diff --git a/objects/objaverse/apple/apple_3/collision/model_normalized_collision_1.obj b/objects/objaverse/apple/apple_3/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..57603f4cd82ebd6ecc0a2aa263158982bbe1e5f3
--- /dev/null
+++ b/objects/objaverse/apple/apple_3/collision/model_normalized_collision_1.obj
@@ -0,0 +1,123 @@
+# https://github.com/mikedh/trimesh
+v 0.20107723 -0.01003237 0.19872909
+v 0.20256090 -0.01011541 0.00757575
+v 0.20256090 0.17170278 0.00757575
+v -0.20002945 0.16834406 0.18754754
+v -0.35816446 -0.01835002 0.02316998
+v 0.19810361 0.17069640 0.19379590
+v -0.22950279 -0.01001159 0.18744892
+v -0.34172006 0.13455098 0.00180008
+v -0.15632990 0.16696202 0.20312288
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+v -0.31248739 -0.00860754 0.11838256
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+f 42 41 16
+f 42 16 10
+f 42 39 41
+f 42 10 34
+f 42 34 39
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_3/collision/model_normalized_collision_11.obj b/objects/objaverse/apple/apple_3/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ef580fcc80fdc4b434cc40cf1062b7defff06c0
--- /dev/null
+++ b/objects/objaverse/apple/apple_3/collision/model_normalized_collision_11.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v 0.24099160 -0.13440850 -0.39117787
+v 0.19596446 -0.11377594 -0.43418350
+v 0.19308699 0.13729463 -0.42803291
+v 0.11756128 0.18308262 -0.43712250
+v 0.11165181 -0.11617601 -0.35606062
+v 0.10885424 0.04863036 -0.49143224
+v 0.19255031 0.07695489 -0.44347245
+v 0.12456270 -0.12925501 -0.45366290
+v 0.20256090 0.06564217 -0.35606062
+v 0.10550438 0.10513243 -0.47740391
+v 0.19334039 -0.06736665 -0.44424865
+v 0.19818392 0.16736454 -0.41243387
+v 0.11659381 0.04786547 -0.48893826
+v 0.10747297 -0.11219993 -0.46582629
+v 0.11165181 0.06564217 -0.35606062
+v 0.14922623 0.14712026 -0.44201441
+v 0.11843042 0.10379340 -0.47264533
+v 0.17799291 0.00685513 -0.45895565
+v 0.10559203 -0.03600657 -0.49208969
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+v 0.10658799 -0.08040387 -0.47721705
+v 0.11886391 -0.03463809 -0.48728620
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+f 27 19 13
+f 27 13 25
+f 28 20 14
+f 28 14 26
+f 28 26 19
+f 28 19 20
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_3/collision/model_normalized_collision_20.obj b/objects/objaverse/apple/apple_3/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..80697869587b8642186a3a00849472385dde2f77
--- /dev/null
+++ b/objects/objaverse/apple/apple_3/collision/model_normalized_collision_20.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.32304896 0.17136865 -0.23458669
+v 0.31077253 0.16463170 -0.27441171
+v 0.13613425 0.34106129 -0.22867020
+v -0.06862392 0.35598332 -0.22882119
+v -0.17622698 0.17170278 -0.23484850
+v -0.05172043 0.16545347 -0.46595608
+v 0.22292826 0.29706802 -0.22805643
+v 0.03303499 0.26011525 -0.40558926
+v -0.20213647 0.20345306 -0.37235655
+v -0.15528750 0.16452159 -0.43188400
+v 0.29750346 0.22139564 -0.22872075
+v -0.17005416 0.32430547 -0.22798550
+v 0.01850129 0.32039794 -0.31397776
+v 0.17241556 0.24773779 -0.35670478
+v 0.20814226 0.16221733 -0.40741175
+v -0.17304699 0.16775733 -0.42352989
+v 0.31264210 0.19686937 -0.23082374
+v 0.06468055 0.35622642 -0.22880646
+v -0.09221418 0.25938049 -0.38832695
+v 0.09434445 0.29078109 -0.34473057
+v 0.14949550 0.29037489 -0.31260766
+v 0.27717824 0.20116575 -0.30162683
+v 0.06215800 0.16433070 -0.46372364
+v 0.15767842 0.21785843 -0.40256745
+v -0.00723410 0.35047812 -0.25661252
+v -0.10858874 0.30631304 -0.31328884
+v -0.13741252 0.22850692 -0.40306915
+v -0.03894921 0.25053996 -0.41410810
+v 0.07871744 0.31935611 -0.30168270
+v 0.16435767 0.32145811 -0.24161430
+v 0.20480199 0.26239292 -0.31030323
+v 0.11855425 0.31873045 -0.28498041
+v 0.08880641 0.26110470 -0.38941083
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+v 0.29029598 0.20474531 -0.27145127
+v 0.27705204 0.17831631 -0.32639739
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+v -0.05160050 0.20578566 -0.44295707
+v 0.06038340 0.17624338 -0.45777099
+f 5 2 1
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+f 15 2 10
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+f 17 1 2
+f 17 11 5
+f 17 5 1
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+f 18 12 7
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+f 49 30 3
+f 49 3 7
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+f 52 7 51
+f 52 49 7
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+f 53 29 18
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+f 53 48 32
+f 53 3 48
+f 54 33 14
+f 54 14 24
+f 54 24 37
+f 54 37 8
+f 54 8 33
+f 55 35 17
+f 55 17 2
+f 55 2 35
+f 56 37 24
+f 56 23 37
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+f 57 24 15
+f 57 15 38
+f 57 56 24
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+f 58 12 40
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+f 58 43 9
+f 58 9 12
+f 59 41 4
+f 59 4 25
+f 59 25 13
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+f 60 40 4
+f 60 4 41
+f 60 41 26
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+f 61 6 10
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+f 62 43 27
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+f 62 44 61
+f 62 61 16
+f 62 16 42
+f 63 44 28
+f 63 6 44
+f 63 45 6
+f 63 28 45
+f 64 45 37
+f 64 37 23
+f 64 23 45
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_3/collision/model_normalized_collision_23.obj b/objects/objaverse/apple/apple_3/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe94da67640f8c9954a3082f332f8ad4abb42219
--- /dev/null
+++ b/objects/objaverse/apple/apple_3/collision/model_normalized_collision_23.obj
@@ -0,0 +1,105 @@
+# https://github.com/mikedh/trimesh
+v -0.17413741 -0.21987205 -0.38404740
+v -0.16935145 -0.21445624 -0.39389377
+v -0.17622698 0.14139975 -0.34090910
+v -0.29034213 0.13758080 -0.33460598
+v -0.31783763 -0.06914969 -0.33280107
+v -0.16972166 0.09297032 -0.44906287
+v -0.27410388 -0.17274319 -0.33340926
+v -0.17236585 0.13762904 -0.43746633
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+v -0.20315268 -0.20725130 -0.37075569
+v -0.30212641 0.12061734 -0.33161540
+v -0.21414298 0.13795237 -0.41668580
+v -0.17115334 -0.09728911 -0.44905624
+v -0.20828732 -0.14886404 -0.41649155
+v -0.31782559 0.06376371 -0.33261348
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+v -0.19629580 0.06305403 -0.44334907
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+v -0.25414137 -0.03837590 -0.41540481
+v -0.24262934 0.09166706 -0.41303914
+v -0.25526508 0.13488794 -0.37566028
+v -0.28043365 0.09306365 -0.37273456
+v -0.18018537 -0.20957044 -0.38910782
+v -0.23792358 -0.09423376 -0.41594550
+v -0.30421865 -0.11204421 -0.33323672
+v -0.19650891 -0.06686047 -0.44254626
+v -0.31052142 -0.06798866 -0.34196339
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+v -0.18205765 -0.09743330 -0.44391412
+v -0.28012541 -0.02298289 -0.38694366
+v -0.26743919 -0.16945397 -0.34245301
+v -0.26520623 -0.03816506 -0.40229071
+f 1 2 3
+f 6 3 2
+f 7 1 3
+f 8 3 6
+f 10 2 1
+f 10 1 7
+f 11 7 3
+f 11 3 4
+f 11 5 7
+f 12 4 3
+f 13 6 2
+f 14 10 7
+f 15 5 11
+f 16 12 3
+f 16 3 8
+f 17 6 13
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+f 17 16 8
+f 17 8 6
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+f 24 23 18
+f 24 4 23
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+f 24 22 9
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+f 25 10 19
+f 26 7 20
+f 26 20 21
+f 27 20 7
+f 27 7 5
+f 27 5 20
+f 28 21 17
+f 28 17 13
+f 28 26 21
+f 29 21 20
+f 29 20 5
+f 30 15 9
+f 30 9 21
+f 30 5 15
+f 31 22 18
+f 31 12 17
+f 31 17 22
+f 31 23 12
+f 31 18 23
+f 32 26 14
+f 33 13 14
+f 33 14 26
+f 33 28 13
+f 33 26 28
+f 34 29 5
+f 34 30 21
+f 34 5 30
+f 35 32 14
+f 35 14 7
+f 35 7 26
+f 35 26 32
+f 36 34 21
+f 36 21 29
+f 36 29 34
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_3/collision/model_normalized_collision_29.obj b/objects/objaverse/apple/apple_3/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..76fcfa0bfee513f51757f09f117974a6cfec0c24
--- /dev/null
+++ b/objects/objaverse/apple/apple_3/collision/model_normalized_collision_29.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v -0.17622698 0.14139975 -0.23484850
+v -0.17236585 0.13762904 -0.43746633
+v -0.17016586 0.30940845 -0.25841272
+v -0.17470211 0.31974372 -0.23315313
+v -0.33805403 0.13908231 -0.23309098
+v -0.17082981 0.14985494 -0.43290256
+v -0.31379357 0.13360791 -0.30422316
+v -0.22569653 0.29541102 -0.22711574
+v -0.28386746 0.13409671 -0.34400706
+v -0.32996940 0.13521101 -0.26045807
+v -0.32739372 0.16428069 -0.22921968
+v -0.20092508 0.31044781 -0.22861688
+v -0.18405294 0.27530475 -0.31276866
+v -0.21050614 0.15093281 -0.41554044
+v -0.29934627 0.22185666 -0.22806659
+v -0.17042837 0.27897542 -0.31547608
+v -0.18327734 0.30476050 -0.25614459
+v -0.20704297 0.27627982 -0.28529011
+v -0.18377931 0.14913002 -0.42826584
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+v -0.32463925 0.14781020 -0.25852242
+v -0.26801469 0.20280465 -0.31771948
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+v -0.29509926 0.21877659 -0.24110752
+v -0.22431760 0.17151750 -0.38632465
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+f 6 1 2
+f 6 3 1
+f 9 2 1
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+f 11 5 1
+f 11 1 8
+f 12 8 1
+f 12 1 4
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+f 16 3 6
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+f 17 4 3
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+f 20 9 14
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+f 24 12 4
+f 24 4 17
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+f 26 11 15
+f 26 15 21
+f 26 21 5
+f 26 5 11
+f 27 9 7
+f 28 15 8
+f 28 8 22
+f 29 14 9
+f 29 27 22
+f 29 9 27
+f 30 18 13
+f 30 22 8
+f 30 8 18
+f 31 13 16
+f 31 16 23
+f 31 30 13
+f 31 22 30
+f 31 19 14
+f 31 23 6
+f 31 6 19
+f 32 22 27
+f 32 28 22
+f 32 15 28
+f 32 27 7
+f 32 7 15
+f 33 29 22
+f 33 22 31
+f 33 31 14
+f 33 14 29
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_3/collision/model_normalized_collision_31.obj b/objects/objaverse/apple/apple_3/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..74a0e271443f17ff477ee5ed40d596797eb87e99
--- /dev/null
+++ b/objects/objaverse/apple/apple_3/collision/model_normalized_collision_31.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.09393716 -0.24867647 0.19672763
+v 0.18518052 -0.16053943 0.19789950
+v 0.00798354 -0.13989101 0.20961811
+v 0.12723339 -0.05637219 0.20069670
+v 0.10051188 -0.07468332 0.19788722
+v 0.18305382 -0.05615746 0.20306515
+v 0.13840289 -0.21792430 0.20006376
+v 0.00596110 -0.13265159 0.20298709
+v 0.10560357 -0.07983536 0.20402059
+v 0.18670271 -0.05565744 0.20202721
+v 0.17006028 -0.19085777 0.19799275
+v 0.00522045 -0.24642304 0.20365945
+v 0.16532038 -0.18863535 0.19999394
+v 0.00552610 -0.25146555 0.20172920
+v 0.12883676 -0.05936308 0.20149928
+v 0.18072092 -0.15835626 0.19975355
+v 0.14070066 -0.22010190 0.19916976
+v 0.09026205 -0.24313732 0.20066972
+f 5 2 1
+f 8 3 4
+f 8 4 5
+f 9 3 6
+f 10 5 4
+f 10 4 6
+f 10 2 5
+f 11 1 2
+f 12 3 8
+f 13 6 3
+f 13 3 7
+f 13 11 2
+f 14 8 5
+f 14 5 1
+f 14 12 8
+f 15 9 6
+f 15 6 4
+f 15 4 3
+f 15 3 9
+f 16 10 6
+f 16 2 10
+f 16 13 2
+f 16 6 13
+f 17 1 11
+f 17 13 7
+f 17 11 13
+f 18 7 3
+f 18 3 12
+f 18 17 7
+f 18 1 17
+f 18 14 1
+f 18 12 14
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_3/collision/model_normalized_collision_4.obj b/objects/objaverse/apple/apple_3/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cb0c7ce7b7ae30b4e132306bd752a08951f81546
--- /dev/null
+++ b/objects/objaverse/apple/apple_3/collision/model_normalized_collision_4.obj
@@ -0,0 +1,186 @@
+# https://github.com/mikedh/trimesh
+v 0.12049351 -0.37079475 -0.01242430
+v 0.27504041 -0.23368154 -0.24266118
+v 0.28508185 -0.24103457 0.01493637
+v -0.17622698 -0.22223662 0.00757575
+v -0.22297826 -0.29941071 -0.22558277
+v -0.16757010 -0.33940130 0.00582553
+v 0.22375645 -0.32462810 -0.12676884
+v -0.17622698 -0.22223662 -0.23484850
+v 0.07958245 -0.37098276 0.00315312
+v -0.25135190 -0.28222158 -0.18919454
+v 0.24684489 -0.29884905 -0.15584305
+v 0.22460842 -0.32578032 -0.02611306
+v 0.06365498 -0.35557221 -0.22967162
+v 0.20952213 -0.32594912 0.00350346
+v -0.21538807 -0.31464590 -0.18574842
+v -0.24425705 -0.27518198 -0.22968053
+v 0.13294186 -0.37002426 -0.11142986
+v 0.24565151 -0.29812147 -0.01345874
+v 0.22073086 -0.30094353 -0.22666587
+v -0.02198661 -0.38714969 -0.09745393
+v 0.14859769 -0.35439856 0.00224592
+v 0.19389368 -0.34001988 -0.02552966
+v -0.24414215 -0.29029509 -0.18692213
+v -0.23794494 -0.28408840 -0.22591646
+v -0.12391207 -0.34315758 -0.23029601
+v 0.23142085 -0.31468191 -0.01225938
+v 0.23126864 -0.31225392 -0.16822177
+v 0.12076779 -0.35729792 -0.19911002
+v 0.13377332 -0.34113658 -0.22895749
+v -0.05199959 -0.37024683 0.00275213
+v -0.11282876 -0.37158290 -0.11258012
+v 0.03394030 -0.38647836 -0.06940704
+v 0.13341429 -0.37054329 -0.05454282
+v -0.16764683 -0.32420036 -0.22869556
+v -0.02221008 -0.37020558 -0.19920322
+v -0.06771472 -0.35542845 -0.22961322
+v 0.24967296 -0.28692281 0.00376724
+v 0.25030851 -0.27044831 -0.22638768
+v 0.14784113 -0.35472504 -0.16836219
+v 0.16267978 -0.33815555 -0.19764888
+v -0.15363258 -0.35530001 -0.09588126
+v -0.13730250 -0.35505073 -0.16924840
+v -0.11169669 -0.37071635 -0.05482420
+v 0.01894739 -0.38679881 -0.05447522
+v 0.01853150 -0.38662907 -0.11202425
+v 0.03389741 -0.38635575 -0.09644175
+v -0.21248222 -0.30834274 -0.21436822
+v -0.09794750 -0.37102467 -0.15745251
+v 0.01817937 -0.37057306 -0.19932568
+v 0.24787802 -0.28334752 -0.19904892
+v 0.22330584 -0.30866909 -0.19847936
+v 0.12342180 -0.37101162 -0.14186867
+v -0.15343682 -0.35469077 -0.07215417
+v -0.12176109 -0.35346724 -0.19856560
+v -0.16802975 -0.34081940 -0.16949413
+v -0.12455590 -0.35561669 0.00269361
+v -0.00684223 -0.38767733 -0.05437532
+v -0.00729044 -0.38796295 -0.11216171
+v -0.08274607 -0.37037439 -0.16908591
+v 0.09421659 -0.37017289 -0.16837001
+v 0.19326400 -0.33938819 -0.12672685
+v -0.08215767 -0.36935002 -0.01263125
+v -0.02178991 -0.38644915 -0.06962770
+f 3 2 4
+f 6 3 4
+f 8 4 2
+f 9 3 6
+f 10 6 4
+f 11 2 3
+f 12 7 11
+f 16 10 4
+f 16 4 8
+f 17 7 12
+f 18 12 11
+f 18 11 3
+f 21 9 1
+f 21 14 3
+f 21 3 9
+f 22 12 14
+f 22 21 1
+f 22 14 21
+f 23 5 15
+f 23 15 6
+f 23 6 10
+f 24 16 5
+f 24 10 16
+f 24 23 10
+f 24 5 23
+f 25 16 8
+f 25 8 2
+f 26 14 12
+f 26 12 18
+f 26 18 3
+f 27 11 7
+f 29 13 2
+f 29 2 19
+f 29 28 13
+f 30 9 6
+f 33 17 12
+f 33 12 22
+f 33 22 1
+f 33 1 32
+f 34 5 16
+f 34 16 25
+f 36 25 2
+f 36 2 13
+f 37 26 3
+f 37 3 14
+f 37 14 26
+f 38 27 19
+f 38 19 2
+f 39 27 7
+f 40 29 19
+f 40 28 29
+f 40 39 28
+f 40 19 39
+f 42 31 41
+f 43 41 31
+f 43 31 20
+f 44 32 1
+f 44 1 9
+f 46 33 32
+f 46 17 33
+f 47 15 5
+f 47 5 34
+f 48 20 31
+f 48 31 42
+f 49 36 13
+f 49 35 36
+f 50 38 2
+f 50 2 11
+f 50 11 27
+f 50 27 38
+f 51 39 19
+f 51 19 27
+f 51 27 39
+f 52 39 7
+f 52 28 39
+f 52 46 45
+f 52 17 46
+f 53 6 15
+f 53 15 41
+f 53 43 6
+f 53 41 43
+f 54 34 25
+f 54 48 42
+f 54 25 36
+f 54 36 48
+f 54 47 34
+f 54 42 47
+f 55 42 41
+f 55 41 15
+f 55 47 42
+f 55 15 47
+f 56 30 6
+f 56 6 43
+f 57 44 9
+f 57 9 30
+f 57 32 44
+f 58 49 45
+f 58 35 49
+f 58 20 48
+f 58 57 20
+f 58 45 46
+f 58 46 32
+f 58 32 57
+f 59 48 36
+f 59 36 35
+f 59 58 48
+f 59 35 58
+f 60 49 13
+f 60 13 28
+f 60 28 52
+f 60 52 45
+f 60 45 49
+f 61 52 7
+f 61 7 17
+f 61 17 52
+f 62 56 43
+f 62 30 56
+f 62 57 30
+f 62 43 57
+f 63 57 43
+f 63 43 20
+f 63 20 57
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_3/collision/model_normalized_collision_5.obj b/objects/objaverse/apple/apple_3/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ac384ebb2d394fdd543e96272ab761d9d930066
--- /dev/null
+++ b/objects/objaverse/apple/apple_3/collision/model_normalized_collision_5.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v 0.30829530 -0.21606701 0.00316821
+v 0.35374727 -0.10803593 -0.22870017
+v 0.35556636 0.07878007 0.00331070
+v 0.20256090 0.08079369 0.00757575
+v 0.24009227 -0.25841343 -0.25954401
+v 0.20256090 0.08079369 -0.23484850
+v 0.33841159 -0.11610143 0.03772989
+v 0.30945554 -0.20847274 -0.22728700
+v 0.20256090 -0.22223662 0.00757575
+v 0.35657900 0.07868140 -0.23033935
+v 0.35045388 -0.13856935 -0.05540600
+v 0.32054384 -0.21419656 -0.11307824
+v 0.33355750 -0.12913744 0.03626684
+v 0.36709013 -0.08316656 -0.08356017
+v 0.36659479 -0.02263299 -0.22860318
+v 0.35061085 -0.12373074 -0.01316714
+v 0.32031127 -0.21466109 -0.07006680
+v 0.33517101 -0.16807890 -0.18619442
+v 0.34996868 -0.13814553 -0.17186690
+v 0.36694287 -0.08321502 -0.15722740
+v 0.36599795 0.07815652 -0.05566004
+v 0.36513425 -0.02180611 0.00099759
+v 0.31982177 -0.19928997 -0.01331312
+v 0.32098771 -0.19882766 -0.18635828
+v 0.35084285 -0.12286390 -0.21658551
+v 0.36608641 -0.06800615 -0.18755723
+v 0.36606086 0.07802074 -0.17238231
+v 0.36597315 -0.05254310 -0.02508495
+v 0.36516177 0.01735505 0.00157608
+v 0.33461705 -0.15306194 -0.22599441
+v 0.36621777 0.04769165 -0.21781866
+v 0.36518431 0.03213366 -0.22800567
+f 6 4 3
+f 7 3 4
+f 8 5 2
+f 9 5 1
+f 9 6 5
+f 9 4 6
+f 9 7 4
+f 10 6 3
+f 10 5 6
+f 12 5 8
+f 13 9 1
+f 13 1 7
+f 13 7 9
+f 15 2 5
+f 15 5 10
+f 16 7 1
+f 16 11 14
+f 17 1 5
+f 17 5 12
+f 17 12 11
+f 19 11 12
+f 19 12 18
+f 20 15 14
+f 20 14 11
+f 20 11 19
+f 21 10 3
+f 22 7 16
+f 23 16 1
+f 23 1 17
+f 23 17 11
+f 23 11 16
+f 24 18 12
+f 24 12 8
+f 25 19 18
+f 25 20 19
+f 25 2 20
+f 25 24 8
+f 25 18 24
+f 26 20 2
+f 26 2 15
+f 26 15 20
+f 27 10 21
+f 27 21 14
+f 28 22 16
+f 28 16 14
+f 28 14 21
+f 29 3 7
+f 29 7 22
+f 29 21 3
+f 29 28 21
+f 29 22 28
+f 30 25 8
+f 30 8 2
+f 30 2 25
+f 31 10 27
+f 31 27 14
+f 31 14 15
+f 32 31 15
+f 32 15 10
+f 32 10 31
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_3/collision/model_normalized_collision_6.obj b/objects/objaverse/apple/apple_3/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae4335e64345f3f9e6b137ce3a5a103e98017224
--- /dev/null
+++ b/objects/objaverse/apple/apple_3/collision/model_normalized_collision_6.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.20256090 0.06564217 -0.35606062
+v 0.21204438 0.06799727 -0.43405226
+v 0.21695926 0.18884470 -0.37329611
+v -0.20096042 0.19677972 -0.38030026
+v -0.19166279 0.06954574 -0.44497988
+v -0.17622698 0.06564217 -0.35606062
+v -0.02156369 0.16121776 -0.47475434
+v -0.06919851 0.06445101 -0.49456809
+v 0.08877881 0.13215861 -0.47272223
+v -0.17727846 0.17300736 -0.41940724
+v 0.09434085 0.06405387 -0.49198344
+v 0.09074815 0.16062590 -0.45736151
+v 0.19818392 0.16736454 -0.41243387
+v -0.06594797 0.16370075 -0.46278214
+v -0.06828136 0.10936327 -0.49043648
+v 0.04859453 0.12223516 -0.49089651
+v 0.03237161 0.16037475 -0.47321906
+v 0.09396341 0.07898889 -0.49051437
+v 0.10453141 0.14802950 -0.45910442
+v -0.05192777 0.12073359 -0.49073558
+v 0.10364625 0.11848118 -0.47286387
+v -0.06462771 0.14577755 -0.47311726
+f 1 2 3
+f 6 1 3
+f 6 3 4
+f 6 4 5
+f 7 4 3
+f 8 6 5
+f 10 5 4
+f 11 2 1
+f 11 1 6
+f 11 6 8
+f 13 3 2
+f 13 12 3
+f 14 10 4
+f 14 4 7
+f 15 8 5
+f 15 5 10
+f 16 12 9
+f 16 11 8
+f 17 7 3
+f 17 3 12
+f 17 16 7
+f 17 12 16
+f 18 11 16
+f 18 13 2
+f 18 2 11
+f 19 13 9
+f 19 9 12
+f 19 12 13
+f 20 15 10
+f 20 14 7
+f 20 7 16
+f 20 16 8
+f 20 8 15
+f 21 9 13
+f 21 13 18
+f 21 18 16
+f 21 16 9
+f 22 20 10
+f 22 10 14
+f 22 14 20
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_3/collision/model_normalized_collision_7.obj b/objects/objaverse/apple/apple_3/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e4896c5ed21daf8847a0d84b57b069c1ba666287
--- /dev/null
+++ b/objects/objaverse/apple/apple_3/collision/model_normalized_collision_7.obj
@@ -0,0 +1,180 @@
+# https://github.com/mikedh/trimesh
+v -0.17063681 -0.32730694 0.04552477
+v -0.16992168 -0.22894855 -0.37858471
+v -0.20308353 -0.21601889 0.15966045
+v -0.28329966 -0.18577643 0.09146089
+v -0.31032631 -0.22410805 -0.17050420
+v -0.17622698 -0.17678208 -0.23484850
+v -0.21447172 -0.31384786 0.04149566
+v -0.27250451 -0.18762570 0.10725259
+v -0.31661029 -0.17169185 -0.24486571
+v -0.16919940 -0.29858163 0.08945808
+v -0.30947896 -0.22932023 -0.05516742
+v -0.19730408 -0.32343650 -0.18404976
+v -0.19969815 -0.27854186 0.10640455
+v -0.28048408 -0.22349237 0.05798003
+v -0.29737013 -0.16982224 -0.28843447
+v -0.16999510 -0.34484444 -0.12793795
+v -0.17237383 -0.28681635 0.10949030
+v -0.33035973 -0.18632435 -0.06978582
+v -0.22930308 -0.32478111 -0.09585080
+v -0.26672552 -0.20684823 0.10009067
+v -0.29617110 -0.23657244 -0.01359887
+v -0.23040609 -0.17065630 -0.37900945
+v -0.29769235 -0.22269226 -0.22758811
+v -0.17055940 -0.34445773 -0.05597764
+v -0.16972169 -0.26802971 -0.32974058
+v -0.32979980 -0.18605227 -0.15746435
+v -0.31335554 -0.18543249 0.01820831
+v -0.26572761 -0.28377798 -0.09765094
+v -0.27842343 -0.19875695 0.08970856
+v -0.25111979 -0.26975173 0.04377301
+v -0.22843223 -0.32465011 -0.07221919
+v -0.28389138 -0.16944117 -0.32035039
+v -0.18863446 -0.18860810 -0.40056120
+v -0.31177965 -0.19978598 -0.22748618
+v -0.22505969 -0.31057090 -0.18431140
+v -0.19791278 -0.32433771 0.02098506
+v -0.17021229 -0.31522386 -0.24274594
+v -0.32152530 -0.17393932 -0.23198113
+v -0.32420856 -0.19869239 -0.15676978
+v -0.29746868 -0.18531075 0.06120260
+v -0.29556322 -0.22566607 0.01697094
+v -0.31001768 -0.21436886 -0.01289904
+v -0.21911138 -0.31457562 0.02065871
+v -0.26547833 -0.28338864 -0.07053445
+v -0.26756153 -0.19097768 -0.32926323
+v -0.23569576 -0.31317288 -0.12635773
+v -0.28073383 -0.25221041 -0.18541726
+v -0.18442829 -0.32337978 0.04369874
+v -0.21444688 -0.29613271 -0.24129715
+v -0.32478651 -0.19898171 -0.07049904
+v -0.29274509 -0.19839350 0.05902253
+v -0.25069950 -0.29728426 -0.05772692
+v -0.29485861 -0.20854984 -0.25548462
+v -0.18321414 -0.26425191 -0.32689224
+v -0.25359869 -0.19176615 -0.34105470
+v -0.25288179 -0.26873937 -0.22633437
+v -0.18325327 -0.31063647 -0.24020051
+v -0.25251886 -0.20602493 -0.32747262
+v -0.17016220 -0.25531685 -0.34600173
+v -0.22081971 -0.28211930 -0.25444221
+v -0.20557486 -0.26687526 -0.29983434
+f 8 6 4
+f 8 3 6
+f 10 2 6
+f 15 9 4
+f 15 4 6
+f 17 10 6
+f 17 6 3
+f 17 3 13
+f 17 1 10
+f 17 13 7
+f 17 7 1
+f 19 12 16
+f 20 13 3
+f 20 3 8
+f 20 7 13
+f 24 16 10
+f 24 10 1
+f 24 19 16
+f 25 2 10
+f 25 10 16
+f 28 11 5
+f 28 5 19
+f 29 20 8
+f 29 8 4
+f 29 14 20
+f 30 20 14
+f 30 7 20
+f 30 21 7
+f 31 19 24
+f 32 15 6
+f 32 6 22
+f 32 9 15
+f 33 22 6
+f 33 6 2
+f 34 23 5
+f 35 12 19
+f 36 24 1
+f 36 31 24
+f 36 7 31
+f 37 25 16
+f 37 16 12
+f 38 26 18
+f 38 34 26
+f 38 9 32
+f 38 32 34
+f 38 27 9
+f 38 18 27
+f 39 5 11
+f 39 34 5
+f 39 26 34
+f 40 4 9
+f 40 9 27
+f 41 30 14
+f 41 21 30
+f 42 27 18
+f 42 18 11
+f 42 41 27
+f 42 11 21
+f 42 21 41
+f 43 31 7
+f 43 7 21
+f 44 21 11
+f 44 11 28
+f 44 28 19
+f 44 19 31
+f 45 32 22
+f 46 35 19
+f 46 19 5
+f 47 5 23
+f 47 23 35
+f 47 46 5
+f 47 35 46
+f 48 36 1
+f 48 1 7
+f 48 7 36
+f 49 12 35
+f 50 39 11
+f 50 11 18
+f 50 18 26
+f 50 26 39
+f 51 14 29
+f 51 29 4
+f 51 4 40
+f 51 41 14
+f 51 40 27
+f 51 27 41
+f 52 43 21
+f 52 21 44
+f 52 44 31
+f 52 31 43
+f 53 34 32
+f 53 32 45
+f 53 23 34
+f 54 25 37
+f 54 37 49
+f 55 33 2
+f 55 2 45
+f 55 45 22
+f 55 22 33
+f 56 49 35
+f 56 35 23
+f 56 53 45
+f 56 23 53
+f 57 49 37
+f 57 37 12
+f 57 12 49
+f 58 45 2
+f 58 2 54
+f 59 54 2
+f 59 2 25
+f 59 25 54
+f 60 56 45
+f 60 49 56
+f 60 45 58
+f 61 60 58
+f 61 58 54
+f 61 54 49
+f 61 49 60
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_3/model.xml b/objects/objaverse/apple/apple_3/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..2ec1a42ef387257db6dfcb85907607262ef9beb8
--- /dev/null
+++ b/objects/objaverse/apple/apple_3/model.xml
@@ -0,0 +1,81 @@
+<mujoco model="apple_47">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.08000000000000002 0.08000000000000002 0.08000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.08000000000000002 0.08000000000000002 0.08000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.08000000000000002 0.08000000000000002 0.08000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.08000000000000002 0.08000000000000002 0.08000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.08000000000000002 0.08000000000000002 0.08000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.08000000000000002 0.08000000000000002 0.08000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.08000000000000002 0.08000000000000002 0.08000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.08000000000000002 0.08000000000000002 0.08000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.08000000000000002 0.08000000000000002 0.08000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.08000000000000002 0.08000000000000002 0.08000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.08000000000000002 0.08000000000000002 0.08000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.08000000000000002 0.08000000000000002 0.08000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.08000000000000002 0.08000000000000002 0.08000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.08000000000000002 0.08000000000000002 0.08000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.08000000000000002 0.08000000000000002 0.08000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.08000000000000002 0.08000000000000002 0.08000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.08000000000000002 0.08000000000000002 0.08000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.08000000000000002 0.08000000000000002 0.08000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.08000000000000002 0.08000000000000002 0.08000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.08000000000000002 0.08000000000000002 0.08000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.08000000000000002 0.08000000000000002 0.08000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.08000000000000002 0.08000000000000002 0.08000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.08000000000000002 0.08000000000000002 0.08000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.08000000000000002 0.08000000000000002 0.08000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.08000000000000002 0.08000000000000002 0.08000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.08000000000000002 0.08000000000000002 0.08000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.08000000000000002 0.08000000000000002 0.08000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.08000000000000002 0.08000000000000002 0.08000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.08000000000000002 0.08000000000000002 0.08000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.08000000000000002 0.08000000000000002 0.08000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.08000000000000002 0.08000000000000002 0.08000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.08000000000000002 0.08000000000000002 0.08000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.08000000000000002 0.08000000000000002 0.08000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="DefaultMaterial.020" 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="DefaultMaterial.020"/>
+        <geom solimp="0.998 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="-0.0001956523999999993 -0.00023022519999999828 -0.039565447200000006" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="-0.0001956523999999993 -0.00023022519999999828 0.03976992000000001" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.029367210400000007 0.030576585600000008 0.0001022363999999998" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/objects/objaverse/apple/apple_8/collision/model_normalized_collision_0.obj b/objects/objaverse/apple/apple_8/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7426ef76c790cf108087920fc6c76d3ac4d2f08f
--- /dev/null
+++ b/objects/objaverse/apple/apple_8/collision/model_normalized_collision_0.obj
@@ -0,0 +1,132 @@
+# https://github.com/mikedh/trimesh
+v 0.22491720 -0.23566197 0.27771323
+v 0.36041082 -0.14754399 -0.10515637
+v 0.35244599 0.07703666 0.20746900
+v 0.21711137 0.07391989 0.18939394
+v 0.21711137 -0.13820132 -0.09848485
+v 0.37764287 0.07282990 -0.09739952
+v 0.25842512 -0.01716682 0.32098621
+v 0.36499905 -0.13362282 0.13790494
+v 0.21711137 -0.22911041 0.14393939
+v 0.21711137 0.07391989 -0.09848485
+v 0.21711137 -0.01698920 0.26515152
+v 0.32155347 -0.23626716 0.14904335
+v 0.29253773 -0.14690173 0.27934423
+v 0.38251362 0.07108770 0.11199061
+v 0.37199368 -0.13523118 -0.03661609
+v 0.25519482 -0.11983098 0.31582327
+v 0.35035196 -0.13383281 0.18358672
+v 0.29357968 -0.22023885 0.22385787
+v 0.33651026 -0.01660143 0.23948120
+v 0.38172950 -0.01602294 0.13835501
+v 0.38180901 -0.10494397 0.06647310
+v 0.38447870 -0.01597025 -0.09591359
+v 0.26530774 -0.11763071 0.30903256
+v 0.26636277 -0.16154890 0.29399753
+v 0.28928028 -0.17535839 0.26749226
+v 0.26707271 -0.01744580 0.31349185
+v 0.33578812 -0.11903642 0.22380904
+v 0.38131184 -0.07484225 0.12309904
+v 0.36694467 -0.01620167 0.18404002
+v 0.38226177 -0.08972874 -0.03611544
+v 0.38035293 0.07060354 -0.08133547
+v 0.25591005 -0.16275001 0.29979171
+v 0.28188843 -0.17439578 0.27763702
+v 0.32041153 -0.10383383 0.25397159
+v 0.30467973 -0.13371641 0.26877746
+v 0.36398871 -0.11822498 0.15273180
+v 0.33523595 -0.06050280 0.23873027
+v 0.36565977 -0.04644458 0.18363135
+v 0.38149647 -0.10473458 -0.00685339
+v 0.38106757 0.05567179 -0.09526257
+v 0.26751800 -0.22011906 0.25628857
+v 0.25561964 -0.19294944 0.28418317
+v 0.38018183 -0.04641514 0.13797660
+v 0.36457871 -0.09000736 0.16823823
+v 0.26728338 -0.19000813 0.27852374
+f 7 3 4
+f 9 5 2
+f 9 4 5
+f 10 4 3
+f 10 3 6
+f 10 5 4
+f 10 6 2
+f 10 2 5
+f 11 7 4
+f 11 1 7
+f 11 9 1
+f 11 4 9
+f 12 9 2
+f 12 1 9
+f 14 6 3
+f 15 12 2
+f 16 7 1
+f 17 12 8
+f 18 1 12
+f 18 12 17
+f 20 14 3
+f 21 8 12
+f 21 12 15
+f 22 2 6
+f 22 14 20
+f 22 20 21
+f 23 16 13
+f 23 7 16
+f 24 13 16
+f 26 19 3
+f 26 3 7
+f 26 7 23
+f 27 25 18
+f 27 18 17
+f 28 21 20
+f 28 8 21
+f 29 20 3
+f 29 3 19
+f 30 15 2
+f 30 2 22
+f 30 22 21
+f 31 6 14
+f 32 24 16
+f 32 16 1
+f 33 25 13
+f 33 13 24
+f 33 18 25
+f 34 19 26
+f 35 13 25
+f 35 25 27
+f 35 27 34
+f 35 23 13
+f 35 34 26
+f 35 26 23
+f 36 17 8
+f 36 8 28
+f 37 29 19
+f 37 34 27
+f 37 19 34
+f 38 27 17
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+f 38 37 27
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+f 39 30 21
+f 39 21 15
+f 39 15 30
+f 40 22 6
+f 40 6 31
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+f 40 14 22
+f 41 1 18
+f 41 18 33
+f 42 32 1
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+f 43 38 28
+f 43 28 20
+f 43 20 38
+f 44 36 28
+f 44 28 38
+f 44 38 17
+f 44 17 36
+f 45 41 33
+f 45 1 41
+f 45 42 1
+f 45 33 24
+f 45 24 42
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_8/collision/model_normalized_collision_10.obj b/objects/objaverse/apple/apple_8/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b85dd9a81dcb7d7d6d43dd7d0aa7d855998bb2f4
--- /dev/null
+++ b/objects/objaverse/apple/apple_8/collision/model_normalized_collision_10.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.27456506 -0.20846407 0.25866265
+v -0.29486395 -0.22025440 -0.23969958
+v -0.28288863 0.11937444 0.11363636
+v -0.32674926 0.20259427 0.17922009
+v -0.38562522 -0.07434645 0.08144463
+v -0.32525327 0.12969480 -0.25103172
+v -0.29999863 -0.01617747 0.28480210
+v -0.34140957 -0.20690131 0.13799389
+v -0.31754538 0.19780482 0.20784695
+v -0.38646068 0.07073889 -0.02199487
+v -0.35466053 -0.19214208 -0.03573330
+v -0.35504883 -0.09007163 0.19868212
+v -0.38674208 0.05571629 0.09670220
+v -0.36977560 0.11456406 -0.09504980
+v -0.37106791 -0.14887722 0.06636195
+v -0.34002615 -0.20578431 -0.10998883
+v -0.38658155 -0.01574371 -0.08144745
+v -0.36889983 -0.11816157 0.13749670
+v -0.35509657 0.08640232 0.19870369
+v -0.32462485 -0.16131375 0.22244298
+v -0.36581543 0.14768861 0.11282528
+v -0.38667312 -0.01601030 0.12312971
+v -0.35550327 -0.19236611 0.08139630
+v -0.36959108 -0.11819313 -0.09501674
+v -0.38663687 0.01207227 -0.08145541
+v -0.35438847 -0.05942544 -0.21220158
+v -0.37030256 -0.13355503 0.11175366
+v -0.32694008 -0.01684690 0.25506025
+v -0.32761340 0.12918263 0.23212391
+v -0.33817230 0.15734881 0.19765314
+v -0.32609687 -0.20478012 0.18304886
+v -0.31010933 -0.14640459 0.25316413
+v -0.38567816 0.07068074 0.08144142
+v -0.36894484 0.11449688 0.13752339
+v -0.38668300 0.01233537 0.12313548
+v -0.36936278 -0.08995212 0.15296564
+v -0.38669631 -0.05938328 0.09670564
+v -0.37063815 -0.14873524 -0.00680533
+v -0.35484983 -0.17703527 -0.08122446
+v -0.38628384 0.05558765 -0.05111414
+v -0.35449521 0.05576668 -0.21224281
+v -0.34094136 -0.10384851 -0.22789604
+v -0.37135802 -0.04613064 -0.15473649
+v -0.35606098 -0.17738192 0.12595646
+v -0.37051176 -0.04642965 0.16837831
+v -0.32629335 0.18884748 0.19875481
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+v -0.32556520 -0.06090084 0.25437938
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\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_8/collision/model_normalized_collision_12.obj b/objects/objaverse/apple/apple_8/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..335ce0f0a108b2de9fc8dbf86a28af462f752635
--- /dev/null
+++ b/objects/objaverse/apple/apple_8/collision/model_normalized_collision_12.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.09306461 -0.39295963 0.13817016
+v 0.19621000 -0.35576934 -0.10263866
+v 0.19506486 -0.35262290 0.15028629
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+v -0.19025189 -0.34667077 0.17291433
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+v -0.06762112 -0.40764950 0.06634561
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+v -0.08866789 -0.35383251 -0.24299338
+v -0.21746004 -0.34241996 -0.11192856
+v -0.09801550 -0.39226636 0.13786403
+v -0.12546694 -0.39239255 -0.03575922
+v 0.17924109 -0.36439601 0.13811855
+v 0.13534743 -0.39197201 0.06617899
+v 0.10488936 -0.37607272 -0.16900555
+v 0.04941680 -0.37760550 -0.19985137
+v -0.08314423 -0.36178924 -0.22662729
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+v -0.16829617 -0.37711889 0.09639648
+v -0.15585508 -0.37750816 -0.08124431
+v -0.02443128 -0.40920192 -0.03599794
+v 0.15059203 -0.37694797 0.13754697
+v 0.12017812 -0.39197302 0.11162044
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+v 0.10576836 -0.36354429 -0.21233512
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+v -0.05266698 -0.37713945 -0.19966717
+v -0.00934057 -0.40928949 0.09686505
+v -0.15534307 -0.37561010 0.13709277
+v -0.23324837 -0.34355936 0.09766296
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\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_8/collision/model_normalized_collision_13.obj b/objects/objaverse/apple/apple_8/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af82729464658a43c024b7e75db18988882b88f4
--- /dev/null
+++ b/objects/objaverse/apple/apple_8/collision/model_normalized_collision_13.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v 0.36776505 -0.14944059 -0.04265695
+v 0.36509411 -0.10334079 -0.14057593
+v 0.37764287 0.07282990 -0.09739952
+v 0.21711137 0.07391989 -0.09848485
+v 0.21711137 -0.13820132 -0.23484848
+v 0.39130032 -0.01643378 -0.03706830
+v 0.33404957 -0.13346913 -0.22742799
+v 0.21711137 -0.13820132 -0.09848485
+v 0.21711137 0.07391989 -0.23484848
+v 0.32317197 -0.01698920 -0.03787879
+v 0.38072636 -0.08945072 -0.05110452
+v 0.36581200 -0.01588575 -0.18487732
+v 0.35085561 -0.13378271 -0.16982518
+v 0.34449827 0.07252394 -0.23138189
+v 0.37199368 -0.13523118 -0.03661609
+v 0.38093698 -0.05924713 -0.09530192
+v 0.38350288 0.02737760 -0.09573996
+v 0.34960833 -0.08978929 -0.21235260
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+v 0.38226177 -0.08972874 -0.03611544
+v 0.36595957 -0.05952081 -0.16977343
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+v 0.36608079 0.05586533 -0.16980383
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+v 0.35005665 0.04258380 -0.22762231
+v 0.36585835 0.01221324 -0.18488898
+v 0.35172321 0.07129129 -0.21316932
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\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_8/collision/model_normalized_collision_14.obj b/objects/objaverse/apple/apple_8/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e371ddca2d07e963a2ca66ce92ce5d2b740a48d
--- /dev/null
+++ b/objects/objaverse/apple/apple_8/collision/model_normalized_collision_14.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v 0.17215245 -0.19915333 0.32690647
+v 0.25637543 -0.10673527 0.31817292
+v 0.15301040 0.02908336 0.36977916
+v 0.13788211 0.20407199 0.33891372
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+v 0.16741664 -0.11833246 0.35881607
+v 0.19712302 -0.19370062 0.31712216
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+v 0.19385629 -0.10398980 0.35289898
+v 0.16703310 -0.19557994 0.33019093
+v 0.14440567 0.03023016 0.37018601
+v 0.22690279 -0.16387027 0.31704858
+v 0.25842512 -0.01716682 0.32098621
+v 0.20781773 0.17001126 0.32344100
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+f 32 26 12
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\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_8/collision/model_normalized_collision_15.obj b/objects/objaverse/apple/apple_8/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..028d90ae0de8b1d35b0c16eb6f1a58cbb6df7173
--- /dev/null
+++ b/objects/objaverse/apple/apple_8/collision/model_normalized_collision_15.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.32110187 0.16408605 -0.23405208
+v 0.30700806 0.15919756 -0.27121540
+v 0.16507427 0.33253824 -0.22877701
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+v -0.32222297 0.16263251 -0.23249393
+v 0.09477960 0.15736950 -0.48172886
+v 0.25917927 0.25666580 -0.25671273
+v 0.31285420 0.18983031 -0.23059768
+v 0.07881541 0.32907233 -0.28246722
+v -0.13706472 0.16705846 -0.45955479
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+v 0.17916264 0.22246080 -0.38687598
+v -0.31445075 0.18791508 -0.22911116
+v 0.23708603 0.28966135 -0.22909541
+v 0.30414672 0.18535604 -0.25731333
+v 0.12206411 0.34841739 -0.22908128
+v -0.11220588 0.20763998 -0.43253074
+v 0.16352428 0.15672450 -0.44923703
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+v -0.24043072 0.28735657 -0.22799760
+v -0.30875587 0.17325985 -0.25740985
+v 0.28004823 0.24590111 -0.22901235
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+v 0.30333582 0.17306968 -0.26915081
+v -0.09587690 0.34355762 -0.25696541
+v -0.09917417 0.16734682 -0.47431013
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+v -0.02505281 0.28513626 -0.34193654
+v -0.19784412 0.31654756 -0.22800549
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+v 0.10522637 0.34134190 -0.25597106
+v -0.11256314 0.17980087 -0.46110289
+v 0.09404081 0.16759897 -0.47467166
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+v 0.10752771 0.18036976 -0.46170290
+v 0.16027907 0.16836792 -0.44387916
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+f 51 35 50
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+f 52 11 22
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+f 52 50 35
+f 52 34 50
+f 53 36 7
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+f 53 23 36
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+f 54 25 2
+f 55 23 14
+f 55 3 23
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+f 56 7 37
+f 56 55 14
+f 56 37 55
+f 57 37 7
+f 57 24 37
+f 57 7 36
+f 57 36 54
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+f 57 38 12
+f 57 12 24
+f 58 12 38
+f 58 43 12
+f 58 28 43
+f 58 38 18
+f 59 2 18
+f 59 18 38
+f 59 54 2
+f 59 38 54
+f 60 9 39
+f 60 30 43
+f 60 43 20
+f 60 20 9
+f 61 39 16
+f 61 16 3
+f 61 37 24
+f 61 24 44
+f 61 55 37
+f 61 3 55
+f 61 60 39
+f 61 44 30
+f 61 30 60
+f 62 17 40
+f 62 46 17
+f 62 33 47
+f 62 47 26
+f 62 26 46
+f 62 40 10
+f 62 51 33
+f 62 10 51
+f 63 28 42
+f 63 42 6
+f 63 6 41
+f 63 43 28
+f 63 20 43
+f 63 41 27
+f 63 27 20
+f 64 42 28
+f 64 18 42
+f 64 58 18
+f 64 28 58
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_8/collision/model_normalized_collision_17.obj b/objects/objaverse/apple/apple_8/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea31e453ca32d4834b2cc759a9910203f9bec3c5
--- /dev/null
+++ b/objects/objaverse/apple/apple_8/collision/model_normalized_collision_17.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.23127692 0.07601779 0.33878755
+v 0.21711137 0.07391989 0.20454545
+v 0.21711137 0.19513202 0.20454545
+v 0.00535108 0.19283967 0.36129771
+v 0.00600405 0.07902398 0.34475459
+v 0.21472257 0.19260404 0.30630942
+v 0.12665020 0.07398092 0.36927991
+v 0.00499016 0.19513202 0.20454545
+v 0.00499016 0.07391989 0.20454545
+v 0.00565312 0.09604080 0.35273117
+v 0.11854751 0.18879222 0.35140272
+f 1 2 3
+f 6 1 3
+f 6 3 4
+f 7 2 1
+f 8 3 2
+f 8 4 3
+f 9 7 5
+f 9 2 7
+f 9 8 2
+f 9 4 8
+f 10 7 4
+f 10 5 7
+f 10 9 5
+f 10 4 9
+f 11 6 4
+f 11 4 7
+f 11 7 1
+f 11 1 6
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_8/collision/model_normalized_collision_18.obj b/objects/objaverse/apple/apple_8/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e0ce93fb2f1c0c3e1bd90df92ca79f17a100bf36
--- /dev/null
+++ b/objects/objaverse/apple/apple_8/collision/model_normalized_collision_18.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.15858886 0.19297697 0.33375193
+v -0.16167651 0.19513202 -0.23484848
+v -0.15377240 0.24766695 0.31170890
+v -0.15712164 0.37843115 0.09698741
+v -0.34559238 0.19044604 0.13960550
+v -0.15528945 0.34799279 -0.20070153
+v -0.15514261 0.21979554 0.32682626
+v -0.31445075 0.18791508 -0.22911116
+v -0.22488200 0.31283266 0.19691661
+v -0.15553886 0.33411350 0.22600952
+v -0.25973463 0.18838582 0.28248356
+v -0.25514538 0.24244606 -0.28177162
+v -0.29589043 0.28840297 -0.06573262
+v -0.15560980 0.36371536 -0.14128965
+v -0.17031240 0.28932949 0.27814269
+v -0.15637718 0.36558308 0.15504228
+v -0.17153177 0.19143547 0.32863241
+v -0.30027543 0.18668849 0.24031715
+v -0.15687390 0.33572113 -0.22994841
+v -0.26238940 0.23643258 -0.27700233
+v -0.34032283 0.21647807 -0.06599638
+v -0.23709899 0.29871553 -0.21096821
+v -0.25625548 0.32811411 0.08096752
+v -0.18272073 0.31303084 0.23678973
+v -0.15488229 0.30279444 0.27060918
+v -0.23803382 0.24189376 0.26474819
+v -0.18092761 0.22981390 0.30654601
+v -0.16859936 0.34440117 0.19826232
+v -0.16665035 0.21521333 0.32291936
+v -0.34432068 0.19012093 -0.11094920
+v -0.29638765 0.24245440 0.19731988
+v -0.31077834 0.24256922 -0.15332901
+v -0.32663650 0.25828386 0.05076002
+v -0.24315602 0.26028908 -0.27363391
+v -0.19622082 0.32940337 -0.19931683
+v -0.25636012 0.32782962 -0.03541557
+v -0.19849713 0.35813732 0.11146126
+v -0.20918350 0.26936318 0.26638326
+v -0.15649294 0.29175479 0.28168193
+v -0.16787329 0.29848573 0.26752661
+v -0.25754036 0.20012373 0.27773245
+v -0.15595094 0.34969335 0.20017360
+v -0.16859882 0.32984233 0.22299741
+v -0.34056189 0.23159362 0.05089989
+v -0.33038427 0.19034210 0.18498046
+v -0.29597270 0.28839637 0.11127955
+v -0.29529652 0.19858522 0.23658463
+v -0.29401342 0.22897758 -0.22674870
+v -0.28311804 0.28394901 -0.13953363
+v -0.32539856 0.24681957 -0.06596728
+v -0.34001489 0.20290623 -0.11006141
+v -0.22618053 0.29888995 -0.22709737
+v -0.16944314 0.33081852 -0.22803711
+v -0.31119290 0.27342422 -0.03549450
+v -0.21118143 0.34381762 -0.10973849
+v -0.18365221 0.35908799 0.13757740
+v -0.16810372 0.37297103 -0.05076153
+v -0.24007009 0.32726647 0.13637900
+v -0.22240913 0.27067628 0.25112863
+v -0.34009748 0.23152887 0.02357057
+v -0.32489521 0.24590437 0.12179887
+v -0.32630604 0.20082270 0.18308314
+v -0.27987966 0.27204242 0.18148284
+v -0.30842114 0.23031017 -0.18361283
+f 6 3 2
+f 7 1 2
+f 7 2 3
+f 14 3 6
+f 16 14 4
+f 17 1 7
+f 17 2 1
+f 17 8 2
+f 18 17 11
+f 18 8 17
+f 19 6 2
+f 19 2 12
+f 20 12 2
+f 20 2 8
+f 25 14 10
+f 25 3 14
+f 27 7 3
+f 27 3 15
+f 29 17 7
+f 29 11 17
+f 29 7 27
+f 30 18 5
+f 30 8 18
+f 34 19 12
+f 35 14 6
+f 36 33 23
+f 37 36 23
+f 38 24 9
+f 38 15 24
+f 39 25 15
+f 39 15 3
+f 39 3 25
+f 40 25 24
+f 40 24 15
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+f 41 38 26
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+f 42 14 16
+f 43 42 28
+f 43 10 42
+f 43 25 10
+f 43 24 25
+f 43 28 9
+f 43 9 24
+f 44 30 5
+f 45 5 18
+f 46 23 33
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+f 47 26 31
+f 47 41 26
+f 47 18 41
+f 48 20 8
+f 48 12 20
+f 48 34 12
+f 48 22 34
+f 49 32 13
+f 49 48 32
+f 49 22 48
+f 49 13 36
+f 50 13 32
+f 51 30 21
+f 51 50 32
+f 51 21 50
+f 51 8 30
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+f 53 35 6
+f 53 6 19
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+f 54 36 13
+f 54 33 36
+f 54 50 33
+f 54 13 50
+f 55 14 35
+f 55 35 22
+f 55 49 36
+f 55 22 49
+f 56 16 4
+f 56 4 37
+f 56 42 16
+f 56 28 42
+f 56 9 28
+f 57 37 4
+f 57 36 37
+f 57 55 36
+f 57 4 14
+f 57 14 55
+f 58 37 23
+f 58 56 37
+f 58 9 56
+f 58 23 46
+f 59 31 26
+f 59 26 38
+f 59 38 9
+f 60 21 30
+f 60 30 44
+f 60 50 21
+f 60 44 33
+f 60 33 50
+f 61 44 5
+f 61 33 44
+f 61 46 33
+f 62 45 18
+f 62 18 31
+f 62 31 61
+f 62 61 5
+f 62 5 45
+f 63 58 46
+f 63 9 58
+f 63 59 9
+f 63 31 59
+f 63 61 31
+f 63 46 61
+f 64 48 8
+f 64 32 48
+f 64 51 32
+f 64 8 51
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_8/collision/model_normalized_collision_19.obj b/objects/objaverse/apple/apple_8/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..871eec399785363faf34ff9e7508b24c49888fd8
--- /dev/null
+++ b/objects/objaverse/apple/apple_8/collision/model_normalized_collision_19.obj
@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
+v -0.16124312 0.34573087 0.20421453
+v -0.06824064 0.39220071 -0.11080254
+v -0.06919448 0.38436197 0.17165442
+v -0.10963426 0.38714531 0.13709675
+v -0.17556473 0.36192235 -0.10462069
+v -0.06778998 0.40762860 0.05172525
+v -0.09927374 0.36853403 0.20176274
+v -0.17063057 0.35097902 -0.16455831
+v -0.15520346 0.37219191 0.13720168
+v -0.06741704 0.39076744 0.15357841
+v -0.12522403 0.38790002 -0.05079303
+v -0.10527510 0.36011301 0.21351618
+v -0.14051445 0.38887144 0.05109991
+v -0.13993678 0.35668615 0.19768786
+v -0.06774382 0.40778070 0.03856248
+v -0.08202586 0.38809708 0.15268550
+v -0.11170990 0.37782084 -0.14120559
+v -0.07702349 0.37850943 0.18473112
+v -0.12721502 0.36638445 -0.16829945
+v -0.08235470 0.40471649 0.05146805
+v -0.15554437 0.37278434 -0.09480985
+v -0.15263391 0.35755373 0.18248549
+v -0.11044642 0.38907676 -0.08123209
+v -0.09767242 0.37479551 0.18369693
+v -0.11496277 0.37295389 -0.15803612
+v -0.08227549 0.40478275 0.03870264
+v -0.14045829 0.38880727 0.03865725
+v -0.15439546 0.36121191 -0.15470896
+v -0.15595094 0.34969335 0.20017360
+v -0.07844589 0.39120856 -0.10671159
+v -0.13103980 0.37817455 -0.10736519
+v -0.07541443 0.38948181 -0.11884806
+v -0.12553054 0.37360855 -0.14039923
+v -0.08290432 0.38975817 -0.11040650
+f 8 1 5
+f 9 5 1
+f 10 3 2
+f 10 6 4
+f 12 1 8
+f 13 9 4
+f 13 5 9
+f 14 7 4
+f 14 4 9
+f 14 12 7
+f 14 1 12
