.04656551 -0.00003956 0.26441484
+v -0.08422584 0.05953950 0.18385565
+v -0.08633217 -0.00528981 0.17013370
+v 0.02417286 0.01384607 0.29256743
+v 0.03600480 -0.01324029 0.26529767
+v -0.08972407 0.07369609 0.14140437
+v 0.04754934 0.02655674 0.28069137
+v 0.03426730 0.06069048 0.29394545
+v 0.01223629 0.08348655 0.29495872
+v -0.00941040 0.10863794 0.21632241
+v 0.03522615 0.09488400 0.25898049
+v 0.07546019 0.07020695 0.21418500
+v 0.08917827 0.04658756 0.19922532
+v -0.05687944 0.01078112 0.25661642
+v -0.03334659 0.00101982 0.27656614
+v -0.07112728 0.04608746 0.22825857
+v -0.08638720 0.00953912 0.18497786
+v -0.03446487 -0.01568794 0.26206568
+v 0.03807041 -0.00163142 0.27368884
+v -0.08358105 0.07168887 0.16933779
+v -0.06005030 0.09581761 0.18422491
+v -0.04800141 0.10882932 0.16976190
+v -0.00472734 0.09566358 0.28046605
+v 0.01468495 0.10869647 0.21775739
+v 0.06277447 0.08016010 0.22866894
+v 0.04082464 0.10759374 0.18690260
+v 0.08874959 0.00976639 0.19761675
+v 0.09051398 0.05608255 0.18580348
+v -0.03039279 0.06411416 0.31091433
+v -0.07176806 0.08290998 0.18321414
+f 7 5 2
+f 7 2 1
+f 13 2 5
+f 15 3 9
+f 18 1 10
+f 19 10 1
+f 19 1 2
+f 20 11 7
+f 22 5 7
+f 22 7 11
+f 23 6 4
+f 23 4 12
+f 24 7 1
+f 24 23 12
+f 25 13 5
+f 25 8 13
+f 25 14 8
+f 25 5 21
+f 26 3 15
+f 26 18 10
+f 26 15 6
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+f 27 15 9
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+f 28 16 4
+f 28 9 16
+f 28 27 9
+f 28 4 27
+f 30 9 3
+f 30 16 9
+f 31 13 8
+f 32 2 13
+f 32 31 3
+f 32 26 10
+f 32 3 26
+f 33 20 4
+f 33 4 11
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+f 34 4 20
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+f 35 11 4
+f 35 4 21
+f 36 21 5
+f 36 5 22
+f 36 35 21
+f 36 22 11
+f 36 11 35
+f 37 24 12
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+f 37 34 7
+f 37 12 34
+f 38 24 1
+f 38 1 18
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+f 38 26 23
+f 38 23 24
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+f 39 21 4
+f 39 4 25
+f 40 14 25
+f 41 29 14
+f 41 4 29
+f 41 40 4
+f 41 14 40
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+f 42 4 16
+f 43 8 14
+f 43 14 29
+f 43 16 30
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+f 43 29 42
+f 44 30 3
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+f 44 31 8
+f 45 30 17
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+f 45 8 43
+f 45 44 8
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+f 46 19 2
+f 46 2 32
+f 46 32 10
+f 46 10 19
+f 47 32 13
+f 47 13 31
+f 47 31 32
+f 48 34 12
+f 48 12 4
+f 48 4 34
+f 49 40 25
+f 49 25 4
+f 49 4 40
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_16/visual/material.mtl b/objects/objaverse/pear/pear_16/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e79e2d6884c22e0d6e144d512c7e71c7bfa2daba
--- /dev/null
+++ b/objects/objaverse/pear/pear_16/visual/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 324.89999200
+map_Kd material_0.jpeg
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_18/collision/model_normalized_collision_0.obj b/objects/objaverse/pear/pear_18/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..94813567e6fca94bf1277aa208f80b1d008d11a2
--- /dev/null
+++ b/objects/objaverse/pear/pear_18/collision/model_normalized_collision_0.obj
@@ -0,0 +1,114 @@
+# https://github.com/mikedh/trimesh
+v -0.18406467 -0.16513393 -0.04235551
+v -0.18833756 -0.16845208 -0.05495000
+v -0.25341705 0.13530901 -0.14896274
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\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_18/collision/model_normalized_collision_1.obj b/objects/objaverse/pear/pear_18/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad35f7187ec64c9bf624d68912ca236cff039557
--- /dev/null
+++ b/objects/objaverse/pear/pear_18/collision/model_normalized_collision_1.obj
@@ -0,0 +1,165 @@
+# https://github.com/mikedh/trimesh
+v 0.06111604 -0.21880223 0.00144006
+v 0.21871329 -0.06102469 0.00133426
+v 0.04820325 0.18039891 0.14146904
+v -0.05054617 0.22297481 0.00059198
+v -0.16332624 -0.16079369 -0.00008783
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+v 0.18336576 0.03670611 0.14004324
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+v 0.17204058 -0.07363542 0.14057862
+v 0.21811461 0.06815054 0.00115232
+v -0.06467277 0.17503144 0.14020590
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\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_18/collision/model_normalized_collision_10.obj b/objects/objaverse/pear/pear_18/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..96e9eba39a398f69e0a2d697efc7c58a3b62537e
--- /dev/null
+++ b/objects/objaverse/pear/pear_18/collision/model_normalized_collision_10.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.00877711 -0.28755882 -0.14796939
+v 0.00505686 -0.17123086 -0.15909090
+v 0.00890339 -0.21804596 0.02252482
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\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_18/collision/model_normalized_collision_11.obj b/objects/objaverse/pear/pear_18/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb71b735c66389e0862e830d6ce93ac684894829
--- /dev/null
+++ b/objects/objaverse/pear/pear_18/collision/model_normalized_collision_11.obj
@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
+v -0.14041259 -0.26338032 -0.19090004
+v -0.14105094 -0.25010023 -0.34991759
+v -0.14645829 -0.15607935 -0.35606060
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\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_18/collision/model_normalized_collision_12.obj b/objects/objaverse/pear/pear_18/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3327ca8b4d55f203944109bbba993ce7a33fcd0d
--- /dev/null
+++ b/objects/objaverse/pear/pear_18/collision/model_normalized_collision_12.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v 0.16692297 -0.18174186 -0.04089477
+v 0.26347899 -0.07578366 -0.10511646
+v 0.22912245 0.02164146 -0.00086695
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\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_18/collision/model_normalized_collision_13.obj b/objects/objaverse/pear/pear_18/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eea3e8e2948c68859edb8777b40324ecdd76c5f4
--- /dev/null
+++ b/objects/objaverse/pear/pear_18/collision/model_normalized_collision_13.obj
@@ -0,0 +1,114 @@
+# https://github.com/mikedh/trimesh
+v 0.17018838 -0.22935702 -0.35469818
+v 0.25749094 -0.12281519 -0.35332380
+v 0.24594715 0.14582347 -0.35517487
+v 0.21036119 0.17562490 -0.37867232
+v 0.16537794 -0.04845393 -0.48038692
+v 0.23554923 -0.16430476 -0.34964964
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+v 0.17652932 -0.11959093 -0.45780801
+v 0.16407232 -0.21947705 -0.37957329
+v 0.23092916 0.12482653 -0.40454178
+v 0.20740493 0.03949648 -0.45914734
+v 0.21716890 -0.14707209 -0.40247594
+v 0.16212217 -0.14733091 -0.45049572
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+v 0.16567322 -0.12046714 -0.46265506
+v 0.17356992 -0.21533188 -0.37641671
+v 0.17267716 -0.14314272 -0.44493017
+v 0.18894617 0.09579650 -0.45964305
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+v 0.19284184 -0.08994573 -0.45855821
+v 0.17727755 -0.04765201 -0.47421818
+v 0.24708313 -0.04590060 -0.41708110
+v 0.23054143 -0.16139787 -0.36211048
+v 0.17973432 0.11104093 -0.46021403
+v 0.17728038 0.05417854 -0.47392159
+v 0.23044913 0.05307843 -0.43159993
+v 0.24655800 0.03787190 -0.41706045
+v 0.23135945 -0.10133056 -0.41509603
+v 0.18819683 0.12138742 -0.44647431
+v 0.16665168 0.11266544 -0.46515643
+v 0.21554583 -0.06072523 -0.44621435
+f 1 3 4
+f 7 1 4
+f 8 3 2
+f 9 6 2
+f 9 2 3
+f 9 3 6
+f 10 6 3
+f 10 3 1
+f 12 1 7
+f 12 10 1
+f 13 3 8
+f 15 2 6
+f 16 12 7
+f 17 7 4
+f 17 4 13
+f 18 13 4
+f 18 4 3
+f 18 3 13
+f 19 14 5
+f 19 16 7
+f 19 5 16
+f 20 13 8
+f 22 6 10
+f 23 16 5
+f 23 11 16
+f 24 16 15
+f 24 12 16
+f 24 15 22
+f 24 22 10
+f 24 10 12
+f 25 16 11
+f 25 11 15
+f 25 15 16
+f 26 13 20
+f 27 26 20
+f 27 14 26
+f 28 5 21
+f 28 23 5
+f 28 11 23
+f 29 21 5
+f 29 5 14
+f 29 14 21
+f 30 21 14
+f 30 8 2
+f 31 22 15
+f 31 15 6
+f 31 6 22
+f 32 13 26
+f 32 26 19
+f 33 26 14
+f 33 14 19
+f 33 19 26
+f 34 27 20
+f 34 20 8
+f 34 8 27
+f 35 27 8
+f 35 14 27
+f 35 30 14
+f 35 8 30
+f 36 15 11
+f 36 11 28
+f 36 30 2
+f 36 2 15
+f 37 32 7
+f 37 7 17
+f 37 17 13
+f 37 13 32
+f 38 32 19
+f 38 19 7
+f 38 7 32
+f 39 36 28
+f 39 28 21
+f 39 21 30
+f 39 30 36
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_18/collision/model_normalized_collision_14.obj b/objects/objaverse/pear/pear_18/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f201e60b3dc83c540c7d25d2c35e3db9224dc691
--- /dev/null
+++ b/objects/objaverse/pear/pear_18/collision/model_normalized_collision_14.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v -0.14857422 0.22628368 -0.09664701
+v -0.08301036 0.27364021 -0.35145643
+v -0.08317504 0.25953317 -0.10227108
+v -0.08361402 0.29075406 -0.23548656
+v -0.15363746 0.23583223 -0.36298505
+v -0.08070514 0.26684471 -0.11840342
+v -0.13851388 0.26983014 -0.23640549
+v -0.09657173 0.25920021 -0.37342748
+v -0.08189316 0.28387127 -0.32328377
+v -0.12004749 0.24913899 -0.10826430
+v -0.11082321 0.26625287 -0.14887775
+v -0.12311713 0.26834371 -0.33301002
+v -0.09462195 0.24879901 -0.08633982
+v -0.09460412 0.26283683 -0.11956346
+v -0.11106136 0.28263019 -0.23664116
+v -0.13549033 0.24960468 -0.13469199
+v -0.11060076 0.26710201 -0.34816480
+v -0.13626502 0.26536882 -0.30747980
+v -0.11057839 0.28017934 -0.29290290
+v -0.13746596 0.23781780 -0.10629529
+v -0.09603324 0.28014268 -0.32265178
+f 6 3 2
+f 7 5 1
+f 8 2 3
+f 8 1 5
+f 9 6 2
+f 9 4 6
+f 11 6 4
+f 13 8 3
+f 13 1 8
+f 13 10 1
+f 14 3 6
+f 14 11 10
+f 14 6 11
+f 14 13 3
+f 14 10 13
+f 15 11 4
+f 15 7 11
+f 16 11 7
+f 16 7 1
+f 16 10 11
+f 17 8 5
+f 17 5 12
+f 17 2 8
+f 17 9 2
+f 18 12 5
+f 18 5 7
+f 19 15 4
+f 19 4 9
+f 19 12 18
+f 19 18 7
+f 19 7 15
+f 20 16 1
+f 20 1 10
+f 20 10 16
+f 21 17 12
+f 21 9 17
+f 21 19 9
+f 21 12 19
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_18/collision/model_normalized_collision_15.obj b/objects/objaverse/pear/pear_18/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3e43958a88d42908ddf64630134ce9fcc57a3124
--- /dev/null
+++ b/objects/objaverse/pear/pear_18/collision/model_normalized_collision_15.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.15725201 -0.21607098 -0.09083168
+v -0.13755220 -0.18947283 -0.01421553
+v -0.23969482 -0.10984850 -0.08268518
+v -0.16919130 0.13935434 0.02200197
+v -0.14645829 0.11664792 -0.09848484
+v -0.20407261 -0.09409902 0.00611213
+v -0.17928413 -0.18452543 -0.06198454
+v -0.14014751 -0.17800785 0.00284562
+v -0.18900152 -0.19761291 -0.10054908
+v -0.23123757 0.13115243 -0.08671835
+v -0.17678742 -0.14417598 -0.00099493
+v -0.14823399 -0.18341971 -0.01754785
+v -0.19743842 0.11100056 0.00267390
+v -0.15073913 -0.17195678 -0.00057217
+v -0.17348173 -0.17206399 -0.03324068
+f 5 2 1
+f 7 1 2
+f 8 5 4
+f 8 2 5
+f 8 4 6
+f 9 5 1
+f 9 7 3
+f 9 1 7
+f 10 4 5
+f 10 9 3
+f 10 5 9
+f 11 6 3
+f 11 3 7
+f 11 8 6
+f 12 7 2
+f 12 2 8
+f 13 6 4
+f 13 4 10
+f 13 10 3
+f 13 3 6
+f 14 8 11
+f 14 12 8
+f 14 7 12
+f 15 14 11
+f 15 11 7
+f 15 7 14
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_18/collision/model_normalized_collision_16.obj b/objects/objaverse/pear/pear_18/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b27bae2c9da99ee5b2474c8bbfefdccec6045e2
--- /dev/null
+++ b/objects/objaverse/pear/pear_18/collision/model_normalized_collision_16.obj
@@ -0,0 +1,165 @@
+# https://github.com/mikedh/trimesh
+v 0.24121202 -0.13726307 -0.11565930
+v 0.28964589 -0.05915397 -0.33552759
+v 0.29035056 -0.04823151 -0.16388818
+v 0.24062686 0.14392103 -0.11565729
+v 0.23868907 0.09783027 -0.40815340
+v 0.29137633 0.09430484 -0.26244212
+v 0.27525420 0.02211687 -0.10597646
+v 0.27529284 -0.13066069 -0.26239208
+v 0.26040896 0.13947706 -0.33353994
+v 0.27437127 -0.05924719 -0.11909950
+v 0.24268878 -0.12297090 -0.10080729
+v 0.27368968 0.09274490 -0.14985238
+v 0.28997440 0.03724461 -0.16419566
+v 0.28920999 -0.08991476 -0.23662262
+v 0.23971248 -0.09304504 -0.40952382
+v 0.24127783 0.14239144 -0.36763025
+v 0.27463055 0.12355851 -0.22168954
+v 0.28939851 0.02195105 -0.34721197
+v 0.27569661 -0.11754264 -0.19143719
+v 0.27459935 -0.01913489 -0.10616279
+v 0.24086368 0.12887783 -0.10161363
+v 0.29063485 0.06752851 -0.19124713
+v 0.27409454 0.05214485 -0.11905490
+v 0.28868548 -0.08945050 -0.27735493
+v 0.26285134 -0.13232792 -0.33296068
+v 0.24441012 0.09380773 -0.40397727
+v 0.25775006 0.13809487 -0.16499782
+v 0.27391645 0.12330629 -0.29260058
+v 0.27378319 0.10840896 -0.33351551
+v 0.28990579 0.01151869 -0.34740316
+v 0.27342367 -0.10439940 -0.16483291
+v 0.28916687 -0.07441584 -0.19151148
+v 0.26070108 -0.13094147 -0.16460337
+v 0.27408026 -0.13015981 -0.23715367
+v 0.25982529 -0.08977609 -0.10681026
+v 0.25923544 0.09330713 -0.10725486
+v 0.27554986 0.10874227 -0.17958390
+v 0.24597657 -0.09021906 -0.40367165
+v 0.24631817 -0.14025810 -0.35544160
+v 0.27477821 -0.11933200 -0.30783377
+v 0.24566569 0.13965373 -0.36266872
+v 0.26192067 -0.01901201 -0.40261904
+v 0.28955111 0.08275383 -0.29273011
+v 0.27328436 0.06722067 -0.36189822
+v 0.26006400 -0.11541752 -0.13450592
+v 0.25774499 0.10778960 -0.11954477
+v 0.24533363 0.12416191 -0.10666398
+v 0.29125545 0.09391879 -0.25183219
+v 0.27563015 -0.10476130 -0.33255179
+v 0.24173377 -0.12246638 -0.38330445
+v 0.26014497 0.03751573 -0.40233390
+v 0.26096415 -0.05976523 -0.39317801
+v 0.27378061 0.09334804 -0.34636111
+v 0.24823583 -0.11734845 -0.10546180
+v 0.24750349 -0.11706333 -0.37831072
+v 0.24588428 -0.13113713 -0.11904082
+f 5 1 4
+f 6 3 2
+f 13 7 3
+f 14 2 3
+f 15 1 5
+f 16 5 4
+f 16 4 9
+f 20 10 3
+f 20 3 7
+f 20 7 11
+f 21 11 7
+f 21 4 1
+f 21 1 11
+f 22 13 3
+f 22 3 6
+f 22 12 13
+f 23 13 12
+f 23 7 13
+f 24 14 8
+f 24 2 14
+f 26 5 16
+f 27 17 9
+f 27 9 4
+f 28 17 6
+f 28 6 9
+f 28 9 17
+f 29 9 6
+f 30 18 6
+f 30 6 2
+f 31 3 10
+f 32 19 14
+f 32 14 3
+f 32 31 19
+f 32 3 31
+f 34 8 14
+f 34 14 19
+f 34 19 33
+f 34 33 1
+f 34 1 8
+f 35 20 11
+f 35 10 20
+f 36 23 12
+f 36 21 7
+f 36 7 23
+f 37 12 22
+f 37 17 27
+f 37 27 4
+f 37 4 12
+f 39 25 8
+f 39 8 1
+f 40 24 8
+f 40 8 25
+f 40 2 24
+f 41 26 16
+f 41 16 9
+f 41 9 29
+f 42 15 5
+f 42 38 15
+f 42 30 2
+f 43 29 6
+f 43 6 18
+f 43 18 29
+f 45 33 19
+f 45 19 31
+f 45 31 10
+f 45 10 35
+f 46 36 12
+f 46 12 4
+f 46 4 36
+f 47 36 4
+f 47 4 21
+f 47 21 36
+f 48 37 22
+f 48 22 6
+f 48 6 17
+f 48 17 37
+f 49 38 2
+f 49 40 25
+f 49 2 40
+f 50 39 1
+f 50 1 15
+f 50 15 38
+f 51 42 5
+f 51 5 26
+f 51 18 30
+f 51 30 42
+f 51 44 18
+f 51 26 44
+f 52 42 2
+f 52 2 38
+f 52 38 42
+f 53 29 18
+f 53 18 44
+f 53 44 26
+f 53 41 29
+f 53 26 41
+f 54 11 1
+f 54 45 35
+f 54 35 11
+f 55 49 25
+f 55 25 39
+f 55 39 50
+f 55 50 38
+f 55 38 49
+f 56 54 1
+f 56 45 54
+f 56 1 33
+f 56 33 45
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_18/collision/model_normalized_collision_17.obj b/objects/objaverse/pear/pear_18/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..39f1667ec8a4487a9089a9bba14c29c36012bbd5
--- /dev/null
+++ b/objects/objaverse/pear/pear_18/collision/model_normalized_collision_17.obj
@@ -0,0 +1,138 @@
+# https://github.com/mikedh/trimesh
+v 0.19003409 0.13770426 -0.01432014
+v 0.26376680 0.14069142 -0.30850266
+v 0.24710181 0.16490035 -0.17962938
+v 0.15098047 0.25580276 -0.17805811
+v 0.16920567 0.16230704 -0.43482569
+v 0.18849292 0.23579164 -0.27715492
+v 0.19856455 0.19320290 -0.10847331
+v 0.24744660 0.14023796 -0.13326537
+v 0.20606222 0.13858214 -0.41924174
+v 0.15100137 0.16981850 0.00339905
+v 0.24620681 0.17947616 -0.26191137
+v 0.15015593 0.25533007 -0.32349850
+v 0.21524875 0.20926162 -0.19134888
+v 0.23660851 0.13895941 -0.38008563
+v 0.26499359 0.14120160 -0.20592983
+v 0.21449075 0.16285848 -0.09352858
+v 0.24339654 0.15046530 -0.13486266
+v 0.17839083 0.14027833 0.00268352
+v 0.14843209 0.24222415 -0.13258933
+v 0.21510708 0.19489817 -0.34611607
+v 0.18849435 0.23619484 -0.23630674
+v 0.14893834 0.21342987 -0.40569438
+v 0.25938244 0.15383090 -0.20653715
+v 0.20416779 0.20579709 -0.14974435
+v 0.19623286 0.14258904 -0.42526321
+v 0.16361950 0.15249363 0.01163954
+v 0.17291895 0.21936478 -0.12015404
+v 0.25889858 0.15192002 -0.30752975
+v 0.21489973 0.20855363 -0.30731805
+v 0.19993862 0.17961168 -0.39142619
+v 0.15835869 0.25115793 -0.32264872
+v 0.20380706 0.22124365 -0.20598634
+v 0.14919484 0.23876852 -0.36344633
+v 0.14835061 0.18143189 -0.01373993
+v 0.24582319 0.17878760 -0.25162766
+v 0.15867553 0.25120260 -0.18006421
+v 0.21498418 0.14918641 -0.40429948
+v 0.17213255 0.17454896 -0.03320567
+v 0.25096926 0.14193471 -0.35018772
+v 0.18767594 0.21982062 -0.34519988
+v 0.15884232 0.20690872 -0.40431852
+v 0.19222596 0.15472387 -0.42072982
+v 0.22191305 0.13910863 -0.40488143
+v 0.16124146 0.16407171 -0.00002800
+v 0.24706828 0.15066241 -0.34707352
+v 0.15730630 0.23488841 -0.36030099
+v 0.17223754 0.20468817 -0.39034615
+f 14 8 1
+f 14 2 8
+f 14 1 9
+f 15 8 2
+f 17 7 16
+f 17 16 1
+f 17 1 8
+f 17 8 15
+f 18 9 1
+f 19 4 12
+f 21 11 6
+f 22 5 10
+f 23 13 3
+f 23 17 15
+f 23 3 17
+f 24 7 17
+f 24 17 3
+f 24 3 13
+f 25 18 5
+f 25 9 18
+f 26 10 5
+f 26 5 18
+f 27 7 24
+f 28 11 23
+f 28 23 15
+f 28 15 2
+f 29 6 11
+f 29 28 20
+f 29 11 28
+f 31 21 6
+f 31 12 4
+f 31 4 21
+f 31 6 29
+f 32 13 11
+f 32 11 21
+f 33 22 19
+f 33 19 12
+f 33 12 31
+f 34 22 10
+f 34 19 22
+f 34 27 19
+f 35 23 11
+f 35 11 13
+f 35 13 23
+f 36 24 13
+f 36 4 19
+f 36 27 24
+f 36 19 27
+f 36 13 32
+f 36 32 21
+f 36 21 4
+f 37 9 25
+f 37 30 20
+f 37 20 14
+f 38 7 27
+f 38 27 34
+f 38 16 7
+f 38 1 16
+f 38 18 1
+f 39 28 2
+f 39 2 14
+f 40 20 30
+f 40 31 29
+f 40 29 20
+f 41 5 22
+f 42 37 25
+f 42 25 5
+f 42 30 37
+f 42 41 30
+f 42 5 41
+f 43 37 14
+f 43 14 9
+f 43 9 37
+f 44 10 26
+f 44 26 18
+f 44 18 38
+f 44 38 34
+f 44 34 10
+f 45 39 14
+f 45 14 20
+f 45 20 28
+f 45 28 39
+f 46 33 31
+f 46 31 40
+f 46 40 41
+f 46 41 22
+f 46 22 33
+f 47 41 40
+f 47 40 30
+f 47 30 41
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_18/collision/model_normalized_collision_18.obj b/objects/objaverse/pear/pear_18/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a84282704e9e8ccee55495021fb16c0aa00e81c5
--- /dev/null
+++ b/objects/objaverse/pear/pear_18/collision/model_normalized_collision_18.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v 0.16361950 0.15249363 0.01163954
+v 0.19497529 0.17656625 -0.07787671
+v 0.09142883 0.25838575 -0.10306107
+v -0.05148767 0.27022226 -0.10422890
+v -0.18465327 0.18490253 -0.07599975
+v 0.03170287 0.23391364 -0.01636014
+v 0.15597154 0.22191411 -0.09890466
+v -0.15658175 0.15706257 0.01400004
+v 0.07211285 0.21803499 -0.00196660
+v 0.04802708 0.27002205 -0.10428791
+v 0.14495316 0.17689712 -0.00113573
+v -0.14302009 0.23205074 -0.10147115
+v -0.06453569 0.21908756 -0.00109914
+v 0.12821715 0.19015329 -0.00213990
+v 0.01657790 0.25038330 -0.04594813
+v 0.06163887 0.24845580 -0.06197444
+v -0.12560162 0.24337193 -0.10344016
+v -0.13963527 0.18108525 0.00160573
+v -0.02392929 0.23447231 -0.01588077
+v 0.14289828 0.20446770 -0.04757207
+v 0.04701832 0.26462464 -0.09149271
+v -0.09719509 0.25588589 -0.10387127
+v -0.11981355 0.20298609 -0.01760209
+v -0.10507299 0.20369128 -0.00209207
+v -0.00865047 0.24929549 -0.04607966
+v -0.04988748 0.26506407 -0.09134046
+v -0.13700575 0.19187407 -0.01584657
+v -0.10621776 0.23385595 -0.06261158
+v -0.06391862 0.24798590 -0.06242270
+v -0.09521266 0.25093421 -0.09135330
+f 8 5 2
+f 8 2 1
+f 9 8 1
+f 11 1 2
+f 11 2 7
+f 12 7 2
+f 12 2 5
+f 13 8 9
+f 14 3 9
+f 14 9 1
+f 14 1 11
+f 15 10 4
+f 16 9 3
+f 16 3 10
+f 16 6 9
+f 16 15 6
+f 17 3 7
+f 17 7 12
+f 17 10 3
+f 18 12 5
+f 18 5 8
+f 19 13 9
+f 19 9 6
+f 19 6 15
+f 20 7 3
+f 20 3 14
+f 20 14 11
+f 20 11 7
+f 21 16 10
+f 21 10 15
+f 21 15 16
+f 22 4 10
+f 22 10 17
+f 23 17 12
+f 24 18 8
+f 24 8 13
+f 24 17 23
+f 25 19 15
+f 25 15 4
+f 26 13 19
+f 26 4 22
+f 26 25 4
+f 26 19 25
+f 27 23 12
+f 27 12 18
+f 27 24 23
+f 27 18 24
+f 28 22 17
+f 28 17 24
+f 28 24 13
+f 29 26 22
+f 29 13 26
+f 29 28 13
+f 30 29 22
+f 30 22 28
+f 30 28 29
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_18/collision/model_normalized_collision_19.obj b/objects/objaverse/pear/pear_18/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0cc6c115132f414b197a02e9d0f45dbc2dc5152c
--- /dev/null
+++ b/objects/objaverse/pear/pear_18/collision/model_normalized_collision_19.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.06566292 0.22270852 -0.23484848
+v 0.10110657 0.26364676 -0.36150373
+v 0.06263503 0.29647311 -0.23619602
+v -0.06560191 0.29604906 -0.23630206
+v -0.09657173 0.25920021 -0.37342748
+v 0.00568387 0.29596449 -0.32285117
+v -0.08361402 0.29075406 -0.23548656
+v 0.10755373 0.27803736 -0.31423023
+v 0.07603299 0.26423753 -0.37626015
+v -0.03939293 0.29629682 -0.30810397
+v -0.08585223 0.22270852 -0.23484848
+v 0.06224273 0.29618258 -0.27782302
+v -0.06546443 0.28064055 -0.34757718
+v 0.09173785 0.28109122 -0.33353791
+v -0.06556276 0.29603587 -0.27765069
+v 0.09297798 0.28486386 -0.30841587
+v 0.09323048 0.27235987 -0.35073226
+v 0.03184315 0.29569037 -0.32320755
+v -0.08117112 0.28211939 -0.33477504
+v 0.07590653 0.27874462 -0.34648468
+v 0.04684328 0.29491864 -0.30794626
+f 7 1 3
+f 7 3 4
+f 8 1 2
+f 8 3 1
+f 9 2 1
+f 9 1 5
+f 10 4 3
+f 11 7 5
+f 11 5 1
+f 11 1 7
+f 12 10 3
+f 12 6 10
+f 13 9 5
+f 13 6 9
+f 13 10 6
+f 14 8 2
+f 15 7 4
+f 15 4 10
+f 16 12 3
+f 16 3 8
+f 16 8 14
+f 17 14 2
+f 17 2 9
+f 17 9 14
+f 18 9 6
+f 18 6 12
+f 19 15 10
+f 19 10 13
+f 19 13 5
+f 19 5 7
+f 19 7 15
+f 20 18 14
+f 20 14 9
+f 20 9 18
+f 21 18 12
+f 21 12 16
+f 21 16 14
+f 21 14 18
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_18/collision/model_normalized_collision_2.obj b/objects/objaverse/pear/pear_18/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd8f3b174565fb4d7fc1250725f683f52b9ba5be
--- /dev/null
+++ b/objects/objaverse/pear/pear_18/collision/model_normalized_collision_2.obj
@@ -0,0 +1,126 @@
+# https://github.com/mikedh/trimesh
+v 0.06059305 -0.29128330 -0.17908965
+v 0.19626844 -0.19465260 -0.37178878
+v 0.16029782 -0.24389912 -0.16487102
+v 0.15230416 -0.16710529 0.00489445
+v 0.00505686 -0.17123086 -0.35606060
+v 0.16503743 -0.16476766 -0.01177635
+v 0.11593685 -0.24384653 -0.09270373
+v 0.13029638 -0.27471785 -0.27736261
+v 0.00890339 -0.21804596 0.02252482
+v 0.16070671 -0.22911718 -0.11941931
+v 0.11986953 -0.27373522 -0.19149312
+v 0.16157184 -0.24555028 -0.33414978
+v 0.00447401 -0.28620267 -0.35314882
+v 0.07503163 -0.21485336 -0.00028720
+v 0.15654772 -0.18686399 -0.03226159
+v 0.10430958 -0.27231564 -0.16511082
+v 0.12964932 -0.25819650 -0.15011832
+v 0.13093282 -0.27505461 -0.23697816
+v 0.04903014 -0.29015206 -0.33576603
+v 0.00356705 -0.22899084 -0.00059899
+v 0.11489212 -0.19771985 -0.00215187
+v 0.05935501 -0.27379380 -0.11921417
+v 0.12984612 -0.24337346 -0.10806137
+v 0.14478555 -0.25847471 -0.18020503
+v 0.07453531 -0.28923847 -0.19145365
+v 0.00390895 -0.29332723 -0.33799306
+v 0.10520091 -0.27488643 -0.33256635
+v 0.14601584 -0.17617811 0.00094376
+v 0.10064878 -0.21376378 -0.01677388
+v 0.05903350 -0.22798365 -0.01652170
+v 0.00364816 -0.29223228 -0.16330213
+v 0.01863298 -0.22795700 -0.00106858
+v 0.12973361 -0.21235077 -0.04800098
+v 0.08951799 -0.28844982 -0.27755966
+v 0.00332342 -0.27502929 -0.10593388
+v 0.14455763 -0.25824216 -0.32253992
+v 0.12998112 -0.25829525 -0.34597076
+v 0.03371603 -0.28966781 -0.16400512
+v 0.08985061 -0.28866566 -0.23661629
+v 0.07475885 -0.28858789 -0.30756344
+v 0.01834907 -0.27376492 -0.10647474
+v 0.16469775 -0.23532145 -0.34986368
+v 0.08951209 -0.27330856 -0.34687273
+f 6 5 4
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+f 9 4 5
+f 10 3 2
+f 10 2 6
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+f 15 10 6
+f 15 6 4
+f 16 1 11
+f 17 16 11
+f 18 12 3
+f 18 8 12
+f 20 9 5
+f 21 4 9
+f 21 9 14
+f 22 1 16
+f 22 17 7
+f 22 16 17
+f 23 10 15
+f 23 17 10
+f 23 7 17
+f 23 21 7
+f 24 17 11
+f 24 3 10
+f 24 10 17
+f 24 18 3
+f 24 11 18
+f 25 18 11
+f 25 11 1
+f 26 13 19
+f 26 5 13
+f 28 15 4
+f 28 4 21
+f 29 21 14
+f 29 7 21
+f 30 22 7
+f 30 14 9
+f 30 29 14
+f 30 7 29
+f 31 26 1
+f 32 9 20
+f 32 30 9
+f 32 22 30
+f 33 23 15
+f 33 21 23
+f 33 28 21
+f 33 15 28
+f 34 8 18
+f 34 27 8
+f 34 26 19
+f 34 1 26
+f 35 20 5
+f 35 5 26
+f 35 26 31
+f 35 32 20
+f 36 12 8
+f 36 8 27
+f 37 36 27
+f 37 12 36
+f 38 31 1
+f 38 1 22
+f 38 35 31
+f 38 22 35
+f 39 34 18
+f 39 18 25
+f 39 25 1
+f 39 1 34
+f 40 34 19
+f 40 19 27
+f 40 27 34
+f 41 35 22
+f 41 22 32
+f 41 32 35
+f 42 37 2
+f 42 2 12
+f 42 12 37
+f 43 13 2
+f 43 2 37
+f 43 19 13
+f 43 37 27
+f 43 27 19
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_18/collision/model_normalized_collision_20.obj b/objects/objaverse/pear/pear_18/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9533ddaf84da352d1d88cd06403692b2016a7f29
--- /dev/null
+++ b/objects/objaverse/pear/pear_18/collision/model_normalized_collision_20.obj
@@ -0,0 +1,159 @@
+# https://github.com/mikedh/trimesh
+v -0.14515464 -0.24520031 -0.35501684
+v -0.13838490 -0.22097577 -0.40449679
+v -0.14645829 0.11664792 -0.35606060
+v -0.26163328 0.11449939 -0.35307351
+v -0.27231711 -0.09084386 -0.35078113
+v -0.14166521 0.03929449 -0.49380184
+v -0.13826677 -0.23575270 -0.37980519
+v -0.23913111 -0.16075544 -0.34825201
+v -0.14466775 0.11542719 -0.47326499
+v -0.22125609 0.02510467 -0.44747771
+v -0.17900975 -0.19924688 -0.39142912
+v -0.14102536 0.09779239 -0.48026377
+v -0.16668803 -0.23337438 -0.34818656
+v -0.26967861 0.09681103 -0.34954916
+v -0.23738007 0.11136816 -0.40434329
+v -0.14868515 -0.21420642 -0.40370508
+v -0.22093470 -0.14264397 -0.40351296
+v -0.19577503 0.08291040 -0.45899593
+v -0.14064948 -0.10559163 -0.47835789
+v -0.28550947 -0.03239368 -0.35014687
+v -0.20477647 -0.17217262 -0.39073259
+v -0.25379253 -0.13481190 -0.34908591
+v -0.16463887 -0.17259054 -0.43026217
+v -0.18105033 0.10930709 -0.45890860
+v -0.24897271 0.07977501 -0.40363775
+v -0.16827436 0.08053498 -0.47337907
+v -0.18197318 0.02525225 -0.47409503
+v -0.19806678 -0.07598781 -0.45895997
+v -0.28512159 0.03994376 -0.35003687
+v -0.23385835 -0.11744226 -0.40339485
+v -0.14084184 -0.15024195 -0.46226252
+v -0.15210773 0.03774357 -0.48878185
+v -0.22184891 -0.01679945 -0.44795124
+v -0.14371041 -0.03432231 -0.49347047
+v -0.26428013 0.05214555 -0.39258549
+v -0.24793674 -0.11692822 -0.37628393
+v -0.24858356 -0.13236975 -0.36146280
+v -0.19116902 -0.11814127 -0.44605792
+v -0.25153134 -0.07725953 -0.40300097
+v -0.15191103 -0.14766825 -0.45865162
+v -0.18201714 -0.01820472 -0.47425615
+v -0.16766424 -0.07593987 -0.47390894
+v -0.27982718 -0.03123816 -0.36263040
+v -0.26705390 -0.08852438 -0.36328748
+v -0.20605588 -0.08771112 -0.44579048
+v -0.26383604 -0.07655391 -0.37735547
+v -0.26292714 -0.04603998 -0.39210652
+v -0.16594279 -0.13154242 -0.45862719
+v -0.15183131 -0.03314169 -0.48924868
+v -0.15381123 -0.10386755 -0.47353955
+v -0.27932489 0.03951682 -0.36247144
+v -0.23545117 -0.08788846 -0.41537121
+v -0.17752568 -0.15873838 -0.42955270
+v -0.20725303 -0.14376537 -0.41460151
+f 7 3 1
+f 9 4 3
+f 12 3 7
+f 12 9 3
+f 12 7 2
+f 13 1 3
+f 13 11 1
+f 13 8 11
+f 14 8 13
+f 14 13 3
+f 14 3 4
+f 15 4 9
+f 15 14 4
+f 16 2 7
+f 16 7 1
+f 16 1 11
+f 19 12 2
+f 19 6 12
+f 21 17 11
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+f 21 8 17
+f 22 17 8
+f 22 20 5
+f 22 8 20
+f 23 16 11
+f 23 11 17
+f 23 2 16
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+f 24 15 9
+f 25 18 10
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+f 26 12 6
+f 26 18 24
+f 26 24 9
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+f 29 8 14
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+f 32 18 26
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+f 35 14 15
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+f 40 31 2
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+f 41 33 27
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+f 44 30 36
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+f 44 36 22
+f 44 22 5
+f 45 38 30
+f 45 28 38
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+f 46 5 20
+f 47 35 33
+f 47 33 39
+f 47 43 35
+f 47 39 46
+f 47 46 20
+f 47 20 43
+f 48 40 23
+f 48 38 28
+f 48 19 40
+f 49 41 34
+f 49 34 28
+f 49 28 41
+f 50 42 34
+f 50 34 19
+f 50 19 48
+f 50 48 28
+f 50 28 42
+f 51 43 29
+f 51 29 35
+f 51 35 43
+f 52 39 28
+f 52 28 45
+f 52 45 30
+f 52 30 39
+f 53 48 23
+f 53 23 17
+f 54 53 17
+f 54 48 53
+f 54 17 38
+f 54 38 48
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_18/collision/model_normalized_collision_21.obj b/objects/objaverse/pear/pear_18/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..300009c982a3726c77cad3d4f55bb685571a3a30
--- /dev/null
+++ b/objects/objaverse/pear/pear_18/collision/model_normalized_collision_21.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.07605519 -0.26269487 -0.10496038
+v 0.10160858 -0.24801183 -0.09092192
+v 0.00611131 -0.24332171 -0.03274384
+v -0.11341522 -0.22545971 -0.05598925
+v -0.14494857 -0.22979356 -0.09956430
+v 0.10611717 -0.22350129 -0.04215422
+v 0.09376167 -0.25537943 -0.10148404
+v -0.07975630 -0.26376546 -0.10505261
+v -0.14170805 -0.22540762 -0.08672978
+v 0.10901642 -0.22833375 -0.05485004
+v 0.05879430 -0.24245071 -0.04708491
+v -0.13881443 -0.23664271 -0.10395025
+v -0.03732570 -0.25922997 -0.07599892
+v 0.10590916 -0.23205855 -0.06001109
+v 0.07437336 -0.25753670 -0.09209720
+v 0.04874879 -0.25805282 -0.07626427
+v -0.13563774 -0.23221155 -0.09111940
+v -0.07758895 -0.24380491 -0.06193317
+v 0.10406526 -0.22677294 -0.04733097
+v 0.00380880 -0.24854642 -0.04395657
+v -0.07745195 -0.25865244 -0.09238380
+f 6 4 3
+f 7 5 2
+f 9 6 5
+f 9 4 6
+f 10 2 5
+f 10 5 6
+f 11 7 2
+f 11 6 3
+f 12 7 1
+f 12 5 7
+f 12 1 8
+f 12 9 5
+f 13 8 1
+f 14 10 6
+f 14 2 10
+f 15 11 1
+f 15 1 7
+f 15 7 11
+f 16 11 3
+f 16 1 11
+f 16 13 1
+f 17 12 8
+f 17 8 4
+f 17 4 9
+f 17 9 12
+f 18 13 3
+f 18 3 4
+f 19 14 6
+f 19 6 11
+f 19 11 2
+f 19 2 14
+f 20 16 3
+f 20 3 13
+f 20 13 16
+f 21 8 13
+f 21 13 18
+f 21 18 4
+f 21 4 8
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_18/collision/model_normalized_collision_22.obj b/objects/objaverse/pear/pear_18/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db9d0a65cc21bc91aedb4b70fca2133e889eb59c
--- /dev/null
+++ b/objects/objaverse/pear/pear_18/collision/model_normalized_collision_22.obj
@@ -0,0 +1,162 @@
+# https://github.com/mikedh/trimesh
+v -0.19743842 0.11100056 0.00267390
+v -0.14466775 0.11542719 -0.47326499
+v -0.13963527 0.18108525 0.00160573
+v -0.13933625 0.25627490 -0.16280462
+v -0.27121234 0.11250930 -0.33515748
+v -0.13851445 0.16889655 -0.45173821
+v -0.23547432 0.18224660 -0.17980092
+v -0.16919130 0.13935434 0.02200197
+v -0.17031241 0.11223319 -0.46280103
+v -0.17654588 0.23730637 -0.33603411
+v -0.17503010 0.22125608 -0.11994009
+v -0.26997924 0.11238561 -0.16288206
+v -0.21979375 0.16670938 -0.10703894
+v -0.20795272 0.10827999 -0.01483904
+v -0.15519591 0.14024193 -0.46022776
+v -0.14064837 0.25754239 -0.33530530
+v -0.19200275 0.23807338 -0.26282210
+v -0.13969977 0.24157576 -0.11727451
+v -0.16088214 0.19177902 -0.04722674
+v -0.24947156 0.16656974 -0.20677957
+v -0.19189490 0.12289979 -0.00014905
+v -0.26640578 0.12198112 -0.16441972
+v -0.22091448 0.19179877 -0.16544874
+v -0.24113074 0.11259504 -0.39588045
+v -0.14169913 0.14197280 -0.46462522
+v -0.16871776 0.12629306 -0.45922254
+v -0.14011992 0.22611706 -0.39526991
+v -0.16635891 0.25047539 -0.29261156
+v -0.18176901 0.23607939 -0.17953182
+v -0.23441923 0.18074075 -0.32229889
+v -0.15120279 0.23540233 -0.11923851
+v -0.14650543 0.17740183 -0.00203147
+v -0.19110243 0.16139378 -0.04727545
+v -0.22218502 0.20765065 -0.26276493
+v -0.20239686 0.12044593 -0.01780123
+v -0.24819992 0.12011667 -0.10796225
+v -0.26358026 0.13548255 -0.18051743
+v -0.20424702 0.16571410 -0.40278516
+v -0.15234529 0.22092428 -0.39257934
+v -0.15234956 0.25150564 -0.33461496
+v -0.16613164 0.25012079 -0.20662875
+v -0.19104576 0.22210595 -0.16507198
+v -0.19140464 0.23747247 -0.25167841
+v -0.24984890 0.16576850 -0.29204902
+v -0.22228160 0.19217079 -0.33727381
+v -0.25198950 0.11156196 -0.10568979
+v -0.22198613 0.13703856 -0.40366120
+v -0.14969463 0.16471845 -0.44654748
+v -0.17670409 0.13704293 -0.44576573
+v -0.16206746 0.20728383 -0.40280105
+v -0.22159074 0.20705341 -0.25169094
+v -0.26745519 0.12576180 -0.33320625
+v -0.21858293 0.18046225 -0.36064247
+v -0.26387393 0.13501146 -0.32238568
+v -0.23714611 0.12233877 -0.39321040
+f 6 3 2
+f 6 4 3
+f 8 1 2
+f 8 2 3
+f 14 9 2
+f 14 2 1
+f 14 12 5
+f 16 4 6
+f 18 11 3
+f 18 3 4
+f 19 3 11
+f 21 1 8
+f 21 8 13
+f 23 13 11
+f 23 7 13
+f 24 14 5
+f 24 9 14
+f 25 15 6
+f 25 6 2
+f 25 2 15
+f 26 15 2
+f 26 2 9
+f 26 9 24
+f 27 16 6
+f 28 10 17
+f 31 18 4
+f 31 11 18
+f 31 29 11
+f 31 4 29
+f 32 19 8
+f 32 8 3
+f 32 3 19
+f 33 13 8
+f 33 8 19
+f 33 19 11
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+f 34 20 7
+f 35 14 1
+f 35 1 21
+f 35 21 13
+f 36 13 7
+f 36 7 22
+f 36 35 13
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+f 37 7 20
+f 37 12 22
+f 39 16 27
+f 40 28 16
+f 40 10 28
+f 40 39 10
+f 40 16 39
+f 41 28 17
+f 41 4 16
+f 41 16 28
+f 41 29 4
+f 42 23 11
+f 42 11 29
+f 42 29 7
+f 42 7 23
+f 43 7 29
+f 43 17 34
+f 43 41 17
+f 43 29 41
+f 44 34 30
+f 44 20 34
+f 45 34 17
+f 45 17 10
+f 45 30 34
+f 46 36 22
+f 46 22 12
+f 46 12 14
+f 46 14 36
+f 47 26 24
+f 48 6 15
+f 49 15 26
+f 49 47 38
+f 49 26 47
+f 49 48 15
+f 49 38 48
+f 50 10 39
+f 50 48 38
+f 50 6 48
+f 50 39 27
+f 50 27 6
+f 51 43 34
+f 51 34 7
+f 51 7 43
+f 52 5 12
+f 52 12 37
+f 52 30 45
+f 52 24 5
+f 53 45 10
+f 53 10 50
+f 53 50 38
+f 53 52 45
+f 53 38 47
+f 54 44 30
+f 54 30 52
+f 54 52 37
+f 54 37 20
+f 54 20 44
+f 55 47 24
+f 55 24 52
+f 55 53 47
+f 55 52 53
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_18/collision/model_normalized_collision_23.obj b/objects/objaverse/pear/pear_18/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..804f8169bde1610e82cb499ba62712228a3dabf7
--- /dev/null
+++ b/objects/objaverse/pear/pear_18/collision/model_normalized_collision_23.obj
@@ -0,0 +1,108 @@
+# https://github.com/mikedh/trimesh
+v 0.16454222 -0.25050190 -0.20597722
+v 0.26604116 -0.13409407 -0.30876939
+v 0.23134145 -0.18616050 -0.18026979
+v 0.20699674 -0.13525594 -0.04299351
+v 0.20875837 -0.17562880 -0.38005954
+v 0.26608296 -0.13424548 -0.19082447
+v 0.17495754 -0.21522725 -0.10742761
+v 0.18654910 -0.23175761 -0.32254335
+v 0.16692297 -0.18174186 -0.04089477
+v 0.25208789 -0.13485504 -0.35044787
+v 0.24423466 -0.17527583 -0.29220650
+v 0.24926580 -0.13311389 -0.13310116
+v 0.18849641 -0.23100831 -0.17993124
+v 0.21624583 -0.17137452 -0.10804819
+v 0.16469775 -0.23532145 -0.34986368
+v 0.18576198 -0.15458098 -0.02908198
+v 0.16451451 -0.22014835 -0.10444951
+v 0.24417491 -0.17530781 -0.20635178
+v 0.24531460 -0.16100863 -0.33487563
+v 0.24387812 -0.16038725 -0.16523058
+v 0.18569888 -0.21628443 -0.13488546
+v 0.17537270 -0.24390250 -0.29237402
+v 0.20159172 -0.14739624 -0.04569791
+v 0.17632790 -0.22995043 -0.34670016
+v 0.17556112 -0.17544546 -0.04495623
+v 0.20273452 -0.15726514 -0.06143822
+v 0.16439719 -0.20480662 -0.07424355
+v 0.16464094 -0.23568128 -0.14752238
+v 0.25972083 -0.14517483 -0.30741710
+v 0.23088367 -0.17512825 -0.34663983
+v 0.25963087 -0.14571230 -0.19161328
+v 0.24313986 -0.14468432 -0.13507792
+v 0.21496988 -0.18534075 -0.13544838
+v 0.17512122 -0.24399490 -0.20631352
+v 0.16444675 -0.25060232 -0.29350570
+v 0.17581008 -0.22932353 -0.14953700
+v 0.21586507 -0.20100617 -0.32239065
+f 10 5 4
+f 11 2 6
+f 12 6 2
+f 12 10 4
+f 12 2 10
+f 15 9 5
+f 16 4 5
+f 16 5 9
+f 18 11 6
+f 18 13 11
+f 18 3 13
+f 19 10 2
+f 20 6 12
+f 20 14 3
+f 21 13 3
+f 21 7 13
+f 22 8 11
+f 22 11 13
+f 23 14 12
+f 23 12 4
+f 23 4 16
+f 24 15 5
+f 24 8 15
+f 25 16 9
+f 25 9 7
+f 26 7 14
+f 26 23 16
+f 26 14 23
+f 26 25 7
+f 26 16 25
+f 27 17 7
+f 27 7 9
+f 27 9 15
+f 27 1 17
+f 28 7 17
+f 28 17 1
+f 28 1 13
+f 29 19 2
+f 29 2 11
+f 29 11 19
+f 30 5 10
+f 30 10 19
+f 30 24 5
+f 30 8 24
+f 31 18 6
+f 31 6 20
+f 31 20 3
+f 31 3 18
+f 32 20 12
+f 32 12 14
+f 32 14 20
+f 33 14 7
+f 33 7 21
+f 33 21 3
+f 33 3 14
+f 34 22 13
+f 34 13 1
+f 34 1 22
+f 35 15 8
+f 35 8 22
+f 35 22 1
+f 35 27 15
+f 35 1 27
+f 36 28 13
+f 36 13 7
+f 36 7 28
+f 37 30 19
+f 37 19 11
+f 37 11 8
+f 37 8 30
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_18/collision/model_normalized_collision_24.obj b/objects/objaverse/pear/pear_18/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1817922bf264c264a1a0f29e6d029cb7a4e86f43
--- /dev/null
+++ b/objects/objaverse/pear/pear_18/collision/model_normalized_collision_24.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.00780720 -0.00159247 0.47319174
+v 0.00793172 -0.00799321 0.38586881
+v 0.01068749 0.02191787 0.48291799
+v -0.00277831 0.02570465 0.49683706
+v -0.00983442 -0.00456570 0.45995349
+v -0.00394988 0.01286723 0.38566843
+v 0.01092583 0.00811621 0.49495069
+v -0.00494614 -0.00353790 0.47340027
+v 0.00793380 0.01111631 0.38590003
+v -0.01125553 0.01431664 0.46567644
+v -0.01072772 -0.00772113 0.37882984
+v 0.00874994 0.02375079 0.49605124
+v -0.00426290 0.00774252 0.49607832
+v -0.00540365 0.02500718 0.48208978
+v -0.01139314 0.00509574 0.38576540
+v -0.01174051 0.00466168 0.48356675
+v -0.00893928 0.02077423 0.48921283
+f 7 1 2
+f 7 2 3
+f 8 5 2
+f 8 2 1
+f 8 1 7
+f 9 3 2
+f 11 2 5
+f 11 9 2
+f 11 6 9
+f 12 7 3
+f 13 8 7
+f 13 12 4
+f 13 7 12
+f 14 9 6
+f 14 3 9
+f 14 12 3
+f 14 4 12
+f 15 6 11
+f 15 14 6
+f 16 11 5
+f 16 15 11
+f 16 10 15
+f 16 5 8
+f 16 8 13
+f 17 15 10
+f 17 14 15
+f 17 10 16
+f 17 4 14
+f 17 16 13
+f 17 13 4
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_18/collision/model_normalized_collision_25.obj b/objects/objaverse/pear/pear_18/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0196a4b0efb7362463f3d4fed064bcac64c12cb6
--- /dev/null
+++ b/objects/objaverse/pear/pear_18/collision/model_normalized_collision_25.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.16728717 -0.00425776 0.21847040
+v 0.18685333 -0.00359731 0.14089280
+v 0.18352777 0.02174075 0.15532379
+v 0.16573667 0.08343824 0.14258954
+v 0.16841265 0.08475182 0.12803459
+v 0.16615184 0.02448700 0.21813148
+v 0.18394037 -0.00341168 0.15545943
+v 0.18556573 -0.00544628 0.14671874
+v 0.18495753 0.04046039 0.12838753
+v 0.16788811 0.02147292 0.21436216
+v 0.16842524 -0.00328979 0.21459596
+v 0.18636322 0.02235356 0.14074969
+v 0.17175733 0.07907080 0.12534831
+v 0.16966331 0.06283154 0.16896319
+v 0.18365731 0.04356621 0.13127951
+v 0.16590304 0.06836565 0.17245715
+v 0.16911133 0.07772053 0.13993422
+f 5 1 4
+f 6 4 1
+f 7 2 3
+f 8 5 2
+f 8 1 5
+f 8 7 1
+f 8 2 7
+f 10 6 1
+f 10 3 6
+f 11 7 3
+f 11 1 7
+f 11 10 1
+f 11 3 10
+f 12 9 3
+f 12 3 2
+f 12 2 9
+f 13 9 2
+f 13 2 5
+f 14 6 3
+f 15 14 3
+f 15 3 9
+f 15 9 13
+f 15 13 14
+f 16 14 4
+f 16 4 6
+f 16 6 14
+f 17 14 13
+f 17 13 5
+f 17 5 4
+f 17 4 14
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_18/collision/model_normalized_collision_26.obj b/objects/objaverse/pear/pear_18/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..29d01cd7c3b966da860c60d4fd9257ad83eebd6f
--- /dev/null
+++ b/objects/objaverse/pear/pear_18/collision/model_normalized_collision_26.obj
@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
+v 0.06182333 -0.28088248 -0.35046190
+v 0.19626844 -0.19465260 -0.37178878
+v 0.16469775 -0.23532145 -0.34986368
+v -0.05554920 -0.17123086 -0.35606060
+v -0.05311552 -0.16494428 -0.47988387
+v -0.05338310 -0.28145060 -0.35095164
+v 0.09282236 -0.19196598 -0.45883557
+v 0.16353933 -0.16354264 -0.43708622
+v -0.05343590 -0.20680971 -0.45883422
+v 0.11487810 -0.24322427 -0.39146808
+v 0.14737897 -0.16285448 -0.45099012
+v 0.04846096 -0.16499008 -0.48039839
+v 0.01869450 -0.26143829 -0.40244378
+v 0.10718288 -0.26562621 -0.35045924
+v 0.14738228 -0.21726375 -0.40240797
+v -0.05197193 -0.17714172 -0.47399113
+v 0.04735302 -0.20707245 -0.45874876
+v 0.12154566 -0.16451327 -0.46237188
+v -0.02212123 -0.27455556 -0.37768344
+v 0.07403742 -0.25688674 -0.39163323
+v 0.12963552 -0.24256983 -0.37596896
+v 0.16101429 -0.21453707 -0.39201085
+v 0.16156407 -0.23057672 -0.36219575
+v 0.15927893 -0.17469193 -0.43194123
+v 0.10349227 -0.21547248 -0.43080487
+v 0.14451361 -0.17266036 -0.44574826
+v 0.04742842 -0.17699890 -0.47434249
+v 0.11943629 -0.17658284 -0.45759931
+v 0.01837900 -0.27353878 -0.37747710
+v -0.05276994 -0.26138273 -0.39379515
+v 0.06001116 -0.27542626 -0.36297099
+v 0.09075043 -0.24594062 -0.40277360
+v 0.06012454 -0.21517356 -0.44636377
+v 0.10128134 -0.20112828 -0.44593724
+v -0.05227726 -0.27583874 -0.36349492
+v -0.03755382 -0.25971798 -0.40270366
+v 0.04893759 -0.24554835 -0.41694376
+v -0.05298097 -0.23068434 -0.43232824
+f 3 2 4
+f 6 1 3
+f 6 3 4
+f 8 4 2
+f 9 6 4
+f 9 4 5
+f 11 5 4
+f 11 4 8
+f 12 5 11
+f 14 3 1
+f 16 9 5
+f 16 5 12
+f 17 12 7
+f 17 13 9
+f 18 12 11
+f 18 7 12
+f 19 1 6
+f 21 14 10
+f 21 10 3
+f 21 3 14
+f 22 2 3
+f 23 3 10
+f 23 10 15
+f 23 22 3
+f 23 15 22
+f 24 22 15
+f 24 8 2
+f 24 2 22
+f 26 24 15
+f 26 11 8
+f 26 8 24
+f 27 16 12
+f 27 9 16
+f 27 17 9
+f 27 12 17
+f 28 18 11
+f 28 7 18
+f 28 11 26
+f 28 26 15
+f 29 19 13
+f 29 1 19
+f 30 6 9
+f 31 20 1
+f 31 13 20
+f 31 29 13
+f 31 1 29
+f 32 14 1
+f 32 1 20
+f 32 10 14
+f 32 25 15
+f 32 15 10
+f 33 17 7
+f 33 7 25
+f 33 25 32
+f 34 25 7
+f 34 7 28
+f 34 28 15
+f 34 15 25
+f 35 30 19
+f 35 19 6
+f 35 6 30
+f 36 9 13
+f 36 13 19
+f 36 19 30
+f 37 32 20
+f 37 20 13
+f 37 33 32
+f 37 13 17
+f 37 17 33
+f 38 36 30
+f 38 30 9
+f 38 9 36
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_18/collision/model_normalized_collision_27.obj b/objects/objaverse/pear/pear_18/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed0caaea642624e74e4243eb0779ea4ced4a3731
--- /dev/null
+++ b/objects/objaverse/pear/pear_18/collision/model_normalized_collision_27.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v 0.16097953 -0.16078176 0.00084333
+v 0.16396224 -0.13370818 -0.45837349
+v 0.17100516 0.14638598 0.00716153
+v -0.15658175 0.15706257 0.01400004
+v -0.13816511 -0.16025017 -0.45883242
+v 0.07582421 0.13798943 -0.48783315
+v -0.14619857 -0.17088621 0.00738109
+v 0.13552943 -0.16285248 -0.45868796
+v 0.16016202 0.13793094 -0.45956851
+v -0.14169913 0.14197280 -0.46462522
+v 0.15793397 -0.15866628 -0.44542458
+v -0.09465459 -0.16248380 -0.47219532
+v 0.13191361 -0.08973567 -0.48756552
+v 0.16326959 0.09504649 -0.47228352
+v -0.13734735 -0.07574313 -0.48866180
+v 0.06222121 -0.14593484 -0.48784271
+v 0.14728336 -0.06022295 -0.48791177
+v 0.13376097 0.08050107 -0.48932764
+v -0.09431945 0.12443595 -0.48899843
+v -0.10812858 -0.11810798 -0.48699978
+v 0.08963136 -0.13166771 -0.48737681
+v 0.08989419 -0.16259550 -0.47326944
+v 0.16249071 -0.08990108 -0.47299088
+v 0.14745855 0.05230920 -0.48890429
+v -0.05197790 -0.14685410 -0.48917340
+v -0.13738296 0.08015760 -0.48726254
+v -0.06667817 0.13868731 -0.48992920
+v -0.13903254 0.12403200 -0.47269026
+v -0.12380488 0.13910387 -0.47248792
+f 1 2 3
+f 7 1 3
+f 7 3 4
+f 7 4 5
+f 8 1 7
+f 9 4 3
+f 10 5 4
+f 10 9 6
+f 10 4 9
+f 11 8 2
+f 11 2 1
+f 11 1 8
+f 12 7 5
+f 13 2 8
+f 14 9 3
+f 14 3 2
+f 15 5 10
+f 17 13 16
+f 18 6 9
+f 18 9 14
+f 20 12 5
+f 20 5 15
+f 21 16 13
+f 21 13 8
+f 22 8 7
+f 22 7 12
+f 22 21 8
+f 22 16 21
+f 23 14 2
+f 23 2 13
+f 23 13 17
+f 24 18 14
+f 24 17 18
+f 24 23 17
+f 24 14 23
+f 25 18 17
+f 25 17 16
+f 25 20 15
+f 25 12 20
+f 25 22 12
+f 25 16 22
+f 26 19 15
+f 26 15 10
+f 27 10 6
+f 27 6 18
+f 27 18 25
+f 27 25 15
+f 27 15 19
+f 28 26 10
+f 28 19 26
+f 29 27 19
+f 29 10 27
+f 29 28 10
+f 29 19 28
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_18/collision/model_normalized_collision_28.obj b/objects/objaverse/pear/pear_18/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..872a1c62907d440dfc99e9a9cc488bb292639ec9
--- /dev/null
+++ b/objects/objaverse/pear/pear_18/collision/model_normalized_collision_28.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.07062853 0.15853853 0.19292610
+v 0.07760790 0.19038694 0.06268467
+v 0.06278297 0.20073759 0.05070263
+v 0.04970199 0.20332007 0.05168069
+v 0.04717030 0.19017723 0.09490896
+v 0.04884798 0.16931158 0.18710645
+v 0.07609627 0.17132809 0.13420246
+v 0.06045605 0.16510341 0.18569017
+v 0.04764798 0.17751050 0.15602626
+v 0.05764940 0.16362456 0.19447943
+v 0.05796854 0.17446944 0.15511548
+f 1 2 3
+f 3 2 4
+f 5 4 2
+f 7 5 2
+f 7 2 1
+f 7 1 5
+f 8 1 3
+f 9 6 3
+f 9 3 4
+f 9 4 5
+f 9 5 6
+f 10 6 5
+f 10 5 1
+f 10 8 6
+f 10 1 8
+f 11 8 3
+f 11 3 6
+f 11 6 8
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_18/collision/model_normalized_collision_29.obj b/objects/objaverse/pear/pear_18/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c6373409a8565df6e9e7bff4fc99230444a2bd06
--- /dev/null
+++ b/objects/objaverse/pear/pear_18/collision/model_normalized_collision_29.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.17571007 -0.19547594 -0.07774420
+v -0.14645829 -0.15607935 -0.35606060
+v -0.14645829 0.11664792 -0.09848484
+v -0.23694893 0.12508979 -0.09107694
+v -0.23042081 -0.16249940 -0.36084623
+v -0.24526277 0.13083137 -0.36851109
+v -0.22228215 -0.15613329 -0.09844684
+v -0.14645829 0.11664792 -0.35606060
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 6 4 3
+f 6 5 4
+f 6 2 5
+f 7 5 1
+f 7 1 4
+f 7 4 5
+f 8 6 3
+f 8 3 2
+f 8 2 6
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_18/collision/model_normalized_collision_3.obj b/objects/objaverse/pear/pear_18/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5c3ca155bfae4bd8af0872e24d48f7449d84c442
--- /dev/null
+++ b/objects/objaverse/pear/pear_18/collision/model_normalized_collision_3.obj
@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
+v -0.23604397 -0.16731956 -0.15431350
+v -0.23042081 -0.16249940 -0.36084623
+v -0.24526277 0.13083137 -0.36851109
+v -0.25341705 0.13530901 -0.14896274
+v -0.29560354 -0.06181096 -0.27774477
+v -0.26457694 -0.14782721 -0.27746203
+v -0.29518905 -0.03128159 -0.17929614
+v -0.27837566 -0.07643248 -0.34676211
+v -0.27921121 -0.08999920 -0.16461652
+v -0.29434654 0.06512300 -0.29269256
+v -0.28213664 -0.08849136 -0.33330557
+v -0.28049666 0.08080536 -0.16398351
+v -0.26355591 -0.14732161 -0.22173879
+v -0.29494423 -0.06137132 -0.22162764
+v -0.27950139 0.11038573 -0.29248694
+v -0.29623049 0.05272460 -0.19094007
+v -0.27772622 0.07912709 -0.34602975
+v -0.27855207 -0.11699210 -0.27727885
+v -0.29542192 0.00950720 -0.32296774
+v -0.24923038 -0.14781129 -0.34664168
+v -0.24913155 -0.15372348 -0.16020658
+v -0.29489492 -0.04620950 -0.19132985
+v -0.27889552 -0.11710408 -0.23687037
+v -0.27925357 0.11058805 -0.20658072
+v -0.29509828 0.02484912 -0.17919870
+v -0.26573712 0.11056769 -0.34760728
+v -0.26426347 -0.13270114 -0.32273120