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+f 16 10 4
+f 18 12 2
+f 18 2 3
+f 18 7 12
+f 18 10 7
+f 18 3 10
+f 19 12 8
+f 19 2 12
+f 20 13 4
+f 20 4 6
+f 20 6 15
+f 22 14 9
+f 22 9 1
+f 23 21 11
+f 24 16 4
+f 24 4 7
+f 24 7 10
+f 24 10 16
+f 26 20 15
+f 26 13 20
+f 26 23 11
+f 26 15 23
+f 27 11 21
+f 27 26 11
+f 27 13 26
+f 27 21 5
+f 27 5 13
+f 28 19 8
+f 28 8 5
+f 28 5 21
+f 28 25 19
+f 28 17 25
+f 29 22 1
+f 29 1 14
+f 29 14 22
+f 30 23 15
+f 30 15 2
+f 31 23 17
+f 31 21 23
+f 32 25 17
+f 32 2 19
+f 32 19 25
+f 32 30 2
+f 33 28 21
+f 33 17 28
+f 33 31 17
+f 33 21 31
+f 34 17 23
+f 34 23 30
+f 34 32 17
+f 34 30 32
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_8/collision/model_normalized_collision_2.obj b/objects/objaverse/apple/apple_8/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..317b759e49e3bdab0e0fcd5933b0909827dd702b
--- /dev/null
+++ b/objects/objaverse/apple/apple_8/collision/model_normalized_collision_2.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.07932685 -0.33928017 0.25814673
+v 0.27670567 -0.19814540 0.26439009
+v 0.00914449 -0.01964953 0.38543089
+v -0.32283472 -0.01694185 0.26179370
+v 0.26751800 -0.22011906 0.25628857
+v 0.28843091 -0.01576212 0.29485709
+v -0.15130809 -0.23382914 0.32263104
+v 0.09135928 -0.20662335 0.35278431
+v -0.24244847 -0.24907711 0.25548374
+v -0.19864360 -0.01749575 0.35583168
+v -0.08239164 -0.30684608 0.29327243
+v -0.09627304 -0.20620737 0.35173932
+v 0.15390918 -0.07565949 0.36892152
+v 0.16311457 -0.27717510 0.29119239
+v 0.19322476 -0.29375892 0.25582867
+v -0.31731513 -0.10548034 0.25834141
+v 0.17025047 -0.01717787 0.36517499
+v 0.07993126 -0.30650045 0.29374173
+v -0.14056290 -0.32300094 0.25651757
+v -0.09760499 -0.26194408 0.32419945
+v -0.21584849 -0.13115597 0.33736950
+v -0.14513720 -0.08865990 0.36889910
+v 0.14001040 -0.08872786 0.36928641
+v 0.23597546 -0.14346328 0.32232327
+v 0.26231859 -0.21553550 0.26692198
+v 0.13341864 -0.31813067 0.26831593
+v -0.30089619 -0.16368042 0.25694857
+v 0.15301645 -0.03275765 0.36980786
+v 0.07845526 -0.33250660 0.26900140
+v 0.10731926 -0.26097515 0.32291662
+v -0.08443771 -0.33881123 0.25784926
+v -0.21358644 -0.27794424 0.25549936
+v -0.11129441 -0.23630013 0.33605958
+v -0.13956601 -0.30696725 0.27966399
+v -0.25442904 -0.07510106 0.32461097
+v -0.27120730 -0.18899026 0.27665627
+v -0.15796806 -0.03279648 0.36876583
+v -0.19821181 -0.10359639 0.35105563
+v 0.16599236 -0.13137720 0.35427363
+v 0.25080440 -0.14817839 0.30985979
+v 0.23830246 -0.11904103 0.32859268
+v 0.27265128 -0.19468736 0.27278375
+v 0.18891997 -0.28828419 0.26638573
+v 0.13610362 -0.32445414 0.25754853
+v 0.10651920 -0.31913972 0.27901955
+v 0.10638066 -0.23671611 0.33710457
+v -0.08356612 -0.33203766 0.26870393
+v -0.09756857 -0.32214062 0.27856029
+v -0.17078939 -0.30798235 0.25648863
+v -0.17020428 -0.29280996 0.27783473
+v -0.12408492 -0.27644820 0.30636928
+v -0.25415218 -0.01762614 0.32471155
+v -0.29779118 -0.13184285 0.28032549
+v -0.16647797 -0.21869611 0.32266342
+v -0.28719682 -0.19164914 0.25669831
+v -0.00973617 -0.02190963 0.38421270
+v -0.22933397 -0.10381857 0.33745372
+v -0.15896964 -0.07557692 0.36817748
+v 0.11803849 -0.19264697 0.35118079
+v 0.25842512 -0.01716682 0.32098621
+v 0.19125162 -0.24866290 0.29166264
+v 0.14780351 -0.30321554 0.27913462
+v 0.13447980 -0.24692929 0.32264690
+v -0.13754223 -0.31683501 0.26729473
+f 6 5 4
+f 6 2 5
+f 10 6 4
+f 12 8 3
+f 15 9 5
+f 16 4 5
+f 17 10 3
+f 17 6 10
+f 19 15 1
+f 20 8 12
+f 20 11 18
+f 22 12 3
+f 23 13 3
+f 23 3 8
+f 25 15 5
+f 27 16 5
+f 27 5 9
+f 28 17 3
+f 28 3 13
+f 28 13 17
+f 29 18 11
+f 30 20 18
+f 31 19 1
+f 31 1 29
+f 32 9 15
+f 32 15 19
+f 33 20 12
+f 33 21 7
+f 33 12 21
+f 38 21 12
+f 38 12 22
+f 39 13 23
+f 41 17 13
+f 41 39 24
+f 41 13 39
+f 41 40 6
+f 41 24 40
+f 42 25 5
+f 42 5 2
+f 42 2 6
+f 42 6 40
+f 42 40 24
+f 43 25 14
+f 43 15 25
+f 44 1 15
+f 45 18 29
+f 45 30 18
+f 45 44 26
+f 45 29 1
+f 45 1 44
+f 46 8 20
+f 46 20 30
+f 47 31 29
+f 48 11 20
+f 48 20 34
+f 48 19 31
+f 48 31 47
+f 48 47 29
+f 48 29 11
+f 49 32 19
+f 50 49 34
+f 50 32 49
+f 50 36 9
+f 50 9 32
+f 51 34 20
+f 51 20 33
+f 51 50 34
+f 51 33 7
+f 51 7 50
+f 52 35 10
+f 52 10 4
+f 52 4 35
+f 53 35 4
+f 53 4 16
+f 53 16 27
+f 53 36 21
+f 54 7 21
+f 54 21 36
+f 54 50 7
+f 54 36 50
+f 55 27 9
+f 55 9 36
+f 55 53 27
+f 55 36 53
+f 56 22 3
+f 56 3 10
+f 56 10 37
+f 57 21 38
+f 57 53 21
+f 57 35 53
+f 57 38 10
+f 57 10 35
+f 58 37 10
+f 58 10 38
+f 58 38 22
+f 58 56 37
+f 58 22 56
+f 59 39 23
+f 59 23 8
+f 59 8 46
+f 59 24 39
+f 60 41 6
+f 60 6 17
+f 60 17 41
+f 61 42 24
+f 61 14 25
+f 61 25 42
+f 62 15 43
+f 62 44 15
+f 62 26 44
+f 62 43 14
+f 62 45 26
+f 62 30 45
+f 63 46 30
+f 63 59 46
+f 63 24 59
+f 63 61 24
+f 63 14 61
+f 63 62 14
+f 63 30 62
+f 64 48 34
+f 64 19 48
+f 64 49 19
+f 64 34 49
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_8/collision/model_normalized_collision_21.obj b/objects/objaverse/apple/apple_8/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..09f9ad837be62b4bea2f2c02239904ce188e0375
--- /dev/null
+++ b/objects/objaverse/apple/apple_8/collision/model_normalized_collision_21.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.00499016 -0.22911041 0.00757576
+v 0.00499016 -0.22911041 -0.23484848
+v 0.00499016 0.19513202 0.00757576
+v -0.28288863 0.19513202 0.00757576
+v -0.33651582 -0.24013575 0.00496523
+v -0.30059102 0.20421028 -0.24197027
+v -0.19197954 -0.22911041 0.00757576
+v 0.00499016 0.19513202 -0.23484848
+v -0.29486395 -0.22025440 -0.23969958
+v -0.19197954 -0.22911041 -0.23484848
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 6 4 3
+f 6 5 4
+f 7 5 1
+f 7 1 4
+f 7 4 5
+f 8 6 3
+f 8 3 2
+f 8 2 6
+f 9 6 2
+f 9 5 6
+f 10 9 2
+f 10 2 5
+f 10 5 9
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_8/collision/model_normalized_collision_22.obj b/objects/objaverse/apple/apple_8/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b930413141f84aa9a4fadc55aa65ef832424815
--- /dev/null
+++ b/objects/objaverse/apple/apple_8/collision/model_normalized_collision_22.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.00499016 -0.01698920 0.21969697
+v 0.00499016 -0.01698920 0.00757576
+v 0.00499016 0.19513202 0.00757576
+v -0.30276696 0.20733560 0.21961953
+v -0.28288863 -0.01698920 0.00757576
+v 0.00499016 0.19513202 0.21969697
+v -0.28288863 -0.01698920 0.20454545
+v -0.28288863 0.19513202 0.00757576
+v -0.19197954 -0.01698920 0.21969697
+v -0.19197954 0.19513202 0.21969697
+f 1 2 3
+f 5 2 1
+f 5 3 2
+f 6 1 3
+f 6 3 4
+f 7 5 1
+f 7 4 5
+f 8 5 4
+f 8 4 3
+f 8 3 5
+f 9 1 6
+f 9 7 1
+f 9 4 7
+f 10 9 6
+f 10 6 4
+f 10 4 9
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_8/collision/model_normalized_collision_24.obj b/objects/objaverse/apple/apple_8/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..02722cabe40a4ecf00da3277d9c11eec1a5764c3
--- /dev/null
+++ b/objects/objaverse/apple/apple_8/collision/model_normalized_collision_24.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v -0.33666440 0.12470163 0.21917414
+v -0.30059102 0.20421028 -0.24197027
+v -0.32761340 0.12918263 0.23212391
+v -0.30276696 0.20733560 0.21961953
+v -0.35488115 0.18854331 -0.03576827
+v -0.31754538 0.19780482 0.20784695
+v -0.33557502 0.11744515 -0.23182318
+v -0.35612324 0.17372845 0.12596189
+v -0.35560269 0.18872524 0.08139018
+v -0.32525327 0.12969480 -0.25103172
+v -0.33942336 0.18837252 -0.14035974
+v -0.35008241 0.14763009 0.17152611
+v -0.37456136 0.11576046 -0.05148466
+v -0.33447519 0.19183673 0.17120611
+v -0.32460139 0.18846740 -0.19961395
+v -0.37387892 0.11561953 0.11210506
+v -0.35830742 0.11552289 -0.15524054
+v -0.35509287 0.17344468 -0.08126159
+v -0.37078670 0.14509759 -0.00683061
+v -0.34156538 0.18889151 0.15334084
+v -0.33989518 0.12995806 -0.21253410
+v -0.31445075 0.18791508 -0.22911116
+v -0.35729495 0.15890493 0.13846045
+v -0.37115180 0.14522301 0.06635889
+v -0.34295760 0.11555257 -0.21370394
+v -0.35408121 0.14473089 -0.14040709
+v -0.37101845 0.13000669 -0.05111599
+v -0.32550778 0.15837369 -0.22792859
+v -0.37035866 0.12989394 0.11174737
+v -0.34190567 0.17388195 0.16861973
+v -0.35495455 0.12984074 -0.15440713
+v -0.33816208 0.17275472 -0.16889568
+f 3 2 4
+f 5 4 2
+f 6 1 3
+f 6 3 4
+f 7 3 1
+f 9 4 5
+f 10 2 3
+f 10 3 7
+f 11 5 2
+f 12 1 6
+f 14 6 4
+f 14 4 9
+f 14 12 6
+f 15 11 2
+f 16 1 12
+f 17 16 13
+f 18 5 11
+f 19 9 5
+f 19 5 18
+f 20 14 9
+f 20 9 8
+f 21 10 7
+f 22 15 2
+f 22 2 10
+f 23 16 12
+f 24 8 9
+f 24 9 19
+f 24 19 13
+f 24 13 16
+f 25 7 1
+f 25 1 16
+f 25 16 17
+f 25 21 7
+f 25 17 21
+f 26 17 13
+f 26 18 11
+f 27 19 18
+f 27 13 19
+f 27 26 13
+f 27 18 26
+f 28 21 15
+f 28 15 22
+f 28 22 10
+f 28 10 21
+f 29 23 8
+f 29 16 23
+f 29 24 16
+f 29 8 24
+f 30 23 12
+f 30 12 14
+f 30 14 20
+f 30 20 8
+f 30 8 23
+f 31 26 21
+f 31 21 17
+f 31 17 26
+f 32 26 11
+f 32 11 15
+f 32 15 21
+f 32 21 26
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_8/collision/model_normalized_collision_27.obj b/objects/objaverse/apple/apple_8/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd50063916da3864ab61016b210b421617148c82
--- /dev/null
+++ b/objects/objaverse/apple/apple_8/collision/model_normalized_collision_27.obj
@@ -0,0 +1,141 @@
+# https://github.com/mikedh/trimesh
+v 0.06343013 -0.39719766 0.13953085
+v 0.30800326 -0.25305868 0.15702505
+v 0.12070506 -0.33207523 0.25305657
+v -0.20557285 -0.24059683 0.28709443
+v -0.19197954 -0.22911041 0.14393939
+v 0.26751800 -0.22011906 0.25628857
+v -0.11128188 -0.36423227 0.20882970
+v 0.20769527 -0.35089817 0.13821623
+v 0.06336567 -0.36312035 0.22376249
+v -0.12556953 -0.33105707 0.25238170
+v -0.18882569 -0.35870981 0.14151336
+v 0.23436391 -0.30342223 0.20576836
+v 0.26706013 -0.30815438 0.13849607
+v -0.06776769 -0.37745217 0.19857990
+v 0.12066993 -0.36226689 0.20752683
+v -0.06847749 -0.36265561 0.22346803
+v -0.14144425 -0.37950353 0.13843716
+v -0.18258203 -0.31643844 0.23651854
+v 0.20434288 -0.28862934 0.25152387
+v 0.26328491 -0.27496558 0.20616883
+v 0.24823527 -0.31899951 0.15171288
+v 0.07751208 -0.37600969 0.19811033
+v 0.10544540 -0.34687307 0.23766924
+v 0.19317027 -0.33238087 0.20696843
+v 0.13668901 -0.38083585 0.13888763
+v -0.06848725 -0.39647452 0.13929877
+v -0.15252136 -0.36098999 0.18235153
+v -0.17087288 -0.36785322 0.13935852
+v 0.25122186 -0.32254129 0.13814530
+v -0.18050262 -0.30531029 0.25322404
+v -0.14079385 -0.34645028 0.22223887
+v 0.26224326 -0.23062061 0.25170501
+v 0.26396510 -0.30470857 0.15206676
+v 0.06274979 -0.39288492 0.15329769
+v 0.16276200 -0.34730545 0.20692948
+v 0.17814607 -0.31790449 0.23757344
+v 0.21938440 -0.30249428 0.22089790
+v 0.23450337 -0.31598515 0.18150054
+v 0.17924109 -0.36439601 0.13811855
+v 0.10486390 -0.37596066 0.18269383
+v -0.09806667 -0.37742743 0.18342033
+v -0.18304353 -0.34658594 0.18252459
+v -0.15239137 -0.33136930 0.23655381
+v -0.06780692 -0.39216184 0.15306566
+v 0.14793208 -0.33282250 0.23758477
+v 0.13536914 -0.37660834 0.15260978
+v 0.20524970 -0.34711248 0.15188130
+v -0.14009181 -0.37529248 0.15213645
+f 6 4 3
+f 6 5 4
+f 6 2 5
+f 10 3 4
+f 11 4 5
+f 13 5 2
+f 16 9 3
+f 16 3 10
+f 16 14 9
+f 16 10 7
+f 16 7 14
+f 17 5 13
+f 18 4 11
+f 19 6 3
+f 20 2 6
+f 20 19 12
+f 22 9 14
+f 23 15 3
+f 23 3 9
+f 23 22 15
+f 23 9 22
+f 28 11 5
+f 28 5 17
+f 28 27 11
+f 28 17 27
+f 29 17 13
+f 29 13 21
+f 30 10 4
+f 30 4 18
+f 31 7 10
+f 31 27 7
+f 32 20 6
+f 32 6 19
+f 32 19 20
+f 33 13 2
+f 33 2 20
+f 33 20 12
+f 33 21 13
+f 34 22 14
+f 34 1 22
+f 34 26 1
+f 36 24 19
+f 36 19 3
+f 37 24 12
+f 37 12 19
+f 37 19 24
+f 38 12 24
+f 38 33 12
+f 38 21 33
+f 38 29 21
+f 39 35 25
+f 39 8 35
+f 39 29 8
+f 39 17 29
+f 39 26 17
+f 39 25 1
+f 39 1 26
+f 40 22 1
+f 40 1 25
+f 40 15 22
+f 41 14 7
+f 41 17 26
+f 41 7 27
+f 42 18 11
+f 42 11 27
+f 42 31 18
+f 42 27 31
+f 43 30 18
+f 43 18 31
+f 43 31 10
+f 43 10 30
+f 44 34 14
+f 44 26 34
+f 44 41 26
+f 44 14 41
+f 45 3 15
+f 45 15 35
+f 45 36 3
+f 45 35 24
+f 45 24 36
+f 46 35 15
+f 46 25 35
+f 46 40 25
+f 46 15 40
+f 47 35 8
+f 47 24 35
+f 47 38 24
+f 47 8 29
+f 47 29 38
+f 48 41 27
+f 48 27 17
+f 48 17 41
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_8/collision/model_normalized_collision_28.obj b/objects/objaverse/apple/apple_8/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c1a6cf2fc0c815cea265045bcaacb3125a4e3ca4
--- /dev/null
+++ b/objects/objaverse/apple/apple_8/collision/model_normalized_collision_28.obj
@@ -0,0 +1,132 @@
+# https://github.com/mikedh/trimesh
+v -0.18640704 -0.33854390 0.20026173
+v -0.19498174 -0.35690012 -0.09981127
+v -0.19197954 -0.21395889 -0.09848485
+v -0.30100216 -0.20651536 0.22584833
+v -0.29591421 -0.29194835 0.11130019
+v -0.20853666 -0.22794975 0.29187874
+v -0.25619637 -0.33151165 0.08098957
+v -0.27995426 -0.27539103 0.18138374
+v -0.33943541 -0.21192630 -0.09766633
+v -0.18571899 -0.29684426 0.25864519
+v -0.27456506 -0.20846407 0.25866265
+v -0.23992288 -0.33076184 0.13599700
+v -0.32476650 -0.24953279 0.12195760
+v -0.29549603 -0.29185132 -0.06566103
+v -0.34532542 -0.20898667 -0.06666966
+v -0.18567327 -0.32260038 0.22580166
+v -0.22181190 -0.27438669 0.25083976
+v -0.29627947 -0.24601766 0.19705508
+v -0.28366052 -0.30355178 0.11129990
+v -0.22468584 -0.31616045 0.19700261
+v -0.31079087 -0.26104599 0.13643111
+v -0.25669843 -0.33210166 -0.02175445
+v -0.32642102 -0.26188020 0.05077024
+v -0.31231741 -0.26269940 -0.09466315
+v -0.34500349 -0.20907751 0.12499150
+v -0.29655721 -0.21835967 0.22207263
+v -0.27046215 -0.21863822 0.25454811
+v -0.28277927 -0.28789313 0.15112296
+v -0.19683064 -0.33433583 0.19827277
+v -0.19482742 -0.31940227 0.22206184
+v -0.19680041 -0.29162788 0.25441531
+v -0.31006305 -0.24533390 0.16642281
+v -0.24121897 -0.33169629 -0.09445959
+v -0.31084639 -0.27684607 -0.03538633
+v -0.32505700 -0.25040218 -0.06591631
+v -0.33001215 -0.20684575 0.16932527
+v -0.34041091 -0.23519866 0.05096357
+v -0.26715506 -0.28778206 0.18147415
+v -0.26842994 -0.31835945 -0.05050266
+v -0.32778210 -0.23649683 -0.09524858
+v -0.32610507 -0.26175424 0.02369962
+v -0.32434832 -0.21900913 0.16725964
+v -0.33992150 -0.21943214 0.12394700
+v -0.28344235 -0.30312378 -0.06559511
+v -0.33988178 -0.23510251 0.02364071
+f 1 2 3
+f 7 2 1
+f 9 3 2
+f 10 3 6
+f 11 6 3
+f 11 3 4
+f 12 7 1
+f 15 4 3
+f 15 3 9
+f 16 1 3
+f 16 3 10
+f 17 10 6
+f 17 6 11
+f 18 8 17
+f 19 5 7
+f 19 7 12
+f 21 13 5
+f 21 8 18
+f 22 7 5
+f 22 2 7
+f 23 5 13
+f 23 22 5
+f 24 9 2
+f 26 11 4
+f 26 4 18
+f 27 18 17
+f 27 17 11
+f 27 26 18
+f 27 11 26
+f 28 19 12
+f 28 5 19
+f 28 21 5
+f 28 8 21
+f 29 20 12
+f 29 12 1
+f 29 1 16
+f 30 16 10
+f 30 29 16
+f 30 20 29
+f 31 10 17
+f 31 17 20
+f 31 30 10
+f 31 20 30
+f 32 21 18
+f 32 13 21
+f 33 2 22
+f 33 24 2
+f 33 14 24
+f 34 14 22
+f 34 22 23
+f 34 24 14
+f 35 24 34
+f 36 4 15
+f 36 15 25
+f 36 18 4
+f 37 23 13
+f 37 25 15
+f 38 8 28
+f 38 20 17
+f 38 17 8
+f 38 28 12
+f 38 12 20
+f 39 33 22
+f 40 35 15
+f 40 15 9
+f 40 9 24
+f 40 24 35
+f 41 35 34
+f 41 34 23
+f 41 23 37
+f 42 32 18
+f 42 18 36
+f 42 13 32
+f 42 36 25
+f 42 25 13
+f 43 37 13
+f 43 13 25
+f 43 25 37
+f 44 39 22
+f 44 22 14
+f 44 14 33
+f 44 33 39
+f 45 41 37
+f 45 37 15
+f 45 15 35
+f 45 35 41
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_8/collision/model_normalized_collision_3.obj b/objects/objaverse/apple/apple_8/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eb856ae9a3dd936e8f73178afbe367f334c9bad5
--- /dev/null
+++ b/objects/objaverse/apple/apple_8/collision/model_normalized_collision_3.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.19506486 -0.35262290 0.15028629
+v 0.17760761 -0.33060092 -0.22636197
+v 0.18680834 -0.22911041 0.14393939
+v 0.00499016 -0.22911041 0.14393939
+v 0.00565216 -0.35941455 -0.24571917
+v 0.00499016 -0.22911041 -0.23484848
+v 0.18680834 -0.22911041 -0.23484848
+v 0.10918812 -0.38988174 -0.09735629
+v 0.00499016 -0.33517101 0.14393939
+v 0.10678889 -0.36699596 -0.20092308
+v 0.17959922 -0.36483092 -0.09529974
+v 0.10676903 -0.38222520 -0.14134514
+v 0.10806671 -0.35499327 -0.23014499
+v 0.13679800 -0.38142550 -0.09575456
+v 0.16249610 -0.36069159 -0.15349711
+v 0.13589042 -0.34780757 -0.22723441
+v 0.17747974 -0.34530895 -0.18377949
+v 0.12067247 -0.36294108 -0.19984541
+v 0.13518841 -0.37635502 -0.12509296
+v 0.17848265 -0.36238461 -0.10995793
+v 0.12058967 -0.37801291 -0.14053877
+f 1 3 4
+f 6 4 3
+f 7 1 2
+f 7 3 1
+f 7 6 3
+f 7 2 5
+f 7 5 6
+f 9 6 5
+f 9 4 6
+f 9 5 8
+f 9 8 1
+f 9 1 4
+f 11 2 1
+f 12 8 5
+f 12 5 10
+f 13 10 5
+f 13 5 2
+f 14 11 1
+f 14 1 8
+f 15 11 14
+f 16 13 2
+f 16 10 13
+f 17 2 11
+f 17 16 2
+f 18 12 10
+f 18 10 16
+f 18 17 15
+f 18 16 17
+f 19 15 14
+f 19 14 8
+f 20 17 11
+f 20 11 15
+f 20 15 17
+f 21 18 15
+f 21 12 18
+f 21 15 19
+f 21 19 8
+f 21 8 12
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_8/collision/model_normalized_collision_30.obj b/objects/objaverse/apple/apple_8/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..516eb8c8539de15e954c07987f6cfd84dfeadc98
--- /dev/null
+++ b/objects/objaverse/apple/apple_8/collision/model_normalized_collision_30.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.21711137 -0.01698920 0.20454545
+v 0.21711137 -0.01698920 -0.23484848
+v 0.21711137 0.19513202 0.20454545
+v 0.00499016 0.19513202 0.20454545
+v 0.00499016 -0.01698920 -0.23484848
+v 0.00499016 0.19513202 -0.23484848
+v 0.00499016 -0.01698920 0.20454545
+v 0.21711137 0.19513202 -0.23484848
+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/apple/apple_8/collision/model_normalized_collision_8.obj b/objects/objaverse/apple/apple_8/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eba64a5e720451a6ffcaecc54b10fd97b0630b03
--- /dev/null
+++ b/objects/objaverse/apple/apple_8/collision/model_normalized_collision_8.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.20195985 0.19513202 0.20454545
+v 0.20195985 0.19513202 -0.23484848
+v 0.17836397 0.37355219 0.02354850
+v -0.05300188 0.40527299 0.11213477
+v -0.16167651 0.19513202 0.20454545
+v -0.08324208 0.35877825 -0.22691727
+v 0.17443682 0.33717255 0.20854892
+v 0.20992418 0.31198427 0.21334497
+v 0.19366460 0.31866066 -0.22891572
+v 0.04947068 0.40542928 -0.03586675
+v -0.16124312 0.34573087 0.20421453
+v -0.16167651 0.19513202 -0.23484848
+v 0.10491668 0.38853047 0.13756810
+v 0.19358156 0.35877458 0.12546019
+v -0.05336602 0.40521100 -0.03582264
+v 0.06253533 0.37275652 -0.19948197
+v 0.11462409 0.35809114 0.21216924
+v -0.15687390 0.33572113 -0.22994841
+v 0.06204744 0.40479325 0.09692937
+v 0.19340165 0.34370487 0.16770768
+v 0.15048009 0.37356935 0.13766793
+v 0.19327164 0.35789866 -0.08107394
+v -0.15439546 0.36121191 -0.15470896
+v 0.09304374 0.35756543 -0.22638793
+v 0.04955979 0.38950686 -0.14064910
+v 0.06153814 0.38728520 0.16756553
+v 0.03408173 0.40524686 0.12309628
+v 0.13537242 0.38896065 0.06626079
+v 0.16287225 0.35810679 0.16753110
+v 0.12003483 0.37327712 0.16783648
+v 0.12002191 0.38780273 -0.06593330
+v 0.19352178 0.34343846 -0.15393882
+v -0.06701837 0.40379934 0.09684159
+v -0.05259016 0.38922829 -0.14054597
+v -0.11074799 0.35924940 -0.21206811
+v -0.05278350 0.37420056 -0.19985994
+v 0.01928350 0.40536569 -0.05091099
+v -0.05191530 0.38904416 0.16815370
+v 0.12016629 0.38913789 0.11165194
+v 0.07743148 0.40428065 0.00874913
+v 0.17797217 0.37278021 0.06596934
+v 0.16314202 0.37343042 -0.06596752
+v 0.13554093 0.38914183 0.00844524
+v 0.10519973 0.38873446 -0.09493978
+v 0.11998342 0.35684075 -0.21103000
+v -0.06741704 0.39076744 0.15357841
+v -0.06760020 0.40509519 -0.00645512
+v -0.11087869 0.37514370 -0.15461501
+v -0.14087005 0.34351270 -0.22696741
+v -0.02431890 0.40508148 -0.05097704
+v -0.03922981 0.40491940 0.12298766
+v 0.07712656 0.40443397 0.06659461
+v 0.16346579 0.37419088 0.11158542
+v 0.16278241 0.35764056 -0.15367240
+v 0.06242288 0.40506173 -0.02160447
+v 0.10510490 0.37308664 -0.16918873
+v 0.17787483 0.32749924 -0.22660859
+v -0.06779045 0.38951886 -0.12544916
+v -0.15288437 0.35794562 -0.16895105
+v -0.08282820 0.37342025 -0.18461026
+v 0.17762972 0.35692703 -0.12477902
+v 0.07750636 0.38794374 -0.12515262
+v 0.12001136 0.37245352 -0.15390497
+v 0.19284381 0.32710801 -0.21128871
+f 5 2 1
+f 8 1 2
+f 8 5 1
+f 9 8 2
+f 12 2 5
+f 12 5 11
+f 17 8 7
+f 17 11 5
+f 17 5 8
+f 18 12 11
+f 18 9 2
+f 18 2 12
+f 20 7 8
+f 20 8 14
+f 22 3 14
+f 22 14 8
+f 23 18 11
+f 24 18 6
+f 24 9 18
+f 26 17 13
+f 27 19 10
+f 27 10 4
+f 27 26 13
+f 27 13 19
+f 29 20 14
+f 29 14 21
+f 29 7 20
+f 29 17 7
+f 30 21 13
+f 30 13 17
+f 30 29 21
+f 30 17 29
+f 32 22 8
+f 32 8 9
+f 33 23 11
+f 36 24 6
+f 36 16 24
+f 36 6 35
+f 36 34 25
+f 36 25 16
+f 37 10 25
+f 37 15 4
+f 37 4 10
+f 37 25 34
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\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_8/visual/material.mtl b/objects/objaverse/apple/apple_8/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..33616803300962094e8955deb30562079542847b
--- /dev/null
+++ b/objects/objaverse/apple/apple_8/visual/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 250.00000000
+map_Kd material_0.jpeg
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_8/visual/model_normalized_0.obj b/objects/objaverse/apple/apple_8/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b976653473ace7949fdeb3a5f6cf0155bcd487cd
--- /dev/null
+++ b/objects/objaverse/apple/apple_8/visual/model_normalized_0.obj
@@ -0,0 +1,5976 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/objects/objaverse/apple/apple_8/visual/model_normalized_1.obj b/objects/objaverse/apple/apple_8/visual/model_normalized_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cbb780b0779bfe2f8df3bbd9dc3bd576be3b5004
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\ No newline at end of file
diff --git a/objects/objaverse/broccoli/.DS_Store b/objects/objaverse/broccoli/.DS_Store
new file mode 100644
index 0000000000000000000000000000000000000000..12ce7fe1582077b5544f4c3be55a148c0e911518
Binary files /dev/null and b/objects/objaverse/broccoli/.DS_Store differ
diff --git a/objects/objaverse/broccoli/broccoli_0/collision/model_normalized_collision_0.obj b/objects/objaverse/broccoli/broccoli_0/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e1669098316fc5140886455ba5aeea273cab4f7
--- /dev/null
+++ b/objects/objaverse/broccoli/broccoli_0/collision/model_normalized_collision_0.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.23745673 -0.01887333 0.26515152
+v 0.24420228 -0.02727696 0.00263756
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\ No newline at end of file
diff --git a/objects/objaverse/broccoli/broccoli_0/collision/model_normalized_collision_1.obj b/objects/objaverse/broccoli/broccoli_0/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aba8939bfd5cb8001f7e1831354047a76221ce6e
--- /dev/null
+++ b/objects/objaverse/broccoli/broccoli_0/collision/model_normalized_collision_1.obj
@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
+v 0.35524484 -0.02148625 0.27767741
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\ No newline at end of file
diff --git a/objects/objaverse/broccoli/broccoli_0/collision/model_normalized_collision_10.obj b/objects/objaverse/broccoli/broccoli_0/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0124c9795732ea8c59f2bbbf23bb973d79a6d318
--- /dev/null
+++ b/objects/objaverse/broccoli/broccoli_0/collision/model_normalized_collision_10.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v -0.20193721 -0.20069152 0.14393939
+v -0.12362055 -0.13871399 0.03551588
+v -0.20193721 -0.01887333 0.14393939
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+v -0.40210969 -0.14565421 0.14112478
+v -0.37393264 -0.18962073 0.11105291
+v -0.37188494 0.00371066 0.03459326
+v -0.39548585 0.00642536 0.06005387
+v -0.41442585 -0.14212307 0.10086190
+v -0.40960365 -0.02415620 0.07559631
+v -0.41165199 -0.10856811 0.14137652
+v -0.29803103 -0.19126287 0.06975339
+v -0.33546328 0.00802167 0.02572895
+v -0.39718526 -0.04001266 0.03146031
+v -0.38124719 -0.10079844 0.03575332
+v -0.41184707 -0.13791544 0.12613500
+v -0.35935372 -0.13730619 0.04926555
+v -0.39117914 -0.04008124 0.02540732
+f 8 1 2
+f 8 3 1
+f 9 2 1
+f 9 5 6
+f 11 1 3
+f 13 8 2
+f 13 6 8
+f 13 9 6
+f 13 2 9
+f 14 8 6
+f 14 3 8
+f 14 11 3
+f 14 4 11
+f 16 11 4
+f 16 7 11
+f 17 12 1
+f 17 1 11
+f 18 9 1
+f 18 1 12
+f 20 4 14
+f 21 15 10
+f 21 5 18
+f 21 7 15
+f 21 18 12
+f 22 15 7
+f 22 7 16
+f 22 16 4
+f 22 20 15
+f 22 4 20
+f 23 17 11
+f 23 11 7
+f 23 7 21
+f 24 5 9
+f 24 9 18
+f 25 14 6
+f 25 20 14
+f 25 19 20
+f 26 10 15
+f 26 15 20
+f 26 20 19
+f 27 21 10
+f 27 5 21
+f 27 10 6
+f 27 6 5
+f 28 23 21
+f 28 17 23
+f 28 21 12
+f 28 12 17
+f 29 24 18
+f 29 18 5
+f 29 5 24
+f 30 25 6
+f 30 6 10
+f 30 19 25
+f 30 26 19
+f 30 10 26
\ No newline at end of file
diff --git a/objects/objaverse/broccoli/broccoli_0/collision/model_normalized_collision_11.obj b/objects/objaverse/broccoli/broccoli_0/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..adfb35e95b171e1c9ed430a33fdd2cbf9e49b285
--- /dev/null
+++ b/objects/objaverse/broccoli/broccoli_0/collision/model_normalized_collision_11.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.20892048 -0.30855053 0.25108834
+v 0.38246596 -0.09373639 0.24233791
+v 0.20207159 -0.10489986 0.40538171
+v 0.20670410 0.02639775 0.40066845
+v 0.20715370 -0.01887333 0.25000000
+v 0.35227004 -0.01742365 0.28124653
+v 0.23577766 -0.25501850 0.29722000
+v 0.22667865 -0.29578112 0.24336072
+v 0.19766463 -0.29638488 0.28983007
+v 0.20107713 0.02393128 0.40417525
+v 0.20567841 -0.10164580 0.40347961
+v 0.26565113 0.02707654 0.35407632
+v 0.38726972 -0.01887567 0.24823834
+v 0.23531433 -0.26325406 0.28737912
+v 0.19966616 -0.27051051 0.31394502
+v 0.20073442 -0.12996211 0.39043236
+v 0.21258662 0.02261555 0.39836432
+v 0.25830435 0.02880234 0.36231432
+v 0.37977746 -0.01780610 0.25547616
+v 0.25238399 -0.26613691 0.24336196
+v 0.21113831 -0.26759229 0.30814034
+v 0.22630753 -0.25058282 0.30776321
+f 7 2 3
+f 8 5 2
+f 8 1 5
+f 9 5 1
+f 10 4 5
+f 10 5 9
+f 11 3 2
+f 11 2 6
+f 13 2 5
+f 13 5 12
+f 14 1 8
+f 14 9 1
+f 14 7 9
+f 14 2 7
+f 16 10 9
+f 16 3 10
+f 16 15 3
+f 16 9 15
+f 17 10 3
+f 17 3 11
+f 17 4 10
+f 18 12 5
+f 18 5 4
+f 18 4 17
+f 18 17 11
+f 18 11 6
+f 18 13 12
+f 19 6 2
+f 19 2 13
+f 19 18 6
+f 19 13 18
+f 20 14 8
+f 20 8 2
+f 20 2 14
+f 21 15 9
+f 21 9 7
+f 21 3 15
+f 22 21 7
+f 22 7 3
+f 22 3 21
\ No newline at end of file
diff --git a/objects/objaverse/broccoli/broccoli_0/collision/model_normalized_collision_12.obj b/objects/objaverse/broccoli/broccoli_0/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..450d77e9319bfcfe0000d5534d23326692af6312
--- /dev/null
+++ b/objects/objaverse/broccoli/broccoli_0/collision/model_normalized_collision_12.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.13331751 -0.00316887 -0.15938275
+v 0.13108143 0.08129638 -0.48071974
+v 0.12798157 0.10294036 -0.15823157
+v 0.08298207 0.13892273 -0.23445980
+v 0.08503532 0.08701419 -0.49760615
+v 0.09240086 0.15073146 -0.47446748
+v 0.12896519 0.00865969 -0.16562575
+v 0.12413838 -0.02381449 -0.35146369
+v 0.12835076 0.10657114 -0.46990732
+v 0.08526779 0.14864366 -0.34462975
+v 0.10925359 0.10849262 -0.49139057
+v 0.11428846 0.08593295 -0.49360676
+v 0.13324830 0.00022356 -0.35706064
+v 0.12769717 0.10880837 -0.44808791
+v 0.07965838 0.15397841 -0.47799963
+v 0.12766876 0.09510459 -0.47822257
+v 0.11296464 0.12260363 -0.47914064
+v 0.08024603 0.15140253 -0.34331711
+v 0.08385351 0.12932708 -0.49073428
+v 0.09355956 0.12294590 -0.49013456
+f 1 2 3
+f 7 1 3
+f 7 3 4
+f 8 1 7
+f 8 7 4
+f 8 4 5
+f 9 3 2
+f 10 4 3
+f 10 3 6
+f 12 8 5
+f 12 2 8
+f 12 11 2
+f 12 5 11
+f 13 8 2
+f 13 2 1
+f 13 1 8
+f 14 9 6
+f 14 6 3
+f 14 3 9
+f 16 9 2
+f 16 2 11
+f 17 11 6
+f 17 6 9
+f 17 16 11
+f 17 9 16
+f 18 10 6
+f 18 6 15
+f 18 4 10
+f 18 15 5
+f 18 5 4
+f 19 11 5
+f 19 5 15
+f 19 15 6
+f 20 19 6
+f 20 6 11
+f 20 11 19
\ No newline at end of file
diff --git a/objects/objaverse/broccoli/broccoli_0/collision/model_normalized_collision_13.obj b/objects/objaverse/broccoli/broccoli_0/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac50cae91cc985f82083ba93019c0227c7ca1f5b
--- /dev/null
+++ b/objects/objaverse/broccoli/broccoli_0/collision/model_normalized_collision_13.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v -0.10255740 -0.39678545 0.16607732
+v -0.07571270 -0.40624155 0.08008466
+v -0.08072509 -0.01887333 0.14393939
+v -0.20193721 -0.01887333 0.14393939
+v -0.18420615 -0.34814301 0.06351165
+v -0.12762635 -0.40104842 0.08216544
+v -0.19586686 -0.34808078 0.14149479
+v -0.10694049 -0.06046697 -0.01945309
+v -0.08680425 -0.37214200 0.02219292
+v -0.20116343 -0.15157033 0.05421486
+v -0.14303205 -0.01013622 -0.01372327
+v -0.12078490 -0.38759382 0.04087062
+v -0.20193721 -0.01887333 0.08333333
+v -0.15892873 -0.35092980 0.03760163
+v -0.09014244 -0.38920835 0.03308525
+v -0.19920070 -0.13577947 0.04840518
+v -0.10515658 -0.37155251 0.02732269
+v -0.14802399 -0.33163423 0.02682839
+f 1 2 3
+f 1 3 4
+f 6 2 1
+f 7 1 4
+f 7 6 1
+f 7 5 6
+f 9 8 3
+f 9 3 2
+f 10 7 4
+f 10 5 7
+f 11 4 3
+f 11 3 8
+f 12 6 5
+f 13 10 4
+f 13 4 11
+f 14 12 5
+f 15 12 9
+f 15 9 2
+f 15 2 6
+f 15 6 12
+f 16 13 11
+f 16 10 13
+f 16 11 14
+f 16 14 5
+f 16 5 10
+f 17 9 12
+f 17 12 14
+f 18 14 11
+f 18 11 8
+f 18 8 9
+f 18 17 14
+f 18 9 17
\ No newline at end of file
diff --git a/objects/objaverse/broccoli/broccoli_0/collision/model_normalized_collision_14.obj b/objects/objaverse/broccoli/broccoli_0/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fc872a444c4e3a27764a6d138ddf265839fd43b3
--- /dev/null
+++ b/objects/objaverse/broccoli/broccoli_0/collision/model_normalized_collision_14.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.01018400 -0.24614606 0.26515152
+v 0.01018400 -0.24614606 0.14393939
+v 0.01018400 -0.01887333 0.14393939
+v -0.35253319 -0.01771002 0.25590059
+v -0.23035799 -0.29502729 0.16384551
+v 0.01018400 -0.01887333 0.26515152
+v -0.21139137 -0.25906377 0.26964495
+v -0.41369447 -0.07840634 0.14167466
+v -0.36816671 -0.18833792 0.14046844
+v -0.40904073 -0.02002519 0.14347541
+v -0.35681212 -0.19229370 0.17738481
+v -0.41206287 -0.03834163 0.15532529
+v -0.39849926 -0.01894491 0.17918762
+v -0.41319262 -0.03770178 0.14245827
+v -0.33717856 -0.10302929 0.25259038
+v -0.40193658 -0.13167693 0.17482498
+v -0.40210969 -0.14565421 0.14112478
+v -0.27942924 -0.19197337 0.25672374
+v -0.34972017 -0.04573398 0.25398550
+v -0.41153909 -0.07825727 0.15651156
+v -0.39785647 -0.14239738 0.17063492
+v -0.38358148 -0.15944538 0.17407035
+f 1 2 3
+f 5 2 1
+f 6 1 3
+f 6 3 4
+f 7 5 1
+f 7 6 4
+f 7 1 6
+f 9 8 3
+f 9 3 2
+f 9 2 5
+f 11 9 5
+f 11 5 7
+f 13 4 3
+f 13 3 10
+f 13 10 12
+f 14 10 3
+f 14 3 8
+f 14 12 10
+f 14 8 12
+f 15 7 4
+f 16 13 12
+f 16 4 13
+f 17 16 8
+f 17 8 9
+f 17 9 11
+f 18 11 7
+f 18 7 15
+f 18 15 16
+f 19 16 15
+f 19 15 4
+f 19 4 16
+f 20 16 12
+f 20 12 8
+f 20 8 16
+f 21 16 17
+f 22 18 16
+f 22 11 18
+f 22 16 21
+f 22 21 17
+f 22 17 11
\ No newline at end of file
diff --git a/objects/objaverse/broccoli/broccoli_0/collision/model_normalized_collision_15.obj b/objects/objaverse/broccoli/broccoli_0/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8d17769a8d230a8cb53894739ef05b21bf9285be
--- /dev/null
+++ b/objects/objaverse/broccoli/broccoli_0/collision/model_normalized_collision_15.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v 0.36128305 0.19177438 0.21011524
+v 0.39600065 0.19298897 0.10687523
+v 0.37694803 0.28129700 0.16456379
+v 0.02533552 0.28415697 0.14393939
+v 0.02720485 0.18686856 0.02517075
+v 0.24449941 0.29421818 0.23692273
+v 0.39268780 0.19295827 0.16731877
+v 0.04268055 0.18576221 0.01044300
+v 0.02533552 0.19324788 0.14393939
+v 0.34603244 0.26241806 0.20731870
+v 0.26429145 0.27707031 0.02721058
+v 0.37419921 0.19151166 0.19325535
+v 0.38786607 0.28134042 0.10106992
+v 0.02472179 0.28143914 0.06602709
+v 0.22230522 0.19324788 0.21969697
+v 0.35779900 0.21947561 0.20630932
+v 0.33448572 0.27210781 0.20647853
+v 0.27281548 0.19710466 0.01756750
+v 0.38840238 0.23506510 0.16399516
+v 0.36051949 0.27812105 0.04587600
+v 0.22464283 0.27193946 0.02506488
+v 0.35934608 0.27269837 0.18825650
+v 0.35859213 0.19355934 0.07084580
+v 0.37109486 0.21929872 0.19015529
+v 0.38535238 0.26506757 0.14126085
+v 0.30375964 0.24457074 0.02469729
+v 0.38534294 0.26686730 0.09276309
+v 0.17193969 0.25623606 0.02456409
+v 0.35883578 0.24474520 0.05505105
+v 0.38642865 0.28044487 0.11111140
+v 0.34031815 0.27762021 0.04083849
+v 0.37014101 0.26686156 0.06248536
+v 0.30965545 0.24845188 0.02684028
+f 9 6 4
+f 9 5 8
+f 10 6 1
+f 12 2 7
+f 12 8 2
+f 12 1 8
+f 13 7 2
+f 13 6 3
+f 14 8 5
+f 14 4 6
+f 14 9 4
+f 14 5 9
+f 15 1 6
+f 15 6 9
+f 15 9 8
+f 15 8 1
+f 16 10 1
+f 17 3 6
+f 17 6 10
+f 19 12 7
+f 19 1 12
+f 19 7 13
+f 20 6 13
+f 20 14 6
+f 20 11 14
+f 21 14 11
+f 21 18 8
+f 21 11 18
+f 22 17 10
+f 22 3 17
+f 22 16 3
+f 22 10 16
+f 23 2 8
+f 23 8 18
+f 23 20 2
+f 24 16 1
+f 24 1 19
+f 24 19 3
+f 24 3 16
+f 25 19 13
+f 25 3 19
+f 26 20 18
+f 26 18 11
+f 27 13 2
+f 28 21 8
+f 28 8 14
+f 28 14 21
+f 29 23 18
+f 29 18 20
+f 29 20 23
+f 30 25 13
+f 30 13 3
+f 30 3 25
+f 31 11 20
+f 32 27 2
+f 32 2 20
+f 32 20 13
+f 32 13 27
+f 33 31 20
+f 33 20 26
+f 33 26 11
+f 33 11 31
\ No newline at end of file
diff --git a/objects/objaverse/broccoli/broccoli_0/collision/model_normalized_collision_16.obj b/objects/objaverse/broccoli/broccoli_0/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..21ddcc9cab953cfcb7ae89c2e3fd89e4ad3fcf55
--- /dev/null
+++ b/objects/objaverse/broccoli/broccoli_0/collision/model_normalized_collision_16.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.14445596 -0.00470988 -0.09581532
+v 0.27573564 0.21105454 0.01513346
+v -0.00496751 -0.00372182 0.00757576
+v 0.18067282 0.24888632 0.01456632
+v 0.14100299 0.13214847 -0.12639013
+v 0.01448855 0.17855807 0.01320241
+v 0.20650768 0.04064273 0.00835574
+v 0.27692565 0.22902825 0.01214044
+v -0.00496751 -0.00372182 -0.09848485
+v 0.25934607 0.16615904 0.01590273
+v -0.00666829 0.15313302 -0.09694747
+v 0.20305906 0.03482402 -0.00263202
+v 0.25047561 0.25040710 0.01460049
+v 0.28037659 0.23460577 0.01592484
+v -0.00589942 0.17576985 0.00844183
+v 0.13818879 0.14030860 -0.12289685
+v -0.00868119 0.16162036 -0.03576905
+f 8 2 1
+f 8 1 5
+f 9 5 1
+f 9 1 3
+f 10 6 3
+f 10 3 7
+f 11 5 9
+f 12 7 3
+f 12 3 1
+f 12 10 7
+f 12 1 2
+f 12 2 10
+f 14 4 6
+f 14 6 10
+f 14 13 4
+f 14 10 2
+f 14 2 8
+f 14 8 5
+f 15 6 4
+f 15 4 11
+f 15 3 6
+f 16 11 4
+f 16 5 11
+f 16 4 13
+f 16 14 5
+f 16 13 14
+f 17 11 9
+f 17 9 3
+f 17 15 11
+f 17 3 15
\ No newline at end of file
diff --git a/objects/objaverse/broccoli/broccoli_0/collision/model_normalized_collision_17.obj b/objects/objaverse/broccoli/broccoli_0/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cee6ddd481349a75fecbb80702d04ddf13863ad0
--- /dev/null
+++ b/objects/objaverse/broccoli/broccoli_0/collision/model_normalized_collision_17.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.22266631 -0.17598060 0.01465102
+v 0.27736597 -0.01099523 0.01438565
+v 0.05563855 -0.00372182 0.00757576
+v 0.16969062 0.04963561 -0.00957065
+v 0.18837971 -0.08553879 -0.09061505
+v 0.23061163 0.03095365 0.01537860
+v 0.19031927 -0.08680664 -0.08696428
+v 0.13440723 0.02035475 -0.09670167
+v 0.04398948 -0.13865417 -0.00034248
+v 0.27530644 0.00388121 0.01476971
+v 0.05070638 -0.13947946 0.01063829
+v 0.14091905 0.03766399 -0.06433531
+v 0.13988617 -0.10561131 -0.09284628
+v 0.05563855 -0.00372182 -0.09848485
+v 0.27101024 -0.00554421 0.00227313
+v 0.16383440 -0.11043438 -0.08318961
+v 0.05436147 -0.07677734 -0.09826521
+v 0.27333228 -0.00295497 0.00550970
+v 0.25606631 -0.00263818 -0.00869585
+v 0.05027491 -0.08331217 -0.07917009
+f 6 4 3
+f 7 5 2
+f 7 2 1
+f 7 1 5
+f 10 6 1
+f 10 1 2
+f 11 6 3
+f 11 1 6
+f 11 9 1
+f 11 3 9
+f 12 4 6
+f 12 10 8
+f 12 6 10
+f 12 3 4
+f 13 1 9
+f 13 8 5
+f 14 9 3
+f 14 12 8
+f 14 3 12
+f 15 2 5
+f 16 13 5
+f 16 5 1
+f 16 1 13
+f 17 13 9
+f 17 14 8
+f 17 8 13
+f 18 10 2
+f 18 2 15
+f 18 8 10
+f 19 15 5
+f 19 5 8
+f 19 18 15
+f 19 8 18
+f 20 17 9
+f 20 9 14
+f 20 14 17
\ No newline at end of file
diff --git a/objects/objaverse/broccoli/broccoli_0/collision/model_normalized_collision_18.obj b/objects/objaverse/broccoli/broccoli_0/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d6b8461845f06adcf871121f95afc6f64e05fb08
--- /dev/null
+++ b/objects/objaverse/broccoli/broccoli_0/collision/model_normalized_collision_18.obj
@@ -0,0 +1,138 @@
+# https://github.com/mikedh/trimesh
+v 0.03777359 -0.39625377 0.18004569
+v 0.12402637 -0.33294742 0.10637343
+v 0.13468322 -0.34805189 0.25580443
+v -0.16496099 -0.34381487 0.19718600
+v -0.11863928 -0.39275767 0.04373398
+v 0.00852152 -0.34148296 0.25239872
+v 0.08220889 -0.39669918 0.10655882
+v -0.09063296 -0.42809640 0.11478681
+v -0.15892873 -0.35092980 0.03760163
+v 0.05240696 -0.33037635 0.05096076
+v -0.08785911 -0.39644204 0.18126422
+v 0.12130449 -0.36701277 0.17219803
+v 0.09722326 -0.38043793 0.19846070
+v 0.02193214 -0.41237321 0.10997345
+v -0.16543664 -0.39669641 0.11922723
+v -0.19302461 -0.34447683 0.15292303
+v -0.08213873 -0.35093781 0.00913060
+v 0.07378802 -0.34482765 0.06742534
+v 0.12758848 -0.35393968 0.24866755
+v -0.08971960 -0.42569828 0.12051661
+v -0.10915292 -0.34382400 0.22435201
+v 0.10100090 -0.37398335 0.10623051
+v 0.10500462 -0.38175239 0.17707526
+v 0.00536017 -0.41026336 0.14003827
+v -0.08989378 -0.41226903 0.07412432
+v -0.15840511 -0.36497213 0.17726269
+v -0.16903090 -0.37514720 0.04830967
+v -0.19059471 -0.34960716 0.07488670
+v -0.07201193 -0.34642771 0.01465719
+v -0.09014244 -0.38920835 0.03308525
+v 0.07346817 -0.33341311 0.06272629
+v 0.08723928 -0.38824614 0.10103875
+v -0.13391614 -0.41028678 0.11675071
+v -0.10785825 -0.35318797 0.21710507
+v 0.08320917 -0.39400446 0.12723804
+v -0.08253510 -0.42716096 0.11446312
+v -0.10365333 -0.38265450 0.18989491
+v -0.17169438 -0.38457261 0.13349558
+v -0.16287592 -0.36210187 0.04193232
+v -0.17516669 -0.35103898 0.05148123
+v -0.18474908 -0.37133900 0.10267204
+v -0.08451106 -0.36154901 0.01563321
+v -0.17082777 -0.38183098 0.07351682
+v -0.16030479 -0.35264209 0.19134257
+v -0.18437247 -0.36908918 0.13458020
+v -0.18641266 -0.35726866 0.07196375
+v -0.16427902 -0.39325023 0.10419623
+f 6 3 2
+f 10 6 2
+f 10 4 6
+f 12 2 3
+f 14 13 1
+f 16 4 10
+f 18 17 10
+f 19 11 1
+f 19 3 6
+f 19 6 11
+f 19 1 13
+f 20 8 1
+f 20 1 11
+f 21 6 4
+f 22 12 7
+f 22 2 12
+f 23 7 12
+f 23 19 13
+f 23 12 3
+f 23 3 19
+f 23 13 14
+f 24 14 1
+f 24 1 8
+f 25 8 5
+f 26 15 11
+f 27 5 8
+f 28 16 10
+f 28 10 9
+f 29 17 9
+f 29 9 10
+f 29 10 17
+f 30 5 27
+f 30 25 5
+f 30 7 14
+f 30 14 25
+f 31 18 10
+f 31 10 2
+f 31 2 18
+f 32 17 18
+f 32 7 30
+f 32 22 7
+f 32 18 2
+f 32 2 22
+f 33 8 20
+f 33 20 11
+f 33 11 15
+f 34 11 6
+f 34 6 21
+f 34 21 4
+f 35 23 14
+f 35 14 7
+f 35 7 23
+f 36 24 8
+f 36 14 24
+f 36 25 14
+f 36 8 25
+f 37 26 11
+f 37 11 34
+f 38 15 26
+f 38 26 4
+f 39 9 17
+f 39 17 27
+f 40 28 9
+f 40 27 28
+f 40 39 27
+f 40 9 39
+f 41 16 28
+f 42 30 27
+f 42 27 17
+f 42 32 30
+f 42 17 32
+f 43 27 8
+f 43 8 33
+f 43 15 41
+f 44 4 26
+f 44 26 37
+f 44 37 34
+f 44 34 4
+f 45 38 4
+f 45 4 16
+f 45 16 41
+f 45 41 15
+f 45 15 38
+f 46 41 28
+f 46 28 27
+f 46 43 41
+f 46 27 43
+f 47 43 33
+f 47 33 15
+f 47 15 43
\ No newline at end of file
diff --git a/objects/objaverse/broccoli/broccoli_0/collision/model_normalized_collision_19.obj b/objects/objaverse/broccoli/broccoli_0/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a50dd3d8e0cf1838ef6f19adb2838018732c8e1
--- /dev/null
+++ b/objects/objaverse/broccoli/broccoli_0/collision/model_normalized_collision_19.obj
@@ -0,0 +1,120 @@
+# https://github.com/mikedh/trimesh
+v 0.13324830 0.00022356 -0.35706064
+v 0.13247455 0.00008136 -0.47694033
+v 0.13493554 0.08350598 -0.35648278
+v 0.01202664 0.19145826 -0.40597393
+v -0.11243126 0.00224084 -0.46508266
+v 0.07545816 0.16498047 -0.47251770
+v -0.10957458 0.10506362 -0.35420628
+v -0.01825822 -0.00350278 -0.49183960
+v 0.13108143 0.08129638 -0.48071974
+v 0.07503612 0.16130115 -0.37615664
+v -0.05649785 0.16074763 -0.46978862
+v -0.10183079 -0.00026362 -0.35742394
+v 0.08385351 0.12932708 -0.49073428
+v 0.03292589 0.19339274 -0.40653215
+v 0.03290937 0.17820845 -0.36108856
+v -0.05482291 0.15999572 -0.38910877
+v -0.11180130 0.08188075 -0.46296958
+v -0.10688803 0.01732060 -0.35818731
+v -0.09052983 -0.00284016 -0.47678558
+v 0.07965838 0.15397841 -0.47799963
+v -0.00025974 0.17863598 -0.47904416
+v 0.11664614 -0.00027470 -0.49121423
+v 0.06222458 0.17420607 -0.39173455
+v -0.01616794 0.17473456 -0.36097394
+v -0.08562675 0.13496060 -0.45892186
+v -0.03026821 0.17455934 -0.43051715
+v -0.10760299 0.00260555 -0.38908654
+v -0.08941576 0.09716523 -0.47255728
+v 0.11788365 0.08524803 -0.49104291
+v 0.04817886 0.17708533 -0.47587396
+v 0.01210475 0.19084820 -0.41344191
+v 0.01182814 0.13027112 -0.49004633
+v 0.06087209 0.17578818 -0.46144739
+v -0.02695366 0.17516839 -0.38927676
+v -0.06658690 0.14583832 -0.35866793
+v -0.10788507 0.09541281 -0.45876834
+v -0.03179916 0.17098211 -0.47601554
+v -0.01785022 0.10033469 -0.48941456
+v 0.03548462 0.19204964 -0.41376741
+v -0.09489775 0.11888458 -0.45713606
+v -0.07173070 0.12284049 -0.47428306
+f 1 2 3
+f 7 1 3
+f 8 2 1
+f 9 6 3
+f 9 3 2
+f 10 3 6
+f 12 1 7
+f 12 8 1
+f 15 7 3
+f 15 3 10
+f 17 5 7
+f 18 12 7
+f 18 7 5
+f 19 12 5
+f 19 8 12
+f 19 5 17
+f 20 6 9
+f 22 9 2
+f 22 2 8
+f 23 10 6
+f 23 15 10
+f 23 14 15
+f 24 15 14
+f 24 14 4
+f 24 7 15
+f 25 16 11
+f 25 7 16
+f 25 11 17
+f 26 11 16
+f 27 18 5
+f 27 5 12
+f 27 12 18
+f 28 19 17
+f 28 17 11
+f 29 20 9
+f 29 13 20
+f 29 9 22
+f 29 22 8
+f 29 8 13
+f 30 20 13
+f 30 13 21
+f 30 6 20
+f 31 4 14
+f 31 14 21
+f 32 21 13
+f 32 13 8
+f 33 23 6
+f 33 6 30
+f 34 24 4
+f 34 16 24
+f 34 26 16
+f 34 4 26
+f 35 24 16
+f 35 16 7
+f 35 7 24
+f 36 25 17
+f 36 17 7
+f 37 11 26
+f 37 21 32
+f 37 31 21
+f 37 26 4
+f 37 4 31
+f 38 8 19
+f 38 19 28
+f 38 32 8
+f 38 37 32
+f 39 30 21
+f 39 21 14
+f 39 33 30
+f 39 14 23
+f 39 23 33
+f 40 36 7
+f 40 7 25
+f 40 25 36
+f 41 28 11
+f 41 11 37
+f 41 38 28
+f 41 37 38
\ No newline at end of file
diff --git a/objects/objaverse/broccoli/broccoli_0/collision/model_normalized_collision_2.obj b/objects/objaverse/broccoli/broccoli_0/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..acd472d3e75256b8bba20587509dd1f24f6e8e3a
--- /dev/null
+++ b/objects/objaverse/broccoli/broccoli_0/collision/model_normalized_collision_2.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v -0.07201193 -0.34642771 0.01465719
+v 0.04853938 -0.07961044 -0.09726389
+v 0.05563855 -0.00372182 0.00757576
+v -0.13518277 0.20632512 -0.03048824
+v -0.09192543 -0.01967601 -0.09511878
+v -0.00666829 0.15313302 -0.09694747
+v -0.20017702 -0.03489837 0.01510386
+v 0.03364359 -0.21301800 0.01705533
+v -0.00133532 -0.12930790 -0.09037930
+v 0.05563855 -0.00372182 -0.09848485
+v -0.01057147 0.17925765 0.01278380
+v -0.08784248 0.15482441 -0.10653634
+v -0.12379160 -0.32037322 0.01301111
+v 0.01889286 -0.24171974 0.01735262
+v 0.04496811 -0.16595951 0.01462213
+v -0.07753852 -0.34146712 0.00558428
+v -0.07278506 0.19942950 -0.03208863
+v -0.17357015 0.15945443 0.00206883
+v -0.03641343 0.15683640 -0.11139556
+v -0.20056187 -0.04985889 0.01345791
+v -0.10873720 -0.34793146 0.01528049
+v -0.02810122 -0.29958744 0.01635523
+v -0.07538730 -0.32158788 -0.00618933
+v -0.02385154 0.18392969 0.01104457
+v -0.17007807 0.16575040 -0.00314936
+v -0.12806485 0.20392376 -0.03708379
+v -0.10538925 -0.34207923 0.01103772
+v -0.03659705 -0.12546092 -0.08299477
+v -0.07659650 0.19468872 -0.04417992
+f 9 5 2
+f 11 10 6
+f 11 3 10
+f 11 7 8
+f 14 2 8
+f 14 8 7
+f 15 8 2
+f 15 11 8
+f 15 3 11
+f 15 10 3
+f 15 2 10
+f 16 2 1
+f 17 11 6
+f 18 7 11
+f 19 6 10
+f 19 10 2
+f 19 2 5
+f 19 5 12
+f 19 17 6
+f 20 12 5
+f 20 13 7
+f 20 5 13
+f 21 7 13
+f 21 14 7
+f 21 16 1
+f 22 1 2
+f 22 2 14
+f 22 21 1
+f 22 14 21
+f 23 9 2
+f 23 2 16
+f 24 17 4
+f 24 11 17
+f 24 18 11
+f 24 4 18
+f 25 18 4
+f 25 4 12
+f 25 12 20
+f 25 20 7
+f 25 7 18
+f 26 19 12
+f 26 12 4
+f 26 4 17
+f 27 21 13
+f 27 13 5
+f 27 23 16
+f 27 16 21
+f 28 5 9
+f 28 9 23
+f 28 27 5
+f 28 23 27
+f 29 26 17
+f 29 17 19
+f 29 19 26
\ No newline at end of file
diff --git a/objects/objaverse/broccoli/broccoli_0/collision/model_normalized_collision_20.obj b/objects/objaverse/broccoli/broccoli_0/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..11170c72ecc62ce122ef45588a6dfd3b37ef5b33
--- /dev/null
+++ b/objects/objaverse/broccoli/broccoli_0/collision/model_normalized_collision_20.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.16849464 -0.10047417 -0.08866580
+v 0.18710625 -0.08499598 -0.09265645
+v 0.15429484 -0.00721943 -0.08903502
+v 0.05563855 -0.00372182 -0.09848485
+v 0.06952453 -0.07599123 -0.31088715
+v 0.07801728 -0.07818238 -0.09368498
+v 0.17853483 -0.05659489 -0.09181524
+v 0.08943990 -0.06616066 -0.30973419
+v 0.12181479 -0.09710516 -0.09478548
+v 0.05436147 -0.07677734 -0.09826521
+v 0.07435449 -0.07415244 -0.30981437
+v 0.12740043 -0.00475986 -0.23466824
+v 0.13798948 -0.09763781 -0.11731456
+v 0.05563855 -0.00372182 -0.23484848
+v 0.05470657 -0.07476001 -0.23497015
+v 0.09693038 -0.05957020 -0.31029462
+v 0.12937466 0.01084795 -0.15878387
+v 0.13117673 -0.04777309 -0.22818225
+v 0.12729366 0.01024907 -0.17361930
+f 6 1 3
+f 6 3 4
+f 7 1 2
+f 7 3 1
+f 8 2 1
+f 9 1 6
+f 10 6 4
+f 10 9 6
+f 11 8 1
+f 11 1 5
+f 11 5 8
+f 12 7 2
+f 12 3 7
+f 13 9 5
+f 13 5 1
+f 13 1 9
+f 14 10 4
+f 15 5 9
+f 15 9 10
+f 15 14 5
+f 15 10 14
+f 16 2 8
+f 16 14 12
+f 16 8 5
+f 16 5 14
+f 17 4 3
+f 17 14 4
+f 18 16 12
+f 18 12 2
+f 18 2 16
+f 19 17 3
+f 19 3 12
+f 19 12 14
+f 19 14 17
\ No newline at end of file
diff --git a/objects/objaverse/broccoli/broccoli_0/collision/model_normalized_collision_21.obj b/objects/objaverse/broccoli/broccoli_0/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9bc73b20eb4e44f99d9b4e8451c7550840822c8c
--- /dev/null
+++ b/objects/objaverse/broccoli/broccoli_0/collision/model_normalized_collision_21.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v 0.38144970 0.28257892 0.14286601
+v 0.37479107 0.28254249 0.07530207
+v 0.21767196 0.39257377 0.14929738
+v 0.02533555 0.37492273 0.14403587
+v 0.02472179 0.28143914 0.06602709
+v 0.02533552 0.28415697 0.14393939
+v 0.30373091 0.35790486 0.09287666
+v 0.18527997 0.27589375 0.03120931
+v 0.02452943 0.35009565 0.08037514
+v 0.37646234 0.30139516 0.09827690
+v 0.31984926 0.34295975 0.14155392
+v 0.35629921 0.27947540 0.04433098
+v 0.02457875 0.29595720 0.06905629
+v 0.24596797 0.37550666 0.08192785
+v 0.37554898 0.28746959 0.07792874
+v 0.25977937 0.37609349 0.14292565
+v 0.34433656 0.32939998 0.09586781
+v 0.38022385 0.28908969 0.14180657
+v 0.22119203 0.32942803 0.04866601
+v 0.27370511 0.37329205 0.09070930
+v 0.15281561 0.38719880 0.12141962
+v 0.20375896 0.30187771 0.03815885
+v 0.28240690 0.30515264 0.04054607
+v 0.24816500 0.37977200 0.08513224
+v 0.13929172 0.38899517 0.14526103
+v 0.31082919 0.27928357 0.03622987
+v 0.30089926 0.31693308 0.05472058
+f 6 1 3
+f 6 3 4
+f 8 6 5
+f 8 1 6
+f 9 6 4
+f 12 2 1
+f 12 1 8
+f 13 5 6
+f 13 6 9
+f 13 9 8
+f 13 8 5
+f 15 10 1
+f 15 1 2
+f 15 2 12
+f 16 11 7
+f 16 3 11
+f 17 11 10
+f 17 7 11
+f 17 12 7
+f 17 15 12
+f 17 10 15
+f 18 1 10
+f 18 10 11
+f 18 11 3
+f 18 3 1
+f 19 9 14
+f 20 7 12
+f 20 16 7
+f 20 3 16
+f 21 9 4
+f 22 8 9
+f 22 9 19
+f 23 19 14
+f 23 22 19
+f 23 8 22
+f 24 20 12
+f 24 3 20
+f 24 21 3
+f 24 14 9
+f 24 9 21
+f 24 23 14
+f 25 21 4
+f 25 4 3
+f 25 3 21
+f 26 23 12
+f 26 12 8
+f 26 8 23
+f 27 24 12
+f 27 12 23
+f 27 23 24
\ No newline at end of file
diff --git a/objects/objaverse/broccoli/broccoli_0/collision/model_normalized_collision_22.obj b/objects/objaverse/broccoli/broccoli_0/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7979fca56a5d10146440fff4519899cf7e466c27
--- /dev/null
+++ b/objects/objaverse/broccoli/broccoli_0/collision/model_normalized_collision_22.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v -0.07566233 -0.02431028 -0.16393165
+v -0.04815653 0.15889321 -0.35666377
+v -0.04558922 0.15206148 -0.15583940
+v -0.05760172 0.15264136 -0.35777179
+v -0.09169770 -0.02259710 -0.35021882
+v -0.05826797 0.14685277 -0.15425894
+v -0.10183079 -0.00026362 -0.35742394
+v -0.09793528 0.00218646 -0.15774738
+v -0.10957458 0.10506362 -0.35420628
+v -0.11001161 0.02614184 -0.17599462
+v -0.08251477 0.13212767 -0.35828173
+v -0.11006270 0.02785261 -0.35781184
+v -0.08052448 0.12232489 -0.15412949
+v -0.09801682 0.06299853 -0.16063090
+v -0.10864873 0.04007471 -0.17643790
+v -0.10798944 0.10489729 -0.33330505
+f 1 2 3
+f 5 2 1
+f 6 3 2
+f 6 2 4
+f 7 4 2
+f 7 2 5
+f 8 1 3
+f 8 3 6
+f 8 5 1
+f 10 7 5
+f 10 5 8
+f 11 9 6
+f 11 6 4
+f 11 4 7
+f 12 10 9
+f 12 7 10
+f 12 11 7
+f 12 9 11
+f 13 8 6
+f 13 6 9
+f 14 10 8
+f 14 8 13
+f 15 14 13
+f 15 9 10
+f 15 10 14
+f 16 15 13
+f 16 13 9
+f 16 9 15
\ No newline at end of file
diff --git a/objects/objaverse/broccoli/broccoli_0/collision/model_normalized_collision_23.obj b/objects/objaverse/broccoli/broccoli_0/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9dbed9d6edfff1a986c5bb12f3df782628779db7
--- /dev/null
+++ b/objects/objaverse/broccoli/broccoli_0/collision/model_normalized_collision_23.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v -0.01991132 0.16386636 -0.03799679
+v -0.31453538 0.20993367 0.01113832
+v -0.22455801 0.35394226 0.01440896
+v -0.11594610 0.32604249 0.01702300
+v -0.31471538 0.25760578 0.00639888
+v -0.21651051 0.14918977 0.01260658
+v -0.02385154 0.18392969 0.01104457
+v -0.17217543 0.35726526 0.01117209
+v -0.31615349 0.26342010 0.01319544
+v -0.14256810 0.16917161 -0.02854430
+v -0.01450745 0.17695410 0.00236064
+v -0.24641364 0.16446271 0.01309909
+v -0.31481018 0.21310894 0.01043528
+v -0.21916129 0.34977769 0.00470183
+v -0.17160670 0.14785969 0.00781482
+v -0.14967523 0.23589535 -0.02013254
+f 7 4 6
+f 8 4 1
+f 8 3 4
+f 9 4 3
+f 11 1 4
+f 11 4 7
+f 12 6 4
+f 12 4 9
+f 12 9 2
+f 12 10 6
+f 12 2 10
+f 13 9 5
+f 13 2 9
+f 13 10 2
+f 13 5 10
+f 14 9 3
+f 14 5 9
+f 14 3 8
+f 14 8 1
+f 15 10 1
+f 15 6 10
+f 15 1 11
+f 15 11 7
+f 15 7 6
+f 16 10 5
+f 16 5 14
+f 16 14 1
+f 16 1 10
\ No newline at end of file
diff --git a/objects/objaverse/broccoli/broccoli_0/collision/model_normalized_collision_24.obj b/objects/objaverse/broccoli/broccoli_0/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..01ad702c454cfdc739de3e8d12549249b6ff82a4
--- /dev/null
+++ b/objects/objaverse/broccoli/broccoli_0/collision/model_normalized_collision_24.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.18678072 0.01139765 0.02279728
+v -0.18131348 0.09202450 0.02496812
+v -0.18678569 0.19324788 0.08333333
+v -0.35456846 0.18985447 0.08910838
+v -0.31329424 0.19559261 0.01431359
+v -0.38324470 0.07182917 0.08364416
+v -0.19178618 0.19411191 -0.00719979
+v -0.19183554 0.03644360 0.03526641
+v -0.37125881 0.11243519 0.09093921
+v -0.33769827 0.01070597 0.02658225
+v -0.34985391 0.18732983 0.07616687
+v -0.37023144 0.03212248 0.05142153
+f 1 2 3
+f 5 4 3
+f 7 2 1
+f 7 5 3
+f 7 3 2
+f 8 6 1
+f 8 1 3
+f 8 3 6
+f 9 6 3
+f 9 3 4
+f 9 4 6
+f 10 7 1
+f 10 5 7
+f 11 6 4
+f 11 4 5
+f 11 5 6
+f 12 6 5
+f 12 5 10
+f 12 10 1
+f 12 1 6
\ No newline at end of file
diff --git a/objects/objaverse/broccoli/broccoli_0/collision/model_normalized_collision_25.obj b/objects/objaverse/broccoli/broccoli_0/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..72f8f1c47b3650560bac114e5807ce983057ba01
--- /dev/null
+++ b/objects/objaverse/broccoli/broccoli_0/collision/model_normalized_collision_25.obj
@@ -0,0 +1,138 @@
+# https://github.com/mikedh/trimesh
+v 0.10674069 -0.06549315 -0.23117602
+v 0.13714225 0.00105314 -0.47284362
+v 0.12740043 -0.00475986 -0.23466824
+v -0.08946814 -0.00095415 -0.23500789
+v -0.04151917 -0.07532060 -0.46768888
+v 0.13220656 0.00053261 -0.34198746
+v 0.12247799 -0.05472286 -0.23098076
+v 0.06440515 -0.09244323 -0.44470233
+v -0.01659200 -0.07852771 -0.23367502
+v -0.10554710 -0.00081984 -0.46829685
+v -0.09683097 0.00225252 -0.31220878
+v 0.06843224 -0.05807605 -0.48881358
+v 0.08056481 -0.09203148 -0.39205029
+v -0.06603886 -0.04764132 -0.26734381
+v 0.00150906 -0.09340495 -0.38883492
+v 0.06766367 -0.07729560 -0.48004555
+v -0.01825822 -0.00350278 -0.49183960
+v 0.02090893 -0.08091586 -0.23438427
+v 0.09897989 -0.06635123 -0.44484198
+v -0.04212196 -0.06644780 -0.23456402
+v -0.07958211 -0.05124199 -0.45645330
+v 0.01153469 -0.09286895 -0.46021878
+v -0.01676585 -0.07718996 -0.48048236
+v 0.11266552 -0.03531802 -0.48560970
+v 0.11395126 -0.00185013 -0.49299481
+v 0.03841058 -0.09150847 -0.36028012
+v 0.13194308 -0.01145884 -0.47039527
+v 0.08879230 -0.07806391 -0.45235923
+v -0.07699104 -0.02548465 -0.23643800
+v -0.04086268 -0.07589826 -0.40260424
+v -0.08627732 -0.02942677 -0.47271950
+v -0.09172253 -0.02519644 -0.35879295
+v -0.00074014 -0.09190132 -0.44613763
+v 0.05331830 -0.09203643 -0.45964712
+v 0.02611578 -0.06047660 -0.48975406
+v 0.09682451 -0.04263800 -0.48797241
+v 0.11213157 -0.03028374 -0.48795485
+v 0.06451385 -0.09208775 -0.37665399
+v 0.07904018 -0.09104065 -0.41421589
+v 0.08660652 -0.06279440 -0.48011284
+v -0.09511119 -0.02359800 -0.46707002
+v -0.04278989 -0.06994055 -0.47734861
+v -0.09052983 -0.00284016 -0.47678558
+v -0.08127393 -0.04906812 -0.45062629
+v -0.07750258 -0.03685056 -0.29795559
+v -0.01831250 -0.03331169 -0.49058438
+v -0.00305883 -0.04579015 -0.49090184
+f 6 4 3
+f 7 3 4
+f 7 4 1
+f 7 6 3
+f 7 2 6
+f 9 1 4
+f 11 6 2
+f 11 4 6
+f 11 2 10
+f 13 7 1
+f 15 8 13
+f 18 13 1
+f 18 1 9
+f 18 9 15
+f 20 9 4
+f 21 20 14
+f 22 8 15
+f 23 22 5
+f 23 16 22
+f 25 17 10
+f 25 10 2
+f 26 18 15
+f 27 2 7
+f 27 7 19
+f 27 24 2
+f 27 19 24
+f 28 19 7
+f 28 7 13
+f 28 24 19
+f 29 20 4
+f 29 14 20
+f 30 15 9
+f 30 9 20
+f 30 5 15
+f 30 21 5
+f 30 20 21
+f 32 11 10
+f 32 29 4
+f 32 4 11
+f 33 22 15
+f 33 15 5
+f 33 5 22
+f 34 22 16
+f 34 8 22
+f 34 28 8
+f 34 16 28
+f 35 12 16
+f 35 16 23
+f 35 25 12
+f 36 24 16
+f 36 16 12
+f 36 12 25
+f 37 25 2
+f 37 2 24
+f 37 36 25
+f 37 24 36
+f 38 26 15
+f 38 15 13
+f 38 13 18
+f 38 18 26
+f 39 28 13
+f 39 13 8
+f 39 8 28
+f 40 28 16
+f 40 16 24
+f 40 24 28
+f 41 31 21
+f 41 10 31
+f 41 32 10
+f 42 5 21
+f 42 21 31
+f 42 23 5
+f 43 31 10
+f 43 10 17
+f 43 42 31
+f 44 21 14
+f 44 41 21
+f 44 32 41
+f 45 14 29
+f 45 29 32
+f 45 44 14
+f 45 32 44
+f 46 43 17
+f 46 42 43
+f 47 35 23
+f 47 23 42
+f 47 42 46
+f 47 25 35
+f 47 46 17
+f 47 17 25
\ No newline at end of file
diff --git a/objects/objaverse/broccoli/broccoli_0/collision/model_normalized_collision_26.obj b/objects/objaverse/broccoli/broccoli_0/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c8f2d646c3d6f64c6df14ffcaad7e356a6aebf2b
--- /dev/null
+++ b/objects/objaverse/broccoli/broccoli_0/collision/model_normalized_collision_26.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v 0.27822498 0.35084579 0.16540818
+v 0.28420659 0.36220705 0.14410394
+v 0.17821660 0.40790969 0.21923342
+v -0.01785031 0.42058255 0.21442841
+v -0.04368245 0.39968409 0.13479997
+v -0.04946552 0.35310774 0.30322821
+v 0.18602845 0.40401911 0.14926646
+v 0.18606968 0.35524625 0.26039086
+v 0.09574007 0.41941043 0.24247987
+v -0.05729633 0.40685718 0.22710085
+v 0.25977937 0.37609349 0.14292565
+v -0.06477083 0.41336294 0.14413872
+v -0.03761119 0.35242641 0.30316012
+v 0.16787676 0.38843989 0.25051239
+v 0.14301110 0.41844450 0.22084971
+v -0.04854895 0.38686287 0.27114985
+v 0.23107060 0.38772754 0.14931047
+v 0.25990297 0.37553121 0.14978675
+v 0.27774259 0.36591827 0.14328282
+v -0.06763550 0.37458741 0.28105533
+v 0.02744452 0.38289133 0.28208991
+v 0.20769199 0.37684954 0.21829595
+v -0.02268477 0.41906651 0.17945751
+v 0.05694434 0.41702105 0.24174185
+v -0.04853576 0.40188399 0.24078233
+v -0.04849531 0.36135517 0.29574492
+v 0.12127781 0.40037486 0.25566339
+v 0.21657727 0.35467467 0.22836038
+f 1 2 3
+f 5 2 1
+f 6 5 1
+f 11 5 7
+f 12 7 5
+f 12 10 4
+f 12 5 6
+f 13 6 1
+f 13 1 8
+f 14 3 9
+f 15 4 9
+f 15 9 3
+f 15 3 7
+f 17 11 7
+f 17 7 3
+f 17 3 11
+f 18 11 3
+f 18 3 2
+f 19 2 5
+f 19 5 11
+f 19 18 2
+f 19 11 18
+f 20 12 6
+f 20 10 12
+f 20 16 10
+f 21 6 13
+f 21 9 16
+f 21 13 8
+f 22 14 8
+f 22 1 3
+f 22 3 14
+f 23 12 4
+f 23 4 15
+f 23 15 7
+f 23 7 12
+f 24 16 9
+f 24 9 4
+f 24 4 16
+f 25 16 4
+f 25 4 10
+f 25 10 16
+f 26 20 6
+f 26 6 21
+f 26 21 16
+f 26 16 20
+f 27 14 9
+f 27 9 21
+f 27 21 8
+f 27 8 14
+f 28 22 8
+f 28 8 1
+f 28 1 22
\ No newline at end of file
diff --git a/objects/objaverse/broccoli/broccoli_0/collision/model_normalized_collision_27.obj b/objects/objaverse/broccoli/broccoli_0/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f375bc1f048e9107dd2cbafe9e9f9860ff46e5f2
--- /dev/null
+++ b/objects/objaverse/broccoli/broccoli_0/collision/model_normalized_collision_27.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.12673524 -0.00204275 -0.23376638
+v 0.12413838 -0.02381449 -0.35146369
+v 0.09664531 0.14231468 -0.36869558
+v -0.01827532 0.15984465 -0.26789955
+v -0.08018151 -0.01768312 -0.23242879
+v 0.08298207 0.13892273 -0.23445980
+v -0.09169770 -0.02259710 -0.35021882
+v 0.05337600 0.17247901 -0.37278020
+v -0.04052811 0.14657045 -0.23667838
+v 0.08266991 0.15631465 -0.37259535
+v 0.02286765 0.15939626 -0.26769965
+v -0.04228395 0.16233438 -0.35864139
+v 0.06411995 0.16782389 -0.37423634
+v 0.06281669 0.14481926 -0.23542635
+v -0.02503509 0.16112655 -0.28247179
+v 0.03318881 0.16027767 -0.28395413
+f 1 2 3
+f 5 2 1
+f 6 1 3
+f 6 5 1
+f 7 2 5
+f 9 5 6
+f 9 7 5
+f 10 6 3
+f 10 3 2
+f 11 8 4
+f 11 4 9
+f 12 8 7
+f 12 7 9
+f 13 8 6
+f 13 6 10
+f 13 7 8
+f 13 10 2
+f 13 2 7
+f 14 6 8
+f 14 11 9
+f 14 9 6
+f 15 4 8
+f 15 8 12
+f 15 12 9
+f 15 9 4
+f 16 14 8
+f 16 8 11
+f 16 11 14
\ No newline at end of file
diff --git a/objects/objaverse/broccoli/broccoli_0/collision/model_normalized_collision_28.obj b/objects/objaverse/broccoli/broccoli_0/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1779623cc9ddb44e1867dd63a3959ae143166a33
--- /dev/null
+++ b/objects/objaverse/broccoli/broccoli_0/collision/model_normalized_collision_28.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v -0.19302461 -0.34447683 0.15292303
+v -0.19554940 -0.34805518 0.08488947
+v -0.20067476 -0.20081503 0.05917461
+v -0.27942924 -0.19197337 0.25672374
+v -0.36022268 -0.20531622 0.11424551
+v -0.19800402 -0.27107497 0.26328212
+v -0.19396311 -0.29079923 0.06236564
+v -0.28381304 -0.27732160 0.12098983
+v -0.31536311 -0.19332570 0.08124617
+v -0.23016356 -0.24162912 0.28059897
+v -0.19438021 -0.27914410 0.24593522
+v -0.35802493 -0.19230800 0.17188693
+v -0.28836704 -0.19582860 0.06656796
+v -0.36333539 -0.19407429 0.10839212
+v -0.35086755 -0.20178749 0.17029327
+v -0.29346482 -0.25973404 0.15266995
+v -0.28195995 -0.25772552 0.18176906
+v -0.32291625 -0.22845154 0.16744521
+f 7 1 2
+f 8 5 2
+f 8 2 1
+f 9 4 3
+f 10 6 3
+f 10 3 4
+f 10 1 6
+f 11 6 1
+f 11 1 7
+f 11 7 3
+f 11 3 6
+f 12 4 9
+f 12 10 4
+f 13 9 3
+f 13 3 7
+f 13 7 2
+f 14 2 5
+f 14 12 9
+f 14 5 12
+f 14 13 2
+f 14 9 13
+f 15 12 5
+f 15 5 8
+f 15 10 12
+f 16 8 1
+f 17 1 10
+f 17 10 15
+f 17 16 1
+f 18 17 15
+f 18 16 17
+f 18 15 8
+f 18 8 16
\ No newline at end of file
diff --git a/objects/objaverse/broccoli/broccoli_0/collision/model_normalized_collision_29.obj b/objects/objaverse/broccoli/broccoli_0/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be0086c9ca96f3d5eddacbdb3a0d662ea2233e28
--- /dev/null
+++ b/objects/objaverse/broccoli/broccoli_0/collision/model_normalized_collision_29.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.10255740 -0.39678545 0.16607732
+v -0.07942912 -0.34641333 0.22759428
+v -0.08299814 -0.28683561 0.30342462
+v -0.21139137 -0.25906377 0.26964495
+v -0.08072509 -0.24614606 0.14393939
+v -0.14822354 -0.30355297 0.25694597
+v -0.23035799 -0.29502729 0.16384551
+v -0.07892021 -0.32246905 0.25528159
+v -0.16259532 -0.33755256 0.20476257
+v -0.19586686 -0.34808078 0.14149479
+v -0.17067980 -0.33804138 0.19598067
+f 1 2 3
+f 5 2 1
+f 5 4 3
+f 6 1 3
+f 6 3 4
+f 7 4 5
+f 8 5 3
+f 8 3 2
+f 8 2 5
+f 9 6 4
+f 9 1 6
+f 10 7 5
+f 10 5 1
+f 10 4 7
+f 11 10 1
+f 11 1 9
+f 11 9 4
+f 11 4 10
\ No newline at end of file
diff --git a/objects/objaverse/broccoli/broccoli_0/collision/model_normalized_collision_3.obj b/objects/objaverse/broccoli/broccoli_0/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..21d61db39f24f076c204a843ee11d49d7ff601b7
--- /dev/null
+++ b/objects/objaverse/broccoli/broccoli_0/collision/model_normalized_collision_3.obj
@@ -0,0 +1,129 @@
+# https://github.com/mikedh/trimesh
+v 0.02533552 0.19324788 0.14393939
+v 0.02720485 0.18686856 0.02517075
+v 0.02533806 0.37964647 0.15105428
+v -0.18240876 0.40388332 0.13385522
+v -0.35131883 0.19230693 0.08429413
+v -0.13214630 0.36274942 0.02330641
+v -0.31535681 0.20346413 0.27523477
+v 0.03008796 0.19401348 0.03432583
+v -0.17163418 0.19324788 0.26515152
+v 0.02452943 0.35009565 0.08037514
+v -0.08405683 0.40287517 0.07539067
+v -0.29564390 0.33060165 0.05443459
+v -0.31329424 0.19559261 0.01431359
+v -0.06484464 0.38431342 0.26486186
+v -0.02385154 0.18392969 0.01104457
+v -0.23602313 0.39338962 0.06078309
+v -0.07606856 0.39689857 0.07131461
+v -0.04729967 0.38666800 0.07754955
+v -0.33716430 0.27255359 0.09597955
+v -0.21964097 0.36527120 0.01878258
+v -0.17924240 0.35582019 0.26182376
+v -0.05729633 0.40685718 0.22710085
+v -0.06557357 0.29930848 0.26515152
+v -0.32292404 0.19396897 0.03429711
+v -0.19956285 0.40339238 0.06434946
+v -0.34606675 0.23505184 0.14143940
+v -0.29028152 0.33216356 0.12469960
+v -0.33854583 0.27225586 0.04985304
+v -0.31902748 0.22688839 0.01511593
+v -0.13467012 0.37322270 0.26221298
+v -0.04104768 0.40920114 0.15181774
+v -0.34295277 0.19374026 0.06093042
+v -0.19772433 0.40280496 0.09749647
+v -0.22926379 0.38908219 0.05041206
+v -0.11496404 0.40421335 0.06922747
+v -0.30841994 0.31813380 0.05794756
+v -0.20229686 0.34419992 0.24539954
+v -0.32918895 0.24587714 0.18977220
+v -0.23198653 0.38940422 0.12704221
+v -0.32466743 0.25812078 0.01852734
+v -0.06076364 0.40173308 0.10280240
+v -0.30562903 0.31627531 0.09657745
+v -0.32202732 0.28775122 0.12400341
+v -0.33504436 0.25990668 0.13770837
+f 8 1 2
+f 8 3 1
+f 9 7 5
+f 10 2 6
+f 10 8 2
+f 10 3 8
+f 15 9 5
+f 15 2 1
+f 15 1 9
+f 15 6 2
+f 17 10 6
+f 18 11 3
+f 18 3 10
+f 18 17 11
+f 18 10 17
+f 20 6 15
+f 22 14 3
+f 23 14 7
+f 23 7 9
+f 23 9 1
+f 23 1 3
+f 23 3 14
+f 24 15 5
+f 24 13 15
+f 26 5 7
+f 28 26 19
+f 28 5 26
+f 29 20 15
+f 29 15 13
+f 30 21 7
+f 30 7 14
+f 30 14 22
+f 30 22 4
+f 31 22 3
+f 31 25 4
+f 31 4 22
+f 32 24 5
+f 32 13 24
+f 32 29 13
+f 32 5 28
+f 33 25 16
+f 33 4 25
+f 34 25 20
+f 34 16 25
+f 34 20 12
+f 34 12 16
+f 35 6 20
+f 35 20 25
+f 35 17 6
+f 35 11 17
+f 35 31 11
+f 35 25 31
+f 36 27 16
+f 36 16 12
+f 36 28 19
+f 36 12 28
+f 37 27 7
+f 37 7 21
+f 38 26 7
+f 38 7 27
+f 39 16 27
+f 39 33 16
+f 39 4 33
+f 39 30 4
+f 39 21 30
+f 39 37 21
+f 39 27 37
+f 40 28 12
+f 40 12 20
+f 40 20 29
+f 40 32 28
+f 40 29 32
+f 41 31 3
+f 41 3 11
+f 41 11 31
+f 42 36 19
+f 42 19 27
+f 42 27 36
+f 43 38 27
+f 43 27 19
+f 44 19 26
+f 44 26 38
+f 44 43 19
+f 44 38 43
\ No newline at end of file
diff --git a/objects/objaverse/broccoli/broccoli_0/collision/model_normalized_collision_30.obj b/objects/objaverse/broccoli/broccoli_0/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..107f2b1e525ba579e4427e39fc16e37ce7f103bf
--- /dev/null
+++ b/objects/objaverse/broccoli/broccoli_0/collision/model_normalized_collision_30.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.01463585 -0.34034977 0.25872815
+v 0.00791607 -0.34773682 0.04883347
+v 0.00775512 -0.24447734 0.01126163
+v 0.01018400 -0.24614606 0.26515152
+v -0.08299814 -0.28683561 0.30342462
+v -0.08105026 -0.35366028 0.22151713
+v -0.08300241 -0.24584887 -0.00126170
+v -0.08213873 -0.35093781 0.00913060
+f 1 2 3
+f 1 3 4
+f 5 1 4
+f 6 2 1
+f 6 1 5
+f 7 5 4
+f 7 4 3
+f 8 6 5
+f 8 5 7
+f 8 2 6
+f 8 7 3
+f 8 3 2
\ No newline at end of file
diff --git a/objects/objaverse/broccoli/broccoli_0/collision/model_normalized_collision_31.obj b/objects/objaverse/broccoli/broccoli_0/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..25afa83e513da24ce7687596f6ff7d81bfe2d432
--- /dev/null
+++ b/objects/objaverse/broccoli/broccoli_0/collision/model_normalized_collision_31.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.01018400 -0.24614606 0.14393939
+v 0.00775512 -0.24447734 0.01126163
+v 0.01018400 -0.01887333 0.00757576
+v -0.08072509 -0.01887333 0.14393939
+v -0.08300241 -0.24584887 -0.00126170
+v 0.01018400 -0.01887333 0.14393939
+v -0.08072509 -0.24614606 0.14393939
+v -0.10694049 -0.06046697 -0.01945309
+f 1 2 3
+f 5 2 1
+f 6 1 3
+f 6 3 4
+f 6 4 1
+f 7 5 1
+f 7 1 4
+f 8 3 2
+f 8 2 5
+f 8 4 3
+f 8 7 4
+f 8 5 7
\ No newline at end of file
diff --git a/objects/objaverse/broccoli/broccoli_0/collision/model_normalized_collision_4.obj b/objects/objaverse/broccoli/broccoli_0/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8e29439d00ae095f4719867c45604fd49114ffd8
--- /dev/null
+++ b/objects/objaverse/broccoli/broccoli_0/collision/model_normalized_collision_4.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.01066999 -0.33576080 0.26445031
+v 0.01496693 -0.32431648 0.28855349
+v -0.34160122 -0.07626315 0.25646833
+v -0.13374119 0.37209035 0.27086758
+v 0.02278611 0.37207358 0.28728488
+v -0.20307800 0.33563125 0.25762850
+v -0.20722516 -0.24834457 0.30869536
+v 0.02533552 -0.01887333 0.26515152
+v -0.03332390 -0.32747242 0.25800536
+v -0.05014507 0.38976035 0.26489225
+v -0.01058786 0.00183241 0.48998854
+v 0.04067310 -0.21375983 0.38262352
+v -0.25358732 -0.23315695 0.26025019
+v -0.12310328 -0.30967490 0.25826202
+v -0.13467012 0.37322270 0.26221298
+v -0.10692763 0.29051418 0.38240102
+v -0.13257540 0.01222829 0.47407212
+v 0.02727069 0.35319217 0.29834300
+v -0.13826516 -0.24518321 0.34005782
+v -0.24663563 -0.22114435 0.30478749
+v -0.16337290 -0.29313471 0.26070791
+v -0.27942924 -0.19197337 0.25672374
+v -0.19183630 0.34918351 0.26201000
+v -0.13648437 0.34107489 0.33428764
+v -0.04975253 0.09876959 0.48971473
+v -0.23544536 0.16520271 0.38383744
+v 0.02479141 0.15439963 0.46163895
+v 0.01522881 -0.30982212 0.31134816
+v -0.18287345 -0.26130636 0.31148888
+v -0.17491946 -0.21716964 0.35367014
+v -0.29635929 -0.01606924 0.35372151
+v -0.19234601 -0.27579102 0.25999257
+v -0.16921843 0.33301589 0.33264938
+v -0.03964362 0.29832694 0.37174358
+v -0.08918529 0.00104892 0.49121489
+v -0.30087300 0.22989040 0.25903056
+v -0.10503333 0.15170201 0.45896916
+v 0.01862088 -0.01501364 0.47647380
+v 0.02636412 0.21643732 0.43104829
+v -0.00970264 0.08343759 0.48799903
+v 0.00962609 -0.23670038 0.36945159
+v -0.13696845 -0.27471434 0.30984598
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+f 53 12 38
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+f 58 18 5
+f 58 5 34
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+f 58 57 18
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+f 59 39 16
+f 59 16 37
+f 59 37 25
+f 59 27 39
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+f 60 11 40
+f 60 59 25
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+f 61 38 27
+f 61 60 40
+f 61 27 60
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+f 62 29 43
+f 63 20 44
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+f 64 45 31
+f 64 3 45
+f 64 54 3
+f 64 31 54
\ No newline at end of file
diff --git a/objects/objaverse/broccoli/broccoli_0/collision/model_normalized_collision_5.obj b/objects/objaverse/broccoli/broccoli_0/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f870dbe832d1bba16b5fc3e74c14420bcc585330
--- /dev/null
+++ b/objects/objaverse/broccoli/broccoli_0/collision/model_normalized_collision_5.obj
@@ -0,0 +1,153 @@
+# https://github.com/mikedh/trimesh
+v 0.14162039 -0.35000726 0.24817133
+v 0.23946235 -0.22205482 0.06100133
+v 0.19964775 -0.02226905 0.41388098
+v 0.01011401 -0.01874073 0.47676595
+v 0.00253748 -0.27148794 0.01985711
+v 0.16511251 -0.26713922 0.33754216
+v 0.06801790 -0.32620263 0.05300635
+v 0.01248738 -0.34607193 0.24667656
+v 0.01018400 -0.01887333 0.00757576
+v 0.16976585 -0.11814846 0.41365943
+v 0.22667865 -0.29578112 0.24336072
+v 0.22819255 -0.18045317 0.02041189
+v 0.00962609 -0.23670038 0.36945159
+v 0.12591634 -0.35894332 0.16620811
+v 0.00910701 -0.33535940 0.04656468
+v 0.23745673 -0.01887333 0.25000000
+v 0.16956077 -0.06214643 0.42825682
+v 0.17204794 -0.30679873 0.31279726
+v 0.19954816 -0.08962083 0.41269964
+v 0.24420228 -0.02727696 0.00263756
+v 0.00887089 -0.16033522 0.41653349
+v 0.04305236 -0.35364515 0.24432876
+v 0.17948482 -0.33496865 0.25521931
+v 0.23819920 -0.24895260 0.09148577
+v 0.05154155 -0.01705261 0.46322623
+v 0.16058080 -0.07696556 0.42964872
+v 0.19674795 -0.28334750 0.30934116
+v 0.02387897 -0.10210378 0.44374856
+v 0.11241079 -0.26417844 0.35210321
+v 0.08974311 -0.33343379 0.30085215
+v 0.16697299 -0.33703830 0.17192014
+v 0.13806461 -0.35433146 0.17010876
+v 0.19094436 -0.30540416 0.28546962
+v 0.16767234 -0.02117643 0.42792705
+v 0.03483375 -0.05682399 0.45891216
+v 0.01107155 -0.10420127 0.44388144
+v 0.03430312 -0.13101502 0.42951105
+v 0.15810353 -0.29524386 0.32298744
+v 0.04139561 -0.26515422 0.35359809
+v 0.08965149 -0.34903777 0.27078421
+v 0.11022040 -0.33205307 0.29996835
+v 0.01627070 -0.33445704 0.27073860
+v 0.17539516 -0.33649583 0.20774913
+v 0.17608419 -0.32011487 0.28528479
+v 0.01119795 -0.05771052 0.46205550
+v 0.12599815 -0.31916450 0.31545005
+v 0.11040469 -0.34782112 0.26999074
+v 0.01711540 -0.31859432 0.30060508
+v 0.05958317 -0.30769255 0.32410519
+v 0.11235858 -0.31121576 0.32327225
+v 0.05940481 -0.32113855 0.31269202
+v 0.01616768 -0.27727064 0.33896951
+f 9 5 4
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+f 15 8 5
+f 15 7 14
+f 15 12 7
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+f 21 4 5
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+f 24 2 20
+f 25 16 9
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+f 26 4 10
+f 26 19 17
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+f 27 19 18
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+f 29 6 10
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+f 32 1 14
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+f 33 27 18
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+f 34 4 17
+f 35 28 10
+f 35 10 4
+f 35 4 28
+f 36 4 21
+f 37 21 29
+f 37 36 21
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+f 49 39 13
+f 50 46 29
+f 50 29 39
+f 50 39 49
+f 50 30 46
+f 51 48 42
+f 51 42 30
+f 51 50 49
+f 51 30 50
+f 52 51 49
+f 52 49 13
+f 52 13 48
+f 52 48 51
\ No newline at end of file
diff --git a/objects/objaverse/broccoli/broccoli_0/collision/model_normalized_collision_6.obj b/objects/objaverse/broccoli/broccoli_0/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c41293b4c229d0d64878ce3ede247e6820d89160
--- /dev/null
+++ b/objects/objaverse/broccoli/broccoli_0/collision/model_normalized_collision_6.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v 0.01838523 -0.11324137 -0.09211706
+v 0.13459034 -0.00657432 -0.15745504
+v 0.14185807 0.17091623 -0.09198307
+v -0.09207305 0.16016243 -0.09564398
+v -0.08486135 -0.01163100 -0.23518033
+v -0.04125036 -0.11535357 -0.08835758
+v 0.14445596 -0.00470988 -0.09581532
+v 0.05470657 -0.07476001 -0.23497015
+v -0.04052811 0.14657045 -0.23667838
+v -0.09800871 0.14349318 -0.09193861
+v -0.01659200 -0.07852771 -0.23367502
+v -0.08240270 0.09628312 -0.18834619
+v -0.06728393 -0.04015259 -0.23649057
+v 0.11799412 0.09857783 -0.23440036
+v -0.09828178 -0.01092649 -0.09670537
+v 0.00133780 -0.10925383 -0.12248237
+v -0.08946814 -0.00095415 -0.23500789
+v 0.03875008 -0.07743862 -0.23520390
+v -0.04212196 -0.06644780 -0.23456402
+v 0.05247579 0.14791428 -0.23544203
+v -0.09801682 0.06299853 -0.16063090
+v 0.08953729 0.13362168 -0.23383938
+v -0.09793528 0.00218646 -0.15774738
+v 0.11323778 0.10824402 -0.23287534
+f 7 2 3
+f 7 6 1
+f 7 3 6
+f 8 7 1
+f 8 2 7
+f 9 4 3
+f 10 6 3
+f 10 3 4
+f 12 4 9
+f 12 10 4
+f 13 6 5
+f 14 3 2
+f 14 2 8
+f 15 5 6
+f 15 6 10
+f 16 1 6
+f 16 6 11
+f 17 12 9
+f 17 5 15
+f 17 13 5
+f 17 9 13
+f 18 13 9
+f 18 16 11
+f 18 8 1
+f 18 1 16
+f 18 14 8
+f 19 11 6
+f 19 6 13
+f 19 18 11
+f 19 13 18
+f 20 9 3
+f 20 18 9
+f 20 14 18
+f 21 10 12
+f 21 12 17
+f 21 15 10
+f 22 20 3
+f 22 14 20
+f 23 21 17
+f 23 17 15
+f 23 15 21
+f 24 22 3
+f 24 3 14
+f 24 14 22
\ No newline at end of file
diff --git a/objects/objaverse/broccoli/broccoli_0/collision/model_normalized_collision_7.obj b/objects/objaverse/broccoli/broccoli_0/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..015ffb5dbe297cc5fb4203ba98e98a12d7707083
--- /dev/null
+++ b/objects/objaverse/broccoli/broccoli_0/collision/model_normalized_collision_7.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v -0.33316512 -0.01610519 0.28780491
+v -0.29284630 -0.01887333 0.08333333
+v -0.29054169 0.17737732 0.30748125
+v -0.32161758 0.27087854 0.15005243
+v -0.41140304 -0.01968215 0.08354226
+v -0.30148450 0.24730187 0.23016152
+v -0.30308996 0.07631892 0.31803993
+v -0.35253319 -0.01771002 0.25590059
+v -0.33078339 0.06514781 0.03767691
+v -0.38125586 0.14241071 0.21097216
+v -0.39849926 -0.01894491 0.17918762
+v -0.34150283 0.23815100 0.08187935
+v -0.33769827 0.01070597 0.02658225
+v -0.36400088 0.20096306 0.20975763
+v -0.33658597 0.19353078 0.26980560
+v -0.35004631 0.10293858 0.27113596
+v -0.38200698 0.15762042 0.13152097
+v -0.37188494 0.00371066 0.03459326
+v -0.32411881 0.23958750 0.20949161
+v -0.35104648 0.23095906 0.12154306
+v -0.30087300 0.22989040 0.25903056
+v -0.35035802 0.12881727 0.26945682
+v -0.38088689 0.15794874 0.18846992
+v -0.38703410 0.00370913 0.04974713
+v -0.34055555 0.24747926 0.13957389
+v -0.36491916 0.20009202 0.12211896
+v -0.30194800 0.20239098 0.28548482
+v -0.36528491 0.14392170 0.23902026
+v -0.34028422 0.12963119 0.27807065
+v -0.40019938 0.00769541 0.07342288
+v -0.34074589 0.24021363 0.08731803
+v -0.30335876 0.20784199 0.27955563
+f 6 3 2
+f 6 2 4
+f 7 1 2
+f 7 2 3
+f 8 2 1
+f 11 5 2
+f 11 2 8
+f 11 10 5
+f 12 4 2
+f 12 2 9
+f 13 9 2
+f 13 12 9
+f 15 7 3
+f 15 14 10
+f 16 8 1
+f 16 1 7
+f 16 11 8
+f 16 10 11
+f 17 12 5
+f 18 13 2
+f 18 2 5
+f 18 12 13
+f 19 6 4
+f 19 4 14
+f 19 15 6
+f 19 14 15
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+f 21 6 15
+f 22 10 16
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+f 23 5 10
+f 23 10 14
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+f 24 12 18
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+f 26 17 14
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+f 26 20 12
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+f 27 3 21
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+f 28 10 22
+f 29 22 7
+f 29 7 15
+f 29 15 22
+f 30 24 5
+f 30 5 12
+f 30 12 24
+f 31 25 4
+f 31 4 12
+f 31 12 20
+f 31 20 25
+f 32 27 21
+f 32 21 15
+f 32 15 27
\ No newline at end of file
diff --git a/objects/objaverse/broccoli/broccoli_0/collision/model_normalized_collision_8.obj b/objects/objaverse/broccoli/broccoli_0/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..69995d3ca43fdab454ceaa0a33da306ad3be6b33
--- /dev/null
+++ b/objects/objaverse/broccoli/broccoli_0/collision/model_normalized_collision_8.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v 0.33341065 0.18982013 0.25779603
+v 0.38144970 0.28257892 0.14286601
+v 0.19452637 0.34997810 0.25501847
+v -0.06763550 0.37458741 0.28105533
+v -0.17163418 0.19324788 0.14393939
+v -0.04368245 0.39968409 0.13479997
+v 0.37782761 0.28696913 0.16179501
+v 0.22230522 0.19324788 0.14393939
+v -0.17163418 0.19324788 0.26515152
+v 0.21763558 0.37079432 0.21440763
+v -0.20272130 0.32009627 0.27976793
+v 0.35616235 0.19262382 0.21821210
+v 0.34166276 0.24647625 0.22005488
+v 0.34345709 0.18946053 0.24098846
+v 0.38022385 0.28908969 0.14180657
+v -0.17163418 0.29930848 0.14393939
+v 0.37694803 0.28129700 0.16456379
+v 0.27774259 0.36591827 0.14328282
+v 0.31984926 0.34295975 0.14155392
+v 0.22123166 0.37209395 0.18791679
+v 0.31858856 0.34214735 0.15292587
+v 0.34712716 0.31483279 0.15821113
+v 0.28924576 0.35883928 0.15135631
+f 1 3 4
+f 8 5 6
+f 10 6 4
+f 10 4 3
+f 10 3 7
+f 11 4 6
+f 11 5 9
+f 11 9 1
+f 11 1 4
+f 12 8 2
+f 13 7 3
+f 13 3 1
+f 13 1 7
+f 14 5 8
+f 14 9 5
+f 14 1 9
+f 14 8 12
+f 15 8 6
+f 15 2 8
+f 15 7 2
+f 16 11 6
+f 16 6 5
+f 16 5 11
+f 17 12 2
+f 17 2 7
+f 17 14 12
+f 17 7 1
+f 17 1 14
+f 19 15 6
+f 19 6 18
+f 20 18 6
+f 20 6 10
+f 20 10 18
+f 21 7 15
+f 21 15 19
+f 22 21 10
+f 22 10 7
+f 22 7 21
+f 23 21 19
+f 23 19 18
+f 23 18 10
+f 23 10 21
\ No newline at end of file
diff --git a/objects/objaverse/broccoli/broccoli_0/collision/model_normalized_collision_9.obj b/objects/objaverse/broccoli/broccoli_0/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc3e74e299731925391a7fc38241c9776005dd11
--- /dev/null
+++ b/objects/objaverse/broccoli/broccoli_0/collision/model_normalized_collision_9.obj
@@ -0,0 +1,129 @@
+# https://github.com/mikedh/trimesh
+v 0.23306336 -0.28712859 0.24729369
+v 0.40390739 -0.07657221 0.12395226
+v 0.35227004 -0.01742365 0.28124653
+v 0.27639219 0.23479149 0.27481698
+v 0.24530153 0.19075834 -0.00287567
+v 0.39268780 0.19295827 0.16731877
+v 0.33967862 -0.01808606 0.28680859
+v 0.38725772 -0.09712997 0.23725110
+v 0.26514741 -0.20762904 0.04051053
+v 0.23745673 -0.01887333 0.26515152
+v 0.33455475 0.12970806 0.29083812
+v 0.35238991 0.19468767 0.06816542
+v 0.31279392 -0.22063735 0.10864813
+v 0.41770381 -0.00717851 0.18286685
+v 0.23197682 -0.04234947 0.01158743
+v 0.33341065 0.18982013 0.25779603
+v 0.27281548 0.19710466 0.01756750
+v 0.40431299 0.19146624 0.11487544
+v 0.28908163 -0.00637012 0.01857511
+v 0.40030019 -0.10040712 0.19763617
+v 0.29184989 -0.22702185 0.05339055
+v 0.40086409 -0.00834166 0.22662678
+v 0.23819920 -0.24895260 0.09148577
+v 0.22865122 -0.28096143 0.19300607
+v 0.37773948 -0.02794749 0.08717270
+v 0.41790229 -0.03079184 0.16099614
+v 0.24234964 -0.28039262 0.24391940
+v 0.40165695 -0.10186758 0.14640001
+v 0.41652857 -0.04543068 0.18343973
+v 0.29881489 -0.23202050 0.08823764
+v 0.39973041 -0.04627492 0.22680766
+v 0.24124838 -0.20003629 0.03866597
+v 0.23321906 -0.26074391 0.13320462
+v 0.38801477 -0.03114351 0.09858603
+v 0.40429257 0.16246730 0.11396083
+v 0.30951307 -0.19267643 0.06080980
+v 0.41796029 -0.00491013 0.16092190
+v 0.37006962 -0.12667052 0.22751552
+v 0.38891067 -0.11517949 0.12129854
+v 0.41674451 -0.04571683 0.17628115
+v 0.35778764 -0.15935954 0.11574997
+v 0.24130440 -0.22899571 0.06832225
+v 0.40396841 0.11918992 0.11472855
+v 0.39368382 -0.08898252 0.11613528
+f 7 1 3
+f 8 3 1
+f 10 4 5
+f 10 1 7
+f 11 7 3
+f 11 10 7
+f 11 4 10
+f 15 10 5
+f 16 11 6
+f 16 6 4
+f 16 4 11
+f 17 12 5
+f 17 5 4
+f 17 4 12
+f 18 12 4
+f 18 4 6
+f 18 6 14
+f 19 5 12
+f 19 15 5
+f 19 9 15
+f 21 9 19
+f 22 14 6
+f 22 6 11
+f 22 11 3
+f 24 1 10
+f 24 10 15
+f 24 23 21
+f 25 19 12
+f 27 8 1
+f 27 13 20
+f 28 20 13
+f 28 2 26
+f 29 8 20
+f 29 14 22
+f 29 26 14
+f 30 24 21
+f 30 1 24
+f 30 27 1
+f 30 13 27
+f 31 22 3
+f 31 3 8
+f 31 29 22
+f 31 8 29
+f 32 15 9
+f 32 9 21
+f 33 24 15
+f 33 23 24
+f 33 32 23
+f 33 15 32
+f 34 2 25
+f 35 25 12
+f 35 12 18
+f 35 34 25
+f 36 21 19
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+f 37 18 14
+f 37 14 26
+f 37 35 18
+f 37 26 35
+f 38 27 20
+f 38 20 8
+f 38 8 27
+f 39 2 28
+f 40 28 26
+f 40 26 29
+f 40 29 20
+f 40 20 28
+f 41 30 21
+f 41 13 30
+f 41 21 39
+f 41 39 28
+f 41 28 13
+f 42 32 21
+f 42 21 23
+f 42 23 32
+f 43 2 34
+f 43 34 35
+f 43 35 26
+f 43 26 2
+f 44 36 25
+f 44 25 2
+f 44 21 36
+f 44 39 21
+f 44 2 39
\ No newline at end of file
diff --git a/objects/objaverse/broccoli/broccoli_0/model.xml b/objects/objaverse/broccoli/broccoli_0/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..3ecebc694352657adeafc194b028423f0d1632d9
--- /dev/null
+++ b/objects/objaverse/broccoli/broccoli_0/model.xml
@@ -0,0 +1,81 @@
+<mujoco model="broccoli_6">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.07999999999999997 0.07999999999999997 0.07999999999999997" refquat="0.4999999999999999 0.4999999999999999 0.49999999999999994 0.5"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.07999999999999997 0.07999999999999997 0.07999999999999997" refquat="0.4999999999999999 0.4999999999999999 0.49999999999999994 0.5"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.07999999999999997 0.07999999999999997 0.07999999999999997" refquat="0.4999999999999999 0.4999999999999999 0.49999999999999994 0.5"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.07999999999999997 0.07999999999999997 0.07999999999999997" refquat="0.4999999999999999 0.4999999999999999 0.49999999999999994 0.5"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.07999999999999997 0.07999999999999997 0.07999999999999997" refquat="0.4999999999999999 0.4999999999999999 0.49999999999999994 0.5"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.07999999999999997 0.07999999999999997 0.07999999999999997" refquat="0.4999999999999999 0.4999999999999999 0.49999999999999994 0.5"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.07999999999999997 0.07999999999999997 0.07999999999999997" refquat="0.4999999999999999 0.4999999999999999 0.49999999999999994 0.5"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.07999999999999997 0.07999999999999997 0.07999999999999997" refquat="0.4999999999999999 0.4999999999999999 0.49999999999999994 0.5"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.07999999999999997 0.07999999999999997 0.07999999999999997" refquat="0.4999999999999999 0.4999999999999999 0.49999999999999994 0.5"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.07999999999999997 0.07999999999999997 0.07999999999999997" refquat="0.4999999999999999 0.4999999999999999 0.49999999999999994 0.5"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.07999999999999997 0.07999999999999997 0.07999999999999997" refquat="0.4999999999999999 0.4999999999999999 0.49999999999999994 0.5"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.07999999999999997 0.07999999999999997 0.07999999999999997" refquat="0.4999999999999999 0.4999999999999999 0.49999999999999994 0.5"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.07999999999999997 0.07999999999999997 0.07999999999999997" refquat="0.4999999999999999 0.4999999999999999 0.49999999999999994 0.5"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.07999999999999997 0.07999999999999997 0.07999999999999997" refquat="0.4999999999999999 0.4999999999999999 0.49999999999999994 0.5"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.07999999999999997 0.07999999999999997 0.07999999999999997" refquat="0.4999999999999999 0.4999999999999999 0.49999999999999994 0.5"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.07999999999999997 0.07999999999999997 0.07999999999999997" refquat="0.4999999999999999 0.4999999999999999 0.49999999999999994 0.5"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.07999999999999997 0.07999999999999997 0.07999999999999997" refquat="0.4999999999999999 0.4999999999999999 0.49999999999999994 0.5"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.07999999999999997 0.07999999999999997 0.07999999999999997" refquat="0.4999999999999999 0.4999999999999999 0.49999999999999994 0.5"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.07999999999999997 0.07999999999999997 0.07999999999999997" refquat="0.4999999999999999 0.4999999999999999 0.49999999999999994 0.5"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.07999999999999997 0.07999999999999997 0.07999999999999997" refquat="0.4999999999999999 0.4999999999999999 0.49999999999999994 0.5"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.07999999999999997 0.07999999999999997 0.07999999999999997" refquat="0.4999999999999999 0.4999999999999999 0.49999999999999994 0.5"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.07999999999999997 0.07999999999999997 0.07999999999999997" refquat="0.4999999999999999 0.4999999999999999 0.49999999999999994 0.5"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.07999999999999997 0.07999999999999997 0.07999999999999997" refquat="0.4999999999999999 0.4999999999999999 0.49999999999999994 0.5"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.07999999999999997 0.07999999999999997 0.07999999999999997" refquat="0.4999999999999999 0.4999999999999999 0.49999999999999994 0.5"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.07999999999999997 0.07999999999999997 0.07999999999999997" refquat="0.4999999999999999 0.4999999999999999 0.49999999999999994 0.5"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.07999999999999997 0.07999999999999997 0.07999999999999997" refquat="0.4999999999999999 0.4999999999999999 0.49999999999999994 0.5"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.07999999999999997 0.07999999999999997 0.07999999999999997" refquat="0.4999999999999999 0.4999999999999999 0.49999999999999994 0.5"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.07999999999999997 0.07999999999999997 0.07999999999999997" refquat="0.4999999999999999 0.4999999999999999 0.49999999999999994 0.5"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.07999999999999997 0.07999999999999997 0.07999999999999997" refquat="0.4999999999999999 0.4999999999999999 0.49999999999999994 0.5"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.07999999999999997 0.07999999999999997 0.07999999999999997" refquat="0.4999999999999999 0.4999999999999999 0.49999999999999994 0.5"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.07999999999999997 0.07999999999999997 0.07999999999999997" refquat="0.4999999999999999 0.4999999999999999 0.49999999999999994 0.5"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.07999999999999997 0.07999999999999997 0.07999999999999997" refquat="0.4999999999999999 0.4999999999999999 0.49999999999999994 0.5"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.07999999999999997 0.07999999999999997 0.07999999999999997" refquat="0.4999999999999999 0.4999999999999999 0.49999999999999994 0.5"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="Material.004" texture="image0" specular="0.5" shininess="0.013610682"/>
+  </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.004"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_22._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_23._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_21._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_20._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_24._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_30._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_18._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_19._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_31._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 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="-0.0003005542407298555 -0.0002556501748032346 -0.03315406554291653" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="-0.0003005542407298555 -0.0002556501748032346 0.033436821974345436" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.0336466019093892 0.03929718886270651 0.00014137821571445381" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/objects/objaverse/broccoli/broccoli_0/visual/material.mtl b/objects/objaverse/broccoli/broccoli_0/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..83e43ca1335c1f964531b787e61d51770029e8cf
--- /dev/null
+++ b/objects/objaverse/broccoli/broccoli_0/visual/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 13.61068200
+map_Kd material_0.jpeg
\ No newline at end of file
diff --git a/objects/objaverse/broccoli/broccoli_0/visual/model_normalized_0.obj b/objects/objaverse/broccoli/broccoli_0/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..495a927feedbf937ac9d1113dca32bf34eb17a52
--- /dev/null
+++ b/objects/objaverse/broccoli/broccoli_0/visual/model_normalized_0.obj
@@ -0,0 +1,3431 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
+v -0.35040716 0.12229993 0.27167229
+v -0.28600732 0.11065705 0.32179476
+v -0.27576333 0.17219270 0.31957361
+v -0.33658596 0.19353078 0.26980561
+v -0.24292672 0.10782254 0.38469333
+v -0.23730003 0.16436871 0.38319238
+v -0.24357505 0.22139956 0.30945081
+v -0.28715151 0.24386034 0.25489060
+v -0.21116068 0.20809085 0.36816749
+v -0.37955767 0.04516279 0.20761382
+v -0.34676718 0.04798578 0.27417865
+v -0.38881031 0.12618388 0.20569974
+v -0.30127775 0.04828309 0.33669048
+v -0.24472676 0.05022523 0.38806748
+v -0.18876826 0.05028701 0.43196466
+v -0.18727068 0.10177302 0.42685736
+v -0.18293439 0.15307789 0.42239285
+v -0.16982163 0.19471222 0.40666177
+v -0.15604245 0.22016703 0.38762633
+v -0.18212505 0.24832476 0.36348746
+v -0.21248202 0.27723280 0.31706393
+v -0.23610723 0.29028528 0.25115844
+v -0.31702634 0.25983102 0.19104866
+v -0.26006126 0.30721909 0.18599187
+v -0.36801874 0.20205231 0.20095722
+v 0.09366952 0.40066339 0.28449278
+v 0.08643703 0.32774392 0.32163000
+v 0.14611430 0.30553297 0.31116882
+v 0.16299661 0.37086763 0.27382513
+v 0.07960943 0.28892374 0.37586139
+v 0.13277055 0.27094111 0.36413952
+v 0.20050430 0.28279406 0.30646837
+v 0.21910848 0.31799076 0.25575212
+v 0.18176205 0.25642052 0.35826113
+v 0.01883931 0.42480089 0.21814585
+v 0.02225745 0.39130448 0.27665944
+v 0.09669940 0.42809638 0.22301434
+v 0.02420046 0.32062467 0.31571140
+v 0.02449802 0.28886549 0.37524367
+v 0.02356511 0.24345959 0.41879406
+v 0.07364826 0.24539808 0.42116360
+v 0.12181637 0.23304755 0.40854500
+v 0.16290073 0.21600057 0.38758176
+v 0.19844800 0.21455405 0.38576813
+v 0.22566098 0.24138765 0.36498254
+v 0.24618788 0.25571583 0.30954431
+v 0.25647578 0.26140501 0.24065751
+v 0.24008381 0.35604970 0.20649740
+v 0.29517469 0.30607935 0.20237165
+v 0.17439323 0.41190410 0.21938288
+v 0.35315058 -0.01400495 0.28119878
+v 0.28621146 -0.00566538 0.31167845
+v 0.27567747 -0.05900931 0.31149813
+v 0.33909776 -0.07807851 0.28099007
+v 0.24810686 -0.00277645 0.36526796
+v 0.24717612 -0.05282031 0.36931808
+v 0.25424656 -0.10699520 0.30893852
+v 0.30330808 -0.13380074 0.27300053
+v 0.23580365 -0.09821847 0.36761113
+v 0.38130878 0.05452763 0.22339505
+v 0.34653689 0.05299467 0.27314588
+v 0.39963257 -0.02064055 0.23629532
+v 0.30190857 0.05141407 0.32162198
+v 0.25598012 0.04852672 0.36970793
+v 0.19921726 0.04562797 0.40047725
+v 0.20389176 -0.00028203 0.40794266
+v 0.20906126 -0.04703525 0.41463035
+v 0.20622962 -0.09007872 0.40992172
+v 0.19929767 -0.12055444 0.39985778
+v 0.21936974 -0.13935106 0.37106241
+v 0.24257246 -0.16447489 0.32726439
+v 0.27180483 -0.19365030 0.28070857
+v 0.34555181 -0.15965642 0.23037094
+v 0.29309169 -0.21638984 0.22635216
+v 0.38799893 -0.09601873 0.23737336
+v -0.05254462 -0.29413780 0.29747001
+v -0.04057908 -0.24423131 0.34680389
+v -0.10269350 -0.23920205 0.35289590
+v -0.12187599 -0.28435438 0.30375351
+v -0.03034153 -0.19547911 0.39379288
+v -0.08198017 -0.18241782 0.38489966
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\ No newline at end of file
diff --git a/objects/objaverse/broccoli/broccoli_3/collision/model_normalized_collision_1.obj b/objects/objaverse/broccoli/broccoli_3/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d242878578fa4b69f7fd63a40a2a66ed6508bf42
--- /dev/null
+++ b/objects/objaverse/broccoli/broccoli_3/collision/model_normalized_collision_1.obj
@@ -0,0 +1,153 @@
+# https://github.com/mikedh/trimesh
+v -0.26809902 -0.19017365 0.23589984
+v -0.19204536 -0.13520145 0.28204759
+v -0.36237105 -0.08576783 0.37977009
+v -0.34327793 0.17789671 0.36392623
+v -0.23484872 0.00983670 0.24387826
+v -0.23879666 0.01750546 0.42961043
+v -0.41140715 -0.10942515 0.24354422
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+v -0.37530284 -0.09840082 0.36247486
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+v -0.39819217 -0.13482812 0.30331107
+v -0.38247718 -0.09278844 0.35350087
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+f 37 24 36
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+f 38 23 11
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+f 41 13 6
+f 41 6 29
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+f 43 34 7
+f 43 7 16
+f 43 16 34
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+f 44 40 33
+f 44 16 40
+f 45 14 32
+f 45 32 22
+f 46 35 24
+f 46 45 35
+f 46 14 45
+f 46 24 37
+f 47 37 4
+f 47 4 25
+f 47 25 39
+f 47 46 37
+f 47 39 14
+f 47 14 46
+f 48 38 11
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+f 48 31 38
+f 49 40 28
+f 49 28 19
+f 49 19 40
+f 50 22 33
+f 50 33 3
+f 50 3 42
+f 50 45 22
+f 50 35 45
+f 51 44 33
+f 51 33 22
+f 51 22 7
+f 51 7 44
+f 52 50 42
+f 52 42 35
+f 52 35 50
\ No newline at end of file
diff --git a/objects/objaverse/broccoli/broccoli_3/collision/model_normalized_collision_11.obj b/objects/objaverse/broccoli/broccoli_3/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f16f1330d402920639a384e4ec91bee414f9fe12
--- /dev/null
+++ b/objects/objaverse/broccoli/broccoli_3/collision/model_normalized_collision_11.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.11919952 0.31952171 0.36674319
+v 0.23550515 0.35187788 0.09813012
+v 0.10512016 0.43213246 0.28416849
+v -0.03322729 0.46052111 0.24848061
+v -0.20607483 0.33469466 0.10033096
+v 0.18947172 0.43358703 0.03112298
+v -0.06260950 0.37733260 0.37861636
+v 0.19281090 0.38087921 0.23491622
+v 0.22270220 0.33678625 0.14834768
+v 0.07751797 0.46258189 0.15064238
+v -0.16135650 0.33689415 0.04411636
+v 0.05917902 0.39404801 0.36254151
+v -0.13712867 0.33407674 0.36972920
+v 0.13096111 0.36197218 0.33166769
+v 0.15269485 0.43058592 0.19586460
+v 0.20269882 0.41547200 0.04681504
+v 0.18203727 0.35316584 0.27297466
+v 0.03507898 0.46083476 0.23810719
+v -0.07348179 0.41809014 0.04330758
+v 0.23363518 0.34203924 0.10722927
+v 0.00589358 0.32339143 0.39917673
+v 0.05030332 0.42954319 0.32826444
+v -0.10710917 0.43069776 0.26965366
+v 0.14453097 0.40234993 0.27957590
+v 0.18785738 0.39276108 0.23113307
+v 0.06141000 0.45977868 0.21019347
+v 0.12221159 0.44521215 0.16548945
+v 0.13599129 0.32097525 0.35390085
+v 0.00475731 0.46071037 0.25322032
+v -0.06751977 0.43161740 0.08061015
+v -0.15954833 0.38742444 0.07877915
+v -0.02538761 0.35100371 0.39256606
+v 0.09127930 0.32164601 0.38526950
+v -0.20969615 0.33537765 0.26720592
+v 0.02076578 0.32262304 0.39728895