+v -0.29408335 -0.03153848 -0.32265517
+v -0.26308676 -0.11707910 -0.34614218
+v -0.26451904 -0.13259467 -0.17966704
+v -0.27862450 -0.10181538 -0.17997707
+v -0.26997924 0.11238561 -0.16288206
+v -0.29511329 0.06561452 -0.22139732
+v -0.26637812 -0.11828958 -0.16396453
+v -0.28002089 0.09580608 -0.17926821
+f 1 2 3
+f 1 3 4
+f 6 2 1
+f 8 3 2
+f 9 1 4
+f 12 9 4
+f 12 7 9
+f 13 6 1
+f 14 7 5
+f 15 4 3
+f 16 5 7
+f 17 3 8
+f 17 10 15
+f 18 5 11
+f 19 17 8
+f 19 10 17
+f 19 16 10
+f 19 5 16
+f 20 2 6
+f 21 13 1
+f 21 1 9
+f 22 9 7
+f 22 7 14
+f 23 14 5
+f 23 5 18
+f 23 18 6
+f 23 6 13
+f 24 4 15
+f 25 16 7
+f 25 7 12
+f 25 12 16
+f 26 17 15
+f 26 15 3
+f 26 3 17
+f 27 18 11
+f 27 6 18
+f 27 20 6
+f 27 11 20
+f 28 19 8
+f 28 8 11
+f 28 11 5
+f 28 5 19
+f 29 20 11
+f 29 11 8
+f 29 8 2
+f 29 2 20
+f 30 13 21
+f 31 22 14
+f 31 9 22
+f 31 14 23
+f 31 23 13
+f 31 13 30
+f 32 12 4
+f 32 4 24
+f 33 24 15
+f 33 15 10
+f 33 10 16
+f 33 16 24
+f 34 21 9
+f 34 9 31
+f 34 31 30
+f 34 30 21
+f 35 32 24
+f 35 24 16
+f 35 16 12
+f 35 12 32
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_18/collision/model_normalized_collision_30.obj b/objects/objaverse/pear/pear_18/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..585a436c5c876df07832152e160295a707daecc0
--- /dev/null
+++ b/objects/objaverse/pear/pear_18/collision/model_normalized_collision_30.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.20179372 -0.17000324 -0.08098030
+v 0.24631817 -0.14025810 -0.35544160
+v 0.23706633 -0.13483103 -0.10353204
+v 0.20207888 0.17035997 -0.08219541
+v 0.20875837 -0.17562880 -0.38005954
+v 0.24594715 0.14582347 -0.35517487
+v 0.23620392 0.14181583 -0.10398000
+v 0.21036119 0.17562490 -0.37867232
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 5 1 4
+f 6 3 2
+f 7 6 4
+f 7 4 3
+f 7 3 6
+f 8 5 4
+f 8 4 6
+f 8 6 2
+f 8 2 5
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_18/collision/model_normalized_collision_31.obj b/objects/objaverse/pear/pear_18/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5591e4b4f4e37301160d385c8c1e372b307fb9c7
--- /dev/null
+++ b/objects/objaverse/pear/pear_18/collision/model_normalized_collision_31.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.19497529 0.17656625 -0.07787671
+v 0.15657201 0.14695095 -0.35606060
+v 0.16267876 0.23038500 -0.36068226
+v -0.14857422 0.22628368 -0.09664701
+v -0.18465327 0.18490253 -0.07599975
+v 0.15597154 0.22191411 -0.09890466
+v -0.14645829 0.14695095 -0.35606060
+v -0.15363746 0.23583223 -0.36298505
+f 1 2 3
+f 6 1 3
+f 6 5 1
+f 6 4 5
+f 7 2 1
+f 7 1 5
+f 8 6 3
+f 8 4 6
+f 8 3 2
+f 8 2 7
+f 8 7 5
+f 8 5 4
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_18/collision/model_normalized_collision_4.obj b/objects/objaverse/pear/pear_18/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a27128c0900a35208442681dfff5ca4a4409920
--- /dev/null
+++ b/objects/objaverse/pear/pear_18/collision/model_normalized_collision_4.obj
@@ -0,0 +1,153 @@
+# https://github.com/mikedh/trimesh
+v 0.15657201 0.14695095 -0.35606060
+v 0.20225434 0.14712244 -0.41692437
+v 0.13456347 0.25397686 -0.34880005
+v -0.03986586 0.28601215 -0.35023637
+v -0.14169913 0.14197280 -0.46462522
+v 0.07557041 0.19776784 -0.46041228
+v -0.14645829 0.14695095 -0.35606060
+v 0.15663798 0.23794296 -0.35611052
+v 0.15107714 0.14127715 -0.46227155
+v 0.04570771 0.26407723 -0.39215816
+v -0.12559883 0.25772880 -0.35055517
+v 0.19623286 0.14258904 -0.42526321
+v 0.03381145 0.14080496 -0.49446416
+v 0.16001514 0.19332558 -0.41498909
+v 0.04704969 0.28455587 -0.34930638
+v -0.08010916 0.19724707 -0.45932139
+v -0.14313007 0.24692748 -0.35285046
+v -0.11050412 0.14072560 -0.47671831
+v 0.10472192 0.15424601 -0.47314969
+v 0.19424052 0.17139209 -0.40785757
+v 0.13079311 0.16471533 -0.45994485
+v 0.08768870 0.23733036 -0.41570345
+v 0.04563884 0.27888665 -0.36170516
+v 0.10159124 0.26360618 -0.36112529
+v -0.09716596 0.27024987 -0.34984292
+v 0.00538513 0.22203574 -0.44771234
+v -0.13823886 0.22288988 -0.40324712
+v -0.02436599 0.14275977 -0.49434947
+v -0.11003560 0.18139850 -0.45884946
+v 0.07616850 0.16862114 -0.47370695
+v 0.10609004 0.14115398 -0.47790219
+v 0.17463487 0.16347360 -0.43006197
+v 0.13117343 0.23322765 -0.39072830
+v 0.11754923 0.19116253 -0.44518930
+v -0.03961794 0.28020666 -0.36267288
+v 0.10409746 0.26879119 -0.34862748
+v 0.07641753 0.25009466 -0.40513957
+v 0.03299285 0.15269491 -0.48865484
+v -0.10827824 0.23865511 -0.40401104
+v -0.08067752 0.16806324 -0.47292838
+v -0.02330190 0.15267622 -0.48933766
+v -0.13996825 0.15531380 -0.46002542
+v 0.14725493 0.15116139 -0.45965641
+v 0.13205725 0.24879185 -0.36129786
+v 0.11780095 0.22181742 -0.41533203
+v -0.05011304 0.26336409 -0.39167689
+v 0.03157969 0.22148808 -0.44681693
+v 0.10147564 0.24821551 -0.39130592
+v -0.09571577 0.25016158 -0.39294799
+v -0.10882456 0.15402690 -0.47205040
+v -0.13433635 0.17965244 -0.44627723
+v -0.08162078 0.23677389 -0.41690863
+f 7 1 3
+f 8 1 2
+f 8 3 1
+f 11 7 3
+f 12 2 1
+f 12 1 7
+f 17 5 7
+f 17 7 11
+f 18 12 7
+f 18 7 5
+f 18 9 12
+f 18 13 9
+f 20 14 8
+f 20 8 2
+f 20 2 12
+f 21 19 6
+f 23 4 15
+f 25 11 3
+f 25 15 4
+f 27 5 17
+f 27 17 11
+f 28 13 18
+f 30 19 13
+f 30 13 6
+f 30 6 19
+f 31 9 13
+f 31 13 19
+f 32 20 12
+f 32 21 14
+f 32 14 20
+f 33 8 14
+f 34 21 6
+f 34 14 21
+f 35 23 10
+f 35 4 23
+f 35 25 4
+f 36 3 24
+f 36 25 3
+f 36 15 25
+f 37 36 24
+f 37 15 36
+f 37 23 15
+f 37 10 23
+f 38 26 6
+f 38 6 13
+f 38 13 28
+f 39 27 11
+f 39 29 27
+f 39 16 29
+f 40 28 18
+f 40 16 28
+f 40 29 16
+f 41 28 16
+f 41 16 26
+f 41 38 28
+f 41 26 38
+f 42 18 5
+f 42 5 27
+f 43 32 12
+f 43 12 9
+f 43 21 32
+f 43 9 31
+f 43 31 19
+f 43 19 21
+f 44 3 8
+f 44 8 33
+f 45 33 14
+f 45 22 33
+f 45 14 34
+f 45 34 6
+f 45 6 22
+f 46 35 10
+f 46 10 26
+f 47 26 10
+f 47 10 37
+f 47 6 26
+f 47 37 22
+f 47 22 6
+f 48 33 22
+f 48 22 37
+f 48 37 24
+f 48 44 33
+f 48 24 3
+f 48 3 44
+f 49 39 11
+f 49 11 25
+f 49 25 35
+f 49 35 46
+f 50 40 18
+f 50 29 40
+f 50 42 29
+f 50 18 42
+f 51 42 27
+f 51 27 29
+f 51 29 42
+f 52 46 26
+f 52 26 16
+f 52 16 39
+f 52 49 46
+f 52 39 49
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_18/collision/model_normalized_collision_5.obj b/objects/objaverse/pear/pear_18/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0ff30d3aff2f8713ba7e0fb5b1f00c0b083d494e
--- /dev/null
+++ b/objects/objaverse/pear/pear_18/collision/model_normalized_collision_5.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v 0.10613386 0.24462002 -0.08822928
+v 0.11451192 0.26276752 -0.14705477
+v 0.03164274 0.27886209 -0.11905104
+v -0.02394258 0.29514228 -0.17921963
+v -0.08585223 0.22270852 -0.23484848
+v 0.06263503 0.29647311 -0.23619602
+v 0.08815820 0.26644998 -0.11870350
+v 0.06566292 0.22270852 -0.23484848
+v -0.09462195 0.24879901 -0.08633982
+v 0.03192725 0.29535360 -0.17925580
+v -0.13851388 0.26983014 -0.23640549
+v 0.07718058 0.26551824 -0.10656171
+v 0.09300474 0.27691842 -0.16101270
+v -0.05240807 0.28028265 -0.13400547
+v -0.06560191 0.29604906 -0.23630206
+v -0.00851940 0.27970943 -0.11893854
+v -0.14556840 0.25152614 -0.15955493
+v -0.11106136 0.28263019 -0.23664116
+v 0.09142883 0.25838575 -0.10306107
+v 0.07705485 0.27863828 -0.14941589
+v 0.04688477 0.29518247 -0.19124283
+v -0.06526846 0.29490010 -0.22124561
+v -0.07952777 0.26292771 -0.10742927
+v -0.15170924 0.26166288 -0.23398496
+v -0.09519582 0.28013379 -0.17962947
+v 0.06204726 0.29523824 -0.22154027
+v -0.13505095 0.26427336 -0.18019067
+v -0.11007286 0.27955712 -0.20668601
+v -0.13933625 0.25627490 -0.16280462
+f 7 1 2
+f 8 2 1
+f 8 1 5
+f 8 6 2
+f 9 5 1
+f 11 8 5
+f 12 9 1
+f 13 7 2
+f 13 2 6
+f 15 10 6
+f 15 4 10
+f 16 10 4
+f 16 3 10
+f 16 4 14
+f 16 12 3
+f 16 9 12
+f 17 5 9
+f 18 6 8
+f 18 8 11
+f 18 15 6
+f 19 12 1
+f 19 1 7
+f 19 7 12
+f 20 10 3
+f 20 3 12
+f 20 12 7
+f 20 7 13
+f 21 6 10
+f 21 20 13
+f 21 10 20
+f 22 14 4
+f 22 4 15
+f 22 15 18
+f 23 16 14
+f 23 9 16
+f 24 11 5
+f 24 5 17
+f 25 14 22
+f 25 23 14
+f 26 21 13
+f 26 13 6
+f 26 6 21
+f 27 23 25
+f 27 24 17
+f 27 11 24
+f 28 25 22
+f 28 22 18
+f 28 27 25
+f 28 18 11
+f 28 11 27
+f 29 27 17
+f 29 17 9
+f 29 9 23
+f 29 23 27
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_18/collision/model_normalized_collision_6.obj b/objects/objaverse/pear/pear_18/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..580b6c9855370d5f53b063fbec275cef6bd907e3
--- /dev/null
+++ b/objects/objaverse/pear/pear_18/collision/model_normalized_collision_6.obj
@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
+v 0.14944340 0.21319892 -0.07323527
+v 0.16267876 0.23038500 -0.36068226
+v 0.14788211 0.26481368 -0.23672770
+v 0.06312666 0.28497145 -0.16279512
+v 0.07603299 0.26423753 -0.37626015
+v 0.14772505 0.24860654 -0.14997659
+v 0.14936422 0.22879949 -0.38090868
+v 0.09662617 0.22421272 -0.03715477
+v 0.10221632 0.27924255 -0.32297366
+v 0.10213630 0.27861288 -0.18037121
+v 0.09195710 0.22872656 -0.04227499
+v 0.14367192 0.23580277 -0.10762970
+v 0.12283052 0.21487458 -0.04164949
+v 0.13891931 0.23303102 -0.38373068
+v 0.14736526 0.26489989 -0.27706138
+v 0.14730473 0.24912144 -0.34625381
+v 0.06403621 0.29106076 -0.30941367
+v 0.13294151 0.26457147 -0.18002851
+v 0.07020755 0.27121142 -0.36491295
+v 0.08942264 0.25325536 -0.09056645
+v 0.14328510 0.22013524 -0.07760089
+v 0.11722874 0.27921931 -0.23680346
+v 0.14646172 0.23349171 -0.37572076
+v 0.09323048 0.27235987 -0.35073226
+v 0.13204734 0.26456705 -0.32245733
+v 0.08762795 0.28045614 -0.16450218
+v 0.08956054 0.23841804 -0.06011098
+v 0.11718267 0.24858239 -0.10764947
+v 0.11720553 0.27889202 -0.27746835
+v 0.11688204 0.26389434 -0.34612126
+v 0.13390655 0.23850446 -0.37845388
+v 0.09247908 0.28259270 -0.32320169
+v 0.07602147 0.27733885 -0.14400184
+v 0.10201155 0.24854014 -0.09251774
+f 6 1 2
+f 6 2 3
+f 7 2 1
+f 11 5 8
+f 12 1 6
+f 13 8 7
+f 13 7 1
+f 14 8 5
+f 14 7 8
+f 15 3 2
+f 16 2 7
+f 16 15 2
+f 18 6 3
+f 19 11 4
+f 19 5 11
+f 19 4 17
+f 20 11 8
+f 20 8 13
+f 21 13 1
+f 21 1 12
+f 21 12 13
+f 22 3 15
+f 22 18 3
+f 22 10 18
+f 22 17 4
+f 23 16 7
+f 23 7 14
+f 24 5 19
+f 25 16 9
+f 25 9 15
+f 25 15 16
+f 26 18 10
+f 26 6 18
+f 26 22 4
+f 26 10 22
+f 27 20 4
+f 27 4 11
+f 27 11 20
+f 28 13 12
+f 28 26 20
+f 28 12 6
+f 28 6 26
+f 29 22 15
+f 29 15 9
+f 29 17 22
+f 30 24 9
+f 30 9 16
+f 31 14 5
+f 31 5 24
+f 31 24 30
+f 31 30 16
+f 31 23 14
+f 31 16 23
+f 32 24 19
+f 32 19 17
+f 32 9 24
+f 32 29 9
+f 32 17 29
+f 33 26 4
+f 33 4 20
+f 33 20 26
+f 34 28 20
+f 34 20 13
+f 34 13 28
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_18/collision/model_normalized_collision_7.obj b/objects/objaverse/pear/pear_18/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..854537a0082d21fac3e34aa71f0781a2973d0417
--- /dev/null
+++ b/objects/objaverse/pear/pear_18/collision/model_normalized_collision_7.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.00364816 -0.29223228 -0.16330213
+v 0.00332015 -0.28900018 -0.34738436
+v 0.00505686 -0.17123086 -0.15909090
+v -0.05554920 -0.17123086 -0.15909090
+v -0.05266685 -0.29055509 -0.32324216
+v 0.00505686 -0.17123086 -0.35606060
+v 0.00711651 -0.26767912 -0.08963401
+v -0.05554920 -0.17123086 -0.35606060
+v -0.05848259 -0.26230546 -0.09152860
+v -0.05338310 -0.28145060 -0.35095164
+v -0.05276903 -0.29098540 -0.17877368
+v -0.01173727 -0.28968134 -0.14884990
+v -0.02205962 -0.28935444 -0.34720929
+v 0.00332342 -0.27502929 -0.10593388
+v -0.05243924 -0.27443973 -0.11864578
+v -0.03704095 -0.27270731 -0.10702654
+v -0.05395093 -0.26789453 -0.10255189
+f 5 2 1
+f 6 4 3
+f 7 6 3
+f 7 1 2
+f 7 2 6
+f 8 4 6
+f 9 7 3
+f 9 3 4
+f 9 4 8
+f 10 8 6
+f 10 6 2
+f 10 9 8
+f 10 5 9
+f 11 9 5
+f 11 5 1
+f 12 11 1
+f 13 10 2
+f 13 2 5
+f 13 5 10
+f 14 12 1
+f 14 1 7
+f 15 9 11
+f 15 11 12
+f 16 14 7
+f 16 7 9
+f 16 15 12
+f 16 12 14
+f 17 16 9
+f 17 9 15
+f 17 15 16
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_18/collision/model_normalized_collision_8.obj b/objects/objaverse/pear/pear_18/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd571e852b5f9d936090eb18071f7f23cf7cdb12
--- /dev/null
+++ b/objects/objaverse/pear/pear_18/collision/model_normalized_collision_8.obj
@@ -0,0 +1,123 @@
+# https://github.com/mikedh/trimesh
+v -0.05276903 -0.29098540 -0.17877368
+v -0.05311388 -0.21637657 -0.44823745
+v -0.05554920 -0.17123086 -0.15909090
+v -0.14645829 -0.17123086 -0.15909090
+v -0.13848482 -0.25960445 -0.33354900
+v -0.14095059 -0.16381306 -0.45380790
+v -0.05848259 -0.26230546 -0.09152860
+v -0.05310956 -0.19523189 -0.46470160
+v -0.05302705 -0.29268447 -0.30840499
+v -0.12369009 -0.23024205 -0.40419327
+v -0.05395093 -0.26789453 -0.10255189
+v -0.12839144 -0.24020323 -0.10163310
+v -0.05227726 -0.27583874 -0.36349492
+v -0.05309697 -0.27824725 -0.13273785
+v -0.05539673 -0.17083702 -0.47648709
+v -0.09576590 -0.18864794 -0.45952815
+v -0.09291920 -0.28909472 -0.23689361
+v -0.13482284 -0.23102890 -0.39219936
+v -0.14166374 -0.24052985 -0.11589058
+v -0.06712756 -0.25915862 -0.39308750
+v -0.10771082 -0.27370673 -0.33299850
+v -0.11208970 -0.16594962 -0.46503591
+v -0.12075981 -0.18732915 -0.44620163
+v -0.09286195 -0.24423675 -0.40422917
+v -0.12334764 -0.27412904 -0.22167974
+v -0.07980421 -0.27401377 -0.13410372
+v -0.05276994 -0.26138273 -0.39379515
+v -0.09246543 -0.27365881 -0.34653928
+v -0.09280449 -0.28874607 -0.27754447
+v -0.11041417 -0.17892458 -0.45999277
+v -0.13694323 -0.17356742 -0.44775919
+v -0.06394768 -0.21547384 -0.44579917
+v -0.13774696 -0.25792117 -0.16512366
+v -0.06753546 -0.28868490 -0.17940130
+v -0.09276901 -0.25901977 -0.10735696
+v -0.06784217 -0.29027701 -0.30797180
+v -0.06695992 -0.27345943 -0.36238908
+v -0.12276152 -0.27354077 -0.29239668
+v -0.10726101 -0.25751443 -0.11979579
+v -0.10855969 -0.27492759 -0.17941587
+v -0.12354013 -0.24490688 -0.10685264
+v -0.13809137 -0.24353547 -0.11943061
+f 6 4 3
+f 6 5 4
+f 11 3 7
+f 12 7 3
+f 12 3 4
+f 13 2 8
+f 13 1 9
+f 14 8 3
+f 14 13 8
+f 14 1 13
+f 14 3 11
+f 15 3 8
+f 16 8 2
+f 16 15 8
+f 17 9 1
+f 18 10 5
+f 18 5 6
+f 18 6 10
+f 19 12 4
+f 19 4 5
+f 22 6 3
+f 22 3 15
+f 22 15 16
+f 23 16 10
+f 24 10 16
+f 24 2 20
+f 24 21 5
+f 24 5 10
+f 26 14 11
+f 26 11 7
+f 27 20 2
+f 27 2 13
+f 27 13 20
+f 28 24 20
+f 28 21 24
+f 29 17 25
+f 29 9 17
+f 30 22 16
+f 30 6 22
+f 30 23 6
+f 30 16 23
+f 31 23 10
+f 31 10 6
+f 31 6 23
+f 32 24 16
+f 32 16 2
+f 32 2 24
+f 33 19 5
+f 33 5 25
+f 34 1 14
+f 34 14 26
+f 34 17 1
+f 35 26 7
+f 35 7 12
+f 36 13 9
+f 36 21 28
+f 36 29 21
+f 36 9 29
+f 37 28 20
+f 37 20 13
+f 37 36 28
+f 37 13 36
+f 38 5 21
+f 38 21 29
+f 38 29 25
+f 38 25 5
+f 39 33 26
+f 39 35 19
+f 39 26 35
+f 40 34 26
+f 40 26 33
+f 40 33 25
+f 40 25 17
+f 40 17 34
+f 41 35 12
+f 41 12 19
+f 41 19 35
+f 42 39 19
+f 42 19 33
+f 42 33 39
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_18/collision/model_normalized_collision_9.obj b/objects/objaverse/pear/pear_18/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9fd52437f9d4958df3e50966ab915eb9588ea7b8
--- /dev/null
+++ b/objects/objaverse/pear/pear_18/collision/model_normalized_collision_9.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.00403537 -0.18686649 0.14101741
+v 0.17204058 -0.07363542 0.14057862
+v 0.00793172 -0.00799321 0.38586881
+v -0.03418935 0.17484994 0.18427299
+v -0.09168037 0.16186580 0.14026913
+v 0.11308823 0.11632377 0.23916704
+v 0.06982331 -0.10736738 0.29887745
+v -0.14659521 -0.11407124 0.13998142
+v 0.11467319 0.14698069 0.13996073
+v -0.11331248 0.06059633 0.29931033
+v 0.03218376 0.11642303 0.30935247
+v 0.10128527 -0.15551401 0.14014220
+v 0.12383534 -0.02957929 0.30071670
+v -0.04909401 -0.11069341 0.30855874
+v 0.04820325 0.18039891 0.14146904
+v 0.18620953 -0.00452179 0.14380577
+v -0.10154247 0.12968271 0.22860359
+v -0.03646108 0.06369400 0.35375994
+v 0.04437391 -0.15454127 0.24029822
+v 0.12857463 -0.09783674 0.24025097
+v -0.02205621 -0.18519682 0.14064603
+v 0.15620321 -0.10178780 0.14020655
+v 0.05832383 -0.04379755 0.35437379
+v 0.08194087 0.03411191 0.33963509
+v -0.14247456 -0.05600711 0.25374609
+v -0.06467277 0.17503144 0.14020590
+v 0.08795027 0.15854888 0.16854069
+v 0.01658366 0.16051191 0.24069782
+v 0.16004535 0.09587729 0.14128239
+v 0.15399675 -0.04435591 0.23981206
+v 0.15370365 0.05095204 0.23981209
+v -0.08641484 -0.01674895 0.34036668
+v 0.04322869 0.06135973 0.35303061
+v -0.06002171 0.11352981 0.29910495
+v 0.07525146 -0.17071692 0.14055979
+v 0.02957039 -0.12439379 0.30090188
+v 0.10110252 -0.12557881 0.24005432
+v 0.09753003 -0.07297221 0.30934594
+v -0.08768580 -0.13885030 0.22887121
+v 0.00373371 -0.16843273 0.21470247
+v 0.14206584 0.12034757 0.14007027
+v 0.16931031 -0.07238880 0.15511022
+v 0.07200864 -0.01705184 0.35341860
+v -0.17852969 0.05180542 0.14113740
+v -0.07543926 0.15992422 0.18378468
+v -0.16155173 0.09263443 0.14028705
+v 0.12664311 0.13033935 0.16814402
+v 0.09027013 0.16381408 0.14092730
+v 0.03164141 0.17366223 0.18411878
+v 0.07279999 0.14350055 0.23919389
+v 0.10776895 -0.06989339 0.29910912
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\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_18/model.xml b/objects/objaverse/pear/pear_18/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..fa45be4c15539819db0fceed6717228092c5a8bb
--- /dev/null
+++ b/objects/objaverse/pear/pear_18/model.xml
@@ -0,0 +1,81 @@
+<mujoco model="pear_2">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.11 0.11 0.11" refquat="0.4999999999999999 0.5 0.5 0.5000000000000001"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.11 0.11 0.11" refquat="0.4999999999999999 0.5 0.5 0.5000000000000001"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.11 0.11 0.11" refquat="0.4999999999999999 0.5 0.5 0.5000000000000001"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.11 0.11 0.11" refquat="0.4999999999999999 0.5 0.5 0.5000000000000001"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.11 0.11 0.11" refquat="0.4999999999999999 0.5 0.5 0.5000000000000001"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.11 0.11 0.11" refquat="0.4999999999999999 0.5 0.5 0.5000000000000001"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.11 0.11 0.11" refquat="0.4999999999999999 0.5 0.5 0.5000000000000001"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.11 0.11 0.11" refquat="0.4999999999999999 0.5 0.5 0.5000000000000001"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.11 0.11 0.11" refquat="0.4999999999999999 0.5 0.5 0.5000000000000001"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.11 0.11 0.11" refquat="0.4999999999999999 0.5 0.5 0.5000000000000001"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.11 0.11 0.11" refquat="0.4999999999999999 0.5 0.5 0.5000000000000001"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.11 0.11 0.11" refquat="0.4999999999999999 0.5 0.5 0.5000000000000001"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.11 0.11 0.11" refquat="0.4999999999999999 0.5 0.5 0.5000000000000001"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.11 0.11 0.11" refquat="0.4999999999999999 0.5 0.5 0.5000000000000001"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.11 0.11 0.11" refquat="0.4999999999999999 0.5 0.5 0.5000000000000001"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.11 0.11 0.11" refquat="0.4999999999999999 0.5 0.5 0.5000000000000001"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.11 0.11 0.11" refquat="0.4999999999999999 0.5 0.5 0.5000000000000001"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.11 0.11 0.11" refquat="0.4999999999999999 0.5 0.5 0.5000000000000001"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.11 0.11 0.11" refquat="0.4999999999999999 0.5 0.5 0.5000000000000001"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.11 0.11 0.11" refquat="0.4999999999999999 0.5 0.5 0.5000000000000001"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.11 0.11 0.11" refquat="0.4999999999999999 0.5 0.5 0.5000000000000001"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.11 0.11 0.11" refquat="0.4999999999999999 0.5 0.5 0.5000000000000001"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.11 0.11 0.11" refquat="0.4999999999999999 0.5 0.5 0.5000000000000001"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.11 0.11 0.11" refquat="0.4999999999999999 0.5 0.5 0.5000000000000001"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.11 0.11 0.11" refquat="0.4999999999999999 0.5 0.5 0.5000000000000001"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.11 0.11 0.11" refquat="0.4999999999999999 0.5 0.5 0.5000000000000001"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.11 0.11 0.11" refquat="0.4999999999999999 0.5 0.5 0.5000000000000001"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.11 0.11 0.11" refquat="0.4999999999999999 0.5 0.5 0.5000000000000001"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.11 0.11 0.11" refquat="0.4999999999999999 0.5 0.5 0.5000000000000001"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.11 0.11 0.11" refquat="0.4999999999999999 0.5 0.5 0.5000000000000001"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.11 0.11 0.11" refquat="0.4999999999999999 0.5 0.5 0.5000000000000001"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.11 0.11 0.11" refquat="0.4999999999999999 0.5 0.5 0.5000000000000001"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.11 0.11 0.11" refquat="0.4999999999999999 0.5 0.5 0.5000000000000001"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="03___Default.001" 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="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"/>
+        <geom solimp="0.998 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="0.00017302360783516546 0.0001305100380820687 -0.03258535320966221" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.00017302360783516546 0.0001305100380820687 0.03205139266888328" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.03261204056683807 0.054652073511015205 -0.0002669802703894641" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/objects/objaverse/pear/pear_18/visual/material.mtl b/objects/objaverse/pear/pear_18/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6b5d0f127cc1df2efd6b4835e0300358bb6dde72
--- /dev/null
+++ b/objects/objaverse/pear/pear_18/visual/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 359.99999300
+map_Kd material_0.png
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_18/visual/model_normalized_0.obj b/objects/objaverse/pear/pear_18/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..abdea6ab12dda37e06a4ca59c9a2ec037cc0af2e
--- /dev/null
+++ b/objects/objaverse/pear/pear_18/visual/model_normalized_0.obj
@@ -0,0 +1,3554 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
+v 0.01516088 -0.07568757 -0.49927509
+v 0.00028996 -0.09147871 -0.50000000
+v -0.01560174 -0.07693029 -0.49938161
+v -0.00214513 -0.05676904 -0.49729566
+v -0.03442266 -0.14478442 -0.49361784
+v 0.00052962 -0.14805093 -0.49362376
+v 0.03491678 -0.14416603 -0.49351428
+v -0.06132405 -0.04127970 -0.49902656
+v -0.08380796 -0.03075526 -0.49986685
+v -0.07366816 -0.01008213 -0.49906502
+v -0.04729935 -0.02112733 -0.49670094
+v -0.01174051 0.00466168 0.48356675
+v -0.01024040 -0.00239506 0.47223757
+v -0.00585842 -0.00055764 0.48463789
+v -0.00571640 0.00794594 0.49555881
+v 0.01159553 0.00845485 0.49479840
+v 0.01420223 0.01062365 0.49331312
+v 0.01204231 0.01366826 0.49704117
+v 0.00969598 0.01363867 0.49862419
+v 0.01527923 0.01394047 0.49279533
+v 0.01158961 0.01712709 0.49755896