+v 0.08933380 0.41695395 0.32052194
+v 0.01231903 0.42968243 0.32392718
+v 0.00470779 0.38073554 0.37601115
+v 0.07794219 0.43174029 0.31007870
+v -0.08652884 0.37215134 0.36792361
+v 0.15896943 0.41666448 0.23305738
+v 0.00968374 0.46132659 0.17287179
+v -0.09545134 0.43172541 0.09435195
+v -0.14554561 0.37336232 0.04615018
+v -0.06478664 0.33944356 0.39604647
+v -0.14743943 0.33394517 0.35675993
+v -0.20062330 0.34645434 0.10351966
+v -0.14757715 0.40277214 0.26745517
+v 0.07664144 0.34963390 0.37807022
+v 0.07038653 0.40637580 0.34680490
+v 0.11534866 0.41736010 0.29575572
+v -0.06376152 0.38555867 0.37012109
+v -0.06357366 0.35310718 0.39281845
+v -0.03399975 0.46076225 0.21642053
+v 0.04001464 0.46087450 0.15784939
+v -0.11974891 0.42014233 0.08737555
+v -0.17268899 0.35021951 0.06279111
+v -0.10766330 0.33559422 0.38260222
+v -0.15625593 0.37550319 0.05855423
+v -0.20405712 0.34613536 0.26327290
+v -0.16137813 0.38616838 0.27619355
+v -0.07851104 0.39921675 0.33900233
+v -0.10580507 0.43080679 0.24420058
+v -0.14435557 0.40253008 0.09393507
+f 9 2 8
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+f 11 9 1
+f 11 1 5
+f 16 2 6
+f 17 9 8
+f 19 6 11
+f 20 11 2
+f 20 2 9
+f 20 9 11
+f 24 14 17
+f 25 6 15
+f 25 16 6
+f 25 8 2
+f 25 2 16
+f 25 24 17
+f 25 17 8
+f 26 15 10
+f 26 3 15
+f 26 18 3
+f 26 10 18
+f 27 15 6
+f 27 6 10
+f 27 10 15
+f 28 1 9
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+f 29 18 10
+f 29 10 4
+f 30 10 6
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+f 35 21 5
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+f 47 5 34
+f 49 35 33
+f 49 21 35
+f 49 32 21
+f 49 38 32
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+f 50 22 12
+f 50 12 14
+f 50 14 36
+f 50 39 22
+f 50 36 39
+f 51 39 36
+f 51 3 39
+f 51 41 3
+f 51 24 41
+f 51 36 14
+f 51 14 24
+f 52 7 22
+f 52 22 37
+f 52 40 7
+f 52 37 4
+f 53 38 7
+f 53 32 38
+f 53 7 13
+f 53 45 21
+f 53 21 32
+f 54 4 10
+f 54 10 42
+f 54 42 43
+f 54 23 4
+f 55 42 10
+f 55 10 30
+f 55 30 42
+f 56 48 23
+f 56 43 19
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+f 57 11 5
+f 58 13 21
+f 58 21 45
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+f 59 47 31
+f 59 5 47
+f 59 57 5
+f 59 44 57
+f 59 31 56
+f 59 56 19
+f 59 19 44
+f 60 47 34
+f 60 34 46
+f 60 48 31
+f 60 31 47
+f 61 46 13
+f 61 13 23
+f 61 23 48
+f 61 60 46
+f 61 48 60
+f 62 23 40
+f 62 40 52
+f 62 52 4
+f 62 4 23
+f 63 54 43
+f 63 23 54
+f 63 56 23
+f 63 43 56
+f 64 56 31
+f 64 31 48
+f 64 48 56
\ No newline at end of file
diff --git a/objects/objaverse/broccoli/broccoli_3/collision/model_normalized_collision_16.obj b/objects/objaverse/broccoli/broccoli_3/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bad80f5ec4e6eec0ee064061b98fff64f4daaa08
--- /dev/null
+++ b/objects/objaverse/broccoli/broccoli_3/collision/model_normalized_collision_16.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.01138711 -0.30382201 0.20197932
+v 0.00757568 -0.30834532 0.01660539
+v 0.00757568 -0.20228464 0.01660539
+v -0.35627490 -0.20043439 0.24267445
+v -0.43528706 -0.31846504 0.00857507
+v 0.00763479 -0.20473417 0.23403012
+v 0.01225899 -0.27248737 0.21449158
+v -0.09820210 -0.32257172 0.13689247
+v -0.41666702 -0.20228464 0.01660539
+v -0.29720024 -0.19511225 0.23915327
+v -0.41616291 -0.31067528 0.13954835
+v -0.44332244 -0.20684605 0.15477684
+f 5 3 2
+f 7 1 2
+f 7 2 3
+f 7 3 6
+f 7 6 4
+f 7 4 1
+f 8 5 2
+f 8 2 1
+f 9 3 5
+f 10 6 3
+f 10 4 6
+f 10 9 4
+f 10 3 9
+f 11 8 1
+f 11 1 4
+f 11 5 8
+f 12 9 5
+f 12 5 11
+f 12 11 4
+f 12 4 9
\ No newline at end of file
diff --git a/objects/objaverse/broccoli/broccoli_3/collision/model_normalized_collision_20.obj b/objects/objaverse/broccoli/broccoli_3/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fc0feaa8fe55d05475ab9672a6c12e963a231c04
--- /dev/null
+++ b/objects/objaverse/broccoli/broccoli_3/collision/model_normalized_collision_20.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v -0.20763537 -0.01164686 0.39208654
+v 0.00423263 0.07586165 0.35809683
+v 0.00484059 0.22958560 0.43751476
+v -0.21972206 0.24299842 0.37225580
+v -0.10321389 0.01538582 0.35766312
+v 0.00757568 0.23710958 0.36509046
+v -0.20306445 0.07183421 0.44065787
+v -0.01209434 0.06261543 0.35563782
+v -0.00419173 0.23209709 0.43782895
+v -0.26507619 0.11584785 0.41031872
+v 0.00338142 0.18365919 0.44120866
+v -0.18271122 0.03971827 0.42243986
+v -0.26316577 0.14489891 0.40459842
+v -0.22598301 0.02118676 0.42684282
+v -0.15441493 0.02148543 0.39316489
+v -0.00061932 0.09887783 0.37824967
+v -0.24415228 0.15751949 0.40818613
+v -0.01389913 0.17163786 0.44029308
+v -0.06415179 0.23268513 0.42363701
+v -0.22218017 0.23060897 0.37961368
+v -0.22095885 0.12436977 0.42318745
+v -0.20350544 0.07995900 0.43873644
+f 5 1 4
+f 6 3 2
+f 8 1 5
+f 8 6 2
+f 8 5 4
+f 8 4 6
+f 9 6 4
+f 9 3 6
+f 11 2 3
+f 11 9 7
+f 11 3 9
+f 12 8 2
+f 13 4 1
+f 13 1 10
+f 14 10 1
+f 14 7 10
+f 14 1 12
+f 15 12 1
+f 15 1 8
+f 15 8 12
+f 16 12 2
+f 16 2 11
+f 16 11 12
+f 18 11 7
+f 18 7 14
+f 18 14 12
+f 18 12 11
+f 19 17 9
+f 19 9 4
+f 20 4 13
+f 20 13 17
+f 20 19 4
+f 20 17 19
+f 21 9 17
+f 21 17 13
+f 21 13 10
+f 22 7 9
+f 22 9 21
+f 22 21 10
+f 22 10 7
\ No newline at end of file
diff --git a/objects/objaverse/broccoli/broccoli_3/collision/model_normalized_collision_23.obj b/objects/objaverse/broccoli/broccoli_3/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d4803955e6a642828d06bac7fcacbbbab9f548b6
--- /dev/null
+++ b/objects/objaverse/broccoli/broccoli_3/collision/model_normalized_collision_23.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.19195976 -0.28029215 -0.37939017
+v 0.23573823 -0.20262734 -0.37931501
+v -0.00565524 0.01504146 -0.39214824
+v 0.18189847 -0.27515507 -0.39094951
+v 0.24111512 -0.00244043 -0.38760256
+v 0.22683134 -0.07797418 -0.40493252
+v -0.02212388 -0.22189011 -0.40005530
+v 0.11299764 -0.07141454 -0.43477301
+v 0.13110832 -0.28443658 -0.39823446
+v 0.21073404 -0.00942869 -0.40809971
+v 0.01108711 -0.13005504 -0.43387974
+v 0.12599328 -0.16669428 -0.43482502
+v 0.04116289 -0.02378771 -0.41984255
+v 0.22377872 -0.02554392 -0.40464998
+v 0.02605099 -0.19536065 -0.43700475
+v 0.15697576 -0.25706211 -0.40373760
+v 0.13946048 -0.08223075 -0.43449903
+v 0.15845015 -0.02597772 -0.41956228
+v 0.00970934 -0.00745856 -0.41111492
+v 0.07168891 -0.06946778 -0.43376538
+v 0.01030634 -0.20114855 -0.43075504
+v 0.05090912 -0.19646759 -0.43408382
+v 0.13592145 -0.13858000 -0.43523392
+v 0.18522585 -0.03669580 -0.42063766
+v 0.01445169 -0.18427236 -0.43499876
+f 1 2 3
+f 4 2 1
+f 5 3 2
+f 6 2 4
+f 6 5 2
+f 7 1 3
+f 9 4 1
+f 9 1 7
+f 10 3 5
+f 11 7 3
+f 12 6 4
+f 14 10 5
+f 14 5 6
+f 16 12 4
+f 16 4 9
+f 18 8 13
+f 19 3 10
+f 19 18 13
+f 19 10 18
+f 19 13 11
+f 19 11 3
+f 20 13 8
+f 20 11 13
+f 20 15 11
+f 20 8 15
+f 21 15 9
+f 21 9 7
+f 21 7 11
+f 22 15 12
+f 22 9 15
+f 22 16 9
+f 22 12 16
+f 23 6 12
+f 23 12 15
+f 23 15 8
+f 23 8 17
+f 24 14 6
+f 24 23 17
+f 24 6 23
+f 24 10 14
+f 24 18 10
+f 24 17 8
+f 24 8 18
+f 25 21 11
+f 25 11 15
+f 25 15 21
\ No newline at end of file
diff --git a/objects/objaverse/broccoli/broccoli_3/collision/model_normalized_collision_25.obj b/objects/objaverse/broccoli/broccoli_3/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7e28f086e02a685b9d02e82a1dff76b868cee7e4
--- /dev/null
+++ b/objects/objaverse/broccoli/broccoli_3/collision/model_normalized_collision_25.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.35918807 0.30493947 0.09832362
+v 0.38787290 0.32385104 0.04449649
+v 0.30180487 0.40185364 0.06845258
+v 0.19036352 0.44309044 0.02385105
+v 0.25000007 0.31286720 0.03175691
+v 0.34559041 0.38989279 0.02502421
+v 0.20405780 0.37263926 0.10753605
+v 0.33899100 0.37474153 0.06454660
+v 0.22921594 0.43335592 0.02941956
+v 0.36229920 0.37680618 0.02602557
+v 0.32543267 0.36232824 0.09298347
+v 0.23142527 0.43136442 0.03762153
+v 0.24651315 0.31103451 0.12133936
+v 0.18998450 0.40003633 0.05724469
+v 0.31921547 0.40105006 0.02921980
+v 0.35885995 0.37288219 0.03858305
+v 0.31352426 0.38588854 0.08125332
+v 0.19913160 0.37745835 0.07590278
+v 0.34756185 0.30602051 0.11260140
+v 0.18768811 0.41458020 0.04566685
+v 0.31853365 0.39918687 0.04410692
+v 0.21908108 0.35671923 0.11093194
+f 5 2 1
+f 6 5 4
+f 9 6 4
+f 10 2 5
+f 10 5 6
+f 10 6 3
+f 12 7 3
+f 12 4 7
+f 12 9 4
+f 12 3 9
+f 13 5 1
+f 15 9 3
+f 15 6 9
+f 16 8 2
+f 16 2 10
+f 16 10 3
+f 16 3 8
+f 17 3 7
+f 17 7 11
+f 17 11 8
+f 17 8 3
+f 18 13 7
+f 18 5 13
+f 18 14 5
+f 18 7 14
+f 19 11 7
+f 19 13 1
+f 19 8 11
+f 19 1 2
+f 19 2 8
+f 20 14 7
+f 20 7 4
+f 20 4 5
+f 20 5 14
+f 21 15 3
+f 21 3 6
+f 21 6 15
+f 22 19 7
+f 22 7 13
+f 22 13 19
\ No newline at end of file
diff --git a/objects/objaverse/broccoli/broccoli_3/collision/model_normalized_collision_26.obj b/objects/objaverse/broccoli/broccoli_3/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d66e8a91830ab7d53e8ea36551bad96b2aae2e4
--- /dev/null
+++ b/objects/objaverse/broccoli/broccoli_3/collision/model_normalized_collision_26.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v -0.18685640 -0.34203499 0.07204041
+v -0.17029774 -0.32960761 0.09777415
+v -0.41531615 -0.36823130 0.05746987
+v -0.43631462 -0.30325284 0.13359991
+v -0.45006786 -0.30179422 0.02181665
+v -0.42075765 -0.32234544 0.12517626
+v -0.17309499 -0.33455239 0.08952025
+v -0.18543511 -0.32425084 0.02629930
+v -0.43619322 -0.35553052 0.06673764
+v -0.42234405 -0.35506392 0.08159271
+v -0.34261463 -0.30042597 0.13192434
+v -0.32940210 -0.36902166 0.01103162
+v -0.18976708 -0.34429058 0.04124039
+v -0.40969763 -0.37138571 0.01668882
+v -0.44789213 -0.30406553 0.08862288
+v -0.42026422 -0.32202246 0.12546734
+v -0.17354688 -0.30761328 0.10580469
+v -0.20781766 -0.34061281 0.00857601
+v -0.19069720 -0.33341332 0.01341479
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+v -0.44337629 -0.32846045 0.03986119
+v -0.42847185 -0.34374626 0.02460284
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+f 22 21 5
+f 22 9 21
+f 23 20 5
+f 23 5 14
+f 23 14 20
\ No newline at end of file
diff --git a/objects/objaverse/broccoli/broccoli_3/collision/model_normalized_collision_29.obj b/objects/objaverse/broccoli/broccoli_3/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5404ed39423b32a2ddb07759e4445dd14794f673
--- /dev/null
+++ b/objects/objaverse/broccoli/broccoli_3/collision/model_normalized_collision_29.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.00329812 0.01514944 0.31895523
+v 0.00757568 0.00983670 0.03175691
+v 0.00757568 0.23710958 0.03175691
+v -0.21972206 0.24299842 0.37225580
+v -0.20763537 -0.01164686 0.39208654
+v -0.21969720 0.00983670 0.03175691
+v 0.00757568 0.23710958 0.36509046
+v -0.20212495 0.21007445 0.05144545
+v 0.00116415 0.06568391 0.35167761
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+f 7 2 3
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+f 8 4 3
+f 8 3 6
+f 9 7 5
+f 9 5 1
+f 9 1 7
\ No newline at end of file
diff --git a/objects/objaverse/broccoli/broccoli_3/collision/model_normalized_collision_31.obj b/objects/objaverse/broccoli/broccoli_3/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f2308f29f0a8fe7cb5b76621244e922204290ed
--- /dev/null
+++ b/objects/objaverse/broccoli/broccoli_3/collision/model_normalized_collision_31.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.23899779 -0.18523505 0.23264642
+v -0.23484872 -0.20228464 0.01660539
+v -0.23484872 0.00983670 0.01660539
+v -0.35606092 0.00983670 0.24387826
+v -0.35627490 -0.20043439 0.24267445
+v -0.23484872 0.00983670 0.24387826
+v -0.38096065 0.04814525 -0.01129311
+v -0.35606092 -0.20228464 0.01660539
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+f 7 6 3
+f 7 4 6
+f 8 7 2
+f 8 2 5
+f 8 5 7
\ No newline at end of file
diff --git a/objects/objaverse/broccoli/broccoli_3/collision/model_normalized_collision_4.obj b/objects/objaverse/broccoli/broccoli_3/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..84e7e8690ca5efbd4371c974b0f78dae23655661
--- /dev/null
+++ b/objects/objaverse/broccoli/broccoli_3/collision/model_normalized_collision_4.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.28585071 -0.42522207 -0.11256680
+v -0.22612153 -0.33169200 -0.29148178
+v -0.23943071 -0.35042812 0.00531653
+v -0.21717995 0.29181395 0.03100062
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+v -0.21969720 0.00983670 0.03175691
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+v -0.38627885 -0.08974160 -0.19601038
+v -0.21104087 0.23894419 -0.11006614
+v -0.21347885 0.03470758 -0.27548247
+v -0.41798659 -0.36143387 0.02258544
+v -0.45344899 -0.22756374 -0.05237950
+v -0.34196336 0.18356226 0.03912944
+v -0.26991038 -0.39516869 -0.05572471
+v -0.24122204 -0.43034733 -0.18317081
+v -0.34322885 -0.37271314 -0.17733174
+v -0.41387765 -0.18888842 -0.17250248
+v -0.29933807 0.14040999 -0.16230050
+v -0.44788693 -0.02845491 -0.06293177
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+f 64 8 34
\ No newline at end of file
diff --git a/objects/objaverse/broccoli/broccoli_3/collision/model_normalized_collision_5.obj b/objects/objaverse/broccoli/broccoli_3/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..88c67a69e2cd607ad6db6d709335757585646e1d
--- /dev/null
+++ b/objects/objaverse/broccoli/broccoli_3/collision/model_normalized_collision_5.obj
@@ -0,0 +1,150 @@
+# https://github.com/mikedh/trimesh
+v -0.26497307 0.01236469 0.42804823
+v -0.21969720 0.00983670 0.03175691
+v -0.22598301 0.02118676 0.42684282
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+v -0.42019941 0.03868861 0.01074266
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+v -0.21717995 0.29181395 0.03100062
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+v -0.27064557 0.22808387 0.37920649
+v -0.31982830 0.11204720 0.39283130
+v -0.39859975 0.01120384 0.35248807
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+v -0.26154496 0.32482198 0.26215524
+v -0.41437409 0.16491831 0.25110895
+v -0.25742535 0.32466319 0.16849011
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+f 8 2 5
+f 10 7 2
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+f 12 2 8
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+f 50 41 44
+f 51 49 46
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+f 51 25 49
\ No newline at end of file
diff --git a/objects/objaverse/broccoli/broccoli_3/collision/model_normalized_collision_6.obj b/objects/objaverse/broccoli/broccoli_3/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8a14e7de98ed3aff0cf0c271c15ed1bc68ad8de5
--- /dev/null
+++ b/objects/objaverse/broccoli/broccoli_3/collision/model_normalized_collision_6.obj
@@ -0,0 +1,183 @@
+# https://github.com/mikedh/trimesh
+v -0.38879787 -0.31224756 0.12946127
+v -0.35606092 -0.20228464 0.01660539
+v -0.35749458 -0.20503968 0.23581290
+v -0.38177285 0.15830517 0.33270909
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+v -0.39465018 -0.25179406 0.19904513
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+v -0.37904337 0.15714954 0.08103990
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+v -0.40791294 0.07430873 -0.03152766
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+v -0.41698577 0.10980474 0.32135128
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+v -0.41630624 0.15104996 0.26713779
+v -0.49012334 -0.08464847 0.06411704
+v -0.42767652 -0.04728781 0.29273940
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+f 62 40 51
\ No newline at end of file
diff --git a/objects/objaverse/broccoli/broccoli_3/collision/model_normalized_collision_7.obj b/objects/objaverse/broccoli/broccoli_3/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6a4b4f4ad4b99e4f48df42bd4d4a4546a1721133
--- /dev/null
+++ b/objects/objaverse/broccoli/broccoli_3/collision/model_normalized_collision_7.obj
@@ -0,0 +1,177 @@
+# https://github.com/mikedh/trimesh
+v -0.18038399 -0.42582153 -0.21709777
+v 0.01825381 -0.30129640 -0.38431669
+v 0.01903908 -0.33111721 -0.21286381
+v -0.04133180 0.28463045 -0.18209511
+v -0.22539487 -0.05902801 -0.31524342
+v 0.00842684 0.29180520 -0.18033415
+v -0.08721730 -0.41034565 -0.29326353
+v -0.21697655 0.18748626 -0.17538442
+v 0.02256971 -0.33814392 -0.24118945
+v 0.01018588 0.00721417 -0.40850760
+v -0.10743488 -0.39588785 -0.20096768
+v -0.22062385 -0.28185528 -0.33057713
+v 0.01403671 -0.35289064 -0.32878214
+v -0.01840746 0.22629121 -0.28448856
+v 0.01374403 0.04692640 -0.39159243
+v -0.13766463 -0.42559721 -0.26096118
+v -0.23774868 -0.42302271 -0.18989872
+v 0.00757568 0.00983670 -0.18036444
+v -0.04851883 -0.36712172 -0.20012845
+v -0.16491075 -0.41962194 -0.28368088
+v -0.02079795 -0.18066601 -0.42412774
+v -0.06302374 -0.39787176 -0.29767558
+v -0.07646123 -0.39999583 -0.30399976
+v 0.00863534 0.28237459 -0.23153842
+v -0.05304154 0.20056874 -0.28728945
+v 0.01039822 -0.06875680 -0.42249733
+v -0.14978718 -0.41076379 -0.20190339
+v -0.23464963 0.00953068 -0.19529365
+v -0.22720785 -0.12808634 -0.32857318
+v -0.20970330 -0.42720186 -0.23944533
+v -0.00241333 -0.33801550 -0.19979818
+v -0.06284285 -0.37895164 -0.21664461
+v 0.00424114 -0.25297630 -0.40769448
+v -0.13155890 -0.42664691 -0.27630687
+v -0.01000049 -0.36603513 -0.30427719
+v 0.01996403 -0.34082046 -0.24548253
+v -0.12469058 -0.40642324 -0.29844570
+v 0.00624389 0.22531432 -0.28390392
+v -0.04330435 0.28274901 -0.18463371
+v -0.22547339 0.00164668 -0.28507853
+v -0.04291853 0.20621448 -0.29016544
+v -0.16804897 -0.22934341 -0.35808296
+v -0.07400719 -0.02879646 -0.39161543
+v -0.21101041 -0.42817601 -0.20968938
+v -0.21983046 -0.37213202 -0.26905330
+v 0.01072034 -0.25634613 -0.40758404
+v -0.01127837 -0.21183498 -0.42130644
+v -0.16653144 -0.42685066 -0.27730449
+v -0.06396039 -0.39691508 -0.28988875
+v -0.20815036 0.06775556 -0.25823257
+v -0.03163596 -0.09901234 -0.41873921
+v -0.21063027 -0.07365205 -0.33089337
+v -0.00401101 0.00590380 -0.40615344
+v -0.21754515 -0.41971846 -0.23229314
+v 0.01107538 -0.22530417 -0.42101888
+v -0.00354839 -0.22420583 -0.41846715
+v -0.16654702 -0.18867978 -0.35880781
+v -0.05431771 -0.08043221 -0.40680855
+v -0.04553826 -0.03801360 -0.40481427
+v -0.00427900 -0.06923335 -0.41990226
+f 8 6 4
+f 9 6 3
+f 13 2 9
+f 15 9 2
+f 16 7 11
+f 18 3 6
+f 18 6 8
+f 18 8 17
+f 19 9 3
+f 19 17 11
+f 22 7 13
+f 23 13 7
+f 23 2 13
+f 24 4 6
+f 24 6 9
+f 24 9 15
+f 24 14 8
+f 26 15 2
+f 26 10 15
+f 27 16 11
+f 27 1 16
+f 27 17 1
+f 27 11 17
+f 28 17 8
+f 29 12 17
+f 29 28 5
+f 29 17 28
+f 31 19 3
+f 31 3 18
+f 31 18 17
+f 31 17 19
+f 32 19 11
+f 32 11 7
+f 33 20 12
+f 34 7 16
+f 34 16 1
+f 35 22 13
+f 36 32 7
+f 36 9 19
+f 36 19 32
+f 36 22 35
+f 36 35 13
+f 36 13 9
+f 37 20 2
+f 37 2 23
+f 37 23 7
+f 38 24 15
+f 38 15 14
+f 38 14 24
+f 39 24 8
+f 39 8 4
+f 39 4 24
+f 40 28 8
+f 40 5 28
+f 41 25 8
+f 41 8 14
+f 41 14 15
+f 42 21 12
+f 42 12 29
+f 43 25 41
+f 43 40 25
+f 43 5 40
+f 44 1 17
+f 44 17 30
+f 44 34 1
+f 45 17 12
+f 46 2 20
+f 46 20 33
+f 47 12 21
+f 48 20 37
+f 48 37 7
+f 48 7 34
+f 48 30 45
+f 48 45 12
+f 48 12 20
+f 48 44 30
+f 48 34 44
+f 49 36 7
+f 49 7 22
+f 49 22 36
+f 50 40 8
+f 50 8 25
+f 50 25 40
+f 51 26 21
+f 52 29 5
+f 52 5 43
+f 53 43 41
+f 53 41 15
+f 53 15 10
+f 54 45 30
+f 54 30 17
+f 54 17 45
+f 55 26 2
+f 55 2 46
+f 55 47 21
+f 55 21 26
+f 56 33 12
+f 56 12 47
+f 56 47 55
+f 56 55 46
+f 56 46 33
+f 57 42 29
+f 57 29 51
+f 57 51 21
+f 57 21 42
+f 58 51 29
+f 58 52 43
+f 58 29 52
+f 59 43 53
+f 59 58 43
+f 59 51 58
+f 60 26 51
+f 60 59 53
+f 60 51 59
+f 60 53 10
+f 60 10 26
\ No newline at end of file
diff --git a/objects/objaverse/broccoli/broccoli_3/collision/model_normalized_collision_9.obj b/objects/objaverse/broccoli/broccoli_3/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..030e9e094412d058293f93bc8aee1c9cc4c44027
--- /dev/null
+++ b/objects/objaverse/broccoli/broccoli_3/collision/model_normalized_collision_9.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.25852074 0.22137479 0.24643582
+v 0.25000007 0.22195805 0.03175691
+v 0.24474191 0.38008227 0.07909133
+v 0.01489324 0.45660730 0.26138229
+v 0.00757568 0.22195805 0.24387826
+v 0.01128323 0.33747129 0.03589683
+v 0.19281090 0.38087921 0.23491622
+v 0.00757568 0.22195805 0.03175691
+v 0.06142499 0.43744147 0.12842867
+v 0.21708614 0.33562165 0.24224572
+v 0.09610279 0.44102878 0.25025518
+v 0.00207943 0.41222209 0.14681252
+v 0.23488872 0.29159230 0.24334263
+v 0.20541136 0.36404382 0.23296790
+f 1 2 3
+f 5 1 4
+f 6 3 2
+f 8 2 1
+f 8 1 5
+f 8 6 2
+f 9 3 6
+f 10 4 1
+f 11 7 3
+f 11 10 7
+f 11 4 10
+f 11 9 4
+f 11 3 9
+f 12 8 5
+f 12 5 4
+f 12 6 8
+f 12 9 6
+f 12 4 9
+f 13 10 1
+f 13 1 3
+f 13 3 10
+f 14 10 3
+f 14 3 7
+f 14 7 10
\ No newline at end of file
diff --git a/objects/objaverse/broccoli/broccoli_3/model.xml b/objects/objaverse/broccoli/broccoli_3/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..69aecf420341db8b4364b8184df86cd62f226121
--- /dev/null
+++ b/objects/objaverse/broccoli/broccoli_3/model.xml
@@ -0,0 +1,81 @@
+<mujoco model="broccoli_2">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.07999999999999997 0.07999999999999997 0.07999999999999997" refquat="0.38268343236508984 0.0 -0.923879532511287 0.0"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.07999999999999997 0.07999999999999997 0.07999999999999997" refquat="0.38268343236508984 0.0 -0.923879532511287 0.0"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.07999999999999997 0.07999999999999997 0.07999999999999997" refquat="0.38268343236508984 0.0 -0.923879532511287 0.0"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.07999999999999997 0.07999999999999997 0.07999999999999997" refquat="0.38268343236508984 0.0 -0.923879532511287 0.0"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.07999999999999997 0.07999999999999997 0.07999999999999997" refquat="0.38268343236508984 0.0 -0.923879532511287 0.0"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.07999999999999997 0.07999999999999997 0.07999999999999997" refquat="0.38268343236508984 0.0 -0.923879532511287 0.0"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.07999999999999997 0.07999999999999997 0.07999999999999997" refquat="0.38268343236508984 0.0 -0.923879532511287 0.0"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.07999999999999997 0.07999999999999997 0.07999999999999997" refquat="0.38268343236508984 0.0 -0.923879532511287 0.0"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.07999999999999997 0.07999999999999997 0.07999999999999997" refquat="0.38268343236508984 0.0 -0.923879532511287 0.0"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.07999999999999997 0.07999999999999997 0.07999999999999997" refquat="0.38268343236508984 0.0 -0.923879532511287 0.0"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.07999999999999997 0.07999999999999997 0.07999999999999997" refquat="0.38268343236508984 0.0 -0.923879532511287 0.0"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.07999999999999997 0.07999999999999997 0.07999999999999997" refquat="0.38268343236508984 0.0 -0.923879532511287 0.0"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.07999999999999997 0.07999999999999997 0.07999999999999997" refquat="0.38268343236508984 0.0 -0.923879532511287 0.0"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.07999999999999997 0.07999999999999997 0.07999999999999997" refquat="0.38268343236508984 0.0 -0.923879532511287 0.0"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.07999999999999997 0.07999999999999997 0.07999999999999997" refquat="0.38268343236508984 0.0 -0.923879532511287 0.0"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.07999999999999997 0.07999999999999997 0.07999999999999997" refquat="0.38268343236508984 0.0 -0.923879532511287 0.0"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.07999999999999997 0.07999999999999997 0.07999999999999997" refquat="0.38268343236508984 0.0 -0.923879532511287 0.0"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.07999999999999997 0.07999999999999997 0.07999999999999997" refquat="0.38268343236508984 0.0 -0.923879532511287 0.0"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.07999999999999997 0.07999999999999997 0.07999999999999997" refquat="0.38268343236508984 0.0 -0.923879532511287 0.0"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.07999999999999997 0.07999999999999997 0.07999999999999997" refquat="0.38268343236508984 0.0 -0.923879532511287 0.0"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.07999999999999997 0.07999999999999997 0.07999999999999997" refquat="0.38268343236508984 0.0 -0.923879532511287 0.0"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.07999999999999997 0.07999999999999997 0.07999999999999997" refquat="0.38268343236508984 0.0 -0.923879532511287 0.0"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.07999999999999997 0.07999999999999997 0.07999999999999997" refquat="0.38268343236508984 0.0 -0.923879532511287 0.0"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.07999999999999997 0.07999999999999997 0.07999999999999997" refquat="0.38268343236508984 0.0 -0.923879532511287 0.0"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.07999999999999997 0.07999999999999997 0.07999999999999997" refquat="0.38268343236508984 0.0 -0.923879532511287 0.0"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.07999999999999997 0.07999999999999997 0.07999999999999997" refquat="0.38268343236508984 0.0 -0.923879532511287 0.0"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.07999999999999997 0.07999999999999997 0.07999999999999997" refquat="0.38268343236508984 0.0 -0.923879532511287 0.0"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.07999999999999997 0.07999999999999997 0.07999999999999997" refquat="0.38268343236508984 0.0 -0.923879532511287 0.0"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.07999999999999997 0.07999999999999997 0.07999999999999997" refquat="0.38268343236508984 0.0 -0.923879532511287 0.0"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.07999999999999997 0.07999999999999997 0.07999999999999997" refquat="0.38268343236508984 0.0 -0.923879532511287 0.0"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.07999999999999997 0.07999999999999997 0.07999999999999997" refquat="0.38268343236508984 0.0 -0.923879532511287 0.0"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.07999999999999997 0.07999999999999997 0.07999999999999997" refquat="0.38268343236508984 0.0 -0.923879532511287 0.0"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.07999999999999997 0.07999999999999997 0.07999999999999997" refquat="0.38268343236508984 0.0 -0.923879532511287 0.0"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="Broccoli1Mtl" texture="image0" specular="0.5" shininess="0.15999998099999999"/>
+  </asset>
+  <worldbody>
+    <body>
+      <body name="object">
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_0_vis" conaffinity="0" contype="0" group="1" material="Broccoli1Mtl"/>
+        <geom solimp="0.998 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="0.0023981013251297948 -0.00018234440000000068 -0.02988994166436576" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.0023981013251297948 -0.00018234440000000068 0.0331706731755823" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.04255271864434985 0.03700655119999999 0.0016403657556082723" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/objects/objaverse/cake/cake_0/collision/model_normalized_collision_0.obj b/objects/objaverse/cake/cake_0/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a0dbe51d9ace802c7ee3b67a9500931ee24f72f
--- /dev/null
+++ b/objects/objaverse/cake/cake_0/collision/model_normalized_collision_0.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v 0.15262595 0.34469561 0.24247465
+v 0.14393940 0.34433195 0.15129910
+v 0.14402568 0.47763922 0.15116851
+v -0.41537507 0.47962427 0.22658021
+v -0.36914805 0.35478553 0.24633635
+v -0.42176813 0.47944670 0.15068910
+v 0.14410133 0.47324990 0.22629816
+v 0.00757577 0.34433195 0.15129910
+v -0.08443171 0.48073076 0.15114177
+v -0.41691423 0.41101771 0.24931679
+v -0.35606059 0.35948346 0.15129910
+v -0.34772069 0.48165681 0.25006963
+v -0.23227732 0.35344207 0.25919313
+v -0.41530553 0.48001008 0.15146186
+v -0.09967017 0.47949910 0.22589201
+v -0.36853677 0.47160650 0.25877238
+v -0.37107001 0.35864855 0.25639587
+v -0.36943522 0.47732989 0.25127733
+v -0.01987809 0.44025762 0.25714186
+v 0.00729310 0.47022476 0.24631050
+v -0.36752418 0.47126009 0.25919873
+v -0.00897101 0.42666251 0.25715899
+v -0.27286751 0.47190618 0.26012232
+v -0.05134070 0.45838779 0.25731742
+f 1 2 3
+f 6 3 2
+f 7 1 3
+f 8 2 1
+f 8 1 5
+f 8 6 2
+f 9 3 6
+f 10 4 6
+f 11 8 5
+f 11 6 8
+f 11 10 6
+f 11 5 10
+f 13 5 1
+f 14 12 9
+f 14 9 6
+f 14 6 4
+f 14 4 12
+f 15 12 7
+f 15 7 3
+f 15 3 9
+f 15 9 12
+f 16 4 10
+f 17 10 5
+f 17 5 13
+f 18 16 12
+f 18 12 4
+f 18 4 16
+f 19 1 7
+f 20 7 12
+f 20 19 7
+f 21 16 10
+f 21 10 17
+f 21 17 13
+f 21 12 16
+f 22 13 1
+f 22 1 19
+f 23 21 13
+f 23 20 12
+f 23 12 21
+f 23 22 19
+f 23 13 22
+f 24 23 19
+f 24 19 20
+f 24 20 23
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_0/collision/model_normalized_collision_10.obj b/objects/objaverse/cake/cake_0/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8c05518b4958db8fc6210186e0191a429ee74e18
--- /dev/null
+++ b/objects/objaverse/cake/cake_0/collision/model_normalized_collision_10.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.34006571 -0.47840892 0.24708175
+v 0.34051760 -0.48133408 0.22695650
+v 0.34110280 -0.26196259 0.24773596
+v 0.16049786 -0.07623871 0.25661440
+v -0.16834998 -0.47627040 0.25496079
+v 0.22247225 -0.07311791 0.24323557
+v 0.32032239 -0.46337829 0.25964433
+v 0.34496174 -0.33646597 0.25712450
+v 0.26532972 -0.13299858 0.24011756
+v 0.22076425 -0.07386456 0.25328539
+v -0.15910171 -0.27284834 0.24599968
+v 0.16907279 -0.47336917 0.25858482
+v 0.33991011 -0.45742841 0.25456754
+v 0.26518931 -0.13373832 0.25305963
+v 0.19532709 -0.08433994 0.25605125
+v -0.14696214 -0.27927460 0.25464393
+v -0.00082786 -0.12997753 0.24877065
+v -0.15932500 -0.47844074 0.22635970
+v 0.16895216 -0.47378044 0.25806902
+v -0.16824105 -0.47137893 0.25959483
+v 0.15953739 -0.07848641 0.24541547
+v 0.00751882 -0.12530698 0.25346434
+v -0.15586383 -0.39346185 0.25916904
+v -0.15892359 -0.26143799 0.25033363
+v 0.14374130 -0.07979002 0.25151740
+f 5 2 1
+f 8 1 2
+f 8 2 3
+f 8 4 7
+f 9 3 2
+f 10 6 4
+f 12 1 7
+f 13 8 7
+f 13 7 1
+f 13 1 8
+f 14 9 6
+f 14 6 10
+f 14 3 9
+f 14 8 3
+f 15 10 4
+f 15 4 8
+f 15 14 10
+f 15 8 14
+f 18 2 5
+f 18 5 11
+f 18 9 2
+f 18 6 9
+f 18 11 17
+f 19 12 5
+f 19 5 1
+f 19 1 12
+f 20 12 7
+f 20 5 12
+f 21 4 6
+f 21 18 17
+f 21 6 18
+f 23 20 7
+f 23 7 4
+f 23 22 16
+f 23 4 22
+f 24 11 5
+f 24 5 20
+f 24 16 22
+f 24 22 17
+f 24 17 11
+f 24 23 16
+f 24 20 23
+f 25 21 17
+f 25 17 22
+f 25 22 4
+f 25 4 21
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_0/collision/model_normalized_collision_12.obj b/objects/objaverse/cake/cake_0/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..633236e5524c34730bfb47498c64105539fc3382
--- /dev/null
+++ b/objects/objaverse/cake/cake_0/collision/model_normalized_collision_12.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.34047268 -0.00438818 0.24801312
+v 0.34090909 -0.00415289 0.15129910
+v 0.33664795 0.16607134 0.24756874
+v 0.14318956 0.15843334 0.24232611
+v 0.00183241 -0.00887475 0.24623775
+v 0.34090909 0.16251377 0.15129910
+v -0.01226830 0.10367653 0.24618781
+v 0.14393940 0.16251377 0.15129910
+v 0.00757577 -0.00415289 0.15129910
+v 0.00757577 0.10190771 0.15129910
+f 5 2 1
+f 6 1 2
+f 6 3 1
+f 7 5 1
+f 7 1 3
+f 7 3 4
+f 8 4 3
+f 8 3 6
+f 8 7 4
+f 8 6 2
+f 9 8 2
+f 9 2 5
+f 9 5 7
+f 10 9 7
+f 10 7 8
+f 10 8 9
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_0/collision/model_normalized_collision_13.obj b/objects/objaverse/cake/cake_0/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf684ac20815ab21088e14b5355c5e43e289d757
--- /dev/null
+++ b/objects/objaverse/cake/cake_0/collision/model_normalized_collision_13.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v -0.16834998 -0.47627040 0.25496079
+v -0.15936635 -0.48068870 0.15112155
+v -0.15892359 -0.26143799 0.25033363
+v -0.48264219 -0.25453007 0.24220729
+v -0.41603802 -0.47584988 0.15126961
+v -0.15909090 -0.26172864 0.15129910
+v -0.44349544 -0.37542671 0.25659680
+v -0.16268251 -0.35399947 0.25746055
+v -0.40945818 -0.47651795 0.24390052
+v -0.48282413 -0.26131470 0.15096708
+v -0.47857255 -0.25562915 0.24828701
+v -0.47635990 -0.38308017 0.23734575
+v -0.16824105 -0.47137893 0.25959483
+v -0.19932997 -0.47975842 0.25513564
+v -0.42346920 -0.32706056 0.25592125
+v -0.45043174 -0.43953480 0.25686194
+v -0.47819939 -0.38300027 0.15145882
+v -0.47012604 -0.38318562 0.24735054
+v -0.19803439 -0.47920586 0.25560485
+v -0.40922052 -0.45522915 0.25912943
+f 6 3 2
+f 6 4 3
+f 8 2 3
+f 9 5 2
+f 10 4 6
+f 10 6 2
+f 10 2 5
+f 11 3 4
+f 13 1 2
+f 13 2 8
+f 14 9 2
+f 14 2 1
+f 15 8 3
+f 15 3 11
+f 15 11 7
+f 16 7 11
+f 16 5 9
+f 17 10 5
+f 17 16 12
+f 17 5 16
+f 17 12 4
+f 17 4 10
+f 18 11 4
+f 18 4 12
+f 18 16 11
+f 18 12 16
+f 19 14 1
+f 19 1 13
+f 20 13 8
+f 20 8 15
+f 20 15 7
+f 20 7 16
+f 20 19 13
+f 20 16 9
+f 20 9 14
+f 20 14 19
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_0/collision/model_normalized_collision_14.obj b/objects/objaverse/cake/cake_0/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a131ed25f30acbe368541589c83c8bf1e937a299
--- /dev/null
+++ b/objects/objaverse/cake/cake_0/collision/model_normalized_collision_14.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.49524715 -0.13699600 0.23598900
+v 0.49104435 -0.14053467 0.15131072
+v 0.48803796 -0.00426913 0.15135812
+v 0.00332285 -0.00680250 0.26090132
+v -0.00178232 -0.13410468 0.24752456
+v 0.48336521 -0.00403555 0.24296652
+v 0.14700174 -0.14276874 0.25606980
+v 0.00757577 -0.14051653 0.15129910
+v 0.00757577 -0.00415289 0.15129910
+v 0.00751882 -0.12530698 0.25346434
+v 0.39654655 -0.01251870 0.25699899
+v 0.06788726 -0.14021636 0.25235981
+v 0.39651534 -0.00998987 0.25646016
+v 0.48857686 -0.13634509 0.24264746
+f 1 2 3
+f 6 1 3
+f 7 2 1
+f 8 2 7
+f 9 6 3
+f 9 4 6
+f 9 3 2
+f 9 2 8
+f 9 8 5
+f 9 5 4
+f 10 7 4
+f 10 4 5
+f 11 4 7
+f 12 8 7
+f 12 5 8
+f 12 10 5
+f 12 7 10
+f 13 11 6
+f 13 6 4
+f 13 4 11
+f 14 11 7
+f 14 7 1
+f 14 1 6
+f 14 6 11
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_0/collision/model_normalized_collision_15.obj b/objects/objaverse/cake/cake_0/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e0f9571228ece21b99fb8d3a4ede72504b8a1138
--- /dev/null
+++ b/objects/objaverse/cake/cake_0/collision/model_normalized_collision_15.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.49200502 -0.26218988 0.22675472
+v 0.49421243 -0.26197110 0.01467882
+v 0.49136446 -0.14054375 0.01491476
+v 0.26518931 -0.13373832 0.25305963
+v 0.26515152 -0.26172864 0.01493547
+v 0.48875470 -0.14061900 0.22688090
+v 0.49163374 -0.21671927 0.21114151
+v 0.26919954 -0.26238217 0.25393101
+v 0.26515152 -0.14051653 0.01493547
+v 0.49215762 -0.17121550 0.01463403
+v 0.39631963 -0.14314232 0.25335851
+v 0.40159534 -0.26186061 0.24860130
+f 6 3 4
+f 7 1 2
+f 7 6 1
+f 7 3 6
+f 8 5 2
+f 8 2 1
+f 8 4 5
+f 9 5 4
+f 9 4 3
+f 10 7 2
+f 10 3 7
+f 10 9 3
+f 10 2 5
+f 10 5 9
+f 11 6 4
+f 11 4 8
+f 11 1 6
+f 12 11 8
+f 12 8 1
+f 12 1 11
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_0/collision/model_normalized_collision_16.obj b/objects/objaverse/cake/cake_0/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dbf06f9aad14e44f3bb56a7e4cc9329b90206742
--- /dev/null
+++ b/objects/objaverse/cake/cake_0/collision/model_normalized_collision_16.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.48803796 -0.00426913 0.15135812
+v 0.48709804 -0.00434722 0.01495355
+v 0.46291429 0.46950130 0.01474385
+v 0.14402568 0.47763922 0.15116851
+v 0.14393940 -0.00415289 0.15129910
+v 0.46176175 0.46567792 0.14999563
+v 0.47665792 0.43424616 0.01468168
+v 0.14393940 -0.00415289 0.01493547
+v 0.43129879 0.47953940 0.13493660
+v 0.47593663 0.38891919 0.15049098
+v 0.47633308 0.43450211 0.04508433
+v 0.14410557 0.48307906 0.01450209
+v 0.44165327 0.47893005 0.11975951
+v 0.40056552 0.47974122 0.15030802
+v 0.47644797 0.41935587 0.10569150
+v 0.44256719 0.48022777 0.01472484
+v 0.28068268 0.47946338 0.15007639
+v 0.47591570 0.40418053 0.13534097
+v 0.18976996 0.47985950 0.12040911
+f 5 2 1
+f 5 1 4
+f 7 1 2
+f 8 2 5
+f 8 5 4
+f 10 4 1
+f 11 7 3
+f 11 3 6
+f 12 7 2
+f 12 2 8
+f 12 8 4
+f 13 9 6
+f 13 6 3
+f 14 6 9
+f 14 10 6
+f 14 4 10
+f 15 11 6
+f 15 10 1
+f 15 1 7
+f 15 7 11
+f 16 9 13
+f 16 14 9
+f 16 12 14
+f 16 13 3
+f 16 3 7
+f 16 7 12
+f 17 14 12
+f 17 4 14
+f 18 15 6
+f 18 6 10
+f 18 10 15
+f 19 17 12
+f 19 12 4
+f 19 4 17
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_0/collision/model_normalized_collision_17.obj b/objects/objaverse/cake/cake_0/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f2afe62c32e28b859fb6ef2baacc667a4565e81c
--- /dev/null
+++ b/objects/objaverse/cake/cake_0/collision/model_normalized_collision_17.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.23475609 -0.48232801 0.15115434
+v -0.23477098 -0.47749284 -0.25465908
+v -0.23495030 0.48339320 0.15094067
+v -0.35520210 0.48308566 0.15110059
+v -0.35608254 -0.47706950 -0.25443267
+v -0.35550172 -0.47973443 0.15139246
+v -0.35675729 0.47522088 -0.25734360
+v -0.23497737 0.47613771 -0.25316530
+v -0.35634808 -0.47034239 -0.25888762
+v -0.35669962 0.47917010 -0.25287190
+v -0.23527970 0.43507963 -0.25698917
+v -0.23506080 0.47989203 -0.22614870
+v -0.23487938 -0.47094482 -0.25793462
+v -0.26549313 0.46442500 -0.25685459
+f 1 2 3
+f 5 2 1
+f 6 5 1
+f 6 1 3
+f 6 3 4
+f 7 6 4
+f 8 3 2
+f 9 2 5
+f 9 5 6
+f 9 6 7
+f 10 8 7
+f 10 7 4
+f 11 9 7
+f 12 10 4
+f 12 4 3
+f 12 3 8
+f 12 8 10
+f 13 11 8
+f 13 8 2
+f 13 2 9
+f 13 9 11
+f 14 11 7
+f 14 7 8
+f 14 8 11
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_0/collision/model_normalized_collision_18.obj b/objects/objaverse/cake/cake_0/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..79193146c254822972271283cb06d3ce3830077b
--- /dev/null
+++ b/objects/objaverse/cake/cake_0/collision/model_normalized_collision_18.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.45746881 -0.47289645 0.23789473
+v 0.49215568 -0.42778602 0.22677534
+v 0.47667061 -0.31960540 0.25661798
+v 0.39631963 -0.14314232 0.25335851
+v 0.34051760 -0.48133408 0.22695650
+v 0.49524715 -0.13699600 0.23598900
+v 0.48772180 -0.45218928 0.25105947
+v 0.45780486 -0.47402905 0.22646419
+v 0.34012835 -0.42796623 0.25445319
+v 0.48888972 -0.16517198 0.25049579
+v 0.39635092 -0.14424165 0.24040092
+v 0.39298879 -0.46976750 0.25655607
+v 0.49556401 -0.31304956 0.24788103
+v 0.44594518 -0.47327902 0.24416155
+v 0.47925300 -0.46293019 0.22661061
+v 0.48857686 -0.13634509 0.24264746
+v 0.45293686 -0.21018001 0.25470335
+v 0.34049346 -0.26122667 0.24770580
+v 0.34006571 -0.47840892 0.24708175
+v 0.47443363 -0.38441163 0.25596087
+v 0.35140406 -0.37535152 0.25825808
+v 0.49111985 -0.42775652 0.23784538
+v 0.38396111 -0.46570519 0.25712927
+v 0.45713520 -0.42110668 0.25555088
+v 0.44939446 -0.21120146 0.25479965
+f 6 2 5
+f 8 5 2
+f 11 6 5
+f 13 2 6
+f 13 6 10
+f 13 10 3
+f 13 3 7
+f 14 8 1
+f 14 5 8
+f 14 1 7
+f 14 7 12
+f 15 7 1
+f 15 1 8
+f 15 8 2
+f 15 2 7
+f 16 10 6
+f 16 4 10
+f 16 11 4
+f 16 6 11
+f 17 10 4
+f 17 3 10
+f 18 4 11
+f 18 11 5
+f 19 14 12
+f 19 5 14
+f 19 18 5
+f 19 9 18
+f 20 7 3
+f 21 18 9
+f 21 4 18
+f 22 13 7
+f 22 7 2
+f 22 2 13
+f 23 19 12
+f 23 9 19
+f 23 21 9
+f 23 3 21
+f 23 20 3
+f 24 12 7
+f 24 7 20
+f 24 23 12
+f 24 20 23
+f 25 17 4
+f 25 4 21
+f 25 21 3
+f 25 3 17
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_0/collision/model_normalized_collision_19.obj b/objects/objaverse/cake/cake_0/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ef8f7054295a0e7f12af3d2d3f6d6389e972d00
--- /dev/null
+++ b/objects/objaverse/cake/cake_0/collision/model_normalized_collision_19.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.14393940 -0.26172864 0.15129910
+v 0.14393940 -0.26172864 0.01493547
+v 0.14410557 0.48307906 0.01450209
+v -0.23495030 0.48339320 0.15094067
+v -0.23484847 -0.26172864 0.01493547
+v 0.14402568 0.47763922 0.15116851
+v 0.14430991 0.48007140 0.09000052
+v -0.23484847 -0.26172864 0.15129910
+v 0.00771900 0.48141866 0.01430219
+v -0.23493934 0.48264289 0.01518665
+f 5 2 1
+f 7 1 2
+f 7 2 3
+f 7 6 1
+f 7 3 4
+f 7 4 6
+f 8 5 1
+f 8 4 5
+f 8 6 4
+f 8 1 6
+f 9 3 2
+f 9 2 5
+f 10 9 5
+f 10 5 4
+f 10 4 3
+f 10 3 9
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_0/collision/model_normalized_collision_2.obj b/objects/objaverse/cake/cake_0/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ce70a26d7b2ac8e7f9925cbc26791a139619f568
--- /dev/null
+++ b/objects/objaverse/cake/cake_0/collision/model_normalized_collision_2.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.35606059 -0.38294077 0.15129910
+v -0.35648338 -0.38280163 -0.26131643
+v -0.35598273 -0.00506300 -0.25760570
+v -0.49587414 -0.00426224 0.15110185
+v -0.47819939 -0.38300027 0.15145882
+v -0.48221308 -0.07936112 -0.25238553
+v -0.35606059 -0.00415289 0.15129910
+v -0.47182805 -0.38284972 -0.26085849
+v -0.49322262 -0.00432353 -0.12094814
+v -0.41597404 -0.00495239 -0.25790419
+v -0.47786348 -0.38244656 -0.25388367
+v -0.48142843 -0.20181302 -0.25494891
+v -0.49190348 -0.06429569 -0.09091241
+v -0.47864749 -0.33710532 -0.25669634
+v -0.49191827 -0.04914466 -0.12065215
+f 1 2 3
+f 5 2 1
+f 7 1 3
+f 7 5 1
+f 7 4 5
+f 8 2 5
+f 9 7 3
+f 9 4 7
+f 10 8 6
+f 10 3 2
+f 10 2 8
+f 10 9 3
+f 10 6 9
+f 11 8 5
+f 11 5 4
+f 12 9 6
+f 12 6 8
+f 13 11 4
+f 13 4 9
+f 14 12 8
+f 14 8 11
+f 14 11 9
+f 14 9 12
+f 15 13 9
+f 15 9 11
+f 15 11 13
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_0/collision/model_normalized_collision_21.obj b/objects/objaverse/cake/cake_0/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0334a65a1edfa56b6473d7aff7d0ee42d540de14
--- /dev/null
+++ b/objects/objaverse/cake/cake_0/collision/model_normalized_collision_21.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.23484847 -0.04960744 -0.25779049
+v -0.49003310 -0.00407073 -0.21217031
+v -0.48811111 -0.04942314 -0.21203609
+v -0.48570956 -0.00390987 -0.25341547
+v -0.23484831 -0.00415031 -0.25767178
+v -0.48362032 -0.04912926 -0.25279958
+v -0.46131839 -0.00389429 -0.25781493
+v -0.28039876 -0.04977162 -0.25776684
+v -0.37123840 -0.00384555 -0.25765642
+v -0.44626176 -0.04912809 -0.25722135
+v -0.46127006 -0.03396441 -0.25690950
+f 3 2 4
+f 5 2 3
+f 5 3 1
+f 6 3 4
+f 7 5 1
+f 7 6 4
+f 8 1 3
+f 8 3 6
+f 8 7 1
+f 9 7 4
+f 9 4 2
+f 9 2 5
+f 9 5 7
+f 10 8 6
+f 10 7 8
+f 11 10 6
+f 11 6 7
+f 11 7 10
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_0/collision/model_normalized_collision_22.obj b/objects/objaverse/cake/cake_0/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..82e5203fbda4b24442e1ac49f5b57381c3b7f696
--- /dev/null
+++ b/objects/objaverse/cake/cake_0/collision/model_normalized_collision_22.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v 0.48709804 -0.00434722 0.01495355
+v 0.48345745 -0.00458149 -0.25850042
+v 0.46291429 0.46950130 0.01474385
+v -0.23493934 0.48264289 0.01518665
+v -0.23484847 -0.00415289 0.01493547
+v 0.43071217 0.47822326 -0.25367984
+v 0.47665792 0.43424616 0.01468168
+v 0.44256719 0.48022777 0.01472484
+v -0.23535938 0.41962391 -0.25742077
+v 0.47661534 0.40353765 -0.09072525
+v 0.46482019 0.45695620 -0.25659303
+v 0.44210877 0.47848972 -0.16662128
+v -0.23497737 0.47613771 -0.25316530
+v -0.23482899 -0.00382367 -0.25767884
+v 0.48062270 0.13129538 -0.25556804
+v 0.47605097 0.43420766 -0.02995466
+v 0.45308325 0.46937116 -0.25734638
+v -0.23506080 0.47989203 -0.22614870
+v 0.47564745 0.31389748 -0.25438580
+v -0.14356307 0.47385707 -0.25629076
+v 0.46021377 0.46808384 -0.16640445
+v -0.18906554 0.47930356 -0.24124952
+v 0.08352026 0.47854350 -0.25247380
+f 1 3 4
+f 5 2 1
+f 5 1 4
+f 7 3 1
+f 8 6 4
+f 8 4 3
+f 9 5 4
+f 10 7 1
+f 11 3 7
+f 12 8 3
+f 12 6 8
+f 14 9 2
+f 14 2 5
+f 14 5 9
+f 15 10 1
+f 15 1 2
+f 16 11 7
+f 16 7 10
+f 16 10 11
+f 17 11 2
+f 17 2 9
+f 17 6 12
+f 18 13 9
+f 18 9 4
+f 18 4 6
+f 19 11 10
+f 19 10 15
+f 19 15 2
+f 19 2 11
+f 20 17 9
+f 20 9 13
+f 20 6 17
+f 21 17 12
+f 21 12 3
+f 21 3 11
+f 21 11 17
+f 22 18 6
+f 22 13 18
+f 23 20 13
+f 23 6 20
+f 23 22 6
+f 23 13 22
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_0/collision/model_normalized_collision_24.obj b/objects/objaverse/cake/cake_0/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b5f4fbf4bf60a47770562b2cd8f6369c68f11a74
--- /dev/null
+++ b/objects/objaverse/cake/cake_0/collision/model_normalized_collision_24.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v 0.46896968 -0.47692417 0.01441701
+v 0.48908570 -0.45321110 -0.24139521
+v 0.48709804 -0.00434722 0.01495355
+v -0.23484847 -0.00415289 0.01493547
+v -0.23477098 -0.47749284 -0.25465908
+v 0.47554841 -0.00434161 -0.26124532
+v -0.23478418 -0.48110556 0.01503504
+v 0.48995503 -0.45267343 0.01441776
+v 0.46731762 -0.47459266 -0.25687913
+v 0.48345745 -0.00458149 -0.25850042
+v -0.21925728 -0.00341828 -0.25773747
+v -0.23487938 -0.47094482 -0.25793462
+v 0.47987914 -0.47170608 -0.07642769
+v 0.49219934 -0.15606298 -0.07598858
+v -0.20387045 -0.47762492 -0.25541751
+v 0.47989677 -0.46397458 -0.25698816
+v -0.23484831 -0.00415031 -0.25767178
+v 0.47978291 -0.47108172 -0.22592234
+v 0.49155025 -0.32277992 -0.24181137
+v 0.49176892 -0.15607397 0.01462643
+v 0.49029478 -0.42785579 -0.25292371
+v 0.49149230 -0.29247850 -0.22665685
+v 0.49033678 -0.36808883 -0.25304569
+f 7 1 3
+f 7 3 4
+f 8 3 1
+f 9 1 7
+f 10 6 3
+f 11 4 3
+f 11 3 6
+f 12 7 4
+f 12 5 7
+f 13 8 1
+f 13 2 8
+f 14 10 3
+f 15 9 7
+f 15 7 5
+f 15 12 9
+f 15 5 12
+f 16 6 10
+f 16 12 6
+f 16 9 12
+f 17 12 4
+f 17 4 11
+f 17 11 6
+f 17 6 12
+f 18 13 1
+f 18 1 9
+f 18 9 16
+f 18 16 2
+f 18 2 13
+f 19 14 8
+f 20 14 3
+f 20 3 8
+f 20 8 14
+f 21 19 8
+f 21 8 2
+f 21 2 16
+f 21 16 10
+f 22 19 10
+f 22 10 14
+f 22 14 19
+f 23 21 10
+f 23 10 19
+f 23 19 21
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_0/collision/model_normalized_collision_25.obj b/objects/objaverse/cake/cake_0/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8ebf5a40c8011a8571b342952b342ece04197c36
--- /dev/null
+++ b/objects/objaverse/cake/cake_0/collision/model_normalized_collision_25.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.26925955 -0.37625028 0.24693294
+v 0.26515152 -0.38294077 0.15129910
+v 0.26515152 -0.14051653 0.15129910
+v -0.00178232 -0.13410468 0.24752456
+v 0.00800006 -0.38366838 0.25244571
+v 0.00757577 -0.14051653 0.15129910
+v 0.26532972 -0.13299858 0.24011756
+v 0.00757577 -0.38294077 0.15129910
+f 1 2 3
+f 5 2 1
+f 5 1 4
+f 6 3 2
+f 7 1 3
+f 7 4 1
+f 7 6 4
+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/cake/cake_0/collision/model_normalized_collision_26.obj b/objects/objaverse/cake/cake_0/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5bdfeb32f172d7c885dd012997ff66e995769228
--- /dev/null
+++ b/objects/objaverse/cake/cake_0/collision/model_normalized_collision_26.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.49360575 -0.38284464 0.22641196
+v 0.49443262 -0.38310629 0.15136188
+v 0.49277366 -0.26200839 0.15145492
+v 0.26906092 -0.26261981 0.24348462
+v 0.26515152 -0.38294077 0.15129910
+v 0.49200502 -0.26218988 0.22675472
+v 0.26925955 -0.37625028 0.24693294
+v 0.40151515 -0.26172864 0.15129910
+v 0.26515152 -0.26172864 0.15129910
+f 5 2 1
+f 6 1 2
+f 6 2 3
+f 7 5 1
+f 7 4 5
+f 7 6 4
+f 7 1 6
+f 8 3 2
+f 8 2 5
+f 8 6 3
+f 9 8 5
+f 9 5 4
+f 9 4 6
+f 9 6 8
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_0/collision/model_normalized_collision_27.obj b/objects/objaverse/cake/cake_0/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d9b12033831be35b997a1369aa90f277994c4a85
--- /dev/null
+++ b/objects/objaverse/cake/cake_0/collision/model_normalized_collision_27.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.00756779 -0.47710344 0.22648069
+v 0.00789714 -0.47893136 0.15127919
+v 0.00757577 -0.26172864 0.15129910
+v -0.15910171 -0.27284834 0.24599968
+v -0.15936635 -0.48068870 0.15112155
+v 0.00636684 -0.25974831 0.24451443
+v -0.15932500 -0.47844074 0.22635970
+v -0.15909090 -0.26172864 0.15129910
+f 1 2 3
+f 5 2 1
+f 5 3 2
+f 6 1 3
+f 6 4 1
+f 7 5 1
+f 7 1 4
+f 7 4 5
+f 8 5 4
+f 8 3 5
+f 8 6 3
+f 8 4 6
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_0/collision/model_normalized_collision_28.obj b/objects/objaverse/cake/cake_0/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..faa2bfafc5179e4ffbaaacfc30f7c0e4d9ab9f97
--- /dev/null
+++ b/objects/objaverse/cake/cake_0/collision/model_normalized_collision_28.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.00636684 -0.25974831 0.24451443
+v 0.00757577 -0.26172864 0.15129910
+v 0.00757577 0.10190771 0.15129910
+v -0.09655007 0.11471874 0.24889427
+v -0.09848484 -0.26172864 0.15129910
+v -0.01226830 0.10367653 0.24618781
+v -0.09651260 -0.26586759 0.24447481
+v -0.09848484 0.10190771 0.15129910
+f 1 2 3
+f 5 3 2
+f 6 1 3
+f 6 3 4
+f 6 4 1
+f 7 5 2
+f 7 2 1
+f 7 1 4
+f 7 4 5
+f 8 5 4
+f 8 4 3
+f 8 3 5
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_0/collision/model_normalized_collision_3.obj b/objects/objaverse/cake/cake_0/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c14fbee8ea5a8839bbcf77f68f66d27021fb762f
--- /dev/null
+++ b/objects/objaverse/cake/cake_0/collision/model_normalized_collision_3.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v 0.39899662 0.17379022 0.24538684
+v 0.48304075 0.23779995 0.15122722
+v 0.45979852 0.45324763 0.24314994
+v 0.14410133 0.47324990 0.22629816
+v 0.14393940 0.16251377 0.15129910
+v 0.45477337 0.47123654 0.15051774
+v 0.14939187 0.34695261 0.25575774
+v 0.47848628 0.23701869 0.24424140
+v 0.40151515 0.16251377 0.15129910
+v 0.46707304 0.45828122 0.15060853
+v 0.43631321 0.46659794 0.24847048
+v 0.14402568 0.47763922 0.15116851
+v 0.14318956 0.15843334 0.24232611
+v 0.32793686 0.35028023 0.25736693
+v 0.47672954 0.37380939 0.15052984
+v 0.45002565 0.46541002 0.23662206
+v 0.26643730 0.47292441 0.25200430
+v 0.47893737 0.27796682 0.24705844
+v 0.38649676 0.23790854 0.25054527
+v 0.14111019 0.40691839 0.25166350
+v 0.47599072 0.37377053 0.16564515
+v 0.31324285 0.44383874 0.25764214
+v 0.25909973 0.35017130 0.25691145
+v 0.32215424 0.44961481 0.25659458
+f 9 8 1
+f 9 2 8
+f 12 6 5
+f 13 9 1
+f 13 5 9
+f 15 2 9
+f 15 6 10
+f 15 9 5
+f 15 5 6
+f 16 10 6
+f 16 3 10
+f 16 11 3
+f 16 6 11
+f 17 12 4
+f 17 11 6
+f 17 6 12
+f 18 3 11
+f 18 8 2
+f 18 2 15
+f 18 1 8
+f 19 13 1
+f 19 7 13
+f 19 18 14
+f 19 1 18
+f 20 13 7
+f 20 4 12
+f 20 12 5
+f 20 5 13
+f 20 17 4
+f 21 15 10
+f 21 10 3
+f 21 18 15
+f 21 3 18
+f 22 18 11
+f 22 14 18
+f 22 20 7
+f 22 17 20
+f 23 19 14
+f 23 7 19
+f 23 22 7
+f 23 14 22
+f 24 22 11
+f 24 11 17
+f 24 17 22
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_0/collision/model_normalized_collision_30.obj b/objects/objaverse/cake/cake_0/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d76a772cf43e35964b8eb86ef8248cb4ac6a193
--- /dev/null
+++ b/objects/objaverse/cake/cake_0/collision/model_normalized_collision_30.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.49104435 -0.14053467 0.15131072
+v 0.49136446 -0.14054375 0.01491476
+v 0.48803796 -0.00426913 0.15135812
+v 0.26515152 -0.00415289 0.15129910
+v 0.26515152 -0.14051653 0.01493547
+v 0.26515152 -0.00415289 0.01493547
+v 0.26515152 -0.14051653 0.15129910
+v 0.48709804 -0.00434722 0.01495355
+f 1 2 3
+f 6 4 3
+f 6 5 4
+f 6 2 5
+f 7 1 3
+f 7 3 4
+f 7 4 5
+f 7 5 2
+f 7 2 1
+f 8 6 3
+f 8 3 2
+f 8 2 6
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_0/collision/model_normalized_collision_8.obj b/objects/objaverse/cake/cake_0/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c136f5ce0056771a3fa6fe4b82335d7bf22680f7
--- /dev/null
+++ b/objects/objaverse/cake/cake_0/collision/model_normalized_collision_8.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.48336521 -0.00403555 0.24296652
+v 0.48669765 -0.00423557 0.22666819
+v 0.26643730 0.47292441 0.25200430
+v 0.00729310 0.47022476 0.24631050
+v 0.00183241 -0.00887475 0.24623775
+v 0.26518914 0.47454833 0.22666651
+v 0.47848628 0.23701869 0.24424140
+v 0.00332285 -0.00680250 0.26090132
+v 0.00753395 0.47317127 0.22660123
+v 0.49295982 0.02217502 0.23584045
+v 0.48111611 0.23745864 0.22669267
+v 0.01378327 0.44823848 0.25601037
+v 0.46250198 0.21702214 0.25777290
+v 0.49140526 0.02001644 0.22919637
+v 0.15254902 0.46463998 0.25604964
+v 0.43156885 -0.00145061 0.25742631
+v 0.49252200 0.02269851 0.23671067
+v 0.24463641 0.45964939 0.25792079
+v 0.45478556 0.09157172 0.25639762
+f 5 2 1
+f 8 5 1
+f 8 4 5
+f 9 4 3
+f 9 3 6
+f 9 5 4
+f 9 2 5
+f 10 1 2
+f 11 6 3
+f 11 3 7
+f 11 9 6
+f 11 2 9
+f 11 7 10
+f 12 4 8
+f 13 7 3
+f 14 11 10
+f 14 10 2
+f 14 2 11
+f 15 3 4
+f 15 4 12
+f 16 13 8
+f 16 8 1
+f 17 10 7
+f 17 7 13
+f 17 13 1
+f 17 1 10
+f 18 13 3
+f 18 3 15
+f 18 8 13
+f 18 15 12
+f 18 12 8
+f 19 16 1
+f 19 1 13
+f 19 13 16
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_0/collision/model_normalized_collision_9.obj b/objects/objaverse/cake/cake_0/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..96e97649e382fd4925c2d66a9d7aaa00f1394437
--- /dev/null
+++ b/objects/objaverse/cake/cake_0/collision/model_normalized_collision_9.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.39850682 -0.07792201 0.24005863
+v 0.48803796 -0.00426913 0.15135812
+v 0.48669765 -0.00423557 0.22666819
+v 0.40229874 0.23951456 0.25052787
+v 0.34090909 0.16251377 0.15129910
+v 0.48304075 0.23779995 0.15122722
+v 0.40151515 -0.07991047 0.15129910
+v 0.33664795 0.16607134 0.24756874
+v 0.48111611 0.23745864 0.22669267
+v 0.40151515 0.23827134 0.15129910
+v 0.34050620 -0.08037183 0.24628132
+v 0.34090909 -0.07991047 0.15129910
+f 1 3 4
+f 6 3 2
+f 7 2 3
+f 7 3 1
+f 7 6 2
+f 9 6 4
+f 9 4 3
+f 9 3 6
+f 10 6 5
+f 10 4 6
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+f 10 5 8
+f 11 1 4
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+f 11 7 1
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+f 12 6 7
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_0/visual/material.mtl b/objects/objaverse/cake/cake_0/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fbcf6b4b1af9257e08a0fd6e283841743ce8fad5
--- /dev/null
+++ b/objects/objaverse/cake/cake_0/visual/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 250.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/objects/objaverse/cake/cake_0/visual/model_normalized_0.obj b/objects/objaverse/cake/cake_0/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b1fd6eda090dbfd79fabb9de3db7369a6f42b90b
--- /dev/null
+++ b/objects/objaverse/cake/cake_0/visual/model_normalized_0.obj
@@ -0,0 +1,125125 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_0/collision/model_normalized_collision_0.obj b/objects/objaverse/pear/pear_0/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..66334442919c67b959e281659fa14c26da7817bb
--- /dev/null
+++ b/objects/objaverse/pear/pear_0/collision/model_normalized_collision_0.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.19356941 -0.22517004 -0.00341699
+v -0.09459121 -0.14262800 -0.15798795
+v -0.15088801 -0.16856525 0.11460441
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+v -0.37761296 -0.16531840 -0.18399673
+v -0.17808136 -0.11334323 -0.23141758
+v -0.29318286 -0.20891289 0.06545583
+v -0.08385859 -0.18182663 0.05951084
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+v -0.16152399 -0.11721658 -0.22294126
+v -0.42523069 -0.12985665 0.08275500
+v -0.45083997 -0.11515677 -0.16077525
+v -0.20715846 -0.20818265 0.06635169
+v -0.39422062 -0.20818126 -0.04733029
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+v -0.22285571 -0.13807194 -0.22586923
+v -0.16671891 -0.14982437 -0.19748634
+v -0.23109243 -0.16685717 0.13108213
+v -0.22246686 -0.22468941 0.02501290
+v -0.16303122 -0.19363307 0.07924730
+v -0.32390547 -0.22295868 -0.11690517
+v -0.43231750 -0.17935600 -0.10325195
+v -0.41949690 -0.17971481 0.02136658
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+v -0.13813050 -0.19238010 -0.11449393
+v -0.19388739 -0.22326143 -0.07449003
+v -0.33580612 -0.19345293 -0.17099075
+v -0.20901228 -0.15156647 -0.21214346
+v -0.36581853 -0.11369145 -0.22910241
+v -0.16591651 -0.13636319 -0.21038921
+v -0.33375147 -0.18089091 0.09283726
+v -0.36098106 -0.14364367 0.11353282
+v -0.23684612 -0.19624890 0.09376219
+v -0.33743218 -0.22446913 -0.01864995
+v -0.14962526 -0.20731128 0.03854542
+v -0.41691139 -0.15131503 -0.16758960
+v -0.37893154 -0.20842355 -0.11883609
+v -0.46607113 -0.13062130 -0.11790656
+v -0.41956120 -0.16505559 0.04960981
+v -0.43282686 -0.18151300 -0.02044410
+v -0.10365900 -0.19363539 0.03964108
+v -0.10896935 -0.17808809 -0.11303041
+v -0.16754074 -0.19196698 -0.14095906
+v -0.15184986 -0.20714894 -0.08751309
+v -0.22310409 -0.22439954 -0.10351465
+v -0.13545485 -0.20852152 -0.04479525
+v -0.33668548 -0.20984453 -0.14337677
+v -0.18004894 -0.12375909 -0.22516225
+v -0.21060713 -0.17976603 -0.18231518
+v -0.39443347 -0.11361590 -0.21543415
+v -0.33594593 -0.13860092 -0.22376689
+v -0.14269875 -0.15395876 -0.17935327
+v -0.34911378 -0.19374426 0.06430539
+v -0.29199139 -0.19360792 0.09268777
+v -0.29237425 -0.22444283 0.02360297
+v -0.33841505 -0.22397857 -0.10188855
+v -0.37900887 -0.20916583 -0.00522725
+v -0.41920187 -0.19504921 -0.07484428
+v -0.36340055 -0.19546056 -0.15472334
+v -0.41903783 -0.17967590 -0.12863970
+v -0.46438760 -0.13075294 0.01151783
+v -0.44609473 -0.15344632 -0.12762262
+v -0.44515194 -0.13837200 0.04942695
+v -0.39123185 -0.16592436 0.07457698
+f 8 2 3
+f 10 6 3
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+f 12 4 11
+f 15 2 8
+f 19 13 7
+f 20 8 3
+f 28 27 16
+f 29 6 16
+f 30 10 2
+f 30 17 28
+f 32 18 3
+f 32 3 11
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+f 33 3 18
+f 33 20 3
+f 33 13 20
+f 33 7 13
+f 35 20 13
+f 35 8 20
+f 35 13 19
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+f 44 25 15
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+f 46 44 15
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+f 47 27 9
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+f 48 16 6
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+f 48 6 10
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+f 49 28 17
+f 49 9 27
+f 49 27 28
+f 49 43 9
+f 50 12 6
+f 50 6 29
+f 50 36 12
+f 50 29 5
+f 50 5 36
+f 51 27 5
+f 51 5 29
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+f 51 16 27
+f 52 30 2
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+f 52 2 43
+f 52 49 17
+f 52 43 49
+f 53 39 23
+f 54 7 33
+f 54 53 7
+f 54 31 53
+f 54 33 18
+f 54 18 31
+f 55 19 7
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+f 55 34 1
+f 55 1 19
+f 56 34 14
+f 56 21 45
+f 56 45 1
+f 56 1 34
+f 56 37 21
+f 56 14 37
+f 57 14 34
+f 57 40 14
+f 57 23 40
+f 57 53 23
+f 57 55 53
+f 57 34 55
+f 58 37 14
+f 58 22 37
+f 58 40 22
+f 58 14 40
+f 59 5 27
+f 59 47 37
+f 59 27 47
+f 60 37 22
+f 60 59 37
+f 60 36 5
+f 60 5 59
+f 61 4 12
+f 61 12 38
+f 61 38 40
+f 62 38 12
+f 62 12 36
+f 62 36 60
+f 62 60 22
+f 62 22 38
+f 63 39 11
+f 63 11 4
+f 63 23 39
+f 63 4 61
+f 63 61 40
+f 63 40 23
+f 64 32 11
+f 64 11 39
+f 64 31 32
+f 64 53 31
+f 64 39 53
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_0/collision/model_normalized_collision_1.obj b/objects/objaverse/pear/pear_0/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..167f49f07fdb2870c6e0fcf708db991953c043c7
--- /dev/null
+++ b/objects/objaverse/pear/pear_0/collision/model_normalized_collision_1.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v -0.20631583 -0.20003132 0.08309969
+v 0.01059035 -0.13202809 0.11347605
+v -0.23393305 -0.09980488 0.17972684
+v -0.22688366 0.14702666 0.13224181
+v 0.00831109 0.11132635 0.09372213
+v -0.23572575 -0.20263057 0.08411573
+v -0.16231400 -0.15305217 0.13693939
+v -0.16060159 -0.18940457 0.08571313
+v 0.00762748 -0.00289136 0.16405021
+v -0.23747419 0.10003775 0.16915305
+v 0.00638250 -0.08287125 0.15094193
+v -0.17726477 -0.18010138 0.10723854
+v -0.23513611 -0.15765719 0.14211455
+v 0.00772222 0.03914242 0.15047689
+v -0.23720041 0.07099377 0.18194151
+v 0.00674570 -0.09950578 0.14091610
+v -0.16194297 -0.09750565 0.17685598
+v 0.00725512 -0.04270016 0.16482628
+v -0.20705919 -0.19371412 0.09395579
+v -0.16216849 -0.18314651 0.09710758
+v -0.16311794 -0.16518957 0.12318942
+v 0.00668451 0.06663195 0.13589304
+v -0.23684612 -0.19624890 0.09376219
+v -0.13382152 -0.11084646 0.16301003
+v -0.11740989 -0.05807364 0.17809667
+v 0.00628333 0.09698724 0.11087617
+v -0.11715691 -0.01761765 0.17694538
+f 6 5 1
+f 6 4 5
+f 8 5 2
+f 8 1 5
+f 10 4 6
+f 14 9 2
+f 14 2 5
+f 15 14 10
+f 15 9 14
+f 15 13 3
+f 16 7 2
+f 16 2 11
+f 17 16 11
+f 17 13 7
+f 17 3 13
+f 18 11 2
+f 18 2 9
+f 18 17 11
+f 19 6 1
+f 19 1 12
+f 19 12 13
+f 20 12 1
+f 20 1 8
+f 20 8 2
+f 20 2 12
+f 21 12 2
+f 21 2 7
+f 21 13 12
+f 21 7 13
+f 22 14 5
+f 22 4 10
+f 22 10 14
+f 23 15 10
+f 23 10 6
+f 23 13 15
+f 23 19 13
+f 23 6 19
+f 24 17 7
+f 24 7 16
+f 24 16 17
+f 25 15 3
+f 25 3 17
+f 25 17 18
+f 25 18 9
+f 26 22 5
+f 26 5 4
+f 26 4 22
+f 27 25 9
+f 27 9 15
+f 27 15 25
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_0/collision/model_normalized_collision_10.obj b/objects/objaverse/pear/pear_0/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b0b153b68de8d4b91041f21a4ce590296375d704
--- /dev/null
+++ b/objects/objaverse/pear/pear_0/collision/model_normalized_collision_10.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v -0.23453367 -0.19074296 0.10123459
+v -0.16078902 -0.14536914 0.14414648
+v -0.23135869 -0.16014372 0.13912431
+v -0.33470906 -0.11253164 0.15272778
+v -0.36515036 -0.13354617 0.11963545
+v -0.27820494 -0.11392717 0.16802359
+v -0.23466845 -0.18519270 0.11038858
+v -0.35348980 -0.16280198 0.10009187
+v -0.16148899 -0.11332045 0.16825724
+v -0.30585113 -0.13725483 0.14717154
+v -0.30785262 -0.18660417 0.09697301
+v -0.35196291 -0.11484647 0.14278232
+v -0.15732348 -0.12665962 0.15841109
+v -0.27687436 -0.12497436 0.16202475
+v -0.34830160 -0.12589045 0.13700820
+v -0.33340043 -0.16877355 0.10602296
+v -0.30463800 -0.18010073 0.10616278
+v -0.16324819 -0.12324399 0.16214235
+v -0.34967059 -0.15502285 0.10963902
+v -0.33290188 -0.12400068 0.14635085
+v -0.33723613 -0.17455252 0.09842477
+v -0.16287581 -0.13886894 0.15029281
+f 7 1 2
+f 7 2 3
+f 8 2 1
+f 9 4 6
+f 10 6 4
+f 11 8 1
+f 11 1 7
+f 12 9 5
+f 12 4 9
+f 13 5 9
+f 13 8 5
+f 13 2 8
+f 14 9 6
+f 14 10 3
+f 14 6 10
+f 15 12 5
+f 17 11 7
+f 17 7 3
+f 17 3 10
+f 17 10 16
+f 18 13 9
+f 18 14 3
+f 18 9 14
+f 19 15 5
+f 19 5 8
+f 19 16 15
+f 20 10 4
+f 20 4 12
+f 20 12 15
+f 20 16 10
+f 20 15 16
+f 21 8 11
+f 21 17 16
+f 21 11 17
+f 21 19 8
+f 21 16 19
+f 22 18 3
+f 22 3 2
+f 22 2 13
+f 22 13 18
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_0/collision/model_normalized_collision_11.obj b/objects/objaverse/pear/pear_0/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a1f62eb052214e7458341f5cba8359ac3e156bcb
--- /dev/null
+++ b/objects/objaverse/pear/pear_0/collision/model_normalized_collision_11.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v -0.15974385 -0.20866523 0.04319060
+v 0.01219222 -0.16474953 0.05606467
+v -0.16311794 -0.16518957 0.12318942
+v -0.10090709 -0.10146243 0.15832582
+v -0.09848485 -0.12096366 0.04435531
+v 0.01059035 -0.13202809 0.11347605
+v -0.16215890 -0.19862418 0.06877963
+v 0.00780466 -0.16815430 0.04480140
+v -0.15909091 -0.13611518 0.04435531
+v -0.16287581 -0.13886894 0.15029281
+v 0.00674570 -0.09950578 0.14091610
+v 0.00574397 -0.14905813 0.09300612
+v -0.11727932 -0.19732314 0.04034226
+v -0.15948272 -0.11972185 0.16371180
+v -0.07126136 -0.09763386 0.15262643
+v 0.00577820 -0.10861962 0.13447443
+v -0.13417649 -0.17872932 0.09349140
+v -0.05713610 -0.17937939 0.04108482
+f 7 1 2
+f 8 2 1
+f 9 4 5
+f 9 7 3
+f 9 1 7
+f 10 3 6
+f 10 9 3
+f 11 8 5
+f 11 6 2
+f 11 2 8
+f 12 6 3
+f 12 7 2
+f 12 2 6
+f 13 8 1
+f 13 9 5
+f 13 1 9
+f 14 4 9
+f 14 9 10
+f 14 11 4
+f 15 11 5
+f 15 5 4
+f 15 4 11
+f 16 10 6
+f 16 6 11
+f 16 14 10
+f 16 11 14
+f 17 12 3
+f 17 3 7
+f 17 7 12
+f 18 13 5
+f 18 5 8
+f 18 8 13
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_0/collision/model_normalized_collision_12.obj b/objects/objaverse/pear/pear_0/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8d299c4e4aa0fced7595c800ddf7168a630c777b
--- /dev/null
+++ b/objects/objaverse/pear/pear_0/collision/model_normalized_collision_12.obj
@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
+v 0.21779702 -0.13011214 0.01624572
+v 0.34061189 -0.03003790 0.01442306
+v 0.30372720 0.04852412 0.02348408
+v 0.21783670 0.08663992 0.01545709
+v 0.21385065 0.01289293 -0.06549834
+v 0.24394684 0.07765021 0.02025465
+v 0.31912365 -0.08261683 0.02220244
+v 0.21221380 0.07824270 -0.00938639
+v 0.32877838 0.02037651 0.01520394
+v 0.24488744 -0.12194849 0.02044909
+v 0.33520230 0.02417051 0.02273170
+v 0.27107348 -0.05410969 -0.02747872
+v 0.21445472 -0.10840593 -0.01965620
+v 0.21401147 0.03973143 -0.05338629
+v 0.29855175 -0.00359534 -0.01460687
+v 0.31411034 -0.05371964 -0.00046963
+v 0.21353721 -0.02328832 -0.06238229
+v 0.21554681 -0.12563319 0.00479046
+v 0.25539031 -0.09121437 -0.01503967
+v 0.23716012 0.04603015 -0.03156912
+v 0.26765968 0.02062138 -0.02815114
+v 0.29828929 0.03175352 0.00109497
+v 0.33324053 -0.02991249 0.00828975
+v 0.29850951 -0.04228897 -0.01393320
+v 0.25532775 -0.10368225 -0.00213894
+v 0.29764993 -0.07765862 0.00144003
+v 0.24178209 -0.08173812 -0.02826963
+v 0.22413672 0.01159334 -0.05958043
+v 0.22504717 0.03677352 -0.04771286
+v 0.29967406 0.04274764 0.01300153
+v 0.22601315 -0.02350651 -0.05717627
+v 0.24223544 -0.11731731 0.00964180
+v 0.22725499 -0.10529969 -0.01671310
+v 0.31319714 -0.07800554 0.01336021
+f 6 4 1
+f 8 1 4
+f 8 4 6
+f 8 6 3
+f 10 6 1
+f 10 3 6
+f 10 7 3
+f 11 7 2
+f 11 3 7
+f 11 2 9
+f 14 5 8
+f 16 2 7
+f 17 13 8
+f 17 8 5
+f 18 1 8
+f 18 8 13
+f 18 10 1
+f 20 14 8
+f 20 8 3
+f 21 5 14
+f 21 9 15
+f 22 11 9
+f 22 14 20
+f 23 15 9
+f 23 9 2
+f 23 2 16
+f 24 15 23
+f 24 23 16
+f 24 16 12
+f 25 7 10
+f 26 25 19
+f 26 7 25
+f 26 19 12
+f 26 12 16
+f 27 17 12
+f 27 12 19
+f 27 13 17
+f 28 21 15
+f 28 5 21
+f 28 15 24
+f 29 21 14
+f 29 14 22
+f 29 22 9
+f 29 9 21
+f 30 22 20
+f 30 20 3
+f 30 3 11
+f 30 11 22
+f 31 17 5
+f 31 28 24
+f 31 5 28
+f 31 24 12
+f 31 12 17
+f 32 25 10
+f 32 10 18
+f 32 18 25
+f 33 25 18
+f 33 18 13
+f 33 19 25
+f 33 27 19
+f 33 13 27
+f 34 26 16
+f 34 16 7
+f 34 7 26
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_0/collision/model_normalized_collision_13.obj b/objects/objaverse/pear/pear_0/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aad435554a5be424c54331ba417f8f75f7c84a11
--- /dev/null
+++ b/objects/objaverse/pear/pear_0/collision/model_normalized_collision_13.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v -0.23109243 -0.16685717 0.13108213
+v -0.23484849 -0.13611518 -0.03140226
+v -0.23747419 0.10003775 0.16915305
+v -0.34747125 0.09687913 0.16167747
+v -0.35606061 -0.13611518 -0.03140226
+v -0.23484849 0.10630907 -0.03140226
+v -0.26490904 -0.02853790 0.19437219
+v -0.35606061 0.10630907 -0.03140226
+v -0.23603016 -0.01378110 0.19464536
+v -0.36098106 -0.14364367 0.11353282
+v -0.23393305 -0.09980488 0.17972684
+v -0.26527745 0.02927795 0.19485325
+v -0.34789466 -0.02769489 0.17671228
+v -0.25049495 -0.02824449 0.19447784
+v -0.30588751 -0.11229220 0.16349326
+v -0.23688846 0.01434608 0.19457557
+v -0.32130524 0.08282744 0.17633524
+v -0.34686232 0.05729806 0.17716706
+v -0.27910307 -0.01347543 0.19497298
+v -0.23432133 -0.11618525 0.17187255
+v -0.34752270 -0.08414118 0.16212916
+v -0.27623689 -0.09792671 0.17647579
+v -0.27888657 0.01497110 0.19521620
+v -0.23808296 0.08327426 0.17730639
+v -0.34704086 -0.10969590 0.14861267
+v -0.32126744 -0.06907630 0.17615291
+v -0.25148351 0.02844421 0.19455254
+v -0.33302829 -0.09725697 0.16219654
+v -0.33446646 -0.05548821 0.17585106
+f 5 2 1
+f 6 2 5
+f 6 1 2
+f 6 3 1
+f 8 4 3
+f 8 3 6
+f 8 6 5
+f 9 1 3
+f 10 5 1
+f 10 8 5
+f 10 4 8
+f 11 1 9
+f 14 11 9
+f 14 7 11
+f 15 10 1
+f 16 9 3
+f 17 3 4
+f 18 4 10
+f 18 10 13
+f 18 17 4
+f 18 12 17
+f 19 7 14
+f 19 14 9
+f 20 15 1
+f 20 1 11
+f 21 13 10
+f 22 11 7
+f 22 20 11
+f 22 15 20
+f 23 16 12
+f 23 9 16
+f 23 19 9
+f 23 12 18
+f 23 18 13
+f 23 13 19
+f 24 16 3
+f 24 17 12
+f 24 3 17
+f 25 21 10
+f 25 10 15
+f 26 15 22
+f 26 22 7
+f 26 7 19
+f 27 24 12
+f 27 12 16
+f 27 16 24
+f 28 25 15
+f 28 21 25
+f 28 26 21
+f 28 15 26
+f 29 13 21
+f 29 21 26
+f 29 26 19
+f 29 19 13
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_0/collision/model_normalized_collision_14.obj b/objects/objaverse/pear/pear_0/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9bfb14f1420cd295e85422ae25a372693416ea5e
--- /dev/null
+++ b/objects/objaverse/pear/pear_0/collision/model_normalized_collision_14.obj
@@ -0,0 +1,108 @@
+# https://github.com/mikedh/trimesh
+v -0.15926924 -0.18119264 -0.15235088
+v 0.00375474 -0.09951129 -0.14487133
+v -0.13351820 -0.17240391 -0.14690783
+v -0.15909091 0.09115755 -0.15261439
+v -0.16415652 0.07153394 -0.24775524
+v 0.00275775 0.07007575 -0.14350268
+v -0.13800296 -0.13492585 -0.19798395
+v -0.16485366 -0.16869979 -0.17312756
+v -0.01271298 -0.11126392 -0.14243169
+v -0.16108130 0.08933308 -0.23921147
+v -0.01730949 -0.00133279 -0.17990640
+v -0.16469032 -0.08317156 -0.24323831
+v -0.13608952 -0.16701561 -0.15698835
+v -0.13813663 -0.14885088 -0.18273362
+v -0.00295839 0.03740823 -0.16275994
+v -0.02571866 0.08601508 -0.14594536
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+v -0.00278958 -0.06824540 -0.16536782
+v -0.12309783 -0.10960723 -0.20976590
+v -0.11086304 0.08229142 -0.21216467
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+v -0.12271607 0.01359044 -0.24054134
+v -0.09360359 -0.04090804 -0.22547251
+v -0.06398539 -0.08099526 -0.19464583
+v -0.15385856 -0.08074237 -0.23988660
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+v -0.15321425 -0.10942787 -0.22392653
+v -0.10951731 -0.06875999 -0.22516856
+v -0.07839865 -0.09388697 -0.19496917
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+f 17 7 8
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+f 24 16 6
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+f 26 21 18
+f 26 18 5
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+f 27 18 21
+f 29 17 12
+f 29 12 18
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+f 30 20 15
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+f 31 21 26
+f 31 30 21
+f 31 25 30
+f 31 26 5
+f 31 5 25
+f 32 27 11
+f 32 11 22
+f 32 22 27
+f 33 28 22
+f 33 22 2
+f 34 27 22
+f 34 22 28
+f 35 29 23
+f 35 23 17
+f 35 17 29
+f 36 28 23
+f 36 23 29
+f 36 34 28
+f 36 27 34
+f 36 29 18
+f 36 18 27
+f 37 23 28
+f 37 28 33
+f 37 33 2
+f 37 2 23
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_0/collision/model_normalized_collision_15.obj b/objects/objaverse/pear/pear_0/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a7b5f2ea20139a86b9cd1034b1a95a1905047f7
--- /dev/null
+++ b/objects/objaverse/pear/pear_0/collision/model_normalized_collision_15.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.26374215 -0.12308074 0.11545907
+v 0.26366082 -0.11823010 0.12678682
+v 0.14350767 -0.12935845 0.11543773
+v 0.14522394 0.06387600 0.13957725
+v 0.26473542 0.07330310 0.11932361
+v 0.19236019 -0.04282477 0.17819061
+v 0.26903855 0.02343606 0.18183418
+v 0.21966691 0.07556921 0.11992680
+v 0.26725528 -0.06681765 0.18009170
+v 0.14455519 -0.06852999 0.16453924
+v 0.14486848 0.02429249 0.16397031
+v 0.26563988 0.06219558 0.14282915
+v 0.14306483 -0.12281481 0.12374629
+v 0.20751553 -0.05472955 0.17795138
+v 0.14415131 0.04062009 0.15631357
+v 0.19144232 -0.01717914 0.17828400
+v 0.21962059 0.06359021 0.14058389
+v 0.14414499 -0.09472610 0.14918645
+v 0.23828547 -0.06616545 0.17736095
+f 1 2 3
+f 5 1 3
+f 7 1 5
+f 8 5 3
+f 8 3 4
+f 9 7 6
+f 9 2 1
+f 9 1 7
+f 12 7 5
+f 12 5 8
+f 12 4 7
+f 13 3 2
+f 13 2 9
+f 13 4 3
+f 14 9 6
+f 14 6 10
+f 15 11 7
+f 15 7 4
+f 15 4 13
+f 15 13 10
+f 15 10 11
+f 16 6 7
+f 16 7 11
+f 16 11 10
+f 16 10 6
+f 17 12 8
+f 17 8 4
+f 17 4 12
+f 18 13 9
+f 18 10 13
+f 19 14 10
+f 19 9 14
+f 19 18 9
+f 19 10 18
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_0/collision/model_normalized_collision_16.obj b/objects/objaverse/pear/pear_0/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..66121f246e582e44baf1ea6ce8bfabfffa5b16f2
--- /dev/null
+++ b/objects/objaverse/pear/pear_0/collision/model_normalized_collision_16.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.07881965 -0.18765397 -0.03788610
+v -0.09459121 -0.14262800 -0.15798795
+v -0.09848485 -0.01490306 -0.03140226
+v -0.41666667 -0.01490306 -0.03140226
+v -0.43512966 -0.14939103 -0.14852026
+v -0.35606061 -0.01490306 -0.15261439
+v -0.45084447 -0.16353840 -0.02863635
+v -0.09848485 -0.01490306 -0.15261439
+v -0.37509822 -0.16989776 -0.18026401
+v -0.41666667 -0.01490306 -0.13746287
+f 6 4 3
+f 7 1 3
+f 7 3 4
+f 8 1 2
+f 8 3 1
+f 8 6 3
+f 9 2 1
+f 9 7 5
+f 9 1 7
+f 9 8 2
+f 9 6 8
+f 10 4 6
+f 10 7 4
+f 10 5 7
+f 10 9 5
+f 10 6 9
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_0/collision/model_normalized_collision_17.obj b/objects/objaverse/pear/pear_0/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..09f30aa03bac8d1a16afbec88f921268add16198
--- /dev/null
+++ b/objects/objaverse/pear/pear_0/collision/model_normalized_collision_17.obj
@@ -0,0 +1,186 @@
+# https://github.com/mikedh/trimesh
+v 0.30572846 -0.11816066 0.10386199
+v 0.47251009 -0.02043655 0.15596150
+v 0.42956643 -0.03051962 0.22585043
+v 0.26792326 0.01205139 0.18679486
+v 0.28232248 0.03422519 -0.00815828
+v 0.45864503 0.01824804 0.24018218
+v 0.26725528 -0.06681765 0.18009170
+v 0.42180053 -0.07219908 0.16336303
+v 0.27542112 -0.08480855 -0.00813790
+v 0.47491295 -0.00481904 0.21679280
+v 0.47499073 0.01241746 0.14628075
+v 0.35371452 -0.08815581 0.16946969
+v 0.42340185 0.01335372 0.24257630
+v 0.25998958 -0.12233769 0.03494780
+v 0.40186341 -0.07356870 0.10067703
+v 0.45378497 -0.01856416 0.22623924
+v 0.46152250 -0.03124140 0.20181779
+v 0.48169647 0.01682623 0.21938400
+v 0.33324053 -0.02991249 0.00828975
+v 0.26366082 -0.11823010 0.12678682
+v 0.38865129 -0.03438267 0.22331327
+v 0.39757641 -0.07343251 0.18404042
+v 0.26940356 -0.02817133 0.19273739
+v 0.44259786 -0.00644109 0.23846645
+v 0.25950645 -0.09640822 -0.00740856
+v 0.44525318 -0.04822223 0.12919609
+v 0.39188373 -0.08778656 0.12322119
+v 0.46575276 -0.00470105 0.22695636
+v 0.47572737 -0.01832353 0.19236699
+v 0.44872978 -0.04320278 0.20232453
+v 0.32396484 -0.02989603 0.00161652
+v 0.35698217 0.00988401 0.03175086
+v 0.32788638 -0.06450869 0.01511324
+v 0.28043358 -0.09122452 0.16454138
+v 0.33840595 -0.10256683 0.14435097
+v 0.25893554 -0.10836269 0.00698960
+v 0.36373476 0.01148875 0.22363232
+v 0.36243690 -0.02375749 0.22188212
+v 0.41948425 -0.00934887 0.23925314
+v 0.26320498 -0.08797618 -0.01314124
+v 0.42883231 -0.04769450 0.10316077
+v 0.30460682 -0.11801814 0.07763030
+v 0.41975593 -0.07206978 0.12705196
+v 0.45555135 0.00640716 0.23806594
+v 0.43799422 -0.05658078 0.18832711
+v 0.42486841 -0.05642947 0.19748265
+v 0.47342638 0.00299326 0.14315825
+v 0.29822686 -0.07683225 0.17825818
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+v 0.35768241 -0.08814600 0.07037215
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+v 0.27181021 -0.09268806 -0.00343293
+v 0.37187334 -0.05051602 0.04752446
+v 0.35178985 -0.10300500 0.13193609
+v 0.35729292 -0.04021305 0.03051194
+v 0.45986275 -0.02468338 0.13026830
+v 0.39369137 -0.08764192 0.14773731
+v 0.28815343 -0.11734270 0.05060189
+v 0.34484138 -0.10171851 0.08203614
+v 0.27199114 -0.10412481 0.01015808
+v 0.27298732 -0.11806249 0.03677656
+f 6 5 4
+f 13 6 4
+f 17 10 16
+f 18 11 5
+f 18 5 6
+f 18 2 11
+f 20 14 1
+f 20 7 4
+f 22 21 12
+f 22 3 21
+f 23 4 7
+f 24 6 13
+f 24 3 16
+f 25 4 5
+f 28 16 10
+f 28 24 16
+f 28 18 6
+f 28 10 18
+f 29 10 17
+f 29 18 10
+f 29 2 18
+f 29 26 2
+f 30 17 16
+f 30 16 3
+f 32 5 11
+f 32 31 5
+f 32 19 31
+f 33 31 19
+f 33 9 31
+f 34 20 12
+f 34 7 20
+f 34 12 21
+f 36 20 4
+f 36 14 20
+f 36 4 25
+f 37 23 13
+f 37 13 4
+f 38 13 23
+f 38 23 7
+f 38 7 21
+f 39 21 3
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+f 39 24 13
+f 39 38 21
+f 39 13 38
+f 40 25 5
+f 40 31 9
+f 40 5 31
+f 41 26 15
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+f 43 26 8
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+f 43 15 26
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+f 46 3 22
+f 46 45 30
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+f 47 32 11
+f 47 11 2
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+f 49 20 1
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+f 50 22 12
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+f 50 8 45
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+f 53 37 4
+f 53 4 23
+f 53 23 37
+f 54 40 9
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+f 54 9 52
+f 55 41 33
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+f 56 1 42
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+f 56 35 1
+f 57 19 32
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+f 57 41 55
+f 57 55 33
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+f 58 47 2
+f 58 2 26
+f 58 26 41
+f 58 57 47
+f 58 41 57
+f 59 8 50
+f 59 43 8
+f 59 27 43
+f 59 56 27
+f 59 50 56
+f 60 42 14
+f 60 52 51
+f 61 51 15
+f 61 15 27
+f 61 27 42
+f 61 60 51
+f 61 42 60
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+f 62 25 54
+f 62 52 60
+f 63 62 60
+f 63 60 14
+f 63 14 36
+f 63 36 62
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_0/collision/model_normalized_collision_18.obj b/objects/objaverse/pear/pear_0/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e83c0c44638e99bfc4e8facbb205cd56ec9ad440
--- /dev/null
+++ b/objects/objaverse/pear/pear_0/collision/model_normalized_collision_18.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.35442238 0.08948698 0.16197755
+v -0.35285412 0.08833839 -0.25149425
+v -0.35037624 0.11248169 0.15073444
+v -0.35127330 0.21235337 0.01004986
+v -0.49336862 0.08723125 -0.06077712
+v -0.34923646 0.18190958 -0.17313901
+v -0.34992227 0.10080390 -0.24742390
+v -0.37744252 0.08318996 0.15165235
+v -0.35117198 0.19657214 0.05182063
+v -0.44486479 0.16978895 -0.05841752
+v -0.46143347 0.09688823 -0.15862563
+v -0.39253940 0.08436313 -0.23046268
+v -0.36054989 0.10943089 0.14751759
+v -0.34972758 0.19710077 -0.14536473
+v -0.41850854 0.17900397 0.00833967
+v -0.47311438 0.12568508 -0.08640896
+v -0.43151477 0.16543746 -0.11360811
+v -0.43695063 0.08281442 0.10942721
+v -0.36465325 0.08684607 -0.24638818
+v -0.46458707 0.08663898 -0.15934557
+v -0.38897367 0.12484379 -0.21058892
+v -0.37403981 0.09612000 0.14694314
+v -0.36384952 0.16549636 0.09262921
+v -0.35071314 0.21451063 -0.08932822
+v -0.37763993 0.19326854 0.03679992
+v -0.40637829 0.19391461 -0.01685478
+v -0.47379356 0.11054575 0.02232131
+v -0.47978674 0.08719987 -0.13029813
+v -0.40334176 0.17916816 -0.12923038
+v -0.44469305 0.15213281 -0.11335449
+v -0.47987775 0.08524108 0.03993220
+v -0.41737577 0.11223768 -0.19543376
+v -0.35043667 0.12713010 -0.23088852
+v -0.38944188 0.09741933 -0.22615140
+v -0.38789801 0.13792084 0.10527589
+v -0.35120616 0.16839616 0.09547084
+v -0.36481607 0.19357711 0.04978556
+v -0.44464921 0.17017245 -0.04849050
+v -0.40802496 0.19414600 -0.07505796
+v -0.36379543 0.20792189 0.01042780
+v -0.40343201 0.17913450 0.03638817
+v -0.47346095 0.12422011 -0.00480918
+v -0.48936453 0.09908700 -0.06101745
+v -0.36323596 0.17788023 -0.17048619
+v -0.37732808 0.19275446 -0.12874953
+v -0.46008550 0.12370637 -0.12949796
+v -0.44592093 0.10670975 0.07659113
+v -0.45137452 0.08344214 0.09251958
+v -0.41829644 0.15135304 -0.15556221
+v -0.36314722 0.12466913 -0.22732071
+v -0.41963723 0.18052434 -0.10124447
+v -0.46025691 0.12064296 0.03529701
+v -0.40246554 0.16606300 0.06133668
+v -0.48874071 0.09991956 -0.03216955
+v -0.46041743 0.13764803 0.00575707
+v -0.47382870 0.10904108 -0.11614647
+v -0.36282446 0.19293638 -0.14366179
+v -0.47537795 0.09595213 -0.13139366
+v -0.43318341 0.09220330 0.10494127
+v -0.47465172 0.09785491 0.03919251
+v -0.44514273 0.11227817 -0.16844776
+v -0.37528042 0.15007228 -0.19750872
+v -0.44642231 0.12172770 -0.15732482
+v -0.36235176 0.09810962 -0.24245910
+f 7 1 2
+f 7 3 1
+f 7 6 3
+f 8 2 1
+f 9 3 6
+f 13 1 3
+f 14 9 6
+f 14 4 9
+f 18 12 8
+f 19 2 8
+f 19 8 12
+f 19 7 2
+f 20 11 12
+f 22 8 1
+f 22 1 13
+f 22 18 8
+f 22 13 18
+f 24 4 14
+f 26 4 24
+f 28 11 20
+f 30 16 10
+f 30 10 17
+f 31 28 20
+f 31 5 28
+f 33 6 7
+f 34 32 21
+f 34 12 32
+f 35 13 3
+f 35 3 23
+f 35 18 13
+f 36 23 3
+f 36 3 9
+f 37 9 4
+f 37 36 9
+f 37 23 36
+f 38 15 26
+f 38 10 16
+f 39 26 24
+f 39 38 26
+f 39 10 38
+f 40 26 25
+f 40 4 26
+f 40 37 4
+f 40 25 37
+f 41 26 15
+f 41 25 26
+f 41 37 25
+f 42 38 16
+f 43 28 5
+f 45 24 14
+f 45 39 24
+f 46 16 30
+f 48 31 20
+f 48 20 12
+f 48 12 18
+f 49 29 44
+f 49 17 29
+f 50 33 7
+f 50 34 21
+f 51 29 17
+f 51 17 10
+f 51 10 39
+f 51 45 29
+f 51 39 45
+f 53 35 23
+f 53 23 37
+f 53 37 41
+f 53 52 47
+f 54 31 27
+f 54 27 42
+f 54 5 31
+f 54 43 5
+f 54 42 16
+f 54 16 43
+f 55 15 38
+f 55 38 42
+f 55 42 27
+f 55 27 52
+f 55 41 15
+f 55 53 41
+f 55 52 53
+f 56 43 16
+f 56 28 43
+f 56 16 46
+f 57 44 29
+f 57 29 45
+f 57 45 14
+f 57 14 6
+f 57 6 44
+f 58 46 11
+f 58 11 28
+f 58 56 46
+f 58 28 56
+f 59 18 35
+f 59 53 47
+f 59 35 53
+f 59 48 18
+f 59 47 48
+f 60 48 47
+f 60 31 48
+f 60 47 52
+f 60 52 27
+f 60 27 31
+f 61 49 21
+f 61 21 32
+f 61 32 12
+f 61 12 11
+f 62 49 44
+f 62 21 49
+f 62 50 21
+f 62 44 6
+f 62 6 33
+f 62 33 50
+f 63 46 30
+f 63 30 17
+f 63 17 49
+f 63 49 61
+f 63 61 11
+f 63 11 46
+f 64 50 7
+f 64 7 19
+f 64 34 50
+f 64 19 12
+f 64 12 34
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_0/collision/model_normalized_collision_19.obj b/objects/objaverse/pear/pear_0/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e9fcd0de42a7b923d1bba5cb191197ec2474459
--- /dev/null
+++ b/objects/objaverse/pear/pear_0/collision/model_normalized_collision_19.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v 0.14232791 -0.13171586 -0.02917680
+v 0.21742187 -0.10102324 -0.02520242
+v 0.16983176 -0.12474497 -0.02333881
+v 0.14232945 0.10198664 -0.02936347
+v 0.13834878 0.03955417 -0.09397378
+v 0.19695498 0.07934463 -0.02377180
+v 0.13588026 -0.10959591 -0.06504056
+v 0.20052916 -0.11228750 -0.02195061
+v 0.16833228 0.09369528 -0.02412176
+v 0.15074364 0.06188046 -0.07482067
+v 0.20776642 0.03656653 -0.05962287
+v 0.14013598 -0.12621652 -0.04095927
+v 0.13755663 0.09109337 -0.05089414
+v 0.21393899 0.06728978 -0.02521472
+v 0.15010301 0.03795250 -0.08936141
+v 0.16066626 -0.03918546 -0.08829285
+v 0.13641489 -0.06908507 -0.09359553
+v 0.13784590 0.06498644 -0.07809624
+v 0.15049206 0.08798788 -0.04773875
+v 0.21425281 -0.03567784 -0.05636918
+v 0.17952759 0.05983036 -0.06002707
+v 0.19695796 -0.01067584 -0.07380140
+v 0.16503583 0.08851266 -0.03602149
+v 0.14683996 -0.06643255 -0.08834508
+v 0.20975961 0.06256740 -0.03506414
+v 0.17865034 0.07395299 -0.04639154
+v 0.19422393 0.02411075 -0.07303663
+v 0.16406433 0.02447844 -0.08738420
+v 0.21547603 -0.09554171 -0.02929748
+v 0.19334696 0.07443252 -0.03460434
+f 1 3 4
+f 8 7 2
+f 9 4 3
+f 9 8 6
+f 9 3 8
+f 12 3 1
+f 12 8 3
+f 12 7 8
+f 13 7 12
+f 13 12 1
+f 13 1 4
+f 14 8 2
+f 14 6 8
+f 15 5 10
+f 15 10 11
+f 17 7 13
+f 17 5 16
+f 17 2 7
+f 18 10 5
+f 18 17 13
+f 18 5 17
+f 19 13 4
+f 19 18 13
+f 19 10 18
+f 20 14 2
+f 20 11 14
+f 21 11 10
+f 22 20 16
+f 22 11 20
+f 23 19 4
+f 23 4 9
+f 23 9 6
+f 24 17 16
+f 24 16 20
+f 24 2 17
+f 25 14 11
+f 25 11 21
+f 26 21 10
+f 26 10 19
+f 26 25 21
+f 26 19 23
+f 27 15 11
+f 27 11 22
+f 28 22 16
+f 28 16 5
+f 28 27 22
+f 28 5 15
+f 28 15 27
+f 29 24 20
+f 29 20 2
+f 29 2 24
+f 30 6 14
+f 30 14 25
+f 30 25 26
+f 30 26 23
+f 30 23 6
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_0/collision/model_normalized_collision_2.obj b/objects/objaverse/pear/pear_0/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2c92703c4b138413885959b5e43f3f5479b8056d
--- /dev/null
+++ b/objects/objaverse/pear/pear_0/collision/model_normalized_collision_2.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.15851813 -0.14743607 0.07379339
+v 0.15860355 -0.14824046 0.02970817
+v 0.13858065 0.10495640 -0.02542720
+v 0.00383124 0.13461504 0.05290814
+v 0.00629428 -0.17228097 0.01377758
+v 0.14486848 0.02429249 0.16397031
+v 0.14258037 0.08932596 0.10933066
+v 0.15713960 -0.14808196 0.07132805
+v 0.00127784 -0.02943218 -0.17084637
+v 0.00638250 -0.08287125 0.15094193
+v 0.14399385 0.05027732 0.15003563
+v 0.11040548 0.11920176 0.02800610
+v 0.15596696 -0.14898778 0.03154847
+v 0.13396955 -0.04211710 -0.10405183
+v 0.00170872 -0.12169919 -0.12488753
+v 0.00036917 0.12303779 -0.09721563
+v 0.00588411 -0.15525107 0.08328911
+v 0.14455519 -0.06852999 0.16453924
+v 0.00772222 0.03914242 0.15047689
+v 0.00499978 0.12080653 0.08009258
+v 0.14055500 0.10196429 0.08297123
+v 0.00577966 -0.17114746 -0.01522892
+v 0.13650356 0.05009961 -0.08930843
+v 0.13648792 -0.12134169 -0.05092741
+v 0.01384501 -0.08152414 -0.15135824
+v 0.00160676 0.13839181 -0.07068810
+v -0.00008660 0.05437728 -0.15358539
+v 0.00577820 -0.10861962 0.13447443
+v 0.14308299 -0.13344164 0.10922177
+v 0.00668451 0.06663195 0.13589304
+v 0.00725512 -0.04270016 0.16482628
+v 0.09613195 0.10313026 0.09421713
+v 0.09588266 0.11822377 0.05527558
+v 0.13755663 0.09109337 -0.05089414
+v 0.13454774 0.01238502 -0.10481939
+v 0.13367298 -0.08037477 -0.08986348
+v 0.01708303 -0.14709219 -0.08135798
+v 0.00194530 -0.08424595 -0.15538831
+v 0.02850364 -0.06923122 -0.14900227
+v 0.04610650 0.13202592 -0.04117738
+v 0.00153016 -0.10825114 -0.13824439
+v 0.00061915 0.09704235 -0.12504390
+v 0.14414499 -0.09472610 0.14918645
+v 0.11252619 -0.14767177 0.08319770
+v 0.00608681 -0.13723444 0.10815448
+v 0.00762748 -0.00289136 0.16405021
+v 0.10041024 -0.06695185 0.16274673
+v 0.04922987 0.13390824 0.01160950
+v 0.10492964 -0.04217041 -0.11868361
+v 0.12016142 0.03672143 -0.10372005
+v 0.00142125 -0.01514169 -0.17087690
+v 0.00409558 -0.14965735 -0.08262020
+v 0.06116543 -0.13300549 -0.08003836
+v 0.13838318 -0.13584920 -0.02383371
+v 0.06235090 -0.14752659 -0.05276864
+v 0.11959142 -0.06786423 -0.10398712
+v 0.10843964 0.11742273 -0.01300739
+v 0.07421209 -0.10606754 -0.10389817
+v 0.12127223 0.07624137 -0.07590098
+v 0.04404986 0.10409113 -0.09221242
+v 0.03856895 0.01025328 0.16216240
+v 0.03405770 0.13243002 0.03932582
+v 0.02921068 0.02502731 -0.14937492
+v 0.10672827 -0.13269263 -0.05088541
+f 7 1 2
+f 7 2 3
+f 8 2 1
+f 8 1 5
+f 11 6 1
+f 11 1 7
+f 13 8 5
+f 13 2 8
+f 17 5 1
+f 18 1 6
+f 20 11 7
+f 21 7 3
+f 21 3 12
+f 22 13 5
+f 22 2 13
+f 22 17 15
+f 22 5 17
+f 26 16 4
+f 28 10 4
+f 28 4 16
+f 28 15 17
+f 28 27 15
+f 28 16 27
+f 30 19 6
+f 30 6 11
+f 30 11 20
+f 30 20 4
+f 30 4 10
+f 31 18 6
+f 31 30 10
+f 32 20 7
+f 32 4 20
+f 32 21 4
+f 32 7 21
+f 33 21 12
+f 33 4 21
+f 34 3 2
+f 34 2 23
+f 34 26 3
+f 34 16 26
+f 35 23 2
+f 35 2 14
+f 36 14 2
+f 36 2 24
+f 39 38 9
+f 39 25 38
+f 40 3 26
+f 41 27 9
+f 41 15 27
+f 41 9 38
+f 42 27 16
+f 42 23 27
+f 43 18 10
+f 43 10 28
+f 43 29 1
+f 43 1 18
+f 44 29 17
+f 44 17 1
+f 44 1 29
+f 45 28 17
+f 45 17 29
+f 45 43 28
+f 45 29 43
+f 46 31 6
+f 46 19 30
+f 46 30 31
+f 47 31 10
+f 47 10 18
+f 47 18 31
+f 48 33 12
+f 48 12 40
+f 48 40 26
+f 48 26 4
+f 49 35 14
+f 49 9 35
+f 49 39 9
+f 50 35 27
+f 50 27 23
+f 50 23 35
+f 51 35 9
+f 51 9 27
+f 52 22 15
+f 52 15 37
+f 53 37 15
+f 54 24 2
+f 55 2 22
+f 55 52 37
+f 55 22 52
+f 55 54 2
+f 55 37 53
+f 56 36 25
+f 56 25 39
+f 56 14 36
+f 56 49 14
+f 56 39 49
+f 57 40 12
+f 57 12 3
+f 57 3 40
+f 58 36 24
+f 58 15 41
+f 58 53 15
+f 58 24 53
+f 58 25 36
+f 58 41 38
+f 58 38 25
+f 59 42 34
+f 59 34 23
+f 59 23 42
+f 60 42 16
+f 60 16 34
+f 60 34 42
+f 61 46 6
+f 61 6 19
+f 61 19 46
+f 62 48 4
+f 62 4 33
+f 62 33 48
+f 63 51 27
+f 63 27 35
+f 63 35 51
+f 64 53 24
+f 64 24 54
+f 64 55 53
+f 64 54 55
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_0/collision/model_normalized_collision_20.obj b/objects/objaverse/pear/pear_0/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..abba72fc8840e4bce9d04c83e1884b6fd759cce1
--- /dev/null
+++ b/objects/objaverse/pear/pear_0/collision/model_normalized_collision_20.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.22008307 0.04245352 0.16103111
+v 0.22806681 0.03926296 -0.04383317
+v 0.21685599 0.08716815 0.08664548
+v 0.14067219 0.10585837 0.07043560
+v 0.14415131 0.04062009 0.15631357
+v 0.13858065 0.10495640 -0.02542720
+v 0.21896124 0.07304526 0.12542551
+v 0.21087003 0.08652562 0.00641641
+v 0.16957846 0.10356206 0.04248031
+v 0.16538861 0.06169648 -0.06686783
+v 0.14258037 0.08932596 0.10933066
+v 0.22048543 0.05056681 0.15471001
+v 0.16768153 0.10259924 0.00268367
+v 0.20873807 0.07400718 -0.02019140
+v 0.14383555 0.05072223 0.14973209
+v 0.21818497 0.05908852 0.14572700
+v 0.15084050 0.10101308 -0.02328173
+f 5 2 1
+f 6 5 4
+f 7 3 4
+f 7 2 3
+f 8 3 2
+f 9 6 4
+f 9 4 3
+f 9 3 8
+f 10 2 5
+f 10 5 6
+f 11 7 4
+f 12 1 2
+f 12 2 7
+f 13 9 8
+f 13 6 9
+f 14 8 2
+f 14 2 10
+f 15 11 4
+f 15 4 5
+f 15 5 1
+f 15 1 12
+f 16 12 7
+f 16 7 11
+f 16 15 12
+f 16 11 15
+f 17 13 8
+f 17 6 13
+f 17 8 14
+f 17 14 10
+f 17 10 6
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_0/collision/model_normalized_collision_21.obj b/objects/objaverse/pear/pear_0/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fc49178abf2358beec079ff85f8a21d1fa6d5fbb
--- /dev/null
+++ b/objects/objaverse/pear/pear_0/collision/model_normalized_collision_21.obj
@@ -0,0 +1,114 @@
+# https://github.com/mikedh/trimesh
+v -0.35379013 -0.17696401 0.08615437
+v -0.35026414 -0.17127745 0.09460651
+v -0.46662743 -0.05679914 0.08203987
+v -0.38397836 0.11769727 0.12478573
+v -0.35013131 0.08442706 0.16596675
+v -0.45625029 0.08626710 0.08531368
+v -0.43200263 -0.09439682 0.10339942
+v -0.39546350 -0.15735712 0.08003322
+v -0.41982673 0.06718086 0.13234665
+v -0.34968021 -0.07134503 0.16614892
+v -0.36660394 -0.17293184 0.08278424
+v -0.46521300 0.07096798 0.08443978
+v -0.44953679 -0.09908189 0.08074007
+v -0.36086540 0.08326329 0.16154785
+v -0.45137452 0.08344214 0.09251958
+v -0.43288166 0.00187433 0.13345680
+v -0.34830160 -0.12589045 0.13700820
+v -0.36265299 -0.16821809 0.09065545
+v -0.44433631 -0.09557348 0.09016984
+v -0.40555773 0.08141058 0.13382748
+v -0.44639446 0.04116982 0.11991066
+v -0.46204539 0.06829065 0.09048096
+v -0.43129476 -0.06839370 0.11816134
+v -0.37591430 0.05596658 0.16325248
+v -0.40477678 -0.12306742 0.10305437
+v -0.39118229 -0.15132521 0.08867873
+v -0.46014800 0.00185035 0.10664304
+v -0.40541469 -0.04182257 0.14609166
+v -0.40438529 -0.08180441 0.13246617
+v -0.44508946 -0.06876097 0.10452922
+v -0.40465835 0.05415270 0.14696658
+v -0.35917241 -0.12204306 0.13379652
+v -0.46015558 0.02823826 0.10787247
+v -0.44675469 -0.01270377 0.11928284
+v -0.37627169 -0.04085596 0.16246178
+v -0.43213100 0.03036830 0.13391760
+v -0.36193487 -0.06901485 0.16161630
+v -0.46006815 -0.05517174 0.09154126
+v -0.39052520 -0.06961511 0.14640236
+f 5 2 1
+f 5 1 4
+f 6 4 1
+f 11 8 6
+f 11 6 1
+f 12 6 8
+f 13 12 8
+f 13 3 12
+f 14 5 4
+f 15 9 4
+f 15 4 6
+f 17 2 5
+f 17 5 10
+f 18 11 1
+f 18 1 2
+f 18 8 11
+f 18 2 17
+f 19 13 8
+f 19 8 7
+f 19 3 13
+f 20 14 4
+f 20 4 9
+f 20 9 14
+f 22 15 6
+f 22 6 12
+f 22 21 9
+f 22 9 15
+f 24 5 14
+f 24 10 5
+f 25 7 8
+f 26 18 17
+f 26 8 18
+f 26 25 8
+f 29 28 23
+f 29 23 7
+f 29 7 25
+f 30 19 7
+f 30 7 23
+f 30 3 19
+f 31 24 14
+f 31 14 9
+f 32 26 17
+f 32 25 26
+f 32 29 25
+f 33 21 22
+f 33 22 12
+f 33 12 3
+f 33 3 27
+f 34 28 16
+f 34 23 28
+f 34 30 23
+f 34 33 27
+f 34 16 33
+f 35 24 16
+f 35 16 28
+f 35 10 24
+f 36 31 9
+f 36 9 21
+f 36 16 24
+f 36 24 31
+f 36 33 16
+f 36 21 33
+f 37 32 17
+f 37 17 10
+f 37 29 32
+f 37 10 35
+f 38 34 27
+f 38 27 3
+f 38 3 30
+f 38 30 34
+f 39 37 35
+f 39 35 28
+f 39 28 29
+f 39 29 37
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_0/collision/model_normalized_collision_22.obj b/objects/objaverse/pear/pear_0/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fcfdbbfb1c72b56c44a5aee6946c3ba9a6a7c5c3
--- /dev/null
+++ b/objects/objaverse/pear/pear_0/collision/model_normalized_collision_22.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.47060093 0.08660636 0.23747706
+v 0.49059771 0.13189352 0.25352742
+v 0.47875190 0.10141028 0.27065939
+v 0.49380645 0.16692724 0.27292213
+v 0.47714526 0.15798433 0.25281450
+v 0.48929993 0.13000502 0.27344409
+v 0.47964151 0.09253131 0.24613357
+v 0.49513908 0.15780808 0.25523869
+v 0.45994629 0.09474647 0.26848992
+v 0.45127578 0.08029911 0.22462398
+v 0.49812952 0.16619271 0.26513104
+v 0.47656411 0.15592662 0.27539033
+v 0.48138649 0.16487974 0.26114222
+v 0.49569632 0.16553906 0.27291660
+v 0.46550109 0.13333223 0.27292203
+v 0.48210114 0.16460389 0.26619140
+v 0.46646749 0.13290811 0.25527397
+f 7 6 3
+f 7 2 6
+f 8 7 1
+f 8 2 7
+f 9 7 3
+f 9 1 7
+f 10 8 1
+f 10 5 8
+f 10 1 9
+f 11 6 2
+f 11 2 8
+f 12 3 6
+f 13 11 8
+f 13 8 5
+f 13 4 11
+f 13 5 12
+f 14 11 4
+f 14 6 11
+f 14 12 6
+f 14 4 12
+f 15 10 9
+f 15 9 3
+f 15 3 12
+f 15 12 5
+f 16 13 12
+f 16 12 4
+f 16 4 13
+f 17 15 5
+f 17 5 10
+f 17 10 15
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_0/collision/model_normalized_collision_23.obj b/objects/objaverse/pear/pear_0/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bba0479e0d1ffe06adfe6095a3633745f2bdc276
--- /dev/null
+++ b/objects/objaverse/pear/pear_0/collision/model_normalized_collision_23.obj
@@ -0,0 +1,117 @@
+# https://github.com/mikedh/trimesh
+v -0.04381815 0.08338795 -0.15730123
+v -0.03912583 0.08931027 -0.15018601
+v -0.35606061 0.09115755 -0.15261439
+v -0.33657473 0.20136147 -0.14736944
+v -0.19640533 0.15163005 -0.21212949
+v -0.04240791 0.10015975 -0.14423778
+v -0.14055408 0.09544561 -0.22513022
+v -0.35285412 0.08833839 -0.25149425
+v -0.18009832 0.19982520 -0.14503037
+v -0.11332667 0.10869669 -0.19633889
+v -0.35449216 0.19285639 -0.15051538
+v -0.33417077 0.12380861 -0.23959827
+v -0.16596489 0.08539569 -0.24300685
+v -0.33647725 0.08657608 -0.25789732
+v -0.30797512 0.19408854 -0.17287425
+v -0.15059315 0.18559305 -0.14465502