+v 0.00883793 0.01684897 0.49893486
+v 0.00913973 0.02091731 0.47694498
+v 0.00896220 0.02550345 0.49205859
+v 0.01189733 0.02255057 0.48708476
+v 0.01132924 0.01898818 0.47629994
+v 0.01319624 0.01661522 0.47671716
+v 0.01132924 0.01898818 0.47629994
+v 0.01189733 0.02255057 0.48708476
+v 0.01285894 0.02205941 0.48957606
+v 0.01285894 0.02205941 0.48957606
+v 0.01189733 0.02255057 0.48708476
+v 0.00896220 0.02550345 0.49205859
+v 0.00953325 0.02348259 0.49567128
+v -0.00256824 0.02813382 0.49216513
+v -0.00612175 0.02636742 0.48727415
+v -0.00668097 0.02479630 0.49282196
+v -0.00277831 0.02570465 0.49683707
+v -0.00971669 0.02005334 0.47805158
+v -0.00668097 0.02479630 0.49282196
+v -0.00612175 0.02636742 0.48727415
+v -0.00728752 0.02192626 0.47610176
+v -0.00463940 0.02355952 0.47657218
+v -0.00256824 0.02813382 0.49216513
+v 0.08307122 0.02612764 -0.49979584
+v 0.12881128 0.07248313 -0.49397293
+v 0.14065831 0.04346916 -0.49399068
+v 0.14682149 0.01349653 -0.49381315
+v -0.04967822 0.13768913 -0.49427180
+v -0.01496856 0.14464230 -0.49437831
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\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_2/collision/model_normalized_collision_0.obj b/objects/objaverse/pear/pear_2/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..294fcf1c9290880afecf416258eb1fbcbd0b9006
--- /dev/null
+++ b/objects/objaverse/pear/pear_2/collision/model_normalized_collision_0.obj
@@ -0,0 +1,108 @@
+# https://github.com/mikedh/trimesh
+v 0.00712180 -0.08095039 -0.07494468
+v 0.24240697 0.06466853 -0.17564071
+v 0.22469839 0.06220804 -0.08201575
+v 0.00757577 0.05460048 -0.07505179
+v 0.00797705 0.05517795 -0.22767675
+v 0.05809738 -0.04975044 -0.07542086
+v 0.00234236 -0.02268331 -0.19675998
+v 0.18055454 0.01214863 -0.13416186
+v 0.14116771 0.04856172 -0.22354176
+v 0.00060724 -0.05338116 -0.16064830
+v 0.17977769 0.01237028 -0.12191747
+v 0.00564974 0.00125570 -0.21204637
+v 0.14209851 0.05988739 -0.22768705
+v 0.16550044 0.01353659 -0.17393763
+v 0.22083368 0.04026774 -0.11072720
+v 0.00733261 0.04255360 -0.22569550
+v 0.18470845 0.05930442 -0.21624183
+v 0.01664971 -0.06422980 -0.12618250
+v 0.19440563 0.02749530 -0.17346247
+v 0.16733186 0.02727652 -0.19700854
+v 0.02879056 -0.06789709 -0.07529742
+v 0.20805446 0.04154645 -0.08594296
+v 0.24305131 0.06192959 -0.10900080
+v 0.21225043 0.06266299 -0.20178016
+v 0.02886374 -0.06221263 -0.11536371
+v 0.00422473 -0.06729929 -0.12798477
+v 0.01714390 -0.05048943 -0.15643958
+v 0.22145837 0.04218734 -0.16054582
+v 0.16792389 0.03856791 -0.20936341
+v 0.16295892 0.01304157 -0.08287332
+v 0.22015926 0.05369044 -0.08522976
+v 0.19256469 0.03937185 -0.19570502
+v 0.23622927 0.05760791 -0.17125443
+v 0.23639132 0.05384056 -0.11256832
+v 0.20801777 0.05280299 -0.19648276
+v 0.20641341 0.04144880 -0.18393648
+v 0.18261306 0.05008792 -0.21148074
+f 3 2 4
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+f 37 29 17
+f 37 17 24
+f 37 35 32
+f 37 24 35
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_2/collision/model_normalized_collision_1.obj b/objects/objaverse/pear/pear_2/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b67179ce05c01dc2604d50f1624c9fdecacdecc3
--- /dev/null
+++ b/objects/objaverse/pear/pear_2/collision/model_normalized_collision_1.obj
@@ -0,0 +1,156 @@
+# https://github.com/mikedh/trimesh
+v -0.10798198 -0.14678149 0.07090777
+v 0.00564974 0.00125570 -0.21204637
+v -0.00324859 0.10398951 0.05738772
+v -0.10202449 0.19197627 -0.01704183
+v -0.09897315 -0.00440428 -0.22030545
+v 0.01125622 0.18993088 -0.15934201
+v -0.10837484 0.08040855 0.15772427
+v -0.00560651 -0.08194958 -0.00615561
+v -0.10447803 -0.14574951 -0.08612891
+v 0.00723683 0.18921098 -0.04945326
+v -0.09605947 0.17550926 -0.15747301
+v 0.00888722 0.12689364 -0.21802268
+v -0.10414705 -0.08350514 -0.18199731
+v -0.09938431 -0.04500002 0.15082729
+v -0.07931141 -0.13983692 -0.05672611
+v 0.00453053 0.17238727 -0.00909924
+v -0.00111368 -0.07690465 -0.11256255
+v -0.09750785 0.19041686 -0.11716882
+v 0.00885577 0.09721809 -0.22547002
+v -0.03576660 0.15043031 -0.19843254
+v -0.10776849 0.14913682 0.09729092
+v -0.10425491 -0.09852367 -0.16731697
+v -0.09559015 0.12090491 -0.20791491
+v -0.10739534 -0.04765299 0.15729859
+v -0.08593211 -0.07219960 0.12147311
+v -0.10024355 0.07721788 0.15087568
+v -0.08233569 -0.14036399 0.02736121
+v -0.00751626 -0.01332938 0.06062341
+v -0.03444824 -0.10942983 -0.05745435
+v -0.06451372 -0.12383901 -0.08372524
+v 0.00733261 0.04255360 -0.22569550
+v -0.08045280 0.16048390 -0.18152724
+v -0.10741237 0.12209836 0.12750148
+v -0.10410524 0.17752364 0.04014921
+v -0.07896519 -0.10847390 -0.13829889
+v -0.09070656 -0.08028771 -0.17938221
+v -0.03732687 0.06888810 -0.22546125
+v -0.00627343 0.09727141 -0.22418908
+v -0.10806073 -0.07629515 0.14255839
+v -0.00747132 -0.06741567 0.02069801
+v -0.09940408 -0.14049991 0.06786321
+v -0.08500856 -0.04332436 0.13666786
+v -0.03653952 -0.11056063 -0.01636772
+v -0.09299762 -0.14009056 -0.08505484
+v -0.06521646 0.17239177 -0.16941735
+v -0.08025396 0.14752222 -0.19378559
+v -0.01762250 0.11591248 0.05904700
+v -0.06215944 -0.07870461 -0.16688100
+v -0.03790497 0.04072699 -0.22539065
+v -0.00848083 -0.04000583 0.04640835
+v -0.08545474 -0.12612103 0.06788228
+v -0.09974830 -0.07280121 0.13625398
+v -0.09144639 -0.09349275 -0.16671144
+f 10 6 4
+f 10 2 6
+f 13 5 2
+f 15 1 9
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+f 17 2 10
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+f 20 6 12
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+f 21 13 1
+f 21 1 7
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+f 30 17 15
+f 31 19 6
+f 31 6 2
+f 31 2 5
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+f 51 39 1
+f 51 1 41
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+f 53 48 35
+f 53 35 22
+f 53 22 36
+f 53 36 48
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_2/collision/model_normalized_collision_10.obj b/objects/objaverse/pear/pear_2/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..216d20fcf6c94912dbbb599ebef45e91306e2e32
--- /dev/null
+++ b/objects/objaverse/pear/pear_2/collision/model_normalized_collision_10.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v 0.25720480 0.06626955 -0.14904866
+v 0.26022986 0.13244697 -0.21071409
+v 0.26195949 0.20689210 -0.15066978
+v 0.08347514 0.20464199 -0.15052510
+v 0.00826179 0.04584129 -0.22631842
+v 0.24586356 0.16833176 -0.20923394
+v 0.09998914 0.20685326 -0.14789763
+v 0.16839762 0.06296281 -0.22387005
+v 0.08333334 0.05460048 -0.15080937
+v 0.26115368 0.18133032 -0.19792892
+v -0.03569539 0.13526063 -0.20818387
+v 0.25541460 0.09512680 -0.19742353
+v 0.20148969 0.12840556 -0.22460144
+v -0.03638800 0.18130417 -0.16213687
+v 0.13076145 0.20319400 -0.17280216
+v 0.25804506 0.12017348 -0.20905062
+v 0.22473571 0.06708815 -0.19627232
+v 0.19772429 0.08982134 -0.22222387
+v 0.00797705 0.05517795 -0.22767675
+v 0.08517467 0.13897591 -0.22320507
+v -0.03684431 0.12523003 -0.21305198
+v 0.25963274 0.20221496 -0.17255568
+v 0.10049645 0.20445569 -0.16007179
+v 0.07182274 0.16399991 -0.20899876
+v 0.22459890 0.08138791 -0.20691815
+v 0.25390552 0.07057196 -0.17163194
+v 0.18709660 0.14105866 -0.22440814
+v -0.04261352 0.15329172 -0.19506376
+v 0.00885577 0.09721809 -0.22547002
+v 0.07109714 0.18980477 -0.18370783
+v 0.02417733 0.11169666 -0.22410601
+v -0.03526161 0.17569776 -0.17130160
+v 0.05637186 0.17677089 -0.19508311
+f 1 2 3
+f 7 1 3
+f 8 1 5
+f 9 5 1
+f 9 1 7
+f 10 3 2
+f 10 2 6
+f 12 2 1
+f 13 6 2
+f 14 9 7
+f 14 7 4
+f 14 5 9
+f 15 7 3
+f 16 2 12
+f 17 1 8
+f 18 13 2
+f 18 8 13
+f 18 16 8
+f 18 2 16
+f 19 13 8
+f 19 8 5
+f 21 19 5
+f 22 15 3
+f 22 3 10
+f 22 10 15
+f 23 4 7
+f 23 7 15
+f 23 14 4
+f 24 15 10
+f 24 10 6
+f 24 21 11
+f 24 20 21
+f 25 16 12
+f 25 8 16
+f 25 17 8
+f 25 12 17
+f 26 17 12
+f 26 12 1
+f 26 1 17
+f 27 6 13
+f 27 13 19
+f 27 24 6
+f 27 20 24
+f 28 11 21
+f 28 24 11
+f 28 21 5
+f 28 5 14
+f 29 19 21
+f 29 27 19
+f 29 20 27
+f 30 23 15
+f 30 14 23
+f 30 15 24
+f 31 29 21
+f 31 21 20
+f 31 20 29
+f 32 28 14
+f 32 14 30
+f 33 30 24
+f 33 24 28
+f 33 32 30
+f 33 28 32
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_2/collision/model_normalized_collision_12.obj b/objects/objaverse/pear/pear_2/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f28ec81794ed4bb1b423128dd7a4ef0153a0e33
--- /dev/null
+++ b/objects/objaverse/pear/pear_2/collision/model_normalized_collision_12.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v -0.15212666 -0.08342714 -0.19416571
+v -0.09269438 -0.02535182 -0.21360946
+v -0.10307514 0.10152010 -0.21490950
+v -0.36670932 0.09419655 -0.18040033
+v -0.29156154 -0.02028728 -0.22511401
+v -0.26382123 -0.03370345 -0.22491893
+v -0.36599007 -0.07513397 -0.18656715
+v -0.26357027 0.05175780 -0.22404191
+v -0.16229259 -0.05901865 -0.20851382
+v -0.14445000 0.03800460 -0.22567115
+v -0.34858851 0.03757083 -0.20711318
+v -0.32041200 -0.06111405 -0.20945351
+v -0.31942186 0.07924292 -0.20767331
+v -0.20621750 -0.03159038 -0.22288123
+v -0.09794560 0.08358037 -0.22013009
+v -0.29202631 0.02256899 -0.22455914
+v -0.34838278 -0.02003124 -0.20828162
+v -0.34902965 0.07857051 -0.19682650
+v -0.09897315 -0.00440428 -0.22030545
+v -0.14444472 0.01012407 -0.22499321
+v -0.15962931 0.05307748 -0.22479749
+v -0.33356857 0.06421347 -0.20709420
+v -0.33418241 -0.04811962 -0.20931107
+v -0.15992094 -0.00249452 -0.22437715
+v -0.35076580 -0.06191604 -0.19861714
+f 1 2 3
+f 1 3 4
+f 7 1 4
+f 9 2 1
+f 9 1 6
+f 10 6 5
+f 11 7 4
+f 12 6 1
+f 12 1 7
+f 12 5 6
+f 13 4 3
+f 13 3 8
+f 14 9 6
+f 14 2 9
+f 15 3 2
+f 15 8 3
+f 16 10 5
+f 16 8 10
+f 16 13 8
+f 17 16 5
+f 17 11 16
+f 17 7 11
+f 18 11 4
+f 18 4 13
+f 19 2 14
+f 19 15 2
+f 19 10 15
+f 20 6 10
+f 20 10 19
+f 21 15 10
+f 21 10 8
+f 21 8 15
+f 22 16 11
+f 22 13 16
+f 22 18 13
+f 22 11 18
+f 23 17 5
+f 23 5 12
+f 24 14 6
+f 24 6 20
+f 24 20 19
+f 24 19 14
+f 25 23 12
+f 25 12 7
+f 25 7 17
+f 25 17 23
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_2/collision/model_normalized_collision_13.obj b/objects/objaverse/pear/pear_2/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d33a6b5f5b7227510c2ee37053e1c90a8897e693
--- /dev/null
+++ b/objects/objaverse/pear/pear_2/collision/model_normalized_collision_13.obj
@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
+v 0.00037584 -0.08603784 -0.04520163
+v 0.26015831 0.10365996 -0.08356962
+v 0.00038184 0.08081525 0.06435788
+v 0.00742337 0.19400767 -0.06799125
+v 0.00028194 -0.08529499 -0.07367289
+v 0.23099567 0.18418270 -0.08323296
+v -0.00264133 -0.04420216 0.03687338
+v 0.19623952 0.03595456 -0.08168468
+v 0.26346868 0.15858696 -0.08055670
+v 0.00412795 0.16212294 0.00452944
+v 0.08459289 0.19668434 -0.07749983
+v -0.00003751 0.02606167 0.06660243
+v -0.00221094 -0.05877063 0.02308955
+v 0.00209569 0.13485854 0.03324257
+v 0.01235140 -0.07833797 -0.07260355
+v 0.21988616 0.07823138 -0.06271674
+v 0.24012327 0.07915491 -0.08362308
+v 0.20118945 0.19457642 -0.08292178
+v 0.00546971 0.17848278 -0.02100232
+v 0.20916467 0.13978587 -0.04789407
+v 0.00111329 -0.07442667 -0.00265795
+v 0.19252003 0.03881895 -0.07246064
+v -0.00080805 -0.01680870 0.05251255
+v 0.20636955 0.09058808 -0.04689063
+v 0.19734004 0.17653669 -0.06186991
+v 0.00689862 0.18326232 -0.03257663
+v 0.19172054 0.06468211 -0.04826406
+v 0.25214580 0.10698033 -0.07684459
+v 0.19784540 0.18938152 -0.07449476
+v 0.16819400 0.15022041 -0.03393936
+v 0.22672002 0.17816122 -0.07649172
+v 0.08379566 0.19233650 -0.06512107
+v 0.01666333 0.13207555 0.02976256
+v 0.18207058 0.13753294 -0.03399577
+f 9 2 6
+f 11 5 4
+f 12 3 7
+f 13 7 5
+f 13 5 1
+f 14 4 5
+f 14 5 7
+f 14 7 3
+f 15 8 1
+f 15 1 5
+f 15 5 8
+f 17 6 2
+f 17 2 16
+f 17 8 5
+f 18 6 17
+f 18 17 5
+f 18 5 11
+f 19 10 18
+f 19 14 10
+f 19 4 14
+f 20 3 12
+f 21 13 1
+f 21 1 8
+f 22 17 16
+f 22 8 17
+f 22 21 8
+f 22 13 21
+f 22 7 13
+f 23 12 7
+f 24 16 2
+f 24 12 23
+f 24 20 12
+f 24 9 20
+f 26 11 4
+f 26 4 19
+f 26 19 18
+f 27 22 16
+f 27 7 22
+f 27 23 7
+f 27 24 23
+f 27 16 24
+f 28 24 2
+f 28 2 9
+f 28 9 24
+f 29 25 6
+f 29 6 18
+f 29 18 10
+f 29 10 14
+f 29 14 25
+f 30 25 14
+f 30 9 25
+f 31 25 9
+f 31 9 6
+f 31 6 25
+f 32 26 18
+f 32 18 11
+f 32 11 26
+f 33 30 14
+f 33 14 3
+f 33 3 30
+f 34 30 3
+f 34 3 20
+f 34 20 9
+f 34 9 30
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_2/collision/model_normalized_collision_14.obj b/objects/objaverse/pear/pear_2/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a1a37f0c388cbe505524f69a0717dfe2e7c0550
--- /dev/null
+++ b/objects/objaverse/pear/pear_2/collision/model_normalized_collision_14.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v -0.44975080 -0.14334972 0.01758670
+v -0.44681652 -0.11195289 -0.09010229
+v -0.41666666 -0.00600558 0.01585730
+v -0.48962911 0.04826905 0.01657943
+v -0.48879036 -0.06225618 -0.04117286
+v -0.46880561 0.04109851 -0.09329244
+v -0.44849162 -0.13846633 -0.03954454
+v -0.49114299 -0.06275835 0.01326154
+v -0.41666666 -0.00600558 -0.02959725
+v -0.48840344 0.02092156 -0.05388376
+v -0.47408424 -0.06239489 -0.08135429
+v -0.47323608 -0.10287345 -0.04062899
+v -0.46799657 0.02939944 -0.10070244
+v -0.48934840 0.03246921 -0.04023074
+v -0.48881828 -0.04687343 -0.05377877
+v -0.45771285 -0.10232690 -0.08099939
+v -0.47573936 -0.10408328 -0.02606603
+v -0.47533167 0.03523097 -0.08230417
+v -0.49350780 0.03639753 0.01382820
+v -0.47699782 -0.10515848 0.01301023
+f 1 3 4
+f 6 4 3
+f 7 3 1
+f 8 1 4
+f 9 6 3
+f 9 7 2
+f 9 3 7
+f 12 5 11
+f 13 9 2
+f 13 6 9
+f 13 2 11
+f 14 4 6
+f 15 11 5
+f 15 13 11
+f 15 10 13
+f 15 5 8
+f 16 2 7
+f 16 7 12
+f 16 12 11
+f 16 11 2
+f 17 12 7
+f 17 7 1
+f 17 8 5
+f 17 5 12
+f 18 13 10
+f 18 6 13
+f 18 14 6
+f 18 10 14
+f 19 8 4
+f 19 4 14
+f 19 15 8
+f 19 14 10
+f 19 10 15
+f 20 17 1
+f 20 1 8
+f 20 8 17
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_2/collision/model_normalized_collision_15.obj b/objects/objaverse/pear/pear_2/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ddb4ddf5f8dc832b53dce326aa7eab0de6bf5bb4
--- /dev/null
+++ b/objects/objaverse/pear/pear_2/collision/model_normalized_collision_15.obj
@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
+v -0.17872620 0.12297888 0.18561900
+v -0.14636475 0.16827630 0.10522210
+v -0.25109087 0.15864971 0.16992048
+v -0.32139791 0.19086472 0.08657830
+v -0.36733107 0.16661059 0.09941787
+v -0.22156052 0.18738234 0.11380775
+v -0.18173810 0.15689992 0.15395942
+v -0.16304908 0.12486135 0.17583385
+v -0.16199104 0.18192032 0.08828891
+v -0.33696580 0.12274900 0.18859265
+v -0.27913748 0.18866850 0.11141094
+v -0.22326687 0.14496361 0.18234965
+v -0.20854486 0.17182950 0.14218126
+v -0.18116405 0.13102419 0.18101454
+v -0.15173149 0.14344690 0.14821236
+v -0.35066794 0.17890671 0.08795920
+v -0.19378723 0.19181175 0.08829396
+v -0.17868931 0.17201260 0.12722144
+v -0.32020722 0.15837433 0.15592387
+v -0.35302908 0.12604049 0.17748545
+v -0.23560959 0.12357617 0.20307325
+v -0.16668638 0.13496212 0.16968689
+v -0.16719017 0.15929213 0.14099517
+v -0.16639498 0.17407550 0.11337247
+v -0.19525478 0.18780524 0.10049548
+v -0.34770118 0.17098420 0.11292419
+v -0.31924400 0.18667101 0.10007319
+v -0.29201885 0.14487898 0.18235183
+v -0.29272035 0.17174585 0.14324318
+v -0.33417703 0.14504223 0.16774076
+v -0.29334613 0.12224642 0.20284448
+v -0.23891310 0.13244473 0.19692656
+v -0.34858706 0.15657284 0.14144247
+v -0.26447861 0.15805886 0.17096496
+v -0.33421035 0.13022843 0.18352309
+v -0.29188322 0.13146177 0.19563066
+v -0.36400874 0.14549390 0.14647486
+v -0.34924019 0.13366957 0.17180141
+f 8 5 2
+f 9 2 5
+f 10 8 1
+f 11 3 6
+f 13 6 3
+f 13 12 7
+f 13 3 12
+f 14 1 8
+f 14 7 12
+f 15 8 2
+f 16 9 5
+f 16 4 9
+f 17 9 4
+f 17 11 6
+f 17 4 11
+f 18 13 7
+f 20 5 8
+f 20 8 10
+f 21 14 12
+f 21 1 14
+f 22 14 8
+f 22 7 14
+f 22 8 15
+f 23 15 2
+f 23 22 15
+f 23 7 22
+f 23 18 7
+f 24 2 9
+f 24 23 2
+f 24 18 23
+f 25 17 6
+f 25 6 13
+f 25 13 18
+f 25 18 24
+f 25 24 9
+f 25 9 17
+f 26 16 5
+f 26 4 16
+f 27 11 4
+f 27 4 26
+f 29 27 19
+f 29 11 27
+f 30 28 19
+f 31 10 1
+f 31 1 21
+f 32 21 12
+f 32 12 3
+f 32 31 21
+f 33 27 26
+f 33 19 27
+f 33 30 19
+f 33 26 5
+f 34 3 11
+f 34 11 29
+f 34 32 3
+f 34 29 19
+f 34 19 28
+f 35 20 10
+f 35 28 30
+f 35 10 31
+f 36 31 32
+f 36 35 31
+f 36 28 35
+f 36 34 28
+f 36 32 34
+f 37 33 5
+f 37 5 20
+f 37 30 33
+f 38 35 30
+f 38 20 35
+f 38 37 20
+f 38 30 37
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_2/collision/model_normalized_collision_16.obj b/objects/objaverse/pear/pear_2/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a8f234830a71e09aea0673c0c05fef6fb6f66d90
--- /dev/null
+++ b/objects/objaverse/pear/pear_2/collision/model_normalized_collision_16.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v -0.09917749 -0.11063153 -0.14980607
+v -0.08884307 -0.08671045 -0.17259805
+v -0.10134122 -0.05900201 -0.19829422
+v -0.35076580 -0.06191604 -0.19861714
+v -0.31990056 -0.10335335 -0.19239698
+v -0.19307972 -0.10038116 -0.19288839
+v -0.35851250 -0.11474398 -0.17012364
+v -0.15363369 -0.12385882 -0.16244868
+v -0.13352571 -0.09905535 -0.17869015
+v -0.20577012 -0.06113372 -0.21316348
+v -0.36599007 -0.07513397 -0.18656715
+v -0.10425491 -0.09852367 -0.16731697
+v -0.10380914 -0.06835914 -0.19298597
+v -0.20616983 -0.07399398 -0.20792902
+v -0.30743587 -0.06276241 -0.21228204
+v -0.34898014 -0.07544945 -0.19436846
+v -0.14930653 -0.09346405 -0.18708417
+v -0.30763192 -0.07453085 -0.20804415
+v -0.34923372 -0.10367917 -0.18132196
+f 1 2 3
+f 1 3 4
+f 8 1 7
+f 8 7 5
+f 8 5 6
+f 9 8 6
+f 10 4 3
+f 11 7 1
+f 11 1 4
+f 12 2 1
+f 12 1 8
+f 12 9 2
+f 12 8 9
+f 13 6 3
+f 13 3 2
+f 13 2 9
+f 14 6 5
+f 14 10 3
+f 14 3 6
+f 15 4 10
+f 16 11 4
+f 17 13 9
+f 17 9 6
+f 17 6 13
+f 18 14 5
+f 18 5 16
+f 18 16 4
+f 18 4 15
+f 18 15 10
+f 18 10 14
+f 19 16 5
+f 19 5 7
+f 19 7 11
+f 19 11 16
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_2/collision/model_normalized_collision_17.obj b/objects/objaverse/pear/pear_2/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac1b480f5c1fe217a56931c117d3a4788887ef4a
--- /dev/null
+++ b/objects/objaverse/pear/pear_2/collision/model_normalized_collision_17.obj
@@ -0,0 +1,135 @@
+# https://github.com/mikedh/trimesh
+v -0.38169278 -0.15136467 -0.12119447
+v -0.34923372 -0.10367917 -0.18132196
+v -0.35606060 0.08490351 -0.09020331
+v -0.40112877 0.14512069 -0.08996829
+v -0.47386936 -0.00601866 -0.09692918
+v -0.34902965 0.07857051 -0.19682650
+v -0.44426814 -0.07550038 -0.12133784
+v -0.46331190 -0.08934173 -0.08315450
+v -0.39400145 0.13782674 -0.11463751
+v -0.40299086 -0.10210539 -0.14862850
+v -0.41751185 -0.03329185 -0.16503927
+v -0.45350989 -0.10600379 -0.08604061
+v -0.44793570 0.09112826 -0.08332004
+v -0.45918528 -0.06010862 -0.10874478
+v -0.36150877 -0.10078730 -0.17733680
+v -0.43103650 0.03563104 -0.15011437
+v -0.41707927 -0.07432308 -0.15096913
+v -0.37525000 -0.03367606 -0.19335596
+v -0.43113869 -0.10033432 -0.12124110
+v -0.45915887 -0.08728482 -0.09311394
+v -0.40923748 0.13883570 -0.08641386
+v -0.48016136 -0.00680053 -0.08410786
+v -0.44516069 -0.03260299 -0.13647541
+v -0.45771508 0.04899577 -0.10907986
+v -0.40301283 0.09166603 -0.15229235
+v -0.40172497 -0.07457579 -0.16388311
+v -0.35076580 -0.06191604 -0.19861714
+v -0.37636873 0.03618897 -0.19336523
+v -0.41694181 -0.10129243 -0.13574008
+v -0.44813527 -0.10446051 -0.09588822
+v -0.40173656 0.13250721 -0.11049192
+v -0.48063646 -0.01970798 -0.08382039
+v -0.44581075 0.02125447 -0.13683478
+v -0.46365359 0.06297809 -0.08365040
+v -0.35981662 0.07736301 -0.19157332
+v -0.44353206 0.06144544 -0.12367141
+v -0.37438972 -0.08740184 -0.17677338
+v -0.38890611 -0.06041013 -0.17830265
+v -0.38957842 0.06340099 -0.17802477
+v -0.41703614 0.03465137 -0.16395621
+v -0.41487581 0.11712574 -0.11022085
+v -0.47433264 -0.01927839 -0.09531130
+v -0.44340993 0.08831916 -0.09629099
+v -0.45867677 0.06060866 -0.09645437
+v -0.36157752 -0.06176420 -0.19391126
+v -0.41557955 0.08931761 -0.13884123
+f 1 2 3
+f 6 3 2
+f 9 4 3
+f 9 3 6
+f 12 1 3
+f 12 3 8
+f 13 8 3
+f 15 2 1
+f 15 1 10
+f 19 7 17
+f 20 12 8
+f 20 14 7
+f 20 8 14
+f 21 13 3
+f 21 3 4
+f 23 7 14
+f 23 17 7
+f 23 11 17
+f 24 5 22
+f 26 10 17
+f 26 17 11
+f 27 6 2
+f 27 2 15
+f 28 27 18
+f 28 6 27
+f 28 18 11
+f 29 10 1
+f 29 1 19
+f 29 19 17
+f 29 17 10
+f 30 19 1
+f 30 1 12
+f 30 12 20
+f 30 20 7
+f 30 7 19
+f 31 21 4
+f 31 4 9
+f 32 8 13
+f 32 14 8
+f 32 22 5
+f 33 11 23
+f 33 23 5
+f 33 5 24
+f 34 24 22
+f 34 32 13
+f 34 22 32
+f 35 25 9
+f 35 9 6
+f 35 6 28
+f 36 25 16
+f 36 33 24
+f 36 16 33
+f 37 15 10
+f 37 10 26
+f 38 26 11
+f 38 11 18
+f 38 37 26
+f 39 16 25
+f 39 35 28
+f 39 25 35
+f 40 28 11
+f 40 39 28
+f 40 16 39
+f 40 33 16
+f 40 11 33
+f 41 13 21
+f 41 21 31
+f 41 31 9
+f 41 9 25
+f 42 23 14
+f 42 14 32
+f 42 32 5
+f 42 5 23
+f 43 34 13
+f 43 13 41
+f 44 36 24
+f 44 24 34
+f 44 43 36
+f 44 34 43
+f 45 27 15
+f 45 15 37
+f 45 37 38
+f 45 38 18
+f 45 18 27
+f 46 41 25
+f 46 25 36
+f 46 43 41
+f 46 36 43
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_2/collision/model_normalized_collision_18.obj b/objects/objaverse/pear/pear_2/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..98b18d0a1583beb4c76a5c277a2ca4cd0805905a
--- /dev/null
+++ b/objects/objaverse/pear/pear_2/collision/model_normalized_collision_18.obj
@@ -0,0 +1,105 @@
+# https://github.com/mikedh/trimesh
+v -0.15912781 -0.14231839 0.13701895
+v -0.10548063 -0.09239796 0.13085729
+v -0.16594098 -0.04795570 0.20114173
+v -0.15986056 0.15909118 0.13600266
+v -0.13724437 -0.13311035 0.12809661
+v -0.08670176 0.08322057 0.13386073
+v -0.16668638 0.13496212 0.16968689
+v -0.15602798 -0.08735617 0.17907504
+v -0.11235741 -0.03082927 0.16762203
+v -0.09283599 0.10653180 0.12721491
+v -0.16732950 -0.09104759 0.18449670
+v -0.16312107 -0.13615486 0.14608655
+v -0.14065318 0.03690445 0.19532024
+v -0.12760314 -0.11531623 0.13657515
+v -0.11429120 -0.07284304 0.15070691
+v -0.12694391 -0.03201434 0.18004039
+v -0.13520498 0.14859016 0.12870165
+v -0.14211957 0.09184322 0.18183760
+v -0.12232713 -0.11846485 0.12862745
+v -0.16566343 0.08083331 0.20039992
+v -0.16505455 0.14703744 0.15618555
+v -0.14114825 -0.12791940 0.13705348
+v -0.12680910 0.06412634 0.18070406
+v -0.11123601 -0.08971871 0.13877665
+v -0.15453214 -0.04567997 0.19507498
+v -0.14087099 -0.00421150 0.19520247
+v -0.14170285 0.11712821 0.16619298
+v -0.11437082 0.10393927 0.15078601
+v -0.13979353 0.14351887 0.13953613
+v -0.14210854 -0.11376645 0.14986728
+v -0.09334835 0.07985730 0.14228081
+v -0.15549148 0.07837510 0.19567403
+v -0.09842903 0.10214673 0.13634302
+v -0.11466380 0.07744438 0.16506451
+v -0.15792070 0.14379148 0.15415517
+v -0.15441735 0.12941541 0.16578336
+f 5 1 4
+f 9 2 6
+f 10 6 2
+f 11 8 3
+f 12 4 1
+f 12 11 7
+f 15 2 9
+f 16 15 9
+f 16 8 15
+f 17 10 5
+f 17 5 4
+f 19 10 2
+f 19 5 10
+f 19 2 14
+f 20 11 3
+f 20 7 11
+f 20 3 13
+f 20 18 7
+f 21 12 7
+f 21 4 12
+f 22 12 1
+f 22 1 5
+f 22 19 14
+f 22 5 19
+f 23 13 9
+f 24 14 2
+f 24 2 15
+f 24 15 8
+f 24 8 14
+f 25 3 8
+f 25 8 16
+f 26 16 9
+f 26 9 13
+f 26 25 16
+f 26 13 3
+f 26 3 25
+f 27 7 18
+f 28 27 18
+f 28 10 27
+f 29 17 4
+f 29 4 21
+f 29 27 10
+f 29 10 17
+f 30 11 12
+f 30 12 22
+f 30 8 11
+f 30 22 14
+f 30 14 8
+f 31 23 9
+f 31 9 6
+f 32 20 13
+f 32 13 23
+f 32 23 18
+f 32 18 20
+f 33 6 10
+f 33 10 28
+f 33 31 6
+f 34 28 18
+f 34 18 23
+f 34 23 31
+f 34 33 28
+f 34 31 33
+f 35 29 21
+f 35 21 7
+f 36 35 7