+v -0.12714526 0.12323003 -0.19638325
+v -0.34924765 0.15071476 -0.21202913
+v -0.13793118 0.08495609 -0.22869349
+v -0.25211393 0.11122795 -0.25503608
+v -0.16802170 0.09597624 -0.23909205
+v -0.33539369 0.09687364 -0.25434803
+v -0.20907618 0.19375420 -0.16979759
+v -0.34923646 0.18190958 -0.17313901
+v -0.10990276 0.15201198 -0.15354576
+v -0.16849549 0.16568620 -0.18338481
+v -0.16870581 0.13682077 -0.21178928
+v -0.34963625 0.11213705 -0.24134576
+v -0.29354162 0.11200544 -0.25492230
+v -0.22340059 0.12460925 -0.24202266
+v -0.22311584 0.08633184 -0.26047505
+v -0.33573086 0.19596096 -0.15816685
+v -0.34856396 0.16381513 -0.19850319
+v -0.10609066 0.15651198 -0.14447879
+v -0.12579076 0.15081253 -0.16854303
+v -0.19657494 0.17955413 -0.18312964
+v -0.18249577 0.19430809 -0.15572949
+v -0.22369770 0.09988155 -0.25578616
+v -0.33474024 0.17815416 -0.18608782
+v -0.15403523 0.17995616 -0.15570293
+f 1 2 3
+f 6 3 2
+f 6 4 3
+f 10 2 1
+f 10 1 7
+f 11 8 3
+f 11 3 4
+f 14 1 3
+f 14 3 8
+f 16 9 4
+f 16 4 6
+f 17 6 2
+f 17 2 10
+f 17 10 7
+f 18 8 11
+f 19 13 7
+f 19 7 1
+f 19 14 13
+f 19 1 14
+f 21 7 13
+f 22 14 8
+f 23 15 4
+f 23 4 9
+f 25 6 17
+f 27 17 7
+f 27 5 26
+f 27 7 21
+f 28 18 12
+f 28 8 18
+f 28 22 8
+f 28 12 22
+f 29 18 15
+f 29 12 18
+f 29 22 12
+f 29 14 22
+f 30 27 21
+f 30 5 27
+f 30 23 5
+f 30 15 23
+f 30 29 15
+f 30 20 29
+f 31 13 14
+f 31 29 20
+f 31 14 29
+f 32 24 11
+f 32 11 4
+f 32 4 15
+f 33 18 11
+f 33 11 24
+f 34 16 6
+f 34 6 25
+f 35 25 17
+f 35 27 26
+f 35 17 27
+f 36 26 5
+f 36 5 23
+f 37 9 16
+f 37 26 36
+f 37 36 23
+f 37 23 9
+f 38 31 20
+f 38 20 30
+f 38 30 21
+f 38 21 13
+f 38 13 31
+f 39 32 15
+f 39 24 32
+f 39 33 24
+f 39 15 18
+f 39 18 33
+f 40 34 25
+f 40 16 34
+f 40 25 35
+f 40 35 26
+f 40 37 16
+f 40 26 37
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_0/collision/model_normalized_collision_24.obj b/objects/objaverse/pear/pear_0/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..193f5c4fe4e811231a732ccdafb3e91e6b0353c1
--- /dev/null
+++ b/objects/objaverse/pear/pear_0/collision/model_normalized_collision_24.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v -0.37193419 0.19961499 0.02652818
+v -0.30980725 0.22355368 -0.10606721
+v -0.32157808 0.21400501 0.02897922
+v -0.32149815 0.22360285 -0.00465428
+v -0.36979045 0.20073522 -0.11487867
+v -0.30876309 0.22605022 -0.00459005
+v -0.35127330 0.21235337 0.01004986
+v -0.32138762 0.22411128 -0.08753454
+v -0.32624604 0.21360434 -0.12281429
+v -0.30938909 0.22187337 0.01233489
+v -0.34998843 0.21129406 -0.10301161
+v -0.30861703 0.22894148 -0.03297703
+v -0.30668923 0.22703467 -0.09049857
+f 5 3 1
+f 7 1 3
+f 7 5 1
+f 9 2 3
+f 9 3 5
+f 10 3 2
+f 10 6 4
+f 10 7 3
+f 10 4 7
+f 11 8 2
+f 11 5 7
+f 11 7 8
+f 11 9 5
+f 11 2 9
+f 12 4 6
+f 12 8 7
+f 12 7 4
+f 13 10 2
+f 13 6 10
+f 13 12 6
+f 13 2 8
+f 13 8 12
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_0/collision/model_normalized_collision_25.obj b/objects/objaverse/pear/pear_0/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..221f8e562ab80855635b29280149843475edd573
--- /dev/null
+++ b/objects/objaverse/pear/pear_0/collision/model_normalized_collision_25.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.43656329 -0.03221512 0.10156226
+v 0.44281593 -0.02830133 0.10804697
+v 0.42752525 0.04141092 0.10983669
+v 0.43778735 0.03639139 0.11468735
+v 0.42998272 -0.02928727 0.09135182
+v 0.43644304 -0.02696020 0.09836634
+v 0.42243300 0.03585786 0.09993093
+v 0.43263528 0.03197461 0.10589345
+f 1 2 3
+f 3 2 4
+f 6 2 1
+f 6 1 5
+f 6 4 2
+f 7 5 1
+f 7 1 3
+f 7 3 4
+f 8 6 5
+f 8 4 6
+f 8 7 4
+f 8 5 7
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_0/collision/model_normalized_collision_26.obj b/objects/objaverse/pear/pear_0/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..536645e5dbf3e94cae9f5f96267f661f0ecd8992
--- /dev/null
+++ b/objects/objaverse/pear/pear_0/collision/model_normalized_collision_26.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.35606061 -0.01490306 -0.03140226
+v -0.35606061 -0.01490306 -0.19806893
+v -0.35606061 0.09115755 -0.03140226
+v -0.41666667 0.09115755 -0.03140226
+v -0.43782816 -0.01599980 -0.22079009
+v -0.41666667 -0.01490306 -0.03140226
+v -0.37881915 0.10968744 -0.22700371
+v -0.42129391 0.09402586 -0.20294451
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 6 5 1
+f 6 1 4
+f 6 4 5
+f 7 3 2
+f 7 2 5
+f 7 4 3
+f 8 7 5
+f 8 5 4
+f 8 4 7
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_0/collision/model_normalized_collision_27.obj b/objects/objaverse/pear/pear_0/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dde8a2b48210253fae029845b6c62aeea7b62e53
--- /dev/null
+++ b/objects/objaverse/pear/pear_0/collision/model_normalized_collision_27.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.36514624 -0.15060523 0.10485553
+v -0.35606061 -0.13611518 -0.03140226
+v -0.35606061 0.09115755 -0.03140226
+v -0.38397836 0.11769727 0.12478573
+v -0.45084447 -0.16353840 -0.02863635
+v -0.41503506 -0.13414336 0.08746489
+v -0.41666667 0.09115755 -0.03140226
+v -0.42632771 0.10186388 0.10166826
+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/pear/pear_0/collision/model_normalized_collision_28.obj b/objects/objaverse/pear/pear_0/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a13cdf455fddd5b4177abda83f132afa3da224fd
--- /dev/null
+++ b/objects/objaverse/pear/pear_0/collision/model_normalized_collision_28.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.00932848 -0.13942960 0.10517664
+v 0.00153016 -0.10825114 -0.13824439
+v 0.00757576 -0.01490306 0.08980986
+v -0.09848485 -0.01490306 0.08980986
+v -0.08968401 -0.13498630 -0.16398801
+v 0.01401563 -0.01391801 -0.16368650
+v -0.09020306 -0.14907654 0.11681955
+v -0.09848485 -0.01490306 -0.15261439
+f 5 2 1
+f 6 4 3
+f 6 2 5
+f 6 1 2
+f 6 3 1
+f 7 1 3
+f 7 3 4
+f 7 5 1
+f 8 6 5
+f 8 4 6
+f 8 7 4
+f 8 5 7
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_0/collision/model_normalized_collision_29.obj b/objects/objaverse/pear/pear_0/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..25c4d6d07256b53907e1943610803c59418e56bc
--- /dev/null
+++ b/objects/objaverse/pear/pear_0/collision/model_normalized_collision_29.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.07881965 -0.18765397 -0.03788610
+v -0.09227026 -0.15785857 0.10749415
+v -0.23051974 -0.17331065 0.12359987
+v -0.22688366 0.14702666 0.13224181
+v -0.09258819 0.12226396 0.10547118
+v -0.23484849 0.10630907 -0.03140226
+v -0.23484849 -0.13611518 -0.03140226
+v -0.09848485 0.10630907 -0.03140226
+f 1 2 3
+f 3 2 4
+f 5 2 1
+f 5 4 2
+f 6 3 4
+f 7 6 1
+f 7 1 3
+f 7 3 6
+f 8 5 1
+f 8 1 6
+f 8 6 4
+f 8 4 5
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_0/collision/model_normalized_collision_3.obj b/objects/objaverse/pear/pear_0/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..24f04c223a53d239ba79973a8a2da048443b348d
--- /dev/null
+++ b/objects/objaverse/pear/pear_0/collision/model_normalized_collision_3.obj
@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
+v -0.35606061 -0.12096366 -0.13746287
+v -0.35030589 -0.09615280 -0.24349521
+v -0.35285412 0.08833839 -0.25149425
+v -0.42718117 0.09861488 -0.19512577
+v -0.45584603 -0.12514472 -0.14238577
+v -0.40732196 -0.04201581 -0.23799143
+v -0.35606061 -0.01490306 -0.13746287
+v -0.35336194 -0.11675388 -0.23233066
+v -0.35202860 -0.05599314 -0.25853485
+v -0.40315426 0.02796428 -0.24316150
+v -0.48546050 -0.01776417 -0.14408499
+v -0.37881915 0.10968744 -0.22700371
+v -0.35126093 0.05752323 -0.26061489
+v -0.39191354 -0.06724778 -0.23923977
+v -0.37912953 -0.02674754 -0.25472082
+v -0.46030007 -0.05504610 -0.18749471
+v -0.45253051 0.08670903 -0.17520503
+v -0.41714331 0.05373442 -0.22527568
+v -0.37770827 0.04027335 -0.25431148
+v -0.37774478 -0.11084905 -0.22600844
+v -0.36576798 -0.05619694 -0.25420309
+v -0.46676716 -0.05782364 -0.17632249
+v -0.43247414 -0.06924301 -0.21096070
+v -0.46839254 0.04248053 -0.17576259
+v -0.41722871 0.08341977 -0.21192634
+v -0.37682128 0.08298865 -0.24180467
+v -0.36313416 0.05632631 -0.25626919
+v -0.36411633 -0.09487342 -0.23853466
+v -0.40674991 -0.11003719 -0.21058409
+v -0.45066117 -0.09946227 -0.17448986
+v -0.44578312 -0.06757388 -0.19924579
+v -0.44548730 0.05590269 -0.19751003
+v -0.46146447 0.04046140 -0.18532987
+v -0.39002053 0.06963730 -0.23875341
+v -0.41707071 -0.09672261 -0.21070171
+v -0.43406490 -0.11212033 -0.18561331
+v -0.44614087 0.08377122 -0.18451123
+v -0.44404397 -0.09639225 -0.18488715
+f 7 5 1
+f 7 1 2
+f 8 2 1
+f 8 1 5
+f 11 5 7
+f 12 7 3
+f 12 4 7
+f 13 7 2
+f 13 3 7
+f 13 2 9
+f 15 6 10
+f 15 13 9
+f 16 10 6
+f 17 11 7
+f 17 7 4
+f 19 15 10
+f 19 13 15
+f 20 2 8
+f 21 9 2
+f 21 2 14
+f 21 15 9
+f 21 14 6
+f 21 6 15
+f 22 5 11
+f 23 6 14
+f 24 11 17
+f 24 22 11
+f 24 16 22
+f 25 4 12
+f 26 12 3
+f 26 3 19
+f 26 25 12
+f 27 19 3
+f 27 3 13
+f 27 13 19
+f 28 20 14
+f 28 14 2
+f 28 2 20
+f 29 20 8
+f 29 8 5
+f 29 14 20
+f 30 22 16
+f 30 5 22
+f 31 16 6
+f 31 6 23
+f 31 30 16
+f 33 10 16
+f 33 16 24
+f 33 24 17
+f 33 32 18
+f 33 18 10
+f 34 26 19
+f 34 19 10
+f 34 10 18
+f 34 18 25
+f 34 25 26
+f 35 23 14
+f 35 14 29
+f 35 31 23
+f 36 29 5
+f 36 5 30
+f 36 35 29
+f 37 25 18
+f 37 18 32
+f 37 4 25
+f 37 17 4
+f 37 33 17
+f 37 32 33
+f 38 36 30
+f 38 30 31
+f 38 31 35
+f 38 35 36
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_0/collision/model_normalized_collision_30.obj b/objects/objaverse/pear/pear_0/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fdfc29867b53b27d46cefaa28dd31dfe4d778d39
--- /dev/null
+++ b/objects/objaverse/pear/pear_0/collision/model_normalized_collision_30.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.00757576 -0.01490306 -0.03140226
+v 0.01401563 -0.01391801 -0.16368650
+v 0.02042628 0.14224429 -0.03724164
+v -0.35606061 0.10630907 -0.03140226
+v -0.35606061 -0.01490306 -0.15261439
+v -0.35606061 -0.01490306 -0.03140226
+v -0.35606061 0.10630907 -0.15261439
+v -0.01574489 0.09319547 -0.13598438
+v 0.00061915 0.09704235 -0.12504390
+v -0.00062830 0.08033897 -0.13850528
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 6 5 1
+f 6 1 4
+f 6 4 5
+f 7 2 5
+f 7 5 4
+f 7 4 3
+f 8 7 3
+f 8 2 7
+f 9 8 3
+f 9 3 2
+f 10 9 2
+f 10 2 8
+f 10 8 9
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_0/collision/model_normalized_collision_31.obj b/objects/objaverse/pear/pear_0/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ecbd2d809607854a6ce36ae0368357b2918a94c4
--- /dev/null
+++ b/objects/objaverse/pear/pear_0/collision/model_normalized_collision_31.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.00757576 -0.01490306 0.08980986
+v 0.00757576 -0.01490306 -0.03140226
+v 0.02042628 0.14224429 -0.03724164
+v -0.09258819 0.12226396 0.10547118
+v -0.09848485 -0.01490306 0.08980986
+v 0.00831109 0.11132635 0.09372213
+v -0.09848485 0.10630907 -0.03140226
+v 0.00678805 0.14719640 -0.03725561
+v -0.09848485 -0.01490306 -0.03140226
+f 1 2 3
+f 5 2 1
+f 5 1 4
+f 6 1 3
+f 6 4 1
+f 7 5 4
+f 8 6 3
+f 8 4 6
+f 8 7 4
+f 9 2 5
+f 9 5 7
+f 9 7 8
+f 9 8 3
+f 9 3 2
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_0/collision/model_normalized_collision_4.obj b/objects/objaverse/pear/pear_0/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c88f46ee95cb00dc27cd3069ff741bd647fb621
--- /dev/null
+++ b/objects/objaverse/pear/pear_0/collision/model_normalized_collision_4.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v 0.45864503 0.01824804 0.24018218
+v 0.47986403 0.01503596 0.15659504
+v 0.48028414 0.09986245 0.26666391
+v 0.21775363 0.07821725 0.11459637
+v 0.26792326 0.01205139 0.18679486
+v 0.23938575 0.06367108 -0.00721774
+v 0.47676001 0.01962632 0.22763858
+v 0.42340185 0.01335372 0.24257630
+v 0.21818497 0.05908852 0.14572700
+v 0.46227615 0.04649183 0.14633999
+v 0.21783670 0.08663992 0.01545709
+v 0.34770365 0.01135189 0.02487451
+v 0.45572554 0.09386266 0.26362390
+v 0.47645362 0.06134176 0.18610089
+v 0.40931022 0.05830944 0.11505386
+v 0.28232248 0.03422519 -0.00815828
+v 0.33173529 0.01029361 0.21017671
+v 0.46454210 0.01246552 0.13133823
+v 0.47964151 0.09253131 0.24613357
+v 0.47633211 0.03826525 0.16032144
+v 0.36001026 0.04393541 0.05949625
+v 0.39001343 0.00998130 0.05857955
+v 0.46142452 0.03641787 0.13571314
+v 0.31554979 0.04417680 0.02706478
+v 0.41892643 0.04515123 0.10565817
+v 0.44831746 0.03366972 0.12119109
+v 0.34462467 0.02119015 0.02770353
+v 0.35807983 0.03117178 0.04624934
+v 0.38858676 0.02135089 0.06226928
+f 7 2 3
+f 7 3 1
+f 8 1 3
+f 8 7 1
+f 8 2 7
+f 9 6 5
+f 11 4 3
+f 11 9 4
+f 11 6 9
+f 13 8 3
+f 13 9 5
+f 13 3 4
+f 13 4 9
+f 15 6 11
+f 15 14 10
+f 16 12 5
+f 16 5 6
+f 17 13 5
+f 17 8 13
+f 18 2 8
+f 18 8 17
+f 19 3 2
+f 19 2 14
+f 19 14 15
+f 19 15 11
+f 19 11 3
+f 20 14 2
+f 20 10 14
+f 22 17 5
+f 22 5 12
+f 22 18 17
+f 23 10 20
+f 23 20 2
+f 23 2 18
+f 24 21 16
+f 24 16 6
+f 24 6 21
+f 25 21 6
+f 25 6 15
+f 25 15 10
+f 25 10 23
+f 26 23 18
+f 26 18 22
+f 26 25 23
+f 27 12 16
+f 28 27 16
+f 28 16 21
+f 28 21 25
+f 29 25 26
+f 29 26 22
+f 29 22 12
+f 29 12 27
+f 29 28 25
+f 29 27 28
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_0/collision/model_normalized_collision_5.obj b/objects/objaverse/pear/pear_0/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd74efeb2897bac37082fc12dc1adc168b1cf58f
--- /dev/null
+++ b/objects/objaverse/pear/pear_0/collision/model_normalized_collision_5.obj
@@ -0,0 +1,165 @@
+# https://github.com/mikedh/trimesh
+v -0.00824892 0.09784620 0.11158985
+v 0.00488344 0.10243217 -0.11798357
+v -0.17988651 0.22432790 -0.03315417
+v -0.30876309 0.22605022 -0.00459005
+v -0.35606061 0.10630907 -0.15261439
+v -0.23593146 0.18017712 0.09313857
+v 0.00208703 0.14816177 -0.00364875
+v -0.04240791 0.10015975 -0.14423778
+v -0.32022895 0.20767702 -0.14365371
+v -0.16505980 0.19272277 0.04862233
+v -0.35215811 0.10107678 0.15690414
+v 0.00725953 0.10408774 0.10304428
+v -0.15283534 0.20815987 -0.10129629
+v -0.01146683 0.09994771 -0.12883399
+v -0.27850854 0.22402129 -0.11640106
+v -0.20880927 0.20960094 -0.14352074
+v -0.25133491 0.22473332 0.00872657
+v 0.00383124 0.13461504 0.05290814
+v -0.23888367 0.11018220 0.16345293
+v -0.32206901 0.09960320 0.16844978
+v -0.35034318 0.18207255 0.07765314
+v -0.17959263 0.17955245 0.07707710
+v 0.00065665 0.14863889 -0.04384246
+v -0.30662269 0.22500068 -0.10313007
+v -0.34972758 0.19710077 -0.14536473
+v -0.20715124 0.22508588 -0.10188262
+v -0.13939535 0.18088154 -0.14131030
+v -0.20689938 0.22491803 -0.00567737
+v -0.19360305 0.20793234 0.03453337
+v -0.15141329 0.20936536 -0.00583693
+v 0.00499978 0.12080653 0.08009258
+v -0.19498212 0.15010945 0.11980850
+v -0.20933305 0.12347567 0.14754959
+v -0.23747419 0.10003775 0.16915305
+v -0.32080409 0.11121615 0.16217249
+v -0.35082841 0.20830807 0.02450252
+v -0.33625461 0.19504457 0.06403919
+v -0.18006828 0.22416351 -0.07434670
+v -0.34908988 0.20784871 -0.11683896
+v -0.23603317 0.22392138 -0.11650364
+v -0.18065458 0.20890210 -0.12868107
+v -0.09526261 0.15153773 -0.14036592
+v -0.16704426 0.19559287 -0.14184902
+v -0.00151750 0.13411808 -0.08189239
+v -0.20753991 0.19425971 0.06397966
+v 0.00555190 0.10995849 0.09602344
+v -0.20890445 0.16582611 0.10670770
+v -0.19571684 0.13708193 0.13286074
+v -0.32157090 0.17912284 0.09209508
+v -0.34800512 0.13616088 0.13286268
+v -0.29426714 0.22434181 0.01004605
+v -0.33631790 0.20853425 0.03710088
+v 0.00118658 0.11054475 -0.11224902
+v -0.01595604 0.14778350 -0.06803187
+v -0.35037624 0.11248169 0.15073444
+v -0.33570430 0.16479401 0.10612246
+f 12 1 2
+f 12 2 7
+f 14 2 1
+f 14 1 8
+f 16 8 5
+f 16 9 15
+f 18 12 7
+f 20 8 1
+f 20 11 5
+f 20 5 8
+f 23 7 2
+f 23 3 7
+f 24 15 9
+f 25 16 5
+f 25 9 16
+f 26 15 24
+f 26 24 4
+f 28 4 17
+f 28 26 4
+f 28 3 26
+f 29 28 17
+f 29 10 18
+f 30 18 7
+f 30 7 3
+f 30 29 18
+f 30 3 28
+f 30 28 29
+f 31 18 10
+f 31 12 18
+f 31 10 22
+f 33 19 1
+f 33 1 12
+f 34 20 1
+f 34 1 19
+f 35 19 6
+f 35 11 20
+f 35 34 19
+f 35 20 34
+f 36 5 11
+f 36 11 21
+f 36 25 5
+f 38 23 13
+f 38 3 23
+f 38 26 3
+f 38 13 26
+f 39 24 9
+f 39 9 25
+f 39 25 36
+f 39 36 4
+f 39 4 24
+f 40 26 16
+f 40 16 15
+f 40 15 26
+f 41 26 13
+f 41 16 26
+f 42 14 8
+f 42 8 27
+f 42 2 14
+f 43 27 8
+f 43 8 16
+f 43 16 41
+f 43 41 13
+f 43 13 27
+f 44 23 2
+f 44 27 13
+f 45 29 17
+f 45 17 6
+f 45 22 10
+f 45 10 29
+f 46 31 22
+f 46 12 31
+f 47 6 19
+f 47 19 33
+f 47 45 6
+f 47 22 45
+f 47 32 12
+f 47 46 22
+f 47 12 46
+f 48 33 12
+f 48 12 32
+f 48 47 33
+f 48 32 47
+f 49 35 6
+f 49 37 21
+f 49 6 37
+f 51 37 6
+f 51 6 17
+f 51 17 4
+f 52 36 21
+f 52 21 37
+f 52 37 51
+f 52 51 4
+f 52 4 36
+f 53 42 27
+f 53 2 42
+f 53 44 2
+f 53 27 44
+f 54 44 13
+f 54 13 23
+f 54 23 44
+f 55 50 21
+f 55 21 11
+f 55 11 35
+f 55 35 50
+f 56 49 21
+f 56 21 50
+f 56 50 35
+f 56 35 49
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_0/collision/model_normalized_collision_6.obj b/objects/objaverse/pear/pear_0/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e74287cb6da33bfc0369abc90fb29daf24c2e59
--- /dev/null
+++ b/objects/objaverse/pear/pear_0/collision/model_normalized_collision_6.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.05249610 -0.16240032 0.04374824
+v 0.05266362 -0.16443799 0.01413204
+v 0.00480547 -0.11466005 -0.13089755
+v -0.09848485 -0.12096366 0.04435531
+v -0.10354181 -0.19835028 -0.00139137
+v -0.03814058 -0.16511706 0.07410298
+v -0.10382277 -0.18571234 -0.08800657
+v -0.10001816 -0.19165198 0.04318737
+v 0.00694620 -0.16019709 0.07209427
+v 0.03396716 -0.16302376 -0.02748594
+v -0.10599406 -0.16782295 -0.12954387
+v -0.10343452 -0.19847143 -0.01576123
+v -0.08968401 -0.13498630 -0.16398801
+v 0.00330541 -0.16257426 -0.05451233
+v -0.10371486 -0.15668257 -0.14594750
+v -0.01271298 -0.11126392 -0.14243169
+v 0.00195240 -0.13341894 -0.10955801
+v 0.00170872 -0.12169919 -0.12488753
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 8 5 1
+f 8 6 4
+f 8 4 5
+f 9 1 4
+f 9 4 6
+f 9 8 1
+f 9 6 8
+f 10 3 2
+f 11 5 4
+f 12 10 2
+f 12 2 5
+f 12 7 10
+f 12 11 7
+f 12 5 11
+f 14 10 7
+f 14 7 11
+f 15 11 4
+f 15 4 13
+f 16 13 4
+f 16 4 3
+f 16 3 13
+f 17 3 10
+f 17 10 14
+f 17 14 11
+f 17 11 15
+f 18 15 13
+f 18 13 3
+f 18 17 15
+f 18 3 17
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_0/collision/model_normalized_collision_7.obj b/objects/objaverse/pear/pear_0/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0f0c15d91e91fde8a68abb96b2f6133e653d0082
--- /dev/null
+++ b/objects/objaverse/pear/pear_0/collision/model_normalized_collision_7.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v -0.14269875 -0.15395876 -0.17935327
+v -0.16552218 -0.11153372 -0.22844111
+v -0.15909091 0.09115755 -0.15261439
+v -0.35606061 0.09115755 -0.15261439
+v -0.37897423 -0.15842086 -0.19026099
+v -0.27846997 0.07200322 -0.27182395
+v -0.16596489 0.08539569 -0.24300685
+v -0.20875102 -0.11103440 -0.24153556
+v -0.34894529 0.08442281 -0.25460308
+v -0.16710009 -0.05430829 -0.25513479
+v -0.30743139 -0.05487798 -0.27062401
+v -0.19500628 0.08326612 -0.25445728
+v -0.16668395 0.04214908 -0.25542352
+v -0.19437473 -0.08224434 -0.25335603
+v -0.29403176 -0.09757751 -0.25525186
+v -0.20760586 -0.04087248 -0.27068213
+v -0.33568082 0.02743652 -0.27103815
+v -0.18149417 0.07084064 -0.25473000
+v -0.35336194 -0.11675388 -0.23233066
+v -0.23695856 -0.09608363 -0.25512025
+v -0.23699346 -0.05540057 -0.27180960
+v -0.20915075 0.02764864 -0.27149296
+v -0.30969167 0.05615961 -0.27127914
+v -0.34931851 -0.06840326 -0.25522300
+v -0.33711726 -0.11089103 -0.24045246
+v -0.33652700 -0.02669782 -0.27087011
+v -0.25237723 0.07169999 -0.27170884
+v -0.35030589 -0.09615280 -0.24349521
+v -0.33644184 -0.08222718 -0.25344681
+v -0.22270100 0.05786716 -0.26979129
+f 1 3 4
+f 5 1 4
+f 7 3 1
+f 7 4 3
+f 8 2 1
+f 8 1 5
+f 9 5 4
+f 9 4 7
+f 10 1 2
+f 12 9 7
+f 12 6 9
+f 13 7 1
+f 13 1 10
+f 14 10 2
+f 14 2 8
+f 15 8 5
+f 16 10 14
+f 16 13 10
+f 18 12 7
+f 18 7 13
+f 20 14 8
+f 20 8 15
+f 21 16 14
+f 21 14 20
+f 21 20 15
+f 21 15 11
+f 22 13 16
+f 22 18 13
+f 22 16 21
+f 23 17 9
+f 23 9 6
+f 23 6 17
+f 24 5 9
+f 25 15 5
+f 25 5 19
+f 26 17 6
+f 26 6 21
+f 26 21 11
+f 26 11 24
+f 26 24 9
+f 26 9 17
+f 27 6 12
+f 27 22 21
+f 27 21 6
+f 28 19 5
+f 28 5 24
+f 28 25 19
+f 29 11 15
+f 29 15 25
+f 29 25 28
+f 29 28 24
+f 29 24 11
+f 30 27 12
+f 30 12 18
+f 30 18 22
+f 30 22 27
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_0/collision/model_normalized_collision_8.obj b/objects/objaverse/pear/pear_0/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ba75e7962f5e472811e19b9543097aa59496572f
--- /dev/null
+++ b/objects/objaverse/pear/pear_0/collision/model_normalized_collision_8.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.26374215 -0.12308074 0.11545907
+v 0.25782885 -0.11777072 0.02240673
+v 0.27556536 0.04788121 0.00137914
+v 0.14383555 0.05072223 0.14973209
+v 0.14342782 -0.13920956 0.09886511
+v 0.26536150 0.06461843 0.13835113
+v 0.22900317 -0.13238422 0.03441285
+v 0.14350767 -0.12935845 0.11543773
+v 0.16538861 0.06169648 -0.06686783
+v 0.23378105 -0.13345789 0.08758756
+v 0.21916711 -0.12593828 0.11485747
+v 0.13838318 -0.13584920 -0.02383371
+v 0.22806681 0.03926296 -0.04383317
+v 0.21834103 -0.13327499 0.09853207
+v 0.19857284 -0.13240507 0.00713311
+v 0.21445472 -0.10840593 -0.01965620
+v 0.19756091 -0.11845186 -0.01685162
+f 1 2 3
+f 6 1 3
+f 6 4 1
+f 7 2 1
+f 8 1 4
+f 9 6 3
+f 9 4 6
+f 10 7 1
+f 10 5 7
+f 11 8 5
+f 11 5 1
+f 11 1 8
+f 12 8 4
+f 12 5 8
+f 12 4 9
+f 12 7 5
+f 13 9 3
+f 13 3 2
+f 14 10 1
+f 14 1 5
+f 14 5 10
+f 15 2 7
+f 15 7 12
+f 16 12 9
+f 16 9 13
+f 16 13 2
+f 17 15 12
+f 17 12 16
+f 17 16 2
+f 17 2 15
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_0/collision/model_normalized_collision_9.obj b/objects/objaverse/pear/pear_0/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..504d254dc775857e746e0a76801d019928bbc2e8
--- /dev/null
+++ b/objects/objaverse/pear/pear_0/collision/model_normalized_collision_9.obj
@@ -0,0 +1,117 @@
+# https://github.com/mikedh/trimesh
+v -0.41503506 -0.13414336 0.08746489
+v -0.43512966 -0.14939103 -0.14852026
+v -0.42718117 0.09861488 -0.19512577
+v -0.42632771 0.10186388 0.10166826
+v -0.48926125 -0.04296943 0.04087022
+v -0.47299616 -0.12620144 -0.02034414
+v -0.47366871 -0.04197075 0.07739903
+v -0.48944622 0.08574877 -0.08996763
+v -0.45959424 -0.12609623 0.03767763
+v -0.47443015 0.05614179 0.07765654
+v -0.49114349 -0.07442007 -0.07489536
+v -0.44564699 -0.11031208 0.07703421
+v -0.47389004 -0.07028247 0.06377326
+v -0.47384738 -0.09833015 0.03819816
+v -0.48947335 -0.01255943 0.05414729
+v -0.48789542 0.08581225 0.01136585
+v -0.48900058 -0.07112829 -0.00340681
+v -0.47433460 -0.12905355 -0.08840692
+v -0.47505667 -0.02708310 -0.17291279
+v -0.44602568 -0.12483160 0.06339900
+v -0.46010289 -0.08200413 0.07834197
+v -0.48919285 0.02872233 0.05550513
+v -0.46222055 0.08357566 0.07961970
+v -0.49187584 0.01536919 -0.12024879
+v -0.47419382 0.06844335 -0.15563153
+v -0.44667021 -0.01280977 -0.21182742
+v -0.47241293 -0.06980131 -0.15807335
+v -0.43404763 -0.12504052 0.07841712
+v -0.48885602 0.05610926 0.03903779
+v -0.47634981 0.08429898 0.05183113
+v -0.47457967 0.08373186 -0.14368904
+v -0.49139270 0.04499562 -0.12072714
+v -0.43910747 -0.11482089 -0.17749185
+v -0.45846201 0.08342798 -0.16947335
+v -0.47425585 0.01240266 -0.17423373
+v -0.47331684 -0.11351183 -0.11668662
+v -0.46106875 -0.08290548 -0.17144088
+v -0.49119431 0.07204480 -0.10217263
+v -0.46190886 -0.12781174 -0.12859079
+v -0.44516327 -0.11041587 -0.17327825
+f 1 2 3
+f 1 3 4
+f 7 1 4
+f 8 4 3
+f 9 6 2
+f 9 2 1
+f 10 7 4
+f 13 7 5
+f 14 6 9
+f 14 13 5
+f 15 5 7
+f 15 11 5
+f 16 4 8
+f 17 11 6
+f 17 5 11
+f 17 14 5
+f 17 6 14
+f 18 2 6
+f 18 6 11
+f 20 9 1
+f 20 14 9
+f 21 12 1
+f 21 1 7
+f 21 7 13
+f 21 20 12
+f 21 13 14
+f 21 14 20
+f 22 15 7
+f 22 7 10
+f 23 10 4
+f 24 19 11
+f 24 11 15
+f 24 15 22
+f 27 11 19
+f 28 20 1
+f 28 1 12
+f 28 12 20
+f 29 22 10
+f 30 10 23
+f 30 29 10
+f 30 16 29
+f 30 23 4
+f 30 4 16
+f 31 8 3
+f 32 31 25
+f 33 26 3
+f 33 3 2
+f 34 3 26
+f 34 31 3
+f 34 25 31
+f 35 26 19
+f 35 34 26
+f 35 25 34
+f 35 32 25
+f 35 19 24
+f 35 24 32
+f 36 18 11
+f 36 11 27
+f 37 27 19
+f 37 19 26
+f 37 26 33
+f 37 36 27
+f 38 29 16
+f 38 16 8
+f 38 8 31
+f 38 31 32
+f 38 22 29
+f 38 32 24
+f 38 24 22
+f 39 2 18
+f 39 18 36
+f 39 36 37
+f 40 39 37
+f 40 37 33
+f 40 33 2
+f 40 2 39
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_0/model.xml b/objects/objaverse/pear/pear_0/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..54b83120b0e5d3aa5bba64a44778156cea74d89d
--- /dev/null
+++ b/objects/objaverse/pear/pear_0/model.xml
@@ -0,0 +1,84 @@
+<mujoco model="pear_10">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.13 0.13 0.13" refquat="5.551115123125783e-17 0.7071067811865475 0.7071067811865475 1.1102230246251565e-16"/>
+    <mesh file="visual/model_normalized_1.obj" name="model_normalized_1_vis" scale="0.13 0.13 0.13" refquat="5.551115123125783e-17 0.7071067811865475 0.7071067811865475 1.1102230246251565e-16"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.13 0.13 0.13" refquat="5.551115123125783e-17 0.7071067811865475 0.7071067811865475 1.1102230246251565e-16"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.13 0.13 0.13" refquat="5.551115123125783e-17 0.7071067811865475 0.7071067811865475 1.1102230246251565e-16"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.13 0.13 0.13" refquat="5.551115123125783e-17 0.7071067811865475 0.7071067811865475 1.1102230246251565e-16"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.13 0.13 0.13" refquat="5.551115123125783e-17 0.7071067811865475 0.7071067811865475 1.1102230246251565e-16"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.13 0.13 0.13" refquat="5.551115123125783e-17 0.7071067811865475 0.7071067811865475 1.1102230246251565e-16"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.13 0.13 0.13" refquat="5.551115123125783e-17 0.7071067811865475 0.7071067811865475 1.1102230246251565e-16"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.13 0.13 0.13" refquat="5.551115123125783e-17 0.7071067811865475 0.7071067811865475 1.1102230246251565e-16"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.13 0.13 0.13" refquat="5.551115123125783e-17 0.7071067811865475 0.7071067811865475 1.1102230246251565e-16"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.13 0.13 0.13" refquat="5.551115123125783e-17 0.7071067811865475 0.7071067811865475 1.1102230246251565e-16"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.13 0.13 0.13" refquat="5.551115123125783e-17 0.7071067811865475 0.7071067811865475 1.1102230246251565e-16"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.13 0.13 0.13" refquat="5.551115123125783e-17 0.7071067811865475 0.7071067811865475 1.1102230246251565e-16"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.13 0.13 0.13" refquat="5.551115123125783e-17 0.7071067811865475 0.7071067811865475 1.1102230246251565e-16"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.13 0.13 0.13" refquat="5.551115123125783e-17 0.7071067811865475 0.7071067811865475 1.1102230246251565e-16"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.13 0.13 0.13" refquat="5.551115123125783e-17 0.7071067811865475 0.7071067811865475 1.1102230246251565e-16"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.13 0.13 0.13" refquat="5.551115123125783e-17 0.7071067811865475 0.7071067811865475 1.1102230246251565e-16"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.13 0.13 0.13" refquat="5.551115123125783e-17 0.7071067811865475 0.7071067811865475 1.1102230246251565e-16"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.13 0.13 0.13" refquat="5.551115123125783e-17 0.7071067811865475 0.7071067811865475 1.1102230246251565e-16"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.13 0.13 0.13" refquat="5.551115123125783e-17 0.7071067811865475 0.7071067811865475 1.1102230246251565e-16"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.13 0.13 0.13" refquat="5.551115123125783e-17 0.7071067811865475 0.7071067811865475 1.1102230246251565e-16"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.13 0.13 0.13" refquat="5.551115123125783e-17 0.7071067811865475 0.7071067811865475 1.1102230246251565e-16"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.13 0.13 0.13" refquat="5.551115123125783e-17 0.7071067811865475 0.7071067811865475 1.1102230246251565e-16"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.13 0.13 0.13" refquat="5.551115123125783e-17 0.7071067811865475 0.7071067811865475 1.1102230246251565e-16"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.13 0.13 0.13" refquat="5.551115123125783e-17 0.7071067811865475 0.7071067811865475 1.1102230246251565e-16"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.13 0.13 0.13" refquat="5.551115123125783e-17 0.7071067811865475 0.7071067811865475 1.1102230246251565e-16"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.13 0.13 0.13" refquat="5.551115123125783e-17 0.7071067811865475 0.7071067811865475 1.1102230246251565e-16"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.13 0.13 0.13" refquat="5.551115123125783e-17 0.7071067811865475 0.7071067811865475 1.1102230246251565e-16"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.13 0.13 0.13" refquat="5.551115123125783e-17 0.7071067811865475 0.7071067811865475 1.1102230246251565e-16"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.13 0.13 0.13" refquat="5.551115123125783e-17 0.7071067811865475 0.7071067811865475 1.1102230246251565e-16"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.13 0.13 0.13" refquat="5.551115123125783e-17 0.7071067811865475 0.7071067811865475 1.1102230246251565e-16"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.13 0.13 0.13" refquat="5.551115123125783e-17 0.7071067811865475 0.7071067811865475 1.1102230246251565e-16"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.13 0.13 0.13" refquat="5.551115123125783e-17 0.7071067811865475 0.7071067811865475 1.1102230246251565e-16"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.13 0.13 0.13" refquat="5.551115123125783e-17 0.7071067811865475 0.7071067811865475 1.1102230246251565e-16"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="TextureAtlas_1001.013" texture="image0" specular="0.5" shininess="0.359999993"/>
+    <material name="TextureAtlas_1002.001" 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="TextureAtlas_1002.001"/>
+        <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_1_vis" conaffinity="0" contype="0" group="1" material="TextureAtlas_1001.013"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_22._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_23._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_21._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_20._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_24._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_30._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_18._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
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+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_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="0.000245143600000001 0.00030945850000000443 -0.03580074289999999" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.000245143600000001 0.00030945850000000443 0.03533711349999999" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.0297623924 0.0647568376 -0.00023181469999999872" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/objects/objaverse/pear/pear_0/visual/material.mtl b/objects/objaverse/pear/pear_0/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6b5d0f127cc1df2efd6b4835e0300358bb6dde72
--- /dev/null
+++ b/objects/objaverse/pear/pear_0/visual/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 359.99999300
+map_Kd material_0.png
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_0/visual/model_normalized_0.obj b/objects/objaverse/pear/pear_0/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0158cc7c094c1b27f7f0fc32b9245f06adb48327
--- /dev/null
+++ b/objects/objaverse/pear/pear_0/visual/model_normalized_0.obj
@@ -0,0 +1,37553 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_15/collision/model_normalized_collision_0.obj b/objects/objaverse/pear/pear_15/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..017991981cd7a4ad7721bab610093d5b2e4d3526
--- /dev/null
+++ b/objects/objaverse/pear/pear_15/collision/model_normalized_collision_0.obj
@@ -0,0 +1,123 @@
+# https://github.com/mikedh/trimesh
+v 0.06220792 0.07974445 0.40605849
+v 0.12454349 0.08297252 0.33839708
+v 0.04887891 0.14123237 0.34505120
+v -0.06346609 0.19644639 0.25906482
+v -0.16708583 0.08237408 0.26360639
+v 0.00427768 0.19609471 0.25938657
+v -0.06118368 0.13241351 0.35674655
+v 0.07264598 0.11418240 0.37155329
+v -0.16179592 0.07790568 0.29348996
+v 0.10105301 0.11968625 0.33338464
+v -0.04800082 0.15949492 0.32972202
+v -0.10415049 0.18040506 0.25529561
+v 0.00715971 0.08484144 0.26515152
+v 0.07229935 0.10063859 0.38548634
+v 0.11691469 0.08088880 0.34840226
+v -0.12336399 0.07739634 0.36106064
+v 0.12079615 0.09549979 0.33412093
+v -0.06111096 0.19014144 0.27335297
+v 0.00512360 0.15781252 0.33058736
+v -0.13156415 0.15203822 0.25851010
+v -0.08489337 0.14530729 0.32937873
+v -0.16370031 0.09292341 0.26237219
+v 0.09788036 0.10180622 0.35695687
+v 0.03210757 0.08690462 0.41501464
+v 0.07709260 0.08049147 0.39397577
+v 0.03443794 0.07838287 0.41907716
+v 0.00216820 0.19026298 0.27074850
+v -0.14247737 0.08676714 0.33084223
+v -0.06297254 0.14554688 0.34218068
+v -0.08876413 0.11748837 0.35283361
+v -0.11754967 0.13060817 0.31449627
+v -0.15767842 0.08960811 0.28917023
+v 0.09525905 0.11536173 0.34534088
+v 0.11379969 0.09138275 0.34630750
+v 0.05838058 0.08980041 0.40183812
+v 0.01009692 0.07819333 0.41893071
+v 0.04453454 0.10115332 0.39961482
+v 0.01385886 0.11740196 0.38373595
+v -0.14724866 0.07698512 0.33306670
+v -0.12711929 0.12012209 0.31638234
+v 0.01320211 0.08553873 0.41485701
+v 0.03576058 0.11374343 0.38823909
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+f 42 19 11
+f 42 11 38
+f 42 38 24
+f 42 24 37
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_15/collision/model_normalized_collision_10.obj b/objects/objaverse/pear/pear_15/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..37d2d6da70af577582d0feac609472f92c71f3f7
--- /dev/null
+++ b/objects/objaverse/pear/pear_15/collision/model_normalized_collision_10.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.00573592 -0.19057970 0.24233140
+v 0.00715971 -0.20303735 0.00757576
+v 0.02229769 0.17851751 0.28009090
+v 0.02225273 0.18400053 0.27004514
+v -0.17680868 -0.02967695 0.27882865
+v -0.12920393 -0.20303735 0.00757576
+v 0.00715971 -0.02121917 0.26515152
+v -0.13081781 0.14668067 0.26645071
+v -0.11713294 -0.18849477 0.20396435
+v 0.00715971 0.14544750 0.00757576
+v -0.12920393 0.14544750 0.00757576
+v -0.07547054 -0.18359865 0.23916967
+v -0.11804419 -0.15821921 0.23747994
+v -0.10201441 -0.16914179 0.23907305
+f 1 2 3
+f 3 2 4
+f 6 2 1
+f 7 5 1
+f 7 1 3
+f 7 3 5
+f 8 5 3
+f 8 3 4
+f 9 6 1
+f 9 5 6
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+f 10 2 6
+f 11 6 5
+f 11 5 8
+f 11 10 6
+f 11 8 4
+f 11 4 10
+f 12 9 1
+f 12 1 5
+f 13 5 9
+f 14 12 5
+f 14 5 13
+f 14 13 9
+f 14 9 12
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_15/collision/model_normalized_collision_13.obj b/objects/objaverse/pear/pear_15/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b98f4e054cef8ca85ba103f3172195cf5f3564e
--- /dev/null
+++ b/objects/objaverse/pear/pear_15/collision/model_normalized_collision_13.obj
@@ -0,0 +1,108 @@
+# https://github.com/mikedh/trimesh
+v -0.13016049 -0.30980300 0.01789779
+v -0.11405241 -0.20303735 0.00757576
+v -0.10880688 -0.20718404 0.19501792
+v -0.14774061 -0.12002855 0.24331274
+v -0.27077408 -0.12467584 0.00458289
+v -0.12920393 -0.12727978 0.00757576
+v -0.20177536 -0.20746724 0.08790983
+v -0.10939834 -0.27047407 0.12080258
+v -0.17784747 -0.28085642 0.00359913
+v -0.12190603 -0.14995682 0.24468138
+v -0.26702614 -0.12345399 0.01677397
+v -0.10754981 -0.25115847 0.14934278
+v -0.16921987 -0.28828100 0.00477101
+v -0.23407167 -0.20888893 0.00452908
+v -0.24940017 -0.18083737 0.00135184
+v -0.13458248 -0.13102269 0.25288048
+v -0.21567856 -0.13653669 0.11820612
+v -0.14711126 -0.24816983 0.11658743
+v -0.11936521 -0.24517386 0.14752131
+v -0.20307335 -0.23438240 0.04465756
+v -0.26798078 -0.13716485 0.00297256
+v -0.19174372 -0.26680421 0.00460112
+v -0.24566113 -0.18079224 0.01609559
+v -0.18654781 -0.20554693 0.11731312
+v -0.21900123 -0.12360383 0.11886661
+v -0.16199629 -0.26124822 0.07283672
+v -0.12159875 -0.26401409 0.12082181
+v -0.23276625 -0.20588417 0.01526670
+v -0.21470766 -0.18049778 0.09088120
+v -0.18841778 -0.23443733 0.07334296
+v -0.17567392 -0.27849279 0.01731270
+v -0.16790031 -0.28444455 0.01921381
+v -0.21545439 -0.19288170 0.07495888
+v -0.24584349 -0.15086892 0.04505789
+v -0.20125431 -0.17965533 0.11589490
+v -0.18910387 -0.26524489 0.01596471
+v -0.26331138 -0.13689948 0.01619076
+f 6 3 2
+f 8 1 2
+f 9 6 2
+f 10 3 6
+f 11 6 5
+f 11 4 6
+f 12 8 2
+f 12 2 3
+f 13 9 2
+f 13 2 1
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+f 16 6 4
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+f 37 34 11
+f 37 11 21
+f 37 21 23
+f 37 23 34
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_15/collision/model_normalized_collision_14.obj b/objects/objaverse/pear/pear_15/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7fc8432318748cf21fc2ad5e1c56cc738a098953
--- /dev/null
+++ b/objects/objaverse/pear/pear_15/collision/model_normalized_collision_14.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v 0.09321577 -0.33723632 -0.09700117
+v 0.15363647 -0.29443661 -0.19134234
+v 0.12065206 -0.32663442 -0.10069664
+v -0.06859787 -0.27879493 -0.09848485
+v -0.08164887 -0.31731080 -0.24823921
+v 0.09268237 -0.32042059 -0.19922204
+v -0.06720081 -0.34526664 -0.09649701
+v -0.17213805 -0.27570580 -0.23321023
+v 0.14007498 -0.30217207 -0.18864535
+v 0.09405914 -0.33549634 -0.10945651
+v 0.14645030 -0.28322782 -0.23682323
+v 0.02085051 -0.33642330 -0.19987613
+v -0.18144803 -0.28504220 -0.19157306
+v 0.12159676 -0.30506656 -0.21430478
+v -0.04839088 -0.33728375 -0.20119546
+v 0.04929837 -0.33555114 -0.18481419
+v 0.06088095 -0.32101046 -0.23038254
+v -0.13506079 -0.30843915 -0.22614929
+v 0.13482814 -0.29352829 -0.22866873
+v -0.05082211 -0.32495062 -0.24374771
+v 0.10611688 -0.30699273 -0.22751951
+v -0.16034402 -0.29092906 -0.22795042
+v -0.15167688 -0.31242233 -0.18793351
+v -0.12430138 -0.32577205 -0.18611227
+v -0.05334744 -0.32222792 -0.24915402
+v -0.16673316 -0.30036996 -0.18734058
+v -0.14934753 -0.30631702 -0.21006981
+v -0.12319552 -0.32263518 -0.19893181
+v -0.06694632 -0.33757944 -0.18544446
+v -0.07764280 -0.32016114 -0.24345432
+f 1 3 4
+f 3 2 4
+f 7 1 4
+f 9 2 3
+f 9 3 6
+f 10 6 3
+f 10 3 1
+f 11 5 8
+f 11 8 4
+f 11 4 2
+f 12 1 7
+f 13 7 4
+f 13 4 8
+f 14 9 6
+f 14 2 9
+f 15 12 7
+f 16 6 10
+f 16 10 1
+f 16 1 12
+f 17 16 12
+f 17 6 16
+f 19 11 2
+f 19 2 14
+f 20 12 15
+f 20 17 12
+f 21 14 6
+f 21 6 17
+f 21 19 14
+f 21 17 11
+f 21 11 19
+f 22 13 8
+f 22 8 5
+f 22 5 18
+f 24 7 23
+f 25 5 11
+f 25 11 17
+f 25 17 20
+f 26 23 7
+f 26 7 13
+f 26 13 22
+f 26 22 23
+f 27 23 22
+f 27 22 18
+f 27 18 23
+f 28 18 5
+f 28 15 24
+f 28 24 23
+f 28 23 18
+f 29 24 15
+f 29 15 7
+f 29 7 24
+f 30 25 20
+f 30 5 25
+f 30 28 5
+f 30 20 15
+f 30 15 28
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_15/collision/model_normalized_collision_15.obj b/objects/objaverse/pear/pear_15/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e72e82bd5970079885b9551dc04aed7a942a6e51
--- /dev/null
+++ b/objects/objaverse/pear/pear_15/collision/model_normalized_collision_15.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v 0.15860856 0.26826324 0.01615242
+v 0.16474426 0.27115834 -0.16426930
+v 0.10299751 0.32404544 -0.06819714
+v 0.04815268 0.34326174 -0.06956786
+v 0.08291728 0.25150810 -0.15909091
+v 0.09770983 0.31164146 -0.20035563
+v 0.06404943 0.32548593 -0.00120011
+v 0.13347206 0.29435840 -0.00095582
+v 0.10444643 0.32390258 -0.12619364
+v 0.05085309 0.33652955 -0.15796518
+v 0.13669432 0.27289124 -0.23004006
+v 0.09270669 0.32369469 -0.02643406
+v 0.09487520 0.28835844 0.03897142
+v 0.04699585 0.32818414 0.00208500
+v 0.12996200 0.29621504 -0.18465697
+v 0.06376132 0.34034848 -0.11067986
+v 0.09065236 0.32682735 -0.15619165
+v 0.11871431 0.28553434 -0.23203321
+v 0.06298413 0.33937867 -0.07114770
+v 0.11822896 0.30780319 -0.01321560
+v 0.10753469 0.30980082 -0.00005989
+v 0.06094686 0.31630800 0.01820720
+v 0.04928665 0.34312357 -0.11280512
+v 0.06000315 0.33388907 -0.16610000
+v 0.13069117 0.27875694 -0.22685616
+v 0.12635159 0.27856563 -0.23344658
+f 5 2 1
+f 8 1 2
+f 8 2 3
+f 9 3 2
+f 11 2 5
+f 12 4 7
+f 13 5 1
+f 14 7 4
+f 14 10 5
+f 15 9 2
+f 15 2 11
+f 16 3 9
+f 17 15 6
+f 17 9 15
+f 17 16 9
+f 18 6 15
+f 18 5 10
+f 19 12 3
+f 19 4 12
+f 19 16 4
+f 19 3 16
+f 20 8 3
+f 20 3 12
+f 21 8 20
+f 21 20 12
+f 21 12 7
+f 21 13 1
+f 21 1 8
+f 22 7 14
+f 22 21 7
+f 22 13 21
+f 22 14 5
+f 22 5 13
+f 23 4 16
+f 23 14 4
+f 23 10 14
+f 24 17 6
+f 24 16 17
+f 24 23 16
+f 24 10 23
+f 24 18 10
+f 24 6 18
+f 25 18 15
+f 25 15 11
+f 25 11 18
+f 26 18 11
+f 26 11 5
+f 26 5 18
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_15/collision/model_normalized_collision_17.obj b/objects/objaverse/pear/pear_15/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e72252f074a4afc9d7370f363d63c23f9b9e1aab
--- /dev/null
+++ b/objects/objaverse/pear/pear_15/collision/model_normalized_collision_17.obj
@@ -0,0 +1,132 @@
+# https://github.com/mikedh/trimesh
+v -0.12920393 -0.18788584 -0.23484848
+v -0.12074001 -0.17860615 -0.38954159
+v -0.12920393 0.14544750 -0.23484848
+v -0.25663934 0.14233538 -0.23216598
+v -0.23921339 -0.18315592 -0.22929206
+v -0.13038049 0.14621847 -0.43234194
+v -0.26620088 -0.09403274 -0.22821448
+v -0.12211671 -0.04743870 -0.45320192
+v -0.15983159 0.17565011 -0.37131571
+v -0.26569562 0.11154329 -0.23044384
+v -0.12095553 -0.08924294 -0.43657043
+v -0.20289508 -0.10706585 -0.34426770
+v -0.20311852 0.12185677 -0.35676963
+v -0.21760545 -0.12396756 -0.31437264
+v -0.15817124 -0.13632233 -0.38526871
+v -0.17241707 0.13769747 -0.38505978
+v -0.22958376 0.13820296 -0.30145656
+v -0.14740229 -0.00365479 -0.44706280
+v -0.24651139 -0.03350867 -0.28623605
+v -0.24550683 -0.15379722 -0.24091299
+v -0.13149137 -0.04494047 -0.44663881
+v -0.20269591 -0.16361841 -0.31320697
+v -0.18625045 0.11050588 -0.38676314
+v -0.24774742 0.14125829 -0.25824898
+v -0.12868463 -0.00607821 -0.46070549
+v -0.17183390 -0.09329239 -0.38906715
+v -0.26224208 0.08192360 -0.25633595
+v -0.26187334 -0.04901857 -0.25613681
+v -0.18550631 0.01200114 -0.39279881
+v -0.24905778 -0.15487640 -0.23003655
+v -0.26144114 -0.09052622 -0.24372402
+v -0.14390543 -0.01493264 -0.44655278
+v -0.17164138 -0.13505977 -0.37145486
+v -0.21764641 -0.14877947 -0.29921645
+v -0.17465530 -0.17637620 -0.33982226
+v -0.14314721 0.13588659 -0.42392986
+v -0.26130802 0.10884637 -0.24663221
+v -0.15849928 0.10570645 -0.42073355
+v -0.23130384 0.09860521 -0.31606496
+v -0.24753384 0.09570823 -0.28603088
+v -0.23256010 -0.09586811 -0.29849699
+v -0.23400546 -0.18246542 -0.24229217
+v -0.12866070 -0.17530546 -0.38534059
+v -0.23296143 0.00808694 -0.31303823
+v -0.20398469 -0.17884235 -0.29983379
+f 1 2 3
+f 5 2 1
+f 5 1 3
+f 7 5 3
+f 8 6 3
+f 9 4 3
+f 9 3 6
+f 10 7 3
+f 10 3 4
+f 11 8 3
+f 11 3 2
+f 15 11 2
+f 16 13 9
+f 16 9 6
+f 17 9 13
+f 21 8 11
+f 21 11 15
+f 22 14 12
+f 23 13 16
+f 24 4 9
+f 24 9 17
+f 25 6 8
+f 26 12 18
+f 27 7 10
+f 28 7 27
+f 29 18 12
+f 29 23 18
+f 30 20 5
+f 30 5 7
+f 30 7 20
+f 31 20 7
+f 31 14 20
+f 31 7 28
+f 32 8 21
+f 32 25 8
+f 32 18 25
+f 32 26 18
+f 32 21 15
+f 32 15 26
+f 33 22 12
+f 33 26 15
+f 33 12 26
+f 34 20 14
+f 34 14 22
+f 35 33 15
+f 35 22 33
+f 36 23 16
+f 36 16 6
+f 37 10 4
+f 37 4 24
+f 37 27 10
+f 38 25 18
+f 38 6 25
+f 38 36 6
+f 38 18 23
+f 38 23 36
+f 39 17 13
+f 39 13 23
+f 39 23 29
+f 40 28 27
+f 40 19 28
+f 40 27 37
+f 40 17 39
+f 40 37 24
+f 40 24 17
+f 41 28 19
+f 41 12 14
+f 41 31 28
+f 41 14 31
+f 41 29 12
+f 41 19 29
+f 42 5 20
+f 42 20 34
+f 42 2 5
+f 43 35 15
+f 43 15 2
+f 43 2 35
+f 44 39 29
+f 44 29 19
+f 44 40 39
+f 44 19 40
+f 45 42 34
+f 45 34 22
+f 45 22 35
+f 45 35 2
+f 45 2 42
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_15/collision/model_normalized_collision_18.obj b/objects/objaverse/pear/pear_15/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7354ef1e2edfa7233753d503269b2433e04b8373
--- /dev/null
+++ b/objects/objaverse/pear/pear_15/collision/model_normalized_collision_18.obj
@@ -0,0 +1,114 @@
+# https://github.com/mikedh/trimesh
+v 0.25333562 -0.18155618 -0.22942378
+v 0.26810038 -0.15180379 -0.23009578
+v 0.23301912 0.13757829 -0.22956519
+v 0.20689287 0.16871501 -0.25391939
+v 0.15102070 -0.09565057 -0.40785400
+v 0.15867486 -0.18788584 -0.23484848
+v 0.26513742 0.05101564 -0.22860146
+v 0.20285029 -0.16357608 -0.32780043
+v 0.15847357 0.14538705 -0.35585371
+v 0.26109792 -0.02325913 -0.27015083
+v 0.21771012 -0.17545649 -0.29733576
+v 0.15430598 -0.18394512 -0.36516042
+v 0.15223547 0.03942038 -0.40981205
+v 0.21617360 0.10828314 -0.29954664
+v 0.20295704 -0.07822950 -0.35621539
+v 0.22969057 -0.15002052 -0.29841006
+v 0.24939090 -0.17895806 -0.24192017
+v 0.15089092 -0.15099489 -0.38995691
+v 0.16277888 -0.17944743 -0.36070009
+v 0.20432218 0.13730851 -0.29974548
+v 0.22914632 0.10735629 -0.27359418
+v 0.24538911 0.01945751 -0.28483171
+v 0.18729572 0.10651817 -0.34183788
+v 0.20357850 -0.04076879 -0.35768515
+v 0.20187211 -0.13736847 -0.34303555
+v 0.26151689 -0.09374402 -0.26829997
+v 0.26295873 -0.15083738 -0.24157878
+v 0.17298437 -0.14944709 -0.36998730
+v 0.22912696 0.13526725 -0.24449318
+v 0.25899578 0.05044390 -0.24370090
+v 0.20083252 0.12428598 -0.31425181
+v 0.23136942 0.00610813 -0.31265843
+v 0.18913553 -0.09211544 -0.37037389
+v 0.15837395 -0.09463792 -0.40119119
+v 0.23124981 -0.09410076 -0.31514756
+v 0.25986059 -0.13690908 -0.25473219
+v 0.15607906 -0.15024841 -0.38568162
+v 0.21557695 0.08132723 -0.31313330
+v 0.21634106 -0.12319721 -0.32853233
+f 6 1 3
+f 6 3 4
+f 7 1 2
+f 7 3 1
+f 9 6 4
+f 10 7 2
+f 12 11 1
+f 12 1 6
+f 13 6 9
+f 16 11 8
+f 17 2 1
+f 17 1 11
+f 17 11 16
+f 18 12 6
+f 18 13 5
+f 18 6 13
+f 19 8 11
+f 19 11 12
+f 19 12 18
+f 20 9 4
+f 21 14 20
+f 23 13 9
+f 25 16 8
+f 26 10 2
+f 27 17 16
+f 27 2 17
+f 28 8 19
+f 28 25 8
+f 29 20 4
+f 29 4 3
+f 29 21 20
+f 29 3 7
+f 29 7 21
+f 30 7 10
+f 30 10 22
+f 30 21 7
+f 30 22 14
+f 30 14 21
+f 31 20 14
+f 31 23 9
+f 31 9 20
+f 32 24 13
+f 32 22 10
+f 32 10 24
+f 33 24 15
+f 33 25 28
+f 34 5 13
+f 34 13 24
+f 34 24 33
+f 34 33 28
+f 34 28 5
+f 35 24 10
+f 35 10 26
+f 35 15 24
+f 36 26 2
+f 36 2 27
+f 36 27 16
+f 36 16 26
+f 37 28 19
+f 37 19 18
+f 37 18 5
+f 37 5 28
+f 38 31 14
+f 38 23 31
+f 38 14 22
+f 38 22 32
+f 38 32 13
+f 38 13 23
+f 39 33 15
+f 39 25 33
+f 39 15 35
+f 39 16 25
+f 39 35 26
+f 39 26 16