+f 36 7 27
+f 36 27 29
+f 36 29 35
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_2/collision/model_normalized_collision_19.obj b/objects/objaverse/pear/pear_2/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..25c01bc7386599b9dc2875d3922cc94bdf23512a
--- /dev/null
+++ b/objects/objaverse/pear/pear_2/collision/model_normalized_collision_19.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.08978477 -0.12749173 -0.11252308
+v -0.09269438 -0.02535182 -0.21360946
+v -0.09848484 0.08490351 -0.10535482
+v -0.39312555 0.11682029 -0.14087719
+v -0.38027180 -0.14110453 -0.13384928
+v -0.10307514 0.10152010 -0.21490950
+v -0.15702035 -0.11703039 -0.17091756
+v -0.36670932 0.09419655 -0.18040033
+v -0.35851250 -0.11474398 -0.17012364
+v -0.09917749 -0.11063153 -0.14980607
+f 1 2 3
+f 5 1 3
+f 5 3 4
+f 6 3 2
+f 6 4 3
+f 7 1 5
+f 8 5 4
+f 8 6 2
+f 8 4 6
+f 9 7 5
+f 9 2 7
+f 9 8 2
+f 9 5 8
+f 10 7 2
+f 10 2 1
+f 10 1 7
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_2/collision/model_normalized_collision_2.obj b/objects/objaverse/pear/pear_2/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c5c3f4b82d9d863b9bd404daaf2ee7ccb6f5d3f6
--- /dev/null
+++ b/objects/objaverse/pear/pear_2/collision/model_normalized_collision_2.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v -0.36531915 -0.12735029 0.15443623
+v -0.38169278 -0.15136467 -0.12119447
+v -0.35606060 0.08490351 -0.09020331
+v -0.38071928 0.11444993 0.16847230
+v -0.49114299 -0.06275835 0.01326154
+v -0.47699782 -0.10515848 0.01301023
+v -0.43084932 -0.04680267 0.12351794
+v -0.47206864 0.03816474 -0.08779830
+v -0.41823208 -0.10779676 0.12530131
+v -0.45998981 0.06586282 0.09630227
+v -0.44681652 -0.11195289 -0.09010229
+v -0.47378854 0.07662433 -0.02626637
+v -0.45998492 -0.10501320 0.06719137
+v -0.43670266 0.08067829 0.13056449
+v -0.47975976 0.03608345 -0.07062289
+v -0.45866248 0.07409396 -0.08212751
+v -0.48862103 0.04994866 0.02663338
+v -0.44450510 -0.10486583 0.09280997
+v -0.47264231 -0.08965068 0.05351640
+v -0.47401792 -0.05016156 0.06670194
+v -0.47339012 0.07584273 0.05786111
+v -0.47453551 0.06173908 -0.05602612
+v -0.49323337 0.03494015 -0.01226307
+v -0.45864974 -0.09258212 0.07892336
+v -0.48909100 -0.06238478 0.02661141
+v -0.47490882 -0.10375609 0.02773172
+v -0.46135665 0.01576948 0.09158448
+v -0.48844071 0.03747150 0.03995878
+v -0.44702815 0.07894622 0.11355983
+v -0.47551230 0.04836548 -0.06973098
+v -0.48902182 0.04679800 -0.01249423
+v -0.48938743 -0.03438547 0.03945794
+v -0.47315909 0.06370284 0.07057840
+f 1 2 3
+f 1 3 4
+f 6 2 1
+f 8 3 2
+f 9 1 4
+f 9 4 7
+f 11 6 5
+f 11 8 2
+f 11 2 6
+f 13 6 1
+f 14 7 4
+f 15 11 5
+f 15 8 11
+f 16 12 4
+f 16 4 3
+f 16 3 8
+f 18 13 1
+f 18 1 9
+f 21 12 17
+f 21 4 12
+f 22 12 16
+f 23 15 5
+f 23 22 15
+f 24 18 9
+f 24 9 7
+f 24 7 20
+f 24 20 19
+f 24 19 13
+f 24 13 18
+f 25 5 6
+f 26 6 13
+f 26 13 19
+f 26 25 6
+f 26 19 25
+f 27 14 10
+f 27 10 20
+f 27 20 7
+f 27 7 14
+f 28 17 23
+f 28 21 17
+f 29 10 14
+f 29 14 4
+f 29 4 21
+f 30 22 16
+f 30 16 8
+f 30 8 15
+f 30 15 22
+f 31 23 17
+f 31 17 12
+f 31 12 22
+f 31 22 23
+f 32 25 19
+f 32 19 20
+f 32 20 10
+f 32 5 25
+f 32 28 23
+f 32 23 5
+f 33 21 28
+f 33 29 21
+f 33 10 29
+f 33 32 10
+f 33 28 32
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_2/collision/model_normalized_collision_20.obj b/objects/objaverse/pear/pear_2/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bbe2c1f768be5486a1ee89d8151be616f8ea31cb
--- /dev/null
+++ b/objects/objaverse/pear/pear_2/collision/model_normalized_collision_20.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.08453222 0.16680300 -0.02378839
+v 0.08369940 0.20388277 -0.10587784
+v 0.08379566 0.19233650 -0.06512107
+v 0.00723683 0.18921098 -0.04945326
+v 0.00289734 0.18729245 -0.16183841
+v 0.01041921 0.17751247 -0.02074504
+v 0.04677708 0.19534294 -0.16466604
+v 0.00945746 0.19387057 -0.14765164
+v 0.08202709 0.17865916 -0.03820448
+v 0.00689862 0.18326232 -0.03257663
+v 0.05378850 0.20136711 -0.14975421
+f 1 2 3
+f 3 2 4
+f 6 5 1
+f 7 2 1
+f 7 1 5
+f 8 5 4
+f 8 7 5
+f 9 6 1
+f 9 1 3
+f 9 3 6
+f 10 6 3
+f 10 3 4
+f 10 4 5
+f 10 5 6
+f 11 8 4
+f 11 4 2
+f 11 2 7
+f 11 7 8
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_2/collision/model_normalized_collision_21.obj b/objects/objaverse/pear/pear_2/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b0dd76da05bba94e4e041ed293fd4a8b8515b49
--- /dev/null
+++ b/objects/objaverse/pear/pear_2/collision/model_normalized_collision_21.obj
@@ -0,0 +1,114 @@
+# https://github.com/mikedh/trimesh
+v -0.35415204 -0.15381663 0.13412320
+v -0.35139240 -0.14763499 0.14286270
+v -0.43670266 0.08067829 0.13056449
+v -0.35445288 0.15707650 0.13525397
+v -0.35006253 0.06565937 0.21566195
+v -0.39401396 -0.13397391 0.12751834
+v -0.34948773 0.14575843 0.15732269
+v -0.37802446 0.14732585 0.12956007
+v -0.36318358 -0.14383001 0.14082816
+v -0.38769134 -0.00227088 0.19473500
+v -0.35004611 -0.11838730 0.17057471
+v -0.38995442 0.08874557 0.18115951
+v -0.40725339 -0.12092600 0.12749918
+v -0.36718436 -0.14970371 0.13085181
+v -0.37490090 0.14233094 0.14189885
+v -0.34866216 0.11983533 0.18544820
+v -0.34984934 -0.01836900 0.21461489
+v -0.36279441 -0.11510167 0.16658609
+v -0.39167601 0.05126296 0.19525658
+v -0.42973592 -0.01324740 0.14443446
+v -0.36028506 0.14263509 0.15422216
+v -0.42130905 0.10806656 0.13081556
+v -0.36121543 0.11612050 0.18106055
+v -0.38778514 -0.12902679 0.13710808
+v -0.38714392 -0.08786478 0.16527835
+v -0.35017874 -0.06160986 0.20188369
+v -0.36235067 0.06351975 0.21026685
+v -0.36251898 -0.01759762 0.20914780
+v -0.40305405 0.06461928 0.18181028
+v -0.43104804 -0.01245143 0.13706211
+v -0.40042758 0.01181569 0.18437033
+v -0.41792972 0.10404438 0.14054895
+v -0.38887388 -0.11427134 0.14913682
+v -0.40055067 -0.09087059 0.15160731
+v -0.36205076 -0.05957717 0.19643172
+v -0.43044878 0.07859747 0.14178685
+v -0.41548079 0.09210887 0.15401196
+v -0.40104295 -0.11677503 0.13633671
+v -0.37320439 -0.04569711 0.19416839
+f 2 1 4
+f 7 2 4
+f 9 1 2
+f 11 2 7
+f 11 9 2
+f 13 8 6
+f 13 3 8
+f 14 8 4
+f 14 4 1
+f 14 6 8
+f 14 9 6
+f 14 1 9
+f 15 4 8
+f 16 11 7
+f 17 16 5
+f 17 11 16
+f 18 9 11
+f 21 7 4
+f 21 4 15
+f 21 16 7
+f 22 15 8
+f 22 8 3
+f 23 12 5
+f 23 5 16
+f 23 16 21
+f 23 21 15
+f 24 6 9
+f 24 9 18
+f 26 18 11
+f 26 11 17
+f 27 5 12
+f 27 12 19
+f 28 19 10
+f 28 27 19
+f 28 17 5
+f 28 5 27
+f 28 26 17
+f 29 19 12
+f 30 20 3
+f 30 3 13
+f 30 13 20
+f 31 20 10
+f 31 10 19
+f 31 29 20
+f 31 19 29
+f 32 15 22
+f 32 23 15
+f 32 12 23
+f 32 22 3
+f 33 24 18
+f 33 13 6
+f 33 6 24
+f 33 18 25
+f 34 20 13
+f 34 33 25
+f 34 10 20
+f 35 25 18
+f 35 18 26
+f 35 26 28
+f 36 3 20
+f 36 20 29
+f 37 29 12
+f 37 12 32
+f 37 36 29
+f 37 32 3
+f 37 3 36
+f 38 34 13
+f 38 13 33
+f 38 33 34
+f 39 34 25
+f 39 10 34
+f 39 25 35
+f 39 35 28
+f 39 28 10
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_2/collision/model_normalized_collision_22.obj b/objects/objaverse/pear/pear_2/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e32b1792e1deec8c520fb31730280a2dec1661a6
--- /dev/null
+++ b/objects/objaverse/pear/pear_2/collision/model_normalized_collision_22.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.09187073 -0.09690498 -0.16254962
+v 0.01742336 -0.03670757 -0.17634368
+v 0.00552323 -0.05806896 -0.14721334
+v -0.15909090 -0.00600558 -0.15080937
+v -0.15922580 -0.00543494 -0.22374854
+v 0.00700708 -0.00432674 -0.20889405
+v -0.01466034 -0.06675979 -0.14553281
+v -0.01680570 -0.06299845 -0.15874686
+v -0.14930653 -0.09346405 -0.18708417
+v -0.00928539 0.00046681 -0.21363056
+v -0.16000745 -0.06415911 -0.20594133
+v 0.00234236 -0.02268331 -0.19675998
+v -0.16130569 -0.04710773 -0.21284245
+v -0.10072460 -0.04349087 -0.20711245
+v -0.10109445 -0.07519340 -0.18723103
+f 6 3 2
+f 6 4 3
+f 7 1 3
+f 7 3 4
+f 7 4 1
+f 8 1 2
+f 8 2 3
+f 8 3 1
+f 9 1 4
+f 10 5 4
+f 10 4 6
+f 11 9 4
+f 12 6 2
+f 12 2 1
+f 13 11 4
+f 13 4 5
+f 13 5 10
+f 14 10 6
+f 14 6 9
+f 14 9 11
+f 14 13 10
+f 14 11 13
+f 15 9 6
+f 15 6 12
+f 15 12 1
+f 15 1 9
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_2/collision/model_normalized_collision_24.obj b/objects/objaverse/pear/pear_2/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0809e0f0fc8cd64f55005652e765d2facc665bdf
--- /dev/null
+++ b/objects/objaverse/pear/pear_2/collision/model_normalized_collision_24.obj
@@ -0,0 +1,108 @@
+# https://github.com/mikedh/trimesh
+v 0.25636478 0.08057095 -0.09839049
+v 0.29724959 0.12162054 -0.18349877
+v 0.29915576 0.16842163 -0.10318023
+v 0.26254761 0.20598558 -0.13733126
+v 0.25972022 0.10585548 -0.20165210
+v 0.29431430 0.18063927 -0.16948351
+v 0.26047574 0.17926274 -0.09012655
+v 0.29570815 0.10011337 -0.12520707
+v 0.26097431 0.20520406 -0.16259139
+v 0.29634386 0.18933400 -0.12778939
+v 0.26115368 0.18133032 -0.19792892
+v 0.28424245 0.12082956 -0.09118763
+v 0.25931227 0.07750775 -0.17641479
+v 0.25535044 0.09270953 -0.08714813
+v 0.27431339 0.18788224 -0.10337894
+v 0.27267656 0.20196637 -0.16062914
+v 0.27995610 0.16652882 -0.19446812
+v 0.28815599 0.16675320 -0.09302905
+v 0.29610590 0.11304039 -0.10467904
+v 0.28022020 0.09934172 -0.18159088
+v 0.28127359 0.08671307 -0.12445324
+v 0.27319796 0.20282518 -0.13805951
+v 0.26253399 0.19084051 -0.10288108
+v 0.29511236 0.19083792 -0.14623546
+v 0.26138385 0.19384687 -0.18644544
+v 0.27083142 0.19070137 -0.18435118
+v 0.29502331 0.15227445 -0.18441783
+v 0.28582125 0.12264954 -0.19504540
+v 0.27310048 0.17629262 -0.09192387
+v 0.26782405 0.09713653 -0.09296817
+v 0.27181768 0.10931017 -0.19697478
+v 0.29465600 0.10000709 -0.15984160
+v 0.26644955 0.08656576 -0.10168364
+v 0.28435966 0.19049801 -0.17142458
+v 0.27062540 0.17878141 -0.19483654
+v 0.26930301 0.08285189 -0.17249584
+v 0.28137985 0.08674939 -0.15930977
+f 8 2 3
+f 9 7 4
+f 10 3 2
+f 14 7 9
+f 14 12 7
+f 14 9 11
+f 14 11 5
+f 14 13 1
+f 14 5 13
+f 15 3 10
+f 16 9 4
+f 17 5 11
+f 18 12 3
+f 18 7 12
+f 18 3 15
+f 19 8 3
+f 19 3 12
+f 21 1 13
+f 21 8 19
+f 22 15 10
+f 22 4 15
+f 22 16 4
+f 23 15 4
+f 23 4 7
+f 23 7 15
+f 24 10 2
+f 24 2 6
+f 24 22 10
+f 24 16 22
+f 25 11 9
+f 25 9 16
+f 26 11 25
+f 26 25 16
+f 27 17 6
+f 27 6 2
+f 28 5 17
+f 28 2 20
+f 28 27 2
+f 28 17 27
+f 29 18 15
+f 29 15 7
+f 29 7 18
+f 30 14 1
+f 30 19 12
+f 30 12 14
+f 31 20 13
+f 31 13 5
+f 31 28 20
+f 31 5 28
+f 32 20 2
+f 32 2 8
+f 33 21 19
+f 33 1 21
+f 33 30 1
+f 33 19 30
+f 34 24 6
+f 34 16 24
+f 34 26 16
+f 35 17 11
+f 35 11 26
+f 35 26 34
+f 35 34 6
+f 35 6 17
+f 36 13 20
+f 36 20 32
+f 37 32 8
+f 37 8 21
+f 37 36 32
+f 37 21 13
+f 37 13 36
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_2/collision/model_normalized_collision_25.obj b/objects/objaverse/pear/pear_2/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ffa81f9fcaf90c5c37747f98ec7cadaf9e9e83ed
--- /dev/null
+++ b/objects/objaverse/pear/pear_2/collision/model_normalized_collision_25.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v -0.09830780 0.10013781 0.13723229
+v -0.09848484 0.10005503 -0.10535482
+v -0.09859885 0.19263667 -0.10344208
+v -0.16328602 0.19240187 0.05790019
+v -0.15909090 0.10005503 0.09161487
+v -0.16058687 0.19679919 -0.10286420
+v -0.10643742 0.17269903 0.05323101
+v -0.16399444 0.16411426 0.13088472
+v -0.15909090 0.10005503 -0.10535482
+v -0.10442068 0.18695324 0.01020819
+v -0.13910709 0.12022778 0.16153464
+v -0.15090092 0.17358240 0.10027000
+v -0.11299281 0.14429039 0.10872222
+v -0.15581498 0.16077054 0.12896432
+v -0.16367165 0.17774240 0.10174990
+v -0.14984331 0.18829310 0.05710628
+v -0.11212443 0.13076951 0.12456815
+v -0.12794267 0.14502362 0.12499848
+f 1 2 3
+f 5 2 1
+f 6 4 3
+f 9 6 3
+f 9 3 2
+f 9 2 5
+f 9 5 8
+f 9 8 4
+f 9 4 6
+f 10 7 1
+f 10 1 3
+f 10 3 4
+f 11 8 5
+f 11 5 1
+f 13 1 7
+f 14 12 8
+f 14 7 12
+f 14 8 11
+f 15 4 8
+f 15 8 12
+f 16 10 4
+f 16 15 12
+f 16 4 15
+f 16 12 7
+f 16 7 10
+f 17 11 1
+f 17 1 13
+f 18 13 7
+f 18 7 14
+f 18 17 13
+f 18 14 11
+f 18 11 17
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_2/collision/model_normalized_collision_26.obj b/objects/objaverse/pear/pear_2/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3496a13be8fa2f50b871ffb001031e9e0c02ac08
--- /dev/null
+++ b/objects/objaverse/pear/pear_2/collision/model_normalized_collision_26.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.11365580 -0.11352935 0.12382450
+v -0.09529142 -0.13277406 -0.10792187
+v -0.09848484 -0.00600558 -0.10535482
+v -0.41146925 -0.01600188 0.15056170
+v -0.37228439 -0.15359709 -0.12601418
+v -0.08710127 -0.00808984 0.14920506
+v -0.36276364 -0.13656996 0.14768461
+v -0.35606060 -0.00600558 -0.10535482
+f 5 3 2
+f 6 1 2
+f 6 2 3
+f 7 5 2
+f 7 2 1
+f 7 4 5
+f 7 6 4
+f 7 1 6
+f 8 5 4
+f 8 3 5
+f 8 6 3
+f 8 4 6
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_2/collision/model_normalized_collision_27.obj b/objects/objaverse/pear/pear_2/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9bf4bcd9f4c54278e4d2534b3eeb2592dc9f5b38
--- /dev/null
+++ b/objects/objaverse/pear/pear_2/collision/model_normalized_collision_27.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.09848484 -0.00600558 0.01585730
+v -0.09848484 -0.00600558 -0.10535482
+v -0.09848484 0.10005503 0.01585730
+v -0.38836695 0.13149371 -0.13011230
+v -0.35606060 -0.00600558 -0.10535482
+v -0.09848484 0.10005503 -0.10535482
+v -0.35606060 0.10005503 0.01585730
+v -0.35606060 -0.00600558 0.01585730
+f 1 2 3
+f 5 2 1
+f 5 4 2
+f 6 3 2
+f 6 2 4
+f 6 4 3
+f 7 1 3
+f 7 3 4
+f 8 5 1
+f 8 1 7
+f 8 7 4
+f 8 4 5
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_2/collision/model_normalized_collision_28.obj b/objects/objaverse/pear/pear_2/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..738d62c5a63c8b3f710748141e77e744caa3a38b
--- /dev/null
+++ b/objects/objaverse/pear/pear_2/collision/model_normalized_collision_28.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.01630066 -0.04432008 -0.16685533
+v 0.08411464 -0.02299251 -0.15147311
+v 0.00945746 0.19387057 -0.14765164
+v 0.01125622 0.18993088 -0.15934201
+v 0.08456449 0.19623231 -0.17572241
+v 0.01030035 -0.02825062 -0.18874224
+v 0.08347514 0.20464199 -0.15052510
+v 0.00984630 0.18130019 -0.17543634
+v 0.08040331 -0.01314878 -0.17569350
+v 0.02679205 0.18838256 -0.17042249
+f 1 2 3
+f 5 4 3
+f 6 1 3
+f 7 5 3
+f 7 3 2
+f 7 2 5
+f 8 6 3
+f 8 3 4
+f 8 5 6
+f 9 6 5
+f 9 5 2
+f 9 2 1
+f 9 1 6
+f 10 8 4
+f 10 4 5
+f 10 5 8
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_2/collision/model_normalized_collision_3.obj b/objects/objaverse/pear/pear_2/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4977c3a0da7faea61b077c182b2601dcb1ffd4f8
--- /dev/null
+++ b/objects/objaverse/pear/pear_2/collision/model_normalized_collision_3.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.30491182 0.11916964 -0.11007552
+v 0.49647569 0.19194451 -0.15537475
+v 0.49312762 0.19508944 -0.13419133
+v 0.30219350 0.18416359 -0.13521454
+v 0.30356614 0.13121905 -0.17754514
+v 0.40276744 0.18959039 -0.16102528
+v 0.30355517 0.17025296 -0.11044441
+v 0.49391554 0.17615558 -0.14652862
+v 0.29849958 0.18227844 -0.16105701
+v 0.40253043 0.19001327 -0.15021190
+v 0.47390887 0.18753014 -0.16405387
+v 0.49415889 0.18779108 -0.13570591
+v 0.30478215 0.11809032 -0.16474667
+v 0.30500387 0.16640606 -0.16961071
+v 0.49265993 0.17633108 -0.15578482
+v 0.45933447 0.17557553 -0.16597226
+v 0.47237287 0.17916183 -0.16443305
+f 6 3 2
+f 7 1 3
+f 7 3 4
+f 9 4 6
+f 9 7 4
+f 9 1 7
+f 10 6 4
+f 10 4 3
+f 10 3 6
+f 11 6 2
+f 12 8 2
+f 12 2 3
+f 12 3 1
+f 12 1 8
+f 13 8 1
+f 13 9 5
+f 13 1 9
+f 14 9 6
+f 14 6 11
+f 14 11 5
+f 14 5 9
+f 15 13 5
+f 15 8 13
+f 15 2 8
+f 16 15 5
+f 16 5 11
+f 17 11 2
+f 17 2 15
+f 17 16 11
+f 17 15 16
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_2/collision/model_normalized_collision_30.obj b/objects/objaverse/pear/pear_2/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d051d21b95d0c7a563a14c676733f88b7dea370e
--- /dev/null
+++ b/objects/objaverse/pear/pear_2/collision/model_normalized_collision_30.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.26373159 0.13085811 -0.07766369
+v 0.26022986 0.13244697 -0.21071409
+v 0.26346868 0.15858696 -0.08055670
+v 0.22357322 0.16535340 -0.06631936
+v 0.21874631 0.12975227 -0.22132914
+v 0.25966319 0.15575867 -0.20959805
+v 0.22948037 0.13274107 -0.05863596
+v 0.21881083 0.15713882 -0.21577718
+f 1 2 3
+f 5 2 1
+f 6 3 2
+f 6 4 3
+f 6 2 5
+f 7 1 3
+f 7 3 4
+f 7 5 1
+f 7 4 5
+f 8 6 5
+f 8 5 4
+f 8 4 6
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_2/collision/model_normalized_collision_31.obj b/objects/objaverse/pear/pear_2/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..516b0d6bb4635f6a7ce0c5e454e53546cc553c90
--- /dev/null
+++ b/objects/objaverse/pear/pear_2/collision/model_normalized_collision_31.obj
@@ -0,0 +1,144 @@
+# https://github.com/mikedh/trimesh
+v -0.35094877 -0.18956319 0.07186248
+v -0.35084515 -0.11934502 -0.17131788
+v -0.36531915 -0.12735029 0.15443623
+v -0.45010818 -0.10546576 0.08436625
+v -0.43234885 -0.15534016 -0.04087911
+v -0.36561004 -0.10594798 -0.17160138
+v -0.41691218 -0.13972998 0.09576657
+v -0.35034680 -0.16045030 0.12793707
+v -0.35158231 -0.18718819 -0.08471783
+v -0.35377667 -0.10926032 -0.17611358
+v -0.41823208 -0.10779676 0.12530131
+v -0.46621858 -0.10650044 -0.05621948
+v -0.40468326 -0.15502544 -0.09406653
+v -0.41923826 -0.17046225 0.01392044
+v -0.35127256 -0.17373204 -0.11307013
+v -0.37607369 -0.16760969 0.09696675
+v -0.39011390 -0.14046532 0.12483096
+v -0.44565756 -0.11704887 0.08126255
+v -0.43693982 -0.10463336 -0.11137248
+v -0.37504658 -0.12780033 -0.15016008
+v -0.44607166 -0.12856640 -0.06742688
+v -0.39255763 -0.18393439 -0.04077892
+v -0.45950976 -0.13007728 0.02678076
+v -0.37777653 -0.18325646 -0.06818495
+v -0.37689585 -0.18495349 0.05600209
+v -0.36322932 -0.15648473 0.12478990
+v -0.41458910 -0.11516717 0.12355864
+v -0.46468109 -0.10587582 0.05680181
+v -0.36234957 -0.11753863 -0.16606585
+v -0.37546684 -0.15495440 -0.12178190
+v -0.39267730 -0.10562267 -0.15472238
+v -0.40459147 -0.16930361 -0.06656298
+v -0.45959496 -0.12870640 -0.02681952
+v -0.43089532 -0.12858454 -0.09449112
+v -0.43191555 -0.11623179 -0.10745122
+v -0.41945939 -0.17038104 -0.01374719
+v -0.43119345 -0.15562637 0.04007694
+v -0.36350917 -0.18385766 -0.08232382
+v -0.36459674 -0.18499410 0.07009216
+v -0.39307283 -0.18456484 0.02780025
+v -0.44543981 -0.12826167 0.06887230
+v -0.36295123 -0.17071305 -0.10925592
+v -0.38989740 -0.11436680 -0.15039728
+v -0.44543654 -0.14193793 -0.03960943
+v -0.46061029 -0.11613166 -0.05431215
+v -0.44522425 -0.14219215 0.04086708
+v -0.40499087 -0.16958532 0.05452967
+v -0.46013747 -0.11604767 0.05460700
+v -0.41756434 -0.15466255 0.06811536
+f 10 8 2
+f 10 3 8
+f 11 6 4
+f 11 10 6
+f 11 3 10
+f 15 8 1
+f 15 2 8
+f 15 1 9
+f 16 1 8
+f 17 7 16
+f 18 11 4
+f 19 4 6
+f 22 9 1
+f 24 9 22
+f 26 8 3
+f 26 3 17
+f 26 17 16
+f 26 16 8
+f 27 7 17
+f 27 18 7
+f 27 11 18
+f 27 17 3
+f 27 3 11
+f 28 19 12
+f 28 4 19
+f 28 12 23
+f 28 18 4
+f 29 2 20
+f 29 10 2
+f 29 6 10
+f 30 20 2
+f 30 2 15
+f 31 19 6
+f 31 6 29
+f 32 21 13
+f 32 5 21
+f 32 22 5
+f 32 24 22
+f 33 23 12
+f 34 13 21
+f 35 21 12
+f 35 12 19
+f 35 34 21
+f 35 19 31
+f 35 13 34
+f 36 5 22
+f 36 33 5
+f 36 14 23
+f 36 23 33
+f 38 15 9
+f 38 9 24
+f 39 25 1
+f 39 1 16
+f 39 16 25
+f 40 22 1
+f 40 1 25
+f 40 36 22
+f 40 14 36
+f 40 37 14
+f 41 7 18
+f 42 30 15
+f 42 13 30
+f 42 15 38
+f 42 32 13
+f 42 38 24
+f 42 24 32
+f 43 30 13
+f 43 20 30
+f 43 13 35
+f 43 35 31
+f 43 31 29
+f 43 29 20
+f 44 21 5
+f 44 5 33
+f 45 33 12
+f 45 12 21
+f 45 44 33
+f 45 21 44
+f 46 23 14
+f 46 14 37
+f 47 25 16
+f 47 40 25
+f 47 37 40
+f 48 28 23
+f 48 46 41
+f 48 23 46
+f 48 41 18
+f 48 18 28
+f 49 7 41
+f 49 37 47
+f 49 47 16
+f 49 16 7
+f 49 46 37
+f 49 41 46
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_2/collision/model_normalized_collision_6.obj b/objects/objaverse/pear/pear_2/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be57131dd20eaecb18840bf7b7498db95c3e4054
--- /dev/null
+++ b/objects/objaverse/pear/pear_2/collision/model_normalized_collision_6.obj
@@ -0,0 +1,180 @@
+# https://github.com/mikedh/trimesh
+v -0.22270580 -0.19939150 0.08506248
+v -0.09529142 -0.13277406 -0.10792187
+v -0.10963179 -0.11868665 0.11376346
+v -0.33636228 -0.10497100 0.18594076
+v -0.37228439 -0.15359709 -0.12601418
+v -0.16525431 -0.10652082 0.17356189
+v -0.12586104 -0.16949551 0.04131377
+v -0.22410440 -0.19888158 -0.07080779
+v -0.35164540 -0.20052665 0.02787718
+v -0.16907147 -0.16813092 0.11059378
+v -0.23711672 -0.11542042 0.19495494
+v -0.11138119 -0.15561178 0.05497480
+v -0.19592871 -0.18268219 -0.09669953
+v -0.19512109 -0.19939935 -0.02693683
+v -0.30669676 -0.18469234 0.11322052
+v -0.36531915 -0.12735029 0.15443623
+v -0.32238767 -0.19919533 -0.06935660
+v -0.14221417 -0.14077312 0.12422776
+v -0.16684121 -0.18442305 0.07046736
+v -0.23704438 -0.10500477 0.20134889
+v -0.21172933 -0.15558168 0.15341419
+v -0.10860090 -0.15272843 -0.06969447
+v -0.21005469 -0.19881621 -0.05646563
+v -0.29282431 -0.19949982 0.08482771
+v -0.30643528 -0.15737458 0.15218690
+v -0.35303784 -0.10787731 0.17647741
+v -0.34937106 -0.18534949 0.08421189
+v -0.35151300 -0.20033790 -0.04205486
+v -0.34953416 -0.18317099 -0.09571681
+v -0.15003011 -0.12235725 0.14936856
+v -0.12672064 -0.15585358 0.08280068
+v -0.21087815 -0.18426848 0.11191625
+v -0.15309986 -0.18460084 0.04277497
+v -0.19329927 -0.10575020 0.18859695
+v -0.27947209 -0.10482167 0.20182988
+v -0.18402556 -0.15619517 0.13892521
+v -0.12371651 -0.16951502 -0.02733361
+v -0.13803570 -0.16773945 -0.06898094
+v -0.29242421 -0.17092310 0.14008677
+v -0.34740254 -0.12850559 0.16442798
+v -0.34711150 -0.15489181 0.13733229
+v -0.33525594 -0.18463026 0.09747477
+v -0.33582662 -0.19853064 0.05683246
+v -0.12715383 -0.12816737 0.12334235
+v -0.11357978 -0.12757242 0.10918906
+v -0.12755590 -0.14060590 0.10884523
+v -0.14036782 -0.17085556 0.06963971
+v -0.19550811 -0.19919662 0.05720930
+v -0.21057945 -0.14227993 0.16647286
+v -0.27894824 -0.11540597 0.19489689
+v -0.18288776 -0.12812346 0.16660643
+v -0.22445139 -0.17061557 0.13897452
+v -0.15283395 -0.18392748 -0.02655334
+v -0.10631627 -0.14198560 -0.09970903
+v -0.18192936 -0.18216454 -0.08393303
+v -0.33382429 -0.11618294 0.18018360
+v -0.33313730 -0.17002872 0.12458231
+v -0.32133523 -0.19817736 0.07060584
+v -0.19599173 -0.11645794 0.18228082
+v -0.16798558 -0.11512276 0.16884929
+v -0.30588755 -0.12755927 0.18065719
+f 5 4 2
+f 6 3 2
+f 6 2 4
+f 12 2 3
+f 13 5 2
+f 14 1 9
+f 16 5 9
+f 22 2 12
+f 23 14 8
+f 23 8 13
+f 24 9 1
+f 26 4 5
+f 26 5 16
+f 27 16 9
+f 28 9 5
+f 28 14 9
+f 28 17 8
+f 28 8 14
+f 29 13 8
+f 29 8 17
+f 29 5 13
+f 29 28 5
+f 29 17 28
+f 30 3 6
+f 32 19 10
+f 32 1 19
+f 34 20 11
+f 34 6 4
+f 34 4 20
+f 35 20 4
+f 35 11 20
+f 36 10 18
+f 36 18 30
+f 36 32 10
+f 37 22 12
+f 37 12 7
+f 37 7 33
+f 38 22 37
+f 39 24 1
+f 39 15 24
+f 40 26 16
+f 41 16 27
+f 41 40 16
+f 41 25 40
+f 42 24 15
+f 43 27 9
+f 43 9 24
+f 44 30 18
+f 44 3 30
+f 45 31 12
+f 45 12 3
+f 45 3 44
+f 46 18 10
+f 46 10 31
+f 46 31 45
+f 46 45 44
+f 46 44 18
+f 47 31 10
+f 47 10 19
+f 47 7 12
+f 47 12 31
+f 47 33 7
+f 47 19 33
+f 48 33 19
+f 48 19 1
+f 48 1 14
+f 48 14 33
+f 49 11 21
+f 49 21 36
+f 50 11 35
+f 50 39 11
+f 50 25 39
+f 51 36 30
+f 51 49 36
+f 52 36 21
+f 52 32 36
+f 52 21 11
+f 52 11 39
+f 52 39 1
+f 52 1 32
+f 53 37 33
+f 53 33 14
+f 53 38 37
+f 53 14 23
+f 54 13 2
+f 54 2 22
+f 54 22 38
+f 55 23 13
+f 55 54 38
+f 55 13 54
+f 55 53 23
+f 55 38 53
+f 56 4 26
+f 56 26 40
+f 56 35 4
+f 57 39 25
+f 57 25 41
+f 57 15 39
+f 57 42 15
+f 57 41 27
+f 57 27 42
+f 58 42 27
+f 58 27 43
+f 58 43 24
+f 58 24 42
+f 59 34 11
+f 59 11 49
+f 59 49 51
+f 60 51 30
+f 60 30 6
+f 60 59 51
+f 60 6 34
+f 60 34 59
+f 61 56 40
+f 61 40 25
+f 61 25 50
+f 61 50 35
+f 61 35 56
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_2/collision/model_normalized_collision_8.obj b/objects/objaverse/pear/pear_2/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2f627297ef6b13dbc351cb1d15d5c6e819af39fe
--- /dev/null
+++ b/objects/objaverse/pear/pear_2/collision/model_normalized_collision_8.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.08710127 -0.00808984 0.14920506
+v -0.09848484 -0.00600558 0.01585730
+v -0.14561252 0.19544975 0.02250321
+v -0.37314043 0.17767385 0.01411205
+v -0.41146925 -0.01600188 0.15056170
+v -0.09848484 0.10005503 0.01585730
+v -0.35606060 -0.00600558 0.01585730
+v -0.35923286 0.15153723 0.14073458
+v -0.09830780 0.10013781 0.13723229
+v -0.15515554 0.15105906 0.14153232
+f 5 2 1
+f 6 2 4
+f 6 4 3
+f 6 1 2
+f 7 5 4
+f 7 4 2
+f 7 2 5
+f 8 3 4
+f 8 4 5
+f 9 6 3
+f 9 1 6
+f 10 8 5
+f 10 5 1
+f 10 1 9
+f 10 9 3
+f 10 3 8
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_2/collision/model_normalized_collision_9.obj b/objects/objaverse/pear/pear_2/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7730064e321c986e00547192dab086d8b040fca1
--- /dev/null
+++ b/objects/objaverse/pear/pear_2/collision/model_normalized_collision_9.obj
@@ -0,0 +1,129 @@
+# https://github.com/mikedh/trimesh
+v -0.43670266 0.08067829 0.13056449
+v -0.35416941 0.08320006 -0.19233978
+v -0.38071928 0.11444993 0.16847230
+v -0.35066794 0.17890671 0.08795920
+v -0.45828685 0.10387281 -0.02578262
+v -0.34959545 0.16200006 0.12998265
+v -0.46531176 0.07929010 -0.05632909
+v -0.41756042 0.14338071 0.05714968
+v -0.35025124 0.17883408 -0.10133232
+v -0.39210887 0.07835513 -0.16987136
+v -0.46181415 0.07946689 0.08518248
+v -0.38900961 0.14137881 0.12780216
+v -0.43032475 0.11654017 -0.08278257
+v -0.34866194 0.10689058 -0.18387969
+v -0.34918174 0.16509489 -0.12918110
+v -0.37574510 0.17371801 -0.07012357
+v -0.37628386 0.07958812 -0.18110184
+v -0.45833334 0.10222420 0.05738188
+v -0.44702815 0.07894622 0.11355983
+v -0.37565016 0.15614216 0.11378765
+v -0.36285151 0.15717164 0.12762852
+v -0.42861523 0.10188926 0.12573920
+v -0.46025275 0.09060218 -0.05549217
+v -0.45344195 0.07986227 -0.08643700
+v -0.38848762 0.09098563 -0.16554375
+v -0.37512199 0.17352952 0.05843076
+v -0.40441003 0.15787676 -0.04267759
+v -0.38779902 0.14547028 -0.11149743
+v -0.37350968 0.08883752 -0.17883423
+v -0.40425944 0.15866031 0.02845973
+v -0.44377193 0.10200557 0.09718869
+v -0.38874085 0.15778398 0.08541297
+v -0.36296057 0.17361962 0.08627046
+v -0.44303197 0.09220945 0.11119337
+v -0.42966294 0.13067721 -0.05562416
+v -0.44793570 0.09112826 -0.08332004
+v -0.35992626 0.10392135 -0.17914391
+v -0.36079859 0.15933133 -0.12638054
+v -0.40195728 0.14264512 0.10035402
+v -0.45906846 0.08808722 0.08364183
+v -0.41584992 0.14522311 -0.05478176
+v -0.38878981 0.15909931 -0.08429174
+v -0.37269347 0.15893450 -0.11062381
+v -0.36031951 0.17357552 -0.09940780
+f 1 2 3
+f 6 3 2
+f 14 6 2
+f 15 9 4
+f 15 4 6
+f 15 6 14
+f 16 4 9
+f 17 2 1
+f 18 5 7
+f 18 7 11
+f 19 17 1
+f 19 10 17
+f 19 11 7
+f 19 7 10
+f 21 12 3
+f 21 3 6
+f 21 20 12
+f 21 6 4
+f 22 1 3
+f 22 3 12
+f 23 7 5
+f 24 10 7
+f 24 7 23
+f 25 10 24
+f 26 4 16
+f 28 25 13
+f 29 2 17
+f 29 17 10
+f 29 10 25
+f 30 18 8
+f 30 5 18
+f 30 27 5
+f 30 8 26
+f 30 26 16
+f 30 16 27
+f 31 8 18
+f 31 22 12
+f 32 12 20
+f 32 26 8
+f 33 21 4
+f 33 20 21
+f 33 32 20
+f 33 4 26
+f 33 26 32
+f 34 19 1
+f 34 1 22
+f 34 22 31
+f 34 11 19
+f 35 23 5
+f 35 13 23
+f 36 24 23
+f 36 23 13
+f 36 25 24
+f 36 13 25
+f 37 15 14
+f 37 29 25
+f 37 14 2
+f 37 2 29
+f 38 25 28
+f 38 37 25
+f 38 15 37
+f 38 9 15
+f 39 31 12
+f 39 8 31
+f 39 32 8
+f 39 12 32
+f 40 31 18
+f 40 18 11
+f 40 34 31
+f 40 11 34
+f 41 35 5
+f 41 5 27
+f 41 27 16
+f 42 41 16
+f 42 28 13
+f 42 13 35
+f 42 35 41
+f 43 38 28
+f 43 28 42
+f 44 42 16
+f 44 16 9
+f 44 43 42
+f 44 9 38
+f 44 38 43
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_2/visual/material.mtl b/objects/objaverse/pear/pear_2/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..842b70538fc6029daec10eabd1278717f12035ab
--- /dev/null
+++ b/objects/objaverse/pear/pear_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.jpeg
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_2/visual/model_normalized_0.obj b/objects/objaverse/pear/pear_2/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aafacc683a12f6c06c579ed9fe66ee3a9f6335f3
--- /dev/null
+++ b/objects/objaverse/pear/pear_2/visual/model_normalized_0.obj
@@ -0,0 +1,15840 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
+v -0.42579195 -0.03552481 0.13545767
+v -0.43153884 -0.04072087 0.12135018
+v -0.42726776 -0.03925094 0.12136284
+v -0.42429708 -0.03667994 0.14552971
+v -0.03748065 -0.09835970 -0.10625053
+v -0.03783566 -0.10396351 -0.09264621
+v -0.04522768 -0.10796554 -0.09505174
+v -0.04729808 -0.10633249 -0.10337002
+v -0.42438810 -0.01520955 0.12025039
+v -0.42608058 -0.02088137 0.11699924
+v -0.42189899 -0.02185930 0.11946655
+v -0.41923120 -0.01604759 0.12072576
+v -0.42719730 -0.02609023 0.11420048
+v -0.42147212 -0.02770501 0.11485290
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\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_6/collision/model_normalized_collision_0.obj b/objects/objaverse/pear/pear_6/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c2615f9c0344eb7881b68273d72278794122625
--- /dev/null
+++ b/objects/objaverse/pear/pear_6/collision/model_normalized_collision_0.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.11725871 -0.20528789 -0.35606060
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+v 0.01119810 -0.20528789 -0.35606060
+v 0.11573849 0.17298905 -0.48692238
+v 0.11262539 -0.15631474 -0.48803288
+v 0.04030907 -0.20203445 -0.48945845
+v 0.13489288 -0.16739441 -0.47440856
+v 0.12754562 -0.11280477 -0.49077918
+v 0.15180755 -0.13932578 -0.47471013
+v 0.10751015 -0.19463594 -0.47409815
+v 0.15336546 -0.11209418 -0.47812743
+v 0.10036736 0.17109582 -0.49134541
+v 0.09540215 -0.16821104 -0.48919526
+v 0.15214535 -0.19456462 -0.44739102
+v 0.12457721 -0.12733243 -0.49027748
+v 0.11302542 0.15449155 -0.49029144
+v 0.13607066 -0.19398678 -0.45853467
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+f 7 2 3
+f 7 3 1
+f 8 5 1
+f 8 1 4
+f 8 4 5
+f 9 3 2
+f 9 6 4
+f 9 4 3
+f 11 7 1
+f 11 1 5
+f 13 5 6
+f 14 12 10
+f 15 10 12
+f 15 7 11
+f 16 2 14
+f 17 13 6
+f 17 6 9
+f 18 11 5
+f 18 15 11
+f 18 10 15
+f 19 14 2
+f 19 2 7
+f 19 12 14
+f 20 14 10
+f 20 16 14
+f 20 13 16
+f 20 10 18
+f 20 18 5
+f 20 5 13
+f 21 16 13
+f 21 9 2
+f 21 2 16
+f 21 17 9
+f 21 13 17
+f 22 15 12
+f 22 12 19
+f 22 19 7
+f 22 7 15
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_6/collision/model_normalized_collision_1.obj b/objects/objaverse/pear/pear_6/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aa5878fc23d57ef328c802a34181ae58f2a9059d
--- /dev/null
+++ b/objects/objaverse/pear/pear_6/collision/model_normalized_collision_1.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.08416198 -0.35545192 -0.10144573
+v 0.16744707 -0.19721422 -0.43394874
+v 0.17786477 -0.20528789 -0.09848484
+v -0.17062009 -0.20528789 -0.09848484
+v -0.16237743 -0.27989494 -0.38860976
+v -0.06640882 -0.34763891 -0.05108121
+v 0.16651476 -0.32311151 -0.24572765
+v -0.16621743 -0.19913071 -0.46947897
+v 0.17096114 -0.31474269 -0.10041890
+v -0.06203229 -0.37017790 -0.23215756
+v -0.18240928 -0.31965993 -0.13013220
+v 0.16625709 -0.30761996 -0.30134773
+v -0.15017163 -0.19784109 -0.47956199
+v 0.15313239 -0.32533469 -0.10116893
+v -0.00324577 -0.36960934 -0.11674581
+v 0.05435066 -0.37009886 -0.23187971
+v -0.10844877 -0.33628642 -0.05485531
+v -0.18274677 -0.32009071 -0.26431636
+v 0.16596894 -0.27811062 -0.35776162
+v -0.14715502 -0.26409341 -0.41875740
+v 0.12499775 -0.33907385 -0.10197003
+v 0.14001908 -0.33876248 -0.13233426
+v -0.06251336 -0.35017859 -0.05518676
+v -0.06339050 -0.37046450 -0.14639178
+v 0.05377939 -0.36858775 -0.14701864
+v 0.07991301 -0.35391435 -0.29097970
+v -0.16144822 -0.32485831 -0.10110499
+v -0.12041133 -0.32406802 -0.34696750
+v -0.16272956 -0.20950968 -0.46329977
+v 0.03521665 -0.23803161 -0.47461088
+v 0.16631773 -0.32300316 -0.13232381
+v 0.11033356 -0.35390031 -0.23121551
+v 0.09533479 -0.35396439 -0.11648071
+v 0.02342663 -0.36826723 -0.11676891
+v -0.05988599 -0.35682383 -0.07310733
+v -0.11985058 -0.35266853 -0.23230481
+v 0.13666277 -0.33783944 -0.26084242
+v 0.07913370 -0.33704571 -0.33282774
+v -0.01739180 -0.36956567 -0.26229590
+v -0.13074668 -0.33928017 -0.08606731
+v -0.16126807 -0.32132283 -0.30367233
+v -0.11691079 -0.30948672 -0.37699387
+v -0.11879198 -0.23696114 -0.46026314
+v 0.09555136 -0.19684881 -0.47858686
+v 0.11019182 -0.35318211 -0.14690743
+v -0.04815904 -0.36932633 -0.13140799
+v -0.08916666 -0.35267368 -0.08662345
+v -0.08944627 -0.35272766 -0.28922574
+v -0.11919542 -0.35303180 -0.14680048
+v 0.15084403 -0.32220184 -0.29093582
+v 0.05047292 -0.29472921 -0.41809343
+v 0.02407327 -0.36877988 -0.26175470
+v -0.13233583 -0.33945406 -0.28953714
+v -0.13212015 -0.29513695 -0.38868140
+v -0.03293270 -0.35288962 -0.31963826
+v -0.14564901 -0.20683763 -0.47503524
+v -0.06017074 -0.23796886 -0.47567980
+v -0.07414244 -0.35218699 -0.30420209
+v -0.17659179 -0.32297672 -0.13245815
+v 0.10973333 -0.33748244 -0.30259095
+v 0.10829177 -0.29159208 -0.38986092
+v 0.08048962 -0.23765374 -0.45892180
+v -0.14624599 -0.33755557 -0.26251327
+v -0.07450303 -0.29286875 -0.41752916
+f 3 2 4
+f 9 3 6
+f 12 9 7
+f 12 3 9
+f 13 8 4
+f 13 4 2
+f 14 9 6
+f 17 6 3
+f 17 3 4
+f 18 8 5
+f 18 11 4
+f 18 4 8
+f 19 2 3
+f 19 3 12
+f 21 14 6
+f 21 6 1
+f 22 9 14
+f 22 14 21
+f 23 1 6
+f 23 6 17
+f 24 16 15
+f 24 10 16
+f 25 15 16
+f 27 17 4
+f 27 4 11
+f 29 20 5
+f 29 5 8
+f 29 8 13
+f 31 22 7
+f 31 7 9
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+f 32 7 22
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+f 33 22 21
+f 33 21 1
+f 34 1 23
+f 34 25 1
+f 34 15 25
+f 35 34 23
+f 35 15 34
+f 36 10 24
+f 37 32 26
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+f 39 16 10
+f 40 17 27
+f 40 27 11
+f 41 18 5
+f 41 5 28
+f 42 28 5
+f 43 20 29
+f 44 13 2
+f 45 25 16
+f 45 16 32
+f 45 32 22
+f 45 22 33
+f 45 33 1
+f 45 1 25
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+f 46 24 15
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+f 47 23 17
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+f 52 26 16
+f 52 16 39
+f 53 18 41
+f 53 48 36
+f 53 41 28
+f 53 28 48
+f 54 42 5
+f 54 5 20
+f 55 28 42
+f 55 51 38
+f 55 52 39
+f 55 38 26
+f 55 26 52
+f 56 43 29
+f 56 29 13
+f 57 44 30
+f 57 13 44
+f 57 56 13
+f 57 43 56
+f 57 30 51
+f 58 39 10
+f 58 10 48
+f 58 55 39
+f 58 48 28
+f 58 28 55
+f 59 11 18
+f 59 18 49
+f 59 49 40
+f 59 40 11
+f 60 50 37
+f 60 37 26
+f 60 26 38
+f 61 38 51
+f 61 60 38
+f 61 19 50
+f 61 50 60
+f 61 2 19
+f 62 51 30
+f 62 30 44
+f 62 61 51
+f 62 44 2
+f 62 2 61
+f 63 53 36
+f 63 36 18
+f 63 18 53
+f 64 42 54
+f 64 43 57
+f 64 57 51
+f 64 55 42
+f 64 51 55
+f 64 54 20
+f 64 20 43
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_6/collision/model_normalized_collision_10.obj b/objects/objaverse/pear/pear_6/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1c31f15cfba4e203f9a1d8f890ce8ba3513c54e5
--- /dev/null
+++ b/objects/objaverse/pear/pear_6/collision/model_normalized_collision_10.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.30068629 -0.12258899 0.01524586
+v 0.34293285 -0.11023142 -0.23217592
+v 0.35464897 -0.00810866 -0.09929672
+v 0.19301629 -0.00831819 0.00757577
+v 0.19301629 -0.11437880 -0.23484848
+v 0.32217269 -0.01068048 0.02544019
+v 0.33778172 -0.11239645 -0.09949890
+v 0.19301629 -0.11437880 0.00757577
+v 0.19301629 -0.00831819 -0.23484848
+v 0.34328195 -0.09441041 -0.10094888
+v 0.35534586 -0.00829927 -0.23401936
+v 0.34144913 -0.10962207 -0.13073343
+f 5 2 1
+f 6 3 4
+f 7 1 2
+f 8 5 1
+f 8 4 5
+f 8 6 4
+f 8 1 6
+f 9 5 4
+f 9 4 3
+f 10 2 3
+f 10 3 6
+f 10 6 1
+f 10 1 7
+f 11 9 3
+f 11 3 2
+f 11 2 5
+f 11 5 9
+f 12 10 7
+f 12 7 2
+f 12 2 10
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_6/collision/model_normalized_collision_11.obj b/objects/objaverse/pear/pear_6/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e925c5574b0695fafad5c2a5aec7ea3744fa219
--- /dev/null
+++ b/objects/objaverse/pear/pear_6/collision/model_normalized_collision_11.obj
@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
+v 0.08416198 -0.35545192 -0.10144573
+v 0.17096114 -0.31474269 -0.10041890
+v 0.20886176 -0.23687616 0.03126230
+v -0.17062009 -0.20528789 -0.09848484
+v 0.05511138 -0.36285015 -0.11526986
+v 0.17786477 -0.20528789 -0.09848484
+v 0.12400369 -0.30798648 -0.00097116
+v 0.15313239 -0.32533469 -0.10116893
+v 0.16564449 -0.29205199 -0.01617298
+v 0.05318361 -0.33679083 -0.01543935
+v 0.13991782 -0.32177694 -0.05829381
+v 0.16609094 -0.30678015 -0.05841003
+v 0.15161928 -0.29383048 -0.00022908
+v 0.03793693 -0.35224303 -0.05855469
+v 0.08043112 -0.32526973 0.00078573
+v 0.15184140 -0.32344238 -0.08830092
+v 0.15096581 -0.30795014 -0.03099184
+v 0.16897059 -0.28215257 0.00131852
+v 0.05752922 -0.36198107 -0.11270732
+v 0.08361643 -0.35246113 -0.08862577
+v -0.19766440 -0.23946887 0.03046076
+v -0.05875574 -0.33871369 -0.01658891
+v -0.04872667 -0.35357322 -0.05881875
+v -0.08855534 -0.32199306 -0.00221922
+v -0.06260078 -0.36532423 -0.11476777
+v -0.05988599 -0.35682383 -0.07310733
+v -0.16144822 -0.32485831 -0.10110499
+v -0.14509725 -0.32208013 -0.06052206
+v -0.08914188 -0.33828212 -0.04390791
+v -0.16455981 -0.28454857 0.00105517
+v -0.16047204 -0.32307097 -0.08623234
+v -0.16236912 -0.29548937 -0.01645344
+v -0.06661012 -0.36374462 -0.11245183
+v -0.14702094 -0.29511137 -0.00151353
+v -0.16057181 -0.30785927 -0.04488942
+f 6 3 2
+f 6 4 3
+f 6 5 4
+f 6 2 5
+f 8 5 2
+f 8 1 5
+f 12 2 3
+f 12 3 9
+f 13 3 7
+f 15 7 3
+f 16 11 1
+f 16 1 8
+f 16 8 2
+f 16 2 12
+f 17 12 9
+f 17 16 12
+f 17 11 16
+f 17 9 13
+f 17 13 7
+f 17 15 11
+f 17 7 15
+f 18 13 9
+f 18 9 3
+f 18 3 13
+f 19 14 5
+f 19 5 1
+f 19 1 14
+f 20 14 1
+f 20 10 14
+f 20 15 10
+f 20 1 11
+f 20 11 15
+f 21 15 3
+f 21 3 4
+f 22 10 15
+f 23 14 10
+f 23 10 22
+f 24 22 15
+f 24 15 21
+f 25 5 14
+f 25 4 5
+f 26 25 14
+f 26 14 23
+f 26 23 22
+f 27 21 4
+f 27 4 25
+f 29 28 26
+f 29 26 22
+f 29 22 24
+f 29 24 28
+f 31 26 28
+f 31 21 27
+f 32 28 24
+f 32 30 21
+f 33 31 27
+f 33 27 25
+f 33 25 26
+f 33 26 31
+f 34 32 24
+f 34 30 32
+f 34 24 21
+f 34 21 30
+f 35 31 28
+f 35 28 32
+f 35 32 21
+f 35 21 31
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_6/collision/model_normalized_collision_12.obj b/objects/objaverse/pear/pear_6/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0daf932f35f5ba70ca41eb5c6507c5b08908ab86
--- /dev/null
+++ b/objects/objaverse/pear/pear_6/collision/model_normalized_collision_12.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.21733621 -0.22737060 -0.36262976
+v 0.31448779 -0.10932160 -0.33449081
+v 0.11725871 -0.20528789 -0.35606060
+v 0.10138609 0.32213666 -0.35450042
+v 0.14036148 0.10961326 -0.48981223
+v 0.18506533 0.29582858 -0.33551318
+v 0.26220711 -0.19942472 -0.33715308
+v 0.19590461 -0.10717622 -0.46021556
+v 0.10165316 0.17334740 -0.49078104
+v 0.17338168 0.30089446 -0.33763075
+v 0.29586785 0.12460833 -0.35925685
+v 0.29870486 -0.15020122 -0.33438090
+v 0.12299903 -0.21093331 -0.45633021
+v 0.09635182 0.28138867 -0.42072365
+v 0.29940133 0.15279089 -0.33470248
+v 0.22273292 0.17722706 -0.43228222
+v 0.28727303 -0.02548157 -0.39838880
+v 0.23952598 -0.16412153 -0.39837444
+v 0.11367415 -0.11319707 -0.49456535
+v 0.10210719 0.17350000 -0.35606060
+v 0.16460218 0.27690200 -0.39003628
+v 0.31661100 0.08008173 -0.33573436
+v 0.24131049 0.25315186 -0.33505939
+v 0.25122243 0.19151165 -0.38971989
+v 0.13784092 0.22148087 -0.46021963
+v 0.14015043 0.19624441 -0.47523684
+v 0.23654063 0.13971716 -0.43228648
+v 0.29462525 -0.14766989 -0.34781679
+v 0.25303430 -0.19346145 -0.35774191
+v 0.28057600 -0.07752715 -0.40271494
+v 0.18172048 -0.16408414 -0.44439594
+v 0.19452394 -0.19287129 -0.41582940
+v 0.11403292 0.14030489 -0.49321039
+v 0.13824821 -0.08269432 -0.48914980
+v 0.16854281 -0.15193243 -0.45995238
+v 0.09896567 0.21156258 -0.48206521
+v 0.09863823 0.31023296 -0.37874928
+v 0.14084666 0.31175956 -0.34791955
+v 0.18162236 0.29286780 -0.34559943
+v 0.29458085 0.15098404 -0.34783615
+v 0.31195991 0.01985332 -0.35917117
+v 0.22064689 0.23536535 -0.38946153
+v 0.15070068 0.24797269 -0.43186395
+v 0.19498378 0.19389810 -0.44411888
+v 0.23746270 0.17692091 -0.41673711
+v 0.19684172 0.14042872 -0.45967306
+v 0.28172469 -0.13760710 -0.37299155
+v 0.22254819 -0.13470569 -0.43012721
+v 0.22549451 -0.06667712 -0.44525905
+v 0.31196530 -0.07837013 -0.35870809
+v 0.16744707 -0.19721422 -0.43394874
+v 0.20967023 -0.17732596 -0.41521756
+v 0.12572174 0.14045497 -0.49031406
+v 0.12754562 -0.11280477 -0.49077918
+v 0.15481107 -0.18401222 -0.45224437
+v 0.11198852 0.23528368 -0.46063880
+v 0.12438169 0.20815728 -0.47511974
+v 0.09781904 0.23781031 -0.46284561
+v 0.11315781 0.30754012 -0.37736219
+v 0.23866910 0.25063223 -0.34521609
+v 0.31199706 0.07923122 -0.34753194
+v 0.28113955 0.09504911 -0.38902235
+v 0.10999946 0.27790726 -0.41782466
+v 0.16749810 0.22064204 -0.44393510
+f 7 3 1
+f 7 6 3
+f 10 4 3
+f 10 3 6
+f 12 6 7
+f 13 1 3
+f 15 12 2
+f 19 13 3
+f 20 14 3
+f 20 3 4
+f 22 15 2
+f 23 6 12
+f 23 12 15
+f 28 12 7
+f 28 2 12
+f 29 7 1
+f 29 1 18
+f 29 28 7
+f 32 18 1
+f 33 19 9
+f 33 5 19
+f 34 19 5
+f 34 5 8
+f 36 9 19
+f 36 26 9
+f 36 19 3
+f 37 20 4
+f 37 14 20
+f 38 4 10
+f 39 10 6
+f 39 38 10
+f 39 21 38
+f 40 15 22
+f 40 11 24
+f 43 21 42
+f 44 42 16
+f 45 24 11
+f 45 11 27
+f 45 27 16
+f 45 42 24
+f 45 16 42
+f 46 16 27
+f 46 44 16
+f 46 26 44
+f 46 5 26
+f 47 29 18
+f 47 28 29
+f 48 8 30
+f 48 35 8
+f 48 31 35
+f 48 47 18
+f 48 30 47
+f 49 30 8
+f 49 17 30
+f 49 8 5
+f 49 5 46
+f 49 46 27
+f 49 27 17
+f 50 30 17
+f 50 47 30
+f 50 2 28
+f 50 28 47
+f 50 17 41
+f 50 41 22
+f 50 22 2
+f 51 32 1
+f 51 1 13
+f 52 18 32
+f 52 48 18
+f 52 31 48
+f 52 32 51
+f 53 26 5
+f 53 5 33
+f 53 33 9
+f 53 9 26
+f 54 34 8
+f 54 19 34
+f 54 8 35
+f 54 35 13
+f 54 13 19
+f 55 35 31
+f 55 13 35
+f 55 51 13
+f 55 52 51
+f 55 31 52
+f 56 43 25
+f 56 14 43
+f 57 25 26
+f 57 26 36
+f 57 56 25
+f 57 36 56
+f 58 36 3
+f 58 3 14
+f 58 56 36
+f 58 14 56
+f 59 21 14
+f 59 14 37
+f 59 38 21
+f 59 37 4
+f 59 4 38
+f 60 39 6
+f 60 6 23
+f 60 24 42
+f 60 40 24
+f 60 23 15
+f 60 15 40
+f 60 42 21
+f 60 21 39
+f 61 40 22
+f 61 11 40
+f 61 22 41
+f 62 41 17
+f 62 17 27
+f 62 61 41
+f 62 27 11
+f 62 11 61
+f 63 43 14
+f 63 14 21
+f 63 21 43
+f 64 44 26
+f 64 26 25
+f 64 25 43
+f 64 43 42
+f 64 42 44
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_6/collision/model_normalized_collision_13.obj b/objects/objaverse/pear/pear_6/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..20043bae9dbffbc8c6084451c4b5fb158950a232
--- /dev/null
+++ b/objects/objaverse/pear/pear_6/collision/model_normalized_collision_13.obj
@@ -0,0 +1,126 @@
+# https://github.com/mikedh/trimesh
+v 0.31817781 0.10970511 0.00390533
+v 0.32834198 0.10960131 -0.29158428
+v 0.32596344 0.16525644 -0.12939984
+v 0.26150553 0.24299521 -0.05503338
+v 0.30180194 0.11624045 -0.35254921
+v 0.30908394 0.16299182 -0.02958294
+v 0.32806138 0.10878858 -0.02754078
+v 0.30910530 0.11188721 -0.33883290
+v 0.26382502 0.21484171 0.00577667
+v 0.26020727 0.24322585 -0.30697393
+v 0.29640670 0.20573905 -0.07186783
+v 0.31674364 0.11037950 -0.32066933
+v 0.33456443 0.12551717 -0.24453770
+v 0.31091914 0.13794187 0.00152698
+v 0.32610704 0.14874740 -0.07158711
+v 0.31337398 0.11696378 0.01226030
+v 0.29455932 0.19562266 -0.30325638
+v 0.25993888 0.22676357 -0.01078761
+v 0.28172408 0.19454774 0.00143186
+v 0.29677179 0.22170316 -0.21893185
+v 0.32477027 0.12311974 -0.02850263
+v 0.31143657 0.19439952 -0.13087207
+v 0.31217399 0.13674772 -0.31855518
+v 0.28300420 0.17901050 -0.34918008
+v 0.25906507 0.22713355 -0.33692526
+v 0.28128443 0.20364628 -0.01455421
+v 0.28437924 0.18182327 0.01310098
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+v 0.28180124 0.23546243 -0.11678508
+v 0.32614694 0.16587736 -0.18819367
+v 0.32522087 0.13838325 -0.27660816
+v 0.29508491 0.16632450 -0.33289564
+v 0.26521995 0.22067249 -0.33323366
+v 0.28214116 0.21980581 -0.05741279
+v 0.26724980 0.21975874 -0.01411615
+v 0.27099483 0.20782937 0.00250422
+v 0.29613309 0.20637581 -0.27612158
+v 0.29673743 0.22111128 -0.14607794
+v 0.31049992 0.19593978 -0.23114100
+v 0.32553680 0.12418231 -0.29091367
+v 0.26631592 0.23685877 -0.30313986
+v 0.26832424 0.23581571 -0.05732983
+v 0.32627144 0.15083019 -0.24633454
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+f 15 13 3
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+f 21 7 15
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+f 24 23 5
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+f 32 24 17
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+f 32 23 24
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+f 33 17 24
+f 33 24 25
+f 34 26 11
+f 34 4 26
+f 34 11 29
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+f 35 4 18
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+f 35 9 26
+f 36 26 9
+f 36 9 19
+f 36 19 26
+f 37 28 20
+f 37 31 17
+f 38 22 20
+f 38 20 28
+f 38 28 29
+f 38 29 11
+f 38 11 22
+f 39 20 22
+f 39 22 30
+f 39 37 20
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+f 40 31 13
+f 40 13 2
+f 40 2 23
+f 40 23 31
+f 41 33 10
+f 41 17 33
+f 41 37 17
+f 41 10 28
+f 41 28 37
+f 42 34 29
+f 42 29 4
+f 42 4 34
+f 43 39 30
+f 43 30 13
+f 43 13 31
+f 43 31 39
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_6/collision/model_normalized_collision_14.obj b/objects/objaverse/pear/pear_6/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..88299e2d5290ce2e639f985b3d4c175751d79e55
--- /dev/null
+++ b/objects/objaverse/pear/pear_6/collision/model_normalized_collision_14.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.10210719 0.26440909 -0.23484848
+v 0.18713168 0.27685347 -0.36408117
+v 0.18211754 0.31796017 -0.09645082
+v 0.09720492 0.35666754 -0.11515334
+v 0.09858801 0.32611892 -0.34844652
+v 0.15805828 0.32984726 -0.09346454
+v 0.12132338 0.30234189 -0.37935741
+v 0.21135506 0.30676878 -0.24386620
+v 0.13760259 0.32024170 -0.33362629
+v 0.15314006 0.33709980 -0.13072615
+v 0.12542295 0.32115312 -0.34534670
+v 0.16790745 0.30509385 -0.33362763
+v 0.09717231 0.35766932 -0.23237661
+v 0.14610634 0.33739695 -0.09877951
+v 0.17151797 0.29583744 -0.34862065
+v 0.16843092 0.32135117 -0.28854050
+v 0.15372061 0.33717615 -0.20324019
+v 0.09832429 0.34194725 -0.30564927
+v 0.16991026 0.32502874 -0.10009538
+v 0.11067714 0.35193957 -0.11567299
+v 0.15361828 0.30706166 -0.34503429
+v 0.13986060 0.33728938 -0.27863755
+v 0.11611682 0.34930717 -0.10930114
+v 0.11042490 0.35274378 -0.23142545
+v 0.12728105 0.33487130 -0.30395005
+f 1 2 3
+f 5 1 4
+f 6 1 3
+f 6 4 1
+f 7 2 1
+f 7 1 5
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+f 10 3 8
+f 11 7 5
+f 12 8 2
+f 12 11 9
+f 13 5 4
+f 14 6 3
+f 14 4 6
+f 15 2 7
+f 15 7 11
+f 15 12 2
+f 16 12 9
+f 16 8 12