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_15/collision/model_normalized_collision_19.obj b/objects/objaverse/pear/pear_15/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0dddc368b88ba6759e9a10b6e1e7778f8ac9bcd1
--- /dev/null
+++ b/objects/objaverse/pear/pear_15/collision/model_normalized_collision_19.obj
@@ -0,0 +1,114 @@
+# https://github.com/mikedh/trimesh
+v 0.16233145 -0.19230808 0.14764365
+v 0.28067619 -0.12288598 0.00288114
+v 0.18588656 0.03616868 0.23056966
+v 0.02521894 0.19006542 0.25502701
+v 0.00715971 -0.20303735 0.00757576
+v 0.23648108 0.14087890 0.00447315
+v 0.00625281 -0.19842077 0.23135104
+v 0.24592015 -0.09412738 0.11784078
+v 0.25019004 -0.19162681 0.00187483
+v 0.14833933 0.13724871 0.23140239
+v 0.00715971 0.14544750 0.00757576
+v 0.17151961 -0.10266946 0.22276806
+v 0.27644405 0.00318404 0.04729029
+v 0.20335566 -0.19236118 0.10173535
+v 0.24597976 -0.16254296 0.06006030
+v 0.27810735 0.04723529 0.00338264
+v 0.23033268 0.13927270 0.03000034
+v 0.17018612 0.10545374 0.23075277
+v 0.11876765 -0.15602356 0.22272554
+v 0.18647565 -0.06238214 0.22354498
+v 0.27742386 -0.03717364 0.06023826
+v 0.21766993 -0.14612492 0.12924962
+v 0.26614968 -0.16618465 0.00283961
+v 0.27695062 -0.09240897 0.04800330
+v 0.23205660 -0.17510712 0.07385289
+v 0.27456159 0.04748316 0.01760929
+v 0.26095768 0.00370411 0.09070960
+v 0.11952648 -0.18863923 0.18621239
+v 0.24506159 -0.12161941 0.10468957
+v 0.23130810 -0.07914109 0.14795377
+v 0.24594321 -0.19008382 0.01538031
+v 0.26027012 -0.09351411 0.08993126
+v 0.27705822 -0.05004284 0.06150600
+v 0.21693400 -0.17377413 0.10306209
+v 0.27547547 0.03288702 0.03033061
+v 0.06132414 -0.18735841 0.22200543
+v 0.26205635 -0.16426253 0.01614012
+v 0.24835912 0.00415760 0.11647570
+v 0.25975269 0.04613410 0.05820757
+f 7 3 4
+f 11 4 6
+f 11 7 4
+f 11 5 7
+f 11 9 5
+f 11 6 9
+f 12 3 7
+f 14 7 5
+f 14 5 9
+f 14 1 7
+f 14 12 1
+f 16 9 6
+f 16 2 9
+f 17 6 4
+f 17 4 10
+f 18 10 4
+f 18 4 3
+f 18 17 10
+f 19 12 7
+f 19 1 12
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+f 21 16 13
+f 21 2 16
+f 22 12 14
+f 23 9 2
+f 24 23 2
+f 26 16 6
+f 26 6 17
+f 26 17 18
+f 27 18 3
+f 27 21 13
+f 28 7 1
+f 28 1 19
+f 29 20 12
+f 29 12 22
+f 29 25 15
+f 30 3 20
+f 30 29 8
+f 30 20 29
+f 31 23 15
+f 31 9 23
+f 31 15 25
+f 31 25 14
+f 31 14 9
+f 32 29 24
+f 32 8 29
+f 32 30 8
+f 33 24 2
+f 33 2 21
+f 33 32 24
+f 33 30 32
+f 34 22 14
+f 34 14 25
+f 34 29 22
+f 34 25 29
+f 35 13 16
+f 35 16 26
+f 35 27 13
+f 35 18 27
+f 36 28 19
+f 36 19 7
+f 36 7 28
+f 37 29 15
+f 37 15 23
+f 37 23 24
+f 37 24 29
+f 38 27 3
+f 38 3 30
+f 38 30 33
+f 38 33 21
+f 38 21 27
+f 39 35 26
+f 39 26 18
+f 39 18 35
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_15/collision/model_normalized_collision_21.obj b/objects/objaverse/pear/pear_15/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fbf2b5cee649445b13062045907370ecb89ecbc5
--- /dev/null
+++ b/objects/objaverse/pear/pear_15/collision/model_normalized_collision_21.obj
@@ -0,0 +1,147 @@
+# https://github.com/mikedh/trimesh
+v -0.26256825 -0.12319446 0.02699064
+v -0.25077642 -0.11751265 -0.25106839
+v -0.21246377 0.23092964 -0.01035215
+v -0.21512241 0.21637005 0.00597606
+v -0.29307723 0.06601331 -0.15701918
+v -0.29485842 -0.07995521 -0.11410133
+v -0.27684283 0.05194745 0.00266451
+v -0.21490581 0.23404690 -0.23209459
+v -0.29312561 -0.00515062 -0.18490955
+v -0.27821038 -0.10733367 -0.18366088
+v -0.26094976 0.12439531 0.00043365
+v -0.29355038 -0.04904903 -0.04100784
+v -0.26072434 0.18413001 -0.07006510
+v -0.29384543 0.05099832 -0.17100928
+v -0.27681350 0.05328072 -0.22928223
+v -0.28359690 -0.10987088 -0.04035792
+v -0.27691967 -0.03488745 -0.22668653
+v -0.29389094 -0.03272595 -0.17001940
+v -0.27725195 -0.09357370 0.00096972
+v -0.29255577 0.03552241 -0.04228090
+v -0.24625040 0.21648597 -0.15687455
+v -0.24518215 0.18049640 -0.01313813
+v -0.26254140 0.12488933 -0.22930782
+v -0.29377434 0.02149354 -0.18383518
+v -0.29464615 -0.06232637 -0.05649934
+v -0.26320275 -0.10736199 -0.22989333
+v -0.27727900 -0.09316065 -0.19725037
+v -0.27365560 -0.11137586 0.00514560
+v -0.27792562 0.14379522 -0.11223973
+v -0.27735606 0.11167154 -0.04272117
+v -0.24718859 0.21025173 -0.07317419
+v -0.23151677 0.22637095 -0.19813332
+v -0.26091877 0.16834846 -0.04362971
+v -0.24544170 0.16745941 0.00062581
+v -0.22066163 0.21128069 0.00304403
+v -0.27745129 0.07921959 -0.21526744
+v -0.27850107 -0.10976023 -0.01281456
+v -0.29437145 -0.07879980 -0.08449946
+v -0.29179000 0.06513771 -0.07051858
+v -0.26142834 0.18279203 -0.14218534
+v -0.27700549 0.12510398 -0.05635625
+v -0.23151011 0.22228076 -0.04356354
+v -0.24670762 0.18139790 -0.21612593
+v -0.26091003 0.15325184 -0.02773483
+v -0.23168478 0.19382696 0.00162435
+v -0.27576115 0.12472943 -0.16997118
+v -0.26153817 0.15391992 -0.19798684
+v -0.22177406 0.22714571 -0.22619904
+v -0.27763032 0.13990087 -0.12624982
+v -0.24783736 0.16771560 -0.22866821
+f 1 2 3
+f 1 3 4
+f 8 3 2
+f 10 2 1
+f 11 7 1
+f 11 1 4
+f 16 10 1
+f 16 6 10
+f 17 15 2
+f 17 9 15
+f 18 10 6
+f 18 9 17
+f 19 1 7
+f 19 7 12
+f 20 12 7
+f 20 5 14
+f 23 8 2
+f 23 2 15
+f 24 15 9
+f 24 14 15
+f 24 9 18
+f 24 18 6
+f 24 6 14
+f 25 12 20
+f 25 20 14
+f 25 14 6
+f 26 17 2
+f 26 2 10
+f 27 18 17
+f 27 10 18
+f 27 26 10
+f 27 17 26
+f 28 1 19
+f 30 20 7
+f 30 7 11
+f 31 21 13
+f 32 3 8
+f 33 22 13
+f 34 11 4
+f 34 22 33
+f 35 4 3
+f 36 23 15
+f 36 15 14
+f 37 25 16
+f 37 12 25
+f 37 16 1
+f 37 1 28
+f 37 28 19
+f 37 19 12
+f 38 25 6
+f 38 6 16
+f 38 16 25
+f 39 29 5
+f 39 5 20
+f 39 20 30
+f 40 29 13
+f 40 13 21
+f 41 13 29
+f 41 39 30
+f 41 29 39
+f 41 33 13
+f 41 30 33
+f 42 21 31
+f 42 32 21
+f 42 3 32
+f 42 35 3
+f 42 31 13
+f 42 13 22
+f 43 21 32
+f 44 33 30
+f 44 30 11
+f 44 34 33
+f 44 11 34
+f 45 34 4
+f 45 4 35
+f 45 22 34
+f 45 42 22
+f 45 35 42
+f 46 23 36
+f 46 36 14
+f 46 14 5
+f 47 40 21
+f 47 21 43
+f 47 46 40
+f 47 23 46
+f 48 43 32
+f 48 32 8
+f 49 46 5
+f 49 5 29
+f 49 29 40
+f 49 40 46
+f 50 48 8
+f 50 8 23
+f 50 43 48
+f 50 47 43
+f 50 23 47
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_15/collision/model_normalized_collision_24.obj b/objects/objaverse/pear/pear_15/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e1c84aed970c35562a77e115f75c0f59b80af866
--- /dev/null
+++ b/objects/objaverse/pear/pear_15/collision/model_normalized_collision_24.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v -0.07553353 0.05699493 0.43852955
+v -0.03666654 0.07344765 0.40174247
+v -0.06540238 0.11262984 0.47706825
+v -0.07343903 0.16069201 0.49336601
+v -0.07515826 0.06690752 0.40373273
+v -0.06889975 0.15750577 0.48905096
+v -0.07831268 0.14040086 0.49528599
+v -0.05017976 0.07524578 0.43727476
+v -0.07702530 0.16034568 0.48633127
+v -0.07528030 0.11246517 0.47724653
+v -0.08342026 0.06813215 0.41957038
+v -0.07450311 0.13935512 0.49533425
+v -0.06969526 0.05901652 0.44069272
+v -0.05668533 0.11247904 0.45949296
+v -0.07293483 0.16058004 0.48666838
+v -0.08245039 0.15551981 0.49080193
+v -0.07062166 0.08511719 0.41371070
+v -0.08219117 0.13491314 0.48710411
+v -0.07750891 0.15913320 0.49547217
+v -0.06828115 0.14761782 0.47223148
+v -0.08236881 0.15415198 0.48320949
+v -0.04983951 0.08511793 0.41025538
+v -0.08340396 0.06883151 0.42859707
+v -0.08123185 0.07714456 0.42173000
+f 5 2 1
+f 10 7 1
+f 11 5 1
+f 12 6 4
+f 12 3 6
+f 12 10 3
+f 12 7 10
+f 13 1 2
+f 13 2 8
+f 13 8 3
+f 13 10 1
+f 13 3 10
+f 14 6 3
+f 14 3 8
+f 14 8 2
+f 14 2 6
+f 15 9 4
+f 15 4 6
+f 18 1 7
+f 18 7 16
+f 19 12 4
+f 19 7 12
+f 19 16 7
+f 19 4 9
+f 19 9 16
+f 20 15 6
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+f 23 16 11
+f 24 21 5
+f 24 5 11
+f 24 11 21
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_15/collision/model_normalized_collision_27.obj b/objects/objaverse/pear/pear_15/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cb838df07f23de316615d67a6cb922730b334500
--- /dev/null
+++ b/objects/objaverse/pear/pear_15/collision/model_normalized_collision_27.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v 0.22943588 0.15801090 0.00634509
+v 0.23504525 0.15416551 -0.20063540
+v 0.21624653 0.22526865 -0.05704816
+v 0.13677746 0.29978740 -0.02481482
+v 0.14352334 0.16059901 -0.23484848
+v 0.14664227 0.26923222 -0.22604587
+v 0.20214482 0.22680807 0.00301027
+v 0.23217467 0.19621125 -0.12812909
+v 0.14352334 0.16059901 0.00757576
+v 0.14746867 0.29449308 -0.14293935
+v 0.13508298 0.28694276 -0.20018293
+v 0.22387978 0.15444565 -0.23077911
+v 0.21552647 0.19734152 0.00357407
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+v 0.23586374 0.15597544 -0.02531070
+v 0.20108976 0.22346907 -0.19867906
+v 0.14082086 0.28859315 0.00366651
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+v 0.14191875 0.28256448 -0.19613767
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\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_15/collision/model_normalized_collision_28.obj b/objects/objaverse/pear/pear_15/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c0c08bf65526c5235d6dcc969d4e3c52950b74a4
--- /dev/null
+++ b/objects/objaverse/pear/pear_15/collision/model_normalized_collision_28.obj
@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
+v -0.20904074 0.22798687 0.00228269
+v -0.12742240 0.30786850 -0.23380353
+v -0.12500377 0.30560772 0.00475826
+v -0.12406486 0.32897926 -0.05462762
+v -0.23203183 0.24199009 -0.15755818
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\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_15/collision/model_normalized_collision_3.obj b/objects/objaverse/pear/pear_15/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..660d09c2facacabb42c13bf5e77954ce36666c22
--- /dev/null
+++ b/objects/objaverse/pear/pear_15/collision/model_normalized_collision_3.obj
@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
+v 0.09487520 0.28835844 0.03897142
+v 0.14854275 0.25785210 -0.23843173
+v 0.09065236 0.32682735 -0.15619165
+v -0.05107216 0.33971106 -0.01419866
+v -0.14901633 0.28233300 0.02129616
+v 0.04828941 0.33861162 -0.04051838
+v 0.16474426 0.27115834 -0.16426930
+v -0.09241286 0.32319616 -0.00036205
+v -0.14626464 0.29184392 -0.24895989
+v 0.08834216 0.30861787 0.01559619
+v -0.03710079 0.33952132 -0.17154351
+v 0.11491445 0.31147597 -0.17063836
+v 0.04699585 0.32818414 0.00208500
+v -0.12449151 0.32486678 -0.17062540
+v 0.12032901 0.31153214 -0.15352495
+v 0.05076231 0.33955515 -0.14075961
+v 0.04758956 0.32359535 -0.22480415
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\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_15/collision/model_normalized_collision_30.obj b/objects/objaverse/pear/pear_15/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c576d8193bfb6124a423f58618a0c161d2d820b1
--- /dev/null
+++ b/objects/objaverse/pear/pear_15/collision/model_normalized_collision_30.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.15867486 -0.18788584 -0.23484848
+v 0.15896515 -0.18824404 -0.35650335
+v 0.20689287 0.16871501 -0.25391939
+v -0.12920393 0.14544750 -0.23484848
+v -0.13556855 -0.19452375 -0.36256245
+v -0.12920393 -0.18788584 -0.23484848
+v -0.15295841 0.16639406 -0.38561923
+v 0.15847357 0.14538705 -0.35585371
+f 1 2 3
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+f 5 2 1
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+f 8 7 3
+f 8 3 2
+f 8 2 7
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_15/visual/material.mtl b/objects/objaverse/pear/pear_15/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..17128ab0856e4542dc50b1c481d888389ef5cf45
--- /dev/null
+++ b/objects/objaverse/pear/pear_15/visual/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 256.08137500
+map_Kd material_0.png
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_15/visual/model_normalized_0.obj b/objects/objaverse/pear/pear_15/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea34620ba615d1d3919ba2caaef717469f565dcd
--- /dev/null
+++ b/objects/objaverse/pear/pear_15/visual/model_normalized_0.obj
@@ -0,0 +1,126351 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
+v 0.03782152 -0.07060574 -0.48569780
+v 0.03228079 -0.07357020 -0.48779188
+v 0.03459170 -0.06667384 -0.48981014
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\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_17/collision/model_normalized_collision_0.obj b/objects/objaverse/pear/pear_17/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7941c955cf35e209ce7f7574737ee310ed7cee06
--- /dev/null
+++ b/objects/objaverse/pear/pear_17/collision/model_normalized_collision_0.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v 0.14202683 -0.22930541 -0.38939758
+v 0.11711082 -0.18776971 -0.43213791
+v 0.12306030 0.05988812 -0.35606060
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+v -0.05597823 -0.10174756 -0.48919983
+v 0.11614403 -0.14357229 -0.45755222
+v -0.11148176 -0.12996021 -0.46622144
+v -0.05613622 -0.14489218 -0.47431857
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+v 0.11526118 -0.17201232 -0.44261902
+v 0.08776466 -0.13034469 -0.47294873
+v -0.10302347 -0.12061664 -0.47315773
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+v -0.08505385 -0.13040169 -0.47433194
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+v -0.08409584 -0.18720616 -0.44485255
+v -0.09853708 -0.15792352 -0.45766486
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+f 7 3 1
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+f 15 4 11
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+f 17 13 11
+f 18 14 1
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+f 19 14 12
+f 19 12 8
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+f 20 15 11
+f 20 11 13
+f 21 16 8
+f 21 8 9
+f 22 8 16
+f 22 16 17
+f 22 19 8
+f 22 17 19
+f 23 7 10
+f 23 17 11
+f 24 19 17
+f 24 10 19
+f 25 20 13
+f 25 13 16
+f 26 9 5
+f 27 16 21
+f 27 25 16
+f 27 20 25
+f 28 23 11
+f 28 11 7
+f 29 23 10
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+f 29 24 17
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+f 30 26 21
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+f 30 9 26
+f 31 26 5
+f 31 5 15
+f 31 15 20
+f 31 20 27
+f 31 27 21
+f 31 21 26
+f 32 28 7
+f 32 7 23
+f 32 23 28
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_17/collision/model_normalized_collision_1.obj b/objects/objaverse/pear/pear_17/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4e0c67c4dc65b5c4449309b8d75d9382a20dd347
--- /dev/null
+++ b/objects/objaverse/pear/pear_17/collision/model_normalized_collision_1.obj
@@ -0,0 +1,159 @@
+# https://github.com/mikedh/trimesh
+v 0.20152543 0.27973006 -0.09256543
+v 0.17966562 0.25145933 -0.33676386
+v 0.07308795 0.34475222 -0.21726269
+v -0.07064461 0.34522728 -0.14694481
+v -0.10421242 0.25685782 -0.09848485
+v -0.13173078 0.28128229 -0.33689606
+v 0.10600867 0.32609979 -0.10038998
+v 0.17325663 0.30011047 -0.24478099
+v 0.08842751 0.30015186 -0.33160428
+v -0.04096132 0.34513146 -0.24536216
+v -0.16506099 0.28756436 -0.29567050
+v -0.10421242 0.25685782 -0.15909091
+v 0.04504745 0.34544255 -0.13325068
+v -0.11059004 0.32262964 -0.09236072
+v 0.13182150 0.32916985 -0.15992563
+v -0.06592580 0.28551796 -0.36289795
+v 0.15841079 0.29935526 -0.27362244
+v 0.05956685 0.32835034 -0.28777796
+v -0.09757097 0.31401870 -0.30153279
+v -0.08470815 0.34510693 -0.18854612
+v -0.15910970 0.27764794 -0.31997280
+v -0.07050841 0.34617373 -0.21747811
+v -0.05649386 0.34464129 -0.13375678
+v 0.14517048 0.31398970 -0.10334502
+v 0.15963807 0.31387617 -0.21684674
+v 0.07338989 0.34396083 -0.14716086
+v 0.17305735 0.28462679 -0.28738946
+v 0.04451657 0.34418251 -0.24511475
+v -0.05600103 0.32922813 -0.28812505
+v 0.07268034 0.31292188 -0.31517270
+v 0.10088596 0.32810223 -0.25976584
+v -0.14031764 0.29772702 -0.30057142
+v -0.09752963 0.29875137 -0.33054797
+v -0.10109526 0.33234486 -0.11713665
+v -0.09961595 0.32938849 -0.26026558
+v 0.11726245 0.33019974 -0.13231652
+v 0.15964461 0.31333828 -0.13237435
+v 0.13148166 0.32884968 -0.20342869
+v 0.12907203 0.31332086 -0.27343203
+v 0.10419129 0.33105036 -0.11744581
+v 0.12983963 0.28463830 -0.33071135
+v -0.06930599 0.31420921 -0.31586462
+v 0.11594890 0.31270283 -0.28718530
+v -0.15385362 0.28404091 -0.31464675
+v -0.12714557 0.28675423 -0.33193223
+v -0.08467077 0.34495400 -0.17536349
+v -0.15927589 0.29308957 -0.29124685
+v -0.14243507 0.30219702 -0.28884799
+v -0.08428800 0.32868291 -0.27397228
+v 0.17333780 0.30035313 -0.10273382
+v 0.17336023 0.26998018 -0.31531107
+v 0.11650054 0.29909581 -0.31558725
+v 0.15816575 0.26990865 -0.33041900
+v 0.17398884 0.25895076 -0.33243421
+f 5 2 1
+f 8 1 2
+f 12 2 5
+f 14 5 1
+f 14 1 7
+f 14 11 5
+f 14 7 13
+f 16 9 2
+f 16 2 6
+f 21 6 2
+f 21 2 12
+f 21 12 5
+f 21 5 11
+f 22 4 13
+f 22 13 3
+f 22 3 10
+f 23 14 13
+f 23 13 4
+f 24 7 1
+f 25 1 8
+f 26 15 3
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+f 27 8 2
+f 28 18 10
+f 28 10 3
+f 29 10 18
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+f 33 16 6
+f 34 23 4
+f 34 14 23
+f 35 20 22
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+f 36 15 26
+f 37 36 24
+f 37 15 36
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+f 38 15 25
+f 38 31 3
+f 39 25 8
+f 39 8 17
+f 39 38 25
+f 39 31 38
+f 40 26 13
+f 40 13 7
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+f 41 2 9
+f 41 17 27
+f 42 29 18
+f 42 18 30
+f 42 30 16
+f 42 16 33
+f 42 33 19
+f 42 19 29
+f 43 30 18
+f 43 18 31
+f 43 31 39
+f 44 21 11
+f 44 6 21
+f 45 32 19
+f 45 19 33
+f 45 33 6
+f 45 44 32
+f 45 6 44
+f 46 34 4
+f 46 22 20
+f 46 4 22
+f 47 11 14
+f 47 14 34
+f 47 20 35
+f 47 44 11
+f 47 32 44
+f 47 46 20
+f 47 34 46
+f 48 35 19
+f 48 19 32
+f 48 47 35
+f 48 32 47
+f 49 29 19
+f 49 19 35
+f 49 35 10
+f 49 10 29
+f 50 37 24
+f 50 24 1
+f 50 1 37
+f 51 41 27
+f 51 27 2
+f 52 39 17
+f 52 17 41
+f 52 43 39
+f 52 41 9
+f 52 9 30
+f 52 30 43
+f 53 2 41
+f 53 41 51
+f 54 53 51
+f 54 51 2
+f 54 2 53
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_17/collision/model_normalized_collision_10.obj b/objects/objaverse/pear/pear_17/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..18866ed8f2bf62ebbd3d75fa2e32bb00284d5a26
--- /dev/null
+++ b/objects/objaverse/pear/pear_17/collision/model_normalized_collision_10.obj
@@ -0,0 +1,117 @@
+# https://github.com/mikedh/trimesh
+v 0.20828298 0.18632265 0.03404735
+v 0.18366636 0.16594873 -0.09848485
+v 0.17975890 0.29582553 -0.10010468
+v -0.10109526 0.33234486 -0.11713665
+v -0.19154319 0.19547088 0.04234954
+v 0.08995168 0.33405289 -0.11710357
+v -0.16481848 0.16594873 -0.09848485
+v 0.10695121 0.32954896 -0.11432508
+v -0.14301798 0.31808171 -0.11683939
+v 0.07578391 0.28447722 -0.00416312
+v -0.17358116 0.30198796 -0.11052172
+v -0.14325477 0.27016683 -0.00375406
+v 0.10474267 0.31316381 -0.06176885
+v -0.16129652 0.30957890 -0.11526226
+v -0.09939575 0.31484875 -0.06107354
+v -0.10039146 0.28349844 -0.00438795
+v -0.15426438 0.28362558 -0.03277683
+v 0.08922907 0.33052071 -0.10358174
+v 0.16041141 0.29904148 -0.07387626
+v -0.11579411 0.32405683 -0.10251500
+v 0.03161950 0.31421937 -0.04761801
+v -0.15848819 0.26048065 -0.00120684
+v -0.11480745 0.29742406 -0.03266637
+v -0.15735629 0.29969256 -0.07409995
+v 0.11511563 0.32539071 -0.10754207
+v -0.07035332 0.33017338 -0.08903514
+v 0.17233401 0.26856163 -0.01887646
+v -0.10084070 0.32899235 -0.10396915
+v 0.10528052 0.29890600 -0.03267196
+v 0.07413144 0.32890829 -0.08946421
+v -0.04274089 0.31415632 -0.04664304
+v -0.14192877 0.31529110 -0.10345607
+v 0.13300629 0.31476539 -0.08855260
+v 0.16309578 0.30544636 -0.10145591
+v 0.17194521 0.28299021 -0.04543836
+v 0.14687920 0.27047097 -0.00366039
+v 0.13370956 0.31819788 -0.10229207
+v 0.16035787 0.28250603 -0.03228743
+v 0.17431829 0.25668256 -0.00346648
+v 0.13410799 0.28424376 -0.01803509
+f 1 2 3
+f 7 2 1
+f 7 1 5
+f 8 3 2
+f 8 2 6
+f 9 6 2
+f 9 4 6
+f 9 2 7
+f 10 5 1
+f 11 7 5
+f 14 9 7
+f 14 7 11
+f 16 12 5
+f 16 5 10
+f 17 11 5
+f 18 8 6
+f 20 4 9
+f 22 17 5
+f 22 5 12
+f 22 12 17
+f 23 15 17
+f 23 17 12
+f 23 12 16
+f 24 14 11
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+f 24 17 15
+f 24 15 20
+f 25 18 13
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+f 26 6 4
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+f 29 21 10
+f 29 13 21
+f 30 21 13
+f 30 13 18
+f 30 26 21
+f 30 18 6
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+f 31 10 21
+f 31 23 16
+f 31 15 23
+f 31 26 15
+f 31 21 26
+f 32 9 14
+f 32 14 24
+f 32 24 20
+f 32 20 9
+f 33 25 13
+f 34 3 8
+f 34 33 19
+f 34 19 3
+f 35 27 1
+f 35 1 3
+f 35 3 19
+f 36 10 1
+f 37 34 8
+f 37 8 25
+f 37 25 33
+f 37 33 34
+f 38 36 27
+f 38 27 35
+f 38 33 13
+f 38 35 19
+f 38 19 33
+f 39 36 1
+f 39 1 27
+f 39 27 36
+f 40 29 10
+f 40 10 36
+f 40 36 38
+f 40 38 13
+f 40 13 29
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_17/collision/model_normalized_collision_11.obj b/objects/objaverse/pear/pear_17/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..386e533572d5366d5781b649d23f226ca101371a
--- /dev/null
+++ b/objects/objaverse/pear/pear_17/collision/model_normalized_collision_11.obj
@@ -0,0 +1,159 @@
+# https://github.com/mikedh/trimesh
+v 0.00075333 -0.27686690 0.00082391
+v 0.01686244 -0.27197201 0.00679454
+v -0.02601324 -0.01414074 0.34117910
+v -0.15646527 0.22645132 0.04006054
+v 0.01699970 0.19625176 0.00757576
+v -0.13255034 -0.26781039 0.00364454
+v 0.01473216 -0.13698469 0.22559996
+v 0.01461031 0.16339306 0.17953459
+v -0.11821323 -0.02694158 0.25074514
+v -0.10242704 -0.27772960 0.00057821
+v -0.01441407 -0.25523445 0.04140735
+v -0.05150291 -0.12047101 0.23679536
+v 0.01493274 0.06677486 0.29912416
+v 0.01627599 0.18031946 0.14955231
+v -0.10338953 0.06545727 0.24917743
+v 0.01582240 -0.25950451 0.03039455
+v -0.05690580 -0.25613736 0.04088620
+v -0.01115970 -0.09236325 0.27933197
+v -0.03905374 -0.13402989 0.22359155
+v -0.11736673 -0.07893367 0.22206021
+v 0.01478839 -0.09190817 0.27882297
+v -0.02459706 0.10506972 0.26462505
+v -0.02574342 0.16257209 0.17898118
+v 0.01477120 0.10550830 0.26536358
+v -0.11839404 0.02555338 0.25090119
+v 0.00013816 -0.27024254 0.01299430
+v 0.01591346 -0.24296145 0.05746778
+v -0.05111377 -0.07888409 0.27901553
+v -0.12773023 -0.25468887 0.02402337
+v -0.10131928 -0.27124194 0.01093181
+v -0.01212913 -0.10667829 0.26520439
+v -0.08882411 -0.06507252 0.26341552
+v 0.00957257 -0.01108670 0.34212824
+v -0.02032440 -0.01892490 0.34180554
+v -0.06403939 0.10404047 0.24869808
+v -0.04936527 0.06236538 0.29163806
+v -0.03956499 0.17844841 0.14794525
+v -0.03927907 0.13349528 0.22414884
+v 0.01487363 0.09104520 0.27946368
+v -0.07591458 -0.01391438 0.29418966
+v -0.07499441 0.02456149 0.29264562
+v -0.11784517 0.07783721 0.22240054
+v -0.11707769 -0.09387063 0.20762171
+v 0.01467516 -0.10629818 0.26471962
+v -0.10277226 -0.04024665 0.26341487
+v -0.07760884 -0.10647862 0.23600472
+v -0.07712100 -0.07843848 0.26341609
+v 0.00460908 -0.01678230 0.33970942
+v -0.02475511 0.09054987 0.27858565
+v -0.06261742 0.09010585 0.26341639
+v -0.10318517 0.03895857 0.26341641
+v -0.06220763 0.04964890 0.29189655
+v -0.10305171 -0.06669318 0.24884744
+v -0.08944798 0.06409795 0.26341642
+f 5 2 1
+f 6 4 5
+f 9 4 6
+f 10 6 5
+f 10 5 1
+f 14 5 4
+f 14 13 2
+f 14 2 5
+f 16 1 2
+f 17 10 1
+f 17 1 11
+f 17 11 7
+f 19 17 7
+f 20 9 6
+f 21 2 13
+f 23 8 14
+f 24 14 8
+f 25 4 9
+f 26 16 11
+f 26 11 1
+f 26 1 16
+f 27 16 2
+f 27 2 7
+f 27 7 11
+f 27 11 16
+f 29 19 12
+f 30 10 17
+f 30 17 19
+f 30 19 29
+f 30 29 6
+f 30 6 10
+f 31 12 19
+f 31 28 12
+f 31 18 28
+f 31 19 7
+f 33 21 13
+f 33 13 3
+f 34 18 21
+f 34 28 18
+f 34 33 3
+f 35 4 15
+f 36 3 13
+f 37 23 14
+f 37 14 4
+f 37 4 23
+f 38 8 23
+f 38 24 8
+f 38 22 24
+f 38 23 4
+f 38 35 22
+f 38 4 35
+f 39 13 14
+f 39 14 24
+f 39 24 22
+f 40 25 9
+f 41 40 3
+f 41 25 40
+f 42 25 15
+f 42 15 4
+f 42 4 25
+f 43 20 6
+f 43 6 29
+f 44 21 18
+f 44 18 31
+f 44 31 7
+f 44 7 2
+f 44 2 21
+f 45 32 3
+f 45 40 9
+f 45 3 40
+f 46 12 28
+f 46 20 43
+f 46 43 29
+f 46 29 12
+f 47 28 34
+f 47 46 28
+f 47 34 3
+f 47 3 32
+f 48 34 21
+f 48 21 33
+f 48 33 34
+f 49 36 13
+f 49 39 22
+f 49 13 39
+f 50 35 15
+f 50 36 49
+f 50 49 22
+f 50 22 35
+f 51 15 25
+f 51 25 41
+f 52 36 50
+f 52 41 3
+f 52 3 36
+f 53 45 9
+f 53 9 20
+f 53 32 45
+f 53 47 32
+f 53 20 46
+f 53 46 47
+f 54 15 51
+f 54 51 41
+f 54 41 52
+f 54 52 50
+f 54 50 15
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_17/collision/model_normalized_collision_12.obj b/objects/objaverse/pear/pear_17/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..673b0a701be51bd77b51461628a2fde03c3d138c
--- /dev/null
+++ b/objects/objaverse/pear/pear_17/collision/model_normalized_collision_12.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.01984114 -0.32620829 -0.08007528
+v 0.01699970 -0.19768763 -0.09848485
+v 0.01699970 -0.19768763 0.00757576
+v -0.18330254 -0.21606426 0.02865685
+v -0.15956856 -0.30703999 -0.10172810
+v -0.16481848 -0.19768763 -0.09848485
+v 0.01581768 -0.27580316 0.00023841
+v -0.05873164 -0.33378002 -0.09857536
+v -0.13007625 -0.31962259 -0.10251828
+v -0.05903692 -0.30267967 -0.03317185
+v -0.14304958 -0.27001241 -0.00483464
+v -0.05810312 -0.31832358 -0.06096308
+v -0.15624638 -0.27269025 -0.01782384
+v -0.05915933 -0.27994438 0.00245551
+v -0.11462870 -0.31556510 -0.07520471
+v -0.15797876 -0.26067634 -0.00219942
+v -0.15676199 -0.30003523 -0.07457931
+v -0.08780795 -0.30115262 -0.03332858
+v -0.08659491 -0.31574085 -0.06142155
+v -0.12736988 -0.30041379 -0.04611602
+v -0.12924918 -0.31601926 -0.08871792
+v -0.12780141 -0.28495510 -0.01929026
+f 1 2 3
+f 6 3 2
+f 6 4 3
+f 6 5 4
+f 7 1 3
+f 7 3 4
+f 8 2 1
+f 9 6 2
+f 9 5 6
+f 9 2 8
+f 10 1 7
+f 12 8 1
+f 12 1 10
+f 14 10 7
+f 14 7 4
+f 14 4 11
+f 15 9 8
+f 16 13 11
+f 16 11 4
+f 16 4 13
+f 17 13 4
+f 17 4 5
+f 18 10 14
+f 18 12 10
+f 19 15 8
+f 19 8 12
+f 19 12 18
+f 20 13 17
+f 20 19 18
+f 20 15 19
+f 21 17 5
+f 21 5 9
+f 21 9 15
+f 21 20 17
+f 21 15 20
+f 22 18 14
+f 22 14 11
+f 22 20 18
+f 22 11 13
+f 22 13 20
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_17/collision/model_normalized_collision_13.obj b/objects/objaverse/pear/pear_17/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..963108f532da61fb5c61717259b3eb4e2e88f916
--- /dev/null
+++ b/objects/objaverse/pear/pear_17/collision/model_normalized_collision_13.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.08329246 -0.01504744 0.49333865
+v 0.09250511 -0.00879479 0.46858289
+v 0.08330421 0.01397820 0.49367225
+v -0.04177959 0.04271896 0.30541560
+v -0.04359613 -0.01586580 0.31053233
+v 0.01689370 0.04451275 0.30977462
+v 0.09385997 -0.00868598 0.48725958
+v 0.01298045 -0.01307350 0.30988813
+v 0.00182126 -0.00770544 0.42170929
+v 0.09282834 0.00718684 0.46844522
+v 0.07995303 -0.01678228 0.45448299
+v 0.00061904 -0.01414516 0.40993398
+v 0.06281566 -0.00680492 0.49455365
+v 0.01713366 0.01338022 0.43410733
+v -0.02560732 0.00694051 0.36230810
+v 0.07995303 0.01601734 0.45448299
+v 0.09385997 0.00792115 0.48725958
+v -0.02032440 -0.01892490 0.34180554
+v -0.02560732 -0.00770544 0.36230810
+v 0.07054416 -0.01386380 0.49533461
+v 0.07036451 0.01281740 0.49561049
+v 0.00182126 0.00694051 0.42170929
+v 0.00460908 -0.01678230 0.33970942
+v 0.06192954 -0.01416934 0.48466831
+v 0.06281617 0.00604132 0.49455314
+f 6 4 3
+f 7 3 1
+f 8 6 2
+f 8 5 4
+f 8 4 6
+f 10 2 6
+f 10 7 2
+f 11 7 1
+f 11 2 7
+f 11 8 2
+f 15 4 5
+f 16 10 6
+f 16 6 3
+f 17 3 7
+f 17 7 10
+f 17 16 3
+f 17 10 16
+f 18 5 8
+f 18 12 5
+f 18 11 1
+f 19 12 9
+f 19 5 12
+f 19 15 5
+f 19 9 15
+f 20 1 3
+f 20 13 9
+f 21 3 4
+f 21 4 14
+f 21 20 3
+f 21 13 20
+f 22 9 13
+f 22 15 9
+f 22 14 4
+f 22 4 15
+f 23 18 8
+f 23 8 11
+f 23 11 18
+f 24 18 1
+f 24 1 20
+f 24 12 18
+f 24 20 9
+f 24 9 12
+f 25 21 14
+f 25 14 22
+f 25 22 13
+f 25 13 21
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_17/collision/model_normalized_collision_14.obj b/objects/objaverse/pear/pear_17/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bccdb6fefb8add90bbac148e560fcfe7a564b343
--- /dev/null
+++ b/objects/objaverse/pear/pear_17/collision/model_normalized_collision_14.obj
@@ -0,0 +1,183 @@
+# https://github.com/mikedh/trimesh
+v 0.26060896 0.15778242 -0.00251424
+v 0.30671274 0.15964040 -0.24619943
+v 0.28644253 0.19788520 -0.11773111
+v 0.17671808 0.30590930 -0.14524864
+v 0.18130145 0.16380788 -0.41316086
+v 0.24505520 0.25615686 -0.18809071
+v 0.18691599 0.26754075 -0.03242127
+v 0.30577162 0.15919457 -0.10224537
+v 0.21819659 0.15785299 -0.38922098
+v 0.28741897 0.19846408 -0.23040630
+v 0.17612400 0.27458748 -0.30386957
+v 0.25806681 0.21251294 -0.06085836
+v 0.20828298 0.18632265 0.03404735
+v 0.17924985 0.24961665 0.00173666
+v 0.19268117 0.16039346 -0.40756947
+v 0.29193640 0.15818509 -0.28955262
+v 0.25857649 0.24242613 -0.17476149
+v 0.17694645 0.30626299 -0.20371665
+v 0.22879783 0.25491529 -0.25920425
+v 0.28643737 0.17019368 -0.06095157
+v 0.17520915 0.27325324 -0.02956965
+v 0.24279972 0.21288690 -0.03201534
+v 0.17563444 0.24601983 -0.34773860
+v 0.29227785 0.15849638 -0.05844283
+v 0.30153736 0.17000714 -0.24443827
+v 0.25846385 0.24232452 -0.18806095
+v 0.22862269 0.25582941 -0.08805141
+v 0.17542619 0.28857574 -0.27514796
+v 0.18789554 0.29927785 -0.14601633
+v 0.25710190 0.21227287 -0.28661828
+v 0.20152132 0.28551520 -0.23057480
+v 0.30057236 0.16951074 -0.10388353
+v 0.17626822 0.29008546 -0.07199815
+v 0.17788702 0.17586841 -0.40809924
+v 0.18879891 0.24509199 -0.00186474
+v 0.27200968 0.18358511 -0.04588107
+v 0.25585568 0.17015465 -0.00594822
+v 0.25727978 0.22604913 -0.25913446
+v 0.25672776 0.22626910 -0.08857006
+v 0.20042181 0.27015293 -0.06038039
+v 0.24489517 0.25616438 -0.15962385
+v 0.17569382 0.20259632 -0.39077358
+v 0.21415862 0.25548091 -0.28673568
+v 0.18810390 0.29960559 -0.20322404
+v 0.24332321 0.16916816 -0.35629615
+v 0.28613913 0.16985896 -0.28690892
+v 0.18694457 0.28251920 -0.27287506
+v 0.20128667 0.28578332 -0.11680792
+v 0.25651774 0.18358449 -0.01959360
+v 0.18765731 0.28382326 -0.07398338
+v 0.21420878 0.17004889 -0.38473328
+v 0.22772134 0.22672333 -0.31411601
+v 0.24684080 0.15840046 -0.36029069
+v 0.27159099 0.17022089 -0.31473025
+v 0.18591659 0.26975219 -0.30065069
+v 0.18926676 0.17245396 -0.40250787
+v 0.18709082 0.19844885 -0.38571505
+v 0.27684611 0.15822180 -0.31792555
+v 0.27174847 0.18292818 -0.30032470
+v 0.19977449 0.24117721 -0.32987999
+v 0.24211509 0.19857596 -0.32967575
+v 0.18689529 0.24076990 -0.34370742
+f 10 8 2
+f 10 3 8
+f 13 5 1
+f 14 5 13
+f 15 9 1
+f 15 1 5
+f 16 1 9
+f 16 2 8
+f 17 3 10
+f 20 3 12
+f 21 14 7
+f 24 16 8
+f 24 1 16
+f 25 10 2
+f 25 2 16
+f 26 17 10
+f 26 6 17
+f 28 4 18
+f 28 21 4
+f 28 11 23
+f 29 18 4
+f 31 6 19
+f 31 28 18
+f 32 8 3
+f 32 3 20
+f 32 24 8
+f 32 20 24
+f 33 21 7
+f 33 4 21
+f 34 5 14
+f 34 14 21
+f 35 22 7
+f 35 7 14
+f 35 14 13
+f 35 13 22
+f 36 20 12
+f 36 12 22
+f 36 24 20
+f 36 1 24
+f 37 13 1
+f 37 1 36
+f 38 19 6
+f 38 6 26
+f 38 26 10
+f 38 30 19
+f 38 10 30
+f 39 27 12
+f 39 12 3
+f 40 22 12
+f 40 12 27
+f 40 7 22
+f 41 17 6
+f 41 27 39
+f 41 39 3
+f 41 3 17
+f 42 28 23
+f 42 21 28
+f 42 34 21
+f 43 19 30
+f 44 18 29
+f 44 31 18
+f 44 6 31
+f 44 41 6
+f 44 29 41
+f 46 25 16
+f 46 30 10
+f 46 10 25
+f 47 31 19
+f 47 28 31
+f 47 19 43
+f 47 11 28
+f 48 29 4
+f 48 4 33
+f 48 40 27
+f 48 41 29
+f 48 27 41
+f 49 22 13
+f 49 13 37
+f 49 37 36
+f 49 36 22
+f 50 33 7
+f 50 7 40
+f 50 48 33
+f 50 40 48
+f 51 9 15
+f 52 43 30
+f 53 51 45
+f 53 9 51
+f 55 47 43
+f 55 11 47
+f 56 51 15
+f 56 15 5
+f 56 5 34
+f 57 42 23
+f 57 45 51
+f 57 51 56
+f 57 56 34
+f 57 34 42
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+f 58 9 53
+f 58 54 16
+f 58 53 45
+f 58 45 54
+f 59 30 46
+f 59 46 16
+f 59 16 54
+f 60 55 43
+f 60 43 52
+f 60 23 11
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+f 61 52 30
+f 61 30 59
+f 61 60 52
+f 61 45 57
+f 61 59 54
+f 61 54 45
+f 62 57 23
+f 62 23 60
+f 62 61 57
+f 62 60 61
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_17/collision/model_normalized_collision_15.obj b/objects/objaverse/pear/pear_17/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c0f5f7a9d7243851c501592a5cc55be42e328f82
--- /dev/null
+++ b/objects/objaverse/pear/pear_17/collision/model_normalized_collision_15.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v 0.16004537 0.18764503 0.07156495
+v 0.18745237 0.21456859 0.02991804
+v 0.09046353 0.25442564 0.03948533
+v -0.11722196 0.27677195 0.00072646
+v -0.15646527 0.22645132 0.04006054
+v 0.12069481 0.27558009 -0.00004000
+v 0.15990033 0.22752613 0.03899407
+v -0.12939270 0.18925164 0.09042470
+v -0.13302476 0.26807878 0.00479335
+v -0.08526348 0.25590377 0.03994437
+v 0.15720885 0.19739671 0.06583884
+v 0.13154551 0.25522822 0.02471025
+v 0.07462852 0.18687613 0.12128983
+v 0.16231575 0.26184550 -0.00062011
+v -0.12796801 0.25507523 0.02483431
+v 0.11925755 0.26880281 0.01075833
+v -0.07127757 0.18800325 0.12235801
+v 0.10344593 0.23938549 0.05379215
+v 0.15863391 0.25580264 0.00965389
+v -0.11529869 0.27022383 0.01126000
+v -0.09999218 0.24042460 0.05418611
+v -0.12666248 0.19788071 0.08397288
+v 0.04572075 0.22449024 0.08424371
+v -0.04206998 0.22528784 0.08471473
+f 8 5 2
+f 8 2 1
+f 9 2 5
+f 10 6 4
+f 10 3 6
+f 11 1 2
+f 11 2 7
+f 13 8 1
+f 13 1 11
+f 13 11 7
+f 13 7 12
+f 14 2 9
+f 14 9 4
+f 14 4 6
+f 15 9 5
+f 16 6 3
+f 16 3 12
+f 16 14 6
+f 16 12 14
+f 17 8 13
+f 18 13 12
+f 18 12 3
+f 18 3 13
+f 19 14 12
+f 19 12 7
+f 19 7 2
+f 19 2 14
+f 20 10 4
+f 20 4 9
+f 20 9 15
+f 21 17 10
+f 21 15 5
+f 21 5 17
+f 21 20 15
+f 21 10 20
+f 22 17 5
+f 22 5 8
+f 22 8 17
+f 23 17 13
+f 23 13 3
+f 24 23 3
+f 24 3 10
+f 24 10 17
+f 24 17 23
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_17/collision/model_normalized_collision_16.obj b/objects/objaverse/pear/pear_17/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d0a1243997a46007784e4b5bcc11b413718ddc5
--- /dev/null
+++ b/objects/objaverse/pear/pear_17/collision/model_normalized_collision_16.obj
@@ -0,0 +1,150 @@
+# https://github.com/mikedh/trimesh
+v 0.17628863 0.15927002 -0.41905530
+v 0.21240713 0.19196641 -0.36976557
+v -0.16481848 0.16594873 -0.34090909
+v -0.05715865 0.30670967 -0.33420176
+v 0.08690499 0.27077387 -0.37341167
+v 0.17966562 0.25145933 -0.33676386
+v -0.07075975 0.15929978 -0.46419649
+v 0.12894660 0.24141244 -0.38523002
+v 0.14639272 0.27554067 -0.33277126
+v -0.15731745 0.15766267 -0.43263558
+v -0.01258129 0.24233815 -0.41584134
+v 0.17261172 0.21224335 -0.38515160
+v -0.14487103 0.27703642 -0.33399759
+v 0.05962096 0.30613535 -0.33370512
+v 0.12979584 0.25424279 -0.37173059
+v 0.11770811 0.15872664 -0.44873760
+v -0.09892396 0.24204947 -0.39938566
+v 0.17229566 0.17080675 -0.41496200
+v 0.17206341 0.24120119 -0.35670760
+v -0.16116713 0.26592492 -0.33653293
+v 0.11810826 0.28900690 -0.33277126
+v 0.02975992 0.27108041 -0.38681588
+v 0.05907489 0.17163770 -0.45941436
+v -0.05571777 0.19924775 -0.44346586
+v -0.11180038 0.19879464 -0.42811407
+v -0.08467453 0.28477388 -0.35775609
+v 0.14335649 0.19790026 -0.41334846
+v 0.14296086 0.26981967 -0.34358552
+v -0.15462140 0.25501248 -0.35646059
+v 0.05797825 0.29956721 -0.34467986
+v 0.11562293 0.28300680 -0.34328516
+v -0.11525264 0.29080031 -0.33336751
+v 0.06022879 0.15971726 -0.46551224
+v 0.04441259 0.19984743 -0.44438621
+v -0.04137041 0.25697317 -0.39996102
+v -0.07030713 0.17101358 -0.45823642
+v 0.11545491 0.17083769 -0.44310325
+v -0.14197256 0.27091763 -0.34497209
+v -0.15470320 0.21290554 -0.39799689
+v -0.05616278 0.30001288 -0.34517653
+v 0.01626988 0.24218182 -0.41566938
+v 0.08752568 0.22705737 -0.41472316
+v -0.09776361 0.26910356 -0.37209148
+v -0.04111756 0.27042439 -0.38621622
+v -0.09854077 0.18427874 -0.44239512
+v 0.08755250 0.18526434 -0.44401895
+v -0.15446711 0.16966555 -0.42718871
+v 0.02999556 0.25751323 -0.40056108
+v 0.07289614 0.21336744 -0.42901104
+v -0.12625455 0.26972163 -0.35684867
+v -0.11297552 0.28442414 -0.34434197
+f 1 2 3
+f 6 3 2
+f 9 3 6
+f 10 1 3
+f 13 3 9
+f 15 8 5
+f 16 10 7
+f 16 1 10
+f 18 12 2
+f 18 2 1
+f 18 1 16
+f 19 6 2
+f 19 2 12
+f 19 12 8
+f 19 8 15
+f 20 10 3
+f 20 3 13
+f 25 17 24
+f 27 8 12
+f 27 12 18
+f 28 19 15
+f 28 9 6
+f 28 6 19
+f 28 21 9
+f 30 5 22
+f 30 4 14
+f 31 15 5
+f 31 5 30
+f 31 30 14
+f 31 14 21
+f 31 28 15
+f 31 21 28
+f 32 13 9
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+f 32 4 26
+f 32 21 14
+f 32 14 4
+f 33 16 7
+f 34 24 11
+f 35 24 17
+f 35 11 24
+f 36 33 7
+f 36 23 33
+f 36 34 23
+f 36 24 34
+f 37 27 18
+f 37 18 16
+f 38 29 20
+f 38 20 13
+f 39 29 17
+f 39 17 25
+f 39 10 20
+f 39 20 29
+f 40 30 22
+f 40 4 30
+f 40 26 4
+f 41 34 11
+f 42 5 8
+f 42 8 27
+f 43 35 17
+f 44 22 11
+f 44 11 35
+f 44 40 22
+f 44 26 40
+f 44 43 26
+f 44 35 43
+f 45 25 24
+f 45 24 36
+f 45 36 7
+f 45 7 10
+f 46 33 23
+f 46 23 34
+f 46 42 27
+f 46 27 37
+f 46 37 16
+f 46 16 33
+f 47 39 25
+f 47 10 39
+f 47 45 10
+f 47 25 45
+f 48 41 11
+f 48 11 22
+f 48 22 5
+f 48 5 42
+f 49 34 41
+f 49 48 42
+f 49 41 48
+f 49 46 34
+f 49 42 46
+f 50 43 17
+f 50 17 29
+f 50 29 38
+f 51 50 38
+f 51 32 26
+f 51 26 43
+f 51 43 50
+f 51 38 13
+f 51 13 32
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_17/collision/model_normalized_collision_17.obj b/objects/objaverse/pear/pear_17/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0df82eb5024b426caa11260fad18ea705fc776cd
--- /dev/null
+++ b/objects/objaverse/pear/pear_17/collision/model_normalized_collision_17.obj
@@ -0,0 +1,135 @@
+# https://github.com/mikedh/trimesh
+v 0.02032050 -0.17484947 0.15719011
+v 0.18795286 -0.01532915 0.13699773
+v 0.04142207 -0.02749422 0.30893699
+v 0.02202374 0.17109238 0.16380786
+v 0.14347201 0.12682074 0.13356636
+v 0.01605991 0.04266884 0.31033198
+v 0.14298517 -0.12751704 0.13310735
+v 0.10687709 0.05222195 0.24979474
+v 0.01482370 -0.06777567 0.29851969
+v 0.10658670 -0.05352052 0.24951926
+v 0.12884000 -0.14155188 0.13315115
+v 0.17424018 0.07167328 0.13755238
+v 0.06525641 0.03732867 0.29329050
+v 0.05419004 0.11819974 0.23595158
+v 0.01592624 -0.04316928 0.31028760
+v 0.01541987 0.12502196 0.24218410
+v 0.17401536 -0.07282144 0.13734935
+v 0.06588565 -0.06586558 0.27796457
+v 0.13492850 -0.02722990 0.22354443
+v 0.09226915 -0.09262060 0.23464763
+v 0.13490186 0.02683976 0.22365127
+v 0.18799878 0.01389556 0.13702706
+v 0.13436087 0.07879659 0.19222201
+v 0.04199721 0.02640166 0.30893699
+v 0.06502144 -0.03862372 0.29296123
+v 0.09269274 0.09156824 0.23506346
+v 0.04019271 0.06318705 0.29398705
+v 0.02850186 -0.04124956 0.30893699
+v 0.01493274 0.06677486 0.29912416
+v 0.01473216 -0.13698469 0.22559996
+v 0.12122447 -0.06628530 0.22296437
+v 0.14931307 -0.04137008 0.19353685
+v 0.09341391 -0.05262909 0.26363581
+v 0.16423892 0.05295003 0.16247999
+v 0.07851896 0.05134673 0.27708599
+v 0.05286571 0.07725246 0.27763882
+v 0.02912597 0.04065341 0.30893697
+v 0.03995784 -0.06423140 0.29343813
+v 0.01477120 0.10550830 0.26536358
+v 0.08143182 -0.13335336 0.19239240
+v 0.13555083 -0.09356440 0.17675594
+v 0.07952641 0.09072691 0.24824455
+v 0.02808588 0.10423949 0.26378127
+v 0.05386074 -0.11894026 0.23539166
+v 0.05258553 -0.07831045 0.27711836
+v 0.04051020 -0.13321324 0.22273158
+f 5 1 4
+f 11 1 5
+f 11 5 7
+f 14 5 4
+f 15 3 6
+f 16 14 4
+f 17 7 2
+f 20 11 7
+f 21 12 8
+f 21 8 13
+f 21 13 19
+f 22 5 12
+f 22 7 5
+f 22 2 7
+f 22 21 19
+f 22 19 2
+f 23 12 5
+f 23 8 12
+f 24 6 3
+f 25 19 13
+f 25 24 3
+f 25 13 24
+f 26 5 14
+f 26 23 5
+f 26 8 23
+f 28 15 9
+f 28 3 15
+f 29 15 6
+f 29 9 15
+f 30 16 4
+f 30 4 1
+f 31 20 7
+f 31 10 20
+f 31 19 10
+f 32 17 2
+f 32 2 19
+f 32 31 17
+f 32 19 31
+f 33 20 10
+f 33 18 20
+f 33 25 18
+f 33 10 19
+f 33 19 25
+f 34 22 12
+f 34 12 21
+f 34 21 22
+f 35 13 8
+f 35 27 13
+f 36 27 35
+f 37 24 13
+f 37 13 27
+f 37 6 24
+f 37 29 6
+f 37 27 29
+f 38 28 9
+f 38 18 25
+f 38 25 3
+f 38 3 28
+f 39 16 30
+f 39 30 9
+f 39 9 29
+f 40 1 11
+f 40 11 20
+f 41 31 7
+f 41 7 17
+f 41 17 31
+f 42 35 8
+f 42 8 26
+f 42 36 35
+f 42 26 14
+f 42 14 36
+f 43 29 27
+f 43 27 36
+f 43 39 29
+f 43 36 14
+f 43 14 16
+f 43 16 39
+f 44 9 30
+f 44 40 20
+f 45 38 9
+f 45 9 44
+f 45 18 38
+f 45 44 20
+f 45 20 18
+f 46 44 30
+f 46 30 1
+f 46 1 40
+f 46 40 44
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_17/collision/model_normalized_collision_18.obj b/objects/objaverse/pear/pear_17/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6bc4a210bcd4dbf0a6e831181aa8769925f7389d
--- /dev/null
+++ b/objects/objaverse/pear/pear_17/collision/model_normalized_collision_18.obj
@@ -0,0 +1,132 @@
+# https://github.com/mikedh/trimesh
+v 0.11890767 -0.32120945 -0.11746382
+v 0.18997020 -0.18967831 -0.39072388
+v 0.18849182 -0.28653495 -0.25997446
+v 0.20553631 -0.20398069 0.01381678
+v 0.12089037 -0.19407031 -0.42640864
+v 0.18900399 -0.28499952 -0.10500595
+v 0.13737237 -0.23181855 0.03133909
+v 0.13380329 -0.19173891 -0.42232290
+v 0.11797594 -0.30466304 -0.30366000
+v 0.16011396 -0.31579601 -0.17561321
+v 0.11880113 -0.25915318 -0.00125811
+v 0.17425157 -0.26835216 -0.04814781
+v 0.12863049 -0.24232144 -0.38467445
+v 0.14535876 -0.31607934 -0.13436179
+v 0.17399199 -0.30190507 -0.13390054
+v 0.13036592 -0.31748831 -0.26038363
+v 0.11665143 -0.24476420 -0.38797850
+v 0.18643542 -0.26957008 -0.06334730
+v 0.18910368 -0.22999289 -0.00269337
+v 0.13188473 -0.28572998 -0.04739126
+v 0.13138051 -0.20145119 -0.41722446
+v 0.18644408 -0.24159693 -0.34323992
+v 0.16008591 -0.30078812 -0.10517975
+v 0.15846182 -0.29958408 -0.27328729
+v 0.15983737 -0.31568120 -0.20386697
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+f 44 22 41
+f 45 44 2
+f 45 2 22
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\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_17/collision/model_normalized_collision_19.obj b/objects/objaverse/pear/pear_17/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..59bb3cff4b6ef9bb16b9c1838dd26d8a99ab1e99
--- /dev/null
+++ b/objects/objaverse/pear/pear_17/collision/model_normalized_collision_19.obj
@@ -0,0 +1,132 @@
+# https://github.com/mikedh/trimesh
+v 0.04569470 -0.30808636 -0.33416482
+v 0.14590421 -0.23576912 -0.38106123
+v -0.16075320 -0.26666828 -0.33603383
+v -0.16047693 -0.19289172 -0.40955709
+v -0.04164171 -0.20121947 -0.44456205
+v -0.18770987 -0.22297480 -0.36629802
+v 0.12099859 -0.28424433 -0.33793790
+v 0.01627481 -0.25886780 -0.40062635
+v 0.12089037 -0.19407031 -0.42640864
+v -0.09821400 -0.25664904 -0.38538841
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+v -0.04185693 -0.19069275 -0.45138603
+v 0.08733886 -0.22797008 -0.41411273
+v -0.09884324 -0.20150455 -0.43088492
+v -0.15422753 -0.22844529 -0.38512659
+v -0.01258621 -0.25902408 -0.40079834
+v -0.05702142 -0.30722271 -0.33362619
+v 0.08663956 -0.27146656 -0.37282426
+v 0.10347540 -0.19029707 -0.43591746
+v 0.11501759 -0.21458327 -0.41463654
+v 0.04431730 -0.20090230 -0.44380148
+v -0.06934136 -0.21519969 -0.42955083
+v -0.10105967 -0.19103203 -0.43752482
+v -0.15770408 -0.20323921 -0.40353560
+v -0.12634267 -0.22951797 -0.39920717
+v -0.12593033 -0.27047314 -0.35628498
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+v -0.01250495 -0.27254226 -0.38698055
+v -0.14450610 -0.27770191 -0.33347169
+v -0.11495388 -0.29139963 -0.33281949
+v 0.07333261 -0.28666238 -0.35810337
+v 0.11544166 -0.27251337 -0.35796540
+v 0.10205755 -0.20048698 -0.42944088
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+v 0.04469879 -0.30138953 -0.34513961
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+v -0.14160764 -0.27158311 -0.34444620
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+v -0.05602553 -0.30052592 -0.34460092
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\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_17/collision/model_normalized_collision_2.obj b/objects/objaverse/pear/pear_17/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a48aae283b63aa066deb4973c2455ac89ebaeb9
--- /dev/null
+++ b/objects/objaverse/pear/pear_17/collision/model_normalized_collision_2.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.19194542 -0.29122237 -0.13222034
+v 0.34826274 -0.04354088 -0.21748320
+v 0.28731585 -0.07080487 -0.00154702
+v 0.21827458 0.18182551 0.02806481
+v 0.19087569 0.10158041 -0.43569908
+v 0.33146973 0.05765878 -0.07385170
+v 0.19415579 -0.22186340 0.00268766
+v 0.28670249 -0.20039262 -0.14822225
+v 0.34696843 -0.04252658 -0.14714514
+v 0.30161506 0.04239981 -0.00393410
+v 0.29971689 0.15632664 -0.27306921
+v 0.27126561 -0.11470180 -0.00154139
+v 0.19100469 -0.27708206 -0.08733995
+v 0.19268117 0.16039346 -0.40756947
+v 0.18997020 -0.18967831 -0.39072388
+v 0.31586429 -0.01289288 -0.03125723
+v 0.34822313 0.05733936 -0.20360805
+v 0.33122865 -0.11491683 -0.16113709
+v 0.28800406 0.15600685 -0.04506234
+v 0.30121530 -0.01351164 -0.00341483
+v 0.30223462 0.02870013 -0.34506852
+v 0.24117083 -0.21301191 -0.04702383
+v 0.19204183 -0.24679950 -0.02946159
+v 0.24225071 -0.24275336 -0.25918971
+v 0.19028937 -0.24678563 -0.33277126
+v 0.33211690 -0.01303925 -0.07399782
+v 0.31693663 0.04257226 -0.03105785
+v 0.34842899 0.02916320 -0.13239633
+v 0.28454650 -0.17224609 -0.09132553
+v 0.28829076 0.09941918 -0.00342938
+v 0.31681775 0.15724990 -0.15963507
+v 0.29979007 -0.05592555 -0.01699869
+v 0.27276438 0.11359099 -0.35756398
+v 0.21602718 -0.05804921 -0.42966085
+v 0.28541282 -0.12786071 -0.32967750
+v 0.33180356 0.01351216 -0.28820086
+v 0.24355872 -0.17185283 -0.00216980
+v 0.24150453 -0.24329179 -0.10507954
+v 0.21286258 -0.21370603 -0.00533160
+v 0.20091918 -0.28614303 -0.23037031
+v 0.30093523 -0.17109325 -0.24430896
+v 0.19114776 -0.27824720 -0.27615768
+v 0.33001822 -0.08525750 -0.11950617
+v 0.34790395 -0.01424928 -0.13308128
+v 0.34827748 -0.01499595 -0.23134270
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+v 0.30179849 0.08579206 -0.01781640
+v 0.31628588 0.15699781 -0.20333684
+v 0.30268333 0.15773166 -0.08790837
+v 0.33136779 0.11372117 -0.13242468
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+v 0.20111014 -0.24311543 -0.03281464
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+f 63 41 8
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+f 64 18 41
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+f 64 45 2
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\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_17/collision/model_normalized_collision_20.obj b/objects/objaverse/pear/pear_17/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2c204ad1c8d44245210870f09a2fc668da48a67a
--- /dev/null
+++ b/objects/objaverse/pear/pear_17/collision/model_normalized_collision_20.obj
@@ -0,0 +1,144 @@
+# https://github.com/mikedh/trimesh
+v 0.16573440 -0.23807511 0.00396286
+v 0.29332395 -0.04346386 0.00113696
+v 0.15928783 -0.10122713 0.13707449
+v 0.16688604 0.25418625 0.00542070
+v 0.20355182 0.23203492 -0.00186474
+v 0.16004537 0.18764503 0.07156495
+v 0.22602730 -0.18538956 0.00975614
+v 0.20534781 -0.21665953 -0.00146379
+v 0.17924985 0.24961665 0.00173666
+v 0.16248355 -0.23214634 0.01469301
+v 0.18144026 0.06883355 0.12967912
+v 0.25691829 -0.08511571 0.03949958
+v 0.29380031 0.07234910 -0.00005157
+v 0.17836469 -0.23348043 0.00068677
+v 0.23152374 -0.18909442 -0.00148775
+v 0.18473661 -0.18411345 0.05206915
+v 0.19851141 0.22729836 0.00821807
+v 0.17583812 0.24401795 0.01126000
+v 0.15984707 -0.14412409 0.10340076