+f 17 13 10
+f 17 10 8
+f 18 11 5
+f 18 5 13
+f 19 14 3
+f 19 3 10
+f 19 10 14
+f 20 14 10
+f 20 13 4
+f 20 10 13
+f 21 15 11
+f 21 11 12
+f 21 12 15
+f 22 18 13
+f 22 17 8
+f 22 8 16
+f 23 20 4
+f 23 4 14
+f 23 14 20
+f 24 22 13
+f 24 13 17
+f 24 17 22
+f 25 22 16
+f 25 16 9
+f 25 9 11
+f 25 11 18
+f 25 18 22
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_6/collision/model_normalized_collision_15.obj b/objects/objaverse/pear/pear_6/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4ffa2286e0903dc18469578145ccbd8e0ec622a3
--- /dev/null
+++ b/objects/objaverse/pear/pear_6/collision/model_normalized_collision_15.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.28437924 0.18182327 0.01310098
+v 0.30661207 0.19321774 -0.09149137
+v 0.23757386 0.27851157 -0.09876431
+v -0.15323188 0.28918115 0.02050492
+v -0.14031706 0.17350000 -0.09848484
+v 0.23889235 0.24663780 0.00113301
+v -0.14031706 0.17350000 0.00757577
+v 0.25531238 0.26375852 -0.10085155
+v -0.14031706 0.26440909 -0.09848484
+v 0.22988952 0.26916458 -0.04087424
+v 0.25202957 0.24998229 -0.04249336
+v 0.23918993 0.26207613 -0.04291668
+v 0.25691713 0.22425227 0.00326538
+v 0.25366775 0.26189355 -0.08803988
+v 0.25303099 0.23617413 -0.01329891
+f 5 2 1
+f 6 4 1
+f 7 5 1
+f 7 1 4
+f 7 4 5
+f 8 2 5
+f 9 5 4
+f 9 4 3
+f 9 8 5
+f 9 3 8
+f 10 3 4
+f 10 4 6
+f 11 1 2
+f 11 2 8
+f 12 3 10
+f 12 10 6
+f 12 6 11
+f 13 6 1
+f 13 1 11
+f 14 8 3
+f 14 3 12
+f 14 12 11
+f 14 11 8
+f 15 13 11
+f 15 11 6
+f 15 6 13
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_6/collision/model_normalized_collision_16.obj b/objects/objaverse/pear/pear_6/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2adf07bf96fddf457537d258d610a7d22906e5f6
--- /dev/null
+++ b/objects/objaverse/pear/pear_6/collision/model_normalized_collision_16.obj
@@ -0,0 +1,162 @@
+# https://github.com/mikedh/trimesh
+v 0.18321430 0.14988515 0.23953602
+v 0.29892020 0.15826491 0.00752029
+v 0.14075499 0.31189279 0.00325534
+v -0.09080839 0.32645136 0.00088754
+v -0.14031706 0.15834848 0.00757577
+v 0.27099483 0.20782937 0.00250422
+v 0.02592590 0.22494304 0.26062811
+v 0.28608230 0.15141143 0.04725841
+v 0.19677905 0.28078134 0.00242219
+v -0.13277686 0.31039978 0.00004650
+v 0.28745612 0.18245346 0.00346134
+v 0.11967127 0.20389951 0.24882112
+v 0.03943860 0.32179784 0.04491203
+v -0.14123709 0.15891069 0.20514662
+v 0.25147170 0.18949284 0.07431607
+v 0.09800618 0.32702943 0.00288155
+v -0.06890095 0.23182234 0.19503250
+v 0.27970898 0.17831213 0.02927601
+v 0.02362588 0.19543452 0.29668438
+v 0.17839929 0.26184248 0.07411587
+v -0.01742352 0.32176042 0.04427725
+v 0.25584943 0.15098512 0.10597121
+v 0.12593829 0.28953698 0.07472220
+v -0.00117573 0.23073838 0.24079360
+v -0.11499986 0.30531074 0.02772786
+v -0.12667037 0.23462719 0.13196296
+v 0.26590945 0.19104237 0.04408568
+v 0.08032481 0.21713629 0.25591065
+v 0.16599749 0.15168644 0.25465335
+v -0.11056801 0.20390946 0.19463253
+v 0.15231146 0.29010298 0.04378980
+v 0.14884413 0.20080960 0.22395312
+v 0.22414015 0.23189062 0.05914933
+v 0.25069996 0.16320287 0.10291718
+v 0.13887646 0.30827127 0.01721449
+v 0.09558862 0.23009599 0.22298820
+v 0.08130084 0.32205188 0.03140599
+v -0.05943661 0.32188745 0.02931784
+v -0.03215554 0.30587206 0.07382789
+v -0.13012753 0.29024012 0.04153907
+v 0.28062550 0.16364989 0.04483462
+v 0.26764274 0.20542252 0.01680790
+v 0.16194273 0.16456171 0.25106638
+v -0.12551039 0.18976776 0.19390319
+v 0.19424063 0.27767633 0.01642503
+v 0.17470521 0.17479188 0.22533739
+v 0.22439767 0.24735422 0.02900861
+v 0.25074192 0.21921614 0.02850680
+v 0.05489149 0.24520349 0.21183283
+v 0.09638213 0.30528365 0.05925079
+v 0.09662668 0.32261032 0.01645402
+v -0.08943809 0.32081148 0.01366240
+v 0.17626097 0.16409392 0.23517772
+v 0.05464481 0.23106430 0.23985263
+v 0.07029808 0.29121170 0.10470272
+f 8 5 2
+f 8 1 5
+f 10 9 6
+f 10 4 9
+f 11 2 5
+f 11 10 6
+f 11 5 10
+f 14 5 1
+f 14 10 5
+f 16 9 4
+f 16 3 9
+f 18 8 2
+f 18 2 11
+f 21 7 13
+f 21 16 4
+f 21 13 16
+f 22 1 8
+f 22 8 15
+f 24 19 7
+f 24 17 19
+f 25 4 10
+f 25 17 24
+f 27 18 11
+f 28 19 12
+f 28 7 19
+f 29 19 14
+f 29 14 1
+f 30 19 17
+f 30 14 19
+f 30 17 26
+f 31 23 20
+f 32 20 12
+f 33 20 32
+f 34 22 15
+f 34 15 1
+f 34 1 22
+f 35 3 16
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+f 36 12 20
+f 36 20 23
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+f 37 23 35
+f 38 21 4
+f 39 24 7
+f 39 7 21
+f 39 38 24
+f 39 21 38
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+f 40 25 10
+f 40 26 17
+f 40 17 25
+f 41 8 18
+f 41 18 27
+f 41 27 15
+f 41 15 8
+f 42 27 11
+f 42 11 6
+f 43 12 19
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+f 43 32 12
+f 43 29 1
+f 44 30 26
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+f 44 14 30
+f 45 31 20
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+f 45 3 35
+f 46 33 32
+f 46 15 33
+f 46 32 43
+f 47 6 9
+f 47 9 45
+f 47 45 20
+f 47 20 33
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+f 48 15 27
+f 48 27 42
+f 48 47 33
+f 48 42 6
+f 48 6 47
+f 49 28 36
+f 49 13 7
+f 50 36 23
+f 50 23 37
+f 51 37 35
+f 51 35 16
+f 51 16 37
+f 52 25 24
+f 52 24 38
+f 52 38 4
+f 52 4 25
+f 53 46 43
+f 53 43 1
+f 53 1 15
+f 53 15 46
+f 54 49 7
+f 54 7 28
+f 54 28 49
+f 55 49 36
+f 55 37 13
+f 55 13 49
+f 55 50 37
+f 55 36 50
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_6/collision/model_normalized_collision_17.obj b/objects/objaverse/pear/pear_6/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ecc4860b48fd1d320854338057f5ee2447a2f60b
--- /dev/null
+++ b/objects/objaverse/pear/pear_6/collision/model_normalized_collision_17.obj
@@ -0,0 +1,168 @@
+# https://github.com/mikedh/trimesh
+v -0.16486183 -0.31581777 -0.07219932
+v -0.16204590 -0.25372376 -0.42153268
+v -0.21194140 -0.22281703 0.03387435
+v -0.26625303 -0.18455074 0.00070075
+v -0.29147049 -0.23523961 -0.24646878
+v -0.16969707 -0.18884553 -0.47563877
+v -0.22913012 -0.26588136 -0.06084134
+v -0.16443422 -0.31358149 -0.32107657
+v -0.30945354 -0.18156998 -0.30613066
+v -0.16455981 -0.28454857 0.00105517
+v -0.26064474 -0.20634053 -0.01483809
+v -0.24603309 -0.28045946 -0.14867635
+v -0.32578324 -0.18329439 -0.18977156
+v -0.19314043 -0.18187489 -0.46587384
+v -0.23211771 -0.26532169 -0.33473219
+v -0.16425280 -0.29922952 -0.02740655
+v -0.16272956 -0.20950968 -0.46329977
+v -0.21755520 -0.26202717 -0.03143539
+v -0.26331647 -0.19407766 -0.00258541
+v -0.18764622 -0.30810359 -0.08701924
+v -0.28805262 -0.22512187 -0.10314383
+v -0.32581533 -0.18326558 -0.23268439
+v -0.29584077 -0.18361100 -0.05869111
+v -0.28977517 -0.22497303 -0.28842741
+v -0.20479612 -0.30886580 -0.24751712
+v -0.16466767 -0.28428416 -0.37961705
+v -0.25874937 -0.20856190 -0.37583009
+v -0.18937554 -0.19302991 -0.46035961
+v -0.18801519 -0.27988281 -0.01849848
+v -0.27630283 -0.21950338 -0.06276817
+v -0.22892672 -0.25055102 -0.03063043
+v -0.23322933 -0.27927054 -0.10284137
+v -0.17620731 -0.29360560 -0.02940023
+v -0.29212346 -0.23570206 -0.14578526
+v -0.31082668 -0.18342551 -0.10178883
+v -0.24529782 -0.26464493 -0.30400500
+v -0.31930684 -0.19451884 -0.23145656
+v -0.24578197 -0.27990406 -0.24685046
+v -0.18768834 -0.30767289 -0.30318163
+v -0.20442196 -0.30892372 -0.14804341
+v -0.18885787 -0.26369747 -0.38710211
+v -0.20418761 -0.27870624 -0.34555396
+v -0.26575903 -0.18243347 -0.39295907
+v -0.27437106 -0.22049261 -0.33291999
+v -0.17537861 -0.20604333 -0.45886826
+v -0.17342596 -0.28089771 -0.00257612
+v -0.28956452 -0.21023862 -0.07703108
+v -0.20298710 -0.29314181 -0.07651831
+v -0.17693892 -0.31011435 -0.07434433
+v -0.30447600 -0.20995984 -0.13394732
+v -0.27495386 -0.23528092 -0.30271140
+v -0.31913171 -0.19448975 -0.18998992
+v -0.22987933 -0.25043423 -0.35975134
+v -0.17379542 -0.24889497 -0.41745167
+v -0.17703241 -0.30824913 -0.31914441
+v -0.17477629 -0.28001831 -0.37664515
+v -0.26069726 -0.19401499 -0.38899366
+f 6 4 3
+f 10 6 3
+f 14 4 6
+f 16 2 10
+f 16 8 2
+f 16 1 8
+f 17 10 2
+f 17 6 10
+f 19 11 3
+f 19 3 4
+f 22 13 9
+f 23 14 9
+f 23 4 14
+f 23 19 4
+f 24 22 9
+f 25 8 1
+f 26 2 8
+f 28 14 6
+f 29 3 18
+f 29 18 7
+f 30 21 7
+f 30 11 19
+f 31 18 3
+f 31 3 11
+f 31 11 30
+f 31 30 7
+f 31 7 18
+f 32 12 20
+f 32 7 21
+f 33 1 16
+f 33 16 10
+f 34 32 21
+f 34 12 32
+f 35 23 9
+f 35 9 13
+f 36 5 24
+f 37 24 5
+f 37 22 24
+f 37 5 34
+f 37 13 22
+f 38 25 12
+f 38 5 36
+f 38 34 5
+f 38 12 34
+f 39 8 25
+f 39 36 15
+f 39 38 36
+f 39 25 38
+f 40 20 12
+f 40 12 25
+f 40 25 1
+f 40 1 20
+f 41 2 26
+f 42 15 41
+f 43 9 14
+f 44 24 9
+f 44 43 27
+f 44 9 43
+f 44 27 15
+f 45 28 6
+f 45 6 17
+f 45 17 2
+f 46 10 3
+f 46 3 29
+f 46 33 10
+f 46 29 33
+f 47 21 30
+f 47 23 35
+f 47 30 19
+f 47 19 23
+f 48 32 20
+f 48 7 32
+f 48 20 33
+f 48 33 29
+f 48 29 7
+f 49 33 20
+f 49 20 1
+f 49 1 33
+f 50 34 21
+f 50 47 35
+f 50 21 47
+f 50 35 13
+f 50 13 34
+f 51 36 24
+f 51 15 36
+f 51 44 15
+f 51 24 44
+f 52 37 34
+f 52 34 13
+f 52 13 37
+f 53 41 15
+f 53 15 27
+f 53 27 41
+f 54 2 41
+f 54 45 2
+f 54 28 45
+f 54 41 27
+f 54 27 28
+f 55 26 8
+f 55 8 39
+f 55 39 15
+f 55 15 42
+f 56 42 41
+f 56 41 26
+f 56 55 42
+f 56 26 55
+f 57 28 27
+f 57 27 43
+f 57 43 14
+f 57 14 28
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_6/collision/model_normalized_collision_19.obj b/objects/objaverse/pear/pear_6/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..95944008e36b4a4409c7de6710dc0df95f39e4bf
--- /dev/null
+++ b/objects/objaverse/pear/pear_6/collision/model_normalized_collision_19.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.11005063 0.04617079 0.34161305
+v 0.19439797 0.12526588 0.47705492
+v 0.15445572 0.12534997 0.49239825
+v 0.16968793 0.15810012 0.48486346
+v 0.10813462 0.10082609 0.34799400
+v 0.18149759 0.12466162 0.49423983
+v 0.11534358 0.05066261 0.33707051
+v 0.19351383 0.13307048 0.46987383
+v 0.06497082 0.05636589 0.35605028
+v 0.19009407 0.13378967 0.48690582
+v 0.16237845 0.14727785 0.49226545
+v 0.19516985 0.12431287 0.48545991
+v 0.17154482 0.15571807 0.47155582
+v 0.11385724 0.09551278 0.34985957
+v 0.06567825 0.11137958 0.33138471
+v 0.15260775 0.09990208 0.46141089
+v 0.07557568 0.05910145 0.34915412
+v 0.17893185 0.14746949 0.49053511
+v 0.17351015 0.15817069 0.48316198
+v 0.14993655 0.14074637 0.48336704
+v 0.17104380 0.11507543 0.48652439
+v 0.07177517 0.05224090 0.35599630
+v 0.14918287 0.14352228 0.47254222
+v 0.14488597 0.12203168 0.48111472
+v 0.15648186 0.11056560 0.47573269
+f 8 2 7
+f 11 3 6
+f 12 10 6
+f 12 2 8
+f 12 8 10
+f 12 7 2
+f 12 1 7
+f 13 8 5
+f 14 8 7
+f 14 7 5
+f 14 5 8
+f 15 5 7
+f 15 13 5
+f 15 4 13
+f 16 1 12
+f 17 7 1
+f 17 1 9
+f 17 15 7
+f 17 9 15
+f 18 6 10
+f 18 11 6
+f 18 4 11
+f 19 13 4
+f 19 8 13
+f 19 4 18
+f 19 18 10
+f 19 10 8
+f 20 11 4
+f 20 3 11
+f 20 15 9
+f 21 6 3
+f 21 16 12
+f 21 12 6
+f 22 16 3
+f 22 3 9
+f 22 9 1
+f 22 1 16
+f 23 20 4
+f 23 4 15
+f 23 15 20
+f 24 20 9
+f 24 9 3
+f 24 3 20
+f 25 21 3
+f 25 3 16
+f 25 16 21
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_6/collision/model_normalized_collision_2.obj b/objects/objaverse/pear/pear_6/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f5debe7ea0489925b9055031fe2d2b893ceaa41f
--- /dev/null
+++ b/objects/objaverse/pear/pear_6/collision/model_normalized_collision_2.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.21194140 -0.22281703 0.03387435
+v -0.17062009 -0.19013637 -0.35606060
+v -0.17062009 0.17350000 0.00757577
+v -0.27385194 0.16535548 -0.00281208
+v -0.34822982 -0.09403449 -0.27747023
+v -0.31861966 -0.17861855 -0.28783181
+v -0.31927745 -0.06478000 -0.01474971
+v -0.25569884 0.16982148 -0.38181522
+v -0.29329633 -0.18107000 -0.34802010
+v -0.30411767 0.07780746 -0.00254844
+v -0.33537100 -0.16482448 -0.14801532
+v -0.17062009 0.17350000 -0.35606060
+v -0.30363025 0.16594751 -0.07558436
+v -0.26143549 0.12800941 -0.40144852
+v -0.31809632 -0.12429031 -0.34696290
+v -0.30496288 -0.09454533 -0.00282973
+v -0.28808397 0.13457750 -0.00329051
+v -0.31851763 -0.17899817 -0.11912007
+v -0.35004216 0.00468776 -0.11666595
+v -0.33490541 -0.16418956 -0.24702554
+v -0.25457228 0.15395919 -0.39608787
+v -0.33283484 0.07784736 -0.27671212
+v -0.30563935 -0.16374686 -0.34667134
+v -0.33359377 -0.13966488 -0.28932618
+v -0.31830041 -0.14871483 -0.06267570
+v -0.31924256 0.13817210 -0.08652466
+v -0.28669154 0.16456410 -0.03031526
+v -0.34738059 -0.09396965 -0.11889451
+v -0.31833818 0.01953465 -0.01414866
+v -0.34856825 -0.10927679 -0.24721672
+v -0.30205775 0.12016478 -0.33325058
+v -0.35015248 0.03475875 -0.23191169
+v -0.33355017 0.00388228 -0.31963611
+v -0.33221147 -0.10883504 -0.31939918
+v -0.30556329 -0.18069691 -0.07447009
+v -0.28814149 -0.14986019 -0.00469346
+v -0.30193786 0.10738480 -0.01478813
+v -0.33399036 -0.07983059 -0.06037897
+v -0.34738093 -0.10912125 -0.13404593
+v -0.33380257 0.06514318 -0.07475337
+v -0.27414720 0.13658725 -0.37814348
+v -0.30337779 0.16568547 -0.27637513
+v -0.35075769 0.05031397 -0.15930005
+v -0.35027290 -0.06933153 -0.27746570
+v -0.34922431 0.00432916 -0.26205840
+v -0.31701930 0.06270253 -0.33392809
+v -0.31727575 0.03369514 -0.34608718
+v -0.27246900 -0.17988747 -0.00503269
+v -0.33403131 0.01960468 -0.05941533
+v -0.31788122 0.06504832 -0.02957029
+v -0.31692493 0.09218843 -0.04514988
+v -0.26037603 0.15207522 -0.38991904
+v -0.28868821 0.16631568 -0.31945437
+v -0.31949290 0.15070830 -0.23085093
+v -0.31853164 0.12030870 -0.28844163
+v -0.33368315 0.09280182 -0.10158989
+v -0.34906962 0.03493415 -0.13205994
+v -0.35061635 0.04993874 -0.18918751
+v -0.33343772 0.06267778 -0.28848904
+v -0.30296239 0.09410250 -0.34773189
+v -0.26726845 0.12454379 -0.39501806
+v -0.26196896 0.16403905 -0.37788527
+v -0.31906919 0.15075097 -0.11669889
+v -0.33394116 0.10819497 -0.23119154
+f 1 2 3
+f 1 3 4
+f 9 2 1
+f 9 1 6
+f 12 8 3
+f 12 3 2
+f 13 4 3
+f 13 3 8
+f 14 2 9
+f 14 12 2
+f 16 1 10
+f 17 10 1
+f 17 1 4
+f 18 11 6
+f 18 6 1
+f 20 6 11
+f 21 8 12
+f 21 12 14
+f 23 9 6
+f 23 15 14
+f 23 14 9
+f 24 20 5
+f 24 6 20
+f 24 23 6
+f 24 15 23
+f 25 16 7
+f 27 17 4
+f 27 4 13
+f 27 26 17
+f 27 13 26
+f 29 16 10
+f 29 7 16
+f 30 20 11
+f 30 5 20
+f 34 24 5
+f 34 15 24
+f 34 33 15
+f 35 25 11
+f 35 11 18
+f 35 18 1
+f 36 1 16
+f 36 16 25
+f 37 10 17
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+f 38 19 28
+f 38 28 25
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+f 39 11 25
+f 39 25 28
+f 39 30 11
+f 39 28 19
+f 42 13 8
+f 44 5 30
+f 44 19 43
+f 44 39 19
+f 44 30 39
+f 44 34 5
+f 44 33 34
+f 45 44 32
+f 45 33 44
+f 47 14 15
+f 47 15 33
+f 47 33 46
+f 48 35 1
+f 48 1 36
+f 48 36 25
+f 48 25 35
+f 49 19 38
+f 49 40 19
+f 49 29 40
+f 49 38 7
+f 49 7 29
+f 50 40 29
+f 50 29 10
+f 50 10 37
+f 51 37 26
+f 51 26 40
+f 51 50 37
+f 51 40 50
+f 52 21 14
+f 52 8 21
+f 53 41 31
+f 53 42 8
+f 54 13 42
+f 55 54 42
+f 55 31 46
+f 55 53 31
+f 55 42 53
+f 56 40 26
+f 57 43 19
+f 57 19 40
+f 57 56 43
+f 57 40 56
+f 58 44 43
+f 58 32 44
+f 59 45 32
+f 59 32 22
+f 59 33 45
+f 59 46 33
+f 59 55 46
+f 59 22 55
+f 60 46 31
+f 60 31 41
+f 60 47 46
+f 61 52 14
+f 61 41 52
+f 61 60 41
+f 61 14 47
+f 61 47 60
+f 62 52 41
+f 62 8 52
+f 62 53 8
+f 62 41 53
+f 63 26 13
+f 63 13 54
+f 63 56 26
+f 63 43 56
+f 64 22 32
+f 64 32 58
+f 64 58 43
+f 64 63 54
+f 64 43 63
+f 64 55 22
+f 64 54 55
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_6/collision/model_normalized_collision_20.obj b/objects/objaverse/pear/pear_6/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..edbe74d537e33b33195b06c9b26a1ad03f443e1d
--- /dev/null
+++ b/objects/objaverse/pear/pear_6/collision/model_normalized_collision_20.obj
@@ -0,0 +1,171 @@
+# https://github.com/mikedh/trimesh
+v 0.02865755 -0.00765371 0.36190439
+v 0.02634962 -0.00831819 0.20454547
+v 0.03001440 0.24376788 0.22090997
+v -0.00370655 0.24759062 0.20381004
+v -0.15826356 -0.01090748 0.21938080
+v -0.02310954 0.13576867 0.33819392
+v -0.15796893 0.13804102 0.19665987
+v 0.02748508 0.16211315 0.32500578
+v -0.05125702 0.02621786 0.33745284
+v -0.05854268 0.23517327 0.19724478
+v -0.16548741 0.11101816 0.20111129
+v 0.02398813 0.04712268 0.36870754
+v -0.02502716 0.18689642 0.29776566
+v -0.03793135 -0.00520471 0.34077535
+v -0.12297046 0.09552287 0.26673168
+v 0.02053069 0.10778466 0.35108086
+v 0.02680853 0.03076118 0.37129585
+v -0.03025408 0.06535751 0.35403277
+v 0.02665036 0.21981207 0.26827498
+v -0.01832819 0.16057953 0.32381045
+v -0.09599008 0.18744534 0.23815182
+v -0.10922508 0.01034833 0.28066093
+v -0.01417676 -0.00689932 0.35133713
+v -0.15907619 0.10867514 0.21197316
+v -0.00008414 0.10525288 0.35323467
+v 0.01586476 0.04852494 0.36938381
+v -0.02978104 0.02518124 0.35308419
+v -0.07040059 0.10774403 0.32163142
+v -0.02395162 0.17538703 0.30936795
+v 0.02584541 0.23094531 0.24844601
+v -0.02744122 0.23344795 0.22600836
+v -0.14279384 0.16527125 0.19663863
+v -0.06619851 0.01098730 0.32330663
+v -0.12379133 0.02456666 0.26624017
+v 0.01304841 0.02979187 0.37031218
+v -0.10621220 0.11921796 0.28194964
+v -0.15190034 0.13560402 0.20798936
+v -0.01568516 0.09557990 0.35317170
+v -0.05057996 0.04994751 0.33926351
+v -0.05453318 0.17428906 0.29315742
+v -0.00034876 0.21585177 0.26720474
+v -0.00206556 0.23667100 0.22859136
+v -0.08617459 0.22009355 0.19690000
+v -0.12857116 -0.00648291 0.25502175
+v -0.10909111 0.17469437 0.23683625
+v -0.13711491 0.12105335 0.23775760
+v -0.13692623 0.14757720 0.22226659
+v -0.03851208 0.10614565 0.34021898
+v -0.05476849 0.13643557 0.32151638
+v -0.03905622 0.14502361 0.32444484
+v -0.05537598 0.21426792 0.23827259
+v -0.05489212 -0.00496036 0.32809049
+v -0.07706497 0.14726921 0.29620746
+v -0.13733098 0.16241662 0.20784594
+v -0.06532998 0.18810514 0.26869976
+v -0.05623068 0.22976124 0.20959095
+v -0.08280751 0.21541165 0.20901391
+v -0.07921345 0.12509039 0.30887336
+f 1 2 3
+f 3 2 4
+f 5 2 1
+f 8 1 3
+f 10 4 2
+f 10 2 7
+f 11 7 2
+f 11 2 5
+f 16 12 8
+f 17 1 8
+f 17 8 12
+f 19 8 3
+f 20 6 8
+f 23 14 5
+f 23 5 1
+f 24 11 5
+f 24 5 15
+f 25 16 8
+f 25 8 6
+f 26 17 12
+f 26 12 16
+f 26 16 25
+f 27 14 23
+f 29 19 13
+f 29 8 19
+f 29 20 8
+f 30 19 3
+f 31 4 10
+f 33 28 22
+f 33 27 9
+f 33 14 27
+f 34 15 5
+f 34 28 15
+f 34 22 28
+f 35 23 1
+f 35 1 17
+f 35 27 23
+f 35 17 26
+f 35 26 18
+f 35 18 27
+f 36 24 15
+f 36 15 28
+f 37 7 11
+f 37 11 24
+f 38 25 6
+f 38 26 25
+f 38 18 26
+f 39 27 18
+f 39 9 27
+f 39 18 28
+f 39 33 9
+f 39 28 33
+f 40 29 13
+f 41 31 13
+f 41 13 19
+f 41 19 30
+f 41 30 31
+f 42 31 30
+f 42 4 31
+f 42 30 3
+f 42 3 4
+f 43 32 21
+f 43 10 7
+f 43 7 32
+f 44 33 22
+f 44 34 5
+f 44 22 34
+f 45 21 32
+f 46 37 24
+f 46 24 36
+f 47 32 7
+f 47 7 37
+f 47 36 45
+f 47 46 36
+f 47 37 46
+f 48 28 18
+f 48 18 38
+f 48 38 6
+f 49 48 6
+f 49 28 48
+f 50 20 29
+f 50 29 40
+f 50 40 49
+f 50 49 6
+f 50 6 20
+f 51 13 31
+f 52 44 5
+f 52 5 14
+f 52 14 33
+f 52 33 44
+f 53 40 21
+f 53 21 45
+f 53 45 36
+f 53 49 40
+f 54 47 45
+f 54 45 32
+f 54 32 47
+f 55 40 13
+f 55 13 51
+f 55 21 40
+f 56 51 31
+f 56 31 10
+f 57 43 21
+f 57 55 51
+f 57 21 55
+f 57 51 56
+f 57 56 10
+f 57 10 43
+f 58 53 36
+f 58 36 28
+f 58 28 49
+f 58 49 53
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_6/collision/model_normalized_collision_22.obj b/objects/objaverse/pear/pear_6/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5720dee5869a21dbcdf10744f12f9a085bb3ead3
--- /dev/null
+++ b/objects/objaverse/pear/pear_6/collision/model_normalized_collision_22.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.35301294 -0.01056312 -0.08978605
+v 0.35320798 -0.00855426 -0.24519670
+v 0.35828942 0.02035330 -0.15981815
+v 0.33695345 0.12234756 -0.09228294
+v 0.33592618 0.12207968 -0.24189918
+v 0.34191198 0.10845847 -0.10139465
+v 0.35879695 -0.00783299 -0.16015818
+v 0.34137316 0.10832969 -0.23134510
+v 0.35464897 -0.00810866 -0.09929672
+v 0.35534586 -0.00829927 -0.23401936
+v 0.35841266 -0.00784416 -0.18828959
+v 0.35765747 0.02033634 -0.18820852
+f 5 2 1
+f 5 1 4
+f 6 4 1
+f 8 2 5
+f 8 6 3
+f 8 5 4
+f 8 4 6
+f 9 6 1
+f 9 3 6
+f 9 7 3
+f 9 1 7
+f 10 1 2
+f 10 2 8
+f 11 7 1
+f 11 1 10
+f 11 3 7
+f 12 10 8
+f 12 8 3
+f 12 11 10
+f 12 3 11
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_6/collision/model_normalized_collision_23.obj b/objects/objaverse/pear/pear_6/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..864a92217546709533921ce8d54b201b29ca981f
--- /dev/null
+++ b/objects/objaverse/pear/pear_6/collision/model_normalized_collision_23.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v 0.27948777 -0.17172011 0.00527934
+v 0.34328195 -0.09441041 -0.10094888
+v 0.32217269 -0.01068048 0.02544019
+v 0.31337398 0.11696378 0.01226030
+v 0.28392538 -0.00831819 -0.09848484
+v 0.34189991 0.07871098 -0.05597648
+v 0.32646074 -0.12107317 -0.04110679
+v 0.30552764 -0.18499715 -0.09347221
+v 0.34108510 -0.00769605 -0.02924278
+v 0.32659497 0.07964343 0.00233408
+v 0.33695345 0.12234756 -0.09228294
+v 0.30965823 -0.11986980 -0.00144923
+v 0.31515341 -0.16839111 -0.10178598
+v 0.29839076 -0.16675147 -0.02966836
+v 0.34538425 0.09417360 -0.10082610
+v 0.34026246 -0.06429736 -0.04171569
+v 0.32420257 0.10782672 -0.01351703
+v 0.34156604 0.02008230 -0.02842436
+v 0.28451852 -0.16741652 0.00119534
+v 0.34067235 0.11193074 -0.09911672
+v 0.34122904 -0.09380748 -0.08610579
+v 0.32477091 -0.06397579 0.00011369
+v 0.31817781 0.10970511 0.00390533
+v 0.30935054 -0.13465353 -0.01660161
+v 0.32549834 -0.10990302 -0.03015895
+v 0.29469523 -0.14967879 -0.00098495
+f 1 3 4
+f 5 1 4
+f 8 1 5
+f 10 4 3
+f 11 5 4
+f 12 3 1
+f 13 8 5
+f 13 2 7
+f 13 7 8
+f 14 8 7
+f 14 1 8
+f 15 11 6
+f 15 13 5
+f 15 2 13
+f 16 2 9
+f 16 9 3
+f 17 10 6
+f 17 11 4
+f 17 6 11
+f 18 6 10
+f 18 15 6
+f 18 9 2
+f 18 2 15
+f 18 10 3
+f 18 3 9
+f 19 12 1
+f 19 1 14
+f 20 15 5
+f 20 5 11
+f 20 11 15
+f 21 16 7
+f 21 7 2
+f 21 2 16
+f 22 16 3
+f 22 3 12
+f 23 17 4
+f 23 4 10
+f 23 10 17
+f 24 14 7
+f 24 7 12
+f 25 22 12
+f 25 12 7
+f 25 7 16
+f 25 16 22
+f 26 24 12
+f 26 12 19
+f 26 19 14
+f 26 14 24
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_6/collision/model_normalized_collision_24.obj b/objects/objaverse/pear/pear_6/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e965428786a61f2965aa4962b903b031bc71a4ad
--- /dev/null
+++ b/objects/objaverse/pear/pear_6/collision/model_normalized_collision_24.obj
@@ -0,0 +1,105 @@
+# https://github.com/mikedh/trimesh
+v 0.20331592 -0.00702939 0.26138585
+v 0.18941516 -0.00285042 0.28164585
+v 0.02634962 -0.00831819 0.26515153
+v 0.02592590 0.22494304 0.26062811
+v 0.15410841 0.16820646 0.25760949
+v 0.02680853 0.03076118 0.37129585
+v 0.02865755 -0.00765371 0.36190439
+v 0.20027461 0.09482901 0.25746517
+v 0.02124105 0.13820884 0.34208388
+v 0.09444244 -0.00232718 0.35480871
+v 0.02398813 0.04712268 0.36870754
+v 0.19229765 0.03446391 0.28135251
+v 0.18504022 0.12337289 0.25618432
+v 0.06455264 0.18733474 0.29373931
+v 0.16426610 -0.00332442 0.30877571
+v 0.06458504 0.02799375 0.36786775
+v 0.09736892 0.20977197 0.25585873
+v 0.10813462 0.10082609 0.34799400
+v 0.02748508 0.16211315 0.32500578
+v 0.17762747 -0.00336010 0.29745207
+v 0.06459966 0.03103090 0.36787136
+v 0.14155896 0.17910922 0.25626656
+v 0.05344786 0.21660242 0.26617310
+v 0.09278955 0.18869633 0.27901673
+v 0.15098610 0.16377831 0.26394904
+v 0.17667120 0.04953545 0.29608200
+v 0.12233090 -0.00165845 0.33879030
+v 0.02665036 0.21981207 0.26827498
+v 0.03662037 0.16183568 0.32457974
+v 0.03983135 0.04580098 0.36739680
+v 0.05460213 0.22125184 0.25883165
+v 0.06462461 0.20264972 0.27875521