+v 0.16328887 0.24828618 0.01502433
+v 0.15970497 0.10007583 0.13738948
+v 0.22748294 -0.12712771 0.05274995
+v 0.18118195 -0.07017724 0.12946716
+v 0.25814888 -0.02832557 0.05439614
+v 0.27563532 -0.10127092 0.00014716
+v 0.20125719 -0.21110394 0.00954382
+v 0.24926088 0.17404732 -0.00076822
+v 0.19972914 -0.16878169 0.05190353
+v 0.18503291 0.16931407 0.06595396
+v 0.22749129 -0.09887509 0.06688138
+v 0.25770126 0.04229421 0.05333223
+v 0.28738435 -0.04241510 0.01170707
+v 0.24299575 -0.04347806 0.06833548
+v 0.24223153 -0.14252878 0.02511997
+v 0.21265564 -0.17035957 0.03840680
+v 0.18596730 -0.21098634 0.02351470
+v 0.24350726 0.17003909 0.00962591
+v 0.17137402 0.18376022 0.06625306
+v 0.28701917 0.07067350 0.01036384
+v 0.27156556 -0.07121195 0.02511401
+v 0.25622104 -0.11359293 0.02516837
+v 0.17515051 -0.22761667 0.01138334
+v 0.22830094 0.15479133 0.03729244
+v 0.25654279 0.09890277 0.03763400
+v 0.27020205 -0.09929590 0.01173030
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+v 0.25662481 0.12714302 0.02328276
+v 0.27965316 0.11644361 0.00026343
+v 0.27316733 0.11375710 0.01068678
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+f 40 2 32
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+f 42 10 1
+f 42 1 14
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+f 45 25 2
+f 45 2 40
+f 45 41 25
+f 45 40 41
+f 46 43 17
+f 46 17 29
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+f 46 21 43
+f 47 37 43
+f 47 43 21
+f 47 21 44
+f 47 27 37
+f 48 13 27
+f 48 27 47
+f 48 39 13
+f 49 48 47
+f 49 47 44
+f 49 44 39
+f 49 39 48
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_17/collision/model_normalized_collision_21.obj b/objects/objaverse/pear/pear_17/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2969a8d96105ee9b631cd024a79e2dce2e1963ba
--- /dev/null
+++ b/objects/objaverse/pear/pear_17/collision/model_normalized_collision_21.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.10533039 -0.26177618 0.00057416
+v 0.19873342 -0.18136345 0.04215375
+v 0.15921227 -0.22651899 0.02477033
+v 0.08808819 -0.14440590 0.16915703
+v 0.01699970 -0.15223309 0.00757576
+v 0.14370794 -0.21131566 0.05357312
+v 0.16573440 -0.23807511 0.00396286
+v 0.01582240 -0.25950451 0.03039455
+v 0.15984707 -0.14412409 0.10340076
+v 0.07260887 -0.22539555 0.06941453
+v 0.14648423 -0.24135631 0.01167887
+v 0.14906285 -0.24763120 0.00058065
+v 0.01686244 -0.27197201 0.00679454
+v 0.01853614 -0.16259878 0.17991718
+v 0.14360313 -0.14310209 0.11861761
+v 0.05942096 -0.25540435 0.02794500
+v 0.10368020 -0.25525152 0.01218237
+v 0.05572415 -0.16326023 0.16312273
+v 0.01515137 -0.16995585 0.16736754
+v 0.04504794 -0.24085657 0.05579997
+v 0.01591346 -0.24296145 0.05746778
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+f 9 2 5
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+f 11 3 6
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+f 13 8 5
+f 13 5 1
+f 14 4 5
+f 15 9 5
+f 15 5 4
+f 15 4 9
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+f 16 8 13
+f 17 11 10
+f 17 12 11
+f 17 1 12
+f 17 16 1
+f 18 11 6
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+f 18 6 4
+f 18 4 14
+f 19 14 5
+f 19 5 8
+f 20 8 16
+f 20 10 14
+f 20 17 10
+f 20 16 17
+f 21 19 8
+f 21 14 19
+f 21 20 14
+f 21 8 20
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_17/collision/model_normalized_collision_22.obj b/objects/objaverse/pear/pear_17/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..28870efe93e9c85000d00899fe7e045f84ba838d
--- /dev/null
+++ b/objects/objaverse/pear/pear_17/collision/model_normalized_collision_22.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.25572757 -0.10677854 -0.09848485
+v -0.25572757 -0.10677854 -0.15909091
+v -0.25572757 0.04473661 -0.09848485
+v -0.33825686 0.04290334 -0.09977262
+v -0.33565772 -0.11909082 -0.15491202
+v -0.25572757 0.04473661 -0.15909091
+v -0.33258614 -0.10175878 -0.10211640
+v -0.34466364 0.03963285 -0.15980087
+v -0.34399992 -0.04404029 -0.10246999
+v -0.34890141 -0.07344019 -0.15956733
+v -0.34359836 0.01180948 -0.10123662
+v -0.33537593 -0.10275702 -0.11581323
+v -0.34358191 0.02647882 -0.11560965
+v -0.34312381 -0.07204655 -0.11704992
+v -0.34368845 0.03963012 -0.14529672
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 6 3 2
+f 6 4 3
+f 7 5 1
+f 7 1 4
+f 8 4 6
+f 8 6 2
+f 9 7 4
+f 10 8 2
+f 10 2 5
+f 11 9 4
+f 11 10 9
+f 12 10 5
+f 12 5 7
+f 13 11 4
+f 13 8 10
+f 13 10 11
+f 14 12 7
+f 14 7 9
+f 14 9 10
+f 14 10 12
+f 15 13 4
+f 15 4 8
+f 15 8 13
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_17/collision/model_normalized_collision_23.obj b/objects/objaverse/pear/pear_17/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c1da358b38c62f710a954651869837e58c4cd47b
--- /dev/null
+++ b/objects/objaverse/pear/pear_17/collision/model_normalized_collision_23.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.07164337 0.12570609 0.21274336
+v 0.16851485 0.13564570 0.00757576
+v 0.18745237 0.21456859 0.02991804
+v 0.01627599 0.18031946 0.14955231
+v 0.01699970 0.13564570 0.00757576
+v 0.04081349 0.13262662 0.22327260
+v 0.15790380 0.12784858 0.11855494
+v 0.01699970 0.19625176 0.00757576
+v 0.04440225 0.12752405 0.22927026
+v 0.04276226 0.17735657 0.14721172
+v 0.01648016 0.13215206 0.23227821
+v 0.11448344 0.12625588 0.16695951
+v 0.01461031 0.16339306 0.17953459
+v 0.02941218 0.16177525 0.17856195
+v 0.01487145 0.13648569 0.22616822
+f 7 2 3
+f 7 5 2
+f 8 3 2
+f 8 2 5
+f 8 4 3
+f 9 1 3
+f 9 3 6
+f 9 5 1
+f 10 3 4
+f 11 9 6
+f 11 5 9
+f 12 7 3
+f 12 3 1
+f 12 1 5
+f 12 5 7
+f 13 8 5
+f 13 4 8
+f 14 6 3
+f 14 3 10
+f 14 10 4
+f 14 4 13
+f 15 13 5
+f 15 5 11
+f 15 14 13
+f 15 11 6
+f 15 6 14
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_17/collision/model_normalized_collision_24.obj b/objects/objaverse/pear/pear_17/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a3978d9388b181b7a7b704b151cd420040480a15
--- /dev/null
+++ b/objects/objaverse/pear/pear_17/collision/model_normalized_collision_24.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.01683752 -0.16628077 0.17363920
+v 0.07616373 -0.14917040 0.17237068
+v 0.04487195 -0.14538513 0.20056781
+v -0.05564327 -0.14343737 0.19937483
+v -0.05415304 -0.15438031 0.18167914
+v 0.07343060 -0.14336557 0.18397460
+v 0.01853614 -0.16259878 0.17991718
+v 0.07175222 -0.15474728 0.16660151
+v -0.05194007 -0.14829394 0.19334719
+v -0.05778743 -0.14949252 0.18778288
+v 0.04284273 -0.14955197 0.19448594
+v 0.06895846 -0.14901882 0.17816977
+f 6 4 3
+f 7 3 4
+f 8 5 2
+f 8 1 5
+f 9 5 1
+f 9 4 5
+f 9 7 4
+f 9 1 7
+f 10 5 4
+f 10 2 5
+f 10 6 2
+f 10 4 6
+f 11 7 1
+f 11 3 7
+f 11 8 3
+f 11 1 8
+f 12 6 3
+f 12 3 8
+f 12 8 2
+f 12 2 6
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_17/collision/model_normalized_collision_25.obj b/objects/objaverse/pear/pear_17/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc1d51ab7ac179d5180dd23a81d497c89114dcf1
--- /dev/null
+++ b/objects/objaverse/pear/pear_17/collision/model_normalized_collision_25.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.20553631 -0.20398069 0.01381678
+v 0.20670149 -0.20482426 -0.36397594
+v 0.21827458 0.18182551 0.02806481
+v -0.19154319 0.19547088 0.04234954
+v -0.18330254 -0.21606426 0.02865685
+v -0.18994213 0.19370192 -0.38991029
+v 0.21538549 0.18094679 -0.37626753
+v -0.18129081 -0.21588387 -0.37825420
+f 1 2 3
+f 5 2 1
+f 5 1 3
+f 5 3 4
+f 6 5 4
+f 7 3 2
+f 7 6 4
+f 7 4 3
+f 8 2 5
+f 8 5 6
+f 8 7 2
+f 8 6 7
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_17/collision/model_normalized_collision_26.obj b/objects/objaverse/pear/pear_17/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..09fe8497776cc90bfd2d3737efe020f937e21a5d
--- /dev/null
+++ b/objects/objaverse/pear/pear_17/collision/model_normalized_collision_26.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.18366636 0.16594873 -0.09848485
+v 0.21240713 0.19196641 -0.36976557
+v 0.20152543 0.27973006 -0.09256543
+v -0.18406840 0.28991191 -0.08935823
+v -0.16481848 0.16594873 -0.34090909
+v -0.16601024 0.25884369 -0.34233741
+v -0.16481848 0.16594873 -0.09848485
+v 0.17966562 0.25145933 -0.33676386
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 6 5 4
+f 6 2 5
+f 7 5 1
+f 7 1 4
+f 7 4 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_17/collision/model_normalized_collision_27.obj b/objects/objaverse/pear/pear_17/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d454cb209e9f1774c5d53e3fe0be92168910778
--- /dev/null
+++ b/objects/objaverse/pear/pear_17/collision/model_normalized_collision_27.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.01983373 -0.34558850 -0.24956603
+v 0.13743980 -0.31895249 -0.24351197
+v 0.11766909 -0.27193130 -0.01942600
+v 0.01699970 -0.19768763 0.00757576
+v 0.01699970 -0.19768763 -0.23484848
+v 0.01581768 -0.27580316 0.00023841
+v 0.12306030 -0.19768763 -0.23484848
+v 0.13737237 -0.23181855 0.03133909
+v 0.07470371 -0.27023586 -0.00308322
+v 0.11880113 -0.25915318 -0.00125811
+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 7 5 4
+f 8 4 6
+f 8 7 4
+f 8 3 2
+f 8 2 7
+f 9 8 6
+f 9 6 3
+f 10 9 3
+f 10 3 8
+f 10 8 9
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_17/collision/model_normalized_collision_28.obj b/objects/objaverse/pear/pear_17/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a16d648f279fd0e78f593e03a0b934b50d060f20
--- /dev/null
+++ b/objects/objaverse/pear/pear_17/collision/model_normalized_collision_28.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.01984114 -0.32620829 -0.08007528
+v 0.01983373 -0.34558850 -0.24956603
+v 0.01699970 -0.19768763 -0.23484848
+v -0.16481848 -0.19768763 -0.09848485
+v -0.17099544 -0.29933063 -0.09538737
+v -0.17378281 -0.30354056 -0.23841078
+v 0.01699970 -0.19768763 -0.09848485
+v -0.16481848 -0.19768763 -0.23484848
+f 1 2 3
+f 5 2 1
+f 5 1 4
+f 6 5 4
+f 6 2 5
+f 7 1 3
+f 7 3 4
+f 7 4 1
+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_17/collision/model_normalized_collision_29.obj b/objects/objaverse/pear/pear_17/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f5edcf86ec0091b806642bd4a00b2e2cb3a043a
--- /dev/null
+++ b/objects/objaverse/pear/pear_17/collision/model_normalized_collision_29.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.19881788 0.05988812 -0.35606060
+v 0.21087960 0.06290481 -0.43261105
+v 0.21538549 0.18094679 -0.37626753
+v -0.18994213 0.19370192 -0.38991029
+v -0.18605658 0.06747298 -0.45024501
+v -0.16481848 0.05988812 -0.35606060
+v 0.19268117 0.16039346 -0.40756947
+v -0.16717911 0.16855640 -0.42117770
+f 1 2 3
+f 6 1 3
+f 6 3 4
+f 6 4 5
+f 6 5 2
+f 6 2 1
+f 7 3 2
+f 7 2 5
+f 7 4 3
+f 8 7 5
+f 8 5 4
+f 8 4 7
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_17/collision/model_normalized_collision_3.obj b/objects/objaverse/pear/pear_17/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..17627fa9f14ffe2decadd94fe14a3b58ab5dcc38
--- /dev/null
+++ b/objects/objaverse/pear/pear_17/collision/model_normalized_collision_3.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v -0.13255034 -0.26781039 0.00364454
+v -0.13030282 -0.26143049 0.01370953
+v -0.29206434 -0.07373433 0.00015520
+v -0.13302476 0.26807878 0.00479335
+v -0.13058991 0.26165870 0.01493292
+v -0.15848819 0.26048065 -0.00120684
+v -0.24614419 -0.17612011 -0.00126176
+v -0.12556667 0.05564903 0.22890771
+v -0.15511190 0.25436359 0.00924488
+v -0.17360803 -0.24970393 0.00033648
+v -0.28913481 0.10104015 -0.00096158
+v -0.12518246 -0.05690418 0.22865986
+v -0.14511045 -0.26501090 0.00117947
+v -0.27658372 -0.11765215 -0.00068710
+v -0.20097439 0.23144205 -0.00173526
+v -0.28479774 0.04259471 0.02454851
+v -0.15546190 -0.24124736 0.02392305
+v -0.16942109 -0.24405084 0.01072368
+v -0.14201515 -0.25926579 0.01093201
+v -0.23038700 0.20219342 -0.00164844
+v -0.19626466 0.22623603 0.00870757
+v -0.26816958 0.07072938 0.03819214
+v -0.14691681 -0.02835434 0.20884680
+v -0.25467049 0.15623771 0.01010667
+v -0.19691939 0.19665147 0.03703489
+v -0.28254970 0.09870265 0.00949631
+v -0.14707159 0.02694781 0.20893350
+v -0.28440664 -0.02729753 0.02366057
+v -0.13078664 -0.05355534 0.22259925
+v -0.26067881 0.15984271 -0.00037487
+v -0.22471645 0.18302793 0.02271032
+v -0.22518657 0.19748017 0.00881048
+v -0.25336299 0.14030075 0.02291645
+f 5 2 1
+f 5 1 4
+f 6 4 1
+f 9 5 4
+f 9 4 6
+f 9 8 5
+f 10 7 6
+f 12 2 5
+f 12 5 8
+f 13 10 6
+f 13 6 1
+f 14 11 7
+f 14 3 11
+f 14 12 3
+f 14 7 12
+f 15 6 7
+f 15 9 6
+f 16 11 3
+f 17 2 12
+f 18 12 7
+f 18 7 10
+f 18 17 12
+f 19 13 1
+f 19 1 2
+f 19 2 17
+f 19 17 18
+f 19 18 10
+f 19 10 13
+f 20 15 7
+f 20 7 11
+f 21 8 9
+f 21 9 15
+f 22 16 8
+f 23 12 8
+f 25 8 21
+f 26 22 8
+f 26 11 16
+f 26 16 22
+f 27 23 8
+f 27 8 16
+f 27 16 23
+f 28 23 16
+f 28 16 3
+f 28 3 23
+f 29 23 3
+f 29 3 12
+f 29 12 23
+f 30 20 11
+f 31 24 8
+f 31 30 24
+f 31 20 30
+f 31 8 25
+f 32 25 21
+f 32 31 25
+f 32 20 31
+f 32 21 15
+f 32 15 20
+f 33 26 8
+f 33 8 24
+f 33 24 30
+f 33 30 11
+f 33 11 26
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_17/collision/model_normalized_collision_30.obj b/objects/objaverse/pear/pear_17/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ec28decef05d528b70872c293bf566144c04d968
--- /dev/null
+++ b/objects/objaverse/pear/pear_17/collision/model_normalized_collision_30.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.13743980 -0.31895249 -0.24351197
+v 0.14590421 -0.23576912 -0.38106123
+v 0.12306030 -0.19768763 -0.23484848
+v -0.16481848 -0.19768763 -0.23484848
+v -0.15546500 -0.27300422 -0.33142819
+v -0.18770987 -0.22297480 -0.36629802
+v -0.17378281 -0.30354056 -0.23841078
+v 0.12099859 -0.28424433 -0.33793790
+f 1 2 3
+f 6 3 2
+f 6 4 3
+f 6 2 5
+f 7 1 3
+f 7 3 4
+f 7 5 1
+f 7 6 5
+f 7 4 6
+f 8 5 2
+f 8 2 1
+f 8 1 5
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_17/collision/model_normalized_collision_31.obj b/objects/objaverse/pear/pear_17/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cb6d732790438fa446251ceca0972629dac297fd
--- /dev/null
+++ b/objects/objaverse/pear/pear_17/collision/model_normalized_collision_31.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.19873342 -0.18136345 0.04215375
+v 0.01699970 -0.15223309 0.00757576
+v 0.02202374 0.17109238 0.16380786
+v 0.15198805 0.12350162 0.12800150
+v 0.02032050 -0.17484947 0.15719011
+v 0.15608915 -0.11264000 0.13197095
+v 0.16851485 0.13564570 0.00757576
+v 0.01699970 0.13564570 0.00757576
+v 0.13827115 -0.13811384 0.12821312
+f 5 2 1
+f 6 1 4
+f 6 4 3
+f 6 3 5
+f 7 4 1
+f 7 1 2
+f 7 3 4
+f 8 5 3
+f 8 2 5
+f 8 7 2
+f 8 3 7
+f 9 5 1
+f 9 6 5
+f 9 1 6
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_17/collision/model_normalized_collision_4.obj b/objects/objaverse/pear/pear_17/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a6e38ee46eab780d7a2a3882138a86ed84129e59
--- /dev/null
+++ b/objects/objaverse/pear/pear_17/collision/model_normalized_collision_4.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v -0.10421242 0.25685782 -0.09848485
+v -0.06035209 0.29788129 -0.34759535
+v -0.05875788 0.25685782 -0.15909091
+v -0.06426873 0.34680078 -0.15159800
+v -0.18406840 0.28991191 -0.08935823
+v -0.16601024 0.25884369 -0.34233741
+v -0.11407588 0.32077139 -0.08931064
+v -0.06592580 0.28551796 -0.36289795
+v -0.15620055 0.31442259 -0.23073322
+v -0.15591349 0.27232190 -0.33188556
+v -0.06461203 0.34167936 -0.24511318
+v -0.12839872 0.32929865 -0.14647264
+v -0.15517816 0.29711273 -0.28664782
+v -0.10109526 0.33234486 -0.11713665
+v -0.12795532 0.32933133 -0.21707041
+v -0.15584763 0.31253143 -0.11777771
+v -0.10090801 0.32336271 -0.27714103
+v -0.17167467 0.29876432 -0.09515216
+v -0.11309649 0.32884359 -0.11805956
+v -0.12810503 0.31466554 -0.27416884
+v -0.10050493 0.33294298 -0.24605904
+v -0.14088098 0.31406780 -0.25985815
+v -0.11270424 0.32911910 -0.24489286
+f 1 3 4
+f 3 2 4
+f 6 3 1
+f 6 1 5
+f 7 5 1
+f 7 1 4
+f 8 2 3
+f 8 3 6
+f 9 6 5
+f 10 8 6
+f 10 2 8
+f 11 4 2
+f 13 10 6
+f 13 6 9
+f 14 7 4
+f 14 4 12
+f 15 9 12
+f 15 12 4
+f 15 4 11
+f 16 12 9
+f 16 9 5
+f 17 11 2
+f 17 2 10
+f 18 16 5
+f 18 5 7
+f 18 7 16
+f 19 14 12
+f 19 12 16
+f 19 16 7
+f 19 7 14
+f 20 17 10
+f 20 10 13
+f 21 15 11
+f 21 11 17
+f 22 20 13
+f 22 13 9
+f 22 9 15
+f 23 21 17
+f 23 17 20
+f 23 20 22
+f 23 22 15
+f 23 15 21
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_17/collision/model_normalized_collision_5.obj b/objects/objaverse/pear/pear_17/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d49588bcbd8bdf71ffe480b5d043c40449fc8a7
--- /dev/null
+++ b/objects/objaverse/pear/pear_17/collision/model_normalized_collision_5.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.15833137 -0.30373003 -0.08774394
+v -0.15727037 -0.26086239 -0.34700858
+v -0.15703751 0.28853580 -0.04481957
+v -0.15871944 0.30340720 -0.08712235
+v -0.34737797 -0.07307923 -0.14559875
+v -0.15731745 0.15766267 -0.43263558
+v -0.15797876 -0.26067634 -0.00219942
+v -0.28363606 -0.21498741 -0.20328302
+v -0.29894431 0.14281685 -0.05790431
+v -0.15658190 0.28859482 -0.30325476
+v -0.18355728 -0.29962180 -0.23025301
+v -0.28186589 -0.17114944 -0.04669290
+v -0.28342472 -0.04353190 -0.37301159
+v -0.23977219 0.23994812 -0.07446898
+v -0.29687344 0.08532431 -0.00478086
+v -0.23882037 -0.22783689 -0.30012738
+v -0.15854832 -0.30566315 -0.26043782
+v -0.22559310 -0.27205037 -0.13282759
+v -0.31286377 -0.15856643 -0.11738972
+v -0.15834059 -0.07340689 -0.46453291
+v -0.32771901 -0.07177915 -0.28787790
+v -0.28268240 0.15501994 -0.31518288
+v -0.21236661 0.26972318 -0.08832741
+v -0.15848819 0.26048065 -0.00120684
+v -0.23929804 0.19655285 -0.00618380
+v -0.28331395 -0.11437653 -0.00668922
+v -0.32775499 0.05637077 -0.05824562
+v -0.24048962 -0.25661242 -0.23020676
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+v -0.32877390 0.08498836 -0.26094474
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+v -0.32860028 -0.13064028 -0.13227458
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+v -0.29671766 -0.15779099 -0.28691031
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+v -0.15768565 0.26012003 -0.34750731
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+f 38 22 34
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+f 53 31 7
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+f 57 49 52
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+f 64 37 10
+f 64 10 6
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\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_17/collision/model_normalized_collision_6.obj b/objects/objaverse/pear/pear_17/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae760b1aba093cea94e4de091051db12ff4900ce
--- /dev/null
+++ b/objects/objaverse/pear/pear_17/collision/model_normalized_collision_6.obj
@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
+v -0.05875788 -0.19768763 -0.35606060
+v -0.05843269 -0.19638743 -0.44497424
+v -0.05875788 0.10534267 -0.41666666
+v -0.14474627 0.16051298 -0.43756635
+v -0.18129081 -0.21588387 -0.37825420
+v -0.05705738 0.08735638 -0.49213496
+v -0.16481848 0.05988812 -0.35606060
+v -0.10519277 0.16758299 -0.44980710
+v -0.15695441 -0.00032688 -0.47413551
+v -0.05703224 -0.08875023 -0.49190630
+v -0.05875788 0.05988812 -0.35606060
+v -0.11278545 0.11322708 -0.47265312
+v -0.05807229 0.10419978 -0.48816821
+v -0.15943837 0.14592689 -0.43766265
+v -0.09943848 0.05702435 -0.48979790
+v -0.15564960 -0.10127844 -0.45827033
+v -0.11350282 0.14288849 -0.45977788
+v -0.15578776 0.09992546 -0.45855663
+v -0.15684692 0.01403718 -0.47388565
+v -0.09938715 -0.05842945 -0.48960685
+v -0.07104951 0.08633214 -0.49057935
+v -0.09933026 -0.11653683 -0.47552700
+v -0.14054816 0.15587545 -0.44189000
+v -0.09964303 0.14463136 -0.46363328
+v -0.15479090 0.14171980 -0.44198199
+v -0.14213854 0.07147342 -0.47307519
+v -0.14205984 -0.07287197 -0.47287273
+v -0.05762152 -0.11953115 -0.48394708
+v -0.12666478 -0.18709420 -0.43006060
+v -0.07071245 -0.08731309 -0.49042899
+v -0.10158523 0.16156913 -0.45451734
+v -0.09932879 -0.17439500 -0.44798658
+v -0.15541528 -0.18730035 -0.41641982
+v -0.11335310 -0.14412225 -0.45933081
+v -0.11323392 -0.17231709 -0.44437907
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+f 25 23 17
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+f 27 16 9
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+f 28 10 2
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+f 33 29 5
+f 33 5 16
+f 34 16 22
+f 34 22 28
+f 34 28 32
+f 34 33 16
+f 35 34 32
+f 35 32 29
+f 35 29 33
+f 35 33 34
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_17/collision/model_normalized_collision_7.obj b/objects/objaverse/pear/pear_17/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..86df38833680b945de8b63d8442ea22f909cf339
--- /dev/null
+++ b/objects/objaverse/pear/pear_17/collision/model_normalized_collision_7.obj
@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
+v 0.14202683 -0.22930541 -0.38939758
+v 0.20670149 -0.20482426 -0.36397594
+v 0.12306030 0.05988812 -0.35606060
+v 0.13077435 0.17635790 -0.43328158
+v 0.14542583 -0.05848934 -0.47284721
+v 0.19881788 0.05988812 -0.35606060
+v 0.18679616 -0.15650200 -0.41399715
+v 0.11743190 -0.13086403 -0.46236678
+v 0.19268117 0.16039346 -0.40756947
+v 0.18997020 -0.18967831 -0.39072388
+v 0.11711082 -0.18776971 -0.43213791
+v 0.11770811 0.15872664 -0.44873760
+v 0.17223473 -0.11507267 -0.44227379
+v 0.18712200 -0.08608670 -0.44285189
+v 0.13014634 -0.12978025 -0.45793640
+v 0.15769255 -0.18573275 -0.41409597
+v 0.11787645 0.08634945 -0.47743827
+v 0.14448849 0.11391710 -0.45764073
+v 0.11758766 0.12960028 -0.46277933
+v 0.18727860 0.08472506 -0.44310991
+v 0.18678748 -0.12816601 -0.42776697
+v 0.13092191 -0.08725403 -0.47267987
+v 0.13659189 -0.22024505 -0.40011954
+v 0.12942863 -0.18583593 -0.42805217
+v 0.13024029 0.15714299 -0.44443566
+v 0.13101174 0.08587204 -0.47292318
+v 0.18702306 0.12690456 -0.42814305
+v 0.17363769 0.05630668 -0.45834594
+v 0.14433869 -0.11524202 -0.45730940
+v 0.17353855 -0.05770711 -0.45815880
+v 0.11777903 -0.08771313 -0.47715665
+v 0.18708978 0.15533183 -0.41443219
+v 0.13030208 0.12848540 -0.45830988
+v 0.14549035 0.05707650 -0.47300626
+v 0.17241342 0.11374397 -0.44258387
+f 1 2 3
+f 6 3 2
+f 9 4 3
+f 9 3 6
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+f 10 2 1
+f 11 1 3
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+f 19 17 8
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+f 23 10 1
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+f 31 22 8
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+f 32 4 9
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+f 34 5 17
+f 34 17 26
+f 34 28 5
+f 34 26 28
+f 35 27 20
+f 35 20 18
+f 35 32 27
+f 35 33 32
+f 35 18 33
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_17/collision/model_normalized_collision_8.obj b/objects/objaverse/pear/pear_17/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d20cda186718a33115fb892df01b707e6d65c121
--- /dev/null
+++ b/objects/objaverse/pear/pear_17/collision/model_normalized_collision_8.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.11943026 0.05816857 -0.48309447
+v 0.14908029 0.07221391 -0.46783913
+v -0.05875788 0.05988812 -0.41666666
+v -0.16717911 0.16855640 -0.42117770
+v 0.08774146 0.15758731 -0.45994377
+v -0.05769372 0.05871260 -0.49621353
+v 0.11720422 0.10004147 -0.47407669
+v 0.13077435 0.17635790 -0.43328158
+v 0.08973474 0.05807504 -0.49111242
+v -0.17873908 0.11369320 -0.44083561
+v -0.07018726 0.14293977 -0.47265306
+v 0.11577508 0.14274951 -0.45797901
+v 0.08815963 0.07163237 -0.48930129
+v -0.16671136 0.10647814 -0.45025609
+v -0.09867519 0.15671799 -0.45814205
+v 0.08786205 0.12904032 -0.47332877
+v 0.12188365 0.16436097 -0.44402736
+v 0.04501927 0.10052207 -0.49054093
+v -0.10061037 0.10136356 -0.47995744
+v -0.15731745 0.15766267 -0.43263558
+v 0.07379345 0.08597994 -0.48943468
+v 0.11770811 0.15872664 -0.44873760
+v -0.05584956 0.10049442 -0.48952127
+v 0.05903292 0.14357460 -0.47386114
+v -0.09943158 0.11521291 -0.47587765
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+f 8 3 2
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+f 9 1 3
+f 9 3 6
+f 10 3 4
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+f 24 23 11
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+f 25 23 19
+f 25 11 23
+f 25 19 14
+f 25 20 15
+f 25 14 20
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_17/collision/model_normalized_collision_9.obj b/objects/objaverse/pear/pear_17/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..95db57e40fac0a254cff86eed762b3df3f86215b
--- /dev/null
+++ b/objects/objaverse/pear/pear_17/collision/model_normalized_collision_9.obj
@@ -0,0 +1,171 @@
+# https://github.com/mikedh/trimesh
+v 0.05996455 -0.34752835 -0.16064498
+v 0.12099859 -0.28424433 -0.33793790
+v 0.12175509 -0.28485158 -0.04035675
+v -0.05882775 -0.28675955 -0.00877154
+v -0.16163225 -0.28328521 -0.30776025
+v 0.03084262 -0.33038799 -0.09087798
+v 0.11621964 -0.33004816 -0.23069053
+v 0.10611249 -0.28100664 -0.02820404
+v 0.07319413 -0.32988455 -0.10632113
+v -0.12782407 -0.32969077 -0.14666038
+v -0.05583671 -0.32955897 -0.28768810
+v -0.13136585 -0.28194779 -0.33637015
+v 0.04643666 -0.28082872 -0.01293187
+v 0.04485770 -0.31547839 -0.06424216
+v 0.01597253 -0.34666648 -0.13422410
+v 0.11645102 -0.33017996 -0.14811610
+v -0.17099544 -0.29933063 -0.09538737
+v 0.04453534 -0.33059311 -0.28809702
+v -0.12753253 -0.32964976 -0.21691085
+v -0.09723042 -0.31450095 -0.30106749
+v -0.06906495 -0.31468151 -0.31534671
+v 0.11927459 -0.28930838 -0.04586602
+v 0.08871657 -0.31424016 -0.07756221
+v 0.10357059 -0.28566803 -0.03425161
+v 0.00033848 -0.30114952 -0.03501757
+v 0.04474468 -0.34701803 -0.14774988
+v -0.05744602 -0.33088827 -0.09006557
+v -0.07051367 -0.34632618 -0.21731864
+v 0.08814268 -0.31560033 -0.30186760
+v 0.04476201 -0.34726888 -0.23131748
+v -0.15571695 -0.31483758 -0.23050223
+v -0.15617252 -0.28920200 -0.30282979
+v -0.09720533 -0.29927917 -0.33004521
+v 0.05972140 -0.31567386 -0.31606985
+v 0.11772884 -0.29997317 -0.06421053
+v 0.04531760 -0.28612412 -0.02033865
+v -0.05903692 -0.30267967 -0.03317185
+v -0.07097299 -0.34737643 -0.16019387
+v -0.11312748 -0.32896637 -0.11846846
+v -0.08401020 -0.32900820 -0.27360393
+v 0.11617623 -0.29962368 -0.31508443
+v 0.07299221 -0.33075618 -0.27418377
+v 0.05992588 -0.34735153 -0.21756083
+v -0.02756442 -0.34644821 -0.24537594
+v -0.15638887 -0.31554220 -0.13264708
+v -0.12674946 -0.28735389 -0.33144971
+v -0.15665673 -0.30166996 -0.27416728
+v 0.08818651 -0.30062415 -0.33108632
+v -0.05923211 -0.29127914 -0.01569169
+v -0.02797857 -0.34689553 -0.13378412
+v -0.05643979 -0.34702682 -0.14697272
+v -0.14174017 -0.31551493 -0.10387430
+v -0.11231753 -0.32947213 -0.24459617
+v 0.01612823 -0.34682939 -0.24547436
+v -0.05604697 -0.34612435 -0.23108096
+v 0.11787340 -0.28922438 -0.33277126
+v -0.15956856 -0.30703999 -0.10172810
+v -0.14040860 -0.31450641 -0.25957350
+f 8 3 2
+f 12 8 2
+f 13 5 4
+f 13 12 5
+f 13 8 12
+f 15 9 6
+f 16 7 2
+f 16 2 3
+f 16 9 1
+f 16 1 7
+f 17 4 5
+f 21 11 20
+f 21 18 11
+f 22 3 8
+f 23 14 6
+f 23 6 9
+f 23 22 14
+f 24 8 13
+f 24 22 8
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+f 25 13 4
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+f 42 30 18
+f 43 7 1
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+f 45 31 19
+f 45 19 10
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+f 46 32 12
+f 46 20 32
+f 46 33 20
+f 46 12 33
+f 47 31 5
+f 47 5 32
+f 47 32 20
+f 48 34 33
+f 48 33 2
+f 48 41 29
+f 48 29 34
+f 49 37 4
+f 49 4 17
+f 49 17 37
+f 50 15 27
+f 50 38 1
+f 50 1 15
+f 51 39 38
+f 51 27 39
+f 51 50 27
+f 51 38 50
+f 52 37 17
+f 52 45 10
+f 52 10 39
+f 52 39 27
+f 52 27 37
+f 53 40 28
+f 53 28 19
+f 54 44 18
+f 54 18 30
+f 54 30 38
+f 54 38 44
+f 55 40 11
+f 55 11 44
+f 55 44 28
+f 55 28 40
+f 56 48 2
+f 56 2 41
+f 56 41 48
+f 57 52 17
+f 57 17 45
+f 57 45 52
+f 58 53 19
+f 58 19 31
+f 58 31 47
+f 58 47 20
+f 58 20 40
+f 58 40 53
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_17/model.xml b/objects/objaverse/pear/pear_17/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..db609af39d23d250adb8d41a203c05d8286f09e3
--- /dev/null
+++ b/objects/objaverse/pear/pear_17/model.xml
@@ -0,0 +1,81 @@
+<mujoco model="pear_5">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.1 0.1 0.1" refquat="0.4999999999999999 0.5 0.5 0.5000000000000001"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.1 0.1 0.1" refquat="0.4999999999999999 0.5 0.5 0.5000000000000001"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.1 0.1 0.1" refquat="0.4999999999999999 0.5 0.5 0.5000000000000001"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.1 0.1 0.1" refquat="0.4999999999999999 0.5 0.5 0.5000000000000001"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.1 0.1 0.1" refquat="0.4999999999999999 0.5 0.5 0.5000000000000001"/>
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+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.1 0.1 0.1" refquat="0.4999999999999999 0.5 0.5 0.5000000000000001"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.1 0.1 0.1" refquat="0.4999999999999999 0.5 0.5 0.5000000000000001"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.1 0.1 0.1" refquat="0.4999999999999999 0.5 0.5 0.5000000000000001"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.1 0.1 0.1" refquat="0.4999999999999999 0.5 0.5 0.5000000000000001"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.1 0.1 0.1" refquat="0.4999999999999999 0.5 0.5 0.5000000000000001"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.1 0.1 0.1" refquat="0.4999999999999999 0.5 0.5 0.5000000000000001"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.1 0.1 0.1" refquat="0.4999999999999999 0.5 0.5 0.5000000000000001"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.1 0.1 0.1" refquat="0.4999999999999999 0.5 0.5 0.5000000000000001"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.1 0.1 0.1" refquat="0.4999999999999999 0.5 0.5 0.5000000000000001"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.1 0.1 0.1" refquat="0.4999999999999999 0.5 0.5 0.5000000000000001"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.1 0.1 0.1" refquat="0.4999999999999999 0.5 0.5 0.5000000000000001"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.1 0.1 0.1" refquat="0.4999999999999999 0.5 0.5 0.5000000000000001"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.1 0.1 0.1" refquat="0.4999999999999999 0.5 0.5 0.5000000000000001"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.1 0.1 0.1" refquat="0.4999999999999999 0.5 0.5 0.5000000000000001"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.1 0.1 0.1" refquat="0.4999999999999999 0.5 0.5 0.5000000000000001"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.1 0.1 0.1" refquat="0.4999999999999999 0.5 0.5 0.5000000000000001"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.1 0.1 0.1" refquat="0.4999999999999999 0.5 0.5 0.5000000000000001"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.1 0.1 0.1" refquat="0.4999999999999999 0.5 0.5 0.5000000000000001"/>
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+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.1 0.1 0.1" refquat="0.4999999999999999 0.5 0.5 0.5000000000000001"/>
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+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.1 0.1 0.1" refquat="0.4999999999999999 0.5 0.5 0.5000000000000001"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.1 0.1 0.1" refquat="0.4999999999999999 0.5 0.5 0.5000000000000001"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.1 0.1 0.1" refquat="0.4999999999999999 0.5 0.5 0.5000000000000001"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.1 0.1 0.1" refquat="0.4999999999999999 0.5 0.5 0.5000000000000001"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.1 0.1 0.1" refquat="0.4999999999999999 0.5 0.5 0.5000000000000001"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.1 0.1 0.1" refquat="0.4999999999999999 0.5 0.5 0.5000000000000001"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="Scene_-_Root.046" texture="image0" specular="0.5" shininess="0.25"/>
+  </asset>
+  <worldbody>
+    <body>
+      <body name="object">
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+      </body>
+      <site rgba="0 0 0 0" size="0.005" pos="-3.63785106591269e-05 -3.0151785026788505e-05 -0.03489013987148095" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="-3.63785106591269e-05 -3.0151785026788505e-05 0.03484289613405776" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.034680075549834787 0.04956104612232894 -2.3621868711593e-05" name="horizontal_radius_site"/>
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diff --git a/objects/objaverse/pear/pear_17/visual/material.mtl b/objects/objaverse/pear/pear_17/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fbcf6b4b1af9257e08a0fd6e283841743ce8fad5
--- /dev/null
+++ b/objects/objaverse/pear/pear_17/visual/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 250.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_17/visual/model_normalized_0.obj b/objects/objaverse/pear/pear_17/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..13358b264dcc3c0b3871f6ab6a55337449336355
--- /dev/null
+++ b/objects/objaverse/pear/pear_17/visual/model_normalized_0.obj
@@ -0,0 +1,30382 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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+f 6028/6028/6028 6027/6027/6027 6219/6219/6219
+f 6219/6219/6219 6218/6218/6218 6028/6028/6028
+f 6175/6175/6175 6172/6172/6172 6220/6220/6220
+f 6220/6220/6220 6221/6221/6221 6175/6175/6175
+f 6172/6172/6172 6171/6171/6171 6222/6222/6222
+f 6222/6222/6222 6220/6220/6220 6172/6172/6172
+f 6034/6034/6034 6033/6033/6033 6220/6220/6220
+f 6220/6220/6220 6222/6222/6222 6034/6034/6034
+f 6033/6033/6033 6032/6032/6032 6221/6221/6221
+f 6221/6221/6221 6220/6220/6220 6033/6033/6033
+f 6182/6182/6182 6180/6180/6180 6223/6223/6223
+f 6223/6223/6223 6224/6224/6224 6182/6182/6182
+f 6180/6180/6180 6175/6175/6175 6221/6221/6221
+f 6221/6221/6221 6223/6223/6223 6180/6180/6180
+f 6032/6032/6032 6038/6038/6038 6223/6223/6223
+f 6223/6223/6223 6221/6221/6221 6032/6032/6032
+f 6038/6038/6038 6037/6037/6037 6224/6224/6224
+f 6224/6224/6224 6223/6223/6223 6038/6038/6038
+f 6078/6078/6078 6186/6186/6186 6225/6225/6225
+f 6225/6225/6225 6191/6191/6191 6078/6078/6078
+f 6186/6186/6186 6182/6182/6182 6224/6224/6224
+f 6224/6224/6224 6225/6225/6225 6186/6186/6186
+f 6037/6037/6037 6040/6040/6040 6225/6225/6225
+f 6225/6225/6225 6224/6224/6224 6037/6037/6037
+f 6040/6040/6040 5972/5972/5972 6191/6191/6191
+f 6191/6191/6191 6225/6225/6225 6040/6040/6040
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_2/collision/model_normalized_collision_11.obj b/objects/objaverse/pear/pear_2/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d1d6df6fad72668bfab59129d78bb75be3ebfef7
--- /dev/null
+++ b/objects/objaverse/pear/pear_2/collision/model_normalized_collision_11.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.23499259 0.06997669 -0.08813547
+v 0.25720480 0.06626955 -0.14904866
+v 0.26218420 0.20375025 -0.12588485
+v 0.00742337 0.19400767 -0.06799125
+v 0.00757577 0.05460048 -0.15080937
+v 0.26047574 0.17926274 -0.09012655
+v 0.00757577 0.05460048 -0.07505179
+v 0.00289734 0.18729245 -0.16183841
+v 0.20175003 0.20256068 -0.09776262
+v 0.25009167 0.08475518 -0.08870388
+v 0.26253399 0.19084051 -0.10288108
+v 0.25339768 0.06901777 -0.11249206
+v 0.26195949 0.20689210 -0.15066978
+v 0.22854248 0.19025290 -0.08897460
+v 0.07010804 0.20375975 -0.14755956
+v 0.08459289 0.19668434 -0.07749983
+v 0.10036068 0.20319394 -0.09501389
+v 0.06846803 0.20275805 -0.10899074
+f 7 5 2
+f 7 1 4
+f 8 2 5
+f 8 7 4
+f 8 5 7
+f 10 6 4
+f 10 4 1
+f 11 6 2
+f 11 3 9
+f 12 7 2
+f 12 1 7
+f 12 10 1
+f 12 2 6
+f 12 6 10
+f 13 2 8
+f 13 11 2
+f 13 3 11
+f 13 9 3
+f 14 4 6
+f 14 11 9
+f 14 6 11
+f 15 13 8
+f 15 8 4
+f 16 14 9
+f 16 4 14
+f 17 9 13
+f 17 13 15
+f 17 16 9
+f 17 4 16
+f 18 17 15
+f 18 15 4
+f 18 4 17
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_2/collision/model_normalized_collision_23.obj b/objects/objaverse/pear/pear_2/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a9a171dae9b954e2e5da741ff963bb671f8991c5
--- /dev/null
+++ b/objects/objaverse/pear/pear_2/collision/model_normalized_collision_23.obj
@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
+v -0.22292938 -0.18863834 -0.09981248
+v -0.08336874 -0.12715722 -0.10533140
+v -0.35324531 -0.17928084 -0.10119730
+v -0.35377667 -0.10926032 -0.17611358
+v -0.17667172 -0.10564380 -0.18662539
+v -0.38027180 -0.14110453 -0.13384928
+v -0.27979977 -0.17060050 -0.13850775
+v -0.10631627 -0.14198560 -0.09970903
+v -0.10207564 -0.10415728 -0.15942501
+v -0.08933213 -0.13222366 -0.10128846
+v -0.32302913 -0.18871606 -0.09874050
+v -0.22343063 -0.15699654 -0.15167387
+v -0.32055971 -0.15524863 -0.15145109
+v -0.33622952 -0.10653747 -0.18559986
+v -0.10775692 -0.12352794 -0.13713220
+v -0.08978477 -0.12749173 -0.11252308
+v -0.32194912 -0.18332110 -0.11056738
+v -0.13643523 -0.15684961 -0.09882767
+v -0.25064524 -0.17105547 -0.13774280
+v -0.16507012 -0.12594010 -0.16531902
+v -0.34748442 -0.12942353 -0.16500647
+v -0.30738197 -0.12866354 -0.17835704
+v -0.34848166 -0.15681128 -0.13836233
+v -0.13201600 -0.10421973 -0.17317981
+v -0.19514402 -0.16856926 -0.12522106
+v -0.13790980 -0.15269876 -0.11037244
+v -0.08815988 -0.11759163 -0.13058835
+v -0.20961242 -0.14158933 -0.16528007
+v -0.16684649 -0.13966935 -0.15125691
+v -0.33500811 -0.11513886 -0.18045416
+v -0.22299098 -0.12931265 -0.17915490
+v -0.32124432 -0.14263037 -0.16363339
+v -0.35127256 -0.17373204 -0.11307013
+v -0.17858383 -0.11416231 -0.18037244
+v -0.13515766 -0.11244120 -0.16619761
+v -0.22318527 -0.18353685 -0.11077504
+v -0.10840027 -0.13751030 -0.11222988
+v -0.10575586 -0.11144839 -0.15272321
+f 6 2 4
+f 9 4 2
+f 10 6 3
+f 10 2 6
+f 10 3 8
+f 11 8 3
+f 14 4 9
+f 16 10 8
+f 16 2 10
+f 17 7 1
+f 17 1 11
+f 17 13 7
+f 17 11 3
+f 18 11 1
+f 18 8 11
+f 19 1 7
+f 19 7 12
+f 21 6 4
+f 22 7 13
+f 23 6 21
+f 24 14 9
+f 24 5 14
+f 25 18 1
+f 26 8 18
+f 26 25 15
+f 26 18 25
+f 27 9 2
+f 27 2 16
+f 29 15 25
+f 29 28 20
+f 29 25 12
+f 29 12 28
+f 30 21 4
+f 30 4 14
+f 30 14 22
+f 31 12 7
+f 31 7 22
+f 31 28 12
+f 31 22 14
+f 31 14 5
+f 32 22 13
+f 32 30 22
+f 32 21 30
+f 32 23 21
+f 32 13 23
+f 33 3 6
+f 33 6 23
+f 33 17 3
+f 33 23 13
+f 33 13 17
+f 34 24 20
+f 34 5 24
+f 34 20 28
+f 34 31 5
+f 34 28 31
+f 35 24 9
+f 35 20 24
+f 35 29 20
+f 35 9 29
+f 36 19 12
+f 36 12 25
+f 36 25 1
+f 36 1 19
+f 37 16 8
+f 37 8 26
+f 37 27 16
+f 37 26 15
+f 37 15 27
+f 38 27 15
+f 38 9 27
+f 38 29 9
+f 38 15 29
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_2/collision/model_normalized_collision_29.obj b/objects/objaverse/pear/pear_2/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9f78eadc3677b5790cbfc9a3e6d25ab48eac2b82
--- /dev/null
+++ b/objects/objaverse/pear/pear_2/collision/model_normalized_collision_29.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.28706780 -0.14401465 0.17045397
+v -0.28026729 -0.11175466 0.19720258
+v -0.36400874 0.14549390 0.14647486
+v -0.28415779 0.16442325 0.15849089
+v -0.28034350 0.13066265 0.19805492
+v -0.36531915 -0.12735029 0.15443623
+v -0.34866216 0.11983533 0.18544820
+v -0.34865916 -0.10180941 0.18287003
+f 2 1 4
+f 5 2 4
+f 6 3 4
+f 6 4 1
+f 7 5 4
+f 7 4 3
+f 7 3 6
+f 7 2 5
+f 8 6 1
+f 8 1 2
+f 8 7 6
+f 8 2 7
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_2/collision/model_normalized_collision_4.obj b/objects/objaverse/pear/pear_2/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d48eeb7713dc7629f5aafbbe6d35f6ad991f262
--- /dev/null
+++ b/objects/objaverse/pear/pear_2/collision/model_normalized_collision_4.obj
@@ -0,0 +1,120 @@
+# https://github.com/mikedh/trimesh
+v -0.15003011 -0.12235725 0.14936856
+v -0.16906689 -0.10041810 0.17976732
+v -0.35388305 -0.07913920 0.19257003
+v -0.28415779 0.16442325 0.15849089
+v -0.15173149 0.14344690 0.14821236
+v -0.22296392 0.06525145 0.22520521
+v -0.28706780 -0.14401465 0.17045397
+v -0.16797048 0.05112254 0.20902545
+v -0.23681495 -0.04708383 0.22445096
+v -0.35021107 0.07812303 0.21083489
+v -0.19425354 0.11880343 0.19523295
+v -0.19655515 -0.10138905 0.19265661
+v -0.16870191 -0.01810333 0.20883238
+v -0.29288481 -0.08712123 0.20929062
+v -0.35240718 0.11001032 0.19163753
+v -0.32256523 0.05184713 0.22587790
+v -0.31961539 0.10296056 0.20908113
+v -0.16631783 0.09255123 0.19654380
+v -0.16993652 -0.07265360 0.19456576
+v -0.20892932 -0.00405598 0.22527727
+v -0.32267740 -0.10743593 0.19021651
+v -0.23680591 -0.08786370 0.21006462
+v -0.32022013 -0.01737005 0.22530212
+v -0.25165765 0.07995102 0.22494136
+v -0.29366369 0.07913020 0.22442165
+v -0.34951372 0.10514515 0.19662582
+v -0.20857245 0.10459334 0.20813895
+v -0.33696580 0.12274900 0.18859265
+v -0.16760327 0.11945191 0.18240687
+v -0.18263455 0.07974373 0.20903005
+v -0.18247186 -0.04680275 0.20900987
+v -0.20850876 0.05145960 0.22489015
+v -0.31901328 -0.07361129 0.20882046
+v -0.32013191 -0.10262099 0.19419621
+v -0.27875321 -0.04727264 0.22561925
+v -0.34750680 -0.04614936 0.20858144
+v -0.33321645 0.11622967 0.19564291
+v -0.21027463 -0.07468784 0.21019375
+v -0.22341572 -0.03284350 0.22492721
+v -0.34870984 -0.07453458 0.19714302
+v -0.30750700 -0.03194251 0.22497600
+f 5 1 4
+f 7 3 4
+f 7 4 1
+f 8 1 5
+f 11 5 4
+f 12 7 1
+f 12 1 2
+f 13 1 8
+f 15 4 3
+f 15 3 10
+f 18 8 5
+f 19 2 1
+f 19 1 13
+f 19 12 2
+f 20 13 8
+f 20 6 16
+f 21 3 7
+f 22 14 7
+f 22 7 12
+f 23 16 10
+f 24 16 6
+f 25 17 10
+f 25 10 16
+f 25 24 17
+f 25 16 24
+f 26 15 10
+f 26 10 17
+f 27 11 4
+f 27 4 17
+f 27 17 24
+f 27 24 6
+f 27 18 11
+f 28 4 15
+f 29 18 5
+f 29 5 11
+f 29 11 18
+f 30 8 18
+f 30 27 6
+f 30 18 27
+f 31 19 13
+f 31 13 20
+f 32 20 8
+f 32 6 20
+f 32 30 6
+f 32 8 30
+f 34 21 7
+f 34 7 14
+f 34 14 33
+f 34 3 21
+f 35 22 9
+f 35 14 22
+f 35 20 16
+f 35 16 23
+f 35 33 14
+f 36 23 10
+f 36 10 3
+f 37 17 4
+f 37 4 28
+f 37 26 17
+f 37 28 15
+f 37 15 26
+f 38 9 22
+f 38 22 12
+f 38 12 19
+f 38 19 31
+f 39 31 20
+f 39 38 31
+f 39 9 38
+f 39 35 9
+f 39 20 35
+f 40 34 33
+f 40 3 34
+f 40 36 3
+f 40 33 36
+f 41 35 23
+f 41 33 35
+f 41 36 33
+f 41 23 36
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_2/collision/model_normalized_collision_5.obj b/objects/objaverse/pear/pear_2/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1f37bf7e94d18c64e2548501d766210c82f9ce52
--- /dev/null
+++ b/objects/objaverse/pear/pear_2/collision/model_normalized_collision_5.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v -0.15909090 0.10005503 0.01585730
+v -0.15909090 0.10005503 -0.10535482
+v -0.16172496 0.20350864 -0.07252930
+v -0.30578667 0.20264191 0.05761603
+v -0.35606060 0.10005503 0.00070578
+v -0.14636475 0.16827630 0.10522210
+v -0.38836695 0.13149371 -0.13011230
+v -0.22144148 0.20255598 0.07171621
+v -0.35606060 0.10005503 0.01585730
+v -0.16058687 0.19679919 -0.10286420
+v -0.16282718 0.20339753 -0.00089806
+v -0.36733107 0.16661059 0.09941787
+v -0.29258228 0.20264533 -0.08779501
+v -0.16447221 0.18933458 0.07029193
+v -0.27925799 0.20486909 0.07124640
+v -0.26277828 0.20313728 -0.10127328
+v -0.34759607 0.18773640 -0.07252174
+v -0.17883181 0.20270828 0.02949070
+v -0.18136892 0.18826578 0.08733355
+v -0.33295331 0.18714541 0.08612995
+v -0.31911469 0.20357980 -0.02861713
+v -0.20610607 0.20303677 -0.10111628
+v -0.33337257 0.18736166 -0.09965111
+v -0.17699832 0.20358719 -0.08574897
+v -0.16199104 0.18192032 0.08828891
+v -0.31947838 0.20256951 0.02802785
+v -0.30605907 0.20253639 -0.07192070
+v -0.35025124 0.17883408 -0.10133232
+v -0.34725048 0.18805570 0.05842996
+v -0.35066794 0.17890671 0.08795920
+f 5 2 1
+f 6 1 2
+f 7 2 5
+f 9 5 1
+f 9 1 6
+f 9 7 5
+f 10 6 2
+f 10 3 6
+f 10 2 7
+f 11 6 3
+f 12 9 6
+f 12 7 9
+f 14 6 11
+f 15 11 3
+f 17 7 12
+f 18 14 11
+f 18 8 14
+f 18 15 8
+f 18 11 15
+f 19 14 8
+f 19 8 15
+f 20 15 4
+f 20 12 6
+f 20 19 15
+f 20 6 19
+f 21 16 13
+f 21 15 16
+f 22 10 7
+f 22 7 16
+f 23 16 7
+f 23 13 16
+f 24 16 15
+f 24 15 3
+f 24 22 16
+f 24 3 10
+f 24 10 22
+f 25 19 6
+f 25 6 14
+f 25 14 19
+f 26 4 15
+f 26 15 21
+f 27 21 13
+f 27 17 21
+f 27 23 17
+f 27 13 23
+f 28 23 7
+f 28 7 17
+f 28 17 23
+f 29 20 4
+f 29 4 26
+f 29 17 12
+f 29 26 21
+f 29 21 17
+f 30 29 12
+f 30 12 20
+f 30 20 29
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_2/collision/model_normalized_collision_7.obj b/objects/objaverse/pear/pear_2/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..08aae60bedea28dbbee9e9e2559dd80c58448850
--- /dev/null
+++ b/objects/objaverse/pear/pear_2/collision/model_normalized_collision_7.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v -0.09848484 0.08490351 -0.10535482
+v -0.09794560 0.08358037 -0.22013009
+v -0.09859885 0.19263667 -0.10344208
+v -0.32190882 0.19131513 -0.09983051
+v -0.34902965 0.07857051 -0.19682650
+v -0.26363148 0.18944261 -0.13900017
+v -0.09605947 0.17550926 -0.15747301
+v -0.39312555 0.11682029 -0.14087719
+v -0.27704276 0.13504549 -0.19318166
+v -0.09609884 0.13637536 -0.19906801
+v -0.09750785 0.19041686 -0.11716882
+v -0.35025124 0.17883408 -0.10133232
+v -0.30718364 0.07944075 -0.21144210
+v -0.33094656 0.14542370 -0.16524018
+v -0.09690625 0.11045948 -0.21246185
+v -0.20634142 0.18828558 -0.14035638
+v -0.33326628 0.10541110 -0.19160967
+v -0.34543424 0.16023732 -0.13878468
+v -0.29072564 0.17375738 -0.15360133
+v -0.27672616 0.10782204 -0.20716084
+v -0.30613572 0.09291959 -0.20681095
+v -0.34534279 0.11817525 -0.17825958
+v -0.34772685 0.17548221 -0.11120251
+v -0.30335505 0.15915581 -0.16518330
+v -0.30567455 0.18652798 -0.12474844
+v -0.34679849 0.09171236 -0.19219695
+v -0.31909777 0.18886550 -0.11180715
+v -0.33096802 0.15771577 -0.15270091
+f 1 3 4
+f 5 2 1
+f 6 4 3
+f 8 5 1
+f 10 7 1
+f 10 9 6
+f 10 6 7
+f 11 3 1
+f 11 1 7
+f 11 6 3
+f 12 8 1
+f 12 1 4
+f 13 2 5
+f 15 10 1
+f 15 1 2
+f 15 9 10
+f 16 11 7
+f 16 7 6
+f 16 6 11
+f 18 14 8
+f 19 6 9
+f 20 9 15
+f 20 15 2
+f 20 2 13
+f 21 13 5
+f 21 5 17
+f 21 20 13
+f 21 17 9
+f 21 9 20
+f 22 8 14
+f 22 14 9
+f 22 9 17
+f 23 18 8
+f 23 8 12
+f 24 19 9
+f 24 9 14
+f 25 6 19
+f 26 22 17
+f 26 17 5
+f 26 5 8
+f 26 8 22
+f 27 23 12
+f 27 12 4
+f 27 4 6
+f 27 6 25
+f 27 25 18
+f 27 18 23
+f 28 24 14
+f 28 14 18
+f 28 19 24
+f 28 25 19
+f 28 18 25
\ No newline at end of file
diff --git a/objects/objaverse/pear/pear_2/model.xml b/objects/objaverse/pear/pear_2/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..86f58e17d020af19d42739324fa5e100199a6d10
--- /dev/null
+++ b/objects/objaverse/pear/pear_2/model.xml
@@ -0,0 +1,81 @@
+<mujoco model="pear_21">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.13 0.13 0.13" refquat="4.622231866529366e-33 0.5555702330196023 0.8314696123025449 4.163336342344337e-17"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.13 0.13 0.13" refquat="4.622231866529366e-33 0.5555702330196023 0.8314696123025449 4.163336342344337e-17"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.13 0.13 0.13" refquat="4.622231866529366e-33 0.5555702330196023 0.8314696123025449 4.163336342344337e-17"/>
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