+v 0.13763675 0.17287429 0.26561264
+v 0.19451304 0.09008675 0.26495801
+v 0.16303275 0.04974875 0.30911786
+v 0.09391447 0.20307738 0.26423529
+f 7 3 1
+f 9 4 3
+f 11 7 6
+f 11 3 7
+f 11 9 3
+f 12 2 1
+f 12 1 8
+f 13 8 1
+f 13 1 3
+f 15 10 7
+f 15 7 1
+f 16 6 7
+f 16 7 10
+f 17 13 3
+f 17 3 4
+f 18 9 11
+f 18 8 13
+f 20 15 1
+f 20 1 2
+f 20 2 12
+f 21 11 6
+f 21 6 16
+f 21 16 10
+f 21 10 18
+f 22 5 13
+f 22 13 17
+f 24 14 18
+f 25 18 13
+f 25 13 5
+f 26 12 8
+f 26 20 12
+f 27 18 10
+f 27 10 15
+f 27 15 18
+f 28 4 9
+f 28 9 19
+f 29 18 14
+f 29 28 19
+f 29 19 9
+f 29 9 18
+f 30 21 18
+f 30 18 11
+f 30 11 21
+f 31 23 17
+f 31 17 4
+f 31 28 23
+f 31 4 28
+f 32 17 23
+f 32 14 24
+f 32 23 28
+f 32 29 14
+f 32 28 29
+f 33 22 17
+f 33 17 24
+f 33 24 18
+f 33 18 25
+f 33 25 5
+f 33 5 22
+f 34 26 8
+f 34 8 18
+f 34 18 26
+f 35 26 18
+f 35 18 15
+f 35 15 20
+f 35 20 26
+f 36 32 24
+f 36 24 17
+f 36 17 32
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_6/collision/model_normalized_collision_25.obj b/objects/objaverse/pear/pear_6/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bee13fde4cbd24b4ba94b81de149271ea5aa164c
--- /dev/null
+++ b/objects/objaverse/pear/pear_6/collision/model_normalized_collision_25.obj
@@ -0,0 +1,150 @@
+# https://github.com/mikedh/trimesh
+v 0.10210719 0.17350000 -0.35606060
+v 0.10165316 0.17334740 -0.49078104
+v 0.10138609 0.32213666 -0.35450042
+v -0.07527224 0.34241895 -0.34968906
+v -0.27147705 0.17027997 -0.35326355
+v -0.00680846 0.25062787 -0.47621265
+v 0.08413746 0.32891700 -0.34996312
+v -0.24980842 0.16610505 -0.39237144
+v 0.09691789 0.22189570 -0.47531275
+v -0.24875584 0.21074016 -0.34869934
+v 0.00800961 0.32217272 -0.39143621
+v 0.08590151 0.17105641 -0.49235352
+v -0.26660565 0.16726553 -0.36579660
+v -0.12802666 0.23644896 -0.46125482
+v 0.09814581 0.29338596 -0.40431300
+v -0.00598837 0.21587287 -0.48961386
+v -0.26586898 0.18196120 -0.35024912
+v -0.07378707 0.29522584 -0.43069494
+v 0.00931563 0.34326589 -0.34992357
+v -0.24375390 0.20752347 -0.36096824
+v 0.06796742 0.25078149 -0.46054483
+v 0.08309947 0.30801017 -0.38918750
+v 0.08573807 0.18582907 -0.48999343
+v 0.05304785 0.23578255 -0.47634477
+v -0.09064246 0.21507523 -0.49133502
+v 0.00741602 0.29332819 -0.43111855
+v -0.07353469 0.32218946 -0.39185429
+v 0.05349474 0.32206444 -0.37676876
+v -0.26099758 0.17894677 -0.36278217
+v -0.24504455 0.17825092 -0.38865502
+v 0.09863823 0.31023296 -0.37874928
+v 0.00830319 0.26558698 -0.46083480
+v -0.07381361 0.25031039 -0.47808272
+v -0.16003255 0.16757428 -0.47902648
+v 0.06804404 0.27851004 -0.43264879
+v 0.03779222 0.30740720 -0.40396723
+v 0.00837689 0.33725570 -0.36201470
+v -0.07338194 0.33692565 -0.36212718
+v -0.13445024 0.29262507 -0.40297745
+v -0.10261047 0.23559854 -0.47361343
+v -0.11975633 0.19878659 -0.48742541
+v -0.15893558 0.20747609 -0.45964617
+v -0.12095284 0.32740527 -0.34949932
+v -0.21380889 0.23563096 -0.37559645
+v -0.12177128 0.17060366 -0.49367558
+v -0.15712297 0.18109733 -0.47534463
+v -0.21493935 0.20643885 -0.40228743
+v -0.14318929 0.31158591 -0.36384123
+v -0.11908028 0.32173278 -0.36173432
+v -0.15533812 0.29315050 -0.37719032
+v -0.14674703 0.31547684 -0.35082532
+f 1 2 3
+f 7 1 3
+f 10 1 7
+f 12 2 1
+f 12 1 8
+f 13 8 1
+f 13 1 5
+f 15 3 2
+f 15 2 9
+f 17 5 1
+f 17 1 10
+f 19 4 7
+f 21 15 9
+f 23 9 2
+f 23 2 12
+f 23 12 16
+f 24 16 6
+f 24 23 16
+f 24 9 23
+f 24 21 9
+f 25 16 12
+f 26 18 11
+f 27 11 18
+f 28 19 7
+f 28 22 11
+f 29 20 13
+f 29 10 20
+f 29 17 10
+f 29 13 5
+f 29 5 17
+f 30 8 13
+f 30 13 20
+f 31 7 3
+f 31 3 15
+f 31 15 22
+f 31 28 7
+f 31 22 28
+f 32 24 6
+f 32 21 24
+f 32 18 26
+f 33 6 16
+f 33 16 25
+f 33 32 6
+f 33 18 32
+f 34 12 8
+f 35 15 21
+f 35 32 26
+f 35 21 32
+f 36 22 15
+f 36 35 26
+f 36 15 35
+f 36 26 11
+f 36 11 22
+f 37 27 19
+f 37 11 27
+f 37 28 11
+f 37 19 28
+f 38 4 19
+f 38 19 27
+f 39 27 18
+f 39 33 14
+f 39 18 33
+f 40 33 25
+f 40 14 33
+f 41 40 25
+f 41 14 40
+f 42 14 41
+f 42 39 14
+f 43 38 27
+f 43 4 38
+f 43 10 7
+f 43 7 4
+f 44 20 10
+f 44 39 42
+f 44 30 20
+f 45 41 25
+f 45 25 12
+f 45 12 34
+f 45 34 41
+f 46 42 41
+f 46 41 34
+f 46 34 8
+f 46 8 42
+f 47 42 8
+f 47 8 30
+f 47 44 42
+f 47 30 44
+f 48 27 39
+f 49 48 43
+f 49 43 27
+f 49 27 48
+f 50 48 39
+f 50 39 44
+f 51 44 10
+f 51 10 43
+f 51 43 48
+f 51 50 44
+f 51 48 50
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_6/collision/model_normalized_collision_26.obj b/objects/objaverse/pear/pear_6/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..261ec4d3a128c02bef15d5e74e8977cf05ada1d2
--- /dev/null
+++ b/objects/objaverse/pear/pear_6/collision/model_normalized_collision_26.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.01119810 -0.20528789 0.00757577
+v 0.01041250 -0.20232012 -0.49104701
+v 0.01119810 0.17350000 0.00757577
+v -0.17062009 0.17350000 0.00757577
+v -0.19766440 -0.23946887 0.03046076
+v 0.01083873 0.17229884 -0.49536071
+v -0.16289701 0.13893851 -0.48746905
+v -0.16003255 0.16757428 -0.47902648
+v -0.16992827 -0.12791729 -0.49303976
+v -0.13573082 0.16924677 -0.49049113
+v -0.16181289 -0.19297091 -0.47683340
+v -0.04878964 -0.20232243 -0.48988452
+v -0.09357137 -0.18639972 -0.48921620
+v -0.16819913 -0.14041560 -0.49072377
+v -0.15294237 -0.15511496 -0.48909524
+f 5 2 1
+f 5 1 3
+f 5 3 4
+f 6 4 3
+f 6 1 2
+f 6 3 1
+f 7 5 4
+f 8 7 4
+f 9 6 2
+f 9 5 7
+f 10 8 4
+f 10 4 6
+f 10 7 8
+f 10 9 7
+f 10 6 9
+f 11 5 9
+f 12 9 2
+f 12 2 5
+f 12 5 11
+f 13 12 11
+f 13 9 12
+f 14 11 9
+f 14 9 13
+f 15 14 13
+f 15 13 11
+f 15 11 14
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_6/collision/model_normalized_collision_27.obj b/objects/objaverse/pear/pear_6/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d1868b2aee589fe8190408b6f0f194333c33d01d
--- /dev/null
+++ b/objects/objaverse/pear/pear_6/collision/model_normalized_collision_27.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.32587377 -0.00997902 0.01624282
+v 0.35320798 -0.00855426 -0.24519670
+v 0.31561194 0.18038660 -0.23809548
+v 0.01119810 0.17350000 0.00757577
+v 0.01119810 -0.00831819 -0.23484848
+v 0.29318816 0.17035919 0.00549082
+v 0.01119810 -0.00831819 0.00757577
+v 0.01119810 0.17350000 -0.23484848
+f 5 2 1
+f 6 3 4
+f 6 4 1
+f 6 1 2
+f 6 2 3
+f 7 5 1
+f 7 1 4
+f 7 4 5
+f 8 3 2
+f 8 2 5
+f 8 5 4
+f 8 4 3
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_6/collision/model_normalized_collision_28.obj b/objects/objaverse/pear/pear_6/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ab8f553fb21a99abec65ab34abf5ef8f9c11ef2b
--- /dev/null
+++ b/objects/objaverse/pear/pear_6/collision/model_normalized_collision_28.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.21903469 -0.23207094 0.02317681
+v 0.21217549 -0.22268463 -0.37317212
+v 0.19301629 -0.00831819 0.00757577
+v 0.01119810 -0.00831819 0.00757577
+v 0.01119810 -0.20528789 -0.35606060
+v 0.19301629 -0.00831819 -0.35606060
+v 0.01119810 -0.20528789 0.00757577
+v 0.01119810 -0.00831819 -0.35606060
+f 1 3 4
+f 5 2 1
+f 6 1 2
+f 6 3 1
+f 6 4 3
+f 7 5 1
+f 7 1 4
+f 7 4 5
+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/pear/pear_6/collision/model_normalized_collision_29.obj b/objects/objaverse/pear/pear_6/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a768d24fd043de37882f8dc8372b35b7c0e0958
--- /dev/null
+++ b/objects/objaverse/pear/pear_6/collision/model_normalized_collision_29.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.19301629 -0.00831819 -0.23484848
+v 0.19301629 -0.00831819 -0.35606060
+v 0.19301629 0.17350000 -0.35606060
+v 0.01119810 0.17350000 -0.23484848
+v 0.01119810 -0.00831819 -0.35606060
+v 0.19301629 0.17350000 -0.23484848
+v 0.01119810 -0.00831819 -0.23484848
+v 0.01119810 0.17350000 -0.35606060
+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/pear/pear_6/collision/model_normalized_collision_30.obj b/objects/objaverse/pear/pear_6/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f8621d2bfff7a5d5cbfa579f4f89eddf01fd633a
--- /dev/null
+++ b/objects/objaverse/pear/pear_6/collision/model_normalized_collision_30.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.19728756 -0.00956358 0.26829673
+v 0.19301629 -0.00831819 0.00757577
+v 0.19301629 0.15834848 0.00757577
+v 0.02362588 0.19543452 0.29668438
+v 0.02634962 -0.00831819 0.26515153
+v 0.18321430 0.14988515 0.23953602
+v 0.02634962 -0.00831819 0.00757577
+v 0.18214241 0.13380814 0.25354325
+v 0.02634962 0.15834848 0.00757577
+v 0.16599749 0.15168644 0.25465335
+f 1 2 3
+f 5 1 4
+f 6 1 3
+f 6 3 4
+f 7 2 1
+f 7 1 5
+f 7 3 2
+f 7 5 4
+f 8 4 1
+f 8 1 6
+f 9 7 4
+f 9 4 3
+f 9 3 7
+f 10 8 6
+f 10 6 4
+f 10 4 8
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_6/collision/model_normalized_collision_31.obj b/objects/objaverse/pear/pear_6/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c7dc3b12457287c7e1c656d6d75fe6a4edf7d939
--- /dev/null
+++ b/objects/objaverse/pear/pear_6/collision/model_normalized_collision_31.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.02634962 -0.00831819 0.20454547
+v 0.02634962 -0.00831819 0.00757577
+v 0.02634962 0.15834848 0.20454547
+v -0.14123709 0.15891069 0.20514662
+v -0.16561318 -0.01196787 0.21030479
+v 0.02634962 0.15834848 0.00757577
+v -0.15826356 -0.01090748 0.21938080
+v -0.14031706 0.15834848 0.00757577
+v -0.14031706 -0.00831819 0.00757577
+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 7 4 5
+f 8 5 4
+f 8 4 6
+f 8 6 2
+f 9 8 2
+f 9 2 5
+f 9 5 8
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_6/collision/model_normalized_collision_4.obj b/objects/objaverse/pear/pear_6/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..338371ee302fba8f07dfdf7f41870940aad1578d
--- /dev/null
+++ b/objects/objaverse/pear/pear_6/collision/model_normalized_collision_4.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.06900715 -0.32712837 0.00161824
+v 0.31604527 -0.09609154 0.00236910
+v 0.13400633 -0.05586186 0.31162144
+v -0.08586678 -0.00577129 0.30083373
+v -0.14031706 -0.00831819 0.00757577
+v 0.32883863 -0.00828464 0.00740070
+v -0.05851892 -0.24873758 0.12836716
+v 0.19228604 -0.23455772 0.05604569
+v -0.16455981 -0.28454857 0.00105517
+v 0.20777190 -0.00453481 0.25649833
+v 0.03723216 -0.27986428 0.10003092
+v 0.01644956 -0.05678015 0.33956285
+v 0.24169415 -0.22331216 0.00042344
+v 0.29983988 -0.13763372 0.00099132
+v -0.12760595 -0.17616369 0.15745147
+v 0.30961257 -0.04916094 0.04315744
+v 0.31305551 -0.00730993 0.04540557
+v 0.08340621 -0.00324491 0.35717445
+v 0.13516074 -0.21847529 0.12953582
+v -0.06028549 -0.32936103 0.00173255
+v 0.09475609 -0.09716870 0.29793409
+v 0.01407550 -0.14274189 0.25117670
+v 0.16897059 -0.28215257 0.00131852
+v 0.19081872 -0.05766242 0.25080989
+v -0.13019162 -0.24855774 0.08478075
+v -0.15455529 -0.06845368 0.20363384
+v -0.02306253 -0.05703717 0.32462308
+v 0.27960793 -0.07953768 0.08746800
+v -0.12857116 -0.00648291 0.25502175
+v 0.00010134 -0.00715078 0.35485955
+v 0.13818749 -0.00487573 0.32920264
+v 0.15166427 -0.12724203 0.22074153
+v 0.07992277 -0.30801910 0.04093551
+v -0.03304968 -0.27800965 0.10262078
+v 0.08444486 -0.05480377 0.34003432
+v 0.09387371 -0.26380269 0.09906594
+v -0.01211626 -0.09819834 0.29553126
+v 0.05445307 -0.14205444 0.25159763
+v 0.20734043 -0.24924426 0.01319748
+v 0.21128120 -0.25190598 0.00076516
+v 0.23531440 -0.17711925 0.07142726
+v 0.17625533 -0.04240625 0.28276251
+v -0.16495855 -0.27402944 0.01807177
+v -0.11473935 -0.20411157 0.14287218
+v -0.10027383 -0.27838301 0.07002007
+v -0.06581387 -0.05779801 0.29363665
+v 0.29447375 -0.04916390 0.07346681
+v 0.30974394 -0.07930804 0.02822376
+v 0.20553222 -0.04386791 0.24017454
+v 0.29499534 -0.10525975 0.04209435
+v -0.12448642 -0.03282048 0.25044950
+v -0.03793135 -0.00520471 0.34077535
+v 0.05153252 -0.03018859 0.35355033
+v -0.01286306 -0.04505171 0.33593185
+v 0.15010849 -0.23334557 0.09899612
+v 0.12307183 -0.09714381 0.28202371
+v 0.11157901 -0.31236662 0.00171661
+v 0.02356020 -0.32375135 0.03081346
+v 0.12376396 -0.08497344 0.29360968
+v 0.13417969 -0.03365062 0.32395030
+v 0.07968257 -0.21895138 0.15905161
+v 0.08211105 -0.27749744 0.08607608
+v 0.00157048 -0.07009665 0.32384096
+v 0.07922842 -0.12659109 0.26698263
+f 6 2 5
+f 13 1 9
+f 14 9 5
+f 14 5 2
+f 14 13 9
+f 16 2 6
+f 17 6 5
+f 17 16 6
+f 18 17 5
+f 18 10 17
+f 20 9 1
+f 22 21 12
+f 29 18 5
+f 29 4 18
+f 29 5 26
+f 31 10 18
+f 34 11 22
+f 35 12 21
+f 37 22 12
+f 37 34 22
+f 37 7 34
+f 38 22 11
+f 38 21 22
+f 39 13 8
+f 39 8 23
+f 40 23 1
+f 40 1 13
+f 40 39 23
+f 40 13 39
+f 41 8 13
+f 41 13 14
+f 41 32 8
+f 41 24 32
+f 42 32 24
+f 42 10 31
+f 43 25 15
+f 43 15 26
+f 43 26 5
+f 43 5 9
+f 44 25 7
+f 44 15 25
+f 44 7 37
+f 44 37 27
+f 44 27 15
+f 45 9 20
+f 45 20 34
+f 45 34 7
+f 45 7 25
+f 45 43 9
+f 45 25 43
+f 46 26 15
+f 46 15 27
+f 47 10 28
+f 47 17 10
+f 47 16 17
+f 48 2 16
+f 48 47 28
+f 48 16 47
+f 49 28 10
+f 49 24 41
+f 49 42 24
+f 49 10 42
+f 50 14 2
+f 50 48 28
+f 50 2 48
+f 50 41 14
+f 50 49 41
+f 50 28 49
+f 51 29 26
+f 51 4 29
+f 51 46 4
+f 51 26 46
+f 52 30 18
+f 52 18 4
+f 52 46 27
+f 52 4 46
+f 53 30 12
+f 53 18 30
+f 53 35 18
+f 53 12 35
+f 54 27 12
+f 54 12 30
+f 54 52 27
+f 54 30 52
+f 55 8 32
+f 55 19 36
+f 55 23 8
+f 55 36 33
+f 55 33 23
+f 56 55 32
+f 56 19 55
+f 56 36 19
+f 56 21 36
+f 56 32 42
+f 57 33 1
+f 57 1 23
+f 57 23 33
+f 58 20 1
+f 58 1 33
+f 58 33 11
+f 58 34 20
+f 58 11 34
+f 59 35 21
+f 59 3 35
+f 59 21 56
+f 59 56 42
+f 59 42 3
+f 60 31 18
+f 60 18 35
+f 60 35 3
+f 60 42 31
+f 60 3 42
+f 61 36 21
+f 61 21 11
+f 61 11 36
+f 62 36 11
+f 62 11 33
+f 62 33 36
+f 63 37 12
+f 63 12 27
+f 63 27 37
+f 64 38 11
+f 64 11 21
+f 64 21 38
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_6/collision/model_normalized_collision_5.obj b/objects/objaverse/pear/pear_6/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bee73b3f7bd5f88617dadc719d50a528906825e4
--- /dev/null
+++ b/objects/objaverse/pear/pear_6/collision/model_normalized_collision_5.obj
@@ -0,0 +1,171 @@
+# https://github.com/mikedh/trimesh
+v 0.17096114 -0.31474269 -0.10041890
+v 0.33349689 -0.11130919 -0.27786687
+v 0.30068629 -0.12258899 0.01524586
+v 0.19301629 -0.11437880 0.00757577
+v 0.17418444 -0.20173629 -0.42604305
+v 0.33162298 -0.11058766 -0.05496963
+v 0.20886176 -0.23687616 0.03126230
+v 0.19419016 -0.29592765 -0.29017004
+v 0.17164322 -0.28637280 -0.01195274
+v 0.19301629 -0.11437880 -0.34090909
+v 0.29532444 -0.18137470 -0.04226529
+v 0.25191773 -0.20511725 -0.34611203
+v 0.17002621 -0.31365514 -0.27732222
+v 0.16940658 -0.21179029 -0.42198231
+v 0.17488273 -0.27645481 0.00547069
+v 0.30180840 -0.12023789 -0.35374943
+v 0.32795678 -0.12345325 -0.05571740
+v 0.26716423 -0.19295672 -0.00109800
+v 0.29703594 -0.20709822 -0.13116912
+v 0.25240912 -0.23708298 -0.04288457
+v 0.19759208 -0.30828581 -0.21903650
+v 0.16926328 -0.27171494 -0.36317593
+v 0.17979813 -0.20841021 -0.41632826
+v 0.28189674 -0.20524572 -0.29002984
+v 0.32547756 -0.15090902 -0.11629519
+v 0.28443633 -0.17936532 -0.01515213
+v 0.20904255 -0.27873470 -0.05826343
+v 0.28149287 -0.22193047 -0.10204831
+v 0.19687282 -0.26468606 -0.00001565
+v 0.25174951 -0.22214420 -0.01603267
+v 0.18122159 -0.30717230 -0.27581781
+v 0.17030539 -0.29917951 -0.04146946
+v 0.19317851 -0.26422524 -0.34628827
+v 0.17944640 -0.26632543 -0.35853406
+v 0.18410511 -0.19717827 -0.42137547
+v 0.32601129 -0.13952987 -0.27621424
+v 0.23687654 -0.25093934 -0.30102450
+v 0.29649877 -0.20502284 -0.24440912
+v 0.31110047 -0.18157194 -0.11618480
+v 0.19684868 -0.30722282 -0.14711046
+v 0.29684476 -0.19159939 -0.07315379
+v 0.20789815 -0.26312647 -0.01630033
+v 0.18299580 -0.28037407 -0.01462537
+v 0.28267183 -0.19233032 -0.03087655
+v 0.19644048 -0.29247001 -0.07375225
+v 0.32512681 -0.14889942 -0.26064817
+v 0.22320911 -0.26393917 -0.30067499
+v 0.25143203 -0.25048720 -0.25961624
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\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_6/collision/model_normalized_collision_6.obj b/objects/objaverse/pear/pear_6/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..907c79c6d13ddf64a24346c126b8c7ccc0305221
--- /dev/null
+++ b/objects/objaverse/pear/pear_6/collision/model_normalized_collision_6.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v 0.28445962 -0.20576036 -0.28047171
+v 0.34282988 -0.06596217 -0.29220598
+v 0.34293285 -0.11023142 -0.23217592
+v 0.19301629 0.17350000 -0.23484848
+v 0.19301629 0.17350000 -0.34090909
+v 0.31296145 0.18559310 -0.24055031
+v 0.19301629 -0.11437880 -0.23484848
+v 0.31231459 -0.14924457 -0.30342949
+v 0.34478309 0.09403774 -0.23214344
+v 0.28781339 0.17495733 -0.34253661
+v 0.19301629 -0.11437880 -0.34090909
+v 0.32678366 -0.12459322 -0.29153627
+v 0.30125988 -0.18193257 -0.27629916
+v 0.32482716 -0.07845843 -0.33381879
+v 0.32612995 0.06525599 -0.31844530
+v 0.32436400 0.10888091 -0.30248525
+v 0.27785106 -0.20080398 -0.30726626
+v 0.34045062 -0.10959704 -0.24644069
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+v 0.27488613 -0.18346383 -0.33593910
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+v 0.34217214 0.09337735 -0.24664949
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+v 0.28183526 -0.17740903 -0.33142924
+v 0.32566612 -0.02460724 -0.33411338
+v 0.34190570 0.07897536 -0.26090167
+v 0.29482543 -0.17809713 -0.30244643
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+f 29 25 8
+f 29 8 13
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\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_6/collision/model_normalized_collision_7.obj b/objects/objaverse/pear/pear_6/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..79cc7e553c2a0e62f5c0275c368f35c38cd90899
--- /dev/null
+++ b/objects/objaverse/pear/pear_6/collision/model_normalized_collision_7.obj
@@ -0,0 +1,156 @@
+# https://github.com/mikedh/trimesh
+v -0.17062009 -0.19013637 -0.35606060
+v -0.16730051 -0.18541735 -0.47970088
+v -0.17062009 0.17350000 -0.35606060
+v -0.26538830 0.17588803 -0.35813495
+v -0.32447573 -0.09578504 -0.34991962
+v -0.16294213 0.15405122 -0.48270834
+v -0.29329633 -0.18107000 -0.34802010
+v -0.29318456 0.12263624 -0.34923820
+v -0.16634406 0.17102497 -0.47247446
+v -0.22463144 -0.05567961 -0.49100748
+v -0.30897429 0.06427586 -0.34936198
+v -0.25791925 0.10567542 -0.41847477
+v -0.16819913 -0.14041560 -0.49072377
+v -0.27496954 -0.13812964 -0.42021939
+v -0.32531028 -0.02444960 -0.34993896
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+v -0.24391799 0.16238863 -0.40292767
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+v -0.26013661 -0.17846806 -0.40370597
+v -0.28853281 0.06381447 -0.38942050
+v -0.30501599 -0.09482050 -0.39059461
+v -0.28647674 0.10522951 -0.37683180
+v -0.20287328 0.09214007 -0.47616827
+v -0.24461767 0.06374506 -0.44697862
+v -0.18572205 0.16451585 -0.45921727
+v -0.22223250 -0.06742923 -0.49125311
+v -0.21834716 -0.16595825 -0.46019950
+v -0.29007870 -0.14872582 -0.39198836
+v -0.30311801 0.06286817 -0.36153279
+v -0.31889736 -0.09428616 -0.36239714
+v -0.27496798 -0.09601527 -0.43268675
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+v -0.23196569 -0.11196994 -0.47583493
+v -0.23174539 -0.01166825 -0.47584022
+v -0.25938687 -0.01115348 -0.44855876
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+f 53 10 47
+f 53 47 48
+f 53 48 27
+f 53 27 50
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_6/collision/model_normalized_collision_8.obj b/objects/objaverse/pear/pear_6/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e3385bd8c54c37b0417b16a749beaeabde84b0ef
--- /dev/null
+++ b/objects/objaverse/pear/pear_6/collision/model_normalized_collision_8.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v 0.23485009 -0.08232206 0.15684229
+v 0.33032107 -0.00743745 0.00297964
+v 0.20777190 -0.00453481 0.25649833
+v 0.18655666 0.15408271 0.23089185
+v 0.19301629 -0.00831819 0.00757577
+v 0.29494817 0.09200791 0.07505146
+v 0.25133995 -0.01922023 0.16463508
+v 0.19728756 -0.00956358 0.26829673
+v 0.32586473 0.03559589 0.01727260
+v 0.20590711 0.07859643 0.25539238
+v 0.19301629 0.15834848 0.00757577
+v 0.32590001 -0.00716344 0.01670122
+v 0.24065048 -0.07779286 0.15103483
+v 0.22888631 -0.07946207 0.16872932
+v 0.18504022 0.12337289 0.25618432
+v 0.20406162 0.13203784 0.22409020
+v 0.31082464 0.08035882 0.04520304
+v 0.30316454 0.15262020 0.00383856
+v 0.23571206 -0.01944438 0.19549259
+v 0.23484303 -0.07498003 0.16257967
+v 0.21999057 0.09224797 0.22467714
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+v 0.29455323 0.13734499 0.04457878
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+v 0.19334307 0.14855860 0.22576805
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+v 0.27910701 0.12211277 0.08754568
+v 0.29555233 0.14837842 0.02958331
+v 0.33004652 0.03561523 0.00302079
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+v 0.20387025 0.14707846 0.20883178
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+f 15 4 11
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+f 17 6 10
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+f 20 13 3
+f 20 3 14
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+f 24 2 5
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+f 30 23 26
+f 30 26 17
+f 30 17 24
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+f 31 16 23
+f 31 23 28
+f 31 28 4
+f 31 4 25
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_6/collision/model_normalized_collision_9.obj b/objects/objaverse/pear/pear_6/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..80b7ec2b5ac99c2bff64d9e5561b0766c9d56c21
--- /dev/null
+++ b/objects/objaverse/pear/pear_6/collision/model_normalized_collision_9.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.30661207 0.19321774 -0.09149137
+v 0.28300420 0.17901050 -0.34918008
+v 0.18382993 0.32143887 -0.24685749
+v -0.04874335 0.36847975 -0.10103858
+v -0.14031706 0.17350000 -0.09848484
+v -0.13490207 0.32376322 -0.34762676
+v 0.15294692 0.30618716 0.00137680
+v 0.26720784 0.25252779 -0.26152631
+v 0.17786477 0.17350000 -0.35606060
+v 0.09858801 0.32611892 -0.34844652
+v -0.15323188 0.28918115 0.02050492
+v 0.20878860 0.30795792 -0.13134256
+v 0.27414560 0.24230700 -0.26303077
+v -0.14031706 0.17350000 -0.35606060
+v 0.18713168 0.27685347 -0.36408117
+v 0.02372573 0.36770531 -0.26218429
+v -0.13455602 0.35283759 -0.13182695
+v -0.05912369 0.33692860 -0.00139186
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+v -0.08941233 0.33880815 -0.34757195
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+v 0.08195324 0.35278820 -0.28889977
+v -0.13524471 0.35235489 -0.24695381
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+v -0.12982959 0.33690372 -0.06021395
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+v 0.25282174 0.26423128 -0.28951028
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+v 0.03870705 0.36708569 -0.10074471
+v -0.13010340 0.32045577 -0.01679624
+v -0.10467580 0.35007446 -0.07419196
+v -0.01804118 0.35212014 -0.02780703
+v -0.08907681 0.33574483 -0.01712064
+f 9 2 1
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+f 63 18 43
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+f 64 62 30
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\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_6/model.xml b/objects/objaverse/pear/pear_6/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..6f95d7bddf1d0248ce27cc22de196434600f3cb3
--- /dev/null
+++ b/objects/objaverse/pear/pear_6/model.xml
@@ -0,0 +1,81 @@
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